NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 983 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 345.68 of 550.00 AH used of 24V (37.15% remains)
• Surface angle -53.8 deg, depth 0.48 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.93 (SM_CC=425)
• GPS1 time: 30 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
5.75 - - - 82.62 VBD -1.54 - - 177.12 - - - 2251.00 - -82.73 75.33 0.005 2836.44 - - - - - - - - - - 14.86
83.36 3.53 -5.04 14 112.57 -1.54 14.44 0.236 1947.50 122.6 2.54 0.064 1209.00 -410.2 -82.73 6.59 0.008 3110.59 41.6 -3.196 - - - - - - 15.36 14.89 15.03
159.65 15.67 -13.36 29 165.21 roll -1.54 - - 1947.69 - 2.69 0.027 2353.62 425.5 -82.73 - - 3111.50 - - - - - - - - - 15.76 -
350.05 42.01 -14.37 67 351.38 no move -1.54 - - 1947.75 - - - 2353.62 - -82.73 - - 3111.03 - - - - - - - - - - -
534.77 62.94 -8.80 104 540.28 roll -1.54 - - 1947.81 - 2.80 0.059 1209.25 -408.7 -82.73 - - 3112.03 - - - - - - - - - 15.82 -
694.73 80.16 -11.83 136 700.27 roll -1.54 - - 1947.88 - 2.64 0.026 2343.50 429.6 -82.73 - - 3112.12 - - - - - - - - - 15.87 -
885.16 100.11 -9.41 174 890.32 roll -1.54 - - 1947.75 - 2.77 0.058 1208.31 -409.8 -82.73 - - 3112.81 - - - - - - - - - 15.85 -
964.77 107.64 -9.28 190 970.32 roll -1.54 - - 1948.12 - 2.63 0.025 2339.88 430.3 -82.73 - - 3112.09 - - - - - - - - - 15.90 -
1274.83 134.18 -8.56 252 1280.38 roll -1.54 - - 1947.38 - 2.74 0.059 1209.31 -412.6 -82.73 - - 3112.31 - - - - - - - - - 15.89 -
1344.84 140.56 -9.24 266 1350.37 roll -1.54 - - 1947.62 - 2.60 0.026 2336.75 433.6 -82.73 - - 3114.06 - - - - - - - - - 15.92 -
1654.96 168.72 -9.43 328 1660.53 roll -1.54 - - 1947.56 - 2.72 0.059 1208.06 -415.0 -82.73 - - 3112.78 - - - - - - - - - 15.91 -
1749.99 178.14 -9.98 347 1755.70 roll -1.54 - - 1947.38 - 2.60 0.026 2333.06 432.7 -82.73 - - 3113.12 - - - - - - - - - 15.95 -
2060.10 207.66 -9.44 409 2065.67 roll -1.54 - - 1947.94 - 2.71 0.059 1208.12 -415.1 -82.73 - - 3112.59 - - - - - - - - - 15.91 -
2125.12 214.04 -9.97 422 2130.65 roll -1.54 - - 1947.94 - 2.58 0.026 2329.75 434.7 -82.73 - - 3112.19 - - - - - - - - - 15.95 -
2435.23 242.39 -8.95 484 2436.56 no move -1.54 - - 1947.62 - - - 2330.00 - -82.73 - - 3112.00 - - - - - - - - - - -
2740.33 268.34 -8.22 545 2745.88 roll -1.54 - - 1947.94 - 2.70 0.060 1208.06 -415.5 -82.73 - - 3112.62 - - - - - - - - - 15.92 -
2790.34 272.62 -8.64 555 2795.88 roll -1.54 - - 1947.50 - 2.58 0.025 2331.50 435.4 -82.73 - - 3112.62 - - - - - - - - - 15.97 -
3100.45 298.19 -8.18 617 3106.01 roll -1.54 - - 1947.69 - 2.70 0.059 1208.12 -416.1 -82.73 - - 3112.34 - - - - - - - - - 15.92 -
3135.43 300.73 -8.34 624 3150.35 roll -1.54 - - 1947.75 - 2.58 0.025 2330.56 435.1 -82.73 - - 3112.69 - - - - - - - - - 16.00 -
3451.79 326.38 -8.06 653 3462.86 no move -1.54 - - 1947.81 - - - 2330.31 - -82.73 - - 3112.19 - - - - - - - - - - -
3765.11 351.24 -7.80 682 3769.76 roll -1.54 - - 1947.69 - 2.70 0.060 1207.94 -415.7 -82.73 - - 3111.81 - - - - - - - - - 15.94 -
3833.79 357.20 -8.52 691 3838.41 roll -1.54 - - 1947.38 - 2.58 0.026 2327.06 433.8 -82.73 - - 3113.22 - - - - - - - - - 15.99 -
4145.68 383.17 -8.56 720 4150.32 roll -1.54 - - 1947.62 - 2.70 0.060 1208.12 -414.4 -82.73 - - 3111.44 - - - - - - - - - 15.94 -
4230.08 390.88 -9.11 731 4234.69 roll -1.54 - - 1946.88 - 2.56 0.026 2322.19 435.2 -82.73 - - 3111.78 - - - - - - - - - 15.99 -
4541.67 418.33 -8.99 760 4552.74 no move -1.54 - - 1947.75 - - - 2323.00 - -82.73 - - 3112.12 - - - - - - - - - - -
4854.38 446.78 -9.26 789 4859.03 roll -1.54 - - 1947.62 - 2.70 0.061 1208.06 -412.9 -82.73 - - 3110.97 - - - - - - - - - 15.94 -
4892.91 450.36 -9.41 795 4907.83 roll -1.54 - - 1947.50 - 2.55 0.025 2320.00 436.1 -82.73 - - 3113.19 - - - - - - - - - 16.00 -
5209.96 479.28 -9.09 824 5221.03 no move -1.54 - - 1948.00 - - - 2319.69 - -82.73 - - 3111.84 - - - - - - - - - - -
5533.39 506.51 -8.09 852 5534.72 no move -1.54 - - 1948.19 - - - 2320.12 - -82.73 - - 3110.66 - - - - - - - - - - -
5848.01 532.02 -8.21 873 5852.65 roll -1.54 - - 1947.88 - 2.70 0.062 1207.81 -412.0 -82.73 - - 3111.53 - - - - - - - - - 15.94 -
5928.55 538.90 -8.66 885 5933.96 roll -1.54 - - 1947.94 - 2.57 0.026 2322.00 433.5 -82.73 - - 3111.34 - - - - - - - - - 16.00 -
6247.77 563.99 -7.62 907 6252.41 roll -1.54 - - 1947.00 - 2.70 0.062 1207.81 -412.7 -82.73 - - 3112.44 - - - - - - - - - 15.93 -
6327.79 570.24 -7.90 919 6333.32 roll -1.54 - - 1947.31 - 2.56 0.027 2317.12 433.3 -82.73 - - 3111.81 - - - - - - - - - 16.00 -
6647.22 593.86 -7.06 941 6651.85 roll -1.54 - - 1947.62 - 2.70 0.062 1208.88 -410.5 -82.73 - - 3109.78 - - - - - - - - - 15.93 -
6768.72 602.79 -7.48 959 6774.26 roll -1.54 - - 1947.44 - 2.53 0.026 2307.69 434.3 -82.73 - - 3110.16 - - - - - - - - - 16.00 -
7088.12 626.17 -7.40 981 7092.75 roll -1.54 - - 1947.44 - 2.68 0.062 1209.31 -409.8 -82.73 - - 3109.19 - - - - - - - - - 15.93 -
7209.62 635.81 -8.07 999 7215.16 roll -1.54 - - 1947.88 - 2.52 0.026 2302.94 434.0 -82.73 - - 3109.00 - - - - - - - - - 16.00 -
7529.02 660.31 -8.00 1021 7533.69 roll -1.54 - - 1947.62 - 2.85 0.087 3425.19 393.8 -82.73 - - 3111.19 - - - - - - - - - 15.87 -
7572.56 663.59 -8.46 1028 7587.50 roll -1.54 - - 1946.38 - 2.67 0.019 2200.38 -458.7 -82.73 - - 3110.09 - - - - - - - - - 15.99 -
7901.97 690.84 -7.87 1050 7906.86 roll -1.54 - - 1947.56 - 3.12 0.083 3425.94 392.8 -82.73 - - 3108.06 - - - - - - - - - 15.87 -
7987.17 697.56 -8.49 1063 8001.92 roll -1.54 - - 1947.38 - 2.66 0.020 2205.69 -458.7 -82.73 - - 3109.06 - - - - - - - - - 15.99 -
8316.61 722.94 -7.52 1085 8321.31 roll -1.54 - - 1946.06 - 3.10 0.083 3426.81 393.9 -82.73 - - 3108.00 - - - - - - - - - 15.86 -
8355.48 726.11 -8.01 1091 8361.03 roll -1.54 - - 1947.50 - 2.67 0.020 2212.69 -454.7 -82.73 - - 3108.66 - - - - - - - - - 15.99 -
8674.89 750.13 -7.37 1113 8676.22 no move -1.54 - - 1947.50 - - - 2211.06 - -82.73 - - 3107.59 - - - - - - - - - - -
8989.89 772.77 -6.98 1134 8994.48 roll -1.54 - - 1947.38 - 2.45 0.069 1210.62 -408.3 -82.73 - - 3109.72 - - - - - - - - - 15.91 -
9049.17 776.84 -6.98 1143 9054.71 roll -1.54 - - 1947.75 - 2.55 0.027 2316.19 433.6 -82.73 - - 3107.62 - - - - - - - - - 16.00 -
9368.59 797.22 -6.19 1165 9373.22 roll -1.54 - - 1947.75 - 2.69 0.064 1207.94 -412.0 -82.73 - - 3106.56 - - - - - - - - - 15.91 -
9467.99 803.75 -6.57 1179 9472.62 roll -1.54 - - 1947.12 - 2.55 0.027 2311.25 432.7 -82.73 - - 3107.06 - - - - - - - - - 15.99 -
9784.47 823.51 -6.02 1201 9789.15 roll -1.54 - - 1948.00 - 2.85 0.089 3426.88 391.4 -82.73 - - 3105.56 - - - - - - - - - 15.85 -
9828.03 825.91 -6.19 1208 9843.14 roll -1.54 - - 1947.88 - 2.67 0.020 2209.19 -456.1 -82.73 - - 3107.03 - - - - - - - - - 15.99 -
10157.58 847.31 -6.30 1230 10162.29 roll -1.54 - - 1947.31 - 3.11 0.085 3425.38 391.1 -82.73 - - 3105.81 - - - - - - - - - 15.84 -
10236.24 852.88 -6.99 1241 10240.87 roll -1.54 - - 1945.31 - 2.66 0.020 2214.25 -455.3 -82.73 - - 3108.06 - - - - - - - - - 15.98 -
10552.71 873.37 -6.64 1263 10554.04 no move -1.54 - - 1947.50 - - - 2214.50 - -82.73 - - 3105.41 - - - - - - - - - - -
10867.72 895.26 -7.31 1284 10872.43 roll -1.54 - - 1947.25 - 3.11 0.085 3427.31 390.0 -82.73 - - 3105.09 - - - - - - - - - 15.83 -
10932.00 900.01 -7.98 1294 10946.93 roll -1.54 - - 1947.31 - 2.66 0.020 2218.88 -454.3 -82.73 - - 3106.00 - - - - - - - - - 15.99 -
11261.43 924.48 -7.40 1316 11266.03 roll -1.54 - - 1947.56 - 2.47 0.070 1210.81 -408.1 -82.73 - - 3104.88 - - - - - - - - - 15.89 -
11304.97 927.33 -7.52 1323 11319.90 roll -1.54 - - 1947.38 - 2.57 0.027 2318.56 431.0 -82.73 - - 3107.59 - - - - - - - - - 16.00 -
11634.40 950.51 -6.73 1345 11639.07 roll -1.54 - - 1947.12 - 2.86 0.089 3427.69 387.8 -82.73 - - 3104.19 - - - - - - - - - 15.83 -
11693.67 954.85 -7.28 1354 11699.23 roll -1.54 - - 1947.81 - 2.66 0.020 2219.12 -454.3 -82.73 - - 3105.62 - - - - - - - - - 15.99 -
12013.25 976.20 -6.49 1376 12014.58 no move -1.54 - - 1947.31 - - - 2219.38 - -82.73 - - 3104.31 - - - - - - - - - - -
12237 end dive: TARGET_DEPTH_EXCEEDED
12237 begin apogee
12240.02 990.63 -6.43 1391 12315.61 -0.28 2.22 0.139 2253.12 137.8 0.16 0.158 2160.31 -369.2 - 67.53 2.399 2774.69 -4.9 0.351 - - - - - - 15.74 15.19 10.13
12317 end apogee: CONTROL_FINISHED_OK
12317 begin climb
12318.11 992.22 - 1396 12407.66 1.54 3.09 0.113 2694.44 142.8 2.97 0.080 995.00 -392.4 82.73 70.72 2.371 2436.03 -4.8 0.349 - - - - - - 15.43 15.56 11.69
12451.49 986.42 5.18 1415 12536.04 1.70 0.24 0.075 2743.62 204.9 2.72 0.024 2137.81 420.2 163.21 71.29 2.364 2108.56 -4.6 0.334 - - - - - - 15.37 15.46 11.50
12848.07 951.34 9.19 1447 12849.40 VBD 1.70 - - 2743.31 - - - 2138.12 - 163.21 - - 2099.91 - - - - - - - - - - -
13163.17 921.78 9.65 1468 13167.88 done 1.70 - - 2743.25 - 2.73 0.084 3205.50 391.0 163.21 - - 2097.69 - - - - - - - - - 15.77 -
13221.11 915.47 10.55 1476 13225.74 done 1.70 - - 2743.44 - 2.61 0.025 2060.62 -438.7 163.21 - - 2096.78 - - - - - - - - - 15.82 -
13537.60 884.36 9.98 1498 13542.23 done 1.70 - - 2742.88 - 2.68 0.084 993.44 -398.2 163.21 - - 2098.06 - - - - - - - - - 15.81 -
13576.14 880.23 10.64 1504 13581.69 done 1.70 - - 2743.81 - 2.66 0.025 2139.44 430.8 163.21 - - 2097.28 - - - - - - - - - 15.88 -
13895.72 848.64 9.77 1526 13900.37 done 1.70 - - 2743.06 - 2.72 0.085 3202.81 390.9 163.21 - - 2094.53 - - - - - - - - - 15.84 -
13934.27 844.67 10.23 1532 13939.82 done 1.70 - - 2743.38 - 2.59 0.025 2063.81 -439.8 163.21 - - 2096.06 - - - - - - - - - 15.91 -
14253.68 814.97 8.76 1554 14258.36 done 1.70 - - 2742.81 - 2.91 0.080 3203.81 391.8 163.21 - - 2094.75 - - - - - - - - - 15.85 -
14333.70 807.64 9.24 1566 14339.24 done 1.70 - - 2744.00 - 2.57 0.025 2072.06 -440.4 163.21 - - 2095.03 - - - - - - - - - 15.93 -
14653.10 779.41 8.77 1588 14654.44 VBD 1.70 - - 2743.56 - - - 2071.69 - 163.21 - - 2094.19 - - - - - - - - - - -
14968.13 752.51 8.47 1609 14972.96 done 1.70 - - 2743.94 - 2.69 0.086 992.38 -401.2 163.21 - - 2093.59 - - - - - - - - - 15.85 -
15053.33 745.30 9.09 1622 15068.10 done 1.70 - - 2743.88 - 2.65 0.026 2146.44 435.5 163.21 - - 2093.69 - - - - - - - - - 15.96 -
15382.57 716.32 8.77 1644 15387.24 done 1.70 - - 2743.62 - 2.87 0.081 993.31 -401.8 163.21 - - 2097.03 - - - - - - - - - 15.85 -
15440.52 710.78 9.35 1652 15445.16 done 1.70 - - 2743.50 - 2.63 0.025 2137.94 435.2 163.21 - - 2094.22 - - - - - - - - - 15.96 -
15757.00 682.79 8.90 1674 15761.66 done 1.70 - - 2744.00 - 2.71 0.085 3202.38 392.8 163.21 - - 2092.00 - - - - - - - - - 15.86 -
15816.29 677.23 9.40 1683 15821.83 done 1.70 - - 2742.62 - 2.58 0.025 2058.81 -443.2 163.21 - - 2093.81 - - - - - - - - - 15.97 -
16135.70 649.33 8.21 1705 16140.38 done 1.70 - - 2743.38 - 2.92 0.080 3204.19 392.3 163.21 - - 2092.56 - - - - - - - - - 15.86 -
16215.94 642.16 9.00 1717 16221.48 done 1.70 - - 2742.75 - 2.58 0.025 2062.50 -442.5 163.21 - - 2094.16 - - - - - - - - - 15.97 -
16535.39 615.76 7.86 1739 16536.72 VBD 1.71 - - 2743.88 - - - 2062.69 - 163.21 - - 2092.44 - - - - - - - - - - -
16850.42 592.21 7.34 1760 16855.05 done 1.73 - - 2743.94 - 2.68 0.086 993.56 -398.9 163.21 - - 2091.41 - - - - - - - - - 15.84 -
16910.32 587.63 7.70 1769 16915.70 done 1.75 - - 2743.44 - 2.64 0.025 2136.69 433.0 163.21 - - 2093.03 - - - - - - - - - 15.98 -
17229.67 563.63 8.06 1791 17234.34 done 1.75 - - 2743.62 - 2.88 0.081 995.12 -396.4 163.21 - - 2092.84 - - - - - - - - - 15.84 -
17288.95 558.28 8.95 1800 17294.51 done 1.75 - - 2744.06 - 2.62 0.025 2132.88 434.3 163.21 - - 2092.62 - - - - - - - - - 15.98 -
17608.38 530.30 8.63 1822 17609.71 VBD 1.75 - - 2744.38 - - - 2133.06 - 163.21 - - 2091.47 - - - - - - - - - - -
17923.42 503.96 8.29 1843 17928.08 done 1.75 - - 2743.50 - 2.87 0.080 993.88 -396.9 163.21 - - 2091.78 - - - - - - - - - 15.83 -
18072.38 491.57 8.19 1863 18087.29 done 1.75 - - 2743.62 - 2.60 0.025 2125.31 435.2 163.21 - - 2092.59 - - - - - - - - - 15.98 -
18388.97 468.93 6.97 1892 18393.62 done 1.78 - - 2744.12 - 2.74 0.084 3205.19 394.1 163.21 - - 2093.34 - - - - - - - - - 15.84 -
18443.26 464.89 7.43 1900 18458.20 done 1.80 - - 2743.69 - 2.62 0.025 2052.88 -439.8 163.21 - - 2092.09 - - - - - - - - - 15.99 -
18760.10 443.97 6.19 1929 18811.91 1.91 0.25 0.076 2796.62 211.7 2.97 0.081 3204.06 387.6 218.94 45.19 1.752 1882.38 -4.6 0.205 - - - - - - 15.93 15.37 10.52
18855.41 435.99 8.70 1941 18860.05 roll 1.91 - - 2796.44 - 2.64 0.025 2061.94 -432.6 218.94 - - 1878.41 - - - - - - - - - 15.77 -
19167.08 409.13 8.40 1970 19178.15 no move 1.91 - - 2796.06 - - - 2061.50 - 218.94 - - 1875.25 - - - - - - - - - - -
19480.13 382.15 8.68 1999 19484.82 done 1.91 - - 2797.12 - 2.93 0.078 3205.38 390.4 218.94 - - 1872.44 - - - - - - - - - 15.80 -
19565.88 374.21 9.33 2011 19580.84 done 1.91 - - 2796.12 - 2.62 0.025 2064.88 -435.3 218.94 - - 1873.72 - - - - - - - - - 15.89 -
19882.50 345.76 9.03 2040 19887.13 done 1.91 - - 2796.62 - 2.68 0.085 994.94 -399.2 218.94 - - 1872.09 - - - - - - - - - 15.80 -
19921.04 342.03 9.59 2046 19935.98 done 1.91 - - 2797.00 - 2.65 0.025 2145.25 434.1 218.94 - - 1873.94 - - - - - - - - - 15.92 -
20237.48 312.49 9.47 2075 20248.56 VBD 1.91 - - 2796.44 - - - 2145.38 - 218.94 - - 1872.53 - - - - - - - - - - -
20550.24 282.24 9.81 2122 20551.57 VBD 1.91 - - 2796.56 - - - 2145.94 - 218.94 - - 1872.16 - - - - - - - - - - -
20855.34 253.59 9.11 2183 20856.67 VBD 1.91 - - 2796.62 - - - 2145.88 - 218.94 - - 1871.38 - - - - - - - - - - -
21160.44 224.96 9.82 2244 21161.77 VBD 1.91 - - 2797.31 - - - 2145.31 - 218.94 - - 1871.25 - - - - - - - - - - -
21465.48 195.76 9.18 2305 21466.81 VBD 1.91 - - 2796.31 - - - 2145.69 - 218.94 - - 1871.47 - - - - - - - - - - -
21770.52 167.65 9.19 2366 21771.85 VBD 1.91 - - 2796.88 - - - 2145.44 - 218.94 - - 1871.62 - - - - - - - - - - -
22075.56 140.46 8.84 2427 22081.16 done 1.91 - - 2796.69 - 2.91 0.079 993.62 -395.8 218.94 - - 1871.97 - - - - - - - - - 15.83 -
22115.56 136.56 9.73 2435 22121.11 done 1.91 - - 2796.94 - 2.65 0.024 2144.69 434.4 218.94 - - 1872.00 - - - - - - - - - 15.96 -
22425.60 108.50 8.68 2497 22431.15 done 1.91 - - 2796.69 - 2.68 0.080 3203.12 394.9 218.94 - - 1871.91 - - - - - - - - - 15.85 -
22455.60 105.75 9.04 2503 22461.14 done 1.91 - - 2797.38 - 2.60 0.023 2056.56 -441.0 218.94 - - 1872.12 - - - - - - - - - 15.95 -
22765.67 79.91 7.54 2565 22771.38 done 1.93 - - 2796.88 - 2.65 0.082 993.69 -401.1 218.94 - - 1871.69 - - - - - - - - - 15.83 -
22810.78 76.41 7.79 2574 22816.21 done 1.94 - - 2796.94 - 2.63 0.023 2138.69 435.4 218.94 - - 1872.03 - - - - - - - - - 15.95 -
23000.70 64.02 6.23 2612 23048.42 done 2.05 - - 2796.81 - 2.71 0.081 3204.75 393.4 273.56 42.75 1.228 1659.78 -5.0 0.045 - - - - - - - 15.42 10.63
23105.71 56.49 7.70 2633 23111.24 roll 2.07 - - 2797.12 - 2.63 0.023 2058.19 -436.0 273.56 - - 1656.75 - - - - - - - - - 15.84 -
23295.74 45.50 4.75 2671 23373.87 2.25 0.44 0.065 2879.69 187.7 2.97 0.077 3204.69 386.0 364.54 70.54 1.196 1288.69 -5.2 0.035 - - - - - - 15.82 15.36 11.20
23385.96 39.01 8.51 2689 23391.49 roll 2.25 - - 2879.56 - 2.60 0.023 2079.00 -433.0 364.54 - - 1287.81 - - - - - - - - - 15.66 -
23576.03 20.97 9.65 2727 23577.35 no move 2.25 - - 2878.94 - - - 2078.88 - 364.54 - - 1282.78 - - - - - - - - - - -
23760 end climb: SURFACE_DEPTH_REACHED
23760 begin surface coast
23805 end surface coast: CONTROL_FINISHED_OK
23806 begin surface
SM 0.43 - - - - 178.3 46.28 1.144 1042.7 22.5 16.86 0.051 1000.5 59.3 - 0.60 0.054 1084.9 1808.2 -1.472 - - 11.11 15.75 15.80 -