NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 915 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 321.36 of 550.00 AH used of 24V (41.57% remains)
• Surface angle -63.3 deg, depth 0.55 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 41 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
5.66 - - - 77.14 VBD -1.35 - - 178.25 - - - 2236.50 - -82.73 70.29 0.005 2737.75 - - - - - - - - - - 14.97
78.25 3.37 -4.93 13 106.77 -1.35 14.84 0.243 1993.56 122.3 - - 2236.69 - -82.73 8.56 0.007 3110.56 43.6 -3.584 - - - - - - 15.42 - 15.11
288.90 36.11 -14.47 55 294.52 roll -1.35 - - 1994.38 - 3.06 0.078 3428.12 389.4 -82.73 - - 3111.59 - - - - - - - - - 15.78 -
343.92 44.81 -16.06 66 349.45 roll -1.35 - - 1994.56 - 2.60 0.018 2250.31 -453.0 -82.73 - - 3113.06 - - - - - - - - - 15.83 -
534.62 70.97 -11.30 104 539.60 roll -1.35 - - 1994.19 - 3.01 0.077 3426.81 390.9 -82.73 - - 3112.75 - - - - - - - - - 15.82 -
568.99 75.03 -11.60 111 574.53 roll -1.35 - - 1994.56 - 2.55 0.018 2261.94 -456.8 -82.73 - - 3113.28 - - - - - - - - - 15.87 -
759.45 95.20 -9.44 149 760.78 no move -1.35 - - 1994.38 - - - 2260.06 - -82.73 - - 3111.12 - - - - - - - - - - -
944.12 111.95 -8.63 186 949.73 roll -1.35 - - 1994.31 - 2.96 0.078 3425.75 393.8 -82.73 - - 3112.78 - - - - - - - - - 15.87 -
999.14 117.49 -10.12 197 1004.68 roll -1.35 - - 1994.62 - 2.51 0.017 2269.19 -460.8 -82.73 - - 3112.22 - - - - - - - - - 15.91 -
1309.25 143.27 -8.29 259 1314.77 roll -1.35 - - 1994.50 - 2.56 0.062 1208.88 -414.2 -82.73 - - 3112.78 - - - - - - - - - 15.93 -
1344.25 146.28 -8.56 266 1349.82 roll -1.35 - - 1994.56 - 2.71 0.026 2381.81 432.8 -82.73 - - 3112.56 - - - - - - - - - 15.95 -
1654.37 171.98 -8.73 328 1659.95 roll -1.35 - - 1994.75 - 2.86 0.056 1208.06 -410.4 -82.73 - - 3112.84 - - - - - - - - - 15.94 -
1689.37 175.14 -8.98 335 1694.94 roll -1.35 - - 1994.31 - 2.71 0.026 2384.19 434.0 -82.73 - - 3112.88 - - - - - - - - - 15.96 -
1999.50 200.96 -8.55 397 2005.02 roll -1.35 - - 1994.38 - 2.87 0.057 1207.75 -409.9 -82.73 - - 3112.78 - - - - - - - - - 15.95 -
2129.45 212.44 -8.94 423 2135.00 roll -1.35 - - 1994.56 - 2.68 0.026 2370.62 433.9 -82.73 - - 3113.56 - - - - - - - - - 15.97 -
2439.51 237.79 -7.68 485 2445.09 roll -1.35 - - 1994.88 - 2.83 0.057 1208.12 -410.8 -82.73 - - 3113.38 - - - - - - - - - 15.96 -
2499.51 242.55 -7.93 497 2505.07 roll -1.35 - - 1994.62 - 2.67 0.026 2364.12 433.0 -82.73 - - 3113.78 - - - - - - - - - 15.97 -
2809.58 264.02 -6.44 559 2815.13 roll -1.35 - - 1994.56 - 2.82 0.058 1209.56 -409.4 -82.73 - - 3113.72 - - - - - - - - - 15.96 -
2879.57 268.80 -6.92 573 2885.13 roll -1.35 - - 1993.81 - 2.66 0.026 2363.06 433.6 -82.73 - - 3115.03 - - - - - - - - - 15.98 -
3189.64 288.15 -6.16 635 3195.38 roll -1.35 - - 1994.44 - 2.81 0.058 1208.31 -410.9 -82.73 - - 3113.34 - - - - - - - - - 15.96 -
3345.15 298.64 -6.85 666 3350.20 roll -1.35 - - 1994.81 - 2.65 0.026 2351.06 431.2 -82.73 - - 3113.66 - - - - - - - - - 16.00 -
3657.23 317.67 -5.97 697 3661.88 roll -1.35 - - 1994.44 - 2.79 0.058 1208.00 -409.7 -82.73 - - 3112.91 - - - - - - - - - 15.97 -
3774.46 325.16 -6.47 713 3789.39 roll -1.35 - - 1994.31 - 2.62 0.026 2338.38 431.4 -82.73 - - 3113.31 - - - - - - - - - 16.02 -
4091.00 343.58 -5.91 742 4095.64 roll -1.35 - - 1994.06 - 2.76 0.059 1209.56 -409.0 -82.73 - - 3114.94 - - - - - - - - - 15.97 -
4129.56 345.91 -6.15 748 4144.46 roll -1.35 - - 1994.50 - 2.60 0.026 2336.00 433.2 -82.73 - - 3112.62 - - - - - - - - - 16.01 -
4445.72 365.37 -6.54 777 4456.79 no move -1.35 - - 1994.62 - - - 2336.31 - -82.73 - - 3112.88 - - - - - - - - - - -
4758.99 385.41 -6.77 806 4763.64 roll -1.35 - - 1994.75 - 2.77 0.060 1207.94 -407.4 -82.73 - - 3111.62 - - - - - - - - - 15.97 -
4860.90 393.36 -7.20 820 4875.82 roll -1.35 - - 1994.69 - 2.60 0.026 2333.44 432.9 -82.73 - - 3112.25 - - - - - - - - - 16.02 -
5177.08 414.93 -6.91 849 5181.90 roll -1.35 - - 1994.31 - 2.79 0.084 3426.31 391.7 -82.73 - - 3112.69 - - - - - - - - - 15.93 -
5214.45 417.76 -7.35 854 5219.08 roll -1.35 - - 1994.12 - 2.64 0.018 2225.31 -454.9 -82.73 - - 3111.91 - - - - - - - - - 16.00 -
5526.45 438.96 -6.92 883 5531.15 roll -1.35 - - 1993.56 - 3.07 0.080 3425.62 391.0 -82.73 - - 3111.69 - - - - - - - - - 15.92 -
5595.12 444.54 -7.98 892 5599.75 roll -1.35 - - 1993.94 - 2.62 0.018 2231.81 -455.7 -82.73 - - 3113.62 - - - - - - - - - 16.00 -
5906.40 466.74 -6.97 921 5910.99 roll -1.35 - - 1994.19 - 2.50 0.066 1210.69 -408.4 -82.73 - - 3112.50 - - - - - - - - - 15.96 -
5943.59 469.49 -7.25 926 5948.22 roll -1.35 - - 1994.69 - 2.61 0.026 2338.75 432.2 -82.73 - - 3111.12 - - - - - - - - - 16.01 -
6255.49 490.50 -6.42 955 6260.14 roll -1.35 - - 1994.38 - 2.78 0.061 1209.25 -406.3 -82.73 - - 3110.06 - - - - - - - - - 15.96 -
6357.00 497.66 -7.20 969 6371.92 roll -1.35 - - 1994.38 - 2.59 0.026 2329.00 432.3 -82.73 - - 3111.75 - - - - - - - - - 16.01 -
6679.13 518.75 -6.34 991 6680.46 no move -1.35 - - 1994.88 - - - 2328.81 - -82.73 - - 3109.41 - - - - - - - - - - -
6994.26 537.56 -5.79 1012 6995.59 no move -1.35 - - 1994.50 - - - 2328.62 - -82.73 - - 3108.94 - - - - - - - - - - -
7309.18 555.00 -5.69 1033 7313.83 roll -1.35 - - 1994.75 - 2.75 0.061 1208.44 -407.3 -82.73 - - 3108.06 - - - - - - - - - 15.95 -
7388.06 560.03 -6.33 1044 7392.73 roll -1.35 - - 1994.69 - 2.59 0.026 2328.94 432.6 -82.73 - - 3111.41 - - - - - - - - - 16.01 -
7704.54 578.71 -5.84 1066 7709.21 roll -1.35 - - 1994.38 - 2.81 0.087 3425.75 390.3 -82.73 - - 3108.25 - - - - - - - - - 15.90 -
7763.84 582.75 -6.67 1075 7769.39 roll -1.35 - - 1994.50 - 2.64 0.019 2220.44 -456.6 -82.73 - - 3110.72 - - - - - - - - - 16.00 -
8083.27 602.67 -6.42 1097 8084.60 no move -1.35 - - 1994.56 - - - 2218.69 - -82.73 - - 3108.16 - - - - - - - - - - -
8398.31 625.33 -7.34 1118 8403.00 roll -1.35 - - 1994.31 - 3.09 0.083 3426.38 390.8 -82.73 - - 3107.62 - - - - - - - - - 15.89 -
8458.01 630.03 -7.87 1127 8463.57 roll -1.35 - - 1994.25 - 2.64 0.019 2224.81 -455.1 -82.73 - - 3109.19 - - - - - - - - - 16.01 -
8777.42 652.81 -7.26 1149 8782.01 roll -1.35 - - 1993.75 - 2.49 0.067 1208.69 -408.1 -82.73 - - 3111.06 - - - - - - - - - 15.94 -
8814.83 655.76 -7.62 1154 8819.44 roll -1.35 - - 1994.38 - 2.58 0.027 2329.00 434.2 -82.73 - - 3107.19 - - - - - - - - - 16.00 -
9131.33 678.76 -7.19 1176 9135.98 roll -1.35 - - 1994.81 - 2.75 0.062 1209.31 -407.2 -82.73 - - 3109.25 - - - - - - - - - 15.94 -
9232.08 686.23 -7.53 1191 9237.80 roll -1.35 - - 1994.38 - 2.57 0.027 2320.69 432.4 -82.73 - - 3107.81 - - - - - - - - - 16.01 -
9551.61 708.10 -6.80 1213 9552.94 no move -1.35 - - 1994.62 - - - 2320.38 - -82.73 - - 3106.72 - - - - - - - - - - -
9866.53 728.77 -6.08 1234 9871.17 roll -1.35 - - 1994.19 - 2.73 0.062 1209.12 -407.1 -82.73 - - 3108.56 - - - - - - - - - 15.93 -
9946.57 733.79 -6.33 1246 9952.10 roll -1.35 - - 1994.62 - 2.57 0.027 2317.69 431.4 -82.73 - - 3107.16 - - - - - - - - - 16.00 -
10265.98 749.53 -3.20 1268 10270.63 roll -1.35 - - 1994.44 - 2.73 0.064 1209.38 -406.0 -82.73 - - 3106.62 - - - - - - - - - 15.93 -
10496.78 749.52 -1.05 1302 10511.69 roll -1.35 - - 1993.38 - 2.55 0.029 2306.00 430.0 -82.73 - - 3107.12 - - - - - - - - - 16.01 -
10630 end dive: NO_VERTICAL_VELOCITY
10630 begin apogee
10633.06 749.50 - 1311 10708.57 -0.28 1.78 0.102 2256.88 148.0 0.17 0.138 2158.81 -865.8 - 65.43 2.096 2775.12 -5.1 0.310 - - - - - - 15.91 15.30 10.50
10710 end apogee: CONTROL_FINISHED_OK
10710 begin climb
10710.99 749.64 - 1316 10798.38 1.35 2.73 0.107 2650.56 144.2 2.73 0.082 3206.44 383.7 82.73 68.16 2.071 2437.25 -5.0 0.307 - - - - - - 15.53 15.63 11.80
10889.10 742.53 5.11 1342 10947.16 1.47 0.17 0.093 2688.19 221.4 2.66 0.023 2054.81 -432.9 145.28 53.19 2.037 2182.03 -4.8 0.299 - - - - - - 15.49 15.57 11.39
11260.36 716.48 7.21 1370 11265.04 roll 1.50 - - 2687.62 - 2.97 0.077 3204.38 387.1 145.28 - - 2175.47 - - - - - - - - - 15.71 -
11339.05 710.23 7.84 1381 11343.68 roll 1.51 - - 2687.88 - 2.61 0.024 2063.75 -437.0 145.28 - - 2174.56 - - - - - - - - - 15.75 -
11655.54 687.35 7.33 1403 11660.17 done 1.53 - - 2688.31 - 2.70 0.084 993.81 -396.3 145.28 - - 2171.94 - - - - - - - - - 15.80 -
11678.36 686.04 7.48 1407 11693.29 done 1.55 - - 2688.31 - 2.68 0.024 2147.50 430.5 145.28 - - 2172.72 - - - - - - - - - 15.86 -
12007.77 660.68 7.50 1429 12012.46 done 1.57 - - 2688.00 - 2.92 0.078 993.44 -395.2 145.28 - - 2170.88 - - - - - - - - - 15.84 -
12067.28 655.85 8.09 1438 12073.02 done 1.57 - - 2687.50 - 2.65 0.024 2138.94 432.3 145.28 - - 2172.28 - - - - - - - - - 15.91 -
12386.88 633.35 7.35 1460 12388.21 VBD 1.59 - - 2688.25 - - - 2139.12 - 145.28 - - 2170.94 - - - - - - - - - - -
12701.72 613.00 6.60 1481 12706.45 1.63 0.17 0.095 2724.00 210.3 2.89 0.079 993.56 -396.4 145.28 - - 2171.22 - - - - - - - - 15.91 15.81 -
12766.04 608.40 7.61 1491 12780.96 done 1.65 - - 2725.31 - 2.65 0.024 2138.50 432.1 145.28 - - 2171.81 - - - - - - - - - 15.95 -
13095.63 583.96 7.10 1513 13100.28 done 1.67 - - 2725.75 - 2.71 0.083 3208.25 394.7 145.28 - - 2169.94 - - - - - - - - - 15.88 -
13134.18 581.13 7.37 1519 13139.70 done 1.70 - - 2725.31 - 2.60 0.024 2059.38 -441.9 145.28 - - 2171.72 - - - - - - - - - 15.97 -
13453.59 559.09 6.36 1541 13497.48 1.77 0.16 0.098 2761.94 228.9 2.94 0.082 3206.25 390.1 184.50 32.49 1.859 2022.19 -4.6 0.237 - - - - - - 15.93 15.50 10.86
13561.76 550.42 8.12 1557 13567.31 roll 1.77 - - 2761.56 - 2.59 0.024 2070.44 -438.5 184.50 - - 2021.38 - - - - - - - - - 15.84 -
13881.20 520.64 9.51 1579 13885.89 roll 1.77 - - 2761.00 - 2.91 0.079 3205.12 389.9 184.50 - - 2018.16 - - - - - - - - - 15.83 -
13940.49 514.63 10.19 1588 13946.22 roll 1.77 - - 2762.06 - 2.56 0.024 2075.88 -441.1 184.50 - - 2017.19 - - - - - - - - - 15.89 -
14256.03 484.21 9.53 1614 14260.69 roll 1.77 - - 2762.19 - 2.72 0.084 992.06 -398.5 184.50 - - 2015.66 - - - - - - - - - 15.84 -
14324.70 477.12 10.22 1623 14329.33 roll 1.77 - - 2762.00 - 2.68 0.025 2149.50 431.9 184.50 - - 2014.53 - - - - - - - - - 15.93 -
14636.71 448.14 9.39 1652 14647.78 no move 1.77 - - 2762.00 - - - 2150.50 - 184.50 - - 2015.62 - - - - - - - - - - -
14949.44 419.98 8.57 1681 14954.13 roll 1.77 - - 2761.69 - 2.90 0.079 993.25 -399.1 184.50 - - 2015.66 - - - - - - - - - 15.87 -
14972.24 417.95 8.91 1685 14987.18 done 1.77 - - 2761.69 - 2.66 0.024 2144.12 432.7 184.50 - - 2016.06 - - - - - - - - - 15.95 -
15289.08 391.28 7.82 1714 15300.15 no move 1.79 - - 2761.94 - - - 2144.38 - 184.50 - - 2015.16 - - - - - - - - - - -
15601.82 367.78 7.25 1743 15606.48 roll 1.81 - - 2762.00 - 2.89 0.078 992.50 -398.6 184.50 - - 2013.75 - - - - - - - - - 15.88 -
15671.86 362.40 7.69 1753 15686.78 done 1.83 - - 2761.94 - 2.64 0.024 2140.94 435.0 184.50 - - 2015.59 - - - - - - - - - 15.98 -
15988.69 340.60 6.62 1782 15993.34 done 1.86 - - 2761.62 - 2.71 0.082 3206.62 393.2 184.50 - - 2014.28 - - - - - - - - - 15.89 -
16058.92 335.34 7.47 1792 16073.70 done 1.88 - - 2762.62 - 2.58 0.024 2066.00 -442.1 184.50 - - 2014.62 - - - - - - - - - 15.98 -
16375.49 311.85 7.08 1821 16380.12 done 1.91 - - 2762.56 - 2.68 0.082 993.31 -400.3 184.50 - - 2013.38 - - - - - - - - - 15.88 -
16414.05 308.94 7.50 1827 16429.03 1.93 0.16 0.093 2801.75 244.9 2.64 0.024 2145.12 436.3 184.50 - - 2014.53 - - - - - - - - 15.83 15.99 -
16733.52 281.71 8.49 1878 16739.08 done 1.93 - - 2801.69 - 2.89 0.077 992.19 -398.9 184.50 - - 2014.53 - - - - - - - - - 15.87 -
16793.51 276.33 9.12 1890 16799.06 done 1.93 - - 2802.19 - 2.62 0.024 2134.00 435.8 184.50 - - 2014.03 - - - - - - - - - 15.98 -
17103.57 251.67 7.77 1952 17109.12 done 1.94 - - 2802.06 - 2.72 0.081 3204.56 393.6 184.50 - - 2014.56 - - - - - - - - - 15.88 -
17138.56 248.57 8.72 1959 17144.09 done 1.94 - - 2801.94 - 2.60 0.024 2050.19 -444.0 184.50 - - 2014.25 - - - - - - - - - 15.96 -
17448.62 223.67 8.31 2021 17454.35 done 1.94 - - 2802.50 - 2.61 0.081 993.75 -404.8 184.50 - - 2013.56 - - - - - - - - - 15.87 -
17478.79 221.01 8.77 2027 17484.15 done 1.94 - - 2802.06 - 2.60 0.024 2127.38 436.0 184.50 - - 2014.50 - - - - - - - - - 15.97 -
17788.66 194.49 8.23 2089 17789.99 VBD 1.94 - - 2802.31 - - - 2127.81 - 184.50 - - 2013.34 - - - - - - - - - - -
18093.72 169.38 7.96 2150 18099.28 done 1.94 - - 2800.94 - 2.84 0.077 993.56 -399.4 184.50 - - 2015.06 - - - - - - - - - 15.87 -
18128.70 166.46 8.23 2157 18134.24 done 1.94 - - 2802.44 - 2.57 0.023 2118.88 437.9 184.50 - - 2013.78 - - - - - - - - - 15.96 -
18438.96 141.64 7.72 2219 18444.32 done 1.96 - - 2802.25 - 2.74 0.079 3205.88 396.7 184.50 - - 2013.78 - - - - - - - - - 15.88 -
18493.77 137.30 7.96 2230 18499.32 done 1.96 - - 2802.19 - 2.64 0.024 2030.00 -445.4 184.50 - - 2013.91 - - - - - - - - - 15.97 -
18803.90 114.88 7.79 2292 18809.47 done 1.97 - - 2802.00 - 2.98 0.076 3206.88 394.9 184.50 - - 2015.53 - - - - - - - - - 15.87 -
18839.06 111.97 8.25 2299 18844.49 done 1.97 - - 2802.50 - 2.62 0.023 2033.44 -447.9 184.50 - - 2013.81 - - - - - - - - - 15.96 -
19149.01 92.07 4.85 2361 19207.34 2.11 0.19 0.086 2843.56 216.1 2.61 0.083 991.00 -399.4 251.95 52.97 1.282 1746.44 -5.0 0.062 - - - - - - 15.94 15.50 10.63
19214.44 88.76 5.07 2374 19271.04 done 2.23 - - 2843.25 - 2.63 0.022 2136.56 435.6 315.23 50.43 1.238 1490.88 -5.1 0.062 - - - - - - - 15.80 11.85
19454.46 69.67 8.22 2422 19460.03 roll 2.23 - - 2843.81 - 2.88 0.076 993.88 -396.8 315.23 - - 1481.75 - - - - - - - - - 15.70 -
19529.46 62.79 8.84 2437 19535.00 done 2.23 - - 2843.12 - 2.59 0.022 2113.81 432.4 315.23 - - 1480.97 - - - - - - - - - 15.76 -
19719.50 51.30 6.32 2475 19756.31 2.31 0.23 0.078 2892.31 213.9 2.84 0.078 994.06 -394.3 355.19 31.75 1.161 1327.22 -4.8 0.037 - - - - - - 15.78 15.45 11.21
19789.60 45.93 8.09 2489 19795.03 roll 2.31 - - 2892.69 - 2.56 0.022 2104.88 433.9 355.19 - - 1324.69 - - - - - - - - - 15.74 -
19979.91 30.34 8.42 2527 19985.09 roll 2.31 - - 2892.38 - 2.80 0.078 3207.19 393.7 355.19 - - 1322.19 - - - - - - - - - 15.76 -
20029.51 25.75 9.39 2537 20035.09 roll 2.31 - - 2892.50 - 2.71 0.024 2012.75 -440.8 355.19 - - 1321.25 - - - - - - - - - 15.80 -
20219.54 9.46 8.23 2575 20225.15 roll 2.31 - - 2891.69 - 3.03 0.074 3207.31 394.2 355.19 - - 1320.81 - - - - - - - - - 15.80 -
20279 end climb: SURFACE_DEPTH_REACHED
20279 begin surface coast
20329 end surface coast: CONTROL_FINISHED_OK
20329 begin surface
SM 0.44 - - - - 179.4 53.51 1.153 1042.7 19.5 16.92 0.055 999.9 59.1 - 2.05 0.019 1085.4 528.0 -1.250 - - 11.25 15.80 15.85 -