NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 947 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 330.99 of 550.00 AH used of 24V (39.82% remains)
• Surface angle -61.7 deg, depth 0.37 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 31 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 - - - 82.62 VBD -1.54 - - 178.31 - - - 2234.94 - -82.73 75.37 0.005 2832.09 - - - - - - - - - - 14.88
83.35 3.60 -5.09 14 115.04 -1.54 14.52 0.240 1947.06 121.8 3.09 0.084 3426.44 385.6 -82.73 6.32 0.008 3112.31 44.3 -3.459 - - - - - - 15.37 14.91 15.05
317.14 46.01 -16.77 61 322.70 roll -1.54 - - 1946.38 - 2.61 0.019 2252.12 -449.9 -82.73 - - 3113.75 - - - - - - - - - 15.79 -
507.81 73.37 -12.24 99 512.71 roll -1.54 - - 1947.75 - 2.55 0.062 1207.75 -409.6 -82.73 - - 3113.38 - - - - - - - - - 15.82 -
707.59 94.70 -10.44 139 712.76 roll -1.54 - - 1947.62 - 2.63 0.026 2334.38 428.4 -82.73 - - 3114.09 - - - - - - - - - 15.88 -
897.23 111.97 -9.42 177 898.56 no move -1.54 - - 1947.69 - - - 2334.44 - -82.73 - - 3112.62 - - - - - - - - - - -
1202.27 139.73 -8.98 238 1207.83 roll -1.54 - - 1947.69 - 2.74 0.056 1207.94 -411.1 -82.73 - - 3114.44 - - - - - - - - - 15.91 -
1232.26 142.36 -8.84 244 1237.80 roll -1.54 - - 1947.81 - 2.60 0.025 2327.44 430.6 -82.73 - - 3115.12 - - - - - - - - - 15.92 -
1542.32 168.96 -8.54 306 1547.87 roll -1.54 - - 1946.38 - 2.73 0.056 1208.31 -409.9 -82.73 - - 3114.34 - - - - - - - - - 15.92 -
1637.32 177.55 -9.40 325 1642.85 roll -1.54 - - 1947.19 - 2.59 0.025 2321.50 429.8 -82.73 - - 3114.66 - - - - - - - - - 15.95 -
1947.37 206.10 -9.17 387 1953.11 roll -1.54 - - 1947.62 - 2.72 0.057 1207.06 -409.7 -82.73 - - 3115.31 - - - - - - - - - 15.93 -
2032.54 214.35 -9.54 404 2037.91 roll -1.54 - - 1947.44 - 2.57 0.025 2315.19 431.2 -82.73 - - 3115.22 - - - - - - - - - 15.96 -
2342.42 242.96 -9.06 466 2347.99 roll -1.54 - - 1948.06 - 2.70 0.057 1208.19 -410.0 -82.73 - - 3114.50 - - - - - - - - - 15.94 -
2372.41 245.80 -9.36 472 2377.95 roll -1.54 - - 1947.69 - 2.57 0.025 2314.88 430.6 -82.73 - - 3115.69 - - - - - - - - - 15.97 -
2682.69 273.13 -8.63 534 2688.06 roll -1.54 - - 1947.69 - 2.71 0.058 1208.00 -408.4 -82.73 - - 3115.72 - - - - - - - - - 15.94 -
2727.51 277.16 -9.02 543 2733.04 roll -1.54 - - 1946.94 - 2.56 0.025 2311.19 430.9 -82.73 - - 3114.53 - - - - - - - - - 15.97 -
3038.43 304.63 -8.95 599 3049.51 no move -1.54 - - 1947.56 - - - 2310.88 - -82.73 - - 3115.16 - - - - - - - - - - -
3351.14 331.44 -8.61 628 3355.77 roll -1.54 - - 1947.56 - 2.69 0.059 1208.75 -409.7 -82.73 - - 3114.31 - - - - - - - - - 15.96 -
3452.62 340.59 -9.14 642 3467.54 roll -1.54 - - 1947.88 - 2.56 0.026 2313.81 431.7 -82.73 - - 3115.50 - - - - - - - - - 16.00 -
3769.18 368.04 -8.51 671 3773.88 roll -1.54 - - 1947.81 - 2.70 0.059 1208.25 -409.5 -82.73 - - 3113.34 - - - - - - - - - 15.95 -
3823.46 372.84 -8.94 679 3838.38 roll -1.54 - - 1947.56 - 2.57 0.026 2312.06 429.5 -82.73 - - 3114.41 - - - - - - - - - 16.00 -
4139.63 401.27 -8.94 708 4144.28 roll -1.54 - - 1947.88 - 2.70 0.060 1209.62 -408.3 -82.73 - - 3113.03 - - - - - - - - - 15.96 -
4208.30 407.73 -9.36 717 4212.93 roll -1.54 - - 1947.75 - 2.56 0.026 2309.12 429.5 -82.73 - - 3114.19 - - - - - - - - - 15.99 -
4520.50 434.75 -8.45 746 4525.13 roll -1.54 - - 1947.94 - 2.68 0.060 1208.12 -410.8 -82.73 - - 3113.59 - - - - - - - - - 15.95 -
4573.43 439.50 -8.82 753 4578.04 roll -1.54 - - 1947.50 - 2.54 0.026 2304.50 431.6 -82.73 - - 3113.38 - - - - - - - - - 16.00 -
4884.70 466.07 -8.45 782 4895.78 no move -1.54 - - 1947.50 - - - 2304.06 - -82.73 - - 3113.38 - - - - - - - - - - -
5198.26 492.25 -8.57 811 5209.33 no move -1.54 - - 1948.19 - - - 2304.25 - -82.73 - - 3113.06 - - - - - - - - - - -
5510.31 519.23 -8.68 834 5511.64 no move -1.54 - - 1947.50 - - - 2304.00 - -82.73 - - 3111.16 - - - - - - - - - - -
5825.32 546.55 -8.79 855 5829.94 roll -1.54 - - 1947.81 - 2.69 0.061 1207.88 -407.5 -82.73 - - 3110.97 - - - - - - - - - 15.95 -
5903.99 553.91 -9.30 866 5908.78 roll -1.54 - - 1945.81 - 2.54 0.026 2302.75 431.1 -82.73 - - 3112.69 - - - - - - - - - 16.00 -
6220.59 580.01 -7.83 888 6225.21 roll -1.54 - - 1947.62 - 2.67 0.061 1209.19 -409.6 -82.73 - - 3112.69 - - - - - - - - - 15.95 -
6257.78 582.94 -7.86 893 6262.39 roll -1.54 - - 1947.62 - 2.53 0.026 2298.25 430.5 -82.73 - - 3111.94 - - - - - - - - - 16.00 -
6574.25 606.93 -7.58 915 6578.88 roll -1.54 - - 1947.38 - 2.66 0.062 1207.50 -410.1 -82.73 - - 3109.97 - - - - - - - - - 15.94 -
6652.92 613.06 -7.75 926 6657.54 roll -1.54 - - 1947.62 - 2.53 0.026 2293.62 429.3 -82.73 - - 3110.41 - - - - - - - - - 16.01 -
6969.40 636.17 -7.51 948 6974.08 roll -1.54 - - 1947.19 - 2.92 0.088 3426.12 387.8 -82.73 - - 3111.66 - - - - - - - - - 15.88 -
7028.68 640.91 -8.02 957 7034.25 roll -1.54 - - 1947.50 - 2.72 0.020 2192.75 -453.4 -82.73 - - 3110.97 - - - - - - - - - 16.00 -
7348.09 664.94 -7.70 979 7349.42 no move -1.54 - - 1947.50 - - - 2192.06 - -82.73 - - 3109.81 - - - - - - - - - - -
7663.10 688.56 -7.42 1000 7664.43 no move -1.54 - - 1947.50 - - - 2192.00 - -82.73 - - 3109.09 - - - - - - - - - - -
7978.12 712.77 -7.52 1021 7982.84 roll -1.54 - - 1947.69 - 3.17 0.084 3423.25 388.4 -82.73 - - 3109.19 - - - - - - - - - 15.88 -
8036.04 717.62 -8.14 1029 8040.69 roll -1.54 - - 1945.88 - 2.71 0.020 2195.19 -453.2 -82.73 - - 3109.72 - - - - - - - - - 15.99 -
8352.70 740.49 -6.91 1051 8354.03 no move -1.54 - - 1947.88 - - - 2194.81 - -82.73 - - 3108.38 - - - - - - - - - - -
8667.97 762.35 -6.76 1072 8672.70 roll -1.54 - - 1946.06 - 3.17 0.084 3426.88 388.7 -82.73 - - 3109.06 - - - - - - - - - 15.87 -
8727.25 766.64 -7.19 1081 8732.83 roll -1.54 - - 1947.38 - 2.70 0.020 2199.06 -454.7 -82.73 - - 3109.22 - - - - - - - - - 16.00 -
9046.66 787.65 -6.69 1103 9051.38 roll -1.54 - - 1947.06 - 3.17 0.084 3426.75 387.3 -82.73 - - 3108.25 - - - - - - - - - 15.86 -
9105.94 792.11 -7.44 1112 9111.51 roll -1.54 - - 1947.25 - 2.70 0.020 2202.00 -453.6 -82.73 - - 3110.56 - - - - - - - - - 15.99 -
9425.34 815.04 -7.31 1134 9429.94 roll -1.54 - - 1946.94 - 2.43 0.070 1209.06 -408.6 -82.73 - - 3110.06 - - - - - - - - - 15.91 -
9484.84 819.51 -7.62 1143 9490.17 roll -1.54 - - 1947.69 - 2.54 0.027 2300.50 429.7 -82.73 - - 3108.16 - - - - - - - - - 16.01 -
9804.05 843.19 -7.27 1165 9805.38 no move -1.54 - - 1947.44 - - - 2300.50 - -82.73 - - 3107.91 - - - - - - - - - - -
10119.09 865.92 -7.44 1186 10120.42 no move -1.54 - - 1947.56 - - - 2300.12 - -82.73 - - 3106.28 - - - - - - - - - - -
10434.09 888.35 -7.23 1207 10438.72 roll -1.54 - - 1946.31 - 2.69 0.064 1209.06 -405.6 -82.73 - - 3106.97 - - - - - - - - - 15.91 -
10533.71 895.82 -7.50 1221 10538.32 roll -1.54 - - 1945.81 - 2.53 0.027 2299.19 430.9 -82.73 - - 3108.53 - - - - - - - - - 15.99 -
10850.35 917.92 -6.93 1243 10851.68 no move -1.54 - - 1947.44 - - - 2299.56 - -82.73 - - 3105.72 - - - - - - - - - - -
11165.30 939.57 -7.09 1264 11169.99 roll -1.54 - - 1947.38 - 2.91 0.090 3425.75 387.0 -82.73 - - 3105.47 - - - - - - - - - 15.84 -
11203.84 942.48 -7.46 1270 11209.42 roll -1.54 - - 1947.19 - 2.71 0.020 2199.12 -452.6 -82.73 - - 3107.31 - - - - - - - - - 15.99 -
11523.24 965.94 -7.51 1292 11527.96 roll -1.54 - - 1945.50 - 3.17 0.086 3426.25 387.1 -82.73 - - 3106.59 - - - - - - - - - 15.84 -
11561.79 969.01 -7.91 1298 11567.34 roll -1.54 - - 1947.00 - 2.70 0.021 2199.12 -454.5 -82.73 - - 3106.28 - - - - - - - - - 15.99 -
11866 end dive: TARGET_DEPTH_EXCEEDED
11866 begin apogee
11868.01 990.62 -6.82 1319 11943.72 -0.28 2.21 0.138 2254.38 139.1 0.17 0.149 2160.81 -225.4 - 67.09 2.404 2775.22 -4.9 0.353 - - - - - - 15.76 15.18 10.19
11945 end apogee: CONTROL_FINISHED_OK
11945 begin climb
11946.18 992.28 - 1324 12033.20 1.54 3.02 0.086 2698.12 146.9 0.17 0.081 2037.06 -727.9 82.73 70.49 2.342 2437.59 -4.8 0.352 - - - - - - 15.46 15.56 11.63
12345.46 970.49 6.25 1357 12398.25 done 1.65 - - 2696.81 - 2.72 0.089 993.81 -383.5 136.94 47.15 2.323 2217.00 -4.7 0.339 - - - - - - - 15.18 11.25
12426.35 964.85 7.46 1370 12441.18 roll back 1.67 0.17 0.085 2737.81 241.2 2.73 0.024 2135.06 418.0 136.94 - - 2214.25 - - - - - - - - 15.44 15.52 -
12755.58 935.03 8.83 1392 12760.23 roll 1.67 - - 2738.31 - 2.78 0.083 3205.88 385.2 136.94 - - 2209.31 - - - - - - - - - 15.73 -
12819.86 929.32 9.60 1402 12834.80 roll 1.67 - - 2738.75 - 2.62 0.025 2057.50 -438.3 136.94 - - 2210.62 - - - - - - - - - 15.77 -
13149.27 900.02 8.33 1424 13153.95 roll 1.67 - - 2738.12 - 2.96 0.080 3206.19 388.1 136.94 - - 2209.75 - - - - - - - - - 15.80 -
13186.47 896.75 8.54 1429 13191.10 roll 1.67 - - 2738.31 - 2.62 0.025 2054.75 -439.5 136.94 - - 2210.56 - - - - - - - - - 15.85 -
13502.96 870.98 8.14 1451 13504.29 no move 1.67 - - 2738.44 - - - 2055.19 - 136.94 - - 2208.22 - - - - - - - - - - -
13818.00 846.47 7.36 1472 13819.33 VBD 1.69 - - 2738.38 - - - 2055.12 - 136.94 - - 2207.53 - - - - - - - - - - -
14133.22 822.23 7.67 1493 14137.86 done 1.70 - - 2738.31 - 2.66 0.085 993.69 -399.0 136.94 - - 2208.25 - - - - - - - - - 15.85 -
14171.87 819.03 8.11 1499 14177.32 done 1.70 - - 2738.56 - 2.66 0.025 2137.12 429.9 136.94 - - 2207.81 - - - - - - - - - 15.95 -
14491.17 792.40 8.46 1521 14495.82 done 1.70 - - 2738.94 - 2.74 0.084 3204.19 389.4 136.94 - - 2205.78 - - - - - - - - - 15.87 -
14528.36 789.04 8.78 1526 14532.98 done 1.70 - - 2738.25 - 2.60 0.025 2058.44 -440.7 136.94 - - 2207.66 - - - - - - - - - 15.94 -
14844.86 762.02 8.33 1548 14846.19 VBD 1.70 - - 2738.31 - - - 2058.62 - 136.94 - - 2205.56 - - - - - - - - - - -
15159.90 735.09 8.82 1569 15164.59 done 1.70 - - 2738.56 - 2.96 0.080 3206.94 387.9 136.94 - - 2205.34 - - - - - - - - - 15.87 -
15239.93 727.83 9.18 1581 15245.48 done 1.70 - - 2737.94 - 2.61 0.025 2062.19 -438.6 136.94 - - 2207.38 - - - - - - - - - 15.96 -
15559.34 701.63 8.13 1603 15563.97 done 1.70 - - 2736.69 - 2.69 0.085 993.12 -397.4 136.94 - - 2207.34 - - - - - - - - - 15.86 -
15644.38 694.73 8.71 1616 15659.31 done 1.70 - - 2738.50 - 2.65 0.025 2135.81 431.2 136.94 - - 2206.53 - - - - - - - - - 15.98 -
15973.79 669.13 7.48 1638 15978.45 done 1.72 - - 2738.38 - 2.75 0.084 3205.69 389.0 136.94 - - 2205.62 - - - - - - - - - 15.87 -
16054.01 662.95 7.81 1650 16059.42 done 1.74 - - 2737.75 - 2.61 0.025 2058.88 -439.4 136.94 - - 2206.12 - - - - - - - - - 15.99 -
16373.24 639.94 7.16 1672 16377.87 done 1.76 - - 2738.62 - 2.65 0.085 993.50 -402.0 136.94 - - 2206.84 - - - - - - - - - 15.86 -
16416.80 637.00 7.59 1679 16431.72 done 1.78 - - 2738.56 - 2.66 0.025 2141.69 431.7 136.94 - - 2206.88 - - - - - - - - - 15.98 -
16746.81 611.73 7.47 1701 16748.14 VBD 1.80 - - 2738.69 - - - 2141.38 - 136.94 - - 2204.47 - - - - - - - - - - -
17061.22 588.23 7.48 1722 17062.56 VBD 1.82 - - 2738.56 - - - 2141.81 - 136.94 - - 2205.19 - - - - - - - - - - -
17376.24 564.96 7.17 1743 17377.68 1.85 0.17 0.083 2782.50 258.5 - - 2141.56 - 136.94 - - 2204.78 - - - - - - - - 15.95 - -
17691.57 539.19 8.17 1764 17696.22 done 1.85 - - 2782.94 - 2.72 0.083 3204.69 390.9 136.94 - - 2205.09 - - - - - - - - - 15.87 -
17735.12 536.00 8.31 1771 17750.06 done 1.85 - - 2783.00 - 2.61 0.025 2052.50 -441.5 136.94 - - 2205.53 - - - - - - - - - 15.98 -
18064.54 509.70 7.67 1793 18069.23 done 1.86 - - 2782.88 - 2.96 0.079 3205.31 389.5 136.94 - - 2204.12 - - - - - - - - - 15.86 -
18103.10 506.67 7.97 1799 18108.64 done 1.86 - - 2783.12 - 2.60 0.025 2057.88 -441.3 136.94 - - 2205.94 - - - - - - - - - 15.98 -
18412.19 482.75 7.97 1826 18423.26 VBD 1.86 - - 2783.06 - - - 2057.56 - 136.94 - - 2205.25 - - - - - - - - - - -
18725.39 458.42 7.53 1855 18730.08 done 1.88 - - 2782.94 - 2.94 0.079 3205.12 390.3 136.94 - - 2204.53 - - - - - - - - - 15.86 -
18763.95 455.35 7.88 1861 18778.86 done 1.89 - - 2783.56 - 2.58 0.025 2062.00 -443.1 136.94 - - 2205.12 - - - - - - - - - 15.98 -
19080.15 431.36 7.47 1890 19084.79 done 1.91 - - 2783.12 - 2.66 0.084 993.38 -401.7 136.94 - - 2204.19 - - - - - - - - - 15.84 -
19227.85 419.33 8.05 1909 19232.49 done 1.91 - - 2783.25 - 2.63 0.025 2136.62 434.7 136.94 - - 2204.38 - - - - - - - - - 15.98 -
19539.44 397.89 6.77 1938 19544.09 done 1.94 - - 2782.94 - 2.71 0.083 3206.50 394.8 136.94 - - 2204.56 - - - - - - - - - 15.85 -
19577.99 395.25 6.92 1944 19592.91 done 1.98 - - 2782.81 - 2.59 0.024 2055.62 -444.4 136.94 - - 2205.28 - - - - - - - - - 15.98 -
19894.34 374.94 6.29 1973 19939.38 2.08 0.26 0.069 2840.19 220.7 - - 2054.94 - 190.11 43.10 1.657 1999.47 -4.8 0.187 - - - - - - 15.93 - 10.54
20241.18 342.27 9.87 2005 20245.86 roll 2.08 - - 2839.31 - 2.95 0.078 3202.81 389.1 190.11 - - 1993.25 - - - - - - - - - 15.78 -
20325.77 333.11 10.72 2016 20330.45 roll 2.08 - - 2840.50 - 2.59 0.025 2063.12 -440.0 190.11 - - 1994.81 - - - - - - - - - 15.85 -
20637.77 300.59 10.10 2045 20642.40 roll 2.08 - - 2840.75 - 2.66 0.083 992.75 -402.4 190.11 - - 1990.97 - - - - - - - - - 15.80 -
20676.35 296.35 10.73 2051 20681.91 done 2.08 - - 2840.75 - 2.67 0.025 2143.38 430.9 190.11 - - 1992.09 - - - - - - - - - 15.89 -
20986.40 265.17 9.64 2113 20991.98 done 2.08 - - 2841.19 - 2.88 0.078 992.50 -399.6 190.11 - - 1992.00 - - - - - - - - - 15.81 -
21081.41 255.52 10.14 2132 21086.96 done 2.08 - - 2840.94 - 2.65 0.025 2134.25 430.8 190.11 - - 1991.44 - - - - - - - - - 15.91 -
21391.66 228.89 8.65 2194 21397.04 done 2.08 - - 2841.31 - 2.71 0.082 3204.38 394.9 190.11 - - 1992.38 - - - - - - - - - 15.83 -
21426.49 225.59 9.38 2201 21432.04 done 2.08 - - 2841.06 - 2.61 0.024 2049.31 -442.6 190.11 - - 1991.12 - - - - - - - - - 15.92 -
21736.60 197.58 9.54 2263 21742.39 done 2.08 - - 2840.88 - 2.95 0.077 3207.12 392.5 190.11 - - 1990.62 - - - - - - - - - 15.84 -
21771.77 193.97 10.33 2270 21777.14 done 2.08 - - 2840.75 - 2.60 0.024 2053.06 -443.9 190.11 - - 1990.53 - - - - - - - - - 15.93 -
22081.72 161.51 11.21 2332 22087.25 done 2.08 - - 2840.69 - 2.62 0.082 993.62 -404.4 190.11 - - 1990.62 - - - - - - - - - 15.83 -
22196.74 148.05 11.59 2355 22202.30 done 2.08 - - 2840.88 - 2.61 0.024 2128.81 434.9 190.11 - - 1990.41 - - - - - - - - - 15.94 -
22506.87 119.97 7.89 2417 22512.41 done 2.09 - - 2840.31 - 2.73 0.080 3206.12 394.6 190.11 - - 1991.31 - - - - - - - - - 15.85 -
22651.89 108.50 8.30 2446 22657.43 done 2.09 - - 2839.56 - 2.62 0.024 2034.25 -447.3 190.11 - - 1990.66 - - - - - - - - - 15.95 -
22962.01 90.45 5.64 2508 23021.49 done 2.23 - - 2841.31 - 2.61 0.083 992.50 -399.1 259.23 54.12 1.284 1716.31 -5.1 0.062 - - - - - - - 15.44 10.86
23144.29 74.86 10.12 2544 23149.33 roll 2.23 - - 2840.81 - 2.60 0.023 2115.00 431.7 259.23 - - 1711.16 - - - - - - - - - 15.80 -
23333.87 61.48 6.12 2582 23385.48 2.35 0.29 0.068 2899.19 201.3 2.83 0.078 992.56 -396.6 316.59 44.85 1.220 1484.09 -5.1 0.044 - - - - - - 15.80 15.40 11.33
23428.86 54.29 9.09 2601 23434.40 roll 2.35 - - 2899.44 - 2.56 0.022 2093.62 430.1 316.59 - - 1481.09 - - - - - - - - - 15.72 -
23618.93 40.16 7.35 2639 23624.50 roll 2.37 - - 2899.12 - 2.85 0.078 3205.44 390.1 316.59 - - 1477.09 - - - - - - - - - 15.74 -
23808.97 24.83 7.99 2677 23814.54 done 2.37 - - 2899.94 - 2.72 0.024 2011.69 -438.9 316.59 - - 1475.62 - - - - - - - - - 15.82 -
23999.05 12.28 5.08 2715 24065.89 2.53 0.22 0.075 2946.75 212.8 - - 2011.25 - 399.29 63.78 1.153 1148.34 -5.1 0.009 - - - - - - 15.81 - 11.17
24089 end climb: SURFACE_DEPTH_REACHED
24089 begin surface coast
24129 end surface coast: CONTROL_FINISHED_OK
24129 begin surface
SM 0.47 - - - - 180.4 21.47 1.090 1043.1 45.6 17.35 0.049 1007.4 58.1 - 0.76 0.047 1078.8 1419.5 -1.451 - - 11.52 15.65 15.71 -