NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 660 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 222.28 of 550.00 AH used of 24V (59.58% remains)
• Surface angle -62.6 deg, depth 0.67 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 51 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
5.37 - - - 66.97 VBD -1.35 - - 179.56 - - - 2260.25 - -82.73 60.44 0.005 2620.38 - - - - - - - - - - 15.18
67.69 3.94 -7.05 11 101.64 -1.35 14.82 0.254 2004.69 123.2 2.54 0.066 1206.62 -414.8 -82.73 10.07 0.007 3108.62 48.5 -4.620 - - - - - - 15.43 15.16 15.29
303.78 50.39 -11.37 58 309.32 roll -1.35 - - 2004.00 - 2.62 0.028 2353.75 437.8 -82.73 - - 3111.50 - - - - - - - - - 15.79 -
494.21 72.44 -12.29 96 495.54 no move -1.35 - - 2004.19 - - - 2353.62 - -82.73 - - 3111.22 - - - - - - - - - - -
678.97 93.01 -10.90 133 684.48 roll -1.35 - - 2004.25 - 2.76 0.058 1208.38 -414.9 -82.73 - - 3112.69 - - - - - - - - - 15.85 -
703.92 95.44 -10.03 138 709.45 roll -1.35 - - 2003.75 - 2.59 0.027 2356.12 443.1 -82.73 - - 3112.78 - - - - - - - - - 15.86 -
894.37 111.53 -8.26 176 899.54 roll -1.35 - - 2003.19 - 2.74 0.058 1208.31 -418.9 -82.73 - - 3114.00 - - - - - - - - - 15.86 -
1014.02 121.56 -8.61 200 1019.55 roll -1.35 - - 2004.00 - 2.59 0.028 2356.19 443.2 -82.73 - - 3113.16 - - - - - - - - - 15.88 -
1324.06 148.23 -8.08 262 1329.60 roll -1.35 - - 2003.75 - 2.62 0.085 3427.62 408.9 -82.73 - - 3113.44 - - - - - - - - - 15.87 -
1384.07 153.69 -9.38 274 1389.60 roll -1.35 - - 2004.38 - 2.57 0.020 2240.69 -461.8 -82.73 - - 3113.31 - - - - - - - - - 15.91 -
1694.11 178.72 -8.15 336 1695.44 no move -1.35 - - 2004.12 - - - 2239.56 - -82.73 - - 3112.09 - - - - - - - - - - -
1999.15 203.04 -8.09 397 2000.48 no move -1.35 - - 2003.88 - - - 2239.56 - -82.73 - - 3112.81 - - - - - - - - - - -
2304.37 228.02 -7.66 458 2305.70 no move -1.35 - - 2003.94 - - - 2240.00 - -82.73 - - 3111.72 - - - - - - - - - - -
2609.22 251.65 -8.15 519 2614.81 roll -1.35 - - 2003.25 - 2.91 0.082 3427.38 408.0 -82.73 - - 3114.84 - - - - - - - - - 15.90 -
2689.22 259.30 -9.79 535 2694.77 roll -1.35 - - 2004.50 - 2.56 0.020 2246.94 -461.1 -82.73 - - 3112.69 - - - - - - - - - 15.96 -
2999.28 286.78 -8.91 597 3000.61 no move -1.35 - - 2004.50 - - - 2246.00 - -82.73 - - 3111.44 - - - - - - - - - - -
3301.74 311.49 -7.62 641 3312.81 no move -1.35 - - 2004.56 - - - 2245.88 - -82.73 - - 3112.47 - - - - - - - - - - -
3614.65 334.85 -7.72 670 3625.72 no move -1.35 - - 2004.38 - - - 2246.38 - -82.73 - - 3111.62 - - - - - - - - - - -
3927.35 359.85 -8.23 699 3931.95 roll -1.35 - - 2004.62 - 2.48 0.067 1208.31 -418.6 -82.73 - - 3114.03 - - - - - - - - - 15.95 -
3981.63 364.43 -8.51 707 3996.56 roll -1.35 - - 2004.56 - 2.59 0.029 2356.06 443.1 -82.73 - - 3111.12 - - - - - - - - - 16.00 -
4298.00 390.89 -8.34 736 4302.65 roll -1.35 - - 2004.81 - 2.77 0.062 1208.62 -414.2 -82.73 - - 3109.41 - - - - - - - - - 15.94 -
4352.45 395.42 -8.54 744 4367.20 roll -1.35 - - 2004.12 - 2.58 0.029 2354.38 444.1 -82.73 - - 3110.50 - - - - - - - - - 16.01 -
4668.73 421.19 -7.91 773 4673.44 roll -1.35 - - 2004.44 - 2.74 0.062 1208.50 -418.2 -82.73 - - 3109.16 - - - - - - - - - 15.95 -
4738.74 426.91 -8.27 783 4753.66 roll -1.35 - - 2004.38 - 2.59 0.029 2355.38 442.8 -82.73 - - 3110.28 - - - - - - - - - 16.01 -
5055.77 452.17 -7.93 812 5066.84 no move -1.35 - - 2004.25 - - - 2354.56 - -82.73 - - 3109.22 - - - - - - - - - - -
5368.60 477.43 -8.10 841 5373.25 roll -1.35 - - 2004.56 - 2.74 0.063 1208.12 -418.4 -82.73 - - 3108.41 - - - - - - - - - 15.94 -
5470.10 485.70 -8.22 855 5485.01 roll -1.35 - - 2003.69 - 2.58 0.030 2352.81 443.7 -82.73 - - 3108.00 - - - - - - - - - 16.00 -
5792.82 510.73 -7.48 881 5797.46 roll -1.35 - - 2004.50 - 2.74 0.063 1208.50 -417.6 -82.73 - - 3108.44 - - - - - - - - - 15.94 -
5871.49 516.95 -7.87 892 5876.10 roll -1.35 - - 2004.25 - 2.58 0.030 2353.88 443.9 -82.73 - - 3108.75 - - - - - - - - - 15.99 -
6187.98 541.07 -7.57 914 6189.31 no move -1.35 - - 2004.56 - - - 2353.69 - -82.73 - - 3106.47 - - - - - - - - - - -
6503.01 564.61 -7.55 935 6507.87 roll -1.35 - - 2004.56 - 2.73 0.063 1209.19 -419.2 -82.73 - - 3107.69 - - - - - - - - - 15.93 -
6624.51 574.24 -8.05 953 6630.05 roll -1.35 - - 2004.50 - 2.57 0.030 2353.62 445.3 -82.73 - - 3108.06 - - - - - - - - - 16.00 -
6944.12 599.11 -7.70 975 6948.82 roll -1.35 - - 2004.50 - 2.73 0.063 1210.00 -418.9 -82.73 - - 3105.41 - - - - - - - - - 15.93 -
7008.40 603.74 -7.90 985 7023.33 roll -1.35 - - 2004.44 - 2.57 0.030 2352.31 444.5 -82.73 - - 3106.03 - - - - - - - - - 16.00 -
7337.83 628.83 -7.52 1007 7339.15 no move -1.35 - - 2004.31 - - - 2351.75 - -82.73 - - 3104.47 - - - - - - - - - - -
7652.86 652.70 -7.59 1028 7657.51 roll -1.35 - - 2004.50 - 2.74 0.063 1209.25 -417.0 -82.73 - - 3104.38 - - - - - - - - - 15.92 -
7717.14 657.40 -7.99 1038 7732.06 roll -1.35 - - 2004.56 - 2.58 0.030 2352.44 443.1 -82.73 - - 3105.09 - - - - - - - - - 16.01 -
8046.54 683.47 -7.73 1060 8051.19 roll -1.35 - - 2003.81 - 2.74 0.063 1208.25 -417.6 -82.73 - - 3106.00 - - - - - - - - - 15.92 -
8085.09 686.51 -7.97 1066 8090.63 roll -1.35 - - 2004.62 - 2.58 0.031 2353.38 443.8 -82.73 - - 3104.88 - - - - - - - - - 15.99 -
8404.67 711.57 -7.72 1088 8409.32 roll -1.35 - - 2004.12 - 2.75 0.063 1208.06 -416.5 -82.73 - - 3105.00 - - - - - - - - - 15.91 -
8463.96 716.17 -7.86 1097 8469.50 roll -1.35 - - 2003.19 - 2.60 0.031 2353.62 440.6 -82.73 - - 3105.97 - - - - - - - - - 16.01 -
8783.36 739.97 -7.59 1119 8788.01 roll -1.35 - - 2004.00 - 2.76 0.064 1208.12 -415.0 -82.73 - - 3102.84 - - - - - - - - - 15.91 -
8841.48 744.53 -7.80 1127 8846.15 roll -1.35 - - 2004.75 - 2.58 0.030 2352.75 443.7 -82.73 - - 3105.69 - - - - - - - - - 16.00 -
9157.98 767.25 -7.53 1149 9162.62 roll -1.35 - - 2004.06 - 2.76 0.063 1209.06 -414.4 -82.73 - - 3102.34 - - - - - - - - - 15.90 -
9236.65 773.47 -7.88 1160 9241.27 roll -1.35 - - 2004.31 - 2.58 0.031 2351.88 443.0 -82.73 - - 3102.88 - - - - - - - - - 15.99 -
9553.11 797.40 -7.31 1182 9557.76 roll -1.35 - - 2004.25 - 2.77 0.064 1208.12 -412.9 -82.73 - - 3102.00 - - - - - - - - - 15.90 -
9631.76 803.38 -7.56 1193 9636.38 roll -1.35 - - 2004.00 - 2.58 0.031 2352.81 443.7 -82.73 - - 3102.59 - - - - - - - - - 15.99 -
9948.23 825.77 -7.04 1215 9949.56 no move -1.35 - - 2004.06 - - - 2352.19 - -82.73 - - 3101.44 - - - - - - - - - - -
10263.25 847.24 -6.63 1236 10264.58 no move -1.35 - - 2004.12 - - - 2352.12 - -82.73 - - 3100.41 - - - - - - - - - - -
10578.27 867.65 -6.54 1257 10579.60 no move -1.35 - - 2004.50 - - - 2352.12 - -82.73 - - 3100.34 - - - - - - - - - - -
10893.29 888.29 -6.69 1278 10894.62 no move -1.35 - - 2004.25 - - - 2351.50 - -82.73 - - 3100.69 - - - - - - - - - - -
11208.31 908.97 -6.55 1299 11212.96 roll -1.35 - - 2004.38 - 2.78 0.065 1209.88 -410.7 -82.73 - - 3099.34 - - - - - - - - - 15.88 -
11307.69 915.81 -6.88 1313 11312.31 roll -1.35 - - 2003.62 - 2.58 0.031 2351.81 442.6 -82.73 - - 3100.16 - - - - - - - - - 15.99 -
11624.17 935.80 -6.07 1335 11629.03 roll -1.35 - - 2004.62 - 2.77 0.064 1209.12 -412.5 -82.73 - - 3099.59 - - - - - - - - - 15.88 -
11704.38 940.90 -6.42 1347 11709.72 roll -1.35 - - 2004.00 - 2.59 0.031 2351.44 441.1 -82.73 - - 3102.38 - - - - - - - - - 15.99 -
12023.61 960.34 -5.99 1369 12024.94 no move -1.35 - - 2004.44 - - - 2351.88 - -82.73 - - 3099.62 - - - - - - - - - - -
12338.64 978.07 -5.41 1390 12343.29 roll -1.35 - - 2003.88 - 2.77 0.065 1210.06 -412.2 -82.73 - - 3100.38 - - - - - - - - - 15.87 -
12418.67 982.55 -5.65 1402 12424.19 roll -1.35 - - 2004.56 - 2.59 0.031 2352.06 440.9 -82.73 - - 3101.81 - - - - - - - - - 15.98 -
12558 end dive: TARGET_DEPTH_EXCEEDED
12558 begin apogee
12559.87 990.41 -5.64 1412 12635.45 -0.28 1.84 0.139 2263.12 140.5 0.22 0.135 2283.69 -310.8 - 63.75 2.433 2774.62 -5.1 0.354 - - - - - - 15.74 15.45 10.29
12637 end apogee: CONTROL_FINISHED_OK
12637 begin climb
12637.58 991.32 - 1417 12711.78 1.35 2.65 0.090 2660.62 150.0 - - 2283.56 - 82.73 68.99 2.356 2438.81 -4.9 0.347 - - - - - - 15.57 - 12.10
13024.09 966.20 6.91 1443 13028.94 roll 1.38 - - 2659.69 - 2.87 0.074 1129.75 -402.0 82.73 - - 2432.34 - - - - - - - - - 15.66 -
13067.83 963.59 6.92 1450 13082.57 roll 1.41 - - 2661.12 - 2.64 0.030 2272.94 433.0 82.73 - - 2432.47 - - - - - - - - - 15.70 -
13397.06 941.20 6.66 1472 13401.72 roll 1.44 - - 2659.50 - 2.84 0.073 1131.12 -402.0 82.73 - - 2431.16 - - - - - - - - - 15.78 -
13456.34 936.98 7.12 1481 13461.93 roll back 1.47 0.15 0.098 2700.88 275.9 2.62 0.031 2273.06 435.9 82.73 - - 2431.19 - - - - - - - - 15.67 15.81 -
13775.93 912.74 7.65 1503 13777.26 VBD 1.49 - - 2700.75 - - - 2273.00 - 82.73 - - 2428.31 - - - - - - - - - - -
14090.83 889.86 6.96 1524 14095.50 done 1.52 - - 2701.38 - 2.81 0.073 1131.94 -406.1 82.73 - - 2429.53 - - - - - - - - - 15.84 -
14217.32 881.26 7.16 1543 14232.21 done 1.54 - - 2701.25 - 2.59 0.031 2274.06 441.0 82.73 - - 2429.88 - - - - - - - - - 15.90 -
14546.73 861.58 5.50 1565 14593.65 1.65 0.18 0.087 2742.31 228.1 - - 2273.38 - 137.96 45.53 2.262 2211.47 -4.8 0.309 - - - - - - 15.88 - 11.30
14906.90 830.71 9.38 1589 14908.23 no move 1.65 - - 2741.69 - - - 2273.75 - 137.96 - - 2205.59 - - - - - - - - - - -
15221.73 798.41 10.74 1610 15223.06 no move 1.65 - - 2742.44 - - - 2273.25 - 137.96 - - 2204.31 - - - - - - - - - - -
15536.74 764.27 10.99 1631 15541.69 roll 1.65 - - 2742.56 - 2.80 0.074 1129.94 -408.3 137.96 - - 2203.94 - - - - - - - - - 15.83 -
15595.24 757.40 11.55 1639 15599.86 done 1.65 - - 2742.31 - 2.60 0.031 2271.38 439.0 137.96 - - 2206.31 - - - - - - - - - 15.87 -
15911.71 722.69 10.69 1661 15916.36 done 1.65 - - 2742.75 - 2.80 0.074 1130.75 -407.4 137.96 - - 2204.78 - - - - - - - - - 15.85 -
15948.91 718.58 10.87 1666 15953.53 done 1.65 - - 2741.75 - 2.60 0.031 2273.94 439.7 137.96 - - 2204.16 - - - - - - - - - 15.90 -
16265.39 685.76 10.25 1688 16266.72 VBD 1.65 - - 2741.88 - - - 2273.31 - 137.96 - - 2202.75 - - - - - - - - - - -
16580.40 652.76 10.13 1709 16585.05 done 1.65 - - 2742.31 - 2.79 0.074 1130.25 -409.7 137.96 - - 2202.41 - - - - - - - - - 15.87 -
16679.83 642.32 10.51 1723 16684.46 done 1.65 - - 2742.19 - 2.59 0.032 2273.56 441.4 137.96 - - 2201.78 - - - - - - - - - 15.94 -
16996.31 612.94 8.93 1745 16997.64 VBD 1.65 - - 2742.31 - - - 2274.19 - 137.96 - - 2202.16 - - - - - - - - - - -
17311.32 586.04 8.50 1766 17315.97 done 1.65 - - 2741.88 - 2.78 0.074 1130.19 -411.5 137.96 - - 2202.41 - - - - - - - - - 15.88 -
17396.34 578.91 9.01 1779 17411.25 done 1.65 - - 2742.44 - 2.59 0.031 2273.56 441.5 137.96 - - 2205.06 - - - - - - - - - 15.96 -
17725.74 550.65 8.18 1801 17730.39 done 1.65 - - 2742.69 - 2.79 0.074 1129.69 -410.0 137.96 - - 2202.88 - - - - - - - - - 15.87 -
17783.86 545.50 8.72 1809 17788.55 done 1.65 - - 2742.38 - 2.58 0.031 2272.88 443.1 137.96 - - 2201.94 - - - - - - - - - 15.95 -
18100.33 519.38 8.22 1831 18104.99 done 1.65 - - 2742.31 - 2.78 0.073 1131.50 -410.6 137.96 - - 2201.53 - - - - - - - - - 15.88 -
18138.88 516.15 8.50 1837 18144.76 done 1.65 - - 2742.19 - 2.58 0.031 2274.75 443.1 137.96 - - 2202.66 - - - - - - - - - 15.96 -
18445.62 490.95 8.19 1861 18456.70 VBD 1.65 - - 2742.69 - - - 2275.19 - 137.96 - - 2203.06 - - - - - - - - - - -
18758.35 465.75 7.94 1890 18762.99 done 1.66 - - 2742.06 - 2.62 0.093 3345.19 408.4 137.96 - - 2202.31 - - - - - - - - - 15.85 -
18796.90 462.58 8.18 1896 18812.00 done 1.66 - - 2743.19 - 2.57 0.024 2186.38 -450.9 137.96 - - 2204.78 - - - - - - - - - 15.97 -
19113.63 436.50 8.45 1925 19124.71 VBD 1.66 - - 2742.94 - - - 2185.50 - 137.96 - - 2203.00 - - - - - - - - - - -
19426.24 410.38 8.34 1954 19437.31 VBD 1.66 - - 2743.25 - - - 2185.00 - 137.96 - - 2202.59 - - - - - - - - - - -
19739.10 385.44 7.89 1983 19750.17 VBD 1.68 - - 2742.94 - - - 2185.12 - 137.96 - - 2202.97 - - - - - - - - - - -
20051.73 361.01 7.78 2012 20056.34 done 1.69 - - 2742.69 - 2.58 0.077 1131.19 -408.5 137.96 - - 2202.59 - - - - - - - - - 15.86 -
20121.73 355.13 8.44 2022 20136.85 done 1.69 - - 2742.94 - 2.59 0.030 2274.94 441.6 137.96 - - 2202.75 - - - - - - - - - 15.98 -
20438.62 328.22 8.44 2051 20443.28 done 1.69 - - 2742.88 - 2.79 0.072 1129.75 -410.5 137.96 - - 2202.03 - - - - - - - - - 15.86 -
20477.16 324.88 8.75 2057 20492.08 done 1.69 - - 2742.44 - 2.58 0.030 2273.69 443.4 137.96 - - 2203.09 - - - - - - - - - 15.97 -
20793.25 299.58 7.88 2086 20805.29 done 1.70 - - 2742.88 - 2.79 0.072 1131.06 -409.5 137.96 - - 2203.62 - - - - - - - - - 15.85 -
20842.38 295.51 8.25 2095 20847.91 done 1.70 - - 2743.44 - 2.59 0.030 2275.31 441.8 137.96 - - 2202.84 - - - - - - - - - 15.96 -
21152.48 271.37 7.59 2157 21158.03 done 1.72 - - 2743.62 - 2.78 0.072 1129.62 -412.1 137.96 - - 2203.28 - - - - - - - - - 15.84 -
21242.49 264.19 7.97 2175 21248.03 done 1.72 - - 2743.62 - 2.58 0.030 2274.94 443.9 137.96 - - 2204.28 - - - - - - - - - 15.96 -
21552.67 242.24 6.76 2237 21558.15 done 1.75 - - 2743.69 - 2.78 0.072 1130.06 -411.8 137.96 - - 2203.03 - - - - - - - - - 15.85 -
21622.63 237.08 7.45 2251 21628.33 done 1.77 - - 2743.00 - 2.58 0.029 2275.00 443.8 137.96 - - 2202.81 - - - - - - - - - 15.96 -
21932.73 217.29 6.65 2313 21938.33 1.81 0.16 0.090 2782.38 246.1 2.77 0.072 1129.88 -413.4 137.96 - - 2203.84 - - - - - - - - 15.92 15.80 -
21972.73 214.21 7.59 2321 21978.25 done 1.83 - - 2783.44 - 2.58 0.029 2276.31 444.4 137.96 - - 2203.12 - - - - - - - - - 15.95 -
22282.85 190.48 7.45 2383 22288.39 done 1.85 - - 2783.31 - 2.78 0.071 1130.19 -412.3 137.96 - - 2203.41 - - - - - - - - - 15.85 -
22322.85 187.30 7.90 2391 22328.38 done 1.86 - - 2783.19 - 2.58 0.029 2276.38 444.3 137.96 - - 2205.22 - - - - - - - - - 15.95 -
22632.95 163.63 7.70 2453 22638.49 done 1.87 - - 2783.38 - 2.63 0.089 3345.94 406.7 137.96 - - 2203.78 - - - - - - - - - 15.82 -
22667.94 160.61 8.49 2460 22673.48 done 1.87 - - 2783.31 - 2.56 0.023 2183.50 -454.1 137.96 - - 2203.66 - - - - - - - - - 15.95 -
22978.04 139.33 6.09 2522 23013.89 VBD 1.96 - - 2783.69 - - - 2183.81 - 182.17 33.90 1.343 2031.28 -5.1 0.089 - - - - - - - - 10.78
23318.08 111.87 7.47 2590 23323.71 roll back 1.98 0.16 0.092 2823.75 250.4 2.88 0.085 3346.94 403.9 182.17 - - 2026.69 - - - - - - - - 15.85 15.75 -
23418.08 103.44 8.75 2610 23423.62 roll 1.98 - - 2823.88 - 2.56 0.023 2185.94 -453.5 182.17 - - 2027.62 - - - - - - - - - 15.88 -
23728.14 81.86 5.22 2672 23779.94 done 2.10 - - 2823.88 - 2.87 0.086 3347.62 404.8 242.67 46.69 1.260 1787.41 -5.1 0.057 - - - - - - - 15.67 11.61
23783.14 78.78 5.53 2683 23830.91 2.21 0.26 0.071 2879.50 213.9 2.60 0.023 2182.31 -448.2 297.29 42.65 1.217 1562.97 -5.3 0.058 - - - - - - 15.75 15.80 12.26
24013.96 56.29 10.24 2729 24019.05 done 2.21 - - 2879.56 - 2.91 0.084 3347.81 400.5 297.29 - - 1553.31 - - - - - - - - - 15.69 -
24058.65 51.37 11.24 2738 24064.06 done 2.21 - - 2879.38 - 2.60 0.023 2187.62 -446.2 297.29 - - 1552.53 - - - - - - - - - 15.72 -
24248.94 33.67 7.95 2776 24254.05 done 2.22 - - 2879.50 - 2.58 0.075 1129.56 -410.1 297.29 - - 1550.53 - - - - - - - - - 15.76 -
24293.55 30.30 7.48 2785 24299.09 done 2.24 - - 2879.12 - 2.61 0.028 2275.12 438.9 297.29 - - 1550.16 - - - - - - - - - 15.79 -
24483.62 24.73 1.92 2823 24581.43 2.49 0.34 0.063 2946.25 197.4 2.83 0.072 1130.12 -404.6 419.41 90.47 1.169 1065.25 -5.4 0.019 - - - - - - 15.79 15.50 11.46
24614.09 19.22 8.38 2849 24619.47 roll 2.49 - - 2947.69 - 2.63 0.027 2275.00 435.3 419.41 - - 1061.31 - - - - - - - - - 15.62 -
24763 end climb: SURFACE_DEPTH_REACHED
24764 begin surface coast
24804 end surface coast: CONTROL_FINISHED_OK
24804 begin surface
SM 2.69 - - - - 180.6 5.43 0.714 1043.5 192.2 17.35 0.054 1031.8 59.5 - 0.12 0.128 1055.2 8771.4 -18.840 - - 11.60 15.65 15.68 -