NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 205 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 67.66 of 550.00 AH used of 24V (87.70% remains)
• Surface angle -64.1 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.98 (SM_CC=425)
• GPS1 time: 31 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.38 - - - 65.63 VBD -1.37 - - 181.62 - - - 2255.31 - -82.73 58.08 0.005 2430.41 - - - - - - - - - - 15.70
66.37 3.06 -3.38 11 108.87 -1.37 13.78 0.258 1988.62 131.1 2.63 0.066 1209.88 -397.5 -82.73 18.18 0.006 3112.56 37.5 -3.191 - - - - - - 15.69 15.71 15.72
162.04 19.79 -20.42 30 167.40 roll -1.37 - - 1989.00 - 2.68 0.031 2349.38 425.2 -82.73 - - 3113.72 - - - - - - - - - 15.85 -
352.31 52.76 -15.98 68 355.89 no move -1.37 - - 1988.38 - - - 2349.50 - -82.73 - - 3113.44 - - - - - - - - - - -
537.61 79.86 -14.46 105 541.53 no move -1.37 - - 1988.69 - - - 2349.25 - -82.73 - - 3113.31 - - - - - - - - - - -
727.05 102.75 -12.98 141 732.14 roll -1.37 - - 1988.56 - 2.84 0.059 1210.00 -401.1 -82.73 - - 3114.38 - - - - - - - - - 15.98 -
867.06 120.09 -11.19 169 872.14 roll -1.37 - - 1987.56 - 2.65 0.028 2353.44 431.5 -82.73 - - 3116.09 - - - - - - - - - 15.99 -
1177.10 149.56 -8.98 201 1182.21 roll -1.37 - - 1989.00 - 2.85 0.059 1208.50 -401.7 -82.73 - - 3114.03 - - - - - - - - - 16.04 -
1221.64 153.74 -9.33 210 1227.64 roll -1.37 - - 1989.06 - 2.66 0.028 2354.62 430.9 -82.73 - - 3114.56 - - - - - - - - - 16.03 -
1537.14 182.44 -9.53 242 1542.25 roll -1.37 - - 1988.56 - 2.86 0.059 1209.62 -400.3 -82.73 - - 3114.97 - - - - - - - - - 16.07 -
1617.16 190.67 -10.47 258 1622.23 roll -1.37 - - 1988.88 - 2.65 0.029 2352.31 431.2 -82.73 - - 3115.84 - - - - - - - - - 16.06 -
1927.19 223.07 -10.40 290 1928.52 no move -1.37 - - 1989.19 - - - 2352.38 - -82.73 - - 3114.28 - - - - - - - - - - -
2237.62 253.51 -9.38 321 2242.35 roll -1.37 - - 1988.38 - 2.83 0.060 1209.94 -403.7 -82.73 - - 3115.34 - - - - - - - - - 16.10 -
2307.44 260.36 -9.94 335 2312.40 roll -1.37 - - 1989.25 - 2.65 0.029 2352.06 431.0 -82.73 - - 3114.88 - - - - - - - - - 16.09 -
2617.33 286.67 -8.16 367 2618.66 no move -1.37 - - 1989.38 - - - 2351.69 - -82.73 - - 3114.06 - - - - - - - - - - -
2927.77 314.12 -9.54 398 2932.51 roll -1.37 - - 1989.00 - 2.85 0.061 1210.19 -400.5 -82.73 - - 3113.97 - - - - - - - - - 16.13 -
2967.40 318.08 -10.09 406 2972.49 roll -1.37 - - 1989.06 - 2.65 0.029 2350.75 430.4 -82.73 - - 3114.12 - - - - - - - - - 16.13 -
3277.47 346.17 -8.69 438 3282.55 roll -1.37 - - 1988.56 - 2.70 0.090 3424.62 397.7 -82.73 - - 3115.00 - - - - - - - - - 16.12 -
3322.02 350.64 -10.01 447 3328.01 roll -1.37 - - 1990.00 - 2.60 0.022 2247.81 -452.6 -82.73 - - 3113.69 - - - - - - - - - 16.14 -
3637.55 379.91 -9.51 479 3638.88 no move -1.37 - - 1989.69 - - - 2248.06 - -82.73 - - 3112.69 - - - - - - - - - - -
3948.00 408.96 -9.18 510 3949.33 no move -1.37 - - 1989.75 - - - 2247.94 - -82.73 - - 3112.03 - - - - - - - - - - -
4258.07 436.06 -9.11 541 4259.40 no move -1.37 - - 1989.69 - - - 2247.75 - -82.73 - - 3111.19 - - - - - - - - - - -
4568.13 463.05 -8.93 572 4569.46 no move -1.37 - - 1989.56 - - - 2248.06 - -82.73 - - 3110.94 - - - - - - - - - - -
4878.20 490.55 -8.71 603 4879.53 no move -1.37 - - 1989.69 - - - 2247.69 - -82.73 - - 3110.22 - - - - - - - - - - -
5188.26 516.94 -8.08 634 5189.59 no move -1.37 - - 1989.31 - - - 2247.62 - -82.73 - - 3110.25 - - - - - - - - - - -
5498.57 541.74 -7.73 665 5499.90 no move -1.37 - - 1989.31 - - - 2248.12 - -82.73 - - 3110.00 - - - - - - - - - - -
5808.36 565.28 -7.53 696 5809.69 no move -1.37 - - 1989.19 - - - 2247.75 - -82.73 - - 3109.75 - - - - - - - - - - -
6118.40 587.55 -7.31 727 6123.14 roll -1.37 - - 1989.25 - 2.97 0.086 3427.06 397.1 -82.73 - - 3109.84 - - - - - - - - - 16.18 -
6188.02 593.74 -8.94 741 6193.11 roll -1.37 - - 1989.56 - 2.62 0.022 2254.06 -447.7 -82.73 - - 3110.16 - - - - - - - - - 16.19 -
6498.07 619.49 -8.73 773 6503.19 roll -1.37 - - 1988.75 - 2.96 0.085 3426.62 396.1 -82.73 - - 3110.59 - - - - - - - - - 16.18 -
6522.60 622.05 -9.35 778 6528.61 roll -1.37 - - 1990.00 - 2.62 0.022 2250.00 -449.1 -82.73 - - 3108.97 - - - - - - - - - 16.19 -
6838.11 649.38 -8.48 810 6839.44 no move -1.37 - - 1989.88 - - - 2250.75 - -82.73 - - 3107.16 - - - - - - - - - - -
7148.52 675.56 -8.19 841 7149.85 no move -1.37 - - 1989.56 - - - 2250.25 - -82.73 - - 3107.47 - - - - - - - - - - -
7458.56 701.91 -8.59 872 7463.30 roll -1.37 - - 1988.38 - 2.97 0.086 3426.44 396.0 -82.73 - - 3109.50 - - - - - - - - - 16.18 -
7518.18 708.05 -10.09 884 7523.27 roll -1.37 - - 1989.94 - 2.62 0.022 2254.12 -447.5 -82.73 - - 3107.22 - - - - - - - - - 16.18 -
7828.22 733.20 -7.70 916 7829.55 no move -1.37 - - 1989.38 - - - 2252.62 - -82.73 - - 3106.56 - - - - - - - - - - -
8138.92 756.09 -7.40 947 8140.24 no move -1.37 - - 1989.75 - - - 2253.19 - -82.73 - - 3105.75 - - - - - - - - - - -
8448.75 778.77 -7.79 978 8450.08 no move -1.37 - - 1989.44 - - - 2253.06 - -82.73 - - 3105.19 - - - - - - - - - - -
8758.81 802.66 -7.81 1009 8763.56 roll -1.37 - - 1989.56 - 2.96 0.087 3424.50 395.8 -82.73 - - 3106.09 - - - - - - - - - 16.17 -
8842.99 810.20 -8.74 1026 8848.99 roll -1.37 - - 1989.44 - 2.62 0.022 2252.38 -447.4 -82.73 - - 3106.06 - - - - - - - - - 16.18 -
9158.51 833.80 -7.21 1058 9163.66 roll -1.37 - - 1990.06 - 2.97 0.087 3427.00 395.5 -82.73 - - 3106.16 - - - - - - - - - 16.18 -
9228.53 839.68 -8.24 1072 9233.62 roll -1.37 - - 1989.38 - 2.62 0.023 2254.00 -447.7 -82.73 - - 3105.28 - - - - - - - - - 16.18 -
9538.60 861.88 -7.36 1104 9543.67 roll -1.37 - - 1989.62 - 2.58 0.071 1211.00 -404.3 -82.73 - - 3105.56 - - - - - - - - - 16.19 -
9683.19 873.85 -8.60 1133 9689.19 roll -1.37 - - 1988.19 - 2.64 0.031 2349.50 431.2 -82.73 - - 3106.34 - - - - - - - - - 16.19 -
9998.72 896.83 -7.64 1165 10000.05 no move -1.37 - - 1989.62 - - - 2350.06 - -82.73 - - 3104.19 - - - - - - - - - - -
10309.17 919.39 -6.90 1196 10314.08 roll -1.37 - - 1988.44 - 2.81 0.065 1210.69 -405.5 -82.73 - - 3106.50 - - - - - - - - - 16.17 -
10399.55 926.05 -7.02 1214 10403.90 roll -1.37 - - 1989.25 - 2.64 0.031 2351.50 432.1 -82.73 - - 3105.38 - - - - - - - - - 16.19 -
10709.26 947.45 -6.93 1246 10710.59 no move -1.37 - - 1989.19 - - - 2351.25 - -82.73 - - 3104.09 - - - - - - - - - - -
11019.34 970.47 -7.72 1277 11024.06 roll -1.37 - - 1989.88 - 2.82 0.065 1211.06 -404.3 -82.73 - - 3104.47 - - - - - - - - - 16.18 -
11103.50 978.11 -8.84 1294 11109.51 roll -1.37 - - 1989.44 - 2.65 0.031 2350.31 429.9 -82.73 - - 3104.44 - - - - - - - - - 16.19 -
11249 end dive: TARGET_DEPTH_EXCEEDED
11249 begin apogee
11250.80 990.60 -8.88 1309 11316.33 -0.28 1.76 0.154 2254.25 150.5 0.22 0.134 2279.69 -321.0 - 61.08 2.409 2774.56 -5.4 0.370 - - - - - - 16.12 15.68 12.68
11318 end apogee: CONTROL_FINISHED_OK
11318 begin climb
11318.39 993.10 - 1315 11391.59 1.37 2.60 0.102 2654.81 154.1 2.85 0.094 3345.00 373.8 82.73 64.76 2.335 2437.31 -5.2 0.369 - - - - - - 15.71 15.34 12.83
11400.27 990.07 3.93 1325 11462.07 1.50 0.17 0.084 2698.50 257.0 2.72 0.023 2188.62 -425.1 149.18 54.54 2.286 2166.97 -5.0 0.358 - - - - - - 15.45 15.46 12.69
11769.75 955.68 10.29 1368 11774.84 done 1.50 - - 2698.00 - 2.70 0.078 1132.69 -391.1 149.18 - - 2157.22 - - - - - - - - - 15.76 -
11829.76 948.63 11.56 1380 11834.88 done 1.50 - - 2698.94 - 2.70 0.031 2268.69 420.7 149.18 - - 2156.19 - - - - - - - - - 15.81 -
12140.22 915.55 10.85 1412 12141.55 VBD 1.50 - - 2699.69 - - - 2268.50 - 149.18 - - 2154.16 - - - - - - - - - - -
12450.28 882.31 10.75 1443 12451.61 VBD 1.50 - - 2698.56 - - - 2268.75 - 149.18 - - 2152.19 - - - - - - - - - - -
12760.35 847.34 11.36 1474 12765.07 done 1.50 - - 2699.06 - 2.88 0.075 1132.56 -394.5 149.18 - - 2153.84 - - - - - - - - - 16.03 -
12824.51 839.61 12.06 1487 12830.50 done 1.50 - - 2698.44 - 2.67 0.032 2269.19 425.7 149.18 - - 2154.59 - - - - - - - - - 16.05 -
13140.39 803.04 11.84 1519 13145.11 done 1.50 - - 2699.12 - 2.76 0.092 3345.75 390.1 149.18 - - 2152.22 - - - - - - - - - 16.05 -
13190.19 796.00 16.11 1529 13195.15 done 1.50 - - 2698.44 - 2.65 0.025 2191.06 -435.7 149.18 - - 2153.81 - - - - - - - - - 16.07 -
13500.44 762.47 10.47 1561 13501.77 VBD 1.50 - - 2699.31 - - - 2191.44 - 149.18 - - 2151.41 - - - - - - - - - - -
13810.47 729.00 11.26 1592 13811.80 VBD 1.50 - - 2698.69 - - - 2191.06 - 149.18 - - 2151.03 - - - - - - - - - - -
14120.52 694.21 10.84 1623 14121.85 VBD 1.50 - - 2699.06 - - - 2192.06 - 149.18 - - 2151.12 - - - - - - - - - - -
14430.55 660.14 11.67 1654 14431.88 VBD 1.50 - - 2698.69 - - - 2191.62 - 149.18 - - 2151.03 - - - - - - - - - - -
14740.59 624.10 11.06 1685 14741.92 VBD 1.50 - - 2698.88 - - - 2191.88 - 149.18 - - 2150.62 - - - - - - - - - - -
15050.64 591.18 9.83 1716 15051.97 VBD 1.50 - - 2699.38 - - - 2191.56 - 149.18 - - 2150.62 - - - - - - - - - - -
15360.71 563.19 8.44 1747 15362.04 VBD 1.50 - - 2699.31 - - - 2191.38 - 149.18 - - 2150.69 - - - - - - - - - - -
15670.77 534.92 9.41 1778 15672.10 VBD 1.50 - - 2699.25 - - - 2191.38 - 149.18 - - 2149.62 - - - - - - - - - - -
15980.83 504.32 10.18 1809 15985.57 done 1.50 - - 2698.00 - 2.94 0.089 3344.81 392.3 149.18 - - 2152.81 - - - - - - - - - 16.14 -
16030.45 498.53 11.57 1819 16035.54 done 1.50 - - 2699.44 - 2.64 0.025 2193.12 -436.2 149.18 - - 2150.72 - - - - - - - - - 16.15 -
16340.92 465.87 10.29 1851 16342.25 VBD 1.50 - - 2699.19 - - - 2193.19 - 149.18 - - 2149.69 - - - - - - - - - - -
16650.98 435.94 9.28 1882 16655.91 done 1.50 - - 2699.38 - 2.91 0.088 3344.50 395.6 149.18 - - 2150.91 - - - - - - - - - 16.15 -
16725.32 427.91 11.16 1897 16731.15 done 1.50 - - 2698.25 - 2.62 0.025 2191.12 -440.2 149.18 - - 2153.09 - - - - - - - - - 16.14 -
17041.08 400.11 8.79 1929 17045.77 done 1.50 - - 2699.06 - 2.64 0.078 1131.56 -401.3 149.18 - - 2150.69 - - - - - - - - - 16.14 -
17095.24 394.92 9.49 1940 17101.24 done 1.50 - - 2699.06 - 2.64 0.031 2273.69 432.6 149.18 - - 2151.16 - - - - - - - - - 16.15 -
17411.15 365.96 9.14 1972 17412.48 VBD 1.50 - - 2699.69 - - - 2274.12 - 149.18 - - 2149.91 - - - - - - - - - - -
17721.21 336.41 9.25 2003 17722.54 VBD 1.50 - - 2699.19 - - - 2273.56 - 149.18 - - 2149.62 - - - - - - - - - - -
18031.28 309.29 8.21 2034 18032.61 VBD 1.50 - - 2699.25 - - - 2274.31 - 149.18 - - 2149.44 - - - - - - - - - - -
18341.34 283.62 8.52 2065 18342.67 VBD 1.50 - - 2698.75 - - - 2274.06 - 149.18 - - 2149.56 - - - - - - - - - - -
18651.38 258.42 8.40 2096 18656.10 done 1.50 - - 2698.94 - 2.86 0.074 1131.31 -399.6 149.18 - - 2151.03 - - - - - - - - - 16.16 -
18695.54 254.40 8.71 2105 18701.54 done 1.50 - - 2699.00 - 2.64 0.030 2271.75 432.0 149.18 - - 2150.91 - - - - - - - - - 16.16 -
19011.42 227.76 8.97 2137 19012.75 VBD 1.50 - - 2699.06 - - - 2271.56 - 149.18 - - 2149.72 - - - - - - - - - - -
19321.72 200.42 8.71 2168 19326.18 done 1.50 - - 2698.69 - 2.87 0.072 1131.25 -397.3 149.18 - - 2151.75 - - - - - - - - - 16.12 -
19365.62 196.52 8.80 2177 19371.62 done 1.50 - - 2699.75 - 2.64 0.030 2273.75 432.8 149.18 - - 2151.25 - - - - - - - - - 16.15 -
19681.52 172.54 7.81 2209 19682.85 VBD 1.51 - - 2699.88 - - - 2274.38 - 149.18 - - 2150.00 - - - - - - - - - - -
19991.56 148.72 7.94 2240 19996.27 done 1.52 - - 2699.50 - 2.87 0.072 1130.19 -398.7 149.18 - - 2151.88 - - - - - - - - - 16.15 -
20061.17 142.82 8.37 2254 20066.25 done 1.52 - - 2699.88 - 2.64 0.029 2273.88 433.2 149.18 - - 2152.28 - - - - - - - - - 16.15 -
20371.78 121.89 6.52 2286 20376.30 done 1.56 - - 2699.38 - 2.70 0.089 3347.00 397.5 149.18 - - 2151.91 - - - - - - - - - 16.11 -
20475.80 114.19 7.47 2307 20481.79 done 1.58 - - 2699.12 - 2.62 0.023 2186.62 -442.9 149.18 - - 2152.56 - - - - - - - - - 16.15 -
20786.32 95.62 5.09 2346 20827.96 1.68 0.17 0.092 2739.94 240.1 2.66 0.077 1131.44 -396.7 198.59 35.47 1.280 1964.72 -5.3 0.066 - - - - - - 16.12 15.94 12.81
21056.94 81.90 5.20 2400 21098.03 done 1.78 - - 2739.00 - 2.65 0.029 2274.88 431.5 246.34 36.50 1.250 1771.53 -5.3 0.058 - - - - - - - 16.04 12.71
21281.51 68.65 6.57 2445 21287.09 done 1.81 - - 2739.38 - 2.90 0.070 1132.69 -393.9 246.34 - - 1762.09 - - - - - - - - - 15.93 -
21396.56 60.42 7.02 2468 21402.14 1.84 0.16 0.095 2780.81 258.9 2.65 0.028 2275.38 431.2 246.34 - - 1760.81 - - - - - - - - 15.93 15.97 -
21586.63 47.66 6.97 2506 21587.96 VBD 1.87 - - 2781.12 - - - 2275.06 - 246.34 - - 1759.03 - - - - - - - - - - -
21771.70 36.08 6.38 2543 21802.36 done 1.93 - - 2781.12 - 2.73 0.090 3346.00 392.3 276.89 23.25 1.154 1645.50 -4.9 0.025 - - - - - - - 15.86 12.74
21836.74 31.70 6.97 2556 21842.25 roll 1.96 - - 2781.75 - 2.66 0.023 2188.38 -435.2 276.89 - - 1643.38 - - - - - - - - - 15.94 -
22026.78 21.70 3.79 2594 22084.53 2.10 0.29 0.076 2842.06 208.0 2.98 0.084 3345.56 388.3 345.28 52.08 1.173 1367.59 -5.3 0.016 - - - - - - 15.95 15.74 12.75
22307.72 2.04 9.48 2650 22313.26 roll 2.10 - - 2842.75 - 2.67 0.023 2191.75 -432.1 345.28 - - 1361.53 - - - - - - - - - 15.89 -
22317 end climb: SURFACE_DEPTH_REACHED
22317 begin surface coast
22343 end surface coast: CONTROL_FINISHED_OK
22343 begin surface
SM 1.84 - - - - 181.1 58.92 1.153 1042.5 17.7 16.32 0.052 998.2 61.2 - 0.34 0.069 1086.8 3188.6 -8.691 - - 12.71 15.89 15.91 -