NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 434 * Raw log
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• Previous call tries 1 • 0.00 of 0.00 AH used of 24V (NaN% remains)
• Previous NAKs 0, Timeouts 0 • 215.68 of 310.00 AH used of 10V (30.43% remains)
• Surface angle -63.5 deg, depth 0.65 m • Intended pitch -16.9 deg, speed -8.049 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 44 s
• GPS2 time: 9 s • Transponder ping count: 30
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
10 - - - 113 done -0.51 - - - - - - 2532 - -116.8 -99.88 0.008 3398 - - - - - - - - 14.74 12.40 14.66
117 2.6 -3.6 10 135 roll -0.51 10.90 0.409 2037 186.9 2.22 0.067 3841 589.6 -116.8 - - 3403 - - 1 - - - - - 13.57 14.14 14.00
204 15.4 -8.4 26 209 done -0.51 - - 2036 - 2.28 0.057 2502 -587.3 -116.8 - - 3405 - - - - - - - - 14.46 14.37 14.50
518 44.5 -7.4 58 524 roll -0.51 - - 2036 - 2.58 0.076 1109 -539.9 -116.8 - - 3405 - - - - - - - - 14.83 14.26 14.85
586 50.1 -7.6 71 593 done -0.51 - - 2028 - 2.62 0.065 2512 535.5 -116.8 - - 3405 - - - - - - - - 14.23 14.11 14.28
894 80.6 -10.6 102 900 done -0.51 - - 2028 - - - 2512 - -116.8 - - 3405 - - - - - - - - 14.85 14.87 14.87
1212 111.4 -8.9 126 1218 roll -0.51 - - 2028 - 2.62 0.069 1119 -531.7 -116.8 - - 3405 - - - - - - - - 14.85 14.23 14.88
1285 119.3 -11.1 140 1292 done -0.51 0.15 0.226 2053 166.7 2.62 0.063 2528 537.8 -116.8 - - 3405 - - - - - - - - 13.87 14.16 14.12
1610 148.1 -9.3 154 1616 roll -0.51 - - 2053 - 2.65 0.069 1119 -531.7 -116.8 - - 3405 - - - - - - - - 14.85 14.11 14.86
1684 154.9 -7.9 168 1690 done -0.51 - - 2047 - 2.62 0.063 2528 537.8 -116.8 - - 3405 - - - - - - - - 14.38 14.26 14.44
2009 177.2 -6.4 182 2015 roll -0.51 - - 2047 - 2.65 0.069 1115 -533.2 -116.8 - - 3405 - - - - - - - - 14.88 14.23 14.90
2088 183.0 -9.0 197 2093 done -0.51 - - 2038 - 2.65 0.063 2525 532.1 -116.8 - - 3406 - - - - - - - - 14.37 14.25 14.43
2407 208.8 -8.0 210 2412 roll -0.51 - - 2039 - 2.62 0.066 1119 -536.6 -116.8 - - 3405 - - - - - - - - 14.88 14.21 14.90
2471 214.8 -9.0 222 2476 done -0.51 - - 2030 - 2.65 0.063 2530 532.5 -116.8 - - 3405 - - - - - - - - 14.25 14.12 14.28
2805 250.5 -11.2 238 2811 roll -0.51 - - 2030 - 2.65 0.066 1110 -535.8 -116.8 - - 3405 - - - - - - - - 14.90 14.21 14.91
2899 261.6 -11.0 256 2906 done -0.51 0.15 0.230 2054 160.0 2.65 0.060 2537 538.5 -116.8 - - 3405 - - - - - - - - 13.93 14.26 14.16
3235 291.4 -8.9 272 3241 roll -0.51 - - 2054 - 2.65 0.073 1116 -536.2 -116.8 - - 3405 - - - - - - - - 14.90 14.05 14.91
3339 300.9 -8.0 292 3345 done -0.51 - - 2048 - 2.62 0.063 2520 535.9 -116.8 - - 3405 - - - - - - - - 14.35 14.23 14.40
3663 331.5 -9.9 306 3669 roll -0.51 - - 2048 - 2.62 0.066 1117 -535.5 -116.8 - - 3405 - - - - - - - - 14.90 14.20 14.91
3727 337.1 -8.3 318 3733 done -0.51 - - 2040 - 2.62 0.061 2527 538.2 -116.8 - - 3405 - - - - - - - - 14.36 14.24 14.40
4061 367.6 -8.9 334 4067 roll -0.51 - - 2040 - 2.65 0.063 1109 -535.1 -116.8 - - 3405 - - - - - - - - 14.89 14.09 14.91
4134 374.3 -8.3 348 4141 done -0.51 - - 2031 - 2.65 0.061 2530 536.2 -116.8 - - 3404 - - - - - - - - 14.35 14.22 14.40
4459 402.2 -8.2 362 4465 roll -0.51 - - 2031 - 2.65 0.068 1110 -535.8 -116.8 - - 3405 - - - - - - - - 14.90 14.19 14.92
4527 408.0 -8.0 375 4533 done -0.51 - - 2025 - 2.65 0.063 2529 535.5 -116.8 - - 3405 - - - - - - - - 14.35 14.22 14.39
4856 438.2 -9.1 390 4862 roll -0.51 - - 2025 - 2.65 0.064 1111 -535.1 -116.8 - - 3405 - - - - - - - - 14.91 14.18 14.92
4940 445.4 -7.6 406 4946 done -0.51 0.15 0.226 2050 166.7 2.65 0.063 2530 535.5 -116.8 - - 3405 - - - - - - - - 13.92 14.21 14.15
5255 464.5 -6.2 418 5260 roll -0.51 - - 2051 - 2.65 0.065 1111 -535.5 -116.8 - - 3405 - - - - - - - - 14.92 14.19 14.93
5328 469.3 -5.9 432 5334 done -0.51 - - 2045 - 2.65 0.062 2530 535.5 -116.8 - - 3405 - - - - - - - - 14.34 14.21 14.38
5653 489.2 -6.2 446 5658 roll -0.51 - - 2044 - 2.65 0.065 1110 -535.8 -116.8 - - 3405 - - - - - - - - 14.91 14.19 14.93
5727 494.3 -7.2 460 5733 done -0.51 - - 2038 - 2.65 0.061 2530 535.8 -116.8 - - 3405 - - - - - - - - 14.33 14.21 14.38
6052 518.0 -7.2 474 6057 roll -0.51 - - 2037 - 2.65 0.071 1111 -535.5 -116.8 - - 3404 - - - - - - - - 14.92 14.19 14.93
6131 523.8 -7.2 489 6136 done -0.51 - - 2029 - 2.65 0.063 2528 534.7 -116.8 - - 3404 - - - - - - - - 14.33 14.21 14.38
6449 548.8 -8.1 502 6455 roll -0.51 - - 2029 - 2.65 0.071 1109 -535.5 -116.8 - - 3404 - - - - - - - - 14.91 14.18 14.93
6523 555.2 -8.6 516 6529 done -0.51 0.12 0.232 2048 158.3 2.65 0.062 2528 535.5 -116.8 - - 3404 - - - - - - - - 13.93 14.20 14.15
6848 579.0 -7.3 530 6854 roll -0.51 - - 2048 - 2.65 0.065 1110 -535.1 -116.8 - - 3404 - - - - - - - - 14.91 14.17 14.93
6922 584.7 -7.6 544 6928 done -0.51 - - 2042 - 2.65 0.062 2529 535.5 -116.8 - - 3404 - - - - - - - - 14.33 14.20 14.37
7246 609.1 -7.6 558 7252 roll -0.51 - - 2042 - 2.65 0.070 1113 -534.3 -116.8 - - 3404 - - - - - - - - 14.90 14.16 14.92
7325 615.3 -7.7 573 7331 done -0.51 - - 2034 - 2.65 0.062 2530 534.7 -116.8 - - 3404 - - - - - - - - 14.32 14.19 14.36
7645 640.0 -7.6 586 7650 roll -0.51 - - 2034 - 2.65 0.072 1115 -534.0 -116.8 - - 3404 - - - - - - - - 14.91 14.16 14.92
7723 646.6 -8.2 601 7728 done -0.51 - - 2026 - 2.65 0.063 2525 532.1 -116.8 - - 3404 - - - - - - - - 14.28 14.16 14.33
8042 673.0 -8.3 614 8047 roll -0.51 - - 2026 - 2.65 0.070 1110 -534.0 -116.8 - - 3403 - - - - - - - - 14.90 14.16 14.91
8145 681.8 -8.3 634 8151 done -0.51 0.15 0.218 2051 166.7 2.65 0.063 2525 534.0 -116.8 - - 3404 - - - - - - - - 13.90 14.18 14.12
8470 703.4 -6.6 648 8476 roll -0.51 - - 2052 - 2.65 0.066 1108 -534.7 -116.8 - - 3404 - - - - - - - - 14.91 14.16 14.92
8524 707.5 -7.3 658 8530 done -0.51 - - 2046 - 2.65 0.062 2525 534.7 -116.8 - - 3404 - - - - - - - - 14.31 14.18 14.35
8838 729.4 -6.8 670 8844 roll -0.51 - - 2046 - 2.65 0.066 1110 -534.0 -116.8 - - 3403 - - - - - - - - 14.91 14.15 14.92
8942 736.8 -7.1 690 8947 done -0.51 - - 2039 - 2.67 0.063 2535 533.7 -116.8 - - 3403 - - - - - - - - 14.30 14.16 14.34
9266 759.4 -7.2 704 9272 roll -0.51 - - 2039 - 2.67 0.066 1109 -534.1 -116.8 - - 3402 - - - - - - - - 14.90 14.14 14.92
9361 766.7 -7.6 722 9366 done -0.51 - - 2031 - 2.65 0.062 2524 534.0 -116.8 - - 3403 - - - - - - - - 14.29 14.16 14.33
9695 793.1 -7.8 738 9701 roll -0.51 - - 2031 - 2.65 0.072 1117 -530.9 -116.8 - - 3402 - - - - - - - - 14.90 14.04 14.92
9783 800.4 -8.1 755 9790 done -0.51 - - 2025 - 2.65 0.063 2525 531.3 -116.8 - - 3402 - - - - - - - - 14.26 14.14 14.31
10089 824.6 -8.0 766 10095 roll -0.51 - - 2024 - 2.65 0.066 1116 -531.7 -116.8 - - 3402 - - - - - - - - 14.90 14.13 14.92
10177 832.2 -8.6 783 10185 done -0.51 0.15 0.217 2050 173.3 2.67 0.063 2528 528.8 -116.8 - - 3402 - - - - - - - - 13.84 14.12 14.06
10484 852.9 -6.7 794 10489 roll -0.51 - - 2051 - 2.65 0.066 1117 -532.5 -116.8 - - 3402 - - - - - - - - 14.90 14.13 14.91
10567 858.9 -7.2 810 10573 done -0.51 - - 2045 - 2.65 0.062 2527 532.1 -116.8 - - 3402 - - - - - - - - 14.28 14.15 14.32
10882 881.1 -7.1 822 10887 roll -0.51 - - 2045 - 2.65 0.069 1120 -530.9 -116.8 - - 3401 - - - - - - - - 14.89 14.12 14.90
10950 886.1 -7.2 835 10955 done -0.51 - - 2038 - 2.65 0.062 2530 532.1 -116.8 - - 3401 - - - - - - - - 14.28 14.14 14.32
11279 909.3 -7.1 850 11285 roll -0.51 - - 2038 - 2.65 0.069 1120 -532.1 -116.8 - - 3401 - - - - - - - - 14.90 14.11 14.91
11373 916.1 -7.2 868 11380 done -0.51 - - 2031 - 2.65 0.063 2529 531.7 -116.8 - - 3401 - - - - - - - - 14.26 14.13 14.31
11708 941.3 -7.4 884 11715 roll -0.51 - - 2031 - 2.65 0.065 1118 -532.5 -116.8 - - 3400 - - - - - - - - 14.90 14.11 14.91
11798 948.3 -7.6 901 11805 done -0.51 - - 2027 - 2.65 0.063 2525 530.9 -116.8 - - 3400 - - - - - - - - 14.25 14.12 14.30
12103 972.2 -7.8 912 12110 roll -0.51 - - 2027 - 2.65 0.067 1119 -530.6 -116.8 - - 3400 - - - - - - - - 14.88 14.09 14.90
12157 976.5 -7.6 922 12163 done -0.51 0.15 0.217 2053 173.3 2.65 0.063 2525 530.6 -116.8 - - 3400 - - - - - - - - 13.83 14.12 14.05
12409 end dive: TARGET_DEPTH_EXCEEDED
12409 begin apogee
12417 991.7 -5.9 932 12546 done -0.12 0.45 0.155 2182 286.7 - - 1712 - - 124.70 2.361 2920 -3.8 0.325 - - - - - - 13.84 13.66 12.21
12547 end apogee: CONTROL_FINISHED_OK
12548 begin loiter
12833 1001.6 -2.3 941 12890 done -0.07 - - 2182 - - - 1713 - 51.0 54.15 2.317 2712 -3.8 0.334 - - - - - - 14.80 13.85 12.43
13491 986.8 2.5 952 13493 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2705 - - - - - - - - 14.92 14.95 14.95
14091 971.0 2.7 962 14093 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2703 - - - - - - - - 14.98 15.00 15.00
14691 954.5 2.8 972 14693 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2701 - - - - - - - - 15.01 15.02 15.02
15291 938.0 2.6 982 15293 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2701 - - - - - - - - 15.02 15.04 15.03
15891 924.3 2.2 992 15893 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2700 - - - - - - - - 15.02 15.04 15.04
16491 912.1 2.0 1002 16493 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2700 - - - - - - - - 15.02 15.04 15.04
17091 899.9 2.0 1012 17093 done -0.07 - - 2181 - - - 1712 - 51.0 - - 2699 - - - - - - - - 15.02 15.04 15.04
17691 888.0 2.1 1022 17693 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2699 - - - - - - - - 15.02 15.04 15.04
18291 872.2 2.8 1032 18293 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
18891 853.8 3.1 1042 18893 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
19491 837.2 2.6 1052 19493 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
20091 824.4 1.9 1062 20093 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
20691 813.3 1.9 1072 20693 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
21291 798.7 2.6 1082 21293 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
21891 782.6 2.6 1092 21893 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
22491 769.7 2.0 1102 22493 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
23091 759.3 1.5 1112 23093 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
23691 750.5 1.6 1122 23693 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
24291 737.8 2.4 1132 24293 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
24891 720.1 3.0 1142 24893 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
25491 704.5 2.4 1152 25493 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
26091 692.6 1.9 1162 26093 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
26691 679.1 2.5 1172 26693 done -0.07 - - 2182 - - - 1712 - 51.0 - - 2698 - - - - - - - - 15.02 15.04 15.04
26928 end loiter: LOITER_COMPLETE
26928 begin climb
26931 673.1 - 1176 27005 roll 0.51 0.62 0.093 2386 329.0 2.67 0.071 3130 531.1 116.8 65.75 1.949 2443 -3.9 0.269 - - - - - - 14.16 13.95 12.66
27049 667.2 7.1 1198 27079 done 0.53 - - 2395 - 2.60 0.067 1706 -547.7 137.4 22.80 1.836 2359 -3.7 0.269 - - - - - - 14.31 14.19 12.62
27395 639.3 8.1 1216 27400 roll 0.53 - - 2406 - 2.62 0.091 293 -539.3 137.4 - - 2353 - - - - - - - - 14.79 14.29 14.81
27478 631.9 8.8 1232 27483 done 0.53 - - 2406 - 2.55 0.057 1714 557.3 137.4 - - 2351 - - - - - - - - 14.51 14.41 14.54
27792 605.8 8.2 1244 27798 roll 0.53 - - 2406 - 2.53 0.074 3129 559.3 137.4 - - 2351 - - - - - - - - 14.87 14.29 14.88
27875 598.5 8.5 1260 27881 done 0.53 - - 2415 - 2.58 0.068 1705 -551.9 137.4 - - 2350 - - - - - - - - 14.46 14.33 14.52
28189 572.9 7.9 1272 28195 roll 0.53 - - 2426 - 2.65 0.090 288 -534.7 139.8 - - 2350 - - - - - - - - 14.89 14.23 14.90
28253 567.5 8.4 1284 28260 done 0.53 0.15 0.243 2394 -213.3 2.58 0.058 1718 554.3 139.8 - - 2350 - - - - - - - - 14.04 14.38 14.29
28589 544.0 7.1 1300 28620 roll 0.55 - - 2394 - 2.50 0.073 3116 559.2 161.1 23.75 1.727 2262 -3.7 0.234 - - - - - - 14.90 13.93 13.02
28724 533.7 7.5 1326 28746 done 0.57 - - 2400 - 2.55 0.069 1700 -555.3 172.2 12.98 1.610 2217 -3.5 0.231 - - - - - - 14.49 14.37 12.95
29045 507.9 8.2 1340 29050 roll 0.57 - - 2412 - 2.62 0.096 289 -538.5 172.2 - - 2215 - - - - - - - - 14.83 14.24 14.85
29112 501.9 8.4 1353 29119 done 0.57 - - 2411 - 2.55 0.057 1712 558.0 172.2 - - 2213 - - - - - - - - 14.48 14.38 14.51
29442 473.0 9.2 1368 29447 roll 0.57 - - 2411 - 2.53 0.074 3127 559.3 172.2 - - 2213 - - - - - - - - 14.87 14.24 14.88
29555 461.8 9.8 1390 29561 done 0.57 - - 2421 - 2.58 0.068 1706 -550.8 172.2 - - 2212 - - - - - - - - 14.42 14.28 14.46
29870 430.4 10.4 1402 29876 roll 0.57 - - 2432 - 2.65 0.089 284 -536.6 172.2 - - 2212 - - - - - - - - 14.89 14.19 14.91
29954 421.3 10.0 1418 29959 done 0.57 - - 2432 - 2.58 0.057 1715 554.7 172.2 - - 2210 - - - - - - - - 14.45 14.34 14.48
30269 387.8 11.1 1430 30274 roll 0.57 - - 2433 - 2.50 0.072 3121 562.4 172.2 - - 2211 - - - - - - - - 14.90 14.20 14.92
30336 379.7 11.8 1443 30342 done 0.57 0.17 0.252 2404 -170.6 2.58 0.067 1701 -550.4 172.2 - - 2211 - - - - - - - - 13.83 14.18 14.13
30666 348.3 9.1 1458 30672 roll 0.57 - - 2412 - 2.65 0.089 289 -532.8 172.2 - - 2211 - - - - - - - - 14.90 14.14 14.92
30739 341.9 8.7 1472 30745 done 0.57 - - 2412 - 2.58 0.057 1716 553.1 172.2 - - 2210 - - - - - - - - 14.42 14.32 14.47
31064 311.4 9.9 1486 31070 roll 0.57 - - 2414 - 2.53 0.073 3127 557.7 172.2 - - 2210 - - - - - - - - 14.90 14.16 14.91
31158 301.5 10.0 1504 31164 done 0.57 - - 2421 - 2.60 0.073 1706 -546.5 172.2 - - 2210 - - - - - - - - 14.26 14.05 14.33
31492 267.3 10.7 1520 31498 roll 0.57 - - 2433 - 2.65 0.090 294 -532.8 172.2 - - 2210 - - - - - - - - 14.90 14.10 14.91
31571 258.7 10.1 1535 31577 done 0.57 0.12 0.240 2407 -216.7 2.55 0.057 1710 555.3 172.2 - - 2210 - - - - - - - - 13.99 14.29 14.21
31890 229.2 9.5 1548 31898 roll 0.57 - - 2406 - 2.55 0.074 3126 555.3 172.2 - - 2210 - - - - - - - - 14.75 14.14 14.76
32006 217.0 10.9 1570 32013 done 0.57 - - 2413 - 2.58 0.067 1709 -549.2 172.2 - - 2210 - - - - - - - - 14.33 14.21 14.38
32322 187.0 9.5 1582 32329 roll 0.57 - - 2424 - 2.67 0.087 284 -533.7 172.2 - - 2210 - - - - - - - - 14.73 14.11 14.75
32407 178.3 9.8 1598 32414 done 0.57 - - 2424 - 2.60 0.057 1716 550.8 172.2 - - 2210 - - - - - - - - 14.36 14.26 14.40
32723 148.6 9.6 1610 32730 roll 0.57 - - 2424 - 2.53 0.073 3121 555.3 172.2 - - 2210 - - - - - - - - 14.72 14.12 14.74
32819 138.5 10.7 1628 32827 done 0.57 0.15 0.253 2402 -146.7 2.58 0.066 1706 -548.4 172.2 - - 2210 - - - - - - - - 13.90 14.18 14.19
33155 111.7 8.2 1644 33163 roll 0.57 - - 2410 - 2.67 0.086 284 -532.6 172.2 - - 2210 - - - - - - - - 14.73 14.03 14.74
33205 106.6 9.3 1653 33213 done 0.57 - - 2411 - 2.60 0.057 1715 550.4 172.2 - - 2210 - - - - - - - - 14.28 14.19 14.32
33516 77.4 9.5 1681 33525 roll 0.57 - - 2410 - 2.55 0.073 3123 552.2 172.2 - - 2209 - - - - - - - - 14.71 14.12 14.73
33627 68.0 7.8 1702 33641 done 0.57 - - 2419 - 2.58 0.065 1709 -548.1 177.2 5.18 0.885 2197 -2.3 0.036 - - - - - - 14.31 14.17 13.31
33949 35.3 12.0 1735 33956 roll 0.57 - - 2429 - 2.65 0.087 287 -536.6 177.2 - - 2197 - - - - - - - - 14.74 14.19 14.76
34045 24.3 10.4 1753 34053 done 0.57 - - 2430 - 2.58 0.057 1713 552.7 177.2 - - 2196 - - - - - - - - 14.32 14.23 14.35
34238 end climb: SURFACE_DEPTH_REACHED
34238 begin surface coast
34272 end surface coast: CONTROL_FINISHED_OK
34272 begin surface
SM 0.61 - - - - -6.33 6.60 0.052 163 24.7 1.52 0.066 2529 986.2 400.08 184.12 1.115 1289 7.0 -0.000 - - - - - -