NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 68 * Raw log
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• Previous call tries 1 • 34.60 of 529.00 AH used of 24V (93.46% remains)
• Surface angle -40.5 deg, depth 0.70 m • Intended pitch -27.2 deg, speed -10.000 cm/s
VBD pumped to 450.09 (SM_CC=450)
• GPS1 time: 31 s
• GPS2 time: 4 s • Transponder ping count: 15
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
4.42 - - - 113.34 VBD -1.44 - - 188.88 - 0.12 0.267 2683.50 - -63.62 106.39 0.005 3157.69 - - - - - - - - - 15.46 14.23
113.59 3.20 -2.59 21 138.55 -1.53 8.98 0.294 1251.94 118.4 1.86 0.168 3354.56 360.8 -133.70 9.36 0.007 3444.28 30.6 -2.334 - - - - - - 15.45 15.49 15.57
361.29 36.51 -13.97 71 366.17 roll -1.53 - - 1251.62 - 1.68 0.054 2637.06 -427.1 -133.70 - - 3446.75 - - - - - - - - - 15.76 -
546.36 62.31 -14.40 108 551.73 roll -1.60 - - 1251.50 - 1.98 0.156 3357.81 364.0 -133.70 - - 3445.56 - - - - - - - - - 15.74 -
741.42 91.85 -15.06 147 746.81 roll back -1.65 0.30 0.084 1205.62 -152.9 1.68 0.051 2635.12 -430.2 -133.70 - - 3446.91 - - - - - - - - 15.74 15.78 -
926.44 120.14 -15.52 171 927.77 no move -1.65 - - 1205.44 - - - 2634.69 - -133.70 - - 3444.88 - - - - - - - - - - -
1226.49 166.58 -14.95 201 1231.58 roll -1.65 - - 1205.69 - 1.98 0.156 3357.12 364.9 -133.70 - - 3446.59 - - - - - - - - - 15.81 -
1356.52 188.16 -17.75 227 1361.11 roll -1.65 - - 1205.88 - 1.68 0.056 2637.62 -428.3 -133.70 - - 3446.12 - - - - - - - - - 15.84 -
1666.57 234.84 -15.11 259 1667.90 no move -1.65 - - 1205.75 - - - 2638.06 - -133.70 - - 3444.72 - - - - - - - - - - -
1966.66 278.11 -14.80 289 1971.71 roll -1.65 - - 1205.25 - 1.97 0.158 3356.62 364.8 -133.70 - - 3447.03 - - - - - - - - - 15.85 -
2146.65 306.67 -16.15 325 2151.25 roll -1.65 - - 1205.31 - 1.67 0.057 2639.94 -429.1 -133.70 - - 3445.66 - - - - - - - - - 15.91 -
2456.68 350.62 -13.85 357 2461.76 roll -1.65 - - 1205.44 - 1.96 0.160 3356.31 365.5 -133.70 - - 3445.56 - - - - - - - - - 15.86 -
2611.41 374.59 -15.35 388 2616.31 roll -1.65 - - 1205.38 - 1.67 0.061 2642.69 -427.3 -133.70 - - 3446.09 - - - - - - - - - 15.92 -
2916.72 417.93 -14.05 419 2918.05 no move -1.65 - - 1205.25 - - - 2641.69 - -133.70 - - 3444.72 - - - - - - - - - - -
3216.78 460.43 -14.90 449 3218.11 no move -1.65 - - 1205.69 - - - 2641.88 - -133.70 - - 3444.69 - - - - - - - - - - -
3516.80 504.85 -14.82 479 3521.84 roll -1.65 - - 1205.31 - 1.99 0.173 3356.44 359.1 -133.70 - - 3446.22 - - - - - - - - - 15.88 -
3586.75 516.09 -17.14 493 3591.35 roll -1.65 - - 1205.19 - 1.70 0.073 2643.25 -419.5 -133.70 - - 3447.03 - - - - - - - - - 15.95 -
3896.79 562.87 -14.78 525 3898.12 no move -1.65 - - 1205.38 - - - 2644.50 - -133.70 - - 3444.16 - - - - - - - - - - -
4196.86 607.35 -14.85 555 4201.90 roll -1.65 - - 1205.25 - 1.98 0.178 3356.69 359.7 -133.70 - - 3445.34 - - - - - - - - - 15.87 -
4301.54 624.12 -15.23 576 4306.43 roll -1.65 - - 1205.69 - 1.70 0.080 2647.19 -417.4 -133.70 - - 3446.41 - - - - - - - - - 15.96 -
4606.89 667.68 -14.00 607 4608.22 no move -1.65 - - 1205.00 - - - 2647.06 - -133.70 - - 3444.84 - - - - - - - - - - -
4906.99 709.95 -15.38 637 4912.03 roll -1.65 - - 1205.19 - 1.99 0.186 3354.56 355.5 -133.70 - - 3445.78 - - - - - - - - - 15.86 -
5036.98 729.85 -17.08 663 5041.60 roll -1.65 - - 1205.19 - 1.71 0.088 2649.00 -412.6 -133.70 - - 3446.41 - - - - - - - - - 15.96 -
5347.02 775.73 -14.51 695 5348.36 no move -1.65 - - 1205.25 - - - 2650.19 - -133.70 - - 3443.56 - - - - - - - - - - -
5647.16 820.36 -15.29 725 5652.17 roll -1.70 - - 1205.25 - 2.00 0.194 3353.94 351.9 -133.70 - - 3445.94 - - - - - - - - - 15.85 -
5767 end dive: TARGET_DEPTH_EXCEEDED
5767 begin apogee
5770.67 840.33 -18.89 749 5890.00 -0.25 2.66 0.179 1560.00 133.4 0.06 0.317 2410.75 -15719.8 - 115.39 1.976 2898.88 -4.7 0.336 - - - - - - 15.87 15.37 12.09
5891 end apogee: CONTROL_FINISHED_OK
5891 begin climb
5890.99 843.77 - 761 6020.71 1.53 2.88 0.085 1995.38 151.2 4.07 0.154 937.19 -362.1 133.70 120.58 1.903 2352.69 -4.5 0.335 - - - - - - 15.42 15.15 12.62
6028.13 835.38 10.38 786 6033.60 roll 1.53 - - 1994.88 - 3.79 0.076 2410.44 388.7 133.70 - - 2350.84 - - - - - - - - - 15.28 -
6338.18 794.67 13.52 818 6339.51 VBD 1.53 - - 1995.06 - - - 2410.31 - 133.70 - - 2343.44 - - - - - - - - - - -
6638.28 753.25 13.50 848 6643.72 done 1.53 - - 1994.25 - 3.85 0.145 934.88 -383.2 133.70 - - 2342.84 - - - - - - - - - 15.74 -
6648.23 751.65 13.59 850 6653.68 done 1.53 - - 1995.50 - 3.61 0.070 2414.50 409.9 133.70 - - 2345.97 - - - - - - - - - 15.62 -
6958.28 710.51 13.99 882 6959.61 VBD 1.53 - - 1994.88 - - - 2414.69 - 133.70 - - 2340.31 - - - - - - - - - - -
7258.39 671.61 12.87 912 7259.72 VBD 1.53 - - 1994.94 - - - 2414.38 - 133.70 - - 2339.84 - - - - - - - - - - -
7558.43 633.32 12.90 942 7563.85 done 1.53 - - 1993.88 - 3.80 0.138 934.06 -389.6 133.70 - - 2343.50 - - - - - - - - - 15.86 -
7608.41 626.29 14.27 952 7613.82 done 1.46 - - 1995.06 - 3.58 0.066 2415.19 413.7 133.70 - - 2342.91 - - - - - - - - - 15.72 -
7918.45 588.29 11.47 984 7923.92 done 1.46 - - 1994.75 - 3.78 0.133 933.50 -392.0 133.70 - - 2343.12 - - - - - - - - - 15.88 -
7948.50 584.82 11.85 990 7953.98 1.42 0.37 0.221 1958.19 -98.8 3.55 0.064 2414.19 417.1 133.70 - - 2340.38 - - - - - - - - 15.76 15.91 -
8258.54 552.00 9.69 1022 8263.98 roll 1.47 - - 1958.12 - 3.78 0.133 933.69 -391.7 136.63 - - 2341.66 - - - - - - - - - 15.90 -
8278.51 549.46 10.35 1026 8283.94 roll 1.47 - - 1957.06 - 3.54 0.064 2416.19 418.8 136.63 - - 2342.62 - - - - - - - - - 15.90 -
8588.58 518.45 9.59 1058 8600.54 1.53 0.28 0.094 1997.19 143.3 3.74 0.130 934.44 -396.2 140.47 5.72 1.007 2324.25 -3.2 0.276 - - - - - - 15.90 15.87 12.22
8623.56 514.24 12.01 1065 8629.00 roll 1.53 - - 1997.00 - 3.54 0.064 2415.56 418.4 140.47 - - 2325.81 - - - - - - - - - 15.94 -
8933.61 477.30 11.94 1097 8939.08 roll 1.53 - - 1996.44 - 3.74 0.126 934.69 -396.0 140.47 - - 2328.81 - - - - - - - - - 15.91 -
8963.64 473.23 13.73 1103 8969.06 roll 1.47 - - 1997.31 - 3.52 0.061 2417.12 421.1 140.47 - - 2325.84 - - - - - - - - - 15.93 -
9273.65 436.98 11.63 1135 9279.10 roll 1.47 - - 1997.62 - 3.76 0.123 932.12 -394.9 140.47 - - 2328.34 - - - - - - - - - 15.71 -
9313.67 431.97 12.42 1143 9319.17 roll back 1.42 0.35 0.219 1958.44 -111.9 3.51 0.060 2417.19 423.1 140.47 - - 2325.44 - - - - - - - - 15.78 15.93 -
9623.70 400.32 9.77 1175 9629.15 roll 1.48 - - 1958.25 - 3.74 0.123 933.12 -396.8 142.61 - - 2325.28 - - - - - - - - - 15.92 -
9648.38 397.11 10.86 1180 9654.39 roll 1.48 - - 1958.00 - 3.49 0.059 2417.62 425.4 142.61 - - 2326.19 - - - - - - - - - 15.74 -
9953.72 366.72 9.59 1211 9969.46 1.53 0.28 0.093 1998.81 145.7 3.72 0.122 933.50 -399.0 146.49 7.82 1.111 2302.16 -3.1 0.169 - - - - - - 15.91 15.82 12.17
10003.72 360.37 12.37 1221 10009.12 roll 1.48 - - 1998.88 - 3.49 0.058 2419.88 425.9 146.49 - - 2300.69 - - - - - - - - - 15.95 -
10313.79 322.95 12.02 1253 10319.21 roll 1.48 - - 1998.56 - 3.72 0.118 931.88 -400.0 146.49 - - 2303.59 - - - - - - - - - 15.93 -
10353.76 317.43 13.73 1261 10359.28 roll back 1.43 0.34 0.219 1963.81 -102.2 3.52 0.058 2418.62 422.4 146.49 - - 2300.53 - - - - - - - - 15.79 15.76 -
10663.78 283.45 10.73 1293 10665.11 no move 1.49 - - 1963.69 - - - 2418.31 - 146.49 - - 2299.03 - - - - - - - - - - -
10966.72 248.99 11.77 1323 10979.01 roll back 1.55 0.28 0.092 2003.00 140.4 3.73 0.119 932.69 -398.3 146.49 - - 2300.66 - - - - - - - - 15.86 15.87 -
11002.27 244.02 13.23 1330 11008.98 roll 1.50 - - 2002.25 - 3.49 0.056 2419.06 425.9 146.49 - - 2300.44 - - - - - - - - - 15.92 -
11307.54 203.75 13.42 1361 11310.42 no move 1.50 - - 2002.81 - - - 2419.62 - 146.49 - - 2298.75 - - - - - - - - - - -
11607.66 164.81 12.41 1391 11610.78 no move 1.50 - - 2002.69 - - - 2418.44 - 146.49 - - 2298.84 - - - - - - - - - - -
11907.68 127.74 12.97 1421 11910.90 no move 1.50 - - 2002.44 - - - 2420.50 - 146.49 - - 2298.66 - - - - - - - - - - -
12207.65 89.60 13.26 1458 12212.72 no move 1.50 - - 2002.44 - - - 2419.19 - 146.49 - - 2300.41 - - - - - - - - - - -
12392.68 67.54 11.52 1495 12398.93 roll 1.50 - - 2002.50 - 2.46 0.142 3355.50 380.6 146.49 - - 2301.69 - - - - - - - - - 15.59 -
12452.71 60.32 12.15 1507 12459.08 roll back 1.45 0.34 0.215 1967.81 -102.0 2.27 0.043 2357.88 -439.5 146.49 - - 2299.22 - - - - - - - - 15.73 15.67 -
12637.75 41.71 10.59 1544 12642.83 no move 1.52 - - 1967.62 - - - 2357.50 - 146.49 - - 2299.66 - - - - - - - - - - -
12822.76 22.62 10.90 1581 12829.18 roll back 1.59 0.31 0.092 2011.94 143.0 2.62 0.135 3356.69 381.4 146.49 - - 2301.97 - - - - - - - - 15.85 15.83 -
12857.78 18.81 10.88 1588 12863.97 roll 1.54 - - 2011.50 - 2.26 0.042 2363.25 -439.6 146.49 - - 2299.28 - - - - - - - - - 15.66 -
13003 end climb: SURFACE_DEPTH_REACHED
13003 begin surface coast
13018 end surface coast: CONTROL_FINISHED_OK
13018 begin surface
SM 0.45 - - - - 186.9 246.54 1.009 1065.1 4.3 11.35 0.073 1156.8 101.9 - 0.75 0.106 973.4 1294.9 -0.562 - - 12.09 15.84 15.90 -