NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 396 * Raw log
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• Previous call tries 1 • 41.97 of 150.00 AH used of 24V (72.02% remains)
• Previous NAKs 0, Timeouts 0 • 43.43 of 108.00 AH used of 10V (59.79% remains)
• Surface angle -73.1 deg, depth 2.71 m • Intended pitch -15.8 deg, speed -8.049 cm/s
VBD pumped to 375.06 (SM_CC=375)
• GPS1 time: 30 s
• GPS2 time: 16 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
23 - - - 71 VBD -1.11 - - 332 - - - 2321 - -107.1 -40.78 - 2540 - - - - - - - - - - -
76 3.2 -1.7 7 133 roll -1.11 10.05 0.234 2829 248.5 1.98 0.060 3574 632.8 -107.1 -32.10 - 3451 -28.4 - - - - - - - 25.30 25.91 26.39
179 12.9 -18.1 23 191 done -1.11 - - 2837 - 1.88 0.025 2292 -681.9 -107.1 - - 3454 - - - - - - - - - 26.09 -
506 72.9 -16.5 54 516 done -1.11 - - 2837 - - - 2289 - -107.1 - - 3457 - - - - - - - - - - -
805 116.2 -13.2 69 816 roll -1.11 - - 2839 - 2.10 0.031 896 -663.3 -107.1 - - 3459 - - - - - - - - - 26.17 -
856 123.5 -14.2 71 867 done -1.11 - - 2832 - 2.15 0.031 2299 652.6 -107.1 - - 3459 - - - - - - - - - 26.19 -
1185 167.3 -12.7 87 1196 roll -1.11 - - 2822 - 1.92 0.043 3594 674.5 -107.1 - - 3460 - - - - - - - - - 26.10 -
1216 171.1 -12.6 88 1227 done -1.11 - - 2821 - 1.83 0.025 2290 -712.6 -107.1 - - 3459 - - - - - - - - - 26.38 -
1546 210.4 -12.0 104 1557 roll -1.11 - - 2823 - 2.05 0.030 917 -669.8 -107.1 - - 3459 - - - - - - - - - 26.27 -
1585 214.2 -12.1 105 1596 done -1.11 - - 2816 - 2.12 0.031 2310 657.1 -107.1 - - 3460 - - - - - - - - - 26.28 -
1906 254.7 -12.1 121 1917 roll -1.11 - - 2807 - 1.90 0.043 3593 675.3 -107.1 - - 3459 - - - - - - - - - 26.17 -
1965 261.1 -12.6 123 1976 done -1.11 0.12 0.174 2839 266.7 1.85 0.025 2300 -698.9 -107.1 - - 3459 - - - - - - - - 25.98 26.45 -
2286 297.3 -10.7 139 2297 roll -1.11 - - 2832 - 1.92 0.043 3590 671.9 -107.1 - - 3459 - - - - - - - - - 26.17 -
2335 303.0 -11.1 141 2346 done -1.11 - - 2831 - 1.83 0.025 2291 -709.8 -107.1 - - 3459 - - - - - - - - - 26.46 -
2665 339.0 -11.0 157 2675 done -1.11 - - 2831 - - - 2291 - -107.1 - - 3460 - - - - - - - - - - -
2965 372.4 -11.1 172 2976 roll -1.11 - - 2823 - 1.95 0.044 3588 665.1 -107.1 - - 3459 - - - - - - - - - 26.18 -
3005 375.9 -11.3 173 3016 done -1.11 - - 2823 - 1.80 0.026 2302 -714.4 -107.1 - - 3458 - - - - - - - - - 26.47 -
3326 413.1 -11.2 189 3337 roll -1.11 - - 2825 - 2.08 0.031 916 -666.3 -107.1 - - 3458 - - - - - - - - - 26.32 -
3376 418.9 -11.4 191 3387 done -1.11 - - 2818 - 2.12 0.031 2308 656.6 -107.1 - - 3458 - - - - - - - - - 26.35 -
3707 455.2 -10.4 207 3717 done -1.11 - - 2818 - - - 2308 - -107.1 - - 3457 - - - - - - - - - - -
4006 487.1 -10.7 222 4016 done -1.11 - - 2819 - - - 2307 - -107.1 - - 3457 - - - - - - - - - - -
4306 519.4 -10.8 237 4317 roll -1.11 - - 2824 - 2.12 0.030 904 -661.8 -107.1 - - 3456 - - - - - - - - - 26.32 -
4386 527.0 -10.9 240 4398 done -1.11 - - 2817 - 2.15 0.032 2309 653.5 -107.1 - - 3456 - - - - - - - - - 26.33 -
4707 563.7 -11.1 256 4717 done -1.11 - - 2817 - - - 2308 - -107.1 - - 3455 - - - - - - - - - - -
5007 596.5 -10.8 271 5018 roll -1.11 - - 2823 - 2.12 0.031 910 -659.4 -107.1 - - 3455 - - - - - - - - - 26.32 -
5062 602.0 -10.6 273 5073 done -1.11 - - 2816 - 2.12 0.031 2302 656.6 -107.1 - - 3454 - - - - - - - - - 26.34 -
5387 638.0 -11.0 284 5398 roll -1.11 - - 2821 - 2.10 0.031 917 -659.5 -107.1 - - 3454 - - - - - - - - - 26.32 -
5432 642.6 -11.2 285 5443 done -1.11 - - 2814 - 2.15 0.032 2308 647.0 -107.1 - - 3454 - - - - - - - - - 26.34 -
5767 681.0 -11.1 296 5777 done -1.11 - - 2814 - - - 2308 - -107.1 - - 3452 - - - - - - - - - - -
6067 713.8 -10.8 306 6077 done -1.11 - - 2814 - - - 2308 - -107.1 - - 3453 - - - - - - - - - - -
6367 745.0 -10.2 316 6378 roll -1.11 - - 2818 - 2.12 0.031 912 -658.5 -107.1 - - 3452 - - - - - - - - - 26.31 -
6451 752.3 -10.2 318 6463 done -1.11 0.12 0.177 2841 191.7 2.12 0.032 2298 653.8 -107.1 - - 3452 - - - - - - - - 25.90 26.32 -
6776 782.6 -8.8 329 6787 done -1.11 - - 2841 - - - 2298 - -107.1 - - 3451 - - - - - - - - - - -
7077 807.9 -8.4 339 7087 done -1.11 - - 2841 - - - 2298 - -107.1 - - 3451 - - - - - - - - - - -
7380 831.3 -7.7 349 7391 roll -1.11 - - 2848 - 2.10 0.031 918 -657.1 -107.1 - - 3450 - - - - - - - - - 26.29 -
7482 839.1 -7.6 352 7493 done -1.11 - - 2840 - 2.15 0.032 2310 647.4 -107.1 - - 3449 - - - - - - - - - 26.30 -
7824 865.7 -7.9 363 7835 roll -1.11 - - 2840 - 2.12 0.031 914 -658.5 -107.1 - - 3449 - - - - - - - - - 26.29 -
7874 869.2 -8.0 364 7885 done -1.11 - - 2831 - 2.15 0.032 2312 650.2 -107.1 - - 3449 - - - - - - - - - 26.30 -
8203 897.5 -8.4 375 8215 roll -1.11 - - 2835 - 2.15 0.031 913 -650.7 -107.1 - - 3448 - - - - - - - - - 26.29 -
8268 900.7 -8.4 376 8280 done -1.11 - - 2828 - 2.15 0.032 2313 651.2 -107.1 - - 3448 - - - - - - - - - 26.30 -
8576 927.7 -8.4 387 8586 done -1.11 - - 2827 - - - 2312 - -107.1 - - 3447 - - - - - - - - - - -
8874 953.9 -8.6 397 8885 roll -1.11 - - 2832 - 2.12 0.031 916 -658.5 -107.1 - - 3447 - - - - - - - - - 26.28 -
8938 957.5 -8.6 398 8950 done -1.11 - - 2825 - 2.15 0.032 2307 647.0 -107.1 - - 3447 - - - - - - - - - 26.28 -
9249 985.9 -8.7 409 9260 roll -1.11 - - 2831 - 2.12 0.031 913 -657.5 -107.1 - - 3446 - - - - - - - - - 26.27 -
9307 989.9 -8.8 410 9318 done -1.11 - - 2824 - 2.15 0.032 2309 649.3 -107.1 - - 3446 - - - - - - - - - 26.29 -
9324 end dive: TARGET_DEPTH_EXCEEDED
9324 begin apogee
9332 993.4 -8.9 411 9490 done -0.25 0.93 0.135 3114 311.8 - - 2028 - - 144.77 1.020 3007 -3.0 0.314 - - - - - - 25.53 - 23.79
9492 end apogee: CONTROL_FINISHED_OK
9492 begin climb
9495 996.6 - 416 9656 roll 1.11 1.27 0.075 3565 355.1 2.33 0.031 650 -591.4 107.1 144.52 0.999 2567 -3.0 0.323 - - - - - - 24.87 24.03 23.09
9709 976.9 12.5 423 9720 done 1.11 - - 3566 - 2.28 0.028 2021 601.3 107.1 - - 2556 - - - - - - - - - 24.70 -
10034 927.5 14.5 434 10044 done 1.11 - - 3565 - - - 2020 - 107.1 - - 2550 - - - - - - - - - - -
10337 884.2 14.5 444 10348 roll 1.11 - - 3574 - 2.20 0.034 636 -629.1 107.1 - - 2548 - - - - - - - - - 25.96 -
10416 873.5 14.7 446 10427 done 1.11 - - 3574 - 2.17 0.030 2029 641.9 107.1 - - 2548 - - - - - - - - - 26.05 -
10747 823.7 14.2 457 10757 done 1.11 - - 3574 - - - 2028 - 107.1 - - 2547 - - - - - - - - - - -
11049 781.8 13.9 467 11060 roll 1.11 - - 3581 - 2.20 0.034 631 -635.0 107.1 - - 2546 - - - - - - - - - 26.13 -
11129 771.6 13.9 469 11140 done 1.11 - - 3581 - 2.17 0.030 2035 647.0 107.1 - - 2546 - - - - - - - - - 26.20 -
11460 724.1 14.0 480 11470 done 1.11 - - 3581 - - - 2034 - 107.1 - - 2545 - - - - - - - - - - -
11762 682.4 13.8 490 11773 roll 1.11 - - 3590 - 2.20 0.034 633 -636.8 107.1 - - 2544 - - - - - - - - - 26.19 -
11806 676.4 13.8 491 11818 done 1.11 0.12 0.169 3557 -275.0 2.17 0.030 2043 649.8 107.1 - - 2544 - - - - - - - - 25.87 26.26 -
12142 632.9 12.5 502 12152 done 1.11 - - 3557 - - - 2043 - 107.1 - - 2544 - - - - - - - - - - -
12454 594.9 12.2 513 12465 roll 1.11 - - 3564 - 2.20 0.034 637 -639.1 107.1 - - 2543 - - - - - - - - - 26.22 -
12508 588.3 12.4 515 12519 done 1.11 - - 3558 - 2.15 0.030 2036 650.7 107.1 - - 2543 - - - - - - - - - 26.29 -
12833 546.5 12.8 531 12844 done 1.11 - - 3558 - - - 2036 - 107.1 - - 2543 - - - - - - - - - - -
13133 507.9 12.6 546 13144 roll 1.11 - - 3565 - 2.17 0.034 641 -642.9 107.1 - - 2543 - - - - - - - - - 26.23 -
13196 501.4 13.0 548 13209 done 1.11 - - 3565 - 2.15 0.031 2024 643.3 107.1 - - 2543 - - - - - - - - - 26.29 -
13502 459.6 13.0 564 13513 roll 1.11 - - 3565 - 2.10 0.041 3429 669.0 107.1 - - 2542 - - - - - - - - - 26.15 -
13543 455.7 13.1 565 13553 done 1.11 - - 3573 - 2.05 0.026 2015 -689.8 107.1 - - 2542 - - - - - - - - - 26.42 -
13862 412.5 12.7 581 13873 roll 1.11 - - 3582 - 2.12 0.035 637 -650.0 107.1 - - 2542 - - - - - - - - - 26.22 -
13992 395.3 13.3 587 14003 done 1.11 - - 3583 - 2.17 0.029 2042 647.5 107.1 - - 2542 - - - - - - - - - 26.32 -
14323 352.5 12.9 603 14334 roll 1.11 - - 3581 - 2.08 0.041 3421 663.0 107.1 - - 2542 - - - - - - - - - 26.15 -
14367 348.4 13.0 604 14380 done 1.11 0.12 0.171 3560 -175.0 2.03 0.026 2028 -686.2 107.1 - - 2541 - - - - - - - - 25.97 26.43 -
14673 308.6 12.3 620 14684 roll 1.11 - - 3568 - 2.15 0.035 628 -651.2 107.1 - - 2541 - - - - - - - - - 26.23 -
14743 300.0 12.2 623 14754 done 1.11 - - 3565 - 2.17 0.030 2042 651.6 107.1 - - 2541 - - - - - - - - - 26.31 -
15073 261.3 11.5 639 15083 done 1.11 - - 3566 - - - 2042 - 107.1 - - 2541 - - - - - - - - - - -
15374 225.3 12.1 654 15385 roll 1.11 - - 3573 - 2.20 0.034 634 -640.0 107.1 - - 2541 - - - - - - - - - 26.22 -
15493 212.0 11.9 659 15505 done 1.11 - - 3568 - 2.15 0.030 2028 648.4 107.1 - - 2541 - - - - - - - - - 26.31 -
15814 173.4 11.6 675 15825 roll 1.11 - - 3568 - 2.10 0.042 3432 668.6 107.1 - - 2541 - - - - - - - - - 26.14 -
15878 167.0 11.8 677 15891 done 1.11 - - 3575 - 2.05 0.026 2018 -689.8 107.1 - - 2541 - - - - - - - - - 26.44 -
16184 130.6 11.5 693 16195 roll 1.11 - - 3586 - 2.10 0.035 644 -654.3 107.1 - - 2541 - - - - - - - - - 26.23 -
16304 118.2 11.1 698 16315 done 1.11 - - 3583 - 2.12 0.031 2017 647.6 107.1 - - 2541 - - - - - - - - - 26.32 -
16624 87.3 9.7 714 16635 roll 1.11 - - 3582 - 2.12 0.041 3439 670.8 107.1 - - 2541 - - - - - - - - - 26.14 -
16865 65.8 9.0 725 16876 done 1.11 0.12 0.167 3559 -191.7 2.05 0.026 2016 -694.1 107.1 - - 2541 - - - - - - - - 25.99 26.44 -
17187 50.2 2.5 741 17351 roll 1.44 0.28 0.070 3667 385.7 2.28 0.039 3435 622.4 217.9 149.93 0.570 2115 -2.8 0.027 - - - - - - 26.39 25.28 24.59
17374 31.1 15.0 757 17386 done 1.44 - - 3674 - 2.12 0.025 2030 -662.7 217.9 - - 2109 - - - - - - - - - 25.54 -
17544 end climb: SURFACE_DEPTH_REACHED
17547 begin surface coast
17573 end surface coast: CONTROL_FINISHED_OK
17573 begin surface
SM 2.78 - - - - -8.87 9.05 0.047 341 37.7 0.43 0.044 2304 2962.8 375.06 69.47 0.057 1480 21.3 -0.106 - - - - - -