NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 623 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 207.33 of 550.00 AH used of 24V (62.30% remains)
• Surface angle -60.8 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -9.167 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 19 s
• GPS2 time: 8 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
5.32 - - - 77.54 VBD -1.43 - - 175.94 - - - 2245.25 - -121.65 71.05 0.005 2770.78 - - - - - - - - - - 15.19
78.66 3.77 -5.75 13 112.30 -1.43 14.56 0.243 1983.88 124.2 2.92 0.080 3426.06 404.4 -121.65 9.63 0.007 3269.50 51.8 -4.745 - - - - - - 15.46 15.15 15.28
174.89 30.13 -27.35 32 180.04 roll -1.43 - - 1983.56 - 2.57 0.019 2248.94 -458.0 -121.65 - - 3271.34 - - - - - - - - - 15.73 -
364.93 63.09 -13.30 70 370.12 roll -1.43 - - 1982.88 - 2.91 0.077 3427.06 404.9 -121.65 - - 3271.69 - - - - - - - - - 15.79 -
399.54 67.93 -13.94 77 405.08 roll -1.43 - - 1983.88 - 2.56 0.019 2242.25 -462.8 -121.65 - - 3271.75 - - - - - - - - - 15.81 -
589.95 89.61 -10.92 115 595.16 roll -1.43 - - 1983.88 - 2.91 0.077 3427.44 407.3 -121.65 - - 3272.22 - - - - - - - - - 15.84 -
654.57 96.64 -10.96 128 660.10 roll -1.43 - - 1982.38 - 2.55 0.019 2241.88 -464.9 -121.65 - - 3272.09 - - - - - - - - - 15.85 -
844.99 116.38 -10.91 166 849.71 roll -1.43 - - 1982.56 - 2.44 0.063 1206.62 -424.3 -121.65 - - 3270.75 - - - - - - - - - 15.88 -
889.60 121.68 -11.90 175 895.14 roll -1.43 - - 1983.81 - 2.58 0.026 2358.94 446.6 -121.65 - - 3270.38 - - - - - - - - - 15.89 -
1199.65 156.92 -10.07 237 1205.41 roll -1.43 - - 1984.25 - 2.72 0.058 1206.06 -423.9 -121.65 - - 3270.47 - - - - - - - - - 15.93 -
1289.84 166.30 -10.33 255 1295.19 roll -1.43 - - 1983.31 - 2.58 0.027 2356.25 445.8 -121.65 - - 3270.28 - - - - - - - - - 15.93 -
1599.71 196.87 -10.58 317 1605.25 roll -1.43 - - 1982.88 - 2.70 0.058 1207.88 -425.3 -121.65 - - 3270.44 - - - - - - - - - 15.95 -
1669.71 204.74 -11.38 331 1675.25 roll -1.43 - - 1983.56 - 2.58 0.028 2355.38 444.8 -121.65 - - 3269.97 - - - - - - - - - 15.95 -
1979.77 238.69 -10.77 393 1981.10 no move -1.43 - - 1983.75 - - - 2355.25 - -121.65 - - 3268.16 - - - - - - - - - - -
2284.82 270.50 -10.24 454 2286.15 no move -1.43 - - 1983.88 - - - 2355.50 - -121.65 - - 3266.97 - - - - - - - - - - -
2594.90 301.45 -9.81 515 2600.44 roll -1.43 - - 1983.75 - 2.72 0.060 1208.56 -421.7 -121.65 - - 3267.91 - - - - - - - - - 15.98 -
2725.76 314.72 -10.23 532 2740.68 roll -1.43 - - 1983.62 - 2.59 0.029 2354.19 442.3 -121.65 - - 3265.31 - - - - - - - - - 16.00 -
3041.92 345.22 -9.64 561 3053.00 no move -1.43 - - 1983.31 - - - 2354.75 - -121.65 - - 3264.31 - - - - - - - - - - -
3355.06 375.79 -9.66 590 3359.71 roll -1.43 - - 1983.88 - 2.70 0.061 1208.50 -424.5 -121.65 - - 3261.94 - - - - - - - - - 15.99 -
3439.47 384.40 -10.11 601 3444.07 roll -1.43 - - 1983.94 - 2.57 0.029 2353.19 445.4 -121.65 - - 3263.28 - - - - - - - - - 16.00 -
3751.30 415.51 -9.87 630 3762.37 no move -1.43 - - 1984.00 - - - 2353.00 - -121.65 - - 3261.97 - - - - - - - - - - -
4064.40 447.02 -10.10 659 4069.06 roll -1.43 - - 1983.38 - 2.72 0.062 1206.56 -421.5 -121.65 - - 3260.19 - - - - - - - - - 15.98 -
4150.15 455.88 -10.45 671 4165.07 roll -1.43 - - 1983.75 - 2.59 0.029 2352.38 442.4 -121.65 - - 3260.00 - - - - - - - - - 16.01 -
4466.31 487.59 -10.08 700 4470.96 roll -1.43 - - 1983.81 - 2.72 0.062 1207.56 -420.9 -121.65 - - 3258.91 - - - - - - - - - 15.98 -
4520.79 493.17 -10.45 708 4535.50 roll -1.43 - - 1983.44 - 2.60 0.029 2354.94 441.3 -121.65 - - 3258.97 - - - - - - - - - 16.02 -
4844.90 524.58 -9.66 731 4849.54 roll -1.43 - - 1982.81 - 2.74 0.062 1207.69 -418.7 -121.65 - - 3258.81 - - - - - - - - - 15.98 -
4888.44 528.23 -9.76 738 4903.36 roll -1.43 - - 1983.75 - 2.60 0.029 2352.06 440.1 -121.65 - - 3258.03 - - - - - - - - - 16.02 -
5217.84 558.90 -9.05 760 5222.67 roll -1.43 - - 1983.69 - 2.73 0.062 1208.62 -418.8 -121.65 - - 3256.50 - - - - - - - - - 15.97 -
5282.19 564.31 -9.30 770 5297.02 roll -1.43 - - 1983.00 - 2.61 0.030 2352.06 438.1 -121.65 - - 3257.00 - - - - - - - - - 16.02 -
5611.66 594.14 -8.81 792 5616.31 roll -1.43 - - 1983.50 - 2.74 0.063 1209.19 -417.1 -121.65 - - 3255.97 - - - - - - - - - 15.97 -
5669.60 599.33 -8.86 800 5674.21 roll -1.43 - - 1983.69 - 2.60 0.030 2352.12 439.6 -121.65 - - 3254.72 - - - - - - - - - 16.01 -
5986.06 628.08 -9.31 822 5987.39 no move -1.43 - - 1983.50 - - - 2351.62 - -121.65 - - 3254.28 - - - - - - - - - - -
6301.08 657.57 -9.48 843 6302.41 no move -1.43 - - 1983.38 - - - 2352.06 - -121.65 - - 3253.12 - - - - - - - - - - -
6616.10 687.06 -9.37 864 6617.43 no move -1.43 - - 1983.81 - - - 2352.62 - -121.65 - - 3252.66 - - - - - - - - - - -
6931.12 716.03 -9.09 885 6935.77 roll -1.43 - - 1983.56 - 2.76 0.064 1208.38 -414.6 -121.65 - - 3251.78 - - - - - - - - - 15.95 -
6969.66 719.58 -9.31 891 6975.22 roll -1.43 - - 1983.12 - 2.62 0.030 2353.19 437.0 -121.65 - - 3252.81 - - - - - - - - - 16.02 -
7289.07 748.04 -8.62 913 7290.40 no move -1.43 - - 1983.19 - - - 2352.75 - -121.65 - - 3251.81 - - - - - - - - - - -
7604.26 774.42 -8.13 934 7605.59 no move -1.43 - - 1983.88 - - - 2353.06 - -121.65 - - 3250.41 - - - - - - - - - - -
7919.10 799.58 -7.74 955 7923.74 roll -1.43 - - 1982.19 - 2.78 0.064 1208.25 -411.8 -121.65 - - 3250.66 - - - - - - - - - 15.94 -
7999.13 805.97 -8.08 967 8004.86 roll -1.43 - - 1983.50 - 2.62 0.031 2351.25 436.3 -121.65 - - 3250.50 - - - - - - - - - 16.01 -
8318.64 831.18 -8.04 989 8319.97 no move -1.43 - - 1983.12 - - - 2351.31 - -121.65 - - 3248.47 - - - - - - - - - - -
8633.55 857.39 -8.36 1010 8638.19 roll -1.43 - - 1983.31 - 2.75 0.065 1207.38 -416.0 -121.65 - - 3248.00 - - - - - - - - - 15.92 -
8697.83 862.48 -8.65 1020 8712.78 roll -1.43 - - 1983.31 - 2.61 0.031 2350.75 438.1 -121.65 - - 3250.38 - - - - - - - - - 16.02 -
9027.26 891.12 -8.47 1042 9031.90 roll -1.43 - - 1982.19 - 2.74 0.064 1209.81 -416.4 -121.65 - - 3248.09 - - - - - - - - - 15.92 -
9086.54 896.25 -8.72 1051 9092.09 roll -1.43 - - 1983.50 - 2.61 0.031 2351.56 437.5 -121.65 - - 3248.81 - - - - - - - - - 16.02 -
9405.94 923.02 -8.10 1073 9407.27 no move -1.43 - - 1983.44 - - - 2352.06 - -121.65 - - 3247.41 - - - - - - - - - - -
9720.96 948.57 -8.16 1094 9725.60 roll -1.43 - - 1982.44 - 2.77 0.065 1208.44 -412.9 -121.65 - - 3247.88 - - - - - - - - - 15.91 -
9800.97 955.35 -8.56 1106 9806.53 roll -1.43 - - 1983.62 - 2.62 0.031 2351.62 436.3 -121.65 - - 3247.09 - - - - - - - - - 16.01 -
10120.40 980.79 -7.94 1128 10121.73 no move -1.43 - - 1983.12 - - - 2351.81 - -121.65 - - 3246.50 - - - - - - - - - - -
10239 end dive: TARGET_DEPTH_EXCEEDED
10240 begin apogee
10242.24 990.03 -7.73 1136 10336.93 -0.28 1.97 0.138 2264.25 142.7 0.22 0.129 2280.69 -323.3 - 90.00 2.438 2776.19 -5.2 0.361 - - - - - - 15.79 15.36 10.41
10338 end apogee: CONTROL_FINISHED_OK
10338 begin climb
10339.20 991.76 - 1142 10445.38 1.43 2.79 0.084 2682.38 149.9 - - 2280.50 - 121.65 100.51 2.392 2278.41 -5.0 0.349 - - - - - - 15.45 - 12.14
10756.95 956.79 9.69 1170 10761.61 done 1.43 - - 2682.31 - 2.86 0.074 1130.81 -402.0 121.65 - - 2270.19 - - - - - - - - - 15.65 -
10800.48 952.96 10.03 1177 10815.43 done 1.43 - - 2682.38 - 2.66 0.030 2269.88 428.2 121.65 - - 2271.50 - - - - - - - - - 15.68 -
11129.89 920.76 9.45 1199 11134.54 done 1.43 - - 2682.44 - 2.80 0.073 1130.62 -406.9 121.65 - - 2268.38 - - - - - - - - - 15.79 -
11173.43 917.07 9.70 1206 11188.37 done 1.43 - - 2682.06 - 2.64 0.031 2270.12 431.6 121.65 - - 2269.69 - - - - - - - - - 15.80 -
11502.83 886.68 8.96 1228 11504.17 VBD 1.43 - - 2682.88 - - - 2269.81 - 121.65 - - 2266.00 - - - - - - - - - - -
11817.85 858.67 8.78 1249 11822.68 done 1.43 - - 2683.19 - 2.79 0.074 1131.50 -408.0 121.65 - - 2266.81 - - - - - - - - - 15.86 -
11903.05 851.26 9.34 1262 11918.19 done 1.43 - - 2683.44 - 2.62 0.031 2270.12 434.6 121.65 - - 2266.56 - - - - - - - - - 15.90 -
12232.32 822.34 8.56 1284 12233.65 VBD 1.44 - - 2683.00 - - - 2270.31 - 121.65 - - 2265.34 - - - - - - - - - - -
12547.33 794.84 8.99 1305 12551.98 done 1.44 - - 2682.62 - 2.79 0.074 1130.69 -408.5 121.65 - - 2264.66 - - - - - - - - - 15.88 -
12627.35 787.25 9.57 1317 12632.91 done 1.44 - - 2682.38 - 2.62 0.031 2270.75 435.1 121.65 - - 2266.28 - - - - - - - - - 15.94 -
12946.75 758.75 8.84 1339 12948.08 VBD 1.44 - - 2683.06 - - - 2271.19 - 121.65 - - 2264.34 - - - - - - - - - - -
13261.78 732.91 7.97 1360 13266.42 done 1.46 - - 2683.00 - 2.79 0.074 1131.31 -408.6 121.65 - - 2263.28 - - - - - - - - - 15.89 -
13319.72 728.13 8.15 1368 13324.35 done 1.48 - - 2681.69 - 2.62 0.031 2271.19 435.1 121.65 - - 2264.31 - - - - - - - - - 15.96 -
13636.20 705.05 6.85 1390 13680.12 1.58 0.18 0.086 2725.00 240.6 2.71 0.097 3344.38 396.0 167.23 36.31 2.065 2093.38 -4.7 0.273 - - - - - - 15.92 15.69 11.12
13723.98 697.34 8.73 1403 13729.52 roll 1.58 - - 2725.38 - 2.60 0.024 2190.00 -444.0 167.23 - - 2091.53 - - - - - - - - - 15.80 -
14043.60 666.59 9.84 1425 14044.93 no move 1.58 - - 2725.56 - - - 2188.75 - 167.23 - - 2086.12 - - - - - - - - - - -
14358.56 634.12 10.81 1446 14359.89 no move 1.58 - - 2725.38 - - - 2189.25 - 167.23 - - 2085.31 - - - - - - - - - - -
14673.48 601.46 10.32 1467 14674.81 no move 1.58 - - 2725.69 - - - 2189.44 - 167.23 - - 2085.00 - - - - - - - - - - -
14988.67 569.92 9.99 1488 14990.00 no move 1.58 - - 2725.69 - - - 2189.12 - 167.23 - - 2084.97 - - - - - - - - - - -
15303.51 539.57 9.30 1509 15308.19 done 1.58 - - 2725.81 - 2.91 0.088 3343.94 396.8 167.23 - - 2085.59 - - - - - - - - - 15.86 -
15342.05 535.82 9.67 1515 15347.59 done 1.58 - - 2725.44 - 2.58 0.024 2189.81 -447.3 167.23 - - 2085.00 - - - - - - - - - 15.95 -
15661.49 508.50 8.00 1537 15662.82 VBD 1.60 - - 2724.81 - - - 2188.50 - 167.23 - - 2083.81 - - - - - - - - - - -
15964.36 483.70 8.51 1562 15975.44 VBD 1.61 - - 2725.19 - - - 2188.75 - 167.23 - - 2084.53 - - - - - - - - - - -
16277.07 456.69 8.86 1591 16288.14 VBD 1.61 - - 2725.44 - - - 2188.56 - 167.23 - - 2084.44 - - - - - - - - - - -
16589.99 428.22 9.52 1620 16601.06 VBD 1.61 - - 2725.75 - - - 2188.69 - 167.23 - - 2084.47 - - - - - - - - - - -
16902.68 399.07 9.40 1649 16913.76 VBD 1.61 - - 2725.81 - - - 2189.06 - 167.23 - - 2084.03 - - - - - - - - - - -
17215.61 370.05 9.59 1678 17226.69 VBD 1.61 - - 2725.44 - - - 2188.69 - 167.23 - - 2083.94 - - - - - - - - - - -
17528.49 341.41 8.92 1707 17533.12 done 1.61 - - 2723.94 - 2.61 0.078 1130.69 -405.4 167.23 - - 2084.22 - - - - - - - - - 15.88 -
17565.68 337.90 9.16 1712 17570.49 done 1.61 - - 2725.50 - 2.62 0.030 2271.75 435.5 167.23 - - 2082.16 - - - - - - - - - 15.97 -
17877.45 312.80 7.85 1741 17882.11 done 1.64 - - 2725.38 - 2.82 0.073 1132.12 -404.1 167.23 - - 2082.78 - - - - - - - - - 15.88 -
17947.82 306.98 8.33 1751 17962.74 done 1.66 - - 2724.88 - 2.61 0.030 2272.12 436.8 167.23 - - 2085.12 - - - - - - - - - 15.98 -
18266.50 282.53 7.91 1803 18272.04 done 1.68 - - 2725.44 - 2.79 0.072 1131.00 -409.0 167.23 - - 2083.72 - - - - - - - - - 15.87 -
18316.50 278.36 8.41 1813 18322.03 done 1.70 - - 2725.12 - 2.62 0.030 2273.06 435.9 167.23 - - 2084.44 - - - - - - - - - 15.97 -
18626.54 253.82 8.19 1875 18627.87 VBD 1.71 - - 2725.25 - - - 2272.75 - 167.23 - - 2083.00 - - - - - - - - - - -
18931.57 228.14 8.81 1936 18937.12 done 1.71 - - 2725.50 - 2.80 0.072 1130.94 -407.8 167.23 - - 2083.53 - - - - - - - - - 15.86 -
18986.57 222.99 9.49 1947 18992.12 done 1.71 - - 2724.56 - 2.61 0.030 2272.75 437.5 167.23 - - 2083.50 - - - - - - - - - 15.96 -
19296.79 194.23 9.43 2009 19302.22 done 1.71 - - 2725.44 - 2.80 0.071 1130.00 -408.1 167.23 - - 2083.78 - - - - - - - - - 15.86 -
19341.61 189.63 10.37 2018 19347.16 done 1.71 - - 2724.44 - 2.61 0.029 2274.88 438.7 167.23 - - 2085.09 - - - - - - - - - 15.97 -
19651.66 161.04 8.40 2080 19657.21 done 1.73 - - 2725.44 - 2.79 0.071 1130.25 -410.3 167.23 - - 2083.81 - - - - - - - - - 15.86 -
19706.64 156.13 9.07 2091 19712.20 done 1.73 - - 2725.25 - 2.62 0.029 2274.75 436.8 167.23 - - 2085.69 - - - - - - - - - 15.96 -
20016.70 134.56 6.49 2153 20063.47 1.84 0.31 0.069 2789.19 206.3 2.78 0.074 1129.75 -411.9 219.97 40.35 1.348 1877.41 -5.2 0.088 - - - - - - 15.93 15.76 11.01
20116.69 124.78 11.24 2173 20122.25 roll 1.84 - - 2789.12 - 2.62 0.030 2271.44 435.8 219.97 - - 1873.53 - - - - - - - - - 15.84 -
20426.75 98.83 6.42 2235 20473.47 done 1.94 - - 2789.50 - 2.80 0.073 1130.25 -407.6 274.10 41.47 1.274 1657.34 -5.2 0.069 - - - - - - - 15.69 11.66
20487.31 94.73 6.96 2247 20527.76 2.03 0.20 0.077 2838.62 245.6 2.64 0.029 2273.12 432.9 317.57 34.53 1.227 1481.16 -5.1 0.067 - - - - - - 15.70 15.78 12.28
20711.78 72.82 9.85 2292 20717.33 roll 2.03 - - 2839.56 - 2.80 0.071 1131.38 -407.8 317.57 - - 1472.38 - - - - - - - - - 15.72 -
20791.78 64.44 10.75 2308 20797.32 done 2.03 - - 2839.94 - 2.64 0.029 2271.50 431.9 317.57 - - 1471.22 - - - - - - - - - 15.75 -
20981.80 44.76 10.06 2346 20983.13 VBD 2.03 - - 2839.62 - - - 2271.50 - 317.57 - - 1470.12 - - - - - - - - - - -
21166.84 34.20 4.32 2383 21244.93 2.22 0.17 0.082 2884.06 261.4 2.82 0.073 1131.06 -404.4 413.11 71.14 1.181 1091.09 -5.3 0.026 - - - - - - 15.79 15.58 11.49
21452.09 19.28 7.22 2440 21457.62 roll 2.26 - - 2883.62 - 2.64 0.028 2275.00 433.3 413.11 - - 1084.72 - - - - - - - - - 15.73 -
21642.15 6.40 7.18 2478 21643.48 VBD 2.30 - - 2884.31 - - - 2275.00 - 413.11 - - 1082.25 - - - - - - - - - - -
21671 end climb: SURFACE_DEPTH_REACHED
21671 begin surface coast
21726 end surface coast: CONTROL_FINISHED_OK
21727 begin surface
SM 1.12 - - - - 189.1 10.05 0.960 1043.2 103.8 16.57 0.039 1031.1 62.2 - 0.12 0.116 1055.3 8794.2 -8.678 - - 11.64 15.75 15.77 -