NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 78 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 44.03 of 575.00 AH used of 24V (92.34% remains)
• Surface angle -61.6 deg, depth 1.35 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.95 (SM_CC=475)
• GPS1 time: 31 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
8.93 - - - 80.83 VBD -1.56 - - 184.31 - - - 2137.75 - -107.06 70.23 0.005 2561.09 - - - - - - - - - - 15.74
81.26 3.22 -2.93 14 132.28 -1.56 16.42 0.238 1960.81 108.2 3.78 0.123 689.81 -383.1 -107.06 22.07 0.006 3457.94 40.6 -3.605 - - - - - - 15.69 15.73 15.77
360.66 53.67 -13.68 69 367.19 roll -1.56 - - 1961.19 - 3.38 0.055 2129.06 425.8 -107.06 - - 3459.84 - - - - - - - - - 15.90 -
551.00 75.70 -11.80 107 557.42 roll -1.56 - - 1960.81 - 3.72 0.116 689.88 -386.9 -107.06 - - 3460.88 - - - - - - - - - 15.92 -
620.81 84.88 -13.01 121 627.34 roll -1.56 - - 1960.38 - 3.35 0.055 2132.25 430.6 -107.06 - - 3460.56 - - - - - - - - - 15.94 -
810.83 106.82 -10.64 153 816.78 roll -1.56 - - 1961.31 - 3.70 0.116 687.44 -390.5 -107.06 - - 3460.47 - - - - - - - - - 15.96 -
915.10 118.37 -10.93 174 922.38 roll -1.56 - - 1960.88 - 3.34 0.055 2132.06 432.5 -107.06 - - 3461.00 - - - - - - - - - 16.00 -
1230.87 147.95 -9.35 206 1232.40 no move -1.56 - - 1960.81 - - - 2132.19 - -107.06 - - 3460.84 - - - - - - - - - - -
1540.92 177.27 -9.21 237 1542.45 no move -1.56 - - 1961.06 - - - 2132.06 - -107.06 - - 3460.47 - - - - - - - - - - -
1850.94 206.62 -9.70 268 1856.88 roll -1.56 - - 1961.19 - 3.70 0.118 689.00 -390.0 -107.06 - - 3461.91 - - - - - - - - - 16.04 -
1915.21 213.63 -10.68 281 1922.69 roll -1.56 - - 1960.44 - 3.34 0.056 2130.88 431.7 -107.06 - - 3462.88 - - - - - - - - - 16.10 -
2231.00 243.18 -9.06 313 2232.57 no move -1.56 - - 1960.88 - - - 2131.19 - -107.06 - - 3460.84 - - - - - - - - - - -
2541.03 271.44 -9.13 344 2548.22 roll -1.56 - - 1959.88 - 3.70 0.120 689.06 -389.8 -107.06 - - 3462.84 - - - - - - - - - 16.08 -
2600.90 278.02 -11.02 356 2608.38 roll -1.56 - - 1960.62 - 3.34 0.058 2130.62 431.6 -107.06 - - 3463.16 - - - - - - - - - 16.08 -
2916.69 308.07 -9.84 388 2918.26 no move -1.56 - - 1960.62 - - - 2131.25 - -107.06 - - 3461.34 - - - - - - - - - - -
3226.72 339.03 -9.67 419 3233.91 roll -1.56 - - 1960.56 - 3.71 0.121 689.69 -388.6 -107.06 - - 3461.06 - - - - - - - - - 16.12 -
3356.61 353.34 -10.42 445 3364.08 roll -1.56 - - 1960.62 - 3.33 0.059 2129.44 432.4 -107.06 - - 3461.91 - - - - - - - - - 16.14 -
3672.40 383.20 -9.53 477 3679.59 roll -1.56 - - 1961.56 - 3.71 0.122 689.69 -388.1 -107.06 - - 3460.09 - - - - - - - - - 16.15 -
3732.27 389.56 -10.64 489 3739.78 roll -1.56 - - 1961.12 - 3.33 0.058 2130.06 432.5 -107.06 - - 3461.78 - - - - - - - - - 16.16 -
4048.07 420.11 -9.86 521 4053.89 roll -1.56 - - 1960.75 - 3.06 0.108 3360.69 402.2 -107.06 - - 3461.75 - - - - - - - - - 16.15 -
4088.07 424.52 -10.67 529 4093.81 roll -1.56 - - 1961.00 - 3.00 0.055 2069.50 -430.4 -107.06 - - 3461.16 - - - - - - - - - 16.16 -
4398.12 455.18 -9.62 561 4404.18 roll -1.56 - - 1960.31 - 3.53 0.128 688.38 -391.3 -107.06 - - 3462.69 - - - - - - - - - 16.16 -
4468.14 462.92 -11.14 575 4474.09 roll -1.56 - - 1961.44 - 3.33 0.060 2130.44 433.1 -107.06 - - 3461.50 - - - - - - - - - 16.18 -
4778.19 492.22 -9.15 607 4779.76 no move -1.56 - - 1961.12 - - - 2130.81 - -107.06 - - 3460.19 - - - - - - - - - - -
5088.22 519.28 -8.40 638 5095.35 roll -1.56 - - 1961.25 - 3.67 0.125 689.75 -392.7 -107.06 - - 3459.16 - - - - - - - - - 16.18 -
5168.04 527.28 -10.11 654 5175.73 roll -1.56 - - 1961.31 - 3.31 0.061 2132.00 435.7 -107.06 - - 3460.47 - - - - - - - - - 16.19 -
5484.11 555.14 -8.50 686 5485.72 no move -1.56 - - 1960.75 - - - 2132.12 - -107.06 - - 3459.28 - - - - - - - - - - -
5793.90 579.82 -8.16 717 5801.22 roll -1.56 - - 1959.75 - 3.69 0.126 688.50 -391.2 -107.06 - - 3459.19 - - - - - - - - - 16.18 -
5899.72 589.53 -8.93 738 5905.87 roll -1.56 - - 1960.69 - 3.32 0.062 2131.25 434.6 -107.06 - - 3459.34 - - - - - - - - - 16.19 -
6209.75 616.22 -8.73 770 6217.09 roll -1.56 - - 1960.94 - 3.69 0.126 690.00 -390.6 -107.06 - - 3457.59 - - - - - - - - - 16.19 -
6255.59 620.94 -9.75 779 6261.66 roll -1.56 - - 1961.00 - 3.30 0.062 2129.56 436.2 -107.06 - - 3458.44 - - - - - - - - - 16.19 -
6565.62 649.02 -9.14 811 6567.23 no move -1.56 - - 1961.19 - - - 2129.88 - -107.06 - - 3457.66 - - - - - - - - - - -
6875.65 676.78 -8.97 842 6882.99 roll -1.56 - - 1960.12 - 3.70 0.127 688.56 -389.5 -107.06 - - 3459.72 - - - - - - - - - 16.20 -
6985.74 687.85 -9.91 864 6993.38 roll -1.56 - - 1960.81 - 3.33 0.063 2129.19 432.6 -107.06 - - 3457.84 - - - - - - - - - 16.20 -
7301.52 713.72 -8.04 896 7303.13 no move -1.56 - - 1960.69 - - - 2129.44 - -107.06 - - 3456.69 - - - - - - - - - - -
7611.56 737.25 -7.32 927 7618.95 roll -1.56 - - 1960.88 - 3.70 0.128 688.81 -389.4 -107.06 - - 3456.28 - - - - - - - - - 16.19 -
7707.57 745.55 -8.43 946 7713.73 roll -1.56 - - 1960.38 - 3.33 0.064 2129.88 432.8 -107.06 - - 3458.59 - - - - - - - - - 16.19 -
8017.60 768.80 -7.93 978 8019.21 no move -1.56 - - 1961.00 - - - 2129.62 - -107.06 - - 3455.38 - - - - - - - - - - -
8327.62 791.89 -7.11 1009 8329.24 no move -1.56 - - 1960.75 - - - 2130.00 - -107.06 - - 3454.47 - - - - - - - - - - -
8637.66 814.55 -7.67 1040 8645.05 roll -1.56 - - 1960.94 - 3.72 0.129 690.81 -386.9 -107.06 - - 3453.59 - - - - - - - - - 16.19 -
8743.57 823.59 -8.37 1061 8749.69 roll -1.56 - - 1960.75 - 3.33 0.064 2129.25 432.0 -107.06 - - 3455.09 - - - - - - - - - 16.20 -
9053.59 847.97 -7.82 1093 9055.20 no move -1.56 - - 1960.75 - - - 2128.38 - -107.06 - - 3453.91 - - - - - - - - - - -
9363.62 872.92 -8.23 1124 9365.23 no move -1.56 - - 1960.69 - - - 2129.12 - -107.06 - - 3453.53 - - - - - - - - - - -
9673.65 897.50 -7.46 1155 9681.29 roll -1.56 - - 1960.62 - 3.73 0.131 689.69 -385.9 -107.06 - - 3455.88 - - - - - - - - - 16.20 -
9749.91 903.97 -8.59 1170 9756.04 roll -1.56 - - 1961.25 - 3.36 0.065 2128.69 428.3 -107.06 - - 3454.06 - - - - - - - - - 16.20 -
10059.94 926.06 -7.00 1202 10065.88 roll -1.56 - - 1960.00 - 3.09 0.113 3361.25 398.9 -107.06 - - 3455.84 - - - - - - - - - 16.20 -
10124.18 931.43 -7.73 1215 10131.70 roll -1.56 - - 1960.19 - 3.05 0.059 2070.75 -423.1 -107.06 - - 3454.59 - - - - - - - - - 16.20 -
10439.96 952.54 -6.31 1247 10446.21 roll -1.56 - - 1959.81 - 3.59 0.136 689.69 -384.7 -107.06 - - 3455.38 - - - - - - - - - 16.18 -
10534.23 960.15 -7.68 1266 10541.92 roll -1.56 - - 1961.12 - 3.38 0.066 2127.94 425.5 -107.06 - - 3453.66 - - - - - - - - - 16.18 -
10850.01 980.78 -6.97 1298 10851.62 no move -1.56 - - 1960.75 - - - 2127.50 - -107.06 - - 3452.31 - - - - - - - - - - -
10989 end dive: TARGET_DEPTH_EXCEEDED
10990 begin apogee
10991.81 990.22 -6.89 1312 11086.84 -0.42 2.64 0.122 2239.94 105.8 0.09 0.248 2120.25 -80.6 - 85.51 2.150 3021.16 -5.0 0.384 - - - - - - 16.13 15.56 12.91
11098 end apogee: CONTROL_FINISHED_OK
11098 begin climb
11101.16 990.91 - 1321 11206.66 1.56 3.90 0.062 2727.88 125.1 - - 2120.12 - 107.06 93.63 2.087 2583.56 -4.7 0.367 - - - - - - 15.69 - 12.76
11510.21 951.45 12.15 1368 11516.24 done 1.56 - - 2727.81 - 3.16 0.106 3361.50 392.8 107.06 - - 2570.84 - - - - - - - - - 15.84 -
11610.23 938.60 12.89 1388 11616.18 done 1.56 - - 2728.25 - 2.98 0.058 2122.38 -415.8 107.06 - - 2571.00 - - - - - - - - - 15.90 -
11920.24 904.13 10.71 1420 11926.27 done 1.56 - - 2728.12 - 3.14 0.104 3361.94 394.8 107.06 - - 2568.16 - - - - - - - - - 15.98 -
12030.27 891.54 11.92 1442 12036.18 done 1.56 - - 2726.50 - 2.95 0.057 2121.56 -420.5 107.06 - - 2571.03 - - - - - - - - - 16.01 -
12340.28 859.31 10.52 1474 12346.36 done 1.56 - - 2727.81 - 3.13 0.104 3361.00 396.0 107.06 - - 2566.25 - - - - - - - - - 16.05 -
12490.31 842.84 10.49 1504 12496.22 done 1.56 - - 2728.00 - 2.93 0.058 2121.75 -423.0 107.06 - - 2566.69 - - - - - - - - - 16.07 -
12800.32 812.73 8.86 1536 12806.36 done 1.56 - - 2727.50 - 3.12 0.103 3362.00 397.5 107.06 - - 2566.75 - - - - - - - - - 16.10 -
12964.60 794.95 10.72 1569 12972.02 done 1.56 - - 2727.06 - 2.94 0.058 2121.19 -422.0 107.06 - - 2566.94 - - - - - - - - - 16.10 -
13280.36 763.49 9.49 1601 13286.39 done 1.56 - - 2727.25 - 3.12 0.103 3361.69 397.6 107.06 - - 2566.25 - - - - - - - - - 16.12 -
13370.39 754.32 10.54 1619 13376.30 done 1.56 - - 2727.44 - 2.93 0.058 2121.75 -423.2 107.06 - - 2567.12 - - - - - - - - - 16.14 -
13680.40 727.66 8.61 1651 13686.44 done 1.56 - - 2727.50 - 3.12 0.103 3361.81 397.5 107.06 - - 2565.00 - - - - - - - - - 16.14 -
13744.66 721.71 8.88 1664 13752.37 done 1.56 - - 2727.81 - 2.93 0.057 2119.62 -424.0 107.06 - - 2563.72 - - - - - - - - - 16.14 -
14060.42 695.68 8.29 1696 14066.49 done 1.56 - - 2727.00 - 3.11 0.103 3362.56 399.7 107.06 - - 2566.06 - - - - - - - - - 16.14 -
14120.43 690.19 9.10 1708 14126.35 done 1.56 - - 2728.12 - 2.92 0.057 2118.88 -425.9 107.06 - - 2562.97 - - - - - - - - - 16.15 -
14430.44 665.11 8.33 1740 14436.42 done 1.56 - - 2727.50 - 3.10 0.103 3361.56 400.9 107.06 - - 2565.16 - - - - - - - - - 16.16 -
14490.47 659.59 9.69 1752 14496.39 done 1.56 - - 2727.50 - 2.92 0.057 2119.50 -425.4 107.06 - - 2564.25 - - - - - - - - - 16.15 -
14800.53 634.82 7.44 1784 14806.44 done 1.58 - - 2728.38 - 3.10 0.104 3362.12 400.8 107.06 - - 2562.41 - - - - - - - - - 16.15 -
14954.75 622.10 8.70 1815 14962.17 done 1.58 - - 2727.75 - 2.92 0.057 2119.44 -425.6 107.06 - - 2564.25 - - - - - - - - - 16.17 -
15270.51 598.68 7.75 1847 15278.13 done 1.58 - - 2728.25 - 3.64 0.122 689.12 -392.9 107.06 - - 2561.91 - - - - - - - - - 16.17 -
15296.73 596.25 8.20 1852 15302.91 done 1.58 - - 2729.19 - 3.46 0.065 2180.19 430.9 107.06 - - 2560.72 - - - - - - - - - 16.18 -
15606.79 573.94 6.92 1884 15612.68 done 1.62 - - 2727.69 - 2.93 0.106 3363.00 403.7 107.06 - - 2563.16 - - - - - - - - - 16.16 -
15626.78 572.36 7.11 1888 15632.69 done 1.64 - - 2729.50 - 2.90 0.056 2117.69 -429.4 107.06 - - 2560.22 - - - - - - - - - 16.18 -
15936.75 548.36 8.19 1920 15938.36 VBD 1.64 - - 2728.50 - - - 2117.75 - 107.06 - - 2559.66 - - - - - - - - - - -
16246.76 524.77 7.73 1951 16252.78 done 1.64 - - 2729.00 - 3.09 0.104 3361.56 402.5 107.06 - - 2560.69 - - - - - - - - - 16.18 -
16297.00 520.33 8.83 1961 16302.69 done 1.64 - - 2728.88 - 2.90 0.056 2117.25 -429.1 107.06 - - 2560.84 - - - - - - - - - 16.19 -
16606.78 495.13 7.96 1993 16612.78 done 1.64 - - 2728.81 - 3.08 0.102 3364.06 404.8 107.06 - - 2560.88 - - - - - - - - - 16.17 -
16701.05 487.04 8.38 2012 16708.41 done 1.64 - - 2728.19 - 2.90 0.056 2118.75 -429.4 107.06 - - 2562.56 - - - - - - - - - 16.19 -
17016.86 464.62 6.73 2044 17018.67 1.68 0.15 0.077 2756.31 187.5 - - 2118.50 - 107.06 - - 2558.28 - - - - - - - - 16.18 - -
17326.88 443.92 6.33 2075 17332.92 done 1.74 - - 2756.44 - 3.07 0.102 3363.44 405.5 107.06 - - 2560.97 - - - - - - - - - 16.16 -
17446.91 435.51 6.73 2099 17452.88 1.78 0.11 0.083 2778.31 198.8 2.90 0.056 2120.00 -428.8 107.06 - - 2562.28 - - - - - - - - 16.21 16.16 -
17756.92 415.53 6.18 2131 17758.53 VBD 1.83 - - 2779.38 - - - 2119.44 - 107.06 - - 2559.34 - - - - - - - - - - -
18066.93 394.89 6.84 2162 18074.36 1.87 0.10 0.088 2804.81 254.3 3.62 0.120 688.62 -395.3 107.06 - - 2558.00 - - - - - - - - 16.19 16.14 -
18302.90 374.46 8.66 2209 18309.07 done 1.87 - - 2804.25 - 3.42 0.065 2180.38 436.2 107.06 - - 2561.59 - - - - - - - - - 16.18 -
18612.90 351.27 7.61 2241 18614.77 1.87 0.26 0.171 2785.88 -70.7 - - 2181.44 - 107.06 - - 2560.09 - - - - - - - - 16.15 - -
18922.97 329.08 7.11 2272 18930.32 done 1.90 - - 2786.75 - 3.79 0.116 688.75 -393.8 107.06 - - 2561.06 - - - - - - - - - 16.17 -
19128.91 313.14 7.32 2313 19136.32 1.92 0.26 0.045 2814.19 105.5 3.43 0.063 2182.19 435.4 107.06 - - 2561.78 - - - - - - - - 16.22 16.18 -
19443.91 295.14 5.43 2345 19445.53 VBD 2.00 - - 2815.38 - - - 2182.94 - 107.06 - - 2558.25 - - - - - - - - - - -
19753.93 278.93 5.32 2376 19755.79 2.08 0.23 0.056 2854.19 168.7 - - 2182.69 - 107.06 - - 2557.06 - - - - - - - - 16.18 - -
20063.93 261.70 5.78 2407 20071.30 done 2.15 - - 2854.19 - 3.80 0.113 687.62 -393.4 107.06 - - 2561.84 - - - - - - - - - 16.15 -
20249.87 249.33 6.66 2444 20257.27 2.19 0.20 0.051 2879.81 128.1 3.45 0.061 2183.31 433.5 107.06 - - 2561.94 - - - - - - - - 16.18 16.16 -
20564.87 229.21 6.02 2476 20566.49 VBD 2.25 - - 2880.31 - - - 2183.50 - 107.06 - - 2558.59 - - - - - - - - - - -
20874.90 212.79 5.10 2507 20882.49 2.34 0.24 0.049 2917.94 156.8 3.80 0.112 687.81 -393.6 107.06 - - 2558.50 - - - - - - - - 16.20 16.15 -
20951.03 208.34 5.58 2522 20957.42 done 2.41 - - 2917.62 - 3.46 0.061 2181.75 431.8 107.06 - - 2559.72 - - - - - - - - - 16.16 -
21261.03 194.47 4.58 2554 21330.21 2.50 0.24 0.056 2955.88 159.4 - - 2182.69 - 174.73 65.39 1.109 2304.78 -3.9 0.113 - - - - - - 16.20 - 12.86
21636.00 150.61 12.19 2595 21641.89 roll 2.50 - - 2956.56 - 2.93 0.102 3360.88 402.1 174.73 - - 2302.75 - - - - - - - - - 15.99 -
21756.01 134.57 13.26 2619 21761.96 done 2.50 - - 2957.75 - 2.94 0.055 2117.75 -422.8 174.73 - - 2299.88 - - - - - - - - - 16.01 -
22066.01 96.56 9.53 2654 22073.10 done 2.50 - - 2956.44 - 3.67 0.114 688.88 -389.3 174.73 - - 2297.56 - - - - - - - - - 16.02 -
22126.59 90.04 11.44 2666 22133.58 done 2.50 - - 2956.00 - 3.49 0.061 2182.62 428.0 174.73 - - 2299.22 - - - - - - - - - 16.02 -
22317.07 78.44 3.89 2704 22412.39 2.60 0.14 0.067 2982.44 188.9 - - 2182.88 - 255.92 87.96 0.973 1976.38 -3.7 0.049 - - - - - - 16.07 - 12.80
22595.95 55.01 10.81 2759 22602.65 roll 2.60 - - 2983.25 - 2.96 0.100 3363.31 398.8 255.92 - - 1973.09 - - - - - - - - - 15.88 -
22661.12 47.73 11.02 2772 22667.83 roll 2.60 - - 2981.50 - 2.97 0.053 2118.00 -419.3 255.92 - - 1974.25 - - - - - - - - - 15.90 -
22851.31 33.70 6.34 2810 22858.39 roll 2.66 - - 2982.00 - 3.69 0.114 688.31 -387.4 255.92 - - 1972.88 - - - - - - - - - 15.93 -
23086.97 23.61 1.98 2857 23232.03 2.81 0.60 0.028 3023.94 69.9 3.47 0.059 2185.81 431.6 374.47 131.82 0.907 1492.28 -3.6 0.016 - - - - - - 16.04 15.96 12.87
23395 end climb: SURFACE_DEPTH_REACHED
23395 begin surface coast
23415 end surface coast: CONTROL_FINISHED_OK
23416 begin surface
SM 1.54 - - - - 186.7 99.47 0.884 1083.8 9.6 21.27 0.047 1104.0 51.9 - 0.24 0.099 1063.6 4417.2 -7.023 - - 12.73 15.83 15.83 -