NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 169 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 73.70 of 575.00 AH used of 24V (87.18% remains)
• Surface angle -64.3 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 31 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
8.95 - - - 75.68 VBD -1.56 - - 187.94 - - - 2135.81 - -107.06 65.12 0.005 2477.09 - - - - - - - - - - 15.69
76.12 3.18 -2.98 13 132.16 -1.56 16.66 0.241 1961.38 106.4 3.85 0.117 690.94 -375.3 -107.06 24.83 0.006 3457.25 39.5 -3.458 - - - - - - 15.67 15.67 15.72
265.53 36.38 -19.11 50 272.10 roll -1.56 - - 1961.12 - 3.38 0.047 2130.75 426.0 -107.06 - - 3459.53 - - - - - - - - - 15.85 -
455.58 65.02 -13.76 88 459.95 no move -1.56 - - 1961.19 - - - 2131.06 - -107.06 - - 3458.78 - - - - - - - - - - -
640.60 86.69 -9.69 125 647.06 roll -1.56 - - 1960.19 - 3.13 0.096 3362.94 393.6 -107.06 - - 3460.91 - - - - - - - - - 15.90 -
705.60 93.80 -11.54 138 712.00 roll -1.56 - - 1961.19 - 3.07 0.042 2066.56 -422.3 -107.06 - - 3460.22 - - - - - - - - - 15.93 -
900.62 112.33 -9.27 164 906.52 roll -1.56 - - 1961.31 - 3.63 0.114 689.19 -379.4 -107.06 - - 3461.22 - - - - - - - - - 15.94 -
1000.63 123.01 -11.47 184 1006.41 roll -1.56 - - 1961.06 - 3.34 0.044 2134.31 432.7 -107.06 - - 3459.53 - - - - - - - - - 15.97 -
1310.65 152.19 -9.31 216 1312.18 no move -1.56 - - 1960.88 - - - 2134.56 - -107.06 - - 3459.09 - - - - - - - - - - -
1620.67 181.55 -9.50 247 1622.20 no move -1.56 - - 1960.88 - - - 2134.56 - -107.06 - - 3459.84 - - - - - - - - - - -
1930.69 208.44 -8.52 278 1937.94 roll -1.56 - - 1960.38 - 3.78 0.110 688.94 -382.4 -107.06 - - 3461.34 - - - - - - - - - 16.03 -
1960.74 211.46 -9.22 284 1968.20 roll -1.56 - - 1960.50 - 3.35 0.045 2134.44 431.5 -107.06 - - 3460.81 - - - - - - - - - 16.01 -
2276.53 238.46 -8.79 316 2278.10 no move -1.56 - - 1961.44 - - - 2133.94 - -107.06 - - 3459.88 - - - - - - - - - - -
2586.56 265.57 -9.28 347 2593.74 roll -1.56 - - 1961.06 - 3.77 0.111 688.31 -383.5 -107.06 - - 3460.47 - - - - - - - - - 16.03 -
2616.42 268.60 -9.76 353 2623.89 roll -1.56 - - 1961.12 - 3.33 0.046 2133.19 433.9 -107.06 - - 3461.19 - - - - - - - - - 16.11 -
2932.20 298.34 -9.52 385 2939.40 roll -1.56 - - 1960.19 - 3.75 0.111 688.88 -385.1 -107.06 - - 3461.34 - - - - - - - - - 16.08 -
2972.09 302.61 -10.42 393 2979.56 roll -1.56 - - 1961.12 - 3.32 0.045 2133.88 435.2 -107.06 - - 3460.81 - - - - - - - - - 16.10 -
3287.88 329.59 -8.18 425 3293.66 roll -1.56 - - 1960.50 - 3.10 0.098 3362.44 396.3 -107.06 - - 3461.03 - - - - - - - - - 16.10 -
3317.87 332.30 -8.58 431 3323.67 roll -1.56 - - 1961.75 - 3.03 0.043 2067.88 -427.2 -107.06 - - 3460.09 - - - - - - - - - 16.11 -
3627.90 358.27 -8.46 463 3634.04 roll -1.56 - - 1961.12 - 3.62 0.117 689.88 -380.7 -107.06 - - 3460.59 - - - - - - - - - 16.10 -
3657.91 361.12 -8.66 469 3663.87 roll -1.56 - - 1961.06 - 3.34 0.045 2133.75 432.3 -107.06 - - 3460.09 - - - - - - - - - 16.13 -
3967.94 388.21 -8.85 501 3969.51 no move -1.56 - - 1961.25 - - - 2134.25 - -107.06 - - 3459.41 - - - - - - - - - - -
4277.97 415.32 -8.92 532 4285.16 roll -1.56 - - 1960.56 - 3.78 0.114 688.75 -382.4 -107.06 - - 3460.56 - - - - - - - - - 16.12 -
4313.60 418.86 -9.60 539 4319.56 roll -1.56 - - 1961.50 - 3.34 0.047 2133.62 432.6 -107.06 - - 3460.78 - - - - - - - - - 16.13 -
4623.64 446.93 -8.84 571 4625.21 no move -1.56 - - 1961.00 - - - 2134.56 - -107.06 - - 3458.97 - - - - - - - - - - -
4933.66 474.25 -9.07 602 4940.85 roll -1.56 - - 1959.75 - 3.77 0.113 689.06 -383.4 -107.06 - - 3459.72 - - - - - - - - - 16.13 -
4979.30 478.92 -10.30 611 4985.29 roll -1.56 - - 1960.88 - 3.33 0.046 2131.62 433.2 -107.06 - - 3459.09 - - - - - - - - - 16.15 -
5289.32 507.23 -8.76 643 5290.89 no move -1.56 - - 1961.00 - - - 2132.38 - -107.06 - - 3458.00 - - - - - - - - - - -
5599.35 534.10 -8.52 674 5600.92 no move -1.56 - - 1960.56 - - - 2132.06 - -107.06 - - 3457.25 - - - - - - - - - - -
5909.38 561.98 -9.40 705 5910.95 no move -1.56 - - 1960.81 - - - 2132.06 - -107.06 - - 3456.94 - - - - - - - - - - -
6219.41 590.76 -8.53 736 6226.59 roll -1.56 - - 1961.00 - 3.78 0.115 688.81 -381.8 -107.06 - - 3456.41 - - - - - - - - - 16.15 -
6319.27 600.82 -9.83 756 6326.75 roll -1.56 - - 1960.75 - 3.35 0.050 2132.12 430.8 -107.06 - - 3457.34 - - - - - - - - - 16.16 -
6635.07 627.89 -8.24 788 6636.64 no move -1.56 - - 1960.75 - - - 2132.50 - -107.06 - - 3456.00 - - - - - - - - - - -
6945.13 652.81 -7.70 819 6952.32 roll -1.56 - - 1961.00 - 3.77 0.116 689.56 -382.7 -107.06 - - 3455.06 - - - - - - - - - 16.13 -
7005.01 658.25 -8.89 831 7012.48 roll -1.56 - - 1960.69 - 3.34 0.049 2133.00 432.2 -107.06 - - 3456.44 - - - - - - - - - 16.14 -
7320.80 682.84 -7.65 863 7322.38 no move -1.56 - - 1961.00 - - - 2133.25 - -107.06 - - 3454.97 - - - - - - - - - - -
7630.82 707.38 -7.73 894 7638.01 roll -1.56 - - 1961.31 - 3.77 0.116 688.88 -383.1 -107.06 - - 3455.09 - - - - - - - - - 16.14 -
7706.46 714.22 -8.84 909 7712.42 roll -1.56 - - 1960.88 - 3.35 0.049 2131.81 430.7 -107.06 - - 3455.19 - - - - - - - - - 16.15 -
8016.49 738.48 -7.52 941 8018.06 no move -1.56 - - 1960.50 - - - 2133.06 - -107.06 - - 3453.50 - - - - - - - - - - -
8326.52 759.72 -6.47 972 8328.09 no move -1.56 - - 1960.94 - - - 2132.94 - -107.06 - - 3453.34 - - - - - - - - - - -
8636.55 780.44 -6.65 1003 8643.74 roll -1.56 - - 1961.12 - 3.77 0.117 688.81 -383.1 -107.06 - - 3453.09 - - - - - - - - - 16.15 -
8702.19 785.37 -7.57 1016 8708.14 roll -1.56 - - 1961.06 - 3.34 0.051 2131.25 431.9 -107.06 - - 3453.91 - - - - - - - - - 16.14 -
9012.22 805.16 -6.57 1048 9013.79 no move -1.56 - - 1960.69 - - - 2132.25 - -107.06 - - 3452.53 - - - - - - - - - - -
9322.24 824.64 -6.72 1079 9329.42 roll -1.56 - - 1961.44 - 3.77 0.118 689.75 -382.6 -107.06 - - 3454.12 - - - - - - - - - 16.14 -
9402.11 831.04 -8.19 1095 9409.62 roll -1.56 - - 1961.31 - 3.34 0.050 2133.62 432.3 -107.06 - - 3452.88 - - - - - - - - - 16.13 -
9717.91 855.16 -7.61 1127 9725.34 roll -1.56 - - 1960.25 - 3.77 0.117 688.88 -383.2 -107.06 - - 3452.72 - - - - - - - - - 16.14 -
9753.90 858.42 -8.37 1134 9759.86 roll -1.56 - - 1960.38 - 3.34 0.049 2131.50 431.9 -107.06 - - 3454.16 - - - - - - - - - 16.15 -
10063.93 882.06 -7.55 1166 10065.50 no move -1.56 - - 1960.81 - - - 2132.25 - -107.06 - - 3452.19 - - - - - - - - - - -
10373.96 905.21 -7.46 1197 10381.14 roll -1.56 - - 1959.88 - 3.76 0.117 689.75 -383.6 -107.06 - - 3453.09 - - - - - - - - - 16.14 -
10433.83 910.72 -9.15 1209 10441.32 roll -1.56 - - 1960.56 - 3.33 0.049 2130.44 432.6 -107.06 - - 3453.69 - - - - - - - - - 16.14 -
10749.63 936.40 -8.31 1241 10751.20 no move -1.56 - - 1960.81 - - - 2131.06 - -107.06 - - 3451.06 - - - - - - - - - - -
11059.65 960.88 -7.38 1272 11066.84 roll -1.56 - - 1959.69 - 3.77 0.118 689.44 -382.4 -107.06 - - 3452.38 - - - - - - - - - 16.14 -
11109.52 965.31 -8.27 1282 11117.00 roll -1.56 - - 1960.56 - 3.37 0.050 2132.12 428.1 -107.06 - - 3451.28 - - - - - - - - - 16.14 -
11425.31 987.35 -7.24 1314 11432.49 roll -1.56 - - 1961.25 - 3.77 0.118 690.69 -382.3 -107.06 - - 3450.56 - - - - - - - - - 16.13 -
11445.17 989.25 -7.61 1318 11452.64 roll -1.56 - - 1960.56 - 3.36 0.048 2132.19 429.0 -107.06 - - 3451.12 - - - - - - - - - 16.13 -
11470 end dive: TARGET_DEPTH_EXCEEDED
11471 begin apogee
11472.62 990.63 -7.13 1321 11568.01 -0.42 2.53 0.119 2239.81 110.4 0.10 0.224 2116.81 -153.8 - 87.10 2.210 3017.00 -5.0 0.369 - - - - - - 16.10 15.55 12.41
11571 end apogee: CONTROL_FINISHED_OK
11571 begin climb
11574.02 991.43 - 1330 11678.77 1.56 3.95 0.060 2729.00 123.8 - - 2116.38 - 107.06 94.73 2.161 2583.34 -4.6 0.347 - - - - - - 15.67 - 12.82
11982.28 959.34 9.42 1372 11988.24 done 1.56 - - 2729.50 - 3.24 0.099 3362.56 384.6 107.06 - - 2568.88 - - - - - - - - - 15.84 -
12146.57 941.68 10.89 1405 12154.07 done 1.56 - - 2729.19 - 2.98 0.045 2119.38 -417.2 107.06 - - 2568.03 - - - - - - - - - 15.91 -
12462.34 911.23 9.45 1437 12468.22 done 1.56 - - 2729.06 - 3.20 0.097 3361.81 388.3 107.06 - - 2566.41 - - - - - - - - - 15.98 -
12696.63 884.73 11.45 1484 12703.89 done 1.56 - - 2729.00 - 2.95 0.044 2119.19 -421.2 107.06 - - 2565.88 - - - - - - - - - 16.04 -
13012.41 852.49 9.89 1516 13018.28 done 1.56 - - 2729.31 - 3.18 0.095 3363.50 391.3 107.06 - - 2564.47 - - - - - - - - - 16.05 -
13216.70 830.55 11.11 1557 13223.96 done 1.56 - - 2729.25 - 2.93 0.044 2118.31 -425.0 107.06 - - 2563.81 - - - - - - - - - 16.09 -
13532.48 801.11 8.90 1589 13538.38 done 1.56 - - 2729.56 - 3.16 0.095 3361.94 393.6 107.06 - - 2562.31 - - - - - - - - - 16.10 -
13766.77 777.33 10.69 1636 13774.06 done 1.56 - - 2727.56 - 2.92 0.045 2117.88 -426.0 107.06 - - 2563.09 - - - - - - - - - 16.09 -
14082.54 750.12 8.08 1668 14088.44 done 1.56 - - 2729.38 - 3.15 0.095 3363.50 395.4 107.06 - - 2560.59 - - - - - - - - - 16.11 -
14212.56 739.05 8.36 1694 14218.32 done 1.56 - - 2728.88 - 2.93 0.045 2117.81 -425.2 107.06 - - 2562.22 - - - - - - - - - 16.12 -
14522.63 716.67 7.17 1726 14528.50 done 1.59 - - 2729.56 - 3.14 0.095 3362.19 396.3 107.06 - - 2560.69 - - - - - - - - - 16.12 -
14592.60 710.57 8.56 1740 14598.39 done 1.59 - - 2729.19 - 2.90 0.045 2118.12 -429.0 107.06 - - 2560.19 - - - - - - - - - 16.12 -
14902.62 685.41 8.29 1772 14908.49 done 1.59 - - 2729.94 - 3.15 0.095 3363.56 395.4 107.06 - - 2559.75 - - - - - - - - - 16.12 -
15032.66 674.16 8.56 1798 15038.45 done 1.59 - - 2728.94 - 2.91 0.044 2118.00 -428.0 107.06 - - 2561.25 - - - - - - - - - 16.13 -
15342.72 650.93 7.24 1830 15348.55 done 1.62 - - 2729.75 - 3.15 0.095 3363.88 395.5 107.06 - - 2559.53 - - - - - - - - - 16.13 -
15452.70 641.54 8.55 1852 15458.71 done 1.62 - - 2728.31 - 2.92 0.045 2116.75 -427.1 107.06 - - 2560.75 - - - - - - - - - 16.13 -
15762.77 618.52 6.92 1884 15764.38 VBD 1.65 - - 2728.75 - - - 2116.19 - 107.06 - - 2558.28 - - - - - - - - - - -
16072.75 595.66 8.43 1915 16074.33 VBD 1.65 - - 2729.19 - - - 2116.19 - 107.06 - - 2557.75 - - - - - - - - - - -
16382.79 568.71 8.91 1946 16384.36 VBD 1.65 - - 2729.44 - - - 2116.25 - 107.06 - - 2557.62 - - - - - - - - - - -
16692.80 540.73 9.15 1977 16698.67 done 1.65 - - 2729.94 - 3.17 0.097 3363.38 393.4 107.06 - - 2559.12 - - - - - - - - - 16.13 -
16767.07 533.43 9.65 1992 16774.38 done 1.65 - - 2729.06 - 2.95 0.050 2118.56 -422.0 107.06 - - 2558.69 - - - - - - - - - 16.15 -
17082.89 509.57 6.45 2024 17084.66 1.70 0.17 0.067 2758.75 174.6 - - 2119.56 - 107.06 - - 2558.50 - - - - - - - - 16.16 - -
17392.92 489.80 6.14 2055 17398.74 done 1.75 - - 2760.44 - 3.18 0.095 3363.00 391.0 107.06 - - 2558.38 - - - - - - - - - 16.14 -
17522.94 480.75 6.88 2081 17528.76 1.79 0.10 0.097 2784.00 235.6 2.95 0.049 2117.31 -422.3 107.06 - - 2558.00 - - - - - - - - 16.13 16.13 -
17832.96 460.25 7.10 2113 17839.19 done 1.82 - - 2784.56 - 3.18 0.094 3362.56 391.6 107.06 - - 2558.28 - - - - - - - - - 16.14 -
18067.24 442.13 7.45 2160 18074.50 done 1.84 - - 2784.81 - 2.94 0.049 2116.38 -423.9 107.06 - - 2558.34 - - - - - - - - - 16.12 -
18383.01 423.13 6.06 2192 18389.02 1.90 0.12 0.080 2810.25 212.0 3.17 0.093 3362.75 393.2 107.06 - - 2559.41 - - - - - - - - 16.18 16.11 -
18617.28 407.13 6.97 2239 18624.54 done 1.93 - - 2810.94 - 2.93 0.048 2116.94 -425.2 107.06 - - 2559.19 - - - - - - - - - 16.12 -
18933.05 386.93 6.58 2271 18938.87 done 1.97 - - 2811.31 - 3.16 0.093 3362.94 394.3 107.06 - - 2558.72 - - - - - - - - - 16.13 -
19167.27 369.81 7.60 2318 19174.54 done 1.97 - - 2810.81 - 2.93 0.048 2114.62 -426.0 107.06 - - 2558.31 - - - - - - - - - 16.12 -
19483.11 348.73 6.67 2350 19489.37 2.01 0.13 0.076 2839.19 218.3 3.17 0.092 3362.75 393.7 107.06 - - 2558.28 - - - - - - - - 16.17 16.10 -
19693.17 333.72 6.88 2392 19698.93 done 2.05 - - 2840.38 - 2.92 0.048 2116.06 -426.9 107.06 - - 2558.91 - - - - - - - - - 16.12 -
20003.21 315.50 5.46 2424 20010.49 2.13 0.12 0.083 2863.50 192.7 3.68 0.112 688.31 -388.0 107.06 - - 2556.47 - - - - - - - - 16.18 16.09 -
20053.22 312.49 5.62 2434 20060.74 done 2.20 - - 2865.06 - 3.52 0.054 2183.94 424.9 107.06 - - 2556.69 - - - - - - - - - 16.12 -
20368.99 295.95 5.30 2466 20374.91 2.28 0.25 0.049 2905.50 161.8 2.99 0.094 3364.56 394.9 107.06 - - 2557.28 - - - - - - - - 16.18 16.07 -
20483.24 288.35 6.90 2489 20490.50 done 2.32 - - 2905.38 - 2.95 0.048 2115.06 -423.6 107.06 - - 2558.41 - - - - - - - - - 16.11 -
20799.00 268.26 6.66 2521 20806.12 done 2.36 - - 2904.31 - 3.68 0.108 687.56 -387.9 107.06 - - 2558.81 - - - - - - - - - 16.06 -
21034.66 250.84 7.23 2568 21040.70 done 2.38 - - 2906.19 - 3.51 0.053 2182.75 426.0 107.06 - - 2556.62 - - - - - - - - - 16.10 -
21344.65 230.14 6.03 2600 21346.41 2.44 0.19 0.063 2943.12 194.4 - - 2183.88 - 107.06 - - 2557.31 - - - - - - - - 16.11 - -
21654.67 213.63 4.45 2631 21711.64 VBD 2.53 - - 2944.00 - - - 2184.25 - 177.33 53.40 1.256 2295.22 -4.9 0.138 - - - - - - - - 12.46
22015.19 173.04 12.15 2669 22020.94 done 2.53 - - 2944.06 - 2.98 0.095 3364.00 395.9 177.33 - - 2287.22 - - - - - - - - - 15.93 -
22159.44 151.13 15.89 2698 22166.71 done 2.53 - - 2944.38 - 2.98 0.049 2118.69 -417.9 177.33 - - 2284.94 - - - - - - - - - 15.94 -
22475.21 105.58 15.02 2730 22482.44 done 2.53 - - 2943.56 - 3.71 0.108 687.75 -385.7 177.33 - - 2283.94 - - - - - - - - - 15.98 -
22560.89 94.08 12.36 2747 22567.71 done 2.53 - - 2944.38 - 3.51 0.052 2181.25 425.5 177.33 - - 2283.44 - - - - - - - - - 16.01 -
22751.20 77.58 6.97 2785 22758.29 2.57 0.14 0.072 2972.75 202.6 3.88 0.105 688.44 -384.7 177.33 - - 2284.66 - - - - - - - - 16.05 15.99 -
22986.94 72.34 0.76 2832 23146.25 2.75 0.34 0.043 3018.75 135.3 3.49 0.052 2188.19 429.7 319.63 144.67 1.043 1715.91 -3.9 0.045 - - - - - - 16.06 16.03 12.59
23329.65 34.62 13.87 2899 23336.89 roll back 2.75 0.30 0.167 3002.88 -52.9 3.95 0.104 687.75 -379.9 319.63 - - 1714.25 - - - - - - - - 15.75 15.78 -
23545.51 9.32 6.66 2942 23552.72 roll back 2.79 0.22 0.053 3025.81 104.2 3.53 0.050 2187.44 424.8 319.63 - - 1713.97 - - - - - - - - 15.93 15.86 -
23736.29 2.14 3.98 2980 23741.70 2.90 0.14 0.065 3053.94 200.9 - - 2188.00 - 399.02 4.26 0.500 1708.50 -1.3 0.001 - - - - - - 16.01 - 12.64
23742 end climb: SURFACE_DEPTH_REACHED
23742 begin surface coast
23801 end surface coast: CONTROL_FINISHED_OK
23801 begin surface
SM 1.66 - - - - 186.4 143.11 0.972 1084.1 7.5 21.50 0.074 1099.6 51.1 - 0.25 0.093 1068.6 4274.4 -7.798 - - 12.58 15.89 15.95 -