NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 732 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 248.21 of 550.00 AH used of 24V (54.87% remains)
• Surface angle -61.0 deg, depth 0.63 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 557.98 (beyond SM_CC=425)
• GPS1 time: 27 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.44 - - - 72.04 VBD -1.35 - - 180.69 - - - 2236.00 - -82.73 65.43 0.005 2668.72 - - - - - - - - - - 15.13
72.78 3.56 -5.67 12 105.62 -1.35 14.98 0.249 2004.88 121.8 2.53 0.064 1208.50 -406.1 -82.73 9.28 0.007 3112.44 47.8 -4.137 - - - - - - 15.40 15.10 15.24
168.08 23.49 -16.67 31 173.26 roll -1.35 - - 2004.56 - 2.66 0.029 2351.12 429.6 -82.73 - - 3113.25 - - - - - - - - - 15.76 -
358.15 51.67 -14.32 69 359.48 no move -1.35 - - 2004.19 - - - 2350.94 - -82.73 - - 3111.31 - - - - - - - - - - -
542.91 71.69 -9.82 106 548.41 roll -1.35 - - 2004.56 - 2.79 0.058 1208.38 -409.5 -82.73 - - 3111.69 - - - - - - - - - 15.82 -
617.87 79.01 -9.83 121 623.43 roll -1.35 - - 2004.56 - 2.63 0.026 2355.19 436.0 -82.73 - - 3112.50 - - - - - - - - - 15.85 -
808.32 96.33 -9.25 159 813.48 roll -1.35 - - 2003.88 - 2.69 0.083 3427.00 398.4 -82.73 - - 3113.47 - - - - - - - - - 15.82 -
978.38 114.78 -10.63 193 983.54 roll -1.35 - - 2005.06 - 2.59 0.019 2243.88 -456.8 -82.73 - - 3113.38 - - - - - - - - - 15.88 -
1288.06 139.44 -7.74 255 1289.39 no move -1.35 - - 2005.31 - - - 2241.81 - -82.73 - - 3112.44 - - - - - - - - - - -
1593.12 163.03 -8.19 316 1598.72 roll -1.35 - - 2004.88 - 2.97 0.078 3426.69 398.9 -82.73 - - 3114.53 - - - - - - - - - 15.88 -
1678.13 170.86 -9.50 333 1683.66 roll -1.35 - - 2005.44 - 2.57 0.019 2243.19 -460.5 -82.73 - - 3114.28 - - - - - - - - - 15.93 -
1988.18 197.70 -8.35 395 1993.96 roll -1.35 - - 2005.06 - 2.98 0.079 3429.12 398.0 -82.73 - - 3114.12 - - - - - - - - - 15.89 -
2033.30 201.80 -9.26 404 2038.72 roll -1.35 - - 2004.69 - 2.58 0.019 2242.88 -459.8 -82.73 - - 3113.81 - - - - - - - - - 15.95 -
2343.24 228.48 -8.62 466 2344.57 no move -1.35 - - 2005.25 - - - 2241.44 - -82.73 - - 3113.09 - - - - - - - - - - -
2648.28 255.00 -8.62 527 2653.88 roll -1.35 - - 2005.12 - 2.96 0.080 3426.19 400.3 -82.73 - - 3114.06 - - - - - - - - - 15.91 -
2743.29 264.17 -9.67 546 2748.82 roll -1.35 - - 2004.94 - 2.57 0.019 2247.19 -458.8 -82.73 - - 3114.72 - - - - - - - - - 15.96 -
3053.34 289.37 -8.11 608 3054.67 no move -1.35 - - 2005.31 - - - 2245.81 - -82.73 - - 3112.62 - - - - - - - - - - -
3363.40 314.94 -8.15 650 3368.08 roll -1.35 - - 2004.00 - 2.96 0.081 3427.88 399.3 -82.73 - - 3112.88 - - - - - - - - - 15.92 -
3480.63 325.70 -9.39 666 3495.56 roll -1.35 - - 2004.00 - 2.57 0.020 2245.44 -460.1 -82.73 - - 3113.69 - - - - - - - - - 16.00 -
3796.83 349.97 -7.33 695 3807.90 no move -1.35 - - 2005.31 - - - 2245.44 - -82.73 - - 3113.16 - - - - - - - - - - -
4109.78 373.89 -7.97 724 4114.48 roll -1.35 - - 2004.81 - 2.97 0.081 3426.19 397.6 -82.73 - - 3111.56 - - - - - - - - - 15.92 -
4178.89 380.15 -8.88 733 4183.50 roll -1.35 - - 2004.69 - 2.57 0.020 2246.69 -458.9 -82.73 - - 3111.88 - - - - - - - - - 15.99 -
4490.17 405.02 -7.89 762 4501.24 no move -1.35 - - 2005.69 - - - 2245.75 - -82.73 - - 3111.34 - - - - - - - - - - -
4802.90 428.19 -7.33 791 4813.97 no move -1.35 - - 2004.94 - - - 2245.44 - -82.73 - - 3111.16 - - - - - - - - - - -
5116.38 452.19 -7.73 820 5121.06 roll -1.35 - - 2004.88 - 2.97 0.082 3426.00 397.5 -82.73 - - 3111.28 - - - - - - - - - 15.92 -
5186.40 458.34 -8.74 830 5201.33 roll -1.35 - - 2005.06 - 2.56 0.020 2247.12 -460.5 -82.73 - - 3111.16 - - - - - - - - - 16.00 -
5502.60 484.13 -8.20 859 5507.28 roll -1.35 - - 2003.69 - 2.96 0.082 3426.75 398.5 -82.73 - - 3110.75 - - - - - - - - - 15.91 -
5588.69 491.77 -9.02 871 5603.60 roll -1.35 - - 2005.31 - 2.57 0.020 2247.56 -458.8 -82.73 - - 3110.59 - - - - - - - - - 16.00 -
5910.95 517.31 -7.88 895 5915.63 roll -1.35 - - 2005.50 - 2.97 0.083 3426.69 397.0 -82.73 - - 3108.91 - - - - - - - - - 15.91 -
5954.50 520.43 -8.17 902 5969.42 roll -1.35 - - 2004.81 - 2.56 0.020 2247.38 -460.7 -82.73 - - 3109.47 - - - - - - - - - 16.00 -
6283.92 544.54 -7.18 924 6285.24 no move -1.35 - - 2004.31 - - - 2247.81 - -82.73 - - 3108.94 - - - - - - - - - - -
6599.13 567.92 -7.58 945 6603.87 roll -1.35 - - 2005.25 - 2.97 0.083 3425.25 396.4 -82.73 - - 3108.88 - - - - - - - - - 15.90 -
6657.07 572.89 -8.28 953 6661.69 roll -1.35 - - 2005.06 - 2.57 0.020 2248.62 -457.8 -82.73 - - 3107.44 - - - - - - - - - 16.00 -
6973.55 597.51 -7.86 975 6974.88 no move -1.35 - - 2004.81 - - - 2247.69 - -82.73 - - 3107.94 - - - - - - - - - - -
7288.56 621.77 -7.98 996 7293.25 roll -1.35 - - 2005.00 - 2.97 0.084 3424.50 396.2 -82.73 - - 3106.84 - - - - - - - - - 15.89 -
7347.85 626.75 -8.40 1005 7353.37 roll -1.35 - - 2004.94 - 2.57 0.021 2249.56 -457.2 -82.73 - - 3108.09 - - - - - - - - - 16.01 -
7667.25 651.64 -7.56 1027 7671.93 roll -1.35 - - 2005.44 - 2.98 0.084 3427.50 395.3 -82.73 - - 3106.28 - - - - - - - - - 15.89 -
7747.28 658.06 -8.08 1039 7752.82 roll -1.35 - - 2005.00 - 2.57 0.021 2248.50 -458.8 -82.73 - - 3107.28 - - - - - - - - - 16.01 -
8066.86 680.91 -6.85 1061 8071.54 roll -1.35 - - 2004.06 - 2.97 0.085 3427.50 397.0 -82.73 - - 3106.66 - - - - - - - - - 15.88 -
8131.14 685.33 -7.40 1071 8146.08 roll -1.35 - - 2005.00 - 2.56 0.021 2250.94 -459.6 -82.73 - - 3107.69 - - - - - - - - - 16.00 -
8460.54 708.10 -6.53 1093 8461.87 no move -1.35 - - 2005.00 - - - 2251.00 - -82.73 - - 3106.03 - - - - - - - - - - -
8775.74 730.01 -7.01 1114 8780.54 roll -1.35 - - 2004.19 - 2.95 0.086 3423.50 397.5 -82.73 - - 3105.62 - - - - - - - - - 15.87 -
8875.14 738.15 -8.19 1128 8879.77 roll -1.35 - - 2005.12 - 2.55 0.021 2250.44 -460.0 -82.73 - - 3104.84 - - - - - - - - - 15.99 -
9191.62 760.12 -6.81 1150 9192.95 no move -1.35 - - 2005.12 - - - 2249.81 - -82.73 - - 3104.47 - - - - - - - - - - -
9506.64 779.75 -5.97 1171 9511.33 roll -1.35 - - 2004.50 - 2.96 0.086 3427.50 397.9 -82.73 - - 3105.50 - - - - - - - - - 15.87 -
9543.84 782.14 -6.18 1176 9548.46 roll -1.35 - - 2004.69 - 2.56 0.021 2250.25 -459.9 -82.73 - - 3105.81 - - - - - - - - - 15.99 -
9860.33 801.20 -6.01 1198 9865.01 roll -1.35 - - 2005.06 - 2.97 0.086 3425.69 395.8 -82.73 - - 3103.53 - - - - - - - - - 15.86 -
9918.25 805.06 -6.49 1206 9922.87 roll -1.35 - - 2004.69 - 2.56 0.021 2250.88 -458.9 -82.73 - - 3104.16 - - - - - - - - - 15.99 -
10234.75 823.77 -5.96 1228 10239.43 roll -1.35 - - 2004.19 - 2.97 0.086 3428.12 396.4 -82.73 - - 3103.75 - - - - - - - - - 15.86 -
10292.66 827.82 -6.74 1236 10297.27 roll -1.35 - - 2005.12 - 2.57 0.021 2249.00 -458.8 -82.73 - - 3103.88 - - - - - - - - - 15.99 -
10609.13 848.57 -6.54 1258 10610.46 no move -1.35 - - 2004.56 - - - 2248.38 - -82.73 - - 3103.56 - - - - - - - - - - -
10924.14 870.86 -7.22 1279 10925.47 no move -1.35 - - 2005.06 - - - 2248.69 - -82.73 - - 3103.31 - - - - - - - - - - -
11239.33 892.74 -6.67 1300 11244.06 roll -1.35 - - 2004.19 - 2.99 0.085 3425.94 393.7 -82.73 - - 3104.00 - - - - - - - - - 15.85 -
11317.99 898.58 -7.31 1311 11322.61 roll -1.35 - - 2004.25 - 2.56 0.020 2250.00 -459.4 -82.73 - - 3103.84 - - - - - - - - - 15.98 -
11634.47 918.55 -6.32 1333 11635.80 no move -1.35 - - 2005.31 - - - 2249.12 - -82.73 - - 3102.59 - - - - - - - - - - -
11949.49 938.09 -6.07 1354 11954.11 roll -1.35 - - 2005.31 - 2.53 0.070 1209.31 -411.0 -82.73 - - 3101.94 - - - - - - - - - 15.89 -
11993.04 940.52 -6.30 1361 12008.30 roll -1.35 - - 2005.56 - 2.63 0.029 2354.19 435.3 -82.73 - - 3103.84 - - - - - - - - - 16.00 -
12322.62 961.47 -6.24 1383 12323.95 no move -1.35 - - 2004.88 - - - 2354.06 - -82.73 - - 3102.06 - - - - - - - - - - -
12637.45 981.74 -6.55 1404 12638.78 no move -1.35 - - 2004.88 - - - 2354.50 - -82.73 - - 3101.59 - - - - - - - - - - -
12772 end dive: TARGET_DEPTH_EXCEEDED
12772 begin apogee
12774.27 990.35 -6.30 1413 12849.86 -0.28 1.86 0.139 2264.50 139.6 0.21 0.135 2282.19 -344.3 - 64.79 2.418 2775.09 -5.0 0.351 - - - - - - 15.76 15.42 10.29
12851 end apogee: CONTROL_FINISHED_OK
12851 begin climb
12852.08 992.06 - 1418 12937.16 1.35 2.68 0.090 2661.31 148.1 - - 2281.56 - 82.73 68.89 2.345 2436.38 -4.9 0.354 - - - - - - 15.56 - 12.06
13250.09 968.73 6.72 1448 13254.75 roll 1.38 - - 2662.00 - 2.89 0.074 1132.31 -397.7 82.73 - - 2431.50 - - - - - - - - - 15.68 -
13308.02 964.55 7.10 1456 13312.66 roll 1.41 - - 2661.94 - 2.66 0.029 2272.69 428.7 82.73 - - 2429.12 - - - - - - - - - 15.71 -
13624.51 942.99 6.68 1478 13629.17 roll 1.44 - - 2661.94 - 2.86 0.073 1130.56 -399.3 82.73 - - 2430.53 - - - - - - - - - 15.79 -
13683.79 938.87 7.00 1487 13689.39 roll back 1.47 0.16 0.094 2701.44 246.9 2.66 0.029 2273.12 429.5 82.73 - - 2430.03 - - - - - - - - 15.69 15.82 -
14003.38 916.17 6.66 1509 14008.04 done 1.51 - - 2701.75 - 2.85 0.072 1131.00 -400.7 82.73 - - 2430.97 - - - - - - - - - 15.84 -
14083.41 910.55 7.09 1521 14088.96 done 1.54 - - 2701.44 - 2.65 0.030 2272.12 430.6 82.73 - - 2430.00 - - - - - - - - - 15.88 -
14402.84 889.88 6.35 1543 14446.64 done 1.62 - - 2700.44 - 2.87 0.076 1131.81 -397.3 122.11 32.83 2.213 2277.06 -4.7 0.319 - - - - - - - 15.58 11.29
14530.88 880.03 7.99 1561 14535.51 roll 1.62 - - 2701.44 - 2.66 0.030 2271.69 428.5 122.11 - - 2272.00 - - - - - - - - - 15.76 -
14847.37 856.70 7.18 1583 14852.10 roll back 1.64 0.17 0.087 2740.44 229.4 2.85 0.073 1131.50 -400.1 122.11 - - 2269.81 - - - - - - - - 15.79 15.73 -
14948.15 847.98 8.79 1598 14953.70 roll 1.64 - - 2739.88 - 2.65 0.030 2271.06 430.0 122.11 - - 2271.44 - - - - - - - - - 15.85 -
15267.55 820.54 8.83 1620 15272.22 roll 1.64 - - 2740.38 - 2.83 0.073 1132.44 -402.3 122.11 - - 2269.50 - - - - - - - - - 15.85 -
15347.58 813.04 9.45 1632 15353.14 roll 1.64 - - 2739.94 - 2.65 0.030 2272.50 430.2 122.11 - - 2271.06 - - - - - - - - - 15.90 -
15667.00 782.29 9.88 1654 15671.67 roll 1.64 - - 2739.12 - 2.83 0.072 1130.69 -403.5 122.11 - - 2269.94 - - - - - - - - - 15.87 -
15787.17 769.68 10.54 1671 15791.80 roll 1.64 - - 2740.12 - 2.62 0.030 2270.00 434.9 122.11 - - 2270.59 - - - - - - - - - 15.92 -
16103.64 740.57 8.67 1693 16108.30 roll 1.64 - - 2739.81 - 2.82 0.073 1130.94 -403.9 122.11 - - 2269.00 - - - - - - - - - 15.88 -
16183.68 733.28 9.20 1705 16189.23 roll 1.64 - - 2740.06 - 2.64 0.030 2271.25 431.9 122.11 - - 2270.28 - - - - - - - - - 15.96 -
16503.28 706.62 7.86 1727 16508.00 roll 1.65 - - 2739.50 - 2.83 0.073 1131.12 -402.9 122.11 - - 2269.78 - - - - - - - - - 15.89 -
16581.96 700.21 8.09 1738 16586.59 roll 1.65 - - 2740.00 - 2.64 0.030 2272.25 432.2 122.11 - - 2268.31 - - - - - - - - - 15.95 -
16898.46 676.08 7.70 1760 16903.12 roll 1.67 - - 2739.75 - 2.82 0.073 1132.38 -404.2 122.11 - - 2269.09 - - - - - - - - - 15.89 -
16999.21 667.60 8.54 1775 17004.76 roll 1.67 - - 2740.44 - 2.62 0.030 2272.25 435.1 122.11 - - 2269.84 - - - - - - - - - 15.96 -
17318.61 641.27 8.17 1797 17319.94 no move 1.67 - - 2740.00 - - - 2271.44 - 122.11 - - 2268.75 - - - - - - - - - - -
17633.62 613.76 8.97 1818 17638.28 roll 1.67 - - 2739.88 - 2.84 0.073 1132.06 -401.2 122.11 - - 2268.47 - - - - - - - - - 15.89 -
17817.69 596.81 9.19 1845 17822.86 roll 1.67 - - 2739.88 - 2.63 0.030 2273.62 434.1 122.11 - - 2269.94 - - - - - - - - - 15.98 -
18136.70 570.57 8.10 1867 18141.37 roll 1.67 - - 2738.69 - 2.84 0.072 1131.00 -402.3 122.11 - - 2271.41 - - - - - - - - - 15.89 -
18216.71 564.01 8.31 1879 18222.26 done 1.67 - - 2739.81 - 2.62 0.030 2272.81 435.8 122.11 - - 2269.78 - - - - - - - - - 15.98 -
18536.30 539.72 7.70 1901 18541.03 done 1.68 - - 2739.62 - 2.84 0.072 1130.75 -402.1 122.11 - - 2268.53 - - - - - - - - - 15.89 -
18621.31 533.19 8.22 1914 18636.25 roll 1.68 - - 2739.12 - 2.62 0.030 2273.00 436.0 122.11 - - 2270.19 - - - - - - - - - 15.98 -
18950.90 507.36 7.67 1936 18955.56 roll 1.70 - - 2739.94 - 2.71 0.091 3345.81 395.9 122.11 - - 2268.69 - - - - - - - - - 15.86 -
18989.45 504.33 7.88 1942 18994.97 roll 1.71 - - 2740.00 - 2.59 0.023 2184.69 -448.3 122.11 - - 2269.69 - - - - - - - - - 15.98 -
19301.05 481.26 7.27 1970 19312.13 VBD 1.73 - - 2740.31 - - - 2183.25 - 122.11 - - 2269.22 - - - - - - - - - - -
19614.03 457.89 7.43 1999 19618.66 done 1.76 - - 2740.12 - 2.61 0.077 1132.12 -402.7 122.11 - - 2271.03 - - - - - - - - - 15.88 -
19668.31 453.75 7.67 2007 19683.23 done 1.77 - - 2739.25 - 2.62 0.029 2273.69 435.7 122.11 - - 2269.50 - - - - - - - - - 15.98 -
19984.81 429.96 7.37 2036 19995.88 no move 1.79 - - 2740.56 - - - 2274.00 - 122.11 - - 2269.41 - - - - - - - - - - -
20297.68 407.80 7.11 2065 20308.87 pitch 1.82 0.19 0.082 2786.56 242.1 - - 2273.38 - 122.11 - - 2269.44 - - - - - - - - 15.94 - -
20610.43 382.07 8.27 2094 20615.10 done 1.82 - - 2785.75 - 2.83 0.072 1132.06 -403.3 122.11 - - 2269.53 - - - - - - - - - 15.87 -
20758.31 369.95 8.19 2113 20763.01 done 1.82 - - 2786.25 - 2.61 0.029 2272.81 437.1 122.11 - - 2268.38 - - - - - - - - - 15.97 -
21070.23 347.25 7.09 2142 21074.90 roll 1.85 - - 2786.88 - 2.83 0.071 1131.62 -403.2 122.11 - - 2267.53 - - - - - - - - - 15.87 -
21124.52 343.35 7.24 2150 21139.44 done 1.87 - - 2786.75 - 2.62 0.029 2275.44 436.6 122.11 - - 2269.38 - - - - - - - - - 15.99 -
21441.02 320.85 7.18 2179 21445.69 done 1.90 - - 2786.69 - 2.83 0.071 1132.25 -404.0 122.11 - - 2269.28 - - - - - - - - - 15.87 -
21604.27 308.29 7.75 2200 21608.96 done 1.91 - - 2786.62 - 2.62 0.029 2274.69 436.0 122.11 - - 2269.19 - - - - - - - - - 15.97 -
21910.19 287.95 6.12 2247 21951.22 2.00 0.16 0.089 2828.31 260.6 2.84 0.073 1129.81 -403.1 165.71 34.52 1.544 2098.75 -4.9 0.157 - - - - - - 15.93 15.66 10.70
22110.20 269.47 10.39 2287 22115.75 roll 2.00 - - 2828.50 - 2.65 0.029 2270.69 430.5 165.71 - - 2094.88 - - - - - - - - - 15.86 -
22420.36 241.57 8.56 2349 22425.83 roll 2.00 - - 2827.75 - 2.85 0.070 1130.94 -399.9 165.71 - - 2092.62 - - - - - - - - - 15.83 -
22605.26 223.79 9.79 2386 22610.81 roll 2.00 - - 2827.88 - 2.64 0.029 2272.69 432.5 165.71 - - 2091.81 - - - - - - - - - 15.89 -
22915.31 195.13 9.32 2448 22920.89 roll 2.00 - - 2828.19 - 2.85 0.070 1130.19 -400.9 165.71 - - 2092.03 - - - - - - - - - 15.85 -
22990.32 188.12 9.37 2463 22995.88 roll 2.00 - - 2828.38 - 2.63 0.029 2273.50 434.7 165.71 - - 2092.09 - - - - - - - - - 15.92 -
23300.37 161.88 8.17 2525 23305.95 roll 2.00 - - 2827.94 - 2.84 0.070 1130.69 -402.4 165.71 - - 2092.62 - - - - - - - - - 15.85 -
23435.39 150.48 8.31 2552 23440.94 roll 2.00 - - 2827.88 - 2.63 0.029 2273.75 434.6 165.71 - - 2093.19 - - - - - - - - - 15.93 -
23745.51 128.63 6.68 2614 23751.24 roll 2.03 - - 2826.88 - 2.71 0.087 3347.12 396.1 165.71 - - 2092.78 - - - - - - - - - 15.84 -
23980.58 111.93 6.32 2661 24017.08 done 2.11 - - 2828.88 - 2.58 0.021 2183.94 -450.8 205.70 31.86 1.298 1935.56 -4.9 0.072 - - - - - - - 15.95 11.20
24321.07 87.65 5.88 2729 24364.43 2.21 0.23 0.070 2880.25 223.3 2.95 0.084 3346.12 394.0 253.87 37.94 1.261 1741.75 -5.1 0.060 - - - - - - 15.84 15.62 11.50
24591.99 64.75 9.16 2783 24597.55 roll 2.21 - - 2881.44 - 2.61 0.022 2186.81 -444.2 253.87 - - 1734.56 - - - - - - - - - 15.80 -
24782.03 50.17 7.90 2821 24783.37 VBD 2.22 - - 2881.56 - - - 2186.81 - 253.87 - - 1731.09 - - - - - - - - - - -
24967.06 49.70 -0.45 2858 25033.97 2.55 0.44 0.062 2962.94 185.0 - - 2186.31 - 420.06 65.17 1.216 1390.31 -5.2 0.036 - - - - - - 15.82 - 11.45
25035 end climb: NO_VERTICAL_VELOCITY
25035 begin surface
SM 0.45 - - - - 184.3 - - 494.6 - 18.00 0.078 457.4 25.4 - 0.35 0.065 531.7 1519.1 -1.075 - - 30.00 15.52 15.60 -