NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 648 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 217.51 of 550.00 AH used of 24V (60.45% remains)
• Surface angle -64.4 deg, depth 0.69 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 557.82 (beyond SM_CC=425)
• GPS1 time: 58 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
5.34 - - - 66.95 VBD -1.35 - - 181.88 - - - 2241.06 - -82.73 60.45 0.005 2621.25 - - - - - - - - - - 15.26
67.68 3.69 -6.81 11 101.67 -1.35 14.68 0.243 2003.75 124.1 3.02 0.084 3427.75 392.9 -82.73 9.94 0.007 3111.22 49.3 -4.399 - - - - - - 15.47 15.19 15.34
138.74 21.55 -23.14 25 144.28 roll -1.35 - - 2003.56 - 2.59 0.019 2248.56 -455.3 -82.73 - - 3112.81 - - - - - - - - - 15.75 -
329.33 54.45 -13.13 63 334.41 roll -1.35 - - 2003.88 - 2.98 0.079 3426.44 395.3 -82.73 - - 3112.94 - - - - - - - - - 15.77 -
563.87 86.05 -13.14 110 569.40 roll -1.35 - - 2004.50 - 2.58 0.019 2245.50 -457.7 -82.73 - - 3113.16 - - - - - - - - - 15.84 -
753.94 105.20 -9.81 148 755.27 no move -1.35 - - 2003.81 - - - 2244.44 - -82.73 - - 3112.34 - - - - - - - - - - -
1059.04 130.35 -7.86 209 1064.16 roll -1.35 - - 2003.75 - 2.49 0.064 1208.50 -416.0 -82.73 - - 3114.72 - - - - - - - - - 15.90 -
1159.07 139.08 -8.70 229 1164.63 roll -1.35 - - 2003.62 - 2.63 0.026 2354.88 435.9 -82.73 - - 3113.59 - - - - - - - - - 15.92 -
1469.19 164.44 -8.08 291 1474.73 roll -1.35 - - 2002.75 - 2.69 0.084 3427.25 398.7 -82.73 - - 3114.66 - - - - - - - - - 15.89 -
1519.19 168.99 -9.29 301 1524.74 roll -1.35 - - 2004.19 - 2.56 0.019 2241.81 -463.1 -82.73 - - 3113.88 - - - - - - - - - 15.93 -
1829.31 194.34 -8.48 363 1830.64 no move -1.35 - - 2003.81 - - - 2240.88 - -82.73 - - 3113.22 - - - - - - - - - - -
2134.59 221.33 -9.08 424 2140.06 roll -1.35 - - 2004.31 - 2.97 0.080 3427.38 399.5 -82.73 - - 3114.16 - - - - - - - - - 15.89 -
2179.40 225.77 -10.06 433 2184.94 roll -1.35 - - 2003.94 - 2.56 0.019 2243.81 -462.3 -82.73 - - 3113.59 - - - - - - - - - 15.96 -
2489.45 253.18 -8.52 495 2490.77 no move -1.35 - - 2003.81 - - - 2242.88 - -82.73 - - 3111.91 - - - - - - - - - - -
2794.49 278.38 -8.34 556 2795.82 no move -1.35 - - 2003.94 - - - 2242.94 - -82.73 - - 3112.06 - - - - - - - - - - -
3104.63 303.48 -7.83 613 3115.70 no move -1.35 - - 2003.94 - - - 2242.62 - -82.73 - - 3112.41 - - - - - - - - - - -
3417.34 328.66 -8.23 642 3428.42 no move -1.35 - - 2003.69 - - - 2243.31 - -82.73 - - 3112.22 - - - - - - - - - - -
3730.26 354.36 -8.13 671 3741.88 no move -1.35 - - 2004.31 - - - 2242.75 - -82.73 - - 3111.38 - - - - - - - - - - -
4043.68 379.49 -8.07 700 4054.75 no move -1.35 - - 2004.00 - - - 2243.00 - -82.73 - - 3110.47 - - - - - - - - - - -
4356.70 404.24 -7.82 729 4367.78 no move -1.35 - - 2003.56 - - - 2242.62 - -82.73 - - 3110.06 - - - - - - - - - - -
4669.41 428.61 -7.83 758 4680.48 no move -1.35 - - 2004.12 - - - 2242.62 - -82.73 - - 3109.50 - - - - - - - - - - -
4982.11 452.78 -7.61 787 4993.18 no move -1.35 - - 2004.00 - - - 2242.50 - -82.73 - - 3109.34 - - - - - - - - - - -
5294.83 477.08 -7.53 816 5305.90 no move -1.35 - - 2003.88 - - - 2242.31 - -82.73 - - 3108.34 - - - - - - - - - - -
5612.17 501.73 -7.99 845 5616.78 roll -1.35 - - 2003.75 - 2.51 0.069 1208.25 -412.0 -82.73 - - 3106.59 - - - - - - - - - 15.94 -
5717.93 510.25 -8.52 861 5732.86 roll -1.35 - - 2003.94 - 2.64 0.029 2351.94 433.2 -82.73 - - 3106.78 - - - - - - - - - 16.01 -
6047.35 536.83 -7.91 883 6052.00 roll -1.35 - - 2003.38 - 2.77 0.063 1209.62 -412.4 -82.73 - - 3106.09 - - - - - - - - - 15.94 -
6106.64 541.77 -8.40 892 6112.19 roll -1.35 - - 2003.31 - 2.63 0.029 2351.12 434.0 -82.73 - - 3108.25 - - - - - - - - - 16.02 -
6426.04 565.80 -7.30 914 6427.37 no move -1.35 - - 2003.94 - - - 2352.62 - -82.73 - - 3105.84 - - - - - - - - - - -
6741.07 587.53 -6.89 935 6745.71 roll -1.35 - - 2002.62 - 2.79 0.063 1209.50 -409.7 -82.73 - - 3107.00 - - - - - - - - - 15.93 -
6862.58 596.46 -7.47 953 6868.14 roll -1.35 - - 2003.88 - 2.64 0.030 2352.06 432.8 -82.73 - - 3105.75 - - - - - - - - - 16.02 -
7181.99 618.54 -6.85 975 7183.32 no move -1.35 - - 2003.69 - - - 2352.19 - -82.73 - - 3104.28 - - - - - - - - - - -
7497.01 641.19 -7.31 996 7498.34 no move -1.35 - - 2003.38 - - - 2351.75 - -82.73 - - 3103.75 - - - - - - - - - - -
7812.15 664.61 -7.51 1017 7816.79 roll -1.35 - - 2003.75 - 2.80 0.063 1209.44 -408.0 -82.73 - - 3102.53 - - - - - - - - - 15.93 -
7892.16 670.91 -7.94 1029 7897.71 roll -1.35 - - 2003.81 - 2.63 0.030 2350.25 433.8 -82.73 - - 3103.81 - - - - - - - - - 16.02 -
8211.75 696.29 -7.94 1051 8213.08 no move -1.35 - - 2003.69 - - - 2350.62 - -82.73 - - 3101.91 - - - - - - - - - - -
8526.75 720.51 -7.50 1072 8531.40 roll -1.35 - - 2004.06 - 2.79 0.064 1209.56 -409.0 -82.73 - - 3102.75 - - - - - - - - - 15.92 -
8586.38 725.13 -7.80 1081 8591.93 roll -1.35 - - 2004.25 - 2.63 0.030 2352.50 434.6 -82.73 - - 3102.44 - - - - - - - - - 16.02 -
8905.78 747.90 -6.70 1103 8907.11 no move -1.35 - - 2004.19 - - - 2352.12 - -82.73 - - 3101.62 - - - - - - - - - - -
9220.80 768.68 -6.62 1124 9225.45 roll -1.35 - - 2003.62 - 2.78 0.063 1210.50 -410.7 -82.73 - - 3102.16 - - - - - - - - - 15.91 -
9285.09 772.66 -6.81 1134 9300.03 roll -1.35 - - 2003.62 - 2.62 0.030 2350.12 435.0 -82.73 - - 3101.91 - - - - - - - - - 16.01 -
9614.50 794.58 -6.63 1156 9619.14 roll -1.35 - - 2003.56 - 2.77 0.064 1209.31 -411.8 -82.73 - - 3102.16 - - - - - - - - - 15.90 -
9678.76 798.65 -6.92 1166 9693.70 roll -1.35 - - 2003.88 - 2.62 0.030 2349.50 435.2 -82.73 - - 3101.12 - - - - - - - - - 16.01 -
10008.19 820.76 -6.51 1188 10009.52 no move -1.35 - - 2003.31 - - - 2349.75 - -82.73 - - 3100.38 - - - - - - - - - - -
10323.23 841.34 -6.61 1209 10327.88 roll -1.35 - - 2003.88 - 2.78 0.064 1209.25 -410.3 -82.73 - - 3099.88 - - - - - - - - - 15.89 -
10381.16 845.37 -6.87 1217 10385.80 roll -1.35 - - 2003.50 - 2.63 0.030 2351.50 434.3 -82.73 - - 3099.38 - - - - - - - - - 15.99 -
10697.81 866.90 -6.79 1239 10699.14 no move -1.35 - - 2003.69 - - - 2351.44 - -82.73 - - 3099.78 - - - - - - - - - - -
11012.81 888.35 -6.75 1260 11017.46 roll -1.35 - - 2004.00 - 2.78 0.064 1208.19 -411.2 -82.73 - - 3099.25 - - - - - - - - - 15.89 -
11056.35 890.98 -6.90 1267 11071.28 roll -1.35 - - 2003.75 - 2.63 0.030 2351.38 434.7 -82.73 - - 3100.84 - - - - - - - - - 16.00 -
11385.76 913.14 -6.35 1289 11390.41 roll -1.35 - - 2003.12 - 2.78 0.065 1209.38 -410.8 -82.73 - - 3099.28 - - - - - - - - - 15.88 -
11486.52 919.75 -6.65 1304 11492.07 roll -1.35 - - 2004.25 - 2.63 0.031 2351.44 434.2 -82.73 - - 3099.34 - - - - - - - - - 16.00 -
11805.93 939.01 -5.98 1326 11810.57 roll -1.35 - - 2002.62 - 2.78 0.064 1209.56 -410.7 -82.73 - - 3101.12 - - - - - - - - - 15.87 -
11865.22 942.56 -6.09 1335 11870.76 roll -1.35 - - 2003.50 - 2.63 0.030 2349.81 433.6 -82.73 - - 3099.81 - - - - - - - - - 15.99 -
12184.79 960.67 -5.66 1357 12186.12 no move -1.35 - - 2003.81 - - - 2350.56 - -82.73 - - 3098.03 - - - - - - - - - - -
12499.64 978.12 -5.45 1378 12500.97 no move -1.35 - - 2003.56 - - - 2350.06 - -82.73 - - 3097.72 - - - - - - - - - - -
12724 end dive: TARGET_DEPTH_EXCEEDED
12724 begin apogee
12726.46 990.81 -5.69 1393 12802.22 -0.28 1.84 0.138 2263.62 141.3 0.22 0.131 2282.06 -309.1 - 63.32 2.448 2774.22 -5.1 0.350 - - - - - - 15.74 15.47 10.33
12803 end apogee: CONTROL_FINISHED_OK
12803 begin climb
12804.64 991.88 - 1398 12878.83 1.35 2.66 0.089 2662.38 149.9 - - 2282.25 - 82.73 68.78 2.366 2437.22 -4.9 0.348 - - - - - - 15.57 - 12.14
13191.14 966.53 7.26 1424 13192.47 no move 1.37 - - 2662.38 - - - 2282.25 - 82.73 - - 2430.53 - - - - - - - - - - -
13506.16 944.97 6.58 1445 13507.49 no move 1.41 - - 2661.81 - - - 2281.94 - 82.73 - - 2429.22 - - - - - - - - - - -
13821.20 924.61 6.34 1466 13857.67 1.49 0.17 0.090 2702.56 239.7 - - 2281.31 - 122.22 33.42 2.267 2278.09 -4.5 0.312 - - - - - - 15.82 - 11.45
14171.95 894.31 8.80 1491 14176.61 roll 1.49 - - 2703.19 - 2.87 0.074 1131.44 -400.7 122.22 - - 2269.56 - - - - - - - - - 15.77 -
14314.35 880.90 9.55 1512 14319.73 roll 1.49 - - 2703.44 - 2.67 0.031 2269.69 426.3 122.22 - - 2270.91 - - - - - - - - - 15.81 -
14633.58 851.91 9.11 1534 14634.91 no move 1.49 - - 2703.50 - - - 2269.75 - 122.22 - - 2269.47 - - - - - - - - - - -
14948.60 822.55 9.47 1555 14953.27 roll 1.49 - - 2703.06 - 2.83 0.074 1131.00 -402.4 122.22 - - 2269.28 - - - - - - - - - 15.85 -
15006.72 816.75 9.86 1563 15011.42 roll 1.49 - - 2703.75 - 2.64 0.031 2271.88 432.2 122.22 - - 2268.03 - - - - - - - - - 15.89 -
15323.21 786.97 9.46 1585 15324.54 no move 1.49 - - 2703.75 - - - 2272.00 - 122.22 - - 2267.88 - - - - - - - - - - -
15638.25 757.29 9.31 1606 15642.92 done 1.49 - - 2703.50 - 2.83 0.073 1132.25 -402.7 122.22 - - 2267.75 - - - - - - - - - 15.87 -
15744.02 747.27 10.10 1622 15758.96 done 1.49 - - 2702.69 - 2.63 0.031 2270.56 432.8 122.22 - - 2270.38 - - - - - - - - - 15.94 -
16073.42 716.18 9.08 1644 16078.08 done 1.49 - - 2703.25 - 2.73 0.093 3344.50 393.4 122.22 - - 2268.50 - - - - - - - - - 15.86 -
16131.36 710.46 9.67 1652 16135.98 done 1.49 - - 2704.38 - 2.59 0.024 2189.69 -445.9 122.22 - - 2266.38 - - - - - - - - - 15.94 -
16447.84 682.82 8.63 1674 16452.47 done 1.49 - - 2703.69 - 2.62 0.078 1130.94 -404.1 122.22 - - 2268.06 - - - - - - - - - 15.88 -
16505.78 677.56 8.97 1682 16510.42 done 1.49 - - 2703.88 - 2.64 0.031 2273.88 432.9 122.22 - - 2266.53 - - - - - - - - - 15.95 -
16822.29 651.68 7.71 1704 16826.96 done 1.50 - - 2704.19 - 2.83 0.074 1132.56 -403.3 122.22 - - 2266.28 - - - - - - - - - 15.88 -
16881.58 646.94 8.04 1713 16887.14 done 1.50 - - 2703.31 - 2.63 0.031 2273.69 433.9 122.22 - - 2267.88 - - - - - - - - - 15.97 -
17201.19 622.70 7.37 1735 17202.53 VBD 1.52 - - 2704.31 - - - 2273.75 - 122.22 - - 2267.28 - - - - - - - - - - -
17516.19 599.00 7.65 1756 17517.52 VBD 1.54 - - 2704.06 - - - 2274.75 - 122.22 - - 2266.28 - - - - - - - - - - -
17831.03 575.50 7.35 1777 17832.37 VBD 1.56 - - 2704.50 - - - 2274.12 - 122.22 - - 2266.62 - - - - - - - - - - -
18146.04 551.25 7.79 1798 18150.71 done 1.58 - - 2704.06 - 2.83 0.074 1133.50 -403.0 122.22 - - 2266.06 - - - - - - - - - 15.87 -
18288.28 539.49 8.41 1819 18293.83 done 1.58 - - 2704.12 - 2.63 0.031 2274.81 434.0 122.22 - - 2267.62 - - - - - - - - - 15.98 -
18607.80 516.16 6.86 1841 18612.45 done 1.61 - - 2704.31 - 2.73 0.092 3347.00 392.7 122.22 - - 2265.88 - - - - - - - - - 15.85 -
18687.84 510.11 7.59 1853 18693.36 done 1.63 - - 2704.19 - 2.60 0.024 2188.19 -445.7 122.22 - - 2269.44 - - - - - - - - - 15.97 -
19003.22 488.03 7.01 1879 19007.92 1.65 0.17 0.094 2741.12 217.2 2.63 0.079 1130.81 -402.0 122.22 - - 2266.97 - - - - - - - - 15.94 15.80 -
19166.30 474.20 8.77 1900 19170.94 done 1.65 - - 2741.38 - 2.63 0.031 2273.62 434.5 122.22 - - 2265.75 - - - - - - - - - 15.98 -
19478.10 449.63 8.00 1929 19489.17 VBD 1.65 - - 2741.38 - - - 2273.50 - 122.22 - - 2267.59 - - - - - - - - - - -
19790.90 424.17 8.08 1958 19801.97 VBD 1.65 - - 2740.81 - - - 2273.69 - 122.22 - - 2267.56 - - - - - - - - - - -
20104.16 400.63 7.40 1987 20115.24 VBD 1.68 - - 2741.81 - - - 2273.44 - 122.22 - - 2267.88 - - - - - - - - - - -
20416.79 378.01 7.05 2016 20421.46 done 1.70 - - 2741.12 - 2.84 0.073 1131.94 -401.9 122.22 - - 2265.62 - - - - - - - - - 15.85 -
20439.62 376.35 7.35 2020 20454.56 done 1.73 - - 2740.38 - 2.64 0.029 2276.06 433.4 122.22 - - 2269.09 - - - - - - - - - 15.99 -
20756.34 353.27 7.42 2049 20761.01 done 1.75 - - 2741.00 - 2.84 0.072 1129.56 -403.7 122.22 - - 2267.28 - - - - - - - - - 15.85 -
20887.94 342.83 8.02 2066 20892.57 done 1.75 - - 2740.25 - 2.62 0.030 2274.62 437.0 122.22 - - 2267.03 - - - - - - - - - 15.97 -
21199.51 319.83 7.32 2095 21204.18 done 1.77 - - 2741.50 - 2.83 0.072 1130.94 -404.1 122.22 - - 2266.94 - - - - - - - - - 15.86 -
21301.00 311.93 7.90 2109 21315.93 done 1.78 - - 2741.12 - 2.63 0.030 2274.56 434.8 122.22 - - 2267.06 - - - - - - - - - 15.98 -
21619.27 288.32 7.51 2154 21620.71 1.80 0.14 0.096 2778.81 269.2 - - 2274.38 - 122.22 - - 2268.12 - - - - - - - - 15.92 - -
21924.93 264.30 7.63 2215 21929.92 done 1.82 - - 2778.44 - 2.86 0.072 1130.88 -399.8 122.22 - - 2269.50 - - - - - - - - - 15.82 -
21989.36 258.97 8.28 2228 21994.92 done 1.82 - - 2779.44 - 2.64 0.030 2273.56 432.8 122.22 - - 2267.81 - - - - - - - - - 15.96 -
22299.44 235.41 7.38 2290 22305.00 done 1.84 - - 2779.00 - 2.83 0.071 1131.12 -403.7 122.22 - - 2267.56 - - - - - - - - - 15.84 -
22384.44 228.78 7.83 2307 22389.98 done 1.85 - - 2779.69 - 2.63 0.029 2273.50 434.4 122.22 - - 2267.66 - - - - - - - - - 15.96 -
22694.49 208.13 6.32 2369 22731.01 done 1.93 - - 2779.44 - 2.83 0.074 1130.94 -403.7 162.22 30.98 1.427 2113.75 -5.0 0.123 - - - - - - - 15.75 10.80
22815.04 198.72 8.77 2393 22820.04 roll 1.93 - - 2779.25 - 2.64 0.029 2275.12 433.4 162.22 - - 2110.94 - - - - - - - - - 15.87 -
23124.52 172.55 8.17 2455 23125.85 no move 1.93 - - 2779.25 - - - 2275.06 - 162.22 - - 2109.59 - - - - - - - - - - -
23429.64 149.29 7.58 2516 23430.97 no move 1.95 - - 2779.56 - - - 2274.94 - 162.22 - - 2108.16 - - - - - - - - - - -
23734.62 126.66 7.01 2577 23736.06 pitch 1.98 0.19 0.084 2822.31 225.0 - - 2275.06 - 162.22 - - 2108.31 - - - - - - - - 15.88 - -
24040.06 109.28 4.71 2638 24098.99 done 2.12 - - 2823.12 - 2.73 0.090 3347.06 392.7 232.30 54.17 1.317 1827.81 -5.2 0.073 - - - - - - - 15.66 11.49
24216.10 96.81 9.00 2673 24221.66 roll 2.12 - - 2824.12 - 2.62 0.022 2188.88 -442.1 232.30 - - 1823.31 - - - - - - - - - 15.77 -
24406.16 84.27 6.04 2711 24442.96 2.21 0.27 0.069 2879.75 206.0 - - 2188.50 - 277.57 35.20 1.239 1642.81 -5.1 0.059 - - - - - - 15.77 - 11.71
24626.23 65.08 8.63 2755 24631.83 roll 2.21 - - 2879.75 - 2.97 0.083 3345.69 389.6 277.57 - - 1635.88 - - - - - - - - - 15.74 -
24696.43 58.55 9.38 2769 24701.92 done 2.21 - - 2880.00 - 2.62 0.022 2186.38 -442.5 277.57 - - 1635.00 - - - - - - - - - 15.78 -
24886.30 43.00 8.03 2807 24891.86 done 2.21 - - 2879.12 - 2.61 0.076 1131.31 -404.2 277.57 - - 1632.78 - - - - - - - - - 15.78 -
25121.39 39.10 -0.59 2854 25188.96 2.55 0.44 0.059 2962.19 188.8 2.65 0.026 2278.75 433.0 446.43 62.44 1.194 1307.06 -5.2 0.029 - - - - - - 15.71 15.85 11.50
25189 end climb: NO_VERTICAL_VELOCITY
25189 begin surface
SM 0.60 - - - - 185.6 - - 495.1 - 18.00 0.078 452.9 25.1 - 0.12 0.124 537.2 4454.6 -2.203 - - 30.00 15.49 15.56 -