NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 978 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 343.66 of 550.00 AH used of 24V (37.52% remains)
• Surface angle -57.9 deg, depth 0.32 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 36 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.73 - - - 87.87 VBD -1.54 - - 178.12 - - - 2236.38 - -82.73 80.49 0.005 2891.84 - - - - - - - - - - 14.87
88.72 3.30 -4.47 15 116.93 -1.54 14.52 0.238 1947.75 121.9 2.55 0.067 1210.19 -402.4 -82.73 5.09 0.009 3108.81 42.6 -2.719 - - - - - - 15.35 14.93 15.05
219.03 25.28 -15.82 41 224.59 roll -1.54 - - 1946.75 - 2.66 0.027 2353.88 430.0 -82.73 - - 3111.75 - - - - - - - - - 15.79 -
409.75 51.22 -12.64 79 414.69 roll -1.54 - - 1947.81 - 2.85 0.061 1209.31 -401.6 -82.73 - - 3111.38 - - - - - - - - - 15.78 -
534.14 63.32 -9.25 104 539.70 roll -1.54 - - 1948.31 - 2.64 0.026 2342.75 429.3 -82.73 - - 3111.06 - - - - - - - - - 15.85 -
724.61 81.82 -9.82 142 725.94 no move -1.54 - - 1947.25 - - - 2343.19 - -82.73 - - 3110.88 - - - - - - - - - - -
909.27 101.47 -10.50 179 910.60 no move -1.54 - - 1947.62 - - - 2344.00 - -82.73 - - 3111.09 - - - - - - - - - - -
1214.38 129.08 -8.93 240 1219.95 roll -1.54 - - 1947.94 - 2.79 0.059 1209.31 -406.7 -82.73 - - 3112.31 - - - - - - - - - 15.88 -
1314.41 137.72 -8.75 260 1319.96 roll -1.54 - - 1947.94 - 2.63 0.026 2347.31 432.7 -82.73 - - 3111.44 - - - - - - - - - 15.93 -
1624.49 165.24 -9.91 322 1630.04 roll -1.54 - - 1946.75 - 2.79 0.059 1209.38 -407.9 -82.73 - - 3111.28 - - - - - - - - - 15.90 -
1679.48 170.93 -10.50 333 1685.04 roll -1.54 - - 1947.88 - 2.62 0.026 2345.50 433.6 -82.73 - - 3111.72 - - - - - - - - - 15.94 -
1989.60 202.21 -10.15 395 1995.10 roll -1.54 - - 1947.50 - 2.78 0.059 1208.19 -409.1 -82.73 - - 3111.12 - - - - - - - - - 15.91 -
2049.54 208.46 -10.44 407 2055.10 roll -1.54 - - 1947.38 - 2.62 0.026 2339.75 431.9 -82.73 - - 3113.50 - - - - - - - - - 15.96 -
2359.59 238.34 -9.35 469 2365.16 roll -1.54 - - 1946.44 - 2.76 0.059 1209.06 -409.7 -82.73 - - 3112.28 - - - - - - - - - 15.91 -
2419.59 244.21 -9.88 481 2425.14 roll -1.54 - - 1947.94 - 2.62 0.026 2338.50 431.1 -82.73 - - 3114.25 - - - - - - - - - 15.97 -
2729.64 271.25 -8.36 543 2735.20 roll -1.54 - - 1947.81 - 2.76 0.060 1209.12 -409.2 -82.73 - - 3111.38 - - - - - - - - - 15.92 -
2774.64 275.22 -8.86 552 2780.18 roll -1.54 - - 1947.50 - 2.60 0.026 2337.69 434.1 -82.73 - - 3112.25 - - - - - - - - - 15.97 -
3084.68 300.92 -8.45 613 3086.01 no move -1.54 - - 1947.44 - - - 2337.50 - -82.73 - - 3110.75 - - - - - - - - - - -
3393.88 326.91 -8.42 641 3398.53 roll -1.54 - - 1947.56 - 2.75 0.060 1209.56 -410.2 -82.73 - - 3110.28 - - - - - - - - - 15.94 -
3464.08 333.13 -9.00 651 3478.90 roll -1.54 - - 1947.62 - 2.62 0.026 2339.19 431.2 -82.73 - - 3112.31 - - - - - - - - - 15.99 -
3780.78 361.05 -8.83 680 3785.42 roll -1.54 - - 1947.38 - 2.77 0.060 1207.81 -408.4 -82.73 - - 3111.69 - - - - - - - - - 15.94 -
3817.97 364.61 -9.27 685 3822.61 roll -1.54 - - 1947.31 - 2.61 0.026 2336.50 432.4 -82.73 - - 3110.22 - - - - - - - - - 15.99 -
4129.63 393.41 -9.27 714 4140.71 no move -1.54 - - 1948.06 - - - 2336.00 - -82.73 - - 3111.72 - - - - - - - - - - -
4442.68 421.87 -9.03 743 4447.32 roll -1.54 - - 1946.12 - 2.76 0.061 1209.25 -408.2 -82.73 - - 3110.75 - - - - - - - - - 15.93 -
4528.44 429.79 -9.33 755 4543.36 roll -1.54 - - 1947.44 - 2.60 0.026 2332.06 431.8 -82.73 - - 3112.41 - - - - - - - - - 16.00 -
4844.63 456.49 -8.00 784 4855.70 no move -1.54 - - 1947.69 - - - 2332.31 - -82.73 - - 3111.41 - - - - - - - - - - -
5158.10 480.61 -7.29 813 5162.74 roll -1.54 - - 1945.88 - 2.74 0.061 1210.12 -409.6 -82.73 - - 3111.53 - - - - - - - - - 15.93 -
5212.38 484.95 -7.95 821 5227.01 roll -1.54 - - 1947.50 - 2.60 0.026 2329.94 430.7 -82.73 - - 3110.62 - - - - - - - - - 16.01 -
5541.37 509.30 -7.21 848 5546.02 roll -1.54 - - 1945.69 - 2.76 0.061 1209.56 -405.9 -82.73 - - 3111.03 - - - - - - - - - 15.93 -
5621.59 515.37 -7.67 860 5627.01 roll -1.54 - - 1947.50 - 2.59 0.027 2326.06 431.1 -82.73 - - 3110.22 - - - - - - - - - 16.01 -
5940.81 539.23 -7.43 882 5945.47 roll -1.54 - - 1947.44 - 2.76 0.062 1208.81 -404.8 -82.73 - - 3109.00 - - - - - - - - - 15.93 -
6025.84 545.63 -8.05 895 6040.77 roll -1.54 - - 1946.56 - 2.59 0.027 2321.94 429.8 -82.73 - - 3111.16 - - - - - - - - - 16.01 -
6355.27 572.71 -8.43 917 6359.92 roll -1.54 - - 1947.75 - 2.74 0.062 1209.06 -406.2 -82.73 - - 3108.56 - - - - - - - - - 15.93 -
6440.29 579.85 -9.00 930 6455.22 roll -1.54 - - 1947.69 - 2.58 0.027 2319.81 430.5 -82.73 - - 3109.25 - - - - - - - - - 16.00 -
6769.69 608.33 -8.52 952 6774.35 roll -1.54 - - 1947.31 - 2.85 0.088 3425.19 387.9 -82.73 - - 3108.47 - - - - - - - - - 15.88 -
6813.22 611.71 -8.82 959 6828.17 roll -1.54 - - 1946.69 - 2.65 0.020 2216.19 -456.2 -82.73 - - 3109.16 - - - - - - - - - 16.00 -
7142.62 639.04 -8.04 981 7147.22 roll -1.54 - - 1947.31 - 2.49 0.068 1209.00 -404.5 -82.73 - - 3110.62 - - - - - - - - - 15.92 -
7200.57 643.90 -8.31 989 7205.19 roll -1.54 - - 1947.62 - 2.58 0.027 2319.75 430.5 -82.73 - - 3107.00 - - - - - - - - - 16.00 -
7517.16 668.46 -7.55 1011 7521.99 roll -1.54 - - 1947.62 - 2.75 0.063 1209.06 -403.9 -82.73 - - 3107.44 - - - - - - - - - 15.92 -
7555.87 671.39 -7.67 1017 7561.25 roll -1.54 - - 1947.56 - 2.57 0.027 2317.12 431.2 -82.73 - - 3107.84 - - - - - - - - - 16.01 -
7875.12 696.30 -7.80 1039 7879.77 roll -1.54 - - 1945.56 - 2.74 0.064 1209.19 -404.4 -82.73 - - 3107.84 - - - - - - - - - 15.91 -
7933.04 700.81 -7.78 1047 7937.66 roll -1.54 - - 1946.38 - 2.55 0.027 2314.88 433.6 -82.73 - - 3108.38 - - - - - - - - - 15.99 -
8249.52 723.98 -7.12 1069 8250.85 no move -1.54 - - 1947.75 - - - 2315.00 - -82.73 - - 3106.72 - - - - - - - - - - -
8564.52 745.76 -6.88 1090 8569.18 roll -1.54 - - 1947.44 - 2.73 0.064 1209.12 -405.1 -82.73 - - 3106.25 - - - - - - - - - 15.91 -
8603.06 748.39 -6.96 1096 8608.60 roll -1.54 - - 1946.56 - 2.55 0.027 2312.94 432.9 -82.73 - - 3108.41 - - - - - - - - - 15.99 -
8922.47 770.82 -7.07 1118 8923.79 no move -1.54 - - 1947.25 - - - 2313.50 - -82.73 - - 3106.19 - - - - - - - - - - -
9237.47 792.18 -6.65 1139 9242.12 roll -1.54 - - 1945.88 - 2.74 0.064 1209.19 -403.0 -82.73 - - 3105.94 - - - - - - - - - 15.90 -
9296.96 796.28 -6.94 1148 9302.28 roll -1.54 - - 1946.50 - 2.57 0.027 2312.19 429.2 -82.73 - - 3106.34 - - - - - - - - - 16.00 -
9616.15 817.19 -6.64 1170 9617.48 no move -1.54 - - 1947.19 - - - 2312.38 - -82.73 - - 3105.59 - - - - - - - - - - -
9931.17 837.49 -6.31 1191 9936.00 roll -1.54 - - 1947.38 - 2.74 0.064 1211.75 -401.7 -82.73 - - 3104.84 - - - - - - - - - 15.90 -
10030.74 844.34 -6.90 1205 10035.35 roll -1.54 - - 1947.31 - 2.56 0.028 2308.00 428.2 -82.73 - - 3107.53 - - - - - - - - - 15.99 -
10347.24 865.62 -6.76 1227 10348.57 no move -1.54 - - 1947.56 - - - 2308.75 - -82.73 - - 3105.44 - - - - - - - - - - -
10662.26 888.15 -7.22 1248 10666.92 roll -1.54 - - 1947.31 - 2.74 0.064 1209.69 -401.1 -82.73 - - 3107.00 - - - - - - - - - 15.89 -
10685.07 889.43 -7.37 1252 10699.99 roll -1.54 - - 1946.88 - 2.56 0.027 2304.56 427.7 -82.73 - - 3105.41 - - - - - - - - - 16.00 -
11014.48 914.99 -7.84 1274 11019.17 roll -1.54 - - 1947.56 - 2.90 0.091 3425.88 386.7 -82.73 - - 3105.81 - - - - - - - - - 15.82 -
11073.75 919.92 -8.32 1283 11079.32 roll -1.54 - - 1946.00 - 2.70 0.020 2207.62 -451.2 -82.73 - - 3107.03 - - - - - - - - - 15.98 -
11393.16 944.50 -7.61 1305 11394.49 no move -1.54 - - 1947.25 - - - 2206.62 - -82.73 - - 3103.84 - - - - - - - - - - -
11708.17 969.22 -7.90 1326 11709.50 no move -1.54 - - 1947.81 - - - 2207.25 - -82.73 - - 3103.72 - - - - - - - - - - -
11977 end dive: TARGET_DEPTH_EXCEEDED
11978 begin apogee
11980.19 990.04 -7.80 1344 12055.69 -0.28 2.21 0.138 2254.06 138.6 0.16 0.157 2156.00 -320.3 - 66.96 2.405 2774.44 -4.9 0.352 - - - - - - 15.74 15.15 10.13
12057 end apogee: CONTROL_FINISHED_OK
12057 begin climb
12058.39 992.45 - 1349 12146.26 1.54 3.08 0.113 2695.06 143.2 3.05 0.080 994.81 -380.7 82.73 71.00 2.373 2437.66 -4.7 0.345 - - - - - - 15.42 15.56 11.58
12209.49 986.50 5.19 1370 12296.30 1.70 0.23 0.077 2744.81 216.3 2.74 0.024 2135.06 416.1 162.94 70.68 2.359 2109.59 -4.6 0.338 - - - - - - 15.39 15.48 11.35
12608.44 951.50 9.43 1403 12613.09 done 1.70 - - 2744.38 - 2.80 0.085 3204.81 382.1 162.94 - - 2103.03 - - - - - - - - - 15.68 -
12646.99 947.67 9.88 1409 12652.55 done 1.70 - - 2744.50 - 2.65 0.025 2058.88 -432.4 162.94 - - 2101.78 - - - - - - - - - 15.72 -
12966.41 916.13 9.74 1431 12971.06 done 1.70 - - 2744.81 - 2.73 0.084 994.75 -389.8 162.94 - - 2099.69 - - - - - - - - - 15.76 -
13004.97 912.33 9.98 1437 13010.72 done 1.70 - - 2744.62 - 2.66 0.025 2131.94 427.5 162.94 - - 2099.06 - - - - - - - - - 15.84 -
13324.58 881.94 9.47 1459 13329.23 done 1.70 - - 2743.31 - 2.76 0.085 3204.19 388.5 162.94 - - 2098.50 - - - - - - - - - 15.81 -
13388.88 876.07 9.91 1469 13403.81 done 1.70 - - 2744.44 - 2.62 0.026 2057.44 -437.7 162.94 - - 2098.28 - - - - - - - - - 15.88 -
13718.32 843.95 9.72 1491 13719.65 VBD 1.70 - - 2745.12 - - - 2058.19 - 162.94 - - 2097.06 - - - - - - - - - - -
14033.52 814.41 9.21 1512 14038.16 done 1.70 - - 2744.62 - 2.70 0.085 993.69 -394.3 162.94 - - 2097.88 - - - - - - - - - 15.83 -
14072.08 810.68 9.62 1518 14077.63 done 1.70 - - 2744.44 - 2.66 0.025 2140.81 431.2 162.94 - - 2096.91 - - - - - - - - - 15.94 -
14391.47 781.16 8.99 1540 14396.13 done 1.70 - - 2745.00 - 2.72 0.085 3204.94 391.2 162.94 - - 2096.44 - - - - - - - - - 15.85 -
14430.02 777.56 9.41 1546 14435.56 done 1.70 - - 2745.38 - 2.58 0.025 2062.56 -442.8 162.94 - - 2098.06 - - - - - - - - - 15.94 -
14749.45 747.67 9.56 1568 14750.79 VBD 1.70 - - 2744.50 - - - 2062.38 - 162.94 - - 2095.53 - - - - - - - - - - -
15064.47 718.22 9.25 1589 15069.17 done 1.70 - - 2745.25 - 2.92 0.081 3205.75 391.6 162.94 - - 2097.06 - - - - - - - - - 15.86 -
15122.42 712.48 9.75 1597 15127.05 done 1.70 - - 2742.69 - 2.59 0.025 2067.38 -439.5 162.94 - - 2096.06 - - - - - - - - - 15.95 -
15439.21 684.51 8.41 1619 15443.96 done 1.70 - - 2744.31 - 2.90 0.081 3203.94 391.9 162.94 - - 2094.69 - - - - - - - - - 15.86 -
15498.50 679.25 8.84 1628 15504.04 done 1.70 - - 2745.06 - 2.57 0.026 2072.31 -440.3 162.94 - - 2095.69 - - - - - - - - - 15.96 -
15817.93 652.27 8.11 1650 15822.57 done 1.70 - - 2744.69 - 2.69 0.086 992.31 -401.5 162.94 - - 2097.47 - - - - - - - - - 15.84 -
15897.97 645.17 8.93 1662 15903.52 done 1.70 - - 2744.50 - 2.67 0.026 2147.56 432.7 162.94 - - 2095.75 - - - - - - - - - 15.97 -
16217.41 619.09 8.03 1684 16218.74 VBD 1.70 - - 2744.56 - - - 2148.00 - 162.94 - - 2094.75 - - - - - - - - - - -
16532.44 594.63 7.93 1705 16533.78 VBD 1.71 - - 2744.88 - - - 2148.00 - 162.94 - - 2094.28 - - - - - - - - - - -
16847.63 568.73 8.52 1726 16848.97 VBD 1.71 - - 2744.56 - - - 2148.12 - 162.94 - - 2094.59 - - - - - - - - - - -
17162.48 542.45 8.05 1747 17167.16 done 1.71 - - 2745.44 - 2.90 0.081 993.56 -398.1 162.94 - - 2095.47 - - - - - - - - - 15.84 -
17263.27 533.94 8.57 1762 17268.83 done 1.71 - - 2744.75 - 2.65 0.025 2140.88 433.0 162.94 - - 2094.81 - - - - - - - - - 15.98 -
17582.70 509.07 7.76 1784 17587.38 done 1.72 - - 2744.31 - 2.89 0.081 994.75 -396.6 162.94 - - 2093.03 - - - - - - - - - 15.84 -
17640.65 504.28 8.10 1792 17645.49 done 1.72 - - 2744.38 - 2.63 0.025 2135.12 433.6 162.94 - - 2093.00 - - - - - - - - - 15.97 -
17949.61 481.79 7.18 1820 17954.27 done 1.75 - - 2744.50 - 2.73 0.085 3204.44 391.7 162.94 - - 2094.41 - - - - - - - - - 15.84 -
18035.37 474.97 7.99 1832 18050.29 done 1.75 - - 2743.25 - 2.60 0.025 2057.44 -441.2 162.94 - - 2094.75 - - - - - - - - - 15.97 -
18351.93 450.65 7.85 1861 18363.01 VBD 1.76 - - 2744.50 - - - 2057.88 - 162.94 - - 2094.56 - - - - - - - - - - -
18664.67 424.88 8.69 1890 18669.36 done 1.76 - - 2744.31 - 2.93 0.080 3204.12 391.2 162.94 - - 2093.22 - - - - - - - - - 15.84 -
18718.96 419.91 9.17 1898 18733.88 done 1.76 - - 2744.12 - 2.60 0.025 2063.38 -438.7 162.94 - - 2094.66 - - - - - - - - - 15.98 -
19035.38 392.89 8.21 1927 19040.02 done 1.76 - - 2743.38 - 2.70 0.085 994.81 -395.8 162.94 - - 2093.72 - - - - - - - - - 15.82 -
19072.60 389.64 8.57 1932 19077.24 done 1.76 - - 2744.00 - 2.65 0.025 2144.94 434.0 162.94 - - 2095.22 - - - - - - - - - 15.97 -
19384.31 365.41 7.55 1961 19388.95 done 1.78 - - 2744.44 - 2.70 0.084 3205.69 392.9 162.94 - - 2092.69 - - - - - - - - - 15.84 -
19422.87 362.38 7.87 1967 19437.96 done 1.79 - - 2743.06 - 2.60 0.025 2061.06 -440.2 162.94 - - 2094.00 - - - - - - - - - 15.97 -
19740.26 338.91 7.10 1996 19744.91 done 1.82 - - 2745.00 - 2.69 0.085 993.81 -396.7 162.94 - - 2094.66 - - - - - - - - - 15.82 -
19794.58 334.85 7.49 2004 19809.50 done 1.84 - - 2744.19 - 2.66 0.025 2143.44 432.2 162.94 - - 2093.94 - - - - - - - - - 15.98 -
20110.80 314.26 5.93 2033 20176.23 1.96 0.31 0.069 2810.12 212.7 2.75 0.086 3204.75 385.9 224.97 49.45 1.592 1857.12 -4.8 0.164 - - - - - - 15.93 15.33 10.39
20194.56 307.63 8.15 2044 20209.39 roll 1.96 - - 2810.50 - 2.63 0.025 2063.19 -434.1 224.97 - - 1853.69 - - - - - - - - - 15.77 -
20512.52 279.59 8.55 2097 20518.08 done 1.96 - - 2810.06 - 2.72 0.084 993.81 -393.2 224.97 - - 1849.94 - - - - - - - - - 15.74 -
20547.51 276.31 9.24 2104 20553.06 done 1.96 - - 2810.31 - 2.66 0.025 2140.75 431.2 224.97 - - 1848.94 - - - - - - - - - 15.83 -
20857.56 249.36 8.95 2166 20863.30 done 1.96 - - 2810.19 - 2.72 0.083 3204.62 391.1 224.97 - - 1848.12 - - - - - - - - - 15.78 -
20892.73 245.91 9.74 2173 20898.11 done 1.96 - - 2810.06 - 2.61 0.025 2060.19 -438.5 224.97 - - 1848.12 - - - - - - - - - 15.87 -
21202.62 215.86 9.82 2235 21208.17 done 1.96 - - 2810.62 - 2.69 0.084 995.31 -395.9 224.97 - - 1847.81 - - - - - - - - - 15.78 -
21247.62 210.91 11.29 2244 21253.17 done 1.96 - - 2810.69 - 2.64 0.025 2136.06 432.1 224.97 - - 1846.94 - - - - - - - - - 15.91 -
21557.66 178.70 10.62 2306 21563.23 done 1.96 - - 2810.50 - 2.73 0.082 3206.75 392.2 224.97 - - 1848.06 - - - - - - - - - 15.81 -
21592.66 174.77 11.22 2313 21598.21 done 1.96 - - 2810.38 - 2.63 0.025 2055.50 -437.7 224.97 - - 1846.88 - - - - - - - - - 15.92 -
21902.71 143.89 9.43 2375 21904.04 VBD 1.96 - - 2810.75 - - - 2055.31 - 224.97 - - 1845.78 - - - - - - - - - - -
22207.77 116.62 8.45 2436 22213.35 done 1.96 - - 2810.50 - 2.93 0.077 3203.19 391.8 224.97 - - 1847.38 - - - - - - - - - 15.83 -
22242.75 113.46 8.96 2443 22248.48 done 1.96 - - 2810.44 - 2.60 0.024 2056.56 -441.0 224.97 - - 1847.25 - - - - - - - - - 15.93 -
22552.81 87.14 8.19 2505 22554.14 VBD 1.96 - - 2810.56 - - - 2056.69 - 224.97 - - 1845.69 - - - - - - - - - - -
22737.84 73.59 6.67 2542 22739.17 VBD 2.00 - - 2810.38 - - - 2057.06 - 224.97 - - 1845.25 - - - - - - - - - - -
22922.90 63.55 5.01 2579 22995.53 2.17 0.22 0.077 2859.94 225.3 2.96 0.077 3203.38 387.3 309.51 65.60 1.255 1512.62 -5.1 0.045 - - - - - - 15.92 15.41 10.73
23223.08 42.97 8.91 2639 23228.64 roll 2.17 - - 2859.81 - 2.65 0.024 2050.25 -435.1 309.51 - - 1506.62 - - - - - - - - - 15.80 -
23413.38 27.97 8.27 2677 23418.75 done 2.17 - - 2859.75 - 2.96 0.074 3205.81 390.4 309.51 - - 1504.56 - - - - - - - - - 15.76 -
23478.17 22.09 8.99 2690 23483.72 done 2.17 - - 2860.38 - 2.62 0.024 2062.00 -436.6 309.51 - - 1504.56 - - - - - - - - - 15.84 -
23668.29 6.27 8.83 2728 23669.63 VBD 2.17 - - 2860.50 - - - 2061.88 - 309.51 - - 1501.16 - - - - - - - - - - -
23692 end climb: SURFACE_DEPTH_REACHED
23692 begin surface coast
23743 end surface coast: CONTROL_FINISHED_OK
23743 begin surface
SM 0.17 - - - - 178.4 87.17 1.182 1042.2 12.0 16.72 0.053 999.1 59.8 - 0.63 0.047 1085.2 1722.5 -0.637 - - 11.10 15.82 15.88 -