NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 367 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 137.62 of 575.00 AH used of 24V (76.07% remains)
• Surface angle -65.3 deg, depth 1.57 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.88 (SM_CC=475)
• GPS1 time: 23 s
• GPS2 time: 4 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
9.08 - - - 65.67 VBD -1.56 - - 186.56 - - - 2146.81 - -107.06 55.11 0.005 2292.53 - - - - - - - - - - 15.47
66.11 3.53 -3.86 11 123.84 -1.56 16.84 0.233 1961.06 105.4 3.81 0.105 686.50 -383.3 -107.06 27.84 0.006 3457.88 41.9 -4.101 - - - - - - 15.53 15.44 15.55
137.38 17.34 -22.18 24 143.92 roll -1.56 - - 1959.69 - 3.35 0.039 2133.81 432.0 -107.06 - - 3459.91 - - - - - - - - - 15.76 -
327.40 51.00 -15.02 62 333.79 roll -1.56 - - 1961.00 - 3.08 0.089 3361.88 398.7 -107.06 - - 3459.12 - - - - - - - - - 15.78 -
422.40 65.67 -15.72 81 428.80 roll -1.56 - - 1960.88 - 3.01 0.034 2061.12 -432.1 -107.06 - - 3459.06 - - - - - - - - - 15.81 -
612.46 89.54 -12.76 119 616.90 no move -1.56 - - 1961.19 - - - 2061.25 - -107.06 - - 3460.12 - - - - - - - - - - -
807.47 113.93 -11.27 147 813.36 roll -1.56 - - 1960.31 - 3.25 0.085 3364.50 401.0 -107.06 - - 3463.53 - - - - - - - - - 15.82 -
891.72 122.37 -9.47 164 899.07 roll -1.56 - - 1961.38 - 3.01 0.034 2062.38 -432.6 -107.06 - - 3461.88 - - - - - - - - - 15.87 -
1207.49 153.21 -9.04 196 1209.06 no move -1.56 - - 1961.12 - - - 2061.94 - -107.06 - - 3462.78 - - - - - - - - - - -
1517.51 181.13 -8.29 227 1519.08 no move -1.56 - - 1961.38 - - - 2061.94 - -107.06 - - 3463.19 - - - - - - - - - - -
1827.53 207.47 -9.39 258 1829.10 no move -1.56 - - 1961.38 - - - 2062.12 - -107.06 - - 3463.38 - - - - - - - - - - -
2137.55 238.16 -10.00 289 2139.12 no move -1.56 - - 1961.25 - - - 2061.94 - -107.06 - - 3462.88 - - - - - - - - - - -
2447.57 268.52 -9.95 320 2449.14 no move -1.56 - - 1961.12 - - - 2062.31 - -107.06 - - 3462.81 - - - - - - - - - - -
2757.59 299.18 -9.78 351 2763.48 roll -1.56 - - 1960.00 - 3.29 0.090 3362.69 395.3 -107.06 - - 3465.19 - - - - - - - - - 15.85 -
2801.83 303.92 -10.25 360 2809.18 roll -1.56 - - 1961.06 - 3.03 0.042 2064.81 -428.3 -107.06 - - 3464.22 - - - - - - - - - 15.99 -
3117.61 332.78 -9.12 392 3119.18 no move -1.56 - - 1961.19 - - - 2065.25 - -107.06 - - 3462.53 - - - - - - - - - - -
3427.64 361.90 -9.52 423 3433.71 roll -1.56 - - 1961.75 - 3.58 0.113 686.38 -385.2 -107.06 - - 3464.09 - - - - - - - - - 15.89 -
3461.88 365.78 -11.08 430 3469.60 roll -1.56 - - 1960.00 - 3.35 0.045 2136.06 432.7 -107.06 - - 3464.88 - - - - - - - - - 16.03 -
3777.66 395.00 -8.91 462 3784.86 roll -1.56 - - 1960.25 - 3.74 0.110 687.56 -387.3 -107.06 - - 3462.88 - - - - - - - - - 15.88 -
3803.34 397.76 -9.53 467 3809.29 roll -1.56 - - 1961.06 - 3.35 0.045 2136.00 432.4 -107.06 - - 3463.66 - - - - - - - - - 16.00 -
4113.37 426.94 -9.56 499 4120.56 roll -1.56 - - 1960.00 - 3.73 0.106 686.56 -388.6 -107.06 - - 3463.28 - - - - - - - - - 15.95 -
4173.28 433.40 -10.35 511 4181.04 roll -1.56 - - 1960.88 - 3.32 0.043 2136.00 436.6 -107.06 - - 3462.97 - - - - - - - - - 16.02 -
4489.10 461.43 -9.04 543 4496.30 roll -1.56 - - 1960.81 - 3.73 0.105 686.44 -388.6 -107.06 - - 3461.88 - - - - - - - - - 15.94 -
4559.02 468.74 -10.32 557 4566.49 roll -1.56 - - 1961.31 - 3.32 0.043 2134.75 436.2 -107.06 - - 3461.62 - - - - - - - - - 16.02 -
4874.80 496.77 -9.07 589 4881.94 roll -1.56 - - 1961.69 - 3.69 0.104 686.38 -392.5 -107.06 - - 3460.00 - - - - - - - - - 15.96 -
4910.42 500.48 -10.41 596 4916.37 roll -1.56 - - 1959.88 - 3.32 0.043 2134.12 436.1 -107.06 - - 3461.44 - - - - - - - - - 16.00 -
5220.45 527.37 -8.45 628 5227.64 roll -1.56 - - 1960.25 - 3.74 0.104 686.56 -387.0 -107.06 - - 3460.97 - - - - - - - - - 15.94 -
5306.25 535.74 -9.88 645 5312.21 roll -1.56 - - 1961.12 - 3.33 0.043 2135.00 435.0 -107.06 - - 3459.56 - - - - - - - - - 16.01 -
5616.28 564.82 -9.63 677 5617.85 no move -1.56 - - 1961.12 - - - 2134.81 - -107.06 - - 3457.06 - - - - - - - - - - -
5926.66 594.83 -9.72 708 5933.51 roll -1.56 - - 1961.00 - 3.78 0.106 686.50 -383.2 -107.06 - - 3456.88 - - - - - - - - - 15.91 -
6006.36 603.63 -10.88 724 6013.78 roll -1.56 - - 1960.44 - 3.30 0.043 2135.00 438.9 -107.06 - - 3456.50 - - - - - - - - - 16.01 -
6322.15 632.18 -8.56 756 6329.34 roll -1.56 - - 1960.94 - 3.79 0.105 686.94 -382.1 -107.06 - - 3456.97 - - - - - - - - - 15.94 -
6387.82 638.50 -9.39 769 6393.78 roll -1.56 - - 1961.19 - 3.33 0.043 2134.00 434.6 -107.06 - - 3454.81 - - - - - - - - - 16.01 -
6698.10 664.43 -8.57 801 6705.04 roll -1.56 - - 1960.50 - 3.78 0.104 686.38 -383.0 -107.06 - - 3453.38 - - - - - - - - - 15.94 -
6783.65 673.04 -10.08 818 6789.60 roll -1.56 - - 1959.88 - 3.31 0.042 2133.94 437.3 -107.06 - - 3456.28 - - - - - - - - - 16.01 -
7093.66 699.41 -8.67 850 7100.86 roll -1.56 - - 1960.81 - 3.79 0.104 686.62 -381.9 -107.06 - - 3455.16 - - - - - - - - - 15.94 -
7153.58 705.49 -10.05 862 7161.05 roll -1.56 - - 1960.75 - 3.35 0.042 2137.19 433.0 -107.06 - - 3454.81 - - - - - - - - - 16.02 -
7469.63 730.93 -7.73 894 7476.57 roll -1.56 - - 1961.25 - 3.80 0.105 686.69 -381.7 -107.06 - - 3452.84 - - - - - - - - - 15.93 -
7495.16 733.42 -8.22 899 7501.12 roll -1.56 - - 1961.25 - 3.33 0.041 2136.12 435.3 -107.06 - - 3453.22 - - - - - - - - - 16.02 -
7805.19 757.04 -7.62 931 7812.39 roll -1.56 - - 1960.38 - 3.80 0.107 687.31 -381.3 -107.06 - - 3453.44 - - - - - - - - - 15.90 -
7855.10 761.55 -9.18 941 7862.60 roll -1.56 - - 1960.88 - 3.34 0.041 2135.75 433.7 -107.06 - - 3452.72 - - - - - - - - - 16.02 -
8170.90 786.30 -7.63 973 8178.35 roll -1.56 - - 1960.81 - 3.79 0.105 686.75 -382.3 -107.06 - - 3452.25 - - - - - - - - - 15.92 -
8226.95 791.02 -8.21 984 8232.91 roll -1.56 - - 1959.88 - 3.34 0.041 2134.38 433.4 -107.06 - - 3454.28 - - - - - - - - - 15.99 -
8536.98 814.40 -7.19 1016 8544.18 roll -1.56 - - 1960.94 - 3.78 0.104 686.50 -383.0 -107.06 - - 3451.16 - - - - - - - - - 15.90 -
8612.67 820.60 -7.77 1031 8618.64 roll -1.56 - - 1961.06 - 3.34 0.041 2137.38 434.4 -107.06 - - 3452.62 - - - - - - - - - 16.02 -
8922.69 841.61 -6.69 1063 8930.21 roll -1.56 - - 1960.94 - 3.81 0.105 686.06 -380.9 -107.06 - - 3451.25 - - - - - - - - - 15.90 -
8998.81 847.60 -7.90 1078 9004.79 roll -1.56 - - 1960.88 - 3.35 0.041 2135.00 432.5 -107.06 - - 3452.62 - - - - - - - - - 16.02 -
9308.84 868.73 -7.19 1110 9316.04 roll -1.56 - - 1960.62 - 3.80 0.106 686.75 -381.1 -107.06 - - 3452.94 - - - - - - - - - 15.89 -
9374.53 874.34 -8.53 1123 9380.50 roll -1.56 - - 1960.94 - 3.35 0.041 2136.44 432.7 -107.06 - - 3451.41 - - - - - - - - - 16.01 -
9684.56 897.35 -7.74 1155 9692.08 roll -1.56 - - 1960.25 - 3.81 0.106 686.31 -380.6 -107.06 - - 3449.97 - - - - - - - - - 15.89 -
9730.78 901.48 -9.44 1164 9736.77 roll -1.56 - - 1961.38 - 3.37 0.041 2135.12 429.9 -107.06 - - 3450.69 - - - - - - - - - 16.00 -
10040.81 925.17 -7.42 1196 10048.06 roll -1.56 - - 1960.31 - 3.81 0.105 686.19 -380.3 -107.06 - - 3449.28 - - - - - - - - - 15.88 -
10126.55 933.13 -9.15 1213 10132.52 roll -1.56 - - 1960.94 - 3.36 0.041 2135.19 431.2 -107.06 - - 3450.97 - - - - - - - - - 15.98 -
10436.58 957.28 -7.65 1245 10442.99 roll -1.56 - - 1960.19 - 3.80 0.105 686.50 -381.2 -107.06 - - 3451.06 - - - - - - - - - 15.88 -
10470.82 961.03 -10.72 1252 10478.29 roll -1.56 - - 1960.19 - 3.36 0.041 2134.75 431.0 -107.06 - - 3450.81 - - - - - - - - - 16.01 -
10786.60 987.80 -8.45 1284 10793.86 roll -1.56 - - 1959.31 - 3.82 0.106 686.19 -379.2 -107.06 - - 3450.66 - - - - - - - - - 15.88 -
10806 end dive: TARGET_DEPTH_EXCEEDED
10806 begin apogee
10813.04 990.27 -9.17 1288 10907.90 -0.42 2.53 0.117 2239.81 110.9 0.11 0.210 2113.12 12972.1 - 86.76 2.228 3018.41 -5.0 0.369 - - - - - - 15.87 15.48 11.52
10911 end apogee: CONTROL_FINISHED_OK
10911 begin climb
10914.33 992.63 - 1297 11027.59 1.56 3.73 0.059 2730.25 131.5 3.26 0.089 3365.00 384.0 107.06 95.96 2.152 2583.56 -4.5 0.348 - - - - - - 15.60 15.30 12.48
11106.18 983.28 8.50 1333 11111.95 done 1.56 - - 2730.62 - 2.98 0.036 2116.69 -418.9 107.06 - - 2574.44 - - - - - - - - - 15.61 -
11416.70 954.87 9.25 1365 11418.27 VBD 1.56 - - 2730.88 - - - 2115.94 - 107.06 - - 2566.50 - - - - - - - - - - -
11726.25 925.78 9.82 1396 11732.12 done 1.56 - - 2730.44 - 3.12 0.087 3364.31 400.1 107.06 - - 2566.50 - - - - - - - - - 15.87 -
11920.53 906.03 10.12 1435 11927.79 done 1.56 - - 2730.38 - 2.93 0.036 2114.88 -426.4 107.06 - - 2564.59 - - - - - - - - - 15.91 -
12236.32 875.97 9.83 1467 12242.18 done 1.56 - - 2729.62 - 3.12 0.086 3365.31 400.8 107.06 - - 2565.25 - - - - - - - - - 15.93 -
12346.35 864.69 10.59 1489 12352.15 done 1.56 - - 2729.31 - 2.93 0.037 2114.56 -426.9 107.06 - - 2564.81 - - - - - - - - - 15.94 -
12656.62 835.19 9.76 1521 12662.24 done 1.56 - - 2730.31 - 3.12 0.087 3364.69 400.7 107.06 - - 2565.00 - - - - - - - - - 15.94 -
12716.39 828.55 11.06 1533 12722.41 1.56 0.31 0.154 2714.38 -51.4 2.92 0.036 2112.94 -428.7 107.06 - - 2562.50 - - - - - - - - 15.84 15.97 -
13026.42 799.32 9.18 1565 13032.57 done 1.56 - - 2714.62 - 3.13 0.087 3363.44 399.5 107.06 - - 2562.22 - - - - - - - - - 15.95 -
13070.68 795.03 9.70 1574 13077.89 done 1.56 - - 2715.12 - 2.90 0.036 2113.69 -430.9 107.06 - - 2563.34 - - - - - - - - - 15.97 -
13386.46 769.28 7.72 1606 13392.37 done 1.56 - - 2714.81 - 3.13 0.085 3365.50 399.9 107.06 - - 2561.06 - - - - - - - - - 15.96 -
13456.50 763.54 8.18 1620 13462.24 done 1.56 - - 2714.81 - 2.91 0.036 2112.56 -430.6 107.06 - - 2561.00 - - - - - - - - - 16.00 -
13766.81 740.15 7.41 1652 13772.38 done 1.58 - - 2714.44 - 3.16 0.086 3364.81 396.3 107.06 - - 2561.06 - - - - - - - - - 15.96 -
13850.78 733.30 8.01 1669 13858.00 done 1.58 - - 2713.81 - 2.89 0.036 2114.69 -432.6 107.06 - - 2562.09 - - - - - - - - - 16.00 -
14166.85 710.13 7.48 1701 14172.59 1.60 0.20 0.062 2737.69 119.4 3.15 0.085 3366.00 397.2 107.06 - - 2559.03 - - - - - - - - 16.03 15.91 -
14296.60 698.81 8.61 1727 14302.36 done 1.60 - - 2736.56 - 2.90 0.036 2114.62 -431.5 107.06 - - 2560.53 - - - - - - - - - 16.01 -
14606.67 674.95 7.34 1759 14613.09 done 1.62 - - 2738.19 - 3.69 0.101 684.00 -387.7 107.06 - - 2557.31 - - - - - - - - - 15.93 -
14756.71 662.11 9.00 1789 14762.76 done 1.62 - - 2738.75 - 3.48 0.044 2185.94 431.6 107.06 - - 2558.34 - - - - - - - - - 16.01 -
15066.76 639.88 6.87 1821 15072.51 done 1.66 - - 2736.81 - 2.97 0.088 3365.81 397.3 107.06 - - 2560.31 - - - - - - - - - 15.96 -
15136.73 634.45 7.65 1835 15142.44 done 1.66 - - 2737.62 - 2.90 0.036 2110.94 -432.7 107.06 - - 2557.25 - - - - - - - - - 16.00 -
15447.05 612.03 7.51 1867 15448.62 VBD 1.67 - - 2737.88 - - - 2111.44 - 107.06 - - 2557.16 - - - - - - - - - - -
15757.08 588.84 7.14 1898 15762.83 1.70 0.14 0.064 2761.50 168.7 3.16 0.086 3361.44 395.6 107.06 - - 2555.78 - - - - - - - - 16.05 15.90 -
15986.84 569.82 8.13 1944 15992.55 done 1.70 - - 2761.38 - 2.89 0.036 2113.38 -431.9 107.06 - - 2558.34 - - - - - - - - - 15.99 -
16296.92 548.40 6.37 1976 16298.74 VBD 1.75 - - 2761.12 - - - 2113.50 - 107.06 - - 2557.00 - - - - - - - - - - -
16606.94 528.98 6.09 2007 16614.22 1.81 0.18 0.056 2788.06 149.7 3.69 0.100 686.38 -386.8 107.06 - - 2555.88 - - - - - - - - 16.05 15.88 -
16716.96 520.58 8.15 2029 16724.74 done 1.81 - - 2788.44 - 3.48 0.043 2185.38 430.7 107.06 - - 2557.47 - - - - - - - - - 15.99 -
17033.02 499.07 7.08 2061 17038.49 done 1.84 - - 2788.38 - 2.98 0.087 3365.44 396.0 107.06 - - 2556.53 - - - - - - - - - 15.95 -
17267.01 481.41 7.74 2108 17274.29 done 1.84 - - 2788.75 - 2.90 0.036 2111.56 -432.4 107.06 - - 2556.81 - - - - - - - - - 15.99 -
17582.84 460.50 6.79 2140 17588.68 done 1.88 - - 2788.69 - 3.17 0.084 3367.44 396.2 107.06 - - 2556.50 - - - - - - - - - 15.93 -
17692.82 452.07 7.77 2162 17698.59 done 1.88 - - 2788.12 - 2.90 0.036 2112.31 -432.8 107.06 - - 2557.12 - - - - - - - - - 15.99 -
18003.14 430.93 6.60 2194 18010.19 1.92 0.17 0.057 2817.88 175.1 3.66 0.099 686.88 -389.5 107.06 - - 2554.28 - - - - - - - - 16.07 15.85 -
18238.89 413.75 6.58 2241 18244.86 done 1.96 - - 2817.00 - 3.48 0.045 2185.81 430.7 107.06 - - 2557.16 - - - - - - - - - 15.97 -
18548.89 396.72 5.12 2273 18550.70 2.05 0.22 0.047 2846.81 135.5 - - 2184.81 - 107.06 - - 2555.16 - - - - - - - - 16.10 - -
18858.94 380.88 5.13 2304 18864.81 done 2.14 - - 2847.12 - 2.98 0.087 3363.25 395.4 107.06 - - 2558.16 - - - - - - - - - 15.86 -
18953.20 375.71 5.27 2323 18961.07 2.22 0.26 0.053 2888.75 160.1 2.92 0.037 2111.81 -428.6 107.06 - - 2556.84 - - - - - - - - 15.94 15.98 -
19269.21 360.83 4.74 2355 19329.36 done 2.31 - - 2889.75 - 3.71 0.101 686.25 -384.2 171.63 51.10 1.450 2317.00 -4.7 0.195 - - - - - - - 15.78 11.67
19368.15 352.45 12.25 2374 19375.20 roll 2.31 - - 2889.25 - 3.53 0.045 2184.88 424.5 171.63 - - 2315.44 - - - - - - - - - 15.84 -
19683.15 311.82 13.60 2406 19688.92 done 2.31 - - 2890.19 - 3.02 0.088 3362.44 389.9 171.63 - - 2308.97 - - - - - - - - - 15.85 -
19917.17 277.69 14.75 2453 19924.86 done 2.31 - - 2889.50 - 2.90 0.037 2114.94 -430.2 171.63 - - 2307.09 - - - - - - - - - 15.90 -
20233.19 237.35 11.93 2485 20234.80 VBD 2.31 - - 2889.94 - - - 2114.44 - 171.63 - - 2304.81 - - - - - - - - - - -
20543.20 203.19 10.93 2516 20549.04 done 2.31 - - 2890.12 - 3.17 0.083 3363.00 393.9 171.63 - - 2305.25 - - - - - - - - - 15.83 -
20567.21 200.36 10.99 2521 20574.88 done 2.31 - - 2889.62 - 2.91 0.036 2111.38 -430.1 171.63 - - 2305.78 - - - - - - - - - 15.91 -
20883.21 165.00 10.83 2553 20890.39 done 2.31 - - 2889.31 - 3.71 0.097 686.94 -383.9 171.63 - - 2303.81 - - - - - - - - - 15.81 -
21093.19 139.81 11.91 2595 21101.44 done 2.31 - - 2890.12 - 3.53 0.043 2185.94 424.6 171.63 - - 2304.56 - - - - - - - - - 15.85 -
21409.20 110.94 9.40 2627 21416.44 done 2.31 - - 2890.56 - 3.88 0.094 686.56 -386.4 171.63 - - 2302.78 - - - - - - - - - 15.82 -
21585.45 99.41 4.67 2662 21666.81 2.39 0.32 0.042 2930.12 123.6 3.50 0.043 2188.38 429.1 237.68 71.41 1.080 2049.41 -3.5 0.054 - - - - - - 15.92 15.85 12.05
21850.59 78.13 9.29 2714 21855.37 no move 2.39 - - 2930.38 - - - 2188.56 - 237.68 - - 2045.31 - - - - - - - - - - -
22040.69 65.95 4.89 2752 22116.73 done 2.47 - - 2930.25 - 3.93 0.097 686.94 -382.1 299.47 65.78 1.025 1798.34 -3.8 0.040 - - - - - - - 15.66 12.29
22121.06 60.21 9.15 2767 22127.58 roll 2.47 - - 2930.62 - 3.52 0.043 2186.94 426.1 299.47 - - 1797.69 - - - - - - - - - 15.70 -
22311.46 39.06 10.86 2805 22316.19 no move 2.47 - - 2930.38 - - - 2186.38 - 299.47 - - 1796.75 - - - - - - - - - - -
22501.55 32.11 2.44 2843 22635.30 2.62 0.45 0.038 2984.75 120.8 3.93 0.096 686.69 -381.6 408.98 117.69 0.987 1352.50 -3.8 0.020 - - - - - - 15.92 15.54 12.25
22779.22 13.62 9.33 2897 22786.52 roll back 2.62 0.31 0.156 2970.00 -47.6 3.52 0.043 2185.69 425.9 408.98 - - 1350.41 - - - - - - - - 15.64 15.73 -
22935 end climb: SURFACE_DEPTH_REACHED
22935 begin surface coast
22970 end surface coast: CONTROL_FINISHED_OK
22970 begin surface
SM 1.73 - - - - 185.4 66.88 0.969 1084.1 16.2 21.59 0.047 1089.8 50.5 - 0.24 0.085 1078.4 4478.7 -9.317 - - 12.06 15.85 15.81 -