NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 973 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 341.58 of 550.00 AH used of 24V (37.89% remains)
• Surface angle -59.2 deg, depth 0.60 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 24 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
5.72 - - - 82.61 VBD -1.54 - - 181.81 - - - 2230.81 - -82.73 75.33 0.005 2815.91 - - - - - - - - - - 14.85
83.35 3.18 -4.30 14 114.94 -1.54 14.43 0.237 1947.50 122.4 2.50 0.066 1208.25 -409.0 -82.73 7.18 0.008 3114.06 41.5 -2.868 - - - - - - 15.37 14.90 15.04
187.20 22.06 -18.22 35 192.58 roll -1.54 - - 1947.75 - 2.69 0.025 2352.44 425.3 -82.73 - - 3112.19 - - - - - - - - - 15.77 -
377.74 52.48 -13.40 73 379.06 no move -1.54 - - 1947.50 - - - 2352.75 - -82.73 - - 3112.19 - - - - - - - - - - -
562.16 73.53 -10.55 110 567.73 roll -1.54 - - 1947.88 - 2.80 0.058 1208.25 -408.8 -82.73 - - 3112.59 - - - - - - - - - 15.83 -
637.20 81.90 -11.27 125 642.73 roll -1.54 - - 1947.31 - 2.70 0.026 2352.00 423.6 -82.73 - - 3112.47 - - - - - - - - - 15.86 -
827.24 100.91 -9.88 163 832.81 roll -1.54 - - 1947.81 - 2.80 0.058 1207.75 -408.7 -82.73 - - 3112.66 - - - - - - - - - 15.86 -
862.25 104.37 -9.87 170 867.79 roll -1.54 - - 1947.44 - 2.69 0.026 2354.69 426.4 -82.73 - - 3112.28 - - - - - - - - - 15.89 -
1172.36 134.19 -9.91 232 1177.91 roll -1.54 - - 1946.38 - 2.78 0.058 1208.25 -412.4 -82.73 - - 3113.38 - - - - - - - - - 15.88 -
1237.37 140.33 -9.31 245 1242.92 roll -1.54 - - 1947.50 - 2.68 0.026 2356.69 428.5 -82.73 - - 3113.91 - - - - - - - - - 15.93 -
1547.47 167.15 -9.26 307 1553.03 roll -1.54 - - 1947.62 - 2.78 0.058 1209.38 -412.7 -82.73 - - 3113.41 - - - - - - - - - 15.90 -
1657.48 178.04 -10.12 329 1663.22 roll -1.54 - - 1947.69 - 2.66 0.026 2350.19 428.9 -82.73 - - 3113.16 - - - - - - - - - 15.95 -
1967.54 205.87 -8.55 391 1968.87 no move -1.54 - - 1947.50 - - - 2349.62 - -82.73 - - 3112.00 - - - - - - - - - - -
2272.59 232.85 -8.62 452 2278.15 roll -1.54 - - 1946.94 - 2.77 0.058 1209.75 -411.5 -82.73 - - 3113.91 - - - - - - - - - 15.92 -
2362.60 241.07 -9.21 470 2368.15 roll -1.54 - - 1947.38 - 2.66 0.026 2349.56 428.5 -82.73 - - 3113.06 - - - - - - - - - 15.97 -
2672.65 266.99 -8.42 532 2678.21 roll -1.54 - - 1947.62 - 2.77 0.059 1207.62 -412.3 -82.73 - - 3113.09 - - - - - - - - - 15.92 -
2732.65 272.26 -8.85 544 2738.21 roll -1.54 - - 1947.81 - 2.64 0.026 2344.25 430.5 -82.73 - - 3113.28 - - - - - - - - - 15.97 -
3042.72 299.43 -9.02 606 3048.26 roll -1.54 - - 1947.62 - 2.76 0.059 1208.19 -411.6 -82.73 - - 3113.91 - - - - - - - - - 15.92 -
3114.90 306.26 -9.68 617 3129.84 roll -1.54 - - 1947.50 - 2.64 0.026 2342.25 429.6 -82.73 - - 3113.00 - - - - - - - - - 15.99 -
3431.29 335.12 -8.96 646 3436.00 roll -1.54 - - 1947.56 - 2.74 0.059 1208.06 -413.9 -82.73 - - 3112.00 - - - - - - - - - 15.94 -
3468.49 338.56 -9.08 651 3473.12 roll -1.54 - - 1947.12 - 2.62 0.026 2336.94 430.9 -82.73 - - 3112.94 - - - - - - - - - 16.00 -
3781.18 365.21 -8.21 680 3785.83 roll -1.54 - - 1946.25 - 2.72 0.060 1207.62 -415.2 -82.73 - - 3113.53 - - - - - - - - - 15.94 -
3866.94 372.45 -8.48 692 3881.88 roll -1.54 - - 1947.88 - 2.62 0.026 2331.81 429.1 -82.73 - - 3113.28 - - - - - - - - - 16.00 -
4183.14 398.34 -8.07 721 4187.79 roll -1.54 - - 1946.81 - 2.72 0.060 1209.44 -412.6 -82.73 - - 3111.69 - - - - - - - - - 15.94 -
4236.08 402.83 -8.37 728 4240.69 roll -1.54 - - 1946.00 - 2.60 0.026 2327.75 430.1 -82.73 - - 3112.78 - - - - - - - - - 15.99 -
4547.35 427.85 -8.12 757 4558.42 no move -1.54 - - 1947.81 - - - 2328.25 - -82.73 - - 3113.12 - - - - - - - - - - -
4860.07 453.24 -8.25 786 4871.15 no move -1.54 - - 1948.19 - - - 2328.06 - -82.73 - - 3112.53 - - - - - - - - - - -
5173.65 479.54 -8.73 815 5178.30 roll -1.54 - - 1947.56 - 2.73 0.061 1208.25 -410.2 -82.73 - - 3111.22 - - - - - - - - - 15.93 -
5305.27 491.49 -9.11 832 5309.89 roll -1.54 - - 1946.88 - 2.60 0.027 2325.62 429.8 -82.73 - - 3112.34 - - - - - - - - - 15.99 -
5622.79 518.24 -8.45 856 5624.12 no move -1.54 - - 1948.12 - - - 2326.12 - -82.73 - - 3110.81 - - - - - - - - - - -
5937.73 545.17 -8.46 877 5942.38 roll -1.54 - - 1946.00 - 2.73 0.062 1209.44 -409.0 -82.73 - - 3112.00 - - - - - - - - - 15.93 -
5976.28 548.56 -8.80 883 5981.82 roll -1.54 - - 1947.12 - 2.59 0.027 2323.38 430.1 -82.73 - - 3112.09 - - - - - - - - - 16.01 -
6295.68 576.54 -8.82 905 6300.33 roll -1.54 - - 1947.25 - 2.71 0.062 1209.12 -411.2 -82.73 - - 3110.38 - - - - - - - - - 15.93 -
6375.70 583.68 -9.04 917 6381.24 roll -1.54 - - 1947.75 - 2.59 0.027 2319.81 428.8 -82.73 - - 3110.84 - - - - - - - - - 16.00 -
6695.11 609.89 -8.01 939 6699.77 roll -1.54 - - 1947.25 - 2.71 0.062 1207.62 -410.4 -82.73 - - 3110.88 - - - - - - - - - 15.93 -
6795.87 618.28 -8.45 954 6801.41 roll -1.54 - - 1947.12 - 2.57 0.027 2311.19 429.4 -82.73 - - 3112.31 - - - - - - - - - 16.00 -
7115.31 643.54 -7.80 976 7119.94 roll -1.54 - - 1947.81 - 2.69 0.062 1207.75 -410.2 -82.73 - - 3110.00 - - - - - - - - - 15.92 -
7174.59 648.27 -8.05 985 7180.13 roll -1.54 - - 1947.62 - 2.55 0.027 2306.44 430.9 -82.73 - - 3110.06 - - - - - - - - - 16.01 -
7494.00 672.80 -7.66 1007 7495.33 no move -1.54 - - 1947.31 - - - 2306.62 - -82.73 - - 3108.84 - - - - - - - - - - -
7809.18 697.50 -7.88 1028 7813.94 roll -1.54 - - 1947.31 - 2.69 0.063 1207.75 -408.5 -82.73 - - 3108.19 - - - - - - - - - 15.92 -
7894.31 704.19 -8.43 1041 7909.12 roll -1.54 - - 1947.69 - 2.55 0.027 2303.25 429.6 -82.73 - - 3109.56 - - - - - - - - - 16.00 -
8223.60 730.37 -7.51 1063 8224.93 no move -1.54 - - 1947.56 - - - 2303.75 - -82.73 - - 3108.00 - - - - - - - - - - -
8538.61 752.78 -7.06 1084 8543.24 roll -1.54 - - 1947.44 - 2.69 0.063 1209.19 -406.9 -82.73 - - 3108.47 - - - - - - - - - 15.91 -
8623.32 758.61 -7.39 1097 8638.24 roll -1.54 - - 1947.62 - 2.56 0.027 2302.50 427.1 -82.73 - - 3108.66 - - - - - - - - - 16.00 -
8952.73 781.58 -6.75 1119 8957.35 roll -1.54 - - 1947.06 - 2.69 0.063 1210.44 -406.0 -82.73 - - 3107.62 - - - - - - - - - 15.91 -
8996.27 784.13 -6.80 1126 9011.18 roll -1.54 - - 1947.56 - 2.54 0.027 2301.31 429.5 -82.73 - - 3108.66 - - - - - - - - - 16.00 -
9325.69 805.15 -6.27 1148 9327.02 no move -1.54 - - 1948.25 - - - 2301.75 - -82.73 - - 3108.34 - - - - - - - - - - -
9640.69 824.52 -6.20 1169 9645.32 roll -1.54 - - 1947.69 - 2.69 0.063 1209.25 -406.1 -82.73 - - 3106.62 - - - - - - - - - 15.90 -
9684.24 826.97 -6.41 1176 9699.16 roll -1.54 - - 1947.94 - 2.54 0.027 2299.69 429.3 -82.73 - - 3108.97 - - - - - - - - - 16.00 -
10013.62 848.92 -6.67 1198 10014.95 no move -1.54 - - 1947.50 - - - 2299.94 - -82.73 - - 3106.66 - - - - - - - - - - -
10328.64 871.27 -7.38 1219 10329.97 no move -1.54 - - 1947.25 - - - 2299.00 - -82.73 - - 3106.34 - - - - - - - - - - -
10643.83 894.58 -7.45 1240 10648.52 roll -1.54 - - 1946.12 - 2.69 0.064 1208.62 -405.3 -82.73 - - 3106.50 - - - - - - - - - 15.90 -
10687.39 897.51 -7.67 1247 10702.31 roll -1.54 - - 1947.12 - 2.55 0.027 2298.56 427.4 -82.73 - - 3107.09 - - - - - - - - - 16.00 -
11016.80 922.54 -7.16 1269 11018.13 no move -1.54 - - 1947.50 - - - 2298.69 - -82.73 - - 3105.59 - - - - - - - - - - -
11331.82 945.02 -7.20 1290 11333.15 no move -1.54 - - 1947.56 - - - 2298.94 - -82.73 - - 3105.91 - - - - - - - - - - -
11646.82 967.17 -6.89 1311 11648.15 no move -1.54 - - 1947.00 - - - 2298.56 - -82.73 - - 3105.03 - - - - - - - - - - -
11961.83 989.31 -6.99 1332 11966.46 roll -1.54 - - 1947.00 - 2.69 0.064 1211.81 -404.0 -82.73 - - 3104.78 - - - - - - - - - 15.88 -
11977 end dive: TARGET_DEPTH_EXCEEDED
11978 begin apogee
11981.98 990.49 -7.01 1334 12056.15 -0.28 2.21 0.145 2252.81 138.4 0.14 0.164 2038.56 5905.4 - 67.11 2.406 2774.12 -4.9 0.352 - - - - - - 15.71 15.17 10.15
12057 end apogee: CONTROL_FINISHED_OK
12058 begin climb
12058.75 992.67 - 1339 12145.77 1.54 2.95 0.088 2699.25 151.3 0.17 0.082 2159.31 710.3 82.73 70.96 2.365 2438.41 -4.7 0.345 - - - - - - 15.45 15.57 11.72
12458.02 972.89 5.60 1372 12524.88 1.68 0.18 0.081 2740.50 229.2 - - 2159.44 - 152.75 61.15 2.353 2150.56 -4.7 0.338 - - - - - - 15.67 - 11.12
12838.29 940.80 8.84 1399 12842.98 done 1.68 - - 2740.81 - 2.99 0.080 993.50 -389.9 152.75 - - 2143.84 - - - - - - - - - 15.69 -
12875.50 937.25 9.22 1404 12880.14 done 1.68 - - 2741.56 - 2.69 0.025 2135.88 424.7 152.75 - - 2142.44 - - - - - - - - - 15.73 -
13191.98 909.05 8.96 1426 13196.63 done 1.68 - - 2741.06 - 2.75 0.085 3203.00 388.0 152.75 - - 2140.75 - - - - - - - - - 15.77 -
13249.91 903.46 9.45 1434 13254.55 done 1.68 - - 2739.19 - 2.62 0.025 2061.19 -435.8 152.75 - - 2142.84 - - - - - - - - - 15.83 -
13566.41 874.90 9.01 1456 13567.74 VBD 1.68 - - 2741.19 - - - 2061.69 - 152.75 - - 2139.94 - - - - - - - - - - -
13881.43 847.78 8.31 1477 13886.12 done 1.68 - - 2741.56 - 2.95 0.081 3204.25 387.3 152.75 - - 2139.62 - - - - - - - - - 15.83 -
13960.13 840.71 8.90 1488 13964.74 done 1.68 - - 2740.44 - 2.60 0.025 2064.81 -438.2 152.75 - - 2140.91 - - - - - - - - - 15.90 -
14276.79 814.57 8.16 1510 14281.45 done 1.68 - - 2741.88 - 2.70 0.085 993.38 -396.8 152.75 - - 2140.12 - - - - - - - - - 15.84 -
14315.34 811.26 8.52 1516 14320.90 done 1.68 - - 2741.25 - 2.69 0.025 2146.94 428.8 152.75 - - 2139.59 - - - - - - - - - 15.94 -
14634.76 784.52 8.50 1538 14639.41 done 1.68 - - 2741.50 - 2.72 0.085 3204.38 388.8 152.75 - - 2138.25 - - - - - - - - - 15.85 -
14678.31 781.16 8.77 1545 14693.23 done 1.68 - - 2740.94 - 2.57 0.025 2069.50 -441.6 152.75 - - 2141.16 - - - - - - - - - 15.95 -
15007.72 751.56 8.93 1567 15009.05 VBD 1.68 - - 2741.50 - - - 2069.62 - 152.75 - - 2137.81 - - - - - - - - - - -
15322.74 723.84 8.54 1588 15327.44 done 1.68 - - 2741.00 - 2.92 0.081 3204.69 388.7 152.75 - - 2138.12 - - - - - - - - - 15.86 -
15366.30 720.37 8.97 1595 15381.22 done 1.68 - - 2741.44 - 2.57 0.025 2072.25 -440.6 152.75 - - 2139.25 - - - - - - - - - 15.96 -
15695.72 691.21 8.62 1617 15697.05 VBD 1.68 - - 2741.31 - - - 2072.44 - 152.75 - - 2137.84 - - - - - - - - - - -
16010.72 664.98 8.23 1638 16012.05 VBD 1.68 - - 2741.69 - - - 2072.00 - 152.75 - - 2137.81 - - - - - - - - - - -
16325.73 638.89 8.09 1659 16330.41 done 1.68 - - 2741.62 - 2.91 0.081 3201.81 388.3 152.75 - - 2137.84 - - - - - - - - - 15.86 -
16369.28 635.62 8.45 1666 16384.21 done 1.68 - - 2741.38 - 2.57 0.025 2071.00 -440.0 152.75 - - 2138.56 - - - - - - - - - 15.98 -
16698.88 608.81 8.07 1688 16700.21 VBD 1.68 - - 2741.19 - - - 2070.94 - 152.75 - - 2136.56 - - - - - - - - - - -
17013.90 583.84 7.70 1709 17015.23 VBD 1.69 - - 2741.56 - - - 2071.31 - 152.75 - - 2137.09 - - - - - - - - - - -
17328.74 560.30 7.35 1730 17330.08 VBD 1.71 - - 2741.25 - - - 2071.25 - 152.75 - - 2137.31 - - - - - - - - - - -
17643.76 536.37 7.76 1751 17648.45 done 1.73 - - 2741.31 - 2.93 0.080 3204.12 386.6 152.75 - - 2136.50 - - - - - - - - - 15.85 -
17687.32 533.25 8.10 1758 17702.24 done 1.73 - - 2740.88 - 2.57 0.025 2073.88 -439.8 152.75 - - 2137.88 - - - - - - - - - 15.98 -
18016.75 506.72 7.83 1780 18018.08 VBD 1.74 - - 2740.81 - - - 2073.31 - 152.75 - - 2136.81 - - - - - - - - - - -
18321.83 483.19 7.76 1806 18326.51 done 1.76 - - 2741.81 - 2.92 0.080 3204.69 387.5 152.75 - - 2136.56 - - - - - - - - - 15.84 -
18374.77 478.85 8.05 1813 18379.39 done 1.76 - - 2741.50 - 2.56 0.025 2075.81 -441.0 152.75 - - 2138.69 - - - - - - - - - 15.97 -
18686.69 456.54 7.15 1842 18697.77 VBD 1.78 - - 2741.25 - - - 2075.75 - 152.75 - - 2137.44 - - - - - - - - - - -
18999.44 434.48 7.03 1871 19010.51 VBD 1.81 - - 2741.31 - - - 2075.44 - 152.75 - - 2137.59 - - - - - - - - - - -
19312.41 412.67 7.03 1900 19317.09 done 1.84 - - 2740.50 - 2.91 0.079 3203.56 387.7 152.75 - - 2137.56 - - - - - - - - - 15.84 -
19350.97 409.84 7.37 1906 19366.12 1.86 0.18 0.088 2783.06 236.4 2.55 0.025 2078.81 -441.1 152.75 - - 2137.16 - - - - - - - - 15.79 15.98 -
19668.08 383.96 8.10 1935 19672.73 done 1.86 - - 2782.69 - 2.72 0.085 993.69 -398.9 152.75 - - 2137.19 - - - - - - - - - 15.82 -
19752.48 376.40 8.87 1946 19757.13 done 1.86 - - 2781.06 - 2.71 0.025 2158.62 429.9 152.75 - - 2137.44 - - - - - - - - - 15.97 -
20064.49 350.68 8.03 1975 20069.12 done 1.86 - - 2783.31 - 2.67 0.084 3204.69 391.8 152.75 - - 2137.47 - - - - - - - - - 15.84 -
20133.16 344.89 8.33 1984 20137.77 done 1.86 - - 2783.56 - 2.56 0.024 2074.75 -441.4 152.75 - - 2137.53 - - - - - - - - - 15.97 -
20444.84 321.70 7.43 2013 20449.52 done 1.88 - - 2783.06 - 2.90 0.079 3205.56 389.9 152.75 - - 2136.12 - - - - - - - - - 15.84 -
20483.40 318.69 7.81 2019 20498.31 done 1.89 - - 2783.62 - 2.56 0.024 2078.75 -440.2 152.75 - - 2138.53 - - - - - - - - - 15.98 -
20800.12 296.48 6.95 2052 20805.17 done 1.92 - - 2784.12 - 2.89 0.079 3204.81 389.6 152.75 - - 2137.88 - - - - - - - - - 15.80 -
20834.61 293.99 7.03 2059 20840.13 done 1.95 - - 2784.00 - 2.55 0.024 2080.75 -440.8 152.75 - - 2137.38 - - - - - - - - - 15.94 -
21144.77 274.10 6.30 2121 21189.93 2.06 0.22 0.081 2832.44 220.2 - - 2080.44 - 205.65 42.14 1.523 1937.09 -4.8 0.149 - - - - - - 15.91 - 10.44
21494.87 241.29 10.28 2191 21500.28 roll 2.06 - - 2832.62 - 2.90 0.078 3206.19 388.2 205.65 - - 1931.22 - - - - - - - - - 15.76 -
21569.70 232.74 11.58 2206 21575.23 roll 2.06 - - 2832.56 - 2.55 0.024 2089.69 -437.8 205.65 - - 1930.38 - - - - - - - - - 15.85 -
21879.75 199.97 10.72 2268 21881.08 no move 2.06 - - 2831.75 - - - 2089.12 - 205.65 - - 1928.84 - - - - - - - - - - -
22184.78 168.28 9.80 2329 22190.35 roll 2.06 - - 2832.19 - 2.75 0.083 993.44 -398.4 205.65 - - 1928.59 - - - - - - - - - 15.79 -
22284.79 158.02 10.41 2349 22290.37 done 2.06 - - 2832.12 - 2.73 0.025 2167.44 430.0 205.65 - - 1929.00 - - - - - - - - - 15.92 -
22594.89 128.70 10.01 2411 22600.61 done 2.06 - - 2832.00 - 2.66 0.082 3203.69 389.6 205.65 - - 1928.78 - - - - - - - - - 15.82 -
22665.07 121.58 10.04 2425 22670.44 done 2.06 - - 2832.69 - 2.53 0.023 2087.00 -441.4 205.65 - - 1928.16 - - - - - - - - - 15.92 -
22975.01 95.01 8.72 2487 22980.58 done 2.06 - - 2833.06 - 2.88 0.077 3204.88 388.2 205.65 - - 1928.00 - - - - - - - - - 15.83 -
23055.03 87.81 8.89 2503 23060.56 done 2.06 - - 2831.94 - 2.51 0.023 2099.12 -440.5 205.65 - - 1927.81 - - - - - - - - - 15.94 -
23245.11 75.19 6.79 2541 23250.67 done 2.09 - - 2832.44 - 2.79 0.080 993.44 -396.3 205.65 - - 1927.47 - - - - - - - - - 15.83 -
23420.15 63.53 6.30 2576 23466.89 done 2.20 - - 2832.62 - 2.73 0.023 2174.75 432.7 258.61 42.17 1.242 1721.28 -4.9 0.043 - - - - - - - 15.94 10.81
23650.24 48.82 5.59 2622 23712.88 2.34 0.34 0.066 2897.56 191.0 2.69 0.082 3207.31 383.9 329.06 55.53 1.209 1434.22 -5.2 0.036 - - - - - - 15.81 15.38 11.31
23870.27 30.19 8.88 2666 23875.80 roll 2.34 - - 2898.25 - 2.55 0.022 2093.00 -437.0 329.06 - - 1428.50 - - - - - - - - - 15.73 -
24060.32 11.81 11.60 2704 24065.89 done 2.34 - - 2899.06 - 2.78 0.081 993.56 -395.5 329.06 - - 1424.72 - - - - - - - - - 15.72 -
24080.32 9.60 10.43 2708 24085.89 done 2.34 - - 2898.62 - 2.78 0.024 2182.00 427.5 329.06 - - 1423.97 - - - - - - - - - 15.79 -
24134 end climb: SURFACE_DEPTH_REACHED
24135 begin surface coast
24180 end surface coast: CONTROL_FINISHED_OK
24180 begin surface
SM 0.53 - - - - 179.3 72.76 1.176 1043.2 14.3 16.99 0.053 997.9 58.7 - 0.34 0.049 1088.4 3193.0 -3.530 - - 11.13 15.74 15.81 -