NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 325 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 103.59 of 550.00 AH used of 24V (81.16% remains)
• Surface angle -59.8 deg, depth 1.38 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.82 (beyond SM_CC=425)
• GPS1 time: 30 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
6.96 - - - 87.97 VBD -1.37 - - 178.25 - - - 2254.12 - -82.73 79.54 0.005 2574.62 - - - - - - - - - - 15.60
88.71 3.45 -2.90 15 126.12 -1.37 13.87 0.245 1989.94 130.6 2.90 0.083 3427.50 404.6 -82.73 12.31 0.007 3113.72 43.8 -3.561 - - - - - - 15.65 15.62 15.64
354.18 53.46 -15.66 68 359.91 roll -1.37 - - 1988.75 - 2.60 0.021 2253.00 -451.7 -82.73 - - 3112.06 - - - - - - - - - 15.87 -
544.83 79.86 -13.21 106 550.11 roll -1.37 - - 1990.06 - 2.52 0.065 1207.25 -415.0 -82.73 - - 3114.25 - - - - - - - - - 15.91 -
654.31 95.86 -13.91 128 659.85 roll -1.37 - - 1989.25 - 2.61 0.029 2354.62 439.6 -82.73 - - 3113.19 - - - - - - - - - 15.92 -
844.36 116.88 -11.18 151 849.44 roll -1.37 - - 1989.50 - 2.75 0.059 1208.25 -416.9 -82.73 - - 3114.12 - - - - - - - - - 15.92 -
928.90 126.17 -10.68 168 934.89 roll -1.37 - - 1989.94 - 2.60 0.029 2356.12 441.5 -82.73 - - 3112.75 - - - - - - - - - 15.98 -
1244.40 154.97 -8.88 200 1245.73 no move -1.37 - - 1990.00 - - - 2355.44 - -82.73 - - 3111.91 - - - - - - - - - - -
1554.82 184.20 -9.49 231 1559.53 roll -1.37 - - 1989.75 - 2.72 0.060 1208.56 -421.6 -82.73 - - 3112.62 - - - - - - - - - 16.04 -
1654.45 194.41 -10.39 251 1659.52 roll -1.37 - - 1989.81 - 2.60 0.029 2354.75 440.8 -82.73 - - 3113.84 - - - - - - - - - 16.04 -
1964.49 224.51 -9.80 283 1969.58 roll -1.37 - - 1989.25 - 2.70 0.061 1208.38 -424.6 -82.73 - - 3112.53 - - - - - - - - - 16.06 -
2044.50 232.59 -10.13 299 2049.57 roll -1.37 - - 1989.94 - 2.60 0.029 2354.31 440.7 -82.73 - - 3112.12 - - - - - - - - - 16.05 -
2354.73 262.72 -9.80 331 2356.06 no move -1.37 - - 1990.00 - - - 2354.62 - -82.73 - - 3110.78 - - - - - - - - - - -
2665.12 291.07 -9.10 362 2669.66 roll -1.37 - - 1990.06 - 2.70 0.062 1207.50 -424.9 -82.73 - - 3111.38 - - - - - - - - - 16.07 -
2709.11 295.34 -9.55 371 2715.10 roll -1.37 - - 1989.94 - 2.58 0.029 2353.44 444.2 -82.73 - - 3112.94 - - - - - - - - - 16.08 -
3024.60 325.29 -9.42 403 3029.68 roll -1.37 - - 1989.56 - 2.62 0.090 3428.12 410.2 -82.73 - - 3111.69 - - - - - - - - - 16.06 -
3064.61 329.37 -10.38 411 3069.68 roll -1.37 - - 1988.38 - 2.55 0.022 2245.31 -463.8 -82.73 - - 3111.19 - - - - - - - - - 16.09 -
3374.69 358.19 -9.22 443 3376.02 no move -1.37 - - 1989.56 - - - 2243.69 - -82.73 - - 3109.06 - - - - - - - - - - -
3685.14 385.85 -8.62 474 3689.41 roll -1.37 - - 1989.56 - 2.46 0.068 1208.88 -420.7 -82.73 - - 3110.53 - - - - - - - - - 16.10 -
3749.31 391.76 -9.35 487 3755.30 roll -1.37 - - 1989.88 - 2.60 0.030 2353.50 440.2 -82.73 - - 3109.12 - - - - - - - - - 16.11 -
4064.84 419.56 -8.82 519 4066.17 no move -1.37 - - 1989.88 - - - 2353.44 - -82.73 - - 3107.88 - - - - - - - - - - -
4375.29 448.01 -9.31 550 4380.00 roll -1.37 - - 1989.62 - 2.72 0.064 1208.56 -420.9 -82.73 - - 3107.50 - - - - - - - - - 16.11 -
4439.46 454.28 -10.01 563 4445.64 roll -1.37 - - 1989.94 - 2.59 0.031 2353.69 442.1 -82.73 - - 3107.56 - - - - - - - - - 16.11 -
4755.17 482.99 -9.14 595 4760.09 roll -1.37 - - 1990.19 - 2.72 0.064 1207.31 -421.5 -82.73 - - 3106.81 - - - - - - - - - 16.11 -
4805.00 487.61 -9.38 605 4810.08 roll -1.37 - - 1989.88 - 2.59 0.030 2351.56 441.8 -82.73 - - 3106.78 - - - - - - - - - 16.12 -
5115.08 514.83 -8.53 637 5116.41 no move -1.37 - - 1989.56 - - - 2352.94 - -82.73 - - 3105.28 - - - - - - - - - - -
5425.53 539.81 -7.77 668 5426.86 no move -1.37 - - 1990.06 - - - 2352.50 - -82.73 - - 3104.84 - - - - - - - - - - -
5735.60 563.70 -7.75 699 5740.31 roll -1.37 - - 1989.81 - 2.73 0.064 1209.81 -418.6 -82.73 - - 3105.59 - - - - - - - - - 16.12 -
5859.79 573.93 -8.49 724 5865.78 roll -1.37 - - 1990.12 - 2.60 0.031 2351.69 439.2 -82.73 - - 3104.16 - - - - - - - - - 16.12 -
6175.31 598.28 -7.62 756 6176.64 no move -1.37 - - 1990.00 - - - 2352.31 - -82.73 - - 3103.31 - - - - - - - - - - -
6485.75 623.94 -8.65 787 6490.45 roll -1.37 - - 1989.81 - 2.74 0.064 1209.88 -416.9 -82.73 - - 3103.91 - - - - - - - - - 16.12 -
6629.93 637.34 -9.09 816 6635.94 roll -1.37 - - 1990.00 - 2.61 0.031 2353.06 438.0 -82.73 - - 3103.06 - - - - - - - - - 16.13 -
6945.60 665.53 -8.88 848 6950.59 roll -1.37 - - 1989.69 - 2.71 0.065 1208.75 -422.3 -82.73 - - 3101.97 - - - - - - - - - 16.13 -
7055.45 675.93 -9.56 870 7060.52 roll -1.37 - - 1989.44 - 2.60 0.032 2353.00 440.1 -82.73 - - 3102.66 - - - - - - - - - 16.12 -
7365.49 703.33 -9.01 902 7366.82 no move -1.37 - - 1989.75 - - - 2353.31 - -82.73 - - 3100.44 - - - - - - - - - - -
7675.91 730.02 -8.66 933 7677.24 no move -1.37 - - 1989.38 - - - 2352.88 - -82.73 - - 3100.53 - - - - - - - - - - -
7985.94 756.08 -8.18 964 7990.65 roll -1.37 - - 1990.06 - 2.71 0.065 1209.81 -421.8 -82.73 - - 3102.44 - - - - - - - - - 16.12 -
8070.11 763.83 -9.15 981 8076.09 roll -1.37 - - 1988.31 - 2.60 0.032 2352.69 439.6 -82.73 - - 3101.22 - - - - - - - - - 16.13 -
8385.61 789.93 -8.36 1013 8390.71 roll -1.37 - - 1988.19 - 2.76 0.065 1208.69 -414.5 -82.73 - - 3101.31 - - - - - - - - - 16.12 -
8470.18 797.55 -8.87 1030 8476.20 roll -1.37 - - 1989.81 - 2.62 0.032 2351.50 436.2 -82.73 - - 3100.59 - - - - - - - - - 16.11 -
8785.71 822.50 -7.93 1062 8787.04 no move -1.37 - - 1989.75 - - - 2351.38 - -82.73 - - 3099.22 - - - - - - - - - - -
9096.16 845.43 -7.19 1093 9100.88 roll -1.37 - - 1990.50 - 2.72 0.066 1210.06 -419.6 -82.73 - - 3099.81 - - - - - - - - - 16.11 -
9160.52 850.44 -7.50 1106 9166.41 roll -1.37 - - 1989.56 - 2.61 0.032 2351.81 437.5 -82.73 - - 3100.72 - - - - - - - - - 16.12 -
9475.88 871.97 -6.71 1138 9477.20 no move -1.37 - - 1989.38 - - - 2351.81 - -82.73 - - 3098.59 - - - - - - - - - - -
9786.32 892.24 -6.47 1169 9787.65 no move -1.37 - - 1989.50 - - - 2352.06 - -82.73 - - 3097.69 - - - - - - - - - - -
10096.39 912.38 -6.78 1200 10101.10 roll -1.37 - - 1989.88 - 2.74 0.066 1209.56 -417.0 -82.73 - - 3098.53 - - - - - - - - - 16.08 -
10170.57 917.99 -7.22 1215 10177.39 roll -1.37 - - 1989.69 - 2.61 0.032 2350.50 437.1 -82.73 - - 3099.00 - - - - - - - - - 16.12 -
10486.48 940.72 -7.46 1247 10487.81 no move -1.37 - - 1989.94 - - - 2350.44 - -82.73 - - 3097.38 - - - - - - - - - - -
10796.55 965.08 -8.00 1278 10801.25 roll -1.37 - - 1988.56 - 2.73 0.066 1211.12 -417.3 -82.73 - - 3098.81 - - - - - - - - - 16.11 -
10900.73 974.17 -8.23 1299 10906.72 roll -1.37 - - 1989.81 - 2.60 0.032 2351.31 438.5 -82.73 - - 3097.69 - - - - - - - - - 16.11 -
11105 end dive: TARGET_DEPTH_EXCEEDED
11106 begin apogee
11108.05 990.24 -7.76 1320 11172.75 -0.28 1.78 0.149 2254.12 148.5 0.22 0.137 2279.62 -325.9 - 60.15 2.431 2772.19 -5.4 0.364 - - - - - - 16.02 15.68 12.22
11182 end apogee: CONTROL_FINISHED_OK
11182 begin climb
11183.48 992.06 - 1326 11254.10 1.37 2.59 0.095 2656.50 155.4 - - 2280.12 - 82.73 65.67 2.358 2436.28 -5.1 0.355 - - - - - - 15.71 - 12.87
11557.26 968.45 7.01 1364 11562.36 roll 1.40 - - 2656.38 - 2.87 0.076 1131.56 -400.2 82.73 - - 2430.97 - - - - - - - - - 15.78 -
11647.29 961.55 7.68 1382 11652.36 roll 1.41 - - 2656.62 - 2.66 0.032 2271.06 428.4 82.73 - - 2430.34 - - - - - - - - - 15.81 -
11957.72 936.97 8.10 1414 11959.05 no move 1.41 - - 2656.81 - - - 2271.12 - 82.73 - - 2428.91 - - - - - - - - - - -
12267.76 911.96 8.27 1445 12272.48 done 1.41 - - 2656.25 - 2.78 0.075 1131.38 -410.0 82.73 - - 2429.03 - - - - - - - - - 15.96 -
12311.93 908.24 7.46 1454 12317.92 done 1.43 - - 2656.50 - 2.61 0.032 2271.94 437.0 82.73 - - 2430.09 - - - - - - - - - 15.96 -
12627.80 880.72 8.86 1486 12629.13 VBD 1.43 - - 2656.62 - - - 2271.88 - 82.73 - - 2427.50 - - - - - - - - - - -
12937.84 855.64 8.06 1517 12939.17 VBD 1.43 - - 2656.75 - - - 2272.31 - 82.73 - - 2426.72 - - - - - - - - - - -
13248.14 831.91 7.43 1548 13249.47 VBD 1.45 - - 2656.06 - - - 2271.94 - 82.73 - - 2426.06 - - - - - - - - - - -
13557.92 809.99 6.78 1579 13559.25 VBD 1.49 - - 2656.56 - - - 2271.94 - 82.73 - - 2426.25 - - - - - - - - - - -
13867.97 789.63 6.55 1610 13869.40 1.52 0.19 0.086 2702.12 239.8 - - 2271.94 - 82.73 - - 2428.00 - - - - - - - - 16.03 - -
14177.61 766.25 7.42 1641 14182.70 done 1.55 - - 2704.62 - 2.74 0.076 1130.19 -416.7 82.73 - - 2426.84 - - - - - - - - - 16.06 -
14282.18 757.55 8.94 1662 14288.19 done 1.55 - - 2704.19 - 2.61 0.032 2270.69 437.0 82.73 - - 2428.53 - - - - - - - - - 16.06 -
14598.11 733.47 7.38 1694 14602.82 done 1.57 - - 2702.88 - 2.76 0.075 1128.81 -413.7 82.73 - - 2427.88 - - - - - - - - - 16.08 -
14677.74 726.69 8.32 1710 14682.83 done 1.57 - - 2704.25 - 2.62 0.032 2271.50 436.1 82.73 - - 2426.81 - - - - - - - - - 16.07 -
14988.20 703.89 7.31 1742 14992.89 done 1.59 - - 2705.25 - 2.66 0.095 3344.38 403.3 82.73 - - 2426.72 - - - - - - - - - 16.06 -
15042.36 699.37 8.41 1753 15048.58 done 1.59 - - 2704.38 - 2.55 0.025 2187.44 -453.7 82.73 - - 2426.91 - - - - - - - - - 16.09 -
15358.29 674.80 7.81 1785 15363.14 done 1.60 - - 2703.75 - 2.55 0.080 1131.44 -414.1 82.73 - - 2427.47 - - - - - - - - - 16.08 -
15438.02 668.17 8.28 1801 15442.98 done 1.60 - - 2704.94 - 2.60 0.032 2274.00 439.4 82.73 - - 2428.25 - - - - - - - - - 16.09 -
15748.38 644.51 7.48 1833 15753.09 done 1.62 - - 2705.12 - 2.76 0.076 1129.94 -414.5 82.73 - - 2426.09 - - - - - - - - - 16.08 -
15858.01 635.30 8.84 1855 15863.09 done 1.62 - - 2705.38 - 2.61 0.032 2273.44 438.1 82.73 - - 2426.16 - - - - - - - - - 16.08 -
16168.48 612.38 7.32 1887 16169.81 VBD 1.65 - - 2704.69 - - - 2273.25 - 82.73 - - 2425.66 - - - - - - - - - - -
16478.55 590.26 7.02 1918 16479.88 VBD 1.67 - - 2704.81 - - - 2273.56 - 82.73 - - 2425.53 - - - - - - - - - - -
16788.61 568.25 7.12 1949 16790.04 1.70 0.17 0.086 2746.81 247.1 - - 2273.31 - 82.73 - - 2425.28 - - - - - - - - 16.07 - -
17098.28 545.41 6.84 1980 17103.38 done 1.73 - - 2747.25 - 2.72 0.075 1130.75 -420.1 82.73 - - 2426.25 - - - - - - - - - 16.10 -
17218.32 535.71 7.91 2004 17223.38 done 1.74 - - 2748.12 - 2.60 0.032 2274.00 439.7 82.73 - - 2426.06 - - - - - - - - - 16.09 -
17528.76 513.63 7.24 2036 17530.09 VBD 1.77 - - 2748.44 - - - 2273.44 - 82.73 - - 2425.12 - - - - - - - - - - -
17838.79 491.42 6.68 2067 17843.67 done 1.80 - - 2748.31 - 2.72 0.075 1130.00 -420.4 82.73 - - 2426.16 - - - - - - - - - 16.10 -
18048.45 476.17 6.94 2109 18053.51 done 1.84 - - 2748.31 - 2.60 0.032 2271.56 439.1 82.73 - - 2426.44 - - - - - - - - - 16.08 -
18358.87 457.16 5.78 2141 18390.15 1.91 0.21 0.074 2801.81 254.8 - - 2272.25 - 122.04 29.50 1.710 2276.00 -5.1 0.225 - - - - - - 16.06 - 12.32
18693.50 426.24 9.64 2177 18694.83 no move 1.91 - - 2802.00 - - - 2272.50 - 122.04 - - 2272.16 - - - - - - - - - - -
19003.94 395.87 9.61 2208 19008.65 roll 1.91 - - 2801.62 - 2.77 0.074 1130.19 -412.4 122.04 - - 2272.25 - - - - - - - - - 16.01 -
19073.72 389.02 9.63 2222 19078.65 roll 1.91 - - 2801.50 - 2.62 0.031 2274.19 436.6 122.04 - - 2272.09 - - - - - - - - - 16.03 -
19383.98 361.09 8.50 2254 19385.31 no move 1.91 - - 2801.31 - - - 2274.12 - 122.04 - - 2271.22 - - - - - - - - - - -
19694.04 332.16 9.94 2285 19695.37 no move 1.91 - - 2801.81 - - - 2274.25 - 122.04 - - 2270.97 - - - - - - - - - - -
20004.34 301.63 9.85 2316 20008.83 roll 1.91 - - 2801.44 - 2.75 0.074 1130.12 -416.0 122.04 - - 2272.25 - - - - - - - - - 16.07 -
20148.76 286.45 10.18 2345 20154.51 roll 1.91 - - 2801.81 - 2.62 0.031 2272.12 435.9 122.04 - - 2271.75 - - - - - - - - - 16.07 -
20464.35 257.57 8.75 2377 20468.95 roll 1.91 - - 2800.50 - 2.76 0.073 1129.62 -413.9 122.04 - - 2271.97 - - - - - - - - - 16.05 -
20583.89 245.87 10.00 2401 20588.96 roll 1.91 - - 2801.06 - 2.60 0.031 2272.06 439.4 122.04 - - 2272.03 - - - - - - - - - 16.07 -
20894.34 218.29 8.82 2433 20895.67 no move 1.91 - - 2801.81 - - - 2272.44 - 122.04 - - 2271.34 - - - - - - - - - - -
21204.42 192.11 7.92 2464 21205.76 no move 1.92 - - 2801.12 - - - 2271.94 - 122.04 - - 2271.28 - - - - - - - - - - -
21514.49 167.32 7.70 2495 21519.19 roll 1.94 - - 2801.69 - 2.74 0.072 1128.62 -417.3 122.04 - - 2271.94 - - - - - - - - - 16.05 -
21564.10 163.32 8.03 2505 21569.17 roll 1.94 - - 2801.12 - 2.60 0.030 2274.75 440.8 122.04 - - 2272.28 - - - - - - - - - 16.06 -
21874.57 140.03 7.26 2537 21875.90 no move 1.96 - - 2801.25 - - - 2275.19 - 122.04 - - 2271.69 - - - - - - - - - - -
22184.63 123.93 4.29 2568 22236.01 done 2.09 - - 2801.69 - 2.77 0.074 1128.88 -413.8 183.18 45.34 1.334 2026.53 -5.4 0.083 - - - - - - - 15.87 12.35
22404.65 106.15 9.53 2612 22409.56 roll 2.09 - - 2802.25 - 2.62 0.030 2273.50 436.9 183.18 - - 2020.62 - - - - - - - - - 15.95 -
22714.49 86.96 3.89 2667 22771.79 2.22 0.35 0.059 2875.56 209.5 2.67 0.091 3347.94 402.4 250.22 49.42 1.270 1754.69 -5.4 0.061 - - - - - - 15.92 15.74 12.56
22809.97 82.12 6.17 2686 22841.18 done 2.29 - - 2875.12 - 2.59 0.023 2184.94 -449.0 283.72 25.97 1.201 1618.47 -5.2 0.059 - - - - - - - 15.82 12.76
23024.87 62.65 10.41 2729 23030.38 done 2.29 - - 2875.44 - 2.53 0.077 1130.12 -416.9 283.72 - - 1609.50 - - - - - - - - - 15.79 -
23209.93 42.42 11.24 2766 23215.48 done 2.29 - - 2875.56 - 2.62 0.029 2275.00 437.0 283.72 - - 1606.19 - - - - - - - - - 15.88 -
23400.02 25.74 7.54 2804 23405.74 done 2.31 - - 2874.25 - 2.63 0.089 3347.25 407.7 283.72 - - 1606.06 - - - - - - - - - 15.90 -
23635.12 24.20 -0.32 2851 23681.92 2.56 0.41 0.061 2955.12 197.2 2.55 0.023 2174.12 -460.1 412.34 42.16 1.162 1384.91 -5.2 0.018 - - - - - - 15.90 15.92 12.53
23682 end climb: NO_VERTICAL_VELOCITY
23683 begin surface
SM 1.36 - - - - 181.8 - - 497.2 - 17.67 0.067 449.9 25.4 - 0.38 0.063 544.4 1425.9 -3.146 - - 30.00 15.55 15.58 -