NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 663 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 223.49 of 550.00 AH used of 24V (59.37% remains)
• Surface angle -56.4 deg, depth 0.64 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1019.1, SM_CC=425)
• GPS1 time: 34 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
5.37 - - - 66.98 VBD -1.35 - - 178.12 - - - 2372.44 - -82.73 60.44 0.005 2604.62 - - - - - - - - - - 15.25
67.72 3.41 -5.34 11 101.65 -1.35 14.83 0.252 2003.38 123.1 2.62 0.088 3426.81 402.4 -82.73 10.36 0.007 3111.16 48.9 -4.038 - - - - - - 15.43 15.17 15.34
103.72 13.76 -26.11 18 109.26 roll -1.35 - - 2003.75 - 2.58 0.020 2250.25 -456.0 -82.73 - - 3111.31 - - - - - - - - - 15.74 -
294.12 50.40 -13.64 56 298.87 roll -1.35 - - 2002.31 - 2.49 0.064 1208.44 -418.4 -82.73 - - 3111.84 - - - - - - - - - 15.79 -
523.83 80.20 -12.76 102 529.40 roll -1.35 - - 2002.81 - 2.61 0.028 2353.75 438.8 -82.73 - - 3112.69 - - - - - - - - - 15.83 -
714.29 100.20 -9.61 140 715.63 no move -1.35 - - 2003.06 - - - 2353.25 - -82.73 - - 3111.19 - - - - - - - - - - -
1019.02 128.18 -8.55 201 1024.58 roll -1.35 - - 2001.94 - 2.73 0.059 1206.38 -420.1 -82.73 - - 3114.72 - - - - - - - - - 15.88 -
1104.04 135.94 -9.41 218 1109.58 roll -1.35 - - 2003.50 - 2.60 0.028 2355.06 441.8 -82.73 - - 3113.34 - - - - - - - - - 15.89 -
1414.15 162.77 -8.66 280 1419.69 roll -1.35 - - 2003.56 - 2.62 0.086 3426.56 409.0 -82.73 - - 3113.78 - - - - - - - - - 15.86 -
1479.17 168.92 -9.57 293 1484.70 roll -1.35 - - 2003.19 - 2.56 0.020 2242.44 -462.5 -82.73 - - 3113.16 - - - - - - - - - 15.93 -
1789.29 193.94 -7.79 355 1790.61 no move -1.35 - - 2003.00 - - - 2241.75 - -82.73 - - 3111.94 - - - - - - - - - - -
2094.39 218.92 -8.47 416 2099.51 roll -1.35 - - 2003.50 - 2.45 0.065 1208.25 -421.8 -82.73 - - 3115.34 - - - - - - - - - 15.92 -
2144.51 223.32 -8.87 426 2149.94 roll -1.35 - - 2003.06 - 2.59 0.028 2355.62 443.0 -82.73 - - 3112.59 - - - - - - - - - 15.95 -
2454.45 249.03 -8.28 488 2460.01 roll -1.35 - - 2001.94 - 2.72 0.060 1207.94 -421.9 -82.73 - - 3112.75 - - - - - - - - - 15.93 -
2559.46 257.82 -8.34 509 2564.99 roll -1.35 - - 2003.19 - 2.60 0.029 2354.56 441.0 -82.73 - - 3113.44 - - - - - - - - - 15.96 -
2869.51 283.04 -8.58 571 2875.07 roll -1.35 - - 2003.88 - 2.72 0.061 1207.00 -421.9 -82.73 - - 3112.38 - - - - - - - - - 15.93 -
2924.50 288.00 -8.95 582 2930.04 roll -1.35 - - 2002.62 - 2.59 0.029 2353.44 442.6 -82.73 - - 3112.16 - - - - - - - - - 15.97 -
3238.83 315.35 -8.66 626 3243.48 roll -1.35 - - 2003.12 - 2.73 0.061 1206.88 -420.0 -82.73 - - 3110.31 - - - - - - - - - 15.94 -
3324.59 322.83 -8.86 638 3339.51 roll -1.35 - - 2003.25 - 2.60 0.029 2353.31 440.9 -82.73 - - 3110.72 - - - - - - - - - 15.99 -
3640.97 348.94 -8.12 667 3652.04 no move -1.35 - - 2003.50 - - - 2352.81 - -82.73 - - 3110.41 - - - - - - - - - - -
3953.93 373.62 -7.99 696 3958.58 roll -1.35 - - 2002.88 - 2.73 0.062 1209.50 -418.8 -82.73 - - 3109.84 - - - - - - - - - 15.95 -
4055.43 382.02 -8.37 710 4070.35 roll -1.35 - - 2003.38 - 2.58 0.030 2353.75 443.5 -82.73 - - 3109.91 - - - - - - - - - 15.99 -
4372.54 407.06 -7.85 739 4377.18 roll -1.35 - - 2003.50 - 2.73 0.062 1208.00 -419.7 -82.73 - - 3107.94 - - - - - - - - - 15.94 -
4426.81 411.54 -8.31 747 4441.73 roll -1.35 - - 2003.00 - 2.59 0.029 2352.44 441.9 -82.73 - - 3108.91 - - - - - - - - - 16.00 -
4742.98 437.53 -8.29 776 4754.05 no move -1.35 - - 2003.12 - - - 2352.06 - -82.73 - - 3108.81 - - - - - - - - - - -
5056.46 462.08 -7.55 805 5061.10 roll -1.35 - - 2003.19 - 2.72 0.063 1208.50 -420.4 -82.73 - - 3107.84 - - - - - - - - - 15.94 -
5109.39 466.29 -7.77 812 5114.01 roll -1.35 - - 2003.44 - 2.59 0.030 2353.12 441.9 -82.73 - - 3108.91 - - - - - - - - - 16.00 -
5421.06 487.83 -6.30 841 5432.13 no move -1.35 - - 2003.25 - - - 2353.19 - -82.73 - - 3107.47 - - - - - - - - - - -
5744.25 511.57 -7.61 867 5748.89 roll -1.35 - - 2003.06 - 2.73 0.063 1208.62 -419.3 -82.73 - - 3105.72 - - - - - - - - - 15.93 -
5891.49 522.77 -7.93 889 5906.59 roll -1.35 - - 2003.25 - 2.59 0.030 2353.06 441.9 -82.73 - - 3106.47 - - - - - - - - - 16.00 -
6221.07 548.71 -7.95 911 6225.72 roll -1.35 - - 2003.19 - 2.74 0.063 1209.56 -417.3 -82.73 - - 3105.94 - - - - - - - - - 15.93 -
6299.75 555.60 -8.67 922 6304.37 roll -1.35 - - 2003.12 - 2.58 0.030 2352.62 443.0 -82.73 - - 3104.75 - - - - - - - - - 15.99 -
6616.23 583.04 -8.78 944 6617.56 no move -1.35 - - 2003.12 - - - 2352.31 - -82.73 - - 3104.34 - - - - - - - - - - -
6931.27 607.50 -7.31 965 6935.92 roll -1.35 - - 2002.75 - 2.71 0.063 1209.62 -421.7 -82.73 - - 3104.41 - - - - - - - - - 15.92 -
7175.85 625.98 -7.53 1000 7180.46 roll -1.35 - - 2003.06 - 2.58 0.030 2353.44 443.3 -82.73 - - 3102.94 - - - - - - - - - 15.99 -
7492.34 647.17 -6.52 1022 7496.98 roll -1.35 - - 2003.62 - 2.73 0.064 1209.69 -419.0 -82.73 - - 3104.03 - - - - - - - - - 15.91 -
7634.58 657.12 -7.09 1043 7640.11 roll -1.35 - - 2003.19 - 2.59 0.030 2351.62 440.9 -82.73 - - 3103.78 - - - - - - - - - 16.00 -
7953.99 679.15 -6.89 1065 7958.63 roll -1.35 - - 2003.06 - 2.73 0.063 1209.31 -418.4 -82.73 - - 3103.09 - - - - - - - - - 15.91 -
8032.88 684.96 -7.32 1076 8037.48 roll -1.35 - - 2003.25 - 2.59 0.030 2350.50 440.6 -82.73 - - 3103.09 - - - - - - - - - 15.99 -
8349.56 707.40 -7.22 1098 8350.89 no move -1.35 - - 2003.00 - - - 2350.50 - -82.73 - - 3101.75 - - - - - - - - - - -
8664.51 731.14 -7.66 1119 8669.17 roll -1.35 - - 2003.12 - 2.74 0.064 1208.31 -416.9 -82.73 - - 3102.69 - - - - - - - - - 15.90 -
8765.28 739.15 -8.05 1134 8770.82 roll -1.35 - - 2001.50 - 2.60 0.030 2352.69 440.1 -82.73 - - 3102.78 - - - - - - - - - 16.00 -
9084.68 762.45 -7.02 1156 9086.01 no move -1.35 - - 2003.25 - - - 2353.25 - -82.73 - - 3101.16 - - - - - - - - - - -
9399.71 783.02 -6.31 1177 9404.35 roll -1.35 - - 2003.44 - 2.75 0.064 1208.19 -416.4 -82.73 - - 3100.62 - - - - - - - - - 15.90 -
9478.38 788.17 -6.52 1188 9482.99 roll -1.35 - - 2002.88 - 2.60 0.031 2352.00 439.9 -82.73 - - 3100.53 - - - - - - - - - 15.99 -
9794.84 808.58 -6.64 1210 9796.17 no move -1.35 - - 2003.50 - - - 2351.75 - -82.73 - - 3100.28 - - - - - - - - - - -
10109.87 828.94 -6.42 1231 10111.20 no move -1.35 - - 2002.81 - - - 2351.62 - -82.73 - - 3099.38 - - - - - - - - - - -
10424.87 849.76 -6.58 1252 10429.52 roll -1.35 - - 2002.81 - 2.75 0.065 1208.69 -415.6 -82.73 - - 3099.00 - - - - - - - - - 15.89 -
10504.88 855.24 -6.94 1264 10510.41 roll -1.35 - - 2002.25 - 2.60 0.031 2350.31 439.1 -82.73 - - 3101.16 - - - - - - - - - 16.00 -
10824.31 877.76 -7.21 1286 10828.96 roll -1.35 - - 2002.69 - 2.74 0.065 1209.38 -416.4 -82.73 - - 3101.44 - - - - - - - - - 15.88 -
10925.29 885.30 -7.58 1301 10931.01 roll -1.35 - - 2003.19 - 2.60 0.031 2350.69 439.0 -82.73 - - 3101.06 - - - - - - - - - 15.99 -
11244.86 907.52 -6.64 1323 11246.19 no move -1.35 - - 2003.50 - - - 2351.12 - -82.73 - - 3098.69 - - - - - - - - - - -
11559.72 927.83 -6.41 1344 11564.36 roll -1.35 - - 2003.12 - 2.73 0.065 1208.25 -418.6 -82.73 - - 3099.19 - - - - - - - - - 15.87 -
11660.47 934.43 -6.64 1359 11666.01 roll -1.35 - - 2002.94 - 2.60 0.031 2351.75 439.8 -82.73 - - 3101.25 - - - - - - - - - 15.98 -
11979.89 954.18 -5.97 1381 11981.22 no move -1.35 - - 2003.19 - - - 2351.88 - -82.73 - - 3098.06 - - - - - - - - - - -
12294.91 972.65 -5.88 1402 12299.55 roll -1.35 - - 2000.62 - 2.74 0.065 1208.31 -417.4 -82.73 - - 3100.81 - - - - - - - - - 15.86 -
12415.06 980.12 -6.24 1419 12419.69 roll -1.35 - - 2002.88 - 2.61 0.031 2351.12 437.9 -82.73 - - 3099.16 - - - - - - - - - 15.99 -
12596 end dive: TARGET_DEPTH_EXCEEDED
12596 begin apogee
12598.52 990.44 -5.64 1432 12673.93 -0.28 1.87 0.142 2262.69 138.9 0.22 0.130 2281.88 -314.7 - 63.40 2.437 2776.25 -5.1 0.351 - - - - - - 15.72 15.47 10.24
12675 end apogee: CONTROL_FINISHED_OK
12675 begin climb
12676.07 991.25 - 1437 12763.86 1.35 2.67 0.092 2660.31 148.9 2.90 0.077 1131.12 -396.8 82.73 68.87 2.373 2439.97 -4.9 0.346 - - - - - - 15.57 15.18 12.03
12806.35 983.49 6.61 1455 12810.99 roll 1.38 - - 2661.31 - 2.69 0.030 2271.12 423.8 82.73 - - 2433.28 - - - - - - - - - 15.43 -
13122.82 957.59 8.18 1477 13124.15 no move 1.38 - - 2660.69 - - - 2271.25 - 82.73 - - 2430.91 - - - - - - - - - - -
13437.84 933.26 7.16 1498 13439.17 no move 1.41 - - 2660.88 - - - 2271.25 - 82.73 - - 2430.38 - - - - - - - - - - -
13753.03 912.15 6.52 1519 13757.69 roll 1.45 - - 2660.69 - 2.81 0.074 1131.88 -405.5 82.73 - - 2428.94 - - - - - - - - - 15.81 -
13874.52 903.70 7.08 1537 13880.11 roll back 1.48 0.17 0.092 2701.00 237.1 2.62 0.031 2271.69 435.0 82.73 - - 2430.94 - - - - - - - - 15.71 15.86 -
14193.92 880.46 7.15 1559 14195.25 no move 1.50 - - 2701.50 - - - 2271.94 - 82.73 - - 2429.47 - - - - - - - - - - -
14508.93 858.62 6.76 1580 14513.58 roll 1.54 - - 2701.31 - 2.78 0.073 1132.25 -410.0 82.73 - - 2428.28 - - - - - - - - - 15.86 -
14568.21 854.46 7.07 1589 14573.73 roll 1.56 - - 2702.00 - 2.60 0.031 2273.06 438.8 82.73 - - 2430.47 - - - - - - - - - 15.91 -
14887.61 832.83 6.77 1611 14892.44 done 1.60 - - 2702.19 - 2.80 0.073 1130.88 -407.9 82.73 - - 2428.66 - - - - - - - - - 15.87 -
14947.07 828.63 7.14 1620 14952.41 roll 1.62 - - 2702.25 - 2.60 0.031 2272.88 439.2 82.73 - - 2430.88 - - - - - - - - - 15.93 -
15266.32 806.01 7.39 1642 15267.76 1.65 0.17 0.088 2741.62 231.6 - - 2273.19 - 82.73 - - 2427.91 - - - - - - - - 15.91 - -
15581.35 779.86 8.28 1663 15582.68 VBD 1.65 - - 2742.31 - - - 2273.88 - 82.73 - - 2427.94 - - - - - - - - - - -
15896.41 755.83 7.21 1684 15901.06 done 1.67 - - 2742.75 - 2.80 0.074 1130.75 -408.3 82.73 - - 2428.03 - - - - - - - - - 15.88 -
15975.09 749.69 7.74 1695 15979.70 done 1.69 - - 2742.12 - 2.60 0.031 2272.56 439.2 82.73 - - 2428.25 - - - - - - - - - 15.95 -
16291.57 726.88 6.91 1717 16292.90 VBD 1.72 - - 2742.38 - - - 2272.81 - 82.73 - - 2427.53 - - - - - - - - - - -
16606.58 704.85 7.07 1738 16611.26 done 1.74 - - 2742.69 - 2.81 0.074 1131.00 -406.3 82.73 - - 2429.78 - - - - - - - - - 15.87 -
16728.08 695.59 7.75 1756 16733.62 done 1.76 - - 2742.75 - 2.61 0.031 2273.56 437.8 82.73 - - 2430.31 - - - - - - - - - 15.97 -
17047.47 673.55 7.10 1778 17052.13 done 1.79 - - 2742.69 - 2.80 0.073 1129.94 -408.4 82.73 - - 2426.56 - - - - - - - - - 15.87 -
17252.68 657.80 7.71 1808 17257.65 done 1.80 - - 2740.56 - 2.60 0.031 2272.44 439.4 82.73 - - 2428.62 - - - - - - - - - 15.97 -
17571.63 636.83 6.52 1830 17576.36 1.84 0.20 0.081 2789.75 246.0 2.78 0.073 1131.19 -410.5 82.73 - - 2426.38 - - - - - - - - 15.93 15.81 -
17630.93 632.18 7.69 1839 17636.44 done 1.85 - - 2789.44 - 2.60 0.031 2273.69 439.4 82.73 - - 2430.41 - - - - - - - - - 15.97 -
17950.36 607.98 7.42 1861 17955.01 done 1.88 - - 2790.81 - 2.78 0.073 1130.25 -411.3 82.73 - - 2426.25 - - - - - - - - - 15.87 -
18030.37 601.50 8.17 1873 18035.90 done 1.88 - - 2790.38 - 2.60 0.031 2273.62 439.8 82.73 - - 2429.09 - - - - - - - - - 15.98 -
18349.76 576.05 8.14 1895 18354.39 done 1.88 - - 2790.44 - 2.67 0.093 3347.88 402.3 82.73 - - 2430.03 - - - - - - - - - 15.83 -
18367.56 574.67 8.17 1898 18373.10 done 1.88 - - 2789.88 - 2.57 0.024 2183.44 -453.1 82.73 - - 2428.03 - - - - - - - - - 15.98 -
18687.20 550.73 7.25 1920 18691.87 done 1.90 - - 2789.75 - 2.89 0.088 3346.56 402.5 82.73 - - 2429.53 - - - - - - - - - 15.83 -
18710.02 549.49 7.27 1924 18724.92 done 1.92 - - 2790.00 - 2.57 0.024 2184.62 -452.1 82.73 - - 2427.84 - - - - - - - - - 15.98 -
19039.42 525.92 6.71 1946 19044.04 done 1.96 - - 2790.31 - 2.55 0.078 1129.69 -413.7 82.73 - - 2426.47 - - - - - - - - - 15.86 -
19124.64 520.23 7.18 1959 19139.42 done 1.98 - - 2790.69 - 2.60 0.031 2273.75 440.0 82.73 - - 2428.16 - - - - - - - - - 15.98 -
19441.06 497.70 6.76 1981 19452.24 2.02 0.17 0.085 2833.44 251.5 - - 2273.50 - 82.73 - - 2428.59 - - - - - - - - 15.94 - -
19754.15 476.80 6.33 2010 19790.28 done 2.10 - - 2834.06 - 2.76 0.077 1129.75 -414.4 122.50 31.56 1.771 2274.56 -4.9 0.223 - - - - - - - 15.72 10.81
19918.58 462.03 10.26 2032 19933.52 roll 2.10 - - 2833.81 - 2.62 0.031 2274.81 437.0 122.50 - - 2271.06 - - - - - - - - - 15.86 -
20235.14 432.89 8.48 2061 20239.78 roll 2.10 - - 2833.88 - 2.77 0.073 1130.12 -413.2 122.50 - - 2270.62 - - - - - - - - - 15.84 -
20368.08 420.57 9.50 2079 20383.01 roll 2.10 - - 2833.56 - 2.62 0.031 2273.12 436.3 122.50 - - 2269.94 - - - - - - - - - 15.90 -
20684.19 392.04 9.63 2108 20695.26 no move 2.10 - - 2834.31 - - - 2274.06 - 122.50 - - 2269.94 - - - - - - - - - - -
20997.03 361.87 9.64 2137 21001.66 roll 2.10 - - 2833.88 - 2.67 0.091 3348.12 402.3 122.50 - - 2268.34 - - - - - - - - - 15.83 -
21049.96 356.49 9.95 2144 21054.57 roll 2.10 - - 2831.25 - 2.57 0.024 2184.50 -452.8 122.50 - - 2269.22 - - - - - - - - - 15.92 -
21361.32 328.77 8.77 2173 21365.99 roll 2.10 - - 2834.12 - 2.55 0.077 1128.94 -413.9 122.50 - - 2271.50 - - - - - - - - - 15.86 -
21509.99 315.10 9.36 2193 21525.63 roll 2.10 - - 2834.62 - 2.61 0.030 2273.88 438.7 122.50 - - 2269.59 - - - - - - - - - 15.95 -
21829.54 287.06 8.61 2237 21835.10 roll 2.10 - - 2834.88 - 2.76 0.072 1129.50 -414.6 122.50 - - 2270.94 - - - - - - - - - 15.85 -
21974.55 274.44 8.38 2266 21980.11 roll 2.10 - - 2834.69 - 2.61 0.030 2273.69 438.4 122.50 - - 2269.81 - - - - - - - - - 15.93 -
22284.60 248.93 8.07 2328 22285.93 no move 2.10 - - 2834.50 - - - 2273.56 - 122.50 - - 2269.09 - - - - - - - - - - -
22589.65 223.89 8.70 2389 22595.22 roll 2.10 - - 2834.62 - 2.77 0.072 1128.56 -413.4 122.50 - - 2269.34 - - - - - - - - - 15.85 -
22649.65 218.60 8.88 2401 22655.21 roll 2.10 - - 2834.50 - 2.61 0.030 2275.50 439.4 122.50 - - 2270.03 - - - - - - - - - 15.94 -
22959.71 194.91 7.66 2463 22965.44 roll 2.11 - - 2834.56 - 2.77 0.071 1129.69 -413.6 122.50 - - 2269.50 - - - - - - - - - 15.86 -
23079.82 184.45 8.89 2487 23085.26 roll 2.11 - - 2834.94 - 2.61 0.030 2275.19 438.9 122.50 - - 2270.00 - - - - - - - - - 15.94 -
23389.76 160.60 7.48 2549 23391.09 no move 2.13 - - 2834.94 - - - 2275.38 - 122.50 - - 2268.50 - - - - - - - - - - -
23694.84 143.12 5.25 2610 23747.07 2.25 0.26 0.069 2892.12 219.9 2.78 0.073 1128.62 -412.5 182.33 45.94 1.380 2031.34 -5.2 0.091 - - - - - - 15.92 15.70 11.17
23804.96 135.03 9.18 2632 23810.40 roll 2.25 - - 2892.62 - 2.62 0.029 2273.44 437.0 182.33 - - 2028.38 - - - - - - - - - 15.81 -
24115.18 105.59 8.08 2694 24120.50 roll 2.25 - - 2892.56 - 2.66 0.088 3346.38 403.4 182.33 - - 2024.12 - - - - - - - - - 15.79 -
24350.03 90.20 6.05 2741 24391.22 done 2.34 - - 2891.81 - 2.57 0.023 2182.06 -453.0 227.37 35.13 1.268 1848.06 -5.0 0.060 - - - - - - - 15.86 11.59
24575.10 73.43 7.95 2786 24580.69 roll 2.35 - - 2892.19 - 2.92 0.083 3347.50 399.1 227.37 - - 1843.03 - - - - - - - - - 15.77 -
24800.18 54.49 7.22 2831 24805.70 roll 2.38 - - 2892.50 - 2.58 0.022 2183.31 -451.2 227.37 - - 1840.84 - - - - - - - - - 15.82 -
24990.23 44.95 5.23 2869 25042.45 2.50 0.28 0.069 2949.12 202.2 2.55 0.078 1129.69 -413.2 287.63 45.86 1.207 1601.94 -5.2 0.033 - - - - - - 15.81 15.62 11.37
25120.45 36.33 6.19 2895 25158.99 done 2.58 - - 2947.00 - 2.62 0.026 2275.62 437.4 330.05 33.53 1.157 1429.44 -5.1 0.027 - - - - - - - 15.74 11.90
25341.26 28.90 3.06 2939 25424.04 2.79 0.31 0.067 3015.38 220.6 2.70 0.088 3346.38 396.6 430.77 75.71 1.161 1018.84 -5.4 0.023 - - - - - - 15.69 15.43 11.54
25555 end climb: SURFACE_DEPTH_REACHED
25556 begin surface coast
25566 end surface coast: CONTROL_FINISHED_OK
25566 begin surface
SM 0.86 - - - - 182.1 - - 1011.3 - 17.89 0.058 1003.5 56.1 - 2.39 0.025 1019.1 425.3 -1.495 - - 30.00 15.57 15.64 -