NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 960 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 336.31 of 550.00 AH used of 24V (38.85% remains)
• Surface angle -62.9 deg, depth 0.43 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 25 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.71 - - - 82.62 VBD -1.54 - - 178.19 - - - 2359.88 - -82.73 75.36 0.005 2842.75 - - - - - - - - - - 14.84
83.33 3.87 -7.20 14 112.61 -1.54 14.64 0.243 1947.38 120.8 2.78 0.088 3426.44 383.7 -82.73 5.99 0.008 3111.09 44.8 -3.786 - - - - - - 15.34 14.88 15.02
339.75 48.79 -15.47 65 345.30 roll -1.54 - - 1947.75 - 2.60 0.018 2250.62 -452.2 -82.73 - - 3112.75 - - - - - - - - - 15.79 -
530.46 72.56 -12.17 103 535.45 roll -1.54 - - 1946.38 - 3.03 0.079 3427.56 388.4 -82.73 - - 3113.53 - - - - - - - - - 15.77 -
649.87 87.19 -11.51 127 655.40 roll -1.54 - - 1947.75 - 2.57 0.018 2254.50 -456.4 -82.73 - - 3114.00 - - - - - - - - - 15.85 -
840.31 106.51 -9.83 165 845.46 roll -1.54 - - 1947.88 - 2.54 0.064 1208.12 -412.0 -82.73 - - 3113.88 - - - - - - - - - 15.85 -
904.94 112.79 -9.65 178 910.48 roll -1.54 - - 1947.69 - 2.67 0.026 2360.56 431.6 -82.73 - - 3114.12 - - - - - - - - - 15.89 -
1215.04 140.41 -8.73 240 1220.62 roll -1.54 - - 1947.56 - 2.81 0.059 1209.25 -409.7 -82.73 - - 3114.31 - - - - - - - - - 15.88 -
1380.45 155.42 -9.02 273 1385.62 roll -1.54 - - 1947.62 - 2.65 0.027 2351.19 430.9 -82.73 - - 3113.88 - - - - - - - - - 15.93 -
1690.12 182.06 -8.61 335 1691.45 no move -1.54 - - 1948.12 - - - 2351.00 - -82.73 - - 3113.34 - - - - - - - - - - -
1995.16 208.36 -8.51 396 2000.91 roll -1.54 - - 1947.25 - 2.78 0.059 1208.06 -411.1 -82.73 - - 3114.06 - - - - - - - - - 15.91 -
2110.35 219.05 -9.29 419 2115.74 roll -1.54 - - 1947.75 - 2.64 0.027 2349.94 432.5 -82.73 - - 3113.91 - - - - - - - - - 15.96 -
2420.24 246.45 -8.67 481 2425.81 roll -1.54 - - 1947.69 - 2.77 0.059 1208.25 -412.2 -82.73 - - 3113.75 - - - - - - - - - 15.92 -
2455.23 249.58 -8.91 488 2460.79 roll -1.54 - - 1947.69 - 2.63 0.026 2344.50 432.0 -82.73 - - 3114.50 - - - - - - - - - 15.97 -
2765.30 276.34 -8.80 550 2770.85 roll -1.54 - - 1947.88 - 2.78 0.059 1208.12 -408.8 -82.73 - - 3115.12 - - - - - - - - - 15.92 -
2865.48 285.94 -9.77 570 2870.86 roll -1.54 - - 1947.88 - 2.62 0.026 2336.88 430.8 -82.73 - - 3113.75 - - - - - - - - - 15.97 -
3178.89 314.34 -8.73 615 3183.53 roll -1.54 - - 1947.69 - 2.74 0.060 1208.62 -411.8 -82.73 - - 3113.31 - - - - - - - - - 15.94 -
3233.17 319.13 -8.97 623 3248.09 roll -1.54 - - 1947.12 - 2.60 0.027 2336.06 433.6 -82.73 - - 3113.69 - - - - - - - - - 16.00 -
3549.35 345.66 -8.51 652 3560.63 no move -1.54 - - 1948.06 - - - 2335.94 - -82.73 - - 3113.72 - - - - - - - - - - -
3862.50 372.87 -9.02 681 3867.14 roll -1.54 - - 1946.31 - 2.76 0.060 1207.50 -408.9 -82.73 - - 3114.09 - - - - - - - - - 15.94 -
3948.25 380.90 -9.43 693 3963.19 roll -1.54 - - 1947.88 - 2.62 0.027 2335.19 430.4 -82.73 - - 3113.62 - - - - - - - - - 16.01 -
4264.44 409.32 -8.70 722 4275.51 no move -1.54 - - 1947.75 - - - 2335.25 - -82.73 - - 3113.78 - - - - - - - - - - -
4577.65 434.21 -7.47 751 4582.29 roll -1.54 - - 1947.62 - 2.77 0.060 1208.19 -406.9 -82.73 - - 3113.78 - - - - - - - - - 15.94 -
4693.52 443.88 -8.45 766 4698.14 roll -1.54 - - 1947.88 - 2.59 0.027 2329.12 432.8 -82.73 - - 3111.69 - - - - - - - - - 15.99 -
5005.65 468.69 -7.97 795 5016.72 no move -1.54 - - 1947.50 - - - 2329.94 - -82.73 - - 3113.31 - - - - - - - - - - -
5318.48 492.98 -7.61 824 5323.12 roll -1.54 - - 1947.88 - 2.74 0.061 1209.44 -408.9 -82.73 - - 3114.19 - - - - - - - - - 15.94 -
5388.48 498.47 -7.90 834 5403.41 roll -1.54 - - 1946.75 - 2.58 0.027 2325.31 432.5 -82.73 - - 3112.81 - - - - - - - - - 16.00 -
5714.89 523.77 -7.55 856 5719.53 roll -1.54 - - 1946.06 - 2.73 0.061 1209.25 -408.8 -82.73 - - 3113.41 - - - - - - - - - 15.93 -
5753.43 526.71 -7.71 862 5758.97 roll -1.54 - - 1947.25 - 2.59 0.027 2324.31 430.5 -82.73 - - 3112.34 - - - - - - - - - 16.00 -
6073.04 550.22 -7.16 884 6077.75 roll -1.54 - - 1947.50 - 2.70 0.062 1207.81 -413.5 -82.73 - - 3111.56 - - - - - - - - - 15.94 -
6151.71 556.39 -7.75 895 6156.32 roll -1.54 - - 1946.56 - 2.58 0.027 2320.56 431.3 -82.73 - - 3110.66 - - - - - - - - - 16.00 -
6468.18 580.54 -8.17 917 6472.83 roll -1.54 - - 1947.12 - 2.70 0.062 1210.44 -411.2 -82.73 - - 3111.38 - - - - - - - - - 15.93 -
6546.85 587.25 -8.51 928 6551.47 roll -1.54 - - 1947.69 - 2.57 0.027 2315.81 430.1 -82.73 - - 3109.84 - - - - - - - - - 16.00 -
6863.32 613.12 -8.15 950 6864.65 no move -1.54 - - 1947.94 - - - 2316.06 - -82.73 - - 3109.81 - - - - - - - - - - -
7178.35 639.40 -8.62 971 7179.68 no move -1.54 - - 1947.62 - - - 2316.06 - -82.73 - - 3109.38 - - - - - - - - - - -
7493.35 663.93 -7.26 992 7494.68 no move -1.54 - - 1947.75 - - - 2315.81 - -82.73 - - 3109.31 - - - - - - - - - - -
7808.37 685.46 -6.84 1013 7813.02 roll -1.54 - - 1947.50 - 2.71 0.063 1208.25 -408.7 -82.73 - - 3109.16 - - - - - - - - - 15.92 -
7872.65 689.64 -7.13 1023 7887.58 roll -1.54 - - 1946.75 - 2.58 0.027 2317.19 429.8 -82.73 - - 3111.22 - - - - - - - - - 16.01 -
8202.06 711.96 -6.62 1045 8203.39 no move -1.54 - - 1947.56 - - - 2317.56 - -82.73 - - 3108.59 - - - - - - - - - - -
8517.26 732.66 -6.60 1066 8521.91 roll -1.54 - - 1947.56 - 2.71 0.063 1208.00 -409.4 -82.73 - - 3110.69 - - - - - - - - - 15.91 -
8560.79 735.29 -6.85 1073 8575.91 roll -1.54 - - 1947.62 - 2.57 0.027 2314.50 430.5 -82.73 - - 3109.19 - - - - - - - - - 16.01 -
8890.31 758.64 -7.18 1095 8894.96 roll -1.54 - - 1947.25 - 2.73 0.063 1210.56 -404.4 -82.73 - - 3107.59 - - - - - - - - - 15.91 -
8949.58 763.09 -7.53 1104 8955.12 roll -1.54 - - 1947.44 - 2.56 0.027 2310.44 429.6 -82.73 - - 3110.78 - - - - - - - - - 16.00 -
9269.02 786.42 -7.32 1126 9270.35 no move -1.54 - - 1947.56 - - - 2310.88 - -82.73 - - 3108.09 - - - - - - - - - - -
9584.05 809.97 -7.64 1147 9588.70 roll -1.54 - - 1946.94 - 2.70 0.064 1209.19 -408.0 -82.73 - - 3108.38 - - - - - - - - - 15.91 -
9643.33 814.69 -8.04 1156 9648.87 roll -1.54 - - 1946.38 - 2.56 0.027 2305.50 428.2 -82.73 - - 3108.62 - - - - - - - - - 16.00 -
9962.73 839.68 -7.70 1178 9964.06 no move -1.54 - - 1947.38 - - - 2306.00 - -82.73 - - 3106.91 - - - - - - - - - - -
10277.75 862.81 -7.28 1199 10282.40 roll -1.54 - - 1947.25 - 2.71 0.064 1210.56 -404.2 -82.73 - - 3106.69 - - - - - - - - - 15.90 -
10342.02 867.17 -7.45 1209 10356.95 roll -1.54 - - 1947.19 - 2.55 0.027 2304.38 428.9 -82.73 - - 3107.78 - - - - - - - - - 16.01 -
10671.42 890.94 -7.06 1231 10672.75 no move -1.54 - - 1947.25 - - - 2304.88 - -82.73 - - 3107.19 - - - - - - - - - - -
10986.44 912.78 -6.98 1252 10987.77 no move -1.54 - - 1947.50 - - - 2304.75 - -82.73 - - 3106.78 - - - - - - - - - - -
11301.45 935.75 -7.51 1273 11302.78 no move -1.54 - - 1947.25 - - - 2304.38 - -82.73 - - 3106.31 - - - - - - - - - - -
11616.47 959.53 -7.48 1294 11621.30 roll -1.54 - - 1947.81 - 2.72 0.065 1210.19 -402.3 -82.73 - - 3108.41 - - - - - - - - - 15.88 -
11655.18 962.45 -7.68 1300 11660.55 roll -1.54 - - 1947.69 - 2.55 0.027 2302.06 428.2 -82.73 - - 3106.09 - - - - - - - - - 15.99 -
11974.41 986.23 -7.21 1322 11975.74 no move -1.54 - - 1947.25 - - - 2302.00 - -82.73 - - 3105.78 - - - - - - - - - - -
12034 end dive: TARGET_DEPTH_EXCEEDED
12034 begin apogee
12036.27 990.56 -7.22 1326 12111.93 -0.28 2.20 0.139 2254.25 139.5 0.18 0.145 2156.56 -808.0 - 67.92 2.407 2774.19 -4.9 0.351 - - - - - - 15.74 15.17 10.20
12113 end apogee: CONTROL_FINISHED_OK
12114 begin climb
12114.41 992.65 - 1331 12202.35 1.54 3.07 0.113 2694.50 143.4 3.04 0.079 994.88 -382.1 82.73 71.34 2.367 2436.97 -4.7 0.346 - - - - - - 15.42 15.56 11.64
12225.46 988.13 5.27 1347 12310.21 1.69 0.23 0.076 2744.31 216.6 2.77 0.023 2138.00 412.7 160.98 69.85 2.364 2119.91 -4.5 0.331 - - - - - - 15.31 15.40 11.44
12622.13 949.51 10.31 1379 12626.79 done 1.69 - - 2744.31 - 2.78 0.084 3204.81 383.7 160.98 - - 2109.12 - - - - - - - - - 15.67 -
12659.33 945.29 10.84 1384 12663.97 done 1.69 - - 2744.19 - 2.67 0.024 2059.12 -429.1 160.98 - - 2107.66 - - - - - - - - - 15.70 -
12975.84 912.91 10.00 1406 12977.18 VBD 1.69 - - 2744.44 - - - 2058.69 - 160.98 - - 2105.59 - - - - - - - - - - -
13290.86 882.56 9.15 1427 13295.55 done 1.69 - - 2744.69 - 2.95 0.080 3203.69 388.1 160.98 - - 2104.31 - - - - - - - - - 15.81 -
13355.14 876.97 9.51 1437 13370.09 done 1.69 - - 2744.31 - 2.62 0.025 2066.50 -434.0 160.98 - - 2105.34 - - - - - - - - - 15.87 -
13684.55 848.24 8.59 1459 13685.89 VBD 1.69 - - 2744.62 - - - 2066.12 - 160.98 - - 2103.91 - - - - - - - - - - -
13999.56 821.43 8.30 1480 14004.24 done 1.69 - - 2744.75 - 2.92 0.080 3204.88 390.0 160.98 - - 2104.38 - - - - - - - - - 15.85 -
14022.37 820.05 8.31 1484 14037.29 done 1.69 - - 2744.44 - 2.59 0.025 2065.06 -440.1 160.98 - - 2105.09 - - - - - - - - - 15.93 -
14351.96 793.05 8.20 1506 14356.61 done 1.69 - - 2744.50 - 2.71 0.085 995.06 -394.8 160.98 - - 2102.41 - - - - - - - - - 15.84 -
14452.71 783.79 9.31 1521 14458.44 done 1.69 - - 2744.06 - 2.66 0.025 2139.06 430.1 160.98 - - 2103.69 - - - - - - - - - 15.95 -
14772.29 754.75 9.10 1543 14776.94 done 1.69 - - 2744.56 - 2.72 0.084 3203.38 391.3 160.98 - - 2102.16 - - - - - - - - - 15.86 -
14815.83 751.03 9.60 1550 14830.78 done 1.69 - - 2744.12 - 2.61 0.025 2063.62 -436.7 160.98 - - 2103.50 - - - - - - - - - 15.95 -
15145.25 719.17 9.36 1572 15149.93 done 1.69 - - 2744.50 - 2.93 0.080 3205.25 389.6 160.98 - - 2102.06 - - - - - - - - - 15.86 -
15168.07 717.61 9.36 1576 15182.99 done 1.69 - - 2744.62 - 2.60 0.025 2064.44 -438.8 160.98 - - 2102.97 - - - - - - - - - 15.97 -
15497.48 686.82 9.16 1598 15502.17 done 1.69 - - 2744.31 - 2.93 0.080 3204.50 389.1 160.98 - - 2100.44 - - - - - - - - - 15.86 -
15536.02 683.21 9.43 1604 15541.57 done 1.69 - - 2744.19 - 2.59 0.025 2070.31 -437.9 160.98 - - 2103.38 - - - - - - - - - 15.97 -
15855.43 654.16 8.83 1626 15860.09 done 1.69 - - 2744.25 - 2.73 0.086 994.88 -393.9 160.98 - - 2100.16 - - - - - - - - - 15.84 -
15935.45 646.48 9.67 1638 15941.01 done 1.69 - - 2743.00 - 2.67 0.025 2143.94 430.4 160.98 - - 2102.50 - - - - - - - - - 15.98 -
16254.88 618.40 8.86 1660 16259.71 done 1.69 - - 2744.56 - 2.73 0.084 3206.19 389.1 160.98 - - 2101.47 - - - - - - - - - 15.86 -
16298.54 614.94 9.08 1667 16313.35 done 1.69 - - 2744.50 - 2.60 0.025 2067.69 -437.9 160.98 - - 2101.47 - - - - - - - - - 15.97 -
16628.20 586.45 8.28 1689 16632.85 done 1.69 - - 2744.31 - 2.73 0.085 994.88 -393.0 160.98 - - 2100.31 - - - - - - - - - 15.84 -
16666.92 583.09 8.63 1695 16672.32 done 1.69 - - 2744.44 - 2.66 0.025 2141.50 431.1 160.98 - - 2101.53 - - - - - - - - - 15.98 -
16986.17 558.09 7.82 1717 16987.50 VBD 1.71 - - 2744.38 - - - 2141.62 - 160.98 - - 2100.47 - - - - - - - - - - -
17301.19 534.03 7.71 1738 17302.52 VBD 1.72 - - 2744.19 - - - 2141.62 - 160.98 - - 2099.84 - - - - - - - - - - -
17616.21 509.56 7.79 1759 17617.54 VBD 1.74 - - 2744.25 - - - 2141.50 - 160.98 - - 2100.06 - - - - - - - - - - -
17923.35 485.69 7.92 1784 17928.03 done 1.75 - - 2744.75 - 2.92 0.080 995.00 -392.6 160.98 - - 2103.06 - - - - - - - - - 15.84 -
18023.50 476.73 9.03 1797 18028.13 done 1.75 - - 2744.62 - 2.65 0.025 2138.19 431.4 160.98 - - 2103.19 - - - - - - - - - 15.98 -
18335.40 452.78 7.28 1826 18340.05 done 1.77 - - 2743.38 - 2.75 0.083 3203.81 387.5 160.98 - - 2101.75 - - - - - - - - - 15.85 -
18389.70 448.59 7.72 1834 18404.61 done 1.78 - - 2745.19 - 2.60 0.025 2062.38 -439.0 160.98 - - 2102.50 - - - - - - - - - 15.98 -
18706.51 425.56 7.14 1863 18711.14 done 1.81 - - 2744.75 - 2.69 0.084 993.75 -397.3 160.98 - - 2101.78 - - - - - - - - - 15.83 -
18759.46 421.42 7.60 1870 18764.10 done 1.83 - - 2744.38 - 2.67 0.025 2147.12 432.0 160.98 - - 2102.38 - - - - - - - - - 15.98 -
19071.48 399.42 7.08 1899 19076.19 1.86 0.16 0.093 2782.56 238.6 2.70 0.083 3206.00 392.2 160.98 - - 2100.59 - - - - - - - - 15.93 15.81 -
19125.78 394.94 8.07 1907 19140.69 done 1.86 - - 2783.62 - 2.60 0.024 2066.62 -438.2 160.98 - - 2101.47 - - - - - - - - - 15.99 -
19441.96 368.63 8.07 1936 19446.61 done 1.86 - - 2783.00 - 2.71 0.083 993.38 -396.0 160.98 - - 2101.97 - - - - - - - - - 15.83 -
19480.51 365.35 8.56 1942 19495.45 done 1.86 - - 2783.25 - 2.67 0.025 2148.12 432.5 160.98 - - 2100.84 - - - - - - - - - 15.97 -
19796.94 338.24 8.45 1971 19808.02 VBD 1.86 - - 2783.31 - - - 2147.88 - 160.98 - - 2101.09 - - - - - - - - - - -
20109.65 312.20 8.35 2000 20114.31 done 1.86 - - 2782.88 - 2.70 0.082 3204.56 391.4 160.98 - - 2099.53 - - - - - - - - - 15.84 -
20146.85 308.86 8.71 2005 20151.46 done 1.86 - - 2781.88 - 2.58 0.024 2068.81 -440.2 160.98 - - 2100.31 - - - - - - - - - 15.97 -
20452.81 283.87 8.28 2053 20458.24 done 1.86 - - 2782.81 - 2.73 0.083 994.75 -393.4 160.98 - - 2101.78 - - - - - - - - - 15.81 -
20507.63 278.92 9.13 2064 20513.18 done 1.86 - - 2782.56 - 2.68 0.024 2151.25 431.5 160.98 - - 2101.31 - - - - - - - - - 15.96 -
20817.76 254.29 7.69 2126 20823.34 done 1.87 - - 2783.31 - 2.96 0.078 993.25 -391.2 160.98 - - 2100.88 - - - - - - - - - 15.81 -
20882.76 248.88 8.47 2139 20888.31 done 1.87 - - 2782.56 - 2.69 0.024 2152.12 430.8 160.98 - - 2101.81 - - - - - - - - - 15.95 -
21193.05 224.96 7.52 2201 21198.43 done 1.89 - - 2783.44 - 2.70 0.082 3204.44 389.7 160.98 - - 2100.94 - - - - - - - - - 15.83 -
21232.87 221.70 8.05 2209 21238.41 done 1.89 - - 2781.88 - 2.59 0.024 2067.69 -438.9 160.98 - - 2100.84 - - - - - - - - - 15.95 -
21543.00 199.70 6.71 2271 21544.33 VBD 1.93 - - 2783.00 - - - 2067.38 - 160.98 - - 2099.19 - - - - - - - - - - -
21848.09 178.83 7.09 2332 21853.87 done 1.95 - - 2783.56 - 2.92 0.077 3204.50 389.4 160.98 - - 2100.66 - - - - - - - - - 15.82 -
21903.20 174.51 7.97 2343 21908.61 done 1.95 - - 2783.06 - 2.58 0.024 2070.81 -439.4 160.98 - - 2101.81 - - - - - - - - - 15.95 -
22213.15 152.53 6.96 2405 22218.72 done 1.98 - - 2783.06 - 2.91 0.077 3205.81 390.0 160.98 - - 2100.78 - - - - - - - - - 15.83 -
22263.14 148.75 7.62 2415 22268.67 done 2.00 - - 2783.12 - 2.57 0.023 2076.06 -439.6 160.98 - - 2100.97 - - - - - - - - - 15.95 -
22573.20 127.34 6.87 2477 22578.81 2.03 0.17 0.088 2823.19 235.7 2.74 0.082 992.44 -395.5 160.98 - - 2100.75 - - - - - - - - 15.91 15.80 -
22643.19 121.66 8.28 2491 22648.75 done 2.03 - - 2823.19 - 2.70 0.024 2162.25 433.3 160.98 - - 2101.34 - - - - - - - - - 15.96 -
22953.26 100.63 6.15 2553 23000.97 done 2.14 - - 2823.00 - 2.70 0.083 3207.81 387.2 217.52 43.27 1.286 1889.12 -4.9 0.067 - - - - - - - 15.33 10.39
23003.71 97.42 6.33 2563 23051.42 2.25 0.26 0.077 2875.38 201.5 2.58 0.023 2076.38 -438.5 269.61 42.67 1.250 1675.41 -5.0 0.068 - - - - - - 15.71 15.81 11.80
23234.64 73.75 10.56 2609 23239.67 done 2.25 - - 2876.00 - 2.93 0.076 3206.25 385.6 269.61 - - 1665.25 - - - - - - - - - 15.69 -
23299.07 67.03 10.15 2622 23304.61 done 2.25 - - 2875.81 - 2.56 0.023 2086.12 -437.6 269.61 - - 1664.31 - - - - - - - - - 15.76 -
23489.11 50.80 7.38 2660 23494.65 done 2.27 - - 2874.88 - 2.76 0.080 992.62 -396.2 269.61 - - 1663.16 - - - - - - - - - 15.73 -
23724.14 38.15 4.71 2707 23801.57 2.45 0.25 0.080 2926.06 204.7 2.69 0.023 2160.75 434.2 361.41 70.36 1.197 1302.03 -5.1 0.029 - - - - - - 15.71 15.85 11.03
23984.22 17.06 9.50 2759 23989.75 roll 2.45 - - 2926.06 - 2.98 0.076 995.00 -391.2 361.41 - - 1294.62 - - - - - - - - - 15.68 -
24064.17 8.49 12.23 2775 24069.73 done 2.45 - - 2925.94 - 2.71 0.023 2158.50 429.3 361.41 - - 1293.50 - - - - - - - - - 15.76 -
24104 end climb: SURFACE_DEPTH_REACHED
24104 begin surface coast
24144 end surface coast: CONTROL_FINISHED_OK
24144 begin surface
SM 0.39 - - - - 179.3 48.84 1.152 1043.0 21.4 16.98 0.045 999.3 58.9 - 0.41 0.064 1086.6 2643.6 -1.647 - - 11.23 15.70 15.75 -