NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 744 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 253.09 of 550.00 AH used of 24V (53.98% remains)
• Surface angle -61.8 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 2 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
5.45 - - - 77.11 VBD -1.35 - - 179.56 - - - 2240.50 - -82.73 70.53 0.005 2805.41 - - - - - - - - - - 15.09
78.23 3.94 -6.23 13 109.93 -1.35 14.88 0.244 2003.19 122.6 2.57 0.066 1208.19 -401.7 -82.73 6.34 0.008 3114.09 48.7 -4.085 - - - - - - 15.42 15.10 15.21
297.05 43.84 -16.04 57 302.61 roll -1.35 - - 2003.25 - 2.66 0.029 2350.75 429.5 -82.73 - - 3112.75 - - - - - - - - - 15.79 -
487.76 68.69 -11.41 95 489.09 no move -1.35 - - 2003.00 - - - 2350.88 - -82.73 - - 3113.12 - - - - - - - - - - -
672.20 89.84 -10.61 132 677.77 roll -1.35 - - 2003.50 - 2.74 0.087 3424.88 392.0 -82.73 - - 3114.94 - - - - - - - - - 15.80 -
712.21 94.43 -11.59 140 718.07 roll -1.35 - - 2004.06 - 2.60 0.020 2243.75 -454.3 -82.73 - - 3114.00 - - - - - - - - - 15.86 -
902.67 111.94 -9.39 178 907.80 roll -1.35 - - 2003.69 - 2.54 0.063 1208.25 -407.7 -82.73 - - 3113.75 - - - - - - - - - 15.87 -
982.30 118.78 -8.10 194 987.84 roll -1.35 - - 2004.25 - 2.65 0.027 2354.00 432.4 -82.73 - - 3114.03 - - - - - - - - - 15.90 -
1292.40 143.00 -8.13 256 1297.96 roll -1.35 - - 2004.06 - 2.80 0.058 1209.56 -408.7 -82.73 - - 3115.03 - - - - - - - - - 15.90 -
1387.42 151.26 -8.67 275 1392.97 roll -1.35 - - 2004.12 - 2.63 0.027 2353.81 435.1 -82.73 - - 3114.91 - - - - - - - - - 15.92 -
1697.48 176.73 -8.13 337 1698.81 no move -1.35 - - 2003.75 - - - 2353.56 - -82.73 - - 3114.88 - - - - - - - - - - -
2002.53 202.71 -8.76 398 2008.29 roll -1.35 - - 2003.62 - 2.81 0.059 1208.19 -407.6 -82.73 - - 3115.22 - - - - - - - - - 15.92 -
2047.64 206.75 -9.01 407 2053.08 roll -1.35 - - 2004.00 - 2.63 0.028 2352.25 435.0 -82.73 - - 3114.84 - - - - - - - - - 15.95 -
2357.59 232.22 -7.96 469 2358.91 no move -1.35 - - 2004.06 - - - 2351.25 - -82.73 - - 3114.12 - - - - - - - - - - -
2662.64 256.52 -8.05 530 2663.97 no move -1.35 - - 2004.06 - - - 2351.75 - -82.73 - - 3114.12 - - - - - - - - - - -
2967.69 280.83 -7.67 591 2973.27 roll -1.35 - - 2004.00 - 2.83 0.060 1209.62 -403.6 -82.73 - - 3115.12 - - - - - - - - - 15.93 -
2992.69 282.82 -7.81 596 2998.24 roll -1.35 - - 2003.56 - 2.64 0.028 2350.69 432.2 -82.73 - - 3114.38 - - - - - - - - - 15.97 -
3305.76 306.78 -7.76 649 3316.84 no move -1.35 - - 2004.00 - - - 2350.75 - -82.73 - - 3114.78 - - - - - - - - - - -
3618.70 331.23 -7.75 678 3629.77 no move -1.35 - - 2003.88 - - - 2350.88 - -82.73 - - 3114.47 - - - - - - - - - - -
3931.43 355.35 -7.79 707 3936.07 roll -1.35 - - 2004.19 - 2.73 0.090 3426.56 394.0 -82.73 - - 3112.81 - - - - - - - - - 15.91 -
3985.70 359.93 -8.42 715 4000.61 roll -1.35 - - 2003.44 - 2.58 0.021 2244.25 -458.3 -82.73 - - 3113.94 - - - - - - - - - 16.00 -
4303.00 384.27 -7.57 744 4314.07 no move -1.35 - - 2003.62 - - - 2244.31 - -82.73 - - 3113.28 - - - - - - - - - - -
4616.01 408.92 -8.07 773 4620.71 roll -1.35 - - 2003.94 - 3.01 0.086 3428.06 393.3 -82.73 - - 3112.09 - - - - - - - - - 15.90 -
4716.16 418.07 -9.19 786 4720.77 roll -1.35 - - 2004.25 - 2.59 0.021 2246.44 -456.2 -82.73 - - 3112.09 - - - - - - - - - 15.99 -
5028.31 443.28 -8.14 815 5039.38 no move -1.35 - - 2004.44 - - - 2244.75 - -82.73 - - 3112.25 - - - - - - - - - - -
5341.15 468.23 -7.74 844 5352.22 no move -1.35 - - 2004.12 - - - 2244.94 - -82.73 - - 3111.91 - - - - - - - - - - -
5654.22 491.66 -7.52 873 5658.91 roll -1.35 - - 2004.44 - 3.00 0.086 3426.81 394.0 -82.73 - - 3110.41 - - - - - - - - - 15.89 -
5738.64 498.87 -8.44 884 5743.26 roll -1.35 - - 2003.88 - 2.58 0.021 2246.12 -457.6 -82.73 - - 3111.28 - - - - - - - - - 15.99 -
6045.11 521.67 -7.53 905 6046.44 no move -1.35 - - 2004.25 - - - 2245.44 - -82.73 - - 3111.28 - - - - - - - - - - -
6360.12 545.28 -7.43 926 6364.83 roll -1.35 - - 2004.00 - 3.01 0.086 3425.81 392.1 -82.73 - - 3109.31 - - - - - - - - - 15.89 -
6460.90 553.65 -8.43 941 6466.44 roll -1.35 - - 2004.12 - 2.58 0.021 2247.50 -456.7 -82.73 - - 3110.06 - - - - - - - - - 16.00 -
6780.32 578.34 -7.73 963 6781.65 no move -1.35 - - 2003.81 - - - 2246.88 - -82.73 - - 3108.97 - - - - - - - - - - -
7095.55 602.49 -7.61 984 7100.31 roll -1.35 - - 2003.94 - 3.01 0.087 3426.69 392.0 -82.73 - - 3108.16 - - - - - - - - - 15.88 -
7175.58 609.17 -8.37 996 7181.11 roll -1.35 - - 2003.88 - 2.59 0.021 2248.00 -455.1 -82.73 - - 3109.06 - - - - - - - - - 16.01 -
7494.99 632.99 -7.72 1018 7496.31 no move -1.35 - - 2003.94 - - - 2247.75 - -82.73 - - 3107.44 - - - - - - - - - - -
7809.99 657.67 -7.92 1039 7814.69 roll -1.35 - - 2003.38 - 3.01 0.087 3424.00 390.8 -82.73 - - 3108.88 - - - - - - - - - 15.87 -
7931.49 668.29 -8.90 1057 7937.02 roll -1.35 - - 2003.81 - 2.57 0.021 2248.00 -457.6 -82.73 - - 3108.09 - - - - - - - - - 16.01 -
8251.06 694.00 -8.04 1079 8255.77 roll -1.35 - - 2003.81 - 3.01 0.087 3424.62 390.9 -82.73 - - 3107.75 - - - - - - - - - 15.87 -
8330.07 700.90 -8.64 1090 8334.68 roll -1.35 - - 2004.50 - 2.58 0.021 2249.81 -455.4 -82.73 - - 3106.38 - - - - - - - - - 15.99 -
8646.53 724.42 -7.10 1112 8647.86 no move -1.35 - - 2004.06 - - - 2248.06 - -82.73 - - 3106.75 - - - - - - - - - - -
8961.55 746.31 -6.88 1133 8966.25 roll -1.35 - - 2003.94 - 3.01 0.087 3425.12 391.0 -82.73 - - 3105.97 - - - - - - - - - 15.86 -
9041.59 752.44 -7.69 1145 9047.12 roll -1.35 - - 2004.00 - 2.58 0.021 2248.56 -456.0 -82.73 - - 3107.22 - - - - - - - - - 16.00 -
9361.17 774.49 -6.71 1167 9362.50 no move -1.35 - - 2003.25 - - - 2247.81 - -82.73 - - 3105.84 - - - - - - - - - - -
9676.20 794.75 -6.18 1188 9680.90 roll -1.35 - - 2004.25 - 3.02 0.087 3424.12 389.5 -82.73 - - 3105.22 - - - - - - - - - 15.85 -
9740.47 798.79 -6.73 1198 9755.41 roll -1.35 - - 2003.62 - 2.59 0.021 2249.56 -453.5 -82.73 - - 3107.28 - - - - - - - - - 16.00 -
10069.89 818.84 -5.82 1220 10074.58 roll -1.35 - - 2003.75 - 2.99 0.087 3423.56 392.6 -82.73 - - 3105.19 - - - - - - - - - 15.85 -
10154.92 823.97 -6.43 1233 10169.82 roll -1.35 - - 2003.88 - 2.57 0.022 2251.44 -456.1 -82.73 - - 3105.88 - - - - - - - - - 16.00 -
10484.33 844.23 -6.09 1255 10485.66 no move -1.35 - - 2003.69 - - - 2251.12 - -82.73 - - 3104.88 - - - - - - - - - - -
10799.37 864.04 -6.35 1276 10804.08 roll -1.35 - - 2004.00 - 3.02 0.088 3426.06 389.1 -82.73 - - 3104.41 - - - - - - - - - 15.84 -
10858.65 868.20 -6.97 1285 10864.18 roll -1.35 - - 2003.12 - 2.57 0.021 2250.44 -457.4 -82.73 - - 3106.19 - - - - - - - - - 16.00 -
11178.05 889.46 -6.72 1307 11182.75 roll -1.35 - - 2003.31 - 3.01 0.088 3426.06 390.6 -82.73 - - 3105.44 - - - - - - - - - 15.84 -
11216.59 892.21 -7.07 1313 11222.12 roll -1.35 - - 2003.06 - 2.58 0.021 2248.00 -456.6 -82.73 - - 3106.06 - - - - - - - - - 15.99 -
11535.99 913.55 -6.66 1335 11537.31 no move -1.35 - - 2003.44 - - - 2247.56 - -82.73 - - 3104.81 - - - - - - - - - - -
11851.18 934.22 -6.62 1356 11852.51 no move -1.35 - - 2003.56 - - - 2247.75 - -82.73 - - 3104.84 - - - - - - - - - - -
12166.13 954.36 -6.32 1377 12167.46 no move -1.35 - - 2003.56 - - - 2247.31 - -82.73 - - 3102.94 - - - - - - - - - - -
12481.21 973.60 -5.97 1398 12485.82 roll -1.35 - - 2003.81 - 2.54 0.071 1212.12 -407.6 -82.73 - - 3104.44 - - - - - - - - - 15.87 -
12540.51 977.29 -6.25 1407 12546.04 roll -1.35 - - 2003.38 - 2.63 0.030 2350.50 432.8 -82.73 - - 3104.19 - - - - - - - - - 16.00 -
12754 end dive: TARGET_DEPTH_EXCEEDED
12754 begin apogee
12756.73 990.28 -6.06 1422 12832.32 -0.28 1.85 0.138 2263.44 140.6 0.22 0.132 2280.88 -316.5 - 64.83 2.429 2774.91 -5.1 0.353 - - - - - - 15.76 15.39 10.23
12833 end apogee: CONTROL_FINISHED_OK
12833 begin climb
12834.54 991.72 - 1427 12908.77 1.35 2.66 0.086 2662.62 150.1 - - 2280.94 - 82.73 69.18 2.344 2437.31 -4.9 0.352 - - - - - - 15.55 - 12.07
13221.04 969.42 6.41 1453 13265.05 done 1.42 - - 2661.94 - 2.94 0.078 1133.44 -390.3 121.00 33.34 2.265 2281.62 -4.7 0.340 - - - - - - - 15.35 11.39
13411.04 954.44 8.35 1480 13415.68 roll 1.42 - - 2661.25 - 2.70 0.031 2269.62 420.8 121.00 - - 2275.75 - - - - - - - - - 15.64 -
13727.53 929.70 7.81 1502 13732.20 roll 1.44 - - 2661.44 - 2.88 0.074 1132.56 -394.8 121.00 - - 2273.94 - - - - - - - - - 15.77 -
13807.73 923.26 8.13 1514 13813.10 roll 1.44 - - 2661.19 - 2.67 0.031 2271.38 426.5 121.00 - - 2275.59 - - - - - - - - - 15.80 -
14127.14 898.84 7.68 1536 14131.81 roll 1.45 - - 2662.06 - 2.88 0.074 1130.88 -396.0 121.00 - - 2273.53 - - - - - - - - - 15.83 -
14227.90 890.64 8.24 1551 14233.45 roll 1.45 - - 2661.81 - 2.66 0.031 2269.31 428.0 121.00 - - 2273.47 - - - - - - - - - 15.87 -
14547.33 867.28 7.22 1573 14552.06 1.48 0.16 0.092 2701.50 248.1 2.87 0.074 1132.06 -396.3 121.00 - - 2272.25 - - - - - - - - 15.86 15.78 -
14626.36 860.49 8.44 1584 14630.99 done 1.48 - - 2702.06 - 2.65 0.031 2271.19 429.9 121.00 - - 2273.94 - - - - - - - - - 15.89 -
14942.83 834.53 8.20 1606 14947.50 done 1.48 - - 2701.19 - 2.85 0.073 1129.94 -400.4 121.00 - - 2273.06 - - - - - - - - - 15.87 -
15043.61 825.52 9.08 1621 15049.35 done 1.48 - - 2702.06 - 2.67 0.031 2271.06 427.4 121.00 - - 2273.66 - - - - - - - - - 15.94 -
15363.20 799.84 7.75 1643 15364.54 VBD 1.49 - - 2702.12 - - - 2270.81 - 121.00 - - 2271.75 - - - - - - - - - - -
15678.05 775.36 7.86 1664 15682.72 done 1.50 - - 2700.38 - 2.85 0.073 1132.38 -399.4 121.00 - - 2272.41 - - - - - - - - - 15.89 -
15799.57 765.04 8.65 1682 15805.12 done 1.50 - - 2702.12 - 2.65 0.031 2271.38 429.8 121.00 - - 2271.38 - - - - - - - - - 15.96 -
16118.98 738.53 8.26 1704 16120.31 VBD 1.50 - - 2702.06 - - - 2271.06 - 121.00 - - 2270.38 - - - - - - - - - - -
16433.99 711.97 8.56 1725 16438.66 done 1.50 - - 2702.00 - 2.86 0.073 1132.62 -398.1 121.00 - - 2269.97 - - - - - - - - - 15.89 -
16533.40 703.11 8.92 1739 16538.04 done 1.50 - - 2702.19 - 2.65 0.031 2271.00 429.6 121.00 - - 2270.16 - - - - - - - - - 15.97 -
16849.90 677.47 7.90 1761 16851.23 VBD 1.51 - - 2702.12 - - - 2271.00 - 121.00 - - 2270.25 - - - - - - - - - - -
17164.91 653.04 7.68 1782 17169.58 done 1.53 - - 2701.81 - 2.87 0.074 1131.06 -397.2 121.00 - - 2269.47 - - - - - - - - - 15.88 -
17307.14 641.45 8.23 1803 17312.69 done 1.53 - - 2701.94 - 2.66 0.031 2271.06 428.6 121.00 - - 2272.41 - - - - - - - - - 15.98 -
17626.55 616.91 7.70 1825 17631.40 done 1.55 - - 2702.25 - 2.87 0.073 1133.75 -396.3 121.00 - - 2271.25 - - - - - - - - - 15.88 -
17732.48 608.72 8.25 1841 17747.24 done 1.55 - - 2701.56 - 2.64 0.031 2270.62 430.6 121.00 - - 2271.75 - - - - - - - - - 15.98 -
18061.72 584.35 6.79 1863 18066.38 done 1.58 - - 2700.75 - 2.86 0.073 1131.31 -398.4 121.00 - - 2271.72 - - - - - - - - - 15.88 -
18162.49 577.30 7.09 1878 18168.03 done 1.61 - - 2701.69 - 2.66 0.031 2271.69 428.7 121.00 - - 2270.56 - - - - - - - - - 15.98 -
18482.05 556.86 6.14 1900 18527.65 1.69 0.25 0.077 2753.06 205.5 - - 2271.75 - 164.40 35.16 1.879 2104.22 -4.7 0.239 - - - - - - 15.95 - 10.72
18842.22 525.97 9.13 1924 18846.89 roll 1.69 - - 2752.56 - 2.89 0.073 1132.44 -394.2 164.40 - - 2099.78 - - - - - - - - - 15.82 -
18984.48 511.56 10.30 1945 18990.03 roll 1.69 - - 2752.62 - 2.67 0.031 2270.38 426.2 164.40 - - 2100.12 - - - - - - - - - 15.89 -
19291.37 482.09 9.72 1971 19296.03 roll 1.69 - - 2753.06 - 2.87 0.073 1131.00 -397.0 164.40 - - 2097.31 - - - - - - - - - 15.85 -
19360.03 474.86 10.44 1980 19364.67 roll 1.69 - - 2752.88 - 2.66 0.030 2270.12 428.2 164.40 - - 2096.44 - - - - - - - - - 15.91 -
19671.71 443.92 9.76 2009 19676.38 roll 1.69 - - 2753.25 - 2.87 0.073 1131.50 -396.7 164.40 - - 2095.72 - - - - - - - - - 15.86 -
19789.11 431.78 10.42 2025 19803.87 done 1.69 - - 2752.69 - 2.66 0.031 2270.06 428.0 164.40 - - 2097.06 - - - - - - - - - 15.93 -
20105.26 401.98 8.97 2054 20109.93 done 1.69 - - 2753.25 - 2.86 0.072 1131.12 -398.2 164.40 - - 2095.25 - - - - - - - - - 15.87 -
20205.74 392.04 9.98 2067 20210.38 done 1.69 - - 2753.31 - 2.66 0.030 2271.25 428.6 164.40 - - 2095.41 - - - - - - - - - 15.95 -
20517.41 364.18 8.79 2096 20522.08 done 1.69 - - 2752.50 - 2.86 0.072 1131.12 -398.6 164.40 - - 2096.03 - - - - - - - - - 15.87 -
20603.17 356.16 9.43 2108 20618.12 done 1.69 - - 2753.50 - 2.66 0.030 2271.38 428.7 164.40 - - 2096.25 - - - - - - - - - 15.96 -
20920.02 330.12 7.77 2137 20924.68 done 1.71 - - 2752.44 - 2.87 0.072 1132.25 -396.9 164.40 - - 2096.31 - - - - - - - - - 15.88 -
21035.91 319.88 8.94 2152 21040.54 done 1.71 - - 2752.62 - 2.66 0.030 2269.50 427.5 164.40 - - 2095.28 - - - - - - - - - 15.96 -
21345.10 294.34 8.57 2187 21350.56 done 1.71 - - 2753.50 - 2.87 0.072 1132.25 -396.3 164.40 - - 2096.09 - - - - - - - - - 15.85 -
21394.94 289.84 9.11 2197 21400.49 done 1.71 - - 2752.56 - 2.65 0.030 2271.50 429.9 164.40 - - 2096.16 - - - - - - - - - 15.95 -
21705.05 264.33 8.31 2259 21710.62 done 1.71 - - 2752.69 - 2.86 0.071 1131.25 -398.7 164.40 - - 2096.41 - - - - - - - - - 15.87 -
21810.07 255.06 8.89 2280 21815.63 done 1.71 - - 2753.44 - 2.65 0.030 2271.75 430.4 164.40 - - 2096.31 - - - - - - - - - 15.97 -
22120.19 228.98 8.72 2342 22121.52 VBD 1.71 - - 2752.75 - - - 2271.69 - 164.40 - - 2094.88 - - - - - - - - - - -
22425.31 203.89 7.54 2403 22430.88 done 1.73 - - 2753.25 - 2.85 0.071 1132.25 -399.8 164.40 - - 2095.81 - - - - - - - - - 15.86 -
22530.32 195.39 7.99 2424 22535.87 done 1.73 - - 2753.69 - 2.63 0.030 2272.69 433.6 164.40 - - 2096.50 - - - - - - - - - 15.96 -
22840.42 172.53 7.64 2486 22846.18 done 1.74 - - 2753.75 - 2.84 0.070 1132.31 -401.5 164.40 - - 2095.69 - - - - - - - - - 15.87 -
22955.54 163.34 7.90 2509 22960.98 done 1.75 - - 2753.50 - 2.64 0.029 2273.75 432.4 164.40 - - 2095.84 - - - - - - - - - 15.96 -
23265.48 142.60 6.68 2571 23271.06 done 1.79 - - 2753.19 - 2.84 0.070 1130.62 -402.5 164.40 - - 2095.91 - - - - - - - - - 15.87 -
23330.48 137.75 7.61 2584 23336.02 done 1.81 - - 2753.12 - 2.64 0.029 2273.88 433.1 164.40 - - 2096.25 - - - - - - - - - 15.97 -
23640.53 115.78 5.88 2646 23683.23 1.90 0.23 0.077 2804.25 222.3 2.74 0.092 3346.25 391.4 212.61 37.94 1.314 1908.22 -5.0 0.074 - - - - - - 15.92 15.65 10.86
23875.92 95.08 9.06 2693 23881.07 roll 1.90 - - 2805.25 - 2.60 0.023 2186.31 -446.1 212.61 - - 1904.09 - - - - - - - - - 15.86 -
24065.58 81.67 7.14 2731 24071.30 roll 1.93 - - 2805.81 - 2.61 0.075 1131.00 -404.3 212.61 - - 1901.34 - - - - - - - - - 15.83 -
24090.69 79.88 7.06 2736 24096.12 roll 1.96 - - 2806.12 - 2.63 0.028 2275.31 435.1 212.61 - - 1900.94 - - - - - - - - - 15.89 -
24280.60 68.87 4.77 2774 24338.99 2.09 0.19 0.082 2851.00 236.2 2.85 0.072 1130.88 -401.6 281.55 53.03 1.251 1626.69 -5.2 0.048 - - - - - - 15.86 15.59 11.39
24446.12 56.89 8.71 2807 24451.67 roll 2.09 - - 2850.25 - 2.66 0.028 2274.06 429.8 281.55 - - 1620.47 - - - - - - - - - 15.76 -
24636.19 41.25 7.80 2845 24637.52 VBD 2.11 - - 2850.69 - - - 2274.25 - 281.55 - - 1617.38 - - - - - - - - - - -
24821.25 34.27 2.50 2882 24910.57 2.33 0.27 0.071 2908.25 213.2 2.89 0.072 1132.06 -395.2 392.87 83.54 1.191 1174.19 -5.3 0.026 - - - - - - 15.80 15.48 11.44
25122.92 9.42 11.51 2942 25128.25 roll 2.33 - - 2908.50 - 2.68 0.027 2271.00 425.0 392.87 - - 1166.09 - - - - - - - - - 15.71 -
25187 end climb: SURFACE_DEPTH_REACHED
25187 begin surface coast
25247 end surface coast: CONTROL_FINISHED_OK
25248 begin surface
SM 0.27 - - - - 183.1 24.92 1.106 1043.1 41.9 17.02 0.055 1009.8 59.3 - 0.14 0.115 1076.4 7669.4 -1.840 - - 11.54 15.69 15.73 -