NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 654 * Raw log
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• Previous call tries 1 • 67.00 of 150.00 AH used of 24V (55.33% remains)
• Previous NAKs 0, Timeouts 0 • 65.31 of 108.00 AH used of 10V (39.53% remains)
• Surface angle -72.8 deg, depth 2.78 m • Intended pitch -15.8 deg, speed -8.049 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 30 s
• GPS2 time: 18 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 - - - 70 VBD -1.11 - - 337 - - - 2325 - -107.1 -38.40 - 2564 - - - - - - - - - - -
76 3.2 -1.5 7 125 roll -1.11 10.23 0.231 2846 245.3 2.28 0.045 901 -624.6 -107.1 -28.10 - 3448 -31.5 - - - - - - - 24.98 25.96 26.46
320 37.5 -17.0 43 332 done -1.11 - - 2839 - 2.20 0.033 2304 637.7 -107.1 - - 3455 - - - - - - - - - 26.06 -
632 86.2 -14.8 62 643 roll -1.11 - - 2829 - 1.92 0.044 3587 668.2 -107.1 - - 3456 - - - - - - - - - 26.02 -
703 96.5 -14.6 65 714 done -1.11 - - 2835 - 1.83 0.025 2288 -709.8 -107.1 - - 3456 - - - - - - - - - 26.32 -
1034 138.0 -11.5 81 1044 done -1.11 - - 2836 - - - 2287 - -107.1 - - 3457 - - - - - - - - - - -
1334 172.6 -11.2 96 1344 done -1.11 - - 2836 - - - 2286 - -107.1 - - 3457 - - - - - - - - - - -
1634 205.7 -10.9 111 1645 roll -1.11 - - 2838 - 2.08 0.031 909 -662.0 -107.1 - - 3457 - - - - - - - - - 26.26 -
1680 208.9 -10.8 112 1692 done -1.11 - - 2831 - 2.15 0.031 2315 654.0 -107.1 - - 3457 - - - - - - - - - 26.27 -
1986 241.4 -10.2 128 1997 roll -1.11 - - 2821 - 1.88 0.043 3587 676.6 -107.1 - - 3456 - - - - - - - - - 26.13 -
2227 267.1 -11.2 139 2238 done -1.11 - - 2822 - 1.80 0.026 2298 -716.1 -107.1 - - 3457 - - - - - - - - - 26.43 -
2548 303.0 -11.0 155 2559 roll -1.11 - - 2814 - 1.92 0.043 3585 670.3 -107.1 - - 3456 - - - - - - - - - 26.13 -
2713 321.8 -12.5 162 2723 done -1.11 - - 2816 - 1.80 0.026 2298 -715.0 -107.1 - - 3457 - - - - - - - - - 26.44 -
3033 359.5 -11.5 178 3044 roll -1.11 - - 2818 - 2.08 0.030 915 -664.9 -107.1 - - 3457 - - - - - - - - - 26.29 -
3131 370.6 -12.2 182 3142 done -1.11 0.12 0.171 2842 200.0 2.15 0.031 2309 648.4 -107.1 - - 3457 - - - - - - - - 25.89 26.29 -
3457 407.3 -10.8 198 3468 done -1.11 - - 2842 - - - 2309 - -107.1 - - 3457 - - - - - - - - - - -
3758 438.5 -10.2 213 3769 roll -1.11 - - 2844 - 2.12 0.031 916 -657.1 -107.1 - - 3456 - - - - - - - - - 26.28 -
3813 443.6 -9.8 215 3824 done -1.11 - - 2837 - 2.15 0.031 2308 647.4 -107.1 - - 3456 - - - - - - - - - 26.28 -
4140 475.4 -9.7 231 4151 roll -1.11 - - 2827 - 1.95 0.044 3612 668.7 -107.1 - - 3456 - - - - - - - - - 26.10 -
4200 480.7 -10.0 233 4211 done -1.11 - - 2827 - 1.85 0.025 2294 -712.4 -107.1 - - 3456 - - - - - - - - - 26.44 -
4521 513.2 -10.3 249 4532 roll -1.11 - - 2828 - 2.08 0.031 914 -663.5 -107.1 - - 3455 - - - - - - - - - 26.27 -
4581 518.4 -10.4 251 4591 done -1.11 - - 2821 - 2.15 0.031 2304 646.5 -107.1 - - 3455 - - - - - - - - - 26.27 -
4903 551.9 -10.2 267 4913 done -1.11 - - 2821 - - - 2303 - -107.1 - - 3454 - - - - - - - - - - -
5204 580.6 -9.2 282 5215 done -1.11 - - 2821 - - - 2303 - -107.1 - - 3454 - - - - - - - - - - -
5514 609.6 -9.4 296 5525 roll -1.11 - - 2821 - 2.12 0.031 914 -655.2 -107.1 - - 3454 - - - - - - - - - 26.26 -
5545 609.6 -9.4 296 5556 done -1.11 - - 2814 - 2.15 0.033 2307 647.9 -107.1 - - 3454 - - - - - - - - - 26.25 -
5870 642.3 -9.5 307 5880 done -1.11 - - 2814 - - - 2307 - -107.1 - - 3453 - - - - - - - - - - -
6167 671.6 -9.8 317 6177 done -1.11 - - 2816 - - - 2306 - -107.1 - - 3452 - - - - - - - - - - -
6465 700.3 -9.5 327 6476 roll -1.11 - - 2814 - 2.12 0.031 915 -656.1 -107.1 - - 3452 - - - - - - - - - 26.25 -
6530 704.4 -9.7 328 6543 done -1.11 0.15 0.167 2843 193.3 2.15 0.033 2306 647.0 -107.1 - - 3452 - - - - - - - - 25.75 26.24 -
6836 734.0 -8.8 339 6846 done -1.11 - - 2843 - - - 2305 - -107.1 - - 3452 - - - - - - - - - - -
7137 760.4 -8.7 349 7148 roll -1.11 - - 2845 - 2.12 0.031 914 -656.1 -107.1 - - 3452 - - - - - - - - - 26.24 -
7208 766.8 -8.8 351 7219 done -1.11 - - 2838 - 2.15 0.033 2301 645.1 -107.1 - - 3451 - - - - - - - - - 26.24 -
7549 796.9 -8.9 362 7560 done -1.11 - - 2839 - - - 2300 - -107.1 - - 3450 - - - - - - - - - - -
7849 822.1 -8.4 372 7860 roll -1.11 - - 2839 - 2.12 0.031 902 -659.4 -107.1 - - 3450 - - - - - - - - - 26.22 -
7900 825.5 -8.4 373 7911 done -1.11 - - 2829 - 2.17 0.034 2301 644.7 -107.1 - - 3450 - - - - - - - - - 26.21 -
8231 855.5 -9.0 384 8241 done -1.11 - - 2829 - - - 2301 - -107.1 - - 3449 - - - - - - - - - - -
8532 882.6 -9.0 394 8543 roll -1.11 - - 2830 - 2.12 0.031 913 -654.7 -107.1 - - 3449 - - - - - - - - - 26.22 -
8582 886.6 -9.3 395 8593 done -1.11 - - 2821 - 2.15 0.033 2302 646.0 -107.1 - - 3450 - - - - - - - - - 26.21 -
8913 918.4 -9.0 406 8924 roll -1.11 - - 2820 - 2.12 0.031 913 -655.2 -107.1 - - 3449 - - - - - - - - - 26.22 -
8972 922.1 -9.1 407 8984 done -1.11 0.12 0.173 2841 175.0 2.15 0.033 2300 645.1 -107.1 - - 3448 - - - - - - - - 25.79 26.20 -
9293 950.4 -8.3 418 9305 done -1.11 - - 2841 - - - 2299 - -107.1 - - 3447 - - - - - - - - - - -
9597 973.1 -7.4 428 9607 done -1.11 - - 2841 - - - 2298 - -107.1 - - 3447 - - - - - - - - - - -
9830 end dive: TARGET_DEPTH_EXCEEDED
9830 begin apogee
9840 991.2 -7.7 436 10002 done -0.25 0.85 0.131 3110 316.5 - - 2024 - - 144.20 0.992 3005 -3.1 0.332 - - - - - - 25.10 - 23.28
10004 end apogee: CONTROL_FINISHED_OK
10004 begin climb
10009 993.7 - 441 10168 done 1.11 1.30 0.076 3559 345.4 - - 2023 - 107.1 146.52 0.913 2566 -3.0 0.354 - - - - - - 24.84 - 22.63
10464 936.5 14.9 457 10475 roll 1.11 - - 3559 - 2.17 0.043 3422 644.7 107.1 - - 2552 - - - - - - - - - 25.76 -
10525 930.0 15.2 458 10536 done 1.11 - - 3569 - 2.08 0.027 2021 -673.6 107.1 - - 2551 - - - - - - - - - 26.02 -
10846 878.4 15.1 469 10857 roll 1.11 - - 3578 - 2.15 0.035 639 -642.8 107.1 - - 2549 - - - - - - - - - 26.08 -
10888 872.3 15.0 470 10899 done 1.11 - - 3578 - 2.17 0.031 2019 635.9 107.1 - - 2549 - - - - - - - - - 26.15 -
11228 819.8 15.3 481 11239 roll 1.11 - - 3579 - 2.12 0.041 3436 668.4 107.1 - - 2548 - - - - - - - - - 26.09 -
11290 813.2 15.5 482 11301 done 1.11 0.12 0.176 3559 -166.7 2.08 0.027 2020 -680.8 107.1 - - 2547 - - - - - - - - 25.86 26.32 -
11613 764.9 13.6 493 11623 done 1.11 - - 3559 - - - 2012 - 107.1 - - 2547 - - - - - - - - - - -
11914 723.8 13.8 503 11924 done 1.11 - - 3559 - - - 2012 - 107.1 - - 2546 - - - - - - - - - - -
12215 683.7 13.2 513 12226 roll 1.11 - - 3551 - 2.17 0.042 3438 657.1 107.1 - - 2545 - - - - - - - - - 26.12 -
12270 677.3 13.6 514 12281 done 1.11 - - 3559 - 2.08 0.027 2018 -682.7 107.1 - - 2544 - - - - - - - - - 26.39 -
12596 631.5 13.1 525 12607 roll 1.11 - - 3551 - 2.17 0.042 3437 653.9 107.1 - - 2544 - - - - - - - - - 26.12 -
12645 625.7 13.5 526 12656 done 1.11 - - 3559 - 2.05 0.027 2022 -690.2 107.1 - - 2544 - - - - - - - - - 26.40 -
12976 580.6 13.2 539 12987 roll 1.11 - - 3569 - 2.15 0.035 629 -647.9 107.1 - - 2544 - - - - - - - - - 26.21 -
13006 576.6 13.0 540 13017 done 1.11 - - 3568 - 2.20 0.031 2037 640.0 107.1 - - 2544 - - - - - - - - - 26.29 -
13337 533.2 13.1 556 13348 roll 1.11 - - 3569 - 2.10 0.042 3430 663.3 107.1 - - 2543 - - - - - - - - - 26.12 -
13425 523.5 13.4 559 13437 done 1.11 - - 3578 - 2.05 0.027 2013 -691.2 107.1 - - 2543 - - - - - - - - - 26.40 -
13728 482.7 12.2 575 13739 roll 1.11 - - 3589 - 2.12 0.035 637 -649.1 107.1 - - 2543 - - - - - - - - - 26.20 -
13779 476.5 11.9 577 13790 done 1.11 0.12 0.169 3559 -250.0 2.17 0.031 2029 641.5 107.1 - - 2543 - - - - - - - - 25.89 26.29 -
14110 438.1 11.8 593 14121 roll 1.11 - - 3558 - 2.12 0.044 3434 662.7 107.1 - - 2543 - - - - - - - - - 26.10 -
14156 434.3 11.9 594 14168 done 1.11 - - 3566 - 2.05 0.026 2013 -693.2 107.1 - - 2543 - - - - - - - - - 26.40 -
14461 396.3 11.7 610 14472 roll 1.11 - - 3576 - 2.12 0.034 635 -650.0 107.1 - - 2543 - - - - - - - - - 26.20 -
14502 392.8 11.5 611 14513 done 1.11 - - 3575 - 2.17 0.031 2035 645.2 107.1 - - 2542 - - - - - - - - - 26.28 -
14822 354.2 11.5 627 14833 roll 1.11 - - 3575 - 2.10 0.043 3429 663.8 107.1 - - 2542 - - - - - - - - - 26.09 -
14878 347.8 12.2 629 14889 done 1.11 - - 3583 - 2.05 0.027 2024 -685.4 107.1 - - 2542 - - - - - - - - - 26.40 -
15205 306.4 12.9 645 15216 roll 1.11 - - 3593 - 2.15 0.035 637 -645.1 107.1 - - 2542 - - - - - - - - - 26.19 -
15256 299.4 13.1 647 15268 done 1.11 0.15 0.159 3556 -246.7 2.17 0.031 2032 642.9 107.1 - - 2542 - - - - - - - - 25.79 26.28 -
15589 260.5 11.6 663 15600 roll 1.11 - - 3552 - 2.10 0.044 3425 663.3 107.1 - - 2542 - - - - - - - - - 26.08 -
15644 254.2 11.8 665 15654 done 1.11 - - 3560 - 2.03 0.027 2024 -690.1 107.1 - - 2542 - - - - - - - - - 26.39 -
15969 215.0 11.7 681 15979 done 1.11 - - 3560 - - - 2024 - 107.1 - - 2542 - - - - - - - - - - -
16270 179.4 11.6 696 16281 roll 1.11 - - 3569 - 2.12 0.034 632 -656.6 107.1 - - 2542 - - - - - - - - - 26.19 -
16310 175.8 11.5 697 16321 done 1.11 - - 3568 - 2.15 0.030 2022 646.5 107.1 - - 2542 - - - - - - - - - 26.29 -
16632 139.9 11.5 713 16643 roll 1.11 - - 3568 - 2.12 0.042 3439 668.4 107.1 - - 2542 - - - - - - - - - 26.07 -
16672 136.1 11.5 714 16683 done 1.11 - - 3576 - 2.05 0.026 2021 -691.7 107.1 - - 2542 - - - - - - - - - 26.39 -
16993 101.9 9.6 730 17005 roll 1.11 - - 3586 - 2.12 0.034 638 -652.4 107.1 - - 2542 - - - - - - - - - 26.19 -
17078 94.7 10.1 733 17090 done 1.11 - - 3584 - 2.15 0.029 2029 647.0 107.1 - - 2542 - - - - - - - - - 26.29 -
17384 65.3 9.2 749 17395 roll 1.11 - - 3592 - 2.17 0.033 636 -641.9 107.1 - - 2542 - - - - - - - - - 26.20 -
17418 62.7 8.9 750 17430 done 1.11 0.12 0.161 3561 -258.3 2.15 0.029 2034 650.2 107.1 - - 2542 - - - - - - - - 25.89 26.29 -
17735 45.0 4.6 770 17843 roll 1.32 0.15 0.090 3627 440.0 2.22 0.041 3428 627.9 176.6 90.82 0.590 2285 -2.8 0.023 - - - - - - 26.48 25.51 24.16
18080 7.4 13.3 814 18092 done 1.32 - - 3634 - 2.08 0.026 2010 -681.7 176.6 - - 2277 - - - - - - - - - 26.09 -
18103 end climb: SURFACE_DEPTH_REACHED
18103 begin surface coast
18138 end surface coast: CONTROL_FINISHED_OK
18138 begin surface
SM 2.95 - - - - -8.87 8.88 0.047 341 38.4 0.45 0.046 2307 2837.8 350.04 78.03 0.057 1581 20.3 -0.107 - - - - - -