NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 129 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 46.28 of 550.00 AH used of 24V (91.59% remains)
• Surface angle -63.8 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.92 (SM_CC=375)
• GPS1 time: 32 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
6.50 - - - 65.13 VBD -1.37 - - 179.38 - - - 2248.06 - -82.73 57.50 0.005 2617.78 - - - - - - - - - - 15.78
65.87 3.29 -3.66 11 103.21 -1.37 13.75 0.253 1989.00 131.6 2.60 0.070 1209.88 -399.3 -82.73 12.52 0.007 3112.25 39.5 -3.060 - - - - - - 15.73 15.75 15.79
141.19 17.83 -20.47 26 146.76 roll -1.37 - - 1988.19 - 2.74 0.031 2349.12 415.8 -82.73 - - 3113.22 - - - - - - - - - 15.86 -
331.65 52.18 -17.98 64 337.04 roll -1.37 - - 1987.69 - 2.84 0.061 1210.00 -401.1 -82.73 - - 3113.84 - - - - - - - - - 15.92 -
371.40 58.98 -17.01 72 376.86 roll -1.37 - - 1988.25 - 2.73 0.030 2348.31 417.0 -82.73 - - 3113.66 - - - - - - - - - 15.93 -
561.75 89.63 -14.42 110 565.33 no move -1.37 - - 1988.31 - - - 2347.94 - -82.73 - - 3113.59 - - - - - - - - - - -
746.56 111.70 -11.56 137 747.89 no move -1.37 - - 1988.69 - - - 2348.31 - -82.73 - - 3112.88 - - - - - - - - - - -
1056.86 145.84 -10.04 168 1061.53 roll -1.37 - - 1988.19 - 2.82 0.062 1210.06 -403.6 -82.73 - - 3113.72 - - - - - - - - - 16.04 -
1266.45 166.69 -9.38 210 1271.54 roll -1.37 - - 1988.81 - 2.67 0.030 2350.62 427.2 -82.73 - - 3114.75 - - - - - - - - - 16.05 -
1576.50 194.91 -9.73 242 1577.83 no move -1.37 - - 1988.50 - - - 2350.50 - -82.73 - - 3113.53 - - - - - - - - - - -
1886.92 224.84 -9.79 273 1888.24 no move -1.37 - - 1988.31 - - - 2350.38 - -82.73 - - 3113.91 - - - - - - - - - - -
2196.95 255.24 -9.47 304 2201.68 roll -1.37 - - 1988.44 - 2.83 0.062 1209.50 -403.1 -82.73 - - 3114.34 - - - - - - - - - 16.13 -
2336.59 270.34 -11.04 332 2341.68 roll -1.37 - - 1988.56 - 2.68 0.031 2349.25 425.3 -82.73 - - 3115.31 - - - - - - - - - 16.11 -
2646.66 302.08 -9.98 364 2647.99 no move -1.37 - - 1988.44 - - - 2349.75 - -82.73 - - 3113.31 - - - - - - - - - - -
2957.35 332.53 -9.80 395 2958.68 no move -1.37 - - 1988.94 - - - 2349.62 - -82.73 - - 3113.97 - - - - - - - - - - -
3267.17 361.73 -9.20 426 3271.89 roll -1.37 - - 1988.19 - 2.80 0.064 1209.94 -407.0 -82.73 - - 3114.44 - - - - - - - - - 16.17 -
3326.80 367.47 -9.69 438 3332.10 roll -1.37 - - 1988.50 - 2.68 0.031 2349.75 425.3 -82.73 - - 3114.97 - - - - - - - - - 16.17 -
3636.88 396.21 -9.14 470 3641.98 roll -1.37 - - 1989.12 - 2.81 0.064 1210.94 -405.3 -82.73 - - 3113.97 - - - - - - - - - 16.18 -
3686.88 401.12 -9.75 480 3691.96 roll -1.37 - - 1988.12 - 2.69 0.031 2350.69 423.7 -82.73 - - 3115.03 - - - - - - - - - 16.18 -
3996.95 429.25 -8.86 512 3998.28 no move -1.37 - - 1989.00 - - - 2350.44 - -82.73 - - 3112.81 - - - - - - - - - - -
4307.39 455.83 -8.32 543 4312.14 roll -1.37 - - 1987.25 - 2.82 0.064 1209.81 -404.5 -82.73 - - 3115.84 - - - - - - - - - 16.19 -
4367.02 461.30 -9.26 555 4372.13 roll -1.37 - - 1988.50 - 2.71 0.031 2348.75 420.3 -82.73 - - 3113.94 - - - - - - - - - 16.19 -
4677.48 489.24 -9.24 587 4678.81 no move -1.37 - - 1988.56 - - - 2349.19 - -82.73 - - 3112.41 - - - - - - - - - - -
4987.54 517.98 -9.54 618 4988.87 no move -1.37 - - 1988.44 - - - 2349.19 - -82.73 - - 3111.78 - - - - - - - - - - -
5297.61 546.30 -9.06 649 5298.94 no move -1.37 - - 1988.50 - - - 2349.06 - -82.73 - - 3111.94 - - - - - - - - - - -
5607.95 574.35 -9.08 680 5612.38 roll -1.37 - - 1988.06 - 2.79 0.066 1210.88 -407.9 -82.73 - - 3113.16 - - - - - - - - - 16.21 -
5687.31 581.95 -9.51 696 5692.41 roll -1.37 - - 1988.19 - 2.71 0.031 2350.25 420.4 -82.73 - - 3111.56 - - - - - - - - - 16.21 -
5997.74 609.47 -8.82 728 6002.45 roll -1.37 - - 1988.06 - 2.80 0.065 1209.50 -407.4 -82.73 - - 3111.97 - - - - - - - - - 16.22 -
6051.90 614.49 -9.37 739 6057.91 roll -1.37 - - 1988.56 - 2.70 0.031 2350.88 422.7 -82.73 - - 3112.44 - - - - - - - - - 16.22 -
6367.61 642.37 -8.36 771 6368.94 no move -1.37 - - 1988.38 - - - 2351.00 - -82.73 - - 3109.59 - - - - - - - - - - -
6677.82 668.48 -8.22 802 6682.53 roll -1.37 - - 1987.88 - 2.80 0.066 1209.81 -407.6 -82.73 - - 3112.56 - - - - - - - - - 16.22 -
6761.99 675.50 -8.09 819 6767.99 roll -1.37 - - 1988.06 - 2.70 0.031 2350.06 422.3 -82.73 - - 3110.72 - - - - - - - - - 16.23 -
7077.49 697.37 -6.85 851 7078.82 no move -1.37 - - 1987.94 - - - 2350.56 - -82.73 - - 3108.84 - - - - - - - - - - -
7387.91 721.77 -7.82 882 7392.61 roll -1.37 - - 1988.56 - 2.80 0.066 1210.12 -407.3 -82.73 - - 3110.06 - - - - - - - - - 16.22 -
7487.53 730.55 -8.72 902 7492.80 roll -1.37 - - 1987.94 - 2.69 0.032 2350.69 424.0 -82.73 - - 3109.28 - - - - - - - - - 16.22 -
7797.75 756.81 -8.43 934 7799.08 no move -1.37 - - 1988.50 - - - 2350.31 - -82.73 - - 3107.97 - - - - - - - - - - -
8107.99 784.95 -9.03 965 8109.32 no move -1.37 - - 1988.75 - - - 2350.81 - -82.73 - - 3108.03 - - - - - - - - - - -
8418.05 812.32 -8.30 996 8419.38 no move -1.37 - - 1988.44 - - - 2350.19 - -82.73 - - 3108.03 - - - - - - - - - - -
8728.12 836.27 -7.17 1027 8729.45 no move -1.37 - - 1987.88 - - - 2350.56 - -82.73 - - 3107.22 - - - - - - - - - - -
9038.19 858.32 -6.82 1058 9039.52 no move -1.37 - - 1988.19 - - - 2350.75 - -82.73 - - 3106.97 - - - - - - - - - - -
9348.25 879.52 -6.91 1089 9352.97 roll -1.37 - - 1988.25 - 2.81 0.067 1209.50 -406.1 -82.73 - - 3107.94 - - - - - - - - - 16.23 -
9442.43 886.44 -6.98 1108 9448.43 roll -1.37 - - 1988.31 - 2.68 0.032 2348.38 425.0 -82.73 - - 3107.69 - - - - - - - - - 16.22 -
9758.36 906.10 -6.09 1140 9763.05 roll -1.37 - - 1988.31 - 2.80 0.092 3425.62 384.7 -82.73 - - 3108.25 - - - - - - - - - 16.21 -
9787.96 908.44 -6.76 1146 9793.03 roll -1.37 - - 1988.44 - 2.60 0.024 2249.69 -452.3 -82.73 - - 3108.16 - - - - - - - - - 16.22 -
10098.43 927.38 -5.95 1178 10099.76 no move -1.37 - - 1988.19 - - - 2249.38 - -82.73 - - 3105.81 - - - - - - - - - - -
10408.49 947.01 -6.88 1209 10409.82 no move -1.37 - - 1988.50 - - - 2249.12 - -82.73 - - 3105.62 - - - - - - - - - - -
10718.75 967.44 -6.43 1240 10720.08 no move -1.37 - - 1988.44 - - - 2249.25 - -82.73 - - 3105.81 - - - - - - - - - - -
11028.61 989.37 -7.11 1271 11033.28 roll -1.37 - - 1988.75 - 2.57 0.072 1210.75 -404.1 -82.73 - - 3106.38 - - - - - - - - - 16.22 -
11037 end dive: TARGET_DEPTH_EXCEEDED
11038 begin apogee
11042.44 990.26 -7.35 1273 11109.82 -0.28 1.78 0.159 2253.31 148.6 0.12 0.198 2172.75 8016.7 - 61.38 2.397 2774.53 -5.4 0.368 - - - - - - 16.17 15.70 12.91
11119 end apogee: CONTROL_FINISHED_OK
11119 begin climb
11119.90 991.74 - 1280 11189.58 1.37 2.62 0.102 2654.94 153.3 - - 2172.50 - 82.73 64.93 2.335 2434.94 -5.2 0.366 - - - - - - 15.73 - 12.83
11492.96 963.13 9.05 1318 11494.29 no move 1.37 - - 2655.50 - - - 2172.06 - 82.73 - - 2430.19 - - - - - - - - - - -
11803.42 933.99 9.22 1349 11804.75 no move 1.37 - - 2655.19 - - - 2172.81 - 82.73 - - 2429.22 - - - - - - - - - - -
12113.48 904.72 9.23 1380 12114.81 VBD 1.37 - - 2654.69 - - - 2172.50 - 82.73 - - 2428.62 - - - - - - - - - - -
12423.55 876.76 8.56 1411 12428.50 done 1.37 - - 2655.31 - 3.08 0.088 3344.31 380.5 82.73 - - 2429.72 - - - - - - - - - 16.03 -
12527.85 866.53 8.88 1432 12533.74 done 1.37 - - 2655.06 - 2.64 0.025 2190.69 -437.0 82.73 - - 2429.94 - - - - - - - - - 16.04 -
12843.64 838.91 8.44 1464 12848.34 done 1.37 - - 2655.75 - 2.69 0.080 1132.50 -393.4 82.73 - - 2428.31 - - - - - - - - - 16.08 -
12887.81 834.64 8.70 1473 12893.84 done 1.37 - - 2655.25 - 2.72 0.031 2269.12 417.9 82.73 - - 2428.53 - - - - - - - - - 16.09 -
13203.73 808.12 8.28 1505 13205.06 VBD 1.37 - - 2655.62 - - - 2268.94 - 82.73 - - 2427.75 - - - - - - - - - - -
13513.77 784.02 7.71 1536 13515.11 VBD 1.38 - - 2655.19 - - - 2269.25 - 82.73 - - 2426.78 - - - - - - - - - - -
13823.81 760.14 7.43 1567 13825.15 VBD 1.40 - - 2655.25 - - - 2269.12 - 82.73 - - 2427.03 - - - - - - - - - - -
14133.84 738.18 7.01 1598 14135.17 VBD 1.43 - - 2655.31 - - - 2268.62 - 82.73 - - 2426.59 - - - - - - - - - - -
14443.87 717.46 6.27 1629 14474.98 1.50 0.16 0.096 2698.44 269.6 2.85 0.095 3345.38 377.8 114.84 25.07 1.981 2305.53 -4.8 0.288 - - - - - - 16.15 15.92 12.99
14498.02 712.92 8.35 1638 14504.03 roll 1.50 - - 2697.94 - 2.66 0.025 2192.38 -433.5 114.84 - - 2304.56 - - - - - - - - - 16.00 -
14814.14 684.26 8.97 1670 14818.60 roll 1.50 - - 2698.38 - 2.68 0.080 1132.50 -395.5 114.84 - - 2303.09 - - - - - - - - - 16.05 -
14898.07 676.12 9.52 1687 14904.09 roll 1.50 - - 2698.00 - 2.75 0.032 2269.69 413.5 114.84 - - 2304.00 - - - - - - - - - 16.07 -
15213.95 648.30 8.51 1719 15218.68 roll 1.50 - - 2697.50 - 2.88 0.076 1132.62 -394.8 114.84 - - 2303.66 - - - - - - - - - 16.10 -
15278.12 642.33 9.01 1732 15284.14 roll 1.50 - - 2698.06 - 2.72 0.032 2268.75 417.7 114.84 - - 2302.34 - - - - - - - - - 16.11 -
15594.02 615.67 8.88 1764 15598.74 roll 1.50 - - 2698.00 - 2.80 0.093 3344.44 384.2 114.84 - - 2302.53 - - - - - - - - - 16.11 -
15658.20 609.17 10.30 1777 15664.22 roll 1.50 - - 2698.12 - 2.64 0.026 2192.94 -436.2 114.84 - - 2301.97 - - - - - - - - - 16.11 -
15974.12 581.98 8.59 1809 15975.44 no move 1.50 - - 2697.69 - - - 2192.19 - 114.84 - - 2300.88 - - - - - - - - - - -
16284.18 554.57 8.93 1840 16285.51 no move 1.50 - - 2698.25 - - - 2193.00 - 114.84 - - 2300.75 - - - - - - - - - - -
16594.25 527.02 8.67 1871 16595.58 no move 1.50 - - 2698.00 - - - 2191.81 - 114.84 - - 2301.28 - - - - - - - - - - -
16904.32 500.88 8.56 1902 16909.26 roll 1.50 - - 2698.19 - 3.03 0.090 3345.12 380.6 114.84 - - 2301.28 - - - - - - - - - 16.15 -
16984.13 493.62 9.42 1918 16989.04 roll 1.50 - - 2697.62 - 2.63 0.026 2189.31 -439.5 114.84 - - 2302.97 - - - - - - - - - 16.16 -
17294.42 469.96 7.48 1950 17299.10 roll 1.52 - - 2697.62 - 2.64 0.080 1131.44 -400.7 114.84 - - 2302.53 - - - - - - - - - 16.16 -
17364.06 464.50 7.69 1964 17369.49 roll 1.53 - - 2698.12 - 2.71 0.031 2269.88 420.1 114.84 - - 2301.56 - - - - - - - - - 16.17 -
17674.50 440.41 8.42 1996 17679.21 roll 1.53 - - 2698.31 - 2.79 0.093 3345.56 385.5 114.84 - - 2302.31 - - - - - - - - - 16.17 -
17728.67 435.93 9.02 2007 17734.67 roll 1.53 - - 2698.62 - 2.62 0.026 2191.44 -440.5 114.84 - - 2300.97 - - - - - - - - - 16.18 -
18044.59 411.17 7.55 2039 18049.34 roll 1.55 - - 2698.00 - 3.02 0.089 3345.75 382.2 114.84 - - 2302.09 - - - - - - - - - 16.18 -
18108.75 405.61 8.70 2052 18114.77 roll 1.55 - - 2697.94 - 2.63 0.026 2191.94 -438.7 114.84 - - 2300.94 - - - - - - - - - 16.18 -
18424.69 382.03 7.48 2084 18426.01 no move 1.57 - - 2698.31 - - - 2192.06 - 114.84 - - 2300.47 - - - - - - - - - - -
18734.73 359.19 7.43 2115 18739.67 roll 1.59 - - 2698.50 - 3.01 0.089 3345.94 383.3 114.84 - - 2302.25 - - - - - - - - - 16.19 -
18814.52 352.68 8.02 2131 18819.43 roll 1.59 - - 2697.94 - 2.62 0.026 2190.69 -440.9 114.84 - - 2302.28 - - - - - - - - - 16.19 -
19124.96 332.41 6.33 2163 19150.92 VBD 1.65 - - 2697.25 - - - 2190.31 - 146.04 24.76 1.551 2180.72 -4.9 0.173 - - - - - - - - 12.99
19454.81 307.10 8.18 2196 19456.14 no move 1.65 - - 2698.81 - - - 2190.75 - 146.04 - - 2175.19 - - - - - - - - - - -
19764.85 280.01 8.77 2227 19766.18 no move 1.65 - - 2698.31 - - - 2190.19 - 146.04 - - 2174.62 - - - - - - - - - - -
20074.89 252.71 8.64 2258 20076.21 no move 1.65 - - 2698.06 - - - 2190.19 - 146.04 - - 2174.72 - - - - - - - - - - -
20385.11 227.00 7.87 2289 20386.44 no move 1.66 - - 2698.50 - - - 2190.00 - 146.04 - - 2174.34 - - - - - - - - - - -
20694.97 202.85 7.78 2320 20696.40 pitch 1.68 0.17 0.092 2735.88 219.9 - - 2188.94 - 146.04 - - 2176.38 - - - - - - - - 16.13 - -
21004.61 177.07 8.11 2351 21009.77 roll 1.68 - - 2738.62 - 3.01 0.088 3345.88 384.4 146.04 - - 2175.44 - - - - - - - - - 16.14 -
21084.65 169.91 9.19 2367 21089.74 roll 1.68 - - 2738.56 - 2.63 0.025 2190.38 -439.4 146.04 - - 2175.28 - - - - - - - - - 16.14 -
21395.12 145.34 7.27 2399 21400.00 roll 1.70 - - 2739.00 - 2.64 0.078 1132.38 -400.8 146.04 - - 2174.72 - - - - - - - - - 16.15 -
21564.78 131.55 9.02 2433 21569.89 roll 1.70 - - 2738.06 - 2.71 0.031 2269.69 419.7 146.04 - - 2174.84 - - - - - - - - - 16.15 -
21875.26 108.36 6.98 2465 21876.59 no move 1.73 - - 2738.50 - - - 2270.12 - 146.04 - - 2174.41 - - - - - - - - - - -
22179.98 91.24 4.87 2513 22226.71 1.84 0.16 0.091 2781.00 265.6 2.83 0.092 3344.31 379.6 198.65 39.34 1.304 1963.91 -5.4 0.062 - - - - - - 16.15 15.91 13.00
22370.32 77.60 6.89 2551 22375.69 roll 1.87 - - 2781.88 - 2.65 0.024 2186.69 -436.8 198.65 - - 1960.31 - - - - - - - - - 16.01 -
22560.22 70.63 3.48 2589 22621.85 2.01 0.17 0.090 2821.25 231.6 2.72 0.078 1132.88 -387.4 271.60 53.90 1.272 1666.53 -5.5 0.050 - - - - - - 16.01 15.76 12.87
22725.64 58.80 8.99 2622 22731.00 done 2.01 - - 2821.50 - 2.76 0.029 2271.50 412.5 271.60 - - 1659.41 - - - - - - - - - 15.87 -
22915.32 41.76 8.46 2660 22920.90 done 2.01 - - 2821.56 - 2.82 0.089 3345.88 381.0 271.60 - - 1657.16 - - - - - - - - - 15.90 -
22960.33 37.46 9.71 2669 22965.88 done 2.01 - - 2821.25 - 2.67 0.024 2190.00 -432.9 271.60 - - 1656.75 - - - - - - - - - 15.94 -
23150.38 23.28 5.86 2707 23186.51 done 2.09 - - 2821.75 - 3.03 0.086 3344.94 381.2 309.64 28.53 1.169 1511.97 -5.1 0.017 - - - - - - - 15.81 12.82
23395 end climb: SURFACE_DEPTH_REACHED
23395 begin surface coast
23405 end surface coast: CONTROL_FINISHED_OK
23405 begin surface
SM 1.89 - - - - 190.4 49.10 1.176 1246.6 24.8 16.10 0.046 1212.4 75.3 - 2.42 0.022 1280.8 528.0 -4.636 - - 12.86 15.93 15.94 -