NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 368 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 137.96 of 575.00 AH used of 24V (76.01% remains)
• Surface angle -65.5 deg, depth 1.57 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.90 (SM_CC=475)
• GPS1 time: 16 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
9.05 - - - 60.46 VBD -1.56 - - 184.25 - - - 2140.25 - -107.06 50.01 0.005 2178.44 - - - - - - - - - - 15.48
60.91 3.10 -3.41 10 123.37 -1.56 16.58 0.236 1960.06 107.1 3.12 0.094 3362.94 391.9 -107.06 32.33 0.005 3457.09 39.5 -4.083 - - - - - - 15.53 15.44 15.54
176.90 28.04 -27.92 32 183.32 roll -1.56 - - 1959.12 - 3.05 0.037 2065.69 -425.3 -107.06 - - 3461.09 - - - - - - - - - 15.75 -
366.92 58.80 -13.76 70 373.57 roll -1.56 - - 1960.56 - 3.60 0.104 687.12 -382.9 -107.06 - - 3459.59 - - - - - - - - - 15.75 -
412.00 65.30 -14.62 79 418.57 roll -1.56 - - 1960.38 - 3.32 0.039 2137.81 437.0 -107.06 - - 3460.19 - - - - - - - - - 15.80 -
602.08 89.65 -11.67 117 606.52 no move -1.56 - - 1960.38 - - - 2137.50 - -107.06 - - 3460.25 - - - - - - - - - - -
797.09 111.30 -10.89 146 798.65 no move -1.56 - - 1960.75 - - - 2137.12 - -107.06 - - 3461.47 - - - - - - - - - - -
1107.11 140.12 -9.48 177 1114.30 roll -1.56 - - 1959.62 - 3.74 0.100 686.62 -387.8 -107.06 - - 3463.09 - - - - - - - - - 15.81 -
1152.78 144.93 -10.70 186 1158.73 roll -1.56 - - 1960.19 - 3.32 0.038 2137.62 437.0 -107.06 - - 3464.00 - - - - - - - - - 15.93 -
1462.80 171.92 -8.03 218 1464.37 no move -1.56 - - 1959.94 - - - 2137.75 - -107.06 - - 3463.62 - - - - - - - - - - -
1772.82 199.99 -9.47 249 1780.01 roll -1.56 - - 1959.75 - 3.75 0.100 687.56 -386.7 -107.06 - - 3463.06 - - - - - - - - - 15.88 -
1838.50 207.38 -11.18 262 1844.46 roll -1.56 - - 1960.00 - 3.34 0.039 2138.38 434.4 -107.06 - - 3464.53 - - - - - - - - - 15.97 -
2148.52 237.75 -9.56 294 2155.71 roll -1.56 - - 1959.56 - 3.75 0.101 686.69 -387.1 -107.06 - - 3465.41 - - - - - - - - - 15.85 -
2194.20 242.50 -10.62 303 2200.43 roll -1.56 - - 1959.56 - 3.31 0.040 2138.56 438.6 -107.06 - - 3463.75 - - - - - - - - - 15.98 -
2504.22 271.84 -9.71 335 2511.41 roll -1.56 - - 1960.44 - 3.76 0.100 687.06 -386.0 -107.06 - - 3462.94 - - - - - - - - - 15.94 -
2569.90 278.94 -10.93 348 2575.88 roll -1.56 - - 1959.38 - 3.33 0.040 2137.25 435.5 -107.06 - - 3466.12 - - - - - - - - - 15.98 -
2879.91 312.33 -10.95 380 2881.47 no move -1.56 - - 1960.12 - - - 2136.56 - -107.06 - - 3463.16 - - - - - - - - - - -
3189.93 342.74 -9.07 411 3197.13 roll -1.56 - - 1961.00 - 3.78 0.102 687.88 -383.2 -107.06 - - 3464.62 - - - - - - - - - 15.95 -
3235.73 347.26 -9.55 420 3241.68 roll -1.56 - - 1960.31 - 3.33 0.041 2134.38 434.4 -107.06 - - 3464.44 - - - - - - - - - 16.00 -
3545.75 373.84 -8.46 452 3552.95 roll -1.56 - - 1960.75 - 3.72 0.102 687.06 -389.1 -107.06 - - 3463.84 - - - - - - - - - 15.96 -
3605.66 379.96 -9.91 464 3613.18 roll -1.56 - - 1960.75 - 3.33 0.040 2137.56 435.6 -107.06 - - 3464.50 - - - - - - - - - 16.02 -
3921.46 409.25 -9.76 496 3928.65 roll -1.56 - - 1960.50 - 3.76 0.103 686.75 -385.9 -107.06 - - 3462.00 - - - - - - - - - 15.93 -
3977.25 415.66 -11.23 507 3983.20 roll -1.56 - - 1960.56 - 3.31 0.041 2136.38 438.0 -107.06 - - 3463.38 - - - - - - - - - 15.99 -
4287.28 445.00 -8.91 539 4288.85 no move -1.56 - - 1959.94 - - - 2136.25 - -107.06 - - 3461.19 - - - - - - - - - - -
4597.31 472.03 -8.78 570 4604.50 roll -1.56 - - 1960.38 - 3.78 0.104 687.81 -383.2 -107.06 - - 3460.50 - - - - - - - - - 15.89 -
4667.22 478.85 -9.55 584 4674.94 roll -1.56 - - 1960.25 - 3.32 0.041 2135.75 436.1 -107.06 - - 3461.81 - - - - - - - - - 16.01 -
4983.04 506.36 -8.95 616 4990.24 roll -1.56 - - 1959.75 - 3.78 0.102 686.94 -383.3 -107.06 - - 3460.81 - - - - - - - - - 15.95 -
5032.96 511.39 -9.65 626 5040.48 roll -1.56 - - 1959.94 - 3.35 0.040 2135.88 432.5 -107.06 - - 3461.12 - - - - - - - - - 16.02 -
5349.07 537.65 -8.04 658 5355.94 roll -1.56 - - 1960.12 - 3.78 0.103 687.56 -383.2 -107.06 - - 3458.94 - - - - - - - - - 15.94 -
5414.43 543.70 -9.00 671 5420.63 roll -1.56 - - 1959.88 - 3.33 0.040 2135.38 434.8 -107.06 - - 3459.66 - - - - - - - - - 16.01 -
5724.47 569.63 -9.17 703 5731.68 roll -1.56 - - 1959.75 - 3.78 0.105 687.31 -383.1 -107.06 - - 3459.25 - - - - - - - - - 15.93 -
5794.40 576.80 -10.20 717 5801.87 roll -1.56 - - 1960.56 - 3.32 0.040 2137.38 436.8 -107.06 - - 3458.16 - - - - - - - - - 16.00 -
6110.19 605.48 -9.10 749 6117.39 roll -1.56 - - 1960.56 - 3.78 0.104 686.88 -383.7 -107.06 - - 3456.34 - - - - - - - - - 15.93 -
6190.11 613.65 -10.25 765 6197.88 roll -1.56 - - 1959.12 - 3.34 0.040 2134.38 433.4 -107.06 - - 3458.94 - - - - - - - - - 16.02 -
6505.91 640.46 -8.39 797 6513.21 roll -1.56 - - 1960.81 - 3.78 0.105 686.75 -383.0 -107.06 - - 3455.19 - - - - - - - - - 15.93 -
6545.92 644.55 -10.09 805 6553.44 roll -1.56 - - 1960.81 - 3.33 0.040 2137.00 435.5 -107.06 - - 3456.28 - - - - - - - - - 16.03 -
6861.73 672.20 -8.68 837 6868.92 roll -1.56 - - 1960.56 - 3.78 0.105 686.75 -383.7 -107.06 - - 3453.88 - - - - - - - - - 15.92 -
6937.41 679.92 -9.87 852 6943.61 roll -1.56 - - 1959.94 - 3.35 0.040 2136.69 432.8 -107.06 - - 3454.88 - - - - - - - - - 16.01 -
7247.44 706.20 -7.78 884 7249.01 no move -1.56 - - 1960.06 - - - 2137.31 - -107.06 - - 3453.25 - - - - - - - - - - -
7557.46 727.52 -6.43 915 7564.65 roll -1.56 - - 1959.25 - 3.80 0.105 686.88 -381.7 -107.06 - - 3454.22 - - - - - - - - - 15.86 -
7597.37 730.52 -6.87 923 7604.85 roll -1.56 - - 1960.06 - 3.33 0.040 2136.00 435.2 -107.06 - - 3453.69 - - - - - - - - - 16.01 -
7913.17 750.94 -6.92 955 7920.60 roll -1.56 - - 1960.12 - 3.80 0.107 686.75 -381.4 -107.06 - - 3453.78 - - - - - - - - - 15.90 -
8003.45 758.78 -8.71 973 8010.91 roll -1.56 - - 1959.56 - 3.31 0.040 2135.38 437.7 -107.06 - - 3455.06 - - - - - - - - - 16.01 -
8319.25 784.84 -8.76 1005 8326.44 roll -1.56 - - 1960.56 - 3.80 0.105 686.50 -381.3 -107.06 - - 3451.50 - - - - - - - - - 15.92 -
8389.16 791.99 -10.02 1019 8396.68 roll -1.56 - - 1960.50 - 3.36 0.040 2135.81 431.3 -107.06 - - 3453.19 - - - - - - - - - 16.00 -
8705.20 817.97 -8.06 1051 8712.15 roll -1.56 - - 1960.38 - 3.79 0.105 686.56 -382.4 -107.06 - - 3452.06 - - - - - - - - - 15.91 -
8740.75 821.23 -8.68 1058 8746.72 roll -1.56 - - 1960.00 - 3.37 0.041 2134.50 429.7 -107.06 - - 3454.31 - - - - - - - - - 16.01 -
9050.77 846.97 -7.97 1090 9057.98 roll -1.56 - - 1958.81 - 3.75 0.105 686.88 -386.0 -107.06 - - 3453.31 - - - - - - - - - 15.90 -
9156.48 856.89 -8.98 1111 9162.43 roll -1.56 - - 1960.12 - 3.34 0.040 2134.62 433.5 -107.06 - - 3453.31 - - - - - - - - - 15.99 -
9466.51 881.90 -8.22 1143 9473.71 roll -1.56 - - 1959.56 - 3.80 0.105 686.19 -381.2 -107.06 - - 3453.53 - - - - - - - - - 15.90 -
9502.31 885.20 -9.33 1150 9508.27 roll -1.56 - - 1960.12 - 3.34 0.040 2134.69 433.7 -107.06 - - 3451.66 - - - - - - - - - 16.01 -
9812.35 907.97 -7.32 1182 9819.54 roll -1.56 - - 1959.56 - 3.80 0.105 686.25 -381.2 -107.06 - - 3453.06 - - - - - - - - - 15.89 -
9852.28 911.53 -8.82 1190 9859.74 roll -1.56 - - 1960.50 - 3.34 0.039 2134.75 433.7 -107.06 - - 3451.62 - - - - - - - - - 15.99 -
10168.08 933.94 -6.63 1222 10169.65 no move -1.56 - - 1960.00 - - - 2135.06 - -107.06 - - 3450.50 - - - - - - - - - - -
10478.11 954.95 -6.38 1253 10485.37 roll -1.56 - - 1959.38 - 3.82 0.106 686.69 -379.2 -107.06 - - 3451.31 - - - - - - - - - 15.88 -
10573.97 962.47 -7.56 1272 10579.97 roll -1.56 - - 1960.19 - 3.35 0.041 2133.88 432.0 -107.06 - - 3452.28 - - - - - - - - - 15.99 -
10884.02 982.77 -6.76 1304 10891.22 roll -1.56 - - 1959.75 - 3.80 0.106 686.50 -380.9 -107.06 - - 3448.81 - - - - - - - - - 15.88 -
10943.94 987.71 -7.64 1316 10951.71 roll -1.56 - - 1960.38 - 3.36 0.041 2133.19 430.6 -107.06 - - 3449.94 - - - - - - - - - 16.01 -
10979 end dive: TARGET_DEPTH_EXCEEDED
10979 begin apogee
10981.41 990.01 -7.01 1320 11076.77 -0.42 2.59 0.114 2240.06 108.0 0.10 0.214 2113.44 -197.5 - 87.70 2.227 3022.03 -4.9 0.361 - - - - - - 15.82 15.47 11.53
11080 end apogee: CONTROL_FINISHED_OK
11080 begin climb
11083.08 990.54 - 1329 11189.80 1.56 3.97 0.058 2730.56 123.6 - - 2115.12 - 107.06 96.22 2.150 2581.03 -4.6 0.352 - - - - - - 15.61 - 12.55
11493.35 956.45 10.48 1370 11499.22 done 1.56 - - 2730.56 - 3.18 0.089 3364.62 392.9 107.06 - - 2569.66 - - - - - - - - - 15.75 -
11663.39 936.62 11.68 1404 11669.19 done 1.56 - - 2729.62 - 2.94 0.037 2116.00 -424.7 107.06 - - 2569.66 - - - - - - - - - 15.85 -
11973.66 905.68 9.62 1436 11979.32 done 1.56 - - 2730.50 - 3.15 0.087 3365.75 396.7 107.06 - - 2564.75 - - - - - - - - - 15.87 -
12193.46 882.88 10.11 1480 12199.23 done 1.56 - - 2729.56 - 2.93 0.037 2117.88 -425.9 107.06 - - 2567.09 - - - - - - - - - 15.92 -
12503.48 857.17 7.91 1512 12509.37 done 1.56 - - 2730.31 - 3.11 0.090 3365.12 401.0 107.06 - - 2563.75 - - - - - - - - - 15.92 -
12603.52 848.02 9.53 1532 12609.28 done 1.56 - - 2730.00 - 2.91 0.037 2115.56 -429.4 107.06 - - 2565.09 - - - - - - - - - 15.95 -
12913.55 822.20 8.15 1564 12915.12 VBD 1.56 - - 2730.44 - - - 2116.00 - 107.06 - - 2561.53 - - - - - - - - - - -
13223.82 796.11 8.84 1595 13229.49 done 1.56 - - 2730.19 - 3.12 0.087 3363.81 399.9 107.06 - - 2563.09 - - - - - - - - - 15.95 -
13457.88 773.22 9.71 1642 13465.35 1.56 0.28 0.155 2714.50 -56.0 2.91 0.036 2111.88 -430.2 107.06 - - 2561.56 - - - - - - - - 15.83 15.97 -
13773.91 747.29 7.96 1674 13779.53 done 1.56 - - 2714.50 - 3.15 0.085 3362.81 397.1 107.06 - - 2561.91 - - - - - - - - - 15.94 -
13837.93 741.93 8.79 1687 13845.53 done 1.56 - - 2714.69 - 2.89 0.036 2114.38 -432.0 107.06 - - 2560.75 - - - - - - - - - 15.99 -
14153.76 718.82 7.18 1719 14159.62 done 1.59 - - 2714.12 - 3.13 0.085 3366.00 399.9 107.06 - - 2561.66 - - - - - - - - - 15.95 -
14333.76 704.19 8.06 1755 14339.52 done 1.59 - - 2714.38 - 2.92 0.037 2114.81 -428.5 107.06 - - 2561.38 - - - - - - - - - 15.99 -
14643.84 680.65 7.37 1787 14645.65 1.61 0.22 0.053 2740.25 117.6 - - 2114.81 - 107.06 - - 2560.16 - - - - - - - - 16.06 - -
14954.09 656.32 7.80 1818 14959.90 done 1.61 - - 2740.88 - 3.14 0.085 3365.94 398.4 107.06 - - 2558.97 - - - - - - - - - 15.94 -
15088.12 644.68 8.50 1845 15095.74 done 1.61 - - 2740.44 - 2.90 0.036 2113.44 -431.9 107.06 - - 2559.41 - - - - - - - - - 15.99 -
15404.18 621.39 7.38 1877 15411.26 done 1.63 - - 2739.75 - 3.69 0.103 684.31 -387.3 107.06 - - 2557.62 - - - - - - - - - 15.91 -
15460.05 616.88 8.44 1888 15467.31 done 1.63 - - 2740.69 - 3.49 0.045 2183.56 429.6 107.06 - - 2555.50 - - - - - - - - - 15.99 -
15775.13 594.84 7.13 1920 15782.31 done 1.66 - - 2740.88 - 3.86 0.097 686.50 -387.8 107.06 - - 2555.50 - - - - - - - - - 15.91 -
15861.11 588.03 8.17 1937 15868.10 done 1.66 - - 2739.38 - 3.46 0.044 2184.31 432.9 107.06 - - 2556.06 - - - - - - - - - 15.99 -
16176.16 567.66 6.13 1969 16177.98 1.72 0.14 0.066 2765.56 187.0 - - 2184.38 - 107.06 - - 2555.44 - - - - - - - - 16.07 - -
16486.17 549.58 5.57 2000 16491.80 done 1.79 - - 2764.25 - 2.97 0.089 3362.38 396.6 107.06 - - 2559.47 - - - - - - - - - 15.91 -
16606.18 541.72 6.81 2024 16611.99 1.83 0.17 0.058 2792.50 166.2 2.91 0.037 2113.44 -429.2 107.06 - - 2557.28 - - - - - - - - 15.99 16.00 -
16916.19 521.15 7.03 2056 16923.26 done 1.86 - - 2792.25 - 3.70 0.099 686.19 -385.7 107.06 - - 2557.47 - - - - - - - - - 15.91 -
17122.16 505.23 7.54 2097 17129.37 done 1.87 - - 2792.75 - 3.49 0.044 2185.38 429.6 107.06 - - 2554.25 - - - - - - - - - 16.00 -
17437.16 483.85 6.82 2129 17442.79 done 1.91 - - 2793.12 - 2.98 0.089 3363.75 395.4 107.06 - - 2556.91 - - - - - - - - - 15.86 -
17511.18 478.40 7.02 2144 17519.02 1.94 0.16 0.061 2821.88 179.8 2.92 0.036 2111.81 -428.7 107.06 - - 2556.03 - - - - - - - - 16.01 15.97 -
17827.18 457.76 6.65 2176 17834.32 done 1.98 - - 2822.62 - 3.71 0.098 686.50 -384.2 107.06 - - 2556.09 - - - - - - - - - 15.82 -
17873.15 454.50 6.85 2185 17880.38 done 2.02 - - 2820.56 - 3.50 0.044 2184.56 428.0 107.06 - - 2558.81 - - - - - - - - - 15.97 -
18188.16 433.33 6.81 2217 18193.95 2.06 0.14 0.065 2848.94 202.7 3.00 0.088 3362.94 392.8 107.06 - - 2558.69 - - - - - - - - 16.06 15.87 -
18422.13 414.41 8.55 2264 18429.86 done 2.06 - - 2849.81 - 2.93 0.036 2115.56 -425.7 107.06 - - 2556.16 - - - - - - - - - 15.99 -
18738.18 390.89 7.24 2296 18745.35 done 2.08 - - 2849.62 - 3.75 0.098 684.06 -381.7 107.06 - - 2556.50 - - - - - - - - - 15.86 -
18894.27 378.77 7.84 2327 18901.32 done 2.08 - - 2847.88 - 3.52 0.044 2185.25 426.5 107.06 - - 2558.00 - - - - - - - - - 15.96 -
19209.33 360.93 4.82 2359 19268.10 2.16 0.15 0.062 2875.12 181.6 3.03 0.090 3365.19 389.4 170.18 49.54 1.450 2324.22 -4.7 0.196 - - - - - - 15.95 15.78 11.66
19325.88 350.16 12.40 2382 19333.79 roll back 2.16 0.29 0.163 2860.12 -51.7 2.97 0.037 2116.19 -420.5 170.18 - - 2320.16 - - - - - - - - 15.73 15.84 -
19641.92 313.25 12.07 2414 19643.53 VBD 2.16 - - 2859.69 - - - 2115.06 - 170.18 - - 2314.25 - - - - - - - - - - -
19951.96 275.24 12.57 2445 19953.66 VBD 2.16 - - 2860.31 - - - 2115.56 - 170.18 - - 2312.50 - - - - - - - - - - -
20261.99 239.21 10.62 2476 20267.89 done 2.16 - - 2860.06 - 3.20 0.087 3364.62 390.3 170.18 - - 2313.09 - - - - - - - - - 15.82 -
20392.04 223.80 12.03 2502 20397.72 done 2.16 - - 2860.31 - 2.93 0.037 2116.38 -426.0 170.18 - - 2312.97 - - - - - - - - - 15.83 -
20702.07 190.94 9.26 2534 20703.69 VBD 2.16 - - 2860.25 - - - 2117.00 - 170.18 - - 2311.16 - - - - - - - - - - -
21012.10 162.58 9.98 2565 21017.89 done 2.16 - - 2860.69 - 3.18 0.085 3365.81 392.7 170.18 - - 2312.50 - - - - - - - - - 15.84 -
21246.13 137.83 9.90 2612 21254.06 done 2.16 - - 2858.75 - 2.93 0.036 2115.75 -426.6 170.18 - - 2314.12 - - - - - - - - - 15.92 -
21562.19 115.66 6.74 2644 21569.56 2.20 0.22 0.053 2885.25 120.5 3.74 0.101 686.12 -382.3 170.18 - - 2310.34 - - - - - - - - 15.92 15.77 -
21798.48 102.77 3.89 2691 21895.92 2.31 0.13 0.065 2908.50 178.8 3.55 0.043 2188.56 423.2 251.33 87.18 1.081 1994.44 -3.6 0.057 - - - - - - 15.89 15.94 11.97
22080.79 81.49 8.95 2746 22088.06 roll 2.31 - - 2908.56 - 3.95 0.094 686.69 -380.2 251.33 - - 1991.88 - - - - - - - - - 15.71 -
22252.01 64.71 8.70 2780 22259.04 roll 2.31 - - 2908.56 - 3.55 0.043 2185.19 422.1 251.33 - - 1989.53 - - - - - - - - - 15.75 -
22442.85 54.12 4.65 2818 22516.83 VBD 2.39 - - 2908.88 - - - 2185.38 - 317.75 70.01 1.015 1723.06 -3.8 0.034 - - - - - - - - 12.20
22700.70 31.47 9.83 2869 22708.01 roll 2.39 - - 2907.88 - 3.93 0.094 687.25 -381.2 317.75 - - 1721.88 - - - - - - - - - 15.72 -
22861.88 24.10 3.08 2901 22980.25 2.52 0.40 0.041 2961.50 134.0 3.54 0.042 2195.19 426.0 414.78 105.21 0.977 1328.88 -3.7 0.015 - - - - - - 15.90 15.75 12.15
23164.10 6.54 8.03 2960 23176.20 done 2.52 - - 2960.69 - 2.99 0.088 3362.19 390.3 414.78 5.72 0.626 1329.22 - - - - - - - - - 15.62 12.31
23220 end climb: SURFACE_DEPTH_REACHED
23220 begin surface coast
23250 end surface coast: CONTROL_FINISHED_OK
23250 begin surface
SM 2.29 - - - - 187.9 60.08 0.959 1084.0 17.9 21.46 0.042 1095.1 51.0 - 3.05 0.036 1072.9 350.8 -2.281 - - 12.24 15.87 15.80 -