NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 644 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 215.84 of 550.00 AH used of 24V (60.76% remains)
• Surface angle -62.1 deg, depth 0.58 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 557.85 (SM_CC=558.0575)
• GPS1 time: 29 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
5.33 - - - 66.94 VBD -1.35 - - 179.50 - - - 2245.00 - -82.73 60.46 0.005 2507.44 - - - - - - - - - - 15.03
67.68 3.20 -5.23 11 104.98 -1.35 14.66 0.248 2004.62 124.5 2.52 0.068 1208.38 -411.4 -82.73 12.95 0.006 3112.38 46.7 -4.209 - - - - - - 15.51 15.25 15.38
217.08 36.89 -21.64 41 222.64 roll -1.35 - - 2004.81 - 2.64 0.029 2351.12 432.9 -82.73 - - 3113.34 - - - - - - - - - 15.86 -
407.53 67.42 -12.48 79 412.89 roll -1.35 - - 2004.25 - 2.69 0.082 3425.88 399.5 -82.73 - - 3113.59 - - - - - - - - - 15.84 -
542.33 85.57 -13.04 106 547.74 roll -1.35 - - 2004.75 - 2.57 0.019 2243.44 -460.1 -82.73 - - 3112.53 - - - - - - - - - 15.89 -
732.66 105.54 -9.55 144 733.99 no move -1.35 - - 2004.50 - - - 2241.19 - -82.73 - - 3112.38 - - - - - - - - - - -
1037.38 128.69 -8.01 205 1042.98 roll -1.35 - - 2004.25 - 2.97 0.078 3426.44 399.1 -82.73 - - 3114.03 - - - - - - - - - 15.90 -
1152.40 138.48 -8.70 228 1157.93 roll -1.35 - - 2004.19 - 2.56 0.019 2241.56 -462.8 -82.73 - - 3113.41 - - - - - - - - - 15.93 -
1462.45 162.78 -7.13 290 1463.78 no move -1.35 - - 2004.62 - - - 2240.88 - -82.73 - - 3113.19 - - - - - - - - - - -
1767.50 185.17 -7.42 351 1773.09 roll -1.35 - - 2004.62 - 2.98 0.079 3427.31 398.1 -82.73 - - 3114.75 - - - - - - - - - 15.91 -
1812.50 188.99 -8.63 360 1818.04 roll -1.35 - - 2004.81 - 2.58 0.020 2243.94 -458.7 -82.73 - - 3114.00 - - - - - - - - - 15.96 -
2122.74 214.35 -8.40 422 2124.06 no move -1.35 - - 2005.06 - - - 2242.81 - -82.73 - - 3113.34 - - - - - - - - - - -
2427.59 239.42 -7.76 483 2433.18 roll -1.35 - - 2004.94 - 2.98 0.080 3426.06 397.1 -82.73 - - 3114.06 - - - - - - - - - 15.92 -
2497.60 245.25 -8.47 497 2503.14 roll -1.35 - - 2005.56 - 2.56 0.019 2246.56 -460.7 -82.73 - - 3113.53 - - - - - - - - - 15.98 -
2807.65 268.15 -7.54 559 2808.98 no move -1.35 - - 2005.19 - - - 2245.44 - -82.73 - - 3111.78 - - - - - - - - - - -
3112.70 290.36 -7.37 620 3117.81 roll -1.35 - - 2004.38 - 2.49 0.068 1209.88 -415.9 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
3157.70 293.98 -8.06 629 3163.26 roll -1.35 - - 2004.94 - 2.62 0.028 2353.38 436.5 -82.73 - - 3112.31 - - - - - - - - - 15.98 -
3471.91 319.40 -8.30 666 3476.55 roll -1.35 - - 2004.50 - 2.77 0.062 1208.38 -413.4 -82.73 - - 3112.06 - - - - - - - - - 15.96 -
3557.66 326.87 -8.82 678 3572.59 roll -1.35 - - 2005.19 - 2.61 0.028 2352.50 438.4 -82.73 - - 3111.94 - - - - - - - - - 16.01 -
3873.84 354.27 -8.80 707 3884.91 no move -1.35 - - 2005.69 - - - 2352.69 - -82.73 - - 3111.25 - - - - - - - - - - -
4186.99 381.53 -8.73 736 4191.64 roll -1.35 - - 2005.06 - 2.76 0.062 1209.31 -414.3 -82.73 - - 3110.19 - - - - - - - - - 15.96 -
4271.40 389.38 -9.22 747 4276.03 roll -1.35 - - 2005.25 - 2.62 0.028 2353.12 436.6 -82.73 - - 3109.25 - - - - - - - - - 16.01 -
4583.04 417.35 -9.01 776 4594.12 no move -1.35 - - 2005.69 - - - 2353.56 - -82.73 - - 3109.59 - - - - - - - - - - -
4896.62 444.45 -8.71 805 4901.26 roll -1.35 - - 2005.31 - 2.78 0.062 1209.50 -411.5 -82.73 - - 3107.38 - - - - - - - - - 15.95 -
4982.36 452.07 -8.96 817 4997.29 roll -1.35 - - 2004.88 - 2.61 0.029 2352.56 438.0 -82.73 - - 3109.66 - - - - - - - - - 16.01 -
5298.55 478.58 -8.13 846 5309.62 no move -1.35 - - 2004.94 - - - 2352.94 - -82.73 - - 3109.06 - - - - - - - - - - -
5624.38 504.27 -7.82 875 5629.03 roll -1.35 - - 2005.00 - 2.78 0.063 1208.31 -411.7 -82.73 - - 3106.91 - - - - - - - - - 15.95 -
5682.32 509.04 -8.08 883 5686.95 roll -1.35 - - 2004.12 - 2.62 0.029 2351.50 436.3 -82.73 - - 3109.03 - - - - - - - - - 16.00 -
5998.80 533.15 -7.63 905 6003.44 roll -1.35 - - 2004.06 - 2.78 0.063 1209.62 -410.7 -82.73 - - 3106.75 - - - - - - - - - 15.94 -
6056.72 537.82 -7.97 913 6061.35 roll -1.35 - - 2004.88 - 2.61 0.029 2351.50 437.5 -82.73 - - 3105.94 - - - - - - - - - 16.01 -
6373.40 562.03 -7.63 935 6374.73 no move -1.35 - - 2004.94 - - - 2351.81 - -82.73 - - 3105.81 - - - - - - - - - - -
6688.36 586.65 -7.93 956 6693.01 roll -1.35 - - 2005.44 - 2.78 0.064 1209.88 -410.8 -82.73 - - 3104.56 - - - - - - - - - 15.94 -
6789.12 594.96 -8.35 971 6794.67 roll -1.35 - - 2004.94 - 2.62 0.029 2352.69 436.2 -82.73 - - 3105.12 - - - - - - - - - 16.01 -
7108.70 620.41 -7.98 993 7110.03 no move -1.35 - - 2005.12 - - - 2351.88 - -82.73 - - 3104.81 - - - - - - - - - - -
7423.55 644.74 -7.53 1014 7424.88 no move -1.35 - - 2005.00 - - - 2352.56 - -82.73 - - 3103.84 - - - - - - - - - - -
7738.56 667.53 -7.13 1035 7743.20 roll -1.35 - - 2004.06 - 2.80 0.064 1209.62 -408.2 -82.73 - - 3106.25 - - - - - - - - - 15.92 -
7818.57 673.40 -7.43 1047 7824.13 roll -1.35 - - 2004.62 - 2.63 0.030 2351.75 434.3 -82.73 - - 3103.75 - - - - - - - - - 16.02 -
8137.99 694.45 -6.49 1069 8142.63 roll -1.35 - - 2005.50 - 2.78 0.064 1211.00 -410.3 -82.73 - - 3103.75 - - - - - - - - - 15.92 -
8181.53 696.97 -6.66 1076 8196.47 roll -1.35 - - 2005.19 - 2.63 0.030 2351.25 433.6 -82.73 - - 3104.00 - - - - - - - - - 16.01 -
8510.96 717.01 -5.96 1098 8512.29 no move -1.35 - - 2004.88 - - - 2351.81 - -82.73 - - 3102.34 - - - - - - - - - - -
8825.96 736.12 -6.17 1119 8830.60 roll -1.35 - - 2004.25 - 2.76 0.064 1210.69 -413.4 -82.73 - - 3103.00 - - - - - - - - - 15.91 -
8911.00 741.21 -6.43 1132 8926.12 roll -1.35 - - 2004.81 - 2.63 0.030 2350.81 433.5 -82.73 - - 3102.16 - - - - - - - - - 16.02 -
9240.53 761.83 -6.27 1154 9241.86 no move -1.35 - - 2005.06 - - - 2351.00 - -82.73 - - 3102.41 - - - - - - - - - - -
9555.43 782.06 -6.38 1175 9560.08 roll -1.35 - - 2003.75 - 2.77 0.065 1209.75 -412.0 -82.73 - - 3102.50 - - - - - - - - - 15.90 -
9696.30 791.94 -7.09 1195 9700.93 roll -1.35 - - 2005.50 - 2.63 0.030 2351.75 434.2 -82.73 - - 3100.84 - - - - - - - - - 15.99 -
10012.76 813.81 -6.97 1217 10014.09 no move -1.35 - - 2004.94 - - - 2352.00 - -82.73 - - 3100.66 - - - - - - - - - - -
10327.78 836.04 -6.98 1238 10332.42 roll -1.35 - - 2005.00 - 2.79 0.065 1210.75 -409.1 -82.73 - - 3099.62 - - - - - - - - - 15.89 -
10412.79 841.85 -7.34 1251 10427.73 roll -1.35 - - 2005.06 - 2.62 0.030 2349.69 434.7 -82.73 - - 3100.44 - - - - - - - - - 16.00 -
10742.22 864.98 -7.15 1273 10746.86 roll -1.35 - - 2004.81 - 2.77 0.065 1209.94 -411.5 -82.73 - - 3100.25 - - - - - - - - - 15.89 -
10822.23 871.02 -7.63 1285 10827.78 roll -1.35 - - 2004.50 - 2.63 0.030 2349.69 433.4 -82.73 - - 3100.75 - - - - - - - - - 16.00 -
11141.62 893.69 -6.81 1307 11142.95 no move -1.35 - - 2004.88 - - - 2350.12 - -82.73 - - 3098.72 - - - - - - - - - - -
11456.81 915.19 -6.85 1328 11461.46 roll -1.35 - - 2005.25 - 2.78 0.065 1210.62 -409.9 -82.73 - - 3100.44 - - - - - - - - - 15.88 -
11557.74 922.21 -7.05 1343 11563.17 roll -1.35 - - 2004.25 - 2.63 0.030 2350.25 433.3 -82.73 - - 3100.09 - - - - - - - - - 16.01 -
11876.99 942.62 -6.31 1365 11878.32 no move -1.35 - - 2004.56 - - - 2349.88 - -82.73 - - 3099.19 - - - - - - - - - - -
12192.01 962.23 -6.26 1386 12193.34 no move -1.35 - - 2004.75 - - - 2350.50 - -82.73 - - 3098.59 - - - - - - - - - - -
12507.04 981.64 -6.19 1407 12508.37 no move -1.35 - - 2004.81 - - - 2350.00 - -82.73 - - 3098.91 - - - - - - - - - - -
12641 end dive: TARGET_DEPTH_EXCEEDED
12641 begin apogee
12643.86 990.22 -6.34 1416 12719.43 -0.28 1.83 0.140 2263.81 141.5 0.22 0.136 2280.56 -315.6 - 63.49 2.432 2774.62 -5.1 0.351 - - - - - - 15.74 15.48 10.35
12720 end apogee: CONTROL_FINISHED_OK
12720 begin climb
12721.55 991.58 - 1421 12795.75 1.35 2.65 0.091 2662.25 150.4 - - 2280.50 - 82.73 68.83 2.378 2437.16 -4.9 0.345 - - - - - - 15.58 - 12.17
13108.05 966.76 7.25 1447 13109.38 no move 1.37 - - 2661.94 - - - 2280.94 - 82.73 - - 2430.78 - - - - - - - - - - -
13423.08 943.68 7.31 1468 13427.74 roll 1.39 - - 2662.25 - 2.85 0.074 1132.00 -403.1 82.73 - - 2430.34 - - - - - - - - - 15.77 -
13461.62 940.79 7.57 1474 13467.35 roll 1.41 - - 2661.62 - 2.65 0.030 2272.94 430.5 82.73 - - 2430.81 - - - - - - - - - 15.80 -
13781.22 917.81 7.19 1496 13782.54 no move 1.44 - - 2662.31 - - - 2272.94 - 82.73 - - 2428.78 - - - - - - - - - - -
14096.23 895.70 6.98 1517 14100.89 done 1.47 - - 2662.00 - 2.83 0.074 1132.50 -403.0 82.73 - - 2428.62 - - - - - - - - - 15.83 -
14155.51 891.31 7.42 1526 14161.12 1.49 0.17 0.090 2703.94 246.7 2.64 0.030 2272.00 431.6 82.73 - - 2429.31 - - - - - - - - 15.73 15.89 -
14474.92 867.18 7.31 1548 14479.58 done 1.51 - - 2704.19 - 2.82 0.074 1130.88 -404.7 82.73 - - 2427.66 - - - - - - - - - 15.85 -
14534.19 862.59 7.80 1557 14539.73 done 1.52 - - 2704.25 - 2.64 0.031 2272.06 432.3 82.73 - - 2428.28 - - - - - - - - - 15.91 -
14853.60 839.12 7.06 1579 14854.93 VBD 1.55 - - 2704.44 - - - 2272.31 - 82.73 - - 2427.88 - - - - - - - - - - -
15168.61 816.87 7.01 1600 15173.27 done 1.58 - - 2704.25 - 2.81 0.074 1130.94 -406.2 82.73 - - 2427.00 - - - - - - - - - 15.86 -
15268.02 809.34 7.59 1614 15272.66 done 1.60 - - 2704.44 - 2.62 0.031 2273.50 436.1 82.73 - - 2426.53 - - - - - - - - - 15.94 -
15584.50 786.01 7.50 1636 15589.18 done 1.62 - - 2705.06 - 2.81 0.074 1131.00 -406.6 82.73 - - 2427.00 - - - - - - - - - 15.87 -
15725.39 774.55 8.22 1656 15730.21 done 1.62 - - 2703.44 - 2.62 0.031 2271.81 435.4 82.73 - - 2429.44 - - - - - - - - - 15.96 -
16042.05 751.03 7.29 1678 16046.72 done 1.64 - - 2704.56 - 2.81 0.074 1131.06 -406.0 82.73 - - 2426.12 - - - - - - - - - 15.87 -
16080.61 748.20 7.44 1684 16086.20 1.66 0.17 0.092 2744.06 232.4 2.62 0.030 2273.25 436.0 82.73 - - 2429.16 - - - - - - - - 15.77 15.96 -
16400.01 723.66 7.66 1706 16401.34 VBD 1.68 - - 2745.12 - - - 2273.50 - 82.73 - - 2427.25 - - - - - - - - - - -
16715.03 700.35 7.14 1727 16719.71 done 1.70 - - 2744.31 - 2.82 0.074 1131.12 -405.1 82.73 - - 2425.56 - - - - - - - - - 15.87 -
16836.53 691.00 7.83 1745 16842.06 done 1.72 - - 2744.06 - 2.62 0.031 2272.38 435.6 82.73 - - 2428.31 - - - - - - - - - 15.98 -
17155.92 669.08 6.80 1767 17157.25 VBD 1.75 - - 2744.75 - - - 2273.31 - 82.73 - - 2426.62 - - - - - - - - - - -
17471.06 648.03 6.67 1788 17475.72 done 1.79 - - 2744.44 - 2.83 0.074 1130.06 -404.0 82.73 - - 2428.53 - - - - - - - - - 15.86 -
17591.20 639.66 6.96 1805 17595.91 1.82 0.15 0.097 2783.12 257.9 2.62 0.030 2271.50 435.7 82.73 - - 2427.41 - - - - - - - - 15.77 15.97 -
17908.08 617.70 7.04 1827 17909.41 VBD 1.84 - - 2784.06 - - - 2272.38 - 82.73 - - 2426.81 - - - - - - - - - - -
18222.70 596.15 6.76 1848 18227.55 done 1.88 - - 2783.00 - 2.82 0.073 1129.94 -405.1 82.73 - - 2427.31 - - - - - - - - - 15.87 -
18349.39 587.02 7.64 1867 18364.14 done 1.89 - - 2784.44 - 2.63 0.030 2273.38 434.8 82.73 - - 2426.72 - - - - - - - - - 15.98 -
18678.62 563.38 6.94 1889 18683.29 done 1.92 - - 2784.00 - 2.82 0.073 1131.06 -405.1 82.73 - - 2425.03 - - - - - - - - - 15.86 -
18841.98 551.46 7.35 1913 18847.13 done 1.95 - - 2784.12 - 2.62 0.031 2272.12 435.5 82.73 - - 2426.88 - - - - - - - - - 15.98 -
19161.00 530.74 6.18 1935 19204.88 2.03 0.23 0.074 2835.69 224.2 2.72 0.094 3347.12 395.2 125.24 33.44 1.847 2265.62 -4.8 0.234 - - - - - - 15.94 15.72 10.90
19233.25 525.33 7.80 1946 19247.62 roll 2.04 - - 2836.06 - 2.61 0.023 2187.88 -444.2 125.24 - - 2263.69 - - - - - - - - - 15.85 -
19553.66 489.02 11.39 1970 19558.29 roll 2.04 - - 2836.19 - 2.62 0.077 1132.56 -402.8 125.24 - - 2259.06 - - - - - - - - - 15.83 -
19671.20 475.12 11.99 1986 19686.13 roll 2.04 - - 2836.62 - 2.64 0.031 2271.56 431.4 125.24 - - 2259.81 - - - - - - - - - 15.88 -
19987.48 440.79 10.34 2015 19992.20 roll 2.04 - - 2836.56 - 2.83 0.073 1131.19 -403.0 125.24 - - 2258.12 - - - - - - - - - 15.84 -
20071.87 431.44 11.03 2026 20076.50 roll 2.04 - - 2835.88 - 2.63 0.031 2272.12 433.8 125.24 - - 2260.66 - - - - - - - - - 15.90 -
20383.77 399.78 10.41 2055 20394.84 no move 2.04 - - 2837.06 - - - 2272.50 - 125.24 - - 2259.72 - - - - - - - - - - -
20696.39 368.02 10.23 2084 20701.06 roll 2.04 - - 2835.69 - 2.84 0.073 1131.06 -401.9 125.24 - - 2258.88 - - - - - - - - - 15.85 -
20890.92 347.14 10.63 2109 20895.56 roll 2.04 - - 2835.56 - 2.63 0.031 2273.06 434.2 125.24 - - 2257.53 - - - - - - - - - 15.94 -
21202.72 316.92 10.07 2138 21207.38 roll 2.04 - - 2836.31 - 2.82 0.073 1130.19 -405.3 125.24 - - 2258.34 - - - - - - - - - 15.86 -
21288.46 307.84 10.70 2150 21303.40 roll 2.04 - - 2837.25 - 2.62 0.030 2272.56 436.0 125.24 - - 2258.47 - - - - - - - - - 15.95 -
21605.82 277.16 8.93 2204 21607.15 no move 2.04 - - 2836.56 - - - 2272.50 - 125.24 - - 2258.03 - - - - - - - - - - -
21910.69 250.02 8.69 2265 21912.02 no move 2.04 - - 2836.62 - - - 2272.69 - 125.24 - - 2258.12 - - - - - - - - - - -
22215.77 224.06 8.47 2326 22221.29 roll 2.04 - - 2836.31 - 2.81 0.072 1131.06 -406.3 125.24 - - 2259.12 - - - - - - - - - 15.85 -
22450.75 203.92 8.36 2373 22456.30 roll 2.04 - - 2836.50 - 2.62 0.030 2273.56 436.1 125.24 - - 2259.00 - - - - - - - - - 15.96 -
22760.84 179.60 8.03 2435 22762.17 no move 2.04 - - 2836.25 - - - 2273.62 - 125.24 - - 2258.00 - - - - - - - - - - -
23065.96 157.36 6.51 2496 23071.51 roll 2.08 - - 2837.06 - 2.82 0.071 1129.94 -405.6 125.24 - - 2258.94 - - - - - - - - - 15.85 -
23301.03 140.89 6.95 2543 23306.58 roll 2.11 - - 2836.50 - 2.62 0.029 2275.12 437.1 125.24 - - 2259.16 - - - - - - - - - 15.96 -
23611.13 128.02 3.22 2605 23691.51 2.31 0.34 0.064 2906.06 204.6 2.71 0.089 3343.44 394.2 223.01 73.73 1.353 1865.28 -5.3 0.085 - - - - - - 15.93 15.63 11.18
23763.89 114.46 12.28 2635 23769.25 roll 2.31 - - 2906.31 - 2.60 0.022 2188.56 -444.2 223.01 - - 1861.09 - - - - - - - - - 15.73 -
24073.77 83.35 7.74 2697 24079.30 done 2.32 - - 2906.00 - 2.62 0.075 1130.88 -403.7 223.01 - - 1856.06 - - - - - - - - - 15.76 -
24148.79 77.63 7.47 2712 24154.33 done 2.34 - - 2906.12 - 2.64 0.027 2274.69 433.3 223.01 - - 1854.50 - - - - - - - - - 15.81 -
24338.84 65.91 6.32 2750 24370.48 VBD 2.42 - - 2905.94 - - - 2274.44 - 262.90 30.30 1.208 1702.16 -5.0 0.046 - - - - - - - - 11.44
24553.90 49.82 8.10 2793 24559.49 roll 2.42 - - 2906.38 - 2.84 0.071 1129.56 -403.1 262.90 - - 1696.06 - - - - - - - - - 15.78 -
24783.99 33.34 4.42 2839 24846.67 2.57 0.31 0.065 2968.69 201.0 2.64 0.027 2277.69 434.9 338.33 57.34 1.184 1395.84 -5.2 0.025 - - - - - - 15.69 15.83 11.58
25029.06 25.73 4.47 2888 25091.46 done 2.72 - - 2968.44 - 2.73 0.087 3347.56 391.9 412.82 56.64 1.147 1092.81 -5.4 0.020 - - - - - - - 15.49 11.72
25238 end climb: SURFACE_DEPTH_REACHED
25238 begin surface coast
25273 end surface coast: CONTROL_FINISHED_OK
25274 begin surface
SM 0.45 - - - - 183.0 104.18 1.126 500.8 4.3 17.52 0.053 421.1 24.0 - 2.42 0.021 580.6 238.8 -0.523 - - 11.64 15.64 15.69 -