NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 726 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 73.74 of 150.00 AH used of 24V (50.84% remains)
• Previous NAKs 0, Timeouts 0 • 71.29 of 108.00 AH used of 10V (33.99% remains)
• Surface angle -71.6 deg, depth 2.72 m • Intended pitch -15.8 deg, speed -8.049 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 40 s
• GPS2 time: 19 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
25 - - - 67 VBD -1.11 - - 334 - - - 2334 - -107.1 -34.85 - 2460 - - - - - - - - - - -
73 3.1 -1.0 6 132 roll -1.11 10.30 0.232 2831 242.4 1.90 0.057 3568 649.5 -107.1 -36.70 - 3447 -26.9 - - - - - - - 24.95 25.82 26.48
278 28.9 -17.8 41 289 done -1.11 - - 2838 - 1.85 0.026 2298 -686.5 -107.1 - - 3452 - - - - - - - - - 26.19 -
609 84.8 -15.4 63 620 roll -1.11 - - 2848 - 2.12 0.031 909 -655.2 -107.1 - - 3454 - - - - - - - - - 26.13 -
764 106.7 -13.9 70 775 done -1.11 - - 2841 - 2.15 0.031 2290 642.3 -107.1 - - 3455 - - - - - - - - - 26.17 -
1095 148.8 -11.5 86 1106 roll -1.11 - - 2830 - 1.92 0.043 3583 673.4 -107.1 - - 3456 - - - - - - - - - 26.06 -
1148 155.0 -11.9 88 1159 done -1.11 - - 2837 - 1.80 0.026 2298 -713.9 -107.1 - - 3455 - - - - - - - - - 26.36 -
1480 191.1 -10.7 104 1490 roll -1.11 - - 2839 - 2.12 0.031 904 -657.5 -107.1 - - 3456 - - - - - - - - - 26.23 -
1544 196.9 -11.0 106 1556 done -1.11 - - 2832 - 2.17 0.031 2304 645.2 -107.1 - - 3456 - - - - - - - - - 26.24 -
1850 234.8 -11.7 122 1861 roll -1.11 - - 2835 - 2.15 0.030 902 -652.1 -107.1 - - 3456 - - - - - - - - - 26.25 -
1881 238.3 -11.5 123 1892 done -1.11 - - 2828 - 2.17 0.032 2307 647.5 -107.1 - - 3456 - - - - - - - - - 26.24 -
2212 275.6 -11.3 139 2223 roll -1.11 - - 2818 - 1.90 0.044 3589 674.7 -107.1 - - 3456 - - - - - - - - - 26.08 -
2252 279.1 -11.3 140 2263 done -1.11 - - 2819 - 1.83 0.025 2290 -709.8 -107.1 - - 3455 - - - - - - - - - 26.41 -
2573 316.4 -11.2 156 2584 roll -1.11 - - 2822 - 2.10 0.030 905 -659.5 -107.1 - - 3455 - - - - - - - - - 26.25 -
2647 324.7 -11.7 159 2658 done -1.11 - - 2814 - 2.17 0.031 2313 648.8 -107.1 - - 3455 - - - - - - - - - 26.25 -
2973 361.3 -10.9 175 2983 done -1.11 - - 2814 - - - 2312 - -107.1 - - 3455 - - - - - - - - - - -
3273 394.4 -10.9 190 3284 roll -1.11 - - 2815 - 2.15 0.031 917 -648.8 -107.1 - - 3455 - - - - - - - - - 26.22 -
3313 397.8 -10.9 191 3325 done -1.11 0.15 0.171 2843 186.7 2.15 0.032 2306 646.0 -107.1 - - 3455 - - - - - - - - 25.73 26.24 -
3635 429.2 -9.3 207 3646 roll -1.11 - - 2851 - 2.15 0.031 906 -651.2 -107.1 - - 3454 - - - - - - - - - 26.24 -
3680 432.0 -9.2 208 3692 done -1.11 - - 2844 - 2.17 0.032 2311 647.5 -107.1 - - 3454 - - - - - - - - - 26.25 -
3986 461.3 -9.1 224 3996 done -1.11 - - 2845 - - - 2310 - -107.1 - - 3454 - - - - - - - - - - -
4286 488.2 -9.0 239 4297 roll -1.11 - - 2846 - 2.15 0.031 914 -649.3 -107.1 - - 3453 - - - - - - - - - 26.22 -
4352 492.7 -8.9 241 4364 done -1.11 - - 2839 - 2.17 0.032 2305 641.0 -107.1 - - 3453 - - - - - - - - - 26.23 -
4658 522.3 -9.5 257 4668 done -1.11 - - 2839 - - - 2304 - -107.1 - - 3452 - - - - - - - - - - -
4958 549.4 -8.3 272 4969 roll -1.11 - - 2829 - 1.90 0.044 3586 674.7 -107.1 - - 3452 - - - - - - - - - 26.05 -
5025 553.5 -7.9 274 5037 done -1.11 - - 2829 - 1.85 0.026 2299 -695.7 -107.1 - - 3452 - - - - - - - - - 26.40 -
5330 579.1 -7.9 290 5341 roll -1.11 - - 2819 - 1.95 0.044 3594 664.1 -107.1 - - 3451 - - - - - - - - - 26.05 -
5373 581.8 -8.0 291 5384 done -1.11 - - 2819 - 1.83 0.026 2292 -711.5 -107.1 - - 3451 - - - - - - - - - 26.40 -
5714 609.2 -7.6 306 5725 roll -1.11 - - 2813 - 1.95 0.044 3589 665.1 -107.1 - - 3451 - - - - - - - - - 26.04 -
5820 617.2 -7.8 309 5831 done -1.11 - - 2813 - 1.85 0.026 2307 -693.0 -107.1 - - 3451 - - - - - - - - - 26.40 -
6162 643.5 -7.6 320 6173 roll -1.11 0.12 0.172 2841 233.3 1.95 0.042 3595 660.5 -107.1 - - 3450 - - - - - - - - 26.17 26.03 -
6246 648.8 -7.5 322 6257 done -1.11 - - 2849 - 1.83 0.026 2291 -712.6 -107.1 - - 3450 - - - - - - - - - 26.39 -
6578 673.4 -7.3 333 6589 roll -1.11 - - 2841 - 1.95 0.044 3584 663.1 -107.1 - - 3449 - - - - - - - - - 26.03 -
6638 676.5 -7.4 334 6649 done -1.11 - - 2848 - 1.85 0.027 2305 -691.4 -107.1 - - 3449 - - - - - - - - - 26.39 -
6960 701.4 -7.4 345 6971 roll -1.11 - - 2841 - 1.95 0.044 3593 660.5 -107.1 - - 3448 - - - - - - - - - 26.02 -
7053 707.2 -7.7 347 7064 done -1.11 - - 2847 - 1.83 0.027 2295 -709.3 -107.1 - - 3448 - - - - - - - - - 26.39 -
7374 734.8 -8.1 358 7385 roll -1.11 - - 2839 - 1.95 0.044 3584 661.0 -107.1 - - 3448 - - - - - - - - - 26.01 -
7612 753.7 -8.4 365 7623 done -1.11 - - 2839 - 1.85 0.028 2309 -689.2 -107.1 - - 3447 - - - - - - - - - 26.37 -
7940 780.4 -7.6 376 7951 roll -1.11 - - 2838 - 2.15 0.031 900 -655.3 -107.1 - - 3447 - - - - - - - - - 26.19 -
8181 797.6 -7.7 383 8192 done -1.11 - - 2832 - 2.17 0.034 2302 646.1 -107.1 - - 3447 - - - - - - - - - 26.18 -
8503 823.4 -7.6 394 8514 roll -1.11 - - 2822 - 1.92 0.045 3591 671.4 -107.1 - - 3446 - - - - - - - - - 25.99 -
8690 836.3 -8.1 399 8702 done -1.11 - - 2823 - 1.88 0.027 2293 -690.4 -107.1 - - 3446 - - - - - - - - - 26.38 -
9002 862.1 -7.9 410 9013 roll -1.11 - - 2825 - 2.10 0.031 912 -657.6 -107.1 - - 3446 - - - - - - - - - 26.17 -
9245 881.2 -8.4 417 9256 done -1.11 - - 2818 - 2.15 0.033 2302 646.5 -107.1 - - 3446 - - - - - - - - - 26.19 -
9570 911.1 -9.0 428 9581 roll -1.11 - - 2819 - 2.15 0.031 906 -649.3 -107.1 - - 3445 - - - - - - - - - 26.18 -
9590 911.1 -9.0 428 9601 done -1.11 - - 2812 - 2.17 0.033 2306 645.2 -107.1 - - 3445 - - - - - - - - - 26.17 -
9921 945.2 -10.0 439 9932 roll -1.11 - - 2803 - 1.90 0.045 3586 673.7 -107.1 - - 3445 - - - - - - - - - 25.97 -
10165 968.9 -10.5 446 10177 done -1.11 0.08 0.138 2843 500.0 1.85 0.028 2306 -691.9 -107.1 - - 3444 - - - - - - - - 25.75 26.35 -
10396 end dive: TARGET_DEPTH_EXCEEDED
10396 begin apogee
10406 991.1 -8.4 454 10566 done -0.25 0.85 0.134 3112 316.5 - - 2022 - - 144.68 0.978 3004 -3.0 0.335 - - - - - - 25.02 - 23.22
10568 end apogee: CONTROL_FINISHED_OK
10568 begin climb
10572 995.5 - 459 10736 roll 1.11 1.27 0.075 3563 355.1 2.35 0.033 647 -585.1 107.1 146.52 0.907 2566 -3.0 0.356 - - - - - - 24.84 24.20 22.56
10805 974.5 12.0 467 10816 done 1.11 - - 3563 - 2.28 0.031 2020 602.2 107.1 - - 2558 - - - - - - - - - 25.08 -
11147 927.3 13.4 478 11157 done 1.11 - - 3563 - - - 2019 - 107.1 - - 2552 - - - - - - - - - - -
11451 885.4 13.9 488 11462 roll 1.11 - - 3572 - 2.20 0.035 641 -626.4 107.1 - - 2550 - - - - - - - - - 26.07 -
11493 879.0 13.9 489 11504 done 1.11 - - 3572 - 2.20 0.031 2034 633.2 107.1 - - 2550 - - - - - - - - - 26.15 -
11836 832.3 13.5 500 11846 done 1.11 - - 3572 - - - 2033 - 107.1 - - 2549 - - - - - - - - - - -
12137 792.3 13.4 510 12148 roll 1.11 - - 3580 - 2.22 0.034 628 -632.9 107.1 - - 2548 - - - - - - - - - 26.15 -
12178 786.4 13.4 511 12189 done 1.11 - - 3580 - 2.20 0.031 2030 637.3 107.1 - - 2548 - - - - - - - - - 26.23 -
12519 741.2 13.2 522 12530 done 1.11 - - 3580 - - - 2029 - 107.1 - - 2547 - - - - - - - - - - -
12824 701.6 13.4 532 12835 roll 1.11 - - 3589 - 2.22 0.035 636 -627.5 107.1 - - 2546 - - - - - - - - - 26.17 -
12874 695.5 13.4 533 12885 done 1.11 0.12 0.166 3559 -250.0 2.17 0.031 2031 642.9 107.1 - - 2546 - - - - - - - - 25.86 26.26 -
13206 652.3 12.7 544 13216 done 1.11 - - 3559 - - - 2030 - 107.1 - - 2546 - - - - - - - - - - -
13509 615.5 12.3 554 13519 done 1.11 - - 3559 - - - 2029 - 107.1 - - 2545 - - - - - - - - - - -
13815 576.5 12.6 567 13826 roll 1.11 - - 3552 - 2.10 0.042 3427 665.7 107.1 - - 2545 - - - - - - - - - 26.08 -
13875 569.6 13.2 569 13886 done 1.11 - - 3560 - 2.05 0.027 2017 -687.8 107.1 - - 2544 - - - - - - - - - 26.37 -
14196 527.1 12.9 585 14207 roll 1.11 - - 3569 - 2.15 0.035 628 -646.0 107.1 - - 2543 - - - - - - - - - 26.16 -
14261 520.4 13.0 587 14273 done 1.11 - - 3569 - 2.17 0.031 2022 642.4 107.1 - - 2543 - - - - - - - - - 26.26 -
14567 479.0 12.8 603 14577 done 1.11 - - 3569 - - - 2021 - 107.1 - - 2544 - - - - - - - - - - -
14867 441.3 12.6 618 14878 roll 1.11 - - 3578 - 2.17 0.035 639 -636.9 107.1 - - 2543 - - - - - - - - - 26.15 -
14899 437.5 12.4 619 14910 done 1.11 - - 3578 - 2.17 0.031 2034 642.9 107.1 - - 2543 - - - - - - - - - 26.25 -
15229 396.1 12.4 635 15240 done 1.11 - - 3578 - - - 2033 - 107.1 - - 2544 - - - - - - - - - - -
15530 361.1 11.3 650 15540 done 1.11 - - 3578 - - - 2033 - 107.1 - - 2543 - - - - - - - - - - -
15830 327.3 11.4 665 15841 roll 1.11 - - 3587 - 2.20 0.035 634 -635.9 107.1 - - 2543 - - - - - - - - - 26.15 -
15860 323.8 11.3 666 15871 done 1.11 - - 3587 - 2.17 0.030 2028 642.4 107.1 - - 2543 - - - - - - - - - 26.25 -
16192 284.8 11.9 682 16203 roll 1.11 - - 3587 - 2.10 0.041 3431 668.1 107.1 - - 2544 - - - - - - - - - 26.06 -
16253 278.3 12.3 684 16264 done 1.11 0.15 0.163 3558 -193.3 2.08 0.026 2009 -683.7 107.1 - - 2543 - - - - - - - - 25.82 26.36 -
16574 240.2 11.4 700 16586 roll 1.11 - - 3558 - 2.17 0.041 3423 651.6 107.1 - - 2543 - - - - - - - - - 26.05 -
16636 234.0 11.8 702 16647 done 1.11 - - 3566 - 2.05 0.027 2012 -688.3 107.1 - - 2543 - - - - - - - - - 26.36 -
16958 196.7 11.1 718 16968 done 1.11 - - 3566 - - - 2012 - 107.1 - - 2543 - - - - - - - - - - -
17258 164.9 10.1 733 17268 done 1.11 - - 3566 - - - 2012 - 107.1 - - 2542 - - - - - - - - - - -
17560 135.9 10.1 748 17571 roll 1.11 - - 3576 - 2.12 0.035 634 -650.0 107.1 - - 2543 - - - - - - - - - 26.14 -
17640 128.5 10.1 751 17651 done 1.11 - - 3576 - 2.17 0.030 2035 645.6 107.1 - - 2543 - - - - - - - - - 26.25 -
17961 99.8 7.2 767 17987 roll 1.16 - - 3576 - 2.17 0.041 3435 645.2 124.2 15.65 0.650 2499 -2.8 0.047 - - - - - - - 26.02 24.07
18129 88.6 7.7 774 18151 done 1.19 - - 3586 - 2.05 0.025 2018 -691.2 131.9 9.45 0.652 2469 -3.2 0.047 - - - - - - - 26.27 24.23
18467 63.8 5.5 791 18554 roll 1.34 0.12 0.099 3651 541.7 2.25 0.034 645 -610.2 181.9 70.68 0.588 2264 -2.9 0.034 - - - - - - 26.36 25.59 24.32
18620 48.1 11.7 798 18631 done 1.34 - - 3651 - 2.20 0.030 2029 629.1 181.9 - - 2260 - - - - - - - - - 25.82 -
18939 5.9 13.5 842 18952 roll 1.34 - - 3651 - 2.10 0.042 3425 664.8 181.9 - - 2255 - - - - - - - - - 25.90 -
18957 end climb: SURFACE_DEPTH_REACHED
18957 begin surface coast
18987 end surface coast: CONTROL_FINISHED_OK
18987 begin surface
SM 2.68 - - - - -8.86 8.93 0.049 341 38.2 1.67 0.026 2313 1229.3 350.04 75.50 0.057 1581 20.9 -0.101 - - - - - -