NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 244 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 97.20 of 575.00 AH used of 24V (83.10% remains)
• Surface angle -66.1 deg, depth 1.61 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.98 (SM_CC=475)
• GPS1 time: 30 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 - - - 60.21 VBD -1.56 - - 182.94 - - - 2132.81 - -107.06 49.88 0.005 2191.75 - - - - - - - - - - 15.64
60.65 3.27 -3.48 10 123.13 -1.56 16.36 0.232 1960.50 108.7 3.81 0.110 690.06 -378.7 -107.06 31.90 0.006 3457.59 39.7 -3.575 - - - - - - 15.66 15.64 15.66
151.67 19.76 -22.33 27 158.20 roll -1.56 - - 1960.44 - 3.38 0.043 2131.75 426.5 -107.06 - - 3459.06 - - - - - - - - - 15.84 -
341.68 51.94 -13.37 65 348.39 roll -1.56 - - 1960.50 - 3.79 0.104 688.88 -380.7 -107.06 - - 3458.56 - - - - - - - - - 15.84 -
361.81 54.67 -13.34 69 368.35 roll -1.56 - - 1960.44 - 3.37 0.040 2135.94 429.4 -107.06 - - 3458.72 - - - - - - - - - 15.90 -
551.86 79.23 -12.52 107 556.31 no move -1.56 - - 1960.44 - - - 2135.31 - -107.06 - - 3459.94 - - - - - - - - - - -
742.12 101.40 -10.88 144 747.71 roll -1.56 - - 1960.88 - 3.11 0.091 3362.81 394.7 -107.06 - - 3462.22 - - - - - - - - - 15.97 -
776.11 105.28 -11.09 151 783.69 roll -1.56 - - 1960.56 - 3.01 0.036 2063.81 -431.6 -107.06 - - 3461.91 - - - - - - - - - 15.92 -
1092.13 136.95 -9.53 183 1093.71 no move -1.56 - - 1960.38 - - - 2063.88 - -107.06 - - 3461.66 - - - - - - - - - - -
1401.90 166.75 -9.62 214 1407.80 roll -1.56 - - 1960.56 - 3.29 0.089 3362.12 394.6 -107.06 - - 3464.38 - - - - - - - - - 16.03 -
1441.91 170.91 -10.75 222 1447.75 roll -1.56 - - 1961.06 - 3.03 0.040 2066.00 -427.8 -107.06 - - 3463.44 - - - - - - - - - 16.04 -
1751.93 199.12 -9.06 254 1753.49 no move -1.56 - - 1960.19 - - - 2065.88 - -107.06 - - 3462.69 - - - - - - - - - - -
2061.95 228.31 -9.32 285 2063.52 no move -1.56 - - 1960.31 - - - 2065.56 - -107.06 - - 3462.53 - - - - - - - - - - -
2372.01 257.22 -9.54 316 2373.58 no move -1.56 - - 1960.31 - - - 2065.81 - -107.06 - - 3462.78 - - - - - - - - - - -
2682.03 286.22 -9.65 347 2683.60 no move -1.56 - - 1959.81 - - - 2065.62 - -107.06 - - 3462.56 - - - - - - - - - - -
2992.05 315.49 -9.31 378 2998.09 roll -1.56 - - 1959.19 - 3.58 0.115 689.19 -384.5 -107.06 - - 3465.03 - - - - - - - - - 16.06 -
3016.30 318.09 -9.62 383 3023.77 roll -1.56 - - 1960.69 - 3.37 0.046 2133.62 428.6 -107.06 - - 3462.84 - - - - - - - - - 16.05 -
3332.09 347.18 -9.20 415 3333.66 no move -1.56 - - 1960.12 - - - 2133.75 - -107.06 - - 3461.81 - - - - - - - - - - -
3642.12 378.18 -10.13 446 3643.69 no move -1.56 - - 1960.75 - - - 2133.94 - -107.06 - - 3461.75 - - - - - - - - - - -
3952.16 407.31 -9.19 477 3959.35 roll -1.56 - - 1960.88 - 3.79 0.111 689.50 -381.1 -107.06 - - 3460.56 - - - - - - - - - 16.08 -
4007.83 413.10 -10.60 488 4013.79 roll -1.56 - - 1959.88 - 3.37 0.048 2133.44 428.5 -107.06 - - 3460.94 - - - - - - - - - 16.09 -
4317.86 441.24 -9.03 520 4319.43 no move -1.56 - - 1959.94 - - - 2133.50 - -107.06 - - 3459.56 - - - - - - - - - - -
4627.88 469.65 -9.13 551 4629.45 no move -1.56 - - 1960.31 - - - 2132.88 - -107.06 - - 3459.25 - - - - - - - - - - -
4937.91 497.68 -9.13 582 4945.10 roll -1.56 - - 1959.25 - 3.79 0.112 689.56 -380.8 -107.06 - - 3460.38 - - - - - - - - - 16.11 -
4987.84 502.91 -10.45 592 4995.30 roll -1.56 - - 1960.88 - 3.37 0.046 2133.06 428.3 -107.06 - - 3458.50 - - - - - - - - - 16.11 -
5303.62 531.12 -9.06 624 5305.19 no move -1.56 - - 1960.56 - - - 2132.81 - -107.06 - - 3456.88 - - - - - - - - - - -
5613.66 557.75 -8.27 655 5620.87 roll -1.56 - - 1960.31 - 3.79 0.111 687.88 -381.2 -107.06 - - 3455.91 - - - - - - - - - 16.10 -
5673.71 563.57 -9.56 667 5681.18 roll -1.56 - - 1960.81 - 3.35 0.046 2132.56 431.2 -107.06 - - 3455.62 - - - - - - - - - 16.11 -
5989.50 588.96 -8.07 699 5996.70 roll -1.56 - - 1960.81 - 3.77 0.110 687.56 -383.3 -107.06 - - 3455.72 - - - - - - - - - 16.10 -
6039.41 593.72 -9.49 709 6046.90 roll -1.56 - - 1960.12 - 3.34 0.046 2134.25 433.1 -107.06 - - 3455.16 - - - - - - - - - 16.12 -
6355.21 619.33 -8.46 741 6362.42 roll -1.56 - - 1959.62 - 3.78 0.110 687.81 -382.7 -107.06 - - 3454.09 - - - - - - - - - 16.11 -
6385.25 622.30 -8.88 747 6392.73 roll -1.56 - - 1959.19 - 3.36 0.046 2132.94 430.1 -107.06 - - 3455.31 - - - - - - - - - 16.11 -
6701.05 649.37 -8.29 779 6702.63 no move -1.56 - - 1960.00 - - - 2133.62 - -107.06 - - 3452.62 - - - - - - - - - - -
7011.08 673.49 -7.76 810 7018.27 roll -1.56 - - 1959.38 - 3.80 0.112 687.94 -380.4 -107.06 - - 3454.16 - - - - - - - - - 16.11 -
7091.00 680.72 -9.02 826 7098.52 roll -1.56 - - 1960.62 - 3.37 0.047 2134.06 429.1 -107.06 - - 3454.19 - - - - - - - - - 16.11 -
7406.79 705.53 -7.91 858 7413.99 roll -1.56 - - 1959.50 - 3.80 0.111 688.69 -380.4 -107.06 - - 3454.16 - - - - - - - - - 16.10 -
7476.71 711.83 -8.96 872 7484.19 roll -1.56 - - 1960.19 - 3.38 0.047 2132.12 427.1 -107.06 - - 3452.81 - - - - - - - - - 16.11 -
7792.50 736.37 -7.66 904 7799.95 roll -1.56 - - 1958.94 - 3.80 0.113 689.50 -379.6 -107.06 - - 3451.28 - - - - - - - - - 16.10 -
7838.54 740.59 -9.86 913 7844.50 roll -1.56 - - 1960.25 - 3.37 0.047 2132.38 428.2 -107.06 - - 3452.25 - - - - - - - - - 16.11 -
8148.58 765.47 -8.30 945 8155.83 roll -1.56 - - 1960.44 - 3.81 0.111 688.94 -378.9 -107.06 - - 3451.06 - - - - - - - - - 16.09 -
8188.55 769.33 -9.56 953 8196.03 roll -1.56 - - 1960.12 - 3.38 0.047 2134.31 427.6 -107.06 - - 3452.06 - - - - - - - - - 16.09 -
8504.36 796.82 -9.06 985 8511.54 roll -1.56 - - 1960.56 - 3.80 0.113 689.38 -380.2 -107.06 - - 3450.03 - - - - - - - - - 16.09 -
8564.27 802.93 -9.99 997 8572.10 roll -1.56 - - 1960.12 - 3.37 0.048 2131.81 428.0 -107.06 - - 3450.66 - - - - - - - - - 16.11 -
8880.07 830.25 -8.62 1029 8887.26 roll -1.56 - - 1958.81 - 3.80 0.112 688.81 -379.7 -107.06 - - 3450.69 - - - - - - - - - 16.09 -
8935.74 835.52 -9.43 1040 8941.72 roll -1.56 - - 1960.00 - 3.36 0.047 2132.38 429.6 -107.06 - - 3451.09 - - - - - - - - - 16.10 -
9245.77 860.42 -7.73 1072 9252.99 roll -1.56 - - 1960.50 - 3.80 0.110 688.88 -379.9 -107.06 - - 3450.19 - - - - - - - - - 16.09 -
9321.48 867.15 -9.12 1087 9327.44 roll -1.56 - - 1959.94 - 3.37 0.047 2132.19 428.3 -107.06 - - 3450.69 - - - - - - - - - 16.10 -
9631.51 891.04 -7.44 1119 9633.08 no move -1.56 - - 1960.50 - - - 2132.25 - -107.06 - - 3448.03 - - - - - - - - - - -
9941.54 914.51 -7.32 1150 9948.73 roll -1.56 - - 1959.88 - 3.80 0.111 687.69 -380.1 -107.06 - - 3449.41 - - - - - - - - - 16.04 -
10007.22 920.21 -8.64 1163 10013.23 roll -1.56 - - 1960.44 - 3.36 0.047 2133.12 430.2 -107.06 - - 3448.69 - - - - - - - - - 16.11 -
10317.25 943.07 -7.32 1195 10324.47 roll -1.56 - - 1959.19 - 3.80 0.112 687.69 -380.4 -107.06 - - 3449.19 - - - - - - - - - 16.09 -
10357.30 946.66 -8.91 1203 10364.82 roll -1.56 - - 1960.44 - 3.36 0.047 2134.00 430.4 -107.06 - - 3449.22 - - - - - - - - - 16.10 -
10673.09 969.40 -7.12 1235 10680.33 roll -1.56 - - 1960.19 - 3.81 0.113 687.81 -379.6 -107.06 - - 3447.09 - - - - - - - - - 16.09 -
10718.93 973.48 -9.21 1244 10724.89 roll -1.56 - - 1960.50 - 3.38 0.047 2132.44 427.4 -107.06 - - 3448.19 - - - - - - - - - 16.11 -
10959 end dive: TARGET_DEPTH_EXCEEDED
10959 begin apogee
10960.82 990.47 -6.99 1269 11054.82 -0.42 2.45 0.118 2239.94 114.1 0.10 0.217 2114.44 -180.0 - 85.82 2.229 3018.50 -5.0 0.368 - - - - - - 16.05 15.54 12.25
11066 end apogee: CONTROL_FINISHED_OK
11066 begin climb
11069.14 991.50 - 1278 11181.01 1.56 3.91 0.059 2728.31 124.9 3.30 0.094 3362.44 378.2 107.06 94.47 2.164 2582.66 -4.6 0.349 - - - - - - 15.67 15.34 12.66
11283.85 976.06 11.28 1319 11291.12 done 1.56 - - 2729.06 - 3.00 0.040 2117.75 -414.9 107.06 - - 2574.47 - - - - - - - - - 15.72 -
11599.63 943.88 9.79 1351 11605.49 done 1.56 - - 2728.69 - 3.20 0.094 3362.00 388.8 107.06 - - 2567.84 - - - - - - - - - 15.88 -
11709.66 932.47 10.67 1373 11715.48 done 1.56 - - 2729.62 - 2.96 0.041 2118.12 -420.2 107.06 - - 2567.12 - - - - - - - - - 15.93 -
12019.69 905.47 8.72 1405 12025.82 done 1.56 - - 2728.81 - 3.19 0.093 3362.50 390.1 107.06 - - 2565.59 - - - - - - - - - 15.98 -
12209.74 887.60 10.03 1443 12215.50 done 1.56 - - 2729.25 - 2.95 0.041 2118.25 -421.8 107.06 - - 2565.31 - - - - - - - - - 16.01 -
12519.77 860.98 8.66 1475 12525.67 done 1.56 - - 2729.25 - 3.19 0.094 3363.81 390.5 107.06 - - 2563.91 - - - - - - - - - 16.03 -
12619.79 851.36 9.78 1495 12625.60 done 1.56 - - 2729.31 - 2.96 0.041 2117.38 -421.1 107.06 - - 2562.53 - - - - - - - - - 16.04 -
12929.81 823.65 9.06 1527 12935.73 done 1.56 - - 2729.00 - 3.18 0.091 3363.44 391.8 107.06 - - 2563.00 - - - - - - - - - 16.04 -
13059.83 810.56 10.78 1553 13065.61 done 1.56 - - 2729.75 - 2.95 0.042 2118.88 -421.9 107.06 - - 2561.91 - - - - - - - - - 16.06 -
13369.85 780.73 9.73 1585 13375.72 done 1.56 - - 2729.25 - 3.19 0.093 3363.00 390.0 107.06 - - 2560.94 - - - - - - - - - 16.06 -
13469.87 770.16 10.24 1605 13475.64 done 1.56 - - 2729.19 - 2.93 0.041 2116.75 -425.3 107.06 - - 2561.75 - - - - - - - - - 16.08 -
13780.13 741.26 9.29 1637 13785.81 done 1.56 - - 2729.00 - 3.16 0.091 3364.69 394.9 107.06 - - 2560.72 - - - - - - - - - 16.08 -
13919.91 727.37 9.54 1665 13925.68 done 1.56 - - 2729.19 - 2.93 0.042 2118.06 -425.5 107.06 - - 2560.94 - - - - - - - - - 16.07 -
14229.93 698.81 9.28 1697 14235.82 done 1.56 - - 2729.44 - 3.15 0.090 3363.69 395.4 107.06 - - 2561.19 - - - - - - - - - 16.09 -
14324.22 689.08 10.25 1716 14331.51 done 1.56 - - 2728.69 - 2.92 0.041 2118.19 -426.5 107.06 - - 2561.00 - - - - - - - - - 16.10 -
14640.02 661.13 8.66 1748 14641.60 VBD 1.56 - - 2729.31 - - - 2117.75 - 107.06 - - 2558.84 - - - - - - - - - - -
14950.31 635.40 7.89 1779 14955.94 done 1.56 - - 2729.00 - 3.12 0.091 3363.88 399.4 107.06 - - 2558.88 - - - - - - - - - 16.09 -
15170.12 616.69 8.44 1823 15175.89 done 1.56 - - 2728.62 - 2.91 0.042 2115.19 -429.1 107.06 - - 2560.06 - - - - - - - - - 16.09 -
15480.20 595.45 6.72 1855 15481.78 VBD 1.60 - - 2729.00 - - - 2115.88 - 107.06 - - 2557.44 - - - - - - - - - - -
15790.24 573.55 7.29 1886 15796.07 done 1.63 - - 2729.06 - 3.14 0.090 3363.81 397.4 107.06 - - 2558.69 - - - - - - - - - 16.09 -
16024.50 554.75 8.12 1933 16031.76 done 1.63 - - 2728.94 - 2.91 0.040 2116.69 -428.6 107.06 - - 2559.09 - - - - - - - - - 16.11 -
16340.33 531.89 7.14 1965 16346.16 done 1.65 - - 2729.75 - 3.15 0.089 3364.12 396.0 107.06 - - 2558.38 - - - - - - - - - 16.08 -
16464.60 522.30 7.47 1990 16472.00 1.67 0.12 0.086 2754.00 202.1 2.91 0.041 2116.69 -428.7 107.06 - - 2558.38 - - - - - - - - 16.03 16.11 -
16780.63 500.64 6.75 2022 16786.22 done 1.71 - - 2754.00 - 3.14 0.089 3362.31 396.7 107.06 - - 2559.28 - - - - - - - - - 16.08 -
16874.66 493.70 7.24 2041 16881.90 done 1.73 - - 2753.19 - 2.91 0.040 2116.31 -428.2 107.06 - - 2560.31 - - - - - - - - - 16.11 -
17190.44 472.26 7.16 2073 17192.15 1.76 0.09 0.103 2775.50 247.9 - - 2116.88 - 107.06 - - 2559.56 - - - - - - - - 16.12 - -
17500.72 449.14 7.01 2104 17506.31 done 1.79 - - 2776.31 - 3.15 0.090 3364.62 396.1 107.06 - - 2557.91 - - - - - - - - - 16.08 -
17600.46 440.99 8.12 2124 17606.23 done 1.79 - - 2776.25 - 2.92 0.041 2115.56 -427.8 107.06 - - 2559.44 - - - - - - - - - 16.08 -
17910.53 419.01 6.99 2156 17912.11 VBD 1.82 - - 2776.62 - - - 2115.81 - 107.06 - - 2557.22 - - - - - - - - - - -
18220.57 399.28 6.10 2187 18226.60 1.88 0.15 0.071 2809.25 217.5 3.17 0.089 3365.88 394.3 107.06 - - 2557.50 - - - - - - - - 16.11 16.04 -
18284.84 394.92 6.83 2200 18292.07 done 1.92 - - 2808.19 - 2.92 0.041 2116.00 -428.0 107.06 - - 2559.06 - - - - - - - - - 16.08 -
18600.62 376.98 5.33 2232 18602.39 2.00 0.10 0.088 2835.25 270.6 - - 2115.88 - 107.06 - - 2557.56 - - - - - - - - 16.12 - -
18910.91 359.78 5.62 2263 18916.49 done 2.07 - - 2835.62 - 3.14 0.088 3365.75 398.0 107.06 - - 2557.06 - - - - - - - - - 16.08 -
18994.93 354.40 6.29 2280 19002.26 2.13 0.15 0.074 2865.19 197.1 2.89 0.041 2114.31 -433.0 107.06 - - 2558.09 - - - - - - - - 16.08 16.07 -
19310.72 333.04 6.71 2312 19317.85 done 2.17 - - 2863.88 - 3.66 0.105 686.31 -390.2 107.06 - - 2557.09 - - - - - - - - - 16.07 -
19546.53 315.20 7.52 2359 19552.58 done 2.18 - - 2865.62 - 3.51 0.049 2183.19 426.5 107.06 - - 2557.50 - - - - - - - - - 16.08 -
19856.53 296.04 6.05 2391 19858.30 2.24 0.15 0.064 2895.25 197.5 - - 2183.81 - 107.06 - - 2554.62 - - - - - - - - 16.08 - -
20166.55 276.53 6.11 2422 20168.12 VBD 2.30 - - 2894.81 - - - 2183.69 - 107.06 - - 2555.00 - - - - - - - - - - -
20476.81 258.03 5.51 2453 20483.96 2.38 0.16 0.062 2926.81 200.0 3.86 0.099 687.94 -387.5 107.06 - - 2555.12 - - - - - - - - 16.09 15.98 -
20686.76 245.49 5.76 2495 20694.26 done 2.45 - - 2927.56 - 3.50 0.049 2186.12 428.1 107.06 - - 2556.62 - - - - - - - - - 16.01 -
21002.52 232.46 3.91 2527 21072.53 2.55 0.25 0.050 2969.88 169.3 3.03 0.092 3361.94 388.1 187.80 61.99 1.288 2250.91 -4.9 0.147 - - - - - - 16.14 15.80 12.26
21085.24 226.62 8.89 2537 21092.53 roll 2.55 - - 2970.38 - 2.97 0.040 2114.69 -419.9 187.80 - - 2251.62 - - - - - - - - - 15.86 -
21401.29 179.32 15.36 2569 21408.28 2.55 0.31 0.179 2952.81 -56.7 3.21 0.090 3361.75 388.5 187.80 - - 2243.38 - - - - - - - - 15.86 15.86 -
21486.86 165.88 15.41 2586 21492.67 done 2.55 - - 2952.94 - 2.95 0.040 2115.94 -422.3 187.80 - - 2242.75 - - - - - - - - - 15.90 -
21797.12 121.14 13.88 2618 21804.10 done 2.55 - - 2953.56 - 3.73 0.104 688.75 -382.6 187.80 - - 2239.38 - - - - - - - - - 15.92 -
21882.58 109.09 13.59 2635 21888.67 done 2.55 - - 2953.12 - 3.56 0.048 2185.25 420.4 187.80 - - 2239.84 - - - - - - - - - 15.98 -
22192.66 86.46 4.29 2690 22279.97 2.65 0.28 0.051 2996.19 153.8 3.96 0.100 689.00 -377.8 261.19 77.68 1.063 1952.19 -3.7 0.050 - - - - - - 15.97 15.73 12.43
22508.61 57.53 10.17 2752 22515.65 roll back 2.65 0.29 0.178 2976.62 -67.5 3.58 0.047 2184.00 417.6 261.19 - - 1952.69 - - - - - - - - 15.77 15.88 -
22699.26 42.52 6.50 2790 22706.46 roll back 2.69 0.21 0.054 3005.12 135.7 3.90 0.096 687.50 -383.7 261.19 - - 1952.81 - - - - - - - - 16.00 15.89 -
22754.94 37.92 8.41 2801 22762.00 roll back 2.69 0.26 0.179 2987.12 -69.2 3.56 0.046 2187.88 421.5 261.19 - - 1952.91 - - - - - - - - 15.85 15.90 -
22945.49 33.41 1.39 2839 23090.78 2.86 0.45 0.043 3043.38 125.0 3.98 0.099 689.56 -376.5 391.32 133.52 0.999 1424.03 -4.0 0.022 - - - - - - 15.92 15.57 12.48
23319.44 7.56 6.09 2912 23326.21 roll 2.92 - - 3043.69 - 3.56 0.047 2186.38 420.5 391.32 - - 1425.81 - - - - - - - - - 15.83 -
23469 end climb: SURFACE_DEPTH_REACHED
23470 begin surface coast
23535 end surface coast: CONTROL_FINISHED_OK
23535 begin surface
SM 1.22 - - - - 185.3 82.19 0.968 1083.7 13.2 21.55 0.053 1096.2 50.9 - 0.25 0.085 1071.1 4270.2 -6.264 - - 12.52 15.90 15.90 -