NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 141 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 63.84 of 575.00 AH used of 24V (88.90% remains)
• Surface angle -62.1 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.00 (SM_CC=475)
• GPS1 time: 26 s, HDOP was 18.9 m
• GPS2 time: 3 s, HDOP was 2.6 m • 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
8.91 - - - 75.66 VBD -1.56 - - 181.69 - - - 2063.56 - -107.06 65.13 0.005 2508.38 - - - - - - - - - - 15.74
76.09 3.38 -3.13 13 127.13 -1.56 16.80 0.237 1960.75 105.9 3.60 0.118 691.00 -381.3 -107.06 22.58 0.006 3457.31 42.0 -3.919 - - - - - - 15.72 15.71 15.76
285.51 43.76 -16.17 54 292.05 roll -1.56 - - 1961.19 - 3.36 0.049 2130.00 428.3 -107.06 - - 3458.53 - - - - - - - - - 15.87 -
475.53 69.98 -14.09 92 482.00 roll -1.56 - - 1961.19 - 3.12 0.098 3360.44 394.4 -107.06 - - 3459.72 - - - - - - - - - 15.90 -
555.54 82.33 -15.17 108 561.94 roll -1.56 - - 1960.81 - 3.07 0.045 2067.06 -421.3 -107.06 - - 3459.25 - - - - - - - - - 15.93 -
745.56 104.41 -11.03 142 751.30 roll -1.56 - - 1961.50 - 3.28 0.095 3362.94 395.1 -107.06 - - 3460.59 - - - - - - - - - 15.94 -
769.80 107.24 -11.24 147 776.95 roll -1.56 - - 1960.88 - 3.06 0.044 2065.81 -423.9 -107.06 - - 3461.03 - - - - - - - - - 15.99 -
1085.58 137.11 -9.63 179 1091.49 roll -1.56 - - 1960.62 - 3.61 0.116 689.25 -381.3 -107.06 - - 3461.25 - - - - - - - - - 15.97 -
1189.84 149.27 -11.84 200 1197.13 roll -1.56 - - 1960.00 - 3.36 0.047 2133.38 429.8 -107.06 - - 3461.62 - - - - - - - - - 16.04 -
1505.62 180.84 -9.95 232 1507.15 no move -1.56 - - 1961.00 - - - 2133.38 - -107.06 - - 3460.91 - - - - - - - - - - -
1815.67 212.62 -10.06 263 1817.25 no move -1.56 - - 1960.88 - - - 2133.75 - -107.06 - - 3461.12 - - - - - - - - - - -
2125.70 241.64 -9.35 294 2132.88 roll -1.56 - - 1960.50 - 3.76 0.113 689.56 -384.1 -107.06 - - 3462.72 - - - - - - - - - 16.05 -
2161.32 245.48 -10.78 301 2167.30 roll -1.56 - - 1960.88 - 3.35 0.050 2132.06 430.6 -107.06 - - 3462.19 - - - - - - - - - 16.10 -
2471.35 273.98 -9.07 333 2472.92 no move -1.56 - - 1961.00 - - - 2132.62 - -107.06 - - 3460.50 - - - - - - - - - - -
2781.37 304.35 -9.82 364 2788.57 roll -1.56 - - 1960.56 - 3.76 0.114 689.75 -383.7 -107.06 - - 3461.31 - - - - - - - - - 16.10 -
2821.25 308.79 -10.64 372 2828.75 roll -1.56 - - 1961.06 - 3.34 0.051 2131.12 431.5 -107.06 - - 3461.62 - - - - - - - - - 16.11 -
3137.05 340.49 -10.27 404 3138.63 no move -1.56 - - 1960.81 - - - 2131.06 - -107.06 - - 3460.59 - - - - - - - - - - -
3447.12 371.03 -9.78 435 3448.68 no move -1.56 - - 1960.75 - - - 2130.56 - -107.06 - - 3460.69 - - - - - - - - - - -
3757.16 399.37 -8.78 466 3764.36 roll -1.56 - - 1960.56 - 3.76 0.118 688.56 -383.5 -107.06 - - 3459.75 - - - - - - - - - 16.13 -
3802.80 404.06 -10.27 475 3809.14 roll -1.56 - - 1960.88 - 3.35 0.054 2131.50 430.7 -107.06 - - 3460.03 - - - - - - - - - 16.14 -
4112.84 430.45 -8.61 507 4114.41 no move -1.56 - - 1960.88 - - - 2131.25 - -107.06 - - 3459.28 - - - - - - - - - - -
4422.86 456.40 -8.69 538 4424.44 no move -1.56 - - 1960.88 - - - 2131.12 - -107.06 - - 3458.16 - - - - - - - - - - -
4732.89 481.87 -8.01 569 4740.08 roll -1.56 - - 1961.00 - 3.76 0.118 689.25 -383.5 -107.06 - - 3457.81 - - - - - - - - - 16.14 -
4782.76 486.61 -9.27 579 4790.24 roll -1.56 - - 1961.12 - 3.37 0.055 2131.25 427.9 -107.06 - - 3457.94 - - - - - - - - - 16.16 -
5098.55 511.85 -8.26 611 5105.73 roll -1.56 - - 1961.38 - 3.75 0.119 690.06 -384.3 -107.06 - - 3457.03 - - - - - - - - - 16.14 -
5134.18 515.27 -8.65 618 5140.15 roll -1.56 - - 1961.44 - 3.35 0.054 2131.44 430.3 -107.06 - - 3458.53 - - - - - - - - - 16.16 -
5444.20 541.49 -8.83 650 5445.77 no move -1.56 - - 1961.38 - - - 2130.50 - -107.06 - - 3456.31 - - - - - - - - - - -
5754.23 568.48 -8.71 681 5761.42 roll -1.56 - - 1960.88 - 3.77 0.121 689.81 -382.1 -107.06 - - 3457.94 - - - - - - - - - 16.15 -
5804.10 573.52 -9.74 691 5812.01 roll -1.56 - - 1959.88 - 3.34 0.055 2130.56 431.4 -107.06 - - 3456.66 - - - - - - - - - 16.16 -
6119.92 601.14 -9.05 723 6121.53 no move -1.56 - - 1960.75 - - - 2131.38 - -107.06 - - 3455.28 - - - - - - - - - - -
6429.95 629.15 -9.14 754 6437.35 roll -1.56 - - 1960.50 - 3.76 0.121 690.00 -383.3 -107.06 - - 3455.19 - - - - - - - - - 16.17 -
6480.08 634.34 -10.39 764 6487.73 roll -1.56 - - 1961.12 - 3.35 0.056 2130.69 430.1 -107.06 - - 3455.88 - - - - - - - - - 16.17 -
6795.62 662.46 -8.95 796 6802.21 roll -1.56 - - 1961.50 - 3.75 0.122 689.50 -384.3 -107.06 - - 3456.09 - - - - - - - - - 16.16 -
6840.11 666.88 -9.54 805 6847.77 roll -1.56 - - 1961.25 - 3.35 0.055 2130.81 430.2 -107.06 - - 3455.22 - - - - - - - - - 16.16 -
7155.91 694.98 -8.92 837 7157.52 no move -1.56 - - 1960.88 - - - 2130.88 - -107.06 - - 3453.28 - - - - - - - - - - -
7465.93 721.95 -8.75 868 7473.33 roll -1.56 - - 1961.25 - 3.76 0.122 689.75 -383.3 -107.06 - - 3454.25 - - - - - - - - - 16.16 -
7551.91 730.11 -9.46 885 7558.19 roll -1.56 - - 1960.81 - 3.36 0.056 2131.00 428.9 -107.06 - - 3453.97 - - - - - - - - - 16.17 -
7861.85 755.08 -8.12 917 7869.25 roll -1.56 - - 1959.31 - 3.75 0.123 690.19 -384.2 -107.06 - - 3453.44 - - - - - - - - - 16.16 -
7901.99 758.66 -8.81 925 7909.63 roll -1.56 - - 1960.25 - 3.35 0.056 2130.88 430.1 -107.06 - - 3453.44 - - - - - - - - - 16.15 -
8217.77 782.56 -7.41 957 8219.39 no move -1.56 - - 1960.88 - - - 2130.62 - -107.06 - - 3451.72 - - - - - - - - - - -
8527.89 805.75 -7.59 988 8535.21 roll -1.56 - - 1960.44 - 3.75 0.124 689.94 -384.2 -107.06 - - 3450.56 - - - - - - - - - 16.17 -
8597.95 811.93 -8.58 1002 8605.59 roll -1.56 - - 1961.06 - 3.34 0.058 2130.69 431.4 -107.06 - - 3451.56 - - - - - - - - - 16.15 -
8913.74 834.76 -7.36 1034 8915.35 no move -1.56 - - 1961.12 - - - 2130.25 - -107.06 - - 3451.03 - - - - - - - - - - -
9223.76 857.24 -7.39 1065 9231.16 roll -1.56 - - 1961.00 - 3.76 0.125 689.19 -383.3 -107.06 - - 3452.38 - - - - - - - - - 16.15 -
9323.90 865.94 -8.80 1085 9331.84 roll -1.56 - - 1961.19 - 3.34 0.057 2130.56 431.5 -107.06 - - 3452.59 - - - - - - - - - 16.15 -
9639.69 889.86 -7.77 1117 9641.31 no move -1.56 - - 1961.12 - - - 2130.75 - -107.06 - - 3449.56 - - - - - - - - - - -
9949.72 914.23 -8.18 1148 9957.11 roll -1.56 - - 1960.31 - 3.74 0.126 688.88 -385.5 -107.06 - - 3450.16 - - - - - - - - - 16.16 -
10019.85 920.73 -9.09 1162 10027.55 roll -1.56 - - 1960.94 - 3.34 0.058 2129.69 431.4 -107.06 - - 3451.84 - - - - - - - - - 16.14 -
10335.64 946.58 -8.67 1194 10337.25 no move -1.56 - - 1960.81 - - - 2129.81 - -107.06 - - 3448.72 - - - - - - - - - - -
10645.67 972.31 -8.46 1225 10647.28 no move -1.56 - - 1960.94 - - - 2129.56 - -107.06 - - 3448.94 - - - - - - - - - - -
10865 end dive: TARGET_DEPTH_EXCEEDED
10865 begin apogee
10867.47 990.45 -7.98 1247 10962.15 -0.42 2.44 0.121 2240.06 114.4 0.09 0.240 2120.31 -102.8 - 85.68 2.241 3017.94 -5.0 0.368 - - - - - - 16.15 15.54 12.66
10965 end apogee: CONTROL_FINISHED_OK
10965 begin climb
10968.19 991.71 - 1256 11081.29 1.56 3.89 0.060 2729.31 125.8 3.27 0.103 3360.56 379.3 107.06 94.83 2.181 2581.59 -4.6 0.346 - - - - - - 15.64 15.31 12.68
11189.89 976.18 11.53 1298 11195.84 done 1.56 - - 2729.12 - 3.00 0.051 2122.50 -412.7 107.06 - - 2575.19 - - - - - - - - - 15.72 -
11499.90 944.81 10.18 1330 11505.93 done 1.56 - - 2728.62 - 3.14 0.100 3362.31 394.8 107.06 - - 2571.00 - - - - - - - - - 15.90 -
11734.18 918.22 12.04 1377 11741.60 done 1.56 - - 2728.75 - 2.95 0.053 2119.88 -421.2 107.06 - - 2568.28 - - - - - - - - - 15.97 -
12049.94 885.51 9.83 1409 12055.97 done 1.56 - - 2730.62 - 3.11 0.099 3362.69 399.6 107.06 - - 2565.53 - - - - - - - - - 16.03 -
12189.95 871.00 10.71 1437 12196.06 done 1.56 - - 2729.12 - 2.93 0.053 2120.00 -424.1 107.06 - - 2565.16 - - - - - - - - - 16.03 -
12499.96 841.57 9.06 1469 12505.94 done 1.56 - - 2729.56 - 3.10 0.100 3361.81 400.6 107.06 - - 2565.84 - - - - - - - - - 16.06 -
12609.98 830.59 10.15 1491 12615.88 done 1.56 - - 2728.94 - 2.93 0.053 2119.69 -423.9 107.06 - - 2566.25 - - - - - - - - - 16.08 -
12919.98 802.98 8.44 1523 12926.00 done 1.56 - - 2727.81 - 3.09 0.098 3363.25 402.4 107.06 - - 2563.53 - - - - - - - - - 16.08 -
13124.25 783.33 9.39 1564 13131.72 done 1.56 - - 2729.38 - 2.91 0.053 2119.12 -427.5 107.06 - - 2561.84 - - - - - - - - - 16.10 -
13440.01 755.50 8.91 1596 13445.98 done 1.56 - - 2729.56 - 3.10 0.100 3363.31 401.4 107.06 - - 2561.97 - - - - - - - - - 16.10 -
13570.02 742.55 10.34 1622 13575.93 done 1.56 - - 2728.88 - 2.92 0.053 2120.31 -425.7 107.06 - - 2564.12 - - - - - - - - - 16.12 -
13880.03 714.05 9.33 1654 13881.69 VBD 1.56 - - 2729.81 - - - 2119.69 - 107.06 - - 2560.91 - - - - - - - - - - -
14190.08 684.88 9.06 1685 14196.35 done 1.56 - - 2729.38 - 3.10 0.100 3363.00 401.1 107.06 - - 2559.22 - - - - - - - - - 16.14 -
14360.14 666.83 10.57 1719 14366.09 done 1.56 - - 2729.44 - 2.90 0.054 2119.75 -428.7 107.06 - - 2560.59 - - - - - - - - - 16.14 -
14670.17 635.53 9.86 1751 14676.37 done 1.56 - - 2729.19 - 3.09 0.098 3363.62 402.5 107.06 - - 2560.12 - - - - - - - - - 16.14 -
14734.43 628.60 11.13 1764 14741.83 done 1.56 - - 2729.06 - 2.89 0.053 2118.44 -430.9 107.06 - - 2562.06 - - - - - - - - - 16.13 -
15050.19 597.86 9.85 1796 15051.80 VBD 1.56 - - 2729.50 - - - 2118.25 - 107.06 - - 2558.16 - - - - - - - - - - -
15360.21 569.10 8.53 1827 15366.22 done 1.56 - - 2729.25 - 3.09 0.100 3361.94 402.5 107.06 - - 2559.94 - - - - - - - - - 16.13 -
15594.50 547.55 8.80 1874 15601.91 done 1.56 - - 2728.94 - 2.90 0.054 2118.56 -428.8 107.06 - - 2560.06 - - - - - - - - - 16.10 -
15910.32 524.84 6.74 1906 15916.24 done 1.60 - - 2729.12 - 3.08 0.097 3363.69 404.3 107.06 - - 2560.97 - - - - - - - - - 16.15 -
16090.36 511.63 7.15 1942 16096.27 done 1.63 - - 2729.31 - 2.90 0.053 2118.38 -429.4 107.06 - - 2558.91 - - - - - - - - - 16.14 -
16400.37 491.73 6.69 1974 16402.18 1.67 0.14 0.077 2753.44 172.4 - - 2117.94 - 107.06 - - 2559.34 - - - - - - - - 16.20 - -
16710.38 469.68 7.26 2005 16716.31 done 1.69 - - 2753.69 - 3.07 0.097 3363.19 405.6 107.06 - - 2561.38 - - - - - - - - - 16.14 -
16904.62 454.56 7.74 2044 16911.99 done 1.69 - - 2754.44 - 2.89 0.053 2117.00 -431.2 107.06 - - 2558.81 - - - - - - - - - 16.12 -
17220.65 433.18 6.98 2076 17222.27 VBD 1.73 - - 2753.81 - - - 2117.25 - 107.06 - - 2558.94 - - - - - - - - - - -
17530.46 412.58 6.76 2107 17537.89 1.77 0.14 0.072 2777.69 170.6 3.57 0.117 687.75 -400.4 107.06 - - 2560.97 - - - - - - - - 16.21 16.12 -
17760.70 395.21 7.43 2153 17768.34 done 1.78 - - 2777.56 - 3.43 0.060 2182.31 435.7 107.06 - - 2559.44 - - - - - - - - - 16.14 -
18076.47 376.32 5.92 2185 18078.13 VBD 1.85 - - 2777.38 - - - 2182.62 - 107.06 - - 2556.00 - - - - - - - - - - -
18386.48 358.29 5.79 2216 18394.07 1.92 0.22 0.056 2814.38 168.2 3.74 0.113 687.69 -399.7 107.06 - - 2557.53 - - - - - - - - 16.19 16.12 -
18496.87 350.36 7.49 2238 18504.54 done 1.93 - - 2815.31 - 3.44 0.060 2183.88 434.9 107.06 - - 2558.25 - - - - - - - - - 16.14 -
18812.63 328.84 6.77 2270 18818.49 done 1.97 - - 2815.56 - 2.91 0.100 3364.44 405.7 107.06 - - 2557.16 - - - - - - - - - 16.13 -
18932.65 320.20 7.16 2294 18938.61 done 2.00 - - 2815.75 - 2.91 0.052 2114.94 -429.4 107.06 - - 2556.78 - - - - - - - - - 16.15 -
19242.66 300.24 6.24 2326 19244.52 2.05 0.20 0.056 2848.75 165.0 - - 2114.62 - 107.06 - - 2558.22 - - - - - - - - 16.20 - -
19552.67 282.18 5.46 2357 19558.64 done 2.13 - - 2849.25 - 3.08 0.098 3362.06 405.0 107.06 - - 2556.81 - - - - - - - - - 16.10 -
19622.69 277.98 5.92 2371 19628.72 2.19 0.19 0.061 2882.25 173.7 2.90 0.052 2113.38 -430.6 107.06 - - 2557.22 - - - - - - - - 16.16 16.10 -
19932.69 262.33 4.73 2403 19991.63 done 2.28 - - 2882.50 - 3.14 0.100 3363.25 398.0 171.90 50.27 1.346 2317.84 -4.8 0.154 - - - - - - - 15.85 12.64
20115.23 243.25 14.18 2439 20121.15 roll 2.28 - - 2880.88 - 2.93 0.052 2118.88 -424.7 171.90 - - 2313.22 - - - - - - - - - 15.95 -
20425.24 203.07 12.47 2471 20426.85 VBD 2.28 - - 2882.75 - - - 2118.44 - 171.90 - - 2307.84 - - - - - - - - - - -
20735.26 164.76 11.79 2502 20741.22 done 2.28 - - 2882.50 - 3.10 0.096 3364.00 401.8 171.90 - - 2307.41 - - - - - - - - - 16.03 -
20829.52 152.85 12.50 2521 20836.95 done 2.28 - - 2882.50 - 2.92 0.051 2117.75 -426.8 171.90 - - 2307.47 - - - - - - - - - 16.01 -
21145.29 118.02 12.19 2553 21146.90 VBD 2.28 - - 2882.62 - - - 2118.31 - 171.90 - - 2306.62 - - - - - - - - - - -
21450.36 90.87 5.15 2597 21455.04 2.37 0.26 0.053 2923.25 156.3 - - 2118.25 - 171.90 - - 2307.75 - - - - - - - - 16.10 - -
21640.37 86.87 1.74 2635 21781.03 2.53 0.28 0.051 2962.38 139.8 3.72 0.113 688.75 -384.3 295.17 127.97 1.088 1814.88 -3.9 0.051 - - - - - - 16.12 15.60 12.60
22009.42 45.05 13.58 2707 22016.62 roll 2.53 - - 2962.50 - 3.50 0.056 2183.44 427.1 295.17 - - 1814.53 - - - - - - - - - 15.83 -
22200.23 31.23 4.13 2745 22288.06 2.63 0.14 0.066 2986.81 173.6 3.86 0.109 687.69 -387.5 371.81 77.36 1.011 1504.97 -4.0 0.020 - - - - - - 15.96 15.64 12.72
22446.62 23.18 6.48 2793 22453.51 roll 2.67 - - 2986.94 - 3.49 0.055 2184.69 428.9 371.81 - - 1507.34 - - - - - - - - - 15.82 -
22637.10 8.18 9.36 2831 22644.34 roll 2.67 - - 2986.62 - 3.81 0.106 687.69 -392.9 371.81 - - 1506.44 - - - - - - - - - 15.86 -
22707 end climb: SURFACE_DEPTH_REACHED
22708 begin surface coast
22737 end surface coast: CONTROL_FINISHED_OK
22738 begin surface
SM 1.60 - - - - 189.1 97.00 0.983 1083.6 11.2 21.39 0.046 1098.8 51.4 - 3.30 0.052 1068.4 322.6 -1.015 - - 12.69 15.95 15.92 -