NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 121 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 43.92 of 550.00 AH used of 24V (92.01% remains)
• Surface angle -63.9 deg, depth 1.59 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.73 (SM_CC=375)
• GPS1 time: 53 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
6.20 - - - 64.74 VBD -1.37 - - 176.62 - - - 2258.12 - -82.73 57.37 0.005 2626.53 - - - - - - - - - - 15.77
65.48 3.54 -3.99 11 99.64 -1.37 13.74 0.254 1987.19 131.8 3.02 0.089 3425.94 386.7 -82.73 11.90 0.007 3112.22 40.8 -3.430 - - - - - - 15.72 15.74 15.78
317.68 57.66 -19.02 61 323.23 roll -1.37 - - 1988.88 - 2.65 0.023 2259.50 -440.2 -82.73 - - 3114.16 - - - - - - - - - 15.91 -
508.40 84.17 -12.33 99 511.99 no move -1.37 - - 1989.00 - - - 2257.44 - -82.73 - - 3113.62 - - - - - - - - - - -
693.23 104.05 -9.64 132 697.98 roll -1.37 - - 1987.19 - 3.00 0.084 3425.19 389.2 -82.73 - - 3114.62 - - - - - - - - - 15.98 -
737.39 109.26 -11.97 141 743.39 roll -1.37 - - 1990.06 - 2.65 0.023 2254.38 -441.8 -82.73 - - 3114.72 - - - - - - - - - 15.99 -
1052.93 139.38 -9.52 173 1058.05 roll -1.37 - - 1989.69 - 2.98 0.084 3424.94 392.8 -82.73 - - 3113.22 - - - - - - - - - 16.02 -
1187.50 155.51 -12.46 200 1193.51 roll -1.37 - - 1989.25 - 2.63 0.023 2254.44 -445.1 -82.73 - - 3113.78 - - - - - - - - - 16.05 -
1503.12 188.37 -9.81 232 1508.07 roll -1.37 - - 1989.62 - 2.59 0.067 1209.38 -403.5 -82.73 - - 3114.28 - - - - - - - - - 16.08 -
1573.01 195.72 -10.61 246 1578.10 roll -1.37 - - 1989.50 - 2.64 0.030 2352.19 432.9 -82.73 - - 3114.03 - - - - - - - - - 16.09 -
1883.05 224.61 -9.36 278 1884.38 no move -1.37 - - 1990.00 - - - 2351.56 - -82.73 - - 3113.75 - - - - - - - - - - -
2193.47 255.44 -10.26 309 2198.20 roll -1.37 - - 1989.81 - 2.82 0.063 1209.69 -404.9 -82.73 - - 3115.59 - - - - - - - - - 16.12 -
2277.85 264.28 -10.40 326 2283.83 roll -1.37 - - 1989.38 - 2.65 0.031 2352.25 431.2 -82.73 - - 3115.59 - - - - - - - - - 16.14 -
2593.32 295.48 -9.42 358 2594.65 no move -1.37 - - 1989.50 - - - 2351.62 - -82.73 - - 3113.72 - - - - - - - - - - -
2903.55 325.18 -9.48 389 2908.29 roll -1.37 - - 1988.38 - 2.82 0.063 1209.38 -405.0 -82.73 - - 3115.03 - - - - - - - - - 16.15 -
2983.18 332.91 -9.73 405 2988.27 roll -1.37 - - 1989.75 - 2.64 0.031 2349.00 431.7 -82.73 - - 3114.75 - - - - - - - - - 16.16 -
3293.43 362.46 -9.37 437 3298.32 roll -1.37 - - 1989.94 - 2.72 0.091 3426.81 396.3 -82.73 - - 3113.94 - - - - - - - - - 16.16 -
3333.23 366.61 -10.83 445 3338.31 roll -1.37 - - 1989.75 - 2.61 0.024 2253.44 -449.6 -82.73 - - 3114.53 - - - - - - - - - 16.18 -
3643.67 395.38 -9.58 477 3645.00 no move -1.37 - - 1990.12 - - - 2251.56 - -82.73 - - 3113.72 - - - - - - - - - - -
3953.74 423.74 -8.97 508 3955.07 no move -1.37 - - 1989.31 - - - 2251.88 - -82.73 - - 3113.59 - - - - - - - - - - -
4263.79 450.57 -8.75 539 4265.12 no move -1.37 - - 1989.75 - - - 2251.62 - -82.73 - - 3113.44 - - - - - - - - - - -
4573.86 476.67 -8.86 570 4575.19 no move -1.37 - - 1989.69 - - - 2251.81 - -82.73 - - 3112.59 - - - - - - - - - - -
4883.93 504.06 -8.77 601 4888.60 roll -1.37 - - 1989.81 - 2.56 0.071 1209.50 -407.2 -82.73 - - 3113.03 - - - - - - - - - 16.20 -
4928.08 508.50 -9.56 610 4934.27 roll -1.37 - - 1989.12 - 2.63 0.032 2351.44 434.2 -82.73 - - 3114.06 - - - - - - - - - 16.21 -
5243.80 535.41 -8.30 642 5245.12 no move -1.37 - - 1989.25 - - - 2352.00 - -82.73 - - 3111.97 - - - - - - - - - - -
5554.08 560.11 -7.70 673 5558.78 roll -1.37 - - 1989.38 - 2.71 0.092 3424.81 395.9 -82.73 - - 3112.91 - - - - - - - - - 16.20 -
5578.23 562.23 -7.97 678 5584.24 roll -1.37 - - 1989.62 - 2.61 0.024 2251.44 -449.6 -82.73 - - 3112.34 - - - - - - - - - 16.22 -
5893.76 584.55 -7.40 710 5895.08 no move -1.37 - - 1989.50 - - - 2251.56 - -82.73 - - 3111.47 - - - - - - - - - - -
6204.20 607.31 -7.74 741 6205.53 no move -1.37 - - 1989.31 - - - 2251.56 - -82.73 - - 3110.81 - - - - - - - - - - -
6514.28 632.89 -8.41 772 6515.61 no move -1.37 - - 1989.50 - - - 2251.50 - -82.73 - - 3110.16 - - - - - - - - - - -
6824.32 657.20 -7.61 803 6825.65 no move -1.37 - - 1989.75 - - - 2251.62 - -82.73 - - 3110.22 - - - - - - - - - - -
7134.37 680.97 -7.83 834 7135.70 no move -1.37 - - 1989.81 - - - 2251.38 - -82.73 - - 3109.97 - - - - - - - - - - -
7444.40 706.41 -8.22 865 7449.16 roll -1.37 - - 1988.88 - 2.99 0.089 3426.12 392.9 -82.73 - - 3111.03 - - - - - - - - - 16.21 -
7504.03 711.86 -8.75 877 7509.10 roll -1.37 - - 1990.00 - 2.59 0.025 2253.69 -452.7 -82.73 - - 3109.72 - - - - - - - - - 16.22 -
7814.06 734.86 -7.69 909 7815.39 no move -1.37 - - 1989.12 - - - 2252.88 - -82.73 - - 3108.88 - - - - - - - - - - -
8124.49 757.16 -6.67 940 8129.41 roll -1.37 - - 1989.19 - 2.99 0.088 3426.56 392.5 -82.73 - - 3111.19 - - - - - - - - - 16.23 -
8164.22 760.39 -8.16 948 8169.17 roll -1.37 - - 1989.94 - 2.59 0.025 2253.88 -452.8 -82.73 - - 3108.69 - - - - - - - - - 16.22 -
8474.15 781.80 -6.85 980 8475.48 no move -1.37 - - 1989.94 - - - 2253.00 - -82.73 - - 3108.06 - - - - - - - - - - -
8784.56 802.70 -7.30 1011 8789.32 roll -1.37 - - 1989.62 - 2.98 0.089 3425.44 393.4 -82.73 - - 3108.53 - - - - - - - - - 16.22 -
8874.20 810.16 -8.22 1029 8879.27 roll -1.37 - - 1988.19 - 2.60 0.025 2253.69 -450.7 -82.73 - - 3109.09 - - - - - - - - - 16.24 -
9184.23 833.56 -7.84 1061 9185.56 no move -1.37 - - 1989.50 - - - 2254.19 - -82.73 - - 3107.50 - - - - - - - - - - -
9494.69 857.44 -7.97 1092 9496.01 no move -1.37 - - 1989.38 - - - 2254.06 - -82.73 - - 3107.38 - - - - - - - - - - -
9804.75 880.74 -7.28 1123 9809.50 roll -1.37 - - 1989.75 - 2.97 0.089 3424.81 394.2 -82.73 - - 3108.56 - - - - - - - - - 16.23 -
9864.38 885.94 -8.47 1135 9869.46 roll -1.37 - - 1989.19 - 2.57 0.025 2255.38 -455.0 -82.73 - - 3107.59 - - - - - - - - - 16.22 -
10174.45 909.44 -7.29 1167 10175.78 no move -1.37 - - 1989.38 - - - 2253.62 - -82.73 - - 3106.34 - - - - - - - - - - -
10484.90 932.84 -7.13 1198 10486.23 no move -1.37 - - 1989.50 - - - 2254.25 - -82.73 - - 3106.31 - - - - - - - - - - -
10795.17 953.75 -6.44 1229 10796.50 no move -1.37 - - 1989.25 - - - 2254.38 - -82.73 - - 3106.00 - - - - - - - - - - -
11105.14 975.06 -6.52 1260 11106.47 no move -1.37 - - 1990.00 - - - 2254.12 - -82.73 - - 3106.06 - - - - - - - - - - -
11334 end dive: TARGET_DEPTH_EXCEEDED
11334 begin apogee
11336.49 990.21 -6.57 1283 11402.04 -0.28 1.77 0.154 2254.50 149.4 0.15 0.174 2285.44 208.8 - 61.16 2.405 2772.22 -5.5 0.374 - - - - - - 16.17 15.69 13.00
11403 end apogee: CONTROL_FINISHED_OK
11403 begin climb
11403.93 991.40 - 1289 11479.56 1.37 2.62 0.104 2654.81 152.8 2.88 0.094 3341.44 366.7 82.73 64.69 2.334 2437.00 -5.2 0.366 - - - - - - 15.72 15.35 12.86
11492.77 986.57 5.94 1301 11529.60 done 1.44 - - 2655.12 - 2.72 0.025 2194.56 -421.6 119.62 31.04 2.212 2287.12 -4.8 0.358 - - - - - - - 15.47 12.66
11838.08 955.25 10.13 1339 11839.41 no move 1.44 - - 2653.94 - - - 2193.94 - 119.62 - - 2279.22 - - - - - - - - - - -
12148.50 925.84 9.78 1370 12149.83 VBD 1.44 - - 2654.88 - - - 2193.75 - 119.62 - - 2277.91 - - - - - - - - - - -
12458.79 897.16 8.94 1401 12460.12 VBD 1.44 - - 2654.75 - - - 2193.56 - 119.62 - - 2277.19 - - - - - - - - - - -
12768.57 869.29 8.63 1432 12769.91 VBD 1.44 - - 2654.75 - - - 2192.56 - 119.62 - - 2276.28 - - - - - - - - - - -
13078.60 841.92 9.12 1463 13083.35 done 1.44 - - 2654.88 - 2.99 0.090 3344.44 385.2 119.62 - - 2278.41 - - - - - - - - - 16.06 -
13132.77 836.54 10.19 1474 13138.78 done 1.44 - - 2655.00 - 2.62 0.027 2195.00 -438.7 119.62 - - 2277.03 - - - - - - - - - 16.09 -
13448.68 807.38 9.68 1506 13450.01 VBD 1.44 - - 2655.25 - - - 2194.88 - 119.62 - - 2275.78 - - - - - - - - - - -
13758.97 779.41 9.17 1537 13763.49 done 1.44 - - 2655.00 - 2.99 0.090 3345.25 384.7 119.62 - - 2277.12 - - - - - - - - - 16.11 -
13828.38 772.39 10.13 1551 13833.47 done 1.44 - - 2654.69 - 2.62 0.027 2193.44 -439.6 119.62 - - 2278.00 - - - - - - - - - 16.12 -
14138.85 746.38 8.68 1583 14143.58 done 1.44 - - 2654.69 - 2.98 0.090 3344.25 386.2 119.62 - - 2277.25 - - - - - - - - - 16.13 -
14203.01 740.37 9.28 1596 14209.02 done 1.44 - - 2654.69 - 2.62 0.027 2194.31 -438.9 119.62 - - 2275.94 - - - - - - - - - 16.14 -
14518.93 712.83 9.00 1628 14523.81 done 1.44 - - 2654.94 - 2.63 0.082 1131.50 -404.1 119.62 - - 2276.00 - - - - - - - - - 16.13 -
14568.72 708.12 9.64 1638 14573.65 done 1.44 - - 2653.38 - 2.67 0.033 2271.62 427.0 119.62 - - 2276.38 - - - - - - - - - 16.14 -
14879.00 680.82 8.38 1670 14880.34 VBD 1.44 - - 2653.88 - - - 2272.00 - 119.62 - - 2275.12 - - - - - - - - - - -
15189.07 655.32 8.82 1701 15190.40 VBD 1.44 - - 2654.88 - - - 2272.06 - 119.62 - - 2274.94 - - - - - - - - - - -
15499.14 628.41 8.59 1732 15500.48 VBD 1.44 - - 2654.50 - - - 2271.75 - 119.62 - - 2274.81 - - - - - - - - - - -
15809.20 600.32 9.52 1763 15810.53 VBD 1.44 - - 2654.81 - - - 2272.50 - 119.62 - - 2274.59 - - - - - - - - - - -
16119.27 571.69 9.12 1794 16124.00 done 1.44 - - 2654.50 - 2.81 0.077 1131.44 -406.1 119.62 - - 2275.53 - - - - - - - - - 16.20 -
16168.89 567.04 9.82 1804 16173.98 done 1.44 - - 2653.62 - 2.67 0.032 2270.19 426.5 119.62 - - 2276.09 - - - - - - - - - 16.18 -
16479.34 540.60 8.03 1836 16484.06 done 1.44 - - 2655.00 - 2.76 0.094 3344.00 389.1 119.62 - - 2275.91 - - - - - - - - - 16.18 -
16573.70 532.52 8.50 1855 16579.51 done 1.44 - - 2653.75 - 2.60 0.026 2191.00 -443.5 119.62 - - 2275.16 - - - - - - - - - 16.20 -
16889.41 509.61 7.30 1887 16890.75 VBD 1.46 - - 2654.38 - - - 2191.12 - 119.62 - - 2273.56 - - - - - - - - - - -
17199.45 487.14 7.03 1918 17200.88 1.49 0.16 0.099 2696.06 260.5 - - 2191.19 - 119.62 - - 2273.16 - - - - - - - - 16.18 - -
17509.14 463.40 8.32 1949 17510.47 VBD 1.49 - - 2696.25 - - - 2191.31 - 119.62 - - 2273.62 - - - - - - - - - - -
17819.53 438.18 7.91 1980 17824.26 done 1.50 - - 2696.75 - 2.96 0.089 3346.38 390.2 119.62 - - 2274.72 - - - - - - - - - 16.19 -
17969.14 424.66 9.15 2010 17974.23 done 1.50 - - 2696.56 - 2.62 0.026 2192.75 -440.3 119.62 - - 2275.94 - - - - - - - - - 16.20 -
18279.58 399.59 8.12 2042 18284.27 done 1.50 - - 2696.69 - 2.63 0.080 1132.38 -403.2 119.62 - - 2274.84 - - - - - - - - - 16.19 -
18403.75 388.65 8.92 2067 18409.76 done 1.50 - - 2697.06 - 2.66 0.032 2272.44 428.6 119.62 - - 2275.06 - - - - - - - - - 16.19 -
18719.67 362.83 7.73 2099 18721.00 VBD 1.52 - - 2696.56 - - - 2271.94 - 119.62 - - 2274.31 - - - - - - - - - - -
19029.72 339.58 7.49 2130 19031.06 VBD 1.54 - - 2696.56 - - - 2272.19 - 119.62 - - 2274.03 - - - - - - - - - - -
19339.80 316.52 7.41 2161 19341.13 VBD 1.56 - - 2696.81 - - - 2272.19 - 119.62 - - 2274.47 - - - - - - - - - - -
19649.86 295.03 6.55 2192 19651.19 VBD 1.60 - - 2696.50 - - - 2272.19 - 119.62 - - 2274.31 - - - - - - - - - - -
19959.92 273.06 7.54 2223 19964.81 done 1.62 - - 2696.75 - 2.77 0.092 3345.31 387.4 119.62 - - 2275.62 - - - - - - - - - 16.18 -
20009.71 268.87 8.22 2233 20014.62 done 1.62 - - 2695.75 - 2.61 0.025 2188.56 -443.2 119.62 - - 2275.94 - - - - - - - - - 16.20 -
20320.01 245.54 7.29 2265 20321.34 VBD 1.64 - - 2696.62 - - - 2188.94 - 119.62 - - 2274.22 - - - - - - - - - - -
20630.24 222.91 7.54 2296 20631.58 VBD 1.66 - - 2696.94 - - - 2188.50 - 119.62 - - 2275.25 - - - - - - - - - - -
20940.13 199.54 7.13 2327 20944.92 1.68 0.19 0.082 2743.19 243.4 2.96 0.086 3345.12 390.7 119.62 - - 2275.31 - - - - - - - - 16.17 16.18 -
21064.70 188.31 9.57 2352 21070.32 done 1.68 - - 2743.44 - 2.61 0.025 2188.81 -443.0 119.62 - - 2276.06 - - - - - - - - - 16.19 -
21380.23 163.26 7.77 2384 21384.97 done 1.70 - - 2743.56 - 2.97 0.085 3346.00 389.6 119.62 - - 2276.06 - - - - - - - - - 16.17 -
21474.41 155.17 8.75 2403 21480.39 done 1.70 - - 2744.00 - 2.59 0.025 2190.44 -446.2 119.62 - - 2277.12 - - - - - - - - - 16.20 -
21790.33 133.19 6.58 2435 21795.01 done 1.74 - - 2743.94 - 2.62 0.078 1132.62 -403.7 119.62 - - 2275.53 - - - - - - - - - 16.17 -
21884.52 126.16 7.69 2454 21890.69 done 1.75 - - 2743.62 - 2.66 0.030 2273.31 428.8 119.62 - - 2276.25 - - - - - - - - - 16.18 -
22200.51 107.44 5.83 2486 22230.56 VBD 1.83 - - 2743.88 - - - 2273.25 - 158.17 27.72 1.294 2129.78 -5.3 0.073 - - - - - - - - 13.02
22535.07 87.66 5.90 2540 22571.63 1.90 0.22 0.074 2796.00 236.9 2.88 0.074 1132.25 -396.2 195.74 28.80 1.264 1976.12 -5.3 0.061 - - - - - - 16.07 15.91 12.89
22800.12 70.39 5.88 2593 22835.86 done 1.98 - - 2796.25 - 2.69 0.030 2271.88 423.7 233.57 29.12 1.234 1823.59 -5.2 0.050 - - - - - - - 16.00 12.97
23020.16 56.35 7.24 2637 23025.72 roll 2.00 - - 2795.88 - 2.81 0.088 3345.12 381.9 233.57 - - 1816.66 - - - - - - - - - 15.93 -
23110.18 50.12 7.02 2655 23115.72 roll 2.03 - - 2796.38 - 2.63 0.024 2186.88 -440.4 233.57 - - 1816.34 - - - - - - - - - 15.95 -
23300.21 39.72 5.88 2693 23336.27 2.11 0.20 0.076 2846.62 251.2 2.65 0.077 1131.50 -398.3 271.41 28.55 1.190 1667.72 -5.2 0.029 - - - - - - 15.97 15.83 12.94
23400.22 31.21 9.52 2713 23405.77 roll 2.11 - - 2846.81 - 2.69 0.029 2272.38 424.1 271.41 - - 1663.56 - - - - - - - - - 15.90 -
23590.31 20.61 5.03 2751 23632.98 done 2.21 - - 2847.00 - 2.82 0.089 3345.94 380.7 321.63 38.10 1.168 1463.22 -5.3 0.015 - - - - - - - 15.76 12.88
23816 end climb: SURFACE_DEPTH_REACHED
23816 begin surface coast
23836 end surface coast: CONTROL_FINISHED_OK
23836 begin surface
SM 0.99 - - - - 180.6 40.16 1.159 1247.4 30.1 16.34 0.049 1219.5 74.6 - 2.44 0.025 1275.2 521.5 -2.111 - - 12.82 15.89 15.92 -