NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 339 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 108.00 of 550.00 AH used of 24V (80.36% remains)
• Surface angle -64.8 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.87 (beyond SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 4 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.79 - - - 62.14 VBD -1.37 - - 178.06 - - - 2234.62 - -82.73 54.18 0.005 2456.12 - - - - - - - - - - 15.61
62.88 3.62 -4.01 10 101.12 -1.37 14.01 0.249 1988.75 129.2 2.91 0.083 3429.19 410.5 -82.73 15.07 0.006 3112.34 43.5 -4.357 - - - - - - 15.66 15.58 15.63
154.48 24.52 -27.90 28 159.63 roll -1.37 - - 1988.44 - 2.57 0.020 2255.31 -456.8 -82.73 - - 3113.06 - - - - - - - - - 15.81 -
344.57 57.36 -14.53 66 349.31 roll -1.37 - - 1988.81 - 2.47 0.064 1208.62 -423.8 -82.73 - - 3113.47 - - - - - - - - - 15.87 -
579.29 90.90 -13.80 113 584.83 roll -1.37 - - 1988.56 - 2.58 0.028 2354.94 444.3 -82.73 - - 3113.69 - - - - - - - - - 15.93 -
769.35 112.28 -10.52 140 774.43 roll -1.37 - - 1989.00 - 2.68 0.059 1207.38 -428.2 -82.73 - - 3113.84 - - - - - - - - - 15.95 -
1003.96 134.92 -8.38 187 1009.95 roll -1.37 - - 1987.25 - 2.59 0.028 2353.88 442.7 -82.73 - - 3114.22 - - - - - - - - - 15.99 -
1319.50 161.96 -8.79 219 1324.58 roll -1.37 - - 1988.75 - 2.69 0.059 1207.19 -426.3 -82.73 - - 3114.91 - - - - - - - - - 16.02 -
1419.52 171.42 -9.70 239 1424.59 roll -1.37 - - 1988.56 - 2.59 0.028 2354.62 443.0 -82.73 - - 3115.34 - - - - - - - - - 16.03 -
1729.60 199.30 -9.15 271 1734.68 roll -1.37 - - 1988.19 - 2.68 0.060 1207.31 -428.1 -82.73 - - 3115.19 - - - - - - - - - 16.03 -
1824.16 208.75 -10.04 290 1830.15 roll -1.37 - - 1987.88 - 2.59 0.029 2355.81 443.4 -82.73 - - 3115.91 - - - - - - - - - 16.04 -
2139.70 237.92 -8.99 322 2144.95 roll -1.37 - - 1987.12 - 2.68 0.061 1208.75 -428.0 -82.73 - - 3114.44 - - - - - - - - - 16.06 -
2199.82 243.39 -9.42 334 2204.78 roll -1.37 - - 1988.12 - 2.58 0.029 2355.31 444.4 -82.73 - - 3114.06 - - - - - - - - - 16.06 -
2509.78 272.92 -9.61 366 2511.11 no move -1.37 - - 1988.25 - - - 2354.56 - -82.73 - - 3112.50 - - - - - - - - - - -
2820.22 302.89 -9.78 397 2824.91 roll -1.37 - - 1988.69 - 2.70 0.062 1207.56 -424.8 -82.73 - - 3113.31 - - - - - - - - - 16.08 -
2889.85 309.58 -9.66 411 2894.91 roll -1.37 - - 1988.19 - 2.59 0.029 2353.12 442.3 -82.73 - - 3113.22 - - - - - - - - - 16.08 -
3200.09 339.03 -9.52 443 3201.42 no move -1.37 - - 1988.50 - - - 2353.19 - -82.73 - - 3111.03 - - - - - - - - - - -
3510.31 368.92 -9.54 474 3515.00 roll -1.37 - - 1988.69 - 2.70 0.062 1207.31 -424.4 -82.73 - - 3111.03 - - - - - - - - - 16.09 -
3569.92 374.80 -10.01 486 3574.99 roll -1.37 - - 1988.38 - 2.59 0.029 2354.06 442.8 -82.73 - - 3111.31 - - - - - - - - - 16.10 -
3879.97 404.44 -9.27 518 3885.06 roll -1.37 - - 1988.25 - 2.70 0.063 1207.50 -424.7 -82.73 - - 3110.94 - - - - - - - - - 16.09 -
3934.51 409.25 -9.02 529 3940.50 roll -1.37 - - 1988.81 - 2.58 0.029 2354.06 444.4 -82.73 - - 3110.62 - - - - - - - - - 16.12 -
4250.02 436.67 -8.17 561 4251.35 no move -1.37 - - 1988.25 - - - 2353.88 - -82.73 - - 3108.78 - - - - - - - - - - -
4560.69 461.89 -8.12 592 4565.13 roll -1.37 - - 1988.06 - 2.70 0.063 1207.31 -424.7 -82.73 - - 3109.16 - - - - - - - - - 16.10 -
4644.61 468.99 -8.80 609 4650.60 roll -1.37 - - 1988.94 - 2.58 0.030 2353.44 444.2 -82.73 - - 3109.00 - - - - - - - - - 16.12 -
4960.13 495.61 -8.55 641 4965.20 roll -1.37 - - 1988.19 - 2.70 0.063 1207.12 -424.6 -82.73 - - 3108.12 - - - - - - - - - 16.10 -
5014.68 500.24 -9.00 652 5020.68 roll -1.37 - - 1988.56 - 2.59 0.030 2353.00 442.4 -82.73 - - 3107.66 - - - - - - - - - 16.11 -
5330.21 528.26 -9.47 684 5331.54 no move -1.37 - - 1988.81 - - - 2353.12 - -82.73 - - 3106.31 - - - - - - - - - - -
5640.66 555.60 -8.86 715 5645.37 roll -1.37 - - 1988.62 - 2.71 0.064 1208.75 -422.3 -82.73 - - 3106.34 - - - - - - - - - 16.11 -
5704.83 561.31 -9.18 728 5710.83 roll -1.37 - - 1988.50 - 2.59 0.030 2352.19 441.5 -82.73 - - 3106.38 - - - - - - - - - 16.12 -
6020.37 588.35 -8.09 760 6021.70 no move -1.37 - - 1988.56 - - - 2352.00 - -82.73 - - 3105.12 - - - - - - - - - - -
6330.82 613.42 -7.91 791 6335.53 roll -1.37 - - 1988.81 - 2.71 0.064 1208.56 -421.9 -82.73 - - 3104.53 - - - - - - - - - 16.13 -
6390.46 618.25 -8.48 803 6395.52 roll -1.37 - - 1988.88 - 2.59 0.030 2351.94 441.5 -82.73 - - 3105.94 - - - - - - - - - 16.12 -
6700.70 643.27 -7.91 835 6705.67 roll -1.37 - - 1988.25 - 2.71 0.064 1208.75 -421.8 -82.73 - - 3104.81 - - - - - - - - - 16.12 -
6765.07 648.66 -8.44 848 6771.06 roll -1.37 - - 1988.12 - 2.59 0.030 2351.31 441.1 -82.73 - - 3104.47 - - - - - - - - - 16.12 -
7080.61 673.13 -7.56 880 7081.94 no move -1.37 - - 1988.69 - - - 2351.06 - -82.73 - - 3102.88 - - - - - - - - - - -
7391.06 696.09 -7.52 911 7392.39 no move -1.37 - - 1988.75 - - - 2350.88 - -82.73 - - 3101.88 - - - - - - - - - - -
7701.12 719.45 -7.38 942 7705.84 roll -1.37 - - 1988.62 - 2.71 0.065 1209.50 -421.2 -82.73 - - 3104.16 - - - - - - - - - 16.12 -
7765.29 724.62 -8.29 955 7771.28 roll -1.37 - - 1988.62 - 2.58 0.031 2354.38 443.8 -82.73 - - 3103.09 - - - - - - - - - 16.11 -
8080.82 749.26 -7.90 987 8085.91 roll -1.37 - - 1988.38 - 2.71 0.064 1209.12 -422.6 -82.73 - - 3103.84 - - - - - - - - - 16.12 -
8145.37 754.44 -8.55 1000 8151.37 roll -1.37 - - 1987.19 - 2.59 0.031 2351.38 441.0 -82.73 - - 3103.28 - - - - - - - - - 16.12 -
8460.87 779.19 -7.66 1032 8462.20 no move -1.37 - - 1988.38 - - - 2351.38 - -82.73 - - 3100.84 - - - - - - - - - - -
8771.29 802.36 -7.45 1063 8776.00 roll -1.37 - - 1988.75 - 2.73 0.065 1208.56 -418.6 -82.73 - - 3102.47 - - - - - - - - - 16.12 -
8810.91 805.27 -7.22 1071 8816.16 roll -1.37 - - 1987.06 - 2.59 0.031 2351.38 441.2 -82.73 - - 3102.00 - - - - - - - - - 16.12 -
9121.13 828.10 -7.31 1103 9126.04 roll -1.37 - - 1987.75 - 2.71 0.065 1208.50 -421.7 -82.73 - - 3101.72 - - - - - - - - - 16.11 -
9200.96 834.16 -7.82 1119 9206.05 roll -1.37 - - 1988.56 - 2.59 0.031 2353.19 442.0 -82.73 - - 3101.53 - - - - - - - - - 16.11 -
9511.01 857.16 -7.43 1151 9512.34 no move -1.37 - - 1988.31 - - - 2353.06 - -82.73 - - 3099.62 - - - - - - - - - - -
9821.42 880.05 -7.12 1182 9826.13 roll -1.37 - - 1988.06 - 2.72 0.065 1207.31 -421.2 -82.73 - - 3100.75 - - - - - - - - - 16.11 -
9871.05 883.76 -7.37 1192 9876.11 roll -1.37 - - 1987.25 - 2.59 0.031 2351.69 441.8 -82.73 - - 3101.25 - - - - - - - - - 16.11 -
10181.26 905.61 -6.85 1224 10182.59 no move -1.37 - - 1988.06 - - - 2352.00 - -82.73 - - 3099.44 - - - - - - - - - - -
10491.54 926.35 -6.67 1255 10496.25 roll -1.37 - - 1988.50 - 2.71 0.066 1208.88 -421.8 -82.73 - - 3100.53 - - - - - - - - - 16.10 -
10565.72 931.48 -7.01 1270 10571.71 roll -1.37 - - 1987.19 - 2.58 0.031 2351.38 442.8 -82.73 - - 3100.69 - - - - - - - - - 16.10 -
10881.25 952.94 -6.78 1302 10882.58 no move -1.37 - - 1988.25 - - - 2351.69 - -82.73 - - 3099.09 - - - - - - - - - - -
11191.70 973.73 -6.84 1333 11196.59 roll -1.37 - - 1988.69 - 2.72 0.066 1208.62 -420.2 -82.73 - - 3099.22 - - - - - - - - - 16.10 -
11256.04 978.28 -6.60 1346 11261.87 roll -1.37 - - 1988.12 - 2.59 0.031 2352.00 441.5 -82.73 - - 3099.84 - - - - - - - - - 16.10 -
11431 end dive: TARGET_DEPTH_EXCEEDED
11431 begin apogee
11433.20 990.44 -6.72 1364 11497.70 -0.28 1.80 0.149 2254.50 148.0 0.22 0.138 2282.50 -315.9 - 60.49 2.435 2773.22 -5.4 0.364 - - - - - - 16.00 15.67 12.18
11499 end apogee: CONTROL_FINISHED_OK
11499 begin climb
11500.00 992.03 - 1370 11575.70 1.37 2.64 0.099 2655.62 151.9 2.91 0.077 1131.44 -395.6 82.73 65.61 2.363 2437.97 -5.1 0.356 - - - - - - 15.69 15.34 12.82
11598.53 987.06 5.93 1389 11635.32 done 1.44 - - 2656.62 - 2.68 0.030 2270.50 425.0 119.87 31.92 2.236 2286.28 -4.8 0.348 - - - - - - - 15.50 12.73
11943.85 955.70 9.42 1427 11945.18 no move 1.44 - - 2656.44 - - - 2270.88 - 119.87 - - 2278.06 - - - - - - - - - - -
12254.53 928.29 8.78 1458 12255.86 VBD 1.44 - - 2656.50 - - - 2271.06 - 119.87 - - 2276.84 - - - - - - - - - - -
12564.32 900.47 9.37 1489 12565.65 VBD 1.44 - - 2656.38 - - - 2270.88 - 119.87 - - 2276.28 - - - - - - - - - - -
12874.35 871.54 9.84 1520 12879.06 done 1.44 - - 2655.81 - 2.78 0.076 1131.25 -409.9 119.87 - - 2277.53 - - - - - - - - - 15.96 -
12928.52 866.05 9.80 1531 12934.52 done 1.44 - - 2656.38 - 2.61 0.032 2272.00 437.1 119.87 - - 2276.50 - - - - - - - - - 15.98 -
13244.40 835.28 10.06 1563 13245.73 VBD 1.44 - - 2656.88 - - - 2272.31 - 119.87 - - 2275.50 - - - - - - - - - - -
13554.43 804.81 9.81 1594 13555.77 VBD 1.44 - - 2656.38 - - - 2272.06 - 119.87 - - 2274.31 - - - - - - - - - - -
13864.47 775.67 9.41 1625 13869.17 done 1.44 - - 2656.50 - 2.77 0.076 1129.94 -412.3 119.87 - - 2275.22 - - - - - - - - - 16.03 -
13914.09 770.90 9.28 1635 13919.16 done 1.44 - - 2655.94 - 2.60 0.032 2272.38 439.4 119.87 - - 2274.84 - - - - - - - - - 16.03 -
14224.55 742.44 8.79 1667 14229.24 done 1.44 - - 2656.25 - 2.62 0.095 3345.50 409.6 119.87 - - 2274.78 - - - - - - - - - 16.01 -
14274.18 737.76 9.58 1677 14279.25 done 1.44 - - 2656.00 - 2.57 0.025 2187.44 -450.6 119.87 - - 2274.75 - - - - - - - - - 16.05 -
14584.89 712.79 7.74 1709 14586.22 VBD 1.46 - - 2656.06 - - - 2187.19 - 119.87 - - 2273.38 - - - - - - - - - - -
14894.72 689.59 6.96 1740 14896.05 VBD 1.49 - - 2656.06 - - - 2187.00 - 119.87 - - 2272.53 - - - - - - - - - - -
15204.78 667.27 7.25 1771 15209.55 1.51 0.17 0.099 2700.50 261.4 2.84 0.091 3348.06 408.8 119.87 - - 2274.91 - - - - - - - - 16.02 16.02 -
15258.94 662.40 8.72 1782 15264.92 done 1.51 - - 2700.38 - 2.56 0.025 2187.81 -453.2 119.87 - - 2274.38 - - - - - - - - - 16.06 -
15574.46 634.69 8.79 1814 15579.57 done 1.51 - - 2699.31 - 2.83 0.090 3345.25 409.0 119.87 - - 2274.78 - - - - - - - - - 16.06 -
15614.47 630.86 9.91 1822 15619.53 done 1.51 - - 2700.25 - 2.55 0.025 2187.50 -454.0 119.87 - - 2275.34 - - - - - - - - - 16.07 -
15924.53 602.06 9.56 1854 15925.86 VBD 1.51 - - 2700.56 - - - 2187.06 - 119.87 - - 2272.16 - - - - - - - - - - -
16235.16 572.40 9.39 1885 16239.66 done 1.51 - - 2700.50 - 2.54 0.080 1131.19 -415.7 119.87 - - 2273.38 - - - - - - - - - 16.07 -
16284.61 567.29 10.61 1895 16289.67 done 1.51 - - 2699.62 - 2.57 0.032 2274.38 444.8 119.87 - - 2273.88 - - - - - - - - - 16.08 -
16594.68 536.95 9.66 1927 16596.01 VBD 1.51 - - 2700.38 - - - 2274.19 - 119.87 - - 2272.16 - - - - - - - - - - -
16905.13 508.16 8.74 1958 16906.47 VBD 1.51 - - 2700.50 - - - 2274.88 - 119.87 - - 2271.88 - - - - - - - - - - -
17215.44 481.28 8.44 1989 17216.77 VBD 1.51 - - 2699.62 - - - 2275.06 - 119.87 - - 2271.47 - - - - - - - - - - -
17525.26 456.77 7.93 2020 17529.96 done 1.52 - - 2701.00 - 2.75 0.075 1131.31 -415.9 119.87 - - 2272.84 - - - - - - - - - 16.08 -
17614.89 449.26 8.35 2038 17619.95 done 1.52 - - 2698.75 - 2.57 0.031 2273.19 444.3 119.87 - - 2273.41 - - - - - - - - - 16.07 -
17925.32 425.40 7.87 2070 17926.65 VBD 1.53 - - 2701.00 - - - 2273.25 - 119.87 - - 2272.12 - - - - - - - - - - -
18235.36 401.24 7.69 2101 18236.69 VBD 1.55 - - 2700.25 - - - 2272.62 - 119.87 - - 2271.97 - - - - - - - - - - -
18545.39 378.06 7.12 2132 18546.72 VBD 1.57 - - 2700.62 - - - 2273.56 - 119.87 - - 2271.81 - - - - - - - - - - -
18855.43 355.99 7.09 2163 18860.12 done 1.60 - - 2698.69 - 2.75 0.074 1131.06 -415.5 119.87 - - 2273.34 - - - - - - - - - 16.08 -
18905.04 352.31 7.37 2173 18910.09 done 1.62 - - 2700.50 - 2.58 0.031 2273.44 442.8 119.87 - - 2274.16 - - - - - - - - - 16.08 -
19215.48 330.36 7.37 2205 19216.82 VBD 1.65 - - 2700.19 - - - 2273.00 - 119.87 - - 2272.12 - - - - - - - - - - -
19525.51 307.84 7.45 2236 19526.85 VBD 1.67 - - 2700.25 - - - 2273.31 - 119.87 - - 2272.19 - - - - - - - - - - -
19835.58 284.33 7.57 2267 19840.31 1.68 0.17 0.093 2741.75 244.1 2.62 0.092 3346.06 409.4 119.87 - - 2273.44 - - - - - - - - 16.04 16.01 -
19895.39 279.25 8.72 2279 19900.33 done 1.68 - - 2741.94 - 2.56 0.024 2185.44 -453.4 119.87 - - 2273.84 - - - - - - - - - 16.08 -
20205.84 255.74 7.52 2311 20207.18 VBD 1.70 - - 2741.12 - - - 2185.38 - 119.87 - - 2272.62 - - - - - - - - - - -
20515.74 233.11 7.47 2342 20517.07 VBD 1.72 - - 2741.25 - - - 2185.50 - 119.87 - - 2272.62 - - - - - - - - - - -
20825.80 210.04 7.62 2373 20830.51 done 1.74 - - 2741.06 - 2.83 0.087 3349.00 411.1 119.87 - - 2274.62 - - - - - - - - - 16.06 -
20905.42 203.23 8.60 2389 20910.51 done 1.74 - - 2739.88 - 2.57 0.024 2184.56 -453.1 119.87 - - 2274.94 - - - - - - - - - 16.07 -
21215.89 179.81 7.12 2421 21220.55 done 1.77 - - 2741.19 - 2.53 0.077 1130.12 -416.8 119.87 - - 2275.75 - - - - - - - - - 16.06 -
21360.10 169.07 7.87 2450 21366.06 done 1.78 - - 2741.81 - 2.58 0.030 2276.75 444.4 119.87 - - 2275.06 - - - - - - - - - 16.07 -
21676.01 148.12 6.49 2482 21680.67 done 1.82 - - 2741.56 - 2.60 0.090 3347.06 411.7 119.87 - - 2274.19 - - - - - - - - - 15.99 -
21735.64 144.25 6.43 2494 21762.75 1.88 0.19 0.081 2788.38 246.4 2.55 0.023 2179.38 -457.9 149.56 21.89 1.296 2163.88 -5.0 0.093 - - - - - - 15.99 15.99 12.19
22071.20 119.08 7.96 2530 22075.75 roll 1.89 - - 2789.56 - 2.52 0.076 1130.19 -416.3 149.56 - - 2162.88 - - - - - - - - - 16.00 -
22241.14 107.25 6.33 2564 22272.11 done 1.95 - - 2789.44 - 2.59 0.029 2276.25 442.5 180.82 24.74 1.253 2037.22 -5.1 0.072 - - - - - - - 16.01 12.50
22575.85 87.61 4.84 2622 22617.69 2.06 0.17 0.086 2831.88 249.6 - - 2276.12 - 233.91 40.42 1.251 1819.72 -5.4 0.063 - - - - - - 15.91 - 12.54
22801.28 72.87 6.90 2667 22806.44 roll 2.09 - - 2832.06 - 2.78 0.071 1130.31 -412.2 233.91 - - 1814.66 - - - - - - - - - 15.88 -
23035.94 56.84 6.40 2714 23066.79 done 2.15 - - 2832.31 - 2.60 0.029 2276.06 440.7 264.11 23.22 1.167 1698.47 -5.0 0.040 - - - - - - - 15.88 12.52
23251.18 41.44 7.31 2757 23256.60 roll 2.17 - - 2832.00 - 2.78 0.071 1130.38 -412.1 264.11 - - 1691.81 - - - - - - - - - 15.89 -
23486.05 23.65 5.61 2804 23522.65 2.25 0.21 0.079 2882.00 238.1 2.61 0.028 2278.38 439.8 305.84 32.14 1.143 1527.31 -5.1 0.018 - - - - - - 15.88 15.90 12.51
23706.09 23.28 -0.23 2848 23726.60 2.51 0.28 0.073 2941.44 212.3 - - 2278.00 - 433.12 19.34 1.090 1432.16 -4.9 0.017 - - - - - - 15.83 - 12.55
23727 end climb: NO_VERTICAL_VELOCITY
23727 begin surface
SM 1.68 - - - - 180.6 - - 496.6 - 17.74 0.080 447.2 25.2 - 0.12 0.127 545.9 4549.2 -6.151 - - 30.00 15.54 15.58 -