NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 726 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 245.75 of 550.00 AH used of 24V (55.32% remains)
• Surface angle -57.7 deg, depth 0.28 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.92 (SM_CC=425)
• GPS1 time: 50 s
• GPS2 time: 5 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
5.43 - - - 66.96 VBD -1.35 - - 175.88 - - - 2390.38 - -82.73 60.35 0.005 2554.62 - - - - - - - - - - 15.09
67.69 4.11 -14.04 11 99.77 -1.35 14.74 0.253 2004.62 124.1 - - 2390.12 - -82.73 11.49 0.007 3112.06 48.5 -4.846 - - - - - - 15.39 - 15.20
281.90 42.03 -15.54 54 287.44 roll -1.35 - - 2003.38 - 2.61 0.083 3427.44 397.4 -82.73 - - 3115.69 - - - - - - - - - 15.75 -
357.10 51.42 -11.65 69 362.52 roll -1.35 - - 2004.56 - 2.59 0.018 2245.31 -456.4 -82.73 - - 3113.16 - - - - - - - - - 15.78 -
547.38 70.84 -12.18 107 552.10 roll -1.35 - - 2004.81 - 2.48 0.063 1207.12 -418.6 -82.73 - - 3113.28 - - - - - - - - - 15.82 -
627.01 79.92 -11.36 123 632.56 roll -1.35 - - 2005.12 - 2.61 0.026 2354.94 439.8 -82.73 - - 3112.84 - - - - - - - - - 15.84 -
817.46 96.77 -7.73 161 822.65 roll -1.35 - - 2005.00 - 2.74 0.058 1206.81 -419.0 -82.73 - - 3113.66 - - - - - - - - - 15.85 -
837.07 98.41 -7.83 165 842.63 roll -1.35 - - 2004.31 - 2.61 0.026 2354.94 439.9 -82.73 - - 3113.25 - - - - - - - - - 15.87 -
1027.13 114.80 -8.74 203 1032.70 roll -1.35 - - 2004.31 - 2.73 0.058 1208.00 -420.1 -82.73 - - 3114.56 - - - - - - - - - 15.88 -
1077.15 119.54 -9.62 213 1082.92 roll -1.35 - - 2004.69 - 2.60 0.026 2355.00 441.2 -82.73 - - 3112.81 - - - - - - - - - 15.89 -
1387.25 145.70 -7.58 275 1388.57 no move -1.35 - - 2004.44 - - - 2355.56 - -82.73 - - 3112.62 - - - - - - - - - - -
1692.30 171.06 -8.35 336 1693.62 no move -1.35 - - 2004.62 - - - 2355.12 - -82.73 - - 3112.72 - - - - - - - - - - -
1997.41 195.88 -7.98 397 1998.73 no move -1.35 - - 2004.44 - - - 2355.06 - -82.73 - - 3112.06 - - - - - - - - - - -
2302.40 221.91 -8.78 458 2307.96 roll -1.35 - - 2003.94 - 2.74 0.060 1208.06 -418.6 -82.73 - - 3114.41 - - - - - - - - - 15.94 -
2437.42 234.52 -9.58 485 2442.95 roll -1.35 - - 2004.94 - 2.60 0.027 2353.31 440.5 -82.73 - - 3113.47 - - - - - - - - - 15.96 -
2747.46 261.70 -8.56 547 2753.00 roll -1.35 - - 2004.75 - 2.66 0.085 3428.81 404.3 -82.73 - - 3112.69 - - - - - - - - - 15.91 -
2777.45 264.44 -8.92 553 2783.00 roll -1.35 - - 2003.38 - 2.56 0.019 2238.94 -464.8 -82.73 - - 3115.12 - - - - - - - - - 15.96 -
3087.51 289.99 -8.35 615 3093.11 roll -1.35 - - 2004.56 - 2.93 0.080 3426.81 405.4 -82.73 - - 3112.22 - - - - - - - - - 15.91 -
3152.52 296.05 -9.49 628 3158.05 roll -1.35 - - 2005.00 - 2.56 0.020 2245.44 -461.5 -82.73 - - 3111.44 - - - - - - - - - 15.97 -
3468.65 322.79 -8.65 662 3473.52 roll -1.35 - - 2004.25 - 2.91 0.081 3423.50 404.8 -82.73 - - 3111.34 - - - - - - - - - 15.92 -
3539.07 329.43 -9.47 672 3553.88 roll -1.35 - - 2004.88 - 2.54 0.020 2244.88 -464.0 -82.73 - - 3112.00 - - - - - - - - - 15.99 -
3855.26 355.38 -7.79 701 3859.86 roll -1.35 - - 2004.88 - 2.48 0.067 1208.06 -418.1 -82.73 - - 3109.53 - - - - - - - - - 15.96 -
3878.07 357.05 -7.77 705 3892.99 roll -1.35 - - 2004.69 - 2.60 0.027 2355.25 441.2 -82.73 - - 3111.59 - - - - - - - - - 16.01 -
4194.59 379.15 -6.73 734 4205.67 no move -1.35 - - 2005.00 - - - 2355.44 - -82.73 - - 3110.22 - - - - - - - - - - -
4507.32 400.45 -6.93 763 4518.39 no move -1.35 - - 2004.81 - - - 2355.50 - -82.73 - - 3110.00 - - - - - - - - - - -
4820.06 421.53 -7.24 792 4831.13 no move -1.35 - - 2005.00 - - - 2356.00 - -82.73 - - 3109.38 - - - - - - - - - - -
5133.65 444.54 -7.71 821 5138.29 roll -1.35 - - 2004.31 - 2.75 0.062 1208.06 -417.4 -82.73 - - 3107.75 - - - - - - - - - 15.95 -
5202.31 450.34 -8.33 830 5206.94 roll -1.35 - - 2005.31 - 2.60 0.028 2354.56 441.0 -82.73 - - 3107.59 - - - - - - - - - 16.00 -
5513.60 475.58 -8.39 859 5524.67 no move -1.35 - - 2004.81 - - - 2353.81 - -82.73 - - 3108.41 - - - - - - - - - - -
5835.20 502.51 -8.20 888 5836.53 no move -1.35 - - 2004.81 - - - 2354.06 - -82.73 - - 3107.03 - - - - - - - - - - -
6149.84 527.09 -7.44 909 6151.16 no move -1.35 - - 2004.62 - - - 2354.25 - -82.73 - - 3106.94 - - - - - - - - - - -
6464.85 549.52 -7.07 930 6469.68 roll -1.35 - - 2004.81 - 2.76 0.063 1208.38 -415.2 -82.73 - - 3106.22 - - - - - - - - - 15.94 -
6508.56 552.21 -7.12 937 6523.31 roll -1.35 - - 2004.88 - 2.60 0.029 2352.38 440.0 -82.73 - - 3106.84 - - - - - - - - - 16.02 -
6837.79 574.43 -6.54 959 6842.41 roll -1.35 - - 2003.25 - 2.69 0.089 3427.06 399.5 -82.73 - - 3108.06 - - - - - - - - - 15.90 -
6876.34 577.20 -7.04 965 6881.88 roll -1.35 - - 2004.81 - 2.56 0.021 2244.75 -461.8 -82.73 - - 3106.00 - - - - - - - - - 16.00 -
7195.93 597.37 -5.99 987 7200.61 roll -1.35 - - 2005.25 - 2.95 0.085 3428.62 401.3 -82.73 - - 3106.19 - - - - - - - - - 15.90 -
7295.35 604.16 -6.83 1001 7299.97 roll -1.35 - - 2005.44 - 2.56 0.021 2246.25 -461.9 -82.73 - - 3104.94 - - - - - - - - - 16.00 -
7611.84 623.34 -6.24 1023 7613.17 no move -1.35 - - 2005.00 - - - 2245.69 - -82.73 - - 3104.25 - - - - - - - - - - -
7926.85 643.12 -6.40 1044 7931.52 roll -1.35 - - 2004.88 - 2.96 0.085 3427.56 399.3 -82.73 - - 3103.84 - - - - - - - - - 15.89 -
7986.14 647.51 -7.28 1053 7991.68 roll -1.35 - - 2005.00 - 2.56 0.021 2246.19 -461.5 -82.73 - - 3105.44 - - - - - - - - - 16.01 -
8305.55 671.09 -7.45 1075 8306.88 no move -1.35 - - 2005.12 - - - 2246.38 - -82.73 - - 3104.03 - - - - - - - - - - -
8620.56 695.25 -7.97 1096 8621.89 no move -1.35 - - 2005.25 - - - 2246.25 - -82.73 - - 3103.34 - - - - - - - - - - -
8935.57 719.47 -7.53 1117 8940.43 roll -1.35 - - 2003.88 - 2.96 0.086 3426.50 398.7 -82.73 - - 3104.28 - - - - - - - - - 15.87 -
9015.76 725.90 -8.11 1129 9021.13 roll -1.35 - - 2005.38 - 2.56 0.021 2248.69 -460.1 -82.73 - - 3103.31 - - - - - - - - - 16.00 -
9335.02 747.75 -6.62 1151 9336.35 no move -1.35 - - 2004.62 - - - 2247.62 - -82.73 - - 3102.28 - - - - - - - - - - -
9650.05 769.13 -6.97 1172 9651.38 no move -1.35 - - 2004.94 - - - 2247.94 - -82.73 - - 3101.50 - - - - - - - - - - -
9965.08 790.92 -6.72 1193 9969.77 roll -1.35 - - 2004.38 - 2.96 0.086 3426.31 398.1 -82.73 - - 3101.78 - - - - - - - - - 15.86 -
10029.37 795.24 -7.27 1203 10044.30 roll -1.35 - - 2004.62 - 2.56 0.021 2248.88 -459.9 -82.73 - - 3102.91 - - - - - - - - - 16.00 -
10359.00 815.93 -5.84 1225 10360.33 no move -1.35 - - 2004.88 - - - 2249.25 - -82.73 - - 3100.75 - - - - - - - - - - -
10673.78 835.75 -6.47 1246 10675.11 no move -1.35 - - 2004.62 - - - 2248.75 - -82.73 - - 3101.25 - - - - - - - - - - -
10988.79 856.81 -6.94 1267 10993.47 roll -1.35 - - 2003.81 - 2.97 0.087 3424.94 396.0 -82.73 - - 3101.53 - - - - - - - - - 15.85 -
11094.54 864.56 -7.81 1283 11109.46 roll -1.35 - - 2005.44 - 2.56 0.021 2247.00 -460.1 -82.73 - - 3100.97 - - - - - - - - - 15.99 -
11423.94 889.47 -7.43 1305 11425.26 no move -1.35 - - 2004.81 - - - 2247.50 - -82.73 - - 3100.41 - - - - - - - - - - -
11739.13 913.46 -7.61 1326 11740.46 no move -1.35 - - 2005.00 - - - 2247.19 - -82.73 - - 3100.19 - - - - - - - - - - -
12054.00 936.60 -7.13 1347 12055.33 no move -1.35 - - 2004.75 - - - 2247.12 - -82.73 - - 3099.53 - - - - - - - - - - -
12369.21 958.02 -6.48 1368 12370.54 no move -1.35 - - 2005.06 - - - 2246.94 - -82.73 - - 3099.53 - - - - - - - - - - -
12684.26 977.81 -6.16 1389 12685.59 no move -1.35 - - 2005.50 - - - 2247.31 - -82.73 - - 3098.88 - - - - - - - - - - -
12893 end dive: TARGET_DEPTH_EXCEEDED
12894 begin apogee
12895.90 990.69 -6.12 1403 12971.50 -0.28 1.82 0.141 2263.06 141.5 0.15 0.176 2288.19 272.5 - 64.20 2.425 2776.34 -5.0 0.349 - - - - - - 15.76 15.41 10.31
12973 end apogee: CONTROL_FINISHED_OK
12973 begin climb
12973.71 992.26 - 1408 13050.16 1.35 2.62 0.086 2662.38 152.4 - - 2288.62 - 82.73 68.94 2.349 2436.97 -4.9 0.354 - - - - - - 15.56 - 12.04
13362.96 970.32 6.26 1439 13406.82 done 1.43 - - 2661.88 - 2.92 0.079 1132.38 -396.0 123.74 35.22 2.256 2269.19 -4.8 0.349 - - - - - - - 15.37 11.58
13554.17 956.02 7.88 1467 13559.72 roll 1.44 - - 2661.88 - 2.67 0.030 2272.62 427.1 123.74 - - 2264.94 - - - - - - - - - 15.65 -
13873.58 933.19 7.15 1489 13878.42 roll 1.47 - - 2660.94 - 2.84 0.074 1129.81 -402.4 123.74 - - 2264.31 - - - - - - - - - 15.77 -
13953.74 927.12 7.65 1501 13959.22 roll back 1.48 0.17 0.088 2705.62 262.8 2.64 0.030 2271.44 432.4 123.74 - - 2264.00 - - - - - - - - 15.67 15.81 -
14273.27 901.04 8.05 1523 14277.93 roll 1.48 - - 2706.12 - 2.81 0.074 1131.25 -405.8 123.74 - - 2260.81 - - - - - - - - - 15.83 -
14353.28 894.08 8.74 1535 14358.83 roll 1.48 - - 2705.62 - 2.64 0.031 2270.81 431.7 123.74 - - 2263.38 - - - - - - - - - 15.87 -
14672.69 867.11 8.45 1557 14677.36 done 1.48 - - 2706.19 - 2.81 0.074 1132.12 -405.2 123.74 - - 2261.09 - - - - - - - - - 15.86 -
14716.23 863.77 8.76 1564 14731.17 done 1.48 - - 2704.50 - 2.62 0.030 2271.12 434.7 123.74 - - 2263.69 - - - - - - - - - 15.91 -
15045.64 834.38 8.87 1586 15050.31 done 1.48 - - 2705.19 - 2.81 0.074 1131.06 -405.7 123.74 - - 2261.25 - - - - - - - - - 15.87 -
15146.41 824.83 9.61 1601 15151.97 done 1.48 - - 2706.25 - 2.64 0.031 2271.88 432.1 123.74 - - 2261.59 - - - - - - - - - 15.93 -
15465.82 796.58 8.37 1623 15467.15 VBD 1.48 - - 2705.25 - - - 2272.56 - 123.74 - - 2260.06 - - - - - - - - - - -
15780.85 771.66 7.87 1644 15785.52 done 1.49 - - 2705.75 - 2.82 0.074 1131.94 -404.5 123.74 - - 2259.53 - - - - - - - - - 15.88 -
15942.69 757.87 8.59 1667 15947.38 done 1.49 - - 2705.00 - 2.62 0.031 2272.44 435.3 123.74 - - 2259.44 - - - - - - - - - 15.94 -
16259.19 732.72 8.20 1689 16263.85 done 1.49 - - 2706.00 - 2.81 0.074 1132.31 -405.7 123.74 - - 2259.91 - - - - - - - - - 15.88 -
16359.97 724.01 8.76 1704 16365.51 done 1.49 - - 2705.00 - 2.61 0.031 2270.88 436.2 123.74 - - 2261.62 - - - - - - - - - 15.97 -
16679.39 698.80 7.65 1726 16684.06 done 1.51 - - 2705.50 - 2.83 0.074 1131.31 -402.7 123.74 - - 2259.88 - - - - - - - - - 15.88 -
16785.17 690.70 8.15 1742 16800.11 done 1.51 - - 2705.50 - 2.61 0.031 2272.38 437.2 123.74 - - 2259.84 - - - - - - - - - 15.97 -
17114.59 665.95 7.21 1764 17119.26 done 1.54 - - 2704.81 - 2.84 0.074 1131.25 -401.8 123.74 - - 2261.59 - - - - - - - - - 15.89 -
17276.21 652.76 8.27 1787 17280.85 done 1.54 - - 2706.19 - 2.62 0.031 2272.81 435.7 123.74 - - 2259.09 - - - - - - - - - 15.97 -
17592.71 629.69 7.39 1809 17597.37 done 1.56 - - 2705.38 - 2.84 0.074 1131.06 -402.0 123.74 - - 2258.69 - - - - - - - - - 15.88 -
17733.59 618.59 7.92 1829 17738.41 done 1.57 - - 2705.12 - 2.62 0.030 2271.25 435.2 123.74 - - 2259.50 - - - - - - - - - 15.98 -
18050.21 595.75 7.32 1851 18054.87 done 1.59 - - 2705.81 - 2.80 0.073 1131.94 -406.9 123.74 - - 2258.47 - - - - - - - - - 15.88 -
18171.70 586.45 7.77 1869 18177.24 done 1.60 - - 2704.75 - 2.61 0.030 2272.06 436.8 123.74 - - 2260.66 - - - - - - - - - 15.99 -
18491.28 562.05 7.96 1891 18492.62 VBD 1.60 - - 2705.44 - - - 2272.50 - 123.74 - - 2258.78 - - - - - - - - - - -
18806.17 537.11 7.91 1912 18810.83 done 1.62 - - 2705.62 - 2.83 0.073 1131.94 -403.0 123.74 - - 2258.88 - - - - - - - - - 15.87 -
18885.17 530.59 8.25 1923 18889.81 done 1.62 - - 2705.31 - 2.62 0.030 2275.06 436.3 123.74 - - 2259.88 - - - - - - - - - 15.98 -
19201.65 506.81 7.17 1945 19202.98 VBD 1.64 - - 2705.50 - - - 2275.44 - 123.74 - - 2258.34 - - - - - - - - - - -
19510.94 486.84 6.35 1971 19548.17 1.72 0.25 0.071 2762.44 227.8 2.83 0.076 1131.06 -404.4 163.14 31.67 1.780 2109.38 -4.7 0.219 - - - - - - 15.93 15.67 10.72
19676.37 471.67 10.25 1993 19691.31 roll 1.72 - - 2763.69 - 2.65 0.031 2271.19 430.2 163.14 - - 2105.53 - - - - - - - - - 15.87 -
19992.77 441.29 9.51 2022 20003.84 no move 1.72 - - 2763.19 - - - 2271.31 - 163.14 - - 2104.22 - - - - - - - - - - -
20305.72 411.51 9.14 2051 20316.80 no move 1.72 - - 2764.12 - - - 2271.12 - 163.14 - - 2104.00 - - - - - - - - - - -
20618.92 382.31 9.18 2080 20623.58 roll 1.72 - - 2763.81 - 2.82 0.073 1130.62 -404.4 163.14 - - 2102.53 - - - - - - - - - 15.86 -
20736.15 370.96 9.81 2096 20751.09 roll 1.72 - - 2762.94 - 2.63 0.030 2271.44 433.8 163.14 - - 2103.94 - - - - - - - - - 15.95 -
21052.36 341.54 9.13 2125 21057.24 roll 1.72 - - 2762.69 - 2.81 0.072 1130.12 -406.2 163.14 - - 2104.47 - - - - - - - - - 15.86 -
21153.84 332.03 9.58 2139 21168.78 roll 1.72 - - 2763.56 - 2.62 0.030 2271.50 435.6 163.14 - - 2103.25 - - - - - - - - - 15.96 -
21470.04 303.38 9.02 2168 21474.71 roll 1.72 - - 2762.44 - 2.82 0.072 1131.06 -404.4 163.14 - - 2103.06 - - - - - - - - - 15.87 -
21549.36 295.54 9.94 2181 21554.93 roll 1.72 - - 2763.38 - 2.63 0.029 2271.56 433.7 163.14 - - 2102.94 - - - - - - - - - 15.94 -
21859.41 267.80 9.15 2243 21864.98 roll 1.72 - - 2763.12 - 2.80 0.072 1132.44 -406.8 163.14 - - 2103.22 - - - - - - - - - 15.86 -
21974.61 256.38 9.76 2266 21980.04 roll 1.72 - - 2763.94 - 2.63 0.030 2273.75 434.0 163.14 - - 2103.03 - - - - - - - - - 15.94 -
22284.49 228.33 8.89 2328 22290.05 roll 1.72 - - 2763.81 - 2.79 0.071 1131.00 -409.6 163.14 - - 2102.66 - - - - - - - - - 15.86 -
22419.51 216.28 8.91 2355 22425.05 roll 1.72 - - 2763.56 - 2.63 0.030 2273.75 434.5 163.14 - - 2103.91 - - - - - - - - - 15.95 -
22729.56 192.45 7.47 2417 22735.12 roll 1.74 - - 2763.69 - 2.82 0.071 1131.56 -405.0 163.14 - - 2102.53 - - - - - - - - - 15.86 -
22804.56 186.37 8.35 2432 22810.10 roll 1.74 - - 2763.50 - 2.63 0.029 2273.25 434.1 163.14 - - 2103.50 - - - - - - - - - 15.96 -
23114.63 163.28 7.04 2494 23120.20 roll 1.77 - - 2764.25 - 2.82 0.070 1132.50 -404.5 163.14 - - 2104.16 - - - - - - - - - 15.87 -
23260.06 151.96 7.85 2523 23265.22 roll 1.78 - - 2764.25 - 2.62 0.029 2274.06 435.7 163.14 - - 2102.84 - - - - - - - - - 15.95 -
23569.84 129.30 6.44 2585 23605.66 done 1.86 - - 2764.00 - 2.71 0.091 3347.06 395.9 200.83 29.95 1.317 1955.81 -4.9 0.082 - - - - - - - 15.69 10.94
23629.79 124.94 7.53 2597 23635.31 roll 1.87 - - 2764.06 - 2.59 0.022 2185.19 -448.6 200.83 - - 1954.06 - - - - - - - - - 15.88 -
23939.89 102.72 6.67 2659 23945.47 roll back 1.91 0.19 0.084 2808.44 233.6 2.60 0.076 1132.38 -404.9 200.83 - - 1950.38 - - - - - - - - 15.85 15.78 -
23974.90 100.55 6.20 2666 24013.46 done 1.99 - - 2809.06 - 2.62 0.027 2276.12 436.5 242.95 33.76 1.273 1784.28 -4.9 0.066 - - - - - - - 15.89 11.52
24195.58 85.31 7.09 2710 24201.13 roll 2.02 - - 2809.25 - 2.71 0.087 3347.31 395.3 242.95 - - 1779.53 - - - - - - - - - 15.79 -
24240.57 81.65 8.12 2719 24246.12 roll 2.02 - - 2809.06 - 2.59 0.022 2183.81 -449.2 242.95 - - 1779.81 - - - - - - - - - 15.82 -
24430.67 66.84 8.54 2757 24436.15 roll 2.02 - - 2808.94 - 2.57 0.076 1131.44 -409.5 242.95 - - 1778.31 - - - - - - - - - 15.82 -
24500.63 61.03 8.20 2771 24506.19 done 2.02 - - 2808.25 - 2.62 0.027 2275.94 436.8 242.95 - - 1777.44 - - - - - - - - - 15.86 -
24690.72 52.80 3.08 2809 24773.91 2.22 0.38 0.061 2885.12 202.3 2.86 0.071 1129.94 -400.7 343.33 75.61 1.219 1375.09 -5.3 0.039 - - - - - - 15.85 15.55 11.35
24786.02 47.75 5.93 2828 24827.63 done 2.32 - - 2885.25 - 2.63 0.025 2277.31 436.3 390.52 37.17 1.157 1183.16 -5.2 0.036 - - - - - - - 15.67 12.29
25011.06 31.10 9.43 2873 25012.38 no move 2.32 - - 2885.62 - - - 2277.88 - 390.52 - - 1175.28 - - - - - - - - - - -
25196.11 13.43 10.33 2910 25197.44 VBD 2.32 - - 2885.06 - - - 2277.94 - 390.52 - - 1173.50 - - - - - - - - - - -
25280 end climb: SURFACE_DEPTH_REACHED
25281 begin surface coast
25326 end surface coast: CONTROL_FINISHED_OK
25326 begin surface
SM 0.54 - - - - 178.1 26.30 1.111 1042.8 39.7 16.70 0.045 1021.8 61.2 - 0.12 0.132 1063.7 8864.2 -3.706 - - 11.43 15.73 15.76 -