NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 75 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 32.19 of 550.00 AH used of 24V (94.15% remains)
• Surface angle -60.7 deg, depth 1.48 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.04 (SM_CC=375)
• GPS1 time: 26 s
• GPS2 time: 4 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.42 - - - 64.52 VBD -1.37 - - 184.69 - - - 2356.25 - -82.73 56.92 0.005 2615.06 - - - - - - - - - - 15.75
65.26 3.60 -3.71 11 102.66 -1.37 13.82 0.254 1988.25 130.5 2.78 0.070 1208.75 -412.8 -82.73 12.23 0.007 3112.34 40.7 -3.447 - - - - - - 15.73 15.75 15.79
250.67 41.60 -18.48 48 256.22 roll -1.37 - - 1988.88 - 2.65 0.033 2350.12 430.7 -82.73 - - 3113.88 - - - - - - - - - 15.89 -
441.14 75.01 -15.87 86 446.51 roll -1.37 - - 1986.94 - 2.75 0.064 1208.94 -415.0 -82.73 - - 3115.28 - - - - - - - - - 15.92 -
475.89 80.02 -14.45 93 481.33 roll -1.37 - - 1988.56 - 2.64 0.032 2351.19 432.7 -82.73 - - 3113.94 - - - - - - - - - 15.93 -
671.24 103.63 -11.67 129 675.96 roll -1.37 - - 1988.12 - 2.75 0.064 1209.56 -415.1 -82.73 - - 3113.12 - - - - - - - - - 15.98 -
785.43 117.05 -10.74 152 791.43 roll -1.37 - - 1988.50 - 2.62 0.032 2352.56 436.3 -82.73 - - 3113.84 - - - - - - - - - 16.00 -
1100.96 148.57 -9.73 184 1102.29 no move -1.37 - - 1988.88 - - - 2352.38 - -82.73 - - 3112.75 - - - - - - - - - - -
1411.40 175.60 -8.79 215 1416.12 roll -1.37 - - 1988.50 - 2.73 0.065 1209.94 -418.5 -82.73 - - 3114.00 - - - - - - - - - 16.07 -
1471.03 181.67 -10.64 227 1476.10 roll -1.37 - - 1988.19 - 2.60 0.032 2351.50 439.1 -82.73 - - 3114.28 - - - - - - - - - 16.09 -
1781.10 214.82 -10.55 259 1782.43 no move -1.37 - - 1988.31 - - - 2351.81 - -82.73 - - 3112.91 - - - - - - - - - - -
2091.72 246.38 -9.80 290 2096.24 roll -1.37 - - 1987.75 - 2.63 0.092 3426.69 408.7 -82.73 - - 3115.03 - - - - - - - - - 16.09 -
2151.17 253.27 -11.72 302 2156.24 roll -1.37 - - 1988.19 - 2.56 0.025 2252.06 -458.8 -82.73 - - 3115.31 - - - - - - - - - 16.12 -
2461.41 284.91 -10.30 334 2466.41 roll -1.37 - - 1987.69 - 2.88 0.087 3426.81 407.9 -82.73 - - 3114.91 - - - - - - - - - 16.13 -
2535.79 293.62 -11.86 349 2541.78 roll -1.37 - - 1988.38 - 2.57 0.025 2252.06 -457.1 -82.73 - - 3114.25 - - - - - - - - - 16.09 -
2851.32 325.34 -9.89 381 2852.65 no move -1.37 - - 1988.06 - - - 2251.56 - -82.73 - - 3113.28 - - - - - - - - - - -
3161.75 356.71 -10.15 412 3163.08 no move -1.37 - - 1988.56 - - - 2251.81 - -82.73 - - 3112.75 - - - - - - - - - - -
3471.79 387.70 -9.76 443 3473.12 no move -1.37 - - 1988.38 - - - 2252.25 - -82.73 - - 3112.78 - - - - - - - - - - -
3781.82 417.42 -9.40 474 3783.14 no move -1.37 - - 1988.38 - - - 2251.94 - -82.73 - - 3113.69 - - - - - - - - - - -
4091.84 445.84 -8.88 505 4093.16 no move -1.37 - - 1988.06 - - - 2251.62 - -82.73 - - 3112.41 - - - - - - - - - - -
4401.87 472.56 -8.38 536 4403.20 no move -1.37 - - 1988.38 - - - 2251.62 - -82.73 - - 3113.28 - - - - - - - - - - -
4711.90 499.45 -8.28 567 4713.23 no move -1.37 - - 1988.62 - - - 2251.50 - -82.73 - - 3112.91 - - - - - - - - - - -
5021.94 526.32 -8.55 598 5026.66 roll -1.37 - - 1988.12 - 2.89 0.090 3426.25 406.5 -82.73 - - 3112.97 - - - - - - - - - 16.21 -
5096.10 533.85 -9.83 613 5102.08 roll -1.37 - - 1987.00 - 2.57 0.026 2254.81 -455.8 -82.73 - - 3114.31 - - - - - - - - - 16.22 -
5411.61 560.74 -8.64 645 5416.72 roll -1.37 - - 1987.19 - 2.89 0.090 3425.50 405.1 -82.73 - - 3113.78 - - - - - - - - - 16.22 -
5472.02 566.55 -9.50 657 5476.75 roll -1.37 - - 1987.88 - 2.57 0.026 2255.94 -455.1 -82.73 - - 3114.00 - - - - - - - - - 16.22 -
5781.69 593.23 -8.57 689 5786.34 roll -1.37 - - 1988.19 - 2.49 0.074 1210.38 -419.9 -82.73 - - 3112.31 - - - - - - - - - 16.21 -
5866.26 600.54 -8.65 706 5872.30 roll -1.37 - - 1989.12 - 2.61 0.034 2352.00 437.4 -82.73 - - 3111.81 - - - - - - - - - 16.22 -
6181.79 626.38 -8.05 738 6183.12 no move -1.37 - - 1988.62 - - - 2351.19 - -82.73 - - 3110.53 - - - - - - - - - - -
6492.23 650.84 -7.36 769 6496.95 roll -1.37 - - 1988.38 - 2.72 0.069 1208.38 -420.2 -82.73 - - 3112.19 - - - - - - - - - 16.23 -
6556.40 656.08 -8.07 782 6562.40 roll -1.37 - - 1989.19 - 2.60 0.034 2351.62 439.7 -82.73 - - 3111.19 - - - - - - - - - 16.24 -
6871.93 680.81 -8.02 814 6877.02 roll -1.37 - - 1988.06 - 2.64 0.096 3425.19 406.7 -82.73 - - 3110.69 - - - - - - - - - 16.22 -
6926.48 685.78 -8.95 825 6932.48 roll -1.37 - - 1987.94 - 2.56 0.026 2251.25 -458.6 -82.73 - - 3110.97 - - - - - - - - - 16.23 -
7242.02 710.43 -8.11 857 7246.66 roll -1.37 - - 1988.62 - 2.48 0.075 1209.56 -420.0 -82.73 - - 3110.97 - - - - - - - - - 16.22 -
7282.03 713.92 -8.73 865 7287.28 roll -1.37 - - 1988.19 - 2.59 0.035 2351.25 440.8 -82.73 - - 3111.50 - - - - - - - - - 16.22 -
7592.21 739.52 -7.91 897 7593.54 no move -1.37 - - 1989.31 - - - 2351.38 - -82.73 - - 3108.97 - - - - - - - - - - -
7902.54 764.10 -7.54 928 7903.87 no move -1.37 - - 1988.00 - - - 2351.75 - -82.73 - - 3108.56 - - - - - - - - - - -
8212.60 788.00 -7.81 959 8213.93 no move -1.37 - - 1988.19 - - - 2352.06 - -82.73 - - 3108.41 - - - - - - - - - - -
8522.67 811.09 -7.13 990 8527.37 roll -1.37 - - 1988.31 - 2.73 0.070 1209.62 -418.5 -82.73 - - 3109.25 - - - - - - - - - 16.23 -
8697.26 823.67 -7.20 1025 8702.85 roll -1.37 - - 1987.00 - 2.60 0.035 2351.69 439.3 -82.73 - - 3110.34 - - - - - - - - - 16.24 -
9012.38 844.88 -6.43 1057 9013.71 no move -1.37 - - 1988.81 - - - 2351.75 - -82.73 - - 3107.25 - - - - - - - - - - -
9322.81 864.72 -6.23 1088 9324.14 no move -1.37 - - 1987.75 - - - 2351.62 - -82.73 - - 3107.38 - - - - - - - - - - -
9632.84 882.41 -5.85 1119 9637.53 roll -1.37 - - 1988.06 - 2.72 0.071 1208.31 -420.3 -82.73 - - 3108.41 - - - - - - - - - 16.25 -
9702.46 886.38 -5.84 1133 9707.29 roll -1.37 - - 1988.62 - 2.59 0.035 2350.69 441.1 -82.73 - - 3108.12 - - - - - - - - - 16.24 -
10012.89 904.35 -5.91 1165 10014.22 no move -1.37 - - 1988.69 - - - 2350.81 - -82.73 - - 3106.28 - - - - - - - - - - -
10322.95 923.58 -6.46 1196 10327.81 roll -1.37 - - 1988.12 - 2.72 0.070 1208.62 -419.9 -82.73 - - 3107.56 - - - - - - - - - 16.25 -
10412.72 930.02 -6.95 1214 10417.61 roll -1.37 - - 1988.50 - 2.60 0.035 2352.12 439.8 -82.73 - - 3107.78 - - - - - - - - - 16.24 -
10722.59 951.22 -7.00 1246 10723.92 no move -1.37 - - 1988.38 - - - 2351.00 - -82.73 - - 3106.19 - - - - - - - - - - -
11033.04 971.21 -6.34 1277 11037.74 roll -1.37 - - 1988.00 - 2.72 0.071 1209.62 -419.6 -82.73 - - 3107.22 - - - - - - - - - 16.25 -
11127.21 977.91 -7.01 1296 11133.20 roll -1.37 - - 1988.19 - 2.60 0.035 2351.50 439.2 -82.73 - - 3108.28 - - - - - - - - - 16.25 -
11302 end dive: TARGET_DEPTH_EXCEEDED
11302 begin apogee
11304.54 990.48 -7.13 1314 11370.05 -0.28 1.78 0.154 2254.25 149.5 0.19 0.144 2280.88 -371.7 - 61.53 2.413 2774.22 -5.4 0.367 - - - - - - 16.19 15.70 13.11
11371 end apogee: CONTROL_FINISHED_OK
11371 begin climb
11371.87 991.90 - 1320 11441.54 1.37 2.63 0.103 2656.31 152.9 - - 2281.50 - 82.73 64.77 2.348 2436.09 -5.2 0.364 - - - - - - 15.73 - 12.90
11744.95 965.00 8.62 1358 11750.06 roll 1.37 - - 2654.19 - 2.86 0.080 1132.75 -401.7 82.73 - - 2432.66 - - - - - - - - - 15.78 -
11824.96 957.85 8.85 1374 11830.04 roll 1.37 - - 2655.19 - 2.66 0.035 2271.38 428.1 82.73 - - 2431.31 - - - - - - - - - 15.83 -
12135.42 931.43 8.87 1406 12136.75 VBD 1.37 - - 2655.31 - - - 2271.25 - 82.73 - - 2428.59 - - - - - - - - - - -
12445.49 904.05 9.13 1437 12446.82 VBD 1.37 - - 2656.06 - - - 2272.06 - 82.73 - - 2428.12 - - - - - - - - - - -
12755.55 874.89 9.23 1468 12756.88 VBD 1.37 - - 2655.50 - - - 2271.81 - 82.73 - - 2427.34 - - - - - - - - - - -
13065.62 847.41 8.12 1499 13070.30 done 1.37 - - 2655.50 - 2.68 0.095 3345.81 400.7 82.73 - - 2430.22 - - - - - - - - - 16.06 -
13095.23 844.76 8.50 1505 13100.31 done 1.37 - - 2655.38 - 2.60 0.028 2190.12 -444.5 82.73 - - 2429.41 - - - - - - - - - 16.07 -
13405.71 822.36 7.18 1537 13407.04 VBD 1.39 - - 2655.19 - - - 2191.38 - 82.73 - - 2427.25 - - - - - - - - - - -
13715.75 800.28 7.26 1568 13717.08 VBD 1.42 - - 2656.19 - - - 2191.56 - 82.73 - - 2427.28 - - - - - - - - - - -
14025.78 777.81 7.28 1599 14030.45 done 1.44 - - 2655.38 - 2.59 0.085 1131.38 -409.3 82.73 - - 2428.41 - - - - - - - - - 16.12 -
14105.40 771.28 8.03 1615 14110.48 done 1.44 - - 2655.12 - 2.61 0.035 2271.06 436.7 82.73 - - 2429.16 - - - - - - - - - 16.14 -
14416.08 747.82 7.70 1647 14420.52 done 1.46 - - 2655.88 - 2.66 0.095 3345.50 403.9 82.73 - - 2428.00 - - - - - - - - - 16.15 -
14530.00 737.88 8.68 1670 14535.99 done 1.46 - - 2655.00 - 2.60 0.028 2189.31 -444.7 82.73 - - 2429.22 - - - - - - - - - 16.15 -
14845.90 713.58 7.38 1702 14847.23 VBD 1.48 - - 2655.81 - - - 2189.50 - 82.73 - - 2427.06 - - - - - - - - - - -
15155.93 690.07 7.46 1733 15160.70 1.50 0.16 0.095 2699.19 271.1 2.88 0.091 3346.19 401.6 82.73 - - 2430.50 - - - - - - - - 16.16 16.17 -
15250.09 681.70 8.98 1752 15256.08 done 1.50 - - 2700.19 - 2.60 0.028 2190.06 -444.7 82.73 - - 2428.09 - - - - - - - - - 16.17 -
15565.99 657.06 7.80 1784 15567.32 VBD 1.51 - - 2700.69 - - - 2189.62 - 82.73 - - 2426.84 - - - - - - - - - - -
15876.05 633.00 7.59 1815 15880.77 done 1.53 - - 2700.50 - 2.86 0.091 3345.75 404.2 82.73 - - 2429.19 - - - - - - - - - 16.19 -
15925.69 629.05 7.88 1825 15930.74 done 1.54 - - 2701.31 - 2.58 0.028 2190.25 -447.9 82.73 - - 2428.81 - - - - - - - - - 16.19 -
16236.13 605.56 7.23 1857 16237.46 VBD 1.56 - - 2699.94 - - - 2190.06 - 82.73 - - 2426.78 - - - - - - - - - - -
16546.38 583.61 7.28 1888 16547.71 VBD 1.59 - - 2700.31 - - - 2189.69 - 82.73 - - 2427.00 - - - - - - - - - - -
16856.44 563.20 6.52 1919 16857.77 VBD 1.63 - - 2700.25 - - - 2190.12 - 82.73 - - 2426.75 - - - - - - - - - - -
17166.34 542.42 6.65 1950 17171.00 done 1.66 - - 2700.31 - 2.57 0.085 1129.88 -412.5 82.73 - - 2428.84 - - - - - - - - - 16.20 -
17255.97 535.77 7.33 1968 17261.08 1.69 0.17 0.090 2742.00 245.2 2.59 0.035 2271.00 440.6 82.73 - - 2428.34 - - - - - - - - 16.17 16.21 -
17566.43 512.69 7.83 2000 17571.12 done 1.70 - - 2742.81 - 2.66 0.094 3346.56 404.3 82.73 - - 2428.16 - - - - - - - - - 16.20 -
17706.09 501.35 7.70 2028 17711.14 done 1.71 - - 2742.69 - 2.57 0.028 2190.38 -449.9 82.73 - - 2427.69 - - - - - - - - - 16.21 -
18016.54 480.05 6.68 2060 18017.87 VBD 1.75 - - 2743.56 - - - 2190.25 - 82.73 - - 2426.75 - - - - - - - - - - -
18326.60 459.95 6.20 2091 18352.74 VBD 1.82 - - 2743.38 - - - 2189.62 - 115.85 25.25 1.712 2301.41 -5.0 0.220 - - - - - - - - 13.17
18656.65 433.68 8.13 2124 18661.38 roll 1.82 - - 2743.12 - 2.88 0.091 3345.44 401.3 115.85 - - 2298.81 - - - - - - - - - 16.09 -
18796.31 419.78 10.25 2152 18801.57 roll 1.82 - - 2743.69 - 2.58 0.028 2191.25 -447.4 115.85 - - 2298.75 - - - - - - - - - 16.11 -
19106.46 392.62 8.24 2184 19111.42 roll 1.82 - - 2742.88 - 2.57 0.084 1131.44 -412.4 115.85 - - 2298.53 - - - - - - - - - 16.12 -
19240.92 380.42 8.76 2211 19246.93 roll 1.82 - - 2742.62 - 2.61 0.035 2272.12 437.0 115.85 - - 2298.97 - - - - - - - - - 16.13 -
19556.80 354.53 8.37 2243 19558.13 no move 1.82 - - 2743.19 - - - 2272.38 - 115.85 - - 2297.25 - - - - - - - - - - -
19866.84 327.32 8.54 2274 19871.53 roll 1.82 - - 2742.75 - 2.65 0.094 3344.06 404.4 115.85 - - 2298.31 - - - - - - - - - 16.15 -
19966.66 317.10 10.50 2294 19971.55 roll 1.82 - - 2743.06 - 2.58 0.027 2189.88 -447.4 115.85 - - 2299.16 - - - - - - - - - 16.16 -
20277.11 288.00 9.41 2326 20278.44 no move 1.82 - - 2743.44 - - - 2190.44 - 115.85 - - 2296.91 - - - - - - - - - - -
20586.94 261.67 8.12 2357 20588.26 no move 1.82 - - 2743.06 - - - 2189.88 - 115.85 - - 2297.03 - - - - - - - - - - -
20896.98 237.28 7.74 2388 20901.98 roll 1.83 - - 2742.50 - 2.56 0.082 1131.62 -413.4 115.85 - - 2299.03 - - - - - - - - - 16.16 -
20976.62 231.11 7.69 2404 20981.70 roll 1.85 - - 2742.69 - 2.61 0.034 2275.06 438.1 115.85 - - 2298.41 - - - - - - - - - 16.17 -
21287.33 208.67 7.33 2436 21288.76 pitch 1.87 0.17 0.085 2788.19 267.6 - - 2274.88 - 115.85 - - 2296.66 - - - - - - - - 16.15 - -
21596.74 184.90 8.00 2467 21601.85 roll 1.87 - - 2787.62 - 2.75 0.076 1130.06 -416.3 115.85 - - 2298.06 - - - - - - - - - 16.17 -
21821.36 163.36 9.77 2512 21827.35 roll 1.87 - - 2787.75 - 2.59 0.034 2273.75 441.6 115.85 - - 2298.12 - - - - - - - - - 16.17 -
22137.29 139.04 6.76 2544 22138.62 no move 1.90 - - 2787.62 - - - 2273.38 - 115.85 - - 2296.97 - - - - - - - - - - -
22447.37 118.88 6.39 2575 22478.15 done 1.96 - - 2787.19 - 2.65 0.095 3345.62 404.6 146.19 23.57 1.319 2179.59 -5.0 0.074 - - - - - - - 16.01 13.07
22561.53 109.62 8.74 2598 22567.54 roll 1.96 - - 2788.19 - 2.59 0.027 2188.81 -446.6 146.19 - - 2176.28 - - - - - - - - - 16.09 -
22872.10 88.81 5.46 2648 22907.82 2.05 0.16 0.089 2828.88 254.3 - - 2188.88 - 190.17 33.28 1.299 1999.66 -5.3 0.060 - - - - - - 16.10 - 13.02
23092.18 72.46 6.99 2692 23097.88 roll 2.08 - - 2829.12 - 2.57 0.079 1130.19 -411.9 190.17 - - 1993.19 - - - - - - - - - 16.00 -
23327.27 60.34 3.47 2739 23385.62 2.23 0.18 0.084 2875.81 259.4 2.62 0.032 2276.44 437.5 263.27 53.56 1.265 1701.47 -5.4 0.043 - - - - - - 16.01 16.02 12.90
23568.67 44.01 9.45 2787 23574.24 done 2.23 - - 2875.44 - 2.82 0.074 1130.06 -406.5 263.27 - - 1691.56 - - - - - - - - - 15.90 -
23663.70 34.40 9.22 2806 23669.26 done 2.23 - - 2875.88 - 2.63 0.032 2274.25 435.1 263.27 - - 1689.41 - - - - - - - - - 15.93 -
23853.79 21.71 6.17 2844 23885.20 done 2.29 - - 2874.62 - 2.79 0.075 1131.06 -409.7 296.89 25.16 1.172 1565.38 -4.9 0.015 - - - - - - - 15.81 12.89
24078 end climb: SURFACE_DEPTH_REACHED
24078 begin surface coast
24103 end surface coast: CONTROL_FINISHED_OK
24103 begin surface
SM 0.80 - - - - 185.4 57.78 1.188 1246.1 21.1 16.58 0.054 1229.6 74.2 - 2.79 0.034 1262.6 451.5 -1.086 - - 12.95 15.91 15.93 -