NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 148 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 51.86 of 550.00 AH used of 24V (90.57% remains)
• Surface angle -63.8 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.86 (SM_CC=375)
• GPS1 time: 47 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
6.54 - - - 60.26 VBD -1.37 - - 185.56 - - - 2248.69 - -82.73 52.54 0.005 2514.03 - - - - - - - - - - 15.76
61.00 3.23 -3.43 10 99.13 -1.37 13.73 0.257 1988.44 131.3 2.62 0.068 1209.12 -396.8 -82.73 15.27 0.006 3112.28 39.2 -3.510 - - - - - - 15.71 15.76 15.79
327.19 54.18 -17.18 63 332.75 roll -1.37 - - 1987.88 - 2.73 0.030 2347.81 417.1 -82.73 - - 3113.16 - - - - - - - - - 15.90 -
517.91 81.78 -13.87 101 522.87 roll -1.37 - - 1988.44 - 2.86 0.060 1209.12 -398.1 -82.73 - - 3114.25 - - - - - - - - - 15.97 -
547.50 85.76 -13.27 107 552.86 roll -1.37 - - 1988.38 - 2.70 0.029 2351.00 422.9 -82.73 - - 3113.66 - - - - - - - - - 15.97 -
742.72 105.63 -8.97 140 747.43 roll -1.37 - - 1988.75 - 2.77 0.086 3425.56 387.9 -82.73 - - 3114.06 - - - - - - - - - 15.99 -
932.38 124.87 -10.64 178 937.47 roll -1.37 - - 1989.62 - 2.64 0.022 2254.31 -443.7 -82.73 - - 3114.41 - - - - - - - - - 16.02 -
1242.43 154.74 -9.55 210 1247.48 roll -1.37 - - 1989.12 - 2.58 0.067 1210.88 -404.4 -82.73 - - 3114.66 - - - - - - - - - 16.06 -
1266.96 157.23 -9.62 215 1272.97 roll -1.37 - - 1989.62 - 2.67 0.029 2353.44 427.9 -82.73 - - 3114.81 - - - - - - - - - 16.05 -
1582.46 189.30 -10.34 247 1587.57 roll -1.37 - - 1989.94 - 2.84 0.062 1209.94 -402.6 -82.73 - - 3115.47 - - - - - - - - - 16.08 -
1717.02 204.29 -10.94 274 1723.03 roll -1.37 - - 1989.56 - 2.69 0.030 2350.75 424.1 -82.73 - - 3115.50 - - - - - - - - - 16.11 -
2032.52 235.95 -9.67 306 2033.85 no move -1.37 - - 1989.94 - - - 2350.62 - -82.73 - - 3113.16 - - - - - - - - - - -
2343.18 265.91 -9.94 337 2344.51 no move -1.37 - - 1990.56 - - - 2350.69 - -82.73 - - 3113.09 - - - - - - - - - - -
2652.97 298.14 -10.52 368 2654.30 no move -1.37 - - 1989.75 - - - 2350.75 - -82.73 - - 3113.12 - - - - - - - - - - -
2963.03 330.81 -10.70 399 2964.36 no move -1.37 - - 1989.69 - - - 2350.44 - -82.73 - - 3113.41 - - - - - - - - - - -
3273.09 362.24 -9.70 430 3277.81 roll -1.37 - - 1989.38 - 2.83 0.064 1209.69 -403.1 -82.73 - - 3114.72 - - - - - - - - - 16.17 -
3443.16 379.38 -10.59 464 3447.86 roll -1.37 - - 1989.81 - 2.67 0.031 2351.25 427.6 -82.73 - - 3114.97 - - - - - - - - - 16.17 -
3752.84 409.51 -9.48 496 3757.95 roll -1.37 - - 1989.44 - 2.83 0.064 1209.94 -403.3 -82.73 - - 3115.06 - - - - - - - - - 16.18 -
3832.85 417.31 -9.68 512 3837.95 roll -1.37 - - 1989.19 - 2.68 0.031 2351.38 425.9 -82.73 - - 3114.41 - - - - - - - - - 16.17 -
4142.93 447.49 -9.78 544 4144.25 no move -1.37 - - 1989.75 - - - 2351.75 - -82.73 - - 3112.56 - - - - - - - - - - -
4453.37 478.56 -9.67 575 4454.70 no move -1.37 - - 1989.69 - - - 2351.62 - -82.73 - - 3112.50 - - - - - - - - - - -
4763.45 505.40 -8.33 606 4768.16 roll -1.37 - - 1989.25 - 2.84 0.065 1210.56 -401.8 -82.73 - - 3113.81 - - - - - - - - - 16.20 -
4837.61 511.47 -8.55 621 4843.91 roll -1.37 - - 1989.50 - 2.68 0.031 2349.75 425.1 -82.73 - - 3112.94 - - - - - - - - - 16.20 -
5153.25 536.38 -7.55 653 5154.58 no move -1.37 - - 1989.38 - - - 2349.81 - -82.73 - - 3111.81 - - - - - - - - - - -
5463.58 560.20 -7.65 684 5468.31 roll -1.37 - - 1989.62 - 2.81 0.065 1209.81 -405.7 -82.73 - - 3112.56 - - - - - - - - - 16.20 -
5533.22 565.40 -7.78 698 5538.31 roll -1.37 - - 1989.75 - 2.68 0.031 2351.75 426.1 -82.73 - - 3111.53 - - - - - - - - - 16.19 -
5843.29 589.60 -8.06 730 5844.61 no move -1.37 - - 1989.56 - - - 2351.94 - -82.73 - - 3110.56 - - - - - - - - - - -
6153.72 613.45 -7.96 761 6155.05 no move -1.37 - - 1989.31 - - - 2350.88 - -82.73 - - 3110.09 - - - - - - - - - - -
6463.75 637.01 -7.52 792 6468.47 roll -1.37 - - 1989.38 - 2.75 0.091 3424.44 390.4 -82.73 - - 3111.00 - - - - - - - - - 16.20 -
6583.39 647.69 -8.73 816 6588.47 roll -1.37 - - 1989.69 - 2.63 0.023 2253.38 -445.3 -82.73 - - 3110.00 - - - - - - - - - 16.22 -
6893.43 671.95 -7.65 848 6898.49 roll -1.37 - - 1989.75 - 2.59 0.071 1210.81 -402.5 -82.73 - - 3110.72 - - - - - - - - - 16.20 -
6963.44 677.89 -8.78 862 6968.53 roll -1.37 - - 1989.44 - 2.67 0.031 2350.75 426.9 -82.73 - - 3109.66 - - - - - - - - - 16.22 -
7273.48 703.01 -8.02 894 7278.77 roll -1.37 - - 1990.19 - 2.82 0.066 1211.00 -404.2 -82.73 - - 3109.25 - - - - - - - - - 16.20 -
7403.62 713.91 -8.96 920 7408.58 roll -1.37 - - 1989.69 - 2.66 0.032 2350.81 428.5 -82.73 - - 3108.94 - - - - - - - - - 16.21 -
7713.54 737.87 -7.28 952 7718.65 roll -1.37 - - 1989.38 - 2.84 0.066 1210.75 -401.4 -82.73 - - 3109.16 - - - - - - - - - 16.22 -
7813.55 746.09 -8.29 972 7818.64 roll -1.37 - - 1988.62 - 2.68 0.032 2350.25 425.2 -82.73 - - 3110.25 - - - - - - - - - 16.21 -
8123.59 770.41 -7.58 1004 8128.71 roll -1.37 - - 1989.31 - 2.83 0.066 1211.12 -402.5 -82.73 - - 3108.91 - - - - - - - - - 16.21 -
8183.61 775.08 -7.99 1016 8188.70 roll -1.37 - - 1988.25 - 2.69 0.032 2350.88 423.7 -82.73 - - 3110.06 - - - - - - - - - 16.21 -
8493.68 800.34 -8.42 1048 8498.80 roll -1.37 - - 1990.06 - 2.84 0.066 1210.75 -401.5 -82.73 - - 3108.06 - - - - - - - - - 16.21 -
8603.73 810.19 -9.33 1070 8608.81 roll -1.37 - - 1989.19 - 2.68 0.032 2349.12 424.8 -82.73 - - 3108.72 - - - - - - - - - 16.21 -
8913.80 836.01 -8.47 1102 8918.91 roll -1.37 - - 1989.44 - 2.83 0.066 1210.81 -402.2 -82.73 - - 3108.69 - - - - - - - - - 16.22 -
8988.54 842.51 -9.88 1117 8994.43 roll -1.37 - - 1989.31 - 2.66 0.032 2350.44 428.4 -82.73 - - 3108.41 - - - - - - - - - 16.23 -
9303.89 868.96 -8.11 1149 9305.22 no move -1.37 - - 1989.88 - - - 2349.94 - -82.73 - - 3105.84 - - - - - - - - - - -
9614.34 892.57 -7.50 1180 9619.07 roll -1.37 - - 1989.44 - 2.83 0.067 1209.56 -403.0 -82.73 - - 3107.81 - - - - - - - - - 16.20 -
9688.52 898.36 -7.94 1195 9694.52 roll -1.37 - - 1989.38 - 2.65 0.032 2351.88 431.1 -82.73 - - 3107.19 - - - - - - - - - 16.22 -
10004.23 920.17 -6.52 1227 10009.16 roll -1.37 - - 1989.69 - 2.83 0.067 1209.62 -403.6 -82.73 - - 3107.38 - - - - - - - - - 16.21 -
10048.60 923.21 -6.65 1236 10054.61 roll -1.37 - - 1988.88 - 2.66 0.032 2348.62 428.2 -82.73 - - 3106.69 - - - - - - - - - 16.21 -
10364.52 944.10 -6.87 1268 10365.85 no move -1.37 - - 1989.31 - - - 2349.31 - -82.73 - - 3105.62 - - - - - - - - - - -
10674.58 964.35 -6.67 1299 10679.32 roll -1.37 - - 1989.56 - 2.82 0.067 1211.06 -403.6 -82.73 - - 3106.84 - - - - - - - - - 16.21 -
10804.24 973.42 -7.04 1325 10809.32 roll -1.37 - - 1989.00 - 2.65 0.032 2350.69 430.0 -82.73 - - 3106.78 - - - - - - - - - 16.22 -
11063 end dive: TARGET_DEPTH_EXCEEDED
11064 begin apogee
11066.11 990.64 -6.58 1352 11131.90 -0.28 1.76 0.156 2252.81 149.9 0.21 0.135 2278.50 -343.8 - 61.38 2.398 2775.53 -5.4 0.371 - - - - - - 16.14 15.68 12.92
11141 end apogee: CONTROL_FINISHED_OK
11141 begin climb
11142.13 991.99 - 1358 11217.74 1.37 2.61 0.100 2656.62 154.7 2.89 0.095 3343.69 368.6 82.73 65.00 2.331 2436.47 -5.2 0.369 - - - - - - 15.73 15.34 12.87
11226.40 987.68 5.74 1373 11264.35 done 1.45 - - 2655.62 - 2.73 0.025 2191.31 -422.1 122.58 33.60 2.220 2274.88 -4.8 0.356 - - - - - - - 15.47 12.68
11571.29 955.17 10.13 1411 11576.44 roll 1.45 - - 2656.44 - 3.06 0.089 3343.94 376.7 122.58 - - 2267.50 - - - - - - - - - 15.77 -
11601.30 951.81 11.09 1417 11606.38 roll 1.45 - - 2655.94 - 2.69 0.026 2195.00 -427.1 122.58 - - 2266.88 - - - - - - - - - 15.80 -
11911.73 921.17 9.78 1449 11913.06 VBD 1.45 - - 2656.00 - - - 2194.12 - 122.58 - - 2265.09 - - - - - - - - - - -
12222.07 889.23 10.51 1480 12226.52 done 1.45 - - 2656.81 - 3.01 0.090 3343.31 381.8 122.58 - - 2265.50 - - - - - - - - - 15.98 -
12255.92 884.88 12.45 1487 12261.92 done 1.45 - - 2656.38 - 2.66 0.026 2193.12 -432.4 122.58 - - 2264.88 - - - - - - - - - 16.01 -
12571.81 852.34 9.98 1519 12576.55 done 1.45 - - 2656.56 - 3.00 0.090 3344.75 383.9 122.58 - - 2264.03 - - - - - - - - - 16.03 -
12625.97 846.05 11.04 1530 12631.98 done 1.45 - - 2655.75 - 2.66 0.027 2193.75 -432.7 122.58 - - 2265.12 - - - - - - - - - 16.05 -
12941.86 816.57 9.11 1562 12943.19 VBD 1.45 - - 2655.81 - - - 2193.88 - 122.58 - - 2262.78 - - - - - - - - - - -
13251.89 789.66 8.36 1593 13256.63 done 1.45 - - 2655.81 - 2.99 0.090 3344.75 384.9 122.58 - - 2263.34 - - - - - - - - - 16.09 -
13276.05 787.08 9.07 1598 13282.07 done 1.45 - - 2655.75 - 2.63 0.027 2194.12 -437.5 122.58 - - 2265.19 - - - - - - - - - 16.10 -
13591.95 761.29 7.85 1630 13593.28 VBD 1.46 - - 2656.25 - - - 2193.38 - 122.58 - - 2262.31 - - - - - - - - - - -
13901.97 735.35 8.29 1661 13903.30 VBD 1.46 - - 2656.00 - - - 2192.38 - 122.58 - - 2261.38 - - - - - - - - - - -
14212.03 709.19 8.50 1692 14213.36 VBD 1.46 - - 2656.38 - - - 2192.56 - 122.58 - - 2261.31 - - - - - - - - - - -
14522.09 682.75 8.94 1723 14526.97 done 1.46 - - 2656.31 - 2.66 0.082 1132.31 -398.6 122.58 - - 2262.47 - - - - - - - - - 16.16 -
14561.83 679.07 9.21 1731 14566.80 done 1.46 - - 2655.94 - 2.68 0.032 2269.50 424.3 122.58 - - 2263.31 - - - - - - - - - 16.15 -
14872.17 650.87 9.01 1763 14876.88 done 1.46 - - 2656.31 - 2.79 0.094 3345.38 385.6 122.58 - - 2262.06 - - - - - - - - - 16.14 -
14931.80 644.76 9.99 1775 14936.88 done 1.46 - - 2656.25 - 2.64 0.026 2192.00 -436.9 122.58 - - 2262.28 - - - - - - - - - 16.16 -
15242.43 616.28 9.22 1807 15243.76 VBD 1.46 - - 2655.62 - - - 2191.25 - 122.58 - - 2260.66 - - - - - - - - - - -
15552.32 589.40 8.65 1838 15553.65 VBD 1.46 - - 2656.56 - - - 2191.56 - 122.58 - - 2260.47 - - - - - - - - - - -
15862.39 563.60 7.97 1869 15867.13 done 1.46 - - 2655.69 - 2.98 0.090 3347.31 387.8 122.58 - - 2262.91 - - - - - - - - - 16.18 -
15916.55 558.41 9.21 1880 15922.56 done 1.46 - - 2655.38 - 2.64 0.026 2191.31 -437.9 122.58 - - 2262.50 - - - - - - - - - 16.18 -
16232.48 533.13 7.73 1912 16233.81 VBD 1.47 - - 2656.12 - - - 2191.62 - 122.58 - - 2260.22 - - - - - - - - - - -
16542.54 508.85 7.65 1943 16547.33 1.49 0.14 0.104 2698.00 299.1 2.97 0.090 3343.81 387.9 122.58 - - 2262.28 - - - - - - - - 16.17 16.18 -
16586.70 504.55 9.87 1952 16592.88 done 1.49 - - 2697.44 - 2.64 0.026 2190.12 -437.0 122.58 - - 2262.22 - - - - - - - - - 16.18 -
16902.72 477.31 8.64 1984 16904.06 VBD 1.49 - - 2697.88 - - - 2190.44 - 122.58 - - 2260.78 - - - - - - - - - - -
17212.67 451.17 8.51 2015 17214.00 VBD 1.49 - - 2697.75 - - - 2191.31 - 122.58 - - 2260.22 - - - - - - - - - - -
17522.77 426.34 8.07 2046 17524.10 VBD 1.49 - - 2697.44 - - - 2189.88 - 122.58 - - 2260.38 - - - - - - - - - - -
17832.78 402.30 7.79 2077 17834.11 VBD 1.50 - - 2698.12 - - - 2189.88 - 122.58 - - 2260.22 - - - - - - - - - - -
18142.80 378.57 7.63 2108 18144.13 VBD 1.52 - - 2697.31 - - - 2190.44 - 122.58 - - 2260.19 - - - - - - - - - - -
18452.83 354.57 7.45 2139 18454.16 VBD 1.54 - - 2697.62 - - - 2189.81 - 122.58 - - 2260.84 - - - - - - - - - - -
18762.88 332.12 7.04 2170 18767.59 done 1.57 - - 2698.38 - 2.98 0.089 3346.88 388.3 122.58 - - 2261.56 - - - - - - - - - 16.19 -
18797.24 329.38 7.31 2177 18803.02 done 1.59 - - 2697.50 - 2.64 0.026 2190.31 -438.1 122.58 - - 2262.50 - - - - - - - - - 16.19 -
19112.91 309.28 6.39 2209 19140.47 done 1.65 - - 2697.56 - 3.00 0.090 3345.12 384.9 152.96 22.98 1.514 2149.56 -4.9 0.167 - - - - - - - 16.02 12.92
19208.46 302.16 8.07 2228 19213.72 roll 1.65 - - 2698.12 - 2.64 0.026 2191.56 -437.0 152.96 - - 2148.25 - - - - - - - - - 16.09 -
19519.05 277.13 8.46 2260 19520.38 no move 1.65 - - 2697.81 - - - 2191.19 - 152.96 - - 2145.84 - - - - - - - - - - -
19829.09 250.74 8.55 2291 19830.42 no move 1.65 - - 2697.75 - - - 2191.44 - 152.96 - - 2145.81 - - - - - - - - - - -
20138.96 224.48 8.84 2322 20143.70 roll 1.65 - - 2697.88 - 2.98 0.088 3345.62 387.3 152.96 - - 2147.25 - - - - - - - - - 16.10 -
20168.57 221.60 9.21 2328 20173.66 roll 1.65 - - 2698.12 - 2.64 0.025 2190.50 -437.5 152.96 - - 2146.41 - - - - - - - - - 16.12 -
20479.03 195.92 7.86 2360 20480.47 pitch 1.66 0.16 0.095 2735.69 234.8 - - 2188.31 - 152.96 - - 2145.16 - - - - - - - - 16.12 - -
20788.69 167.93 9.26 2391 20790.02 no move 1.66 - - 2736.31 - - - 2188.75 - 152.96 - - 2145.38 - - - - - - - - - - -
21099.15 140.81 8.60 2422 21100.47 no move 1.66 - - 2735.44 - - - 2187.88 - 152.96 - - 2145.31 - - - - - - - - - - -
21409.24 115.64 7.60 2453 21413.96 roll 1.68 - - 2736.56 - 2.98 0.086 3346.31 388.7 152.96 - - 2146.84 - - - - - - - - - 16.14 -
21463.39 111.04 8.41 2464 21469.39 roll 1.68 - - 2735.19 - 2.63 0.025 2186.12 -441.1 152.96 - - 2148.41 - - - - - - - - - 16.15 -
21773.96 90.42 5.83 2511 21810.60 done 1.76 - - 2736.19 - 2.65 0.079 1131.38 -398.0 191.46 29.56 1.285 1994.31 -5.2 0.061 - - - - - - - 15.95 12.93
22039.04 74.65 6.10 2564 22071.54 1.83 0.16 0.092 2779.81 272.6 2.68 0.030 2274.31 426.5 226.05 27.18 1.242 1852.91 -5.2 0.052 - - - - - - 16.03 16.04 12.93
22254.73 62.97 4.98 2607 22300.65 done 1.93 - - 2780.12 - 2.80 0.090 3345.94 382.7 277.02 39.00 1.239 1645.84 -5.3 0.045 - - - - - - - 15.77 12.86
22530.21 42.72 7.81 2662 22535.35 roll 1.94 - - 2780.81 - 2.67 0.024 2191.50 -432.4 277.02 - - 1639.34 - - - - - - - - - 15.92 -
22719.88 29.04 8.57 2700 22725.42 done 1.94 - - 2780.69 - 2.68 0.076 1133.94 -394.6 277.02 - - 1634.81 - - - - - - - - - 15.95 -
22769.91 26.37 5.73 2710 22806.46 2.02 0.19 0.085 2825.56 236.2 2.68 0.027 2276.00 426.1 317.08 30.64 1.178 1482.72 -5.0 0.018 - - - - - - 15.95 15.97 12.84
22990.00 12.68 7.46 2754 22991.33 no move 2.04 - - 2825.50 - - - 2275.44 - 317.08 - - 1476.28 - - - - - - - - - - -
23129 end climb: SURFACE_DEPTH_REACHED
23129 begin surface coast
23159 end surface coast: CONTROL_FINISHED_OK
23160 begin surface
SM 0.95 - - - - 187.9 43.74 1.175 1246.8 28.5 16.15 0.048 1220.3 75.6 - 0.12 0.123 1273.3 10610.8 -8.376 - - 12.81 15.93 15.95 -