NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 369 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 138.31 of 575.00 AH used of 24V (75.95% remains)
• Surface angle -64.8 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 31 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
9.05 - - - 65.62 VBD -1.56 - - 187.94 - - - 2135.88 - -107.06 55.12 0.005 2286.00 - - - - - - - - - - 15.47
66.06 3.29 -3.50 11 122.00 -1.56 17.00 0.239 1960.94 104.3 - - 2137.50 - -107.06 28.40 0.006 3456.25 41.2 -3.763 - - - - - - 15.52 - 15.55
305.52 45.69 -14.58 58 309.92 no move -1.56 - - 1960.88 - - - 2137.06 - -107.06 - - 3459.09 - - - - - - - - - - -
490.53 70.58 -13.79 95 494.96 no move -1.56 - - 1960.88 - - - 2137.19 - -107.06 - - 3459.75 - - - - - - - - - - -
675.54 94.33 -11.23 132 682.57 roll -1.56 - - 1960.56 - 3.79 0.101 687.06 -382.6 -107.06 - - 3462.34 - - - - - - - - - 15.83 -
726.16 100.32 -12.31 142 732.11 roll -1.56 - - 1961.75 - 3.36 0.039 2137.62 431.7 -107.06 - - 3462.97 - - - - - - - - - 15.79 -
1036.17 130.28 -8.62 174 1037.74 no move -1.56 - - 1961.25 - - - 2137.19 - -107.06 - - 3462.12 - - - - - - - - - - -
1346.20 161.69 -10.51 205 1347.77 no move -1.56 - - 1960.88 - - - 2137.44 - -107.06 - - 3463.31 - - - - - - - - - - -
1656.22 191.38 -8.97 236 1657.80 no move -1.56 - - 1961.06 - - - 2137.44 - -107.06 - - 3463.59 - - - - - - - - - - -
1966.26 220.62 -9.22 267 1973.49 roll -1.56 - - 1961.19 - 3.81 0.102 687.38 -380.6 -107.06 - - 3462.91 - - - - - - - - - 15.86 -
2042.09 228.71 -10.65 282 2048.09 roll -1.56 - - 1961.25 - 3.36 0.041 2137.75 431.7 -107.06 - - 3464.12 - - - - - - - - - 15.98 -
2352.12 259.88 -10.38 314 2353.69 no move -1.56 - - 1961.56 - - - 2137.56 - -107.06 - - 3463.31 - - - - - - - - - - -
2662.15 290.40 -9.47 345 2663.72 no move -1.56 - - 1961.12 - - - 2137.12 - -107.06 - - 3463.59 - - - - - - - - - - -
2972.19 321.06 -10.01 376 2979.38 roll -1.56 - - 1961.44 - 3.76 0.104 687.62 -385.5 -107.06 - - 3463.03 - - - - - - - - - 15.89 -
3017.97 326.42 -11.59 385 3023.93 roll -1.56 - - 1961.69 - 3.37 0.043 2133.44 429.0 -107.06 - - 3464.72 - - - - - - - - - 16.01 -
3328.01 355.68 -8.66 417 3329.58 no move -1.56 - - 1961.00 - - - 2134.12 - -107.06 - - 3463.25 - - - - - - - - - - -
3638.07 381.40 -8.28 448 3645.51 roll -1.56 - - 1961.00 - 3.80 0.105 686.75 -380.9 -107.06 - - 3461.34 - - - - - - - - - 15.94 -
3708.35 388.42 -9.88 462 3715.82 roll -1.56 - - 1960.50 - 3.37 0.043 2136.50 430.2 -107.06 - - 3463.72 - - - - - - - - - 16.02 -
4024.14 416.26 -9.03 494 4031.34 roll -1.56 - - 1961.31 - 3.80 0.106 687.19 -381.4 -107.06 - - 3461.25 - - - - - - - - - 15.94 -
4074.07 421.56 -10.39 504 4081.54 roll -1.56 - - 1961.12 - 3.37 0.042 2135.12 429.7 -107.06 - - 3461.66 - - - - - - - - - 16.02 -
4389.86 450.80 -9.12 536 4397.29 roll -1.56 - - 1961.25 - 3.78 0.102 686.62 -383.2 -107.06 - - 3459.84 - - - - - - - - - 15.95 -
4435.89 455.55 -9.99 545 4441.84 roll -1.56 - - 1960.56 - 3.37 0.041 2135.50 429.9 -107.06 - - 3460.94 - - - - - - - - - 15.93 -
4745.91 482.76 -8.52 577 4747.48 no move -1.56 - - 1961.00 - - - 2135.12 - -107.06 - - 3458.72 - - - - - - - - - - -
5055.95 509.63 -8.89 608 5063.13 roll -1.56 - - 1959.50 - 3.78 0.104 686.81 -383.2 -107.06 - - 3460.59 - - - - - - - - - 15.93 -
5111.62 515.20 -9.97 619 5117.57 roll -1.56 - - 1960.69 - 3.38 0.043 2135.19 428.5 -107.06 - - 3460.69 - - - - - - - - - 16.02 -
5421.65 542.67 -9.23 651 5428.84 roll -1.56 - - 1960.69 - 3.78 0.106 686.94 -383.1 -107.06 - - 3458.19 - - - - - - - - - 15.90 -
5491.68 549.90 -10.14 665 5499.19 roll -1.56 - - 1960.94 - 3.36 0.043 2135.38 431.1 -107.06 - - 3458.59 - - - - - - - - - 16.03 -
5807.47 576.33 -7.96 697 5814.66 roll -1.56 - - 1960.12 - 3.78 0.105 686.38 -383.3 -107.06 - - 3458.75 - - - - - - - - - 15.94 -
5853.15 580.85 -10.06 706 5859.09 roll -1.56 - - 1960.88 - 3.36 0.043 2133.69 430.7 -107.06 - - 3457.06 - - - - - - - - - 16.03 -
6163.17 605.56 -7.78 738 6170.36 roll -1.56 - - 1960.75 - 3.76 0.105 686.44 -384.9 -107.06 - - 3455.78 - - - - - - - - - 15.94 -
6213.20 610.24 -8.87 748 6220.71 roll -1.56 - - 1961.25 - 3.37 0.043 2135.31 429.9 -107.06 - - 3456.09 - - - - - - - - - 16.02 -
6528.99 635.81 -8.36 780 6536.17 roll -1.56 - - 1961.69 - 3.78 0.105 686.94 -383.2 -107.06 - - 3454.69 - - - - - - - - - 15.93 -
6604.66 643.05 -9.56 795 6610.62 roll -1.56 - - 1961.06 - 3.35 0.043 2135.12 432.3 -107.06 - - 3455.12 - - - - - - - - - 16.01 -
6914.71 669.39 -8.52 827 6921.89 roll -1.56 - - 1959.94 - 3.78 0.104 687.44 -383.0 -107.06 - - 3455.84 - - - - - - - - - 15.92 -
6964.72 674.43 -9.57 837 6972.23 roll -1.56 - - 1961.25 - 3.36 0.043 2135.81 431.1 -107.06 - - 3454.38 - - - - - - - - - 16.03 -
7280.52 700.99 -8.53 869 7282.09 no move -1.56 - - 1961.31 - - - 2135.25 - -107.06 - - 3452.72 - - - - - - - - - - -
7590.55 727.27 -8.39 900 7597.74 roll -1.56 - - 1960.62 - 3.79 0.106 687.19 -382.1 -107.06 - - 3451.75 - - - - - - - - - 15.91 -
7706.23 738.76 -9.65 923 7712.24 roll -1.56 - - 1961.25 - 3.38 0.043 2135.88 428.6 -107.06 - - 3453.47 - - - - - - - - - 15.90 -
8016.26 764.96 -8.45 955 8023.46 roll -1.56 - - 1960.38 - 3.80 0.106 687.56 -381.1 -107.06 - - 3452.19 - - - - - - - - - 15.90 -
8061.93 769.54 -10.51 964 8067.89 roll -1.56 - - 1960.81 - 3.34 0.043 2135.00 433.4 -107.06 - - 3454.00 - - - - - - - - - 16.00 -
8371.95 794.20 -8.00 996 8379.15 roll -1.56 - - 1959.94 - 3.78 0.105 686.56 -383.2 -107.06 - - 3454.94 - - - - - - - - - 15.89 -
8437.63 800.00 -8.64 1009 8443.61 roll -1.56 - - 1960.50 - 3.37 0.043 2133.50 429.4 -107.06 - - 3452.25 - - - - - - - - - 16.00 -
8747.67 824.24 -7.85 1041 8749.24 no move -1.56 - - 1961.12 - - - 2134.31 - -107.06 - - 3451.28 - - - - - - - - - - -
9057.69 847.33 -7.54 1072 9064.90 roll -1.56 - - 1960.12 - 3.80 0.107 685.88 -381.2 -107.06 - - 3452.91 - - - - - - - - - 15.88 -
9167.63 856.64 -8.35 1094 9175.14 roll -1.56 - - 1960.69 - 3.37 0.043 2134.19 429.8 -107.06 - - 3451.94 - - - - - - - - - 16.00 -
9483.42 878.44 -6.36 1126 9485.00 no move -1.56 - - 1960.69 - - - 2133.81 - -107.06 - - 3450.16 - - - - - - - - - - -
9793.46 900.90 -7.89 1157 9800.70 roll -1.56 - - 1960.44 - 3.81 0.108 686.38 -379.9 -107.06 - - 3450.09 - - - - - - - - - 15.88 -
9879.19 908.70 -8.68 1174 9885.16 roll -1.56 - - 1961.31 - 3.36 0.043 2133.06 430.6 -107.06 - - 3450.41 - - - - - - - - - 15.99 -
10189.47 933.09 -8.02 1206 10196.75 roll -1.56 - - 1959.81 - 3.81 0.107 686.12 -379.8 -107.06 - - 3451.25 - - - - - - - - - 15.88 -
10245.34 938.31 -8.68 1217 10251.30 roll -1.56 - - 1959.88 - 3.35 0.044 2132.75 431.8 -107.06 - - 3452.19 - - - - - - - - - 16.00 -
10555.38 961.80 -7.53 1249 10562.58 roll -1.56 - - 1961.12 - 3.79 0.107 686.31 -381.6 -107.06 - - 3448.47 - - - - - - - - - 15.87 -
10631.07 969.12 -8.95 1264 10637.03 roll -1.56 - - 1961.00 - 3.36 0.044 2135.06 431.2 -107.06 - - 3449.16 - - - - - - - - - 16.01 -
10901 end dive: TARGET_DEPTH_EXCEEDED
10901 begin apogee
10902.83 990.82 -8.18 1292 10998.15 -0.42 2.54 0.114 2239.69 109.7 0.10 0.215 2113.69 -213.7 - 87.62 2.227 3019.81 -4.9 0.363 - - - - - - 15.87 15.48 11.50
11003 end apogee: CONTROL_FINISHED_OK
11004 begin climb
11006.55 993.08 - 1301 11112.55 1.56 3.97 0.057 2729.88 123.5 - - 2113.00 - 107.06 96.07 2.154 2582.00 -4.6 0.350 - - - - - - 15.60 - 12.55
11416.37 966.00 8.31 1350 11423.51 1.56 0.28 0.139 2714.06 -56.5 3.20 0.091 3364.12 391.0 107.06 - - 2567.31 - - - - - - - - 15.71 15.65 -
11642.45 944.51 9.33 1395 11648.13 done 1.56 - - 2714.75 - 2.95 0.039 2115.75 -423.2 107.06 - - 2567.97 - - - - - - - - - 15.85 -
11952.49 916.53 9.09 1427 11958.27 done 1.56 - - 2714.94 - 3.19 0.091 3362.12 390.7 107.06 - - 2565.66 - - - - - - - - - 15.87 -
12066.52 904.86 10.07 1450 12074.24 done 1.56 - - 2714.56 - 2.94 0.039 2115.88 -423.9 107.06 - - 2564.88 - - - - - - - - - 15.93 -
12382.55 875.91 8.47 1482 12384.17 VBD 1.56 - - 2714.19 - - - 2115.50 - 107.06 - - 2562.44 - - - - - - - - - - -
12692.65 851.37 7.39 1513 12698.38 done 1.58 - - 2713.56 - 3.18 0.089 3360.38 391.5 107.06 - - 2565.09 - - - - - - - - - 15.88 -
12872.66 837.32 7.94 1549 12878.33 done 1.58 - - 2714.75 - 2.95 0.039 2117.56 -421.3 107.06 - - 2562.16 - - - - - - - - - 15.89 -
13182.75 815.42 6.91 1581 13189.76 1.62 0.25 0.056 2740.94 104.8 3.16 0.089 3360.50 393.3 107.06 - - 2563.91 - - - - - - - - 16.04 15.90 -
13342.68 801.53 8.46 1613 13350.35 done 1.62 - - 2742.94 - 2.94 0.042 2116.81 -423.0 107.06 - - 2561.66 - - - - - - - - - 15.98 -
13658.71 776.35 8.11 1645 13660.33 VBD 1.62 - - 2742.94 - - - 2117.12 - 107.06 - - 2559.91 - - - - - - - - - - -
13968.75 751.21 8.43 1676 13974.80 done 1.62 - - 2742.69 - 3.17 0.090 3364.12 393.4 107.06 - - 2560.62 - - - - - - - - - 15.96 -
14102.79 738.88 9.16 1703 14110.47 done 1.62 - - 2742.81 - 2.93 0.040 2116.31 -425.9 107.06 - - 2560.84 - - - - - - - - - 15.99 -
14418.84 711.60 9.03 1735 14424.61 done 1.62 - - 2742.88 - 3.17 0.089 3366.12 394.3 107.06 - - 2559.28 - - - - - - - - - 15.96 -
14592.88 695.25 9.50 1770 14600.55 done 1.62 - - 2742.56 - 2.92 0.040 2116.88 -427.8 107.06 - - 2559.25 - - - - - - - - - 15.98 -
14908.91 668.34 8.06 1802 14910.53 VBD 1.62 - - 2742.62 - - - 2116.50 - 107.06 - - 2558.25 - - - - - - - - - - -
15219.01 645.21 7.50 1833 15220.62 VBD 1.63 - - 2743.06 - - - 2117.06 - 107.06 - - 2558.19 - - - - - - - - - - -
15529.38 622.68 7.30 1864 15535.84 done 1.66 - - 2741.50 - 3.18 0.089 3366.50 392.9 107.06 - - 2557.09 - - - - - - - - - 15.94 -
15708.64 608.13 7.83 1900 15716.36 done 1.66 - - 2742.81 - 2.94 0.041 2117.44 -424.9 107.06 - - 2559.22 - - - - - - - - - 16.00 -
16024.73 586.69 6.61 1932 16031.87 done 1.70 - - 2742.44 - 3.74 0.106 684.25 -383.2 107.06 - - 2556.22 - - - - - - - - - 15.90 -
16120.67 578.92 8.22 1951 16127.72 done 1.70 - - 2741.56 - 3.54 0.050 2181.69 423.0 107.06 - - 2559.16 - - - - - - - - - 15.97 -
16435.75 557.04 7.03 1983 16437.56 1.73 0.14 0.068 2768.06 189.3 - - 2182.81 - 107.06 - - 2557.47 - - - - - - - - 16.05 - -
16745.80 533.73 7.15 2014 16747.41 VBD 1.76 - - 2769.25 - - - 2183.06 - 107.06 - - 2555.69 - - - - - - - - - - -
17055.85 511.50 6.85 2045 17057.46 VBD 1.79 - - 2768.69 - - - 2183.31 - 107.06 - - 2555.50 - - - - - - - - - - -
17365.90 492.35 5.92 2076 17371.74 1.86 0.17 0.064 2800.81 188.9 3.04 0.093 3364.69 388.6 107.06 - - 2557.19 - - - - - - - - 16.05 15.90 -
17599.96 476.85 6.84 2123 17607.85 done 1.89 - - 2800.50 - 2.96 0.040 2115.56 -422.0 107.06 - - 2557.72 - - - - - - - - - 15.98 -
17915.99 457.19 6.64 2155 17921.79 done 1.94 - - 2800.31 - 3.20 0.088 3364.06 390.2 107.06 - - 2557.72 - - - - - - - - - 15.92 -
18066.05 447.04 6.55 2185 18071.86 1.98 0.16 0.068 2831.06 192.2 2.95 0.040 2116.88 -422.8 107.06 - - 2556.94 - - - - - - - - 15.95 15.99 -
18376.08 428.07 6.21 2217 18377.70 VBD 2.04 - - 2832.06 - - - 2116.25 - 107.06 - - 2555.88 - - - - - - - - - - -
18686.12 410.04 6.00 2248 18693.14 2.10 0.17 0.064 2860.69 168.4 3.21 0.087 3363.69 388.6 107.06 - - 2556.41 - - - - - - - - 16.07 15.87 -
18782.10 403.14 7.38 2267 18787.72 done 2.12 - - 2859.25 - 2.95 0.040 2114.50 -423.5 107.06 - - 2559.44 - - - - - - - - - 15.98 -
19092.13 382.67 6.23 2299 19099.26 done 2.17 - - 2859.94 - 3.75 0.102 684.19 -381.4 107.06 - - 2559.34 - - - - - - - - - 15.87 -
19158.22 378.28 6.97 2312 19165.42 2.21 0.12 0.075 2886.44 220.8 3.53 0.048 2186.94 425.7 107.06 - - 2553.91 - - - - - - - - 15.97 15.96 -
19473.22 358.64 6.48 2344 19478.92 done 2.25 - - 2886.81 - 3.01 0.089 3365.56 391.6 107.06 - - 2556.53 - - - - - - - - - 15.84 -
19597.23 349.71 6.88 2369 19604.90 done 2.29 - - 2885.94 - 2.94 0.039 2113.50 -425.9 107.06 - - 2555.81 - - - - - - - - - 15.97 -
19913.46 331.41 5.12 2401 19920.58 2.38 0.23 0.054 2927.00 178.5 3.71 0.099 686.19 -384.7 107.06 - - 2557.09 - - - - - - - - 15.99 15.86 -
20149.50 319.44 4.93 2448 20208.24 done 2.45 - - 2926.75 - 3.57 0.047 2184.44 419.7 167.92 47.79 1.394 2335.00 -4.6 0.177 - - - - - - - 15.96 11.59
20512.10 283.07 11.20 2490 20517.84 done 2.45 - - 2927.06 - 3.07 0.089 3364.75 384.5 167.92 - - 2324.72 - - - - - - - - - 15.78 -
20606.12 271.07 12.43 2509 20613.83 done 2.45 - - 2927.38 - 2.96 0.039 2116.69 -421.6 167.92 - - 2323.88 - - - - - - - - - 15.87 -
20922.12 234.19 11.78 2541 20929.31 done 2.45 - - 2926.31 - 3.74 0.101 685.94 -382.6 167.92 - - 2320.69 - - - - - - - - - 15.79 -
20992.20 224.63 13.56 2555 21000.23 done 2.45 - - 2926.88 - 3.57 0.048 2181.31 418.9 167.92 - - 2321.16 - - - - - - - - - 15.80 -
21308.21 185.68 12.34 2587 21309.82 VBD 2.45 - - 2926.75 - - - 2180.88 - 167.92 - - 2319.53 - - - - - - - - - - -
21618.23 150.02 10.58 2618 21619.84 VBD 2.45 - - 2926.94 - - - 2181.12 - 167.92 - - 2319.28 - - - - - - - - - - -
21928.23 119.15 8.76 2649 21935.52 done 2.45 - - 2926.00 - 3.91 0.097 686.69 -382.2 167.92 - - 2319.56 - - - - - - - - - 15.79 -
21994.44 113.66 7.93 2662 22001.49 done 2.45 - - 2926.00 - 3.53 0.046 2184.25 424.2 167.92 - - 2320.19 - - - - - - - - - 15.92 -
22309.52 99.98 2.95 2694 22428.42 2.58 0.34 0.043 2977.69 152.0 3.95 0.096 686.31 -379.2 267.54 106.01 1.081 1928.22 -3.7 0.057 - - - - - - 16.02 15.63 12.03
22652.40 63.17 9.76 2761 22659.71 roll back 2.58 0.33 0.174 2960.75 -51.3 3.56 0.046 2184.06 420.7 267.54 - - 1925.97 - - - - - - - - 15.62 15.68 -
22843.60 48.75 7.86 2799 22850.58 roll 2.58 - - 2961.00 - 3.02 0.088 3364.25 390.8 267.54 - - 1926.31 - - - - - - - - - 15.77 -
22944.55 43.01 5.14 2819 22951.46 roll back 2.67 0.31 0.049 2997.06 116.3 2.96 0.037 2113.88 -422.4 267.54 - - 1925.34 - - - - - - - - 15.79 15.83 -
23135.25 33.27 5.22 2857 23142.35 roll 2.76 - - 2997.12 - 3.74 0.097 686.19 -381.7 267.54 - - 1926.69 - - - - - - - - - 15.73 -
23156.18 31.87 5.87 2861 23163.37 roll back 2.82 0.26 0.047 3033.94 141.6 3.54 0.044 2185.44 423.5 267.54 - - 1927.03 - - - - - - - - 15.91 15.79 -
23347.25 27.96 0.91 2899 23507.85 3.00 0.30 0.046 3079.31 151.2 3.04 0.087 3362.88 387.3 407.00 146.77 0.988 1359.69 -3.9 0.018 - - - - - - 15.84 15.54 12.04
23551.75 13.67 10.67 2938 23558.67 roll back 3.00 0.27 0.162 3062.38 -62.7 2.97 0.037 2113.19 -420.8 407.00 - - 1359.31 - - - - - - - - 15.62 15.65 -
23687 end climb: SURFACE_DEPTH_REACHED
23687 begin surface coast
23717 end surface coast: CONTROL_FINISHED_OK
23718 begin surface
SM 2.11 - - - - 186.7 69.33 0.964 1083.4 15.6 21.87 0.049 1093.1 50.0 - 0.05 0.178 1073.7 21414.6 -25.945 - - 12.27 15.80 15.76 -