NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 990 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 348.53 of 550.00 AH used of 24V (36.63% remains)
• Surface angle -59.4 deg, depth 0.43 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 37 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
5.74 - - - 82.61 VBD -1.54 - - 178.25 - - - 2255.56 - -82.73 75.30 0.005 2813.41 - - - - - - - - - - 14.84
83.35 3.51 -5.15 14 114.97 -1.54 14.51 0.240 1947.75 122.0 2.65 0.067 1209.19 -394.9 -82.73 6.84 0.008 3112.62 43.7 -3.348 - - - - - - 15.35 14.88 15.00
117.04 11.19 -19.59 21 122.62 roll -1.54 - - 1947.88 - 2.72 0.027 2352.38 420.3 -82.73 - - 3112.59 - - - - - - - - - 15.75 -
307.48 39.41 -13.82 59 312.88 roll -1.54 - - 1946.31 - 2.87 0.060 1209.00 -398.4 -82.73 - - 3113.44 - - - - - - - - - 15.76 -
542.20 68.24 -11.02 106 547.75 roll -1.54 - - 1948.25 - 2.68 0.026 2348.25 425.1 -82.73 - - 3112.88 - - - - - - - - - 15.85 -
732.86 88.76 -11.20 144 737.83 roll -1.54 - - 1947.56 - 2.84 0.059 1210.62 -400.6 -82.73 - - 3113.78 - - - - - - - - - 15.83 -
792.27 95.27 -10.81 156 797.83 roll -1.54 - - 1948.19 - 2.66 0.025 2344.94 426.4 -82.73 - - 3113.41 - - - - - - - - - 15.90 -
982.34 114.96 -9.82 194 987.91 roll -1.54 - - 1948.06 - 2.83 0.059 1208.12 -401.7 -82.73 - - 3113.31 - - - - - - - - - 15.86 -
1052.35 121.84 -9.68 208 1057.90 roll -1.54 - - 1948.00 - 2.65 0.025 2342.06 427.9 -82.73 - - 3113.97 - - - - - - - - - 15.91 -
1362.47 149.89 -9.31 270 1368.03 roll -1.54 - - 1948.19 - 2.82 0.059 1209.31 -401.7 -82.73 - - 3113.50 - - - - - - - - - 15.89 -
1412.45 154.87 -10.04 280 1418.01 roll -1.54 - - 1948.25 - 2.64 0.026 2338.25 427.6 -82.73 - - 3112.47 - - - - - - - - - 15.93 -
1722.71 184.08 -9.20 342 1728.17 roll -1.54 - - 1948.38 - 2.83 0.059 1209.38 -398.9 -82.73 - - 3114.12 - - - - - - - - - 15.89 -
1822.70 193.71 -9.63 362 1828.08 roll -1.54 - - 1947.19 - 2.62 0.026 2332.94 428.8 -82.73 - - 3113.75 - - - - - - - - - 15.96 -
2132.58 222.18 -9.33 424 2138.15 roll -1.54 - - 1947.50 - 2.82 0.059 1210.31 -398.1 -82.73 - - 3113.31 - - - - - - - - - 15.92 -
2182.58 227.06 -9.83 434 2188.13 roll -1.54 - - 1947.56 - 2.62 0.025 2330.19 427.4 -82.73 - - 3114.03 - - - - - - - - - 15.96 -
2492.64 255.47 -8.72 496 2493.97 no move -1.54 - - 1948.38 - - - 2330.31 - -82.73 - - 3112.38 - - - - - - - - - - -
2797.69 281.23 -8.49 557 2803.27 roll -1.54 - - 1947.88 - 2.81 0.059 1209.56 -398.8 -82.73 - - 3113.34 - - - - - - - - - 15.92 -
2877.70 288.39 -8.95 573 2883.25 roll -1.54 - - 1948.31 - 2.61 0.026 2329.19 429.0 -82.73 - - 3114.19 - - - - - - - - - 15.98 -
3192.01 314.48 -8.30 617 3203.09 no move -1.54 - - 1948.38 - - - 2329.06 - -82.73 - - 3113.88 - - - - - - - - - - -
3504.99 340.48 -8.50 646 3509.64 roll -1.54 - - 1948.12 - 2.81 0.060 1209.31 -398.5 -82.73 - - 3111.75 - - - - - - - - - 15.94 -
3573.66 346.52 -8.70 655 3578.27 roll -1.54 - - 1948.19 - 2.60 0.025 2327.75 430.2 -82.73 - - 3113.34 - - - - - - - - - 16.00 -
3885.25 372.79 -8.56 684 3889.90 roll -1.54 - - 1948.00 - 2.80 0.060 1209.31 -399.4 -82.73 - - 3115.19 - - - - - - - - - 15.94 -
3955.28 379.08 -9.08 694 3970.20 roll -1.54 - - 1948.19 - 2.59 0.025 2320.81 429.2 -82.73 - - 3113.44 - - - - - - - - - 16.01 -
4272.07 407.77 -9.11 723 4283.14 no move -1.54 - - 1948.81 - - - 2321.19 - -82.73 - - 3113.78 - - - - - - - - - - -
4585.22 435.66 -8.44 752 4589.87 roll -1.54 - - 1948.25 - 2.78 0.061 1209.06 -400.0 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
4655.24 441.51 -8.46 762 4670.16 roll -1.54 - - 1948.81 - 2.60 0.026 2325.12 429.3 -82.73 - - 3113.22 - - - - - - - - - 16.00 -
4971.42 466.55 -7.70 791 4982.50 no move -1.54 - - 1948.50 - - - 2325.19 - -82.73 - - 3113.44 - - - - - - - - - - -
5284.94 490.21 -7.80 820 5289.60 roll -1.54 - - 1948.75 - 2.84 0.085 3428.12 388.4 -82.73 - - 3115.00 - - - - - - - - - 15.89 -
5354.95 496.16 -8.50 830 5369.91 roll -1.54 - - 1948.69 - 2.70 0.018 2216.75 -448.7 -82.73 - - 3113.19 - - - - - - - - - 15.99 -
5673.02 521.58 -8.14 852 5674.35 no move -1.54 - - 1948.62 - - - 2216.44 - -82.73 - - 3111.31 - - - - - - - - - - -
5987.95 547.20 -7.79 873 5992.67 roll -1.54 - - 1947.25 - 3.12 0.081 3428.88 388.6 -82.73 - - 3113.34 - - - - - - - - - 15.89 -
6047.23 552.02 -8.15 882 6052.79 roll -1.54 - - 1948.69 - 2.69 0.019 2220.88 -449.1 -82.73 - - 3112.28 - - - - - - - - - 16.00 -
6366.64 576.65 -7.75 904 6371.25 roll -1.54 - - 1948.19 - 2.54 0.067 1210.19 -397.9 -82.73 - - 3112.66 - - - - - - - - - 15.93 -
6472.40 585.12 -8.53 920 6487.32 roll -1.54 - - 1948.50 - 2.60 0.026 2320.12 426.9 -82.73 - - 3112.12 - - - - - - - - - 16.01 -
6801.80 611.23 -7.67 942 6806.45 roll -1.54 - - 1948.19 - 2.80 0.062 1210.44 -396.3 -82.73 - - 3111.62 - - - - - - - - - 15.92 -
6861.09 615.81 -7.85 951 6866.63 roll -1.54 - - 1948.81 - 2.57 0.026 2314.50 429.6 -82.73 - - 3111.53 - - - - - - - - - 16.01 -
7180.50 639.25 -7.05 973 7185.14 roll -1.54 - - 1948.44 - 2.78 0.062 1210.81 -397.0 -82.73 - - 3111.62 - - - - - - - - - 15.92 -
7265.52 645.08 -7.37 986 7280.44 roll -1.54 - - 1948.25 - 2.57 0.026 2309.75 427.6 -82.73 - - 3111.38 - - - - - - - - - 16.00 -
7594.94 667.66 -6.59 1008 7599.99 roll -1.54 - - 1946.81 - 2.77 0.063 1210.38 -396.9 -82.73 - - 3110.53 - - - - - - - - - 15.92 -
7654.56 671.73 -6.88 1017 7659.92 roll -1.54 - - 1948.06 - 2.55 0.026 2308.25 430.5 -82.73 - - 3111.44 - - - - - - - - - 16.00 -
7973.79 692.86 -6.76 1039 7975.12 no move -1.54 - - 1948.50 - - - 2307.62 - -82.73 - - 3110.31 - - - - - - - - - - -
8288.97 715.04 -7.24 1060 8290.30 no move -1.54 - - 1948.12 - - - 2308.00 - -82.73 - - 3108.34 - - - - - - - - - - -
8603.81 739.04 -7.68 1081 8608.50 roll -1.54 - - 1947.94 - 2.90 0.087 3428.06 386.2 -82.73 - - 3108.94 - - - - - - - - - 15.86 -
8704.57 747.50 -8.53 1096 8710.14 roll -1.54 - - 1948.62 - 2.74 0.019 2205.88 -446.1 -82.73 - - 3110.16 - - - - - - - - - 16.00 -
9023.97 771.30 -7.27 1118 9025.30 no move -1.54 - - 1948.19 - - - 2204.31 - -82.73 - - 3108.97 - - - - - - - - - - -
9338.98 793.09 -6.80 1139 9343.69 roll -1.54 - - 1948.19 - 3.16 0.083 3424.88 386.3 -82.73 - - 3109.41 - - - - - - - - - 15.85 -
9398.27 797.47 -7.35 1148 9403.83 roll -1.54 - - 1948.31 - 2.73 0.019 2206.44 -446.3 -82.73 - - 3110.22 - - - - - - - - - 16.00 -
9717.67 819.02 -6.57 1170 9719.00 no move -1.54 - - 1948.44 - - - 2205.00 - -82.73 - - 3108.94 - - - - - - - - - - -
10032.69 839.35 -6.44 1191 10034.02 no move -1.54 - - 1948.50 - - - 2205.06 - -82.73 - - 3107.25 - - - - - - - - - - -
10347.71 859.74 -6.29 1212 10352.43 roll -1.54 - - 1948.31 - 3.16 0.083 3424.75 386.0 -82.73 - - 3107.19 - - - - - - - - - 15.84 -
10391.25 862.38 -6.68 1219 10406.60 roll -1.54 - - 1948.44 - 2.74 0.020 2204.50 -445.3 -82.73 - - 3108.94 - - - - - - - - - 15.99 -
10720.83 884.04 -6.36 1241 10722.17 no move -1.54 - - 1948.44 - - - 2204.94 - -82.73 - - 3106.41 - - - - - - - - - - -
11035.67 904.31 -6.39 1262 11040.38 roll -1.54 - - 1948.44 - 3.16 0.084 3423.31 385.6 -82.73 - - 3106.50 - - - - - - - - - 15.84 -
11182.90 914.49 -7.27 1284 11197.87 roll -1.54 - - 1948.44 - 2.72 0.019 2210.25 -446.0 -82.73 - - 3107.16 - - - - - - - - - 15.98 -
11512.34 935.72 -6.25 1306 11513.67 no move -1.54 - - 1948.50 - - - 2210.00 - -82.73 - - 3106.28 - - - - - - - - - - -
11827.37 955.16 -6.27 1327 11832.10 roll -1.54 - - 1948.81 - 3.17 0.084 3425.19 383.3 -82.73 - - 3105.66 - - - - - - - - - 15.83 -
11870.91 957.80 -6.76 1334 11885.88 roll -1.54 - - 1948.38 - 2.71 0.020 2212.62 -447.4 -82.73 - - 3106.16 - - - - - - - - - 15.99 -
12200.36 977.98 -5.93 1356 12201.69 no move -1.54 - - 1948.88 - - - 2212.50 - -82.73 - - 3106.16 - - - - - - - - - - -
12409 end dive: TARGET_DEPTH_EXCEEDED
12410 begin apogee
12412.19 990.80 -6.34 1370 12488.03 -0.28 2.19 0.141 2252.06 138.4 0.15 0.162 2157.38 -367.5 - 67.82 2.403 2775.28 -4.9 0.351 - - - - - - 15.73 15.15 10.17
12489 end apogee: CONTROL_FINISHED_OK
12490 begin climb
12490.66 992.43 - 1375 12578.61 1.54 3.09 0.116 2694.44 143.2 3.08 0.081 995.06 -377.4 82.73 71.46 2.386 2439.06 -4.7 0.341 - - - - - - 15.42 15.55 11.68
12621.09 986.67 5.29 1393 12695.49 1.69 0.24 0.074 2745.00 210.7 2.75 0.024 2136.31 415.0 160.38 68.86 2.364 2122.34 -4.6 0.335 - - - - - - 15.35 15.44 11.43
13000.01 952.34 9.18 1424 13001.34 VBD 1.69 - - 2744.75 - - - 2136.25 - 160.38 - - 2110.91 - - - - - - - - - - -
13314.84 923.84 8.98 1445 13316.18 VBD 1.69 - - 2744.38 - - - 2136.62 - 160.38 - - 2109.09 - - - - - - - - - - -
13629.86 895.67 8.80 1466 13631.20 VBD 1.69 - - 2745.00 - - - 2136.75 - 160.38 - - 2108.06 - - - - - - - - - - -
13944.88 866.87 9.10 1487 13946.21 VBD 1.69 - - 2744.62 - - - 2136.12 - 160.38 - - 2107.00 - - - - - - - - - - -
14260.06 838.94 8.60 1508 14264.75 done 1.69 - - 2744.50 - 2.98 0.081 994.75 -383.0 160.38 - - 2109.00 - - - - - - - - - 15.83 -
14303.61 835.59 8.77 1515 14318.74 done 1.69 - - 2745.06 - 2.66 0.025 2134.31 428.4 160.38 - - 2107.25 - - - - - - - - - 15.94 -
14633.15 808.26 7.88 1537 14637.83 done 1.70 - - 2744.94 - 2.95 0.081 993.56 -386.7 160.38 - - 2106.12 - - - - - - - - - 15.84 -
14697.43 803.22 8.46 1547 14712.36 done 1.70 - - 2744.12 - 2.64 0.025 2127.31 429.5 160.38 - - 2107.50 - - - - - - - - - 15.95 -
15026.84 774.98 8.66 1569 15031.50 done 1.70 - - 2745.31 - 2.78 0.084 3205.38 387.8 160.38 - - 2106.31 - - - - - - - - - 15.85 -
15065.73 771.49 8.99 1575 15071.28 done 1.70 - - 2744.62 - 2.67 0.025 2047.50 -433.7 160.38 - - 2106.75 - - - - - - - - - 15.96 -
15385.14 743.19 8.94 1597 15386.47 VBD 1.70 - - 2745.00 - - - 2048.00 - 160.38 - - 2104.38 - - - - - - - - - - -
15700.15 714.19 9.28 1618 15704.84 done 1.70 - - 2745.81 - 2.99 0.080 3203.38 386.4 160.38 - - 2104.59 - - - - - - - - - 15.86 -
15780.18 706.72 9.44 1630 15785.74 done 1.70 - - 2746.19 - 2.66 0.026 2054.06 -432.1 160.38 - - 2105.66 - - - - - - - - - 15.97 -
16099.59 678.70 8.68 1652 16104.28 done 1.70 - - 2745.94 - 2.98 0.079 3204.75 386.1 160.38 - - 2103.81 - - - - - - - - - 15.86 -
16179.64 671.36 9.27 1664 16185.19 done 1.70 - - 2745.12 - 2.64 0.026 2059.00 -434.0 160.38 - - 2105.25 - - - - - - - - - 15.97 -
16499.04 644.39 8.23 1686 16503.88 done 1.70 - - 2745.56 - 2.73 0.086 993.50 -390.3 160.38 - - 2104.03 - - - - - - - - - 15.84 -
16579.19 637.37 8.84 1698 16584.63 done 1.70 - - 2745.62 - 2.65 0.025 2137.56 431.7 160.38 - - 2105.69 - - - - - - - - - 15.97 -
16898.50 613.21 7.30 1720 16903.15 done 1.73 - - 2745.88 - 2.76 0.083 3204.69 386.6 160.38 - - 2103.94 - - - - - - - - - 15.85 -
17018.67 603.42 8.25 1737 17023.31 done 1.73 - - 2745.62 - 2.62 0.025 2063.19 -435.7 160.38 - - 2105.62 - - - - - - - - - 15.97 -
17335.35 579.99 7.33 1759 17340.00 done 1.75 - - 2745.75 - 2.74 0.086 994.62 -390.0 160.38 - - 2105.41 - - - - - - - - - 15.83 -
17394.63 575.20 8.01 1768 17400.18 done 1.75 - - 2746.44 - 2.67 0.025 2143.75 430.4 160.38 - - 2105.72 - - - - - - - - - 15.99 -
17714.04 551.14 7.81 1790 17718.73 done 1.76 - - 2744.31 - 2.96 0.081 994.88 -388.1 160.38 - - 2104.31 - - - - - - - - - 15.84 -
17771.98 546.19 8.40 1798 17776.61 done 1.76 - - 2745.62 - 2.64 0.025 2134.12 431.5 160.38 - - 2103.69 - - - - - - - - - 15.98 -
18088.46 521.00 8.12 1820 18093.15 done 1.76 - - 2746.31 - 2.95 0.080 993.56 -386.6 160.38 - - 2104.62 - - - - - - - - - 15.83 -
18168.48 514.09 8.70 1832 18174.23 done 1.76 - - 2745.56 - 2.63 0.024 2125.69 430.5 160.38 - - 2106.47 - - - - - - - - - 15.98 -
18481.82 488.47 7.98 1857 18486.51 done 1.76 - - 2745.44 - 2.94 0.080 994.50 -384.8 160.38 - - 2103.94 - - - - - - - - - 15.83 -
18534.76 483.94 8.41 1864 18539.39 done 1.76 - - 2744.25 - 2.61 0.024 2119.75 431.1 160.38 - - 2104.53 - - - - - - - - - 15.97 -
18845.79 460.34 7.25 1893 18850.47 done 1.79 - - 2745.88 - 2.92 0.080 994.88 -385.2 160.38 - - 2102.97 - - - - - - - - - 15.83 -
18884.35 457.45 7.52 1899 18899.01 done 1.81 - - 2746.00 - 2.59 0.024 2114.88 432.4 160.38 - - 2104.56 - - - - - - - - - 15.98 -
19200.94 434.68 7.24 1928 19205.60 done 1.83 - - 2746.31 - 2.80 0.083 3206.00 389.7 160.38 - - 2104.28 - - - - - - - - - 15.84 -
19318.19 425.61 7.75 1944 19333.12 done 1.85 - - 2746.00 - 2.67 0.025 2042.81 -435.7 160.38 - - 2105.81 - - - - - - - - - 15.98 -
19634.79 404.36 6.39 1973 19684.99 1.95 0.29 0.072 2804.50 201.7 3.03 0.080 3205.69 383.8 211.08 41.24 1.687 1913.88 -4.7 0.195 - - - - - - 15.93 15.35 10.40
19750.71 394.09 9.61 1988 19765.41 roll 1.95 - - 2804.50 - 2.68 0.025 2052.19 -430.4 211.08 - - 1910.34 - - - - - - - - - 15.80 -
20067.19 363.75 9.83 2017 20078.26 no move 1.95 - - 2804.19 - - - 2052.94 - 211.08 - - 1908.12 - - - - - - - - - - -
20379.93 333.54 9.42 2046 20384.61 roll 1.95 - - 2804.56 - 2.97 0.078 3205.00 387.9 211.08 - - 1906.03 - - - - - - - - - 15.80 -
20465.69 324.75 10.31 2058 20480.63 roll 1.95 - - 2803.81 - 2.66 0.025 2055.25 -432.2 211.08 - - 1906.59 - - - - - - - - - 15.91 -
20785.36 294.23 9.57 2093 20790.93 done 1.95 - - 2804.38 - 2.74 0.086 994.69 -387.1 211.08 - - 1906.09 - - - - - - - - - 15.78 -
20835.37 289.16 10.21 2103 20840.93 done 1.95 - - 2804.69 - 2.64 0.024 2128.69 429.5 211.08 - - 1905.97 - - - - - - - - - 15.91 -
21145.47 260.62 9.00 2165 21146.80 VBD 1.95 - - 2804.31 - - - 2128.94 - 211.08 - - 1904.69 - - - - - - - - - - -
21450.51 233.07 9.27 2226 21456.06 done 1.95 - - 2804.94 - 2.78 0.080 3205.38 387.2 211.08 - - 1905.25 - - - - - - - - - 15.83 -
21485.50 229.70 9.53 2233 21491.24 done 1.95 - - 2804.31 - 2.67 0.024 2049.94 -432.7 211.08 - - 1905.88 - - - - - - - - - 15.94 -
21795.56 201.18 9.30 2295 21796.89 VBD 1.95 - - 2804.56 - - - 2050.56 - 211.08 - - 1904.97 - - - - - - - - - - -
22100.60 172.83 9.32 2356 22106.21 done 1.95 - - 2804.19 - 2.97 0.076 3205.12 388.7 211.08 - - 1905.94 - - - - - - - - - 15.83 -
22135.60 169.34 9.96 2363 22141.15 done 1.95 - - 2804.75 - 2.65 0.024 2052.88 -434.8 211.08 - - 1905.47 - - - - - - - - - 15.95 -
22445.67 139.81 9.38 2425 22447.01 VBD 1.95 - - 2804.00 - - - 2053.12 - 211.08 - - 1903.88 - - - - - - - - - - -
22750.94 111.77 8.67 2486 22752.27 VBD 1.95 - - 2803.94 - - - 2052.75 - 211.08 - - 1904.72 - - - - - - - - - - -
23055.76 87.38 7.77 2547 23061.34 done 1.96 - - 2803.19 - 2.95 0.075 3206.44 391.1 211.08 - - 1905.78 - - - - - - - - - 15.84 -
23125.76 81.22 8.98 2561 23131.31 done 1.96 - - 2805.19 - 2.63 0.024 2053.81 -438.3 211.08 - - 1905.66 - - - - - - - - - 15.96 -
23315.99 67.25 6.50 2599 23321.44 done 2.00 - - 2804.44 - 2.95 0.074 3206.44 390.7 211.08 - - 1905.31 - - - - - - - - - 15.84 -
23340.80 65.57 6.41 2604 23386.91 2.10 0.14 0.100 2837.50 236.1 2.61 0.024 2065.19 -437.3 261.37 40.15 1.229 1709.44 -4.9 0.045 - - - - - - 15.79 15.95 10.64
23571.24 47.93 7.33 2650 23576.43 roll 2.12 - - 2838.88 - 2.93 0.075 3206.19 389.4 261.37 - - 1704.03 - - - - - - - - - 15.79 -
23805.93 35.25 4.89 2697 23879.53 2.30 0.25 0.075 2888.44 198.2 2.58 0.023 2075.69 -438.2 348.75 68.21 1.189 1353.91 -5.1 0.027 - - - - - - 15.74 15.89 11.19
24062.57 15.38 9.07 2748 24067.79 roll 2.30 - - 2888.56 - 2.91 0.074 3203.31 387.5 348.75 - - 1346.59 - - - - - - - - - 15.70 -
24117.19 9.76 10.55 2759 24122.91 roll 2.30 - - 2889.06 - 2.58 0.024 2084.31 -433.7 348.75 - - 1345.53 - - - - - - - - - 15.77 -
24181 end climb: SURFACE_DEPTH_REACHED
24181 begin surface coast
24232 end surface coast: CONTROL_FINISHED_OK
24232 begin surface
SM 0.46 - - - - 179.3 58.39 1.143 1043.0 17.9 16.95 0.052 1002.1 59.1 - 0.56 0.043 1083.9 1930.9 -2.111 - - 11.16 15.73 15.80 -