NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 212 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 86.18 of 575.00 AH used of 24V (85.01% remains)
• Surface angle -61.1 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 24 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
8.97 - - - 65.37 VBD -1.56 - - 181.94 - - - 2131.00 - -107.06 54.97 0.005 2270.69 - - - - - - - - - - 15.67
65.81 3.05 -2.82 11 127.79 -1.56 16.02 0.234 1961.12 111.1 3.15 0.094 3362.88 391.1 -107.06 30.83 0.006 3457.41 38.5 -3.234 - - - - - - 15.69 15.63 15.69
221.32 36.88 -23.08 41 227.72 roll -1.56 - - 1960.94 - 3.06 0.039 2068.06 -423.1 -107.06 - - 3459.25 - - - - - - - - - 15.83 -
411.33 64.67 -13.44 79 415.76 no move -1.56 - - 1961.56 - - - 2068.56 - -107.06 - - 3459.62 - - - - - - - - - - -
596.35 87.95 -11.73 116 600.76 no move -1.56 - - 1961.25 - - - 2067.69 - -107.06 - - 3460.09 - - - - - - - - - - -
786.40 108.29 -9.70 146 792.29 roll -1.56 - - 1960.56 - 3.29 0.088 3362.25 393.5 -107.06 - - 3462.53 - - - - - - - - - 15.97 -
826.40 112.22 -10.09 154 832.24 roll -1.56 - - 1961.00 - 3.03 0.037 2066.12 -427.8 -107.06 - - 3461.66 - - - - - - - - - 15.97 -
1136.98 141.73 -9.05 186 1138.54 no move -1.56 - - 1960.69 - - - 2065.69 - -107.06 - - 3462.12 - - - - - - - - - - -
1446.44 172.29 -10.04 217 1448.01 no move -1.56 - - 1961.00 - - - 2066.00 - -107.06 - - 3463.28 - - - - - - - - - - -
1756.45 202.24 -9.11 248 1758.02 no move -1.56 - - 1960.94 - - - 2066.12 - -107.06 - - 3463.12 - - - - - - - - - - -
2066.55 231.20 -9.90 279 2072.36 roll -1.56 - - 1961.12 - 3.30 0.091 3363.31 393.1 -107.06 - - 3465.59 - - - - - - - - - 16.08 -
2116.47 236.68 -10.84 289 2122.28 roll -1.56 - - 1960.81 - 3.04 0.043 2067.56 -426.2 -107.06 - - 3463.66 - - - - - - - - - 16.09 -
2426.49 267.70 -9.90 321 2432.59 roll -1.56 - - 1960.94 - 3.63 0.117 691.31 -379.1 -107.06 - - 3463.97 - - - - - - - - - 16.07 -
2466.83 272.33 -11.07 329 2473.89 roll -1.56 - - 1961.12 - 3.37 0.045 2134.44 428.2 -107.06 - - 3464.00 - - - - - - - - - 16.07 -
2781.52 303.39 -9.71 361 2788.72 roll -1.56 - - 1960.31 - 3.77 0.111 690.69 -383.0 -107.06 - - 3463.72 - - - - - - - - - 16.08 -
2817.19 307.14 -10.46 368 2823.15 roll -1.56 - - 1961.31 - 3.34 0.045 2134.62 432.3 -107.06 - - 3463.09 - - - - - - - - - 16.08 -
3127.21 336.21 -9.26 400 3128.78 no move -1.56 - - 1960.56 - - - 2134.44 - -107.06 - - 3462.28 - - - - - - - - - - -
3437.61 365.40 -9.52 431 3444.66 roll -1.56 - - 1960.50 - 3.76 0.110 690.25 -384.1 -107.06 - - 3464.69 - - - - - - - - - 16.08 -
3503.57 372.30 -10.34 444 3509.45 roll -1.56 - - 1961.50 - 3.33 0.045 2125.31 430.9 -107.06 - - 3463.69 - - - - - - - - - 16.12 -
3813.62 401.21 -9.20 476 3815.24 no move -1.56 - - 1961.12 - - - 2134.19 - -107.06 - - 3460.88 - - - - - - - - - - -
4123.69 429.53 -9.20 507 4125.29 no move -1.56 - - 1960.81 - - - 2134.06 - -107.06 - - 3460.41 - - - - - - - - - - -
4433.74 456.55 -9.06 538 4435.35 no move -1.56 - - 1961.12 - - - 2133.81 - -107.06 - - 3459.66 - - - - - - - - - - -
4743.80 483.12 -8.81 569 4750.94 roll -1.56 - - 1960.19 - 3.79 0.115 690.19 -380.9 -107.06 - - 3459.12 - - - - - - - - - 16.12 -
4783.71 487.25 -10.11 577 4791.66 roll -1.56 - - 1960.75 - 3.36 0.047 2133.19 429.5 -107.06 - - 3459.38 - - - - - - - - - 16.13 -
5099.78 514.71 -9.02 609 5106.93 roll -1.56 - - 1961.25 - 3.75 0.112 688.75 -385.2 -107.06 - - 3457.97 - - - - - - - - - 16.12 -
5139.70 518.93 -10.88 617 5147.60 roll -1.56 - - 1960.44 - 3.37 0.045 2134.62 429.0 -107.06 - - 3460.59 - - - - - - - - - 16.13 -
5455.77 547.12 -9.09 649 5457.38 no move -1.56 - - 1960.94 - - - 2135.25 - -107.06 - - 3457.44 - - - - - - - - - - -
5765.83 574.11 -8.32 680 5772.97 roll -1.56 - - 1959.94 - 3.78 0.115 689.81 -382.4 -107.06 - - 3459.41 - - - - - - - - - 16.13 -
5831.76 580.56 -9.33 693 5837.63 roll -1.56 - - 1960.56 - 3.35 0.047 2122.19 427.6 -107.06 - - 3459.19 - - - - - - - - - 16.14 -
6141.82 607.11 -8.84 725 6143.68 no move -1.56 - - 1960.81 - - - 2133.12 - -107.06 - - 3455.84 - - - - - - - - - - -
6451.88 632.52 -7.49 756 6459.02 roll -1.56 - - 1960.94 - 3.76 0.113 690.31 -383.7 -107.06 - - 3454.88 - - - - - - - - - 16.13 -
6497.81 636.81 -9.21 765 6504.74 roll -1.56 - - 1960.88 - 3.37 0.048 2134.62 428.6 -107.06 - - 3455.69 - - - - - - - - - 16.13 -
6812.87 662.12 -7.82 797 6820.02 roll -1.56 - - 1960.38 - 3.79 0.113 688.56 -381.5 -107.06 - - 3455.66 - - - - - - - - - 16.13 -
6852.79 666.00 -9.52 805 6860.69 roll -1.56 - - 1960.88 - 3.39 0.046 2133.94 426.4 -107.06 - - 3454.34 - - - - - - - - - 16.13 -
7168.86 691.85 -8.24 837 7170.47 no move -1.56 - - 1960.94 - - - 2134.00 - -107.06 - - 3453.28 - - - - - - - - - - -
7478.92 718.87 -8.84 868 7486.13 roll -1.56 - - 1961.00 - 3.81 0.114 689.69 -379.1 -107.06 - - 3452.91 - - - - - - - - - 16.12 -
7544.92 725.52 -9.97 881 7551.85 roll -1.56 - - 1960.56 - 3.38 0.048 2133.31 427.1 -107.06 - - 3455.19 - - - - - - - - - 16.12 -
7859.98 753.22 -8.53 913 7861.59 no move -1.56 - - 1961.25 - - - 2132.62 - -107.06 - - 3452.47 - - - - - - - - - - -
8170.05 779.58 -8.05 944 8177.25 roll -1.56 - - 1960.12 - 3.81 0.115 688.88 -378.9 -107.06 - - 3453.97 - - - - - - - - - 16.12 -
8226.15 784.91 -8.86 955 8232.02 roll -1.56 - - 1960.81 - 3.33 0.048 2126.75 431.8 -107.06 - - 3453.88 - - - - - - - - - 16.12 -
8536.18 809.19 -7.70 987 8543.37 roll -1.56 - - 1959.81 - 3.81 0.114 689.44 -377.2 -107.06 - - 3453.00 - - - - - - - - - 16.12 -
8592.15 813.99 -8.31 998 8599.09 roll -1.56 - - 1961.12 - 3.38 0.048 2132.19 426.8 -107.06 - - 3453.94 - - - - - - - - - 16.12 -
8907.20 836.45 -6.89 1030 8908.81 no move -1.56 - - 1960.50 - - - 2132.19 - -107.06 - - 3451.56 - - - - - - - - - - -
9217.21 857.68 -6.97 1061 9224.37 roll -1.56 - - 1961.19 - 3.80 0.113 689.75 -379.6 -107.06 - - 3451.03 - - - - - - - - - 16.12 -
9263.15 861.46 -8.33 1070 9270.07 roll -1.56 - - 1960.31 - 3.37 0.048 2132.81 428.2 -107.06 - - 3452.16 - - - - - - - - - 16.11 -
9578.18 884.61 -6.98 1102 9579.79 no move -1.56 - - 1960.56 - - - 2133.31 - -107.06 - - 3450.75 - - - - - - - - - - -
9888.21 906.63 -7.03 1133 9895.35 roll -1.56 - - 1961.12 - 3.80 0.114 690.38 -379.7 -107.06 - - 3451.72 - - - - - - - - - 16.10 -
9958.24 912.53 -8.27 1147 9966.14 roll -1.56 - - 1961.19 - 3.38 0.049 2132.12 426.6 -107.06 - - 3451.03 - - - - - - - - - 16.11 -
10274.31 935.23 -7.41 1179 10281.46 roll -1.56 - - 1960.88 - 3.80 0.115 691.75 -379.0 -107.06 - - 3448.88 - - - - - - - - - 16.11 -
10330.25 939.83 -8.36 1190 10337.17 roll -1.56 - - 1960.56 - 3.38 0.050 2133.06 426.4 -107.06 - - 3449.53 - - - - - - - - - 16.12 -
10645.29 961.33 -6.55 1222 10652.50 roll -1.56 - - 1960.69 - 3.82 0.117 688.69 -378.1 -107.06 - - 3449.81 - - - - - - - - - 16.11 -
10695.40 965.19 -7.59 1232 10703.30 roll -1.56 - - 1961.06 - 3.38 0.050 2132.06 427.0 -107.06 - - 3450.03 - - - - - - - - - 16.11 -
11011.47 985.48 -6.27 1264 11018.68 roll -1.56 - - 1960.50 - 3.81 0.115 689.62 -378.6 -107.06 - - 3448.28 - - - - - - - - - 16.11 -
11047.46 988.23 -6.55 1271 11054.42 roll -1.56 - - 1961.69 - 3.38 0.049 2134.00 427.3 -107.06 - - 3449.00 - - - - - - - - - 16.10 -
11082 end dive: TARGET_DEPTH_EXCEEDED
11082 begin apogee
11084.21 990.77 -7.52 1275 11178.94 -0.42 2.37 0.119 2240.56 117.7 0.10 0.227 2116.31 -176.9 - 86.01 2.230 3018.72 -5.0 0.367 - - - - - - 16.07 15.54 12.41
11190 end apogee: CONTROL_FINISHED_OK
11191 begin climb
11193.47 991.23 - 1284 11299.13 1.56 3.85 0.056 2733.12 127.9 - - 2115.88 - 107.06 95.11 2.159 2582.34 -4.6 0.348 - - - - - - 15.68 - 12.73
11603.01 955.16 11.18 1329 11610.07 1.56 0.28 0.144 2713.00 -71.9 3.19 0.094 3362.44 390.8 107.06 - - 2566.81 - - - - - - - - 15.81 15.80 -
11829.00 928.89 11.96 1374 11834.67 done 1.56 - - 2713.31 - 2.96 0.041 2117.75 -420.5 107.06 - - 2568.03 - - - - - - - - - 15.92 -
12139.03 897.72 10.05 1406 12144.83 done 1.56 - - 2713.56 - 3.17 0.093 3363.38 392.9 107.06 - - 2564.72 - - - - - - - - - 15.98 -
12283.08 882.04 10.91 1435 12290.74 done 1.56 - - 2713.00 - 2.95 0.041 2116.31 -422.7 107.06 - - 2566.69 - - - - - - - - - 16.01 -
12599.09 851.59 9.54 1467 12600.71 VBD 1.56 - - 2713.12 - - - 2116.75 - 107.06 - - 2561.97 - - - - - - - - - - -
12909.10 822.21 9.39 1498 12914.90 done 1.56 - - 2713.00 - 3.15 0.091 3364.38 396.1 107.06 - - 2562.22 - - - - - - - - - 16.06 -
13143.13 797.58 10.79 1545 13150.83 done 1.56 - - 2713.00 - 2.93 0.041 2117.81 -425.5 107.06 - - 2564.19 - - - - - - - - - 16.06 -
13459.13 767.65 9.21 1577 13464.93 done 1.56 - - 2713.25 - 3.15 0.091 3365.25 396.0 107.06 - - 2560.16 - - - - - - - - - 16.07 -
13543.17 759.24 10.19 1594 13550.82 done 1.56 - - 2713.44 - 2.93 0.042 2118.06 -425.7 107.06 - - 2560.84 - - - - - - - - - 16.08 -
13859.15 732.36 7.94 1626 13864.94 done 1.56 - - 2713.06 - 3.15 0.091 3365.38 396.0 107.06 - - 2562.16 - - - - - - - - - 16.09 -
13959.17 723.18 9.28 1646 13964.84 done 1.56 - - 2714.00 - 2.93 0.042 2117.06 -426.0 107.06 - - 2559.91 - - - - - - - - - 16.06 -
14269.23 699.68 7.46 1678 14270.84 VBD 1.58 - - 2713.31 - - - 2117.25 - 107.06 - - 2558.00 - - - - - - - - - - -
14579.24 678.63 6.85 1709 14586.26 1.62 0.25 0.055 2742.88 118.3 3.15 0.090 3363.50 395.6 107.06 - - 2556.75 - - - - - - - - 16.16 16.08 -
14785.07 661.12 8.79 1750 14790.79 done 1.62 - - 2743.12 - 2.91 0.041 2115.88 -428.7 107.06 - - 2558.25 - - - - - - - - - 16.10 -
15095.08 635.93 8.03 1782 15100.88 done 1.62 - - 2742.88 - 3.14 0.090 3364.00 397.5 107.06 - - 2558.84 - - - - - - - - - 16.10 -
15265.11 620.69 9.65 1816 15270.78 done 1.62 - - 2742.94 - 2.91 0.042 2116.75 -428.6 107.06 - - 2559.03 - - - - - - - - - 16.11 -
15575.11 594.33 8.38 1848 15576.72 VBD 1.62 - - 2742.75 - - - 2116.75 - 107.06 - - 2556.56 - - - - - - - - - - -
15885.13 568.70 8.60 1879 15891.16 done 1.62 - - 2742.94 - 3.14 0.090 3363.38 397.0 107.06 - - 2557.78 - - - - - - - - - 16.11 -
15959.14 561.79 9.20 1894 15966.83 done 1.62 - - 2742.81 - 2.92 0.041 2115.31 -427.4 107.06 - - 2557.06 - - - - - - - - - 16.12 -
16275.15 535.10 8.42 1926 16280.94 done 1.62 - - 2743.00 - 3.14 0.089 3363.38 397.5 107.06 - - 2558.75 - - - - - - - - - 16.12 -
16405.17 523.75 8.87 1952 16410.85 done 1.62 - - 2743.25 - 2.92 0.042 2114.88 -427.6 107.06 - - 2558.72 - - - - - - - - - 16.12 -
16715.23 500.18 7.37 1984 16720.98 done 1.64 - - 2742.94 - 3.15 0.088 3363.38 396.3 107.06 - - 2557.66 - - - - - - - - - 16.12 -
16935.22 482.99 7.90 2028 16940.88 done 1.64 - - 2742.88 - 2.91 0.041 2113.94 -429.4 107.06 - - 2559.78 - - - - - - - - - 16.11 -
17245.26 462.52 6.71 2060 17252.34 done 1.68 - - 2743.19 - 3.68 0.110 691.19 -386.6 107.06 - - 2554.69 - - - - - - - - - 16.09 -
17451.21 447.14 7.48 2101 17458.21 done 1.70 - - 2744.44 - 3.51 0.050 2184.88 425.6 107.06 - - 2553.94 - - - - - - - - - 16.09 -
17766.21 428.77 5.36 2133 17772.05 1.78 0.22 0.054 2783.25 176.4 2.96 0.091 3362.19 397.7 107.06 - - 2557.69 - - - - - - - - 16.19 16.07 -
17876.22 421.58 6.55 2155 17881.83 done 1.82 - - 2782.50 - 2.91 0.041 2114.69 -428.7 107.06 - - 2558.34 - - - - - - - - - 16.12 -
18186.22 403.09 5.87 2187 18193.69 1.89 0.10 0.085 2809.50 270.0 3.68 0.106 689.81 -387.2 107.06 - - 2554.22 - - - - - - - - 16.13 16.06 -
18336.99 391.72 7.67 2217 18345.24 1.89 0.23 0.168 2791.25 -79.3 3.52 0.051 2185.31 424.9 107.06 - - 2556.72 - - - - - - - - 16.01 16.09 -
18653.07 373.12 6.06 2249 18660.49 1.95 0.22 0.054 2822.81 143.5 3.87 0.102 687.31 -387.1 107.06 - - 2556.03 - - - - - - - - 16.13 16.09 -
18809.07 361.24 8.22 2280 18816.55 1.95 0.23 0.177 2806.31 -71.7 3.50 0.050 2185.56 428.1 107.06 - - 2554.50 - - - - - - - - 16.03 16.11 -
19124.40 339.28 6.69 2312 19130.20 1.99 0.18 0.063 2834.38 155.9 2.95 0.091 3362.75 399.0 107.06 - - 2555.50 - - - - - - - - 16.11 16.06 -
19318.46 324.75 7.34 2351 19326.13 done 2.01 - - 2834.38 - 2.91 0.040 2114.31 -429.0 107.06 - - 2557.88 - - - - - - - - - 16.11 -
19634.50 305.92 5.69 2383 19640.23 done 2.08 - - 2832.81 - 3.14 0.087 3363.69 397.9 107.06 - - 2556.91 - - - - - - - - - 16.10 -
19694.53 302.14 6.45 2395 19700.51 2.13 0.17 0.063 2864.88 188.6 2.89 0.040 2112.19 -433.0 107.06 - - 2557.69 - - - - - - - - 16.13 16.10 -
20004.56 282.82 6.33 2427 20011.65 done 2.18 - - 2867.81 - 3.67 0.105 687.69 -388.1 107.06 - - 2553.91 - - - - - - - - - 16.03 -
20144.52 273.10 6.93 2455 20152.49 done 2.21 - - 2868.56 - 3.51 0.048 2187.56 427.3 107.06 - - 2555.38 - - - - - - - - - 16.05 -
20460.57 253.46 6.02 2487 20462.38 2.27 0.19 0.052 2904.19 187.5 - - 2188.00 - 107.06 - - 2554.81 - - - - - - - - 16.16 - -
20770.64 234.27 5.93 2518 20776.29 done 2.34 - - 2905.25 - 2.97 0.089 3364.56 396.1 107.06 - - 2555.56 - - - - - - - - - 16.07 -
21004.70 219.79 5.75 2565 21012.56 2.41 0.14 0.067 2933.31 200.4 2.92 0.040 2113.75 -428.4 107.06 - - 2555.44 - - - - - - - - 16.10 16.03 -
21320.75 202.80 5.10 2597 21327.82 done 2.49 - - 2932.62 - 3.68 0.103 687.38 -387.6 107.06 - - 2554.88 - - - - - - - - - 16.05 -
21556.74 191.79 4.68 2644 21632.64 2.58 0.28 0.049 2976.00 154.9 3.53 0.048 2186.69 424.7 172.83 63.83 1.177 2313.06 -3.8 0.102 - - - - - - 16.09 16.01 12.33
21936.74 147.60 13.30 2689 21944.04 done 2.58 - - 2975.75 - 3.93 0.098 689.50 -381.0 172.83 - - 2308.31 - - - - - - - - - 15.90 -
22133.00 121.19 12.48 2728 22140.05 done 2.58 - - 2975.69 - 3.55 0.049 2186.12 421.6 172.83 - - 2307.00 - - - - - - - - - 15.95 -
22443.10 97.50 4.92 2765 22515.94 VBD 2.66 - - 2976.06 - - - 2185.81 - 233.89 65.86 1.063 2065.69 -3.7 0.056 - - - - - - - - 12.51
22699.72 79.13 9.12 2816 22707.28 roll 2.66 - - 2976.19 - 3.93 0.098 688.75 -380.9 233.89 - - 2060.72 - - - - - - - - - 15.81 -
22936.26 59.74 7.12 2863 22943.44 roll back 2.69 0.12 0.077 3001.19 208.3 3.58 0.048 2186.12 418.3 233.89 - - 2060.94 - - - - - - - - 15.89 15.87 -
23127.23 49.61 5.05 2901 23198.24 done 2.76 - - 3000.69 - 3.98 0.097 687.88 -376.4 292.50 60.24 1.007 1827.75 -3.9 0.032 - - - - - - - 15.68 12.49
23322.15 33.34 9.16 2939 23329.54 roll 2.76 - - 3001.38 - 3.59 0.046 2185.19 417.1 292.50 - - 1826.44 - - - - - - - - - 15.81 -
23513.49 30.25 0.29 2977 23685.05 2.96 0.47 0.040 3070.44 146.9 4.04 0.099 688.75 -370.4 444.06 155.65 0.978 1209.50 -4.0 0.020 - - - - - - 15.84 15.51 12.59
23778.99 6.29 15.42 3028 23786.28 roll back 2.96 0.28 0.165 3053.44 -60.7 3.59 0.046 2181.88 415.9 444.06 - - 1209.59 - - - - - - - - 15.69 15.70 -
23815 end climb: SURFACE_DEPTH_REACHED
23815 begin surface coast
23835 end surface coast: CONTROL_FINISHED_OK
23835 begin surface
SM 1.04 - - - - 191.0 30.65 0.926 1083.7 35.4 21.68 0.046 1097.2 50.6 - 0.23 0.081 1070.1 4637.0 -6.085 - - 12.61 15.78 15.78 -