NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 196 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 93.65 of 529.00 AH used of 24V (82.30% remains)
• Surface angle -36.0 deg, depth 0.11 m • Intended pitch -16.2 deg, speed -8.000 cm/s
VBD pumped to 450.09 (SM_CC=450)
• GPS1 time: 90 s
• GPS2 time: 4 s • Transponder ping count: 4
• 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
4.68 - - - 130.10 VBD -0.95 - - 187.00 - 0.14 0.208 2685.81 - -116.79 124.32 0.005 3374.78 - - - - - - - - - 15.15 14.00
130.34 3.14 -2.85 24 149.78 roll back -0.95 9.74 0.289 1388.25 123.3 4.15 0.123 1205.44 -356.7 -116.79 - - 3376.78 - - - - - - - - 15.32 15.29 -
167.93 8.58 -12.94 32 173.74 roll back -0.81 0.24 0.168 1425.50 155.2 3.79 0.066 2681.81 389.5 -116.79 - - 3377.50 - - - - - - - - 15.45 15.26 -
353.02 23.00 -7.99 69 354.47 pitch -0.91 0.28 0.080 1383.75 -149.1 - - 2682.12 - -116.79 - - 3379.06 - - - - - - - - 15.65 - -
533.04 39.12 -8.40 105 537.99 roll -0.91 - - 1384.00 - 1.92 0.138 3356.69 351.3 -116.79 - - 3378.00 - - - - - - - - - 15.49 -
628.07 48.41 -10.56 124 632.97 roll -0.91 - - 1384.44 - 1.71 0.036 2629.44 -425.3 -116.79 - - 3377.78 - - - - - - - - - 15.72 -
813.14 64.21 -8.54 161 814.47 no move -0.91 - - 1384.25 - - - 2629.44 - -116.79 - - 3377.31 - - - - - - - - - - -
993.25 81.66 -9.59 197 998.98 roll -0.91 - - 1384.19 - 3.89 0.116 1205.31 -366.1 -116.79 - - 3378.88 - - - - - - - - - 15.23 -
1038.22 85.62 -8.63 206 1043.97 roll -0.91 - - 1384.25 - 3.80 0.074 2681.38 388.4 -116.79 - - 3378.69 - - - - - - - - - 15.29 -
1228.30 100.94 -7.48 243 1232.95 roll -0.91 - - 1384.62 - 1.92 0.140 3357.88 352.3 -116.79 - - 3377.72 - - - - - - - - - 15.58 -
1308.29 108.17 -9.49 259 1312.91 roll -0.91 - - 1384.12 - 1.71 0.035 2625.69 -428.2 -116.79 - - 3378.59 - - - - - - - - - 15.70 -
1618.38 131.72 -7.88 291 1619.71 no move -0.91 - - 1384.50 - - - 2624.94 - -116.79 - - 3377.81 - - - - - - - - - - -
1918.46 154.27 -7.21 321 1923.51 roll -0.91 - - 1384.19 - 2.09 0.137 3358.31 350.9 -116.79 - - 3378.12 - - - - - - - - - 15.61 -
1998.43 160.43 -7.94 337 2003.04 roll -0.91 - - 1384.38 - 1.72 0.038 2630.62 -423.1 -116.79 - - 3377.72 - - - - - - - - - 15.73 -
2308.49 181.47 -6.88 369 2309.82 no move -0.91 - - 1384.81 - - - 2629.75 - -116.79 - - 3376.22 - - - - - - - - - - -
2608.58 202.17 -6.94 399 2609.91 no move -0.91 - - 1384.81 - - - 2629.94 - -116.79 - - 3375.94 - - - - - - - - - - -
2908.63 223.80 -7.05 429 2913.68 roll -0.91 - - 1384.31 - 2.09 0.138 3358.75 348.7 -116.79 - - 3377.25 - - - - - - - - - 15.62 -
3018.60 233.12 -8.69 451 3023.20 roll -0.91 - - 1384.56 - 1.73 0.039 2630.88 -420.7 -116.79 - - 3378.25 - - - - - - - - - 15.34 -
3328.67 257.14 -7.56 483 3330.00 no move -0.91 - - 1384.44 - - - 2630.56 - -116.79 - - 3377.06 - - - - - - - - - - -
3628.75 280.94 -7.66 513 3630.08 no move -0.91 - - 1384.12 - - - 2631.88 - -116.79 - - 3378.88 - - - - - - - - - - -
3928.76 304.16 -7.43 543 3933.81 roll -0.91 - - 1384.00 - 2.08 0.138 3357.38 348.8 -116.79 - - 3378.25 - - - - - - - - - 15.69 -
4018.72 311.99 -9.26 561 4023.33 roll -0.91 - - 1384.38 - 1.72 0.040 2631.12 -422.2 -116.79 - - 3377.56 - - - - - - - - - 15.83 -
4328.82 334.28 -6.63 593 4330.15 no move -0.91 - - 1384.81 - - - 2630.81 - -116.79 - - 3376.16 - - - - - - - - - - -
4629.97 355.49 -6.63 623 4633.87 roll -0.91 - - 1384.19 - 2.07 0.139 3358.12 351.4 -116.79 - - 3377.00 - - - - - - - - - 15.74 -
4743.50 364.68 -8.51 646 4748.41 roll -0.91 - - 1384.56 - 1.72 0.041 2633.81 -421.1 -116.79 - - 3377.16 - - - - - - - - - 15.88 -
5049.97 385.88 -6.59 677 5051.30 no move -0.91 - - 1384.12 - - - 2633.62 - -116.79 - - 3375.75 - - - - - - - - - - -
5350.03 406.68 -6.88 707 5351.36 no move -0.91 - - 1384.56 - - - 2633.88 - -116.79 - - 3376.84 - - - - - - - - - - -
5648.91 426.52 -6.76 737 5650.24 no move -0.91 - - 1384.81 - - - 2633.44 - -116.79 - - 3375.25 - - - - - - - - - - -
5948.95 445.51 -6.55 767 5954.00 roll -0.91 - - 1384.31 - 2.07 0.143 3356.44 349.3 -116.79 - - 3378.34 - - - - - - - - - 15.73 -
6043.65 452.26 -7.39 786 6048.55 roll -0.91 - - 1384.75 - 1.72 0.045 2636.12 -418.8 -116.79 - - 3376.47 - - - - - - - - - 15.89 -
6348.99 471.83 -6.06 817 6350.32 no move -0.91 - - 1384.06 - - - 2636.31 - -116.79 - - 3375.69 - - - - - - - - - - -
6649.08 491.33 -6.56 847 6650.41 no move -0.91 - - 1383.94 - - - 2636.50 - -116.79 - - 3374.91 - - - - - - - - - - -
6949.13 511.21 -6.50 877 6950.46 no move -0.91 - - 1384.12 - - - 2636.44 - -116.79 - - 3375.34 - - - - - - - - - - -
7249.18 531.05 -6.56 907 7250.51 no move -0.91 - - 1384.50 - - - 2635.81 - -116.79 - - 3376.22 - - - - - - - - - - -
7549.23 550.96 -6.53 937 7550.56 no move -0.91 - - 1384.44 - - - 2636.56 - -116.79 - - 3375.25 - - - - - - - - - - -
7849.27 573.21 -7.29 967 7854.39 roll -0.91 - - 1384.19 - 2.11 0.149 3357.50 341.7 -116.79 - - 3377.44 - - - - - - - - - 15.19 -
7919.22 578.79 -8.50 981 7923.83 roll -0.91 - - 1384.75 - 1.72 0.052 2640.25 -417.0 -116.79 - - 3375.72 - - - - - - - - - 15.91 -
8229.30 602.73 -7.63 1013 8230.63 no move -0.91 - - 1384.56 - - - 2641.19 - -116.79 - - 3375.03 - - - - - - - - - - -
8529.37 626.02 -8.57 1043 8530.70 no move -0.91 - - 1384.38 - - - 2640.38 - -116.79 - - 3374.62 - - - - - - - - - - -
8829.43 647.72 -7.04 1073 8830.76 no move -0.91 - - 1384.25 - - - 2639.81 - -116.79 - - 3374.41 - - - - - - - - - - -
9129.50 669.21 -7.16 1103 9130.83 no move -0.95 - - 1384.19 - - - 2642.31 - -116.79 - - 3374.34 - - - - - - - - - - -
9429.55 690.82 -7.28 1133 9430.88 no move -0.99 - - 1384.31 - - - 2641.44 - -116.79 - - 3373.56 - - - - - - - - - - -
9729.59 712.51 -7.09 1163 9730.92 no move -1.03 - - 1384.56 - - - 2640.75 - -116.79 - - 3374.53 - - - - - - - - - - -
10029.65 733.43 -6.78 1193 10034.69 roll -1.07 - - 1383.94 - 2.11 0.163 3354.69 338.4 -116.79 - - 3375.69 - - - - - - - - - 15.66 -
10104.30 739.00 -7.29 1208 10109.20 roll -1.07 - - 1384.44 - 1.74 0.059 2644.94 -407.9 -116.79 - - 3374.50 - - - - - - - - - 15.89 -
10409.67 759.67 -7.94 1239 10411.12 pitch -1.12 0.23 0.089 1335.56 -212.5 - - 2643.44 - -116.79 - - 3372.91 - - - - - - - - 15.77 - -
10709.67 784.36 -8.51 1269 10711.00 no move -1.12 - - 1335.56 - - - 2643.88 - -116.79 - - 3373.00 - - - - - - - - - - -
11009.75 809.72 -8.37 1299 11011.07 no move -1.12 - - 1335.50 - - - 2643.88 - -116.79 - - 3373.31 - - - - - - - - - - -
11309.76 834.44 -9.02 1329 11314.84 roll -1.12 - - 1335.12 - 2.12 0.172 3357.88 336.8 -116.79 - - 3373.16 - - - - - - - - - 15.63 -
11374 end dive: TARGET_DEPTH_EXCEEDED
11374 begin apogee
11378.01 840.47 -9.42 1342 11484.22 -0.25 1.61 0.152 1561.81 140.8 0.05 0.333 2409.75 -18962.6 - 103.07 1.974 2897.12 -4.6 0.331 - - - - - - 15.73 15.39 11.10
11485 end apogee: CONTROL_FINISHED_OK
11485 begin climb
11485.48 842.04 - 1353 11600.62 0.95 1.90 0.088 1857.31 155.5 4.40 0.149 937.75 -334.5 116.79 107.15 1.905 2420.34 -4.4 0.331 - - - - - - 15.44 15.16 12.26
11602.90 837.61 4.29 1371 11681.65 done 0.96 - - 1857.00 - 3.88 0.069 2412.25 380.0 196.11 73.43 1.856 2100.44 -4.4 0.331 - - - - - - - 15.27 12.18
11984.10 803.31 9.63 1417 11989.40 done 0.96 - - 1857.50 - 2.72 0.148 3357.12 347.4 196.11 - - 2090.47 - - - - - - - - - 15.51 -
12024.12 798.94 11.54 1425 12029.35 done 0.89 - - 1857.50 - 2.42 0.051 2380.00 -403.8 196.11 - - 2090.00 - - - - - - - - - 15.61 -
12334.17 769.75 9.43 1457 12339.45 done 0.89 - - 1857.62 - 2.78 0.139 3358.00 351.8 196.11 - - 2089.66 - - - - - - - - - 15.61 -
12344.16 769.04 9.11 1459 12349.33 done 0.89 - - 1857.06 - 2.39 0.049 2378.88 -409.7 196.11 - - 2088.56 - - - - - - - - - 15.71 -
12654.22 739.97 9.14 1491 12659.50 done 0.89 - - 1858.25 - 2.78 0.139 3355.06 351.1 196.11 - - 2089.88 - - - - - - - - - 15.66 -
12674.23 737.40 9.86 1495 12679.53 0.84 0.34 0.179 1818.06 -118.2 2.38 0.051 2378.31 -410.4 196.11 - - 2089.38 - - - - - - - - 15.57 15.77 -
12984.27 714.65 7.27 1527 13005.03 done 0.86 - - 1819.06 - 2.76 0.143 3356.69 354.5 211.74 14.56 1.626 2035.22 -3.7 0.275 - - - - - - - 15.71 11.71
13034.27 710.19 8.73 1537 13039.43 roll 0.86 - - 1818.56 - 2.38 0.050 2378.62 -411.0 211.74 - - 2035.50 - - - - - - - - - 15.79 -
13344.39 687.58 7.21 1569 13369.29 0.93 0.22 0.094 1856.94 174.5 2.77 0.140 3358.06 353.6 228.63 18.05 1.654 1966.56 -3.8 0.267 - - - - - - 15.75 15.69 11.94
13389.03 682.95 10.95 1578 13394.78 roll 0.93 - - 1856.56 - 2.38 0.049 2377.44 -412.0 228.63 - - 1967.28 - - - - - - - - - 15.77 -
13694.39 655.57 7.90 1609 13695.72 no move 0.93 - - 1856.44 - - - 2377.62 - 230.82 - - 1962.00 - - - - - - - - - - -
13994.48 626.86 10.43 1639 13995.81 no move 0.93 - - 1856.56 - - - 2377.56 - 230.82 - - 1961.66 - - - - - - - - - - -
14294.52 599.43 8.92 1669 14299.76 roll 0.93 - - 1856.00 - 2.78 0.138 3357.88 352.6 230.82 - - 1962.31 - - - - - - - - - 15.73 -
14324.47 596.20 10.27 1675 14329.64 roll 0.93 - - 1856.56 - 2.35 0.043 2370.75 -420.1 230.82 - - 1961.62 - - - - - - - - - 15.84 -
14634.54 567.56 9.14 1707 14639.82 roll 0.93 - - 1856.38 - 2.75 0.130 3357.94 359.0 230.82 - - 1961.94 - - - - - - - - - 15.74 -
14664.53 564.93 8.99 1713 14669.69 roll 0.93 - - 1857.00 - 2.35 0.041 2368.25 -421.1 230.82 - - 1961.19 - - - - - - - - - 15.85 -
14974.59 536.93 9.53 1745 14979.88 roll 0.93 - - 1856.69 - 2.77 0.128 3357.88 357.3 230.82 - - 1960.66 - - - - - - - - - 15.74 -
14989.31 535.67 9.89 1748 14995.04 roll 0.93 - - 1857.06 - 2.36 0.040 2367.31 -419.7 230.82 - - 1960.94 - - - - - - - - - 15.80 -
15294.64 508.14 8.42 1779 15299.93 roll 0.93 - - 1856.31 - 2.76 0.126 3357.44 358.7 230.82 - - 1960.59 - - - - - - - - - 15.75 -
15324.64 505.00 10.99 1785 15329.81 roll 0.93 - - 1856.94 - 2.34 0.040 2365.75 -423.8 230.82 - - 1960.91 - - - - - - - - - 15.86 -
15634.69 476.09 9.57 1817 15639.98 roll 0.93 - - 1856.94 - 2.78 0.125 3358.25 357.0 230.82 - - 1960.50 - - - - - - - - - 15.74 -
15679.39 471.59 9.47 1826 15685.13 roll 0.93 - - 1856.31 - 2.34 0.039 2365.88 -424.1 230.82 - - 1961.44 - - - - - - - - - 15.81 -
15984.71 442.73 9.07 1857 15986.04 no move 0.93 - - 1856.69 - - - 2366.19 - 230.82 - - 1959.06 - - - - - - - - - - -
16284.77 415.10 9.53 1887 16290.02 roll 0.93 - - 1857.06 - 2.76 0.125 3358.62 359.6 230.82 - - 1960.72 - - - - - - - - - 15.74 -
16324.72 411.29 9.55 1895 16329.89 roll 0.93 - - 1857.00 - 2.36 0.040 2366.00 -420.6 230.82 - - 1961.00 - - - - - - - - - 15.82 -
16634.76 383.23 9.31 1927 16640.03 roll 0.93 - - 1856.25 - 2.72 0.124 3357.69 364.6 230.82 - - 1961.19 - - - - - - - - - 15.74 -
16654.74 381.36 9.42 1931 16659.91 roll 0.93 - - 1857.12 - 2.34 0.040 2366.06 -423.8 230.82 - - 1960.62 - - - - - - - - - 15.81 -
16964.79 354.28 9.01 1963 16970.05 roll 0.93 - - 1856.50 - 2.74 0.123 3357.75 361.9 230.82 - - 1960.06 - - - - - - - - - 15.74 -
16999.47 351.12 8.49 1970 17005.22 roll 0.93 - - 1857.44 - 2.34 0.041 2365.44 -424.1 230.82 - - 1960.31 - - - - - - - - - 15.81 -
17304.80 324.00 8.63 2001 17306.13 no move 0.93 - - 1857.00 - - - 2364.75 - 230.82 - - 1960.56 - - - - - - - - - - -
17604.85 296.70 9.03 2031 17610.09 roll 0.93 - - 1857.19 - 2.74 0.123 3356.81 362.1 230.82 - - 1960.34 - - - - - - - - - 15.74 -
17634.81 293.93 8.70 2037 17639.97 roll 0.93 - - 1856.94 - 2.34 0.041 2365.81 -423.5 230.82 - - 1960.59 - - - - - - - - - 15.88 -
17944.85 265.45 9.46 2069 17950.12 roll 0.93 - - 1857.06 - 2.76 0.122 3357.56 359.3 230.82 - - 1959.97 - - - - - - - - - 15.74 -
17989.55 261.03 9.95 2078 17995.31 roll 0.93 - - 1856.81 - 2.35 0.040 2364.62 -422.5 230.82 - - 1960.16 - - - - - - - - - 15.82 -
18294.87 234.82 8.01 2109 18300.92 roll 0.93 - - 1856.88 - 2.75 0.123 3357.38 361.0 230.82 - - 1960.06 - - - - - - - - - 15.71 -
18354.96 229.87 8.72 2121 18360.82 roll 0.93 - - 1857.44 - 2.35 0.040 2366.56 -421.6 230.82 - - 1960.12 - - - - - - - - - 15.82 -
18664.94 203.72 8.32 2153 18671.02 roll 0.93 - - 1857.81 - 2.77 0.123 3358.19 358.0 230.82 - - 1960.22 - - - - - - - - - 15.69 -
18699.65 200.36 9.35 2160 18706.17 roll 0.93 - - 1857.50 - 2.36 0.039 2367.19 -419.9 230.82 - - 1960.25 - - - - - - - - - 15.82 -
19005.00 174.96 8.08 2191 19007.87 no move 0.93 - - 1857.38 - - - 2366.56 - 230.82 - - 1959.09 - - - - - - - - - - -
19305.09 148.67 8.07 2221 19311.10 roll 0.93 - - 1857.88 - 2.77 0.123 3356.00 357.2 230.82 - - 1960.19 - - - - - - - - - 15.62 -
19355.07 143.86 9.34 2231 19360.99 roll 0.93 - - 1857.44 - 2.35 0.040 2367.12 -420.8 230.82 - - 1961.09 - - - - - - - - - 15.75 -
19665.11 115.55 9.50 2263 19671.53 roll 0.93 - - 1857.38 - 2.74 0.122 3358.38 361.8 230.82 - - 1960.12 - - - - - - - - - 15.63 -
19695.10 112.47 10.06 2269 19701.04 roll 0.93 - - 1857.25 - 2.35 0.039 2366.88 -421.9 230.82 - - 1962.66 - - - - - - - - - 15.79 -
20000.19 88.65 6.31 2316 20038.19 done 0.98 - - 1857.69 - 2.74 0.124 3358.88 362.0 267.00 32.17 1.108 1810.34 -4.7 0.064 - - - - - - - 15.73 11.60
20060.63 84.09 7.73 2328 20073.05 done 0.98 - - 1856.69 - 2.37 0.038 2363.00 -420.2 272.82 7.27 0.821 1787.56 -3.1 0.054 - - - - - - - 15.78 12.52
20250.66 66.49 10.18 2366 20257.02 roll 0.98 - - 1857.06 - 2.77 0.121 3359.00 359.6 272.82 - - 1784.72 - - - - - - - - - 15.30 -
20270.67 64.41 10.16 2370 20276.89 roll 0.98 - - 1857.75 - 2.36 0.038 2364.88 -421.2 272.82 - - 1783.94 - - - - - - - - - 15.73 -
20455.74 48.16 9.67 2407 20462.05 roll 0.98 - - 1857.69 - 2.76 0.120 3357.56 359.7 272.82 - - 1784.34 - - - - - - - - - 15.68 -
20490.69 44.30 11.03 2414 20496.92 roll 0.98 - - 1857.62 - 2.37 0.039 2364.94 -418.8 272.82 - - 1783.72 - - - - - - - - - 15.39 -
20675.77 25.74 9.80 2451 20680.83 no move 0.98 - - 1857.81 - - - 2362.31 - 272.82 - - 1783.53 - - - - - - - - - - -
20860.75 10.49 9.74 2488 20867.09 roll 0.98 - - 1856.25 - 2.78 0.123 3357.31 357.9 272.82 - - 1784.56 - - - - - - - - - 15.68 -
20915.75 4.76 11.15 2499 20921.98 roll 0.98 - - 1857.38 - 2.35 0.040 2364.56 -422.4 272.82 - - 1782.62 - - - - - - - - - 15.76 -
20941 end climb: SURFACE_DEPTH_REACHED
20941 begin surface coast
20956 end surface coast: CONTROL_FINISHED_OK
20956 begin surface
SM 0.13 - - - - 191.1 - - 1065.1 - 10.30 0.068 1153.6 112.0 - 0.78 0.086 976.7 1249.2 -0.193 - - 30.00 15.70 15.81 -