NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 50 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 24.71 of 550.00 AH used of 24V (95.51% remains)
• Surface angle -62.4 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.70 (SM_CC=375)
• GPS1 time: 33 s
• GPS2 time: 3 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
6.39 - - - 59.12 VBD -1.37 - - 184.31 - - - 2263.75 - -82.73 51.53 0.005 2459.66 - - - - - - - - - - 15.75
59.86 3.04 -2.87 10 103.17 -1.37 14.19 0.260 1988.81 127.2 2.83 0.095 3426.75 411.0 -82.73 18.45 0.006 3111.56 35.3 -2.951 - - - - - - 15.71 15.73 15.76
331.22 57.67 -19.61 64 336.74 roll -1.37 - - 1989.19 - 2.59 0.028 2260.00 -450.5 -82.73 - - 3112.97 - - - - - - - - - 15.88 -
521.94 88.65 -14.50 102 526.42 roll -1.37 - - 1989.25 - 2.49 0.072 1208.25 -422.4 -82.73 - - 3112.78 - - - - - - - - - 15.93 -
566.31 95.06 -14.16 111 571.84 roll -1.37 - - 1989.88 - 2.60 0.035 2351.88 439.9 -82.73 - - 3112.94 - - - - - - - - - 15.93 -
756.34 119.78 -12.86 134 757.67 no move -1.37 - - 1989.19 - - - 2351.62 - -82.73 - - 3111.31 - - - - - - - - - - -
1066.93 154.31 -10.93 165 1068.26 no move -1.37 - - 1989.44 - - - 2351.50 - -82.73 - - 3111.88 - - - - - - - - - - -
1376.79 186.14 -10.10 196 1378.12 no move -1.37 - - 1989.31 - - - 2351.75 - -82.73 - - 3111.78 - - - - - - - - - - -
1686.83 215.88 -9.24 227 1688.16 no move -1.37 - - 1989.19 - - - 2351.62 - -82.73 - - 3112.12 - - - - - - - - - - -
1996.87 245.64 -10.15 258 2001.56 roll -1.37 - - 1989.69 - 2.70 0.069 1207.44 -423.8 -82.73 - - 3113.19 - - - - - - - - - 16.10 -
2061.03 252.54 -10.72 271 2067.02 roll -1.37 - - 1989.75 - 2.57 0.035 2353.25 445.8 -82.73 - - 3113.59 - - - - - - - - - 16.12 -
2376.53 284.24 -10.53 303 2381.61 roll -1.37 - - 1989.19 - 2.69 0.069 1208.44 -425.6 -82.73 - - 3113.53 - - - - - - - - - 16.14 -
2476.55 294.60 -10.41 323 2481.62 roll -1.37 - - 1989.69 - 2.57 0.036 2352.81 445.3 -82.73 - - 3113.66 - - - - - - - - - 16.12 -
2786.59 324.28 -9.27 355 2791.85 roll -1.37 - - 1988.12 - 2.68 0.069 1209.62 -426.6 -82.73 - - 3113.75 - - - - - - - - - 16.15 -
2841.26 329.49 -9.64 366 2847.14 roll -1.37 - - 1990.00 - 2.56 0.036 2350.62 445.7 -82.73 - - 3113.69 - - - - - - - - - 16.15 -
3156.68 358.54 -9.07 398 3161.75 roll -1.37 - - 1989.56 - 2.68 0.070 1208.56 -426.1 -82.73 - - 3114.62 - - - - - - - - - 16.17 -
3201.22 362.59 -9.45 407 3207.21 roll -1.37 - - 1989.75 - 2.55 0.036 2351.06 448.0 -82.73 - - 3114.31 - - - - - - - - - 16.17 -
3516.76 391.32 -9.16 439 3518.08 no move -1.37 - - 1989.25 - - - 2351.56 - -82.73 - - 3112.31 - - - - - - - - - - -
3827.20 419.01 -8.83 470 3828.53 no move -1.37 - - 1989.62 - - - 2351.44 - -82.73 - - 3112.41 - - - - - - - - - - -
4137.27 447.40 -9.40 501 4141.97 roll -1.37 - - 1989.38 - 2.68 0.072 1209.62 -426.1 -82.73 - - 3112.69 - - - - - - - - - 16.19 -
4221.44 456.01 -10.40 518 4227.43 roll -1.37 - - 1989.94 - 2.55 0.036 2350.75 447.5 -82.73 - - 3113.62 - - - - - - - - - 16.20 -
4536.97 486.63 -9.24 550 4538.30 no move -1.37 - - 1989.44 - - - 2349.88 - -82.73 - - 3111.53 - - - - - - - - - - -
4847.42 514.80 -8.84 581 4848.75 no move -1.37 - - 1989.50 - - - 2350.75 - -82.73 - - 3111.50 - - - - - - - - - - -
5157.49 541.12 -8.68 612 5162.19 roll -1.37 - - 1989.56 - 2.68 0.072 1208.50 -426.2 -82.73 - - 3112.47 - - - - - - - - - 16.21 -
5231.66 547.59 -8.47 627 5237.83 roll -1.37 - - 1989.44 - 2.55 0.036 2352.12 448.5 -82.73 - - 3112.22 - - - - - - - - - 16.21 -
5547.29 574.37 -8.43 659 5548.62 no move -1.37 - - 1989.31 - - - 2351.88 - -82.73 - - 3110.47 - - - - - - - - - - -
5857.67 600.68 -8.39 690 5859.00 no move -1.37 - - 1989.31 - - - 2352.31 - -82.73 - - 3109.66 - - - - - - - - - - -
6167.69 627.33 -8.55 721 6172.39 roll -1.37 - - 1989.31 - 2.69 0.073 1208.69 -425.1 -82.73 - - 3112.38 - - - - - - - - - 16.23 -
6247.32 634.71 -9.09 737 6252.40 roll -1.37 - - 1989.50 - 2.55 0.037 2351.56 448.2 -82.73 - - 3110.16 - - - - - - - - - 16.23 -
6557.37 660.67 -8.40 769 6562.65 roll -1.37 - - 1988.50 - 2.68 0.072 1209.62 -426.1 -82.73 - - 3110.59 - - - - - - - - - 16.23 -
6611.91 665.52 -8.71 780 6617.90 roll -1.37 - - 1989.81 - 2.55 0.037 2350.38 447.4 -82.73 - - 3110.25 - - - - - - - - - 16.24 -
6927.41 690.36 -7.60 812 6928.73 no move -1.37 - - 1989.50 - - - 2350.44 - -82.73 - - 3108.53 - - - - - - - - - - -
7237.83 713.39 -7.68 843 7239.16 no move -1.37 - - 1989.81 - - - 2350.00 - -82.73 - - 3108.06 - - - - - - - - - - -
7547.86 737.02 -7.59 874 7552.55 roll -1.37 - - 1987.75 - 2.56 0.101 3426.81 420.6 -82.73 - - 3109.69 - - - - - - - - - 16.22 -
7592.02 740.95 -8.73 883 7598.02 roll -1.37 - - 1989.62 - 2.54 0.029 2257.00 -460.6 -82.73 - - 3108.41 - - - - - - - - - 16.23 -
7907.70 763.68 -7.45 915 7909.03 no move -1.37 - - 1989.56 - - - 2256.25 - -82.73 - - 3107.03 - - - - - - - - - - -
8218.05 786.41 -7.31 946 8219.38 no move -1.37 - - 1989.31 - - - 2256.81 - -82.73 - - 3107.50 - - - - - - - - - - -
8527.98 810.20 -7.62 977 8532.26 roll -1.37 - - 1989.50 - 2.46 0.078 1209.38 -425.8 -82.73 - - 3108.09 - - - - - - - - - 16.23 -
8582.15 814.82 -7.93 988 8588.14 roll -1.37 - - 1989.75 - 2.55 0.037 2348.81 446.8 -82.73 - - 3108.00 - - - - - - - - - 16.24 -
8897.68 839.79 -8.04 1020 8899.01 no move -1.37 - - 1989.25 - - - 2349.00 - -82.73 - - 3106.62 - - - - - - - - - - -
9208.13 863.95 -7.84 1051 9209.46 no move -1.37 - - 1988.94 - - - 2348.94 - -82.73 - - 3105.59 - - - - - - - - - - -
9518.20 888.06 -7.62 1082 9519.53 no move -1.37 - - 1989.19 - - - 2348.88 - -82.73 - - 3106.00 - - - - - - - - - - -
9828.26 911.94 -7.79 1113 9829.59 no move -1.37 - - 1989.38 - - - 2349.06 - -82.73 - - 3105.75 - - - - - - - - - - -
10138.33 933.23 -6.51 1144 10139.66 no move -1.37 - - 1989.62 - - - 2349.19 - -82.73 - - 3105.69 - - - - - - - - - - -
10448.40 954.45 -6.55 1175 10453.10 roll -1.37 - - 1989.88 - 2.69 0.075 1209.94 -423.5 -82.73 - - 3106.25 - - - - - - - - - 16.23 -
10568.05 963.19 -7.12 1199 10573.12 roll -1.37 - - 1989.62 - 2.55 0.038 2351.56 447.7 -82.73 - - 3106.06 - - - - - - - - - 16.24 -
10878.29 983.44 -6.46 1231 10879.62 no move -1.37 - - 1989.31 - - - 2351.62 - -82.73 - - 3105.28 - - - - - - - - - - -
10977 end dive: TARGET_DEPTH_EXCEEDED
10978 begin apogee
10979.95 990.22 -6.60 1241 11045.73 -0.28 1.82 0.162 2252.44 144.6 0.17 0.166 2282.12 -408.8 - 61.40 2.435 2776.56 -5.4 0.359 - - - - - - 16.19 15.68 13.13
11055 end apogee: CONTROL_FINISHED_OK
11055 begin climb
11055.85 991.36 - 1247 11125.54 1.37 2.67 0.108 2653.25 150.1 - - 2282.50 - 82.73 65.06 2.376 2437.22 -5.2 0.359 - - - - - - 15.75 - 12.96
11428.92 963.13 8.53 1285 11430.25 no move 1.37 - - 2653.50 - - - 2281.56 - 82.73 - - 2429.91 - - - - - - - - - - -
11739.38 936.95 8.43 1316 11744.10 roll 1.37 - - 2653.81 - 2.80 0.084 1131.12 -410.9 82.73 - - 2431.12 - - - - - - - - - 15.89 -
11823.56 929.55 9.00 1333 11829.56 roll 1.37 - - 2654.19 - 2.61 0.038 2271.88 437.1 82.73 - - 2431.72 - - - - - - - - - 15.93 -
12139.47 904.13 7.99 1365 12140.80 VBD 1.37 - - 2653.81 - - - 2272.62 - 82.73 - - 2428.22 - - - - - - - - - - -
12449.54 878.87 8.32 1396 12450.88 VBD 1.37 - - 2653.62 - - - 2272.38 - 82.73 - - 2427.91 - - - - - - - - - - -
12759.60 853.10 8.35 1427 12764.46 done 1.37 - - 2654.00 - 2.60 0.103 3345.25 412.6 82.73 - - 2428.38 - - - - - - - - - 16.06 -
12809.34 848.34 9.39 1437 12814.30 done 1.37 - - 2654.12 - 2.58 0.032 2191.19 -447.3 82.73 - - 2428.56 - - - - - - - - - 16.07 -
13119.30 821.90 8.62 1469 13120.63 VBD 1.37 - - 2654.25 - - - 2191.31 - 82.73 - - 2427.78 - - - - - - - - - - -
13429.72 796.39 8.25 1500 13431.06 VBD 1.37 - - 2653.25 - - - 2191.25 - 82.73 - - 2427.06 - - - - - - - - - - -
13739.77 770.90 7.73 1531 13744.48 done 1.38 - - 2653.94 - 2.80 0.098 3345.25 412.1 82.73 - - 2429.38 - - - - - - - - - 16.13 -
13849.40 760.56 9.55 1553 13854.46 done 1.38 - - 2653.62 - 2.57 0.031 2194.00 -448.0 82.73 - - 2429.44 - - - - - - - - - 16.14 -
14159.44 734.89 8.52 1585 14160.77 VBD 1.38 - - 2654.00 - - - 2193.88 - 82.73 - - 2427.09 - - - - - - - - - - -
14469.85 709.65 8.09 1616 14471.18 VBD 1.38 - - 2653.88 - - - 2193.62 - 82.73 - - 2427.28 - - - - - - - - - - -
14779.92 683.86 7.82 1647 14784.62 done 1.39 - - 2653.62 - 2.80 0.098 3345.50 411.4 82.73 - - 2428.28 - - - - - - - - - 16.16 -
14839.52 678.47 9.01 1659 14844.59 done 1.39 - - 2654.00 - 2.56 0.031 2191.44 -450.8 82.73 - - 2429.16 - - - - - - - - - 16.18 -
15149.96 654.13 7.59 1691 15151.29 VBD 1.41 - - 2653.69 - - - 2192.12 - 82.73 - - 2426.69 - - - - - - - - - - -
15460.19 631.57 7.02 1722 15464.78 done 1.44 - - 2653.50 - 2.80 0.097 3347.00 412.5 82.73 - - 2427.91 - - - - - - - - - 16.18 -
15514.18 627.26 7.70 1733 15520.16 done 1.46 - - 2653.44 - 2.57 0.032 2191.56 -449.6 82.73 - - 2428.75 - - - - - - - - - 16.19 -
15830.09 605.73 6.97 1765 15834.81 1.49 0.16 0.102 2693.31 249.2 2.53 0.088 1130.88 -419.2 82.73 - - 2430.03 - - - - - - - - 16.18 16.18 -
15909.74 599.32 7.94 1781 15914.80 done 1.50 - - 2691.00 - 2.58 0.037 2273.31 442.8 82.73 - - 2428.81 - - - - - - - - - 16.18 -
16220.19 575.57 7.51 1813 16221.52 VBD 1.52 - - 2692.69 - - - 2273.69 - 82.73 - - 2426.59 - - - - - - - - - - -
16530.27 553.24 6.92 1844 16531.60 VBD 1.55 - - 2692.31 - - - 2273.62 - 82.73 - - 2426.81 - - - - - - - - - - -
16840.33 531.14 6.99 1875 16841.67 VBD 1.58 - - 2692.38 - - - 2273.88 - 82.73 - - 2425.97 - - - - - - - - - - -
17150.40 507.75 7.70 1906 17151.73 VBD 1.59 - - 2693.12 - - - 2273.31 - 82.73 - - 2426.09 - - - - - - - - - - -
17460.47 483.48 7.60 1937 17461.80 VBD 1.61 - - 2693.12 - - - 2273.81 - 82.73 - - 2427.88 - - - - - - - - - - -
17770.53 460.78 6.93 1968 17771.87 VBD 1.64 - - 2692.38 - - - 2273.50 - 82.73 - - 2426.16 - - - - - - - - - - -
18080.59 440.20 6.69 1999 18082.03 1.67 0.20 0.090 2737.56 225.9 - - 2273.88 - 82.73 - - 2426.12 - - - - - - - - 16.19 - -
18390.45 417.58 7.26 2030 18395.42 done 1.70 - - 2737.69 - 2.73 0.082 1131.50 -418.5 82.73 - - 2427.66 - - - - - - - - - 16.21 -
18530.70 407.29 7.33 2058 18535.37 done 1.72 - - 2738.06 - 2.57 0.037 2272.69 444.0 82.73 - - 2428.56 - - - - - - - - - 16.22 -
18840.73 387.82 6.03 2090 18870.91 VBD 1.79 - - 2738.38 - - - 2272.62 - 118.39 27.00 1.687 2291.97 -5.1 0.192 - - - - - - - - 13.12
19180.38 363.02 7.51 2124 19185.47 roll 1.81 - - 2737.25 - 2.74 0.082 1131.44 -416.5 118.39 - - 2288.88 - - - - - - - - - 16.10 -
19310.41 351.91 8.94 2150 19315.47 roll 1.81 - - 2738.88 - 2.59 0.037 2271.19 440.1 118.39 - - 2287.78 - - - - - - - - - 16.11 -
19620.66 326.35 8.06 2182 19621.99 no move 1.81 - - 2738.69 - - - 2271.25 - 118.39 - - 2286.97 - - - - - - - - - - -
19931.05 301.50 7.92 2213 19935.57 roll 1.82 - - 2738.12 - 2.74 0.081 1130.19 -416.4 118.39 - - 2288.66 - - - - - - - - - 16.14 -
20030.49 292.92 8.63 2233 20035.55 roll 1.82 - - 2737.62 - 2.58 0.037 2272.56 442.8 118.39 - - 2289.59 - - - - - - - - - 16.15 -
20340.52 268.16 8.02 2265 20341.85 no move 1.82 - - 2737.88 - - - 2272.19 - 118.39 - - 2286.88 - - - - - - - - - - -
20651.13 243.17 8.27 2296 20652.46 no move 1.82 - - 2738.25 - - - 2272.19 - 118.39 - - 2286.84 - - - - - - - - - - -
20960.99 217.20 8.12 2327 20962.32 no move 1.82 - - 2737.94 - - - 2272.31 - 118.39 - - 2286.81 - - - - - - - - - - -
21271.06 191.13 8.26 2358 21275.75 roll 1.82 - - 2737.62 - 2.60 0.098 3346.44 413.1 118.39 - - 2289.75 - - - - - - - - - 16.13 -
21315.24 187.05 8.98 2367 21321.22 roll 1.82 - - 2738.44 - 2.57 0.030 2189.88 -450.0 118.39 - - 2288.66 - - - - - - - - - 16.16 -
21631.16 162.55 7.32 2399 21635.94 roll back 1.84 0.18 0.091 2779.69 229.2 2.81 0.093 3345.38 411.2 118.39 - - 2288.53 - - - - - - - - 16.15 16.14 -
21700.78 156.59 8.65 2413 21705.85 roll 1.84 - - 2779.88 - 2.56 0.030 2190.00 -451.3 118.39 - - 2288.75 - - - - - - - - - 16.16 -
22011.25 137.05 5.19 2445 22052.48 done 1.94 - - 2779.81 - 2.84 0.095 3346.81 407.3 166.25 35.94 1.404 2096.56 -5.3 0.086 - - - - - - - 15.94 13.14
22060.87 133.96 6.01 2454 22096.18 2.01 0.17 0.096 2817.12 219.5 2.59 0.030 2190.69 -446.4 202.13 28.47 1.352 1950.41 -5.1 0.084 - - - - - - 15.99 16.01 13.01
22400.93 95.30 12.02 2495 22402.25 VBD 2.01 - - 2816.38 - - - 2189.81 - 202.13 - - 1940.75 - - - - - - - - - - -
22585.99 73.57 10.53 2532 22591.52 done 2.01 - - 2817.00 - 2.56 0.085 1130.06 -414.0 202.13 - - 1940.75 - - - - - - - - - 16.00 -
22636.02 68.61 9.83 2542 22641.55 done 2.01 - - 2817.12 - 2.60 0.035 2274.62 440.2 202.13 - - 1939.19 - - - - - - - - - 16.00 -
22826.10 58.82 3.86 2580 22882.59 done 2.15 - - 2817.75 - 2.64 0.097 3347.38 406.3 269.61 49.24 1.292 1675.16 -5.4 0.040 - - - - - - - 15.76 13.00
23016.15 46.20 9.14 2618 23021.68 roll 2.15 - - 2817.38 - 2.60 0.029 2193.44 -443.8 269.61 - - 1670.25 - - - - - - - - - 15.88 -
23206.22 30.63 8.14 2656 23211.75 done 2.15 - - 2817.88 - 2.57 0.083 1131.00 -413.4 269.61 - - 1665.22 - - - - - - - - - 15.92 -
23371.69 17.53 8.13 2689 23376.84 done 2.15 - - 2818.19 - 2.61 0.035 2273.06 437.6 269.61 - - 1663.53 - - - - - - - - - 15.94 -
23561.35 3.35 6.41 2727 23582.05 2.21 0.23 0.077 2869.81 224.4 - - 2273.19 - 299.68 19.41 1.155 1573.00 -4.7 0.002 - - - - - - 15.96 - 12.96
23582 end climb: SURFACE_DEPTH_REACHED
23582 begin surface coast
23616 end surface coast: CONTROL_FINISHED_OK
23616 begin surface
SM 1.98 - - - - 188.9 59.99 1.204 1247.5 20.5 16.64 0.054 1219.5 73.3 - 0.12 0.131 1275.5 10629.2 -16.420 - - 12.98 15.90 15.92 -