NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 119 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 43.33 of 550.00 AH used of 24V (92.12% remains)
• Surface angle -65.2 deg, depth 1.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.85 (SM_CC=375)
• GPS1 time: 36 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.19 - - - 69.82 VBD -1.37 - - 183.19 - - - 2260.06 - -82.73 62.48 0.005 2762.53 - - - - - - - - - - 15.78
70.56 3.52 -4.01 12 103.65 -1.37 13.76 0.255 1988.81 131.2 2.98 0.086 3427.38 391.7 -82.73 8.39 0.007 3113.19 41.8 -3.465 - - - - - - 15.77 15.76 15.81
286.68 50.55 -19.25 55 292.43 roll -1.37 - - 1988.62 - 2.66 0.023 2261.06 -438.5 -82.73 - - 3114.00 - - - - - - - - - 15.90 -
477.33 81.00 -15.03 93 480.93 no move -1.37 - - 1988.81 - - - 2258.62 - -82.73 - - 3113.34 - - - - - - - - - - -
661.83 102.90 -11.57 128 663.16 no move -1.37 - - 1988.88 - - - 2258.62 - -82.73 - - 3113.06 - - - - - - - - - - -
972.26 135.35 -10.75 159 976.95 roll -1.37 - - 1988.19 - 2.64 0.068 1209.75 -397.3 -82.73 - - 3114.38 - - - - - - - - - 16.05 -
1046.42 143.38 -10.06 174 1052.43 roll -1.37 - - 1987.56 - 2.64 0.030 2354.81 433.7 -82.73 - - 3115.00 - - - - - - - - - 16.04 -
1361.94 173.62 -10.04 206 1367.01 roll -1.37 - - 1988.88 - 2.68 0.087 3426.06 399.7 -82.73 - - 3114.16 - - - - - - - - - 16.06 -
1391.92 177.03 -11.07 212 1397.01 roll -1.37 - - 1988.38 - 2.65 0.022 2254.00 -442.3 -82.73 - - 3113.50 - - - - - - - - - 16.07 -
1701.96 206.70 -9.27 244 1703.29 no move -1.37 - - 1989.12 - - - 2252.50 - -82.73 - - 3113.47 - - - - - - - - - - -
2012.38 239.34 -11.15 275 2017.07 roll -1.37 - - 1988.00 - 2.61 0.069 1210.44 -399.3 -82.73 - - 3114.16 - - - - - - - - - 16.12 -
2182.42 258.84 -11.27 309 2187.11 roll -1.37 - - 1988.06 - 2.62 0.031 2352.50 435.9 -82.73 - - 3114.28 - - - - - - - - - 16.13 -
2492.06 291.39 -10.30 341 2493.39 no move -1.37 - - 1988.94 - - - 2352.75 - -82.73 - - 3113.69 - - - - - - - - - - -
2802.73 323.39 -9.68 372 2804.06 no move -1.37 - - 1988.50 - - - 2353.31 - -82.73 - - 3113.47 - - - - - - - - - - -
3112.55 352.69 -9.75 403 3117.28 roll -1.37 - - 1987.69 - 2.87 0.064 1210.81 -398.1 -82.73 - - 3115.44 - - - - - - - - - 16.17 -
3156.72 356.98 -9.73 412 3162.74 roll -1.37 - - 1988.62 - 2.62 0.031 2353.12 436.0 -82.73 - - 3114.06 - - - - - - - - - 16.16 -
3472.25 385.73 -8.97 444 3473.58 no move -1.37 - - 1988.69 - - - 2352.69 - -82.73 - - 3113.19 - - - - - - - - - - -
3782.69 414.75 -9.20 475 3787.43 roll -1.37 - - 1988.44 - 2.85 0.064 1209.69 -401.1 -82.73 - - 3113.44 - - - - - - - - - 16.17 -
3866.87 422.96 -10.00 492 3872.88 roll -1.37 - - 1988.69 - 2.62 0.031 2352.62 436.2 -82.73 - - 3114.56 - - - - - - - - - 16.19 -
4182.40 451.63 -9.18 524 4187.48 roll -1.37 - - 1988.25 - 2.67 0.091 3427.12 402.4 -82.73 - - 3113.84 - - - - - - - - - 16.18 -
4236.95 457.31 -10.32 535 4242.96 roll -1.37 - - 1988.94 - 2.62 0.023 2253.12 -448.1 -82.73 - - 3112.75 - - - - - - - - - 16.20 -
4552.48 485.41 -8.50 567 4557.62 roll -1.37 - - 1988.88 - 2.92 0.087 3425.56 401.5 -82.73 - - 3112.50 - - - - - - - - - 16.18 -
4592.49 489.35 -9.84 575 4597.76 roll -1.37 - - 1989.62 - 2.62 0.024 2255.25 -446.7 -82.73 - - 3113.41 - - - - - - - - - 16.20 -
4902.73 514.92 -8.05 607 4907.69 roll -1.37 - - 1987.94 - 2.93 0.087 3426.75 399.8 -82.73 - - 3113.28 - - - - - - - - - 16.20 -
4952.56 519.79 -9.63 617 4957.65 roll -1.37 - - 1988.88 - 2.63 0.024 2255.38 -445.4 -82.73 - - 3113.09 - - - - - - - - - 16.21 -
5262.64 545.96 -8.96 649 5263.97 no move -1.37 - - 1989.69 - - - 2254.06 - -82.73 - - 3110.84 - - - - - - - - - - -
5573.08 572.04 -8.55 680 5574.41 no move -1.37 - - 1989.38 - - - 2254.19 - -82.73 - - 3110.44 - - - - - - - - - - -
5883.14 598.23 -8.14 711 5884.47 no move -1.37 - - 1989.31 - - - 2254.31 - -82.73 - - 3110.94 - - - - - - - - - - -
6193.21 622.46 -7.58 742 6197.91 roll -1.37 - - 1988.00 - 2.62 0.071 1212.19 -397.8 -82.73 - - 3111.91 - - - - - - - - - 16.22 -
6262.83 628.24 -8.39 756 6267.92 roll -1.37 - - 1987.81 - 2.63 0.032 2350.25 432.7 -82.73 - - 3111.38 - - - - - - - - - 16.22 -
6572.87 651.95 -7.59 788 6574.20 no move -1.37 - - 1989.75 - - - 2350.69 - -82.73 - - 3109.41 - - - - - - - - - - -
6883.29 675.11 -8.12 819 6884.62 no move -1.37 - - 1989.56 - - - 2350.00 - -82.73 - - 3108.81 - - - - - - - - - - -
7193.32 701.57 -8.70 850 7198.06 roll -1.37 - - 1989.00 - 2.87 0.066 1209.69 -397.3 -82.73 - - 3109.97 - - - - - - - - - 16.23 -
7282.95 710.10 -9.59 868 7288.21 roll -1.37 - - 1988.94 - 2.64 0.032 2351.38 432.5 -82.73 - - 3110.12 - - - - - - - - - 16.22 -
7593.10 736.92 -8.69 900 7594.43 no move -1.37 - - 1989.88 - - - 2351.69 - -82.73 - - 3108.03 - - - - - - - - - - -
7903.40 762.65 -8.45 931 7904.73 no move -1.37 - - 1990.06 - - - 2351.50 - -82.73 - - 3107.12 - - - - - - - - - - -
8213.43 786.91 -7.65 962 8218.16 roll -1.37 - - 1989.75 - 2.87 0.067 1210.94 -397.4 -82.73 - - 3108.94 - - - - - - - - - 16.23 -
8293.06 793.70 -8.82 978 8298.15 roll -1.37 - - 1989.56 - 2.63 0.032 2350.56 433.3 -82.73 - - 3107.62 - - - - - - - - - 16.23 -
8603.11 817.75 -7.31 1010 8604.44 no move -1.37 - - 1989.56 - - - 2350.56 - -82.73 - - 3107.31 - - - - - - - - - - -
8913.56 840.89 -7.19 1041 8918.29 roll -1.37 - - 1989.12 - 2.85 0.067 1211.00 -399.8 -82.73 - - 3107.28 - - - - - - - - - 16.22 -
9017.76 849.20 -7.97 1062 9023.77 roll -1.37 - - 1989.62 - 2.65 0.033 2350.56 430.0 -82.73 - - 3107.47 - - - - - - - - - 16.24 -
9333.68 871.18 -6.05 1094 9338.38 roll -1.37 - - 1989.06 - 2.71 0.094 3426.81 397.1 -82.73 - - 3108.09 - - - - - - - - - 16.21 -
9457.86 880.59 -7.39 1119 9463.87 roll -1.37 - - 1990.00 - 2.64 0.024 2254.38 -444.1 -82.73 - - 3107.03 - - - - - - - - - 16.23 -
9773.57 900.74 -6.58 1151 9778.53 roll -1.37 - - 1989.88 - 2.61 0.072 1210.88 -399.8 -82.73 - - 3108.03 - - - - - - - - - 16.23 -
9823.40 904.39 -7.28 1161 9828.49 roll -1.37 - - 1989.12 - 2.63 0.033 2351.94 433.9 -82.73 - - 3106.47 - - - - - - - - - 16.23 -
10133.85 925.68 -7.05 1193 10135.18 no move -1.37 - - 1989.12 - - - 2352.19 - -82.73 - - 3104.91 - - - - - - - - - - -
10444.09 948.69 -7.84 1224 10445.42 no move -1.37 - - 1989.50 - - - 2352.00 - -82.73 - - 3105.00 - - - - - - - - - - -
10753.98 971.80 -7.46 1255 10758.72 roll -1.37 - - 1989.31 - 2.86 0.067 1210.75 -399.0 -82.73 - - 3107.69 - - - - - - - - - 16.23 -
10793.61 975.02 -8.06 1263 10798.69 roll -1.37 - - 1988.25 - 2.64 0.032 2351.31 432.0 -82.73 - - 3106.56 - - - - - - - - - 16.23 -
11003 end dive: TARGET_DEPTH_EXCEEDED
11004 begin apogee
11005.49 990.05 -7.37 1285 11071.00 -0.28 1.76 0.152 2254.44 151.2 0.20 0.144 2280.69 -353.1 - 61.14 2.396 2773.09 -5.5 0.372 - - - - - - 16.17 15.70 12.91
11080 end apogee: CONTROL_FINISHED_OK
11081 begin climb
11081.07 991.41 - 1291 11150.76 1.37 2.62 0.104 2652.75 152.0 - - 2280.38 - 82.73 64.56 2.332 2437.38 -5.2 0.364 - - - - - - 15.74 - 12.83
11454.14 965.04 8.06 1329 11455.46 no move 1.37 - - 2654.81 - - - 2280.88 - 82.73 - - 2430.34 - - - - - - - - - - -
11764.60 940.93 7.96 1360 11765.93 no move 1.38 - - 2654.62 - - - 2281.06 - 82.73 - - 2430.72 - - - - - - - - - - -
12074.65 915.41 8.45 1391 12075.98 no move 1.38 - - 2655.50 - - - 2280.31 - 82.73 - - 2429.47 - - - - - - - - - - -
12384.72 888.50 9.08 1422 12389.46 roll 1.38 - - 2655.00 - 2.95 0.077 1131.25 -389.5 82.73 - - 2430.00 - - - - - - - - - 16.04 -
12458.89 881.38 9.97 1437 12464.90 done 1.38 - - 2655.19 - 2.67 0.033 2271.38 427.0 82.73 - - 2429.38 - - - - - - - - - 16.04 -
12774.80 854.14 8.71 1469 12779.51 done 1.38 - - 2656.19 - 2.76 0.094 3345.31 389.1 82.73 - - 2429.03 - - - - - - - - - 16.07 -
12828.96 848.80 9.98 1480 12834.97 done 1.38 - - 2655.56 - 2.67 0.026 2191.50 -432.1 82.73 - - 2430.72 - - - - - - - - - 16.07 -
13144.89 822.40 8.73 1512 13146.22 VBD 1.38 - - 2655.31 - - - 2191.00 - 82.73 - - 2427.19 - - - - - - - - - - -
13454.96 797.59 7.26 1543 13456.29 VBD 1.40 - - 2655.81 - - - 2191.12 - 82.73 - - 2427.44 - - - - - - - - - - -
13765.02 776.87 6.81 1574 13766.36 VBD 1.43 - - 2655.31 - - - 2191.62 - 82.73 - - 2427.91 - - - - - - - - - - -
14075.28 757.50 6.77 1605 14079.88 done 1.47 - - 2653.56 - 2.96 0.090 3346.12 390.0 82.73 - - 2429.56 - - - - - - - - - 16.14 -
14179.28 750.09 7.02 1626 14185.34 1.50 0.17 0.099 2698.25 262.9 2.67 0.026 2191.12 -432.6 82.73 - - 2428.19 - - - - - - - - 16.12 16.16 -
14494.78 726.60 8.21 1658 14499.88 done 1.50 - - 2697.38 - 2.71 0.080 1132.25 -390.7 82.73 - - 2428.28 - - - - - - - - - 16.15 -
14574.81 719.37 9.03 1674 14579.90 done 1.50 - - 2698.19 - 2.65 0.033 2272.44 430.3 82.73 - - 2428.62 - - - - - - - - - 16.16 -
14885.24 692.84 8.58 1706 14889.95 done 1.50 - - 2698.12 - 2.73 0.094 3346.12 393.3 82.73 - - 2428.41 - - - - - - - - - 16.15 -
15004.88 681.31 10.10 1730 15009.97 done 1.50 - - 2697.94 - 2.66 0.027 2192.69 -433.6 82.73 - - 2428.28 - - - - - - - - - 16.16 -
15315.30 653.08 8.71 1762 15316.64 VBD 1.50 - - 2697.94 - - - 2193.00 - 82.73 - - 2427.84 - - - - - - - - - - -
15625.36 627.23 7.90 1793 15630.05 done 1.51 - - 2696.88 - 2.69 0.080 1131.50 -394.6 82.73 - - 2429.47 - - - - - - - - - 16.18 -
15759.52 616.05 8.23 1820 15765.70 done 1.51 - - 2696.75 - 2.64 0.033 2271.06 431.7 82.73 - - 2427.84 - - - - - - - - - 16.20 -
16075.53 593.00 7.29 1852 16080.09 done 1.53 - - 2697.88 - 2.70 0.094 3344.94 397.7 82.73 - - 2427.88 - - - - - - - - - 16.18 -
16299.60 575.45 8.04 1897 16305.61 done 1.53 - - 2698.00 - 2.65 0.026 2192.75 -434.8 82.73 - - 2429.06 - - - - - - - - - 16.19 -
16615.50 553.82 6.55 1929 16616.83 VBD 1.57 - - 2697.81 - - - 2192.44 - 82.73 - - 2426.41 - - - - - - - - - - -
16925.58 533.06 6.81 1960 16926.91 VBD 1.60 - - 2698.19 - - - 2192.50 - 82.73 - - 2427.19 - - - - - - - - - - -
17235.65 511.75 7.07 1991 17236.98 VBD 1.63 - - 2697.88 - - - 2193.00 - 82.73 - - 2426.69 - - - - - - - - - - -
17545.71 490.03 7.12 2022 17547.04 VBD 1.66 - - 2697.44 - - - 2192.31 - 82.73 - - 2426.81 - - - - - - - - - - -
17855.78 468.37 7.01 2053 17857.21 1.69 0.19 0.088 2740.44 226.3 - - 2191.38 - 82.73 - - 2428.66 - - - - - - - - 16.19 - -
18165.45 446.03 7.02 2084 18166.78 VBD 1.71 - - 2741.31 - - - 2191.19 - 82.73 - - 2427.03 - - - - - - - - - - -
18475.91 425.58 6.25 2115 18506.96 done 1.78 - - 2740.94 - 2.94 0.092 3347.75 393.4 115.07 24.51 1.659 2306.09 -4.9 0.209 - - - - - - - 15.99 13.04
18585.54 417.01 8.94 2137 18590.81 roll 1.78 - - 2739.06 - 2.70 0.026 2192.31 -427.9 115.07 - - 2303.00 - - - - - - - - - 16.08 -
18896.11 392.69 7.88 2169 18897.44 no move 1.79 - - 2740.88 - - - 2191.50 - 115.07 - - 2301.22 - - - - - - - - - - -
19206.06 368.54 7.81 2200 19210.80 roll 1.80 - - 2740.06 - 2.94 0.089 3346.38 392.8 115.07 - - 2301.38 - - - - - - - - - 16.12 -
19290.23 360.99 9.42 2217 19296.25 roll 1.80 - - 2741.00 - 2.66 0.026 2192.50 -433.8 115.07 - - 2301.34 - - - - - - - - - 16.14 -
19606.15 335.03 7.92 2249 19607.49 no move 1.81 - - 2740.88 - - - 2192.81 - 115.07 - - 2300.78 - - - - - - - - - - -
19916.43 307.63 8.89 2280 19917.76 no move 1.81 - - 2740.88 - - - 2192.88 - 115.07 - - 2300.81 - - - - - - - - - - -
20226.25 279.59 8.82 2311 20230.99 roll 1.81 - - 2741.12 - 2.92 0.088 3345.56 394.8 115.07 - - 2302.47 - - - - - - - - - 16.16 -
20280.41 274.45 9.70 2322 20286.42 roll 1.81 - - 2741.12 - 2.64 0.026 2190.81 -437.4 115.07 - - 2301.03 - - - - - - - - - 16.17 -
20596.47 247.25 8.09 2354 20601.04 roll 1.81 - - 2741.25 - 2.94 0.088 3346.50 393.1 115.07 - - 2302.41 - - - - - - - - - 16.14 -
20690.47 239.38 8.36 2373 20696.47 roll 1.81 - - 2740.25 - 2.64 0.026 2191.06 -437.7 115.07 - - 2302.16 - - - - - - - - - 16.16 -
21006.61 216.53 6.82 2405 21008.04 pitch 1.85 0.16 0.094 2781.81 259.7 - - 2191.88 - 115.07 - - 2300.72 - - - - - - - - 16.15 - -
21315.99 191.82 7.98 2436 21321.13 roll 1.85 - - 2780.88 - 2.92 0.086 3346.00 395.2 115.07 - - 2302.69 - - - - - - - - - 16.15 -
21376.00 186.62 8.66 2448 21381.09 roll 1.85 - - 2782.06 - 2.65 0.025 2188.62 -436.7 115.07 - - 2302.81 - - - - - - - - - 16.16 -
21686.44 163.44 6.35 2480 21711.57 VBD 1.91 - - 2779.94 - - - 2189.31 - 146.04 24.10 1.367 2178.78 -5.1 0.101 - - - - - - - - 12.99
22016.48 138.66 7.22 2513 22017.81 no move 1.93 - - 2782.25 - - - 2188.88 - 146.04 - - 2175.16 - - - - - - - - - - -
22326.53 112.83 7.90 2544 22327.86 no move 1.95 - - 2782.25 - - - 2189.06 - 146.04 - - 2174.97 - - - - - - - - - - -
22631.23 89.30 7.30 2588 22636.76 roll 1.97 - - 2782.44 - 2.67 0.077 1132.38 -395.8 146.04 - - 2175.12 - - - - - - - - - 16.12 -
22681.26 85.48 7.70 2598 22686.78 roll 1.98 - - 2781.44 - 2.64 0.030 2274.06 432.5 146.04 - - 2176.22 - - - - - - - - - 16.11 -
22871.32 77.78 3.10 2636 22935.08 2.14 0.35 0.068 2852.38 202.7 2.73 0.090 3346.06 392.7 224.54 57.53 1.296 1858.47 -5.5 0.055 - - - - - - 16.11 15.81 12.98
23138.25 53.39 9.73 2689 23143.80 done 2.14 - - 2853.69 - 2.69 0.024 2190.00 -429.8 224.54 - - 1851.19 - - - - - - - - - 15.95 -
23328.34 39.65 6.89 2727 23329.67 VBD 2.17 - - 2853.88 - - - 2190.12 - 224.54 - - 1848.16 - - - - - - - - - - -
23513.41 29.40 4.72 2764 23560.13 done 2.28 - - 2854.50 - 2.98 0.085 3346.56 388.1 279.37 40.03 1.199 1635.28 -5.3 0.021 - - - - - - - 15.80 12.91
23648.45 22.30 5.47 2791 23689.34 2.37 0.25 0.079 2904.75 201.0 2.69 0.024 2184.00 -432.2 323.17 33.71 1.163 1456.56 -5.3 0.017 - - - - - - 15.88 15.89 12.88
23873.52 3.52 10.91 2836 23879.06 done 2.37 - - 2905.06 - 2.69 0.078 1133.81 -390.4 323.17 - - 1449.22 - - - - - - - - - 15.87 -
23888 end climb: SURFACE_DEPTH_REACHED
23888 begin surface coast
23908 end surface coast: CONTROL_FINISHED_OK
23909 begin surface
SM 1.97 - - - - 184.2 38.59 1.158 1246.9 32.3 16.75 0.052 1229.5 73.4 - 2.83 0.031 1264.2 445.8 -2.895 - - 12.88 15.86 15.88 -