NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 740 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 251.47 of 550.00 AH used of 24V (54.28% remains)
• Surface angle -65.0 deg, depth 0.68 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 53 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
5.44 - - - 72.04 VBD -1.35 - - 180.69 - - - 2228.62 - -82.73 65.38 0.005 2708.06 - - - - - - - - - - 15.05
72.78 3.74 -5.62 12 101.77 -1.35 14.97 0.249 2004.12 121.8 - - 2227.75 - -82.73 8.68 0.007 3110.31 46.3 -4.218 - - - - - - 15.38 - 15.18
283.90 41.43 -16.73 54 289.51 roll -1.35 - - 2003.00 - 3.06 0.081 3427.62 392.1 -82.73 - - 3113.31 - - - - - - - - - 15.74 -
473.98 68.91 -11.26 92 479.47 roll -1.35 - - 2004.44 - 2.57 0.019 2245.88 -459.8 -82.73 - - 3113.41 - - - - - - - - - 15.81 -
664.35 88.71 -10.11 130 669.56 roll -1.35 - - 2004.75 - 2.96 0.077 3425.88 398.6 -82.73 - - 3112.97 - - - - - - - - - 15.81 -
793.98 103.00 -10.40 156 799.51 roll -1.35 - - 2004.56 - 2.56 0.018 2241.75 -462.6 -82.73 - - 3114.88 - - - - - - - - - 15.86 -
1104.02 128.69 -7.76 218 1105.35 no move -1.35 - - 2004.00 - - - 2240.56 - -82.73 - - 3112.88 - - - - - - - - - - -
1409.06 152.44 -7.30 279 1414.66 roll -1.35 - - 2004.31 - 2.96 0.077 3426.50 400.7 -82.73 - - 3114.12 - - - - - - - - - 15.88 -
1464.08 157.00 -8.48 290 1469.60 roll -1.35 - - 2004.31 - 2.56 0.019 2242.12 -462.6 -82.73 - - 3114.09 - - - - - - - - - 15.92 -
1774.11 182.36 -8.28 352 1775.44 no move -1.35 - - 2004.56 - - - 2242.00 - -82.73 - - 3114.06 - - - - - - - - - - -
2079.15 205.51 -7.13 413 2080.48 no move -1.35 - - 2004.38 - - - 2241.81 - -82.73 - - 3114.50 - - - - - - - - - - -
2384.26 227.98 -7.74 474 2385.59 no move -1.35 - - 2004.44 - - - 2241.56 - -82.73 - - 3112.69 - - - - - - - - - - -
2689.24 252.05 -7.79 535 2690.57 no move -1.35 - - 2004.69 - - - 2241.44 - -82.73 - - 3112.50 - - - - - - - - - - -
2994.30 276.94 -8.25 596 2999.89 roll -1.35 - - 2004.25 - 2.95 0.080 3427.81 402.2 -82.73 - - 3114.03 - - - - - - - - - 15.92 -
3109.33 287.40 -9.09 619 3114.86 roll -1.35 - - 2005.00 - 2.56 0.019 2247.06 -461.2 -82.73 - - 3112.91 - - - - - - - - - 15.97 -
3423.15 312.90 -7.87 664 3434.22 no move -1.35 - - 2004.62 - - - 2246.25 - -82.73 - - 3112.50 - - - - - - - - - - -
3736.46 337.20 -8.04 693 3741.13 roll -1.35 - - 2003.81 - 2.94 0.080 3425.25 401.0 -82.73 - - 3113.72 - - - - - - - - - 15.93 -
3806.47 343.42 -8.85 703 3821.41 roll -1.35 - - 2004.62 - 2.55 0.019 2246.56 -462.2 -82.73 - - 3112.06 - - - - - - - - - 15.99 -
4122.99 369.71 -8.40 732 4134.06 no move -1.35 - - 2004.81 - - - 2246.75 - -82.73 - - 3111.59 - - - - - - - - - - -
4435.70 395.16 -7.99 761 4440.38 roll -1.35 - - 2004.25 - 2.95 0.081 3426.19 399.8 -82.73 - - 3110.75 - - - - - - - - - 15.93 -
4474.23 398.48 -8.54 767 4489.34 roll -1.35 - - 2004.88 - 2.54 0.020 2246.94 -464.3 -82.73 - - 3111.03 - - - - - - - - - 16.01 -
4790.89 423.13 -7.61 796 4795.57 roll -1.35 - - 2004.50 - 2.95 0.082 3427.06 400.0 -82.73 - - 3110.12 - - - - - - - - - 15.92 -
4861.77 429.11 -8.48 806 4876.51 roll -1.35 - - 2003.81 - 2.56 0.020 2246.12 -461.3 -82.73 - - 3110.75 - - - - - - - - - 15.99 -
5177.88 452.84 -7.27 835 5182.56 roll -1.35 - - 2004.19 - 2.96 0.082 3425.25 398.4 -82.73 - - 3111.53 - - - - - - - - - 15.92 -
5263.64 459.72 -8.12 847 5278.55 roll -1.35 - - 2004.38 - 2.55 0.020 2245.38 -462.7 -82.73 - - 3109.91 - - - - - - - - - 16.00 -
5580.15 482.57 -7.46 876 5591.22 no move -1.35 - - 2004.19 - - - 2245.25 - -82.73 - - 3110.09 - - - - - - - - - - -
5892.73 505.66 -7.30 903 5897.41 roll -1.35 - - 2004.50 - 2.97 0.083 3425.44 397.4 -82.73 - - 3108.84 - - - - - - - - - 15.91 -
5993.48 513.69 -8.07 918 5999.03 roll -1.35 - - 2005.00 - 2.55 0.020 2247.94 -461.8 -82.73 - - 3108.94 - - - - - - - - - 15.99 -
6312.91 535.90 -6.60 940 6314.23 no move -1.35 - - 2004.44 - - - 2247.19 - -82.73 - - 3107.44 - - - - - - - - - - -
6627.93 556.96 -6.78 961 6629.25 no move -1.35 - - 2004.56 - - - 2246.94 - -82.73 - - 3106.69 - - - - - - - - - - -
6942.94 578.96 -7.01 982 6947.80 roll -1.35 - - 2004.31 - 2.96 0.084 3425.50 398.2 -82.73 - - 3106.72 - - - - - - - - - 15.90 -
7007.38 583.66 -7.82 992 7022.18 roll -1.35 - - 2004.44 - 2.55 0.020 2248.19 -461.7 -82.73 - - 3107.28 - - - - - - - - - 16.00 -
7337.20 608.86 -7.57 1014 7341.88 roll -1.35 - - 2003.50 - 2.96 0.085 3425.88 397.9 -82.73 - - 3106.44 - - - - - - - - - 15.89 -
7396.48 613.80 -8.22 1023 7402.01 roll -1.35 - - 2004.81 - 2.55 0.021 2249.12 -461.5 -82.73 - - 3107.56 - - - - - - - - - 16.01 -
7715.91 638.62 -7.66 1045 7717.24 no move -1.35 - - 2004.62 - - - 2247.88 - -82.73 - - 3105.75 - - - - - - - - - - -
8030.93 662.84 -7.39 1066 8035.60 roll -1.35 - - 2003.94 - 2.97 0.085 3428.56 397.5 -82.73 - - 3106.16 - - - - - - - - - 15.88 -
8109.60 669.20 -8.00 1077 8114.20 roll -1.35 - - 2003.88 - 2.56 0.021 2248.06 -461.1 -82.73 - - 3106.62 - - - - - - - - - 15.99 -
8426.07 691.79 -7.14 1099 8427.40 no move -1.35 - - 2004.25 - - - 2248.00 - -82.73 - - 3105.03 - - - - - - - - - - -
8741.09 713.86 -6.89 1120 8745.77 roll -1.35 - - 2003.56 - 2.98 0.086 3426.12 395.3 -82.73 - - 3104.81 - - - - - - - - - 15.88 -
8821.11 719.96 -7.66 1132 8826.65 roll -1.35 - - 2003.75 - 2.56 0.021 2247.44 -460.4 -82.73 - - 3106.03 - - - - - - - - - 16.01 -
9140.76 741.21 -6.39 1154 9145.44 roll -1.35 - - 2003.38 - 3.00 0.086 3429.00 393.9 -82.73 - - 3104.84 - - - - - - - - - 15.87 -
9198.88 745.35 -6.94 1162 9203.55 roll -1.35 - - 2004.00 - 2.56 0.021 2248.94 -461.0 -82.73 - - 3104.91 - - - - - - - - - 15.99 -
9515.37 765.00 -6.04 1184 9516.70 no move -1.35 - - 2004.06 - - - 2248.06 - -82.73 - - 3103.69 - - - - - - - - - - -
9830.36 785.19 -6.75 1205 9835.04 roll -1.35 - - 2003.75 - 2.99 0.086 3422.44 392.8 -82.73 - - 3103.62 - - - - - - - - - 15.87 -
9931.11 792.77 -7.64 1220 9936.65 roll -1.35 - - 2004.25 - 2.56 0.021 2248.75 -458.5 -82.73 - - 3104.06 - - - - - - - - - 16.00 -
10250.51 815.31 -7.16 1242 10251.84 no move -1.35 - - 2004.38 - - - 2248.62 - -82.73 - - 3102.47 - - - - - - - - - - -
10565.54 838.43 -7.56 1263 10570.23 roll -1.35 - - 2004.50 - 3.01 0.086 3425.31 390.9 -82.73 - - 3103.16 - - - - - - - - - 15.86 -
10624.82 843.24 -8.10 1272 10630.35 roll -1.35 - - 2004.50 - 2.57 0.021 2249.56 -457.5 -82.73 - - 3103.03 - - - - - - - - - 16.00 -
10944.21 866.49 -7.09 1294 10945.54 no move -1.35 - - 2004.00 - - - 2249.50 - -82.73 - - 3102.50 - - - - - - - - - - -
11259.24 889.92 -7.47 1315 11263.93 roll -1.35 - - 2004.44 - 2.99 0.086 3424.69 393.0 -82.73 - - 3101.47 - - - - - - - - - 15.85 -
11323.52 894.52 -7.81 1325 11338.44 roll -1.35 - - 2004.25 - 2.58 0.021 2248.50 -455.9 -82.73 - - 3103.28 - - - - - - - - - 16.00 -
11653.11 916.82 -6.32 1347 11654.44 no move -1.35 - - 2004.25 - - - 2248.88 - -82.73 - - 3101.59 - - - - - - - - - - -
11968.30 936.33 -5.95 1368 11973.18 roll -1.35 - - 2002.94 - 3.01 0.087 3425.81 391.0 -82.73 - - 3102.28 - - - - - - - - - 15.84 -
12012.02 938.82 -6.30 1375 12026.75 roll -1.35 - - 2004.38 - 2.57 0.021 2250.12 -457.5 -82.73 - - 3102.38 - - - - - - - - - 16.00 -
12341.25 958.70 -5.83 1397 12342.58 no move -1.35 - - 2004.06 - - - 2250.62 - -82.73 - - 3100.56 - - - - - - - - - - -
12656.27 976.66 -5.70 1418 12657.60 no move -1.35 - - 2003.88 - - - 2250.38 - -82.73 - - 3100.59 - - - - - - - - - - -
12896 end dive: TARGET_DEPTH_EXCEEDED
12896 begin apogee
12898.06 990.04 -5.48 1434 12973.67 -0.28 1.84 0.138 2263.94 141.3 0.15 0.175 2285.56 234.5 - 64.39 2.421 2773.88 -5.1 0.353 - - - - - - 15.76 15.40 10.25
12975 end apogee: CONTROL_FINISHED_OK
12975 begin climb
12975.89 991.05 - 1439 13050.04 1.35 2.65 0.087 2662.62 150.4 - - 2286.25 - 82.73 69.12 2.342 2437.50 -4.9 0.351 - - - - - - 15.56 - 12.10
13362.39 965.99 7.09 1465 13367.05 roll 1.37 - - 2660.81 - 2.90 0.077 1133.25 -397.6 82.73 - - 2431.78 - - - - - - - - - 15.67 -
13488.90 956.98 7.56 1484 13504.01 roll 1.39 - - 2661.25 - 2.68 0.030 2270.94 424.5 82.73 - - 2431.31 - - - - - - - - - 15.75 -
13818.47 933.44 6.58 1506 13819.80 no move 1.43 - - 2661.56 - - - 2270.88 - 82.73 - - 2429.56 - - - - - - - - - - -
14133.48 914.00 6.00 1527 14177.46 1.52 0.23 0.078 2711.75 218.2 2.89 0.078 1132.00 -394.1 128.67 38.46 2.263 2249.56 -4.7 0.322 - - - - - - 15.83 15.51 11.26
14303.30 899.42 9.26 1551 14307.94 roll 1.52 - - 2711.50 - 2.68 0.031 2268.50 424.1 128.67 - - 2246.66 - - - - - - - - - 15.72 -
14619.80 870.85 9.08 1573 14621.13 no move 1.52 - - 2711.69 - - - 2269.00 - 128.67 - - 2244.34 - - - - - - - - - - -
14934.83 841.21 9.12 1594 14939.50 roll 1.52 - - 2712.00 - 2.86 0.075 1131.38 -397.8 128.67 - - 2242.38 - - - - - - - - - 15.83 -
15034.24 831.65 9.63 1608 15038.87 roll 1.52 - - 2711.75 - 2.67 0.031 2272.25 427.3 128.67 - - 2242.06 - - - - - - - - - 15.87 -
15350.73 803.54 8.65 1630 15355.39 roll 1.52 - - 2710.38 - 2.84 0.074 1131.81 -401.6 128.67 - - 2243.44 - - - - - - - - - 15.86 -
15435.75 796.30 9.15 1643 15450.69 roll 1.52 - - 2711.94 - 2.66 0.031 2270.06 427.9 128.67 - - 2242.75 - - - - - - - - - 15.92 -
15765.15 767.85 8.48 1665 15770.00 roll 1.52 - - 2712.19 - 2.84 0.074 1131.94 -400.7 128.67 - - 2241.56 - - - - - - - - - 15.87 -
15864.74 758.93 8.99 1679 15869.37 roll 1.52 - - 2712.12 - 2.66 0.031 2271.62 428.5 128.67 - - 2240.91 - - - - - - - - - 15.93 -
16181.22 734.42 7.14 1701 16185.89 done 1.55 - - 2711.62 - 2.84 0.075 1131.00 -401.6 128.67 - - 2242.69 - - - - - - - - - 15.88 -
16391.04 718.71 7.82 1732 16405.97 done 1.56 - - 2711.38 - 2.65 0.031 2269.94 429.8 128.67 - - 2243.22 - - - - - - - - - 15.96 -
16720.44 691.60 8.22 1754 16725.11 done 1.56 - - 2712.44 - 2.83 0.074 1131.88 -402.1 128.67 - - 2240.53 - - - - - - - - - 15.89 -
16799.12 684.84 8.55 1765 16803.76 done 1.56 - - 2710.62 - 2.64 0.031 2271.25 431.6 128.67 - - 2241.50 - - - - - - - - - 15.96 -
17115.61 659.94 7.59 1787 17120.27 done 1.58 - - 2712.25 - 2.85 0.074 1130.81 -400.2 128.67 - - 2240.22 - - - - - - - - - 15.89 -
17194.28 653.56 8.05 1798 17198.92 done 1.58 - - 2711.19 - 2.65 0.031 2271.56 430.5 128.67 - - 2243.19 - - - - - - - - - 15.97 -
17510.79 629.97 7.50 1820 17515.47 done 1.60 - - 2712.00 - 2.84 0.074 1132.19 -401.2 128.67 - - 2239.19 - - - - - - - - - 15.89 -
17589.46 623.58 8.06 1831 17594.28 done 1.60 - - 2711.38 - 2.64 0.031 2269.94 431.0 128.67 - - 2242.72 - - - - - - - - - 15.97 -
17906.07 599.96 7.49 1853 17907.40 VBD 1.62 - - 2711.81 - - - 2270.38 - 128.67 - - 2240.59 - - - - - - - - - - -
18220.97 575.78 7.84 1874 18225.64 done 1.63 - - 2711.50 - 2.84 0.074 1133.31 -400.4 128.67 - - 2240.69 - - - - - - - - - 15.88 -
18320.40 567.41 8.43 1888 18325.03 done 1.63 - - 2711.38 - 2.64 0.031 2272.00 431.3 128.67 - - 2240.50 - - - - - - - - - 15.98 -
18637.07 541.79 8.23 1910 18641.74 done 1.63 - - 2712.44 - 2.82 0.074 1130.81 -404.7 128.67 - - 2240.91 - - - - - - - - - 15.88 -
18717.08 534.74 8.87 1922 18722.63 done 1.63 - - 2712.38 - 2.64 0.030 2272.19 432.3 128.67 - - 2241.47 - - - - - - - - - 15.99 -
19036.48 508.22 8.26 1944 19037.81 VBD 1.63 - - 2712.00 - - - 2272.50 - 128.67 - - 2240.81 - - - - - - - - - - -
19345.77 483.57 7.84 1970 19350.43 done 1.64 - - 2711.88 - 2.83 0.074 1130.75 -403.4 128.67 - - 2240.41 - - - - - - - - - 15.88 -
19462.98 474.30 7.91 1986 19477.92 done 1.65 - - 2711.94 - 2.65 0.030 2273.00 431.0 128.67 - - 2240.91 - - - - - - - - - 15.99 -
19779.71 451.86 6.92 2015 19784.44 1.68 0.17 0.091 2749.06 218.4 2.81 0.073 1132.25 -406.0 128.67 - - 2242.31 - - - - - - - - 15.94 15.82 -
19849.92 446.42 7.77 2025 19864.71 done 1.70 - - 2749.44 - 2.64 0.030 2272.25 431.8 128.67 - - 2242.38 - - - - - - - - - 15.99 -
20166.40 424.33 6.67 2054 20177.48 VBD 1.73 - - 2750.25 - - - 2272.75 - 128.67 - - 2241.50 - - - - - - - - - - -
20479.38 404.60 6.29 2083 20516.55 done 1.81 - - 2750.25 - 2.81 0.076 1131.19 -406.2 169.10 32.67 1.691 2084.06 -4.8 0.196 - - - - - - - 15.65 10.70
20676.54 388.30 8.94 2109 20691.47 roll 1.81 - - 2750.88 - 2.66 0.030 2271.12 428.5 169.10 - - 2080.47 - - - - - - - - - 15.86 -
20993.19 362.10 8.24 2138 21004.26 no move 1.81 - - 2750.44 - - - 2271.12 - 169.10 - - 2079.81 - - - - - - - - - - -
21305.90 336.27 8.38 2167 21310.56 roll 1.81 - - 2750.56 - 2.84 0.073 1130.88 -401.5 169.10 - - 2078.91 - - - - - - - - - 15.85 -
21438.86 324.43 9.02 2185 21453.79 roll 1.81 - - 2749.88 - 2.66 0.030 2271.50 428.8 169.10 - - 2079.81 - - - - - - - - - 15.93 -
21756.05 298.30 8.30 2214 21760.73 roll 1.81 - - 2750.25 - 2.82 0.073 1131.94 -404.1 169.10 - - 2080.09 - - - - - - - - - 15.85 -
21813.15 293.32 8.79 2226 21818.88 roll 1.81 - - 2750.88 - 2.64 0.030 2272.88 432.2 169.10 - - 2078.38 - - - - - - - - - 15.93 -
22123.23 268.30 7.88 2288 22128.79 roll 1.83 - - 2750.88 - 2.82 0.073 1130.88 -405.0 169.10 - - 2078.03 - - - - - - - - - 15.85 -
22208.21 260.97 8.68 2305 22213.76 roll 1.83 - - 2751.12 - 2.65 0.030 2273.06 431.0 169.10 - - 2077.59 - - - - - - - - - 15.94 -
22518.26 235.35 8.41 2367 22519.60 no move 1.83 - - 2750.19 - - - 2273.38 - 169.10 - - 2077.34 - - - - - - - - - - -
22823.37 208.91 8.74 2428 22828.96 roll 1.83 - - 2750.38 - 2.82 0.072 1130.06 -405.4 169.10 - - 2077.91 - - - - - - - - - 15.86 -
22948.41 197.93 8.54 2453 22953.96 roll 1.83 - - 2750.69 - 2.65 0.029 2272.88 431.3 169.10 - - 2077.69 - - - - - - - - - 15.95 -
23258.52 172.79 8.16 2515 23264.10 roll 1.83 - - 2750.94 - 2.81 0.071 1132.19 -405.9 169.10 - - 2077.94 - - - - - - - - - 15.86 -
23398.75 161.00 8.13 2543 23404.17 done 1.83 - - 2751.06 - 2.63 0.029 2273.50 434.0 169.10 - - 2078.03 - - - - - - - - - 15.96 -
23708.69 138.80 6.68 2605 23714.31 roll back 1.86 0.18 0.085 2793.62 236.4 2.83 0.071 1132.19 -403.3 169.10 - - 2077.78 - - - - - - - - 15.92 15.83 -
23888.72 124.66 8.03 2641 23894.27 roll 1.86 - - 2793.50 - 2.63 0.029 2273.88 434.1 169.10 - - 2078.09 - - - - - - - - - 15.96 -
24198.83 104.42 5.49 2703 24246.58 done 1.97 - - 2792.88 - 2.71 0.091 3345.12 395.3 224.47 43.13 1.299 1859.47 -5.1 0.069 - - - - - - - 15.68 10.98
24249.83 101.61 5.55 2713 24297.99 2.08 0.25 0.073 2846.25 213.5 2.59 0.022 2182.38 -448.9 278.79 42.90 1.266 1638.44 -5.2 0.070 - - - - - - 15.78 15.85 12.26
24480.22 80.22 9.28 2759 24485.95 done 2.08 - - 2847.69 - 2.62 0.075 1130.88 -401.3 278.79 - - 1629.22 - - - - - - - - - 15.74 -
24600.35 68.91 9.50 2783 24605.79 done 2.08 - - 2846.69 - 2.66 0.028 2274.50 429.9 278.79 - - 1626.41 - - - - - - - - - 15.78 -
24790.29 54.54 7.53 2821 24791.62 VBD 2.10 - - 2847.19 - - - 2274.38 - 278.79 - - 1624.72 - - - - - - - - - - -
24975.34 42.16 4.86 2858 25032.62 done 2.23 - - 2846.25 - 2.85 0.072 1130.62 -401.3 346.08 50.89 1.195 1365.28 -5.1 0.031 - - - - - - - 15.57 11.31
25160.96 31.98 7.77 2895 25165.99 roll back 2.25 0.17 0.087 2888.94 251.1 2.66 0.027 2275.12 430.3 346.08 - - 1359.34 - - - - - - - - 15.62 15.74 -
25350.45 13.09 10.95 2933 25351.78 no move 2.25 - - 2888.12 - - - 2275.50 - 346.08 - - 1356.66 - - - - - - - - - - -
25440 end climb: SURFACE_DEPTH_REACHED
25440 begin surface coast
25486 end surface coast: CONTROL_FINISHED_OK
25486 begin surface
SM 1.08 - - - - 180.6 59.15 1.160 1042.8 17.6 16.89 0.054 997.1 59.0 - 0.12 0.128 1088.4 9070.0 -7.822 - - 11.46 15.75 15.78 -