NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 646 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 216.68 of 550.00 AH used of 24V (60.60% remains)
• Surface angle -65.7 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 557.90 (beyond SM_CC=425)
• GPS1 time: 30 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.35 - - - 72.04 VBD -1.35 - - 180.62 - - - 2255.94 - -82.73 65.51 0.005 2612.69 - - - - - - - - - - 15.21
72.77 3.88 -6.68 12 105.55 -1.35 14.35 0.248 2002.94 127.0 2.55 0.067 1209.75 -410.3 -82.73 10.14 0.007 3113.50 49.4 -4.631 - - - - - - 15.45 15.17 15.31
277.64 48.72 -18.86 53 283.20 roll -1.35 - - 2004.12 - 2.65 0.030 2349.25 430.0 -82.73 - - 3111.81 - - - - - - - - - 15.79 -
468.04 72.69 -11.38 91 473.42 roll -1.35 - - 2004.69 - 2.71 0.085 3427.88 398.0 -82.73 - - 3112.28 - - - - - - - - - 15.79 -
512.80 78.57 -13.44 100 518.21 roll -1.35 - - 2004.69 - 2.59 0.020 2245.25 -456.6 -82.73 - - 3111.53 - - - - - - - - - 15.83 -
703.11 99.52 -9.46 138 708.32 roll -1.35 - - 2004.19 - 2.98 0.079 3426.50 396.4 -82.73 - - 3112.28 - - - - - - - - - 15.82 -
848.12 113.33 -9.16 167 853.27 roll -1.35 - - 2004.62 - 2.59 0.019 2241.62 -457.5 -82.73 - - 3113.19 - - - - - - - - - 15.87 -
1157.92 137.88 -8.03 229 1162.93 roll -1.35 - - 2004.56 - 2.48 0.064 1208.44 -416.6 -82.73 - - 3112.88 - - - - - - - - - 15.90 -
1232.83 144.35 -8.59 244 1238.38 roll -1.35 - - 2004.69 - 2.63 0.027 2355.12 436.0 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
1542.95 171.07 -8.39 306 1544.28 no move -1.35 - - 2004.69 - - - 2354.56 - -82.73 - - 3112.28 - - - - - - - - - - -
1848.03 196.64 -8.47 367 1849.36 no move -1.35 - - 2004.62 - - - 2354.25 - -82.73 - - 3112.22 - - - - - - - - - - -
2153.12 223.18 -8.71 428 2158.87 roll -1.35 - - 2004.62 - 2.78 0.060 1208.88 -412.0 -82.73 - - 3113.22 - - - - - - - - - 15.94 -
2213.25 228.60 -9.09 440 2218.69 roll -1.35 - - 2005.12 - 2.63 0.028 2353.69 435.3 -82.73 - - 3113.38 - - - - - - - - - 15.96 -
2523.25 253.97 -7.77 502 2524.58 no move -1.35 - - 2004.38 - - - 2353.56 - -82.73 - - 3112.16 - - - - - - - - - - -
2828.34 278.44 -8.25 563 2833.90 roll -1.35 - - 2003.12 - 2.76 0.061 1208.50 -414.9 -82.73 - - 3113.56 - - - - - - - - - 15.94 -
2923.37 286.81 -8.90 582 2928.92 roll -1.35 - - 2004.56 - 2.63 0.028 2353.50 435.4 -82.73 - - 3112.62 - - - - - - - - - 15.97 -
3236.96 313.33 -8.18 627 3241.61 roll -1.35 - - 2005.00 - 2.76 0.061 1208.44 -414.9 -82.73 - - 3110.53 - - - - - - - - - 15.96 -
3322.71 320.67 -8.69 639 3337.66 roll -1.35 - - 2004.94 - 2.62 0.028 2353.81 437.2 -82.73 - - 3111.34 - - - - - - - - - 16.00 -
3639.12 346.68 -8.24 668 3643.77 roll -1.35 - - 2004.31 - 2.77 0.061 1208.38 -413.5 -82.73 - - 3109.72 - - - - - - - - - 15.96 -
3709.13 352.57 -8.53 678 3724.25 roll -1.35 - - 2004.06 - 2.62 0.029 2351.81 436.4 -82.73 - - 3111.72 - - - - - - - - - 16.01 -
4025.79 377.93 -7.96 707 4030.43 roll -1.35 - - 2004.62 - 2.76 0.061 1209.50 -413.9 -82.73 - - 3110.47 - - - - - - - - - 15.96 -
4143.33 387.47 -8.20 723 4157.95 roll -1.35 - - 2004.06 - 2.63 0.029 2352.12 434.5 -82.73 - - 3110.88 - - - - - - - - - 16.01 -
4459.19 411.76 -7.65 752 4463.84 roll -1.35 - - 2004.31 - 2.78 0.061 1209.69 -410.9 -82.73 - - 3109.62 - - - - - - - - - 15.96 -
4513.47 416.01 -7.96 760 4528.42 roll -1.35 - - 2004.69 - 2.63 0.029 2351.69 434.2 -82.73 - - 3109.56 - - - - - - - - - 16.01 -
4839.67 441.14 -7.64 790 4850.73 no move -1.35 - - 2005.00 - - - 2351.69 - -82.73 - - 3109.00 - - - - - - - - - - -
5153.12 465.99 -7.99 819 5157.76 roll -1.35 - - 2003.25 - 2.78 0.062 1208.44 -411.2 -82.73 - - 3108.97 - - - - - - - - - 15.95 -
5206.04 470.53 -8.39 826 5210.67 roll -1.35 - - 2003.31 - 2.63 0.029 2352.06 434.8 -82.73 - - 3108.72 - - - - - - - - - 16.00 -
5517.68 495.82 -8.03 855 5522.33 roll -1.35 - - 2004.50 - 2.78 0.062 1208.38 -411.4 -82.73 - - 3106.28 - - - - - - - - - 15.95 -
5587.71 501.17 -8.32 865 5602.97 roll -1.35 - - 2003.62 - 2.62 0.029 2351.50 436.3 -82.73 - - 3108.19 - - - - - - - - - 16.01 -
5917.30 526.85 -7.56 887 5922.00 roll -1.35 - - 2004.06 - 2.78 0.062 1210.88 -410.3 -82.73 - - 3107.28 - - - - - - - - - 15.94 -
6038.81 536.38 -7.94 905 6044.37 roll -1.35 - - 2004.25 - 2.63 0.029 2352.62 434.1 -82.73 - - 3107.59 - - - - - - - - - 16.01 -
6358.23 559.56 -7.18 927 6359.56 no move -1.35 - - 2004.62 - - - 2352.06 - -82.73 - - 3106.56 - - - - - - - - - - -
6673.27 582.87 -7.65 948 6677.91 roll -1.35 - - 2003.56 - 2.78 0.062 1210.69 -410.6 -82.73 - - 3106.62 - - - - - - - - - 15.94 -
6794.76 592.48 -8.03 966 6800.31 roll -1.35 - - 2003.44 - 2.63 0.030 2350.38 433.3 -82.73 - - 3106.50 - - - - - - - - - 16.01 -
7114.19 616.36 -7.42 988 7115.52 no move -1.35 - - 2004.38 - - - 2350.94 - -82.73 - - 3103.97 - - - - - - - - - - -
7429.22 639.32 -7.26 1009 7430.55 no move -1.35 - - 2004.88 - - - 2350.44 - -82.73 - - 3103.25 - - - - - - - - - - -
7744.27 661.09 -7.07 1030 7748.91 roll -1.35 - - 2004.69 - 2.77 0.063 1209.62 -411.8 -82.73 - - 3102.97 - - - - - - - - - 15.93 -
7829.30 667.11 -7.60 1043 7844.24 roll -1.35 - - 2004.38 - 2.63 0.030 2352.00 434.4 -82.73 - - 3103.66 - - - - - - - - - 16.01 -
8158.88 691.61 -7.48 1065 8160.21 no move -1.35 - - 2003.44 - - - 2352.31 - -82.73 - - 3102.12 - - - - - - - - - - -
8473.72 715.28 -7.52 1086 8478.38 roll -1.35 - - 2003.38 - 2.81 0.063 1209.50 -406.7 -82.73 - - 3103.22 - - - - - - - - - 15.92 -
8517.27 718.19 -7.68 1093 8532.38 roll -1.35 - - 2004.00 - 2.64 0.030 2351.88 432.7 -82.73 - - 3102.88 - - - - - - - - - 16.01 -
8846.79 742.49 -7.10 1115 8848.11 no move -1.35 - - 2004.19 - - - 2351.81 - -82.73 - - 3101.50 - - - - - - - - - - -
9161.69 764.25 -6.94 1136 9166.35 roll -1.35 - - 2004.50 - 2.81 0.064 1210.56 -406.1 -82.73 - - 3101.06 - - - - - - - - - 15.91 -
9242.05 770.06 -7.36 1148 9247.60 roll -1.35 - - 2004.56 - 2.64 0.030 2351.31 432.1 -82.73 - - 3101.69 - - - - - - - - - 16.01 -
9561.45 792.17 -6.76 1170 9562.78 no move -1.35 - - 2004.56 - - - 2351.88 - -82.73 - - 3100.34 - - - - - - - - - - -
9876.49 813.21 -6.64 1191 9881.13 roll -1.35 - - 2004.19 - 2.80 0.064 1211.00 -407.5 -82.73 - - 3099.78 - - - - - - - - - 15.90 -
9977.22 820.13 -6.97 1206 9982.77 roll -1.35 - - 2004.75 - 2.64 0.030 2351.50 432.0 -82.73 - - 3101.03 - - - - - - - - - 16.01 -
10296.63 841.03 -6.48 1228 10297.96 no move -1.35 - - 2004.00 - - - 2351.62 - -82.73 - - 3100.12 - - - - - - - - - - -
10611.65 861.05 -6.26 1249 10616.30 roll -1.35 - - 2003.62 - 2.80 0.064 1209.44 -407.9 -82.73 - - 3101.12 - - - - - - - - - 15.90 -
10691.65 866.36 -6.71 1261 10697.21 roll -1.35 - - 2004.44 - 2.64 0.030 2350.56 432.2 -82.73 - - 3100.47 - - - - - - - - - 16.01 -
11011.06 886.97 -6.40 1283 11015.71 roll -1.35 - - 2003.81 - 2.80 0.064 1210.81 -407.1 -82.73 - - 3100.88 - - - - - - - - - 15.89 -
11131.37 895.13 -6.84 1300 11136.06 roll -1.35 - - 2004.31 - 2.63 0.030 2350.81 433.5 -82.73 - - 3099.22 - - - - - - - - - 15.99 -
11447.85 915.29 -6.27 1322 11449.18 no move -1.35 - - 2004.12 - - - 2350.50 - -82.73 - - 3098.56 - - - - - - - - - - -
11762.87 934.72 -6.14 1343 11767.52 roll -1.35 - - 2003.69 - 2.80 0.064 1210.69 -407.1 -82.73 - - 3099.69 - - - - - - - - - 15.88 -
11822.17 938.47 -6.39 1352 11827.70 roll -1.35 - - 2004.25 - 2.63 0.030 2350.50 433.4 -82.73 - - 3099.41 - - - - - - - - - 16.01 -
12141.57 957.50 -5.84 1374 12142.90 no move -1.35 - - 2004.38 - - - 2350.19 - -82.73 - - 3098.19 - - - - - - - - - - -
12456.78 975.59 -5.52 1395 12458.11 no move -1.35 - - 2004.25 - - - 2350.06 - -82.73 - - 3098.31 - - - - - - - - - - -
12726 end dive: TARGET_DEPTH_EXCEEDED
12726 begin apogee
12728.42 990.76 -5.65 1413 12803.99 -0.28 1.83 0.139 2263.12 141.5 0.22 0.130 2280.56 -315.9 - 63.51 2.431 2773.81 -5.1 0.352 - - - - - - 15.74 15.48 10.37
12805 end apogee: CONTROL_FINISHED_OK
12805 begin climb
12806.11 991.86 - 1418 12880.32 1.35 2.65 0.091 2662.06 150.5 - - 2280.44 - 82.73 68.92 2.367 2437.25 -4.9 0.346 - - - - - - 15.58 - 12.08
13192.73 966.51 7.23 1444 13197.41 roll 1.37 - - 2661.75 - 2.91 0.074 1132.25 -394.6 82.73 - - 2431.00 - - - - - - - - - 15.67 -
13231.27 963.65 7.46 1450 13236.82 roll 1.39 - - 2660.38 - 2.67 0.030 2270.00 426.1 82.73 - - 2432.03 - - - - - - - - - 15.69 -
13550.67 941.94 6.60 1472 13555.31 roll 1.43 - - 2661.25 - 2.77 0.094 3345.75 388.4 82.73 - - 2429.00 - - - - - - - - - 15.75 -
13594.22 939.21 7.01 1479 13609.14 roll 1.46 - - 2661.38 - 2.62 0.024 2187.44 -442.1 82.73 - - 2431.00 - - - - - - - - - 15.80 -
13923.62 916.65 6.88 1501 13925.06 1.49 0.17 0.090 2702.25 240.4 - - 2185.88 - 82.73 - - 2428.09 - - - - - - - - 15.82 - -
14239.20 892.35 7.75 1522 14240.53 VBD 1.50 - - 2702.00 - - - 2186.25 - 82.73 - - 2427.78 - - - - - - - - - - -
14553.65 867.34 7.90 1543 14558.29 done 1.51 - - 2702.38 - 2.62 0.078 1132.38 -402.2 82.73 - - 2428.38 - - - - - - - - - 15.85 -
14673.77 857.41 8.29 1560 14678.41 done 1.51 - - 2701.62 - 2.64 0.031 2271.19 431.4 82.73 - - 2426.97 - - - - - - - - - 15.91 -
14990.29 835.02 6.77 1582 14994.94 done 1.55 - - 2701.75 - 2.73 0.094 3343.19 392.7 82.73 - - 2426.97 - - - - - - - - - 15.84 -
15048.22 830.72 7.25 1590 15052.84 done 1.57 - - 2702.19 - 2.59 0.023 2187.75 -446.1 82.73 - - 2427.59 - - - - - - - - - 15.93 -
15364.89 810.37 6.20 1612 15410.50 1.66 0.18 0.086 2742.25 222.6 - - 2187.06 - 124.89 34.42 2.184 2264.78 -4.7 0.297 - - - - - - 15.91 - 11.25
15724.71 778.83 9.30 1636 15729.34 roll 1.66 - - 2741.12 - 2.64 0.078 1132.12 -399.6 124.89 - - 2260.50 - - - - - - - - - 15.80 -
15783.99 773.11 9.73 1645 15789.55 roll 1.66 - - 2741.81 - 2.66 0.031 2271.62 428.4 124.89 - - 2261.44 - - - - - - - - - 15.84 -
16103.41 743.10 9.45 1667 16108.08 roll 1.66 - - 2741.75 - 2.85 0.074 1132.31 -399.8 124.89 - - 2259.91 - - - - - - - - - 15.84 -
16161.35 737.28 9.91 1675 16165.98 roll 1.66 - - 2740.75 - 2.64 0.031 2270.19 431.0 124.89 - - 2259.91 - - - - - - - - - 15.88 -
16477.83 707.14 9.54 1697 16482.50 roll 1.66 - - 2742.19 - 2.83 0.073 1132.25 -402.1 124.89 - - 2258.72 - - - - - - - - - 15.85 -
16542.11 701.19 10.11 1707 16557.28 roll 1.66 - - 2741.31 - 2.64 0.031 2270.12 431.0 124.89 - - 2261.03 - - - - - - - - - 15.91 -
16871.51 668.54 9.81 1729 16872.84 no move 1.66 - - 2742.00 - - - 2270.38 - 124.89 - - 2259.44 - - - - - - - - - - -
17186.53 637.25 9.77 1750 17191.20 roll 1.66 - - 2742.25 - 2.84 0.073 1131.12 -401.1 124.89 - - 2258.94 - - - - - - - - - 15.87 -
17287.29 627.19 10.13 1765 17293.02 roll 1.66 - - 2742.06 - 2.65 0.031 2269.75 429.7 124.89 - - 2259.25 - - - - - - - - - 15.95 -
17606.80 598.34 8.78 1787 17608.13 no move 1.66 - - 2741.62 - - - 2270.31 - 124.89 - - 2258.34 - - - - - - - - - - -
17921.70 571.99 8.40 1808 17926.36 roll 1.66 - - 2742.06 - 2.83 0.074 1131.19 -402.5 124.89 - - 2259.69 - - - - - - - - - 15.87 -
18006.72 564.95 8.90 1821 18021.65 roll 1.66 - - 2742.31 - 2.64 0.031 2272.19 432.2 124.89 - - 2259.78 - - - - - - - - - 15.96 -
18336.11 536.62 8.45 1843 18340.78 roll 1.66 - - 2742.19 - 2.83 0.073 1130.94 -403.3 124.89 - - 2258.44 - - - - - - - - - 15.87 -
18421.35 529.44 9.05 1856 18436.28 roll 1.66 - - 2741.44 - 2.64 0.030 2272.25 432.3 124.89 - - 2260.31 - - - - - - - - - 15.97 -
18750.75 502.90 7.87 1878 18755.42 roll 1.67 - - 2742.38 - 2.83 0.073 1133.44 -402.4 124.89 - - 2257.44 - - - - - - - - - 15.87 -
18789.30 499.80 8.10 1884 18804.24 roll 1.67 - - 2741.25 - 2.63 0.030 2272.75 433.2 124.89 - - 2260.69 - - - - - - - - - 15.98 -
19105.79 474.78 7.83 1913 19117.10 no move 1.68 - - 2742.12 - - - 2272.56 - 124.89 - - 2259.25 - - - - - - - - - - -
19418.64 451.29 7.52 1942 19423.31 roll 1.70 - - 2741.81 - 2.82 0.073 1131.06 -404.8 124.89 - - 2257.94 - - - - - - - - - 15.87 -
19503.22 444.52 7.96 1953 19507.92 roll 1.71 - - 2741.50 - 2.63 0.030 2271.62 433.7 124.89 - - 2257.59 - - - - - - - - - 15.97 -
19815.39 420.99 7.39 1982 19826.46 no move 1.73 - - 2742.38 - - - 2271.94 - 124.89 - - 2259.25 - - - - - - - - - - -
20128.47 397.38 7.49 2011 20139.55 no move 1.75 - - 2741.56 - - - 2272.00 - 124.89 - - 2259.66 - - - - - - - - - - -
20441.10 373.53 7.72 2040 20445.76 roll 1.77 - - 2741.62 - 2.83 0.072 1130.00 -403.5 124.89 - - 2259.69 - - - - - - - - - 15.86 -
20557.17 364.04 8.20 2055 20561.81 roll 1.77 - - 2742.75 - 2.63 0.030 2275.31 435.5 124.89 - - 2257.62 - - - - - - - - - 15.98 -
20868.74 340.38 7.70 2084 20879.82 no move 1.78 - - 2742.19 - - - 2275.00 - 124.89 - - 2259.03 - - - - - - - - - - -
21181.37 316.89 7.28 2113 21186.10 roll back 1.80 0.16 0.093 2782.19 250.0 2.83 0.072 1130.88 -404.3 124.89 - - 2257.88 - - - - - - - - 15.93 15.80 -
21267.12 309.87 8.25 2125 21282.06 roll 1.80 - - 2780.94 - 2.64 0.030 2273.12 432.7 124.89 - - 2260.81 - - - - - - - - - 15.99 -
21587.25 284.04 8.14 2175 21588.58 no move 1.80 - - 2781.56 - - - 2273.88 - 124.89 - - 2259.06 - - - - - - - - - - -
21892.37 260.64 7.41 2236 21893.70 no move 1.83 - - 2781.69 - - - 2273.56 - 124.89 - - 2258.75 - - - - - - - - - - -
22197.55 237.36 7.58 2297 22203.00 roll 1.84 - - 2781.81 - 2.82 0.071 1131.19 -405.1 124.89 - - 2258.97 - - - - - - - - - 15.84 -
22267.44 231.98 7.79 2311 22272.98 roll 1.86 - - 2781.38 - 2.63 0.029 2272.56 434.0 124.89 - - 2260.66 - - - - - - - - - 15.96 -
22577.48 211.60 6.42 2373 22613.38 done 1.93 - - 2781.38 - 2.83 0.073 1129.31 -404.0 162.93 30.01 1.433 2111.59 -5.0 0.124 - - - - - - - 15.76 10.90
22697.65 202.13 8.70 2397 22703.03 roll 1.93 - - 2781.69 - 2.64 0.029 2271.31 432.6 162.93 - - 2107.28 - - - - - - - - - 15.87 -
23007.52 176.70 8.27 2459 23013.11 roll 1.93 - - 2780.62 - 2.84 0.071 1132.00 -401.2 162.93 - - 2107.78 - - - - - - - - - 15.84 -
23082.52 170.30 8.54 2474 23088.07 roll 1.93 - - 2780.62 - 2.64 0.029 2272.94 432.2 162.93 - - 2107.12 - - - - - - - - - 15.89 -
23392.62 145.60 8.07 2536 23393.95 no move 1.93 - - 2781.88 - - - 2273.06 - 162.93 - - 2104.09 - - - - - - - - - - -
23697.61 121.71 6.44 2597 23729.28 2.01 0.22 0.077 2832.25 229.0 - - 2273.62 - 200.56 29.99 1.306 1955.56 -5.0 0.078 - - - - - - 15.89 - 11.50
24032.62 95.42 8.41 2664 24038.21 roll 2.01 - - 2831.81 - 2.83 0.070 1132.38 -403.3 200.56 - - 1952.19 - - - - - - - - - 15.83 -
24142.65 88.24 5.70 2686 24188.69 done 2.11 - - 2832.38 - 2.63 0.027 2275.38 434.6 252.17 40.18 1.258 1747.19 -5.1 0.061 - - - - - - - 15.87 11.70
24372.68 72.38 7.58 2732 24378.24 roll 2.13 - - 2831.81 - 2.86 0.070 1130.94 -400.2 252.17 - - 1739.75 - - - - - - - - - 15.78 -
24457.68 66.11 7.30 2749 24463.21 done 2.15 - - 2831.06 - 2.64 0.028 2275.00 433.4 252.17 - - 1738.22 - - - - - - - - - 15.80 -
24647.88 53.87 6.59 2787 24649.32 2.19 0.18 0.082 2876.12 250.3 - - 2275.06 - 252.17 - - 1735.22 - - - - - - - - 15.79 - -
24832.72 40.34 7.17 2824 24838.29 done 2.22 - - 2875.75 - 2.85 0.069 1131.19 -401.4 252.17 - - 1735.00 - - - - - - - - - 15.82 -
25067.74 36.45 0.18 2871 25145.85 2.53 0.40 0.059 2957.56 204.5 2.63 0.026 2280.50 437.0 406.73 72.68 1.200 1350.62 -5.3 0.027 - - - - - - 15.72 15.87 11.50
25146 end climb: NO_VERTICAL_VELOCITY
25146 begin surface
SM 0.60 - - - - 185.6 - - 495.7 - 18.09 0.081 456.2 25.2 - 0.12 0.125 535.2 4438.1 -2.177 - - 30.00 15.49 15.55 -