NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 231 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 92.66 of 575.00 AH used of 24V (83.89% remains)
• Surface angle -63.7 deg, depth 1.63 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.97 (SM_CC=475)
• GPS1 time: 30 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
6 begin dive
8.97 - - - 70.57 VBD -1.56 - - 181.81 - - - 2146.94 - -107.06 60.10 0.005 2434.53 - - - - - - - - - - 15.67
71.00 3.04 -2.77 12 128.47 -1.56 16.44 0.231 1960.06 108.2 3.82 0.110 689.88 -381.4 -107.06 24.78 0.006 3456.94 41.3 -3.458 - - - - - - 15.68 15.65 15.69
267.02 39.75 -16.77 50 273.56 roll -1.56 - - 1960.00 - 3.38 0.042 2134.12 427.3 -107.06 - - 3458.34 - - - - - - - - - 15.90 -
457.03 64.22 -12.52 88 461.43 no move -1.56 - - 1960.00 - - - 2134.25 - -107.06 - - 3459.28 - - - - - - - - - - -
642.09 86.54 -11.20 125 646.54 no move -1.56 - - 1959.88 - - - 2134.19 - -107.06 - - 3460.12 - - - - - - - - - - -
837.10 107.84 -10.48 157 844.30 roll -1.56 - - 1959.62 - 3.74 0.104 689.12 -386.4 -107.06 - - 3460.38 - - - - - - - - - 15.95 -
962.81 120.97 -10.04 182 968.77 roll -1.56 - - 1959.44 - 3.35 0.041 2136.56 432.1 -107.06 - - 3462.16 - - - - - - - - - 16.02 -
1272.83 149.74 -9.55 214 1274.40 no move -1.56 - - 1959.88 - - - 2136.62 - -107.06 - - 3461.06 - - - - - - - - - - -
1582.85 179.53 -9.54 245 1590.06 roll -1.56 - - 1960.44 - 3.76 0.105 689.69 -384.8 -107.06 - - 3460.66 - - - - - - - - - 16.04 -
1618.65 183.28 -10.45 252 1624.59 roll -1.56 - - 1958.94 - 3.36 0.043 2136.88 430.7 -107.06 - - 3462.94 - - - - - - - - - 16.06 -
1928.66 214.26 -10.21 284 1930.23 no move -1.56 - - 1959.62 - - - 2136.62 - -107.06 - - 3460.81 - - - - - - - - - - -
2238.68 245.69 -9.80 315 2240.25 no move -1.56 - - 1959.56 - - - 2136.19 - -107.06 - - 3460.94 - - - - - - - - - - -
2548.71 275.91 -9.74 346 2550.28 no move -1.56 - - 1959.50 - - - 2136.25 - -107.06 - - 3460.81 - - - - - - - - - - -
2858.73 306.55 -9.93 377 2865.93 roll -1.56 - - 1960.38 - 3.78 0.109 688.75 -382.9 -107.06 - - 3460.72 - - - - - - - - - 16.09 -
2894.42 310.38 -10.69 384 2900.36 roll -1.56 - - 1960.25 - 3.36 0.044 2136.00 430.7 -107.06 - - 3461.44 - - - - - - - - - 16.09 -
3204.44 341.00 -9.73 416 3206.01 no move -1.56 - - 1959.44 - - - 2136.12 - -107.06 - - 3459.78 - - - - - - - - - - -
3514.47 370.45 -9.31 447 3521.66 roll -1.56 - - 1959.38 - 3.76 0.109 689.62 -384.7 -107.06 - - 3460.03 - - - - - - - - - 16.11 -
3550.26 374.21 -10.45 454 3556.20 roll -1.56 - - 1958.75 - 3.36 0.045 2135.81 430.4 -107.06 - - 3461.22 - - - - - - - - - 16.10 -
3860.29 402.82 -8.97 486 3866.12 roll -1.56 - - 1959.75 - 3.12 0.096 3361.94 393.0 -107.06 - - 3458.66 - - - - - - - - - 16.10 -
3894.52 406.34 -9.74 493 3901.84 roll -1.56 - - 1959.50 - 3.03 0.041 2065.12 -428.0 -107.06 - - 3458.44 - - - - - - - - - 16.12 -
4210.30 434.39 -8.90 525 4211.87 no move -1.56 - - 1959.75 - - - 2065.12 - -107.06 - - 3456.41 - - - - - - - - - - -
4520.31 461.71 -8.66 556 4521.89 no move -1.56 - - 1959.38 - - - 2065.12 - -107.06 - - 3456.44 - - - - - - - - - - -
4830.33 489.96 -9.20 587 4831.90 no move -1.56 - - 1959.75 - - - 2065.00 - -107.06 - - 3454.41 - - - - - - - - - - -
5140.33 518.97 -9.47 618 5141.90 no move -1.56 - - 1959.38 - - - 2065.31 - -107.06 - - 3453.44 - - - - - - - - - - -
5450.35 548.84 -9.47 649 5451.92 no move -1.56 - - 1959.19 - - - 2064.94 - -107.06 - - 3453.22 - - - - - - - - - - -
5760.45 577.78 -9.25 680 5762.02 no move -1.56 - - 1959.19 - - - 2065.44 - -107.06 - - 3452.44 - - - - - - - - - - -
6070.38 606.70 -8.85 711 6071.95 no move -1.56 - - 1959.75 - - - 2065.19 - -107.06 - - 3451.53 - - - - - - - - - - -
6380.40 632.57 -7.95 742 6381.97 no move -1.56 - - 1959.69 - - - 2064.50 - -107.06 - - 3450.81 - - - - - - - - - - -
6690.41 657.32 -8.10 773 6691.98 no move -1.56 - - 1959.88 - - - 2064.75 - -107.06 - - 3449.59 - - - - - - - - - - -
7000.75 682.14 -8.13 804 7002.36 no move -1.56 - - 1959.94 - - - 2065.00 - -107.06 - - 3449.00 - - - - - - - - - - -
7310.80 706.95 -8.13 835 7312.41 no move -1.56 - - 1959.56 - - - 2064.81 - -107.06 - - 3448.97 - - - - - - - - - - -
7620.85 731.60 -7.71 866 7627.94 roll -1.56 - - 1959.19 - 3.65 0.122 688.62 -377.0 -107.06 - - 3450.31 - - - - - - - - - 16.11 -
7666.73 735.76 -9.36 875 7673.70 roll -1.56 - - 1960.00 - 3.41 0.052 2132.00 423.3 -107.06 - - 3448.12 - - - - - - - - - 16.13 -
7981.78 759.21 -7.18 907 7983.39 no move -1.56 - - 1959.31 - - - 2131.88 - -107.06 - - 3448.09 - - - - - - - - - - -
8291.84 781.97 -7.53 938 8298.98 roll -1.56 - - 1959.62 - 3.80 0.115 691.00 -379.2 -107.06 - - 3447.94 - - - - - - - - - 16.11 -
8337.77 785.96 -8.78 947 8344.70 roll -1.56 - - 1960.06 - 3.40 0.051 2132.06 423.8 -107.06 - - 3447.19 - - - - - - - - - 16.11 -
8652.83 810.89 -8.22 979 8654.44 no move -1.56 - - 1959.56 - - - 2131.56 - -107.06 - - 3445.75 - - - - - - - - - - -
8962.86 837.10 -8.59 1010 8964.47 no move -1.56 - - 1959.56 - - - 2131.56 - -107.06 - - 3445.50 - - - - - - - - - - -
9272.89 863.88 -8.26 1041 9274.54 no move -1.56 - - 1960.06 - - - 2131.81 - -107.06 - - 3445.12 - - - - - - - - - - -
9582.91 889.54 -8.03 1072 9590.11 roll -1.56 - - 1958.62 - 3.81 0.115 689.25 -378.6 -107.06 - - 3445.88 - - - - - - - - - 16.11 -
9652.90 896.19 -9.24 1086 9660.84 roll -1.56 - - 1958.56 - 3.41 0.051 2132.19 423.1 -107.06 - - 3446.03 - - - - - - - - - 16.12 -
9968.94 919.64 -7.40 1118 9970.55 no move -1.56 - - 1959.38 - - - 2132.00 - -107.06 - - 3444.03 - - - - - - - - - - -
10278.97 940.27 -6.55 1149 10280.58 no move -1.56 - - 1959.81 - - - 2131.75 - -107.06 - - 3443.44 - - - - - - - - - - -
10588.99 960.78 -6.62 1180 10590.61 no move -1.56 - - 1959.81 - - - 2131.75 - -107.06 - - 3443.09 - - - - - - - - - - -
10899.03 980.61 -6.20 1211 10900.64 no move -1.56 - - 1959.88 - - - 2131.75 - -107.06 - - 3442.47 - - - - - - - - - - -
11039 end dive: TARGET_DEPTH_EXCEEDED
11039 begin apogee
11040.90 990.20 -6.78 1225 11135.44 -0.42 2.40 0.118 2240.06 116.7 0.11 0.214 2113.94 -161.9 - 84.37 2.232 3020.84 -5.0 0.367 - - - - - - 16.08 15.55 12.25
11141 end apogee: CONTROL_FINISHED_OK
11141 begin climb
11143.83 990.77 - 1234 11249.33 1.56 3.81 0.059 2728.81 128.3 - - 2114.31 - 107.06 93.96 2.172 2581.28 -4.7 0.353 - - - - - - 15.66 - 12.71
11553.21 953.25 11.67 1282 11559.04 done 1.56 - - 2727.94 - 3.28 0.096 3362.38 380.5 107.06 - - 2568.38 - - - - - - - - - 15.83 -
11787.27 924.49 12.28 1329 11794.99 done 1.56 - - 2728.25 - 2.98 0.044 2117.38 -417.8 107.06 - - 2567.00 - - - - - - - - - 15.94 -
12103.32 891.82 9.82 1361 12109.21 done 1.56 - - 2729.44 - 3.23 0.096 3363.06 385.7 107.06 - - 2563.22 - - - - - - - - - 15.99 -
12183.35 883.49 10.66 1377 12189.26 done 1.56 - - 2727.94 - 2.94 0.043 2118.94 -423.2 107.06 - - 2564.88 - - - - - - - - - 16.00 -
12493.39 852.89 10.06 1409 12499.24 done 1.56 - - 2728.75 - 3.22 0.093 3362.50 386.2 107.06 - - 2561.97 - - - - - - - - - 16.02 -
12583.42 843.55 10.68 1427 12589.10 done 1.56 - - 2728.50 - 2.94 0.042 2114.69 -424.4 107.06 - - 2562.06 - - - - - - - - - 16.05 -
12893.46 814.03 9.50 1459 12899.32 done 1.56 - - 2729.06 - 3.20 0.092 3363.94 390.4 107.06 - - 2562.78 - - - - - - - - - 16.05 -
13107.53 792.15 10.07 1502 13115.26 done 1.56 - - 2728.62 - 2.93 0.043 2116.06 -425.9 107.06 - - 2561.50 - - - - - - - - - 16.06 -
13423.58 764.71 8.57 1534 13429.38 done 1.56 - - 2729.25 - 3.19 0.092 3362.69 390.8 107.06 - - 2560.03 - - - - - - - - - 16.07 -
13497.60 757.75 9.24 1549 13505.31 done 1.56 - - 2729.00 - 2.91 0.043 2116.00 -428.4 107.06 - - 2560.50 - - - - - - - - - 16.07 -
13813.65 730.95 8.03 1581 13819.69 done 1.56 - - 2728.44 - 3.18 0.091 3364.00 392.5 107.06 - - 2560.44 - - - - - - - - - 16.08 -
13917.68 720.94 9.61 1602 13925.40 done 1.56 - - 2728.94 - 2.91 0.042 2116.25 -428.8 107.06 - - 2559.56 - - - - - - - - - 16.08 -
14233.73 693.81 8.35 1634 14235.34 VBD 1.56 - - 2729.06 - - - 2116.50 - 107.06 - - 2558.06 - - - - - - - - - - -
14543.78 666.86 8.50 1665 14549.57 done 1.56 - - 2728.31 - 3.16 0.092 3363.75 394.7 107.06 - - 2558.72 - - - - - - - - - 16.10 -
14623.81 659.29 9.20 1681 14629.66 done 1.56 - - 2728.38 - 2.89 0.042 2116.94 -431.4 107.06 - - 2559.25 - - - - - - - - - 16.11 -
14933.84 632.10 8.80 1713 14935.46 VBD 1.56 - - 2728.81 - - - 2117.25 - 107.06 - - 2557.00 - - - - - - - - - - -
15243.87 606.76 7.69 1744 15249.66 done 1.56 - - 2728.75 - 3.19 0.093 3362.81 390.5 107.06 - - 2557.88 - - - - - - - - - 16.11 -
15477.91 587.27 8.04 1791 15485.57 done 1.56 - - 2728.75 - 2.90 0.042 2117.06 -429.6 107.06 - - 2557.66 - - - - - - - - - 16.08 -
15793.97 565.29 6.82 1823 15799.75 done 1.60 - - 2728.94 - 3.18 0.093 3364.00 392.1 107.06 - - 2557.06 - - - - - - - - - 16.10 -
15917.99 556.05 7.26 1848 15925.59 done 1.62 - - 2728.44 - 2.90 0.043 2116.75 -430.1 107.06 - - 2558.56 - - - - - - - - - 16.10 -
16234.00 535.40 6.58 1880 16239.92 1.67 0.12 0.084 2755.31 223.9 3.18 0.092 3362.69 391.8 107.06 - - 2557.66 - - - - - - - - 16.14 16.07 -
16407.97 521.96 7.69 1915 16415.60 done 1.67 - - 2755.25 - 2.89 0.042 2115.88 -431.4 107.06 - - 2556.81 - - - - - - - - - 16.12 -
16724.04 498.44 7.50 1947 16725.67 VBD 1.69 - - 2755.31 - - - 2116.12 - 107.06 - - 2556.00 - - - - - - - - - - -
17034.09 474.86 7.53 1978 17039.85 done 1.70 - - 2755.69 - 3.18 0.090 3363.19 392.2 107.06 - - 2557.34 - - - - - - - - - 16.10 -
17268.11 455.48 8.16 2025 17275.99 done 1.70 - - 2755.00 - 2.89 0.041 2113.69 -432.4 107.06 - - 2558.00 - - - - - - - - - 16.09 -
17584.21 433.78 6.29 2057 17589.97 done 1.75 - - 2755.69 - 3.18 0.090 3363.75 393.1 107.06 - - 2556.69 - - - - - - - - - 16.11 -
17668.24 428.09 6.71 2074 17675.99 1.79 0.16 0.072 2784.69 181.2 2.89 0.042 2114.56 -432.2 107.06 - - 2557.41 - - - - - - - - 16.09 16.11 -
17984.29 408.60 6.07 2106 17990.03 done 1.85 - - 2784.94 - 3.16 0.090 3365.00 395.7 107.06 - - 2558.12 - - - - - - - - - 16.10 -
18074.33 403.02 6.07 2124 18080.05 1.91 0.13 0.075 2806.75 167.8 2.89 0.042 2114.00 -432.9 107.06 - - 2557.44 - - - - - - - - 16.08 16.09 -
18384.37 384.70 5.97 2156 18385.98 VBD 1.97 - - 2814.69 - - - 2114.00 - 107.06 - - 2556.16 - - - - - - - - - - -
18694.42 365.24 6.15 2187 18701.68 2.03 0.12 0.088 2843.56 240.6 3.62 0.107 688.12 -393.9 107.06 - - 2554.91 - - - - - - - - 16.13 16.04 -
18930.59 348.38 6.98 2234 18937.83 done 2.06 - - 2845.50 - 3.52 0.051 2187.88 426.1 107.06 - - 2553.47 - - - - - - - - - 16.05 -
19245.62 329.71 5.70 2266 19252.79 done 2.13 - - 2845.06 - 3.81 0.099 687.31 -393.9 107.06 - - 2552.94 - - - - - - - - - 16.09 -
19301.62 326.10 6.51 2277 19308.74 2.18 0.19 0.061 2880.94 188.8 3.50 0.049 2186.12 428.2 107.06 - - 2555.75 - - - - - - - - 16.14 16.09 -
19616.66 308.75 5.20 2309 19622.27 done 2.27 - - 2881.50 - 2.97 0.091 3365.75 397.2 107.06 - - 2554.81 - - - - - - - - - 16.07 -
19750.69 301.33 5.50 2336 19758.53 2.34 0.22 0.057 2919.06 170.7 2.89 0.041 2113.94 -433.2 107.06 - - 2555.47 - - - - - - - - 16.12 16.04 -
20066.73 284.73 5.04 2368 20121.49 done 2.42 - - 2919.75 - 3.68 0.104 688.56 -387.3 165.92 45.44 1.349 2341.78 -4.7 0.164 - - - - - - - 15.87 12.35
20194.28 272.20 13.39 2393 20202.29 roll 2.42 - - 2919.62 - 3.55 0.049 2183.56 421.1 165.92 - - 2336.56 - - - - - - - - - 15.95 -
20510.32 233.06 12.54 2425 20516.09 done 2.42 - - 2920.25 - 3.01 0.092 3362.12 391.5 165.92 - - 2333.88 - - - - - - - - - 15.94 -
20570.32 225.05 13.46 2437 20575.99 done 2.42 - - 2919.00 - 2.93 0.041 2117.00 -425.0 165.92 - - 2335.91 - - - - - - - - - 15.95 -
20880.37 185.99 12.00 2469 20886.15 done 2.42 - - 2920.06 - 3.18 0.090 3365.50 392.6 165.92 - - 2332.56 - - - - - - - - - 15.96 -
20960.39 175.35 13.71 2485 20966.06 done 2.42 - - 2920.88 - 2.91 0.041 2116.50 -429.2 165.92 - - 2333.78 - - - - - - - - - 15.96 -
21270.42 142.25 8.94 2517 21272.04 VBD 2.42 - - 2919.50 - - - 2115.88 - 165.92 - - 2330.78 - - - - - - - - - - -
21580.53 117.39 7.12 2548 21586.44 2.45 0.12 0.072 2944.44 207.8 3.18 0.088 3364.88 392.8 165.92 - - 2331.56 - - - - - - - - 16.04 15.96 -
21720.52 106.73 7.66 2576 21726.48 2.45 0.29 0.169 2927.25 -59.3 2.90 0.041 2112.44 -431.9 165.92 - - 2332.94 - - - - - - - - 15.94 15.99 -
22030.64 98.55 -0.10 2627 22212.71 2.65 0.52 0.041 2995.44 131.1 3.76 0.105 688.94 -378.6 325.15 166.36 1.072 1692.38 -3.9 0.059 - - - - - - 16.01 15.56 12.48
22441.69 44.66 14.56 2707 22448.70 roll 2.65 - - 2994.50 - 3.58 0.048 2181.25 416.8 325.15 - - 1691.66 - - - - - - - - - 15.80 -
22632.63 31.03 3.51 2745 22739.54 2.77 0.14 0.068 3021.00 189.3 3.95 0.102 688.62 -377.9 413.86 92.78 0.986 1332.78 -3.9 0.020 - - - - - - 15.94 15.62 12.56
22743.37 27.87 5.40 2766 22750.62 roll 2.85 - - 3020.56 - 3.59 0.046 2183.81 416.5 413.86 - - 1335.03 - - - - - - - - - 15.70 -
22934.55 10.89 7.52 2804 22941.42 roll back 2.86 0.11 0.077 3045.75 229.0 3.06 0.091 3363.38 385.5 413.86 - - 1339.75 - - - - - - - - 15.89 15.80 -
23030 end climb: SURFACE_DEPTH_REACHED
23030 begin surface coast
23055 end surface coast: CONTROL_FINISHED_OK
23056 begin surface
SM 1.81 - - - - 184.1 61.38 0.964 1083.7 17.7 21.79 0.049 1093.5 50.2 - 3.05 0.042 1073.9 351.1 -1.546 - - 12.61 15.91 15.88 -