NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 224 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 90.29 of 575.00 AH used of 24V (84.30% remains)
• Surface angle -66.0 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.09 (SM_CC=475)
• GPS1 time: 47 s
• GPS2 time: 5 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 - - - 65.38 VBD -1.56 - - 185.31 - - - 2136.81 - -107.06 54.96 0.005 2279.28 - - - - - - - - - - 15.65
65.82 3.27 -3.54 11 123.12 -1.56 16.70 0.233 1961.31 106.3 3.18 0.097 3361.62 385.2 -107.06 28.73 0.006 3456.88 41.0 -3.693 - - - - - - 15.68 15.62 15.67
296.67 48.96 -15.52 56 303.07 roll -1.56 - - 1961.12 - 3.07 0.040 2067.94 -421.4 -107.06 - - 3459.25 - - - - - - - - - 15.87 -
486.69 74.96 -13.85 94 491.33 no move -1.56 - - 1961.25 - - - 2067.69 - -107.06 - - 3459.78 - - - - - - - - - - -
676.74 99.54 -12.31 132 683.65 roll -1.56 - - 1960.81 - 3.63 0.108 689.12 -379.8 -107.06 - - 3461.00 - - - - - - - - - 15.91 -
717.29 104.69 -13.00 140 723.24 roll -1.56 - - 1961.19 - 3.38 0.040 2136.19 428.1 -107.06 - - 3461.06 - - - - - - - - - 15.94 -
1027.30 137.63 -9.82 172 1034.50 roll -1.56 - - 1961.00 - 3.80 0.105 689.44 -380.7 -107.06 - - 3462.19 - - - - - - - - - 15.98 -
1097.22 145.55 -11.61 186 1104.69 roll -1.56 - - 1960.75 - 3.37 0.040 2134.56 428.8 -107.06 - - 3463.03 - - - - - - - - - 15.99 -
1413.03 175.31 -9.68 218 1414.60 no move -1.56 - - 1960.75 - - - 2135.50 - -107.06 - - 3462.66 - - - - - - - - - - -
1723.07 204.89 -9.19 249 1724.64 no move -1.56 - - 1961.19 - - - 2135.44 - -107.06 - - 3462.38 - - - - - - - - - - -
2033.08 234.63 -9.76 280 2034.65 no move -1.56 - - 1960.88 - - - 2135.19 - -107.06 - - 3462.44 - - - - - - - - - - -
2343.09 264.58 -9.74 311 2344.67 no move -1.56 - - 1961.12 - - - 2135.44 - -107.06 - - 3462.62 - - - - - - - - - - -
2653.12 295.50 -9.95 342 2660.37 roll -1.56 - - 1960.38 - 3.81 0.110 690.75 -379.2 -107.06 - - 3462.50 - - - - - - - - - 16.04 -
2708.98 301.83 -11.17 353 2714.93 roll -1.56 - - 1959.50 - 3.37 0.045 2134.19 428.3 -107.06 - - 3464.06 - - - - - - - - - 16.09 -
3019.02 331.59 -9.28 385 3026.20 roll -1.56 - - 1960.31 - 3.78 0.109 689.62 -382.2 -107.06 - - 3462.94 - - - - - - - - - 16.09 -
3054.68 335.18 -9.84 392 3060.62 roll -1.56 - - 1961.56 - 3.34 0.043 2134.81 432.7 -107.06 - - 3463.22 - - - - - - - - - 16.10 -
3364.70 364.15 -9.27 424 3366.51 no move -1.56 - - 1961.12 - - - 2135.19 - -107.06 - - 3461.94 - - - - - - - - - - -
3674.71 392.66 -9.15 455 3681.91 roll -1.56 - - 1960.50 - 3.78 0.109 688.62 -382.7 -107.06 - - 3461.38 - - - - - - - - - 16.11 -
3710.39 396.16 -10.21 462 3716.34 roll -1.56 - - 1959.88 - 3.37 0.044 2134.69 429.1 -107.06 - - 3463.81 - - - - - - - - - 16.12 -
4020.41 425.93 -9.70 494 4021.98 no move -1.56 - - 1961.00 - - - 2135.38 - -107.06 - - 3460.16 - - - - - - - - - - -
4330.42 455.91 -9.54 525 4337.86 roll -1.56 - - 1960.12 - 3.80 0.108 688.75 -380.7 -107.06 - - 3461.00 - - - - - - - - - 16.11 -
4380.70 461.29 -10.81 535 4388.17 roll -1.56 - - 1960.69 - 3.38 0.045 2133.00 427.3 -107.06 - - 3460.06 - - - - - - - - - 16.12 -
4696.48 489.99 -8.48 567 4698.05 no move -1.56 - - 1960.94 - - - 2133.12 - -107.06 - - 3459.06 - - - - - - - - - - -
5006.49 515.82 -7.92 598 5013.69 roll -1.56 - - 1960.62 - 3.79 0.109 688.62 -381.1 -107.06 - - 3457.81 - - - - - - - - - 16.11 -
5052.17 519.86 -8.56 607 5058.12 roll -1.56 - - 1960.75 - 3.37 0.044 2135.19 429.2 -107.06 - - 3459.47 - - - - - - - - - 16.12 -
5362.20 543.83 -7.74 639 5363.77 no move -1.56 - - 1960.94 - - - 2134.94 - -107.06 - - 3457.50 - - - - - - - - - - -
5672.23 570.14 -9.02 670 5679.42 roll -1.56 - - 1960.25 - 3.80 0.110 689.50 -380.4 -107.06 - - 3457.28 - - - - - - - - - 16.12 -
5762.14 579.52 -10.24 688 5769.64 roll -1.56 - - 1959.62 - 3.38 0.046 2133.62 427.3 -107.06 - - 3458.62 - - - - - - - - - 16.12 -
6078.05 608.73 -9.33 720 6079.62 no move -1.56 - - 1961.06 - - - 2134.06 - -107.06 - - 3456.09 - - - - - - - - - - -
6387.96 636.03 -8.21 751 6395.16 roll -1.56 - - 1959.75 - 3.78 0.111 689.38 -382.2 -107.06 - - 3455.66 - - - - - - - - - 16.12 -
6463.76 643.33 -9.39 766 6469.72 roll -1.56 - - 1960.94 - 3.37 0.047 2132.12 428.1 -107.06 - - 3456.97 - - - - - - - - - 16.12 -
6773.79 668.20 -7.68 798 6780.98 roll -1.56 - - 1960.62 - 3.77 0.110 689.94 -382.5 -107.06 - - 3455.88 - - - - - - - - - 16.12 -
6833.71 673.65 -8.72 810 6841.22 roll -1.56 - - 1961.00 - 3.38 0.046 2134.00 427.2 -107.06 - - 3454.50 - - - - - - - - - 16.13 -
7149.49 697.66 -7.18 842 7151.07 no move -1.56 - - 1960.81 - - - 2133.50 - -107.06 - - 3454.09 - - - - - - - - - - -
7459.52 721.25 -7.64 873 7466.71 roll -1.56 - - 1960.00 - 3.80 0.111 689.69 -379.9 -107.06 - - 3454.34 - - - - - - - - - 16.11 -
7525.20 726.86 -8.82 886 7531.15 roll -1.56 - - 1959.75 - 3.37 0.047 2131.75 427.9 -107.06 - - 3454.56 - - - - - - - - - 16.11 -
7835.23 749.16 -7.15 918 7836.81 no move -1.56 - - 1960.69 - - - 2131.88 - -107.06 - - 3453.12 - - - - - - - - - - -
8145.26 771.27 -7.29 949 8152.46 roll -1.56 - - 1960.19 - 3.80 0.110 689.25 -379.6 -107.06 - - 3453.66 - - - - - - - - - 16.12 -
8185.30 774.65 -8.42 957 8192.78 roll -1.56 - - 1961.00 - 3.39 0.047 2133.12 425.9 -107.06 - - 3453.28 - - - - - - - - - 16.11 -
8501.10 798.74 -7.88 989 8508.29 roll -1.56 - - 1959.50 - 3.80 0.111 690.31 -379.7 -107.06 - - 3454.00 - - - - - - - - - 16.12 -
8561.02 804.36 -9.59 1001 8568.55 roll -1.56 - - 1961.31 - 3.40 0.048 2133.00 424.3 -107.06 - - 3452.38 - - - - - - - - - 16.11 -
8876.81 831.13 -8.72 1033 8884.08 roll -1.56 - - 1960.38 - 3.81 0.111 689.81 -378.8 -107.06 - - 3452.81 - - - - - - - - - 16.11 -
8926.91 836.19 -10.11 1043 8934.47 roll -1.56 - - 1961.06 - 3.41 0.047 2132.81 423.2 -107.06 - - 3453.38 - - - - - - - - - 16.11 -
9242.71 863.35 -8.27 1075 9249.90 roll -1.56 - - 1960.75 - 3.80 0.111 689.62 -379.8 -107.06 - - 3451.56 - - - - - - - - - 16.11 -
9322.62 871.09 -9.27 1091 9330.12 roll -1.56 - - 1960.69 - 3.40 0.048 2132.25 424.3 -107.06 - - 3452.75 - - - - - - - - - 16.12 -
9638.44 895.97 -7.43 1123 9640.01 no move -1.56 - - 1960.56 - - - 2132.38 - -107.06 - - 3450.72 - - - - - - - - - - -
9948.44 918.99 -6.97 1154 9955.71 roll -1.56 - - 1960.12 - 3.82 0.113 689.88 -377.6 -107.06 - - 3452.97 - - - - - - - - - 16.11 -
10014.20 924.33 -8.14 1167 10020.22 roll -1.56 - - 1960.31 - 3.40 0.048 2131.88 424.1 -107.06 - - 3452.56 - - - - - - - - - 16.11 -
10324.25 947.62 -7.70 1199 10331.69 roll -1.56 - - 1960.19 - 3.80 0.112 689.19 -379.7 -107.06 - - 3451.25 - - - - - - - - - 16.11 -
10364.53 950.93 -8.24 1207 10372.06 roll -1.56 - - 1960.88 - 3.41 0.047 2131.06 422.8 -107.06 - - 3450.97 - - - - - - - - - 16.12 -
10680.33 975.01 -8.18 1239 10687.57 roll -1.56 - - 1961.69 - 3.82 0.114 689.56 -377.4 -107.06 - - 3451.06 - - - - - - - - - 16.10 -
10726.18 978.96 -9.88 1248 10732.13 roll -1.56 - - 1961.25 - 3.39 0.048 2129.19 424.7 -107.06 - - 3451.31 - - - - - - - - - 16.11 -
10876 end dive: TARGET_DEPTH_EXCEEDED
10876 begin apogee
10877.89 990.17 -7.45 1264 10972.33 -0.42 2.40 0.117 2240.62 116.4 0.10 0.220 2116.38 -128.1 - 86.33 2.230 3018.91 -5.0 0.368 - - - - - - 16.08 15.54 12.24
10984 end apogee: CONTROL_FINISHED_OK
10984 begin climb
10986.77 991.41 - 1273 11091.33 1.56 3.89 0.059 2728.06 125.3 - - 2116.69 - 107.06 94.68 2.162 2582.62 -4.6 0.349 - - - - - - 15.66 - 12.79
11394.88 958.96 9.88 1314 11400.81 done 1.56 - - 2729.25 - 3.22 0.095 3362.69 387.0 107.06 - - 2568.03 - - - - - - - - - 15.83 -
11534.91 943.14 11.49 1342 11540.67 done 1.56 - - 2728.50 - 3.00 0.041 2118.81 -414.6 107.06 - - 2567.97 - - - - - - - - - 15.90 -
11844.98 911.55 10.00 1374 11850.84 done 1.56 - - 2728.94 - 3.21 0.094 3362.00 387.3 107.06 - - 2564.91 - - - - - - - - - 15.97 -
11979.18 896.71 10.92 1401 11986.47 done 1.56 - - 2728.75 - 2.95 0.042 2119.69 -421.1 107.06 - - 2563.81 - - - - - - - - - 15.99 -
12294.97 865.20 10.06 1433 12301.10 done 1.56 - - 2728.94 - 3.19 0.092 3364.06 390.1 107.06 - - 2562.09 - - - - - - - - - 16.01 -
12395.00 854.30 11.14 1453 12400.76 done 1.56 - - 2727.44 - 2.96 0.042 2117.75 -421.1 107.06 - - 2563.91 - - - - - - - - - 16.02 -
12705.29 824.09 9.98 1485 12710.93 done 1.56 - - 2728.75 - 3.18 0.093 3362.44 391.4 107.06 - - 2562.06 - - - - - - - - - 16.05 -
12775.07 816.59 10.56 1499 12780.87 done 1.56 - - 2728.25 - 2.95 0.042 2118.75 -421.6 107.06 - - 2561.16 - - - - - - - - - 16.06 -
13085.45 786.24 10.06 1531 13091.30 done 1.56 - - 2729.00 - 3.18 0.091 3362.81 391.2 107.06 - - 2562.34 - - - - - - - - - 16.08 -
13199.36 773.91 10.93 1554 13206.63 done 1.56 - - 2728.00 - 2.93 0.042 2117.81 -424.9 107.06 - - 2561.53 - - - - - - - - - 16.06 -
13515.15 743.85 9.32 1586 13521.01 done 1.56 - - 2728.38 - 3.17 0.092 3363.62 393.0 107.06 - - 2560.34 - - - - - - - - - 16.07 -
13639.42 731.61 9.74 1611 13646.72 done 1.56 - - 2727.31 - 2.93 0.041 2116.25 -425.7 107.06 - - 2562.25 - - - - - - - - - 16.08 -
13955.20 705.13 8.19 1643 13961.07 done 1.56 - - 2727.25 - 3.16 0.091 3362.56 394.4 107.06 - - 2560.94 - - - - - - - - - 16.08 -
14145.25 688.07 8.46 1681 14151.00 done 1.56 - - 2728.56 - 2.91 0.041 2116.06 -428.4 107.06 - - 2559.41 - - - - - - - - - 16.11 -
14455.57 664.65 7.39 1713 14461.15 done 1.58 - - 2728.62 - 3.15 0.090 3362.94 395.8 107.06 - - 2559.06 - - - - - - - - - 16.09 -
14609.56 651.48 8.55 1744 14617.33 done 1.58 - - 2729.00 - 2.91 0.041 2117.12 -428.1 107.06 - - 2558.56 - - - - - - - - - 16.10 -
14925.34 626.69 7.68 1776 14931.22 done 1.58 - - 2728.56 - 3.15 0.090 3363.81 395.8 107.06 - - 2558.47 - - - - - - - - - 16.10 -
15139.63 608.52 8.25 1819 15146.96 done 1.58 - - 2727.75 - 2.90 0.041 2117.44 -429.8 107.06 - - 2559.81 - - - - - - - - - 16.09 -
15455.46 585.51 7.18 1851 15461.56 done 1.61 - - 2728.81 - 3.16 0.089 3364.25 394.6 107.06 - - 2557.25 - - - - - - - - - 16.10 -
15579.69 575.31 8.24 1876 15587.00 done 1.61 - - 2729.25 - 2.91 0.040 2115.38 -429.2 107.06 - - 2557.88 - - - - - - - - - 16.11 -
15895.52 552.58 7.43 1908 15901.34 done 1.63 - - 2728.94 - 3.17 0.088 3364.62 394.1 107.06 - - 2558.94 - - - - - - - - - 16.09 -
15939.74 548.92 8.14 1917 15947.29 done 1.63 - - 2728.44 - 2.91 0.041 2116.75 -428.8 107.06 - - 2559.09 - - - - - - - - - 16.10 -
16255.58 527.97 6.52 1949 16257.59 1.67 0.13 0.081 2754.31 199.0 - - 2117.88 - 107.06 - - 2555.75 - - - - - - - - 16.14 - -
16565.61 506.30 6.68 1980 16571.45 done 1.72 - - 2754.56 - 3.16 0.089 3362.94 394.0 107.06 - - 2556.84 - - - - - - - - - 16.11 -
16669.88 498.71 7.37 2001 16677.40 done 1.74 - - 2754.19 - 2.91 0.041 2117.56 -428.0 107.06 - - 2557.78 - - - - - - - - - 16.12 -
16985.66 478.21 6.50 2033 16987.43 1.78 0.14 0.074 2780.31 186.6 - - 2117.38 - 107.06 - - 2555.66 - - - - - - - - 16.14 - -
17295.71 456.83 7.00 2064 17297.28 VBD 1.81 - - 2780.44 - - - 2116.75 - 107.06 - - 2556.34 - - - - - - - - - - -
17605.99 434.25 7.33 2095 17607.56 VBD 1.84 - - 2780.25 - - - 2117.69 - 107.06 - - 2556.22 - - - - - - - - - - -
17916.03 412.90 6.97 2126 17921.71 1.87 0.09 0.101 2804.94 274.3 3.17 0.089 3363.62 393.0 107.06 - - 2558.44 - - - - - - - - 16.13 16.06 -
18055.82 402.53 7.39 2154 18061.54 done 1.89 - - 2804.56 - 2.92 0.043 2116.19 -427.2 107.06 - - 2557.97 - - - - - - - - - 16.10 -
18366.09 383.87 5.78 2186 18367.66 VBD 1.96 - - 2804.56 - - - 2115.75 - 107.06 - - 2556.50 - - - - - - - - - - -
18676.12 366.85 5.62 2217 18677.93 2.03 0.20 0.060 2839.69 175.7 - - 2115.81 - 107.06 - - 2558.06 - - - - - - - - 16.13 - -
18985.90 348.03 6.01 2248 18987.48 VBD 2.09 - - 2841.44 - - - 2116.12 - 107.06 - - 2556.44 - - - - - - - - - - -
19295.93 329.17 5.88 2279 19303.46 2.16 0.16 0.068 2872.81 196.1 3.69 0.109 687.56 -387.1 107.06 - - 2557.91 - - - - - - - - 16.16 16.06 -
19376.35 323.32 7.41 2295 19383.90 done 2.17 - - 2875.12 - 3.52 0.051 2184.69 425.3 107.06 - - 2555.69 - - - - - - - - - 16.10 -
19692.12 304.01 5.75 2327 19693.69 VBD 2.24 - - 2875.12 - - - 2184.56 - 107.06 - - 2554.75 - - - - - - - - - - -
20002.13 287.32 5.31 2358 20009.61 2.33 0.22 0.057 2916.31 187.2 3.89 0.103 687.75 -384.8 107.06 - - 2555.59 - - - - - - - - 16.11 16.02 -
20238.19 273.12 5.95 2405 20244.21 done 2.39 - - 2917.00 - 3.51 0.051 2186.75 427.1 107.06 - - 2556.25 - - - - - - - - - 16.08 -
20548.20 257.02 5.26 2437 20554.11 2.47 0.17 0.065 2950.19 195.2 2.98 0.091 3363.62 394.9 107.06 - - 2556.59 - - - - - - - - 16.14 16.04 -
20602.45 253.79 5.72 2448 20609.69 done 2.54 - - 2950.12 - 2.92 0.041 2113.12 -428.3 107.06 - - 2557.34 - - - - - - - - - 16.01 -
20918.21 236.96 5.15 2480 20920.27 2.63 0.22 0.059 2989.12 177.3 - - 2113.38 - 107.06 - - 2554.72 - - - - - - - - 16.12 - -
21228.22 221.50 4.69 2511 21286.74 done 2.71 - - 2988.75 - 3.20 0.088 3363.69 390.7 172.75 49.94 1.271 2312.88 -4.8 0.139 - - - - - - - 15.86 12.34
21354.46 209.32 14.35 2536 21361.74 roll 2.71 - - 2989.62 - 2.95 0.041 2116.69 -422.7 172.75 - - 2310.41 - - - - - - - - - 15.93 -
21670.23 164.70 13.96 2568 21676.40 done 2.71 - - 2987.50 - 3.20 0.087 3361.56 389.0 172.75 - - 2306.16 - - - - - - - - - 15.94 -
21750.26 152.87 14.99 2584 21756.03 done 2.71 - - 2988.75 - 2.94 0.040 2114.50 -424.2 172.75 - - 2304.12 - - - - - - - - - 15.98 -
22060.27 116.34 11.04 2616 22067.44 done 2.71 - - 2988.56 - 3.69 0.104 687.44 -386.7 172.75 - - 2302.00 - - - - - - - - - 15.96 -
22296.01 94.56 5.62 2663 22303.01 2.79 0.23 0.053 3025.62 161.1 3.53 0.047 2189.81 425.6 172.75 - - 2302.75 - - - - - - - - 16.07 16.01 -
22486.50 94.89 -0.89 2701 22678.06 3.01 0.36 0.048 3083.38 160.4 4.01 0.099 687.94 -374.5 347.37 178.63 1.064 1603.25 -3.9 0.058 - - - - - - 16.01 15.53 12.45
22906.66 32.77 13.26 2783 22913.76 roll back 3.01 0.31 0.178 3066.31 -55.1 3.58 0.047 2186.50 418.6 347.37 - - 1600.31 - - - - - - - - 15.77 15.80 -
23097.60 22.68 3.34 2821 23205.95 3.13 0.34 0.045 3111.56 133.1 3.97 0.097 688.19 -377.4 439.44 96.80 0.974 1227.25 -3.9 0.015 - - - - - - 15.86 15.59 12.58
23309 end climb: SURFACE_DEPTH_REACHED
23309 begin surface coast
23329 end surface coast: CONTROL_FINISHED_OK
23330 begin surface
SM 1.83 - - - - 184.1 35.41 0.943 1083.2 27.9 21.83 0.045 1095.2 50.2 - 3.39 0.043 1071.2 314.8 -1.369 - - 12.70 15.81 15.81 -