NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 214 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 86.86 of 575.00 AH used of 24V (84.89% remains)
• Surface angle -64.0 deg, depth 1.56 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.93 (SM_CC=475)
• GPS1 time: 28 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
9.01 - - - 65.42 VBD -1.56 - - 181.62 - - - 2135.56 - -107.06 54.98 0.005 2298.38 - - - - - - - - - - 15.68
65.86 3.34 -3.41 11 122.89 -1.56 16.30 0.236 1960.31 109.1 3.15 0.094 3363.44 389.8 -107.06 28.80 0.006 3458.16 40.3 -3.708 - - - - - - 15.67 15.65 15.69
161.42 22.62 -25.32 29 167.81 roll -1.56 - - 1960.88 - 3.06 0.040 2067.31 -423.6 -107.06 - - 3460.25 - - - - - - - - - 15.81 -
351.44 53.22 -12.36 67 357.97 roll -1.56 - - 1961.38 - 3.31 0.087 3360.31 390.6 -107.06 - - 3460.28 - - - - - - - - - 15.87 -
401.45 60.20 -14.18 77 407.86 roll -1.56 - - 1960.81 - 3.04 0.038 2065.94 -425.8 -107.06 - - 3458.59 - - - - - - - - - 15.89 -
591.50 85.21 -12.28 115 595.95 no move -1.56 - - 1961.31 - - - 2066.19 - -107.06 - - 3459.69 - - - - - - - - - - -
786.52 106.10 -9.58 148 792.42 roll -1.56 - - 1960.50 - 3.28 0.086 3363.06 395.4 -107.06 - - 3461.25 - - - - - - - - - 15.96 -
830.77 110.47 -9.75 157 838.08 roll -1.56 - - 1961.19 - 3.02 0.037 2065.12 -429.8 -107.06 - - 3460.72 - - - - - - - - - 15.93 -
1146.53 138.85 -9.18 189 1148.10 no move -1.56 - - 1960.94 - - - 2064.81 - -107.06 - - 3461.16 - - - - - - - - - - -
1456.56 165.92 -9.07 220 1458.12 no move -1.56 - - 1961.06 - - - 2064.44 - -107.06 - - 3462.31 - - - - - - - - - - -
1766.57 193.28 -9.13 251 1768.14 no move -1.56 - - 1960.50 - - - 2064.69 - -107.06 - - 3462.84 - - - - - - - - - - -
2076.59 222.22 -9.85 282 2078.16 no move -1.56 - - 1961.19 - - - 2064.75 - -107.06 - - 3462.28 - - - - - - - - - - -
2386.60 252.40 -9.72 313 2388.17 no move -1.56 - - 1961.19 - - - 2064.56 - -107.06 - - 3462.50 - - - - - - - - - - -
2696.61 283.49 -10.68 344 2698.18 no move -1.56 - - 1960.75 - - - 2064.50 - -107.06 - - 3462.28 - - - - - - - - - - -
3006.63 315.35 -10.19 375 3008.20 no move -1.56 - - 1961.06 - - - 2064.50 - -107.06 - - 3462.53 - - - - - - - - - - -
3316.64 344.75 -9.30 406 3318.21 no move -1.56 - - 1960.81 - - - 2064.38 - -107.06 - - 3462.16 - - - - - - - - - - -
3626.66 371.53 -8.43 437 3632.74 roll -1.56 - - 1960.88 - 3.62 0.119 689.75 -379.7 -107.06 - - 3462.72 - - - - - - - - - 16.07 -
3666.67 375.38 -9.64 445 3672.87 roll -1.56 - - 1961.75 - 3.40 0.048 2133.56 424.6 -107.06 - - 3463.72 - - - - - - - - - 16.12 -
3976.69 401.67 -8.29 477 3978.26 no move -1.56 - - 1961.19 - - - 2133.12 - -107.06 - - 3460.81 - - - - - - - - - - -
4286.72 429.40 -9.11 508 4293.91 roll -1.56 - - 1960.88 - 3.80 0.113 689.94 -379.8 -107.06 - - 3462.38 - - - - - - - - - 16.09 -
4346.63 435.77 -10.63 520 4354.09 roll -1.56 - - 1961.38 - 3.37 0.049 2132.19 428.0 -107.06 - - 3460.91 - - - - - - - - - 16.13 -
4662.74 464.68 -9.09 552 4664.31 no move -1.56 - - 1960.88 - - - 2131.88 - -107.06 - - 3459.03 - - - - - - - - - - -
4972.45 493.04 -9.25 583 4974.02 no move -1.56 - - 1961.06 - - - 2131.94 - -107.06 - - 3458.53 - - - - - - - - - - -
5282.48 521.94 -9.62 614 5289.72 roll -1.56 - - 1960.56 - 3.82 0.116 690.31 -377.4 -107.06 - - 3457.59 - - - - - - - - - 16.12 -
5382.45 532.94 -10.62 634 5389.94 roll -1.56 - - 1961.25 - 3.37 0.051 2133.00 428.1 -107.06 - - 3458.81 - - - - - - - - - 16.12 -
5698.25 563.08 -9.66 666 5699.82 no move -1.56 - - 1961.06 - - - 2132.94 - -107.06 - - 3456.84 - - - - - - - - - - -
6008.27 591.11 -8.91 697 6009.86 no move -1.56 - - 1961.38 - - - 2133.25 - -107.06 - - 3456.75 - - - - - - - - - - -
6318.30 618.83 -9.22 728 6325.56 roll -1.56 - - 1960.75 - 3.81 0.116 690.56 -378.7 -107.06 - - 3458.41 - - - - - - - - - 16.11 -
6408.30 628.09 -10.23 746 6415.78 roll -1.56 - - 1961.12 - 3.36 0.050 2133.06 429.3 -107.06 - - 3457.28 - - - - - - - - - 16.12 -
6724.11 656.11 -8.84 778 6725.68 no move -1.56 - - 1960.88 - - - 2133.12 - -107.06 - - 3454.25 - - - - - - - - - - -
7034.14 682.65 -8.32 809 7041.37 roll -1.56 - - 1960.75 - 3.83 0.116 689.94 -376.8 -107.06 - - 3456.12 - - - - - - - - - 16.12 -
7144.09 692.99 -9.15 831 7151.86 roll -1.56 - - 1961.19 - 3.41 0.050 2132.00 422.9 -107.06 - - 3454.34 - - - - - - - - - 16.12 -
7460.13 717.37 -7.84 863 7467.37 roll -1.56 - - 1959.88 - 3.83 0.117 690.75 -376.3 -107.06 - - 3455.22 - - - - - - - - - 16.12 -
7500.20 721.08 -9.03 871 7507.67 roll -1.56 - - 1960.88 - 3.38 0.049 2133.00 426.7 -107.06 - - 3455.06 - - - - - - - - - 16.14 -
7815.99 745.28 -7.71 903 7823.22 roll -1.56 - - 1961.12 - 3.82 0.114 688.69 -378.1 -107.06 - - 3454.91 - - - - - - - - - 16.12 -
7901.72 753.02 -9.05 920 7907.67 roll -1.56 - - 1961.00 - 3.39 0.047 2131.31 425.6 -107.06 - - 3454.69 - - - - - - - - - 16.12 -
8211.74 776.68 -7.41 952 8219.19 roll -1.56 - - 1960.62 - 3.80 0.113 689.38 -379.5 -107.06 - - 3454.03 - - - - - - - - - 16.12 -
8252.02 780.32 -8.98 960 8259.50 roll -1.56 - - 1961.25 - 3.39 0.047 2133.06 425.9 -107.06 - - 3452.72 - - - - - - - - - 16.12 -
8567.80 804.75 -7.71 992 8569.37 no move -1.56 - - 1960.69 - - - 2133.19 - -107.06 - - 3451.56 - - - - - - - - - - -
8877.82 829.62 -8.27 1023 8885.07 roll -1.56 - - 1961.81 - 3.82 0.116 691.50 -377.4 -107.06 - - 3451.88 - - - - - - - - - 16.12 -
8957.80 837.01 -9.39 1039 8965.32 roll -1.56 - - 1961.50 - 3.40 0.049 2131.94 423.7 -107.06 - - 3452.09 - - - - - - - - - 16.12 -
9273.59 861.48 -7.58 1071 9280.85 roll -1.56 - - 1959.38 - 3.81 0.114 689.25 -378.7 -107.06 - - 3452.75 - - - - - - - - - 16.11 -
9339.45 867.32 -8.77 1084 9345.45 roll -1.56 - - 1961.12 - 3.38 0.048 2132.56 427.0 -107.06 - - 3453.03 - - - - - - - - - 16.12 -
9649.48 890.26 -7.01 1116 9656.69 roll -1.56 - - 1961.38 - 3.78 0.113 689.81 -381.7 -107.06 - - 3452.97 - - - - - - - - - 16.11 -
9685.17 893.37 -7.70 1123 9691.12 roll -1.56 - - 1961.25 - 3.37 0.048 2133.50 428.4 -107.06 - - 3452.12 - - - - - - - - - 16.11 -
9995.20 916.80 -7.46 1155 10002.40 roll -1.56 - - 1960.75 - 3.78 0.113 688.12 -382.4 -107.06 - - 3449.91 - - - - - - - - - 16.11 -
10035.23 920.34 -8.77 1163 10042.75 roll -1.56 - - 1961.38 - 3.37 0.048 2131.62 428.3 -107.06 - - 3450.78 - - - - - - - - - 16.11 -
10351.04 943.93 -7.34 1195 10358.22 roll -1.56 - - 1960.75 - 3.78 0.113 690.25 -381.3 -107.06 - - 3449.38 - - - - - - - - - 16.10 -
10410.95 949.06 -8.36 1207 10418.47 roll -1.56 - - 1960.75 - 3.35 0.049 2133.38 430.8 -107.06 - - 3452.00 - - - - - - - - - 16.10 -
10726.74 973.09 -7.29 1239 10733.94 roll -1.56 - - 1959.81 - 3.79 0.113 687.69 -381.4 -107.06 - - 3448.69 - - - - - - - - - 16.11 -
10752.54 975.37 -7.95 1244 10758.61 roll -1.56 - - 1961.06 - 3.38 0.047 2133.25 427.7 -107.06 - - 3449.53 - - - - - - - - - 16.10 -
10942 end dive: TARGET_DEPTH_EXCEEDED
10942 begin apogee
10944.23 990.28 -8.06 1264 11038.38 -0.42 2.38 0.116 2239.94 117.2 0.10 0.232 2117.25 -160.0 - 86.29 2.228 3019.16 -5.0 0.367 - - - - - - 16.09 15.54 12.28
11042 end apogee: CONTROL_FINISHED_OK
11042 begin climb
11045.43 991.64 - 1273 11158.29 1.56 3.91 0.055 2730.69 125.5 3.31 0.095 3364.56 376.8 107.06 95.36 2.162 2580.44 -4.6 0.349 - - - - - - 15.63 15.33 12.73
11166.92 986.64 5.99 1291 11172.72 roll 1.63 - - 2730.81 - 3.05 0.040 2118.06 -408.7 107.06 - - 2578.50 - - - - - - - - - 15.52 -
11476.89 956.08 10.50 1323 11482.79 done 1.63 - - 2729.88 - 3.20 0.094 3363.81 389.3 107.06 - - 2570.69 - - - - - - - - - 15.84 -
11671.15 933.70 11.46 1362 11678.43 done 1.63 - - 2730.38 - 2.96 0.041 2116.69 -421.3 107.06 - - 2567.91 - - - - - - - - - 15.92 -
11986.93 900.82 10.44 1394 11992.81 done 1.63 - - 2730.25 - 3.17 0.091 3364.38 393.6 107.06 - - 2565.78 - - - - - - - - - 15.97 -
12116.96 886.16 11.89 1420 12122.71 done 1.63 - - 2729.00 - 2.92 0.041 2116.44 -427.4 107.06 - - 2565.69 - - - - - - - - - 16.00 -
12426.97 855.02 9.99 1452 12433.13 done 1.63 - - 2729.50 - 3.13 0.091 3363.62 398.5 107.06 - - 2563.72 - - - - - - - - - 16.03 -
12587.00 837.53 11.38 1484 12592.80 done 1.63 - - 2730.75 - 2.94 0.041 2118.69 -423.4 107.06 - - 2563.09 - - - - - - - - - 16.04 -
12897.29 806.27 9.95 1516 12902.92 done 1.63 - - 2730.50 - 3.13 0.091 3363.31 397.6 107.06 - - 2562.25 - - - - - - - - - 16.06 -
13007.33 795.29 10.31 1538 13012.85 done 1.63 - - 2730.94 - 2.94 0.041 2115.62 -424.4 107.06 - - 2561.62 - - - - - - - - - 16.08 -
13317.11 768.41 8.44 1570 13322.98 done 1.63 - - 2729.62 - 3.15 0.090 3362.56 395.9 107.06 - - 2561.34 - - - - - - - - - 16.07 -
13527.40 747.48 10.37 1612 13532.93 done 1.63 - - 2730.94 - 2.92 0.042 2117.06 -426.5 107.06 - - 2560.91 - - - - - - - - - 16.10 -
13837.42 719.40 9.17 1644 13839.00 VBD 1.63 - - 2730.31 - - - 2117.00 - 107.06 - - 2558.91 - - - - - - - - - - -
14147.46 692.06 8.95 1675 14153.46 done 1.63 - - 2730.44 - 3.14 0.093 3363.94 397.1 107.06 - - 2559.84 - - - - - - - - - 16.09 -
14311.50 676.51 9.34 1708 14318.76 done 1.63 - - 2730.56 - 2.91 0.042 2117.25 -428.4 107.06 - - 2561.22 - - - - - - - - - 16.10 -
14627.28 650.03 8.40 1740 14633.19 done 1.63 - - 2730.56 - 3.14 0.091 3365.25 397.5 107.06 - - 2558.50 - - - - - - - - - 16.11 -
14841.57 630.53 9.07 1783 14848.83 done 1.63 - - 2730.00 - 2.93 0.041 2116.69 -426.1 107.06 - - 2559.22 - - - - - - - - - 16.11 -
15157.35 605.43 7.76 1815 15163.22 done 1.63 - - 2730.31 - 3.13 0.090 3362.69 398.1 107.06 - - 2558.28 - - - - - - - - - 16.10 -
15237.37 598.20 9.50 1831 15243.13 done 1.63 - - 2730.75 - 2.91 0.042 2116.00 -428.4 107.06 - - 2560.78 - - - - - - - - - 16.11 -
15547.39 573.12 8.05 1863 15553.60 done 1.63 - - 2730.81 - 3.15 0.091 3362.00 395.6 107.06 - - 2558.50 - - - - - - - - - 16.10 -
15661.67 563.23 8.36 1886 15668.94 done 1.63 - - 2730.56 - 2.90 0.041 2117.50 -429.1 107.06 - - 2558.69 - - - - - - - - - 16.11 -
15977.50 540.38 7.24 1918 15983.36 done 1.65 - - 2730.50 - 3.13 0.090 3362.38 397.7 107.06 - - 2559.00 - - - - - - - - - 16.11 -
16181.74 523.90 8.12 1959 16189.26 done 1.65 - - 2730.81 - 2.91 0.042 2115.44 -428.5 107.06 - - 2558.38 - - - - - - - - - 16.12 -
16497.57 503.26 6.17 1991 16504.90 1.71 0.17 0.066 2763.88 194.5 3.69 0.109 688.94 -386.6 107.06 - - 2555.47 - - - - - - - - 16.16 16.07 -
16577.69 497.57 7.00 2007 16585.17 done 1.74 - - 2763.56 - 3.49 0.051 2182.81 428.0 107.06 - - 2556.31 - - - - - - - - - 16.11 -
16893.45 477.04 6.39 2039 16895.02 VBD 1.79 - - 2763.25 - - - 2182.75 - 107.06 - - 2555.34 - - - - - - - - - - -
17203.47 456.79 7.12 2070 17209.33 1.82 0.14 0.073 2794.69 224.6 2.97 0.092 3362.81 397.3 107.06 - - 2558.78 - - - - - - - - 16.17 16.07 -
17297.68 449.40 7.76 2089 17305.11 1.82 0.28 0.167 2774.94 -70.5 2.90 0.042 2115.25 -430.2 107.06 - - 2556.00 - - - - - - - - 16.05 16.10 -
17613.51 428.04 6.67 2121 17615.27 1.86 0.17 0.064 2803.69 169.1 - - 2115.06 - 107.06 - - 2555.53 - - - - - - - - 16.13 - -
17923.54 406.47 6.60 2152 17929.37 done 1.90 - - 2802.38 - 3.13 0.091 3363.12 398.7 107.06 - - 2557.34 - - - - - - - - - 16.10 -
18157.85 389.39 7.26 2199 18165.02 done 1.92 - - 2803.50 - 2.89 0.042 2114.75 -432.0 107.06 - - 2558.44 - - - - - - - - - 16.10 -
18473.63 368.50 6.55 2231 18479.62 1.97 0.10 0.090 2830.38 268.8 3.14 0.089 3364.38 398.0 107.06 - - 2556.28 - - - - - - - - 16.14 16.07 -
18533.65 364.13 7.49 2243 18539.32 done 1.99 - - 2830.50 - 2.88 0.041 2114.12 -434.1 107.06 - - 2556.12 - - - - - - - - - 16.10 -
18843.66 342.15 6.89 2275 18845.23 VBD 2.02 - - 2830.12 - - - 2114.56 - 107.06 - - 2555.22 - - - - - - - - - - -
19153.93 324.13 5.18 2306 19155.69 2.11 0.16 0.067 2862.19 200.4 - - 2114.44 - 107.06 - - 2554.84 - - - - - - - - 16.12 - -
19463.70 307.43 5.35 2337 19465.28 VBD 2.19 - - 2862.12 - - - 2114.25 - 107.06 - - 2555.59 - - - - - - - - - - -
19773.72 289.39 5.62 2368 19775.57 2.26 0.19 0.058 2898.44 191.2 - - 2113.88 - 107.06 - - 2555.66 - - - - - - - - 16.12 - -
20083.99 272.08 6.03 2399 20085.56 VBD 2.32 - - 2898.62 - - - 2113.88 - 107.06 - - 2555.62 - - - - - - - - - - -
20394.00 253.70 6.56 2430 20399.79 2.37 0.11 0.083 2926.38 252.4 3.14 0.088 3363.88 398.1 107.06 - - 2557.34 - - - - - - - - 16.11 16.01 -
20468.03 248.46 6.93 2445 20475.20 done 2.40 - - 2926.19 - 2.89 0.041 2113.31 -432.7 107.06 - - 2556.44 - - - - - - - - - 16.08 -
20783.77 229.90 5.63 2477 20785.48 2.47 0.10 0.087 2947.62 214.3 - - 2113.25 - 107.06 - - 2554.59 - - - - - - - - 16.07 - -
21093.79 212.39 5.29 2508 21095.37 VBD 2.56 - - 2947.00 - - - 2113.19 - 107.06 - - 2555.47 - - - - - - - - - - -
21403.81 199.07 3.65 2539 21494.17 2.67 0.31 0.050 2996.31 159.1 3.22 0.089 3363.88 388.4 192.99 80.85 1.199 2231.91 -4.0 0.110 - - - - - - 16.05 15.75 12.29
21597.78 175.27 18.27 2577 21603.59 roll 2.67 - - 2995.44 - 2.95 0.041 2116.56 -422.8 192.99 - - 2226.59 - - - - - - - - - 15.87 -
21907.79 126.89 15.09 2609 21913.66 done 2.67 - - 2995.81 - 3.19 0.088 3363.44 390.9 192.99 - - 2225.12 - - - - - - - - - 15.93 -
21922.04 124.61 15.00 2612 21929.85 done 2.67 - - 2995.81 - 2.93 0.039 2114.81 -426.2 192.99 - - 2223.00 - - - - - - - - - 15.92 -
22232.86 90.90 6.84 2654 22239.96 done 2.70 - - 2996.00 - 3.70 0.102 687.75 -385.7 192.99 - - 2221.50 - - - - - - - - - 15.93 -
22293.49 87.44 5.71 2666 22300.42 2.77 0.16 0.064 3024.12 175.7 3.51 0.046 2189.88 428.0 192.99 - - 2220.00 - - - - - - - - 16.00 15.95 -
22483.92 85.48 0.47 2704 22648.42 2.97 0.31 0.043 3071.44 152.6 3.06 0.090 3363.00 383.4 341.02 150.49 1.057 1628.41 -3.9 0.053 - - - - - - 16.02 15.55 12.51
22662.07 70.41 17.52 2738 22668.85 roll back 2.97 0.32 0.173 3053.25 -56.8 3.00 0.039 2115.06 -416.0 341.02 - - 1627.38 - - - - - - - - 15.65 15.66 -
22852.42 40.44 12.93 2776 22859.38 roll 2.97 - - 3053.50 - 3.75 0.102 689.69 -380.1 341.02 - - 1627.12 - - - - - - - - - 15.80 -
22872.98 37.86 12.46 2780 22879.85 roll 2.97 - - 3053.50 - 3.56 0.047 2187.44 420.7 341.02 - - 1626.59 - - - - - - - - - 15.81 -
23063.33 26.78 3.90 2818 23152.88 3.07 0.31 0.044 3096.88 139.9 - - 2187.31 - 422.12 84.06 0.978 1299.75 -3.9 0.018 - - - - - - 15.91 - 12.55
23336.33 6.03 10.21 2872 23353.96 3.07 0.26 0.167 3078.94 -69.0 3.94 0.101 687.56 -380.6 422.12 6.55 0.679 1298.72 - - - - - - - - 15.78 15.74 12.61
23372 end climb: SURFACE_DEPTH_REACHED
23372 begin surface coast
23392 end surface coast: CONTROL_FINISHED_OK
23393 begin surface
SM 1.89 - - - - 184.2 51.03 0.953 1083.9 21.1 21.82 0.046 1092.1 50.0 - 3.34 0.046 1075.6 320.9 -1.347 - - 12.61 15.85 15.86 -