NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 31 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 28.10 of 575.00 AH used of 24V (95.11% remains)
• Surface angle -62.1 deg, depth 1.42 m • Intended pitch -17.9 deg, speed -8.462 cm/s
VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 57 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
8.88 - - - 75.63 VBD -1.32 - - 184.50 - - - 2135.44 - -107.06 65.18 0.005 2624.72 - - - - - - - - - - 15.77
76.07 3.28 -3.30 13 128.13 -1.32 17.00 0.239 1978.25 105.5 3.21 0.112 3357.25 380.6 -107.06 23.83 0.006 3638.50 42.5 -3.836 - - - - - - 15.71 15.72 15.78
241.50 36.54 -17.17 45 247.94 roll -1.32 - - 1980.12 - 3.11 0.056 2071.44 -413.4 -107.06 - - 3641.28 - - - - - - - - - 15.87 -
431.51 63.42 -13.48 83 435.88 no move -1.32 - - 1980.12 - - - 2071.19 - -107.06 - - 3640.75 - - - - - - - - - - -
616.52 86.24 -11.04 120 623.19 roll -1.32 - - 1978.50 - 3.61 0.127 690.19 -382.5 -107.06 - - 3642.91 - - - - - - - - - 15.94 -
656.59 91.25 -12.79 128 663.19 roll -1.32 - - 1978.44 - 3.41 0.058 2127.75 421.6 -107.06 - - 3643.03 - - - - - - - - - 15.95 -
846.59 110.62 -10.18 156 852.26 roll -1.32 - - 1978.25 - 3.16 0.107 3361.62 390.5 -107.06 - - 3643.50 - - - - - - - - - 15.99 -
870.83 113.32 -10.22 161 877.99 roll -1.32 - - 1980.00 - 3.05 0.054 2070.44 -423.3 -107.06 - - 3642.00 - - - - - - - - - 15.97 -
1186.61 141.30 -8.63 193 1192.35 roll -1.32 - - 1979.81 - 3.29 0.102 3359.56 391.8 -107.06 - - 3643.28 - - - - - - - - - 16.03 -
1236.62 145.92 -9.38 203 1242.26 roll -1.32 - - 1979.69 - 3.06 0.056 2071.94 -420.8 -107.06 - - 3643.50 - - - - - - - - - 16.04 -
1546.64 174.19 -9.59 235 1548.17 no move -1.32 - - 1979.50 - - - 2070.69 - -107.06 - - 3642.16 - - - - - - - - - - -
1856.70 203.53 -9.42 266 1858.27 no move -1.32 - - 1979.44 - - - 2071.12 - -107.06 - - 3642.22 - - - - - - - - - - -
2166.72 233.04 -9.84 297 2172.81 roll -1.32 - - 1979.50 - 3.56 0.130 689.94 -388.0 -107.06 - - 3642.47 - - - - - - - - - 16.05 -
2190.96 235.71 -10.22 302 2198.43 roll -1.32 - - 1979.50 - 3.38 0.061 2131.19 426.4 -107.06 - - 3643.09 - - - - - - - - - 16.06 -
2506.83 267.31 -10.30 334 2513.94 roll -1.32 - - 1978.62 - 3.70 0.127 688.94 -389.8 -107.06 - - 3642.06 - - - - - - - - - 16.03 -
2552.39 272.28 -11.01 343 2558.33 roll -1.32 - - 1980.25 - 3.39 0.062 2129.56 425.0 -107.06 - - 3642.75 - - - - - - - - - 16.11 -
2862.41 302.26 -9.46 375 2863.99 no move -1.32 - - 1979.25 - - - 2129.31 - -107.06 - - 3642.47 - - - - - - - - - - -
3172.44 331.99 -9.58 406 3179.58 roll -1.32 - - 1978.06 - 3.69 0.129 690.06 -390.0 -107.06 - - 3644.47 - - - - - - - - - 16.13 -
3208.03 335.75 -10.61 413 3213.97 roll -1.32 - - 1979.56 - 3.38 0.064 2128.38 425.5 -107.06 - - 3643.00 - - - - - - - - - 16.14 -
3518.06 364.57 -9.47 445 3519.88 no move -1.32 - - 1979.44 - - - 2127.69 - -107.06 - - 3641.78 - - - - - - - - - - -
3828.12 393.54 -9.25 476 3829.69 no move -1.32 - - 1979.38 - - - 2127.75 - -107.06 - - 3642.16 - - - - - - - - - - -
4138.16 421.66 -8.88 507 4139.73 no move -1.32 - - 1979.38 - - - 2127.94 - -107.06 - - 3641.31 - - - - - - - - - - -
4448.19 448.68 -8.32 538 4455.39 roll -1.32 - - 1978.00 - 3.70 0.132 688.94 -388.9 -107.06 - - 3643.03 - - - - - - - - - 16.15 -
4488.07 452.73 -10.02 546 4495.55 roll -1.32 - - 1979.19 - 3.40 0.066 2127.50 423.1 -107.06 - - 3641.12 - - - - - - - - - 16.19 -
4803.86 479.15 -8.45 578 4805.43 no move -1.32 - - 1979.44 - - - 2127.81 - -107.06 - - 3639.91 - - - - - - - - - - -
5113.89 504.12 -7.73 609 5115.46 no move -1.32 - - 1979.06 - - - 2128.31 - -107.06 - - 3639.59 - - - - - - - - - - -
5423.92 529.06 -8.11 640 5425.48 no move -1.32 - - 1979.31 - - - 2127.62 - -107.06 - - 3639.47 - - - - - - - - - - -
5733.94 554.88 -8.66 671 5735.51 no move -1.32 - - 1979.31 - - - 2127.75 - -107.06 - - 3638.44 - - - - - - - - - - -
6043.97 581.34 -8.82 702 6051.17 roll -1.32 - - 1978.81 - 3.71 0.133 690.12 -387.5 -107.06 - - 3637.53 - - - - - - - - - 16.20 -
6103.85 587.52 -9.73 714 6111.32 roll -1.32 - - 1979.62 - 3.38 0.067 2127.62 425.3 -107.06 - - 3637.69 - - - - - - - - - 16.20 -
6419.64 615.81 -9.21 746 6426.84 roll -1.32 - - 1980.44 - 3.72 0.135 691.06 -386.2 -107.06 - - 3636.34 - - - - - - - - - 16.19 -
6475.40 621.50 -9.78 757 6481.40 roll -1.32 - - 1979.56 - 3.40 0.067 2127.00 422.3 -107.06 - - 3637.38 - - - - - - - - - 16.21 -
6785.43 649.10 -9.14 789 6787.01 no move -1.32 - - 1979.19 - - - 2126.69 - -107.06 - - 3636.56 - - - - - - - - - - -
7095.46 676.35 -8.67 820 7097.02 no move -1.32 - - 1979.56 - - - 2126.50 - -107.06 - - 3635.62 - - - - - - - - - - -
7405.48 702.83 -8.45 851 7407.05 no move -1.32 - - 1979.56 - - - 2126.62 - -107.06 - - 3634.56 - - - - - - - - - - -
7715.51 728.20 -7.75 882 7722.70 roll -1.32 - - 1979.50 - 3.72 0.136 689.62 -386.3 -107.06 - - 3635.44 - - - - - - - - - 16.20 -
7745.38 731.20 -8.85 888 7752.91 roll -1.32 - - 1979.88 - 3.40 0.069 2126.75 422.7 -107.06 - - 3635.22 - - - - - - - - - 16.21 -
8061.18 754.73 -7.46 920 8068.38 roll -1.32 - - 1980.06 - 3.71 0.136 689.94 -387.3 -107.06 - - 3633.91 - - - - - - - - - 16.20 -
8096.82 757.94 -8.32 927 8103.02 roll -1.32 - - 1979.19 - 3.40 0.069 2127.81 422.9 -107.06 - - 3636.12 - - - - - - - - - 16.21 -
8406.85 781.37 -7.61 959 8414.04 roll -1.32 - - 1980.00 - 3.71 0.136 690.06 -387.5 -107.06 - - 3633.97 - - - - - - - - - 16.20 -
8432.49 783.70 -8.35 964 8438.48 roll -1.32 - - 1979.50 - 3.40 0.068 2126.56 422.5 -107.06 - - 3634.75 - - - - - - - - - 16.21 -
8742.51 807.35 -7.72 996 8744.08 no move -1.32 - - 1979.81 - - - 2126.44 - -107.06 - - 3634.00 - - - - - - - - - - -
9052.54 832.78 -8.18 1027 9059.73 roll -1.32 - - 1978.44 - 3.73 0.138 691.31 -384.8 -107.06 - - 3635.25 - - - - - - - - - 16.20 -
9088.17 836.43 -9.43 1034 9094.18 roll -1.32 - - 1979.12 - 3.40 0.069 2126.75 422.2 -107.06 - - 3634.91 - - - - - - - - - 16.20 -
9398.21 861.53 -7.85 1066 9404.07 roll -1.32 - - 1978.12 - 3.19 0.118 3359.00 386.3 -107.06 - - 3635.41 - - - - - - - - - 16.20 -
9432.45 864.82 -8.56 1073 9439.77 roll -1.32 - - 1979.38 - 3.07 0.066 2071.50 -419.4 -107.06 - - 3633.62 - - - - - - - - - 16.20 -
9748.43 889.79 -8.07 1105 9750.00 no move -1.32 - - 1979.06 - - - 2071.94 - -107.06 - - 3632.56 - - - - - - - - - - -
10058.24 914.84 -7.58 1136 10060.06 no move -1.32 - - 1978.94 - - - 2071.38 - -107.06 - - 3632.25 - - - - - - - - - - -
10368.25 938.89 -7.64 1167 10369.83 no move -1.32 - - 1979.50 - - - 2071.62 - -107.06 - - 3631.69 - - - - - - - - - - -
10678.27 962.25 -7.46 1198 10684.26 roll -1.32 - - 1979.50 - 3.32 0.116 3359.19 387.8 -107.06 - - 3632.53 - - - - - - - - - 16.22 -
10702.52 964.86 -8.64 1203 10709.83 roll -1.32 - - 1978.69 - 3.09 0.067 2072.56 -416.4 -107.06 - - 3633.47 - - - - - - - - - 16.20 -
11018.30 987.37 -6.80 1235 11019.87 no move -1.32 - - 1979.06 - - - 2073.31 - -107.06 - - 3630.72 - - - - - - - - - - -
11058 end dive: TARGET_DEPTH_EXCEEDED
11058 begin apogee
11060.10 990.29 -7.16 1239 11150.09 -0.29 2.08 0.119 2230.81 121.0 0.11 0.232 2121.25 435.8 - 83.11 2.068 3200.03 -5.2 0.409 - - - - - - 16.20 15.58 12.96
11161 end apogee: CONTROL_FINISHED_OK
11161 begin climb
11164.26 991.75 - 1247 11264.18 1.32 3.14 0.068 2626.50 126.0 - - 2122.19 - 107.06 90.74 2.011 2761.53 -4.8 0.393 - - - - - - 15.71 - 12.79
11567.91 975.77 6.00 1288 11609.88 VBD 1.44 - - 2626.25 - - - 2121.69 - 152.90 38.21 1.922 2574.69 -4.9 0.410 - - - - - - - - 12.82
11917.89 946.65 8.88 1323 11923.80 roll 1.44 - - 2625.31 - 3.28 0.113 3359.44 377.4 152.90 - - 2573.62 - - - - - - - - - 15.85 -
12037.92 935.22 9.20 1347 12043.76 roll 1.44 - - 2626.50 - 3.04 0.065 2122.12 -407.0 152.90 - - 2570.69 - - - - - - - - - 15.91 -
12347.97 910.09 7.80 1379 12354.07 1.46 0.25 0.062 2660.62 136.5 3.25 0.113 3358.81 380.5 152.90 - - 2570.19 - - - - - - - - 16.03 15.98 -
12402.26 905.03 9.01 1390 12409.51 done 1.46 - - 2661.94 - 3.01 0.066 2121.69 -411.0 152.90 - - 2568.75 - - - - - - - - - 15.99 -
12717.99 879.83 7.47 1422 12719.57 VBD 1.49 - - 2661.00 - - - 2121.75 - 152.90 - - 2566.66 - - - - - - - - - - -
13028.01 856.09 7.27 1453 13033.92 done 1.52 - - 2661.25 - 3.23 0.110 3360.81 383.6 152.90 - - 2566.91 - - - - - - - - - 16.07 -
13212.24 841.42 8.04 1490 13219.54 done 1.52 - - 2661.88 - 2.99 0.065 2121.94 -414.3 152.90 - - 2568.06 - - - - - - - - - 16.09 -
13528.05 817.26 7.38 1522 13533.87 done 1.55 - - 2661.12 - 3.19 0.112 3359.44 387.9 152.90 - - 2567.03 - - - - - - - - - 16.11 -
13762.33 797.08 9.09 1569 13769.61 done 1.55 - - 2661.44 - 2.98 0.066 2121.62 -415.4 152.90 - - 2566.38 - - - - - - - - - 16.13 -
14078.12 771.57 8.18 1601 14084.03 done 1.55 - - 2660.81 - 3.22 0.112 3360.94 384.9 152.90 - - 2565.81 - - - - - - - - - 16.15 -
14188.17 761.81 8.99 1623 14193.92 done 1.55 - - 2661.25 - 2.97 0.066 2121.44 -417.3 152.90 - - 2566.62 - - - - - - - - - 16.15 -
14498.18 735.62 8.10 1655 14499.75 VBD 1.55 - - 2661.31 - - - 2121.94 - 152.90 - - 2563.56 - - - - - - - - - - -
14808.25 710.66 7.36 1686 14809.83 VBD 1.59 - - 2660.88 - - - 2121.50 - 152.90 - - 2563.09 - - - - - - - - - - -
15118.28 688.29 7.16 1717 15124.55 1.63 0.28 0.064 2701.88 146.4 3.19 0.110 3360.69 388.5 152.90 - - 2564.59 - - - - - - - - 16.18 16.15 -
15208.27 680.86 8.75 1735 15214.02 done 1.63 - - 2702.19 - 2.96 0.065 2121.62 -418.6 152.90 - - 2564.44 - - - - - - - - - 16.17 -
15518.32 656.79 7.11 1767 15524.13 done 1.67 - - 2701.62 - 3.19 0.109 3360.56 388.4 152.90 - - 2565.50 - - - - - - - - - 16.18 -
15652.56 646.32 8.02 1794 15659.82 done 1.67 - - 2701.38 - 2.96 0.065 2119.75 -419.2 152.90 - - 2563.75 - - - - - - - - - 16.17 -
15968.37 622.40 7.96 1826 15974.19 done 1.68 - - 2700.50 - 3.18 0.109 3361.31 390.4 152.90 - - 2566.69 - - - - - - - - - 16.18 -
16142.62 606.89 8.97 1861 16149.92 done 1.68 - - 2702.19 - 2.96 0.065 2120.12 -419.3 152.90 - - 2564.75 - - - - - - - - - 16.17 -
16458.43 582.62 7.37 1893 16465.55 done 1.71 - - 2701.75 - 3.68 0.130 688.62 -389.0 152.90 - - 2564.62 - - - - - - - - - 16.18 -
16573.99 573.23 8.27 1916 16580.30 done 1.71 - - 2701.81 - 3.56 0.070 2174.38 417.3 152.90 - - 2562.03 - - - - - - - - - 16.19 -
16884.04 550.95 7.48 1948 16885.61 VBD 1.74 - - 2702.00 - - - 2174.00 - 152.90 - - 2561.41 - - - - - - - - - - -
17194.05 529.02 7.10 1979 17200.08 1.79 0.34 0.046 2736.62 101.8 3.07 0.114 3359.12 386.0 152.90 - - 2562.62 - - - - - - - - 16.24 16.17 -
17354.05 516.15 8.15 2011 17359.80 done 1.79 - - 2737.00 - 2.97 0.065 2119.50 -417.4 152.90 - - 2562.16 - - - - - - - - - 16.19 -
17664.13 494.30 6.48 2043 17669.99 done 1.84 - - 2737.06 - 3.17 0.108 3360.50 391.5 152.90 - - 2562.28 - - - - - - - - - 16.17 -
17898.41 475.29 8.36 2090 17905.71 done 1.84 - - 2737.06 - 2.96 0.064 2121.12 -418.7 152.90 - - 2561.84 - - - - - - - - - 16.20 -
18214.23 451.62 7.52 2122 18220.06 done 1.87 - - 2736.81 - 3.17 0.108 3360.19 390.9 152.90 - - 2562.69 - - - - - - - - - 16.19 -
18344.27 441.35 7.55 2148 18350.23 done 1.90 - - 2736.44 - 2.96 0.064 2119.62 -419.1 152.90 - - 2562.22 - - - - - - - - - 16.20 -
18654.27 420.96 6.09 2180 18696.29 2.01 0.48 0.051 2797.00 126.2 - - 2120.19 - 197.03 36.16 1.330 2396.59 -4.6 0.239 - - - - - - 16.20 - 13.02
19004.25 385.49 10.32 2215 19011.42 roll 2.01 - - 2797.00 - 3.70 0.127 689.81 -386.6 197.03 - - 2388.00 - - - - - - - - - 16.06 -
19054.10 379.44 12.11 2225 19061.67 done 2.01 - - 2796.50 - 3.58 0.069 2175.69 415.1 197.03 - - 2388.72 - - - - - - - - - 16.07 -
19369.85 346.75 10.17 2257 19371.43 VBD 2.01 - - 2797.06 - - - 2176.00 - 197.03 - - 2386.91 - - - - - - - - - - -
19679.87 314.61 10.96 2288 19685.69 done 2.01 - - 2797.25 - 3.06 0.113 3359.25 386.7 197.03 - - 2387.41 - - - - - - - - - 16.08 -
19879.92 290.81 11.39 2328 19885.67 done 2.01 - - 2795.81 - 2.97 0.063 2121.38 -416.8 197.03 - - 2388.28 - - - - - - - - - 16.10 -
20189.93 258.39 10.44 2360 20196.05 done 2.01 - - 2796.69 - 3.18 0.106 3360.38 389.6 197.03 - - 2389.06 - - - - - - - - - 16.09 -
20249.96 251.56 11.56 2372 20255.70 done 2.01 - - 2797.31 - 2.98 0.062 2119.94 -416.3 197.03 - - 2387.75 - - - - - - - - - 16.09 -
20559.96 222.18 9.08 2404 20565.83 done 2.01 - - 2797.12 - 3.19 0.106 3360.44 388.9 197.03 - - 2386.62 - - - - - - - - - 16.09 -
20644.23 213.95 9.58 2421 20651.53 done 2.01 - - 2797.69 - 2.96 0.062 2120.88 -418.8 197.03 - - 2385.62 - - - - - - - - - 16.14 -
20959.99 187.55 8.23 2453 20961.65 VBD 2.01 - - 2796.62 - - - 2120.44 - 197.03 - - 2385.00 - - - - - - - - - - -
21270.01 159.55 9.64 2484 21275.89 done 2.01 - - 2797.25 - 3.18 0.104 3361.25 390.2 197.03 - - 2386.09 - - - - - - - - - 16.09 -
21430.08 143.64 9.36 2516 21435.87 done 2.01 - - 2797.25 - 2.96 0.061 2119.19 -419.6 197.03 - - 2387.16 - - - - - - - - - 16.08 -
21740.16 122.87 5.56 2548 21803.15 VBD 2.15 - - 2797.50 - - - 2118.69 - 251.05 59.90 0.933 2175.19 -3.5 0.077 - - - - - - - - 12.90
22105.18 87.86 8.62 2599 22111.89 roll 2.15 - - 2797.12 - 3.21 0.103 3361.00 387.0 251.05 - - 2169.91 - - - - - - - - - 15.95 -
22150.44 83.76 9.04 2608 22156.95 roll 2.15 - - 2796.62 - 2.97 0.059 2117.94 -418.5 251.05 - - 2170.06 - - - - - - - - - 15.96 -
22340.49 72.02 4.76 2646 22431.93 2.32 0.52 0.050 2872.81 146.5 3.73 0.123 689.75 -382.9 319.96 80.41 0.869 1893.31 -3.4 0.047 - - - - - - 16.02 15.70 12.85
22655.40 44.01 10.25 2708 22662.22 roll 2.32 - - 2872.62 - 3.58 0.064 2176.81 415.4 319.96 - - 1894.12 - - - - - - - - - 15.86 -
22845.67 29.16 7.12 2746 22852.22 roll 2.36 - - 2873.00 - 3.07 0.107 3359.94 385.4 319.96 - - 1892.62 - - - - - - - - - 15.89 -
23080.70 18.20 2.59 2793 23213.78 2.63 0.50 0.049 2949.06 152.1 2.98 0.057 2118.81 -416.5 429.25 121.04 0.814 1449.41 -3.7 0.014 - - - - - - 16.00 15.93 12.79
23372 end climb: SURFACE_DEPTH_REACHED
23372 begin surface coast
23392 end surface coast: CONTROL_FINISHED_OK
23392 begin surface
SM 0.96 - - - - 188.0 45.71 0.791 1263.5 25.0 20.86 0.049 1266.3 60.7 - 0.07 0.167 1260.8 17968.9 -10.557 - - 12.80 15.82 15.82 -