NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 40 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 31.34 of 575.00 AH used of 24V (94.55% remains)
• Surface angle -64.7 deg, depth 1.43 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 640.03 (beyond SM_CC=475)
• GPS1 time: 23 s
• GPS2 time: 3 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
8.85 - - - 70.42 VBD -1.27 - - 186.69 - - - 2064.25 - -107.06 60.10 0.005 2435.22 - - - - - - - - - - 15.77
70.86 3.14 -3.10 12 127.09 -1.27 16.51 0.245 1981.12 108.7 3.68 0.129 689.88 -373.5 -107.06 28.36 0.006 3547.00 39.2 -3.384 - - - - - - 15.71 15.74 15.77
160.39 19.59 -21.83 29 167.28 roll -1.27 - - 1980.94 - 3.43 0.059 2126.50 418.8 -107.06 - - 3548.88 - - - - - - - - - 15.84 -
350.75 51.37 -14.45 67 355.12 no move -1.27 - - 1981.19 - - - 2126.25 - -107.06 - - 3548.94 - - - - - - - - - - -
535.77 74.92 -12.40 104 542.21 roll -1.27 - - 1980.19 - 3.19 0.107 3361.00 387.1 -107.06 - - 3549.44 - - - - - - - - - 15.92 -
585.78 81.38 -12.75 114 592.21 roll -1.27 - - 1980.44 - 3.11 0.053 2068.69 -415.5 -107.06 - - 3549.28 - - - - - - - - - 15.93 -
775.79 103.36 -10.25 149 777.32 no move -1.27 - - 1980.56 - - - 2069.06 - -107.06 - - 3548.75 - - - - - - - - - - -
1085.81 131.02 -8.21 180 1091.70 roll -1.27 - - 1980.69 - 3.62 0.124 690.94 -380.7 -107.06 - - 3550.28 - - - - - - - - - 15.99 -
1175.82 138.41 -8.10 198 1181.59 roll -1.27 - - 1981.19 - 3.38 0.057 2132.19 426.4 -107.06 - - 3550.72 - - - - - - - - - 16.00 -
1485.83 159.73 -6.93 230 1492.81 roll -1.27 - - 1981.00 - 3.77 0.121 689.81 -382.6 -107.06 - - 3551.66 - - - - - - - - - 16.02 -
1521.20 162.63 -7.30 237 1527.31 roll -1.27 - - 1980.69 - 3.37 0.058 2129.81 427.3 -107.06 - - 3551.22 - - - - - - - - - 16.05 -
1831.26 186.91 -8.18 269 1838.45 roll -1.27 - - 1980.38 - 3.73 0.121 690.12 -386.0 -107.06 - - 3552.97 - - - - - - - - - 16.07 -
1886.88 191.98 -8.79 280 1892.84 roll -1.27 - - 1981.31 - 3.36 0.058 2131.50 429.0 -107.06 - - 3552.31 - - - - - - - - - 16.06 -
2196.92 218.48 -8.68 312 2204.10 roll -1.27 - - 1980.38 - 3.76 0.123 689.94 -383.4 -107.06 - - 3551.09 - - - - - - - - - 16.07 -
2302.56 228.51 -9.54 333 2308.51 roll -1.27 - - 1980.38 - 3.36 0.060 2129.38 428.4 -107.06 - - 3552.41 - - - - - - - - - 16.10 -
2612.58 254.42 -8.21 365 2619.78 roll -1.27 - - 1980.69 - 3.74 0.124 690.00 -384.9 -107.06 - - 3551.44 - - - - - - - - - 16.09 -
2738.25 266.00 -9.11 390 2744.19 roll -1.27 - - 1980.62 - 3.37 0.061 2131.56 427.8 -107.06 - - 3553.12 - - - - - - - - - 16.12 -
3048.28 292.13 -8.55 422 3055.50 roll -1.27 - - 1981.75 - 3.76 0.125 690.06 -383.4 -107.06 - - 3551.94 - - - - - - - - - 16.12 -
3138.32 301.17 -9.96 440 3145.83 roll -1.27 - - 1981.50 - 3.38 0.060 2129.88 426.0 -107.06 - - 3551.72 - - - - - - - - - 16.12 -
3454.13 328.18 -8.12 472 3461.33 roll -1.27 - - 1980.50 - 3.76 0.124 689.88 -383.0 -107.06 - - 3550.34 - - - - - - - - - 16.14 -
3519.78 334.29 -9.25 485 3525.73 roll -1.27 - - 1980.62 - 3.38 0.061 2129.62 426.0 -107.06 - - 3551.69 - - - - - - - - - 16.15 -
3829.81 360.60 -8.87 517 3837.00 roll -1.27 - - 1980.44 - 3.77 0.128 691.25 -381.5 -107.06 - - 3551.72 - - - - - - - - - 16.15 -
3965.46 374.67 -10.52 544 3971.61 roll -1.27 - - 1980.38 - 3.38 0.062 2128.44 425.2 -107.06 - - 3551.44 - - - - - - - - - 16.16 -
4275.49 402.20 -8.54 576 4282.67 roll -1.27 - - 1980.44 - 3.77 0.127 689.62 -381.6 -107.06 - - 3550.34 - - - - - - - - - 16.16 -
4361.12 410.22 -9.30 593 4367.26 roll -1.27 - - 1980.00 - 3.38 0.062 2129.75 426.1 -107.06 - - 3552.34 - - - - - - - - - 16.16 -
4671.16 434.51 -7.54 625 4678.35 roll -1.27 - - 1981.25 - 3.76 0.129 690.06 -382.9 -107.06 - - 3550.97 - - - - - - - - - 16.16 -
4756.80 441.79 -8.41 642 4762.79 roll -1.27 - - 1980.81 - 3.38 0.063 2129.88 426.0 -107.06 - - 3551.84 - - - - - - - - - 16.17 -
5066.83 464.69 -7.50 674 5074.03 roll -1.27 - - 1979.38 - 3.78 0.129 690.38 -380.8 -107.06 - - 3551.06 - - - - - - - - - 16.16 -
5176.72 474.34 -8.57 696 5184.20 roll -1.27 - - 1980.50 - 3.36 0.064 2128.94 428.1 -107.06 - - 3550.78 - - - - - - - - - 16.18 -
5492.51 498.64 -7.62 728 5499.69 roll -1.27 - - 1978.88 - 3.76 0.131 691.06 -382.4 -107.06 - - 3549.19 - - - - - - - - - 16.18 -
5588.15 506.63 -8.29 747 5594.11 roll -1.27 - - 1980.56 - 3.37 0.065 2129.69 426.9 -107.06 - - 3549.38 - - - - - - - - - 16.17 -
5898.17 528.90 -7.20 779 5905.62 roll -1.27 - - 1980.38 - 3.78 0.131 690.12 -380.8 -107.06 - - 3548.62 - - - - - - - - - 16.18 -
5984.20 535.83 -7.93 796 5990.18 roll -1.27 - - 1980.81 - 3.37 0.065 2129.25 427.0 -107.06 - - 3550.50 - - - - - - - - - 16.19 -
6294.22 556.25 -6.17 828 6301.42 roll -1.27 - - 1979.25 - 3.78 0.130 690.00 -380.8 -107.06 - - 3549.62 - - - - - - - - - 16.19 -
6364.11 561.78 -7.89 842 6371.60 roll -1.27 - - 1981.06 - 3.36 0.065 2128.94 428.3 -107.06 - - 3548.47 - - - - - - - - - 16.20 -
6679.91 584.63 -7.48 874 6687.09 roll -1.27 - - 1981.25 - 3.78 0.132 691.12 -380.4 -107.06 - - 3546.91 - - - - - - - - - 16.19 -
6789.78 594.56 -8.70 896 6797.29 roll -1.27 - - 1980.69 - 3.33 0.066 2129.69 432.0 -107.06 - - 3548.03 - - - - - - - - - 16.20 -
7105.57 620.21 -8.22 928 7112.77 roll -1.27 - - 1980.12 - 3.76 0.131 689.94 -382.9 -107.06 - - 3548.09 - - - - - - - - - 16.20 -
7175.46 626.69 -8.82 942 7182.93 roll -1.27 - - 1980.81 - 3.38 0.065 2128.75 425.7 -107.06 - - 3547.00 - - - - - - - - - 16.20 -
7491.26 651.66 -8.12 974 7498.44 roll -1.27 - - 1980.56 - 3.78 0.131 689.56 -380.7 -107.06 - - 3547.00 - - - - - - - - - 16.19 -
7607.01 661.80 -8.75 997 7612.98 roll -1.27 - - 1980.25 - 3.39 0.066 2126.62 423.9 -107.06 - - 3547.84 - - - - - - - - - 16.20 -
7917.07 685.13 -7.56 1029 7924.26 roll -1.27 - - 1979.75 - 3.78 0.133 689.62 -380.2 -107.06 - - 3545.69 - - - - - - - - - 16.17 -
8022.72 694.55 -8.76 1050 8028.71 roll -1.27 - - 1980.75 - 3.37 0.067 2128.56 427.0 -107.06 - - 3546.47 - - - - - - - - - 16.20 -
8332.74 718.67 -8.05 1082 8339.96 roll -1.27 - - 1980.25 - 3.77 0.132 689.69 -381.7 -107.06 - - 3544.91 - - - - - - - - - 16.20 -
8442.65 729.14 -9.94 1104 8450.12 roll -1.27 - - 1980.62 - 3.40 0.067 2128.81 423.3 -107.06 - - 3545.75 - - - - - - - - - 16.20 -
8758.44 755.83 -8.57 1136 8765.63 roll -1.27 - - 1981.12 - 3.78 0.133 689.88 -380.7 -107.06 - - 3544.47 - - - - - - - - - 16.19 -
8894.20 768.79 -8.82 1163 8900.16 roll -1.27 - - 1981.06 - 3.38 0.066 2127.56 425.3 -107.06 - - 3545.19 - - - - - - - - - 16.20 -
9204.24 795.46 -8.49 1195 9211.01 roll -1.27 - - 1981.31 - 3.77 0.130 689.31 -381.5 -107.06 - - 3542.81 - - - - - - - - - 16.21 -
9324.59 806.78 -9.09 1219 9330.53 roll -1.27 - - 1980.25 - 3.39 0.068 2127.69 424.3 -107.06 - - 3544.75 - - - - - - - - - 16.22 -
9634.61 831.69 -8.09 1251 9641.81 roll -1.27 - - 1980.62 - 3.77 0.133 691.00 -381.1 -107.06 - - 3542.41 - - - - - - - - - 16.20 -
9760.27 843.34 -9.07 1276 9766.22 roll -1.27 - - 1980.19 - 3.38 0.068 2126.75 424.8 -107.06 - - 3544.25 - - - - - - - - - 16.21 -
10070.30 868.32 -8.01 1308 10077.49 roll -1.27 - - 1979.62 - 3.76 0.133 691.12 -381.8 -107.06 - - 3543.94 - - - - - - - - - 16.19 -
10155.94 876.12 -8.65 1325 10162.14 roll -1.27 - - 1980.88 - 3.38 0.068 2126.69 424.7 -107.06 - - 3542.94 - - - - - - - - - 16.21 -
10465.97 901.62 -8.37 1357 10473.17 roll -1.27 - - 1980.75 - 3.77 0.135 690.88 -380.9 -107.06 - - 3541.66 - - - - - - - - - 16.20 -
10565.85 911.08 -9.30 1377 10573.33 roll -1.27 - - 1980.00 - 3.39 0.069 2126.38 423.5 -107.06 - - 3543.22 - - - - - - - - - 16.19 -
10881.64 936.27 -7.95 1409 10888.84 roll -1.27 - - 1980.81 - 3.78 0.134 690.06 -380.0 -107.06 - - 3541.75 - - - - - - - - - 16.19 -
10951.53 942.68 -9.02 1423 10959.01 roll -1.27 - - 1981.00 - 3.39 0.069 2127.88 424.1 -107.06 - - 3541.91 - - - - - - - - - 16.20 -
11267.32 967.08 -7.71 1455 11274.52 roll -1.27 - - 1979.56 - 3.78 0.134 689.50 -380.5 -107.06 - - 3541.28 - - - - - - - - - 16.20 -
11357.22 974.91 -8.53 1473 11364.69 roll -1.27 - - 1980.62 - 3.38 0.069 2127.69 425.5 -107.06 - - 3541.06 - - - - - - - - - 16.20 -
11582 end dive: TARGET_DEPTH_EXCEEDED
11583 begin apogee
11584.68 990.61 -6.88 1496 11679.31 -0.29 3.15 0.110 2219.88 76.0 0.09 0.258 2121.62 -67.4 - 83.95 2.073 3109.72 -5.1 0.405 - - - - - - 16.15 15.57 12.98
11690 end apogee: CONTROL_FINISHED_OK
11691 begin climb
11693.60 992.58 - 1505 11799.44 1.27 3.16 0.073 2602.31 121.0 3.34 0.112 3361.56 371.2 107.06 91.47 2.019 2671.88 -4.8 0.388 - - - - - - 15.68 15.31 12.73
11877.27 985.24 6.44 1540 11884.58 roll 1.32 - - 2602.75 - 3.08 0.061 2122.38 -402.3 107.06 - - 2671.16 - - - - - - - - - 15.64 -
12193.03 963.55 7.07 1572 12199.05 1.35 0.16 0.067 2624.69 137.1 3.22 0.111 3360.62 384.5 107.06 - - 2662.12 - - - - - - - - 15.94 15.86 -
12333.03 951.88 8.08 1600 12339.07 done 1.35 - - 2624.50 - 3.01 0.063 2122.94 -411.2 107.06 - - 2662.75 - - - - - - - - - 15.93 -
12643.12 928.65 7.35 1632 12648.98 done 1.37 - - 2625.38 - 3.21 0.111 3359.44 385.2 107.06 - - 2659.88 - - - - - - - - - 15.99 -
12877.38 909.53 7.90 1679 12884.65 done 1.37 - - 2624.88 - 3.00 0.063 2120.94 -412.8 107.06 - - 2660.97 - - - - - - - - - 16.04 -
13193.19 888.35 6.44 1711 13199.02 done 1.42 - - 2624.88 - 3.20 0.110 3360.50 387.4 107.06 - - 2660.41 - - - - - - - - - 16.07 -
13373.24 875.62 6.93 1747 13379.11 1.45 0.19 0.057 2646.19 112.2 2.99 0.063 2122.56 -414.0 107.06 - - 2658.91 - - - - - - - - 16.13 16.08 -
13683.24 855.32 6.41 1779 13689.15 done 1.50 - - 2645.69 - 3.21 0.109 3360.12 385.5 107.06 - - 2660.94 - - - - - - - - - 16.10 -
13917.53 839.72 6.35 1826 13925.25 1.55 0.20 0.059 2671.00 126.5 2.98 0.063 2122.00 -415.5 107.06 - - 2658.34 - - - - - - - - 16.16 16.12 -
14233.31 820.30 6.18 1858 14239.18 done 1.61 - - 2671.00 - 3.20 0.109 3360.88 387.2 107.06 - - 2657.09 - - - - - - - - - 16.13 -
14467.61 804.48 7.15 1905 14475.04 1.64 0.14 0.071 2691.06 143.3 2.98 0.063 2123.50 -415.2 107.06 - - 2659.22 - - - - - - - - 16.16 16.14 -
14783.38 784.97 6.10 1937 14789.24 done 1.70 - - 2691.62 - 3.18 0.109 3360.50 389.0 107.06 - - 2657.47 - - - - - - - - - 16.15 -
14883.42 778.37 6.86 1957 14889.28 1.73 0.17 0.063 2715.31 139.4 2.97 0.064 2120.56 -417.5 107.06 - - 2656.12 - - - - - - - - 16.21 16.15 -
15193.43 758.38 6.60 1989 15199.26 done 1.77 - - 2715.88 - 3.14 0.108 3361.12 395.1 107.06 - - 2657.28 - - - - - - - - - 16.16 -
15333.47 748.52 6.86 2017 15339.34 1.81 0.12 0.061 2729.94 117.2 2.97 0.063 2121.62 -417.3 107.06 - - 2655.91 - - - - - - - - 16.19 16.17 -
15643.73 727.54 6.88 2049 15649.34 done 1.85 - - 2730.69 - 3.18 0.107 3361.75 390.0 107.06 - - 2656.44 - - - - - - - - - 16.17 -
15853.56 712.84 7.13 2091 15859.44 1.87 0.12 0.087 2749.31 155.2 2.98 0.064 2121.56 -416.2 107.06 - - 2655.50 - - - - - - - - 16.21 16.18 -
16163.55 692.20 6.59 2123 16169.41 done 1.92 - - 2750.12 - 3.16 0.109 3360.94 392.2 107.06 - - 2655.44 - - - - - - - - - 16.19 -
16397.86 675.16 7.36 2170 16405.30 done 1.94 - - 2750.06 - 2.98 0.063 2119.81 -416.5 107.06 - - 2655.06 - - - - - - - - - 16.19 -
16713.62 654.17 6.42 2202 16719.59 1.99 0.19 0.065 2778.50 149.7 3.17 0.107 3361.75 391.8 107.06 - - 2658.00 - - - - - - - - 16.18 16.18 -
16843.67 645.31 6.75 2228 16849.41 done 2.03 - - 2779.38 - 2.98 0.063 2120.12 -416.7 107.06 - - 2655.50 - - - - - - - - - 16.20 -
17153.67 627.07 5.67 2260 17161.29 2.10 0.17 0.067 2807.56 165.8 3.71 0.127 689.94 -385.5 107.06 - - 2653.28 - - - - - - - - 16.23 16.17 -
17209.90 623.41 6.93 2271 17215.90 done 2.13 - - 2807.75 - 3.52 0.069 2178.19 422.8 107.06 - - 2653.56 - - - - - - - - - 16.19 -
17519.91 606.47 5.11 2303 17525.88 2.22 0.21 0.047 2830.56 108.6 3.03 0.112 3359.94 390.0 107.06 - - 2653.47 - - - - - - - - 16.24 16.16 -
17754.30 592.11 6.16 2350 17761.44 done 2.28 - - 2830.50 - 2.98 0.064 2119.38 -416.3 107.06 - - 2653.81 - - - - - - - - - 16.19 -
18069.94 574.88 5.56 2382 18076.25 2.35 0.34 0.042 2866.19 105.0 3.18 0.107 3361.12 390.5 107.06 - - 2653.03 - - - - - - - - 16.27 16.18 -
18304.23 558.23 7.46 2429 18311.45 done 2.37 - - 2866.00 - 2.97 0.064 2118.56 -418.4 107.06 - - 2653.62 - - - - - - - - - 16.20 -
18619.94 534.95 7.79 2461 18625.80 done 2.37 - - 2866.56 - 3.17 0.106 3361.06 392.0 107.06 - - 2653.97 - - - - - - - - - 16.19 -
18794.25 521.41 7.78 2496 18801.67 done 2.37 - - 2865.56 - 2.96 0.063 2119.44 -419.5 107.06 - - 2655.25 - - - - - - - - - 16.20 -
19110.05 500.13 6.24 2528 19116.09 done 2.42 - - 2866.56 - 3.17 0.105 3361.38 391.8 107.06 - - 2652.94 - - - - - - - - - 16.19 -
19164.32 496.65 6.34 2539 19171.93 2.47 0.23 0.047 2893.81 118.5 2.95 0.063 2119.94 -420.8 107.06 - - 2652.91 - - - - - - - - 16.24 16.20 -
19480.10 479.29 5.28 2571 19486.26 2.56 0.17 0.052 2913.88 118.1 3.17 0.105 3362.19 391.9 107.06 - - 2653.62 - - - - - - - - 16.24 16.17 -
19714.43 466.96 5.11 2618 19722.03 2.65 0.19 0.057 2933.62 103.9 2.95 0.062 2117.88 -421.8 107.06 - - 2654.81 - - - - - - - - 16.23 16.20 -
20030.21 453.87 3.80 2650 20106.34 2.85 0.37 0.053 2990.06 152.5 3.23 0.107 3361.19 384.9 190.00 65.05 1.422 2333.97 -4.9 0.260 - - - - - - 16.23 15.80 12.86
20334.95 410.11 17.55 2710 20340.86 roll 2.85 - - 2990.06 - 2.97 0.064 2121.69 -417.3 190.00 - - 2331.84 - - - - - - - - - 15.96 -
20644.96 359.70 16.66 2742 20651.05 roll 2.85 - - 2990.31 - 3.20 0.105 3360.69 387.2 190.00 - - 2330.50 - - - - - - - - - 16.01 -
20879.24 316.44 18.50 2789 20886.66 roll 2.85 - - 2989.62 - 2.97 0.063 2120.69 -417.5 190.00 - - 2329.81 - - - - - - - - - 16.03 -
21194.99 264.26 16.42 2821 21202.36 roll 2.85 - - 2990.12 - 3.67 0.123 687.88 -390.4 190.00 - - 2326.41 - - - - - - - - - 16.04 -
21430.89 220.75 17.98 2868 21437.18 done 2.85 - - 2990.38 - 3.56 0.068 2175.38 417.8 190.00 - - 2326.88 - - - - - - - - - 16.08 -
21740.88 172.51 14.66 2900 21742.50 VBD 2.85 - - 2989.75 - - - 2175.62 - 190.00 - - 2325.94 - - - - - - - - - - -
22050.90 132.85 12.05 2931 22056.88 done 2.85 - - 2988.62 - 3.05 0.109 3359.44 388.1 190.00 - - 2328.00 - - - - - - - - - 16.00 -
22285.19 105.14 11.31 2978 22292.65 done 2.85 - - 2989.88 - 2.94 0.062 2119.44 -421.8 190.00 - - 2327.03 - - - - - - - - - 16.06 -
22596.01 79.78 6.06 3035 22602.76 done 2.91 - - 2990.06 - 3.15 0.101 3360.06 393.8 190.00 - - 2325.94 - - - - - - - - - 16.04 -
22816.33 78.93 -0.75 3079 22866.05 3.34 0.92 0.046 3107.50 127.7 2.93 0.060 2118.69 -423.7 361.86 41.27 0.905 2198.19 -3.1 0.045 - - - - - - 16.08 16.09 12.99
22866 end climb: NO_VERTICAL_VELOCITY
22866 begin surface
SM 0.86 - - - - 184.2 - - 498.6 - 22.93 0.050 531.1 23.1 - 0.07 0.165 466.0 6615.3 -3.524 - - 30.00 15.59 15.56 -