NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 571 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 186.29 of 550.00 AH used of 24V (66.13% remains)
• Surface angle -65.9 deg, depth 0.69 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.89 (SM_CC=425)
• GPS1 time: 24 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.25 - - - 61.86 VBD -1.29 - - 176.94 - - - 2252.06 - -82.73 55.46 0.005 2475.41 - - - - - - - - - - 15.39
62.59 3.71 -7.37 10 100.68 -1.29 14.53 0.249 2016.44 126.6 2.97 0.083 3429.25 396.4 -82.73 13.31 0.006 3112.09 47.8 -4.912 - - - - - - 15.56 15.30 15.45
327.82 49.50 -13.14 63 333.36 roll -1.29 - - 2015.75 - 2.62 0.020 2251.25 -449.6 -82.73 - - 3112.31 - - - - - - - - - 15.84 -
518.51 70.01 -9.83 101 519.84 no move -1.29 - - 2016.50 - - - 2250.00 - -82.73 - - 3110.81 - - - - - - - - - - -
702.95 86.91 -8.83 138 708.80 roll -1.29 - - 2016.06 - 2.54 0.065 1208.38 -410.1 -82.73 - - 3113.16 - - - - - - - - - 15.90 -
767.96 92.69 -8.96 151 773.52 roll -1.29 - - 2016.56 - 2.63 0.027 2352.62 435.1 -82.73 - - 3112.62 - - - - - - - - - 15.90 -
958.01 108.95 -8.24 189 963.57 roll -1.29 - - 2015.88 - 2.69 0.085 3425.88 399.0 -82.73 - - 3112.94 - - - - - - - - - 15.90 -
1028.04 115.83 -10.08 203 1033.58 roll -1.29 - - 2016.44 - 2.59 0.020 2245.44 -455.8 -82.73 - - 3112.53 - - - - - - - - - 15.92 -
1338.13 141.99 -8.35 265 1343.74 roll -1.29 - - 2017.00 - 2.97 0.081 3427.25 397.9 -82.73 - - 3113.28 - - - - - - - - - 15.93 -
1438.16 151.21 -9.41 285 1443.70 roll -1.29 - - 2016.69 - 2.58 0.020 2245.06 -458.2 -82.73 - - 3112.75 - - - - - - - - - 15.95 -
1748.26 177.09 -8.24 347 1749.58 no move -1.29 - - 2017.19 - - - 2244.25 - -82.73 - - 3112.50 - - - - - - - - - - -
2053.35 202.73 -8.70 408 2054.68 no move -1.29 - - 2016.69 - - - 2244.06 - -82.73 - - 3111.78 - - - - - - - - - - -
2358.48 229.93 -8.81 469 2359.81 no move -1.29 - - 2016.69 - - - 2244.19 - -82.73 - - 3111.69 - - - - - - - - - - -
2663.47 255.11 -7.91 530 2669.06 roll -1.29 - - 2016.50 - 2.96 0.082 3427.38 399.7 -82.73 - - 3112.41 - - - - - - - - - 15.96 -
2733.47 261.50 -9.36 544 2739.00 roll -1.29 - - 2017.25 - 2.57 0.020 2246.38 -459.5 -82.73 - - 3112.09 - - - - - - - - - 15.98 -
3043.52 285.77 -7.50 606 3049.11 roll -1.29 - - 2016.56 - 2.96 0.082 3428.62 399.4 -82.73 - - 3112.69 - - - - - - - - - 15.96 -
3088.52 289.56 -8.52 615 3094.05 roll -1.29 - - 2017.12 - 2.59 0.021 2247.38 -456.1 -82.73 - - 3112.12 - - - - - - - - - 15.99 -
3403.74 314.97 -8.27 658 3408.41 roll -1.29 - - 2016.75 - 2.96 0.083 3426.88 398.5 -82.73 - - 3113.44 - - - - - - - - - 15.97 -
3458.34 319.89 -9.03 666 3473.26 roll -1.29 - - 2017.00 - 2.57 0.021 2246.25 -459.4 -82.73 - - 3111.28 - - - - - - - - - 16.02 -
3774.50 346.78 -8.45 695 3785.57 no move -1.29 - - 2017.06 - - - 2246.31 - -82.73 - - 3111.53 - - - - - - - - - - -
4087.20 373.82 -8.87 724 4098.27 no move -1.29 - - 2016.94 - - - 2246.19 - -82.73 - - 3110.72 - - - - - - - - - - -
4400.35 399.05 -7.77 753 4411.43 no move -1.29 - - 2017.00 - - - 2246.31 - -82.73 - - 3110.56 - - - - - - - - - - -
4713.18 422.44 -7.46 782 4717.85 roll -1.29 - - 2017.31 - 2.97 0.084 3425.06 396.9 -82.73 - - 3111.03 - - - - - - - - - 15.95 -
4766.10 426.93 -8.19 789 4770.72 roll -1.29 - - 2016.12 - 2.58 0.021 2249.50 -455.6 -82.73 - - 3110.31 - - - - - - - - - 16.01 -
5078.23 449.37 -7.03 818 5089.31 no move -1.29 - - 2017.25 - - - 2249.19 - -82.73 - - 3109.16 - - - - - - - - - - -
5391.05 473.19 -8.17 847 5402.12 no move -1.29 - - 2017.38 - - - 2248.81 - -82.73 - - 3109.00 - - - - - - - - - - -
5704.08 498.35 -7.91 876 5715.15 no move -1.29 - - 2017.44 - - - 2248.75 - -82.73 - - 3108.47 - - - - - - - - - - -
6026.61 523.78 -7.60 898 6031.22 roll -1.29 - - 2017.00 - 2.55 0.070 1210.62 -407.1 -82.73 - - 3106.72 - - - - - - - - - 15.97 -
6070.15 526.71 -7.69 905 6085.08 roll -1.29 - - 2017.00 - 2.63 0.030 2352.00 434.0 -82.73 - - 3108.03 - - - - - - - - - 16.02 -
6399.56 552.48 -7.37 927 6400.89 no move -1.29 - - 2016.75 - - - 2351.94 - -82.73 - - 3106.31 - - - - - - - - - - -
6714.58 575.21 -7.53 948 6719.24 roll -1.29 - - 2017.25 - 2.83 0.065 1211.06 -403.1 -82.73 - - 3108.81 - - - - - - - - - 15.96 -
6753.12 578.06 -7.60 954 6758.68 roll -1.29 - - 2017.25 - 2.63 0.030 2352.31 433.9 -82.73 - - 3107.09 - - - - - - - - - 16.03 -
7072.70 600.63 -6.82 976 7077.37 roll -1.29 - - 2016.88 - 2.82 0.065 1210.00 -405.1 -82.73 - - 3106.03 - - - - - - - - - 15.96 -
7137.10 604.84 -7.13 986 7151.91 roll -1.29 - - 2016.75 - 2.63 0.030 2352.38 434.4 -82.73 - - 3106.84 - - - - - - - - - 16.03 -
7466.40 626.32 -6.57 1008 7467.73 no move -1.29 - - 2016.81 - - - 2351.88 - -82.73 - - 3105.84 - - - - - - - - - - -
7781.42 647.32 -6.86 1029 7782.75 no move -1.29 - - 2016.88 - - - 2352.12 - -82.73 - - 3104.81 - - - - - - - - - - -
7991 end dive: TARGET_DEPTH_EXCEEDED
7991 begin apogee
7993.25 661.22 -6.70 1043 8056.74 -0.28 1.72 0.139 2263.75 143.5 0.22 0.123 2273.19 -358.8 - 59.79 2.005 2774.81 -5.5 0.302 - - - - - - 15.85 15.66 10.91
8057 end apogee: CONTROL_FINISHED_OK
8058 begin climb
8058.76 662.58 - 1047 8132.05 1.29 2.52 0.092 2650.19 153.3 2.80 0.093 3344.06 382.5 82.73 63.92 1.935 2437.16 -5.3 0.300 - - - - - - 15.71 15.38 12.40
8166.28 657.96 4.99 1063 8228.95 1.42 0.16 0.088 2692.06 261.7 2.67 0.022 2186.12 -433.7 147.79 52.33 1.892 2172.50 -5.1 0.292 - - - - - - 15.47 15.53 12.23
8542.11 623.13 9.85 1092 8546.74 roll 1.42 - - 2693.19 - 2.65 0.078 1132.19 -397.7 147.79 - - 2163.31 - - - - - - - - - 15.69 -
8622.14 614.82 10.43 1104 8627.69 done 1.42 - - 2692.31 - 2.68 0.029 2272.50 425.5 147.79 - - 2163.75 - - - - - - - - - 15.75 -
8941.55 583.92 8.82 1126 8942.88 VBD 1.42 - - 2692.88 - - - 2272.25 - 147.79 - - 2161.16 - - - - - - - - - - -
9256.56 556.15 8.99 1147 9261.23 done 1.42 - - 2693.19 - 2.82 0.074 1131.50 -404.5 147.79 - - 2160.53 - - - - - - - - - 15.86 -
9399.03 542.08 10.14 1168 9404.58 done 1.42 - - 2692.69 - 2.66 0.030 2269.62 427.9 147.79 - - 2160.66 - - - - - - - - - 15.90 -
9718.44 511.93 9.20 1190 9723.10 done 1.42 - - 2693.00 - 2.86 0.074 1132.38 -397.6 147.79 - - 2158.44 - - - - - - - - - 15.89 -
9777.73 506.32 9.55 1199 9783.28 done 1.42 - - 2693.19 - 2.64 0.030 2272.19 431.7 147.79 - - 2160.53 - - - - - - - - - 15.93 -
10093.27 476.82 9.30 1227 10098.16 done 1.42 - - 2693.12 - 2.84 0.074 1131.00 -401.8 147.79 - - 2159.00 - - - - - - - - - 15.90 -
10210.51 465.71 9.57 1243 10225.45 done 1.42 - - 2692.88 - 2.65 0.030 2271.12 430.2 147.79 - - 2159.91 - - - - - - - - - 15.95 -
10527.34 440.60 7.49 1272 10538.42 VBD 1.44 - - 2693.25 - - - 2271.38 - 147.79 - - 2159.34 - - - - - - - - - - -
10840.54 417.68 7.10 1301 10845.21 done 1.47 - - 2692.06 - 2.83 0.074 1131.38 -402.8 147.79 - - 2159.75 - - - - - - - - - 15.92 -
10973.51 407.24 8.03 1319 10988.45 done 1.47 - - 2693.62 - 2.65 0.030 2273.12 430.8 147.79 - - 2158.22 - - - - - - - - - 15.98 -
11289.71 381.98 8.26 1348 11294.38 done 1.47 - - 2692.75 - 2.85 0.074 1132.44 -400.2 147.79 - - 2156.41 - - - - - - - - - 15.92 -
11359.73 376.03 8.63 1358 11374.68 done 1.47 - - 2693.19 - 2.63 0.030 2272.38 433.4 147.79 - - 2158.31 - - - - - - - - - 15.99 -
11676.56 353.54 6.71 1387 11681.22 done 1.51 - - 2693.06 - 2.83 0.073 1131.44 -403.2 147.79 - - 2159.03 - - - - - - - - - 15.92 -
11761.75 347.19 7.43 1399 11776.68 done 1.53 - - 2693.56 - 2.64 0.030 2270.62 431.5 147.79 - - 2158.06 - - - - - - - - - 15.99 -
12078.51 325.52 6.95 1428 12089.58 VBD 1.56 - - 2693.00 - - - 2270.19 - 147.79 - - 2157.84 - - - - - - - - - - -
12391.69 302.22 7.51 1457 12402.76 VBD 1.58 - - 2693.62 - - - 2270.81 - 147.79 - - 2158.19 - - - - - - - - - - -
12707.57 278.67 7.44 1516 12712.83 done 1.60 - - 2693.00 - 2.83 0.074 1133.62 -401.8 147.79 - - 2158.91 - - - - - - - - - 15.90 -
12757.16 274.75 7.89 1526 12762.75 1.61 0.17 0.091 2735.50 250.0 2.64 0.030 2273.69 431.8 147.79 - - 2158.12 - - - - - - - - 15.81 15.97 -
13067.24 249.66 8.02 1588 13072.82 done 1.61 - - 2735.44 - 2.84 0.073 1133.69 -401.4 147.79 - - 2158.84 - - - - - - - - - 15.91 -
13122.25 245.06 8.46 1599 13127.80 done 1.61 - - 2735.81 - 2.63 0.029 2274.19 433.7 147.79 - - 2157.84 - - - - - - - - - 15.97 -
13432.35 221.63 7.33 1661 13437.92 done 1.63 - - 2735.12 - 2.85 0.073 1131.44 -401.0 147.79 - - 2157.91 - - - - - - - - - 15.90 -
13532.37 213.83 7.68 1681 13537.91 done 1.65 - - 2736.25 - 2.63 0.029 2272.62 433.9 147.79 - - 2158.72 - - - - - - - - - 15.98 -
13842.44 191.11 7.51 1743 13848.01 done 1.67 - - 2735.81 - 2.84 0.072 1131.31 -401.9 147.79 - - 2158.56 - - - - - - - - - 15.90 -
13907.43 185.85 8.18 1756 13913.16 done 1.67 - - 2735.94 - 2.63 0.029 2273.69 434.4 147.79 - - 2158.81 - - - - - - - - - 15.98 -
14217.48 162.10 7.79 1818 14223.02 done 1.68 - - 2735.69 - 2.71 0.089 3347.31 396.2 147.79 - - 2157.50 - - - - - - - - - 15.89 -
14252.46 159.03 8.65 1825 14258.00 done 1.68 - - 2735.88 - 2.58 0.023 2186.38 -450.0 147.79 - - 2158.00 - - - - - - - - - 15.98 -
14562.52 134.87 7.49 1887 14568.04 done 1.70 - - 2735.81 - 2.59 0.077 1132.50 -406.9 147.79 - - 2157.53 - - - - - - - - - 15.90 -
14637.52 129.17 7.62 1902 14643.06 done 1.71 - - 2736.12 - 2.61 0.029 2274.50 437.5 147.79 - - 2159.19 - - - - - - - - - 15.98 -
14947.57 108.26 6.55 1964 14953.13 done 1.75 - - 2736.38 - 2.82 0.072 1132.50 -405.0 147.79 - - 2157.44 - - - - - - - - - 15.90 -
15097.57 97.81 6.80 1994 15103.17 1.79 0.16 0.090 2780.00 272.6 2.62 0.029 2275.00 436.1 147.79 - - 2157.44 - - - - - - - - 15.80 15.97 -
15287.78 87.83 4.58 2032 15345.96 done 1.93 - - 2778.31 - 2.83 0.073 1132.44 -403.7 220.51 52.97 1.283 1875.56 -5.3 0.061 - - - - - - - 15.78 11.08
15398.36 79.24 10.44 2054 15403.74 roll 1.93 - - 2779.81 - 2.65 0.029 2273.81 430.7 220.51 - - 1870.81 - - - - - - - - - 15.83 -
15588.26 63.58 6.97 2092 15593.86 roll back 1.96 0.14 0.090 2820.62 291.5 2.72 0.088 3346.19 394.3 220.51 - - 1868.50 - - - - - - - - 15.81 15.74 -
15653.27 58.68 7.60 2105 15658.88 roll 1.98 - - 2820.88 - 2.60 0.023 2183.69 -447.1 220.51 - - 1869.09 - - - - - - - - - 15.85 -
15843.33 49.26 5.94 2143 15884.96 done 2.07 - - 2820.75 - 2.95 0.085 3347.56 394.5 267.72 35.61 1.198 1683.81 -5.2 0.036 - - - - - - - 15.76 11.76
16078.38 27.53 9.43 2190 16083.93 roll 2.07 - - 2820.62 - 2.62 0.023 2188.06 -442.6 267.72 - - 1677.53 - - - - - - - - - 15.81 -
16268.96 15.93 4.76 2228 16326.80 2.21 0.29 0.067 2882.25 212.5 2.61 0.078 1131.44 -404.8 337.07 52.59 1.160 1400.12 -5.3 0.012 - - - - - - 15.81 15.68 11.82
16379.20 10.87 5.80 2250 16422.68 done 2.31 - - 2881.75 - 2.67 0.027 2276.25 428.8 387.06 38.79 1.118 1197.00 -5.2 0.008 - - - - - - - 15.74 12.39
16494 end climb: SURFACE_DEPTH_REACHED
16494 begin surface coast
16569 end surface coast: CONTROL_FINISHED_OK
16569 begin surface
SM 2.33 - - - - 177.6 29.47 1.110 1042.9 34.1 16.81 0.051 1004.6 59.8 - 0.12 0.122 1081.2 8987.8 -17.544 - - 12.02 15.67 15.69 -