NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 216 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 87.56 of 575.00 AH used of 24V (84.77% remains)
• Surface angle -65.8 deg, depth 1.55 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.17 (SM_CC=475)
• GPS1 time: 24 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
9.02 - - - 70.61 VBD -1.56 - - 184.19 - - - 2147.50 - -107.06 60.10 0.005 2281.19 - - - - - - - - - - 15.68
71.05 3.09 -2.84 12 128.10 -1.56 15.85 0.234 1961.25 112.1 3.12 0.095 3362.81 389.5 -107.06 29.58 0.006 3458.25 39.8 -3.387 - - - - - - 15.68 15.61 15.68
216.64 33.49 -21.84 40 223.04 roll -1.56 - - 1959.75 - 3.05 0.039 2067.00 -424.9 -107.06 - - 3459.78 - - - - - - - - - 15.86 -
406.67 61.41 -13.13 78 413.36 roll -1.56 - - 1961.62 - 3.62 0.112 690.00 -380.4 -107.06 - - 3459.88 - - - - - - - - - 15.89 -
441.77 66.46 -14.65 85 448.31 roll -1.56 - - 1961.44 - 3.37 0.041 2136.56 429.2 -107.06 - - 3459.88 - - - - - - - - - 15.92 -
631.82 91.73 -12.33 123 638.38 roll -1.56 - - 1961.00 - 3.10 0.088 3364.06 396.0 -107.06 - - 3460.84 - - - - - - - - - 15.92 -
686.96 99.41 -14.38 134 693.51 roll -1.56 - - 1961.25 - 3.05 0.036 2065.19 -425.9 -107.06 - - 3460.94 - - - - - - - - - 15.95 -
881.97 121.86 -10.34 154 883.54 no move -1.56 - - 1961.25 - - - 2064.62 - -107.06 - - 3460.66 - - - - - - - - - - -
1191.98 150.16 -9.37 185 1197.92 roll -1.56 - - 1960.44 - 3.28 0.086 3361.62 395.4 -107.06 - - 3463.03 - - - - - - - - - 16.02 -
1251.99 156.48 -10.61 197 1258.08 roll -1.56 - - 1960.62 - 3.04 0.038 2066.69 -426.0 -107.06 - - 3462.84 - - - - - - - - - 16.04 -
1562.01 186.69 -9.79 229 1563.58 no move -1.56 - - 1960.88 - - - 2066.00 - -107.06 - - 3462.66 - - - - - - - - - - -
1872.06 216.65 -9.39 260 1873.63 no move -1.56 - - 1960.88 - - - 2066.25 - -107.06 - - 3462.75 - - - - - - - - - - -
2182.09 246.19 -9.28 291 2183.66 no move -1.56 - - 1960.81 - - - 2065.81 - -107.06 - - 3463.06 - - - - - - - - - - -
2492.11 275.37 -9.47 322 2493.68 no move -1.56 - - 1961.56 - - - 2066.06 - -107.06 - - 3462.34 - - - - - - - - - - -
2802.12 304.32 -9.28 353 2808.05 roll -1.56 - - 1962.12 - 3.29 0.091 3363.31 394.3 -107.06 - - 3463.25 - - - - - - - - - 16.09 -
2842.13 308.46 -10.10 361 2847.94 roll -1.56 - - 1961.56 - 3.04 0.040 2067.38 -426.3 -107.06 - - 3462.78 - - - - - - - - - 16.10 -
3152.14 336.82 -9.22 393 3153.71 no move -1.56 - - 1960.81 - - - 2066.62 - -107.06 - - 3462.56 - - - - - - - - - - -
3462.66 365.60 -9.07 424 3469.29 roll -1.56 - - 1960.06 - 3.63 0.118 690.69 -379.0 -107.06 - - 3463.28 - - - - - - - - - 16.08 -
3507.89 370.31 -10.04 433 3513.85 roll -1.56 - - 1961.56 - 3.36 0.045 2136.06 430.2 -107.06 - - 3464.00 - - - - - - - - - 16.12 -
3817.91 398.67 -9.26 465 3819.48 no move -1.56 - - 1961.00 - - - 2136.31 - -107.06 - - 3461.47 - - - - - - - - - - -
4127.93 427.26 -8.86 496 4135.11 roll -1.56 - - 1960.25 - 3.79 0.112 689.56 -381.7 -107.06 - - 3461.31 - - - - - - - - - 16.11 -
4183.60 433.02 -10.23 507 4189.55 roll -1.56 - - 1960.56 - 3.32 0.046 2134.94 435.4 -107.06 - - 3462.16 - - - - - - - - - 16.12 -
4493.62 461.23 -9.37 539 4500.82 roll -1.56 - - 1961.38 - 3.79 0.112 690.75 -381.1 -107.06 - - 3461.03 - - - - - - - - - 16.10 -
4523.65 464.43 -10.22 545 4531.14 roll -1.56 - - 1961.00 - 3.37 0.045 2135.00 428.6 -107.06 - - 3461.19 - - - - - - - - - 16.12 -
4839.44 493.57 -8.86 577 4841.01 no move -1.56 - - 1960.94 - - - 2135.25 - -107.06 - - 3459.09 - - - - - - - - - - -
5149.47 520.27 -8.66 608 5156.96 roll -1.56 - - 1959.62 - 3.81 0.114 690.75 -379.1 -107.06 - - 3459.28 - - - - - - - - - 16.12 -
5195.56 524.56 -9.33 617 5201.50 roll -1.56 - - 1960.56 - 3.35 0.045 2134.06 430.8 -107.06 - - 3459.47 - - - - - - - - - 16.14 -
5505.58 550.17 -8.35 649 5507.15 no move -1.56 - - 1961.00 - - - 2134.31 - -107.06 - - 3457.59 - - - - - - - - - - -
5815.60 575.71 -8.38 680 5822.79 roll -1.56 - - 1961.19 - 3.80 0.112 688.69 -380.4 -107.06 - - 3457.78 - - - - - - - - - 16.12 -
5881.27 582.02 -9.63 693 5887.27 roll -1.56 - - 1961.38 - 3.37 0.046 2133.12 428.6 -107.06 - - 3458.44 - - - - - - - - - 16.14 -
6191.30 608.40 -8.51 725 6192.87 no move -1.56 - - 1960.56 - - - 2133.00 - -107.06 - - 3455.81 - - - - - - - - - - -
6501.32 633.94 -8.09 756 6502.89 no move -1.56 - - 1960.75 - - - 2132.88 - -107.06 - - 3455.91 - - - - - - - - - - -
6811.34 658.47 -7.52 787 6818.59 roll -1.56 - - 1960.75 - 3.81 0.114 689.62 -378.8 -107.06 - - 3454.28 - - - - - - - - - 16.13 -
6871.32 663.91 -8.75 799 6878.80 roll -1.56 - - 1961.31 - 3.38 0.047 2132.88 427.0 -107.06 - - 3455.12 - - - - - - - - - 16.13 -
7187.11 686.96 -7.12 831 7194.30 roll -1.56 - - 1959.75 - 3.80 0.113 689.69 -379.8 -107.06 - - 3454.19 - - - - - - - - - 16.12 -
7242.90 691.81 -8.50 842 7248.85 roll -1.56 - - 1960.88 - 3.38 0.046 2133.19 427.1 -107.06 - - 3455.84 - - - - - - - - - 16.13 -
7552.92 714.77 -7.72 874 7560.11 roll -1.56 - - 1960.88 - 3.79 0.113 688.00 -381.3 -107.06 - - 3454.38 - - - - - - - - - 16.12 -
7603.15 719.27 -9.00 884 7610.31 roll -1.56 - - 1960.75 - 3.37 0.046 2132.38 428.6 -107.06 - - 3453.53 - - - - - - - - - 16.14 -
7918.62 743.20 -7.38 916 7925.82 roll -1.56 - - 1961.19 - 3.79 0.114 689.75 -380.6 -107.06 - - 3453.91 - - - - - - - - - 16.12 -
7978.66 748.83 -9.14 928 7986.13 roll -1.56 - - 1961.31 - 3.37 0.047 2134.25 428.6 -107.06 - - 3453.84 - - - - - - - - - 16.13 -
8294.43 773.71 -7.81 960 8301.64 roll -1.56 - - 1960.62 - 3.79 0.114 690.75 -380.9 -107.06 - - 3452.59 - - - - - - - - - 16.13 -
8354.36 779.28 -9.02 972 8361.88 roll -1.56 - - 1961.44 - 3.37 0.047 2132.19 427.7 -107.06 - - 3454.31 - - - - - - - - - 16.12 -
8670.14 804.70 -8.06 1004 8671.71 no move -1.56 - - 1960.75 - - - 2132.88 - -107.06 - - 3452.47 - - - - - - - - - - -
8980.25 829.79 -7.75 1035 8987.37 roll -1.56 - - 1960.88 - 3.80 0.115 689.69 -379.8 -107.06 - - 3451.38 - - - - - - - - - 16.12 -
9070.09 837.73 -8.74 1053 9077.62 roll -1.56 - - 1960.94 - 3.38 0.048 2132.50 426.9 -107.06 - - 3451.88 - - - - - - - - - 16.12 -
9385.86 860.86 -7.07 1085 9393.33 roll -1.56 - - 1960.50 - 3.79 0.114 689.88 -380.6 -107.06 - - 3450.88 - - - - - - - - - 16.11 -
9416.16 864.03 -8.18 1091 9423.64 roll -1.56 - - 1961.19 - 3.38 0.048 2133.69 427.2 -107.06 - - 3451.47 - - - - - - - - - 16.12 -
9731.94 886.99 -7.20 1123 9739.15 roll -1.56 - - 1960.94 - 3.80 0.116 690.88 -379.7 -107.06 - - 3450.69 - - - - - - - - - 16.10 -
9801.87 893.41 -9.20 1137 9809.38 roll -1.56 - - 1961.12 - 3.36 0.048 2133.19 429.3 -107.06 - - 3451.41 - - - - - - - - - 16.11 -
10117.65 917.27 -7.49 1169 10124.91 roll -1.56 - - 1959.06 - 3.82 0.118 690.94 -377.6 -107.06 - - 3451.22 - - - - - - - - - 16.11 -
10163.86 921.64 -9.89 1178 10169.82 roll -1.56 - - 1961.06 - 3.36 0.049 2132.12 428.9 -107.06 - - 3451.16 - - - - - - - - - 16.12 -
10473.89 945.92 -7.73 1210 10481.14 roll -1.56 - - 1960.31 - 3.81 0.116 689.62 -378.6 -107.06 - - 3450.06 - - - - - - - - - 16.11 -
10519.62 950.27 -9.94 1219 10525.63 roll -1.56 - - 1959.94 - 3.40 0.048 2132.69 424.4 -107.06 - - 3451.41 - - - - - - - - - 16.11 -
10829.64 974.58 -7.82 1251 10836.83 roll -1.56 - - 1960.50 - 3.80 0.115 689.00 -379.9 -107.06 - - 3449.91 - - - - - - - - - 16.10 -
10865.32 978.01 -9.72 1258 10871.29 roll -1.56 - - 1961.31 - 3.39 0.047 2131.94 425.6 -107.06 - - 3450.03 - - - - - - - - - 16.10 -
11035 end dive: TARGET_DEPTH_EXCEEDED
11035 begin apogee
11037.03 990.54 -7.53 1276 11131.20 -0.42 2.38 0.115 2241.31 117.6 0.10 0.213 2115.44 -165.0 - 85.69 2.236 3018.81 -5.0 0.368 - - - - - - 16.09 15.54 12.39
11136 end apogee: CONTROL_FINISHED_OK
11136 begin climb
11139.47 991.72 - 1285 11252.23 1.56 3.88 0.055 2733.00 126.7 3.32 0.095 3360.88 375.1 107.06 94.60 2.165 2580.09 -4.6 0.351 - - - - - - 15.67 15.33 12.79
11285.05 983.15 9.05 1312 11292.58 roll back 1.56 0.29 0.157 2714.50 -63.8 3.05 0.040 2118.56 -407.3 107.06 - - 2577.41 - - - - - - - - 15.55 15.60 -
11600.83 951.40 10.29 1344 11606.73 done 1.56 - - 2713.19 - 3.19 0.091 3362.88 390.1 107.06 - - 2568.84 - - - - - - - - - 15.86 -
11750.86 935.38 10.55 1374 11756.66 done 1.56 - - 2714.44 - 2.96 0.040 2118.38 -420.4 107.06 - - 2567.31 - - - - - - - - - 15.91 -
12060.87 905.62 9.46 1406 12066.75 done 1.56 - - 2714.25 - 3.19 0.092 3362.56 390.0 107.06 - - 2564.56 - - - - - - - - - 15.98 -
12230.89 887.85 10.04 1440 12236.66 done 1.56 - - 2714.06 - 2.96 0.041 2117.81 -420.5 107.06 - - 2564.38 - - - - - - - - - 16.00 -
12540.91 859.91 8.71 1472 12546.82 done 1.56 - - 2714.25 - 3.18 0.090 3362.81 391.5 107.06 - - 2563.19 - - - - - - - - - 16.04 -
12750.94 840.27 9.50 1514 12756.73 done 1.56 - - 2715.06 - 2.95 0.041 2119.56 -421.4 107.06 - - 2562.66 - - - - - - - - - 16.05 -
13060.95 812.33 9.04 1546 13066.81 done 1.56 - - 2714.12 - 3.17 0.090 3365.06 392.9 107.06 - - 2563.50 - - - - - - - - - 16.06 -
13210.98 797.58 9.84 1576 13216.73 done 1.56 - - 2713.19 - 2.94 0.040 2117.44 -424.4 107.06 - - 2562.19 - - - - - - - - - 16.08 -
13521.00 771.14 8.15 1608 13527.12 done 1.56 - - 2714.31 - 3.17 0.090 3363.00 392.9 107.06 - - 2560.47 - - - - - - - - - 16.08 -
13645.38 759.96 8.91 1633 13652.56 done 1.56 - - 2712.94 - 2.93 0.040 2117.88 -425.0 107.06 - - 2561.59 - - - - - - - - - 16.10 -
13961.14 735.94 7.18 1665 13966.97 done 1.59 - - 2714.50 - 3.16 0.091 3361.56 393.6 107.06 - - 2559.69 - - - - - - - - - 16.09 -
14105.38 724.75 7.64 1694 14112.66 done 1.59 - - 2713.94 - 2.92 0.041 2119.75 -425.3 107.06 - - 2559.84 - - - - - - - - - 16.08 -
14421.20 702.91 6.87 1726 14427.26 1.63 0.22 0.059 2744.94 140.9 3.16 0.090 3363.06 393.5 107.06 - - 2559.44 - - - - - - - - 16.15 16.07 -
14511.18 695.47 8.70 1744 14516.97 done 1.63 - - 2745.56 - 2.93 0.041 2116.75 -425.4 107.06 - - 2560.50 - - - - - - - - - 16.09 -
14821.19 671.06 8.06 1776 14827.07 done 1.63 - - 2745.62 - 3.16 0.089 3363.31 394.5 107.06 - - 2559.78 - - - - - - - - - 16.11 -
14935.48 660.81 8.91 1799 14942.80 done 1.63 - - 2745.56 - 2.91 0.040 2114.69 -429.1 107.06 - - 2557.97 - - - - - - - - - 16.11 -
15251.26 634.78 8.20 1831 15257.15 done 1.63 - - 2745.62 - 3.16 0.088 3362.62 394.9 107.06 - - 2558.06 - - - - - - - - - 16.10 -
15485.56 612.90 9.24 1878 15492.87 done 1.63 - - 2744.06 - 2.92 0.041 2114.38 -427.5 107.06 - - 2559.25 - - - - - - - - - 16.13 -
15801.33 586.31 8.54 1910 15807.21 done 1.63 - - 2745.88 - 3.18 0.088 3364.50 393.1 107.06 - - 2559.47 - - - - - - - - - 16.11 -
16035.63 564.71 8.85 1957 16042.92 done 1.63 - - 2745.69 - 2.91 0.039 2114.25 -429.6 107.06 - - 2559.88 - - - - - - - - - 16.11 -
16351.40 539.72 7.72 1989 16352.98 VBD 1.63 - - 2745.00 - - - 2113.88 - 107.06 - - 2557.03 - - - - - - - - - - -
16661.68 515.80 7.60 2020 16667.35 done 1.63 - - 2745.50 - 3.18 0.088 3364.88 393.4 107.06 - - 2557.81 - - - - - - - - - 16.12 -
16735.70 510.03 7.82 2035 16742.98 done 1.63 - - 2745.50 - 2.90 0.039 2113.25 -431.6 107.06 - - 2559.53 - - - - - - - - - 16.11 -
17051.77 488.58 6.77 2067 17057.37 done 1.66 - - 2745.38 - 3.16 0.088 3364.12 395.8 107.06 - - 2557.69 - - - - - - - - - 16.10 -
17215.81 476.58 7.19 2100 17223.04 done 1.69 - - 2745.75 - 2.91 0.039 2113.31 -429.8 107.06 - - 2558.06 - - - - - - - - - 16.07 -
17531.58 456.69 5.97 2132 17537.57 1.75 0.16 0.064 2777.25 196.9 3.19 0.088 3363.56 391.9 107.06 - - 2557.56 - - - - - - - - 16.15 16.08 -
17715.87 443.10 7.37 2169 17723.10 done 1.77 - - 2777.12 - 2.90 0.039 2112.75 -431.3 107.06 - - 2557.94 - - - - - - - - - 16.07 -
18031.65 421.54 6.89 2201 18033.22 VBD 1.81 - - 2777.50 - - - 2113.38 - 107.06 - - 2556.38 - - - - - - - - - - -
18341.68 400.52 6.48 2232 18343.26 VBD 1.85 - - 2777.31 - - - 2113.44 - 107.06 - - 2556.09 - - - - - - - - - - -
18651.72 380.86 6.19 2263 18658.79 1.91 0.22 0.055 2815.88 175.3 3.18 0.088 3363.31 393.0 107.06 - - 2556.41 - - - - - - - - 16.13 16.07 -
18821.76 368.40 7.10 2297 18829.92 done 1.94 - - 2816.75 - 2.90 0.040 2114.06 -430.8 107.06 - - 2559.75 - - - - - - - - - 16.11 -
19137.48 347.86 6.24 2329 19139.06 VBD 1.99 - - 2816.75 - - - 2113.25 - 107.06 - - 2555.62 - - - - - - - - - - -
19447.50 327.30 7.08 2360 19454.79 2.02 0.10 0.085 2840.56 238.1 3.67 0.104 687.62 -388.5 107.06 - - 2556.84 - - - - - - - - 16.15 16.06 -
19673.57 309.22 8.05 2405 19680.43 done 2.02 - - 2841.88 - 3.51 0.048 2185.69 426.8 107.06 - - 2553.97 - - - - - - - - - 16.10 -
19988.37 288.94 5.88 2437 19990.04 VBD 2.09 - - 2841.44 - - - 2185.31 - 107.06 - - 2555.03 - - - - - - - - - - -
20298.39 271.80 5.35 2468 20305.82 2.17 0.22 0.051 2878.38 167.9 3.87 0.099 688.50 -386.8 107.06 - - 2554.16 - - - - - - - - 16.13 16.03 -
20338.59 269.28 5.81 2476 20346.14 done 2.24 - - 2879.62 - 3.51 0.048 2186.75 426.9 107.06 - - 2556.03 - - - - - - - - - 16.04 -
20654.35 250.02 5.84 2508 20660.27 2.30 0.14 0.067 2912.25 233.1 3.00 0.089 3364.12 392.5 107.06 - - 2557.16 - - - - - - - - 16.14 16.04 -
20728.62 245.34 6.11 2523 20735.87 done 2.36 - - 2911.62 - 2.92 0.039 2113.56 -428.3 107.06 - - 2556.00 - - - - - - - - - 16.03 -
21044.40 227.26 5.95 2555 21046.16 2.42 0.12 0.075 2939.88 235.5 - - 2113.38 - 107.06 - - 2554.09 - - - - - - - - 16.11 - -
21354.40 211.58 4.98 2586 21402.00 VBD 2.50 - - 2940.00 - - - 2113.75 - 166.97 45.47 1.257 2341.00 -4.7 0.130 - - - - - - - - 12.31
21709.37 171.10 13.23 2624 21710.95 VBD 2.50 - - 2939.44 - - - 2113.62 - 166.97 - - 2329.19 - - - - - - - - - - -
22019.38 133.99 11.62 2655 22020.96 VBD 2.50 - - 2939.75 - - - 2113.19 - 166.97 - - 2326.53 - - - - - - - - - - -
22329.45 106.24 7.30 2686 22335.28 done 2.52 - - 2939.94 - 3.19 0.087 3364.00 392.1 166.97 - - 2327.09 - - - - - - - - - 15.98 -
22564.49 93.42 3.39 2733 22671.24 2.64 0.31 0.047 2992.75 170.4 2.94 0.039 2112.19 -425.8 258.04 96.57 1.071 1966.66 -3.7 0.054 - - - - - - 15.97 16.01 12.49
22854.69 70.90 11.61 2790 22859.37 pitch 2.64 0.29 0.166 2975.38 -59.9 - - 2112.12 - 258.04 - - 1966.03 - - - - - - - - 15.79 - -
23044.72 53.41 8.61 2828 23049.38 no move 2.64 - - 2976.06 - - - 2111.69 - 258.04 - - 1964.88 - - - - - - - - - - -
23230.03 42.85 4.07 2865 23321.31 2.74 0.29 0.046 3016.56 139.7 3.80 0.104 689.81 -374.2 335.79 79.31 1.004 1649.25 -4.0 0.028 - - - - - - 15.95 15.65 12.58
23389.90 35.58 7.63 2896 23396.95 roll back 2.74 0.25 0.170 3000.88 -62.7 3.59 0.046 2186.50 416.9 335.79 - - 1648.50 - - - - - - - - 15.74 15.80 -
23580.43 29.98 1.74 2934 23713.49 2.90 0.44 0.040 3057.19 128.0 - - 2186.38 - 458.98 126.43 0.974 1148.62 -4.0 0.020 - - - - - - 15.90 - 12.58
23877 end climb: SURFACE_DEPTH_REACHED
23877 begin surface coast
23892 end surface coast: CONTROL_FINISHED_OK
23892 begin surface
SM 2.46 - - - - 181.8 18.80 0.887 1082.9 50.9 21.47 0.040 1088.9 50.7 - 0.25 0.085 1076.9 4307.6 -12.742 - - 12.58 15.83 15.81 -