NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 336 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 127.02 of 575.00 AH used of 24V (77.91% remains)
• Surface angle -63.2 deg, depth 1.60 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 81 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
9.02 - - - 65.60 VBD -1.56 - - 180.56 - - - 2150.19 - -107.06 55.10 0.005 2290.62 - - - - - - - - - - 15.51
66.04 3.01 -2.92 11 124.55 -1.56 16.06 0.227 1961.31 110.9 3.81 0.106 686.44 -384.2 -107.06 29.35 0.006 3457.97 39.8 -3.314 - - - - - - 15.59 15.45 15.56
188.09 28.10 -24.77 34 194.66 roll -1.56 - - 1961.19 - 3.36 0.040 2134.06 430.8 -107.06 - - 3459.25 - - - - - - - - - 15.85 -
378.10 58.42 -13.45 72 384.50 roll -1.56 - - 1960.19 - 3.10 0.090 3363.00 396.4 -107.06 - - 3460.41 - - - - - - - - - 15.77 -
478.11 72.09 -13.14 92 484.46 roll -1.56 - - 1961.31 - 3.00 0.035 2063.62 -433.1 -107.06 - - 3460.47 - - - - - - - - - 15.89 -
668.17 93.20 -10.20 130 672.66 no move -1.56 - - 1961.12 - - - 2063.31 - -107.06 - - 3461.19 - - - - - - - - - - -
858.19 112.80 -10.16 156 864.25 roll -1.56 - - 1960.69 - 3.55 0.105 687.38 -387.6 -107.06 - - 3462.56 - - - - - - - - - 15.85 -
962.45 123.40 -10.52 177 969.92 roll -1.56 - - 1961.00 - 3.32 0.039 2139.75 437.5 -107.06 - - 3465.00 - - - - - - - - - 15.90 -
1278.23 154.64 -9.40 209 1285.66 roll -1.56 - - 1961.56 - 3.73 0.101 687.75 -389.3 -107.06 - - 3464.59 - - - - - - - - - 15.88 -
1358.50 163.47 -11.25 225 1365.98 roll -1.56 - - 1960.62 - 3.32 0.040 2136.44 436.4 -107.06 - - 3464.69 - - - - - - - - - 15.97 -
1674.28 193.88 -9.24 257 1675.85 no move -1.56 - - 1960.94 - - - 2136.19 - -107.06 - - 3464.00 - - - - - - - - - - -
1984.30 223.62 -10.01 288 1991.49 roll -1.56 - - 1961.12 - 3.71 0.101 687.69 -390.4 -107.06 - - 3463.97 - - - - - - - - - 15.97 -
2024.20 228.16 -10.92 296 2031.67 roll -1.56 - - 1961.25 - 3.33 0.041 2137.81 435.5 -107.06 - - 3464.56 - - - - - - - - - 16.01 -
2339.98 261.47 -10.65 328 2341.55 no move -1.56 - - 1960.69 - - - 2137.75 - -107.06 - - 3464.06 - - - - - - - - - - -
2650.05 294.80 -10.78 359 2657.22 roll -1.56 - - 1960.25 - 3.74 0.104 687.06 -387.9 -107.06 - - 3464.41 - - - - - - - - - 15.97 -
2695.71 300.25 -12.17 368 2701.66 roll -1.56 - - 1961.56 - 3.33 0.042 2137.44 435.5 -107.06 - - 3464.06 - - - - - - - - - 15.96 -
3005.72 331.33 -9.30 400 3007.29 no move -1.56 - - 1960.94 - - - 2137.19 - -107.06 - - 3463.81 - - - - - - - - - - -
3315.74 360.94 -9.79 431 3322.93 roll -1.56 - - 1959.44 - 3.75 0.105 687.56 -386.6 -107.06 - - 3463.16 - - - - - - - - - 15.96 -
3361.52 365.79 -11.06 440 3367.47 roll -1.56 - - 1960.75 - 3.34 0.043 2134.62 433.3 -107.06 - - 3463.78 - - - - - - - - - 16.03 -
3671.54 394.86 -8.79 472 3673.11 no move -1.56 - - 1960.88 - - - 2134.56 - -107.06 - - 3461.34 - - - - - - - - - - -
3981.55 422.00 -8.59 503 3988.75 roll -1.56 - - 1958.75 - 3.75 0.106 687.38 -385.9 -107.06 - - 3461.94 - - - - - - - - - 15.99 -
4027.23 426.51 -10.02 512 4033.18 roll -1.56 - - 1960.94 - 3.36 0.044 2135.56 431.0 -107.06 - - 3461.81 - - - - - - - - - 16.03 -
4337.50 454.13 -9.04 544 4339.07 no move -1.56 - - 1961.12 - - - 2134.62 - -107.06 - - 3459.66 - - - - - - - - - - -
4647.27 482.40 -8.92 575 4654.48 roll -1.56 - - 1960.56 - 3.78 0.107 684.44 -383.6 -107.06 - - 3460.72 - - - - - - - - - 15.97 -
4727.20 490.68 -10.46 591 4734.68 roll -1.56 - - 1959.69 - 3.37 0.044 2134.25 430.2 -107.06 - - 3461.09 - - - - - - - - - 16.02 -
5043.02 518.65 -8.48 623 5044.59 no move -1.56 - - 1961.38 - - - 2134.75 - -107.06 - - 3457.75 - - - - - - - - - - -
5353.07 544.53 -7.97 654 5360.26 roll -1.56 - - 1959.69 - 3.77 0.106 687.56 -383.9 -107.06 - - 3457.66 - - - - - - - - - 16.00 -
5442.99 552.91 -9.56 672 5450.47 roll -1.56 - - 1960.94 - 3.38 0.044 2134.19 428.0 -107.06 - - 3457.59 - - - - - - - - - 16.05 -
5758.77 577.90 -7.97 704 5766.17 roll -1.56 - - 1961.62 - 3.75 0.105 687.44 -385.8 -107.06 - - 3453.84 - - - - - - - - - 15.99 -
5804.82 581.97 -8.91 713 5810.78 roll -1.56 - - 1961.19 - 3.35 0.044 2135.50 432.3 -107.06 - - 3455.91 - - - - - - - - - 16.05 -
6114.85 608.20 -8.24 745 6122.05 roll -1.56 - - 1961.06 - 3.78 0.108 686.69 -383.3 -107.06 - - 3453.53 - - - - - - - - - 15.97 -
6160.53 612.56 -9.32 754 6166.51 roll -1.56 - - 1961.44 - 3.36 0.044 2134.62 430.9 -107.06 - - 3455.66 - - - - - - - - - 16.04 -
6470.56 638.62 -8.69 786 6477.74 roll -1.56 - - 1960.56 - 3.77 0.106 687.38 -383.9 -107.06 - - 3453.19 - - - - - - - - - 15.98 -
6526.23 643.71 -9.56 797 6532.18 roll -1.56 - - 1960.81 - 3.35 0.044 2133.50 431.7 -107.06 - - 3454.19 - - - - - - - - - 16.03 -
6836.26 669.26 -8.34 829 6843.45 roll -1.56 - - 1960.88 - 3.77 0.106 686.31 -383.9 -107.06 - - 3453.25 - - - - - - - - - 15.98 -
6906.17 675.74 -9.47 843 6913.65 roll -1.56 - - 1960.81 - 3.36 0.043 2135.31 431.2 -107.06 - - 3455.09 - - - - - - - - - 16.02 -
7221.96 701.73 -8.13 875 7229.17 roll -1.56 - - 1960.50 - 3.78 0.106 688.38 -382.8 -107.06 - - 3451.78 - - - - - - - - - 15.96 -
7301.98 709.15 -9.21 891 7309.37 roll -1.56 - - 1960.88 - 3.37 0.044 2134.25 429.0 -107.06 - - 3452.91 - - - - - - - - - 16.05 -
7617.68 734.29 -8.10 923 7624.88 roll -1.56 - - 1960.88 - 3.78 0.106 687.50 -382.7 -107.06 - - 3451.50 - - - - - - - - - 15.97 -
7663.36 738.49 -9.79 932 7669.31 roll -1.56 - - 1960.94 - 3.38 0.044 2135.19 428.3 -107.06 - - 3452.72 - - - - - - - - - 16.03 -
7973.40 764.97 -8.78 964 7980.57 roll -1.56 - - 1960.38 - 3.79 0.107 686.56 -382.2 -107.06 - - 3452.28 - - - - - - - - - 15.96 -
8039.31 771.60 -10.17 977 8045.02 roll -1.56 - - 1961.12 - 3.35 0.044 2132.88 431.7 -107.06 - - 3450.25 - - - - - - - - - 16.04 -
8349.09 798.76 -8.59 1009 8356.28 roll -1.56 - - 1959.62 - 3.77 0.108 687.62 -383.4 -107.06 - - 3451.25 - - - - - - - - - 15.95 -
8404.77 804.31 -9.88 1020 8410.72 roll -1.56 - - 1960.94 - 3.37 0.044 2135.12 429.5 -107.06 - - 3451.94 - - - - - - - - - 16.04 -
8714.80 831.61 -8.98 1052 8722.00 roll -1.56 - - 1959.12 - 3.78 0.108 687.31 -383.0 -107.06 - - 3451.44 - - - - - - - - - 15.94 -
8770.49 837.17 -10.11 1063 8776.69 roll -1.56 - - 1960.88 - 3.36 0.044 2132.75 430.2 -107.06 - - 3451.56 - - - - - - - - - 16.01 -
9080.51 862.61 -7.75 1095 9087.71 roll -1.56 - - 1959.12 - 3.78 0.110 687.19 -382.4 -107.06 - - 3450.34 - - - - - - - - - 15.94 -
9126.19 866.49 -8.59 1104 9132.19 roll -1.56 - - 1961.12 - 3.38 0.044 2132.88 427.7 -107.06 - - 3450.44 - - - - - - - - - 16.01 -
9436.22 889.63 -7.37 1136 9443.42 roll -1.56 - - 1960.38 - 3.77 0.108 686.38 -383.7 -107.06 - - 3448.34 - - - - - - - - - 15.94 -
9526.14 897.29 -8.28 1154 9533.87 roll -1.56 - - 1960.69 - 3.37 0.045 2133.69 429.5 -107.06 - - 3448.94 - - - - - - - - - 16.00 -
9841.93 921.16 -7.77 1186 9849.12 roll -1.56 - - 1960.75 - 3.77 0.109 687.00 -383.7 -107.06 - - 3448.94 - - - - - - - - - 15.93 -
9897.61 925.97 -8.78 1197 9903.57 roll -1.56 - - 1960.56 - 3.35 0.044 2132.88 431.6 -107.06 - - 3449.53 - - - - - - - - - 16.02 -
10207.65 948.45 -7.21 1229 10214.84 roll -1.56 - - 1960.12 - 3.77 0.107 687.25 -383.5 -107.06 - - 3449.56 - - - - - - - - - 15.93 -
10267.68 953.47 -8.10 1241 10275.56 roll -1.56 - - 1960.56 - 3.38 0.045 2133.31 427.8 -107.06 - - 3449.00 - - - - - - - - - 16.02 -
10583.48 976.62 -7.25 1273 10590.68 roll -1.56 - - 1961.31 - 3.79 0.109 686.88 -381.6 -107.06 - - 3449.00 - - - - - - - - - 15.92 -
10649.17 982.05 -8.60 1286 10655.17 roll -1.56 - - 1960.69 - 3.38 0.046 2133.06 427.9 -107.06 - - 3448.03 - - - - - - - - - 16.02 -
10759 end dive: TARGET_DEPTH_EXCEEDED
10759 begin apogee
10760.88 990.03 -7.74 1298 10855.32 -0.42 2.45 0.112 2241.56 114.6 0.10 0.219 2114.19 -188.7 - 86.08 2.232 3019.03 -5.0 0.367 - - - - - - 15.91 15.50 11.70
10867 end apogee: CONTROL_FINISHED_OK
10867 begin climb
10869.75 991.28 - 1307 10975.35 1.56 3.89 0.057 2728.94 125.3 - - 2114.19 - 107.06 95.72 2.157 2580.41 -4.6 0.350 - - - - - - 15.64 - 12.53
11278.91 960.36 9.53 1348 11284.77 done 1.56 - - 2729.50 - 3.20 0.092 3363.81 390.5 107.06 - - 2570.38 - - - - - - - - - 15.77 -
11418.92 945.18 10.94 1376 11424.93 done 1.56 - - 2729.56 - 2.94 0.040 2117.62 -423.9 107.06 - - 2568.50 - - - - - - - - - 15.83 -
11728.94 916.59 9.30 1408 11734.81 done 1.56 - - 2729.06 - 3.17 0.094 3361.06 392.3 107.06 - - 2565.31 - - - - - - - - - 15.90 -
11899.00 898.65 10.53 1442 11904.76 done 1.56 - - 2729.06 - 2.91 0.040 2115.25 -428.1 107.06 - - 2564.34 - - - - - - - - - 15.92 -
12209.05 867.87 9.90 1474 12214.92 done 1.56 - - 2729.50 - 3.15 0.090 3362.88 396.1 107.06 - - 2562.66 - - - - - - - - - 15.95 -
12293.32 858.73 10.98 1491 12300.61 done 1.56 - - 2729.12 - 2.90 0.040 2115.25 -430.2 107.06 - - 2562.72 - - - - - - - - - 15.98 -
12609.10 827.64 9.70 1523 12615.00 done 1.56 - - 2729.12 - 3.14 0.089 3363.75 397.6 107.06 - - 2561.84 - - - - - - - - - 15.98 -
12769.15 810.03 11.19 1555 12774.90 done 1.56 - - 2729.31 - 2.89 0.040 2115.75 -431.8 107.06 - - 2562.59 - - - - - - - - - 16.00 -
13079.18 779.01 10.17 1587 13085.29 done 1.56 - - 2729.38 - 3.15 0.090 3362.75 395.9 107.06 - - 2560.84 - - - - - - - - - 15.98 -
13169.21 768.95 11.00 1605 13174.92 done 1.56 - - 2728.88 - 2.88 0.039 2115.31 -433.1 107.06 - - 2561.44 - - - - - - - - - 16.01 -
13479.48 738.57 9.39 1637 13485.33 done 1.56 - - 2729.00 - 3.13 0.090 3364.56 399.1 107.06 - - 2561.97 - - - - - - - - - 15.98 -
13573.51 729.17 9.71 1656 13580.73 done 1.56 - - 2728.38 - 2.88 0.039 2114.00 -434.2 107.06 - - 2561.50 - - - - - - - - - 16.02 -
13889.53 702.96 8.32 1688 13895.45 done 1.56 - - 2727.75 - 3.13 0.087 3362.50 398.9 107.06 - - 2560.69 - - - - - - - - - 16.00 -
14123.60 682.36 8.67 1735 14130.83 done 1.56 - - 2729.12 - 2.88 0.039 2115.31 -433.1 107.06 - - 2559.50 - - - - - - - - - 15.98 -
14439.67 660.79 6.68 1767 14445.37 done 1.61 - - 2729.44 - 3.13 0.088 3363.25 398.7 107.06 - - 2559.25 - - - - - - - - - 15.99 -
14653.72 645.11 7.21 1810 14661.16 done 1.63 - - 2728.31 - 2.89 0.040 2116.06 -431.6 107.06 - - 2559.72 - - - - - - - - - 16.02 -
14969.51 624.25 6.15 1842 14975.49 1.69 0.16 0.076 2758.81 190.6 3.14 0.087 3363.19 397.2 107.06 - - 2559.47 - - - - - - - - 16.08 15.94 -
15073.78 616.34 7.51 1863 15081.24 done 1.70 - - 2758.88 - 2.88 0.039 2117.88 -432.4 107.06 - - 2559.22 - - - - - - - - - 16.02 -
15389.56 593.37 7.38 1895 15395.38 done 1.72 - - 2757.88 - 3.14 0.088 3361.12 395.9 107.06 - - 2559.16 - - - - - - - - - 16.00 -
15443.78 589.01 7.96 1906 15451.36 done 1.72 - - 2759.06 - 2.88 0.040 2115.81 -432.4 107.06 - - 2557.78 - - - - - - - - - 15.99 -
15759.86 565.44 7.29 1938 15765.49 done 1.75 - - 2759.81 - 3.16 0.088 3362.25 394.4 107.06 - - 2559.75 - - - - - - - - - 15.99 -
15863.83 557.31 7.72 1959 15871.06 done 1.75 - - 2759.12 - 2.88 0.039 2113.38 -433.6 107.06 - - 2560.28 - - - - - - - - - 16.01 -
16179.66 535.45 7.13 1991 16185.49 done 1.77 - - 2758.94 - 3.16 0.088 3361.69 395.0 107.06 - - 2557.28 - - - - - - - - - 15.99 -
16239.93 530.80 7.39 2003 16245.53 1.79 0.13 0.072 2784.56 197.1 2.88 0.040 2113.69 -433.3 107.06 - - 2560.31 - - - - - - - - 16.02 16.01 -
16549.72 508.60 7.25 2035 16555.57 done 1.82 - - 2784.50 - 3.14 0.086 3363.88 398.1 107.06 - - 2559.41 - - - - - - - - - 16.00 -
16689.69 497.06 8.18 2063 16695.41 done 1.82 - - 2784.62 - 2.88 0.039 2112.31 -434.6 107.06 - - 2558.16 - - - - - - - - - 16.01 -
16999.78 475.52 6.99 2095 17005.63 done 1.85 - - 2785.12 - 3.17 0.087 3363.62 394.7 107.06 - - 2557.72 - - - - - - - - - 15.97 -
17039.79 472.43 7.23 2103 17045.46 done 1.87 - - 2784.88 - 2.88 0.038 2112.94 -434.3 107.06 - - 2558.00 - - - - - - - - - 16.00 -
17349.82 452.06 6.12 2135 17351.58 1.93 0.19 0.060 2818.75 178.3 - - 2112.88 - 107.06 - - 2556.88 - - - - - - - - 16.09 - -
17659.86 433.10 5.94 2166 17661.43 VBD 2.00 - - 2818.75 - - - 2112.62 - 107.06 - - 2556.62 - - - - - - - - - - -
17969.88 415.60 5.54 2197 17971.69 2.07 0.22 0.054 2852.75 154.5 - - 2112.25 - 107.06 - - 2558.44 - - - - - - - - 16.10 - -
18280.15 398.76 5.57 2228 18287.00 done 2.15 - - 2852.56 - 3.59 0.104 686.19 -397.2 107.06 - - 2556.62 - - - - - - - - - 15.92 -
18349.88 394.38 6.04 2242 18357.55 2.21 0.17 0.061 2886.88 201.9 3.47 0.048 2186.12 432.3 107.06 - - 2556.25 - - - - - - - - 15.98 16.00 -
18665.64 374.08 6.53 2274 18671.37 done 2.25 - - 2886.88 - 2.97 0.089 3365.38 397.1 107.06 - - 2555.94 - - - - - - - - - 15.96 -
18869.88 358.56 7.75 2315 18877.12 done 2.25 - - 2885.75 - 2.88 0.039 2112.12 -435.2 107.06 - - 2556.50 - - - - - - - - - 16.00 -
19185.72 336.01 7.26 2347 19192.84 done 2.27 - - 2886.69 - 3.64 0.101 686.69 -391.6 107.06 - - 2557.53 - - - - - - - - - 15.93 -
19421.37 317.57 7.70 2394 19427.38 done 2.27 - - 2886.56 - 3.49 0.047 2184.31 429.1 107.06 - - 2558.16 - - - - - - - - - 15.99 -
19731.42 299.34 5.45 2426 19738.81 2.35 0.19 0.057 2922.50 189.2 3.83 0.096 684.75 -391.5 107.06 - - 2553.84 - - - - - - - - 16.00 15.84 -
19967.49 284.57 6.31 2473 19973.47 done 2.40 - - 2922.00 - 3.49 0.048 2186.31 430.2 107.06 - - 2556.25 - - - - - - - - - 15.99 -
20277.49 269.57 4.43 2505 20342.05 2.50 0.20 0.057 2959.44 187.2 2.98 0.091 3363.25 394.9 177.79 55.02 1.330 2293.97 -4.8 0.160 - - - - - - 16.09 15.78 11.78
20345.31 264.61 8.12 2513 20352.31 roll back 2.50 0.37 0.171 2941.00 -49.8 2.92 0.038 2112.50 -428.3 177.79 - - 2291.12 - - - - - - - - 15.77 15.86 -
20660.54 221.49 13.70 2545 20662.12 VBD 2.50 - - 2940.88 - - - 2112.69 - 177.79 - - 2282.59 - - - - - - - - - - -
20970.83 181.86 12.12 2576 20976.46 done 2.50 - - 2940.75 - 3.18 0.087 3357.19 391.4 177.79 - - 2282.81 - - - - - - - - - 15.80 -
21040.60 172.62 13.38 2590 21046.38 done 2.50 - - 2940.25 - 2.92 0.039 2114.56 -425.6 177.79 - - 2283.25 - - - - - - - - - 15.83 -
21350.63 137.46 9.53 2622 21352.21 VBD 2.50 - - 2940.19 - - - 2113.44 - 177.79 - - 2280.69 - - - - - - - - - - -
21660.66 112.97 7.85 2653 21666.54 done 2.50 - - 2941.06 - 3.16 0.084 3363.69 395.6 177.79 - - 2282.91 - - - - - - - - - 15.84 -
21710.67 108.93 8.15 2663 21716.46 done 2.50 - - 2940.44 - 2.91 0.037 2112.12 -430.1 177.79 - - 2282.34 - - - - - - - - - 15.84 -
22021.23 97.24 1.87 2709 22159.28 2.65 0.41 0.048 2994.75 132.5 3.22 0.085 3364.69 389.0 298.53 126.42 1.069 1802.62 -3.8 0.057 - - - - - - 15.85 15.59 12.13
22387.97 56.77 13.03 2781 22394.63 roll back 2.65 0.26 0.163 2979.75 -57.7 2.94 0.038 2117.00 -424.4 298.53 - - 1800.44 - - - - - - - - 15.61 15.78 -
22578.18 38.85 7.86 2819 22585.12 roll 2.65 - - 2979.88 - 3.68 0.102 686.81 -388.6 298.53 - - 1800.47 - - - - - - - - - 15.74 -
22813.77 33.19 0.47 2866 22984.20 2.85 0.49 0.040 3041.94 126.7 3.49 0.045 2192.81 431.5 446.66 157.07 0.982 1199.06 -3.8 0.021 - - - - - - 15.84 15.86 12.28
23167.76 8.76 8.72 2935 23174.98 roll back 2.85 0.27 0.157 3025.31 -61.6 3.90 0.097 686.12 -386.3 446.66 - - 1196.44 - - - - - - - - 15.70 15.68 -
23233 end climb: SURFACE_DEPTH_REACHED
23233 begin surface coast
23253 end surface coast: CONTROL_FINISHED_OK
23254 begin surface
SM 1.95 - - - - 184.1 27.71 0.932 1084.1 39.1 21.43 0.047 1087.4 50.7 - 3.34 0.041 1080.8 322.4 -1.567 - - 12.31 15.83 15.81 -