NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 47 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 33.62 of 575.00 AH used of 24V (94.15% remains)
• Surface angle -56.7 deg, depth 1.30 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.90 (SM_CC=475)
• GPS1 time: 19 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
8.88 - - - 106.46 VBD -1.56 - - 186.69 - - - 2135.50 - -107.06 95.61 0.005 2586.84 - - - - - - - - - - 15.74
106.89 3.46 -1.89 14 158.67 -1.56 16.94 0.241 1960.44 104.7 3.86 0.124 690.12 -374.5 -107.06 20.65 0.006 3456.84 42.1 -4.008 - - - - - - 15.75 15.75 15.79
262.17 33.63 -19.02 44 268.75 roll -1.56 - - 1959.62 - 3.44 0.056 2128.19 418.0 -107.06 - - 3460.62 - - - - - - - - - 15.91 -
452.18 60.47 -14.00 82 458.62 roll -1.56 - - 1960.31 - 3.19 0.106 3360.94 386.4 -107.06 - - 3460.06 - - - - - - - - - 15.96 -
527.18 71.47 -14.56 97 533.58 roll -1.56 - - 1960.62 - 3.09 0.052 2068.81 -418.2 -107.06 - - 3460.38 - - - - - - - - - 15.99 -
717.20 96.59 -11.41 135 721.56 no move -1.56 - - 1961.19 - - - 2069.06 - -107.06 - - 3459.22 - - - - - - - - - - -
902.23 115.63 -10.08 157 903.76 no move -1.56 - - 1960.56 - - - 2069.31 - -107.06 - - 3459.47 - - - - - - - - - - -
1212.23 142.85 -9.18 188 1218.04 roll -1.56 - - 1960.25 - 3.32 0.101 3360.75 389.0 -107.06 - - 3461.47 - - - - - - - - - 16.09 -
1246.48 146.46 -10.30 195 1253.64 roll -1.56 - - 1960.75 - 3.06 0.053 2070.12 -421.8 -107.06 - - 3461.56 - - - - - - - - - 16.10 -
1562.25 176.86 -9.94 227 1568.17 roll -1.56 - - 1961.38 - 3.61 0.123 690.06 -382.3 -107.06 - - 3462.31 - - - - - - - - - 16.10 -
1682.31 191.04 -11.72 251 1688.26 roll -1.56 - - 1960.06 - 3.38 0.057 2130.19 426.1 -107.06 - - 3462.34 - - - - - - - - - 16.13 -
1992.33 222.85 -9.96 283 1993.90 no move -1.56 - - 1960.62 - - - 2130.19 - -107.06 - - 3461.56 - - - - - - - - - - -
2302.36 251.35 -8.94 314 2309.54 roll -1.56 - - 1961.50 - 3.75 0.120 690.31 -384.0 -107.06 - - 3461.78 - - - - - - - - - 16.16 -
2407.98 261.75 -9.83 335 2413.94 roll -1.56 - - 1961.12 - 3.38 0.059 2130.00 425.9 -107.06 - - 3462.28 - - - - - - - - - 16.16 -
2718.01 287.73 -8.21 367 2725.21 roll -1.56 - - 1960.00 - 3.73 0.122 688.94 -386.3 -107.06 - - 3462.88 - - - - - - - - - 16.17 -
2797.89 295.50 -9.83 383 2805.35 roll -1.56 - - 1961.06 - 3.36 0.060 2129.44 428.7 -107.06 - - 3464.00 - - - - - - - - - 16.17 -
3113.67 322.06 -8.34 415 3120.81 roll -1.56 - - 1961.00 - 3.69 0.124 689.81 -390.1 -107.06 - - 3462.28 - - - - - - - - - 16.17 -
3169.26 327.36 -9.71 426 3175.45 roll -1.56 - - 1960.31 - 3.36 0.061 2130.44 428.8 -107.06 - - 3462.47 - - - - - - - - - 16.19 -
3479.29 354.23 -8.94 458 3486.47 roll -1.56 - - 1960.62 - 3.70 0.123 690.50 -389.2 -107.06 - - 3461.28 - - - - - - - - - 16.19 -
3529.15 359.36 -10.34 468 3536.65 roll -1.56 - - 1960.31 - 3.35 0.061 2129.94 429.7 -107.06 - - 3464.16 - - - - - - - - - 16.20 -
3844.94 388.49 -9.09 500 3852.09 roll -1.56 - - 1960.56 - 3.68 0.124 690.00 -391.3 -107.06 - - 3462.25 - - - - - - - - - 16.20 -
3920.53 396.34 -10.35 515 3926.48 roll -1.56 - - 1959.44 - 3.37 0.062 2130.06 427.3 -107.06 - - 3462.84 - - - - - - - - - 16.21 -
4230.56 424.84 -9.14 547 4237.75 roll -1.56 - - 1960.88 - 3.71 0.124 691.00 -387.9 -107.06 - - 3460.75 - - - - - - - - - 16.20 -
4326.20 434.76 -10.55 566 4332.15 roll -1.56 - - 1961.31 - 3.36 0.062 2130.31 428.4 -107.06 - - 3462.06 - - - - - - - - - 16.21 -
4636.23 463.56 -9.35 598 4643.42 roll -1.56 - - 1960.50 - 3.72 0.125 690.69 -387.0 -107.06 - - 3460.69 - - - - - - - - - 16.20 -
4702.34 470.62 -10.82 611 4708.30 roll -1.56 - - 1961.00 - 3.35 0.062 2127.69 429.0 -107.06 - - 3460.19 - - - - - - - - - 16.21 -
5012.36 499.03 -9.06 643 5019.55 roll -1.56 - - 1960.19 - 3.73 0.128 690.19 -385.4 -107.06 - - 3459.84 - - - - - - - - - 16.21 -
5112.24 509.11 -9.74 663 5119.74 roll -1.56 - - 1961.12 - 3.35 0.063 2128.00 429.2 -107.06 - - 3459.94 - - - - - - - - - 16.21 -
5428.03 535.72 -8.25 695 5429.60 no move -1.56 - - 1961.12 - - - 2128.19 - -107.06 - - 3457.75 - - - - - - - - - - -
5738.08 561.74 -8.69 726 5739.65 no move -1.56 - - 1960.62 - - - 2127.88 - -107.06 - - 3457.41 - - - - - - - - - - -
6048.13 588.02 -8.40 757 6055.32 roll -1.56 - - 1961.00 - 3.73 0.129 690.00 -385.5 -107.06 - - 3458.44 - - - - - - - - - 16.21 -
6143.78 597.39 -9.98 776 6149.73 roll -1.56 - - 1960.31 - 3.38 0.065 2128.75 425.7 -107.06 - - 3458.38 - - - - - - - - - 16.21 -
6453.80 624.91 -9.02 808 6460.99 roll -1.56 - - 1960.38 - 3.73 0.130 691.19 -385.4 -107.06 - - 3457.16 - - - - - - - - - 16.22 -
6533.68 633.16 -10.29 824 6541.18 roll -1.56 - - 1960.69 - 3.37 0.065 2128.00 426.4 -107.06 - - 3457.69 - - - - - - - - - 16.21 -
6849.47 662.84 -9.35 856 6856.68 roll -1.56 - - 1959.50 - 3.76 0.131 689.62 -382.5 -107.06 - - 3456.22 - - - - - - - - - 16.21 -
6919.38 670.64 -10.84 870 6926.84 roll -1.56 - - 1961.12 - 3.38 0.065 2128.69 425.8 -107.06 - - 3456.12 - - - - - - - - - 16.21 -
7235.18 700.97 -9.48 902 7236.75 no move -1.56 - - 1960.88 - - - 2128.69 - -107.06 - - 3453.81 - - - - - - - - - - -
7545.20 729.18 -8.50 933 7552.41 roll -1.56 - - 1959.69 - 3.76 0.132 691.31 -382.3 -107.06 - - 3455.25 - - - - - - - - - 16.22 -
7670.88 741.62 -9.74 958 7676.83 roll -1.56 - - 1960.94 - 3.38 0.067 2128.12 425.1 -107.06 - - 3454.50 - - - - - - - - - 16.22 -
7980.90 767.94 -8.35 990 7982.47 no move -1.56 - - 1960.50 - - - 2127.88 - -107.06 - - 3453.75 - - - - - - - - - - -
8290.92 791.64 -7.53 1021 8298.13 roll -1.56 - - 1959.94 - 3.77 0.130 690.94 -381.2 -107.06 - - 3454.34 - - - - - - - - - 16.22 -
8386.57 799.64 -8.38 1040 8392.59 roll -1.56 - - 1960.81 - 3.41 0.067 2126.94 421.1 -107.06 - - 3453.66 - - - - - - - - - 16.21 -
8696.60 822.08 -7.21 1072 8698.17 no move -1.56 - - 1961.31 - - - 2126.75 - -107.06 - - 3452.50 - - - - - - - - - - -
9006.63 845.85 -7.55 1103 9013.11 roll -1.56 - - 1960.56 - 3.78 0.131 689.94 -380.1 -107.06 - - 3452.81 - - - - - - - - - 16.22 -
9076.64 852.02 -8.63 1117 9082.62 roll -1.56 - - 1960.62 - 3.40 0.067 2127.81 422.9 -107.06 - - 3453.97 - - - - - - - - - 16.22 -
9386.67 876.76 -7.85 1149 9393.87 roll -1.56 - - 1959.50 - 3.79 0.132 690.12 -379.3 -107.06 - - 3453.53 - - - - - - - - - 16.21 -
9472.32 884.17 -8.47 1166 9478.36 roll -1.56 - - 1961.06 - 3.42 0.066 2126.56 420.0 -107.06 - - 3452.28 - - - - - - - - - 16.23 -
9782.35 907.97 -7.41 1198 9783.92 no move -1.56 - - 1960.69 - - - 2126.50 - -107.06 - - 3450.84 - - - - - - - - - - -
10092.38 931.30 -7.43 1229 10093.95 no move -1.56 - - 1960.56 - - - 2126.38 - -107.06 - - 3450.78 - - - - - - - - - - -
10402.42 953.10 -7.19 1260 10409.86 roll -1.56 - - 1961.88 - 3.80 0.134 691.00 -377.7 -107.06 - - 3451.41 - - - - - - - - - 16.22 -
10498.43 960.59 -7.80 1279 10504.48 roll -1.56 - - 1959.81 - 3.43 0.068 2126.50 418.5 -107.06 - - 3452.38 - - - - - - - - - 16.22 -
10808.46 981.84 -6.80 1311 10810.03 no move -1.56 - - 1960.56 - - - 2126.88 - -107.06 - - 3449.69 - - - - - - - - - - -
10928 end dive: TARGET_DEPTH_EXCEEDED
10928 begin apogee
10930.21 990.10 -6.59 1323 11024.20 -0.42 2.40 0.126 2241.25 117.0 0.09 0.251 2121.94 -54.9 - 84.42 2.092 3020.22 -5.1 0.397 - - - - - - 16.20 15.58 13.00
11027 end apogee: CONTROL_FINISHED_OK
11027 begin climb
11029.83 990.60 - 1332 11131.23 1.56 3.93 0.065 2728.00 123.9 - - 2122.00 - 107.06 91.54 2.038 2579.91 -4.8 0.386 - - - - - - 15.69 - 12.73
11434.74 952.08 11.53 1373 11440.66 roll 1.56 - - 2727.25 - 3.26 0.110 3360.94 380.0 107.06 - - 2578.06 - - - - - - - - - 15.83 -
11669.03 922.98 13.29 1420 11676.34 done 1.56 - - 2727.56 - 3.03 0.061 2122.56 -408.7 107.06 - - 2575.56 - - - - - - - - - 15.93 -
11984.80 887.63 11.11 1452 11990.72 done 1.56 - - 2725.81 - 3.25 0.108 3360.00 380.8 107.06 - - 2575.28 - - - - - - - - - 15.99 -
12219.09 859.60 12.11 1499 12226.44 done 1.56 - - 2727.38 - 3.01 0.062 2122.88 -411.0 107.06 - - 2572.19 - - - - - - - - - 16.04 -
12534.87 825.46 11.04 1531 12540.78 done 1.56 - - 2727.38 - 3.20 0.108 3359.56 386.5 107.06 - - 2570.66 - - - - - - - - - 16.07 -
12654.91 811.25 12.20 1555 12660.65 done 1.56 - - 2726.94 - 3.00 0.062 2123.06 -412.2 107.06 - - 2570.22 - - - - - - - - - 16.08 -
12964.91 779.71 9.89 1587 12970.82 done 1.56 - - 2726.81 - 3.21 0.108 3359.88 385.3 107.06 - - 2571.56 - - - - - - - - - 16.10 -
13065.17 768.68 10.82 1607 13070.67 done 1.56 - - 2727.62 - 2.99 0.062 2123.38 -413.5 107.06 - - 2569.38 - - - - - - - - - 16.12 -
13374.95 738.46 9.18 1639 13380.86 done 1.56 - - 2727.88 - 3.19 0.107 3360.62 387.8 107.06 - - 2568.78 - - - - - - - - - 16.13 -
13504.96 725.28 10.20 1665 13510.72 done 1.56 - - 2727.50 - 2.98 0.061 2121.50 -415.8 107.06 - - 2569.44 - - - - - - - - - 16.14 -
13814.98 697.01 8.99 1697 13816.55 VBD 1.56 - - 2727.19 - - - 2121.62 - 107.06 - - 2567.81 - - - - - - - - - - -
14125.00 670.09 8.64 1728 14130.92 done 1.56 - - 2728.25 - 3.19 0.106 3360.12 388.2 107.06 - - 2568.16 - - - - - - - - - 16.15 -
14269.51 656.41 9.49 1757 14276.56 done 1.56 - - 2727.38 - 2.97 0.061 2120.94 -417.2 107.06 - - 2568.59 - - - - - - - - - 16.15 -
14585.09 630.30 8.12 1789 14590.96 done 1.56 - - 2727.25 - 3.19 0.106 3359.50 388.3 107.06 - - 2567.81 - - - - - - - - - 16.17 -
14649.37 624.04 9.50 1802 14656.63 done 1.56 - - 2727.75 - 2.99 0.062 2119.62 -414.7 107.06 - - 2567.59 - - - - - - - - - 16.16 -
14965.17 597.47 8.25 1834 14966.74 VBD 1.56 - - 2728.19 - - - 2118.88 - 107.06 - - 2566.38 - - - - - - - - - - -
15275.52 571.81 7.93 1865 15281.06 done 1.56 - - 2727.44 - 3.19 0.106 3360.50 389.2 107.06 - - 2567.19 - - - - - - - - - 16.17 -
15379.46 562.46 8.85 1886 15386.73 done 1.56 - - 2727.81 - 2.97 0.061 2121.31 -417.2 107.06 - - 2567.19 - - - - - - - - - 16.17 -
15695.28 538.76 7.24 1918 15701.10 done 1.59 - - 2727.50 - 3.16 0.106 3360.50 392.1 107.06 - - 2568.22 - - - - - - - - - 16.17 -
15865.27 525.55 7.86 1952 15871.06 done 1.59 - - 2728.62 - 2.98 0.060 2120.06 -416.3 107.06 - - 2566.91 - - - - - - - - - 16.19 -
16175.34 503.77 6.66 1984 16181.17 done 1.63 - - 2727.25 - 3.17 0.105 3360.50 391.3 107.06 - - 2567.91 - - - - - - - - - 16.18 -
16259.60 497.47 7.49 2001 16266.82 done 1.65 - - 2727.50 - 2.97 0.060 2121.12 -417.3 107.06 - - 2568.56 - - - - - - - - - 16.18 -
16575.38 477.22 6.03 2033 16581.66 1.71 0.21 0.068 2762.75 167.9 3.18 0.106 3360.62 389.8 107.06 - - 2566.94 - - - - - - - - 16.21 16.16 -
16809.62 459.17 7.63 2080 16816.89 done 1.71 - - 2762.00 - 2.96 0.060 2120.06 -419.1 107.06 - - 2566.50 - - - - - - - - - 16.19 -
17125.44 437.97 6.57 2112 17131.26 done 1.75 - - 2762.38 - 3.18 0.105 3359.88 389.9 107.06 - - 2568.41 - - - - - - - - - 16.16 -
17239.71 429.67 7.38 2135 17246.97 done 1.77 - - 2762.69 - 2.97 0.060 2119.25 -417.7 107.06 - - 2567.38 - - - - - - - - - 16.20 -
17555.48 409.48 6.08 2167 17561.47 1.83 0.19 0.069 2794.75 168.7 3.18 0.104 3360.06 390.2 107.06 - - 2566.59 - - - - - - - - 16.20 16.16 -
17755.53 395.67 6.93 2207 17761.25 done 1.86 - - 2794.25 - 2.96 0.060 2119.69 -419.0 107.06 - - 2567.56 - - - - - - - - - 16.16 -
18065.54 375.99 6.25 2239 18067.12 VBD 1.92 - - 2795.00 - - - 2119.25 - 107.06 - - 2565.66 - - - - - - - - - - -
18375.58 356.77 6.14 2270 18381.90 1.98 0.22 0.059 2827.94 149.7 3.16 0.103 3360.62 392.8 107.06 - - 2566.38 - - - - - - - - 16.21 16.15 -
18555.62 343.86 7.47 2306 18561.33 done 1.99 - - 2827.88 - 2.95 0.059 2119.88 -420.6 107.06 - - 2567.19 - - - - - - - - - 16.16 -
18865.63 322.65 6.75 2338 18871.44 done 2.03 - - 2827.38 - 3.17 0.103 3361.69 391.7 107.06 - - 2567.56 - - - - - - - - - 16.15 -
19099.92 306.16 6.73 2385 19107.43 2.07 0.12 0.082 2848.06 172.3 2.94 0.059 2121.19 -421.9 107.06 - - 2569.22 - - - - - - - - 16.20 16.19 -
19415.68 285.55 6.62 2417 19421.50 done 2.11 - - 2848.69 - 3.17 0.101 3361.56 391.3 107.06 - - 2567.09 - - - - - - - - - 16.13 -
19649.97 269.73 6.51 2464 19657.40 2.16 0.16 0.054 2863.69 93.8 2.95 0.058 2117.88 -421.6 107.06 - - 2568.25 - - - - - - - - 16.22 16.18 -
19965.74 252.30 5.26 2496 19971.84 2.24 0.20 0.056 2894.50 154.0 3.17 0.100 3362.12 392.5 107.06 - - 2566.34 - - - - - - - - 16.18 16.12 -
20200.08 238.95 5.31 2543 20207.31 done 2.33 - - 2895.06 - 2.94 0.058 2120.62 -422.3 107.06 - - 2566.50 - - - - - - - - - 16.16 -
20515.85 223.74 5.07 2575 20521.96 2.42 0.36 0.036 2926.69 87.9 3.14 0.100 3361.12 395.1 107.06 - - 2567.94 - - - - - - - - 16.17 16.11 -
20750.15 210.39 5.75 2622 20757.56 2.48 0.16 0.050 2943.19 103.1 2.94 0.058 2119.38 -422.4 107.06 - - 2567.62 - - - - - - - - 16.21 16.16 -
21065.91 194.75 4.57 2654 21151.75 2.57 0.22 0.059 2971.25 127.5 3.22 0.101 3362.12 385.9 174.95 76.14 1.028 2305.50 -3.4 0.108 - - - - - - 16.13 15.80 12.90
21264.44 171.54 15.72 2693 21271.75 roll 2.57 - - 2971.69 - 2.98 0.058 2119.94 -416.8 174.95 - - 2302.44 - - - - - - - - - 15.93 -
21580.21 126.88 13.26 2725 21586.16 roll 2.57 - - 2971.62 - 3.21 0.100 3360.62 386.5 174.95 - - 2300.59 - - - - - - - - - 15.98 -
21670.23 114.50 14.00 2743 21675.98 roll 2.57 - - 2970.81 - 2.95 0.058 2120.88 -420.3 174.95 - - 2299.81 - - - - - - - - - 16.00 -
21980.30 83.55 7.52 2792 21984.68 VBD 2.59 - - 2972.06 - - - 2120.62 - 174.95 - - 2298.81 - - - - - - - - - - -
22165.41 75.88 2.75 2829 22286.09 2.72 0.24 0.060 3005.62 139.8 - - 2121.38 - 278.45 112.71 0.910 1884.28 -3.7 0.051 - - - - - - 16.05 - 12.98
22469.49 52.05 11.76 2889 22476.16 roll 2.72 - - 3005.44 - 3.21 0.099 3362.19 386.5 278.45 - - 1881.50 - - - - - - - - - 15.84 -
22559.70 40.73 12.20 2907 22566.51 roll 2.72 - - 3005.75 - 3.01 0.056 2118.69 -413.1 278.45 - - 1881.91 - - - - - - - - - 15.86 -
22750.30 23.88 6.43 2945 22754.69 no move 2.77 - - 3006.00 - - - 2118.88 - 278.45 - - 1881.03 - - - - - - - - - - -
22940.14 24.71 -0.37 2983 23136.69 2.99 0.48 0.047 3072.50 138.5 3.80 0.115 689.00 -376.3 442.91 182.38 0.836 1214.94 -3.7 0.018 - - - - - - 15.96 15.52 12.88
23170 end climb: SURFACE_DEPTH_REACHED
23170 begin surface coast
23185 end surface coast: CONTROL_FINISHED_OK
23185 begin surface
SM 1.25 - - - - 189.2 32.86 0.791 1084.0 27.4 21.62 0.045 1094.8 50.6 - 3.52 0.061 1073.2 303.8 -0.636 - - 12.74 15.72 15.69 -