NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 206 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 84.11 of 575.00 AH used of 24V (85.37% remains)
• Surface angle -65.7 deg, depth 1.60 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 60 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
8.99 - - - 70.58 VBD -1.56 - - 184.06 - - - 2148.75 - -107.06 60.08 0.005 2413.03 - - - - - - - - - - 15.67
71.02 3.55 -3.68 12 122.87 -1.56 16.08 0.235 1960.38 110.5 3.15 0.095 3362.94 385.5 -107.06 24.03 0.006 3458.16 43.5 -4.254 - - - - - - 15.67 15.64 15.68
326.42 52.45 -14.80 62 332.85 roll -1.56 - - 1960.06 - 3.08 0.039 2068.50 -420.3 -107.06 - - 3460.53 - - - - - - - - - 15.88 -
516.43 77.82 -12.79 100 520.83 no move -1.56 - - 1960.31 - - - 2068.56 - -107.06 - - 3460.22 - - - - - - - - - - -
701.50 99.68 -11.03 137 708.22 roll -1.56 - - 1960.19 - 3.33 0.087 3362.88 388.7 -107.06 - - 3462.53 - - - - - - - - - 15.93 -
802.11 111.82 -11.88 157 807.65 roll -1.56 - - 1960.31 - 3.04 0.038 2065.50 -426.8 -107.06 - - 3461.94 - - - - - - - - - 15.96 -
1112.12 142.70 -10.14 189 1117.82 roll -1.56 - - 1959.38 - 3.31 0.087 3362.62 391.9 -107.06 - - 3464.38 - - - - - - - - - 15.99 -
1152.12 147.15 -11.38 197 1157.70 roll -1.56 - - 1960.31 - 3.06 0.039 2064.81 -424.1 -107.06 - - 3464.47 - - - - - - - - - 15.99 -
1461.89 179.88 -9.96 229 1467.84 roll -1.56 - - 1961.06 - 3.31 0.087 3364.25 392.6 -107.06 - - 3463.00 - - - - - - - - - 16.02 -
1501.89 184.09 -10.71 237 1507.70 roll -1.56 - - 1960.31 - 3.05 0.041 2065.06 -426.0 -107.06 - - 3464.88 - - - - - - - - - 16.01 -
1811.91 213.99 -9.49 269 1813.48 no move -1.56 - - 1961.12 - - - 2064.88 - -107.06 - - 3462.09 - - - - - - - - - - -
2121.92 243.46 -9.80 300 2123.49 no move -1.56 - - 1960.62 - - - 2064.69 - -107.06 - - 3462.34 - - - - - - - - - - -
2431.93 273.45 -9.43 331 2433.50 no move -1.56 - - 1960.94 - - - 2064.81 - -107.06 - - 3461.75 - - - - - - - - - - -
2741.94 303.69 -9.53 362 2743.51 no move -1.56 - - 1961.06 - - - 2064.69 - -107.06 - - 3462.12 - - - - - - - - - - -
3051.96 332.70 -9.40 393 3053.53 no move -1.56 - - 1961.31 - - - 2065.31 - -107.06 - - 3461.53 - - - - - - - - - - -
3361.98 362.32 -9.77 424 3363.55 no move -1.56 - - 1960.94 - - - 2065.19 - -107.06 - - 3461.34 - - - - - - - - - - -
3671.99 391.42 -8.98 455 3673.56 no move -1.56 - - 1961.19 - - - 2065.12 - -107.06 - - 3460.00 - - - - - - - - - - -
3982.04 418.08 -8.33 486 3988.03 roll -1.56 - - 1961.38 - 3.34 0.094 3361.50 388.1 -107.06 - - 3460.97 - - - - - - - - - 16.10 -
4026.29 422.37 -9.43 495 4033.62 roll -1.56 - - 1961.31 - 3.09 0.046 2069.69 -418.1 -107.06 - - 3460.44 - - - - - - - - - 16.10 -
4342.08 450.16 -8.76 527 4348.18 roll -1.56 - - 1960.94 - 3.66 0.120 690.75 -376.8 -107.06 - - 3459.22 - - - - - - - - - 16.10 -
4382.09 454.44 -10.68 535 4388.10 roll -1.56 - - 1960.88 - 3.40 0.047 2135.12 424.8 -107.06 - - 3460.16 - - - - - - - - - 16.12 -
4692.13 483.77 -9.43 567 4693.69 no move -1.56 - - 1960.94 - - - 2135.31 - -107.06 - - 3458.03 - - - - - - - - - - -
5002.15 512.09 -8.97 598 5009.39 roll -1.56 - - 1960.75 - 3.83 0.114 689.56 -377.5 -107.06 - - 3457.50 - - - - - - - - - 16.12 -
5052.11 517.14 -9.77 608 5059.59 roll -1.56 - - 1960.31 - 3.38 0.047 2133.38 427.2 -107.06 - - 3459.66 - - - - - - - - - 16.14 -
5367.89 544.66 -9.07 640 5369.47 no move -1.56 - - 1960.81 - - - 2133.88 - -107.06 - - 3457.03 - - - - - - - - - - -
5677.92 571.37 -8.36 671 5679.50 no move -1.56 - - 1960.75 - - - 2133.50 - -107.06 - - 3456.12 - - - - - - - - - - -
5987.95 597.18 -8.23 702 5989.52 no move -1.56 - - 1960.25 - - - 2133.94 - -107.06 - - 3454.81 - - - - - - - - - - -
6297.98 620.81 -7.53 733 6305.22 roll -1.56 - - 1961.44 - 3.82 0.114 688.75 -378.3 -107.06 - - 3454.16 - - - - - - - - - 16.13 -
6363.71 626.70 -9.02 746 6369.70 roll -1.56 - - 1960.81 - 3.39 0.048 2132.25 425.8 -107.06 - - 3454.78 - - - - - - - - - 16.12 -
6673.74 651.88 -8.22 778 6680.98 roll -1.56 - - 1960.75 - 3.81 0.113 690.81 -378.3 -107.06 - - 3453.97 - - - - - - - - - 16.12 -
6719.57 656.73 -10.07 787 6725.53 roll -1.56 - - 1960.88 - 3.39 0.047 2133.00 425.4 -107.06 - - 3455.12 - - - - - - - - - 16.13 -
7029.61 684.96 -9.44 819 7031.18 no move -1.56 - - 1960.88 - - - 2133.00 - -107.06 - - 3453.09 - - - - - - - - - - -
7339.64 713.53 -9.81 850 7347.25 roll -1.56 - - 1961.06 - 3.82 0.114 688.75 -378.1 -107.06 - - 3454.66 - - - - - - - - - 16.12 -
7405.85 720.19 -10.19 863 7411.81 roll -1.56 - - 1960.50 - 3.38 0.047 2133.88 427.6 -107.06 - - 3453.38 - - - - - - - - - 16.13 -
7715.87 747.32 -8.55 895 7723.12 roll -1.56 - - 1960.81 - 3.81 0.113 690.06 -379.0 -107.06 - - 3453.72 - - - - - - - - - 16.13 -
7781.60 753.64 -9.91 908 7787.56 roll -1.56 - - 1960.50 - 3.39 0.047 2131.88 425.3 -107.06 - - 3454.53 - - - - - - - - - 16.12 -
8091.63 778.85 -8.05 940 8099.08 roll -1.56 - - 1960.69 - 3.80 0.113 689.94 -379.5 -107.06 - - 3451.53 - - - - - - - - - 16.12 -
8121.91 781.69 -8.83 946 8129.39 roll -1.56 - - 1960.94 - 3.38 0.046 2133.94 427.2 -107.06 - - 3453.44 - - - - - - - - - 16.13 -
8437.71 805.77 -8.39 978 8439.28 no move -1.56 - - 1960.75 - - - 2133.94 - -107.06 - - 3451.31 - - - - - - - - - - -
8747.72 829.98 -7.52 1009 8754.97 roll -1.56 - - 1960.06 - 3.81 0.114 690.12 -379.0 -107.06 - - 3450.72 - - - - - - - - - 16.12 -
8783.45 833.36 -8.57 1016 8789.44 roll -1.56 - - 1960.69 - 3.39 0.047 2132.38 425.4 -107.06 - - 3453.09 - - - - - - - - - 16.12 -
9093.47 858.39 -8.60 1048 9095.05 no move -1.56 - - 1960.69 - - - 2132.94 - -107.06 - - 3450.28 - - - - - - - - - - -
9403.50 884.55 -8.85 1079 9410.70 roll -1.56 - - 1960.88 - 3.80 0.114 690.44 -379.6 -107.06 - - 3449.31 - - - - - - - - - 16.12 -
9503.44 894.21 -9.21 1099 9510.95 roll -1.56 - - 1960.88 - 3.39 0.048 2131.56 425.1 -107.06 - - 3449.97 - - - - - - - - - 16.13 -
9819.23 920.63 -8.24 1131 9820.80 no move -1.56 - - 1961.12 - - - 2131.94 - -107.06 - - 3448.72 - - - - - - - - - - -
10129.26 944.34 -7.73 1162 10136.52 roll -1.56 - - 1961.31 - 3.81 0.115 690.81 -378.2 -107.06 - - 3449.53 - - - - - - - - - 16.12 -
10195.12 950.31 -8.73 1175 10201.13 roll -1.56 - - 1960.38 - 3.40 0.049 2130.81 423.5 -107.06 - - 3450.84 - - - - - - - - - 16.12 -
10505.15 973.09 -7.49 1207 10506.73 no move -1.56 - - 1960.50 - - - 2130.81 - -107.06 - - 3448.75 - - - - - - - - - - -
10745 end dive: TARGET_DEPTH_EXCEEDED
10745 begin apogee
10746.99 990.61 -7.56 1231 10841.46 -0.42 2.47 0.113 2240.50 113.4 0.10 0.221 2114.88 -159.3 - 86.15 2.221 3018.50 -5.0 0.368 - - - - - - 16.07 15.55 12.40
10847 end apogee: CONTROL_FINISHED_OK
10847 begin climb
10849.85 991.60 - 1240 10962.67 1.56 3.91 0.051 2733.56 126.1 3.35 0.095 3360.69 371.9 107.06 94.51 2.158 2582.53 -4.6 0.350 - - - - - - 15.66 15.33 12.76
11031.26 979.90 10.35 1274 11037.34 1.56 0.32 0.154 2714.25 -60.3 3.04 0.041 2117.50 -408.9 107.06 - - 2575.31 - - - - - - - - 15.61 15.68 -
11341.29 949.46 10.15 1306 11347.20 done 1.56 - - 2713.25 - 3.22 0.093 3361.62 386.4 107.06 - - 2569.72 - - - - - - - - - 15.87 -
11515.56 931.25 10.67 1341 11522.83 done 1.56 - - 2714.31 - 2.97 0.041 2119.06 -418.4 107.06 - - 2566.12 - - - - - - - - - 15.92 -
11831.35 902.75 9.05 1373 11837.22 done 1.56 - - 2713.56 - 3.18 0.091 3361.50 390.7 107.06 - - 2566.53 - - - - - - - - - 15.98 -
11971.39 889.53 9.66 1401 11977.19 done 1.56 - - 2713.94 - 2.93 0.042 2117.00 -424.7 107.06 - - 2563.84 - - - - - - - - - 16.02 -
12281.41 862.66 8.74 1433 12287.30 done 1.56 - - 2714.19 - 3.16 0.092 3362.69 394.2 107.06 - - 2562.25 - - - - - - - - - 16.03 -
12381.44 853.35 9.50 1453 12387.15 done 1.56 - - 2714.75 - 2.87 0.042 2116.12 -434.3 107.06 - - 2562.38 - - - - - - - - - 16.05 -
12691.71 826.85 8.47 1485 12697.62 done 1.56 - - 2714.56 - 3.16 0.091 3363.38 394.7 107.06 - - 2562.22 - - - - - - - - - 16.06 -
12821.50 815.05 9.07 1511 12827.22 done 1.56 - - 2714.44 - 2.90 0.042 2116.56 -429.9 107.06 - - 2562.75 - - - - - - - - - 16.08 -
13131.53 789.50 8.16 1543 13137.40 done 1.56 - - 2714.25 - 3.18 0.091 3365.31 392.7 107.06 - - 2560.62 - - - - - - - - - 16.09 -
13341.57 770.62 8.79 1585 13347.32 done 1.56 - - 2714.00 - 2.88 0.042 2115.44 -434.0 107.06 - - 2560.59 - - - - - - - - - 16.09 -
13651.85 746.41 7.94 1617 13653.42 VBD 1.56 - - 2714.25 - - - 2115.56 - 107.06 - - 2558.28 - - - - - - - - - - -
13961.69 723.26 7.53 1648 13967.52 done 1.58 - - 2714.56 - 3.15 0.091 3363.06 396.0 107.06 - - 2561.84 - - - - - - - - - 16.10 -
14025.91 717.89 8.38 1661 14033.43 done 1.58 - - 2713.94 - 2.87 0.042 2114.50 -435.0 107.06 - - 2560.19 - - - - - - - - - 16.12 -
14341.74 694.78 7.27 1693 14347.75 1.60 0.19 0.062 2740.38 139.2 3.16 0.090 3364.69 395.6 107.06 - - 2559.84 - - - - - - - - 16.17 16.08 -
14435.96 686.64 8.73 1712 14443.44 1.60 0.25 0.162 2723.44 -67.8 2.88 0.042 2115.00 -433.9 107.06 - - 2559.50 - - - - - - - - 16.04 16.11 -
14751.74 660.91 8.09 1744 14757.65 done 1.60 - - 2723.38 - 3.17 0.089 3363.44 393.8 107.06 - - 2558.88 - - - - - - - - - 16.12 -
14986.04 638.95 9.91 1791 14993.27 done 1.60 - - 2723.19 - 2.90 0.042 2116.88 -429.8 107.06 - - 2561.28 - - - - - - - - - 16.11 -
15301.83 612.35 8.33 1823 15307.70 done 1.60 - - 2723.44 - 3.17 0.089 3362.88 393.1 107.06 - - 2559.59 - - - - - - - - - 16.10 -
15421.84 602.14 8.59 1847 15427.61 done 1.60 - - 2722.88 - 2.91 0.042 2113.69 -429.3 107.06 - - 2558.00 - - - - - - - - - 16.12 -
15731.91 578.90 7.31 1879 15733.48 VBD 1.63 - - 2722.88 - - - 2113.25 - 107.06 - - 2557.03 - - - - - - - - - - -
16041.92 557.11 6.71 1910 16048.25 1.67 0.22 0.056 2756.88 154.5 3.19 0.090 3363.44 391.9 107.06 - - 2558.00 - - - - - - - - 16.14 16.09 -
16131.91 550.22 7.63 1928 16137.83 1.67 0.25 0.161 2738.69 -72.8 2.90 0.041 2112.81 -431.3 107.06 - - 2560.06 - - - - - - - - 16.05 16.12 -
16441.97 529.92 6.95 1960 16449.09 done 1.70 - - 2739.25 - 3.66 0.110 687.25 -389.5 107.06 - - 2557.75 - - - - - - - - - 16.11 -
16537.60 522.46 7.89 1979 16543.62 done 1.70 - - 2739.25 - 3.47 0.050 2183.69 431.3 107.06 - - 2557.44 - - - - - - - - - 16.11 -
16847.65 500.44 7.24 2011 16853.69 1.72 0.21 0.057 2770.44 148.5 2.94 0.092 3363.06 401.1 107.06 - - 2556.09 - - - - - - - - 16.20 16.10 -
17081.93 481.81 7.53 2058 17089.18 done 1.74 - - 2770.50 - 2.90 0.041 2115.06 -430.3 107.06 - - 2556.62 - - - - - - - - - 16.12 -
17397.71 458.86 7.18 2090 17403.54 done 1.76 - - 2770.19 - 3.16 0.089 3364.81 395.5 107.06 - - 2557.62 - - - - - - - - - 16.11 -
17567.71 445.25 8.14 2124 17573.72 done 1.76 - - 2770.31 - 2.91 0.041 2115.44 -429.3 107.06 - - 2559.00 - - - - - - - - - 16.13 -
17877.78 424.65 6.38 2156 17884.92 done 1.81 - - 2770.50 - 3.69 0.107 688.81 -386.6 107.06 - - 2555.31 - - - - - - - - - 16.10 -
18047.72 413.00 6.79 2190 18055.40 1.85 0.18 0.055 2800.75 168.1 3.50 0.050 2186.75 428.0 107.06 - - 2555.69 - - - - - - - - 16.17 16.11 -
18363.48 393.79 5.83 2222 18365.06 VBD 1.92 - - 2801.06 - - - 2186.69 - 107.06 - - 2554.72 - - - - - - - - - - -
18673.51 376.01 5.64 2253 18675.27 1.99 0.17 0.060 2837.81 216.2 - - 2186.88 - 107.06 - - 2556.06 - - - - - - - - 16.17 - -
18983.53 356.72 6.28 2284 18989.29 done 2.04 - - 2838.56 - 2.97 0.092 3362.62 395.9 107.06 - - 2557.22 - - - - - - - - - 16.09 -
19107.79 348.28 6.95 2309 19115.03 done 2.08 - - 2838.06 - 2.92 0.041 2114.88 -427.3 107.06 - - 2555.53 - - - - - - - - - 16.11 -
19423.57 329.25 5.95 2341 19429.56 2.14 0.19 0.055 2871.12 174.0 3.13 0.087 3364.56 399.3 107.06 - - 2553.84 - - - - - - - - 16.18 16.08 -
19553.60 320.91 6.67 2367 19559.34 done 2.18 - - 2871.06 - 2.92 0.041 2113.25 -428.5 107.06 - - 2555.78 - - - - - - - - - 16.12 -
19863.84 303.28 5.75 2399 19869.62 2.25 0.14 0.062 2900.81 212.5 3.16 0.088 3363.69 395.7 107.06 - - 2555.16 - - - - - - - - 16.18 16.07 -
19963.64 296.73 6.57 2419 19969.35 done 2.30 - - 2901.06 - 2.92 0.041 2113.25 -428.2 107.06 - - 2555.66 - - - - - - - - - 16.06 -
20273.64 279.89 4.88 2451 20328.96 2.38 0.14 0.065 2927.19 186.6 3.20 0.088 3363.75 390.8 168.91 47.86 1.345 2328.09 -4.8 0.164 - - - - - - 16.15 15.86 12.39
20462.58 258.84 14.11 2488 20468.38 roll 2.38 - - 2927.25 - 2.96 0.041 2114.50 -422.0 168.91 - - 2323.09 - - - - - - - - - 15.96 -
20772.59 218.63 12.30 2520 20774.17 VBD 2.38 - - 2926.38 - - - 2114.38 - 168.91 - - 2319.31 - - - - - - - - - - -
21082.61 179.93 12.53 2551 21088.51 done 2.38 - - 2926.62 - 3.19 0.086 3364.81 392.0 168.91 - - 2321.75 - - - - - - - - - 15.98 -
21106.87 176.71 12.81 2556 21114.15 done 2.38 - - 2926.88 - 2.94 0.040 2117.62 -424.2 168.91 - - 2318.91 - - - - - - - - - 16.02 -
21422.64 138.10 12.15 2588 21424.21 VBD 2.38 - - 2926.50 - - - 2117.69 - 168.91 - - 2317.59 - - - - - - - - - - -
21732.91 107.76 8.38 2619 21739.89 done 2.38 - - 2926.69 - 3.71 0.104 687.88 -385.4 168.91 - - 2318.25 - - - - - - - - - 15.97 -
21968.46 96.82 3.07 2666 22081.88 2.50 0.23 0.050 2959.56 142.9 3.51 0.047 2190.56 428.1 266.21 103.18 1.077 1932.91 -3.7 0.055 - - - - - - 16.11 16.00 12.51
22265.44 71.59 9.85 2724 22272.76 roll back 2.50 0.34 0.163 2941.44 -53.3 3.95 0.098 688.94 -380.2 266.21 - - 1931.50 - - - - - - - - 15.80 15.82 -
22501.38 46.36 10.72 2771 22508.24 roll 2.50 - - 2940.19 - 3.55 0.047 2186.06 421.7 266.21 - - 1932.97 - - - - - - - - - 15.88 -
22691.73 31.76 6.52 2809 22698.93 roll back 2.55 0.21 0.052 2968.38 134.2 3.92 0.099 688.31 -382.1 266.21 - - 1931.44 - - - - - - - - 15.96 15.92 -
22857.48 29.52 0.72 2842 23017.15 2.73 0.29 0.043 3015.62 162.9 3.52 0.045 2189.31 426.4 409.35 145.10 0.990 1352.38 -4.0 0.020 - - - - - - 15.95 15.97 12.56
23200.71 4.15 9.21 2909 23207.55 roll back 2.73 0.28 0.147 2996.56 -68.1 3.03 0.088 3363.81 387.6 409.35 - - 1348.56 - - - - - - - - 15.75 15.77 -
23231 end climb: SURFACE_DEPTH_REACHED
23231 begin surface coast
23261 end surface coast: CONTROL_FINISHED_OK
23261 begin surface
SM 1.59 - - - - 181.7 65.72 0.956 1083.7 16.5 21.27 0.038 1088.8 51.2 - 3.08 0.039 1078.5 349.2 -1.455 - - 12.61 15.87 15.85 -