NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 102 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 50.32 of 575.00 AH used of 24V (91.25% remains)
• Surface angle -62.5 deg, depth 1.34 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.91 (SM_CC=475)
• GPS1 time: 27 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
8.88 - - - 85.95 VBD -1.56 - - 184.06 - - - 2124.50 - -107.06 75.38 0.005 2706.19 - - - - - - - - - - 15.74
86.39 3.67 -3.36 15 131.98 -1.56 16.17 0.241 1960.88 109.9 3.22 0.102 3360.06 383.7 -107.06 17.54 0.006 3458.09 42.9 -4.331 - - - - - - 15.75 15.73 15.77
360.36 49.93 -15.73 69 366.78 roll -1.56 - - 1961.25 - 3.09 0.049 2070.75 -417.3 -107.06 - - 3459.62 - - - - - - - - - 15.91 -
550.69 75.06 -14.14 107 556.91 roll -1.56 - - 1961.94 - 3.33 0.097 3360.81 387.4 -107.06 - - 3459.28 - - - - - - - - - 15.93 -
615.38 83.09 -11.04 120 621.80 roll -1.56 - - 1961.31 - 3.08 0.048 2068.19 -419.7 -107.06 - - 3459.84 - - - - - - - - - 15.95 -
805.38 103.31 -10.62 155 811.12 roll -1.56 - - 1960.94 - 3.29 0.096 3360.12 392.7 -107.06 - - 3461.62 - - - - - - - - - 15.97 -
935.41 116.50 -10.49 181 941.09 roll -1.56 - - 1961.31 - 3.07 0.048 2069.25 -420.5 -107.06 - - 3460.25 - - - - - - - - - 15.98 -
1245.42 147.34 -10.01 213 1246.95 no move -1.56 - - 1960.75 - - - 2069.94 - -107.06 - - 3460.00 - - - - - - - - - - -
1555.43 176.98 -10.16 244 1561.17 roll -1.56 - - 1961.00 - 3.29 0.098 3360.94 392.4 -107.06 - - 3462.97 - - - - - - - - - 16.03 -
1615.45 183.46 -11.01 256 1621.08 roll -1.56 - - 1960.12 - 3.04 0.049 2069.50 -424.8 -107.06 - - 3461.72 - - - - - - - - - 16.04 -
1925.50 212.01 -8.74 288 1931.59 roll -1.56 - - 1961.88 - 3.59 0.121 689.69 -384.3 -107.06 - - 3461.44 - - - - - - - - - 16.04 -
1985.51 218.10 -10.36 300 1991.49 roll -1.56 - - 1960.81 - 3.37 0.053 2132.25 428.1 -107.06 - - 3463.25 - - - - - - - - - 16.05 -
2295.55 247.94 -9.43 332 2297.12 no move -1.56 - - 1960.75 - - - 2131.88 - -107.06 - - 3460.72 - - - - - - - - - - -
2605.58 276.89 -9.61 363 2607.14 no move -1.56 - - 1960.81 - - - 2131.44 - -107.06 - - 3460.75 - - - - - - - - - - -
2915.60 305.82 -8.87 394 2922.79 roll -1.56 - - 1961.12 - 3.76 0.120 690.38 -383.3 -107.06 - - 3460.12 - - - - - - - - - 16.11 -
2971.24 311.60 -9.99 405 2977.26 roll -1.56 - - 1960.62 - 3.39 0.056 2130.62 424.8 -107.06 - - 3462.75 - - - - - - - - - 16.13 -
3281.57 339.31 -9.18 437 3288.47 roll -1.56 - - 1961.50 - 3.77 0.121 689.56 -382.2 -107.06 - - 3459.56 - - - - - - - - - 16.13 -
3351.15 346.65 -10.45 451 3358.61 roll -1.56 - - 1960.69 - 3.36 0.056 2130.25 428.8 -107.06 - - 3460.56 - - - - - - - - - 16.13 -
3666.93 376.03 -9.06 483 3668.75 no move -1.56 - - 1960.94 - - - 2130.38 - -107.06 - - 3460.09 - - - - - - - - - - -
3976.97 400.77 -7.52 514 3984.16 roll -1.56 - - 1960.75 - 3.76 0.122 688.81 -383.4 -107.06 - - 3459.56 - - - - - - - - - 16.15 -
4052.61 407.33 -8.45 529 4058.56 roll -1.56 - - 1960.62 - 3.38 0.056 2130.25 426.5 -107.06 - - 3462.41 - - - - - - - - - 16.16 -
4362.65 432.82 -8.40 561 4369.84 roll -1.56 - - 1961.25 - 3.73 0.122 689.69 -386.2 -107.06 - - 3461.50 - - - - - - - - - 16.14 -
4408.28 437.33 -9.68 570 4414.24 roll -1.56 - - 1961.19 - 3.37 0.058 2128.25 426.9 -107.06 - - 3461.81 - - - - - - - - - 16.16 -
4718.31 465.91 -9.32 602 4719.88 no move -1.56 - - 1960.75 - - - 2128.69 - -107.06 - - 3458.81 - - - - - - - - - - -
5028.34 494.28 -9.16 633 5035.53 roll -1.56 - - 1960.25 - 3.74 0.123 690.88 -384.4 -107.06 - - 3458.12 - - - - - - - - - 16.17 -
5098.21 501.60 -10.00 647 5105.68 roll -1.56 - - 1961.12 - 3.38 0.059 2129.31 425.6 -107.06 - - 3459.91 - - - - - - - - - 16.16 -
5414.00 530.05 -8.98 679 5421.43 roll -1.56 - - 1959.94 - 3.76 0.123 690.81 -382.6 -107.06 - - 3460.12 - - - - - - - - - 16.16 -
5489.99 538.09 -10.65 694 5495.97 roll -1.56 - - 1960.81 - 3.37 0.060 2129.50 426.9 -107.06 - - 3458.34 - - - - - - - - - 16.17 -
5800.02 566.56 -9.44 726 5807.21 roll -1.56 - - 1960.50 - 3.74 0.124 689.56 -385.0 -107.06 - - 3457.06 - - - - - - - - - 16.17 -
5835.67 570.33 -10.50 733 5841.61 roll -1.56 - - 1961.19 - 3.36 0.058 2129.88 428.7 -107.06 - - 3458.66 - - - - - - - - - 16.17 -
6145.68 598.96 -9.36 765 6147.25 no move -1.56 - - 1960.94 - - - 2129.56 - -107.06 - - 3456.59 - - - - - - - - - - -
6455.80 628.03 -8.95 796 6462.91 roll -1.56 - - 1959.88 - 3.74 0.124 689.50 -385.0 -107.06 - - 3456.38 - - - - - - - - - 16.18 -
6555.60 637.50 -9.41 816 6563.09 roll -1.56 - - 1961.00 - 3.38 0.060 2131.19 426.5 -107.06 - - 3456.78 - - - - - - - - - 16.17 -
6871.39 663.26 -7.75 848 6878.58 roll -1.56 - - 1961.12 - 3.76 0.124 688.56 -383.7 -107.06 - - 3457.62 - - - - - - - - - 16.18 -
6917.03 667.75 -8.77 857 6923.04 roll -1.56 - - 1960.88 - 3.37 0.058 2130.25 427.8 -107.06 - - 3456.06 - - - - - - - - - 16.18 -
7227.09 693.64 -8.58 889 7234.28 roll -1.56 - - 1960.75 - 3.75 0.125 691.25 -383.7 -107.06 - - 3455.34 - - - - - - - - - 16.18 -
7266.97 697.46 -9.34 897 7274.48 roll -1.56 - - 1961.06 - 3.37 0.060 2129.62 426.8 -107.06 - - 3455.84 - - - - - - - - - 16.19 -
7582.75 723.33 -8.39 929 7584.33 no move -1.56 - - 1960.88 - - - 2129.38 - -107.06 - - 3454.12 - - - - - - - - - - -
7892.79 748.86 -8.10 960 7899.98 roll -1.56 - - 1960.88 - 3.76 0.125 689.44 -383.0 -107.06 - - 3454.97 - - - - - - - - - 16.18 -
7948.44 754.05 -9.28 971 7954.41 roll -1.56 - - 1960.81 - 3.39 0.061 2129.62 424.8 -107.06 - - 3454.94 - - - - - - - - - 16.18 -
8258.45 777.97 -8.25 1003 8260.02 no move -1.56 - - 1960.94 - - - 2130.00 - -107.06 - - 3452.41 - - - - - - - - - - -
8508 end dive: TARGET_DEPTH_EXCEEDED
8508 begin apogee
8510.17 798.50 -7.97 1028 8604.46 -0.42 2.34 0.118 2239.75 119.1 0.09 0.230 2119.12 -120.9 - 84.71 2.002 3020.38 -5.1 0.336 - - - - - - 16.14 15.60 12.81
8615 end apogee: CONTROL_FINISHED_OK
8616 begin climb
8618.75 800.35 - 1037 8726.01 1.56 3.81 0.056 2730.62 128.8 3.35 0.104 3359.94 370.4 107.06 92.77 1.941 2582.25 -4.7 0.322 - - - - - - 15.73 15.35 12.69
8824.56 788.40 9.75 1076 8830.38 roll 1.56 - - 2730.62 - 3.05 0.054 2121.56 -406.0 107.06 - - 2577.31 - - - - - - - - - 15.72 -
9134.58 761.30 8.78 1108 9136.15 VBD 1.56 - - 2730.38 - - - 2121.25 - 107.06 - - 2568.19 - - - - - - - - - - -
9444.61 733.26 9.17 1139 9450.56 done 1.56 - - 2730.44 - 3.22 0.102 3360.44 384.8 107.06 - - 2567.91 - - - - - - - - - 15.99 -
9528.88 724.58 10.07 1156 9536.33 done 1.56 - - 2729.56 - 2.98 0.054 2120.19 -416.2 107.06 - - 2568.91 - - - - - - - - - 16.00 -
9844.65 696.34 8.99 1188 9846.22 VBD 1.56 - - 2730.94 - - - 2120.50 - 107.06 - - 2565.09 - - - - - - - - - - -
10154.67 666.64 9.45 1219 10156.24 VBD 1.56 - - 2730.19 - - - 2120.88 - 107.06 - - 2564.19 - - - - - - - - - - -
10464.70 639.11 8.71 1250 10466.27 VBD 1.56 - - 2730.62 - - - 2120.56 - 107.06 - - 2563.78 - - - - - - - - - - -
10774.72 613.04 8.03 1281 10776.29 VBD 1.56 - - 2730.44 - - - 2120.81 - 107.06 - - 2563.09 - - - - - - - - - - -
11084.75 587.91 7.76 1312 11086.33 VBD 1.56 - - 2730.50 - - - 2120.12 - 107.06 - - 2562.31 - - - - - - - - - - -
11394.82 565.57 7.13 1343 11396.40 VBD 1.59 - - 2730.44 - - - 2120.69 - 107.06 - - 2562.16 - - - - - - - - - - -
11704.84 544.52 6.67 1374 11706.42 VBD 1.63 - - 2730.44 - - - 2120.56 - 107.06 - - 2561.12 - - - - - - - - - - -
12014.87 524.84 6.50 1405 12020.84 1.68 0.14 0.068 2760.75 216.5 3.18 0.103 3360.75 390.0 107.06 - - 2564.50 - - - - - - - - 16.21 16.15 -
12149.12 514.44 7.56 1432 12156.63 1.68 0.33 0.148 2742.50 -55.3 2.96 0.056 2117.62 -420.0 107.06 - - 2562.50 - - - - - - - - 16.14 16.17 -
12464.92 493.39 6.85 1464 12466.67 1.72 0.19 0.055 2769.94 144.4 - - 2117.56 - 107.06 - - 2559.41 - - - - - - - - 16.20 - -
12774.89 469.11 7.81 1495 12782.01 1.72 0.28 0.143 2750.50 -69.4 3.20 0.102 3360.38 388.4 107.06 - - 2562.94 - - - - - - - - 16.14 16.13 -
12824.79 465.23 8.03 1505 12832.08 done 1.72 - - 2751.06 - 2.97 0.054 2119.62 -417.8 107.06 - - 2562.66 - - - - - - - - - 16.14 -
13140.60 443.46 6.81 1537 13146.59 1.75 0.18 0.057 2780.50 163.6 3.16 0.101 3360.12 392.6 107.06 - - 2560.81 - - - - - - - - 16.20 16.15 -
13234.84 436.26 7.59 1556 13242.36 1.75 0.25 0.157 2760.44 -80.2 2.96 0.055 2114.88 -420.7 107.06 - - 2560.56 - - - - - - - - 16.14 16.15 -
13550.65 414.25 6.85 1588 13557.94 1.79 0.17 0.057 2785.62 148.1 3.67 0.117 688.62 -388.6 107.06 - - 2561.38 - - - - - - - - 16.22 16.15 -
13640.62 406.34 8.92 1606 13648.40 1.79 0.23 0.163 2769.12 -71.7 3.54 0.062 2180.31 421.4 107.06 - - 2559.69 - - - - - - - - 16.11 16.17 -
13956.44 383.25 7.36 1638 13962.18 done 1.81 - - 2768.81 - 3.01 0.104 3362.25 392.7 107.06 - - 2562.00 - - - - - - - - - 16.16 -
14140.67 368.39 7.63 1675 14147.98 done 1.81 - - 2769.56 - 2.95 0.054 2117.81 -421.8 107.06 - - 2559.12 - - - - - - - - - 16.17 -
14456.48 348.02 6.60 1707 14462.53 1.85 0.22 0.050 2808.38 176.5 3.16 0.099 3363.19 394.1 107.06 - - 2561.31 - - - - - - - - 16.19 16.16 -
14586.48 338.39 7.72 1733 14592.44 1.85 0.28 0.165 2784.44 -85.5 2.96 0.055 2116.69 -421.1 107.06 - - 2561.75 - - - - - - - - 16.12 16.18 -
14896.53 317.58 6.49 1765 14902.51 1.90 0.18 0.053 2821.00 203.1 3.17 0.098 3363.12 393.2 107.06 - - 2559.75 - - - - - - - - 16.21 16.16 -
15130.78 299.00 7.98 1812 15138.30 1.90 0.29 0.164 2795.75 -87.1 2.93 0.053 2117.31 -425.2 107.06 - - 2559.12 - - - - - - - - 16.09 16.17 -
15446.59 279.98 5.71 1844 15453.95 1.97 0.25 0.043 2832.56 147.2 3.66 0.114 688.88 -390.3 107.06 - - 2557.06 - - - - - - - - 16.20 16.12 -
15492.44 276.96 6.36 1853 15498.70 done 2.02 - - 2832.12 - 3.53 0.059 2181.31 422.8 107.06 - - 2559.34 - - - - - - - - - 16.16 -
15802.44 260.55 5.25 1885 15809.81 2.10 0.14 0.061 2868.50 259.9 3.83 0.110 687.50 -390.0 107.06 - - 2557.38 - - - - - - - - 16.22 16.12 -
16018.36 246.04 6.63 1928 16024.36 done 2.15 - - 2870.00 - 3.53 0.060 2177.38 422.1 107.06 - - 2559.91 - - - - - - - - - 16.15 -
16328.34 229.98 4.56 1960 16391.84 2.24 0.10 0.084 2903.19 331.9 3.05 0.101 3361.50 388.2 175.26 52.74 1.316 2304.78 -4.8 0.140 - - - - - - 16.21 15.86 12.87
16464.53 217.84 12.63 1987 16472.10 roll back 2.24 0.34 0.173 2877.81 -74.6 2.98 0.053 2118.12 -417.2 175.26 - - 2300.22 - - - - - - - - 15.88 15.93 -
16780.29 182.42 10.39 2019 16786.15 done 2.24 - - 2878.38 - 3.18 0.099 3362.50 391.3 175.26 - - 2296.88 - - - - - - - - - 15.99 -
17014.59 156.01 11.14 2066 17021.87 done 2.24 - - 2877.88 - 2.97 0.052 2119.19 -418.6 175.26 - - 2294.69 - - - - - - - - - 16.01 -
17330.36 124.97 10.23 2098 17336.22 done 2.24 - - 2877.56 - 3.17 0.097 3361.25 391.8 175.26 - - 2293.19 - - - - - - - - - 16.03 -
17494.63 108.08 9.43 2131 17501.91 done 2.24 - - 2877.56 - 2.93 0.052 2118.62 -424.1 175.26 - - 2293.72 - - - - - - - - - 16.04 -
17805.45 86.03 6.36 2182 17812.45 2.29 0.20 0.051 2911.31 168.8 3.67 0.111 688.44 -389.7 175.26 - - 2292.41 - - - - - - - - 16.06 16.03 -
17865.94 81.68 7.39 2194 17872.96 2.31 0.26 0.176 2895.06 -62.5 3.55 0.059 2179.75 420.1 175.26 - - 2292.75 - - - - - - - - 16.02 16.04 -
18056.41 75.00 2.43 2232 18189.55 2.45 0.39 0.036 2949.75 140.2 3.13 0.100 3359.81 377.0 284.98 119.26 1.079 1856.06 -3.7 0.042 - - - - - - 16.09 15.62 12.81
18418.14 40.66 13.39 2303 18425.00 roll back 2.45 0.31 0.163 2928.12 -69.8 3.02 0.051 2118.50 -411.0 284.98 - - 1857.03 - - - - - - - - 15.81 15.87 -
18608.51 21.21 10.28 2341 18615.19 roll 2.45 - - 2928.50 - 3.21 0.096 3362.19 387.4 284.98 - - 1855.00 - - - - - - - - - 15.92 -
18638.61 17.93 10.84 2347 18645.17 roll 2.45 - - 2928.50 - 2.98 0.050 2118.31 -417.4 284.98 - - 1856.50 - - - - - - - - - 15.94 -
18828.90 9.55 2.58 2385 18951.31 2.59 0.38 0.037 2983.12 143.7 3.29 0.097 3362.44 378.2 391.86 109.43 0.993 1421.84 -4.0 0.006 - - - - - - 15.98 15.58 12.76
18964 end climb: SURFACE_DEPTH_REACHED
18965 begin surface coast
18990 end surface coast: CONTROL_FINISHED_OK
18990 begin surface
SM 1.12 - - - - 186.7 82.96 0.979 1084.0 11.7 20.90 0.032 1102.1 52.7 - 3.11 0.050 1065.9 341.7 -0.782 - - 12.78 15.77 15.74 -