NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 57 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 37.01 of 575.00 AH used of 24V (93.56% remains)
• Surface angle -61.7 deg, depth 1.57 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 53 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 - - - 80.76 VBD -1.56 - - 176.88 - - - 2141.81 - -107.06 70.27 0.005 2611.75 - - - - - - - - - - 15.74
81.20 3.59 -3.34 14 131.95 -1.56 16.15 0.242 1959.94 110.4 3.91 0.121 690.00 -371.3 -107.06 19.51 0.006 3457.44 43.3 -4.284 - - - - - - 15.70 15.70 15.76
230.60 33.43 -17.17 43 236.93 roll -1.56 - - 1960.19 - 3.50 0.055 2128.06 410.9 -107.06 - - 3459.75 - - - - - - - - - 15.84 -
420.41 62.71 -14.97 81 424.78 no move -1.56 - - 1959.81 - - - 2128.00 - -107.06 - - 3459.34 - - - - - - - - - - -
605.43 86.43 -11.86 118 612.23 roll -1.56 - - 1960.12 - 3.85 0.115 690.88 -373.3 -107.06 - - 3460.50 - - - - - - - - - 15.93 -
765.64 106.90 -13.53 150 771.45 roll -1.56 - - 1959.56 - 3.44 0.054 2129.81 418.3 -107.06 - - 3460.34 - - - - - - - - - 15.94 -
1075.65 139.78 -10.08 182 1082.69 roll -1.56 - - 1960.00 - 3.85 0.116 689.06 -374.2 -107.06 - - 3461.28 - - - - - - - - - 15.99 -
1111.09 143.47 -10.40 189 1116.90 roll -1.56 - - 1960.00 - 3.41 0.055 2130.50 422.7 -107.06 - - 3461.16 - - - - - - - - - 16.00 -
1421.12 172.70 -9.45 221 1428.15 roll -1.56 - - 1958.94 - 3.81 0.118 690.31 -378.0 -107.06 - - 3461.38 - - - - - - - - - 16.03 -
1486.55 179.67 -10.86 234 1492.68 roll -1.56 - - 1959.50 - 3.42 0.056 2129.94 420.9 -107.06 - - 3461.28 - - - - - - - - - 16.03 -
1796.61 209.48 -9.94 266 1803.85 roll -1.56 - - 1959.75 - 3.81 0.118 689.88 -378.0 -107.06 - - 3459.28 - - - - - - - - - 16.06 -
1892.31 220.13 -11.53 285 1898.35 roll -1.56 - - 1959.44 - 3.40 0.057 2130.81 423.8 -107.06 - - 3461.88 - - - - - - - - - 16.08 -
2202.33 251.48 -9.95 317 2209.52 roll -1.56 - - 1959.81 - 3.79 0.118 690.00 -380.2 -107.06 - - 3459.50 - - - - - - - - - 16.08 -
2322.21 265.61 -11.87 341 2329.73 roll -1.56 - - 1959.69 - 3.42 0.057 2129.50 420.9 -107.06 - - 3460.88 - - - - - - - - - 16.11 -
2638.00 298.17 -10.11 373 2645.24 roll -1.56 - - 1960.12 - 3.81 0.120 690.50 -377.7 -107.06 - - 3460.88 - - - - - - - - - 16.10 -
2693.69 304.44 -11.02 384 2699.69 roll -1.56 - - 1960.25 - 3.44 0.058 2129.00 418.2 -107.06 - - 3460.88 - - - - - - - - - 16.10 -
3003.71 333.14 -8.87 416 3005.28 no move -1.56 - - 1959.62 - - - 2129.19 - -107.06 - - 3459.81 - - - - - - - - - - -
3313.99 361.41 -9.13 447 3321.00 roll -1.56 - - 1959.00 - 3.81 0.121 690.81 -377.5 -107.06 - - 3459.75 - - - - - - - - - 16.14 -
3399.56 370.52 -10.79 464 3405.59 roll -1.56 - - 1958.81 - 3.43 0.059 2128.81 419.2 -107.06 - - 3462.12 - - - - - - - - - 16.16 -
3709.59 398.90 -9.06 496 3711.16 no move -1.56 - - 1959.94 - - - 2129.94 - -107.06 - - 3459.38 - - - - - - - - - - -
4019.62 427.47 -9.54 527 4026.82 roll -1.56 - - 1959.44 - 3.79 0.124 691.38 -379.6 -107.06 - - 3459.91 - - - - - - - - - 16.15 -
4155.28 441.82 -10.48 554 4161.28 roll -1.56 - - 1959.31 - 3.42 0.061 2128.56 420.2 -107.06 - - 3460.31 - - - - - - - - - 16.17 -
4465.31 472.35 -9.95 586 4472.55 roll -1.56 - - 1958.44 - 3.82 0.124 690.44 -376.5 -107.06 - - 3460.75 - - - - - - - - - 16.17 -
4550.99 481.83 -11.14 603 4557.03 roll -1.56 - - 1959.69 - 3.44 0.061 2128.44 418.0 -107.06 - - 3459.91 - - - - - - - - - 16.16 -
4861.04 512.47 -9.46 635 4862.61 no move -1.56 - - 1959.75 - - - 2127.81 - -107.06 - - 3458.31 - - - - - - - - - - -
5171.09 542.23 -9.56 666 5178.33 roll -1.56 - - 1959.75 - 3.81 0.125 689.81 -377.4 -107.06 - - 3457.84 - - - - - - - - - 16.18 -
5336.91 559.76 -10.82 699 5342.91 roll -1.56 - - 1959.88 - 3.43 0.062 2127.12 419.0 -107.06 - - 3458.44 - - - - - - - - - 16.18 -
5646.93 587.55 -9.14 731 5648.50 no move -1.56 - - 1959.69 - - - 2128.25 - -107.06 - - 3456.78 - - - - - - - - - - -
5956.96 615.93 -8.57 762 5958.53 no move -1.56 - - 1959.44 - - - 2127.88 - -107.06 - - 3456.50 - - - - - - - - - - -
6266.98 642.25 -8.09 793 6274.17 roll -1.56 - - 1959.00 - 3.79 0.129 691.12 -379.1 -107.06 - - 3457.84 - - - - - - - - - 16.19 -
6372.62 652.38 -9.30 814 6378.66 roll -1.56 - - 1958.94 - 3.43 0.063 2127.31 418.7 -107.06 - - 3458.31 - - - - - - - - - 16.20 -
6682.65 676.64 -7.74 846 6684.22 no move -1.56 - - 1959.44 - - - 2126.50 - -107.06 - - 3455.19 - - - - - - - - - - -
6992.68 699.95 -7.52 877 6999.04 roll -1.56 - - 1959.38 - 3.80 0.128 690.06 -378.0 -107.06 - - 3454.12 - - - - - - - - - 16.19 -
7092.70 709.02 -8.82 897 7098.99 roll -1.56 - - 1960.19 - 3.40 0.064 2128.31 423.0 -107.06 - - 3455.31 - - - - - - - - - 16.20 -
7402.73 733.41 -8.12 929 7409.93 roll -1.56 - - 1959.19 - 3.79 0.128 690.00 -379.5 -107.06 - - 3453.81 - - - - - - - - - 16.20 -
7512.62 743.71 -9.37 951 7520.14 roll -1.56 - - 1958.75 - 3.45 0.064 2125.75 416.2 -107.06 - - 3455.66 - - - - - - - - - 16.20 -
7828.41 768.87 -7.78 983 7829.98 no move -1.56 - - 1959.62 - - - 2125.81 - -107.06 - - 3452.59 - - - - - - - - - - -
8138.44 794.56 -8.39 1014 8145.65 roll -1.56 - - 1959.12 - 3.80 0.131 690.25 -377.8 -107.06 - - 3452.41 - - - - - - - - - 16.20 -
8238.36 804.45 -10.10 1034 8245.88 roll -1.56 - - 1959.75 - 3.43 0.065 2126.81 418.8 -107.06 - - 3453.78 - - - - - - - - - 16.20 -
8554.15 832.61 -9.01 1066 8561.34 roll -1.56 - - 1959.56 - 3.79 0.129 691.19 -378.8 -107.06 - - 3452.09 - - - - - - - - - 16.19 -
8619.79 839.45 -10.29 1079 8625.95 roll -1.56 - - 1959.44 - 3.44 0.064 2127.94 417.7 -107.06 - - 3453.78 - - - - - - - - - 16.21 -
8929.82 866.97 -8.12 1111 8931.39 no move -1.56 - - 1959.25 - - - 2127.94 - -107.06 - - 3452.16 - - - - - - - - - - -
9239.84 892.49 -8.02 1142 9247.10 roll -1.56 - - 1958.50 - 3.81 0.130 691.00 -377.1 -107.06 - - 3452.75 - - - - - - - - - 16.20 -
9365.56 903.38 -8.81 1167 9371.58 roll -1.56 - - 1959.56 - 3.45 0.066 2125.44 415.8 -107.06 - - 3452.44 - - - - - - - - - 16.20 -
9675.34 926.76 -7.31 1199 9676.92 no move -1.56 - - 1959.25 - - - 2125.50 - -107.06 - - 3450.25 - - - - - - - - - - -
9985.62 948.62 -7.24 1230 9992.87 roll -1.56 - - 1960.19 - 3.84 0.133 689.75 -373.9 -107.06 - - 3451.03 - - - - - - - - - 16.20 -
10091.45 957.06 -7.97 1251 10097.43 roll -1.56 - - 1959.69 - 3.45 0.066 2127.88 416.8 -107.06 - - 3451.50 - - - - - - - - - 16.21 -
10401.47 978.71 -7.00 1283 10403.04 no move -1.56 - - 1959.50 - - - 2127.56 - -107.06 - - 3449.53 - - - - - - - - - - -
10561 end dive: TARGET_DEPTH_EXCEEDED
10561 begin apogee
10563.21 990.83 -8.03 1299 10657.43 -0.42 2.32 0.130 2240.69 121.2 0.09 0.244 2121.12 -71.6 - 84.81 2.105 3018.00 -5.1 0.396 - - - - - - 16.18 15.57 12.94
10660 end apogee: CONTROL_FINISHED_OK
10661 begin climb
10663.56 991.64 - 1308 10774.74 1.56 3.93 0.066 2727.94 124.0 3.38 0.109 3359.31 366.3 107.06 92.89 2.045 2583.06 -4.7 0.375 - - - - - - 15.69 15.29 12.68
10817.53 981.78 11.08 1337 10824.93 roll 1.56 - - 2728.25 - 3.13 0.059 2124.38 -394.5 107.06 - - 2580.91 - - - - - - - - - 15.60 -
11133.30 946.89 10.96 1369 11139.22 done 1.56 - - 2728.06 - 3.23 0.106 3361.00 382.9 107.06 - - 2576.16 - - - - - - - - - 15.87 -
11317.58 924.77 12.02 1406 11324.93 done 1.56 - - 2727.12 - 3.05 0.060 2123.88 -405.6 107.06 - - 2575.78 - - - - - - - - - 15.94 -
11633.36 891.32 10.33 1438 11639.24 done 1.56 - - 2727.50 - 3.18 0.106 3361.81 389.3 107.06 - - 2570.84 - - - - - - - - - 16.00 -
11747.64 878.82 10.45 1461 11754.95 done 1.56 - - 2728.06 - 3.01 0.060 2121.19 -412.2 107.06 - - 2571.91 - - - - - - - - - 16.03 -
12063.41 847.87 9.70 1493 12069.31 done 1.56 - - 2727.94 - 3.16 0.105 3362.56 392.8 107.06 - - 2569.22 - - - - - - - - - 16.07 -
12153.44 838.41 11.06 1511 12159.25 done 1.56 - - 2728.12 - 3.01 0.060 2121.31 -412.4 107.06 - - 2569.34 - - - - - - - - - 16.06 -
12463.46 809.68 9.02 1543 12469.32 done 1.56 - - 2727.62 - 3.16 0.104 3361.12 392.3 107.06 - - 2569.88 - - - - - - - - - 16.09 -
12573.49 798.45 10.11 1565 12579.30 done 1.56 - - 2728.56 - 3.01 0.060 2121.69 -411.8 107.06 - - 2568.72 - - - - - - - - - 16.11 -
12883.51 769.91 8.94 1597 12889.39 done 1.56 - - 2728.06 - 3.14 0.105 3362.62 395.2 107.06 - - 2568.25 - - - - - - - - - 16.12 -
13117.81 745.47 10.46 1644 13125.33 done 1.56 - - 2727.94 - 2.99 0.060 2123.56 -414.4 107.06 - - 2568.28 - - - - - - - - - 16.14 -
13433.58 716.24 9.15 1676 13439.44 done 1.56 - - 2728.12 - 3.15 0.105 3361.75 393.1 107.06 - - 2566.81 - - - - - - - - - 16.14 -
13487.84 710.79 10.38 1687 13495.19 done 1.56 - - 2728.00 - 3.01 0.060 2122.06 -411.9 107.06 - - 2566.62 - - - - - - - - - 16.14 -
13803.61 684.16 8.35 1719 13809.48 done 1.56 - - 2727.94 - 3.15 0.104 3360.75 393.2 107.06 - - 2567.28 - - - - - - - - - 16.16 -
14033.67 663.31 8.89 1765 14039.53 done 1.56 - - 2728.31 - 3.01 0.060 2120.25 -412.1 107.06 - - 2566.97 - - - - - - - - - 16.16 -
14343.68 637.93 8.09 1797 14345.26 VBD 1.56 - - 2727.81 - - - 2119.75 - 107.06 - - 2565.00 - - - - - - - - - - -
14653.70 611.89 8.52 1828 14659.58 done 1.56 - - 2728.50 - 3.18 0.103 3363.94 391.3 107.06 - - 2565.12 - - - - - - - - - 16.18 -
14888.00 590.73 8.36 1875 14895.53 done 1.56 - - 2728.12 - 2.99 0.059 2122.12 -415.3 107.06 - - 2567.25 - - - - - - - - - 16.17 -
15203.82 567.22 7.06 1907 15209.67 done 1.59 - - 2726.75 - 3.16 0.103 3362.06 392.4 107.06 - - 2567.72 - - - - - - - - - 16.18 -
15238.07 564.58 7.36 1914 15245.30 done 1.61 - - 2726.62 - 2.99 0.059 2118.25 -416.0 107.06 - - 2567.88 - - - - - - - - - 16.17 -
15553.85 542.29 7.34 1946 15559.70 done 1.64 - - 2728.12 - 3.15 0.105 3362.00 394.8 107.06 - - 2565.03 - - - - - - - - - 16.18 -
15668.12 533.95 7.17 1969 15675.50 1.66 0.12 0.095 2749.75 180.3 2.96 0.060 2121.56 -419.1 107.06 - - 2566.81 - - - - - - - - 16.19 16.19 -
15983.89 514.21 5.99 2001 15991.07 done 1.72 - - 2749.62 - 3.73 0.123 689.25 -384.0 107.06 - - 2567.88 - - - - - - - - - 16.17 -
16019.55 511.63 6.67 2008 16026.75 1.77 0.14 0.083 2777.00 195.6 3.56 0.065 2178.88 418.4 107.06 - - 2563.12 - - - - - - - - 16.18 16.17 -
16334.55 489.78 6.82 2040 16340.55 done 1.80 - - 2778.00 - 3.02 0.106 3361.00 391.4 107.06 - - 2563.94 - - - - - - - - - 16.17 -
16568.79 470.50 8.10 2087 16576.05 done 1.80 - - 2777.44 - 2.99 0.059 2121.44 -414.6 107.06 - - 2565.97 - - - - - - - - - 16.20 -
16884.60 447.12 7.01 2119 16890.54 done 1.83 - - 2777.44 - 3.18 0.103 3360.81 389.7 107.06 - - 2565.31 - - - - - - - - - 16.19 -
17118.85 428.87 7.90 2166 17126.13 done 1.83 - - 2776.44 - 2.96 0.058 2120.38 -419.1 107.06 - - 2564.78 - - - - - - - - - 16.18 -
17434.67 406.65 6.81 2198 17440.68 1.87 0.12 0.087 2804.06 230.2 3.17 0.102 3361.19 391.4 107.06 - - 2566.31 - - - - - - - - 16.19 16.17 -
17524.65 399.67 7.78 2216 17530.41 done 1.87 - - 2804.50 - 2.96 0.058 2120.44 -419.2 107.06 - - 2564.84 - - - - - - - - - 16.19 -
17834.70 377.37 7.06 2248 17836.28 VBD 1.90 - - 2804.81 - - - 2119.88 - 107.06 - - 2563.25 - - - - - - - - - - -
18144.71 354.83 7.21 2279 18146.29 VBD 1.93 - - 2805.00 - - - 2120.19 - 107.06 - - 2563.34 - - - - - - - - - - -
18454.74 333.82 6.63 2310 18456.33 VBD 1.97 - - 2804.69 - - - 2119.88 - 107.06 - - 2563.41 - - - - - - - - - - -
18764.75 313.84 6.25 2341 18766.51 2.02 0.19 0.077 2839.94 185.5 - - 2120.31 - 107.06 - - 2563.19 - - - - - - - - 16.23 - -
19074.79 292.31 6.98 2372 19076.36 VBD 2.05 - - 2840.50 - - - 2120.25 - 107.06 - - 2563.50 - - - - - - - - - - -
19385.04 271.75 6.39 2403 19391.98 done 2.10 - - 2840.12 - 3.75 0.119 689.88 -381.4 107.06 - - 2564.19 - - - - - - - - - 16.15 -
19444.71 267.77 6.49 2415 19452.39 2.15 0.14 0.077 2872.94 234.4 3.56 0.064 2180.81 418.8 107.06 - - 2564.06 - - - - - - - - 16.15 16.16 -
19760.47 249.11 6.23 2447 19767.69 done 2.21 - - 2872.56 - 3.87 0.114 689.94 -385.2 107.06 - - 2562.81 - - - - - - - - - 16.15 -
19820.42 244.68 7.35 2459 19827.94 done 2.23 - - 2873.56 - 3.58 0.063 2179.56 416.1 107.06 - - 2564.66 - - - - - - - - - 16.18 -
20136.19 227.44 5.10 2491 20142.19 2.31 0.22 0.059 2913.56 181.8 3.05 0.103 3362.06 387.7 107.06 - - 2563.91 - - - - - - - - 16.19 16.15 -
20370.47 212.91 6.64 2538 20377.74 done 2.36 - - 2913.31 - 2.99 0.056 2119.44 -415.6 107.06 - - 2565.66 - - - - - - - - - 16.15 -
20686.23 193.87 6.00 2570 20692.21 2.42 0.10 0.081 2935.12 218.1 3.17 0.098 3361.81 391.9 107.06 - - 2566.19 - - - - - - - - 16.20 16.14 -
20920.52 180.50 4.94 2617 20996.58 done 2.50 - - 2935.25 - 2.98 0.055 2117.62 -417.5 167.87 68.74 1.022 2334.94 -3.4 0.098 - - - - - - - 16.16 13.01
21301.24 139.46 12.55 2662 21307.14 roll 2.50 - - 2935.62 - 3.19 0.097 3363.81 390.7 167.87 - - 2330.03 - - - - - - - - - 15.98 -
21535.53 113.55 9.78 2709 21542.89 roll 2.50 - - 2935.69 - 3.01 0.055 2118.25 -413.8 167.87 - - 2329.38 - - - - - - - - - 15.98 -
21846.54 89.10 6.53 2755 21851.22 2.54 0.17 0.069 2966.88 183.5 - - 2118.56 - 167.87 - - 2328.56 - - - - - - - - 16.05 - -
22036.38 79.13 3.98 2793 22132.95 2.65 0.12 0.079 2990.62 197.8 3.82 0.115 690.00 -374.0 247.44 86.15 0.923 2010.12 -3.7 0.052 - - - - - - 16.09 15.72 12.78
22361.43 48.04 10.40 2857 22368.30 roll 2.65 - - 2990.50 - 3.62 0.059 2178.31 411.1 247.44 - - 2008.47 - - - - - - - - - 15.91 -
22551.74 33.14 6.54 2895 22558.73 roll 2.69 - - 2990.31 - 3.96 0.110 688.94 -376.1 247.44 - - 2008.12 - - - - - - - - - 15.92 -
22672.22 27.69 3.59 2919 22784.62 2.80 0.25 0.059 3030.38 160.3 3.58 0.059 2182.75 417.3 334.50 99.05 0.863 1656.62 -3.5 0.019 - - - - - - 15.97 15.96 12.81
22968.19 19.63 6.84 2977 22975.17 roll 2.84 - - 3031.31 - 3.98 0.110 689.94 -375.1 334.50 - - 1653.47 - - - - - - - - - 15.83 -
23203.76 2.45 9.85 3024 23210.67 roll 2.84 - - 3030.75 - 3.62 0.058 2178.81 411.3 334.50 - - 1652.03 - - - - - - - - - 15.90 -
23214 end climb: SURFACE_DEPTH_REACHED
23214 begin surface coast
23234 end surface coast: CONTROL_FINISHED_OK
23234 begin surface
SM 1.43 - - - - 184.4 135.17 0.842 1083.4 8.0 20.47 0.058 1098.1 53.6 - 0.22 0.095 1068.8 4841.7 -7.449 - - 12.81 15.89 15.93 -