NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 197 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 81.08 of 575.00 AH used of 24V (85.90% remains)
• Surface angle -63.6 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.94 (SM_CC=475)
• GPS1 time: 40 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
8.96 - - - 70.56 VBD -1.56 - - 180.25 - - - 2061.75 - -107.06 60.11 0.005 2364.03 - - - - - - - - - - 15.66
71.00 3.08 -2.92 12 128.38 -1.56 16.53 0.238 1960.50 107.7 3.36 0.096 3362.19 387.0 -107.06 28.37 0.006 3457.12 38.5 -3.267 - - - - - - 15.68 15.65 15.69
221.92 31.39 -19.19 41 228.31 roll -1.56 - - 1960.94 - 3.09 0.041 2068.38 -418.7 -107.06 - - 3459.47 - - - - - - - - - 15.86 -
411.95 58.04 -12.92 79 418.60 roll -1.56 - - 1960.75 - 3.64 0.112 690.19 -378.6 -107.06 - - 3459.91 - - - - - - - - - 15.87 -
467.02 66.23 -15.43 90 473.56 roll -1.56 - - 1961.31 - 3.38 0.041 2135.25 427.5 -107.06 - - 3459.28 - - - - - - - - - 15.91 -
657.07 88.00 -10.11 128 663.67 roll -1.56 - - 1961.12 - 3.11 0.091 3361.88 394.4 -107.06 - - 3460.22 - - - - - - - - - 15.92 -
692.25 91.64 -10.37 135 698.84 roll -1.56 - - 1961.19 - 3.05 0.037 2063.19 -425.8 -107.06 - - 3460.22 - - - - - - - - - 15.95 -
887.28 111.68 -10.07 163 893.38 roll -1.56 - - 1961.44 - 3.62 0.112 688.75 -379.7 -107.06 - - 3459.47 - - - - - - - - - 15.94 -
941.54 118.40 -12.69 174 949.00 roll -1.56 - - 1960.75 - 3.37 0.042 2135.56 429.3 -107.06 - - 3461.34 - - - - - - - - - 15.97 -
1257.31 151.78 -11.07 206 1263.16 roll -1.56 - - 1959.94 - 3.12 0.091 3360.12 392.5 -107.06 - - 3461.91 - - - - - - - - - 15.95 -
1357.33 163.16 -11.51 226 1363.13 roll -1.56 - - 1960.31 - 3.04 0.038 2064.50 -426.2 -107.06 - - 3463.09 - - - - - - - - - 16.04 -
1667.35 194.85 -10.15 258 1673.24 roll -1.56 - - 1960.75 - 3.28 0.089 3362.75 395.8 -107.06 - - 3462.34 - - - - - - - - - 16.02 -
1737.36 202.60 -11.09 272 1743.15 roll -1.56 - - 1960.50 - 3.04 0.039 2064.00 -427.2 -107.06 - - 3462.72 - - - - - - - - - 16.06 -
2047.38 234.19 -10.86 304 2048.95 no move -1.56 - - 1960.62 - - - 2065.19 - -107.06 - - 3461.06 - - - - - - - - - - -
2357.40 266.01 -10.18 335 2363.33 roll -1.56 - - 1961.25 - 3.30 0.091 3362.25 393.0 -107.06 - - 3461.66 - - - - - - - - - 16.03 -
2407.40 271.55 -10.93 345 2413.20 roll -1.56 - - 1960.31 - 3.05 0.042 2066.19 -424.9 -107.06 - - 3462.69 - - - - - - - - - 16.08 -
2717.43 301.43 -9.14 377 2719.00 no move -1.56 - - 1960.88 - - - 2065.25 - -107.06 - - 3461.25 - - - - - - - - - - -
3027.45 329.03 -9.11 408 3029.02 no move -1.56 - - 1960.88 - - - 2066.00 - -107.06 - - 3461.62 - - - - - - - - - - -
3337.79 358.70 -9.92 439 3339.37 no move -1.56 - - 1960.69 - - - 2065.94 - -107.06 - - 3461.16 - - - - - - - - - - -
3647.48 387.58 -9.20 470 3649.05 no move -1.56 - - 1960.81 - - - 2065.75 - -107.06 - - 3461.22 - - - - - - - - - - -
3957.50 414.60 -9.10 501 3963.60 roll -1.56 - - 1961.19 - 3.63 0.120 690.38 -378.9 -107.06 - - 3459.84 - - - - - - - - - 16.09 -
3981.74 417.17 -9.90 506 3989.47 roll -1.56 - - 1961.19 - 3.36 0.046 2133.62 429.5 -107.06 - - 3461.38 - - - - - - - - - 16.12 -
4297.54 444.93 -8.43 538 4304.73 roll -1.56 - - 1961.06 - 3.79 0.113 688.81 -381.2 -107.06 - - 3459.88 - - - - - - - - - 16.09 -
4337.45 448.78 -9.43 546 4344.92 roll -1.56 - - 1960.12 - 3.37 0.046 2130.81 427.9 -107.06 - - 3462.44 - - - - - - - - - 16.13 -
4653.24 475.06 -8.44 578 4654.81 no move -1.56 - - 1961.12 - - - 2130.75 - -107.06 - - 3459.41 - - - - - - - - - - -
4963.26 503.77 -9.70 609 4964.83 no move -1.56 - - 1961.12 - - - 2131.00 - -107.06 - - 3459.09 - - - - - - - - - - -
5273.29 532.91 -9.44 640 5274.86 no move -1.56 - - 1961.19 - - - 2130.69 - -107.06 - - 3458.00 - - - - - - - - - - -
5583.32 561.70 -9.39 671 5590.51 roll -1.56 - - 1959.88 - 3.79 0.115 688.50 -380.5 -107.06 - - 3458.72 - - - - - - - - - 16.12 -
5633.23 567.16 -10.65 681 5640.70 roll -1.56 - - 1960.56 - 3.39 0.048 2132.38 425.9 -107.06 - - 3458.81 - - - - - - - - - 16.13 -
5949.06 596.37 -8.84 713 5956.25 roll -1.56 - - 1961.56 - 3.77 0.112 690.25 -382.5 -107.06 - - 3457.47 - - - - - - - - - 16.13 -
6004.84 601.89 -9.94 724 6010.79 roll -1.56 - - 1961.00 - 3.37 0.047 2132.56 428.0 -107.06 - - 3458.38 - - - - - - - - - 16.13 -
6314.89 628.00 -8.14 756 6322.06 roll -1.56 - - 1960.75 - 3.78 0.114 690.62 -381.5 -107.06 - - 3455.91 - - - - - - - - - 16.13 -
6364.79 632.96 -9.55 766 6372.26 roll -1.56 - - 1961.19 - 3.38 0.048 2131.31 426.2 -107.06 - - 3456.75 - - - - - - - - - 16.14 -
6680.82 659.03 -8.86 798 6687.78 roll -1.56 - - 1960.44 - 3.78 0.114 690.88 -381.1 -107.06 - - 3455.12 - - - - - - - - - 16.10 -
6726.37 663.55 -10.17 807 6732.35 roll -1.56 - - 1961.06 - 3.38 0.048 2131.81 426.3 -107.06 - - 3456.31 - - - - - - - - - 16.12 -
7036.40 691.20 -8.98 839 7043.72 roll -1.56 - - 1960.38 - 3.78 0.115 688.94 -381.7 -107.06 - - 3454.22 - - - - - - - - - 16.13 -
7072.20 695.00 -10.62 846 7078.15 roll -1.56 - - 1960.75 - 3.39 0.047 2132.50 425.8 -107.06 - - 3456.69 - - - - - - - - - 16.13 -
7382.22 723.58 -8.77 878 7383.79 no move -1.56 - - 1960.94 - - - 2133.00 - -107.06 - - 3454.38 - - - - - - - - - - -
7692.25 750.42 -8.20 909 7693.82 no move -1.56 - - 1960.62 - - - 2133.00 - -107.06 - - 3453.44 - - - - - - - - - - -
8002.27 774.95 -7.76 940 8009.51 roll -1.56 - - 1960.00 - 3.82 0.118 689.81 -377.8 -107.06 - - 3456.12 - - - - - - - - - 16.12 -
8078.01 781.83 -8.71 955 8084.02 roll -1.56 - - 1961.06 - 3.41 0.049 2132.06 422.9 -107.06 - - 3454.31 - - - - - - - - - 16.14 -
8388.06 804.96 -7.05 987 8395.51 roll -1.56 - - 1960.12 - 3.80 0.117 688.56 -379.9 -107.06 - - 3452.28 - - - - - - - - - 16.12 -
8444.11 809.93 -8.69 998 8450.11 roll -1.56 - - 1960.75 - 3.39 0.049 2131.94 425.8 -107.06 - - 3454.78 - - - - - - - - - 16.14 -
8754.13 832.63 -6.99 1030 8761.34 roll -1.56 - - 1960.31 - 3.80 0.116 690.00 -379.5 -107.06 - - 3452.69 - - - - - - - - - 16.13 -
8809.82 837.58 -8.65 1041 8815.78 roll -1.56 - - 1960.31 - 3.38 0.048 2131.38 426.4 -107.06 - - 3453.91 - - - - - - - - - 16.12 -
9119.83 859.45 -6.67 1073 9127.29 roll -1.56 - - 1961.06 - 3.77 0.115 689.88 -382.4 -107.06 - - 3452.56 - - - - - - - - - 16.13 -
9145.88 861.62 -7.69 1078 9151.84 roll -1.56 - - 1961.00 - 3.40 0.047 2130.69 423.8 -107.06 - - 3452.75 - - - - - - - - - 16.12 -
9455.89 883.82 -7.46 1110 9463.09 roll -1.56 - - 1960.69 - 3.79 0.117 690.12 -380.1 -107.06 - - 3451.34 - - - - - - - - - 16.12 -
9521.59 889.81 -8.97 1123 9527.60 roll -1.56 - - 1961.06 - 3.40 0.049 2131.62 424.0 -107.06 - - 3452.62 - - - - - - - - - 16.13 -
9831.61 914.48 -7.72 1155 9833.18 no move -1.56 - - 1960.88 - - - 2131.44 - -107.06 - - 3451.53 - - - - - - - - - - -
10141.64 939.44 -7.96 1186 10148.85 roll -1.56 - - 1961.00 - 3.79 0.116 689.44 -380.5 -107.06 - - 3451.34 - - - - - - - - - 16.12 -
10191.69 944.07 -8.96 1196 10199.21 roll -1.56 - - 1961.19 - 3.37 0.049 2131.88 428.0 -107.06 - - 3451.88 - - - - - - - - - 16.12 -
10507.49 968.33 -7.22 1228 10514.68 roll -1.56 - - 1960.06 - 3.80 0.117 690.00 -379.4 -107.06 - - 3453.47 - - - - - - - - - 16.12 -
10587.53 975.29 -8.89 1244 10595.06 roll -1.56 - - 1960.88 - 3.41 0.049 2129.94 422.3 -107.06 - - 3452.47 - - - - - - - - - 16.11 -
10803 end dive: TARGET_DEPTH_EXCEEDED
10803 begin apogee
10805.12 990.06 -7.29 1266 10899.43 -0.42 2.41 0.113 2240.38 116.0 0.10 0.222 2114.38 -155.6 - 85.88 2.220 3018.62 -5.1 0.372 - - - - - - 16.06 15.55 12.39
10911 end apogee: CONTROL_FINISHED_OK
10911 begin climb
10913.74 990.52 - 1275 11017.31 1.56 3.92 0.052 2731.81 125.4 - - 2113.94 - 107.06 93.83 2.159 2582.12 -4.7 0.353 - - - - - - 15.65 - 12.66
11320.86 954.32 10.32 1316 11326.99 1.56 0.30 0.139 2713.25 -61.9 3.24 0.094 3362.75 385.4 107.06 - - 2571.25 - - - - - - - - 15.82 15.80 -
11480.89 937.52 10.26 1348 11486.65 done 1.56 - - 2714.44 - 2.98 0.043 2119.94 -417.1 107.06 - - 2568.28 - - - - - - - - - 15.90 -
11790.91 909.40 9.07 1380 11796.76 done 1.56 - - 2713.88 - 3.20 0.095 3362.75 388.4 107.06 - - 2566.16 - - - - - - - - - 15.98 -
11905.16 898.72 9.40 1403 11912.68 done 1.56 - - 2714.44 - 2.96 0.042 2117.50 -420.7 107.06 - - 2565.28 - - - - - - - - - 16.00 -
12221.18 872.85 8.21 1435 12226.85 done 1.56 - - 2713.94 - 3.19 0.095 3362.56 390.3 107.06 - - 2563.09 - - - - - - - - - 16.03 -
12315.20 864.30 9.09 1454 12322.47 done 1.56 - - 2713.94 - 2.95 0.042 2118.50 -421.7 107.06 - - 2562.94 - - - - - - - - - 16.04 -
12631.00 838.12 8.65 1486 12636.92 done 1.56 - - 2714.62 - 3.20 0.093 3361.75 388.5 107.06 - - 2562.06 - - - - - - - - - 16.07 -
12755.29 825.89 10.38 1511 12762.57 done 1.56 - - 2713.62 - 2.95 0.042 2120.38 -420.8 107.06 - - 2561.50 - - - - - - - - - 16.08 -
13071.32 796.91 9.28 1543 13076.96 done 1.56 - - 2714.62 - 3.17 0.091 3363.94 392.3 107.06 - - 2560.78 - - - - - - - - - 16.09 -
13135.34 790.77 9.59 1556 13142.63 done 1.56 - - 2713.19 - 2.94 0.043 2117.75 -423.9 107.06 - - 2564.19 - - - - - - - - - 16.08 -
13451.13 761.39 9.38 1588 13457.02 done 1.56 - - 2713.88 - 3.20 0.091 3362.81 389.1 107.06 - - 2562.12 - - - - - - - - - 16.09 -
13525.39 754.10 9.94 1603 13532.71 done 1.56 - - 2714.94 - 2.93 0.043 2118.81 -424.6 107.06 - - 2560.25 - - - - - - - - - 16.10 -
13841.18 725.79 8.49 1635 13847.07 done 1.56 - - 2712.88 - 3.20 0.092 3363.38 388.9 107.06 - - 2562.12 - - - - - - - - - 16.09 -
14075.48 704.57 8.81 1682 14082.75 done 1.56 - - 2714.44 - 2.92 0.042 2117.38 -426.7 107.06 - - 2559.66 - - - - - - - - - 16.12 -
14391.55 679.94 7.30 1714 14398.49 done 1.59 - - 2713.94 - 3.72 0.112 689.38 -383.9 107.06 - - 2558.59 - - - - - - - - - 16.11 -
14457.08 674.37 8.91 1727 14463.16 done 1.59 - - 2714.06 - 3.53 0.051 2181.69 422.8 107.06 - - 2558.34 - - - - - - - - - 16.12 -
14767.14 651.11 6.96 1759 14773.11 1.62 0.22 0.048 2748.81 158.0 3.03 0.093 3361.44 389.4 107.06 - - 2558.84 - - - - - - - - 16.18 16.09 -
14961.37 634.74 8.52 1798 14968.86 1.62 0.28 0.153 2728.50 -72.5 2.92 0.043 2115.31 -426.8 107.06 - - 2558.03 - - - - - - - - 16.05 16.11 -
15277.44 612.99 6.71 1830 15284.54 1.66 0.17 0.059 2759.44 182.0 3.73 0.113 689.44 -382.3 107.06 - - 2555.84 - - - - - - - - 16.13 16.09 -
15397.40 602.11 9.04 1854 15405.18 1.66 0.29 0.156 2737.75 -74.8 3.54 0.051 2182.69 421.8 107.06 - - 2558.44 - - - - - - - - 16.08 16.12 -
15713.21 580.03 6.45 1886 15719.14 1.71 0.19 0.055 2770.25 171.1 3.01 0.092 3361.88 391.8 107.06 - - 2556.91 - - - - - - - - 16.17 16.10 -
15783.18 574.27 8.34 1900 15789.41 1.71 0.28 0.153 2749.50 -74.1 2.92 0.042 2114.44 -427.2 107.06 - - 2556.66 - - - - - - - - 16.05 16.12 -
16093.25 552.87 6.36 1932 16099.23 1.76 0.19 0.054 2784.38 183.6 3.18 0.089 3362.81 392.6 107.06 - - 2558.78 - - - - - - - - 16.18 16.10 -
16123.26 550.56 6.92 1938 16128.99 done 1.79 - - 2785.12 - 2.91 0.042 2117.00 -428.1 107.06 - - 2558.06 - - - - - - - - - 16.12 -
16433.54 528.33 6.84 1970 16435.12 VBD 1.83 - - 2784.69 - - - 2116.62 - 107.06 - - 2555.97 - - - - - - - - - - -
16743.58 505.64 7.17 2001 16749.20 done 1.85 - - 2784.44 - 3.18 0.090 3362.31 391.7 107.06 - - 2557.47 - - - - - - - - - 16.12 -
16847.61 497.76 7.05 2022 16854.83 done 1.88 - - 2785.25 - 2.92 0.042 2115.12 -427.1 107.06 - - 2556.22 - - - - - - - - - 16.11 -
17163.39 476.89 7.10 2054 17170.68 1.91 0.14 0.067 2819.44 244.2 3.70 0.110 688.75 -385.5 107.06 - - 2559.38 - - - - - - - - 16.16 16.08 -
17193.40 474.37 7.79 2060 17201.19 1.91 0.28 0.168 2799.31 -71.9 3.55 0.050 2184.50 421.3 107.06 - - 2557.12 - - - - - - - - 16.04 16.13 -
17509.21 453.92 6.24 2092 17515.19 1.97 0.19 0.050 2833.31 178.9 3.02 0.091 3363.81 390.5 107.06 - - 2556.53 - - - - - - - - 16.16 16.08 -
17623.48 445.41 7.30 2115 17630.75 done 1.99 - - 2833.50 - 2.94 0.043 2114.44 -425.0 107.06 - - 2556.31 - - - - - - - - - 16.11 -
17939.49 424.05 7.02 2147 17946.42 done 2.02 - - 2834.19 - 3.72 0.109 687.75 -383.5 107.06 - - 2554.69 - - - - - - - - - 16.08 -
18054.92 414.88 8.20 2170 18060.99 done 2.02 - - 2832.56 - 3.52 0.050 2184.19 425.1 107.06 - - 2557.09 - - - - - - - - - 16.11 -
18364.97 392.12 7.30 2202 18372.20 done 2.04 - - 2833.31 - 3.87 0.104 687.94 -386.6 107.06 - - 2553.66 - - - - - - - - - 16.10 -
18440.81 385.72 8.45 2217 18446.88 done 2.04 - - 2833.19 - 3.52 0.049 2179.81 423.8 107.06 - - 2553.97 - - - - - - - - - 16.11 -
18750.86 363.12 7.12 2249 18756.58 done 2.07 - - 2832.12 - 2.97 0.090 3362.69 398.3 107.06 - - 2557.22 - - - - - - - - - 16.09 -
18810.86 359.05 6.79 2261 18816.74 2.11 0.14 0.066 2865.88 241.1 2.92 0.040 2114.69 -427.4 107.06 - - 2558.62 - - - - - - - - 16.15 16.12 -
19121.11 339.68 6.05 2293 19128.00 done 2.17 - - 2865.69 - 3.68 0.106 688.69 -387.5 107.06 - - 2557.12 - - - - - - - - - 16.09 -
19186.65 335.18 7.04 2306 19192.67 done 2.20 - - 2867.38 - 3.54 0.049 2180.00 421.3 107.06 - - 2554.41 - - - - - - - - - 16.10 -
19496.64 316.43 5.87 2338 19502.55 2.26 0.19 0.052 2905.31 199.6 2.99 0.089 3363.81 395.9 107.06 - - 2556.53 - - - - - - - - 16.19 16.08 -
19580.91 310.66 6.98 2355 19588.38 done 2.30 - - 2904.62 - 2.92 0.041 2112.06 -428.7 107.06 - - 2556.59 - - - - - - - - - 16.10 -
19896.68 292.31 5.66 2387 19902.99 done 2.37 - - 2904.69 - 3.68 0.105 687.69 -387.1 107.06 - - 2553.72 - - - - - - - - - 16.05 -
20040.96 283.46 6.08 2416 20048.67 2.43 0.19 0.050 2943.31 203.3 3.52 0.049 2187.12 426.0 107.06 - - 2557.94 - - - - - - - - 16.13 16.09 -
20356.73 266.41 5.33 2448 20362.50 done 2.51 - - 2943.81 - 2.99 0.089 3362.81 393.2 107.06 - - 2556.09 - - - - - - - - - 16.04 -
20591.01 254.55 4.96 2495 20645.11 2.59 0.19 0.053 2983.38 208.3 2.93 0.039 2113.00 -426.6 167.38 46.22 1.297 2337.41 -4.7 0.153 - - - - - - 16.12 16.11 12.36
20948.67 211.52 14.28 2536 20954.80 2.59 0.34 0.172 2961.94 -63.1 3.19 0.085 3364.19 392.2 167.38 - - 2327.91 - - - - - - - - 15.91 15.94 -
21108.71 187.45 14.68 2568 21114.92 done 2.59 - - 2962.69 - 2.96 0.040 2116.00 -421.7 167.38 - - 2327.38 - - - - - - - - - 15.99 -
21419.02 148.85 12.57 2600 21426.20 done 2.59 - - 2961.88 - 3.72 0.103 688.69 -383.7 167.38 - - 2324.50 - - - - - - - - - 16.00 -
21655.06 116.95 12.68 2647 21662.12 done 2.59 - - 2961.69 - 3.54 0.048 2181.38 421.7 167.38 - - 2321.72 - - - - - - - - - 16.00 -
21965.16 88.42 6.66 2693 21972.02 2.63 0.19 0.049 2994.31 171.7 3.01 0.087 3363.94 392.9 167.38 - - 2324.34 - - - - - - - - 16.05 15.98 -
22201.04 78.07 3.44 2740 22308.21 done 2.75 - - 2994.50 - 2.95 0.038 2113.50 -423.9 257.40 95.52 1.046 1971.91 -3.7 0.045 - - - - - - - 16.00 12.52
22491.98 48.97 11.59 2797 22498.86 roll 2.75 - - 2995.25 - 3.23 0.086 3362.50 386.7 257.40 - - 1967.84 - - - - - - - - - 15.85 -
22727.88 28.04 6.59 2844 22734.73 roll back 2.79 0.18 0.056 3032.75 208.3 2.96 0.038 2114.38 -421.7 257.40 - - 1966.94 - - - - - - - - 15.91 15.92 -
22918.55 21.09 2.92 2882 23031.37 2.92 0.12 0.073 3064.75 266.7 3.24 0.084 3362.69 385.3 357.67 99.33 0.976 1560.66 -4.1 0.015 - - - - - - 15.98 15.63 12.62
23200 end climb: SURFACE_DEPTH_REACHED
23200 begin surface coast
23225 end surface coast: CONTROL_FINISHED_OK
23225 begin surface
SM 1.47 - - - - 183.2 112.86 0.961 1083.8 8.7 22.11 0.049 1104.6 50.0 - 3.06 0.037 1063.1 346.4 -1.406 - - 12.66 15.84 15.86 -