NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 105 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 51.37 of 575.00 AH used of 24V (91.07% remains)
• Surface angle -62.9 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.70 (SM_CC=475)
• GPS1 time: 19 s
• GPS2 time: 24 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
8.88 - - - 75.62 VBD -1.56 - - 183.00 - - - 2058.69 - -107.06 65.17 0.005 2471.06 - - - - - - - - - - 15.76
76.05 3.36 -3.25 13 127.98 -1.56 16.28 0.242 1960.25 109.2 3.41 0.101 3361.00 381.9 -107.06 24.86 0.006 3458.00 39.7 -3.685 - - - - - - 15.70 15.71 15.75
306.35 48.68 -16.51 58 312.75 roll -1.56 - - 1961.12 - 3.09 0.049 2071.06 -417.5 -107.06 - - 3459.12 - - - - - - - - - 15.88 -
496.37 73.36 -11.35 96 500.77 no move -1.56 - - 1961.06 - - - 2071.25 - -107.06 - - 3459.31 - - - - - - - - - - -
681.38 94.07 -9.71 133 687.94 roll -1.56 - - 1961.06 - 3.33 0.095 3360.25 387.1 -107.06 - - 3460.47 - - - - - - - - - 15.95 -
711.38 97.12 -9.96 139 717.78 roll -1.56 - - 1961.06 - 3.05 0.047 2067.19 -424.0 -107.06 - - 3460.62 - - - - - - - - - 15.96 -
901.39 117.42 -11.40 161 902.92 no move -1.56 - - 1961.12 - - - 2067.38 - -107.06 - - 3459.06 - - - - - - - - - - -
1211.41 152.09 -10.71 192 1212.94 no move -1.56 - - 1961.06 - - - 2067.56 - -107.06 - - 3459.97 - - - - - - - - - - -
1521.43 183.39 -10.05 223 1527.30 roll -1.56 - - 1961.38 - 3.60 0.120 689.44 -382.8 -107.06 - - 3461.88 - - - - - - - - - 16.04 -
1555.68 187.28 -11.09 230 1563.02 roll -1.56 - - 1961.00 - 3.41 0.053 2130.25 422.5 -107.06 - - 3462.34 - - - - - - - - - 16.03 -
1871.45 217.53 -9.57 262 1878.43 roll -1.56 - - 1960.94 - 3.73 0.116 689.50 -386.3 -107.06 - - 3461.81 - - - - - - - - - 16.01 -
1921.35 222.91 -10.87 272 1928.57 roll -1.56 - - 1961.19 - 3.37 0.053 2132.00 428.0 -107.06 - - 3461.56 - - - - - - - - - 16.09 -
2236.88 254.17 -9.79 304 2238.45 no move -1.56 - - 1961.06 - - - 2132.38 - -107.06 - - 3460.75 - - - - - - - - - - -
2546.91 285.96 -10.22 335 2548.49 no move -1.56 - - 1961.06 - - - 2131.88 - -107.06 - - 3460.38 - - - - - - - - - - -
2856.94 317.86 -10.12 366 2864.12 roll -1.56 - - 1960.69 - 3.76 0.118 689.81 -383.5 -107.06 - - 3460.91 - - - - - - - - - 16.12 -
2892.56 321.64 -10.57 373 2898.51 roll -1.56 - - 1959.62 - 3.38 0.055 2131.31 426.5 -107.06 - - 3463.31 - - - - - - - - - 16.13 -
3202.59 349.68 -8.88 405 3209.78 roll -1.56 - - 1960.88 - 3.76 0.119 689.62 -383.4 -107.06 - - 3461.38 - - - - - - - - - 16.11 -
3252.46 354.74 -10.04 415 3259.95 roll -1.56 - - 1961.12 - 3.38 0.056 2130.88 426.4 -107.06 - - 3461.12 - - - - - - - - - 16.14 -
3568.25 385.20 -10.24 447 3569.82 no move -1.56 - - 1961.06 - - - 2131.12 - -107.06 - - 3460.72 - - - - - - - - - - -
3878.27 417.77 -10.99 478 3885.71 roll -1.56 - - 1960.75 - 3.76 0.121 689.38 -383.4 -107.06 - - 3460.34 - - - - - - - - - 16.15 -
3914.27 421.96 -11.57 485 3920.22 roll -1.56 - - 1959.94 - 3.40 0.056 2129.88 423.7 -107.06 - - 3462.34 - - - - - - - - - 16.17 -
4224.30 453.33 -9.17 517 4225.86 no move -1.56 - - 1960.88 - - - 2129.81 - -107.06 - - 3460.59 - - - - - - - - - - -
4534.34 481.49 -8.85 548 4541.52 roll -1.56 - - 1961.50 - 3.76 0.120 689.31 -383.1 -107.06 - - 3460.41 - - - - - - - - - 16.16 -
4594.19 487.54 -9.87 560 4601.71 roll -1.56 - - 1960.88 - 3.40 0.057 2129.94 423.7 -107.06 - - 3462.00 - - - - - - - - - 16.17 -
4909.98 514.23 -8.53 592 4911.56 no move -1.56 - - 1961.06 - - - 2129.75 - -107.06 - - 3459.66 - - - - - - - - - - -
5220.01 539.29 -8.54 623 5227.21 roll -1.56 - - 1961.00 - 3.77 0.122 689.19 -382.1 -107.06 - - 3458.88 - - - - - - - - - 16.17 -
5265.65 543.67 -9.46 632 5271.68 roll -1.56 - - 1960.69 - 3.42 0.059 2129.44 421.1 -107.06 - - 3459.25 - - - - - - - - - 16.18 -
5575.68 570.79 -9.39 664 5582.86 roll -1.56 - - 1959.38 - 3.78 0.122 689.38 -381.0 -107.06 - - 3460.75 - - - - - - - - - 16.17 -
5615.54 575.03 -10.51 672 5623.35 roll -1.56 - - 1961.69 - 3.40 0.059 2128.44 423.3 -107.06 - - 3459.53 - - - - - - - - - 16.17 -
5931.33 603.25 -8.98 704 5932.90 no move -1.56 - - 1961.12 - - - 2128.62 - -107.06 - - 3457.25 - - - - - - - - - - -
6241.36 631.53 -8.52 735 6248.55 roll -1.56 - - 1960.94 - 3.77 0.125 690.31 -381.5 -107.06 - - 3457.56 - - - - - - - - - 16.18 -
6327.00 640.22 -9.99 752 6333.00 roll -1.56 - - 1960.81 - 3.40 0.061 2127.12 422.6 -107.06 - - 3458.75 - - - - - - - - - 16.18 -
6637.04 666.47 -8.09 784 6638.63 no move -1.56 - - 1960.69 - - - 2127.69 - -107.06 - - 3456.16 - - - - - - - - - - -
6947.11 690.12 -8.12 815 6948.68 no move -1.56 - - 1960.75 - - - 2127.69 - -107.06 - - 3456.06 - - - - - - - - - - -
7257.14 714.84 -7.82 846 7264.37 roll -1.56 - - 1960.75 - 3.76 0.125 690.00 -382.4 -107.06 - - 3456.31 - - - - - - - - - 16.19 -
7307.05 719.23 -9.01 856 7314.52 roll -1.56 - - 1961.12 - 3.40 0.061 2129.75 423.5 -107.06 - - 3456.50 - - - - - - - - - 16.19 -
7622.85 743.66 -7.45 888 7630.28 roll -1.56 - - 1961.00 - 3.76 0.125 689.56 -383.0 -107.06 - - 3455.09 - - - - - - - - - 16.19 -
7663.07 747.28 -8.88 896 7670.59 roll -1.56 - - 1960.62 - 3.41 0.060 2129.06 422.1 -107.06 - - 3457.09 - - - - - - - - - 16.19 -
7978.86 772.59 -8.03 928 7980.43 no move -1.56 - - 1960.88 - - - 2129.38 - -107.06 - - 3454.41 - - - - - - - - - - -
8288.89 797.87 -7.97 959 8290.46 no move -1.56 - - 1961.25 - - - 2129.00 - -107.06 - - 3453.75 - - - - - - - - - - -
8598.91 821.86 -7.46 990 8606.10 roll -1.56 - - 1959.94 - 3.77 0.126 691.38 -381.3 -107.06 - - 3456.06 - - - - - - - - - 16.19 -
8648.78 826.20 -8.87 1000 8656.25 roll -1.56 - - 1961.06 - 3.40 0.061 2128.19 422.6 -107.06 - - 3453.97 - - - - - - - - - 16.18 -
8964.58 848.60 -7.37 1032 8971.75 roll -1.56 - - 1960.31 - 3.77 0.127 690.75 -381.3 -107.06 - - 3455.25 - - - - - - - - - 16.18 -
9010.20 852.14 -7.79 1041 9016.21 roll -1.56 - - 1960.44 - 3.40 0.060 2129.12 423.0 -107.06 - - 3453.97 - - - - - - - - - 16.18 -
9320.23 874.34 -7.35 1073 9321.80 no move -1.56 - - 1960.50 - - - 2129.06 - -107.06 - - 3452.22 - - - - - - - - - - -
9630.26 896.61 -7.35 1104 9637.71 roll -1.56 - - 1960.88 - 3.78 0.126 689.44 -380.9 -107.06 - - 3454.47 - - - - - - - - - 16.18 -
9706.28 902.94 -8.25 1119 9712.25 roll -1.56 - - 1959.88 - 3.39 0.062 2128.31 424.4 -107.06 - - 3455.22 - - - - - - - - - 16.19 -
10016.31 926.77 -8.10 1151 10023.50 roll -1.56 - - 1960.31 - 3.80 0.128 690.31 -378.4 -107.06 - - 3454.72 - - - - - - - - - 16.17 -
10081.94 933.02 -9.32 1164 10087.99 roll -1.56 - - 1960.50 - 3.42 0.062 2126.62 420.0 -107.06 - - 3454.41 - - - - - - - - - 16.17 -
10391.98 958.10 -8.48 1196 10399.18 roll -1.56 - - 1961.62 - 3.77 0.127 691.62 -380.6 -107.06 - - 3452.06 - - - - - - - - - 16.15 -
10427.62 961.36 -9.28 1203 10433.57 roll -1.56 - - 1961.38 - 3.39 0.062 2127.25 423.5 -107.06 - - 3453.66 - - - - - - - - - 16.18 -
10737.65 985.37 -7.87 1235 10739.23 no move -1.56 - - 1960.81 - - - 2127.69 - -107.06 - - 3451.59 - - - - - - - - - - -
10797 end dive: TARGET_DEPTH_EXCEEDED
10797 begin apogee
10799.35 990.07 -8.09 1241 10894.31 -0.42 2.42 0.118 2240.00 115.4 0.09 0.258 2121.19 -72.2 - 86.67 2.258 3019.50 -5.0 0.362 - - - - - - 16.15 15.53 12.87
10905 end apogee: CONTROL_FINISHED_OK
10906 begin climb
10908.64 991.58 - 1250 11015.29 1.56 3.88 0.051 2732.19 126.9 - - 2122.12 - 107.06 95.32 2.191 2582.44 -4.6 0.344 - - - - - - 15.66 - 12.75
11318.83 957.80 10.95 1300 11325.21 1.56 0.31 0.143 2714.56 -56.9 3.24 0.105 3362.44 382.8 107.06 - - 2570.88 - - - - - - - - 15.81 15.82 -
11553.13 931.14 11.03 1347 11560.55 done 1.56 - - 2714.94 - 2.99 0.055 2120.94 -415.2 107.06 - - 2568.62 - - - - - - - - - 15.95 -
11868.89 899.09 10.32 1379 11874.98 done 1.56 - - 2714.25 - 3.22 0.103 3361.25 385.2 107.06 - - 2566.38 - - - - - - - - - 16.00 -
12073.16 877.33 10.76 1420 12080.92 done 1.56 - - 2714.44 - 2.98 0.055 2121.38 -416.1 107.06 - - 2567.78 - - - - - - - - - 16.06 -
12388.92 846.51 9.53 1452 12394.98 done 1.56 - - 2714.12 - 3.20 0.102 3362.38 387.8 107.06 - - 2564.50 - - - - - - - - - 16.07 -
12503.19 835.20 10.11 1475 12510.61 done 1.56 - - 2714.31 - 2.97 0.055 2121.75 -417.7 107.06 - - 2564.34 - - - - - - - - - 16.08 -
12818.95 806.06 9.27 1507 12825.05 done 1.56 - - 2713.94 - 3.21 0.102 3361.62 386.3 107.06 - - 2564.84 - - - - - - - - - 16.11 -
12888.97 799.06 10.29 1521 12894.88 done 1.56 - - 2714.62 - 2.96 0.054 2121.00 -419.1 107.06 - - 2562.84 - - - - - - - - - 16.11 -
13198.97 771.20 8.49 1553 13205.09 done 1.56 - - 2714.00 - 3.20 0.102 3361.56 387.7 107.06 - - 2563.44 - - - - - - - - - 16.12 -
13343.23 758.29 9.10 1582 13350.65 done 1.56 - - 2714.12 - 2.95 0.055 2117.69 -421.7 107.06 - - 2564.84 - - - - - - - - - 16.13 -
13658.99 732.72 8.00 1614 13665.26 done 1.56 - - 2714.06 - 3.19 0.102 3364.00 390.7 107.06 - - 2561.81 - - - - - - - - - 16.13 -
13759.02 724.29 8.83 1634 13764.96 done 1.56 - - 2713.94 - 2.93 0.054 2120.12 -424.5 107.06 - - 2562.44 - - - - - - - - - 16.14 -
14069.02 700.29 7.75 1666 14075.06 done 1.56 - - 2714.25 - 3.18 0.102 3360.50 390.1 107.06 - - 2560.91 - - - - - - - - - 16.15 -
14159.05 692.53 8.75 1684 14164.97 done 1.56 - - 2714.12 - 2.93 0.055 2121.25 -423.0 107.06 - - 2561.69 - - - - - - - - - 16.16 -
14469.08 666.86 8.39 1716 14475.12 done 1.56 - - 2714.44 - 3.17 0.101 3360.69 391.0 107.06 - - 2560.81 - - - - - - - - - 16.16 -
14619.13 653.25 8.91 1746 14625.04 done 1.56 - - 2714.38 - 2.92 0.055 2120.50 -424.7 107.06 - - 2560.50 - - - - - - - - - 16.16 -
14929.21 629.00 7.53 1778 14935.19 done 1.58 - - 2713.44 - 3.18 0.101 3361.19 390.2 107.06 - - 2563.00 - - - - - - - - - 16.17 -
15059.19 618.82 7.75 1804 15065.35 done 1.58 - - 2714.50 - 2.92 0.054 2120.56 -424.9 107.06 - - 2560.59 - - - - - - - - - 16.16 -
15369.20 596.55 7.55 1836 15370.81 VBD 1.58 - - 2714.00 - - - 2120.06 - 107.06 - - 2559.25 - - - - - - - - - - -
15679.20 573.73 7.63 1867 15685.23 done 1.58 - - 2714.25 - 3.17 0.101 3359.69 391.1 107.06 - - 2559.91 - - - - - - - - - 16.16 -
15849.24 559.40 8.30 1901 15855.16 done 1.58 - - 2714.12 - 2.92 0.055 2118.69 -425.0 107.06 - - 2559.75 - - - - - - - - - 16.17 -
16159.30 537.10 7.28 1933 16165.56 1.60 0.20 0.052 2743.88 148.8 3.18 0.101 3362.50 391.1 107.06 - - 2560.41 - - - - - - - - 16.23 16.15 -
16293.53 525.78 8.82 1960 16301.21 1.60 0.29 0.159 2722.56 -73.5 2.92 0.054 2118.94 -425.9 107.06 - - 2562.31 - - - - - - - - 16.14 16.17 -
16609.34 502.28 7.34 1992 16610.96 VBD 1.62 - - 2723.31 - - - 2118.62 - 107.06 - - 2558.31 - - - - - - - - - - -
16919.36 480.55 6.99 2023 16925.58 1.66 0.21 0.052 2757.38 162.2 3.19 0.101 3362.38 389.9 107.06 - - 2559.12 - - - - - - - - 16.22 16.16 -
17153.66 462.70 7.36 2070 17161.03 done 1.68 - - 2758.06 - 2.92 0.056 2118.88 -425.9 107.06 - - 2560.16 - - - - - - - - - 16.17 -
17469.42 441.53 6.63 2102 17475.40 done 1.72 - - 2757.62 - 3.19 0.101 3361.62 389.6 107.06 - - 2560.22 - - - - - - - - - 16.17 -
17499.44 439.45 6.90 2108 17505.34 done 1.75 - - 2756.75 - 2.91 0.054 2118.25 -427.3 107.06 - - 2560.62 - - - - - - - - - 16.18 -
17809.44 420.62 5.85 2140 17816.99 1.82 0.20 0.050 2797.12 201.8 3.64 0.118 688.38 -392.8 107.06 - - 2557.25 - - - - - - - - 16.23 16.14 -
18005.57 406.24 7.49 2179 18011.76 done 1.84 - - 2797.12 - 3.55 0.061 2168.81 417.0 107.06 - - 2559.06 - - - - - - - - - 16.17 -
18315.58 385.59 6.92 2211 18317.19 VBD 1.87 - - 2796.56 - - - 2180.69 - 107.06 - - 2556.84 - - - - - - - - - - -
18625.60 364.96 6.22 2242 18631.52 done 1.92 - - 2796.62 - 3.03 0.102 3361.56 389.7 107.06 - - 2558.47 - - - - - - - - - 16.16 -
18779.88 354.25 6.78 2273 18787.42 1.96 0.16 0.057 2829.94 208.3 2.93 0.055 2117.38 -424.6 107.06 - - 2558.19 - - - - - - - - 16.23 16.18 -
19095.64 335.66 5.46 2305 19101.63 done 2.04 - - 2830.06 - 3.17 0.101 3360.75 392.2 107.06 - - 2557.44 - - - - - - - - - 16.17 -
19259.93 325.31 6.46 2338 19267.47 2.09 0.17 0.051 2856.31 154.4 2.91 0.056 2117.12 -427.4 107.06 - - 2557.84 - - - - - - - - 16.23 16.16 -
19575.69 306.60 5.97 2370 19583.01 done 2.15 - - 2856.62 - 3.61 0.113 687.38 -396.0 107.06 - - 2560.84 - - - - - - - - - 16.14 -
19641.56 302.17 6.80 2383 19648.97 2.19 0.16 0.041 2876.38 123.5 3.52 0.060 2180.44 424.2 107.06 - - 2558.91 - - - - - - - - 16.21 16.16 -
19956.57 282.79 5.86 2415 19963.92 done 2.25 - - 2875.50 - 3.77 0.110 687.25 -396.1 107.06 - - 2555.75 - - - - - - - - - 16.14 -
19996.79 280.09 5.83 2423 20004.59 2.32 0.29 0.040 2921.06 157.1 3.50 0.060 2182.44 427.2 107.06 - - 2557.59 - - - - - - - - 16.21 16.15 -
20312.48 260.45 6.20 2455 20318.46 done 2.38 - - 2921.31 - 2.97 0.101 3362.31 397.3 107.06 - - 2557.94 - - - - - - - - - 16.14 -
20382.51 256.23 5.94 2469 20388.29 done 2.44 - - 2919.88 - 2.88 0.054 2116.25 -432.7 107.06 - - 2559.38 - - - - - - - - - 16.15 -
20692.51 239.91 5.13 2501 20699.99 2.53 0.25 0.045 2968.69 195.2 3.58 0.113 687.25 -399.2 107.06 - - 2560.50 - - - - - - - - 16.21 16.13 -
20928.60 223.94 6.80 2548 20934.72 done 2.56 - - 2970.12 - 3.49 0.059 2180.06 427.7 107.06 - - 2556.25 - - - - - - - - - 16.15 -
21238.61 205.19 5.13 2580 21244.46 done 2.65 - - 2970.56 - 2.94 0.100 3362.94 402.3 107.06 - - 2557.72 - - - - - - - - - 16.14 -
21472.90 190.62 6.33 2627 21480.44 2.70 0.19 0.053 3010.81 211.8 2.88 0.053 2116.44 -432.8 107.06 - - 2558.16 - - - - - - - - 16.15 16.14 -
21788.65 176.24 4.11 2659 21885.43 done 2.80 - - 3011.12 - 3.20 0.099 3361.62 389.1 183.99 85.37 1.187 2268.78 -3.4 0.083 - - - - - - - 15.73 12.83
22008.29 149.46 16.07 2702 22015.71 roll 2.80 - - 3010.88 - 2.94 0.053 2118.88 -422.7 183.99 - - 2264.53 - - - - - - - - - 15.89 -
22324.08 103.34 12.41 2734 22330.16 done 2.80 - - 3011.12 - 3.16 0.097 3363.00 393.7 183.99 - - 2261.47 - - - - - - - - - 15.96 -
22359.11 99.02 12.41 2741 22365.76 done 2.80 - - 3009.94 - 2.91 0.052 2117.06 -428.2 183.99 - - 2263.44 - - - - - - - - - 15.95 -
22549.20 78.50 11.55 2779 22556.22 done 2.80 - - 3010.62 - 3.60 0.111 687.69 -397.0 183.99 - - 2260.84 - - - - - - - - - 15.98 -
22784.79 62.51 3.35 2826 22894.04 2.92 0.51 0.027 3058.25 93.4 3.51 0.058 2185.00 426.6 275.79 97.21 1.070 1893.88 -3.8 0.037 - - - - - - 16.08 15.99 12.77
23077.62 37.99 13.40 2883 23084.80 roll 2.92 - - 3057.62 - 3.81 0.107 687.06 -393.2 275.79 - - 1894.12 - - - - - - - - - 15.82 -
23263.48 20.55 4.94 2920 23329.82 done 3.00 - - 3058.31 - 3.53 0.055 2183.62 424.0 336.43 57.27 1.012 1646.16 -4.3 0.015 - - - - - - - 15.90 12.70
23513.30 15.93 4.25 2969 23590.41 3.10 0.27 0.039 3108.25 185.0 3.06 0.099 3361.19 384.8 410.54 67.92 0.995 1345.28 -4.4 0.012 - - - - - - 15.90 15.61 12.81
23638 end climb: SURFACE_DEPTH_REACHED
23639 begin surface coast
23654 end surface coast: CONTROL_FINISHED_OK
23654 begin surface
SM 1.38 - - - - 189.2 57.73 0.990 1084.8 17.6 22.19 0.040 1102.3 49.7 - 3.05 0.050 1067.3 348.9 -0.984 - - 12.74 15.78 15.76 -