NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 209 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 68.93 of 550.00 AH used of 24V (87.47% remains)
• Surface angle -59.7 deg, depth 1.34 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.92 (beyond SM_CC=425)
• GPS1 time: 13 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.40 - - - 70.76 VBD -1.37 - - 178.62 - - - 2239.44 - -82.73 63.19 0.005 2584.31 - - - - - - - - - - 15.71
71.50 3.57 -3.80 12 108.86 -1.37 13.79 0.263 1989.00 131.3 2.59 0.071 1210.00 -397.5 -82.73 12.66 0.007 3111.84 41.7 -3.510 - - - - - - 15.71 15.71 15.74
181.85 25.26 -20.15 34 187.39 roll -1.37 - - 1988.56 - 2.68 0.030 2349.50 425.2 -82.73 - - 3113.62 - - - - - - - - - 15.86 -
372.26 57.38 -14.50 72 377.64 roll -1.37 - - 1988.62 - 2.71 0.085 3427.44 397.8 -82.73 - - 3113.84 - - - - - - - - - 15.90 -
467.03 72.40 -16.49 91 472.46 roll -1.37 - - 1989.81 - 2.62 0.021 2254.25 -447.8 -82.73 - - 3113.59 - - - - - - - - - 15.91 -
657.34 96.85 -11.18 129 662.48 roll -1.37 - - 1989.62 - 2.56 0.064 1208.44 -408.5 -82.73 - - 3114.38 - - - - - - - - - 15.94 -
751.51 107.64 -10.48 148 757.52 roll -1.37 - - 1990.00 - 2.66 0.028 2352.94 430.3 -82.73 - - 3113.62 - - - - - - - - - 15.97 -
1067.01 137.25 -9.27 180 1068.34 no move -1.37 - - 1989.69 - - - 2353.31 - -82.73 - - 3113.06 - - - - - - - - - - -
1377.43 164.40 -8.03 211 1378.76 no move -1.37 - - 1990.00 - - - 2353.75 - -82.73 - - 3113.62 - - - - - - - - - - -
1687.46 189.20 -8.54 242 1692.17 roll -1.37 - - 1989.81 - 2.79 0.060 1208.50 -410.5 -82.73 - - 3114.25 - - - - - - - - - 16.08 -
1731.61 193.37 -9.28 251 1737.62 roll -1.37 - - 1989.88 - 2.62 0.029 2353.25 436.9 -82.73 - - 3114.03 - - - - - - - - - 16.08 -
2047.12 221.14 -8.88 283 2052.20 roll -1.37 - - 1989.56 - 2.67 0.087 3426.00 401.8 -82.73 - - 3114.16 - - - - - - - - - 16.06 -
2067.12 223.02 -9.03 287 2072.21 roll -1.37 - - 1989.38 - 2.62 0.022 2245.88 -450.4 -82.73 - - 3114.75 - - - - - - - - - 16.10 -
2377.38 251.60 -9.37 319 2382.31 roll -1.37 - - 1989.12 - 2.55 0.066 1208.75 -406.7 -82.73 - - 3114.53 - - - - - - - - - 16.10 -
2417.20 255.51 -10.20 327 2422.29 roll -1.37 - - 1989.75 - 2.63 0.029 2353.06 435.1 -82.73 - - 3114.19 - - - - - - - - - 16.12 -
2727.27 286.03 -9.93 359 2732.39 roll -1.37 - - 1989.12 - 2.81 0.061 1208.50 -407.3 -82.73 - - 3114.53 - - - - - - - - - 16.13 -
2797.30 293.08 -10.14 373 2802.38 roll -1.37 - - 1990.19 - 2.61 0.030 2353.06 438.5 -82.73 - - 3113.53 - - - - - - - - - 16.10 -
3107.36 322.64 -9.11 405 3112.45 roll -1.37 - - 1988.56 - 2.68 0.089 3426.69 400.6 -82.73 - - 3115.06 - - - - - - - - - 16.12 -
3151.91 327.21 -10.19 414 3157.91 roll -1.37 - - 1988.88 - 2.60 0.022 2249.06 -452.9 -82.73 - - 3114.38 - - - - - - - - - 16.12 -
3467.45 357.39 -9.90 446 3472.51 roll -1.37 - - 1988.75 - 2.56 0.067 1211.44 -405.3 -82.73 - - 3114.34 - - - - - - - - - 16.14 -
3511.99 361.92 -10.26 455 3518.01 roll -1.37 - - 1989.56 - 2.61 0.030 2353.50 437.6 -82.73 - - 3114.56 - - - - - - - - - 16.15 -
3827.53 391.21 -8.97 487 3828.85 no move -1.37 - - 1989.19 - - - 2353.31 - -82.73 - - 3111.28 - - - - - - - - - - -
4137.97 418.91 -9.13 518 4139.30 no move -1.37 - - 1989.88 - - - 2352.81 - -82.73 - - 3110.81 - - - - - - - - - - -
4448.32 447.28 -8.85 549 4452.76 roll -1.37 - - 1989.81 - 2.81 0.062 1210.12 -406.7 -82.73 - - 3111.44 - - - - - - - - - 16.17 -
4542.21 456.32 -9.40 568 4548.23 roll -1.37 - - 1989.62 - 2.64 0.030 2352.94 432.9 -82.73 - - 3111.81 - - - - - - - - - 16.16 -
4857.73 485.23 -9.04 600 4862.84 roll -1.37 - - 1988.69 - 2.83 0.063 1209.88 -403.9 -82.73 - - 3111.72 - - - - - - - - - 16.18 -
4912.29 490.46 -9.56 611 4918.30 roll -1.37 - - 1989.81 - 2.62 0.031 2352.06 435.9 -82.73 - - 3111.31 - - - - - - - - - 16.16 -
5227.81 517.93 -8.43 643 5229.14 no move -1.37 - - 1989.56 - - - 2351.69 - -82.73 - - 3108.84 - - - - - - - - - - -
5538.24 544.28 -8.15 674 5542.98 roll -1.37 - - 1989.69 - 2.81 0.063 1209.38 -406.5 -82.73 - - 3110.66 - - - - - - - - - 16.17 -
5597.88 549.58 -8.76 686 5602.96 roll -1.37 - - 1989.44 - 2.62 0.031 2350.44 435.5 -82.73 - - 3110.66 - - - - - - - - - 16.17 -
5907.91 575.49 -8.56 718 5909.23 no move -1.37 - - 1989.88 - - - 2350.69 - -82.73 - - 3107.88 - - - - - - - - - - -
6218.32 601.49 -8.71 749 6219.65 no move -1.37 - - 1989.38 - - - 2350.25 - -82.73 - - 3107.62 - - - - - - - - - - -
6528.36 626.65 -7.58 780 6533.09 roll -1.37 - - 1989.12 - 2.83 0.064 1209.94 -402.9 -82.73 - - 3108.31 - - - - - - - - - 16.19 -
6638.19 635.68 -8.04 802 6643.15 roll -1.37 - - 1989.31 - 2.63 0.031 2350.50 433.7 -82.73 - - 3108.16 - - - - - - - - - 16.17 -
6948.03 659.45 -7.81 834 6949.36 no move -1.37 - - 1989.25 - - - 2350.50 - -82.73 - - 3106.31 - - - - - - - - - - -
7258.45 684.26 -8.34 865 7259.78 no move -1.37 - - 1990.06 - - - 2350.06 - -82.73 - - 3106.41 - - - - - - - - - - -
7568.50 710.67 -8.19 896 7573.22 roll -1.37 - - 1989.81 - 2.82 0.064 1209.81 -404.3 -82.73 - - 3106.62 - - - - - - - - - 16.18 -
7602.66 713.92 -8.99 903 7608.66 roll -1.37 - - 1989.25 - 2.64 0.031 2352.25 432.7 -82.73 - - 3107.16 - - - - - - - - - 16.20 -
7918.20 739.29 -7.90 935 7919.53 no move -1.37 - - 1989.69 - - - 2351.38 - -82.73 - - 3105.22 - - - - - - - - - - -
8228.64 763.52 -7.90 966 8229.97 no move -1.37 - - 1989.75 - - - 2351.75 - -82.73 - - 3104.66 - - - - - - - - - - -
8538.71 788.06 -7.85 997 8540.03 no move -1.37 - - 1989.50 - - - 2351.44 - -82.73 - - 3104.03 - - - - - - - - - - -
8848.77 811.73 -7.57 1028 8850.09 no move -1.37 - - 1989.50 - - - 2351.94 - -82.73 - - 3104.06 - - - - - - - - - - -
9158.83 834.35 -7.19 1059 9160.16 no move -1.37 - - 1989.62 - - - 2351.50 - -82.73 - - 3103.72 - - - - - - - - - - -
9468.89 857.12 -7.28 1090 9473.63 roll -1.37 - - 1989.38 - 2.86 0.065 1210.50 -399.0 -82.73 - - 3105.25 - - - - - - - - - 16.19 -
9573.08 865.52 -7.79 1111 9579.26 roll -1.37 - - 1988.62 - 2.62 0.032 2349.38 434.7 -82.73 - - 3106.03 - - - - - - - - - 16.20 -
9888.79 888.23 -6.97 1143 9890.11 no move -1.37 - - 1990.06 - - - 2349.38 - -82.73 - - 3103.78 - - - - - - - - - - -
10199.06 910.82 -7.04 1174 10203.78 roll -1.37 - - 1989.38 - 2.71 0.094 3426.31 397.4 -82.73 - - 3103.47 - - - - - - - - - 16.17 -
10298.71 919.46 -9.13 1194 10303.79 roll -1.37 - - 1989.38 - 2.63 0.023 2253.69 -445.9 -82.73 - - 3104.31 - - - - - - - - - 16.18 -
10609.33 943.00 -7.88 1226 10613.84 roll -1.37 - - 1989.38 - 2.60 0.070 1211.25 -400.9 -82.73 - - 3103.56 - - - - - - - - - 16.18 -
10673.33 948.38 -8.12 1239 10679.34 roll -1.37 - - 1989.25 - 2.64 0.031 2350.25 431.4 -82.73 - - 3103.66 - - - - - - - - - 16.18 -
10989.23 971.76 -7.08 1271 10990.56 no move -1.37 - - 1989.62 - - - 2350.62 - -82.73 - - 3102.31 - - - - - - - - - - -
11249 end dive: TARGET_DEPTH_EXCEEDED
11249 begin apogee
11251.09 990.00 -7.06 1297 11316.21 -0.28 1.76 0.153 2254.12 150.3 0.21 0.137 2280.69 -333.0 - 60.80 2.405 2772.75 -5.4 0.369 - - - - - - 16.11 15.69 12.72
11318 end apogee: CONTROL_FINISHED_OK
11318 begin climb
11318.29 991.84 - 1303 11393.57 1.37 2.60 0.098 2656.12 154.6 2.86 0.096 3343.81 371.7 82.73 64.69 2.329 2436.84 -5.2 0.365 - - - - - - 15.72 15.35 12.77
11442.18 984.54 5.99 1327 11478.14 done 1.44 - - 2656.00 - 2.74 0.024 2191.81 -420.4 118.88 30.26 2.208 2290.41 -4.8 0.356 - - - - - - - 15.57 12.66
11782.11 951.72 10.21 1365 11787.22 roll 1.44 - - 2655.19 - 2.75 0.078 1132.88 -385.1 118.88 - - 2284.72 - - - - - - - - - 15.80 -
11822.13 947.23 10.20 1373 11827.21 roll 1.44 - - 2654.81 - 2.70 0.031 2271.50 421.7 118.88 - - 2285.16 - - - - - - - - - 15.82 -
12132.58 916.00 10.16 1405 12133.91 VBD 1.44 - - 2655.81 - - - 2271.88 - 118.88 - - 2281.66 - - - - - - - - - - -
12442.65 885.20 9.91 1436 12443.98 VBD 1.44 - - 2655.19 - - - 2271.94 - 118.88 - - 2280.69 - - - - - - - - - - -
12752.71 855.07 9.39 1467 12757.46 done 1.44 - - 2655.06 - 2.92 0.075 1132.56 -390.2 118.88 - - 2280.84 - - - - - - - - - 16.03 -
12806.88 849.45 10.21 1478 12812.88 done 1.44 - - 2655.19 - 2.65 0.031 2271.38 429.7 118.88 - - 2282.44 - - - - - - - - - 16.03 -
13123.03 819.70 9.34 1510 13127.54 done 1.44 - - 2656.06 - 2.91 0.074 1132.31 -391.4 118.88 - - 2281.81 - - - - - - - - - 16.07 -
13156.96 816.16 9.47 1517 13162.96 done 1.44 - - 2655.56 - 2.64 0.031 2273.12 432.1 118.88 - - 2281.19 - - - - - - - - - 16.06 -
13472.87 787.86 9.13 1549 13477.58 done 1.44 - - 2655.31 - 2.73 0.094 3346.00 393.0 118.88 - - 2280.53 - - - - - - - - - 16.07 -
13542.50 780.66 10.33 1563 13547.59 done 1.44 - - 2656.00 - 2.65 0.024 2191.00 -435.8 118.88 - - 2280.72 - - - - - - - - - 16.09 -
13852.96 751.47 9.47 1595 13854.29 VBD 1.44 - - 2656.00 - - - 2191.50 - 118.88 - - 2279.66 - - - - - - - - - - -
14163.02 723.22 8.40 1626 14167.76 done 1.44 - - 2655.81 - 2.93 0.090 3346.25 394.1 118.88 - - 2280.16 - - - - - - - - - 16.11 -
14217.19 717.72 9.96 1637 14223.19 done 1.44 - - 2654.75 - 2.65 0.025 2193.31 -435.1 118.88 - - 2280.31 - - - - - - - - - 16.11 -
14533.09 690.03 8.46 1669 14534.43 VBD 1.44 - - 2655.75 - - - 2193.50 - 118.88 - - 2278.62 - - - - - - - - - - -
14843.17 663.74 8.21 1700 14844.50 VBD 1.44 - - 2656.38 - - - 2193.88 - 118.88 - - 2278.41 - - - - - - - - - - -
15153.24 639.33 7.66 1731 15154.57 VBD 1.46 - - 2655.56 - - - 2192.69 - 118.88 - - 2278.50 - - - - - - - - - - -
15463.52 616.91 7.37 1762 15464.85 VBD 1.48 - - 2655.75 - - - 2192.62 - 118.88 - - 2277.88 - - - - - - - - - - -
15773.31 593.46 7.86 1793 15774.75 1.49 0.14 0.102 2695.75 285.7 - - 2192.06 - 118.88 - - 2277.81 - - - - - - - - 16.12 - -
16082.94 565.03 9.59 1824 16088.02 done 1.49 - - 2694.38 - 2.68 0.079 1133.75 -394.9 118.88 - - 2279.97 - - - - - - - - - 16.16 -
16117.49 561.47 10.12 1831 16123.50 done 1.49 - - 2695.44 - 2.64 0.031 2273.62 431.8 118.88 - - 2279.25 - - - - - - - - - 16.16 -
16433.37 531.90 9.04 1863 16434.70 VBD 1.49 - - 2695.00 - - - 2273.69 - 118.88 - - 2277.84 - - - - - - - - - - -
16743.59 504.04 8.44 1894 16744.92 VBD 1.49 - - 2695.56 - - - 2274.12 - 118.88 - - 2277.56 - - - - - - - - - - -
17053.46 480.15 7.48 1925 17054.79 VBD 1.51 - - 2695.12 - - - 2273.38 - 118.88 - - 2277.81 - - - - - - - - - - -
17363.49 454.08 8.82 1956 17368.22 done 1.51 - - 2695.88 - 2.88 0.074 1132.44 -396.2 118.88 - - 2279.22 - - - - - - - - - 16.16 -
17527.70 438.23 9.44 1989 17533.71 done 1.51 - - 2695.94 - 2.63 0.031 2273.88 434.0 118.88 - - 2278.94 - - - - - - - - - 16.16 -
17843.62 409.56 9.78 2021 17848.31 done 1.51 - - 2694.44 - 2.68 0.092 3345.69 399.9 118.88 - - 2280.47 - - - - - - - - - 16.15 -
17913.26 402.57 10.64 2035 17918.53 done 1.51 - - 2694.69 - 2.65 0.024 2188.44 -436.7 118.88 - - 2280.12 - - - - - - - - - 16.16 -
18223.89 375.00 8.42 2067 18228.47 done 1.51 - - 2695.31 - 2.91 0.087 3346.38 397.9 118.88 - - 2280.09 - - - - - - - - - 16.15 -
18273.34 370.64 8.60 2077 18278.43 done 1.51 - - 2695.69 - 2.65 0.024 2188.94 -436.8 118.88 - - 2279.16 - - - - - - - - - 16.15 -
18583.82 346.79 7.63 2109 18588.50 done 1.53 - - 2696.06 - 2.65 0.077 1131.38 -399.1 118.88 - - 2279.19 - - - - - - - - - 16.16 -
18637.97 342.42 8.27 2120 18643.97 done 1.53 - - 2696.00 - 2.62 0.030 2272.50 435.5 118.88 - - 2280.25 - - - - - - - - - 16.17 -
18953.90 319.57 7.11 2152 18955.23 VBD 1.55 - - 2695.38 - - - 2272.94 - 118.88 - - 2278.22 - - - - - - - - - - -
19263.97 298.40 6.66 2183 19265.30 VBD 1.59 - - 2695.50 - - - 2272.81 - 118.88 - - 2278.34 - - - - - - - - - - -
19574.03 277.06 6.79 2214 19578.72 done 1.62 - - 2696.12 - 2.69 0.091 3345.88 398.9 118.88 - - 2278.91 - - - - - - - - - 16.11 -
19653.66 271.02 7.74 2230 19658.74 done 1.64 - - 2696.31 - 2.63 0.024 2188.12 -440.2 118.88 - - 2278.81 - - - - - - - - - 16.15 -
19964.12 250.68 6.09 2262 19995.44 1.71 0.23 0.080 2746.25 217.1 2.66 0.079 1130.38 -397.6 153.61 25.89 1.449 2148.97 -5.0 0.143 - - - - - - 16.10 15.98 12.74
20104.31 237.64 10.14 2290 20108.84 roll 1.71 - - 2746.19 - 2.66 0.030 2272.31 429.3 153.61 - - 2144.25 - - - - - - - - - 16.06 -
20414.19 209.18 8.68 2322 20415.53 no move 1.71 - - 2746.12 - - - 2272.56 - 153.61 - - 2143.03 - - - - - - - - - - -
20724.25 182.53 8.01 2353 20728.96 roll 1.71 - - 2745.50 - 2.72 0.090 3344.88 394.2 153.61 - - 2143.97 - - - - - - - - - 16.08 -
20768.41 178.54 8.69 2362 20774.41 roll 1.71 - - 2746.25 - 2.66 0.023 2187.25 -435.2 153.61 - - 2143.50 - - - - - - - - - 16.10 -
21084.30 151.89 7.86 2394 21089.03 roll 1.72 - - 2746.00 - 2.94 0.085 3347.19 394.5 153.61 - - 2144.06 - - - - - - - - - 16.09 -
21188.47 142.18 9.49 2415 21194.47 roll 1.72 - - 2745.62 - 2.66 0.023 2188.44 -435.6 153.61 - - 2144.44 - - - - - - - - - 16.10 -
21504.37 115.91 7.59 2447 21509.04 roll 1.74 - - 2746.06 - 2.66 0.075 1132.69 -396.9 153.61 - - 2143.81 - - - - - - - - - 16.11 -
21608.54 108.51 7.03 2468 21614.53 roll 1.76 - - 2746.00 - 2.62 0.029 2275.88 436.3 153.61 - - 2144.38 - - - - - - - - - 16.11 -
21919.10 91.73 4.80 2516 21960.89 1.87 0.16 0.092 2787.00 256.2 - - 2276.19 - 207.31 40.19 1.275 1928.88 -5.4 0.064 - - - - - - 16.10 - 12.71
22144.48 74.51 7.46 2561 22149.66 roll 1.89 - - 2787.50 - 2.90 0.069 1131.19 -394.8 207.31 - - 1923.47 - - - - - - - - - 15.98 -
22379.17 63.49 4.73 2608 22425.83 done 2.00 - - 2787.25 - 2.63 0.028 2276.75 435.6 261.95 40.76 1.228 1707.22 -5.3 0.045 - - - - - - - 16.01 12.77
22609.26 48.55 6.98 2654 22614.81 done 2.03 - - 2787.88 - 2.88 0.069 1132.38 -397.4 261.95 - - 1699.47 - - - - - - - - - 15.93 -
22654.26 45.26 7.26 2663 22659.86 2.05 0.18 0.087 2831.75 243.7 2.65 0.028 2275.50 431.4 261.95 - - 1697.72 - - - - - - - - 15.90 15.91 -
22844.34 30.59 6.77 2701 22849.91 done 2.09 - - 2830.56 - 2.88 0.068 1129.88 -397.8 261.95 - - 1697.38 - - - - - - - - - 15.95 -
23079.49 28.69 0.07 2748 23121.15 2.33 0.32 0.062 2901.00 220.1 2.65 0.027 2279.38 433.8 384.95 37.01 1.165 1505.03 -5.2 0.021 - - - - - - 15.97 16.00 12.68
23122 end climb: NO_VERTICAL_VELOCITY
23122 begin surface
SM 0.99 - - - - 181.9 - - 495.7 - 16.82 0.042 458.2 27.2 - 0.12 0.123 533.1 4420.4 -3.636 - - 30.00 15.64 15.64 -