NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 845 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 292.10 of 550.00 AH used of 24V (46.89% remains)
• Surface angle -61.5 deg, depth 0.53 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 47 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
5.58 - - - 82.61 VBD -1.35 - - 177.12 - - - 2258.56 - -82.73 75.50 0.005 2882.78 - - - - - - - - - - 15.01
83.33 4.00 -7.08 14 111.58 -1.35 14.73 0.243 1993.75 123.3 2.59 0.064 1209.38 -405.1 -82.73 4.81 0.009 3110.22 47.3 -3.613 - - - - - - 15.42 15.04 15.15
203.66 26.28 -14.03 38 209.21 roll -1.35 - - 1993.44 - 2.68 0.028 2349.44 425.4 -82.73 - - 3112.25 - - - - - - - - - 15.78 -
394.07 53.71 -14.68 76 395.40 no move -1.35 - - 1993.19 - - - 2349.06 - -82.73 - - 3111.00 - - - - - - - - - - -
578.78 77.82 -12.60 113 584.32 roll -1.35 - - 1993.69 - 2.84 0.058 1209.56 -401.2 -82.73 - - 3112.38 - - - - - - - - - 15.84 -
623.74 83.25 -11.96 122 629.29 roll -1.35 - - 1993.94 - 2.65 0.027 2350.31 430.5 -82.73 - - 3112.16 - - - - - - - - - 15.85 -
813.77 102.35 -9.95 160 819.35 roll -1.35 - - 1993.69 - 2.76 0.085 3426.75 390.0 -82.73 - - 3112.72 - - - - - - - - - 15.83 -
878.79 108.51 -9.32 173 884.33 roll -1.35 - - 1993.25 - 2.60 0.019 2244.75 -454.6 -82.73 - - 3112.97 - - - - - - - - - 15.89 -
1188.91 133.04 -7.74 235 1194.52 roll -1.35 - - 1993.69 - 3.02 0.080 3426.50 391.3 -82.73 - - 3113.28 - - - - - - - - - 15.85 -
1283.94 140.26 -7.66 254 1289.47 roll -1.35 - - 1993.38 - 2.55 0.019 2259.25 -457.7 -82.73 - - 3113.56 - - - - - - - - - 15.91 -
1594.05 160.73 -6.78 316 1599.57 roll -1.35 - - 1992.19 - 2.58 0.063 1209.44 -406.9 -82.73 - - 3113.53 - - - - - - - - - 15.92 -
1709.08 169.79 -8.03 339 1714.81 roll -1.35 - - 1993.56 - 2.66 0.027 2366.75 435.1 -82.73 - - 3113.91 - - - - - - - - - 15.95 -
2019.21 194.55 -8.23 401 2020.54 no move -1.35 - - 1994.06 - - - 2367.00 - -82.73 - - 3112.72 - - - - - - - - - - -
2324.32 219.71 -8.71 462 2329.90 roll -1.35 - - 1993.69 - 2.85 0.058 1209.25 -406.2 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
2464.37 232.21 -8.67 490 2469.91 roll -1.35 - - 1993.75 - 2.67 0.027 2362.62 432.0 -82.73 - - 3113.47 - - - - - - - - - 15.97 -
2774.45 256.58 -7.73 552 2780.02 roll -1.35 - - 1992.19 - 2.84 0.058 1209.31 -406.1 -82.73 - - 3114.28 - - - - - - - - - 15.94 -
2864.46 263.87 -8.11 570 2870.00 roll -1.35 - - 1993.19 - 2.65 0.028 2359.50 434.0 -82.73 - - 3113.12 - - - - - - - - - 15.99 -
3174.51 288.77 -8.55 632 3175.84 no move -1.35 - - 1994.12 - - - 2359.75 - -82.73 - - 3112.31 - - - - - - - - - - -
3479.05 314.82 -8.71 674 3490.12 no move -1.35 - - 1993.88 - - - 2360.12 - -82.73 - - 3113.25 - - - - - - - - - - -
3791.79 341.47 -8.31 703 3796.64 roll -1.35 - - 1993.25 - 2.84 0.059 1209.44 -405.2 -82.73 - - 3114.34 - - - - - - - - - 15.96 -
3830.46 344.66 -8.43 709 3845.29 roll -1.35 - - 1994.38 - 2.66 0.028 2362.44 433.5 -82.73 - - 3112.72 - - - - - - - - - 16.01 -
4146.89 369.19 -7.64 738 4157.96 no move -1.35 - - 1993.69 - - - 2362.88 - -82.73 - - 3113.06 - - - - - - - - - - -
4459.80 392.83 -7.52 767 4464.46 roll -1.35 - - 1993.75 - 2.86 0.060 1209.44 -403.3 -82.73 - - 3111.34 - - - - - - - - - 15.96 -
4512.74 397.17 -8.02 774 4517.37 roll -1.35 - - 1991.88 - 2.66 0.028 2358.44 432.0 -82.73 - - 3113.59 - - - - - - - - - 16.00 -
4825.29 422.01 -8.20 803 4829.96 roll -1.35 - - 1993.50 - 2.84 0.060 1209.31 -404.6 -82.73 - - 3111.97 - - - - - - - - - 15.95 -
4879.56 426.67 -8.50 811 4894.51 roll -1.35 - - 1992.81 - 2.66 0.028 2355.81 431.0 -82.73 - - 3111.59 - - - - - - - - - 16.00 -
5195.78 452.70 -8.05 840 5206.85 no move -1.35 - - 1993.69 - - - 2356.06 - -82.73 - - 3112.00 - - - - - - - - - - -
5508.50 477.18 -7.67 869 5519.57 no move -1.35 - - 1993.88 - - - 2356.00 - -82.73 - - 3111.91 - - - - - - - - - - -
5821.56 499.85 -6.95 898 5832.62 no move -1.35 - - 1993.75 - - - 2355.62 - -82.73 - - 3111.34 - - - - - - - - - - -
6148.02 522.87 -7.01 920 6152.68 roll -1.35 - - 1991.81 - 2.84 0.061 1209.44 -403.6 -82.73 - - 3110.62 - - - - - - - - - 15.95 -
6253.78 530.18 -7.36 936 6268.89 roll -1.35 - - 1993.75 - 2.66 0.028 2355.25 430.8 -82.73 - - 3110.53 - - - - - - - - - 16.02 -
6583.32 554.26 -7.28 958 6587.98 roll -1.35 - - 1991.31 - 2.86 0.061 1210.38 -400.3 -82.73 - - 3111.44 - - - - - - - - - 15.95 -
6684.09 561.90 -7.68 973 6689.65 roll -1.35 - - 1993.75 - 2.65 0.029 2349.44 429.8 -82.73 - - 3109.88 - - - - - - - - - 16.02 -
7003.50 584.40 -7.26 995 7004.83 no move -1.35 - - 1993.31 - - - 2349.00 - -82.73 - - 3108.72 - - - - - - - - - - -
7318.53 604.47 -6.14 1016 7323.19 roll -1.35 - - 1992.81 - 2.84 0.062 1209.44 -401.3 -82.73 - - 3109.25 - - - - - - - - - 15.94 -
7459.43 614.04 -6.87 1036 7464.07 roll -1.35 - - 1991.25 - 2.67 0.029 2346.38 425.8 -82.73 - - 3110.09 - - - - - - - - - 16.01 -
7775.91 635.44 -7.27 1058 7777.24 no move -1.35 - - 1993.44 - - - 2347.12 - -82.73 - - 3107.75 - - - - - - - - - - -
8091.10 657.89 -7.17 1079 8095.76 roll -1.35 - - 1993.12 - 2.84 0.062 1209.38 -400.6 -82.73 - - 3107.69 - - - - - - - - - 15.93 -
8134.64 660.73 -7.44 1086 8149.92 roll -1.35 - - 1993.62 - 2.65 0.028 2342.00 427.4 -82.73 - - 3108.38 - - - - - - - - - 16.01 -
8464.04 687.08 -7.48 1108 8465.37 no move -1.35 - - 1993.50 - - - 2341.81 - -82.73 - - 3107.31 - - - - - - - - - - -
8779.06 709.47 -6.97 1129 8783.73 roll -1.35 - - 1993.69 - 2.84 0.062 1209.25 -398.8 -82.73 - - 3107.09 - - - - - - - - - 15.93 -
8817.79 712.15 -7.07 1135 8823.22 roll -1.35 - - 1993.38 - 2.65 0.029 2341.75 427.4 -82.73 - - 3107.88 - - - - - - - - - 16.02 -
9137.35 734.21 -6.83 1157 9138.67 no move -1.35 - - 1992.81 - - - 2341.62 - -82.73 - - 3106.78 - - - - - - - - - - -
9452.04 755.16 -6.70 1178 9453.37 no move -1.35 - - 1993.81 - - - 2342.19 - -82.73 - - 3105.94 - - - - - - - - - - -
9767.04 777.47 -7.23 1199 9771.70 roll -1.35 - - 1992.44 - 2.84 0.062 1209.38 -398.9 -82.73 - - 3106.62 - - - - - - - - - 15.92 -
9867.80 784.92 -7.49 1214 9873.35 roll -1.35 - - 1993.56 - 2.64 0.029 2338.19 427.6 -82.73 - - 3107.66 - - - - - - - - - 16.01 -
10187.22 807.97 -7.26 1236 10191.90 roll -1.35 - - 1993.25 - 2.82 0.063 1209.38 -400.3 -82.73 - - 3105.25 - - - - - - - - - 15.92 -
10251.49 812.40 -7.53 1246 10266.43 roll -1.35 - - 1993.62 - 2.63 0.029 2331.75 426.8 -82.73 - - 3107.25 - - - - - - - - - 16.01 -
10580.91 836.08 -7.11 1268 10585.55 roll -1.35 - - 1993.31 - 2.78 0.063 1208.25 -404.1 -82.73 - - 3105.97 - - - - - - - - - 15.91 -
10660.93 841.86 -7.32 1280 10666.49 roll -1.35 - - 1992.31 - 2.62 0.028 2326.44 426.8 -82.73 - - 3108.22 - - - - - - - - - 16.01 -
10980.37 863.16 -6.43 1302 10981.70 no move -1.35 - - 1993.62 - - - 2326.75 - -82.73 - - 3104.56 - - - - - - - - - - -
11295.42 882.18 -5.84 1323 11300.25 roll -1.35 - - 1993.00 - 2.77 0.063 1209.12 -403.5 -82.73 - - 3107.31 - - - - - - - - - 15.91 -
11396.30 888.24 -6.09 1338 11401.73 roll -1.35 - - 1993.62 - 2.61 0.029 2323.19 426.8 -82.73 - - 3105.28 - - - - - - - - - 16.01 -
11715.58 907.32 -6.08 1360 11716.92 no move -1.35 - - 1993.62 - - - 2323.06 - -82.73 - - 3103.84 - - - - - - - - - - -
12030.59 926.31 -5.86 1381 12031.92 no move -1.35 - - 1993.38 - - - 2323.38 - -82.73 - - 3104.75 - - - - - - - - - - -
12345.60 945.00 -6.10 1402 12350.25 roll -1.35 - - 1993.12 - 2.77 0.064 1209.12 -402.3 -82.73 - - 3104.69 - - - - - - - - - 15.89 -
12404.90 948.74 -6.34 1411 12410.44 roll -1.35 - - 1993.44 - 2.62 0.029 2323.75 425.4 -82.73 - - 3104.31 - - - - - - - - - 16.00 -
12724.51 968.53 -6.37 1433 12729.15 roll -1.35 - - 1992.56 - 2.78 0.064 1209.19 -400.9 -82.73 - - 3105.03 - - - - - - - - - 15.89 -
12823.92 975.32 -6.83 1447 12828.54 roll -1.35 - - 1993.69 - 2.60 0.029 2317.25 426.2 -82.73 - - 3102.56 - - - - - - - - - 15.99 -
13050 end dive: TARGET_DEPTH_EXCEEDED
13050 begin apogee
13052.28 990.37 -6.73 1463 13127.83 -0.28 1.84 0.136 2254.56 141.8 0.16 0.164 2155.88 -1008.6 - 66.77 2.402 2774.94 -4.9 0.348 - - - - - - 15.77 15.29 10.26
13129 end apogee: CONTROL_FINISHED_OK
13129 begin climb
13130.17 992.42 - 1468 13217.14 1.35 2.66 0.092 2651.50 149.2 0.17 0.084 2037.44 -696.7 82.73 70.35 2.335 2437.47 -4.8 0.350 - - - - - - 15.48 15.58 11.89
13529.11 974.00 5.34 1501 13589.89 VBD 1.46 - - 2650.44 - - - 2036.88 - 140.88 50.44 2.307 2200.69 -4.7 0.341 - - - - - - - - 11.42
13904.20 948.64 7.07 1526 13908.97 roll back 1.49 0.18 0.091 2693.56 239.6 3.06 0.082 3205.44 381.9 140.88 - - 2193.72 - - - - - - - - 15.68 15.62 -
13942.77 945.45 7.87 1532 13948.30 roll 1.50 - - 2693.75 - 2.66 0.025 2064.44 -428.9 140.88 - - 2192.66 - - - - - - - - - 15.74 -
14262.18 918.93 8.26 1554 14263.52 VBD 1.50 - - 2694.12 - - - 2064.25 - 140.88 - - 2191.69 - - - - - - - - - - -
14577.22 892.34 8.53 1575 14581.91 done 1.50 - - 2694.31 - 2.95 0.082 3205.81 387.0 140.88 - - 2192.00 - - - - - - - - - 15.82 -
14641.85 886.92 9.09 1585 14656.80 done 1.50 - - 2694.56 - 2.62 0.026 2066.69 -434.8 140.88 - - 2191.12 - - - - - - - - - 15.88 -
14971.28 858.68 8.16 1607 14972.62 VBD 1.50 - - 2694.19 - - - 2066.06 - 140.88 - - 2189.78 - - - - - - - - - - -
15286.53 833.13 7.90 1628 15287.86 VBD 1.51 - - 2694.31 - - - 2066.31 - 140.88 - - 2190.16 - - - - - - - - - - -
15601.83 810.35 6.81 1649 15603.16 VBD 1.55 - - 2694.44 - - - 2066.50 - 140.88 - - 2189.25 - - - - - - - - - - -
15916.41 788.30 7.01 1670 15917.75 VBD 1.58 - - 2694.00 - - - 2066.00 - 140.88 - - 2189.56 - - - - - - - - - - -
16231.43 765.62 7.35 1691 16236.12 done 1.60 - - 2693.44 - 2.94 0.082 3206.19 387.8 140.88 - - 2189.47 - - - - - - - - - 15.87 -
16289.38 760.91 7.95 1699 16294.02 done 1.61 - - 2694.56 - 2.61 0.026 2069.81 -435.4 140.88 - - 2187.66 - - - - - - - - - 15.95 -
16605.88 737.96 6.77 1721 16610.56 done 1.64 - - 2693.94 - 2.94 0.082 3205.44 386.3 140.88 - - 2187.62 - - - - - - - - - 15.88 -
16727.40 729.15 7.40 1739 16732.98 1.66 0.17 0.095 2729.75 210.6 2.58 0.025 2076.19 -437.7 140.88 - - 2188.72 - - - - - - - - 15.81 15.98 -
17046.81 704.96 7.68 1761 17051.50 done 1.68 - - 2731.12 - 2.92 0.082 3207.12 387.3 140.88 - - 2187.25 - - - - - - - - - 15.88 -
17194.06 692.94 8.59 1783 17208.98 done 1.68 - - 2731.12 - 2.55 0.025 2087.88 -438.9 140.88 - - 2189.25 - - - - - - - - - 15.99 -
17523.49 668.30 6.82 1805 17528.15 done 1.71 - - 2730.88 - 2.90 0.081 3206.75 385.8 140.88 - - 2187.59 - - - - - - - - - 15.87 -
17665.95 658.05 7.31 1826 17670.88 done 1.73 - - 2731.56 - 2.50 0.025 2099.50 -442.9 140.88 - - 2188.72 - - - - - - - - - 15.98 -
17985.80 638.07 5.94 1848 18029.79 1.83 0.20 0.087 2777.25 228.5 2.88 0.085 3207.69 384.8 187.99 39.03 1.976 2009.03 -4.6 0.256 - - - - - - 15.94 15.53 10.74
18093.23 629.34 8.07 1863 18097.84 roll 1.83 - - 2776.06 - 2.53 0.025 2106.75 -435.2 187.99 - - 2006.44 - - - - - - - - - 15.79 -
18409.71 601.81 8.76 1885 18411.04 no move 1.83 - - 2777.25 - - - 2107.25 - 187.99 - - 2002.81 - - - - - - - - - - -
18724.72 572.43 9.61 1906 18726.04 no move 1.83 - - 2776.62 - - - 2107.50 - 187.99 - - 2001.00 - - - - - - - - - - -
19039.84 542.40 9.39 1927 19041.17 no move 1.83 - - 2776.62 - - - 2107.19 - 187.99 - - 2000.16 - - - - - - - - - - -
19354.75 512.19 9.50 1948 19359.42 roll 1.83 - - 2777.19 - 2.84 0.082 3207.00 387.3 187.99 - - 2000.28 - - - - - - - - - 15.85 -
19393.29 508.41 9.83 1954 19398.84 roll 1.83 - - 2776.88 - 2.51 0.025 2107.12 -438.2 187.99 - - 2001.38 - - - - - - - - - 15.94 -
19702.39 478.57 9.68 1981 19707.06 done 1.83 - - 2777.19 - 2.81 0.084 993.81 -396.2 187.99 - - 1999.19 - - - - - - - - - 15.85 -
19740.94 474.59 10.37 1987 19756.08 done 1.83 - - 2776.44 - 2.79 0.027 2185.62 427.2 187.99 - - 2000.28 - - - - - - - - - 15.95 -
20058.37 443.74 10.01 2016 20063.07 done 1.83 - - 2775.62 - 3.03 0.078 992.94 -393.6 187.99 - - 1999.22 - - - - - - - - - 15.85 -
20127.05 436.22 10.76 2025 20131.70 done 1.83 - - 2777.00 - 2.76 0.027 2176.88 429.0 187.99 - - 1999.69 - - - - - - - - - 15.96 -
20438.74 403.84 10.63 2054 20443.43 done 1.83 - - 2776.56 - 3.02 0.078 993.62 -391.8 187.99 - - 2000.19 - - - - - - - - - 15.85 -
20524.72 393.87 11.68 2066 20539.67 done 1.83 - - 2776.75 - 2.73 0.027 2170.38 431.0 187.99 - - 1999.84 - - - - - - - - - 15.98 -
20841.34 360.73 10.34 2095 20846.03 done 1.83 - - 2775.50 - 2.98 0.077 995.25 -394.3 187.99 - - 1999.78 - - - - - - - - - 15.86 -
20958.58 348.22 10.77 2111 20973.51 done 1.83 - - 2776.94 - 2.70 0.027 2160.38 431.5 187.99 - - 2000.78 - - - - - - - - - 15.97 -
21275.02 318.41 9.12 2140 21286.10 VBD 1.83 - - 2776.88 - - - 2160.81 - 187.99 - - 1999.56 - - - - - - - - - - -
21587.18 289.10 9.33 2180 21592.78 done 1.83 - - 2777.06 - 2.95 0.077 993.06 -395.8 187.99 - - 1999.31 - - - - - - - - - 15.85 -
21762.23 271.63 9.69 2215 21767.78 done 1.83 - - 2776.56 - 2.70 0.026 2155.88 430.7 187.99 - - 2000.00 - - - - - - - - - 15.96 -
22072.36 244.79 8.51 2277 22077.94 done 1.83 - - 2776.50 - 2.96 0.077 993.44 -392.7 187.99 - - 1999.66 - - - - - - - - - 15.84 -
22112.36 241.05 9.33 2285 22117.90 done 1.83 - - 2776.56 - 2.68 0.026 2155.88 433.7 187.99 - - 1999.88 - - - - - - - - - 15.96 -
22422.44 213.37 8.95 2347 22423.77 VBD 1.83 - - 2777.19 - - - 2156.50 - 187.99 - - 1998.28 - - - - - - - - - - -
22727.47 187.48 8.10 2408 22733.03 done 1.83 - - 2776.75 - 2.69 0.083 3208.44 391.1 187.99 - - 1999.25 - - - - - - - - - 15.85 -
22747.47 185.76 8.24 2412 22753.01 done 1.83 - - 2776.88 - 2.57 0.024 2073.44 -441.6 187.99 - - 1998.97 - - - - - - - - - 15.96 -
23057.54 161.32 7.84 2474 23063.08 done 1.84 - - 2776.88 - 2.72 0.081 995.00 -396.5 187.99 - - 1998.78 - - - - - - - - - 15.84 -
23087.51 158.80 8.28 2480 23093.49 done 1.84 - - 2777.44 - 2.68 0.025 2161.44 435.2 187.99 - - 1998.84 - - - - - - - - - 15.97 -
23397.58 138.14 6.10 2542 23434.28 VBD 1.93 - - 2777.12 - - - 2162.06 - 232.00 35.13 1.340 1829.25 -4.8 0.086 - - - - - - - - 10.60
23737.61 111.10 7.76 2610 23743.22 roll 1.94 - - 2776.94 - 3.01 0.077 993.62 -388.2 232.00 - - 1822.81 - - - - - - - - - 15.80 -
23822.61 103.20 9.42 2627 23828.16 roll 1.94 - - 2776.62 - 2.70 0.025 2162.94 433.1 232.00 - - 1822.19 - - - - - - - - - 15.88 -
24132.69 77.35 7.87 2689 24138.26 done 1.96 - - 2776.75 - 2.97 0.076 995.19 -393.2 232.00 - - 1821.81 - - - - - - - - - 15.82 -
24232.69 69.19 7.76 2709 24238.24 done 1.97 - - 2777.44 - 2.71 0.024 2168.31 432.9 232.00 - - 1821.91 - - - - - - - - - 15.91 -
24422.72 59.89 3.77 2747 24495.57 2.14 0.39 0.065 2849.88 185.7 2.68 0.084 3206.88 387.5 319.48 67.46 1.238 1473.25 -5.2 0.043 - - - - - - 15.89 15.49 11.10
24498.17 55.91 5.69 2762 24544.85 done 2.25 - - 2851.19 - 2.59 0.023 2084.81 -433.2 371.27 41.37 1.179 1261.91 -5.1 0.042 - - - - - - - 15.72 12.01
24728.24 40.74 7.98 2808 24733.80 roll 2.25 - - 2850.75 - 2.80 0.080 995.06 -389.2 371.27 - - 1254.56 - - - - - - - - - 15.68 -
24788.25 36.27 7.44 2820 24793.83 done 2.27 - - 2851.44 - 2.73 0.024 2163.06 427.8 371.27 - - 1252.38 - - - - - - - - - 15.74 -
24978.30 19.36 9.34 2858 24979.63 VBD 2.27 - - 2851.00 - - - 2162.75 - 371.27 - - 1250.69 - - - - - - - - - - -
25163.37 4.06 7.62 2895 25168.96 done 2.29 - - 2850.88 - 2.96 0.073 992.56 -395.3 371.27 - - 1249.97 - - - - - - - - - 15.77 -
25172 end climb: SURFACE_DEPTH_REACHED
25173 begin surface coast
25238 end surface coast: CONTROL_FINISHED_OK
25238 begin surface
SM 0.35 - - - - 192.9 40.76 1.150 1043.1 25.6 16.64 0.058 1009.8 60.7 - 3.17 0.028 1076.4 338.6 -0.433 - - 11.18 15.78 15.83 -