NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 786 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 270.44 of 550.00 AH used of 24V (50.83% remains)
• Surface angle -60.9 deg, depth 0.67 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• VBD pumped to 424.85 (SM_CC=425)
• GPS1 time: 46 s
• GPS2 time: 3 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
5.51 - - - 77.13 VBD -1.35 - - 181.88 - - - 2251.62 - -82.73 70.49 0.005 2823.81 - - - - - - - - - - 15.01
78.25 3.68 -5.28 13 109.99 -1.35 14.69 0.241 1994.38 123.4 3.01 0.086 3429.00 391.2 -82.73 6.08 0.008 3113.22 47.6 -3.727 - - - - - - 15.42 15.04 15.17
337.13 51.99 -18.55 65 342.88 roll -1.35 - - 1993.94 - 2.61 0.018 2253.00 -450.6 -82.73 - - 3114.88 - - - - - - - - - 15.80 -
527.71 74.53 -10.38 103 529.04 no move -1.35 - - 1994.56 - - - 2250.75 - -82.73 - - 3112.59 - - - - - - - - - - -
712.47 93.39 -9.37 140 717.86 roll -1.35 - - 1993.81 - 2.95 0.077 3425.81 398.3 -82.73 - - 3113.31 - - - - - - - - - 15.82 -
742.27 96.25 -9.38 146 747.80 roll -1.35 - - 1994.31 - 2.57 0.018 2249.12 -457.9 -82.73 - - 3113.78 - - - - - - - - - 15.87 -
932.70 112.54 -8.35 184 937.91 roll -1.35 - - 1994.00 - 2.96 0.078 3426.44 397.7 -82.73 - - 3113.72 - - - - - - - - - 15.84 -
1042.33 122.81 -9.53 206 1047.86 roll -1.35 - - 1994.00 - 2.54 0.018 2258.12 -460.0 -82.73 - - 3115.47 - - - - - - - - - 15.90 -
1352.38 148.18 -8.21 268 1357.97 roll -1.35 - - 1994.31 - 2.93 0.078 3427.69 399.2 -82.73 - - 3114.44 - - - - - - - - - 15.88 -
1392.38 151.92 -9.34 276 1397.91 roll -1.35 - - 1994.12 - 2.54 0.018 2259.62 -459.9 -82.73 - - 3114.19 - - - - - - - - - 15.92 -
1702.44 178.40 -8.09 338 1703.77 no move -1.35 - - 1994.06 - - - 2258.81 - -82.73 - - 3113.22 - - - - - - - - - - -
2007.53 204.06 -8.46 399 2008.86 no move -1.35 - - 1994.00 - - - 2259.50 - -82.73 - - 3113.22 - - - - - - - - - - -
2312.52 228.86 -7.88 460 2318.12 roll -1.35 - - 1994.12 - 2.94 0.080 3427.31 397.2 -82.73 - - 3114.44 - - - - - - - - - 15.91 -
2372.52 234.04 -8.79 472 2377.65 roll -1.35 - - 1993.94 - 2.50 0.019 2265.81 -464.6 -82.73 - - 3115.78 - - - - - - - - - 15.96 -
2682.59 258.61 -8.07 534 2688.17 roll -1.35 - - 1994.12 - 2.92 0.081 3427.75 397.9 -82.73 - - 3115.09 - - - - - - - - - 15.92 -
2727.58 262.66 -9.11 543 2733.11 roll -1.35 - - 1992.88 - 2.51 0.019 2269.50 -461.5 -82.73 - - 3115.12 - - - - - - - - - 15.97 -
3037.63 287.74 -8.49 605 3038.96 no move -1.35 - - 1994.06 - - - 2269.94 - -82.73 - - 3113.00 - - - - - - - - - - -
3345.83 312.53 -7.68 649 3350.51 roll -1.35 - - 1994.00 - 2.91 0.082 3429.38 398.4 -82.73 - - 3113.72 - - - - - - - - - 15.92 -
3431.79 320.00 -8.81 661 3446.30 roll -1.35 - - 1993.81 - 2.49 0.019 2272.81 -464.5 -82.73 - - 3113.81 - - - - - - - - - 16.00 -
3748.56 342.42 -6.89 690 3753.17 roll -1.35 - - 1993.94 - 2.57 0.064 1207.31 -414.6 -82.73 - - 3115.06 - - - - - - - - - 15.97 -
3817.22 347.72 -7.60 699 3821.87 roll -1.35 - - 1994.44 - 2.72 0.029 2388.00 434.1 -82.73 - - 3111.41 - - - - - - - - - 16.00 -
4129.18 372.92 -8.35 728 4133.81 roll -1.35 - - 1994.12 - 2.61 0.087 3425.62 397.6 -82.73 - - 3115.06 - - - - - - - - - 15.93 -
4183.47 377.96 -9.20 736 4197.97 roll -1.35 - - 1993.12 - 2.49 0.019 2271.25 -463.6 -82.73 - - 3113.91 - - - - - - - - - 16.00 -
4499.62 403.86 -7.55 765 4510.69 no move -1.35 - - 1994.69 - - - 2270.75 - -82.73 - - 3112.66 - - - - - - - - - - -
4812.31 425.75 -6.80 794 4823.40 no move -1.35 - - 1994.12 - - - 2270.81 - -82.73 - - 3112.19 - - - - - - - - - - -
5125.78 450.87 -8.60 823 5130.55 roll -1.35 - - 1994.19 - 2.92 0.084 3428.75 396.6 -82.73 - - 3112.53 - - - - - - - - - 15.91 -
5227.27 460.47 -9.62 837 5241.77 roll -1.35 - - 1994.44 - 2.48 0.019 2276.06 -464.8 -82.73 - - 3112.84 - - - - - - - - - 16.01 -
5543.43 487.66 -8.74 866 5554.50 no move -1.35 - - 1994.12 - - - 2275.62 - -82.73 - - 3110.97 - - - - - - - - - - -
5860.10 512.57 -7.48 891 5864.71 roll -1.35 - - 1993.88 - 2.60 0.065 1209.56 -410.0 -82.73 - - 3109.81 - - - - - - - - - 15.96 -
5919.38 517.00 -7.59 900 5925.14 roll -1.35 - - 1994.19 - 2.76 0.029 2396.56 430.1 -82.73 - - 3111.06 - - - - - - - - - 16.01 -
6238.96 540.26 -7.37 922 6240.29 no move -1.35 - - 1994.25 - - - 2396.94 - -82.73 - - 3109.34 - - - - - - - - - - -
6553.81 564.39 -7.62 943 6555.14 no move -1.35 - - 1993.81 - - - 2396.69 - -82.73 - - 3108.69 - - - - - - - - - - -
6868.82 587.60 -7.05 964 6873.48 roll -1.35 - - 1994.19 - 2.89 0.059 1209.44 -410.8 -82.73 - - 3108.47 - - - - - - - - - 15.96 -
7016.07 598.64 -7.94 986 7031.01 roll -1.35 - - 1993.56 - 2.74 0.030 2390.88 431.2 -82.73 - - 3109.97 - - - - - - - - - 16.02 -
7345.60 621.65 -6.56 1008 7350.27 roll -1.35 - - 1994.06 - 2.89 0.060 1210.75 -408.3 -82.73 - - 3107.41 - - - - - - - - - 15.95 -
7384.14 624.27 -6.79 1014 7389.72 roll -1.35 - - 1993.88 - 2.73 0.029 2388.94 431.6 -82.73 - - 3108.28 - - - - - - - - - 16.02 -
7703.58 645.61 -6.42 1036 7708.24 roll -1.35 - - 1994.00 - 2.87 0.060 1208.44 -411.3 -82.73 - - 3110.59 - - - - - - - - - 15.95 -
7788.60 651.28 -7.12 1049 7803.55 roll -1.35 - - 1994.56 - 2.71 0.029 2380.50 432.5 -82.73 - - 3108.09 - - - - - - - - - 16.02 -
8118.02 677.42 -8.08 1071 8122.68 roll -1.35 - - 1994.31 - 2.86 0.060 1210.25 -409.2 -82.73 - - 3108.44 - - - - - - - - - 15.94 -
8177.51 682.28 -8.27 1080 8183.07 roll -1.35 - - 1993.69 - 2.69 0.029 2377.94 434.1 -82.73 - - 3108.72 - - - - - - - - - 16.02 -
8497.11 705.60 -6.85 1102 8501.83 roll -1.35 - - 1994.12 - 2.83 0.060 1209.31 -412.9 -82.73 - - 3106.34 - - - - - - - - - 15.94 -
8556.39 709.82 -7.11 1111 8561.94 roll -1.35 - - 1993.06 - 2.68 0.029 2373.50 434.4 -82.73 - - 3109.41 - - - - - - - - - 16.02 -
8875.80 732.07 -6.99 1133 8880.42 roll -1.35 - - 1993.25 - 2.67 0.092 3427.38 394.7 -82.73 - - 3108.19 - - - - - - - - - 15.89 -
8935.09 736.66 -7.67 1142 8940.62 roll -1.35 - - 1994.12 - 2.53 0.020 2262.88 -460.3 -82.73 - - 3108.38 - - - - - - - - - 16.01 -
9254.50 758.83 -7.66 1164 9259.11 roll -1.35 - - 1993.94 - 2.56 0.067 1209.88 -411.3 -82.73 - - 3108.97 - - - - - - - - - 15.93 -
9355.26 767.23 -8.45 1179 9360.82 roll -1.35 - - 1994.06 - 2.69 0.030 2368.88 430.9 -82.73 - - 3106.69 - - - - - - - - - 16.01 -
9674.68 790.31 -6.97 1201 9679.34 roll -1.35 - - 1993.88 - 2.82 0.061 1209.38 -411.2 -82.73 - - 3106.75 - - - - - - - - - 15.93 -
9796.18 799.14 -7.37 1219 9801.73 roll -1.35 - - 1993.81 - 2.66 0.029 2359.19 432.3 -82.73 - - 3106.72 - - - - - - - - - 16.01 -
10115.59 820.72 -6.65 1241 10120.23 roll -1.35 - - 1993.38 - 2.79 0.061 1209.50 -412.1 -82.73 - - 3106.19 - - - - - - - - - 15.93 -
10195.60 826.13 -6.84 1253 10201.33 roll -1.35 - - 1993.94 - 2.65 0.029 2354.94 432.2 -82.73 - - 3105.06 - - - - - - - - - 16.01 -
10515.20 847.22 -6.12 1275 10519.84 roll -1.35 - - 1992.94 - 2.80 0.061 1208.31 -409.5 -82.73 - - 3106.88 - - - - - - - - - 15.92 -
10616.26 853.93 -6.72 1290 10621.82 roll -1.35 - - 1994.19 - 2.64 0.029 2353.00 433.6 -82.73 - - 3105.28 - - - - - - - - - 16.00 -
10935.67 875.13 -7.04 1312 10940.33 roll -1.35 - - 1993.88 - 2.78 0.062 1207.88 -411.9 -82.73 - - 3103.34 - - - - - - - - - 15.92 -
10993.59 879.42 -7.31 1320 10998.22 roll -1.35 - - 1993.88 - 2.62 0.029 2343.38 433.4 -82.73 - - 3103.88 - - - - - - - - - 16.00 -
11310.11 890.10 -2.02 1342 11314.75 roll -1.35 - - 1994.00 - 2.78 0.065 1209.19 -408.0 -82.73 - - 3106.97 - - - - - - - - - 15.91 -
11554.68 890.11 -0.81 1377 11559.29 roll -1.35 - - 1993.88 - 2.56 0.030 2319.44 433.7 -82.73 - - 3104.97 - - - - - - - - - 16.00 -
11615 end dive: NO_VERTICAL_VELOCITY
11616 begin apogee
11618.05 890.12 - 1382 11694.16 -0.28 1.77 0.102 2257.50 148.9 0.16 0.159 2157.50 -1012.1 - 65.23 2.288 2773.94 -5.1 0.336 - - - - - - 15.89 15.39 10.33
11695 end apogee: CONTROL_FINISHED_OK
11696 begin climb
11696.67 890.25 - 1387 11784.02 1.35 2.67 0.105 2650.00 147.0 2.69 0.086 3204.50 389.2 82.73 68.30 2.226 2438.31 -4.9 0.335 - - - - - - 15.52 15.61 11.89
12013.88 873.32 6.52 1432 12018.51 roll 1.39 - - 2649.38 - 2.64 0.025 2056.25 -434.9 82.73 - - 2433.38 - - - - - - - - - 15.66 -
12330.37 856.39 5.41 1454 12395.02 1.50 0.20 0.090 2694.62 226.2 2.94 0.084 3202.00 389.7 139.71 47.80 2.205 2206.53 -4.7 0.314 - - - - - - 15.75 15.37 11.46
12480.21 843.82 9.16 1476 12485.59 roll 1.50 - - 2694.62 - 2.62 0.025 2062.00 -435.1 139.71 - - 2202.66 - - - - - - - - - 15.64 -
12799.45 815.22 8.75 1498 12804.10 roll 1.50 - - 2694.44 - 2.70 0.084 992.56 -396.1 139.71 - - 2197.66 - - - - - - - - - 15.76 -
12878.29 807.66 9.51 1509 12882.93 roll 1.50 - - 2694.69 - 2.65 0.025 2138.44 432.4 139.71 - - 2197.03 - - - - - - - - - 15.80 -
13194.88 779.82 8.65 1531 13199.51 roll 1.50 - - 2694.50 - 2.70 0.085 3205.44 395.2 139.71 - - 2198.88 - - - - - - - - - 15.82 -
13252.82 774.59 8.87 1539 13257.44 done 1.50 - - 2694.50 - 2.58 0.025 2061.88 -443.2 139.71 - - 2199.38 - - - - - - - - - 15.86 -
13569.32 749.30 7.60 1561 13573.96 done 1.52 - - 2695.12 - 2.65 0.084 993.94 -403.0 139.71 - - 2195.25 - - - - - - - - - 15.84 -
13648.01 742.86 8.11 1572 13652.64 done 1.52 - - 2694.50 - 2.63 0.026 2140.25 435.9 139.71 - - 2197.03 - - - - - - - - - 15.90 -
13964.50 720.49 7.03 1594 13965.84 VBD 1.55 - - 2694.88 - - - 2140.25 - 139.71 - - 2195.25 - - - - - - - - - - -
14279.50 698.39 7.16 1615 14284.17 done 1.57 - - 2694.62 - 2.90 0.079 993.62 -395.4 139.71 - - 2195.84 - - - - - - - - - 15.87 -
14338.80 693.68 7.93 1624 14344.33 done 1.58 - - 2694.44 - 2.62 0.025 2137.25 436.5 139.71 - - 2196.31 - - - - - - - - - 15.95 -
14658.23 668.31 7.62 1646 14662.88 done 1.60 - - 2695.00 - 2.70 0.085 3206.00 395.8 139.71 - - 2195.34 - - - - - - - - - 15.88 -
14784.73 658.05 8.67 1665 14799.83 done 1.60 - - 2694.69 - 2.57 0.025 2066.94 -443.2 139.71 - - 2195.50 - - - - - - - - - 15.96 -
15114.28 632.22 7.71 1687 15115.62 VBD 1.61 - - 2694.81 - - - 2067.12 - 139.71 - - 2195.28 - - - - - - - - - - -
15429.20 607.73 7.62 1708 15433.87 done 1.63 - - 2694.00 - 2.87 0.082 3205.12 396.5 139.71 - - 2198.09 - - - - - - - - - 15.89 -
15487.14 602.97 8.06 1716 15491.76 done 1.63 - - 2694.88 - 2.57 0.025 2063.94 -444.0 139.71 - - 2194.03 - - - - - - - - - 15.97 -
15803.64 581.26 6.44 1738 15840.06 1.71 0.25 0.083 2742.25 189.5 - - 2063.81 - 177.39 30.98 1.902 2053.03 -4.6 0.237 - - - - - - 15.94 - 10.87
16154.38 548.84 9.59 1763 16159.01 roll 1.71 - - 2742.81 - 2.69 0.084 993.69 -397.8 177.39 - - 2045.12 - - - - - - - - - 15.82 -
16233.06 540.52 10.46 1774 16237.69 roll 1.71 - - 2742.69 - 2.63 0.026 2137.06 434.7 177.39 - - 2044.44 - - - - - - - - - 15.88 -
16549.54 509.68 9.79 1796 16554.20 roll 1.71 - - 2742.62 - 2.88 0.079 992.44 -397.4 177.39 - - 2043.84 - - - - - - - - - 15.85 -
16607.47 503.52 10.36 1804 16612.11 roll 1.71 - - 2742.75 - 2.61 0.026 2131.94 436.6 177.39 - - 2044.06 - - - - - - - - - 15.91 -
16922.67 474.47 9.60 1833 16933.75 no move 1.71 - - 2742.50 - - - 2132.44 - 177.39 - - 2044.78 - - - - - - - - - - -
17235.61 445.95 9.16 1862 17240.44 roll 1.71 - - 2742.69 - 2.71 0.085 3206.62 396.4 177.39 - - 2042.44 - - - - - - - - - 15.87 -
17305.80 439.06 9.88 1872 17320.56 roll 1.71 - - 2742.88 - 2.62 0.025 2053.44 -440.1 177.39 - - 2046.69 - - - - - - - - - 15.96 -
17621.83 412.25 8.78 1901 17626.46 roll 1.71 - - 2743.25 - 2.68 0.083 993.88 -395.4 177.39 - - 2043.28 - - - - - - - - - 15.87 -
17707.92 404.27 9.43 1913 17722.84 roll 1.71 - - 2743.19 - 2.58 0.025 2121.25 437.0 177.39 - - 2046.97 - - - - - - - - - 15.97 -
18024.09 377.16 8.55 1942 18028.76 done 1.71 - - 2743.06 - 2.87 0.079 992.31 -393.4 177.39 - - 2042.72 - - - - - - - - - 15.87 -
18092.76 370.82 9.14 1951 18097.37 roll 1.71 - - 2743.56 - 2.55 0.025 2113.31 439.6 177.39 - - 2044.03 - - - - - - - - - 15.97 -
18404.64 346.42 7.81 1980 18409.29 done 1.72 - - 2742.56 - 2.73 0.083 3204.69 399.8 177.39 - - 2045.50 - - - - - - - - - 15.88 -
18443.18 343.19 8.28 1986 18458.12 done 1.72 - - 2743.88 - 2.65 0.025 2035.62 -441.2 177.39 - - 2043.62 - - - - - - - - - 15.97 -
18759.78 317.36 7.83 2015 18770.85 VBD 1.73 - - 2743.00 - - - 2036.12 - 177.39 - - 2043.69 - - - - - - - - - - -
19072.63 291.64 8.66 2054 19073.96 VBD 1.73 - - 2743.50 - - - 2035.94 - 177.39 - - 2042.41 - - - - - - - - - - -
19377.77 267.01 8.07 2115 19383.30 done 1.73 - - 2743.12 - 2.93 0.079 3205.75 399.3 177.39 - - 2043.72 - - - - - - - - - 15.87 -
19402.71 264.88 8.31 2120 19408.27 done 1.73 - - 2743.44 - 2.64 0.024 2041.19 -441.1 177.39 - - 2043.75 - - - - - - - - - 15.96 -
19712.84 240.82 7.93 2182 19718.44 done 1.74 - - 2741.81 - 2.90 0.079 3205.38 401.4 177.39 - - 2044.09 - - - - - - - - - 15.87 -
19757.84 237.11 8.24 2191 19763.39 done 1.74 - - 2743.94 - 2.63 0.024 2040.62 -442.9 177.39 - - 2043.38 - - - - - - - - - 15.96 -
20067.97 214.12 7.22 2253 20073.50 done 1.77 - - 2743.38 - 2.62 0.082 993.94 -399.5 177.39 - - 2043.31 - - - - - - - - - 15.86 -
20202.99 203.04 8.36 2280 20208.51 done 1.77 - - 2743.12 - 2.53 0.024 2114.56 442.9 177.39 - - 2043.53 - - - - - - - - - 15.96 -
20513.10 181.39 7.12 2342 20518.85 done 1.79 - - 2743.69 - 2.82 0.077 992.19 -398.0 177.39 - - 2044.62 - - - - - - - - - 15.86 -
20558.29 177.83 7.90 2351 20563.63 done 1.81 - - 2743.31 - 2.54 0.024 2116.75 442.7 177.39 - - 2043.34 - - - - - - - - - 15.97 -
20868.22 155.48 7.11 2413 20873.75 done 1.83 - - 2742.75 - 2.79 0.077 992.19 -403.1 177.39 - - 2043.41 - - - - - - - - - 15.87 -
20933.23 150.78 7.32 2426 20938.81 1.85 0.16 0.093 2782.94 251.2 2.53 0.024 2116.00 444.2 177.39 - - 2043.38 - - - - - - - - 15.80 15.97 -
21243.32 127.20 7.17 2488 21248.84 done 1.88 - - 2782.50 - 2.69 0.081 3205.56 405.0 177.39 - - 2044.75 - - - - - - - - - 15.87 -
21333.32 120.60 7.16 2506 21338.86 done 1.91 - - 2782.25 - 2.63 0.024 2033.25 -445.7 177.39 - - 2045.16 - - - - - - - - - 15.96 -
21643.36 103.24 5.08 2568 21697.69 2.03 0.17 0.087 2824.31 247.4 2.92 0.078 3205.75 401.5 240.49 49.07 1.286 1792.91 -5.1 0.070 - - - - - - 15.93 15.59 10.77
21800.44 91.16 8.59 2599 21805.36 roll 2.03 - - 2823.06 - 2.63 0.023 2049.00 -439.8 240.49 - - 1791.84 - - - - - - - - - 15.83 -
21989.88 77.96 6.42 2637 22021.51 VBD 2.11 - - 2824.38 - - - 2048.75 - 278.65 30.19 1.202 1639.38 -5.1 0.056 - - - - - - - - 11.43
22204.96 62.48 6.96 2680 22210.55 roll 2.14 - - 2825.00 - 2.92 0.076 3204.88 395.9 278.65 - - 1632.62 - - - - - - - - - 15.78 -
22440.03 53.75 2.30 2727 22533.39 2.37 0.44 0.065 2905.81 183.7 2.61 0.023 2048.62 -443.0 393.62 87.25 1.200 1170.84 -5.3 0.040 - - - - - - 15.73 15.85 11.37
22715.50 32.41 9.42 2782 22721.10 roll 2.37 - - 2906.19 - 2.93 0.075 3206.38 395.1 393.62 - - 1163.03 - - - - - - - - - 15.70 -
22856.13 17.24 11.44 2810 22861.05 done 2.37 - - 2905.81 - 2.59 0.024 2072.31 -437.9 393.62 - - 1161.53 - - - - - - - - - 15.75 -
22980 end climb: SURFACE_DEPTH_REACHED
22980 begin surface coast
23020 end surface coast: CONTROL_FINISHED_OK
23020 begin surface
SM 1.27 - - - - 178.2 24.04 1.096 1043.0 43.4 16.95 0.053 1011.8 59.7 - 0.60 0.047 1074.3 1786.2 -4.933 - - 11.36 15.75 15.79 -