NISKINE May19 * SG135 * Dive index * Mission links * Dive 186 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 91.20 of 350.00 AH used of 24V (73.94% remains)
• Surface angle -56.3 deg, depth 2.43 m • Intended pitch -17.7 deg, speed -10.000 cm/s
VBD pumped to 400.09 (SM_CC=400)
• GPS1 time: 30 s
• GPS2 time: 22 s • Transponder ping count: 904
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
7.95 - - - 81.02 VBD -0.56 - - 132.00 - - - 2647.50 - -175.18 67.79 0.005 2603.22 - - - - - - - - - - 15.29
81.27 3.04 -0.91 7 138.60 -0.56 8.27 0.481 1629.94 181.1 1.99 0.066 3840.00 599.2 -175.18 41.97 0.006 3593.25 23.6 -2.066 - - - - - - 15.22 15.40 15.27
195.81 12.14 -13.90 30 201.40 roll -0.56 - - 1630.12 - 1.86 0.028 2685.88 -620.5 -175.18 - - 3595.75 - - - - - - - - - 15.69 -
385.80 39.06 -13.66 50 388.68 no move -0.56 - - 1630.25 - - - 2647.50 - -175.18 - - 3594.28 - - - - - - - - - - -
565.76 64.62 -14.52 68 571.48 roll -0.56 - - 1622.50 - 1.98 0.062 3839.94 602.2 -175.18 - - 3595.19 - - - - - - - - - 15.73 -
595.72 69.05 -14.75 74 601.42 roll -0.56 - - 1623.06 - 1.85 0.028 2687.06 -623.2 -175.18 - - 3596.31 - - - - - - - - - 15.74 -
785.87 97.32 -14.91 94 788.75 no move -0.56 - - 1622.94 - - - 2649.38 - -175.18 - - 3594.69 - - - - - - - - - - -
965.82 124.36 -15.05 112 968.70 no move -0.56 - - 1622.81 - - - 2649.38 - -175.18 - - 3594.84 - - - - - - - - - - -
1146.01 150.77 -14.35 130 1151.58 roll -0.56 - - 1614.12 - 1.98 0.064 3839.75 601.2 -175.18 - - 3596.12 - - - - - - - - - 15.75 -
1200.42 158.41 -13.32 141 1206.63 roll -0.56 - - 1615.38 - 1.84 0.027 2684.88 -627.6 -175.18 - - 3596.56 - - - - - - - - - 15.79 -
1385.92 185.65 -14.92 160 1388.90 no move -0.56 - - 1615.69 - - - 2646.44 - -175.18 - - 3594.75 - - - - - - - - - - -
1565.90 212.66 -15.11 178 1568.78 no move -0.56 - - 1615.56 - - - 2646.38 - -175.18 - - 3595.06 - - - - - - - - - - -
1746.01 239.43 -14.97 196 1749.14 no move -0.56 - - 1615.38 - - - 2646.44 - -175.18 - - 3594.94 - - - - - - - - - - -
1926.13 266.53 -15.01 209 1931.70 roll -0.56 - - 1607.50 - 1.98 0.062 3841.44 603.5 -175.18 - - 3595.41 - - - - - - - - - 15.77 -
1975.54 273.61 -13.70 219 1981.76 roll back -0.56 0.12 0.230 1642.44 291.2 1.85 0.029 2682.00 -626.7 -175.18 - - 3595.88 - - - - - - - - 15.69 15.81 -
2285.97 312.15 -12.93 236 2291.96 roll -0.56 - - 1643.81 - 1.62 0.028 1635.44 -646.0 -175.18 - - 3596.16 - - - - - - - - - 15.80 -
2306.13 314.69 -12.91 240 2311.86 roll -0.56 - - 1635.56 - 1.93 0.056 2775.88 590.9 -175.18 - - 3596.00 - - - - - - - - - 15.82 -
2626.00 355.67 -12.61 259 2631.70 roll -0.56 - - 1636.31 - 1.85 0.031 1640.81 -613.6 -175.18 - - 3596.38 - - - - - - - - - 15.83 -
2650.65 358.72 -12.35 264 2656.37 roll -0.56 - - 1627.81 - 1.93 0.059 2775.62 588.0 -175.18 - - 3595.94 - - - - - - - - - 15.83 -
2966.26 397.90 -12.29 282 2969.13 no move -0.56 - - 1627.31 - - - 2774.94 - -175.18 - - 3595.81 - - - - - - - - - - -
3266.04 434.42 -12.03 297 3271.73 roll -0.56 - - 1628.31 - 1.85 0.032 1640.56 -613.2 -175.18 - - 3596.03 - - - - - - - - - 15.84 -
3320.66 440.44 -10.53 308 3326.91 roll -0.56 - - 1620.88 - 1.95 0.059 2775.69 582.1 -175.18 - - 3595.72 - - - - - - - - - 15.80 -
3626.29 478.59 -12.46 324 3629.16 no move -0.56 - - 1619.38 - - - 2775.69 - -175.18 - - 3594.72 - - - - - - - - - - -
3926.29 517.96 -13.15 339 3944.17 roll -0.56 - - 1621.12 - 1.85 0.030 1640.56 -613.6 -175.18 - - 3594.62 - - - - - - - - - 15.74 -
3991.32 526.37 -12.36 350 4009.28 roll -0.56 - - 1612.81 - 1.94 0.059 2774.25 584.4 -175.18 - - 3593.69 - - - - - - - - - 15.51 -
4316.31 575.17 -15.40 368 4334.20 roll -0.56 - - 1612.19 - 1.84 0.036 1639.12 -616.9 -175.18 - - 3593.03 - - - - - - - - - 15.45 -
4361.34 581.90 -15.23 375 4379.30 roll -0.56 - - 1605.56 - 1.93 0.063 2774.81 588.4 -175.18 - - 3592.78 - - - - - - - - - 15.40 -
4686.41 633.61 -15.84 393 4704.41 roll back -0.56 0.13 0.323 1641.88 279.4 1.84 0.032 1639.38 -617.1 -175.18 - - 3592.59 - - - - - - - - 15.21 15.75 -
4716.04 637.74 -14.87 397 4734.00 roll -0.56 - - 1633.50 - 1.93 0.062 2775.00 588.4 -175.18 - - 3592.34 - - - - - - - - - 15.44 -
5036.05 675.59 -11.43 414 5053.93 roll -0.56 - - 1633.38 - 1.84 0.032 1641.75 -615.9 -175.18 - - 3591.81 - - - - - - - - - 15.93 -
5075.62 680.08 -11.45 420 5093.58 roll -0.56 - - 1626.06 - 1.93 0.063 2776.25 587.8 -175.18 - - 3592.25 - - - - - - - - - 15.46 -
5405.71 715.61 -10.50 439 5423.59 roll -0.56 - - 1625.56 - 1.84 0.035 1639.81 -617.6 -175.18 - - 3591.66 - - - - - - - - - 15.44 -
5465.28 721.56 -9.54 449 5483.24 roll -0.56 - - 1618.38 - 1.93 0.064 2774.81 588.1 -175.18 - - 3591.16 - - - - - - - - - 15.44 -
5795.34 758.68 -11.48 468 5813.22 roll -0.56 - - 1618.69 - 1.84 0.036 1640.62 -616.4 -175.18 - - 3590.78 - - - - - - - - - 15.46 -
5834.89 763.13 -11.33 474 5852.86 roll -0.56 - - 1610.94 - 1.93 0.064 2775.19 587.9 -175.18 - - 3591.69 - - - - - - - - - 15.42 -
6165.08 804.59 -12.81 493 6182.97 roll -0.56 - - 1611.38 - 1.85 0.036 1642.12 -612.5 -175.18 - - 3589.53 - - - - - - - - - 15.46 -
6204.66 809.59 -12.70 499 6222.62 roll -0.56 - - 1602.94 - 1.94 0.064 2774.75 583.8 -175.18 - - 3591.09 - - - - - - - - - 15.46 -
6534.66 854.17 -13.66 518 6552.67 roll back -0.56 0.14 0.256 1642.00 279.0 1.84 0.032 1640.88 -616.2 -175.18 - - 3590.31 - - - - - - - - 15.74 15.79 -
6589.30 860.13 -11.05 527 6607.26 roll -0.56 - - 1634.62 - 1.93 0.063 2775.06 587.7 -175.18 - - 3589.53 - - - - - - - - - 15.47 -
6895.32 892.52 -10.56 543 6913.20 roll -0.56 - - 1635.12 - 1.84 0.036 1639.88 -616.9 -175.18 - - 3589.12 - - - - - - - - - 15.48 -
6944.89 897.74 -10.20 551 6962.85 roll -0.56 - - 1626.94 - 1.93 0.060 2775.19 588.2 -175.18 - - 3589.22 - - - - - - - - - 15.85 -
7264.89 932.22 -10.86 568 7282.78 roll -0.56 - - 1626.12 - 1.84 0.036 1640.81 -616.5 -175.18 - - 3587.97 - - - - - - - - - 15.46 -
7330.14 939.10 -10.37 579 7348.15 roll -0.56 - - 1619.31 - 1.93 0.060 2777.44 588.9 -175.18 - - 3588.00 - - - - - - - - - 15.89 -
7655.29 975.99 -11.37 597 7673.18 roll -0.56 - - 1618.12 - 1.84 0.036 1641.69 -617.3 -175.18 - - 3587.78 - - - - - - - - - 15.49 -
7704.86 981.41 -11.45 605 7722.83 roll -0.56 - - 1611.38 - 1.95 0.064 2775.19 581.3 -175.18 - - 3587.50 - - - - - - - - - 15.45 -
7785 end dive: TARGET_DEPTH_EXCEEDED
7785 begin apogee
7786.70 990.58 -11.66 610 7947.09 -0.10 0.62 0.232 1790.06 288.2 0.19 0.120 2238.56 -2824.4 - 149.71 2.325 2877.97 -4.7 0.349 - - - - - - 15.31 14.94 11.75
7948 end apogee: CONTROL_FINISHED_OK
7948 begin climb
7947.99 995.19 - 617 8106.50 0.56 0.64 0.100 2018.38 356.8 2.06 0.047 1107.56 -549.0 175.18 139.75 2.271 2165.66 -5.1 0.386 - - - - - - 15.11 14.63 12.14
8148.19 978.17 12.69 655 8166.18 roll 0.56 - - 2010.38 - 2.02 0.056 2224.50 552.9 175.18 - - 2158.91 - - - - - - - - - 14.73 -
8454.21 938.01 13.27 671 8472.08 done 0.56 - - 2006.69 - 1.79 0.062 3291.88 596.3 175.18 - - 2148.81 - - - - - - - - - 15.34 -
8493.76 932.52 13.64 677 8511.65 done 0.56 - - 2014.50 - 1.90 0.042 2157.00 -597.3 175.18 - - 2142.66 - - - - - - - - - 15.24 -
8823.88 887.53 13.76 696 8841.37 VBD 0.56 - - 2014.19 - - - 2156.75 - 175.18 - - 2142.47 - - - - - - - - - - -
9123.92 845.80 14.16 711 9141.88 done 0.56 - - 2013.56 - 1.92 0.055 3291.38 591.0 175.18 - - 2142.22 - - - - - - - - - 15.82 -
9158.51 840.63 14.85 716 9176.39 done 0.56 - - 2021.19 - 1.88 0.040 2153.81 -605.1 175.18 - - 2140.69 - - - - - - - - - 15.49 -
9464.60 795.42 14.87 732 9482.45 done 0.56 - - 2029.19 - 1.68 0.043 1097.62 -628.7 175.18 - - 2140.34 - - - - - - - - - 15.47 -
9489.48 791.71 14.74 735 9510.01 done 0.56 - - 2027.19 - 1.91 0.054 2226.19 590.9 175.18 - - 2141.09 - - - - - - - - - 15.81 -
9817.25 742.40 14.93 753 9835.11 done 0.56 - - 2026.81 - 1.74 0.061 3291.69 612.4 175.18 - - 2140.53 - - - - - - - - - 15.47 -
10006.84 714.27 14.82 789 10024.73 done 0.56 - - 2035.06 - 1.85 0.039 2151.19 -616.5 175.18 - - 2138.09 - - - - - - - - - 15.51 -
10326.94 667.90 14.22 806 10344.97 0.56 0.16 0.285 1989.56 -284.4 1.93 0.059 3292.88 591.5 175.18 - - 2139.06 - - - - - - - - 15.74 15.47 -
10461.64 652.03 11.11 831 10479.53 done 0.56 - - 1998.00 - 1.86 0.038 2153.00 -612.8 175.18 - - 2137.78 - - - - - - - - - 15.50 -
10767.68 617.87 11.30 847 10785.65 done 0.56 - - 1997.06 - 1.93 0.061 3291.38 589.8 175.18 - - 2139.50 - - - - - - - - - 15.52 -
10792.75 614.82 11.48 850 10813.08 done 0.56 - - 2001.75 - 1.87 0.038 2150.31 -610.2 175.18 - - 2139.38 - - - - - - - - - 15.79 -
11120.27 573.27 13.22 868 11137.76 VBD 0.56 - - 2004.56 - - - 2138.19 - 175.18 - - 2137.56 - - - - - - - - - - -
11420.29 532.17 13.71 883 11438.26 done 0.56 - - 2003.81 - 1.95 0.059 3292.06 591.7 175.18 - - 2138.78 - - - - - - - - - 15.91 -
11465.52 525.69 14.17 890 11483.41 done 0.56 - - 2011.25 - 1.86 0.039 2149.12 -614.5 175.18 - - 2137.47 - - - - - - - - - 15.52 -
11790.65 482.13 13.02 908 11808.61 done 0.56 - - 2010.38 - 1.95 0.063 3293.50 586.9 175.18 - - 2139.59 - - - - - - - - - 15.46 -
11840.25 475.25 13.48 916 11858.14 done 0.56 - - 2017.50 - 1.86 0.038 2151.94 -613.7 175.18 - - 2139.34 - - - - - - - - - 15.53 -
12160.37 433.49 13.04 933 12177.85 VBD 0.56 - - 2018.69 - - - 2139.94 - 175.18 - - 2137.12 - - - - - - - - - - -
12460.42 392.96 13.75 948 12478.40 done 0.56 - - 2016.38 - 1.93 0.056 3293.56 597.7 175.18 - - 2138.22 - - - - - - - - - 15.87 -
12505.67 386.47 14.51 955 12523.56 done 0.56 - - 2023.06 - 1.86 0.036 2151.38 -614.1 175.18 - - 2139.72 - - - - - - - - - 15.88 -
12830.80 342.01 13.47 973 12848.75 done 0.56 - - 2023.94 - 1.93 0.058 3292.94 591.5 175.18 - - 2138.22 - - - - - - - - - 15.48 -
12870.38 336.37 14.21 979 12888.27 done 0.56 - - 2032.12 - 1.86 0.035 2154.50 -612.1 175.18 - - 2137.69 - - - - - - - - - 15.92 -
13200.43 290.46 13.91 998 13218.39 done 0.56 - - 2030.12 - 1.92 0.057 3294.56 593.8 175.18 - - 2137.09 - - - - - - - - - 15.47 -
13235.02 285.42 14.45 1003 13252.91 done 0.56 - - 2039.44 - 1.86 0.038 2150.00 -615.4 175.18 - - 2137.28 - - - - - - - - - 15.49 -
13541.10 243.98 13.11 1021 13559.13 0.56 0.17 0.271 1990.88 -285.6 1.93 0.057 3292.62 592.0 175.18 - - 2139.34 - - - - - - - - 15.69 15.76 -
13566.29 240.95 12.54 1024 13586.49 done 0.56 - - 1995.25 - 1.88 0.035 2152.44 -606.5 175.18 - - 2139.34 - - - - - - - - - 15.52 -
13758.58 221.72 9.75 1043 13776.05 VBD 0.56 - - 1997.88 - - - 2140.88 - 175.18 - - 2136.97 - - - - - - - - - - -
13948.17 202.78 9.96 1061 13966.13 done 0.56 - - 1997.12 - 1.95 0.062 3291.50 590.1 175.18 - - 2138.06 - - - - - - - - - 15.43 -
13997.76 197.48 10.87 1069 14015.65 done 0.56 - - 2004.12 - 1.87 0.041 2159.94 -605.1 175.18 - - 2137.53 - - - - - - - - - 15.44 -
14187.84 178.19 9.93 1088 14205.32 VBD 0.56 - - 2004.12 - - - 2143.69 - 175.18 - - 2137.25 - - - - - - - - - - -
14377.43 158.44 10.58 1106 14395.38 done 0.56 - - 2002.94 - 1.94 0.056 3291.31 591.6 175.18 - - 2138.25 - - - - - - - - - 15.69 -
14412.56 154.42 11.46 1111 14430.45 done 0.56 - - 2008.94 - 1.86 0.036 2151.31 -612.9 175.18 - - 2139.53 - - - - - - - - - 15.88 -
14602.72 133.33 11.06 1130 14620.68 done 0.56 - - 2009.19 - 1.95 0.061 3290.06 584.0 175.18 - - 2137.97 - - - - - - - - - 15.41 -
14627.75 130.43 11.44 1133 14648.11 done 0.56 - - 2015.88 - 1.87 0.036 2145.69 -612.0 175.18 - - 2139.53 - - - - - - - - - 15.87 -
14820.34 109.29 10.74 1152 14837.82 VBD 0.56 - - 2017.19 - - - 2134.62 - 175.18 - - 2137.28 - - - - - - - - - - -
15011.70 87.53 11.80 1170 15029.66 done 0.56 - - 2016.44 - 1.97 0.062 3290.31 586.6 175.18 - - 2138.72 - - - - - - - - - 15.79 -
15056.74 81.33 13.42 1177 15074.62 done 0.56 - - 2022.69 - 1.87 0.040 2148.88 -610.4 175.18 - - 2139.34 - - - - - - - - - 15.33 -
15246.90 54.96 14.29 1196 15264.38 VBD 0.56 - - 2024.38 - - - 2137.25 - 175.18 - - 2137.38 - - - - - - - - - - -
15436.63 31.19 12.60 1214 15454.58 done 0.56 - - 2022.69 - 1.96 0.061 3292.25 589.3 175.18 - - 2139.59 - - - - - - - - - 15.84 -
15461.75 27.97 12.94 1217 15482.01 done 0.56 - - 2029.19 - 1.87 0.039 2156.00 -607.6 175.18 - - 2139.94 - - - - - - - - - 15.26 -
15654.10 6.51 10.41 1236 15671.58 VBD 0.56 - - 2031.44 - - - 2148.81 - 175.18 - - 2137.19 - - - - - - - - - - -
15703 end climb: SURFACE_DEPTH_REACHED
15703 begin surface coast
15724 end surface coast: CONTROL_FINISHED_OK
15724 begin surface
SM 2.51 - - - - 124.4 224.99 0.112 1249.0 5.6 5.18 0.056 1321.1 255.0 - 1.07 0.064 1176.9 1099.9 -4.409 - - 15.70 15.80 15.84 -