NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 77 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 43.69 of 575.00 AH used of 24V (92.40% remains)
• Surface angle -63.4 deg, depth 1.36 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.94 (SM_CC=475)
• GPS1 time: 23 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
8.87 - - - 80.89 VBD -1.56 - - 184.19 - - - 2143.81 - -107.06 70.22 0.005 2564.50 - - - - - - - - - - 15.74
81.33 3.15 -2.82 14 132.41 -1.56 16.64 0.239 1960.81 106.8 3.81 0.121 689.75 -381.6 -107.06 21.73 0.006 3457.38 41.1 -3.568 - - - - - - 15.70 15.73 15.77
360.80 56.61 -16.47 69 367.33 roll -1.56 - - 1961.06 - 3.38 0.056 2128.44 425.6 -107.06 - - 3459.50 - - - - - - - - - 15.90 -
550.82 83.95 -14.57 107 555.23 no move -1.56 - - 1961.50 - - - 2129.25 - -107.06 - - 3460.00 - - - - - - - - - - -
735.83 107.26 -11.28 138 742.81 roll -1.56 - - 1961.19 - 3.73 0.115 689.69 -385.9 -107.06 - - 3460.22 - - - - - - - - - 15.96 -
811.21 116.59 -12.66 153 816.99 roll -1.56 - - 1960.44 - 3.34 0.055 2131.31 431.6 -107.06 - - 3459.78 - - - - - - - - - 15.97 -
1121.22 148.11 -8.95 185 1126.86 roll -1.56 - - 1960.25 - 3.07 0.103 3360.12 400.3 -107.06 - - 3462.16 - - - - - - - - - 16.00 -
1215.47 156.98 -8.95 204 1222.64 roll -1.56 - - 1961.31 - 3.02 0.050 2066.88 -428.2 -107.06 - - 3462.06 - - - - - - - - - 16.02 -
1531.25 182.68 -8.39 236 1537.15 roll -1.56 - - 1960.94 - 3.55 0.122 689.50 -388.0 -107.06 - - 3462.19 - - - - - - - - - 16.04 -
1585.51 187.94 -9.67 247 1593.07 roll -1.56 - - 1960.50 - 3.35 0.056 2132.00 430.6 -107.06 - - 3462.12 - - - - - - - - - 16.03 -
1901.33 216.04 -8.50 279 1907.43 roll -1.56 - - 1960.25 - 3.65 0.117 689.56 -395.2 -107.06 - - 3462.97 - - - - - - - - - 16.08 -
1971.34 222.49 -9.32 293 1977.30 roll -1.56 - - 1960.12 - 3.33 0.056 2132.00 433.2 -107.06 - - 3463.31 - - - - - - - - - 16.08 -
2281.37 247.66 -7.90 325 2287.79 roll -1.56 - - 1959.75 - 3.67 0.119 689.56 -393.0 -107.06 - - 3462.44 - - - - - - - - - 16.10 -
2335.62 252.64 -8.99 336 2343.14 roll -1.56 - - 1961.06 - 3.32 0.057 2133.44 434.9 -107.06 - - 3461.28 - - - - - - - - - 16.08 -
2651.41 277.30 -7.50 368 2658.55 roll -1.56 - - 1961.56 - 3.68 0.118 689.62 -392.3 -107.06 - - 3461.03 - - - - - - - - - 16.08 -
2827.02 291.97 -7.87 403 2832.96 roll -1.56 - - 1960.44 - 3.33 0.057 2131.88 433.1 -107.06 - - 3462.72 - - - - - - - - - 16.11 -
3137.08 313.85 -7.45 435 3144.47 roll -1.56 - - 1962.19 - 3.67 0.118 687.88 -393.5 -107.06 - - 3460.47 - - - - - - - - - 16.13 -
3163.02 316.06 -7.71 440 3168.97 roll -1.56 - - 1961.00 - 3.32 0.057 2131.62 434.9 -107.06 - - 3462.31 - - - - - - - - - 16.14 -
3473.07 338.73 -7.35 472 3478.87 roll -1.56 - - 1961.44 - 3.09 0.105 3360.94 397.8 -107.06 - - 3461.59 - - - - - - - - - 16.14 -
3627.36 350.65 -7.60 503 3634.72 roll -1.56 - - 1961.44 - 3.01 0.053 2068.12 -429.5 -107.06 - - 3462.19 - - - - - - - - - 16.16 -
3943.15 373.70 -7.47 535 3949.08 roll -1.56 - - 1961.06 - 3.24 0.102 3362.69 399.6 -107.06 - - 3461.66 - - - - - - - - - 16.16 -
4053.17 382.77 -8.07 557 4058.97 roll -1.56 - - 1961.19 - 3.02 0.053 2069.38 -428.2 -107.06 - - 3461.00 - - - - - - - - - 16.16 -
4363.21 405.60 -7.12 589 4369.26 roll -1.56 - - 1960.50 - 3.55 0.124 690.31 -388.5 -107.06 - - 3462.59 - - - - - - - - - 16.16 -
4463.23 413.48 -7.92 609 4469.19 roll -1.56 - - 1960.25 - 3.36 0.059 2131.56 428.9 -107.06 - - 3461.75 - - - - - - - - - 16.16 -
4773.26 434.56 -6.45 641 4780.46 roll -1.56 - - 1960.75 - 3.71 0.120 690.31 -388.5 -107.06 - - 3459.59 - - - - - - - - - 16.16 -
4959.06 448.57 -7.38 678 4965.00 roll -1.56 - - 1960.75 - 3.35 0.059 2131.06 430.1 -107.06 - - 3461.47 - - - - - - - - - 16.17 -
5269.12 468.27 -6.09 710 5270.69 no move -1.56 - - 1960.75 - - - 2131.12 - -107.06 - - 3459.34 - - - - - - - - - - -
5579.15 486.08 -5.52 741 5586.33 roll -1.56 - - 1960.69 - 3.75 0.123 689.00 -384.6 -107.06 - - 3459.41 - - - - - - - - - 16.18 -
5649.23 490.73 -6.55 755 5656.48 roll -1.56 - - 1959.88 - 3.35 0.060 2128.75 429.8 -107.06 - - 3461.44 - - - - - - - - - 16.19 -
5964.81 509.00 -6.11 787 5966.38 no move -1.56 - - 1960.69 - - - 2129.44 - -107.06 - - 3458.94 - - - - - - - - - - -
6274.83 529.13 -6.87 818 6282.03 roll -1.56 - - 1960.75 - 3.73 0.124 690.19 -385.9 -107.06 - - 3458.03 - - - - - - - - - 16.18 -
6320.48 532.71 -7.62 827 6326.43 roll -1.56 - - 1961.12 - 3.37 0.060 2130.81 427.5 -107.06 - - 3457.66 - - - - - - - - - 16.18 -
6630.26 554.43 -7.20 859 6637.70 roll -1.56 - - 1960.50 - 3.72 0.124 689.94 -387.3 -107.06 - - 3457.28 - - - - - - - - - 16.19 -
6690.50 559.44 -8.50 871 6697.97 roll -1.56 - - 1961.19 - 3.35 0.061 2131.62 430.4 -107.06 - - 3458.41 - - - - - - - - - 16.20 -
7006.29 581.79 -6.76 903 7012.09 roll -1.56 - - 1961.06 - 3.08 0.110 3361.62 399.4 -107.06 - - 3457.31 - - - - - - - - - 16.18 -
7056.29 585.51 -7.44 913 7062.08 roll -1.56 - - 1959.56 - 3.04 0.056 2069.75 -425.0 -107.06 - - 3459.38 - - - - - - - - - 16.19 -
7366.31 604.37 -5.89 945 7372.40 roll -1.56 - - 1960.44 - 3.59 0.131 690.75 -384.1 -107.06 - - 3459.09 - - - - - - - - - 16.18 -
7400.57 606.80 -6.75 952 7408.04 roll -1.56 - - 1960.94 - 3.34 0.061 2132.06 431.5 -107.06 - - 3457.38 - - - - - - - - - 16.19 -
7716.38 625.47 -6.61 984 7723.55 roll -1.56 - - 1960.38 - 3.72 0.126 688.94 -387.9 -107.06 - - 3455.41 - - - - - - - - - 16.19 -
7776.23 630.05 -7.51 996 7783.75 roll -1.56 - - 1960.88 - 3.35 0.062 2130.81 430.4 -107.06 - - 3456.34 - - - - - - - - - 16.19 -
8092.05 652.18 -6.95 1028 8099.25 roll -1.56 - - 1960.25 - 3.70 0.125 688.38 -389.8 -107.06 - - 3455.03 - - - - - - - - - 16.18 -
8142.05 656.22 -7.54 1038 8149.54 roll -1.56 - - 1961.00 - 3.33 0.061 2129.50 432.8 -107.06 - - 3456.62 - - - - - - - - - 16.19 -
8457.84 678.24 -6.93 1070 8464.98 roll -1.56 - - 1960.81 - 3.69 0.125 688.62 -390.5 -107.06 - - 3455.09 - - - - - - - - - 16.19 -
8517.67 683.07 -8.20 1082 8525.47 roll -1.56 - - 1961.06 - 3.32 0.062 2130.94 434.4 -107.06 - - 3455.75 - - - - - - - - - 16.20 -
8833.46 705.45 -7.09 1114 8840.63 roll -1.56 - - 1961.00 - 3.70 0.126 690.69 -389.3 -107.06 - - 3453.06 - - - - - - - - - 16.19 -
8919.10 712.84 -8.73 1131 8925.05 roll -1.56 - - 1961.25 - 3.33 0.064 2128.44 431.8 -107.06 - - 3455.03 - - - - - - - - - 16.18 -
9229.14 735.52 -7.23 1163 9236.33 roll -1.56 - - 1960.12 - 3.71 0.127 690.88 -387.5 -107.06 - - 3454.41 - - - - - - - - - 16.18 -
9294.78 740.93 -8.18 1176 9300.85 roll -1.56 - - 1960.75 - 3.32 0.063 2130.69 433.7 -107.06 - - 3455.22 - - - - - - - - - 16.18 -
9604.81 763.50 -7.26 1208 9612.00 roll -1.56 - - 1960.19 - 3.73 0.128 689.50 -386.4 -107.06 - - 3453.62 - - - - - - - - - 16.19 -
9690.57 770.82 -8.17 1225 9696.56 roll -1.56 - - 1960.50 - 3.33 0.063 2129.00 432.3 -107.06 - - 3454.69 - - - - - - - - - 16.19 -
10000.60 793.77 -7.32 1257 10007.80 roll -1.56 - - 1959.75 - 3.72 0.128 690.06 -386.8 -107.06 - - 3454.41 - - - - - - - - - 16.19 -
10086.25 801.02 -8.48 1274 10092.19 roll -1.56 - - 1960.56 - 3.34 0.064 2128.31 430.6 -107.06 - - 3454.88 - - - - - - - - - 16.19 -
10396.29 824.43 -7.37 1306 10403.42 roll -1.56 - - 1959.88 - 3.68 0.128 689.31 -391.0 -107.06 - - 3454.31 - - - - - - - - - 16.19 -
10451.88 829.32 -9.06 1317 10457.86 roll -1.56 - - 1960.94 - 3.33 0.062 2129.69 432.5 -107.06 - - 3455.53 - - - - - - - - - 16.19 -
10761.90 853.36 -8.27 1349 10769.44 roll -1.56 - - 1960.25 - 3.70 0.128 689.50 -389.2 -107.06 - - 3453.22 - - - - - - - - - 16.19 -
10852.25 861.96 -9.46 1367 10859.74 roll -1.56 - - 1960.44 - 3.34 0.064 2130.69 431.5 -107.06 - - 3454.31 - - - - - - - - - 16.19 -
11168.05 888.00 -8.28 1399 11175.26 roll -1.56 - - 1959.94 - 3.71 0.128 690.81 -388.1 -107.06 - - 3453.31 - - - - - - - - - 16.20 -
11203.70 891.18 -9.23 1406 11209.65 roll -1.56 - - 1960.50 - 3.34 0.064 2130.38 431.0 -107.06 - - 3454.25 - - - - - - - - - 16.20 -
11513.73 914.27 -7.16 1438 11515.30 no move -1.56 - - 1960.62 - - - 2130.81 - -107.06 - - 3451.84 - - - - - - - - - - -
11823.75 936.73 -7.01 1469 11830.95 roll -1.56 - - 1961.06 - 3.73 0.129 688.69 -386.6 -107.06 - - 3450.88 - - - - - - - - - 16.19 -
11883.63 941.52 -7.92 1481 11891.10 roll -1.56 - - 1960.69 - 3.34 0.064 2127.69 430.8 -107.06 - - 3451.44 - - - - - - - - - 16.19 -
12199.42 961.98 -6.47 1513 12206.57 roll -1.56 - - 1959.81 - 3.70 0.130 689.56 -388.7 -107.06 - - 3451.91 - - - - - - - - - 16.19 -
12285.07 968.43 -7.15 1530 12291.20 roll -1.56 - - 1961.25 - 3.33 0.065 2129.12 432.3 -107.06 - - 3451.12 - - - - - - - - - 16.18 -
12595.12 988.29 -6.34 1562 12596.73 no move -1.56 - - 1960.50 - - - 2129.38 - -107.06 - - 3450.22 - - - - - - - - - - -
12635 end dive: TARGET_DEPTH_EXCEEDED
12635 begin apogee
12636.86 990.44 -5.94 1566 12731.60 -0.42 2.46 0.125 2239.94 113.6 0.09 0.258 2120.06 -103.6 - 85.81 2.147 3019.03 -5.0 0.383 - - - - - - 16.16 15.55 12.82
12736 end apogee: CONTROL_FINISHED_OK
12737 begin climb
12739.61 990.85 - 1575 12852.69 1.56 3.88 0.064 2727.06 125.5 3.28 0.108 3362.56 378.8 107.06 94.39 2.087 2581.91 -4.6 0.364 - - - - - - 15.66 15.30 12.73
12911.29 979.14 10.65 1607 12917.27 roll 1.56 - - 2726.94 - 3.03 0.058 2134.44 -405.3 107.06 - - 2579.38 - - - - - - - - - 15.62 -
13221.31 945.56 10.77 1639 13222.92 VBD 1.56 - - 2726.88 - - - 2135.06 - 107.06 - - 2569.53 - - - - - - - - - - -
13531.32 912.23 10.69 1670 13539.05 done 1.56 - - 2725.62 - 4.22 0.260 688.75 -342.7 107.06 - - 2567.03 - - - - - - - - - 15.58 -
13587.54 905.37 12.16 1681 13593.80 done 1.56 - - 2727.12 - 3.53 0.066 2176.50 421.5 107.06 - - 2568.00 - - - - - - - - - 15.98 -
13897.55 873.58 9.98 1713 13899.16 VBD 1.56 - - 2726.62 - - - 2177.38 - 107.06 - - 2565.91 - - - - - - - - - - -
14207.56 843.48 9.23 1744 14209.17 VBD 1.56 - - 2726.62 - - - 2177.00 - 107.06 - - 2565.03 - - - - - - - - - - -
14517.57 815.89 8.69 1775 14525.03 done 1.56 - - 2726.69 - 3.82 0.120 688.62 -389.6 107.06 - - 2563.16 - - - - - - - - - 16.10 -
14583.52 809.35 9.95 1788 14589.81 done 1.56 - - 2726.81 - 3.52 0.065 2180.00 423.7 107.06 - - 2563.75 - - - - - - - - - 16.11 -
14893.53 782.39 8.73 1820 14899.44 done 1.56 - - 2727.06 - 2.95 0.106 3362.12 400.7 107.06 - - 2563.56 - - - - - - - - - 16.11 -
14993.54 772.83 9.82 1840 14999.46 done 1.56 - - 2727.06 - 2.92 0.058 2119.81 -425.4 107.06 - - 2564.44 - - - - - - - - - 16.12 -
15303.55 745.30 9.08 1872 15305.17 VBD 1.56 - - 2726.12 - - - 2119.44 - 107.06 - - 2562.62 - - - - - - - - - - -
15613.56 716.91 8.90 1903 15615.17 VBD 1.56 - - 2726.88 - - - 2120.00 - 107.06 - - 2562.09 - - - - - - - - - - -
15923.58 690.89 8.76 1934 15929.65 done 1.56 - - 2726.69 - 3.11 0.105 3360.06 398.7 107.06 - - 2565.22 - - - - - - - - - 16.16 -
16033.60 680.78 8.91 1956 16039.52 done 1.56 - - 2726.25 - 2.92 0.058 2118.50 -425.2 107.06 - - 2562.44 - - - - - - - - - 16.16 -
16343.61 654.27 8.86 1988 16349.68 done 1.56 - - 2727.00 - 3.11 0.104 3362.25 399.9 107.06 - - 2562.06 - - - - - - - - - 16.16 -
16467.88 641.95 10.00 2013 16475.30 done 1.56 - - 2725.50 - 2.91 0.057 2118.00 -427.6 107.06 - - 2564.72 - - - - - - - - - 16.17 -
16783.65 615.39 8.55 2045 16791.01 done 1.56 - - 2726.94 - 3.66 0.122 689.44 -390.3 107.06 - - 2559.84 - - - - - - - - - 16.16 -
16823.74 611.66 9.08 2053 16831.69 done 1.56 - - 2726.31 - 3.50 0.066 2179.50 425.7 107.06 - - 2561.66 - - - - - - - - - 16.17 -
17139.50 587.43 7.70 2085 17141.11 VBD 1.56 - - 2726.56 - - - 2179.31 - 107.06 - - 2559.78 - - - - - - - - - - -
17449.56 564.52 7.38 2116 17451.17 VBD 1.58 - - 2726.69 - - - 2179.44 - 107.06 - - 2559.38 - - - - - - - - - - -
17759.58 542.75 6.61 2147 17761.19 VBD 1.63 - - 2727.25 - - - 2179.19 - 107.06 - - 2559.44 - - - - - - - - - - -
18069.59 522.81 6.50 2178 18071.41 1.67 0.17 0.064 2753.06 151.8 - - 2179.06 - 107.06 - - 2559.06 - - - - - - - - 16.24 - -
18379.60 501.58 6.67 2209 18381.22 VBD 1.72 - - 2752.38 - - - 2179.38 - 107.06 - - 2559.44 - - - - - - - - - - -
18689.62 481.05 6.88 2240 18691.24 VBD 1.75 - - 2752.81 - - - 2179.25 - 107.06 - - 2559.53 - - - - - - - - - - -
18999.63 460.45 6.48 2271 19005.68 1.80 0.20 0.062 2785.94 165.7 2.96 0.106 3360.69 399.1 107.06 - - 2560.56 - - - - - - - - 16.23 16.17 -
19109.65 452.39 7.21 2293 19115.57 done 1.82 - - 2785.75 - 2.92 0.057 2119.19 -425.2 107.06 - - 2562.09 - - - - - - - - - 16.19 -
19419.67 431.55 6.53 2325 19421.28 VBD 1.87 - - 2785.38 - - - 2119.38 - 107.06 - - 2559.44 - - - - - - - - - - -
19729.69 412.74 5.93 2356 19731.79 1.93 0.23 0.051 2815.94 132.9 - - 2117.81 - 107.06 - - 2560.16 - - - - - - - - 16.24 - -
20039.70 391.50 6.74 2387 20045.69 done 1.97 - - 2817.50 - 3.13 0.102 3362.25 397.6 107.06 - - 2560.19 - - - - - - - - - 16.19 -
20273.99 374.68 7.27 2434 20281.41 done 1.99 - - 2817.25 - 2.92 0.058 2118.06 -426.1 107.06 - - 2560.84 - - - - - - - - - 16.18 -
20589.76 352.88 7.39 2466 20595.78 done 2.01 - - 2816.44 - 3.12 0.102 3362.19 398.8 107.06 - - 2562.75 - - - - - - - - - 16.17 -
20639.72 349.19 7.62 2476 20645.65 done 2.01 - - 2815.88 - 2.92 0.057 2118.56 -425.9 107.06 - - 2562.41 - - - - - - - - - 16.19 -
20949.78 327.89 6.72 2508 20957.32 2.05 0.25 0.042 2839.50 94.5 3.64 0.118 689.00 -392.7 107.06 - - 2557.81 - - - - - - - - 16.23 16.16 -
21165.90 312.35 7.10 2551 21172.04 done 2.08 - - 2838.81 - 3.48 0.065 2178.19 427.9 107.06 - - 2558.66 - - - - - - - - - 16.16 -
21475.90 293.15 5.90 2583 21478.02 2.15 0.23 0.045 2866.50 120.4 - - 2180.38 - 107.06 - - 2558.50 - - - - - - - - 16.21 - -
21785.92 274.96 5.57 2614 21787.63 VBD 2.22 - - 2866.12 - - - 2179.81 - 107.06 - - 2558.59 - - - - - - - - - - -
22095.95 258.61 5.37 2645 22103.65 2.30 0.40 0.037 2908.81 106.7 3.84 0.114 688.44 -388.4 107.06 - - 2557.09 - - - - - - - - 16.19 16.14 -
22332.25 242.65 7.46 2692 22338.39 done 2.32 - - 2908.00 - 3.47 0.064 2181.81 430.4 107.06 - - 2559.34 - - - - - - - - - 16.16 -
22642.28 222.42 6.29 2724 22649.63 done 2.37 - - 2907.06 - 3.80 0.112 687.81 -393.2 107.06 - - 2557.62 - - - - - - - - - 16.13 -
22732.44 216.14 7.25 2742 22740.12 done 2.40 - - 2908.06 - 3.47 0.063 2180.12 430.1 107.06 - - 2559.12 - - - - - - - - - 16.16 -
23048.21 200.43 4.30 2774 23114.18 2.49 0.44 0.038 2954.62 105.8 3.88 0.115 689.69 -384.1 180.33 55.53 1.171 2284.81 -4.9 0.140 - - - - - - 16.21 15.87 12.88
23197.04 184.90 15.88 2803 23204.85 roll 2.49 - - 2955.44 - 3.51 0.063 2179.56 424.5 180.33 - - 2280.97 - - - - - - - - - 15.95 -
23512.80 139.24 14.03 2835 23514.42 VBD 2.49 - - 2955.38 - - - 2179.44 - 180.33 - - 2275.44 - - - - - - - - - - -
23817.83 98.18 11.14 2867 23825.02 done 2.49 - - 2955.06 - 3.82 0.113 688.69 -390.2 180.33 - - 2275.03 - - - - - - - - - 16.02 -
23973.53 82.21 9.25 2898 23980.57 done 2.49 - - 2955.94 - 3.51 0.063 2180.38 425.0 180.33 - - 2274.16 - - - - - - - - - 16.05 -
24164.07 72.37 3.75 2936 24267.35 2.60 0.19 0.034 2971.81 83.5 3.02 0.104 3361.31 391.0 264.31 93.79 0.966 1939.47 -3.6 0.044 - - - - - - 16.14 15.68 12.81
24380.83 50.99 13.27 2978 24387.50 roll 2.60 - - 2971.06 - 2.96 0.054 2117.88 -420.1 264.31 - - 1940.69 - - - - - - - - - 15.80 -
24571.13 32.80 7.29 3016 24578.17 roll 2.62 - - 2971.75 - 3.68 0.113 689.00 -388.3 264.31 - - 1938.88 - - - - - - - - - 15.86 -
24636.76 27.35 8.38 3029 24643.78 roll 2.62 - - 2971.25 - 3.51 0.061 2182.62 425.5 264.31 - - 1938.38 - - - - - - - - - 15.90 -
24827.27 29.62 -2.17 3067 25067.41 2.88 0.67 0.036 3048.88 115.9 3.05 0.103 3360.56 386.2 463.84 222.54 0.899 1129.88 -3.6 0.020 - - - - - - 16.02 15.46 12.80
25110 end climb: SURFACE_DEPTH_REACHED
25111 begin surface coast
25126 end surface coast: CONTROL_FINISHED_OK
25126 begin surface
SM 1.54 - - - - 187.1 13.50 0.772 1083.8 63.8 21.62 0.044 1087.8 50.3 - 3.07 0.052 1079.9 350.8 -1.062 - - 12.67 15.74 15.70 -