NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 296 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 112.80 of 575.00 AH used of 24V (80.38% remains)
• Surface angle -65.6 deg, depth 1.56 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.31 (SM_CC=475)
• GPS1 time: 29 s
• GPS2 time: 5 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
9.04 - - - 60.48 VBD -1.56 - - 182.94 - - - 2137.62 - -107.06 50.02 0.005 2180.16 - - - - - - - - - - 15.59
60.92 3.11 -3.31 10 123.14 -1.56 16.24 0.235 1960.38 109.4 3.08 0.097 3360.25 397.0 -107.06 32.51 0.006 3457.56 39.3 -3.373 - - - - - - 15.63 15.54 15.63
131.67 15.10 -20.00 23 138.07 roll -1.56 - - 1961.31 - 3.05 0.040 2065.81 -424.4 -107.06 - - 3458.03 - - - - - - - - - 15.81 -
321.68 50.86 -14.24 61 328.30 roll -1.56 - - 1960.56 - 3.60 0.109 688.88 -382.5 -107.06 - - 3460.38 - - - - - - - - - 15.83 -
356.81 55.99 -14.72 68 363.29 roll -1.56 - - 1961.00 - 3.33 0.041 2136.31 434.7 -107.06 - - 3459.84 - - - - - - - - - 15.84 -
546.77 80.14 -11.66 106 553.33 roll -1.56 - - 1960.75 - 3.06 0.089 3363.56 401.1 -107.06 - - 3459.88 - - - - - - - - - 15.87 -
581.91 84.57 -12.85 113 588.41 roll -1.56 - - 1960.38 - 2.99 0.036 2063.56 -434.8 -107.06 - - 3461.75 - - - - - - - - - 15.89 -
771.92 105.38 -10.25 146 777.86 roll -1.56 - - 1960.50 - 3.21 0.088 3362.56 404.7 -107.06 - - 3462.12 - - - - - - - - - 15.94 -
856.16 114.35 -10.56 163 863.43 roll -1.56 - - 1961.25 - 2.98 0.036 2064.88 -435.5 -107.06 - - 3461.50 - - - - - - - - - 15.87 -
1172.19 143.44 -8.84 195 1179.03 roll -1.56 - - 1961.19 - 3.58 0.110 688.06 -384.6 -107.06 - - 3463.19 - - - - - - - - - 15.89 -
1261.88 153.04 -11.02 213 1269.35 roll -1.56 - - 1961.25 - 3.31 0.041 2137.50 437.9 -107.06 - - 3463.84 - - - - - - - - - 15.99 -
1577.66 182.49 -9.62 245 1579.23 no move -1.56 - - 1960.69 - - - 2137.56 - -107.06 - - 3462.97 - - - - - - - - - - -
1887.69 211.87 -9.73 276 1894.87 roll -1.56 - - 1962.31 - 3.78 0.108 688.69 -383.3 -107.06 - - 3463.69 - - - - - - - - - 15.97 -
1983.48 222.54 -11.00 295 1989.72 roll -1.56 - - 1961.94 - 3.33 0.043 2134.62 434.2 -107.06 - - 3464.25 - - - - - - - - - 16.03 -
2293.50 252.80 -9.46 327 2295.07 no move -1.56 - - 1961.12 - - - 2133.81 - -107.06 - - 3462.94 - - - - - - - - - - -
2603.51 281.51 -9.26 358 2605.08 no move -1.56 - - 1961.31 - - - 2134.06 - -107.06 - - 3463.56 - - - - - - - - - - -
2913.52 310.49 -9.42 389 2915.09 no move -1.56 - - 1961.38 - - - 2133.81 - -107.06 - - 3462.47 - - - - - - - - - - -
3223.64 339.47 -9.20 420 3230.74 roll -1.56 - - 1960.69 - 3.78 0.110 687.00 -382.8 -107.06 - - 3463.28 - - - - - - - - - 16.04 -
3253.57 342.72 -9.85 426 3261.04 roll -1.56 - - 1961.31 - 3.33 0.044 2134.25 434.6 -107.06 - - 3463.97 - - - - - - - - - 16.06 -
3569.35 372.22 -9.65 458 3576.55 roll -1.56 - - 1961.75 - 3.77 0.108 686.69 -384.0 -107.06 - - 3461.78 - - - - - - - - - 16.04 -
3615.04 377.27 -11.00 467 3620.99 roll -1.56 - - 1961.38 - 3.32 0.043 2134.56 436.1 -107.06 - - 3462.88 - - - - - - - - - 16.06 -
3925.08 406.96 -9.90 499 3932.28 roll -1.56 - - 1959.50 - 3.76 0.107 687.75 -384.8 -107.06 - - 3462.16 - - - - - - - - - 16.05 -
3960.88 410.79 -10.70 506 3966.82 roll -1.56 - - 1961.69 - 3.34 0.043 2135.50 433.5 -107.06 - - 3463.16 - - - - - - - - - 16.02 -
4270.90 440.38 -9.57 538 4278.08 roll -1.56 - - 1959.62 - 3.77 0.110 687.44 -384.1 -107.06 - - 3461.62 - - - - - - - - - 16.01 -
4316.57 445.15 -10.36 547 4322.52 roll -1.56 - - 1961.12 - 3.31 0.043 2132.56 436.6 -107.06 - - 3462.03 - - - - - - - - - 16.07 -
4626.60 472.93 -8.73 579 4634.03 roll -1.56 - - 1959.12 - 3.78 0.110 688.06 -382.1 -107.06 - - 3461.09 - - - - - - - - - 16.01 -
4656.86 476.00 -9.15 585 4664.34 roll -1.56 - - 1961.38 - 3.34 0.045 2132.19 432.4 -107.06 - - 3459.94 - - - - - - - - - 16.06 -
4972.64 503.32 -8.59 617 4974.21 no move -1.56 - - 1961.31 - - - 2132.00 - -107.06 - - 3458.50 - - - - - - - - - - -
5282.66 530.53 -8.90 648 5284.23 no move -1.56 - - 1961.00 - - - 2132.19 - -107.06 - - 3457.41 - - - - - - - - - - -
5592.69 559.43 -9.29 679 5600.13 roll -1.56 - - 1960.94 - 3.78 0.110 687.38 -382.2 -107.06 - - 3457.31 - - - - - - - - - 16.05 -
5688.74 569.74 -10.39 698 5694.70 roll -1.56 - - 1960.56 - 3.34 0.046 2133.31 432.9 -107.06 - - 3457.88 - - - - - - - - - 16.09 -
5998.77 599.67 -9.74 730 6004.55 roll -1.56 - - 1961.38 - 3.07 0.094 3363.00 400.6 -107.06 - - 3457.44 - - - - - - - - - 16.04 -
6033.00 603.14 -9.91 737 6040.35 roll -1.56 - - 1960.31 - 3.03 0.040 2064.38 -428.6 -107.06 - - 3457.62 - - - - - - - - - 16.07 -
6348.78 631.58 -9.09 769 6355.13 roll -1.56 - - 1960.81 - 3.61 0.116 688.75 -381.1 -107.06 - - 3456.19 - - - - - - - - - 16.04 -
6393.03 636.05 -10.22 778 6400.50 roll -1.56 - - 1960.94 - 3.35 0.047 2133.19 431.2 -107.06 - - 3455.09 - - - - - - - - - 16.07 -
6708.82 663.77 -9.07 810 6710.39 no move -1.56 - - 1960.81 - - - 2133.00 - -107.06 - - 3453.88 - - - - - - - - - - -
7018.85 691.61 -8.87 841 7026.04 roll -1.56 - - 1961.25 - 3.79 0.113 687.44 -381.4 -107.06 - - 3452.84 - - - - - - - - - 16.04 -
7084.52 698.02 -9.62 854 7090.48 roll -1.56 - - 1960.88 - 3.33 0.047 2134.50 434.6 -107.06 - - 3455.00 - - - - - - - - - 16.08 -
7394.56 723.33 -7.72 886 7401.80 roll -1.56 - - 1959.12 - 3.81 0.112 687.62 -379.8 -107.06 - - 3454.38 - - - - - - - - - 16.04 -
7434.63 727.16 -9.44 894 7442.15 roll -1.56 - - 1961.31 - 3.35 0.046 2132.25 431.2 -107.06 - - 3453.72 - - - - - - - - - 16.07 -
7750.42 752.82 -8.39 926 7751.99 no move -1.56 - - 1961.25 - - - 2132.44 - -107.06 - - 3453.00 - - - - - - - - - - -
8060.45 777.27 -7.55 957 8067.64 roll -1.56 - - 1960.88 - 3.79 0.112 688.88 -380.9 -107.06 - - 3452.34 - - - - - - - - - 16.03 -
8156.14 785.62 -8.77 976 8162.10 roll -1.56 - - 1961.50 - 3.36 0.047 2133.94 430.1 -107.06 - - 3453.28 - - - - - - - - - 16.05 -
8466.17 808.28 -7.56 1008 8473.38 roll -1.56 - - 1960.62 - 3.80 0.113 687.38 -380.7 -107.06 - - 3452.94 - - - - - - - - - 16.03 -
8541.86 815.09 -9.06 1023 8547.82 roll -1.56 - - 1960.44 - 3.35 0.047 2131.69 431.1 -107.06 - - 3453.38 - - - - - - - - - 16.06 -
8851.90 837.40 -7.23 1055 8859.34 roll -1.56 - - 1960.31 - 3.80 0.113 688.75 -379.7 -107.06 - - 3451.62 - - - - - - - - - 16.02 -
8897.93 841.36 -8.71 1064 8903.91 roll -1.56 - - 1960.62 - 3.31 0.047 2131.81 436.0 -107.06 - - 3452.16 - - - - - - - - - 16.05 -
9207.97 864.34 -7.21 1096 9215.18 roll -1.56 - - 1961.00 - 3.77 0.112 687.19 -383.2 -107.06 - - 3451.19 - - - - - - - - - 15.97 -
9267.91 869.48 -8.35 1108 9275.38 roll -1.56 - - 1961.06 - 3.34 0.047 2132.19 432.6 -107.06 - - 3451.72 - - - - - - - - - 16.08 -
9583.70 891.47 -7.66 1140 9590.89 roll -1.56 - - 1958.25 - 3.80 0.112 687.44 -380.2 -107.06 - - 3452.72 - - - - - - - - - 16.02 -
9689.38 901.19 -9.02 1161 9695.38 roll -1.56 - - 1961.31 - 3.33 0.047 2132.06 433.8 -107.06 - - 3451.22 - - - - - - - - - 16.07 -
9999.41 925.05 -7.15 1193 10006.67 roll -1.56 - - 1961.38 - 3.81 0.111 686.69 -379.4 -107.06 - - 3448.97 - - - - - - - - - 16.02 -
10049.38 929.55 -8.49 1203 10056.86 roll -1.56 - - 1959.69 - 3.35 0.047 2131.81 431.4 -107.06 - - 3451.25 - - - - - - - - - 16.05 -
10365.18 953.04 -7.40 1235 10372.46 roll -1.56 - - 1959.00 - 3.81 0.112 687.06 -379.2 -107.06 - - 3450.97 - - - - - - - - - 16.02 -
10411.06 957.06 -8.85 1244 10417.02 roll -1.56 - - 1959.88 - 3.35 0.047 2132.19 431.4 -107.06 - - 3450.81 - - - - - - - - - 15.97 -
10721.09 979.28 -7.31 1276 10728.35 roll -1.56 - - 1959.94 - 3.81 0.112 687.38 -379.2 -107.06 - - 3450.16 - - - - - - - - - 16.01 -
10791.08 985.33 -8.32 1290 10798.55 roll -1.56 - - 1961.06 - 3.36 0.048 2131.94 429.9 -107.06 - - 3450.41 - - - - - - - - - 16.04 -
10856 end dive: TARGET_DEPTH_EXCEEDED
10857 begin apogee
10858.58 990.24 -8.17 1297 10952.98 -0.42 2.45 0.117 2239.88 113.8 0.10 0.223 2113.25 -186.9 - 85.62 2.229 3019.75 -5.0 0.370 - - - - - - 16.01 15.52 11.94
10958 end apogee: CONTROL_FINISHED_OK
10958 begin climb
10961.37 991.42 - 1306 11074.49 1.56 4.01 0.058 2729.62 122.1 3.31 0.094 3366.69 378.7 107.06 94.67 2.155 2580.50 -4.6 0.354 - - - - - - 15.65 15.33 12.69
11077.91 986.50 5.36 1322 11084.67 roll 1.64 - - 2729.50 - 3.03 0.039 2118.44 -412.0 107.06 - - 2579.94 - - - - - - - - - 15.50 -
11393.10 956.98 9.35 1354 11394.92 VBD 1.64 - - 2729.31 - - - 2118.00 - 107.06 - - 2567.12 - - - - - - - - - - -
11703.11 926.52 9.86 1385 11708.99 done 1.64 - - 2729.50 - 3.15 0.093 3363.88 395.5 107.06 - - 2567.09 - - - - - - - - - 15.90 -
11923.15 901.14 11.44 1429 11928.93 done 1.64 - - 2729.50 - 2.93 0.041 2115.88 -425.9 107.06 - - 2564.84 - - - - - - - - - 15.96 -
12233.42 870.16 9.60 1461 12239.06 done 1.64 - - 2729.69 - 3.12 0.092 3365.19 400.4 107.06 - - 2563.38 - - - - - - - - - 15.97 -
12363.21 855.69 11.11 1487 12368.97 done 1.64 - - 2729.50 - 2.91 0.041 2116.75 -429.0 107.06 - - 2563.06 - - - - - - - - - 15.99 -
12673.24 824.69 9.67 1519 12674.81 VBD 1.64 - - 2729.31 - - - 2116.69 - 107.06 - - 2561.44 - - - - - - - - - - -
12983.27 794.90 9.35 1550 12989.18 done 1.64 - - 2729.38 - 3.12 0.092 3365.19 400.2 107.06 - - 2561.56 - - - - - - - - - 16.02 -
13077.56 785.24 10.00 1569 13084.81 done 1.64 - - 2728.25 - 2.90 0.041 2115.00 -431.1 107.06 - - 2562.75 - - - - - - - - - 16.05 -
13393.33 756.26 9.28 1601 13394.91 VBD 1.64 - - 2729.38 - - - 2115.44 - 107.06 - - 2560.44 - - - - - - - - - - -
13703.36 728.83 8.96 1632 13709.24 done 1.64 - - 2729.38 - 3.12 0.092 3365.06 400.5 107.06 - - 2561.62 - - - - - - - - - 16.03 -
13877.65 712.21 9.67 1667 13884.86 done 1.64 - - 2729.31 - 2.90 0.042 2117.69 -430.1 107.06 - - 2560.62 - - - - - - - - - 16.05 -
14193.42 685.58 8.35 1699 14199.34 done 1.64 - - 2729.25 - 3.11 0.091 3364.75 401.0 107.06 - - 2559.53 - - - - - - - - - 16.04 -
14303.45 675.85 8.38 1721 14309.20 done 1.64 - - 2729.31 - 2.89 0.041 2117.25 -431.7 107.06 - - 2559.69 - - - - - - - - - 16.05 -
14613.47 652.77 7.82 1753 14615.05 VBD 1.64 - - 2729.75 - - - 2116.75 - 107.06 - - 2558.00 - - - - - - - - - - -
14923.50 628.14 7.90 1784 14929.36 done 1.64 - - 2729.12 - 3.10 0.091 3364.38 402.5 107.06 - - 2558.47 - - - - - - - - - 16.05 -
15143.56 609.70 8.39 1828 15149.27 done 1.64 - - 2729.12 - 2.89 0.041 2114.25 -432.6 107.06 - - 2560.09 - - - - - - - - - 16.05 -
15453.57 585.43 7.76 1860 15455.15 VBD 1.64 - - 2729.25 - - - 2114.56 - 107.06 - - 2557.62 - - - - - - - - - - -
15763.65 562.69 6.99 1891 15769.59 1.68 0.12 0.080 2756.06 223.4 3.10 0.090 3366.06 403.7 107.06 - - 2558.09 - - - - - - - - 16.10 16.01 -
15843.63 555.81 8.52 1907 15849.40 done 1.68 - - 2755.56 - 2.89 0.041 2113.50 -433.4 107.06 - - 2559.22 - - - - - - - - - 16.05 -
16153.65 530.52 7.88 1939 16159.79 done 1.68 - - 2756.25 - 3.62 0.106 686.56 -394.2 107.06 - - 2557.03 - - - - - - - - - 16.03 -
16227.93 524.09 8.58 1954 16235.45 done 1.68 - - 2756.06 - 3.46 0.049 2183.19 432.6 107.06 - - 2556.16 - - - - - - - - - 16.05 -
16543.73 502.83 6.28 1986 16549.45 done 1.73 - - 2755.88 - 2.92 0.092 3365.25 404.8 107.06 - - 2558.88 - - - - - - - - - 16.04 -
16688.01 492.61 7.03 2015 16695.25 done 1.76 - - 2756.00 - 2.90 0.040 2114.38 -431.3 107.06 - - 2556.81 - - - - - - - - - 15.99 -
17003.78 473.82 5.76 2047 17009.83 1.83 0.20 0.061 2794.75 193.8 3.12 0.089 3366.00 401.2 107.06 - - 2558.81 - - - - - - - - 16.11 16.00 -
17038.05 471.72 5.92 2054 17045.22 done 1.89 - - 2795.75 - 2.88 0.039 2114.12 -434.7 107.06 - - 2556.69 - - - - - - - - - 15.99 -
17354.15 451.35 6.74 2086 17360.95 done 1.93 - - 2797.12 - 3.63 0.103 686.38 -393.3 107.06 - - 2555.12 - - - - - - - - - 15.97 -
17469.44 442.66 7.57 2109 17475.46 done 1.93 - - 2795.69 - 3.46 0.049 2183.38 432.7 107.06 - - 2556.72 - - - - - - - - - 16.04 -
17779.74 420.47 6.99 2141 17786.87 1.96 0.15 0.070 2828.00 215.4 3.82 0.099 686.38 -391.9 107.06 - - 2555.31 - - - - - - - - 16.10 16.00 -
17845.36 415.38 7.85 2154 17852.63 1.96 0.28 0.171 2809.00 -67.9 3.46 0.047 2180.94 432.0 107.06 - - 2558.22 - - - - - - - - 15.94 16.04 -
18160.41 395.14 6.03 2186 18162.47 2.02 0.22 0.055 2841.62 148.3 - - 2182.44 - 107.06 - - 2554.00 - - - - - - - - 16.08 - -
18470.42 376.63 6.21 2217 18476.14 done 2.08 - - 2841.94 - 2.96 0.091 3366.00 399.9 107.06 - - 2557.03 - - - - - - - - - 16.03 -
18530.43 372.46 7.05 2229 18536.19 done 2.11 - - 2842.69 - 2.91 0.041 2114.38 -430.1 107.06 - - 2557.19 - - - - - - - - - 16.05 -
18840.44 353.52 6.35 2261 18842.21 2.16 0.17 0.064 2873.56 181.6 - - 2114.88 - 107.06 - - 2554.50 - - - - - - - - 16.11 - -
19150.47 333.80 6.11 2292 19152.05 VBD 2.22 - - 2874.38 - - - 2115.00 - 107.06 - - 2555.16 - - - - - - - - - - -
19460.49 313.92 6.43 2323 19462.35 2.27 0.12 0.080 2900.00 213.5 - - 2114.75 - 107.06 - - 2553.94 - - - - - - - - 16.08 - -
19770.51 295.08 5.53 2354 19777.65 done 2.34 - - 2900.75 - 3.66 0.102 686.38 -390.3 107.06 - - 2554.09 - - - - - - - - - 15.96 -
19990.46 282.43 5.91 2398 19998.37 2.41 0.18 0.057 2934.06 185.1 3.47 0.048 2188.25 432.8 107.06 - - 2555.81 - - - - - - - - 16.05 15.97 -
20306.23 267.66 4.15 2430 20375.56 2.51 0.11 0.083 2959.19 228.5 3.88 0.099 686.38 -387.1 183.31 58.48 1.332 2271.16 -4.9 0.162 - - - - - - 16.09 15.81 11.95
20569.20 231.47 16.37 2482 20575.27 done 2.51 - - 2958.69 - 3.53 0.049 2180.56 423.3 183.31 - - 2264.28 - - - - - - - - - 15.87 -
20879.22 186.23 14.42 2514 20884.98 done 2.51 - - 2958.06 - 2.99 0.090 3366.44 396.6 183.31 - - 2259.12 - - - - - - - - - 15.92 -
20989.24 167.75 17.73 2536 20995.00 done 2.51 - - 2958.31 - 2.94 0.040 2117.25 -424.9 183.31 - - 2259.72 - - - - - - - - - 15.95 -
21299.24 125.69 10.80 2568 21305.12 done 2.51 - - 2959.25 - 3.13 0.088 3364.56 398.5 183.31 - - 2258.22 - - - - - - - - - 15.93 -
21329.26 122.21 11.28 2574 21335.03 done 2.51 - - 2958.25 - 2.92 0.039 2114.88 -428.0 183.31 - - 2257.88 - - - - - - - - - 15.96 -
21639.31 97.05 6.62 2610 21646.17 done 2.55 - - 2958.38 - 3.66 0.100 686.25 -390.3 183.31 - - 2257.47 - - - - - - - - - 15.92 -
21744.83 90.99 5.32 2631 21751.71 2.63 0.17 0.063 2988.62 177.9 3.49 0.047 2187.81 430.2 183.31 - - 2257.12 - - - - - - - - 15.95 15.91 -
21935.22 90.56 -0.55 2669 22120.89 2.85 0.35 0.045 3042.44 153.8 3.04 0.091 3363.62 386.8 351.36 171.85 1.062 1586.31 -3.9 0.055 - - - - - - 15.99 15.53 12.26
22329.49 38.60 17.64 2746 22336.27 roll back 2.85 0.31 0.168 3025.62 -54.3 2.95 0.038 2116.75 -422.7 351.36 - - 1584.91 - - - - - - - - 15.70 15.76 -
22519.89 21.91 4.28 2784 22610.75 2.94 0.31 0.046 3065.44 128.5 3.17 0.085 3365.00 393.8 424.91 78.82 0.972 1288.88 -3.8 0.014 - - - - - - 15.86 15.62 12.38
22794 end climb: SURFACE_DEPTH_REACHED
22794 begin surface coast
22814 end surface coast: CONTROL_FINISHED_OK
22814 begin surface
SM 2.14 - - - - 184.2 53.58 0.960 1082.3 18.7 22.38 0.046 1095.1 48.9 - 3.00 0.038 1069.6 355.5 -2.046 - - 12.45 15.85 15.83 -