NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 139 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 49.23 of 550.00 AH used of 24V (91.05% remains)
• Surface angle -57.3 deg, depth 1.36 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.90 (beyond SM_CC=375)
• GPS1 time: 79 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
6.53 - - - 55.09 VBD -1.37 - - 183.12 - - - 2375.44 - -82.73 47.38 0.005 2384.31 - - - - - - - - - - 15.79
55.83 3.21 -3.51 9 94.16 -1.37 13.64 0.250 1988.38 132.4 - - 2374.31 - -82.73 19.17 0.006 3112.31 38.0 -3.356 - - - - - - 15.75 - 15.80
277.19 43.14 -17.70 53 278.52 no move -1.37 - - 1988.44 - - - 2375.31 - -82.73 - - 3111.91 - - - - - - - - - - -
462.27 72.36 -15.72 90 467.85 roll -1.37 - - 1988.69 - 2.90 0.062 1209.88 -401.9 -82.73 - - 3113.75 - - - - - - - - - 15.96 -
607.51 91.51 -10.78 119 612.94 roll -1.37 - - 1988.75 - 2.67 0.029 2351.94 427.7 -82.73 - - 3113.28 - - - - - - - - - 15.98 -
802.36 111.64 -10.89 147 803.68 no move -1.37 - - 1988.75 - - - 2352.38 - -82.73 - - 3112.94 - - - - - - - - - - -
1112.77 142.36 -9.39 178 1117.48 roll -1.37 - - 1988.25 - 2.71 0.086 3424.88 395.8 -82.73 - - 3115.41 - - - - - - - - - 16.00 -
1152.39 146.25 -9.72 186 1157.47 roll -1.37 - - 1989.38 - 2.63 0.022 2248.12 -447.4 -82.73 - - 3115.34 - - - - - - - - - 16.05 -
1462.43 174.08 -9.69 218 1467.49 roll -1.37 - - 1989.69 - 2.56 0.066 1209.69 -405.6 -82.73 - - 3114.53 - - - - - - - - - 16.08 -
1542.44 182.15 -10.41 234 1547.53 roll -1.37 - - 1989.12 - 2.66 0.030 2352.12 429.5 -82.73 - - 3114.25 - - - - - - - - - 16.09 -
1852.48 211.66 -9.33 266 1857.57 roll -1.37 - - 1989.75 - 2.72 0.088 3425.44 394.6 -82.73 - - 3114.66 - - - - - - - - - 16.10 -
1902.48 216.62 -10.09 276 1907.57 roll -1.37 - - 1988.12 - 2.62 0.022 2249.31 -448.9 -82.73 - - 3115.91 - - - - - - - - - 16.11 -
2212.52 245.78 -9.57 308 2217.66 roll -1.37 - - 1989.56 - 3.00 0.084 3425.31 392.0 -82.73 - - 3114.50 - - - - - - - - - 16.11 -
2317.08 257.51 -11.47 329 2323.24 roll -1.37 - - 1989.50 - 2.60 0.023 2250.62 -451.8 -82.73 - - 3115.19 - - - - - - - - - 16.10 -
2632.69 288.18 -9.63 361 2634.02 no move -1.37 - - 1989.75 - - - 2250.31 - -82.73 - - 3114.12 - - - - - - - - - - -
2943.00 316.93 -8.86 392 2947.74 roll -1.37 - - 1989.62 - 2.95 0.085 3426.12 398.6 -82.73 - - 3114.50 - - - - - - - - - 16.13 -
2997.16 322.53 -10.32 403 3003.16 roll -1.37 - - 1989.56 - 2.62 0.023 2251.62 -448.3 -82.73 - - 3115.22 - - - - - - - - - 16.17 -
3312.70 351.81 -9.48 435 3317.75 roll -1.37 - - 1989.38 - 2.56 0.069 1210.75 -406.6 -82.73 - - 3115.16 - - - - - - - - - 16.16 -
3362.75 356.54 -9.57 445 3367.79 roll -1.37 - - 1990.06 - 2.62 0.031 2352.12 435.6 -82.73 - - 3114.66 - - - - - - - - - 16.17 -
3672.77 384.79 -9.26 477 3674.10 no move -1.37 - - 1989.56 - - - 2352.00 - -82.73 - - 3113.62 - - - - - - - - - - -
3983.22 413.55 -9.28 508 3984.55 no move -1.37 - - 1989.50 - - - 2352.12 - -82.73 - - 3112.91 - - - - - - - - - - -
4293.29 442.43 -9.30 539 4298.02 roll -1.37 - - 1989.81 - 2.81 0.064 1209.56 -406.6 -82.73 - - 3113.47 - - - - - - - - - 16.17 -
4347.67 447.71 -9.64 550 4353.48 roll -1.37 - - 1989.19 - 2.64 0.031 2353.00 433.1 -82.73 - - 3112.47 - - - - - - - - - 16.20 -
4662.99 476.64 -8.89 582 4664.32 no move -1.37 - - 1989.50 - - - 2352.88 - -82.73 - - 3111.50 - - - - - - - - - - -
4973.68 505.21 -9.39 613 4975.01 no move -1.37 - - 1989.44 - - - 2352.75 - -82.73 - - 3111.22 - - - - - - - - - - -
5283.51 533.59 -9.12 644 5288.24 roll -1.37 - - 1989.38 - 2.82 0.065 1209.81 -405.3 -82.73 - - 3112.22 - - - - - - - - - 16.20 -
5337.67 538.49 -9.28 655 5343.69 roll -1.37 - - 1989.56 - 2.64 0.031 2351.94 432.6 -82.73 - - 3112.22 - - - - - - - - - 16.20 -
5653.20 565.15 -8.26 687 5654.53 no move -1.37 - - 1989.88 - - - 2351.69 - -82.73 - - 3110.22 - - - - - - - - - - -
5963.65 591.56 -8.90 718 5968.36 roll -1.37 - - 1989.94 - 2.71 0.093 3425.12 396.1 -82.73 - - 3111.03 - - - - - - - - - 16.20 -
6067.84 602.01 -10.22 739 6073.84 roll -1.37 - - 1989.19 - 2.62 0.024 2252.94 -447.4 -82.73 - - 3111.28 - - - - - - - - - 16.20 -
6383.35 629.60 -8.68 771 6384.68 no move -1.37 - - 1989.44 - - - 2252.50 - -82.73 - - 3109.09 - - - - - - - - - - -
6693.76 654.63 -7.92 802 6698.51 roll -1.37 - - 1989.69 - 2.98 0.088 3424.38 393.2 -82.73 - - 3110.50 - - - - - - - - - 16.21 -
6793.40 664.22 -9.45 822 6798.48 roll -1.37 - - 1989.69 - 2.62 0.024 2254.81 -446.4 -82.73 - - 3109.34 - - - - - - - - - 16.22 -
7103.44 688.51 -7.68 854 7104.76 no move -1.37 - - 1989.44 - - - 2254.19 - -82.73 - - 3107.66 - - - - - - - - - - -
7414.09 712.02 -7.73 885 7418.62 roll -1.37 - - 1989.75 - 3.01 0.089 3425.44 389.1 -82.73 - - 3109.25 - - - - - - - - - 16.21 -
7463.48 716.73 -9.11 895 7468.56 roll -1.37 - - 1989.44 - 2.61 0.025 2253.75 -448.9 -82.73 - - 3109.03 - - - - - - - - - 16.22 -
7773.51 741.21 -7.96 927 7774.84 no move -1.37 - - 1989.88 - - - 2253.00 - -82.73 - - 3108.06 - - - - - - - - - - -
8083.93 766.12 -8.15 958 8088.68 roll -1.37 - - 1989.62 - 3.00 0.089 3425.75 390.9 -82.73 - - 3108.62 - - - - - - - - - 16.21 -
8168.10 774.25 -9.54 975 8174.11 roll -1.37 - - 1989.69 - 2.61 0.025 2254.69 -448.7 -82.73 - - 3107.94 - - - - - - - - - 16.22 -
8483.62 800.38 -8.05 1007 8484.95 no move -1.37 - - 1989.44 - - - 2254.50 - -82.73 - - 3106.69 - - - - - - - - - - -
8794.06 824.55 -7.63 1038 8798.81 roll -1.37 - - 1988.81 - 2.99 0.089 3425.31 391.6 -82.73 - - 3108.84 - - - - - - - - - 16.21 -
8908.26 834.41 -8.62 1061 8914.25 roll -1.37 - - 1989.62 - 2.60 0.024 2254.25 -450.4 -82.73 - - 3107.53 - - - - - - - - - 16.23 -
9223.78 856.85 -6.91 1093 9228.85 roll -1.37 - - 1989.31 - 2.55 0.072 1211.00 -409.1 -82.73 - - 3107.09 - - - - - - - - - 16.22 -
9273.81 860.72 -7.72 1103 9279.06 roll -1.37 - - 1989.44 - 2.64 0.032 2351.06 431.8 -82.73 - - 3107.53 - - - - - - - - - 16.22 -
9584.04 881.08 -6.80 1135 9585.37 no move -1.37 - - 1989.31 - - - 2350.75 - -82.73 - - 3105.28 - - - - - - - - - - -
9894.32 901.64 -6.61 1166 9895.65 no move -1.37 - - 1989.38 - - - 2350.50 - -82.73 - - 3105.28 - - - - - - - - - - -
10204.40 922.47 -7.00 1197 10209.11 roll -1.37 - - 1989.69 - 2.80 0.067 1211.12 -406.9 -82.73 - - 3105.97 - - - - - - - - - 16.23 -
10258.56 926.66 -7.80 1208 10264.57 roll -1.37 - - 1989.00 - 2.62 0.032 2351.81 435.4 -82.73 - - 3106.94 - - - - - - - - - 16.23 -
10574.65 948.47 -7.11 1240 10575.98 no move -1.37 - - 1989.44 - - - 2351.62 - -82.73 - - 3104.62 - - - - - - - - - - -
10884.53 970.40 -7.26 1271 10885.86 no move -1.37 - - 1989.62 - - - 2351.62 - -82.73 - - 3104.16 - - - - - - - - - - -
11164 end dive: TARGET_DEPTH_EXCEEDED
11164 begin apogee
11166.42 990.44 -7.36 1299 11231.56 -0.28 1.76 0.155 2253.62 150.0 0.20 0.139 2280.31 -356.5 - 61.24 2.395 2774.28 -5.4 0.368 - - - - - - 16.16 15.68 12.92
11232 end apogee: CONTROL_FINISHED_OK
11233 begin climb
11233.69 992.15 - 1305 11303.36 1.37 2.61 0.099 2654.69 153.7 - - 2280.31 - 82.73 64.86 2.329 2436.53 -5.2 0.366 - - - - - - 15.72 - 12.86
11606.89 967.27 7.56 1343 11611.90 roll 1.39 - - 2656.19 - 2.91 0.076 1132.62 -394.4 82.73 - - 2430.50 - - - - - - - - - 15.80 -
11676.80 961.53 8.35 1357 11681.88 roll 1.39 - - 2655.81 - 2.68 0.032 2269.44 424.2 82.73 - - 2430.75 - - - - - - - - - 15.84 -
11987.25 937.58 7.13 1389 11988.58 VBD 1.41 - - 2656.06 - - - 2269.56 - 82.73 - - 2428.69 - - - - - - - - - - -
12297.33 914.06 7.82 1420 12302.04 done 1.42 - - 2655.62 - 2.83 0.076 1132.31 -401.9 82.73 - - 2430.09 - - - - - - - - - 16.01 -
12346.95 910.17 7.19 1430 12352.02 done 1.45 - - 2656.12 - 2.66 0.032 2270.19 427.8 82.73 - - 2429.09 - - - - - - - - - 16.01 -
12657.41 886.69 7.53 1462 12658.74 VBD 1.47 - - 2656.56 - - - 2270.19 - 82.73 - - 2427.62 - - - - - - - - - - -
12967.47 863.41 7.32 1493 12972.23 1.49 0.15 0.093 2699.56 286.7 2.81 0.076 1130.50 -405.6 82.73 - - 2429.94 - - - - - - - - 16.06 16.06 -
13061.63 854.79 8.91 1512 13067.63 done 1.49 - - 2699.06 - 2.66 0.033 2270.44 428.5 82.73 - - 2430.16 - - - - - - - - - 16.09 -
13377.54 827.30 8.85 1544 13382.44 done 1.49 - - 2699.50 - 2.80 0.076 1131.44 -406.8 82.73 - - 2427.97 - - - - - - - - - 16.10 -
13441.89 820.82 9.93 1557 13447.72 done 1.49 - - 2698.25 - 2.64 0.032 2270.38 431.4 82.73 - - 2429.22 - - - - - - - - - 16.11 -
13757.63 793.49 8.70 1589 13758.96 VBD 1.49 - - 2698.94 - - - 2270.12 - 82.73 - - 2426.84 - - - - - - - - - - -
14067.71 767.07 7.38 1620 14069.04 VBD 1.51 - - 2699.06 - - - 2270.38 - 82.73 - - 2426.62 - - - - - - - - - - -
14377.75 741.31 8.13 1651 14382.48 done 1.51 - - 2699.81 - 2.81 0.076 1131.12 -405.4 82.73 - - 2428.56 - - - - - - - - - 16.16 -
14451.92 734.61 9.68 1666 14457.93 done 1.51 - - 2698.50 - 2.64 0.032 2269.88 431.3 82.73 - - 2428.66 - - - - - - - - - 16.15 -
14767.84 709.36 7.97 1698 14772.53 done 1.51 - - 2699.25 - 2.82 0.076 1131.50 -403.7 82.73 - - 2428.31 - - - - - - - - - 16.16 -
14857.43 701.46 8.37 1716 14862.52 done 1.51 - - 2698.62 - 2.64 0.032 2271.75 431.9 82.73 - - 2427.91 - - - - - - - - - 16.15 -
15167.87 676.88 7.50 1748 15169.20 VBD 1.53 - - 2699.31 - - - 2271.06 - 82.73 - - 2426.62 - - - - - - - - - - -
15477.91 653.10 7.51 1779 15479.24 VBD 1.55 - - 2699.94 - - - 2271.62 - 82.73 - - 2426.62 - - - - - - - - - - -
15787.94 630.57 7.25 1810 15789.28 VBD 1.58 - - 2699.75 - - - 2271.56 - 82.73 - - 2426.62 - - - - - - - - - - -
16098.23 607.37 7.38 1841 16102.68 done 1.60 - - 2699.81 - 2.73 0.094 3344.06 392.9 82.73 - - 2427.25 - - - - - - - - - 16.17 -
16162.14 602.17 8.38 1854 16168.15 done 1.60 - - 2700.06 - 2.63 0.026 2190.12 -438.8 82.73 - - 2427.78 - - - - - - - - - 16.18 -
16478.05 577.61 8.54 1886 16479.38 VBD 1.60 - - 2699.19 - - - 2190.38 - 82.73 - - 2427.19 - - - - - - - - - - -
16788.12 553.23 7.67 1917 16789.46 VBD 1.61 - - 2699.31 - - - 2190.25 - 82.73 - - 2427.03 - - - - - - - - - - -
17098.20 530.97 6.80 1948 17099.53 VBD 1.65 - - 2699.62 - - - 2188.88 - 82.73 - - 2426.94 - - - - - - - - - - -
17408.26 510.14 6.42 1979 17439.18 1.71 0.20 0.078 2748.50 244.4 3.00 0.092 3346.69 385.9 112.65 23.08 1.743 2315.91 -4.8 0.233 - - - - - - 16.19 15.98 12.92
17552.43 496.04 10.51 2008 17558.45 roll 1.71 - - 2747.69 - 2.64 0.026 2190.94 -437.8 112.65 - - 2314.03 - - - - - - - - - 16.07 -
17868.35 466.89 9.00 2040 17869.68 no move 1.71 - - 2748.06 - - - 2190.44 - 112.65 - - 2311.59 - - - - - - - - - - -
18178.42 438.76 9.15 2071 18179.75 no move 1.71 - - 2747.88 - - - 2190.44 - 112.65 - - 2310.59 - - - - - - - - - - -
18488.48 411.01 8.69 2102 18489.81 no move 1.71 - - 2748.88 - - - 2190.06 - 112.65 - - 2310.34 - - - - - - - - - - -
18798.78 384.99 8.43 2133 18800.11 no move 1.71 - - 2748.62 - - - 2188.88 - 112.65 - - 2310.31 - - - - - - - - - - -
19108.60 358.81 8.29 2164 19113.31 roll 1.71 - - 2748.06 - 2.62 0.080 1132.44 -403.2 112.65 - - 2311.25 - - - - - - - - - 16.16 -
19188.24 351.67 8.88 2180 19193.33 roll 1.71 - - 2748.44 - 2.64 0.032 2271.38 431.4 112.65 - - 2312.31 - - - - - - - - - 16.16 -
19498.72 326.30 7.80 2212 19503.41 roll 1.72 - - 2748.06 - 2.73 0.092 3345.19 393.3 112.65 - - 2311.78 - - - - - - - - - 16.15 -
19558.33 321.10 8.93 2224 19563.40 roll 1.72 - - 2748.88 - 2.59 0.026 2190.19 -445.9 112.65 - - 2311.09 - - - - - - - - - 16.17 -
19868.76 297.04 7.21 2256 19873.45 roll 1.74 - - 2748.69 - 2.61 0.080 1132.56 -405.2 112.65 - - 2311.03 - - - - - - - - - 16.16 -
20002.94 286.12 8.20 2283 20008.94 roll 1.74 - - 2748.25 - 2.64 0.031 2270.81 431.2 112.65 - - 2310.81 - - - - - - - - - 16.16 -
20319.01 262.18 7.62 2315 20323.53 roll 1.76 - - 2748.44 - 2.79 0.075 1129.88 -408.9 112.65 - - 2311.06 - - - - - - - - - 16.17 -
20523.02 245.05 8.27 2356 20529.22 roll 1.76 - - 2748.50 - 2.63 0.031 2272.88 434.6 112.65 - - 2311.06 - - - - - - - - - 16.18 -
20839.02 219.91 7.63 2388 20840.35 no move 1.78 - - 2749.12 - - - 2272.25 - 112.65 - - 2310.59 - - - - - - - - - - -
21148.95 197.13 6.91 2419 21153.65 roll 1.81 - - 2748.50 - 2.77 0.074 1130.12 -412.3 112.65 - - 2310.81 - - - - - - - - - 16.15 -
21223.12 191.76 7.00 2434 21229.11 roll 1.84 - - 2748.44 - 2.63 0.030 2271.12 433.8 112.65 - - 2311.72 - - - - - - - - - 16.17 -
21539.01 170.00 6.60 2466 21543.77 roll back 1.88 0.15 0.090 2791.44 286.7 2.71 0.091 3346.00 396.6 112.65 - - 2310.81 - - - - - - - - 16.12 16.13 -
21608.66 164.51 7.94 2480 21613.72 roll 1.89 - - 2791.44 - 2.59 0.025 2185.06 -448.2 112.65 - - 2310.84 - - - - - - - - - 16.17 -
21919.11 144.66 6.05 2512 21949.28 VBD 1.96 - - 2791.56 - - - 2184.75 - 147.98 27.23 1.346 2170.97 -5.1 0.091 - - - - - - - - 12.87
22258.77 117.96 8.53 2546 22263.91 roll 1.96 - - 2791.56 - 2.94 0.086 3346.75 395.2 147.98 - - 2168.34 - - - - - - - - - 16.06 -
22358.81 108.23 9.84 2566 22363.88 roll 1.96 - - 2791.50 - 2.60 0.025 2186.50 -446.2 147.98 - - 2167.50 - - - - - - - - - 16.09 -
22669.04 86.26 6.56 2618 22672.64 no move 1.99 - - 2791.75 - - - 2186.12 - 147.98 - - 2167.16 - - - - - - - - - - -
22854.00 78.87 2.87 2655 22921.55 2.16 0.32 0.066 2858.81 209.6 2.98 0.086 3347.50 389.7 229.88 60.31 1.302 1838.06 -5.5 0.055 - - - - - - 16.08 15.79 12.95
23149.99 60.63 7.80 2714 23155.12 done 2.17 - - 2858.69 - 2.62 0.024 2187.50 -442.7 229.88 - - 1828.69 - - - - - - - - - 15.94 -
23339.65 47.34 6.47 2752 23345.25 done 2.21 - - 2858.62 - 2.94 0.083 3346.94 394.4 229.88 - - 1827.53 - - - - - - - - - 15.95 -
23574.76 31.31 6.53 2799 23580.29 done 2.25 - - 2858.81 - 2.61 0.024 2186.06 -444.8 229.88 - - 1826.12 - - - - - - - - - 16.01 -
23764.83 31.03 -0.68 2837 23837.41 2.52 0.44 0.059 2944.75 195.3 - - 2185.94 - 363.81 70.29 1.220 1444.06 -5.4 0.023 - - - - - - 16.00 - 12.92
23838 end climb: NO_VERTICAL_VELOCITY
23838 begin surface
SM 1.30 - - - - 188.0 - - 496.3 - 17.90 0.087 457.5 25.5 - 0.36 0.065 535.1 1486.4 -3.038 - - 30.00 15.51 15.55 -