NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 441 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 141.53 of 550.00 AH used of 24V (74.27% remains)
• Surface angle -59.1 deg, depth 0.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 99 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
5.11 - - - 56.77 VBD -1.37 - - 183.12 - - - 2255.56 - -82.73 50.50 0.005 2375.19 - - - - - - - - - - 15.49
57.50 3.06 -6.50 9 95.53 -1.37 13.94 0.248 1988.44 129.5 2.56 0.066 1208.62 -409.0 -82.73 15.81 0.006 3113.72 46.7 -3.957 - - - - - - 15.65 15.45 15.52
277.63 52.08 -16.11 53 283.18 roll -1.37 - - 1988.62 - 2.63 0.028 2353.19 435.2 -82.73 - - 3113.50 - - - - - - - - - 15.85 -
468.03 75.33 -11.53 91 473.39 roll -1.37 - - 1988.44 - 2.64 0.082 3428.50 407.3 -82.73 - - 3113.91 - - - - - - - - - 15.86 -
552.79 86.03 -12.49 108 558.22 roll -1.37 - - 1988.81 - 2.59 0.020 2244.25 -457.2 -82.73 - - 3113.44 - - - - - - - - - 15.91 -
743.10 104.67 -9.10 146 748.95 roll -1.37 - - 1988.62 - 2.51 0.063 1208.50 -412.6 -82.73 - - 3114.62 - - - - - - - - - 15.93 -
847.72 114.58 -9.36 167 853.27 roll -1.37 - - 1988.62 - 2.61 0.027 2356.19 439.7 -82.73 - - 3114.22 - - - - - - - - - 15.95 -
1157.78 142.11 -8.49 229 1163.33 roll -1.37 - - 1987.56 - 2.79 0.058 1208.56 -411.3 -82.73 - - 3115.03 - - - - - - - - - 15.98 -
1177.76 143.89 -8.71 233 1183.32 roll -1.37 - - 1988.25 - 2.61 0.027 2356.12 439.7 -82.73 - - 3115.19 - - - - - - - - - 15.98 -
1487.82 170.42 -8.56 295 1489.14 no move -1.37 - - 1988.75 - - - 2355.75 - -82.73 - - 3113.62 - - - - - - - - - - -
1792.86 194.33 -7.66 356 1798.40 roll -1.37 - - 1988.88 - 2.63 0.084 3426.19 407.0 -82.73 - - 3114.47 - - - - - - - - - 16.00 -
1847.85 199.34 -9.43 367 1853.39 roll -1.37 - - 1988.56 - 2.58 0.021 2244.44 -458.0 -82.73 - - 3114.38 - - - - - - - - - 16.01 -
2158.02 226.90 -9.11 429 2159.36 no move -1.37 - - 1989.12 - - - 2242.94 - -82.73 - - 3113.78 - - - - - - - - - - -
2462.96 255.24 -9.61 490 2468.55 roll -1.37 - - 1988.56 - 2.91 0.082 3427.56 407.1 -82.73 - - 3113.44 - - - - - - - - - 16.03 -
2532.96 262.82 -11.09 504 2538.49 roll -1.37 - - 1989.12 - 2.58 0.021 2246.81 -457.7 -82.73 - - 3114.56 - - - - - - - - - 16.04 -
2843.04 293.17 -10.03 566 2844.37 no move -1.37 - - 1989.06 - - - 2245.62 - -82.73 - - 3112.00 - - - - - - - - - - -
3146.72 323.59 -10.18 601 3157.79 no move -1.37 - - 1989.25 - - - 2245.69 - -82.73 - - 3112.38 - - - - - - - - - - -
3459.38 355.11 -10.00 630 3464.06 roll -1.37 - - 1989.50 - 2.90 0.083 3427.19 407.4 -82.73 - - 3110.34 - - - - - - - - - 16.05 -
3624.01 373.19 -11.04 652 3638.92 roll -1.37 - - 1989.69 - 2.58 0.022 2247.00 -457.4 -82.73 - - 3111.06 - - - - - - - - - 16.06 -
3940.72 402.91 -9.15 681 3951.79 no move -1.37 - - 1989.56 - - - 2246.50 - -82.73 - - 3110.44 - - - - - - - - - - -
4253.48 431.91 -9.34 710 4258.16 roll -1.37 - - 1989.50 - 2.92 0.083 3427.06 404.3 -82.73 - - 3109.91 - - - - - - - - - 16.05 -
4308.25 437.35 -9.93 718 4323.05 roll -1.37 - - 1988.81 - 2.58 0.022 2248.31 -456.9 -82.73 - - 3109.81 - - - - - - - - - 16.07 -
4624.36 465.65 -8.64 747 4635.43 no move -1.37 - - 1989.38 - - - 2248.44 - -82.73 - - 3108.41 - - - - - - - - - - -
4937.01 492.46 -8.44 776 4948.08 no move -1.37 - - 1989.69 - - - 2247.75 - -82.73 - - 3107.62 - - - - - - - - - - -
5260.51 520.02 -8.51 800 5261.83 no move -1.37 - - 1989.81 - - - 2247.88 - -82.73 - - 3105.88 - - - - - - - - - - -
5575.34 546.43 -8.40 821 5580.02 roll -1.37 - - 1989.25 - 2.91 0.085 3426.38 405.0 -82.73 - - 3106.38 - - - - - - - - - 16.05 -
5655.36 553.97 -9.47 833 5660.90 roll -1.37 - - 1989.94 - 2.58 0.022 2251.31 -455.5 -82.73 - - 3106.41 - - - - - - - - - 16.07 -
5974.77 581.60 -8.47 855 5976.10 no move -1.37 - - 1989.88 - - - 2250.44 - -82.73 - - 3104.75 - - - - - - - - - - -
6289.78 609.62 -9.04 876 6291.11 no move -1.37 - - 1989.56 - - - 2250.06 - -82.73 - - 3103.62 - - - - - - - - - - -
6604.79 638.40 -9.24 897 6609.47 roll -1.37 - - 1989.50 - 2.92 0.086 3428.06 403.4 -82.73 - - 3103.59 - - - - - - - - - 16.05 -
6684.81 646.39 -10.05 909 6690.34 roll -1.37 - - 1989.56 - 2.58 0.023 2250.19 -456.5 -82.73 - - 3103.97 - - - - - - - - - 16.07 -
7004.22 675.33 -8.82 931 7005.54 no move -1.37 - - 1989.81 - - - 2249.81 - -82.73 - - 3102.09 - - - - - - - - - - -
7319.23 702.36 -8.32 952 7320.56 no move -1.37 - - 1989.62 - - - 2250.25 - -82.73 - - 3102.00 - - - - - - - - - - -
7634.25 726.90 -7.40 973 7635.58 no move -1.37 - - 1989.69 - - - 2249.88 - -82.73 - - 3101.19 - - - - - - - - - - -
7949.37 749.27 -6.78 994 7954.23 roll -1.37 - - 1989.62 - 2.93 0.087 3427.00 401.7 -82.73 - - 3100.97 - - - - - - - - - 16.04 -
8014.06 753.72 -7.37 1004 8028.81 roll -1.37 - - 1989.62 - 2.57 0.023 2250.75 -457.7 -82.73 - - 3101.56 - - - - - - - - - 16.08 -
8343.30 775.80 -6.43 1026 8344.63 no move -1.37 - - 1989.38 - - - 2250.69 - -82.73 - - 3100.38 - - - - - - - - - - -
8658.31 796.34 -6.58 1047 8659.64 no move -1.37 - - 1989.88 - - - 2251.12 - -82.73 - - 3100.28 - - - - - - - - - - -
8973.34 816.75 -6.55 1068 8974.67 no move -1.37 - - 1989.25 - - - 2250.56 - -82.73 - - 3100.03 - - - - - - - - - - -
9288.35 837.70 -6.78 1089 9289.68 no move -1.37 - - 1989.56 - - - 2250.62 - -82.73 - - 3100.16 - - - - - - - - - - -
9603.38 859.66 -6.88 1110 9608.06 roll -1.37 - - 1989.75 - 2.94 0.087 3428.44 400.6 -82.73 - - 3100.16 - - - - - - - - - 16.04 -
9704.12 867.61 -8.01 1125 9709.66 roll -1.37 - - 1988.88 - 2.58 0.023 2251.12 -456.3 -82.73 - - 3100.09 - - - - - - - - - 16.06 -
10023.55 890.51 -7.02 1147 10028.15 roll -1.37 - - 1989.00 - 2.54 0.072 1209.31 -410.2 -82.73 - - 3099.88 - - - - - - - - - 16.05 -
10108.56 896.48 -7.52 1160 10123.49 roll -1.37 - - 1989.19 - 2.62 0.031 2352.69 436.4 -82.73 - - 3099.28 - - - - - - - - - 16.07 -
10437.96 920.71 -7.16 1182 10439.29 no move -1.37 - - 1989.44 - - - 2352.44 - -82.73 - - 3097.88 - - - - - - - - - - -
10752.98 942.68 -6.85 1203 10754.31 no move -1.37 - - 1989.44 - - - 2352.44 - -82.73 - - 3097.41 - - - - - - - - - - -
11068.01 963.53 -6.67 1224 11069.34 no move -1.37 - - 1989.56 - - - 2353.38 - -82.73 - - 3097.56 - - - - - - - - - - -
11383.02 984.26 -6.57 1245 11387.98 roll -1.37 - - 1988.69 - 2.81 0.066 1211.06 -406.5 -82.73 - - 3097.47 - - - - - - - - - 16.04 -
11482 end dive: TARGET_DEPTH_EXCEEDED
11483 begin apogee
11486.35 991.25 -7.03 1259 11560.15 -0.28 1.82 0.147 2254.06 145.8 0.12 0.190 2168.56 7979.2 - 60.58 2.439 2775.00 -5.3 0.359 - - - - - - 15.94 15.64 11.56
11562 end apogee: CONTROL_FINISHED_OK
11562 begin climb
11562.04 992.79 - 1264 11641.95 1.37 2.62 0.089 2656.62 153.6 - - 2169.00 - 82.73 66.87 2.405 2437.59 -5.0 0.346 - - - - - - 15.68 - 12.64
11954.28 964.74 8.17 1292 11955.61 no move 1.37 - - 2657.12 - - - 2168.88 - 82.73 - - 2430.16 - - - - - - - - - - -
12269.30 938.97 8.12 1313 12270.63 no move 1.37 - - 2656.69 - - - 2169.00 - 82.73 - - 2428.66 - - - - - - - - - - -
12584.33 914.80 7.53 1334 12585.67 VBD 1.39 - - 2656.56 - - - 2168.19 - 82.73 - - 2427.81 - - - - - - - - - - -
12899.35 891.52 7.28 1355 12904.03 done 1.41 - - 2655.81 - 2.97 0.090 3344.56 396.1 82.73 - - 2429.84 - - - - - - - - - 15.91 -
12942.91 888.53 7.69 1362 12957.83 done 1.42 - - 2657.19 - 2.62 0.025 2189.75 -440.8 82.73 - - 2428.97 - - - - - - - - - 15.92 -
13272.50 863.86 7.14 1384 13273.83 VBD 1.45 - - 2656.69 - - - 2189.75 - 82.73 - - 2427.84 - - - - - - - - - - -
13587.51 841.43 7.02 1405 13588.85 VBD 1.48 - - 2656.69 - - - 2189.50 - 82.73 - - 2427.28 - - - - - - - - - - -
13902.35 819.17 7.16 1426 13903.79 1.51 0.16 0.094 2699.12 265.2 - - 2189.06 - 82.73 - - 2426.62 - - - - - - - - 15.94 - -
14217.75 794.25 7.79 1447 14222.43 done 1.52 - - 2699.75 - 2.92 0.089 3345.88 396.2 82.73 - - 2426.53 - - - - - - - - - 15.97 -
14296.42 787.16 8.85 1458 14301.05 done 1.52 - - 2700.62 - 2.62 0.025 2189.06 -441.5 82.73 - - 2428.38 - - - - - - - - - 16.00 -
14612.91 762.06 7.84 1480 14614.24 VBD 1.53 - - 2699.94 - - - 2188.88 - 82.73 - - 2427.12 - - - - - - - - - - -
14928.10 738.57 7.40 1501 14929.43 VBD 1.55 - - 2700.19 - - - 2189.00 - 82.73 - - 2425.97 - - - - - - - - - - -
15242.93 715.18 7.47 1522 15244.27 VBD 1.57 - - 2699.88 - - - 2188.19 - 82.73 - - 2426.16 - - - - - - - - - - -
15557.95 691.69 7.19 1543 15559.28 VBD 1.60 - - 2699.38 - - - 2188.19 - 82.73 - - 2425.81 - - - - - - - - - - -
15872.98 669.04 7.27 1564 15874.31 VBD 1.62 - - 2700.31 - - - 2188.44 - 82.73 - - 2425.97 - - - - - - - - - - -
16188.17 646.23 7.20 1585 16189.50 VBD 1.65 - - 2700.25 - - - 2188.25 - 82.73 - - 2425.97 - - - - - - - - - - -
16503.00 623.96 7.10 1606 16504.44 1.67 0.16 0.086 2738.94 241.8 - - 2188.25 - 82.73 - - 2425.78 - - - - - - - - 16.00 - -
16818.40 599.41 7.87 1627 16823.04 done 1.69 - - 2738.38 - 2.65 0.079 1132.19 -398.5 82.73 - - 2425.78 - - - - - - - - - 16.01 -
16882.67 594.52 8.25 1637 16897.80 done 1.69 - - 2738.69 - 2.62 0.031 2273.00 435.4 82.73 - - 2428.12 - - - - - - - - - 16.04 -
17212.21 569.27 6.93 1659 17213.54 VBD 1.72 - - 2738.38 - - - 2273.38 - 82.73 - - 2425.53 - - - - - - - - - - -
17527.11 548.08 6.62 1680 17531.77 done 1.75 - - 2738.88 - 2.86 0.074 1131.25 -399.3 82.73 - - 2424.84 - - - - - - - - - 16.01 -
17690.40 536.63 7.08 1704 17695.93 done 1.78 - - 2738.94 - 2.62 0.031 2272.94 435.8 82.73 - - 2426.78 - - - - - - - - - 16.04 -
18009.80 516.07 6.25 1726 18040.38 1.85 0.17 0.083 2785.06 271.3 - - 2272.56 - 115.17 25.05 1.775 2303.81 -4.9 0.237 - - - - - - 16.00 - 11.70
18344.68 486.19 9.25 1752 18355.75 no move 1.85 - - 2785.31 - - - 2272.75 - 115.17 - - 2301.75 - - - - - - - - - - -
18657.78 457.27 9.09 1781 18668.85 no move 1.85 - - 2786.00 - - - 2272.44 - 115.17 - - 2301.12 - - - - - - - - - - -
18970.47 429.30 8.63 1810 18975.14 roll 1.85 - - 2784.81 - 2.88 0.075 1131.38 -396.2 115.17 - - 2300.53 - - - - - - - - - 15.98 -
19070.59 419.92 9.43 1823 19075.23 roll 1.85 - - 2785.44 - 2.62 0.031 2273.75 436.0 115.17 - - 2300.22 - - - - - - - - - 15.99 -
19382.35 393.77 8.22 1852 19387.01 roll 1.85 - - 2785.25 - 2.86 0.074 1131.69 -399.3 115.17 - - 2299.84 - - - - - - - - - 15.99 -
19466.74 386.25 8.85 1863 19471.55 roll 1.85 - - 2784.81 - 2.62 0.031 2269.12 434.1 115.17 - - 2300.19 - - - - - - - - - 16.00 -
19778.44 358.84 9.07 1892 19783.10 roll 1.85 - - 2785.44 - 2.85 0.074 1131.25 -399.3 115.17 - - 2299.00 - - - - - - - - - 15.99 -
19895.97 347.25 9.99 1908 19910.92 roll 1.85 - - 2785.00 - 2.62 0.031 2271.44 435.2 115.17 - - 2300.69 - - - - - - - - - 16.01 -
20212.06 318.46 8.91 1937 20216.72 roll 1.85 - - 2785.81 - 2.85 0.074 1132.44 -399.6 115.17 - - 2300.38 - - - - - - - - - 16.00 -
20266.32 313.50 9.26 1945 20281.27 roll 1.85 - - 2786.12 - 2.61 0.031 2270.75 436.1 115.17 - - 2300.59 - - - - - - - - - 16.01 -
20584.35 286.25 8.37 1990 20589.93 roll 1.85 - - 2785.69 - 2.86 0.073 1131.00 -398.5 115.17 - - 2301.28 - - - - - - - - - 15.99 -
20679.38 277.69 9.05 2009 20684.94 roll 1.85 - - 2785.38 - 2.62 0.031 2273.06 435.9 115.17 - - 2300.41 - - - - - - - - - 16.00 -
20989.49 251.97 8.17 2071 20990.82 no move 1.85 - - 2784.94 - - - 2273.50 - 115.17 - - 2299.56 - - - - - - - - - - -
21294.59 226.91 8.07 2132 21295.92 no move 1.85 - - 2785.12 - - - 2273.56 - 115.17 - - 2299.62 - - - - - - - - - - -
21599.90 203.55 7.33 2193 21601.22 no move 1.87 - - 2785.44 - - - 2273.06 - 115.17 - - 2299.81 - - - - - - - - - - -
21904.70 182.21 6.51 2254 21910.26 roll 1.91 - - 2785.25 - 2.85 0.073 1131.38 -400.6 115.17 - - 2302.16 - - - - - - - - - 15.99 -
22114.72 167.80 6.50 2296 22120.25 roll 1.95 - - 2785.94 - 2.62 0.030 2276.06 436.9 115.17 - - 2301.34 - - - - - - - - - 16.01 -
22424.76 149.71 6.59 2358 22430.33 roll 1.98 - - 2786.00 - 2.83 0.072 1131.25 -404.5 115.17 - - 2301.06 - - - - - - - - - 16.00 -
22659.78 134.21 6.49 2405 22665.38 roll back 2.02 0.14 0.093 2827.88 299.1 2.61 0.030 2274.00 437.8 115.17 - - 2302.22 - - - - - - - - 15.88 16.02 -
22969.81 116.77 5.16 2467 23011.61 done 2.12 - - 2828.50 - 2.82 0.074 1130.12 -405.6 163.59 36.22 1.322 2108.06 -5.4 0.079 - - - - - - - 15.92 11.71
23144.82 104.57 8.35 2502 23150.36 roll 2.12 - - 2828.25 - 2.62 0.030 2273.44 436.4 163.59 - - 2105.06 - - - - - - - - - 15.94 -
23454.87 85.41 5.10 2564 23497.54 2.22 0.17 0.079 2874.94 274.6 2.68 0.089 3347.31 400.7 212.84 37.41 1.259 1907.16 -5.3 0.060 - - - - - - 15.92 15.82 12.23
23520.25 82.31 4.72 2577 23566.55 done 2.33 - - 2875.75 - 2.62 0.023 2181.94 -444.8 267.69 41.74 1.239 1683.75 -5.4 0.059 - - - - - - - 15.89 12.65
23749.89 63.79 8.21 2623 23751.22 VBD 2.33 - - 2875.75 - - - 2182.44 - 267.69 - - 1672.50 - - - - - - - - - - -
23934.90 48.25 8.47 2660 23940.46 done 2.33 - - 2875.50 - 2.62 0.077 1130.25 -401.6 267.69 - - 1670.59 - - - - - - - - - 15.82 -
24154.94 34.57 3.82 2704 24211.86 2.47 0.25 0.067 2932.75 229.0 2.64 0.027 2277.00 434.4 335.72 49.73 1.185 1407.72 -5.3 0.026 - - - - - - 15.79 15.88 12.13
24394.98 28.09 3.36 2752 24457.31 done 2.61 - - 2934.44 - 2.72 0.087 3347.56 393.6 410.44 55.68 1.157 1102.00 -5.5 0.022 - - - - - - - 15.60 12.42
24585.00 18.14 7.50 2790 24590.53 roll 2.63 - - 2934.69 - 2.65 0.023 2186.94 -438.0 410.44 - - 1097.50 - - - - - - - - - 15.75 -
24745 end climb: SURFACE_DEPTH_REACHED
24745 begin surface coast
24790 end surface coast: CONTROL_FINISHED_OK
24790 begin surface
SM 2.52 - - - - 179.5 12.00 0.992 1042.6 86.9 16.98 0.046 1028.2 60.6 - 0.35 0.061 1057.0 3012.4 -12.719 - - 12.18 15.77 15.79 -