NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 272 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 88.37 of 550.00 AH used of 24V (83.93% remains)
• Surface angle -64.7 deg, depth 1.48 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.09 (SM_CC=425)
• GPS1 time: 42 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
6.79 - - - 56.63 VBD -1.37 - - 180.56 - - - 2414.81 - -82.73 48.63 0.005 2268.16 - - - - - - - - - - 15.67
57.37 3.43 -4.49 9 100.59 -1.37 13.65 0.256 1987.81 132.4 2.88 0.062 1207.44 -419.2 -82.73 19.99 0.006 3112.34 42.2 -3.959 - - - - - - 15.70 15.67 15.71
258.60 41.57 -16.48 49 264.15 roll -1.37 - - 1987.94 - 2.62 0.029 2354.38 437.8 -82.73 - - 3112.78 - - - - - - - - - 15.89 -
449.06 68.62 -15.27 87 454.43 roll -1.37 - - 1987.75 - 2.74 0.060 1208.38 -418.2 -82.73 - - 3114.81 - - - - - - - - - 15.93 -
618.87 89.51 -9.93 121 624.30 roll -1.37 - - 1988.25 - 2.62 0.028 2356.81 438.3 -82.73 - - 3113.81 - - - - - - - - - 15.96 -
808.83 109.60 -10.16 150 813.91 roll -1.37 - - 1988.19 - 2.76 0.059 1208.75 -416.0 -82.73 - - 3114.31 - - - - - - - - - 15.98 -
888.84 117.82 -10.13 166 893.90 roll -1.37 - - 1988.81 - 2.60 0.028 2355.88 441.2 -82.73 - - 3114.81 - - - - - - - - - 16.00 -
1198.91 145.09 -8.76 198 1204.01 roll -1.37 - - 1989.06 - 2.75 0.060 1207.38 -417.6 -82.73 - - 3114.47 - - - - - - - - - 16.03 -
1248.92 150.03 -10.13 208 1253.99 roll -1.37 - - 1989.38 - 2.60 0.028 2357.06 442.2 -82.73 - - 3114.28 - - - - - - - - - 16.03 -
1558.99 179.59 -9.77 240 1560.32 no move -1.37 - - 1988.62 - - - 2356.44 - -82.73 - - 3114.56 - - - - - - - - - - -
1869.45 209.82 -9.43 271 1874.16 roll -1.37 - - 1987.56 - 2.75 0.060 1208.19 -417.5 -82.73 - - 3116.22 - - - - - - - - - 16.08 -
1919.06 214.40 -9.14 281 1924.14 roll -1.37 - - 1988.88 - 2.58 0.029 2356.69 445.2 -82.73 - - 3115.09 - - - - - - - - - 16.07 -
2229.14 242.03 -8.55 313 2230.47 no move -1.37 - - 1988.38 - - - 2355.75 - -82.73 - - 3114.09 - - - - - - - - - - -
2539.83 267.64 -8.16 344 2544.30 roll -1.37 - - 1988.69 - 2.73 0.061 1207.38 -420.6 -82.73 - - 3115.31 - - - - - - - - - 16.09 -
2623.76 274.76 -8.55 361 2629.75 roll -1.37 - - 1988.81 - 2.57 0.029 2353.56 446.0 -82.73 - - 3114.88 - - - - - - - - - 16.10 -
2939.47 301.26 -8.38 393 2944.36 roll -1.37 - - 1988.44 - 2.59 0.087 3429.50 415.4 -82.73 - - 3115.47 - - - - - - - - - 16.10 -
2989.31 306.04 -9.71 403 2994.38 roll -1.37 - - 1988.69 - 2.56 0.022 2248.25 -461.4 -82.73 - - 3113.62 - - - - - - - - - 16.10 -
3299.57 332.40 -8.45 435 3304.48 roll -1.37 - - 1988.56 - 2.87 0.083 3428.44 411.2 -82.73 - - 3113.94 - - - - - - - - - 16.11 -
3333.90 335.81 -9.75 442 3339.89 roll -1.37 - - 1988.19 - 2.57 0.022 2248.31 -459.2 -82.73 - - 3113.81 - - - - - - - - - 16.11 -
3649.41 363.30 -8.63 474 3650.74 no move -1.37 - - 1988.56 - - - 2248.31 - -82.73 - - 3112.00 - - - - - - - - - - -
3959.83 391.65 -9.45 505 3961.16 no move -1.37 - - 1988.31 - - - 2248.06 - -82.73 - - 3112.16 - - - - - - - - - - -
4269.85 420.95 -9.94 536 4274.58 roll -1.37 - - 1988.06 - 2.87 0.085 3427.75 411.0 -82.73 - - 3113.72 - - - - - - - - - 16.11 -
4329.49 427.55 -11.20 548 4334.55 roll -1.37 - - 1988.00 - 2.57 0.023 2248.62 -458.8 -82.73 - - 3114.03 - - - - - - - - - 16.14 -
4639.70 457.06 -9.27 580 4641.03 no move -1.37 - - 1988.12 - - - 2247.62 - -82.73 - - 3111.16 - - - - - - - - - - -
4950.11 485.68 -9.74 611 4954.67 roll -1.37 - - 1988.25 - 2.88 0.085 3428.44 410.0 -82.73 - - 3111.19 - - - - - - - - - 16.12 -
4994.10 490.65 -11.46 620 5000.08 roll -1.37 - - 1988.25 - 2.56 0.023 2249.94 -460.4 -82.73 - - 3110.81 - - - - - - - - - 16.13 -
5309.61 520.74 -9.84 652 5310.94 no move -1.37 - - 1988.75 - - - 2250.25 - -82.73 - - 3109.62 - - - - - - - - - - -
5620.06 550.78 -9.54 683 5624.79 roll -1.37 - - 1988.62 - 2.88 0.087 3426.69 408.5 -82.73 - - 3110.34 - - - - - - - - - 16.11 -
5759.73 565.91 -10.87 711 5764.79 roll -1.37 - - 1987.50 - 2.56 0.023 2250.50 -459.4 -82.73 - - 3111.31 - - - - - - - - - 16.15 -
6069.80 595.73 -9.34 743 6074.91 roll -1.37 - - 1988.62 - 2.88 0.087 3427.75 408.8 -82.73 - - 3109.41 - - - - - - - - - 16.13 -
6194.38 608.97 -10.81 768 6200.36 roll -1.37 - - 1988.25 - 2.55 0.023 2250.38 -461.7 -82.73 - - 3110.56 - - - - - - - - - 16.16 -
6509.91 636.32 -8.21 800 6511.23 no move -1.37 - - 1988.88 - - - 2250.62 - -82.73 - - 3108.16 - - - - - - - - - - -
6820.36 662.86 -8.75 831 6821.69 no move -1.37 - - 1988.62 - - - 2250.75 - -82.73 - - 3107.31 - - - - - - - - - - -
7130.42 688.92 -8.03 862 7135.33 roll -1.37 - - 1988.06 - 2.88 0.087 3427.38 408.6 -82.73 - - 3108.72 - - - - - - - - - 16.13 -
7164.76 692.17 -9.05 869 7170.57 roll -1.37 - - 1988.56 - 2.57 0.023 2249.38 -458.4 -82.73 - - 3108.25 - - - - - - - - - 16.13 -
7480.11 717.04 -8.11 901 7481.44 no move -1.37 - - 1988.31 - - - 2249.19 - -82.73 - - 3106.41 - - - - - - - - - - -
7719 end dive: TARGET_DEPTH_EXCEEDED
7720 begin apogee
7721.95 735.54 -7.71 925 7785.46 -0.28 1.75 0.150 2254.44 152.1 0.14 0.170 2288.94 283.9 - 59.69 2.093 2772.62 -5.6 0.322 - - - - - - 16.08 15.74 12.58
7795 end apogee: CONTROL_FINISHED_OK
7795 begin climb
7795.80 737.00 - 931 7863.42 1.37 2.58 0.098 2656.19 155.7 - - 2289.12 - 82.73 62.88 2.025 2435.44 -5.4 0.320 - - - - - - 15.78 - 12.93
8168.88 712.85 7.35 969 8173.99 roll 1.39 - - 2655.94 - 2.87 0.075 1131.62 -403.3 82.73 - - 2431.94 - - - - - - - - - 15.83 -
8293.47 703.15 7.71 994 8299.45 roll 1.40 - - 2656.31 - 2.63 0.030 2273.38 434.1 82.73 - - 2431.41 - - - - - - - - - 15.87 -
8609.62 680.35 7.21 1026 8614.09 roll 1.43 - - 2656.44 - 2.81 0.073 1131.44 -406.4 82.73 - - 2430.56 - - - - - - - - - 15.97 -
8719.03 671.97 7.45 1048 8724.10 roll 1.45 - - 2655.75 - 2.62 0.031 2274.75 436.4 82.73 - - 2430.38 - - - - - - - - - 15.98 -
9029.48 650.35 6.69 1080 9030.81 no move 1.49 - - 2656.19 - - - 2274.31 - 82.73 - - 2429.22 - - - - - - - - - - -
9339.55 629.93 6.53 1111 9340.98 pitch 1.52 0.19 0.090 2702.06 241.4 - - 2274.25 - 82.73 - - 2429.31 - - - - - - - - 16.02 - -
9649.22 606.86 7.27 1142 9654.31 done 1.55 - - 2703.06 - 2.79 0.073 1131.69 -409.5 82.73 - - 2430.38 - - - - - - - - - 16.07 -
9763.81 598.14 7.72 1165 9769.77 roll 1.56 - - 2701.62 - 2.60 0.031 2272.81 438.9 82.73 - - 2430.75 - - - - - - - - - 16.08 -
10079.50 578.01 6.40 1197 10109.97 done 1.62 - - 2703.38 - 2.66 0.094 3346.94 403.8 112.92 23.46 1.799 2312.72 -5.0 0.265 - - - - - - - 15.91 12.63
10129.33 574.36 7.14 1205 10134.41 roll 1.65 - - 2702.81 - 2.61 0.024 2186.88 -444.5 112.92 - - 2314.38 - - - - - - - - - 15.98 -
10439.76 549.13 7.73 1237 10441.08 no move 1.66 - - 2703.94 - - - 2186.81 - 112.92 - - 2309.09 - - - - - - - - - - -
10749.96 523.09 8.26 1268 10751.29 no move 1.66 - - 2703.19 - - - 2186.88 - 112.92 - - 2308.94 - - - - - - - - - - -
11059.99 496.76 9.01 1299 11064.49 roll 1.66 - - 2703.75 - 2.56 0.079 1130.00 -412.8 112.92 - - 2309.84 - - - - - - - - - 16.06 -
11143.99 488.87 9.19 1316 11149.99 roll 1.66 - - 2703.38 - 2.61 0.031 2272.12 437.6 112.92 - - 2309.75 - - - - - - - - - 16.08 -
11459.87 462.56 8.34 1348 11464.56 roll 1.66 - - 2701.94 - 2.64 0.091 3346.69 407.0 112.92 - - 2311.09 - - - - - - - - - 16.08 -
11484.02 460.32 8.65 1353 11490.01 roll 1.66 - - 2703.19 - 2.58 0.024 2186.38 -449.7 112.92 - - 2309.16 - - - - - - - - - 16.08 -
11799.52 434.05 8.17 1385 11800.85 no move 1.66 - - 2703.12 - - - 2187.12 - 112.92 - - 2308.06 - - - - - - - - - - -
12109.94 408.92 8.08 1416 12111.27 no move 1.66 - - 2703.38 - - - 2187.19 - 112.92 - - 2307.94 - - - - - - - - - - -
12419.99 384.67 7.93 1447 12421.32 no move 1.67 - - 2703.44 - - - 2186.31 - 112.92 - - 2307.81 - - - - - - - - - - -
12730.05 361.33 7.37 1478 12734.78 roll back 1.70 0.17 0.094 2742.12 227.5 2.57 0.078 1130.44 -410.8 112.92 - - 2308.94 - - - - - - - - 16.09 16.09 -
12859.72 349.67 9.06 1504 12864.78 roll 1.70 - - 2742.75 - 2.60 0.031 2274.12 439.9 112.92 - - 2310.53 - - - - - - - - - 16.11 -
13170.17 324.21 8.28 1536 13175.05 roll 1.70 - - 2743.06 - 2.62 0.090 3346.69 409.4 112.92 - - 2309.28 - - - - - - - - - 16.10 -
13209.96 320.75 8.58 1544 13214.86 roll 1.70 - - 2742.75 - 2.58 0.024 2186.88 -449.5 112.92 - - 2310.88 - - - - - - - - - 16.12 -
13520.25 296.01 7.66 1576 13524.92 roll 1.71 - - 2743.75 - 2.57 0.078 1131.19 -410.8 112.92 - - 2308.69 - - - - - - - - - 16.10 -
13644.45 285.94 7.70 1601 13650.43 roll 1.73 - - 2743.69 - 2.59 0.030 2274.56 441.5 112.92 - - 2309.12 - - - - - - - - - 16.12 -
13960.36 264.66 6.83 1633 13965.05 roll 1.76 - - 2743.50 - 2.62 0.090 3348.00 409.7 112.92 - - 2309.22 - - - - - - - - - 16.10 -
14014.52 260.20 8.37 1644 14020.52 roll 1.76 - - 2743.19 - 2.58 0.024 2186.12 -450.3 112.92 - - 2309.62 - - - - - - - - - 16.12 -
14330.44 236.52 7.56 1676 14331.77 no move 1.78 - - 2742.69 - - - 2186.69 - 112.92 - - 2307.41 - - - - - - - - - - -
14640.51 214.55 6.68 1707 14645.17 roll 1.81 - - 2742.94 - 2.56 0.077 1131.12 -412.3 112.92 - - 2308.56 - - - - - - - - - 16.06 -
14815.11 201.79 7.50 1742 14820.70 roll 1.83 - - 2743.25 - 2.60 0.030 2275.00 440.0 112.92 - - 2310.19 - - - - - - - - - 16.11 -
15130.88 178.44 7.58 1774 15135.39 roll back 1.85 0.15 0.097 2783.06 265.4 2.78 0.071 1129.94 -411.9 112.92 - - 2308.84 - - - - - - - - 16.09 16.09 -
15190.27 173.67 7.95 1786 15195.33 roll 1.86 - - 2782.88 - 2.59 0.030 2275.25 442.2 112.92 - - 2309.44 - - - - - - - - - 16.11 -
15500.73 148.97 7.52 1818 15502.06 no move 1.88 - - 2782.56 - - - 2275.62 - 112.92 - - 2308.31 - - - - - - - - - - -
15810.76 129.41 5.45 1849 15848.47 done 1.97 - - 2782.81 - 2.81 0.073 1130.12 -407.7 157.10 32.87 1.316 2133.19 -5.3 0.086 - - - - - - - 15.95 12.55
15946.47 119.05 9.48 1876 15951.56 roll 1.97 - - 2782.88 - 2.61 0.030 2273.50 438.1 157.10 - - 2131.28 - - - - - - - - - 16.00 -
16256.51 95.92 5.86 1914 16293.07 2.04 0.19 0.081 2829.19 243.7 2.80 0.073 1131.56 -407.8 195.19 29.15 1.246 1978.78 -5.2 0.066 - - - - - - 16.01 15.88 12.64
16416.53 82.63 8.63 1946 16422.08 roll 2.04 - - 2829.44 - 2.61 0.029 2274.62 438.0 195.19 - - 1973.75 - - - - - - - - - 15.96 -
16606.77 69.99 7.24 1984 16612.20 roll 2.07 - - 2829.31 - 2.80 0.070 1130.25 -408.7 195.19 - - 1972.75 - - - - - - - - - 15.98 -
16676.61 65.08 6.73 1998 16682.13 roll 2.10 - - 2829.50 - 2.60 0.029 2277.19 441.1 195.19 - - 1972.34 - - - - - - - - - 15.98 -
16866.69 57.59 3.22 2036 16929.47 2.26 0.23 0.077 2883.12 233.1 2.83 0.071 1128.56 -405.9 271.95 56.24 1.225 1665.66 -5.5 0.042 - - - - - - 15.99 15.77 12.62
17157.50 35.88 8.56 2094 17163.04 done 2.26 - - 2883.12 - 2.62 0.029 2273.62 437.0 271.95 - - 1657.69 - - - - - - - - - 15.89 -
17347.55 20.91 7.09 2132 17353.12 done 2.28 - - 2882.94 - 2.79 0.069 1131.38 -409.4 271.95 - - 1654.28 - - - - - - - - - 15.93 -
17582.62 13.78 1.33 2179 17666.01 2.49 0.25 0.077 2937.75 219.2 2.60 0.028 2278.69 441.3 376.38 75.77 1.159 1241.97 -5.4 0.011 - - - - - - 15.93 15.98 12.63
17848 end climb: SURFACE_DEPTH_REACHED
17849 begin surface coast
17894 end surface coast: CONTROL_FINISHED_OK
17894 begin surface
SM 4.28 - - - - 179.4 36.35 1.122 1042.1 26.6 16.94 0.050 1006.3 59.4 - 0.12 0.127 1077.8 8960.0 -30.862 - - 12.70 15.83 15.86 -