NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 920 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 322.96 of 550.00 AH used of 24V (41.28% remains)
• Surface angle -59.4 deg, depth 0.51 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 28 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
5.65 - - - 77.12 VBD -1.35 - - 176.69 - - - 2228.75 - -82.73 70.32 0.005 2737.88 - - - - - - - - - - 14.94
78.23 3.34 -4.78 13 110.58 -1.35 14.73 0.238 1995.19 123.5 2.52 0.065 1209.31 -404.5 -82.73 8.48 0.007 3110.62 44.0 -3.563 - - - - - - 15.47 14.97 15.08
292.66 38.02 -14.13 56 298.22 roll -1.35 - - 1994.62 - 2.68 0.027 2351.25 426.1 -82.73 - - 3112.09 - - - - - - - - - 15.84 -
483.07 61.99 -11.81 94 488.45 roll -1.35 - - 1995.75 - 2.77 0.084 3425.00 387.6 -82.73 - - 3111.50 - - - - - - - - - 15.83 -
507.82 64.88 -11.59 99 513.24 roll -1.35 - - 1995.06 - 2.60 0.018 2245.69 -453.6 -82.73 - - 3112.38 - - - - - - - - - 15.87 -
698.12 84.44 -10.42 137 703.27 roll -1.35 - - 1993.94 - 2.53 0.062 1209.38 -409.6 -82.73 - - 3113.84 - - - - - - - - - 15.90 -
757.74 90.59 -10.23 149 763.29 roll -1.35 - - 1994.88 - 2.64 0.026 2344.81 430.1 -82.73 - - 3112.91 - - - - - - - - - 15.92 -
947.78 108.40 -9.56 187 949.11 no move -1.35 - - 1995.00 - - - 2344.75 - -82.73 - - 3111.75 - - - - - - - - - - -
1252.88 131.48 -7.44 248 1258.44 roll -1.35 - - 1995.50 - 2.77 0.057 1209.62 -409.8 -82.73 - - 3112.44 - - - - - - - - - 15.94 -
1272.88 133.14 -8.01 252 1278.43 roll -1.35 - - 1995.38 - 2.62 0.025 2338.38 430.8 -82.73 - - 3112.44 - - - - - - - - - 15.96 -
1583.00 157.66 -8.10 314 1588.56 roll -1.35 - - 1995.50 - 2.76 0.057 1208.06 -409.5 -82.73 - - 3112.88 - - - - - - - - - 15.96 -
1713.04 168.64 -8.73 340 1718.57 roll -1.35 - - 1995.31 - 2.60 0.025 2329.56 431.3 -82.73 - - 3113.31 - - - - - - - - - 15.97 -
2023.21 194.69 -8.14 402 2028.70 roll -1.35 - - 1995.44 - 2.72 0.058 1206.62 -412.8 -82.73 - - 3112.97 - - - - - - - - - 15.97 -
2073.15 198.75 -8.14 412 2078.69 roll -1.35 - - 1995.06 - 2.58 0.025 2324.12 433.1 -82.73 - - 3113.34 - - - - - - - - - 15.98 -
2383.25 222.06 -7.21 474 2388.82 roll -1.35 - - 1995.56 - 2.72 0.058 1209.62 -409.7 -82.73 - - 3113.22 - - - - - - - - - 15.98 -
2438.26 226.32 -7.81 485 2443.80 roll -1.35 - - 1995.44 - 2.59 0.025 2326.25 431.1 -82.73 - - 3113.84 - - - - - - - - - 15.99 -
2748.37 250.08 -7.85 547 2753.92 roll -1.35 - - 1995.38 - 2.72 0.058 1209.12 -410.7 -82.73 - - 3113.12 - - - - - - - - - 15.98 -
2868.39 260.65 -9.10 571 2873.93 roll -1.35 - - 1995.06 - 2.56 0.025 2316.31 432.5 -82.73 - - 3113.31 - - - - - - - - - 16.00 -
3178.46 285.67 -7.56 633 3184.04 roll -1.35 - - 1995.38 - 2.83 0.084 3425.62 392.0 -82.73 - - 3113.62 - - - - - - - - - 15.94 -
3228.45 289.98 -8.79 643 3234.19 roll -1.35 - - 1995.12 - 2.65 0.019 2213.75 -457.3 -82.73 - - 3113.22 - - - - - - - - - 15.98 -
3538.68 313.46 -7.43 685 3543.27 roll -1.35 - - 1995.44 - 2.44 0.064 1207.88 -412.2 -82.73 - - 3112.94 - - - - - - - - - 15.99 -
3592.96 317.35 -7.33 693 3607.88 roll -1.35 - - 1994.50 - 2.58 0.025 2318.12 430.3 -82.73 - - 3113.25 - - - - - - - - - 16.03 -
3909.17 339.32 -6.61 722 3913.80 roll -1.35 - - 1995.38 - 2.70 0.059 1208.25 -411.1 -82.73 - - 3111.69 - - - - - - - - - 15.99 -
3948.03 341.89 -6.77 728 3962.63 roll -1.35 - - 1995.50 - 2.57 0.026 2317.50 431.6 -82.73 - - 3113.31 - - - - - - - - - 16.02 -
4263.93 362.36 -6.28 757 4268.60 roll -1.35 - - 1995.25 - 2.83 0.084 3424.38 391.1 -82.73 - - 3112.72 - - - - - - - - - 15.94 -
4316.86 366.19 -7.02 764 4321.50 roll -1.35 - - 1995.00 - 2.66 0.019 2212.75 -455.5 -82.73 - - 3111.75 - - - - - - - - - 16.01 -
4628.56 384.48 -5.32 793 4633.16 roll -1.35 - - 1995.06 - 2.45 0.065 1208.50 -409.9 -82.73 - - 3113.53 - - - - - - - - - 15.99 -
4699.35 388.43 -5.62 803 4714.10 roll -1.35 - - 1995.50 - 2.55 0.026 2312.31 432.9 -82.73 - - 3112.28 - - - - - - - - - 16.02 -
5015.50 406.51 -5.68 832 5026.57 no move -1.35 - - 1995.31 - - - 2312.75 - -82.73 - - 3111.91 - - - - - - - - - - -
5328.48 428.85 -7.58 861 5339.55 no move -1.35 - - 1995.38 - - - 2312.19 - -82.73 - - 3111.47 - - - - - - - - - - -
5641.66 452.44 -7.96 890 5646.31 roll -1.35 - - 1995.50 - 2.70 0.062 1207.75 -409.1 -82.73 - - 3109.88 - - - - - - - - - 15.98 -
5695.94 456.59 -7.84 898 5710.87 roll -1.35 - - 1994.50 - 2.55 0.026 2308.62 431.7 -82.73 - - 3112.62 - - - - - - - - - 16.02 -
6012.15 479.35 -7.06 927 6016.80 roll -1.35 - - 1994.38 - 2.70 0.062 1209.12 -407.2 -82.73 - - 3112.72 - - - - - - - - - 15.97 -
6129.61 487.79 -7.33 943 6144.54 roll -1.35 - - 1995.38 - 2.52 0.026 2298.44 432.3 -82.73 - - 3110.69 - - - - - - - - - 16.02 -
6447.77 507.85 -6.24 969 6449.10 no move -1.35 - - 1995.06 - - - 2298.25 - -82.73 - - 3108.97 - - - - - - - - - - -
6762.76 527.87 -6.76 990 6767.43 roll -1.35 - - 1995.56 - 2.89 0.087 3425.38 390.0 -82.73 - - 3108.72 - - - - - - - - - 15.92 -
6801.30 530.66 -7.19 996 6806.90 roll -1.35 - - 1995.75 - 2.71 0.019 2196.81 -453.3 -82.73 - - 3109.66 - - - - - - - - - 16.02 -
7120 end dive: TARGET_DEPTH_EXCEEDED
7120 begin apogee
7122.79 554.12 -7.85 1018 7198.27 -0.28 1.82 0.133 2253.56 141.7 0.19 0.124 2163.12 -177.3 - 63.33 1.829 2776.47 -5.3 0.271 - - - - - - 15.86 15.40 10.65
7200 end apogee: CONTROL_FINISHED_OK
7200 begin climb
7200.99 556.72 - 1023 7274.99 1.35 2.73 0.117 2649.50 145.0 2.97 0.077 993.69 -393.7 82.73 64.79 1.780 2435.84 -5.3 0.279 - - - - - - 15.56 15.70 11.76
7298.88 555.05 2.85 1038 7390.03 1.56 0.29 0.069 2712.12 215.9 2.71 0.022 2144.44 424.6 187.37 84.79 1.784 2010.91 -5.0 0.265 - - - - - - 15.45 15.53 11.71
7701.63 523.73 7.82 1072 7706.27 done 1.57 - - 2712.19 - 2.73 0.081 3202.12 387.4 187.37 - - 2000.72 - - - - - - - - - 15.72 -
7781.66 517.05 8.39 1084 7787.20 done 1.57 - - 2711.38 - 2.60 0.023 2062.75 -438.2 187.37 - - 2002.31 - - - - - - - - - 15.77 -
8096.95 492.55 8.12 1108 8101.82 done 1.57 - - 2712.31 - 2.93 0.077 3205.25 389.9 187.37 - - 1997.91 - - - - - - - - - 15.84 -
8151.50 487.99 8.50 1116 8166.20 done 1.57 - - 2712.31 - 2.59 0.023 2062.81 -441.1 187.37 - - 1999.03 - - - - - - - - - 15.87 -
8467.49 462.75 7.93 1145 8472.12 done 1.58 - - 2712.06 - 2.67 0.082 993.81 -400.4 187.37 - - 1996.75 - - - - - - - - - 15.87 -
8521.78 457.93 8.85 1153 8536.72 done 1.58 - - 2712.06 - 2.65 0.024 2140.31 432.6 187.37 - - 1998.94 - - - - - - - - - 15.93 -
8838.01 434.09 7.25 1182 8842.67 done 1.60 - - 2711.44 - 2.89 0.077 993.50 -396.8 187.37 - - 1999.72 - - - - - - - - - 15.90 -
8860.84 432.38 7.59 1186 8875.77 done 1.62 - - 2711.38 - 2.62 0.023 2134.88 435.6 187.37 - - 1997.91 - - - - - - - - - 15.94 -
9177.06 408.78 7.59 1215 9181.71 done 1.64 - - 2711.56 - 2.73 0.081 3207.06 392.7 187.37 - - 1996.53 - - - - - - - - - 15.91 -
9263.05 401.78 8.24 1227 9277.98 done 1.64 - - 2711.38 - 2.58 0.023 2061.25 -444.1 187.37 - - 1996.78 - - - - - - - - - 15.96 -
9579.53 378.49 7.09 1256 9584.16 done 1.67 - - 2712.00 - 2.66 0.082 993.56 -401.4 187.37 - - 1997.31 - - - - - - - - - 15.91 -
9618.08 375.62 7.48 1262 9633.19 done 1.69 - - 2712.88 - 2.65 0.024 2144.31 434.2 187.37 - - 1996.69 - - - - - - - - - 15.98 -
9935.11 352.35 7.49 1291 9939.76 done 1.70 - - 2711.81 - 2.71 0.081 3205.56 391.6 187.37 - - 1994.59 - - - - - - - - - 15.92 -
9973.67 349.40 7.77 1297 9988.63 1.72 0.15 0.095 2749.62 252.1 2.58 0.023 2062.62 -443.0 187.37 - - 1995.84 - - - - - - - - 15.85 15.98 -
10290.32 323.77 7.80 1326 10294.95 done 1.73 - - 2750.25 - 2.66 0.081 993.56 -401.9 187.37 - - 1994.91 - - - - - - - - - 15.92 -
10343.25 319.28 8.26 1333 10347.89 done 1.73 - - 2750.56 - 2.66 0.024 2144.94 432.8 187.37 - - 1995.41 - - - - - - - - - 15.98 -
10653.01 295.22 8.05 1367 10658.54 done 1.73 - - 2751.12 - 2.70 0.081 3207.00 393.4 187.37 - - 1995.34 - - - - - - - - - 15.92 -
10688.01 292.18 8.62 1374 10693.56 done 1.73 - - 2749.38 - 2.57 0.023 2065.62 -444.1 187.37 - - 1995.91 - - - - - - - - - 15.98 -
10998.12 266.94 8.19 1436 11003.72 done 1.73 - - 2750.94 - 2.91 0.077 3206.75 392.1 187.37 - - 1995.12 - - - - - - - - - 15.92 -
11038.12 263.50 8.61 1444 11043.65 done 1.73 - - 2750.75 - 2.54 0.023 2076.00 -445.2 187.37 - - 1995.53 - - - - - - - - - 15.97 -
11348.48 241.18 6.83 1506 11349.81 VBD 1.76 - - 2750.31 - - - 2076.56 - 187.37 - - 1993.97 - - - - - - - - - - -
11653.34 220.32 6.67 1567 11654.68 VBD 1.80 - - 2750.19 - - - 2075.94 - 187.37 - - 1993.91 - - - - - - - - - - -
11958.60 202.80 5.63 1628 12005.21 1.91 0.19 0.083 2795.56 238.8 2.91 0.079 3205.75 388.3 240.18 41.17 1.409 1796.16 -4.8 0.117 - - - - - - 15.95 15.50 10.79
12053.42 194.79 9.57 1647 12058.95 roll 1.91 - - 2795.94 - 2.58 0.023 2079.62 -436.5 240.18 - - 1792.94 - - - - - - - - - 15.83 -
12363.48 168.16 8.15 1709 12369.03 roll 1.91 - - 2796.19 - 2.74 0.081 993.75 -396.3 240.18 - - 1789.34 - - - - - - - - - 15.84 -
12398.47 164.89 9.20 1716 12404.04 roll 1.91 - - 2796.06 - 2.70 0.024 2160.62 432.2 240.18 - - 1788.88 - - - - - - - - - 15.89 -
12708.52 137.60 8.38 1778 12714.25 roll 1.91 - - 2796.25 - 2.67 0.080 3206.19 391.6 240.18 - - 1787.97 - - - - - - - - - 15.87 -
12738.63 134.94 8.76 1784 12744.06 roll 1.91 - - 2795.56 - 2.55 0.023 2076.19 -443.1 240.18 - - 1788.88 - - - - - - - - - 15.93 -
13048.57 109.63 8.52 1846 13054.15 done 1.91 - - 2794.94 - 2.90 0.076 3207.25 390.0 240.18 - - 1788.31 - - - - - - - - - 15.89 -
13213.60 96.97 6.23 1879 13251.14 done 1.99 - - 2795.62 - 2.51 0.022 2087.06 -446.3 281.80 33.06 1.258 1628.50 -4.8 0.063 - - - - - - - 15.95 11.00
13433.64 83.01 6.90 1923 13439.19 roll 2.02 - - 2796.69 - 2.88 0.076 3206.88 388.8 281.80 - - 1620.84 - - - - - - - - - 15.85 -
13453.63 81.56 7.01 1927 13458.74 roll 2.05 - - 2796.88 - 2.46 0.022 2112.31 -444.9 281.80 - - 1620.56 - - - - - - - - - 15.87 -
13644.05 68.83 6.43 1965 13680.25 2.13 0.25 0.074 2849.62 211.0 2.83 0.080 993.75 -395.3 319.64 30.97 1.202 1472.22 -4.8 0.047 - - - - - - 15.86 15.52 11.17
13853.79 52.28 8.17 2007 13859.24 roll 2.13 - - 2849.25 - 2.77 0.023 2180.12 428.3 319.64 - - 1467.56 - - - - - - - - - 15.85 -
14043.72 38.35 7.31 2045 14045.05 no move 2.15 - - 2849.62 - - - 2180.75 - 319.64 - - 1464.91 - - - - - - - - - - -
14228.74 25.17 7.19 2082 14234.34 roll 2.17 - - 2850.12 - 2.99 0.072 992.31 -397.5 319.64 - - 1465.22 - - - - - - - - - 15.86 -
14293.75 20.32 7.48 2095 14299.31 roll 2.19 - - 2849.50 - 2.73 0.023 2174.38 433.0 319.64 - - 1464.69 - - - - - - - - - 15.91 -
14483.81 7.34 6.52 2133 14485.14 no move 2.23 - - 2848.88 - - - 2174.62 - 319.64 - - 1463.75 - - - - - - - - - - -
14533 end climb: SURFACE_DEPTH_REACHED
14533 begin surface coast
14599 end surface coast: CONTROL_FINISHED_OK
14599 begin surface
SM 0.67 - - - - 179.4 79.08 1.161 1042.2 13.2 16.49 0.052 1000.6 60.7 - 0.37 0.054 1083.7 2928.9 -3.714 - - 11.12 15.87 15.92 -