NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 122 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 57.27 of 575.00 AH used of 24V (90.04% remains)
• Surface angle -64.1 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 45 s
• GPS2 time: 4 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
8.89 - - - 75.66 VBD -1.56 - - 181.62 - - - 2145.06 - -107.06 65.16 0.005 2484.78 - - - - - - - - - - 15.75
76.09 3.56 -3.56 13 126.80 -1.56 16.18 0.237 1960.31 109.9 3.09 0.104 3361.75 393.8 -107.06 23.28 0.006 3458.62 41.8 -4.111 - - - - - - 15.72 15.73 15.75
235.10 36.51 -19.42 44 241.90 roll -1.56 - - 1960.31 - 3.07 0.048 2068.25 -421.3 -107.06 - - 3458.78 - - - - - - - - - 15.89 -
425.38 64.85 -13.91 82 432.00 roll -1.56 - - 1959.88 - 3.58 0.116 688.75 -385.3 -107.06 - - 3459.19 - - - - - - - - - 15.91 -
470.39 71.52 -15.31 91 476.96 roll -1.56 - - 1960.19 - 3.34 0.049 2133.19 432.5 -107.06 - - 3459.66 - - - - - - - - - 15.92 -
660.41 95.02 -11.72 129 666.81 roll -1.56 - - 1959.81 - 3.09 0.098 3362.62 397.9 -107.06 - - 3460.22 - - - - - - - - - 15.94 -
740.41 104.46 -11.52 145 746.05 roll -1.56 - - 1959.75 - 3.03 0.046 2066.00 -427.9 -107.06 - - 3461.91 - - - - - - - - - 15.97 -
1050.42 134.33 -8.87 177 1056.14 roll -1.56 - - 1960.00 - 3.22 0.096 3361.81 402.4 -107.06 - - 3461.47 - - - - - - - - - 16.01 -
1100.43 139.23 -10.00 187 1106.07 roll -1.56 - - 1960.38 - 3.01 0.047 2067.25 -430.1 -107.06 - - 3463.09 - - - - - - - - - 16.02 -
1410.45 169.60 -9.90 219 1411.98 no move -1.56 - - 1959.94 - - - 2066.88 - -107.06 - - 3461.31 - - - - - - - - - - -
1720.47 201.73 -10.77 250 1722.00 no move -1.56 - - 1959.81 - - - 2067.06 - -107.06 - - 3461.25 - - - - - - - - - - -
2030.53 231.57 -8.88 281 2036.45 roll -1.56 - - 1959.69 - 3.22 0.099 3361.94 402.1 -107.06 - - 3463.09 - - - - - - - - - 16.06 -
2074.77 236.18 -10.33 290 2082.08 roll -1.56 - - 1959.06 - 3.02 0.049 2068.50 -428.3 -107.06 - - 3464.12 - - - - - - - - - 16.09 -
2390.55 265.62 -9.42 322 2396.60 roll -1.56 - - 1960.19 - 3.55 0.121 690.75 -388.1 -107.06 - - 3463.31 - - - - - - - - - 16.06 -
2420.57 268.91 -9.93 328 2426.55 roll -1.56 - - 1959.31 - 3.31 0.054 2133.38 435.8 -107.06 - - 3461.81 - - - - - - - - - 16.08 -
2730.60 298.35 -9.23 360 2732.17 no move -1.56 - - 1960.00 - - - 2133.19 - -107.06 - - 3461.31 - - - - - - - - - - -
3040.62 327.62 -9.39 391 3042.19 no move -1.56 - - 1959.88 - - - 2132.62 - -107.06 - - 3461.84 - - - - - - - - - - -
3350.66 355.77 -9.06 422 3357.79 roll -1.56 - - 1959.62 - 3.70 0.118 689.06 -390.2 -107.06 - - 3462.81 - - - - - - - - - 16.10 -
3400.59 360.78 -9.97 432 3408.05 roll -1.56 - - 1960.06 - 3.32 0.056 2132.06 434.6 -107.06 - - 3461.94 - - - - - - - - - 16.11 -
3716.37 387.77 -8.81 464 3717.94 no move -1.56 - - 1959.94 - - - 2132.06 - -107.06 - - 3460.62 - - - - - - - - - - -
4026.40 416.28 -9.81 495 4033.60 roll -1.56 - - 1960.06 - 3.71 0.119 690.75 -388.5 -107.06 - - 3460.53 - - - - - - - - - 16.16 -
4076.39 421.96 -11.24 505 4083.89 roll -1.56 - - 1960.38 - 3.32 0.057 2131.06 433.8 -107.06 - - 3462.00 - - - - - - - - - 16.16 -
4392.18 452.73 -9.88 537 4399.33 roll -1.56 - - 1959.75 - 3.70 0.120 689.56 -389.6 -107.06 - - 3459.88 - - - - - - - - - 16.15 -
4422.01 456.05 -10.81 543 4429.49 roll -1.56 - - 1960.31 - 3.32 0.057 2131.88 434.4 -107.06 - - 3460.16 - - - - - - - - - 16.16 -
4737.80 486.35 -9.25 575 4739.37 no move -1.56 - - 1960.00 - - - 2132.19 - -107.06 - - 3459.19 - - - - - - - - - - -
5047.82 514.78 -8.77 606 5055.01 roll -1.56 - - 1959.38 - 3.73 0.122 689.19 -386.9 -107.06 - - 3459.72 - - - - - - - - - 16.15 -
5093.45 519.45 -9.33 615 5099.35 roll -1.56 - - 1959.75 - 3.30 0.056 2130.44 436.7 -107.06 - - 3458.66 - - - - - - - - - 16.16 -
5403.49 546.99 -8.70 647 5405.06 no move -1.56 - - 1960.31 - - - 2130.94 - -107.06 - - 3457.81 - - - - - - - - - - -
5713.51 575.61 -9.15 678 5720.71 roll -1.56 - - 1959.75 - 3.72 0.123 688.44 -387.8 -107.06 - - 3458.94 - - - - - - - - - 16.16 -
5789.27 583.53 -10.46 693 5795.22 roll -1.56 - - 1959.31 - 3.33 0.058 2130.69 433.1 -107.06 - - 3457.03 - - - - - - - - - 16.16 -
6099.29 612.60 -9.52 725 6106.45 roll -1.56 - - 1960.75 - 3.70 0.123 688.25 -389.8 -107.06 - - 3456.88 - - - - - - - - - 16.17 -
6144.89 617.53 -10.90 734 6150.87 roll -1.56 - - 1960.38 - 3.32 0.058 2130.69 434.5 -107.06 - - 3458.62 - - - - - - - - - 16.17 -
6454.92 646.89 -9.53 766 6456.49 no move -1.56 - - 1959.75 - - - 2131.25 - -107.06 - - 3455.16 - - - - - - - - - - -
6764.95 672.16 -7.79 797 6766.52 no move -1.56 - - 1959.94 - - - 2131.00 - -107.06 - - 3455.41 - - - - - - - - - - -
7074.98 695.39 -7.67 828 7082.18 roll -1.56 - - 1959.88 - 3.71 0.124 690.88 -388.2 -107.06 - - 3455.56 - - - - - - - - - 16.17 -
7110.62 698.28 -7.94 835 7116.58 roll -1.56 - - 1960.12 - 3.32 0.060 2132.31 434.2 -107.06 - - 3455.75 - - - - - - - - - 16.18 -
7420.66 722.19 -7.47 867 7428.09 roll -1.56 - - 1959.88 - 3.73 0.125 690.75 -386.5 -107.06 - - 3453.09 - - - - - - - - - 16.16 -
7500.89 729.69 -9.05 883 7508.38 roll -1.56 - - 1960.56 - 3.31 0.059 2131.31 435.2 -107.06 - - 3455.84 - - - - - - - - - 16.18 -
7816.69 755.28 -8.29 915 7818.26 no move -1.56 - - 1959.94 - - - 2130.81 - -107.06 - - 3452.31 - - - - - - - - - - -
8126.71 780.34 -7.82 946 8133.90 roll -1.56 - - 1959.81 - 3.73 0.126 689.62 -386.4 -107.06 - - 3453.06 - - - - - - - - - 16.17 -
8156.59 783.27 -8.78 952 8164.09 roll -1.56 - - 1959.94 - 3.32 0.060 2131.44 434.3 -107.06 - - 3454.06 - - - - - - - - - 16.17 -
8472.39 809.50 -8.93 984 8473.96 no move -1.56 - - 1960.25 - - - 2131.31 - -107.06 - - 3452.59 - - - - - - - - - - -
8782.41 836.19 -8.53 1015 8789.60 roll -1.56 - - 1959.94 - 3.74 0.125 689.75 -385.4 -107.06 - - 3452.47 - - - - - - - - - 16.18 -
8858.06 843.38 -9.28 1030 8864.02 roll -1.56 - - 1960.06 - 3.35 0.063 2130.94 430.2 -107.06 - - 3452.69 - - - - - - - - - 16.17 -
9168.12 868.22 -8.14 1062 9169.69 no move -1.56 - - 1959.38 - - - 2130.94 - -107.06 - - 3451.91 - - - - - - - - - - -
9478.15 892.40 -7.30 1093 9485.35 roll -1.56 - - 1960.31 - 3.75 0.126 690.31 -384.2 -107.06 - - 3451.78 - - - - - - - - - 16.17 -
9548.15 898.81 -9.14 1107 9555.63 roll -1.56 - - 1960.31 - 3.33 0.063 2130.12 432.4 -107.06 - - 3452.06 - - - - - - - - - 16.17 -
9863.94 923.16 -7.58 1139 9871.14 roll -1.56 - - 1959.62 - 3.74 0.125 689.50 -385.2 -107.06 - - 3450.59 - - - - - - - - - 16.17 -
9913.83 927.69 -8.72 1149 9921.29 roll -1.56 - - 1959.56 - 3.33 0.060 2128.38 432.1 -107.06 - - 3452.84 - - - - - - - - - 16.18 -
10229.62 952.40 -8.06 1181 10231.19 no move -1.56 - - 1960.00 - - - 2128.94 - -107.06 - - 3450.62 - - - - - - - - - - -
10540.39 975.61 -7.58 1212 10546.83 roll -1.56 - - 1959.50 - 3.74 0.127 689.56 -384.9 -107.06 - - 3450.72 - - - - - - - - - 16.15 -
10635.41 983.87 -8.63 1231 10641.37 roll -1.56 - - 1959.94 - 3.33 0.062 2129.00 432.3 -107.06 - - 3451.41 - - - - - - - - - 16.18 -
10715 end dive: TARGET_DEPTH_EXCEEDED
10715 begin apogee
10717.10 990.06 -7.63 1240 10811.49 -0.42 2.47 0.121 2241.00 113.8 0.09 0.256 2119.50 -105.6 - 86.23 2.254 3019.50 -5.0 0.364 - - - - - - 16.12 15.53 12.72
10814 end apogee: CONTROL_FINISHED_OK
10815 begin climb
10817.61 990.77 - 1249 10923.17 1.56 3.90 0.055 2730.25 125.4 - - 2119.62 - 107.06 96.00 2.174 2580.50 -4.6 0.345 - - - - - - 15.65 - 12.77
11226.67 955.58 10.69 1290 11232.58 done 1.56 - - 2730.69 - 3.12 0.105 3361.69 398.1 107.06 - - 2569.34 - - - - - - - - - 15.85 -
11336.70 942.95 13.03 1312 11342.45 done 1.56 - - 2730.44 - 2.94 0.055 2120.75 -422.1 107.06 - - 2569.44 - - - - - - - - - 15.91 -
11646.71 910.71 10.09 1344 11652.56 done 1.56 - - 2730.75 - 3.05 0.105 3362.19 407.0 107.06 - - 2566.19 - - - - - - - - - 15.97 -
11831.07 889.28 12.39 1381 11838.27 done 1.56 - - 2730.12 - 2.92 0.056 2121.75 -424.8 107.06 - - 2567.94 - - - - - - - - - 16.01 -
12146.77 857.02 10.02 1413 12152.62 done 1.56 - - 2730.94 - 3.06 0.103 3362.25 405.4 107.06 - - 2564.12 - - - - - - - - - 16.05 -
12256.80 844.87 11.22 1435 12262.57 done 1.56 - - 2730.38 - 2.93 0.055 2119.19 -424.3 107.06 - - 2564.91 - - - - - - - - - 16.07 -
12566.82 813.41 9.69 1467 12572.85 1.56 0.29 0.149 2713.44 -58.4 3.07 0.104 3362.56 405.0 107.06 - - 2563.03 - - - - - - - - 16.07 16.06 -
12636.84 806.37 10.38 1481 12642.64 done 1.56 - - 2713.50 - 2.92 0.055 2118.81 -425.9 107.06 - - 2565.97 - - - - - - - - - 16.10 -
12946.85 778.41 8.58 1513 12952.67 done 1.56 - - 2713.44 - 3.07 0.103 3363.62 405.5 107.06 - - 2564.09 - - - - - - - - - 16.10 -
13096.89 764.10 9.35 1543 13102.68 done 1.56 - - 2713.56 - 2.92 0.057 2117.19 -426.9 107.06 - - 2562.16 - - - - - - - - - 16.12 -
13406.90 738.37 8.10 1575 13413.01 done 1.56 - - 2713.50 - 3.07 0.104 3362.38 405.6 107.06 - - 2560.59 - - - - - - - - - 16.11 -
13641.18 717.17 8.79 1622 13648.48 done 1.56 - - 2713.69 - 2.92 0.056 2121.69 -424.9 107.06 - - 2561.50 - - - - - - - - - 16.13 -
13956.95 692.10 8.14 1654 13962.77 done 1.56 - - 2713.62 - 3.06 0.103 3362.06 405.3 107.06 - - 2560.44 - - - - - - - - - 16.13 -
14046.96 684.36 8.81 1672 14052.72 done 1.56 - - 2713.50 - 2.91 0.055 2119.50 -427.0 107.06 - - 2561.25 - - - - - - - - - 16.14 -
14356.98 660.32 7.69 1704 14362.79 done 1.56 - - 2713.31 - 3.05 0.102 3362.56 407.6 107.06 - - 2560.56 - - - - - - - - - 16.14 -
14507.02 647.58 8.58 1734 14512.79 done 1.56 - - 2713.31 - 2.90 0.055 2118.25 -429.1 107.06 - - 2559.84 - - - - - - - - - 16.14 -
14817.07 624.70 7.73 1766 14822.89 done 1.56 - - 2713.12 - 3.07 0.102 3363.50 405.6 107.06 - - 2560.94 - - - - - - - - - 16.15 -
15041.37 604.73 9.23 1811 15048.59 done 1.56 - - 2713.56 - 2.90 0.055 2118.12 -429.4 107.06 - - 2560.38 - - - - - - - - - 16.17 -
15357.15 579.40 7.83 1843 15358.72 VBD 1.56 - - 2713.38 - - - 2117.81 - 107.06 - - 2558.50 - - - - - - - - - - -
15667.23 556.06 7.20 1874 15673.00 done 1.59 - - 2712.69 - 3.06 0.103 3364.50 407.4 107.06 - - 2561.81 - - - - - - - - - 16.16 -
15831.46 542.63 8.27 1907 15838.73 done 1.59 - - 2713.81 - 2.90 0.055 2118.56 -429.6 107.06 - - 2559.00 - - - - - - - - - 16.16 -
16147.28 519.99 6.95 1939 16153.28 1.62 0.23 0.053 2748.38 150.3 3.04 0.103 3363.62 409.6 107.06 - - 2558.81 - - - - - - - - 16.21 16.14 -
16341.52 504.32 7.68 1978 16348.94 1.62 0.27 0.161 2728.69 -72.9 2.90 0.055 2118.00 -429.5 107.06 - - 2558.81 - - - - - - - - 16.10 16.17 -
16657.32 484.72 5.78 2010 16664.66 1.69 0.22 0.055 2763.12 156.5 3.62 0.118 688.44 -394.9 107.06 - - 2558.03 - - - - - - - - 16.19 16.14 -
16737.41 478.99 7.37 2026 16745.13 done 1.71 - - 2763.25 - 3.42 0.062 2182.38 436.8 107.06 - - 2558.78 - - - - - - - - - 16.16 -
17053.18 458.36 7.01 2058 17058.84 done 1.74 - - 2763.69 - 2.89 0.104 3362.00 408.2 107.06 - - 2560.19 - - - - - - - - - 16.14 -
17287.47 440.62 7.31 2105 17294.69 done 1.76 - - 2764.19 - 2.91 0.055 2119.19 -427.1 107.06 - - 2557.66 - - - - - - - - - 16.16 -
17603.24 418.58 6.82 2137 17604.95 1.80 0.09 0.083 2792.50 314.6 - - 2119.00 - 107.06 - - 2555.66 - - - - - - - - 16.20 - -
17913.22 395.56 7.72 2168 17919.25 1.80 0.28 0.152 2772.81 -70.3 3.05 0.102 3361.94 407.5 107.06 - - 2557.88 - - - - - - - - 16.13 16.10 -
17997.49 388.91 7.91 2185 18004.76 done 1.80 - - 2772.12 - 2.91 0.055 2116.88 -427.9 107.06 - - 2558.75 - - - - - - - - - 16.16 -
18313.31 366.44 6.70 2217 18319.24 1.84 0.17 0.060 2804.25 189.0 3.05 0.101 3363.31 408.7 107.06 - - 2558.91 - - - - - - - - 16.13 16.12 -
18437.54 356.38 8.20 2242 18445.29 1.84 0.29 0.166 2778.38 -89.2 2.91 0.055 2117.88 -428.0 107.06 - - 2560.25 - - - - - - - - 16.11 16.15 -
18753.35 335.04 6.20 2274 18755.16 1.90 0.22 0.049 2817.00 175.5 - - 2118.00 - 107.06 - - 2557.66 - - - - - - - - 16.18 - -
19063.38 315.61 5.86 2305 19069.47 done 1.96 - - 2817.00 - 3.62 0.115 687.38 -395.2 107.06 - - 2558.00 - - - - - - - - - 16.12 -
19163.42 309.19 6.61 2325 19169.38 done 2.01 - - 2817.44 - 3.43 0.061 2182.44 435.9 107.06 - - 2557.12 - - - - - - - - - 16.13 -
19473.42 291.16 5.91 2357 19479.41 2.07 0.20 0.050 2858.38 204.7 2.91 0.102 3362.88 405.6 107.06 - - 2556.94 - - - - - - - - 16.15 16.10 -
19543.40 286.10 7.69 2371 19549.36 2.07 0.29 0.166 2835.88 -77.6 2.92 0.053 2118.50 -426.2 107.06 - - 2559.47 - - - - - - - - 16.10 16.11 -
19853.44 266.21 6.01 2403 19860.77 2.13 0.23 0.047 2872.81 160.6 3.63 0.114 687.25 -394.3 107.06 - - 2559.41 - - - - - - - - 16.16 16.08 -
20089.40 249.88 6.22 2450 20095.52 done 2.19 - - 2873.56 - 3.45 0.060 2182.44 433.4 107.06 - - 2559.25 - - - - - - - - - 16.14 -
20399.31 231.69 6.08 2482 20406.48 done 2.25 - - 2873.56 - 3.79 0.110 688.56 -394.2 107.06 - - 2559.47 - - - - - - - - - 16.10 -
20574.99 220.49 5.95 2517 20582.19 2.31 0.20 0.052 2915.50 209.7 3.43 0.059 2184.25 436.1 107.06 - - 2559.31 - - - - - - - - 16.18 16.14 -
20889.99 203.31 5.09 2549 20891.57 VBD 2.40 - - 2915.44 - - - 2185.06 - 107.06 - - 2556.47 - - - - - - - - - - -
21200.02 187.06 5.87 2580 21207.33 2.46 0.18 0.054 2950.62 195.4 3.80 0.109 687.19 -394.2 107.06 - - 2556.50 - - - - - - - - 16.18 16.09 -
21430.12 173.62 5.66 2626 21437.58 done 2.53 - - 2950.62 - 3.45 0.058 2185.50 434.3 107.06 - - 2559.53 - - - - - - - - - 16.12 -
21745.88 159.91 4.46 2658 21831.73 2.63 0.20 0.054 2989.38 193.8 2.96 0.102 3363.44 398.0 177.24 76.72 1.168 2296.19 -3.4 0.078 - - - - - - 16.17 15.76 12.75
21980.31 132.12 15.58 2704 21986.33 roll back 2.63 0.31 0.179 2971.38 -58.1 2.94 0.053 2117.31 -423.9 177.24 - - 2290.47 - - - - - - - - 15.82 15.90 -
22290.32 99.00 7.58 2737 22296.88 done 2.63 - - 2970.75 - 3.07 0.098 3363.12 405.8 177.24 - - 2287.47 - - - - - - - - - 15.94 -
22520.42 90.06 2.51 2783 22642.94 2.77 0.38 0.039 3024.69 141.9 2.90 0.052 2116.56 -429.8 285.44 112.42 1.088 1855.19 -3.8 0.053 - - - - - - 16.00 16.00 12.69
22826.35 56.61 14.78 2843 22831.04 pitch 2.77 0.30 0.162 3005.50 -64.0 - - 2116.50 - 285.44 - - 1855.00 - - - - - - - - 15.78 - -
23016.36 33.12 11.57 2881 23023.24 roll 2.77 - - 3005.25 - 3.68 0.112 687.94 -388.2 285.44 - - 1854.50 - - - - - - - - - 15.87 -
23056.69 30.31 7.67 2889 23063.44 roll 2.77 - - 3005.94 - 3.48 0.057 2185.31 430.3 285.44 - - 1853.22 - - - - - - - - - 15.91 -
23246.89 30.79 -1.20 2927 23437.62 3.00 0.57 0.033 3080.12 130.1 3.00 0.099 3361.38 392.0 466.17 176.23 1.010 1119.47 -4.2 0.021 - - - - - - 15.95 15.50 12.80
23451.05 13.62 17.01 2966 23457.83 roll back 3.00 0.25 0.170 3063.56 -66.2 2.98 0.050 2118.12 -417.2 466.17 - - 1121.00 - - - - - - - - 15.55 15.63 -
23526 end climb: SURFACE_DEPTH_REACHED
23526 begin surface coast
23541 end surface coast: CONTROL_FINISHED_OK
23541 begin surface
SM 1.23 - - - - 183.0 10.59 0.822 1083.9 102.4 21.32 0.036 1087.1 51.0 - 0.06 0.162 1080.8 17963.7 -13.940 - - 12.79 15.77 15.74 -