NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 162 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 71.36 of 575.00 AH used of 24V (87.59% remains)
• Surface angle -64.9 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.15 (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
5 begin dive
8.92 - - - 75.67 VBD -1.56 - - 187.94 - - - 2133.94 - -107.06 65.16 0.005 2478.66 - - - - - - - - - - 15.69
76.11 3.44 -3.40 13 127.26 -1.56 16.68 0.243 1959.00 106.2 3.86 0.113 691.00 -373.8 -107.06 23.13 0.006 3457.88 42.3 -4.012 - - - - - - 15.71 15.68 15.73
200.56 31.47 -21.96 37 207.18 roll -1.56 - - 1960.12 - 3.40 0.047 2130.12 423.3 -107.06 - - 3459.12 - - - - - - - - - 15.84 -
390.67 58.86 -13.25 75 397.13 roll -1.56 - - 1960.00 - 3.14 0.097 3361.94 392.3 -107.06 - - 3460.16 - - - - - - - - - 15.87 -
440.67 66.25 -15.25 85 447.09 roll -1.56 - - 1960.12 - 3.07 0.042 2067.25 -421.7 -107.06 - - 3458.94 - - - - - - - - - 15.90 -
630.68 93.15 -13.30 123 637.35 roll -1.56 - - 1958.56 - 3.65 0.114 688.94 -377.6 -107.06 - - 3460.69 - - - - - - - - - 15.92 -
670.75 98.85 -14.64 131 677.28 roll -1.56 - - 1959.81 - 3.38 0.046 2132.69 427.1 -107.06 - - 3460.00 - - - - - - - - - 15.92 -
860.76 120.87 -11.10 151 866.42 roll -1.56 - - 1959.50 - 3.15 0.095 3359.88 389.6 -107.06 - - 3460.53 - - - - - - - - - 15.95 -
895.00 125.00 -11.98 158 902.15 roll -1.56 - - 1959.75 - 3.05 0.041 2067.38 -423.8 -107.06 - - 3459.53 - - - - - - - - - 16.01 -
1210.77 155.55 -9.42 190 1216.63 roll -1.56 - - 1959.81 - 3.59 0.115 688.81 -384.0 -107.06 - - 3460.72 - - - - - - - - - 15.97 -
1320.83 167.65 -11.28 212 1326.82 roll -1.56 - - 1959.06 - 3.38 0.046 2132.56 427.1 -107.06 - - 3461.75 - - - - - - - - - 15.99 -
1630.86 197.57 -9.89 244 1632.43 no move -1.56 - - 1959.44 - - - 2133.25 - -107.06 - - 3460.44 - - - - - - - - - - -
1940.88 227.85 -9.91 275 1946.71 roll -1.56 - - 1959.94 - 3.14 0.097 3361.25 391.1 -107.06 - - 3460.81 - - - - - - - - - 16.01 -
1985.12 232.93 -11.27 284 1992.43 roll -1.56 - - 1960.12 - 3.05 0.044 2067.19 -424.3 -107.06 - - 3461.69 - - - - - - - - - 16.08 -
2300.91 263.98 -9.95 316 2302.48 no move -1.56 - - 1959.94 - - - 2067.62 - -107.06 - - 3460.69 - - - - - - - - - - -
2610.93 294.13 -9.44 347 2612.50 no move -1.56 - - 1959.56 - - - 2067.44 - -107.06 - - 3460.03 - - - - - - - - - - -
2921.03 323.86 -9.83 378 2922.60 no move -1.56 - - 1959.69 - - - 2067.12 - -107.06 - - 3460.28 - - - - - - - - - - -
3230.97 354.96 -9.95 409 3236.92 roll -1.56 - - 1959.38 - 3.35 0.097 3362.88 386.8 -107.06 - - 3461.94 - - - - - - - - - 16.09 -
3275.21 359.85 -10.78 418 3282.52 roll -1.56 - - 1959.56 - 3.06 0.046 2065.38 -424.0 -107.06 - - 3461.91 - - - - - - - - - 16.13 -
3590.99 388.81 -9.15 450 3592.56 no move -1.56 - - 1959.50 - - - 2065.31 - -107.06 - - 3460.38 - - - - - - - - - - -
3901.02 418.66 -9.89 481 3902.59 no move -1.56 - - 1959.56 - - - 2065.62 - -107.06 - - 3459.81 - - - - - - - - - - -
4211.05 449.61 -9.69 512 4212.62 no move -1.56 - - 1959.56 - - - 2065.50 - -107.06 - - 3459.53 - - - - - - - - - - -
4521.10 478.61 -8.92 543 4522.67 no move -1.56 - - 1959.44 - - - 2065.38 - -107.06 - - 3459.78 - - - - - - - - - - -
4831.14 505.79 -8.49 574 4837.25 roll -1.56 - - 1959.94 - 3.64 0.124 689.94 -377.9 -107.06 - - 3459.56 - - - - - - - - - 16.09 -
4875.40 510.13 -9.06 583 4882.90 roll -1.56 - - 1959.06 - 3.40 0.051 2132.81 424.4 -107.06 - - 3460.69 - - - - - - - - - 16.15 -
5191.19 536.89 -8.78 615 5192.76 no move -1.56 - - 1959.88 - - - 2133.19 - -107.06 - - 3458.28 - - - - - - - - - - -
5501.22 562.95 -8.45 646 5508.40 roll -1.56 - - 1959.56 - 3.79 0.116 688.88 -381.1 -107.06 - - 3459.38 - - - - - - - - - 16.14 -
5546.85 567.47 -9.74 655 5552.80 roll -1.56 - - 1958.69 - 3.39 0.050 2131.50 425.6 -107.06 - - 3459.94 - - - - - - - - - 16.14 -
5856.88 592.38 -7.82 687 5858.46 no move -1.56 - - 1959.88 - - - 2132.50 - -107.06 - - 3457.59 - - - - - - - - - - -
6166.91 616.27 -7.93 718 6174.35 roll -1.56 - - 1960.19 - 3.79 0.116 690.56 -380.5 -107.06 - - 3457.94 - - - - - - - - - 16.15 -
6217.15 621.06 -9.51 728 6224.65 roll -1.56 - - 1959.88 - 3.39 0.050 2132.62 425.4 -107.06 - - 3457.00 - - - - - - - - - 16.16 -
6532.94 646.88 -8.00 760 6534.52 no move -1.56 - - 1959.38 - - - 2132.12 - -107.06 - - 3456.06 - - - - - - - - - - -
6842.97 671.10 -8.28 791 6850.16 roll -1.56 - - 1959.81 - 3.78 0.116 689.00 -381.8 -107.06 - - 3456.47 - - - - - - - - - 16.15 -
6908.61 677.46 -9.63 804 6914.59 roll -1.56 - - 1960.00 - 3.39 0.049 2132.06 425.7 -107.06 - - 3456.91 - - - - - - - - - 16.14 -
7218.64 702.80 -8.09 836 7225.82 roll -1.56 - - 1959.12 - 3.77 0.115 688.50 -382.9 -107.06 - - 3455.12 - - - - - - - - - 16.15 -
7254.27 706.15 -9.46 843 7260.22 roll -1.56 - - 1959.81 - 3.37 0.049 2131.25 428.1 -107.06 - - 3456.38 - - - - - - - - - 16.16 -
7564.30 732.11 -8.80 875 7565.88 no move -1.56 - - 1959.94 - - - 2131.44 - -107.06 - - 3454.69 - - - - - - - - - - -
7874.33 758.92 -8.33 906 7881.51 roll -1.56 - - 1959.81 - 3.76 0.117 689.94 -383.4 -107.06 - - 3454.50 - - - - - - - - - 16.15 -
7964.20 767.47 -9.35 924 7971.71 roll -1.56 - - 1959.19 - 3.38 0.052 2131.75 426.6 -107.06 - - 3454.69 - - - - - - - - - 16.15 -
8280.00 793.42 -8.25 956 8287.20 roll -1.56 - - 1960.38 - 3.77 0.119 688.50 -382.8 -107.06 - - 3453.25 - - - - - - - - - 16.15 -
8309.87 796.09 -9.22 962 8317.35 roll -1.56 - - 1959.56 - 3.37 0.049 2131.81 428.3 -107.06 - - 3454.47 - - - - - - - - - 16.15 -
8625.67 821.54 -8.29 994 8627.24 no move -1.56 - - 1959.81 - - - 2131.69 - -107.06 - - 3452.59 - - - - - - - - - - -
8935.70 846.15 -7.67 1025 8942.88 roll -1.56 - - 1959.62 - 3.77 0.118 688.75 -382.7 -107.06 - - 3453.31 - - - - - - - - - 16.15 -
8991.34 851.29 -9.20 1036 8997.33 roll -1.56 - - 1959.00 - 3.38 0.051 2129.75 426.3 -107.06 - - 3454.66 - - - - - - - - - 16.15 -
9301.38 875.42 -7.95 1068 9308.57 roll -1.56 - - 1959.44 - 3.78 0.118 690.00 -380.9 -107.06 - - 3453.09 - - - - - - - - - 16.14 -
9367.01 880.86 -8.44 1081 9372.99 roll -1.56 - - 1960.00 - 3.38 0.051 2132.62 426.8 -107.06 - - 3453.16 - - - - - - - - - 16.16 -
9677.04 904.20 -7.56 1113 9678.61 no move -1.56 - - 1959.31 - - - 2131.69 - -107.06 - - 3452.06 - - - - - - - - - - -
9987.09 928.53 -8.44 1144 9994.28 roll -1.56 - - 1960.00 - 3.76 0.118 690.75 -383.2 -107.06 - - 3451.59 - - - - - - - - - 16.12 -
10052.74 934.25 -9.11 1157 10058.73 roll -1.56 - - 1959.25 - 3.37 0.052 2130.75 427.3 -107.06 - - 3454.00 - - - - - - - - - 16.15 -
10362.77 958.64 -8.34 1189 10364.34 no move -1.56 - - 1959.50 - - - 2130.75 - -107.06 - - 3451.97 - - - - - - - - - - -
10672.80 985.30 -8.67 1220 10680.00 roll -1.56 - - 1960.06 - 3.76 0.119 689.94 -383.2 -107.06 - - 3452.78 - - - - - - - - - 16.14 -
10722 end dive: TARGET_DEPTH_EXCEEDED
10723 begin apogee
10729.25 990.25 -9.77 1230 10823.90 -0.42 2.59 0.120 2240.00 108.1 0.10 0.224 2117.44 14275.0 - 86.32 2.221 3018.31 -5.0 0.371 - - - - - - 16.09 15.56 12.48
10829 end apogee: CONTROL_FINISHED_OK
10829 begin climb
10831.85 992.40 - 1239 10936.57 1.56 3.99 0.059 2729.44 122.7 - - 2117.06 - 107.06 94.89 2.155 2580.56 -4.6 0.351 - - - - - - 15.63 - 12.79
11240.12 960.77 9.59 1281 11246.04 done 1.56 - - 2728.31 - 3.24 0.099 3363.62 384.7 107.06 - - 2570.44 - - - - - - - - - 15.84 -
11410.15 941.68 11.64 1315 11415.95 done 1.56 - - 2729.56 - 2.97 0.046 2118.25 -419.3 107.06 - - 2569.34 - - - - - - - - - 15.93 -
11720.17 908.22 10.60 1347 11726.08 done 1.56 - - 2729.12 - 3.19 0.098 3363.31 390.3 107.06 - - 2567.12 - - - - - - - - - 15.97 -
11914.46 885.45 12.17 1386 11921.72 done 1.56 - - 2729.25 - 2.95 0.046 2120.25 -421.4 107.06 - - 2565.88 - - - - - - - - - 16.03 -
12230.23 852.64 9.86 1418 12236.35 done 1.56 - - 2729.44 - 3.20 0.097 3361.75 388.0 107.06 - - 2565.03 - - - - - - - - - 16.05 -
12370.26 838.25 10.28 1446 12376.04 done 1.56 - - 2729.81 - 2.94 0.047 2119.19 -422.6 107.06 - - 2563.88 - - - - - - - - - 16.06 -
12680.28 809.67 9.00 1478 12686.15 done 1.56 - - 2728.38 - 3.17 0.096 3364.56 392.9 107.06 - - 2563.94 - - - - - - - - - 16.08 -
12874.57 791.04 9.62 1517 12881.86 done 1.56 - - 2728.31 - 2.95 0.049 2120.44 -421.7 107.06 - - 2564.16 - - - - - - - - - 16.10 -
13190.34 763.03 9.28 1549 13196.25 done 1.56 - - 2728.94 - 3.17 0.098 3363.31 392.1 107.06 - - 2562.81 - - - - - - - - - 16.10 -
13254.61 756.11 10.74 1562 13261.87 done 1.56 - - 2729.12 - 2.94 0.048 2119.12 -423.2 107.06 - - 2561.75 - - - - - - - - - 16.10 -
13570.39 725.90 9.94 1594 13571.96 VBD 1.56 - - 2728.81 - - - 2119.06 - 107.06 - - 2559.94 - - - - - - - - - - -
13880.41 696.62 9.17 1625 13886.28 done 1.56 - - 2729.38 - 3.15 0.097 3362.19 394.6 107.06 - - 2560.66 - - - - - - - - - 16.11 -
14034.69 681.49 9.47 1656 14041.96 done 1.56 - - 2729.50 - 2.94 0.052 2119.12 -422.8 107.06 - - 2560.56 - - - - - - - - - 16.14 -
14350.47 654.09 8.26 1688 14356.34 done 1.56 - - 2729.50 - 3.11 0.096 3364.75 400.5 107.06 - - 2560.16 - - - - - - - - - 16.13 -
14500.50 640.88 8.37 1718 14506.31 done 1.56 - - 2729.25 - 2.92 0.053 2118.19 -426.9 107.06 - - 2560.28 - - - - - - - - - 16.13 -
14810.57 617.65 7.16 1750 14816.33 done 1.59 - - 2729.12 - 3.09 0.097 3364.19 403.2 107.06 - - 2560.19 - - - - - - - - - 16.13 -
15010.55 602.28 7.97 1790 15016.35 done 1.59 - - 2729.25 - 2.92 0.051 2117.44 -427.0 107.06 - - 2560.53 - - - - - - - - - 16.14 -
15320.62 581.28 7.01 1822 15326.51 done 1.62 - - 2729.44 - 3.12 0.096 3362.62 399.1 107.06 - - 2559.78 - - - - - - - - - 16.12 -
15520.67 565.82 7.54 1862 15526.60 done 1.64 - - 2729.00 - 2.91 0.050 2117.69 -427.8 107.06 - - 2560.16 - - - - - - - - - 16.13 -
15830.69 544.91 6.70 1894 15836.67 1.68 0.14 0.075 2756.50 196.4 3.14 0.097 3362.31 396.4 107.06 - - 2560.56 - - - - - - - - 16.20 16.12 -
15884.91 540.69 7.87 1905 15892.20 done 1.68 - - 2756.62 - 2.90 0.052 2117.38 -429.3 107.06 - - 2560.72 - - - - - - - - - 16.13 -
16200.73 519.36 7.12 1937 16207.85 done 1.71 - - 2756.94 - 3.65 0.114 688.88 -391.4 107.06 - - 2556.94 - - - - - - - - - 16.11 -
16376.32 505.43 8.70 1972 16382.32 done 1.71 - - 2756.38 - 3.50 0.057 2182.56 426.8 107.06 - - 2557.62 - - - - - - - - - 16.14 -
16686.36 483.30 6.83 2004 16692.12 done 1.74 - - 2756.94 - 3.01 0.100 3364.25 392.6 107.06 - - 2558.09 - - - - - - - - - 16.13 -
16810.57 473.80 7.94 2029 16817.83 done 1.74 - - 2757.00 - 2.92 0.051 2118.38 -426.7 107.06 - - 2557.88 - - - - - - - - - 16.13 -
17126.39 452.20 6.80 2061 17132.65 1.78 0.11 0.085 2784.88 253.5 3.15 0.097 3362.81 395.1 107.06 - - 2557.44 - - - - - - - - 16.17 16.11 -
17206.36 446.20 7.59 2077 17212.37 1.78 0.29 0.166 2766.38 -63.8 2.92 0.051 2117.19 -426.6 107.06 - - 2557.41 - - - - - - - - 16.07 16.14 -
17516.43 425.55 6.60 2109 17518.19 1.82 0.19 0.060 2792.44 137.2 - - 2117.50 - 107.06 - - 2557.72 - - - - - - - - 16.20 - -
17826.46 406.31 6.34 2140 17832.28 done 1.88 - - 2794.00 - 3.18 0.097 3363.25 391.7 107.06 - - 2557.78 - - - - - - - - - 16.12 -
17880.72 402.42 7.25 2151 17887.95 done 1.90 - - 2793.44 - 2.93 0.051 2115.44 -425.9 107.06 - - 2558.72 - - - - - - - - - 16.12 -
18196.49 381.77 6.37 2183 18202.51 1.95 0.18 0.058 2824.25 171.2 3.15 0.097 3363.00 396.1 107.06 - - 2557.47 - - - - - - - - 16.21 16.10 -
18430.79 364.80 7.17 2230 18438.06 done 1.98 - - 2824.56 - 2.92 0.052 2117.62 -426.5 107.06 - - 2557.78 - - - - - - - - - 16.13 -
18746.56 345.55 5.74 2262 18752.41 done 2.05 - - 2824.44 - 3.12 0.097 3362.69 399.1 107.06 - - 2558.72 - - - - - - - - - 16.12 -
18846.82 339.13 6.34 2282 18852.48 2.10 0.19 0.058 2855.81 165.1 2.91 0.052 2116.62 -428.2 107.06 - - 2558.72 - - - - - - - - 16.17 16.13 -
19156.59 319.69 6.05 2314 19163.72 done 2.16 - - 2855.88 - 3.65 0.113 688.69 -391.2 107.06 - - 2555.97 - - - - - - - - - 16.11 -
19392.37 304.18 6.63 2361 19399.58 2.20 0.16 0.063 2883.25 171.1 3.53 0.056 2182.12 423.1 107.06 - - 2556.66 - - - - - - - - 16.18 16.14 -
19707.37 286.45 5.02 2393 19755.70 VBD 2.28 - - 2883.38 - - - 2182.12 - 166.18 45.85 1.342 2342.22 -4.7 0.165 - - - - - - - - 12.59
20059.13 248.17 12.24 2428 20060.71 VBD 2.28 - - 2883.56 - - - 2183.00 - 166.18 - - 2332.53 - - - - - - - - - - -
20369.16 211.27 11.83 2459 20370.73 VBD 2.28 - - 2884.62 - - - 2182.69 - 166.18 - - 2331.06 - - - - - - - - - - -
20679.26 176.33 10.23 2490 20685.01 done 2.28 - - 2884.06 - 3.03 0.099 3363.50 389.7 166.18 - - 2331.09 - - - - - - - - - 16.01 -
20739.17 169.48 11.27 2502 20745.18 done 2.28 - - 2884.06 - 2.97 0.050 2117.94 -419.4 166.18 - - 2330.91 - - - - - - - - - 16.00 -
21049.19 133.20 11.52 2534 21055.06 done 2.28 - - 2884.44 - 3.19 0.094 3363.00 390.3 166.18 - - 2330.31 - - - - - - - - - 16.03 -
21283.48 108.56 10.08 2581 21290.75 done 2.28 - - 2884.69 - 2.95 0.050 2118.81 -421.8 166.18 - - 2330.75 - - - - - - - - - 16.00 -
21594.31 88.08 5.56 2632 21601.35 2.35 0.20 0.058 2919.88 176.0 3.70 0.110 690.00 -386.2 166.18 - - 2330.22 - - - - - - - - 16.04 15.99 -
21829.88 79.75 3.25 2679 21937.93 2.47 0.18 0.060 2949.94 167.0 3.54 0.053 2186.31 422.7 259.91 98.58 1.052 1958.19 -3.8 0.047 - - - - - - 16.02 15.99 12.56
22121.35 55.21 8.59 2736 22128.42 roll 2.47 - - 2950.25 - 3.91 0.105 688.88 -383.0 259.91 - - 1957.62 - - - - - - - - - 15.81 -
22357.01 29.85 9.47 2783 22363.83 roll 2.47 - - 2950.00 - 3.53 0.053 2181.25 422.8 259.91 - - 1956.56 - - - - - - - - - 15.89 -
22547.28 20.92 2.84 2821 22659.60 2.60 0.19 0.057 2982.31 170.1 3.96 0.105 687.94 -377.1 361.68 100.62 0.980 1545.03 -4.1 0.014 - - - - - - 15.94 15.60 12.64
22853 end climb: SURFACE_DEPTH_REACHED
22853 begin surface coast
22883 end surface coast: CONTROL_FINISHED_OK
22883 begin surface
SM 1.53 - - - - 190.0 106.60 0.963 1083.0 9.2 21.13 0.063 1099.3 52.0 - 3.39 0.053 1066.6 313.5 -0.925 - - 12.65 15.80 15.85 -