NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 69 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 41.01 of 575.00 AH used of 24V (92.87% remains)
• Surface angle -62.3 deg, depth 1.41 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.98 (SM_CC=475)
• GPS1 time: 36 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
8.91 - - - 80.83 VBD -1.56 - - 184.25 - - - 2137.81 - -107.06 70.31 0.005 2623.06 - - - - - - - - - - 15.80
81.26 3.20 -2.68 14 133.02 -1.56 16.82 0.241 1959.94 105.6 3.81 0.123 689.81 -380.1 -107.06 20.05 0.006 3457.47 41.6 -3.666 - - - - - - 15.76 15.78 15.83
321.55 46.68 -15.08 61 328.08 roll -1.56 - - 1960.06 - 3.33 0.056 2130.19 432.5 -107.06 - - 3459.03 - - - - - - - - - 15.93 -
511.56 70.47 -11.03 99 517.96 roll -1.56 - - 1960.25 - 3.09 0.103 3360.25 398.1 -107.06 - - 3459.22 - - - - - - - - - 15.95 -
551.88 75.22 -12.14 107 557.95 roll -1.56 - - 1958.69 - 3.07 0.050 2067.88 -421.0 -107.06 - - 3461.31 - - - - - - - - - 15.96 -
741.58 95.76 -10.42 145 745.95 no move -1.56 - - 1959.94 - - - 2068.00 - -107.06 - - 3459.69 - - - - - - - - - - -
926.60 113.61 -9.69 168 932.46 roll -1.56 - - 1959.56 - 3.60 0.121 689.69 -382.9 -107.06 - - 3460.12 - - - - - - - - - 16.01 -
996.62 121.20 -10.97 182 1002.42 roll -1.56 - - 1960.25 - 3.34 0.056 2131.31 431.6 -107.06 - - 3459.44 - - - - - - - - - 16.03 -
1306.63 149.76 -8.97 214 1312.25 roll -1.56 - - 1961.06 - 3.09 0.103 3360.88 397.9 -107.06 - - 3460.53 - - - - - - - - - 16.03 -
1386.64 158.00 -10.58 230 1392.66 roll -1.56 - - 1960.25 - 3.05 0.051 2069.25 -423.5 -107.06 - - 3460.53 - - - - - - - - - 16.07 -
1696.68 188.06 -9.97 262 1702.78 roll -1.56 - - 1959.38 - 3.60 0.123 689.75 -383.2 -107.06 - - 3460.91 - - - - - - - - - 16.04 -
1810.95 200.80 -11.24 285 1818.41 roll -1.56 - - 1960.12 - 3.34 0.057 2131.38 431.6 -107.06 - - 3460.66 - - - - - - - - - 16.04 -
2126.74 231.80 -9.74 317 2133.93 roll -1.56 - - 1961.38 - 3.73 0.118 690.00 -386.4 -107.06 - - 3459.28 - - - - - - - - - 16.05 -
2176.61 237.36 -11.08 327 2184.40 roll -1.56 - - 1960.44 - 3.35 0.058 2131.25 430.2 -107.06 - - 3459.94 - - - - - - - - - 16.10 -
2492.42 267.17 -9.60 359 2499.60 roll -1.56 - - 1959.38 - 3.76 0.119 690.12 -383.3 -107.06 - - 3458.72 - - - - - - - - - 16.11 -
2548.04 273.34 -11.07 370 2553.98 roll -1.56 - - 1960.06 - 3.34 0.058 2129.88 431.1 -107.06 - - 3460.03 - - - - - - - - - 16.10 -
2858.09 303.65 -9.42 402 2859.66 no move -1.56 - - 1960.38 - - - 2130.25 - -107.06 - - 3459.84 - - - - - - - - - - -
3168.39 332.24 -9.07 433 3175.36 roll -1.56 - - 1959.81 - 3.73 0.120 690.25 -386.1 -107.06 - - 3460.34 - - - - - - - - - 16.13 -
3263.92 342.25 -10.59 452 3269.87 roll -1.56 - - 1960.62 - 3.35 0.059 2129.62 429.7 -107.06 - - 3460.34 - - - - - - - - - 16.15 -
3573.95 370.49 -9.40 484 3581.14 roll -1.56 - - 1959.81 - 3.74 0.122 689.88 -385.0 -107.06 - - 3458.94 - - - - - - - - - 16.15 -
3639.59 377.25 -10.21 497 3645.54 roll -1.56 - - 1960.69 - 3.36 0.060 2129.62 428.5 -107.06 - - 3460.62 - - - - - - - - - 16.16 -
3949.62 405.29 -9.00 529 3951.19 no move -1.56 - - 1960.12 - - - 2129.94 - -107.06 - - 3457.91 - - - - - - - - - - -
4259.64 431.99 -8.33 560 4261.21 no move -1.56 - - 1960.00 - - - 2130.06 - -107.06 - - 3458.00 - - - - - - - - - - -
4569.67 459.62 -8.84 591 4576.86 roll -1.56 - - 1959.12 - 3.76 0.124 690.62 -382.8 -107.06 - - 3457.47 - - - - - - - - - 16.17 -
4639.55 466.58 -10.13 605 4647.08 roll -1.56 - - 1960.69 - 3.35 0.061 2129.81 429.6 -107.06 - - 3458.03 - - - - - - - - - 16.18 -
4955.34 494.95 -8.85 637 4962.78 roll -1.56 - - 1959.75 - 3.75 0.124 690.31 -383.9 -107.06 - - 3456.75 - - - - - - - - - 16.18 -
5031.35 502.48 -9.84 652 5037.30 roll -1.56 - - 1960.50 - 3.36 0.061 2129.56 428.3 -107.06 - - 3457.12 - - - - - - - - - 16.18 -
5341.38 528.70 -8.36 684 5342.96 no move -1.56 - - 1960.38 - - - 2129.19 - -107.06 - - 3456.03 - - - - - - - - - - -
5651.41 555.70 -9.04 715 5658.61 roll -1.56 - - 1960.00 - 3.74 0.124 690.69 -384.6 -107.06 - - 3455.97 - - - - - - - - - 16.19 -
5741.31 564.74 -10.27 733 5748.82 roll -1.56 - - 1960.50 - 3.37 0.062 2128.94 426.8 -107.06 - - 3455.94 - - - - - - - - - 16.19 -
6057.13 592.77 -8.60 765 6064.32 roll -1.56 - - 1960.25 - 3.75 0.124 689.75 -383.8 -107.06 - - 3454.69 - - - - - - - - - 16.19 -
6102.76 597.29 -9.89 774 6108.71 roll -1.56 - - 1959.88 - 3.37 0.062 2127.75 426.7 -107.06 - - 3456.16 - - - - - - - - - 16.18 -
6412.79 622.78 -8.15 806 6419.99 roll -1.56 - - 1959.50 - 3.76 0.128 690.88 -382.1 -107.06 - - 3453.84 - - - - - - - - - 16.18 -
6488.69 629.96 -9.34 821 6494.39 roll -1.56 - - 1960.38 - 3.37 0.062 2129.25 426.8 -107.06 - - 3454.12 - - - - - - - - - 16.19 -
6798.46 655.46 -8.56 853 6805.66 roll -1.56 - - 1961.06 - 3.76 0.128 691.00 -382.5 -107.06 - - 3453.12 - - - - - - - - - 16.19 -
6858.36 661.32 -9.69 865 6865.84 roll -1.56 - - 1959.94 - 3.35 0.063 2129.75 429.5 -107.06 - - 3454.28 - - - - - - - - - 16.20 -
7174.17 687.12 -8.13 897 7181.37 roll -1.56 - - 1959.62 - 3.75 0.127 690.88 -383.7 -107.06 - - 3452.84 - - - - - - - - - 16.19 -
7259.82 695.23 -9.53 914 7265.77 roll -1.56 - - 1959.69 - 3.37 0.064 2129.94 427.0 -107.06 - - 3455.22 - - - - - - - - - 16.20 -
7569.85 721.25 -8.70 946 7571.42 no move -1.56 - - 1960.25 - - - 2129.31 - -107.06 - - 3451.97 - - - - - - - - - - -
7879.88 748.06 -8.54 977 7887.07 roll -1.56 - - 1960.75 - 3.77 0.128 689.81 -381.8 -107.06 - - 3452.69 - - - - - - - - - 16.20 -
7975.53 757.60 -10.20 996 7981.64 roll -1.56 - - 1960.69 - 3.36 0.065 2127.69 427.9 -107.06 - - 3452.03 - - - - - - - - - 16.20 -
8285.56 783.32 -8.22 1028 8287.13 no move -1.56 - - 1959.94 - - - 2127.88 - -107.06 - - 3450.75 - - - - - - - - - - -
8595.58 808.23 -8.12 1059 8602.78 roll -1.56 - - 1960.19 - 3.76 0.129 689.94 -382.4 -107.06 - - 3449.81 - - - - - - - - - 16.19 -
8671.24 814.80 -8.96 1074 8677.23 roll -1.56 - - 1960.38 - 3.36 0.065 2129.00 428.3 -107.06 - - 3450.88 - - - - - - - - - 16.20 -
8981.28 839.69 -7.91 1106 8988.46 roll -1.56 - - 1959.94 - 3.77 0.128 690.44 -381.6 -107.06 - - 3448.81 - - - - - - - - - 16.19 -
9046.91 845.67 -9.48 1119 9052.86 roll -1.56 - - 1959.94 - 3.34 0.065 2128.50 430.6 -107.06 - - 3451.38 - - - - - - - - - 16.20 -
9356.94 871.50 -8.11 1151 9358.51 no move -1.56 - - 1960.19 - - - 2128.88 - -107.06 - - 3449.38 - - - - - - - - - - -
9666.97 897.56 -8.96 1182 9674.17 roll -1.56 - - 1959.94 - 3.76 0.129 689.69 -382.8 -107.06 - - 3449.03 - - - - - - - - - 16.19 -
9776.86 908.20 -10.13 1204 9784.37 roll -1.56 - - 1960.38 - 3.35 0.066 2129.94 429.9 -107.06 - - 3450.19 - - - - - - - - - 16.19 -
10092.66 936.91 -9.61 1236 10094.23 no move -1.56 - - 1960.00 - - - 2130.00 - -107.06 - - 3448.31 - - - - - - - - - - -
10402.69 965.52 -8.83 1267 10409.88 roll -1.56 - - 1960.50 - 3.77 0.131 690.06 -381.9 -107.06 - - 3449.56 - - - - - - - - - 16.20 -
10508.34 976.10 -10.28 1288 10514.29 roll -1.56 - - 1959.88 - 3.34 0.067 2128.62 430.7 -107.06 - - 3448.25 - - - - - - - - - 16.20 -
10678 end dive: TARGET_DEPTH_EXCEEDED
10678 begin apogee
10680.05 990.28 -7.78 1306 10774.18 -0.42 2.60 0.124 2240.44 107.9 0.09 0.260 2121.75 -76.3 - 84.27 2.121 3018.56 -5.1 0.393 - - - - - - 16.16 15.56 12.90
10777 end apogee: CONTROL_FINISHED_OK
10777 begin climb
10780.20 992.40 - 1315 10883.66 1.56 3.89 0.066 2727.19 125.1 - - 2121.62 - 107.06 93.18 2.057 2582.09 -4.7 0.373 - - - - - - 15.69 - 12.81
11187.19 957.96 10.34 1356 11193.04 done 1.56 - - 2728.06 - 3.15 0.108 3361.38 393.6 107.06 - - 2573.12 - - - - - - - - - 15.84 -
11281.45 947.22 10.94 1375 11288.71 done 1.56 - - 2726.88 - 2.99 0.060 2135.81 -409.9 107.06 - - 2572.69 - - - - - - - - - 15.90 -
11597.22 913.56 10.52 1407 11603.02 done 1.56 - - 2727.50 - 3.05 0.106 3361.81 402.0 107.06 - - 2570.59 - - - - - - - - - 15.98 -
11697.23 902.11 11.89 1427 11702.99 done 1.56 - - 2727.88 - 2.95 0.058 2121.88 -420.3 107.06 - - 2569.50 - - - - - - - - - 16.01 -
12007.25 870.35 9.80 1459 12008.83 VBD 1.56 - - 2728.00 - - - 2121.88 - 107.06 - - 2567.59 - - - - - - - - - - -
12317.28 839.04 9.99 1490 12323.09 done 1.56 - - 2728.31 - 3.08 0.104 3361.50 402.5 107.06 - - 2567.94 - - - - - - - - - 16.08 -
12551.59 813.68 10.62 1537 12558.84 done 1.56 - - 2728.00 - 2.94 0.059 2120.56 -422.1 107.06 - - 2566.94 - - - - - - - - - 16.11 -
12867.54 785.43 8.52 1569 12873.17 done 1.56 - - 2727.81 - 3.09 0.105 3361.94 401.7 107.06 - - 2566.16 - - - - - - - - - 16.12 -
13101.64 762.73 9.37 1616 13108.91 done 1.56 - - 2727.00 - 2.92 0.059 2120.81 -425.0 107.06 - - 2565.56 - - - - - - - - - 16.13 -
13417.41 734.75 8.68 1648 13423.44 done 1.56 - - 2726.81 - 3.09 0.104 3361.00 401.4 107.06 - - 2567.28 - - - - - - - - - 16.13 -
13651.71 711.93 9.10 1695 13659.01 done 1.56 - - 2728.12 - 2.93 0.059 2119.94 -423.6 107.06 - - 2565.50 - - - - - - - - - 16.16 -
13967.52 688.20 7.04 1727 13973.30 done 1.59 - - 2727.81 - 3.09 0.104 3362.62 402.2 107.06 - - 2564.88 - - - - - - - - - 16.14 -
14007.54 684.97 7.46 1735 14013.25 done 1.61 - - 2727.94 - 2.91 0.059 2120.75 -426.8 107.06 - - 2564.62 - - - - - - - - - 16.15 -
14317.51 661.60 8.07 1767 14319.08 VBD 1.61 - - 2728.44 - - - 2120.94 - 107.06 - - 2563.38 - - - - - - - - - - -
14627.54 634.47 8.76 1798 14633.59 done 1.61 - - 2728.25 - 3.07 0.103 3362.75 404.5 107.06 - - 2563.66 - - - - - - - - - 16.17 -
14737.56 623.64 9.82 1820 14743.37 done 1.61 - - 2727.44 - 2.91 0.058 2118.69 -427.5 107.06 - - 2564.59 - - - - - - - - - 16.19 -
15047.58 596.50 8.85 1852 15053.40 done 1.61 - - 2728.12 - 3.09 0.103 3364.12 403.1 107.06 - - 2563.66 - - - - - - - - - 16.17 -
15117.61 589.57 9.58 1866 15123.32 done 1.61 - - 2727.94 - 2.90 0.058 2120.56 -428.8 107.06 - - 2563.66 - - - - - - - - - 16.17 -
15427.62 563.54 8.08 1898 15433.49 done 1.61 - - 2728.31 - 3.06 0.103 3363.19 406.1 107.06 - - 2563.69 - - - - - - - - - 16.17 -
15521.89 555.22 8.65 1917 15529.19 done 1.61 - - 2728.00 - 2.91 0.058 2118.38 -427.8 107.06 - - 2565.41 - - - - - - - - - 16.19 -
15837.71 531.40 6.88 1949 15843.48 done 1.65 - - 2726.94 - 3.10 0.103 3362.88 401.5 107.06 - - 2564.00 - - - - - - - - - 16.18 -
16032.00 517.52 7.11 1988 16039.40 1.68 0.14 0.082 2751.19 173.2 2.91 0.058 2118.19 -427.7 107.06 - - 2562.62 - - - - - - - - 16.22 16.20 -
16347.77 496.88 6.35 2020 16349.35 VBD 1.73 - - 2751.31 - - - 2118.25 - 107.06 - - 2561.88 - - - - - - - - - - -
16657.80 476.76 6.81 2051 16663.76 1.76 0.14 0.077 2776.50 179.9 3.08 0.102 3361.81 403.8 107.06 - - 2563.16 - - - - - - - - 16.23 16.17 -
16822.03 463.60 7.68 2084 16829.32 done 1.76 - - 2775.50 - 2.90 0.057 2118.12 -428.9 107.06 - - 2563.81 - - - - - - - - - 16.20 -
17137.85 441.41 7.12 2116 17139.42 VBD 1.79 - - 2776.50 - - - 2118.62 - 107.06 - - 2561.09 - - - - - - - - - - -
17447.88 419.92 6.83 2147 17453.65 done 1.83 - - 2775.81 - 3.09 0.100 3363.06 402.7 107.06 - - 2561.88 - - - - - - - - - 16.18 -
17542.15 412.56 7.49 2166 17549.32 done 1.84 - - 2776.62 - 2.90 0.057 2120.38 -428.5 107.06 - - 2562.59 - - - - - - - - - 16.20 -
17857.88 389.46 7.73 2198 17864.04 done 1.84 - - 2776.75 - 3.62 0.121 687.62 -395.8 107.06 - - 2561.75 - - - - - - - - - 16.17 -
18007.92 376.37 8.66 2228 18014.18 done 1.84 - - 2776.56 - 3.49 0.066 2178.62 427.2 107.06 - - 2560.88 - - - - - - - - - 16.18 -
18317.97 354.79 6.19 2260 18324.06 1.90 0.31 0.031 2802.12 82.5 2.96 0.104 3361.56 399.6 107.06 - - 2560.28 - - - - - - - - 16.25 16.16 -
18512.25 339.94 7.94 2299 18519.45 done 1.90 - - 2802.56 - 2.90 0.057 2119.19 -428.4 107.06 - - 2560.97 - - - - - - - - - 16.19 -
18828.01 317.67 7.14 2331 18829.58 VBD 1.93 - - 2802.06 - - - 2118.75 - 107.06 - - 2559.47 - - - - - - - - - - -
19138.04 296.27 7.15 2362 19139.61 VBD 1.95 - - 2802.12 - - - 2118.25 - 107.06 - - 2559.50 - - - - - - - - - - -
19448.08 277.00 5.80 2393 19450.03 2.02 0.37 0.040 2832.88 83.1 - - 2119.00 - 107.06 - - 2560.25 - - - - - - - - 16.20 - -
19758.13 258.71 5.86 2424 19765.45 2.09 0.12 0.056 2849.44 138.0 3.62 0.118 689.81 -394.8 107.06 - - 2558.41 - - - - - - - - 16.18 16.13 -
19898.20 249.49 6.61 2452 19905.71 done 2.13 - - 2848.19 - 3.52 0.064 2180.50 423.5 107.06 - - 2560.91 - - - - - - - - - 16.15 -
20213.96 231.23 5.41 2484 20215.83 2.21 0.31 0.038 2878.94 99.2 - - 2180.31 - 107.06 - - 2560.81 - - - - - - - - 16.24 - -
20523.99 214.63 5.32 2515 20531.31 2.29 0.20 0.032 2894.44 77.5 3.80 0.113 688.81 -392.5 107.06 - - 2558.78 - - - - - - - - 16.25 16.15 -
20594.16 210.36 5.97 2529 20601.78 2.35 0.19 0.052 2921.94 144.7 3.48 0.063 2179.94 428.5 107.06 - - 2560.16 - - - - - - - - 16.16 16.15 -
20909.93 194.59 4.45 2561 20995.73 done 2.45 - - 2922.44 - 3.89 0.113 689.31 -383.2 177.27 74.71 1.064 2295.66 -3.5 0.107 - - - - - - - 15.82 12.93
21074.19 177.91 15.12 2593 21080.28 roll 2.45 - - 2922.38 - 3.57 0.063 2175.06 416.2 177.27 - - 2293.50 - - - - - - - - - 15.91 -
21384.19 137.08 11.63 2625 21385.76 VBD 2.45 - - 2921.81 - - - 2175.38 - 177.27 - - 2287.56 - - - - - - - - - - -
21694.20 100.98 11.71 2656 21699.96 done 2.45 - - 2921.06 - 2.99 0.102 3361.00 396.5 177.27 - - 2287.47 - - - - - - - - - 16.02 -
21729.26 96.60 12.29 2663 21735.72 done 2.45 - - 2921.56 - 2.94 0.054 2116.88 -423.2 177.27 - - 2288.38 - - - - - - - - - 16.03 -
21919.29 80.72 6.76 2701 21926.07 2.48 0.23 0.040 2943.94 97.3 3.11 0.097 3362.06 400.4 177.27 - - 2288.00 - - - - - - - - 16.09 16.02 -
22154.56 74.13 1.61 2748 22299.27 2.65 0.43 0.039 2990.19 107.6 2.91 0.054 2113.25 -429.1 303.07 134.36 0.936 1782.97 -3.8 0.049 - - - - - - 16.07 16.04 12.89
22482.66 40.40 14.21 2812 22489.61 roll 2.65 - - 2990.81 - 3.73 0.115 689.94 -381.6 303.07 - - 1780.34 - - - - - - - - - 15.81 -
22523.16 34.01 16.12 2820 22530.23 roll 2.65 - - 2990.75 - 3.55 0.061 2182.25 420.4 303.07 - - 1781.12 - - - - - - - - - 15.83 -
22713.79 21.13 3.32 2858 22825.81 2.77 0.24 0.040 3013.75 95.8 3.04 0.101 3362.81 388.3 395.48 101.14 0.868 1406.53 -3.7 0.015 - - - - - - 15.95 15.60 12.74
22929 end climb: SURFACE_DEPTH_REACHED
22929 begin surface coast
22949 end surface coast: CONTROL_FINISHED_OK
22949 begin surface
SM 1.62 - - - - 190.1 78.41 0.855 1083.7 12.5 21.54 0.045 1096.5 50.9 - 3.08 0.056 1070.9 346.7 -1.025 - - 12.69 15.81 15.80 -