NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 33 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 19.50 of 550.00 AH used of 24V (96.45% remains)
• Surface angle -59.6 deg, depth 1.50 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 30 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 - - - 79.00 VBD -1.15 - - 181.88 - - - 2266.62 - -116.79 71.79 0.005 2725.47 - - - - - - - - - - 15.72
80.11 3.25 -2.89 14 118.52 -1.15 14.73 0.259 2050.56 126.9 3.42 0.093 847.56 -414.9 -116.79 13.66 0.007 3251.66 38.5 -2.986 - - - - - - 15.68 15.72 15.75
206.90 22.02 -14.75 39 212.58 roll -1.15 - - 2050.75 - 3.41 0.037 2348.50 440.2 -116.79 - - 3251.94 - - - - - - - - - 15.81 -
397.01 49.67 -14.83 77 400.61 no move -1.15 - - 2050.81 - - - 2348.56 - -116.79 - - 3250.75 - - - - - - - - - - -
581.99 77.11 -13.72 114 587.69 roll -1.15 - - 2050.19 - 3.58 0.083 849.12 -418.8 -116.79 - - 3253.47 - - - - - - - - - 15.90 -
672.01 88.46 -11.32 132 677.68 roll -1.15 - - 2050.69 - 3.38 0.036 2350.06 444.1 -116.79 - - 3252.47 - - - - - - - - - 15.94 -
862.04 106.14 -8.36 163 863.37 no move -1.15 - - 2050.50 - - - 2350.31 - -116.79 - - 3250.38 - - - - - - - - - - -
1172.47 134.83 -8.75 194 1178.33 roll -1.15 - - 2050.38 - 3.56 0.084 850.12 -421.4 -116.79 - - 3253.59 - - - - - - - - - 16.02 -
1257.10 142.50 -8.97 211 1262.30 roll -1.15 - - 2050.25 - 3.37 0.036 2349.44 444.9 -116.79 - - 3252.72 - - - - - - - - - 16.04 -
1567.12 169.27 -8.80 243 1568.44 no move -1.15 - - 2050.81 - - - 2350.75 - -116.79 - - 3251.12 - - - - - - - - - - -
1877.54 197.16 -8.41 274 1883.40 roll -1.15 - - 2050.38 - 3.55 0.084 849.62 -422.9 -116.79 - - 3252.50 - - - - - - - - - 16.08 -
1932.16 201.94 -8.95 285 1937.37 roll -1.15 - - 2050.50 - 3.36 0.037 2350.31 446.6 -116.79 - - 3251.91 - - - - - - - - - 16.09 -
2242.25 225.13 -7.39 317 2247.43 roll -1.15 - - 2050.94 - 3.53 0.084 849.31 -425.2 -116.79 - - 3253.88 - - - - - - - - - 16.11 -
2382.24 236.62 -8.35 345 2387.46 roll -1.15 - - 2050.25 - 3.36 0.036 2352.06 447.2 -116.79 - - 3252.84 - - - - - - - - - 16.12 -
2692.30 260.67 -8.03 377 2697.54 roll -1.15 - - 2050.44 - 3.54 0.084 848.69 -424.7 -116.79 - - 3252.53 - - - - - - - - - 16.12 -
2807.27 271.00 -9.34 400 2813.01 roll -1.15 - - 2050.94 - 3.35 0.037 2351.06 448.5 -116.79 - - 3253.28 - - - - - - - - - 16.14 -
3122.41 297.73 -8.44 432 3127.65 roll -1.15 - - 2049.88 - 3.54 0.085 850.25 -424.0 -116.79 - - 3251.91 - - - - - - - - - 16.15 -
3166.97 301.94 -9.83 441 3173.09 roll -1.15 - - 2050.31 - 3.34 0.037 2352.06 449.6 -116.79 - - 3252.91 - - - - - - - - - 16.16 -
3482.49 328.47 -8.17 473 3487.73 roll -1.15 - - 2050.62 - 3.54 0.084 849.81 -424.4 -116.79 - - 3253.28 - - - - - - - - - 16.16 -
3537.05 333.25 -8.79 484 3543.36 roll -1.15 - - 2050.75 - 3.34 0.037 2351.56 449.6 -116.79 - - 3253.09 - - - - - - - - - 16.17 -
3852.57 358.12 -7.95 516 3857.80 roll -1.15 - - 2050.06 - 3.54 0.087 850.00 -424.2 -116.79 - - 3252.91 - - - - - - - - - 16.18 -
3967.53 368.31 -8.67 539 3973.27 roll -1.15 - - 2050.75 - 3.34 0.037 2349.75 449.0 -116.79 - - 3252.75 - - - - - - - - - 16.18 -
4282.66 392.47 -7.54 571 4287.90 roll -1.15 - - 2050.44 - 3.53 0.086 850.38 -424.8 -116.79 - - 3251.59 - - - - - - - - - 16.19 -
4422.70 403.86 -8.03 599 4427.91 roll -1.15 - - 2050.56 - 3.35 0.038 2350.75 447.9 -116.79 - - 3253.38 - - - - - - - - - 16.19 -
4732.75 426.78 -7.37 631 4738.00 roll -1.15 - - 2050.69 - 3.53 0.085 849.94 -425.2 -116.79 - - 3251.09 - - - - - - - - - 16.20 -
4812.79 433.45 -8.59 647 4817.99 roll -1.15 - - 2050.50 - 3.34 0.038 2349.19 448.9 -116.79 - - 3251.00 - - - - - - - - - 16.20 -
5122.84 457.00 -7.53 679 5128.08 roll -1.15 - - 2050.25 - 3.53 0.087 850.06 -424.7 -116.79 - - 3251.16 - - - - - - - - - 16.20 -
5177.58 461.74 -8.61 690 5183.59 roll -1.15 - - 2050.44 - 3.35 0.038 2349.44 447.6 -116.79 - - 3252.62 - - - - - - - - - 16.19 -
5492.92 485.35 -7.35 722 5498.15 roll -1.15 - - 2050.38 - 3.52 0.086 850.06 -426.0 -116.79 - - 3250.91 - - - - - - - - - 16.20 -
5572.94 491.94 -8.35 738 5578.15 roll -1.15 - - 2050.44 - 3.35 0.038 2350.31 447.8 -116.79 - - 3250.47 - - - - - - - - - 16.21 -
5882.98 513.33 -6.67 770 5884.31 no move -1.15 - - 2050.50 - - - 2350.44 - -116.79 - - 3249.75 - - - - - - - - - - -
6193.40 533.97 -6.71 801 6199.25 roll -1.15 - - 2050.94 - 3.54 0.089 848.62 -424.2 -116.79 - - 3247.97 - - - - - - - - - 16.21 -
6368.03 547.38 -7.69 836 6373.23 roll -1.15 - - 2050.81 - 3.35 0.039 2349.38 448.0 -116.79 - - 3250.03 - - - - - - - - - 16.22 -
6678.07 568.99 -7.14 868 6683.30 roll -1.15 - - 2050.44 - 3.55 0.087 849.44 -422.5 -116.79 - - 3249.06 - - - - - - - - - 16.22 -
6772.62 576.55 -8.04 887 6778.75 roll -1.15 - - 2050.31 - 3.35 0.039 2349.38 447.7 -116.79 - - 3250.53 - - - - - - - - - 16.22 -
7088.18 598.81 -7.00 919 7093.34 roll -1.15 - - 2049.94 - 3.53 0.087 850.25 -424.7 -116.79 - - 3248.88 - - - - - - - - - 16.23 -
7148.13 603.33 -7.45 931 7153.32 roll -1.15 - - 2050.38 - 3.35 0.039 2348.31 447.2 -116.79 - - 3248.59 - - - - - - - - - 16.22 -
7458.16 623.98 -6.67 963 7463.39 roll -1.15 - - 2050.88 - 3.55 0.089 848.56 -422.5 -116.79 - - 3248.94 - - - - - - - - - 16.22 -
7498.16 627.36 -8.47 971 7503.36 roll -1.15 - - 2050.19 - 3.35 0.039 2348.31 447.7 -116.79 - - 3248.91 - - - - - - - - - 16.23 -
7808.18 650.81 -7.40 1003 7809.51 no move -1.15 - - 2050.56 - - - 2348.44 - -116.79 - - 3246.22 - - - - - - - - - - -
8118.64 673.53 -7.47 1034 8124.50 roll -1.15 - - 2050.19 - 3.53 0.089 850.19 -424.4 -116.79 - - 3248.78 - - - - - - - - - 16.23 -
8183.28 679.17 -8.28 1047 8188.48 roll -1.15 - - 2050.19 - 3.34 0.039 2349.19 448.8 -116.79 - - 3248.09 - - - - - - - - - 16.23 -
8493.34 702.16 -7.05 1079 8498.57 roll -1.15 - - 2050.44 - 3.54 0.089 850.00 -423.5 -116.79 - - 3246.69 - - - - - - - - - 16.23 -
8604.00 711.32 -8.07 1101 8609.59 roll -1.15 - - 2050.12 - 3.34 0.040 2349.19 448.9 -116.79 - - 3246.81 - - - - - - - - - 16.24 -
8918.45 732.38 -6.76 1133 8923.68 roll -1.15 - - 2050.81 - 3.53 0.089 850.19 -424.6 -116.79 - - 3246.75 - - - - - - - - - 16.23 -
9003.01 738.80 -7.34 1150 9009.13 roll -1.15 - - 2050.50 - 3.34 0.039 2347.94 448.4 -116.79 - - 3247.69 - - - - - - - - - 16.23 -
9318.54 758.19 -5.82 1182 9319.87 no move -1.15 - - 2050.31 - - - 2347.75 - -116.79 - - 3244.56 - - - - - - - - - - -
9629.00 777.24 -6.54 1213 9634.84 roll -1.15 - - 2050.31 - 3.54 0.089 848.75 -423.4 -116.79 - - 3244.75 - - - - - - - - - 16.23 -
9713.79 783.51 -7.25 1230 9718.83 roll -1.15 - - 2050.06 - 3.35 0.039 2349.69 448.0 -116.79 - - 3246.34 - - - - - - - - - 16.23 -
10023.69 804.31 -6.61 1262 10028.91 roll -1.15 - - 2050.38 - 3.55 0.089 849.94 -422.5 -116.79 - - 3247.06 - - - - - - - - - 16.22 -
10124.11 812.16 -7.72 1282 10128.92 roll -1.15 - - 2050.25 - 3.34 0.040 2349.19 448.9 -116.79 - - 3246.06 - - - - - - - - - 16.23 -
10433.83 834.58 -7.49 1314 10435.16 no move -1.15 - - 2050.81 - - - 2349.00 - -116.79 - - 3244.50 - - - - - - - - - - -
10744.22 858.84 -7.76 1345 10750.07 roll -1.15 - - 2050.56 - 3.54 0.088 850.19 -423.4 -116.79 - - 3244.00 - - - - - - - - - 16.23 -
10828.86 866.11 -8.31 1362 10834.06 roll -1.15 - - 2050.56 - 3.35 0.039 2349.56 447.6 -116.79 - - 3246.12 - - - - - - - - - 16.23 -
11138.93 888.04 -6.65 1394 11140.26 no move -1.15 - - 2050.19 - - - 2348.88 - -116.79 - - 3243.03 - - - - - - - - - - -
11449.36 908.57 -6.49 1425 11455.20 roll -1.15 - - 2049.75 - 3.56 0.089 849.00 -421.3 -116.79 - - 3242.16 - - - - - - - - - 16.24 -
11493.98 912.27 -8.23 1434 11499.16 roll -1.15 - - 2050.31 - 3.35 0.039 2347.44 447.3 -116.79 - - 3244.34 - - - - - - - - - 16.23 -
11804.00 932.68 -6.65 1466 11805.33 no move -1.15 - - 2050.00 - - - 2347.88 - -116.79 - - 3242.34 - - - - - - - - - - -
12114.44 953.66 -6.52 1497 12120.26 roll -1.15 - - 2049.81 - 3.55 0.090 850.19 -421.9 -116.79 - - 3244.53 - - - - - - - - - 16.24 -
12183.59 958.88 -6.74 1511 12189.69 roll -1.15 - - 2050.81 - 3.35 0.040 2349.06 447.4 -116.79 - - 3243.53 - - - - - - - - - 16.24 -
12309 end dive: HALF_MISSION_TIME_EXCEEDED
12309 begin apogee
12311.11 966.74 -6.41 1524 12401.72 -0.25 1.50 0.152 2270.94 146.8 0.17 0.180 2278.00 -418.0 - 85.72 2.434 2774.78 -5.5 0.363 - - - - - - 16.19 15.51 13.17
12403 end apogee: CONTROL_FINISHED_OK
12403 begin climb
12404.06 968.48 - 1533 12502.50 1.15 2.32 0.105 2613.44 147.6 - - 2278.44 - 116.79 91.70 2.365 2297.34 -5.2 0.356 - - - - - - 15.56 - 12.83
12809.09 941.42 7.46 1574 12810.42 VBD 1.19 - - 2612.81 - - - 2278.00 - 116.79 - - 2288.31 - - - - - - - - - - -
13119.50 920.04 6.77 1605 13159.15 1.28 0.17 0.091 2653.62 240.1 - - 2278.25 - 161.72 35.51 2.246 2114.31 -4.9 0.335 - - - - - - 15.85 - 12.95
13469.14 887.78 9.80 1640 13470.47 no move 1.28 - - 2652.88 - - - 2278.56 - 161.72 - - 2107.56 - - - - - - - - - - -
13779.56 855.09 10.80 1671 13785.58 done 1.28 - - 2652.31 - 3.50 0.115 3706.19 407.9 161.72 - - 2107.41 - - - - - - - - - 15.90 -
13838.90 847.39 13.26 1683 13844.85 done 1.28 - - 2653.50 - 3.39 0.033 2197.38 -445.1 161.72 - - 2107.09 - - - - - - - - - 15.94 -
14154.24 813.07 10.69 1715 14159.50 done 1.28 - - 2653.38 - 3.68 0.111 3709.00 410.8 161.72 - - 2106.88 - - - - - - - - - 15.99 -
14194.27 808.09 13.08 1723 14199.46 done 1.28 - - 2653.62 - 3.39 0.034 2197.25 -445.9 161.72 - - 2106.06 - - - - - - - - - 15.99 -
14504.32 777.85 9.45 1755 14509.54 done 1.28 - - 2652.62 - 3.46 0.105 769.06 -412.8 161.72 - - 2108.22 - - - - - - - - - 16.02 -
14548.88 773.19 10.67 1764 14555.04 done 1.28 - - 2653.06 - 3.39 0.041 2268.75 442.4 161.72 - - 2105.72 - - - - - - - - - 16.04 -
14864.40 743.25 9.22 1796 14869.62 done 1.28 - - 2652.81 - 3.47 0.115 3707.69 414.7 161.72 - - 2106.81 - - - - - - - - - 16.05 -
14908.95 738.33 11.10 1805 14915.08 done 1.28 - - 2652.88 - 3.36 0.034 2197.69 -449.4 161.72 - - 2105.56 - - - - - - - - - 16.06 -
15224.47 708.05 9.63 1837 15225.81 VBD 1.28 - - 2652.94 - - - 2197.12 - 161.72 - - 2105.00 - - - - - - - - - - -
15535.17 677.88 9.78 1868 15536.50 VBD 1.28 - - 2653.00 - - - 2197.12 - 161.72 - - 2104.38 - - - - - - - - - - -
15845.16 649.93 8.79 1899 15850.86 done 1.28 - - 2652.75 - 3.64 0.111 3707.19 414.9 161.72 - - 2105.69 - - - - - - - - - 16.11 -
15929.63 640.95 10.35 1916 15934.83 done 1.28 - - 2653.31 - 3.36 0.035 2196.44 -449.6 161.72 - - 2104.97 - - - - - - - - - 16.13 -
16239.71 615.56 8.47 1948 16241.04 VBD 1.29 - - 2653.69 - - - 2196.12 - 161.72 - - 2103.47 - - - - - - - - - - -
16550.14 585.48 10.31 1979 16556.02 done 1.29 - - 2653.25 - 3.63 0.111 3709.25 416.8 161.72 - - 2105.06 - - - - - - - - - 16.15 -
16634.78 575.17 12.16 1996 16639.98 done 1.29 - - 2651.38 - 3.35 0.035 2196.31 -451.6 161.72 - - 2105.56 - - - - - - - - - 16.15 -
16944.83 544.86 9.13 2028 16946.16 VBD 1.29 - - 2653.38 - - - 2196.31 - 161.72 - - 2103.16 - - - - - - - - - - -
17255.30 517.73 8.41 2059 17256.63 VBD 1.31 - - 2653.12 - - - 2196.31 - 161.72 - - 2103.56 - - - - - - - - - - -
17565.35 492.06 8.53 2090 17571.20 done 1.32 - - 2653.12 - 3.64 0.111 3709.44 415.7 161.72 - - 2105.47 - - - - - - - - - 16.16 -
17639.96 484.29 10.54 2105 17645.34 done 1.32 - - 2653.75 - 3.34 0.035 2197.12 -452.8 161.72 - - 2103.78 - - - - - - - - - 16.17 -
17949.75 456.88 9.02 2137 17951.08 VBD 1.32 - - 2653.31 - - - 2197.50 - 161.72 - - 2103.06 - - - - - - - - - - -
18260.42 431.55 7.92 2168 18266.28 done 1.34 - - 2652.75 - 3.62 0.110 3706.56 416.9 161.72 - - 2102.81 - - - - - - - - - 16.17 -
18319.57 425.91 9.61 2180 18326.03 done 1.34 - - 2653.38 - 3.35 0.035 2197.19 -450.6 161.72 - - 2103.91 - - - - - - - - - 16.17 -
18635.06 402.64 7.32 2212 18636.40 VBD 1.38 - - 2653.19 - - - 2196.69 - 161.72 - - 2103.62 - - - - - - - - - - -
18945.49 379.38 7.74 2243 18946.82 VBD 1.41 - - 2653.56 - - - 2196.38 - 161.72 - - 2103.62 - - - - - - - - - - -
19255.51 354.28 8.17 2274 19256.85 VBD 1.43 - - 2653.44 - - - 2195.75 - 161.72 - - 2103.50 - - - - - - - - - - -
19565.72 329.18 8.05 2305 19571.46 1.45 0.17 0.097 2694.44 241.2 3.62 0.109 3706.06 417.2 161.72 - - 2105.09 - - - - - - - - 16.18 16.19 -
19635.08 321.64 10.99 2319 19640.85 done 1.45 - - 2695.81 - 3.34 0.035 2195.25 -452.3 161.72 - - 2105.56 - - - - - - - - - 16.20 -
19950.19 288.50 11.10 2351 19955.58 done 1.45 - - 2694.06 - 3.40 0.103 769.25 -419.4 161.72 - - 2105.31 - - - - - - - - - 16.20 -
20000.30 282.42 12.46 2361 20005.39 done 1.45 - - 2695.75 - 3.36 0.040 2272.06 447.3 161.72 - - 2106.00 - - - - - - - - - 16.19 -
20310.58 249.76 9.94 2393 20311.91 VBD 1.45 - - 2695.19 - - - 2272.31 - 161.72 - - 2104.00 - - - - - - - - - - -
20620.71 220.12 9.04 2424 20622.04 VBD 1.45 - - 2694.88 - - - 2272.25 - 161.72 - - 2104.16 - - - - - - - - - - -
20930.77 192.35 8.98 2455 20935.61 done 1.45 - - 2695.12 - 3.42 0.111 3707.81 419.8 161.72 - - 2105.53 - - - - - - - - - 16.17 -
20990.40 186.20 10.47 2467 20995.61 done 1.45 - - 2695.62 - 3.33 0.033 2194.12 -454.6 161.72 - - 2107.38 - - - - - - - - - 16.18 -
21300.49 160.73 8.02 2499 21305.95 done 1.47 - - 2695.25 - 3.62 0.106 3708.00 418.2 161.72 - - 2107.25 - - - - - - - - - 16.18 -
21335.03 157.50 8.55 2506 21341.15 done 1.49 - - 2695.56 - 3.34 0.033 2194.31 -453.2 161.72 - - 2105.31 - - - - - - - - - 16.19 -
21650.55 130.59 8.34 2538 21651.88 VBD 1.50 - - 2695.25 - - - 2193.31 - 161.72 - - 2104.50 - - - - - - - - - - -
21961.00 109.50 6.52 2569 22003.59 done 1.60 - - 2695.38 - 3.43 0.103 770.69 -414.8 211.38 36.31 1.384 1910.62 -5.3 0.071 - - - - - - - 15.97 13.10
22197.15 90.85 7.96 2616 22202.48 roll back 1.63 0.18 0.090 2736.31 227.4 3.38 0.038 2270.62 443.8 211.38 - - 1906.66 - - - - - - - - 16.02 16.06 -
22386.83 80.02 4.77 2654 22454.46 1.79 0.16 0.094 2779.50 269.9 3.67 0.095 770.75 -408.7 293.98 60.72 1.331 1575.56 -5.5 0.055 - - - - - - 16.04 15.76 13.09
22588.06 62.83 10.69 2694 22593.56 done 1.79 - - 2779.19 - 3.41 0.038 2270.12 439.7 293.98 - - 1566.69 - - - - - - - - - 15.87 -
22777.94 44.38 9.65 2732 22779.28 VBD 1.79 - - 2779.56 - - - 2269.75 - 293.98 - - 1564.34 - - - - - - - - - - -
22962.97 27.14 9.30 2769 22968.69 done 1.79 - - 2779.19 - 3.64 0.094 769.25 -412.2 293.98 - - 1564.81 - - - - - - - - - 15.95 -
22998.17 23.66 9.96 2776 23003.73 done 1.79 - - 2779.94 - 3.40 0.038 2271.06 441.7 293.98 - - 1563.19 - - - - - - - - - 15.96 -
23188.03 8.35 8.19 2814 23193.70 done 1.81 - - 2779.38 - 3.47 0.108 3707.25 413.9 293.98 - - 1563.38 - - - - - - - - - 15.97 -
23253 end climb: SURFACE_DEPTH_REACHED
23253 begin surface coast
23278 end surface coast: CONTROL_FINISHED_OK
23278 begin surface
SM 1.15 - - - - 185.0 94.56 1.220 1043.6 11.0 16.11 0.060 1010.4 62.7 - 3.14 0.028 1076.9 341.9 -1.435 - - 13.03 16.00 16.01 -