NISKINE May19 * SG135 * Dive index * Mission links * Dive 212 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 103.53 of 350.00 AH used of 24V (70.42% remains)
• Surface angle -57.4 deg, depth 2.31 m • Intended pitch -13.8 deg, speed -10.000 cm/s
VBD pumped to 400.26 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 28 s • Transponder ping count: 1185
• 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
8.16 - - - 86.38 VBD -0.49 - - 132.19 - - - 2844.50 - -175.18 72.69 0.005 2697.28 - - - - - - - - - - 15.19
86.63 3.03 -0.93 8 138.27 -0.49 8.38 0.475 1655.94 181.8 1.65 0.068 3844.12 605.8 -175.18 34.71 0.006 3594.53 25.8 -2.265 - - - - - - 15.16 15.29 15.22
289.97 22.65 -10.73 49 296.17 roll -0.49 - - 1655.44 - 1.87 0.027 2684.94 -619.9 -175.18 - - 3596.22 - - - - - - - - - 15.35 -
475.39 46.09 -12.53 68 481.05 roll -0.49 - - 1656.06 - 1.63 0.029 1637.75 -642.4 -175.18 - - 3596.47 - - - - - - - - - 15.70 -
510.08 50.10 -11.46 75 516.38 roll -0.49 - - 1647.81 - 1.96 0.056 2777.12 581.3 -175.18 - - 3595.81 - - - - - - - - - 15.60 -
695.49 73.79 -12.87 94 701.17 roll -0.49 - - 1639.50 - 1.75 0.062 3843.25 609.2 -175.18 - - 3596.94 - - - - - - - - - 15.65 -
720.09 77.12 -13.08 99 726.40 roll -0.49 - - 1639.50 - 1.85 0.029 2686.12 -625.5 -175.18 - - 3597.22 - - - - - - - - - 15.63 -
905.59 101.13 -13.14 118 908.78 no move -0.49 - - 1639.81 - - - 2647.81 - -175.18 - - 3595.69 - - - - - - - - - - -
1085.61 124.86 -13.37 136 1091.29 roll -0.49 - - 1631.69 - 1.99 0.064 3841.38 599.8 -175.18 - - 3597.12 - - - - - - - - - 15.66 -
1110.18 128.30 -13.63 141 1116.77 roll back -0.49 0.12 0.238 1664.38 272.4 1.85 0.028 2678.88 -628.4 -175.18 - - 3596.41 - - - - - - - - 15.58 15.74 -
1295.60 149.56 -11.37 160 1298.48 no move -0.49 - - 1664.31 - - - 2642.19 - -175.18 - - 3595.94 - - - - - - - - - - -
1475.65 169.72 -11.06 178 1478.62 no move -0.49 - - 1664.25 - - - 2642.06 - -175.18 - - 3595.66 - - - - - - - - - - -
1655.85 189.35 -10.73 196 1658.73 no move -0.49 - - 1664.75 - - - 2642.00 - -175.18 - - 3595.69 - - - - - - - - - - -
1835.78 207.45 -10.01 214 1838.66 no move -0.49 - - 1664.25 - - - 2642.06 - -175.18 - - 3595.78 - - - - - - - - - - -
2015.76 225.49 -10.09 232 2018.64 no move -0.49 - - 1664.12 - - - 2642.31 - -175.18 - - 3595.66 - - - - - - - - - - -
2195.70 244.00 -10.47 250 2201.54 roll -0.49 - - 1656.38 - 1.99 0.062 3840.00 601.9 -175.18 - - 3597.12 - - - - - - - - - 15.71 -
2215.83 246.11 -10.50 254 2221.45 roll -0.49 - - 1657.00 - 1.84 0.026 2683.00 -628.8 -175.18 - - 3597.38 - - - - - - - - - 15.78 -
2415.77 267.08 -10.81 267 2421.43 roll -0.49 - - 1656.88 - 1.62 0.028 1635.00 -646.9 -175.18 - - 3597.12 - - - - - - - - - 15.80 -
2440.32 269.74 -10.78 272 2446.04 roll -0.49 - - 1649.06 - 1.95 0.055 2776.00 585.1 -175.18 - - 3596.28 - - - - - - - - - 15.75 -
2755.75 305.60 -11.67 290 2761.46 roll -0.49 - - 1648.88 - 1.85 0.029 1638.38 -614.9 -175.18 - - 3597.31 - - - - - - - - - 15.80 -
2790.34 309.59 -11.31 297 2796.69 roll -0.49 - - 1640.69 - 1.94 0.056 2775.00 585.9 -175.18 - - 3596.72 - - - - - - - - - 15.79 -
3095.85 346.28 -12.14 313 3101.53 roll -0.49 - - 1641.38 - 1.85 0.031 1640.75 -613.1 -175.18 - - 3598.16 - - - - - - - - - 15.76 -
3125.43 349.77 -11.85 319 3131.15 roll -0.49 - - 1633.31 - 1.95 0.058 2776.12 582.2 -175.18 - - 3596.25 - - - - - - - - - 15.33 -
3435.84 388.46 -12.55 336 3441.94 roll -0.49 - - 1632.94 - 1.85 0.030 1639.19 -614.6 -175.18 - - 3597.38 - - - - - - - - - 15.81 -
3465.46 392.06 -12.39 342 3471.18 roll -0.49 - - 1624.75 - 1.94 0.058 2774.19 585.1 -175.18 - - 3596.12 - - - - - - - - - 15.80 -
3775.92 431.97 -12.80 359 3779.02 pitch -0.49 0.14 0.269 1664.31 282.6 - - 2774.50 - -175.18 - - 3594.50 - - - - - - - - 15.58 - -
4075.92 461.12 -9.59 374 4081.61 roll -0.49 - - 1664.62 - 1.85 0.032 1639.38 -613.6 -175.18 - - 3595.31 - - - - - - - - - 15.81 -
4135.86 466.35 -8.48 386 4141.64 roll -0.49 - - 1657.38 - 1.94 0.056 2778.56 587.2 -175.18 - - 3595.09 - - - - - - - - - 15.80 -
4456.11 497.02 -9.75 405 4461.66 roll -0.49 - - 1657.69 - 1.85 0.030 1638.06 -616.5 -175.18 - - 3594.28 - - - - - - - - - 15.81 -
4500.52 501.23 -9.32 414 4519.03 roll -0.49 - - 1649.75 - 1.95 0.059 2776.69 583.9 -175.18 - - 3593.69 - - - - - - - - - 15.30 -
4821.06 533.63 -10.02 431 4838.95 roll -0.49 - - 1650.50 - 1.84 0.033 1638.88 -618.4 -175.18 - - 3594.75 - - - - - - - - - 15.39 -
4846.08 536.11 -10.01 434 4866.50 roll -0.49 - - 1641.50 - 1.93 0.057 2775.69 589.0 -175.18 - - 3593.03 - - - - - - - - - 15.80 -
5173.62 570.13 -10.45 452 5191.51 roll -0.49 - - 1642.44 - 1.84 0.031 1639.44 -617.5 -175.18 - - 3594.38 - - - - - - - - - 15.86 -
5213.20 574.19 -10.46 458 5231.17 roll -0.49 - - 1633.75 - 1.93 0.059 2775.75 588.8 -175.18 - - 3592.69 - - - - - - - - - 15.87 -
5543.31 610.30 -11.11 477 5561.20 roll -0.49 - - 1633.75 - 1.84 0.035 1640.81 -616.8 -175.18 - - 3591.44 - - - - - - - - - 15.42 -
5577.87 614.05 -11.15 482 5595.85 roll -0.49 - - 1626.12 - 1.93 0.063 2775.88 588.1 -175.18 - - 3592.88 - - - - - - - - - 15.38 -
5883.89 648.56 -11.43 498 5901.90 roll back -0.49 0.14 0.262 1667.75 297.4 1.85 0.031 1639.50 -614.3 -175.18 - - 3593.69 - - - - - - - - 15.61 15.66 -
5908.96 651.05 -11.05 501 5929.31 roll -0.49 - - 1658.88 - 1.95 0.056 2777.12 583.4 -175.18 - - 3592.41 - - - - - - - - - 15.39 -
6236.41 679.90 -8.96 519 6254.30 roll -0.49 - - 1659.50 - 1.85 0.034 1639.12 -615.1 -175.18 - - 3591.25 - - - - - - - - - 15.34 -
6281.36 683.89 -9.11 526 6299.34 roll -0.49 - - 1651.38 - 1.94 0.060 2777.19 586.6 -175.18 - - 3591.19 - - - - - - - - - 15.39 -
6606.61 713.08 -8.91 544 6624.50 roll -0.49 - - 1651.81 - 1.85 0.034 1639.31 -615.1 -175.18 - - 3592.59 - - - - - - - - - 15.35 -
6661.19 717.91 -8.95 553 6679.17 roll -0.49 - - 1643.44 - 1.95 0.056 2777.19 583.5 -175.18 - - 3590.78 - - - - - - - - - 15.37 -
6967.26 747.19 -9.67 569 6985.16 roll -0.49 - - 1643.88 - 1.85 0.034 1639.12 -615.2 -175.18 - - 3591.62 - - - - - - - - - 15.40 -
7012.35 751.50 -9.77 576 7030.32 roll -0.49 - - 1635.69 - 1.94 0.063 2776.19 586.1 -175.18 - - 3589.50 - - - - - - - - - 15.40 -
7337.60 785.01 -10.44 594 7355.50 roll -0.49 - - 1634.12 - 1.86 0.036 1640.69 -610.5 -175.18 - - 3589.59 - - - - - - - - - 15.33 -
7382.63 789.64 -10.38 601 7400.60 roll -0.49 - - 1628.38 - 1.95 0.064 2773.88 581.1 -175.18 - - 3590.59 - - - - - - - - - 15.35 -
7707.83 825.16 -10.99 619 7725.85 roll back -0.49 0.14 0.308 1666.75 274.1 1.85 0.032 1639.44 -613.2 -175.18 - - 3590.50 - - - - - - - - 15.13 15.61 -
7742.47 828.35 -10.26 624 7760.44 roll -0.49 - - 1658.69 - 1.95 0.058 2776.44 583.1 -175.18 - - 3590.59 - - - - - - - - - 15.35 -
8048.42 852.41 -7.76 640 8066.32 roll -0.49 - - 1659.25 - 1.84 0.032 1640.56 -617.3 -175.18 - - 3589.91 - - - - - - - - - 15.90 -
8103.02 856.76 -8.00 649 8121.00 roll -0.49 - - 1651.06 - 1.94 0.058 2777.38 586.0 -175.18 - - 3587.88 - - - - - - - - - 15.82 -
8408.99 882.64 -8.67 665 8426.88 roll -0.49 - - 1649.81 - 1.85 0.031 1638.81 -615.4 -175.18 - - 3588.09 - - - - - - - - - 15.90 -
8454.15 886.43 -8.68 672 8472.12 roll -0.49 - - 1643.00 - 1.94 0.061 2778.31 587.4 -175.18 - - 3587.25 - - - - - - - - - 15.34 -
8779.39 916.11 -9.25 690 8797.28 roll -0.49 - - 1642.50 - 1.85 0.031 1638.50 -616.1 -175.18 - - 3588.78 - - - - - - - - - 15.80 -
8824.48 920.04 -8.97 697 8842.59 roll -0.49 - - 1635.31 - 1.95 0.062 2776.75 583.7 -175.18 - - 3586.84 - - - - - - - - - 15.29 -
9149.62 950.87 -9.63 715 9167.51 roll -0.49 - - 1635.69 - 1.85 0.033 1642.12 -613.3 -175.18 - - 3587.59 - - - - - - - - - 15.88 -
9199.19 955.46 -9.48 723 9217.16 roll -0.49 - - 1627.50 - 1.95 0.064 2776.81 581.9 -175.18 - - 3586.22 - - - - - - - - - 15.28 -
9519.23 988.39 -10.47 740 9537.25 roll back -0.49 0.14 0.250 1667.56 286.1 1.85 0.032 1638.56 -615.3 -175.18 - - 3587.19 - - - - - - - - 15.62 15.65 -
9539 end dive: TARGET_DEPTH_EXCEEDED
9539 begin apogee
9540.67 990.31 -10.27 742 9708.72 -0.10 0.41 0.200 1792.19 304.0 0.14 0.126 2098.38 3284.4 - 151.38 2.320 2877.97 -4.7 0.347 - - - - - - 15.17 14.92 11.45
9709 end apogee: CONTROL_FINISHED_OK
9709 begin climb
9709.62 995.35 - 750 9870.12 0.49 0.56 0.090 1991.06 355.1 1.79 0.045 1107.25 -553.7 175.18 141.96 2.250 2163.66 -5.0 0.386 - - - - - - 15.09 14.54 12.11
9986.76 972.12 10.59 797 10004.74 done 0.49 - - 1989.94 - 1.99 0.056 2226.62 562.5 175.18 - - 2153.19 - - - - - - - - - 14.86 -
10292.75 934.98 12.14 813 10310.73 done 0.49 - - 1997.75 - 1.90 0.044 1100.56 -592.7 175.18 - - 2147.06 - - - - - - - - - 15.19 -
10387.38 923.77 11.58 830 10405.36 done 0.49 - - 1995.19 - 1.95 0.060 2225.56 576.9 175.18 - - 2146.22 - - - - - - - - - 15.29 -
10693.54 885.86 12.61 846 10711.42 done 0.49 - - 1995.25 - 1.75 0.063 3290.50 608.5 175.18 - - 2143.09 - - - - - - - - - 15.33 -
10753.25 877.91 13.13 856 10771.15 done 0.49 - - 2002.62 - 1.87 0.040 2154.12 -607.7 175.18 - - 2140.66 - - - - - - - - - 15.39 -
11059.34 838.56 12.90 872 11077.32 done 0.49 - - 2002.25 - 1.94 0.059 3292.94 587.0 175.18 - - 2142.38 - - - - - - - - - 15.38 -
11098.94 833.14 13.56 878 11116.84 done 0.49 - - 2008.94 - 1.88 0.041 2156.94 -604.3 175.18 - - 2138.97 - - - - - - - - - 15.41 -
11428.96 789.22 13.33 897 11447.00 0.49 0.15 0.281 1959.75 -327.9 1.93 0.059 3293.31 588.8 175.18 - - 2140.06 - - - - - - - - 15.65 15.43 -
11454.18 786.05 13.22 900 11474.38 done 0.49 - - 1967.25 - 1.88 0.041 2155.50 -605.2 175.18 - - 2139.88 - - - - - - - - - 15.43 -
11781.52 753.53 9.97 918 11799.50 done 0.49 - - 1960.56 - 1.94 0.060 3294.62 587.2 175.18 - - 2141.31 - - - - - - - - - 15.42 -
11811.12 750.32 10.21 922 11829.02 done 0.49 - - 1966.88 - 1.88 0.037 2155.00 -606.2 175.18 - - 2137.41 - - - - - - - - - 15.87 -
12131.11 719.04 9.64 939 12149.08 done 0.49 - - 1962.31 - 1.93 0.060 3293.06 589.7 175.18 - - 2138.31 - - - - - - - - - 15.44 -
12160.70 716.00 9.81 943 12178.59 done 0.49 - - 1969.31 - 1.87 0.040 2155.56 -608.3 175.18 - - 2140.53 - - - - - - - - - 15.42 -
12480.85 685.27 9.58 960 12498.83 done 0.49 - - 1968.06 - 1.96 0.057 3291.88 579.8 175.18 - - 2139.44 - - - - - - - - - 15.49 -
12506.03 682.63 9.84 963 12526.26 done 0.49 - - 1975.56 - 1.87 0.037 2150.81 -610.2 175.18 - - 2136.66 - - - - - - - - - 15.89 -
12833.41 649.52 10.31 981 12851.38 done 0.49 - - 1975.12 - 1.95 0.063 3293.06 585.8 175.18 - - 2139.22 - - - - - - - - - 15.43 -
12873.02 645.08 10.99 987 12890.92 done 0.49 - - 1982.25 - 1.87 0.040 2150.62 -610.9 175.18 - - 2138.28 - - - - - - - - - 15.44 -
13179.16 612.88 10.55 1003 13197.13 done 0.49 - - 1981.50 - 1.95 0.059 3292.00 585.3 175.18 - - 2139.88 - - - - - - - - - 15.86 -
13213.75 609.02 11.08 1008 13231.65 done 0.49 - - 1988.06 - 1.86 0.039 2150.31 -613.8 175.18 - - 2140.91 - - - - - - - - - 15.41 -
13519.89 576.60 10.59 1024 13537.86 done 0.49 - - 1988.50 - 1.93 0.058 3293.75 592.5 175.18 - - 2140.69 - - - - - - - - - 15.41 -
13569.49 570.93 11.37 1032 13587.39 done 0.49 - - 1994.44 - 1.87 0.040 2148.31 -612.5 175.18 - - 2136.81 - - - - - - - - - 15.43 -
13889.70 536.61 10.74 1049 13907.68 done 0.49 - - 1994.06 - 1.95 0.059 3291.12 586.1 175.18 - - 2137.84 - - - - - - - - - 15.86 -
13929.31 531.96 11.56 1055 13947.20 done 0.49 - - 2000.31 - 1.86 0.039 2156.44 -610.0 175.18 - - 2140.75 - - - - - - - - - 15.41 -
14235.36 497.07 11.70 1071 14253.33 done 0.49 - - 2001.38 - 1.96 0.058 3293.06 579.9 175.18 - - 2138.84 - - - - - - - - - 15.39 -
14269.96 492.70 12.41 1076 14287.85 done 0.49 - - 2007.31 - 1.87 0.039 2154.56 -608.8 175.18 - - 2136.88 - - - - - - - - - 15.46 -
14576.05 455.82 11.97 1092 14594.02 done 0.49 - - 2006.75 - 1.92 0.058 3293.19 593.0 175.18 - - 2138.69 - - - - - - - - - 15.44 -
14621.18 449.95 13.23 1099 14639.08 done 0.49 - - 2015.19 - 1.86 0.040 2152.62 -613.2 175.18 - - 2140.38 - - - - - - - - - 15.37 -
14946.21 408.53 12.70 1117 14964.24 0.49 0.17 0.255 1959.38 -328.3 1.93 0.056 3293.12 590.9 175.18 - - 2137.56 - - - - - - - - 15.66 15.70 -
14971.29 405.58 12.44 1120 14991.62 done 0.49 - - 1966.00 - 1.87 0.036 2148.06 -612.3 175.18 - - 2136.47 - - - - - - - - - 15.82 -
15298.68 375.40 9.16 1138 15316.67 done 0.50 - - 1965.00 - 1.96 0.060 3291.75 583.5 175.18 - - 2138.56 - - - - - - - - - 15.66 -
15353.29 369.92 9.97 1147 15371.18 done 0.50 - - 1972.31 - 1.86 0.040 2152.56 -612.5 175.18 - - 2136.44 - - - - - - - - - 15.38 -
15659.43 341.40 9.28 1163 15677.40 done 0.52 - - 1972.44 - 1.95 0.060 3290.19 583.4 175.18 - - 2137.69 - - - - - - - - - 15.41 -
15704.43 336.92 9.93 1170 15722.32 done 0.52 - - 1973.50 - 1.87 0.041 2152.88 -608.2 175.18 - - 2137.88 - - - - - - - - - 15.39 -
16029.43 305.31 9.92 1188 16047.40 done 0.52 - - 1975.12 - 1.95 0.058 3291.62 584.0 175.18 - - 2140.50 - - - - - - - - - 15.84 -
16074.45 300.61 10.52 1195 16092.35 done 0.52 - - 1978.75 - 1.87 0.038 2146.62 -612.3 175.18 - - 2137.91 - - - - - - - - - 15.88 -
16399.63 269.30 9.70 1213 16417.60 done 0.52 - - 1981.31 - 1.97 0.063 3290.38 580.6 175.18 - - 2139.06 - - - - - - - - - 15.37 -
16449.23 264.11 10.36 1221 16467.12 done 0.52 - - 1988.50 - 1.86 0.039 2149.44 -613.4 175.18 - - 2136.44 - - - - - - - - - 15.38 -
16769.40 232.45 9.79 1246 16787.37 done 0.52 - - 1988.25 - 1.96 0.062 3292.25 583.1 175.18 - - 2137.72 - - - - - - - - - 15.35 -
16814.43 227.92 10.12 1253 16832.32 done 0.52 - - 1995.50 - 1.87 0.039 2147.69 -612.1 175.18 - - 2136.59 - - - - - - - - - 15.38 -
17004.66 209.62 9.35 1272 17022.15 VBD 0.53 - - 1995.44 - - - 2138.31 - 175.18 - - 2136.41 - - - - - - - - - - -
17194.18 191.57 9.58 1290 17212.17 done 0.53 - - 1994.38 - 1.96 0.061 3293.56 589.4 175.18 - - 2138.00 - - - - - - - - - 15.40 -
17249.29 185.93 10.45 1299 17267.18 done 0.53 - - 2001.56 - 1.88 0.040 2154.50 -605.9 175.18 - - 2136.75 - - - - - - - - - 15.40 -
17439.40 166.86 9.97 1318 17456.88 VBD 0.53 - - 2002.31 - - - 2143.81 - 175.18 - - 2136.53 - - - - - - - - - - -
17628.95 148.12 9.62 1336 17646.92 done 0.53 - - 2001.56 - 1.93 0.057 3293.50 595.7 175.18 - - 2137.78 - - - - - - - - - 15.28 -
17664.14 144.44 10.47 1341 17682.03 done 0.53 - - 2008.56 - 1.87 0.041 2156.25 -608.2 175.18 - - 2139.12 - - - - - - - - - 15.34 -
17854.21 124.26 10.59 1360 17871.69 VBD 0.53 - - 2008.25 - - - 2146.06 - 175.18 - - 2136.78 - - - - - - - - - - -
18043.84 104.03 10.93 1378 18061.81 done 0.53 - - 2007.56 - 1.93 0.057 3291.75 593.6 175.18 - - 2140.47 - - - - - - - - - 15.38 -
18088.82 98.97 11.24 1385 18106.70 done 0.53 - - 2015.69 - 1.86 0.039 2157.25 -609.9 175.18 - - 2140.72 - - - - - - - - - 15.36 -
18278.81 78.16 11.00 1404 18296.29 VBD 0.53 - - 2015.00 - - - 2147.25 - 175.18 - - 2136.72 - - - - - - - - - - -
18468.43 58.01 10.66 1422 18486.40 done 0.53 - - 2013.94 - 1.93 0.056 3293.38 593.8 175.18 - - 2138.75 - - - - - - - - - 15.76 -
18498.02 54.57 11.31 1426 18515.91 done 0.53 - - 2022.44 - 1.88 0.036 2151.12 -607.6 175.18 - - 2140.53 - - - - - - - - - 15.78 -
18688.22 33.76 10.37 1445 18706.19 0.53 0.14 0.255 1989.06 -238.4 1.67 0.039 1098.88 -630.1 175.18 - - 2137.78 - - - - - - - - 15.62 15.66 -
18727.83 30.17 9.34 1451 18745.82 done 0.54 - - 1982.94 - 1.91 0.053 2227.56 590.9 175.18 - - 2138.84 - - - - - - - - - 15.82 -
18927.93 14.84 7.50 1471 18984.01 0.62 0.10 0.116 2032.31 493.7 1.75 0.062 3290.69 607.5 237.61 44.46 1.043 1909.06 -5.2 0.013 - - - - - - 15.76 15.32 11.80
19035.63 2.55 12.09 1492 19053.52 roll 0.62 - - 2040.31 - 1.89 0.035 2163.12 -596.6 237.61 - - 1903.28 - - - - - - - - - 15.38 -
19056 end climb: SURFACE_DEPTH_REACHED
19056 begin surface coast
19086 end surface coast: CONTROL_FINISHED_OK
19086 begin surface
SM 2.42 - - - - 129.7 - 2.722 1248.3 - 5.32 0.067 1326.7 249.4 - 1.09 0.062 1169.9 1071.6 -4.275 - - 30.36 15.67 15.68 -