NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 131 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 60.39 of 575.00 AH used of 24V (89.50% remains)
• Surface angle -65.2 deg, depth 1.50 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 30 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
8.89 - - - 75.62 VBD -1.56 - - 179.12 - - - 2137.75 - -107.06 65.14 0.005 2493.38 - - - - - - - - - - 15.73
76.06 3.31 -3.04 13 126.85 -1.56 16.36 0.239 1960.75 108.9 3.13 0.103 3361.31 390.9 -107.06 23.26 0.006 3458.81 41.5 -3.793 - - - - - - 15.70 15.70 15.73
225.15 35.11 -18.82 42 232.00 roll -1.56 - - 1960.94 - 3.12 0.047 2068.19 -414.5 -107.06 - - 3460.59 - - - - - - - - - 15.89 -
415.48 61.76 -13.49 80 421.99 roll -1.56 - - 1960.50 - 3.29 0.095 3359.94 392.6 -107.06 - - 3461.25 - - - - - - - - - 15.89 -
445.48 66.33 -15.58 86 451.90 roll -1.56 - - 1961.12 - 3.11 0.045 2068.19 -415.4 -107.06 - - 3460.56 - - - - - - - - - 15.90 -
635.49 93.03 -12.42 124 642.17 roll -1.56 - - 1961.19 - 3.62 0.115 689.69 -380.8 -107.06 - - 3461.44 - - - - - - - - - 15.91 -
670.57 97.97 -14.25 131 677.09 roll -1.56 - - 1961.00 - 3.36 0.047 2133.44 429.7 -107.06 - - 3462.03 - - - - - - - - - 15.93 -
860.57 119.27 -10.38 152 862.10 no move -1.56 - - 1960.75 - - - 2133.50 - -107.06 - - 3460.75 - - - - - - - - - - -
1170.59 149.04 -9.27 183 1176.26 roll -1.56 - - 1960.75 - 3.11 0.097 3362.44 395.2 -107.06 - - 3462.69 - - - - - - - - - 15.99 -
1214.83 153.56 -10.04 192 1221.99 roll -1.56 - - 1960.31 - 3.08 0.045 2066.50 -420.8 -107.06 - - 3463.34 - - - - - - - - - 16.03 -
1530.60 183.22 -10.02 224 1532.13 no move -1.56 - - 1960.62 - - - 2066.12 - -107.06 - - 3461.69 - - - - - - - - - - -
1840.65 214.46 -9.70 255 1842.22 no move -1.56 - - 1961.25 - - - 2066.56 - -107.06 - - 3461.81 - - - - - - - - - - -
2150.68 243.49 -9.39 286 2152.25 no move -1.56 - - 1961.06 - - - 2066.31 - -107.06 - - 3462.00 - - - - - - - - - - -
2460.71 273.97 -9.74 317 2466.60 roll -1.56 - - 1961.19 - 3.30 0.098 3359.31 391.8 -107.06 - - 3464.81 - - - - - - - - - 16.06 -
2510.72 279.35 -10.78 327 2516.84 roll -1.56 - - 1960.38 - 3.06 0.048 2067.38 -422.2 -107.06 - - 3463.47 - - - - - - - - - 16.06 -
2820.74 308.56 -9.45 359 2826.83 roll -1.56 - - 1960.94 - 3.59 0.120 689.94 -383.7 -107.06 - - 3463.06 - - - - - - - - - 16.08 -
2880.75 314.81 -10.20 371 2886.73 roll -1.56 - - 1960.06 - 3.33 0.053 2133.19 433.4 -107.06 - - 3464.38 - - - - - - - - - 16.09 -
3190.78 343.50 -9.05 403 3197.96 roll -1.56 - - 1960.75 - 3.75 0.115 689.69 -384.9 -107.06 - - 3462.94 - - - - - - - - - 16.10 -
3356.44 359.47 -9.71 436 3362.61 roll -1.56 - - 1961.06 - 3.36 0.053 2131.62 429.1 -107.06 - - 3462.97 - - - - - - - - - 16.14 -
3666.46 385.09 -8.48 468 3673.65 roll -1.56 - - 1960.69 - 3.74 0.115 688.50 -385.9 -107.06 - - 3461.12 - - - - - - - - - 16.12 -
3752.21 393.33 -9.48 485 3758.16 roll -1.56 - - 1960.75 - 3.34 0.052 2131.75 432.1 -107.06 - - 3462.00 - - - - - - - - - 16.15 -
4062.24 420.42 -9.14 517 4069.43 roll -1.56 - - 1960.19 - 3.76 0.116 689.62 -383.5 -107.06 - - 3460.53 - - - - - - - - - 16.14 -
4097.87 424.04 -9.70 524 4103.86 roll -1.56 - - 1959.81 - 3.35 0.054 2132.19 430.6 -107.06 - - 3463.53 - - - - - - - - - 16.14 -
4407.90 451.61 -9.16 556 4415.09 roll -1.56 - - 1960.44 - 3.76 0.116 688.81 -383.9 -107.06 - - 3460.91 - - - - - - - - - 16.14 -
4457.77 456.68 -9.98 566 4465.25 roll -1.56 - - 1961.00 - 3.34 0.052 2131.19 431.9 -107.06 - - 3460.94 - - - - - - - - - 16.15 -
4773.56 486.20 -9.57 598 4780.76 roll -1.56 - - 1960.06 - 3.75 0.117 689.56 -384.4 -107.06 - - 3461.19 - - - - - - - - - 16.15 -
4819.21 491.08 -10.59 607 4825.40 roll -1.56 - - 1960.75 - 3.35 0.055 2131.62 430.5 -107.06 - - 3460.72 - - - - - - - - - 16.16 -
5129.24 521.90 -10.20 639 5136.43 roll -1.56 - - 1959.81 - 3.74 0.117 688.69 -385.8 -107.06 - - 3459.94 - - - - - - - - - 16.16 -
5184.88 527.99 -10.87 650 5190.86 roll -1.56 - - 1960.44 - 3.35 0.055 2130.69 430.4 -107.06 - - 3461.66 - - - - - - - - - 16.15 -
5494.92 557.64 -8.98 682 5502.09 roll -1.56 - - 1960.88 - 3.77 0.117 688.50 -382.5 -107.06 - - 3457.38 - - - - - - - - - 16.15 -
5564.78 564.57 -9.87 696 5572.30 roll -1.56 - - 1960.62 - 3.37 0.055 2130.62 427.9 -107.06 - - 3459.44 - - - - - - - - - 16.15 -
5880.57 589.28 -7.33 728 5887.76 roll -1.56 - - 1960.75 - 3.75 0.119 689.69 -384.2 -107.06 - - 3459.25 - - - - - - - - - 16.14 -
5916.21 592.42 -8.11 735 5922.16 roll -1.56 - - 1960.88 - 3.35 0.055 2130.44 430.1 -107.06 - - 3459.88 - - - - - - - - - 16.17 -
6226.24 615.69 -7.42 767 6233.44 roll -1.56 - - 1961.00 - 3.77 0.119 689.06 -382.3 -107.06 - - 3457.72 - - - - - - - - - 16.15 -
6276.60 620.07 -8.80 777 6284.06 roll -1.56 - - 1960.88 - 3.34 0.054 2130.56 431.6 -107.06 - - 3458.16 - - - - - - - - - 16.16 -
6592.39 644.59 -8.12 809 6599.58 roll -1.56 - - 1960.56 - 3.76 0.119 688.56 -383.5 -107.06 - - 3458.25 - - - - - - - - - 16.16 -
6628.02 647.83 -8.58 816 6634.00 roll -1.56 - - 1960.88 - 3.33 0.055 2130.75 433.1 -107.06 - - 3458.44 - - - - - - - - - 16.18 -
6938.08 672.90 -8.22 848 6945.27 roll -1.56 - - 1960.00 - 3.76 0.120 689.94 -383.2 -107.06 - - 3457.50 - - - - - - - - - 16.16 -
6993.71 678.02 -9.40 859 6999.66 roll -1.56 - - 1960.38 - 3.32 0.055 2130.69 434.0 -107.06 - - 3457.09 - - - - - - - - - 16.16 -
7303.74 704.34 -9.00 891 7310.93 roll -1.56 - - 1960.38 - 3.77 0.121 690.62 -382.0 -107.06 - - 3455.22 - - - - - - - - - 16.15 -
7353.62 709.28 -9.70 901 7361.13 roll -1.56 - - 1961.00 - 3.35 0.057 2129.88 429.6 -107.06 - - 3456.47 - - - - - - - - - 16.16 -
7669.41 738.91 -9.92 933 7676.85 roll -1.56 - - 1959.81 - 3.78 0.120 689.69 -381.0 -107.06 - - 3454.28 - - - - - - - - - 16.16 -
7725.41 745.10 -10.89 944 7731.35 roll -1.56 - - 1960.56 - 3.34 0.056 2130.62 431.4 -107.06 - - 3455.00 - - - - - - - - - 16.16 -
8035.43 775.19 -9.19 976 8042.64 roll -1.56 - - 1960.81 - 3.76 0.120 689.69 -383.2 -107.06 - - 3453.75 - - - - - - - - - 16.17 -
8075.32 779.61 -10.51 984 8082.79 roll -1.56 - - 1960.75 - 3.34 0.055 2131.88 431.8 -107.06 - - 3455.44 - - - - - - - - - 16.18 -
8391.14 807.10 -8.15 1016 8398.32 roll -1.56 - - 1960.81 - 3.78 0.120 689.56 -381.6 -107.06 - - 3453.16 - - - - - - - - - 16.17 -
8461.01 813.69 -9.38 1030 8468.49 roll -1.56 - - 1960.88 - 3.35 0.056 2130.38 430.1 -107.06 - - 3453.75 - - - - - - - - - 16.14 -
8776.80 837.39 -6.56 1062 8778.37 no move -1.56 - - 1960.69 - - - 2131.00 - -107.06 - - 3452.97 - - - - - - - - - - -
9086.83 856.66 -5.79 1093 9094.02 roll -1.56 - - 1961.19 - 3.78 0.121 688.75 -381.5 -107.06 - - 3452.22 - - - - - - - - - 16.16 -
9126.70 859.30 -6.52 1101 9134.42 roll -1.56 - - 1960.19 - 3.33 0.057 2129.75 432.7 -107.06 - - 3454.75 - - - - - - - - - 16.17 -
9442.50 877.57 -5.80 1133 9449.69 roll -1.56 - - 1959.56 - 3.77 0.122 688.56 -382.3 -107.06 - - 3454.25 - - - - - - - - - 16.16 -
9472.37 879.66 -6.08 1139 9479.84 roll -1.56 - - 1960.31 - 3.35 0.057 2128.44 429.8 -107.06 - - 3453.56 - - - - - - - - - 16.16 -
9788.16 899.12 -6.33 1171 9795.36 roll -1.56 - - 1960.06 - 3.78 0.125 690.12 -380.5 -107.06 - - 3451.91 - - - - - - - - - 16.15 -
9818.05 901.45 -6.74 1177 9825.57 roll -1.56 - - 1961.12 - 3.34 0.059 2130.44 431.2 -107.06 - - 3452.69 - - - - - - - - - 16.15 -
10133.84 923.02 -7.22 1209 10135.41 no move -1.56 - - 1960.69 - - - 2130.31 - -107.06 - - 3451.25 - - - - - - - - - - -
10443.86 945.26 -7.09 1240 10445.44 no move -1.56 - - 1961.00 - - - 2130.75 - -107.06 - - 3450.75 - - - - - - - - - - -
10753.89 967.33 -7.34 1271 10761.09 roll -1.56 - - 1960.62 - 3.77 0.124 690.06 -382.1 -107.06 - - 3450.03 - - - - - - - - - 16.16 -
10793.77 970.49 -7.85 1279 10801.50 roll -1.56 - - 1960.25 - 3.35 0.059 2130.12 429.9 -107.06 - - 3452.09 - - - - - - - - - 16.17 -
11069 end dive: TARGET_DEPTH_EXCEEDED
11069 begin apogee
11071.29 990.04 -7.00 1307 11165.34 -0.42 2.40 0.118 2240.62 116.8 0.09 0.248 2119.81 -114.6 - 86.42 2.255 3019.34 -5.0 0.364 - - - - - - 16.14 15.53 12.65
11170 end apogee: CONTROL_FINISHED_OK
11170 begin climb
11173.30 990.78 - 1316 11278.30 1.56 3.82 0.054 2733.25 129.0 - - 2119.75 - 107.06 95.21 2.194 2580.50 -4.6 0.345 - - - - - - 15.63 - 12.74
11581.81 954.55 10.16 1357 11587.94 1.56 0.30 0.144 2714.81 -61.5 3.20 0.103 3364.88 389.1 107.06 - - 2569.75 - - - - - - - - 15.83 15.82 -
11696.08 941.71 11.49 1380 11703.64 done 1.56 - - 2713.44 - 3.02 0.053 2122.25 -411.5 107.06 - - 2569.84 - - - - - - - - - 15.91 -
12011.85 909.27 10.03 1412 12017.75 done 1.56 - - 2713.56 - 3.15 0.102 3361.12 393.3 107.06 - - 2568.47 - - - - - - - - - 15.99 -
12211.90 887.15 11.61 1452 12217.65 done 1.56 - - 2714.38 - 2.97 0.053 2120.25 -417.8 107.06 - - 2565.44 - - - - - - - - - 16.02 -
12521.91 856.37 9.60 1484 12527.78 done 1.56 - - 2714.00 - 3.14 0.100 3360.25 394.9 107.06 - - 2566.19 - - - - - - - - - 16.04 -
12631.94 844.80 10.41 1506 12637.69 done 1.56 - - 2714.62 - 2.97 0.054 2118.88 -418.0 107.06 - - 2564.53 - - - - - - - - - 16.06 -
12941.93 816.71 8.57 1538 12947.80 done 1.56 - - 2714.50 - 3.17 0.100 3360.88 391.8 107.06 - - 2562.88 - - - - - - - - - 16.08 -
13151.97 797.35 9.32 1580 13157.76 done 1.56 - - 2713.38 - 2.98 0.053 2121.38 -415.9 107.06 - - 2563.66 - - - - - - - - - 16.10 -
13462.03 773.02 7.48 1612 13468.11 done 1.58 - - 2713.75 - 3.13 0.099 3362.56 396.5 107.06 - - 2561.97 - - - - - - - - - 16.11 -
13556.26 765.60 7.68 1631 13563.56 done 1.58 - - 2714.00 - 2.97 0.053 2119.12 -418.7 107.06 - - 2561.44 - - - - - - - - - 16.12 -
13872.11 743.08 6.93 1663 13873.92 1.62 0.26 0.050 2741.75 106.7 - - 2119.50 - 107.06 - - 2558.84 - - - - - - - - 16.18 - -
14182.12 718.60 8.07 1694 14187.99 done 1.62 - - 2741.88 - 3.16 0.100 3363.56 393.7 107.06 - - 2560.69 - - - - - - - - - 16.12 -
14346.41 703.41 8.82 1727 14353.67 done 1.62 - - 2741.75 - 2.97 0.054 2116.44 -419.9 107.06 - - 2560.97 - - - - - - - - - 16.12 -
14662.17 675.35 8.87 1759 14668.08 done 1.62 - - 2741.56 - 3.15 0.100 3362.31 395.5 107.06 - - 2560.28 - - - - - - - - - 16.13 -
14762.21 665.70 10.02 1779 14768.00 done 1.62 - - 2740.94 - 2.96 0.054 2118.69 -420.1 107.06 - - 2561.03 - - - - - - - - - 16.15 -
15072.22 639.04 8.81 1811 15078.09 done 1.62 - - 2741.44 - 3.14 0.098 3362.25 396.0 107.06 - - 2560.53 - - - - - - - - - 16.15 -
15262.27 620.97 9.49 1849 15268.25 done 1.62 - - 2741.69 - 2.95 0.053 2119.94 -421.1 107.06 - - 2560.38 - - - - - - - - - 16.16 -
15572.28 594.93 7.78 1881 15573.85 VBD 1.62 - - 2741.69 - - - 2118.94 - 107.06 - - 2558.16 - - - - - - - - - - -
15882.35 571.98 6.96 1912 15888.21 done 1.65 - - 2740.69 - 3.15 0.098 3360.88 394.3 107.06 - - 2560.00 - - - - - - - - - 16.15 -
16116.66 554.13 7.49 1959 16123.86 done 1.66 - - 2741.62 - 2.96 0.053 2117.25 -420.1 107.06 - - 2559.97 - - - - - - - - - 16.17 -
16432.42 533.14 6.50 1991 16438.45 1.71 0.12 0.087 2764.12 187.5 3.14 0.099 3364.06 397.1 107.06 - - 2559.56 - - - - - - - - 16.18 16.13 -
16642.43 516.29 8.34 2033 16648.19 done 1.71 - - 2764.62 - 2.97 0.053 2119.75 -419.0 107.06 - - 2559.06 - - - - - - - - - 16.17 -
16952.48 493.96 7.11 2065 16958.52 done 1.74 - - 2763.81 - 3.14 0.097 3362.19 395.7 107.06 - - 2558.84 - - - - - - - - - 16.15 -
17036.76 487.70 7.42 2082 17044.00 done 1.76 - - 2764.19 - 2.94 0.052 2116.12 -423.8 107.06 - - 2558.47 - - - - - - - - - 16.15 -
17352.52 466.09 6.80 2114 17358.38 done 1.80 - - 2764.19 - 3.15 0.099 3363.69 396.1 107.06 - - 2558.91 - - - - - - - - - 16.14 -
17402.51 462.28 7.68 2124 17408.27 done 1.80 - - 2763.25 - 2.95 0.053 2118.31 -422.2 107.06 - - 2561.38 - - - - - - - - - 16.16 -
17712.56 439.91 7.30 2156 17719.96 1.82 0.15 0.069 2790.56 182.1 3.69 0.116 688.50 -387.5 107.06 - - 2556.78 - - - - - - - - 16.19 16.13 -
17858.43 427.50 8.80 2185 17864.49 done 1.82 - - 2790.75 - 3.52 0.059 2181.88 424.3 107.06 - - 2557.22 - - - - - - - - - 16.16 -
18168.48 405.02 7.13 2217 18174.25 done 1.85 - - 2791.12 - 3.01 0.100 3362.31 392.2 107.06 - - 2556.91 - - - - - - - - - 16.15 -
18348.54 391.58 7.52 2253 18354.24 done 1.86 - - 2790.38 - 2.96 0.052 2117.31 -420.6 107.06 - - 2559.72 - - - - - - - - - 16.16 -
18658.53 370.70 6.22 2285 18665.86 1.92 0.16 0.046 2811.12 129.6 3.70 0.115 688.81 -386.1 107.06 - - 2557.00 - - - - - - - - 16.21 16.12 -
18894.51 352.92 7.43 2332 18900.53 done 1.93 - - 2810.56 - 3.52 0.058 2180.81 423.9 107.06 - - 2558.25 - - - - - - - - - 16.16 -
19204.51 333.54 6.08 2364 19206.08 VBD 1.99 - - 2811.12 - - - 2181.12 - 107.06 - - 2556.34 - - - - - - - - - - -
19514.52 315.99 5.55 2395 19521.95 2.07 0.25 0.050 2855.06 175.8 3.87 0.111 688.69 -385.6 107.06 - - 2555.38 - - - - - - - - 16.20 16.14 -
19590.45 311.21 6.35 2410 19597.51 done 2.12 - - 2853.50 - 3.52 0.058 2182.44 424.4 107.06 - - 2557.31 - - - - - - - - - 16.15 -
19905.45 292.52 6.38 2442 19912.67 done 2.17 - - 2854.75 - 3.87 0.110 688.69 -386.0 107.06 - - 2555.47 - - - - - - - - - 16.11 -
20011.18 285.23 6.96 2463 20018.69 2.20 0.21 0.052 2886.75 152.4 3.51 0.058 2183.12 425.8 107.06 - - 2559.28 - - - - - - - - 16.18 16.15 -
20326.19 265.63 6.31 2495 20332.13 done 2.25 - - 2886.62 - 3.00 0.099 3362.44 393.1 107.06 - - 2556.97 - - - - - - - - - 16.11 -
20560.48 249.33 6.56 2542 20567.70 done 2.30 - - 2885.38 - 2.98 0.051 2117.00 -417.9 107.06 - - 2559.28 - - - - - - - - - 16.13 -
20876.24 231.46 5.60 2574 20882.30 2.37 0.25 0.049 2924.56 156.7 3.19 0.097 3362.25 390.4 107.06 - - 2559.50 - - - - - - - - 16.18 16.10 -
21110.54 217.36 5.72 2621 21117.77 done 2.44 - - 2924.56 - 2.98 0.051 2115.38 -418.4 107.06 - - 2557.56 - - - - - - - - - 16.13 -
21426.30 202.31 4.04 2653 21506.34 2.54 0.31 0.047 2968.94 143.2 3.23 0.098 3358.75 384.9 185.38 69.90 1.245 2264.75 -4.2 0.113 - - - - - - 16.17 15.79 12.74
21734.38 157.96 17.30 2714 21741.73 2.54 0.32 0.180 2952.50 -51.4 3.01 0.053 2120.19 -411.5 185.38 - - 2256.69 - - - - - - - - 15.89 15.90 -
22049.92 113.57 13.64 2746 22055.78 done 2.54 - - 2953.56 - 3.20 0.095 3362.62 388.3 185.38 - - 2254.06 - - - - - - - - - 15.97 -
22249.97 89.07 10.75 2786 22256.47 done 2.54 - - 2951.62 - 2.97 0.050 2117.31 -419.3 185.38 - - 2255.12 - - - - - - - - - 15.97 -
22440.01 83.73 1.63 2824 22580.16 2.71 0.41 0.042 3007.19 135.5 3.84 0.111 688.62 -372.1 310.78 128.06 1.088 1752.97 -3.9 0.050 - - - - - - 16.03 15.56 12.71
22648.72 64.79 17.16 2864 22655.64 roll 2.71 - - 3007.81 - 3.62 0.055 2180.75 412.2 310.78 - - 1750.03 - - - - - - - - - 15.74 -
22839.16 36.35 14.39 2902 22845.98 roll back 2.71 0.28 0.162 2992.12 -56.0 3.09 0.097 3362.31 382.4 310.78 - - 1749.62 - - - - - - - - 15.82 15.80 -
23074.47 23.23 2.39 2949 23192.83 2.85 0.40 0.044 3042.38 125.7 2.99 0.048 2115.31 -417.1 421.39 108.98 1.008 1303.28 -4.1 0.016 - - - - - - 15.90 15.89 12.73
23336 end climb: SURFACE_DEPTH_REACHED
23336 begin surface coast
23356 end surface coast: CONTROL_FINISHED_OK
23356 begin surface
SM 1.25 - - - - 181.7 52.75 0.972 1083.4 18.5 21.20 0.036 1096.4 51.7 - 0.06 0.170 1070.4 17790.2 -13.370 - - 12.74 15.84 15.81 -