NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 728 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 344.59 of 529.00 AH used of 24V (34.86% remains)
• Surface angle -35.9 deg, depth 0.36 m • Intended pitch -16.2 deg, speed -8.000 cm/s
VBD pumped to 449.93 (SM_CC=450)
• GPS1 time: 31 s
• GPS2 time: 2 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
6.01 - - - 131.98 VBD -0.95 - - 185.94 - 0.14 0.195 2684.25 - -116.79 124.46 0.005 3373.84 - - - - - - - - - 14.50 13.12
132.22 3.56 -2.96 24 152.71 roll back -0.95 10.77 0.282 1388.81 111.7 4.34 0.108 1205.25 -340.8 -116.79 - - 3376.62 - - - - - - - - 14.54 14.90 -
350.19 20.74 -7.01 68 356.12 roll -1.04 - - 1388.75 - 4.00 0.063 2679.56 368.6 -116.79 - - 3377.06 - - - - - - - - - 14.47 -
535.39 33.32 -6.54 105 542.18 roll back -1.13 0.40 0.071 1334.00 -136.9 4.20 0.090 1205.06 -351.1 -116.79 - - 3378.62 - - - - - - - - 15.34 15.06 -
565.31 35.95 -8.00 111 571.03 roll -1.13 - - 1333.56 - 3.94 0.061 2680.88 374.6 -116.79 - - 3378.12 - - - - - - - - - 15.08 -
750.31 53.03 -9.57 148 751.63 no move -1.13 - - 1333.38 - - - 2680.06 - -116.79 - - 3377.94 - - - - - - - - - - -
930.36 70.66 -9.85 184 931.68 no move -1.13 - - 1333.88 - - - 2679.94 - -116.79 - - 3375.88 - - - - - - - - - - -
1110.42 88.53 -8.40 220 1116.27 roll -1.13 - - 1333.56 - 4.20 0.094 1204.69 -351.2 -116.79 - - 3377.66 - - - - - - - - - 15.01 -
1125.44 89.82 -8.19 223 1131.21 roll -1.13 - - 1333.56 - 3.95 0.061 2680.88 373.7 -116.79 - - 3377.84 - - - - - - - - - 15.10 -
1315.51 101.85 -7.15 259 1316.84 no move -1.13 - - 1333.06 - - - 2680.62 - -116.79 - - 3376.06 - - - - - - - - - - -
1615.60 124.39 -6.55 289 1620.66 roll -1.13 - - 1333.44 - 2.11 0.133 3357.75 320.9 -116.79 - - 3377.94 - - - - - - - - - 14.79 -
1635.56 125.97 -6.90 293 1640.17 roll -1.13 - - 1333.62 - 1.77 0.029 2615.25 -419.5 -116.79 - - 3377.47 - - - - - - - - - 15.16 -
1945.60 151.45 -8.74 325 1950.74 roll -1.13 - - 1334.31 - 2.29 0.125 3359.06 324.8 -116.79 - - 3377.41 - - - - - - - - - 14.80 -
1990.30 155.44 -9.17 334 1995.21 roll -1.13 - - 1333.44 - 1.75 0.030 2619.06 -422.9 -116.79 - - 3377.28 - - - - - - - - - 15.35 -
2295.65 173.51 -5.59 365 2300.78 roll -1.13 - - 1333.50 - 2.25 0.125 3357.31 328.1 -116.79 - - 3377.38 - - - - - - - - - 14.80 -
2335.64 176.31 -6.68 373 2340.25 roll -1.13 - - 1333.69 - 1.78 0.031 2622.06 -413.1 -116.79 - - 3377.47 - - - - - - - - - 15.15 -
2645.67 197.33 -6.90 405 2647.00 no move -1.13 - - 1333.44 - - - 2619.31 - -116.79 - - 3376.84 - - - - - - - - - - -
2945.74 219.87 -7.28 435 2950.82 roll -1.13 - - 1333.75 - 2.29 0.125 3358.19 322.7 -116.79 - - 3376.81 - - - - - - - - - 14.36 -
2995.70 223.37 -7.45 445 3000.31 roll -1.13 - - 1333.38 - 1.78 0.032 2620.62 -414.4 -116.79 - - 3378.19 - - - - - - - - - 15.18 -
3305.73 244.37 -7.22 477 3307.06 no move -1.13 - - 1333.69 - - - 2618.50 - -116.79 - - 3376.12 - - - - - - - - - - -
3605.78 268.36 -9.17 507 3611.26 roll -1.13 - - 1333.62 - 4.13 0.100 1204.62 -342.3 -116.79 - - 3377.91 - - - - - - - - - 14.26 -
3640.45 271.63 -9.90 514 3646.54 roll -1.13 - - 1333.50 - 3.94 0.064 2681.31 374.8 -116.79 - - 3377.25 - - - - - - - - - 15.14 -
3945.75 298.92 -8.45 545 3951.30 roll -1.13 - - 1333.19 - 4.24 0.095 1205.44 -348.1 -116.79 - - 3378.34 - - - - - - - - - 14.96 -
3975.76 301.57 -8.80 551 3981.25 roll -1.13 - - 1333.88 - 3.96 0.063 2680.69 372.5 -116.79 - - 3376.62 - - - - - - - - - 15.11 -
4285.78 327.91 -8.25 583 4287.10 no move -1.13 - - 1333.62 - - - 2681.44 - -116.79 - - 3376.47 - - - - - - - - - - -
4585.85 354.17 -8.72 613 4591.36 roll -1.13 - - 1333.38 - 4.29 0.095 1204.38 -344.3 -116.79 - - 3376.47 - - - - - - - - - 14.94 -
4610.53 356.08 -8.79 618 4616.59 roll -1.13 - - 1333.38 - 3.97 0.063 2680.06 371.7 -116.79 - - 3376.47 - - - - - - - - - 14.31 -
4915.91 383.62 -9.22 649 4917.23 no move -1.13 - - 1333.31 - - - 2680.44 - -116.79 - - 3375.62 - - - - - - - - - - -
5217.11 410.27 -8.83 679 5218.44 no move -1.13 - - 1333.38 - - - 2680.44 - -116.79 - - 3375.91 - - - - - - - - - - -
5516.02 434.66 -8.08 709 5521.52 roll -1.13 - - 1333.81 - 4.27 0.098 1206.81 -345.1 -116.79 - - 3376.59 - - - - - - - - - 14.90 -
5555.99 437.99 -8.32 717 5561.50 roll -1.13 - - 1333.69 - 4.01 0.066 2680.94 367.6 -116.79 - - 3377.03 - - - - - - - - - 14.25 -
5866.04 460.97 -7.86 749 5867.37 no move -1.13 - - 1333.31 - - - 2681.06 - -116.79 - - 3375.41 - - - - - - - - - - -
6166.12 486.60 -8.69 779 6167.44 no move -1.13 - - 1333.06 - - - 2680.75 - -116.79 - - 3375.28 - - - - - - - - - - -
6466.17 511.46 -8.05 809 6467.50 no move -1.13 - - 1333.56 - - - 2681.06 - -116.79 - - 3375.44 - - - - - - - - - - -
6766.23 535.50 -7.83 839 6772.74 roll -1.13 - - 1332.62 - 4.32 0.103 1206.94 -341.2 -116.79 - - 3377.03 - - - - - - - - - 14.88 -
6826.00 540.59 -9.25 851 6831.99 roll -1.13 - - 1333.19 - 4.01 0.071 2678.75 367.0 -116.79 - - 3377.00 - - - - - - - - - 14.98 -
7131.23 567.89 -9.48 882 7132.56 no move -1.13 - - 1333.38 - - - 2679.00 - -116.79 - - 3375.59 - - - - - - - - - - -
7431.33 593.07 -8.90 912 7432.66 no move -1.13 - - 1333.31 - - - 2679.75 - -116.79 - - 3375.34 - - - - - - - - - - -
7731.40 618.20 -7.95 942 7737.91 roll -1.13 - - 1333.50 - 4.35 0.106 1205.75 -338.9 -116.79 - - 3374.97 - - - - - - - - - 14.20 -
7751.07 619.53 -7.48 946 7757.14 roll -1.13 - - 1333.50 - 4.01 0.072 2680.31 367.7 -116.79 - - 3376.66 - - - - - - - - - 15.01 -
8056.40 643.06 -7.54 977 8062.96 roll -1.13 - - 1333.56 - 4.34 0.106 1206.81 -339.5 -116.79 - - 3375.19 - - - - - - - - - 14.87 -
8071.39 644.06 -8.33 980 8076.88 roll -1.13 - - 1333.50 - 3.98 0.073 2679.56 370.0 -116.79 - - 3376.53 - - - - - - - - - 14.99 -
8381.47 668.98 -7.92 1012 8382.80 no move -1.13 - - 1333.56 - - - 2678.75 - -116.79 - - 3375.16 - - - - - - - - - - -
8681.56 692.59 -7.72 1042 8686.62 roll -1.13 - - 1333.12 - 2.13 0.146 3354.69 317.3 -116.79 - - 3376.97 - - - - - - - - - 14.80 -
8736.21 697.05 -8.57 1053 8741.12 roll -1.13 - - 1333.31 - 1.77 0.035 2633.94 -407.2 -116.79 - - 3376.97 - - - - - - - - - 14.25 -
9041.59 720.68 -7.94 1084 9047.11 roll -1.13 - - 1332.88 - 4.22 0.117 1207.25 -338.1 -116.79 - - 3377.00 - - - - - - - - - 14.82 -
9056.30 721.66 -7.30 1087 9062.37 roll -1.13 - - 1333.00 - 4.02 0.078 2677.69 365.8 -116.79 - - 3375.78 - - - - - - - - - 14.96 -
9361.63 744.92 -7.91 1118 9366.74 roll -1.13 - - 1333.00 - 2.13 0.147 3353.44 317.3 -116.79 - - 3377.19 - - - - - - - - - 14.79 -
9371.63 745.59 -7.48 1120 9376.24 roll -1.13 - - 1333.12 - 1.75 0.036 2633.50 -411.4 -116.79 - - 3375.84 - - - - - - - - - 15.39 -
9681.65 770.09 -8.10 1152 9686.78 roll -1.13 - - 1332.88 - 2.28 0.143 3354.50 316.2 -116.79 - - 3376.62 - - - - - - - - - 14.15 -
9741.64 775.13 -9.32 1164 9746.25 roll -1.13 - - 1333.00 - 1.80 0.038 2639.50 -397.2 -116.79 - - 3375.25 - - - - - - - - - 14.32 -
10051.71 799.03 -7.76 1196 10057.25 roll -1.13 - - 1333.06 - 4.30 0.122 1205.31 -333.5 -116.79 - - 3373.59 - - - - - - - - - 14.82 -
10071.70 800.46 -8.00 1200 10077.19 roll -1.13 - - 1333.00 - 4.08 0.084 2679.38 361.3 -116.79 - - 3375.78 - - - - - - - - - 14.27 -
10381.71 822.27 -6.38 1232 10383.04 no move -1.13 - - 1333.00 - - - 2679.19 - -116.79 - - 3374.06 - - - - - - - - - - -
10642 end dive: TARGET_DEPTH_EXCEEDED
10642 begin apogee
10643.51 840.96 -7.31 1258 10755.27 -0.25 1.80 0.141 1560.19 126.2 0.09 0.241 2413.62 -2950.8 - 108.65 2.006 2898.31 -4.4 0.335 - - - - - - 14.80 14.50 10.63
10758 end apogee: CONTROL_FINISHED_OK
10758 begin loiter
11051.54 848.57 -2.14 1299 11097.17 VBD -0.19 - - 1560.75 - - - 2414.00 - 45.90 44.30 1.925 2711.44 -4.2 0.339 - - - - - - - - 10.99
11391.51 846.68 1.16 1333 11393.00 pitch -0.47 0.47 0.078 1494.38 -141.2 - - 2414.00 - 45.90 - - 2707.34 - - - - - - - - 15.40 - -
11691.54 843.43 1.57 1363 11692.99 pitch -0.64 0.21 0.087 1450.88 -207.1 - - 2413.50 - 45.90 - - 2707.09 - - - - - - - - 15.50 - -
11991.60 840.95 0.87 1393 11992.93 no move -0.74 - - 1450.19 - - - 2413.94 - 45.90 - - 2704.53 - - - - - - - - - - -
12291.70 837.52 1.23 1423 12293.15 -0.84 0.25 0.082 1402.00 -192.8 - - 2413.50 - 45.90 - - 2704.81 - - - - - - - - 15.48 - -
12552 end loiter: LOITER_COMPLETE
12552 begin climb
12551.73 834.19 - 1449 12629.01 0.95 3.43 0.135 1852.88 131.5 2.88 0.133 3357.50 327.8 116.79 68.46 2.003 2420.97 -4.1 0.315 - - - - - - 14.98 14.72 11.02
12681.47 827.74 6.78 1474 12713.57 done 0.87 - - 1852.69 - 2.52 0.042 2375.19 -389.8 142.97 27.76 1.851 2315.16 -3.8 0.311 - - - - - - - 14.57 11.01
13016.50 801.32 7.91 1511 13017.83 no move 0.88 - - 1852.62 - - - 2374.88 - 144.97 - - 2308.31 - - - - - - - - - - -
13316.58 777.42 8.43 1541 13322.08 roll 0.88 - - 1852.31 - 4.25 0.123 935.81 -338.6 144.97 - - 2308.97 - - - - - - - - - 15.22 -
13351.32 774.37 6.88 1548 13382.63 0.85 0.30 0.180 1823.12 -97.3 3.84 0.057 2413.12 384.7 168.88 25.61 1.825 2210.97 -3.8 0.296 - - - - - - 15.07 15.37 11.21
13686.61 751.11 7.02 1585 13712.37 done 0.88 - - 1823.06 - 2.84 0.137 3357.94 332.7 189.84 21.85 1.774 2125.25 -3.9 0.303 - - - - - - - 15.01 11.12
13801.32 742.78 8.36 1608 13807.14 roll 0.88 - - 1822.81 - 2.43 0.038 2370.06 -406.5 189.84 - - 2122.50 - - - - - - - - - 15.32 -
14106.72 720.26 7.52 1639 14122.18 done 0.94 - - 1822.62 - 2.91 0.130 3356.06 338.8 200.10 11.48 1.571 2084.81 -3.3 0.275 - - - - - - - 15.15 11.12
14166.63 715.51 8.31 1651 14171.83 roll 0.94 - - 1822.75 - 2.44 0.037 2372.31 -403.2 200.10 - - 2082.62 - - - - - - - - - 14.81 -
14476.74 692.07 7.35 1683 14498.97 1.01 0.32 0.082 1872.19 154.5 4.21 0.118 935.62 -341.3 214.03 15.80 1.654 2025.72 -3.6 0.275 - - - - - - 15.43 15.14 11.11
14511.67 688.70 8.22 1689 14517.14 roll 1.01 - - 1873.12 - 3.85 0.054 2414.12 384.0 214.03 - - 2026.53 - - - - - - - - - 14.83 -
14821.73 659.43 8.87 1721 14826.99 roll 1.01 - - 1873.25 - 2.82 0.128 3357.94 334.7 214.03 - - 2024.31 - - - - - - - - - 15.13 -
14901.73 651.21 10.82 1737 14906.88 roll 0.96 - - 1872.62 - 2.44 0.035 2368.00 -405.7 214.03 - - 2022.28 - - - - - - - - - 14.66 -
15211.75 625.35 7.04 1769 15237.50 done 0.98 - - 1873.06 - 2.93 0.124 3357.19 337.6 234.59 21.51 1.663 1943.47 -3.7 0.251 - - - - - - - 15.10 11.13
15301.75 616.45 10.44 1787 15307.04 roll back 0.94 0.28 0.173 1842.94 -107.6 2.42 0.035 2367.38 -409.0 234.59 - - 1940.69 - - - - - - - - 15.14 15.32 -
15611.78 593.36 7.36 1819 15632.69 done 1.00 - - 1843.06 - 2.91 0.124 3359.56 341.0 248.38 15.11 1.544 1886.72 -3.6 0.251 - - - - - - - 15.14 11.09
15686.48 587.06 7.81 1834 15697.15 done 1.01 - - 1843.00 - 2.41 0.035 2366.44 -412.1 252.48 6.60 1.141 1870.69 -2.4 0.228 - - - - - - - 15.46 11.20
16001.82 563.34 7.88 1867 16008.35 1.06 0.29 0.085 1885.62 147.0 - - 2365.25 - 255.12 4.93 0.899 1858.53 -2.5 0.282 - - - - - - 15.28 - 11.09
16301.88 534.72 9.75 1897 16307.14 roll 1.06 - - 1886.62 - 2.92 0.118 3358.31 340.1 255.12 - - 1859.47 - - - - - - - - - 15.10 -
16376.57 526.85 10.77 1912 16382.31 roll 1.01 - - 1886.56 - 2.42 0.035 2364.56 -410.6 255.12 - - 1859.91 - - - - - - - - - 15.46 -
16681.89 497.15 9.83 1943 16683.22 no move 1.01 - - 1886.69 - - - 2364.56 - 255.12 - - 1857.28 - - - - - - - - - - -
16981.99 466.81 10.48 1973 16987.27 roll 1.01 - - 1887.44 - 2.95 0.118 3357.06 336.4 255.12 - - 1857.97 - - - - - - - - - 15.01 -
17051.97 459.06 12.11 1987 17057.28 roll back 0.97 0.33 0.171 1849.56 -114.8 2.44 0.035 2364.19 -406.9 255.12 - - 1857.78 - - - - - - - - 14.97 15.41 -
17362.01 432.57 8.11 2019 17367.35 roll 1.01 - - 1849.75 - 2.98 0.117 3357.94 333.5 255.12 - - 1858.19 - - - - - - - - - 14.36 -
17396.72 429.77 8.87 2026 17402.55 roll 1.01 - - 1849.69 - 2.43 0.035 2363.38 -409.3 255.12 - - 1857.53 - - - - - - - - - 15.42 -
17702.14 403.68 8.67 2057 17707.47 roll back 1.06 0.23 0.091 1885.62 156.2 2.96 0.117 3358.31 336.1 255.12 - - 1857.94 - - - - - - - - 15.32 14.97 -
17742.09 399.78 10.19 2065 17747.26 roll 1.02 - - 1885.50 - 2.43 0.034 2365.75 -408.5 255.12 - - 1857.12 - - - - - - - - - 15.39 -
18052.13 369.82 9.37 2097 18057.45 roll 1.02 - - 1886.44 - 2.96 0.115 3358.12 335.3 255.12 - - 1857.34 - - - - - - - - - 14.32 -
18076.83 367.25 10.12 2102 18082.66 roll 1.02 - - 1885.06 - 2.44 0.035 2364.94 -407.0 255.12 - - 1857.97 - - - - - - - - - 15.40 -
18382.19 337.05 9.36 2133 18387.51 roll 1.02 - - 1885.94 - 2.96 0.118 3358.25 335.6 255.12 - - 1857.44 - - - - - - - - - 14.32 -
18416.89 333.53 10.20 2140 18422.72 roll 1.02 - - 1885.19 - 2.45 0.036 2365.31 -405.3 255.12 - - 1858.62 - - - - - - - - - 15.38 -
18722.24 304.84 9.15 2171 18723.57 no move 1.02 - - 1885.81 - - - 2363.69 - 255.12 - - 1855.59 - - - - - - - - - - -
19022.33 279.87 8.26 2201 19027.62 roll 1.02 - - 1885.75 - 2.98 0.118 3357.69 333.6 255.12 - - 1857.47 - - - - - - - - - 14.91 -
19092.32 273.78 8.71 2215 19097.67 roll 1.02 - - 1885.62 - 2.46 0.036 2364.75 -403.6 255.12 - - 1858.06 - - - - - - - - - 15.33 -
19402.40 245.62 8.81 2247 19408.45 roll 1.02 - - 1886.12 - 2.99 0.118 3359.06 332.5 255.12 - - 1857.06 - - - - - - - - - 14.91 -
19447.07 241.48 8.82 2256 19453.67 roll 1.02 - - 1885.94 - 2.49 0.037 2367.00 -398.4 255.12 - - 1858.06 - - - - - - - - - 15.08 -
19752.46 215.97 8.06 2287 19758.50 roll 1.02 - - 1885.56 - 2.96 0.116 3358.25 334.9 255.12 - - 1857.12 - - - - - - - - - 14.97 -
19792.42 212.25 9.31 2295 19798.43 roll 1.02 - - 1885.88 - 2.49 0.037 2366.06 -398.5 255.12 - - 1857.59 - - - - - - - - - 15.14 -
20102.53 187.04 7.58 2327 20118.76 done 1.03 - - 1885.38 - 2.90 0.120 3356.94 341.7 264.11 10.61 1.105 1823.06 -3.3 0.101 - - - - - - - 15.18 10.97
20147.24 183.08 8.36 2336 20153.72 roll 1.03 - - 1885.44 - 2.42 0.037 2364.69 -410.0 264.11 - - 1821.34 - - - - - - - - - 15.39 -
20452.54 158.36 8.71 2367 20458.62 roll 1.03 - - 1885.88 - 2.93 0.118 3358.25 339.1 264.11 - - 1822.06 - - - - - - - - - 15.08 -
20482.53 155.63 8.52 2373 20488.48 roll 1.03 - - 1885.75 - 2.47 0.037 2365.56 -401.9 264.11 - - 1821.69 - - - - - - - - - 15.24 -
20792.59 129.45 8.65 2405 20795.46 no move 1.03 - - 1885.12 - - - 2365.06 - 264.11 - - 1820.12 - - - - - - - - - - -
21092.68 101.60 9.87 2435 21098.97 roll 1.03 - - 1885.81 - 2.96 0.118 3356.94 335.1 264.11 - - 1821.50 - - - - - - - - - 14.91 -
21152.63 95.55 10.12 2447 21158.87 roll 1.03 - - 1885.06 - 2.47 0.036 2365.38 -401.4 264.11 - - 1821.97 - - - - - - - - - 15.35 -
21337.71 78.20 9.19 2484 21344.33 roll 1.03 - - 1885.88 - 2.95 0.116 3359.25 336.9 264.11 - - 1820.47 - - - - - - - - - 14.96 -
21372.66 74.65 10.13 2491 21378.97 roll 1.03 - - 1885.44 - 2.47 0.037 2366.75 -401.8 264.11 - - 1821.12 - - - - - - - - - 15.35 -
21557.74 56.51 8.81 2528 21562.88 no move 1.03 - - 1886.00 - - - 2365.00 - 264.11 - - 1820.56 - - - - - - - - - - -
21742.73 40.46 7.75 2565 21759.28 done 1.03 - - 1885.94 - 2.90 0.120 3358.81 342.7 269.49 8.61 0.909 1801.59 -2.2 0.018 - - - - - - - 15.20 11.08
21787.73 36.63 8.56 2574 21794.08 roll 1.03 - - 1885.56 - 2.47 0.037 2364.69 -402.5 269.49 - - 1800.75 - - - - - - - - - 15.30 -
21972.79 21.08 8.82 2611 21977.86 no move 1.03 - - 1885.81 - - - 2362.81 - 269.49 - - 1800.38 - - - - - - - - - - -
22157.76 2.57 10.63 2648 22164.16 roll 1.03 - - 1886.06 - 2.95 0.118 3357.19 337.1 269.49 - - 1800.62 - - - - - - - - - 14.95 -
22168 end climb: SURFACE_DEPTH_REACHED
22168 begin surface coast
22183 end surface coast: CONTROL_FINISHED_OK
22183 begin surface
SM 0.32 - - - - 187.1 - 0.014 1065.8 - 11.10 0.071 1160.1 104.5 - 1.73 0.036 971.4 559.8 -0.509 - - 30.36 15.24 15.57 -