NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 676 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 228.72 of 550.00 AH used of 24V (58.41% remains)
• Surface angle -63.0 deg, depth 0.60 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 38 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.37 - - - 77.11 VBD -1.35 - - 178.12 - - - 2276.50 - -82.73 70.63 0.005 2691.31 - - - - - - - - - - 15.12
78.23 3.36 -4.86 13 110.59 -1.35 14.92 0.253 2003.44 122.3 2.53 0.066 1207.12 -422.7 -82.73 8.92 0.007 3114.03 47.4 -3.899 - - - - - - 15.42 15.13 15.26
337.73 51.73 -12.14 65 343.60 roll -1.35 - - 2004.38 - 2.61 0.029 2351.50 438.5 -82.73 - - 3112.34 - - - - - - - - - 15.79 -
528.43 74.46 -10.10 103 533.35 roll -1.35 - - 2004.19 - 2.69 0.060 1208.00 -425.1 -82.73 - - 3114.44 - - - - - - - - - 15.82 -
722.87 96.79 -10.24 142 728.40 roll -1.35 - - 2004.31 - 2.60 0.028 2355.31 441.3 -82.73 - - 3113.44 - - - - - - - - - 15.86 -
913.31 112.26 -7.71 180 914.64 no move -1.35 - - 2004.50 - - - 2355.62 - -82.73 - - 3112.69 - - - - - - - - - - -
1218.03 133.88 -7.30 241 1219.35 no move -1.35 - - 2004.56 - - - 2355.31 - -82.73 - - 3112.62 - - - - - - - - - - -
1523.12 158.88 -8.31 302 1528.65 roll -1.35 - - 2004.50 - 2.60 0.087 3428.81 412.9 -82.73 - - 3113.59 - - - - - - - - - 15.88 -
1573.13 163.56 -9.60 312 1578.66 roll -1.35 - - 2004.69 - 2.54 0.021 2240.38 -467.9 -82.73 - - 3113.59 - - - - - - - - - 15.92 -
1883.23 189.74 -8.41 374 1888.81 roll -1.35 - - 2004.75 - 2.88 0.082 3428.12 412.4 -82.73 - - 3115.22 - - - - - - - - - 15.89 -
1958.25 196.79 -9.48 389 1963.78 roll -1.35 - - 2004.62 - 2.53 0.021 2242.56 -468.6 -82.73 - - 3115.06 - - - - - - - - - 15.93 -
2268.43 222.68 -8.43 451 2273.44 roll -1.35 - - 2004.12 - 2.41 0.067 1208.38 -429.1 -82.73 - - 3113.72 - - - - - - - - - 15.92 -
2313.32 226.53 -8.59 460 2318.86 roll -1.35 - - 2004.75 - 2.58 0.029 2354.81 444.4 -82.73 - - 3113.41 - - - - - - - - - 15.95 -
2623.37 252.94 -8.51 522 2628.91 roll -1.35 - - 2004.06 - 2.68 0.061 1207.06 -428.3 -82.73 - - 3115.03 - - - - - - - - - 15.93 -
2698.37 259.62 -8.97 537 2703.91 roll -1.35 - - 2004.25 - 2.58 0.029 2354.19 444.6 -82.73 - - 3116.38 - - - - - - - - - 15.95 -
3008.41 284.89 -8.06 599 3009.74 no move -1.35 - - 2004.62 - - - 2354.12 - -82.73 - - 3112.16 - - - - - - - - - - -
3318.66 309.01 -7.73 648 3323.29 roll -1.35 - - 2003.75 - 2.69 0.062 1206.81 -426.5 -82.73 - - 3114.06 - - - - - - - - - 15.95 -
3499.04 324.43 -8.75 672 3513.96 roll -1.35 - - 2005.12 - 2.59 0.030 2352.56 442.4 -82.73 - - 3112.34 - - - - - - - - - 16.00 -
3815.79 349.54 -7.56 701 3820.42 roll -1.35 - - 2004.69 - 2.69 0.062 1206.88 -425.9 -82.73 - - 3112.06 - - - - - - - - - 15.95 -
3901.71 356.38 -8.05 713 3916.50 roll -1.35 - - 2005.19 - 2.58 0.030 2352.44 444.0 -82.73 - - 3112.16 - - - - - - - - - 16.00 -
4218.16 381.66 -8.10 742 4229.23 no move -1.35 - - 2004.56 - - - 2352.25 - -82.73 - - 3111.06 - - - - - - - - - - -
4530.84 406.61 -7.93 771 4535.46 roll -1.35 - - 2004.56 - 2.69 0.063 1207.44 -425.6 -82.73 - - 3109.94 - - - - - - - - - 15.95 -
4630.97 415.07 -8.45 784 4635.57 roll -1.35 - - 2004.19 - 2.58 0.030 2352.81 443.9 -82.73 - - 3109.59 - - - - - - - - - 15.99 -
4943.07 440.15 -8.25 813 4947.71 roll -1.35 - - 2004.56 - 2.70 0.063 1208.44 -423.8 -82.73 - - 3110.38 - - - - - - - - - 15.94 -
5011.72 446.04 -8.53 822 5016.33 roll -1.35 - - 2004.44 - 2.58 0.030 2351.88 443.2 -82.73 - - 3112.59 - - - - - - - - - 15.99 -
5322.96 471.91 -8.48 851 5327.58 roll -1.35 - - 2003.75 - 2.70 0.063 1207.06 -424.0 -82.73 - - 3110.75 - - - - - - - - - 15.94 -
5361.49 475.29 -8.89 857 5376.41 roll -1.35 - - 2004.81 - 2.58 0.030 2352.25 443.9 -82.73 - - 3109.53 - - - - - - - - - 15.99 -
5686.50 503.02 -8.12 886 5687.83 no move -1.35 - - 2004.44 - - - 2352.06 - -82.73 - - 3108.03 - - - - - - - - - - -
6001.52 528.14 -7.78 907 6006.14 roll -1.35 - - 2004.94 - 2.70 0.063 1206.81 -424.2 -82.73 - - 3108.38 - - - - - - - - - 15.94 -
6128.22 537.87 -8.13 926 6143.00 roll -1.35 - - 2004.44 - 2.59 0.030 2353.50 442.7 -82.73 - - 3108.31 - - - - - - - - - 16.00 -
6457.44 562.50 -6.95 948 6458.77 no move -1.35 - - 2004.62 - - - 2353.62 - -82.73 - - 3106.72 - - - - - - - - - - -
6772.45 583.66 -6.50 969 6777.09 roll -1.35 - - 2005.00 - 2.71 0.064 1206.94 -423.1 -82.73 - - 3107.84 - - - - - - - - - 15.93 -
6836.72 587.55 -6.65 979 6851.65 roll -1.35 - - 2004.69 - 2.59 0.030 2353.00 442.5 -82.73 - - 3107.41 - - - - - - - - - 16.01 -
7166.16 608.23 -6.09 1001 7170.81 roll -1.35 - - 2004.38 - 2.70 0.064 1207.19 -424.4 -82.73 - - 3106.28 - - - - - - - - - 15.93 -
7209.94 610.60 -6.22 1008 7224.62 roll -1.35 - - 2003.88 - 2.59 0.030 2351.94 442.0 -82.73 - - 3109.66 - - - - - - - - - 16.01 -
7539.29 632.54 -6.81 1030 7540.62 no move -1.35 - - 2004.62 - - - 2352.50 - -82.73 - - 3106.00 - - - - - - - - - - -
7854.15 655.68 -7.49 1051 7858.79 roll -1.35 - - 2004.38 - 2.70 0.064 1206.94 -424.3 -82.73 - - 3105.41 - - - - - - - - - 15.92 -
7932.81 661.72 -7.64 1062 7937.42 roll -1.35 - - 2004.62 - 2.58 0.031 2352.25 443.9 -82.73 - - 3105.38 - - - - - - - - - 15.99 -
8249.29 686.96 -8.26 1084 8250.62 no move -1.35 - - 2004.44 - - - 2351.88 - -82.73 - - 3104.06 - - - - - - - - - - -
8564.31 712.33 -8.16 1105 8568.93 roll -1.35 - - 2004.62 - 2.69 0.065 1208.00 -425.2 -82.73 - - 3103.84 - - - - - - - - - 15.91 -
8711.72 724.91 -9.00 1127 8726.51 roll -1.35 - - 2004.31 - 2.59 0.031 2353.12 442.1 -82.73 - - 3104.94 - - - - - - - - - 16.00 -
9040.94 751.67 -7.62 1149 9042.27 no move -1.35 - - 2004.31 - - - 2353.06 - -82.73 - - 3103.56 - - - - - - - - - - -
9355.96 775.12 -7.29 1170 9360.59 roll -1.35 - - 2004.50 - 2.70 0.065 1207.88 -424.1 -82.73 - - 3102.91 - - - - - - - - - 15.90 -
9461.72 782.80 -7.73 1186 9476.64 roll -1.35 - - 2003.38 - 2.59 0.031 2350.00 441.0 -82.73 - - 3104.69 - - - - - - - - - 16.00 -
9791.16 805.47 -6.35 1208 9795.79 roll -1.35 - - 2003.75 - 2.69 0.065 1208.44 -424.4 -82.73 - - 3103.19 - - - - - - - - - 15.90 -
9870.04 810.57 -6.45 1219 9874.65 roll -1.35 - - 2003.81 - 2.59 0.031 2352.19 441.6 -82.73 - - 3106.50 - - - - - - - - - 15.99 -
10186.52 829.34 -5.74 1241 10191.15 roll -1.35 - - 2004.25 - 2.70 0.065 1208.12 -423.7 -82.73 - - 3103.22 - - - - - - - - - 15.90 -
10266.54 834.22 -6.15 1253 10272.05 roll -1.35 - - 2004.56 - 2.59 0.031 2351.75 441.6 -82.73 - - 3103.69 - - - - - - - - - 16.00 -
10585.94 853.44 -6.06 1275 10590.57 roll -1.35 - - 2004.19 - 2.65 0.095 3428.50 406.3 -82.73 - - 3102.84 - - - - - - - - - 15.83 -
10624.49 855.96 -6.44 1281 10630.01 roll -1.35 - - 2004.12 - 2.53 0.023 2246.62 -467.1 -82.73 - - 3104.06 - - - - - - - - - 15.98 -
10944.07 875.66 -6.13 1303 10945.40 no move -1.35 - - 2004.62 - - - 2246.19 - -82.73 - - 3101.66 - - - - - - - - - - -
11259.08 895.08 -5.92 1324 11260.41 no move -1.35 - - 2004.06 - - - 2246.44 - -82.73 - - 3102.41 - - - - - - - - - - -
11573.93 914.15 -6.09 1345 11578.60 roll -1.35 - - 2003.62 - 2.91 0.090 3428.44 406.2 -82.73 - - 3104.25 - - - - - - - - - 15.82 -
11673.33 920.90 -6.80 1359 11677.94 roll -1.35 - - 2004.81 - 2.53 0.023 2248.75 -466.3 -82.73 - - 3102.97 - - - - - - - - - 15.98 -
11989.99 939.63 -6.14 1381 11994.58 roll -1.35 - - 2004.44 - 2.45 0.071 1209.44 -424.2 -82.73 - - 3101.88 - - - - - - - - - 15.87 -
12049.25 943.49 -6.52 1390 12054.79 roll -1.35 - - 2003.38 - 2.58 0.031 2351.50 442.7 -82.73 - - 3102.25 - - - - - - - - - 15.99 -
12368.67 963.14 -6.08 1412 12373.32 roll -1.35 - - 2004.56 - 2.71 0.066 1208.75 -421.7 -82.73 - - 3101.00 - - - - - - - - - 15.87 -
12490.14 971.06 -6.61 1430 12495.67 roll -1.35 - - 2004.00 - 2.59 0.032 2351.50 441.2 -82.73 - - 3101.38 - - - - - - - - - 15.99 -
12794 end dive: TARGET_DEPTH_EXCEEDED
12794 begin apogee
12796.38 990.70 -6.39 1451 12872.12 -0.28 1.84 0.139 2263.38 141.0 0.22 0.136 2282.25 -314.8 - 63.94 2.434 2774.34 -5.1 0.357 - - - - - - 15.74 15.44 10.28
12873 end apogee: CONTROL_FINISHED_OK
12873 begin climb
12874.57 992.40 - 1456 12961.94 1.35 2.66 0.093 2660.88 149.4 2.74 0.098 3344.44 387.7 82.73 68.77 2.365 2436.25 -4.9 0.354 - - - - - - 15.56 15.16 12.11
12969.69 989.54 4.18 1470 13049.16 1.51 0.22 0.080 2707.88 213.6 2.64 0.024 2186.00 -438.8 162.67 69.42 2.382 2111.75 -4.7 0.333 - - - - - - 15.32 15.37 11.93
13361.34 947.67 10.78 1501 13365.95 done 1.51 - - 2708.12 - 2.58 0.079 1130.69 -409.0 162.67 - - 2101.31 - - - - - - - - - 15.63 -
13425.80 941.01 11.27 1511 13440.55 done 1.51 - - 2707.44 - 2.62 0.032 2270.69 435.1 162.67 - - 2101.69 - - - - - - - - - 15.67 -
13755.04 904.80 10.67 1533 13756.37 VBD 1.51 - - 2708.25 - - - 2271.12 - 162.67 - - 2097.56 - - - - - - - - - - -
14070.08 871.72 10.23 1554 14074.90 done 1.51 - - 2706.94 - 2.76 0.075 1129.50 -413.6 162.67 - - 2098.22 - - - - - - - - - 15.82 -
14128.17 865.54 10.53 1562 14132.79 done 1.51 - - 2708.00 - 2.59 0.032 2268.88 439.9 162.67 - - 2096.66 - - - - - - - - - 15.84 -
14444.65 834.03 9.63 1584 14445.98 VBD 1.51 - - 2708.19 - - - 2268.88 - 162.67 - - 2096.41 - - - - - - - - - - -
14759.65 803.68 9.86 1605 14764.30 done 1.51 - - 2706.62 - 2.74 0.075 1130.75 -415.4 162.67 - - 2097.84 - - - - - - - - - 15.86 -
14838.33 795.54 10.29 1616 14842.94 done 1.51 - - 2707.81 - 2.58 0.032 2270.75 441.9 162.67 - - 2095.69 - - - - - - - - - 15.91 -
15154.81 764.73 9.90 1638 15159.45 done 1.51 - - 2708.38 - 2.73 0.075 1130.75 -417.6 162.67 - - 2095.72 - - - - - - - - - 15.87 -
15198.58 760.84 10.20 1645 15213.50 done 1.51 - - 2708.50 - 2.58 0.032 2271.50 442.2 162.67 - - 2095.75 - - - - - - - - - 15.92 -
15527.98 727.18 9.80 1667 15529.31 VBD 1.51 - - 2707.31 - - - 2271.00 - 162.67 - - 2094.84 - - - - - - - - - - -
15843.00 696.10 10.02 1688 15847.65 done 1.51 - - 2708.19 - 2.73 0.075 1130.81 -417.7 162.67 - - 2093.72 - - - - - - - - - 15.88 -
15963.16 683.07 10.89 1705 15967.77 done 1.51 - - 2707.94 - 2.58 0.032 2270.56 441.8 162.67 - - 2095.12 - - - - - - - - - 15.94 -
16279.62 650.97 9.98 1727 16284.27 done 1.51 - - 2708.25 - 2.73 0.075 1129.56 -417.9 162.67 - - 2093.44 - - - - - - - - - 15.88 -
16323.17 647.03 10.30 1734 16338.28 done 1.51 - - 2708.44 - 2.59 0.031 2270.69 440.6 162.67 - - 2094.38 - - - - - - - - - 15.96 -
16652.75 611.98 10.82 1756 16657.40 done 1.51 - - 2707.75 - 2.73 0.074 1131.12 -417.4 162.67 - - 2093.94 - - - - - - - - - 15.88 -
16732.76 602.94 11.42 1768 16738.30 done 1.51 - - 2707.75 - 2.58 0.031 2272.00 442.2 162.67 - - 2094.12 - - - - - - - - - 15.96 -
17052.19 570.38 9.89 1790 17053.52 VBD 1.51 - - 2708.25 - - - 2272.38 - 162.67 - - 2093.28 - - - - - - - - - - -
17367.22 541.25 8.98 1811 17371.87 done 1.51 - - 2707.38 - 2.73 0.074 1131.00 -418.1 162.67 - - 2095.41 - - - - - - - - - 15.88 -
17447.42 533.52 9.72 1823 17452.83 done 1.51 - - 2708.50 - 2.58 0.031 2272.44 442.4 162.67 - - 2093.81 - - - - - - - - - 15.97 -
17766.65 505.24 9.11 1845 17771.29 done 1.51 - - 2708.44 - 2.73 0.074 1131.31 -418.0 162.67 - - 2093.59 - - - - - - - - - 15.88 -
17852.74 497.08 9.66 1857 17867.66 done 1.51 - - 2708.38 - 2.58 0.031 2272.31 442.2 162.67 - - 2093.91 - - - - - - - - - 15.97 -
18168.88 468.53 9.33 1886 18173.50 done 1.51 - - 2708.00 - 2.63 0.094 3345.75 408.2 162.67 - - 2094.38 - - - - - - - - - 15.85 -
18238.89 461.66 9.93 1896 18253.81 done 1.51 - - 2709.00 - 2.54 0.024 2188.12 -455.8 162.67 - - 2093.59 - - - - - - - - - 15.98 -
18555.46 432.07 9.34 1925 18566.53 VBD 1.51 - - 2708.50 - - - 2186.81 - 162.67 - - 2093.28 - - - - - - - - - - -
18868.43 403.39 9.23 1954 18879.50 VBD 1.51 - - 2708.38 - - - 2186.44 - 162.67 - - 2092.75 - - - - - - - - - - -
19181.11 376.47 8.48 1983 19185.72 done 1.51 - - 2707.25 - 2.53 0.078 1131.06 -417.1 162.67 - - 2094.81 - - - - - - - - - 15.86 -
19219.65 373.14 8.73 1989 19234.58 done 1.51 - - 2708.31 - 2.58 0.030 2275.06 443.4 162.67 - - 2092.16 - - - - - - - - - 15.97 -
19535.82 345.61 8.30 2018 19540.46 done 1.51 - - 2708.25 - 2.74 0.074 1129.88 -417.9 162.67 - - 2091.47 - - - - - - - - - 15.86 -
19590.09 341.06 8.52 2026 19605.01 done 1.51 - - 2708.25 - 2.58 0.030 2274.12 443.5 162.67 - - 2092.78 - - - - - - - - - 15.97 -
19906.24 314.95 8.38 2055 19917.32 VBD 1.51 - - 2708.31 - - - 2273.12 - 162.67 - - 2092.56 - - - - - - - - - - -
20222.15 289.00 7.58 2098 20227.69 done 1.52 - - 2707.94 - 2.74 0.073 1129.62 -417.3 162.67 - - 2092.69 - - - - - - - - - 15.85 -
20307.16 282.05 8.25 2115 20312.69 done 1.52 - - 2708.38 - 2.57 0.030 2275.06 445.7 162.67 - - 2093.00 - - - - - - - - - 15.95 -
20617.27 260.14 6.60 2177 20623.00 done 1.56 - - 2707.94 - 2.74 0.073 1129.62 -418.0 162.67 - - 2095.97 - - - - - - - - - 15.84 -
20682.47 255.43 7.37 2190 20687.86 done 1.58 - - 2707.81 - 2.57 0.030 2272.50 444.7 162.67 - - 2093.41 - - - - - - - - - 15.95 -
20992.34 234.82 6.54 2252 20997.88 done 1.62 - - 2707.69 - 2.73 0.073 1129.69 -418.6 162.67 - - 2093.66 - - - - - - - - - 15.85 -
21032.34 232.03 6.90 2260 21037.86 done 1.65 - - 2707.56 - 2.57 0.030 2273.81 445.2 162.67 - - 2094.22 - - - - - - - - - 15.95 -
21342.39 211.11 6.92 2322 21347.98 1.68 0.19 0.085 2749.94 223.1 2.73 0.073 1130.94 -418.6 162.67 - - 2094.72 - - - - - - - - 15.92 15.80 -
21407.38 205.81 8.30 2335 21412.91 done 1.68 - - 2751.19 - 2.56 0.030 2273.00 446.1 162.67 - - 2094.22 - - - - - - - - - 15.95 -
21717.43 181.41 8.15 2397 21723.00 done 1.68 - - 2752.00 - 2.73 0.072 1129.75 -418.8 162.67 - - 2093.41 - - - - - - - - - 15.85 -
21877.83 167.44 8.62 2429 21883.16 done 1.68 - - 2751.75 - 2.56 0.030 2274.88 447.3 162.67 - - 2094.16 - - - - - - - - - 15.95 -
22187.85 144.15 7.29 2491 22193.05 done 1.71 - - 2751.06 - 2.73 0.072 1128.88 -419.8 162.67 - - 2094.50 - - - - - - - - - 15.84 -
22242.49 139.75 8.11 2502 22248.02 done 1.71 - - 2751.25 - 2.56 0.030 2273.81 447.2 162.67 - - 2093.84 - - - - - - - - - 15.95 -
22552.77 118.23 6.44 2564 22584.97 done 1.78 - - 2752.12 - 2.60 0.093 3348.94 413.5 200.46 27.92 1.284 1957.19 -4.9 0.077 - - - - - - - 15.71 10.74
22737.55 104.14 7.31 2601 22743.08 roll 1.81 - - 2751.88 - 2.56 0.023 2183.81 -455.1 200.46 - - 1954.75 - - - - - - - - - 15.88 -
23047.59 83.97 6.25 2663 23085.20 1.89 0.22 0.077 2802.19 228.7 2.51 0.079 1128.38 -420.5 241.70 33.01 1.246 1790.38 -5.0 0.058 - - - - - - 15.88 15.68 11.58
23097.60 80.35 7.39 2673 23103.30 roll 1.91 - - 2802.12 - 2.59 0.028 2276.19 443.2 241.70 - - 1788.22 - - - - - - - - - 15.84 -
23287.61 67.01 5.64 2711 23334.30 done 2.01 - - 2803.62 - 2.62 0.091 3347.12 408.8 294.33 41.02 1.221 1575.31 -5.2 0.049 - - - - - - - 15.59 11.60
23563.03 42.30 10.63 2766 23568.17 roll 2.01 - - 2803.19 - 2.57 0.023 2187.62 -451.2 294.33 - - 1570.03 - - - - - - - - - 15.77 -
23752.69 30.91 3.85 2804 23824.82 2.19 0.37 0.066 2873.88 191.1 2.55 0.078 1129.81 -414.8 380.44 65.32 1.179 1223.38 -5.3 0.024 - - - - - - 15.78 15.52 11.48
23962.76 17.31 7.28 2846 23968.29 roll 2.21 - - 2873.62 - 2.61 0.028 2274.88 438.7 380.44 - - 1217.50 - - - - - - - - - 15.69 -
24132 end climb: SURFACE_DEPTH_REACHED
24133 begin surface coast
24187 end surface coast: CONTROL_FINISHED_OK
24187 begin surface
SM 0.65 - - - - 180.6 33.94 1.131 1043.1 30.7 16.75 0.050 1007.2 60.1 - 0.12 0.123 1078.9 8969.1 -4.844 - - 11.49 15.72 15.74 -