NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 61 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 38.37 of 575.00 AH used of 24V (93.33% remains)
• Surface angle -58.9 deg, depth 1.43 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.90 (SM_CC=475)
• GPS1 time: 55 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 - - - 85.95 VBD -1.56 - - 181.75 - - - 2057.12 - -107.06 75.38 0.005 2605.28 - - - - - - - - - - 15.74
86.38 3.43 -2.73 15 137.46 -1.56 16.88 0.244 1960.69 105.4 3.62 0.122 690.25 -377.6 -107.06 21.00 0.006 3457.22 40.6 -3.834 - - - - - - 15.71 15.73 15.78
330.84 49.45 -16.50 63 337.42 roll -1.56 - - 1960.94 - 3.45 0.055 2128.06 416.8 -107.06 - - 3458.66 - - - - - - - - - 15.87 -
520.90 75.95 -12.25 101 527.34 roll -1.56 - - 1960.56 - 3.19 0.104 3359.88 386.2 -107.06 - - 3459.75 - - - - - - - - - 15.91 -
580.90 83.61 -12.60 113 587.35 roll -1.56 - - 1960.75 - 3.12 0.056 2070.56 -413.2 -107.06 - - 3460.19 - - - - - - - - - 15.93 -
770.92 103.39 -10.18 148 776.83 roll -1.56 - - 1960.69 - 3.63 0.118 689.75 -380.4 -107.06 - - 3460.47 - - - - - - - - - 15.94 -
835.18 110.42 -11.39 161 842.53 roll -1.56 - - 1961.31 - 3.41 0.054 2129.19 422.1 -107.06 - - 3459.88 - - - - - - - - - 15.98 -
1150.95 142.61 -9.44 193 1152.48 no move -1.56 - - 1960.75 - - - 2129.06 - -107.06 - - 3459.62 - - - - - - - - - - -
1460.97 169.24 -8.18 224 1467.95 roll -1.56 - - 1960.81 - 3.78 0.117 690.88 -380.5 -107.06 - - 3459.53 - - - - - - - - - 16.01 -
1530.58 175.72 -9.42 238 1538.23 roll -1.56 - - 1960.88 - 3.41 0.055 2130.38 422.1 -107.06 - - 3460.12 - - - - - - - - - 16.03 -
1846.41 201.81 -8.03 270 1853.60 roll -1.56 - - 1960.19 - 3.76 0.116 689.88 -383.1 -107.06 - - 3460.41 - - - - - - - - - 16.03 -
1912.06 207.76 -9.56 283 1918.06 roll -1.56 - - 1960.00 - 3.40 0.056 2129.62 423.5 -107.06 - - 3461.88 - - - - - - - - - 16.06 -
2222.11 234.37 -8.63 315 2229.30 roll -1.56 - - 1960.88 - 3.75 0.118 691.12 -383.6 -107.06 - - 3461.50 - - - - - - - - - 16.09 -
2311.99 243.32 -10.07 333 2319.46 roll -1.56 - - 1961.19 - 3.39 0.057 2131.00 424.7 -107.06 - - 3460.25 - - - - - - - - - 16.08 -
2627.78 272.34 -9.26 365 2634.97 roll -1.56 - - 1959.69 - 3.77 0.118 690.06 -382.2 -107.06 - - 3461.09 - - - - - - - - - 16.08 -
2713.42 281.31 -10.20 382 2719.37 roll -1.56 - - 1960.75 - 3.38 0.057 2129.69 425.9 -107.06 - - 3460.94 - - - - - - - - - 16.12 -
3023.44 309.46 -9.03 414 3025.01 no move -1.56 - - 1960.88 - - - 2130.31 - -107.06 - - 3459.44 - - - - - - - - - - -
3333.48 335.95 -8.48 445 3340.92 roll -1.56 - - 1960.44 - 3.74 0.119 689.62 -385.2 -107.06 - - 3460.34 - - - - - - - - - 16.14 -
3419.48 344.29 -9.61 462 3425.43 roll -1.56 - - 1960.44 - 3.38 0.059 2128.62 425.7 -107.06 - - 3460.94 - - - - - - - - - 16.16 -
3729.52 370.24 -8.85 494 3736.70 roll -1.56 - - 1961.25 - 3.76 0.120 689.81 -382.7 -107.06 - - 3459.91 - - - - - - - - - 16.15 -
3799.39 377.27 -10.03 508 3806.91 roll -1.56 - - 1960.94 - 3.38 0.059 2129.50 425.9 -107.06 - - 3460.81 - - - - - - - - - 16.15 -
4115.18 404.99 -9.07 540 4122.36 roll -1.56 - - 1960.00 - 3.75 0.122 691.25 -383.5 -107.06 - - 3460.75 - - - - - - - - - 16.16 -
4175.05 411.17 -9.85 552 4182.57 roll -1.56 - - 1961.12 - 3.36 0.060 2129.44 428.0 -107.06 - - 3460.25 - - - - - - - - - 16.17 -
4490.85 438.65 -8.83 584 4492.41 no move -1.56 - - 1960.25 - - - 2130.12 - -107.06 - - 3459.56 - - - - - - - - - - -
4800.87 466.13 -8.75 615 4808.05 roll -1.56 - - 1961.62 - 3.76 0.123 691.25 -382.7 -107.06 - - 3459.25 - - - - - - - - - 16.16 -
4926.52 478.56 -10.12 640 4932.46 roll -1.56 - - 1960.12 - 3.38 0.061 2129.38 425.5 -107.06 - - 3461.31 - - - - - - - - - 16.17 -
5236.54 503.98 -8.03 672 5243.72 roll -1.56 - - 1960.38 - 3.74 0.122 688.88 -385.2 -107.06 - - 3459.50 - - - - - - - - - 16.18 -
5306.50 510.40 -9.18 686 5313.89 roll -1.56 - - 1960.94 - 3.36 0.061 2130.12 428.9 -107.06 - - 3460.28 - - - - - - - - - 16.18 -
5622.21 536.10 -8.34 718 5629.40 roll -1.56 - - 1960.50 - 3.71 0.123 690.69 -388.0 -107.06 - - 3457.47 - - - - - - - - - 16.19 -
5702.09 543.84 -9.58 734 5709.55 roll -1.56 - - 1960.12 - 3.38 0.061 2130.88 426.1 -107.06 - - 3459.34 - - - - - - - - - 16.20 -
6017.88 571.02 -8.76 766 6024.25 roll -1.56 - - 1960.50 - 3.73 0.126 688.88 -386.6 -107.06 - - 3458.81 - - - - - - - - - 16.19 -
6082.13 577.20 -9.46 779 6089.63 roll -1.56 - - 1960.88 - 3.37 0.060 2130.06 427.6 -107.06 - - 3458.19 - - - - - - - - - 16.21 -
6398.17 604.18 -8.35 811 6399.74 no move -1.56 - - 1960.69 - - - 2129.69 - -107.06 - - 3456.84 - - - - - - - - - - -
6707.94 629.91 -8.32 842 6715.14 roll -1.56 - - 1961.19 - 3.72 0.127 690.88 -386.8 -107.06 - - 3456.19 - - - - - - - - - 16.19 -
6827.84 640.96 -9.53 866 6835.32 roll -1.56 - - 1961.00 - 3.36 0.063 2129.94 428.3 -107.06 - - 3456.94 - - - - - - - - - 16.19 -
7143.63 665.80 -8.05 898 7145.20 no move -1.56 - - 1960.75 - - - 2130.19 - -107.06 - - 3456.00 - - - - - - - - - - -
7453.66 690.28 -7.64 929 7460.87 roll -1.56 - - 1959.88 - 3.75 0.127 690.62 -383.9 -107.06 - - 3456.25 - - - - - - - - - 16.19 -
7579.33 701.50 -8.91 954 7585.28 roll -1.56 - - 1960.50 - 3.38 0.064 2127.31 425.1 -107.06 - - 3456.72 - - - - - - - - - 16.19 -
7889.36 726.93 -8.45 986 7896.55 roll -1.56 - - 1960.25 - 3.75 0.127 690.19 -383.2 -107.06 - - 3456.00 - - - - - - - - - 16.20 -
7959.23 733.53 -9.37 1000 7966.70 roll -1.56 - - 1960.06 - 3.36 0.064 2127.44 427.8 -107.06 - - 3456.56 - - - - - - - - - 16.20 -
8275.27 758.25 -7.85 1032 8276.84 no move -1.56 - - 1961.06 - - - 2128.12 - -107.06 - - 3453.56 - - - - - - - - - - -
8585.08 783.58 -8.35 1063 8592.28 roll -1.56 - - 1959.94 - 3.77 0.129 690.75 -381.3 -107.06 - - 3453.47 - - - - - - - - - 16.19 -
8700.73 794.63 -9.73 1086 8706.69 roll -1.56 - - 1960.56 - 3.38 0.065 2127.44 425.1 -107.06 - - 3454.88 - - - - - - - - - 16.20 -
9010.76 819.79 -7.90 1118 9012.34 no move -1.56 - - 1960.75 - - - 2127.94 - -107.06 - - 3452.59 - - - - - - - - - - -
9320.79 843.78 -7.58 1149 9327.98 roll -1.56 - - 1959.44 - 3.77 0.129 689.62 -381.5 -107.06 - - 3453.78 - - - - - - - - - 16.19 -
9370.66 848.24 -8.79 1159 9378.15 roll -1.56 - - 1960.50 - 3.38 0.065 2128.81 425.8 -107.06 - - 3453.91 - - - - - - - - - 16.20 -
9686.46 871.77 -7.41 1191 9688.03 no move -1.56 - - 1960.75 - - - 2128.88 - -107.06 - - 3452.09 - - - - - - - - - - -
9996.49 893.92 -7.34 1222 9998.06 no move -1.56 - - 1960.81 - - - 2129.00 - -107.06 - - 3451.97 - - - - - - - - - - -
10306.52 917.20 -7.23 1253 10313.71 roll -1.56 - - 1960.62 - 3.77 0.130 690.81 -381.5 -107.06 - - 3451.16 - - - - - - - - - 16.20 -
10386.40 924.11 -8.56 1269 10394.00 roll -1.56 - - 1960.94 - 3.41 0.066 2126.44 421.0 -107.06 - - 3452.41 - - - - - - - - - 16.21 -
10702.19 947.29 -7.45 1301 10703.76 no move -1.56 - - 1960.94 - - - 2126.75 - -107.06 - - 3450.38 - - - - - - - - - - -
11012.22 970.31 -7.57 1332 11013.79 no move -1.56 - - 1960.56 - - - 2127.06 - -107.06 - - 3450.38 - - - - - - - - - - -
11282 end dive: TARGET_DEPTH_EXCEEDED
11282 begin apogee
11283.94 990.37 -7.52 1359 11378.24 -0.42 2.86 0.124 2239.94 97.7 0.09 0.272 2124.12 -32.7 - 85.33 2.117 3018.22 -5.1 0.392 - - - - - - 16.17 15.56 12.97
11383 end apogee: CONTROL_FINISHED_OK
11383 begin climb
11386.01 991.33 - 1368 11497.19 1.56 3.87 0.066 2727.56 126.0 3.36 0.109 3359.81 367.8 107.06 93.05 2.055 2582.25 -4.7 0.374 - - - - - - 15.69 15.30 12.85
11535.74 983.16 8.75 1396 11541.55 roll 1.56 - - 2727.38 - 3.09 0.059 2124.00 -399.9 107.06 - - 2582.91 - - - - - - - - - 15.58 -
11845.75 950.72 10.54 1428 11851.66 done 1.56 - - 2727.62 - 3.23 0.106 3361.06 383.0 107.06 - - 2575.69 - - - - - - - - - 15.86 -
11935.78 940.81 11.20 1446 11941.62 done 1.56 - - 2727.38 - 3.01 0.059 2123.50 -411.1 107.06 - - 2574.75 - - - - - - - - - 15.91 -
12245.79 909.53 9.89 1478 12251.75 done 1.56 - - 2728.38 - 3.21 0.105 3361.31 385.6 107.06 - - 2572.28 - - - - - - - - - 15.98 -
12370.07 896.24 10.34 1503 12377.35 done 1.56 - - 2726.75 - 3.00 0.059 2122.06 -413.1 107.06 - - 2572.59 - - - - - - - - - 16.01 -
12685.84 865.26 9.78 1535 12691.69 done 1.56 - - 2727.81 - 3.17 0.105 3359.81 390.5 107.06 - - 2569.78 - - - - - - - - - 16.04 -
12920.15 839.95 10.76 1582 12927.41 done 1.56 - - 2727.50 - 2.97 0.060 2122.00 -416.8 107.06 - - 2569.75 - - - - - - - - - 16.08 -
13235.92 809.58 9.23 1614 13241.79 done 1.56 - - 2726.31 - 3.15 0.105 3363.12 394.0 107.06 - - 2571.03 - - - - - - - - - 16.09 -
13436.03 788.85 10.35 1654 13441.74 done 1.56 - - 2726.62 - 2.95 0.060 2122.19 -420.7 107.06 - - 2571.06 - - - - - - - - - 16.11 -
13745.96 760.85 8.77 1686 13747.54 VBD 1.56 - - 2727.31 - - - 2122.00 - 107.06 - - 2567.41 - - - - - - - - - - -
14056.07 734.04 8.55 1717 14061.85 done 1.56 - - 2727.69 - 3.15 0.105 3361.94 393.6 107.06 - - 2568.78 - - - - - - - - - 16.13 -
14116.00 728.57 9.38 1729 14121.78 done 1.56 - - 2727.44 - 2.96 0.059 2121.81 -419.0 107.06 - - 2569.16 - - - - - - - - - 16.14 -
14426.03 702.37 8.38 1761 14431.93 done 1.56 - - 2727.75 - 3.15 0.105 3362.75 393.9 107.06 - - 2567.16 - - - - - - - - - 16.16 -
14500.30 695.82 8.65 1776 14507.61 done 1.56 - - 2727.25 - 2.96 0.059 2122.12 -419.1 107.06 - - 2568.50 - - - - - - - - - 16.15 -
14816.15 671.01 7.49 1808 14822.21 done 1.58 - - 2726.88 - 3.14 0.105 3361.31 394.6 107.06 - - 2568.88 - - - - - - - - - 16.16 -
14950.38 660.20 8.02 1835 14957.67 done 1.58 - - 2726.75 - 2.95 0.059 2122.00 -420.1 107.06 - - 2567.97 - - - - - - - - - 16.17 -
15266.21 638.95 6.89 1867 15272.04 done 1.62 - - 2727.50 - 3.13 0.104 3362.25 396.2 107.06 - - 2566.44 - - - - - - - - - 16.17 -
15466.21 623.98 8.00 1907 15471.97 done 1.62 - - 2727.56 - 2.92 0.059 2120.25 -425.3 107.06 - - 2567.78 - - - - - - - - - 16.17 -
15776.25 600.44 7.85 1939 15782.08 done 1.62 - - 2727.50 - 3.15 0.104 3363.75 394.8 107.06 - - 2566.09 - - - - - - - - - 16.17 -
15866.25 592.66 8.68 1957 15872.01 done 1.62 - - 2727.25 - 2.94 0.060 2119.38 -423.3 107.06 - - 2566.00 - - - - - - - - - 16.19 -
16176.28 568.26 8.28 1989 16177.85 VBD 1.62 - - 2727.56 - - - 2119.50 - 107.06 - - 2565.38 - - - - - - - - - - -
16486.31 542.20 8.58 2020 16487.88 VBD 1.62 - - 2727.44 - - - 2119.62 - 107.06 - - 2564.84 - - - - - - - - - - -
16796.33 515.39 8.55 2051 16797.90 VBD 1.62 - - 2727.81 - - - 2120.12 - 107.06 - - 2564.53 - - - - - - - - - - -
17106.40 492.93 6.57 2082 17108.16 1.66 0.17 0.052 2743.19 90.5 - - 2119.06 - 107.06 - - 2563.78 - - - - - - - - 16.25 - -
17416.43 472.82 6.42 2113 17418.00 VBD 1.71 - - 2743.56 - - - 2119.44 - 107.06 - - 2564.69 - - - - - - - - - - -
17726.45 454.06 5.78 2144 17732.48 1.78 0.25 0.057 2780.19 146.5 3.13 0.103 3362.62 397.2 107.06 - - 2565.25 - - - - - - - - 16.25 16.18 -
17806.50 448.66 6.85 2160 17812.19 done 1.81 - - 2779.56 - 2.94 0.058 2120.00 -422.7 107.06 - - 2566.41 - - - - - - - - - 16.19 -
18116.50 428.70 6.27 2192 18122.31 done 1.87 - - 2780.25 - 3.12 0.103 3361.06 397.8 107.06 - - 2565.66 - - - - - - - - - 16.18 -
18350.79 411.92 7.31 2239 18358.17 1.89 0.15 0.076 2805.25 166.7 2.93 0.059 2120.06 -423.5 107.06 - - 2566.56 - - - - - - - - 16.23 16.21 -
18666.57 391.42 6.43 2271 18672.33 done 1.94 - - 2806.50 - 3.07 0.101 3362.38 404.7 107.06 - - 2566.38 - - - - - - - - - 16.17 -
18890.86 374.82 7.13 2316 18898.11 done 1.96 - - 2807.00 - 2.91 0.058 2118.56 -427.4 107.06 - - 2566.72 - - - - - - - - - 16.19 -
19206.64 354.14 6.37 2348 19214.08 2.02 0.27 0.037 2828.19 78.5 3.64 0.120 687.94 -393.0 107.06 - - 2563.31 - - - - - - - - 16.23 16.16 -
19442.61 337.65 6.71 2395 19448.60 done 2.06 - - 2828.75 - 3.50 0.065 2179.19 426.1 107.06 - - 2565.25 - - - - - - - - - 16.19 -
19752.62 320.04 5.35 2427 19760.07 2.14 0.47 0.026 2857.00 60.1 3.77 0.114 688.94 -395.3 107.06 - - 2564.03 - - - - - - - - 16.26 16.16 -
19988.61 303.75 7.11 2474 19994.57 done 2.16 - - 2857.31 - 3.49 0.064 2180.06 427.3 107.06 - - 2564.28 - - - - - - - - - 16.20 -
20298.62 284.18 6.11 2506 20305.99 2.22 0.23 0.046 2887.62 131.8 3.80 0.114 688.94 -392.4 107.06 - - 2562.81 - - - - - - - - 16.21 16.15 -
20534.78 267.25 7.22 2553 20541.60 done 2.25 - - 2888.31 - 3.52 0.064 2180.50 423.7 107.06 - - 2562.78 - - - - - - - - - 16.17 -
20849.54 248.96 5.44 2585 20856.95 2.33 0.21 0.034 2903.12 70.5 3.82 0.113 688.00 -390.7 107.06 - - 2561.84 - - - - - - - - 16.19 16.15 -
21085.49 234.89 6.60 2632 21091.51 done 2.37 - - 2903.12 - 3.52 0.064 2179.19 423.6 107.06 - - 2565.22 - - - - - - - - - 16.16 -
21395.50 217.70 5.30 2664 21401.57 2.45 0.51 0.027 2935.00 62.5 2.93 0.102 3363.69 404.3 107.06 - - 2564.56 - - - - - - - - 16.24 16.14 -
21629.80 204.41 5.12 2711 21637.33 2.54 0.36 0.027 2955.75 57.6 2.91 0.055 2116.50 -428.6 107.06 - - 2565.06 - - - - - - - - 16.22 16.17 -
21945.56 190.28 4.38 2743 22031.54 2.63 0.37 0.029 2978.81 62.3 3.12 0.098 3363.81 399.8 178.68 74.75 1.053 2289.72 -3.7 0.110 - - - - - - 16.24 15.81 12.96
22260.15 152.14 14.26 2805 22265.91 roll 2.63 - - 2978.94 - 2.96 0.056 2119.19 -420.5 178.68 - - 2285.72 - - - - - - - - - 15.95 -
22570.18 113.93 12.06 2837 22576.00 done 2.63 - - 2980.31 - 3.09 0.096 3364.69 403.1 178.68 - - 2283.47 - - - - - - - - - 15.99 -
22805.21 86.96 9.48 2884 22811.72 done 2.63 - - 2979.06 - 2.93 0.055 2117.94 -425.5 178.68 - - 2283.50 - - - - - - - - - 16.03 -
22995.28 74.64 6.13 2922 22999.67 VBD 2.69 - - 2979.69 - - - 2118.75 - 178.68 - - 2282.50 - - - - - - - - - - -
23180.29 71.58 0.75 2959 23355.91 2.88 0.76 0.033 3044.75 85.6 3.17 0.096 3362.38 392.3 321.16 161.11 0.916 1709.72 -3.6 0.046 - - - - - - 16.09 15.56 12.89
23584.47 21.43 12.46 3038 23590.99 roll 2.88 - - 3044.56 - 2.97 0.053 2119.00 -418.6 321.16 - - 1707.16 - - - - - - - - - 15.82 -
23774.54 6.50 7.55 3076 23781.12 roll 2.89 - - 3043.31 - 3.13 0.094 3362.50 397.3 321.16 - - 1707.28 - - - - - - - - - 15.85 -
23829 end climb: SURFACE_DEPTH_REACHED
23829 begin surface coast
23839 end surface coast: CONTROL_FINISHED_OK
23839 begin surface
SM 1.28 - - - - 186.8 151.01 0.856 1084.0 7.2 21.57 0.059 1101.9 51.1 - 3.04 0.056 1066.1 349.7 -0.817 - - 12.85 15.91 15.91 -