NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 977 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 343.24 of 550.00 AH used of 24V (37.59% remains)
• Surface angle -55.4 deg, depth 0.39 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.79 (SM_CC=425)
• GPS1 time: 49 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.73 - - - 82.61 VBD -1.54 - - 178.38 - - - 2267.69 - -82.73 75.36 0.005 2768.22 - - - - - - - - - - 14.87
83.35 3.01 -3.96 14 115.62 -1.54 14.44 0.236 1946.75 122.5 2.66 0.067 1209.19 -397.9 -82.73 8.15 0.007 3111.84 42.2 -3.181 - - - - - - 15.37 14.88 15.01
157.70 16.70 -14.67 29 163.25 roll -1.54 - - 1947.81 - 2.69 0.025 2350.88 424.4 -82.73 - - 3111.91 - - - - - - - - - 15.76 -
348.37 47.53 -14.55 67 349.69 no move -1.54 - - 1948.19 - - - 2350.69 - -82.73 - - 3111.78 - - - - - - - - - - -
532.77 71.86 -11.64 104 538.34 roll -1.54 - - 1948.31 - 2.77 0.084 3425.44 388.0 -82.73 - - 3112.44 - - - - - - - - - 15.78 -
632.96 84.37 -12.23 124 638.33 roll -1.54 - - 1948.50 - 2.54 0.018 2272.12 -454.1 -82.73 - - 3112.22 - - - - - - - - - 15.86 -
823.21 103.30 -9.64 162 828.37 roll -1.54 - - 1948.25 - 2.62 0.063 1209.44 -405.6 -82.73 - - 3112.78 - - - - - - - - - 15.84 -
892.83 109.98 -9.44 176 898.40 roll -1.54 - - 1947.19 - 2.73 0.027 2379.06 428.4 -82.73 - - 3113.31 - - - - - - - - - 15.90 -
1202.95 137.49 -9.40 238 1208.52 roll -1.54 - - 1948.62 - 2.87 0.058 1209.31 -407.6 -82.73 - - 3112.62 - - - - - - - - - 15.88 -
1307.97 147.46 -9.63 259 1313.54 roll -1.54 - - 1948.81 - 2.72 0.026 2377.06 429.3 -82.73 - - 3113.38 - - - - - - - - - 15.93 -
1618.09 175.39 -8.70 321 1623.67 roll -1.54 - - 1948.38 - 2.88 0.058 1209.38 -405.4 -82.73 - - 3114.12 - - - - - - - - - 15.90 -
1678.10 180.69 -8.92 333 1683.86 roll -1.54 - - 1948.25 - 2.71 0.026 2374.31 429.9 -82.73 - - 3112.78 - - - - - - - - - 15.95 -
1988.22 206.86 -8.33 395 1993.79 roll -1.54 - - 1948.25 - 2.84 0.058 1208.12 -410.6 -82.73 - - 3112.97 - - - - - - - - - 15.91 -
2093.24 215.82 -8.72 416 2098.79 roll -1.54 - - 1948.75 - 2.70 0.027 2366.62 429.1 -82.73 - - 3115.31 - - - - - - - - - 15.96 -
2403.36 240.69 -8.17 478 2408.95 roll -1.54 - - 1948.50 - 2.85 0.058 1209.44 -406.0 -82.73 - - 3112.88 - - - - - - - - - 15.92 -
2488.37 248.09 -8.74 495 2493.92 roll -1.54 - - 1947.44 - 2.69 0.026 2359.25 427.4 -82.73 - - 3114.16 - - - - - - - - - 15.96 -
2798.47 274.16 -8.09 557 2804.05 roll -1.54 - - 1948.38 - 2.84 0.059 1209.44 -404.9 -82.73 - - 3112.78 - - - - - - - - - 15.92 -
2883.48 281.69 -8.96 574 2889.03 roll -1.54 - - 1948.38 - 2.67 0.026 2354.88 429.0 -82.73 - - 3113.25 - - - - - - - - - 15.98 -
3192.28 307.89 -8.40 625 3197.13 roll -1.54 - - 1946.62 - 2.82 0.059 1209.00 -406.3 -82.73 - - 3113.28 - - - - - - - - - 15.94 -
3262.48 314.12 -9.01 635 3277.26 roll -1.54 - - 1948.44 - 2.66 0.026 2351.38 429.5 -82.73 - - 3114.03 - - - - - - - - - 15.99 -
3578.83 343.47 -9.53 664 3583.49 roll -1.54 - - 1948.19 - 2.81 0.059 1209.19 -406.5 -82.73 - - 3112.62 - - - - - - - - - 15.94 -
3633.10 348.81 -9.98 672 3648.05 roll -1.54 - - 1948.38 - 2.64 0.027 2348.75 431.7 -82.73 - - 3113.38 - - - - - - - - - 16.01 -
3949.91 379.15 -9.44 701 3954.55 roll -1.54 - - 1948.06 - 2.80 0.060 1208.00 -407.4 -82.73 - - 3112.59 - - - - - - - - - 15.94 -
4051.39 389.16 -10.06 715 4066.32 roll -1.54 - - 1948.38 - 2.63 0.027 2342.25 431.3 -82.73 - - 3112.94 - - - - - - - - - 16.00 -
4367.90 417.96 -8.87 744 4378.97 no move -1.54 - - 1948.50 - - - 2342.00 - -82.73 - - 3113.12 - - - - - - - - - - -
4680.60 444.51 -8.30 773 4685.24 roll -1.54 - - 1947.88 - 2.79 0.060 1207.94 -406.5 -82.73 - - 3112.09 - - - - - - - - - 15.94 -
4766.35 452.02 -8.85 785 4781.29 roll -1.54 - - 1948.00 - 2.62 0.027 2339.62 431.9 -82.73 - - 3112.53 - - - - - - - - - 16.01 -
5083.29 479.13 -8.38 814 5087.95 roll -1.54 - - 1948.44 - 2.78 0.060 1209.06 -406.7 -82.73 - - 3111.16 - - - - - - - - - 15.94 -
5167.81 486.64 -8.86 825 5172.44 roll -1.54 - - 1948.56 - 2.62 0.027 2334.50 429.6 -82.73 - - 3110.53 - - - - - - - - - 15.99 -
5478.81 512.25 -7.77 850 5480.14 no move -1.54 - - 1947.94 - - - 2334.38 - -82.73 - - 3111.12 - - - - - - - - - - -
5793.84 536.72 -7.80 871 5798.48 roll -1.54 - - 1948.56 - 2.77 0.061 1209.00 -406.3 -82.73 - - 3110.28 - - - - - - - - - 15.93 -
5873.86 543.21 -8.19 883 5879.41 roll -1.54 - - 1947.31 - 2.61 0.027 2331.19 430.0 -82.73 - - 3111.50 - - - - - - - - - 16.01 -
6193.28 568.07 -7.62 905 6194.61 no move -1.54 - - 1947.50 - - - 2331.44 - -82.73 - - 3110.41 - - - - - - - - - - -
6508.31 592.38 -7.72 926 6512.97 roll -1.54 - - 1948.50 - 2.74 0.062 1210.44 -409.1 -82.73 - - 3110.06 - - - - - - - - - 15.93 -
6588.55 598.90 -8.19 938 6594.08 roll -1.54 - - 1947.06 - 2.59 0.027 2327.56 431.3 -82.73 - - 3111.91 - - - - - - - - - 16.01 -
6907.96 623.10 -7.38 960 6909.29 no move -1.54 - - 1948.75 - - - 2328.06 - -82.73 - - 3110.50 - - - - - - - - - - -
7222.97 645.56 -6.97 981 7227.62 roll -1.54 - - 1948.19 - 2.74 0.062 1209.31 -408.3 -82.73 - - 3111.25 - - - - - - - - - 15.92 -
7282.24 649.96 -7.43 990 7287.78 roll -1.54 - - 1947.38 - 2.59 0.027 2324.81 430.7 -82.73 - - 3111.06 - - - - - - - - - 16.01 -
7601.66 673.67 -7.41 1012 7606.49 roll -1.54 - - 1948.38 - 2.74 0.062 1209.25 -407.1 -82.73 - - 3109.34 - - - - - - - - - 15.92 -
7640.36 676.58 -7.64 1018 7645.73 roll -1.54 - - 1948.00 - 2.59 0.027 2323.94 430.4 -82.73 - - 3109.94 - - - - - - - - - 16.00 -
7959.78 700.68 -7.62 1040 7964.42 roll -1.54 - - 1947.88 - 2.74 0.063 1209.12 -406.9 -82.73 - - 3108.25 - - - - - - - - - 15.92 -
8039.80 707.07 -8.05 1052 8045.34 roll -1.54 - - 1946.88 - 2.59 0.027 2318.88 428.5 -82.73 - - 3109.16 - - - - - - - - - 16.00 -
8359.57 731.39 -7.55 1074 8360.90 no move -1.54 - - 1947.75 - - - 2318.50 - -82.73 - - 3108.59 - - - - - - - - - - -
8674.26 755.28 -7.66 1095 8678.91 roll -1.54 - - 1947.31 - 2.73 0.063 1210.38 -405.9 -82.73 - - 3108.09 - - - - - - - - - 15.91 -
8775.02 763.18 -7.95 1110 8780.56 roll -1.54 - - 1947.19 - 2.57 0.027 2314.94 429.8 -82.73 - - 3109.47 - - - - - - - - - 16.00 -
9094.44 786.96 -7.50 1132 9099.10 roll -1.54 - - 1948.38 - 2.73 0.063 1207.94 -405.5 -82.73 - - 3106.50 - - - - - - - - - 15.91 -
9131.63 789.88 -7.69 1137 9136.25 roll -1.54 - - 1946.62 - 2.58 0.027 2316.25 429.6 -82.73 - - 3108.81 - - - - - - - - - 15.99 -
9448.10 812.71 -7.14 1159 9449.43 no move -1.54 - - 1947.94 - - - 2316.00 - -82.73 - - 3107.41 - - - - - - - - - - -
9763.11 834.48 -6.80 1180 9767.76 roll -1.54 - - 1948.06 - 2.73 0.064 1209.44 -405.3 -82.73 - - 3109.56 - - - - - - - - - 15.90 -
9848.31 840.08 -7.09 1193 9863.11 roll -1.54 - - 1947.75 - 2.56 0.027 2311.44 430.5 -82.73 - - 3107.19 - - - - - - - - - 16.00 -
10177.56 861.08 -6.05 1215 10182.20 roll -1.54 - - 1948.38 - 2.72 0.064 1208.81 -405.4 -82.73 - - 3106.50 - - - - - - - - - 15.90 -
10241.86 864.69 -6.17 1225 10256.76 roll -1.54 - - 1948.06 - 2.56 0.027 2308.00 429.4 -82.73 - - 3107.09 - - - - - - - - - 16.00 -
10571.29 884.34 -5.84 1247 10575.94 roll -1.54 - - 1947.94 - 2.72 0.064 1208.88 -404.1 -82.73 - - 3104.88 - - - - - - - - - 15.89 -
10649.96 889.32 -6.27 1258 10654.58 roll -1.54 - - 1947.81 - 2.55 0.027 2304.44 429.6 -82.73 - - 3105.72 - - - - - - - - - 15.99 -
10966.47 908.64 -6.28 1280 10971.12 roll -1.54 - - 1948.25 - 2.71 0.064 1209.50 -404.0 -82.73 - - 3105.12 - - - - - - - - - 15.89 -
11025.96 912.55 -6.62 1289 11031.50 roll -1.54 - - 1948.12 - 2.53 0.027 2300.94 431.4 -82.73 - - 3106.81 - - - - - - - - - 16.00 -
11345.39 933.87 -6.74 1311 11350.02 roll -1.54 - - 1947.88 - 2.69 0.064 1210.94 -405.2 -82.73 - - 3106.22 - - - - - - - - - 15.89 -
11383.94 936.52 -6.95 1317 11389.47 roll -1.54 - - 1948.25 - 2.52 0.027 2298.31 431.5 -82.73 - - 3106.75 - - - - - - - - - 15.99 -
11703.37 958.65 -7.03 1339 11704.70 no move -1.54 - - 1948.25 - - - 2297.69 - -82.73 - - 3105.53 - - - - - - - - - - -
12018.59 981.54 -7.44 1360 12019.92 no move -1.54 - - 1948.44 - - - 2298.06 - -82.73 - - 3104.44 - - - - - - - - - - -
12137 end dive: TARGET_DEPTH_EXCEEDED
12138 begin apogee
12140.40 990.39 -7.34 1368 12216.13 -0.28 2.21 0.144 2253.50 138.0 0.17 0.157 2157.75 -825.4 - 67.02 2.412 2775.53 -4.9 0.354 - - - - - - 15.73 15.17 10.14
12217 end apogee: CONTROL_FINISHED_OK
12218 begin climb
12218.75 992.60 - 1373 12306.64 1.54 3.14 0.126 2694.31 140.4 2.74 0.084 3205.62 382.4 82.73 71.00 2.371 2436.50 -4.8 0.351 - - - - - - 15.43 15.54 11.60
12309.43 990.28 3.80 1386 12416.59 1.77 0.35 0.069 2761.00 190.5 2.73 0.024 2059.25 -419.9 196.88 101.09 2.384 1972.69 -4.6 0.334 - - - - - - 15.26 15.33 11.54
12718.74 949.20 10.92 1422 12720.07 VBD 1.77 - - 2761.25 - - - 2059.50 - 196.88 - - 1959.06 - - - - - - - - - - -
13033.18 913.70 11.42 1443 13037.86 done 1.77 - - 2759.56 - 2.95 0.082 3203.81 387.9 196.88 - - 1957.59 - - - - - - - - - 15.75 -
13091.11 906.58 12.06 1451 13095.75 done 1.77 - - 2760.88 - 2.63 0.026 2064.00 -433.4 196.88 - - 1958.00 - - - - - - - - - 15.80 -
13407.59 870.66 11.25 1473 13412.23 done 1.77 - - 2761.38 - 2.72 0.086 994.81 -393.1 196.88 - - 1956.03 - - - - - - - - - 15.80 -
13446.13 866.14 11.74 1479 13451.69 done 1.77 - - 2761.75 - 2.67 0.025 2142.25 429.8 196.88 - - 1955.38 - - - - - - - - - 15.88 -
13765.71 831.65 10.26 1501 13767.05 VBD 1.77 - - 2761.50 - - - 2142.12 - 196.88 - - 1954.03 - - - - - - - - - - -
14080.56 799.57 10.05 1522 14085.21 done 1.77 - - 2761.25 - 2.72 0.086 3205.94 391.1 196.88 - - 1954.31 - - - - - - - - - 15.84 -
14119.10 795.58 10.39 1528 14124.66 done 1.77 - - 2761.38 - 2.61 0.025 2068.62 -435.8 196.88 - - 1955.31 - - - - - - - - - 15.92 -
14438.51 764.35 9.70 1550 14443.17 done 1.77 - - 2759.38 - 2.73 0.085 992.44 -394.2 196.88 - - 1953.62 - - - - - - - - - 15.84 -
14477.05 760.54 9.97 1556 14482.61 done 1.77 - - 2761.50 - 2.67 0.026 2143.31 431.0 196.88 - - 1954.06 - - - - - - - - - 15.94 -
14796.67 730.38 9.31 1578 14798.00 VBD 1.77 - - 2761.19 - - - 2142.94 - 196.88 - - 1952.47 - - - - - - - - - - -
15111.66 701.69 9.19 1599 15112.99 VBD 1.77 - - 2761.12 - - - 2142.62 - 196.88 - - 1952.59 - - - - - - - - - - -
15426.50 672.73 9.06 1620 15431.18 done 1.77 - - 2761.50 - 2.92 0.081 994.38 -393.2 196.88 - - 1951.94 - - - - - - - - - 15.85 -
15470.05 669.14 9.32 1627 15484.99 done 1.77 - - 2759.75 - 2.66 0.025 2141.12 431.1 196.88 - - 1953.16 - - - - - - - - - 15.97 -
15799.46 639.47 8.98 1649 15804.11 done 1.77 - - 2761.75 - 2.72 0.086 3204.38 390.9 196.88 - - 1952.59 - - - - - - - - - 15.86 -
15822.27 637.93 9.09 1653 15837.20 done 1.77 - - 2760.81 - 2.59 0.025 2065.94 -439.6 196.88 - - 1952.78 - - - - - - - - - 15.97 -
16151.68 606.99 9.31 1675 16156.38 done 1.77 - - 2761.56 - 2.92 0.081 3206.00 390.4 196.88 - - 1951.88 - - - - - - - - - 15.86 -
16210.96 601.05 10.02 1684 16216.25 done 1.77 - - 2761.44 - 2.58 0.025 2072.75 -439.2 196.88 - - 1952.62 - - - - - - - - - 15.98 -
16530.39 570.83 9.41 1706 16531.73 VBD 1.77 - - 2761.19 - - - 2073.38 - 196.88 - - 1951.84 - - - - - - - - - - -
16845.60 541.45 9.21 1727 16846.93 VBD 1.77 - - 2761.50 - - - 2072.94 - 196.88 - - 1952.19 - - - - - - - - - - -
17160.45 512.51 9.08 1748 17165.15 done 1.77 - - 2761.62 - 2.91 0.081 3204.81 389.0 196.88 - - 1950.94 - - - - - - - - - 15.86 -
17199.01 508.90 9.40 1754 17204.73 done 1.77 - - 2761.69 - 2.59 0.025 2070.50 -438.0 196.88 - - 1952.59 - - - - - - - - - 15.98 -
17512.83 479.61 9.33 1781 17523.90 VBD 1.77 - - 2761.38 - - - 2071.56 - 196.88 - - 1952.41 - - - - - - - - - - -
17825.54 450.49 9.28 1810 17830.22 done 1.77 - - 2759.81 - 2.91 0.080 3202.38 388.6 196.88 - - 1951.81 - - - - - - - - - 15.85 -
17879.81 445.08 9.97 1818 17894.73 done 1.77 - - 2761.50 - 2.58 0.025 2072.44 -438.0 196.88 - - 1952.44 - - - - - - - - - 15.98 -
18196.22 416.60 8.65 1847 18207.29 VBD 1.77 - - 2761.50 - - - 2071.88 - 196.88 - - 1951.94 - - - - - - - - - - -
18508.92 388.82 8.94 1876 18513.60 done 1.77 - - 2761.31 - 2.91 0.080 3205.19 389.5 196.88 - - 1951.53 - - - - - - - - - 15.85 -
18563.20 383.67 9.46 1884 18578.12 done 1.77 - - 2762.19 - 2.59 0.025 2070.62 -438.1 196.88 - - 1951.88 - - - - - - - - - 15.97 -
18879.60 356.57 8.36 1913 18890.68 VBD 1.77 - - 2761.69 - - - 2071.56 - 196.88 - - 1951.62 - - - - - - - - - - -
19192.30 330.68 8.18 1942 19196.97 done 1.77 - - 2762.38 - 2.90 0.080 3204.50 390.7 196.88 - - 1950.59 - - - - - - - - - 15.84 -
19308.18 320.37 8.88 1957 19312.79 done 1.77 - - 2760.75 - 2.57 0.025 2074.50 -439.7 196.88 - - 1952.22 - - - - - - - - - 15.96 -
19618.12 295.25 8.07 1991 19623.86 done 1.77 - - 2761.25 - 2.73 0.085 993.56 -395.9 196.88 - - 1952.34 - - - - - - - - - 15.81 -
19703.32 287.70 9.00 2008 19708.70 done 1.77 - - 2762.06 - 2.67 0.025 2151.06 433.5 196.88 - - 1951.31 - - - - - - - - - 15.95 -
20013.25 261.45 8.47 2070 20018.78 done 1.77 - - 2760.81 - 2.68 0.083 3204.00 392.9 196.88 - - 1952.41 - - - - - - - - - 15.83 -
20073.26 256.01 9.13 2082 20078.79 done 1.77 - - 2761.50 - 2.58 0.024 2070.38 -439.4 196.88 - - 1953.03 - - - - - - - - - 15.96 -
20383.37 229.64 8.32 2144 20388.95 done 1.77 - - 2762.19 - 2.89 0.079 3204.44 392.4 196.88 - - 1951.59 - - - - - - - - - 15.83 -
20423.37 226.06 8.94 2152 20428.90 done 1.77 - - 2761.44 - 2.57 0.024 2072.06 -440.6 196.88 - - 1951.22 - - - - - - - - - 15.95 -
20733.47 199.79 8.06 2214 20739.03 done 1.77 - - 2762.19 - 2.89 0.078 3204.94 392.0 196.88 - - 1951.91 - - - - - - - - - 15.83 -
20788.47 194.89 9.10 2225 20794.00 done 1.77 - - 2761.62 - 2.57 0.024 2073.06 -440.4 196.88 - - 1951.34 - - - - - - - - - 15.96 -
21098.59 169.89 7.79 2287 21099.92 VBD 1.78 - - 2761.81 - - - 2074.19 - 196.88 - - 1951.47 - - - - - - - - - - -
21403.56 145.15 8.03 2348 21409.15 done 1.78 - - 2762.25 - 2.88 0.078 3206.94 393.3 196.88 - - 1951.91 - - - - - - - - - 15.83 -
21453.56 140.76 9.03 2358 21459.09 done 1.78 - - 2761.06 - 2.55 0.024 2078.62 -442.5 196.88 - - 1953.41 - - - - - - - - - 15.95 -
21763.63 117.85 6.48 2420 21769.18 done 1.82 - - 2761.75 - 2.72 0.084 993.88 -398.8 196.88 - - 1952.09 - - - - - - - - - 15.81 -
21813.62 114.26 7.19 2430 21819.16 done 1.84 - - 2761.56 - 2.66 0.024 2156.25 437.0 196.88 - - 1952.81 - - - - - - - - - 15.97 -
22123.68 93.00 6.59 2492 22125.02 VBD 1.88 - - 2762.06 - - - 2156.12 - 196.88 - - 1951.12 - - - - - - - - - - -
22308.70 81.56 5.93 2529 22359.45 2.01 0.27 0.074 2818.06 207.4 - - 2156.56 - 258.92 47.07 1.260 1719.12 -4.9 0.056 - - - - - - 15.93 - 10.43
22543.79 64.06 7.04 2576 22549.27 roll 2.03 - - 2818.62 - 2.66 0.081 3206.19 394.6 258.92 - - 1712.97 - - - - - - - - - 15.77 -
22618.73 57.48 9.04 2591 22624.26 roll 2.03 - - 2818.19 - 2.60 0.024 2069.25 -437.3 258.92 - - 1712.59 - - - - - - - - - 15.84 -
22808.77 45.97 4.49 2629 22891.29 2.23 0.26 0.071 2872.88 210.3 2.74 0.084 992.06 -393.1 356.18 75.37 1.209 1322.66 -5.2 0.035 - - - - - - 15.83 15.31 11.11
22938.76 36.62 8.96 2655 22944.34 roll 2.23 - - 2873.19 - 2.71 0.024 2151.06 427.7 356.18 - - 1318.34 - - - - - - - - - 15.67 -
23128.81 20.76 7.93 2693 23134.33 done 2.24 - - 2872.94 - 2.69 0.080 3203.81 391.4 356.18 - - 1314.47 - - - - - - - - - 15.70 -
23193.79 15.12 8.88 2706 23199.33 done 2.24 - - 2872.06 - 2.59 0.023 2072.12 -436.9 356.18 - - 1313.94 - - - - - - - - - 15.77 -
23308 end climb: SURFACE_DEPTH_REACHED
23308 begin surface coast
23353 end surface coast: CONTROL_FINISHED_OK
23354 begin surface
SM 0.19 - - - - 190.7 52.69 1.157 1043.3 19.8 16.91 0.055 1000.3 59.2 - 0.60 0.044 1086.2 1806.0 -0.797 - - 11.16 15.76 15.81 -