NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 32 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 19.16 of 550.00 AH used of 24V (96.52% remains)
• Surface angle -63.2 deg, depth 1.60 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 18 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.12 - - - 68.82 VBD -1.15 - - 181.94 - - - 2265.12 - -116.79 61.55 0.005 2494.16 - - - - - - - - - - 15.73
69.56 3.35 -3.33 12 113.47 -1.15 14.82 0.264 2050.25 126.1 3.43 0.091 850.19 -412.5 -116.79 19.49 0.006 3252.38 38.9 -3.630 - - - - - - 15.66 15.72 15.77
156.45 16.91 -17.94 29 162.14 roll -1.15 - - 2050.88 - 3.42 0.039 2345.69 437.3 -116.79 - - 3253.06 - - - - - - - - - 15.80 -
346.65 47.35 -15.77 67 350.24 no move -1.15 - - 2050.25 - - - 2345.44 - -116.79 - - 3251.72 - - - - - - - - - - -
531.99 74.76 -13.78 104 537.30 roll -1.15 - - 2050.44 - 3.59 0.082 848.12 -417.1 -116.79 - - 3252.62 - - - - - - - - - 15.90 -
591.63 83.37 -14.21 116 597.30 roll -1.15 - - 2050.62 - 3.40 0.037 2346.94 440.8 -116.79 - - 3252.31 - - - - - - - - - 15.93 -
786.70 102.48 -7.95 152 791.92 roll -1.15 - - 2050.19 - 3.47 0.106 3788.75 415.5 -116.79 - - 3252.91 - - - - - - - - - 15.95 -
846.73 108.66 -10.61 164 851.93 roll -1.15 - - 2049.94 - 3.38 0.030 2260.44 -452.2 -116.79 - - 3254.00 - - - - - - - - - 15.98 -
1156.78 137.41 -9.67 196 1158.10 no move -1.15 - - 2050.38 - - - 2258.88 - -116.79 - - 3251.22 - - - - - - - - - - -
1467.22 165.16 -8.97 227 1472.03 roll -1.15 - - 2050.50 - 3.34 0.091 851.12 -421.5 -116.79 - - 3254.16 - - - - - - - - - 16.06 -
1516.85 169.88 -9.70 237 1522.07 roll -1.15 - - 2050.56 - 3.36 0.036 2351.19 446.4 -116.79 - - 3254.25 - - - - - - - - - 16.06 -
1826.91 199.15 -9.20 269 1828.23 no move -1.15 - - 2050.88 - - - 2350.94 - -116.79 - - 3252.09 - - - - - - - - - - -
2137.58 226.27 -8.57 300 2143.20 roll -1.15 - - 2048.06 - 3.56 0.085 849.12 -421.9 -116.79 - - 3252.78 - - - - - - - - - 16.11 -
2166.51 229.12 -8.92 306 2172.64 roll -1.15 - - 2050.94 - 3.35 0.037 2351.75 448.5 -116.79 - - 3254.84 - - - - - - - - - 16.10 -
2481.99 256.34 -8.49 338 2487.22 roll -1.15 - - 2050.44 - 3.42 0.106 3789.56 420.4 -116.79 - - 3253.62 - - - - - - - - - 16.12 -
2532.01 261.61 -10.94 348 2537.20 roll -1.15 - - 2050.88 - 3.33 0.029 2259.44 -459.5 -116.79 - - 3253.53 - - - - - - - - - 16.13 -
2842.03 287.78 -8.41 380 2843.36 no move -1.15 - - 2050.69 - - - 2258.06 - -116.79 - - 3251.84 - - - - - - - - - - -
3152.45 314.10 -8.49 411 3158.33 roll -1.15 - - 2051.19 - 3.64 0.104 3788.31 420.4 -116.79 - - 3251.31 - - - - - - - - - 16.15 -
3177.08 316.54 -8.96 416 3182.28 roll -1.15 - - 2050.94 - 3.34 0.032 2261.44 -457.1 -116.79 - - 3254.72 - - - - - - - - - 16.14 -
3487.10 341.30 -7.60 448 3492.36 roll -1.15 - - 2051.38 - 3.64 0.104 3788.75 419.6 -116.79 - - 3253.22 - - - - - - - - - 16.16 -
3567.12 348.98 -9.90 464 3572.50 roll -1.15 - - 2051.19 - 3.33 0.031 2261.56 -458.6 -116.79 - - 3254.34 - - - - - - - - - 16.17 -
3877.15 375.05 -8.64 496 3878.48 no move -1.15 - - 2051.56 - - - 2259.38 - -116.79 - - 3251.34 - - - - - - - - - - -
4187.57 400.76 -8.19 527 4193.45 roll -1.15 - - 2050.88 - 3.64 0.105 3788.81 420.2 -116.79 - - 3251.25 - - - - - - - - - 16.18 -
4226.73 404.80 -10.46 535 4232.85 roll -1.15 - - 2051.06 - 3.34 0.032 2261.50 -457.3 -116.79 - - 3253.00 - - - - - - - - - 16.18 -
4542.25 432.37 -8.78 567 4547.50 roll -1.15 - - 2051.69 - 3.64 0.106 3787.62 419.3 -116.79 - - 3252.34 - - - - - - - - - 16.18 -
4582.27 436.62 -10.64 575 4587.47 roll -1.15 - - 2051.44 - 3.34 0.032 2263.00 -456.5 -116.79 - - 3253.31 - - - - - - - - - 16.19 -
4892.32 464.13 -8.83 607 4893.65 no move -1.15 - - 2051.25 - - - 2261.88 - -116.79 - - 3249.94 - - - - - - - - - - -
5202.77 490.75 -8.54 638 5204.10 no move -1.15 - - 2050.50 - - - 2262.12 - -116.79 - - 3250.59 - - - - - - - - - - -
5512.83 516.40 -8.21 669 5514.16 no move -1.15 - - 2050.69 - - - 2261.19 - -116.79 - - 3250.53 - - - - - - - - - - -
5822.90 540.50 -7.66 700 5828.77 roll -1.15 - - 2049.56 - 3.64 0.108 3789.50 419.9 -116.79 - - 3250.03 - - - - - - - - - 16.20 -
5877.53 545.57 -9.23 711 5882.92 roll -1.15 - - 2051.50 - 3.34 0.033 2265.69 -456.2 -116.79 - - 3250.56 - - - - - - - - - 16.21 -
6187.60 567.17 -6.90 743 6188.93 no move -1.15 - - 2051.12 - - - 2263.94 - -116.79 - - 3249.00 - - - - - - - - - - -
6498.03 589.92 -7.44 774 6499.36 no move -1.15 - - 2050.81 - - - 2264.38 - -116.79 - - 3248.44 - - - - - - - - - - -
6808.10 612.93 -7.34 805 6809.43 no move -1.15 - - 2051.12 - - - 2264.12 - -116.79 - - 3247.69 - - - - - - - - - - -
7118.15 636.67 -7.77 836 7119.48 no move -1.15 - - 2051.06 - - - 2264.56 - -116.79 - - 3247.81 - - - - - - - - - - -
7428.24 659.72 -7.06 867 7429.57 no move -1.15 - - 2050.62 - - - 2264.38 - -116.79 - - 3247.09 - - - - - - - - - - -
7738.30 681.43 -6.76 898 7739.62 no move -1.15 - - 2051.00 - - - 2264.44 - -116.79 - - 3246.88 - - - - - - - - - - -
8048.34 702.50 -6.63 929 8049.67 no move -1.15 - - 2051.25 - - - 2263.56 - -116.79 - - 3246.38 - - - - - - - - - - -
8358.38 723.98 -6.97 960 8359.71 no move -1.15 - - 2050.81 - - - 2264.19 - -116.79 - - 3246.06 - - - - - - - - - - -
8668.41 744.52 -6.71 991 8669.74 no move -1.15 - - 2051.12 - - - 2264.06 - -116.79 - - 3245.53 - - - - - - - - - - -
8978.44 765.05 -6.46 1022 8984.31 roll -1.15 - - 2051.06 - 3.64 0.108 3789.25 419.0 -116.79 - - 3246.00 - - - - - - - - - 16.22 -
9017.59 768.37 -8.31 1030 9023.72 roll -1.15 - - 2050.44 - 3.34 0.034 2264.19 -456.6 -116.79 - - 3246.00 - - - - - - - - - 16.23 -
9333.09 787.43 -6.10 1062 9334.42 no move -1.15 - - 2050.81 - - - 2264.00 - -116.79 - - 3245.38 - - - - - - - - - - -
9643.75 807.07 -6.56 1093 9649.33 roll -1.15 - - 2051.00 - 3.37 0.098 849.06 -419.9 -116.79 - - 3246.59 - - - - - - - - - 16.23 -
9672.67 809.42 -7.11 1099 9678.79 roll -1.15 - - 2051.12 - 3.35 0.040 2353.38 449.1 -116.79 - - 3247.59 - - - - - - - - - 16.24 -
9988.17 827.93 -5.52 1131 9993.37 roll -1.15 - - 2050.75 - 3.42 0.112 3788.88 419.7 -116.79 - - 3246.09 - - - - - - - - - 16.22 -
10048.18 832.21 -6.75 1143 10053.37 roll -1.15 - - 2051.38 - 3.34 0.032 2263.69 -456.6 -116.79 - - 3247.38 - - - - - - - - - 16.23 -
10358.21 849.42 -5.64 1175 10359.54 no move -1.15 - - 2051.00 - - - 2261.81 - -116.79 - - 3244.22 - - - - - - - - - - -
10668.65 868.47 -6.45 1206 10673.45 roll -1.15 - - 2049.94 - 3.36 0.097 849.00 -420.5 -116.79 - - 3245.50 - - - - - - - - - 16.23 -
10702.80 871.35 -7.26 1213 10708.92 roll -1.15 - - 2050.88 - 3.35 0.040 2349.69 448.0 -116.79 - - 3244.78 - - - - - - - - - 16.23 -
11018.32 892.56 -7.24 1245 11019.65 no move -1.15 - - 2051.31 - - - 2350.31 - -116.79 - - 3244.03 - - - - - - - - - - -
11328.78 915.69 -7.62 1276 11334.82 roll -1.15 - - 2051.25 - 3.57 0.093 849.94 -420.3 -116.79 - - 3245.12 - - - - - - - - - 16.23 -
11413.53 922.90 -7.92 1293 11418.62 roll -1.15 - - 2051.00 - 3.35 0.040 2348.94 447.5 -116.79 - - 3244.31 - - - - - - - - - 16.23 -
11723.53 943.70 -6.52 1325 11728.71 roll -1.15 - - 2051.31 - 3.55 0.092 850.25 -422.2 -116.79 - - 3244.81 - - - - - - - - - 16.23 -
11788.04 948.41 -7.41 1338 11794.19 roll -1.15 - - 2051.75 - 3.34 0.039 2349.19 448.8 -116.79 - - 3244.41 - - - - - - - - - 16.23 -
12103.57 967.76 -5.95 1370 12104.90 no move -1.15 - - 2050.69 - - - 2348.94 - -116.79 - - 3242.75 - - - - - - - - - - -
12303 end dive: HALF_MISSION_TIME_EXCEEDED
12303 begin apogee
12305.42 979.46 -5.75 1390 12396.27 -0.25 1.50 0.151 2270.94 146.8 0.16 0.178 2282.38 -416.0 - 85.69 2.437 2774.53 -5.5 0.367 - - - - - - 16.19 15.52 13.16
12398 end apogee: CONTROL_FINISHED_OK
12398 begin climb
12398.49 980.42 - 1399 12497.06 1.15 2.32 0.106 2613.81 147.8 - - 2281.94 - 116.79 91.80 2.366 2297.59 -5.2 0.360 - - - - - - 15.57 - 12.82
12803.66 948.58 8.50 1441 12804.99 VBD 1.17 - - 2613.25 - - - 2281.88 - 116.79 - - 2288.06 - - - - - - - - - - -
13114.11 922.13 8.66 1472 13115.44 VBD 1.18 - - 2613.25 - - - 2282.06 - 116.79 - - 2286.75 - - - - - - - - - - -
13424.18 897.33 8.12 1503 13425.51 VBD 1.20 - - 2612.88 - - - 2281.50 - 116.79 - - 2286.72 - - - - - - - - - - -
13734.24 872.46 7.87 1534 13735.57 VBD 1.22 - - 2613.00 - - - 2281.75 - 116.79 - - 2285.94 - - - - - - - - - - -
14044.29 848.71 7.55 1565 14045.62 VBD 1.26 - - 2613.44 - - - 2281.88 - 116.79 - - 2284.84 - - - - - - - - - - -
14354.35 825.25 7.46 1596 14355.78 1.29 0.17 0.095 2654.06 238.9 - - 2281.44 - 116.79 - - 2285.19 - - - - - - - - 16.07 - -
14663.98 797.60 9.49 1627 14665.31 VBD 1.29 - - 2654.19 - - - 2282.19 - 116.79 - - 2284.25 - - - - - - - - - - -
14974.39 768.96 9.09 1658 14979.23 done 1.29 - - 2654.56 - 3.44 0.113 3705.62 413.8 116.79 - - 2285.91 - - - - - - - - - 16.11 -
15024.02 763.80 10.61 1668 15029.22 done 1.29 - - 2653.25 - 3.38 0.034 2194.62 -447.0 116.79 - - 2286.16 - - - - - - - - - 16.11 -
15334.06 736.71 8.00 1700 15339.48 done 1.31 - - 2654.19 - 3.64 0.108 3707.62 415.7 116.79 - - 2285.47 - - - - - - - - - 16.13 -
15384.23 731.98 9.57 1710 15389.25 done 1.31 - - 2653.44 - 3.37 0.034 2195.19 -448.8 116.79 - - 2286.06 - - - - - - - - - 16.13 -
15694.09 705.41 8.15 1742 15699.33 done 1.33 - - 2654.50 - 3.64 0.108 3707.31 415.4 116.79 - - 2287.88 - - - - - - - - - 16.14 -
15744.10 700.51 10.00 1752 15749.30 done 1.33 - - 2654.69 - 3.36 0.034 2196.19 -449.7 116.79 - - 2285.81 - - - - - - - - - 16.13 -
16054.16 674.52 8.19 1784 16055.49 VBD 1.35 - - 2654.69 - - - 2195.62 - 116.79 - - 2283.91 - - - - - - - - - - -
16364.55 648.87 8.29 1815 16365.88 VBD 1.37 - - 2654.88 - - - 2196.12 - 116.79 - - 2284.22 - - - - - - - - - - -
16674.57 623.58 7.94 1846 16680.43 done 1.39 - - 2654.31 - 3.64 0.109 3707.75 415.3 116.79 - - 2285.94 - - - - - - - - - 16.16 -
16729.18 618.43 9.38 1857 16734.38 done 1.39 - - 2654.62 - 3.35 0.035 2196.31 -451.2 116.79 - - 2287.47 - - - - - - - - - 16.17 -
17039.24 593.46 8.00 1889 17044.49 done 1.42 - - 2655.19 - 3.63 0.108 3707.25 416.2 116.79 - - 2286.16 - - - - - - - - - 16.16 -
17079.25 589.61 9.64 1897 17084.75 done 1.42 - - 2654.31 - 3.35 0.034 2196.94 -450.8 116.79 - - 2285.38 - - - - - - - - - 16.18 -
17389.33 563.79 8.58 1929 17394.57 done 1.43 - - 2654.88 - 3.63 0.109 3706.69 415.9 116.79 - - 2287.50 - - - - - - - - - 16.17 -
17449.33 557.82 10.35 1941 17454.54 done 1.43 - - 2655.00 - 3.35 0.035 2196.25 -450.9 116.79 - - 2287.22 - - - - - - - - - 16.19 -
17759.41 530.98 8.27 1973 17764.72 1.45 0.16 0.101 2693.50 240.6 3.63 0.109 3709.56 416.9 116.79 - - 2285.56 - - - - - - - - 16.17 16.17 -
17793.95 527.47 10.03 1980 17800.07 done 1.45 - - 2694.94 - 3.36 0.035 2194.19 -451.0 116.79 - - 2286.69 - - - - - - - - - 16.18 -
18109.49 499.52 8.19 2012 18110.83 VBD 1.47 - - 2695.12 - - - 2194.31 - 116.79 - - 2284.56 - - - - - - - - - - -
18419.93 476.02 7.09 2043 18450.13 VBD 1.55 - - 2694.12 - - - 2193.69 - 155.82 29.16 1.783 2139.53 -5.0 0.222 - - - - - - - - 13.18
18759.59 447.71 8.78 2077 18765.07 roll 1.55 - - 2695.38 - 3.65 0.109 3706.88 414.6 155.82 - - 2135.19 - - - - - - - - - 16.06 -
18829.63 439.91 11.55 2091 18835.01 roll 1.55 - - 2695.19 - 3.37 0.035 2197.12 -448.0 155.82 - - 2135.38 - - - - - - - - - 16.07 -
19139.68 410.85 9.14 2123 19141.01 no move 1.55 - - 2695.25 - - - 2197.06 - 155.82 - - 2132.31 - - - - - - - - - - -
19450.14 380.75 9.78 2154 19451.47 no move 1.55 - - 2695.00 - - - 2197.12 - 155.82 - - 2131.75 - - - - - - - - - - -
19760.20 350.30 9.72 2185 19766.09 roll 1.55 - - 2694.81 - 3.62 0.108 3708.00 417.4 155.82 - - 2131.50 - - - - - - - - - 16.13 -
19809.37 344.50 11.88 2195 19815.49 roll 1.55 - - 2695.50 - 3.35 0.035 2196.56 -451.2 155.82 - - 2134.09 - - - - - - - - - 16.13 -
20124.89 313.28 10.03 2227 20126.22 no move 1.55 - - 2694.94 - - - 2195.69 - 155.82 - - 2131.94 - - - - - - - - - - -
20435.34 284.69 8.42 2258 20441.20 roll 1.56 - - 2695.06 - 3.62 0.107 3707.56 417.6 155.82 - - 2135.53 - - - - - - - - - 16.16 -
20509.96 276.77 10.75 2273 20515.17 roll 1.56 - - 2695.81 - 3.34 0.034 2195.31 -452.8 155.82 - - 2133.47 - - - - - - - - - 16.16 -
20819.99 249.47 8.79 2305 20821.32 no move 1.56 - - 2695.25 - - - 2195.50 - 155.82 - - 2132.19 - - - - - - - - - - -
21130.42 220.75 9.51 2336 21131.74 no move 1.56 - - 2694.81 - - - 2194.94 - 155.82 - - 2132.09 - - - - - - - - - - -
21440.69 192.56 8.96 2367 21442.02 no move 1.56 - - 2695.12 - - - 2193.88 - 155.82 - - 2131.91 - - - - - - - - - - -
21750.50 165.12 8.46 2398 21756.36 roll 1.57 - - 2695.25 - 3.62 0.106 3709.00 418.5 155.82 - - 2135.28 - - - - - - - - - 16.16 -
21959.70 145.36 8.39 2440 21965.81 roll 1.59 - - 2695.50 - 3.35 0.033 2192.75 -452.6 155.82 - - 2135.56 - - - - - - - - - 16.18 -
22275.19 124.31 7.16 2472 22311.39 1.67 0.25 0.081 2745.69 200.8 3.40 0.102 768.44 -418.9 193.57 28.50 1.376 1984.00 -5.3 0.080 - - - - - - 16.15 15.99 13.10
22379.73 114.65 9.94 2493 22385.86 roll 1.67 - - 2745.56 - 3.36 0.037 2273.56 448.0 193.57 - - 1981.91 - - - - - - - - - 16.05 -
22690.30 86.79 7.45 2539 22695.97 roll 1.70 - - 2745.44 - 3.44 0.107 3709.06 417.3 193.57 - - 1982.00 - - - - - - - - - 16.07 -
22745.32 82.52 7.79 2550 22750.97 roll 1.73 - - 2745.81 - 3.35 0.031 2190.69 -453.2 193.57 - - 1980.94 - - - - - - - - - 16.05 -
22935.45 71.08 5.34 2588 22997.14 1.87 0.22 0.080 2796.62 231.0 3.43 0.099 769.62 -414.3 265.49 52.78 1.320 1691.47 -5.5 0.049 - - - - - - 16.06 15.81 13.07
23070.41 62.79 7.97 2615 23076.08 roll 1.90 - - 2796.44 - 3.39 0.036 2271.75 443.1 265.49 - - 1686.38 - - - - - - - - - 15.90 -
23260.49 47.09 8.62 2653 23266.17 done 1.91 - - 2796.56 - 3.45 0.106 3708.88 416.6 265.49 - - 1682.94 - - - - - - - - - 15.93 -
23335.51 40.22 9.03 2668 23341.17 done 1.91 - - 2796.69 - 3.37 0.031 2190.50 -450.6 265.49 - - 1684.03 - - - - - - - - - 15.94 -
23525.61 26.47 7.54 2706 23531.31 done 1.94 - - 2796.12 - 3.65 0.102 3707.50 415.6 265.49 - - 1682.25 - - - - - - - - - 15.96 -
23690.65 10.77 10.24 2739 23696.32 done 1.94 - - 2796.62 - 3.36 0.031 2192.56 -450.9 265.49 - - 1681.28 - - - - - - - - - 16.01 -
23795 end climb: SURFACE_DEPTH_REACHED
23795 begin surface coast
23826 end surface coast: CONTROL_FINISHED_OK
23826 begin surface
SM 1.59 - - - - 192.8 114.20 1.216 1043.6 9.1 16.11 0.052 1007.8 62.6 - 0.31 0.075 1079.5 3471.4 -7.522 - - 13.11 16.01 16.02 -