NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1048 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 372.18 of 550.00 AH used of 24V (32.33% remains)
• Surface angle -60.8 deg, depth 0.64 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 21 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
5.81 - - - 77.14 VBD -1.56 - - 177.25 - - - 2250.50 - -82.73 70.15 0.005 2747.25 - - - - - - - - - - 14.80
78.25 3.13 -4.35 13 110.52 -1.56 14.41 0.236 1940.94 122.4 2.59 0.067 1209.19 -402.1 -82.73 8.76 0.007 3111.91 41.6 -3.222 - - - - - - 15.38 14.86 15.01
202.61 23.74 -15.23 38 208.15 roll -1.56 - - 1941.38 - 2.69 0.027 2351.38 424.6 -82.73 - - 3111.78 - - - - - - - - - 15.79 -
393.01 51.36 -13.37 76 398.39 roll -1.56 - - 1941.56 - 2.78 0.081 3426.88 386.9 -82.73 - - 3112.06 - - - - - - - - - 15.77 -
412.76 54.46 -15.17 80 418.19 roll -1.56 - - 1942.12 - 2.61 0.018 2258.81 -447.5 -82.73 - - 3111.81 - - - - - - - - - 15.83 -
603.07 76.73 -10.49 118 608.20 roll -1.56 - - 1941.50 - 2.59 0.064 1209.25 -405.2 -82.73 - - 3112.56 - - - - - - - - - 15.83 -
627.66 79.37 -10.52 123 633.24 roll -1.56 - - 1941.69 - 2.71 0.026 2368.81 427.9 -82.73 - - 3111.72 - - - - - - - - - 15.88 -
818.09 96.44 -8.83 161 823.28 roll -1.56 - - 1941.75 - 2.86 0.058 1209.19 -405.5 -82.73 - - 3112.94 - - - - - - - - - 15.85 -
852.69 99.65 -9.13 168 858.26 roll -1.56 - - 1941.19 - 2.70 0.026 2369.56 429.8 -82.73 - - 3111.88 - - - - - - - - - 15.91 -
1042.73 115.94 -8.77 206 1048.30 roll -1.56 - - 1941.81 - 2.86 0.058 1208.56 -405.9 -82.73 - - 3112.81 - - - - - - - - - 15.87 -
1082.94 119.51 -8.93 214 1088.28 roll -1.56 - - 1941.56 - 2.67 0.026 2360.69 431.5 -82.73 - - 3112.84 - - - - - - - - - 15.93 -
1392.79 146.76 -8.97 276 1398.36 roll -1.56 - - 1940.94 - 2.82 0.058 1208.94 -408.4 -82.73 - - 3112.94 - - - - - - - - - 15.90 -
1462.98 153.16 -9.16 290 1468.40 roll -1.56 - - 1941.94 - 2.66 0.026 2355.19 430.9 -82.73 - - 3112.94 - - - - - - - - - 15.94 -
1772.88 183.29 -10.20 352 1778.45 roll -1.56 - - 1942.19 - 2.81 0.059 1207.81 -408.3 -82.73 - - 3111.94 - - - - - - - - - 15.91 -
1812.88 187.34 -10.13 360 1818.43 roll -1.56 - - 1940.75 - 2.65 0.025 2352.56 432.0 -82.73 - - 3113.28 - - - - - - - - - 15.96 -
2123.01 215.38 -8.33 422 2128.58 roll -1.56 - - 1941.75 - 2.82 0.059 1208.44 -405.7 -82.73 - - 3111.72 - - - - - - - - - 15.92 -
2188.18 221.17 -8.94 435 2193.89 roll -1.56 - - 1941.88 - 2.65 0.026 2349.12 430.4 -82.73 - - 3112.56 - - - - - - - - - 15.97 -
2498.12 246.88 -8.76 497 2499.45 no move -1.56 - - 1941.69 - - - 2349.56 - -82.73 - - 3112.00 - - - - - - - - - - -
2803.23 274.36 -9.49 558 2804.55 no move -1.56 - - 1941.56 - - - 2349.62 - -82.73 - - 3111.12 - - - - - - - - - - -
3108.43 304.27 -9.72 614 3113.28 roll -1.56 - - 1940.94 - 2.81 0.060 1209.38 -405.8 -82.73 - - 3112.69 - - - - - - - - - 15.94 -
3178.57 311.20 -10.05 624 3193.39 roll -1.56 - - 1941.56 - 2.65 0.026 2351.06 430.8 -82.73 - - 3112.03 - - - - - - - - - 15.99 -
3494.64 340.92 -9.22 653 3499.62 roll -1.56 - - 1940.50 - 2.83 0.059 1208.25 -403.8 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
3548.92 345.82 -9.26 661 3563.85 roll -1.56 - - 1940.38 - 2.63 0.026 2341.94 431.1 -82.73 - - 3113.91 - - - - - - - - - 16.00 -
3865.09 370.64 -7.27 690 3869.74 roll -1.56 - - 1940.75 - 2.79 0.059 1209.25 -406.0 -82.73 - - 3112.59 - - - - - - - - - 15.94 -
3949.48 377.28 -7.86 701 3954.10 roll -1.56 - - 1940.56 - 2.60 0.026 2331.56 431.7 -82.73 - - 3112.56 - - - - - - - - - 15.99 -
4261.54 399.52 -7.45 730 4266.21 roll -1.56 - - 1941.69 - 2.82 0.083 3429.94 389.5 -82.73 - - 3111.09 - - - - - - - - - 15.90 -
4331.56 405.38 -8.40 740 4346.49 roll -1.56 - - 1941.25 - 2.65 0.018 2223.06 -455.4 -82.73 - - 3113.22 - - - - - - - - - 16.00 -
4647.72 429.62 -8.59 769 4652.42 roll -1.56 - - 1941.50 - 3.09 0.078 3428.06 390.0 -82.73 - - 3110.88 - - - - - - - - - 15.90 -
4747.86 438.46 -8.70 782 4752.67 roll -1.56 - - 1939.25 - 2.62 0.018 2234.00 -455.7 -82.73 - - 3112.94 - - - - - - - - - 15.99 -
5060.02 464.29 -8.38 811 5064.63 roll -1.56 - - 1941.94 - 2.53 0.066 1210.88 -404.4 -82.73 - - 3110.66 - - - - - - - - - 15.93 -
5114.30 469.15 -9.05 819 5129.24 roll -1.56 - - 1941.56 - 2.61 0.026 2337.88 431.8 -82.73 - - 3111.81 - - - - - - - - - 16.00 -
5430.47 495.33 -8.08 848 5435.11 roll -1.56 - - 1941.88 - 2.79 0.061 1209.00 -404.6 -82.73 - - 3110.84 - - - - - - - - - 15.93 -
5535.95 504.60 -8.92 862 5540.58 roll -1.56 - - 1941.31 - 2.61 0.026 2333.38 430.8 -82.73 - - 3110.72 - - - - - - - - - 15.99 -
5852.45 531.92 -8.42 884 5857.10 roll -1.56 - - 1941.25 - 2.80 0.084 3426.44 390.4 -82.73 - - 3109.91 - - - - - - - - - 15.89 -
5870.25 533.37 -8.47 887 5875.81 roll -1.56 - - 1941.62 - 2.64 0.019 2223.25 -455.8 -82.73 - - 3110.94 - - - - - - - - - 15.99 -
6189.65 559.48 -7.92 909 6194.25 roll -1.56 - - 1939.44 - 2.50 0.067 1210.44 -405.1 -82.73 - - 3111.50 - - - - - - - - - 15.93 -
6274.66 566.03 -8.27 922 6289.58 roll -1.56 - - 1941.81 - 2.59 0.027 2328.50 431.7 -82.73 - - 3110.09 - - - - - - - - - 16.00 -
6604.07 590.89 -7.07 944 6605.40 no move -1.56 - - 1941.69 - - - 2328.25 - -82.73 - - 3108.53 - - - - - - - - - - -
6919.09 614.50 -7.61 965 6923.92 roll -1.56 - - 1941.56 - 2.77 0.062 1208.00 -404.4 -82.73 - - 3109.94 - - - - - - - - - 15.92 -
6978.55 619.38 -8.28 974 6983.92 roll -1.56 - - 1941.75 - 2.59 0.026 2326.12 431.7 -82.73 - - 3109.69 - - - - - - - - - 16.01 -
7297.79 643.14 -7.21 996 7299.12 no move -1.56 - - 1941.38 - - - 2327.31 - -82.73 - - 3108.25 - - - - - - - - - - -
7612.80 665.60 -6.83 1017 7617.46 roll -1.56 - - 1941.75 - 2.83 0.086 3425.75 388.1 -82.73 - - 3108.56 - - - - - - - - - 15.87 -
7656.34 668.37 -7.17 1024 7671.27 roll -1.56 - - 1941.56 - 2.66 0.019 2218.00 -454.0 -82.73 - - 3109.22 - - - - - - - - - 16.00 -
7985.75 691.19 -7.16 1046 7990.34 roll -1.56 - - 1941.69 - 2.49 0.068 1209.06 -405.2 -82.73 - - 3107.78 - - - - - - - - - 15.91 -
8024.30 694.06 -7.46 1052 8029.84 roll -1.56 - - 1941.69 - 2.57 0.026 2317.88 431.4 -82.73 - - 3108.91 - - - - - - - - - 16.00 -
8343.83 718.72 -7.92 1074 8348.49 roll -1.56 - - 1939.62 - 2.86 0.087 3425.38 387.2 -82.73 - - 3108.62 - - - - - - - - - 15.87 -
8387.37 721.98 -8.38 1081 8402.32 roll -1.56 - - 1940.69 - 2.67 0.020 2212.25 -454.4 -82.73 - - 3109.12 - - - - - - - - - 15.99 -
8716.78 749.00 -8.23 1103 8721.49 roll -1.56 - - 1941.75 - 3.12 0.083 3429.00 390.0 -82.73 - - 3106.72 - - - - - - - - - 15.85 -
8781.07 754.19 -8.78 1113 8796.18 roll -1.56 - - 1940.50 - 2.66 0.020 2219.00 -454.9 -82.73 - - 3108.19 - - - - - - - - - 15.99 -
9110.61 765.86 -1.84 1135 9115.21 roll -1.56 - - 1940.94 - 2.51 0.073 1209.12 -402.3 -82.73 - - 3106.59 - - - - - - - - - 15.88 -
9355.64 765.82 -0.79 1170 9360.25 roll -1.56 - - 1939.94 - 2.60 0.030 2319.44 427.0 -82.73 - - 3106.53 - - - - - - - - - 15.99 -
9401 end dive: NO_VERTICAL_VELOCITY
9401 begin apogee
9403.99 765.83 - 1174 9479.58 -0.28 2.12 0.094 2258.00 150.0 0.16 0.149 2158.31 -1007.1 - 66.13 2.093 2774.38 -5.0 0.318 - - - - - - 15.90 15.20 10.28
9481 end apogee: CONTROL_FINISHED_OK
9481 begin climb
9482.15 765.92 - 1179 9569.99 1.56 3.05 0.101 2701.12 145.3 2.74 0.083 3204.62 381.9 82.73 68.72 2.072 2436.22 -4.9 0.315 - - - - - - 15.50 15.61 11.69
9572.78 763.20 4.04 1192 9659.43 1.75 0.28 0.069 2754.81 191.8 2.69 0.023 2059.38 -425.7 177.34 81.13 2.076 2052.53 -4.7 0.301 - - - - - - 15.35 15.43 11.55
9971.00 731.79 9.16 1225 9972.33 VBD 1.75 - - 2756.94 - - - 2059.56 - 177.34 - - 2042.09 - - - - - - - - - - -
10286.02 701.36 9.80 1246 10290.70 done 1.75 - - 2757.06 - 2.95 0.078 3207.25 389.0 177.34 - - 2039.34 - - - - - - - - - 15.79 -
10324.56 697.48 10.13 1252 10330.10 done 1.75 - - 2757.31 - 2.60 0.025 2068.62 -437.9 177.34 - - 2041.03 - - - - - - - - - 15.85 -
10643.97 666.33 9.48 1274 10648.62 done 1.75 - - 2757.81 - 2.73 0.085 994.94 -393.3 177.34 - - 2038.16 - - - - - - - - - 15.82 -
10682.74 662.52 9.86 1280 10688.30 done 1.75 - - 2757.75 - 2.66 0.024 2141.00 430.8 177.34 - - 2038.25 - - - - - - - - - 15.91 -
11002.15 633.72 8.41 1302 11006.81 done 1.75 - - 2756.75 - 2.73 0.083 3207.00 390.5 177.34 - - 2037.72 - - - - - - - - - 15.85 -
11082.19 626.90 8.62 1314 11087.72 done 1.75 - - 2757.00 - 2.59 0.024 2068.19 -439.7 177.34 - - 2038.69 - - - - - - - - - 15.94 -
11401.60 601.08 8.02 1336 11406.25 done 1.75 - - 2757.44 - 2.72 0.084 992.31 -395.5 177.34 - - 2037.06 - - - - - - - - - 15.85 -
11445.15 597.79 8.43 1343 11460.27 done 1.75 - - 2757.94 - 2.68 0.025 2155.12 433.9 177.34 - - 2036.97 - - - - - - - - - 15.94 -
11774.68 568.72 8.85 1365 11779.31 done 1.75 - - 2755.56 - 2.69 0.084 3206.25 390.8 177.34 - - 2036.72 - - - - - - - - - 15.87 -
11832.61 563.21 9.30 1373 11837.22 done 1.75 - - 2757.75 - 2.56 0.024 2077.81 -440.8 177.34 - - 2036.38 - - - - - - - - - 15.96 -
12149.08 534.85 8.97 1395 12153.74 done 1.75 - - 2757.88 - 2.73 0.084 994.69 -396.7 177.34 - - 2034.50 - - - - - - - - - 15.85 -
12269.24 523.18 9.78 1412 12273.87 done 1.75 - - 2757.94 - 2.65 0.025 2146.12 434.5 177.34 - - 2034.56 - - - - - - - - - 15.97 -
12577.19 496.96 8.49 1434 12581.83 done 1.75 - - 2756.88 - 2.71 0.083 3203.56 390.2 177.34 - - 2034.94 - - - - - - - - - 15.87 -
12631.46 492.08 9.09 1442 12646.39 done 1.75 - - 2757.69 - 2.58 0.024 2067.88 -440.2 177.34 - - 2035.53 - - - - - - - - - 15.98 -
12947.64 465.10 8.17 1471 12952.27 done 1.75 - - 2757.81 - 2.68 0.084 993.56 -400.9 177.34 - - 2033.56 - - - - - - - - - 15.85 -
13064.36 454.39 9.31 1486 13069.00 done 1.75 - - 2756.88 - 2.62 0.025 2135.06 435.7 177.34 - - 2034.00 - - - - - - - - - 15.97 -
13376.00 427.65 8.58 1515 13387.08 VBD 1.75 - - 2757.88 - - - 2135.31 - 177.34 - - 2035.16 - - - - - - - - - - -
13689.31 400.37 8.47 1544 13693.95 done 1.75 - - 2758.12 - 2.73 0.083 3206.25 392.3 177.34 - - 2034.81 - - - - - - - - - 15.86 -
13726.50 396.99 8.77 1549 13731.13 done 1.75 - - 2757.44 - 2.61 0.024 2055.75 -440.8 177.34 - - 2033.50 - - - - - - - - - 15.97 -
14038.50 374.17 7.00 1578 14043.17 done 1.78 - - 2758.12 - 2.94 0.078 3204.81 390.8 177.34 - - 2032.84 - - - - - - - - - 15.86 -
14124.26 367.67 7.63 1590 14139.17 done 1.80 - - 2758.12 - 2.58 0.024 2061.44 -443.2 177.34 - - 2035.59 - - - - - - - - - 15.98 -
14440.43 342.42 7.95 1619 14445.06 done 1.81 - - 2757.50 - 2.68 0.085 994.88 -398.0 177.34 - - 2032.97 - - - - - - - - - 15.84 -
14493.58 337.85 8.45 1626 14498.21 done 1.81 - - 2757.00 - 2.65 0.024 2146.19 434.5 177.34 - - 2033.78 - - - - - - - - - 15.97 -
14805.24 315.07 7.23 1655 14809.92 done 1.83 - - 2757.75 - 2.90 0.079 993.69 -397.4 177.34 - - 2032.78 - - - - - - - - - 15.84 -
14873.92 309.75 7.64 1664 14878.56 done 1.85 - - 2757.56 - 2.65 0.024 2141.75 433.2 177.34 - - 2034.19 - - - - - - - - - 15.97 -
15180.78 288.66 6.61 1710 15186.20 done 1.89 - - 2757.00 - 2.72 0.082 3204.44 390.7 177.34 - - 2033.75 - - - - - - - - - 15.85 -
15270.61 282.12 7.28 1728 15276.18 1.91 0.16 0.095 2795.50 240.6 2.58 0.024 2066.25 -441.2 177.34 - - 2034.75 - - - - - - - - 15.79 15.96 -
15580.65 260.08 7.40 1790 15586.17 done 1.93 - - 2795.38 - 2.70 0.083 992.50 -397.7 177.34 - - 2034.06 - - - - - - - - - 15.82 -
15610.65 257.73 7.67 1796 15616.18 done 1.95 - - 2795.00 - 2.68 0.024 2153.12 433.1 177.34 - - 2034.66 - - - - - - - - - 15.95 -
15920.69 235.31 7.65 1858 15926.22 done 1.96 - - 2795.62 - 2.69 0.081 3205.00 391.0 177.34 - - 2034.31 - - - - - - - - - 15.84 -
15955.67 232.41 8.23 1865 15961.21 done 1.96 - - 2795.88 - 2.56 0.024 2074.38 -441.6 177.34 - - 2033.97 - - - - - - - - - 15.96 -
16265.74 207.83 7.89 1927 16271.32 done 1.97 - - 2795.00 - 2.90 0.077 3207.00 390.6 177.34 - - 2034.16 - - - - - - - - - 15.84 -
16290.73 205.68 8.30 1932 16296.44 done 1.97 - - 2795.75 - 2.55 0.023 2082.69 -440.9 177.34 - - 2034.16 - - - - - - - - - 15.96 -
16600.79 182.76 6.76 1994 16606.33 done 2.01 - - 2794.62 - 2.74 0.082 992.44 -397.9 177.34 - - 2033.84 - - - - - - - - - 15.83 -
16680.79 176.83 7.47 2010 16686.33 done 2.03 - - 2795.62 - 2.68 0.024 2158.88 435.2 177.34 - - 2034.75 - - - - - - - - - 15.95 -
16990.84 157.18 6.38 2072 17031.88 2.12 0.23 0.075 2848.25 228.8 2.96 0.079 992.25 -394.1 221.82 34.72 1.344 1870.47 -4.7 0.096 - - - - - - 15.92 15.32 10.49
17105.99 146.82 10.06 2095 17111.38 roll 2.12 - - 2848.00 - 2.67 0.024 2144.56 431.6 221.82 - - 1866.66 - - - - - - - - - 15.85 -
17415.94 117.80 9.16 2157 17417.27 no move 2.12 - - 2848.38 - - - 2144.56 - 221.82 - - 1864.50 - - - - - - - - - - -
17721.22 91.47 8.16 2218 17726.60 roll 2.12 - - 2848.56 - 2.71 0.080 3204.81 391.2 221.82 - - 1863.94 - - - - - - - - - 15.83 -
17816.25 83.09 8.86 2237 17821.67 roll 2.12 - - 2848.44 - 2.62 0.023 2053.00 -439.6 221.82 - - 1864.50 - - - - - - - - - 15.92 -
18006.14 71.24 5.66 2275 18059.38 done 2.24 - - 2848.56 - 2.95 0.076 3203.81 390.1 281.90 47.74 1.228 1624.84 -5.0 0.050 - - - - - - - 15.39 10.93
18286.50 53.20 5.49 2331 18343.79 2.37 0.28 0.071 2904.31 199.1 2.56 0.023 2079.06 -439.4 345.54 50.72 1.180 1366.78 -5.1 0.040 - - - - - - 15.71 15.83 11.18
18526.53 34.69 8.36 2379 18527.86 no move 2.37 - - 2904.62 - - - 2078.94 - 345.54 - - 1359.41 - - - - - - - - - - -
18711.56 18.85 8.42 2416 18717.14 roll 2.37 - - 2905.00 - 2.89 0.074 3206.06 390.0 345.54 - - 1358.56 - - - - - - - - - 15.77 -
18731.56 17.03 8.83 2420 18737.10 roll 2.37 - - 2904.69 - 2.55 0.023 2084.19 -439.9 345.54 - - 1359.09 - - - - - - - - - 15.82 -
18876 end climb: SURFACE_DEPTH_REACHED
18876 begin surface coast
18931 end surface coast: CONTROL_FINISHED_OK
18931 begin surface
SM 0.53 - - - - 178.4 59.92 1.141 1042.8 17.4 16.92 0.050 1006.5 59.5 - 0.57 0.051 1079.1 1888.7 -2.006 - - 11.09 15.79 15.85 -