NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 76 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 43.35 of 575.00 AH used of 24V (92.46% remains)
• Surface angle -63.4 deg, depth 1.34 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.06 (SM_CC=475)
• GPS1 time: 28 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
8.91 - - - 80.82 VBD -1.56 - - 181.81 - - - 2130.06 - -107.06 70.27 0.005 2564.00 - - - - - - - - - - 15.74
81.26 3.33 -3.10 14 132.41 -1.56 16.93 0.245 1959.56 105.0 3.78 0.121 689.69 -381.1 -107.06 21.33 0.006 3458.25 41.9 -3.846 - - - - - - 15.72 15.72 15.77
360.80 56.08 -14.05 69 367.33 roll -1.56 - - 1960.12 - 3.38 0.055 2130.19 426.2 -107.06 - - 3458.62 - - - - - - - - - 15.89 -
550.83 77.79 -10.65 107 555.23 no move -1.56 - - 1959.75 - - - 2129.62 - -107.06 - - 3459.47 - - - - - - - - - - -
735.84 95.41 -9.63 144 742.55 roll -1.56 - - 1960.00 - 3.76 0.116 689.44 -383.0 -107.06 - - 3459.62 - - - - - - - - - 15.94 -
785.95 100.28 -9.99 154 791.73 roll -1.56 - - 1959.88 - 3.37 0.055 2130.94 427.7 -107.06 - - 3459.59 - - - - - - - - - 15.96 -
1095.97 125.48 -8.44 186 1102.96 roll -1.56 - - 1960.12 - 3.74 0.115 689.62 -385.4 -107.06 - - 3458.78 - - - - - - - - - 15.99 -
1181.37 133.95 -10.22 203 1187.14 roll -1.56 - - 1959.75 - 3.36 0.055 2131.25 429.1 -107.06 - - 3460.03 - - - - - - - - - 16.03 -
1491.39 162.25 -9.13 235 1497.03 roll -1.56 - - 1959.88 - 3.10 0.103 3359.00 396.0 -107.06 - - 3460.78 - - - - - - - - - 16.05 -
1541.38 167.05 -9.70 245 1547.32 roll -1.56 - - 1960.50 - 3.04 0.050 2067.62 -424.8 -107.06 - - 3461.81 - - - - - - - - - 16.06 -
1851.44 192.95 -8.24 277 1853.01 no move -1.56 - - 1959.31 - - - 2067.88 - -107.06 - - 3460.31 - - - - - - - - - - -
2161.45 219.95 -8.92 308 2167.55 roll -1.56 - - 1960.06 - 3.59 0.122 688.88 -384.1 -107.06 - - 3460.69 - - - - - - - - - 16.09 -
2205.70 224.25 -9.72 317 2213.17 roll -1.56 - - 1960.00 - 3.35 0.056 2131.38 430.6 -107.06 - - 3461.88 - - - - - - - - - 16.05 -
2521.50 251.30 -8.96 349 2523.07 no move -1.56 - - 1959.62 - - - 2131.62 - -107.06 - - 3460.09 - - - - - - - - - - -
2831.52 279.64 -9.06 380 2833.10 no move -1.56 - - 1960.00 - - - 2132.12 - -107.06 - - 3460.22 - - - - - - - - - - -
3141.56 308.02 -9.28 411 3143.13 no move -1.56 - - 1959.62 - - - 2131.88 - -107.06 - - 3460.06 - - - - - - - - - - -
3451.59 336.15 -9.07 442 3458.77 roll -1.56 - - 1960.38 - 3.75 0.120 690.00 -384.5 -107.06 - - 3460.31 - - - - - - - - - 16.14 -
3521.45 343.25 -9.91 456 3528.92 roll -1.56 - - 1959.19 - 3.37 0.059 2131.38 427.7 -107.06 - - 3460.59 - - - - - - - - - 16.15 -
3837.24 372.55 -9.57 488 3844.43 roll -1.56 - - 1959.69 - 3.74 0.123 690.75 -385.2 -107.06 - - 3460.81 - - - - - - - - - 16.15 -
3883.14 377.51 -10.66 497 3889.09 roll -1.56 - - 1959.50 - 3.36 0.059 2129.38 428.2 -107.06 - - 3460.44 - - - - - - - - - 16.15 -
4193.18 405.78 -9.01 529 4194.75 no move -1.56 - - 1959.56 - - - 2128.38 - -107.06 - - 3460.50 - - - - - - - - - - -
4503.21 434.72 -9.39 560 4510.39 roll -1.56 - - 1958.44 - 3.74 0.122 690.50 -384.5 -107.06 - - 3461.34 - - - - - - - - - 16.16 -
4573.08 442.48 -11.22 574 4580.55 roll -1.56 - - 1960.19 - 3.37 0.060 2128.50 426.7 -107.06 - - 3461.06 - - - - - - - - - 16.18 -
4888.87 473.18 -9.33 606 4890.44 no move -1.56 - - 1959.56 - - - 2128.56 - -107.06 - - 3460.12 - - - - - - - - - - -
5198.90 501.81 -9.29 637 5206.09 roll -1.56 - - 1960.81 - 3.74 0.124 689.31 -384.8 -107.06 - - 3459.25 - - - - - - - - - 16.17 -
5258.77 508.07 -10.02 649 5266.24 roll -1.56 - - 1959.88 - 3.37 0.061 2130.31 427.6 -107.06 - - 3459.84 - - - - - - - - - 16.19 -
5574.56 537.39 -9.15 681 5576.13 no move -1.56 - - 1959.38 - - - 2130.00 - -107.06 - - 3458.84 - - - - - - - - - - -
5884.59 567.14 -9.40 712 5892.02 roll -1.56 - - 1959.25 - 3.76 0.124 690.38 -382.9 -107.06 - - 3459.72 - - - - - - - - - 16.19 -
5940.59 572.89 -10.11 723 5946.54 roll -1.56 - - 1959.50 - 3.35 0.062 2129.38 429.6 -107.06 - - 3459.69 - - - - - - - - - 16.19 -
6250.61 602.20 -9.30 755 6256.40 roll -1.56 - - 1959.38 - 3.10 0.111 3360.44 397.1 -107.06 - - 3459.81 - - - - - - - - - 16.17 -
6434.89 619.01 -9.59 792 6442.26 roll -1.56 - - 1959.88 - 3.06 0.056 2071.56 -421.2 -107.06 - - 3457.94 - - - - - - - - - 16.21 -
6750.68 644.90 -7.91 824 6756.78 roll -1.56 - - 1959.38 - 3.62 0.130 690.44 -381.5 -107.06 - - 3458.66 - - - - - - - - - 16.20 -
6794.93 649.02 -8.48 833 6802.39 roll -1.56 - - 1959.69 - 3.36 0.062 2130.06 428.5 -107.06 - - 3457.50 - - - - - - - - - 16.20 -
7110.72 674.22 -8.59 865 7117.93 roll -1.56 - - 1958.69 - 3.77 0.126 689.88 -382.0 -107.06 - - 3457.59 - - - - - - - - - 16.20 -
7170.82 680.28 -9.91 877 7178.08 roll -1.56 - - 1959.81 - 3.36 0.062 2129.94 428.6 -107.06 - - 3457.75 - - - - - - - - - 16.20 -
7486.40 707.80 -8.90 909 7493.59 roll -1.56 - - 1958.56 - 3.75 0.127 689.56 -384.1 -107.06 - - 3458.59 - - - - - - - - - 16.19 -
7576.40 717.13 -10.15 927 7583.92 roll -1.56 - - 1959.50 - 3.36 0.063 2128.50 428.3 -107.06 - - 3457.06 - - - - - - - - - 16.20 -
7892.20 745.07 -9.33 959 7899.38 roll -1.56 - - 1959.88 - 3.76 0.127 690.81 -382.4 -107.06 - - 3457.81 - - - - - - - - - 16.15 -
7992.08 755.04 -9.65 979 7999.54 roll -1.56 - - 1959.06 - 3.38 0.064 2128.38 425.3 -107.06 - - 3457.81 - - - - - - - - - 16.20 -
8307.87 783.12 -8.69 1011 8309.44 no move -1.56 - - 1959.44 - - - 2128.19 - -107.06 - - 3454.78 - - - - - - - - - - -
8617.91 812.11 -9.26 1042 8625.08 roll -1.56 - - 1959.12 - 3.76 0.129 689.75 -382.6 -107.06 - - 3453.44 - - - - - - - - - 16.19 -
8673.52 817.94 -10.39 1053 8679.47 roll -1.56 - - 1959.06 - 3.38 0.064 2126.81 425.2 -107.06 - - 3455.88 - - - - - - - - - 16.18 -
8983.55 846.00 -8.76 1085 8989.67 roll -1.56 - - 1959.81 - 3.12 0.112 3359.69 395.2 -107.06 - - 3454.09 - - - - - - - - - 16.19 -
9017.79 849.47 -9.03 1092 9025.27 roll -1.56 - - 1959.25 - 3.05 0.058 2070.12 -422.8 -107.06 - - 3454.94 - - - - - - - - - 16.19 -
9333.57 875.70 -8.20 1124 9339.67 roll -1.56 - - 1959.50 - 3.63 0.133 689.00 -380.5 -107.06 - - 3453.34 - - - - - - - - - 16.18 -
9423.59 884.43 -9.51 1142 9429.58 roll -1.56 - - 1959.06 - 3.38 0.063 2126.81 425.4 -107.06 - - 3455.56 - - - - - - - - - 16.20 -
9733.63 910.40 -8.24 1174 9735.20 no move -1.56 - - 1959.38 - - - 2127.44 - -107.06 - - 3452.97 - - - - - - - - - - -
10043.74 936.27 -8.48 1205 10050.34 roll -1.56 - - 1959.25 - 3.76 0.129 689.75 -382.4 -107.06 - - 3452.62 - - - - - - - - - 16.20 -
10133.91 944.59 -8.78 1223 10139.90 roll -1.56 - - 1958.81 - 3.38 0.065 2130.00 426.1 -107.06 - - 3455.22 - - - - - - - - - 16.20 -
10443.94 968.77 -8.33 1255 10445.51 no move -1.56 - - 1960.06 - - - 2129.62 - -107.06 - - 3451.88 - - - - - - - - - - -
10713 end dive: TARGET_DEPTH_EXCEEDED
10714 begin apogee
10715.80 990.19 -7.48 1282 10810.04 -0.42 2.59 0.124 2239.69 108.0 0.09 0.259 2120.56 -100.7 - 85.38 2.138 3017.91 -5.1 0.389 - - - - - - 16.13 15.55 12.82
10813 end apogee: CONTROL_FINISHED_OK
10813 begin climb
10816.17 992.08 - 1291 10924.45 1.56 3.91 0.065 2729.06 125.2 3.33 0.107 3360.31 372.3 107.06 93.83 2.072 2580.81 -4.7 0.369 - - - - - - 15.67 15.30 12.77
10947.28 986.51 6.89 1308 10954.54 roll 1.60 - - 2729.25 - 3.07 0.058 2136.94 -398.5 107.06 - - 2579.53 - - - - - - - - - 15.54 -
11263.00 955.25 10.01 1340 11268.85 done 1.60 - - 2729.19 - 3.16 0.104 3361.00 387.4 107.06 - - 2571.44 - - - - - - - - - 15.86 -
11393.00 940.33 11.75 1366 11398.76 done 1.60 - - 2728.75 - 2.97 0.058 2122.12 -417.1 107.06 - - 2570.97 - - - - - - - - - 15.93 -
11703.02 907.61 10.31 1398 11708.88 done 1.60 - - 2728.69 - 3.17 0.104 3362.06 391.1 107.06 - - 2568.16 - - - - - - - - - 15.99 -
11747.28 902.97 10.98 1407 11754.54 done 1.60 - - 2728.62 - 2.96 0.058 2121.56 -419.1 107.06 - - 2569.03 - - - - - - - - - 16.01 -
12063.08 871.55 10.18 1439 12068.99 done 1.60 - - 2728.81 - 3.16 0.104 3360.75 392.1 107.06 - - 2566.78 - - - - - - - - - 16.04 -
12297.40 844.80 11.97 1486 12304.66 done 1.60 - - 2728.50 - 2.93 0.059 2119.00 -423.8 107.06 - - 2567.31 - - - - - - - - - 16.08 -
12613.18 811.76 10.44 1518 12619.09 done 1.60 - - 2729.00 - 3.14 0.105 3361.75 395.8 107.06 - - 2565.56 - - - - - - - - - 16.09 -
12847.48 784.92 11.77 1565 12854.78 done 1.60 - - 2728.19 - 2.93 0.059 2118.31 -424.4 107.06 - - 2568.09 - - - - - - - - - 16.12 -
13163.25 753.77 9.52 1597 13169.31 done 1.60 - - 2728.62 - 3.14 0.104 3361.56 395.9 107.06 - - 2564.69 - - - - - - - - - 16.12 -
13213.27 748.77 9.69 1607 13219.03 done 1.60 - - 2729.25 - 2.91 0.059 2120.00 -426.7 107.06 - - 2564.50 - - - - - - - - - 16.14 -
13523.51 721.31 8.65 1639 13529.16 done 1.60 - - 2728.38 - 3.11 0.104 3361.12 399.1 107.06 - - 2564.06 - - - - - - - - - 16.13 -
13603.31 713.75 10.00 1655 13609.07 done 1.60 - - 2728.19 - 2.91 0.059 2120.12 -426.5 107.06 - - 2565.50 - - - - - - - - - 16.15 -
13913.33 687.19 8.78 1687 13914.91 VBD 1.60 - - 2728.69 - - - 2120.69 - 107.06 - - 2562.75 - - - - - - - - - - -
14223.36 661.04 8.43 1718 14229.23 done 1.60 - - 2728.19 - 3.12 0.103 3360.38 397.3 107.06 - - 2565.00 - - - - - - - - - 16.16 -
14453.40 640.11 8.96 1764 14459.21 done 1.60 - - 2729.00 - 2.91 0.059 2118.44 -426.8 107.06 - - 2563.03 - - - - - - - - - 16.16 -
14763.48 617.40 7.34 1796 14765.05 VBD 1.62 - - 2728.25 - - - 2118.50 - 107.06 - - 2561.59 - - - - - - - - - - -
15073.50 597.06 6.38 1827 15079.47 1.67 0.12 0.082 2752.94 205.8 3.13 0.103 3360.12 396.7 107.06 - - 2562.47 - - - - - - - - 16.21 16.16 -
15103.52 594.69 7.13 1833 15109.27 done 1.70 - - 2752.25 - 2.93 0.058 2116.25 -424.5 107.06 - - 2565.00 - - - - - - - - - 16.18 -
15413.54 573.79 6.77 1865 15419.39 done 1.74 - - 2752.12 - 3.12 0.104 3360.81 398.9 107.06 - - 2564.25 - - - - - - - - - 16.16 -
15577.82 561.36 7.24 1898 15585.20 1.76 0.14 0.073 2773.50 152.7 2.90 0.058 2119.00 -428.2 107.06 - - 2563.03 - - - - - - - - 16.21 16.18 -
15893.55 538.15 7.69 1930 15899.42 done 1.76 - - 2773.19 - 3.12 0.103 3362.12 398.4 107.06 - - 2563.50 - - - - - - - - - 16.19 -
16023.58 526.75 8.92 1956 16029.33 done 1.76 - - 2774.19 - 2.92 0.058 2118.38 -425.9 107.06 - - 2561.41 - - - - - - - - - 16.18 -
16333.60 502.13 7.72 1988 16335.18 VBD 1.76 - - 2774.06 - - - 2118.56 - 107.06 - - 2560.31 - - - - - - - - - - -
16643.62 478.76 7.93 2019 16649.79 done 1.76 - - 2773.75 - 3.63 0.120 688.69 -393.9 107.06 - - 2561.12 - - - - - - - - - 16.17 -
16717.90 472.31 8.45 2034 16725.67 done 1.76 - - 2773.19 - 3.47 0.065 2178.75 429.4 107.06 - - 2561.22 - - - - - - - - - 16.20 -
17033.70 449.72 6.48 2066 17035.28 VBD 1.81 - - 2774.06 - - - 2179.62 - 107.06 - - 2560.38 - - - - - - - - - - -
17343.72 429.36 6.92 2097 17350.90 done 1.84 - - 2774.12 - 3.77 0.116 687.69 -395.7 107.06 - - 2559.12 - - - - - - - - - 16.18 -
17579.38 409.61 8.07 2144 17585.39 done 1.84 - - 2775.00 - 3.48 0.063 2179.56 428.7 107.06 - - 2559.94 - - - - - - - - - 16.19 -
17889.44 387.25 7.05 2176 17891.25 1.87 0.20 0.048 2800.81 129.0 - - 2180.56 - 107.06 - - 2558.75 - - - - - - - - 16.24 - -
18199.45 365.10 6.80 2207 18206.62 done 1.91 - - 2800.94 - 3.78 0.116 688.25 -394.8 107.06 - - 2560.19 - - - - - - - - - 16.18 -
18265.11 360.51 6.89 2220 18271.07 done 1.94 - - 2801.00 - 3.48 0.064 2180.19 428.7 107.06 - - 2561.78 - - - - - - - - - 16.19 -
18575.14 342.82 5.71 2252 18581.07 2.01 0.25 0.052 2838.75 151.0 2.96 0.105 3361.38 399.1 107.06 - - 2559.88 - - - - - - - - 16.24 16.17 -
18730.03 333.40 6.16 2283 18736.69 done 2.07 - - 2838.12 - 2.91 0.056 2118.00 -427.3 107.06 - - 2562.25 - - - - - - - - - 16.18 -
19045.22 311.98 7.12 2315 19051.30 done 2.10 - - 2839.44 - 3.63 0.116 687.50 -394.1 107.06 - - 2560.31 - - - - - - - - - 16.16 -
19185.26 301.48 7.11 2343 19192.43 2.13 0.16 0.065 2865.62 163.6 3.46 0.064 2180.88 431.6 107.06 - - 2557.44 - - - - - - - - 16.22 16.18 -
19500.26 280.88 6.12 2375 19501.83 VBD 2.18 - - 2866.19 - - - 2180.25 - 107.06 - - 2558.56 - - - - - - - - - - -
19810.29 261.14 6.45 2406 19817.65 2.23 0.14 0.055 2885.81 140.1 3.81 0.113 688.75 -391.5 107.06 - - 2557.19 - - - - - - - - 16.20 16.14 -
20046.21 246.70 5.55 2453 20053.49 2.31 0.13 0.053 2900.69 114.5 3.48 0.063 2179.69 428.4 107.06 - - 2557.62 - - - - - - - - 16.18 16.16 -
20361.22 232.96 4.09 2485 20431.70 2.41 0.22 0.054 2932.88 146.3 3.87 0.113 689.56 -385.0 184.42 58.94 1.205 2265.59 -5.0 0.158 - - - - - - 16.16 15.84 12.93
20449.54 225.96 11.34 2502 20457.31 roll 2.41 - - 2932.62 - 3.54 0.063 2178.81 420.7 184.42 - - 2266.91 - - - - - - - - - 15.91 -
20765.31 185.10 12.90 2534 20771.27 done 2.41 - - 2933.69 - 2.97 0.102 3361.38 398.2 184.42 - - 2260.44 - - - - - - - - - 15.99 -
20999.59 152.32 13.40 2581 21007.01 done 2.41 - - 2932.75 - 2.94 0.054 2118.69 -422.7 184.42 - - 2260.84 - - - - - - - - - 16.02 -
21315.35 115.35 10.81 2613 21321.43 done 2.41 - - 2933.25 - 3.12 0.099 3362.00 398.5 184.42 - - 2260.47 - - - - - - - - - 16.06 -
21550.41 91.60 9.31 2660 21557.08 done 2.41 - - 2932.44 - 2.92 0.054 2116.62 -426.5 184.42 - - 2258.75 - - - - - - - - - 16.04 -
21740.81 80.14 3.80 2698 21838.91 2.52 0.17 0.052 2952.44 117.6 3.71 0.114 688.69 -384.9 267.41 87.89 0.972 1928.94 -3.8 0.051 - - - - - - 16.10 15.70 12.86
21892.51 69.75 10.87 2727 21899.52 roll 2.52 - - 2953.12 - 3.53 0.061 2180.25 422.5 267.41 - - 1927.12 - - - - - - - - - 15.80 -
22082.95 52.58 8.78 2765 22089.62 roll 2.52 - - 2953.19 - 3.00 0.100 3361.00 393.6 267.41 - - 1926.03 - - - - - - - - - 15.88 -
22318.21 31.37 7.47 2812 22324.83 roll 2.53 - - 2952.44 - 2.92 0.052 2115.62 -426.5 267.41 - - 1927.88 - - - - - - - - - 15.96 -
22508.31 24.14 2.93 2850 22632.08 2.66 0.27 0.052 2993.50 152.1 3.71 0.113 689.62 -384.4 367.30 111.80 0.904 1521.16 -3.6 0.016 - - - - - - 16.02 15.64 12.78
22795.70 5.51 12.29 2906 22802.70 roll 2.66 - - 2992.81 - 3.53 0.059 2182.00 422.8 367.30 - - 1519.47 - - - - - - - - - 15.80 -
22831 end climb: SURFACE_DEPTH_REACHED
22831 begin surface coast
22856 end surface coast: CONTROL_FINISHED_OK
22856 begin surface
SM 1.04 - - - - 186.7 106.04 0.883 1083.3 10.2 21.12 0.050 1104.2 52.3 - 0.22 0.089 1062.5 4813.5 -5.749 - - 12.81 15.88 15.87 -