NISKINE May19 * SG135 * Dive index * Mission links * Dive 23 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 13.70 of 350.00 AH used of 24V (96.09% remains)
• Surface angle -49.8 deg, depth 2.28 m • Intended pitch -16.3 deg, speed -9.167 cm/s
VBD pumped to 400.20 (SM_CC=400)
• GPS1 time: 32 s
• GPS2 time: 20 s • Transponder ping count: 1189
• 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
7.54 - - - 91.14 VBD -0.50 - - 125.94 - - - 2580.44 - -145.99 79.87 0.005 2849.03 - - - - - - - - - - 15.46
91.42 3.05 -1.13 8 132.97 -0.50 8.69 0.511 1659.62 176.5 2.18 0.037 1235.62 -616.9 -145.99 25.86 0.006 3474.12 24.2 -2.106 - - - - - - 15.47 15.68 15.46
200.25 10.84 -8.67 30 205.90 roll -0.50 - - 1649.38 - 2.56 0.063 2724.75 581.7 -145.99 - - 3476.25 - - - - - - - - - 15.78 -
390.01 33.63 -11.80 50 393.18 no move -0.50 - - 1648.88 - - - 2725.06 - -145.99 - - 3474.44 - - - - - - - - - - -
570.12 55.51 -11.09 68 575.93 roll -0.50 - - 1648.62 - 2.43 0.037 1244.94 -609.1 -145.99 - - 3476.34 - - - - - - - - - 15.85 -
594.67 58.24 -10.92 73 601.58 roll -0.50 - - 1638.88 - 2.55 0.067 2724.50 580.2 -145.99 - - 3476.50 - - - - - - - - - 15.85 -
780.10 79.83 -11.94 92 783.13 no move -0.50 - - 1637.81 - - - 2723.50 - -145.99 - - 3475.09 - - - - - - - - - - -
960.20 101.57 -12.25 110 963.07 no move -0.50 - - 1637.62 - - - 2725.38 - -145.99 - - 3475.66 - - - - - - - - - - -
1140.23 123.66 -12.42 128 1143.10 no move -0.50 - - 1637.56 - - - 2723.81 - -145.99 - - 3475.53 - - - - - - - - - - -
1320.23 145.99 -12.33 146 1326.03 roll -0.50 - - 1638.06 - 2.42 0.036 1244.31 -611.4 -145.99 - - 3476.34 - - - - - - - - - 15.90 -
1340.35 148.44 -12.24 150 1346.12 roll -0.50 - - 1629.00 - 2.55 0.067 2727.31 581.6 -145.99 - - 3475.88 - - - - - - - - - 15.89 -
1530.28 172.28 -12.57 170 1535.99 roll -0.50 - - 1618.31 - 2.04 0.072 3966.38 607.4 -145.99 - - 3476.53 - - - - - - - - - 15.89 -
1550.22 174.88 -12.70 174 1556.13 roll back -0.50 0.15 0.262 1661.38 287.1 2.11 0.031 2638.62 -629.3 -145.99 - - 3476.59 - - - - - - - - 15.84 15.90 -
1740.38 193.74 -9.49 194 1743.26 no move -0.50 - - 1661.50 - - - 2607.12 - -145.99 - - 3474.22 - - - - - - - - - - -
1920.39 210.78 -9.41 212 1923.64 no move -0.50 - - 1660.31 - - - 2607.25 - -145.99 - - 3475.09 - - - - - - - - - - -
2100.32 227.82 -9.42 230 2106.10 roll -0.50 - - 1651.88 - 2.24 0.068 3966.44 606.8 -145.99 - - 3475.25 - - - - - - - - - 15.93 -
2134.88 231.25 -9.66 237 2141.85 roll -0.50 - - 1652.00 - 2.10 0.031 2646.62 -628.5 -145.99 - - 3475.44 - - - - - - - - - 15.93 -
2320.30 249.16 -9.64 256 2323.18 no move -0.50 - - 1651.69 - - - 2618.44 - -145.99 - - 3474.12 - - - - - - - - - - -
2510.44 268.08 -10.00 266 2513.32 no move -0.50 - - 1650.88 - - - 2618.06 - -145.99 - - 3475.06 - - - - - - - - - - -
2810.41 297.70 -9.63 281 2816.17 roll -0.50 - - 1641.75 - 2.23 0.070 3963.31 603.3 -145.99 - - 3475.84 - - - - - - - - - 15.95 -
2864.95 303.05 -9.65 292 2871.78 roll -0.50 - - 1642.56 - 2.09 0.030 2642.12 -632.1 -145.99 - - 3475.56 - - - - - - - - - 15.97 -
3170.41 336.14 -11.28 308 3173.36 no move -0.50 - - 1641.38 - - - 2613.00 - -145.99 - - 3475.09 - - - - - - - - - - -
3470.41 370.44 -11.50 323 3473.29 no move -0.50 - - 1642.12 - - - 2612.69 - -145.99 - - 3474.03 - - - - - - - - - - -
3770.51 404.80 -11.46 338 3776.23 roll -0.50 - - 1633.56 - 2.25 0.072 3966.25 601.6 -145.99 - - 3474.94 - - - - - - - - - 15.97 -
3810.53 409.53 -11.75 346 3816.21 roll -0.50 - - 1633.25 - 2.10 0.032 2645.44 -629.0 -145.99 - - 3474.84 - - - - - - - - - 15.99 -
4130.45 448.97 -12.54 365 4136.27 roll -0.50 - - 1624.38 - 2.24 0.072 3966.06 589.6 -145.99 - - 3476.28 - - - - - - - - - 15.97 -
4155.04 452.33 -12.65 370 4161.38 roll back -0.50 0.12 0.246 1660.25 298.9 2.11 0.033 2636.88 -629.9 -145.99 - - 3474.72 - - - - - - - - 15.92 15.99 -
4470.54 485.39 -10.18 388 4473.82 no move -0.50 - - 1660.75 - - - 2604.88 - -145.99 - - 3473.47 - - - - - - - - - - -
4770.67 515.44 -9.95 403 4773.93 no move -0.50 - - 1660.50 - - - 2603.81 - -145.99 - - 3473.28 - - - - - - - - - - -
5070.67 545.27 -9.91 418 5076.33 roll -0.50 - - 1651.75 - 2.24 0.068 3964.69 607.5 -145.99 - - 3474.25 - - - - - - - - - 15.98 -
5115.11 549.80 -10.21 427 5121.37 roll -0.50 - - 1651.31 - 2.10 0.031 2642.31 -629.7 -145.99 - - 3474.25 - - - - - - - - - 15.99 -
5430.68 582.02 -10.33 445 5433.56 no move -0.50 - - 1651.50 - - - 2609.25 - -145.99 - - 3472.66 - - - - - - - - - - -
5730.61 613.53 -10.48 460 5736.38 roll -0.50 - - 1641.44 - 2.23 0.070 3963.56 607.3 -145.99 - - 3473.56 - - - - - - - - - 15.99 -
5765.15 617.33 -10.85 467 5771.88 roll -0.50 - - 1641.81 - 2.10 0.032 2642.19 -629.2 -145.99 - - 3474.09 - - - - - - - - - 15.99 -
6070.67 650.57 -11.05 483 6076.41 roll -0.50 - - 1632.25 - 2.24 0.072 3966.12 591.0 -145.99 - - 3473.81 - - - - - - - - - 15.92 -
6095.19 653.38 -10.94 488 6101.39 roll -0.50 - - 1632.62 - 2.10 0.031 2641.75 -630.7 -145.99 - - 3473.59 - - - - - - - - - 15.99 -
6410.76 688.24 -10.86 506 6413.63 no move -0.50 - - 1632.81 - - - 2608.31 - -145.99 - - 3471.88 - - - - - - - - - - -
6710.79 721.06 -11.01 521 6713.67 no move -0.50 - - 1632.75 - - - 2607.94 - -145.99 - - 3471.44 - - - - - - - - - - -
7010.87 753.55 -10.46 536 7016.52 roll -0.50 - - 1623.12 - 2.24 0.073 3963.06 605.0 -145.99 - - 3472.28 - - - - - - - - - 15.97 -
7055.34 758.31 -10.58 545 7061.56 roll back -0.50 0.13 0.232 1663.19 308.2 2.10 0.034 2637.69 -631.1 -145.99 - - 3473.94 - - - - - - - - 15.94 15.99 -
7370.81 783.16 -7.75 563 7376.56 roll -0.50 - - 1653.31 - 2.24 0.069 3964.50 592.3 -145.99 - - 3472.06 - - - - - - - - - 15.98 -
7395.34 785.17 -7.72 568 7401.81 roll -0.50 - - 1653.62 - 2.09 0.031 2642.00 -632.8 -145.99 - - 3472.22 - - - - - - - - - 16.00 -
7710.83 809.72 -7.75 586 7713.71 no move -0.50 - - 1653.62 - - - 2608.06 - -145.99 - - 3470.31 - - - - - - - - - - -
8010.87 832.50 -7.52 601 8013.75 no move -0.50 - - 1653.56 - - - 2607.62 - -145.99 - - 3469.75 - - - - - - - - - - -
8310.81 856.90 -8.51 616 8316.86 roll -0.50 - - 1643.44 - 2.24 0.071 3966.12 606.5 -145.99 - - 3470.91 - - - - - - - - - 15.98 -
8350.81 860.48 -8.94 624 8356.62 roll -0.50 - - 1643.69 - 2.10 0.031 2639.19 -631.9 -145.99 - - 3471.16 - - - - - - - - - 16.00 -
8670.99 890.39 -9.68 643 8676.68 roll -0.50 - - 1634.81 - 2.25 0.073 3964.19 588.9 -145.99 - - 3469.78 - - - - - - - - - 15.94 -
8690.99 892.42 -9.81 647 8696.65 roll -0.50 - - 1635.00 - 2.10 0.033 2643.75 -628.8 -145.99 - - 3470.41 - - - - - - - - - 15.97 -
9010.89 925.99 -10.67 666 9013.76 no move -0.50 - - 1634.38 - - - 2609.12 - -145.99 - - 3468.94 - - - - - - - - - - -
9311.04 958.11 -10.74 681 9316.73 roll -0.50 - - 1625.44 - 2.26 0.074 3963.56 599.3 -145.99 - - 3469.50 - - - - - - - - - 15.91 -
9351.09 962.53 -10.73 689 9356.77 roll back -0.50 0.12 0.228 1662.12 305.7 2.10 0.032 2638.75 -630.9 -145.99 - - 3469.44 - - - - - - - - 15.91 15.90 -
9671 end dive: TARGET_DEPTH_EXCEEDED
9671 begin apogee
9672.85 991.43 -9.03 708 9805.71 -0.10 0.41 0.201 1789.75 311.3 0.20 0.114 2234.25 -2022.5 - 128.30 2.333 2877.00 -4.6 0.336 - - - - - - 15.88 14.95 12.69
9808 end apogee: CONTROL_FINISHED_OK
9808 begin climb
9808.14 995.36 - 714 9952.40 0.50 0.57 0.105 1992.69 356.0 2.63 0.054 755.81 -562.1 145.99 120.83 2.279 2279.97 -4.9 0.370 - - - - - - 15.16 14.87 12.33
9994.03 983.87 9.29 748 10012.10 roll 0.50 - - 1993.19 - 2.61 0.067 2219.88 560.9 145.99 - - 2277.75 - - - - - - - - - 15.03 -
10324.22 948.97 10.42 767 10342.24 done 0.50 - - 1990.62 - 2.38 0.074 3638.25 596.0 145.99 - - 2267.12 - - - - - - - - - 15.70 -
10403.88 940.20 10.20 781 10421.91 done 0.50 - - 2000.81 - 2.43 0.044 2159.94 -608.4 145.99 - - 2264.34 - - - - - - - - - 15.48 -
10734.13 904.46 10.88 800 10752.18 done 0.50 - - 1995.06 - 2.53 0.070 3638.88 584.6 145.99 - - 2260.62 - - - - - - - - - 15.87 -
10773.81 899.75 12.04 806 10791.85 done 0.50 - - 2005.38 - 2.42 0.043 2160.88 -610.7 145.99 - - 2260.97 - - - - - - - - - 15.59 -
11104.08 862.02 11.48 825 11122.15 done 0.50 - - 2003.94 - 2.53 0.074 3639.25 584.3 145.99 - - 2259.75 - - - - - - - - - 15.94 -
11129.27 858.80 11.91 828 11149.54 done 0.50 - - 2014.25 - 2.40 0.043 2163.00 -615.1 145.99 - - 2259.84 - - - - - - - - - 15.70 -
11456.58 816.75 12.93 846 11474.69 0.50 0.16 0.359 1965.00 -307.8 2.51 0.069 3640.50 588.6 145.99 - - 2261.50 - - - - - - - - 15.57 15.86 -
11491.32 812.36 12.60 851 11509.35 done 0.50 - - 1975.12 - 2.40 0.043 2158.88 -617.3 145.99 - - 2259.19 - - - - - - - - - 15.73 -
11797.36 781.09 10.25 867 11815.42 done 0.50 - - 1974.31 - 2.51 0.073 3640.50 590.3 145.99 - - 2257.91 - - - - - - - - - 15.69 -
11832.04 777.09 11.35 872 11850.05 done 0.50 - - 1984.44 - 2.40 0.042 2157.12 -618.1 145.99 - - 2257.59 - - - - - - - - - 15.72 -
12138.09 742.53 11.37 888 12156.12 done 0.50 - - 1979.19 - 2.49 0.070 3640.12 595.6 145.99 - - 2260.38 - - - - - - - - - 15.71 -
12192.76 735.65 12.45 897 12210.78 done 0.50 - - 1989.81 - 2.40 0.039 2156.81 -618.0 145.99 - - 2259.53 - - - - - - - - - 15.92 -
12498.83 698.59 12.47 913 12516.29 VBD 0.50 - - 1989.50 - - - 2154.81 - 145.99 - - 2257.25 - - - - - - - - - - -
12799.04 661.82 12.14 928 12817.07 done 0.50 - - 1984.69 - 2.50 0.066 3641.81 594.8 145.99 - - 2261.69 - - - - - - - - - 16.03 -
12853.70 654.56 13.17 937 12871.71 done 0.50 - - 1994.56 - 2.40 0.039 2155.75 -619.2 145.99 - - 2256.81 - - - - - - - - - 16.03 -
13159.85 616.06 12.33 953 13178.02 done 0.50 - - 1989.31 - 2.49 0.067 3639.06 595.7 145.99 - - 2257.91 - - - - - - - - - 16.03 -
13194.65 611.39 13.34 958 13212.67 done 0.50 - - 2001.50 - 2.39 0.041 2154.38 -621.2 145.99 - - 2256.53 - - - - - - - - - 15.77 -
13500.86 573.12 12.47 974 13518.88 done 0.50 - - 1998.69 - 2.49 0.069 3639.62 596.5 145.99 - - 2256.59 - - - - - - - - - 15.75 -
13535.51 568.41 13.62 979 13553.52 done 0.50 - - 2008.94 - 2.39 0.040 2163.62 -617.6 145.99 - - 2256.19 - - - - - - - - - 15.78 -
13841.55 528.89 12.92 995 13859.58 done 0.50 - - 2005.56 - 2.48 0.063 3641.88 596.1 145.99 - - 2256.47 - - - - - - - - - 15.91 -
13866.72 525.39 13.11 998 13886.99 done 0.50 - - 2013.31 - 2.39 0.040 2163.25 -618.7 145.99 - - 2258.53 - - - - - - - - - 15.73 -
14194.27 482.29 12.90 1016 14212.37 0.50 0.16 0.320 1962.00 -320.7 2.49 0.066 3641.56 593.7 145.99 - - 2260.91 - - - - - - - - 15.67 16.03 -
14223.99 478.88 12.54 1020 14242.00 done 0.50 - - 1971.19 - 2.39 0.039 2161.56 -619.2 145.99 - - 2257.19 - - - - - - - - - 16.06 -
14544.12 448.97 9.22 1037 14562.15 done 0.50 - - 1962.69 - 2.49 0.068 3640.62 594.0 145.99 - - 2260.09 - - - - - - - - - 16.05 -
14603.79 443.04 9.80 1047 14621.81 done 0.50 - - 1972.81 - 2.39 0.041 2157.75 -620.4 145.99 - - 2256.94 - - - - - - - - - 15.78 -
14933.85 412.65 9.20 1066 14951.88 done 0.50 - - 1972.62 - 2.49 0.069 3643.50 596.7 145.99 - - 2258.84 - - - - - - - - - 15.77 -
14998.98 406.12 10.08 1077 15017.00 done 0.50 - - 1979.81 - 2.39 0.039 2160.06 -620.7 145.99 - - 2256.50 - - - - - - - - - 16.04 -
15324.23 374.01 9.87 1095 15342.25 done 0.50 - - 1975.62 - 2.49 0.068 3643.38 595.7 145.99 - - 2260.94 - - - - - - - - - 16.05 -
15378.88 368.16 10.61 1104 15396.89 done 0.50 - - 1983.44 - 2.38 0.041 2163.44 -621.8 145.99 - - 2255.88 - - - - - - - - - 15.74 -
15685.01 337.99 9.83 1120 15703.04 done 0.50 - - 1982.44 - 2.47 0.064 3642.00 598.6 145.99 - - 2259.19 - - - - - - - - - 16.03 -
15739.67 332.03 10.84 1129 15757.68 done 0.50 - - 1990.81 - 2.38 0.041 2163.19 -621.3 145.99 - - 2255.81 - - - - - - - - - 15.76 -
16045.72 300.56 10.37 1145 16063.75 done 0.50 - - 1990.19 - 2.47 0.066 3641.88 598.7 145.99 - - 2259.00 - - - - - - - - - 15.74 -
16105.39 293.76 11.40 1155 16123.40 done 0.50 - - 1998.88 - 2.38 0.042 2159.81 -622.7 145.99 - - 2257.69 - - - - - - - - - 15.77 -
16435.56 257.97 10.87 1174 16453.59 done 0.50 - - 1994.56 - 2.48 0.068 3640.06 596.9 145.99 - - 2258.41 - - - - - - - - - 16.02 -
16480.86 252.56 12.12 1181 16498.86 done 0.50 - - 2006.94 - 2.39 0.040 2161.75 -618.5 145.99 - - 2255.06 - - - - - - - - - 15.74 -
16796.05 216.73 11.32 1213 16814.08 done 0.50 - - 2005.88 - 2.48 0.066 3642.75 597.2 145.99 - - 2256.62 - - - - - - - - - 15.81 -
16841.40 211.13 12.64 1220 16859.40 done 0.50 - - 2016.88 - 2.39 0.038 2153.50 -623.1 145.99 - - 2256.91 - - - - - - - - - 15.91 -
17031.54 188.65 11.71 1239 17049.64 0.50 0.15 0.303 1962.50 -362.5 2.51 0.067 3640.50 592.4 145.99 - - 2259.44 - - - - - - - - 15.64 15.94 -
17061.27 185.36 11.32 1243 17079.29 done 0.50 - - 1973.62 - 2.39 0.040 2159.81 -619.5 145.99 - - 2256.84 - - - - - - - - - 15.73 -
17261.39 168.37 8.35 1263 17279.42 done 0.52 - - 1972.44 - 2.48 0.065 3640.75 597.2 145.99 - - 2259.41 - - - - - - - - - 15.88 -
17296.51 165.06 9.03 1268 17314.51 done 0.52 - - 1976.06 - 2.39 0.041 2158.44 -620.2 145.99 - - 2259.00 - - - - - - - - - 15.75 -
17486.66 148.68 8.51 1287 17504.69 done 0.53 - - 1977.25 - 2.49 0.068 3643.38 596.4 145.99 - - 2259.62 - - - - - - - - - 15.72 -
17526.31 144.76 9.74 1293 17544.32 done 0.53 - - 1988.06 - 2.40 0.041 2156.06 -619.7 145.99 - - 2256.69 - - - - - - - - - 15.69 -
17726.50 126.46 9.39 1313 17744.56 done 0.53 - - 1985.12 - 2.51 0.068 3639.12 590.9 145.99 - - 2258.53 - - - - - - - - - 15.88 -
17761.71 122.80 10.42 1318 17779.72 done 0.53 - - 1995.94 - 2.39 0.041 2157.44 -619.9 145.99 - - 2257.81 - - - - - - - - - 15.75 -
17951.98 103.76 9.96 1337 17970.02 done 0.53 - - 1994.94 - 2.51 0.066 3641.88 591.4 145.99 - - 2256.56 - - - - - - - - - 15.86 -
17991.65 99.33 10.81 1343 18009.68 done 0.53 - - 2004.38 - 2.40 0.039 2159.81 -617.5 145.99 - - 2256.75 - - - - - - - - - 15.91 -
18191.72 78.34 10.43 1363 18209.76 done 0.53 - - 2000.81 - 2.51 0.072 3639.19 589.4 145.99 - - 2258.47 - - - - - - - - - 15.71 -
18216.78 75.39 11.22 1366 18237.15 done 0.53 - - 2013.06 - 2.39 0.041 2158.56 -619.5 145.99 - - 2256.62 - - - - - - - - - 15.71 -
18409.28 53.83 11.16 1385 18426.74 VBD 0.53 - - 2013.75 - - - 2146.88 - 145.99 - - 2256.78 - - - - - - - - - - -
18599.01 32.98 10.38 1403 18617.01 done 0.53 - - 2023.62 - 2.25 0.045 748.50 -621.5 145.99 - - 2257.06 - - - - - - - - - 15.96 -
18738.70 21.05 7.62 1429 18756.72 done 0.56 - - 2022.62 - 2.49 0.065 2224.75 592.9 145.99 - - 2259.03 - - - - - - - - - 15.68 -
18918 end climb: SURFACE_DEPTH_REACHED
18919 begin surface coast
18929 end surface coast: CONTROL_FINISHED_OK
18929 begin surface
SM 2.21 - - - - 128.4 203.62 0.110 1248.5 6.1 5.14 0.068 1311.8 255.2 - 0.80 0.078 1185.2 1478.4 -4.281 - - 15.89 15.97 15.97 -