NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 263 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 103.71 of 575.00 AH used of 24V (81.96% remains)
• Surface angle -64.4 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.78 (SM_CC=475)
• GPS1 time: 33 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
9.02 - - - 70.62 VBD -1.56 - - 186.38 - - - 2146.12 - -107.06 60.05 0.005 2255.19 - - - - - - - - - - 15.64
71.06 3.24 -3.05 12 133.87 -1.56 16.94 0.234 1961.44 104.8 3.83 0.110 688.88 -380.5 -107.06 29.68 0.006 3457.56 40.5 -3.616 - - - - - - 15.65 15.60 15.66
252.41 38.00 -16.61 47 258.94 roll -1.56 - - 1961.62 - 3.36 0.041 2133.62 430.0 -107.06 - - 3458.78 - - - - - - - - - 15.86 -
442.43 62.35 -10.83 85 448.81 roll -1.56 - - 1961.12 - 3.07 0.090 3361.56 400.0 -107.06 - - 3461.19 - - - - - - - - - 15.88 -
522.43 71.39 -10.65 101 529.07 roll -1.56 - - 1960.56 - 2.99 0.036 2062.38 -434.5 -107.06 - - 3461.72 - - - - - - - - - 15.91 -
712.64 88.61 -10.50 139 719.43 roll -1.56 - - 1961.00 - 3.56 0.108 688.56 -385.9 -107.06 - - 3462.41 - - - - - - - - - 15.91 -
852.92 106.99 -13.26 167 858.88 roll -1.56 - - 1960.38 - 3.34 0.041 2137.00 433.7 -107.06 - - 3463.03 - - - - - - - - - 15.98 -
1162.94 139.13 -10.67 199 1164.51 no move -1.56 - - 1960.88 - - - 2137.31 - -107.06 - - 3461.91 - - - - - - - - - - -
1473.05 173.27 -10.95 230 1480.15 roll -1.56 - - 1961.12 - 3.77 0.106 687.75 -384.5 -107.06 - - 3463.62 - - - - - - - - - 15.94 -
1508.74 177.27 -11.21 237 1514.69 roll -1.56 - - 1960.50 - 3.33 0.041 2134.56 434.5 -107.06 - - 3463.62 - - - - - - - - - 16.03 -
1819.32 209.26 -10.04 269 1824.56 roll -1.56 - - 1961.12 - 3.05 0.092 3363.50 402.9 -107.06 - - 3462.22 - - - - - - - - - 16.03 -
1913.01 220.24 -11.44 288 1920.26 roll -1.56 - - 1960.44 - 3.00 0.037 2063.69 -433.3 -107.06 - - 3464.69 - - - - - - - - - 16.04 -
2228.78 248.64 -8.25 320 2230.35 no move -1.56 - - 1960.38 - - - 2064.19 - -107.06 - - 3462.41 - - - - - - - - - - -
2538.79 275.05 -8.33 351 2544.69 roll -1.56 - - 1960.56 - 3.23 0.090 3362.31 401.9 -107.06 - - 3464.19 - - - - - - - - - 16.05 -
2568.80 277.98 -9.01 357 2574.58 roll -1.56 - - 1961.88 - 2.99 0.038 2064.94 -433.9 -107.06 - - 3464.25 - - - - - - - - - 16.06 -
2878.81 304.93 -8.93 389 2880.38 no move -1.56 - - 1960.88 - - - 2064.38 - -107.06 - - 3462.78 - - - - - - - - - - -
3188.83 333.44 -9.17 420 3194.93 roll -1.56 - - 1961.12 - 3.57 0.113 687.94 -385.6 -107.06 - - 3463.75 - - - - - - - - - 16.05 -
3218.84 336.46 -9.82 426 3224.80 roll -1.56 - - 1961.69 - 3.34 0.044 2135.56 433.4 -107.06 - - 3462.94 - - - - - - - - - 16.08 -
3528.87 365.17 -9.52 458 3536.08 roll -1.56 - - 1961.56 - 3.76 0.110 688.88 -384.8 -107.06 - - 3461.41 - - - - - - - - - 16.07 -
3584.57 371.00 -10.90 469 3590.52 roll -1.56 - - 1961.75 - 3.32 0.043 2134.94 435.6 -107.06 - - 3463.66 - - - - - - - - - 16.09 -
3894.85 400.04 -9.39 501 3896.42 no move -1.56 - - 1960.31 - - - 2134.00 - -107.06 - - 3461.31 - - - - - - - - - - -
4204.62 428.42 -9.23 532 4206.19 no move -1.56 - - 1960.69 - - - 2134.50 - -107.06 - - 3460.28 - - - - - - - - - - -
4514.65 456.59 -9.00 563 4521.83 roll -1.56 - - 1961.00 - 3.76 0.109 687.69 -384.8 -107.06 - - 3459.84 - - - - - - - - - 16.08 -
4590.32 464.68 -10.48 578 4596.28 roll -1.56 - - 1960.44 - 3.33 0.045 2134.88 434.6 -107.06 - - 3460.28 - - - - - - - - - 16.09 -
4900.60 494.67 -9.38 610 4902.17 no move -1.56 - - 1960.44 - - - 2135.31 - -107.06 - - 3458.91 - - - - - - - - - - -
5210.37 522.92 -8.78 641 5217.58 roll -1.56 - - 1961.25 - 3.77 0.110 689.06 -383.6 -107.06 - - 3458.66 - - - - - - - - - 16.08 -
5256.06 527.58 -10.08 650 5261.97 roll -1.56 - - 1961.44 - 3.30 0.045 2135.38 438.3 -107.06 - - 3458.75 - - - - - - - - - 16.08 -
5566.10 554.43 -8.65 682 5567.69 no move -1.56 - - 1960.94 - - - 2135.00 - -107.06 - - 3456.81 - - - - - - - - - - -
5876.12 579.81 -8.57 713 5882.55 roll -1.56 - - 1960.62 - 3.78 0.109 688.44 -382.7 -107.06 - - 3457.00 - - - - - - - - - 16.08 -
5920.38 584.08 -10.05 722 5927.61 roll -1.56 - - 1961.12 - 3.34 0.044 2133.81 432.7 -107.06 - - 3457.22 - - - - - - - - - 16.08 -
6236.17 609.04 -7.80 754 6243.37 roll -1.56 - - 1960.88 - 3.77 0.109 688.00 -383.5 -107.06 - - 3454.94 - - - - - - - - - 16.09 -
6276.09 612.87 -9.43 762 6283.60 roll -1.56 - - 1959.69 - 3.33 0.045 2133.31 434.0 -107.06 - - 3456.94 - - - - - - - - - 16.10 -
6591.88 637.27 -7.48 794 6599.31 roll -1.56 - - 1961.06 - 3.77 0.109 688.69 -383.2 -107.06 - - 3456.06 - - - - - - - - - 16.08 -
6667.92 643.84 -8.32 809 6673.87 roll -1.56 - - 1960.50 - 3.34 0.045 2134.25 432.8 -107.06 - - 3456.03 - - - - - - - - - 16.11 -
6977.94 665.82 -7.15 841 6985.14 roll -1.56 - - 1960.25 - 3.77 0.109 687.69 -383.7 -107.06 - - 3452.97 - - - - - - - - - 16.08 -
7033.63 670.43 -8.30 852 7039.63 roll -1.56 - - 1961.62 - 3.33 0.044 2133.69 434.2 -107.06 - - 3455.22 - - - - - - - - - 16.09 -
7343.65 692.76 -7.38 884 7345.22 no move -1.56 - - 1960.94 - - - 2134.25 - -107.06 - - 3452.28 - - - - - - - - - - -
7653.68 717.95 -7.57 915 7660.87 roll -1.56 - - 1960.75 - 3.76 0.110 688.94 -384.4 -107.06 - - 3451.56 - - - - - - - - - 16.08 -
7733.72 725.21 -8.88 931 7741.19 roll -1.56 - - 1959.88 - 3.35 0.046 2133.06 431.1 -107.06 - - 3454.59 - - - - - - - - - 16.09 -
8049.50 751.07 -8.60 963 8056.70 roll -1.56 - - 1960.12 - 3.77 0.110 687.94 -383.3 -107.06 - - 3453.12 - - - - - - - - - 16.07 -
8085.18 754.78 -10.45 970 8091.14 roll -1.56 - - 1961.25 - 3.34 0.045 2134.75 433.2 -107.06 - - 3452.41 - - - - - - - - - 16.10 -
8395.20 780.62 -8.17 1002 8402.40 roll -1.56 - - 1961.12 - 3.78 0.110 688.81 -382.5 -107.06 - - 3452.53 - - - - - - - - - 16.07 -
8435.23 784.61 -9.86 1010 8442.73 roll -1.56 - - 1960.81 - 3.35 0.046 2133.81 431.3 -107.06 - - 3451.91 - - - - - - - - - 16.09 -
8751.03 810.37 -7.87 1042 8758.24 roll -1.56 - - 1961.12 - 3.76 0.110 688.50 -384.4 -107.06 - - 3451.06 - - - - - - - - - 16.08 -
8820.96 816.73 -9.14 1056 8828.48 roll -1.56 - - 1960.62 - 3.33 0.046 2134.19 434.1 -107.06 - - 3451.06 - - - - - - - - - 16.09 -
9136.75 842.49 -8.10 1088 9138.32 no move -1.56 - - 1960.56 - - - 2134.19 - -107.06 - - 3450.34 - - - - - - - - - - -
9446.76 867.09 -7.97 1119 9453.95 roll -1.56 - - 1960.94 - 3.77 0.111 687.62 -383.7 -107.06 - - 3450.31 - - - - - - - - - 16.07 -
9536.68 875.75 -9.80 1137 9544.21 roll -1.56 - - 1961.44 - 3.35 0.046 2134.31 431.8 -107.06 - - 3450.78 - - - - - - - - - 16.09 -
9852.47 901.93 -8.27 1169 9854.04 no move -1.56 - - 1961.00 - - - 2133.94 - -107.06 - - 3449.12 - - - - - - - - - - -
10162.47 928.53 -9.27 1200 10169.80 roll -1.56 - - 1960.75 - 3.80 0.112 687.50 -380.6 -107.06 - - 3449.72 - - - - - - - - - 16.07 -
10228.65 935.74 -11.15 1213 10234.36 roll -1.56 - - 1960.75 - 3.36 0.046 2129.88 429.3 -107.06 - - 3449.03 - - - - - - - - - 16.09 -
10538.42 965.35 -9.09 1245 10540.00 no move -1.56 - - 1960.94 - - - 2133.06 - -107.06 - - 3448.31 - - - - - - - - - - -
10828 end dive: TARGET_DEPTH_EXCEEDED
10828 begin apogee
10830.13 990.13 -7.61 1274 10924.30 -0.42 2.48 0.117 2240.19 112.6 0.10 0.231 2116.25 -168.1 - 86.66 2.214 3019.56 -4.9 0.366 - - - - - - 16.00 15.54 12.13
10936 end apogee: CONTROL_FINISHED_OK
10936 begin climb
10938.73 992.39 - 1283 11052.06 1.56 3.94 0.057 2730.06 124.3 3.29 0.095 3362.88 378.9 107.06 96.28 2.136 2582.06 -4.5 0.349 - - - - - - 15.66 15.35 12.71
11104.88 983.78 9.40 1314 11112.41 roll 1.56 - - 2730.12 - 2.99 0.040 2119.12 -416.0 107.06 - - 2575.69 - - - - - - - - - 15.65 -
11420.67 956.34 8.89 1346 11426.54 done 1.56 - - 2730.38 - 3.15 0.092 3363.25 395.0 107.06 - - 2570.19 - - - - - - - - - 15.86 -
11570.70 941.97 11.49 1376 11576.47 done 1.56 - - 2729.62 - 2.92 0.040 2118.62 -426.2 107.06 - - 2569.84 - - - - - - - - - 15.91 -
11880.73 912.71 10.39 1408 11886.72 done 1.56 - - 2730.88 - 3.13 0.090 3364.56 398.1 107.06 - - 2564.81 - - - - - - - - - 15.96 -
11930.74 907.33 11.06 1418 11936.61 done 1.56 - - 2729.62 - 2.91 0.040 2117.38 -428.6 107.06 - - 2565.66 - - - - - - - - - 15.98 -
12240.78 875.42 9.81 1450 12246.65 done 1.56 - - 2730.44 - 3.13 0.090 3362.62 397.8 107.06 - - 2564.59 - - - - - - - - - 16.01 -
12330.81 865.75 10.79 1468 12336.52 done 1.56 - - 2730.25 - 2.90 0.041 2116.94 -429.5 107.06 - - 2563.84 - - - - - - - - - 16.01 -
12640.84 836.45 8.51 1500 12646.71 done 1.56 - - 2729.81 - 3.12 0.090 3362.62 399.3 107.06 - - 2562.84 - - - - - - - - - 16.03 -
12875.11 811.73 10.05 1547 12882.58 done 1.56 - - 2729.81 - 2.90 0.040 2117.94 -429.2 107.06 - - 2562.50 - - - - - - - - - 16.05 -
13190.90 781.47 9.14 1579 13196.76 done 1.56 - - 2730.44 - 3.12 0.091 3363.69 399.3 107.06 - - 2562.88 - - - - - - - - - 16.05 -
13425.16 758.88 8.72 1626 13432.66 done 1.56 - - 2730.56 - 2.88 0.040 2116.38 -433.1 107.06 - - 2562.69 - - - - - - - - - 16.05 -
13740.93 733.31 8.43 1658 13746.76 done 1.56 - - 2729.00 - 3.10 0.090 3365.44 402.9 107.06 - - 2563.72 - - - - - - - - - 16.06 -
13940.95 714.68 9.49 1698 13946.67 done 1.56 - - 2729.81 - 2.88 0.041 2115.62 -434.0 107.06 - - 2560.97 - - - - - - - - - 16.07 -
14250.97 688.02 8.26 1730 14252.54 VBD 1.56 - - 2730.19 - - - 2115.75 - 107.06 - - 2559.53 - - - - - - - - - - -
14561.26 662.31 8.21 1761 14562.84 VBD 1.56 - - 2730.19 - - - 2115.44 - 107.06 - - 2558.56 - - - - - - - - - - -
14871.07 637.25 8.61 1792 14876.90 done 1.56 - - 2730.00 - 3.10 0.090 3366.06 403.4 107.06 - - 2562.34 - - - - - - - - - 16.07 -
15105.37 615.88 8.78 1839 15112.59 done 1.56 - - 2730.44 - 2.89 0.043 2118.00 -431.9 107.06 - - 2561.88 - - - - - - - - - 16.07 -
15421.40 590.93 7.86 1871 15427.26 done 1.56 - - 2731.00 - 3.09 0.089 3364.94 403.5 107.06 - - 2558.94 - - - - - - - - - 16.07 -
15515.42 583.01 8.41 1890 15522.65 done 1.56 - - 2730.12 - 2.88 0.042 2117.38 -433.2 107.06 - - 2559.09 - - - - - - - - - 16.09 -
15831.45 557.73 7.92 1922 15837.03 done 1.56 - - 2730.19 - 3.09 0.090 3364.25 403.5 107.06 - - 2559.34 - - - - - - - - - 16.06 -
16065.51 538.49 7.76 1969 16072.78 done 1.56 - - 2730.56 - 2.88 0.041 2117.25 -433.0 107.06 - - 2559.16 - - - - - - - - - 16.06 -
16381.60 516.25 6.80 2001 16383.17 VBD 1.60 - - 2730.31 - - - 2116.69 - 107.06 - - 2558.25 - - - - - - - - - - -
16691.65 497.86 5.22 2032 16697.37 1.69 0.15 0.073 2759.25 192.9 3.09 0.088 3366.31 404.4 107.06 - - 2560.16 - - - - - - - - 16.14 16.03 -
16835.68 489.34 5.61 2061 16842.88 done 1.76 - - 2759.19 - 2.87 0.041 2116.75 -435.4 107.06 - - 2558.84 - - - - - - - - - 16.03 -
17151.72 471.63 5.93 2093 17159.02 1.82 0.19 0.067 2793.69 181.6 3.64 0.108 688.00 -392.5 107.06 - - 2557.84 - - - - - - - - 16.11 16.01 -
17217.66 467.29 6.67 2106 17223.67 done 1.86 - - 2793.38 - 3.44 0.049 2182.50 434.4 107.06 - - 2558.12 - - - - - - - - - 16.08 -
17527.67 449.04 5.87 2138 17529.39 1.93 0.10 0.081 2818.00 246.2 - - 2182.75 - 107.06 - - 2555.28 - - - - - - - - 16.13 - -
17837.69 429.97 6.37 2169 17839.27 VBD 1.98 - - 2817.69 - - - 2183.25 - 107.06 - - 2556.12 - - - - - - - - - - -
18147.72 409.02 6.57 2200 18149.48 2.02 0.13 0.054 2835.12 134.1 - - 2183.44 - 107.06 - - 2557.97 - - - - - - - - 16.19 - -
18457.74 390.26 5.79 2231 18464.96 done 2.09 - - 2835.31 - 3.84 0.104 687.56 -389.6 107.06 - - 2559.00 - - - - - - - - - 16.06 -
18623.52 379.66 6.33 2264 18630.74 2.14 0.21 0.054 2872.06 175.0 3.46 0.048 2186.75 433.3 107.06 - - 2555.00 - - - - - - - - 16.14 16.08 -
18938.53 359.74 6.00 2296 18944.26 done 2.21 - - 2872.50 - 2.92 0.090 3365.50 403.7 107.06 - - 2557.22 - - - - - - - - - 16.06 -
19172.81 345.37 5.51 2343 19180.19 2.28 0.20 0.055 2903.06 152.8 2.90 0.039 2116.38 -430.7 107.06 - - 2558.56 - - - - - - - - 16.07 16.06 -
19488.84 328.04 5.56 2375 19495.73 done 2.36 - - 2903.19 - 3.64 0.103 687.25 -392.6 107.06 - - 2557.03 - - - - - - - - - 16.05 -
19724.31 313.04 6.32 2422 19731.73 2.41 0.16 0.063 2934.25 194.1 3.48 0.047 2187.75 431.2 107.06 - - 2556.91 - - - - - - - - 16.10 16.06 -
20039.32 294.25 6.05 2454 20046.54 done 2.47 - - 2932.81 - 3.83 0.096 687.81 -391.6 107.06 - - 2554.78 - - - - - - - - - 16.00 -
20115.09 289.34 6.23 2469 20122.26 2.52 0.12 0.073 2962.38 246.4 3.47 0.046 2189.38 432.7 107.06 - - 2555.53 - - - - - - - - 16.05 16.01 -
20430.12 270.75 6.00 2501 20435.83 done 2.58 - - 2962.62 - 2.92 0.089 3364.56 402.5 107.06 - - 2557.75 - - - - - - - - - 15.97 -
20664.42 255.81 5.75 2548 20671.86 2.65 0.19 0.056 2992.88 159.3 2.90 0.039 2113.50 -431.4 107.06 - - 2556.91 - - - - - - - - 16.11 16.06 -
20980.43 239.42 5.28 2580 20985.96 done 2.74 - - 2993.25 - 3.10 0.084 3365.75 404.0 107.06 - - 2557.06 - - - - - - - - - 15.98 -
21160.23 230.61 4.47 2616 21224.92 2.83 0.26 0.052 3036.88 167.8 2.88 0.038 2113.31 -434.9 177.03 54.00 1.277 2297.06 -4.8 0.144 - - - - - - 16.05 15.97 12.17
21530.20 180.98 14.83 2659 21537.65 2.83 0.32 0.169 3019.56 -54.1 3.67 0.100 687.38 -388.5 177.03 - - 2287.09 - - - - - - - - 15.79 15.82 -
21730.53 149.17 15.61 2699 21738.39 done 2.83 - - 3020.50 - 3.51 0.047 2183.75 426.3 177.03 - - 2285.91 - - - - - - - - - 15.88 -
22046.56 109.67 10.63 2731 22052.31 done 2.83 - - 3020.50 - 2.96 0.089 3362.31 398.2 177.03 - - 2287.53 - - - - - - - - - 15.96 -
22256.40 93.08 5.00 2773 22331.31 2.90 0.28 0.050 3054.69 122.1 2.91 0.038 2113.81 -429.0 236.50 63.80 1.059 2056.97 -3.6 0.053 - - - - - - 15.96 15.98 12.39
22514.76 69.32 9.89 2824 22521.96 roll 2.90 - - 3054.12 - 3.71 0.099 687.88 -384.3 236.50 - - 2050.12 - - - - - - - - - 15.82 -
22750.60 48.20 8.55 2871 22757.41 roll 2.90 - - 3054.00 - 3.49 0.045 2188.19 429.9 236.50 - - 2050.03 - - - - - - - - - 15.87 -
22941.14 37.60 4.47 2909 23019.98 VBD 3.00 - - 3054.75 - - - 2188.31 - 306.38 72.43 0.999 1770.12 -3.9 0.024 - - - - - - - - 12.38
23203.58 25.91 2.79 2961 23315.33 3.13 0.38 0.041 3109.81 144.9 - - 2186.94 - 409.02 106.53 0.971 1352.16 -3.9 0.017 - - - - - - 15.89 - 12.56
23498.89 6.71 9.17 3019 23505.64 roll back 3.13 0.26 0.157 3093.00 -64.7 2.99 0.087 3365.88 394.3 409.02 - - 1349.94 - - - - - - - - 15.72 15.74 -
23559 end climb: SURFACE_DEPTH_REACHED
23559 begin surface coast
23589 end surface coast: CONTROL_FINISHED_OK
23589 begin surface
SM 1.73 - - - - 184.2 65.57 0.958 1084.5 16.5 22.22 0.049 1087.4 48.9 - 3.05 0.037 1081.6 353.6 -1.690 - - 12.49 15.86 15.86 -