NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 728 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 246.56 of 550.00 AH used of 24V (55.17% remains)
• Surface angle -60.8 deg, depth 0.45 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.90 (SM_CC=425)
• GPS1 time: 27 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 - - - 72.03 VBD -1.35 - - 183.00 - - - 2280.88 - -82.73 65.40 0.005 2650.25 - - - - - - - - - - 15.11
72.78 3.20 -5.34 12 106.63 -1.35 14.56 0.241 2003.44 125.0 2.89 0.081 3427.81 396.9 -82.73 10.44 0.007 3109.22 44.0 -3.416 - - - - - - 15.41 15.08 15.22
203.72 28.22 -20.95 38 209.25 roll -1.35 - - 2002.88 - 2.60 0.019 2251.62 -452.4 -82.73 - - 3112.03 - - - - - - - - - 15.75 -
394.17 57.40 -10.26 76 399.59 roll -1.35 - - 2003.81 - 2.94 0.079 3428.00 400.1 -82.73 - - 3111.44 - - - - - - - - - 15.77 -
518.96 71.76 -12.08 101 524.38 roll -1.35 - - 2003.62 - 2.57 0.019 2244.19 -460.6 -82.73 - - 3111.62 - - - - - - - - - 15.82 -
709.29 89.09 -7.51 139 714.02 roll -1.35 - - 2003.88 - 2.48 0.063 1208.25 -417.7 -82.73 - - 3111.81 - - - - - - - - - 15.86 -
883.97 102.95 -8.64 174 889.51 roll -1.35 - - 2004.56 - 2.61 0.026 2354.88 439.3 -82.73 - - 3112.12 - - - - - - - - - 15.88 -
1194.08 127.58 -7.38 236 1195.41 no move -1.35 - - 2003.94 - - - 2354.81 - -82.73 - - 3111.81 - - - - - - - - - - -
1499.20 152.12 -8.54 297 1504.74 roll -1.35 - - 2003.94 - 2.66 0.084 3425.12 402.4 -82.73 - - 3112.59 - - - - - - - - - 15.89 -
1634.24 164.29 -9.16 324 1639.77 roll -1.35 - - 2003.81 - 2.56 0.019 2242.56 -461.9 -82.73 - - 3112.56 - - - - - - - - - 15.93 -
1944.32 189.58 -8.61 386 1949.43 roll -1.35 - - 2003.62 - 2.48 0.064 1208.25 -417.1 -82.73 - - 3112.19 - - - - - - - - - 15.93 -
2014.50 196.22 -9.65 400 2019.93 roll -1.35 - - 2004.06 - 2.61 0.027 2355.00 439.4 -82.73 - - 3111.91 - - - - - - - - - 15.95 -
2324.38 226.07 -9.90 462 2325.71 no move -1.35 - - 2004.12 - - - 2355.00 - -82.73 - - 3110.81 - - - - - - - - - - -
2629.41 254.90 -9.29 523 2634.97 roll -1.35 - - 2003.19 - 2.76 0.060 1208.25 -415.5 -82.73 - - 3113.09 - - - - - - - - - 15.94 -
2734.42 264.81 -9.26 544 2739.98 roll -1.35 - - 2004.50 - 2.61 0.027 2353.88 438.9 -82.73 - - 3111.69 - - - - - - - - - 15.98 -
3044.48 290.61 -7.69 606 3045.81 no move -1.35 - - 2003.75 - - - 2353.81 - -82.73 - - 3110.97 - - - - - - - - - - -
3348.81 311.98 -6.81 648 3353.44 roll -1.35 - - 2004.00 - 2.69 0.087 3428.75 399.6 -82.73 - - 3111.41 - - - - - - - - - 15.92 -
3387.35 314.87 -7.43 654 3402.28 roll -1.35 - - 2003.19 - 2.57 0.020 2242.81 -461.5 -82.73 - - 3111.94 - - - - - - - - - 15.99 -
3703.94 337.64 -7.45 683 3715.01 no move -1.35 - - 2004.12 - - - 2243.19 - -82.73 - - 3111.16 - - - - - - - - - - -
4016.77 362.21 -8.15 712 4021.62 roll -1.35 - - 2003.62 - 2.98 0.081 3429.88 398.2 -82.73 - - 3109.91 - - - - - - - - - 15.93 -
4069.84 367.02 -8.82 719 4074.45 roll -1.35 - - 2002.75 - 2.56 0.020 2244.94 -462.9 -82.73 - - 3111.38 - - - - - - - - - 15.99 -
4380.71 393.52 -8.49 748 4385.40 roll -1.35 - - 2004.12 - 2.96 0.081 3428.25 399.8 -82.73 - - 3111.03 - - - - - - - - - 15.92 -
4433.66 398.38 -9.01 755 4438.27 roll -1.35 - - 2003.38 - 2.57 0.020 2244.31 -460.7 -82.73 - - 3109.00 - - - - - - - - - 15.99 -
4744.95 424.02 -7.81 784 4749.54 roll -1.35 - - 2003.88 - 2.49 0.067 1209.31 -415.7 -82.73 - - 3108.91 - - - - - - - - - 15.95 -
4783.49 427.07 -8.01 790 4798.42 roll -1.35 - - 2004.19 - 2.61 0.028 2354.19 438.7 -82.73 - - 3109.62 - - - - - - - - - 16.00 -
5100.56 451.86 -7.28 819 5111.64 no move -1.35 - - 2004.12 - - - 2354.31 - -82.73 - - 3109.06 - - - - - - - - - - -
5413.40 473.17 -6.54 848 5418.05 roll -1.35 - - 2003.25 - 2.77 0.062 1209.44 -413.3 -82.73 - - 3109.19 - - - - - - - - - 15.95 -
5436.20 474.70 -6.80 852 5451.14 roll -1.35 - - 2003.88 - 2.61 0.028 2353.69 438.4 -82.73 - - 3108.72 - - - - - - - - - 16.01 -
5752.76 495.80 -6.59 881 5763.83 no move -1.35 - - 2003.94 - - - 2354.12 - -82.73 - - 3108.62 - - - - - - - - - - -
6073.26 518.64 -7.28 904 6074.58 no move -1.35 - - 2004.06 - - - 2353.75 - -82.73 - - 3107.62 - - - - - - - - - - -
6388.28 542.09 -7.44 925 6389.61 no move -1.35 - - 2003.88 - - - 2353.50 - -82.73 - - 3106.88 - - - - - - - - - - -
6703.48 565.24 -7.56 946 6704.81 no move -1.35 - - 2003.69 - - - 2353.94 - -82.73 - - 3105.25 - - - - - - - - - - -
7018.50 589.93 -7.66 967 7019.83 no move -1.35 - - 2003.50 - - - 2354.00 - -82.73 - - 3105.72 - - - - - - - - - - -
7333.51 614.76 -8.08 988 7334.84 no move -1.35 - - 2003.56 - - - 2353.56 - -82.73 - - 3105.81 - - - - - - - - - - -
7648.35 640.16 -8.01 1009 7653.00 roll -1.35 - - 2003.88 - 2.72 0.089 3427.62 394.9 -82.73 - - 3106.59 - - - - - - - - - 15.89 -
7687.23 643.40 -8.37 1015 7692.76 roll -1.35 - - 2003.44 - 2.56 0.020 2245.44 -461.8 -82.73 - - 3107.16 - - - - - - - - - 16.01 -
8006.63 667.53 -7.38 1037 8011.31 roll -1.35 - - 2004.12 - 2.97 0.085 3424.81 397.1 -82.73 - - 3105.19 - - - - - - - - - 15.89 -
8128.15 677.25 -8.13 1055 8133.69 roll -1.35 - - 2003.69 - 2.56 0.021 2249.06 -459.3 -82.73 - - 3104.94 - - - - - - - - - 16.00 -
8447.55 699.91 -7.03 1077 8452.23 roll -1.35 - - 2003.69 - 2.97 0.084 3425.00 395.9 -82.73 - - 3103.47 - - - - - - - - - 15.88 -
8491.31 702.79 -7.37 1084 8506.24 roll -1.35 - - 2003.75 - 2.55 0.021 2245.75 -462.5 -82.73 - - 3104.94 - - - - - - - - - 15.99 -
8820.72 726.23 -6.85 1106 8822.05 no move -1.35 - - 2003.31 - - - 2245.50 - -82.73 - - 3103.75 - - - - - - - - - - -
9135.73 747.70 -6.85 1127 9140.41 roll -1.35 - - 2003.44 - 2.98 0.085 3425.62 396.0 -82.73 - - 3104.25 - - - - - - - - - 15.88 -
9195.01 752.05 -7.31 1136 9200.73 roll -1.35 - - 2003.81 - 2.56 0.021 2247.50 -460.2 -82.73 - - 3104.81 - - - - - - - - - 16.00 -
9514.53 774.31 -7.17 1158 9515.86 no move -1.35 - - 2003.88 - - - 2247.88 - -82.73 - - 3102.25 - - - - - - - - - - -
9829.43 797.91 -7.56 1179 9830.76 no move -1.35 - - 2004.06 - - - 2248.00 - -82.73 - - 3102.72 - - - - - - - - - - -
10144.45 821.38 -7.29 1200 10149.13 roll -1.35 - - 2003.69 - 3.00 0.085 3424.62 392.2 -82.73 - - 3101.91 - - - - - - - - - 15.87 -
10182.99 824.30 -7.57 1206 10188.53 roll -1.35 - - 2003.75 - 2.56 0.021 2247.56 -459.8 -82.73 - - 3103.19 - - - - - - - - - 15.99 -
10502.39 846.94 -6.96 1228 10503.71 no move -1.35 - - 2003.62 - - - 2247.62 - -82.73 - - 3101.47 - - - - - - - - - - -
10817.40 868.30 -6.51 1249 10822.08 roll -1.35 - - 2003.81 - 2.99 0.086 3426.12 394.1 -82.73 - - 3100.97 - - - - - - - - - 15.86 -
10937.53 876.87 -7.19 1266 10942.14 roll -1.35 - - 2002.94 - 2.57 0.021 2247.50 -458.6 -82.73 - - 3101.59 - - - - - - - - - 15.98 -
11253.99 897.43 -6.53 1288 11255.32 no move -1.35 - - 2004.06 - - - 2247.38 - -82.73 - - 3100.91 - - - - - - - - - - -
11569.61 918.10 -6.48 1309 11574.29 roll -1.35 - - 2002.81 - 2.99 0.086 3427.56 394.7 -82.73 - - 3101.28 - - - - - - - - - 15.84 -
11648.28 923.99 -7.35 1320 11652.89 roll -1.35 - - 2002.81 - 2.56 0.021 2248.69 -460.5 -82.73 - - 3101.12 - - - - - - - - - 15.99 -
11964.75 945.73 -6.87 1342 11966.08 no move -1.35 - - 2003.69 - - - 2247.50 - -82.73 - - 3100.06 - - - - - - - - - - -
12279.95 968.02 -7.18 1363 12281.27 no move -1.35 - - 2003.94 - - - 2248.31 - -82.73 - - 3099.72 - - - - - - - - - - -
12594 end dive: TARGET_DEPTH_EXCEEDED
12594 begin apogee
12596.69 990.05 -6.84 1384 12672.17 -0.28 1.86 0.139 2264.25 140.0 0.16 0.171 2286.94 241.4 - 64.20 2.428 2775.25 -5.1 0.350 - - - - - - 15.76 15.42 10.30
12673 end apogee: CONTROL_FINISHED_OK
12673 begin climb
12674.38 992.15 - 1389 12748.57 1.35 2.65 0.087 2661.44 149.9 - - 2287.50 - 82.73 68.99 2.347 2437.91 -4.9 0.351 - - - - - - 15.56 - 12.08
13060.89 971.75 6.11 1415 13104.78 done 1.43 - - 2661.44 - 2.94 0.078 1131.00 -393.4 126.68 37.52 2.265 2257.97 -4.8 0.350 - - - - - - - 15.36 11.55
13230.38 959.10 8.03 1439 13235.01 roll 1.43 - - 2661.56 - 2.67 0.030 2270.31 426.7 126.68 - - 2254.25 - - - - - - - - - 15.62 -
13547.04 934.30 7.80 1461 13551.71 roll 1.45 - - 2662.06 - 2.86 0.074 1130.94 -398.4 126.68 - - 2250.22 - - - - - - - - - 15.76 -
13606.51 929.44 8.23 1470 13611.95 roll 1.45 - - 2661.94 - 2.66 0.030 2271.12 428.6 126.68 - - 2252.81 - - - - - - - - - 15.80 -
13925.75 904.29 7.87 1492 13930.41 roll 1.46 - - 2661.12 - 2.84 0.074 1132.06 -401.1 126.68 - - 2252.72 - - - - - - - - - 15.82 -
13985.04 899.30 8.42 1501 13990.59 done 1.46 - - 2661.75 - 2.64 0.030 2272.50 432.0 126.68 - - 2251.53 - - - - - - - - - 15.86 -
14304.62 873.64 8.14 1523 14309.29 done 1.46 - - 2661.06 - 2.83 0.074 1131.25 -403.3 126.68 - - 2248.72 - - - - - - - - - 15.85 -
14363.92 868.64 8.46 1532 14369.47 done 1.46 - - 2661.44 - 2.64 0.030 2273.25 432.6 126.68 - - 2250.22 - - - - - - - - - 15.90 -
14683.33 844.48 7.41 1554 14688.07 1.48 0.16 0.093 2702.12 254.2 2.81 0.074 1132.56 -405.9 126.68 - - 2248.75 - - - - - - - - 15.87 15.80 -
14763.38 837.59 8.60 1566 14768.94 done 1.48 - - 2703.38 - 2.62 0.030 2269.62 434.0 126.68 - - 2248.97 - - - - - - - - - 15.93 -
15082.78 810.64 8.52 1588 15087.45 done 1.48 - - 2702.75 - 2.82 0.074 1132.50 -403.2 126.68 - - 2247.84 - - - - - - - - - 15.88 -
15183.56 801.39 9.33 1603 15189.11 done 1.48 - - 2703.25 - 2.63 0.031 2270.50 432.7 126.68 - - 2249.75 - - - - - - - - - 15.95 -
15503.14 772.99 8.75 1625 15507.87 done 1.48 - - 2703.25 - 2.81 0.074 1132.06 -405.1 126.68 - - 2247.19 - - - - - - - - - 15.89 -
15602.57 763.86 9.18 1639 15607.21 done 1.48 - - 2703.25 - 2.62 0.030 2271.06 434.7 126.68 - - 2247.50 - - - - - - - - - 15.95 -
15919.08 738.15 7.81 1661 15923.75 done 1.49 - - 2703.44 - 2.83 0.074 1130.81 -402.9 126.68 - - 2248.91 - - - - - - - - - 15.89 -
16019.85 729.78 8.43 1676 16025.40 done 1.49 - - 2703.31 - 2.63 0.031 2270.81 433.5 126.68 - - 2249.12 - - - - - - - - - 15.96 -
16339.29 705.42 7.56 1698 16340.62 VBD 1.51 - - 2702.69 - - - 2270.75 - 126.68 - - 2247.25 - - - - - - - - - - -
16654.31 681.35 7.84 1719 16658.98 done 1.52 - - 2702.19 - 2.82 0.074 1131.38 -404.0 126.68 - - 2249.12 - - - - - - - - - 15.88 -
16817.29 667.66 8.45 1743 16822.84 done 1.52 - - 2702.69 - 2.62 0.030 2271.56 435.2 126.68 - - 2249.34 - - - - - - - - - 15.98 -
17136.71 643.01 7.78 1765 17141.37 done 1.54 - - 2703.44 - 2.83 0.073 1132.25 -402.6 126.68 - - 2246.97 - - - - - - - - - 15.89 -
17194.64 638.13 8.27 1773 17199.28 done 1.54 - - 2703.06 - 2.62 0.030 2271.00 434.6 126.68 - - 2246.62 - - - - - - - - - 15.97 -
17511.14 614.54 7.50 1795 17516.00 done 1.56 - - 2702.75 - 2.82 0.073 1130.81 -404.3 126.68 - - 2246.56 - - - - - - - - - 15.88 -
17653.55 602.71 8.43 1816 17658.94 done 1.56 - - 2703.00 - 2.62 0.030 2269.94 434.8 126.68 - - 2247.69 - - - - - - - - - 15.98 -
17972.97 577.83 7.83 1838 17974.30 VBD 1.57 - - 2702.56 - - - 2269.88 - 126.68 - - 2246.47 - - - - - - - - - - -
18287.79 552.22 8.20 1859 18292.47 done 1.57 - - 2702.94 - 2.81 0.073 1132.06 -404.9 126.68 - - 2246.22 - - - - - - - - - 15.88 -
18367.81 545.67 8.31 1871 18373.37 done 1.57 - - 2703.81 - 2.62 0.030 2273.56 435.7 126.68 - - 2247.91 - - - - - - - - - 15.99 -
18687.25 522.41 6.88 1893 18691.92 done 1.60 - - 2703.25 - 2.82 0.073 1131.00 -405.2 126.68 - - 2247.31 - - - - - - - - - 15.88 -
18793.02 515.02 7.46 1909 18807.94 done 1.62 - - 2703.56 - 2.62 0.030 2273.12 435.9 126.68 - - 2248.19 - - - - - - - - - 15.99 -
19114.00 493.67 6.37 1933 19150.24 1.70 0.25 0.072 2757.25 214.8 2.83 0.076 1132.06 -403.2 165.65 31.28 1.791 2098.81 -4.8 0.224 - - - - - - 15.94 15.67 10.72
19215.54 484.96 9.03 1947 19230.49 roll 1.70 - - 2758.12 - 2.64 0.030 2271.00 431.4 165.65 - - 2096.16 - - - - - - - - - 15.86 -
19531.94 455.92 8.99 1976 19536.67 roll 1.70 - - 2757.44 - 2.82 0.073 1130.75 -404.3 165.65 - - 2092.38 - - - - - - - - - 15.84 -
19600.62 449.26 9.60 1985 19605.25 roll 1.70 - - 2758.00 - 2.64 0.030 2270.44 431.7 165.65 - - 2094.00 - - - - - - - - - 15.89 -
19913.23 421.28 8.97 2014 19917.90 roll 1.70 - - 2757.69 - 2.82 0.073 1130.81 -404.1 165.65 - - 2092.78 - - - - - - - - - 15.86 -
19966.15 416.22 9.32 2021 19970.79 roll 1.70 - - 2758.25 - 2.64 0.030 2271.25 432.0 165.65 - - 2091.72 - - - - - - - - - 15.91 -
20277.82 389.19 8.73 2050 20282.48 roll 1.70 - - 2757.75 - 2.85 0.072 1131.12 -400.0 165.65 - - 2091.66 - - - - - - - - - 15.86 -
20363.57 381.16 9.44 2062 20378.52 roll 1.70 - - 2757.75 - 2.63 0.030 2272.25 433.9 165.65 - - 2093.38 - - - - - - - - - 15.94 -
20679.80 353.17 9.02 2091 20690.87 no move 1.70 - - 2758.44 - - - 2272.44 - 165.65 - - 2093.03 - - - - - - - - - - -
20992.67 324.60 9.10 2120 20997.33 roll 1.70 - - 2757.44 - 2.82 0.072 1132.12 -404.4 165.65 - - 2093.06 - - - - - - - - - 15.87 -
21078.63 316.73 9.25 2132 21093.59 roll 1.70 - - 2758.38 - 2.62 0.030 2272.75 435.4 165.65 - - 2092.91 - - - - - - - - - 15.96 -
21399.00 289.20 8.32 2174 21404.53 roll 1.70 - - 2758.25 - 2.82 0.072 1131.12 -404.8 165.65 - - 2092.38 - - - - - - - - - 15.87 -
21534.17 276.58 9.38 2201 21539.53 roll 1.70 - - 2758.00 - 2.62 0.029 2273.69 436.1 165.65 - - 2092.28 - - - - - - - - - 15.96 -
21844.09 250.11 8.15 2263 21849.68 roll 1.70 - - 2758.12 - 2.82 0.071 1130.81 -405.3 165.65 - - 2092.78 - - - - - - - - - 15.87 -
21944.13 241.56 8.57 2283 21949.68 roll 1.70 - - 2758.25 - 2.61 0.029 2273.88 438.0 165.65 - - 2092.53 - - - - - - - - - 15.96 -
22254.25 216.81 8.17 2345 22259.82 roll 1.70 - - 2757.94 - 2.83 0.071 1129.69 -404.3 165.65 - - 2092.50 - - - - - - - - - 15.87 -
22379.28 205.59 8.95 2370 22384.83 roll 1.70 - - 2758.38 - 2.62 0.029 2273.62 436.6 165.65 - - 2092.69 - - - - - - - - - 15.95 -
22689.34 179.65 8.19 2432 22695.09 roll 1.70 - - 2758.94 - 2.80 0.070 1131.50 -407.9 165.65 - - 2092.53 - - - - - - - - - 15.87 -
22809.52 169.25 8.58 2456 22814.90 roll 1.70 - - 2758.38 - 2.61 0.029 2274.19 437.8 165.65 - - 2092.62 - - - - - - - - - 15.95 -
23119.40 144.31 7.92 2518 23120.74 no move 1.71 - - 2757.94 - - - 2274.06 - 165.65 - - 2091.94 - - - - - - - - - - -
23424.44 121.80 6.85 2579 23429.99 roll 1.74 - - 2758.88 - 2.80 0.070 1131.00 -408.2 165.65 - - 2093.34 - - - - - - - - - 15.87 -
23659.47 105.11 7.34 2626 23665.01 roll 1.76 - - 2757.50 - 2.61 0.028 2275.06 438.3 165.65 - - 2095.47 - - - - - - - - - 15.96 -
23969.52 91.53 3.76 2688 24038.47 1.94 0.26 0.070 2815.50 223.1 - - 2275.00 - 253.44 66.67 1.293 1741.44 -5.3 0.064 - - - - - - 15.93 - 10.88
24221.58 74.56 7.20 2738 24226.58 done 1.97 - - 2815.69 - 2.73 0.088 3347.12 392.7 253.44 - - 1734.09 - - - - - - - - - 15.74 -
24241.13 73.05 7.40 2742 24246.54 done 1.99 - - 2815.56 - 2.60 0.021 2181.44 -448.3 253.44 - - 1733.41 - - - - - - - - - 15.79 -
24431.07 59.75 6.56 2780 24432.40 VBD 2.02 - - 2816.19 - - - 2180.31 - 253.44 - - 1730.66 - - - - - - - - - - -
24616.14 50.11 5.13 2817 24666.89 2.15 0.21 0.076 2865.00 232.4 - - 2180.06 - 315.64 47.08 1.201 1488.41 -5.1 0.036 - - - - - - 15.81 - 11.39
24851.19 39.04 5.27 2864 24903.42 done 2.27 - - 2866.00 - 3.00 0.086 3346.44 388.8 375.27 46.19 1.166 1245.38 -5.3 0.030 - - - - - - - 15.52 11.54
24956.38 31.81 8.09 2885 24961.76 roll 2.27 - - 2865.25 - 2.63 0.022 2184.69 -441.7 375.27 - - 1242.56 - - - - - - - - - 15.68 -
25146.26 16.96 8.07 2923 25147.59 no move 2.27 - - 2865.88 - - - 2185.31 - 375.27 - - 1238.88 - - - - - - - - - - -
25291 end climb: SURFACE_DEPTH_REACHED
25291 begin surface coast
25336 end surface coast: CONTROL_FINISHED_OK
25336 begin surface
SM 0.67 - - - - 183.1 37.85 1.131 1042.8 27.6 16.70 0.052 1004.3 60.1 - 0.35 0.062 1081.4 3089.7 -3.413 - - 11.53 15.68 15.79 -