NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 291 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 111.09 of 575.00 AH used of 24V (80.68% remains)
• Surface angle -66.2 deg, depth 1.59 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1062.1, 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
9.05 - - - 60.47 VBD -1.56 - - 182.94 - - - 2141.31 - -107.06 50.01 0.005 2163.66 - - - - - - - - - - 15.60
60.91 3.09 -3.28 10 123.40 -1.56 15.98 0.238 1960.38 111.2 3.79 0.110 687.50 -383.6 -107.06 34.03 0.006 3456.19 38.0 -3.240 - - - - - - 15.64 15.57 15.61
266.95 43.25 -16.55 50 273.48 roll -1.56 - - 1960.25 - 3.37 0.042 2133.56 429.1 -107.06 - - 3458.44 - - - - - - - - - 15.85 -
456.96 68.14 -11.84 88 463.68 roll -1.56 - - 1959.94 - 3.73 0.102 687.94 -387.6 -107.06 - - 3459.62 - - - - - - - - - 15.85 -
532.10 77.03 -11.16 103 538.96 roll -1.56 - - 1959.88 - 3.33 0.040 2134.06 434.3 -107.06 - - 3459.78 - - - - - - - - - 15.88 -
722.51 95.96 -11.33 141 729.11 roll -1.56 - - 1959.94 - 3.09 0.089 3362.00 397.4 -107.06 - - 3461.47 - - - - - - - - - 15.87 -
842.60 111.57 -12.76 165 848.34 roll -1.56 - - 1959.31 - 2.98 0.036 2064.88 -435.3 -107.06 - - 3463.50 - - - - - - - - - 15.96 -
1152.61 143.12 -9.27 197 1154.18 no move -1.56 - - 1959.44 - - - 2064.50 - -107.06 - - 3463.03 - - - - - - - - - - -
1462.63 174.42 -9.01 228 1464.20 no move -1.56 - - 1959.56 - - - 2064.62 - -107.06 - - 3463.50 - - - - - - - - - - -
1772.64 203.17 -9.91 259 1774.21 no move -1.56 - - 1959.62 - - - 2064.50 - -107.06 - - 3462.97 - - - - - - - - - - -
2082.66 234.19 -10.05 290 2084.23 no move -1.56 - - 1960.12 - - - 2063.94 - -107.06 - - 3462.78 - - - - - - - - - - -
2392.67 263.45 -9.13 321 2394.24 no move -1.56 - - 1960.06 - - - 2064.19 - -107.06 - - 3463.06 - - - - - - - - - - -
2702.70 292.31 -9.70 352 2704.27 no move -1.56 - - 1959.50 - - - 2064.88 - -107.06 - - 3463.12 - - - - - - - - - - -
3012.70 322.35 -9.89 383 3018.76 roll -1.56 - - 1959.38 - 3.60 0.116 687.56 -382.6 -107.06 - - 3463.34 - - - - - - - - - 16.01 -
3042.72 325.57 -10.10 389 3048.67 roll -1.56 - - 1959.75 - 3.36 0.047 2132.56 430.1 -107.06 - - 3464.22 - - - - - - - - - 16.07 -
3352.73 354.46 -9.15 421 3354.31 no move -1.56 - - 1959.62 - - - 2132.69 - -107.06 - - 3462.41 - - - - - - - - - - -
3662.75 382.87 -9.10 452 3664.33 no move -1.56 - - 1960.06 - - - 2132.38 - -107.06 - - 3462.94 - - - - - - - - - - -
3972.77 408.83 -7.90 483 3974.34 no move -1.56 - - 1959.56 - - - 2132.88 - -107.06 - - 3462.12 - - - - - - - - - - -
4282.79 432.90 -8.17 514 4289.98 roll -1.56 - - 1958.25 - 3.76 0.109 687.62 -384.4 -107.06 - - 3463.09 - - - - - - - - - 16.02 -
4318.46 436.23 -9.22 521 4324.47 roll -1.56 - - 1959.06 - 3.36 0.046 2132.69 430.1 -107.06 - - 3462.16 - - - - - - - - - 16.08 -
4628.47 462.85 -8.98 553 4635.68 roll -1.56 - - 1960.00 - 3.76 0.108 687.62 -384.3 -107.06 - - 3461.31 - - - - - - - - - 16.06 -
4674.52 467.35 -9.72 562 4680.21 roll -1.56 - - 1959.88 - 3.35 0.045 2130.38 430.7 -107.06 - - 3462.12 - - - - - - - - - 16.09 -
4984.30 495.19 -8.55 594 4985.88 no move -1.56 - - 1959.62 - - - 2132.50 - -107.06 - - 3460.38 - - - - - - - - - - -
5294.32 522.07 -8.68 625 5301.52 roll -1.56 - - 1957.88 - 3.76 0.109 687.75 -384.2 -107.06 - - 3460.09 - - - - - - - - - 16.06 -
5350.00 527.54 -9.86 636 5356.20 roll -1.56 - - 1959.81 - 3.32 0.046 2132.00 435.0 -107.06 - - 3460.44 - - - - - - - - - 16.07 -
5660.01 553.44 -8.28 668 5661.58 no move -1.56 - - 1959.44 - - - 2132.56 - -107.06 - - 3459.09 - - - - - - - - - - -
5970.06 579.08 -8.37 699 5977.25 roll -1.56 - - 1959.56 - 3.77 0.109 686.56 -383.6 -107.06 - - 3459.50 - - - - - - - - - 16.06 -
6025.75 584.37 -9.44 710 6031.69 roll -1.56 - - 1958.75 - 3.35 0.046 2133.00 431.8 -107.06 - - 3459.81 - - - - - - - - - 16.07 -
6336.00 610.34 -8.51 742 6342.96 roll -1.56 - - 1959.44 - 3.77 0.108 687.62 -383.4 -107.06 - - 3456.78 - - - - - - - - - 16.06 -
6375.79 614.51 -10.59 750 6383.26 roll -1.56 - - 1959.38 - 3.35 0.046 2133.00 431.5 -107.06 - - 3457.78 - - - - - - - - - 16.09 -
6691.57 643.71 -9.25 782 6697.36 roll -1.56 - - 1960.12 - 3.10 0.095 3362.31 396.6 -107.06 - - 3459.00 - - - - - - - - - 16.06 -
6735.80 648.15 -10.02 791 6743.29 roll -1.56 - - 1960.12 - 3.03 0.040 2066.19 -427.8 -107.06 - - 3457.53 - - - - - - - - - 16.09 -
7051.59 675.38 -8.63 823 7053.16 no move -1.56 - - 1959.81 - - - 2066.62 - -107.06 - - 3456.06 - - - - - - - - - - -
7361.61 701.75 -8.04 854 7367.72 roll -1.56 - - 1959.69 - 3.62 0.117 689.06 -380.5 -107.06 - - 3456.72 - - - - - - - - - 16.05 -
7395.86 705.19 -8.67 861 7403.33 roll -1.56 - - 1959.81 - 3.37 0.048 2133.00 428.5 -107.06 - - 3455.69 - - - - - - - - - 16.08 -
7711.64 730.17 -8.31 893 7718.83 roll -1.56 - - 1959.75 - 3.79 0.111 688.88 -381.0 -107.06 - - 3454.97 - - - - - - - - - 16.05 -
7767.31 734.96 -8.63 904 7773.31 roll -1.56 - - 1959.81 - 3.36 0.048 2132.31 429.6 -107.06 - - 3454.69 - - - - - - - - - 16.07 -
8077.34 761.27 -8.56 936 8084.53 roll -1.56 - - 1959.38 - 3.77 0.111 687.38 -383.3 -107.06 - - 3453.66 - - - - - - - - - 16.05 -
8183.15 771.98 -9.95 957 8189.11 roll -1.56 - - 1958.62 - 3.35 0.047 2132.25 431.3 -107.06 - - 3454.56 - - - - - - - - - 16.09 -
8493.17 797.60 -7.64 989 8494.74 no move -1.56 - - 1959.25 - - - 2131.88 - -107.06 - - 3452.81 - - - - - - - - - - -
8803.19 820.82 -7.22 1020 8810.62 roll -1.56 - - 1959.25 - 3.79 0.112 687.94 -381.0 -107.06 - - 3452.81 - - - - - - - - - 16.04 -
8889.23 828.46 -9.12 1037 8895.19 roll -1.56 - - 1960.12 - 3.35 0.048 2131.88 431.0 -107.06 - - 3453.16 - - - - - - - - - 16.07 -
9199.27 853.48 -7.74 1069 9206.46 roll -1.56 - - 1957.81 - 3.79 0.113 689.19 -380.7 -107.06 - - 3452.34 - - - - - - - - - 16.04 -
9274.94 860.48 -8.91 1084 9280.90 roll -1.56 - - 1959.88 - 3.36 0.049 2132.00 429.4 -107.06 - - 3453.47 - - - - - - - - - 16.08 -
9584.97 885.64 -8.13 1116 9592.41 roll -1.56 - - 1960.25 - 3.77 0.112 688.06 -383.0 -107.06 - - 3453.91 - - - - - - - - - 16.03 -
9641.00 890.64 -9.20 1127 9647.00 roll -1.56 - - 1960.00 - 3.34 0.048 2132.06 432.3 -107.06 - - 3452.97 - - - - - - - - - 16.07 -
9951.05 915.16 -7.82 1159 9952.62 no move -1.56 - - 1959.56 - - - 2131.69 - -107.06 - - 3451.41 - - - - - - - - - - -
10261.10 938.75 -7.27 1190 10268.31 roll -1.56 - - 1958.50 - 3.78 0.113 687.62 -382.0 -107.06 - - 3452.59 - - - - - - - - - 16.03 -
10341.03 946.09 -8.51 1206 10348.55 roll -1.56 - - 1959.75 - 3.36 0.048 2132.19 429.9 -107.06 - - 3451.97 - - - - - - - - - 16.06 -
10656.83 970.62 -8.95 1238 10664.03 roll -1.56 - - 1959.38 - 3.78 0.113 687.75 -382.1 -107.06 - - 3451.38 - - - - - - - - - 16.03 -
10696.87 974.48 -9.54 1246 10704.39 roll -1.56 - - 1960.19 - 3.35 0.048 2132.19 431.2 -107.06 - - 3452.06 - - - - - - - - - 16.06 -
10912 end dive: TARGET_DEPTH_EXCEEDED
10912 begin apogee
10914.35 990.26 -6.97 1268 11008.74 -0.42 2.42 0.118 2241.31 116.2 0.10 0.226 2115.75 -164.4 - 86.15 2.228 3019.06 -5.0 0.370 - - - - - - 16.00 15.52 12.04
11014 end apogee: CONTROL_FINISHED_OK
11014 begin climb
11017.19 991.26 - 1277 11129.96 1.56 3.93 0.059 2730.69 124.5 3.28 0.094 3362.00 380.0 107.06 94.99 2.152 2582.53 -4.6 0.351 - - - - - - 15.65 15.34 12.66
11222.80 976.90 10.49 1316 11230.07 done 1.56 - - 2730.38 - 2.97 0.041 2119.19 -418.5 107.06 - - 2574.00 - - - - - - - - - 15.68 -
11539.08 945.76 9.45 1348 11544.46 done 1.56 - - 2730.69 - 3.17 0.092 3362.81 392.3 107.06 - - 2568.09 - - - - - - - - - 15.86 -
11678.62 931.60 9.94 1376 11684.39 done 1.56 - - 2731.12 - 2.93 0.041 2118.88 -424.5 107.06 - - 2566.97 - - - - - - - - - 15.90 -
11988.89 903.90 8.81 1408 11994.56 done 1.56 - - 2730.94 - 3.14 0.091 3364.00 396.5 107.06 - - 2564.22 - - - - - - - - - 15.94 -
12222.94 880.72 10.41 1455 12230.45 done 1.56 - - 2730.94 - 2.91 0.041 2116.75 -428.6 107.06 - - 2563.72 - - - - - - - - - 15.96 -
12538.73 850.75 9.95 1487 12544.59 done 1.56 - - 2730.38 - 3.13 0.091 3365.50 399.0 107.06 - - 2563.25 - - - - - - - - - 16.00 -
12592.98 844.53 11.27 1498 12600.20 done 1.56 - - 2730.44 - 2.90 0.041 2116.06 -430.8 107.06 - - 2562.41 - - - - - - - - - 16.01 -
12908.76 813.39 9.84 1530 12910.34 VBD 1.56 - - 2730.56 - - - 2116.12 - 107.06 - - 2560.81 - - - - - - - - - - -
13219.05 784.81 8.83 1561 13225.14 1.56 0.27 0.144 2713.25 -64.1 3.14 0.092 3364.31 397.5 107.06 - - 2562.94 - - - - - - - - 16.02 15.95 -
13393.09 769.02 8.78 1596 13400.31 done 1.56 - - 2713.38 - 2.88 0.041 2114.81 -433.9 107.06 - - 2561.28 - - - - - - - - - 16.05 -
13709.16 745.29 7.34 1628 13716.03 done 1.59 - - 2713.25 - 3.66 0.109 687.69 -389.9 107.06 - - 2559.66 - - - - - - - - - 16.03 -
13848.77 734.10 7.94 1656 13856.29 done 1.59 - - 2713.19 - 3.49 0.051 2182.12 428.2 107.06 - - 2558.44 - - - - - - - - - 16.04 -
14164.58 712.01 6.89 1688 14170.55 1.62 0.24 0.049 2744.19 129.2 2.95 0.093 3365.00 401.0 107.06 - - 2558.44 - - - - - - - - 16.12 16.00 -
14368.82 694.40 8.86 1729 14376.03 done 1.62 - - 2743.25 - 2.89 0.041 2114.56 -432.7 107.06 - - 2558.88 - - - - - - - - - 16.06 -
14684.84 668.28 8.59 1761 14690.51 done 1.62 - - 2744.44 - 3.11 0.091 3364.38 401.9 107.06 - - 2559.75 - - - - - - - - - 16.05 -
14748.86 662.17 9.67 1774 14756.52 done 1.62 - - 2743.38 - 2.87 0.041 2114.81 -435.4 107.06 - - 2560.19 - - - - - - - - - 16.05 -
15064.93 634.77 8.90 1806 15066.54 VBD 1.62 - - 2743.69 - - - 2115.38 - 107.06 - - 2557.00 - - - - - - - - - - -
15374.97 610.09 7.96 1837 15380.99 1.62 0.23 0.152 2728.62 -65.5 3.12 0.091 3363.69 400.1 107.06 - - 2557.16 - - - - - - - - 16.01 15.96 -
15485.13 601.47 7.83 1859 15490.67 done 1.62 - - 2727.88 - 2.86 0.041 2115.69 -436.4 107.06 - - 2558.75 - - - - - - - - - 16.07 -
15795.09 580.27 6.29 1891 15796.97 1.67 0.22 0.055 2756.50 130.1 - - 2115.75 - 107.06 - - 2557.75 - - - - - - - - 16.08 - -
16105.14 560.57 5.68 1922 16106.75 VBD 1.74 - - 2756.25 - - - 2115.88 - 107.06 - - 2556.62 - - - - - - - - - - -
16415.18 542.64 6.02 1953 16421.04 1.81 0.19 0.058 2789.44 174.7 3.10 0.091 3363.62 402.5 107.06 - - 2556.47 - - - - - - - - 16.14 16.01 -
16489.14 537.12 7.81 1968 16497.00 1.81 0.23 0.165 2772.69 -72.8 2.87 0.043 2115.62 -434.8 107.06 - - 2557.16 - - - - - - - - 15.95 16.07 -
16805.20 515.59 6.49 2000 16807.02 1.85 0.17 0.061 2802.31 174.2 - - 2115.88 - 107.06 - - 2556.75 - - - - - - - - 16.08 - -
17115.21 493.51 7.23 2031 17122.29 done 1.88 - - 2801.81 - 3.66 0.108 687.25 -390.3 107.06 - - 2555.62 - - - - - - - - - 16.04 -
17271.12 481.12 8.03 2062 17278.13 done 1.88 - - 2802.56 - 3.47 0.052 2183.56 431.2 107.06 - - 2555.25 - - - - - - - - - 16.04 -
17586.18 458.70 7.00 2094 17593.37 done 1.91 - - 2800.38 - 3.84 0.102 686.88 -389.8 107.06 - - 2556.78 - - - - - - - - - 16.03 -
17656.26 453.09 7.90 2108 17664.22 done 1.91 - - 2802.44 - 3.44 0.050 2184.06 435.2 107.06 - - 2556.06 - - - - - - - - - 16.05 -
17972.33 433.00 5.99 2140 17978.12 1.97 0.14 0.063 2829.31 191.9 2.93 0.093 3364.81 403.0 107.06 - - 2557.25 - - - - - - - - 16.15 15.98 -
18102.35 423.90 7.09 2166 18107.96 done 2.00 - - 2829.69 - 2.88 0.041 2115.62 -433.7 107.06 - - 2556.12 - - - - - - - - - 16.05 -
18412.39 402.66 7.36 2198 18414.00 VBD 2.02 - - 2829.31 - - - 2115.06 - 107.06 - - 2555.09 - - - - - - - - - - -
18722.42 382.20 6.79 2229 18728.16 done 2.06 - - 2829.56 - 3.10 0.089 3366.19 403.6 107.06 - - 2557.53 - - - - - - - - - 16.03 -
18812.47 376.15 6.66 2247 18818.24 2.10 0.17 0.061 2858.19 168.4 2.88 0.041 2114.62 -434.6 107.06 - - 2557.06 - - - - - - - - 16.10 16.05 -
19123.10 358.10 5.71 2279 19129.59 done 2.17 - - 2858.94 - 3.65 0.104 686.94 -391.1 107.06 - - 2554.75 - - - - - - - - - 15.99 -
19338.64 343.15 7.05 2322 19345.73 2.20 0.12 0.072 2884.56 213.5 3.44 0.049 2184.06 435.2 107.06 - - 2554.62 - - - - - - - - 16.10 16.05 -
19653.65 326.27 5.43 2354 19659.31 done 2.28 - - 2883.44 - 2.92 0.091 3367.12 405.2 107.06 - - 2557.38 - - - - - - - - - 15.96 -
19887.74 311.27 6.16 2401 19895.73 2.33 0.17 0.064 2914.69 183.8 2.89 0.041 2114.69 -433.4 107.06 - - 2556.59 - - - - - - - - 16.03 16.06 -
20203.76 294.43 5.21 2433 20210.86 done 2.42 - - 2915.44 - 3.65 0.101 686.50 -391.3 107.06 - - 2556.16 - - - - - - - - - 15.90 -
20439.77 279.28 6.79 2480 20446.90 2.46 0.17 0.060 2945.94 179.4 3.44 0.048 2184.81 435.6 107.06 - - 2553.41 - - - - - - - - 15.96 16.04 -
20754.81 260.47 5.66 2512 20762.00 done 2.53 - - 2945.00 - 3.81 0.097 686.75 -393.2 107.06 - - 2555.09 - - - - - - - - - 16.02 -
20991.03 246.28 5.89 2559 20998.16 2.59 0.19 0.056 2977.56 171.4 3.45 0.047 2188.06 435.2 107.06 - - 2556.16 - - - - - - - - 16.03 16.01 -
21306.06 232.46 3.99 2591 21377.20 2.70 0.12 0.068 3005.56 233.3 3.88 0.097 686.81 -386.9 186.38 60.62 1.278 2256.41 -4.9 0.149 - - - - - - 16.08 15.79 11.99
21606.15 186.62 18.45 2650 21613.40 2.70 0.29 0.183 2991.06 -50.0 3.50 0.049 2181.06 426.9 186.38 - - 2248.88 - - - - - - - - 15.79 15.89 -
21921.16 140.58 14.38 2682 21928.40 done 2.70 - - 2989.81 - 3.84 0.098 686.81 -389.1 186.38 - - 2246.59 - - - - - - - - - 15.86 -
22157.22 107.37 12.23 2729 22164.48 done 2.70 - - 2991.56 - 3.49 0.048 2183.69 428.9 186.38 - - 2246.03 - - - - - - - - - 15.94 -
22467.29 91.44 2.29 2783 22595.97 2.84 0.41 0.041 3040.88 120.3 3.00 0.090 3365.25 393.9 298.92 116.58 1.058 1800.62 -3.8 0.055 - - - - - - 16.01 15.63 12.27
22794.82 50.26 16.19 2847 22801.78 roll back 2.84 0.26 0.172 3025.50 -59.2 2.90 0.040 2112.75 -431.9 298.92 - - 1798.53 - - - - - - - - 15.71 15.81 -
22985.65 26.72 9.01 2885 22992.75 roll 2.84 - - 3025.25 - 3.66 0.100 686.75 -389.6 298.92 - - 1797.97 - - - - - - - - - 15.81 -
23221.65 25.76 -1.50 2932 23430.12 3.09 0.61 0.035 3100.56 123.5 3.46 0.046 2191.12 434.8 485.45 193.68 0.969 1041.22 -3.9 0.017 - - - - - - 15.92 15.90 12.39
23488 end climb: SURFACE_DEPTH_REACHED
23489 begin surface coast
23504 end surface coast: CONTROL_FINISHED_OK
23504 begin surface
SM 1.58 - - - - 185.3 - - 1048.8 - 22.59 0.044 1035.4 45.8 - 0.25 0.084 1062.1 4234.6 -8.141 - - 30.00 15.74 15.72 -