NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 714 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 240.75 of 550.00 AH used of 24V (56.23% remains)
• Surface angle -55.8 deg, depth 0.42 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.90 (SM_CC=425)
• GPS1 time: 94 s
• GPS2 time: 5 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 - - - 66.94 VBD -1.35 - - 181.88 - - - 2275.56 - -82.73 60.38 0.005 2560.47 - - - - - - - - - - 15.06
67.68 3.19 -5.43 11 100.79 -1.35 14.90 0.244 2003.94 122.3 - - 2274.88 - -82.73 12.66 0.006 3110.50 43.4 -3.913 - - - - - - 15.42 - 15.22
282.91 39.66 -17.02 54 284.24 no move -1.35 - - 2003.44 - - - 2275.00 - -82.73 - - 3111.94 - - - - - - - - - - -
467.93 60.12 -11.32 91 473.47 roll -1.35 - - 2004.00 - 2.56 0.062 1207.12 -417.1 -82.73 - - 3112.72 - - - - - - - - - 15.81 -
497.94 63.75 -12.09 97 503.69 roll -1.35 - - 2003.44 - 2.63 0.027 2352.50 435.5 -82.73 - - 3113.81 - - - - - - - - - 15.81 -
688.54 85.30 -11.13 135 689.87 no move -1.35 - - 2003.88 - - - 2353.12 - -82.73 - - 3112.53 - - - - - - - - - - -
873.00 103.02 -9.30 172 878.55 roll -1.35 - - 2004.00 - 2.69 0.082 3427.62 399.4 -82.73 - - 3113.97 - - - - - - - - - 15.84 -
1108.03 127.05 -9.78 219 1113.56 roll -1.35 - - 2004.62 - 2.55 0.019 2244.69 -463.9 -82.73 - - 3113.72 - - - - - - - - - 15.90 -
1418.09 154.48 -8.06 281 1423.20 roll -1.35 - - 2003.44 - 2.46 0.064 1208.06 -421.4 -82.73 - - 3115.16 - - - - - - - - - 15.91 -
1603.50 169.57 -8.47 318 1608.65 roll -1.35 - - 2003.69 - 2.61 0.027 2354.50 439.2 -82.73 - - 3114.97 - - - - - - - - - 15.93 -
1913.15 193.47 -7.55 380 1914.48 no move -1.35 - - 2004.06 - - - 2354.00 - -82.73 - - 3113.69 - - - - - - - - - - -
2218.20 215.96 -7.26 441 2223.77 roll -1.35 - - 2004.31 - 2.72 0.059 1206.88 -421.7 -82.73 - - 3113.69 - - - - - - - - - 15.94 -
2258.39 218.96 -7.44 449 2263.81 roll -1.35 - - 2003.50 - 2.61 0.027 2354.69 439.8 -82.73 - - 3115.06 - - - - - - - - - 15.95 -
2568.25 241.77 -7.97 511 2574.11 roll -1.35 - - 2004.62 - 2.68 0.085 3426.50 399.9 -82.73 - - 3113.38 - - - - - - - - - 15.91 -
2608.25 245.36 -8.98 519 2613.78 roll -1.35 - - 2004.31 - 2.54 0.020 2242.00 -466.3 -82.73 - - 3113.66 - - - - - - - - - 15.96 -
2918.33 271.21 -8.72 581 2923.93 roll -1.35 - - 2004.19 - 2.96 0.081 3426.31 400.1 -82.73 - - 3113.56 - - - - - - - - - 15.91 -
2968.34 276.08 -9.91 591 2973.87 roll -1.35 - - 2005.06 - 2.55 0.020 2242.88 -464.1 -82.73 - - 3113.22 - - - - - - - - - 15.96 -
3278.54 303.86 -9.12 648 3289.61 no move -1.35 - - 2004.94 - - - 2242.38 - -82.73 - - 3113.53 - - - - - - - - - - -
3591.60 331.10 -8.32 677 3596.28 roll -1.35 - - 2003.50 - 2.96 0.081 3426.19 399.9 -82.73 - - 3112.78 - - - - - - - - - 15.93 -
3677.35 338.80 -9.04 689 3692.27 roll -1.35 - - 2004.62 - 2.54 0.020 2244.38 -465.3 -82.73 - - 3113.62 - - - - - - - - - 15.99 -
3993.49 363.75 -7.42 718 3998.35 roll -1.35 - - 2004.25 - 2.96 0.081 3427.50 399.7 -82.73 - - 3111.41 - - - - - - - - - 15.93 -
4047.94 368.06 -7.99 726 4062.68 roll -1.35 - - 2004.44 - 2.53 0.020 2244.31 -467.7 -82.73 - - 3113.19 - - - - - - - - - 16.00 -
4364.21 390.11 -6.93 755 4375.28 no move -1.35 - - 2004.62 - - - 2244.06 - -82.73 - - 3111.91 - - - - - - - - - - -
4676.88 411.58 -6.95 784 4687.95 no move -1.35 - - 2004.50 - - - 2244.25 - -82.73 - - 3111.88 - - - - - - - - - - -
4990.31 437.18 -8.61 813 4994.98 roll -1.35 - - 2005.00 - 2.97 0.082 3429.50 399.1 -82.73 - - 3110.09 - - - - - - - - - 15.92 -
5091.81 446.86 -9.74 827 5106.72 roll -1.35 - - 2004.69 - 2.54 0.021 2248.00 -465.2 -82.73 - - 3110.47 - - - - - - - - - 16.00 -
5407.94 473.84 -8.34 856 5412.62 roll -1.35 - - 2004.44 - 2.95 0.083 3424.62 398.9 -82.73 - - 3110.84 - - - - - - - - - 15.92 -
5493.69 481.56 -9.14 868 5508.60 roll -1.35 - - 2003.56 - 2.54 0.021 2246.75 -463.7 -82.73 - - 3111.56 - - - - - - - - - 16.00 -
5810.05 506.10 -7.27 895 5811.38 no move -1.35 - - 2004.69 - - - 2246.69 - -82.73 - - 3108.75 - - - - - - - - - - -
6125.05 530.97 -8.27 916 6126.38 no move -1.35 - - 2004.06 - - - 2247.44 - -82.73 - - 3108.97 - - - - - - - - - - -
6440.07 558.86 -9.27 937 6441.40 no move -1.35 - - 2004.06 - - - 2247.50 - -82.73 - - 3108.59 - - - - - - - - - - -
6755.09 589.33 -9.78 958 6759.95 roll -1.35 - - 2003.88 - 2.97 0.084 3426.44 396.9 -82.73 - - 3110.19 - - - - - - - - - 15.90 -
6813.20 595.51 -10.42 966 6817.81 roll -1.35 - - 2004.44 - 2.55 0.021 2249.50 -461.5 -82.73 - - 3109.84 - - - - - - - - - 15.99 -
7129.69 623.99 -8.37 988 7131.02 no move -1.35 - - 2004.50 - - - 2249.25 - -82.73 - - 3107.03 - - - - - - - - - - -
7444.89 646.60 -6.65 1009 7449.56 roll -1.35 - - 2003.94 - 2.96 0.085 3426.44 397.7 -82.73 - - 3107.09 - - - - - - - - - 15.90 -
7523.56 652.20 -7.05 1020 7528.17 roll -1.35 - - 2003.00 - 2.55 0.021 2250.56 -461.1 -82.73 - - 3109.22 - - - - - - - - - 15.99 -
7840.05 670.02 -5.70 1042 7844.72 roll -1.35 - - 2003.44 - 2.95 0.085 3425.62 398.3 -82.73 - - 3108.38 - - - - - - - - - 15.89 -
7904.34 673.91 -6.47 1052 7919.25 roll -1.35 - - 2004.31 - 2.55 0.021 2249.62 -461.2 -82.73 - - 3106.97 - - - - - - - - - 16.00 -
8233.77 696.35 -7.30 1074 8238.35 roll -1.35 - - 2004.38 - 2.49 0.070 1208.38 -418.2 -82.73 - - 3105.88 - - - - - - - - - 15.92 -
8313.79 702.77 -8.06 1086 8319.33 roll -1.35 - - 2004.31 - 2.61 0.030 2353.81 438.9 -82.73 - - 3107.31 - - - - - - - - - 16.00 -
8633.19 729.60 -9.00 1108 8637.81 roll -1.35 - - 2004.50 - 2.70 0.092 3424.81 396.7 -82.73 - - 3105.88 - - - - - - - - - 15.88 -
8713.20 737.09 -9.47 1120 8718.92 roll -1.35 - - 2004.38 - 2.55 0.021 2243.56 -463.2 -82.73 - - 3106.22 - - - - - - - - - 16.01 -
9032.78 763.78 -7.84 1142 9037.46 roll -1.35 - - 2003.31 - 2.97 0.086 3427.81 398.7 -82.73 - - 3105.69 - - - - - - - - - 15.87 -
9175.35 775.01 -7.86 1163 9180.88 roll -1.35 - - 2004.62 - 2.55 0.021 2246.75 -463.2 -82.73 - - 3106.50 - - - - - - - - - 15.99 -
9494.79 795.16 -6.38 1185 9499.46 roll -1.35 - - 2003.44 - 2.96 0.086 3426.31 398.5 -82.73 - - 3105.69 - - - - - - - - - 15.86 -
9677.56 807.27 -6.44 1211 9682.17 roll -1.35 - - 2004.06 - 2.54 0.021 2246.19 -464.6 -82.73 - - 3104.75 - - - - - - - - - 15.99 -
9994.06 823.34 -4.63 1233 9998.74 roll -1.35 - - 2002.94 - 2.95 0.086 3424.25 399.3 -82.73 - - 3104.88 - - - - - - - - - 15.86 -
10120.57 829.06 -4.76 1252 10135.47 roll -1.35 - - 2004.75 - 2.55 0.021 2243.44 -463.1 -82.73 - - 3104.12 - - - - - - - - - 15.99 -
10449.98 842.43 -4.16 1274 10454.65 roll -1.35 - - 2004.25 - 2.96 0.087 3427.19 399.9 -82.73 - - 3103.25 - - - - - - - - - 15.86 -
10613.32 849.63 -4.43 1298 10618.45 roll -1.35 - - 2004.44 - 2.56 0.021 2245.44 -461.6 -82.73 - - 3103.69 - - - - - - - - - 15.99 -
10932.51 859.09 -3.06 1320 10937.25 roll -1.35 - - 2004.31 - 2.95 0.086 3423.81 399.4 -82.73 - - 3103.59 - - - - - - - - - 15.85 -
11177.07 870.89 -5.35 1355 11181.68 roll -1.35 - - 2004.31 - 2.54 0.021 2248.81 -462.6 -82.73 - - 3104.06 - - - - - - - - - 15.98 -
11493.58 886.16 -5.58 1377 11498.25 roll -1.35 - - 2004.25 - 2.94 0.086 3425.81 400.3 -82.73 - - 3102.69 - - - - - - - - - 15.85 -
11724.34 901.70 -7.24 1411 11739.09 roll -1.35 - - 2004.69 - 2.54 0.022 2247.06 -464.1 -82.73 - - 3102.84 - - - - - - - - - 15.99 -
12053.60 923.09 -5.98 1433 12058.27 roll -1.35 - - 2004.19 - 2.95 0.087 3425.94 399.6 -82.73 - - 3101.66 - - - - - - - - - 15.84 -
12278.78 934.93 -4.25 1466 12284.30 roll -1.35 - - 2003.88 - 2.55 0.022 2240.62 -464.8 -82.73 - - 3103.66 - - - - - - - - - 15.99 -
12598.18 934.92 -1.46 1488 12602.77 roll -1.35 - - 2004.06 - 2.47 0.074 1210.62 -417.0 -82.73 - - 3102.59 - - - - - - - - - 15.87 -
12780 end dive: NO_VERTICAL_VELOCITY
12780 begin apogee
12784.55 934.88 - 1514 12858.62 -0.28 1.77 0.101 2266.00 148.0 0.12 0.193 2164.12 7945.8 - 63.74 2.368 2774.69 -5.1 0.344 - - - - - - 15.86 15.45 10.30
12860 end apogee: CONTROL_FINISHED_OK
12860 begin climb
12860.93 934.93 - 1519 12948.74 1.35 2.62 0.085 2662.12 151.2 3.09 0.091 3344.06 381.9 82.73 68.12 2.285 2437.41 -5.0 0.343 - - - - - - 15.58 15.18 12.15
13178.24 912.54 8.10 1564 13182.86 roll 1.35 - - 2661.75 - 2.60 0.023 2189.25 -444.2 82.73 - - 2430.34 - - - - - - - - - 15.64 -
13494.75 890.85 6.93 1586 13499.43 roll 1.38 - - 2660.44 - 2.94 0.087 3344.19 392.8 82.73 - - 2430.91 - - - - - - - - - 15.75 -
13719.92 872.80 8.21 1619 13725.47 roll 1.38 - - 2661.94 - 2.58 0.024 2188.94 -447.8 82.73 - - 2431.41 - - - - - - - - - 15.83 -
14039.34 847.91 7.53 1641 14044.20 roll 1.40 - - 2661.50 - 2.93 0.087 3344.06 394.2 82.73 - - 2430.19 - - - - - - - - - 15.81 -
14062.33 846.61 7.58 1645 14077.06 roll 1.41 - - 2662.06 - 2.57 0.024 2187.56 -450.0 82.73 - - 2430.12 - - - - - - - - - 15.87 -
14391.56 822.83 6.92 1667 14396.17 done 1.44 - - 2660.94 - 2.57 0.078 1129.62 -411.6 82.73 - - 2429.91 - - - - - - - - - 15.85 -
14533.78 812.94 7.09 1688 14539.37 1.47 0.15 0.099 2699.50 257.1 2.62 0.030 2272.88 436.4 82.73 - - 2428.84 - - - - - - - - 15.75 15.91 -
14853.19 789.65 7.01 1710 14854.52 VBD 1.50 - - 2700.44 - - - 2272.31 - 82.73 - - 2427.34 - - - - - - - - - - -
15168.19 767.32 6.96 1731 15172.84 done 1.53 - - 2699.56 - 2.72 0.092 3346.50 394.9 82.73 - - 2428.97 - - - - - - - - - 15.85 -
15294.66 757.85 7.98 1750 15309.58 done 1.53 - - 2700.12 - 2.57 0.024 2186.00 -451.6 82.73 - - 2429.19 - - - - - - - - - 15.95 -
15624.08 736.95 5.86 1772 15669.85 VBD 1.63 - - 2700.62 - - - 2186.06 - 131.34 39.34 2.105 2238.56 -4.8 0.287 - - - - - - - - 11.03
15984.09 710.41 7.59 1796 15988.77 roll back 1.65 0.19 0.088 2740.00 207.3 2.58 0.078 1129.44 -409.5 131.34 - - 2233.88 - - - - - - - - 15.78 15.71 -
16021.29 707.19 8.19 1801 16025.92 roll 1.65 - - 2740.00 - 2.63 0.030 2272.62 434.7 131.34 - - 2233.06 - - - - - - - - - 15.83 -
16337.98 682.88 7.78 1823 16342.68 roll 1.66 - - 2739.94 - 2.78 0.073 1130.94 -410.7 131.34 - - 2233.75 - - - - - - - - - 15.84 -
16458.14 673.15 8.11 1840 16462.77 roll 1.66 - - 2740.44 - 2.62 0.030 2270.88 435.1 131.34 - - 2232.72 - - - - - - - - - 15.88 -
16774.63 649.63 7.39 1862 16779.28 roll 1.68 - - 2740.75 - 2.77 0.072 1129.69 -412.0 131.34 - - 2232.12 - - - - - - - - - 15.86 -
16896.16 640.18 7.92 1880 16901.69 roll 1.69 - - 2740.81 - 2.61 0.030 2272.31 437.8 131.34 - - 2231.81 - - - - - - - - - 15.92 -
17215.56 616.02 7.55 1902 17220.20 roll 1.71 - - 2740.94 - 2.75 0.072 1130.81 -415.1 131.34 - - 2231.94 - - - - - - - - - 15.88 -
17294.25 609.73 7.94 1913 17298.86 roll 1.72 - - 2740.75 - 2.60 0.030 2272.94 439.3 131.34 - - 2232.47 - - - - - - - - - 15.93 -
17610.75 587.79 6.59 1935 17615.39 roll 1.76 - - 2740.19 - 2.76 0.072 1130.06 -414.1 131.34 - - 2231.81 - - - - - - - - - 15.88 -
17675.03 583.60 7.05 1945 17689.93 done 1.79 - - 2740.38 - 2.60 0.030 2273.25 439.7 131.34 - - 2231.28 - - - - - - - - - 15.95 -
18004.44 561.57 6.25 1967 18050.09 1.87 0.25 0.075 2796.19 223.2 - - 2273.69 - 172.51 33.52 1.876 2071.97 -4.8 0.241 - - - - - - 15.93 - 11.15
18364.44 525.95 10.64 1991 18369.08 roll 1.87 - - 2795.44 - 2.78 0.072 1131.00 -411.0 172.51 - - 2065.38 - - - - - - - - - 15.83 -
18485.93 512.12 11.63 2009 18491.47 roll 1.87 - - 2796.62 - 2.62 0.030 2271.25 435.2 172.51 - - 2065.56 - - - - - - - - - 15.88 -
18792.88 478.85 10.83 2035 18797.52 roll 1.87 - - 2796.12 - 2.76 0.072 1129.62 -413.6 172.51 - - 2064.38 - - - - - - - - - 15.85 -
18940.23 462.25 11.12 2054 18944.86 roll 1.87 - - 2795.50 - 2.62 0.030 2272.88 436.4 172.51 - - 2064.25 - - - - - - - - - 15.90 -
19252.08 430.65 10.24 2083 19263.16 no move 1.87 - - 2796.44 - - - 2272.88 - 172.51 - - 2064.56 - - - - - - - - - - -
19564.77 400.43 10.00 2112 19569.41 roll 1.87 - - 2795.44 - 2.77 0.072 1129.81 -412.7 172.51 - - 2064.59 - - - - - - - - - 15.88 -
19666.24 389.50 10.85 2126 19681.17 roll 1.87 - - 2796.69 - 2.60 0.030 2272.56 439.5 172.51 - - 2063.62 - - - - - - - - - 15.94 -
19982.62 357.73 10.08 2155 19987.26 roll 1.87 - - 2796.56 - 2.74 0.071 1129.50 -417.2 172.51 - - 2063.19 - - - - - - - - - 15.88 -
20098.47 345.24 10.88 2170 20103.28 done 1.87 - - 2796.31 - 2.61 0.030 2272.12 437.8 172.51 - - 2063.16 - - - - - - - - - 15.95 -
20410.85 314.55 9.38 2199 20415.47 done 1.87 - - 2795.56 - 2.68 0.090 3346.81 401.0 172.51 - - 2064.03 - - - - - - - - - 15.87 -
20479.52 307.23 10.34 2208 20484.13 done 1.87 - - 2795.31 - 2.56 0.023 2184.94 -453.9 172.51 - - 2063.62 - - - - - - - - - 15.95 -
20787.56 276.61 10.29 2260 20793.08 done 1.87 - - 2797.00 - 2.54 0.076 1129.88 -415.4 172.51 - - 2063.50 - - - - - - - - - 15.88 -
20862.58 268.76 10.16 2275 20868.13 done 1.87 - - 2796.31 - 2.59 0.029 2275.19 442.2 172.51 - - 2062.91 - - - - - - - - - 15.95 -
21172.69 240.37 9.28 2337 21178.25 done 1.87 - - 2796.62 - 2.75 0.070 1131.12 -416.0 172.51 - - 2063.41 - - - - - - - - - 15.88 -
21392.75 218.26 10.04 2381 21398.29 done 1.87 - - 2797.06 - 2.60 0.029 2276.31 440.5 172.51 - - 2063.25 - - - - - - - - - 15.95 -
21702.84 187.84 10.08 2443 21708.59 done 1.87 - - 2796.50 - 2.76 0.070 1128.81 -415.8 172.51 - - 2063.59 - - - - - - - - - 15.88 -
21733.02 184.66 10.56 2449 21738.40 done 1.87 - - 2796.75 - 2.61 0.029 2275.19 439.2 172.51 - - 2064.31 - - - - - - - - - 15.95 -
22042.93 155.40 9.65 2511 22048.48 done 1.87 - - 2796.62 - 2.76 0.069 1129.00 -415.3 172.51 - - 2063.09 - - - - - - - - - 15.88 -
22147.94 144.84 9.87 2532 22153.47 done 1.87 - - 2796.19 - 2.58 0.028 2273.69 443.7 172.51 - - 2064.06 - - - - - - - - - 15.96 -
22458.01 120.76 6.73 2594 22463.54 done 1.90 - - 2795.88 - 2.65 0.088 3347.00 405.0 172.51 - - 2063.12 - - - - - - - - - 15.86 -
22693.03 102.22 7.26 2641 22698.55 done 1.93 - - 2795.44 - 2.56 0.022 2182.25 -455.0 172.51 - - 2064.03 - - - - - - - - - 15.96 -
23003.07 86.96 4.01 2703 23071.76 2.09 0.25 0.072 2851.62 224.7 2.55 0.076 1128.81 -413.1 255.64 62.78 1.284 1731.38 -5.3 0.061 - - - - - - 15.93 15.64 10.92
23259.00 69.09 7.20 2754 23264.53 done 2.12 - - 2851.69 - 2.62 0.027 2276.62 438.1 255.64 - - 1724.22 - - - - - - - - - 15.80 -
23449.02 57.67 6.10 2792 23484.68 VBD 2.21 - - 2851.56 - - - 2276.62 - 299.65 33.87 1.189 1553.41 -5.0 0.041 - - - - - - - - 11.49
23669.04 39.73 9.17 2836 23674.84 roll 2.21 - - 2851.00 - 2.80 0.069 1129.94 -409.5 299.65 - - 1546.31 - - - - - - - - - 15.78 -
23739.05 32.02 11.12 2850 23744.60 roll 2.21 - - 2851.94 - 2.62 0.028 2274.19 436.7 299.65 - - 1545.38 - - - - - - - - - 15.79 -
23929.08 22.17 3.70 2888 24001.72 2.38 0.35 0.067 2919.81 193.9 2.80 0.070 1130.81 -408.4 388.50 67.35 1.163 1191.84 -5.2 0.017 - - - - - - 15.80 15.55 11.52
24044.38 14.54 10.34 2911 24049.75 roll 2.38 - - 2920.44 - 2.63 0.027 2274.06 434.7 388.50 - - 1187.28 - - - - - - - - - 15.68 -
24134 end climb: SURFACE_DEPTH_REACHED
24134 begin surface coast
24169 end surface coast: CONTROL_FINISHED_OK
24170 begin surface
SM 0.30 - - - - 182.9 28.45 1.107 1042.8 36.7 17.16 0.053 1021.9 59.6 - 0.12 0.119 1063.8 8843.1 -2.279 - - 11.63 15.67 15.70 -