NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 45 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 32.98 of 575.00 AH used of 24V (94.26% remains)
• Surface angle -66.3 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.86 (SM_CC=475)
• GPS1 time: 14 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
8.83 - - - 75.58 VBD -1.56 - - 181.88 - - - 2126.75 - -107.06 65.14 0.005 2552.09 - - - - - - - - - - 15.74
76.01 3.58 -3.51 13 127.34 -1.56 17.34 0.243 1961.31 102.6 3.85 0.123 691.25 -372.9 -107.06 21.38 0.006 3457.84 42.4 -4.175 - - - - - - 15.64 15.73 15.76
355.72 52.70 -14.22 68 362.30 roll -1.56 - - 1961.06 - 3.44 0.055 2126.94 417.4 -107.06 - - 3459.25 - - - - - - - - - 15.88 -
545.80 75.25 -11.69 106 552.28 roll -1.56 - - 1961.19 - 3.21 0.104 3359.12 383.9 -107.06 - - 3459.59 - - - - - - - - - 15.89 -
770.04 100.93 -10.26 151 777.20 roll -1.56 - - 1960.69 - 3.10 0.052 2071.00 -415.5 -107.06 - - 3461.19 - - - - - - - - - 15.98 -
1085.81 127.11 -7.59 183 1091.73 roll -1.56 - - 1960.62 - 3.64 0.122 689.88 -379.4 -107.06 - - 3462.19 - - - - - - - - - 15.97 -
1320.10 148.96 -9.58 230 1327.44 roll -1.56 - - 1960.56 - 3.44 0.056 2129.12 418.4 -107.06 - - 3462.16 - - - - - - - - - 16.03 -
1635.89 175.97 -8.79 262 1641.55 roll -1.56 - - 1961.25 - 3.20 0.104 3360.31 384.7 -107.06 - - 3462.12 - - - - - - - - - 16.02 -
1800.13 192.23 -9.49 295 1807.69 roll -1.56 - - 1959.94 - 3.09 0.054 2070.94 -417.3 -107.06 - - 3463.84 - - - - - - - - - 16.07 -
2115.95 219.23 -8.86 327 2122.05 roll -1.56 - - 1961.44 - 3.65 0.128 688.38 -378.8 -107.06 - - 3462.66 - - - - - - - - - 16.05 -
2350.22 244.60 -10.95 374 2357.74 roll -1.56 - - 1961.12 - 3.43 0.059 2128.06 419.7 -107.06 - - 3462.88 - - - - - - - - - 16.10 -
2666.04 274.96 -9.68 406 2671.89 roll -1.56 - - 1960.38 - 3.20 0.107 3360.00 385.0 -107.06 - - 3463.25 - - - - - - - - - 16.08 -
2876.09 297.21 -10.67 448 2881.93 roll -1.56 - - 1961.56 - 3.10 0.056 2070.56 -415.9 -107.06 - - 3462.34 - - - - - - - - - 16.10 -
3186.13 327.54 -9.78 480 3192.23 roll -1.56 - - 1961.94 - 3.64 0.128 691.12 -379.0 -107.06 - - 3460.94 - - - - - - - - - 16.11 -
3420.42 353.56 -10.71 527 3427.95 roll -1.56 - - 1960.94 - 3.43 0.059 2127.12 418.7 -107.06 - - 3462.44 - - - - - - - - - 16.13 -
3736.21 382.53 -8.95 559 3743.40 roll -1.56 - - 1960.50 - 3.79 0.124 689.94 -379.2 -107.06 - - 3461.25 - - - - - - - - - 16.15 -
3821.86 390.95 -9.93 576 3827.90 roll -1.56 - - 1961.62 - 3.43 0.062 2127.81 419.2 -107.06 - - 3462.19 - - - - - - - - - 16.16 -
4131.89 418.65 -8.94 608 4137.73 roll -1.56 - - 1960.94 - 3.17 0.111 3361.88 389.3 -107.06 - - 3462.88 - - - - - - - - - 16.15 -
4206.13 426.41 -10.37 623 4213.44 roll -1.56 - - 1960.69 - 3.07 0.058 2071.19 -420.4 -107.06 - - 3462.62 - - - - - - - - - 16.16 -
4521.91 455.59 -9.44 655 4523.48 no move -1.56 - - 1961.00 - - - 2071.25 - -107.06 - - 3460.72 - - - - - - - - - - -
4831.92 484.71 -9.29 686 4837.87 roll -1.56 - - 1960.38 - 3.32 0.108 3360.00 388.2 -107.06 - - 3460.88 - - - - - - - - - 16.15 -
4871.92 488.95 -10.33 694 4877.77 roll -1.56 - - 1961.38 - 3.07 0.059 2072.44 -419.4 -107.06 - - 3460.59 - - - - - - - - - 16.18 -
5181.94 517.51 -9.20 726 5188.29 roll -1.56 - - 1960.19 - 3.66 0.134 690.81 -377.5 -107.06 - - 3460.84 - - - - - - - - - 16.17 -
5271.96 526.83 -10.09 744 5277.95 roll -1.56 - - 1960.88 - 3.42 0.064 2126.94 419.9 -107.06 - - 3460.38 - - - - - - - - - 16.19 -
5581.98 552.36 -7.86 776 5583.55 no move -1.56 - - 1961.25 - - - 2126.69 - -107.06 - - 3458.62 - - - - - - - - - - -
5892.04 575.59 -7.62 807 5899.23 roll -1.56 - - 1961.31 - 3.78 0.130 690.12 -380.0 -107.06 - - 3458.41 - - - - - - - - - 16.19 -
5947.68 580.62 -9.42 818 5953.67 roll -1.56 - - 1960.75 - 3.40 0.065 2125.81 422.3 -107.06 - - 3458.16 - - - - - - - - - 16.20 -
6257.70 606.07 -8.66 850 6263.54 roll -1.56 - - 1961.12 - 3.17 0.113 3358.44 388.8 -107.06 - - 3457.62 - - - - - - - - - 16.19 -
6327.70 612.89 -9.78 864 6333.51 roll -1.56 - - 1960.81 - 3.08 0.062 2070.94 -418.0 -107.06 - - 3458.16 - - - - - - - - - 16.20 -
6637.73 639.95 -9.39 896 6639.30 no move -1.56 - - 1960.75 - - - 2071.62 - -107.06 - - 3456.81 - - - - - - - - - - -
6947.74 668.57 -8.86 927 6949.31 no move -1.56 - - 1960.81 - - - 2070.94 - -107.06 - - 3456.41 - - - - - - - - - - -
7257.76 697.28 -9.43 958 7264.11 roll -1.56 - - 1960.50 - 3.64 0.135 689.94 -379.4 -107.06 - - 3456.38 - - - - - - - - - 16.19 -
7317.78 703.56 -10.50 970 7323.79 roll -1.56 - - 1960.75 - 3.44 0.066 2126.75 417.7 -107.06 - - 3456.19 - - - - - - - - - 16.19 -
7627.80 733.22 -9.25 1002 7629.37 no move -1.56 - - 1960.56 - - - 2127.06 - -107.06 - - 3454.94 - - - - - - - - - - -
7937.83 762.77 -9.64 1033 7945.02 roll -1.56 - - 1960.19 - 3.77 0.131 690.75 -381.0 -107.06 - - 3454.91 - - - - - - - - - 16.20 -
7983.46 767.64 -10.42 1042 7989.47 roll -1.56 - - 1961.19 - 3.42 0.066 2127.06 420.0 -107.06 - - 3454.91 - - - - - - - - - 16.20 -
8293.49 795.16 -8.21 1074 8295.06 no move -1.56 - - 1960.94 - - - 2126.56 - -107.06 - - 3453.16 - - - - - - - - - - -
8603.53 818.72 -7.37 1105 8610.70 roll -1.56 - - 1960.94 - 3.77 0.135 690.06 -381.0 -107.06 - - 3454.19 - - - - - - - - - 16.19 -
8659.15 823.22 -8.12 1116 8665.15 roll -1.56 - - 1960.75 - 3.43 0.067 2126.25 418.7 -107.06 - - 3454.44 - - - - - - - - - 16.20 -
8969.18 843.01 -6.18 1148 8976.36 roll -1.56 - - 1960.88 - 3.76 0.133 690.00 -382.0 -107.06 - - 3453.09 - - - - - - - - - 16.20 -
9039.53 848.58 -7.85 1162 9047.06 roll -1.56 - - 1960.94 - 3.42 0.067 2128.06 420.5 -107.06 - - 3454.22 - - - - - - - - - 16.20 -
9355.33 869.36 -6.84 1194 9356.90 no move -1.56 - - 1960.56 - - - 2128.75 - -107.06 - - 3452.53 - - - - - - - - - - -
9665.35 890.74 -6.93 1225 9666.93 no move -1.56 - - 1960.75 - - - 2128.44 - -107.06 - - 3452.66 - - - - - - - - - - -
9975.38 912.27 -6.93 1256 9982.58 roll -1.56 - - 1960.81 - 3.77 0.132 690.81 -381.3 -107.06 - - 3453.53 - - - - - - - - - 16.20 -
10041.03 917.50 -8.10 1269 10047.04 roll -1.56 - - 1959.81 - 3.43 0.067 2128.06 419.0 -107.06 - - 3454.59 - - - - - - - - - 16.20 -
10351.09 939.24 -7.00 1301 10356.97 roll -1.56 - - 1960.31 - 3.18 0.117 3360.75 387.6 -107.06 - - 3453.84 - - - - - - - - - 16.20 -
10415.34 944.61 -7.85 1314 10422.65 roll -1.56 - - 1959.44 - 3.08 0.064 2072.25 -418.3 -107.06 - - 3454.34 - - - - - - - - - 16.21 -
10731.14 967.14 -7.38 1346 10737.24 roll -1.56 - - 1960.62 - 3.64 0.138 690.81 -379.5 -107.06 - - 3452.62 - - - - - - - - - 16.20 -
10795.39 972.68 -8.07 1359 10802.98 roll -1.56 - - 1960.50 - 3.46 0.067 2125.75 414.7 -107.06 - - 3451.97 - - - - - - - - - 16.20 -
11041 end dive: TARGET_DEPTH_EXCEEDED
11041 begin apogee
11042.86 990.52 -7.21 1384 11136.93 -0.42 2.45 0.127 2240.50 114.3 0.09 0.253 2122.00 -41.7 - 84.75 2.087 3018.50 -5.1 0.401 - - - - - - 16.16 15.56 12.96
11142 end apogee: CONTROL_FINISHED_OK
11142 begin climb
11144.90 991.56 - 1393 11246.23 1.56 3.70 0.069 2728.69 131.9 - - 2121.25 - 107.06 92.03 2.031 2580.31 -4.8 0.384 - - - - - - 15.66 - 12.73
11549.75 957.42 10.33 1434 11555.69 done 1.56 - - 2728.69 - 3.29 0.109 3358.56 376.1 107.06 - - 2576.91 - - - - - - - - - 15.83 -
11659.76 945.41 10.74 1456 11665.83 done 1.56 - - 2728.69 - 3.04 0.063 2123.12 -406.4 107.06 - - 2575.00 - - - - - - - - - 15.89 -
11969.78 915.68 9.26 1488 11975.70 done 1.56 - - 2728.69 - 3.26 0.110 3360.50 379.6 107.06 - - 2572.25 - - - - - - - - - 15.98 -
12094.05 903.17 10.26 1513 12101.36 done 1.56 - - 2728.69 - 3.01 0.063 2122.94 -411.1 107.06 - - 2570.75 - - - - - - - - - 15.99 -
12409.82 874.14 9.29 1545 12415.74 done 1.56 - - 2728.25 - 3.21 0.108 3359.50 385.2 107.06 - - 2569.00 - - - - - - - - - 16.04 -
12489.84 866.32 10.50 1561 12495.62 done 1.56 - - 2728.50 - 2.98 0.063 2122.75 -415.0 107.06 - - 2569.69 - - - - - - - - - 16.05 -
12799.85 837.18 9.45 1593 12805.72 done 1.56 - - 2729.06 - 3.18 0.108 3361.06 389.4 107.06 - - 2569.34 - - - - - - - - - 16.08 -
12919.86 824.91 10.07 1617 12925.62 done 1.56 - - 2728.31 - 2.95 0.063 2122.81 -419.7 107.06 - - 2569.91 - - - - - - - - - 16.10 -
13229.89 796.63 9.04 1649 13235.74 done 1.56 - - 2728.50 - 3.17 0.108 3361.69 390.8 107.06 - - 2568.00 - - - - - - - - - 16.11 -
13369.91 782.65 10.75 1677 13375.67 done 1.56 - - 2728.69 - 2.96 0.063 2123.06 -418.5 107.06 - - 2567.81 - - - - - - - - - 16.12 -
13679.92 755.17 8.58 1709 13685.78 done 1.56 - - 2728.56 - 3.19 0.108 3360.56 387.9 107.06 - - 2566.62 - - - - - - - - - 16.13 -
13789.93 744.47 10.37 1731 13795.73 done 1.56 - - 2728.62 - 2.95 0.062 2122.00 -419.9 107.06 - - 2567.47 - - - - - - - - - 16.13 -
14099.95 715.99 9.41 1763 14105.80 done 1.56 - - 2728.62 - 3.17 0.106 3360.12 390.6 107.06 - - 2567.25 - - - - - - - - - 16.14 -
14239.96 701.87 9.59 1791 14245.71 done 1.56 - - 2726.94 - 2.96 0.062 2120.81 -418.7 107.06 - - 2569.25 - - - - - - - - - 16.15 -
14550.00 672.62 9.22 1823 14555.87 done 1.56 - - 2729.19 - 3.18 0.107 3360.81 389.9 107.06 - - 2565.84 - - - - - - - - - 16.15 -
14784.32 648.50 10.42 1870 14791.58 done 1.56 - - 2727.50 - 2.95 0.062 2120.25 -420.5 107.06 - - 2568.09 - - - - - - - - - 16.18 -
15100.11 619.19 8.94 1902 15105.98 done 1.56 - - 2728.38 - 3.17 0.106 3361.25 391.5 107.06 - - 2567.34 - - - - - - - - - 16.17 -
15184.37 610.58 9.99 1919 15191.64 done 1.56 - - 2728.19 - 2.96 0.062 2120.94 -419.0 107.06 - - 2566.72 - - - - - - - - - 16.17 -
15500.14 584.28 7.74 1951 15501.72 VBD 1.56 - - 2728.81 - - - 2120.81 - 107.06 - - 2564.78 - - - - - - - - - - -
15810.17 560.20 7.77 1982 15811.74 VBD 1.56 - - 2728.75 - - - 2120.88 - 107.06 - - 2564.31 - - - - - - - - - - -
16120.24 537.87 6.75 2013 16126.05 done 1.60 - - 2728.50 - 3.14 0.106 3360.81 394.9 107.06 - - 2567.12 - - - - - - - - - 16.19 -
16180.26 533.35 7.47 2025 16185.99 done 1.62 - - 2728.50 - 2.94 0.062 2119.94 -422.1 107.06 - - 2565.69 - - - - - - - - - 16.18 -
16490.28 512.67 6.94 2057 16491.87 VBD 1.65 - - 2728.25 - - - 2119.56 - 107.06 - - 2564.03 - - - - - - - - - - -
16800.26 489.63 7.62 2088 16807.43 done 1.65 - - 2726.69 - 3.69 0.126 689.31 -387.6 107.06 - - 2567.44 - - - - - - - - - 16.16 -
16890.11 482.06 8.30 2106 16897.96 done 1.65 - - 2729.12 - 3.56 0.068 2176.00 417.6 107.06 - - 2563.81 - - - - - - - - - 16.20 -
17205.92 460.14 6.47 2138 17211.92 1.70 0.28 0.049 2759.00 106.7 3.03 0.111 3360.38 390.9 107.06 - - 2564.03 - - - - - - - - 16.26 16.17 -
17310.12 451.99 7.87 2159 17317.43 done 1.70 - - 2759.06 - 2.96 0.062 2121.31 -418.6 107.06 - - 2563.06 - - - - - - - - - 16.18 -
17625.94 429.95 6.87 2191 17631.79 done 1.74 - - 2758.12 - 3.17 0.106 3361.38 391.2 107.06 - - 2564.25 - - - - - - - - - 16.19 -
17860.16 411.91 7.69 2238 17867.47 done 1.74 - - 2758.75 - 2.96 0.062 2119.69 -419.5 107.06 - - 2563.91 - - - - - - - - - 16.18 -
18175.98 390.71 6.50 2270 18181.96 1.78 0.13 0.053 2774.06 117.8 3.17 0.106 3362.50 392.1 107.06 - - 2564.09 - - - - - - - - 16.25 16.17 -
18300.25 382.49 6.50 2295 18307.63 done 1.83 - - 2775.44 - 2.91 0.062 2119.62 -427.1 107.06 - - 2563.53 - - - - - - - - - 16.17 -
18616.02 363.93 5.30 2327 18618.08 1.91 0.23 0.058 2812.88 162.8 - - 2120.19 - 107.06 - - 2563.56 - - - - - - - - 16.24 - -
18926.08 346.92 5.54 2358 18931.90 done 1.99 - - 2812.38 - 3.13 0.105 3360.69 396.3 107.06 - - 2565.59 - - - - - - - - - 16.16 -
19036.12 339.98 6.40 2380 19041.99 2.04 0.17 0.077 2842.44 176.8 2.92 0.061 2120.44 -424.7 107.06 - - 2563.91 - - - - - - - - 16.20 16.18 -
19346.16 319.37 7.37 2412 19347.82 VBD 2.06 - - 2842.56 - - - 2121.44 - 107.06 - - 2562.44 - - - - - - - - - - -
19656.19 297.60 6.43 2443 19663.31 done 2.11 - - 2840.75 - 3.69 0.120 687.62 -388.6 107.06 - - 2562.97 - - - - - - - - - 16.15 -
19751.81 290.81 7.14 2462 19759.02 2.13 0.12 0.067 2864.75 200.0 3.52 0.067 2179.00 423.7 107.06 - - 2561.34 - - - - - - - - 16.21 16.17 -
20066.82 271.52 5.92 2494 20068.40 VBD 2.20 - - 2864.81 - - - 2178.75 - 107.06 - - 2562.56 - - - - - - - - - - -
20376.83 255.21 5.39 2525 20378.64 2.28 0.22 0.059 2901.69 167.6 - - 2178.56 - 107.06 - - 2562.69 - - - - - - - - 16.18 - -
20686.85 237.40 5.62 2556 20692.61 done 2.35 - - 2901.81 - 3.02 0.107 3363.12 392.2 107.06 - - 2563.88 - - - - - - - - - 16.14 -
20921.13 223.43 5.99 2603 20928.58 2.41 0.24 0.053 2932.50 127.9 2.95 0.059 2119.75 -421.5 107.06 - - 2565.38 - - - - - - - - 16.22 16.14 -
21236.89 208.27 4.37 2635 21322.59 2.50 0.12 0.071 2956.50 200.0 3.24 0.103 3360.75 383.0 178.84 75.54 1.049 2289.12 -3.7 0.120 - - - - - - 16.18 15.81 12.95
21551.08 164.32 16.85 2697 21556.89 roll 2.50 - - 2957.44 - 3.01 0.059 2120.75 -412.0 178.84 - - 2287.16 - - - - - - - - - 15.95 -
21861.12 117.04 13.49 2729 21866.99 roll 2.50 - - 2956.12 - 3.19 0.101 3359.19 388.2 178.84 - - 2285.38 - - - - - - - - - 15.98 -
22096.15 89.90 8.86 2776 22102.85 done 2.50 - - 2956.31 - 2.96 0.059 2118.69 -419.1 178.84 - - 2285.16 - - - - - - - - - 15.98 -
22286.46 79.00 4.55 2814 22372.02 done 2.59 - - 2957.12 - 3.24 0.100 3363.25 384.1 247.27 75.18 0.915 2009.62 -3.7 0.052 - - - - - - - 15.74 12.90
22510.45 64.88 8.95 2858 22517.02 roll 2.59 - - 2955.50 - 3.01 0.057 2119.31 -413.3 247.27 - - 2010.31 - - - - - - - - - 15.85 -
22700.51 51.19 6.58 2896 22705.17 pitch 2.64 0.21 0.060 2988.88 159.0 - - 2119.62 - 247.27 - - 2009.41 - - - - - - - - 15.93 - -
22890.54 38.67 6.65 2934 22894.92 no move 2.68 - - 2988.75 - - - 2119.88 - 247.27 - - 2008.47 - - - - - - - - - - -
23075.56 28.01 4.10 2971 23177.53 2.78 0.19 0.069 3022.19 176.0 3.80 0.117 688.06 -376.8 324.49 89.89 0.855 1695.84 -3.5 0.019 - - - - - - 15.98 15.67 12.83
23181.68 25.64 2.44 2991 23319.56 2.92 0.21 0.061 3059.00 175.3 3.62 0.061 2184.31 413.3 434.11 124.68 0.828 1250.78 -3.6 0.018 - - - - - - 15.76 15.74 12.74
23403 end climb: SURFACE_DEPTH_REACHED
23403 begin surface coast
23418 end surface coast: CONTROL_FINISHED_OK
23418 begin surface
SM 1.81 - - - - 188.1 43.79 0.808 1084.2 21.9 20.63 0.049 1092.6 53.0 - 0.24 0.093 1075.8 4467.4 -8.887 - - 12.68 15.73 15.72 -