NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 722 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 244.07 of 550.00 AH used of 24V (55.62% remains)
• Surface angle -62.9 deg, depth 0.45 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 29 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.43 - - - 82.59 VBD -1.35 - - 184.38 - - - 2237.19 - -82.73 75.64 0.005 2873.62 - - - - - - - - - - 15.08
83.31 3.87 -7.40 14 111.58 -1.35 14.99 0.249 2003.31 121.3 2.49 0.064 1207.12 -413.7 -82.73 5.00 0.009 3112.72 47.8 -3.495 - - - - - - 15.42 15.11 15.20
238.69 32.74 -15.90 45 244.25 roll -1.35 - - 2002.75 - 2.67 0.028 2351.94 428.8 -82.73 - - 3112.06 - - - - - - - - - 15.76 -
429.40 58.56 -12.20 83 434.34 roll -1.35 - - 2003.19 - 2.77 0.059 1208.50 -412.8 -82.73 - - 3112.53 - - - - - - - - - 15.79 -
488.79 65.64 -11.75 95 494.34 roll -1.35 - - 2003.69 - 2.64 0.027 2352.94 433.5 -82.73 - - 3112.44 - - - - - - - - - 15.82 -
679.25 86.20 -10.04 133 684.43 roll -1.35 - - 2002.88 - 2.71 0.083 3425.50 395.8 -82.73 - - 3113.56 - - - - - - - - - 15.80 -
863.91 105.60 -10.55 170 869.44 roll -1.35 - - 2003.00 - 2.57 0.019 2244.69 -459.5 -82.73 - - 3114.53 - - - - - - - - - 15.86 -
1173.96 131.59 -7.52 232 1179.56 roll -1.35 - - 2003.00 - 2.98 0.078 3425.31 396.2 -82.73 - - 3114.34 - - - - - - - - - 15.86 -
1293.98 142.90 -9.77 256 1299.51 roll -1.35 - - 2003.44 - 2.55 0.019 2244.50 -463.1 -82.73 - - 3113.03 - - - - - - - - - 15.91 -
1604.03 169.10 -8.48 318 1609.14 roll -1.35 - - 2003.56 - 2.48 0.065 1208.19 -417.9 -82.73 - - 3113.47 - - - - - - - - - 15.91 -
1659.03 174.08 -9.09 329 1664.77 roll -1.35 - - 2003.44 - 2.62 0.027 2354.31 437.5 -82.73 - - 3113.38 - - - - - - - - - 15.93 -
1969.09 200.70 -8.29 391 1974.65 roll -1.35 - - 2003.00 - 2.74 0.060 1208.25 -418.3 -82.73 - - 3114.06 - - - - - - - - - 15.92 -
2024.09 205.56 -8.91 402 2029.64 roll -1.35 - - 2003.56 - 2.62 0.027 2354.81 437.6 -82.73 - - 3114.00 - - - - - - - - - 15.94 -
2334.14 231.69 -8.66 464 2339.70 roll -1.35 - - 2003.88 - 2.70 0.085 3427.25 397.2 -82.73 - - 3115.31 - - - - - - - - - 15.90 -
2379.15 235.81 -9.24 473 2384.68 roll -1.35 - - 2003.69 - 2.56 0.020 2241.19 -463.3 -82.73 - - 3114.34 - - - - - - - - - 15.95 -
2689.20 260.37 -8.28 535 2694.80 roll -1.35 - - 2004.25 - 2.98 0.081 3428.06 398.3 -82.73 - - 3113.91 - - - - - - - - - 15.90 -
2734.21 264.49 -9.27 544 2739.74 roll -1.35 - - 2003.19 - 2.56 0.020 2244.25 -462.4 -82.73 - - 3114.47 - - - - - - - - - 15.96 -
3044.28 289.92 -8.32 606 3045.60 no move -1.35 - - 2004.12 - - - 2243.06 - -82.73 - - 3112.56 - - - - - - - - - - -
3349.34 315.95 -9.02 647 3360.42 no move -1.35 - - 2004.25 - - - 2242.62 - -82.73 - - 3113.28 - - - - - - - - - - -
3662.90 343.28 -8.80 676 3673.97 no move -1.35 - - 2004.06 - - - 2243.25 - -82.73 - - 3113.06 - - - - - - - - - - -
3975.73 368.35 -7.61 705 3986.81 no move -1.35 - - 2004.25 - - - 2242.69 - -82.73 - - 3113.06 - - - - - - - - - - -
4288.78 391.45 -7.27 734 4293.46 roll -1.35 - - 2004.44 - 2.99 0.082 3426.88 396.1 -82.73 - - 3113.53 - - - - - - - - - 15.92 -
4357.45 397.06 -8.04 743 4362.07 roll -1.35 - - 2003.81 - 2.56 0.020 2246.94 -460.9 -82.73 - - 3111.72 - - - - - - - - - 15.99 -
4668.73 419.60 -7.19 772 4673.33 roll -1.35 - - 2003.94 - 2.48 0.068 1209.38 -418.4 -82.73 - - 3111.69 - - - - - - - - - 15.95 -
4722.99 423.64 -7.52 780 4737.95 roll -1.35 - - 2003.69 - 2.63 0.028 2352.50 434.6 -82.73 - - 3112.22 - - - - - - - - - 16.00 -
5040.09 446.78 -7.15 809 5044.74 roll -1.35 - - 2004.12 - 2.74 0.062 1208.31 -417.6 -82.73 - - 3111.91 - - - - - - - - - 15.95 -
5094.38 450.59 -7.15 817 5109.31 roll -1.35 - - 2003.88 - 2.62 0.028 2352.06 436.5 -82.73 - - 3111.59 - - - - - - - - - 16.00 -
5410.58 471.43 -6.79 846 5421.65 no move -1.35 - - 2003.69 - - - 2352.12 - -82.73 - - 3111.59 - - - - - - - - - - -
5723.64 494.05 -7.26 875 5734.71 no move -1.35 - - 2004.00 - - - 2352.75 - -82.73 - - 3111.12 - - - - - - - - - - -
6035.59 517.23 -7.47 898 6036.92 no move -1.35 - - 2004.00 - - - 2352.69 - -82.73 - - 3109.56 - - - - - - - - - - -
6350.77 542.32 -7.77 919 6355.47 roll -1.35 - - 2003.31 - 2.71 0.090 3426.56 396.3 -82.73 - - 3110.56 - - - - - - - - - 15.90 -
6429.44 548.98 -8.37 930 6434.05 roll -1.35 - - 2003.75 - 2.56 0.021 2246.69 -460.9 -82.73 - - 3109.19 - - - - - - - - - 16.00 -
6745.92 572.32 -7.42 952 6747.25 no move -1.35 - - 2003.69 - - - 2245.31 - -82.73 - - 3108.44 - - - - - - - - - - -
7060.94 595.12 -7.09 973 7065.63 roll -1.35 - - 2004.06 - 2.99 0.085 3426.69 395.1 -82.73 - - 3110.06 - - - - - - - - - 15.89 -
7139.62 601.45 -7.95 984 7144.24 roll -1.35 - - 2003.75 - 2.55 0.021 2248.69 -462.0 -82.73 - - 3108.50 - - - - - - - - - 16.00 -
7456.29 622.91 -6.36 1006 7460.97 roll -1.35 - - 2004.12 - 2.99 0.085 3426.44 393.9 -82.73 - - 3108.84 - - - - - - - - - 15.89 -
7514.21 627.16 -7.06 1014 7518.82 roll -1.35 - - 2002.38 - 2.56 0.021 2249.75 -459.6 -82.73 - - 3109.25 - - - - - - - - - 15.99 -
7830.71 648.13 -6.69 1036 7835.39 roll -1.35 - - 2004.00 - 2.98 0.086 3427.88 395.3 -82.73 - - 3107.72 - - - - - - - - - 15.88 -
7874.24 650.93 -7.12 1043 7889.17 roll -1.35 - - 2003.88 - 2.56 0.021 2249.00 -460.5 -82.73 - - 3108.62 - - - - - - - - - 16.00 -
8203.65 674.07 -6.99 1065 8204.98 no move -1.35 - - 2003.94 - - - 2248.62 - -82.73 - - 3107.44 - - - - - - - - - - -
8518.68 695.61 -6.96 1086 8523.54 roll -1.35 - - 2003.12 - 2.99 0.086 3424.94 393.4 -82.73 - - 3108.34 - - - - - - - - - 15.88 -
8578.17 700.17 -7.63 1095 8583.55 roll -1.35 - - 2003.69 - 2.55 0.021 2248.56 -461.3 -82.73 - - 3107.47 - - - - - - - - - 16.00 -
8897.41 721.81 -6.76 1117 8902.00 roll -1.35 - - 2003.94 - 2.48 0.070 1209.69 -418.9 -82.73 - - 3105.22 - - - - - - - - - 15.91 -
8956.69 726.00 -7.09 1126 8962.24 roll -1.35 - - 2003.81 - 2.62 0.029 2353.06 436.4 -82.73 - - 3107.28 - - - - - - - - - 16.01 -
9276.10 749.90 -7.58 1148 9277.43 no move -1.35 - - 2004.38 - - - 2352.50 - -82.73 - - 3105.72 - - - - - - - - - - -
9591.10 773.49 -7.40 1169 9595.75 roll -1.35 - - 2003.94 - 2.72 0.091 3425.62 394.5 -82.73 - - 3105.53 - - - - - - - - - 15.86 -
9629.65 776.48 -7.72 1175 9635.19 roll -1.35 - - 2003.50 - 2.57 0.021 2247.44 -458.4 -82.73 - - 3107.41 - - - - - - - - - 16.00 -
9949.05 798.97 -7.06 1197 9950.38 no move -1.35 - - 2003.50 - - - 2248.12 - -82.73 - - 3105.28 - - - - - - - - - - -
10264.07 820.71 -7.05 1218 10268.68 roll -1.35 - - 2003.94 - 2.52 0.071 1208.00 -412.7 -82.73 - - 3105.28 - - - - - - - - - 15.90 -
10302.61 823.44 -7.22 1224 10308.17 roll -1.35 - - 2003.50 - 2.63 0.030 2352.94 435.3 -82.73 - - 3106.50 - - - - - - - - - 16.00 -
10622.02 844.44 -6.42 1246 10626.67 roll -1.35 - - 2003.88 - 2.73 0.092 3424.62 392.6 -82.73 - - 3104.31 - - - - - - - - - 15.85 -
10686.49 848.65 -7.05 1256 10701.28 roll -1.35 - - 2003.81 - 2.55 0.021 2246.12 -462.2 -82.73 - - 3106.22 - - - - - - - - - 16.00 -
11015.76 870.19 -6.36 1278 11017.08 no move -1.35 - - 2003.81 - - - 2246.69 - -82.73 - - 3103.88 - - - - - - - - - - -
11330.77 891.14 -6.67 1299 11332.10 no move -1.35 - - 2003.94 - - - 2246.62 - -82.73 - - 3103.78 - - - - - - - - - - -
11645.99 912.07 -6.52 1320 11647.32 no move -1.35 - - 2004.06 - - - 2246.38 - -82.73 - - 3104.38 - - - - - - - - - - -
11960.87 932.08 -6.15 1341 11962.19 no move -1.35 - - 2004.06 - - - 2246.25 - -82.73 - - 3103.38 - - - - - - - - - - -
12275.91 951.07 -5.75 1362 12280.59 roll -1.35 - - 2002.88 - 3.00 0.088 3425.06 392.9 -82.73 - - 3104.25 - - - - - - - - - 15.83 -
12355.92 956.34 -6.61 1374 12361.45 roll -1.35 - - 2003.88 - 2.57 0.022 2248.69 -457.7 -82.73 - - 3103.47 - - - - - - - - - 15.99 -
12675.33 973.87 -5.33 1396 12676.66 no move -1.35 - - 2003.62 - - - 2249.44 - -82.73 - - 3103.06 - - - - - - - - - - -
12945 end dive: TARGET_DEPTH_EXCEEDED
12945 begin apogee
12947.12 990.36 -6.25 1414 13022.73 -0.28 1.88 0.139 2264.44 138.7 0.15 0.175 2286.62 247.9 - 64.93 2.425 2773.69 -5.1 0.352 - - - - - - 15.76 15.41 10.30
13024 end apogee: CONTROL_FINISHED_OK
13024 begin climb
13024.94 991.72 - 1419 13099.18 1.35 2.67 0.088 2661.00 148.5 - - 2286.75 - 82.73 69.01 2.345 2437.34 -4.9 0.350 - - - - - - 15.56 - 12.00
13411.44 969.08 6.82 1445 13416.10 roll 1.38 - - 2659.75 - 2.88 0.076 1133.50 -400.4 82.73 - - 2430.72 - - - - - - - - - 15.67 -
13532.92 960.00 7.64 1463 13538.46 roll 1.40 - - 2661.56 - 2.67 0.030 2272.50 426.6 82.73 - - 2430.56 - - - - - - - - - 15.74 -
13852.32 937.28 7.12 1485 13853.65 no move 1.42 - - 2661.50 - - - 2272.62 - 82.73 - - 2429.16 - - - - - - - - - - -
14167.34 915.07 6.93 1506 14171.81 roll 1.45 - - 2661.69 - 2.82 0.074 1132.00 -404.5 82.73 - - 2429.72 - - - - - - - - - 15.83 -
14330.69 903.25 7.31 1530 14335.90 1.48 0.17 0.090 2702.62 240.8 2.64 0.030 2271.25 431.5 82.73 - - 2428.94 - - - - - - - - 15.72 15.89 -
14649.73 879.18 7.43 1552 14651.06 VBD 1.50 - - 2702.88 - - - 2271.19 - 82.73 - - 2427.44 - - - - - - - - - - -
14964.77 857.67 6.35 1573 15008.56 done 1.58 - - 2702.00 - 2.84 0.078 1131.12 -401.4 122.18 32.70 2.184 2277.53 -4.6 0.306 - - - - - - - 15.61 11.25
15071.67 849.68 7.49 1588 15076.30 roll 1.60 - - 2703.12 - 2.67 0.030 2270.50 426.7 122.18 - - 2271.72 - - - - - - - - - 15.77 -
15388.34 825.95 7.16 1610 15389.67 no move 1.62 - - 2702.56 - - - 2270.94 - 122.18 - - 2270.75 - - - - - - - - - - -
15703.29 804.58 6.69 1631 15708.02 roll back 1.66 0.17 0.084 2744.81 248.5 2.82 0.074 1130.38 -404.5 122.18 - - 2269.62 - - - - - - - - 15.84 15.77 -
15845.95 792.44 8.80 1652 15851.11 roll 1.66 - - 2744.06 - 2.66 0.030 2270.81 428.7 122.18 - - 2270.94 - - - - - - - - - 15.90 -
16164.96 765.04 8.83 1674 16169.62 roll 1.66 - - 2744.12 - 2.81 0.074 1130.69 -405.7 122.18 - - 2270.28 - - - - - - - - - 15.87 -
16286.48 753.58 9.58 1692 16292.02 roll 1.66 - - 2745.00 - 2.65 0.031 2271.56 430.5 122.18 - - 2270.94 - - - - - - - - - 15.92 -
16605.91 722.81 9.72 1714 16610.79 roll 1.66 - - 2743.31 - 2.81 0.074 1132.19 -405.5 122.18 - - 2270.06 - - - - - - - - - 15.88 -
16829.74 699.72 10.44 1746 16834.37 roll 1.66 - - 2744.94 - 2.65 0.031 2272.06 430.1 122.18 - - 2268.84 - - - - - - - - - 15.94 -
17146.21 671.24 8.98 1768 17147.54 no move 1.66 - - 2744.25 - - - 2272.94 - 122.18 - - 2269.50 - - - - - - - - - - -
17461.22 642.61 9.01 1789 17465.88 roll 1.66 - - 2743.25 - 2.82 0.074 1132.00 -404.6 122.18 - - 2269.72 - - - - - - - - - 15.89 -
17643.57 625.91 8.85 1815 17648.38 roll 1.66 - - 2744.31 - 2.64 0.031 2271.88 431.8 122.18 - - 2271.19 - - - - - - - - - 15.96 -
17960.21 599.92 8.24 1837 17964.88 roll 1.66 - - 2744.38 - 2.82 0.074 1130.75 -404.7 122.18 - - 2269.06 - - - - - - - - - 15.89 -
17983.02 598.46 8.42 1841 17997.95 roll 1.66 - - 2743.88 - 2.63 0.030 2272.62 434.2 122.18 - - 2271.62 - - - - - - - - - 15.98 -
18312.42 569.81 8.26 1863 18317.09 roll 1.66 - - 2743.44 - 2.81 0.073 1131.31 -406.2 122.18 - - 2268.91 - - - - - - - - - 15.89 -
18454.63 557.17 9.01 1884 18460.18 roll 1.66 - - 2744.00 - 2.63 0.030 2272.88 434.1 122.18 - - 2270.25 - - - - - - - - - 15.98 -
18774.04 531.67 7.69 1906 18778.69 roll 1.67 - - 2745.06 - 2.80 0.073 1131.25 -407.7 122.18 - - 2268.62 - - - - - - - - - 15.88 -
18894.17 522.05 8.04 1923 18899.03 roll 1.67 - - 2744.81 - 2.62 0.030 2272.38 435.5 122.18 - - 2267.72 - - - - - - - - - 15.97 -
19210.65 499.33 6.90 1945 19215.33 roll 1.70 - - 2744.25 - 2.82 0.073 1129.75 -405.2 122.18 - - 2269.41 - - - - - - - - - 15.88 -
19280.68 494.01 7.58 1955 19295.60 roll 1.72 - - 2744.06 - 2.63 0.030 2273.44 434.9 122.18 - - 2269.81 - - - - - - - - - 15.98 -
19597.34 470.19 7.62 1984 19602.01 roll 1.74 - - 2744.50 - 2.82 0.073 1129.69 -405.6 122.18 - - 2267.81 - - - - - - - - - 15.88 -
19746.35 458.17 8.00 2004 19761.29 roll 1.74 - - 2744.50 - 2.62 0.030 2274.31 436.9 122.18 - - 2268.84 - - - - - - - - - 15.98 -
20062.85 435.57 6.72 2033 20067.50 done 1.77 - - 2744.38 - 2.80 0.073 1130.94 -408.3 122.18 - - 2267.69 - - - - - - - - - 15.88 -
20148.61 429.46 7.18 2045 20163.55 roll 1.80 - - 2745.00 - 2.63 0.030 2274.31 434.7 122.18 - - 2269.19 - - - - - - - - - 15.99 -
20465.34 408.15 6.64 2074 20470.06 roll back 1.83 0.18 0.084 2790.25 251.4 2.72 0.091 3347.38 394.5 122.18 - - 2268.69 - - - - - - - - 15.93 15.80 -
20503.91 405.02 7.69 2080 20518.81 roll 1.85 - - 2790.06 - 2.58 0.023 2186.38 -450.0 122.18 - - 2270.19 - - - - - - - - - 15.98 -
20819.99 380.64 6.97 2109 20831.06 no move 1.88 - - 2790.38 - - - 2186.31 - 122.18 - - 2269.19 - - - - - - - - - - -
21132.86 358.75 6.79 2138 21143.93 no move 1.91 - - 2790.62 - - - 2185.88 - 122.18 - - 2269.25 - - - - - - - - - - -
21445.50 337.84 6.71 2167 21456.59 no move 1.95 - - 2791.06 - - - 2185.38 - 122.18 - - 2269.38 - - - - - - - - - - -
21758.16 317.50 6.86 2196 21762.97 roll 1.98 - - 2790.12 - 2.60 0.077 1129.94 -405.9 122.18 - - 2269.00 - - - - - - - - - 15.87 -
21954.21 302.06 7.99 2222 21968.96 roll 1.98 - - 2789.88 - 2.63 0.029 2272.62 434.5 122.18 - - 2269.62 - - - - - - - - - 16.00 -
22272.73 277.47 8.24 2282 22278.29 roll 1.98 - - 2790.69 - 2.73 0.090 3347.38 393.7 122.18 - - 2269.50 - - - - - - - - - 15.83 -
22317.73 273.38 9.23 2291 22323.27 roll 1.98 - - 2790.62 - 2.59 0.023 2186.25 -448.3 122.18 - - 2269.16 - - - - - - - - - 15.96 -
22627.84 246.82 8.81 2353 22633.37 roll 1.98 - - 2790.62 - 2.59 0.076 1131.25 -407.3 122.18 - - 2269.19 - - - - - - - - - 15.85 -
22752.88 235.17 9.37 2378 22758.42 roll 1.98 - - 2790.19 - 2.63 0.029 2273.88 434.5 122.18 - - 2269.69 - - - - - - - - - 15.96 -
23062.96 209.67 7.87 2440 23068.52 roll 1.99 - - 2790.69 - 2.82 0.070 1131.00 -405.3 122.18 - - 2269.44 - - - - - - - - - 15.85 -
23102.94 206.34 8.26 2448 23108.50 roll 1.99 - - 2790.31 - 2.63 0.028 2273.69 434.5 122.18 - - 2269.53 - - - - - - - - - 15.96 -
23413.12 184.33 7.18 2510 23414.56 pitch 2.02 0.16 0.085 2832.00 260.6 - - 2273.56 - 122.18 - - 2269.25 - - - - - - - - 15.93 - -
23718.43 160.91 7.14 2571 23723.59 roll 2.04 - - 2832.94 - 2.80 0.070 1131.00 -408.1 122.18 - - 2269.97 - - - - - - - - - 15.85 -
23903.03 145.94 8.44 2608 23908.60 roll 2.04 - - 2832.75 - 2.63 0.028 2273.75 434.5 122.18 - - 2270.94 - - - - - - - - - 15.97 -
24213.11 124.33 5.52 2670 24259.82 done 2.15 - - 2832.00 - 2.72 0.090 3347.12 394.6 177.03 42.06 1.324 2054.56 -5.1 0.082 - - - - - - - 15.64 10.65
24363.10 110.86 10.30 2700 24368.65 roll 2.15 - - 2833.88 - 2.59 0.022 2186.69 -448.0 177.03 - - 2050.44 - - - - - - - - - 15.84 -
24673.17 86.45 7.76 2762 24678.87 roll 2.17 - - 2832.62 - 2.59 0.074 1130.94 -407.6 177.03 - - 2047.09 - - - - - - - - - 15.83 -
24848.68 75.03 6.44 2797 24884.73 2.24 0.25 0.069 2890.50 231.5 2.63 0.028 2274.69 434.9 214.66 29.87 1.224 1900.78 -4.9 0.051 - - - - - - 15.69 15.88 11.45
25068.20 59.03 6.13 2841 25109.17 done 2.33 - - 2891.81 - 2.82 0.071 1131.12 -405.5 258.23 34.40 1.198 1721.38 -5.2 0.044 - - - - - - - 15.59 11.53
25133.20 53.70 9.86 2854 25138.74 roll 2.33 - - 2891.69 - 2.67 0.027 2276.19 428.9 258.23 - - 1719.00 - - - - - - - - - 15.76 -
25323.22 39.41 6.94 2892 25328.80 roll 2.36 - - 2891.94 - 2.81 0.069 1131.00 -407.5 258.23 - - 1714.97 - - - - - - - - - 15.77 -
25558.25 34.71 0.60 2939 25673.42 2.65 0.52 0.052 2985.69 180.3 2.63 0.026 2276.25 435.5 404.94 108.43 1.185 1124.53 -5.4 0.027 - - - - - - 15.69 15.83 11.47
25855.68 6.16 8.51 2998 25861.25 roll 2.65 - - 2986.44 - 2.85 0.069 1131.31 -401.7 404.94 - - 1116.56 - - - - - - - - - 15.67 -
25875 end climb: SURFACE_DEPTH_REACHED
25875 begin surface coast
25925 end surface coast: CONTROL_FINISHED_OK
25926 begin surface
SM 0.20 - - - - 182.9 15.81 1.034 1042.5 65.9 17.50 0.048 1016.3 58.1 - 2.84 0.030 1068.6 375.3 -0.256 - - 11.61 15.66 15.70 -