NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 345 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 161.70 of 529.00 AH used of 24V (69.43% remains)
• Surface angle -41.8 deg, depth 0.59 m • Intended pitch -16.2 deg, speed -8.000 cm/s
VBD pumped to 450.11 (SM_CC=450)
• GPS1 time: 29 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
4 begin dive
5.07 - - - 121.84 VBD -0.95 - - 188.19 - - - 2629.25 - -116.79 116.31 0.005 3279.16 - - - - - - - - - - 13.56
122.09 3.10 -2.06 22 142.28 -0.95 9.93 0.260 1390.19 121.0 2.15 0.138 3358.88 339.4 -116.79 3.16 0.011 3374.28 30.1 -1.441 - - - - - - 14.96 15.04 15.16
144.70 6.04 -11.73 27 150.26 roll back -0.46 0.81 0.120 1512.56 151.1 1.79 0.037 2615.62 -415.2 -116.79 - - 3376.91 - - - - - - - - 15.49 15.54 -
329.73 17.48 -6.38 64 335.65 roll back -0.75 0.57 0.076 1427.44 -149.3 3.97 0.097 1204.50 -355.4 -116.79 - - 3376.19 - - - - - - - - 15.60 15.55 -
474.76 27.57 -6.43 93 480.50 roll -0.85 - - 1427.31 - 3.80 0.064 2681.88 388.8 -116.79 - - 3376.78 - - - - - - - - - 15.62 -
659.80 38.93 -6.19 130 665.27 roll back -0.94 0.25 0.079 1376.25 -204.2 1.97 0.135 3359.00 343.7 -116.79 - - 3376.66 - - - - - - - - 15.64 15.57 -
784.78 53.55 -10.74 155 789.68 roll -0.94 - - 1375.75 - 1.76 0.035 2615.06 -422.7 -116.79 - - 3375.91 - - - - - - - - - 15.26 -
969.80 69.95 -8.21 192 971.13 no move -0.94 - - 1375.56 - - - 2614.25 - -116.79 - - 3375.50 - - - - - - - - - - -
1149.84 83.82 -7.60 228 1151.16 no move -0.94 - - 1375.19 - - - 2614.31 - -116.79 - - 3375.81 - - - - - - - - - - -
1329.86 97.16 -7.32 264 1331.19 no move -0.94 - - 1375.62 - - - 2613.69 - -116.79 - - 3376.06 - - - - - - - - - - -
1514.89 111.77 -8.64 287 1516.22 no move -0.94 - - 1375.69 - - - 2615.12 - -116.79 - - 3375.06 - - - - - - - - - - -
1814.99 136.18 -7.98 317 1820.06 roll -0.94 - - 1375.62 - 2.14 0.130 3357.94 347.1 -116.79 - - 3376.81 - - - - - - - - - 15.65 -
1904.96 144.18 -8.97 335 1909.57 roll -0.94 - - 1375.69 - 1.74 0.036 2617.12 -425.8 -116.79 - - 3376.62 - - - - - - - - - 15.72 -
2215.04 168.89 -7.72 367 2216.37 no move -0.94 - - 1375.44 - - - 2615.44 - -116.79 - - 3376.06 - - - - - - - - - - -
2515.13 191.05 -7.19 397 2520.19 roll -0.94 - - 1375.62 - 2.14 0.128 3359.62 347.7 -116.79 - - 3376.16 - - - - - - - - - 15.66 -
2625.10 200.13 -7.91 419 2629.71 roll -0.94 - - 1375.56 - 1.75 0.036 2614.50 -425.8 -116.79 - - 3376.31 - - - - - - - - - 15.70 -
2935.16 223.32 -7.42 451 2936.49 no move -0.94 - - 1375.38 - - - 2614.69 - -116.79 - - 3375.16 - - - - - - - - - - -
3235.26 244.12 -6.69 481 3240.33 roll -0.94 - - 1375.38 - 2.14 0.128 3358.31 347.5 -116.79 - - 3377.03 - - - - - - - - - 15.67 -
3325.23 250.94 -7.22 499 3329.84 roll -0.94 - - 1375.44 - 1.74 0.035 2617.94 -425.5 -116.79 - - 3376.31 - - - - - - - - - 15.71 -
3635.29 271.23 -6.34 531 3636.62 no move -0.94 - - 1375.44 - - - 2617.06 - -116.79 - - 3375.44 - - - - - - - - - - -
3935.38 291.53 -6.63 561 3936.71 no move -0.94 - - 1375.31 - - - 2616.50 - -116.79 - - 3375.94 - - - - - - - - - - -
4235.43 312.55 -7.09 591 4240.49 roll -0.94 - - 1375.81 - 2.16 0.128 3358.19 343.4 -116.79 - - 3376.25 - - - - - - - - - 15.10 -
4295.38 317.45 -7.82 603 4300.00 roll -0.94 - - 1375.44 - 1.77 0.036 2617.50 -418.5 -116.79 - - 3376.16 - - - - - - - - - 15.24 -
4605.45 340.75 -7.66 635 4606.78 no move -0.94 - - 1375.25 - - - 2616.75 - -116.79 - - 3375.03 - - - - - - - - - - -
4905.56 364.09 -7.51 665 4906.89 no move -0.94 - - 1375.44 - - - 2616.38 - -116.79 - - 3375.38 - - - - - - - - - - -
5205.60 384.62 -6.59 695 5210.65 roll -0.94 - - 1375.31 - 2.13 0.130 3359.06 348.7 -116.79 - - 3377.09 - - - - - - - - - 15.67 -
5315.57 392.76 -7.58 717 5320.18 roll -0.94 - - 1375.31 - 1.76 0.036 2622.75 -418.4 -116.79 - - 3377.34 - - - - - - - - - 15.23 -
5625.62 414.74 -7.45 749 5626.96 no move -0.94 - - 1375.50 - - - 2622.25 - -116.79 - - 3374.44 - - - - - - - - - - -
5925.71 437.64 -6.94 779 5927.04 no move -0.94 - - 1375.50 - - - 2621.94 - -116.79 - - 3376.28 - - - - - - - - - - -
6225.75 458.45 -6.05 809 6230.80 roll -0.94 - - 1375.56 - 2.13 0.133 3358.94 346.0 -116.79 - - 3376.38 - - - - - - - - - 15.67 -
6305.71 464.07 -6.81 825 6310.32 roll -0.94 - - 1375.38 - 1.77 0.040 2637.19 -407.8 -116.79 - - 3377.28 - - - - - - - - - 15.23 -
6615.73 483.96 -6.53 857 6617.06 no move -0.94 - - 1375.88 - - - 2638.31 - -116.79 - - 3375.44 - - - - - - - - - - -
6915.79 501.21 -5.96 887 6920.84 roll -0.94 - - 1375.62 - 2.10 0.135 3358.88 343.1 -116.79 - - 3376.22 - - - - - - - - - 15.66 -
6965.75 504.62 -6.81 897 6970.36 roll -0.94 - - 1375.56 - 1.77 0.040 2638.56 -407.0 -116.79 - - 3376.25 - - - - - - - - - 15.23 -
7275.78 525.28 -6.92 929 7277.11 no move -0.94 - - 1375.31 - - - 2638.12 - -116.79 - - 3375.25 - - - - - - - - - - -
7575.85 546.73 -7.58 959 7577.17 no move -0.94 - - 1375.50 - - - 2638.25 - -116.79 - - 3374.88 - - - - - - - - - - -
7875.85 568.85 -8.25 989 7880.93 roll -0.94 - - 1375.12 - 2.12 0.138 3358.44 339.7 -116.79 - - 3375.91 - - - - - - - - - 15.65 -
7995.83 578.32 -7.97 1013 8000.44 roll -0.94 - - 1375.88 - 1.76 0.042 2639.75 -408.3 -116.79 - - 3375.50 - - - - - - - - - 15.89 -
8305.86 599.37 -6.71 1045 8307.19 no move -0.94 - - 1375.56 - - - 2639.69 - -116.79 - - 3375.31 - - - - - - - - - - -
8605.92 620.89 -6.53 1075 8607.25 no move -0.94 - - 1375.38 - - - 2639.69 - -116.79 - - 3375.59 - - - - - - - - - - -
8905.98 643.08 -7.54 1105 8911.04 roll -0.94 - - 1375.44 - 2.13 0.143 3359.44 337.9 -116.79 - - 3376.81 - - - - - - - - - 15.63 -
8975.92 648.42 -8.06 1119 8980.53 roll -0.94 - - 1375.25 - 1.80 0.044 2641.50 -398.9 -116.79 - - 3376.72 - - - - - - - - - 15.19 -
9286.02 669.91 -7.27 1151 9287.34 no move -0.98 - - 1375.50 - - - 2642.19 - -116.79 - - 3374.56 - - - - - - - - - - -
9586.12 690.16 -6.69 1181 9587.45 no move -1.03 - - 1375.31 - - - 2641.69 - -116.79 - - 3374.38 - - - - - - - - - - -
9886.18 710.49 -6.91 1211 9887.51 no move -1.08 - - 1375.31 - - - 2642.19 - -116.79 - - 3374.00 - - - - - - - - - - -
10186.23 731.46 -7.44 1241 10187.66 pitch -1.12 0.19 0.089 1333.31 -221.1 - - 2641.62 - -116.79 - - 3375.31 - - - - - - - - 15.82 - -
10486.18 756.85 -8.61 1271 10491.32 roll -1.12 - - 1332.69 - 2.17 0.151 3358.00 330.1 -116.79 - - 3374.47 - - - - - - - - - 15.59 -
10566.23 764.57 -9.63 1287 10571.36 roll back -1.08 0.28 0.164 1360.88 100.7 1.81 0.052 2646.56 -393.1 -116.79 - - 3376.38 - - - - - - - - 15.48 15.68 -
10876.34 786.41 -7.49 1319 10877.67 no move -1.12 - - 1361.25 - - - 2647.69 - -116.79 - - 3373.38 - - - - - - - - - - -
11176.39 807.50 -6.99 1349 11177.72 no move -1.16 - - 1361.19 - - - 2647.25 - -116.79 - - 3373.06 - - - - - - - - - - -
11476.44 827.91 -6.78 1379 11481.64 roll back -1.21 0.31 0.077 1312.25 -157.9 2.17 0.155 3358.44 327.7 -116.79 - - 3374.22 - - - - - - - - 15.81 15.55 -
11521.09 831.78 -8.80 1388 11526.89 roll back -1.14 0.32 0.168 1347.12 109.0 1.83 0.057 2647.88 -388.3 -116.79 - - 3375.62 - - - - - - - - 15.59 15.87 -
11656 end dive: TARGET_DEPTH_EXCEEDED
11656 begin apogee
11658.11 840.95 -7.65 1402 11768.04 -0.25 1.49 0.138 1561.44 143.8 0.07 0.285 2411.00 -3384.0 - 105.07 1.965 2901.28 -4.5 0.328 - - - - - - 15.71 15.29 10.67
11769 end apogee: CONTROL_FINISHED_OK
11769 begin climb
11769.68 841.79 - 1413 11887.43 0.95 1.97 0.083 1857.50 150.3 4.68 0.140 937.88 -314.8 116.79 109.46 1.905 2423.56 -4.4 0.328 - - - - - - 15.39 15.01 12.10
11899.59 836.57 5.86 1436 11951.27 done 0.92 - - 1856.62 - 3.93 0.066 2411.00 374.8 162.66 44.60 1.819 2236.28 -4.2 0.328 - - - - - - - 15.23 11.91
12254.90 805.31 8.81 1477 12256.23 VBD 0.88 - - 1857.00 - - - 2410.94 - 162.66 - - 2226.34 - - - - - - - - - - -
12555.00 778.59 10.38 1507 12561.60 0.84 0.34 0.162 1817.19 -117.1 4.40 0.138 936.88 -335.0 162.66 - - 2226.28 - - - - - - - - 15.59 15.14 -
12604.66 774.85 7.46 1517 12622.01 done 0.85 - - 1817.19 - 3.83 0.070 2410.69 384.8 174.18 11.53 1.538 2188.31 -3.3 0.282 - - - - - - - 15.65 11.61
12925.07 753.00 6.20 1551 12965.77 VBD 0.90 - - 1817.56 - - - 2410.81 - 212.67 38.19 1.796 2033.12 -4.1 0.289 - - - - - - - - 11.63
13265.07 727.57 7.78 1585 13275.83 0.96 0.28 0.080 1864.06 166.1 2.76 0.145 3357.75 343.1 217.33 5.97 1.116 2013.03 -3.4 0.373 - - - - - - 15.59 15.40 11.56
13305.11 723.59 11.17 1593 13310.36 roll back 0.91 0.26 0.171 1832.44 -121.6 2.42 0.041 2372.69 -407.0 217.33 - - 2012.50 - - - - - - - - 15.50 15.70 -
13615.10 699.67 7.21 1625 13635.46 VBD 0.93 - - 1833.25 - - - 2371.94 - 234.15 18.53 1.649 1944.72 -3.7 0.264 - - - - - - - - 11.62
13935.18 673.85 7.73 1657 13946.92 done 0.98 - - 1833.44 - 2.84 0.136 3357.75 347.1 239.85 7.42 1.261 1919.69 -3.4 0.306 - - - - - - - 15.50 11.69
13974.88 670.03 9.53 1665 13980.63 roll 0.98 - - 1832.88 - 2.40 0.039 2371.50 -410.9 239.85 - - 1921.09 - - - - - - - - - 15.74 -
14280.24 645.94 8.04 1696 14281.69 pitch 1.03 0.28 0.084 1879.56 166.7 - - 2370.81 - 239.85 - - 1919.34 - - - - - - - - 15.72 - -
14580.25 615.92 10.68 1726 14585.56 roll 1.03 - - 1879.06 - 2.84 0.128 3358.00 347.6 239.85 - - 1921.78 - - - - - - - - - 15.61 -
14604.98 613.34 10.57 1731 14610.71 roll 0.98 - - 1879.88 - 2.40 0.038 2368.44 -412.3 239.85 - - 1921.06 - - - - - - - - - 15.81 -
14910.33 583.83 8.87 1762 14911.67 no move 0.98 - - 1879.69 - - - 2368.81 - 239.85 - - 1917.84 - - - - - - - - - - -
15210.41 556.22 8.91 1792 15215.66 roll 0.98 - - 1879.69 - 2.82 0.125 3357.31 350.5 239.85 - - 1919.53 - - - - - - - - - 15.62 -
15245.09 552.38 10.92 1799 15250.97 roll back 0.93 0.32 0.170 1840.25 -123.3 2.38 0.038 2366.19 -416.4 239.85 - - 1917.34 - - - - - - - - 15.64 15.77 -
15550.43 532.38 6.39 1830 15588.46 1.02 0.22 0.094 1876.69 165.6 2.81 0.127 3358.19 353.0 274.21 33.92 1.590 1780.69 -4.0 0.229 - - - - - - 15.79 15.60 11.42
15615.93 526.25 10.57 1843 15621.07 roll 1.02 - - 1876.56 - 2.40 0.037 2368.50 -412.4 274.21 - - 1779.28 - - - - - - - - - 15.74 -
15925.95 495.35 10.16 1875 15931.25 roll 1.02 - - 1876.06 - 2.82 0.121 3357.69 350.8 274.21 - - 1778.06 - - - - - - - - - 15.64 -
15955.94 491.88 11.56 1881 15961.11 roll 1.02 - - 1876.62 - 2.40 0.037 2367.19 -412.7 274.21 - - 1777.12 - - - - - - - - - 15.78 -
16266.00 459.60 10.41 1913 16271.37 roll 1.02 - - 1876.12 - 2.81 0.121 3359.75 353.2 274.21 - - 1777.44 - - - - - - - - - 15.65 -
16280.70 457.90 10.59 1916 16286.46 roll 1.02 - - 1876.50 - 2.40 0.036 2365.19 -414.4 274.21 - - 1775.81 - - - - - - - - - 15.75 -
16586.08 426.21 10.51 1947 16591.35 roll 1.02 - - 1875.75 - 2.80 0.120 3357.00 354.2 274.21 - - 1778.00 - - - - - - - - - 15.67 -
16636.06 421.13 10.51 1957 16641.22 roll 1.02 - - 1875.88 - 2.40 0.037 2369.44 -411.5 274.21 - - 1776.06 - - - - - - - - - 15.31 -
16946.12 390.31 9.83 1989 16951.41 roll 1.02 - - 1876.94 - 2.78 0.119 3358.00 355.6 274.21 - - 1775.44 - - - - - - - - - 15.67 -
16976.11 387.25 10.00 1995 16981.28 roll 1.02 - - 1875.94 - 2.38 0.036 2366.56 -416.6 274.21 - - 1777.28 - - - - - - - - - 15.84 -
17286.18 356.81 10.02 2027 17287.51 no move 1.02 - - 1876.62 - - - 2365.69 - 274.21 - - 1776.94 - - - - - - - - - - -
17586.32 326.05 9.55 2057 17591.52 roll 1.02 - - 1876.50 - 2.80 0.119 3359.06 354.8 274.21 - - 1775.94 - - - - - - - - - 15.67 -
17630.93 321.23 11.34 2066 17636.68 roll 1.02 - - 1877.31 - 2.39 0.037 2363.69 -416.5 274.21 - - 1775.19 - - - - - - - - - 15.85 -
17936.28 293.26 8.59 2097 17941.57 roll 1.02 - - 1876.69 - 2.80 0.118 3359.56 355.7 274.21 - - 1776.97 - - - - - - - - - 15.67 -
17956.28 291.56 8.73 2101 17961.46 roll 1.02 - - 1876.94 - 2.41 0.036 2366.00 -412.3 274.21 - - 1775.81 - - - - - - - - - 15.27 -
18266.35 265.08 9.16 2133 18271.65 roll 1.02 - - 1877.00 - 2.79 0.118 3359.38 356.1 274.21 - - 1774.97 - - - - - - - - - 15.68 -
18281.04 264.04 8.82 2136 18286.80 roll 1.02 - - 1876.31 - 2.38 0.037 2364.44 -418.0 274.21 - - 1775.38 - - - - - - - - - 15.87 -
18586.40 238.13 8.46 2167 18592.47 roll 1.02 - - 1875.88 - 2.81 0.118 3358.94 353.9 274.21 - - 1774.75 - - - - - - - - - 15.10 -
18611.10 235.82 8.62 2172 18617.62 roll 1.02 - - 1877.06 - 2.38 0.036 2364.00 -418.0 274.21 - - 1775.38 - - - - - - - - - 15.82 -
18916.45 208.98 9.13 2203 18919.32 no move 1.02 - - 1876.94 - - - 2364.38 - 274.21 - - 1774.03 - - - - - - - - - - -
19216.55 182.18 9.04 2233 19222.72 roll 1.02 - - 1876.25 - 2.82 0.117 3359.06 352.7 274.21 - - 1776.56 - - - - - - - - - 15.08 -
19256.50 178.61 8.92 2241 19262.44 roll 1.02 - - 1877.12 - 2.38 0.037 2367.00 -416.8 274.21 - - 1775.09 - - - - - - - - - 15.73 -
19566.58 154.44 7.16 2273 19589.23 done 1.04 - - 1876.44 - 2.74 0.119 3358.94 362.0 292.09 16.76 1.101 1708.22 -4.0 0.095 - - - - - - - 15.61 11.31
19606.36 151.25 7.04 2281 19633.32 done 1.06 - - 1876.88 - 2.38 0.036 2364.56 -417.8 312.72 20.33 1.108 1624.62 -4.1 0.095 - - - - - - - 15.46 12.29
19931.68 123.06 9.93 2316 19934.71 no move 1.06 - - 1876.69 - - - 2364.56 - 312.72 - - 1621.12 - - - - - - - - - - -
20231.70 92.83 10.18 2352 20238.08 roll 1.06 - - 1876.56 - 2.82 0.120 3359.69 352.9 312.72 - - 1621.44 - - - - - - - - - 15.63 -
20276.71 88.75 9.15 2361 20282.93 roll 1.06 - - 1876.75 - 2.40 0.038 2368.44 -413.0 312.72 - - 1621.12 - - - - - - - - - 15.71 -
20461.79 69.73 10.13 2398 20466.87 no move 1.06 - - 1876.94 - - - 2365.31 - 312.72 - - 1620.44 - - - - - - - - - - -
20646.78 58.64 6.47 2435 20683.12 VBD 1.10 - - 1876.19 - - - 2366.12 - 345.55 31.13 1.041 1491.88 -4.1 0.040 - - - - - - - - 11.55
20861.81 34.44 12.82 2478 20868.16 roll 1.16 - - 1877.00 - 2.81 0.121 3358.75 353.2 345.55 - - 1487.06 - - - - - - - - - 15.61 -
20891.81 31.02 11.89 2484 20898.17 roll back 1.20 0.21 0.098 1918.38 197.0 2.42 0.039 2369.69 -408.7 345.55 - - 1486.47 - - - - - - - - 15.58 15.67 -
21076.81 14.44 11.39 2521 21083.40 roll 1.20 - - 1918.62 - 2.81 0.119 3358.62 351.9 345.55 - - 1486.66 - - - - - - - - - 15.19 -
21091.81 12.20 13.23 2524 21098.12 roll 1.20 - - 1919.38 - 2.42 0.038 2369.38 -408.8 345.55 - - 1486.19 - - - - - - - - - 15.28 -
21167 end climb: SURFACE_DEPTH_REACHED
21167 begin surface coast
21182 end surface coast: CONTROL_FINISHED_OK
21182 begin surface
SM 0.34 - - - - 186.8 - - 1065.1 - 11.01 0.084 1160.6 105.4 - 0.81 0.101 969.6 1194.0 -0.411 - - 30.00 15.68 15.75 -