NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 193 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 79.78 of 575.00 AH used of 24V (86.13% remains)
• Surface angle -63.0 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.91 (SM_CC=475)
• GPS1 time: 15 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
8.96 - - - 70.55 VBD -1.56 - - 184.12 - - - 2130.62 - -107.06 60.06 0.005 2367.25 - - - - - - - - - - 15.70
70.99 3.27 -3.22 12 127.89 -1.56 16.05 0.232 1960.69 110.7 3.13 0.097 3361.88 393.4 -107.06 28.47 0.006 3457.34 38.3 -3.433 - - - - - - 15.71 15.68 15.70
306.44 43.89 -16.84 58 312.84 roll -1.56 - - 1961.06 - 3.07 0.042 2068.25 -421.4 -107.06 - - 3459.84 - - - - - - - - - 15.89 -
496.46 67.62 -10.11 96 502.96 roll -1.56 - - 1961.25 - 3.24 0.090 3362.81 399.6 -107.06 - - 3460.53 - - - - - - - - - 15.91 -
546.46 73.31 -11.15 106 553.18 roll -1.56 - - 1959.94 - 3.04 0.039 2064.06 -427.2 -107.06 - - 3461.34 - - - - - - - - - 15.94 -
736.62 93.29 -10.85 144 741.32 no move -1.56 - - 1961.50 - - - 2064.31 - -107.06 - - 3460.66 - - - - - - - - - - -
931.62 116.03 -11.93 170 937.53 roll -1.56 - - 1961.00 - 3.23 0.089 3362.75 402.0 -107.06 - - 3461.00 - - - - - - - - - 16.00 -
1041.64 128.77 -10.96 192 1047.44 roll -1.56 - - 1959.62 - 3.02 0.041 2065.25 -429.6 -107.06 - - 3462.88 - - - - - - - - - 16.04 -
1351.91 159.75 -9.61 224 1353.48 no move -1.56 - - 1960.56 - - - 2064.88 - -107.06 - - 3461.66 - - - - - - - - - - -
1661.67 187.02 -8.09 255 1663.24 no move -1.56 - - 1961.31 - - - 2064.62 - -107.06 - - 3461.94 - - - - - - - - - - -
1971.68 213.37 -8.42 286 1977.61 roll -1.56 - - 1960.81 - 3.24 0.092 3362.31 400.5 -107.06 - - 3464.16 - - - - - - - - - 16.07 -
2035.93 220.01 -10.42 299 2043.28 roll -1.56 - - 1961.50 - 3.04 0.043 2065.88 -426.5 -107.06 - - 3462.47 - - - - - - - - - 16.02 -
2351.71 249.73 -10.08 331 2353.53 no move -1.56 - - 1961.62 - - - 2064.75 - -107.06 - - 3461.78 - - - - - - - - - - -
2661.72 281.33 -10.16 362 2667.78 roll -1.56 - - 1961.38 - 3.57 0.117 689.75 -385.2 -107.06 - - 3462.06 - - - - - - - - - 15.99 -
2711.74 286.91 -11.01 372 2717.70 roll -1.56 - - 1960.62 - 3.35 0.045 2134.25 431.2 -107.06 - - 3463.06 - - - - - - - - - 16.10 -
3021.77 315.42 -9.14 404 3027.57 roll -1.56 - - 1960.75 - 3.09 0.094 3363.62 397.9 -107.06 - - 3463.00 - - - - - - - - - 16.10 -
3056.01 318.83 -9.51 411 3063.31 roll -1.56 - - 1961.12 - 3.05 0.042 2065.88 -425.5 -107.06 - - 3463.53 - - - - - - - - - 16.08 -
3371.78 348.75 -9.44 443 3377.68 roll -1.56 - - 1961.19 - 3.28 0.091 3363.62 395.7 -107.06 - - 3462.47 - - - - - - - - - 16.11 -
3411.79 352.99 -10.05 451 3417.59 roll -1.56 - - 1961.44 - 3.02 0.041 2065.38 -429.9 -107.06 - - 3462.47 - - - - - - - - - 16.12 -
3721.80 381.83 -9.31 483 3727.89 roll -1.56 - - 1960.94 - 3.56 0.118 688.75 -386.7 -107.06 - - 3463.34 - - - - - - - - - 16.10 -
3751.81 385.10 -9.74 489 3757.80 roll -1.56 - - 1960.88 - 3.35 0.045 2133.00 431.1 -107.06 - - 3463.09 - - - - - - - - - 16.13 -
4061.85 415.30 -9.84 521 4063.42 no move -1.56 - - 1960.69 - - - 2133.06 - -107.06 - - 3461.75 - - - - - - - - - - -
4371.86 446.37 -9.82 552 4373.43 no move -1.56 - - 1960.88 - - - 2132.88 - -107.06 - - 3461.09 - - - - - - - - - - -
4681.89 474.96 -9.19 583 4689.07 roll -1.56 - - 1961.38 - 3.75 0.114 688.19 -385.3 -107.06 - - 3461.50 - - - - - - - - - 16.11 -
4737.55 480.71 -10.29 594 4743.51 roll -1.56 - - 1960.88 - 3.36 0.047 2132.06 429.7 -107.06 - - 3460.66 - - - - - - - - - 16.14 -
5047.59 508.97 -8.97 626 5049.16 no move -1.56 - - 1960.88 - - - 2131.81 - -107.06 - - 3459.72 - - - - - - - - - - -
5357.61 536.24 -8.58 657 5364.80 roll -1.56 - - 1960.69 - 3.74 0.113 689.69 -385.6 -107.06 - - 3459.56 - - - - - - - - - 16.14 -
5393.27 539.85 -9.48 664 5399.27 roll -1.56 - - 1960.81 - 3.37 0.047 2134.38 428.7 -107.06 - - 3459.84 - - - - - - - - - 16.13 -
5703.30 567.28 -9.07 696 5704.87 no move -1.56 - - 1961.31 - - - 2134.44 - -107.06 - - 3458.06 - - - - - - - - - - -
6013.32 595.73 -9.06 727 6014.89 no move -1.56 - - 1960.56 - - - 2134.38 - -107.06 - - 3457.97 - - - - - - - - - - -
6323.33 624.01 -9.15 758 6330.53 roll -1.56 - - 1960.50 - 3.76 0.116 690.00 -384.1 -107.06 - - 3457.84 - - - - - - - - - 16.13 -
6363.25 628.08 -10.06 766 6370.72 roll -1.56 - - 1961.06 - 3.36 0.047 2132.06 429.2 -107.06 - - 3457.88 - - - - - - - - - 16.14 -
6679.05 655.35 -8.76 798 6686.25 roll -1.56 - - 1960.19 - 3.74 0.114 687.62 -386.2 -107.06 - - 3458.50 - - - - - - - - - 16.14 -
6734.73 660.64 -9.64 809 6740.94 roll -1.56 - - 1960.69 - 3.36 0.047 2132.88 430.1 -107.06 - - 3458.38 - - - - - - - - - 16.15 -
7044.75 686.39 -8.07 841 7051.94 roll -1.56 - - 1960.44 - 3.76 0.114 687.81 -384.3 -107.06 - - 3457.34 - - - - - - - - - 16.14 -
7090.42 690.57 -9.36 850 7096.37 roll -1.56 - - 1960.06 - 3.34 0.047 2133.50 432.8 -107.06 - - 3458.50 - - - - - - - - - 16.12 -
7400.44 715.68 -8.31 882 7407.63 roll -1.56 - - 1960.31 - 3.72 0.115 688.81 -388.4 -107.06 - - 3457.16 - - - - - - - - - 16.13 -
7466.12 721.83 -9.80 895 7472.32 roll -1.56 - - 1961.12 - 3.35 0.047 2133.00 431.1 -107.06 - - 3456.50 - - - - - - - - - 16.14 -
7626 end dive: TARGET_DEPTH_EXCEEDED
7626 begin apogee
7627.83 735.38 -8.56 912 7721.84 -0.42 2.31 0.113 2241.31 121.3 0.09 0.219 2115.44 -195.1 - 84.32 1.882 3018.62 -5.2 0.334 - - - - - - 16.09 15.64 12.58
7733 end apogee: CONTROL_FINISHED_OK
7733 begin climb
7736.15 737.22 - 921 7837.49 1.56 3.75 0.053 2731.62 130.7 - - 2114.62 - 107.06 91.65 1.822 2580.03 -4.8 0.319 - - - - - - 15.75 - 12.83
8141.06 709.05 8.82 963 8142.87 1.56 0.28 0.134 2713.06 -66.3 - - 2113.88 - 107.06 - - 2569.69 - - - - - - - - 15.87 - -
8451.08 683.43 8.72 994 8452.65 VBD 1.56 - - 2714.31 - - - 2113.88 - 107.06 - - 2565.41 - - - - - - - - - - -
8761.13 658.22 8.07 1025 8762.70 VBD 1.56 - - 2714.56 - - - 2113.88 - 107.06 - - 2564.69 - - - - - - - - - - -
9071.40 633.40 7.85 1056 9077.28 done 1.56 - - 2714.44 - 3.14 0.095 3362.62 397.7 107.06 - - 2564.91 - - - - - - - - - 16.05 -
9211.19 621.72 8.25 1084 9216.96 done 1.56 - - 2714.62 - 2.93 0.044 2117.62 -424.9 107.06 - - 2563.25 - - - - - - - - - 16.06 -
9521.26 599.50 7.09 1116 9522.84 VBD 1.59 - - 2714.31 - - - 2117.56 - 107.06 - - 2561.72 - - - - - - - - - - -
9831.29 578.82 6.55 1147 9837.34 1.64 0.25 0.044 2753.94 158.5 3.14 0.093 3363.25 396.7 107.06 - - 2561.59 - - - - - - - - 16.16 16.08 -
10065.60 561.79 7.06 1194 10072.82 done 1.67 - - 2753.81 - 2.91 0.043 2115.81 -428.7 107.06 - - 2561.59 - - - - - - - - - 16.11 -
10381.37 540.55 6.88 1226 10387.20 done 1.70 - - 2754.12 - 3.13 0.090 3363.19 398.5 107.06 - - 2561.69 - - - - - - - - - 16.11 -
10471.40 534.08 7.40 1244 10477.10 done 1.72 - - 2752.69 - 2.91 0.043 2116.19 -428.5 107.06 - - 2563.69 - - - - - - - - - 16.12 -
10781.42 513.33 6.67 1276 10783.17 1.76 0.10 0.088 2787.00 343.1 - - 2115.12 - 107.06 - - 2558.34 - - - - - - - - 16.16 - -
11091.67 490.46 7.04 1307 11098.53 1.79 0.25 0.142 2769.19 -71.2 3.13 0.092 3362.62 398.6 107.06 - - 2562.28 - - - - - - - - 16.10 16.07 -
11251.37 478.48 7.61 1339 11258.65 done 1.79 - - 2770.12 - 2.92 0.043 2115.88 -427.0 107.06 - - 2560.84 - - - - - - - - - 16.13 -
11567.19 457.22 6.85 1371 11568.95 1.83 0.17 0.058 2801.44 184.2 - - 2115.12 - 107.06 - - 2558.88 - - - - - - - - 16.16 - -
11877.23 434.73 7.01 1402 11884.36 done 1.86 - - 2802.00 - 3.67 0.111 687.81 -388.9 107.06 - - 2558.41 - - - - - - - - - 16.12 -
11982.96 426.01 8.58 1423 11989.14 done 1.86 - - 2802.12 - 3.52 0.051 2184.69 425.3 107.06 - - 2557.53 - - - - - - - - - 16.11 -
12293.03 404.74 6.98 1455 12294.60 VBD 1.89 - - 2801.81 - - - 2184.38 - 107.06 - - 2556.69 - - - - - - - - - - -
12603.07 383.91 6.89 1486 12610.65 done 1.93 - - 2800.44 - 3.84 0.103 687.25 -389.9 107.06 - - 2557.09 - - - - - - - - - 16.10 -
12839.30 365.46 7.83 1533 12845.30 done 1.93 - - 2801.69 - 3.50 0.050 2179.50 426.4 107.06 - - 2559.06 - - - - - - - - - 16.14 -
13149.33 346.75 5.84 1565 13155.21 1.99 0.16 0.057 2842.38 254.3 2.98 0.093 3363.81 397.4 107.06 - - 2558.62 - - - - - - - - 16.17 16.09 -
13273.61 339.29 5.89 1590 13280.84 done 2.06 - - 2842.12 - 2.92 0.042 2113.12 -428.3 107.06 - - 2559.25 - - - - - - - - - 16.13 -
13589.39 320.64 5.91 1622 13596.51 done 2.12 - - 2840.81 - 3.66 0.106 687.62 -389.5 107.06 - - 2559.81 - - - - - - - - - 16.11 -
13659.40 316.10 6.63 1636 13667.09 2.17 0.20 0.049 2881.19 201.9 3.52 0.049 2185.38 425.5 107.06 - - 2559.03 - - - - - - - - 16.15 16.12 -
13975.17 294.05 7.05 1668 13982.38 done 2.20 - - 2881.31 - 3.82 0.101 687.69 -392.1 107.06 - - 2558.84 - - - - - - - - - 16.08 -
14210.90 275.68 7.69 1715 14216.99 done 2.20 - - 2881.69 - 3.52 0.050 2182.50 424.7 107.06 - - 2556.09 - - - - - - - - - 16.12 -
14520.93 257.33 5.81 1747 14528.16 done 2.26 - - 2881.75 - 3.83 0.101 687.69 -390.3 107.06 - - 2555.84 - - - - - - - - - 16.07 -
14756.74 241.56 6.71 1794 14763.96 2.30 0.14 0.060 2915.56 241.5 3.53 0.049 2184.94 424.2 107.06 - - 2555.50 - - - - - - - - 16.18 16.12 -
15071.74 226.13 3.98 1826 15141.13 done 2.41 - - 2915.38 - 3.89 0.103 687.88 -384.8 186.53 60.38 1.267 2257.84 -4.9 0.145 - - - - - - - 15.85 12.50
15244.75 206.51 16.31 1860 15250.85 roll 2.41 - - 2916.06 - 3.57 0.049 2180.44 418.1 186.53 - - 2252.12 - - - - - - - - - 15.90 -
15554.75 163.34 14.66 1892 15556.33 VBD 2.41 - - 2915.75 - - - 2180.25 - 186.53 - - 2246.72 - - - - - - - - - - -
15864.77 117.83 12.69 1923 15870.58 done 2.41 - - 2915.56 - 3.03 0.091 3361.81 390.0 186.53 - - 2248.47 - - - - - - - - - 15.98 -
15924.78 110.05 12.59 1935 15930.54 done 2.41 - - 2915.88 - 2.94 0.040 2115.50 -423.9 186.53 - - 2245.66 - - - - - - - - - 15.99 -
16234.86 81.74 7.04 1988 16241.64 2.44 0.10 0.090 2949.69 338.1 3.20 0.089 3364.44 390.3 186.53 - - 2245.75 - - - - - - - - 16.01 15.99 -
16310.17 77.26 5.92 2003 16316.65 done 2.50 - - 2949.25 - 2.94 0.041 2113.69 -425.4 186.53 - - 2245.75 - - - - - - - - - 16.00 -
16500.21 63.33 7.66 2041 16507.10 done 2.50 - - 2948.75 - 3.68 0.103 687.88 -387.4 186.53 - - 2246.88 - - - - - - - - - 15.99 -
16650.65 54.21 4.70 2071 16731.47 2.58 0.18 0.051 2982.44 187.2 3.56 0.047 2187.81 421.3 251.85 69.68 1.020 1993.06 -3.6 0.032 - - - - - - 16.09 16.01 12.60
16915.06 37.63 8.69 2123 16922.35 roll back 2.58 0.34 0.161 2962.62 -58.3 3.88 0.097 688.69 -386.4 251.85 - - 1988.12 - - - - - - - - 15.86 15.86 -
17150.89 17.33 4.80 2170 17226.50 2.67 0.28 0.038 3001.31 138.2 3.55 0.046 2187.25 422.1 315.40 64.30 0.969 1735.31 -3.9 0.012 - - - - - - 15.98 15.93 12.66
17410.11 7.14 4.26 2221 17491.51 done 2.76 - - 3001.94 - 3.08 0.089 3363.31 381.8 389.41 73.57 0.948 1430.53 -4.1 0.005 - - - - - - - 15.63 12.63
17535 end climb: SURFACE_DEPTH_REACHED
17535 begin surface coast
17570 end surface coast: CONTROL_FINISHED_OK
17570 begin surface
SM 1.07 - - - - 186.9 82.17 0.949 1084.0 12.3 21.61 0.037 1096.4 50.7 - 3.10 0.040 1071.6 344.7 -0.942 - - 12.73 15.85 15.81 -