NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 945 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 330.19 of 550.00 AH used of 24V (39.97% remains)
• Surface angle -61.4 deg, depth 0.27 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 3 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
5.70 - - - 82.61 VBD -1.54 - - 175.69 - - - 2248.44 - -82.73 75.39 0.005 2818.47 - - - - - - - - - - 14.90
83.35 3.61 -6.32 14 109.73 -1.54 14.61 0.241 1945.56 121.1 - - 2248.69 - -82.73 6.51 0.008 3112.19 45.1 -3.539 - - - - - - 15.39 - 15.07
291.86 38.52 -15.11 56 297.38 roll -1.54 - - 1946.62 - 2.55 0.061 1208.00 -408.1 -82.73 - - 3112.72 - - - - - - - - - 15.81 -
376.88 50.83 -13.53 73 382.43 roll -1.54 - - 1945.44 - 2.68 0.026 2353.81 427.5 -82.73 - - 3113.56 - - - - - - - - - 15.83 -
567.70 75.03 -12.67 111 572.53 roll -1.54 - - 1946.75 - 2.82 0.057 1207.94 -406.3 -82.73 - - 3112.91 - - - - - - - - - 15.84 -
666.96 86.60 -11.05 131 672.52 roll -1.54 - - 1946.69 - 2.64 0.026 2343.56 430.2 -82.73 - - 3112.97 - - - - - - - - - 15.88 -
856.99 106.12 -9.88 169 858.32 no move -1.54 - - 1946.44 - - - 2343.31 - -82.73 - - 3112.22 - - - - - - - - - - -
1162.03 131.40 -8.87 230 1167.59 roll -1.54 - - 1946.62 - 2.77 0.056 1208.19 -409.8 -82.73 - - 3113.62 - - - - - - - - - 15.91 -
1262.05 140.89 -9.40 250 1267.60 roll -1.54 - - 1946.75 - 2.63 0.026 2342.50 431.3 -82.73 - - 3113.28 - - - - - - - - - 15.93 -
1572.10 168.22 -9.15 312 1577.66 roll -1.54 - - 1946.69 - 2.77 0.056 1208.12 -409.5 -82.73 - - 3114.34 - - - - - - - - - 15.94 -
1637.09 174.72 -10.07 325 1642.64 roll -1.54 - - 1946.56 - 2.62 0.026 2338.56 431.5 -82.73 - - 3114.69 - - - - - - - - - 15.95 -
1947.15 204.16 -9.77 387 1952.89 roll -1.54 - - 1946.44 - 2.75 0.057 1207.62 -411.3 -82.73 - - 3114.31 - - - - - - - - - 15.94 -
2017.26 211.41 -10.30 401 2022.69 roll -1.54 - - 1946.69 - 2.60 0.026 2328.25 431.0 -82.73 - - 3113.97 - - - - - - - - - 15.97 -
2327.20 240.41 -8.59 463 2328.53 no move -1.54 - - 1946.25 - - - 2327.81 - -82.73 - - 3113.94 - - - - - - - - - - -
2632.23 266.75 -8.70 524 2633.56 no move -1.54 - - 1946.56 - - - 2328.50 - -82.73 - - 3113.97 - - - - - - - - - - -
2937.27 293.86 -8.96 585 2942.84 roll -1.54 - - 1946.12 - 2.74 0.058 1208.12 -408.9 -82.73 - - 3114.00 - - - - - - - - - 15.96 -
3017.28 301.33 -9.44 601 3022.80 roll -1.54 - - 1945.19 - 2.59 0.026 2325.50 431.4 -82.73 - - 3114.25 - - - - - - - - - 16.00 -
3326.47 327.13 -7.72 630 3331.11 roll -1.54 - - 1946.12 - 2.71 0.059 1208.00 -412.4 -82.73 - - 3113.59 - - - - - - - - - 15.97 -
3365.00 330.20 -8.04 636 3379.92 roll -1.54 - - 1945.00 - 2.58 0.026 2324.00 432.6 -82.73 - - 3114.62 - - - - - - - - - 16.00 -
3681.39 355.74 -7.88 665 3692.47 no move -1.54 - - 1946.38 - - - 2324.50 - -82.73 - - 3113.88 - - - - - - - - - - -
3994.12 381.99 -8.44 694 3998.95 roll -1.54 - - 1946.50 - 2.73 0.059 1209.50 -408.4 -82.73 - - 3113.06 - - - - - - - - - 15.97 -
4095.78 390.61 -8.58 708 4110.53 roll -1.54 - - 1946.75 - 2.58 0.026 2319.06 430.1 -82.73 - - 3113.56 - - - - - - - - - 16.01 -
4412.29 416.95 -8.15 737 4416.95 roll -1.54 - - 1944.31 - 2.85 0.087 3426.50 388.6 -82.73 - - 3114.00 - - - - - - - - - 15.91 -
4465.22 421.65 -8.70 744 4469.86 roll -1.54 - - 1946.69 - 2.66 0.019 2215.94 -455.1 -82.73 - - 3114.56 - - - - - - - - - 16.00 -
4776.87 446.10 -7.47 773 4787.94 no move -1.54 - - 1946.62 - - - 2213.56 - -82.73 - - 3113.06 - - - - - - - - - - -
5090.44 468.18 -6.97 802 5095.16 roll -1.54 - - 1946.31 - 3.11 0.083 3426.69 390.1 -82.73 - - 3114.06 - - - - - - - - - 15.91 -
5127.63 471.27 -7.81 807 5132.26 roll -1.54 - - 1946.50 - 2.65 0.020 2217.62 -456.3 -82.73 - - 3110.75 - - - - - - - - - 16.00 -
5439.26 495.24 -8.14 836 5450.34 no move -1.54 - - 1946.31 - - - 2216.25 - -82.73 - - 3112.47 - - - - - - - - - - -
5759.76 521.54 -8.32 859 5761.08 no move -1.54 - - 1946.25 - - - 2216.81 - -82.73 - - 3110.69 - - - - - - - - - - -
6074.79 546.91 -7.88 880 6079.50 roll -1.54 - - 1946.25 - 3.10 0.084 3423.88 389.4 -82.73 - - 3110.59 - - - - - - - - - 15.90 -
6139.07 551.70 -8.12 890 6154.03 roll -1.54 - - 1946.31 - 2.64 0.020 2219.62 -456.2 -82.73 - - 3112.00 - - - - - - - - - 16.01 -
6468.67 575.92 -7.18 912 6473.33 roll -1.54 - - 1946.12 - 2.46 0.067 1207.88 -411.3 -82.73 - - 3109.78 - - - - - - - - - 15.95 -
6507.21 578.79 -7.45 918 6512.75 roll -1.54 - - 1946.25 - 2.57 0.026 2321.44 433.3 -82.73 - - 3111.69 - - - - - - - - - 16.01 -
6826.62 602.85 -7.56 940 6831.28 roll -1.54 - - 1944.38 - 2.83 0.088 3426.88 390.6 -82.73 - - 3110.47 - - - - - - - - - 15.90 -
6890.89 607.84 -8.36 950 6905.84 roll -1.54 - - 1946.69 - 2.65 0.020 2216.12 -456.9 -82.73 - - 3110.50 - - - - - - - - - 16.00 -
7220.30 632.88 -7.53 972 7224.90 roll -1.54 - - 1946.25 - 2.44 0.067 1207.75 -413.3 -82.73 - - 3109.56 - - - - - - - - - 15.95 -
7278.23 637.56 -7.95 980 7282.85 roll -1.54 - - 1946.81 - 2.56 0.027 2323.00 435.6 -82.73 - - 3109.28 - - - - - - - - - 16.00 -
7594.73 662.61 -8.15 1002 7596.06 no move -1.54 - - 1946.56 - - - 2322.94 - -82.73 - - 3108.91 - - - - - - - - - - -
7909.74 686.59 -7.25 1023 7914.39 roll -1.54 - - 1946.62 - 2.71 0.062 1208.19 -411.3 -82.73 - - 3111.00 - - - - - - - - - 15.95 -
7989.75 692.41 -7.36 1035 7995.29 roll -1.54 - - 1946.75 - 2.56 0.027 2317.38 433.3 -82.73 - - 3109.09 - - - - - - - - - 16.01 -
8309.34 715.31 -6.95 1057 8310.67 no move -1.54 - - 1946.38 - - - 2317.06 - -82.73 - - 3108.41 - - - - - - - - - - -
8624.16 737.63 -7.04 1078 8625.49 no move -1.54 - - 1946.50 - - - 2317.50 - -82.73 - - 3108.06 - - - - - - - - - - -
8939.36 760.06 -7.19 1099 8940.69 no move -1.54 - - 1946.50 - - - 2317.31 - -82.73 - - 3107.88 - - - - - - - - - - -
9254.36 782.99 -7.44 1120 9259.00 roll -1.54 - - 1946.38 - 2.70 0.063 1208.94 -410.5 -82.73 - - 3107.69 - - - - - - - - - 15.93 -
9292.89 786.01 -7.74 1126 9298.43 roll -1.54 - - 1946.38 - 2.57 0.027 2317.62 431.4 -82.73 - - 3107.41 - - - - - - - - - 16.01 -
9612.30 810.29 -7.35 1148 9613.63 no move -1.54 - - 1946.50 - - - 2316.94 - -82.73 - - 3106.16 - - - - - - - - - - -
9927.32 834.41 -7.40 1169 9931.97 roll -1.54 - - 1946.81 - 2.71 0.063 1208.19 -409.1 -82.73 - - 3107.72 - - - - - - - - - 15.92 -
9970.85 837.29 -7.61 1176 9985.78 roll -1.54 - - 1946.50 - 2.57 0.027 2314.50 430.5 -82.73 - - 3106.84 - - - - - - - - - 16.00 -
10300.26 860.88 -6.69 1198 10304.93 roll -1.54 - - 1946.56 - 2.86 0.091 3426.12 388.7 -82.73 - - 3105.53 - - - - - - - - - 15.86 -
10359.54 865.26 -7.26 1207 10365.09 roll -1.54 - - 1945.62 - 2.66 0.020 2212.06 -456.4 -82.73 - - 3106.78 - - - - - - - - - 16.00 -
10678.96 889.05 -7.32 1229 10683.66 roll -1.54 - - 1945.75 - 3.10 0.086 3425.56 391.5 -82.73 - - 3106.31 - - - - - - - - - 15.86 -
10717.50 892.08 -7.76 1235 10723.06 roll -1.54 - - 1946.69 - 2.65 0.020 2215.38 -456.7 -82.73 - - 3107.16 - - - - - - - - - 16.00 -
11036.95 914.46 -6.22 1257 11038.28 no move -1.54 - - 1946.38 - - - 2215.06 - -82.73 - - 3105.50 - - - - - - - - - - -
11352.15 933.65 -5.87 1278 11356.92 roll -1.54 - - 1946.19 - 3.12 0.086 3426.62 388.3 -82.73 - - 3105.16 - - - - - - - - - 15.85 -
11390.68 936.40 -6.70 1284 11396.23 roll -1.54 - - 1946.50 - 2.66 0.020 2213.38 -456.1 -82.73 - - 3105.75 - - - - - - - - - 15.98 -
11710.10 957.50 -6.21 1306 11711.43 no move -1.54 - - 1946.81 - - - 2212.69 - -82.73 - - 3105.09 - - - - - - - - - - -
11740 end dive: TARGET_DEPTH_EXCEEDED
11740 begin apogee
11741.91 959.50 -6.45 1308 11817.58 -0.28 2.21 0.135 2253.38 138.7 0.16 0.158 2161.00 -323.1 - 66.84 2.364 2774.16 -5.0 0.349 - - - - - - 15.78 15.25 10.28
11819 end apogee: CONTROL_FINISHED_OK
11819 begin climb
11820.04 961.22 - 1313 11907.95 1.54 3.10 0.112 2696.00 142.8 2.97 0.079 993.69 -393.0 82.73 70.21 2.322 2436.50 -4.8 0.346 - - - - - - 15.45 15.58 11.75
11931.04 956.97 4.85 1329 12015.69 1.71 0.26 0.070 2748.19 200.7 2.73 0.024 2138.00 419.2 171.09 77.79 2.323 2077.16 -4.6 0.331 - - - - - - 15.34 15.41 11.55
12328.01 919.09 10.73 1361 12332.66 done 1.71 - - 2748.25 - 2.76 0.084 3203.62 386.1 171.09 - - 2067.38 - - - - - - - - - 15.68 -
12366.55 914.63 11.42 1367 12372.11 done 1.71 - - 2749.25 - 2.62 0.025 2062.19 -435.7 171.09 - - 2068.16 - - - - - - - - - 15.71 -
12685.96 880.46 10.87 1389 12690.59 done 1.71 - - 2747.88 - 2.68 0.083 992.56 -399.1 171.09 - - 2064.94 - - - - - - - - - 15.78 -
12724.50 876.22 11.23 1395 12730.06 done 1.71 - - 2749.38 - 2.66 0.025 2140.25 431.5 171.09 - - 2065.41 - - - - - - - - - 15.83 -
13043.93 841.54 10.67 1417 13048.58 done 1.71 - - 2749.56 - 2.71 0.085 3205.12 392.9 171.09 - - 2063.41 - - - - - - - - - 15.83 -
13122.61 832.68 11.19 1428 13127.23 done 1.71 - - 2749.56 - 2.58 0.025 2066.44 -441.3 171.09 - - 2062.38 - - - - - - - - - 15.88 -
13439.08 802.28 9.46 1450 13443.72 done 1.71 - - 2748.62 - 2.68 0.083 993.31 -400.4 171.09 - - 2063.88 - - - - - - - - - 15.85 -
13524.12 794.13 10.29 1463 13539.08 done 1.71 - - 2748.69 - 2.66 0.025 2141.44 431.6 171.09 - - 2062.44 - - - - - - - - - 15.93 -
13853.71 761.69 9.24 1485 13858.42 done 1.71 - - 2749.19 - 2.71 0.085 3206.12 392.9 171.09 - - 2062.09 - - - - - - - - - 15.86 -
13897.43 757.98 9.59 1492 13912.18 done 1.71 - - 2749.44 - 2.58 0.025 2067.25 -441.4 171.09 - - 2062.62 - - - - - - - - - 15.93 -
14226.67 727.58 8.61 1514 14228.00 VBD 1.71 - - 2749.12 - - - 2066.94 - 171.09 - - 2061.56 - - - - - - - - - - -
14541.67 698.96 9.54 1535 14543.01 VBD 1.71 - - 2749.62 - - - 2067.25 - 171.09 - - 2061.28 - - - - - - - - - - -
14856.71 667.63 9.82 1556 14858.04 VBD 1.71 - - 2749.69 - - - 2067.62 - 171.09 - - 2060.03 - - - - - - - - - - -
15171.74 635.81 9.78 1577 15176.42 done 1.71 - - 2749.62 - 2.90 0.081 3205.94 392.5 171.09 - - 2060.16 - - - - - - - - - 15.88 -
15208.93 632.09 9.88 1582 15213.56 done 1.71 - - 2749.25 - 2.58 0.025 2069.88 -440.3 171.09 - - 2061.56 - - - - - - - - - 15.97 -
15525.41 603.26 8.82 1604 15530.04 done 1.71 - - 2749.12 - 2.68 0.084 994.06 -401.4 171.09 - - 2060.44 - - - - - - - - - 15.87 -
15563.95 599.71 9.23 1610 15569.51 done 1.71 - - 2749.38 - 2.67 0.025 2150.25 433.0 171.09 - - 2060.53 - - - - - - - - - 15.98 -
15883.36 572.78 8.31 1632 15888.04 done 1.71 - - 2747.44 - 2.90 0.079 994.94 -398.4 171.09 - - 2061.44 - - - - - - - - - 15.87 -
15906.16 571.31 8.46 1636 15921.13 done 1.71 - - 2748.88 - 2.66 0.025 2147.12 433.2 171.09 - - 2061.19 - - - - - - - - - 15.99 -
16235.77 542.19 8.56 1658 16237.10 VBD 1.71 - - 2749.38 - - - 2147.12 - 171.09 - - 2059.38 - - - - - - - - - - -
16550.70 515.69 8.41 1679 16555.37 done 1.71 - - 2749.69 - 2.90 0.079 993.62 -397.8 171.09 - - 2059.19 - - - - - - - - - 15.87 -
16609.98 510.19 9.21 1688 16615.54 done 1.71 - - 2749.38 - 2.66 0.025 2144.69 432.7 171.09 - - 2060.41 - - - - - - - - - 15.98 -
16916.86 484.53 8.39 1714 16927.94 VBD 1.71 - - 2749.50 - - - 2144.88 - 171.09 - - 2060.00 - - - - - - - - - - -
17229.58 457.17 8.73 1743 17234.22 done 1.71 - - 2747.62 - 2.70 0.084 3204.06 392.3 171.09 - - 2060.91 - - - - - - - - - 15.87 -
17268.13 453.63 9.16 1749 17283.05 done 1.71 - - 2749.56 - 2.57 0.024 2068.56 -441.8 171.09 - - 2060.00 - - - - - - - - - 15.98 -
17584.55 426.99 7.89 1778 17595.62 VBD 1.73 - - 2749.19 - - - 2068.75 - 171.09 - - 2060.16 - - - - - - - - - - -
17897.29 403.03 7.33 1807 17901.94 done 1.75 - - 2749.62 - 2.70 0.083 992.44 -398.6 171.09 - - 2058.72 - - - - - - - - - 15.86 -
17981.71 396.14 8.08 1818 17986.33 done 1.75 - - 2748.25 - 2.67 0.025 2147.44 432.6 171.09 - - 2059.75 - - - - - - - - - 15.98 -
18293.62 373.81 7.04 1847 18298.29 done 1.78 - - 2749.38 - 2.89 0.078 992.38 -399.7 171.09 - - 2058.75 - - - - - - - - - 15.85 -
18332.35 370.85 7.60 1853 18347.14 done 1.79 - - 2748.62 - 2.66 0.024 2146.19 433.8 171.09 - - 2059.66 - - - - - - - - - 15.99 -
18648.93 347.85 7.04 1882 18660.01 VBD 1.82 - - 2749.50 - - - 2146.38 - 171.09 - - 2059.88 - - - - - - - - - - -
18962.01 326.52 6.78 1911 18966.69 done 1.86 - - 2749.31 - 2.88 0.078 993.56 -400.3 171.09 - - 2058.38 - - - - - - - - - 15.86 -
19014.95 322.49 7.39 1918 19019.66 1.88 0.16 0.093 2788.06 242.2 2.65 0.024 2143.81 434.1 171.09 - - 2061.25 - - - - - - - - 15.81 15.98 -
19322.29 298.39 8.04 1948 19323.63 VBD 1.88 - - 2787.81 - - - 2144.06 - 171.09 - - 2059.34 - - - - - - - - - - -
19627.38 274.45 7.68 2009 19628.71 VBD 1.89 - - 2787.62 - - - 2144.12 - 171.09 - - 2058.75 - - - - - - - - - - -
19932.47 250.14 8.14 2070 19938.04 done 1.89 - - 2788.69 - 2.89 0.077 992.50 -398.5 171.09 - - 2061.25 - - - - - - - - - 15.84 -
19987.48 245.54 8.46 2081 19993.03 done 1.89 - - 2788.38 - 2.64 0.024 2138.69 434.2 171.09 - - 2061.12 - - - - - - - - - 15.97 -
20297.58 220.59 8.26 2143 20298.92 VBD 1.89 - - 2788.12 - - - 2139.06 - 171.09 - - 2059.00 - - - - - - - - - - -
20602.90 193.32 9.05 2204 20608.25 done 1.89 - - 2788.56 - 2.86 0.077 992.56 -400.9 171.09 - - 2060.41 - - - - - - - - - 15.83 -
20672.69 186.45 9.90 2218 20678.24 done 1.89 - - 2788.50 - 2.64 0.024 2141.44 435.2 171.09 - - 2061.47 - - - - - - - - - 15.96 -
20982.81 161.16 7.64 2280 20988.36 done 1.91 - - 2787.94 - 2.88 0.076 992.50 -398.9 171.09 - - 2061.62 - - - - - - - - - 15.84 -
21072.82 154.28 7.48 2298 21078.36 done 1.93 - - 2788.06 - 2.65 0.024 2140.31 433.1 171.09 - - 2059.94 - - - - - - - - - 15.97 -
21382.92 134.26 6.09 2360 21429.39 2.05 0.17 0.084 2828.94 240.5 - - 2140.00 - 229.06 44.94 1.327 1841.12 -4.9 0.086 - - - - - - 15.94 - 10.53
21732.97 105.13 9.07 2430 21738.53 roll 2.05 - - 2829.81 - 2.72 0.081 3204.56 391.4 229.06 - - 1834.41 - - - - - - - - - 15.79 -
21788.15 99.75 9.77 2441 21793.57 roll 2.05 - - 2829.00 - 2.60 0.023 2059.50 -440.4 229.06 - - 1834.41 - - - - - - - - - 15.86 -
21978.02 84.80 7.02 2479 21979.35 VBD 2.07 - - 2828.94 - - - 2058.69 - 229.06 - - 1832.28 - - - - - - - - - - -
22163.04 73.58 6.47 2516 22168.63 done 2.11 - - 2829.19 - 2.93 0.076 3206.25 391.7 229.06 - - 1832.50 - - - - - - - - - 15.82 -
22283.06 65.95 6.02 2540 22335.29 2.23 0.21 0.076 2874.81 217.2 2.58 0.023 2064.69 -442.5 288.90 47.22 1.228 1597.56 -5.0 0.046 - - - - - - 15.77 15.90 11.11
22518.09 52.73 5.10 2587 22587.68 2.40 0.16 0.091 2913.06 239.1 2.96 0.077 3207.50 386.1 371.31 64.47 1.193 1260.72 -5.2 0.040 - - - - - - 15.77 15.35 11.29
22729.93 35.23 9.90 2629 22735.48 roll 2.40 - - 2913.00 - 2.68 0.024 2039.50 -435.8 371.31 - - 1256.47 - - - - - - - - - 15.70 -
22920.02 15.87 9.85 2667 22925.56 done 2.40 - - 2912.75 - 2.99 0.073 3206.25 390.2 371.31 - - 1253.47 - - - - - - - - - 15.73 -
22984.97 8.61 11.24 2680 22990.52 done 2.40 - - 2912.56 - 2.64 0.024 2048.88 -438.4 371.31 - - 1253.47 - - - - - - - - - 15.79 -
23035 end climb: SURFACE_DEPTH_REACHED
23035 begin surface coast
23080 end surface coast: CONTROL_FINISHED_OK
23080 begin surface
SM 0.47 - - - - 183.2 41.28 1.137 1043.1 25.3 17.04 0.049 1008.7 59.2 - 0.67 0.048 1077.5 1604.3 -1.606 - - 11.25 15.75 15.81 -