NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 972 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 341.18 of 550.00 AH used of 24V (37.97% remains)
• Surface angle -59.7 deg, depth 0.57 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 28 s
• GPS2 time: 4 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
5.72 - - - 82.60 VBD -1.54 - - 177.06 - - - 2222.06 - -82.73 75.39 0.005 2854.19 - - - - - - - - - - 14.85
83.33 3.86 -5.68 14 111.54 -1.54 14.43 0.237 1947.69 122.7 2.51 0.066 1209.31 -403.5 -82.73 5.76 0.008 3109.28 44.3 -3.717 - - - - - - 15.37 14.91 15.05
188.62 23.17 -16.28 35 194.19 roll -1.54 - - 1947.94 - 2.71 0.028 2350.06 420.9 -82.73 - - 3111.78 - - - - - - - - - 15.78 -
379.21 49.30 -13.23 73 380.54 no move -1.54 - - 1948.50 - - - 2349.31 - -82.73 - - 3110.59 - - - - - - - - - - -
563.69 72.91 -11.12 110 569.25 roll -1.54 - - 1948.06 - 2.78 0.085 3424.62 386.8 -82.73 - - 3111.06 - - - - - - - - - 15.79 -
618.69 79.25 -11.77 121 624.24 roll -1.54 - - 1946.44 - 2.61 0.018 2236.00 -455.4 -82.73 - - 3112.12 - - - - - - - - - 15.86 -
809.10 97.99 -8.93 159 813.83 roll -1.54 - - 1947.75 - 2.50 0.064 1209.19 -410.7 -82.73 - - 3113.12 - - - - - - - - - 15.85 -
848.71 101.94 -9.89 167 854.27 roll -1.54 - - 1947.94 - 2.64 0.026 2342.19 429.2 -82.73 - - 3111.44 - - - - - - - - - 15.89 -
1158.78 131.75 -9.71 229 1164.33 roll -1.54 - - 1947.69 - 2.76 0.059 1209.00 -410.6 -82.73 - - 3112.09 - - - - - - - - - 15.88 -
1218.77 137.72 -10.05 241 1224.33 roll -1.54 - - 1947.56 - 2.63 0.026 2339.56 429.9 -82.73 - - 3111.56 - - - - - - - - - 15.93 -
1528.85 166.83 -9.62 303 1530.18 no move -1.54 - - 1947.50 - - - 2339.88 - -82.73 - - 3111.31 - - - - - - - - - - -
1834.13 193.84 -8.65 364 1840.02 roll -1.54 - - 1947.50 - 2.75 0.059 1208.00 -411.6 -82.73 - - 3112.94 - - - - - - - - - 15.91 -
1914.09 200.95 -8.78 380 1919.52 roll -1.54 - - 1947.38 - 2.64 0.026 2341.19 429.2 -82.73 - - 3112.47 - - - - - - - - - 15.95 -
2224.10 226.79 -8.67 442 2229.65 roll -1.54 - - 1946.62 - 2.76 0.059 1207.94 -410.6 -82.73 - - 3112.03 - - - - - - - - - 15.92 -
2344.13 237.75 -9.20 466 2349.67 roll -1.54 - - 1947.31 - 2.62 0.026 2334.38 429.9 -82.73 - - 3112.44 - - - - - - - - - 15.97 -
2654.24 266.09 -8.83 528 2659.79 roll -1.54 - - 1947.25 - 2.74 0.059 1207.88 -411.1 -82.73 - - 3112.31 - - - - - - - - - 15.92 -
2709.24 271.05 -9.03 539 2714.80 roll -1.54 - - 1947.88 - 2.62 0.026 2332.38 429.2 -82.73 - - 3112.09 - - - - - - - - - 15.98 -
3019.37 297.28 -8.28 601 3024.93 roll -1.54 - - 1947.88 - 2.74 0.060 1209.38 -409.9 -82.73 - - 3112.00 - - - - - - - - - 15.92 -
3054.38 300.28 -8.50 608 3059.90 roll -1.54 - - 1947.38 - 2.60 0.026 2328.31 430.4 -82.73 - - 3111.38 - - - - - - - - - 15.98 -
3368.54 324.85 -7.93 637 3373.38 roll -1.54 - - 1947.31 - 2.73 0.060 1208.19 -410.3 -82.73 - - 3113.53 - - - - - - - - - 15.94 -
3422.93 329.28 -8.27 645 3437.74 roll -1.54 - - 1947.56 - 2.59 0.026 2324.88 431.2 -82.73 - - 3112.34 - - - - - - - - - 16.00 -
3739.32 355.66 -8.69 674 3743.97 roll -1.54 - - 1947.56 - 2.72 0.060 1208.44 -410.5 -82.73 - - 3112.09 - - - - - - - - - 15.93 -
3777.86 359.05 -8.94 680 3792.79 roll -1.54 - - 1947.88 - 2.57 0.026 2321.81 433.2 -82.73 - - 3111.53 - - - - - - - - - 16.00 -
4094.65 387.27 -8.80 709 4105.73 no move -1.54 - - 1947.50 - - - 2322.38 - -82.73 - - 3112.03 - - - - - - - - - - -
4407.90 413.97 -8.25 738 4412.55 roll -1.54 - - 1948.12 - 2.71 0.061 1209.12 -410.8 -82.73 - - 3110.53 - - - - - - - - - 15.94 -
4556.61 427.17 -9.04 758 4571.53 roll -1.54 - - 1947.19 - 2.56 0.027 2316.12 432.4 -82.73 - - 3111.44 - - - - - - - - - 16.00 -
4872.78 453.74 -8.09 787 4883.85 no move -1.54 - - 1947.62 - - - 2316.12 - -82.73 - - 3111.47 - - - - - - - - - - -
5186.23 478.30 -7.79 816 5190.86 roll -1.54 - - 1947.69 - 2.69 0.061 1208.06 -411.9 -82.73 - - 3110.78 - - - - - - - - - 15.93 -
5287.73 486.66 -8.33 830 5302.64 roll -1.54 - - 1947.38 - 2.56 0.027 2313.62 431.9 -82.73 - - 3112.50 - - - - - - - - - 16.01 -
5614.57 512.62 -7.88 856 5615.90 no move -1.54 - - 1947.75 - - - 2313.38 - -82.73 - - 3110.62 - - - - - - - - - - -
5929.52 538.02 -8.05 877 5934.15 roll -1.54 - - 1947.31 - 2.69 0.062 1207.94 -410.9 -82.73 - - 3112.47 - - - - - - - - - 15.93 -
5988.80 543.02 -8.47 886 5994.34 roll -1.54 - - 1947.56 - 2.56 0.027 2312.38 431.4 -82.73 - - 3109.62 - - - - - - - - - 16.00 -
6308.22 568.99 -8.15 908 6312.85 roll -1.54 - - 1946.44 - 2.69 0.062 1208.94 -410.2 -82.73 - - 3109.56 - - - - - - - - - 15.93 -
6386.89 575.79 -8.58 919 6391.50 roll -1.54 - - 1948.06 - 2.54 0.027 2307.12 432.4 -82.73 - - 3111.50 - - - - - - - - - 16.00 -
6703.38 602.36 -8.80 941 6708.01 roll -1.54 - - 1945.88 - 2.68 0.062 1209.25 -409.7 -82.73 - - 3108.75 - - - - - - - - - 15.93 -
6726.18 603.86 -8.88 945 6741.10 roll -1.54 - - 1946.75 - 2.54 0.026 2302.69 430.5 -82.73 - - 3110.50 - - - - - - - - - 16.00 -
7055.60 632.33 -8.30 967 7056.93 no move -1.54 - - 1947.94 - - - 2303.12 - -82.73 - - 3107.81 - - - - - - - - - - -
7370.60 657.68 -7.81 988 7375.23 roll -1.54 - - 1947.88 - 2.67 0.063 1209.38 -409.6 -82.73 - - 3110.03 - - - - - - - - - 15.92 -
7428.52 662.42 -8.06 996 7433.14 roll -1.54 - - 1947.56 - 2.55 0.027 2306.81 430.4 -82.73 - - 3108.47 - - - - - - - - - 15.99 -
7745.00 686.40 -7.49 1018 7749.62 roll -1.54 - - 1945.75 - 2.68 0.063 1207.88 -410.0 -82.73 - - 3108.12 - - - - - - - - - 15.92 -
7804.46 691.00 -7.81 1027 7809.88 roll -1.54 - - 1947.50 - 2.54 0.027 2304.75 431.8 -82.73 - - 3107.97 - - - - - - - - - 16.00 -
8123.86 714.99 -7.46 1049 8125.19 no move -1.54 - - 1947.25 - - - 2304.56 - -82.73 - - 3106.88 - - - - - - - - - - -
8438.71 738.12 -7.29 1070 8440.04 no move -1.54 - - 1947.50 - - - 2304.44 - -82.73 - - 3106.38 - - - - - - - - - - -
8753.71 760.93 -7.15 1091 8755.04 no move -1.54 - - 1947.44 - - - 2304.38 - -82.73 - - 3106.72 - - - - - - - - - - -
9068.73 782.56 -6.66 1112 9073.36 roll -1.54 - - 1947.19 - 2.69 0.064 1207.75 -407.7 -82.73 - - 3105.81 - - - - - - - - - 15.91 -
9112.27 785.14 -6.82 1119 9127.19 roll -1.54 - - 1947.88 - 2.54 0.027 2301.31 430.5 -82.73 - - 3106.88 - - - - - - - - - 16.00 -
9441.67 808.35 -7.00 1141 9443.00 no move -1.54 - - 1947.88 - - - 2300.81 - -82.73 - - 3105.31 - - - - - - - - - - -
9756.69 830.64 -7.17 1162 9761.32 roll -1.54 - - 1947.50 - 2.67 0.064 1210.56 -408.3 -82.73 - - 3105.31 - - - - - - - - - 15.90 -
9836.70 836.60 -7.52 1174 9842.24 roll -1.54 - - 1947.25 - 2.52 0.027 2298.19 431.6 -82.73 - - 3106.16 - - - - - - - - - 16.00 -
10156.11 860.97 -7.47 1196 10157.44 no move -1.54 - - 1947.75 - - - 2298.00 - -82.73 - - 3105.44 - - - - - - - - - - -
10471.12 883.83 -7.15 1217 10475.75 roll -1.54 - - 1947.62 - 2.68 0.064 1209.19 -406.3 -82.73 - - 3105.44 - - - - - - - - - 15.90 -
10514.65 886.65 -7.39 1224 10529.58 roll -1.54 - - 1947.31 - 2.52 0.027 2297.81 432.0 -82.73 - - 3106.12 - - - - - - - - - 16.00 -
10844.24 910.29 -6.82 1246 10848.93 roll -1.54 - - 1947.12 - 2.66 0.065 1209.12 -409.3 -82.73 - - 3104.84 - - - - - - - - - 15.89 -
10902.17 914.39 -6.96 1254 10906.78 roll -1.54 - - 1947.50 - 2.51 0.027 2292.56 431.6 -82.73 - - 3107.09 - - - - - - - - - 15.98 -
11218.65 934.65 -6.14 1276 11219.99 no move -1.54 - - 1947.62 - - - 2292.50 - -82.73 - - 3104.31 - - - - - - - - - - -
11533.66 954.93 -6.54 1297 11538.29 roll -1.54 - - 1947.69 - 2.65 0.065 1208.88 -408.9 -82.73 - - 3103.38 - - - - - - - - - 15.89 -
11612.31 960.35 -6.84 1308 11616.92 roll -1.54 - - 1946.56 - 2.51 0.027 2292.56 431.7 -82.73 - - 3103.72 - - - - - - - - - 15.99 -
11928.79 980.71 -6.27 1330 11933.48 roll -1.54 - - 1946.75 - 2.92 0.090 3425.25 387.9 -82.73 - - 3103.78 - - - - - - - - - 15.83 -
11972.33 983.28 -6.59 1337 11987.28 roll -1.54 - - 1947.88 - 2.72 0.020 2191.44 -453.6 -82.73 - - 3104.78 - - - - - - - - - 15.99 -
12076 end dive: TARGET_DEPTH_EXCEEDED
12076 begin apogee
12078.55 990.42 -6.34 1344 12154.21 -0.28 2.21 0.142 2253.75 138.4 0.17 0.145 2159.06 -190.5 - 66.75 2.407 2774.56 -4.9 0.354 - - - - - - 15.73 15.17 10.15
12155 end apogee: CONTROL_FINISHED_OK
12156 begin climb
12156.70 991.81 - 1349 12243.91 1.54 3.01 0.089 2698.38 147.7 0.17 0.082 2037.12 -717.3 82.73 71.02 2.368 2436.41 -4.8 0.347 - - - - - - 15.45 15.56 11.66
12556.07 968.70 6.65 1382 12560.76 roll 1.57 - - 2697.81 - 3.04 0.080 3205.94 384.5 82.73 - - 2432.03 - - - - - - - - - 15.68 -
12636.10 963.10 7.01 1394 12641.63 roll 1.60 - - 2697.19 - 2.62 0.024 2065.31 -435.4 82.73 - - 2432.88 - - - - - - - - - 15.75 -
12955.51 942.96 6.22 1416 13004.87 1.71 0.22 0.079 2743.94 212.5 - - 2064.81 - 137.55 47.24 2.320 2213.31 -4.6 0.329 - - - - - - 15.79 - 11.02
13316.47 912.28 8.54 1440 13317.80 no move 1.71 - - 2742.62 - - - 2064.88 - 137.55 - - 2208.94 - - - - - - - - - - -
13631.39 884.91 8.76 1461 13632.72 no move 1.71 - - 2743.00 - - - 2064.81 - 137.55 - - 2207.66 - - - - - - - - - - -
13946.42 857.90 8.69 1482 13947.75 no move 1.71 - - 2743.00 - - - 2064.69 - 137.55 - - 2206.19 - - - - - - - - - - -
14261.62 830.86 8.48 1503 14266.30 done 1.71 - - 2741.69 - 2.93 0.081 3203.75 388.8 137.55 - - 2206.03 - - - - - - - - - 15.83 -
14300.17 827.43 8.84 1509 14305.70 done 1.71 - - 2743.44 - 2.58 0.025 2070.06 -439.4 137.55 - - 2208.16 - - - - - - - - - 15.91 -
14619.76 800.18 8.34 1531 14621.09 VBD 1.71 - - 2743.94 - - - 2069.88 - 137.55 - - 2204.12 - - - - - - - - - - -
14934.76 773.34 8.53 1552 14936.09 VBD 1.71 - - 2743.69 - - - 2070.31 - 137.55 - - 2204.97 - - - - - - - - - - -
15249.60 747.10 8.18 1573 15254.29 done 1.71 - - 2744.06 - 2.91 0.081 3204.62 389.8 137.55 - - 2206.88 - - - - - - - - - 15.86 -
15307.54 742.04 8.57 1581 15312.15 done 1.71 - - 2743.69 - 2.57 0.025 2071.44 -440.9 137.55 - - 2204.34 - - - - - - - - - 15.95 -
15624.03 717.13 7.65 1603 15628.68 done 1.73 - - 2743.44 - 2.70 0.085 993.62 -399.2 137.55 - - 2204.12 - - - - - - - - - 15.85 -
15662.59 714.12 7.87 1609 15668.14 done 1.74 - - 2743.31 - 2.69 0.025 2151.62 430.5 137.55 - - 2204.34 - - - - - - - - - 15.96 -
15982.01 689.86 7.58 1631 15986.64 done 1.76 - - 2743.44 - 2.70 0.085 3204.50 390.0 137.55 - - 2204.19 - - - - - - - - - 15.86 -
16020.80 686.81 7.88 1637 16026.33 done 1.77 - - 2744.25 - 2.57 0.025 2069.56 -441.6 137.55 - - 2204.75 - - - - - - - - - 15.97 -
16340.23 662.46 7.59 1659 16344.86 done 1.79 - - 2744.12 - 2.70 0.085 992.50 -398.9 137.55 - - 2203.09 - - - - - - - - - 15.85 -
16399.52 657.63 8.12 1668 16405.08 done 1.79 - - 2744.25 - 2.68 0.025 2150.12 431.9 137.55 - - 2203.44 - - - - - - - - - 15.98 -
16719.14 633.52 7.51 1690 16723.83 done 1.81 - - 2743.75 - 2.69 0.085 3204.19 391.8 137.55 - - 2204.41 - - - - - - - - - 15.86 -
16804.51 627.04 8.14 1703 16819.09 done 1.81 - - 2743.62 - 2.56 0.025 2073.38 -441.7 137.55 - - 2203.69 - - - - - - - - - 15.98 -
17133.60 601.52 7.60 1725 17134.94 VBD 1.82 - - 2744.75 - - - 2074.25 - 137.55 - - 2202.91 - - - - - - - - - - -
17448.77 577.27 8.02 1746 17453.42 done 1.82 - - 2744.44 - 2.70 0.085 993.56 -400.3 137.55 - - 2201.97 - - - - - - - - - 15.84 -
17492.31 574.06 8.35 1753 17507.26 done 1.82 - - 2744.19 - 2.69 0.025 2156.75 432.4 137.55 - - 2203.25 - - - - - - - - - 15.98 -
17821.74 547.33 7.79 1775 17826.37 done 1.84 - - 2744.25 - 2.69 0.085 3204.69 389.6 137.55 - - 2202.31 - - - - - - - - - 15.85 -
17879.68 542.53 8.13 1783 17884.30 done 1.84 - - 2744.38 - 2.55 0.025 2073.94 -443.4 137.55 - - 2203.47 - - - - - - - - - 15.97 -
18196.17 519.08 7.21 1805 18200.93 1.86 0.17 0.090 2786.81 249.6 2.91 0.080 3205.38 388.8 137.55 - - 2202.16 - - - - - - - - 15.93 15.82 -
18239.74 515.93 7.88 1812 18254.65 done 1.87 - - 2785.75 - 2.54 0.024 2079.31 -443.3 137.55 - - 2203.66 - - - - - - - - - 15.98 -
18563.02 488.91 8.47 1837 18574.10 VBD 1.87 - - 2786.38 - - - 2080.00 - 137.55 - - 2203.50 - - - - - - - - - - -
18876.21 462.81 8.31 1866 18887.28 VBD 1.87 - - 2786.62 - - - 2080.31 - 137.55 - - 2203.41 - - - - - - - - - - -
19189.05 436.91 8.32 1895 19193.72 done 1.87 - - 2786.56 - 2.89 0.080 3203.56 388.7 137.55 - - 2204.12 - - - - - - - - - 15.84 -
19227.60 433.64 8.55 1901 19242.51 done 1.87 - - 2785.94 - 2.54 0.025 2079.06 -442.7 137.55 - - 2203.94 - - - - - - - - - 15.97 -
19544.05 407.24 8.30 1930 19548.72 done 1.87 - - 2787.31 - 2.88 0.079 3203.00 390.3 137.55 - - 2202.00 - - - - - - - - - 15.84 -
19598.33 402.64 8.56 1938 19613.25 done 1.87 - - 2786.94 - 2.52 0.024 2086.38 -443.1 137.55 - - 2202.84 - - - - - - - - - 15.97 -
19914.44 376.00 8.16 1967 19925.51 VBD 1.87 - - 2786.56 - - - 2086.81 - 137.55 - - 2203.38 - - - - - - - - - - -
20227.32 351.49 7.55 1996 20238.39 VBD 1.89 - - 2786.94 - - - 2085.75 - 137.55 - - 2203.25 - - - - - - - - - - -
20539.96 329.79 6.68 2025 20544.61 done 1.93 - - 2787.00 - 2.74 0.084 994.94 -398.1 137.55 - - 2202.25 - - - - - - - - - 15.82 -
20608.64 324.78 7.19 2034 20613.29 done 1.95 - - 2786.69 - 2.72 0.025 2171.06 432.4 137.55 - - 2201.62 - - - - - - - - - 15.97 -
20921.06 305.04 6.15 2063 20976.90 2.07 0.22 0.077 2835.75 223.0 - - 2171.12 - 194.20 45.65 1.572 1982.28 -4.8 0.162 - - - - - - 15.93 - 10.43
21281.00 272.84 9.23 2127 21286.21 roll 2.07 - - 2835.88 - 2.97 0.079 993.56 -396.5 194.20 - - 1976.41 - - - - - - - - - 15.73 -
21315.61 269.32 10.03 2134 21321.17 roll 2.07 - - 2836.31 - 2.76 0.025 2168.88 425.8 194.20 - - 1976.66 - - - - - - - - - 15.84 -
21625.83 240.11 9.09 2196 21631.24 done 2.07 - - 2836.19 - 2.95 0.078 992.31 -398.8 194.20 - - 1976.59 - - - - - - - - - 15.76 -
21720.66 230.73 9.87 2215 21726.23 done 2.07 - - 2836.00 - 2.73 0.025 2161.69 428.3 194.20 - - 1974.53 - - - - - - - - - 15.89 -
22030.72 202.47 8.92 2277 22036.30 done 2.07 - - 2835.81 - 2.91 0.078 993.69 -401.4 194.20 - - 1974.03 - - - - - - - - - 15.80 -
22060.71 199.58 9.47 2283 22066.28 done 2.07 - - 2836.12 - 2.70 0.025 2159.44 431.8 194.20 - - 1973.84 - - - - - - - - - 15.90 -
22370.95 171.39 8.96 2345 22376.36 done 2.07 - - 2835.81 - 2.67 0.083 3204.94 391.6 194.20 - - 1974.25 - - - - - - - - - 15.82 -
22445.77 164.16 9.75 2360 22451.30 done 2.07 - - 2834.94 - 2.53 0.024 2082.81 -443.5 194.20 - - 1974.31 - - - - - - - - - 15.93 -
22755.83 137.63 8.44 2422 22761.41 done 2.07 - - 2836.12 - 2.87 0.078 3205.12 391.0 194.20 - - 1973.44 - - - - - - - - - 15.83 -
22825.85 131.17 9.29 2436 22831.39 done 2.07 - - 2835.75 - 2.53 0.023 2088.56 -441.3 194.20 - - 1973.56 - - - - - - - - - 15.93 -
23135.96 105.00 8.14 2498 23141.52 done 2.07 - - 2835.94 - 2.74 0.081 993.56 -399.6 194.20 - - 1972.97 - - - - - - - - - 15.82 -
23261.00 94.26 8.27 2523 23266.57 done 2.07 - - 2836.19 - 2.72 0.024 2168.38 431.9 194.20 - - 1973.00 - - - - - - - - - 15.95 -
23451.08 81.64 6.34 2561 23497.80 done 2.17 - - 2836.38 - 2.95 0.077 993.88 -398.1 246.16 41.24 1.273 1771.97 -4.9 0.054 - - - - - - - 15.45 10.77
23706.73 60.70 8.30 2612 23711.68 roll 2.17 - - 2836.06 - 2.71 0.024 2164.50 432.0 246.16 - - 1765.72 - - - - - - - - - 15.83 -
23896.19 52.68 3.23 2650 24001.20 2.43 0.47 0.059 2921.56 181.9 2.99 0.077 993.50 -391.6 374.30 98.11 1.228 1248.00 -5.3 0.039 - - - - - - 15.84 15.30 11.20
24018.46 45.72 8.35 2674 24023.88 roll 2.43 - - 2922.12 - 2.84 0.023 2188.38 420.7 374.30 - - 1245.91 - - - - - - - - - 15.60 -
24208.36 26.66 10.52 2712 24213.97 done 2.43 - - 2922.88 - 3.03 0.075 992.25 -394.8 374.30 - - 1240.88 - - - - - - - - - 15.67 -
24248.36 22.38 10.68 2720 24253.94 done 2.43 - - 2922.50 - 2.79 0.024 2177.75 424.9 374.30 - - 1240.16 - - - - - - - - - 15.73 -
24418 end climb: SURFACE_DEPTH_REACHED
24418 begin surface coast
24458 end surface coast: CONTROL_FINISHED_OK
24458 begin surface
SM 0.79 - - - - 183.1 38.81 1.152 1043.5 26.9 17.25 0.058 1008.7 58.5 - 0.37 0.072 1078.4 2907.1 -3.260 - - 11.15 15.74 15.77 -