NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 713 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 240.35 of 550.00 AH used of 24V (56.30% remains)
• Surface angle -56.5 deg, depth 0.38 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.82 (SM_CC=425)
• GPS1 time: 90 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.42 - - - 72.03 VBD -1.35 - - 178.19 - - - 2239.69 - -82.73 65.46 0.005 2654.62 - - - - - - - - - - 15.15
72.78 3.13 -5.11 12 105.58 -1.35 14.73 0.241 2003.44 123.9 2.48 0.068 1209.56 -415.4 -82.73 10.07 0.007 3111.59 45.4 -3.437 - - - - - - 15.47 15.12 15.26
193.06 26.80 -13.99 36 198.24 roll -1.35 - - 2003.31 - 2.63 0.028 2352.75 434.7 -82.73 - - 3113.12 - - - - - - - - - 15.78 -
383.13 49.59 -11.37 74 388.49 roll -1.35 - - 2004.00 - 2.68 0.085 3426.94 400.8 -82.73 - - 3113.75 - - - - - - - - - 15.78 -
552.93 72.43 -13.54 108 558.35 roll -1.35 - - 2003.81 - 2.56 0.020 2246.56 -461.1 -82.73 - - 3113.50 - - - - - - - - - 15.84 -
743.28 92.62 -8.33 146 748.00 roll -1.35 - - 2003.81 - 2.46 0.063 1207.12 -422.5 -82.73 - - 3113.72 - - - - - - - - - 15.86 -
903.10 105.68 -7.70 178 908.47 roll -1.35 - - 2003.94 - 2.61 0.027 2354.69 439.7 -82.73 - - 3113.84 - - - - - - - - - 15.89 -
1212.96 129.30 -7.25 240 1218.51 roll -1.35 - - 2003.81 - 2.66 0.086 3426.12 402.8 -82.73 - - 3114.66 - - - - - - - - - 15.88 -
1447.99 149.27 -8.87 287 1453.53 roll -1.35 - - 2004.06 - 2.55 0.020 2242.94 -464.0 -82.73 - - 3113.72 - - - - - - - - - 15.92 -
1758.06 175.71 -8.32 349 1763.65 roll -1.35 - - 2004.31 - 2.94 0.081 3425.88 402.4 -82.73 - - 3114.69 - - - - - - - - - 15.89 -
1963.08 194.72 -9.23 390 1968.79 roll -1.35 - - 2003.38 - 2.55 0.021 2244.44 -463.3 -82.73 - - 3114.25 - - - - - - - - - 15.95 -
2273.12 221.18 -9.15 452 2274.45 no move -1.35 - - 2003.50 - - - 2243.56 - -82.73 - - 3113.50 - - - - - - - - - - -
2578.15 248.46 -8.80 513 2583.76 roll -1.35 - - 2004.31 - 2.94 0.082 3425.31 402.0 -82.73 - - 3114.25 - - - - - - - - - 15.91 -
2638.16 254.27 -9.84 525 2643.70 roll -1.35 - - 2003.81 - 2.54 0.021 2246.56 -464.1 -82.73 - - 3114.88 - - - - - - - - - 15.96 -
2948.21 280.12 -8.41 587 2949.54 no move -1.35 - - 2003.69 - - - 2245.19 - -82.73 - - 3112.84 - - - - - - - - - - -
3259.82 304.86 -7.84 642 3270.90 no move -1.35 - - 2004.50 - - - 2245.56 - -82.73 - - 3113.22 - - - - - - - - - - -
3572.76 327.89 -7.46 671 3583.83 no move -1.35 - - 2004.12 - - - 2245.06 - -82.73 - - 3113.16 - - - - - - - - - - -
3885.50 351.52 -7.73 700 3896.57 no move -1.35 - - 2003.81 - - - 2245.19 - -82.73 - - 3112.94 - - - - - - - - - - -
4199.15 376.16 -7.87 729 4203.83 roll -1.35 - - 2003.00 - 2.95 0.083 3424.62 399.8 -82.73 - - 3112.41 - - - - - - - - - 15.92 -
4221.96 378.18 -8.54 733 4236.88 roll -1.35 - - 2003.62 - 2.54 0.021 2245.25 -464.3 -82.73 - - 3114.62 - - - - - - - - - 16.00 -
4538.33 404.47 -8.52 762 4542.98 roll -1.35 - - 2003.19 - 2.46 0.067 1208.38 -421.5 -82.73 - - 3112.06 - - - - - - - - - 15.96 -
4575.52 407.78 -8.73 767 4580.14 roll -1.35 - - 2004.00 - 2.60 0.028 2353.44 440.4 -82.73 - - 3110.91 - - - - - - - - - 16.01 -
4886.81 432.39 -7.68 796 4897.89 no move -1.35 - - 2003.94 - - - 2353.44 - -82.73 - - 3111.50 - - - - - - - - - - -
5200.41 455.60 -7.04 825 5205.06 roll -1.35 - - 2003.81 - 2.73 0.062 1207.75 -419.7 -82.73 - - 3112.00 - - - - - - - - - 15.96 -
5286.16 462.18 -7.72 837 5301.07 roll -1.35 - - 2003.62 - 2.60 0.029 2351.94 440.1 -82.73 - - 3111.84 - - - - - - - - - 16.01 -
5602.35 486.47 -7.44 866 5613.42 no move -1.35 - - 2004.12 - - - 2353.00 - -82.73 - - 3111.03 - - - - - - - - - - -
5921.61 511.12 -7.79 892 5926.23 roll -1.35 - - 2003.94 - 2.68 0.089 3426.19 400.4 -82.73 - - 3111.06 - - - - - - - - - 15.91 -
5965.14 514.20 -8.01 899 5980.07 roll -1.35 - - 2003.19 - 2.54 0.021 2244.69 -465.2 -82.73 - - 3110.44 - - - - - - - - - 16.00 -
6294.56 539.62 -7.53 921 6299.24 roll -1.35 - - 2004.12 - 2.95 0.085 3423.19 399.5 -82.73 - - 3109.00 - - - - - - - - - 15.91 -
6421.06 549.86 -8.61 940 6436.19 roll -1.35 - - 2003.88 - 2.54 0.021 2246.81 -463.1 -82.73 - - 3109.84 - - - - - - - - - 16.00 -
6750.65 577.01 -8.01 962 6755.39 roll -1.35 - - 2003.88 - 2.95 0.085 3426.06 399.7 -82.73 - - 3108.06 - - - - - - - - - 15.90 -
6830.67 584.11 -8.90 974 6836.21 roll -1.35 - - 2003.94 - 2.54 0.021 2249.12 -463.4 -82.73 - - 3108.94 - - - - - - - - - 16.00 -
7150.07 611.16 -8.29 996 7154.67 roll -1.35 - - 2002.19 - 2.47 0.069 1206.88 -422.0 -82.73 - - 3108.88 - - - - - - - - - 15.94 -
7228.75 617.93 -8.55 1007 7233.36 roll -1.35 - - 2003.88 - 2.59 0.029 2353.75 442.8 -82.73 - - 3108.44 - - - - - - - - - 16.00 -
7545.22 643.59 -8.00 1029 7549.85 roll -1.35 - - 2003.75 - 2.67 0.091 3426.00 401.6 -82.73 - - 3107.09 - - - - - - - - - 15.89 -
7588.76 646.79 -8.33 1036 7603.69 roll -1.35 - - 2003.75 - 2.54 0.021 2245.69 -464.7 -82.73 - - 3107.72 - - - - - - - - - 16.00 -
7918.34 672.36 -7.30 1058 7923.02 roll -1.35 - - 2003.81 - 2.95 0.085 3425.75 400.0 -82.73 - - 3107.16 - - - - - - - - - 15.89 -
7976.28 677.08 -7.88 1066 7980.90 roll -1.35 - - 2004.25 - 2.55 0.021 2247.00 -462.3 -82.73 - - 3108.00 - - - - - - - - - 15.99 -
8292.77 700.28 -7.05 1088 8294.10 no move -1.35 - - 2004.19 - - - 2246.50 - -82.73 - - 3106.47 - - - - - - - - - - -
8607.81 721.49 -6.61 1109 8612.49 roll -1.35 - - 2004.00 - 2.96 0.086 3425.94 398.5 -82.73 - - 3106.81 - - - - - - - - - 15.88 -
8728.15 730.56 -7.59 1126 8732.82 roll -1.35 - - 2003.19 - 2.55 0.022 2249.81 -461.2 -82.73 - - 3107.78 - - - - - - - - - 16.00 -
9044.61 750.97 -6.57 1148 9049.30 roll -1.35 - - 2003.94 - 2.96 0.086 3424.75 396.9 -82.73 - - 3105.59 - - - - - - - - - 15.88 -
9171.46 760.18 -7.74 1167 9186.38 roll -1.35 - - 2003.94 - 2.55 0.022 2248.38 -461.3 -82.73 - - 3106.00 - - - - - - - - - 16.00 -
9500.90 781.61 -6.07 1189 9505.49 roll -1.35 - - 2003.56 - 2.49 0.070 1208.12 -417.8 -82.73 - - 3106.50 - - - - - - - - - 15.92 -
9585.93 786.89 -6.63 1202 9600.87 roll -1.35 - - 2003.12 - 2.62 0.029 2352.38 436.7 -82.73 - - 3107.44 - - - - - - - - - 16.01 -
9915.36 807.86 -6.33 1224 9920.01 roll -1.35 - - 2004.25 - 2.71 0.092 3424.62 395.7 -82.73 - - 3104.75 - - - - - - - - - 15.86 -
9973.50 812.07 -7.00 1232 9978.11 roll -1.35 - - 2003.38 - 2.55 0.021 2248.12 -461.4 -82.73 - - 3106.75 - - - - - - - - - 15.99 -
10289.99 832.13 -6.39 1254 10294.67 roll -1.35 - - 2004.12 - 2.97 0.087 3426.38 396.7 -82.73 - - 3104.12 - - - - - - - - - 15.86 -
10368.65 837.69 -6.98 1265 10373.26 roll -1.35 - - 2004.00 - 2.55 0.022 2249.44 -461.5 -82.73 - - 3104.22 - - - - - - - - - 15.99 -
10685.31 856.32 -5.58 1287 10686.64 no move -1.35 - - 2003.81 - - - 2248.00 - -82.73 - - 3104.03 - - - - - - - - - - -
11000.25 874.06 -5.79 1308 11001.59 no move -1.35 - - 2003.88 - - - 2247.38 - -82.73 - - 3104.25 - - - - - - - - - - -
11315.17 892.65 -5.79 1329 11316.50 no move -1.35 - - 2003.88 - - - 2246.81 - -82.73 - - 3102.91 - - - - - - - - - - -
11630.18 910.51 -5.55 1350 11631.51 no move -1.35 - - 2003.62 - - - 2247.88 - -82.73 - - 3102.69 - - - - - - - - - - -
11945.18 928.44 -5.75 1371 11949.78 roll -1.35 - - 2004.06 - 2.50 0.070 1208.25 -415.9 -82.73 - - 3103.62 - - - - - - - - - 15.89 -
12023.86 933.27 -6.06 1382 12028.49 roll -1.35 - - 2003.69 - 2.63 0.030 2354.69 435.9 -82.73 - - 3102.19 - - - - - - - - - 15.99 -
12340.52 939.52 -1.51 1404 12345.16 roll -1.35 - - 2003.62 - 2.76 0.065 1209.50 -414.9 -82.73 - - 3103.06 - - - - - - - - - 15.89 -
12571.10 939.54 -0.69 1438 12586.03 roll -1.35 - - 2002.88 - 2.62 0.030 2354.12 436.9 -82.73 - - 3104.78 - - - - - - - - - 16.01 -
12600 end dive: NO_VERTICAL_VELOCITY
12600 begin apogee
12602.32 939.55 - 1440 12677.88 -0.28 1.79 0.112 2266.06 147.0 0.22 0.132 2282.75 -324.4 - 64.17 2.370 2774.16 -5.2 0.346 - - - - - - 15.85 15.44 10.29
12679 end apogee: CONTROL_FINISHED_OK
12680 begin climb
12680.07 939.69 - 1445 12767.87 1.35 2.65 0.086 2660.50 148.8 2.81 0.095 3343.38 377.4 82.73 68.56 2.290 2437.84 -4.9 0.341 - - - - - - 15.58 15.20 12.05
12934.79 925.03 7.46 1481 12939.43 roll 1.37 - - 2661.12 - 2.62 0.024 2189.44 -440.4 82.73 - - 2430.88 - - - - - - - - - 15.59 -
13251.28 903.43 6.68 1503 13255.89 roll 1.40 - - 2661.31 - 2.60 0.077 1131.12 -407.0 82.73 - - 2430.88 - - - - - - - - - 15.74 -
13482.01 887.89 6.91 1537 13496.37 roll 1.43 - - 2661.75 - 2.64 0.030 2272.00 432.2 82.73 - - 2431.44 - - - - - - - - - 15.83 -
13810.88 865.54 6.83 1559 13812.21 no move 1.47 - - 2662.06 - - - 2272.31 - 82.73 - - 2428.97 - - - - - - - - - - -
14125.91 844.32 6.65 1580 14130.64 1.50 0.20 0.084 2706.62 222.8 2.78 0.073 1129.56 -411.1 82.73 - - 2427.53 - - - - - - - - 15.86 15.77 -
14268.89 833.41 7.83 1601 14274.04 done 1.51 - - 2707.12 - 2.63 0.030 2273.50 435.0 82.73 - - 2428.94 - - - - - - - - - 15.92 -
14587.92 810.45 7.27 1623 14592.75 done 1.54 - - 2705.94 - 2.77 0.072 1129.81 -412.9 82.73 - - 2429.22 - - - - - - - - - 15.88 -
14668.11 804.77 7.19 1635 14673.48 done 1.56 - - 2705.88 - 2.62 0.030 2273.50 436.5 82.73 - - 2428.69 - - - - - - - - - 15.93 -
14987.33 784.35 6.07 1657 15028.44 done 1.65 - - 2706.69 - 2.73 0.097 3344.81 392.4 127.28 36.29 2.139 2254.47 -4.8 0.298 - - - - - - - 15.61 11.15
15051.44 780.12 6.66 1665 15056.85 roll back 1.69 0.21 0.083 2749.25 202.7 2.59 0.023 2186.31 -447.3 127.28 - - 2254.28 - - - - - - - - 15.69 15.77 -
15370.67 752.44 8.61 1687 15375.31 roll 1.69 - - 2749.75 - 2.58 0.077 1131.94 -408.7 127.28 - - 2248.72 - - - - - - - - - 15.81 -
15492.17 741.32 9.31 1705 15497.72 roll 1.69 - - 2749.75 - 2.63 0.030 2272.31 433.6 127.28 - - 2250.62 - - - - - - - - - 15.85 -
15811.57 714.88 8.25 1727 15812.90 no move 1.69 - - 2749.81 - - - 2272.56 - 127.28 - - 2249.00 - - - - - - - - - - -
16126.58 688.85 8.24 1748 16131.23 roll 1.69 - - 2749.38 - 2.79 0.073 1130.75 -409.3 127.28 - - 2248.69 - - - - - - - - - 15.87 -
16248.09 677.78 9.29 1766 16253.65 roll 1.69 - - 2749.69 - 2.63 0.031 2271.50 433.7 127.28 - - 2249.44 - - - - - - - - - 15.93 -
16567.50 649.61 8.33 1788 16568.83 no move 1.69 - - 2749.75 - - - 2271.31 - 127.28 - - 2248.53 - - - - - - - - - - -
16882.69 621.88 9.07 1809 16884.02 no move 1.69 - - 2750.25 - - - 2271.06 - 127.28 - - 2248.19 - - - - - - - - - - -
17197.71 593.15 9.11 1830 17202.35 roll 1.69 - - 2750.25 - 2.78 0.073 1131.25 -410.0 127.28 - - 2246.88 - - - - - - - - - 15.89 -
17407.54 574.23 9.26 1861 17422.08 roll 1.69 - - 2750.44 - 2.62 0.030 2272.50 435.6 127.28 - - 2248.81 - - - - - - - - - 15.97 -
17736.57 546.73 7.90 1883 17741.22 roll 1.70 - - 2749.50 - 2.78 0.073 1129.62 -411.1 127.28 - - 2248.34 - - - - - - - - - 15.89 -
17815.24 540.05 8.42 1894 17819.87 done 1.70 - - 2749.88 - 2.62 0.030 2272.19 436.1 127.28 - - 2248.66 - - - - - - - - - 15.97 -
18131.75 516.57 7.09 1916 18136.39 roll 1.73 - - 2750.12 - 2.78 0.072 1131.12 -410.5 127.28 - - 2247.00 - - - - - - - - - 15.89 -
18278.97 506.22 7.25 1938 18293.91 done 1.75 - - 2750.31 - 2.62 0.030 2272.25 435.5 127.28 - - 2248.03 - - - - - - - - - 15.99 -
18604.85 482.35 7.71 1966 18609.50 done 1.77 - - 2749.62 - 2.78 0.072 1131.12 -410.5 127.28 - - 2247.41 - - - - - - - - - 15.89 -
18673.50 476.27 8.67 1975 18678.13 done 1.77 - - 2750.94 - 2.62 0.030 2275.38 436.7 127.28 - - 2247.38 - - - - - - - - - 15.97 -
18985.56 451.88 7.65 2004 18990.19 done 1.78 - - 2749.12 - 2.69 0.092 3347.06 398.4 127.28 - - 2249.34 - - - - - - - - - 15.86 -
19087.05 443.08 8.85 2018 19101.97 done 1.78 - - 2750.19 - 2.56 0.024 2187.62 -452.9 127.28 - - 2247.91 - - - - - - - - - 15.98 -
19403.77 418.24 7.53 2047 19408.38 done 1.80 - - 2750.62 - 2.56 0.077 1131.25 -412.6 127.28 - - 2247.00 - - - - - - - - - 15.88 -
19488.17 411.66 7.76 2058 19492.80 done 1.82 - - 2751.00 - 2.60 0.029 2274.50 439.7 127.28 - - 2246.19 - - - - - - - - - 15.98 -
19800.11 388.78 7.74 2087 19804.76 done 1.83 - - 2750.25 - 2.79 0.072 1129.75 -410.3 127.28 - - 2246.09 - - - - - - - - - 15.88 -
19980.25 373.69 8.27 2111 19995.18 done 1.83 - - 2750.38 - 2.61 0.030 2274.75 438.7 127.28 - - 2248.47 - - - - - - - - - 15.99 -
20296.98 350.15 7.23 2140 20301.70 1.85 0.17 0.090 2790.44 235.6 2.78 0.072 1130.94 -411.4 127.28 - - 2248.09 - - - - - - - - 15.94 15.81 -
20460.06 336.65 8.20 2161 20464.69 done 1.85 - - 2792.06 - 2.61 0.030 2274.88 438.3 127.28 - - 2247.62 - - - - - - - - - 15.97 -
20771.90 313.46 7.44 2190 20776.54 done 1.88 - - 2791.69 - 2.78 0.071 1129.25 -412.1 127.28 - - 2248.53 - - - - - - - - - 15.88 -
20919.95 302.09 7.62 2209 20924.59 done 1.89 - - 2791.31 - 2.61 0.029 2274.75 438.9 127.28 - - 2246.78 - - - - - - - - - 15.98 -
21229.33 277.31 8.78 2267 21230.66 VBD 1.89 - - 2792.25 - - - 2274.62 - 127.28 - - 2247.19 - - - - - - - - - - -
21534.44 250.59 8.75 2328 21540.00 done 1.89 - - 2791.06 - 2.76 0.070 1129.88 -414.8 127.28 - - 2249.69 - - - - - - - - - 15.87 -
21769.50 229.53 8.36 2375 21775.06 done 1.89 - - 2792.06 - 2.61 0.029 2274.12 438.4 127.28 - - 2248.41 - - - - - - - - - 15.97 -
22079.63 207.19 7.29 2437 22080.97 VBD 1.92 - - 2791.56 - - - 2274.38 - 127.28 - - 2247.56 - - - - - - - - - - -
22384.74 184.47 7.21 2498 22390.29 done 1.94 - - 2791.12 - 2.76 0.070 1131.06 -414.2 127.28 - - 2248.19 - - - - - - - - - 15.87 -
22449.94 179.52 7.81 2511 22455.34 roll 1.95 - - 2792.19 - 2.60 0.028 2276.81 440.7 127.28 - - 2248.94 - - - - - - - - - 15.97 -
22759.86 157.76 7.25 2573 22765.41 roll 1.98 - - 2791.69 - 2.76 0.069 1130.00 -415.5 127.28 - - 2249.00 - - - - - - - - - 15.87 -
22809.87 154.07 7.37 2583 22815.39 roll 2.00 - - 2790.81 - 2.60 0.028 2273.50 439.8 127.28 - - 2250.06 - - - - - - - - - 15.96 -
23119.94 132.51 6.03 2645 23161.61 2.09 0.28 0.071 2850.62 213.6 2.76 0.071 1128.50 -414.9 172.67 35.11 1.321 2070.09 -5.1 0.087 - - - - - - 15.93 15.70 10.64
23390.35 113.69 5.94 2699 23432.59 done 2.18 - - 2851.12 - 2.62 0.028 2274.94 437.6 219.74 37.26 1.281 1877.22 -5.2 0.078 - - - - - - - 15.88 11.70
23735.19 87.08 7.42 2768 23740.60 roll 2.21 - - 2850.81 - 2.70 0.087 3345.25 396.4 219.74 - - 1872.00 - - - - - - - - - 15.78 -
23970.03 72.98 7.04 2815 23975.56 roll 2.23 - - 2850.38 - 2.58 0.022 2183.94 -450.1 219.74 - - 1871.19 - - - - - - - - - 15.85 -
24160.05 63.93 4.47 2853 24222.53 2.38 0.35 0.067 2919.50 197.5 2.96 0.083 3347.69 393.2 294.19 56.26 1.221 1575.91 -5.2 0.047 - - - - - - 15.84 15.61 11.39
24310.05 49.78 10.66 2883 24315.60 roll 2.38 - - 2919.62 - 2.60 0.022 2186.81 -446.5 294.19 - - 1570.69 - - - - - - - - - 15.73 -
24500.80 35.22 3.93 2921 24572.02 2.55 0.19 0.086 2958.56 204.9 2.96 0.082 3344.44 391.1 378.76 63.81 1.170 1231.19 -5.3 0.027 - - - - - - 15.75 15.51 11.56
24790.16 6.23 13.59 2979 24795.67 roll 2.55 - - 2959.75 - 2.60 0.023 2192.56 -443.0 378.76 - - 1224.78 - - - - - - - - - 15.72 -
24810 end climb: SURFACE_DEPTH_REACHED
24810 begin surface coast
24845 end surface coast: CONTROL_FINISHED_OK
24845 begin surface
SM 0.96 - - - - 183.0 35.28 1.122 1043.2 29.6 17.25 0.046 1012.1 58.7 - 0.33 0.061 1074.2 3247.3 -5.223 - - 11.58 15.69 15.73 -