NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 130 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 46.56 of 550.00 AH used of 24V (91.53% remains)
• Surface angle -64.6 deg, depth 1.63 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.03 (SM_CC=375)
• GPS1 time: 35 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
6.48 - - - 60.02 VBD -1.37 - - 181.88 - - - 2362.19 - -82.73 52.33 0.005 2490.22 - - - - - - - - - - 15.77
60.75 3.08 -3.75 10 99.96 -1.37 13.81 0.258 1989.38 130.9 2.80 0.092 3424.88 379.5 -82.73 16.44 0.006 3112.31 37.8 -3.204 - - - - - - 15.74 15.73 15.81
173.33 24.70 -22.81 32 178.51 roll -1.37 - - 1988.31 - 2.65 0.024 2262.00 -438.8 -82.73 - - 3113.53 - - - - - - - - - 15.87 -
363.45 60.69 -17.00 70 368.85 roll -1.37 - - 1988.88 - 3.08 0.084 3427.19 378.3 -82.73 - - 3113.06 - - - - - - - - - 15.88 -
418.19 71.24 -19.66 81 423.61 roll -1.37 - - 1987.94 - 2.64 0.023 2258.00 -442.9 -82.73 - - 3115.00 - - - - - - - - - 15.94 -
608.53 100.03 -12.06 119 613.21 roll -1.37 - - 1988.56 - 2.60 0.066 1210.06 -403.1 -82.73 - - 3113.94 - - - - - - - - - 15.98 -
668.17 107.43 -12.31 131 673.26 roll -1.37 - - 1988.81 - 2.72 0.030 2348.94 418.7 -82.73 - - 3114.34 - - - - - - - - - 15.99 -
978.40 139.90 -9.03 163 983.32 roll -1.37 - - 1988.44 - 2.79 0.088 3425.00 385.7 -82.73 - - 3115.22 - - - - - - - - - 16.02 -
1028.24 145.02 -10.45 173 1033.32 roll -1.37 - - 1989.00 - 2.62 0.023 2249.56 -448.6 -82.73 - - 3115.25 - - - - - - - - - 16.04 -
1338.30 172.91 -8.78 205 1343.37 roll -1.37 - - 1989.44 - 2.57 0.067 1211.06 -404.1 -82.73 - - 3114.47 - - - - - - - - - 16.07 -
1488.37 187.84 -10.19 235 1493.43 roll -1.37 - - 1989.88 - 2.71 0.030 2349.00 419.9 -82.73 - - 3115.47 - - - - - - - - - 16.09 -
1798.75 218.31 -9.40 267 1800.08 no move -1.37 - - 1989.38 - - - 2349.44 - -82.73 - - 3113.66 - - - - - - - - - - -
2108.78 247.87 -9.20 298 2110.11 no move -1.37 - - 1989.44 - - - 2349.81 - -82.73 - - 3113.78 - - - - - - - - - - -
2419.05 275.97 -8.72 329 2423.54 roll -1.37 - - 1990.00 - 2.82 0.063 1210.38 -404.1 -82.73 - - 3115.16 - - - - - - - - - 16.13 -
2518.51 285.22 -9.49 349 2523.53 roll -1.37 - - 1989.00 - 2.69 0.031 2351.25 424.1 -82.73 - - 3115.69 - - - - - - - - - 16.14 -
2828.48 315.23 -9.86 381 2829.81 no move -1.37 - - 1989.75 - - - 2351.75 - -82.73 - - 3114.59 - - - - - - - - - - -
3138.89 345.54 -9.78 412 3143.62 roll -1.37 - - 1989.56 - 2.83 0.064 1210.06 -403.4 -82.73 - - 3114.94 - - - - - - - - - 16.16 -
3253.07 357.31 -10.29 435 3259.28 roll -1.37 - - 1989.88 - 2.66 0.031 2351.75 429.2 -82.73 - - 3115.09 - - - - - - - - - 16.16 -
3568.94 388.10 -9.91 467 3570.27 no move -1.37 - - 1989.38 - - - 2352.00 - -82.73 - - 3114.09 - - - - - - - - - - -
3879.00 416.56 -9.07 498 3880.33 no move -1.37 - - 1989.44 - - - 2351.81 - -82.73 - - 3113.56 - - - - - - - - - - -
4189.08 443.64 -8.79 529 4190.41 no move -1.37 - - 1989.31 - - - 2351.44 - -82.73 - - 3113.59 - - - - - - - - - - -
4499.11 471.50 -9.04 560 4503.85 roll -1.37 - - 1990.00 - 2.83 0.065 1210.88 -403.0 -82.73 - - 3113.38 - - - - - - - - - 16.20 -
4588.76 479.98 -9.29 578 4593.85 roll -1.37 - - 1988.38 - 2.68 0.031 2349.00 424.7 -82.73 - - 3115.09 - - - - - - - - - 16.20 -
4899.01 506.80 -8.83 610 4904.00 roll -1.37 - - 1989.75 - 2.82 0.065 1211.00 -403.5 -82.73 - - 3113.56 - - - - - - - - - 16.20 -
4978.85 514.26 -9.25 626 4983.94 roll -1.37 - - 1989.56 - 2.68 0.032 2352.38 425.9 -82.73 - - 3113.56 - - - - - - - - - 16.20 -
5288.91 542.38 -9.18 658 5290.24 no move -1.37 - - 1989.38 - - - 2352.19 - -82.73 - - 3111.53 - - - - - - - - - - -
5599.36 571.02 -8.98 689 5600.69 no move -1.37 - - 1989.31 - - - 2352.50 - -82.73 - - 3111.12 - - - - - - - - - - -
5909.42 599.35 -9.50 720 5914.15 roll -1.37 - - 1990.00 - 2.83 0.065 1210.94 -403.4 -82.73 - - 3112.28 - - - - - - - - - 16.21 -
6043.61 612.39 -9.71 747 6049.62 roll -1.37 - - 1989.75 - 2.68 0.032 2349.06 424.7 -82.73 - - 3111.06 - - - - - - - - - 16.23 -
6359.14 640.73 -8.66 779 6360.47 no move -1.37 - - 1990.19 - - - 2349.62 - -82.73 - - 3111.34 - - - - - - - - - - -
6669.59 667.29 -8.30 810 6674.32 roll -1.37 - - 1989.19 - 2.82 0.066 1210.06 -404.1 -82.73 - - 3111.06 - - - - - - - - - 16.22 -
6759.23 675.33 -8.77 828 6764.31 roll -1.37 - - 1989.75 - 2.68 0.032 2350.06 425.4 -82.73 - - 3110.75 - - - - - - - - - 16.23 -
7069.29 701.39 -8.89 860 7070.62 no move -1.37 - - 1990.00 - - - 2350.75 - -82.73 - - 3109.19 - - - - - - - - - - -
7379.71 727.17 -8.26 891 7381.04 no move -1.37 - - 1989.94 - - - 2350.31 - -82.73 - - 3108.88 - - - - - - - - - - -
7689.98 752.04 -7.87 922 7691.31 no move -1.37 - - 1990.00 - - - 2350.81 - -82.73 - - 3108.72 - - - - - - - - - - -
7999.78 774.33 -6.62 953 8004.51 roll -1.37 - - 1989.50 - 2.81 0.067 1210.56 -405.8 -82.73 - - 3109.50 - - - - - - - - - 16.23 -
8049.41 777.96 -7.26 963 8054.49 roll -1.37 - - 1988.44 - 2.68 0.032 2349.19 424.9 -82.73 - - 3110.97 - - - - - - - - - 16.23 -
8359.84 798.08 -6.39 995 8364.55 roll -1.37 - - 1988.94 - 2.82 0.066 1209.88 -404.0 -82.73 - - 3109.50 - - - - - - - - - 16.22 -
8439.46 803.82 -7.01 1011 8444.54 roll -1.37 - - 1989.38 - 2.69 0.032 2348.00 423.1 -82.73 - - 3109.53 - - - - - - - - - 16.23 -
8749.89 823.67 -6.38 1043 8751.22 no move -1.37 - - 1989.44 - - - 2347.75 - -82.73 - - 3107.28 - - - - - - - - - - -
9059.91 844.97 -6.89 1074 9064.65 roll -1.37 - - 1989.69 - 2.82 0.067 1212.12 -402.7 -82.73 - - 3108.00 - - - - - - - - - 16.22 -
9129.54 850.37 -7.56 1088 9134.63 roll -1.37 - - 1989.88 - 2.68 0.032 2350.56 424.8 -82.73 - - 3107.88 - - - - - - - - - 16.23 -
9439.60 871.34 -6.84 1120 9440.93 no move -1.37 - - 1988.94 - - - 2350.31 - -82.73 - - 3107.12 - - - - - - - - - - -
9750.04 894.63 -7.45 1151 9754.95 roll -1.37 - - 1989.31 - 2.82 0.067 1211.06 -404.0 -82.73 - - 3108.50 - - - - - - - - - 16.22 -
9794.33 898.22 -7.97 1160 9800.25 roll -1.37 - - 1990.06 - 2.70 0.032 2350.62 422.1 -82.73 - - 3107.25 - - - - - - - - - 16.24 -
10110.13 921.35 -7.17 1192 10111.46 no move -1.37 - - 1989.62 - - - 2350.75 - -82.73 - - 3105.72 - - - - - - - - - - -
10420.36 943.51 -7.14 1223 10421.69 no move -1.37 - - 1989.56 - - - 2350.12 - -82.73 - - 3105.94 - - - - - - - - - - -
10730.26 965.70 -6.89 1254 10734.99 roll -1.37 - - 1989.56 - 2.82 0.067 1212.00 -403.6 -82.73 - - 3106.31 - - - - - - - - - 16.22 -
10774.42 969.08 -7.37 1263 10780.43 roll -1.37 - - 1989.19 - 2.70 0.032 2348.62 421.0 -82.73 - - 3107.00 - - - - - - - - - 16.23 -
11090.33 989.60 -6.50 1295 11091.67 no move -1.37 - - 1989.62 - - - 2349.25 - -82.73 - - 3105.31 - - - - - - - - - - -
11099 end dive: TARGET_DEPTH_EXCEEDED
11099 begin apogee
11101.77 990.20 -6.41 1296 11167.31 -0.28 1.78 0.156 2253.00 148.0 0.21 0.135 2278.00 -339.3 - 61.49 2.400 2774.50 -5.4 0.366 - - - - - - 16.16 15.69 12.97
11169 end apogee: CONTROL_FINISHED_OK
11170 begin climb
11170.57 991.36 - 1302 11240.25 1.37 2.63 0.103 2655.31 153.0 - - 2278.56 - 82.73 65.05 2.336 2436.84 -5.2 0.363 - - - - - - 15.72 - 12.82
11543.76 961.61 9.05 1340 11545.09 no move 1.37 - - 2656.12 - - - 2278.12 - 82.73 - - 2430.19 - - - - - - - - - - -
11854.10 935.06 8.17 1371 11858.85 roll 1.37 - - 2655.25 - 2.95 0.076 1132.38 -388.4 82.73 - - 2431.78 - - - - - - - - - 15.91 -
11908.27 930.49 8.65 1382 11914.31 done 1.37 - - 2655.88 - 2.72 0.031 2270.44 418.4 82.73 - - 2429.88 - - - - - - - - - 15.93 -
12224.20 905.72 7.75 1414 12225.53 VBD 1.38 - - 2655.94 - - - 2269.88 - 82.73 - - 2428.28 - - - - - - - - - - -
12534.26 881.90 7.53 1445 12535.59 VBD 1.40 - - 2655.56 - - - 2270.19 - 82.73 - - 2428.16 - - - - - - - - - - -
12844.33 860.25 6.62 1476 12845.67 VBD 1.44 - - 2655.75 - - - 2269.38 - 82.73 - - 2427.84 - - - - - - - - - - -
13154.39 838.34 7.09 1507 13155.72 VBD 1.46 - - 2655.81 - - - 2269.31 - 82.73 - - 2427.38 - - - - - - - - - - -
13464.68 815.79 7.40 1538 13466.01 VBD 1.49 - - 2655.44 - - - 2270.50 - 82.73 - - 2426.88 - - - - - - - - - - -
13774.52 792.42 7.80 1569 13775.96 1.50 0.16 0.095 2699.31 274.2 - - 2269.50 - 82.73 - - 2426.16 - - - - - - - - 16.11 - -
14084.19 765.44 8.78 1600 14085.52 VBD 1.50 - - 2699.25 - - - 2270.12 - 82.73 - - 2427.09 - - - - - - - - - - -
14394.64 739.00 8.20 1631 14399.37 done 1.50 - - 2698.75 - 2.90 0.076 1131.38 -392.7 82.73 - - 2428.38 - - - - - - - - - 16.16 -
14464.68 732.44 9.01 1645 14469.43 done 1.50 - - 2699.69 - 2.71 0.032 2271.25 420.6 82.73 - - 2427.44 - - - - - - - - - 16.16 -
14774.73 707.58 7.51 1677 14779.42 done 1.52 - - 2699.06 - 2.79 0.094 3344.75 384.8 82.73 - - 2427.88 - - - - - - - - - 16.16 -
14844.34 701.45 9.19 1691 14849.43 done 1.52 - - 2699.50 - 2.64 0.026 2190.12 -437.4 82.73 - - 2427.50 - - - - - - - - - 16.17 -
15154.77 677.30 7.24 1723 15159.46 done 1.54 - - 2699.25 - 2.65 0.079 1132.50 -399.1 82.73 - - 2427.66 - - - - - - - - - 16.17 -
15238.93 670.16 8.02 1740 15244.96 done 1.54 - - 2699.06 - 2.70 0.032 2270.00 421.3 82.73 - - 2428.00 - - - - - - - - - 16.19 -
15554.83 646.07 7.42 1772 15556.16 VBD 1.56 - - 2699.19 - - - 2270.50 - 82.73 - - 2426.84 - - - - - - - - - - -
15864.85 621.36 8.45 1803 15866.18 VBD 1.56 - - 2698.81 - - - 2271.12 - 82.73 - - 2426.53 - - - - - - - - - - -
16174.91 597.20 7.75 1834 16176.25 VBD 1.58 - - 2699.44 - - - 2270.75 - 82.73 - - 2426.56 - - - - - - - - - - -
16484.93 572.28 8.44 1865 16486.26 VBD 1.58 - - 2699.19 - - - 2270.25 - 82.73 - - 2426.72 - - - - - - - - - - -
16794.99 547.89 7.52 1896 16799.72 done 1.60 - - 2699.31 - 2.88 0.075 1132.38 -395.1 82.73 - - 2428.78 - - - - - - - - - 16.19 -
16859.35 542.76 7.55 1909 16865.24 done 1.61 - - 2698.94 - 2.70 0.031 2271.12 421.8 82.73 - - 2427.19 - - - - - - - - - 16.20 -
17175.08 520.24 7.30 1941 17179.80 done 1.64 - - 2699.31 - 2.87 0.074 1132.50 -396.7 82.73 - - 2428.50 - - - - - - - - - 16.20 -
17284.75 511.64 7.75 1963 17289.82 done 1.65 - - 2699.62 - 2.69 0.031 2271.06 423.3 82.73 - - 2427.41 - - - - - - - - - 16.19 -
17595.19 490.26 7.08 1995 17599.98 1.68 0.17 0.092 2740.56 240.8 2.87 0.075 1131.50 -397.1 82.73 - - 2427.03 - - - - - - - - 16.18 16.19 -
17664.83 484.68 7.85 2009 17669.90 done 1.69 - - 2740.69 - 2.68 0.031 2271.38 425.3 82.73 - - 2428.41 - - - - - - - - - 16.21 -
17975.28 460.93 7.62 2041 17976.61 VBD 1.71 - - 2741.19 - - - 2271.88 - 82.73 - - 2426.69 - - - - - - - - - - -
18285.57 437.44 7.93 2072 18286.90 VBD 1.72 - - 2740.12 - - - 2271.12 - 82.73 - - 2426.56 - - - - - - - - - - -
18595.42 413.17 7.79 2103 18600.12 done 1.73 - - 2741.12 - 2.78 0.092 3345.19 386.4 82.73 - - 2427.12 - - - - - - - - - 16.18 -
18719.59 402.94 8.48 2128 18725.60 done 1.73 - - 2740.44 - 2.62 0.025 2188.50 -441.5 82.73 - - 2427.38 - - - - - - - - - 16.19 -
19035.76 381.39 6.64 2160 19040.20 done 1.77 - - 2740.44 - 2.64 0.078 1132.25 -400.1 82.73 - - 2427.94 - - - - - - - - - 16.20 -
19155.17 373.76 5.98 2184 19187.67 1.84 0.15 0.096 2781.56 274.1 2.68 0.030 2271.31 425.0 119.14 27.41 1.634 2286.56 -5.2 0.195 - - - - - - 16.16 16.21 12.90
19490.70 345.62 8.66 2221 19492.03 no move 1.84 - - 2781.12 - - - 2271.12 - 119.14 - - 2284.44 - - - - - - - - - - -
19801.16 316.88 9.31 2252 19802.49 no move 1.84 - - 2780.88 - - - 2271.69 - 119.14 - - 2284.31 - - - - - - - - - - -
20111.39 287.78 9.32 2283 20112.72 no move 1.84 - - 2781.44 - - - 2271.25 - 119.14 - - 2283.94 - - - - - - - - - - -
20421.46 259.86 8.92 2314 20426.02 roll 1.84 - - 2782.19 - 2.88 0.073 1131.19 -395.9 119.14 - - 2284.75 - - - - - - - - - 16.13 -
20465.45 255.65 9.46 2323 20471.46 roll 1.84 - - 2781.81 - 2.66 0.031 2270.81 428.4 119.14 - - 2285.00 - - - - - - - - - 16.14 -
20781.36 228.59 7.97 2355 20782.69 no move 1.84 - - 2782.56 - - - 2271.81 - 119.14 - - 2283.94 - - - - - - - - - - -
21091.42 201.82 8.48 2386 21092.75 no move 1.84 - - 2781.50 - - - 2271.56 - 119.14 - - 2284.00 - - - - - - - - - - -
21401.49 175.58 8.35 2417 21406.41 roll 1.84 - - 2781.44 - 2.88 0.072 1131.38 -395.9 119.14 - - 2284.72 - - - - - - - - - 16.15 -
21471.29 169.17 9.35 2431 21476.22 roll 1.84 - - 2781.88 - 2.67 0.030 2271.38 427.0 119.14 - - 2285.06 - - - - - - - - - 16.16 -
21781.58 144.66 7.46 2463 21782.92 no move 1.86 - - 2781.62 - - - 2271.12 - 119.14 - - 2283.94 - - - - - - - - - - -
22091.65 123.53 6.74 2494 22092.98 no move 1.90 - - 2781.75 - - - 2271.25 - 119.14 - - 2284.22 - - - - - - - - - - -
22401.71 107.51 3.90 2525 22458.17 2.03 0.18 0.085 2823.81 233.7 2.90 0.073 1132.69 -392.6 185.94 49.22 1.344 2015.44 -5.5 0.072 - - - - - - 16.15 15.88 13.04
22481.33 103.14 6.19 2541 22512.75 done 2.10 - - 2825.00 - 2.67 0.030 2271.81 426.6 219.21 26.41 1.271 1881.28 -5.1 0.068 - - - - - - - 15.96 12.85
22816.42 72.40 7.71 2607 22821.97 done 2.11 - - 2825.19 - 2.89 0.071 1132.81 -394.1 219.21 - - 1871.06 - - - - - - - - - 15.96 -
22876.41 68.20 7.08 2619 22881.95 done 2.14 - - 2825.31 - 2.66 0.029 2274.19 429.1 219.21 - - 1870.31 - - - - - - - - - 15.96 -
23066.50 57.43 5.82 2657 23103.03 2.22 0.20 0.077 2870.88 227.9 2.90 0.072 1131.38 -394.1 257.93 28.91 1.228 1722.72 -5.1 0.039 - - - - - - 15.98 15.82 12.87
23181.85 48.68 8.86 2680 23187.01 roll 2.22 - - 2871.12 - 2.67 0.029 2272.69 427.5 257.93 - - 1717.38 - - - - - - - - - 15.89 -
23371.49 33.05 8.01 2718 23372.82 no move 2.22 - - 2870.94 - - - 2273.19 - 257.93 - - 1715.38 - - - - - - - - - - -
23556.54 23.00 4.14 2755 23609.79 done 2.34 - - 2871.56 - 2.94 0.072 1132.19 -388.1 321.20 47.33 1.194 1464.62 -5.3 0.017 - - - - - - - 15.76 12.86
23702.99 11.98 9.71 2784 23708.36 roll 2.34 - - 2872.06 - 2.68 0.029 2271.69 425.2 321.20 - - 1459.44 - - - - - - - - - 15.84 -
23802 end climb: SURFACE_DEPTH_REACHED
23802 begin surface coast
23827 end surface coast: CONTROL_FINISHED_OK
23828 begin surface
SM 1.34 - - - - 182.0 40.26 1.162 1246.1 31.0 16.48 0.048 1220.4 74.1 - 0.14 0.114 1271.8 9065.1 -10.891 - - 12.80 15.86 15.89 -