NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 715 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 241.18 of 550.00 AH used of 24V (56.15% remains)
• Surface angle -60.2 deg, depth 0.47 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 29 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.42 - - - 77.11 VBD -1.35 - - 181.75 - - - 2269.44 - -82.73 70.59 0.005 2806.94 - - - - - - - - - - 15.08
77.84 3.71 -6.86 13 107.58 -1.35 14.86 0.243 2003.75 122.6 2.56 0.064 1206.88 -415.1 -82.73 6.53 0.008 3112.78 46.8 -3.721 - - - - - - 15.41 15.10 15.20
129.65 14.24 -15.06 23 135.21 roll -1.35 - - 2004.31 - 2.65 0.028 2352.44 432.3 -82.73 - - 3112.12 - - - - - - - - - 15.71 -
320.36 41.59 -12.52 61 321.69 no move -1.35 - - 2003.81 - - - 2352.38 - -82.73 - - 3111.34 - - - - - - - - - - -
504.78 64.12 -12.40 98 510.35 roll -1.35 - - 2004.25 - 2.72 0.059 1208.25 -420.6 -82.73 - - 3112.72 - - - - - - - - - 15.81 -
544.80 69.69 -14.22 106 550.34 roll -1.35 - - 2003.69 - 2.62 0.028 2354.50 437.5 -82.73 - - 3113.47 - - - - - - - - - 15.83 -
735.23 91.98 -9.82 144 740.41 roll -1.35 - - 2003.69 - 2.72 0.058 1207.00 -421.9 -82.73 - - 3112.88 - - - - - - - - - 15.84 -
819.88 100.30 -9.61 161 825.43 roll -1.35 - - 2004.19 - 2.61 0.027 2354.19 439.5 -82.73 - - 3113.00 - - - - - - - - - 15.86 -
1129.94 126.43 -8.10 223 1135.48 roll -1.35 - - 2004.12 - 2.64 0.084 3427.94 406.7 -82.73 - - 3112.84 - - - - - - - - - 15.86 -
1364.97 148.44 -8.96 270 1370.50 roll -1.35 - - 2003.81 - 2.55 0.020 2244.88 -463.9 -82.73 - - 3113.41 - - - - - - - - - 15.91 -
1675.01 172.07 -7.61 332 1680.61 roll -1.35 - - 2004.12 - 2.93 0.080 3428.12 403.8 -82.73 - - 3113.94 - - - - - - - - - 15.89 -
1850.08 187.82 -9.39 367 1855.56 roll -1.35 - - 2004.19 - 2.55 0.020 2244.25 -464.3 -82.73 - - 3113.00 - - - - - - - - - 15.93 -
2160.07 214.35 -8.63 429 2165.67 roll -1.35 - - 2003.81 - 2.93 0.080 3427.31 403.8 -82.73 - - 3113.62 - - - - - - - - - 15.90 -
2195.39 217.73 -9.53 436 2200.60 roll -1.35 - - 2004.12 - 2.54 0.020 2245.38 -465.3 -82.73 - - 3113.06 - - - - - - - - - 15.95 -
2505.12 243.65 -7.56 498 2506.45 no move -1.35 - - 2004.12 - - - 2243.81 - -82.73 - - 3112.03 - - - - - - - - - - -
2810.16 264.30 -6.74 559 2815.27 roll -1.35 - - 2004.50 - 2.46 0.065 1207.00 -421.5 -82.73 - - 3112.53 - - - - - - - - - 15.94 -
2845.16 266.94 -7.36 566 2850.70 roll -1.35 - - 2003.69 - 2.60 0.028 2354.69 441.4 -82.73 - - 3112.47 - - - - - - - - - 15.97 -
3155.20 291.35 -8.46 628 3160.76 roll -1.35 - - 2004.00 - 2.72 0.061 1206.81 -422.0 -82.73 - - 3112.47 - - - - - - - - - 15.95 -
3225.21 297.78 -9.26 642 3230.93 roll -1.35 - - 2003.94 - 2.58 0.028 2353.81 444.6 -82.73 - - 3112.41 - - - - - - - - - 15.98 -
3538.19 326.64 -9.26 673 3542.84 roll -1.35 - - 2003.94 - 2.71 0.061 1207.00 -423.2 -82.73 - - 3111.28 - - - - - - - - - 15.96 -
3638.34 336.03 -9.36 686 3642.95 roll -1.35 - - 2002.94 - 2.60 0.028 2352.81 440.7 -82.73 - - 3111.09 - - - - - - - - - 15.99 -
3949.60 362.92 -8.25 715 3954.22 roll -1.35 - - 2004.25 - 2.66 0.088 3426.81 403.8 -82.73 - - 3110.84 - - - - - - - - - 15.92 -
4002.53 367.74 -8.93 722 4007.14 roll -1.35 - - 2004.25 - 2.54 0.021 2244.00 -465.7 -82.73 - - 3110.75 - - - - - - - - - 15.99 -
4314.11 391.18 -7.09 751 4318.71 roll -1.35 - - 2003.12 - 2.45 0.066 1206.69 -423.4 -82.73 - - 3111.72 - - - - - - - - - 15.96 -
4382.77 396.39 -7.51 760 4387.38 roll -1.35 - - 2003.00 - 2.60 0.028 2353.06 440.9 -82.73 - - 3110.09 - - - - - - - - - 16.00 -
4694.02 418.46 -7.29 789 4698.65 roll -1.35 - - 2003.56 - 2.67 0.088 3426.94 402.2 -82.73 - - 3109.91 - - - - - - - - - 15.91 -
4732.56 421.54 -7.93 795 4748.23 roll -1.35 - - 2003.56 - 2.54 0.021 2241.38 -466.8 -82.73 - - 3110.75 - - - - - - - - - 16.00 -
5049.59 446.13 -7.77 824 5054.36 roll -1.35 - - 2002.88 - 2.43 0.067 1208.06 -425.2 -82.73 - - 3109.53 - - - - - - - - - 15.95 -
5088.26 449.17 -8.01 830 5103.04 roll -1.35 - - 2003.62 - 2.60 0.029 2352.81 440.3 -82.73 - - 3110.62 - - - - - - - - - 16.00 -
5404.29 474.14 -7.98 859 5415.36 no move -1.35 - - 2004.12 - - - 2352.94 - -82.73 - - 3109.59 - - - - - - - - - - -
5717.32 497.58 -7.33 888 5728.39 no move -1.35 - - 2003.75 - - - 2352.88 - -82.73 - - 3109.50 - - - - - - - - - - -
6035.58 521.18 -7.46 910 6036.91 no move -1.35 - - 2004.31 - - - 2353.06 - -82.73 - - 3107.09 - - - - - - - - - - -
6350.60 545.92 -7.99 931 6355.24 roll -1.35 - - 2003.69 - 2.73 0.063 1208.19 -419.4 -82.73 - - 3108.97 - - - - - - - - - 15.94 -
6477.31 556.57 -8.91 950 6492.23 roll -1.35 - - 2003.44 - 2.60 0.029 2352.50 440.1 -82.73 - - 3109.09 - - - - - - - - - 16.01 -
6806.73 584.91 -8.07 972 6808.06 no move -1.35 - - 2003.38 - - - 2352.62 - -82.73 - - 3106.50 - - - - - - - - - - -
7121.78 608.49 -7.11 993 7123.10 no move -1.35 - - 2003.50 - - - 2352.56 - -82.73 - - 3105.66 - - - - - - - - - - -
7436.93 631.67 -7.52 1014 7441.57 roll -1.35 - - 2003.81 - 2.72 0.063 1208.06 -420.8 -82.73 - - 3106.59 - - - - - - - - - 15.94 -
7516.95 637.98 -7.95 1026 7522.48 roll -1.35 - - 2003.81 - 2.59 0.029 2350.62 441.1 -82.73 - - 3106.62 - - - - - - - - - 16.01 -
7836.35 663.34 -7.92 1048 7837.68 no move -1.35 - - 2003.88 - - - 2350.38 - -82.73 - - 3105.16 - - - - - - - - - - -
8151.37 689.24 -8.41 1069 8152.70 no move -1.35 - - 2004.38 - - - 2350.19 - -82.73 - - 3104.44 - - - - - - - - - - -
8466.38 712.18 -7.12 1090 8467.71 no move -1.35 - - 2003.75 - - - 2350.50 - -82.73 - - 3104.34 - - - - - - - - - - -
8781.59 735.34 -7.75 1111 8786.28 roll -1.35 - - 2004.00 - 2.69 0.092 3426.19 399.9 -82.73 - - 3105.12 - - - - - - - - - 15.87 -
8860.28 741.91 -8.28 1122 8864.90 roll -1.35 - - 2002.44 - 2.54 0.021 2247.81 -463.9 -82.73 - - 3106.47 - - - - - - - - - 15.99 -
9176.78 765.11 -7.23 1144 9181.45 roll -1.35 - - 2003.88 - 2.96 0.087 3425.50 397.9 -82.73 - - 3103.69 - - - - - - - - - 15.87 -
9215.65 768.04 -7.54 1150 9221.18 roll -1.35 - - 2003.69 - 2.55 0.022 2246.88 -462.2 -82.73 - - 3104.19 - - - - - - - - - 16.00 -
9535.07 788.51 -6.39 1172 9536.40 no move -1.35 - - 2003.44 - - - 2246.75 - -82.73 - - 3103.59 - - - - - - - - - - -
9850.08 807.70 -5.84 1193 9854.76 roll -1.35 - - 2003.75 - 2.96 0.087 3425.94 398.4 -82.73 - - 3102.56 - - - - - - - - - 15.86 -
9971.56 816.19 -7.15 1211 9977.09 roll -1.35 - - 2003.31 - 2.55 0.022 2250.25 -461.1 -82.73 - - 3104.16 - - - - - - - - - 16.00 -
10290.98 837.91 -6.34 1233 10292.31 no move -1.35 - - 2004.06 - - - 2251.00 - -82.73 - - 3102.16 - - - - - - - - - - -
10605.99 855.79 -5.04 1254 10607.32 no move -1.35 - - 2003.44 - - - 2250.69 - -82.73 - - 3102.31 - - - - - - - - - - -
10921.00 870.12 -4.06 1275 10925.69 roll -1.35 - - 2003.50 - 2.96 0.088 3425.50 396.9 -82.73 - - 3102.81 - - - - - - - - - 15.85 -
11006.03 873.58 -4.33 1288 11021.13 roll -1.35 - - 2003.94 - 2.55 0.022 2249.06 -461.3 -82.73 - - 3103.03 - - - - - - - - - 15.99 -
11335.55 890.93 -5.26 1310 11340.24 roll -1.35 - - 2002.44 - 2.96 0.088 3425.62 397.5 -82.73 - - 3101.75 - - - - - - - - - 15.84 -
11399.83 894.50 -5.87 1320 11414.75 roll -1.35 - - 2003.81 - 2.55 0.022 2249.06 -461.4 -82.73 - - 3101.78 - - - - - - - - - 15.99 -
11729.40 912.56 -5.37 1342 11734.08 roll -1.35 - - 2003.69 - 2.95 0.087 3426.75 399.2 -82.73 - - 3102.34 - - - - - - - - - 15.84 -
11850.87 920.86 -7.05 1360 11856.41 roll -1.35 - - 2003.75 - 2.55 0.022 2251.38 -460.9 -82.73 - - 3102.19 - - - - - - - - - 15.99 -
12170.27 943.21 -6.69 1382 12171.60 no move -1.35 - - 2003.25 - - - 2250.56 - -82.73 - - 3100.72 - - - - - - - - - - -
12485.29 960.86 -5.01 1403 12486.62 no move -1.35 - - 2003.56 - - - 2251.19 - -82.73 - - 3100.38 - - - - - - - - - - -
12800.30 978.24 -5.98 1424 12804.89 roll -1.35 - - 2002.12 - 2.50 0.071 1208.00 -417.3 -82.73 - - 3102.38 - - - - - - - - - 15.87 -
12921.79 986.61 -7.06 1442 12927.34 roll -1.35 - - 2003.62 - 2.62 0.030 2352.31 436.8 -82.73 - - 3101.25 - - - - - - - - - 15.99 -
12986 end dive: TARGET_DEPTH_EXCEEDED
12986 begin apogee
12988.01 990.83 -6.77 1447 13063.79 -0.28 1.85 0.134 2263.88 140.7 0.22 0.131 2280.69 -325.5 - 64.17 2.426 2774.94 -5.1 0.356 - - - - - - 15.77 15.41 10.35
13065 end apogee: CONTROL_FINISHED_OK
13066 begin climb
13066.28 992.56 - 1452 13154.10 1.35 2.67 0.096 2661.38 148.9 2.89 0.077 1129.50 -398.3 82.73 68.75 2.352 2435.47 -4.9 0.357 - - - - - - 15.56 15.16 12.08
13177.20 988.34 4.51 1468 13246.80 1.49 0.19 0.086 2705.81 233.8 2.70 0.029 2271.19 422.8 156.44 63.38 2.310 2137.00 -4.7 0.345 - - - - - - 15.34 15.41 11.84
13558.69 953.37 9.88 1499 13563.33 done 1.49 - - 2704.88 - 2.80 0.073 1131.31 -407.1 156.44 - - 2128.78 - - - - - - - - - 15.65 -
13679.76 940.17 11.02 1516 13684.39 done 1.49 - - 2706.12 - 2.64 0.031 2271.00 431.7 156.44 - - 2127.12 - - - - - - - - - 15.71 -
13996.23 905.90 10.40 1538 13997.57 VBD 1.49 - - 2705.94 - - - 2271.00 - 156.44 - - 2124.91 - - - - - - - - - - -
14311.25 874.55 8.86 1559 14316.08 done 1.49 - - 2705.56 - 2.78 0.074 1129.94 -410.5 156.44 - - 2123.31 - - - - - - - - - 15.83 -
14412.46 864.78 9.85 1574 14417.90 done 1.49 - - 2705.31 - 2.63 0.031 2271.31 434.0 156.44 - - 2125.12 - - - - - - - - - 15.87 -
14731.78 834.72 9.74 1596 14736.42 done 1.49 - - 2705.75 - 2.77 0.073 1130.94 -411.7 156.44 - - 2124.56 - - - - - - - - - 15.86 -
14816.80 825.83 11.17 1609 14831.74 done 1.49 - - 2706.12 - 2.62 0.031 2270.00 434.8 156.44 - - 2123.56 - - - - - - - - - 15.91 -
15146.21 790.80 10.16 1631 15147.54 VBD 1.49 - - 2705.31 - - - 2270.31 - 156.44 - - 2121.97 - - - - - - - - - - -
15461.22 759.35 9.91 1652 15465.87 done 1.49 - - 2706.00 - 2.77 0.073 1130.00 -411.7 156.44 - - 2120.84 - - - - - - - - - 15.88 -
15567.00 749.12 10.30 1668 15581.94 done 1.49 - - 2705.38 - 2.62 0.031 2271.31 435.6 156.44 - - 2123.22 - - - - - - - - - 15.95 -
15896.40 717.22 9.44 1690 15901.04 done 1.49 - - 2705.00 - 2.77 0.074 1129.62 -412.2 156.44 - - 2121.44 - - - - - - - - - 15.89 -
15960.68 711.67 9.55 1700 15975.61 done 1.49 - - 2706.06 - 2.62 0.031 2270.44 435.4 156.44 - - 2122.28 - - - - - - - - - 15.96 -
16290.09 682.29 8.70 1722 16291.42 VBD 1.49 - - 2706.25 - - - 2270.56 - 156.44 - - 2121.12 - - - - - - - - - - -
16605.11 655.48 8.37 1743 16609.94 done 1.49 - - 2706.38 - 2.76 0.073 1131.19 -412.8 156.44 - - 2120.34 - - - - - - - - - 15.89 -
16705.99 646.56 8.98 1758 16711.43 done 1.49 - - 2705.19 - 2.61 0.031 2271.12 436.8 156.44 - - 2122.69 - - - - - - - - - 15.96 -
17025.63 620.99 7.78 1780 17030.28 done 1.51 - - 2705.69 - 2.76 0.073 1130.00 -413.4 156.44 - - 2120.44 - - - - - - - - - 15.89 -
17147.15 610.74 8.60 1798 17152.69 done 1.51 - - 2705.50 - 2.61 0.031 2271.81 437.5 156.44 - - 2122.06 - - - - - - - - - 15.97 -
17466.55 585.38 8.05 1820 17467.88 VBD 1.51 - - 2706.56 - - - 2270.88 - 156.44 - - 2120.34 - - - - - - - - - - -
17781.75 560.20 7.68 1841 17786.39 done 1.52 - - 2706.44 - 2.76 0.073 1129.69 -413.5 156.44 - - 2120.50 - - - - - - - - - 15.89 -
17923.00 547.46 9.15 1861 17927.63 done 1.52 - - 2705.56 - 2.61 0.030 2270.56 437.1 156.44 - - 2120.59 - - - - - - - - - 15.98 -
18239.47 520.01 8.49 1883 18244.13 done 1.52 - - 2706.62 - 2.76 0.073 1130.94 -412.9 156.44 - - 2119.84 - - - - - - - - - 15.89 -
18298.76 514.80 8.83 1892 18304.31 done 1.52 - - 2706.56 - 2.61 0.030 2273.94 437.9 156.44 - - 2120.47 - - - - - - - - - 15.99 -
18611.97 488.46 8.24 1917 18623.28 VBD 1.52 - - 2706.62 - - - 2274.12 - 156.44 - - 2120.72 - - - - - - - - - - -
18924.93 463.71 7.59 1946 18929.76 done 1.54 - - 2704.88 - 2.75 0.073 1131.56 -415.5 156.44 - - 2121.81 - - - - - - - - - 15.88 -
19121.03 447.29 8.48 1972 19135.77 done 1.54 - - 2706.00 - 2.60 0.031 2271.31 438.4 156.44 - - 2122.09 - - - - - - - - - 15.99 -
19437.35 421.73 8.33 2001 19442.00 done 1.54 - - 2705.81 - 2.74 0.072 1131.06 -416.1 156.44 - - 2120.19 - - - - - - - - - 15.88 -
19521.76 414.40 8.68 2012 19526.37 done 1.54 - - 2706.06 - 2.60 0.030 2272.56 439.0 156.44 - - 2119.44 - - - - - - - - - 15.97 -
19833.44 390.08 7.56 2041 19838.08 done 1.56 - - 2706.50 - 2.75 0.072 1132.12 -414.7 156.44 - - 2120.16 - - - - - - - - - 15.88 -
19982.14 378.04 8.26 2061 19997.05 done 1.56 - - 2706.88 - 2.60 0.030 2272.62 438.7 156.44 - - 2120.75 - - - - - - - - - 15.98 -
20298.31 355.71 6.74 2090 20302.96 done 1.59 - - 2707.25 - 2.75 0.072 1131.12 -415.1 156.44 - - 2120.50 - - - - - - - - - 15.87 -
20384.09 349.53 7.31 2102 20399.01 done 1.62 - - 2706.44 - 2.61 0.030 2273.81 437.8 156.44 - - 2120.59 - - - - - - - - - 15.98 -
20700.89 327.02 7.23 2131 20705.72 done 1.64 - - 2706.62 - 2.75 0.072 1129.88 -416.0 156.44 - - 2119.62 - - - - - - - - - 15.87 -
20818.31 318.13 7.65 2147 20833.12 1.66 0.16 0.091 2745.81 244.9 2.61 0.030 2273.50 438.2 156.44 - - 2120.75 - - - - - - - - 15.78 15.99 -
21134.90 291.79 8.21 2186 21136.24 VBD 1.66 - - 2745.62 - - - 2273.81 - 156.44 - - 2120.03 - - - - - - - - - - -
21439.97 267.21 7.83 2247 21441.31 VBD 1.67 - - 2745.50 - - - 2274.00 - 156.44 - - 2119.38 - - - - - - - - - - -
21745.03 244.17 7.43 2308 21746.36 VBD 1.69 - - 2745.62 - - - 2274.19 - 156.44 - - 2119.38 - - - - - - - - - - -
22050.06 221.02 7.76 2369 22055.62 done 1.70 - - 2746.19 - 2.75 0.071 1131.06 -415.7 156.44 - - 2120.66 - - - - - - - - - 15.85 -
22205.45 208.19 8.29 2400 22210.59 done 1.70 - - 2746.31 - 2.59 0.029 2273.69 441.2 156.44 - - 2120.91 - - - - - - - - - 15.96 -
22515.08 183.74 8.04 2462 22516.42 VBD 1.70 - - 2746.31 - - - 2274.00 - 156.44 - - 2119.78 - - - - - - - - - - -
22820.14 163.56 6.12 2523 22857.93 done 1.79 - - 2745.62 - 2.76 0.073 1128.69 -415.0 200.21 32.92 1.362 1958.44 -4.9 0.101 - - - - - - - 15.67 10.63
23005.15 148.69 8.91 2560 23010.69 roll 1.79 - - 2745.75 - 2.63 0.029 2273.62 435.3 200.21 - - 1955.22 - - - - - - - - - 15.87 -
23315.21 123.45 7.63 2622 23320.75 roll 1.81 - - 2744.75 - 2.76 0.070 1130.94 -414.0 200.21 - - 1954.41 - - - - - - - - - 15.84 -
23480.61 113.65 4.92 2655 23537.55 1.94 0.34 0.065 2815.00 206.6 2.59 0.027 2275.06 441.7 266.26 51.58 1.311 1689.69 -5.1 0.076 - - - - - - 15.72 15.91 11.45
23840.67 85.42 6.83 2727 23845.82 done 1.97 - - 2815.81 - 2.69 0.089 3345.62 398.0 266.26 - - 1678.38 - - - - - - - - - 15.75 -
24075.54 68.76 6.24 2774 24111.93 done 2.06 - - 2815.94 - 2.57 0.022 2183.75 -452.1 307.63 32.05 1.206 1521.12 -4.9 0.048 - - - - - - - 15.84 11.42
24295.41 50.50 8.37 2818 24301.01 roll 2.06 - - 2816.69 - 2.94 0.083 3345.06 395.0 307.63 - - 1515.00 - - - - - - - - - 15.76 -
24530.50 34.19 5.48 2865 24579.28 2.17 0.25 0.072 2869.88 212.8 2.57 0.022 2181.38 -452.8 363.34 43.42 1.174 1293.88 -5.1 0.025 - - - - - - 15.72 15.83 11.49
24762.79 16.86 8.04 2911 24767.36 roll 2.17 - - 2869.81 - 2.54 0.077 1131.06 -413.5 363.34 - - 1288.81 - - - - - - - - - 15.74 -
24796.82 13.49 9.43 2918 24802.38 roll 2.17 - - 2870.19 - 2.62 0.028 2273.69 436.1 363.34 - - 1288.03 - - - - - - - - - 15.77 -
24896 end climb: SURFACE_DEPTH_REACHED
24897 begin surface coast
24942 end surface coast: CONTROL_FINISHED_OK
24942 begin surface
SM 0.71 - - - - 179.4 47.04 1.149 1042.5 22.2 16.82 0.056 1004.1 59.7 - 0.12 0.128 1080.9 8985.7 -5.094 - - 11.54 15.76 15.77 -