NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 24 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 26.25 of 575.00 AH used of 24V (95.43% remains)
• Surface angle -57.8 deg, depth 1.30 m • Intended pitch -17.9 deg, speed -8.462 cm/s
VBD pumped to 475.14 (SM_CC=475)
• GPS1 time: 25 s
• GPS2 time: 6 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
8.88 - - - 106.61 VBD -1.32 - - 185.38 - - - 2238.31 - -107.06 95.75 0.005 2559.47 - - - - - - - - - - 16.07
107.04 3.25 -2.30 19 162.81 -1.32 16.72 0.247 1979.50 107.3 2.88 0.115 3360.62 389.7 -107.06 25.67 0.006 3638.19 42.0 -3.750 - - - - - - 15.97 16.00 16.05
281.18 39.73 -17.39 53 287.52 roll -1.32 - - 1979.81 - 2.85 0.059 2167.81 -418.5 -107.06 - - 3640.22 - - - - - - - - - 16.11 -
471.19 64.90 -12.91 91 477.87 roll -1.32 - - 1979.50 - 3.69 0.127 731.38 -389.3 -107.06 - - 3639.97 - - - - - - - - - 16.12 -
496.26 68.40 -13.77 96 502.91 roll -1.32 - - 1979.88 - 3.53 0.061 2226.56 423.6 -107.06 - - 3640.50 - - - - - - - - - 16.11 -
686.26 93.83 -11.98 134 690.65 no move -1.32 - - 1980.06 - - - 2226.25 - -107.06 - - 3639.97 - - - - - - - - - - -
876.28 114.32 -10.59 159 877.81 no move -1.32 - - 1979.44 - - - 2226.56 - -107.06 - - 3639.97 - - - - - - - - - - -
1186.29 145.95 -10.15 190 1193.34 roll -1.32 - - 1979.31 - 3.82 0.118 730.25 -391.7 -107.06 - - 3639.59 - - - - - - - - - 16.12 -
1221.73 149.91 -11.18 197 1227.59 roll -1.32 - - 1980.12 - 3.55 0.061 2224.38 420.9 -107.06 - - 3642.41 - - - - - - - - - 16.14 -
1531.73 181.27 -9.82 229 1538.77 roll -1.32 - - 1979.38 - 3.84 0.120 731.56 -388.8 -107.06 - - 3639.72 - - - - - - - - - 16.06 -
1597.17 188.16 -10.28 242 1603.60 roll -1.32 - - 1980.19 - 3.53 0.062 2226.62 423.5 -107.06 - - 3641.38 - - - - - - - - - 16.15 -
1907.19 217.30 -9.62 274 1914.45 roll -1.32 - - 1979.75 - 3.84 0.121 730.62 -389.6 -107.06 - - 3640.03 - - - - - - - - - 16.15 -
1977.14 225.14 -11.12 288 1984.71 roll -1.32 - - 1979.62 - 3.52 0.063 2225.25 424.6 -107.06 - - 3641.03 - - - - - - - - - 16.15 -
2292.90 257.68 -9.92 320 2294.47 no move -1.32 - - 1979.44 - - - 2225.56 - -107.06 - - 3639.97 - - - - - - - - - - -
2602.91 287.83 -9.57 351 2610.17 roll -1.32 - - 1979.31 - 3.84 0.122 731.56 -389.1 -107.06 - - 3641.22 - - - - - - - - - 16.17 -
2668.61 294.61 -10.16 364 2674.66 roll -1.32 - - 1979.62 - 3.53 0.065 2226.06 423.4 -107.06 - - 3640.84 - - - - - - - - - 16.19 -
2978.61 323.34 -9.40 396 2985.88 roll -1.32 - - 1979.44 - 3.84 0.125 731.69 -389.2 -107.06 - - 3640.09 - - - - - - - - - 16.19 -
3044.33 330.20 -10.38 409 3050.42 roll -1.32 - - 1979.88 - 3.53 0.065 2225.81 423.3 -107.06 - - 3642.56 - - - - - - - - - 16.20 -
3354.32 358.96 -9.23 441 3361.57 roll -1.32 - - 1980.12 - 3.85 0.125 732.69 -387.8 -107.06 - - 3641.91 - - - - - - - - - 16.20 -
3440.14 367.85 -10.20 458 3446.20 roll -1.32 - - 1978.56 - 3.54 0.065 2225.19 421.6 -107.06 - - 3642.56 - - - - - - - - - 16.21 -
3750.17 396.85 -9.35 490 3757.44 roll -1.32 - - 1979.31 - 3.86 0.126 731.62 -386.9 -107.06 - - 3640.09 - - - - - - - - - 16.20 -
3815.89 403.70 -10.26 503 3821.97 roll -1.32 - - 1977.94 - 3.55 0.066 2223.94 420.4 -107.06 - - 3642.53 - - - - - - - - - 16.22 -
4125.89 433.21 -9.47 535 4133.15 roll -1.32 - - 1978.81 - 3.86 0.128 731.38 -386.7 -107.06 - - 3640.53 - - - - - - - - - 16.20 -
4151.59 435.89 -9.89 540 4157.64 roll -1.32 - - 1979.81 - 3.54 0.066 2224.62 421.8 -107.06 - - 3641.56 - - - - - - - - - 16.22 -
4461.58 465.03 -9.43 572 4468.84 roll -1.32 - - 1979.69 - 3.86 0.129 731.50 -386.8 -107.06 - - 3640.81 - - - - - - - - - 16.19 -
4551.54 474.63 -10.25 590 4559.11 roll -1.32 - - 1979.62 - 3.53 0.067 2224.62 423.0 -107.06 - - 3640.75 - - - - - - - - - 16.22 -
4867.29 503.95 -9.14 622 4874.56 roll -1.32 - - 1980.00 - 3.85 0.129 732.38 -387.6 -107.06 - - 3642.44 - - - - - - - - - 16.20 -
4923.00 509.94 -10.65 633 4929.06 roll -1.32 - - 1979.88 - 3.54 0.068 2226.25 422.0 -107.06 - - 3640.25 - - - - - - - - - 16.21 -
5232.99 537.81 -8.63 665 5240.27 roll -1.32 - - 1979.19 - 3.87 0.127 732.50 -386.0 -107.06 - - 3638.41 - - - - - - - - - 16.21 -
5282.95 542.78 -9.42 675 5290.52 roll -1.32 - - 1979.12 - 3.53 0.068 2227.94 423.6 -107.06 - - 3639.94 - - - - - - - - - 16.22 -
5598.71 569.43 -8.39 707 5605.96 roll -1.32 - - 1979.06 - 3.87 0.131 732.06 -386.5 -107.06 - - 3640.44 - - - - - - - - - 16.21 -
5678.65 577.44 -9.71 723 5686.21 roll -1.32 - - 1979.56 - 3.54 0.069 2224.69 421.6 -107.06 - - 3638.88 - - - - - - - - - 16.22 -
5994.40 604.48 -8.44 755 6001.66 roll -1.32 - - 1979.69 - 3.85 0.130 732.50 -387.6 -107.06 - - 3637.34 - - - - - - - - - 16.22 -
6070.23 611.62 -9.04 770 6076.28 roll -1.32 - - 1979.00 - 3.54 0.069 2225.12 421.6 -107.06 - - 3638.81 - - - - - - - - - 16.24 -
6380.22 637.69 -8.37 802 6387.50 roll -1.32 - - 1980.06 - 3.85 0.132 731.19 -388.0 -107.06 - - 3637.12 - - - - - - - - - 16.21 -
6470.18 646.51 -9.94 820 6477.79 roll -1.32 - - 1979.69 - 3.54 0.070 2224.44 421.8 -107.06 - - 3637.22 - - - - - - - - - 16.22 -
6785.95 673.45 -8.76 852 6793.20 roll -1.32 - - 1978.75 - 3.86 0.132 732.38 -386.5 -107.06 - - 3635.19 - - - - - - - - - 16.21 -
6841.65 678.82 -9.37 863 6847.70 roll -1.32 - - 1979.12 - 3.54 0.070 2225.19 421.7 -107.06 - - 3637.34 - - - - - - - - - 16.22 -
7151.64 704.22 -7.90 895 7158.90 roll -1.32 - - 1977.56 - 3.86 0.133 731.38 -387.0 -107.06 - - 3637.62 - - - - - - - - - 16.22 -
7187.33 707.32 -8.56 902 7193.64 roll -1.32 - - 1979.50 - 3.55 0.069 2226.00 421.0 -107.06 - - 3635.81 - - - - - - - - - 16.22 -
7497.33 729.79 -7.37 934 7504.60 roll -1.32 - - 1979.38 - 3.86 0.133 731.19 -387.3 -107.06 - - 3633.88 - - - - - - - - - 16.22 -
7557.41 735.18 -8.61 946 7564.98 roll -1.32 - - 1979.50 - 3.55 0.070 2225.31 420.9 -107.06 - - 3635.47 - - - - - - - - - 16.23 -
7873.18 760.47 -8.14 978 7880.44 roll -1.32 - - 1978.38 - 3.86 0.133 731.44 -387.0 -107.06 - - 3634.81 - - - - - - - - - 16.22 -
7918.90 764.92 -9.25 987 7924.95 roll -1.32 - - 1979.31 - 3.54 0.070 2226.56 422.4 -107.06 - - 3635.81 - - - - - - - - - 16.23 -
8228.88 790.88 -8.77 1019 8230.45 no move -1.32 - - 1979.69 - - - 2226.50 - -107.06 - - 3633.97 - - - - - - - - - - -
8538.90 818.26 -8.83 1050 8546.17 roll -1.32 - - 1979.38 - 3.86 0.133 731.69 -387.3 -107.06 - - 3634.22 - - - - - - - - - 16.22 -
8624.62 826.60 -9.22 1067 8630.68 roll -1.32 - - 1979.81 - 3.55 0.071 2226.38 421.0 -107.06 - - 3634.44 - - - - - - - - - 16.24 -
8934.62 853.15 -8.59 1099 8941.89 roll -1.32 - - 1979.31 - 3.86 0.133 730.44 -387.5 -107.06 - - 3632.69 - - - - - - - - - 16.22 -
8984.69 857.99 -9.01 1109 8992.26 roll -1.32 - - 1979.56 - 3.53 0.072 2224.06 423.1 -107.06 - - 3633.81 - - - - - - - - - 16.24 -
9300.44 883.12 -7.99 1141 9307.72 roll -1.32 - - 1978.44 - 3.87 0.135 732.12 -385.5 -107.06 - - 3634.78 - - - - - - - - - 16.22 -
9340.40 886.99 -9.48 1149 9347.97 roll -1.32 - - 1979.62 - 3.54 0.071 2224.69 421.6 -107.06 - - 3632.91 - - - - - - - - - 16.24 -
9656.17 912.10 -8.19 1181 9663.43 roll -1.32 - - 1978.56 - 3.86 0.135 731.56 -386.8 -107.06 - - 3631.69 - - - - - - - - - 16.22 -
9716.11 917.83 -9.27 1193 9723.70 roll -1.32 - - 1979.31 - 3.54 0.071 2224.19 421.6 -107.06 - - 3633.75 - - - - - - - - - 16.23 -
10031.88 944.09 -8.82 1225 10039.14 roll -1.32 - - 1979.00 - 3.86 0.136 731.12 -386.8 -107.06 - - 3632.12 - - - - - - - - - 16.21 -
10082.00 949.20 -9.66 1235 10089.53 roll -1.32 - - 1977.88 - 3.54 0.071 2223.94 421.7 -107.06 - - 3634.16 - - - - - - - - - 16.23 -
10397.70 975.36 -8.26 1267 10404.97 roll -1.32 - - 1978.88 - 3.85 0.135 731.94 -387.5 -107.06 - - 3632.22 - - - - - - - - - 16.22 -
10457.66 981.06 -8.84 1279 10465.23 roll -1.32 - - 1979.31 - 3.55 0.072 2225.44 420.7 -107.06 - - 3631.62 - - - - - - - - - 16.23 -
10573 end dive: TARGET_DEPTH_EXCEEDED
10573 begin apogee
10575.30 990.11 -7.89 1291 10668.42 -0.29 1.95 0.126 2230.38 128.8 0.10 0.235 2077.25 -1481.9 - 83.20 2.061 3198.09 -5.2 0.412 - - - - - - 16.22 15.60 13.03
10673 end apogee: CONTROL_FINISHED_OK
10673 begin climb
10676.39 992.27 - 1300 10776.28 1.32 2.94 0.074 2625.75 134.5 - - 2077.81 - 107.06 91.08 2.002 2762.47 -4.8 0.391 - - - - - - 15.71 - 12.83
11080.06 978.81 5.26 1341 11138.82 1.47 0.26 0.062 2664.94 150.7 3.42 0.117 3358.31 374.4 166.67 49.70 1.947 2518.56 -4.9 0.406 - - - - - - 15.92 15.48 12.88
11216.62 967.05 10.17 1368 11224.07 roll 1.47 - - 2664.19 - 3.31 0.068 2025.94 -402.5 166.67 - - 2518.53 - - - - - - - - - 15.72 -
11532.40 935.02 10.19 1400 11538.41 roll 1.47 - - 2663.62 - 3.47 0.111 3360.00 384.5 166.67 - - 2517.88 - - - - - - - - - 15.92 -
11662.43 920.67 10.82 1426 11668.33 roll 1.47 - - 2664.69 - 3.25 0.068 2024.69 -410.9 166.67 - - 2515.75 - - - - - - - - - 15.95 -
11972.44 891.18 9.39 1458 11978.45 done 1.47 - - 2664.69 - 3.44 0.111 3360.44 388.3 166.67 - - 2512.09 - - - - - - - - - 16.02 -
12102.47 877.81 10.39 1484 12108.61 done 1.47 - - 2664.44 - 3.22 0.068 2026.31 -414.3 166.67 - - 2514.19 - - - - - - - - - 16.03 -
12412.48 848.62 9.36 1516 12418.52 done 1.47 - - 2664.75 - 3.41 0.111 3360.88 391.4 166.67 - - 2510.59 - - - - - - - - - 16.08 -
12532.50 836.46 10.19 1540 12538.42 done 1.47 - - 2665.19 - 3.20 0.068 2025.44 -417.3 166.67 - - 2511.31 - - - - - - - - - 16.09 -
12842.53 806.57 9.26 1572 12848.53 done 1.47 - - 2664.69 - 3.42 0.110 3359.50 390.1 166.67 - - 2510.38 - - - - - - - - - 16.12 -
12906.78 800.33 9.72 1585 12914.14 done 1.47 - - 2664.75 - 3.20 0.068 2024.50 -417.2 166.67 - - 2510.59 - - - - - - - - - 16.12 -
13222.56 772.49 8.77 1617 13228.56 done 1.47 - - 2664.19 - 3.41 0.110 3360.56 391.8 166.67 - - 2510.16 - - - - - - - - - 16.14 -
13362.58 759.16 9.73 1645 13368.48 done 1.47 - - 2665.31 - 3.19 0.068 2024.75 -418.7 166.67 - - 2508.00 - - - - - - - - - 16.12 -
13672.60 733.45 8.19 1677 13678.80 done 1.47 - - 2665.12 - 3.40 0.110 3361.06 393.0 166.67 - - 2508.03 - - - - - - - - - 16.14 -
13836.87 718.56 8.65 1710 13844.24 done 1.47 - - 2664.94 - 3.20 0.068 2024.44 -417.7 166.67 - - 2508.47 - - - - - - - - - 16.16 -
14152.65 692.99 8.06 1742 14158.64 done 1.47 - - 2663.62 - 3.40 0.110 3359.69 392.7 166.67 - - 2509.88 - - - - - - - - - 16.16 -
14346.92 675.74 8.78 1781 14354.29 done 1.47 - - 2664.50 - 3.19 0.068 2024.19 -418.7 166.67 - - 2508.78 - - - - - - - - - 16.16 -
14662.76 651.30 7.60 1813 14668.70 done 1.50 - - 2665.56 - 3.41 0.110 3360.50 391.9 166.67 - - 2506.69 - - - - - - - - - 16.18 -
14816.96 637.90 8.46 1844 14824.38 done 1.50 - - 2664.62 - 3.20 0.068 2026.38 -416.9 166.67 - - 2506.38 - - - - - - - - - 16.17 -
15132.79 612.61 7.84 1876 15138.70 done 1.52 - - 2664.69 - 3.39 0.109 3359.81 393.3 166.67 - - 2507.88 - - - - - - - - - 16.19 -
15237.00 603.76 8.43 1897 15244.61 done 1.52 - - 2664.38 - 3.20 0.067 2023.06 -417.7 166.67 - - 2508.75 - - - - - - - - - 16.19 -
15552.82 578.64 7.89 1929 15554.39 VBD 1.53 - - 2664.88 - - - 2023.12 - 166.67 - - 2505.12 - - - - - - - - - - -
15863.01 554.37 8.04 1960 15868.75 done 1.53 - - 2665.44 - 3.40 0.108 3361.75 393.7 166.67 - - 2505.19 - - - - - - - - - 16.19 -
16097.07 534.92 8.34 2007 16104.47 done 1.53 - - 2665.44 - 3.19 0.067 2025.50 -418.9 166.67 - - 2506.41 - - - - - - - - - 16.20 -
16412.90 511.71 7.24 2039 16418.89 done 1.57 - - 2666.12 - 3.40 0.109 3361.06 392.8 166.67 - - 2505.91 - - - - - - - - - 16.20 -
16647.17 493.39 7.86 2086 16654.55 done 1.59 - - 2666.00 - 3.19 0.067 2023.25 -419.4 166.67 - - 2507.25 - - - - - - - - - 16.19 -
16962.96 471.58 6.80 2118 16970.39 1.64 0.61 0.030 2694.69 47.0 3.41 0.108 3361.12 392.3 166.67 - - 2509.44 - - - - - - - - 16.23 16.20 -
17168.87 454.23 8.56 2159 17174.72 done 1.64 - - 2695.00 - 3.19 0.066 2023.44 -419.3 166.67 - - 2507.62 - - - - - - - - - 16.20 -
17478.94 430.47 7.48 2191 17484.85 done 1.67 - - 2695.56 - 3.39 0.108 3359.69 394.2 166.67 - - 2506.25 - - - - - - - - - 16.20 -
17573.28 423.08 7.64 2210 17580.51 done 1.69 - - 2694.69 - 3.19 0.066 2022.94 -419.0 166.67 - - 2507.12 - - - - - - - - - 16.21 -
17888.97 402.54 6.26 2242 17933.03 1.79 0.94 0.029 2739.06 47.2 3.43 0.110 3360.44 389.9 207.74 33.53 1.299 2354.19 -4.6 0.233 - - - - - - 16.22 15.98 13.09
17955.71 396.91 9.11 2255 17963.09 roll 1.79 - - 2740.06 - 3.20 0.066 2023.69 -417.7 207.74 - - 2350.94 - - - - - - - - - 16.06 -
18271.49 363.39 10.99 2287 18277.50 roll 1.79 - - 2740.06 - 3.40 0.108 3360.44 393.2 207.74 - - 2346.88 - - - - - - - - - 16.09 -
18321.50 357.46 11.97 2297 18327.61 done 1.79 - - 2739.94 - 3.19 0.066 2024.44 -418.8 207.74 - - 2345.47 - - - - - - - - - 16.10 -
18631.52 322.66 11.50 2329 18637.51 done 1.79 - - 2741.00 - 3.38 0.107 3361.00 395.4 207.74 - - 2344.62 - - - - - - - - - 16.12 -
18811.55 300.89 12.06 2365 18817.40 done 1.79 - - 2740.00 - 3.19 0.065 2023.88 -419.2 207.74 - - 2344.72 - - - - - - - - - 16.14 -
19121.57 270.57 9.39 2397 19127.52 done 1.79 - - 2740.19 - 3.39 0.106 3360.88 394.4 207.74 - - 2343.47 - - - - - - - - - 16.14 -
19215.83 260.05 11.48 2416 19223.23 done 1.79 - - 2740.31 - 3.19 0.065 2021.94 -419.7 207.74 - - 2343.91 - - - - - - - - - 16.15 -
19531.61 230.29 8.85 2448 19537.56 done 1.79 - - 2740.19 - 3.40 0.107 3359.81 393.5 207.74 - - 2344.12 - - - - - - - - - 16.15 -
19615.86 221.70 10.22 2465 19623.29 done 1.79 - - 2740.69 - 3.18 0.064 2023.69 -420.2 207.74 - - 2342.84 - - - - - - - - - 16.16 -
19931.65 193.80 8.72 2497 19937.85 done 1.79 - - 2739.62 - 3.38 0.105 3361.12 395.7 207.74 - - 2343.62 - - - - - - - - - 16.14 -
20005.90 186.52 10.04 2512 20013.28 done 1.79 - - 2740.69 - 3.17 0.064 2022.94 -422.1 207.74 - - 2342.75 - - - - - - - - - 16.17 -
20321.73 161.60 7.40 2544 20327.64 done 1.83 - - 2739.75 - 3.39 0.105 3359.00 394.1 207.74 - - 2345.25 - - - - - - - - - 16.14 -
20381.69 156.79 8.00 2556 20387.58 done 1.83 - - 2740.31 - 3.17 0.063 2023.38 -421.3 207.74 - - 2342.44 - - - - - - - - - 16.13 -
20691.71 132.37 8.53 2588 20697.71 done 1.83 - - 2741.69 - 3.39 0.103 3361.44 394.7 207.74 - - 2342.00 - - - - - - - - - 16.13 -
20925.99 112.49 8.24 2635 20933.37 done 1.83 - - 2740.44 - 3.16 0.062 2021.31 -424.1 207.74 - - 2341.91 - - - - - - - - - 16.14 -
21236.82 94.93 5.01 2676 21317.85 1.99 0.43 0.051 2789.81 114.8 3.45 0.103 3360.56 388.2 271.91 71.53 0.898 2092.03 -3.5 0.061 - - - - - - 16.19 15.86 13.04
21411.42 80.97 10.11 2710 21418.11 roll 1.99 - - 2791.44 - 3.21 0.061 2023.19 -416.6 271.91 - - 2086.09 - - - - - - - - - 15.94 -
21601.56 65.53 6.75 2748 21606.01 no move 2.04 - - 2790.62 - - - 2023.19 - 271.91 - - 2085.38 - - - - - - - - - - -
21786.58 57.05 3.78 2785 21902.49 2.26 0.47 0.052 2852.69 132.1 - - 2023.75 - 359.05 110.63 0.839 1735.91 -3.2 0.035 - - - - - - 16.05 - 12.88
22085.90 34.88 9.60 2844 22092.66 roll 2.26 - - 2851.69 - 3.45 0.101 3359.56 387.2 359.05 - - 1735.91 - - - - - - - - - 15.87 -
22321.27 21.03 2.59 2891 22454.52 2.53 0.49 0.052 2921.25 142.0 3.22 0.059 2021.25 -415.6 468.35 122.22 0.802 1291.28 -3.6 0.016 - - - - - - 15.94 15.94 12.94
22597 end climb: SURFACE_DEPTH_REACHED
22598 begin surface coast
22613 end surface coast: CONTROL_FINISHED_OK
22613 begin surface
SM 3.31 - - - - 182.9 8.88 0.650 1263.0 128.5 20.59 0.053 1259.9 61.2 - 0.46 0.072 1266.1 2745.4 -12.900 - - 12.80 15.85 15.82 -