NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 723 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 244.49 of 550.00 AH used of 24V (55.55% remains)
• Surface angle -57.7 deg, depth 0.22 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.93 (SM_CC=425)
• GPS1 time: 42 s
• GPS2 time: 5 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.43 - - - 72.05 VBD -1.35 - - 181.88 - - - 2253.94 - -82.73 65.48 0.005 2663.12 - - - - - - - - - - 14.93
72.78 3.67 -9.53 12 105.61 -1.35 14.88 0.242 2003.94 122.5 2.54 0.067 1209.31 -411.3 -82.73 9.60 0.007 3112.09 46.8 -4.171 - - - - - - 15.43 15.07 15.20
332.94 48.27 -11.67 64 338.38 roll -1.35 - - 2004.00 - 2.65 0.027 2353.19 431.7 -82.73 - - 3113.12 - - - - - - - - - 15.81 -
523.22 67.80 -9.96 102 528.39 roll -1.35 - - 2003.12 - 2.77 0.058 1207.50 -413.6 -82.73 - - 3114.75 - - - - - - - - - 15.83 -
567.83 72.23 -9.89 111 573.38 roll -1.35 - - 2004.00 - 2.63 0.026 2355.25 436.4 -82.73 - - 3113.03 - - - - - - - - - 15.86 -
758.27 91.44 -10.11 149 763.45 roll -1.35 - - 2003.06 - 2.77 0.058 1208.25 -414.1 -82.73 - - 3114.44 - - - - - - - - - 15.86 -
932.93 109.83 -9.77 184 938.49 roll -1.35 - - 2003.81 - 2.62 0.026 2354.06 437.3 -82.73 - - 3113.03 - - - - - - - - - 15.89 -
1243.05 137.63 -8.25 246 1248.59 roll -1.35 - - 2004.06 - 2.70 0.084 3427.94 397.7 -82.73 - - 3114.25 - - - - - - - - - 15.87 -
1313.06 143.84 -8.93 260 1318.59 roll -1.35 - - 2004.19 - 2.56 0.019 2238.06 -464.8 -82.73 - - 3113.66 - - - - - - - - - 15.92 -
1623.16 168.43 -7.82 322 1624.49 no move -1.35 - - 2003.88 - - - 2236.94 - -82.73 - - 3112.59 - - - - - - - - - - -
1928.37 192.07 -8.18 383 1933.37 roll -1.35 - - 2004.00 - 2.45 0.065 1208.44 -419.8 -82.73 - - 3113.56 - - - - - - - - - 15.93 -
2048.28 202.62 -8.93 407 2053.83 roll -1.35 - - 2003.00 - 2.63 0.027 2353.38 435.3 -82.73 - - 3113.81 - - - - - - - - - 15.96 -
2358.33 228.36 -8.25 469 2359.66 no move -1.35 - - 2004.00 - - - 2353.75 - -82.73 - - 3112.28 - - - - - - - - - - -
2663.37 255.20 -8.77 530 2664.70 no move -1.35 - - 2003.94 - - - 2353.94 - -82.73 - - 3111.94 - - - - - - - - - - -
2968.41 281.63 -8.88 591 2969.74 no move -1.35 - - 2003.94 - - - 2353.81 - -82.73 - - 3111.16 - - - - - - - - - - -
3272.20 308.40 -8.65 641 3283.27 no move -1.35 - - 2004.19 - - - 2353.62 - -82.73 - - 3111.75 - - - - - - - - - - -
3585.74 334.47 -7.98 670 3596.81 no move -1.35 - - 2004.12 - - - 2353.56 - -82.73 - - 3111.59 - - - - - - - - - - -
3898.57 360.15 -8.55 699 3903.21 roll -1.35 - - 2003.06 - 2.71 0.087 3427.19 396.2 -82.73 - - 3111.94 - - - - - - - - - 15.92 -
3937.11 363.70 -9.14 705 3952.03 roll -1.35 - - 2004.00 - 2.56 0.020 2244.69 -461.9 -82.73 - - 3111.22 - - - - - - - - - 16.00 -
4253.81 391.66 -8.72 734 4258.54 roll -1.35 - - 2004.06 - 2.97 0.083 3428.50 398.6 -82.73 - - 3109.19 - - - - - - - - - 15.91 -
4323.82 398.31 -9.55 744 4338.74 roll -1.35 - - 2003.94 - 2.55 0.020 2245.88 -463.8 -82.73 - - 3110.19 - - - - - - - - - 16.00 -
4640.00 424.48 -7.70 773 4651.07 no move -1.35 - - 2003.88 - - - 2246.06 - -82.73 - - 3110.66 - - - - - - - - - - -
4953.57 448.88 -8.06 802 4958.25 roll -1.35 - - 2004.06 - 2.94 0.084 3426.62 401.6 -82.73 - - 3108.44 - - - - - - - - - 15.91 -
5055.06 458.01 -9.17 816 5069.97 roll -1.35 - - 2004.50 - 2.55 0.021 2247.12 -462.5 -82.73 - - 3109.31 - - - - - - - - - 16.00 -
5371.23 481.55 -6.94 845 5382.30 no move -1.35 - - 2004.12 - - - 2247.00 - -82.73 - - 3109.34 - - - - - - - - - - -
5692.48 502.63 -6.54 874 5697.16 roll -1.35 - - 2004.06 - 2.95 0.084 3428.06 400.4 -82.73 - - 3107.03 - - - - - - - - - 15.90 -
5736.02 505.37 -6.98 881 5750.94 roll -1.35 - - 2004.19 - 2.55 0.021 2246.44 -463.4 -82.73 - - 3108.41 - - - - - - - - - 16.00 -
6065.43 526.09 -6.55 903 6066.75 no move -1.35 - - 2004.50 - - - 2246.75 - -82.73 - - 3107.28 - - - - - - - - - - -
6380.44 547.48 -6.86 924 6385.12 roll -1.35 - - 2003.56 - 2.95 0.085 3428.75 400.7 -82.73 - - 3107.19 - - - - - - - - - 15.90 -
6439.73 551.83 -7.34 933 6445.45 roll -1.35 - - 2003.75 - 2.56 0.021 2246.88 -461.7 -82.73 - - 3107.59 - - - - - - - - - 16.00 -
6759.28 576.11 -7.94 955 6763.87 roll -1.35 - - 2003.88 - 2.48 0.069 1208.12 -418.9 -82.73 - - 3106.62 - - - - - - - - - 15.94 -
6817.22 580.99 -8.30 963 6821.85 roll -1.35 - - 2004.06 - 2.62 0.029 2353.19 437.0 -82.73 - - 3105.31 - - - - - - - - - 16.00 -
7133.69 606.45 -7.99 985 7135.02 no move -1.35 - - 2004.25 - - - 2353.31 - -82.73 - - 3106.12 - - - - - - - - - - -
7448.88 631.71 -7.82 1006 7450.21 no move -1.35 - - 2004.06 - - - 2353.69 - -82.73 - - 3104.88 - - - - - - - - - - -
7763.72 656.52 -7.99 1027 7768.36 roll -1.35 - - 2003.88 - 2.71 0.091 3423.44 394.7 -82.73 - - 3104.19 - - - - - - - - - 15.88 -
7800.92 659.80 -8.47 1032 7805.53 roll -1.35 - - 2004.06 - 2.56 0.021 2246.69 -459.7 -82.73 - - 3104.34 - - - - - - - - - 16.00 -
8117.40 683.98 -7.29 1054 8122.07 roll -1.35 - - 2004.12 - 2.99 0.086 3426.12 394.5 -82.73 - - 3104.22 - - - - - - - - - 15.88 -
8197.42 690.41 -8.10 1066 8202.97 roll -1.35 - - 2004.25 - 2.56 0.021 2247.62 -460.4 -82.73 - - 3104.56 - - - - - - - - - 16.01 -
8516.85 712.63 -6.42 1088 8518.17 no move -1.35 - - 2004.31 - - - 2247.38 - -82.73 - - 3103.91 - - - - - - - - - - -
8831.85 732.61 -6.64 1109 8836.46 roll -1.35 - - 2004.25 - 2.51 0.069 1208.06 -414.1 -82.73 - - 3102.34 - - - - - - - - - 15.91 -
8889.78 736.73 -7.00 1117 8894.41 roll -1.35 - - 2004.50 - 2.61 0.029 2352.94 438.7 -82.73 - - 3102.91 - - - - - - - - - 16.00 -
9206.46 757.68 -6.69 1139 9211.16 roll -1.35 - - 2004.06 - 2.72 0.091 3425.62 394.4 -82.73 - - 3103.91 - - - - - - - - - 15.87 -
9265.74 762.00 -7.23 1148 9271.28 roll -1.35 - - 2004.38 - 2.56 0.021 2248.44 -459.8 -82.73 - - 3103.53 - - - - - - - - - 16.00 -
9585.16 783.45 -6.69 1170 9589.85 roll -1.35 - - 2003.38 - 2.98 0.086 3427.44 395.6 -82.73 - - 3103.50 - - - - - - - - - 15.86 -
9670.19 789.33 -7.39 1183 9685.10 roll -1.35 - - 2003.56 - 2.57 0.022 2248.75 -458.6 -82.73 - - 3104.44 - - - - - - - - - 16.00 -
9999.62 809.93 -5.90 1205 10004.29 roll -1.35 - - 2004.38 - 2.98 0.086 3424.44 394.5 -82.73 - - 3102.22 - - - - - - - - - 15.85 -
10057.54 813.97 -6.71 1213 10062.16 roll -1.35 - - 2003.94 - 2.57 0.022 2250.31 -456.9 -82.73 - - 3101.75 - - - - - - - - - 15.99 -
10374.03 833.52 -6.07 1235 10378.71 roll -1.35 - - 2004.69 - 2.98 0.087 3427.88 395.2 -82.73 - - 3101.44 - - - - - - - - - 15.85 -
10452.69 839.04 -6.92 1246 10457.30 roll -1.35 - - 2004.31 - 2.57 0.022 2250.62 -458.1 -82.73 - - 3101.75 - - - - - - - - - 15.98 -
10769.19 858.31 -5.94 1268 10773.88 roll -1.35 - - 2004.06 - 2.96 0.086 3424.81 396.7 -82.73 - - 3102.84 - - - - - - - - - 15.85 -
10849.40 863.37 -6.36 1280 10854.79 roll -1.35 - - 2003.44 - 2.56 0.021 2246.44 -460.3 -82.73 - - 3102.97 - - - - - - - - - 15.99 -
11168.61 882.93 -6.20 1302 11169.94 no move -1.35 - - 2004.44 - - - 2246.38 - -82.73 - - 3100.72 - - - - - - - - - - -
11483.62 902.99 -6.40 1323 11484.95 no move -1.35 - - 2004.19 - - - 2246.38 - -82.73 - - 3100.28 - - - - - - - - - - -
11798.81 924.04 -7.00 1344 11803.49 roll -1.35 - - 2003.94 - 2.98 0.087 3425.06 395.5 -82.73 - - 3099.47 - - - - - - - - - 15.84 -
11918.95 933.34 -7.80 1361 11923.56 roll -1.35 - - 2004.69 - 2.56 0.021 2249.81 -459.1 -82.73 - - 3101.41 - - - - - - - - - 15.98 -
12235.41 954.99 -6.98 1383 12240.10 roll -1.35 - - 2004.31 - 3.00 0.087 3426.69 392.3 -82.73 - - 3100.19 - - - - - - - - - 15.83 -
12293.33 959.37 -7.38 1391 12297.95 roll -1.35 - - 2004.31 - 2.58 0.022 2249.44 -456.3 -82.73 - - 3099.50 - - - - - - - - - 15.98 -
12609.80 981.02 -6.59 1413 12611.13 no move -1.35 - - 2003.88 - - - 2247.75 - -82.73 - - 3099.16 - - - - - - - - - - -
12759 end dive: TARGET_DEPTH_EXCEEDED
12759 begin apogee
12761.61 990.27 -5.95 1423 12837.21 -0.28 1.87 0.143 2263.06 138.6 0.16 0.171 2288.38 253.9 - 64.37 2.423 2774.59 -5.0 0.351 - - - - - - 15.74 15.41 10.30
12838 end apogee: CONTROL_FINISHED_OK
12838 begin climb
12839.42 991.47 - 1428 12913.64 1.35 2.68 0.090 2662.12 148.9 - - 2288.38 - 82.73 69.15 2.344 2437.28 -4.9 0.351 - - - - - - 15.56 - 12.06
13225.93 966.71 7.24 1454 13230.59 roll 1.37 - - 2662.19 - 2.87 0.075 1131.19 -403.2 82.73 - - 2429.28 - - - - - - - - - 15.67 -
13368.16 955.83 7.79 1475 13373.69 roll 1.38 - - 2661.38 - 2.67 0.030 2272.56 427.5 82.73 - - 2431.72 - - - - - - - - - 15.74 -
13687.56 932.32 7.48 1497 13692.22 roll 1.40 - - 2660.75 - 2.83 0.073 1131.12 -403.3 82.73 - - 2431.34 - - - - - - - - - 15.80 -
13731.12 929.40 7.67 1504 13746.04 roll 1.42 - - 2661.50 - 2.65 0.030 2272.31 430.6 82.73 - - 2430.62 - - - - - - - - - 15.83 -
14060.69 907.67 5.80 1526 14107.50 1.52 0.22 0.077 2712.50 231.8 2.83 0.077 1129.62 -403.8 132.37 41.24 2.254 2232.84 -4.8 0.329 - - - - - - 15.84 15.51 11.30
14167.09 899.88 7.77 1542 14181.85 roll 1.53 - - 2712.06 - 2.68 0.030 2270.56 425.7 132.37 - - 2233.81 - - - - - - - - - 15.69 -
14496.43 870.59 8.98 1564 14501.07 roll 1.53 - - 2712.56 - 2.80 0.074 1130.75 -407.1 132.37 - - 2228.03 - - - - - - - - - 15.78 -
14581.45 862.79 9.80 1577 14596.73 roll 1.53 - - 2712.88 - 2.64 0.031 2270.88 431.9 132.37 - - 2228.81 - - - - - - - - - 15.82 -
14910.86 831.79 9.19 1599 14915.50 roll 1.53 - - 2712.88 - 2.80 0.074 1130.94 -407.1 132.37 - - 2229.28 - - - - - - - - - 15.83 -
14970.14 826.24 9.46 1608 14975.69 roll 1.53 - - 2713.31 - 2.64 0.030 2271.75 432.1 132.37 - - 2229.44 - - - - - - - - - 15.87 -
15289.54 796.01 9.61 1630 15294.19 roll 1.53 - - 2713.50 - 2.79 0.074 1131.06 -408.8 132.37 - - 2227.56 - - - - - - - - - 15.86 -
15369.56 787.77 10.39 1642 15375.12 done 1.53 - - 2712.06 - 2.64 0.030 2272.31 432.3 132.37 - - 2228.88 - - - - - - - - - 15.91 -
15688.96 754.59 10.48 1664 15693.61 done 1.53 - - 2712.88 - 2.79 0.074 1131.00 -409.1 132.37 - - 2227.25 - - - - - - - - - 15.87 -
15768.98 746.19 10.64 1676 15774.53 done 1.53 - - 2712.56 - 2.62 0.031 2271.25 435.2 132.37 - - 2227.03 - - - - - - - - - 15.93 -
16088.38 716.05 8.86 1698 16089.71 VBD 1.53 - - 2712.81 - - - 2271.06 - 132.37 - - 2226.12 - - - - - - - - - - -
16403.40 688.83 8.25 1719 16408.23 done 1.53 - - 2712.06 - 2.80 0.074 1132.31 -406.7 132.37 - - 2227.88 - - - - - - - - - 15.88 -
16550.84 676.57 8.74 1741 16565.61 done 1.53 - - 2712.94 - 2.62 0.031 2272.44 435.2 132.37 - - 2226.88 - - - - - - - - - 15.96 -
16880.10 650.71 7.84 1763 16881.44 VBD 1.55 - - 2713.06 - - - 2272.88 - 132.37 - - 2225.94 - - - - - - - - - - -
17195.49 627.16 7.67 1784 17200.14 done 1.56 - - 2712.44 - 2.80 0.074 1130.75 -407.9 132.37 - - 2226.16 - - - - - - - - - 15.88 -
17275.52 620.97 7.80 1796 17281.07 done 1.57 - - 2712.94 - 2.62 0.030 2271.75 435.5 132.37 - - 2226.56 - - - - - - - - - 15.98 -
17594.92 598.37 6.77 1818 17599.57 done 1.61 - - 2711.56 - 2.79 0.073 1129.94 -409.3 132.37 - - 2226.25 - - - - - - - - - 15.88 -
17654.22 594.03 7.29 1827 17659.76 done 1.63 - - 2712.81 - 2.63 0.030 2273.69 434.9 132.37 - - 2226.47 - - - - - - - - - 15.98 -
17973.62 572.84 6.20 1849 18017.53 1.72 0.21 0.078 2761.56 232.1 2.81 0.076 1130.50 -406.8 174.56 34.40 1.893 2062.31 -4.8 0.246 - - - - - - 15.94 15.67 10.88
18045.91 567.73 7.44 1860 18060.27 roll 1.74 - - 2760.50 - 2.64 0.030 2270.56 431.8 174.56 - - 2062.69 - - - - - - - - - 15.83 -
18374.93 536.60 9.99 1882 18379.65 roll 1.74 - - 2760.50 - 2.82 0.073 1131.69 -403.9 174.56 - - 2057.12 - - - - - - - - - 15.83 -
18432.85 530.30 10.63 1890 18437.49 roll 1.74 - - 2761.31 - 2.64 0.030 2270.56 431.4 174.56 - - 2056.09 - - - - - - - - - 15.87 -
18745.08 498.17 10.55 1912 18749.73 roll 1.74 - - 2761.88 - 2.79 0.073 1132.12 -408.0 174.56 - - 2055.22 - - - - - - - - - 15.85 -
18845.56 486.71 11.48 1925 18850.19 roll 1.74 - - 2760.88 - 2.62 0.031 2271.69 435.0 174.56 - - 2056.62 - - - - - - - - - 15.90 -
19157.22 453.34 10.47 1954 19168.29 no move 1.74 - - 2761.19 - - - 2271.19 - 174.56 - - 2055.62 - - - - - - - - - - -
19469.95 421.07 9.71 1983 19474.59 done 1.74 - - 2760.44 - 2.80 0.072 1130.88 -407.3 174.56 - - 2055.78 - - - - - - - - - 15.87 -
19649.00 401.40 11.02 2006 19653.64 done 1.74 - - 2761.81 - 2.62 0.031 2273.31 436.0 174.56 - - 2053.16 - - - - - - - - - 15.94 -
19960.67 373.04 8.34 2035 19965.34 done 1.74 - - 2761.69 - 2.81 0.072 1130.12 -406.8 174.56 - - 2054.84 - - - - - - - - - 15.88 -
20030.69 366.71 9.04 2045 20045.62 done 1.74 - - 2762.19 - 2.61 0.030 2271.75 437.4 174.56 - - 2054.69 - - - - - - - - - 15.96 -
20347.28 341.41 8.15 2074 20352.00 done 1.74 - - 2762.44 - 2.81 0.072 1130.94 -406.0 174.56 - - 2055.47 - - - - - - - - - 15.88 -
20480.24 329.64 8.96 2092 20495.18 done 1.74 - - 2761.06 - 2.61 0.030 2270.81 436.7 174.56 - - 2055.75 - - - - - - - - - 15.97 -
20796.43 304.52 8.15 2121 20801.08 done 1.74 - - 2761.88 - 2.79 0.071 1131.25 -408.4 174.56 - - 2053.03 - - - - - - - - - 15.88 -
20956.49 289.62 9.53 2149 20962.04 done 1.74 - - 2761.81 - 2.62 0.030 2273.62 436.0 174.56 - - 2054.22 - - - - - - - - - 15.95 -
21266.71 261.83 9.07 2211 21268.04 VBD 1.74 - - 2762.06 - - - 2273.56 - 174.56 - - 2053.47 - - - - - - - - - - -
21571.58 233.63 9.43 2272 21577.14 done 1.74 - - 2762.19 - 2.80 0.071 1130.25 -408.3 174.56 - - 2054.34 - - - - - - - - - 15.87 -
21631.58 227.38 10.66 2284 21637.13 done 1.74 - - 2762.38 - 2.61 0.029 2273.75 438.1 174.56 - - 2054.44 - - - - - - - - - 15.97 -
21941.64 197.97 8.87 2346 21947.39 done 1.74 - - 2761.50 - 2.80 0.071 1131.50 -407.9 174.56 - - 2054.75 - - - - - - - - - 15.87 -
22036.78 189.01 9.28 2365 22042.21 done 1.74 - - 2761.50 - 2.62 0.029 2273.62 435.9 174.56 - - 2054.12 - - - - - - - - - 15.96 -
22346.78 162.85 8.34 2427 22352.33 done 1.74 - - 2762.00 - 2.80 0.071 1129.88 -408.5 174.56 - - 2053.81 - - - - - - - - - 15.87 -
22421.79 156.28 8.66 2442 22427.34 done 1.74 - - 2761.81 - 2.62 0.029 2273.50 436.5 174.56 - - 2054.56 - - - - - - - - - 15.97 -
22731.91 131.39 7.93 2504 22733.24 VBD 1.75 - - 2761.19 - - - 2274.00 - 174.56 - - 2053.16 - - - - - - - - - - -
23037.01 110.15 6.19 2565 23075.60 done 1.83 - - 2761.88 - 2.81 0.073 1130.75 -406.9 216.90 33.26 1.299 1889.59 -4.9 0.071 - - - - - - - 15.70 10.94
23128.26 103.08 8.67 2583 23133.25 roll 1.83 - - 2761.19 - 2.62 0.028 2272.38 435.7 216.90 - - 1888.56 - - - - - - - - - 15.87 -
23438.00 81.72 5.57 2645 23485.65 1.94 0.23 0.074 2815.38 235.6 2.70 0.091 3347.12 398.1 270.85 42.06 1.252 1670.16 -5.2 0.058 - - - - - - 15.86 15.62 11.54
23528.26 74.50 9.39 2663 23533.80 roll 1.94 - - 2815.94 - 2.60 0.022 2185.12 -446.9 270.85 - - 1667.19 - - - - - - - - - 15.77 -
23718.31 57.99 9.62 2701 23723.85 done 1.94 - - 2815.31 - 2.60 0.076 1132.19 -405.0 270.85 - - 1662.38 - - - - - - - - - 15.79 -
23828.34 50.84 5.54 2723 23875.04 done 2.05 - - 2815.94 - 2.62 0.027 2275.25 436.3 325.40 42.33 1.198 1448.88 -5.0 0.036 - - - - - - - 15.82 11.49
24058.37 33.98 7.07 2769 24063.92 roll 2.08 - - 2815.00 - 2.72 0.087 3347.00 394.0 325.40 - - 1441.91 - - - - - - - - - 15.73 -
24293.37 16.99 9.37 2816 24298.92 done 2.08 - - 2816.12 - 2.60 0.021 2174.88 -450.8 325.40 - - 1439.69 - - - - - - - - - 15.80 -
24483.46 8.58 6.36 2854 24520.04 2.15 0.23 0.079 2867.25 222.3 2.94 0.082 3345.69 398.2 364.59 30.89 1.118 1288.88 -4.9 0.006 - - - - - - 15.80 15.62 11.38
24543 end climb: SURFACE_DEPTH_REACHED
24543 begin surface coast
24578 end surface coast: CONTROL_FINISHED_OK
24578 begin surface
SM 0.20 - - - - 178.1 46.81 1.144 1042.7 21.6 16.68 0.048 993.6 59.6 - 2.40 0.025 1091.8 453.7 -0.371 - - 11.78 15.73 15.78 -