NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 138 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 48.89 of 550.00 AH used of 24V (91.11% remains)
• Surface angle -59.5 deg, depth 1.44 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.09 (SM_CC=375)
• GPS1 time: 67 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
6.24 - - - 64.92 VBD -1.37 - - 181.94 - - - 2246.25 - -82.73 57.53 0.005 2631.50 - - - - - - - - - - 15.77
65.67 3.51 -3.69 11 99.73 -1.37 13.68 0.250 1989.69 132.1 2.62 0.073 1211.19 -395.1 -82.73 11.95 0.007 3111.16 40.1 -3.320 - - - - - - 15.72 15.75 15.77
197.91 30.23 -18.70 37 203.31 roll -1.37 - - 1989.50 - 2.71 0.032 2347.75 419.4 -82.73 - - 3113.22 - - - - - - - - - 15.88 -
388.18 62.83 -17.17 75 391.77 no move -1.37 - - 1989.62 - - - 2348.25 - -82.73 - - 3113.16 - - - - - - - - - - -
573.52 90.96 -13.52 112 577.11 no move -1.37 - - 1989.56 - - - 2347.94 - -82.73 - - 3113.22 - - - - - - - - - - -
762.94 110.09 -8.66 139 768.05 roll -1.37 - - 1989.25 - 2.85 0.061 1209.88 -399.3 -82.73 - - 3113.09 - - - - - - - - - 16.00 -
867.51 120.41 -9.90 160 873.52 roll -1.37 - - 1989.50 - 2.66 0.029 2352.62 429.6 -82.73 - - 3113.12 - - - - - - - - - 16.03 -
1183.00 151.80 -10.07 192 1188.11 roll -1.37 - - 1988.69 - 2.86 0.061 1209.62 -399.7 -82.73 - - 3115.41 - - - - - - - - - 16.05 -
1263.01 159.98 -10.11 208 1268.10 roll -1.37 - - 1989.81 - 2.67 0.029 2352.75 428.1 -82.73 - - 3113.66 - - - - - - - - - 16.07 -
1573.06 188.54 -9.13 240 1574.38 no move -1.37 - - 1990.06 - - - 2352.88 - -82.73 - - 3113.38 - - - - - - - - - - -
1883.47 217.57 -8.89 271 1888.20 roll -1.37 - - 1989.62 - 2.86 0.061 1209.75 -399.7 -82.73 - - 3114.84 - - - - - - - - - 16.11 -
1947.63 223.75 -9.65 284 1953.64 roll -1.37 - - 1989.56 - 2.65 0.029 2351.81 431.0 -82.73 - - 3114.16 - - - - - - - - - 16.11 -
2263.13 253.89 -10.06 316 2268.24 roll -1.37 - - 1989.88 - 2.85 0.061 1211.12 -400.2 -82.73 - - 3114.00 - - - - - - - - - 16.12 -
2363.15 264.38 -10.61 336 2368.42 roll -1.37 - - 1989.62 - 2.65 0.030 2352.06 430.5 -82.73 - - 3115.09 - - - - - - - - - 16.14 -
2673.31 294.45 -9.75 368 2678.30 roll -1.37 - - 1990.00 - 2.86 0.062 1210.88 -399.0 -82.73 - - 3114.78 - - - - - - - - - 16.13 -
2763.20 303.36 -10.31 386 2768.29 roll -1.37 - - 1989.38 - 2.65 0.031 2351.25 430.3 -82.73 - - 3115.16 - - - - - - - - - 16.14 -
3073.27 331.11 -8.40 418 3074.60 no move -1.37 - - 1990.06 - - - 2351.75 - -82.73 - - 3113.72 - - - - - - - - - - -
3383.71 358.33 -9.20 449 3385.04 no move -1.37 - - 1989.38 - - - 2351.88 - -82.73 - - 3113.41 - - - - - - - - - - -
3693.77 387.51 -9.62 480 3695.10 no move -1.37 - - 1989.44 - - - 2351.50 - -82.73 - - 3113.28 - - - - - - - - - - -
4003.83 417.27 -9.93 511 4005.16 no move -1.37 - - 1989.31 - - - 2352.06 - -82.73 - - 3112.66 - - - - - - - - - - -
4313.89 447.38 -9.79 542 4318.62 roll -1.37 - - 1989.94 - 2.82 0.064 1209.75 -405.1 -82.73 - - 3113.28 - - - - - - - - - 16.19 -
4398.06 456.05 -10.33 559 4404.07 roll -1.37 - - 1988.88 - 2.65 0.031 2351.88 431.0 -82.73 - - 3114.12 - - - - - - - - - 16.18 -
4713.60 486.96 -9.59 591 4714.93 no move -1.37 - - 1989.94 - - - 2351.88 - -82.73 - - 3112.12 - - - - - - - - - - -
5024.04 515.70 -9.08 622 5028.77 roll -1.37 - - 1989.38 - 2.84 0.065 1210.81 -401.8 -82.73 - - 3112.22 - - - - - - - - - 16.20 -
5088.39 521.83 -9.46 635 5094.28 roll -1.37 - - 1989.69 - 2.66 0.032 2352.12 429.1 -82.73 - - 3111.47 - - - - - - - - - 16.20 -
5403.75 547.66 -7.69 667 5405.07 no move -1.37 - - 1989.38 - - - 2351.94 - -82.73 - - 3111.22 - - - - - - - - - - -
5714.19 571.05 -7.30 698 5718.92 roll -1.37 - - 1989.94 - 2.83 0.065 1209.88 -403.6 -82.73 - - 3111.09 - - - - - - - - - 16.20 -
5803.83 578.10 -7.84 716 5808.91 roll -1.37 - - 1989.75 - 2.65 0.032 2350.31 430.4 -82.73 - - 3111.09 - - - - - - - - - 16.22 -
6113.90 601.28 -7.81 748 6115.23 no move -1.37 - - 1989.56 - - - 2350.31 - -82.73 - - 3109.31 - - - - - - - - - - -
6424.33 626.73 -8.63 779 6425.66 no move -1.37 - - 1989.75 - - - 2350.50 - -82.73 - - 3108.75 - - - - - - - - - - -
6734.37 654.03 -8.69 810 6739.10 roll -1.37 - - 1990.12 - 2.83 0.065 1209.69 -403.1 -82.73 - - 3110.41 - - - - - - - - - 16.23 -
6898.94 669.51 -9.09 843 6904.56 roll -1.37 - - 1989.62 - 2.67 0.032 2349.25 426.8 -82.73 - - 3109.09 - - - - - - - - - 16.22 -
7214.05 696.51 -8.07 875 7219.16 roll -1.37 - - 1989.75 - 2.83 0.065 1210.56 -402.4 -82.73 - - 3109.41 - - - - - - - - - 16.22 -
7274.06 701.83 -8.86 887 7279.14 roll -1.37 - - 1988.75 - 2.67 0.032 2350.75 427.0 -82.73 - - 3109.81 - - - - - - - - - 16.22 -
7584.28 726.43 -7.48 919 7589.26 roll -1.37 - - 1989.81 - 2.76 0.094 3424.31 389.0 -82.73 - - 3108.41 - - - - - - - - - 16.20 -
7668.65 733.91 -8.71 936 7674.66 roll -1.37 - - 1990.31 - 2.63 0.024 2254.00 -445.0 -82.73 - - 3108.25 - - - - - - - - - 16.22 -
7984.14 757.36 -7.75 968 7985.47 no move -1.37 - - 1989.69 - - - 2253.38 - -82.73 - - 3107.12 - - - - - - - - - - -
8294.56 781.64 -8.27 999 8295.89 no move -1.37 - - 1989.88 - - - 2253.75 - -82.73 - - 3106.44 - - - - - - - - - - -
8604.60 806.66 -8.00 1030 8605.93 no move -1.37 - - 1989.62 - - - 2253.94 - -82.73 - - 3106.75 - - - - - - - - - - -
8914.68 831.52 -8.27 1061 8916.00 no move -1.37 - - 1989.44 - - - 2253.38 - -82.73 - - 3106.66 - - - - - - - - - - -
9224.73 856.64 -8.21 1092 9226.06 no move -1.37 - - 1989.38 - - - 2253.88 - -82.73 - - 3105.97 - - - - - - - - - - -
9534.79 880.07 -7.73 1123 9536.12 no move -1.37 - - 1989.31 - - - 2253.81 - -82.73 - - 3105.41 - - - - - - - - - - -
9844.86 901.98 -6.63 1154 9849.63 roll -1.37 - - 1989.50 - 3.02 0.089 3425.69 388.0 -82.73 - - 3106.31 - - - - - - - - - 16.22 -
9904.49 906.82 -8.10 1166 9909.57 roll -1.37 - - 1989.19 - 2.62 0.024 2254.06 -447.2 -82.73 - - 3107.25 - - - - - - - - - 16.23 -
10214.94 927.01 -6.58 1198 10219.63 roll -1.37 - - 1989.00 - 2.56 0.072 1211.25 -407.3 -82.73 - - 3107.66 - - - - - - - - - 16.22 -
10269.29 930.86 -7.69 1209 10275.19 roll -1.37 - - 1990.50 - 2.67 0.032 2349.06 426.1 -82.73 - - 3106.19 - - - - - - - - - 16.22 -
10585.21 950.31 -6.31 1241 10586.54 no move -1.37 - - 1990.25 - - - 2348.62 - -82.73 - - 3104.75 - - - - - - - - - - -
10895.11 969.53 -6.22 1272 10896.44 no move -1.37 - - 1989.94 - - - 2349.69 - -82.73 - - 3104.47 - - - - - - - - - - -
11205.16 988.82 -6.46 1303 11206.49 no move -1.37 - - 1990.31 - - - 2348.75 - -82.73 - - 3104.72 - - - - - - - - - - -
11224 end dive: TARGET_DEPTH_EXCEEDED
11225 begin apogee
11226.60 990.07 -6.43 1305 11292.12 -0.28 1.77 0.156 2253.62 148.8 0.20 0.137 2278.25 -352.5 - 61.42 2.399 2774.56 -5.4 0.366 - - - - - - 16.16 15.69 12.94
11293 end apogee: CONTROL_FINISHED_OK
11293 begin climb
11294.06 990.99 - 1311 11363.74 1.37 2.63 0.102 2655.81 152.9 - - 2277.94 - 82.73 64.95 2.326 2435.66 -5.2 0.367 - - - - - - 15.72 - 12.85
11667.10 961.19 8.61 1349 11668.42 no move 1.37 - - 2655.56 - - - 2277.62 - 82.73 - - 2429.94 - - - - - - - - - - -
11977.52 936.21 8.10 1380 11978.85 no move 1.37 - - 2655.81 - - - 2277.50 - 82.73 - - 2429.88 - - - - - - - - - - -
12287.58 912.16 7.61 1411 12288.91 VBD 1.38 - - 2655.38 - - - 2277.94 - 82.73 - - 2429.22 - - - - - - - - - - -
12597.86 888.90 7.63 1442 12599.19 VBD 1.40 - - 2656.12 - - - 2278.00 - 82.73 - - 2428.84 - - - - - - - - - - -
12907.67 865.81 7.60 1473 12909.00 VBD 1.42 - - 2655.50 - - - 2277.50 - 82.73 - - 2428.59 - - - - - - - - - - -
13217.74 841.52 7.95 1504 13219.07 VBD 1.43 - - 2656.06 - - - 2278.00 - 82.73 - - 2427.97 - - - - - - - - - - -
13527.81 817.78 7.44 1535 13532.53 done 1.45 - - 2655.81 - 2.89 0.077 1132.62 -396.3 82.73 - - 2428.19 - - - - - - - - - 16.12 -
13587.43 812.94 7.75 1547 13592.52 done 1.46 - - 2655.38 - 2.68 0.031 2271.25 424.9 82.73 - - 2428.12 - - - - - - - - - 16.11 -
13897.89 790.65 6.73 1579 13899.33 1.50 0.16 0.097 2697.00 260.1 - - 2271.38 - 82.73 - - 2426.72 - - - - - - - - 16.11 - -
14207.56 768.29 6.93 1610 14208.90 VBD 1.53 - - 2698.19 - - - 2271.19 - 82.73 - - 2426.97 - - - - - - - - - - -
14518.02 747.80 6.70 1641 14519.36 VBD 1.56 - - 2697.69 - - - 2271.44 - 82.73 - - 2427.16 - - - - - - - - - - -
14828.08 726.34 7.19 1672 14832.79 done 1.59 - - 2698.81 - 2.77 0.093 3343.88 387.2 82.73 - - 2428.41 - - - - - - - - - 16.15 -
14937.72 717.13 8.81 1694 14942.80 done 1.59 - - 2699.38 - 2.62 0.026 2189.88 -440.5 82.73 - - 2428.06 - - - - - - - - - 16.17 -
15248.17 691.80 8.34 1726 15253.05 done 1.59 - - 2698.44 - 2.63 0.080 1131.12 -402.6 82.73 - - 2427.62 - - - - - - - - - 16.16 -
15362.53 680.88 9.80 1749 15368.36 done 1.59 - - 2698.88 - 2.70 0.031 2270.88 422.1 82.73 - - 2428.56 - - - - - - - - - 16.19 -
15678.27 655.39 8.00 1781 15679.61 VBD 1.59 - - 2699.06 - - - 2271.44 - 82.73 - - 2426.94 - - - - - - - - - - -
15988.35 630.85 7.91 1812 15993.07 done 1.60 - - 2698.88 - 2.86 0.075 1131.25 -398.7 82.73 - - 2428.59 - - - - - - - - - 16.18 -
16182.55 614.80 7.95 1851 16188.54 done 1.61 - - 2698.62 - 2.67 0.031 2271.31 427.0 82.73 - - 2428.97 - - - - - - - - - 16.19 -
16498.42 592.30 7.19 1883 16499.76 VBD 1.64 - - 2699.38 - - - 2271.12 - 82.73 - - 2426.69 - - - - - - - - - - -
16808.47 570.80 6.93 1914 16809.90 1.67 0.16 0.092 2737.69 239.4 - - 2271.25 - 82.73 - - 2426.06 - - - - - - - - 16.18 - -
17118.12 546.76 7.67 1945 17119.45 VBD 1.68 - - 2737.69 - - - 2271.44 - 82.73 - - 2426.97 - - - - - - - - - - -
17428.52 522.17 8.14 1976 17429.85 VBD 1.68 - - 2737.81 - - - 2271.62 - 82.73 - - 2426.97 - - - - - - - - - - -
17738.58 498.53 7.68 2007 17739.91 VBD 1.70 - - 2737.81 - - - 2271.56 - 82.73 - - 2426.91 - - - - - - - - - - -
18048.62 475.25 7.55 2038 18049.96 VBD 1.72 - - 2738.06 - - - 2271.19 - 82.73 - - 2426.84 - - - - - - - - - - -
18358.93 453.77 6.17 2069 18388.09 VBD 1.78 - - 2738.75 - - - 2271.19 - 116.28 25.62 1.711 2300.28 -4.9 0.216 - - - - - - - - 12.99
18698.74 426.20 8.34 2103 18703.47 roll 1.78 - - 2738.38 - 2.89 0.076 1131.94 -394.2 116.28 - - 2296.75 - - - - - - - - - 16.09 -
18822.94 414.50 9.37 2128 18828.95 roll 1.78 - - 2738.88 - 2.69 0.031 2271.06 423.5 116.28 - - 2295.84 - - - - - - - - - 16.11 -
19138.85 386.81 9.17 2160 19140.17 no move 1.78 - - 2738.06 - - - 2271.38 - 116.28 - - 2295.09 - - - - - - - - - - -
19448.91 359.98 8.65 2191 19453.63 roll 1.78 - - 2738.38 - 2.78 0.091 3345.50 386.4 116.28 - - 2295.81 - - - - - - - - - 16.12 -
19543.10 351.22 9.37 2210 19549.10 roll 1.78 - - 2737.38 - 2.64 0.025 2188.81 -438.1 116.28 - - 2297.88 - - - - - - - - - 16.14 -
19859.01 325.97 7.99 2242 19860.34 no move 1.78 - - 2738.44 - - - 2189.62 - 116.28 - - 2294.88 - - - - - - - - - - -
20169.07 302.00 8.06 2273 20173.77 roll 1.78 - - 2738.31 - 2.65 0.079 1132.31 -399.0 116.28 - - 2296.59 - - - - - - - - - 16.14 -
20248.71 295.09 8.51 2289 20253.80 roll 1.78 - - 2738.56 - 2.68 0.031 2271.50 425.1 116.28 - - 2296.41 - - - - - - - - - 16.15 -
20559.31 270.81 7.84 2321 20560.64 no move 1.80 - - 2738.38 - - - 2272.50 - 116.28 - - 2295.12 - - - - - - - - - - -
20869.23 246.32 7.98 2352 20873.94 roll 1.80 - - 2738.12 - 2.76 0.091 3345.62 388.8 116.28 - - 2296.72 - - - - - - - - - 16.15 -
21033.82 231.67 9.09 2385 21039.44 roll 1.80 - - 2738.62 - 2.64 0.025 2189.56 -437.9 116.28 - - 2296.25 - - - - - - - - - 16.16 -
21349.35 208.60 7.13 2417 21350.68 no move 1.82 - - 2738.94 - - - 2189.44 - 116.28 - - 2295.12 - - - - - - - - - - -
21659.38 187.38 6.78 2448 21660.81 pitch 1.86 0.19 0.082 2784.25 238.5 - - 2188.88 - 116.28 - - 2295.00 - - - - - - - - 16.15 - -
21969.03 164.88 7.17 2479 21974.15 roll 1.88 - - 2784.25 - 2.98 0.085 3345.69 388.2 116.28 - - 2296.75 - - - - - - - - - 16.15 -
21993.58 163.01 7.16 2484 21999.57 roll 1.91 - - 2784.81 - 2.63 0.024 2188.75 -439.9 116.28 - - 2296.97 - - - - - - - - - 16.17 -
22309.46 139.91 7.40 2516 22314.14 roll 1.93 - - 2784.25 - 2.63 0.077 1131.19 -402.1 116.28 - - 2296.94 - - - - - - - - - 16.16 -
22543.65 121.51 8.02 2563 22549.65 roll 1.93 - - 2784.31 - 2.66 0.030 2271.25 428.6 116.28 - - 2298.34 - - - - - - - - - 16.16 -
22859.79 103.13 4.33 2595 22911.38 2.05 0.19 0.084 2830.50 243.1 2.88 0.073 1131.38 -395.8 176.80 45.00 1.338 2053.88 -5.4 0.069 - - - - - - 16.15 15.92 12.94
23139.57 78.43 8.58 2651 23145.11 roll 2.05 - - 2830.38 - 2.68 0.029 2273.25 426.1 176.80 - - 2046.25 - - - - - - - - - 16.00 -
23329.65 72.70 2.16 2689 23401.36 2.23 0.19 0.081 2876.69 243.7 - - 2272.88 - 269.12 67.75 1.286 1678.25 -5.4 0.051 - - - - - - 16.00 - 12.79
23585.31 55.41 9.56 2740 23588.90 VBD 2.23 - - 2876.50 - - - 2272.50 - 269.12 - - 1667.28 - - - - - - - - - - -
23769.87 36.75 8.96 2777 23775.45 done 2.23 - - 2876.31 - 2.88 0.072 1132.69 -395.8 269.12 - - 1665.47 - - - - - - - - - 15.91 -
23864.92 28.90 8.03 2796 23870.46 done 2.23 - - 2876.00 - 2.67 0.029 2271.44 426.5 269.12 - - 1663.91 - - - - - - - - - 15.93 -
24055.03 17.80 5.42 2834 24095.81 done 2.32 - - 2876.88 - 2.78 0.089 3343.88 385.8 313.69 33.13 1.181 1495.59 -5.1 0.013 - - - - - - - 15.79 12.87
24225 end climb: SURFACE_DEPTH_REACHED
24225 begin surface coast
24250 end surface coast: CONTROL_FINISHED_OK
24250 begin surface
SM 1.40 - - - - 184.2 46.48 1.180 1245.9 26.1 16.77 0.066 1210.9 72.2 - 2.43 0.023 1280.9 526.0 -3.272 - - 12.81 15.89 15.91 -