NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 136 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.13 of 575.00 AH used of 24V (89.19% remains)
• Surface angle -55.4 deg, depth 1.38 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 20 s
• GPS2 time: 3 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
8.90 - - - 101.31 VBD -1.56 - - 181.75 - - - 2130.50 - -107.06 90.53 0.005 2506.34 - - - - - - - - - - 15.72
101.75 3.42 -1.96 13 153.45 -1.56 16.38 0.239 1958.81 108.5 3.85 0.116 688.75 -374.5 -107.06 22.78 0.006 3457.38 41.7 -3.936 - - - - - - 15.75 15.72 15.77
216.95 26.63 -20.61 35 223.52 roll -1.56 - - 1960.06 - 3.40 0.049 2128.00 423.3 -107.06 - - 3458.72 - - - - - - - - - 15.90 -
406.97 56.75 -13.54 73 413.40 roll -1.56 - - 1959.81 - 3.17 0.099 3361.31 389.1 -107.06 - - 3458.75 - - - - - - - - - 15.96 -
451.98 63.22 -14.75 82 458.41 roll -1.56 - - 1960.00 - 3.10 0.044 2067.00 -417.5 -107.06 - - 3458.53 - - - - - - - - - 15.97 -
642.03 88.14 -11.60 120 646.40 no move -1.56 - - 1960.06 - - - 2066.88 - -107.06 - - 3459.38 - - - - - - - - - - -
832.06 108.41 -10.22 150 837.98 roll -1.56 - - 1959.62 - 3.63 0.114 689.69 -379.4 -107.06 - - 3462.00 - - - - - - - - - 16.04 -
912.09 116.97 -10.73 166 917.86 roll -1.56 - - 1959.50 - 3.37 0.047 2132.75 428.2 -107.06 - - 3459.97 - - - - - - - - - 16.05 -
1222.12 146.23 -9.22 198 1223.65 no move -1.56 - - 1959.50 - - - 2132.38 - -107.06 - - 3460.00 - - - - - - - - - - -
1532.13 175.80 -9.43 229 1533.66 no move -1.56 - - 1959.50 - - - 2132.88 - -107.06 - - 3460.31 - - - - - - - - - - -
1842.15 206.56 -9.91 260 1849.59 roll -1.56 - - 1960.31 - 3.80 0.112 689.12 -379.9 -107.06 - - 3459.28 - - - - - - - - - 16.13 -
1892.40 211.97 -11.01 270 1899.89 roll -1.56 - - 1958.50 - 3.38 0.050 2133.38 427.3 -107.06 - - 3461.81 - - - - - - - - - 16.13 -
2208.16 243.50 -10.05 302 2209.74 no move -1.56 - - 1959.75 - - - 2133.06 - -107.06 - - 3460.34 - - - - - - - - - - -
2518.19 273.84 -9.71 333 2519.76 no move -1.56 - - 1959.56 - - - 2132.94 - -107.06 - - 3459.91 - - - - - - - - - - -
2828.21 305.87 -10.71 364 2835.41 roll -1.56 - - 1959.25 - 3.80 0.115 689.88 -379.8 -107.06 - - 3460.44 - - - - - - - - - 16.16 -
2883.85 312.29 -11.24 375 2889.83 roll -1.56 - - 1960.00 - 3.37 0.052 2131.50 427.8 -107.06 - - 3461.69 - - - - - - - - - 16.17 -
3193.86 345.38 -10.55 407 3201.05 roll -1.56 - - 1959.00 - 3.77 0.114 688.31 -382.8 -107.06 - - 3459.44 - - - - - - - - - 16.17 -
3223.73 348.78 -11.06 413 3231.20 roll -1.56 - - 1960.06 - 3.36 0.051 2131.38 429.5 -107.06 - - 3461.47 - - - - - - - - - 16.18 -
3539.51 380.57 -9.81 445 3541.08 no move -1.56 - - 1959.50 - - - 2131.62 - -107.06 - - 3459.81 - - - - - - - - - - -
3849.53 410.52 -9.54 476 3856.72 roll -1.56 - - 1959.56 - 3.78 0.117 688.94 -381.7 -107.06 - - 3459.75 - - - - - - - - - 16.17 -
3895.28 415.28 -10.47 485 3901.27 roll -1.56 - - 1959.38 - 3.37 0.053 2131.94 428.2 -107.06 - - 3460.16 - - - - - - - - - 16.18 -
4205.30 444.34 -9.00 517 4206.87 no move -1.56 - - 1959.81 - - - 2132.00 - -107.06 - - 3458.00 - - - - - - - - - - -
4515.33 471.71 -8.90 548 4521.81 roll -1.56 - - 1960.69 - 3.78 0.117 689.88 -381.5 -107.06 - - 3457.31 - - - - - - - - - 16.18 -
4585.36 478.69 -9.90 562 4591.30 roll -1.56 - - 1958.94 - 3.37 0.054 2131.38 427.7 -107.06 - - 3458.12 - - - - - - - - - 16.18 -
4895.37 504.89 -8.13 594 4896.94 no move -1.56 - - 1959.75 - - - 2131.19 - -107.06 - - 3457.00 - - - - - - - - - - -
5205.40 530.57 -8.31 625 5206.97 no move -1.56 - - 1959.81 - - - 2131.00 - -107.06 - - 3456.41 - - - - - - - - - - -
5515.43 557.17 -8.63 656 5522.63 roll -1.56 - - 1959.50 - 3.79 0.120 690.31 -380.1 -107.06 - - 3455.94 - - - - - - - - - 16.19 -
5615.33 566.84 -9.59 676 5622.80 roll -1.56 - - 1959.75 - 3.38 0.056 2131.00 426.2 -107.06 - - 3457.00 - - - - - - - - - 16.19 -
5931.14 594.38 -8.94 708 5938.33 roll -1.56 - - 1958.88 - 3.79 0.121 690.06 -380.2 -107.06 - - 3456.38 - - - - - - - - - 16.18 -
5996.88 601.23 -10.20 721 6002.84 roll -1.56 - - 1958.75 - 3.36 0.055 2129.25 428.3 -107.06 - - 3456.91 - - - - - - - - - 16.20 -
6306.92 628.91 -8.92 753 6308.49 no move -1.56 - - 1959.69 - - - 2130.06 - -107.06 - - 3453.44 - - - - - - - - - - -
6616.95 656.16 -8.48 784 6624.14 roll -1.56 - - 1959.88 - 3.79 0.120 688.56 -380.3 -107.06 - - 3455.34 - - - - - - - - - 16.18 -
6682.59 662.36 -9.24 797 6688.54 roll -1.56 - - 1959.44 - 3.33 0.057 2130.94 433.1 -107.06 - - 3455.59 - - - - - - - - - 16.18 -
6992.62 686.83 -7.65 829 6994.19 no move -1.56 - - 1959.75 - - - 2131.12 - -107.06 - - 3452.75 - - - - - - - - - - -
7302.65 709.85 -7.40 860 7304.22 no move -1.56 - - 1959.50 - - - 2130.81 - -107.06 - - 3452.84 - - - - - - - - - - -
7612.68 733.34 -7.56 891 7614.25 no move -1.56 - - 1959.94 - - - 2130.94 - -107.06 - - 3451.56 - - - - - - - - - - -
7922.70 756.71 -7.28 922 7929.94 roll -1.56 - - 1960.00 - 3.81 0.122 689.50 -378.3 -107.06 - - 3452.81 - - - - - - - - - 16.19 -
8032.63 766.26 -8.69 944 8040.12 roll -1.56 - - 1959.75 - 3.40 0.057 2129.88 423.6 -107.06 - - 3452.19 - - - - - - - - - 16.18 -
8348.42 789.05 -7.26 976 8355.61 roll -1.56 - - 1959.12 - 3.80 0.122 689.62 -379.0 -107.06 - - 3451.09 - - - - - - - - - 16.18 -
8438.64 796.99 -8.89 994 8445.77 roll -1.56 - - 1958.69 - 3.35 0.057 2129.06 429.7 -107.06 - - 3451.78 - - - - - - - - - 16.19 -
8754.13 821.05 -7.73 1026 8761.33 roll -1.56 - - 1959.25 - 3.80 0.123 689.69 -378.8 -107.06 - - 3451.38 - - - - - - - - - 16.18 -
8844.03 829.03 -8.59 1044 8851.49 roll -1.56 - - 1959.50 - 3.39 0.057 2130.00 424.9 -107.06 - - 3450.25 - - - - - - - - - 16.17 -
9159.82 853.56 -7.95 1076 9167.01 roll -1.56 - - 1959.94 - 3.79 0.123 689.69 -380.0 -107.06 - - 3449.28 - - - - - - - - - 16.17 -
9215.45 858.74 -9.50 1087 9221.52 roll -1.56 - - 1959.25 - 3.38 0.056 2129.44 426.0 -107.06 - - 3450.06 - - - - - - - - - 16.18 -
9525.48 883.50 -7.87 1119 9532.69 roll -1.56 - - 1959.00 - 3.79 0.122 689.56 -379.9 -107.06 - - 3449.00 - - - - - - - - - 16.17 -
9571.24 887.51 -9.57 1128 9577.25 roll -1.56 - - 1960.06 - 3.36 0.058 2130.25 428.8 -107.06 - - 3449.69 - - - - - - - - - 16.17 -
9881.28 911.04 -7.52 1160 9882.85 no move -1.56 - - 1959.44 - - - 2129.94 - -107.06 - - 3448.47 - - - - - - - - - - -
10191.31 933.67 -7.24 1191 10198.50 roll -1.56 - - 1959.94 - 3.79 0.124 689.62 -380.0 -107.06 - - 3448.03 - - - - - - - - - 16.17 -
10281.19 941.17 -8.44 1209 10288.67 roll -1.56 - - 1959.62 - 3.38 0.058 2129.88 426.1 -107.06 - - 3448.91 - - - - - - - - - 16.17 -
10596.98 964.63 -7.80 1241 10598.55 no move -1.56 - - 1959.81 - - - 2129.81 - -107.06 - - 3447.84 - - - - - - - - - - -
10907.00 988.81 -7.60 1272 10908.57 no move -1.56 - - 1959.56 - - - 2129.75 - -107.06 - - 3447.47 - - - - - - - - - - -
10926 end dive: TARGET_DEPTH_EXCEEDED
10927 begin apogee
10928.69 990.29 -7.87 1274 11023.06 -0.42 2.36 0.124 2240.00 118.8 0.09 0.248 2120.75 -100.0 - 86.07 2.257 3019.00 -5.0 0.361 - - - - - - 16.15 15.55 12.64
11026 end apogee: CONTROL_FINISHED_OK
11026 begin climb
11028.81 991.74 - 1283 11140.46 1.56 3.86 0.064 2728.38 126.5 3.31 0.106 3360.75 374.6 107.06 96.33 2.186 2582.16 -4.5 0.340 - - - - - - 15.65 15.31 12.81
11219.02 979.33 11.02 1319 11224.87 roll 1.56 - - 2728.12 - 3.05 0.052 2120.81 -406.5 107.06 - - 2577.16 - - - - - - - - - 15.67 -
11529.07 946.62 10.50 1351 11534.96 done 1.56 - - 2728.88 - 3.16 0.101 3362.31 392.9 107.06 - - 2569.12 - - - - - - - - - 15.89 -
11723.37 924.87 11.40 1390 11730.66 done 1.56 - - 2728.81 - 3.00 0.052 2120.38 -414.0 107.06 - - 2568.72 - - - - - - - - - 15.96 -
12039.15 893.11 9.66 1422 12045.27 done 1.56 - - 2728.94 - 3.17 0.100 3362.44 391.8 107.06 - - 2566.78 - - - - - - - - - 16.00 -
12249.20 870.19 11.36 1464 12254.96 done 1.56 - - 2728.25 - 2.97 0.053 2121.06 -418.0 107.06 - - 2566.69 - - - - - - - - - 16.05 -
12559.22 839.10 10.07 1496 12565.09 done 1.56 - - 2728.75 - 3.15 0.101 3361.19 393.7 107.06 - - 2565.84 - - - - - - - - - 16.05 -
12629.23 831.57 11.12 1510 12634.99 done 1.56 - - 2728.38 - 2.94 0.052 2118.81 -422.6 107.06 - - 2565.56 - - - - - - - - - 16.07 -
12939.25 799.40 10.38 1542 12945.11 done 1.56 - - 2728.50 - 3.14 0.097 3362.56 396.1 107.06 - - 2565.25 - - - - - - - - - 16.10 -
12993.51 793.27 10.87 1553 13000.77 done 1.56 - - 2728.69 - 2.94 0.052 2120.12 -422.6 107.06 - - 2564.09 - - - - - - - - - 16.10 -
13309.29 761.62 10.17 1585 13310.86 VBD 1.56 - - 2728.69 - - - 2120.19 - 107.06 - - 2561.53 - - - - - - - - - - -
13619.31 731.21 9.58 1616 13625.18 done 1.56 - - 2727.31 - 3.14 0.100 3361.06 395.2 107.06 - - 2563.75 - - - - - - - - - 16.11 -
13759.34 716.70 10.33 1644 13765.57 done 1.56 - - 2728.44 - 2.94 0.052 2118.88 -422.5 107.06 - - 2562.88 - - - - - - - - - 16.12 -
14069.36 688.77 8.68 1676 14075.25 done 1.56 - - 2728.81 - 3.13 0.097 3364.06 397.8 107.06 - - 2561.81 - - - - - - - - - 16.14 -
14303.66 666.89 9.18 1723 14310.95 done 1.56 - - 2729.25 - 2.93 0.052 2118.25 -425.2 107.06 - - 2562.69 - - - - - - - - - 16.14 -
14619.48 642.11 7.55 1755 14625.29 done 1.58 - - 2728.81 - 3.15 0.098 3361.38 394.6 107.06 - - 2561.84 - - - - - - - - - 16.14 -
14853.72 621.75 8.67 1802 14860.98 done 1.58 - - 2729.25 - 2.93 0.053 2117.38 -424.6 107.06 - - 2562.25 - - - - - - - - - 16.15 -
15169.54 597.87 7.32 1834 15175.40 done 1.60 - - 2727.75 - 3.13 0.098 3363.06 398.0 107.06 - - 2562.78 - - - - - - - - - 16.14 -
15403.79 578.07 7.90 1881 15411.07 done 1.60 - - 2728.81 - 2.95 0.053 2119.94 -421.4 107.06 - - 2561.38 - - - - - - - - - 16.15 -
15719.61 554.63 7.14 1913 15725.43 done 1.63 - - 2728.50 - 3.16 0.098 3363.19 393.4 107.06 - - 2560.78 - - - - - - - - - 16.15 -
15819.59 546.34 8.34 1933 15825.35 done 1.63 - - 2728.50 - 2.95 0.055 2117.75 -422.2 107.06 - - 2560.81 - - - - - - - - - 16.17 -
16129.66 523.62 7.34 1965 16131.23 VBD 1.65 - - 2728.75 - - - 2117.62 - 107.06 - - 2559.31 - - - - - - - - - - -
16439.69 501.48 6.97 1996 16445.69 1.68 0.15 0.082 2757.38 190.9 3.13 0.097 3363.19 397.9 107.06 - - 2562.00 - - - - - - - - 16.19 16.13 -
16559.67 491.87 7.81 2020 16565.46 done 1.68 - - 2756.50 - 2.93 0.052 2118.44 -424.8 107.06 - - 2560.66 - - - - - - - - - 16.15 -
16869.73 470.32 6.95 2052 16875.55 done 1.72 - - 2757.50 - 3.11 0.097 3363.38 400.3 107.06 - - 2559.81 - - - - - - - - - 16.14 -
16993.97 460.54 7.95 2077 17001.23 done 1.72 - - 2757.62 - 2.95 0.051 2116.88 -422.5 107.06 - - 2560.09 - - - - - - - - - 16.15 -
17309.78 439.09 6.60 2109 17315.79 done 1.76 - - 2757.62 - 3.09 0.096 3364.38 403.7 107.06 - - 2559.81 - - - - - - - - - 16.15 -
17544.08 422.44 7.09 2156 17551.50 1.79 0.12 0.081 2781.69 200.6 2.93 0.052 2119.38 -424.9 107.06 - - 2560.66 - - - - - - - - 16.17 16.16 -
17859.86 400.29 6.99 2188 17861.43 VBD 1.82 - - 2781.19 - - - 2119.62 - 107.06 - - 2558.53 - - - - - - - - - - -
18169.88 379.11 6.49 2219 18175.65 done 1.87 - - 2781.25 - 3.08 0.097 3362.88 403.7 107.06 - - 2560.50 - - - - - - - - - 16.13 -
18244.15 373.84 6.95 2234 18251.53 1.90 0.14 0.080 2809.62 202.6 2.92 0.051 2115.75 -427.1 107.06 - - 2560.69 - - - - - - - - 16.14 16.11 -
18559.91 352.25 6.76 2266 18561.49 VBD 1.94 - - 2809.50 - - - 2115.62 - 107.06 - - 2559.44 - - - - - - - - - - -
18869.93 333.65 5.35 2297 18875.86 2.02 0.16 0.067 2839.50 187.5 3.10 0.097 3363.38 402.5 107.06 - - 2561.00 - - - - - - - - 16.21 16.13 -
18979.94 327.25 5.91 2319 18985.65 done 2.08 - - 2839.88 - 2.92 0.051 2115.31 -427.4 107.06 - - 2560.56 - - - - - - - - - 16.14 -
19289.96 311.09 4.99 2351 19345.24 2.16 0.20 0.063 2874.06 170.9 3.13 0.098 3363.94 398.9 166.83 47.40 1.416 2339.38 -4.7 0.170 - - - - - - 16.22 15.87 12.70
19488.80 289.22 13.77 2390 19494.56 roll 2.16 - - 2873.56 - 2.95 0.051 2120.38 -421.5 166.83 - - 2333.50 - - - - - - - - - 15.97 -
19798.82 248.81 13.20 2422 19804.63 done 2.16 - - 2873.62 - 3.09 0.096 3364.38 402.6 166.83 - - 2330.38 - - - - - - - - - 15.98 -
19958.84 225.75 13.41 2454 19964.60 done 2.16 - - 2873.81 - 2.92 0.051 2117.75 -426.9 166.83 - - 2329.56 - - - - - - - - - 16.01 -
20268.85 188.48 12.10 2486 20270.52 VBD 2.16 - - 2873.62 - - - 2118.31 - 166.83 - - 2327.47 - - - - - - - - - - -
20578.88 152.27 10.96 2517 20580.45 VBD 2.16 - - 2873.75 - - - 2117.94 - 166.83 - - 2327.72 - - - - - - - - - - -
20888.89 118.88 9.69 2548 20894.69 done 2.16 - - 2873.56 - 3.08 0.095 3364.25 404.6 166.83 - - 2328.47 - - - - - - - - - 16.03 -
21123.97 97.38 6.17 2595 21130.43 done 2.22 - - 2873.06 - 2.95 0.049 2116.19 -423.1 166.83 - - 2327.00 - - - - - - - - - 16.04 -
21313.98 91.75 2.36 2633 21441.77 2.36 0.30 0.054 2921.06 160.0 3.17 0.095 3362.31 393.1 277.98 116.68 1.101 1885.56 -3.8 0.052 - - - - - - 16.09 15.63 12.75
21590.21 68.24 11.44 2687 21596.73 roll 2.36 - - 2922.81 - 2.99 0.048 2118.88 -415.9 277.98 - - 1883.50 - - - - - - - - - 15.81 -
21780.47 49.70 8.71 2725 21784.86 no move 2.36 - - 2922.44 - - - 2118.62 - 277.98 - - 1883.53 - - - - - - - - - - -
21970.31 34.03 5.36 2763 21977.20 roll 2.44 - - 2922.62 - 3.71 0.108 687.69 -385.7 277.98 - - 1882.78 - - - - - - - - - 15.90 -
22205.72 34.66 0.57 2810 22361.22 2.63 0.49 0.044 2988.06 133.6 3.51 0.053 2189.00 427.7 424.02 143.63 1.016 1291.16 -4.1 0.023 - - - - - - 15.99 15.98 12.77
22544.74 4.80 11.84 2876 22551.85 roll 2.63 - - 2988.19 - 3.93 0.104 688.94 -381.7 424.02 - - 1293.31 - - - - - - - - - 15.76 -
22565 end climb: SURFACE_DEPTH_REACHED
22565 begin surface coast
22580 end surface coast: CONTROL_FINISHED_OK
22580 begin surface
SM 1.46 - - - - 186.6 49.12 0.963 1083.6 22.1 21.58 0.054 1091.9 50.6 - 3.39 0.051 1075.4 316.1 -0.925 - - 12.74 15.86 15.84 -