NISKINE May19 * SG135 * Dive index * Mission links * Dive 83 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 43.76 of 350.00 AH used of 24V (87.50% remains)
• Surface angle -51.3 deg, depth 2.27 m • Intended pitch -17.2 deg, speed -9.167 cm/s
VBD pumped to 400.14 (SM_CC=400)
• GPS1 time: 21 s
• GPS2 time: 21 s • Transponder ping count: 1773
• 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
4.80 - - - 101.59 VBD -0.52 - - 107.44 - - - 2584.31 - -145.99 88.08 0.005 3041.66 - - - - - - - - - - 15.39
101.87 3.08 -1.16 9 146.49 -0.52 8.56 0.494 1652.62 180.5 2.18 0.036 1242.31 -615.6 -145.99 13.81 0.007 3475.41 31.4 -2.354 - - - - - - 15.20 15.64 15.43
243.73 15.23 -9.67 35 261.80 roll -0.52 - - 1643.62 - 2.55 0.058 2728.31 582.7 -145.99 - - 3475.34 - - - - - - - - - 15.43 -
433.88 41.39 -12.69 54 451.34 no move -0.52 - - 1643.44 - - - 2728.75 - -145.99 - - 3474.62 - - - - - - - - - - -
623.54 65.57 -12.84 72 641.51 roll -0.52 - - 1633.94 - 2.03 0.064 3968.25 610.6 -145.99 - - 3475.19 - - - - - - - - - 15.73 -
673.13 72.52 -13.74 80 691.13 roll -0.52 - - 1633.75 - 2.11 0.028 2641.88 -628.6 -145.99 - - 3474.78 - - - - - - - - - 15.88 -
873.17 101.14 -14.59 100 890.64 no move -0.52 - - 1633.81 - - - 2606.94 - -145.99 - - 3474.66 - - - - - - - - - - -
1062.76 128.31 -13.97 118 1080.90 roll -0.52 - - 1625.00 - 2.24 0.065 3963.88 605.8 -145.99 - - 3475.75 - - - - - - - - - 15.91 -
1127.94 137.12 -12.91 129 1145.93 roll -0.52 - - 1624.75 - 2.11 0.030 2642.06 -626.5 -145.99 - - 3474.53 - - - - - - - - - 15.90 -
1318.07 162.04 -13.07 148 1335.54 no move -0.52 - - 1625.06 - - - 2607.19 - -145.99 - - 3475.03 - - - - - - - - - - -
1507.71 187.09 -13.52 166 1525.18 no move -0.52 - - 1625.19 - - - 2606.94 - -145.99 - - 3474.81 - - - - - - - - - - -
1697.24 213.59 -14.46 184 1715.26 roll -0.52 - - 1615.62 - 2.24 0.068 3965.19 606.4 -145.99 - - 3476.34 - - - - - - - - - 15.57 -
1752.36 221.75 -14.41 193 1770.42 roll back -0.52 0.14 0.243 1656.81 294.2 2.11 0.030 2638.00 -629.0 -145.99 - - 3476.62 - - - - - - - - 15.86 15.95 -
1942.54 245.34 -12.32 212 1960.56 roll -0.52 - - 1647.81 - 2.24 0.066 3968.38 593.9 -145.99 - - 3476.34 - - - - - - - - - 15.56 -
1987.72 250.98 -12.65 219 2005.71 roll -0.52 - - 1647.44 - 2.11 0.028 2640.50 -629.3 -145.99 - - 3474.50 - - - - - - - - - 15.96 -
2312.87 293.27 -13.11 237 2330.88 roll -0.52 - - 1637.00 - 2.24 0.065 3966.25 591.9 -145.99 - - 3474.62 - - - - - - - - - 15.95 -
2342.50 297.20 -12.91 241 2360.48 roll -0.52 - - 1638.06 - 2.10 0.028 2642.00 -630.6 -145.99 - - 3474.53 - - - - - - - - - 15.96 -
2662.63 338.83 -12.78 258 2680.64 roll -0.52 - - 1628.75 - 2.24 0.065 3968.00 592.0 -145.99 - - 3475.81 - - - - - - - - - 15.98 -
2707.76 344.63 -13.08 265 2725.74 roll -0.52 - - 1628.56 - 2.10 0.030 2642.38 -631.2 -145.99 - - 3474.78 - - - - - - - - - 15.98 -
3032.98 385.83 -12.64 283 3050.45 no move -0.52 - - 1628.25 - - - 2606.94 - -145.99 - - 3475.22 - - - - - - - - - - -
3332.81 423.64 -12.75 298 3350.82 roll -0.52 - - 1620.06 - 2.24 0.067 3966.12 606.8 -145.99 - - 3473.72 - - - - - - - - - 15.97 -
3387.45 430.66 -12.54 307 3405.51 roll back -0.52 0.12 0.235 1655.12 292.2 2.10 0.031 2639.31 -631.8 -145.99 - - 3475.69 - - - - - - - - 15.93 15.62 -
3693.55 463.51 -10.63 323 3711.02 no move -0.52 - - 1655.00 - - - 2602.81 - -145.99 - - 3473.31 - - - - - - - - - - -
3993.49 494.94 -10.40 338 4011.50 roll -0.52 - - 1646.06 - 2.23 0.064 3967.75 612.1 -145.99 - - 3473.62 - - - - - - - - - 15.97 -
4043.13 500.12 -10.40 346 4061.11 roll -0.52 - - 1645.94 - 2.10 0.028 2640.62 -632.0 -145.99 - - 3473.34 - - - - - - - - - 16.01 -
4363.16 533.85 -10.63 363 4380.63 no move -0.52 - - 1645.88 - - - 2605.31 - -145.99 - - 3473.12 - - - - - - - - - - -
4663.26 565.71 -10.50 378 4681.28 roll -0.52 - - 1634.81 - 2.23 0.068 3964.00 609.3 -145.99 - - 3474.69 - - - - - - - - - 15.64 -
4688.43 568.46 -10.58 381 4708.67 roll -0.52 - - 1636.88 - 2.10 0.030 2640.75 -630.1 -145.99 - - 3473.09 - - - - - - - - - 15.98 -
5016.03 603.94 -10.79 399 5033.50 no move -0.52 - - 1637.19 - - - 2605.06 - -145.99 - - 3472.34 - - - - - - - - - - -
5315.81 635.59 -10.47 414 5333.82 roll -0.52 - - 1625.50 - 2.24 0.066 3964.50 606.9 -145.99 - - 3474.00 - - - - - - - - - 16.01 -
5355.45 639.96 -11.05 420 5373.43 roll -0.52 - - 1627.62 - 2.10 0.029 2641.38 -630.1 -145.99 - - 3474.00 - - - - - - - - - 15.84 -
5685.51 676.95 -11.51 439 5702.98 no move -0.52 - - 1627.62 - - - 2605.31 - -145.99 - - 3471.78 - - - - - - - - - - -
5985.56 712.56 -12.10 454 6003.57 roll -0.52 - - 1617.50 - 2.24 0.066 3966.38 607.6 -145.99 - - 3471.75 - - - - - - - - - 15.81 -
6040.21 719.25 -12.23 463 6058.27 roll back -0.52 0.12 0.238 1653.25 297.9 2.10 0.031 2637.50 -632.8 -145.99 - - 3473.47 - - - - - - - - 15.94 16.03 -
6346.15 752.27 -11.15 479 6364.16 roll -0.52 - - 1645.56 - 2.24 0.064 3967.50 593.8 -145.99 - - 3471.56 - - - - - - - - - 15.82 -
6380.78 756.06 -10.73 484 6398.77 roll -0.52 - - 1645.69 - 2.10 0.030 2639.31 -632.5 -145.99 - - 3471.47 - - - - - - - - - 15.64 -
6686.80 790.51 -10.80 500 6704.80 roll -0.52 - - 1646.19 - 2.20 0.033 1241.50 -635.4 -145.99 - - 3471.03 - - - - - - - - - 16.03 -
6726.43 794.64 -10.42 506 6744.50 roll -0.52 - - 1634.19 - 2.52 0.063 2725.12 588.7 -145.99 - - 3472.47 - - - - - - - - - 15.62 -
7056.61 828.65 -10.14 525 7074.67 roll -0.52 - - 1635.81 - 2.42 0.039 1244.69 -611.7 -145.99 - - 3470.31 - - - - - - - - - 15.66 -
7091.31 832.04 -9.92 530 7109.38 roll -0.52 - - 1625.38 - 2.51 0.062 2726.19 590.2 -145.99 - - 3473.16 - - - - - - - - - 15.61 -
7397.27 865.74 -11.34 546 7415.25 roll -0.52 - - 1615.25 - 2.03 0.067 3967.69 611.6 -145.99 - - 3470.34 - - - - - - - - - 15.98 -
7516.92 878.79 -10.41 568 7534.98 roll back -0.52 0.14 0.235 1655.06 284.4 2.11 0.029 2637.56 -630.4 -145.99 - - 3470.06 - - - - - - - - 15.91 15.83 -
7847.23 908.63 -8.73 587 7865.24 roll -0.52 - - 1656.69 - 2.20 0.033 1242.12 -634.3 -145.99 - - 3469.78 - - - - - - - - - 16.00 -
7906.88 913.78 -8.93 597 7924.98 roll -0.52 - - 1644.38 - 2.53 0.062 2728.94 587.7 -145.99 - - 3472.12 - - - - - - - - - 15.64 -
8237.10 943.73 -8.91 616 8255.08 roll -0.52 - - 1635.12 - 2.02 0.070 3966.50 612.7 -145.99 - - 3471.50 - - - - - - - - - 15.62 -
8286.70 948.27 -9.09 624 8304.68 roll -0.52 - - 1636.81 - 2.10 0.033 2639.38 -632.0 -145.99 - - 3469.88 - - - - - - - - - 15.62 -
8606.93 978.61 -9.60 641 8624.93 roll -0.52 - - 1636.75 - 2.20 0.036 1241.94 -635.2 -145.99 - - 3469.25 - - - - - - - - - 15.68 -
8652.19 982.91 -9.66 648 8670.26 roll -0.52 - - 1625.94 - 2.52 0.062 2727.44 589.5 -145.99 - - 3469.31 - - - - - - - - - 16.00 -
8737 end dive: TARGET_DEPTH_EXCEEDED
8737 begin apogee
8739.05 991.58 -10.39 654 8875.84 -0.10 0.56 0.247 1790.00 293.0 0.17 0.137 2345.75 -2245.2 - 126.60 2.295 2877.62 -4.7 0.344 - - - - - - 15.49 15.05 12.30
8877 end apogee: CONTROL_FINISHED_OK
8877 begin climb
8876.85 994.60 - 660 9012.20 0.52 0.60 0.106 2003.50 355.8 2.66 0.052 857.75 -559.4 145.99 118.81 2.245 2282.28 -5.0 0.378 - - - - - - 15.22 14.91 12.35
9089.33 976.90 10.91 699 9095.23 roll 0.52 - - 2004.38 - 2.62 0.060 2325.88 560.4 145.99 - - 2278.66 - - - - - - - - - 15.35 -
9409.50 935.30 13.30 718 9415.38 done 0.52 - - 2003.38 - 2.37 0.069 3736.50 595.2 145.99 - - 2268.59 - - - - - - - - - 15.69 -
9433.90 931.59 14.88 723 9440.36 done 0.52 - - 2014.75 - 2.45 0.037 2260.50 -602.4 145.99 - - 2267.66 - - - - - - - - - 15.68 -
9749.35 887.18 13.54 741 9755.19 done 0.52 - - 2025.69 - 2.31 0.048 854.75 -608.5 145.99 - - 2266.53 - - - - - - - - - 15.81 -
9809.55 879.60 12.28 753 9815.38 0.52 0.16 0.245 1978.94 -292.2 2.54 0.059 2329.94 580.8 145.99 - - 2265.66 - - - - - - - - 15.74 15.83 -
10129.46 845.61 10.28 772 10135.54 done 0.52 - - 1976.62 - 2.33 0.065 3738.25 604.4 145.99 - - 2264.12 - - - - - - - - - 15.87 -
10159.00 842.25 10.14 778 10165.28 done 0.52 - - 1987.38 - 2.42 0.036 2254.75 -613.0 145.99 - - 2262.56 - - - - - - - - - 15.88 -
10469.48 810.69 9.98 795 10475.38 done 0.52 - - 1987.81 - 2.53 0.064 3740.69 587.3 145.99 - - 2262.38 - - - - - - - - - 15.90 -
10519.05 805.18 11.02 805 10525.31 done 0.52 - - 1994.38 - 2.42 0.037 2253.81 -614.4 145.99 - - 2263.16 - - - - - - - - - 15.91 -
10829.65 773.82 10.01 822 10835.29 done 0.52 - - 2004.00 - 2.28 0.044 845.81 -617.5 145.99 - - 2261.72 - - - - - - - - - 15.91 -
10909.49 765.65 10.41 838 10915.44 done 0.52 - - 2003.38 - 2.53 0.058 2332.06 587.5 145.99 - - 2261.06 - - - - - - - - - 15.92 -
11229.74 728.57 11.92 857 11232.62 VBD 0.52 - - 2003.12 - - - 2333.06 - 145.99 - - 2259.34 - - - - - - - - - - -
11529.76 692.92 11.90 872 11535.41 done 0.52 - - 2014.06 - 2.47 0.043 849.12 -600.8 145.99 - - 2262.38 - - - - - - - - - 15.78 -
11559.15 689.46 11.88 878 11565.50 done 0.52 - - 2008.19 - 2.52 0.057 2331.19 588.1 145.99 - - 2262.41 - - - - - - - - - 15.91 -
11869.57 652.39 11.98 895 11875.44 done 0.52 - - 2020.94 - 2.46 0.042 851.88 -601.3 145.99 - - 2262.66 - - - - - - - - - 15.94 -
11904.18 648.29 11.69 902 11911.05 0.52 0.14 0.254 1978.69 -301.8 2.51 0.055 2332.62 589.9 145.99 - - 2262.22 - - - - - - - - 15.82 15.91 -
12209.61 618.60 9.79 918 12212.49 VBD 0.52 - - 1978.38 - - - 2333.12 - 145.99 - - 2259.22 - - - - - - - - - - -
12509.85 588.47 10.06 933 12515.50 done 0.52 - - 1987.69 - 2.46 0.043 849.00 -603.3 145.99 - - 2261.50 - - - - - - - - - 15.94 -
12554.24 584.12 9.79 942 12560.54 done 0.52 - - 1986.56 - 2.51 0.056 2332.25 590.9 145.99 - - 2261.50 - - - - - - - - - 15.93 -
12869.66 550.18 10.77 960 12872.54 VBD 0.52 - - 1988.00 - - - 2333.75 - 145.99 - - 2258.81 - - - - - - - - - - -
13169.81 517.51 10.93 975 13175.55 done 0.52 - - 1997.75 - 2.46 0.043 852.31 -602.2 145.99 - - 2260.91 - - - - - - - - - 15.94 -
13209.78 513.25 10.57 983 13215.65 done 0.52 - - 1995.19 - 2.51 0.055 2332.88 589.9 145.99 - - 2261.56 - - - - - - - - - 15.76 -
13529.75 476.79 11.49 1002 13535.59 done 0.52 - - 2005.38 - 2.47 0.043 848.44 -601.0 145.99 - - 2261.22 - - - - - - - - - 15.90 -
13549.93 474.49 11.44 1006 13555.99 done 0.52 - - 2002.25 - 2.52 0.057 2332.25 588.8 145.99 - - 2261.28 - - - - - - - - - 15.93 -
13869.84 435.57 12.13 1025 13875.63 done 0.52 - - 2015.12 - 2.47 0.042 847.44 -601.1 145.99 - - 2261.97 - - - - - - - - - 15.76 -
13894.36 432.58 12.05 1030 13900.72 done 0.52 - - 2011.69 - 2.52 0.056 2332.56 589.3 145.99 - - 2261.91 - - - - - - - - - 15.94 -
14209.84 392.89 12.61 1048 14215.66 done 0.52 - - 2022.31 - 2.47 0.043 847.50 -601.2 145.99 - - 2261.25 - - - - - - - - - 15.92 -
14244.40 388.60 12.25 1055 14251.27 0.52 0.15 0.235 1978.69 -290.8 2.53 0.056 2338.06 589.2 145.99 - - 2262.16 - - - - - - - - 15.82 15.74 -
14549.86 358.02 9.86 1071 14552.75 VBD 0.52 - - 1978.88 - - - 2338.75 - 145.99 - - 2259.41 - - - - - - - - - - -
14850.02 327.98 10.12 1086 14855.72 done 0.52 - - 1989.88 - 2.48 0.043 849.44 -600.5 145.99 - - 2261.69 - - - - - - - - - 15.93 -
14889.97 324.33 9.14 1094 14895.81 done 0.52 - - 1988.69 - 2.52 0.055 2336.62 590.2 145.99 - - 2261.75 - - - - - - - - - 15.75 -
15210.09 292.13 9.91 1113 15215.75 done 0.52 - - 1997.06 - 2.48 0.044 851.81 -598.7 145.99 - - 2261.97 - - - - - - - - - 15.93 -
15234.48 289.73 9.91 1118 15240.85 done 0.52 - - 1994.94 - 2.52 0.056 2334.56 588.4 145.99 - - 2262.62 - - - - - - - - - 15.92 -
15550.04 257.66 10.04 1136 15552.93 VBD 0.52 - - 1994.00 - - - 2334.75 - 145.99 - - 2259.16 - - - - - - - - - - -
15850.20 227.20 10.35 1162 15856.19 done 0.52 - - 2004.38 - 2.48 0.043 850.62 -598.4 145.99 - - 2262.50 - - - - - - - - - 15.75 -
15900.06 222.09 10.38 1172 15905.91 done 0.52 - - 2002.50 - 2.52 0.056 2331.56 587.7 145.99 - - 2263.28 - - - - - - - - - 15.83 -
16090.08 201.77 10.95 1192 16095.83 done 0.52 - - 2002.50 - 2.32 0.063 3739.81 607.0 145.99 - - 2261.00 - - - - - - - - - 15.73 -
16120.03 198.05 12.39 1198 16125.86 done 0.52 - - 2012.94 - 2.42 0.036 2252.25 -614.7 145.99 - - 2260.94 - - - - - - - - - 15.74 -
16310.20 175.54 12.06 1218 16313.09 VBD 0.52 - - 2012.81 - - - 2240.69 - 145.99 - - 2259.28 - - - - - - - - - - -
16490.27 154.06 11.74 1236 16493.15 VBD 0.52 - - 2013.19 - - - 2239.62 - 145.99 - - 2259.16 - - - - - - - - - - -
16670.12 133.02 11.63 1254 16673.01 VBD 0.52 - - 2013.00 - - - 2239.50 - 145.99 - - 2259.03 - - - - - - - - - - -
16850.21 112.27 11.45 1272 16855.92 done 0.52 - - 2023.75 - 2.28 0.043 847.56 -610.5 145.99 - - 2261.12 - - - - - - - - - 15.80 -
16884.69 108.43 10.95 1279 16891.63 0.52 0.15 0.222 1978.50 -301.7 2.53 0.057 2331.31 586.5 145.99 - - 2262.66 - - - - - - - - 15.79 15.71 -
17070.28 92.15 8.54 1298 17075.97 done 0.53 - - 1976.81 - 2.33 0.064 3741.56 605.3 145.99 - - 2261.22 - - - - - - - - - 15.76 -
17094.85 89.74 8.90 1303 17101.52 done 0.53 - - 1986.00 - 2.42 0.034 2254.06 -614.7 145.99 - - 2260.59 - - - - - - - - - 15.71 -
17280.21 73.06 9.02 1322 17283.33 VBD 0.53 - - 1986.06 - - - 2242.81 - 145.99 - - 2259.03 - - - - - - - - - - -
17460.41 57.03 8.82 1340 17463.29 VBD 0.53 - - 1986.44 - - - 2242.19 - 145.99 - - 2259.38 - - - - - - - - - - -
17640.31 41.48 8.80 1358 17646.15 done 0.53 - - 1986.50 - 2.53 0.065 3738.00 591.2 145.99 - - 2263.47 - - - - - - - - - 15.74 -
17660.19 39.55 8.92 1362 17666.08 done 0.53 - - 1992.25 - 2.42 0.036 2256.75 -612.1 145.99 - - 2260.66 - - - - - - - - - 15.76 -
17850.31 22.50 9.30 1382 17856.06 done 0.53 - - 2003.50 - 2.29 0.043 852.06 -613.4 145.99 - - 2263.28 - - - - - - - - - 15.78 -
17894.86 18.62 8.63 1391 17901.70 done 0.54 - - 2002.50 - 2.51 0.054 2332.81 589.9 145.99 - - 2261.22 - - - - - - - - - 15.78 -
18080.40 2.22 9.53 1410 18086.15 done 0.54 - - 2013.31 - 2.48 0.041 856.12 -595.4 145.99 - - 2260.72 - - - - - - - - - 15.74 -
18091 end climb: SURFACE_DEPTH_REACHED
18091 begin surface coast
18111 end surface coast: CONTROL_FINISHED_OK
18111 begin surface
SM 2.49 - - - - 129.2 - 2.778 1248.8 - 5.20 0.077 1314.4 252.8 - 3.15 0.056 1183.2 374.8 -1.703 - - 30.36 15.86 15.90 -