NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 689 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 233.80 of 550.00 AH used of 24V (57.49% remains)
• Surface angle -65.2 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 2 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
5.39 - - - 77.12 VBD -1.35 - - 184.25 - - - 2226.00 - -82.73 70.56 0.005 2807.19 - - - - - - - - - - 15.14
77.85 4.03 -7.94 13 107.53 -1.35 14.70 0.247 2002.75 123.7 2.44 0.066 1207.19 -417.5 -82.73 6.22 0.008 3111.72 49.0 -4.170 - - - - - - 15.43 15.13 15.26
124.61 16.32 -20.66 22 130.16 roll -1.35 - - 2002.62 - 2.65 0.028 2351.62 431.9 -82.73 - - 3114.34 - - - - - - - - - 15.73 -
315.00 46.24 -11.82 60 320.37 roll -1.35 - - 2003.75 - 2.68 0.083 3426.38 401.0 -82.73 - - 3114.06 - - - - - - - - - 15.75 -
349.75 50.65 -12.81 67 355.50 roll -1.35 - - 2004.44 - 2.57 0.020 2246.44 -459.1 -82.73 - - 3114.28 - - - - - - - - - 15.78 -
540.09 72.05 -10.93 105 544.83 roll -1.35 - - 2003.88 - 2.47 0.064 1207.00 -420.8 -82.73 - - 3114.12 - - - - - - - - - 15.82 -
579.72 76.65 -11.54 113 585.27 roll -1.35 - - 2004.06 - 2.62 0.027 2354.94 438.1 -82.73 - - 3114.28 - - - - - - - - - 15.83 -
770.16 94.81 -8.45 151 775.33 roll -1.35 - - 2004.25 - 2.65 0.083 3426.75 404.5 -82.73 - - 3114.56 - - - - - - - - - 15.82 -
1004.86 116.81 -8.93 198 1010.39 roll -1.35 - - 2004.19 - 2.54 0.019 2242.94 -466.1 -82.73 - - 3114.06 - - - - - - - - - 15.88 -
1314.97 139.91 -7.32 260 1320.56 roll -1.35 - - 2004.38 - 2.95 0.079 3426.75 401.3 -82.73 - - 3114.69 - - - - - - - - - 15.88 -
1505.02 156.60 -8.83 298 1510.56 roll -1.35 - - 2004.12 - 2.55 0.020 2244.25 -463.7 -82.73 - - 3114.62 - - - - - - - - - 15.92 -
1815.31 181.27 -7.88 360 1816.64 no move -1.35 - - 2003.88 - - - 2243.06 - -82.73 - - 3113.44 - - - - - - - - - - -
2120.22 207.06 -8.70 421 2121.55 no move -1.35 - - 2004.06 - - - 2243.00 - -82.73 - - 3113.19 - - - - - - - - - - -
2425.31 234.29 -9.08 482 2430.42 roll -1.35 - - 2004.12 - 2.45 0.066 1206.81 -422.9 -82.73 - - 3114.16 - - - - - - - - - 15.94 -
2490.31 240.58 -9.73 495 2495.86 roll -1.35 - - 2003.44 - 2.62 0.028 2353.12 437.5 -82.73 - - 3116.56 - - - - - - - - - 15.96 -
2800.36 268.97 -8.70 557 2805.93 roll -1.35 - - 2003.81 - 2.71 0.061 1208.19 -422.5 -82.73 - - 3114.41 - - - - - - - - - 15.94 -
2875.37 275.84 -9.11 572 2880.92 roll -1.35 - - 2004.50 - 2.61 0.028 2353.94 439.0 -82.73 - - 3113.94 - - - - - - - - - 15.98 -
3190.42 300.99 -8.24 634 3195.96 roll -1.35 - - 2003.62 - 2.72 0.061 1205.88 -422.1 -82.73 - - 3113.41 - - - - - - - - - 15.96 -
3304.19 311.50 -9.37 648 3308.82 roll -1.35 - - 2003.88 - 2.61 0.029 2352.25 439.2 -82.73 - - 3112.94 - - - - - - - - - 15.99 -
3616.28 338.99 -9.11 677 3620.92 roll -1.35 - - 2003.50 - 2.70 0.061 1207.38 -424.0 -82.73 - - 3113.69 - - - - - - - - - 15.96 -
3700.70 346.90 -9.35 688 3705.33 roll -1.35 - - 2003.81 - 2.61 0.028 2352.38 438.7 -82.73 - - 3111.38 - - - - - - - - - 15.99 -
4011.95 374.06 -8.59 717 4016.59 roll -1.35 - - 2003.75 - 2.70 0.061 1206.31 -424.5 -82.73 - - 3112.16 - - - - - - - - - 15.96 -
4113.75 383.46 -9.46 731 4128.66 roll -1.35 - - 2004.06 - 2.60 0.028 2352.00 440.7 -82.73 - - 3112.72 - - - - - - - - - 16.00 -
4429.91 411.34 -9.11 760 4434.55 roll -1.35 - - 2003.88 - 2.71 0.061 1206.25 -422.8 -82.73 - - 3112.69 - - - - - - - - - 15.96 -
4482.83 416.37 -9.44 767 4487.45 roll -1.35 - - 2003.69 - 2.59 0.028 2353.62 443.0 -82.73 - - 3112.53 - - - - - - - - - 16.00 -
4794.08 442.43 -8.24 796 4805.15 no move -1.35 - - 2003.94 - - - 2353.75 - -82.73 - - 3111.88 - - - - - - - - - - -
5107.42 467.16 -7.38 825 5112.05 roll -1.35 - - 2003.44 - 2.66 0.089 3425.94 403.1 -82.73 - - 3113.25 - - - - - - - - - 15.92 -
5254.77 479.53 -8.58 844 5259.39 roll -1.35 - - 2003.81 - 2.54 0.021 2246.56 -464.3 -82.73 - - 3111.00 - - - - - - - - - 15.99 -
5568.10 503.53 -7.85 872 5572.88 roll -1.35 - - 2002.19 - 2.46 0.067 1207.38 -422.4 -82.73 - - 3112.25 - - - - - - - - - 15.95 -
5694.78 513.71 -8.51 891 5709.54 roll -1.35 - - 2004.19 - 2.62 0.029 2353.31 437.4 -82.73 - - 3110.88 - - - - - - - - - 16.01 -
6024.00 541.43 -8.26 913 6025.33 no move -1.35 - - 2003.94 - - - 2353.56 - -82.73 - - 3109.28 - - - - - - - - - - -
6339.04 567.51 -7.83 934 6340.37 no move -1.35 - - 2003.81 - - - 2353.31 - -82.73 - - 3108.91 - - - - - - - - - - -
6654.07 588.99 -6.46 955 6655.40 no move -1.35 - - 2003.81 - - - 2353.69 - -82.73 - - 3108.50 - - - - - - - - - - -
6969.12 608.47 -5.96 976 6973.76 roll -1.35 - - 2004.00 - 2.73 0.063 1208.06 -419.6 -82.73 - - 3108.12 - - - - - - - - - 15.94 -
7173.95 622.45 -7.17 1006 7179.12 roll -1.35 - - 2003.44 - 2.62 0.030 2351.88 436.6 -82.73 - - 3109.41 - - - - - - - - - 16.02 -
7493.13 644.42 -7.14 1028 7497.78 roll -1.35 - - 2003.38 - 2.73 0.063 1208.44 -418.8 -82.73 - - 3108.56 - - - - - - - - - 15.94 -
7515.94 645.64 -7.21 1032 7530.87 roll -1.35 - - 2003.06 - 2.61 0.029 2351.50 438.0 -82.73 - - 3109.19 - - - - - - - - - 16.01 -
7845.35 669.46 -7.00 1054 7846.67 no move -1.35 - - 2003.69 - - - 2352.31 - -82.73 - - 3106.44 - - - - - - - - - - -
8160.36 692.08 -7.55 1075 8165.01 roll -1.35 - - 2003.56 - 2.73 0.064 1209.75 -418.5 -82.73 - - 3106.16 - - - - - - - - - 15.93 -
8307.95 702.74 -7.53 1097 8323.07 roll -1.35 - - 2004.12 - 2.61 0.030 2350.81 437.2 -82.73 - - 3107.03 - - - - - - - - - 16.02 -
8637.52 726.12 -6.78 1119 8642.17 roll -1.35 - - 2003.88 - 2.71 0.063 1208.50 -421.5 -82.73 - - 3107.53 - - - - - - - - - 15.93 -
8842.37 741.85 -7.95 1149 8847.55 roll -1.35 - - 2004.00 - 2.62 0.030 2351.94 436.4 -82.73 - - 3106.72 - - - - - - - - - 16.01 -
8861 end dive: TARGET_DEPTH_EXCEEDED
8861 begin apogee
8863.21 743.42 -7.90 1151 8938.76 -0.28 1.84 0.142 2263.75 141.2 0.23 0.118 2281.81 -304.9 - 63.01 2.101 2774.25 -5.3 0.316 - - - - - - 15.79 15.53 10.52
8940 end apogee: CONTROL_FINISHED_OK
8940 begin climb
8940.93 745.60 - 1156 9015.90 1.35 2.62 0.090 2661.94 152.0 2.85 0.073 1131.19 -403.7 82.73 65.76 2.037 2437.62 -5.1 0.317 - - - - - - 15.63 15.28 12.11
9086.27 740.50 4.28 1178 9165.29 1.50 0.20 0.080 2709.38 237.2 2.68 0.028 2273.44 426.2 160.66 64.52 2.038 2118.88 -4.9 0.303 - - - - - - 15.45 15.54 11.73
9477.74 706.33 9.08 1209 9482.38 done 1.50 - - 2709.56 - 2.80 0.071 1131.06 -408.0 160.66 - - 2109.94 - - - - - - - - - 15.69 -
9618.96 692.74 9.65 1229 9623.59 done 1.50 - - 2709.94 - 2.65 0.029 2272.75 430.8 160.66 - - 2107.69 - - - - - - - - - 15.75 -
9935.44 664.08 8.60 1251 9940.09 done 1.50 - - 2709.88 - 2.77 0.070 1129.25 -412.8 160.66 - - 2106.69 - - - - - - - - - 15.83 -
10034.85 654.62 9.52 1265 10039.49 done 1.50 - - 2710.00 - 2.63 0.030 2271.88 434.5 160.66 - - 2105.84 - - - - - - - - - 15.85 -
10351.32 625.92 7.98 1287 10355.96 done 1.50 - - 2708.94 - 2.76 0.072 1130.50 -413.5 160.66 - - 2106.78 - - - - - - - - - 15.87 -
10395.10 622.96 7.96 1294 10410.03 done 1.51 - - 2709.44 - 2.62 0.029 2273.81 436.4 160.66 - - 2107.38 - - - - - - - - - 15.90 -
10724.49 591.58 10.53 1316 10729.14 done 1.51 - - 2710.06 - 2.76 0.071 1129.75 -414.5 160.66 - - 2104.88 - - - - - - - - - 15.89 -
10851.01 578.87 10.60 1335 10865.94 done 1.51 - - 2710.12 - 2.62 0.030 2271.81 435.9 160.66 - - 2105.38 - - - - - - - - - 15.93 -
11180.59 549.97 8.35 1357 11181.93 VBD 1.51 - - 2710.00 - - - 2271.88 - 160.66 - - 2103.88 - - - - - - - - - - -
11495.56 521.42 9.70 1378 11500.20 done 1.51 - - 2710.62 - 2.75 0.072 1129.19 -415.5 160.66 - - 2103.09 - - - - - - - - - 15.91 -
11539.09 517.65 9.94 1385 11554.02 done 1.51 - - 2710.38 - 2.60 0.029 2271.19 439.2 160.66 - - 2104.78 - - - - - - - - - 15.96 -
11862.30 486.98 8.91 1410 11866.95 done 1.51 - - 2710.12 - 2.74 0.071 1129.75 -416.6 160.66 - - 2104.59 - - - - - - - - - 15.91 -
11930.97 480.81 8.98 1419 11935.61 done 1.51 - - 2710.31 - 2.61 0.030 2273.81 438.3 160.66 - - 2103.19 - - - - - - - - - 15.96 -
12242.85 456.06 7.84 1448 12247.48 done 1.52 - - 2709.81 - 2.67 0.092 3347.31 402.1 160.66 - - 2102.78 - - - - - - - - - 15.88 -
12374.47 443.94 9.52 1465 12379.08 done 1.52 - - 2709.56 - 2.55 0.023 2186.12 -455.4 160.66 - - 2104.31 - - - - - - - - - 15.96 -
12685.74 417.85 8.09 1494 12690.35 done 1.52 - - 2709.50 - 2.54 0.076 1129.75 -415.9 160.66 - - 2103.69 - - - - - - - - - 15.91 -
12803.71 407.80 8.53 1510 12818.46 done 1.52 - - 2710.50 - 2.60 0.030 2273.44 439.9 160.66 - - 2104.19 - - - - - - - - - 15.98 -
13119.82 382.25 8.23 1539 13124.65 done 1.52 - - 2710.81 - 2.75 0.072 1129.62 -415.9 160.66 - - 2101.94 - - - - - - - - - 15.91 -
13221.74 373.51 8.78 1553 13236.56 done 1.52 - - 2709.12 - 2.61 0.029 2273.94 438.4 160.66 - - 2105.75 - - - - - - - - - 15.99 -
13538.28 347.85 7.92 1582 13542.93 done 1.54 - - 2709.75 - 2.76 0.070 1129.25 -414.7 160.66 - - 2104.25 - - - - - - - - - 15.92 -
13686.98 335.27 8.52 1602 13701.90 done 1.54 - - 2711.00 - 2.60 0.029 2274.06 440.3 160.66 - - 2103.09 - - - - - - - - - 15.98 -
14003.15 307.61 8.64 1631 14007.80 done 1.54 - - 2710.38 - 2.74 0.070 1129.62 -417.7 160.66 - - 2102.84 - - - - - - - - - 15.92 -
14057.66 302.82 8.91 1639 14072.59 done 1.54 - - 2711.00 - 2.59 0.029 2273.81 441.8 160.66 - - 2103.16 - - - - - - - - - 16.00 -
14376.97 276.46 8.18 1698 14382.53 done 1.54 - - 2710.44 - 2.74 0.069 1130.00 -417.4 160.66 - - 2103.22 - - - - - - - - - 15.90 -
14452.00 270.09 8.55 1713 14457.53 done 1.54 - - 2710.56 - 2.60 0.029 2275.06 440.4 160.66 - - 2103.38 - - - - - - - - - 15.97 -
14762.09 243.91 8.54 1775 14763.42 VBD 1.54 - - 2710.62 - - - 2275.19 - 160.66 - - 2102.03 - - - - - - - - - - -
15067.25 218.87 8.04 1836 15072.75 done 1.54 - - 2710.44 - 2.74 0.069 1128.62 -418.5 160.66 - - 2102.84 - - - - - - - - - 15.90 -
15177.24 210.10 7.76 1858 15182.76 done 1.55 - - 2711.12 - 2.60 0.028 2275.12 441.0 160.66 - - 2104.06 - - - - - - - - - 15.97 -
15487.32 188.17 6.94 1920 15492.86 done 1.58 - - 2710.38 - 2.74 0.068 1128.62 -418.4 160.66 - - 2103.47 - - - - - - - - - 15.90 -
15557.32 182.79 7.83 1934 15562.83 done 1.59 - - 2710.00 - 2.59 0.028 2275.31 442.7 160.66 - - 2104.09 - - - - - - - - - 15.97 -
15867.36 161.65 6.48 1996 15872.89 done 1.63 - - 2710.81 - 2.66 0.089 3347.38 403.0 160.66 - - 2103.66 - - - - - - - - - 15.86 -
15907.36 158.87 6.84 2004 15912.88 done 1.66 - - 2710.94 - 2.55 0.022 2181.56 -457.2 160.66 - - 2103.25 - - - - - - - - - 15.96 -
16217.41 138.93 6.51 2066 16223.17 1.70 0.20 0.083 2758.31 236.8 2.50 0.073 1129.75 -420.7 160.66 - - 2103.44 - - - - - - - - 15.93 15.82 -
16287.53 133.57 7.91 2080 16292.93 done 1.72 - - 2758.12 - 2.60 0.028 2276.31 441.0 160.66 - - 2103.56 - - - - - - - - - 15.97 -
16597.44 113.04 5.55 2142 16644.12 done 1.82 - - 2758.38 - 2.74 0.070 1128.56 -418.9 215.08 40.48 1.292 1898.97 -5.1 0.075 - - - - - - - 15.69 10.69
16867.85 91.61 7.99 2196 16873.01 roll 1.82 - - 2758.50 - 2.61 0.028 2273.88 438.8 215.08 - - 1893.03 - - - - - - - - - 15.87 -
17057.49 82.62 4.41 2234 17118.44 1.98 0.31 0.066 2822.69 207.1 - - 2273.94 - 290.76 57.72 1.242 1590.16 -5.2 0.059 - - - - - - 15.86 - 11.51
17302.52 61.45 8.65 2283 17308.08 done 1.98 - - 2823.38 - 2.68 0.088 3346.31 400.1 290.76 - - 1581.69 - - - - - - - - - 15.74 -
17422.54 50.05 9.80 2307 17428.26 done 1.98 - - 2823.12 - 2.57 0.022 2184.44 -452.1 290.76 - - 1581.47 - - - - - - - - - 15.80 -
17613.12 33.90 8.46 2345 17618.16 done 1.98 - - 2823.69 - 2.92 0.083 3347.88 398.4 290.76 - - 1579.00 - - - - - - - - - 15.78 -
17777.58 21.98 5.24 2378 17828.71 done 2.10 - - 2823.75 - 2.57 0.022 2175.44 -456.2 350.80 45.58 1.156 1345.34 -5.1 0.016 - - - - - - - 15.84 11.40
18013.01 10.64 5.94 2425 18054.27 2.19 0.24 0.075 2873.88 208.9 2.54 0.075 1129.81 -411.7 397.80 36.92 1.112 1154.09 -5.2 0.008 - - - - - - 15.75 15.56 11.68
18078.17 4.93 10.60 2438 18083.16 roll 2.19 - - 2874.44 - 2.64 0.028 2272.25 432.7 397.80 - - 1152.06 - - - - - - - - - 15.72 -
18087 end climb: SURFACE_DEPTH_REACHED
18087 begin surface coast
18127 end surface coast: CONTROL_FINISHED_OK
18127 begin surface
SM 1.49 - - - - 181.9 22.24 1.080 1043.0 46.9 16.77 0.050 1008.9 60.2 - 0.13 0.122 1077.0 8264.3 -10.316 - - 11.81 15.68 15.70 -