NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 954 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 333.87 of 550.00 AH used of 24V (39.30% remains)
• Surface angle -48.0 deg, depth 0.43 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 56 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
5.70 - - - 87.69 VBD -1.54 - - 184.25 - - - 2254.44 - -82.73 80.43 0.005 2952.03 - - - - - - - - - - 14.86
88.42 3.27 -4.12 15 115.58 -1.54 14.37 0.241 1947.75 122.7 2.62 0.063 1209.19 -399.0 -82.73 3.78 0.010 3111.75 42.3 -2.419 - - - - - - 15.34 14.94 15.05
342.68 41.69 -9.83 66 348.23 roll -1.54 - - 1947.81 - 2.69 0.027 2352.06 424.9 -82.73 - - 3111.41 - - - - - - - - - 15.82 -
533.35 66.18 -12.17 104 538.29 roll -1.54 - - 1947.81 - 2.86 0.059 1209.19 -399.6 -82.73 - - 3112.38 - - - - - - - - - 15.80 -
672.73 83.08 -11.27 132 678.28 roll -1.54 - - 1947.62 - 2.68 0.026 2349.62 425.5 -82.73 - - 3111.16 - - - - - - - - - 15.87 -
862.76 102.85 -10.13 170 864.09 no move -1.54 - - 1947.62 - - - 2349.81 - -82.73 - - 3109.84 - - - - - - - - - - -
1167.79 130.60 -9.19 231 1173.37 roll -1.54 - - 1946.69 - 2.84 0.058 1209.19 -401.6 -82.73 - - 3111.25 - - - - - - - - - 15.88 -
1297.81 143.27 -9.62 257 1303.36 roll -1.54 - - 1947.44 - 2.64 0.026 2349.88 432.1 -82.73 - - 3112.44 - - - - - - - - - 15.92 -
1607.90 173.13 -9.88 319 1613.48 roll -1.54 - - 1947.62 - 2.84 0.058 1209.44 -401.6 -82.73 - - 3112.09 - - - - - - - - - 15.90 -
1652.91 177.54 -9.83 328 1658.46 roll -1.54 - - 1947.38 - 2.66 0.026 2350.56 429.0 -82.73 - - 3111.78 - - - - - - - - - 15.95 -
1963.03 206.54 -9.54 390 1968.78 roll -1.54 - - 1947.62 - 2.82 0.058 1209.31 -404.7 -82.73 - - 3112.44 - - - - - - - - - 15.91 -
2018.20 211.89 -9.70 401 2023.58 roll -1.54 - - 1947.62 - 2.62 0.026 2345.81 433.8 -82.73 - - 3112.06 - - - - - - - - - 15.95 -
2328.14 239.15 -8.86 463 2333.72 roll -1.54 - - 1947.94 - 2.82 0.059 1208.81 -403.2 -82.73 - - 3111.78 - - - - - - - - - 15.92 -
2398.16 245.45 -9.07 477 2403.71 roll -1.54 - - 1947.56 - 2.64 0.026 2346.00 430.8 -82.73 - - 3112.25 - - - - - - - - - 15.96 -
2708.27 270.85 -7.97 539 2713.85 roll -1.54 - - 1947.56 - 2.82 0.059 1209.25 -403.1 -82.73 - - 3111.31 - - - - - - - - - 15.92 -
2773.28 276.35 -8.56 552 2778.83 roll -1.54 - - 1947.88 - 2.64 0.026 2343.12 429.5 -82.73 - - 3112.53 - - - - - - - - - 15.97 -
3087.75 302.73 -8.52 611 3092.42 roll -1.54 - - 1947.50 - 2.82 0.059 1209.50 -402.0 -82.73 - - 3112.56 - - - - - - - - - 15.94 -
3173.50 310.35 -9.00 623 3188.44 roll -1.54 - - 1947.44 - 2.64 0.026 2339.75 428.1 -82.73 - - 3114.12 - - - - - - - - - 16.00 -
3489.90 339.10 -9.21 652 3494.62 roll -1.54 - - 1947.31 - 2.83 0.059 1209.19 -399.5 -82.73 - - 3111.97 - - - - - - - - - 15.94 -
3606.12 350.56 -9.96 667 3610.75 roll -1.54 - - 1948.25 - 2.62 0.026 2334.69 429.6 -82.73 - - 3111.66 - - - - - - - - - 15.99 -
3917.78 378.64 -8.78 696 3922.43 roll -1.54 - - 1947.75 - 2.79 0.060 1210.75 -402.8 -82.73 - - 3110.38 - - - - - - - - - 15.94 -
3956.33 382.05 -8.96 702 3971.27 roll -1.54 - - 1947.94 - 2.61 0.026 2331.75 429.5 -82.73 - - 3112.00 - - - - - - - - - 16.00 -
4273.47 409.22 -8.28 731 4284.54 no move -1.54 - - 1947.69 - - - 2331.50 - -82.73 - - 3112.12 - - - - - - - - - - -
4586.29 436.88 -9.02 760 4590.94 roll -1.54 - - 1947.25 - 2.79 0.060 1209.31 -402.2 -82.73 - - 3111.00 - - - - - - - - - 15.94 -
4686.44 446.50 -9.63 773 4691.06 roll -1.54 - - 1947.94 - 2.60 0.026 2323.88 428.7 -82.73 - - 3109.91 - - - - - - - - - 15.99 -
4998.58 474.09 -8.63 802 5003.23 roll -1.54 - - 1947.56 - 2.75 0.061 1210.75 -404.8 -82.73 - - 3110.56 - - - - - - - - - 15.94 -
5052.86 478.96 -9.08 810 5067.79 roll -1.54 - - 1947.56 - 2.58 0.026 2316.38 428.5 -82.73 - - 3110.66 - - - - - - - - - 15.99 -
5379.66 506.68 -8.40 838 5380.99 no move -1.54 - - 1947.50 - - - 2316.44 - -82.73 - - 3109.03 - - - - - - - - - - -
5694.85 532.99 -8.26 859 5699.56 roll -1.54 - - 1947.00 - 2.77 0.061 1208.81 -399.9 -82.73 - - 3110.44 - - - - - - - - - 15.93 -
5795.96 541.80 -8.83 874 5801.50 roll -1.54 - - 1947.12 - 2.59 0.026 2313.81 426.6 -82.73 - - 3110.59 - - - - - - - - - 16.01 -
6115.38 567.46 -7.71 896 6120.03 roll -1.54 - - 1947.75 - 2.76 0.062 1209.12 -400.3 -82.73 - - 3109.56 - - - - - - - - - 15.93 -
6214.81 575.72 -8.31 910 6219.42 roll -1.54 - - 1947.75 - 2.58 0.026 2311.12 427.1 -82.73 - - 3109.28 - - - - - - - - - 16.00 -
6531.30 599.44 -7.43 932 6535.95 roll -1.54 - - 1947.94 - 2.73 0.062 1209.56 -403.5 -82.73 - - 3112.03 - - - - - - - - - 15.93 -
6570.06 602.47 -7.83 938 6575.60 roll -1.54 - - 1947.94 - 2.55 0.026 2305.75 429.9 -82.73 - - 3108.75 - - - - - - - - - 16.01 -
6889.47 627.55 -7.76 960 6894.12 roll -1.54 - - 1947.88 - 2.74 0.062 1209.06 -400.3 -82.73 - - 3110.31 - - - - - - - - - 15.93 -
6928.02 630.58 -7.91 966 6933.55 roll -1.54 - - 1947.62 - 2.55 0.026 2303.00 429.0 -82.73 - - 3111.28 - - - - - - - - - 16.01 -
7247.45 655.06 -7.61 988 7252.10 roll -1.54 - - 1948.00 - 2.72 0.062 1209.25 -402.1 -82.73 - - 3107.53 - - - - - - - - - 15.92 -
7305.38 659.57 -7.71 996 7310.18 roll -1.54 - - 1947.94 - 2.55 0.026 2301.69 428.4 -82.73 - - 3108.06 - - - - - - - - - 16.00 -
7621.96 683.20 -7.54 1018 7623.29 no move -1.54 - - 1947.62 - - - 2302.06 - -82.73 - - 3106.97 - - - - - - - - - - -
7936.85 706.84 -7.53 1039 7938.18 no move -1.54 - - 1947.25 - - - 2302.00 - -82.73 - - 3107.09 - - - - - - - - - - -
8252.04 730.53 -7.56 1060 8256.69 roll -1.54 - - 1947.81 - 2.71 0.063 1209.12 -403.3 -82.73 - - 3106.31 - - - - - - - - - 15.91 -
8337.16 736.94 -8.08 1073 8351.98 roll -1.54 - - 1947.75 - 2.53 0.027 2298.25 430.5 -82.73 - - 3107.50 - - - - - - - - - 16.01 -
8666.46 762.92 -7.75 1095 8671.09 roll -1.54 - - 1947.25 - 2.70 0.063 1211.75 -402.4 -82.73 - - 3106.56 - - - - - - - - - 15.91 -
8724.39 767.61 -7.98 1103 8729.00 roll -1.54 - - 1947.38 - 2.53 0.026 2295.81 428.5 -82.73 - - 3107.03 - - - - - - - - - 16.00 -
9040.85 791.65 -7.40 1125 9042.18 no move -1.54 - - 1947.25 - - - 2295.38 - -82.73 - - 3105.94 - - - - - - - - - - -
9356.08 814.71 -7.30 1146 9357.41 no move -1.54 - - 1947.50 - - - 2296.00 - -82.73 - - 3104.88 - - - - - - - - - - -
9670.89 836.78 -7.10 1167 9675.53 roll -1.54 - - 1947.38 - 2.71 0.064 1210.56 -400.5 -82.73 - - 3106.38 - - - - - - - - - 15.90 -
9735.15 841.20 -7.48 1177 9750.09 roll -1.54 - - 1947.38 - 2.54 0.027 2295.56 427.2 -82.73 - - 3105.56 - - - - - - - - - 16.01 -
10064.56 864.94 -6.81 1199 10069.24 roll -1.54 - - 1947.75 - 2.93 0.087 3425.25 385.6 -82.73 - - 3106.84 - - - - - - - - - 15.85 -
10122.67 869.25 -7.24 1207 10127.38 roll -1.54 - - 1947.56 - 2.72 0.019 2201.00 -450.1 -82.73 - - 3104.16 - - - - - - - - - 15.98 -
10439.15 890.70 -6.73 1229 10440.48 no move -1.54 - - 1947.81 - - - 2200.38 - -82.73 - - 3105.28 - - - - - - - - - - -
10754.15 911.97 -6.67 1250 10758.86 roll -1.54 - - 1947.38 - 3.19 0.083 3426.75 384.4 -82.73 - - 3103.56 - - - - - - - - - 15.84 -
10792.70 914.73 -7.07 1256 10798.28 roll -1.54 - - 1947.06 - 2.72 0.019 2201.75 -450.4 -82.73 - - 3104.97 - - - - - - - - - 15.99 -
11112.10 936.29 -6.75 1278 11113.43 no move -1.54 - - 1947.31 - - - 2200.56 - -82.73 - - 3103.00 - - - - - - - - - - -
11427.11 957.91 -6.90 1299 11431.71 roll -1.54 - - 1947.88 - 2.47 0.070 1211.69 -400.4 -82.73 - - 3104.44 - - - - - - - - - 15.89 -
11465.65 960.65 -7.14 1305 11471.20 roll -1.54 - - 1947.69 - 2.55 0.026 2297.75 425.9 -82.73 - - 3105.00 - - - - - - - - - 16.00 -
11785.06 982.39 -6.70 1327 11789.71 roll -1.54 - - 1947.25 - 2.72 0.065 1209.06 -400.3 -82.73 - - 3104.62 - - - - - - - - - 15.88 -
11849.34 986.53 -7.03 1337 11864.26 roll -1.54 - - 1947.62 - 2.56 0.027 2295.06 424.2 -82.73 - - 3104.34 - - - - - - - - - 16.00 -
11893 end dive: TARGET_DEPTH_EXCEEDED
11893 begin apogee
11895.59 990.03 -7.04 1340 11971.41 -0.28 2.19 0.140 2253.12 139.5 0.17 0.147 2157.50 -809.2 - 66.99 2.409 2774.72 -4.9 0.354 - - - - - - 15.74 15.18 10.15
11973 end apogee: CONTROL_FINISHED_OK
11973 begin climb
11974.17 991.69 - 1345 12062.03 1.54 3.06 0.113 2693.69 144.0 3.05 0.079 995.12 -381.1 82.73 70.86 2.352 2438.91 -4.7 0.350 - - - - - - 15.42 15.56 11.64
12064.83 988.66 4.66 1358 12154.87 1.72 0.28 0.073 2749.75 200.2 2.78 0.023 2136.31 410.5 175.93 82.87 2.368 2058.44 -4.6 0.336 - - - - - - 15.26 15.33 11.65
12466.61 946.93 10.92 1392 12471.29 done 1.72 - - 2747.38 - 2.96 0.079 993.50 -386.1 175.93 - - 2047.06 - - - - - - - - - 15.65 -
12525.90 940.12 11.52 1401 12531.45 done 1.72 - - 2749.44 - 2.68 0.025 2129.81 424.0 175.93 - - 2045.78 - - - - - - - - - 15.72 -
12845.50 905.34 10.49 1423 12846.84 VBD 1.72 - - 2749.81 - - - 2129.50 - 175.93 - - 2043.72 - - - - - - - - - - -
13160.46 872.78 10.07 1444 13165.12 done 1.72 - - 2749.19 - 2.77 0.083 3203.12 387.6 175.93 - - 2042.47 - - - - - - - - - 15.81 -
13204.02 868.81 10.33 1451 13218.96 done 1.72 - - 2749.56 - 2.63 0.025 2055.19 -436.5 175.93 - - 2043.03 - - - - - - - - - 15.87 -
13533.46 836.48 9.59 1473 13538.14 done 1.72 - - 2749.62 - 2.96 0.079 3203.62 388.0 175.93 - - 2042.41 - - - - - - - - - 15.84 -
13572.01 832.71 9.84 1479 13577.56 done 1.72 - - 2749.38 - 2.62 0.025 2058.06 -437.2 175.93 - - 2043.19 - - - - - - - - - 15.91 -
13891.62 802.68 9.23 1501 13892.95 VBD 1.72 - - 2749.75 - - - 2057.75 - 175.93 - - 2041.16 - - - - - - - - - - -
14206.46 773.75 9.13 1522 14211.14 done 1.72 - - 2750.19 - 2.96 0.079 3205.75 387.8 175.93 - - 2040.41 - - - - - - - - - 15.86 -
14250.01 770.12 9.45 1529 14264.94 done 1.72 - - 2750.00 - 2.61 0.025 2061.12 -438.6 175.93 - - 2041.81 - - - - - - - - - 15.94 -
14579.43 740.86 8.68 1551 14580.76 VBD 1.72 - - 2749.81 - - - 2061.31 - 175.93 - - 2039.81 - - - - - - - - - - -
14894.46 711.42 9.57 1572 14899.14 done 1.72 - - 2747.75 - 2.94 0.079 3203.75 388.6 175.93 - - 2040.62 - - - - - - - - - 15.87 -
14952.41 705.51 10.04 1580 14957.03 done 1.72 - - 2749.75 - 2.60 0.025 2062.75 -438.8 175.93 - - 2041.50 - - - - - - - - - 15.95 -
15269.07 675.28 9.27 1602 15270.41 VBD 1.72 - - 2749.50 - - - 2062.56 - 175.93 - - 2039.75 - - - - - - - - - - -
15584.07 646.38 9.20 1623 15588.72 done 1.72 - - 2750.06 - 2.72 0.086 993.62 -393.0 175.93 - - 2040.94 - - - - - - - - - 15.85 -
15643.35 640.43 9.97 1632 15648.91 done 1.72 - - 2750.12 - 2.68 0.025 2141.56 428.3 175.93 - - 2041.12 - - - - - - - - - 15.98 -
15962.76 610.13 9.15 1654 15967.41 done 1.72 - - 2749.62 - 2.74 0.083 3205.31 388.2 175.93 - - 2038.50 - - - - - - - - - 15.87 -
16042.80 602.37 9.79 1666 16048.33 done 1.72 - - 2750.69 - 2.59 0.025 2068.69 -438.8 175.93 - - 2039.50 - - - - - - - - - 15.98 -
16362.23 574.09 8.84 1688 16366.88 done 1.72 - - 2750.38 - 2.71 0.085 993.81 -396.6 175.93 - - 2041.09 - - - - - - - - - 15.85 -
16400.76 570.52 9.21 1694 16406.33 done 1.72 - - 2750.19 - 2.67 0.025 2142.25 430.1 175.93 - - 2039.12 - - - - - - - - - 15.98 -
16720.35 543.71 8.21 1716 16721.69 VBD 1.72 - - 2749.94 - - - 2142.62 - 175.93 - - 2038.25 - - - - - - - - - - -
17035.18 517.79 8.25 1737 17039.86 done 1.72 - - 2748.81 - 2.92 0.080 993.44 -393.6 175.93 - - 2038.66 - - - - - - - - - 15.84 -
17099.48 512.56 8.80 1747 17114.42 done 1.72 - - 2750.25 - 2.67 0.025 2141.69 430.1 175.93 - - 2038.88 - - - - - - - - - 15.99 -
17421.38 486.30 7.83 1773 17432.45 VBD 1.74 - - 2750.38 - - - 2140.94 - 175.93 - - 2039.03 - - - - - - - - - - -
17734.35 461.74 7.97 1802 17745.43 VBD 1.74 - - 2750.62 - - - 2141.94 - 175.93 - - 2038.47 - - - - - - - - - - -
18047.19 436.87 8.03 1831 18051.87 done 1.74 - - 2748.44 - 2.94 0.080 993.56 -390.6 175.93 - - 2038.72 - - - - - - - - - 15.84 -
18101.80 432.00 8.89 1839 18116.41 done 1.74 - - 2750.44 - 2.68 0.025 2139.50 427.6 175.93 - - 2038.41 - - - - - - - - - 15.98 -
18417.68 405.96 8.24 1868 18422.34 done 1.74 - - 2750.06 - 2.75 0.083 3206.88 388.1 175.93 - - 2037.59 - - - - - - - - - 15.85 -
18456.23 402.64 8.68 1874 18471.18 done 1.74 - - 2750.44 - 2.61 0.024 2064.00 -437.9 175.93 - - 2038.72 - - - - - - - - - 15.98 -
18772.87 377.18 7.88 1903 18777.56 done 1.75 - - 2750.19 - 2.96 0.078 3207.50 386.3 175.93 - - 2038.22 - - - - - - - - - 15.85 -
18858.85 369.98 8.43 1915 18873.78 done 1.75 - - 2750.25 - 2.59 0.024 2068.50 -439.8 175.93 - - 2038.75 - - - - - - - - - 15.98 -
19175.07 345.20 7.89 1944 19179.75 done 1.76 - - 2750.62 - 2.94 0.078 3206.00 386.9 175.93 - - 2038.56 - - - - - - - - - 15.85 -
19213.61 341.99 8.38 1950 19228.54 done 1.76 - - 2749.88 - 2.58 0.024 2073.94 -438.8 175.93 - - 2039.28 - - - - - - - - - 15.98 -
19530.22 316.48 8.19 1979 19534.93 done 1.76 - - 2750.38 - 2.72 0.084 994.56 -396.8 175.93 - - 2037.22 - - - - - - - - - 15.83 -
19678.92 302.96 9.18 1999 19693.86 done 1.76 - - 2750.81 - 2.67 0.025 2144.56 430.7 175.93 - - 2038.38 - - - - - - - - - 15.99 -
19998.26 275.92 8.20 2058 20003.80 done 1.76 - - 2751.12 - 2.73 0.082 3204.88 388.4 175.93 - - 2039.91 - - - - - - - - - 15.83 -
20073.26 269.24 8.97 2073 20078.80 done 1.76 - - 2750.88 - 2.57 0.024 2068.81 -442.1 175.93 - - 2040.59 - - - - - - - - - 15.95 -
20383.39 245.11 6.90 2135 20388.94 done 1.79 - - 2749.38 - 2.73 0.083 993.69 -393.8 175.93 - - 2039.12 - - - - - - - - - 15.81 -
20418.40 242.33 7.72 2142 20423.94 done 1.81 - - 2751.00 - 2.68 0.024 2149.56 431.3 175.93 - - 2038.69 - - - - - - - - - 15.96 -
20728.66 219.87 7.22 2204 20729.99 VBD 1.83 - - 2750.88 - - - 2149.38 - 175.93 - - 2037.84 - - - - - - - - - - -
21033.70 197.09 7.49 2265 21035.04 VBD 1.85 - - 2750.69 - - - 2149.50 - 175.93 - - 2037.94 - - - - - - - - - - -
21338.57 176.39 6.11 2326 21390.15 1.97 0.28 0.075 2809.69 210.7 2.73 0.084 3204.25 386.4 233.47 44.51 1.397 1823.38 -4.8 0.107 - - - - - - 15.92 15.34 10.49
21403.54 171.33 8.23 2339 21409.10 roll 1.97 - - 2809.25 - 2.62 0.023 2061.38 -436.2 233.47 - - 1821.09 - - - - - - - - - 15.80 -
21713.61 142.47 9.82 2401 21719.20 roll 1.97 - - 2809.31 - 2.96 0.077 3204.81 386.3 233.47 - - 1817.66 - - - - - - - - - 15.78 -
21748.60 138.97 9.99 2408 21754.15 roll 1.97 - - 2809.62 - 2.60 0.024 2064.12 -438.7 233.47 - - 1815.84 - - - - - - - - - 15.85 -
22058.66 110.79 8.33 2470 22059.99 VBD 1.97 - - 2809.25 - - - 2064.94 - 233.47 - - 1814.28 - - - - - - - - - - -
22363.71 87.05 7.01 2531 22369.29 done 1.99 - - 2807.62 - 2.93 0.076 3205.94 389.4 233.47 - - 1815.19 - - - - - - - - - 15.82 -
22398.89 84.54 7.07 2538 22404.29 done 2.02 - - 2809.12 - 2.58 0.023 2066.81 -441.5 233.47 - - 1814.50 - - - - - - - - - 15.91 -
22588.73 71.92 6.76 2576 22594.29 done 2.06 - - 2809.81 - 2.70 0.081 993.50 -397.5 233.47 - - 1813.78 - - - - - - - - - 15.81 -
22823.75 57.28 4.75 2623 22901.19 2.24 0.34 0.070 2876.38 195.8 2.67 0.023 2151.81 433.8 324.41 70.27 1.241 1453.44 -5.1 0.041 - - - - - - 15.77 15.93 10.96
23083.78 41.89 6.49 2675 23089.34 roll 2.28 - - 2876.38 - 2.72 0.079 3205.50 387.4 324.41 - - 1444.94 - - - - - - - - - 15.72 -
23318.81 23.58 8.63 2722 23324.36 done 2.28 - - 2875.56 - 2.55 0.023 2087.56 -438.4 324.41 - - 1443.44 - - - - - - - - - 15.82 -
23508.87 8.47 6.22 2760 23556.87 done 2.39 - - 2875.62 - 2.91 0.078 3207.12 384.7 379.38 42.99 1.138 1228.75 -5.0 0.007 - - - - - - - 15.42 11.09
23574 end climb: SURFACE_DEPTH_REACHED
23574 begin surface coast
23579 end surface coast: CONTROL_FINISHED_OK
23579 begin surface
SM 1.21 - - - - 187.9 36.62 1.135 1043.2 27.3 17.26 0.074 997.1 57.8 - 2.09 0.019 1089.4 519.9 -3.384 - - 11.53 15.65 15.73 -