NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 51 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 34.96 of 575.00 AH used of 24V (93.92% remains)
• Surface angle -64.2 deg, depth 1.46 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.03 (SM_CC=475)
• GPS1 time: 71 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
8.86 - - - 75.61 VBD -1.56 - - 184.25 - - - 2070.56 - -107.06 65.18 0.005 2459.78 - - - - - - - - - - 15.74
76.05 3.13 -2.91 13 132.39 -1.56 17.19 0.238 1960.19 103.3 3.64 0.126 690.94 -379.0 -107.06 26.49 0.006 3459.25 37.7 -3.249 - - - - - - 15.64 15.72 15.76
330.76 46.37 -15.97 63 337.30 roll -1.56 - - 1961.12 - 3.38 0.055 2129.38 425.6 -107.06 - - 3458.91 - - - - - - - - - 15.87 -
520.78 72.49 -13.62 101 525.15 no move -1.56 - - 1961.19 - - - 2129.31 - -107.06 - - 3459.66 - - - - - - - - - - -
705.80 94.02 -11.59 138 710.21 no move -1.56 - - 1961.19 - - - 2129.25 - -107.06 - - 3459.62 - - - - - - - - - - -
890.82 113.68 -10.77 162 897.80 roll -1.56 - - 1960.94 - 3.73 0.116 690.00 -385.9 -107.06 - - 3461.00 - - - - - - - - - 15.96 -
926.32 117.79 -11.56 169 932.12 roll -1.56 - - 1961.12 - 3.36 0.055 2131.94 429.1 -107.06 - - 3461.41 - - - - - - - - - 15.99 -
1236.33 149.93 -9.88 201 1243.31 roll -1.56 - - 1960.44 - 3.74 0.118 690.00 -385.5 -107.06 - - 3460.88 - - - - - - - - - 16.03 -
1375.97 166.14 -11.14 229 1383.29 roll -1.56 - - 1961.00 - 3.35 0.056 2131.88 430.4 -107.06 - - 3462.38 - - - - - - - - - 16.04 -
1691.75 194.59 -8.67 261 1697.37 roll -1.56 - - 1960.94 - 3.09 0.106 3359.31 397.2 -107.06 - - 3463.09 - - - - - - - - - 16.04 -
1796.03 205.42 -10.38 282 1803.35 roll -1.56 - - 1961.12 - 3.04 0.053 2069.69 -424.2 -107.06 - - 3462.66 - - - - - - - - - 16.07 -
2111.81 234.60 -9.14 314 2117.71 roll -1.56 - - 1961.56 - 3.24 0.102 3359.38 398.1 -107.06 - - 3461.81 - - - - - - - - - 16.06 -
2251.83 249.16 -10.55 342 2257.63 roll -1.56 - - 1960.75 - 3.03 0.054 2069.38 -425.7 -107.06 - - 3462.69 - - - - - - - - - 16.09 -
2561.86 279.76 -10.18 374 2563.43 no move -1.56 - - 1961.06 - - - 2069.25 - -107.06 - - 3461.75 - - - - - - - - - - -
2871.87 309.01 -9.03 405 2877.82 roll -1.56 - - 1962.06 - 3.25 0.103 3360.88 397.4 -107.06 - - 3463.12 - - - - - - - - - 16.12 -
2971.89 318.92 -9.76 425 2977.72 roll -1.56 - - 1960.69 - 3.04 0.055 2069.50 -424.8 -107.06 - - 3462.88 - - - - - - - - - 16.14 -
3281.91 345.23 -8.22 457 3287.80 roll -1.56 - - 1961.06 - 3.23 0.104 3361.38 400.0 -107.06 - - 3462.03 - - - - - - - - - 16.14 -
3331.91 350.03 -9.29 467 3337.73 roll -1.56 - - 1961.31 - 3.03 0.056 2070.75 -426.0 -107.06 - - 3461.75 - - - - - - - - - 16.14 -
3641.94 375.96 -8.43 499 3643.50 no move -1.56 - - 1960.81 - - - 2070.88 - -107.06 - - 3461.03 - - - - - - - - - - -
3951.97 400.55 -7.56 530 3957.86 roll -1.56 - - 1961.31 - 3.22 0.105 3361.56 400.8 -107.06 - - 3461.56 - - - - - - - - - 16.16 -
4091.98 412.53 -8.72 558 4097.78 roll -1.56 - - 1960.50 - 3.05 0.057 2069.06 -423.8 -107.06 - - 3462.62 - - - - - - - - - 16.18 -
4402.03 436.06 -7.65 590 4407.92 roll -1.56 - - 1961.00 - 3.21 0.106 3360.44 402.3 -107.06 - - 3461.19 - - - - - - - - - 16.17 -
4502.05 445.00 -9.04 610 4507.88 roll -1.56 - - 1961.44 - 3.03 0.057 2071.31 -425.5 -107.06 - - 3460.56 - - - - - - - - - 16.18 -
4812.10 471.85 -8.89 642 4818.15 roll -1.56 - - 1960.50 - 3.60 0.134 689.62 -383.8 -107.06 - - 3460.78 - - - - - - - - - 16.16 -
4912.13 481.78 -9.93 662 4918.13 roll -1.56 - - 1960.50 - 3.35 0.062 2129.19 429.7 -107.06 - - 3461.78 - - - - - - - - - 16.18 -
5222.16 508.19 -8.27 694 5229.55 roll -1.56 - - 1960.56 - 3.69 0.128 689.25 -390.2 -107.06 - - 3460.75 - - - - - - - - - 16.17 -
5328.12 518.74 -10.06 715 5334.11 roll -1.56 - - 1960.75 - 3.34 0.063 2130.00 431.4 -107.06 - - 3460.69 - - - - - - - - - 16.17 -
5638.17 546.52 -9.18 747 5639.74 no move -1.56 - - 1961.00 - - - 2129.69 - -107.06 - - 3457.91 - - - - - - - - - - -
5948.19 575.10 -9.14 778 5955.37 roll -1.56 - - 1960.25 - 3.74 0.128 690.44 -384.8 -107.06 - - 3458.69 - - - - - - - - - 16.18 -
6023.83 583.43 -11.29 793 6029.77 roll -1.56 - - 1961.75 - 3.35 0.063 2130.38 429.8 -107.06 - - 3458.66 - - - - - - - - - 16.20 -
6333.85 613.31 -9.53 825 6335.43 no move -1.56 - - 1961.25 - - - 2131.31 - -107.06 - - 3456.69 - - - - - - - - - - -
6643.88 641.95 -9.06 856 6651.07 roll -1.56 - - 1960.12 - 3.72 0.128 690.06 -387.4 -107.06 - - 3457.72 - - - - - - - - - 16.19 -
6723.76 649.89 -9.90 872 6731.27 roll -1.56 - - 1961.12 - 3.34 0.064 2129.56 431.0 -107.06 - - 3457.09 - - - - - - - - - 16.20 -
7039.56 676.87 -8.21 904 7041.13 no move -1.56 - - 1960.81 - - - 2129.19 - -107.06 - - 3455.41 - - - - - - - - - - -
7349.58 701.68 -7.92 935 7357.04 roll -1.56 - - 1960.75 - 3.71 0.131 690.25 -387.9 -107.06 - - 3456.69 - - - - - - - - - 16.20 -
7419.84 708.14 -9.53 949 7427.32 roll -1.56 - - 1959.62 - 3.36 0.065 2128.81 428.1 -107.06 - - 3457.97 - - - - - - - - - 16.19 -
7735.63 733.76 -7.99 981 7737.20 no move -1.56 - - 1960.44 - - - 2129.19 - -107.06 - - 3453.94 - - - - - - - - - - -
8045.66 759.63 -8.67 1012 8052.87 roll -1.56 - - 1960.81 - 3.73 0.131 689.94 -385.9 -107.06 - - 3454.16 - - - - - - - - - 16.20 -
8111.31 765.93 -9.54 1025 8117.26 roll -1.56 - - 1960.81 - 3.34 0.065 2127.94 430.5 -107.06 - - 3454.59 - - - - - - - - - 16.20 -
8421.33 791.59 -8.08 1057 8422.90 no move -1.56 - - 1960.69 - - - 2127.62 - -107.06 - - 3453.31 - - - - - - - - - - -
8731.37 816.25 -7.93 1088 8738.56 roll -1.56 - - 1961.00 - 3.74 0.132 690.00 -384.4 -107.06 - - 3452.84 - - - - - - - - - 16.15 -
8807.21 822.92 -8.68 1103 8812.97 roll -1.56 - - 1960.69 - 3.36 0.067 2128.69 428.2 -107.06 - - 3455.44 - - - - - - - - - 16.20 -
9117.05 846.26 -7.34 1135 9118.62 no move -1.56 - - 1960.69 - - - 2128.88 - -107.06 - - 3452.50 - - - - - - - - - - -
9427.11 869.47 -7.33 1166 9434.31 roll -1.56 - - 1960.25 - 3.77 0.133 690.00 -381.7 -107.06 - - 3454.34 - - - - - - - - - 16.20 -
9532.88 878.74 -8.78 1187 9538.95 roll -1.56 - - 1960.38 - 3.36 0.066 2129.56 428.4 -107.06 - - 3453.66 - - - - - - - - - 16.21 -
9842.91 903.58 -8.03 1219 9844.49 no move -1.56 - - 1960.25 - - - 2129.62 - -107.06 - - 3452.03 - - - - - - - - - - -
10152.94 928.83 -7.67 1250 10160.12 roll -1.56 - - 1961.19 - 3.77 0.133 690.94 -381.6 -107.06 - - 3451.50 - - - - - - - - - 16.20 -
10218.58 934.69 -9.14 1263 10224.53 roll -1.56 - - 1960.62 - 3.36 0.067 2128.38 427.8 -107.06 - - 3451.91 - - - - - - - - - 16.20 -
10528.61 959.23 -7.92 1295 10530.18 no move -1.56 - - 1960.69 - - - 2127.88 - -107.06 - - 3450.84 - - - - - - - - - - -
10838.85 983.49 -7.90 1326 10840.43 no move -1.56 - - 1961.00 - - - 2127.94 - -107.06 - - 3450.16 - - - - - - - - - - -
10928 end dive: TARGET_DEPTH_EXCEEDED
10928 begin apogee
10930.33 990.63 -7.77 1335 11024.82 -0.42 2.80 0.123 2239.81 99.6 0.09 0.253 2122.56 -59.8 - 85.28 2.096 3018.62 -5.1 0.395 - - - - - - 16.15 15.56 12.93
11036 end apogee: CONTROL_FINISHED_OK
11036 begin climb
11039.10 992.29 - 1344 11141.53 1.56 3.95 0.066 2725.81 123.0 - - 2121.75 - 107.06 92.72 2.038 2584.69 -4.7 0.376 - - - - - - 15.69 - 12.77
11445.07 958.17 10.37 1385 11450.94 done 1.56 - - 2727.06 - 3.19 0.111 3359.88 388.1 107.06 - - 2575.31 - - - - - - - - - 15.84 -
11515.10 950.06 11.74 1399 11520.95 done 1.56 - - 2726.81 - 3.01 0.062 2121.88 -411.3 107.06 - - 2575.19 - - - - - - - - - 15.87 -
11825.14 918.03 10.13 1431 11831.00 done 1.56 - - 2726.56 - 3.16 0.108 3361.31 392.2 107.06 - - 2571.72 - - - - - - - - - 15.93 -
11919.41 907.39 11.04 1450 11926.68 done 1.56 - - 2726.56 - 2.97 0.061 2122.44 -417.1 107.06 - - 2570.91 - - - - - - - - - 15.99 -
12235.24 874.04 10.28 1482 12241.06 done 1.56 - - 2726.62 - 3.13 0.107 3360.62 395.6 107.06 - - 2569.47 - - - - - - - - - 16.04 -
12285.20 868.29 11.64 1492 12290.96 done 1.56 - - 2726.50 - 2.97 0.061 2119.62 -417.8 107.06 - - 2570.03 - - - - - - - - - 16.05 -
12595.22 835.44 10.35 1524 12601.09 done 1.56 - - 2726.38 - 3.12 0.106 3360.56 397.7 107.06 - - 2570.09 - - - - - - - - - 16.07 -
12695.25 824.14 11.53 1544 12701.01 done 1.56 - - 2725.75 - 2.95 0.061 2120.50 -420.4 107.06 - - 2569.94 - - - - - - - - - 16.09 -
13005.27 793.21 9.74 1576 13011.18 done 1.56 - - 2726.62 - 3.13 0.107 3359.75 395.9 107.06 - - 2567.59 - - - - - - - - - 16.10 -
13095.29 783.45 10.67 1594 13101.10 done 1.56 - - 2726.75 - 2.93 0.062 2121.56 -422.6 107.06 - - 2569.31 - - - - - - - - - 16.12 -
13405.31 754.36 9.43 1626 13411.18 done 1.56 - - 2726.62 - 3.11 0.106 3360.38 398.3 107.06 - - 2569.06 - - - - - - - - - 16.12 -
13545.34 740.39 9.56 1654 13551.34 done 1.56 - - 2726.50 - 2.92 0.061 2118.75 -425.2 107.06 - - 2566.59 - - - - - - - - - 16.14 -
13855.36 713.80 8.46 1686 13861.24 done 1.56 - - 2727.56 - 3.12 0.105 3361.50 398.3 107.06 - - 2566.88 - - - - - - - - - 16.14 -
13955.38 704.58 8.90 1706 13961.14 done 1.56 - - 2727.69 - 2.93 0.060 2118.75 -424.1 107.06 - - 2566.41 - - - - - - - - - 16.15 -
14265.40 679.03 7.92 1738 14271.26 done 1.56 - - 2727.19 - 3.12 0.105 3361.25 398.2 107.06 - - 2565.50 - - - - - - - - - 16.15 -
14345.43 671.95 8.75 1754 14351.20 done 1.56 - - 2727.12 - 2.94 0.060 2119.75 -422.3 107.06 - - 2567.12 - - - - - - - - - 16.14 -
14655.49 649.17 7.34 1786 14661.34 done 1.59 - - 2727.81 - 3.12 0.105 3362.25 398.2 107.06 - - 2566.78 - - - - - - - - - 16.16 -
14809.73 636.50 8.05 1817 14817.00 done 1.59 - - 2727.38 - 2.92 0.060 2122.19 -424.7 107.06 - - 2566.28 - - - - - - - - - 16.16 -
15125.50 613.11 7.57 1849 15131.38 done 1.59 - - 2726.62 - 3.12 0.106 3360.50 396.9 107.06 - - 2566.66 - - - - - - - - - 16.15 -
15215.52 605.44 8.58 1867 15221.29 done 1.59 - - 2727.50 - 2.92 0.061 2119.25 -425.1 107.06 - - 2567.59 - - - - - - - - - 16.18 -
15525.59 582.67 7.27 1899 15531.40 done 1.61 - - 2727.75 - 3.11 0.104 3361.88 399.6 107.06 - - 2565.69 - - - - - - - - - 16.18 -
15619.81 575.21 7.83 1918 15627.09 done 1.61 - - 2725.62 - 2.90 0.060 2119.94 -428.3 107.06 - - 2567.03 - - - - - - - - - 16.19 -
15935.63 554.32 6.69 1950 15941.45 done 1.65 - - 2727.31 - 3.12 0.105 3361.50 397.9 107.06 - - 2565.34 - - - - - - - - - 16.18 -
16019.85 547.80 7.59 1967 16027.11 done 1.65 - - 2726.88 - 2.91 0.060 2117.69 -427.4 107.06 - - 2564.50 - - - - - - - - - 16.19 -
16335.66 528.08 6.09 1999 16341.70 1.71 0.28 0.058 2761.31 123.0 3.12 0.105 3360.81 398.4 107.06 - - 2567.53 - - - - - - - - 16.23 16.17 -
16555.67 509.74 8.60 2043 16561.42 done 1.71 - - 2762.19 - 2.90 0.060 2120.62 -427.7 107.06 - - 2566.81 - - - - - - - - - 16.19 -
16865.93 484.24 8.36 2075 16867.50 VBD 1.71 - - 2762.38 - - - 2120.69 - 107.06 - - 2563.38 - - - - - - - - - - -
17175.71 456.70 8.86 2106 17181.52 done 1.71 - - 2761.19 - 3.10 0.105 3361.31 400.2 107.06 - - 2567.09 - - - - - - - - - 16.17 -
17255.73 449.24 9.48 2122 17261.49 done 1.71 - - 2762.81 - 2.90 0.060 2118.81 -428.4 107.06 - - 2565.16 - - - - - - - - - 16.18 -
17565.79 425.50 7.28 2154 17567.36 VBD 1.73 - - 2763.00 - - - 2118.31 - 107.06 - - 2563.38 - - - - - - - - - - -
17875.82 405.23 6.30 2185 17877.40 VBD 1.78 - - 2762.69 - - - 2118.81 - 107.06 - - 2563.19 - - - - - - - - - - -
18185.84 385.27 6.66 2216 18191.87 1.83 0.24 0.043 2786.38 98.7 3.11 0.103 3362.44 399.9 107.06 - - 2565.50 - - - - - - - - 16.24 16.17 -
18285.88 378.06 7.20 2236 18291.58 done 1.85 - - 2785.88 - 2.91 0.060 2117.50 -427.8 107.06 - - 2567.16 - - - - - - - - - 16.17 -
18595.89 357.76 6.47 2268 18601.81 1.90 0.17 0.036 2800.88 88.2 3.09 0.103 3362.00 402.8 107.06 - - 2564.97 - - - - - - - - 16.27 16.17 -
18675.87 351.62 7.72 2284 18681.66 done 1.90 - - 2800.62 - 2.91 0.059 2117.62 -427.6 107.06 - - 2565.03 - - - - - - - - - 16.18 -
18985.94 331.68 6.12 2316 18991.88 1.96 0.14 0.072 2819.38 134.0 3.10 0.102 3361.12 401.1 107.06 - - 2566.84 - - - - - - - - 16.22 16.16 -
19070.19 325.84 7.11 2333 19077.42 done 1.98 - - 2820.38 - 2.91 0.058 2118.31 -427.1 107.06 - - 2564.78 - - - - - - - - - 16.18 -
19385.97 306.39 5.84 2365 19393.25 2.05 0.25 0.036 2837.25 67.5 3.60 0.121 688.62 -397.1 107.06 - - 2563.12 - - - - - - - - 16.26 16.17 -
19455.99 301.58 6.69 2379 19463.45 done 2.09 - - 2836.94 - 3.46 0.065 2181.00 431.3 107.06 - - 2562.56 - - - - - - - - - 16.18 -
19771.76 282.33 6.36 2411 19773.61 2.14 0.34 0.028 2860.75 70.0 - - 2182.25 - 107.06 - - 2560.97 - - - - - - - - 16.22 - -
20081.77 261.44 6.82 2442 20088.93 done 2.18 - - 2860.94 - 3.80 0.117 688.38 -393.1 107.06 - - 2562.34 - - - - - - - - - 16.15 -
20227.44 250.99 7.06 2471 20234.65 2.21 0.25 0.028 2875.56 58.5 3.48 0.065 2179.44 428.5 107.06 - - 2561.34 - - - - - - - - 16.21 16.17 -
20542.45 232.46 5.55 2503 20544.21 2.28 0.19 0.046 2897.44 115.2 - - 2178.81 - 107.06 - - 2561.03 - - - - - - - - 16.22 - -
20852.47 216.46 4.82 2534 20927.98 2.37 0.25 0.034 2915.12 70.7 3.86 0.116 688.62 -386.1 170.20 64.94 1.062 2326.81 -3.6 0.121 - - - - - - 16.19 15.85 12.99
21060.68 192.44 15.61 2575 21068.30 roll 2.37 - - 2915.06 - 3.53 0.065 2179.25 422.3 170.20 - - 2323.22 - - - - - - - - - 15.94 -
21376.45 149.56 13.35 2607 21382.20 roll 2.37 - - 2915.69 - 2.97 0.106 3361.44 398.0 170.20 - - 2320.50 - - - - - - - - - 16.01 -
21546.47 126.00 12.46 2641 21552.28 done 2.37 - - 2915.38 - 2.95 0.057 2118.25 -421.4 170.20 - - 2317.59 - - - - - - - - - 16.03 -
21856.54 93.75 7.20 2680 21863.12 done 2.39 - - 2914.75 - 3.12 0.100 3361.19 398.4 170.20 - - 2319.28 - - - - - - - - - 16.02 -
22087.13 81.35 3.42 2726 22194.97 2.51 0.47 0.030 2949.00 72.9 2.94 0.055 2117.75 -422.9 260.70 97.89 0.923 1954.16 -3.7 0.054 - - - - - - 16.09 16.03 12.83
22378.37 60.82 9.53 2783 22385.31 roll 2.51 - - 2949.75 - 3.74 0.117 688.50 -382.2 260.70 - - 1953.81 - - - - - - - - - 15.85 -
22613.89 35.55 10.07 2830 22620.71 roll 2.51 - - 2949.00 - 3.51 0.061 2179.50 424.8 260.70 - - 1955.34 - - - - - - - - - 15.94 -
22804.19 23.59 3.76 2868 22905.59 2.62 0.35 0.030 2976.06 77.3 - - 2179.56 - 344.44 96.04 0.851 1615.00 -3.5 0.016 - - - - - - 16.02 - 12.80
23089.17 16.98 5.01 2924 23164.34 2.69 0.22 0.034 2992.94 76.7 3.06 0.102 3360.00 385.8 403.85 65.12 0.821 1372.81 -3.7 0.013 - - - - - - 15.92 15.62 12.62
23227 end climb: SURFACE_DEPTH_REACHED
23228 begin surface coast
23242 end surface coast: CONTROL_FINISHED_OK
23243 begin surface
SM 1.41 - - - - 185.4 71.73 0.822 1083.5 14.2 21.19 0.047 1094.0 51.6 - 3.09 0.053 1072.9 346.2 -0.941 - - 12.76 15.82 15.78 -