NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 139 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 63.16 of 575.00 AH used of 24V (89.02% remains)
• Surface angle -62.3 deg, depth 1.50 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.74 (SM_CC=475)
• GPS1 time: 34 s
• GPS2 time: 4 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
8.90 - - - 65.30 VBD -1.56 - - 188.00 - - - 2058.50 - -107.06 54.96 0.005 2285.56 - - - - - - - - - - 15.71
65.74 3.29 -3.41 11 122.93 -1.56 16.33 0.236 1960.69 108.6 3.65 0.121 691.00 -374.7 -107.06 29.62 0.006 3457.28 39.6 -3.590 - - - - - - 15.70 15.67 15.73
191.24 28.67 -21.97 35 198.16 roll -1.56 - - 1960.44 - 3.37 0.049 2129.88 427.0 -107.06 - - 3459.50 - - - - - - - - - 15.83 -
381.64 58.20 -13.60 73 388.07 roll -1.56 - - 1960.88 - 3.12 0.099 3361.50 394.7 -107.06 - - 3460.69 - - - - - - - - - 15.90 -
476.64 71.82 -13.80 92 483.04 roll -1.56 - - 1961.31 - 3.06 0.045 2067.94 -422.7 -107.06 - - 3459.38 - - - - - - - - - 15.92 -
666.66 93.08 -10.18 130 671.08 no move -1.56 - - 1961.50 - - - 2067.81 - -107.06 - - 3460.25 - - - - - - - - - - -
856.68 112.52 -10.50 156 862.58 roll -1.56 - - 1961.12 - 3.61 0.115 689.25 -381.9 -107.06 - - 3461.41 - - - - - - - - - 15.94 -
930.93 120.91 -11.90 171 938.22 roll -1.56 - - 1959.69 - 3.34 0.048 2134.69 432.8 -107.06 - - 3462.25 - - - - - - - - - 15.97 -
1246.71 152.71 -9.99 203 1253.69 roll -1.56 - - 1961.12 - 3.78 0.111 687.88 -382.8 -107.06 - - 3462.00 - - - - - - - - - 15.97 -
1292.10 157.68 -11.43 212 1297.86 roll -1.56 - - 1961.06 - 3.33 0.047 2133.94 434.3 -107.06 - - 3463.25 - - - - - - - - - 16.02 -
1602.12 189.39 -10.41 244 1603.94 no move -1.56 - - 1961.12 - - - 2134.19 - -107.06 - - 3462.91 - - - - - - - - - - -
1912.18 222.63 -11.02 275 1913.75 no move -1.56 - - 1960.88 - - - 2134.25 - -107.06 - - 3462.59 - - - - - - - - - - -
2222.21 255.34 -10.11 306 2229.39 roll -1.56 - - 1960.81 - 3.77 0.113 688.88 -383.4 -107.06 - - 3464.34 - - - - - - - - - 16.07 -
2257.95 259.33 -11.06 313 2263.89 roll -1.56 - - 1962.06 - 3.35 0.050 2131.06 430.5 -107.06 - - 3463.56 - - - - - - - - - 16.09 -
2567.98 288.70 -9.40 345 2569.55 no move -1.56 - - 1961.00 - - - 2132.12 - -107.06 - - 3462.59 - - - - - - - - - - -
2878.00 317.76 -9.63 376 2879.58 no move -1.56 - - 1960.69 - - - 2132.06 - -107.06 - - 3462.78 - - - - - - - - - - -
3188.06 347.31 -9.65 407 3195.25 roll -1.56 - - 1961.00 - 3.78 0.115 687.62 -382.1 -107.06 - - 3464.94 - - - - - - - - - 16.13 -
3233.69 352.36 -11.34 416 3239.67 roll -1.56 - - 1961.06 - 3.36 0.052 2131.12 429.6 -107.06 - - 3464.94 - - - - - - - - - 16.13 -
3543.72 383.98 -9.75 448 3545.29 no move -1.56 - - 1961.31 - - - 2132.38 - -107.06 - - 3462.09 - - - - - - - - - - -
3853.75 415.27 -9.94 479 3859.55 roll -1.56 - - 1961.31 - 3.10 0.103 3361.19 396.4 -107.06 - - 3462.50 - - - - - - - - - 16.13 -
3897.99 420.36 -11.09 488 3905.29 roll -1.56 - - 1960.75 - 3.08 0.049 2068.62 -419.7 -107.06 - - 3462.78 - - - - - - - - - 16.15 -
4213.78 451.90 -10.18 520 4219.87 roll -1.56 - - 1958.88 - 3.63 0.121 687.69 -380.4 -107.06 - - 3461.50 - - - - - - - - - 16.14 -
4253.79 456.38 -10.77 528 4259.77 roll -1.56 - - 1960.38 - 3.36 0.053 2130.94 429.5 -107.06 - - 3462.91 - - - - - - - - - 16.15 -
4563.82 488.45 -9.86 560 4571.00 roll -1.56 - - 1960.62 - 3.78 0.118 688.94 -381.5 -107.06 - - 3459.38 - - - - - - - - - 16.14 -
4619.45 494.10 -10.26 571 4625.40 roll -1.56 - - 1960.81 - 3.35 0.052 2130.25 430.2 -107.06 - - 3461.94 - - - - - - - - - 16.15 -
4929.48 521.57 -8.47 603 4931.05 no move -1.56 - - 1960.88 - - - 2130.50 - -107.06 - - 3459.69 - - - - - - - - - - -
5239.52 546.31 -7.75 634 5246.70 roll -1.56 - - 1961.12 - 3.80 0.120 688.88 -379.4 -107.06 - - 3458.62 - - - - - - - - - 16.14 -
5299.40 551.72 -9.04 646 5306.87 roll -1.56 - - 1961.31 - 3.35 0.053 2131.62 430.7 -107.06 - - 3460.69 - - - - - - - - - 16.16 -
5615.19 575.24 -7.23 678 5622.39 roll -1.56 - - 1960.75 - 3.77 0.120 689.00 -382.7 -107.06 - - 3460.22 - - - - - - - - - 16.16 -
5675.18 580.40 -8.36 690 5682.70 roll -1.56 - - 1961.00 - 3.34 0.053 2131.94 432.0 -107.06 - - 3459.25 - - - - - - - - - 16.15 -
5990.97 603.63 -7.04 722 5992.55 no move -1.56 - - 1961.56 - - - 2131.75 - -107.06 - - 3457.62 - - - - - - - - - - -
6300.99 626.13 -7.52 753 6308.18 roll -1.56 - - 1960.88 - 3.76 0.120 688.69 -383.8 -107.06 - - 3459.34 - - - - - - - - - 16.16 -
6336.62 629.40 -8.76 760 6342.57 roll -1.56 - - 1961.88 - 3.36 0.053 2130.31 429.1 -107.06 - - 3457.75 - - - - - - - - - 16.17 -
6646.65 654.80 -8.36 792 6648.23 no move -1.56 - - 1960.94 - - - 2131.06 - -107.06 - - 3456.19 - - - - - - - - - - -
6956.69 682.06 -9.16 823 6963.87 roll -1.56 - - 1960.75 - 3.79 0.123 689.69 -380.3 -107.06 - - 3457.47 - - - - - - - - - 16.16 -
7052.33 691.56 -9.72 842 7058.31 roll -1.56 - - 1960.75 - 3.38 0.056 2130.56 426.3 -107.06 - - 3456.78 - - - - - - - - - 16.18 -
7362.36 719.67 -9.04 874 7369.80 roll -1.56 - - 1960.19 - 3.79 0.121 689.56 -380.2 -107.06 - - 3457.03 - - - - - - - - - 16.16 -
7418.36 725.48 -10.19 885 7424.35 roll -1.56 - - 1961.25 - 3.36 0.055 2131.12 429.0 -107.06 - - 3455.12 - - - - - - - - - 16.17 -
7728.39 752.62 -8.55 917 7735.58 roll -1.56 - - 1961.06 - 3.80 0.122 691.25 -378.9 -107.06 - - 3456.03 - - - - - - - - - 16.16 -
7778.27 757.46 -9.47 927 7785.76 roll -1.56 - - 1960.94 - 3.35 0.056 2132.00 430.1 -107.06 - - 3454.25 - - - - - - - - - 16.15 -
8094.09 783.87 -8.59 959 8101.28 roll -1.56 - - 1960.69 - 3.80 0.123 688.75 -379.8 -107.06 - - 3455.25 - - - - - - - - - 16.16 -
8139.72 788.17 -9.91 968 8145.72 roll -1.56 - - 1961.12 - 3.35 0.056 2131.88 430.8 -107.06 - - 3455.69 - - - - - - - - - 16.15 -
8449.76 812.89 -7.49 1000 8456.97 roll -1.56 - - 1960.88 - 3.80 0.122 688.75 -379.8 -107.06 - - 3453.03 - - - - - - - - - 16.15 -
8549.66 821.91 -8.99 1020 8557.38 roll -1.56 - - 1960.75 - 3.38 0.055 2130.38 426.5 -107.06 - - 3453.59 - - - - - - - - - 16.16 -
8865.46 844.59 -7.23 1052 8867.03 no move -1.56 - - 1960.94 - - - 2130.56 - -107.06 - - 3452.62 - - - - - - - - - - -
9175.48 866.16 -7.34 1083 9182.73 roll -1.56 - - 1961.06 - 3.81 0.120 690.88 -377.9 -107.06 - - 3454.66 - - - - - - - - - 16.16 -
9255.74 872.89 -8.24 1099 9262.90 roll -1.56 - - 1961.12 - 3.38 0.056 2131.69 426.3 -107.06 - - 3452.78 - - - - - - - - - 16.12 -
9571.21 895.44 -7.46 1131 9572.78 no move -1.56 - - 1960.62 - - - 2132.00 - -107.06 - - 3451.78 - - - - - - - - - - -
9881.23 917.42 -7.19 1162 9888.44 roll -1.56 - - 1961.12 - 3.80 0.120 689.88 -379.5 -107.06 - - 3451.62 - - - - - - - - - 16.15 -
9961.13 924.14 -8.33 1178 9968.59 roll -1.56 - - 1960.81 - 3.38 0.054 2130.69 426.3 -107.06 - - 3452.94 - - - - - - - - - 16.15 -
10276.92 947.41 -7.38 1210 10283.64 roll -1.56 - - 1961.44 - 3.79 0.120 690.12 -380.1 -107.06 - - 3451.09 - - - - - - - - - 16.16 -
10357.21 954.51 -8.66 1226 10363.19 roll -1.56 - - 1959.50 - 3.36 0.054 2132.75 429.4 -107.06 - - 3452.53 - - - - - - - - - 16.15 -
10667.24 978.19 -7.44 1258 10674.43 roll -1.56 - - 1960.44 - 3.79 0.119 687.94 -381.2 -107.06 - - 3453.44 - - - - - - - - - 16.16 -
10747.12 985.21 -8.42 1274 10754.62 roll -1.56 - - 1961.06 - 3.38 0.054 2131.81 427.2 -107.06 - - 3452.19 - - - - - - - - - 16.16 -
10822 end dive: TARGET_DEPTH_EXCEEDED
10823 begin apogee
10824.61 990.88 -7.33 1282 10919.76 -0.42 2.39 0.122 2240.50 116.9 0.10 0.227 2116.25 -155.6 - 87.15 2.240 3016.53 -5.0 0.366 - - - - - - 16.13 15.53 12.69
10924 end apogee: CONTROL_FINISHED_OK
10925 begin climb
10927.73 992.04 - 1291 11034.17 1.56 3.67 0.063 2729.25 133.2 - - 2115.50 - 107.06 96.43 2.178 2580.72 -4.5 0.341 - - - - - - 15.63 - 12.73
11337.68 955.19 10.89 1332 11343.60 done 1.56 - - 2728.81 - 3.20 0.102 3361.25 389.3 107.06 - - 2569.19 - - - - - - - - - 15.84 -
11477.71 938.39 11.82 1360 11483.50 done 1.56 - - 2728.94 - 2.99 0.048 2118.25 -415.7 107.06 - - 2568.97 - - - - - - - - - 15.91 -
11787.73 904.61 10.18 1392 11793.64 done 1.56 - - 2729.25 - 3.18 0.099 3362.62 391.3 107.06 - - 2565.75 - - - - - - - - - 15.99 -
11902.00 891.84 11.08 1415 11909.31 done 1.56 - - 2728.38 - 2.99 0.052 2118.38 -416.1 107.06 - - 2565.47 - - - - - - - - - 16.01 -
12217.78 858.19 10.80 1447 12223.64 done 1.56 - - 2727.56 - 3.16 0.097 3361.81 393.5 107.06 - - 2565.72 - - - - - - - - - 16.04 -
12362.05 841.22 11.57 1476 12369.32 done 1.56 - - 2728.69 - 2.99 0.052 2117.56 -416.1 107.06 - - 2565.16 - - - - - - - - - 16.06 -
12677.82 807.99 10.26 1508 12683.69 done 1.56 - - 2728.62 - 3.14 0.098 3362.00 396.3 107.06 - - 2562.69 - - - - - - - - - 16.07 -
12767.84 797.96 11.34 1526 12773.89 done 1.56 - - 2727.75 - 2.97 0.052 2118.25 -418.8 107.06 - - 2563.53 - - - - - - - - - 16.11 -
13077.86 766.59 9.38 1558 13083.73 done 1.56 - - 2728.62 - 3.13 0.097 3362.38 397.5 107.06 - - 2561.41 - - - - - - - - - 16.10 -
13222.13 751.28 10.57 1587 13229.40 done 1.56 - - 2729.00 - 2.97 0.052 2118.38 -418.9 107.06 - - 2562.09 - - - - - - - - - 16.12 -
13537.91 723.02 8.44 1619 13543.78 done 1.56 - - 2728.88 - 3.12 0.097 3362.56 398.8 107.06 - - 2561.22 - - - - - - - - - 16.12 -
13687.93 709.26 8.77 1649 13693.68 done 1.56 - - 2729.06 - 2.96 0.052 2117.94 -420.5 107.06 - - 2560.84 - - - - - - - - - 16.13 -
13997.94 684.45 8.23 1681 13999.52 VBD 1.56 - - 2728.94 - - - 2118.25 - 107.06 - - 2559.12 - - - - - - - - - - -
14307.97 659.31 7.98 1712 14313.84 done 1.56 - - 2728.94 - 3.12 0.097 3363.62 399.2 107.06 - - 2560.59 - - - - - - - - - 16.13 -
14452.25 646.29 8.92 1741 14459.56 done 1.56 - - 2728.50 - 2.95 0.052 2117.75 -422.3 107.06 - - 2559.97 - - - - - - - - - 16.14 -
14768.05 621.12 7.68 1773 14773.88 done 1.56 - - 2728.94 - 3.10 0.098 3363.62 401.9 107.06 - - 2559.59 - - - - - - - - - 16.14 -
15002.37 601.34 8.61 1820 15009.64 done 1.56 - - 2728.44 - 2.94 0.052 2118.19 -423.6 107.06 - - 2561.19 - - - - - - - - - 16.14 -
15318.20 578.29 7.33 1852 15323.97 done 1.59 - - 2728.75 - 3.09 0.097 3363.62 403.1 107.06 - - 2559.62 - - - - - - - - - 16.13 -
15528.19 561.53 7.92 1894 15533.99 done 1.59 - - 2727.56 - 2.93 0.052 2116.56 -425.6 107.06 - - 2560.53 - - - - - - - - - 16.16 -
15838.26 540.26 7.08 1926 15844.09 done 1.62 - - 2728.44 - 3.11 0.097 3363.62 401.0 107.06 - - 2559.12 - - - - - - - - - 16.14 -
15952.49 531.38 7.63 1949 15959.77 done 1.62 - - 2728.00 - 2.92 0.052 2117.88 -426.6 107.06 - - 2559.88 - - - - - - - - - 16.15 -
16268.30 509.52 6.86 1981 16269.88 VBD 1.65 - - 2728.69 - - - 2118.06 - 107.06 - - 2558.41 - - - - - - - - - - -
16578.33 487.61 7.14 2012 16584.26 1.68 0.14 0.080 2755.19 189.3 3.10 0.097 3362.00 401.3 107.06 - - 2561.47 - - - - - - - - 16.17 16.14 -
16812.59 468.47 8.08 2059 16819.87 done 1.68 - - 2755.19 - 2.92 0.051 2118.19 -426.0 107.06 - - 2558.53 - - - - - - - - - 16.16 -
17128.41 446.42 6.77 2091 17134.26 done 1.72 - - 2755.44 - 3.11 0.095 3363.12 400.3 107.06 - - 2559.34 - - - - - - - - - 16.14 -
17288.45 434.43 7.51 2123 17294.15 done 1.73 - - 2755.31 - 2.94 0.051 2118.06 -423.5 107.06 - - 2561.53 - - - - - - - - - 16.15 -
17598.47 414.58 6.17 2155 17600.22 1.79 0.16 0.070 2783.44 175.8 - - 2117.69 - 107.06 - - 2557.97 - - - - - - - - 16.20 - -
17908.58 395.21 6.12 2186 17914.31 done 1.85 - - 2783.25 - 3.11 0.097 3362.81 400.4 107.06 - - 2559.69 - - - - - - - - - 16.14 -
17972.76 390.88 6.63 2199 17980.19 1.89 0.16 0.055 2804.06 130.1 2.93 0.050 2116.25 -425.4 107.06 - - 2558.41 - - - - - - - - 16.22 16.14 -
18288.54 372.76 5.44 2231 18294.74 done 1.97 - - 2803.44 - 3.12 0.097 3363.00 399.6 107.06 - - 2559.25 - - - - - - - - - 16.13 -
18522.84 359.16 5.83 2278 18530.31 2.03 0.22 0.066 2843.50 182.1 2.93 0.051 2117.88 -425.0 107.06 - - 2560.72 - - - - - - - - 16.18 16.14 -
18838.60 341.54 5.67 2310 18845.74 done 2.11 - - 2844.56 - 3.64 0.112 687.56 -392.9 107.06 - - 2556.06 - - - - - - - - - 16.13 -
18914.35 336.35 6.97 2325 18921.50 2.14 0.17 0.040 2859.94 90.5 3.48 0.057 2184.88 430.3 107.06 - - 2555.78 - - - - - - - - 16.21 16.12 -
19229.35 317.47 6.01 2357 19231.12 2.20 0.13 0.066 2883.62 182.2 - - 2184.88 - 107.06 - - 2557.41 - - - - - - - - 16.20 - -
19539.36 296.48 7.27 2388 19545.07 done 2.22 - - 2883.38 - 2.93 0.098 3365.06 402.8 107.06 - - 2557.00 - - - - - - - - - 16.10 -
19719.34 282.32 7.88 2424 19725.13 done 2.22 - - 2883.44 - 2.92 0.050 2116.62 -427.5 107.06 - - 2557.19 - - - - - - - - - 16.11 -
20029.40 261.35 6.59 2456 20036.99 done 2.27 - - 2883.75 - 3.64 0.110 688.19 -392.4 107.06 - - 2555.91 - - - - - - - - - 16.10 -
20265.70 244.14 7.00 2503 20273.06 2.30 0.16 0.040 2899.19 96.5 3.48 0.057 2184.38 429.9 107.06 - - 2555.47 - - - - - - - - 16.18 16.13 -
20580.71 226.36 5.45 2535 20582.52 2.38 0.19 0.039 2917.88 98.4 - - 2185.06 - 107.06 - - 2557.81 - - - - - - - - 16.21 - -
20890.74 211.71 4.56 2566 20951.67 2.46 0.22 0.040 2939.25 97.1 2.99 0.099 3362.56 393.8 175.15 52.49 1.279 2306.19 -4.8 0.131 - - - - - - 16.21 15.86 12.63
20954.94 207.47 7.64 2574 20961.81 roll 2.46 - - 2940.19 - 2.98 0.049 2116.50 -418.1 175.15 - - 2303.06 - - - - - - - - - 15.93 -
21270.16 164.05 14.80 2606 21271.78 VBD 2.46 - - 2939.75 - - - 2116.69 - 175.15 - - 2294.56 - - - - - - - - - - -
21580.18 123.17 11.39 2637 21581.79 VBD 2.46 - - 2939.62 - - - 2116.88 - 175.15 - - 2293.31 - - - - - - - - - - -
21885.20 94.17 8.05 2674 21892.28 done 2.46 - - 2939.56 - 3.13 0.093 3362.69 398.0 175.15 - - 2292.94 - - - - - - - - - 16.00 -
21940.92 90.59 6.44 2685 21947.53 done 2.51 - - 2939.06 - 2.97 0.048 2115.75 -419.8 175.15 - - 2294.28 - - - - - - - - - 16.04 -
22131.01 85.67 1.76 2723 22270.68 2.67 0.43 0.046 2997.06 134.9 3.80 0.111 689.94 -375.2 298.07 126.99 1.083 1804.28 -3.9 0.051 - - - - - - 16.10 15.59 12.63
22499.20 45.70 14.81 2795 22506.20 roll 2.67 - - 2997.19 - 3.56 0.056 2180.81 418.8 298.07 - - 1802.41 - - - - - - - - - 15.81 -
22689.81 25.22 5.74 2833 22696.95 roll 2.74 - - 2996.56 - 3.89 0.105 688.75 -383.6 298.07 - - 1800.62 - - - - - - - - - 15.88 -
22785.48 26.18 0.87 2852 22940.66 2.92 0.55 0.038 3058.50 112.6 3.54 0.053 2186.25 423.0 438.26 139.74 1.002 1233.50 -4.1 0.018 - - - - - - 15.94 15.92 12.68
23059 end climb: SURFACE_DEPTH_REACHED
23059 begin surface coast
23074 end surface coast: CONTROL_FINISHED_OK
23074 begin surface
SM 1.64 - - - - 191.8 36.51 0.953 1084.7 25.9 22.18 0.049 1090.6 49.1 - 0.23 0.087 1078.7 4674.6 -9.006 - - 12.78 15.81 15.77 -