NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 727 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 246.15 of 550.00 AH used of 24V (55.25% remains)
• Surface angle -56.2 deg, depth 0.28 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.16 (SM_CC=425)
• GPS1 time: 48 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
5.43 - - - 77.11 VBD -1.35 - - 176.19 - - - 2227.50 - -82.73 70.54 0.005 2776.12 - - - - - - - - - - 15.07
77.84 4.08 -9.40 13 110.00 -1.35 14.70 0.243 2004.00 124.3 3.03 0.084 3426.38 395.7 -82.73 6.90 0.008 3112.53 48.8 -4.230 - - - - - - 15.42 15.09 15.23
262.12 40.24 -17.60 50 267.65 roll -1.35 - - 2003.50 - 2.59 0.019 2248.25 -454.9 -82.73 - - 3112.97 - - - - - - - - - 15.76 -
452.82 68.33 -9.81 88 457.79 roll -1.35 - - 2003.88 - 2.96 0.079 3426.12 397.9 -82.73 - - 3114.56 - - - - - - - - - 15.78 -
567.24 82.51 -13.42 111 572.77 roll -1.35 - - 2004.00 - 2.58 0.019 2248.00 -456.6 -82.73 - - 3113.97 - - - - - - - - - 15.83 -
757.67 102.59 -9.25 149 762.89 roll -1.35 - - 2004.06 - 2.95 0.078 3428.06 400.0 -82.73 - - 3114.56 - - - - - - - - - 15.82 -
992.33 126.04 -9.02 196 997.86 roll -1.35 - - 2002.62 - 2.57 0.019 2245.25 -460.2 -82.73 - - 3117.59 - - - - - - - - - 15.89 -
1302.37 150.28 -8.11 258 1307.48 roll -1.35 - - 2003.94 - 2.49 0.064 1207.81 -416.6 -82.73 - - 3115.03 - - - - - - - - - 15.90 -
1392.38 157.96 -8.49 276 1397.92 roll -1.35 - - 2003.50 - 2.61 0.027 2353.75 439.1 -82.73 - - 3114.66 - - - - - - - - - 15.92 -
1702.42 182.00 -8.38 338 1707.98 roll -1.35 - - 2004.12 - 2.76 0.059 1208.06 -415.1 -82.73 - - 3116.34 - - - - - - - - - 15.92 -
1792.42 190.30 -9.50 356 1798.15 roll -1.35 - - 2003.75 - 2.62 0.027 2354.19 437.5 -82.73 - - 3114.97 - - - - - - - - - 15.94 -
2102.48 219.30 -9.47 418 2108.04 roll -1.35 - - 2003.94 - 2.75 0.059 1208.25 -416.7 -82.73 - - 3115.06 - - - - - - - - - 15.93 -
2137.48 222.59 -9.44 425 2143.03 roll -1.35 - - 2003.88 - 2.61 0.027 2353.44 438.8 -82.73 - - 3115.72 - - - - - - - - - 15.95 -
2447.52 248.24 -7.79 487 2453.06 roll -1.35 - - 2003.69 - 2.68 0.086 3427.06 400.6 -82.73 - - 3115.47 - - - - - - - - - 15.90 -
2527.53 255.25 -8.75 503 2533.06 roll -1.35 - - 2003.88 - 2.56 0.020 2244.06 -462.1 -82.73 - - 3114.53 - - - - - - - - - 15.96 -
2837.57 279.79 -8.07 565 2838.90 no move -1.35 - - 2004.06 - - - 2242.31 - -82.73 - - 3113.47 - - - - - - - - - - -
3149.17 305.03 -7.97 620 3153.85 roll -1.35 - - 2004.00 - 2.96 0.081 3425.81 399.8 -82.73 - - 3112.91 - - - - - - - - - 15.92 -
3187.71 308.35 -8.59 626 3202.63 roll -1.35 - - 2003.25 - 2.55 0.020 2243.38 -463.7 -82.73 - - 3114.69 - - - - - - - - - 15.99 -
3504.49 334.95 -8.52 655 3508.71 roll -1.35 - - 2003.62 - 2.49 0.066 1208.62 -415.6 -82.73 - - 3112.94 - - - - - - - - - 15.96 -
3543.21 338.30 -8.75 661 3557.98 roll -1.35 - - 2003.94 - 2.61 0.028 2352.00 438.1 -82.73 - - 3114.25 - - - - - - - - - 16.00 -
3859.24 364.31 -8.23 690 3870.31 no move -1.35 - - 2004.31 - - - 2353.44 - -82.73 - - 3113.16 - - - - - - - - - - -
4171.94 388.88 -7.73 719 4176.59 roll -1.35 - - 2004.19 - 2.77 0.061 1208.31 -413.4 -82.73 - - 3111.97 - - - - - - - - - 15.96 -
4209.12 391.92 -7.94 724 4213.76 roll -1.35 - - 2003.88 - 2.61 0.028 2354.12 439.0 -82.73 - - 3111.66 - - - - - - - - - 15.99 -
4521.10 416.75 -8.13 753 4525.73 roll -1.35 - - 2003.88 - 2.69 0.088 3426.62 398.7 -82.73 - - 3110.94 - - - - - - - - - 15.92 -
4589.77 422.90 -8.83 762 4594.38 roll -1.35 - - 2003.81 - 2.57 0.020 2247.81 -458.7 -82.73 - - 3111.44 - - - - - - - - - 15.99 -
4901.05 447.24 -7.76 791 4912.12 no move -1.35 - - 2004.00 - - - 2245.56 - -82.73 - - 3112.16 - - - - - - - - - - -
5214.51 472.43 -8.30 820 5219.19 roll -1.35 - - 2004.12 - 2.98 0.084 3428.50 397.0 -82.73 - - 3110.50 - - - - - - - - - 15.91 -
5284.52 478.74 -9.02 830 5299.43 roll -1.35 - - 2003.06 - 2.57 0.020 2246.44 -459.9 -82.73 - - 3113.41 - - - - - - - - - 16.01 -
5607.03 505.53 -8.25 858 5608.36 no move -1.35 - - 2004.00 - - - 2246.25 - -82.73 - - 3109.91 - - - - - - - - - - -
5922.25 531.64 -8.22 879 5927.00 roll -1.35 - - 2003.62 - 2.97 0.084 3426.25 397.3 -82.73 - - 3109.94 - - - - - - - - - 15.91 -
6023.02 540.74 -9.14 894 6028.56 roll -1.35 - - 2004.00 - 2.56 0.021 2246.81 -460.7 -82.73 - - 3110.69 - - - - - - - - - 16.00 -
6342.42 565.48 -7.76 916 6343.75 no move -1.35 - - 2003.44 - - - 2246.50 - -82.73 - - 3108.69 - - - - - - - - - - -
6657.45 588.35 -6.99 937 6662.13 roll -1.35 - - 2003.31 - 2.96 0.085 3425.12 398.2 -82.73 - - 3110.03 - - - - - - - - - 15.90 -
6736.45 594.60 -7.82 948 6741.06 roll -1.35 - - 2003.44 - 2.57 0.021 2247.31 -458.3 -82.73 - - 3109.06 - - - - - - - - - 16.00 -
7052.93 614.70 -6.04 970 7054.26 no move -1.35 - - 2003.94 - - - 2246.50 - -82.73 - - 3108.50 - - - - - - - - - - -
7368.12 633.78 -6.11 991 7372.79 roll -1.35 - - 2002.75 - 2.97 0.085 3427.44 397.6 -82.73 - - 3109.50 - - - - - - - - - 15.89 -
7448.14 639.48 -7.12 1003 7453.67 roll -1.35 - - 2002.62 - 2.57 0.021 2247.62 -459.1 -82.73 - - 3109.59 - - - - - - - - - 16.01 -
7767.55 660.07 -6.54 1025 7768.88 no move -1.35 - - 2003.75 - - - 2246.69 - -82.73 - - 3106.78 - - - - - - - - - - -
8082.58 681.06 -6.48 1046 8087.25 roll -1.35 - - 2003.88 - 2.97 0.085 3424.81 396.7 -82.73 - - 3106.66 - - - - - - - - - 15.88 -
8162.60 686.87 -7.30 1058 8168.32 roll -1.35 - - 2003.81 - 2.57 0.021 2248.00 -457.9 -82.73 - - 3107.44 - - - - - - - - - 16.00 -
8482.18 707.80 -6.49 1080 8483.51 no move -1.35 - - 2003.62 - - - 2247.69 - -82.73 - - 3106.41 - - - - - - - - - - -
8797.05 728.82 -7.08 1101 8801.72 roll -1.35 - - 2004.25 - 2.98 0.086 3427.00 395.7 -82.73 - - 3106.09 - - - - - - - - - 15.87 -
8896.45 736.85 -8.10 1115 8901.06 roll -1.35 - - 2003.69 - 2.57 0.021 2250.25 -457.9 -82.73 - - 3107.06 - - - - - - - - - 15.99 -
9212.92 760.83 -7.92 1137 9217.60 roll -1.35 - - 2002.50 - 2.97 0.086 3426.50 396.0 -82.73 - - 3107.53 - - - - - - - - - 15.87 -
9292.95 767.77 -8.72 1149 9298.49 roll -1.35 - - 2002.62 - 2.56 0.021 2247.69 -460.5 -82.73 - - 3106.50 - - - - - - - - - 16.00 -
9612.35 792.64 -7.58 1171 9616.97 roll -1.35 - - 2004.25 - 2.53 0.070 1209.31 -410.4 -82.73 - - 3105.00 - - - - - - - - - 15.91 -
9650.89 795.56 -7.72 1177 9656.45 roll -1.35 - - 2003.50 - 2.62 0.029 2352.19 436.2 -82.73 - - 3105.34 - - - - - - - - - 16.01 -
9970.30 818.28 -6.89 1199 9974.95 roll -1.35 - - 2002.38 - 2.77 0.064 1210.81 -412.1 -82.73 - - 3107.03 - - - - - - - - - 15.91 -
10028.22 822.28 -6.88 1207 10032.85 roll -1.35 - - 2003.81 - 2.62 0.029 2352.69 435.8 -82.73 - - 3105.06 - - - - - - - - - 16.00 -
10344.71 841.23 -5.71 1229 10346.04 no move -1.35 - - 2003.69 - - - 2351.62 - -82.73 - - 3104.88 - - - - - - - - - - -
10659.91 859.48 -5.84 1250 10661.24 no move -1.35 - - 2003.56 - - - 2351.62 - -82.73 - - 3103.47 - - - - - - - - - - -
10974.89 880.06 -6.91 1271 10976.22 no move -1.35 - - 2003.44 - - - 2352.38 - -82.73 - - 3103.78 - - - - - - - - - - -
11289.74 902.02 -6.94 1292 11294.38 roll -1.35 - - 2004.06 - 2.80 0.065 1210.62 -407.8 -82.73 - - 3103.19 - - - - - - - - - 15.90 -
11354.33 906.28 -7.23 1302 11369.26 roll -1.35 - - 2004.00 - 2.63 0.030 2350.69 433.5 -82.73 - - 3104.94 - - - - - - - - - 16.01 -
11683.92 929.03 -6.79 1324 11688.57 roll -1.35 - - 2003.75 - 2.79 0.064 1209.50 -409.0 -82.73 - - 3103.09 - - - - - - - - - 15.89 -
11743.19 933.11 -6.98 1333 11748.75 roll -1.35 - - 2003.25 - 2.63 0.030 2351.19 434.1 -82.73 - - 3104.34 - - - - - - - - - 16.00 -
12062.60 953.92 -6.48 1355 12067.24 roll -1.35 - - 2003.50 - 2.73 0.093 3424.81 393.3 -82.73 - - 3102.62 - - - - - - - - - 15.83 -
12121.87 958.14 -7.09 1364 12127.41 roll -1.35 - - 2004.38 - 2.57 0.021 2247.25 -458.2 -82.73 - - 3103.66 - - - - - - - - - 16.00 -
12441.31 978.26 -6.23 1386 12442.64 no move -1.35 - - 2003.56 - - - 2246.38 - -82.73 - - 3103.25 - - - - - - - - - - -
12636 end dive: TARGET_DEPTH_EXCEEDED
12636 begin apogee
12638.11 990.76 -6.47 1399 12713.89 -0.28 1.85 0.142 2264.81 141.2 0.17 0.165 2285.81 231.9 - 64.92 2.431 2773.66 -5.1 0.352 - - - - - - 15.75 15.41 10.36
12715 end apogee: CONTROL_FINISHED_OK
12715 begin climb
12716.38 992.42 - 1404 12790.47 1.35 2.62 0.087 2662.06 151.6 - - 2286.00 - 82.73 68.82 2.349 2436.22 -4.9 0.352 - - - - - - 15.55 - 12.08
13102.61 971.28 6.40 1434 13146.44 done 1.42 - - 2661.12 - 2.92 0.077 1132.12 -395.2 121.12 33.46 2.253 2281.84 -4.6 0.338 - - - - - - - 15.37 11.60
13278.03 957.55 8.54 1460 13292.99 roll 1.42 - - 2662.00 - 2.67 0.030 2272.00 426.9 121.12 - - 2275.56 - - - - - - - - - 15.64 -
13607.46 932.88 7.41 1482 13608.79 no move 1.44 - - 2662.12 - - - 2272.12 - 121.12 - - 2273.03 - - - - - - - - - - -
13922.64 908.63 7.88 1503 13927.31 roll 1.46 - - 2662.19 - 2.83 0.073 1132.44 -402.7 121.12 - - 2271.94 - - - - - - - - - 15.82 -
14043.73 897.95 8.89 1520 14048.36 done 1.46 - - 2660.38 - 2.64 0.030 2272.06 431.7 121.12 - - 2273.47 - - - - - - - - - 15.85 -
14360.22 871.98 8.32 1542 14365.07 done 1.46 - - 2662.12 - 2.82 0.074 1130.75 -404.7 121.12 - - 2270.91 - - - - - - - - - 15.85 -
14466.12 863.22 8.81 1558 14480.94 done 1.46 - - 2662.06 - 2.62 0.031 2270.94 435.2 121.12 - - 2272.66 - - - - - - - - - 15.90 -
14795.43 837.42 7.45 1580 14800.17 1.48 0.15 0.094 2703.25 274.6 2.82 0.073 1130.12 -404.5 121.12 - - 2271.03 - - - - - - - - 15.87 15.80 -
14894.86 828.54 8.96 1594 14899.50 done 1.48 - - 2702.81 - 2.62 0.030 2271.12 435.5 121.12 - - 2269.97 - - - - - - - - - 15.92 -
15211.33 802.51 8.10 1616 15216.00 done 1.48 - - 2702.88 - 2.83 0.073 1132.00 -402.5 121.12 - - 2270.16 - - - - - - - - - 15.88 -
15291.35 795.68 8.61 1628 15296.90 done 1.48 - - 2702.19 - 2.62 0.030 2270.50 434.5 121.12 - - 2273.38 - - - - - - - - - 15.95 -
15610.75 769.03 8.06 1650 15615.40 done 1.48 - - 2702.62 - 2.80 0.073 1131.12 -406.9 121.12 - - 2270.25 - - - - - - - - - 15.89 -
15751.65 757.75 7.90 1670 15756.28 done 1.49 - - 2702.88 - 2.62 0.031 2271.38 435.2 121.12 - - 2269.41 - - - - - - - - - 15.95 -
16068.15 735.77 7.24 1692 16072.82 done 1.51 - - 2703.19 - 2.82 0.073 1130.75 -404.5 121.12 - - 2271.06 - - - - - - - - - 15.89 -
16127.46 731.21 7.72 1701 16133.18 done 1.53 - - 2702.81 - 2.62 0.031 2272.00 435.6 121.12 - - 2272.81 - - - - - - - - - 15.97 -
16446.97 707.57 7.38 1723 16448.31 VBD 1.55 - - 2702.81 - - - 2272.38 - 121.12 - - 2269.69 - - - - - - - - - - -
16761.88 684.65 7.36 1744 16766.54 done 1.57 - - 2703.00 - 2.83 0.073 1132.25 -402.9 121.12 - - 2268.66 - - - - - - - - - 15.89 -
16800.44 681.69 7.71 1750 16805.98 done 1.59 - - 2703.75 - 2.62 0.030 2273.56 435.6 121.12 - - 2270.50 - - - - - - - - - 15.97 -
17119.85 659.09 6.77 1772 17124.52 done 1.62 - - 2703.62 - 2.83 0.073 1130.88 -403.8 121.12 - - 2269.06 - - - - - - - - - 15.88 -
17198.54 653.12 7.50 1783 17202.40 done 1.64 - - 2703.69 - 2.61 0.031 2262.44 433.5 121.12 - - 2270.09 - - - - - - - - - 15.97 -
17515.03 630.44 7.27 1805 17519.76 1.66 0.19 0.081 2748.12 233.8 2.83 0.073 1130.81 -399.9 121.12 - - 2268.62 - - - - - - - - 15.93 15.83 -
17593.69 623.69 8.43 1816 17598.34 done 1.66 - - 2748.00 - 2.62 0.030 2272.38 435.7 121.12 - - 2269.16 - - - - - - - - - 15.98 -
17910.19 597.03 8.62 1838 17914.84 done 1.66 - - 2747.00 - 2.72 0.092 3346.25 394.8 121.12 - - 2271.94 - - - - - - - - - 15.86 -
17948.72 593.71 8.78 1844 17954.26 done 1.66 - - 2747.38 - 2.59 0.023 2185.56 -448.1 121.12 - - 2271.91 - - - - - - - - - 15.98 -
18268.33 567.54 8.16 1866 18273.03 done 1.66 - - 2748.06 - 2.61 0.077 1129.69 -404.5 121.12 - - 2269.34 - - - - - - - - - 15.88 -
18471.96 549.26 8.98 1895 18476.59 done 1.66 - - 2748.69 - 2.63 0.031 2273.56 434.9 121.12 - - 2268.78 - - - - - - - - - 15.98 -
18788.44 525.27 6.98 1917 18793.12 done 1.69 - - 2748.69 - 2.85 0.073 1130.75 -401.0 121.12 - - 2269.66 - - - - - - - - - 15.88 -
18910.28 516.70 7.15 1935 18915.82 done 1.72 - - 2748.00 - 2.61 0.030 2272.25 437.4 121.12 - - 2271.06 - - - - - - - - - 15.98 -
19216.88 497.21 6.11 1957 19260.53 VBD 1.81 - - 2748.06 - - - 2272.56 - 165.03 34.92 1.811 2101.06 -4.9 0.227 - - - - - - - - 10.71
19562.18 470.02 8.66 1990 19566.84 roll 1.81 - - 2748.19 - 2.85 0.073 1131.94 -400.2 165.03 - - 2097.03 - - - - - - - - - 15.82 -
19741.22 451.91 10.23 2013 19745.85 roll 1.81 - - 2747.94 - 2.64 0.030 2272.00 431.8 165.03 - - 2095.16 - - - - - - - - - 15.88 -
20053.48 420.51 9.95 2042 20058.15 roll 1.81 - - 2748.06 - 2.84 0.072 1132.25 -401.3 165.03 - - 2093.53 - - - - - - - - - 15.85 -
20155.15 409.92 10.59 2056 20169.96 roll 1.81 - - 2748.50 - 2.62 0.030 2271.88 435.0 165.03 - - 2094.91 - - - - - - - - - 15.91 -
20471.66 378.96 9.31 2085 20482.74 no move 1.81 - - 2748.38 - - - 2272.38 - 165.03 - - 2094.94 - - - - - - - - - - -
20784.37 351.00 8.59 2114 20789.03 roll 1.81 - - 2748.31 - 2.82 0.073 1130.69 -404.9 165.03 - - 2094.03 - - - - - - - - - 15.86 -
20916.00 338.31 9.76 2131 20920.62 roll 1.81 - - 2748.56 - 2.62 0.030 2270.62 435.1 165.03 - - 2093.44 - - - - - - - - - 15.95 -
21227.65 311.02 8.59 2160 21232.31 roll 1.81 - - 2748.88 - 2.81 0.072 1131.44 -405.4 165.03 - - 2094.19 - - - - - - - - - 15.87 -
21266.18 307.57 8.97 2166 21281.12 roll 1.81 - - 2747.50 - 2.62 0.029 2272.31 435.4 165.03 - - 2097.28 - - - - - - - - - 15.95 -
21584.16 279.93 8.34 2219 21585.49 no move 1.81 - - 2748.31 - - - 2272.31 - 165.03 - - 2093.72 - - - - - - - - - - -
21889.28 253.86 8.40 2280 21894.85 roll 1.81 - - 2748.50 - 2.84 0.071 1132.31 -401.4 165.03 - - 2095.09 - - - - - - - - - 15.86 -
21929.28 250.31 8.86 2288 21935.01 roll 1.81 - - 2749.25 - 2.62 0.029 2274.06 435.8 165.03 - - 2094.59 - - - - - - - - - 15.95 -
22239.34 224.87 7.82 2350 22244.91 roll 1.82 - - 2748.81 - 2.83 0.071 1131.88 -403.6 165.03 - - 2094.69 - - - - - - - - - 15.87 -
22354.34 215.00 8.83 2373 22359.89 roll 1.82 - - 2748.19 - 2.62 0.029 2272.69 435.4 165.03 - - 2094.91 - - - - - - - - - 15.95 -
22664.39 189.31 8.25 2435 22669.97 roll 1.82 - - 2748.88 - 2.83 0.070 1132.19 -403.0 165.03 - - 2094.56 - - - - - - - - - 15.87 -
22704.39 185.86 8.63 2443 22709.94 roll 1.82 - - 2748.00 - 2.62 0.029 2274.12 435.9 165.03 - - 2095.97 - - - - - - - - - 15.95 -
23014.45 158.79 8.09 2505 23020.02 roll 1.82 - - 2748.50 - 2.81 0.070 1130.00 -407.2 165.03 - - 2095.56 - - - - - - - - - 15.87 -
23089.46 152.44 8.76 2520 23095.00 roll 1.82 - - 2748.25 - 2.61 0.029 2273.75 438.2 165.03 - - 2096.09 - - - - - - - - - 15.96 -
23399.51 130.07 6.74 2582 23400.95 pitch 1.85 0.17 0.084 2794.19 270.2 - - 2274.44 - 165.03 - - 2094.31 - - - - - - - - 15.92 - -
23705.05 110.02 5.92 2643 23744.63 VBD 1.95 - - 2794.75 - - - 2275.00 - 212.41 36.97 1.301 1910.53 -5.0 0.072 - - - - - - - - 11.00
24049.61 82.63 7.75 2712 24055.17 roll 1.96 - - 2795.25 - 2.83 0.070 1129.88 -404.6 212.41 - - 1902.78 - - - - - - - - - 15.83 -
24284.62 64.85 7.20 2759 24290.17 roll 1.99 - - 2795.44 - 2.62 0.028 2276.12 437.5 212.41 - - 1902.22 - - - - - - - - - 15.89 -
24474.65 56.51 3.30 2797 24553.79 2.18 0.38 0.056 2875.19 209.9 2.87 0.071 1131.00 -399.0 308.68 72.82 1.233 1517.56 -5.3 0.041 - - - - - - 15.87 15.57 11.44
24780.96 41.88 4.36 2858 24844.58 done 2.33 - - 2875.44 - 2.63 0.027 2275.38 435.1 385.29 58.32 1.175 1204.16 -5.4 0.033 - - - - - - - 15.76 11.59
25026.84 24.37 8.43 2907 25032.41 roll 2.33 - - 2875.81 - 2.72 0.087 3345.69 393.5 385.29 - - 1198.00 - - - - - - - - - 15.68 -
25127.04 13.31 12.10 2927 25132.43 roll 2.33 - - 2876.44 - 2.61 0.021 2182.88 -445.5 385.29 - - 1196.31 - - - - - - - - - 15.74 -
25211 end climb: SURFACE_DEPTH_REACHED
25211 begin surface coast
25257 end surface coast: CONTROL_FINISHED_OK
25257 begin surface
SM 0.41 - - - - 190.2 30.36 1.111 1041.8 34.3 16.61 0.044 1014.6 61.1 - 0.35 0.054 1068.9 3046.5 -2.364 - - 11.49 15.72 15.77 -