NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 756 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 258.00 of 550.00 AH used of 24V (53.09% remains)
• Surface angle -59.0 deg, depth 0.50 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 24 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
5.46 - - - 77.12 VBD -1.35 - - 178.25 - - - 2266.06 - -82.73 70.49 0.005 2787.06 - - - - - - - - - - 15.09
78.24 3.23 -4.95 13 109.98 -1.35 14.97 0.244 2003.50 121.9 2.65 0.065 1209.62 -398.7 -82.73 7.14 0.008 3113.53 45.7 -3.151 - - - - - - 15.43 15.10 15.22
117.05 12.52 -19.68 21 122.61 roll -1.35 - - 2003.81 - 2.68 0.027 2351.06 425.9 -82.73 - - 3113.31 - - - - - - - - - 15.74 -
307.72 42.94 -15.81 59 312.66 roll -1.35 - - 2004.06 - 2.73 0.083 3426.44 393.9 -82.73 - - 3113.56 - - - - - - - - - 15.75 -
387.10 54.85 -13.17 75 392.65 roll -1.35 - - 2005.06 - 2.61 0.018 2247.69 -451.6 -82.73 - - 3113.19 - - - - - - - - - 15.82 -
577.52 76.81 -11.25 113 582.76 roll -1.35 - - 2004.00 - 3.01 0.078 3428.50 392.3 -82.73 - - 3113.66 - - - - - - - - - 15.80 -
612.14 80.99 -12.12 120 617.69 roll -1.35 - - 2004.06 - 2.62 0.019 2246.94 -451.0 -82.73 - - 3113.88 - - - - - - - - - 15.85 -
802.17 100.74 -9.56 158 807.79 roll -1.35 - - 2003.88 - 3.02 0.079 3425.88 390.4 -82.73 - - 3114.00 - - - - - - - - - 15.82 -
982.19 117.61 -9.28 194 987.75 roll -1.35 - - 2004.50 - 2.62 0.019 2247.44 -449.8 -82.73 - - 3113.25 - - - - - - - - - 15.89 -
1292.25 142.13 -8.36 256 1293.58 no move -1.35 - - 2004.25 - - - 2247.00 - -82.73 - - 3112.34 - - - - - - - - - - -
1597.35 167.19 -7.87 317 1598.68 no move -1.35 - - 2004.88 - - - 2246.56 - -82.73 - - 3113.28 - - - - - - - - - - -
1902.65 191.56 -8.04 378 1908.12 roll -1.35 - - 2004.38 - 2.99 0.080 3426.81 394.7 -82.73 - - 3114.12 - - - - - - - - - 15.88 -
2002.50 200.48 -9.21 398 2008.04 roll -1.35 - - 2004.12 - 2.61 0.019 2247.31 -451.9 -82.73 - - 3115.00 - - - - - - - - - 15.96 -
2312.61 226.26 -8.25 460 2313.94 no move -1.35 - - 2004.50 - - - 2246.75 - -82.73 - - 3113.19 - - - - - - - - - - -
2617.73 250.24 -7.34 521 2619.05 no move -1.35 - - 2004.94 - - - 2246.56 - -82.73 - - 3113.06 - - - - - - - - - - -
2922.85 273.19 -7.49 582 2928.44 roll -1.35 - - 2003.69 - 3.00 0.081 3426.88 393.4 -82.73 - - 3115.97 - - - - - - - - - 15.90 -
2967.86 276.88 -8.21 591 2973.42 roll -1.35 - - 2004.38 - 2.61 0.019 2246.56 -452.2 -82.73 - - 3113.56 - - - - - - - - - 15.98 -
3277.93 301.00 -7.71 652 3279.26 no move -1.35 - - 2004.25 - - - 2245.50 - -82.73 - - 3112.75 - - - - - - - - - - -
3587.52 325.08 -7.76 680 3592.21 roll -1.35 - - 2004.38 - 3.02 0.082 3426.56 391.1 -82.73 - - 3113.12 - - - - - - - - - 15.92 -
3673.27 332.36 -8.58 692 3688.39 roll -1.35 - - 2004.62 - 2.61 0.020 2248.31 -451.4 -82.73 - - 3113.62 - - - - - - - - - 16.01 -
3989.95 357.70 -8.06 721 4001.02 no move -1.35 - - 2004.56 - - - 2248.56 - -82.73 - - 3112.88 - - - - - - - - - - -
4302.99 382.85 -7.97 750 4307.68 roll -1.35 - - 2004.12 - 3.01 0.082 3426.19 391.2 -82.73 - - 3112.78 - - - - - - - - - 15.91 -
4420.23 393.20 -9.06 766 4435.16 roll -1.35 - - 2004.31 - 2.61 0.020 2249.19 -451.0 -82.73 - - 3111.31 - - - - - - - - - 16.01 -
4736.44 416.59 -7.08 795 4741.12 roll -1.35 - - 2004.00 - 2.98 0.082 3425.25 394.7 -82.73 - - 3112.44 - - - - - - - - - 15.92 -
4789.38 420.70 -7.60 802 4793.75 roll -1.35 - - 2003.56 - 2.60 0.020 2248.94 -452.4 -82.73 - - 3113.47 - - - - - - - - - 16.00 -
5100.67 441.77 -6.66 831 5111.74 no move -1.35 - - 2004.50 - - - 2248.31 - -82.73 - - 3111.34 - - - - - - - - - - -
5413.40 462.23 -6.36 860 5418.10 roll -1.35 - - 2004.62 - 3.01 0.083 3424.50 390.8 -82.73 - - 3109.91 - - - - - - - - - 15.91 -
5451.95 464.86 -6.77 866 5466.88 roll -1.35 - - 2004.38 - 2.59 0.020 2249.31 -453.7 -82.73 - - 3111.28 - - - - - - - - - 16.00 -
5768.48 485.95 -6.62 895 5779.55 no move -1.35 - - 2004.56 - - - 2249.00 - -82.73 - - 3110.38 - - - - - - - - - - -
6089.60 507.43 -6.69 922 6094.39 roll -1.35 - - 2004.81 - 2.58 0.067 1209.44 -402.9 -82.73 - - 3108.88 - - - - - - - - - 15.95 -
6128.31 510.11 -6.92 928 6133.69 roll -1.35 - - 2003.31 - 2.62 0.029 2351.62 435.9 -82.73 - - 3111.25 - - - - - - - - - 16.01 -
6447.55 532.47 -7.29 950 6448.88 no move -1.35 - - 2004.31 - - - 2352.19 - -82.73 - - 3108.16 - - - - - - - - - - -
6762.56 555.26 -7.25 971 6763.89 no move -1.35 - - 2004.62 - - - 2351.69 - -82.73 - - 3108.69 - - - - - - - - - - -
7077.58 577.86 -7.29 992 7078.91 no move -1.35 - - 2004.38 - - - 2351.75 - -82.73 - - 3108.16 - - - - - - - - - - -
7392.77 600.65 -7.24 1013 7397.43 roll -1.35 - - 2004.81 - 2.84 0.063 1210.75 -401.8 -82.73 - - 3107.16 - - - - - - - - - 15.94 -
7450.70 605.08 -7.51 1021 7455.33 roll -1.35 - - 2003.75 - 2.66 0.029 2350.38 428.4 -82.73 - - 3107.38 - - - - - - - - - 16.00 -
7767.16 628.45 -7.28 1043 7768.49 no move -1.35 - - 2004.38 - - - 2351.06 - -82.73 - - 3106.97 - - - - - - - - - - -
8082.18 650.06 -6.77 1064 8083.51 no move -1.35 - - 2004.31 - - - 2350.69 - -82.73 - - 3106.66 - - - - - - - - - - -
8397.19 670.53 -6.51 1085 8398.52 no move -1.35 - - 2004.25 - - - 2350.31 - -82.73 - - 3106.09 - - - - - - - - - - -
8712.23 691.57 -6.44 1106 8713.56 no move -1.35 - - 2004.44 - - - 2350.56 - -82.73 - - 3105.47 - - - - - - - - - - -
9027.23 712.54 -6.77 1127 9028.56 no move -1.35 - - 2004.75 - - - 2350.44 - -82.73 - - 3105.16 - - - - - - - - - - -
9342.26 733.29 -6.44 1148 9346.92 roll -1.35 - - 2003.56 - 2.86 0.063 1209.25 -399.0 -82.73 - - 3105.88 - - - - - - - - - 15.92 -
9406.77 737.36 -6.89 1158 9421.49 roll -1.35 - - 2004.94 - 2.68 0.030 2349.88 425.6 -82.73 - - 3105.94 - - - - - - - - - 16.01 -
9735.96 760.58 -6.92 1180 9740.80 roll -1.35 - - 2003.50 - 2.86 0.063 1210.31 -398.5 -82.73 - - 3105.41 - - - - - - - - - 15.92 -
9835.52 768.09 -7.56 1194 9840.15 roll -1.35 - - 2004.19 - 2.65 0.030 2349.88 430.0 -82.73 - - 3105.59 - - - - - - - - - 15.99 -
10151.99 791.01 -7.16 1216 10156.64 roll -1.35 - - 2003.44 - 2.76 0.092 3424.19 389.2 -82.73 - - 3107.34 - - - - - - - - - 15.86 -
10190.53 793.94 -7.52 1222 10196.08 roll -1.35 - - 2003.75 - 2.62 0.021 2249.25 -448.5 -82.73 - - 3106.50 - - - - - - - - - 16.00 -
10509.94 815.53 -6.26 1244 10514.56 roll -1.35 - - 2003.12 - 2.60 0.068 1210.62 -399.5 -82.73 - - 3104.78 - - - - - - - - - 15.91 -
10569.21 819.34 -6.47 1253 10574.76 roll -1.35 - - 2004.44 - 2.66 0.029 2350.69 428.6 -82.73 - - 3105.38 - - - - - - - - - 16.01 -
10888.63 837.74 -5.43 1275 10893.30 roll -1.35 - - 2004.44 - 2.86 0.063 1209.56 -399.0 -82.73 - - 3103.28 - - - - - - - - - 15.90 -
10968.65 842.28 -5.74 1287 10974.19 roll -1.35 - - 2004.06 - 2.64 0.030 2351.69 432.6 -82.73 - - 3104.94 - - - - - - - - - 16.00 -
11288.04 858.81 -5.01 1309 11292.71 roll -1.35 - - 2004.25 - 2.85 0.063 1210.44 -400.4 -82.73 - - 3103.94 - - - - - - - - - 15.90 -
11345.98 862.07 -5.47 1317 11350.80 roll -1.35 - - 2004.62 - 2.64 0.030 2349.62 431.5 -82.73 - - 3103.56 - - - - - - - - - 16.00 -
11662.57 878.36 -5.29 1339 11667.23 roll -1.35 - - 2004.62 - 2.84 0.063 1210.44 -401.1 -82.73 - - 3102.16 - - - - - - - - - 15.90 -
11706.12 880.59 -5.70 1346 11721.04 roll -1.35 - - 2003.88 - 2.65 0.030 2350.44 430.2 -82.73 - - 3104.09 - - - - - - - - - 16.00 -
12035.53 899.96 -5.94 1368 12036.86 no move -1.35 - - 2004.38 - - - 2350.81 - -82.73 - - 3102.06 - - - - - - - - - - -
12350.54 918.41 -5.92 1389 12351.87 no move -1.35 - - 2004.06 - - - 2351.25 - -82.73 - - 3101.94 - - - - - - - - - - -
12665.55 937.06 -5.77 1410 12666.88 no move -1.35 - - 2004.62 - - - 2351.25 - -82.73 - - 3101.25 - - - - - - - - - - -
12980.57 954.28 -5.34 1431 12981.90 no move -1.35 - - 2004.75 - - - 2351.25 - -82.73 - - 3101.69 - - - - - - - - - - -
13295.59 971.51 -5.61 1452 13296.92 no move -1.35 - - 2004.31 - - - 2351.44 - -82.73 - - 3101.25 - - - - - - - - - - -
13505 end dive: HALF_MISSION_TIME_EXCEEDED
13505 begin apogee
13507.48 983.82 -6.08 1466 13582.99 -0.28 1.85 0.135 2263.94 140.3 0.15 0.167 2158.00 -1289.6 - 64.86 2.419 2774.16 -5.0 0.350 - - - - - - 15.75 15.38 10.22
13584 end apogee: CONTROL_FINISHED_OK
13585 begin climb
13585.22 985.26 - 1471 13659.34 1.35 2.67 0.091 2662.38 149.2 - - 2158.25 - 82.73 69.20 2.342 2436.75 -4.9 0.350 - - - - - - 15.56 - 12.01
13971.49 963.35 6.39 1501 14016.74 VBD 1.42 - - 2662.00 - - - 2158.50 - 121.46 33.72 2.273 2279.47 -4.7 0.337 - - - - - - - - 11.53
14331.90 936.52 7.75 1525 14336.55 roll 1.44 - - 2661.75 - 2.71 0.086 3203.75 385.7 121.46 - - 2274.41 - - - - - - - - - 15.71 -
14375.44 933.32 8.16 1532 14390.38 roll 1.44 - - 2661.44 - 2.63 0.026 2059.88 -434.9 121.46 - - 2275.28 - - - - - - - - - 15.75 -
14705.05 906.64 7.85 1554 14709.74 roll 1.45 - - 2662.44 - 2.93 0.081 3204.25 390.6 121.46 - - 2272.84 - - - - - - - - - 15.80 -
14769.34 901.64 8.44 1564 14784.29 roll 1.45 - - 2661.62 - 2.63 0.026 2059.69 -435.2 121.46 - - 2274.81 - - - - - - - - - 15.84 -
15099.12 875.36 7.67 1586 15103.81 roll 1.47 - - 2661.38 - 2.91 0.081 3205.38 393.7 121.46 - - 2273.94 - - - - - - - - - 15.83 -
15184.16 868.77 8.28 1599 15199.10 roll 1.47 - - 2661.62 - 2.63 0.026 2059.62 -435.7 121.46 - - 2274.34 - - - - - - - - - 15.89 -
15513.58 843.12 7.65 1621 15515.02 pitch 1.48 0.16 0.098 2698.75 232.1 - - 2060.38 - 121.46 - - 2272.41 - - - - - - - - 15.87 - -
15828.96 816.47 8.67 1642 15833.83 roll 1.48 - - 2699.06 - 2.92 0.081 3206.00 392.3 121.46 - - 2271.44 - - - - - - - - - 15.86 -
15893.42 810.96 9.26 1652 15908.18 roll 1.48 - - 2699.31 - 2.62 0.027 2061.56 -436.8 121.46 - - 2272.56 - - - - - - - - - 15.94 -
16222.67 782.53 8.06 1674 16227.32 roll 1.48 - - 2698.94 - 2.72 0.087 994.00 -392.5 121.46 - - 2272.47 - - - - - - - - - 15.85 -
16266.22 779.15 8.64 1681 16281.15 roll 1.48 - - 2699.00 - 2.63 0.027 2135.62 434.1 121.46 - - 2272.81 - - - - - - - - - 15.95 -
16595.63 752.00 8.10 1703 16600.31 done 1.48 - - 2699.12 - 2.92 0.082 994.06 -390.9 121.46 - - 2270.66 - - - - - - - - - 15.86 -
16675.66 745.29 8.48 1715 16681.21 done 1.48 - - 2699.50 - 2.63 0.027 2138.50 435.1 121.46 - - 2271.81 - - - - - - - - - 15.95 -
16995.08 721.60 7.15 1737 16996.41 VBD 1.51 - - 2698.88 - - - 2137.88 - 121.46 - - 2270.41 - - - - - - - - - - -
17310.10 699.04 6.95 1758 17314.79 done 1.54 - - 2699.44 - 2.94 0.081 994.62 -388.9 121.46 - - 2271.66 - - - - - - - - - 15.86 -
17390.13 692.94 7.70 1770 17395.67 done 1.55 - - 2698.44 - 2.63 0.027 2134.38 433.4 121.46 - - 2272.00 - - - - - - - - - 15.97 -
17709.54 671.78 6.89 1792 17710.87 VBD 1.59 - - 2698.44 - - - 2134.81 - 121.46 - - 2270.19 - - - - - - - - - - -
18024.55 649.61 7.11 1813 18029.42 done 1.61 - - 2698.44 - 2.92 0.081 994.38 -390.6 121.46 - - 2272.03 - - - - - - - - - 15.86 -
18063.28 646.76 7.40 1819 18068.70 1.63 0.17 0.092 2737.62 230.5 2.62 0.027 2139.25 437.0 121.46 - - 2270.94 - - - - - - - - 15.80 15.97 -
18382.51 621.64 7.91 1841 18387.14 done 1.65 - - 2738.62 - 2.69 0.085 3205.31 396.3 121.46 - - 2270.41 - - - - - - - - - 15.87 -
18405.31 620.25 8.04 1845 18420.24 done 1.65 - - 2737.62 - 2.62 0.025 2060.88 -436.8 121.46 - - 2272.25 - - - - - - - - - 15.99 -
18734.75 593.84 7.64 1867 18736.08 VBD 1.66 - - 2738.81 - - - 2061.75 - 121.46 - - 2269.78 - - - - - - - - - - -
19049.96 571.17 7.10 1888 19051.29 VBD 1.69 - - 2738.31 - - - 2061.50 - 121.46 - - 2270.31 - - - - - - - - - - -
19364.82 549.17 7.08 1909 19366.15 VBD 1.72 - - 2737.94 - - - 2061.06 - 121.46 - - 2269.78 - - - - - - - - - - -
19679.87 527.55 6.94 1930 19684.55 done 1.75 - - 2738.69 - 2.90 0.080 3205.50 394.6 121.46 - - 2271.31 - - - - - - - - - 15.86 -
19800.04 518.38 7.70 1947 19804.67 done 1.76 - - 2737.75 - 2.62 0.026 2061.94 -436.5 121.46 - - 2270.69 - - - - - - - - - 15.98 -
20114.84 495.73 7.46 1970 20125.92 VBD 1.78 - - 2738.38 - - - 2062.69 - 121.46 - - 2270.88 - - - - - - - - - - -
20427.71 473.48 6.99 1999 20438.89 1.81 0.19 0.089 2781.00 224.3 - - 2062.25 - 121.46 - - 2271.09 - - - - - - - - 15.94 - -
20740.45 448.29 8.23 2028 20751.52 VBD 1.81 - - 2780.06 - - - 2062.75 - 121.46 - - 2270.72 - - - - - - - - - - -
21053.32 422.65 7.75 2057 21057.99 done 1.83 - - 2780.50 - 2.90 0.079 3205.75 394.1 121.46 - - 2270.75 - - - - - - - - - 15.86 -
21170.54 413.01 8.33 2073 21185.46 done 1.83 - - 2781.06 - 2.59 0.026 2060.44 -442.2 121.46 - - 2270.91 - - - - - - - - - 15.99 -
21486.65 389.46 7.46 2102 21491.28 done 1.85 - - 2781.19 - 2.68 0.085 994.00 -397.9 121.46 - - 2269.84 - - - - - - - - - 15.83 -
21572.38 382.57 8.13 2114 21587.32 done 1.85 - - 2780.94 - 2.62 0.026 2138.25 436.7 121.46 - - 2270.56 - - - - - - - - - 15.97 -
21889.11 359.72 6.99 2143 21900.18 VBD 1.88 - - 2781.75 - - - 2138.31 - 121.46 - - 2270.81 - - - - - - - - - - -
22201.02 337.85 6.75 2172 22212.09 VBD 1.91 - - 2780.88 - - - 2138.31 - 121.46 - - 2270.81 - - - - - - - - - - -
22513.67 316.75 6.46 2201 22518.35 done 1.95 - - 2781.31 - 2.91 0.079 995.06 -392.9 121.46 - - 2270.16 - - - - - - - - - 15.83 -
22647.16 306.97 7.52 2219 22662.02 1.97 0.17 0.091 2820.69 231.6 2.62 0.026 2139.12 436.7 121.46 - - 2270.53 - - - - - - - - 15.80 15.98 -
22965.90 283.46 7.38 2271 22971.66 done 1.99 - - 2821.62 - 2.92 0.078 993.88 -392.2 121.46 - - 2271.62 - - - - - - - - - 15.81 -
23011.02 279.92 7.87 2280 23016.45 done 2.00 - - 2821.44 - 2.62 0.026 2140.62 437.7 121.46 - - 2272.56 - - - - - - - - - 15.95 -
23320.95 256.63 7.76 2342 23326.49 done 2.02 - - 2821.75 - 2.68 0.082 3205.62 397.4 121.46 - - 2270.78 - - - - - - - - - 15.83 -
23405.95 249.50 8.44 2359 23411.50 done 2.02 - - 2821.31 - 2.62 0.025 2059.56 -437.4 121.46 - - 2271.06 - - - - - - - - - 15.96 -
23716.00 226.93 7.17 2421 23717.33 VBD 2.04 - - 2821.62 - - - 2059.44 - 121.46 - - 2270.81 - - - - - - - - - - -
24021.04 204.33 7.39 2482 24026.59 done 2.06 - - 2821.25 - 2.71 0.082 994.88 -392.8 121.46 - - 2271.50 - - - - - - - - - 15.82 -
24081.03 199.51 8.15 2494 24086.59 done 2.06 - - 2821.75 - 2.62 0.025 2141.19 437.5 121.46 - - 2271.00 - - - - - - - - - 15.96 -
24391.09 178.35 6.78 2556 24392.42 VBD 2.10 - - 2821.62 - - - 2141.44 - 121.46 - - 2270.97 - - - - - - - - - - -
24696.32 160.47 5.18 2617 24749.50 2.22 0.29 0.070 2882.62 210.3 2.94 0.079 993.81 -390.4 182.73 47.23 1.380 2028.47 -5.1 0.102 - - - - - - 15.93 15.60 10.57
24896.76 139.91 12.10 2657 24902.30 roll 2.22 - - 2882.56 - 2.65 0.026 2136.25 431.1 182.73 - - 2026.41 - - - - - - - - - 15.81 -
25206.86 107.36 10.14 2719 25212.45 roll 2.22 - - 2883.19 - 2.89 0.076 993.62 -395.4 182.73 - - 2023.25 - - - - - - - - - 15.78 -
25347.30 93.99 7.83 2747 25352.45 roll 2.23 - - 2882.69 - 2.63 0.025 2137.44 434.9 182.73 - - 2023.28 - - - - - - - - - 15.87 -
25536.94 81.55 6.82 2785 25542.53 roll 2.26 - - 2883.06 - 2.90 0.076 993.94 -394.3 182.73 - - 2022.47 - - - - - - - - - 15.80 -
25771.97 70.05 3.44 2832 25850.26 2.45 0.26 0.072 2937.25 208.4 2.64 0.024 2145.56 436.2 276.42 70.99 1.260 1647.75 -5.3 0.050 - - - - - - 15.75 15.90 11.24
26032.51 51.20 9.81 2884 26038.12 done 2.45 - - 2937.94 - 2.97 0.075 993.81 -387.8 276.42 - - 1638.25 - - - - - - - - - 15.71 -
26267.60 38.44 2.42 2931 26357.91 2.68 0.26 0.072 2992.56 210.1 2.66 0.023 2144.31 432.5 389.12 84.60 1.192 1188.69 -5.3 0.029 - - - - - - 15.68 15.80 11.38
26540.13 12.09 13.87 2985 26545.73 roll 2.68 - - 2993.44 - 2.98 0.075 993.44 -386.2 389.12 - - 1180.81 - - - - - - - - - 15.67 -
26595 end climb: SURFACE_DEPTH_REACHED
26595 begin surface coast
26620 end surface coast: CONTROL_FINISHED_OK
26620 begin surface
SM 0.57 - - - - 183.2 27.70 1.109 1042.7 37.6 17.73 0.056 1012.0 57.1 - 3.18 0.026 1073.4 336.6 -0.754 - - 11.56 15.65 15.71 -