NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 604 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 199.43 of 550.00 AH used of 24V (63.74% remains)
• Surface angle -60.7 deg, depth 0.70 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 981.0, SM_CC=425)
• GPS1 time: 33 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.31 - - - 61.87 VBD -1.29 - - 176.88 - - - 2247.38 - -82.73 55.40 0.005 2478.06 - - - - - - - - - - 15.33
62.61 3.26 -5.87 10 100.76 -1.29 14.77 0.243 2015.81 124.5 2.98 0.083 3426.25 395.6 -82.73 13.39 0.007 3112.28 47.4 -3.755 - - - - - - 15.50 15.23 15.36
262.89 48.87 -14.93 50 268.41 roll -1.29 - - 2015.94 - 2.58 0.019 2246.38 -457.3 -82.73 - - 3113.19 - - - - - - - - - 15.79 -
453.58 72.28 -11.34 88 454.91 no move -1.29 - - 2015.94 - - - 2244.81 - -82.73 - - 3112.25 - - - - - - - - - - -
638.00 90.98 -9.30 125 643.61 roll -1.29 - - 2015.38 - 2.96 0.078 3428.31 399.8 -82.73 - - 3115.81 - - - - - - - - - 15.84 -
763.04 103.18 -10.11 150 768.57 roll -1.29 - - 2016.31 - 2.57 0.020 2244.50 -460.6 -82.73 - - 3114.88 - - - - - - - - - 15.87 -
1073.08 127.90 -7.61 212 1078.19 roll -1.29 - - 2016.31 - 2.46 0.066 1207.44 -421.6 -82.73 - - 3116.41 - - - - - - - - - 15.90 -
1208.27 138.50 -7.91 239 1213.65 roll -1.29 - - 2016.06 - 2.63 0.027 2356.12 436.8 -82.73 - - 3115.47 - - - - - - - - - 15.92 -
1518.13 160.78 -8.14 301 1519.46 no move -1.29 - - 2016.19 - - - 2355.94 - -82.73 - - 3113.12 - - - - - - - - - - -
1823.17 186.89 -8.07 362 1828.73 roll -1.29 - - 2016.31 - 2.76 0.061 1209.44 -415.4 -82.73 - - 3114.16 - - - - - - - - - 15.93 -
1868.17 190.73 -8.58 371 1873.72 roll -1.29 - - 2015.75 - 2.61 0.027 2355.88 439.2 -82.73 - - 3115.72 - - - - - - - - - 15.95 -
2178.33 215.42 -8.05 433 2179.66 no move -1.29 - - 2015.94 - - - 2355.88 - -82.73 - - 3113.12 - - - - - - - - - - -
2483.25 239.13 -7.83 494 2488.80 roll -1.29 - - 2015.75 - 2.76 0.062 1209.50 -415.4 -82.73 - - 3114.28 - - - - - - - - - 15.94 -
2598.26 248.64 -8.29 517 2603.82 roll -1.29 - - 2016.19 - 2.62 0.028 2354.81 437.1 -82.73 - - 3112.94 - - - - - - - - - 15.98 -
2908.32 273.07 -8.17 579 2913.87 roll -1.29 - - 2015.94 - 2.76 0.061 1208.31 -415.4 -82.73 - - 3112.66 - - - - - - - - - 15.94 -
2988.32 279.79 -8.40 595 2993.87 roll -1.29 - - 2016.44 - 2.61 0.028 2353.38 438.7 -82.73 - - 3111.88 - - - - - - - - - 15.97 -
3304.92 305.30 -8.04 651 3309.57 roll -1.29 - - 2016.25 - 2.74 0.062 1208.12 -418.0 -82.73 - - 3111.59 - - - - - - - - - 15.95 -
3375.14 311.17 -8.46 661 3390.08 roll -1.29 - - 2016.25 - 2.61 0.028 2353.50 438.8 -82.73 - - 3112.34 - - - - - - - - - 16.00 -
3691.33 337.15 -8.20 690 3695.98 roll -1.29 - - 2015.81 - 2.75 0.062 1209.56 -416.0 -82.73 - - 3111.09 - - - - - - - - - 15.96 -
3745.79 341.68 -8.47 698 3760.61 roll -1.29 - - 2016.12 - 2.61 0.029 2352.81 438.0 -82.73 - - 3110.72 - - - - - - - - - 16.01 -
4062.92 367.02 -7.93 727 4067.56 roll -1.29 - - 2016.12 - 2.76 0.062 1209.25 -414.3 -82.73 - - 3108.44 - - - - - - - - - 15.95 -
4101.45 370.13 -8.13 733 4116.40 roll -1.29 - - 2016.50 - 2.61 0.029 2353.56 438.4 -82.73 - - 3110.22 - - - - - - - - - 16.00 -
4417.66 394.85 -7.76 762 4422.30 roll -1.29 - - 2015.75 - 2.75 0.063 1209.88 -415.9 -82.73 - - 3111.38 - - - - - - - - - 15.95 -
4503.40 401.86 -8.28 774 4518.34 roll -1.29 - - 2016.25 - 2.61 0.029 2352.06 437.6 -82.73 - - 3108.88 - - - - - - - - - 16.00 -
4820.45 427.29 -8.36 803 4831.53 no move -1.29 - - 2016.38 - - - 2351.62 - -82.73 - - 3108.84 - - - - - - - - - - -
5133.28 453.70 -8.58 832 5144.35 no move -1.29 - - 2016.06 - - - 2351.25 - -82.73 - - 3107.88 - - - - - - - - - - -
5445.99 479.94 -8.03 861 5450.63 roll -1.29 - - 2015.19 - 2.73 0.063 1210.88 -417.7 -82.73 - - 3109.12 - - - - - - - - - 15.95 -
5516.34 485.71 -8.29 871 5531.27 roll -1.29 - - 2016.12 - 2.61 0.029 2351.38 437.0 -82.73 - - 3107.06 - - - - - - - - - 16.01 -
5838.73 509.77 -6.87 897 5840.05 no move -1.29 - - 2016.00 - - - 2351.44 - -82.73 - - 3105.94 - - - - - - - - - - -
6153.76 529.63 -6.29 918 6158.59 roll -1.29 - - 2015.94 - 2.76 0.063 1210.06 -413.5 -82.73 - - 3104.84 - - - - - - - - - 15.94 -
6253.34 536.21 -6.63 932 6257.97 roll -1.29 - - 2015.62 - 2.61 0.029 2352.12 437.6 -82.73 - - 3108.31 - - - - - - - - - 16.00 -
6569.85 555.67 -6.31 954 6574.50 roll -1.29 - - 2016.38 - 2.75 0.063 1210.94 -415.0 -82.73 - - 3106.78 - - - - - - - - - 15.93 -
6627.78 559.59 -6.67 962 6632.41 roll -1.29 - - 2016.38 - 2.61 0.029 2354.12 438.0 -82.73 - - 3104.06 - - - - - - - - - 16.01 -
6944.25 580.08 -6.55 984 6945.58 no move -1.29 - - 2016.06 - - - 2353.62 - -82.73 - - 3104.34 - - - - - - - - - - -
7259.26 601.49 -6.77 1005 7263.90 roll -1.29 - - 2015.31 - 2.77 0.063 1208.12 -413.5 -82.73 - - 3104.28 - - - - - - - - - 15.92 -
7302.81 604.18 -7.01 1012 7317.97 roll -1.29 - - 2016.25 - 2.61 0.029 2351.19 438.0 -82.73 - - 3104.12 - - - - - - - - - 16.02 -
7632.21 628.95 -7.61 1034 7636.86 roll -1.29 - - 2016.25 - 2.76 0.064 1209.69 -413.6 -82.73 - - 3105.16 - - - - - - - - - 15.92 -
7731.62 636.97 -8.08 1048 7736.25 roll -1.29 - - 2015.94 - 2.61 0.030 2350.38 437.0 -82.73 - - 3102.81 - - - - - - - - - 16.01 -
8048.26 661.24 -7.74 1070 8049.59 no move -1.29 - - 2015.88 - - - 2350.31 - -82.73 - - 3102.00 - - - - - - - - - - -
8363.10 684.77 -7.27 1091 8364.43 no move -1.29 - - 2015.69 - - - 2349.88 - -82.73 - - 3101.69 - - - - - - - - - - -
8678.31 706.79 -6.85 1112 8679.64 no move -1.29 - - 2016.06 - - - 2350.25 - -82.73 - - 3101.88 - - - - - - - - - - -
8993.25 727.80 -6.51 1133 8997.89 roll -1.29 - - 2016.12 - 2.76 0.064 1208.62 -413.6 -82.73 - - 3102.66 - - - - - - - - - 15.91 -
9078.27 733.31 -6.94 1146 9093.21 roll -1.29 - - 2016.19 - 2.62 0.030 2352.06 436.4 -82.73 - - 3101.41 - - - - - - - - - 16.01 -
9407.67 755.55 -6.55 1168 9412.31 roll -1.29 - - 2015.25 - 2.77 0.064 1209.69 -412.4 -82.73 - - 3101.78 - - - - - - - - - 15.91 -
9486.34 761.10 -7.00 1179 9490.97 roll -1.29 - - 2015.56 - 2.61 0.030 2351.00 437.3 -82.73 - - 3102.69 - - - - - - - - - 16.00 -
9802.82 782.84 -6.93 1201 9804.15 no move -1.29 - - 2015.94 - - - 2351.12 - -82.73 - - 3099.84 - - - - - - - - - - -
10117.87 805.90 -7.36 1222 10122.51 roll -1.29 - - 2016.31 - 2.78 0.064 1210.00 -410.5 -82.73 - - 3099.03 - - - - - - - - - 15.90 -
10196.75 812.05 -7.75 1233 10201.39 roll -1.29 - - 2016.06 - 2.62 0.030 2350.88 435.5 -82.73 - - 3099.44 - - - - - - - - - 16.00 -
10513.22 834.82 -7.27 1255 10514.55 no move -1.29 - - 2016.00 - - - 2351.38 - -82.73 - - 3099.22 - - - - - - - - - - -
10828.23 856.26 -6.62 1276 10829.56 no move -1.29 - - 2016.44 - - - 2351.56 - -82.73 - - 3099.53 - - - - - - - - - - -
11143.25 876.15 -6.24 1297 11147.90 roll -1.29 - - 2016.19 - 2.77 0.065 1209.31 -412.4 -82.73 - - 3099.00 - - - - - - - - - 15.88 -
11228.28 881.18 -6.37 1310 11243.39 roll -1.29 - - 2016.00 - 2.62 0.030 2351.25 435.9 -82.73 - - 3100.91 - - - - - - - - - 16.00 -
11557.82 901.29 -5.94 1332 11559.15 no move -1.29 - - 2015.62 - - - 2351.38 - -82.73 - - 3098.88 - - - - - - - - - - -
11872.71 919.60 -5.69 1353 11874.04 no move -1.29 - - 2015.81 - - - 2351.25 - -82.73 - - 3098.88 - - - - - - - - - - -
12187.74 936.94 -5.67 1374 12189.07 no move -1.29 - - 2015.88 - - - 2351.31 - -82.73 - - 3097.44 - - - - - - - - - - -
12502.93 954.75 -5.75 1395 12507.58 roll -1.29 - - 2016.25 - 2.79 0.066 1209.62 -409.2 -82.73 - - 3097.16 - - - - - - - - - 15.86 -
12567.20 958.23 -5.93 1405 12582.16 roll -1.29 - - 2015.94 - 2.62 0.030 2350.88 435.6 -82.73 - - 3098.75 - - - - - - - - - 16.00 -
12896.63 977.66 -5.87 1427 12901.27 roll -1.29 - - 2015.31 - 2.78 0.065 1211.00 -410.0 -82.73 - - 3099.38 - - - - - - - - - 15.86 -
12996.37 983.58 -5.96 1441 13001.00 roll -1.29 - - 2016.06 - 2.62 0.031 2350.38 434.9 -82.73 - - 3098.84 - - - - - - - - - 15.98 -
13117 end dive: TARGET_DEPTH_EXCEEDED
13118 begin apogee
13119.67 990.48 -5.66 1450 13195.20 -0.28 1.76 0.139 2264.19 141.0 0.22 0.131 2281.38 -313.6 - 62.28 2.440 2773.78 -5.2 0.361 - - - - - - 15.74 15.51 10.34
13196 end apogee: CONTROL_FINISHED_OK
13197 begin climb
13197.27 991.70 - 1455 13278.88 1.29 2.58 0.089 2648.19 148.8 2.80 0.096 3344.56 379.7 82.73 68.15 2.353 2437.16 -4.9 0.354 - - - - - - 15.60 15.20 12.10
13286.63 988.63 4.58 1467 13365.21 1.44 0.18 0.084 2693.25 250.3 2.67 0.023 2185.94 -433.9 155.45 62.56 2.352 2139.62 -4.8 0.340 - - - - - - 15.33 15.39 12.06
13677.71 948.90 10.31 1498 13682.34 done 1.44 - - 2693.06 - 2.63 0.078 1132.56 -400.5 155.45 - - 2132.38 - - - - - - - - - 15.63 -
13756.38 940.38 10.77 1509 13761.01 done 1.44 - - 2691.44 - 2.65 0.031 2270.62 429.5 155.45 - - 2130.31 - - - - - - - - - 15.67 -
14073.05 908.52 9.94 1531 14074.38 VBD 1.44 - - 2693.06 - - - 2271.00 - 155.45 - - 2128.84 - - - - - - - - - - -
14387.97 878.08 9.55 1552 14389.30 VBD 1.44 - - 2692.56 - - - 2271.12 - 155.45 - - 2126.88 - - - - - - - - - - -
14702.95 848.57 9.22 1573 14707.61 done 1.44 - - 2692.44 - 2.83 0.075 1132.38 -402.4 155.45 - - 2127.59 - - - - - - - - - 15.83 -
14760.89 842.82 9.75 1581 14765.72 done 1.44 - - 2693.12 - 2.63 0.031 2272.81 433.6 155.45 - - 2125.91 - - - - - - - - - 15.88 -
15077.54 813.26 9.26 1603 15082.18 done 1.44 - - 2690.50 - 2.71 0.093 3345.06 395.7 155.45 - - 2125.53 - - - - - - - - - 15.83 -
15114.73 809.49 9.72 1608 15119.34 done 1.44 - - 2692.00 - 2.58 0.024 2187.50 -448.7 155.45 - - 2126.31 - - - - - - - - - 15.90 -
15431.21 780.22 9.31 1630 15435.83 done 1.44 - - 2692.88 - 2.60 0.079 1131.19 -406.3 155.45 - - 2124.75 - - - - - - - - - 15.86 -
15490.49 774.27 10.06 1639 15496.04 done 1.44 - - 2693.00 - 2.62 0.031 2271.25 435.1 155.45 - - 2125.44 - - - - - - - - - 15.93 -
15809.91 744.48 9.12 1661 15811.24 VBD 1.44 - - 2693.31 - - - 2271.50 - 155.45 - - 2125.06 - - - - - - - - - - -
16124.95 715.34 9.22 1682 16129.61 done 1.44 - - 2690.62 - 2.81 0.075 1132.38 -405.4 155.45 - - 2125.22 - - - - - - - - - 15.87 -
16204.98 707.67 9.68 1694 16210.53 done 1.44 - - 2692.50 - 2.62 0.031 2273.44 435.5 155.45 - - 2126.34 - - - - - - - - - 15.95 -
16524.38 678.36 9.20 1716 16525.71 VBD 1.44 - - 2693.31 - - - 2273.12 - 155.45 - - 2123.53 - - - - - - - - - - -
16839.40 649.69 8.85 1737 16844.04 done 1.44 - - 2693.19 - 2.80 0.075 1132.06 -407.5 155.45 - - 2125.97 - - - - - - - - - 15.86 -
16898.69 644.21 9.34 1746 16904.25 done 1.44 - - 2692.81 - 2.61 0.031 2272.62 437.0 155.45 - - 2124.00 - - - - - - - - - 15.97 -
17218.28 613.38 9.77 1768 17223.00 done 1.44 - - 2693.75 - 2.81 0.074 1132.44 -405.8 155.45 - - 2124.53 - - - - - - - - - 15.87 -
17338.44 601.07 10.25 1785 17342.41 done 1.44 - - 2693.19 - 2.61 0.031 2271.69 436.5 155.45 - - 2124.25 - - - - - - - - - 15.96 -
17654.93 570.10 9.83 1807 17656.26 VBD 1.44 - - 2693.31 - - - 2272.19 - 155.45 - - 2122.69 - - - - - - - - - - -
17969.25 541.51 9.31 1828 17973.89 done 1.44 - - 2692.50 - 2.80 0.075 1129.69 -408.0 155.45 - - 2124.50 - - - - - - - - - 15.86 -
18007.79 536.54 9.51 1834 18013.34 done 1.44 - - 2693.69 - 2.62 0.030 2271.81 435.9 155.45 - - 2124.91 - - - - - - - - - 15.98 -
18327.19 507.58 8.81 1856 18331.85 done 1.44 - - 2693.38 - 2.82 0.074 1133.50 -403.7 155.45 - - 2122.88 - - - - - - - - - 15.86 -
18385.12 502.12 9.23 1864 18389.75 done 1.44 - - 2692.62 - 2.61 0.031 2271.94 436.2 155.45 - - 2124.34 - - - - - - - - - 15.97 -
18696.06 476.19 8.19 1893 18707.13 VBD 1.44 - - 2692.94 - - - 2272.00 - 155.45 - - 2124.00 - - - - - - - - - - -
19008.77 449.88 8.56 1922 19013.43 done 1.44 - - 2693.12 - 2.83 0.074 1132.06 -402.8 155.45 - - 2125.34 - - - - - - - - - 15.86 -
19077.66 443.53 9.09 1931 19082.29 done 1.44 - - 2692.31 - 2.62 0.030 2273.44 435.6 155.45 - - 2124.03 - - - - - - - - - 15.98 -
19389.58 417.77 7.90 1960 19400.65 VBD 1.45 - - 2693.88 - - - 2273.81 - 155.45 - - 2123.69 - - - - - - - - - - -
19702.42 393.83 7.23 1989 19713.50 VBD 1.48 - - 2693.31 - - - 2273.25 - 155.45 - - 2123.75 - - - - - - - - - - -
20015.49 371.25 7.20 2018 20020.16 done 1.50 - - 2692.88 - 2.83 0.074 1132.44 -403.1 155.45 - - 2124.41 - - - - - - - - - 15.85 -
20084.17 365.87 7.71 2027 20088.80 done 1.52 - - 2692.75 - 2.62 0.030 2271.25 434.7 155.45 - - 2123.59 - - - - - - - - - 15.97 -
20395.84 343.68 7.03 2056 20400.50 done 1.54 - - 2693.25 - 2.83 0.074 1131.88 -402.6 155.45 - - 2125.28 - - - - - - - - - 15.85 -
20466.09 338.47 7.48 2066 20480.78 done 1.56 - - 2693.25 - 2.62 0.030 2273.25 435.6 155.45 - - 2123.94 - - - - - - - - - 15.99 -
20782.43 315.75 7.27 2095 20793.50 VBD 1.59 - - 2693.56 - - - 2273.12 - 155.45 - - 2123.88 - - - - - - - - - - -
21096.04 293.60 7.23 2133 21101.67 1.61 0.17 0.091 2730.69 218.4 2.83 0.074 1131.06 -403.6 155.45 - - 2124.22 - - - - - - - - 15.92 15.79 -
21156.04 288.42 8.88 2145 21161.58 done 1.61 - - 2731.06 - 2.61 0.030 2272.62 437.4 155.45 - - 2125.53 - - - - - - - - - 15.97 -
21466.27 263.11 8.10 2207 21471.69 done 1.61 - - 2731.19 - 2.69 0.090 3344.88 398.6 155.45 - - 2125.72 - - - - - - - - - 15.82 -
21516.27 258.65 9.12 2217 21521.62 done 1.61 - - 2730.12 - 2.58 0.023 2185.31 -449.4 155.45 - - 2124.44 - - - - - - - - - 15.96 -
21826.14 234.35 7.40 2279 21827.47 VBD 1.63 - - 2731.19 - - - 2184.38 - 155.45 - - 2123.09 - - - - - - - - - - -
22131.16 210.37 8.27 2340 22136.69 done 1.63 - - 2731.25 - 2.59 0.077 1131.25 -406.6 155.45 - - 2124.56 - - - - - - - - - 15.83 -
22221.16 202.52 8.64 2358 22226.72 done 1.63 - - 2731.50 - 2.62 0.029 2276.06 437.0 155.45 - - 2125.56 - - - - - - - - - 15.95 -
22531.21 175.74 8.39 2420 22532.54 VBD 1.63 - - 2731.50 - - - 2276.25 - 155.45 - - 2123.34 - - - - - - - - - - -
22836.27 150.55 7.21 2481 22841.83 done 1.66 - - 2731.62 - 2.83 0.072 1131.25 -404.6 155.45 - - 2124.19 - - - - - - - - - 15.83 -
22921.26 144.50 7.09 2498 22926.99 done 1.69 - - 2730.69 - 2.62 0.029 2274.38 436.3 155.45 - - 2125.78 - - - - - - - - - 15.96 -
23231.30 125.71 5.55 2560 23278.05 1.80 0.21 0.083 2779.50 232.4 2.68 0.091 3346.50 400.0 209.98 40.19 1.316 1918.41 -5.2 0.084 - - - - - - 15.92 15.75 10.83
23366.31 114.99 9.41 2587 23371.85 roll 1.80 - - 2779.62 - 2.58 0.023 2186.50 -449.6 209.98 - - 1914.84 - - - - - - - - - 15.85 -
23676.36 88.92 8.64 2649 23681.88 roll 1.80 - - 2779.69 - 2.60 0.077 1131.00 -406.0 209.98 - - 1911.00 - - - - - - - - - 15.81 -
23911.38 73.85 4.76 2696 23968.66 done 1.93 - - 2779.56 - 2.63 0.028 2276.44 435.5 279.34 52.31 1.246 1636.97 -5.2 0.053 - - - - - - - 15.89 11.65
24151.43 60.70 6.20 2744 24190.33 2.02 0.25 0.075 2830.81 205.0 2.86 0.074 1132.56 -400.0 321.81 33.31 1.189 1463.97 -5.2 0.045 - - - - - - 15.74 15.62 11.74
24312.57 45.34 10.57 2776 24318.13 roll 2.02 - - 2830.31 - 2.65 0.028 2272.88 430.3 321.81 - - 1458.03 - - - - - - - - - 15.72 -
24502.64 27.58 7.85 2814 24508.20 roll 2.03 - - 2831.06 - 2.73 0.087 3346.88 393.4 321.81 - - 1456.06 - - - - - - - - - 15.75 -
24547.65 24.80 6.21 2823 24585.19 done 2.12 - - 2830.69 - 2.60 0.022 2181.12 -448.4 364.09 33.19 1.141 1292.06 -4.9 0.018 - - - - - - - 15.78 11.63
24767.71 13.35 4.41 2867 24831.17 2.27 0.31 0.070 2891.12 194.9 2.61 0.079 1132.44 -401.8 440.11 58.26 1.134 981.34 -5.3 0.011 - - - - - - 15.73 15.54 11.71
24898.27 4.25 8.89 2893 24903.81 roll 2.27 - - 2891.31 - 2.66 0.028 2273.75 429.1 440.11 - - 976.69 - - - - - - - - - 15.66 -
24908 end climb: SURFACE_DEPTH_REACHED
24908 begin surface coast
24958 end surface coast: CONTROL_FINISHED_OK
24958 begin surface
SM 0.58 - - - - 181.9 - - 974.8 - 16.95 0.053 968.6 57.1 - 0.13 0.121 981.0 7525.7 -3.687 - - 30.00 15.63 15.66 -