NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 551 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 181.21 of 550.00 AH used of 24V (67.05% remains)
• Surface angle -65.9 deg, depth 0.64 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 557.86 (beyond SM_CC=425)
• GPS1 time: 108 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.24 - - - 61.87 VBD -1.29 - - 175.88 - - - 2242.06 - -82.73 55.46 0.005 2505.09 - - - - - - - - - - 15.34
62.59 3.76 -7.44 10 99.99 -1.29 14.80 0.245 2016.94 124.4 2.48 0.068 1207.38 -417.2 -82.73 12.78 0.007 3113.41 47.6 -4.243 - - - - - - 15.49 15.26 15.38
327.08 43.09 -12.57 63 332.64 roll -1.29 - - 2016.81 - 2.62 0.029 2353.62 437.5 -82.73 - - 3112.78 - - - - - - - - - 15.78 -
517.75 63.52 -9.80 101 522.68 roll -1.29 - - 2016.75 - 2.73 0.059 1208.25 -419.5 -82.73 - - 3114.12 - - - - - - - - - 15.83 -
592.12 71.18 -10.10 116 597.66 roll -1.29 - - 2016.81 - 2.60 0.029 2354.94 441.0 -82.73 - - 3113.50 - - - - - - - - - 15.83 -
782.54 86.59 -7.32 154 783.87 no move -1.29 - - 2016.38 - - - 2354.38 - -82.73 - - 3113.47 - - - - - - - - - - -
967.17 103.72 -9.35 191 972.74 roll -1.29 - - 2016.81 - 2.72 0.059 1207.31 -421.7 -82.73 - - 3115.62 - - - - - - - - - 15.89 -
1142.59 119.88 -9.14 226 1147.73 roll -1.29 - - 2016.56 - 2.59 0.029 2353.69 442.6 -82.73 - - 3114.91 - - - - - - - - - 15.90 -
1452.24 147.98 -8.71 288 1453.57 no move -1.29 - - 2016.81 - - - 2352.81 - -82.73 - - 3113.47 - - - - - - - - - - -
1757.29 173.96 -8.62 349 1762.84 roll -1.29 - - 2017.06 - 2.68 0.061 1208.31 -427.1 -82.73 - - 3114.50 - - - - - - - - - 15.93 -
1802.52 177.96 -8.92 358 1807.83 roll -1.29 - - 2016.62 - 2.58 0.029 2352.81 443.6 -82.73 - - 3114.28 - - - - - - - - - 15.94 -
2112.58 204.31 -8.44 420 2118.00 roll -1.29 - - 2017.12 - 2.68 0.061 1208.50 -427.0 -82.73 - - 3114.12 - - - - - - - - - 15.94 -
2192.42 211.50 -9.03 436 2197.96 roll -1.29 - - 2016.62 - 2.58 0.029 2353.31 443.7 -82.73 - - 3113.78 - - - - - - - - - 15.95 -
2502.52 239.45 -8.84 498 2508.05 roll -1.29 - - 2017.38 - 2.69 0.062 1207.00 -426.1 -82.73 - - 3113.75 - - - - - - - - - 15.95 -
2602.54 248.67 -9.26 518 2608.08 roll -1.29 - - 2016.94 - 2.58 0.030 2353.38 444.3 -82.73 - - 3113.56 - - - - - - - - - 15.96 -
2912.64 275.35 -8.14 580 2913.97 no move -1.29 - - 2017.00 - - - 2353.19 - -82.73 - - 3111.31 - - - - - - - - - - -
3217.73 300.30 -8.68 641 3219.07 no move -1.29 - - 2016.75 - - - 2353.75 - -82.73 - - 3110.97 - - - - - - - - - - -
3526.76 325.38 -7.84 669 3538.38 no move -1.29 - - 2017.06 - - - 2353.12 - -82.73 - - 3111.75 - - - - - - - - - - -
3840.17 350.75 -8.24 698 3851.24 no move -1.29 - - 2017.19 - - - 2353.88 - -82.73 - - 3111.47 - - - - - - - - - - -
4153.17 375.76 -8.22 727 4157.81 roll -1.29 - - 2015.44 - 2.71 0.063 1208.44 -422.7 -82.73 - - 3110.09 - - - - - - - - - 15.97 -
4175.96 377.68 -8.51 731 4191.06 roll -1.29 - - 2016.94 - 2.59 0.030 2352.81 441.8 -82.73 - - 3110.25 - - - - - - - - - 16.00 -
4492.57 406.20 -8.79 760 4503.64 no move -1.29 - - 2017.19 - - - 2353.12 - -82.73 - - 3110.25 - - - - - - - - - - -
4805.25 433.59 -8.74 789 4816.31 no move -1.29 - - 2017.25 - - - 2352.69 - -82.73 - - 3109.41 - - - - - - - - - - -
5118.79 460.19 -8.40 818 5123.43 roll -1.29 - - 2016.81 - 2.71 0.064 1210.06 -421.6 -82.73 - - 3110.16 - - - - - - - - - 15.95 -
5204.53 467.70 -8.83 830 5219.45 roll -1.29 - - 2017.38 - 2.59 0.030 2353.06 441.3 -82.73 - - 3110.12 - - - - - - - - - 16.01 -
5520.67 494.67 -8.49 859 5531.74 no move -1.29 - - 2017.19 - - - 2353.44 - -82.73 - - 3108.34 - - - - - - - - - - -
5841.12 520.01 -7.71 882 5845.77 roll -1.29 - - 2017.56 - 2.72 0.064 1208.19 -421.0 -82.73 - - 3107.25 - - - - - - - - - 15.96 -
5879.67 523.03 -7.93 888 5885.21 roll -1.29 - - 2016.38 - 2.59 0.030 2353.50 442.2 -82.73 - - 3107.53 - - - - - - - - - 16.01 -
6199.07 548.31 -7.78 910 6203.72 roll -1.29 - - 2017.31 - 2.73 0.064 1208.44 -419.4 -82.73 - - 3105.97 - - - - - - - - - 15.95 -
6257.01 552.87 -7.84 918 6261.63 roll -1.29 - - 2016.75 - 2.58 0.031 2351.19 442.9 -82.73 - - 3105.28 - - - - - - - - - 16.00 -
6573.48 575.36 -7.17 940 6578.12 roll -1.29 - - 2017.69 - 2.72 0.064 1208.25 -420.2 -82.73 - - 3106.03 - - - - - - - - - 15.95 -
6612.02 578.17 -7.35 946 6617.74 roll -1.29 - - 2017.00 - 2.58 0.031 2352.69 443.6 -82.73 - - 3106.00 - - - - - - - - - 16.01 -
6931.61 600.98 -7.32 968 6932.94 no move -1.29 - - 2016.88 - - - 2353.38 - -82.73 - - 3105.12 - - - - - - - - - - -
7247.05 624.01 -7.23 989 7251.69 roll -1.29 - - 2017.50 - 2.70 0.065 1207.19 -424.5 -82.73 - - 3106.09 - - - - - - - - - 15.94 -
7306.34 628.45 -7.52 998 7311.88 roll -1.29 - - 2017.12 - 2.59 0.031 2352.62 442.3 -82.73 - - 3105.34 - - - - - - - - - 16.01 -
7625.76 652.12 -7.37 1020 7627.09 no move -1.29 - - 2017.00 - - - 2352.88 - -82.73 - - 3104.84 - - - - - - - - - - -
7940.79 674.31 -6.79 1041 7945.42 roll -1.29 - - 2017.19 - 2.65 0.093 3428.88 406.0 -82.73 - - 3104.09 - - - - - - - - - 15.89 -
8000.08 678.74 -7.43 1050 8005.62 roll -1.29 - - 2017.56 - 2.53 0.022 2246.75 -467.2 -82.73 - - 3104.81 - - - - - - - - - 15.99 -
8319.50 701.27 -6.96 1072 8324.08 roll -1.29 - - 2016.69 - 2.47 0.070 1208.38 -420.4 -82.73 - - 3104.28 - - - - - - - - - 15.93 -
8363.26 703.97 -7.07 1079 8378.18 roll -1.29 - - 2017.31 - 2.60 0.031 2353.00 440.2 -82.73 - - 3104.50 - - - - - - - - - 16.01 -
8692.70 726.21 -6.40 1101 8694.03 no move -1.29 - - 2017.44 - - - 2352.31 - -82.73 - - 3102.28 - - - - - - - - - - -
9007.72 748.18 -7.19 1122 9012.35 roll -1.29 - - 2017.50 - 2.65 0.093 3425.81 405.1 -82.73 - - 3103.28 - - - - - - - - - 15.88 -
9087.75 754.81 -8.31 1134 9093.28 roll -1.29 - - 2016.12 - 2.54 0.022 2246.94 -464.1 -82.73 - - 3103.94 - - - - - - - - - 16.00 -
9407.34 776.89 -6.98 1156 9408.67 no move -1.29 - - 2017.06 - - - 2246.06 - -82.73 - - 3101.91 - - - - - - - - - - -
9722.29 799.26 -7.01 1177 9726.88 roll -1.29 - - 2017.25 - 2.48 0.071 1209.44 -418.0 -82.73 - - 3101.25 - - - - - - - - - 15.91 -
9738 end dive: TARGET_DEPTH_EXCEEDED
9739 begin apogee
9742.44 800.49 -7.10 1179 9816.22 -0.28 1.75 0.145 2263.75 140.9 0.12 0.179 2162.38 7941.2 - 60.43 2.211 2773.44 -5.4 0.326 - - - - - - 15.76 15.63 10.90
9817 end apogee: CONTROL_FINISHED_OK
9818 begin climb
9818.23 802.76 - 1184 9898.11 1.29 2.55 0.090 2649.31 151.2 - - 2162.62 - 82.73 65.57 2.127 2436.09 -5.1 0.322 - - - - - - 15.66 - 12.32
10210.48 781.55 5.98 1212 10256.22 VBD 1.39 - - 2648.88 - - - 2162.06 - 129.23 38.08 2.079 2247.66 -4.9 0.309 - - - - - - - - 11.71
10570.50 757.14 6.90 1236 10575.25 roll back 1.42 0.16 0.097 2689.38 253.1 2.97 0.090 3344.62 398.2 129.23 - - 2240.72 - - - - - - - - 15.69 15.63 -
10692.00 746.06 9.42 1254 10697.72 roll 1.42 - - 2690.38 - 2.59 0.024 2189.75 -445.9 129.23 - - 2241.56 - - - - - - - - - 15.77 -
11011.52 719.53 8.35 1276 11012.85 no move 1.42 - - 2689.56 - - - 2188.69 - 129.23 - - 2239.97 - - - - - - - - - - -
11326.42 693.55 8.26 1297 11331.08 done 1.42 - - 2688.50 - 2.89 0.089 3345.56 400.3 129.23 - - 2239.12 - - - - - - - - - 15.83 -
11369.96 690.17 8.70 1304 11384.88 done 1.42 - - 2689.75 - 2.56 0.025 2189.56 -451.6 129.23 - - 2241.22 - - - - - - - - - 15.87 -
11699.37 662.26 8.23 1326 11704.02 done 1.42 - - 2689.00 - 2.88 0.089 3346.75 401.8 129.23 - - 2239.09 - - - - - - - - - 15.85 -
11736.56 658.88 8.66 1331 11741.18 done 1.42 - - 2689.31 - 2.56 0.024 2186.31 -453.3 129.23 - - 2240.53 - - - - - - - - - 15.90 -
12053.05 632.93 7.73 1353 12054.38 VBD 1.43 - - 2690.12 - - - 2186.31 - 129.23 - - 2238.38 - - - - - - - - - - -
12368.05 607.07 8.24 1374 12372.71 done 1.43 - - 2688.44 - 2.89 0.089 3344.62 400.8 129.23 - - 2239.50 - - - - - - - - - 15.86 -
12448.08 599.23 9.81 1386 12453.61 done 1.43 - - 2689.81 - 2.56 0.025 2188.62 -451.6 129.23 - - 2239.50 - - - - - - - - - 15.94 -
12767.48 571.07 8.50 1408 12772.10 done 1.43 - - 2688.88 - 2.56 0.079 1130.75 -413.2 129.23 - - 2238.31 - - - - - - - - - 15.89 -
12868.47 562.19 8.91 1423 12874.18 done 1.43 - - 2690.50 - 2.60 0.031 2271.94 438.9 129.23 - - 2239.47 - - - - - - - - - 15.96 -
13188.06 535.72 8.47 1445 13192.69 done 1.43 - - 2688.12 - 2.65 0.094 3343.75 404.5 129.23 - - 2237.78 - - - - - - - - - 15.87 -
13268.06 528.47 9.15 1457 13273.61 done 1.43 - - 2690.19 - 2.55 0.024 2188.19 -453.2 129.23 - - 2238.16 - - - - - - - - - 15.96 -
13587.48 501.76 8.60 1479 13592.09 done 1.43 - - 2690.50 - 2.55 0.079 1131.25 -414.5 129.23 - - 2239.78 - - - - - - - - - 15.89 -
13656.85 495.55 9.04 1488 13661.47 done 1.43 - - 2690.69 - 2.59 0.031 2273.25 440.9 129.23 - - 2238.50 - - - - - - - - - 15.96 -
13968.00 470.28 8.15 1517 13979.07 VBD 1.43 - - 2691.06 - - - 2273.50 - 129.23 - - 2238.19 - - - - - - - - - - -
14280.59 447.26 7.02 1546 14291.67 VBD 1.46 - - 2690.56 - - - 2273.62 - 129.23 - - 2238.12 - - - - - - - - - - -
14593.53 425.83 6.89 1575 14598.18 done 1.49 - - 2689.06 - 2.75 0.074 1130.00 -415.9 129.23 - - 2238.34 - - - - - - - - - 15.90 -
14677.93 419.81 7.09 1586 14682.55 done 1.52 - - 2690.44 - 2.59 0.031 2273.69 441.6 129.23 - - 2236.50 - - - - - - - - - 15.98 -
14989.66 400.05 5.74 1615 15039.36 1.62 0.22 0.078 2738.00 216.2 2.66 0.096 3346.19 403.2 180.31 39.39 1.693 2039.28 -5.0 0.196 - - - - - - 15.95 15.79 11.31
15105.56 390.01 9.55 1630 15120.36 roll 1.62 - - 2737.94 - 2.57 0.024 2187.94 -450.7 180.31 - - 2036.94 - - - - - - - - - 15.84 -
15421.71 358.89 9.76 1659 15432.79 no move 1.62 - - 2737.81 - - - 2188.06 - 180.31 - - 2032.97 - - - - - - - - - - -
15734.39 328.14 9.50 1688 15739.05 roll 1.62 - - 2737.62 - 2.88 0.088 3346.62 402.3 180.31 - - 2030.66 - - - - - - - - - 15.83 -
15818.80 319.09 10.63 1699 15823.42 roll 1.62 - - 2737.88 - 2.56 0.024 2188.12 -452.5 180.31 - - 2031.03 - - - - - - - - - 15.90 -
16125.58 290.59 9.78 1737 16126.92 VBD 1.62 - - 2737.75 - - - 2188.00 - 180.31 - - 2030.22 - - - - - - - - - - -
16430.71 261.19 9.71 1798 16436.23 done 1.62 - - 2737.38 - 2.55 0.079 1130.94 -414.5 180.31 - - 2030.91 - - - - - - - - - 15.86 -
16460.71 258.12 10.08 1804 16466.26 done 1.62 - - 2737.56 - 2.61 0.030 2273.69 437.8 180.31 - - 2032.31 - - - - - - - - - 15.92 -
16770.81 226.89 9.83 1866 16772.14 VBD 1.62 - - 2738.06 - - - 2273.38 - 180.31 - - 2030.12 - - - - - - - - - - -
17076.09 196.46 9.91 1927 17081.53 done 1.62 - - 2737.44 - 2.76 0.074 1128.25 -414.9 180.31 - - 2031.00 - - - - - - - - - 15.87 -
17175.92 186.16 10.19 1947 17181.46 done 1.62 - - 2737.50 - 2.61 0.030 2273.50 438.8 180.31 - - 2031.38 - - - - - - - - - 15.94 -
17485.96 158.75 8.13 2009 17487.29 VBD 1.62 - - 2737.69 - - - 2273.19 - 180.31 - - 2029.25 - - - - - - - - - - -
17791.00 133.42 8.44 2070 17792.33 VBD 1.62 - - 2737.12 - - - 2273.75 - 180.31 - - 2029.16 - - - - - - - - - - -
18096.05 104.64 9.61 2131 18101.62 done 1.62 - - 2737.88 - 2.77 0.073 1130.38 -412.8 180.31 - - 2030.38 - - - - - - - - - 15.88 -
18311.06 85.18 8.19 2174 18316.60 done 1.62 - - 2738.00 - 2.60 0.030 2272.62 439.3 180.31 - - 2029.88 - - - - - - - - - 15.96 -
18501.67 74.50 4.95 2212 18552.44 VBD 1.75 - - 2738.19 - - - 2273.06 - 246.09 49.34 1.272 1771.25 -5.2 0.051 - - - - - - - - 11.39
18736.20 57.60 7.08 2259 18741.68 roll 1.78 - - 2737.94 - 2.78 0.072 1131.00 -410.8 246.09 - - 1764.78 - - - - - - - - - 15.82 -
18776.14 54.74 7.08 2267 18781.73 1.81 0.19 0.084 2782.81 236.2 2.61 0.029 2276.62 438.9 246.09 - - 1763.19 - - - - - - - - 15.71 15.85 -
18966.17 41.61 6.92 2305 18971.72 done 1.84 - - 2782.56 - 2.79 0.071 1129.69 -411.1 246.09 - - 1762.28 - - - - - - - - - 15.83 -
19201.20 26.18 6.89 2352 19206.72 done 1.87 - - 2783.00 - 2.59 0.029 2275.00 442.2 246.09 - - 1761.12 - - - - - - - - - 15.88 -
19391.62 15.97 5.58 2390 19437.95 1.98 0.16 0.087 2824.69 260.6 2.64 0.092 3347.31 406.2 300.12 40.69 1.166 1551.09 -5.2 0.012 - - - - - - 15.87 15.77 11.72
19511.24 6.95 7.76 2414 19516.76 roll 1.99 - - 2822.56 - 2.59 0.022 2178.50 -451.3 300.12 - - 1547.62 - - - - - - - - - 15.81 -
19701.65 6.81 -0.64 2452 19768.15 2.34 0.46 0.058 2910.56 191.3 - - 2176.75 - 470.91 64.72 1.143 1202.66 -5.3 0.005 - - - - - - 15.80 - 11.83
19769 end climb: NO_VERTICAL_VELOCITY
19770 begin surface
SM 0.59 - - - - 178.0 - - 497.2 - 17.16 0.047 455.2 26.5 - 0.37 0.056 539.1 1457.0 -1.569 - - 30.00 15.49 15.52 -