NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 709 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 238.79 of 550.00 AH used of 24V (56.58% remains)
• Surface angle -54.3 deg, depth 0.47 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 557.95 (SM_CC=558.0575)
• GPS1 time: 33 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
5.40 - - - 82.59 VBD -1.35 - - 178.69 - - - 2228.62 - -82.73 75.66 0.005 2449.03 - - - - - - - - - - 15.01
83.33 3.38 -5.96 14 120.68 -1.35 14.59 0.241 2004.94 125.2 2.44 0.068 1207.69 -418.4 -82.73 14.41 0.006 3111.53 46.0 -4.354 - - - - - - 15.54 15.14 15.25
348.14 43.26 -10.94 67 353.37 roll -1.35 - - 2003.62 - 2.64 0.028 2353.31 433.9 -82.73 - - 3112.09 - - - - - - - - - 15.86 -
538.53 65.89 -11.98 105 543.47 roll -1.35 - - 2004.19 - 2.72 0.058 1208.19 -421.0 -82.73 - - 3112.62 - - - - - - - - - 15.89 -
597.92 72.95 -11.73 117 603.47 roll -1.35 - - 2003.88 - 2.62 0.027 2353.62 437.2 -82.73 - - 3113.50 - - - - - - - - - 15.90 -
788.38 92.45 -9.57 155 793.53 roll -1.35 - - 2003.50 - 2.68 0.083 3426.50 400.3 -82.73 - - 3112.81 - - - - - - - - - 15.89 -
1023.07 118.54 -9.39 202 1028.60 roll -1.35 - - 2004.69 - 2.54 0.019 2241.56 -466.5 -82.73 - - 3113.84 - - - - - - - - - 15.93 -
1333.19 143.52 -8.05 264 1338.30 roll -1.35 - - 2003.25 - 2.44 0.064 1206.62 -424.2 -82.73 - - 3112.75 - - - - - - - - - 15.94 -
1568.25 162.18 -7.58 311 1573.81 roll -1.35 - - 2004.62 - 2.62 0.027 2354.25 438.0 -82.73 - - 3113.84 - - - - - - - - - 15.97 -
1878.38 184.38 -7.13 373 1883.95 roll -1.35 - - 2003.69 - 2.72 0.059 1207.06 -421.8 -82.73 - - 3112.84 - - - - - - - - - 15.97 -
2008.59 194.18 -7.64 399 2014.01 roll -1.35 - - 2003.31 - 2.62 0.027 2353.94 437.7 -82.73 - - 3113.66 - - - - - - - - - 15.97 -
2318.46 220.22 -9.17 461 2319.79 no move -1.35 - - 2004.81 - - - 2354.25 - -82.73 - - 3110.78 - - - - - - - - - - -
2623.53 247.34 -8.94 522 2624.85 no move -1.35 - - 2004.44 - - - 2354.25 - -82.73 - - 3110.69 - - - - - - - - - - -
2928.57 273.94 -8.54 583 2934.14 roll -1.35 - - 2004.75 - 2.71 0.060 1208.06 -422.9 -82.73 - - 3111.06 - - - - - - - - - 15.98 -
2973.57 277.88 -8.78 592 2979.13 roll -1.35 - - 2004.50 - 2.61 0.028 2353.75 439.0 -82.73 - - 3111.81 - - - - - - - - - 16.00 -
3290.37 305.85 -9.09 648 3301.44 no move -1.35 - - 2004.50 - - - 2353.94 - -82.73 - - 3110.88 - - - - - - - - - - -
3603.54 335.31 -9.25 677 3614.61 no move -1.35 - - 2004.62 - - - 2354.12 - -82.73 - - 3110.09 - - - - - - - - - - -
3916.28 363.66 -8.93 706 3927.35 no move -1.35 - - 2004.56 - - - 2353.94 - -82.73 - - 3109.56 - - - - - - - - - - -
4229.23 390.15 -8.31 735 4233.88 roll -1.35 - - 2004.12 - 2.72 0.061 1208.50 -421.1 -82.73 - - 3108.75 - - - - - - - - - 15.99 -
4299.25 396.13 -8.61 745 4314.38 roll -1.35 - - 2004.25 - 2.62 0.028 2353.50 437.0 -82.73 - - 3108.97 - - - - - - - - - 16.02 -
4615.94 422.23 -7.99 774 4620.57 roll -1.35 - - 2003.50 - 2.70 0.086 3424.50 396.7 -82.73 - - 3108.25 - - - - - - - - - 15.95 -
4731.83 432.73 -9.25 789 4736.44 roll -1.35 - - 2003.50 - 2.52 0.020 2246.25 -467.6 -82.73 - - 3108.06 - - - - - - - - - 16.01 -
5043.99 459.03 -8.11 818 5048.67 roll -1.35 - - 2004.56 - 2.98 0.082 3426.88 396.2 -82.73 - - 3107.72 - - - - - - - - - 15.95 -
5114.01 465.17 -8.82 828 5128.93 roll -1.35 - - 2004.50 - 2.53 0.021 2245.38 -467.0 -82.73 - - 3108.25 - - - - - - - - - 16.02 -
5430.21 490.61 -8.21 857 5434.90 roll -1.35 - - 2004.38 - 2.98 0.082 3425.19 395.9 -82.73 - - 3106.25 - - - - - - - - - 15.95 -
5453.01 492.45 -8.40 861 5467.94 roll -1.35 - - 2004.44 - 2.52 0.021 2243.94 -468.8 -82.73 - - 3107.22 - - - - - - - - - 16.01 -
5779.86 517.05 -7.80 885 5781.19 no move -1.35 - - 2005.00 - - - 2244.12 - -82.73 - - 3105.25 - - - - - - - - - - -
6094.89 539.67 -7.37 906 6099.57 roll -1.35 - - 2004.50 - 2.98 0.083 3424.31 396.0 -82.73 - - 3106.84 - - - - - - - - - 15.94 -
6235.79 551.48 -8.51 926 6240.40 roll -1.35 - - 2004.69 - 2.53 0.021 2248.00 -464.9 -82.73 - - 3107.88 - - - - - - - - - 16.01 -
6552.46 575.58 -7.47 948 6557.11 roll -1.35 - - 2004.88 - 2.46 0.069 1207.12 -423.1 -82.73 - - 3107.75 - - - - - - - - - 15.97 -
6673.96 585.14 -7.95 966 6679.51 roll -1.35 - - 2003.06 - 2.62 0.029 2353.31 437.5 -82.73 - - 3106.19 - - - - - - - - - 16.03 -
6993.55 610.23 -8.33 988 6994.88 no move -1.35 - - 2004.31 - - - 2353.06 - -82.73 - - 3104.41 - - - - - - - - - - -
7308.41 634.02 -6.94 1009 7313.06 roll -1.35 - - 2005.00 - 2.72 0.064 1206.81 -421.4 -82.73 - - 3103.41 - - - - - - - - - 15.97 -
7367.69 637.92 -6.76 1018 7373.23 roll -1.35 - - 2004.81 - 2.62 0.029 2351.81 437.0 -82.73 - - 3104.16 - - - - - - - - - 16.01 -
7687.09 658.87 -6.59 1040 7688.42 no move -1.35 - - 2004.50 - - - 2352.00 - -82.73 - - 3103.31 - - - - - - - - - - -
8002.11 678.42 -6.04 1061 8003.44 no move -1.35 - - 2004.44 - - - 2351.38 - -82.73 - - 3102.53 - - - - - - - - - - -
8317.12 698.67 -6.84 1082 8318.45 no move -1.35 - - 2004.88 - - - 2352.19 - -82.73 - - 3102.56 - - - - - - - - - - -
8421 end dive: TARGET_DEPTH_EXCEEDED
8421 begin apogee
8423.95 705.93 -6.86 1089 8499.48 -0.28 1.81 0.136 2264.62 143.5 0.22 0.121 2280.88 -324.1 - 60.85 2.042 2775.03 -5.4 0.313 - - - - - - 15.86 15.56 10.63
8500 end apogee: CONTROL_FINISHED_OK
8501 begin climb
8501.67 707.60 - 1094 8575.62 1.35 2.60 0.088 2660.12 152.1 2.87 0.075 1132.44 -400.2 82.73 65.25 1.971 2436.97 -5.2 0.313 - - - - - - 15.66 15.32 12.27
8640.02 702.00 4.59 1115 8704.72 1.49 0.17 0.085 2707.31 277.6 2.69 0.028 2274.12 424.4 154.97 58.83 1.932 2143.31 -5.0 0.305 - - - - - - 15.48 15.56 11.81
9006.66 671.35 9.35 1145 9007.99 VBD 1.49 - - 2706.88 - - - 2274.00 - 154.97 - - 2133.59 - - - - - - - - - - -
9321.69 643.64 9.07 1166 9326.35 done 1.49 - - 2707.06 - 2.79 0.072 1131.19 -409.6 154.97 - - 2131.00 - - - - - - - - - 15.81 -
9400.38 635.92 9.73 1177 9405.02 done 1.49 - - 2705.88 - 2.65 0.029 2272.56 430.7 154.97 - - 2132.56 - - - - - - - - - 15.84 -
9716.86 607.44 8.33 1199 9718.19 VBD 1.49 - - 2706.94 - - - 2272.38 - 154.97 - - 2130.12 - - - - - - - - - - -
10031.89 581.72 7.78 1220 10036.54 done 1.50 - - 2706.81 - 2.77 0.072 1130.12 -412.4 154.97 - - 2129.78 - - - - - - - - - 15.90 -
10089.84 577.09 7.91 1228 10094.48 done 1.52 - - 2706.62 - 2.63 0.029 2272.00 434.2 154.97 - - 2129.38 - - - - - - - - - 15.93 -
10406.53 553.70 7.11 1250 10411.24 done 1.54 - - 2707.06 - 2.77 0.072 1130.81 -412.0 154.97 - - 2130.16 - - - - - - - - - 15.92 -
10548.80 542.78 7.83 1271 10554.33 done 1.56 - - 2707.38 - 2.62 0.029 2272.69 435.8 154.97 - - 2129.81 - - - - - - - - - 15.95 -
10868.22 519.31 7.36 1293 10872.87 done 1.58 - - 2707.19 - 2.76 0.072 1131.19 -413.6 154.97 - - 2127.94 - - - - - - - - - 15.93 -
10932.53 514.66 7.91 1303 10947.45 done 1.59 - - 2706.94 - 2.61 0.029 2272.69 437.4 154.97 - - 2129.06 - - - - - - - - - 15.98 -
11255.76 489.20 7.95 1328 11260.41 done 1.60 - - 2707.06 - 2.76 0.072 1130.81 -413.7 154.97 - - 2128.38 - - - - - - - - - 15.93 -
11325.78 482.93 9.04 1338 11340.72 done 1.60 - - 2707.19 - 2.61 0.029 2271.50 437.0 154.97 - - 2128.97 - - - - - - - - - 15.98 -
11642.23 454.77 8.63 1367 11646.88 done 1.60 - - 2707.31 - 2.75 0.072 1132.44 -414.2 154.97 - - 2128.56 - - - - - - - - - 15.93 -
11726.66 446.85 9.37 1378 11731.29 done 1.60 - - 2707.12 - 2.62 0.029 2272.25 435.0 154.97 - - 2127.16 - - - - - - - - - 15.97 -
12038.35 422.34 7.35 1407 12043.19 done 1.62 - - 2706.56 - 2.71 0.090 3344.75 395.8 154.97 - - 2129.44 - - - - - - - - - 15.91 -
12091.47 418.30 7.49 1414 12096.09 done 1.64 - - 2707.69 - 2.55 0.023 2184.88 -454.9 154.97 - - 2128.47 - - - - - - - - - 15.98 -
12403.52 398.18 6.67 1443 12414.72 1.68 0.17 0.085 2747.19 232.4 - - 2185.25 - 154.97 - - 2128.06 - - - - - - - - 15.95 - -
12716.59 374.17 7.92 1472 12721.28 done 1.69 - - 2748.19 - 2.94 0.085 3346.62 395.0 154.97 - - 2126.22 - - - - - - - - - 15.91 -
12802.35 366.06 9.56 1484 12817.27 done 1.69 - - 2747.44 - 2.55 0.023 2185.94 -455.2 154.97 - - 2128.09 - - - - - - - - - 15.99 -
13119.49 337.30 9.62 1513 13124.16 done 1.69 - - 2748.31 - 2.54 0.077 1131.25 -415.2 154.97 - - 2127.97 - - - - - - - - - 15.93 -
13158.04 333.65 9.69 1519 13172.97 done 1.69 - - 2748.69 - 2.62 0.029 2274.69 436.4 154.97 - - 2127.81 - - - - - - - - - 15.99 -
13474.22 305.77 8.20 1548 13478.88 done 1.69 - - 2747.25 - 2.74 0.072 1129.75 -417.9 154.97 - - 2126.72 - - - - - - - - - 15.93 -
13528.50 301.16 8.56 1556 13543.43 done 1.69 - - 2747.94 - 2.61 0.029 2273.88 438.4 154.97 - - 2127.66 - - - - - - - - - 16.00 -
13846.36 275.90 7.75 1617 13852.10 done 1.70 - - 2748.19 - 2.76 0.071 1129.94 -414.5 154.97 - - 2127.41 - - - - - - - - - 15.92 -
13946.49 267.40 8.71 1637 13951.94 done 1.70 - - 2748.12 - 2.62 0.028 2274.25 436.8 154.97 - - 2127.91 - - - - - - - - - 15.99 -
14256.44 243.31 8.17 1699 14262.01 done 1.70 - - 2748.56 - 2.76 0.071 1129.69 -414.7 154.97 - - 2127.12 - - - - - - - - - 15.92 -
14331.44 236.90 8.60 1714 14337.00 done 1.70 - - 2748.94 - 2.61 0.028 2273.69 438.3 154.97 - - 2127.22 - - - - - - - - - 15.98 -
14641.48 211.04 8.42 1776 14647.04 done 1.70 - - 2748.12 - 2.76 0.070 1131.12 -414.0 154.97 - - 2127.88 - - - - - - - - - 15.91 -
14711.48 204.98 8.71 1790 14717.04 done 1.70 - - 2748.25 - 2.61 0.028 2273.81 437.8 154.97 - - 2128.34 - - - - - - - - - 15.98 -
15021.56 180.70 7.88 1852 15027.10 done 1.71 - - 2748.00 - 2.75 0.070 1129.50 -416.1 154.97 - - 2127.91 - - - - - - - - - 15.91 -
15066.54 176.80 8.74 1861 15072.09 done 1.71 - - 2749.12 - 2.61 0.028 2273.81 438.4 154.97 - - 2129.03 - - - - - - - - - 15.98 -
15376.66 153.02 7.62 1923 15378.00 VBD 1.73 - - 2748.38 - - - 2273.81 - 154.97 - - 2127.19 - - - - - - - - - - -
15681.66 129.57 7.10 1984 15687.21 done 1.76 - - 2748.62 - 2.77 0.070 1131.25 -412.5 154.97 - - 2128.22 - - - - - - - - - 15.91 -
15916.66 110.27 8.12 2031 15922.23 done 1.76 - - 2747.19 - 2.61 0.028 2274.06 437.9 154.97 - - 2128.09 - - - - - - - - - 15.98 -
16226.72 97.34 3.14 2093 16303.33 1.96 0.34 0.060 2820.00 214.1 - - 2274.19 - 254.24 73.29 1.282 1738.97 -5.3 0.068 - - - - - - 15.95 - 10.83
16486.73 78.48 8.55 2145 16492.29 done 1.96 - - 2818.38 - 2.80 0.070 1131.06 -408.3 254.24 - - 1730.50 - - - - - - - - - 15.79 -
16526.73 75.06 8.54 2153 16532.29 done 1.96 - - 2819.69 - 2.62 0.027 2275.19 436.7 254.24 - - 1729.09 - - - - - - - - - 15.80 -
16716.84 62.59 6.50 2191 16718.18 VBD 1.99 - - 2819.44 - - - 2275.25 - 254.24 - - 1726.78 - - - - - - - - - - -
16901.83 48.37 8.35 2228 16907.40 done 1.99 - - 2820.12 - 2.77 0.070 1131.25 -413.0 254.24 - - 1726.69 - - - - - - - - - 15.84 -
17106.90 33.26 6.81 2269 17112.45 done 2.03 - - 2819.62 - 2.62 0.027 2275.38 436.7 254.24 - - 1725.81 - - - - - - - - - 15.88 -
17296.97 26.78 2.35 2307 17387.30 2.26 0.35 0.060 2892.25 207.5 2.74 0.089 3348.94 391.8 368.35 84.05 1.173 1273.59 -5.4 0.021 - - - - - - 15.87 15.55 11.38
17614.42 4.99 9.62 2370 17619.95 roll 2.26 - - 2892.38 - 2.59 0.022 2188.56 -448.0 368.35 - - 1267.47 - - - - - - - - - 15.75 -
17629 end climb: SURFACE_DEPTH_REACHED
17629 begin surface coast
17679 end surface coast: CONTROL_FINISHED_OK
17679 begin surface
SM 0.49 - - - - 178.4 135.04 1.131 500.4 3.7 16.91 0.053 420.0 24.8 - 0.34 0.063 580.9 1700.9 -1.352 - - 11.54 15.74 15.76 -