NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 976 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 342.83 of 550.00 AH used of 24V (37.67% remains)
• Surface angle -60.4 deg, depth 0.48 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 27 s
• GPS2 time: 4 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
5.74 - - - 87.69 VBD -1.54 - - 178.06 - - - 2260.88 - -82.73 80.46 0.005 2896.88 - - - - - - - - - - 14.83
88.42 3.18 -4.20 15 116.65 -1.54 14.40 0.236 1947.25 122.9 2.60 0.065 1208.00 -405.0 -82.73 5.01 0.009 3112.09 43.0 -2.644 - - - - - - 15.32 14.94 15.02
239.13 34.58 -20.17 45 244.33 roll -1.54 - - 1946.94 - 2.71 0.027 2350.88 421.7 -82.73 - - 3113.41 - - - - - - - - - 15.79 -
429.20 61.76 -12.67 83 430.53 no move -1.54 - - 1947.75 - - - 2350.44 - -82.73 - - 3112.34 - - - - - - - - - - -
613.95 83.14 -10.65 120 619.48 roll -1.54 - - 1948.12 - 2.83 0.060 1209.25 -403.2 -82.73 - - 3113.28 - - - - - - - - - 15.82 -
683.92 90.60 -10.55 134 689.46 roll -1.54 - - 1947.56 - 2.69 0.026 2353.81 425.5 -82.73 - - 3112.88 - - - - - - - - - 15.87 -
873.98 109.41 -9.75 172 879.56 roll -1.54 - - 1947.69 - 2.83 0.059 1207.94 -404.9 -82.73 - - 3113.62 - - - - - - - - - 15.85 -
944.00 116.23 -9.65 186 949.54 roll -1.54 - - 1947.88 - 2.68 0.026 2349.75 426.0 -82.73 - - 3113.38 - - - - - - - - - 15.90 -
1254.09 145.61 -9.50 248 1259.64 roll -1.54 - - 1948.56 - 2.80 0.059 1206.75 -408.2 -82.73 - - 3113.31 - - - - - - - - - 15.88 -
1349.09 154.64 -9.43 267 1354.64 roll -1.54 - - 1947.94 - 2.66 0.026 2342.19 426.9 -82.73 - - 3114.22 - - - - - - - - - 15.93 -
1659.15 183.70 -9.72 329 1660.48 no move -1.54 - - 1947.75 - - - 2342.44 - -82.73 - - 3112.56 - - - - - - - - - - -
1964.20 212.81 -9.21 390 1969.94 roll -1.54 - - 1948.38 - 2.78 0.059 1207.81 -408.1 -82.73 - - 3114.25 - - - - - - - - - 15.90 -
2054.32 221.30 -9.37 408 2059.76 roll -1.54 - - 1947.88 - 2.63 0.026 2338.44 429.9 -82.73 - - 3114.06 - - - - - - - - - 15.96 -
2364.27 248.13 -8.62 470 2365.60 no move -1.54 - - 1948.50 - - - 2338.25 - -82.73 - - 3112.97 - - - - - - - - - - -
2669.48 274.26 -8.34 531 2674.88 roll -1.54 - - 1948.62 - 2.77 0.060 1208.12 -408.0 -82.73 - - 3114.00 - - - - - - - - - 15.92 -
2719.31 278.69 -8.92 541 2724.88 roll -1.54 - - 1948.19 - 2.64 0.026 2337.00 427.6 -82.73 - - 3113.81 - - - - - - - - - 15.97 -
3035.93 305.54 -8.66 597 3040.58 roll -1.54 - - 1948.00 - 2.76 0.060 1209.31 -408.6 -82.73 - - 3114.97 - - - - - - - - - 15.94 -
3090.21 310.32 -8.94 605 3105.15 roll -1.54 - - 1948.69 - 2.62 0.026 2331.56 428.3 -82.73 - - 3113.72 - - - - - - - - - 16.00 -
3406.42 338.55 -8.82 634 3411.07 roll -1.54 - - 1947.88 - 2.75 0.059 1207.75 -408.7 -82.73 - - 3113.78 - - - - - - - - - 15.94 -
3460.70 343.45 -9.16 642 3475.82 roll -1.54 - - 1948.88 - 2.62 0.026 2330.00 428.3 -82.73 - - 3115.66 - - - - - - - - - 16.00 -
3777.90 371.45 -8.87 671 3782.55 roll -1.54 - - 1948.19 - 2.73 0.060 1209.44 -410.5 -82.73 - - 3112.25 - - - - - - - - - 15.94 -
3832.19 376.30 -9.06 679 3847.11 roll -1.54 - - 1948.38 - 2.59 0.025 2325.06 430.7 -82.73 - - 3113.66 - - - - - - - - - 16.01 -
4148.39 404.36 -8.69 708 4153.04 roll -1.54 - - 1948.06 - 2.71 0.061 1209.38 -411.7 -82.73 - - 3112.22 - - - - - - - - - 15.94 -
4202.66 409.14 -8.97 716 4217.59 roll -1.54 - - 1948.19 - 2.59 0.026 2321.62 429.4 -82.73 - - 3113.56 - - - - - - - - - 16.00 -
4519.78 435.66 -8.26 745 4530.85 no move -1.54 - - 1948.19 - - - 2320.81 - -82.73 - - 3113.88 - - - - - - - - - - -
4832.61 462.18 -8.57 774 4837.26 roll -1.54 - - 1948.19 - 2.74 0.061 1209.06 -405.7 -82.73 - - 3112.38 - - - - - - - - - 15.93 -
4869.80 465.41 -8.52 779 4874.42 roll -1.54 - - 1948.25 - 2.59 0.026 2317.06 427.8 -82.73 - - 3112.81 - - - - - - - - - 15.99 -
5181.81 490.82 -8.07 808 5192.89 no move -1.54 - - 1948.19 - - - 2317.50 - -82.73 - - 3113.69 - - - - - - - - - - -
5507.18 515.44 -7.42 833 5511.83 roll -1.54 - - 1948.31 - 2.73 0.062 1208.00 -406.4 -82.73 - - 3112.12 - - - - - - - - - 15.93 -
5607.93 523.66 -8.24 848 5613.67 roll -1.54 - - 1947.94 - 2.59 0.026 2318.06 428.6 -82.73 - - 3112.41 - - - - - - - - - 16.00 -
5927.45 548.42 -7.60 870 5928.78 no move -1.54 - - 1947.75 - - - 2317.38 - -82.73 - - 3110.88 - - - - - - - - - - -
6242.34 573.33 -7.86 891 6246.99 roll -1.54 - - 1947.94 - 2.74 0.062 1208.06 -404.9 -82.73 - - 3112.34 - - - - - - - - - 15.93 -
6343.11 581.42 -8.14 906 6348.65 roll -1.54 - - 1948.88 - 2.58 0.027 2313.12 428.3 -82.73 - - 3111.88 - - - - - - - - - 16.01 -
6662.52 606.35 -7.67 928 6667.17 roll -1.54 - - 1946.12 - 2.74 0.062 1209.56 -402.8 -82.73 - - 3112.72 - - - - - - - - - 15.92 -
6706.07 609.27 -7.75 935 6721.22 roll -1.54 - - 1947.94 - 2.57 0.026 2310.25 428.3 -82.73 - - 3111.16 - - - - - - - - - 16.01 -
7035.48 633.90 -7.29 957 7040.13 roll -1.54 - - 1947.81 - 2.73 0.062 1208.00 -403.8 -82.73 - - 3110.78 - - - - - - - - - 15.92 -
7094.76 638.46 -7.72 966 7100.29 roll -1.54 - - 1948.31 - 2.57 0.026 2308.12 428.1 -82.73 - - 3111.81 - - - - - - - - - 16.01 -
7414.17 661.74 -7.11 988 7415.50 no move -1.54 - - 1948.44 - - - 2308.44 - -82.73 - - 3109.84 - - - - - - - - - - -
7729.17 684.70 -7.46 1009 7733.82 roll -1.54 - - 1948.69 - 2.73 0.063 1209.12 -402.7 -82.73 - - 3110.06 - - - - - - - - - 15.91 -
7809.20 691.00 -7.94 1021 7814.73 roll -1.54 - - 1948.44 - 2.55 0.027 2303.50 429.2 -82.73 - - 3110.81 - - - - - - - - - 16.00 -
8128.78 715.94 -7.88 1043 8133.49 roll -1.54 - - 1948.38 - 2.70 0.063 1209.06 -405.3 -82.73 - - 3110.66 - - - - - - - - - 15.91 -
8172.33 719.02 -8.07 1050 8187.25 roll -1.54 - - 1948.00 - 2.54 0.027 2302.81 430.6 -82.73 - - 3109.78 - - - - - - - - - 16.00 -
8501.91 745.11 -7.64 1072 8503.23 no move -1.54 - - 1948.00 - - - 2302.88 - -82.73 - - 3108.50 - - - - - - - - - - -
8816.74 768.58 -7.42 1093 8821.38 roll -1.54 - - 1946.50 - 2.71 0.063 1209.19 -403.6 -82.73 - - 3108.91 - - - - - - - - - 15.91 -
8876.02 773.09 -7.69 1102 8881.56 roll -1.54 - - 1948.25 - 2.54 0.027 2299.94 429.4 -82.73 - - 3109.22 - - - - - - - - - 16.00 -
9195.42 796.65 -7.34 1124 9196.75 no move -1.54 - - 1948.12 - - - 2300.00 - -82.73 - - 3108.28 - - - - - - - - - - -
9510.66 821.04 -7.68 1145 9515.29 roll -1.54 - - 1947.81 - 2.69 0.064 1210.62 -405.0 -82.73 - - 3107.88 - - - - - - - - - 15.90 -
9569.92 825.86 -8.13 1154 9575.46 roll -1.54 - - 1948.00 - 2.52 0.027 2299.44 432.1 -82.73 - - 3109.06 - - - - - - - - - 16.00 -
9889.33 851.24 -7.62 1176 9890.66 no move -1.54 - - 1948.25 - - - 2299.88 - -82.73 - - 3108.28 - - - - - - - - - - -
10204.34 873.16 -6.49 1197 10209.00 roll -1.54 - - 1947.75 - 2.88 0.090 3426.44 391.2 -82.73 - - 3107.28 - - - - - - - - - 15.84 -
10242.88 875.79 -6.79 1203 10248.43 roll -1.54 - - 1948.06 - 2.69 0.020 2198.06 -456.6 -82.73 - - 3109.12 - - - - - - - - - 15.99 -
10562.30 896.09 -6.11 1225 10563.63 no move -1.54 - - 1947.88 - - - 2197.31 - -82.73 - - 3107.34 - - - - - - - - - - -
10877.49 914.52 -5.95 1246 10882.27 roll -1.54 - - 1948.12 - 3.11 0.085 3427.06 395.4 -82.73 - - 3109.81 - - - - - - - - - 15.83 -
10921.05 917.04 -6.41 1253 10935.97 roll -1.54 - - 1947.62 - 2.68 0.020 2199.25 -458.1 -82.73 - - 3107.59 - - - - - - - - - 15.99 -
11250.44 937.11 -5.87 1275 11251.77 no move -1.54 - - 1948.25 - - - 2199.06 - -82.73 - - 3106.38 - - - - - - - - - - -
11565.46 956.51 -6.35 1296 11570.15 roll -1.54 - - 1948.19 - 3.08 0.085 3423.50 397.5 -82.73 - - 3110.03 - - - - - - - - - 15.82 -
11604.00 959.20 -6.81 1302 11609.55 roll -1.54 - - 1947.75 - 2.67 0.020 2201.88 -457.5 -82.73 - - 3108.09 - - - - - - - - - 15.98 -
11923.42 979.74 -6.39 1324 11924.75 no move -1.54 - - 1948.25 - - - 2201.19 - -82.73 - - 3106.19 - - - - - - - - - - -
12088 end dive: TARGET_DEPTH_EXCEEDED
12088 begin apogee
12090.24 990.14 -6.27 1335 12165.92 -0.28 2.19 0.140 2252.56 139.0 0.17 0.154 2159.94 -242.6 - 67.38 2.412 2775.03 -4.9 0.351 - - - - - - 15.74 15.16 10.15
12167 end apogee: CONTROL_FINISHED_OK
12168 begin climb
12168.42 991.58 - 1340 12256.45 1.54 3.07 0.113 2695.19 144.2 2.96 0.081 993.94 -393.9 82.73 71.06 2.373 2436.16 -4.8 0.347 - - - - - - 15.42 15.55 11.64
12300.28 985.52 5.48 1359 12370.93 1.68 0.21 0.079 2740.38 215.2 2.68 0.024 2139.44 427.4 155.84 64.92 2.355 2138.19 -4.6 0.335 - - - - - - 15.36 15.44 11.40
12676.76 951.09 9.54 1389 12681.41 done 1.68 - - 2738.75 - 2.70 0.085 3205.50 394.8 155.84 - - 2130.84 - - - - - - - - - 15.66 -
12720.31 947.31 9.86 1396 12735.24 done 1.68 - - 2739.81 - 2.62 0.025 2055.94 -438.8 155.84 - - 2131.59 - - - - - - - - - 15.71 -
13049.72 915.03 9.65 1418 13051.05 VBD 1.68 - - 2739.88 - - - 2056.75 - 155.84 - - 2127.75 - - - - - - - - - - -
13364.74 884.87 9.62 1439 13369.41 done 1.68 - - 2739.62 - 2.89 0.081 3203.75 396.9 155.84 - - 2127.53 - - - - - - - - - 15.81 -
13424.02 878.92 10.13 1448 13429.57 done 1.68 - - 2740.12 - 2.58 0.026 2060.00 -443.3 155.84 - - 2128.00 - - - - - - - - - 15.87 -
13743.44 848.73 9.31 1470 13744.77 VBD 1.68 - - 2740.25 - - - 2060.12 - 155.84 - - 2126.22 - - - - - - - - - - -
14058.64 819.97 8.96 1491 14063.36 done 1.68 - - 2740.69 - 2.88 0.081 3203.56 397.0 155.84 - - 2125.03 - - - - - - - - - 15.84 -
14117.54 814.21 9.59 1499 14122.16 done 1.68 - - 2740.44 - 2.57 0.026 2061.62 -444.3 155.84 - - 2127.53 - - - - - - - - - 15.91 -
14434.06 784.36 9.39 1521 14438.69 done 1.68 - - 2741.25 - 2.65 0.086 993.31 -403.1 155.84 - - 2124.59 - - - - - - - - - 15.84 -
14491.99 778.50 9.94 1529 14496.63 done 1.68 - - 2741.12 - 2.62 0.026 2143.25 438.9 155.84 - - 2124.84 - - - - - - - - - 15.94 -
14808.47 749.06 9.18 1551 14813.10 done 1.68 - - 2740.12 - 2.66 0.085 3205.38 399.3 155.84 - - 2126.19 - - - - - - - - - 15.86 -
14872.75 743.28 9.76 1561 14887.68 done 1.68 - - 2740.00 - 2.58 0.025 2065.50 -441.8 155.84 - - 2125.72 - - - - - - - - - 15.96 -
15202.15 713.27 8.58 1583 15203.48 VBD 1.68 - - 2740.38 - - - 2065.69 - 155.84 - - 2125.00 - - - - - - - - - - -
15517.18 687.25 8.19 1604 15521.84 done 1.68 - - 2737.88 - 2.89 0.081 3204.50 394.1 155.84 - - 2126.19 - - - - - - - - - 15.86 -
15575.12 682.26 8.47 1612 15579.75 done 1.68 - - 2739.62 - 2.59 0.025 2065.69 -439.7 155.84 - - 2123.75 - - - - - - - - - 15.96 -
15891.61 657.01 7.95 1634 15892.95 VBD 1.69 - - 2740.50 - - - 2066.19 - 155.84 - - 2123.38 - - - - - - - - - - -
16206.61 631.89 7.97 1655 16207.94 VBD 1.69 - - 2740.62 - - - 2066.12 - 155.84 - - 2123.78 - - - - - - - - - - -
16521.82 606.96 7.85 1676 16523.15 VBD 1.71 - - 2740.12 - - - 2066.25 - 155.84 - - 2123.47 - - - - - - - - - - -
16837.11 581.84 7.64 1697 16841.78 done 1.72 - - 2739.88 - 2.89 0.080 3205.62 394.2 155.84 - - 2124.06 - - - - - - - - - 15.86 -
16915.80 575.26 8.23 1708 16920.42 done 1.72 - - 2737.88 - 2.57 0.025 2069.00 -442.3 155.84 - - 2123.78 - - - - - - - - - 15.98 -
17232.28 552.34 7.11 1730 17236.92 done 1.75 - - 2739.56 - 2.69 0.086 992.25 -400.3 155.84 - - 2125.09 - - - - - - - - - 15.84 -
17291.58 547.71 7.76 1739 17297.12 done 1.76 - - 2740.88 - 2.65 0.025 2146.44 435.5 155.84 - - 2124.09 - - - - - - - - - 15.98 -
17611.01 524.20 7.43 1761 17615.65 done 1.78 - - 2740.75 - 2.69 0.084 3206.06 393.9 155.84 - - 2122.91 - - - - - - - - - 15.85 -
17649.57 521.21 7.78 1767 17655.09 done 1.80 - - 2739.94 - 2.57 0.025 2068.75 -442.5 155.84 - - 2124.41 - - - - - - - - - 15.97 -
17960.48 497.48 7.53 1789 17971.55 VBD 1.82 - - 2740.75 - - - 2068.69 - 155.84 - - 2123.81 - - - - - - - - - - -
18273.22 474.45 7.38 1818 18277.96 1.84 0.15 0.096 2779.81 260.4 2.89 0.080 3204.69 393.1 155.84 - - 2124.19 - - - - - - - - 15.93 15.82 -
18311.78 471.30 8.03 1824 18326.70 done 1.84 - - 2778.88 - 2.57 0.025 2072.44 -440.6 155.84 - - 2123.88 - - - - - - - - - 15.98 -
18628.40 446.86 7.59 1853 18633.10 done 1.86 - - 2779.38 - 2.69 0.085 994.75 -400.6 155.84 - - 2123.62 - - - - - - - - - 15.83 -
18682.68 442.48 8.10 1861 18697.63 done 1.86 - - 2779.69 - 2.64 0.025 2146.38 436.2 155.84 - - 2123.75 - - - - - - - - - 15.97 -
18999.30 419.24 7.42 1890 19003.94 done 1.88 - - 2780.56 - 2.68 0.083 3205.62 395.2 155.84 - - 2122.09 - - - - - - - - - 15.84 -
19037.85 416.25 7.77 1896 19052.77 done 1.89 - - 2779.50 - 2.58 0.024 2068.62 -440.7 155.84 - - 2123.31 - - - - - - - - - 15.98 -
19354.77 392.82 7.43 1925 19365.85 VBD 1.91 - - 2779.38 - - - 2068.81 - 155.84 - - 2123.62 - - - - - - - - - - -
19667.52 369.24 7.77 1954 19678.60 VBD 1.92 - - 2779.75 - - - 2068.31 - 155.84 - - 2123.34 - - - - - - - - - - -
19980.48 346.25 7.20 1983 19985.15 done 1.95 - - 2778.88 - 2.90 0.079 3205.38 392.1 155.84 - - 2122.31 - - - - - - - - - 15.84 -
20050.52 340.87 7.72 1993 20065.42 done 1.96 - - 2779.25 - 2.59 0.024 2065.75 -440.0 155.84 - - 2124.44 - - - - - - - - - 15.98 -
20367.31 318.36 6.61 2022 20372.03 2.00 0.16 0.090 2816.56 233.2 2.70 0.085 993.62 -397.1 155.84 - - 2123.50 - - - - - - - - 15.93 15.79 -
20436.01 312.98 7.66 2031 20440.83 done 2.02 - - 2814.12 - 2.66 0.025 2145.44 433.0 155.84 - - 2123.59 - - - - - - - - - 15.97 -
20746.74 291.96 6.63 2072 20748.07 VBD 2.05 - - 2816.50 - - - 2145.62 - 155.84 - - 2122.41 - - - - - - - - - - -
21051.85 270.81 7.10 2133 21057.43 done 2.08 - - 2816.31 - 2.89 0.079 993.81 -398.6 155.84 - - 2124.75 - - - - - - - - - 15.81 -
21096.85 267.34 7.72 2142 21102.39 done 2.10 - - 2816.38 - 2.63 0.025 2142.38 436.7 155.84 - - 2123.88 - - - - - - - - - 15.95 -
21407.14 243.99 7.50 2204 21408.47 VBD 2.12 - - 2816.50 - - - 2142.94 - 155.84 - - 2122.59 - - - - - - - - - - -
21712.05 220.04 8.22 2265 21713.39 VBD 2.12 - - 2816.25 - - - 2142.56 - 155.84 - - 2122.44 - - - - - - - - - - -
22017.12 195.41 7.90 2326 22022.71 done 2.13 - - 2816.62 - 2.90 0.078 992.19 -396.7 155.84 - - 2123.44 - - - - - - - - - 15.81 -
22097.11 188.70 8.37 2342 22102.67 done 2.13 - - 2816.81 - 2.64 0.024 2146.31 437.2 155.84 - - 2123.66 - - - - - - - - - 15.95 -
22407.29 166.51 7.16 2404 22412.83 2.15 0.16 0.092 2857.31 253.1 2.91 0.077 993.50 -396.2 155.84 - - 2123.88 - - - - - - - - 15.92 15.79 -
22507.17 158.17 8.45 2424 22512.74 done 2.15 - - 2856.06 - 2.62 0.024 2139.31 437.3 155.84 - - 2124.34 - - - - - - - - - 15.96 -
22817.24 134.01 7.89 2486 22822.82 done 2.16 - - 2856.62 - 2.90 0.076 992.12 -395.6 155.84 - - 2123.91 - - - - - - - - - 15.82 -
22842.24 132.04 7.80 2491 22847.78 done 2.18 - - 2856.62 - 2.62 0.023 2134.25 435.9 155.84 - - 2124.88 - - - - - - - - - 15.96 -
23152.30 109.27 6.92 2553 23153.63 VBD 2.21 - - 2856.62 - - - 2134.12 - 155.84 - - 2122.81 - - - - - - - - - - -
23457.57 91.90 4.74 2614 23534.97 2.39 0.26 0.071 2914.38 222.2 2.92 0.078 993.69 -390.6 247.03 69.92 1.282 1767.59 -5.1 0.063 - - - - - - 15.92 15.33 10.31
23537.78 86.75 7.44 2630 23542.94 roll 2.41 - - 2914.69 - 2.66 0.023 2132.94 428.3 247.03 - - 1765.47 - - - - - - - - - 15.72 -
23727.35 68.35 8.32 2668 23732.97 done 2.41 - - 2914.75 - 2.91 0.075 993.56 -391.5 247.03 - - 1759.00 - - - - - - - - - 15.72 -
23797.72 62.73 7.88 2682 23802.89 done 2.42 - - 2914.19 - 2.59 0.022 2114.06 432.6 247.03 - - 1758.03 - - - - - - - - - 15.80 -
23987.40 52.34 4.36 2720 24070.58 2.62 0.26 0.069 2970.94 218.3 2.82 0.080 3205.00 386.9 347.56 76.97 1.213 1357.91 -5.2 0.039 - - - - - - 15.79 15.30 11.10
24217.71 30.85 12.14 2766 24223.29 roll 2.62 - - 2970.69 - 2.71 0.024 2040.06 -429.9 347.56 - - 1352.09 - - - - - - - - - 15.70 -
24407.77 8.32 11.53 2804 24409.10 VBD 2.62 - - 2971.31 - - - 2040.06 - 347.56 - - 1348.72 - - - - - - - - - - -
24442 end climb: SURFACE_DEPTH_REACHED
24442 begin surface coast
24482 end surface coast: CONTROL_FINISHED_OK
24483 begin surface
SM 0.31 - - - - 179.5 58.60 1.157 1043.3 17.8 17.56 0.056 1007.7 57.4 - 0.70 0.056 1079.0 1541.4 -0.872 - - 11.13 15.71 15.78 -