NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 724 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 244.91 of 550.00 AH used of 24V (55.47% remains)
• Surface angle -63.0 deg, depth 0.30 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.11 (SM_CC=425)
• GPS1 time: 125 s
• GPS2 time: 3 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 - - - 82.59 VBD -1.35 - - 176.38 - - - 2407.62 - -82.73 75.63 0.005 2850.31 - - - - - - - - - - 15.07
83.32 3.52 -6.73 14 112.65 -1.35 14.94 0.244 2003.94 122.3 2.89 0.059 1207.06 -415.4 -82.73 5.52 0.009 3111.84 47.4 -3.150 - - - - - - 15.43 15.09 15.19
239.73 29.53 -15.62 45 245.49 roll -1.35 - - 2004.50 - 2.66 0.032 2346.88 428.5 -82.73 - - 3112.75 - - - - - - - - - 15.76 -
430.29 51.91 -11.30 83 435.34 roll -1.35 - - 2004.12 - 2.69 0.084 3427.50 401.7 -82.73 - - 3112.41 - - - - - - - - - 15.77 -
514.81 61.73 -12.59 100 520.35 roll -1.35 - - 2003.44 - 2.57 0.019 2243.75 -460.6 -82.73 - - 3113.19 - - - - - - - - - 15.82 -
705.28 82.25 -11.17 138 710.48 roll -1.35 - - 2004.00 - 2.94 0.079 3426.44 402.3 -82.73 - - 3113.44 - - - - - - - - - 15.81 -
860.32 99.80 -11.15 169 865.47 roll -1.35 - - 2004.31 - 2.55 0.019 2245.50 -463.1 -82.73 - - 3113.09 - - - - - - - - - 15.87 -
1049.99 116.62 -7.81 207 1051.32 no move -1.35 - - 2004.62 - - - 2244.00 - -82.73 - - 3111.84 - - - - - - - - - - -
1355.11 141.46 -8.32 268 1360.23 roll -1.35 - - 2005.12 - 2.45 0.065 1208.25 -422.8 -82.73 - - 3113.22 - - - - - - - - - 15.91 -
1405.12 145.74 -8.61 278 1410.66 roll -1.35 - - 2004.38 - 2.59 0.027 2355.38 442.9 -82.73 - - 3113.16 - - - - - - - - - 15.92 -
1715.23 173.29 -8.42 340 1720.77 roll -1.35 - - 2003.94 - 2.63 0.085 3427.62 407.7 -82.73 - - 3114.09 - - - - - - - - - 15.90 -
1735.41 175.04 -8.57 344 1740.83 roll -1.35 - - 2004.81 - 2.56 0.020 2241.12 -463.5 -82.73 - - 3114.12 - - - - - - - - - 15.93 -
2045.35 201.03 -7.72 406 2046.68 no move -1.35 - - 2004.56 - - - 2240.38 - -82.73 - - 3112.34 - - - - - - - - - - -
2350.43 225.68 -7.95 467 2355.54 roll -1.35 - - 2004.38 - 2.47 0.066 1208.06 -417.9 -82.73 - - 3114.44 - - - - - - - - - 15.94 -
2385.43 228.63 -8.33 474 2390.97 roll -1.35 - - 2004.12 - 2.59 0.027 2355.56 443.1 -82.73 - - 3113.16 - - - - - - - - - 15.97 -
2695.49 252.47 -7.73 536 2701.03 roll -1.35 - - 2004.19 - 2.64 0.084 3426.69 405.7 -82.73 - - 3114.50 - - - - - - - - - 15.91 -
2740.48 256.29 -8.59 545 2746.02 roll -1.35 - - 2004.44 - 2.57 0.019 2244.25 -460.1 -82.73 - - 3113.12 - - - - - - - - - 15.96 -
3050.54 280.62 -8.04 607 3051.87 no move -1.35 - - 2004.19 - - - 2242.75 - -82.73 - - 3111.47 - - - - - - - - - - -
3357.15 305.36 -8.20 661 3361.83 roll -1.35 - - 2004.25 - 2.94 0.080 3429.00 403.5 -82.73 - - 3110.75 - - - - - - - - - 15.93 -
3380.13 307.26 -8.47 665 3394.93 roll -1.35 - - 2004.19 - 2.57 0.020 2244.12 -461.0 -82.73 - - 3112.75 - - - - - - - - - 15.99 -
3696.49 333.50 -8.32 694 3707.56 no move -1.35 - - 2004.88 - - - 2244.12 - -82.73 - - 3112.06 - - - - - - - - - - -
4009.31 358.80 -7.92 723 4013.99 roll -1.35 - - 2003.81 - 2.94 0.081 3428.00 402.7 -82.73 - - 3112.72 - - - - - - - - - 15.93 -
4109.78 368.06 -9.33 736 4114.38 roll -1.35 - - 2003.75 - 2.56 0.020 2248.19 -460.9 -82.73 - - 3111.16 - - - - - - - - - 15.99 -
4421.05 393.71 -8.30 765 4432.12 no move -1.35 - - 2004.62 - - - 2247.19 - -82.73 - - 3111.09 - - - - - - - - - - -
4733.76 420.26 -8.44 794 4738.45 roll -1.35 - - 2004.81 - 2.95 0.082 3429.12 400.7 -82.73 - - 3110.03 - - - - - - - - - 15.92 -
4820.26 428.38 -9.48 806 4835.02 roll -1.35 - - 2004.06 - 2.56 0.020 2246.19 -462.1 -82.73 - - 3111.31 - - - - - - - - - 16.00 -
5136.40 455.11 -8.47 835 5141.07 roll -1.35 - - 2003.81 - 2.95 0.082 3428.44 400.8 -82.73 - - 3110.03 - - - - - - - - - 15.92 -
5159.20 457.01 -8.65 839 5174.12 roll -1.35 - - 2004.88 - 2.55 0.020 2245.19 -464.0 -82.73 - - 3110.06 - - - - - - - - - 16.00 -
5475.39 482.77 -8.35 868 5480.07 roll -1.35 - - 2004.56 - 2.95 0.083 3428.69 401.2 -82.73 - - 3109.56 - - - - - - - - - 15.91 -
5544.24 489.07 -9.06 877 5548.92 roll -1.35 - - 2004.62 - 2.56 0.020 2247.94 -461.2 -82.73 - - 3108.75 - - - - - - - - - 16.00 -
5863.80 514.79 -8.01 902 5865.12 no move -1.35 - - 2004.19 - - - 2248.12 - -82.73 - - 3108.97 - - - - - - - - - - -
6178.81 538.69 -7.28 923 6183.50 roll -1.35 - - 2003.00 - 2.95 0.083 3424.56 398.8 -82.73 - - 3109.81 - - - - - - - - - 15.91 -
6305.67 548.61 -8.35 942 6320.59 roll -1.35 - - 2004.25 - 2.56 0.021 2248.12 -459.5 -82.73 - - 3108.81 - - - - - - - - - 16.00 -
6635.08 573.10 -6.89 964 6639.75 roll -1.35 - - 2004.06 - 2.95 0.083 3424.06 398.6 -82.73 - - 3107.97 - - - - - - - - - 15.91 -
6673.62 575.97 -7.32 970 6679.16 roll -1.35 - - 2004.69 - 2.56 0.021 2247.62 -459.5 -82.73 - - 3108.38 - - - - - - - - - 16.00 -
6993.04 597.51 -6.70 992 6994.36 no move -1.35 - - 2004.44 - - - 2247.00 - -82.73 - - 3106.44 - - - - - - - - - - -
7308.16 618.83 -6.98 1013 7312.84 roll -1.35 - - 2003.94 - 2.97 0.084 3426.00 397.0 -82.73 - - 3107.12 - - - - - - - - - 15.90 -
7428.31 628.51 -8.14 1030 7432.93 roll -1.35 - - 2004.19 - 2.58 0.021 2249.81 -455.9 -82.73 - - 3106.09 - - - - - - - - - 16.00 -
7744.78 651.04 -7.11 1052 7746.11 no move -1.35 - - 2004.75 - - - 2249.00 - -82.73 - - 3106.53 - - - - - - - - - - -
8059.80 674.74 -7.57 1073 8064.67 roll -1.35 - - 2004.50 - 2.97 0.085 3427.44 396.8 -82.73 - - 3105.72 - - - - - - - - - 15.89 -
8181.43 684.75 -8.41 1091 8186.85 roll -1.35 - - 2004.06 - 2.56 0.021 2251.44 -459.4 -82.73 - - 3106.75 - - - - - - - - - 16.00 -
8500.72 708.04 -6.99 1113 8502.05 no move -1.35 - - 2004.81 - - - 2251.25 - -82.73 - - 3105.41 - - - - - - - - - - -
8815.74 729.84 -6.92 1134 8817.07 no move -1.35 - - 2003.94 - - - 2251.12 - -82.73 - - 3104.72 - - - - - - - - - - -
9130.76 751.79 -7.01 1155 9132.09 no move -1.35 - - 2004.19 - - - 2250.75 - -82.73 - - 3104.28 - - - - - - - - - - -
9445.79 771.94 -6.43 1176 9447.12 no move -1.35 - - 2004.62 - - - 2250.81 - -82.73 - - 3103.88 - - - - - - - - - - -
9760.78 793.39 -6.90 1197 9765.47 roll -1.35 - - 2004.38 - 2.97 0.086 3427.06 396.0 -82.73 - - 3103.62 - - - - - - - - - 15.87 -
9845.81 799.64 -7.84 1210 9860.73 roll -1.35 - - 2002.88 - 2.56 0.021 2250.56 -459.6 -82.73 - - 3107.00 - - - - - - - - - 16.00 -
10175.26 821.64 -6.19 1232 10176.59 no move -1.35 - - 2004.06 - - - 2250.38 - -82.73 - - 3103.12 - - - - - - - - - - -
10490.31 840.79 -5.97 1253 10494.99 roll -1.35 - - 2004.25 - 2.99 0.086 3427.38 393.6 -82.73 - - 3103.09 - - - - - - - - - 15.86 -
10549.57 844.74 -6.61 1262 10555.11 roll -1.35 - - 2004.25 - 2.57 0.021 2250.19 -458.1 -82.73 - - 3103.56 - - - - - - - - - 16.00 -
10869.00 864.71 -6.28 1284 10870.32 no move -1.35 - - 2004.50 - - - 2249.31 - -82.73 - - 3102.62 - - - - - - - - - - -
11183.99 885.17 -6.48 1305 11185.32 no move -1.35 - - 2004.31 - - - 2249.38 - -82.73 - - 3102.22 - - - - - - - - - - -
11499.00 905.90 -6.80 1326 11503.86 roll -1.35 - - 2004.19 - 2.98 0.087 3424.94 394.5 -82.73 - - 3101.91 - - - - - - - - - 15.85 -
11599.92 913.83 -8.00 1341 11605.28 roll -1.35 - - 2003.12 - 2.57 0.021 2251.31 -456.7 -82.73 - - 3105.19 - - - - - - - - - 15.99 -
11919.37 934.49 -6.03 1363 11920.70 no move -1.35 - - 2004.44 - - - 2251.75 - -82.73 - - 3101.16 - - - - - - - - - - -
12234.23 953.49 -5.74 1384 12235.56 no move -1.35 - - 2004.19 - - - 2251.38 - -82.73 - - 3102.25 - - - - - - - - - - -
12549.28 970.16 -5.00 1405 12553.96 roll -1.35 - - 2004.25 - 2.99 0.087 3425.12 392.6 -82.73 - - 3102.41 - - - - - - - - - 15.83 -
12608.56 973.50 -5.56 1414 12614.08 roll -1.35 - - 2003.19 - 2.57 0.021 2247.38 -458.3 -82.73 - - 3102.62 - - - - - - - - - 15.99 -
12927 end dive: TARGET_DEPTH_EXCEEDED
12927 begin apogee
12929.75 990.41 -5.26 1436 13005.34 -0.28 1.87 0.139 2264.44 139.7 0.15 0.176 2288.81 276.2 - 64.47 2.431 2773.94 -5.1 0.353 - - - - - - 15.76 15.40 10.32
13006 end apogee: CONTROL_FINISHED_OK
13006 begin climb
13007.55 991.45 - 1441 13081.77 1.35 2.66 0.087 2662.50 149.6 - - 2287.94 - 82.73 69.12 2.344 2437.06 -4.9 0.350 - - - - - - 15.56 - 12.02
13394.05 968.11 6.28 1467 13437.91 done 1.43 - - 2662.00 - 2.92 0.079 1132.25 -395.8 123.48 35.12 2.245 2270.00 -4.8 0.349 - - - - - - - 15.36 11.53
13563.20 956.08 7.46 1491 13567.83 roll 1.45 - - 2661.06 - 2.67 0.030 2269.38 425.9 123.48 - - 2268.28 - - - - - - - - - 15.63 -
13879.86 934.53 7.17 1513 13884.58 roll back 1.47 0.16 0.089 2700.12 244.1 2.80 0.075 1131.12 -406.5 123.48 - - 2267.84 - - - - - - - - 15.74 15.68 -
13958.56 927.65 8.56 1524 13963.19 roll 1.47 - - 2701.44 - 2.65 0.031 2268.81 429.3 123.48 - - 2263.62 - - - - - - - - - 15.79 -
14275.21 899.55 8.78 1546 14276.54 VBD 1.47 - - 2701.12 - - - 2268.88 - 123.48 - - 2262.59 - - - - - - - - - - -
14590.05 869.77 9.90 1567 14594.72 done 1.47 - - 2700.75 - 2.82 0.074 1130.75 -403.6 123.48 - - 2263.25 - - - - - - - - - 15.85 -
14670.42 861.47 10.47 1579 14675.97 done 1.47 - - 2700.69 - 2.64 0.031 2271.88 432.2 123.48 - - 2264.75 - - - - - - - - - 15.89 -
14989.82 830.05 9.54 1601 14994.49 done 1.47 - - 2701.81 - 2.81 0.074 1131.12 -406.0 123.48 - - 2261.22 - - - - - - - - - 15.87 -
15090.76 820.23 9.89 1616 15096.20 done 1.47 - - 2701.81 - 2.62 0.031 2270.94 435.0 123.48 - - 2262.69 - - - - - - - - - 15.91 -
15409.99 792.78 8.08 1638 15414.64 done 1.47 - - 2701.31 - 2.76 0.074 1131.12 -413.0 123.48 - - 2261.31 - - - - - - - - - 15.88 -
15474.27 787.81 8.44 1648 15489.20 done 1.47 - - 2700.88 - 2.61 0.031 2271.69 437.0 123.48 - - 2262.84 - - - - - - - - - 15.94 -
15803.67 760.98 7.99 1670 15805.00 VBD 1.47 - - 2701.56 - - - 2272.56 - 123.48 - - 2260.75 - - - - - - - - - - -
16118.71 735.91 7.72 1691 16123.35 done 1.49 - - 2701.88 - 2.77 0.074 1131.12 -412.1 123.48 - - 2261.44 - - - - - - - - - 15.88 -
16286.70 722.18 8.48 1716 16301.87 done 1.49 - - 2701.88 - 2.62 0.031 2272.00 435.5 123.48 - - 2262.09 - - - - - - - - - 15.97 -
16616.11 695.23 8.07 1738 16620.75 done 1.49 - - 2700.06 - 2.78 0.074 1130.69 -410.5 123.48 - - 2261.84 - - - - - - - - - 15.88 -
16763.37 682.97 8.89 1760 16778.30 done 1.49 - - 2700.94 - 2.63 0.031 2273.50 434.5 123.48 - - 2262.81 - - - - - - - - - 15.97 -
17092.76 655.86 7.97 1782 17097.41 done 1.49 - - 2700.38 - 2.79 0.074 1129.88 -409.9 123.48 - - 2264.19 - - - - - - - - - 15.88 -
17239.98 643.66 8.79 1804 17255.11 done 1.49 - - 2701.31 - 2.62 0.031 2273.56 436.5 123.48 - - 2262.50 - - - - - - - - - 15.97 -
17569.54 618.63 7.12 1826 17570.87 VBD 1.52 - - 2701.75 - - - 2273.19 - 123.48 - - 2259.69 - - - - - - - - - - -
17884.43 597.35 6.62 1847 17889.09 done 1.55 - - 2701.38 - 2.80 0.074 1130.56 -408.1 123.48 - - 2259.53 - - - - - - - - - 15.88 -
18004.92 588.51 7.41 1864 18009.56 done 1.57 - - 2701.31 - 2.62 0.031 2273.75 436.3 123.48 - - 2259.69 - - - - - - - - - 15.97 -
18321.42 564.90 7.54 1886 18326.07 done 1.59 - - 2701.38 - 2.78 0.074 1129.62 -411.6 123.48 - - 2258.91 - - - - - - - - - 15.88 -
18427.19 556.91 8.04 1902 18442.12 done 1.59 - - 2701.44 - 2.62 0.031 2271.88 436.0 123.48 - - 2260.88 - - - - - - - - - 15.98 -
18757.12 532.38 7.32 1924 18761.77 done 1.61 - - 2700.94 - 2.78 0.074 1129.81 -410.8 123.48 - - 2261.81 - - - - - - - - - 15.88 -
18904.36 520.73 8.29 1946 18919.29 done 1.61 - - 2701.75 - 2.63 0.030 2273.12 434.7 123.48 - - 2260.78 - - - - - - - - - 15.99 -
19227.45 495.55 7.91 1969 19238.53 VBD 1.63 - - 2701.62 - - - 2272.44 - 123.48 - - 2260.88 - - - - - - - - - - -
19540.31 471.93 7.05 1998 19545.03 1.65 0.19 0.082 2743.31 219.4 2.77 0.074 1132.00 -411.7 123.48 - - 2260.88 - - - - - - - - 15.94 15.82 -
19689.20 459.50 8.68 2018 19704.01 done 1.65 - - 2744.44 - 2.62 0.030 2269.31 434.1 123.48 - - 2260.12 - - - - - - - - - 15.99 -
20005.70 436.12 6.91 2047 20010.35 done 1.69 - - 2743.62 - 2.79 0.073 1130.12 -408.3 123.48 - - 2260.22 - - - - - - - - - 15.87 -
20059.98 432.19 7.22 2055 20074.92 done 1.71 - - 2744.50 - 2.62 0.030 2273.75 436.5 123.48 - - 2261.03 - - - - - - - - - 15.99 -
20376.82 411.33 6.75 2084 20387.89 VBD 1.74 - - 2744.50 - - - 2273.31 - 123.48 - - 2260.75 - - - - - - - - - - -
20689.46 388.92 7.20 2113 20700.54 VBD 1.77 - - 2744.44 - - - 2274.00 - 123.48 - - 2261.09 - - - - - - - - - - -
21002.32 364.04 8.30 2142 21006.97 done 1.77 - - 2744.19 - 2.78 0.073 1131.12 -411.1 123.48 - - 2260.19 - - - - - - - - - 15.86 -
21088.06 356.64 8.70 2154 21103.00 done 1.77 - - 2744.00 - 2.63 0.030 2274.25 434.7 123.48 - - 2261.16 - - - - - - - - - 15.98 -
21404.57 333.62 6.96 2183 21409.22 done 1.80 - - 2744.56 - 2.77 0.072 1130.88 -412.8 123.48 - - 2261.28 - - - - - - - - - 15.86 -
21520.45 325.35 6.98 2198 21525.15 1.83 0.17 0.089 2786.50 246.7 2.62 0.030 2273.06 435.9 123.48 - - 2260.84 - - - - - - - - 15.77 15.98 -
21832.65 304.74 6.74 2227 21837.30 done 1.86 - - 2787.44 - 2.78 0.072 1129.75 -411.3 123.48 - - 2259.69 - - - - - - - - - 15.86 -
21885.58 300.93 7.08 2234 21890.21 done 1.89 - - 2787.50 - 2.62 0.029 2273.62 436.6 123.48 - - 2260.41 - - - - - - - - - 15.98 -
22194.26 280.17 6.60 2293 22199.81 done 1.93 - - 2788.75 - 2.78 0.071 1130.50 -411.2 123.48 - - 2260.69 - - - - - - - - - 15.85 -
22254.28 275.79 7.43 2305 22259.81 done 1.95 - - 2788.31 - 2.62 0.029 2273.12 436.1 123.48 - - 2260.72 - - - - - - - - - 15.97 -
22564.50 254.48 7.25 2367 22569.94 done 1.97 - - 2789.06 - 2.78 0.071 1129.50 -411.4 123.48 - - 2260.72 - - - - - - - - - 15.85 -
22649.40 247.78 7.93 2384 22654.95 done 1.98 - - 2787.69 - 2.61 0.029 2272.75 438.0 123.48 - - 2261.53 - - - - - - - - - 15.96 -
22959.45 225.79 6.70 2446 22965.06 2.02 0.18 0.081 2834.94 262.5 2.77 0.071 1129.81 -412.6 123.48 - - 2261.19 - - - - - - - - 15.93 15.82 -
23124.50 211.83 8.62 2479 23130.00 done 2.02 - - 2835.12 - 2.62 0.029 2274.00 436.7 123.48 - - 2261.56 - - - - - - - - - 15.95 -
23434.52 188.96 6.94 2541 23440.06 done 2.05 - - 2835.81 - 2.79 0.070 1128.81 -410.5 123.48 - - 2261.50 - - - - - - - - - 15.85 -
23529.53 182.30 6.86 2560 23535.07 done 2.08 - - 2835.62 - 2.62 0.029 2273.44 436.9 123.48 - - 2261.78 - - - - - - - - - 15.95 -
23839.58 163.10 5.67 2622 23880.35 VBD 2.19 - - 2836.06 - - - 2273.62 - 175.49 39.81 1.377 2059.16 -5.1 0.102 - - - - - - - - 10.54
24184.60 131.26 11.11 2691 24190.17 roll 2.19 - - 2836.12 - 2.79 0.071 1130.25 -409.8 175.49 - - 2052.28 - - - - - - - - - 15.82 -
24354.62 113.14 8.81 2725 24360.17 done 2.19 - - 2836.00 - 2.63 0.029 2274.62 435.1 175.49 - - 2051.34 - - - - - - - - - 15.87 -
24664.85 89.40 8.10 2787 24670.29 done 2.19 - - 2834.88 - 2.78 0.070 1129.94 -411.8 175.49 - - 2052.31 - - - - - - - - - 15.84 -
24759.68 83.01 6.12 2806 24800.70 2.27 0.28 0.065 2898.50 227.2 2.62 0.028 2274.81 437.0 219.23 34.41 1.258 1882.31 -4.9 0.055 - - - - - - 15.73 15.90 11.34
24984.71 68.03 7.56 2851 24990.27 roll 2.29 - - 2898.81 - 2.79 0.070 1130.94 -410.0 219.23 - - 1874.56 - - - - - - - - - 15.80 -
25059.72 62.68 6.86 2866 25065.26 roll 2.32 - - 2898.31 - 2.63 0.027 2275.12 435.0 219.23 - - 1874.25 - - - - - - - - - 15.83 -
25249.75 54.10 2.96 2904 25331.58 2.53 0.26 0.067 2958.38 231.0 - - 2275.19 - 321.95 77.69 1.229 1462.22 -5.3 0.040 - - - - - - 15.82 - 11.36
25514.78 40.79 5.75 2957 25558.47 done 2.63 - - 2958.19 - 2.72 0.087 3346.06 393.7 372.45 39.03 1.154 1257.19 -5.3 0.032 - - - - - - - 15.46 11.58
25750.69 9.92 16.85 3004 25756.24 roll 2.63 - - 2959.31 - 2.61 0.022 2190.25 -442.8 372.45 - - 1251.06 - - - - - - - - - 15.72 -
25795 end climb: SURFACE_DEPTH_REACHED
25795 begin surface coast
25825 end surface coast: CONTROL_FINISHED_OK
25825 begin surface
SM 2.31 - - - - 178.2 40.17 1.133 1042.0 25.9 17.45 0.055 1000.7 57.3 - 0.34 0.067 1083.2 3178.2 -11.200 - - 11.52 15.66 15.72 -