NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 41 * Raw log
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• Previous call tries 2 • 23.80 of 529.00 AH used of 24V (95.50% remains)
• Surface angle -46.7 deg, depth 0.87 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 450.10 (SM_CC=450)
• GPS1 time: 17 s
• GPS2 time: 5 s • Transponder ping count: 2
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
4.34 - - - 126.71 VBD -1.06 - - 192.12 - - - 2640.62 - -145.99 121.99 0.005 3479.00 - - - - - - - - - - 15.53
127.00 3.76 -2.90 23 141.83 -1.06 9.12 0.282 1363.12 128.4 1.88 0.173 3358.00 381.6 -145.99 0.36 0.064 3494.19 42.2 -0.416 - - - - - - 15.55 15.52 15.59
364.66 29.00 -9.73 71 369.55 roll -1.06 - - 1362.94 - 1.65 0.052 2630.88 -440.7 -145.99 - - 3494.56 - - - - - - - - - 15.60 -
549.71 45.13 -8.87 108 554.63 roll -1.06 - - 1363.44 - 1.88 0.160 3358.00 386.8 -145.99 - - 3494.81 - - - - - - - - - 15.76 -
779.79 66.87 -9.22 154 784.69 roll -1.06 - - 1363.12 - 1.65 0.053 2629.56 -441.5 -145.99 - - 3495.22 - - - - - - - - - 15.80 -
964.79 82.20 -7.02 191 969.71 roll -1.11 - - 1363.06 - 1.88 0.159 3356.31 386.6 -145.99 - - 3497.03 - - - - - - - - - 15.62 -
1194.85 99.96 -7.98 237 1199.74 roll -1.11 - - 1362.69 - 1.63 0.052 2630.06 -445.6 -145.99 - - 3494.66 - - - - - - - - - 15.83 -
1379.83 114.04 -7.44 256 1384.95 roll back -1.16 0.27 0.086 1322.44 -149.1 1.87 0.158 3357.50 389.0 -145.99 - - 3495.31 - - - - - - - - 15.82 15.82 -
1569.90 134.89 -11.26 294 1574.58 roll back -1.11 0.27 0.179 1352.56 111.6 1.63 0.053 2631.62 -445.3 -145.99 - - 3495.31 - - - - - - - - 15.80 15.86 -
1879.88 162.54 -8.90 326 1884.51 roll -1.11 - - 1353.12 - 1.86 0.157 3356.44 389.7 -145.99 - - 3494.81 - - - - - - - - - 15.66 -
1944.58 168.89 -9.56 339 1949.46 roll -1.11 - - 1352.56 - 1.62 0.051 2629.00 -449.0 -145.99 - - 3495.47 - - - - - - - - - 15.87 -
2249.94 196.32 -9.12 370 2251.26 no move -1.11 - - 1352.38 - - - 2628.81 - -145.99 - - 3494.91 - - - - - - - - - - -
2550.00 224.98 -10.28 400 2554.63 roll -1.11 - - 1353.50 - 1.87 0.159 3358.31 390.1 -145.99 - - 3495.47 - - - - - - - - - 15.90 -
2614.67 231.48 -10.17 413 2619.56 roll -1.11 - - 1352.81 - 1.63 0.051 2630.31 -446.6 -145.99 - - 3495.25 - - - - - - - - - 15.73 -
2920.04 261.25 -9.82 444 2921.37 no move -1.11 - - 1352.56 - - - 2630.06 - -145.99 - - 3494.78 - - - - - - - - - - -
3220.13 288.91 -9.43 474 3224.76 roll -1.11 - - 1353.38 - 1.87 0.160 3359.38 390.0 -145.99 - - 3496.53 - - - - - - - - - 15.91 -
3304.81 297.02 -9.19 491 3309.70 roll -1.11 - - 1352.44 - 1.63 0.053 2632.38 -446.0 -145.99 - - 3495.41 - - - - - - - - - 15.74 -
3610.18 324.36 -8.44 522 3614.82 roll -1.15 - - 1353.25 - 1.86 0.161 3357.56 389.9 -145.99 - - 3495.78 - - - - - - - - - 15.91 -
3660.16 328.85 -9.19 532 3664.76 roll -1.15 - - 1352.81 - 1.62 0.054 2631.81 -448.0 -145.99 - - 3494.81 - - - - - - - - - 15.95 -
3970.24 355.98 -8.28 564 3971.57 no move -1.19 - - 1353.19 - - - 2630.88 - -145.99 - - 3494.94 - - - - - - - - - - -
4270.34 382.09 -9.35 594 4275.40 roll back -1.24 0.28 0.086 1305.81 -169.2 1.87 0.166 3358.50 389.1 -145.99 - - 3495.56 - - - - - - - - 15.92 15.91 -
4334.99 389.13 -11.86 607 4340.69 roll back -1.16 0.31 0.183 1340.56 112.1 1.64 0.060 2640.69 -437.7 -145.99 - - 3495.22 - - - - - - - - 15.85 15.91 -
4640.36 417.70 -9.60 638 4641.70 no move -1.16 - - 1340.81 - - - 2641.25 - -145.99 - - 3494.66 - - - - - - - - - - -
4940.44 444.44 -9.36 668 4945.07 roll -1.16 - - 1341.06 - 1.86 0.170 3358.38 385.6 -145.99 - - 3495.72 - - - - - - - - - 14.20 -
4990.39 449.13 -9.66 678 4994.99 roll -1.16 - - 1341.00 - 1.64 0.062 2642.88 -436.3 -145.99 - - 3495.41 - - - - - - - - - 15.96 -
5300.46 476.47 -8.18 710 5301.79 no move -1.16 - - 1340.81 - - - 2642.62 - -145.99 - - 3493.50 - - - - - - - - - - -
5600.56 502.61 -8.91 740 5601.89 no move -1.16 - - 1341.00 - - - 2643.31 - -145.99 - - 3493.62 - - - - - - - - - - -
5900.62 529.09 -9.12 770 5905.25 roll -1.16 - - 1341.06 - 1.87 0.176 3358.38 382.4 -145.99 - - 3494.38 - - - - - - - - - 15.88 -
5950.56 533.49 -9.26 780 5955.15 roll -1.16 - - 1340.25 - 1.65 0.068 2645.88 -431.8 -145.99 - - 3494.69 - - - - - - - - - 15.97 -
6260.62 560.96 -9.11 812 6261.95 no move -1.16 - - 1340.81 - - - 2645.88 - -145.99 - - 3493.53 - - - - - - - - - - -
6560.73 588.19 -9.25 842 6565.36 roll -1.16 - - 1341.25 - 1.87 0.179 3358.62 381.1 -145.99 - - 3494.72 - - - - - - - - - 15.89 -
6660.69 597.46 -9.71 862 6665.29 roll -1.16 - - 1341.25 - 1.67 0.074 2645.75 -426.9 -145.99 - - 3494.31 - - - - - - - - - 15.97 -
6970.72 624.35 -8.22 894 6972.05 no move -1.16 - - 1341.19 - - - 2646.88 - -145.99 - - 3493.16 - - - - - - - - - - -
7270.79 648.99 -7.08 924 7272.12 no move -1.16 - - 1340.62 - - - 2646.19 - -145.99 - - 3492.84 - - - - - - - - - - -
7570.84 672.59 -7.59 954 7572.16 no move -1.16 - - 1341.12 - - - 2646.12 - -145.99 - - 3492.59 - - - - - - - - - - -
7870.84 696.70 -8.09 984 7875.47 roll -1.16 - - 1341.12 - 1.88 0.187 3357.06 378.2 -145.99 - - 3494.03 - - - - - - - - - 15.89 -
7935.50 702.62 -8.53 997 7940.39 roll -1.16 - - 1341.19 - 1.67 0.083 2651.50 -422.5 -145.99 - - 3493.25 - - - - - - - - - 15.97 -
8240.84 728.63 -8.88 1028 8246.28 roll -1.16 - - 1340.94 - 3.73 0.177 1206.81 -387.3 -145.99 - - 3494.72 - - - - - - - - - 15.87 -
8270.85 731.06 -8.62 1034 8276.25 roll -1.21 - - 1340.62 - 3.63 0.134 2678.81 405.5 -145.99 - - 3493.41 - - - - - - - - - 15.92 -
8580.84 758.44 -9.43 1066 8585.46 roll -1.21 - - 1341.12 - 1.78 0.196 3355.81 380.3 -145.99 - - 3493.44 - - - - - - - - - 15.87 -
8655.56 765.36 -9.99 1081 8660.45 roll -1.21 - - 1341.12 - 1.68 0.088 2650.88 -419.6 -145.99 - - 3492.12 - - - - - - - - - 15.96 -
8960.89 790.60 -8.51 1112 8962.22 no move -1.21 - - 1341.06 - - - 2651.00 - -145.99 - - 3491.22 - - - - - - - - - - -
9261.00 814.24 -8.36 1142 9262.32 no move -1.25 - - 1341.00 - - - 2651.62 - -145.99 - - 3490.59 - - - - - - - - - - -
9561.05 838.00 -7.88 1172 9566.50 roll back -1.29 0.29 0.086 1293.00 -165.5 3.78 0.189 1207.06 -382.2 -145.99 - - 3492.84 - - - - - - - - 15.89 15.84 -
9581 end dive: TARGET_DEPTH_EXCEEDED
9581 begin apogee
9585.22 840.12 -8.61 1176 9714.93 -0.25 1.89 0.161 1561.56 142.1 0.05 0.351 2386.06 23580.0 - 126.39 1.979 2896.94 -4.7 0.336 - - - - - - 15.89 15.31 12.01
9716 end apogee: CONTROL_FINISHED_OK
9716 begin climb
9715.90 842.86 - 1189 9855.91 1.06 2.06 0.088 1882.50 155.8 3.98 0.174 936.75 -364.1 145.99 131.87 1.913 2301.81 -4.5 0.333 - - - - - - 15.38 15.10 12.54
9858.20 836.61 6.87 1216 9925.33 done 1.06 - - 1882.94 - 3.71 0.095 2410.00 397.1 213.33 61.92 1.845 2029.44 -4.4 0.334 - - - - - - - 15.17 12.44
10223.40 797.03 11.92 1259 10228.87 done 1.02 - - 1881.88 - 3.91 0.172 937.44 -376.6 213.33 - - 2021.53 - - - - - - - - - 15.59 -
10248.11 794.38 11.54 1264 10254.21 0.97 0.31 0.193 1848.81 -106.7 3.62 0.097 2409.94 406.8 213.33 - - 2020.59 - - - - - - - - 15.56 15.53 -
10553.44 764.54 9.74 1295 10564.08 done 0.98 - - 1848.75 - 2.47 0.184 3356.12 383.1 218.82 5.38 1.022 2007.81 -2.4 0.298 - - - - - - - 15.65 12.43
10588.14 760.87 10.50 1302 10593.89 roll 0.98 - - 1848.56 - 2.31 0.067 2380.06 -422.5 218.82 - - 2006.53 - - - - - - - - - 15.76 -
10893.50 731.85 9.40 1333 10914.21 done 0.99 - - 1847.94 - 2.54 0.172 3358.06 385.0 231.72 14.57 1.609 1955.53 -3.5 0.267 - - - - - - - 15.64 12.36
10958.19 725.21 10.46 1346 10963.92 roll 0.99 - - 1848.94 - 2.30 0.066 2380.56 -425.0 231.72 - - 1954.03 - - - - - - - - - 15.78 -
11263.58 697.41 9.16 1377 11283.90 VBD 1.01 - - 1847.75 - - - 2379.88 - 249.85 18.68 1.653 1881.59 -3.9 0.274 - - - - - - - - 12.41
11583.62 670.11 7.92 1409 11629.75 1.11 0.31 0.087 1901.44 173.2 2.56 0.168 3357.81 382.0 294.67 42.15 1.737 1699.22 -4.3 0.280 - - - - - - 15.77 15.56 12.53
11653.60 661.97 12.93 1423 11658.75 roll 1.07 - - 1900.75 - 2.31 0.060 2380.19 -423.2 294.67 - - 1696.38 - - - - - - - - - 15.67 -
11963.64 625.12 11.77 1455 11964.98 no move 1.07 - - 1901.12 - - - 2379.38 - 294.67 - - 1691.62 - - - - - - - - - - -
12263.74 587.73 12.53 1485 12265.06 no move 1.07 - - 1901.12 - - - 2379.88 - 294.67 - - 1691.03 - - - - - - - - - - -
12563.75 549.83 12.84 1515 12568.88 roll 1.07 - - 1901.19 - 2.49 0.160 3358.75 393.1 294.67 - - 1691.84 - - - - - - - - - 15.84 -
12598.42 545.32 12.77 1522 12604.29 1.03 0.30 0.190 1864.81 -121.3 2.27 0.057 2374.06 -433.8 294.67 - - 1690.75 - - - - - - - - 15.79 15.88 -
12903.79 514.11 10.14 1553 12905.12 VBD 1.07 - - 1864.44 - - - 2373.75 - 294.67 - - 1689.31 - - - - - - - - - - -
13203.80 484.05 10.33 1583 13209.05 1.12 0.23 0.101 1902.19 164.1 2.50 0.158 3358.19 393.8 294.67 - - 1689.88 - - - - - - - - 15.85 15.74 -
13243.78 479.03 13.60 1591 13248.89 done 1.08 - - 1901.81 - 2.24 0.056 2371.06 -440.7 294.67 - - 1689.25 - - - - - - - - - 15.90 -
13553.77 440.53 12.72 1623 13555.10 VBD 1.08 - - 1902.19 - - - 2370.50 - 294.67 - - 1688.44 - - - - - - - - - - -
13853.83 402.50 12.87 1653 13859.03 done 1.08 - - 1902.62 - 2.48 0.152 3357.19 397.9 294.67 - - 1689.53 - - - - - - - - - 15.91 -
13893.80 397.45 14.00 1661 13899.09 1.04 0.31 0.186 1866.06 -117.9 2.24 0.054 2369.06 -441.1 294.67 - - 1689.12 - - - - - - - - 15.81 15.79 -
14203.88 364.47 10.45 1693 14208.99 done 1.09 - - 1865.62 - 2.49 0.150 3356.31 396.5 294.67 - - 1690.09 - - - - - - - - - 15.91 -
14218.52 362.83 10.75 1696 14224.38 1.13 0.24 0.103 1902.44 153.4 2.23 0.053 2369.69 -442.4 294.67 - - 1688.69 - - - - - - - - 15.89 15.95 -
14523.87 322.76 13.39 1727 14529.01 done 1.13 - - 1902.62 - 2.49 0.150 3357.62 396.8 294.67 - - 1689.34 - - - - - - - - - 15.75 -
14568.55 316.37 13.49 1736 14574.26 done 1.09 - - 1902.50 - 2.24 0.052 2363.31 -443.9 294.67 - - 1689.56 - - - - - - - - - 15.79 -
14873.86 277.63 12.86 1767 14879.11 done 1.09 - - 1903.75 - 2.51 0.151 3358.00 396.3 294.67 - - 1689.19 - - - - - - - - - 15.92 -
14908.56 272.89 13.25 1774 14914.30 done 1.09 - - 1903.44 - 2.23 0.053 2366.56 -444.6 294.67 - - 1689.03 - - - - - - - - - 15.96 -
15213.91 233.77 12.93 1805 15219.90 done 1.09 - - 1903.56 - 2.49 0.149 3357.00 397.8 294.67 - - 1689.78 - - - - - - - - - 15.88 -
15248.60 229.16 13.34 1812 15255.10 done 1.09 - - 1903.56 - 2.24 0.052 2363.94 -443.3 294.67 - - 1689.69 - - - - - - - - - 15.93 -
15553.95 191.31 11.82 1843 15557.15 VBD 1.09 - - 1903.62 - - - 2362.81 - 294.67 - - 1687.94 - - - - - - - - - - -
15854.05 155.14 12.50 1873 15860.03 done 1.09 - - 1903.00 - 2.51 0.152 3356.44 395.9 294.67 - - 1690.50 - - - - - - - - - 15.88 -
15878.70 151.97 12.74 1878 15885.21 done 1.09 - - 1903.25 - 2.23 0.052 2365.25 -444.5 294.67 - - 1688.97 - - - - - - - - - 15.92 -
16184.06 115.69 11.35 1909 16186.94 VBD 1.09 - - 1903.00 - - - 2363.81 - 294.67 - - 1688.16 - - - - - - - - - - -
16484.12 83.00 10.91 1954 16490.49 done 1.09 - - 1903.50 - 2.51 0.151 3357.19 395.8 294.67 - - 1689.44 - - - - - - - - - 15.87 -
16494.11 82.00 10.47 1956 16500.60 done 1.09 - - 1903.44 - 2.24 0.051 2363.69 -443.5 294.67 - - 1689.38 - - - - - - - - - 15.91 -
16679.19 62.82 10.27 1993 16685.68 done 1.09 - - 1902.62 - 3.59 0.142 935.50 -397.8 294.67 - - 1690.12 - - - - - - - - - 15.79 -
16694.18 61.20 10.78 1996 16700.85 done 1.09 - - 1903.75 - 3.44 0.069 2415.69 430.3 294.67 - - 1690.16 - - - - - - - - - 15.85 -
16879.25 40.70 11.76 2033 16884.32 VBD 1.09 - - 1903.44 - - - 2416.25 - 294.67 - - 1688.72 - - - - - - - - - - -
17064.30 19.80 11.14 2070 17070.54 done 1.09 - - 1903.06 - 2.38 0.158 3356.75 395.2 294.67 - - 1688.78 - - - - - - - - - 15.85 -
17099.32 15.37 12.85 2077 17105.53 done 1.09 - - 1903.12 - 2.23 0.051 2365.56 -444.5 294.67 - - 1688.38 - - - - - - - - - 15.90 -
17214 end climb: SURFACE_DEPTH_REACHED
17214 begin surface coast
17229 end surface coast: CONTROL_FINISHED_OK
17229 begin surface
SM 0.81 - - - - 189.5 127.54 1.012 1065.1 8.4 10.41 0.057 1158.8 111.3 - 0.73 0.120 971.4 1327.6 -0.916 - - 12.25 15.89 15.91 -