NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 968 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 339.56 of 550.00 AH used of 24V (38.26% remains)
• Surface angle -63.8 deg, depth 0.54 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 424.93 (SM_CC=425)
• GPS1 time: 34 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
5.72 - - - 82.62 VBD -1.54 - - 177.12 - - - 2241.50 - -82.73 75.36 0.005 2816.84 - - - - - - - - - - 14.84
83.35 3.23 -4.63 14 115.03 -1.54 14.45 0.234 1946.50 122.4 3.09 0.085 3425.12 383.0 -82.73 6.98 0.008 3111.78 42.3 -2.968 - - - - - - 15.35 14.87 15.01
207.48 25.33 -16.34 39 212.66 roll -1.54 - - 1946.75 - 2.62 0.019 2253.94 -447.0 -82.73 - - 3112.50 - - - - - - - - - 15.76 -
397.52 53.47 -13.66 77 402.87 roll -1.54 - - 1946.19 - 2.55 0.063 1209.69 -409.5 -82.73 - - 3113.00 - - - - - - - - - 15.79 -
512.28 66.24 -10.37 100 517.71 roll -1.54 - - 1946.12 - 2.59 0.026 2317.75 427.8 -82.73 - - 3112.81 - - - - - - - - - 15.84 -
702.58 85.72 -10.39 138 707.77 roll -1.54 - - 1946.50 - 2.86 0.085 3426.12 387.5 -82.73 - - 3113.22 - - - - - - - - - 15.78 -
752.19 91.26 -11.33 148 757.75 roll -1.54 - - 1946.88 - 2.68 0.019 2214.06 -452.3 -82.73 - - 3112.94 - - - - - - - - - 15.87 -
942.22 109.55 -9.28 186 947.85 roll -1.54 - - 1946.31 - 3.11 0.080 3426.44 389.8 -82.73 - - 3112.62 - - - - - - - - - 15.80 -
977.22 112.97 -9.70 193 982.78 roll -1.54 - - 1946.19 - 2.67 0.019 2214.06 -454.1 -82.73 - - 3112.56 - - - - - - - - - 15.89 -
1287.28 142.95 -9.92 255 1288.61 no move -1.54 - - 1946.81 - - - 2212.31 - -82.73 - - 3112.09 - - - - - - - - - - -
1592.32 172.49 -9.25 316 1597.45 roll -1.54 - - 1946.75 - 2.43 0.064 1208.06 -413.3 -82.73 - - 3112.31 - - - - - - - - - 15.90 -
1647.33 177.88 -9.87 327 1652.86 roll -1.54 - - 1946.81 - 2.59 0.026 2327.50 432.2 -82.73 - - 3113.50 - - - - - - - - - 15.94 -
1957.50 204.94 -8.38 389 1962.95 roll -1.54 - - 1946.62 - 2.72 0.058 1206.88 -412.0 -82.73 - - 3112.88 - - - - - - - - - 15.91 -
2032.55 211.54 -8.85 404 2037.91 roll -1.54 - - 1946.38 - 2.58 0.026 2324.19 433.1 -82.73 - - 3112.75 - - - - - - - - - 15.96 -
2342.44 236.35 -7.72 466 2347.99 roll -1.54 - - 1946.19 - 2.72 0.059 1209.00 -410.0 -82.73 - - 3113.31 - - - - - - - - - 15.92 -
2402.45 241.18 -8.13 478 2407.98 roll -1.54 - - 1946.12 - 2.56 0.026 2318.88 433.5 -82.73 - - 3113.91 - - - - - - - - - 15.96 -
2712.57 264.63 -7.54 540 2718.13 roll -1.54 - - 1946.44 - 2.71 0.059 1206.94 -410.3 -82.73 - - 3112.81 - - - - - - - - - 15.93 -
2802.59 272.15 -8.59 558 2808.12 roll -1.54 - - 1946.06 - 2.55 0.026 2314.75 434.4 -82.73 - - 3113.09 - - - - - - - - - 15.96 -
3112.70 298.76 -8.66 620 3118.25 roll -1.54 - - 1946.44 - 2.70 0.059 1207.94 -409.9 -82.73 - - 3112.72 - - - - - - - - - 15.93 -
3153.59 302.29 -9.03 627 3168.39 roll -1.54 - - 1945.19 - 2.55 0.026 2313.19 433.4 -82.73 - - 3113.09 - - - - - - - - - 15.99 -
3469.77 329.97 -8.87 656 3480.84 no move -1.54 - - 1946.25 - - - 2313.75 - -82.73 - - 3113.56 - - - - - - - - - - -
3782.79 358.38 -9.21 685 3787.42 roll -1.54 - - 1946.56 - 2.70 0.060 1207.75 -409.6 -82.73 - - 3111.88 - - - - - - - - - 15.94 -
3852.81 365.02 -9.56 695 3867.73 roll -1.54 - - 1946.75 - 2.55 0.026 2309.06 431.9 -82.73 - - 3113.56 - - - - - - - - - 16.00 -
4169.17 393.62 -8.76 724 4173.80 roll -1.54 - - 1946.19 - 2.68 0.060 1207.94 -410.9 -82.73 - - 3112.41 - - - - - - - - - 15.94 -
4238.16 399.92 -9.08 733 4242.77 roll -1.54 - - 1946.56 - 2.53 0.026 2306.69 434.3 -82.73 - - 3112.31 - - - - - - - - - 15.99 -
4549.42 425.67 -8.14 762 4560.49 no move -1.54 - - 1946.88 - - - 2306.69 - -82.73 - - 3112.53 - - - - - - - - - - -
4862.12 450.83 -8.01 791 4866.75 roll -1.54 - - 1946.62 - 2.68 0.061 1207.94 -410.0 -82.73 - - 3111.34 - - - - - - - - - 15.94 -
5025.96 464.34 -8.17 812 5030.57 roll -1.54 - - 1946.25 - 2.53 0.026 2304.94 433.6 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
5337.23 487.92 -7.55 841 5348.30 no move -1.54 - - 1946.69 - - - 2304.62 - -82.73 - - 3112.19 - - - - - - - - - - -
5660.65 512.17 -7.53 867 5665.28 roll -1.54 - - 1946.00 - 2.67 0.061 1207.69 -410.8 -82.73 - - 3111.28 - - - - - - - - - 15.93 -
5761.42 520.27 -8.10 882 5766.97 roll -1.54 - - 1945.75 - 2.53 0.027 2300.69 432.0 -82.73 - - 3112.97 - - - - - - - - - 16.00 -
6080.85 544.81 -7.61 904 6085.48 roll -1.54 - - 1945.25 - 2.64 0.062 1207.81 -414.0 -82.73 - - 3110.53 - - - - - - - - - 15.93 -
6140.13 549.37 -7.77 913 6145.68 roll -1.54 - - 1946.69 - 2.51 0.027 2297.50 434.1 -82.73 - - 3110.81 - - - - - - - - - 16.00 -
6459.54 573.96 -7.72 935 6464.20 roll -1.54 - - 1946.38 - 2.89 0.089 3423.81 389.7 -82.73 - - 3110.62 - - - - - - - - - 15.87 -
6503.30 577.19 -8.26 942 6518.25 roll -1.54 - - 1945.25 - 2.70 0.020 2197.44 -454.2 -82.73 - - 3110.41 - - - - - - - - - 15.99 -
6832.69 603.46 -7.85 964 6834.02 no move -1.54 - - 1946.50 - - - 2198.31 - -82.73 - - 3110.31 - - - - - - - - - - -
7147.71 627.83 -7.55 985 7152.43 roll -1.54 - - 1946.31 - 3.16 0.084 3426.00 388.5 -82.73 - - 3108.72 - - - - - - - - - 15.87 -
7205.64 632.73 -8.22 993 7210.28 roll -1.54 - - 1946.75 - 2.69 0.020 2200.56 -455.6 -82.73 - - 3108.66 - - - - - - - - - 15.98 -
7522.12 657.01 -7.69 1015 7523.44 no move -1.54 - - 1945.75 - - - 2199.00 - -82.73 - - 3109.72 - - - - - - - - - - -
7837.13 681.60 -7.91 1036 7842.03 roll -1.54 - - 1946.25 - 3.17 0.085 3425.31 386.8 -82.73 - - 3108.53 - - - - - - - - - 15.86 -
7895.24 686.71 -8.58 1044 7899.87 roll -1.54 - - 1946.38 - 2.69 0.020 2204.06 -454.0 -82.73 - - 3108.94 - - - - - - - - - 15.98 -
8211.89 712.08 -7.99 1066 8213.22 no move -1.54 - - 1946.19 - - - 2203.31 - -82.73 - - 3108.22 - - - - - - - - - - -
8526.73 737.16 -7.92 1087 8528.05 no move -1.54 - - 1946.06 - - - 2202.94 - -82.73 - - 3107.72 - - - - - - - - - - -
8841.73 761.96 -7.95 1108 8843.06 no move -1.54 - - 1946.44 - - - 2203.00 - -82.73 - - 3107.44 - - - - - - - - - - -
9156.74 786.48 -7.67 1129 9158.07 no move -1.54 - - 1946.69 - - - 2202.69 - -82.73 - - 3107.81 - - - - - - - - - - -
9471.75 810.08 -7.37 1150 9473.08 no move -1.54 - - 1946.06 - - - 2203.12 - -82.73 - - 3107.16 - - - - - - - - - - -
9786.77 833.02 -7.32 1171 9791.48 roll -1.54 - - 1946.31 - 3.16 0.086 3423.69 386.3 -82.73 - - 3107.19 - - - - - - - - - 15.84 -
9887.53 841.34 -8.39 1186 9893.08 roll -1.54 - - 1945.94 - 2.69 0.020 2208.62 -451.7 -82.73 - - 3107.84 - - - - - - - - - 15.98 -
10206.95 864.10 -6.93 1208 10208.28 no move -1.54 - - 1946.06 - - - 2207.69 - -82.73 - - 3106.56 - - - - - - - - - - -
10521.99 885.75 -6.92 1229 10526.71 roll -1.54 - - 1946.38 - 3.14 0.086 3425.00 387.7 -82.73 - - 3105.69 - - - - - - - - - 15.83 -
10602.01 891.88 -7.70 1241 10607.57 roll -1.54 - - 1944.81 - 2.69 0.020 2212.56 -450.7 -82.73 - - 3107.12 - - - - - - - - - 15.99 -
10921.42 914.38 -7.23 1263 10926.33 roll -1.54 - - 1946.12 - 3.13 0.086 3422.88 386.7 -82.73 - - 3105.72 - - - - - - - - - 15.83 -
10985.90 919.12 -7.95 1273 11000.73 roll -1.54 - - 1946.12 - 2.67 0.020 2213.19 -453.1 -82.73 - - 3106.12 - - - - - - - - - 15.99 -
11315.19 944.11 -7.53 1295 11319.91 roll -1.54 - - 1944.62 - 3.13 0.086 3424.44 387.0 -82.73 - - 3107.06 - - - - - - - - - 15.82 -
11353.73 947.12 -7.83 1301 11359.28 roll -1.54 - - 1945.56 - 2.68 0.020 2214.25 -451.6 -82.73 - - 3106.22 - - - - - - - - - 15.98 -
11673.13 970.72 -7.35 1323 11677.86 roll -1.54 - - 1946.06 - 3.13 0.086 3424.00 386.5 -82.73 - - 3105.06 - - - - - - - - - 15.82 -
11716.67 973.68 -7.65 1330 11731.61 roll -1.54 - - 1946.31 - 2.66 0.020 2216.06 -454.1 -82.73 - - 3105.53 - - - - - - - - - 15.99 -
11941 end dive: TARGET_DEPTH_EXCEEDED
11941 begin apogee
11942.89 990.30 -7.07 1345 12018.60 -0.28 2.21 0.142 2251.00 137.9 0.16 0.159 2160.25 -348.8 - 67.29 2.411 2774.22 -4.9 0.352 - - - - - - 15.73 15.17 10.19
12020 end apogee: CONTROL_FINISHED_OK
12020 begin climb
12021.08 992.27 - 1350 12108.69 1.54 3.06 0.092 2698.06 146.1 0.17 0.082 2038.00 -719.1 82.73 70.89 2.380 2439.09 -4.7 0.343 - - - - - - 15.45 15.55 11.64
12420.84 970.16 6.29 1383 12472.67 done 1.64 - - 2695.94 - 3.08 0.084 3203.88 378.5 135.93 46.24 2.329 2220.81 -4.7 0.342 - - - - - - - 15.19 11.21
12515.16 963.08 7.42 1397 12519.86 roll back 1.66 0.17 0.092 2731.62 209.9 2.66 0.025 2061.62 -429.4 135.93 - - 2217.91 - - - - - - - - 15.45 15.52 -
12832.03 935.46 8.67 1419 12833.36 no move 1.66 - - 2732.88 - - - 2061.88 - 135.93 - - 2214.44 - - - - - - - - - - -
13146.66 909.13 8.14 1440 13151.34 roll 1.66 - - 2733.19 - 2.94 0.080 3201.56 387.6 135.93 - - 2212.69 - - - - - - - - - 15.78 -
13226.69 902.21 8.72 1452 13232.23 roll 1.66 - - 2732.19 - 2.59 0.025 2066.19 -438.4 135.93 - - 2213.12 - - - - - - - - - 15.85 -
13546.10 876.35 8.30 1474 13550.79 done 1.66 - - 2732.31 - 2.92 0.081 3204.31 389.8 135.93 - - 2211.59 - - - - - - - - - 15.82 -
13589.65 873.04 8.65 1481 13604.57 done 1.66 - - 2732.75 - 2.58 0.025 2068.31 -440.3 135.93 - - 2212.94 - - - - - - - - - 15.89 -
13919.25 845.12 8.16 1503 13920.58 VBD 1.66 - - 2732.81 - - - 2068.69 - 135.93 - - 2211.69 - - - - - - - - - - -
14234.21 820.02 7.88 1524 14238.89 done 1.68 - - 2732.44 - 2.90 0.081 3205.06 391.9 135.93 - - 2211.12 - - - - - - - - - 15.85 -
14293.50 815.04 8.39 1533 14299.04 done 1.68 - - 2732.06 - 2.56 0.025 2071.75 -442.7 135.93 - - 2211.53 - - - - - - - - - 15.94 -
14612.93 789.34 8.30 1555 14614.26 VBD 1.68 - - 2732.12 - - - 2071.50 - 135.93 - - 2211.97 - - - - - - - - - - -
14927.97 762.73 8.48 1576 14929.30 VBD 1.68 - - 2732.50 - - - 2071.81 - 135.93 - - 2211.62 - - - - - - - - - - -
15243.00 735.92 8.36 1597 15247.63 done 1.68 - - 2732.44 - 2.69 0.086 993.44 -400.9 135.93 - - 2210.12 - - - - - - - - - 15.85 -
15281.55 732.58 8.69 1603 15287.11 done 1.68 - - 2731.81 - 2.68 0.026 2156.44 434.0 135.93 - - 2211.75 - - - - - - - - - 15.97 -
15601.00 706.97 7.58 1625 15602.33 VBD 1.69 - - 2732.62 - - - 2157.19 - 135.93 - - 2210.69 - - - - - - - - - - -
15916.03 685.03 6.74 1646 15920.67 done 1.73 - - 2732.06 - 2.67 0.085 3204.81 392.4 135.93 - - 2211.12 - - - - - - - - - 15.86 -
15973.99 680.81 7.14 1654 15978.60 done 1.75 - - 2732.88 - 2.55 0.025 2078.38 -441.7 135.93 - - 2209.59 - - - - - - - - - 15.96 -
16290.49 660.59 6.41 1676 16338.51 1.86 0.23 0.081 2781.94 213.3 2.92 0.084 3204.69 385.7 186.21 42.19 2.016 2014.28 -4.6 0.264 - - - - - - 15.92 15.41 10.54
16372.33 653.77 8.19 1688 16377.77 roll 1.86 - - 2781.62 - 2.57 0.025 2084.81 -435.8 186.21 - - 2014.53 - - - - - - - - - 15.76 -
16691.63 622.68 9.95 1710 16692.96 no move 1.86 - - 2782.62 - - - 2084.56 - 186.21 - - 2008.72 - - - - - - - - - - -
17006.66 590.67 10.24 1731 17011.31 roll 1.86 - - 2781.19 - 2.73 0.085 994.69 -399.2 186.21 - - 2008.28 - - - - - - - - - 15.79 -
17050.21 586.58 10.63 1738 17065.17 done 1.86 - - 2782.12 - 2.71 0.026 2158.38 429.4 186.21 - - 2008.12 - - - - - - - - - 15.89 -
17379.63 553.08 9.61 1760 17384.32 done 1.86 - - 2781.94 - 2.92 0.080 993.56 -398.9 186.21 - - 2006.62 - - - - - - - - - 15.82 -
17423.18 549.26 9.96 1767 17438.15 done 1.86 - - 2782.31 - 2.71 0.026 2158.00 429.7 186.21 - - 2007.47 - - - - - - - - - 15.92 -
17752.59 516.75 9.46 1789 17757.28 done 1.86 - - 2781.75 - 2.93 0.079 992.31 -397.8 186.21 - - 2005.88 - - - - - - - - - 15.83 -
17811.87 510.87 9.97 1798 17817.43 done 1.86 - - 2782.25 - 2.69 0.026 2153.25 431.6 186.21 - - 2008.66 - - - - - - - - - 15.95 -
18118.76 482.55 9.03 1824 18123.40 done 1.86 - - 2782.31 - 2.69 0.085 3203.75 390.5 186.21 - - 2007.09 - - - - - - - - - 15.84 -
18219.10 472.81 9.81 1837 18223.23 done 1.86 - - 2782.56 - 2.55 0.025 2077.81 -441.5 186.21 - - 2005.72 - - - - - - - - - 15.94 -
18530.77 445.83 8.41 1866 18535.42 done 1.86 - - 2781.31 - 2.72 0.084 993.31 -398.7 186.21 - - 2004.88 - - - - - - - - - 15.84 -
18585.05 440.93 9.00 1874 18599.99 done 1.86 - - 2782.62 - 2.70 0.026 2160.12 432.2 186.21 - - 2005.69 - - - - - - - - - 15.97 -
18901.27 413.22 8.64 1903 18905.91 done 1.86 - - 2782.00 - 2.67 0.084 3203.38 390.7 186.21 - - 2004.12 - - - - - - - - - 15.85 -
18954.44 408.26 9.15 1910 18959.05 done 1.86 - - 2781.00 - 2.54 0.025 2075.69 -444.0 186.21 - - 2006.25 - - - - - - - - - 15.95 -
19266.11 381.52 8.57 1939 19277.18 VBD 1.86 - - 2782.56 - - - 2076.25 - 186.21 - - 2005.50 - - - - - - - - - - -
19578.83 353.89 9.12 1968 19589.91 VBD 1.86 - - 2781.62 - - - 2075.88 - 186.21 - - 2005.59 - - - - - - - - - - -
19891.79 325.38 8.90 1997 19896.44 done 1.86 - - 2782.25 - 2.71 0.083 993.88 -399.3 186.21 - - 2003.53 - - - - - - - - - 15.84 -
19946.07 320.35 9.28 2005 19961.03 done 1.86 - - 2782.31 - 2.71 0.025 2163.25 431.5 186.21 - - 2004.69 - - - - - - - - - 15.98 -
20263.56 292.38 8.77 2043 20264.90 VBD 1.86 - - 2782.31 - - - 2163.06 - 186.21 - - 2004.78 - - - - - - - - - - -
20568.74 267.51 7.88 2104 20574.21 done 1.87 - - 2782.19 - 2.65 0.083 3204.50 393.0 186.21 - - 2004.75 - - - - - - - - - 15.84 -
20628.68 262.45 8.54 2116 20634.22 done 1.87 - - 2781.62 - 2.55 0.024 2079.12 -441.3 186.21 - - 2005.12 - - - - - - - - - 15.96 -
20938.80 239.26 7.49 2178 20944.34 done 1.89 - - 2782.19 - 2.73 0.083 993.44 -397.7 186.21 - - 2005.50 - - - - - - - - - 15.82 -
20993.79 234.76 8.30 2189 21000.12 done 1.89 - - 2782.44 - 2.69 0.025 2157.19 432.6 186.21 - - 2005.31 - - - - - - - - - 15.96 -
21303.91 211.60 7.70 2251 21305.24 VBD 1.90 - - 2782.06 - - - 2158.00 - 186.21 - - 2003.44 - - - - - - - - - - -
21609.00 188.08 7.92 2312 21610.33 VBD 1.91 - - 2782.00 - - - 2157.69 - 186.21 - - 2003.91 - - - - - - - - - - -
21914.08 163.43 8.08 2373 21915.41 VBD 1.91 - - 2782.06 - - - 2157.50 - 186.21 - - 2003.72 - - - - - - - - - - -
22219.11 139.06 8.22 2434 22224.89 done 1.91 - - 2782.06 - 2.93 0.077 993.50 -397.3 186.21 - - 2005.22 - - - - - - - - - 15.83 -
22274.23 134.07 9.28 2445 22279.67 done 1.91 - - 2781.00 - 2.69 0.024 2161.88 434.3 186.21 - - 2005.66 - - - - - - - - - 15.96 -
22584.17 109.65 7.31 2507 22585.51 VBD 1.94 - - 2782.75 - - - 2161.62 - 186.21 - - 2004.06 - - - - - - - - - - -
22889.21 91.10 6.25 2568 22937.42 2.04 0.20 0.079 2827.62 224.3 2.96 0.078 993.62 -394.6 240.26 42.69 1.288 1794.62 -4.9 0.060 - - - - - - 15.92 15.43 10.54
23069.54 75.48 8.21 2604 23075.11 roll 2.04 - - 2828.56 - 2.70 0.024 2161.88 432.7 240.26 - - 1791.41 - - - - - - - - - 15.84 -
23259.62 62.56 6.19 2642 23308.35 done 2.15 - - 2827.94 - 2.67 0.084 3203.62 390.2 295.89 44.17 1.227 1568.19 -5.1 0.045 - - - - - - - 15.40 11.24
23375.46 53.75 8.99 2665 23380.99 roll 2.15 - - 2828.56 - 2.56 0.023 2086.62 -436.3 295.89 - - 1564.75 - - - - - - - - - 15.74 -
23565.54 41.89 5.50 2703 23627.97 2.30 0.31 0.069 2889.00 195.0 2.79 0.083 992.62 -392.1 368.32 56.69 1.191 1273.53 -5.1 0.031 - - - - - - 15.77 15.35 11.22
23760.56 22.34 11.35 2742 23766.14 roll 2.30 - - 2889.50 - 2.74 0.024 2168.25 429.1 368.32 - - 1268.06 - - - - - - - - - 15.71 -
23950.64 5.69 9.45 2780 23956.23 roll 2.30 - - 2889.00 - 2.96 0.076 993.69 -396.8 368.32 - - 1266.50 - - - - - - - - - 15.72 -
23970 end climb: SURFACE_DEPTH_REACHED
23970 begin surface coast
23985 end surface coast: CONTROL_FINISHED_OK
23985 begin surface
SM 0.60 - - - - 179.3 43.90 1.158 1042.7 23.8 17.29 0.074 1002.0 58.0 - 3.18 0.029 1083.4 339.8 -0.718 - - 11.18 15.65 15.78 -