NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 667 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 225.09 of 550.00 AH used of 24V (59.07% remains)
• Surface angle -67.7 deg, depth 0.97 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 37 s
• GPS2 time: 3 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
5.38 - - - 61.88 VBD -1.35 - - 180.62 - - - 2235.81 - -82.73 55.31 0.005 2466.50 - - - - - - - - - - 15.18
62.62 3.14 -5.98 10 100.69 -1.35 14.84 0.253 2003.56 122.8 2.47 0.067 1209.75 -415.4 -82.73 14.60 0.006 3113.19 44.3 -3.971 - - - - - - 15.43 15.13 15.27
327.83 49.82 -13.72 63 333.36 roll -1.35 - - 2003.31 - 2.60 0.029 2353.50 439.9 -82.73 - - 3112.28 - - - - - - - - - 15.79 -
518.47 71.93 -10.66 101 523.54 roll -1.35 - - 2003.56 - 2.74 0.059 1208.31 -418.0 -82.73 - - 3112.81 - - - - - - - - - 15.82 -
542.91 74.47 -10.17 106 548.44 roll -1.35 - - 2003.69 - 2.59 0.028 2356.12 443.2 -82.73 - - 3114.38 - - - - - - - - - 15.83 -
733.36 92.13 -9.37 144 738.51 roll -1.35 - - 2003.81 - 2.59 0.085 3429.44 414.4 -82.73 - - 3114.00 - - - - - - - - - 15.83 -
858.01 103.89 -9.23 169 863.55 roll -1.35 - - 2004.12 - 2.55 0.020 2243.56 -465.1 -82.73 - - 3113.06 - - - - - - - - - 15.87 -
1168.12 131.58 -8.47 231 1173.24 roll -1.35 - - 2004.06 - 2.43 0.065 1206.94 -426.6 -82.73 - - 3114.25 - - - - - - - - - 15.89 -
1403.20 152.82 -8.97 278 1408.74 roll -1.35 - - 2004.31 - 2.57 0.029 2356.25 447.2 -82.73 - - 3115.50 - - - - - - - - - 15.91 -
1713.31 177.75 -7.34 340 1718.86 roll -1.35 - - 2003.31 - 2.71 0.060 1207.00 -424.1 -82.73 - - 3115.50 - - - - - - - - - 15.92 -
1813.34 185.85 -8.02 360 1818.87 roll -1.35 - - 2003.38 - 2.57 0.029 2354.94 446.7 -82.73 - - 3115.31 - - - - - - - - - 15.93 -
2123.49 210.69 -8.34 422 2128.99 roll -1.35 - - 2004.31 - 2.72 0.060 1206.88 -422.1 -82.73 - - 3114.69 - - - - - - - - - 15.93 -
2173.43 215.05 -8.72 432 2178.96 roll -1.35 - - 2004.06 - 2.56 0.029 2355.06 448.5 -82.73 - - 3114.44 - - - - - - - - - 15.94 -
2483.47 241.79 -8.90 494 2484.80 no move -1.35 - - 2004.19 - - - 2355.50 - -82.73 - - 3112.44 - - - - - - - - - - -
2788.52 269.31 -9.19 555 2794.08 roll -1.35 - - 2003.88 - 2.73 0.061 1208.31 -420.2 -82.73 - - 3112.91 - - - - - - - - - 15.93 -
2858.52 276.10 -9.77 569 2864.06 roll -1.35 - - 2003.69 - 2.56 0.029 2354.12 447.6 -82.73 - - 3112.75 - - - - - - - - - 15.97 -
3169.39 304.54 -8.76 625 3174.04 roll -1.35 - - 2004.06 - 2.72 0.061 1208.19 -421.3 -82.73 - - 3111.00 - - - - - - - - - 15.95 -
3286.61 315.51 -9.45 641 3301.53 roll -1.35 - - 2003.94 - 2.56 0.030 2352.06 446.8 -82.73 - - 3112.25 - - - - - - - - - 15.99 -
3602.98 343.90 -9.13 670 3614.05 no move -1.35 - - 2003.81 - - - 2352.25 - -82.73 - - 3111.97 - - - - - - - - - - -
3915.92 373.05 -9.42 699 3920.56 roll -1.35 - - 2003.75 - 2.71 0.062 1208.19 -422.2 -82.73 - - 3110.53 - - - - - - - - - 15.95 -
4033.31 384.34 -9.66 715 4048.07 roll -1.35 - - 2003.88 - 2.57 0.030 2353.75 445.7 -82.73 - - 3113.12 - - - - - - - - - 16.00 -
4349.74 410.91 -8.12 744 4360.80 no move -1.35 - - 2003.75 - - - 2354.12 - -82.73 - - 3110.81 - - - - - - - - - - -
4662.44 436.27 -8.11 773 4667.08 roll -1.35 - - 2003.94 - 2.72 0.062 1208.25 -421.3 -82.73 - - 3109.53 - - - - - - - - - 15.94 -
4762.58 444.60 -8.25 786 4767.19 roll -1.35 - - 2004.00 - 2.57 0.030 2353.31 445.5 -82.73 - - 3108.88 - - - - - - - - - 15.99 -
5074.59 467.93 -7.51 815 5079.24 roll -1.35 - - 2003.75 - 2.73 0.062 1208.25 -419.4 -82.73 - - 3108.72 - - - - - - - - - 15.94 -
5113.13 470.86 -7.71 821 5128.05 roll -1.35 - - 2004.06 - 2.57 0.030 2353.81 445.7 -82.73 - - 3109.41 - - - - - - - - - 16.01 -
5429.28 495.42 -8.13 850 5433.94 roll -1.35 - - 2003.81 - 2.71 0.063 1209.94 -422.1 -82.73 - - 3108.00 - - - - - - - - - 15.94 -
5499.31 501.04 -8.17 860 5514.56 roll -1.35 - - 2004.06 - 2.56 0.030 2352.81 446.4 -82.73 - - 3108.91 - - - - - - - - - 16.00 -
5828.72 527.79 -7.97 882 5830.05 no move -1.35 - - 2003.38 - - - 2352.75 - -82.73 - - 3107.25 - - - - - - - - - - -
6143.73 552.14 -7.50 903 6148.57 roll -1.35 - - 2003.88 - 2.71 0.063 1209.75 -421.8 -82.73 - - 3108.50 - - - - - - - - - 15.93 -
6284.81 563.89 -8.46 923 6289.43 roll -1.35 - - 2003.94 - 2.56 0.031 2351.62 446.0 -82.73 - - 3107.06 - - - - - - - - - 16.00 -
6601.30 588.18 -7.53 945 6602.63 no move -1.35 - - 2003.88 - - - 2351.50 - -82.73 - - 3106.41 - - - - - - - - - - -
6916.34 611.04 -7.27 966 6920.99 roll -1.35 - - 2003.19 - 2.71 0.063 1208.25 -421.9 -82.73 - - 3108.03 - - - - - - - - - 15.93 -
6995.00 616.90 -7.42 977 6999.62 roll -1.35 - - 2004.06 - 2.57 0.031 2352.94 445.4 -82.73 - - 3106.06 - - - - - - - - - 16.00 -
7311.47 639.47 -7.10 999 7316.33 roll -1.35 - - 2003.81 - 2.72 0.063 1208.25 -420.8 -82.73 - - 3105.38 - - - - - - - - - 15.93 -
7396.48 645.40 -7.49 1012 7411.40 roll -1.35 - - 2003.50 - 2.57 0.031 2352.62 445.3 -82.73 - - 3106.22 - - - - - - - - - 16.00 -
7725.88 669.99 -7.20 1034 7727.21 no move -1.35 - - 2003.94 - - - 2353.19 - -82.73 - - 3105.06 - - - - - - - - - - -
8041.07 692.57 -7.16 1055 8045.72 roll -1.35 - - 2003.88 - 2.72 0.064 1209.44 -420.5 -82.73 - - 3103.72 - - - - - - - - - 15.92 -
8119.75 698.38 -7.34 1066 8124.35 roll -1.35 - - 2003.81 - 2.57 0.031 2352.44 444.7 -82.73 - - 3105.59 - - - - - - - - - 15.99 -
8436.25 718.30 -6.30 1088 8441.09 roll -1.35 - - 2003.75 - 2.74 0.064 1208.44 -417.5 -82.73 - - 3103.62 - - - - - - - - - 15.91 -
8516.44 723.78 -6.91 1100 8521.80 roll -1.35 - - 2004.25 - 2.58 0.031 2353.12 443.7 -82.73 - - 3104.03 - - - - - - - - - 16.00 -
8835.67 745.46 -6.55 1122 8837.00 no move -1.35 - - 2004.25 - - - 2353.38 - -82.73 - - 3102.91 - - - - - - - - - - -
9150.69 765.89 -6.39 1143 9155.34 roll -1.35 - - 2003.31 - 2.75 0.064 1208.19 -416.4 -82.73 - - 3102.47 - - - - - - - - - 15.90 -
9229.35 771.13 -6.61 1154 9233.96 roll -1.35 - - 2003.38 - 2.59 0.031 2352.06 441.6 -82.73 - - 3103.75 - - - - - - - - - 15.99 -
9545.82 790.67 -6.17 1176 9547.15 no move -1.35 - - 2003.62 - - - 2351.81 - -82.73 - - 3102.25 - - - - - - - - - - -
9860.83 812.00 -7.22 1197 9865.48 roll -1.35 - - 2003.62 - 2.74 0.064 1209.38 -416.9 -82.73 - - 3101.84 - - - - - - - - - 15.89 -
9960.24 819.54 -7.58 1211 9964.85 roll -1.35 - - 2004.06 - 2.59 0.031 2352.12 441.2 -82.73 - - 3105.91 - - - - - - - - - 15.99 -
10276.70 841.45 -6.87 1233 10278.03 no move -1.35 - - 2003.31 - - - 2351.88 - -82.73 - - 3101.66 - - - - - - - - - - -
10591.72 862.53 -6.83 1254 10596.36 roll -1.35 - - 2003.50 - 2.76 0.065 1209.50 -413.9 -82.73 - - 3103.34 - - - - - - - - - 15.89 -
10692.45 869.58 -7.10 1269 10697.99 roll -1.35 - - 2003.81 - 2.59 0.031 2351.94 441.1 -82.73 - - 3104.56 - - - - - - - - - 15.99 -
11011.86 890.32 -6.55 1291 11013.19 no move -1.35 - - 2003.75 - - - 2352.06 - -82.73 - - 3101.62 - - - - - - - - - - -
11327.07 910.77 -6.36 1312 11331.77 roll -1.35 - - 2003.69 - 2.76 0.065 1210.88 -413.5 -82.73 - - 3102.62 - - - - - - - - - 15.88 -
11391.35 914.79 -6.78 1322 11406.26 roll -1.35 - - 2003.50 - 2.58 0.032 2351.62 442.1 -82.73 - - 3101.00 - - - - - - - - - 16.00 -
11720.76 936.38 -6.36 1344 11725.41 roll -1.35 - - 2003.81 - 2.75 0.065 1210.69 -414.9 -82.73 - - 3103.94 - - - - - - - - - 15.87 -
11805.79 941.68 -6.67 1357 11821.04 roll -1.35 - - 2003.75 - 2.59 0.032 2351.81 440.6 -82.73 - - 3102.91 - - - - - - - - - 16.00 -
12135.23 962.42 -5.85 1379 12139.88 roll -1.35 - - 2004.12 - 2.76 0.065 1208.06 -414.4 -82.73 - - 3099.53 - - - - - - - - - 15.86 -
12193.16 965.96 -6.04 1387 12197.78 roll -1.35 - - 2003.69 - 2.59 0.031 2351.62 441.5 -82.73 - - 3100.72 - - - - - - - - - 15.98 -
12509.82 983.00 -5.33 1409 12514.45 roll -1.35 - - 2003.62 - 2.64 0.096 3427.62 407.6 -82.73 - - 3099.09 - - - - - - - - - 15.80 -
12548.36 985.25 -5.70 1415 12553.88 roll -1.35 - - 2003.88 - 2.57 0.022 2244.75 -460.3 -82.73 - - 3102.97 - - - - - - - - - 15.98 -
12642 end dive: TARGET_DEPTH_EXCEEDED
12642 begin apogee
12644.54 990.45 -5.38 1422 12720.36 -0.28 1.84 0.142 2262.56 140.6 0.15 0.181 2289.19 296.3 - 63.75 2.448 2776.03 -5.1 0.355 - - - - - - 15.73 15.45 10.30
12721 end apogee: CONTROL_FINISHED_OK
12722 begin climb
12722.62 991.52 - 1427 12799.81 1.35 2.64 0.092 2660.94 150.9 2.71 0.097 3345.62 389.8 82.73 68.47 2.375 2437.75 -4.9 0.353 - - - - - - 15.57 15.16 12.07
12802.99 988.62 4.63 1436 12871.08 1.49 0.18 0.086 2703.62 237.1 2.66 0.023 2184.94 -436.3 154.22 61.76 2.370 2147.50 -4.7 0.336 - - - - - - 15.30 15.34 12.04
13183.62 950.43 10.19 1467 13184.95 VBD 1.49 - - 2703.12 - - - 2184.81 - 154.22 - - 2136.38 - - - - - - - - - - -
13498.64 918.07 10.07 1488 13503.25 done 1.49 - - 2703.38 - 2.59 0.079 1129.94 -407.3 154.22 - - 2137.72 - - - - - - - - - 15.76 -
13557.93 911.95 10.39 1497 13563.48 done 1.49 - - 2703.12 - 2.61 0.032 2271.62 437.4 154.22 - - 2136.75 - - - - - - - - - 15.78 -
13877.52 880.31 10.05 1519 13878.85 VBD 1.49 - - 2703.06 - - - 2271.38 - 154.22 - - 2132.41 - - - - - - - - - - -
14192.57 850.14 9.43 1540 14197.27 done 1.49 - - 2703.56 - 2.77 0.075 1132.19 -411.3 154.22 - - 2134.84 - - - - - - - - - 15.84 -
14272.58 842.07 10.15 1552 14278.12 done 1.49 - - 2703.00 - 2.58 0.032 2270.94 441.4 154.22 - - 2135.69 - - - - - - - - - 15.88 -
14591.98 810.07 10.63 1574 14596.63 done 1.49 - - 2702.69 - 2.76 0.075 1130.88 -413.1 154.22 - - 2132.41 - - - - - - - - - 15.86 -
14614.79 808.28 10.70 1578 14629.70 done 1.49 - - 2703.12 - 2.58 0.032 2272.75 442.6 154.22 - - 2135.22 - - - - - - - - - 15.91 -
14944.21 774.33 9.86 1600 14948.85 done 1.49 - - 2703.75 - 2.76 0.075 1132.56 -413.1 154.22 - - 2133.19 - - - - - - - - - 15.86 -
15024.23 766.15 10.34 1612 15029.78 done 1.49 - - 2703.62 - 2.58 0.032 2271.25 441.4 154.22 - - 2133.66 - - - - - - - - - 15.92 -
15343.64 735.47 9.40 1634 15344.97 VBD 1.49 - - 2702.88 - - - 2271.62 - 154.22 - - 2130.19 - - - - - - - - - - -
15658.65 705.68 9.50 1655 15663.29 done 1.49 - - 2703.88 - 2.74 0.075 1130.75 -416.4 154.22 - - 2130.47 - - - - - - - - - 15.87 -
15759.42 695.76 9.99 1670 15764.95 done 1.49 - - 2703.94 - 2.57 0.032 2272.94 444.4 154.22 - - 2131.38 - - - - - - - - - 15.95 -
16078.82 665.27 9.39 1692 16080.15 VBD 1.49 - - 2703.56 - - - 2272.50 - 154.22 - - 2129.56 - - - - - - - - - - -
16393.83 635.39 9.51 1713 16398.66 done 1.49 - - 2704.19 - 2.74 0.075 1130.81 -416.7 154.22 - - 2129.38 - - - - - - - - - 15.88 -
16494.70 625.45 10.01 1728 16500.12 done 1.49 - - 2704.19 - 2.58 0.032 2272.25 442.4 154.22 - - 2130.69 - - - - - - - - - 15.96 -
16813.99 596.41 8.81 1750 16815.32 VBD 1.49 - - 2703.50 - - - 2272.38 - 154.22 - - 2128.62 - - - - - - - - - - -
17129.00 569.55 8.52 1771 17130.33 VBD 1.49 - - 2703.56 - - - 2272.12 - 154.22 - - 2128.44 - - - - - - - - - - -
17444.20 542.32 8.95 1792 17448.85 done 1.49 - - 2704.25 - 2.76 0.075 1129.88 -413.9 154.22 - - 2128.62 - - - - - - - - - 15.87 -
17549.97 533.16 9.20 1808 17564.89 done 1.49 - - 2703.75 - 2.58 0.032 2272.56 442.9 154.22 - - 2129.53 - - - - - - - - - 15.97 -
17879.38 504.62 8.18 1830 17884.03 done 1.49 - - 2703.69 - 2.77 0.074 1129.69 -412.6 154.22 - - 2129.12 - - - - - - - - - 15.87 -
17916.59 501.43 8.34 1835 17921.21 done 1.49 - - 2704.25 - 2.58 0.031 2273.69 443.4 154.22 - - 2129.16 - - - - - - - - - 15.97 -
18227.85 475.98 8.25 1864 18232.49 done 1.49 - - 2703.94 - 2.75 0.074 1130.19 -415.8 154.22 - - 2129.88 - - - - - - - - - 15.86 -
18297.86 469.98 8.63 1874 18312.78 done 1.49 - - 2703.62 - 2.58 0.032 2272.44 442.7 154.22 - - 2130.28 - - - - - - - - - 15.98 -
18614.04 445.74 7.35 1903 18618.87 done 1.51 - - 2703.62 - 2.76 0.073 1129.44 -414.1 154.22 - - 2131.78 - - - - - - - - - 15.86 -
18668.51 441.60 7.75 1911 18683.59 done 1.53 - - 2704.12 - 2.58 0.031 2273.50 443.4 154.22 - - 2131.06 - - - - - - - - - 15.97 -
18984.86 417.39 7.86 1940 18989.51 done 1.54 - - 2703.56 - 2.76 0.073 1129.75 -414.4 154.22 - - 2128.19 - - - - - - - - - 15.86 -
19116.48 406.40 8.36 1957 19121.09 done 1.54 - - 2703.06 - 2.58 0.031 2271.62 442.6 154.22 - - 2130.62 - - - - - - - - - 15.97 -
19428.35 383.22 7.52 1986 19439.43 VBD 1.56 - - 2704.38 - - - 2272.94 - 154.22 - - 2129.91 - - - - - - - - - - -
19741.08 360.20 7.37 2015 19752.15 VBD 1.58 - - 2703.81 - - - 2272.06 - 154.22 - - 2129.78 - - - - - - - - - - -
20053.79 337.17 7.36 2044 20058.44 done 1.60 - - 2704.19 - 2.77 0.073 1130.00 -412.3 154.22 - - 2129.81 - - - - - - - - - 15.85 -
20139.58 330.43 7.92 2056 20154.48 done 1.61 - - 2702.12 - 2.58 0.031 2274.81 443.7 154.22 - - 2130.81 - - - - - - - - - 15.97 -
20455.73 306.35 7.54 2085 20466.81 VBD 1.63 - - 2704.50 - - - 2274.88 - 154.22 - - 2130.06 - - - - - - - - - - -
20769.83 281.23 8.25 2138 20775.40 done 1.63 - - 2703.94 - 2.77 0.073 1129.75 -413.4 154.22 - - 2129.53 - - - - - - - - - 15.84 -
20844.85 274.56 8.92 2153 20850.56 done 1.63 - - 2704.50 - 2.58 0.030 2273.81 443.4 154.22 - - 2129.69 - - - - - - - - - 15.95 -
21155.15 251.32 6.70 2215 21156.59 1.67 0.19 0.087 2746.06 218.7 - - 2273.50 - 154.22 - - 2128.38 - - - - - - - - 15.92 - -
21460.05 227.87 8.06 2276 21465.60 done 1.67 - - 2746.06 - 2.77 0.073 1129.81 -412.9 154.22 - - 2130.69 - - - - - - - - - 15.84 -
21515.06 223.03 8.90 2287 21520.59 done 1.67 - - 2745.94 - 2.58 0.030 2275.06 443.9 154.22 - - 2130.47 - - - - - - - - - 15.96 -
21825.18 198.15 7.70 2349 21830.73 done 1.68 - - 2745.94 - 2.76 0.072 1129.62 -415.0 154.22 - - 2130.28 - - - - - - - - - 15.84 -
21905.19 191.05 8.95 2365 21910.73 done 1.68 - - 2746.25 - 2.58 0.030 2275.62 444.2 154.22 - - 2131.00 - - - - - - - - - 15.96 -
22215.29 166.06 8.36 2427 22220.85 done 1.68 - - 2746.06 - 2.76 0.071 1130.69 -414.8 154.22 - - 2130.25 - - - - - - - - - 15.84 -
22355.33 154.44 8.31 2455 22361.04 done 1.68 - - 2746.88 - 2.58 0.030 2274.94 443.5 154.22 - - 2130.66 - - - - - - - - - 15.96 -
22665.43 132.03 7.76 2517 22670.96 done 1.69 - - 2745.94 - 2.62 0.091 3348.44 409.7 154.22 - - 2130.62 - - - - - - - - - 15.82 -
22705.41 128.70 8.28 2525 22710.95 done 1.69 - - 2746.00 - 2.55 0.023 2178.25 -458.9 154.22 - - 2131.53 - - - - - - - - - 15.96 -
23015.47 112.17 5.33 2587 23063.17 done 1.81 - - 2745.75 - 2.52 0.078 1130.12 -415.9 212.69 43.52 1.306 1906.94 -5.2 0.076 - - - - - - - 15.70 10.73
23290.49 93.44 6.07 2642 23332.14 1.90 0.28 0.071 2806.19 215.9 2.59 0.029 2277.69 443.1 257.38 35.26 1.252 1725.91 -5.1 0.066 - - - - - - 15.70 15.84 11.68
23515.54 76.78 7.38 2687 23521.07 roll 1.92 - - 2805.38 - 2.80 0.071 1129.75 -410.0 257.38 - - 1719.94 - - - - - - - - - 15.77 -
23580.71 71.68 7.95 2700 23586.11 roll 1.93 - - 2805.94 - 2.60 0.029 2275.12 440.5 257.38 - - 1719.28 - - - - - - - - - 15.79 -
23770.55 58.94 5.61 2738 23817.22 done 2.04 - - 2805.75 - 2.63 0.091 3347.62 407.8 310.62 40.93 1.207 1509.00 -5.1 0.043 - - - - - - - 15.60 11.46
23915.91 47.34 9.24 2767 23921.09 roll 2.04 - - 2805.81 - 2.60 0.023 2185.00 -447.2 310.62 - - 1504.25 - - - - - - - - - 15.74 -
24105.58 36.31 5.34 2805 24157.22 2.16 0.30 0.071 2867.62 206.0 2.87 0.087 3345.19 404.2 368.78 45.08 1.172 1271.78 -5.2 0.027 - - - - - - 15.75 15.56 11.60
24385.62 16.41 7.39 2861 24391.14 roll 2.18 - - 2867.31 - 2.59 0.023 2185.56 -447.7 368.78 - - 1266.50 - - - - - - - - - 15.74 -
24555 end climb: SURFACE_DEPTH_REACHED
24555 begin surface coast
24615 end surface coast: CONTROL_FINISHED_OK
24615 begin surface
SM 0.66 - - - - 191.4 42.47 1.153 1042.3 24.5 16.64 0.048 1016.9 61.1 - 0.34 0.057 1067.7 3132.7 -3.707 - - 11.45 15.75 15.79 -