NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 204 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 83.44 of 575.00 AH used of 24V (85.49% remains)
• Surface angle -65.0 deg, depth 1.56 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.86 (SM_CC=475)
• GPS1 time: 31 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
9.02 - - - 70.62 VBD -1.56 - - 180.56 - - - 2144.38 - -107.06 60.05 0.005 2413.84 - - - - - - - - - - 15.69
71.06 3.24 -3.23 12 124.23 -1.56 16.42 0.237 1960.25 108.4 3.06 0.096 3363.00 398.2 -107.06 25.14 0.006 3458.75 41.6 -3.707 - - - - - - 15.67 15.64 15.69
337.77 52.86 -14.77 64 344.17 roll -1.56 - - 1961.25 - 3.04 0.040 2066.25 -426.6 -107.06 - - 3459.69 - - - - - - - - - 15.93 -
527.78 78.19 -13.14 102 532.21 no move -1.56 - - 1961.06 - - - 2066.56 - -107.06 - - 3460.72 - - - - - - - - - - -
717.84 101.35 -12.05 139 719.41 no move -1.56 - - 1960.88 - - - 2065.94 - -107.06 - - 3460.47 - - - - - - - - - - -
1027.85 134.04 -10.07 170 1029.42 no move -1.56 - - 1960.94 - - - 2066.56 - -107.06 - - 3461.81 - - - - - - - - - - -
1337.88 163.28 -9.50 201 1343.80 roll -1.56 - - 1961.75 - 3.21 0.089 3363.50 404.0 -107.06 - - 3463.88 - - - - - - - - - 16.01 -
1447.89 174.81 -10.87 223 1453.67 roll -1.56 - - 1961.75 - 3.02 0.040 2066.38 -429.5 -107.06 - - 3462.50 - - - - - - - - - 16.06 -
1757.90 204.54 -9.71 255 1763.74 roll -1.56 - - 1960.75 - 3.20 0.087 3363.00 405.2 -107.06 - - 3462.84 - - - - - - - - - 16.03 -
1817.89 211.06 -10.74 267 1823.69 roll -1.56 - - 1960.19 - 3.01 0.040 2069.12 -429.9 -107.06 - - 3464.50 - - - - - - - - - 16.07 -
2127.92 241.41 -9.63 299 2129.49 no move -1.56 - - 1960.62 - - - 2067.94 - -107.06 - - 3462.28 - - - - - - - - - - -
2437.93 271.54 -9.33 330 2439.50 no move -1.56 - - 1961.38 - - - 2067.88 - -107.06 - - 3461.91 - - - - - - - - - - -
2747.94 302.13 -10.25 361 2749.51 no move -1.56 - - 1961.19 - - - 2067.81 - -107.06 - - 3462.12 - - - - - - - - - - -
3058.20 334.53 -10.24 392 3059.77 no move -1.56 - - 1961.00 - - - 2067.62 - -107.06 - - 3462.09 - - - - - - - - - - -
3367.97 364.58 -9.49 423 3369.57 no move -1.56 - - 1961.19 - - - 2067.44 - -107.06 - - 3461.78 - - - - - - - - - - -
3677.99 392.78 -8.70 454 3679.56 no move -1.56 - - 1961.00 - - - 2067.56 - -107.06 - - 3460.22 - - - - - - - - - - -
3988.00 418.89 -8.63 485 3993.94 roll -1.56 - - 1961.19 - 3.23 0.094 3363.19 401.1 -107.06 - - 3462.19 - - - - - - - - - 16.12 -
4018.00 421.70 -8.80 491 4023.81 roll -1.56 - - 1962.00 - 3.04 0.046 2066.88 -426.4 -107.06 - - 3460.72 - - - - - - - - - 16.13 -
4328.03 449.44 -9.22 523 4329.62 no move -1.56 - - 1960.81 - - - 2067.19 - -107.06 - - 3459.22 - - - - - - - - - - -
4638.08 478.65 -9.63 554 4639.65 no move -1.56 - - 1960.75 - - - 2067.06 - -107.06 - - 3458.34 - - - - - - - - - - -
4948.11 507.05 -9.14 585 4949.69 no move -1.56 - - 1960.81 - - - 2067.56 - -107.06 - - 3457.50 - - - - - - - - - - -
5258.12 533.32 -8.25 616 5259.69 no move -1.56 - - 1960.88 - - - 2067.25 - -107.06 - - 3456.50 - - - - - - - - - - -
5568.13 559.21 -8.48 647 5569.71 no move -1.56 - - 1960.62 - - - 2066.88 - -107.06 - - 3456.03 - - - - - - - - - - -
5878.16 586.30 -9.06 678 5879.73 no move -1.56 - - 1961.06 - - - 2066.94 - -107.06 - - 3455.03 - - - - - - - - - - -
6188.17 614.42 -9.14 709 6189.75 no move -1.56 - - 1961.12 - - - 2067.12 - -107.06 - - 3454.16 - - - - - - - - - - -
6498.19 642.89 -8.86 740 6499.76 no move -1.56 - - 1960.62 - - - 2066.88 - -107.06 - - 3454.00 - - - - - - - - - - -
6808.20 669.77 -8.15 771 6809.78 no move -1.56 - - 1960.75 - - - 2066.81 - -107.06 - - 3452.88 - - - - - - - - - - -
7118.21 694.28 -7.54 802 7119.78 no move -1.56 - - 1960.44 - - - 2066.81 - -107.06 - - 3452.88 - - - - - - - - - - -
7428.23 718.98 -8.30 833 7429.80 no move -1.56 - - 1960.88 - - - 2066.75 - -107.06 - - 3452.44 - - - - - - - - - - -
7738.25 743.10 -7.70 864 7739.82 no move -1.56 - - 1960.75 - - - 2066.38 - -107.06 - - 3451.88 - - - - - - - - - - -
8048.26 767.23 -7.96 895 8054.36 roll -1.56 - - 1960.88 - 3.64 0.126 689.19 -378.3 -107.06 - - 3451.75 - - - - - - - - - 16.12 -
8092.51 771.54 -9.39 904 8100.00 roll -1.56 - - 1961.44 - 3.35 0.053 2132.69 430.9 -107.06 - - 3452.16 - - - - - - - - - 16.13 -
8408.30 798.60 -8.32 936 8409.87 no move -1.56 - - 1961.00 - - - 2133.31 - -107.06 - - 3451.09 - - - - - - - - - - -
8718.33 825.30 -8.40 967 8725.53 roll -1.56 - - 1960.38 - 3.79 0.119 690.31 -380.7 -107.06 - - 3453.25 - - - - - - - - - 16.10 -
8774.01 830.59 -9.80 978 8780.00 roll -1.56 - - 1961.12 - 3.36 0.053 2132.12 429.1 -107.06 - - 3451.47 - - - - - - - - - 16.13 -
9084.06 855.19 -8.02 1010 9085.63 no move -1.56 - - 1960.81 - - - 2132.31 - -107.06 - - 3450.94 - - - - - - - - - - -
9394.11 878.50 -7.22 1041 9401.31 roll -1.56 - - 1960.19 - 3.78 0.118 690.19 -381.5 -107.06 - - 3451.12 - - - - - - - - - 16.12 -
9470.15 884.58 -7.59 1056 9475.87 roll -1.56 - - 1960.44 - 3.35 0.050 2132.44 430.5 -107.06 - - 3450.38 - - - - - - - - - 16.14 -
9779.93 906.57 -7.18 1088 9781.50 no move -1.56 - - 1960.75 - - - 2133.81 - -107.06 - - 3449.41 - - - - - - - - - - -
10089.96 929.25 -7.56 1119 10097.16 roll -1.56 - - 1960.69 - 3.78 0.118 689.44 -382.1 -107.06 - - 3450.34 - - - - - - - - - 16.11 -
10145.64 934.15 -8.76 1130 10151.66 roll -1.56 - - 1960.88 - 3.34 0.050 2134.94 432.8 -107.06 - - 3449.66 - - - - - - - - - 16.12 -
10455.67 956.68 -7.45 1162 10462.86 roll -1.56 - - 1960.00 - 3.76 0.117 689.88 -384.3 -107.06 - - 3451.25 - - - - - - - - - 16.12 -
10521.35 962.39 -8.97 1175 10527.34 roll -1.56 - - 1960.31 - 3.35 0.049 2134.25 431.2 -107.06 - - 3450.91 - - - - - - - - - 16.07 -
10831.38 986.16 -7.85 1207 10832.95 no move -1.56 - - 1960.44 - - - 2133.94 - -107.06 - - 3447.81 - - - - - - - - - - -
10881 end dive: TARGET_DEPTH_EXCEEDED
10881 begin apogee
10883.07 990.17 -8.01 1212 10977.30 -0.42 2.42 0.114 2240.88 115.9 0.10 0.231 2116.94 -170.0 - 85.53 2.223 3020.97 -5.0 0.367 - - - - - - 16.07 15.54 12.41
10989 end apogee: CONTROL_FINISHED_OK
10989 begin climb
10991.74 991.76 - 1221 11095.29 1.56 3.94 0.052 2732.50 124.8 - - 2117.62 - 107.06 93.75 2.164 2581.19 -4.7 0.355 - - - - - - 15.68 - 12.70
11399.10 958.26 10.34 1262 11405.99 1.56 0.28 0.142 2712.06 -73.0 3.15 0.094 3362.38 395.2 107.06 - - 2569.31 - - - - - - - - 15.81 15.80 -
11488.83 948.53 10.89 1280 11496.10 done 1.56 - - 2713.88 - 2.95 0.042 2115.88 -422.5 107.06 - - 2566.88 - - - - - - - - - 15.89 -
11804.61 915.21 10.36 1312 11810.48 done 1.56 - - 2714.06 - 3.12 0.092 3364.44 400.2 107.06 - - 2564.66 - - - - - - - - - 15.95 -
12024.66 890.09 11.63 1356 12030.42 done 1.56 - - 2713.00 - 2.91 0.042 2116.44 -428.9 107.06 - - 2566.91 - - - - - - - - - 16.00 -
12334.93 858.44 10.18 1388 12340.51 done 1.56 - - 2713.38 - 3.08 0.090 3364.69 405.3 107.06 - - 2563.22 - - - - - - - - - 16.04 -
12428.96 848.36 10.73 1407 12436.28 done 1.56 - - 2714.25 - 2.91 0.041 2117.94 -428.4 107.06 - - 2562.38 - - - - - - - - - 16.04 -
12744.74 819.21 8.91 1439 12750.61 done 1.56 - - 2712.69 - 3.05 0.091 3366.06 409.2 107.06 - - 2564.34 - - - - - - - - - 16.06 -
12839.01 810.26 9.65 1458 12846.28 done 1.56 - - 2713.06 - 2.91 0.043 2114.94 -429.9 107.06 - - 2562.62 - - - - - - - - - 16.06 -
13154.79 783.90 8.27 1490 13160.69 done 1.56 - - 2713.50 - 3.11 0.091 3364.31 401.7 107.06 - - 2561.94 - - - - - - - - - 16.08 -
13389.08 762.13 9.09 1537 13396.35 done 1.56 - - 2712.69 - 2.90 0.042 2115.62 -430.6 107.06 - - 2561.38 - - - - - - - - - 16.09 -
13704.86 736.17 8.27 1569 13710.68 done 1.56 - - 2713.56 - 3.10 0.089 3363.94 402.7 107.06 - - 2560.69 - - - - - - - - - 16.08 -
13754.88 731.62 9.41 1579 13760.66 done 1.56 - - 2712.88 - 2.91 0.042 2116.62 -428.6 107.06 - - 2562.44 - - - - - - - - - 16.10 -
14065.14 705.01 8.56 1611 14066.73 VBD 1.56 - - 2713.56 - - - 2116.62 - 107.06 - - 2558.16 - - - - - - - - - - -
14375.17 679.50 8.49 1642 14380.85 done 1.56 - - 2713.62 - 3.12 0.090 3363.69 399.7 107.06 - - 2558.44 - - - - - - - - - 16.10 -
14609.20 658.38 9.08 1689 14616.87 done 1.56 - - 2713.38 - 2.91 0.042 2118.75 -427.8 107.06 - - 2558.97 - - - - - - - - - 16.11 -
14924.97 634.14 7.61 1721 14926.55 VBD 1.56 - - 2713.56 - - - 2118.25 - 107.06 - - 2557.00 - - - - - - - - - - -
15235.05 611.50 7.35 1752 15236.62 VBD 1.59 - - 2713.94 - - - 2118.94 - 107.06 - - 2557.22 - - - - - - - - - - -
15545.10 588.91 7.43 1783 15551.13 1.60 0.22 0.058 2741.88 127.0 3.12 0.091 3362.50 398.6 107.06 - - 2560.12 - - - - - - - - 16.17 16.09 -
15725.11 572.97 8.96 1819 15731.12 1.60 0.26 0.158 2724.31 -67.6 2.90 0.043 2115.00 -430.2 107.06 - - 2557.59 - - - - - - - - 16.04 16.11 -
16035.19 549.87 7.01 1851 16041.01 done 1.64 - - 2724.25 - 3.13 0.091 3364.56 399.2 107.06 - - 2559.06 - - - - - - - - - 16.10 -
16125.17 543.24 7.55 1869 16130.96 done 1.64 - - 2723.56 - 2.92 0.047 2117.88 -426.9 107.06 - - 2559.09 - - - - - - - - - 16.12 -
16435.24 523.57 6.22 1901 16442.88 1.69 0.28 0.051 2757.69 121.9 3.68 0.112 688.69 -388.4 107.06 - - 2557.50 - - - - - - - - 16.17 16.08 -
16601.50 510.90 7.63 1934 16607.55 done 1.69 - - 2758.69 - 3.49 0.053 2182.12 427.9 107.06 - - 2558.06 - - - - - - - - - 16.11 -
16911.55 489.60 6.82 1966 16917.27 done 1.73 - - 2759.12 - 2.97 0.094 3364.12 398.0 107.06 - - 2555.91 - - - - - - - - - 16.12 -
17005.81 482.94 7.06 1985 17013.06 done 1.76 - - 2759.25 - 2.96 0.047 2115.75 -421.7 107.06 - - 2556.28 - - - - - - - - - 16.10 -
17321.59 460.99 6.94 2017 17327.58 1.79 0.12 0.068 2786.69 228.7 3.14 0.090 3363.12 397.3 107.06 - - 2556.25 - - - - - - - - 16.16 16.09 -
17475.82 449.43 7.61 2048 17483.35 1.79 0.25 0.162 2768.94 -71.0 2.93 0.047 2117.00 -425.3 107.06 - - 2555.94 - - - - - - - - 16.01 16.12 -
17791.89 428.18 6.62 2080 17798.93 1.83 0.18 0.058 2797.44 158.3 3.70 0.110 687.44 -386.4 107.06 - - 2558.06 - - - - - - - - 16.16 16.07 -
17907.43 419.11 7.86 2103 17914.95 1.83 0.22 0.172 2779.25 -82.7 3.49 0.053 2181.19 428.0 107.06 - - 2553.19 - - - - - - - - 16.04 16.09 -
18222.73 399.04 6.59 2135 18224.49 1.88 0.19 0.055 2809.44 158.9 - - 2182.88 - 107.06 - - 2554.44 - - - - - - - - 16.17 - -
18532.49 378.22 7.05 2166 18538.23 done 1.91 - - 2809.56 - 2.97 0.093 3364.12 397.7 107.06 - - 2555.16 - - - - - - - - - 16.11 -
18642.52 370.50 6.90 2188 18648.25 done 1.94 - - 2809.31 - 2.92 0.047 2115.88 -427.5 107.06 - - 2556.97 - - - - - - - - - 16.10 -
18952.54 349.80 6.35 2220 18958.54 1.99 0.12 0.074 2837.50 234.9 3.14 0.090 3364.00 397.5 107.06 - - 2556.28 - - - - - - - - 16.16 16.07 -
19046.82 343.35 6.77 2239 19054.08 done 2.03 - - 2836.88 - 2.93 0.045 2113.31 -426.9 107.06 - - 2556.03 - - - - - - - - - 16.11 -
19362.57 324.76 5.54 2271 19368.60 2.11 0.10 0.082 2864.00 271.2 3.15 0.090 3363.25 396.8 107.06 - - 2555.53 - - - - - - - - 16.14 16.07 -
19426.84 320.81 6.14 2284 19434.08 done 2.16 - - 2863.88 - 2.92 0.044 2114.44 -427.7 107.06 - - 2556.84 - - - - - - - - - 16.10 -
19742.61 303.23 5.36 2316 19749.90 2.24 0.16 0.063 2894.75 192.9 3.67 0.108 688.44 -388.6 107.06 - - 2553.59 - - - - - - - - 16.18 16.06 -
19888.58 294.88 5.56 2345 19894.53 done 2.32 - - 2895.25 - 3.48 0.050 2184.81 430.0 107.06 - - 2557.00 - - - - - - - - - 16.04 -
20198.57 280.84 3.86 2377 20274.30 2.42 0.30 0.042 2938.19 143.1 3.92 0.104 687.69 -381.9 188.94 62.87 1.349 2249.09 -4.9 0.168 - - - - - - 16.12 15.81 12.43
20477.16 241.92 16.90 2432 20484.78 done 2.42 - - 2937.88 - 3.56 0.051 2180.06 419.2 188.94 - - 2242.16 - - - - - - - - - 15.92 -
20792.92 193.50 15.29 2464 20798.69 done 2.42 - - 2938.44 - 3.00 0.089 3365.12 395.0 188.94 - - 2236.50 - - - - - - - - - 15.92 -
20922.93 172.28 16.51 2490 20928.69 done 2.42 - - 2938.56 - 2.94 0.042 2117.62 -424.3 188.94 - - 2237.34 - - - - - - - - - 15.94 -
21233.18 129.38 12.77 2522 21240.17 done 2.42 - - 2938.88 - 3.71 0.104 687.75 -385.4 188.94 - - 2233.31 - - - - - - - - - 15.96 -
21338.78 114.24 15.01 2543 21344.79 done 2.42 - - 2937.31 - 3.50 0.049 2181.94 426.9 188.94 - - 2235.44 - - - - - - - - - 15.97 -
21648.83 90.83 5.22 2590 21655.34 done 2.51 - - 2937.88 - 2.96 0.087 3364.94 399.7 188.94 - - 2234.66 - - - - - - - - - 15.96 -
21883.89 84.90 2.01 2637 22016.92 2.66 0.39 0.038 2998.31 154.9 2.92 0.039 2111.62 -429.2 306.90 121.47 1.059 1768.31 -3.8 0.051 - - - - - - 16.06 15.98 12.54
22200.48 49.38 13.64 2699 22207.68 roll back 2.66 0.31 0.157 2981.06 -55.6 3.21 0.087 3362.56 389.7 306.90 - - 1765.47 - - - - - - - - 15.80 15.80 -
22436.33 26.52 5.25 2746 22443.01 roll back 2.75 0.26 0.051 3019.00 145.9 2.93 0.038 2114.19 -426.1 306.90 - - 1766.94 - - - - - - - - 15.92 15.91 -
22626.49 24.79 0.46 2784 22791.24 2.94 0.30 0.040 3066.81 159.4 3.26 0.085 3363.25 383.1 455.23 152.05 0.977 1164.00 -4.0 0.017 - - - - - - 15.97 15.55 12.54
22884 end climb: SURFACE_DEPTH_REACHED
22885 begin surface coast
22905 end surface coast: CONTROL_FINISHED_OK
22905 begin surface
SM 1.22 - - - - 180.6 20.98 0.895 1084.2 44.4 22.27 0.042 1092.3 49.0 - 3.04 0.038 1076.0 352.9 -1.158 - - 12.61 15.80 15.78 -