NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 943 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 329.38 of 550.00 AH used of 24V (40.11% remains)
• Surface angle -61.8 deg, depth 0.39 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.10 (SM_CC=425)
• GPS1 time: 37 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
5.69 - - - 77.14 VBD -1.35 - - 182.00 - - - 2243.88 - -82.73 70.30 0.005 2717.75 - - - - - - - - - - 14.90
78.25 3.46 -5.99 13 110.68 -1.35 14.85 0.237 1993.56 122.0 3.10 0.085 3426.62 381.5 -82.73 8.85 0.007 3112.25 44.6 -3.766 - - - - - - 15.39 14.91 15.04
187.77 23.82 -17.48 35 193.34 roll -1.35 - - 1994.06 - 2.62 0.018 2254.38 -447.4 -82.73 - - 3113.09 - - - - - - - - - 15.77 -
378.21 50.79 -13.28 73 383.57 roll -1.35 - - 1993.25 - 2.58 0.062 1209.00 -405.2 -82.73 - - 3115.09 - - - - - - - - - 15.82 -
447.99 60.26 -13.50 87 453.42 roll -1.35 - - 1993.06 - 2.68 0.026 2352.38 426.6 -82.73 - - 3113.53 - - - - - - - - - 15.85 -
638.33 82.47 -10.40 125 643.53 roll -1.35 - - 1993.69 - 2.81 0.056 1208.25 -407.2 -82.73 - - 3113.44 - - - - - - - - - 15.85 -
742.97 93.89 -12.12 146 748.51 roll -1.35 - - 1994.06 - 2.66 0.026 2346.19 427.8 -82.73 - - 3114.34 - - - - - - - - - 15.90 -
933.02 112.38 -7.73 184 938.58 roll -1.35 - - 1994.00 - 2.77 0.056 1209.19 -410.5 -82.73 - - 3114.16 - - - - - - - - - 15.90 -
963.03 114.75 -7.86 190 968.58 roll -1.35 - - 1993.56 - 2.65 0.025 2352.50 431.4 -82.73 - - 3113.44 - - - - - - - - - 15.92 -
1273.08 138.00 -8.11 252 1278.64 roll -1.35 - - 1994.31 - 2.75 0.082 3427.25 390.8 -82.73 - - 3113.88 - - - - - - - - - 15.89 -
1313.08 141.57 -8.90 260 1318.61 roll -1.35 - - 1994.12 - 2.58 0.018 2233.06 -462.9 -82.73 - - 3114.84 - - - - - - - - - 15.93 -
1623.15 165.40 -7.33 322 1624.48 no move -1.35 - - 1994.19 - - - 2232.12 - -82.73 - - 3113.25 - - - - - - - - - - -
1928.30 188.33 -7.46 383 1929.63 no move -1.35 - - 1994.31 - - - 2231.25 - -82.73 - - 3113.88 - - - - - - - - - - -
2233.24 211.89 -7.75 444 2238.36 roll -1.35 - - 1994.50 - 2.48 0.063 1207.69 -412.7 -82.73 - - 3113.88 - - - - - - - - - 15.95 -
2378.26 223.92 -8.35 473 2383.82 roll -1.35 - - 1994.75 - 2.65 0.026 2344.69 429.1 -82.73 - - 3114.38 - - - - - - - - - 15.98 -
2688.30 249.54 -8.74 535 2693.86 roll -1.35 - - 1994.50 - 2.77 0.058 1208.31 -410.2 -82.73 - - 3114.16 - - - - - - - - - 15.96 -
2763.31 256.42 -9.22 550 2768.86 roll -1.35 - - 1993.94 - 2.62 0.026 2337.94 431.2 -82.73 - - 3114.00 - - - - - - - - - 15.98 -
3073.36 283.15 -8.06 612 3078.92 roll -1.35 - - 1994.56 - 2.75 0.058 1208.88 -410.6 -82.73 - - 3114.91 - - - - - - - - - 15.96 -
3168.36 291.14 -8.42 631 3173.90 roll -1.35 - - 1994.38 - 2.60 0.025 2327.62 430.3 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
3480.27 316.03 -7.72 671 3484.99 roll -1.35 - - 1992.50 - 2.82 0.084 3426.81 389.8 -82.73 - - 3115.62 - - - - - - - - - 15.93 -
3517.46 319.17 -8.15 676 3522.10 roll -1.35 - - 1994.12 - 2.63 0.019 2222.88 -457.8 -82.73 - - 3113.06 - - - - - - - - - 15.99 -
3829.15 342.69 -7.34 705 3840.22 no move -1.35 - - 1994.31 - - - 2220.50 - -82.73 - - 3114.44 - - - - - - - - - - -
4142.20 364.37 -6.49 734 4146.90 roll -1.35 - - 1992.81 - 3.10 0.080 3426.00 388.9 -82.73 - - 3114.56 - - - - - - - - - 15.93 -
4180.75 367.05 -6.87 740 4195.69 roll -1.35 - - 1993.75 - 2.62 0.019 2226.19 -457.9 -82.73 - - 3113.16 - - - - - - - - - 16.00 -
4497.14 388.01 -6.68 769 4501.74 roll -1.35 - - 1993.94 - 2.47 0.065 1208.25 -412.1 -82.73 - - 3113.09 - - - - - - - - - 15.97 -
4565.80 392.96 -7.13 778 4570.41 roll -1.35 - - 1994.31 - 2.58 0.027 2330.56 435.0 -82.73 - - 3112.50 - - - - - - - - - 16.01 -
4877.96 414.53 -6.80 807 4889.03 no move -1.35 - - 1994.25 - - - 2330.88 - -82.73 - - 3112.84 - - - - - - - - - - -
5190.80 435.21 -6.47 836 5201.86 no move -1.35 - - 1994.12 - - - 2330.56 - -82.73 - - 3112.66 - - - - - - - - - - -
5503.54 455.28 -6.32 865 5508.18 roll -1.35 - - 1993.38 - 2.72 0.060 1209.00 -412.3 -82.73 - - 3114.09 - - - - - - - - - 15.97 -
5636.85 464.24 -6.79 883 5651.95 roll -1.35 - - 1993.75 - 2.60 0.027 2327.19 430.1 -82.73 - - 3112.69 - - - - - - - - - 16.01 -
5953.53 484.49 -6.28 912 5964.60 no move -1.35 - - 1994.06 - - - 2327.12 - -82.73 - - 3112.06 - - - - - - - - - - -
6276.89 504.93 -6.25 940 6281.54 roll -1.35 - - 1994.12 - 2.72 0.061 1209.12 -411.0 -82.73 - - 3110.00 - - - - - - - - - 15.96 -
6403.75 512.61 -6.35 959 6418.65 roll -1.35 - - 1993.81 - 2.60 0.027 2325.06 429.2 -82.73 - - 3112.03 - - - - - - - - - 16.03 -
6733.15 532.68 -5.91 981 6734.48 no move -1.35 - - 1994.00 - - - 2325.12 - -82.73 - - 3110.03 - - - - - - - - - - -
7048.18 551.05 -5.87 1002 7052.83 roll -1.35 - - 1994.19 - 2.72 0.062 1209.25 -410.2 -82.73 - - 3109.78 - - - - - - - - - 15.96 -
7126.86 555.96 -6.20 1013 7131.48 roll -1.35 - - 1993.31 - 2.59 0.027 2321.62 429.5 -82.73 - - 3109.88 - - - - - - - - - 16.00 -
7443.36 573.78 -5.86 1035 7447.98 roll -1.35 - - 1993.31 - 2.70 0.062 1207.94 -412.5 -82.73 - - 3111.12 - - - - - - - - - 15.95 -
7481.92 576.12 -6.14 1041 7487.44 roll -1.35 - - 1993.19 - 2.58 0.027 2318.12 430.3 -82.73 - - 3110.50 - - - - - - - - - 16.02 -
7801.31 596.43 -6.76 1063 7802.65 no move -1.35 - - 1994.06 - - - 2318.50 - -82.73 - - 3109.00 - - - - - - - - - - -
8116.33 619.25 -7.54 1084 8120.98 roll -1.35 - - 1994.06 - 2.70 0.062 1208.31 -411.2 -82.73 - - 3108.62 - - - - - - - - - 15.95 -
8217.49 627.12 -7.91 1099 8222.83 roll -1.35 - - 1992.69 - 2.58 0.027 2317.06 429.7 -82.73 - - 3110.41 - - - - - - - - - 16.01 -
8536.71 651.12 -7.56 1121 8538.04 no move -1.35 - - 1993.75 - - - 2317.31 - -82.73 - - 3107.41 - - - - - - - - - - -
8851.72 673.97 -6.99 1142 8856.36 roll -1.35 - - 1993.88 - 2.71 0.062 1209.25 -408.9 -82.73 - - 3108.34 - - - - - - - - - 15.94 -
8972.20 682.56 -7.14 1159 8976.82 roll -1.35 - - 1993.75 - 2.57 0.027 2315.00 430.3 -82.73 - - 3107.91 - - - - - - - - - 16.00 -
9288.68 704.31 -7.11 1181 9290.01 no move -1.35 - - 1993.88 - - - 2314.75 - -82.73 - - 3108.06 - - - - - - - - - - -
9603.71 724.84 -6.44 1202 9608.35 roll -1.35 - - 1994.19 - 2.70 0.063 1209.38 -409.4 -82.73 - - 3107.94 - - - - - - - - - 15.94 -
9682.38 730.25 -6.83 1213 9686.99 roll -1.35 - - 1994.25 - 2.56 0.027 2310.25 430.0 -82.73 - - 3107.69 - - - - - - - - - 16.01 -
9998.89 751.70 -7.01 1235 10003.55 roll -1.35 - - 1994.12 - 2.89 0.090 3424.75 385.6 -82.73 - - 3106.50 - - - - - - - - - 15.88 -
10016.68 752.88 -7.10 1238 10022.24 roll -1.35 - - 1993.88 - 2.69 0.020 2206.56 -452.9 -82.73 - - 3107.38 - - - - - - - - - 15.99 -
10336.10 773.39 -6.24 1260 10340.70 roll -1.35 - - 1994.00 - 2.44 0.068 1209.44 -408.7 -82.73 - - 3105.53 - - - - - - - - - 15.93 -
10373 end dive: TARGET_DEPTH_EXCEEDED
10373 begin apogee
10376.72 775.83 -6.47 1265 10450.71 -0.28 1.86 0.138 2253.19 139.3 0.14 0.157 2035.19 5898.2 - 65.14 2.124 2774.72 -5.1 0.317 - - - - - - 15.79 15.27 10.34
10452 end apogee: CONTROL_FINISHED_OK
10453 begin climb
10453.28 777.70 - 1270 10526.81 1.35 2.68 0.090 2650.06 148.1 0.18 0.082 2161.50 701.7 82.73 68.07 2.053 2437.03 -5.0 0.321 - - - - - - 15.54 15.63 11.76
10832.17 759.48 5.49 1301 10880.30 VBD 1.46 - - 2650.19 - - - 2160.69 - 138.18 46.86 2.014 2213.09 -4.8 0.308 - - - - - - - - 11.32
11192.82 736.36 6.93 1326 11197.58 roll back 1.49 0.19 0.091 2692.88 224.7 2.96 0.079 993.75 -394.2 138.18 - - 2204.97 - - - - - - - - 15.72 15.66 -
11340.45 724.06 8.83 1348 11355.01 roll 1.49 - - 2693.44 - 2.68 0.024 2134.88 425.8 138.18 - - 2204.28 - - - - - - - - - 15.81 -
11669.68 698.24 7.78 1370 11671.01 VBD 1.50 - - 2693.00 - - - 2135.25 - 138.18 - - 2202.41 - - - - - - - - - - -
11984.62 675.21 6.86 1391 11985.95 VBD 1.53 - - 2693.50 - - - 2135.38 - 138.18 - - 2202.50 - - - - - - - - - - -
12299.51 654.96 5.91 1412 12344.82 done 1.63 - - 2693.94 - 2.92 0.082 994.06 -390.9 185.70 39.92 1.953 2017.97 -4.6 0.265 - - - - - - - 15.47 11.01
12384.76 649.11 6.86 1425 12390.19 roll back 1.66 0.19 0.087 2733.69 209.2 2.67 0.023 2129.25 425.2 185.70 - - 2014.66 - - - - - - - - 15.66 15.76 -
12704.01 622.10 8.55 1447 12708.66 roll 1.66 - - 2733.50 - 2.79 0.084 3204.56 385.4 185.70 - - 2012.06 - - - - - - - - - 15.80 -
12809.78 612.87 9.30 1463 12824.70 roll 1.66 - - 2733.75 - 2.60 0.024 2065.06 -438.3 185.70 - - 2011.03 - - - - - - - - - 15.87 -
13139.19 582.07 9.74 1485 13143.82 roll 1.66 - - 2734.38 - 2.68 0.084 993.50 -399.8 185.70 - - 2009.75 - - - - - - - - - 15.84 -
13203.48 576.25 9.91 1495 13218.42 done 1.66 - - 2733.62 - 2.68 0.025 2140.38 427.9 185.70 - - 2009.38 - - - - - - - - - 15.93 -
13533.09 545.19 9.32 1517 13537.74 done 1.66 - - 2734.38 - 2.74 0.084 3205.81 388.8 185.70 - - 2007.84 - - - - - - - - - 15.87 -
13613.11 537.18 10.09 1529 13618.83 done 1.66 - - 2734.62 - 2.59 0.025 2062.75 -441.3 185.70 - - 2009.50 - - - - - - - - - 15.94 -
13932.70 506.88 9.54 1551 13934.03 VBD 1.66 - - 2734.56 - - - 2063.06 - 185.70 - - 2007.31 - - - - - - - - - - -
14244.42 477.35 9.32 1578 14249.06 done 1.66 - - 2733.19 - 2.68 0.084 993.56 -399.1 185.70 - - 2007.75 - - - - - - - - - 15.88 -
14282.97 473.54 9.85 1584 14297.91 done 1.66 - - 2734.19 - 2.67 0.025 2143.19 430.6 185.70 - - 2007.31 - - - - - - - - - 15.97 -
14599.20 445.90 8.35 1613 14610.28 VBD 1.66 - - 2735.06 - - - 2143.62 - 185.70 - - 2007.72 - - - - - - - - - - -
14912.16 420.43 8.08 1642 14916.82 done 1.66 - - 2734.38 - 2.90 0.079 992.62 -396.9 185.70 - - 2008.88 - - - - - - - - - 15.88 -
14966.43 415.70 8.70 1650 14981.38 done 1.66 - - 2734.50 - 2.66 0.025 2144.00 432.8 185.70 - - 2007.69 - - - - - - - - - 15.99 -
15283.05 391.07 7.62 1679 15287.72 done 1.68 - - 2734.56 - 2.88 0.079 994.00 -399.3 185.70 - - 2005.94 - - - - - - - - - 15.89 -
15368.82 384.32 7.95 1691 15383.73 done 1.69 - - 2734.38 - 2.64 0.024 2138.69 433.6 185.70 - - 2008.47 - - - - - - - - - 15.99 -
15685.63 362.54 6.62 1720 15696.71 VBD 1.72 - - 2734.69 - - - 2138.44 - 185.70 - - 2007.41 - - - - - - - - - - -
15998.38 342.13 6.62 1749 16009.46 VBD 1.76 - - 2735.12 - - - 2138.31 - 185.70 - - 2007.69 - - - - - - - - - - -
16311.92 320.30 7.15 1778 16322.99 VBD 1.79 - - 2734.75 - - - 2138.38 - 185.70 - - 2007.44 - - - - - - - - - - -
16625.44 298.08 7.02 1809 16626.88 1.82 0.16 0.091 2773.81 244.1 - - 2138.19 - 185.70 - - 2007.38 - - - - - - - - 15.94 - -
16930.94 274.71 7.61 1870 16936.12 done 1.83 - - 2775.44 - 2.87 0.078 992.38 -399.2 185.70 - - 2006.56 - - - - - - - - - 15.85 -
17005.56 268.28 8.76 1885 17011.12 done 1.83 - - 2775.56 - 2.64 0.024 2135.75 433.1 185.70 - - 2007.31 - - - - - - - - - 15.98 -
17315.68 243.72 8.63 1947 17321.23 done 1.83 - - 2775.44 - 2.74 0.082 3207.00 391.0 185.70 - - 2007.28 - - - - - - - - - 15.87 -
17340.67 241.51 8.75 1952 17346.22 done 1.83 - - 2774.19 - 2.61 0.024 2054.88 -441.4 185.70 - - 2007.03 - - - - - - - - - 15.97 -
17650.79 215.08 8.58 2014 17652.12 VBD 1.83 - - 2775.00 - - - 2055.62 - 185.70 - - 2005.94 - - - - - - - - - - -
17955.90 190.70 7.90 2075 17961.42 done 1.84 - - 2773.88 - 2.66 0.081 992.50 -399.7 185.70 - - 2006.91 - - - - - - - - - 15.87 -
18011.08 186.04 8.60 2086 18016.50 done 1.84 - - 2775.00 - 2.63 0.024 2132.94 433.6 185.70 - - 2007.56 - - - - - - - - - 15.98 -
18321.03 163.24 7.36 2148 18326.57 done 1.87 - - 2774.62 - 2.73 0.081 3205.25 392.8 185.70 - - 2006.94 - - - - - - - - - 15.88 -
18381.02 158.47 8.06 2160 18386.57 done 1.87 - - 2774.56 - 2.61 0.023 2052.62 -441.6 185.70 - - 2007.44 - - - - - - - - - 15.97 -
18691.14 138.52 5.72 2222 18737.75 done 1.97 - - 2774.69 - 2.67 0.083 992.69 -397.0 236.82 40.40 1.332 1808.97 -4.9 0.087 - - - - - - - 15.45 10.67
18766.47 133.55 7.08 2237 18771.68 roll back 2.00 0.19 0.083 2816.88 222.1 2.65 0.023 2139.00 432.6 236.82 - - 1807.34 - - - - - - - - 15.73 15.86 -
19076.52 108.33 7.94 2299 19081.69 roll 2.01 - - 2817.38 - 2.90 0.076 993.62 -395.0 236.82 - - 1803.34 - - - - - - - - - 15.81 -
19186.42 98.67 8.82 2321 19191.76 roll 2.01 - - 2816.75 - 2.63 0.023 2134.62 433.8 236.82 - - 1802.88 - - - - - - - - - 15.88 -
19376.17 83.84 7.14 2359 19381.72 roll 2.03 - - 2817.12 - 2.73 0.080 3206.62 392.7 236.82 - - 1802.62 - - - - - - - - - 15.84 -
19411.18 81.29 7.19 2366 19416.72 roll 2.06 - - 2817.12 - 2.64 0.023 2040.00 -441.9 236.82 - - 1801.88 - - - - - - - - - 15.91 -
19601.20 71.58 4.48 2404 19664.66 2.21 0.24 0.073 2868.25 213.0 2.64 0.081 992.38 -396.8 311.12 58.12 1.240 1505.84 -5.1 0.050 - - - - - - 15.90 15.45 11.15
19871.85 53.16 7.03 2458 19877.35 roll 2.24 - - 2868.00 - 2.56 0.022 2103.31 434.0 311.12 - - 1499.06 - - - - - - - - - 15.80 -
20061.90 41.16 6.46 2496 20097.80 done 2.31 - - 2867.44 - 2.85 0.080 3206.25 387.0 348.51 30.05 1.149 1354.75 -4.8 0.029 - - - - - - - 15.46 11.22
20167.10 33.57 7.90 2517 20172.54 roll 2.32 - - 2868.94 - 2.74 0.024 2008.69 -437.1 348.51 - - 1351.81 - - - - - - - - - 15.78 -
20356.97 18.99 8.51 2555 20362.58 roll 2.32 - - 2868.88 - 3.08 0.072 3205.75 388.7 348.51 - - 1349.22 - - - - - - - - - 15.78 -
20437.00 13.43 6.99 2571 20442.56 roll 2.35 - - 2868.56 - 2.72 0.024 2016.12 -437.4 348.51 - - 1349.12 - - - - - - - - - 15.83 -
20552 end climb: SURFACE_DEPTH_REACHED
20552 begin surface coast
20602 end surface coast: CONTROL_FINISHED_OK
20602 begin surface
SM 0.14 - - - - 178.2 58.22 1.149 1042.0 17.9 16.68 0.048 999.2 59.9 - 0.75 0.050 1084.8 1442.8 -0.413 - - 11.26 15.81 15.86 -