NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 998 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 351.77 of 550.00 AH used of 24V (36.04% remains)
• Surface angle -60.2 deg, depth 0.58 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 21 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.75 - - - 77.12 VBD -1.54 - - 181.75 - - - 2275.69 - -82.73 70.19 0.005 2724.88 - - - - - - - - - - 14.82
78.24 3.11 -4.41 13 110.56 -1.54 14.46 0.241 1946.50 122.0 2.67 0.065 1208.00 -399.9 -82.73 9.43 0.007 3113.50 41.2 -3.192 - - - - - - 15.34 14.84 15.03
112.63 10.25 -18.59 20 118.19 roll -1.54 - - 1946.69 - 2.68 0.026 2350.50 426.3 -82.73 - - 3112.59 - - - - - - - - - 15.74 -
303.08 36.36 -14.17 58 308.47 roll -1.54 - - 1945.94 - 2.85 0.059 1209.62 -400.3 -82.73 - - 3112.62 - - - - - - - - - 15.75 -
337.82 41.55 -15.03 65 343.26 roll -1.54 - - 1945.75 - 2.68 0.027 2347.69 424.7 -82.73 - - 3112.47 - - - - - - - - - 15.82 -
528.17 63.71 -10.82 103 533.34 roll -1.54 - - 1946.62 - 2.79 0.087 3424.12 385.8 -82.73 - - 3112.72 - - - - - - - - - 15.75 -
762.86 90.07 -10.56 150 768.41 roll -1.54 - - 1946.56 - 2.61 0.019 2247.62 -450.8 -82.73 - - 3112.25 - - - - - - - - - 15.87 -
952.92 109.13 -10.15 188 958.53 roll -1.54 - - 1946.31 - 3.03 0.082 3425.62 388.8 -82.73 - - 3113.09 - - - - - - - - - 15.81 -
1007.93 115.04 -10.79 199 1013.47 roll -1.54 - - 1946.75 - 2.59 0.019 2246.62 -455.2 -82.73 - - 3113.06 - - - - - - - - - 15.89 -
1318.04 144.22 -9.23 261 1323.58 roll -1.54 - - 1947.12 - 2.54 0.064 1209.50 -408.3 -82.73 - - 3113.03 - - - - - - - - - 15.87 -
1368.06 149.02 -9.67 271 1373.61 roll -1.54 - - 1946.50 - 2.65 0.026 2355.12 432.3 -82.73 - - 3112.91 - - - - - - - - - 15.93 -
1678.11 177.04 -8.85 333 1679.44 no move -1.54 - - 1946.75 - - - 2355.56 - -82.73 - - 3112.34 - - - - - - - - - - -
1983.28 204.58 -9.06 394 1988.73 roll -1.54 - - 1946.12 - 2.83 0.059 1208.19 -405.4 -82.73 - - 3113.16 - - - - - - - - - 15.90 -
2058.16 211.70 -9.48 409 2063.71 roll -1.54 - - 1946.75 - 2.65 0.026 2351.25 431.3 -82.73 - - 3113.75 - - - - - - - - - 15.96 -
2368.21 238.31 -8.55 471 2369.54 no move -1.54 - - 1946.94 - - - 2351.19 - -82.73 - - 3111.94 - - - - - - - - - - -
2673.25 264.52 -8.49 532 2678.83 roll -1.54 - - 1946.12 - 2.82 0.059 1209.31 -404.9 -82.73 - - 3114.19 - - - - - - - - - 15.91 -
2738.26 270.33 -9.02 545 2743.81 roll -1.54 - - 1946.81 - 2.63 0.026 2347.19 432.7 -82.73 - - 3113.50 - - - - - - - - - 15.97 -
3048.32 297.07 -8.72 607 3053.88 roll -1.54 - - 1946.69 - 2.80 0.059 1209.25 -406.4 -82.73 - - 3112.94 - - - - - - - - - 15.92 -
3093.29 300.74 -9.17 616 3108.22 roll -1.54 - - 1946.88 - 2.62 0.026 2344.94 433.5 -82.73 - - 3114.12 - - - - - - - - - 15.99 -
3409.73 326.07 -7.50 645 3414.56 roll -1.54 - - 1946.38 - 2.74 0.084 3424.44 394.0 -82.73 - - 3112.84 - - - - - - - - - 15.89 -
3651.98 346.80 -8.72 676 3656.60 roll -1.54 - - 1946.88 - 2.56 0.019 2253.44 -457.4 -82.73 - - 3111.50 - - - - - - - - - 15.99 -
3963.25 371.85 -8.29 705 3967.93 roll -1.54 - - 1946.81 - 2.99 0.080 3423.56 391.3 -82.73 - - 3112.16 - - - - - - - - - 15.89 -
4205.00 394.23 -9.24 736 4209.62 roll -1.54 - - 1946.56 - 2.54 0.019 2261.31 -457.6 -82.73 - - 3113.88 - - - - - - - - - 15.99 -
4516.44 419.43 -8.02 765 4521.12 roll -1.54 - - 1946.88 - 2.97 0.080 3424.94 391.8 -82.73 - - 3111.56 - - - - - - - - - 15.89 -
4758.19 440.00 -8.39 796 4762.81 roll -1.54 - - 1946.69 - 2.54 0.019 2264.69 -456.8 -82.73 - - 3112.56 - - - - - - - - - 15.98 -
5070.35 461.74 -6.83 825 5075.03 roll -1.54 - - 1946.25 - 2.96 0.081 3428.69 393.2 -82.73 - - 3112.88 - - - - - - - - - 15.89 -
5186.23 470.56 -7.65 840 5190.85 roll -1.54 - - 1946.19 - 2.54 0.019 2268.44 -456.8 -82.73 - - 3112.62 - - - - - - - - - 15.99 -
5497.49 491.63 -6.73 869 5502.69 roll -1.54 - - 1946.75 - 2.93 0.081 3427.12 395.5 -82.73 - - 3111.19 - - - - - - - - - 15.89 -
5630.94 501.77 -7.85 887 5636.36 roll -1.54 - - 1946.44 - 2.51 0.019 2272.44 -460.0 -82.73 - - 3112.28 - - - - - - - - - 16.00 -
5950.23 523.94 -7.16 909 5954.91 roll -1.54 - - 1946.50 - 2.93 0.082 3425.19 393.4 -82.73 - - 3112.03 - - - - - - - - - 15.88 -
6056.00 532.30 -8.44 925 6070.50 roll -1.54 - - 1946.69 - 2.49 0.019 2277.69 -460.8 -82.73 - - 3113.72 - - - - - - - - - 16.00 -
6385.40 558.50 -8.00 947 6386.73 no move -1.54 - - 1946.94 - - - 2278.06 - -82.73 - - 3110.62 - - - - - - - - - - -
6700.43 584.28 -8.28 968 6705.11 roll -1.54 - - 1946.62 - 2.93 0.083 3425.00 391.4 -82.73 - - 3112.28 - - - - - - - - - 15.87 -
6799.85 593.14 -8.92 982 6804.45 roll -1.54 - - 1946.75 - 2.49 0.019 2279.75 -459.9 -82.73 - - 3109.50 - - - - - - - - - 15.99 -
7116.32 617.82 -7.64 1004 7117.65 no move -1.54 - - 1946.19 - - - 2278.88 - -82.73 - - 3110.06 - - - - - - - - - - -
7431.34 641.11 -7.41 1025 7436.02 roll -1.54 - - 1946.50 - 2.94 0.084 3424.81 389.8 -82.73 - - 3109.47 - - - - - - - - - 15.87 -
7490.62 645.95 -8.12 1034 7495.75 roll -1.54 - - 1946.56 - 2.47 0.019 2281.94 -462.7 -82.73 - - 3109.88 - - - - - - - - - 15.99 -
7810.04 670.12 -7.51 1056 7814.90 roll -1.54 - - 1946.06 - 2.94 0.084 3426.56 389.3 -82.73 - - 3109.84 - - - - - - - - - 15.86 -
7853.73 673.20 -7.93 1063 7868.12 roll -1.54 - - 1945.06 - 2.47 0.019 2284.06 -462.6 -82.73 - - 3111.06 - - - - - - - - - 16.00 -
8183.04 697.81 -7.32 1085 8184.37 no move -1.54 - - 1946.00 - - - 2284.44 - -82.73 - - 3108.53 - - - - - - - - - - -
8498.07 720.68 -7.28 1106 8499.40 no move -1.54 - - 1946.38 - - - 2284.38 - -82.73 - - 3108.62 - - - - - - - - - - -
8813.26 743.45 -7.14 1127 8817.95 roll -1.54 - - 1946.38 - 2.94 0.085 3426.50 388.5 -82.73 - - 3108.81 - - - - - - - - - 15.85 -
8856.80 746.39 -7.51 1134 8871.32 roll -1.54 - - 1946.38 - 2.47 0.019 2285.94 -461.8 -82.73 - - 3109.53 - - - - - - - - - 15.99 -
9186.22 770.05 -6.92 1156 9187.54 no move -1.54 - - 1946.31 - - - 2285.81 - -82.73 - - 3107.72 - - - - - - - - - - -
9501.22 791.81 -6.87 1177 9505.90 roll -1.54 - - 1945.94 - 2.91 0.086 3426.12 391.9 -82.73 - - 3109.62 - - - - - - - - - 15.85 -
9544.77 794.65 -7.28 1184 9559.29 roll -1.54 - - 1946.50 - 2.47 0.020 2286.88 -461.2 -82.73 - - 3109.44 - - - - - - - - - 15.99 -
9874.16 817.92 -7.02 1206 9878.84 roll -1.54 - - 1946.50 - 2.92 0.086 3425.44 389.9 -82.73 - - 3109.44 - - - - - - - - - 15.84 -
9912.69 820.87 -7.55 1212 9917.82 roll -1.54 - - 1946.75 - 2.48 0.020 2285.31 -459.7 -82.73 - - 3107.81 - - - - - - - - - 15.99 -
10232.09 843.44 -6.95 1234 10236.92 roll -1.54 - - 1946.62 - 2.64 0.068 1209.12 -407.6 -82.73 - - 3106.22 - - - - - - - - - 15.88 -
10310.86 849.22 -7.31 1245 10315.51 roll -1.54 - - 1946.31 - 2.77 0.030 2397.69 429.1 -82.73 - - 3106.69 - - - - - - - - - 16.00 -
10627.34 870.76 -6.73 1267 10632.01 roll -1.54 - - 1945.06 - 2.92 0.062 1210.25 -406.7 -82.73 - - 3107.19 - - - - - - - - - 15.89 -
10707.35 876.35 -7.06 1279 10712.92 roll -1.54 - - 1946.31 - 2.75 0.029 2392.50 429.9 -82.73 - - 3107.56 - - - - - - - - - 15.99 -
11026.77 896.81 -6.41 1301 11031.45 roll -1.54 - - 1946.75 - 2.91 0.062 1209.25 -406.6 -82.73 - - 3106.75 - - - - - - - - - 15.89 -
11106.78 902.28 -6.90 1313 11112.35 roll -1.54 - - 1946.81 - 2.73 0.030 2387.19 431.5 -82.73 - - 3106.97 - - - - - - - - - 15.99 -
11426.18 923.36 -6.57 1335 11430.85 roll -1.54 - - 1946.81 - 2.89 0.062 1210.38 -407.2 -82.73 - - 3106.41 - - - - - - - - - 15.88 -
11469.72 925.89 -6.65 1342 11484.68 roll -1.54 - - 1946.62 - 2.73 0.029 2384.50 430.1 -82.73 - - 3106.75 - - - - - - - - - 15.99 -
11799.15 947.13 -6.39 1364 11800.48 no move -1.54 - - 1946.88 - - - 2384.50 - -82.73 - - 3105.56 - - - - - - - - - - -
12114.15 966.93 -6.41 1385 12118.83 roll -1.54 - - 1946.81 - 2.90 0.062 1210.44 -404.8 -82.73 - - 3105.91 - - - - - - - - - 15.88 -
12178.61 970.84 -6.66 1395 12193.50 roll -1.54 - - 1946.31 - 2.72 0.029 2381.75 430.6 -82.73 - - 3107.38 - - - - - - - - - 15.99 -
12477 end dive: TARGET_DEPTH_EXCEEDED
12477 begin apogee
12479.75 990.21 -6.44 1415 12555.36 -0.28 2.19 0.144 2253.94 140.5 0.15 0.167 2158.44 -1488.7 - 67.79 2.399 2776.22 -4.9 0.352 - - - - - - 15.71 15.13 10.05
12557 end apogee: CONTROL_FINISHED_OK
12557 begin climb
12557.88 991.88 - 1420 12646.21 1.54 2.95 0.091 2696.94 150.2 0.17 0.081 2035.81 -721.4 82.73 70.98 2.385 2436.03 -4.8 0.348 - - - - - - 15.44 15.55 11.57
12958.45 970.78 6.04 1453 13015.75 VBD 1.66 - - 2696.69 - - - 2035.62 - 142.01 51.85 2.340 2195.38 -4.6 0.336 - - - - - - - - 11.22
13329.57 943.24 7.78 1481 13334.33 roll back 1.67 0.17 0.092 2733.44 216.2 3.01 0.081 3203.12 387.9 142.01 - - 2188.97 - - - - - - - - 15.69 15.63 -
13388.86 937.95 8.76 1490 13394.60 roll 1.67 - - 2736.31 - 2.64 0.025 2062.75 -432.0 142.01 - - 2189.06 - - - - - - - - - 15.76 -
13708.43 910.44 8.49 1512 13709.76 VBD 1.67 - - 2735.62 - - - 2062.81 - 142.01 - - 2187.06 - - - - - - - - - - -
14023.28 883.88 8.59 1533 14027.93 done 1.67 - - 2736.12 - 2.73 0.085 995.00 -391.1 142.01 - - 2185.50 - - - - - - - - - 15.81 -
14129.05 874.55 9.40 1549 14144.00 done 1.67 - - 2735.38 - 2.65 0.025 2138.38 431.5 142.01 - - 2187.25 - - - - - - - - - 15.91 -
14458.46 846.77 8.27 1571 14463.14 done 1.67 - - 2736.25 - 2.93 0.081 993.94 -390.6 142.01 - - 2184.50 - - - - - - - - - 15.82 -
14537.13 839.79 8.80 1582 14541.77 done 1.67 - - 2736.25 - 2.64 0.025 2131.62 430.9 142.01 - - 2184.28 - - - - - - - - - 15.92 -
14853.61 813.90 8.24 1604 14858.28 done 1.67 - - 2736.25 - 2.91 0.080 995.25 -390.5 142.01 - - 2184.19 - - - - - - - - - 15.84 -
14912.89 808.71 8.77 1613 14918.44 done 1.67 - - 2736.62 - 2.62 0.025 2126.19 431.7 142.01 - - 2185.38 - - - - - - - - - 15.94 -
15232.31 783.49 7.63 1635 15236.96 done 1.69 - - 2737.19 - 2.76 0.085 3206.19 391.3 142.01 - - 2183.91 - - - - - - - - - 15.85 -
15275.87 780.46 7.90 1642 15290.79 done 1.70 - - 2735.94 - 2.66 0.025 2046.38 -436.0 142.01 - - 2186.41 - - - - - - - - - 15.95 -
15605.46 755.28 7.34 1664 15606.80 VBD 1.72 - - 2736.38 - - - 2046.25 - 142.01 - - 2183.22 - - - - - - - - - - -
15920.46 732.40 7.22 1685 15921.79 VBD 1.74 - - 2736.38 - - - 2045.75 - 142.01 - - 2183.72 - - - - - - - - - - -
16235.65 709.58 7.12 1706 16240.33 done 1.77 - - 2736.88 - 2.97 0.080 3205.81 390.6 142.01 - - 2182.91 - - - - - - - - - 15.85 -
16299.94 705.03 7.64 1716 16314.87 done 1.79 - - 2735.69 - 2.65 0.025 2051.38 -435.6 142.01 - - 2184.69 - - - - - - - - - 15.98 -
16629.35 680.84 7.25 1738 16634.00 done 1.81 - - 2736.62 - 2.70 0.086 994.56 -391.4 142.01 - - 2182.31 - - - - - - - - - 15.84 -
16714.39 674.56 7.90 1751 16729.37 1.82 0.14 0.099 2774.81 272.8 2.61 0.025 2126.12 433.5 142.01 - - 2184.25 - - - - - - - - 15.79 15.98 -
17043.79 646.84 8.34 1773 17048.46 done 1.82 - - 2775.06 - 2.90 0.081 993.69 -390.5 142.01 - - 2182.66 - - - - - - - - - 15.84 -
17123.81 639.84 8.83 1785 17129.35 done 1.82 - - 2774.88 - 2.60 0.025 2118.50 432.6 142.01 - - 2184.53 - - - - - - - - - 15.97 -
17443.40 612.62 8.46 1807 17444.74 VBD 1.82 - - 2774.50 - - - 2118.88 - 142.01 - - 2182.41 - - - - - - - - - - -
17758.30 588.13 7.57 1828 17762.97 done 1.84 - - 2775.25 - 2.88 0.081 994.88 -390.3 142.01 - - 2184.47 - - - - - - - - - 15.83 -
17859.26 580.23 7.95 1843 17865.12 done 1.85 - - 2774.31 - 2.59 0.025 2115.38 432.6 142.01 - - 2183.94 - - - - - - - - - 15.98 -
18178.49 556.62 7.40 1865 18183.14 done 1.87 - - 2774.94 - 2.79 0.083 3206.56 391.1 142.01 - - 2182.72 - - - - - - - - - 15.85 -
18237.79 552.03 7.77 1874 18243.33 done 1.89 - - 2775.56 - 2.65 0.026 2038.88 -440.6 142.01 - - 2183.25 - - - - - - - - - 15.97 -
18557.19 528.13 7.48 1896 18561.83 done 1.91 - - 2775.69 - 2.65 0.085 993.69 -394.4 142.01 - - 2182.50 - - - - - - - - - 15.83 -
18657.96 519.86 8.33 1911 18663.71 done 1.91 - - 2775.75 - 2.59 0.024 2115.06 433.0 142.01 - - 2183.81 - - - - - - - - - 15.99 -
18964.59 497.74 6.98 1933 18975.66 VBD 1.94 - - 2776.00 - - - 2114.88 - 142.01 - - 2183.84 - - - - - - - - - - -
19277.30 475.36 7.31 1962 19281.97 done 1.96 - - 2775.50 - 2.87 0.080 994.75 -390.3 142.01 - - 2184.75 - - - - - - - - - 15.83 -
19363.08 468.65 7.88 1974 19377.98 done 1.97 - - 2775.12 - 2.58 0.024 2111.25 432.8 142.01 - - 2183.97 - - - - - - - - - 15.98 -
19679.47 445.78 7.21 2003 19690.65 2.00 0.18 0.087 2818.19 239.3 - - 2111.31 - 142.01 - - 2183.69 - - - - - - - - 15.93 - -
19992.31 421.91 7.40 2032 19997.16 done 2.02 - - 2818.44 - 2.87 0.080 992.12 -390.0 142.01 - - 2183.47 - - - - - - - - - 15.82 -
20125.75 411.27 8.11 2050 20140.56 done 2.02 - - 2818.56 - 2.57 0.024 2105.19 433.1 142.01 - - 2183.22 - - - - - - - - - 15.98 -
20441.81 388.40 7.10 2079 20446.48 done 2.04 - - 2818.56 - 2.86 0.080 994.88 -388.2 142.01 - - 2182.91 - - - - - - - - - 15.82 -
20511.83 383.22 7.47 2089 20526.73 done 2.06 - - 2818.62 - 2.56 0.024 2104.12 433.3 142.01 - - 2184.25 - - - - - - - - - 15.98 -
20828.16 361.83 6.53 2118 20839.24 VBD 2.10 - - 2818.19 - - - 2103.56 - 142.01 - - 2183.75 - - - - - - - - - - -
21140.97 341.47 6.75 2147 21145.64 done 2.14 - - 2817.88 - 2.82 0.082 3206.69 391.2 142.01 - - 2184.03 - - - - - - - - - 15.83 -
21179.53 338.70 7.12 2153 21194.52 2.16 0.16 0.092 2858.50 253.9 2.72 0.025 2021.44 -435.8 142.01 - - 2183.66 - - - - - - - - 15.78 15.98 -
21496.10 314.00 7.85 2182 21500.74 done 2.18 - - 2858.75 - 2.63 0.084 993.50 -390.9 142.01 - - 2181.66 - - - - - - - - - 15.82 -
21629.96 302.32 8.94 2200 21644.70 done 2.18 - - 2858.31 - 2.55 0.024 2097.25 432.8 142.01 - - 2183.06 - - - - - - - - - 15.98 -
21948.60 276.26 8.04 2260 21954.06 done 2.18 - - 2858.69 - 2.85 0.079 995.25 -386.7 142.01 - - 2183.16 - - - - - - - - - 15.79 -
21993.42 272.44 8.60 2269 21998.95 done 2.18 - - 2858.56 - 2.53 0.023 2095.00 434.7 142.01 - - 2183.88 - - - - - - - - - 15.96 -
22303.87 248.17 7.63 2331 22305.20 VBD 2.19 - - 2858.88 - - - 2095.88 - 142.01 - - 2183.03 - - - - - - - - - - -
22608.63 224.97 7.65 2392 22614.19 done 2.21 - - 2858.81 - 2.82 0.079 994.94 -390.4 142.01 - - 2183.53 - - - - - - - - - 15.80 -
22793.68 210.35 7.57 2429 22799.20 done 2.23 - - 2858.81 - 2.51 0.023 2089.69 436.2 142.01 - - 2183.41 - - - - - - - - - 15.96 -
23103.80 187.78 7.29 2491 23109.35 done 2.25 - - 2859.00 - 2.80 0.078 993.75 -391.4 142.01 - - 2183.28 - - - - - - - - - 15.81 -
23198.81 180.25 8.01 2510 23204.33 done 2.25 - - 2859.00 - 2.50 0.023 2084.31 436.2 142.01 - - 2183.41 - - - - - - - - - 15.95 -
23509.12 157.93 7.02 2572 23510.45 VBD 2.28 - - 2858.44 - - - 2084.50 - 142.01 - - 2182.16 - - - - - - - - - - -
23814.03 137.75 6.20 2633 23860.33 2.39 0.23 0.075 2911.00 228.5 - - 2084.69 - 197.28 43.21 1.341 1971.47 -4.9 0.087 - - - - - - 15.91 - 10.43
24164.08 106.61 9.64 2703 24165.41 no move 2.39 - - 2912.00 - - - 2085.12 - 197.28 - - 1963.88 - - - - - - - - - - -
24469.14 81.44 6.91 2764 24474.71 roll 2.42 - - 2911.31 - 2.85 0.077 3205.12 393.0 197.28 - - 1964.00 - - - - - - - - - 15.80 -
24659.15 66.51 7.56 2802 24664.72 roll 2.44 - - 2912.31 - 2.77 0.024 1999.69 -435.2 197.28 - - 1963.44 - - - - - - - - - 15.90 -
24849.19 57.64 3.67 2840 24944.82 2.67 0.36 0.067 2979.75 187.3 2.62 0.085 993.50 -384.0 314.71 89.96 1.235 1490.91 -5.3 0.043 - - - - - - 15.87 15.29 11.04
25172.07 29.15 9.80 2904 25177.21 done 2.67 - - 2980.56 - 2.49 0.022 2067.69 431.4 314.71 - - 1482.22 - - - - - - - - - 15.74 -
25362.55 8.90 12.44 2942 25363.88 VBD 2.67 - - 2980.50 - - - 2067.31 - 314.71 - - 1479.50 - - - - - - - - - - -
25407 end climb: SURFACE_DEPTH_REACHED
25407 begin surface coast
25452 end surface coast: CONTROL_FINISHED_OK
25452 begin surface
SM 0.59 - - - - 181.9 82.83 1.161 1043.1 12.6 17.54 0.056 992.2 56.6 - 0.61 0.053 1093.9 1793.3 -2.040 - - 11.10 15.74 15.81 -