NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 134 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 61.43 of 575.00 AH used of 24V (89.32% remains)
• Surface angle -65.5 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.87 (SM_CC=475)
• GPS1 time: 29 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
8.89 - - - 70.47 VBD -1.56 - - 181.75 - - - 2058.75 - -107.06 60.04 0.005 2389.66 - - - - - - - - - - 15.72
70.91 3.40 -3.25 12 126.81 -1.56 16.07 0.238 1960.44 110.7 3.38 0.101 3360.50 385.1 -107.06 27.18 0.006 3457.69 39.3 -3.688 - - - - - - 15.67 15.69 15.72
250.11 40.00 -17.80 47 256.61 roll -1.56 - - 1961.06 - 3.14 0.047 2070.25 -410.9 -107.06 - - 3460.84 - - - - - - - - - 15.85 -
440.19 66.49 -14.65 85 446.86 roll -1.56 - - 1960.88 - 3.66 0.114 689.12 -377.4 -107.06 - - 3461.09 - - - - - - - - - 15.91 -
485.26 73.78 -16.35 94 491.79 roll -1.56 - - 1961.31 - 3.35 0.048 2131.56 430.6 -107.06 - - 3460.12 - - - - - - - - - 15.92 -
675.27 98.16 -10.55 132 681.71 roll -1.56 - - 1960.00 - 3.14 0.097 3360.38 391.3 -107.06 - - 3462.94 - - - - - - - - - 15.93 -
715.27 102.61 -11.14 140 720.94 roll -1.56 - - 1961.06 - 3.09 0.044 2068.25 -418.2 -107.06 - - 3462.47 - - - - - - - - - 15.96 -
1025.29 134.08 -10.07 172 1031.20 roll -1.56 - - 1961.06 - 3.64 0.116 688.81 -379.0 -107.06 - - 3462.31 - - - - - - - - - 15.98 -
1109.56 143.89 -11.73 189 1116.86 roll -1.56 - - 1961.50 - 3.37 0.049 2131.81 428.2 -107.06 - - 3462.31 - - - - - - - - - 16.03 -
1425.33 174.93 -9.54 221 1426.86 no move -1.56 - - 1960.94 - - - 2131.81 - -107.06 - - 3462.06 - - - - - - - - - - -
1735.61 206.48 -10.44 252 1737.18 no move -1.56 - - 1961.38 - - - 2131.31 - -107.06 - - 3461.41 - - - - - - - - - - -
2045.40 236.61 -9.08 283 2046.97 no move -1.56 - - 1960.81 - - - 2131.50 - -107.06 - - 3461.56 - - - - - - - - - - -
2355.43 263.03 -8.41 314 2362.67 roll -1.56 - - 1960.75 - 3.82 0.115 688.88 -377.6 -107.06 - - 3461.03 - - - - - - - - - 16.05 -
2391.23 266.61 -9.98 321 2397.17 roll -1.56 - - 1960.75 - 3.35 0.051 2132.69 431.0 -107.06 - - 3461.91 - - - - - - - - - 16.10 -
2701.25 293.51 -8.67 353 2702.82 no move -1.56 - - 1960.94 - - - 2132.12 - -107.06 - - 3461.50 - - - - - - - - - - -
3011.28 320.61 -8.59 384 3018.46 roll -1.56 - - 1961.38 - 3.80 0.116 689.19 -379.7 -107.06 - - 3462.50 - - - - - - - - - 16.12 -
3056.91 325.17 -9.53 393 3062.85 roll -1.56 - - 1961.88 - 3.38 0.051 2132.19 426.9 -107.06 - - 3463.16 - - - - - - - - - 16.11 -
3366.94 353.13 -9.19 425 3368.51 no move -1.56 - - 1961.25 - - - 2131.69 - -107.06 - - 3461.25 - - - - - - - - - - -
3676.97 382.45 -9.66 456 3678.54 no move -1.56 - - 1960.94 - - - 2131.62 - -107.06 - - 3461.81 - - - - - - - - - - -
3987.00 413.45 -10.02 487 3994.49 roll -1.56 - - 1961.50 - 3.82 0.118 689.00 -377.6 -107.06 - - 3461.34 - - - - - - - - - 16.14 -
4033.05 418.51 -11.26 496 4039.00 roll -1.56 - - 1961.50 - 3.39 0.054 2130.31 425.2 -107.06 - - 3463.25 - - - - - - - - - 16.16 -
4343.11 446.90 -8.50 528 4344.68 no move -1.56 - - 1960.75 - - - 2130.12 - -107.06 - - 3460.03 - - - - - - - - - - -
4653.15 472.97 -8.74 559 4654.72 no move -1.56 - - 1960.94 - - - 2129.81 - -107.06 - - 3459.31 - - - - - - - - - - -
4963.17 500.84 -9.19 590 4970.43 roll -1.56 - - 1961.19 - 3.83 0.120 690.31 -375.8 -107.06 - - 3459.00 - - - - - - - - - 16.14 -
4988.87 503.53 -9.80 595 4994.90 roll -1.56 - - 1960.88 - 3.40 0.056 2131.00 423.7 -107.06 - - 3459.00 - - - - - - - - - 16.16 -
5298.90 532.81 -9.73 627 5306.13 roll -1.56 - - 1960.81 - 3.81 0.119 689.00 -378.5 -107.06 - - 3460.22 - - - - - - - - - 16.16 -
5354.57 539.21 -11.29 638 5360.57 roll -1.56 - - 1960.50 - 3.41 0.054 2130.25 422.7 -107.06 - - 3460.34 - - - - - - - - - 16.17 -
5664.60 569.65 -9.45 670 5666.17 no move -1.56 - - 1961.19 - - - 2130.88 - -107.06 - - 3456.66 - - - - - - - - - - -
5974.63 597.73 -8.93 701 5976.20 no move -1.56 - - 1961.31 - - - 2131.38 - -107.06 - - 3456.97 - - - - - - - - - - -
6284.65 624.64 -8.61 732 6286.23 no move -1.56 - - 1961.06 - - - 2131.38 - -107.06 - - 3456.69 - - - - - - - - - - -
6594.69 650.47 -8.34 763 6601.93 roll -1.56 - - 1960.38 - 3.83 0.121 688.56 -376.7 -107.06 - - 3456.91 - - - - - - - - - 16.17 -
6674.62 657.80 -9.12 779 6682.10 roll -1.56 - - 1961.19 - 3.37 0.057 2130.88 428.0 -107.06 - - 3456.47 - - - - - - - - - 16.17 -
6990.41 682.36 -7.74 811 6997.65 roll -1.56 - - 1961.12 - 3.82 0.121 690.69 -377.0 -107.06 - - 3456.75 - - - - - - - - - 16.16 -
7040.34 686.74 -8.85 821 7047.84 roll -1.56 - - 1960.75 - 3.40 0.056 2130.00 423.3 -107.06 - - 3455.06 - - - - - - - - - 16.16 -
7356.14 710.77 -7.95 853 7363.38 roll -1.56 - - 1960.00 - 3.81 0.122 689.44 -378.1 -107.06 - - 3455.16 - - - - - - - - - 16.16 -
7446.08 718.88 -9.13 871 7453.59 roll -1.56 - - 1961.00 - 3.40 0.057 2129.25 423.5 -107.06 - - 3454.94 - - - - - - - - - 16.17 -
7761.87 744.88 -8.48 903 7769.32 roll -1.56 - - 1960.81 - 3.80 0.123 689.88 -378.8 -107.06 - - 3454.75 - - - - - - - - - 16.16 -
7837.88 752.09 -9.32 918 7843.83 roll -1.56 - - 1961.00 - 3.39 0.056 2130.19 424.9 -107.06 - - 3454.03 - - - - - - - - - 16.16 -
8147.92 778.92 -8.57 950 8149.49 no move -1.56 - - 1961.00 - - - 2129.81 - -107.06 - - 3452.66 - - - - - - - - - - -
8457.94 803.89 -8.08 981 8459.51 no move -1.56 - - 1960.44 - - - 2130.00 - -107.06 - - 3453.09 - - - - - - - - - - -
8767.97 828.16 -7.45 1012 8769.54 no move -1.56 - - 1961.00 - - - 2130.25 - -107.06 - - 3452.62 - - - - - - - - - - -
9078.00 851.15 -7.39 1043 9085.23 roll -1.56 - - 1961.38 - 3.81 0.124 688.50 -378.4 -107.06 - - 3452.59 - - - - - - - - - 16.16 -
9127.91 855.34 -8.40 1053 9135.43 roll -1.56 - - 1960.69 - 3.41 0.058 2129.94 422.7 -107.06 - - 3454.78 - - - - - - - - - 16.17 -
9443.70 878.70 -7.53 1085 9450.89 roll -1.56 - - 1961.56 - 3.77 0.123 690.00 -381.9 -107.06 - - 3451.91 - - - - - - - - - 16.16 -
9483.57 882.22 -8.73 1093 9491.04 roll -1.56 - - 1960.62 - 3.38 0.057 2130.19 426.1 -107.06 - - 3452.75 - - - - - - - - - 16.16 -
9799.36 906.37 -7.46 1125 9806.86 roll -1.56 - - 1960.56 - 3.81 0.124 688.69 -378.3 -107.06 - - 3453.34 - - - - - - - - - 16.16 -
9855.42 911.27 -9.30 1136 9861.42 roll -1.56 - - 1961.19 - 3.43 0.058 2130.06 420.2 -107.06 - - 3452.09 - - - - - - - - - 16.16 -
10165.46 934.80 -7.41 1168 10172.69 roll -1.56 - - 1960.25 - 3.82 0.124 689.69 -377.1 -107.06 - - 3453.56 - - - - - - - - - 16.16 -
10215.37 939.22 -8.57 1178 10222.87 roll -1.56 - - 1960.81 - 3.40 0.056 2129.94 423.6 -107.06 - - 3451.81 - - - - - - - - - 16.16 -
10531.16 962.40 -7.15 1210 10532.73 no move -1.56 - - 1960.81 - - - 2130.06 - -107.06 - - 3450.97 - - - - - - - - - - -
10841.19 985.37 -7.38 1241 10848.38 roll -1.56 - - 1961.44 - 3.80 0.124 690.38 -378.9 -107.06 - - 3451.22 - - - - - - - - - 16.15 -
10901 end dive: TARGET_DEPTH_EXCEEDED
10901 begin apogee
10907.63 990.34 -8.25 1253 11002.41 -0.42 2.34 0.125 2239.69 118.9 0.10 0.232 2120.12 14297.4 - 86.54 2.259 3017.00 -5.0 0.364 - - - - - - 16.14 15.54 12.65
11005 end apogee: CONTROL_FINISHED_OK
11005 begin climb
11008.51 991.54 - 1262 11114.00 1.56 3.68 0.061 2730.25 133.3 - - 2119.94 - 107.06 95.39 2.198 2580.72 -4.6 0.342 - - - - - - 15.63 - 12.82
11417.51 954.59 11.22 1303 11423.47 done 1.56 - - 2730.44 - 3.22 0.104 3360.81 385.4 107.06 - - 2570.31 - - - - - - - - - 15.85 -
11601.80 931.83 12.44 1340 11609.11 done 1.56 - - 2730.88 - 3.05 0.054 2120.38 -406.7 107.06 - - 2571.06 - - - - - - - - - 15.92 -
11917.57 896.62 10.53 1372 11923.73 1.56 0.31 0.149 2714.12 -54.1 3.19 0.102 3361.50 389.1 107.06 - - 2565.59 - - - - - - - - 15.95 15.96 -
12117.62 875.42 10.27 1412 12123.67 done 1.56 - - 2714.38 - 3.02 0.053 2121.12 -410.7 107.06 - - 2565.22 - - - - - - - - - 16.03 -
12427.62 847.44 8.34 1444 12433.52 done 1.56 - - 2714.31 - 3.17 0.100 3360.06 390.8 107.06 - - 2564.94 - - - - - - - - - 16.05 -
12521.90 838.96 9.22 1463 12529.22 done 1.56 - - 2714.81 - 3.01 0.053 2120.50 -411.8 107.06 - - 2564.97 - - - - - - - - - 16.07 -
12837.67 811.52 8.57 1495 12843.54 done 1.56 - - 2714.12 - 3.18 0.100 3361.50 390.3 107.06 - - 2561.97 - - - - - - - - - 16.07 -
13072.19 789.10 9.61 1542 13079.24 done 1.56 - - 2714.31 - 3.00 0.054 2121.12 -413.5 107.06 - - 2561.94 - - - - - - - - - 16.11 -
13387.74 760.80 8.95 1574 13393.64 done 1.56 - - 2714.62 - 3.16 0.100 3362.38 392.8 107.06 - - 2562.25 - - - - - - - - - 16.11 -
13622.04 739.05 9.50 1621 13629.31 done 1.56 - - 2714.06 - 3.00 0.053 2121.31 -413.7 107.06 - - 2560.72 - - - - - - - - - 16.12 -
13937.86 713.65 7.46 1653 13943.72 done 1.58 - - 2714.81 - 3.17 0.100 3362.44 391.5 107.06 - - 2560.28 - - - - - - - - - 16.13 -
14052.09 704.21 8.55 1676 14059.35 done 1.58 - - 2714.50 - 2.98 0.053 2118.25 -417.5 107.06 - - 2560.00 - - - - - - - - - 16.14 -
14367.90 680.83 7.20 1708 14369.71 1.61 0.22 0.059 2738.25 108.0 - - 2118.56 - 107.06 - - 2557.88 - - - - - - - - 16.19 - -
14677.88 656.84 7.89 1739 14683.79 done 1.61 - - 2737.81 - 3.18 0.100 3361.06 390.7 107.06 - - 2559.78 - - - - - - - - - 16.14 -
14757.91 650.41 8.31 1755 14763.71 done 1.61 - - 2738.00 - 2.99 0.055 2117.31 -416.0 107.06 - - 2559.56 - - - - - - - - - 16.14 -
15067.97 628.02 7.07 1787 15073.78 done 1.64 - - 2737.88 - 3.17 0.097 3362.12 392.7 107.06 - - 2560.06 - - - - - - - - - 16.14 -
15227.96 615.74 7.64 1819 15233.72 done 1.64 - - 2738.25 - 2.99 0.053 2119.56 -415.6 107.06 - - 2559.31 - - - - - - - - - 16.15 -
15538.02 593.09 7.32 1851 15544.08 done 1.66 - - 2738.19 - 3.18 0.098 3362.25 390.8 107.06 - - 2559.00 - - - - - - - - - 16.13 -
15772.25 574.57 7.79 1898 15779.50 done 1.66 - - 2737.81 - 2.99 0.053 2119.75 -415.6 107.06 - - 2559.66 - - - - - - - - - 16.14 -
16088.09 551.07 7.43 1930 16093.92 done 1.68 - - 2737.88 - 3.17 0.097 3360.69 391.5 107.06 - - 2558.72 - - - - - - - - - 16.15 -
16298.11 533.89 8.49 1972 16303.86 done 1.68 - - 2737.94 - 2.98 0.053 2119.88 -416.4 107.06 - - 2559.41 - - - - - - - - - 16.15 -
16608.19 511.96 6.87 2004 16609.94 1.71 0.16 0.069 2763.75 161.3 - - 2119.75 - 107.06 - - 2557.25 - - - - - - - - 16.22 - -
16918.21 488.90 7.47 2035 16924.04 done 1.73 - - 2763.88 - 3.18 0.098 3362.62 390.8 107.06 - - 2559.00 - - - - - - - - - 16.15 -
17078.22 475.92 8.39 2067 17083.97 done 1.73 - - 2763.25 - 2.97 0.052 2119.50 -418.6 107.06 - - 2561.34 - - - - - - - - - 16.15 -
17388.28 454.12 6.71 2099 17389.85 VBD 1.77 - - 2763.75 - - - 2119.88 - 107.06 - - 2557.94 - - - - - - - - - - -
17698.30 433.65 6.46 2130 17700.06 1.82 0.14 0.078 2790.81 193.3 - - 2118.69 - 107.06 - - 2557.00 - - - - - - - - 16.19 - -
18008.33 413.57 6.68 2161 18014.29 done 1.86 - - 2791.56 - 3.17 0.097 3363.19 392.6 107.06 - - 2560.91 - - - - - - - - - 16.16 -
18108.37 406.44 7.29 2181 18114.12 done 1.88 - - 2792.19 - 2.98 0.052 2117.75 -417.9 107.06 - - 2558.78 - - - - - - - - - 16.15 -
18418.37 385.22 6.85 2213 18420.13 1.92 0.11 0.079 2816.00 216.5 - - 2117.88 - 107.06 - - 2556.19 - - - - - - - - 16.21 - -
18728.39 363.52 6.81 2244 18729.97 VBD 1.96 - - 2816.25 - - - 2117.56 - 107.06 - - 2557.34 - - - - - - - - - - -
19038.40 343.99 5.82 2275 19040.16 2.02 0.11 0.086 2840.56 221.0 - - 2117.75 - 107.06 - - 2556.69 - - - - - - - - 16.20 - -
19348.42 326.37 5.66 2306 19355.74 done 2.09 - - 2840.12 - 3.74 0.113 687.94 -382.3 107.06 - - 2558.66 - - - - - - - - - 16.15 -
19444.36 320.05 6.87 2325 19451.57 2.13 0.12 0.064 2866.38 218.8 3.55 0.059 2182.31 420.9 107.06 - - 2559.16 - - - - - - - - 16.18 16.13 -
19759.37 301.38 5.55 2357 19760.94 VBD 2.20 - - 2868.00 - - - 2182.19 - 107.06 - - 2556.19 - - - - - - - - - - -
20069.38 284.80 4.98 2388 20124.65 2.28 0.22 0.053 2905.50 170.5 3.10 0.101 3362.69 380.8 166.99 47.01 1.380 2335.66 -4.7 0.160 - - - - - - 16.17 15.89 12.65
20148.21 278.97 9.64 2403 20154.25 roll back 2.28 0.29 0.177 2887.31 -62.7 3.03 0.051 2118.50 -410.6 166.99 - - 2335.16 - - - - - - - - 15.90 15.95 -
20458.20 241.01 12.62 2435 20464.11 done 2.28 - - 2887.62 - 3.21 0.097 3361.25 387.1 166.99 - - 2331.84 - - - - - - - - - 15.97 -
20692.51 209.35 13.41 2482 20699.86 done 2.28 - - 2888.25 - 3.02 0.051 2120.06 -411.0 166.99 - - 2328.19 - - - - - - - - - 16.03 -
21008.26 174.32 10.46 2514 21014.17 done 2.28 - - 2887.44 - 3.17 0.095 3359.56 391.0 166.99 - - 2326.84 - - - - - - - - - 16.02 -
21122.54 161.08 11.51 2537 21129.80 done 2.28 - - 2887.31 - 3.00 0.051 2121.12 -412.8 166.99 - - 2326.78 - - - - - - - - - 16.05 -
21438.29 127.02 11.37 2569 21439.86 VBD 2.28 - - 2887.56 - - - 2120.62 - 166.99 - - 2325.28 - - - - - - - - - - -
21748.36 102.71 5.95 2600 21754.38 2.35 0.23 0.056 2920.94 145.1 3.18 0.094 3361.75 390.3 166.99 - - 2328.41 - - - - - - - - 16.09 16.02 -
21863.39 97.14 4.16 2623 21954.16 done 2.44 - - 2921.44 - 3.01 0.049 2115.25 -414.1 243.04 82.00 1.114 2030.50 -3.6 0.052 - - - - - - - 16.05 12.67
22137.55 76.80 9.25 2677 22144.23 roll 2.44 - - 2920.31 - 3.24 0.094 3361.94 384.8 243.04 - - 2027.44 - - - - - - - - - 15.87 -
22372.86 57.44 7.37 2724 22379.53 roll back 2.46 0.14 0.075 2942.81 160.7 3.03 0.048 2119.81 -409.9 243.04 - - 2025.50 - - - - - - - - 15.97 15.94 -
22562.92 45.03 7.64 2762 22567.33 no move 2.46 - - 2943.38 - - - 2119.56 - 243.04 - - 2022.75 - - - - - - - - - - -
22747.99 38.82 2.19 2799 22875.59 2.61 0.28 0.054 2983.25 142.4 3.29 0.094 3360.00 377.0 357.43 114.30 1.039 1561.84 -4.0 0.025 - - - - - - 16.04 15.59 12.67
23059.16 18.66 8.01 2860 23065.72 roll 2.61 - - 2983.94 - 3.05 0.048 2119.00 -406.9 357.43 - - 1560.22 - - - - - - - - - 15.80 -
23249.29 7.24 4.91 2898 23319.05 done 2.69 - - 2983.31 - 3.26 0.093 3359.06 380.4 418.71 59.38 0.981 1313.34 -4.2 0.005 - - - - - - - 15.66 12.78
23322 end climb: SURFACE_DEPTH_REACHED
23322 begin surface coast
23347 end surface coast: CONTROL_FINISHED_OK
23347 begin surface
SM 1.55 - - - - 186.8 55.71 0.979 1084.1 18.4 21.58 0.040 1092.4 50.6 - 3.12 0.048 1075.8 343.8 -1.135 - - 12.74 15.79 15.77 -