NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 143 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 64.53 of 575.00 AH used of 24V (88.78% remains)
• Surface angle -63.4 deg, depth 1.51 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 20 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
8.93 - - - 75.70 VBD -1.56 - - 184.12 - - - 2141.31 - -107.06 65.19 0.005 2474.56 - - - - - - - - - - 15.73
76.14 3.51 -3.46 13 128.11 -1.56 16.16 0.237 1961.19 110.0 3.80 0.117 689.81 -382.0 -107.06 23.71 0.006 3458.22 41.5 -4.014 - - - - - - 15.73 15.69 15.74
166.40 20.83 -21.99 30 173.32 roll -1.56 - - 1960.88 - 3.34 0.050 2129.31 431.0 -107.06 - - 3459.91 - - - - - - - - - 15.85 -
356.79 53.00 -13.41 68 361.16 no move -1.56 - - 1961.25 - - - 2128.94 - -107.06 - - 3458.78 - - - - - - - - - - -
541.81 77.96 -11.73 105 546.18 no move -1.56 - - 1961.12 - - - 2129.25 - -107.06 - - 3459.41 - - - - - - - - - - -
726.83 99.25 -10.26 142 733.54 roll -1.56 - - 1960.94 - 3.71 0.112 688.88 -388.2 -107.06 - - 3461.44 - - - - - - - - - 15.93 -
791.17 106.29 -10.90 155 798.46 roll -1.56 - - 1960.94 - 3.32 0.048 2133.81 435.2 -107.06 - - 3461.69 - - - - - - - - - 15.94 -
1106.95 133.18 -8.45 187 1112.58 roll -1.56 - - 1961.19 - 3.09 0.098 3360.62 397.0 -107.06 - - 3463.12 - - - - - - - - - 16.01 -
1176.95 140.03 -10.13 201 1182.58 roll -1.56 - - 1961.12 - 3.04 0.045 2066.06 -425.8 -107.06 - - 3463.38 - - - - - - - - - 16.03 -
1486.96 169.39 -9.66 233 1492.85 roll -1.56 - - 1961.94 - 3.55 0.117 688.88 -387.9 -107.06 - - 3461.84 - - - - - - - - - 16.00 -
1541.21 175.42 -11.22 244 1548.78 roll -1.56 - - 1961.06 - 3.32 0.049 2134.00 435.3 -107.06 - - 3463.69 - - - - - - - - - 16.01 -
1857.03 204.90 -9.00 276 1858.60 no move -1.56 - - 1960.88 - - - 2133.69 - -107.06 - - 3461.66 - - - - - - - - - - -
2167.07 233.41 -9.31 307 2174.26 roll -1.56 - - 1961.06 - 3.73 0.114 689.56 -387.2 -107.06 - - 3462.78 - - - - - - - - - 16.04 -
2192.70 236.20 -10.04 312 2198.64 roll -1.56 - - 1960.25 - 3.32 0.051 2132.56 434.6 -107.06 - - 3463.44 - - - - - - - - - 16.09 -
2502.73 265.83 -9.29 344 2504.30 no move -1.56 - - 1960.75 - - - 2132.75 - -107.06 - - 3461.19 - - - - - - - - - - -
2812.85 295.96 -9.94 375 2819.93 roll -1.56 - - 1961.38 - 3.72 0.117 688.56 -388.2 -107.06 - - 3462.28 - - - - - - - - - 16.11 -
2858.39 301.18 -11.92 384 2864.29 roll -1.56 - - 1960.50 - 3.30 0.052 2132.38 437.5 -107.06 - - 3461.94 - - - - - - - - - 16.11 -
3168.50 332.91 -9.72 416 3175.55 roll -1.56 - - 1961.38 - 3.68 0.117 689.25 -392.2 -107.06 - - 3460.56 - - - - - - - - - 16.11 -
3213.99 337.84 -10.84 425 3219.88 roll -1.56 - - 1960.62 - 3.30 0.052 2130.88 436.9 -107.06 - - 3463.47 - - - - - - - - - 16.11 -
3524.26 366.87 -9.03 457 3531.16 roll -1.56 - - 1961.25 - 3.69 0.116 688.88 -390.8 -107.06 - - 3463.56 - - - - - - - - - 16.14 -
3563.95 370.96 -9.99 465 3571.37 roll -1.56 - - 1960.62 - 3.29 0.052 2132.12 438.7 -107.06 - - 3462.91 - - - - - - - - - 16.13 -
3879.74 398.34 -8.99 497 3881.32 no move -1.56 - - 1960.62 - - - 2132.12 - -107.06 - - 3461.31 - - - - - - - - - - -
4189.77 427.68 -9.67 528 4191.34 no move -1.56 - - 1960.62 - - - 2132.31 - -107.06 - - 3460.22 - - - - - - - - - - -
4499.80 455.68 -8.50 559 4501.37 no move -1.56 - - 1961.19 - - - 2132.19 - -107.06 - - 3459.56 - - - - - - - - - - -
4809.83 481.27 -8.26 590 4816.97 roll -1.56 - - 1959.94 - 3.70 0.119 687.62 -390.4 -107.06 - - 3460.25 - - - - - - - - - 16.15 -
4895.42 489.25 -9.62 607 4901.32 roll -1.56 - - 1960.06 - 3.30 0.054 2131.94 437.7 -107.06 - - 3459.56 - - - - - - - - - 16.14 -
5205.45 514.17 -7.92 639 5207.02 no move -1.56 - - 1961.12 - - - 2132.00 - -107.06 - - 3458.38 - - - - - - - - - - -
5515.49 538.55 -7.98 670 5522.62 roll -1.56 - - 1961.25 - 3.69 0.118 688.75 -391.1 -107.06 - - 3456.84 - - - - - - - - - 16.16 -
5565.30 543.22 -9.24 680 5572.98 roll -1.56 - - 1961.19 - 3.28 0.051 2132.00 440.0 -107.06 - - 3458.38 - - - - - - - - - 16.17 -
5881.12 570.06 -8.89 712 5888.31 roll -1.56 - - 1960.19 - 3.70 0.117 688.69 -390.1 -107.06 - - 3456.56 - - - - - - - - - 16.12 -
5930.99 575.42 -10.67 722 5938.44 roll -1.56 - - 1960.81 - 3.29 0.051 2134.12 439.3 -107.06 - - 3457.62 - - - - - - - - - 16.15 -
6246.79 604.29 -9.19 754 6253.98 roll -1.56 - - 1961.56 - 3.72 0.117 689.50 -388.3 -107.06 - - 3456.19 - - - - - - - - - 16.16 -
6292.42 608.96 -10.19 763 6298.36 roll -1.56 - - 1961.25 - 3.30 0.051 2132.31 437.2 -107.06 - - 3458.94 - - - - - - - - - 16.16 -
6602.45 636.14 -8.75 795 6604.02 no move -1.56 - - 1960.69 - - - 2132.44 - -107.06 - - 3455.66 - - - - - - - - - - -
6912.48 662.68 -8.68 826 6919.68 roll -1.56 - - 1960.06 - 3.71 0.117 688.75 -389.1 -107.06 - - 3457.38 - - - - - - - - - 16.15 -
6958.13 667.20 -9.86 835 6964.02 roll -1.56 - - 1961.25 - 3.29 0.051 2132.00 438.7 -107.06 - - 3457.31 - - - - - - - - - 16.17 -
7268.17 693.05 -8.06 867 7269.74 no move -1.56 - - 1961.00 - - - 2131.75 - -107.06 - - 3454.09 - - - - - - - - - - -
7578.20 717.24 -7.61 898 7585.41 roll -1.56 - - 1960.81 - 3.72 0.118 688.88 -387.9 -107.06 - - 3453.62 - - - - - - - - - 16.16 -
7623.97 720.90 -8.13 907 7629.95 roll -1.56 - - 1961.12 - 3.32 0.052 2132.75 434.9 -107.06 - - 3455.19 - - - - - - - - - 16.17 -
7934.00 744.46 -7.92 939 7941.18 roll -1.56 - - 1960.94 - 3.73 0.117 689.69 -386.9 -107.06 - - 3453.97 - - - - - - - - - 16.16 -
7999.63 750.16 -8.76 952 8005.59 roll -1.56 - - 1960.44 - 3.32 0.052 2132.94 434.7 -107.06 - - 3456.06 - - - - - - - - - 16.16 -
8309.66 774.94 -7.83 984 8311.24 no move -1.56 - - 1960.75 - - - 2132.88 - -107.06 - - 3452.59 - - - - - - - - - - -
8619.69 799.11 -7.68 1015 8626.88 roll -1.56 - - 1961.50 - 3.73 0.118 688.94 -387.1 -107.06 - - 3454.12 - - - - - - - - - 16.16 -
8685.33 804.76 -8.79 1028 8691.28 roll -1.56 - - 1960.62 - 3.33 0.053 2131.75 433.3 -107.06 - - 3454.38 - - - - - - - - - 16.16 -
8995.36 829.14 -7.92 1060 9002.80 roll -1.56 - - 1960.94 - 3.74 0.119 688.50 -385.9 -107.06 - - 3454.81 - - - - - - - - - 16.15 -
9035.59 832.78 -8.98 1068 9043.07 roll -1.56 - - 1961.06 - 3.32 0.051 2133.12 435.1 -107.06 - - 3452.66 - - - - - - - - - 16.15 -
9351.38 857.36 -7.98 1100 9352.95 no move -1.56 - - 1960.94 - - - 2133.38 - -107.06 - - 3451.59 - - - - - - - - - - -
9661.41 881.22 -7.98 1131 9668.62 roll -1.56 - - 1961.19 - 3.73 0.120 690.12 -386.9 -107.06 - - 3450.47 - - - - - - - - - 16.16 -
9781.33 892.24 -9.40 1155 9788.81 roll -1.56 - - 1960.69 - 3.31 0.053 2130.69 435.2 -107.06 - - 3453.75 - - - - - - - - - 16.16 -
10097.16 916.90 -7.80 1187 10104.34 roll -1.56 - - 1960.38 - 3.71 0.120 689.88 -388.4 -107.06 - - 3449.97 - - - - - - - - - 16.16 -
10132.79 920.17 -8.59 1194 10138.85 roll -1.56 - - 1960.94 - 3.31 0.053 2130.94 435.4 -107.06 - - 3452.50 - - - - - - - - - 16.14 -
10442.82 945.18 -7.98 1226 10450.00 roll -1.56 - - 1960.94 - 3.73 0.120 688.69 -386.7 -107.06 - - 3452.59 - - - - - - - - - 16.15 -
10498.56 950.02 -8.53 1237 10504.76 roll -1.56 - - 1960.69 - 3.32 0.053 2132.06 434.8 -107.06 - - 3451.84 - - - - - - - - - 16.15 -
10808.59 973.59 -7.55 1269 10810.17 no move -1.56 - - 1960.94 - - - 2132.06 - -107.06 - - 3450.16 - - - - - - - - - - -
11038 end dive: TARGET_DEPTH_EXCEEDED
11038 begin apogee
11040.30 990.46 -7.17 1292 11134.39 -0.42 2.41 0.118 2241.06 116.2 0.09 0.240 2119.25 -142.3 - 85.83 2.239 3019.59 -5.0 0.367 - - - - - - 16.10 15.54 12.61
11137 end apogee: CONTROL_FINISHED_OK
11137 begin climb
11140.40 991.38 - 1301 11251.89 1.56 3.80 0.060 2730.50 128.8 3.28 0.104 3362.31 379.0 107.06 95.17 2.169 2581.91 -4.6 0.348 - - - - - - 15.63 15.32 12.82
11324.67 978.07 11.67 1336 11332.02 roll 1.56 - - 2730.25 - 3.02 0.046 2118.62 -411.8 107.06 - - 2575.91 - - - - - - - - - 15.67 -
11640.45 941.48 11.51 1368 11646.35 done 1.56 - - 2730.25 - 3.14 0.099 3362.06 396.0 107.06 - - 2568.75 - - - - - - - - - 15.88 -
11760.48 926.85 12.48 1392 11766.24 done 1.56 - - 2729.50 - 2.97 0.051 2119.31 -418.4 107.06 - - 2569.72 - - - - - - - - - 15.93 -
12070.50 892.66 10.62 1424 12076.36 done 1.56 - - 2729.12 - 3.12 0.098 3363.75 398.9 107.06 - - 2568.50 - - - - - - - - - 15.98 -
12194.77 877.51 12.46 1449 12202.07 done 1.56 - - 2729.50 - 2.94 0.053 2120.06 -423.0 107.06 - - 2565.97 - - - - - - - - - 16.02 -
12510.54 843.75 9.96 1481 12512.12 VBD 1.56 - - 2729.56 - - - 2120.31 - 107.06 - - 2563.22 - - - - - - - - - - -
12820.57 812.98 9.67 1512 12826.39 done 1.56 - - 2730.25 - 3.10 0.101 3362.12 400.6 107.06 - - 2565.78 - - - - - - - - - 16.07 -
13054.86 788.71 10.47 1559 13062.13 done 1.56 - - 2729.88 - 2.93 0.054 2120.62 -423.7 107.06 - - 2563.22 - - - - - - - - - 16.10 -
13370.87 761.63 8.19 1591 13376.49 done 1.56 - - 2730.44 - 3.10 0.099 3361.81 400.4 107.06 - - 2561.66 - - - - - - - - - 16.10 -
13444.90 755.16 8.67 1606 13452.17 done 1.56 - - 2730.31 - 2.93 0.054 2118.38 -424.4 107.06 - - 2561.75 - - - - - - - - - 16.12 -
13760.67 729.15 8.45 1638 13766.49 done 1.56 - - 2730.00 - 3.10 0.099 3362.75 401.4 107.06 - - 2561.38 - - - - - - - - - 16.12 -
13840.70 721.80 9.39 1654 13846.45 done 1.56 - - 2730.12 - 2.94 0.053 2118.06 -423.4 107.06 - - 2561.62 - - - - - - - - - 16.13 -
14150.72 695.55 8.36 1686 14152.29 VBD 1.56 - - 2729.94 - - - 2118.88 - 107.06 - - 2559.59 - - - - - - - - - - -
14460.74 668.57 8.76 1717 14466.64 done 1.56 - - 2730.00 - 3.11 0.099 3363.31 400.1 107.06 - - 2561.94 - - - - - - - - - 16.13 -
14695.03 645.46 10.07 1764 14702.30 done 1.56 - - 2730.31 - 2.94 0.053 2120.50 -422.7 107.06 - - 2561.44 - - - - - - - - - 16.14 -
15010.81 618.14 8.19 1796 15016.63 done 1.56 - - 2729.81 - 3.10 0.099 3362.25 400.6 107.06 - - 2562.56 - - - - - - - - - 16.13 -
15180.84 602.75 9.17 1830 15186.60 done 1.56 - - 2729.62 - 2.92 0.053 2118.69 -425.9 107.06 - - 2560.50 - - - - - - - - - 16.15 -
15490.91 578.48 7.53 1862 15496.71 done 1.58 - - 2729.94 - 3.10 0.097 3362.62 401.3 107.06 - - 2559.44 - - - - - - - - - 16.14 -
15605.13 569.08 8.04 1885 15612.45 done 1.58 - - 2728.69 - 2.92 0.052 2117.69 -426.3 107.06 - - 2561.41 - - - - - - - - - 16.16 -
15920.95 546.77 7.39 1917 15926.72 done 1.60 - - 2729.88 - 3.09 0.099 3361.62 402.6 107.06 - - 2559.41 - - - - - - - - - 16.15 -
16120.93 530.81 7.86 1957 16126.71 done 1.60 - - 2730.56 - 2.91 0.053 2117.56 -427.5 107.06 - - 2561.81 - - - - - - - - - 16.14 -
16431.01 509.07 7.09 1989 16438.11 done 1.63 - - 2730.19 - 3.65 0.117 689.00 -391.4 107.06 - - 2558.41 - - - - - - - - - 16.13 -
16476.56 505.32 8.20 1998 16482.56 done 1.63 - - 2730.38 - 3.46 0.059 2182.31 431.6 107.06 - - 2559.28 - - - - - - - - - 16.15 -
16786.56 481.28 7.85 2030 16792.32 done 1.63 - - 2730.50 - 2.96 0.102 3362.06 398.6 107.06 - - 2558.22 - - - - - - - - - 16.10 -
16930.83 469.10 8.42 2059 16938.10 done 1.63 - - 2730.44 - 2.92 0.052 2117.50 -426.2 107.06 - - 2559.25 - - - - - - - - - 16.15 -
17246.65 445.66 7.42 2091 17248.22 VBD 1.65 - - 2730.31 - - - 2117.75 - 107.06 - - 2556.94 - - - - - - - - - - -
17556.67 423.33 6.58 2122 17563.95 1.69 0.15 0.076 2761.31 206.7 3.65 0.116 688.69 -391.5 107.06 - - 2556.12 - - - - - - - - 16.14 16.09 -
17622.39 418.25 7.62 2135 17628.56 done 1.69 - - 2761.38 - 3.46 0.059 2183.69 432.1 107.06 - - 2557.44 - - - - - - - - - 16.15 -
17932.45 397.96 6.21 2167 17938.19 done 1.75 - - 2761.06 - 2.95 0.102 3362.38 399.6 107.06 - - 2557.03 - - - - - - - - - 16.13 -
18066.72 388.81 6.81 2194 18073.98 done 1.78 - - 2761.81 - 2.93 0.052 2117.00 -425.0 107.06 - - 2558.41 - - - - - - - - - 16.11 -
18382.49 369.89 5.82 2226 18384.54 1.85 0.21 0.059 2799.69 180.4 - - 2117.19 - 107.06 - - 2558.19 - - - - - - - - 16.20 - -
18692.52 352.05 5.68 2257 18698.34 done 1.92 - - 2802.50 - 3.13 0.099 3362.19 397.8 107.06 - - 2556.97 - - - - - - - - - 16.14 -
18876.80 339.86 6.86 2294 18884.15 1.96 0.09 0.092 2824.69 246.6 2.94 0.052 2116.62 -423.7 107.06 - - 2557.81 - - - - - - - - 16.17 16.11 -
19192.57 321.44 5.99 2326 19198.44 done 2.02 - - 2825.06 - 3.12 0.097 3363.62 399.7 107.06 - - 2559.59 - - - - - - - - - 16.12 -
19426.82 303.85 8.10 2373 19434.09 done 2.02 - - 2825.62 - 2.93 0.051 2117.62 -425.3 107.06 - - 2557.25 - - - - - - - - - 16.09 -
19742.63 281.79 6.04 2405 19748.61 2.08 0.15 0.071 2857.12 210.0 3.12 0.095 3363.81 399.4 107.06 - - 2557.53 - - - - - - - - 16.17 16.09 -
19822.65 276.44 6.79 2421 19828.37 done 2.12 - - 2856.69 - 2.93 0.051 2115.88 -425.9 107.06 - - 2557.22 - - - - - - - - - 16.10 -
20132.66 258.67 5.11 2453 20134.42 2.21 0.13 0.078 2885.81 224.0 - - 2116.69 - 107.06 - - 2556.06 - - - - - - - - 16.10 - -
20442.67 241.24 5.44 2484 20444.25 VBD 2.28 - - 2885.88 - - - 2115.62 - 107.06 - - 2555.91 - - - - - - - - - - -
20752.69 224.97 5.21 2515 20760.02 2.37 0.22 0.061 2925.75 181.2 3.62 0.112 687.81 -394.4 107.06 - - 2559.75 - - - - - - - - 16.12 16.07 -
20838.51 219.77 5.93 2532 20844.47 done 2.43 - - 2926.00 - 3.47 0.058 2184.06 431.2 107.06 - - 2557.31 - - - - - - - - - 16.13 -
21148.52 204.17 4.69 2564 21207.59 2.52 0.19 0.063 2962.12 190.1 3.88 0.109 687.69 -385.7 172.69 50.35 1.258 2315.22 -4.8 0.129 - - - - - - 16.13 15.86 12.56
21345.28 179.01 16.69 2603 21353.12 roll back 2.52 0.32 0.187 2945.62 -51.6 3.51 0.057 2181.75 425.7 172.69 - - 2308.66 - - - - - - - - 15.90 15.96 -
21661.08 135.48 12.48 2635 21666.92 done 2.52 - - 2945.81 - 3.01 0.097 3363.62 392.6 172.69 - - 2305.72 - - - - - - - - - 15.97 -
21731.10 126.07 13.72 2649 21736.89 done 2.52 - - 2947.00 - 2.97 0.050 2117.12 -419.7 172.69 - - 2304.75 - - - - - - - - - 16.00 -
22041.20 94.61 7.50 2688 22048.04 done 2.53 - - 2944.94 - 3.66 0.109 688.69 -390.3 172.69 - - 2304.84 - - - - - - - - - 15.98 -
22276.57 88.35 0.57 2735 22441.24 2.72 0.54 0.041 3009.88 120.3 3.48 0.055 2186.94 430.5 318.70 149.66 1.071 1720.94 -3.9 0.053 - - - - - - 16.09 15.99 12.68
22624.66 48.48 15.69 2803 22631.69 roll 2.72 - - 3009.69 - 3.91 0.107 688.69 -383.2 318.70 - - 1719.06 - - - - - - - - - 15.80 -
22860.46 32.24 2.10 2850 22988.39 2.88 0.25 0.050 3047.44 151.0 3.50 0.054 2188.44 428.5 434.84 116.14 0.999 1248.09 -4.1 0.022 - - - - - - 15.95 15.90 12.69
23171.79 7.63 12.81 2911 23178.30 roll 2.88 - - 3047.25 - 2.97 0.097 3362.12 395.2 434.84 - - 1252.31 - - - - - - - - - 15.75 -
23211 end climb: SURFACE_DEPTH_REACHED
23212 begin surface coast
23226 end surface coast: CONTROL_FINISHED_OK
23227 begin surface
SM 1.36 - - - - 186.8 39.38 0.947 1083.9 27.5 21.86 0.043 1089.8 49.9 - 3.06 0.046 1078.1 351.3 -1.062 - - 12.71 15.86 15.84 -