NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 126 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 58.67 of 575.00 AH used of 24V (89.80% remains)
• Surface angle -61.5 deg, depth 1.38 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.85 (SM_CC=475)
• GPS1 time: 14 s
• GPS2 time: 4 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
8.87 - - - 102.97 VBD -1.56 - - 183.00 - - - 2129.38 - -107.06 92.21 0.005 2544.31 - - - - - - - - - - 15.74
103.41 3.34 -1.94 13 154.75 -1.56 16.23 0.239 1960.50 109.5 3.15 0.104 3360.00 390.7 -107.06 21.82 0.006 3457.22 41.8 -3.858 - - - - - - 15.76 15.73 15.78
233.26 31.04 -23.59 38 239.69 roll -1.56 - - 1959.00 - 3.11 0.048 2068.00 -415.4 -107.06 - - 3460.88 - - - - - - - - - 15.92 -
423.28 58.94 -13.96 76 429.95 roll -1.56 - - 1960.12 - 3.64 0.115 689.00 -378.8 -107.06 - - 3460.34 - - - - - - - - - 15.96 -
468.33 65.67 -15.03 85 474.90 roll -1.56 - - 1960.75 - 3.33 0.049 2131.06 433.1 -107.06 - - 3459.59 - - - - - - - - - 15.98 -
658.35 88.96 -11.84 123 662.71 no move -1.56 - - 1960.81 - - - 2131.44 - -107.06 - - 3460.25 - - - - - - - - - - -
843.36 108.71 -10.79 152 849.00 roll -1.56 - - 1960.62 - 3.09 0.098 3359.12 397.3 -107.06 - - 3461.34 - - - - - - - - - 16.04 -
893.36 114.45 -11.62 162 899.01 roll -1.56 - - 1961.31 - 3.06 0.045 2065.75 -422.7 -107.06 - - 3460.78 - - - - - - - - - 16.06 -
1203.38 144.81 -9.37 194 1204.92 no move -1.56 - - 1960.44 - - - 2066.12 - -107.06 - - 3461.22 - - - - - - - - - - -
1513.39 173.05 -9.71 225 1514.92 no move -1.56 - - 1960.88 - - - 2066.12 - -107.06 - - 3461.84 - - - - - - - - - - -
1823.41 202.92 -9.41 256 1829.55 roll -1.56 - - 1961.31 - 3.27 0.098 3359.75 395.6 -107.06 - - 3463.97 - - - - - - - - - 16.13 -
1913.46 212.83 -10.95 274 1919.25 roll -1.56 - - 1960.69 - 3.06 0.049 2069.25 -421.7 -107.06 - - 3463.75 - - - - - - - - - 16.15 -
2223.48 243.18 -9.47 306 2225.06 no move -1.56 - - 1960.62 - - - 2068.81 - -107.06 - - 3462.22 - - - - - - - - - - -
2533.49 272.08 -9.12 337 2539.39 roll -1.56 - - 1961.38 - 3.27 0.099 3362.19 395.5 -107.06 - - 3463.25 - - - - - - - - - 16.16 -
2587.75 277.64 -10.17 348 2595.09 roll -1.56 - - 1961.00 - 3.06 0.050 2068.12 -422.9 -107.06 - - 3463.25 - - - - - - - - - 16.17 -
2903.52 306.33 -9.06 380 2909.63 roll -1.56 - - 1960.50 - 3.62 0.121 688.69 -381.1 -107.06 - - 3463.09 - - - - - - - - - 16.16 -
2943.53 310.44 -9.85 388 2949.50 roll -1.56 - - 1961.38 - 3.34 0.052 2133.12 432.5 -107.06 - - 3462.31 - - - - - - - - - 16.18 -
3253.56 337.68 -8.65 420 3255.13 no move -1.56 - - 1960.56 - - - 2132.88 - -107.06 - - 3461.38 - - - - - - - - - - -
3563.57 365.18 -8.69 451 3570.77 roll -1.56 - - 1961.06 - 3.76 0.117 688.69 -384.1 -107.06 - - 3461.47 - - - - - - - - - 16.18 -
3603.45 369.28 -10.05 459 3610.96 roll -1.56 - - 1960.62 - 3.32 0.053 2132.19 434.8 -107.06 - - 3463.06 - - - - - - - - - 16.19 -
3919.22 398.73 -9.47 491 3920.79 no move -1.56 - - 1961.00 - - - 2132.00 - -107.06 - - 3459.97 - - - - - - - - - - -
4229.24 427.77 -9.25 522 4236.44 roll -1.56 - - 1960.44 - 3.74 0.118 689.69 -385.6 -107.06 - - 3459.66 - - - - - - - - - 16.18 -
4264.88 431.47 -10.35 529 4270.86 roll -1.56 - - 1961.00 - 3.34 0.057 2131.25 431.6 -107.06 - - 3460.41 - - - - - - - - - 16.19 -
4574.89 461.37 -9.62 561 4576.46 no move -1.56 - - 1960.69 - - - 2131.38 - -107.06 - - 3458.72 - - - - - - - - - - -
4884.91 490.52 -9.53 592 4886.48 no move -1.56 - - 1960.88 - - - 2131.12 - -107.06 - - 3457.81 - - - - - - - - - - -
5194.92 519.16 -9.40 623 5202.11 roll -1.56 - - 1959.75 - 3.77 0.119 690.75 -382.1 -107.06 - - 3458.59 - - - - - - - - - 16.20 -
5244.79 524.50 -10.44 633 5252.26 roll -1.56 - - 1960.56 - 3.34 0.058 2130.06 430.9 -107.06 - - 3459.78 - - - - - - - - - 16.19 -
5560.57 553.02 -8.64 665 5568.01 roll -1.56 - - 1961.06 - 3.75 0.121 688.44 -384.4 -107.06 - - 3456.12 - - - - - - - - - 16.19 -
5590.80 556.25 -10.26 671 5598.31 roll -1.56 - - 1960.81 - 3.32 0.056 2129.50 434.1 -107.06 - - 3457.84 - - - - - - - - - 16.20 -
5906.59 583.42 -8.48 703 5908.16 no move -1.56 - - 1960.69 - - - 2130.19 - -107.06 - - 3456.44 - - - - - - - - - - -
6216.61 609.37 -8.41 734 6223.80 roll -1.56 - - 1961.62 - 3.75 0.122 690.94 -383.8 -107.06 - - 3455.56 - - - - - - - - - 16.19 -
6262.23 613.71 -9.59 743 6268.19 roll -1.56 - - 1961.00 - 3.32 0.060 2128.12 432.9 -107.06 - - 3457.72 - - - - - - - - - 16.19 -
6572.26 639.85 -8.89 775 6573.83 no move -1.56 - - 1960.69 - - - 2129.00 - -107.06 - - 3454.25 - - - - - - - - - - -
6882.29 667.53 -8.67 806 6883.86 no move -1.56 - - 1960.94 - - - 2128.75 - -107.06 - - 3453.12 - - - - - - - - - - -
7192.31 694.07 -8.48 837 7199.51 roll -1.56 - - 1960.56 - 3.77 0.123 689.50 -381.8 -107.06 - - 3454.44 - - - - - - - - - 16.18 -
7322.21 706.40 -9.23 863 7329.69 roll -1.56 - - 1960.06 - 3.36 0.061 2128.31 428.2 -107.06 - - 3455.44 - - - - - - - - - 16.19 -
7638.11 730.34 -7.37 895 7644.13 roll -1.56 - - 1961.19 - 3.11 0.107 3359.81 396.0 -107.06 - - 3453.62 - - - - - - - - - 16.17 -
7702.25 736.01 -8.82 908 7709.60 roll -1.56 - - 1961.06 - 3.09 0.054 2070.81 -417.2 -107.06 - - 3453.12 - - - - - - - - - 16.19 -
8018.05 760.32 -7.83 940 8019.62 no move -1.56 - - 1960.88 - - - 2070.25 - -107.06 - - 3452.66 - - - - - - - - - - -
8328.09 784.97 -8.09 971 8334.21 roll -1.56 - - 1961.00 - 3.64 0.129 689.69 -379.3 -107.06 - - 3451.78 - - - - - - - - - 16.18 -
8422.36 793.65 -8.89 990 8430.15 roll -1.56 - - 1960.75 - 3.38 0.059 2130.00 426.1 -107.06 - - 3452.84 - - - - - - - - - 16.20 -
8738.15 819.25 -8.30 1022 8739.73 no move -1.56 - - 1961.25 - - - 2130.06 - -107.06 - - 3451.66 - - - - - - - - - - -
9048.19 844.69 -7.91 1053 9055.40 roll -1.56 - - 1960.38 - 3.79 0.125 690.25 -379.9 -107.06 - - 3451.78 - - - - - - - - - 16.18 -
9123.85 851.62 -8.91 1068 9129.84 roll -1.56 - - 1960.81 - 3.37 0.061 2129.88 427.2 -107.06 - - 3451.25 - - - - - - - - - 16.19 -
9433.89 876.45 -8.19 1100 9440.50 roll -1.56 - - 1960.75 - 3.76 0.123 691.69 -382.5 -107.06 - - 3450.16 - - - - - - - - - 16.19 -
9488.31 881.29 -9.02 1111 9495.79 roll -1.56 - - 1961.12 - 3.35 0.061 2128.88 429.0 -107.06 - - 3450.06 - - - - - - - - - 16.19 -
9804.11 906.23 -7.93 1143 9805.68 no move -1.56 - - 1960.56 - - - 2128.94 - -107.06 - - 3449.53 - - - - - - - - - - -
10114.15 928.92 -6.61 1174 10121.34 roll -1.56 - - 1961.19 - 3.78 0.125 689.50 -380.8 -107.06 - - 3448.62 - - - - - - - - - 16.19 -
10199.79 935.84 -8.10 1191 10205.75 roll -1.56 - - 1960.44 - 3.36 0.060 2128.12 428.2 -107.06 - - 3451.47 - - - - - - - - - 16.18 -
10509.82 957.14 -6.95 1223 10517.02 roll -1.56 - - 1960.94 - 3.75 0.124 690.06 -383.5 -107.06 - - 3451.03 - - - - - - - - - 16.19 -
10555.58 960.73 -7.86 1232 10561.57 roll -1.56 - - 1960.38 - 3.35 0.059 2128.50 429.4 -107.06 - - 3450.69 - - - - - - - - - 16.17 -
10865.61 983.73 -7.37 1264 10872.81 roll -1.56 - - 1960.19 - 3.76 0.124 689.88 -382.6 -107.06 - - 3450.28 - - - - - - - - - 16.18 -
10935 end dive: TARGET_DEPTH_EXCEEDED
10935 begin apogee
10942.20 990.17 -9.21 1278 11036.65 -0.42 2.44 0.121 2239.56 114.5 0.10 0.236 2120.69 14308.1 - 86.36 2.254 3018.56 -5.0 0.364 - - - - - - 16.14 15.55 12.82
11039 end apogee: CONTROL_FINISHED_OK
11039 begin climb
11042.40 992.09 - 1287 11147.96 1.56 3.88 0.053 2733.44 127.3 - - 2119.94 - 107.06 95.78 2.192 2580.88 -4.6 0.343 - - - - - - 15.67 - 12.78
11451.47 961.83 9.29 1328 11453.33 1.56 0.31 0.144 2713.19 -65.3 - - 2119.44 - 107.06 - - 2572.31 - - - - - - - - 15.84 - -
11761.50 934.37 8.92 1359 11767.36 done 1.56 - - 2714.31 - 3.17 0.106 3359.81 391.3 107.06 - - 2570.84 - - - - - - - - - 15.95 -
11955.79 913.76 10.61 1398 11963.29 done 1.56 - - 2713.62 - 2.98 0.056 2120.44 -415.9 107.06 - - 2569.12 - - - - - - - - - 16.00 -
12271.55 883.33 9.66 1430 12277.41 done 1.56 - - 2714.12 - 3.13 0.104 3360.81 396.3 107.06 - - 2566.97 - - - - - - - - - 16.04 -
12471.60 862.37 10.49 1470 12477.35 done 1.56 - - 2714.44 - 2.96 0.056 2119.88 -419.2 107.06 - - 2565.47 - - - - - - - - - 16.06 -
12781.61 833.88 8.71 1502 12787.48 done 1.56 - - 2713.25 - 3.14 0.104 3362.06 395.6 107.06 - - 2566.69 - - - - - - - - - 16.08 -
12861.64 826.25 9.62 1518 12867.39 done 1.56 - - 2713.12 - 2.96 0.057 2118.62 -420.1 107.06 - - 2566.81 - - - - - - - - - 16.10 -
13171.65 797.19 9.69 1550 13177.51 done 1.56 - - 2713.88 - 3.14 0.105 3361.44 395.8 107.06 - - 2564.84 - - - - - - - - - 16.10 -
13311.69 782.33 11.02 1578 13317.44 done 1.56 - - 2714.38 - 2.95 0.056 2119.94 -420.8 107.06 - - 2563.38 - - - - - - - - - 16.12 -
13621.71 753.19 9.49 1610 13627.86 done 1.56 - - 2713.88 - 3.11 0.103 3359.88 398.7 107.06 - - 2563.59 - - - - - - - - - 16.12 -
13671.73 748.16 10.29 1620 13677.48 done 1.56 - - 2714.50 - 2.91 0.056 2119.25 -426.3 107.06 - - 2562.44 - - - - - - - - - 16.13 -
13981.74 722.07 8.05 1652 13987.64 done 1.56 - - 2714.06 - 3.12 0.104 3360.81 397.9 107.06 - - 2561.03 - - - - - - - - - 16.12 -
14216.05 701.65 8.40 1699 14223.30 done 1.56 - - 2714.44 - 2.92 0.056 2121.38 -424.5 107.06 - - 2561.44 - - - - - - - - - 16.13 -
14531.87 679.10 6.74 1731 14537.83 1.60 0.20 0.053 2742.12 138.4 3.10 0.102 3362.25 400.3 107.06 - - 2561.19 - - - - - - - - 16.20 16.12 -
14766.11 658.48 9.05 1778 14773.59 1.60 0.26 0.156 2723.25 -72.6 2.91 0.055 2118.88 -427.3 107.06 - - 2563.06 - - - - - - - - 16.10 16.15 -
15081.86 632.29 8.41 1810 15087.69 done 1.60 - - 2723.31 - 3.10 0.103 3362.56 401.2 107.06 - - 2562.22 - - - - - - - - - 16.14 -
15316.14 611.68 8.26 1857 15323.35 done 1.60 - - 2722.19 - 2.89 0.055 2118.31 -430.5 107.06 - - 2561.78 - - - - - - - - - 16.15 -
15631.91 586.92 8.17 1889 15637.73 done 1.60 - - 2723.25 - 3.09 0.102 3361.44 402.3 107.06 - - 2559.88 - - - - - - - - - 16.15 -
15866.19 565.91 9.16 1936 15873.40 done 1.60 - - 2723.00 - 2.89 0.055 2118.62 -430.0 107.06 - - 2560.06 - - - - - - - - - 16.16 -
16181.96 540.89 7.70 1968 16187.82 done 1.60 - - 2722.31 - 3.11 0.102 3362.44 399.9 107.06 - - 2560.25 - - - - - - - - - 16.16 -
16382.00 524.93 7.79 2008 16387.75 done 1.60 - - 2723.31 - 2.90 0.056 2118.56 -428.9 107.06 - - 2559.44 - - - - - - - - - 16.16 -
16692.09 504.72 6.36 2040 16698.12 1.65 0.23 0.052 2753.62 131.8 3.12 0.101 3361.50 398.4 107.06 - - 2559.84 - - - - - - - - 16.22 16.14 -
16906.35 487.85 7.84 2083 16914.07 1.65 0.29 0.154 2733.81 -68.3 2.92 0.055 2116.38 -426.4 107.06 - - 2562.38 - - - - - - - - 16.09 16.17 -
17222.17 468.09 6.45 2115 17228.21 1.70 0.20 0.053 2766.88 165.4 3.13 0.101 3360.88 397.6 107.06 - - 2560.09 - - - - - - - - 16.23 16.14 -
17316.40 460.58 8.12 2134 17323.87 1.70 0.26 0.157 2748.31 -71.4 2.91 0.054 2117.62 -427.2 107.06 - - 2559.78 - - - - - - - - 16.11 16.17 -
17632.21 438.27 7.48 2166 17638.02 done 1.72 - - 2747.94 - 3.11 0.101 3363.12 400.5 107.06 - - 2560.06 - - - - - - - - - 16.14 -
17712.18 432.02 7.99 2182 17717.94 done 1.72 - - 2747.25 - 2.93 0.054 2117.88 -425.0 107.06 - - 2561.75 - - - - - - - - - 16.16 -
18022.25 411.45 5.92 2214 18024.05 1.78 0.26 0.049 2786.50 151.0 - - 2117.12 - 107.06 - - 2560.00 - - - - - - - - 16.20 - -
18332.27 391.82 6.14 2245 18338.36 done 1.84 - - 2787.38 - 3.62 0.115 687.62 -394.9 107.06 - - 2558.31 - - - - - - - - - 16.15 -
18466.56 382.57 7.17 2272 18474.28 done 1.87 - - 2787.69 - 3.48 0.060 2183.06 429.7 107.06 - - 2559.00 - - - - - - - - - 16.16 -
18782.32 365.48 5.23 2304 18788.29 1.95 0.22 0.048 2830.62 195.1 2.95 0.103 3361.12 399.3 107.06 - - 2560.75 - - - - - - - - 16.22 16.14 -
19016.61 349.67 6.81 2351 19023.83 done 1.99 - - 2831.25 - 2.92 0.054 2118.94 -425.4 107.06 - - 2559.06 - - - - - - - - - 16.15 -
19332.37 329.83 6.43 2383 19333.95 VBD 2.04 - - 2831.50 - - - 2118.88 - 107.06 - - 2557.41 - - - - - - - - - - -
19642.39 309.23 7.22 2414 19648.20 done 2.06 - - 2831.44 - 3.12 0.100 3361.12 398.2 107.06 - - 2558.75 - - - - - - - - - 16.14 -
19876.65 290.01 8.34 2461 19883.90 done 2.06 - - 2831.44 - 2.93 0.054 2117.38 -424.5 107.06 - - 2559.34 - - - - - - - - - 16.15 -
20192.45 267.56 6.52 2493 20198.48 2.11 0.22 0.052 2862.31 140.3 3.13 0.099 3361.62 397.5 107.06 - - 2559.12 - - - - - - - - 16.19 16.11 -
20426.76 251.71 6.50 2540 20434.28 done 2.15 - - 2862.38 - 2.94 0.054 2116.44 -423.5 107.06 - - 2559.16 - - - - - - - - - 16.15 -
20742.52 234.72 4.97 2572 20794.87 2.23 0.17 0.057 2892.56 177.5 - - 2116.38 - 167.11 46.68 1.319 2339.91 -4.7 0.138 - - - - - - 16.17 - 12.75
21102.48 190.99 13.64 2608 21108.56 2.23 0.28 0.164 2876.56 -57.1 3.17 0.099 3363.06 393.3 167.11 - - 2330.62 - - - - - - - - 15.93 15.94 -
21226.76 173.66 13.85 2633 21234.03 done 2.23 - - 2876.31 - 2.96 0.053 2119.38 -420.2 167.11 - - 2331.12 - - - - - - - - - 16.02 -
21542.53 138.16 11.16 2665 21544.10 VBD 2.23 - - 2876.62 - - - 2119.06 - 167.11 - - 2327.25 - - - - - - - - - - -
21852.53 107.41 8.57 2696 21858.40 done 2.23 - - 2877.00 - 3.14 0.097 3360.69 395.4 167.11 - - 2326.91 - - - - - - - - - 16.02 -
22087.63 93.75 3.69 2743 22189.29 2.34 0.32 0.044 2922.88 143.4 2.95 0.051 2117.44 -421.4 252.31 90.87 1.105 1991.00 -3.7 0.052 - - - - - - 16.09 16.04 12.71
22372.81 70.94 9.51 2799 22379.69 roll back 2.34 0.28 0.156 2902.50 -72.8 3.21 0.097 3360.75 387.3 252.31 - - 1988.81 - - - - - - - - 15.83 15.82 -
22528.25 57.43 7.95 2830 22534.76 roll 2.34 - - 2902.75 - 2.99 0.051 2118.25 -415.6 252.31 - - 1988.62 - - - - - - - - - 15.88 -
22718.25 42.42 8.27 2868 22722.64 no move 2.34 - - 2902.81 - - - 2117.75 - 252.31 - - 1987.66 - - - - - - - - - - -
22903.32 37.46 1.35 2905 23043.15 2.51 0.46 0.042 2959.06 122.3 3.28 0.097 3361.00 379.0 383.20 128.48 1.033 1456.81 -4.1 0.025 - - - - - - 15.97 15.57 12.75
23271.70 9.79 9.94 2977 23278.28 roll 2.51 - - 2958.00 - 3.02 0.049 2119.56 -411.1 383.20 - - 1455.22 - - - - - - - - - 15.83 -
23351 end climb: SURFACE_DEPTH_REACHED
23351 begin surface coast
23377 end surface coast: CONTROL_FINISHED_OK
23377 begin surface
SM 1.54 - - - - 181.8 84.55 0.989 1084.2 12.8 20.76 0.038 1092.8 52.6 - 0.07 0.158 1075.6 15322.6 -15.264 - - 12.74 15.93 15.88 -