NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 731 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 247.78 of 550.00 AH used of 24V (54.95% remains)
• Surface angle -60.9 deg, depth 0.48 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1032.8, SM_CC=425)
• GPS1 time: 42 s
• GPS2 time: 4 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
5.44 - - - 77.53 VBD -1.35 - - 178.44 - - - 2258.56 - -82.73 70.97 0.005 2827.53 - - - - - - - - - - 15.02
78.26 3.94 -6.95 13 108.03 -1.35 14.87 0.248 2003.56 122.7 2.95 0.082 3426.94 396.1 -82.73 5.79 0.008 3111.25 49.0 -4.105 - - - - - - 15.40 15.09 15.22
160.10 22.39 -18.47 29 165.64 roll -1.35 - - 2004.06 - 2.60 0.018 2250.50 -452.5 -82.73 - - 3111.50 - - - - - - - - - 15.72 -
350.78 53.44 -16.92 67 355.75 roll -1.35 - - 2004.06 - 2.97 0.079 3425.69 395.7 -82.73 - - 3112.06 - - - - - - - - - 15.75 -
465.17 69.40 -12.08 90 470.70 roll -1.35 - - 2003.81 - 2.58 0.018 2244.56 -457.8 -82.73 - - 3112.06 - - - - - - - - - 15.81 -
655.58 90.65 -11.61 128 660.79 roll -1.35 - - 2004.00 - 2.95 0.077 3427.38 401.0 -82.73 - - 3112.50 - - - - - - - - - 15.81 -
785.22 105.81 -11.30 154 790.75 roll -1.35 - - 2004.12 - 2.57 0.018 2242.75 -460.9 -82.73 - - 3112.84 - - - - - - - - - 15.86 -
1095.26 131.97 -6.47 216 1100.85 roll -1.35 - - 2003.56 - 2.96 0.077 3427.81 400.4 -82.73 - - 3113.56 - - - - - - - - - 15.87 -
1330.32 151.08 -9.07 263 1335.86 roll -1.35 - - 2004.31 - 2.57 0.018 2242.50 -461.2 -82.73 - - 3113.34 - - - - - - - - - 15.91 -
1640.43 176.69 -8.08 325 1645.55 roll -1.35 - - 2003.00 - 2.48 0.065 1207.25 -417.4 -82.73 - - 3114.66 - - - - - - - - - 15.93 -
1710.63 182.80 -9.08 339 1716.05 roll -1.35 - - 2003.62 - 2.61 0.026 2355.06 439.8 -82.73 - - 3113.69 - - - - - - - - - 15.93 -
2020.55 208.48 -8.41 401 2021.88 no move -1.35 - - 2004.00 - - - 2355.44 - -82.73 - - 3112.28 - - - - - - - - - - -
2325.65 234.05 -8.40 462 2331.20 roll -1.35 - - 2003.44 - 2.77 0.059 1208.31 -414.1 -82.73 - - 3114.44 - - - - - - - - - 15.94 -
2395.66 240.14 -8.81 476 2401.21 roll -1.35 - - 2004.31 - 2.62 0.027 2355.69 437.9 -82.73 - - 3113.16 - - - - - - - - - 15.96 -
2705.76 265.71 -7.59 538 2707.09 no move -1.35 - - 2003.69 - - - 2355.50 - -82.73 - - 3111.97 - - - - - - - - - - -
3010.86 288.80 -7.37 599 3016.42 roll -1.35 - - 2003.81 - 2.78 0.060 1208.31 -412.7 -82.73 - - 3112.44 - - - - - - - - - 15.95 -
3050.86 291.81 -7.50 607 3056.41 roll -1.35 - - 2003.81 - 2.61 0.027 2355.25 439.4 -82.73 - - 3112.69 - - - - - - - - - 15.98 -
3366.69 312.97 -6.99 649 3377.77 no move -1.35 - - 2003.62 - - - 2355.06 - -82.73 - - 3112.12 - - - - - - - - - - -
3680.22 336.01 -7.53 678 3684.86 roll -1.35 - - 2004.06 - 2.67 0.086 3427.00 401.5 -82.73 - - 3110.59 - - - - - - - - - 15.93 -
3733.26 340.54 -8.26 685 3737.87 roll -1.35 - - 2003.88 - 2.56 0.020 2244.81 -461.8 -82.73 - - 3110.50 - - - - - - - - - 15.99 -
4044.52 366.22 -8.33 714 4055.59 no move -1.35 - - 2004.19 - - - 2242.25 - -82.73 - - 3111.25 - - - - - - - - - - -
4357.55 391.19 -7.86 743 4368.62 no move -1.35 - - 2004.31 - - - 2242.75 - -82.73 - - 3110.75 - - - - - - - - - - -
4670.25 415.31 -8.02 772 4674.93 roll -1.35 - - 2004.12 - 2.96 0.082 3426.50 399.9 -82.73 - - 3111.03 - - - - - - - - - 15.93 -
4803.21 427.13 -9.01 790 4818.13 roll -1.35 - - 2003.75 - 2.57 0.020 2246.31 -459.2 -82.73 - - 3109.78 - - - - - - - - - 16.00 -
5120.26 454.85 -8.92 819 5131.32 no move -1.35 - - 2004.06 - - - 2246.00 - -82.73 - - 3109.50 - - - - - - - - - - -
5433.07 482.15 -8.32 848 5437.75 roll -1.35 - - 2003.25 - 2.95 0.083 3426.12 400.0 -82.73 - - 3109.12 - - - - - - - - - 15.92 -
5518.83 489.62 -8.79 860 5533.74 roll -1.35 - - 2003.81 - 2.57 0.020 2245.94 -459.2 -82.73 - - 3108.47 - - - - - - - - - 16.01 -
5847.53 515.95 -7.75 885 5852.21 roll -1.35 - - 2003.50 - 2.96 0.083 3426.69 398.9 -82.73 - - 3109.56 - - - - - - - - - 15.92 -
5906.82 520.86 -8.29 894 5912.53 roll -1.35 - - 2003.69 - 2.57 0.020 2247.81 -458.7 -82.73 - - 3108.59 - - - - - - - - - 16.00 -
6226.40 544.90 -7.43 916 6227.73 no move -1.35 - - 2004.12 - - - 2246.75 - -82.73 - - 3106.81 - - - - - - - - - - -
6541.24 567.90 -7.40 937 6545.91 roll -1.35 - - 2003.69 - 2.97 0.084 3425.06 396.7 -82.73 - - 3107.56 - - - - - - - - - 15.91 -
6585.12 570.98 -7.89 944 6600.04 roll -1.35 - - 2004.69 - 2.56 0.020 2246.75 -460.3 -82.73 - - 3107.00 - - - - - - - - - 16.02 -
6914.53 595.65 -7.32 966 6919.20 roll -1.35 - - 2004.56 - 2.98 0.084 3427.62 396.3 -82.73 - - 3106.56 - - - - - - - - - 15.90 -
6993.19 602.07 -8.07 977 6997.81 roll -1.35 - - 2004.19 - 2.56 0.021 2249.38 -460.2 -82.73 - - 3106.66 - - - - - - - - - 15.99 -
7309.86 623.54 -6.51 999 7311.19 no move -1.35 - - 2003.69 - - - 2248.94 - -82.73 - - 3105.16 - - - - - - - - - - -
7624.74 642.73 -5.87 1020 7626.07 no move -1.35 - - 2003.38 - - - 2248.38 - -82.73 - - 3104.56 - - - - - - - - - - -
7939.78 661.79 -6.17 1041 7944.45 roll -1.35 - - 2003.38 - 2.97 0.085 3424.19 395.9 -82.73 - - 3104.91 - - - - - - - - - 15.89 -
8019.80 667.46 -7.10 1053 8025.34 roll -1.35 - - 2003.88 - 2.57 0.021 2249.25 -457.2 -82.73 - - 3105.25 - - - - - - - - - 16.00 -
8339.21 689.85 -7.34 1075 8340.54 no move -1.35 - - 2004.00 - - - 2248.56 - -82.73 - - 3103.41 - - - - - - - - - - -
8654.22 714.17 -7.91 1096 8655.55 no move -1.35 - - 2004.25 - - - 2249.31 - -82.73 - - 3102.94 - - - - - - - - - - -
8969.25 738.99 -7.79 1117 8974.11 roll -1.35 - - 2003.44 - 2.96 0.085 3424.50 397.0 -82.73 - - 3102.78 - - - - - - - - - 15.88 -
9068.88 747.50 -8.57 1131 9073.49 roll -1.35 - - 2003.62 - 2.55 0.021 2248.62 -461.1 -82.73 - - 3102.94 - - - - - - - - - 16.00 -
9385.68 770.51 -6.94 1153 9390.29 roll -1.35 - - 2003.88 - 2.51 0.071 1208.50 -414.4 -82.73 - - 3103.34 - - - - - - - - - 15.91 -
9408.48 771.69 -6.94 1157 9423.42 roll -1.35 - - 2003.62 - 2.61 0.029 2354.31 439.0 -82.73 - - 3103.81 - - - - - - - - - 16.01 -
9737.93 794.04 -6.42 1179 9742.58 roll -1.35 - - 2004.00 - 2.70 0.090 3425.38 396.7 -82.73 - - 3102.09 - - - - - - - - - 15.87 -
9816.58 799.65 -7.05 1190 9821.20 roll -1.35 - - 2003.62 - 2.57 0.021 2248.62 -457.9 -82.73 - - 3102.16 - - - - - - - - - 15.99 -
10133.06 819.51 -6.30 1212 10134.39 no move -1.35 - - 2003.62 - - - 2247.88 - -82.73 - - 3101.06 - - - - - - - - - - -
10448.08 839.93 -6.46 1233 10452.76 roll -1.35 - - 2003.62 - 2.97 0.086 3426.62 396.9 -82.73 - - 3100.47 - - - - - - - - - 15.86 -
10548.83 846.98 -7.11 1248 10554.37 roll -1.35 - - 2004.38 - 2.56 0.021 2249.44 -459.8 -82.73 - - 3101.84 - - - - - - - - - 16.00 -
10868.22 867.74 -6.64 1270 10869.55 no move -1.35 - - 2003.69 - - - 2249.25 - -82.73 - - 3100.50 - - - - - - - - - - -
11183.24 889.13 -6.73 1291 11187.85 roll -1.35 - - 2004.00 - 2.52 0.070 1209.75 -412.5 -82.73 - - 3100.31 - - - - - - - - - 15.90 -
11222.18 891.73 -6.91 1297 11227.39 roll -1.35 - - 2003.56 - 2.62 0.029 2352.31 436.1 -82.73 - - 3101.75 - - - - - - - - - 16.00 -
11541.18 912.39 -6.54 1319 11542.51 no move -1.35 - - 2003.81 - - - 2352.06 - -82.73 - - 3099.38 - - - - - - - - - - -
11856.38 932.21 -6.21 1340 11857.71 no move -1.35 - - 2003.50 - - - 2352.44 - -82.73 - - 3100.34 - - - - - - - - - - -
12171.22 951.04 -5.93 1361 12172.55 no move -1.35 - - 2003.75 - - - 2352.88 - -82.73 - - 3099.50 - - - - - - - - - - -
12486.25 969.25 -5.66 1382 12487.58 no move -1.35 - - 2003.75 - - - 2352.50 - -82.73 - - 3098.97 - - - - - - - - - - -
12801.27 987.53 -5.84 1403 12805.91 roll -1.35 - - 2003.06 - 2.79 0.065 1209.56 -409.7 -82.73 - - 3099.50 - - - - - - - - - 15.88 -
12859 end dive: TARGET_DEPTH_EXCEEDED
12859 begin apogee
12862.92 991.01 -5.96 1411 12936.78 -0.28 1.87 0.146 2263.50 139.3 0.12 0.190 2169.06 7995.8 - 64.11 2.432 2774.41 -5.1 0.351 - - - - - - 15.72 15.42 10.35
12938 end apogee: CONTROL_FINISHED_OK
12938 begin climb
12939.00 992.32 - 1416 13013.08 1.35 2.68 0.091 2660.94 148.3 - - 2169.12 - 82.73 68.71 2.351 2438.72 -4.9 0.351 - - - - - - 15.56 - 12.08
13325.36 966.85 7.55 1446 13330.04 roll 1.36 - - 2661.19 - 2.62 0.077 1131.25 -396.1 82.73 - - 2433.66 - - - - - - - - - 15.67 -
13389.64 962.10 8.00 1456 13404.59 roll 1.36 - - 2661.94 - 2.66 0.030 2272.62 429.1 82.73 - - 2431.59 - - - - - - - - - 15.72 -
13719.05 936.44 7.76 1478 13720.38 no move 1.38 - - 2661.69 - - - 2272.00 - 82.73 - - 2429.66 - - - - - - - - - - -
14034.07 912.24 7.43 1499 14038.73 roll 1.40 - - 2662.12 - 2.84 0.074 1129.62 -402.2 82.73 - - 2430.47 - - - - - - - - - 15.82 -
14115.00 906.17 7.69 1511 14119.62 roll 1.41 - - 2661.12 - 2.64 0.030 2273.25 433.2 82.73 - - 2431.28 - - - - - - - - - 15.87 -
14433.48 884.50 6.62 1533 14438.14 done 1.45 - - 2661.69 - 2.83 0.073 1130.81 -403.7 82.73 - - 2428.28 - - - - - - - - - 15.86 -
14512.15 879.10 6.83 1544 14516.86 1.48 0.17 0.091 2704.62 252.5 2.63 0.030 2272.56 434.1 82.73 - - 2427.56 - - - - - - - - 15.75 15.90 -
14829.03 857.52 6.64 1566 14833.68 done 1.52 - - 2704.06 - 2.79 0.073 1130.88 -409.2 82.73 - - 2428.03 - - - - - - - - - 15.87 -
14907.72 851.87 7.09 1577 14912.35 done 1.55 - - 2704.25 - 2.64 0.030 2272.19 432.3 82.73 - - 2426.66 - - - - - - - - - 15.93 -
15224.38 830.43 6.76 1599 15225.71 VBD 1.58 - - 2704.38 - - - 2272.62 - 82.73 - - 2428.25 - - - - - - - - - - -
15539.39 809.79 6.54 1620 15544.06 done 1.62 - - 2703.69 - 2.82 0.073 1132.25 -404.4 82.73 - - 2428.56 - - - - - - - - - 15.88 -
15597.32 805.76 6.81 1628 15602.02 1.65 0.17 0.091 2743.44 233.8 2.63 0.030 2274.19 434.2 82.73 - - 2428.38 - - - - - - - - 15.77 15.95 -
15914.23 783.35 7.08 1650 15918.87 done 1.68 - - 2745.19 - 2.74 0.092 3345.38 390.9 82.73 - - 2426.44 - - - - - - - - - 15.86 -
15972.16 778.59 7.90 1658 15976.77 done 1.69 - - 2745.25 - 2.59 0.023 2187.31 -447.1 82.73 - - 2428.88 - - - - - - - - - 15.96 -
16288.65 755.20 7.34 1680 16293.28 done 1.71 - - 2746.19 - 2.62 0.077 1131.12 -403.1 82.73 - - 2426.09 - - - - - - - - - 15.89 -
16368.67 749.36 7.38 1692 16374.21 done 1.74 - - 2745.62 - 2.64 0.030 2274.62 433.1 82.73 - - 2428.56 - - - - - - - - - 15.97 -
16688.07 728.41 6.13 1714 16734.05 1.82 0.15 0.091 2786.25 270.9 - - 2274.62 - 126.29 35.35 2.074 2259.12 -4.8 0.286 - - - - - - 15.94 - 10.92
17048.07 695.64 9.39 1738 17052.74 roll 1.82 - - 2786.62 - 2.86 0.073 1130.88 -399.9 126.29 - - 2254.34 - - - - - - - - - 15.82 -
17190.31 681.41 10.11 1759 17196.04 roll 1.82 - - 2786.75 - 2.65 0.031 2270.06 429.9 126.29 - - 2256.06 - - - - - - - - - 15.87 -
17509.84 650.83 9.61 1781 17511.17 no move 1.82 - - 2787.12 - - - 2269.88 - 126.29 - - 2253.41 - - - - - - - - - - -
17824.77 620.64 9.34 1802 17829.43 roll 1.82 - - 2786.31 - 2.85 0.073 1130.81 -399.7 126.29 - - 2254.81 - - - - - - - - - 15.86 -
18049.94 597.80 10.21 1835 18055.49 roll 1.82 - - 2786.44 - 2.64 0.031 2269.69 431.4 126.29 - - 2255.19 - - - - - - - - - 15.94 -
18369.33 567.97 8.75 1857 18373.99 roll 1.82 - - 2787.50 - 2.84 0.073 1130.56 -401.1 126.29 - - 2253.28 - - - - - - - - - 15.87 -
18490.81 556.44 9.69 1875 18496.36 roll 1.82 - - 2786.81 - 2.64 0.030 2272.62 432.6 126.29 - - 2253.34 - - - - - - - - - 15.95 -
18810.20 528.72 8.54 1897 18814.87 roll 1.82 - - 2787.50 - 2.83 0.073 1130.19 -403.7 126.29 - - 2252.19 - - - - - - - - - 15.88 -
18890.21 521.28 9.37 1909 18895.77 roll 1.82 - - 2787.00 - 2.63 0.030 2271.19 433.8 126.29 - - 2253.56 - - - - - - - - - 15.97 -
19199.00 494.71 7.96 1932 19203.67 roll 1.82 - - 2786.88 - 2.82 0.073 1131.06 -404.3 126.29 - - 2251.97 - - - - - - - - - 15.88 -
19284.74 487.41 8.61 1944 19299.87 roll 1.82 - - 2787.25 - 2.63 0.030 2270.75 433.3 126.29 - - 2253.22 - - - - - - - - - 15.98 -
19601.33 460.64 8.07 1973 19605.98 roll 1.82 - - 2787.06 - 2.83 0.073 1130.94 -402.8 126.29 - - 2253.22 - - - - - - - - - 15.88 -
19765.74 446.36 8.78 1995 19780.67 roll 1.82 - - 2787.00 - 2.62 0.030 2272.19 435.6 126.29 - - 2254.09 - - - - - - - - - 15.98 -
20082.23 419.91 7.88 2024 20086.89 roll 1.83 - - 2786.56 - 2.83 0.072 1131.12 -403.2 126.29 - - 2253.56 - - - - - - - - - 15.88 -
20166.63 412.71 8.48 2035 20171.25 roll 1.83 - - 2786.00 - 2.63 0.029 2272.00 433.8 126.29 - - 2253.91 - - - - - - - - - 15.98 -
20478.43 389.76 6.86 2064 20483.09 roll 1.87 - - 2786.38 - 2.83 0.072 1129.31 -403.8 126.29 - - 2252.34 - - - - - - - - - 15.88 -
20611.38 379.57 7.80 2082 20626.29 roll 1.88 - - 2787.06 - 2.63 0.030 2272.19 434.6 126.29 - - 2252.62 - - - - - - - - - 15.98 -
20928.04 357.20 6.66 2111 20939.11 no move 1.92 - - 2787.44 - - - 2272.56 - 126.29 - - 2253.44 - - - - - - - - - - -
21241.36 336.86 6.49 2140 21246.02 roll 1.96 - - 2787.19 - 2.83 0.072 1131.06 -403.4 126.29 - - 2253.94 - - - - - - - - - 15.88 -
21437.87 322.26 7.75 2166 21452.16 roll 1.97 - - 2787.50 - 2.63 0.030 2272.19 433.9 126.29 - - 2253.09 - - - - - - - - - 15.98 -
21753.85 299.13 7.14 2195 21755.66 pitch 2.00 0.16 0.085 2828.12 253.9 - - 2272.69 - 126.29 - - 2254.06 - - - - - - - - 15.93 - -
22061.36 274.48 8.25 2257 22066.55 roll 2.00 - - 2828.50 - 2.83 0.071 1131.69 -403.2 126.29 - - 2254.59 - - - - - - - - - 15.85 -
22230.99 260.02 8.52 2291 22236.54 roll 2.00 - - 2829.56 - 2.63 0.029 2274.12 434.4 126.29 - - 2253.81 - - - - - - - - - 15.96 -
22541.06 235.85 7.38 2353 22542.38 no move 2.02 - - 2828.94 - - - 2273.69 - 126.29 - - 2251.94 - - - - - - - - - - -
22846.09 213.07 7.69 2414 22851.66 roll 2.03 - - 2828.44 - 2.85 0.070 1130.81 -401.0 126.29 - - 2254.62 - - - - - - - - - 15.86 -
22971.10 203.11 8.11 2439 22976.65 roll 2.03 - - 2829.00 - 2.62 0.029 2275.12 436.8 126.29 - - 2253.19 - - - - - - - - - 15.96 -
23281.34 181.23 6.62 2501 23282.67 no move 2.07 - - 2828.75 - - - 2274.88 - 126.29 - - 2252.72 - - - - - - - - - - -
23586.21 162.87 5.90 2562 23626.37 2.17 0.16 0.086 2870.31 259.7 - - 2275.19 - 174.14 37.44 1.385 2065.41 -5.0 0.100 - - - - - - 15.93 - 10.70
23931.25 131.09 8.98 2631 23936.81 roll 2.17 - - 2870.50 - 2.70 0.088 3345.88 396.6 174.14 - - 2059.41 - - - - - - - - - 15.81 -
24036.26 119.80 10.65 2652 24041.79 roll 2.17 - - 2871.00 - 2.60 0.022 2185.88 -446.2 174.14 - - 2059.38 - - - - - - - - - 15.88 -
24346.35 95.78 6.74 2714 24351.89 roll 2.20 - - 2871.00 - 2.60 0.075 1130.88 -405.8 174.14 - - 2059.88 - - - - - - - - - 15.85 -
24426.38 90.16 6.79 2730 24431.92 roll 2.23 - - 2870.56 - 2.61 0.027 2274.06 438.0 174.14 - - 2058.88 - - - - - - - - - 15.90 -
24616.44 82.82 3.06 2768 24699.98 2.44 0.31 0.064 2935.44 209.3 2.73 0.088 3345.38 392.4 274.87 76.13 1.277 1654.22 -5.3 0.059 - - - - - - 15.88 15.54 11.37
24727.18 73.12 13.67 2790 24732.74 roll 2.44 - - 2935.88 - 2.63 0.022 2188.81 -439.8 274.87 - - 1650.25 - - - - - - - - - 15.69 -
24917.21 50.22 10.37 2828 24922.76 done 2.44 - - 2936.00 - 2.63 0.074 1130.94 -402.2 274.87 - - 1644.34 - - - - - - - - - 15.74 -
25152.27 46.59 0.42 2875 25270.77 2.74 0.35 0.061 3007.50 204.3 2.63 0.026 2279.44 436.7 424.92 110.64 1.201 1043.44 -5.4 0.036 - - - - - - 15.67 15.80 11.37
25453.17 14.29 14.54 2935 25458.57 roll 2.74 - - 3007.38 - 2.88 0.068 1129.94 -399.1 424.92 - - 1035.47 - - - - - - - - - 15.66 -
25518 end climb: SURFACE_DEPTH_REACHED
25518 begin surface coast
25533 end surface coast: CONTROL_FINISHED_OK
25533 begin surface
SM 0.50 - - - - 180.8 - - 1031.7 - 17.73 0.050 1030.6 58.1 - 2.83 0.028 1032.8 363.9 -0.664 - - 30.00 15.63 15.69 -