NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 91 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 44.55 of 529.00 AH used of 24V (91.58% remains)
• Surface angle -37.2 deg, depth 0.50 m • Intended pitch -16.2 deg, speed -8.000 cm/s
VBD pumped to 588.75 (SM_CC=588.71997)
• GPS1 time: 17 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
3 begin dive
4.45 - - - 123.84 VBD -0.95 - - 181.81 - - - 2632.69 - -116.79 119.14 0.005 3369.38 - - - - - - - - - - 15.54
124.09 3.27 -2.48 23 143.56 roll back -0.95 10.18 0.297 1388.31 118.5 3.76 0.143 1204.06 -380.0 -116.79 - - 3371.75 - - - - - - - - 15.40 15.66 -
366.77 24.11 -7.35 72 372.43 roll -0.95 - - 1389.56 - 3.60 0.088 2682.56 410.7 -116.79 - - 3371.47 - - - - - - - - - 15.78 -
551.75 37.85 -6.83 109 557.50 roll -0.95 - - 1389.31 - 3.79 0.119 1203.81 -390.2 -116.79 - - 3371.81 - - - - - - - - - 15.75 -
681.78 47.87 -7.65 135 687.47 roll -0.99 - - 1388.88 - 3.58 0.084 2682.44 413.0 -116.79 - - 3373.25 - - - - - - - - - 15.80 -
866.79 61.57 -7.88 172 868.12 no move -0.99 - - 1389.38 - - - 2682.44 - -116.79 - - 3370.47 - - - - - - - - - - -
1046.83 75.59 -7.81 208 1048.15 no move -0.99 - - 1389.31 - - - 2682.44 - -116.79 - - 3371.09 - - - - - - - - - - -
1226.87 89.40 -7.38 244 1232.60 roll -1.04 - - 1389.50 - 3.77 0.118 1204.00 -392.2 -116.79 - - 3373.22 - - - - - - - - - 15.78 -
1281.89 93.64 -7.60 255 1287.67 roll back -1.10 0.34 0.078 1340.94 -142.8 3.55 0.081 2683.38 416.7 -116.79 - - 3372.16 - - - - - - - - 15.79 15.84 -
1466.89 110.83 -9.76 281 1468.34 pitch -1.05 0.27 0.180 1366.75 95.6 - - 2683.19 - -116.79 - - 3370.38 - - - - - - - - 15.83 - -
1766.91 135.50 -8.07 311 1768.24 no move -1.05 - - 1367.12 - - - 2682.62 - -116.79 - - 3371.12 - - - - - - - - - - -
2067.03 159.44 -7.74 341 2068.36 no move -1.05 - - 1366.69 - - - 2683.38 - -116.79 - - 3371.00 - - - - - - - - - - -
2367.08 183.13 -8.09 371 2368.41 no move -1.05 - - 1366.38 - - - 2683.00 - -116.79 - - 3370.84 - - - - - - - - - - -
2667.12 206.88 -8.22 401 2671.74 roll -1.05 - - 1366.75 - 1.78 0.159 3357.00 378.7 -116.79 - - 3373.19 - - - - - - - - - 15.86 -
2701.84 209.87 -8.33 408 2706.72 roll -1.05 - - 1366.19 - 1.64 0.038 2617.75 -450.8 -116.79 - - 3373.00 - - - - - - - - - 15.92 -
3007.14 235.54 -8.54 439 3012.23 roll -1.05 - - 1366.75 - 1.96 0.150 3357.19 377.3 -116.79 - - 3372.69 - - - - - - - - - 15.72 -
3077.15 241.84 -9.51 453 3081.75 roll -1.05 - - 1366.88 - 1.64 0.039 2620.69 -449.1 -116.79 - - 3372.62 - - - - - - - - - 15.93 -
3387.21 267.44 -8.29 485 3392.30 roll -1.05 - - 1366.62 - 1.94 0.150 3357.81 380.0 -116.79 - - 3371.41 - - - - - - - - - 15.79 -
3437.22 271.71 -8.68 495 3441.82 roll -1.05 - - 1366.88 - 1.64 0.041 2621.56 -448.9 -116.79 - - 3371.47 - - - - - - - - - 15.93 -
3747.29 295.92 -7.18 527 3752.37 roll -1.05 - - 1366.62 - 1.95 0.150 3357.50 377.4 -116.79 - - 3372.31 - - - - - - - - - 15.79 -
3801.99 300.64 -8.35 538 3806.88 roll -1.05 - - 1367.00 - 1.64 0.042 2626.75 -445.6 -116.79 - - 3372.25 - - - - - - - - - 15.90 -
4107.37 323.79 -7.34 569 4112.02 roll -1.05 - - 1367.19 - 1.92 0.151 3357.81 380.8 -116.79 - - 3371.34 - - - - - - - - - 15.82 -
4147.36 327.12 -7.15 577 4151.96 roll -1.05 - - 1367.25 - 1.64 0.042 2627.81 -445.1 -116.79 - - 3372.12 - - - - - - - - - 15.90 -
4457.42 350.50 -7.59 609 4458.75 no move -1.05 - - 1366.44 - - - 2628.56 - -116.79 - - 3370.34 - - - - - - - - - - -
4757.52 371.77 -6.45 639 4762.17 roll -1.05 - - 1367.00 - 1.93 0.154 3358.38 378.1 -116.79 - - 3371.94 - - - - - - - - - 15.82 -
4842.19 378.33 -7.61 656 4847.07 roll -1.05 - - 1367.00 - 1.65 0.045 2632.25 -440.1 -116.79 - - 3371.50 - - - - - - - - - 15.93 -
5147.81 398.65 -5.94 687 5152.47 roll -1.05 - - 1366.88 - 1.92 0.155 3357.31 377.6 -116.79 - - 3370.56 - - - - - - - - - 15.78 -
5202.25 402.90 -7.23 698 5207.14 roll -1.05 - - 1367.19 - 1.64 0.045 2633.50 -441.3 -116.79 - - 3371.19 - - - - - - - - - 15.95 -
5507.61 422.86 -6.63 729 5512.25 roll -1.05 - - 1366.81 - 1.92 0.156 3358.69 377.7 -116.79 - - 3372.06 - - - - - - - - - 15.79 -
5542.32 425.21 -6.49 736 5547.20 roll -1.05 - - 1366.38 - 1.65 0.047 2631.69 -440.6 -116.79 - - 3370.50 - - - - - - - - - 14.17 -
5847.67 444.73 -6.19 767 5852.32 roll -1.05 - - 1366.50 - 1.92 0.158 3357.19 377.9 -116.79 - - 3371.00 - - - - - - - - - 15.85 -
5892.38 447.60 -6.44 776 5897.26 roll -1.05 - - 1366.62 - 1.64 0.048 2635.12 -440.3 -116.79 - - 3370.44 - - - - - - - - - 15.95 -
6197.72 466.87 -5.78 807 6202.37 roll -1.05 - - 1367.19 - 1.92 0.159 3356.81 375.9 -116.79 - - 3371.06 - - - - - - - - - 15.79 -
6222.42 468.91 -6.37 812 6227.30 roll -1.05 - - 1366.69 - 1.64 0.050 2636.44 -439.2 -116.79 - - 3370.59 - - - - - - - - - 15.95 -
6527.74 488.23 -6.41 843 6532.39 roll -1.05 - - 1366.88 - 1.92 0.160 3357.75 375.7 -116.79 - - 3370.25 - - - - - - - - - 15.80 -
6582.45 492.24 -7.39 854 6587.33 roll -1.05 - - 1366.12 - 1.65 0.052 2638.81 -435.7 -116.79 - - 3370.78 - - - - - - - - - 15.94 -
6887.78 512.79 -6.55 885 6889.11 no move -1.05 - - 1366.00 - - - 2639.38 - -116.79 - - 3370.50 - - - - - - - - - - -
7187.85 533.52 -7.01 915 7192.49 roll -1.05 - - 1366.75 - 1.91 0.164 3357.12 375.8 -116.79 - - 3369.59 - - - - - - - - - 15.79 -
7242.51 537.81 -7.87 926 7247.40 roll -1.05 - - 1367.00 - 1.65 0.056 2641.25 -433.9 -116.79 - - 3369.75 - - - - - - - - - 15.95 -
7547.83 559.26 -7.59 957 7549.15 no move -1.05 - - 1366.62 - - - 2640.88 - -116.79 - - 3369.44 - - - - - - - - - - -
7847.89 580.71 -7.23 987 7852.54 roll -1.05 - - 1366.12 - 1.93 0.166 3356.69 370.9 -116.79 - - 3370.91 - - - - - - - - - 15.80 -
7912.54 586.32 -9.13 1000 7917.42 roll -1.05 - - 1366.88 - 1.66 0.057 2642.88 -430.0 -116.79 - - 3369.62 - - - - - - - - - 15.89 -
8217.86 609.34 -8.04 1031 8219.19 no move -1.05 - - 1367.00 - - - 2642.75 - -116.79 - - 3369.09 - - - - - - - - - - -
8517.99 631.41 -6.85 1061 8522.63 roll -1.05 - - 1366.81 - 1.93 0.170 3356.38 369.8 -116.79 - - 3369.50 - - - - - - - - - 15.85 -
8562.61 634.79 -7.55 1070 8567.50 roll -1.05 - - 1366.81 - 1.67 0.063 2644.69 -426.2 -116.79 - - 3369.25 - - - - - - - - - 15.95 -
8867.98 657.49 -7.57 1101 8869.31 no move -1.05 - - 1366.69 - - - 2644.38 - -116.79 - - 3367.59 - - - - - - - - - - -
9168.06 679.63 -7.56 1131 9169.39 no move -1.05 - - 1366.81 - - - 2644.31 - -116.79 - - 3367.66 - - - - - - - - - - -
9468.11 701.45 -7.17 1161 9473.14 roll -1.05 - - 1366.38 - 1.95 0.174 3357.81 365.9 -116.79 - - 3368.78 - - - - - - - - - 15.73 -
9512.78 704.88 -7.60 1170 9517.68 roll -1.05 - - 1367.00 - 1.68 0.068 2646.12 -423.6 -116.79 - - 3368.06 - - - - - - - - - 15.91 -
9818.13 726.15 -6.84 1201 9819.47 no move -1.05 - - 1366.88 - - - 2646.56 - -116.79 - - 3367.84 - - - - - - - - - - -
10118.30 747.60 -7.53 1231 10122.95 roll -1.05 - - 1366.62 - 1.93 0.178 3356.50 367.8 -116.79 - - 3368.06 - - - - - - - - - 15.82 -
10178.22 752.05 -8.18 1243 10182.82 roll -1.05 - - 1366.19 - 1.68 0.072 2648.69 -421.3 -116.79 - - 3368.03 - - - - - - - - - 15.94 -
10488.25 773.75 -6.79 1275 10493.33 roll -1.05 - - 1366.44 - 1.95 0.179 3357.75 363.6 -116.79 - - 3366.97 - - - - - - - - - 15.75 -
10542.97 777.59 -6.77 1286 10547.86 roll -1.05 - - 1366.69 - 1.69 0.074 2648.00 -420.0 -116.79 - - 3366.78 - - - - - - - - - 15.94 -
10848.33 796.59 -5.46 1317 10853.39 roll -1.05 - - 1366.44 - 1.96 0.181 3357.25 361.9 -116.79 - - 3367.56 - - - - - - - - - 15.75 -
10878.33 798.55 -6.30 1323 10882.92 roll -1.05 - - 1367.31 - 1.70 0.075 2647.94 -417.2 -116.79 - - 3366.62 - - - - - - - - - 15.95 -
11188.38 816.07 -5.44 1355 11189.71 no move -1.05 - - 1366.81 - - - 2648.62 - -116.79 - - 3365.72 - - - - - - - - - - -
11488.47 832.77 -5.12 1385 11489.80 no move -1.05 - - 1366.69 - - - 2648.25 - -116.79 - - 3365.06 - - - - - - - - - - -
11628 end dive: TARGET_DEPTH_EXCEEDED
11628 begin apogee
11630.15 840.52 -5.27 1399 11733.01 -0.25 1.35 0.141 1561.25 144.1 0.06 0.329 2409.25 -3983.3 - 100.57 2.011 2897.03 -4.7 0.324 - - - - - - 15.51 15.41 11.86
11734 end apogee: CONTROL_FINISHED_OK
11734 begin climb
11734.09 840.83 - 1409 11849.73 0.95 1.95 0.087 1857.19 151.8 4.14 0.159 936.31 -355.8 116.79 106.97 1.943 2422.06 -4.4 0.320 - - - - - - 15.47 15.16 12.59
11917.17 828.61 10.22 1445 11922.71 roll back 0.84 0.35 0.191 1819.75 -107.0 3.71 0.082 2410.38 397.3 116.79 - - 2418.53 - - - - - - - - 15.37 15.44 -
12227.22 805.47 7.27 1477 12247.94 done 0.86 - - 1819.88 - 2.59 0.168 3357.56 365.7 132.35 14.90 1.681 2360.19 -3.9 0.313 - - - - - - - 15.54 12.23
12321.94 797.70 8.67 1496 12327.67 roll 0.82 - - 1819.25 - 2.34 0.057 2379.88 -417.8 132.35 - - 2358.34 - - - - - - - - - 15.64 -
12627.29 776.06 6.82 1527 12658.58 done 0.85 - - 1819.00 - 3.88 0.159 936.69 -372.0 157.63 25.07 1.791 2255.69 -4.1 0.296 - - - - - - - 15.58 12.26
12692.01 771.79 7.04 1540 12718.47 done 0.88 - - 1820.00 - 3.63 0.080 2412.44 406.5 178.19 21.20 1.740 2173.31 -3.9 0.287 - - - - - - - 15.69 12.48
13017.34 748.36 6.77 1575 13048.42 done 0.91 - - 1819.44 - 2.55 0.170 3357.00 370.4 204.58 25.74 1.775 2064.94 -4.2 0.296 - - - - - - - 15.54 12.36
13122.06 740.59 8.11 1596 13127.80 roll 0.91 - - 1818.56 - 2.34 0.053 2379.62 -417.7 204.58 - - 2061.56 - - - - - - - - - 15.58 -
13427.41 720.23 7.09 1627 13447.91 0.94 0.23 0.094 1856.12 163.3 - - 2379.19 - 224.03 19.44 1.706 1987.34 -3.8 0.269 - - - - - - 15.75 - 12.29
13747.49 692.20 8.58 1659 13748.82 no move 0.94 - - 1854.75 - - - 2379.38 - 224.03 - - 1981.03 - - - - - - - - - - -
14047.54 665.29 9.80 1689 14052.75 roll 0.94 - - 1855.06 - 2.57 0.153 3356.44 380.2 224.03 - - 1981.59 - - - - - - - - - 15.79 -
14087.51 661.71 8.93 1697 14092.64 roll 0.89 - - 1856.12 - 2.30 0.053 2376.31 -426.1 224.03 - - 1979.50 - - - - - - - - - 15.85 -
14397.55 634.37 8.27 1729 14398.89 no move 0.89 - - 1855.94 - - - 2376.81 - 224.03 - - 1979.75 - - - - - - - - - - -
14697.66 609.71 7.34 1759 14712.58 VBD 0.91 - - 1856.00 - - - 2375.81 - 238.06 14.34 1.554 1927.09 -3.7 0.240 - - - - - - - - 12.30
15007.66 585.15 8.45 1790 15012.90 roll 0.91 - - 1855.31 - 2.59 0.152 3357.62 379.1 238.06 - - 1926.50 - - - - - - - - - 15.83 -
15047.65 581.87 8.81 1798 15052.80 roll 0.91 - - 1855.62 - 2.29 0.051 2374.56 -429.3 238.06 - - 1925.31 - - - - - - - - - 15.87 -
15357.72 555.51 8.17 1830 15359.04 no move 0.91 - - 1855.75 - - - 2374.44 - 238.06 - - 1924.19 - - - - - - - - - - -
15657.77 528.84 9.87 1860 15662.97 roll 0.91 - - 1856.31 - 2.58 0.146 3358.00 381.2 238.06 - - 1924.56 - - - - - - - - - 15.81 -
15692.42 525.46 9.66 1867 15698.16 roll 0.91 - - 1856.06 - 2.27 0.048 2372.50 -434.1 238.06 - - 1925.84 - - - - - - - - - 15.91 -
15997.75 498.51 8.53 1898 15999.08 no move 0.91 - - 1856.50 - - - 2373.00 - 238.06 - - 1923.00 - - - - - - - - - - -
16297.82 472.11 8.83 1928 16303.01 roll 0.91 - - 1856.38 - 2.55 0.144 3356.94 385.9 238.06 - - 1924.91 - - - - - - - - - 15.88 -
16342.47 468.03 9.49 1937 16348.21 roll 0.91 - - 1856.81 - 2.25 0.045 2370.81 -438.3 238.06 - - 1924.03 - - - - - - - - - 15.93 -
16647.79 440.74 9.61 1968 16649.12 no move 0.91 - - 1856.69 - - - 2371.69 - 238.06 - - 1922.44 - - - - - - - - - - -
16947.86 412.33 9.11 1998 16953.07 roll 0.91 - - 1856.88 - 2.55 0.141 3357.81 386.7 238.06 - - 1923.94 - - - - - - - - - 15.87 -
17007.81 405.86 10.49 2010 17012.96 roll 0.91 - - 1857.06 - 2.26 0.044 2368.25 -437.9 238.06 - - 1922.72 - - - - - - - - - 15.87 -
17317.85 375.23 10.31 2042 17323.09 roll 0.91 - - 1856.62 - 2.55 0.139 3358.44 388.3 238.06 - - 1924.34 - - - - - - - - - 15.89 -
17357.83 371.27 9.89 2050 17362.99 roll 0.91 - - 1856.88 - 2.25 0.044 2365.88 -441.1 238.06 - - 1923.09 - - - - - - - - - 15.93 -
17667.87 342.56 8.85 2082 17669.20 no move 0.91 - - 1857.12 - - - 2366.62 - 238.06 - - 1922.03 - - - - - - - - - - -
17967.94 314.08 9.28 2112 17973.15 roll 0.91 - - 1857.19 - 2.57 0.141 3356.06 385.0 238.06 - - 1923.41 - - - - - - - - - 15.88 -
18037.97 306.61 10.33 2126 18043.05 roll 0.91 - - 1856.69 - 2.25 0.047 2367.56 -439.3 238.06 - - 1924.00 - - - - - - - - - 15.95 -
18347.97 275.99 10.21 2158 18349.30 no move 0.91 - - 1856.50 - - - 2367.25 - 238.06 - - 1922.56 - - - - - - - - - - -
18648.07 247.50 8.87 2188 18654.05 roll 0.91 - - 1857.44 - 2.57 0.141 3357.44 385.3 238.06 - - 1923.50 - - - - - - - - - 15.87 -
18712.74 240.65 10.42 2201 18719.24 roll 0.91 - - 1856.75 - 2.26 0.045 2366.38 -438.5 238.06 - - 1923.16 - - - - - - - - - 15.92 -
19018.10 212.49 9.00 2232 19020.98 no move 0.91 - - 1856.50 - - - 2366.81 - 238.06 - - 1921.94 - - - - - - - - - - -
19318.18 184.75 9.58 2262 19324.16 roll 0.91 - - 1855.69 - 2.57 0.140 3357.88 385.6 238.06 - - 1924.53 - - - - - - - - - 15.82 -
19402.87 175.92 11.03 2279 19409.37 roll 0.91 - - 1856.88 - 2.26 0.045 2366.62 -438.6 238.06 - - 1923.25 - - - - - - - - - 15.89 -
19708.21 148.21 9.22 2310 19711.08 no move 0.91 - - 1857.00 - - - 2366.81 - 238.06 - - 1922.75 - - - - - - - - - - -
20008.32 122.19 8.92 2340 20014.28 roll 0.91 - - 1856.56 - 2.56 0.140 3358.38 387.3 238.06 - - 1924.41 - - - - - - - - - 15.81 -
20102.99 113.57 9.29 2359 20109.48 roll 0.91 - - 1857.12 - 2.26 0.045 2366.00 -439.1 238.06 - - 1925.19 - - - - - - - - - 15.88 -
20408.35 88.85 8.10 2404 20414.68 roll 0.91 - - 1857.06 - 2.58 0.139 3357.56 384.3 238.06 - - 1923.31 - - - - - - - - - 15.74 -
20488.39 82.36 7.79 2420 20499.77 done 0.92 - - 1856.44 - 2.27 0.044 2365.25 -437.1 242.56 5.45 0.730 1910.16 -2.4 0.045 - - - - - - - 15.84 12.15
20678.45 67.94 7.33 2458 20696.13 VBD 0.93 - - 1855.19 - - - 2365.00 - 257.00 14.82 1.035 1851.03 -4.0 0.044 - - - - - - - - 12.37
20873.62 52.66 6.44 2497 20910.51 done 0.97 - - 1856.81 - 2.59 0.141 3357.94 383.4 290.48 29.70 1.064 1715.03 -4.6 0.038 - - - - - - - 15.74 12.37
20948.62 47.84 7.08 2512 20974.82 done 1.00 - - 1856.88 - 2.28 0.044 2366.44 -434.9 310.10 18.60 1.008 1636.19 -4.2 0.034 - - - - - - - 15.77 12.52
21153.72 34.98 7.33 2553 21175.26 done 1.06 - - 1856.69 - 2.58 0.139 3358.56 384.5 324.51 14.52 0.965 1576.06 -4.1 0.025 - - - - - - - 15.70 12.43
21203.74 30.97 8.18 2563 21209.99 roll back 1.11 0.19 0.102 1896.88 211.5 2.29 0.043 2366.44 -433.2 324.51 - - 1573.84 - - - - - - - - 15.69 15.73 -
21388.70 11.41 9.45 2600 21393.91 no move 1.11 - - 1897.38 - - - 2366.81 - 324.51 - - 1572.66 - - - - - - - - - - -
21484 end climb: SURFACE_DEPTH_REACHED
21484 begin surface coast
21504 end surface coast: CONTROL_FINISHED_OK
21504 begin surface
SM 0.35 - - - - 185.6 - - 499.9 - 10.60 0.053 584.1 55.1 - 0.75 0.123 415.7 554.3 -0.161 - - 30.00 15.79 15.79 -