NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 975 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 342.43 of 550.00 AH used of 24V (37.74% remains)
• Surface angle -55.2 deg, depth 0.41 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.89 (SM_CC=425)
• GPS1 time: 30 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
5.73 - - - 102.95 VBD -1.54 - - 178.12 - - - 2231.12 - -82.73 95.77 0.005 2781.09 - - - - - - - - - - 14.81
103.70 3.24 -3.65 18 135.25 -1.54 14.20 0.236 1946.88 124.6 2.58 0.070 1208.44 -396.4 -82.73 7.74 0.007 3112.97 42.9 -3.468 - - - - - - 15.37 14.85 14.98
257.36 28.92 -13.29 49 263.12 roll -1.54 - - 1945.62 - 2.71 0.027 2350.69 421.5 -82.73 - - 3112.50 - - - - - - - - - 15.78 -
447.94 56.28 -13.33 87 449.27 no move -1.54 - - 1946.56 - - - 2351.25 - -82.73 - - 3112.03 - - - - - - - - - - -
632.49 78.97 -10.23 124 638.08 roll -1.54 - - 1946.31 - 2.83 0.058 1209.25 -403.5 -82.73 - - 3112.41 - - - - - - - - - 15.83 -
702.52 86.40 -10.49 138 708.06 roll -1.54 - - 1946.31 - 2.68 0.026 2352.12 426.4 -82.73 - - 3112.91 - - - - - - - - - 15.87 -
892.58 104.18 -9.05 176 893.91 no move -1.54 - - 1946.69 - - - 2351.75 - -82.73 - - 3111.09 - - - - - - - - - - -
1197.69 131.10 -9.02 237 1203.28 roll -1.54 - - 1946.50 - 2.82 0.059 1210.62 -404.7 -82.73 - - 3112.84 - - - - - - - - - 15.88 -
1347.73 145.24 -9.53 267 1353.28 roll -1.54 - - 1945.88 - 2.65 0.025 2350.44 430.1 -82.73 - - 3113.44 - - - - - - - - - 15.93 -
1657.85 173.17 -8.97 329 1659.17 no move -1.54 - - 1945.88 - - - 2350.81 - -82.73 - - 3112.22 - - - - - - - - - - -
1962.95 200.42 -8.69 390 1968.51 roll -1.54 - - 1946.69 - 2.80 0.059 1209.31 -407.7 -82.73 - - 3113.31 - - - - - - - - - 15.92 -
2043.14 207.74 -9.21 406 2048.57 roll -1.54 - - 1946.38 - 2.64 0.025 2348.38 431.5 -82.73 - - 3113.44 - - - - - - - - - 15.95 -
2353.02 235.49 -9.27 468 2358.59 roll -1.54 - - 1946.25 - 2.80 0.059 1209.38 -406.8 -82.73 - - 3112.66 - - - - - - - - - 15.92 -
2413.02 241.33 -9.78 480 2418.57 roll -1.54 - - 1946.38 - 2.63 0.025 2344.69 431.7 -82.73 - - 3112.88 - - - - - - - - - 15.96 -
2723.08 270.77 -9.44 542 2728.64 roll -1.54 - - 1946.62 - 2.79 0.059 1209.38 -406.9 -82.73 - - 3113.97 - - - - - - - - - 15.93 -
2798.09 278.20 -10.01 557 2803.64 roll -1.54 - - 1946.94 - 2.63 0.025 2339.56 429.7 -82.73 - - 3113.44 - - - - - - - - - 15.97 -
3110.43 306.58 -8.88 611 3115.08 roll -1.54 - - 1944.69 - 2.77 0.059 1209.12 -408.1 -82.73 - - 3113.56 - - - - - - - - - 15.94 -
3196.18 314.44 -9.29 623 3211.12 roll -1.54 - - 1946.50 - 2.62 0.025 2336.00 430.1 -82.73 - - 3113.31 - - - - - - - - - 15.99 -
3512.38 343.54 -9.20 652 3517.22 roll -1.54 - - 1946.12 - 2.76 0.060 1209.38 -408.2 -82.73 - - 3111.53 - - - - - - - - - 15.94 -
3566.77 348.48 -9.29 660 3581.60 roll -1.54 - - 1946.06 - 2.61 0.026 2330.88 429.7 -82.73 - - 3113.06 - - - - - - - - - 16.00 -
3882.98 377.30 -9.38 689 3887.62 roll -1.54 - - 1945.56 - 2.74 0.060 1208.88 -409.5 -82.73 - - 3111.78 - - - - - - - - - 15.95 -
3967.39 385.33 -9.51 700 3972.00 roll -1.54 - - 1944.69 - 2.60 0.025 2323.56 428.7 -82.73 - - 3113.41 - - - - - - - - - 15.99 -
4278.87 413.12 -8.41 729 4283.52 roll -1.54 - - 1946.38 - 2.74 0.060 1209.19 -406.7 -82.73 - - 3111.88 - - - - - - - - - 15.95 -
4316.07 416.40 -8.67 734 4320.69 roll -1.54 - - 1946.31 - 2.59 0.025 2322.25 429.8 -82.73 - - 3110.69 - - - - - - - - - 15.99 -
4627.33 441.32 -7.83 763 4638.40 no move -1.54 - - 1946.94 - - - 2322.56 - -82.73 - - 3111.81 - - - - - - - - - - -
4940.03 466.69 -8.39 792 4951.10 no move -1.54 - - 1946.56 - - - 2322.62 - -82.73 - - 3111.84 - - - - - - - - - - -
5253.49 491.74 -7.68 821 5258.14 roll -1.54 - - 1945.81 - 2.73 0.061 1207.88 -408.3 -82.73 - - 3111.59 - - - - - - - - - 15.93 -
5391.48 502.54 -8.15 840 5406.39 roll -1.54 - - 1946.94 - 2.57 0.026 2313.50 430.2 -82.73 - - 3111.16 - - - - - - - - - 16.00 -
5721.23 529.68 -8.35 862 5726.06 roll -1.54 - - 1946.81 - 2.71 0.062 1209.12 -407.5 -82.73 - - 3110.19 - - - - - - - - - 15.93 -
5779.34 534.81 -8.72 870 5783.96 roll -1.54 - - 1945.75 - 2.56 0.026 2310.75 430.3 -82.73 - - 3110.25 - - - - - - - - - 16.00 -
6095.85 561.84 -8.52 892 6097.18 no move -1.54 - - 1946.94 - - - 2311.19 - -82.73 - - 3109.56 - - - - - - - - - - -
6410.87 589.43 -8.86 913 6412.20 no move -1.54 - - 1947.12 - - - 2311.38 - -82.73 - - 3108.59 - - - - - - - - - - -
6725.91 617.29 -8.55 934 6730.56 roll -1.54 - - 1945.06 - 2.71 0.063 1210.25 -406.3 -82.73 - - 3109.03 - - - - - - - - - 15.93 -
6810.94 624.40 -8.99 947 6825.87 roll -1.54 - - 1946.19 - 2.55 0.026 2307.19 430.2 -82.73 - - 3109.81 - - - - - - - - - 16.01 -
7140.34 651.72 -7.90 969 7144.97 roll -1.54 - - 1945.38 - 2.68 0.062 1210.44 -409.2 -82.73 - - 3109.00 - - - - - - - - - 15.93 -
7178.89 654.76 -8.03 975 7184.43 roll -1.54 - - 1946.56 - 2.54 0.026 2306.06 431.3 -82.73 - - 3109.12 - - - - - - - - - 16.00 -
7498.47 679.87 -7.90 997 7503.10 roll -1.54 - - 1946.38 - 2.69 0.063 1209.25 -407.7 -82.73 - - 3109.50 - - - - - - - - - 15.92 -
7537.34 682.99 -8.10 1003 7542.88 roll -1.54 - - 1946.56 - 2.54 0.026 2307.12 432.2 -82.73 - - 3110.22 - - - - - - - - - 16.01 -
7856.77 707.11 -7.35 1025 7858.10 no move -1.54 - - 1946.88 - - - 2307.44 - -82.73 - - 3107.22 - - - - - - - - - - -
8171.79 731.01 -7.58 1046 8176.61 roll -1.54 - - 1946.31 - 2.69 0.063 1210.38 -407.8 -82.73 - - 3108.19 - - - - - - - - - 15.92 -
8231.31 735.48 -7.65 1055 8236.67 roll -1.54 - - 1946.81 - 2.54 0.026 2303.88 430.5 -82.73 - - 3107.75 - - - - - - - - - 16.00 -
8550.48 758.82 -7.30 1077 8555.11 roll -1.54 - - 1946.69 - 2.70 0.063 1209.19 -405.4 -82.73 - - 3106.31 - - - - - - - - - 15.92 -
8608.41 763.38 -7.74 1085 8613.03 roll -1.54 - - 1947.12 - 2.54 0.026 2298.12 428.7 -82.73 - - 3106.56 - - - - - - - - - 16.00 -
8924.89 787.15 -7.44 1107 8926.21 no move -1.54 - - 1946.44 - - - 2298.00 - -82.73 - - 3106.31 - - - - - - - - - - -
9239.94 809.83 -7.03 1128 9244.57 roll -1.54 - - 1947.06 - 2.69 0.064 1209.38 -404.7 -82.73 - - 3108.66 - - - - - - - - - 15.91 -
9278.48 812.60 -7.24 1134 9284.03 roll -1.54 - - 1946.88 - 2.54 0.026 2296.94 428.2 -82.73 - - 3106.50 - - - - - - - - - 16.01 -
9597.92 835.00 -6.81 1156 9599.25 no move -1.54 - - 1946.69 - - - 2296.81 - -82.73 - - 3105.62 - - - - - - - - - - -
9912.95 856.55 -6.78 1177 9917.58 roll -1.54 - - 1946.88 - 2.70 0.064 1208.88 -402.9 -82.73 - - 3105.09 - - - - - - - - - 15.90 -
9977.22 860.65 -6.98 1187 9992.14 roll -1.54 - - 1947.19 - 2.54 0.027 2297.06 428.4 -82.73 - - 3106.25 - - - - - - - - - 16.01 -
10306.62 883.40 -6.87 1209 10311.27 roll -1.54 - - 1944.88 - 2.70 0.064 1209.31 -402.9 -82.73 - - 3107.28 - - - - - - - - - 15.90 -
10370.91 887.74 -7.36 1219 10386.01 roll -1.54 - - 1946.75 - 2.54 0.027 2291.25 426.0 -82.73 - - 3106.06 - - - - - - - - - 16.00 -
10700.48 911.21 -7.02 1241 10705.17 roll -1.54 - - 1947.38 - 2.94 0.088 3423.31 385.1 -82.73 - - 3104.25 - - - - - - - - - 15.84 -
10739.02 914.10 -7.40 1247 10744.59 roll -1.54 - - 1946.94 - 2.73 0.020 2195.31 -449.8 -82.73 - - 3106.03 - - - - - - - - - 15.99 -
11058.42 936.51 -7.06 1269 11059.75 no move -1.54 - - 1947.31 - - - 2194.06 - -82.73 - - 3104.44 - - - - - - - - - - -
11373.45 958.89 -7.24 1290 11378.16 roll -1.54 - - 1946.25 - 3.20 0.084 3427.06 385.3 -82.73 - - 3104.84 - - - - - - - - - 15.84 -
11431.36 963.58 -7.89 1298 11436.01 roll -1.54 - - 1947.00 - 2.72 0.020 2197.88 -451.9 -82.73 - - 3105.25 - - - - - - - - - 15.98 -
11748.03 986.78 -7.24 1320 11749.37 no move -1.54 - - 1947.38 - - - 2196.75 - -82.73 - - 3104.25 - - - - - - - - - - -
11792 end dive: TARGET_DEPTH_EXCEEDED
11793 begin apogee
11794.68 990.10 -7.33 1323 11870.36 -0.28 2.17 0.138 2254.12 141.4 0.17 0.148 2158.38 -225.7 - 67.06 2.399 2775.62 -4.9 0.353 - - - - - - 15.75 15.19 10.08
11872 end apogee: CONTROL_FINISHED_OK
11872 begin climb
11872.85 992.32 - 1328 11960.77 1.54 3.06 0.113 2696.88 144.7 3.02 0.080 995.00 -385.2 82.73 70.07 2.339 2437.03 -4.8 0.358 - - - - - - 15.43 15.56 11.69
11983.87 988.70 4.30 1344 12089.48 1.74 0.30 0.070 2755.88 196.7 2.76 0.023 2138.00 414.1 184.58 89.79 2.372 2021.97 -4.6 0.337 - - - - - - 15.32 15.40 11.48
12401.08 950.26 9.80 1379 12402.41 VBD 1.74 - - 2755.56 - - - 2137.56 - 184.58 - - 2010.25 - - - - - - - - - - -
12716.10 919.80 9.56 1400 12717.43 VBD 1.74 - - 2756.62 - - - 2137.62 - 184.58 - - 2009.53 - - - - - - - - - - -
13031.10 888.92 9.98 1421 13035.76 done 1.74 - - 2756.12 - 2.76 0.084 3206.12 387.1 184.58 - - 2008.19 - - - - - - - - - 15.81 -
13068.29 884.89 10.47 1426 13072.93 done 1.74 - - 2755.75 - 2.63 0.025 2056.69 -437.0 184.58 - - 2008.41 - - - - - - - - - 15.86 -
13384.79 851.59 10.61 1448 13389.44 done 1.74 - - 2755.62 - 2.71 0.085 993.38 -392.4 184.58 - - 2007.62 - - - - - - - - - 15.82 -
13428.52 847.38 10.98 1455 13443.33 done 1.74 - - 2755.44 - 2.67 0.025 2136.88 428.3 184.58 - - 2007.41 - - - - - - - - - 15.91 -
13757.76 812.29 10.48 1477 13762.41 done 1.74 - - 2755.38 - 2.76 0.083 3203.75 386.5 184.58 - - 2006.00 - - - - - - - - - 15.85 -
13780.57 810.48 10.63 1481 13795.51 done 1.74 - - 2755.06 - 2.62 0.025 2058.69 -437.0 184.58 - - 2006.31 - - - - - - - - - 15.93 -
14110.15 775.69 10.21 1503 14111.48 VBD 1.74 - - 2755.69 - - - 2059.25 - 184.58 - - 2005.72 - - - - - - - - - - -
14425.00 744.26 9.76 1524 14429.69 done 1.74 - - 2753.62 - 2.96 0.080 3202.81 386.3 184.58 - - 2006.09 - - - - - - - - - 15.86 -
14468.55 740.41 10.06 1531 14483.49 done 1.74 - - 2755.69 - 2.61 0.025 2064.50 -436.1 184.58 - - 2005.88 - - - - - - - - - 15.96 -
14797.98 708.65 9.42 1553 14799.31 VBD 1.74 - - 2755.25 - - - 2064.00 - 184.58 - - 2004.34 - - - - - - - - - - -
15112.98 679.99 8.94 1574 15117.66 done 1.74 - - 2755.44 - 2.93 0.080 3203.19 388.8 184.58 - - 2004.03 - - - - - - - - - 15.86 -
15170.91 674.41 9.46 1582 15175.53 done 1.74 - - 2756.31 - 2.59 0.025 2066.00 -439.1 184.58 - - 2003.84 - - - - - - - - - 15.96 -
15487.40 645.99 9.13 1604 15488.73 VBD 1.74 - - 2755.75 - - - 2065.75 - 184.58 - - 2004.12 - - - - - - - - - - -
15802.40 616.26 9.58 1625 15807.09 done 1.74 - - 2755.69 - 2.93 0.079 3205.56 389.0 184.58 - - 2003.69 - - - - - - - - - 15.87 -
15841.14 612.43 9.98 1631 15846.55 done 1.74 - - 2755.38 - 2.58 0.025 2069.81 -440.2 184.58 - - 2004.72 - - - - - - - - - 15.98 -
16160.36 580.65 9.96 1653 16165.02 done 1.74 - - 2756.25 - 2.73 0.086 993.50 -394.3 184.58 - - 2003.06 - - - - - - - - - 15.85 -
16198.91 576.72 10.28 1659 16204.47 done 1.74 - - 2755.12 - 2.69 0.025 2150.69 430.2 184.58 - - 2004.91 - - - - - - - - - 15.98 -
16518.50 544.84 9.99 1681 16519.83 VBD 1.74 - - 2756.12 - - - 2151.00 - 184.58 - - 2003.06 - - - - - - - - - - -
16833.33 514.55 9.35 1702 16834.66 VBD 1.74 - - 2756.06 - - - 2150.88 - 184.58 - - 2003.91 - - - - - - - - - - -
17138.28 487.31 8.75 1726 17142.96 done 1.74 - - 2756.44 - 2.95 0.081 993.62 -392.3 184.58 - - 2002.62 - - - - - - - - - 15.84 -
17192.56 482.44 9.03 1734 17207.49 done 1.74 - - 2755.94 - 2.68 0.025 2147.94 430.7 184.58 - - 2004.84 - - - - - - - - - 15.99 -
17508.98 455.72 8.33 1763 17520.05 VBD 1.74 - - 2755.88 - - - 2148.62 - 184.58 - - 2003.84 - - - - - - - - - - -
17821.69 429.43 8.65 1792 17826.34 done 1.74 - - 2755.81 - 2.70 0.083 3201.44 389.9 184.58 - - 2003.97 - - - - - - - - - 15.85 -
17860.24 425.87 9.18 1798 17875.16 done 1.74 - - 2756.19 - 2.58 0.024 2068.50 -439.1 184.58 - - 2003.00 - - - - - - - - - 15.98 -
18176.65 398.11 8.72 1827 18181.51 done 1.74 - - 2755.69 - 2.91 0.078 3202.00 389.5 184.58 - - 2001.81 - - - - - - - - - 15.85 -
18231.10 393.12 9.25 1835 18245.85 done 1.74 - - 2755.44 - 2.57 0.024 2071.38 -439.9 184.58 - - 2002.56 - - - - - - - - - 15.98 -
18547.11 366.13 8.19 1864 18558.18 VBD 1.74 - - 2756.19 - - - 2071.12 - 184.58 - - 2002.62 - - - - - - - - - - -
18860.15 339.53 8.85 1893 18871.22 VBD 1.74 - - 2756.50 - - - 2071.12 - 184.58 - - 2002.69 - - - - - - - - - - -
19172.85 312.82 8.44 1922 19177.53 done 1.74 - - 2754.81 - 2.92 0.078 3204.81 388.2 184.58 - - 2002.03 - - - - - - - - - 15.85 -
19210.04 309.45 8.76 1927 19214.66 done 1.74 - - 2755.56 - 2.59 0.024 2068.00 -438.9 184.58 - - 2003.38 - - - - - - - - - 15.97 -
19520.27 284.65 7.78 1976 19525.84 done 1.75 - - 2754.88 - 2.92 0.078 3202.69 388.6 184.58 - - 2003.12 - - - - - - - - - 15.83 -
19555.26 281.70 8.32 1983 19560.78 done 1.75 - - 2755.38 - 2.57 0.024 2071.12 -440.3 184.58 - - 2002.75 - - - - - - - - - 15.95 -
19865.31 257.85 7.75 2045 19866.65 VBD 1.77 - - 2756.50 - - - 2071.25 - 184.58 - - 2001.53 - - - - - - - - - - -
20170.37 234.97 7.50 2106 20176.14 done 1.79 - - 2756.75 - 2.92 0.078 3204.31 388.0 184.58 - - 2002.88 - - - - - - - - - 15.83 -
20270.50 226.65 8.38 2126 20275.94 done 1.79 - - 2756.12 - 2.57 0.024 2076.38 -438.9 184.58 - - 2002.53 - - - - - - - - - 15.95 -
20580.69 202.31 7.94 2188 20582.02 VBD 1.80 - - 2755.81 - - - 2076.50 - 184.58 - - 2001.81 - - - - - - - - - - -
20885.95 178.32 7.65 2249 20887.28 VBD 1.81 - - 2756.19 - - - 2076.25 - 184.58 - - 2001.62 - - - - - - - - - - -
21190.71 155.19 7.64 2310 21196.29 done 1.83 - - 2756.81 - 2.91 0.077 3205.62 388.1 184.58 - - 2002.78 - - - - - - - - - 15.83 -
21275.72 148.13 8.30 2327 21281.25 done 1.83 - - 2756.56 - 2.57 0.023 2072.69 -440.8 184.58 - - 2003.69 - - - - - - - - - 15.95 -
21585.84 126.07 7.14 2389 21591.39 done 1.86 - - 2755.00 - 2.72 0.084 995.00 -396.2 184.58 - - 2003.56 - - - - - - - - - 15.81 -
21635.85 122.31 7.55 2399 21641.38 done 1.88 - - 2756.00 - 2.69 0.024 2156.31 431.7 184.58 - - 2003.12 - - - - - - - - - 15.96 -
21946.07 103.43 5.19 2461 22013.48 2.04 0.35 0.068 2825.75 199.3 2.71 0.082 3204.69 386.9 264.62 61.11 1.302 1696.12 -5.0 0.070 - - - - - - 15.92 15.37 10.48
22055.95 94.98 9.64 2483 22061.48 roll 2.04 - - 2825.69 - 2.60 0.023 2073.56 -435.1 264.62 - - 1693.28 - - - - - - - - - 15.76 -
22245.97 77.16 9.18 2521 22251.53 roll 2.04 - - 2825.25 - 2.74 0.082 995.06 -393.6 264.62 - - 1689.00 - - - - - - - - - 15.73 -
22290.97 72.73 10.05 2530 22296.56 done 2.04 - - 2825.31 - 2.72 0.024 2159.75 428.2 264.62 - - 1687.09 - - - - - - - - - 15.81 -
22481.02 56.00 7.60 2568 22486.55 done 2.05 - - 2825.25 - 2.68 0.080 3204.69 389.9 264.62 - - 1686.88 - - - - - - - - - 15.77 -
22716.04 40.96 5.46 2615 22778.68 2.20 0.17 0.090 2865.25 235.3 2.55 0.022 2080.44 -440.9 338.12 56.83 1.204 1396.88 -5.1 0.030 - - - - - - 15.73 15.88 11.01
22961.06 18.56 9.71 2664 22966.66 roll 2.20 - - 2864.12 - 2.91 0.076 3204.19 386.2 338.12 - - 1390.28 - - - - - - - - - 15.72 -
23056.08 8.89 10.34 2683 23061.61 roll 2.20 - - 2865.75 - 2.57 0.023 2081.56 -436.8 338.12 - - 1389.00 - - - - - - - - - 15.78 -
23101 end climb: SURFACE_DEPTH_REACHED
23101 begin surface coast
23141 end surface coast: CONTROL_FINISHED_OK
23141 begin surface
SM 0.45 - - - - 178.1 66.49 1.170 1042.9 15.7 16.67 0.047 998.1 59.9 - 0.60 0.059 1087.7 1808.6 -1.410 - - 11.32 15.75 15.80 -