NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 741 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 251.87 of 550.00 AH used of 24V (54.20% remains)
• Surface angle -62.5 deg, depth 0.78 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 62 s
• GPS2 time: 2 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
5.45 - - - 77.13 VBD -1.35 - - 178.31 - - - 2230.81 - -82.73 70.50 0.005 2791.50 - - - - - - - - - - 15.10
78.24 3.36 -4.59 13 110.01 -1.35 14.85 0.244 2003.38 122.9 3.08 0.082 3425.62 387.9 -82.73 6.70 0.008 3113.72 48.1 -3.441 - - - - - - 15.44 15.10 15.24
257.12 40.95 -17.40 49 262.66 roll -1.35 - - 2003.75 - 2.60 0.019 2251.62 -451.5 -82.73 - - 3113.19 - - - - - - - - - 15.77 -
447.83 64.54 -11.54 87 452.81 roll -1.35 - - 2003.06 - 3.01 0.080 3425.38 390.0 -82.73 - - 3114.78 - - - - - - - - - 15.77 -
512.22 72.52 -12.55 100 517.75 roll -1.35 - - 2004.00 - 2.58 0.019 2249.38 -455.8 -82.73 - - 3113.59 - - - - - - - - - 15.82 -
702.67 91.95 -9.55 138 707.82 roll -1.35 - - 2003.69 - 2.52 0.064 1209.62 -412.6 -82.73 - - 3114.09 - - - - - - - - - 15.85 -
817.32 102.53 -8.77 161 822.88 roll -1.35 - - 2004.19 - 2.64 0.027 2352.94 433.1 -82.73 - - 3113.53 - - - - - - - - - 15.88 -
1127.41 126.81 -7.71 223 1132.97 roll -1.35 - - 2004.00 - 2.72 0.084 3426.00 394.5 -82.73 - - 3114.22 - - - - - - - - - 15.86 -
1237.42 136.01 -8.57 245 1242.96 roll -1.35 - - 2003.31 - 2.58 0.019 2243.81 -458.2 -82.73 - - 3115.97 - - - - - - - - - 15.91 -
1547.47 159.45 -7.55 307 1552.60 roll -1.35 - - 2004.00 - 2.50 0.064 1208.19 -414.2 -82.73 - - 3115.12 - - - - - - - - - 15.91 -
1657.49 168.32 -8.26 329 1663.04 roll -1.35 - - 2003.81 - 2.65 0.027 2352.38 431.8 -82.73 - - 3115.34 - - - - - - - - - 15.95 -
1967.66 192.10 -7.95 391 1973.11 roll -1.35 - - 2004.00 - 2.78 0.059 1208.50 -411.5 -82.73 - - 3115.62 - - - - - - - - - 15.93 -
2032.55 197.55 -8.45 404 2038.09 roll -1.35 - - 2003.69 - 2.64 0.028 2353.19 433.6 -82.73 - - 3115.88 - - - - - - - - - 15.96 -
2342.61 221.60 -7.87 466 2343.94 no move -1.35 - - 2003.69 - - - 2353.06 - -82.73 - - 3114.66 - - - - - - - - - - -
2647.65 245.94 -8.05 527 2648.98 no move -1.35 - - 2003.81 - - - 2353.12 - -82.73 - - 3113.50 - - - - - - - - - - -
2952.69 271.58 -8.60 588 2954.02 no move -1.35 - - 2003.69 - - - 2353.31 - -82.73 - - 3113.88 - - - - - - - - - - -
3257.74 297.72 -8.51 649 3259.07 no move -1.35 - - 2003.62 - - - 2353.12 - -82.73 - - 3113.94 - - - - - - - - - - -
3564.58 323.25 -8.33 680 3569.22 roll -1.35 - - 2002.69 - 2.77 0.061 1207.81 -413.5 -82.73 - - 3113.69 - - - - - - - - - 15.95 -
3618.86 327.93 -8.68 688 3633.79 roll -1.35 - - 2002.88 - 2.62 0.029 2349.75 435.9 -82.73 - - 3114.97 - - - - - - - - - 16.01 -
3935.07 353.59 -8.01 717 3939.91 roll -1.35 - - 2004.06 - 2.73 0.088 3426.44 394.4 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
3973.73 356.91 -8.60 723 3988.54 roll -1.35 - - 2003.94 - 2.57 0.020 2243.31 -460.4 -82.73 - - 3112.28 - - - - - - - - - 16.00 -
4290.73 382.50 -8.02 752 4295.41 roll -1.35 - - 2003.81 - 3.00 0.084 3427.50 394.7 -82.73 - - 3112.22 - - - - - - - - - 15.92 -
4329.26 385.82 -8.57 758 4344.19 roll -1.35 - - 2002.88 - 2.56 0.020 2245.31 -461.8 -82.73 - - 3113.12 - - - - - - - - - 16.00 -
4645.46 411.14 -7.71 787 4656.53 no move -1.35 - - 2003.88 - - - 2245.69 - -82.73 - - 3112.12 - - - - - - - - - - -
4959.05 435.07 -7.55 816 4963.75 roll -1.35 - - 2003.75 - 3.00 0.084 3427.19 393.8 -82.73 - - 3113.19 - - - - - - - - - 15.91 -
5059.19 443.35 -8.23 829 5063.80 roll -1.35 - - 2003.56 - 2.57 0.020 2247.31 -459.1 -82.73 - - 3111.44 - - - - - - - - - 15.99 -
5370.48 465.27 -7.25 858 5381.55 no move -1.35 - - 2004.00 - - - 2245.50 - -82.73 - - 3111.50 - - - - - - - - - - -
5683.53 487.29 -7.03 887 5688.22 roll -1.35 - - 2003.56 - 3.01 0.084 3426.81 392.5 -82.73 - - 3111.22 - - - - - - - - - 15.91 -
5737.81 491.51 -7.71 895 5752.74 roll -1.35 - - 2004.00 - 2.57 0.020 2248.88 -458.3 -82.73 - - 3110.56 - - - - - - - - - 16.00 -
6055.80 513.95 -6.98 919 6060.68 roll -1.35 - - 2003.44 - 3.01 0.084 3428.25 391.8 -82.73 - - 3109.41 - - - - - - - - - 15.90 -
6094.51 516.87 -7.42 925 6099.87 roll -1.35 - - 2003.62 - 2.58 0.021 2248.38 -457.3 -82.73 - - 3109.88 - - - - - - - - - 16.00 -
6413.74 540.29 -7.26 947 6415.07 no move -1.35 - - 2003.62 - - - 2247.25 - -82.73 - - 3109.00 - - - - - - - - - - -
6728.76 563.48 -7.33 968 6733.45 roll -1.35 - - 2003.00 - 3.01 0.084 3425.06 391.3 -82.73 - - 3109.03 - - - - - - - - - 15.90 -
6828.18 571.69 -8.27 982 6832.79 roll -1.35 - - 2004.06 - 2.57 0.020 2250.12 -457.2 -82.73 - - 3108.00 - - - - - - - - - 15.99 -
7144.65 594.56 -6.93 1004 7145.98 no move -1.35 - - 2003.75 - - - 2249.50 - -82.73 - - 3107.69 - - - - - - - - - - -
7459.67 616.70 -6.93 1025 7461.00 no move -1.35 - - 2003.75 - - - 2248.94 - -82.73 - - 3107.75 - - - - - - - - - - -
7774.68 638.40 -6.69 1046 7779.38 roll -1.35 - - 2004.38 - 3.01 0.084 3426.12 391.1 -82.73 - - 3107.53 - - - - - - - - - 15.89 -
7838.97 642.87 -7.45 1056 7853.88 roll -1.35 - - 2004.00 - 2.58 0.021 2247.62 -456.8 -82.73 - - 3109.81 - - - - - - - - - 16.00 -
8168.57 665.32 -6.53 1078 8169.90 no move -1.35 - - 2003.31 - - - 2247.94 - -82.73 - - 3106.81 - - - - - - - - - - -
8483.41 686.52 -6.86 1099 8488.11 roll -1.35 - - 2002.81 - 3.03 0.085 3425.06 388.5 -82.73 - - 3107.66 - - - - - - - - - 15.88 -
8541.35 690.93 -7.42 1107 8546.15 roll -1.35 - - 2004.06 - 2.57 0.020 2250.62 -457.0 -82.73 - - 3106.03 - - - - - - - - - 16.00 -
8857.96 711.60 -6.44 1129 8859.29 no move -1.35 - - 2003.94 - - - 2248.88 - -82.73 - - 3105.59 - - - - - - - - - - -
9172.83 732.55 -6.72 1150 9177.52 roll -1.35 - - 2003.69 - 3.02 0.085 3426.94 390.1 -82.73 - - 3105.16 - - - - - - - - - 15.87 -
9251.83 738.57 -7.52 1161 9256.45 roll -1.35 - - 2003.94 - 2.58 0.021 2250.19 -456.1 -82.73 - - 3105.06 - - - - - - - - - 15.99 -
9568.32 760.88 -7.10 1183 9569.65 no move -1.35 - - 2003.94 - - - 2249.75 - -82.73 - - 3105.06 - - - - - - - - - - -
9883.36 783.17 -7.03 1204 9888.06 roll -1.35 - - 2002.69 - 3.02 0.086 3426.12 389.5 -82.73 - - 3106.38 - - - - - - - - - 15.87 -
9963.39 789.27 -7.67 1216 9968.92 roll -1.35 - - 2003.56 - 2.58 0.021 2247.88 -456.7 -82.73 - - 3107.28 - - - - - - - - - 15.99 -
10282.79 812.06 -7.21 1238 10284.12 no move -1.35 - - 2003.81 - - - 2249.12 - -82.73 - - 3106.12 - - - - - - - - - - -
10597.81 834.99 -7.29 1259 10602.50 roll -1.35 - - 2002.69 - 3.02 0.085 3427.12 390.1 -82.73 - - 3108.41 - - - - - - - - - 15.86 -
10676.48 841.42 -8.09 1270 10681.09 roll -1.35 - - 2002.25 - 2.58 0.021 2251.44 -455.7 -82.73 - - 3104.84 - - - - - - - - - 15.98 -
10992.95 864.94 -7.59 1292 10994.28 no move -1.35 - - 2004.19 - - - 2251.12 - -82.73 - - 3103.69 - - - - - - - - - - -
11307.97 887.97 -7.09 1313 11309.29 no move -1.35 - - 2003.81 - - - 2251.31 - -82.73 - - 3103.66 - - - - - - - - - - -
11622.97 909.86 -6.97 1334 11624.30 no move -1.35 - - 2003.88 - - - 2250.06 - -82.73 - - 3104.31 - - - - - - - - - - -
11938.17 930.70 -6.49 1355 11939.50 no move -1.35 - - 2003.31 - - - 2250.12 - -82.73 - - 3103.41 - - - - - - - - - - -
12253.13 949.82 -5.73 1376 12257.82 roll -1.35 - - 2004.50 - 3.03 0.086 3426.31 388.2 -82.73 - - 3104.16 - - - - - - - - - 15.84 -
12394.00 958.85 -6.50 1396 12398.61 roll -1.35 - - 2004.06 - 2.59 0.021 2250.06 -454.2 -82.73 - - 3102.84 - - - - - - - - - 15.98 -
12710.65 976.55 -5.49 1418 12711.98 no move -1.35 - - 2003.94 - - - 2250.00 - -82.73 - - 3102.38 - - - - - - - - - - -
12950 end dive: TARGET_DEPTH_EXCEEDED
12950 begin apogee
12952.27 990.01 -5.61 1434 13027.87 -0.28 1.86 0.140 2263.12 139.3 0.16 0.163 2286.81 230.1 - 64.61 2.425 2775.06 -5.1 0.352 - - - - - - 15.75 15.40 10.23
13029 end apogee: CONTROL_FINISHED_OK
13029 begin climb
13030.09 991.27 - 1439 13104.26 1.35 2.67 0.091 2662.19 149.5 - - 2287.06 - 82.73 69.34 2.364 2436.81 -4.9 0.348 - - - - - - 15.56 - 12.02
13416.60 968.19 6.71 1465 13421.29 roll 1.38 - - 2661.00 - 2.91 0.073 1133.38 -396.5 82.73 - - 2428.91 - - - - - - - - - 15.68 -
13538.29 959.90 6.92 1483 13543.71 roll 1.41 - - 2660.75 - 2.70 0.029 2272.44 421.9 82.73 - - 2430.47 - - - - - - - - - 15.75 -
13857.50 940.71 5.63 1505 13903.43 1.52 0.22 0.078 2712.00 233.0 - - 2272.25 - 135.64 44.65 2.317 2221.91 -4.7 0.323 - - - - - - 15.79 - 11.41
14217.68 911.28 8.56 1529 14222.34 roll 1.52 - - 2712.25 - 2.87 0.073 1132.25 -397.2 135.64 - - 2214.97 - - - - - - - - - 15.74 -
14318.44 901.95 9.38 1544 14324.00 roll 1.52 - - 2710.88 - 2.68 0.030 2269.69 424.4 135.64 - - 2215.88 - - - - - - - - - 15.78 -
14637.85 873.33 8.80 1566 14642.51 roll 1.52 - - 2712.06 - 2.85 0.073 1131.00 -399.5 135.64 - - 2213.66 - - - - - - - - - 15.82 -
14681.40 869.87 9.06 1573 14696.34 roll 1.52 - - 2712.19 - 2.67 0.030 2270.62 426.8 135.64 - - 2214.62 - - - - - - - - - 15.86 -
15010.81 840.41 8.70 1595 15015.48 roll 1.52 - - 2711.19 - 2.85 0.073 1130.94 -399.9 135.64 - - 2213.78 - - - - - - - - - 15.86 -
15111.57 831.11 9.38 1610 15117.12 done 1.52 - - 2711.06 - 2.67 0.031 2268.12 425.9 135.64 - - 2214.22 - - - - - - - - - 15.90 -
15430.98 802.83 8.79 1632 15432.31 VBD 1.52 - - 2711.94 - - - 2268.56 - 135.64 - - 2213.50 - - - - - - - - - - -
15746.18 775.89 8.67 1653 15750.91 done 1.52 - - 2711.88 - 2.84 0.073 1132.06 -400.2 135.64 - - 2212.31 - - - - - - - - - 15.88 -
15851.95 766.80 9.14 1669 15866.89 done 1.52 - - 2712.00 - 2.66 0.031 2269.81 427.7 135.64 - - 2213.84 - - - - - - - - - 15.95 -
16181.37 738.30 8.47 1691 16186.04 done 1.52 - - 2711.25 - 2.85 0.073 1132.19 -399.2 135.64 - - 2211.44 - - - - - - - - - 15.89 -
16245.67 733.05 8.91 1701 16260.60 done 1.52 - - 2711.81 - 2.66 0.031 2269.69 427.6 135.64 - - 2213.06 - - - - - - - - - 15.96 -
16575.09 705.06 7.95 1723 16579.76 done 1.53 - - 2711.81 - 2.84 0.073 1130.94 -401.0 135.64 - - 2212.78 - - - - - - - - - 15.89 -
16639.38 700.02 8.50 1733 16654.31 done 1.53 - - 2712.19 - 2.65 0.031 2271.81 430.5 135.64 - - 2212.94 - - - - - - - - - 15.97 -
16968.79 672.86 7.87 1755 16973.46 done 1.54 - - 2712.19 - 2.85 0.073 1131.31 -400.2 135.64 - - 2212.88 - - - - - - - - - 15.90 -
17095.30 662.58 8.59 1774 17110.23 done 1.54 - - 2711.81 - 2.66 0.031 2269.56 427.9 135.64 - - 2212.22 - - - - - - - - - 15.97 -
17424.71 635.52 7.93 1796 17429.38 done 1.55 - - 2710.75 - 2.84 0.073 1131.19 -400.8 135.64 - - 2212.22 - - - - - - - - - 15.89 -
17489.00 630.63 8.29 1806 17504.13 done 1.55 - - 2711.75 - 2.65 0.030 2270.44 429.9 135.64 - - 2212.72 - - - - - - - - - 15.98 -
17818.61 605.02 7.50 1828 17823.27 done 1.57 - - 2711.75 - 2.84 0.072 1130.62 -401.3 135.64 - - 2211.38 - - - - - - - - - 15.89 -
17897.31 598.80 7.84 1839 17901.96 done 1.58 - - 2711.25 - 2.64 0.030 2270.25 431.7 135.64 - - 2210.91 - - - - - - - - - 15.97 -
18213.80 574.79 7.75 1861 18218.47 done 1.60 - - 2711.88 - 2.83 0.072 1131.12 -402.5 135.64 - - 2211.91 - - - - - - - - - 15.89 -
18293.08 568.26 8.25 1872 18297.71 done 1.60 - - 2711.19 - 2.65 0.030 2272.25 430.6 135.64 - - 2210.16 - - - - - - - - - 15.98 -
18609.57 542.90 7.78 1894 18610.90 VBD 1.61 - - 2712.00 - - - 2273.00 - 135.64 - - 2210.44 - - - - - - - - - - -
18924.58 517.90 7.88 1915 18929.25 done 1.62 - - 2711.75 - 2.82 0.072 1130.88 -405.0 135.64 - - 2211.16 - - - - - - - - - 15.89 -
19148.44 499.31 8.20 1947 19160.46 done 1.62 - - 2711.19 - 2.65 0.030 2271.75 430.5 135.64 - - 2211.41 - - - - - - - - - 15.99 -
19462.11 476.10 7.34 1976 19473.19 VBD 1.64 - - 2712.19 - - - 2271.00 - 135.64 - - 2211.53 - - - - - - - - - - -
19774.99 454.89 6.71 2005 19779.92 1.68 0.16 0.093 2750.69 240.6 2.84 0.072 1129.94 -401.8 135.64 - - 2209.69 - - - - - - - - 15.95 15.82 -
19891.06 445.38 8.30 2020 19895.69 done 1.68 - - 2750.69 - 2.65 0.030 2271.38 430.7 135.64 - - 2211.41 - - - - - - - - - 15.98 -
20202.64 421.92 7.35 2049 20213.72 VBD 1.70 - - 2750.56 - - - 2271.25 - 135.64 - - 2211.75 - - - - - - - - - - -
20515.62 398.07 7.67 2078 20520.29 done 1.72 - - 2751.06 - 2.84 0.072 1129.56 -402.0 135.64 - - 2210.38 - - - - - - - - - 15.88 -
20678.69 384.40 8.38 2099 20683.33 done 1.72 - - 2750.88 - 2.66 0.030 2271.06 429.1 135.64 - - 2211.22 - - - - - - - - - 15.98 -
20990.27 361.15 7.25 2128 20994.94 done 1.74 - - 2750.38 - 2.83 0.071 1130.62 -403.0 135.64 - - 2209.59 - - - - - - - - - 15.88 -
21076.25 354.54 7.76 2140 21091.18 done 1.76 - - 2750.56 - 2.65 0.030 2273.25 431.2 135.64 - - 2212.06 - - - - - - - - - 15.99 -
21392.74 332.90 6.83 2169 21403.81 VBD 1.79 - - 2750.56 - - - 2272.81 - 135.64 - - 2211.50 - - - - - - - - - - -
21705.37 310.90 7.27 2198 21710.04 done 1.81 - - 2750.94 - 2.83 0.071 1132.50 -402.9 135.64 - - 2210.50 - - - - - - - - - 15.87 -
21863.63 298.80 7.71 2218 21868.30 done 1.83 - - 2750.69 - 2.65 0.030 2272.62 430.2 135.64 - - 2209.84 - - - - - - - - - 15.96 -
22170.90 275.93 7.26 2280 22176.41 1.85 0.17 0.090 2794.44 257.4 2.83 0.071 1132.06 -403.0 135.64 - - 2211.53 - - - - - - - - 15.92 15.81 -
22285.80 265.89 9.04 2303 22291.35 done 1.85 - - 2793.88 - 2.65 0.029 2272.00 430.2 135.64 - - 2212.62 - - - - - - - - - 15.96 -
22595.91 240.05 8.48 2365 22601.49 done 1.85 - - 2794.38 - 2.81 0.070 1131.25 -406.0 135.64 - - 2211.81 - - - - - - - - - 15.86 -
22725.95 228.15 8.92 2391 22731.49 done 1.85 - - 2793.69 - 2.65 0.029 2271.06 430.1 135.64 - - 2212.69 - - - - - - - - - 15.96 -
23036.05 202.98 8.41 2453 23041.62 done 1.85 - - 2794.00 - 2.83 0.070 1131.06 -402.8 135.64 - - 2211.78 - - - - - - - - - 15.86 -
23151.08 192.72 8.63 2476 23156.63 done 1.85 - - 2793.56 - 2.66 0.029 2272.50 429.1 135.64 - - 2212.59 - - - - - - - - - 15.97 -
23461.26 170.10 6.78 2538 23466.78 done 1.88 - - 2794.06 - 2.82 0.070 1130.88 -404.8 135.64 - - 2212.62 - - - - - - - - - 15.86 -
23571.23 162.54 6.80 2560 23576.76 done 1.92 - - 2794.12 - 2.65 0.029 2272.19 430.7 135.64 - - 2212.16 - - - - - - - - - 15.97 -
23881.34 145.80 5.36 2622 23932.94 2.03 0.17 0.085 2838.38 260.4 2.76 0.091 3344.88 388.7 193.59 44.49 1.358 1984.50 -5.1 0.094 - - - - - - 15.92 15.61 10.57
24001.35 135.45 10.82 2646 24006.89 roll 2.03 - - 2838.19 - 2.60 0.022 2186.56 -445.5 193.59 - - 1982.56 - - - - - - - - - 15.83 -
24311.42 106.91 8.09 2708 24316.97 roll 2.03 - - 2837.56 - 2.61 0.075 1131.38 -404.3 193.59 - - 1980.31 - - - - - - - - - 15.82 -
24546.47 88.79 7.48 2755 24552.01 done 2.05 - - 2838.81 - 2.66 0.028 2273.81 429.5 193.59 - - 1977.66 - - - - - - - - - 15.88 -
24736.60 80.64 4.10 2793 24800.10 2.22 0.17 0.087 2880.88 247.5 - - 2273.81 - 274.92 62.01 1.272 1654.53 -5.2 0.056 - - - - - - 15.86 - 11.31
24982.37 60.85 8.95 2842 24987.96 done 2.22 - - 2880.44 - 2.86 0.070 1130.75 -399.7 274.92 - - 1645.19 - - - - - - - - - 15.75 -
25062.39 53.63 8.95 2858 25067.95 done 2.22 - - 2880.81 - 2.68 0.028 2272.38 426.0 274.92 - - 1643.38 - - - - - - - - - 15.78 -
25252.43 49.11 1.69 2896 25353.04 2.47 0.30 0.068 2940.38 198.6 2.88 0.071 1130.81 -396.4 401.17 94.26 1.211 1140.41 -5.3 0.037 - - - - - - 15.79 15.44 11.35
25405.43 40.27 9.50 2926 25410.83 roll 2.47 - - 2940.88 - 2.70 0.027 2271.69 422.5 401.17 - - 1135.50 - - - - - - - - - 15.61 -
25595.37 18.72 11.18 2964 25600.90 roll 2.47 - - 2941.06 - 2.87 0.069 1129.94 -397.8 401.17 - - 1131.69 - - - - - - - - - 15.70 -
25660.33 11.14 12.34 2977 25665.89 done 2.47 - - 2941.00 - 2.69 0.027 2272.69 424.8 401.17 - - 1131.09 - - - - - - - - - 15.73 -
25714 end climb: SURFACE_DEPTH_REACHED
25715 begin surface coast
25745 end surface coast: CONTROL_FINISHED_OK
25745 begin surface
SM 1.21 - - - - 179.6 18.67 1.076 1042.8 55.9 17.17 0.050 1015.2 59.1 - 0.14 0.113 1070.4 7626.5 -8.347 - - 11.52 15.68 15.73 -