NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 144 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 64.89 of 575.00 AH used of 24V (88.71% remains)
• Surface angle -63.2 deg, depth 1.55 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.86 (SM_CC=475)
• GPS1 time: 34 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
8.93 - - - 75.67 VBD -1.56 - - 184.38 - - - 2138.62 - -107.06 65.18 0.005 2473.56 - - - - - - - - - - 15.72
76.11 3.06 -2.55 13 132.13 -1.56 16.31 0.231 1959.94 108.9 3.78 0.117 690.88 -383.0 -107.06 25.48 0.006 3456.28 38.6 -3.254 - - - - - - 15.71 15.69 15.74
185.52 23.46 -22.96 34 192.03 roll -1.56 - - 1959.62 - 3.35 0.049 2129.12 429.3 -107.06 - - 3459.84 - - - - - - - - - 15.84 -
375.51 54.14 -13.83 72 381.96 roll -1.56 - - 1961.00 - 3.11 0.098 3361.62 396.3 -107.06 - - 3459.41 - - - - - - - - - 15.88 -
410.51 59.49 -15.61 79 416.94 roll -1.56 - - 1961.00 - 3.05 0.044 2066.25 -424.7 -107.06 - - 3459.41 - - - - - - - - - 15.89 -
600.53 83.09 -10.04 117 607.05 roll -1.56 - - 1961.38 - 3.26 0.094 3363.06 397.8 -107.06 - - 3460.38 - - - - - - - - - 15.93 -
645.53 88.16 -11.17 126 651.93 roll -1.56 - - 1961.25 - 3.02 0.043 2065.94 -429.5 -107.06 - - 3460.16 - - - - - - - - - 15.93 -
840.55 108.78 -10.63 157 842.08 no move -1.56 - - 1961.00 - - - 2065.69 - -107.06 - - 3458.88 - - - - - - - - - - -
1150.57 141.05 -9.78 188 1152.10 no move -1.56 - - 1961.19 - - - 2065.88 - -107.06 - - 3460.81 - - - - - - - - - - -
1460.58 169.90 -8.30 219 1462.11 no move -1.56 - - 1960.88 - - - 2065.25 - -107.06 - - 3461.72 - - - - - - - - - - -
1770.59 198.11 -9.86 250 1776.31 roll -1.56 - - 1960.69 - 3.23 0.097 3361.88 401.4 -107.06 - - 3463.50 - - - - - - - - - 16.02 -
1830.60 204.45 -10.75 262 1836.62 roll -1.56 - - 1959.62 - 3.02 0.046 2065.75 -429.2 -107.06 - - 3464.34 - - - - - - - - - 16.04 -
2140.66 234.16 -9.85 294 2142.23 no move -1.56 - - 1961.38 - - - 2067.00 - -107.06 - - 3461.59 - - - - - - - - - - -
2450.69 264.96 -10.04 325 2452.26 no move -1.56 - - 1960.69 - - - 2067.12 - -107.06 - - 3462.25 - - - - - - - - - - -
2760.80 296.43 -9.86 356 2762.37 no move -1.56 - - 1961.00 - - - 2067.12 - -107.06 - - 3461.66 - - - - - - - - - - -
3070.74 325.18 -9.03 387 3072.34 no move -1.56 - - 1961.19 - - - 2067.00 - -107.06 - - 3461.81 - - - - - - - - - - -
3380.76 352.10 -8.62 418 3386.82 roll -1.56 - - 1960.75 - 3.57 0.122 689.88 -385.7 -107.06 - - 3464.16 - - - - - - - - - 16.10 -
3410.77 355.07 -8.87 424 3416.76 roll -1.56 - - 1960.88 - 3.32 0.053 2133.69 434.9 -107.06 - - 3462.69 - - - - - - - - - 16.10 -
3720.80 382.40 -9.25 456 3728.00 roll -1.56 - - 1960.81 - 3.73 0.117 689.00 -387.3 -107.06 - - 3461.50 - - - - - - - - - 16.10 -
3766.44 386.98 -10.41 465 3772.34 roll -1.56 - - 1960.88 - 3.30 0.053 2132.00 437.3 -107.06 - - 3462.31 - - - - - - - - - 16.14 -
4076.47 416.59 -9.87 497 4083.86 roll -1.56 - - 1961.56 - 3.70 0.117 688.31 -390.2 -107.06 - - 3462.31 - - - - - - - - - 16.14 -
4116.66 421.13 -10.38 505 4124.12 roll -1.56 - - 1961.31 - 3.31 0.053 2130.94 435.8 -107.06 - - 3463.47 - - - - - - - - - 16.13 -
4432.45 453.39 -10.31 537 4434.02 no move -1.56 - - 1960.94 - - - 2131.31 - -107.06 - - 3459.91 - - - - - - - - - - -
4742.48 485.52 -9.79 568 4749.66 roll -1.56 - - 1960.00 - 3.73 0.119 689.69 -386.5 -107.06 - - 3460.72 - - - - - - - - - 16.14 -
4808.12 492.73 -10.52 581 4814.11 roll -1.56 - - 1959.19 - 3.32 0.054 2130.38 433.9 -107.06 - - 3461.53 - - - - - - - - - 16.14 -
5118.17 521.47 -8.89 613 5119.74 no move -1.56 - - 1960.75 - - - 2131.00 - -107.06 - - 3459.00 - - - - - - - - - - -
5428.20 548.69 -8.62 644 5429.77 no move -1.56 - - 1960.88 - - - 2130.81 - -107.06 - - 3457.75 - - - - - - - - - - -
5738.23 575.06 -8.07 675 5745.43 roll -1.56 - - 1960.62 - 3.76 0.121 689.38 -383.4 -107.06 - - 3459.00 - - - - - - - - - 16.15 -
5793.89 580.12 -9.57 686 5799.82 roll -1.56 - - 1961.12 - 3.32 0.054 2130.81 434.2 -107.06 - - 3457.75 - - - - - - - - - 16.17 -
6103.90 604.00 -7.56 718 6105.48 no move -1.56 - - 1961.06 - - - 2130.94 - -107.06 - - 3457.03 - - - - - - - - - - -
6413.94 627.28 -7.22 749 6421.13 roll -1.56 - - 1960.62 - 3.72 0.122 688.69 -387.7 -107.06 - - 3458.91 - - - - - - - - - 16.16 -
6509.70 635.40 -8.21 768 6515.66 roll -1.56 - - 1961.12 - 3.34 0.056 2129.62 431.4 -107.06 - - 3456.78 - - - - - - - - - 16.17 -
6819.72 658.72 -7.56 800 6821.30 no move -1.56 - - 1960.50 - - - 2130.12 - -107.06 - - 3455.59 - - - - - - - - - - -
7129.74 681.96 -7.73 831 7136.93 roll -1.56 - - 1960.81 - 3.73 0.124 688.56 -386.5 -107.06 - - 3454.44 - - - - - - - - - 16.16 -
7245.39 691.95 -8.82 854 7251.38 roll -1.56 - - 1960.81 - 3.34 0.057 2130.88 431.8 -107.06 - - 3456.44 - - - - - - - - - 16.17 -
7555.42 715.66 -8.10 886 7557.00 no move -1.56 - - 1960.69 - - - 2130.62 - -107.06 - - 3453.66 - - - - - - - - - - -
7865.53 741.84 -8.52 917 7867.10 no move -1.56 - - 1961.00 - - - 2131.19 - -107.06 - - 3453.06 - - - - - - - - - - -
8175.47 766.98 -8.28 948 8182.66 roll -1.56 - - 1961.12 - 3.73 0.124 690.00 -386.4 -107.06 - - 3453.41 - - - - - - - - - 16.16 -
8281.13 776.90 -9.43 969 8287.35 roll -1.56 - - 1960.62 - 3.31 0.057 2130.50 435.2 -107.06 - - 3454.38 - - - - - - - - - 16.15 -
8591.17 802.24 -7.93 1001 8598.37 roll -1.56 - - 1961.12 - 3.74 0.123 689.56 -385.3 -107.06 - - 3453.03 - - - - - - - - - 16.15 -
8631.05 805.90 -9.08 1009 8638.51 roll -1.56 - - 1960.94 - 3.32 0.056 2130.69 434.1 -107.06 - - 3453.69 - - - - - - - - - 16.15 -
8946.85 829.01 -7.12 1041 8948.42 no move -1.56 - - 1960.81 - - - 2130.94 - -107.06 - - 3452.19 - - - - - - - - - - -
9256.87 851.89 -7.38 1072 9264.06 roll -1.56 - - 1960.50 - 3.72 0.123 689.88 -387.4 -107.06 - - 3450.88 - - - - - - - - - 16.15 -
9326.76 857.85 -8.53 1086 9334.23 roll -1.56 - - 1960.50 - 3.33 0.057 2129.62 432.4 -107.06 - - 3453.84 - - - - - - - - - 16.16 -
9642.55 879.71 -7.00 1118 9649.74 roll -1.56 - - 1960.25 - 3.73 0.124 689.88 -386.0 -107.06 - - 3451.91 - - - - - - - - - 16.15 -
9698.21 884.38 -8.55 1129 9704.19 roll -1.56 - - 1961.50 - 3.33 0.057 2132.06 433.1 -107.06 - - 3451.69 - - - - - - - - - 16.14 -
10008.24 907.22 -7.71 1161 10009.81 no move -1.56 - - 1960.94 - - - 2131.75 - -107.06 - - 3450.75 - - - - - - - - - - -
10318.26 930.86 -7.61 1192 10325.44 roll -1.56 - - 1960.50 - 3.76 0.125 690.75 -383.2 -107.06 - - 3452.53 - - - - - - - - - 16.15 -
10374.00 935.67 -8.78 1203 10379.97 roll -1.56 - - 1961.06 - 3.32 0.055 2130.75 433.7 -107.06 - - 3452.44 - - - - - - - - - 16.14 -
10684.03 960.37 -8.12 1235 10691.22 roll -1.56 - - 1960.69 - 3.74 0.123 690.06 -385.2 -107.06 - - 3450.41 - - - - - - - - - 16.15 -
10734.02 964.90 -8.74 1245 10741.50 roll -1.56 - - 1961.06 - 3.34 0.056 2130.69 431.3 -107.06 - - 3451.62 - - - - - - - - - 16.15 -
11049.81 988.30 -7.27 1277 11057.12 roll -1.56 - - 1961.25 - 3.75 0.122 688.25 -384.7 -107.06 - - 3451.91 - - - - - - - - - 16.15 -
11069 end dive: TARGET_DEPTH_EXCEEDED
11069 begin apogee
11076.24 990.14 -8.03 1281 11169.96 -0.42 2.36 0.121 2241.06 118.6 0.10 0.225 2118.44 14301.9 - 86.06 2.238 3016.62 -5.1 0.370 - - - - - - 16.13 15.54 12.64
11181 end apogee: CONTROL_FINISHED_OK
11181 begin climb
11184.25 991.53 - 1290 11295.72 1.56 3.80 0.061 2729.50 128.5 3.30 0.103 3359.62 376.1 107.06 94.39 2.180 2583.41 -4.6 0.345 - - - - - - 15.66 15.32 12.79
11324.25 984.25 8.53 1316 11330.27 roll back 1.56 0.29 0.161 2714.75 -50.9 3.01 0.046 2119.50 -412.0 107.06 - - 2580.00 - - - - - - - - 15.50 15.56 -
11634.27 953.90 9.45 1348 11640.13 done 1.56 - - 2714.69 - 3.16 0.097 3362.06 393.2 107.06 - - 2568.47 - - - - - - - - - 15.87 -
11704.29 946.52 10.71 1362 11710.08 done 1.56 - - 2714.31 - 2.96 0.047 2120.31 -419.5 107.06 - - 2570.72 - - - - - - - - - 15.91 -
12014.33 915.95 10.11 1394 12020.43 done 1.56 - - 2714.62 - 3.11 0.099 3362.06 399.3 107.06 - - 2566.56 - - - - - - - - - 15.98 -
12188.60 896.31 10.99 1429 12195.84 done 1.56 - - 2713.94 - 2.95 0.050 2118.88 -421.4 107.06 - - 2568.78 - - - - - - - - - 16.02 -
12504.37 863.95 9.83 1461 12510.24 done 1.56 - - 2714.44 - 3.12 0.097 3363.06 398.8 107.06 - - 2564.19 - - - - - - - - - 16.05 -
12738.67 838.56 10.53 1508 12745.92 done 1.56 - - 2713.88 - 2.93 0.049 2120.12 -424.2 107.06 - - 2565.84 - - - - - - - - - 16.07 -
13054.44 810.26 8.38 1540 13060.30 done 1.56 - - 2714.50 - 3.12 0.098 3361.06 397.7 107.06 - - 2562.97 - - - - - - - - - 16.08 -
13264.48 789.92 10.32 1582 13270.25 done 1.56 - - 2714.38 - 2.94 0.053 2119.69 -422.2 107.06 - - 2562.56 - - - - - - - - - 16.10 -
13574.51 762.00 8.97 1614 13580.37 done 1.56 - - 2713.94 - 3.11 0.098 3362.44 399.6 107.06 - - 2563.69 - - - - - - - - - 16.10 -
13715.01 749.03 9.46 1642 13720.30 done 1.56 - - 2713.50 - 2.94 0.052 2118.69 -423.0 107.06 - - 2563.47 - - - - - - - - - 16.11 -
14024.65 722.49 8.51 1674 14026.22 VBD 1.56 - - 2714.31 - - - 2118.94 - 107.06 - - 2559.59 - - - - - - - - - - -
14334.59 696.05 8.94 1705 14340.40 done 1.56 - - 2713.88 - 3.09 0.097 3361.94 402.3 107.06 - - 2561.41 - - - - - - - - - 16.12 -
14568.88 673.50 9.53 1752 14576.19 done 1.56 - - 2714.31 - 2.93 0.054 2120.75 -423.6 107.06 - - 2562.38 - - - - - - - - - 16.13 -
14884.66 647.31 7.79 1784 14890.49 done 1.56 - - 2713.62 - 3.08 0.100 3362.69 403.2 107.06 - - 2561.94 - - - - - - - - - 16.13 -
15024.69 635.51 8.74 1812 15030.48 done 1.56 - - 2714.38 - 2.91 0.053 2120.12 -427.0 107.06 - - 2559.28 - - - - - - - - - 16.13 -
15334.76 612.46 7.32 1844 15340.57 done 1.59 - - 2714.75 - 3.08 0.098 3363.44 403.7 107.06 - - 2560.47 - - - - - - - - - 16.14 -
15529.00 596.79 7.82 1883 15536.52 done 1.59 - - 2714.69 - 2.92 0.053 2118.06 -426.5 107.06 - - 2559.91 - - - - - - - - - 16.14 -
15844.82 576.73 6.26 1915 15850.80 1.64 0.27 0.057 2746.69 118.5 3.09 0.097 3364.44 403.4 107.06 - - 2560.56 - - - - - - - - 16.20 16.13 -
15999.05 564.80 7.92 1946 16006.31 done 1.64 - - 2747.81 - 2.90 0.052 2119.50 -429.3 107.06 - - 2560.41 - - - - - - - - - 16.14 -
16314.88 543.80 6.54 1978 16321.99 done 1.69 - - 2748.56 - 3.63 0.117 687.12 -394.6 107.06 - - 2558.94 - - - - - - - - - 16.14 -
16380.44 538.89 7.73 1991 16386.49 done 1.69 - - 2748.25 - 3.46 0.058 2183.44 432.5 107.06 - - 2557.41 - - - - - - - - - 16.14 -
16690.48 518.97 6.42 2023 16696.20 done 1.73 - - 2747.06 - 2.93 0.097 3363.06 402.6 107.06 - - 2559.88 - - - - - - - - - 16.15 -
16924.72 500.84 7.83 2070 16932.01 done 1.73 - - 2747.69 - 2.92 0.049 2119.00 -426.0 107.06 - - 2557.00 - - - - - - - - - 16.15 -
17240.78 477.71 7.37 2102 17246.52 1.75 0.15 0.071 2774.56 179.1 3.12 0.098 3363.06 398.7 107.06 - - 2559.88 - - - - - - - - 16.20 16.12 -
17474.79 457.73 7.67 2149 17482.11 done 1.75 - - 2775.56 - 2.92 0.047 2117.62 -426.5 107.06 - - 2557.84 - - - - - - - - - 16.15 -
17790.60 436.83 6.51 2181 17796.65 done 1.80 - - 2774.50 - 3.12 0.096 3363.25 399.2 107.06 - - 2557.41 - - - - - - - - - 16.12 -
17910.59 427.46 8.04 2205 17916.38 done 1.80 - - 2775.62 - 2.91 0.047 2116.56 -428.4 107.06 - - 2559.88 - - - - - - - - - 16.11 -
18220.65 404.79 6.95 2237 18226.59 done 1.83 - - 2775.38 - 3.12 0.095 3364.25 399.9 107.06 - - 2558.56 - - - - - - - - - 16.10 -
18444.94 388.57 7.25 2282 18452.26 1.86 0.12 0.077 2800.69 210.9 2.90 0.047 2116.94 -430.1 107.06 - - 2559.38 - - - - - - - - 16.18 16.15 -
18760.72 368.96 5.72 2314 18766.55 done 1.93 - - 2800.62 - 3.12 0.095 3361.94 399.0 107.06 - - 2558.69 - - - - - - - - - 16.10 -
18800.73 366.29 6.18 2322 18806.56 1.98 0.19 0.059 2829.38 151.4 2.90 0.046 2116.44 -429.5 107.06 - - 2558.28 - - - - - - - - 16.17 16.12 -
19110.75 346.77 6.10 2354 19112.33 VBD 2.04 - - 2829.44 - - - 2116.44 - 107.06 - - 2556.34 - - - - - - - - - - -
19420.77 326.44 6.95 2385 19428.05 2.07 0.13 0.056 2844.75 117.8 3.64 0.114 687.56 -392.5 107.06 - - 2560.06 - - - - - - - - 16.20 16.11 -
19656.58 308.68 7.26 2432 19662.55 done 2.10 - - 2845.62 - 3.45 0.057 2183.75 433.7 107.06 - - 2558.03 - - - - - - - - - 16.13 -
19966.59 290.06 6.00 2464 19973.91 2.16 0.15 0.064 2872.75 180.9 3.80 0.108 687.94 -393.6 107.06 - - 2556.66 - - - - - - - - 16.14 16.09 -
20136.66 278.52 6.57 2498 20144.13 done 2.20 - - 2872.88 - 3.43 0.055 2185.56 436.6 107.06 - - 2557.62 - - - - - - - - - 16.09 -
20452.42 259.18 6.46 2530 20459.88 done 2.25 - - 2873.44 - 3.83 0.105 686.88 -391.3 107.06 - - 2556.09 - - - - - - - - - 16.11 -
20538.45 252.59 7.87 2547 20544.46 done 2.25 - - 2874.50 - 3.48 0.053 2185.25 430.6 107.06 - - 2556.91 - - - - - - - - - 16.13 -
20848.46 229.90 7.63 2579 20854.25 done 2.25 - - 2873.81 - 2.95 0.094 3364.12 399.6 107.06 - - 2558.97 - - - - - - - - - 16.12 -
20948.47 221.91 8.04 2599 20954.23 done 2.25 - - 2873.69 - 2.91 0.045 2116.50 -428.7 107.06 - - 2559.03 - - - - - - - - - 16.12 -
21258.55 200.51 6.29 2631 21265.87 2.30 0.20 0.057 2909.50 179.0 3.62 0.108 687.44 -394.8 107.06 - - 2557.22 - - - - - - - - 16.16 16.09 -
21494.40 185.26 6.32 2678 21500.37 done 2.36 - - 2909.19 - 3.46 0.053 2185.56 433.0 107.06 - - 2557.56 - - - - - - - - - 16.10 -
21804.41 173.59 2.90 2710 21926.87 2.49 0.33 0.044 2954.12 136.2 3.93 0.105 688.06 -381.0 207.61 110.06 1.156 2172.38 -3.5 0.087 - - - - - - 16.16 15.68 12.61
22054.68 142.76 16.90 2759 22062.26 roll 2.49 - - 2953.69 - 3.55 0.054 2181.56 420.7 207.61 - - 2166.56 - - - - - - - - - 15.83 -
22370.45 99.60 10.14 2791 22377.17 2.49 0.29 0.171 2938.31 -53.0 2.98 0.095 3362.19 396.2 207.61 - - 2163.38 - - - - - - - - 15.89 15.88 -
22605.65 82.28 4.92 2838 22675.58 2.57 0.26 0.056 2973.38 134.9 2.92 0.044 2112.19 -428.1 268.69 62.37 1.059 1925.75 -3.8 0.049 - - - - - - 15.99 15.93 12.68
22858.98 60.57 10.29 2888 22865.85 roll 2.57 - - 2972.75 - 3.15 0.091 3364.50 397.6 268.69 - - 1921.06 - - - - - - - - - 15.86 -
23054.39 40.75 9.43 2927 23061.15 roll back 2.57 0.25 0.174 2957.31 -61.8 2.94 0.043 2113.50 -425.5 268.69 - - 1921.00 - - - - - - - - 15.84 15.92 -
23244.60 29.67 4.91 2965 23315.69 2.65 0.28 0.052 2992.12 124.3 3.18 0.092 3366.06 393.9 330.08 62.36 1.002 1671.69 -4.0 0.020 - - - - - - 15.97 15.69 12.47
23334.17 26.79 3.32 2982 23435.58 2.77 0.16 0.071 3021.12 181.2 2.95 0.042 2114.00 -424.4 422.40 92.51 0.984 1298.03 -4.0 0.018 - - - - - - 15.77 15.79 12.67
23619.14 4.50 11.44 3038 23626.32 roll 2.77 - - 3021.38 - 3.72 0.111 689.88 -382.8 422.40 - - 1304.62 - - - - - - - - - 15.79 -
23639 end climb: SURFACE_DEPTH_REACHED
23640 begin surface coast
23660 end surface coast: CONTROL_FINISHED_OK
23660 begin surface
SM 1.84 - - - - 186.5 51.83 0.958 1084.2 20.9 21.47 0.045 1104.3 51.4 - 3.36 0.051 1064.0 315.6 -1.164 - - 12.61 15.86 15.83 -