NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 963 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 337.53 of 550.00 AH used of 24V (38.63% remains)
• Surface angle -61.2 deg, depth 0.52 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 424.92 (SM_CC=425)
• GPS1 time: 18 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 - - - 77.13 VBD -1.54 - - 176.81 - - - 2252.88 - -82.73 70.24 0.005 2699.66 - - - - - - - - - - 14.85
78.25 3.01 -4.30 13 111.65 -1.54 14.55 0.241 1946.69 121.6 3.06 0.083 3424.12 382.8 -82.73 9.91 0.007 3109.84 41.4 -3.118 - - - - - - 15.36 14.87 15.01
218.74 27.61 -15.80 41 224.29 roll -1.54 - - 1947.69 - 2.60 0.017 2253.75 -450.1 -82.73 - - 3111.25 - - - - - - - - - 15.76 -
409.19 54.70 -13.77 79 414.53 roll -1.54 - - 1947.69 - 2.57 0.066 1210.38 -406.0 -82.73 - - 3110.78 - - - - - - - - - 15.79 -
533.97 70.82 -11.55 104 539.41 roll -1.54 - - 1947.88 - 2.61 0.026 2329.81 428.9 -82.73 - - 3111.06 - - - - - - - - - 15.84 -
724.63 90.27 -10.21 142 729.48 roll -1.54 - - 1948.44 - 2.74 0.060 1209.31 -408.9 -82.73 - - 3111.19 - - - - - - - - - 15.82 -
788.93 97.05 -10.56 155 794.47 roll -1.54 - - 1947.88 - 2.58 0.026 2320.00 430.5 -82.73 - - 3111.03 - - - - - - - - - 15.88 -
979.39 115.31 -9.10 193 980.72 no move -1.54 - - 1947.62 - - - 2319.88 - -82.73 - - 3109.97 - - - - - - - - - - -
1284.09 141.42 -8.49 254 1289.64 roll -1.54 - - 1947.38 - 2.72 0.060 1209.31 -408.3 -82.73 - - 3112.72 - - - - - - - - - 15.88 -
1379.09 150.11 -9.03 273 1384.63 roll -1.54 - - 1947.94 - 2.55 0.025 2317.31 434.5 -82.73 - - 3111.91 - - - - - - - - - 15.92 -
1689.15 176.80 -8.49 335 1690.48 no move -1.54 - - 1947.44 - - - 2317.44 - -82.73 - - 3111.66 - - - - - - - - - - -
1994.21 202.01 -8.38 396 1995.54 no move -1.54 - - 1947.62 - - - 2317.38 - -82.73 - - 3110.78 - - - - - - - - - - -
2299.36 229.27 -9.18 457 2304.82 roll -1.54 - - 1948.12 - 2.70 0.061 1208.19 -410.8 -82.73 - - 3112.41 - - - - - - - - - 15.92 -
2379.26 237.14 -9.94 473 2384.79 roll -1.54 - - 1948.25 - 2.56 0.026 2314.81 432.3 -82.73 - - 3113.59 - - - - - - - - - 15.96 -
2689.32 263.94 -8.25 535 2694.86 roll -1.54 - - 1948.06 - 2.70 0.060 1208.19 -409.9 -82.73 - - 3112.12 - - - - - - - - - 15.92 -
2754.32 269.47 -8.46 548 2759.85 roll -1.54 - - 1948.06 - 2.54 0.025 2308.62 433.2 -82.73 - - 3111.78 - - - - - - - - - 15.97 -
3064.38 294.10 -7.81 610 3069.92 roll -1.54 - - 1948.19 - 2.68 0.061 1209.38 -410.2 -82.73 - - 3112.28 - - - - - - - - - 15.92 -
3165.28 302.65 -8.78 629 3180.02 roll -1.54 - - 1947.88 - 2.52 0.026 2301.94 433.6 -82.73 - - 3112.72 - - - - - - - - - 15.99 -
3481.71 329.61 -8.70 658 3492.78 no move -1.54 - - 1948.19 - - - 2302.19 - -82.73 - - 3112.56 - - - - - - - - - - -
3794.41 356.46 -8.39 687 3805.48 no move -1.54 - - 1948.56 - - - 2302.31 - -82.73 - - 3112.25 - - - - - - - - - - -
4107.12 382.36 -7.96 716 4111.93 roll -1.54 - - 1947.94 - 2.66 0.062 1209.25 -410.9 -82.73 - - 3110.75 - - - - - - - - - 15.94 -
4145.83 385.57 -8.33 722 4160.58 roll -1.54 - - 1948.12 - 2.52 0.026 2304.44 434.6 -82.73 - - 3112.62 - - - - - - - - - 15.99 -
4462.76 413.27 -9.03 751 4473.84 no move -1.54 - - 1948.19 - - - 2303.69 - -82.73 - - 3112.03 - - - - - - - - - - -
4775.60 440.82 -8.52 780 4780.23 roll -1.54 - - 1947.88 - 2.66 0.062 1209.38 -411.4 -82.73 - - 3110.09 - - - - - - - - - 15.93 -
4829.87 445.65 -8.93 788 4844.79 roll -1.54 - - 1948.31 - 2.51 0.026 2299.56 434.3 -82.73 - - 3113.09 - - - - - - - - - 16.01 -
5147.02 472.62 -8.23 817 5151.68 roll -1.54 - - 1948.12 - 2.88 0.085 3426.56 391.3 -82.73 - - 3110.97 - - - - - - - - - 15.89 -
5185.56 476.02 -8.78 823 5200.51 roll -1.54 - - 1948.38 - 2.71 0.019 2196.12 -454.0 -82.73 - - 3110.81 - - - - - - - - - 15.99 -
5510.68 503.17 -7.97 852 5512.01 no move -1.54 - - 1947.75 - - - 2195.81 - -82.73 - - 3109.22 - - - - - - - - - - -
5825.31 527.14 -7.45 873 5826.64 no move -1.54 - - 1948.00 - - - 2195.25 - -82.73 - - 3109.50 - - - - - - - - - - -
6140.33 550.23 -7.43 894 6144.93 roll -1.54 - - 1948.25 - 2.40 0.068 1208.12 -411.3 -82.73 - - 3110.59 - - - - - - - - - 15.93 -
6261.84 560.26 -8.45 912 6267.38 roll -1.54 - - 1947.75 - 2.51 0.026 2299.62 434.9 -82.73 - - 3110.38 - - - - - - - - - 16.01 -
6581.43 585.21 -7.64 934 6586.11 roll -1.54 - - 1947.75 - 2.67 0.063 1208.38 -408.7 -82.73 - - 3108.41 - - - - - - - - - 15.92 -
6624.97 588.28 -7.91 941 6640.23 roll -1.54 - - 1948.06 - 2.51 0.026 2298.19 434.2 -82.73 - - 3111.53 - - - - - - - - - 16.00 -
6954.38 615.68 -8.21 963 6959.04 roll -1.54 - - 1947.81 - 2.89 0.087 3428.31 391.0 -82.73 - - 3109.28 - - - - - - - - - 15.88 -
6972.18 617.13 -8.37 966 6977.74 roll -1.54 - - 1948.19 - 2.70 0.019 2199.12 -455.3 -82.73 - - 3109.72 - - - - - - - - - 15.98 -
7291.59 643.72 -8.36 988 7292.92 no move -1.54 - - 1948.38 - - - 2198.12 - -82.73 - - 3107.97 - - - - - - - - - - -
7606.59 668.85 -7.87 1009 7611.31 roll -1.54 - - 1947.94 - 3.15 0.083 3425.44 389.6 -82.73 - - 3108.84 - - - - - - - - - 15.87 -
7686.83 675.62 -8.51 1021 7692.38 roll -1.54 - - 1947.38 - 2.69 0.019 2203.50 -454.3 -82.73 - - 3110.62 - - - - - - - - - 16.00 -
8006.22 699.51 -7.36 1043 8007.55 no move -1.54 - - 1948.25 - - - 2201.81 - -82.73 - - 3107.88 - - - - - - - - - - -
8321.25 722.52 -7.34 1064 8325.96 roll -1.54 - - 1948.19 - 3.15 0.083 3428.19 389.3 -82.73 - - 3107.19 - - - - - - - - - 15.86 -
8339.05 723.79 -7.40 1067 8344.60 roll -1.54 - - 1947.69 - 2.70 0.019 2202.88 -453.8 -82.73 - - 3108.53 - - - - - - - - - 15.99 -
8658.57 746.85 -7.32 1089 8663.46 roll -1.54 - - 1945.69 - 3.13 0.084 3422.88 389.8 -82.73 - - 3109.06 - - - - - - - - - 15.86 -
8718.03 751.63 -8.00 1098 8723.42 roll -1.54 - - 1947.69 - 2.68 0.020 2208.88 -453.0 -82.73 - - 3107.41 - - - - - - - - - 15.98 -
9037.26 775.83 -7.82 1120 9041.86 roll -1.54 - - 1947.88 - 2.43 0.070 1209.06 -411.4 -82.73 - - 3106.78 - - - - - - - - - 15.90 -
9095.19 780.66 -8.21 1128 9099.81 roll -1.54 - - 1947.50 - 2.54 0.027 2308.19 432.7 -82.73 - - 3106.31 - - - - - - - - - 15.98 -
9412.00 806.01 -7.77 1150 9413.32 no move -1.54 - - 1948.00 - - - 2308.50 - -82.73 - - 3106.34 - - - - - - - - - - -
9726.68 830.74 -7.80 1171 9731.34 roll -1.54 - - 1948.19 - 2.88 0.089 3425.31 387.8 -82.73 - - 3106.53 - - - - - - - - - 15.85 -
9763.88 833.89 -8.15 1176 9768.51 roll -1.54 - - 1948.38 - 2.68 0.020 2204.31 -455.6 -82.73 - - 3105.94 - - - - - - - - - 15.97 -
10080.35 857.78 -7.40 1198 10081.68 no move -1.54 - - 1948.38 - - - 2203.50 - -82.73 - - 3106.97 - - - - - - - - - - -
10395.36 881.00 -7.22 1219 10400.30 roll -1.54 - - 1948.38 - 3.15 0.085 3427.38 388.5 -82.73 - - 3104.97 - - - - - - - - - 15.84 -
10433.90 883.90 -7.53 1225 10439.46 roll -1.54 - - 1947.69 - 2.68 0.020 2206.88 -455.4 -82.73 - - 3105.75 - - - - - - - - - 15.99 -
10753.30 906.17 -6.79 1247 10754.63 no move -1.54 - - 1948.12 - - - 2206.06 - -82.73 - - 3104.84 - - - - - - - - - - -
11068.32 927.77 -6.99 1268 11069.65 no move -1.54 - - 1947.75 - - - 2206.31 - -82.73 - - 3104.47 - - - - - - - - - - -
11383.51 950.05 -7.04 1289 11388.28 roll -1.54 - - 1947.81 - 3.14 0.085 3424.75 388.0 -82.73 - - 3107.62 - - - - - - - - - 15.83 -
11443.12 954.60 -7.58 1298 11448.67 roll -1.54 - - 1948.12 - 2.68 0.020 2209.56 -453.4 -82.73 - - 3107.72 - - - - - - - - - 15.99 -
11762.52 976.53 -6.85 1320 11763.85 no move -1.54 - - 1948.00 - - - 2208.69 - -82.73 - - 3103.56 - - - - - - - - - - -
11972 end dive: TARGET_DEPTH_EXCEEDED
11972 begin apogee
11974.36 990.71 -6.74 1334 12050.05 -0.28 2.21 0.143 2251.56 137.4 0.16 0.154 2160.81 -299.3 - 67.31 2.403 2774.75 -4.9 0.353 - - - - - - 15.73 15.17 10.11
12052 end apogee: CONTROL_FINISHED_OK
12052 begin climb
12052.53 992.39 - 1339 12140.44 1.54 3.07 0.114 2695.06 144.5 2.97 0.081 994.50 -392.7 82.73 70.92 2.371 2436.44 -4.8 0.350 - - - - - - 15.42 15.55 11.57
12147.81 989.56 4.37 1353 12248.68 1.74 0.31 0.068 2754.25 190.9 2.74 0.024 2137.88 417.3 183.03 89.00 2.375 2027.25 -4.6 0.336 - - - - - - 15.27 15.34 11.56
12560.26 949.00 10.16 1387 12561.59 VBD 1.74 - - 2754.00 - - - 2137.50 - 183.03 - - 2016.81 - - - - - - - - - - -
12875.28 917.45 9.98 1408 12876.62 VBD 1.74 - - 2754.50 - - - 2137.38 - 183.03 - - 2014.12 - - - - - - - - - - -
13190.28 885.18 10.21 1429 13194.95 done 1.74 - - 2754.38 - 2.89 0.082 993.75 -395.7 183.03 - - 2014.59 - - - - - - - - - 15.79 -
13229.16 881.15 10.50 1435 13234.72 done 1.74 - - 2754.50 - 2.64 0.025 2134.31 432.0 183.03 - - 2014.09 - - - - - - - - - 15.86 -
13548.58 849.88 9.81 1457 13549.91 VBD 1.74 - - 2754.06 - - - 2135.00 - 183.03 - - 2012.88 - - - - - - - - - - -
13863.58 819.99 9.32 1478 13864.92 VBD 1.74 - - 2754.06 - - - 2134.94 - 183.03 - - 2011.62 - - - - - - - - - - -
14178.77 790.59 9.36 1499 14183.43 done 1.74 - - 2753.94 - 2.73 0.084 3203.69 391.5 183.03 - - 2012.00 - - - - - - - - - 15.86 -
14236.72 784.66 9.98 1507 14241.34 done 1.74 - - 2754.75 - 2.60 0.025 2057.69 -440.8 183.03 - - 2010.81 - - - - - - - - - 15.93 -
14553.19 755.01 9.16 1529 14557.83 done 1.74 - - 2755.12 - 2.68 0.086 994.88 -396.6 183.03 - - 2011.31 - - - - - - - - - 15.84 -
14617.48 749.13 9.89 1539 14632.59 done 1.74 - - 2754.12 - 2.63 0.025 2132.88 432.7 183.03 - - 2011.66 - - - - - - - - - 15.96 -
14947.02 717.76 9.51 1561 14948.35 VBD 1.74 - - 2755.12 - - - 2133.56 - 183.03 - - 2010.34 - - - - - - - - - - -
15261.94 687.53 9.69 1582 15266.61 done 1.74 - - 2753.50 - 2.89 0.082 993.50 -394.5 183.03 - - 2011.53 - - - - - - - - - 15.85 -
15300.49 683.61 10.14 1588 15306.05 done 1.74 - - 2755.25 - 2.62 0.025 2130.62 434.0 183.03 - - 2011.47 - - - - - - - - - 15.97 -
15619.92 651.96 9.88 1610 15624.58 done 1.74 - - 2753.94 - 2.73 0.084 3205.50 393.7 183.03 - - 2010.50 - - - - - - - - - 15.86 -
15658.47 648.03 10.25 1616 15664.03 done 1.74 - - 2754.94 - 2.62 0.025 2055.50 -438.9 183.03 - - 2010.62 - - - - - - - - - 15.97 -
15977.91 616.54 9.56 1638 15982.59 done 1.74 - - 2754.00 - 2.95 0.080 3205.94 390.0 183.03 - - 2009.22 - - - - - - - - - 15.86 -
16015.12 612.71 9.94 1643 16019.75 done 1.74 - - 2754.94 - 2.62 0.025 2056.19 -438.8 183.03 - - 2011.56 - - - - - - - - - 15.96 -
16331.60 582.79 9.20 1665 16332.94 VBD 1.74 - - 2754.94 - - - 2056.88 - 183.03 - - 2009.16 - - - - - - - - - - -
16646.79 553.68 9.34 1686 16651.47 done 1.74 - - 2755.38 - 2.95 0.080 3204.88 389.2 183.03 - - 2008.94 - - - - - - - - - 15.86 -
16683.99 550.05 9.50 1691 16688.61 done 1.74 - - 2755.81 - 2.60 0.025 2062.75 -439.3 183.03 - - 2010.34 - - - - - - - - - 15.97 -
17000.65 522.29 8.72 1713 17005.36 done 1.74 - - 2755.75 - 2.70 0.086 993.81 -395.9 183.03 - - 2010.00 - - - - - - - - - 15.83 -
17142.92 508.53 9.84 1734 17148.47 done 1.74 - - 2754.56 - 2.65 0.025 2133.94 430.2 183.03 - - 2009.41 - - - - - - - - - 15.98 -
17452.01 481.06 8.72 1761 17456.66 done 1.74 - - 2755.38 - 2.76 0.084 3206.62 388.7 183.03 - - 2008.62 - - - - - - - - - 15.85 -
17537.77 473.24 9.25 1773 17552.71 done 1.74 - - 2755.50 - 2.63 0.025 2057.62 -436.9 183.03 - - 2009.94 - - - - - - - - - 15.98 -
17853.99 446.75 8.03 1802 17858.68 done 1.74 - - 2754.62 - 2.95 0.079 3204.19 388.7 183.03 - - 2009.00 - - - - - - - - - 15.85 -
17922.65 440.63 8.80 1811 17927.29 done 1.74 - - 2755.56 - 2.62 0.025 2060.25 -436.6 183.03 - - 2008.81 - - - - - - - - - 15.96 -
18234.55 415.34 8.24 1840 18239.19 done 1.74 - - 2755.75 - 2.69 0.086 993.44 -396.6 183.03 - - 2008.12 - - - - - - - - - 15.83 -
18273.09 412.10 8.46 1846 18288.03 done 1.74 - - 2755.44 - 2.64 0.025 2136.31 432.9 183.03 - - 2009.16 - - - - - - - - - 15.98 -
18589.31 386.10 8.29 1875 18600.39 VBD 1.74 - - 2755.31 - - - 2136.31 - 183.03 - - 2009.09 - - - - - - - - - - -
18902.29 361.07 7.65 1904 18906.94 done 1.75 - - 2754.88 - 2.74 0.083 3202.94 389.3 183.03 - - 2008.41 - - - - - - - - - 15.84 -
18956.92 356.65 8.06 1912 18971.86 done 1.75 - - 2755.31 - 2.62 0.025 2055.69 -437.9 183.03 - - 2009.00 - - - - - - - - - 15.96 -
19273.15 330.90 8.33 1941 19284.22 VBD 1.75 - - 2755.81 - - - 2055.38 - 183.03 - - 2009.28 - - - - - - - - - - -
19585.88 305.41 7.84 1970 19596.96 VBD 1.77 - - 2756.00 - - - 2055.50 - 183.03 - - 2009.38 - - - - - - - - - - -
19899.50 281.97 7.53 2024 19905.08 done 1.79 - - 2755.06 - 2.95 0.078 3203.44 389.1 183.03 - - 2008.81 - - - - - - - - - 15.82 -
19984.51 274.92 8.47 2041 19990.06 done 1.79 - - 2754.38 - 2.61 0.025 2056.75 -439.3 183.03 - - 2009.84 - - - - - - - - - 15.95 -
20294.64 250.76 7.79 2103 20300.22 done 1.80 - - 2755.75 - 2.95 0.078 3204.56 389.1 183.03 - - 2009.66 - - - - - - - - - 15.83 -
20344.63 246.44 8.80 2113 20350.17 done 1.80 - - 2755.44 - 2.60 0.024 2062.50 -439.3 183.03 - - 2009.88 - - - - - - - - - 15.95 -
20654.94 220.85 8.06 2175 20660.36 done 1.80 - - 2755.88 - 2.70 0.085 993.75 -395.8 183.03 - - 2009.16 - - - - - - - - - 15.81 -
20714.76 215.70 8.68 2187 20720.32 done 1.80 - - 2755.62 - 2.64 0.024 2139.75 434.1 183.03 - - 2009.41 - - - - - - - - - 15.95 -
21024.88 191.78 7.48 2249 21030.45 done 1.82 - - 2755.88 - 2.90 0.079 995.06 -394.7 183.03 - - 2009.38 - - - - - - - - - 15.81 -
21069.87 188.08 8.21 2258 21075.43 done 1.82 - - 2755.44 - 2.65 0.024 2141.94 432.8 183.03 - - 2010.09 - - - - - - - - - 15.96 -
21380.00 165.52 7.30 2320 21385.53 done 1.84 - - 2756.31 - 2.72 0.082 3205.69 391.1 183.03 - - 2009.47 - - - - - - - - - 15.83 -
21430.00 161.74 7.61 2330 21435.52 done 1.86 - - 2756.00 - 2.60 0.024 2064.69 -438.8 183.03 - - 2010.34 - - - - - - - - - 15.96 -
21740.10 140.93 6.46 2392 21780.90 1.96 0.23 0.079 2805.44 215.0 - - 2065.50 - 232.04 37.90 1.338 1828.22 -4.8 0.089 - - - - - - 15.91 - 10.39
22085.18 112.71 8.15 2461 22090.72 roll 1.96 - - 2805.50 - 2.91 0.077 3203.31 391.0 232.04 - - 1822.09 - - - - - - - - - 15.79 -
22135.12 108.26 9.07 2471 22140.67 roll 1.96 - - 2805.69 - 2.60 0.024 2065.94 -437.4 232.04 - - 1822.00 - - - - - - - - - 15.86 -
22445.18 83.09 8.10 2533 22450.74 done 1.96 - - 2806.12 - 2.71 0.082 993.62 -395.7 232.04 - - 1820.78 - - - - - - - - - 15.79 -
22490.17 79.37 8.28 2542 22495.73 done 1.96 - - 2805.44 - 2.64 0.023 2140.19 434.3 232.04 - - 1820.50 - - - - - - - - - 15.91 -
22680.22 66.46 5.91 2580 22734.45 done 2.08 - - 2806.19 - 2.74 0.082 3205.75 388.9 294.52 49.43 1.247 1573.62 -5.0 0.047 - - - - - - - 15.39 11.00
22751.72 62.26 6.09 2594 22803.81 2.20 0.31 0.072 2865.75 192.1 2.62 0.023 2064.12 -435.7 352.50 46.83 1.205 1338.28 -5.0 0.045 - - - - - - 15.67 15.76 11.62
22986.68 42.30 7.57 2641 22992.17 roll 2.22 - - 2865.81 - 2.74 0.082 993.62 -390.7 352.50 - - 1330.62 - - - - - - - - - 15.66 -
23132.04 30.92 7.84 2670 23137.20 done 2.23 - - 2866.44 - 2.63 0.023 2124.69 430.1 352.50 - - 1328.94 - - - - - - - - - 15.76 -
23321.72 14.58 8.74 2708 23327.27 done 2.23 - - 2866.06 - 2.78 0.079 3205.62 388.8 352.50 - - 1327.56 - - - - - - - - - 15.75 -
23411.73 6.00 9.59 2726 23417.29 done 2.23 - - 2866.44 - 2.66 0.023 2046.81 -435.6 352.50 - - 1326.50 - - - - - - - - - 15.83 -
23436 end climb: SURFACE_DEPTH_REACHED
23436 begin surface coast
23481 end surface coast: CONTROL_FINISHED_OK
23482 begin surface
SM 0.43 - - - - 178.2 55.10 1.166 1042.8 18.9 16.83 0.056 999.7 59.4 - 0.68 0.053 1085.8 1592.9 -1.321 - - 11.07 15.78 15.83 -