NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 686 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 232.71 of 550.00 AH used of 24V (57.69% remains)
• Surface angle -63.9 deg, depth 0.52 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 22 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
5.39 - - - 66.97 VBD -1.35 - - 184.25 - - - 2272.62 - -82.73 60.40 0.005 2539.50 - - - - - - - - - - 15.13
67.71 3.28 -5.93 11 105.05 -1.35 14.72 0.248 2003.44 123.6 2.90 0.084 3430.06 399.1 -82.73 12.76 0.007 3111.81 44.9 -3.555 - - - - - - 15.43 15.10 15.25
332.47 56.50 -15.20 64 337.69 roll -1.35 - - 2004.50 - 2.57 0.019 2249.56 -459.3 -82.73 - - 3113.59 - - - - - - - - - 15.77 -
522.56 79.21 -9.50 102 527.32 roll -1.35 - - 2004.75 - 2.47 0.065 1208.50 -421.5 -82.73 - - 3112.88 - - - - - - - - - 15.81 -
577.32 84.50 -9.67 113 582.76 roll -1.35 - - 2004.56 - 2.62 0.027 2355.19 437.7 -82.73 - - 3113.38 - - - - - - - - - 15.83 -
767.62 101.14 -8.63 151 772.77 roll -1.35 - - 2003.94 - 2.65 0.084 3429.19 405.3 -82.73 - - 3113.50 - - - - - - - - - 15.82 -
817.24 105.66 -9.23 161 822.77 roll -1.35 - - 2004.38 - 2.55 0.019 2240.38 -466.2 -82.73 - - 3113.91 - - - - - - - - - 15.86 -
1127.29 130.60 -7.49 223 1132.89 roll -1.35 - - 2004.88 - 2.92 0.079 3427.31 406.5 -82.73 - - 3113.66 - - - - - - - - - 15.86 -
1332.31 147.76 -9.16 264 1337.85 roll -1.35 - - 2004.81 - 2.54 0.020 2246.12 -465.0 -82.73 - - 3113.97 - - - - - - - - - 15.91 -
1642.36 173.28 -8.27 326 1647.49 roll -1.35 - - 2004.12 - 2.44 0.066 1207.44 -425.7 -82.73 - - 3114.06 - - - - - - - - - 15.91 -
1677.36 176.45 -8.98 333 1682.91 roll -1.35 - - 2004.44 - 2.60 0.027 2355.25 441.5 -82.73 - - 3113.78 - - - - - - - - - 15.93 -
1987.75 203.83 -8.75 395 1993.07 roll -1.35 - - 2004.50 - 2.70 0.060 1206.19 -425.6 -82.73 - - 3113.94 - - - - - - - - - 15.92 -
2077.47 212.07 -9.22 413 2083.01 roll -1.35 - - 2004.75 - 2.60 0.028 2354.88 441.8 -82.73 - - 3114.34 - - - - - - - - - 15.94 -
2387.76 239.69 -9.27 475 2393.12 roll -1.35 - - 2004.75 - 2.69 0.060 1208.25 -426.3 -82.73 - - 3113.91 - - - - - - - - - 15.93 -
2457.60 246.44 -9.60 489 2463.12 roll -1.35 - - 2004.56 - 2.60 0.028 2354.94 441.0 -82.73 - - 3115.34 - - - - - - - - - 15.96 -
2767.71 273.99 -8.11 551 2773.25 roll -1.35 - - 2004.25 - 2.64 0.087 3428.50 406.7 -82.73 - - 3115.25 - - - - - - - - - 15.90 -
2802.71 277.14 -8.86 558 2808.25 roll -1.35 - - 2004.75 - 2.53 0.020 2244.81 -467.9 -82.73 - - 3113.38 - - - - - - - - - 15.96 -
3118.64 304.51 -8.52 615 3129.70 no move -1.35 - - 2004.44 - - - 2244.06 - -82.73 - - 3113.50 - - - - - - - - - - -
3431.34 329.65 -8.27 644 3436.02 roll -1.35 - - 2003.12 - 2.91 0.082 3427.38 406.6 -82.73 - - 3113.78 - - - - - - - - - 15.92 -
3501.57 335.80 -8.85 654 3516.46 roll -1.35 - - 2004.56 - 2.53 0.020 2245.69 -467.1 -82.73 - - 3112.59 - - - - - - - - - 15.99 -
3818.00 361.53 -8.54 683 3829.06 no move -1.35 - - 2004.69 - - - 2245.88 - -82.73 - - 3112.91 - - - - - - - - - - -
4130.69 388.99 -8.80 712 4141.76 no move -1.35 - - 2004.81 - - - 2245.38 - -82.73 - - 3112.69 - - - - - - - - - - -
4444.31 419.42 -10.12 741 4455.37 no move -1.35 - - 2004.69 - - - 2245.31 - -82.73 - - 3112.59 - - - - - - - - - - -
4757.12 449.96 -9.46 770 4768.19 no move -1.35 - - 2004.50 - - - 2245.75 - -82.73 - - 3111.56 - - - - - - - - - - -
5069.84 476.32 -7.80 799 5074.52 roll -1.35 - - 2004.62 - 2.91 0.083 3426.44 405.7 -82.73 - - 3110.69 - - - - - - - - - 15.91 -
5138.51 482.37 -8.61 808 5143.12 roll -1.35 - - 2004.50 - 2.53 0.021 2248.19 -465.7 -82.73 - - 3112.03 - - - - - - - - - 15.99 -
5458.18 508.66 -8.17 835 5459.51 no move -1.35 - - 2004.88 - - - 2247.44 - -82.73 - - 3110.03 - - - - - - - - - - -
5773.18 532.99 -7.68 856 5777.86 roll -1.35 - - 2004.81 - 2.92 0.084 3427.56 404.2 -82.73 - - 3110.03 - - - - - - - - - 15.90 -
5816.72 536.15 -8.11 863 5831.64 roll -1.35 - - 2004.25 - 2.54 0.021 2246.69 -464.9 -82.73 - - 3110.19 - - - - - - - - - 16.00 -
6146.12 559.98 -6.80 885 6150.71 roll -1.35 - - 2003.62 - 2.46 0.069 1208.00 -422.2 -82.73 - - 3109.59 - - - - - - - - - 15.94 -
6246.87 567.27 -7.33 900 6252.59 roll -1.35 - - 2004.62 - 2.60 0.029 2352.62 440.2 -82.73 - - 3109.44 - - - - - - - - - 16.00 -
6566.39 588.99 -7.06 922 6571.04 roll -1.35 - - 2004.38 - 2.72 0.063 1207.56 -421.0 -82.73 - - 3109.66 - - - - - - - - - 15.93 -
6625.67 593.31 -7.32 931 6631.21 roll -1.35 - - 2004.81 - 2.59 0.030 2352.62 442.1 -82.73 - - 3109.91 - - - - - - - - - 16.00 -
6945.07 616.15 -6.86 953 6949.70 roll -1.35 - - 2004.25 - 2.64 0.090 3427.75 407.2 -82.73 - - 3109.00 - - - - - - - - - 15.89 -
6983.62 618.92 -7.17 959 6989.16 roll -1.35 - - 2004.56 - 2.54 0.021 2245.62 -465.4 -82.73 - - 3111.06 - - - - - - - - - 15.99 -
7303.02 639.89 -6.58 981 7307.62 roll -1.35 - - 2004.31 - 2.45 0.069 1208.19 -423.4 -82.73 - - 3108.62 - - - - - - - - - 15.93 -
7383.05 645.68 -7.30 993 7388.59 roll -1.35 - - 2004.19 - 2.60 0.030 2355.00 441.1 -82.73 - - 3108.44 - - - - - - - - - 16.01 -
7702.45 669.37 -7.29 1015 7703.78 no move -1.35 - - 2004.44 - - - 2354.12 - -82.73 - - 3106.97 - - - - - - - - - - -
8017.49 691.76 -7.52 1036 8022.14 roll -1.35 - - 2005.06 - 2.73 0.064 1208.12 -419.8 -82.73 - - 3106.78 - - - - - - - - - 15.92 -
8075.42 696.36 -7.85 1044 8080.03 roll -1.35 - - 2004.25 - 2.59 0.030 2352.31 441.8 -82.73 - - 3107.31 - - - - - - - - - 16.00 -
8392.08 719.79 -7.47 1066 8393.41 no move -1.35 - - 2004.44 - - - 2352.12 - -82.73 - - 3106.53 - - - - - - - - - - -
8706.93 743.34 -7.78 1087 8711.76 roll -1.35 - - 2004.38 - 2.72 0.064 1207.88 -420.7 -82.73 - - 3106.44 - - - - - - - - - 15.92 -
8806.52 751.56 -8.28 1101 8811.13 roll -1.35 - - 2004.62 - 2.60 0.030 2351.19 439.7 -82.73 - - 3106.25 - - - - - - - - - 15.99 -
9123.00 776.27 -7.79 1123 9127.66 roll -1.35 - - 2004.31 - 2.71 0.065 1208.19 -421.8 -82.73 - - 3107.84 - - - - - - - - - 15.91 -
9222.42 784.18 -7.94 1137 9227.04 roll -1.35 - - 2004.38 - 2.60 0.030 2352.94 440.3 -82.73 - - 3108.09 - - - - - - - - - 15.99 -
9538.91 806.65 -6.97 1159 9543.55 roll -1.35 - - 2003.88 - 2.71 0.064 1208.25 -422.4 -82.73 - - 3107.78 - - - - - - - - - 15.91 -
9598.19 810.74 -7.02 1168 9603.72 roll -1.35 - - 2003.06 - 2.60 0.030 2351.38 439.7 -82.73 - - 3107.06 - - - - - - - - - 16.00 -
9917.59 833.15 -6.78 1190 9922.23 roll -1.35 - - 2003.62 - 2.72 0.064 1209.94 -419.6 -82.73 - - 3105.72 - - - - - - - - - 15.90 -
10080.79 843.68 -6.42 1214 10086.31 roll -1.35 - - 2003.38 - 2.60 0.031 2351.75 439.2 -82.73 - - 3106.34 - - - - - - - - - 16.00 -
10400.19 862.26 -5.74 1236 10401.52 no move -1.35 - - 2004.25 - - - 2352.38 - -82.73 - - 3104.34 - - - - - - - - - - -
10715.21 880.72 -5.74 1257 10719.86 roll -1.35 - - 2004.56 - 2.73 0.065 1209.38 -418.7 -82.73 - - 3103.62 - - - - - - - - - 15.89 -
10774.68 884.22 -5.95 1266 10780.08 roll -1.35 - - 2004.19 - 2.60 0.030 2352.75 439.8 -82.73 - - 3105.41 - - - - - - - - - 16.00 -
11093.92 902.48 -5.40 1288 11098.56 roll -1.35 - - 2004.25 - 2.68 0.094 3426.31 400.6 -82.73 - - 3103.41 - - - - - - - - - 15.84 -
11132.47 904.78 -5.86 1294 11138.00 roll -1.35 - - 2003.19 - 2.54 0.022 2244.81 -465.2 -82.73 - - 3105.84 - - - - - - - - - 15.99 -
11451.89 924.00 -6.54 1316 11456.57 roll -1.35 - - 2004.31 - 2.96 0.088 3427.31 399.5 -82.73 - - 3104.69 - - - - - - - - - 15.83 -
11557.64 929.09 -5.06 1332 11572.55 roll -1.35 - - 2004.19 - 2.54 0.022 2241.56 -466.8 -82.73 - - 3104.06 - - - - - - - - - 15.98 -
11887.04 929.13 -1.42 1354 11891.63 roll -1.35 - - 2003.00 - 2.45 0.073 1208.00 -421.9 -82.73 - - 3103.31 - - - - - - - - - 15.87 -
12069 end dive: NO_VERTICAL_VELOCITY
12069 begin apogee
12073.48 929.11 - 1380 12147.34 -0.28 1.77 0.105 2265.94 148.6 0.12 0.188 2170.81 8023.4 - 64.04 2.346 2774.75 -5.1 0.344 - - - - - - 15.85 15.46 10.38
12149 end apogee: CONTROL_FINISHED_OK
12149 begin climb
12149.50 929.30 - 1385 12237.29 1.35 2.62 0.074 2663.50 151.7 3.06 0.092 3345.00 383.7 82.73 67.93 2.285 2436.44 -5.0 0.343 - - - - - - 15.59 15.18 12.10
12447.03 912.12 8.01 1428 12452.40 roll 1.35 - - 2663.25 - 2.61 0.023 2186.88 -443.7 82.73 - - 2432.38 - - - - - - - - - 15.63 -
12766.26 888.66 7.13 1450 12767.60 no move 1.37 - - 2663.12 - - - 2187.06 - 82.73 - - 2429.06 - - - - - - - - - - -
13081.28 868.00 6.43 1471 13113.92 VBD 1.45 - - 2663.50 - - - 2187.31 - 120.63 31.55 2.197 2282.44 -4.6 0.311 - - - - - - - - 11.42
13426.69 841.34 7.79 1494 13431.37 roll 1.46 - - 2663.38 - 2.93 0.090 3346.12 395.5 120.63 - - 2280.38 - - - - - - - - - 15.76 -
13470.97 838.06 8.26 1501 13485.15 roll 1.46 - - 2663.38 - 2.59 0.024 2188.62 -446.9 120.63 - - 2280.03 - - - - - - - - - 15.78 -
13799.80 809.52 8.32 1523 13804.42 roll 1.46 - - 2663.19 - 2.57 0.079 1130.81 -411.6 120.63 - - 2277.75 - - - - - - - - - 15.82 -
13878.47 802.67 8.63 1534 13883.29 roll 1.46 - - 2662.75 - 2.62 0.030 2271.38 435.3 120.63 - - 2277.75 - - - - - - - - - 15.86 -
14195.16 779.31 6.81 1556 14199.87 roll back 1.50 0.17 0.091 2703.75 241.2 2.76 0.073 1131.19 -413.1 120.63 - - 2278.72 - - - - - - - - 15.85 15.76 -
14275.19 772.47 8.49 1568 14281.09 roll 1.50 - - 2704.00 - 2.61 0.030 2271.81 437.0 120.63 - - 2277.66 - - - - - - - - - 15.91 -
14594.59 744.67 8.87 1590 14599.24 roll 1.50 - - 2704.62 - 2.73 0.074 1130.19 -418.2 120.63 - - 2276.66 - - - - - - - - - 15.87 -
14776.96 728.82 8.50 1616 14781.58 roll 1.50 - - 2704.44 - 2.60 0.031 2273.56 439.8 120.63 - - 2275.72 - - - - - - - - - 15.92 -
15093.67 705.06 7.49 1638 15098.30 roll 1.51 - - 2704.69 - 2.68 0.094 3348.31 401.0 120.63 - - 2275.53 - - - - - - - - - 15.86 -
15132.22 701.96 7.89 1644 15137.74 roll 1.53 - - 2705.06 - 2.57 0.024 2186.25 -452.2 120.63 - - 2277.25 - - - - - - - - - 15.93 -
15451.63 677.75 7.65 1666 15456.24 roll 1.54 - - 2702.62 - 2.54 0.078 1130.50 -415.6 120.63 - - 2276.28 - - - - - - - - - 15.89 -
15490.17 674.73 7.88 1672 15495.69 roll 1.55 - - 2704.38 - 2.60 0.030 2275.00 440.2 120.63 - - 2277.47 - - - - - - - - - 15.95 -
15809.58 650.07 7.70 1694 15814.41 roll 1.57 - - 2703.12 - 2.74 0.074 1129.50 -418.1 120.63 - - 2276.62 - - - - - - - - - 15.89 -
15888.36 643.94 7.80 1705 15892.98 roll 1.58 - - 2704.31 - 2.60 0.030 2275.06 440.6 120.63 - - 2277.31 - - - - - - - - - 15.95 -
16204.87 619.13 7.79 1727 16209.50 roll 1.60 - - 2704.75 - 2.66 0.093 3346.81 402.9 120.63 - - 2275.47 - - - - - - - - - 15.86 -
16262.79 614.25 8.24 1735 16267.41 roll 1.60 - - 2704.75 - 2.56 0.024 2185.88 -453.5 120.63 - - 2277.66 - - - - - - - - - 15.96 -
16579.28 591.79 6.68 1757 16583.89 roll 1.63 - - 2704.12 - 2.54 0.078 1130.88 -415.4 120.63 - - 2275.47 - - - - - - - - - 15.88 -
16664.31 586.33 6.88 1770 16679.28 roll back 1.66 0.19 0.087 2745.44 217.5 2.60 0.030 2273.81 439.6 120.63 - - 2276.34 - - - - - - - - 15.79 15.97 -
16993.73 562.66 7.12 1792 16995.06 no move 1.69 - - 2745.56 - - - 2273.88 - 120.63 - - 2275.03 - - - - - - - - - - -
17308.75 540.87 7.14 1813 17313.39 roll 1.72 - - 2745.94 - 2.76 0.074 1128.56 -415.0 120.63 - - 2277.81 - - - - - - - - - 15.88 -
17352.29 537.94 7.54 1820 17367.19 roll 1.73 - - 2745.69 - 2.60 0.030 2273.19 440.2 120.63 - - 2276.78 - - - - - - - - - 15.98 -
17681.70 513.86 7.27 1842 17686.34 roll 1.76 - - 2745.12 - 2.73 0.073 1128.44 -419.3 120.63 - - 2276.06 - - - - - - - - - 15.88 -
17891.94 497.45 8.03 1872 17906.80 roll 1.76 - - 2745.94 - 2.59 0.030 2273.38 442.1 120.63 - - 2276.38 - - - - - - - - - 15.98 -
18208.66 471.02 8.52 1901 18219.73 no move 1.76 - - 2745.44 - - - 2273.31 - 120.63 - - 2276.09 - - - - - - - - - - -
18521.72 445.41 8.48 1930 18532.80 no move 1.76 - - 2745.81 - - - 2273.50 - 120.63 - - 2276.22 - - - - - - - - - - -
18834.32 421.64 7.73 1959 18845.40 no move 1.77 - - 2746.56 - - - 2274.00 - 120.63 - - 2276.44 - - - - - - - - - - -
19147.19 397.47 7.88 1988 19158.26 no move 1.78 - - 2746.00 - - - 2273.88 - 120.63 - - 2276.09 - - - - - - - - - - -
19459.82 373.53 7.02 2017 19464.45 roll 1.81 - - 2745.81 - 2.65 0.092 3347.31 405.1 120.63 - - 2277.50 - - - - - - - - - 15.85 -
19498.38 370.80 7.12 2023 19513.33 roll back 1.84 0.19 0.083 2790.31 234.2 2.55 0.023 2181.25 -457.3 120.63 - - 2277.06 - - - - - - - - 15.82 15.98 -
19814.89 348.43 7.31 2052 19825.96 no move 1.86 - - 2790.69 - - - 2179.69 - 120.63 - - 2276.12 - - - - - - - - - - -
20127.75 327.72 6.60 2081 20138.83 no move 1.90 - - 2790.75 - - - 2180.12 - 120.63 - - 2276.28 - - - - - - - - - - -
20440.38 305.42 7.06 2110 20444.98 roll 1.93 - - 2790.94 - 2.51 0.077 1129.62 -418.5 120.63 - - 2275.25 - - - - - - - - - 15.87 -
20547.11 297.59 7.35 2125 20552.40 roll 1.95 - - 2791.44 - 2.60 0.029 2276.56 441.1 120.63 - - 2276.28 - - - - - - - - - 15.97 -
20857.03 275.23 7.18 2187 20862.53 roll 1.98 - - 2790.50 - 2.74 0.071 1128.94 -418.8 120.63 - - 2276.34 - - - - - - - - - 15.86 -
20937.17 269.16 7.61 2203 20942.52 roll 1.99 - - 2790.69 - 2.59 0.029 2276.31 443.0 120.63 - - 2276.16 - - - - - - - - - 15.95 -
21247.05 246.76 7.67 2265 21252.65 roll back 2.01 0.16 0.091 2831.38 254.3 2.73 0.071 1129.81 -420.0 120.63 - - 2277.09 - - - - - - - - 15.92 15.81 -
21347.04 238.08 8.76 2285 21352.59 roll 2.01 - - 2832.12 - 2.60 0.029 2275.81 440.8 120.63 - - 2278.06 - - - - - - - - - 15.96 -
21657.10 213.15 7.67 2347 21662.66 roll 2.03 - - 2831.50 - 2.72 0.070 1129.94 -421.3 120.63 - - 2277.12 - - - - - - - - - 15.86 -
21757.11 205.42 7.69 2367 21762.63 roll 2.04 - - 2832.38 - 2.59 0.028 2273.75 441.6 120.63 - - 2277.16 - - - - - - - - - 15.96 -
22067.15 182.42 7.57 2429 22072.86 roll 2.06 - - 2831.06 - 2.65 0.088 3348.06 405.4 120.63 - - 2276.81 - - - - - - - - - 15.83 -
22122.31 177.90 8.37 2440 22127.67 roll 2.06 - - 2830.88 - 2.54 0.022 2182.31 -459.0 120.63 - - 2277.50 - - - - - - - - - 15.95 -
22432.19 156.59 6.31 2502 22468.68 done 2.14 - - 2831.56 - 2.51 0.077 1128.44 -419.9 160.70 31.23 1.352 2120.81 -5.0 0.098 - - - - - - - 15.69 10.69
22692.21 134.46 9.20 2554 22697.76 roll 2.14 - - 2831.81 - 2.61 0.029 2275.00 439.3 160.70 - - 2115.38 - - - - - - - - - 15.88 -
23002.26 109.18 7.66 2616 23007.81 roll 2.15 - - 2831.88 - 2.74 0.070 1128.94 -418.3 160.70 - - 2114.78 - - - - - - - - - 15.85 -
23152.66 100.09 5.19 2646 23205.56 2.28 0.31 0.065 2897.44 211.5 2.61 0.027 2276.06 439.5 221.77 47.38 1.288 1869.22 -5.2 0.068 - - - - - - 15.74 15.91 11.50
23387.77 86.40 4.53 2693 23450.06 done 2.42 - - 2897.31 - 2.68 0.090 3348.06 400.0 295.17 56.04 1.250 1571.62 -5.3 0.062 - - - - - - - 15.51 11.64
23637.76 62.75 10.85 2743 23643.31 roll 2.42 - - 2897.44 - 2.59 0.023 2188.06 -447.9 295.17 - - 1564.88 - - - - - - - - - 15.71 -
23827.82 44.00 9.08 2781 23833.35 done 2.42 - - 2896.81 - 2.54 0.075 1131.00 -416.2 295.17 - - 1561.03 - - - - - - - - - 15.75 -
23862.83 40.46 10.10 2788 23868.38 done 2.42 - - 2897.12 - 2.62 0.028 2274.94 436.6 295.17 - - 1560.12 - - - - - - - - - 15.78 -
24052.90 26.85 5.46 2826 24100.69 2.54 0.29 0.069 2957.25 207.3 2.66 0.088 3346.19 402.7 351.16 42.67 1.163 1344.25 -5.1 0.020 - - - - - - 15.78 15.58 11.40
24328.19 6.09 9.33 2881 24333.91 roll 2.54 - - 2957.19 - 2.57 0.022 2184.94 -451.8 351.16 - - 1337.97 - - - - - - - - - 15.76 -
24353 end climb: SURFACE_DEPTH_REACHED
24353 begin surface coast
24403 end surface coast: CONTROL_FINISHED_OK
24403 begin surface
SM 0.29 - - - - 181.8 55.85 1.161 1042.4 18.7 17.92 0.087 1002.1 55.9 - 0.35 0.075 1082.7 3086.1 -1.220 - - 11.58 15.60 15.76 -