NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 605 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 199.84 of 550.00 AH used of 24V (63.67% remains)
• Surface angle -63.5 deg, depth 0.75 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.82 (SM_CC=425)
• GPS1 time: 13 s
• GPS2 time: 4 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
5.29 - - - 61.87 VBD -1.29 - - 181.62 - - - 2246.06 - -82.73 55.37 0.005 2454.84 - - - - - - - - - - 15.24
62.61 3.11 -5.46 10 100.73 -1.29 14.74 0.243 2016.44 124.5 2.98 0.080 3428.56 396.8 -82.73 14.25 0.006 3113.62 46.2 -4.037 - - - - - - 15.45 15.18 15.33
257.85 40.79 -13.66 49 263.39 roll -1.29 - - 2015.06 - 2.60 0.019 2248.19 -454.0 -82.73 - - 3112.66 - - - - - - - - - 15.77 -
448.56 61.65 -10.49 87 453.46 roll -1.29 - - 2016.38 - 2.52 0.064 1208.50 -412.6 -82.73 - - 3112.66 - - - - - - - - - 15.81 -
527.95 70.93 -11.81 103 533.50 roll -1.29 - - 2015.38 - 2.63 0.027 2355.00 435.9 -82.73 - - 3113.56 - - - - - - - - - 15.83 -
718.40 91.53 -10.28 141 719.73 no move -1.29 - - 2015.81 - - - 2355.06 - -82.73 - - 3112.62 - - - - - - - - - - -
903.07 109.32 -9.65 178 908.63 roll -1.29 - - 2016.19 - 2.79 0.059 1208.44 -411.0 -82.73 - - 3114.06 - - - - - - - - - 15.87 -
928.07 111.77 -9.73 183 933.62 roll -1.29 - - 2015.31 - 2.62 0.026 2354.44 437.4 -82.73 - - 3114.22 - - - - - - - - - 15.89 -
1238.18 139.08 -7.53 245 1239.51 no move -1.29 - - 2015.88 - - - 2354.94 - -82.73 - - 3113.53 - - - - - - - - - - -
1543.29 163.84 -7.53 306 1548.85 roll -1.29 - - 2016.31 - 2.78 0.060 1210.00 -411.8 -82.73 - - 3113.56 - - - - - - - - - 15.92 -
1598.30 168.15 -7.84 317 1603.85 roll -1.29 - - 2016.06 - 2.63 0.027 2355.00 435.4 -82.73 - - 3116.22 - - - - - - - - - 15.94 -
1908.41 191.48 -7.93 379 1909.73 no move -1.29 - - 2016.25 - - - 2354.56 - -82.73 - - 3113.06 - - - - - - - - - - -
2213.58 216.73 -8.59 440 2219.02 roll -1.29 - - 2016.12 - 2.79 0.060 1208.38 -410.8 -82.73 - - 3114.03 - - - - - - - - - 15.94 -
2263.47 221.20 -8.96 450 2269.01 roll -1.29 - - 2016.19 - 2.62 0.028 2354.19 437.3 -82.73 - - 3113.97 - - - - - - - - - 15.96 -
2573.51 245.82 -7.82 512 2574.84 no move -1.29 - - 2016.44 - - - 2354.38 - -82.73 - - 3111.88 - - - - - - - - - - -
2878.57 270.79 -8.34 573 2884.13 roll -1.29 - - 2016.19 - 2.80 0.061 1208.38 -409.3 -82.73 - - 3112.56 - - - - - - - - - 15.94 -
2923.57 274.86 -9.13 582 2929.12 roll -1.29 - - 2016.38 - 2.62 0.028 2353.75 437.2 -82.73 - - 3112.22 - - - - - - - - - 15.97 -
3238.62 300.95 -7.99 644 3239.95 no move -1.29 - - 2015.69 - - - 2353.19 - -82.73 - - 3111.09 - - - - - - - - - - -
3548.62 325.33 -7.80 672 3559.69 no move -1.29 - - 2016.31 - - - 2353.31 - -82.73 - - 3111.25 - - - - - - - - - - -
3861.45 349.94 -8.00 701 3866.09 roll -1.29 - - 2016.62 - 2.78 0.062 1209.75 -411.4 -82.73 - - 3109.09 - - - - - - - - - 15.95 -
3930.11 355.77 -8.38 710 3934.93 roll -1.29 - - 2015.94 - 2.62 0.028 2354.88 437.1 -82.73 - - 3111.59 - - - - - - - - - 16.00 -
4242.27 380.85 -8.28 739 4246.91 roll -1.29 - - 2016.31 - 2.78 0.062 1209.50 -412.0 -82.73 - - 3108.88 - - - - - - - - - 15.96 -
4296.55 385.45 -8.54 747 4311.47 roll -1.29 - - 2016.19 - 2.60 0.028 2353.88 440.1 -82.73 - - 3111.41 - - - - - - - - - 16.01 -
4612.73 412.07 -8.53 776 4623.80 no move -1.29 - - 2016.12 - - - 2353.31 - -82.73 - - 3109.09 - - - - - - - - - - -
4926.31 439.52 -8.86 805 4930.96 roll -1.29 - - 2016.56 - 2.78 0.063 1209.88 -411.3 -82.73 - - 3107.59 - - - - - - - - - 15.95 -
5012.06 447.28 -9.11 817 5027.00 roll -1.29 - - 2015.94 - 2.61 0.029 2352.12 437.6 -82.73 - - 3108.09 - - - - - - - - - 16.01 -
5328.25 474.78 -8.65 846 5339.33 no move -1.29 - - 2016.31 - - - 2352.06 - -82.73 - - 3107.41 - - - - - - - - - - -
5649.84 503.10 -8.90 875 5654.49 roll -1.29 - - 2015.88 - 2.77 0.063 1209.56 -412.5 -82.73 - - 3107.72 - - - - - - - - - 15.94 -
5729.85 510.48 -9.29 887 5735.41 roll -1.29 - - 2016.19 - 2.61 0.029 2353.25 438.2 -82.73 - - 3107.81 - - - - - - - - - 16.01 -
6049.29 538.94 -8.67 909 6053.94 roll -1.29 - - 2016.06 - 2.78 0.063 1209.44 -411.4 -82.73 - - 3106.31 - - - - - - - - - 15.94 -
6113.56 544.07 -8.80 919 6128.67 roll -1.29 - - 2016.12 - 2.60 0.029 2352.44 439.6 -82.73 - - 3106.44 - - - - - - - - - 16.01 -
6443.08 571.79 -7.93 941 6447.73 roll -1.29 - - 2016.19 - 2.76 0.063 1210.00 -413.9 -82.73 - - 3104.53 - - - - - - - - - 15.94 -
6502.37 576.55 -8.12 950 6507.93 roll -1.29 - - 2015.69 - 2.62 0.029 2352.44 436.0 -82.73 - - 3108.31 - - - - - - - - - 16.01 -
6821.77 600.91 -7.40 972 6823.10 no move -1.29 - - 2016.06 - - - 2353.06 - -82.73 - - 3103.88 - - - - - - - - - - -
7136.78 623.35 -7.03 993 7138.11 no move -1.29 - - 2016.31 - - - 2352.81 - -82.73 - - 3104.06 - - - - - - - - - - -
7451.92 644.52 -6.39 1014 7456.57 roll -1.29 - - 2016.00 - 2.79 0.063 1211.06 -409.2 -82.73 - - 3104.16 - - - - - - - - - 15.93 -
7511.20 648.65 -6.96 1023 7516.74 roll -1.29 - - 2015.94 - 2.60 0.029 2353.12 439.3 -82.73 - - 3104.84 - - - - - - - - - 16.02 -
7830.62 669.15 -6.10 1045 7831.95 no move -1.29 - - 2016.44 - - - 2352.31 - -82.73 - - 3102.50 - - - - - - - - - - -
8145.64 688.29 -6.24 1066 8150.28 roll -1.29 - - 2014.69 - 2.79 0.063 1210.88 -409.1 -82.73 - - 3103.31 - - - - - - - - - 15.92 -
8224.31 693.51 -6.58 1077 8228.94 roll -1.29 - - 2015.50 - 2.61 0.030 2350.81 436.8 -82.73 - - 3102.25 - - - - - - - - - 16.00 -
8540.80 713.42 -6.32 1099 8542.13 no move -1.29 - - 2016.19 - - - 2351.06 - -82.73 - - 3101.97 - - - - - - - - - - -
8855.80 734.45 -7.00 1120 8860.45 roll -1.29 - - 2016.19 - 2.78 0.064 1209.25 -410.7 -82.73 - - 3101.78 - - - - - - - - - 15.91 -
8936.01 740.36 -7.46 1132 8941.44 roll -1.29 - - 2016.31 - 2.61 0.030 2354.06 438.6 -82.73 - - 3102.19 - - - - - - - - - 16.00 -
9255.25 763.81 -7.33 1154 9256.58 no move -1.29 - - 2016.19 - - - 2354.38 - -82.73 - - 3100.72 - - - - - - - - - - -
9570.29 785.98 -6.76 1175 9574.94 roll -1.29 - - 2016.31 - 2.78 0.064 1210.81 -411.4 -82.73 - - 3100.28 - - - - - - - - - 15.91 -
9629.57 790.13 -7.05 1184 9635.12 roll -1.29 - - 2016.12 - 2.61 0.030 2352.00 437.2 -82.73 - - 3101.69 - - - - - - - - - 16.01 -
9948.98 811.68 -6.59 1206 9950.31 no move -1.29 - - 2016.06 - - - 2351.94 - -82.73 - - 3100.22 - - - - - - - - - - -
10264.00 832.28 -6.38 1227 10268.64 roll -1.29 - - 2014.19 - 2.79 0.064 1210.94 -409.0 -82.73 - - 3100.69 - - - - - - - - - 15.90 -
10323.28 836.30 -6.78 1236 10328.82 roll -1.29 - - 2015.56 - 2.60 0.030 2351.25 438.6 -82.73 - - 3101.31 - - - - - - - - - 16.00 -
10642.69 856.56 -5.92 1258 10644.02 no move -1.29 - - 2016.06 - - - 2351.31 - -82.73 - - 3098.88 - - - - - - - - - - -
10957.72 875.24 -6.00 1279 10959.04 no move -1.29 - - 2016.19 - - - 2351.19 - -82.73 - - 3098.72 - - - - - - - - - - -
11272.72 892.91 -5.48 1300 11277.37 roll -1.29 - - 2016.31 - 2.78 0.065 1208.31 -411.1 -82.73 - - 3098.44 - - - - - - - - - 15.88 -
11399.21 900.00 -5.91 1319 11414.13 roll -1.29 - - 2016.12 - 2.61 0.030 2351.69 438.1 -82.73 - - 3099.84 - - - - - - - - - 16.00 -
11728.81 918.29 -5.53 1341 11730.14 no move -1.29 - - 2016.12 - - - 2351.62 - -82.73 - - 3098.09 - - - - - - - - - - -
12043.74 936.46 -6.05 1362 12048.39 roll -1.29 - - 2016.12 - 2.77 0.065 1209.88 -412.2 -82.73 - - 3099.03 - - - - - - - - - 15.88 -
12207.04 946.90 -6.44 1386 12212.58 roll -1.29 - - 2016.00 - 2.62 0.030 2351.31 435.7 -82.73 - - 3098.53 - - - - - - - - - 16.00 -
12526.44 965.71 -6.13 1408 12527.77 no move -1.29 - - 2015.94 - - - 2351.56 - -82.73 - - 3097.22 - - - - - - - - - - -
12841.45 985.05 -6.04 1429 12846.10 roll -1.29 - - 2016.50 - 2.79 0.065 1209.69 -409.3 -82.73 - - 3096.78 - - - - - - - - - 15.86 -
12919 end dive: TARGET_DEPTH_EXCEEDED
12919 begin apogee
12923.82 990.16 -6.44 1440 12997.64 -0.28 1.75 0.143 2263.81 141.3 0.12 0.188 2167.25 7979.7 - 62.30 2.438 2775.72 -5.2 0.353 - - - - - - 15.70 15.51 10.42
12998 end apogee: CONTROL_FINISHED_OK
12999 begin climb
12999.71 991.74 - 1445 13073.89 1.29 2.57 0.092 2649.31 150.0 - - 2166.94 - 82.73 67.82 2.362 2437.19 -5.0 0.353 - - - - - - 15.59 - 12.09
13386.25 967.68 7.08 1471 13387.58 no move 1.32 - - 2648.88 - - - 2166.19 - 82.73 - - 2430.44 - - - - - - - - - - -
13701.29 946.19 6.70 1492 13702.62 no move 1.36 - - 2648.94 - - - 2166.44 - 82.73 - - 2428.56 - - - - - - - - - - -
14016.51 926.33 6.23 1513 14062.06 1.44 0.18 0.091 2692.31 240.9 - - 2166.50 - 124.61 34.73 2.275 2265.44 -4.7 0.322 - - - - - - 15.80 - 11.41
14376.35 895.97 8.56 1537 14380.97 roll 1.44 - - 2691.19 - 2.59 0.078 1132.19 -399.3 124.61 - - 2261.53 - - - - - - - - - 15.76 -
14435.64 890.71 8.92 1546 14441.20 roll 1.44 - - 2691.56 - 2.65 0.030 2270.88 429.7 124.61 - - 2261.34 - - - - - - - - - 15.79 -
14755.05 863.81 8.16 1568 14759.71 roll 1.44 - - 2691.81 - 2.84 0.074 1132.38 -400.9 124.61 - - 2261.00 - - - - - - - - - 15.81 -
14812.98 858.66 8.66 1576 14817.61 roll 1.44 - - 2690.75 - 2.62 0.030 2270.31 434.3 124.61 - - 2260.59 - - - - - - - - - 15.84 -
15129.45 832.39 8.28 1598 15130.78 no move 1.44 - - 2692.31 - - - 2270.81 - 124.61 - - 2258.91 - - - - - - - - - - -
15444.46 806.41 8.16 1619 15445.79 no move 1.44 - - 2691.94 - - - 2271.19 - 124.61 - - 2259.03 - - - - - - - - - - -
15759.48 779.91 8.39 1640 15764.13 roll 1.44 - - 2691.06 - 2.83 0.074 1132.06 -402.5 124.61 - - 2259.34 - - - - - - - - - 15.86 -
15817.64 774.68 8.88 1648 15822.27 roll 1.44 - - 2691.50 - 2.62 0.030 2272.75 435.4 124.61 - - 2258.78 - - - - - - - - - 15.93 -
16134.32 747.01 8.86 1670 16135.65 no move 1.44 - - 2692.19 - - - 2272.19 - 124.61 - - 2257.88 - - - - - - - - - - -
16449.24 719.31 8.73 1691 16453.90 roll 1.44 - - 2689.88 - 2.84 0.074 1131.75 -401.6 124.61 - - 2259.34 - - - - - - - - - 15.86 -
16527.91 711.93 9.30 1702 16532.53 done 1.44 - - 2689.25 - 2.62 0.030 2271.25 434.9 124.61 - - 2259.59 - - - - - - - - - 15.94 -
16844.39 684.75 8.58 1724 16849.06 roll 1.44 - - 2691.31 - 2.82 0.074 1131.06 -404.3 124.61 - - 2257.28 - - - - - - - - - 15.87 -
16887.94 681.31 8.91 1731 16902.89 done 1.44 - - 2691.44 - 2.62 0.030 2272.25 435.6 124.61 - - 2258.69 - - - - - - - - - 15.96 -
17217.37 652.04 8.68 1753 17222.00 done 1.44 - - 2689.56 - 2.70 0.091 3344.12 397.0 124.61 - - 2258.91 - - - - - - - - - 15.85 -
17296.04 644.89 9.01 1764 17300.65 done 1.44 - - 2691.69 - 2.57 0.024 2186.69 -450.4 124.61 - - 2259.69 - - - - - - - - - 15.95 -
17612.51 618.22 8.22 1786 17613.84 VBD 1.44 - - 2691.62 - - - 2187.38 - 124.61 - - 2257.25 - - - - - - - - - - -
17927.54 594.17 7.50 1807 17928.87 VBD 1.46 - - 2692.06 - - - 2186.69 - 124.61 - - 2258.03 - - - - - - - - - - -
18242.54 571.83 6.90 1828 18243.88 VBD 1.49 - - 2691.69 - - - 2186.12 - 124.61 - - 2257.25 - - - - - - - - - - -
18557.73 550.53 6.73 1849 18559.06 VBD 1.53 - - 2691.69 - - - 2185.94 - 124.61 - - 2256.94 - - - - - - - - - - -
18872.56 529.56 6.77 1870 18877.38 done 1.56 - - 2691.94 - 2.58 0.079 1131.31 -408.8 124.61 - - 2257.25 - - - - - - - - - 15.86 -
18930.62 525.20 7.35 1878 18935.27 done 1.58 - - 2691.38 - 2.62 0.030 2272.94 435.7 124.61 - - 2257.69 - - - - - - - - - 15.98 -
19247.11 502.98 7.16 1900 19251.85 1.61 0.17 0.094 2730.44 229.8 2.82 0.074 1130.81 -405.0 124.61 - - 2258.31 - - - - - - - - 15.93 15.79 -
19317.15 497.25 8.14 1910 19332.09 done 1.61 - - 2729.94 - 2.62 0.030 2273.19 436.0 124.61 - - 2258.28 - - - - - - - - - 15.99 -
19633.60 471.47 8.12 1939 19644.68 VBD 1.61 - - 2730.38 - - - 2273.88 - 124.61 - - 2258.41 - - - - - - - - - - -
19946.23 445.78 8.17 1968 19950.91 done 1.61 - - 2730.50 - 2.82 0.073 1131.38 -405.1 124.61 - - 2257.94 - - - - - - - - - 15.85 -
20047.72 437.02 8.77 1982 20062.66 done 1.61 - - 2729.56 - 2.62 0.030 2273.25 435.8 124.61 - - 2258.28 - - - - - - - - - 15.98 -
20364.46 412.09 7.85 2011 20369.12 done 1.62 - - 2730.69 - 2.71 0.090 3347.19 396.3 124.61 - - 2257.66 - - - - - - - - - 15.83 -
20448.85 404.81 8.55 2022 20453.48 done 1.62 - - 2730.75 - 2.57 0.023 2184.94 -452.2 124.61 - - 2256.72 - - - - - - - - - 15.97 -
20760.45 381.32 7.23 2051 20765.37 done 1.65 - - 2730.31 - 2.56 0.078 1131.69 -411.4 124.61 - - 2258.09 - - - - - - - - - 15.85 -
20829.32 375.69 8.05 2060 20833.96 done 1.65 - - 2730.00 - 2.62 0.029 2273.56 435.8 124.61 - - 2259.56 - - - - - - - - - 15.98 -
21141.25 352.01 7.53 2089 21152.33 VBD 1.66 - - 2730.62 - - - 2273.69 - 124.61 - - 2258.22 - - - - - - - - - - -
21453.91 327.80 7.70 2118 21458.58 done 1.68 - - 2730.19 - 2.82 0.073 1131.12 -405.2 124.61 - - 2258.19 - - - - - - - - - 15.84 -
21571.12 317.59 8.94 2134 21586.05 done 1.68 - - 2729.56 - 2.62 0.029 2273.25 435.9 124.61 - - 2257.84 - - - - - - - - - 15.98 -
21888.51 293.07 7.35 2172 21889.84 VBD 1.70 - - 2730.44 - - - 2273.75 - 124.61 - - 2257.81 - - - - - - - - - - -
22193.74 272.26 6.70 2233 22199.13 done 1.74 - - 2730.44 - 2.83 0.073 1131.12 -403.8 124.61 - - 2258.31 - - - - - - - - - 15.82 -
22353.97 261.03 6.94 2265 22359.17 1.77 0.17 0.093 2773.69 254.4 2.63 0.029 2274.88 434.9 124.61 - - 2259.16 - - - - - - - - 15.72 15.97 -
22664.01 238.78 7.13 2327 22665.34 VBD 1.79 - - 2774.50 - - - 2275.19 - 124.61 - - 2257.72 - - - - - - - - - - -
22968.72 216.80 7.02 2388 22974.24 done 1.82 - - 2774.56 - 2.81 0.072 1131.19 -407.1 124.61 - - 2259.56 - - - - - - - - - 15.83 -
23038.67 211.81 7.20 2402 23044.20 done 1.85 - - 2774.19 - 2.62 0.029 2273.50 436.0 124.61 - - 2259.66 - - - - - - - - - 15.96 -
23348.72 190.29 7.02 2464 23350.05 VBD 1.88 - - 2774.94 - - - 2273.62 - 124.61 - - 2257.16 - - - - - - - - - - -
23653.77 169.50 6.26 2525 23690.36 1.96 0.19 0.083 2819.19 232.9 2.80 0.074 1130.25 -408.3 165.94 31.66 1.378 2098.59 -5.0 0.104 - - - - - - 15.93 15.80 10.83
23749.15 161.30 9.75 2544 23754.31 roll 1.96 - - 2819.12 - 2.63 0.029 2273.44 434.7 165.94 - - 2096.88 - - - - - - - - - 15.87 -
24058.84 130.99 9.29 2606 24060.17 no move 1.96 - - 2819.06 - - - 2273.50 - 165.94 - - 2093.00 - - - - - - - - - - -
24363.96 107.88 7.53 2667 24369.70 roll 1.98 - - 2819.19 - 2.72 0.087 3346.94 394.6 165.94 - - 2093.34 - - - - - - - - - 15.82 -
24414.09 104.36 7.03 2677 24419.48 roll 2.01 - - 2818.12 - 2.57 0.022 2180.19 -454.0 165.94 - - 2093.62 - - - - - - - - - 15.90 -
24724.07 92.91 3.03 2739 24807.21 2.21 0.29 0.068 2880.75 216.0 2.57 0.078 1131.12 -408.2 267.74 76.49 1.289 1681.44 -5.4 0.065 - - - - - - 15.87 15.63 11.58
24819.49 86.97 7.94 2758 24824.86 roll 2.22 - - 2881.00 - 2.65 0.027 2273.50 431.1 267.74 - - 1677.94 - - - - - - - - - 15.72 -
25009.37 69.92 8.33 2796 25010.70 VBD 2.22 - - 2880.31 - - - 2273.31 - 267.74 - - 1671.09 - - - - - - - - - - -
25194.43 52.00 10.10 2833 25199.99 done 2.22 - - 2880.38 - 2.73 0.086 3347.19 393.4 267.74 - - 1670.19 - - - - - - - - - 15.74 -
25374.46 38.89 4.90 2869 25431.29 done 2.35 - - 2880.69 - 2.59 0.022 2182.56 -449.7 334.56 49.77 1.187 1411.75 -5.2 0.029 - - - - - - - 15.81 11.62
25614.49 28.48 4.13 2917 25682.19 2.52 0.38 0.065 2952.50 189.0 2.61 0.077 1131.38 -402.8 415.75 61.22 1.161 1079.56 -5.4 0.022 - - - - - - 15.71 15.52 11.74
25769.49 18.10 9.40 2948 25775.05 roll 2.52 - - 2953.00 - 2.67 0.027 2273.62 427.8 415.75 - - 1075.50 - - - - - - - - - 15.65 -
25914 end climb: SURFACE_DEPTH_REACHED
25914 begin surface coast
25959 end surface coast: CONTROL_FINISHED_OK
25959 begin surface
SM 2.57 - - - - 183.2 8.05 0.888 1043.2 129.6 17.30 0.055 1025.3 59.3 - 0.13 0.126 1061.0 8141.0 -16.972 - - 11.69 15.66 15.70 -