NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 213 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 86.52 of 575.00 AH used of 24V (84.95% remains)
• Surface angle -63.8 deg, depth 1.59 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.70 (SM_CC=475)
• GPS1 time: 95 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
8.98 - - - 70.58 VBD -1.56 - - 181.69 - - - 2138.31 - -107.06 60.07 0.005 2393.81 - - - - - - - - - - 15.68
71.02 3.00 -2.97 12 128.00 -1.56 16.26 0.232 1960.56 109.4 3.11 0.096 3362.56 393.6 -107.06 26.19 0.006 3458.25 40.6 -3.359 - - - - - - 15.70 15.65 15.67
211.54 33.72 -23.95 39 217.94 roll -1.56 - - 1960.94 - 3.06 0.039 2065.69 -423.8 -107.06 - - 3459.25 - - - - - - - - - 15.85 -
401.55 62.02 -13.55 77 405.99 no move -1.56 - - 1961.06 - - - 2065.06 - -107.06 - - 3459.41 - - - - - - - - - - -
586.57 85.28 -12.14 114 593.32 roll -1.56 - - 1960.69 - 3.27 0.087 3362.88 396.9 -107.06 - - 3462.03 - - - - - - - - - 15.92 -
636.91 91.72 -12.90 124 643.46 roll -1.56 - - 1960.62 - 3.04 0.038 2064.69 -427.0 -107.06 - - 3462.34 - - - - - - - - - 15.93 -
831.92 113.35 -10.63 151 837.97 roll -1.56 - - 1960.12 - 3.60 0.112 689.75 -381.9 -107.06 - - 3460.66 - - - - - - - - - 15.93 -
871.93 117.83 -11.45 159 877.88 roll -1.56 - - 1961.12 - 3.33 0.041 2136.31 434.4 -107.06 - - 3461.41 - - - - - - - - - 16.01 -
1181.95 147.59 -9.26 191 1183.53 no move -1.56 - - 1960.75 - - - 2136.62 - -107.06 - - 3461.78 - - - - - - - - - - -
1491.98 177.33 -9.39 222 1499.16 roll -1.56 - - 1961.50 - 3.77 0.108 689.69 -383.8 -107.06 - - 3461.47 - - - - - - - - - 15.95 -
1552.02 183.94 -11.19 234 1559.47 roll -1.56 - - 1961.25 - 3.32 0.042 2135.00 435.3 -107.06 - - 3464.47 - - - - - - - - - 16.05 -
1867.79 215.84 -10.34 266 1869.36 no move -1.56 - - 1960.56 - - - 2135.31 - -107.06 - - 3462.47 - - - - - - - - - - -
2177.82 246.88 -9.94 297 2185.01 roll -1.56 - - 1960.19 - 3.78 0.108 689.56 -382.5 -107.06 - - 3462.22 - - - - - - - - - 16.06 -
2233.61 253.24 -11.00 308 2239.57 roll -1.56 - - 1961.06 - 3.34 0.043 2134.69 432.7 -107.06 - - 3464.72 - - - - - - - - - 16.09 -
2543.64 283.89 -9.61 340 2545.21 no move -1.56 - - 1960.75 - - - 2136.38 - -107.06 - - 3462.62 - - - - - - - - - - -
2853.66 313.31 -9.32 371 2855.23 no move -1.56 - - 1961.00 - - - 2135.94 - -107.06 - - 3462.44 - - - - - - - - - - -
3163.69 342.57 -9.19 402 3170.89 roll -1.56 - - 1960.56 - 3.78 0.112 690.88 -382.3 -107.06 - - 3462.16 - - - - - - - - - 16.10 -
3199.37 346.23 -9.69 409 3205.56 roll -1.56 - - 1961.25 - 3.33 0.045 2136.12 434.0 -107.06 - - 3462.78 - - - - - - - - - 16.11 -
3509.48 374.17 -9.20 441 3511.05 no move -1.56 - - 1961.31 - - - 2135.38 - -107.06 - - 3461.03 - - - - - - - - - - -
3819.42 401.63 -9.08 472 3826.63 roll -1.56 - - 1960.56 - 3.78 0.113 690.25 -382.3 -107.06 - - 3460.41 - - - - - - - - - 16.12 -
3885.11 408.42 -10.33 485 3891.11 roll -1.56 - - 1961.88 - 3.32 0.047 2134.12 434.9 -107.06 - - 3461.59 - - - - - - - - - 16.12 -
4195.15 436.43 -9.05 517 4196.72 no move -1.56 - - 1961.12 - - - 2134.31 - -107.06 - - 3460.00 - - - - - - - - - - -
4505.18 464.80 -9.23 548 4512.37 roll -1.56 - - 1960.75 - 3.78 0.112 690.56 -381.9 -107.06 - - 3460.16 - - - - - - - - - 16.12 -
4610.86 475.94 -10.38 569 4616.86 roll -1.56 - - 1961.50 - 3.36 0.047 2134.31 429.7 -107.06 - - 3460.00 - - - - - - - - - 16.08 -
4920.89 505.17 -9.14 601 4922.46 no move -1.56 - - 1961.25 - - - 2134.06 - -107.06 - - 3457.50 - - - - - - - - - - -
5230.91 534.30 -9.30 632 5232.48 no move -1.56 - - 1961.06 - - - 2134.38 - -107.06 - - 3457.62 - - - - - - - - - - -
5540.93 561.90 -8.79 663 5548.12 roll -1.56 - - 1960.12 - 3.79 0.113 689.50 -381.2 -107.06 - - 3458.94 - - - - - - - - - 16.12 -
5586.60 566.41 -9.98 672 5592.56 roll -1.56 - - 1960.69 - 3.37 0.046 2132.62 428.2 -107.06 - - 3458.34 - - - - - - - - - 16.12 -
5896.63 592.19 -7.95 704 5903.82 roll -1.56 - - 1961.69 - 3.78 0.112 688.75 -382.0 -107.06 - - 3456.34 - - - - - - - - - 16.13 -
5932.30 595.63 -9.68 711 5938.49 roll -1.56 - - 1960.88 - 3.37 0.046 2133.38 428.7 -107.06 - - 3456.66 - - - - - - - - - 16.14 -
6242.31 621.44 -8.17 743 6243.88 no move -1.56 - - 1961.06 - - - 2134.06 - -107.06 - - 3454.50 - - - - - - - - - - -
6552.33 647.00 -8.24 774 6553.90 no move -1.56 - - 1960.75 - - - 2133.50 - -107.06 - - 3453.75 - - - - - - - - - - -
6862.35 671.66 -8.05 805 6869.54 roll -1.56 - - 1961.44 - 3.80 0.115 689.69 -379.9 -107.06 - - 3454.50 - - - - - - - - - 16.12 -
6972.54 681.57 -8.96 827 6979.78 roll -1.56 - - 1960.81 - 3.38 0.048 2131.75 426.6 -107.06 - - 3454.19 - - - - - - - - - 16.13 -
7288.07 705.47 -7.78 859 7295.28 roll -1.56 - - 1961.56 - 3.79 0.115 689.94 -380.4 -107.06 - - 3453.31 - - - - - - - - - 16.13 -
7318.00 708.27 -8.58 865 7325.46 roll -1.56 - - 1960.44 - 3.37 0.047 2132.81 428.2 -107.06 - - 3455.19 - - - - - - - - - 16.14 -
7633.77 732.96 -7.84 897 7635.35 no move -1.56 - - 1961.31 - - - 2133.19 - -107.06 - - 3452.47 - - - - - - - - - - -
7943.79 756.59 -7.69 928 7951.00 roll -1.56 - - 1961.44 - 3.78 0.115 689.25 -382.0 -107.06 - - 3452.72 - - - - - - - - - 16.13 -
8013.84 763.14 -9.06 942 8021.32 roll -1.56 - - 1961.19 - 3.38 0.048 2131.38 426.7 -107.06 - - 3452.53 - - - - - - - - - 16.14 -
8329.61 788.42 -8.12 974 8336.82 roll -1.56 - - 1960.81 - 3.78 0.114 690.12 -381.3 -107.06 - - 3452.22 - - - - - - - - - 16.13 -
8399.54 795.13 -9.10 988 8407.02 roll -1.56 - - 1961.19 - 3.38 0.047 2134.12 427.2 -107.06 - - 3454.25 - - - - - - - - - 16.12 -
8715.32 821.10 -8.37 1020 8722.52 roll -1.56 - - 1960.62 - 3.78 0.115 689.94 -382.1 -107.06 - - 3452.06 - - - - - - - - - 16.12 -
8755.36 824.87 -9.39 1028 8762.87 roll -1.56 - - 1960.81 - 3.38 0.048 2131.88 426.6 -107.06 - - 3452.53 - - - - - - - - - 16.13 -
9071.13 850.32 -7.76 1060 9078.33 roll -1.56 - - 1960.75 - 3.79 0.114 689.88 -380.5 -107.06 - - 3453.38 - - - - - - - - - 16.09 -
9111.05 853.95 -9.00 1068 9118.55 roll -1.56 - - 1961.00 - 3.37 0.048 2133.19 428.3 -107.06 - - 3451.59 - - - - - - - - - 16.12 -
9426.83 878.35 -7.75 1100 9434.05 roll -1.56 - - 1960.44 - 3.80 0.115 688.50 -380.2 -107.06 - - 3450.09 - - - - - - - - - 16.09 -
9466.88 881.90 -8.81 1108 9474.36 roll -1.56 - - 1961.06 - 3.40 0.049 2132.62 424.7 -107.06 - - 3451.16 - - - - - - - - - 16.12 -
9782.66 904.71 -7.21 1140 9789.86 roll -1.56 - - 1961.44 - 3.79 0.114 688.69 -381.0 -107.06 - - 3449.44 - - - - - - - - - 16.11 -
9828.35 908.38 -8.09 1149 9834.32 roll -1.56 - - 1961.19 - 3.39 0.048 2133.38 426.2 -107.06 - - 3450.78 - - - - - - - - - 16.11 -
10138.37 930.67 -7.24 1181 10145.94 roll -1.56 - - 1960.69 - 3.80 0.114 688.38 -380.3 -107.06 - - 3448.53 - - - - - - - - - 16.11 -
10188.78 935.13 -9.50 1191 10196.26 roll -1.56 - - 1960.75 - 3.38 0.048 2131.56 427.0 -107.06 - - 3450.47 - - - - - - - - - 16.12 -
10504.55 959.72 -7.89 1223 10511.76 roll -1.56 - - 1960.69 - 3.80 0.115 690.44 -379.2 -107.06 - - 3447.81 - - - - - - - - - 16.11 -
10544.59 963.53 -9.46 1231 10552.11 roll -1.56 - - 1960.94 - 3.38 0.048 2132.75 426.7 -107.06 - - 3449.41 - - - - - - - - - 16.11 -
10860.37 989.13 -7.95 1263 10867.82 roll -1.56 - - 1958.50 - 3.80 0.115 689.44 -379.8 -107.06 - - 3450.00 - - - - - - - - - 16.11 -
10870 end dive: TARGET_DEPTH_EXCEEDED
10870 begin apogee
10877.12 990.55 -8.80 1265 10970.63 -0.42 2.46 0.116 2241.44 115.0 0.10 0.222 2117.75 14283.1 - 85.52 2.236 3017.25 -5.1 0.371 - - - - - - 16.06 15.55 12.40
10982 end apogee: CONTROL_FINISHED_OK
10982 begin climb
10984.95 992.45 - 1274 11097.68 1.56 3.87 0.053 2733.12 127.0 3.31 0.095 3364.25 376.6 107.06 94.64 2.165 2582.91 -4.6 0.348 - - - - - - 15.68 15.33 12.75
11150.50 984.14 9.00 1305 11158.04 1.56 0.28 0.160 2713.38 -70.5 3.01 0.041 2117.56 -414.2 107.06 - - 2575.78 - - - - - - - - 15.60 15.64 -
11466.28 954.93 9.80 1337 11472.16 done 1.56 - - 2713.12 - 3.17 0.093 3363.12 392.9 107.06 - - 2566.72 - - - - - - - - - 15.87 -
11596.31 941.30 11.11 1363 11602.12 done 1.56 - - 2713.38 - 2.95 0.041 2117.88 -422.1 107.06 - - 2567.34 - - - - - - - - - 15.91 -
11906.34 910.07 9.94 1395 11912.23 done 1.56 - - 2712.88 - 3.12 0.091 3362.44 398.9 107.06 - - 2564.16 - - - - - - - - - 15.98 -
12030.62 896.68 10.65 1420 12037.88 done 1.56 - - 2712.94 - 2.95 0.041 2117.06 -422.2 107.06 - - 2563.47 - - - - - - - - - 15.99 -
12346.40 865.74 9.53 1452 12352.28 done 1.56 - - 2712.94 - 3.14 0.092 3363.38 396.9 107.06 - - 2563.47 - - - - - - - - - 16.03 -
12456.43 854.61 10.25 1474 12462.20 done 1.56 - - 2713.38 - 2.92 0.041 2116.69 -426.9 107.06 - - 2562.44 - - - - - - - - - 16.04 -
12766.71 826.66 8.84 1506 12772.33 done 1.56 - - 2711.88 - 3.13 0.090 3365.56 399.0 107.06 - - 2563.31 - - - - - - - - - 16.06 -
12956.51 808.88 9.33 1544 12962.30 done 1.56 - - 2712.25 - 2.92 0.041 2117.19 -427.5 107.06 - - 2563.31 - - - - - - - - - 16.08 -
13266.54 784.34 7.67 1576 13272.40 done 1.56 - - 2712.94 - 3.14 0.091 3362.44 396.6 107.06 - - 2562.12 - - - - - - - - - 16.07 -
13416.57 771.58 8.55 1606 13422.35 done 1.56 - - 2713.50 - 2.92 0.041 2115.62 -427.0 107.06 - - 2560.81 - - - - - - - - - 16.08 -
13726.84 747.27 7.98 1638 13728.41 VBD 1.56 - - 2712.94 - - - 2115.44 - 107.06 - - 2558.19 - - - - - - - - - - -
14036.88 722.95 8.23 1669 14042.55 done 1.56 - - 2713.00 - 3.15 0.090 3364.56 396.5 107.06 - - 2559.84 - - - - - - - - - 16.10 -
14270.93 701.90 8.60 1716 14278.50 done 1.56 - - 2713.19 - 2.92 0.041 2116.75 -427.3 107.06 - - 2559.19 - - - - - - - - - 16.10 -
14586.71 676.52 7.81 1748 14592.74 done 1.56 - - 2713.25 - 3.13 0.089 3363.88 398.4 107.06 - - 2558.88 - - - - - - - - - 16.09 -
14640.98 671.89 8.64 1759 14648.25 done 1.56 - - 2712.94 - 2.91 0.042 2117.12 -428.4 107.06 - - 2559.50 - - - - - - - - - 16.11 -
14956.75 647.71 7.62 1791 14958.33 VBD 1.56 - - 2713.19 - - - 2116.81 - 107.06 - - 2557.41 - - - - - - - - - - -
15267.08 624.63 7.24 1822 15273.73 done 1.59 - - 2713.88 - 3.14 0.090 3364.88 397.5 107.06 - - 2555.12 - - - - - - - - - 16.12 -
15502.35 605.62 8.02 1869 15508.11 done 1.59 - - 2713.31 - 2.90 0.042 2116.62 -430.4 107.06 - - 2559.19 - - - - - - - - - 16.12 -
15812.42 582.78 7.23 1901 15818.46 1.61 0.22 0.059 2743.06 135.2 3.14 0.089 3363.88 397.2 107.06 - - 2557.69 - - - - - - - - 16.17 16.09 -
15936.65 572.10 8.95 1926 15944.39 1.61 0.24 0.157 2726.94 -67.2 2.90 0.041 2114.12 -431.0 107.06 - - 2557.44 - - - - - - - - 16.03 16.12 -
16252.48 549.22 6.79 1958 16258.48 1.65 0.18 0.061 2753.00 144.8 3.14 0.088 3364.38 398.2 107.06 - - 2559.12 - - - - - - - - 16.17 16.08 -
16346.70 541.83 7.80 1977 16354.14 1.65 0.25 0.161 2735.75 -69.0 2.90 0.041 2114.44 -431.0 107.06 - - 2557.19 - - - - - - - - 16.01 16.10 -
16662.53 520.56 6.14 2009 16664.38 1.71 0.20 0.062 2766.38 153.2 - - 2114.69 - 107.06 - - 2559.75 - - - - - - - - 16.12 - -
16972.81 497.62 7.18 2040 16978.39 done 1.73 - - 2766.19 - 3.14 0.089 3364.62 398.1 107.06 - - 2558.41 - - - - - - - - - 16.11 -
17206.82 478.00 8.81 2087 17214.13 done 1.73 - - 2765.81 - 2.90 0.041 2115.38 -430.8 107.06 - - 2558.69 - - - - - - - - - 16.12 -
17522.90 454.38 7.25 2119 17528.49 done 1.76 - - 2766.69 - 3.14 0.087 3364.75 397.9 107.06 - - 2557.38 - - - - - - - - - 16.12 -
17726.95 438.90 7.41 2160 17734.18 done 1.78 - - 2766.25 - 2.90 0.042 2118.12 -429.9 107.06 - - 2558.56 - - - - - - - - - 16.12 -
18042.74 418.52 6.31 2192 18048.76 1.83 0.14 0.074 2798.94 233.5 3.14 0.089 3364.06 396.8 107.06 - - 2557.62 - - - - - - - - 16.14 16.07 -
18162.77 409.77 7.46 2216 18168.44 done 1.85 - - 2798.69 - 2.89 0.041 2117.31 -431.4 107.06 - - 2557.47 - - - - - - - - - 16.12 -
18472.79 389.10 6.81 2248 18474.37 VBD 1.88 - - 2798.56 - - - 2116.25 - 107.06 - - 2556.44 - - - - - - - - - - -
18782.84 369.11 6.53 2279 18784.41 VBD 1.93 - - 2798.00 - - - 2116.31 - 107.06 - - 2557.59 - - - - - - - - - - -
19092.87 348.84 6.35 2310 19094.63 1.98 0.18 0.060 2833.06 194.8 - - 2117.00 - 107.06 - - 2556.41 - - - - - - - - 16.16 - -
19402.90 328.61 6.30 2341 19410.03 done 2.03 - - 2833.12 - 3.68 0.109 687.69 -388.4 107.06 - - 2557.94 - - - - - - - - - 16.09 -
19638.61 312.40 6.84 2388 19645.67 done 2.07 - - 2832.50 - 3.53 0.051 2185.44 424.3 107.06 - - 2557.75 - - - - - - - - - 16.09 -
19953.62 294.89 5.40 2420 19961.06 2.15 0.22 0.057 2874.75 192.0 3.89 0.104 687.38 -385.1 107.06 - - 2554.66 - - - - - - - - 16.13 16.03 -
20069.61 287.38 6.55 2443 20075.62 done 2.20 - - 2874.75 - 3.51 0.050 2186.50 427.1 107.06 - - 2555.00 - - - - - - - - - 16.10 -
20379.86 270.14 5.63 2475 20385.49 2.27 0.14 0.065 2903.12 202.6 2.96 0.090 3366.62 398.7 107.06 - - 2555.38 - - - - - - - - 16.17 16.05 -
20543.89 260.45 5.91 2508 20551.12 done 2.33 - - 2901.94 - 2.91 0.040 2113.12 -430.8 107.06 - - 2557.94 - - - - - - - - - 16.05 -
20859.90 243.68 5.16 2540 20866.95 2.42 0.17 0.063 2938.19 213.2 3.68 0.104 687.31 -387.4 107.06 - - 2553.41 - - - - - - - - 16.08 16.04 -
21005.51 235.38 5.62 2569 21011.50 done 2.49 - - 2937.94 - 3.50 0.048 2187.44 428.6 107.06 - - 2557.81 - - - - - - - - - 16.08 -
21315.51 220.46 4.83 2601 21368.12 2.57 0.20 0.056 2976.50 192.8 - - 2187.94 - 170.02 47.81 1.264 2327.97 -4.8 0.139 - - - - - - 16.10 - 12.37
21675.49 173.83 15.11 2639 21681.51 2.57 0.32 0.174 2958.62 -55.9 2.98 0.089 3364.19 394.7 170.02 - - 2317.38 - - - - - - - - 15.89 15.90 -
21759.74 161.20 14.63 2656 21767.02 done 2.57 - - 2959.81 - 2.93 0.039 2115.50 -426.2 170.02 - - 2318.19 - - - - - - - - - 15.97 -
22075.76 125.51 10.62 2688 22077.33 VBD 2.57 - - 2959.69 - - - 2115.69 - 170.02 - - 2313.72 - - - - - - - - - - -
22385.59 100.57 5.76 2719 22387.40 2.64 0.24 0.053 2991.00 130.5 - - 2115.44 - 170.02 - - 2314.59 - - - - - - - - 16.01 - -
22690.62 93.61 0.40 2778 22856.77 2.84 0.28 0.051 3038.75 170.5 3.83 0.107 690.25 -372.1 319.40 153.57 1.064 1717.22 -3.9 0.057 - - - - - - 16.00 15.56 12.48
23020.41 50.22 16.84 2842 23027.46 roll back 2.84 0.28 0.178 3022.69 -57.4 3.60 0.049 2183.94 414.9 319.40 - - 1714.28 - - - - - - - - 15.72 15.81 -
23211.17 32.60 4.47 2880 23289.88 2.93 0.29 0.044 3061.19 132.8 - - 2183.00 - 389.27 71.69 0.981 1434.28 -3.9 0.021 - - - - - - 15.87 - 12.59
23473.44 18.57 7.94 2932 23480.04 roll 2.93 - - 3060.75 - 3.02 0.087 3363.06 390.7 389.27 - - 1436.69 - - - - - - - - - 15.81 -
23678 end climb: SURFACE_DEPTH_REACHED
23678 begin surface coast
23708 end surface coast: CONTROL_FINISHED_OK
23709 begin surface
SM 1.65 - - - - 184.0 82.08 0.960 1084.8 13.2 21.71 0.048 1098.0 50.6 - 3.05 0.039 1071.6 350.4 -1.515 - - 12.54 15.94 15.91 -