NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1214 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 432.09 of 550.00 AH used of 24V (21.44% remains)
• Surface angle -62.9 deg, depth 0.70 m • Intended pitch -21.8 deg, speed -9.167 cm/s
VBD pumped to 399.94 (SM_CC=400)
• GPS1 time: 38 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
6.10 - - - 82.71 VBD -1.44 - - 178.31 - - - 2226.38 - -116.79 75.05 0.005 2917.41 - - - - - - - - - - 14.82
83.44 3.52 -4.81 14 115.77 -1.44 14.44 0.236 1971.81 124.2 3.18 0.087 3429.19 378.2 -116.79 7.71 0.007 3250.88 43.3 -3.822 - - - - - - 15.31 14.83 15.04
312.89 40.77 -15.26 60 318.44 roll -1.44 - - 1969.94 - 2.63 0.018 2256.56 -445.9 -116.79 - - 3251.91 - - - - - - - - - 15.81 -
503.60 65.21 -11.83 98 508.50 roll -1.44 - - 1970.75 - 2.62 0.065 1209.50 -399.6 -116.79 - - 3251.12 - - - - - - - - - 15.77 -
557.96 71.24 -10.77 109 563.52 roll -1.44 - - 1971.19 - 2.66 0.025 2340.19 425.1 -116.79 - - 3251.75 - - - - - - - - - 15.87 -
748.39 90.66 -9.75 147 753.57 roll -1.44 - - 1970.88 - 2.82 0.084 3425.88 385.0 -116.79 - - 3250.69 - - - - - - - - - 15.76 -
788.00 95.05 -11.12 155 793.55 roll -1.44 - - 1971.12 - 2.63 0.018 2238.50 -451.5 -116.79 - - 3250.97 - - - - - - - - - 15.88 -
978.03 112.70 -8.81 193 983.56 roll -1.44 - - 1971.12 - 2.57 0.064 1207.75 -401.1 -116.79 - - 3250.69 - - - - - - - - - 15.83 -
1028.03 117.16 -9.03 203 1033.58 roll -1.44 - - 1971.00 - 2.63 0.025 2330.69 427.0 -116.79 - - 3250.56 - - - - - - - - - 15.91 -
1338.09 140.32 -7.23 265 1343.67 roll -1.44 - - 1971.06 - 2.83 0.084 3424.81 386.6 -116.79 - - 3253.03 - - - - - - - - - 15.80 -
1398.08 145.49 -8.85 277 1403.65 roll -1.44 - - 1971.00 - 2.65 0.018 2228.38 -451.5 -116.79 - - 3251.59 - - - - - - - - - 15.92 -
1708.33 171.65 -8.57 339 1713.82 roll -1.44 - - 1970.94 - 3.12 0.080 3426.94 384.2 -116.79 - - 3251.84 - - - - - - - - - 15.79 -
1758.19 176.40 -9.67 349 1763.70 roll -1.44 - - 1971.44 - 2.64 0.018 2229.81 -453.5 -116.79 - - 3251.28 - - - - - - - - - 15.92 -
2068.20 202.48 -8.05 411 2069.53 no move -1.44 - - 1971.19 - - - 2228.38 - -116.79 - - 3250.25 - - - - - - - - - - -
2373.24 226.91 -8.23 472 2378.88 roll -1.44 - - 1970.69 - 3.12 0.080 3424.62 383.4 -116.79 - - 3251.44 - - - - - - - - - 15.80 -
2408.24 230.17 -9.18 479 2413.79 roll -1.44 - - 1971.19 - 2.64 0.018 2233.38 -451.2 -116.79 - - 3251.09 - - - - - - - - - 15.93 -
2718.30 258.05 -8.90 541 2723.91 roll -1.44 - - 1971.25 - 3.09 0.080 3427.00 386.3 -116.79 - - 3251.78 - - - - - - - - - 15.80 -
2743.30 260.42 -9.30 546 2748.84 roll -1.44 - - 1971.31 - 2.64 0.019 2236.19 -451.1 -116.79 - - 3254.78 - - - - - - - - - 15.93 -
3053.38 286.74 -8.01 608 3054.71 no move -1.44 - - 1970.56 - - - 2234.81 - -116.79 - - 3250.72 - - - - - - - - - - -
3360.19 311.62 -8.22 654 3364.88 roll -1.44 - - 1970.81 - 3.08 0.081 3426.25 386.8 -116.79 - - 3251.31 - - - - - - - - - 15.83 -
3399.05 314.96 -8.71 660 3413.99 roll -1.44 - - 1970.88 - 2.62 0.019 2236.00 -454.3 -116.79 - - 3252.88 - - - - - - - - - 15.97 -
3715.26 339.29 -7.40 689 3726.33 no move -1.44 - - 1971.56 - - - 2236.38 - -116.79 - - 3251.59 - - - - - - - - - - -
4028.59 363.25 -7.56 718 4033.29 roll -1.44 - - 1971.00 - 3.08 0.081 3427.31 386.7 -116.79 - - 3250.47 - - - - - - - - - 15.82 -
4051.39 365.07 -7.91 722 4066.33 roll -1.44 - - 1970.88 - 2.62 0.019 2236.31 -454.6 -116.79 - - 3251.69 - - - - - - - - - 15.96 -
4367.91 389.74 -8.10 751 4378.98 no move -1.44 - - 1971.25 - - - 2236.88 - -116.79 - - 3251.47 - - - - - - - - - - -
4680.61 415.72 -8.69 780 4691.69 no move -1.44 - - 1971.12 - - - 2236.38 - -116.79 - - 3252.16 - - - - - - - - - - -
4994.08 444.95 -9.57 809 4998.77 roll -1.44 - - 1971.00 - 3.09 0.082 3427.50 385.5 -116.79 - - 3252.72 - - - - - - - - - 15.82 -
5048.35 450.31 -9.94 817 5063.29 roll -1.44 - - 1971.06 - 2.62 0.019 2243.56 -451.9 -116.79 - - 3253.31 - - - - - - - - - 15.96 -
5364.54 479.28 -8.98 846 5375.62 no move -1.44 - - 1971.06 - - - 2243.19 - -116.79 - - 3250.59 - - - - - - - - - - -
5677.13 506.80 -8.44 873 5682.02 roll -1.44 - - 1971.50 - 3.07 0.083 3426.56 385.5 -116.79 - - 3249.19 - - - - - - - - - 15.81 -
5700.11 508.25 -8.43 877 5714.91 roll -1.44 - - 1971.25 - 2.60 0.019 2245.88 -454.1 -116.79 - - 3250.09 - - - - - - - - - 15.96 -
6029.41 534.37 -7.30 899 6034.11 roll -1.44 - - 1971.00 - 3.06 0.083 3425.38 385.5 -116.79 - - 3249.09 - - - - - - - - - 15.81 -
6066.60 537.26 -7.51 904 6071.22 roll -1.44 - - 1970.94 - 2.59 0.019 2248.38 -454.4 -116.79 - - 3250.53 - - - - - - - - - 15.96 -
6383.09 559.51 -7.13 926 6387.70 roll -1.44 - - 1968.88 - 2.58 0.068 1208.88 -402.9 -116.79 - - 3250.59 - - - - - - - - - 15.85 -
6421.64 562.28 -7.32 932 6427.20 roll -1.44 - - 1970.44 - 2.67 0.027 2352.56 428.3 -116.79 - - 3249.91 - - - - - - - - - 15.98 -
6741.05 585.99 -7.45 954 6742.38 no move -1.44 - - 1970.69 - - - 2352.31 - -116.79 - - 3248.81 - - - - - - - - - - -
7056.07 610.08 -7.90 975 7060.74 roll -1.44 - - 1971.25 - 2.85 0.062 1210.62 -400.6 -116.79 - - 3248.00 - - - - - - - - - 15.86 -
7115.35 614.89 -8.22 984 7120.90 roll -1.44 - - 1970.62 - 2.67 0.027 2348.56 426.2 -116.79 - - 3249.81 - - - - - - - - - 15.98 -
7434.78 640.07 -7.56 1006 7436.11 no move -1.44 - - 1971.31 - - - 2349.00 - -116.79 - - 3247.50 - - - - - - - - - - -
7749.99 663.69 -7.47 1027 7754.65 roll -1.44 - - 1971.06 - 2.85 0.062 1209.75 -399.7 -116.79 - - 3251.56 - - - - - - - - - 15.85 -
7772.97 665.01 -7.61 1031 7787.79 roll -1.44 - - 1970.75 - 2.67 0.027 2352.56 428.0 -116.79 - - 3247.72 - - - - - - - - - 15.98 -
8102.20 690.42 -7.53 1053 8103.53 no move -1.44 - - 1970.94 - - - 2352.44 - -116.79 - - 3246.59 - - - - - - - - - - -
8417.21 713.72 -7.53 1074 8418.54 no move -1.44 - - 1970.56 - - - 2352.50 - -116.79 - - 3246.78 - - - - - - - - - - -
8732.22 739.15 -8.71 1095 8733.55 no move -1.44 - - 1971.06 - - - 2353.12 - -116.79 - - 3246.75 - - - - - - - - - - -
9047.25 766.49 -8.44 1116 9051.92 roll -1.44 - - 1970.62 - 2.86 0.062 1210.50 -399.5 -116.79 - - 3246.22 - - - - - - - - - 15.83 -
9085.79 769.77 -8.56 1122 9091.35 roll -1.44 - - 1970.94 - 2.66 0.027 2345.25 426.6 -116.79 - - 3247.28 - - - - - - - - - 15.98 -
9405.19 795.04 -7.25 1144 9406.52 no move -1.44 - - 1970.94 - - - 2344.75 - -116.79 - - 3246.41 - - - - - - - - - - -
9720.21 817.91 -7.61 1165 9721.55 no move -1.44 - - 1970.75 - - - 2345.31 - -116.79 - - 3246.22 - - - - - - - - - - -
10035.23 843.48 -7.96 1186 10036.56 no move -1.44 - - 1970.69 - - - 2344.94 - -116.79 - - 3245.12 - - - - - - - - - - -
10350.24 867.26 -7.30 1207 10354.90 roll -1.44 - - 1971.00 - 2.87 0.063 1210.12 -395.4 -116.79 - - 3246.66 - - - - - - - - - 15.82 -
10408.17 871.71 -7.57 1215 10412.81 roll -1.44 - - 1970.88 - 2.65 0.027 2341.38 426.9 -116.79 - - 3245.16 - - - - - - - - - 15.97 -
10724.65 892.76 -6.46 1237 10729.32 roll -1.44 - - 1970.75 - 2.84 0.090 3423.88 381.2 -116.79 - - 3245.16 - - - - - - - - - 15.76 -
10741 end dive: TARGET_DEPTH_EXCEEDED
10741 begin apogee
10746.58 893.84 -6.34 1239 10851.36 -0.28 2.01 0.138 2254.75 141.3 0.14 0.165 2157.56 -9045.1 - 93.91 2.314 2775.22 -5.0 0.340 - - - - - - 15.66 15.01 10.15
10853 end apogee: CONTROL_FINISHED_OK
10854 begin climb
10854.24 896.10 - 1246 10963.79 1.44 2.91 0.111 2672.12 143.4 3.06 0.079 994.75 -380.0 116.79 99.07 2.259 2299.75 -4.8 0.335 - - - - - - 15.31 15.46 11.54
10966.58 893.75 3.01 1262 11136.61 1.81 0.57 0.056 2775.00 180.5 2.78 0.022 2139.31 411.7 302.78 159.49 2.248 1541.78 -4.8 0.332 - - - - - - 15.22 15.29 11.58
11448.20 841.67 11.21 1306 11452.88 done 1.81 - - 2774.69 - 2.97 0.082 994.56 -385.4 302.78 - - 1528.66 - - - - - - - - - 15.67 -
11486.73 837.26 11.49 1312 11492.28 done 1.81 - - 2774.25 - 2.67 0.023 2132.56 426.2 302.78 - - 1528.81 - - - - - - - - - 15.75 -
11806.14 803.72 10.24 1334 11810.79 done 1.81 - - 2775.44 - 2.78 0.082 3203.44 385.2 302.78 - - 1526.75 - - - - - - - - - 15.77 -
11886.17 795.17 10.81 1346 11891.73 done 1.81 - - 2774.88 - 2.67 0.025 2058.06 -429.0 302.78 - - 1527.69 - - - - - - - - - 15.86 -
12205.59 763.65 9.69 1368 12206.92 VBD 1.81 - - 2775.12 - - - 2058.25 - 302.78 - - 1525.47 - - - - - - - - - - -
12520.61 733.12 9.64 1389 12525.30 done 1.81 - - 2774.25 - 2.95 0.078 3200.69 387.3 302.78 - - 1525.69 - - - - - - - - - 15.81 -
12557.81 729.32 9.94 1394 12562.44 done 1.81 - - 2775.12 - 2.62 0.025 2065.62 -433.2 302.78 - - 1526.16 - - - - - - - - - 15.91 -
12874.29 696.54 11.01 1416 12879.12 done 1.81 - - 2774.81 - 2.76 0.087 995.56 -387.7 302.78 - - 1525.25 - - - - - - - - - 15.79 -
12911.99 692.02 11.75 1421 12916.62 done 1.81 - - 2774.75 - 2.64 0.024 2141.25 434.0 302.78 - - 1526.81 - - - - - - - - - 15.92 -
13228.46 655.53 10.79 1443 13229.80 VBD 1.81 - - 2774.81 - - - 2140.50 - 302.78 - - 1524.53 - - - - - - - - - - -
13543.49 624.12 9.95 1464 13548.17 done 1.81 - - 2775.25 - 2.95 0.083 995.88 -388.0 302.78 - - 1524.41 - - - - - - - - - 15.79 -
13602.77 617.81 10.65 1473 13608.32 done 1.81 - - 2775.19 - 2.63 0.024 2131.81 431.9 302.78 - - 1525.22 - - - - - - - - - 15.95 -
13922.36 583.78 10.61 1495 13923.69 VBD 1.81 - - 2775.12 - - - 2131.56 - 302.78 - - 1524.00 - - - - - - - - - - -
14237.19 549.73 10.59 1516 14241.88 done 1.81 - - 2774.44 - 2.94 0.083 994.50 -386.8 302.78 - - 1523.50 - - - - - - - - - 15.79 -
14280.73 545.59 10.87 1523 14295.67 done 1.81 - - 2774.69 - 2.61 0.023 2124.31 432.9 302.78 - - 1524.41 - - - - - - - - - 15.96 -
14610.14 509.52 10.83 1545 14614.82 done 1.81 - - 2775.06 - 2.93 0.082 993.19 -386.0 302.78 - - 1524.06 - - - - - - - - - 15.79 -
14648.68 505.36 10.96 1551 14654.22 done 1.81 - - 2775.38 - 2.60 0.023 2121.25 433.9 302.78 - - 1523.97 - - - - - - - - - 15.95 -
14956.05 473.41 10.30 1579 14967.12 VBD 1.81 - - 2775.62 - - - 2121.88 - 302.78 - - 1524.25 - - - - - - - - - - -
15269.01 442.94 9.71 1608 15273.69 done 1.81 - - 2775.00 - 2.92 0.082 995.56 -385.7 302.78 - - 1522.97 - - - - - - - - - 15.78 -
15292.00 440.67 10.03 1612 15306.74 done 1.81 - - 2775.12 - 2.59 0.023 2121.12 434.6 302.78 - - 1523.84 - - - - - - - - - 15.95 -
15608.48 411.07 9.40 1641 15613.15 done 1.81 - - 2775.31 - 2.90 0.082 995.69 -388.1 302.78 - - 1523.66 - - - - - - - - - 15.78 -
15647.01 407.29 9.89 1647 15661.95 done 1.81 - - 2775.25 - 2.58 0.023 2115.38 434.0 302.78 - - 1524.22 - - - - - - - - - 15.96 -
15963.22 375.59 10.11 1676 15967.87 done 1.81 - - 2774.81 - 2.80 0.080 3204.69 389.0 302.78 - - 1523.03 - - - - - - - - - 15.80 -
16017.50 369.83 10.73 1684 16032.44 done 1.81 - - 2774.50 - 2.69 0.025 2042.44 -432.1 302.78 - - 1524.22 - - - - - - - - - 15.95 -
16334.33 337.81 9.87 1713 16338.98 done 1.81 - - 2775.19 - 2.71 0.086 994.38 -386.7 302.78 - - 1523.72 - - - - - - - - - 15.77 -
16371.52 333.85 10.27 1718 16376.16 done 1.81 - - 2775.19 - 2.62 0.023 2122.75 430.7 302.78 - - 1522.88 - - - - - - - - - 15.95 -
16683.20 302.64 10.06 1747 16694.27 VBD 1.81 - - 2775.88 - - - 2123.12 - 302.78 - - 1523.97 - - - - - - - - - - -
16998.85 272.88 8.91 1806 17004.32 done 1.81 - - 2775.00 - 2.93 0.082 994.62 -385.2 302.78 - - 1523.56 - - - - - - - - - 15.74 -
17038.67 269.10 9.45 1814 17044.20 done 1.81 - - 2775.56 - 2.60 0.023 2118.69 432.3 302.78 - - 1523.41 - - - - - - - - - 15.94 -
17348.79 243.22 8.00 1876 17354.37 done 1.84 - - 2775.56 - 2.92 0.081 993.31 -385.4 302.78 - - 1524.69 - - - - - - - - - 15.75 -
17378.79 240.61 8.46 1882 17384.31 done 1.85 - - 2775.38 - 2.59 0.023 2115.38 433.2 302.78 - - 1523.50 - - - - - - - - - 15.93 -
17688.91 215.61 7.96 1944 17694.49 done 1.88 - - 2775.25 - 2.92 0.080 996.00 -383.3 302.78 - - 1523.56 - - - - - - - - - 15.75 -
17723.90 212.60 8.49 1951 17729.42 done 1.89 - - 2775.12 - 2.58 0.022 2110.12 431.8 302.78 - - 1523.75 - - - - - - - - - 15.93 -
18034.01 186.91 8.37 2013 18035.34 VBD 1.91 - - 2774.94 - - - 2109.81 - 302.78 - - 1523.47 - - - - - - - - - - -
18339.02 160.67 9.09 2074 18344.79 done 1.91 - - 2776.06 - 2.89 0.080 993.62 -386.2 302.78 - - 1524.03 - - - - - - - - - 15.75 -
18404.14 154.41 9.61 2087 18409.56 done 1.91 - - 2775.88 - 2.57 0.022 2106.19 432.9 302.78 - - 1523.44 - - - - - - - - - 15.94 -
18714.09 125.33 9.36 2149 18719.66 done 1.91 - - 2775.75 - 2.89 0.080 994.44 -384.7 302.78 - - 1524.44 - - - - - - - - - 15.75 -
18759.08 120.89 9.93 2158 18764.62 done 1.91 - - 2775.31 - 2.55 0.022 2099.94 433.5 302.78 - - 1524.22 - - - - - - - - - 15.92 -
19069.34 95.21 8.35 2220 19074.73 done 1.92 - - 2775.44 - 2.84 0.078 3205.94 389.4 302.78 - - 1524.50 - - - - - - - - - 15.77 -
19134.15 89.29 9.07 2233 19139.72 done 1.92 - - 2775.69 - 2.71 0.024 2025.38 -435.6 302.78 - - 1525.22 - - - - - - - - - 15.92 -
19324.20 74.65 7.05 2271 19381.58 2.05 0.25 0.072 2830.75 220.2 3.06 0.075 3205.12 385.5 366.82 51.18 1.275 1280.72 -4.8 0.049 - - - - - - 15.88 15.29 10.39
19494.20 59.35 9.49 2305 19499.74 roll 2.05 - - 2830.94 - 2.70 0.024 2041.88 -430.8 366.82 - - 1277.44 - - - - - - - - - 15.79 -
19684.24 44.15 7.30 2343 19689.77 roll 2.09 - - 2830.56 - 2.70 0.084 994.81 -387.8 366.82 - - 1275.66 - - - - - - - - - 15.71 -
19729.24 40.48 8.15 2352 19734.77 roll 2.11 - - 2831.06 - 2.58 0.021 2111.25 432.7 366.82 - - 1274.62 - - - - - - - - - 15.85 -
19919.27 26.48 7.25 2390 19924.84 roll 2.15 - - 2830.75 - 2.82 0.077 3204.75 387.8 366.82 - - 1274.00 - - - - - - - - - 15.76 -
19964.27 23.15 7.36 2399 19969.83 roll 2.18 - - 2831.00 - 2.72 0.023 2025.12 -433.7 366.82 - - 1274.66 - - - - - - - - - 15.85 -
20154.30 9.30 7.34 2437 20155.74 pitch 2.22 0.17 0.087 2872.00 241.2 - - 2025.00 - 366.82 - - 1273.66 - - - - - - - - 15.84 - -
20219 end climb: SURFACE_DEPTH_REACHED
20219 begin surface coast
20269 end surface coast: CONTROL_FINISHED_OK
20269 begin surface
SM 0.57 - - - - 177.2 27.33 1.162 1144.6 41.9 16.71 0.052 1139.4 68.2 - 0.73 0.047 1149.8 1575.1 -1.952 - - 11.03 15.82 15.88 -