NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 479 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 0.00 of 0.00 AH used of 24V (NaN% remains)
• Previous NAKs 0, Timeouts 0 • 235.68 of 310.00 AH used of 10V (23.97% remains)
• Surface angle -55.1 deg, depth 0.05 m • Intended pitch -20.9 deg, speed -7.805 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 5 s
• GPS2 time: 8 s • Transponder ping count: 14
• 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
12 - - - 146 done -0.56 - - 91 - 0.10 0.672 2557 - -74.5 -131.05 0.007 3104 - - - - - - - - 14.81 12.50 14.63
151 1.3 -2.1 13 175 roll -0.60 10.12 0.415 2018 190.4 2.80 0.106 1106 -518.2 -116.8 -5.32 0.022 3279 -32.9 0.382 - - - - - - 13.91 12.59 14.33
347 22.5 -10.6 50 355 done -0.60 - - 2011 - 2.72 0.086 2483 506.2 -116.8 - - 3280 - - - - - - - - 14.27 14.09 14.32
653 55.0 -11.5 81 659 roll -0.60 - - 2011 - 2.72 0.090 1118 -501.8 -116.8 - - 3280 - - - - - - - - 14.77 14.05 14.79
702 60.3 -11.7 90 709 done -0.60 - - 2002 - 2.83 0.086 2538 501.8 -116.8 - - 3280 - - - - - - - - 14.20 14.02 14.26
1010 92.9 -10.3 121 1016 done -0.60 - - 2002 - - - 2538 - -116.8 - - 3280 - - - - - - - - 14.78 14.80 14.79
1318 126.2 -11.0 136 1324 roll -0.60 - - 2002 - 2.85 0.088 1113 -500.0 -116.8 - - 3279 - - - - - - - - 14.79 13.96 14.81
1401 135.8 -11.7 152 1408 done -0.60 0.15 0.231 2025 153.3 2.83 0.086 2534 502.1 -116.8 - - 3279 - - - - - - - - 13.71 13.88 13.96
1716 167.4 -9.9 164 1722 roll -0.60 - - 2025 - 2.83 0.088 1113 -502.1 -116.8 - - 3278 - - - - - - - - 14.86 13.81 14.88
1785 174.5 -10.5 177 1791 done -0.60 - - 2018 - 2.83 0.085 2523 498.2 -116.8 - - 3279 - - - - - - - - 14.16 14.00 14.21
2114 208.5 -10.0 192 2120 roll -0.60 - - 2018 - 2.80 0.088 1115 -502.9 -116.8 - - 3278 - - - - - - - - 14.81 13.93 14.83
2183 215.6 -10.0 205 2188 done -0.60 - - 2010 - 2.83 0.085 2534 501.4 -116.8 - - 3278 - - - - - - - - 14.12 13.95 14.18
2512 249.3 -10.3 220 2517 roll -0.60 - - 2010 - 2.83 0.088 1115 -501.4 -116.8 - - 3278 - - - - - - - - 14.87 13.90 14.88
2571 255.6 -10.4 231 2577 done -0.60 - - 2001 - 2.83 0.086 2534 501.4 -116.8 - - 3278 - - - - - - - - 14.03 13.85 14.09
2876 288.5 -10.7 242 2883 roll -0.60 - - 2001 - 2.83 0.088 1114 -501.8 -116.8 - - 3277 - - - - - - - - 14.85 13.76 14.86
2926 293.9 -11.2 251 2932 done -0.60 0.15 0.230 2023 146.7 2.83 0.086 2532 501.1 -116.8 - - 3277 - - - - - - - - 13.67 13.90 13.89
3245 322.9 -9.0 264 3251 roll -0.60 - - 2024 - 2.83 0.089 1114 -501.1 -116.8 - - 3276 - - - - - - - - 14.87 13.85 14.88
3324 330.3 -9.3 279 3330 done -0.60 - - 2016 - 2.83 0.086 2529 500.0 -116.8 - - 3277 - - - - - - - - 14.10 13.93 14.16
3643 360.1 -9.3 292 3649 roll -0.60 - - 2016 - 2.83 0.089 1117 -498.9 -116.8 - - 3276 - - - - - - - - 14.80 13.86 14.81
3722 367.6 -9.3 307 3728 done -0.60 - - 2007 - 2.83 0.086 2533 500.4 -116.8 - - 3276 - - - - - - - - 14.09 13.93 14.16
4041 397.8 -9.4 320 4047 roll -0.60 - - 2007 - 2.83 0.089 1119 -499.6 -116.8 - - 3275 - - - - - - - - 14.86 13.52 14.88
4110 404.4 -9.0 333 4115 done -0.60 - - 1999 - 2.83 0.086 2525 496.8 -116.8 - - 3275 - - - - - - - - 14.10 13.93 14.16
4439 436.0 -9.7 348 4445 roll -0.60 - - 1999 - 2.83 0.089 1113 -498.9 -116.8 - - 3275 - - - - - - - - 14.83 13.51 14.85
4498 442.0 -10.0 359 4505 done -0.60 0.15 0.229 2022 153.3 2.83 0.086 2524 498.6 -116.8 - - 3274 - - - - - - - - 13.67 13.90 13.93
4803 467.9 -8.4 370 4810 roll -0.60 - - 2022 - 2.83 0.089 1114 -498.2 -116.8 - - 3275 - - - - - - - - 14.85 13.83 14.86
4882 474.7 -8.5 385 4888 done -0.60 - - 2015 - 2.83 0.084 2525 498.6 -116.8 - - 3275 - - - - - - - - 14.07 13.90 14.12
5202 502.7 -8.9 398 5209 roll -0.60 - - 2015 - 2.85 0.089 1113 -495.4 -116.8 - - 3275 - - - - - - - - 14.81 13.84 14.83
5292 511.1 -9.0 415 5298 done -0.60 - - 2006 - 2.85 0.086 2530 497.2 -116.8 - - 3275 - - - - - - - - 14.07 13.90 14.13
5597 539.3 -9.2 426 5604 roll -0.60 - - 2006 - 2.83 0.090 1118 -498.9 -116.8 - - 3275 - - - - - - - - 14.84 13.83 14.85
5671 546.5 -9.5 440 5677 done -0.60 - - 1998 - 2.85 0.086 2526 494.0 -116.8 - - 3275 - - - - - - - - 14.00 13.81 14.08
5996 578.9 -9.9 454 6002 roll -0.60 - - 1998 - 2.83 0.094 1119 -497.2 -116.8 - - 3274 - - - - - - - - 14.85 13.81 14.87
6070 586.4 -9.9 468 6076 done -0.60 0.15 0.226 2021 153.3 2.83 0.086 2528 497.9 -116.8 - - 3274 - - - - - - - - 13.66 13.88 13.92
6395 612.5 -7.8 482 6402 roll -0.60 - - 2022 - 2.83 0.089 1118 -498.2 -116.8 - - 3274 - - - - - - - - 14.85 13.83 14.87
6470 618.5 -7.7 496 6476 done -0.60 - - 2015 - 2.83 0.086 2525 497.2 -116.8 - - 3275 - - - - - - - - 14.05 13.88 14.11
6794 643.0 -7.5 510 6801 roll -0.60 - - 2015 - 2.83 0.095 1119 -496.8 -116.8 - - 3274 - - - - - - - - 14.85 13.88 14.86
6864 648.3 -7.6 523 6869 done -0.60 - - 2006 - 2.83 0.086 2527 497.5 -116.8 - - 3274 - - - - - - - - 14.04 13.88 14.11
7193 672.5 -7.4 538 7200 roll -0.60 - - 2006 - 2.85 0.090 1113 -496.1 -116.8 - - 3274 - - - - - - - - 14.85 13.83 14.86
7272 678.7 -7.8 553 7277 done -0.60 - - 1998 - 2.85 0.087 2528 496.5 -116.8 - - 3274 - - - - - - - - 14.07 13.89 14.13
7591 704.7 -8.3 566 7597 roll -0.60 - - 1998 - 2.85 0.091 1114 -496.1 -116.8 - - 3274 - - - - - - - - 14.85 13.87 14.86
7640 709.2 -8.6 575 7647 done -0.60 0.15 0.225 2021 153.3 2.85 0.088 2530 496.8 -116.8 - - 3274 - - - - - - - - 13.68 13.88 13.93
7961 731.3 -6.9 588 7966 roll -0.60 - - 2022 - 2.85 0.093 1118 -495.4 -116.8 - - 3274 - - - - - - - - 14.84 13.88 14.85
8014 735.2 -7.1 598 8021 done -0.60 - - 2014 - 2.85 0.088 2532 496.1 -116.8 - - 3274 - - - - - - - - 14.04 13.86 14.10
8330 757.7 -7.2 610 8336 roll -0.60 - - 2015 - 2.85 0.092 1118 -496.1 -116.8 - - 3273 - - - - - - - - 14.85 13.80 14.87
8429 765.2 -7.4 629 8434 done -0.60 - - 2007 - 2.85 0.088 2532 496.1 -116.8 - - 3273 - - - - - - - - 14.02 13.85 14.09
8758 790.4 -7.8 644 8764 roll -0.60 - - 2006 - 2.80 0.091 1119 -504.6 -116.8 - - 3273 - - - - - - - - 14.83 13.79 14.85
8807 794.4 -8.0 653 8812 done -0.60 - - 1999 - 2.85 0.087 2532 495.8 -116.8 - - 3273 - - - - - - - - 14.02 13.85 14.09
9126 821.1 -8.7 666 9132 roll -0.60 - - 1998 - 2.88 0.097 1112 -493.1 -116.8 - - 3273 - - - - - - - - 14.86 13.82 14.88
9236 831.2 -9.1 687 9243 done -0.60 0.15 0.224 2021 153.3 2.88 0.089 2536 494.4 -116.8 - - 3273 - - - - - - - - 13.66 13.85 13.90
9557 855.3 -7.5 700 9562 roll -0.60 - - 2022 - 2.88 0.096 1114 -493.8 -116.8 - - 3272 - - - - - - - - 14.83 13.90 14.85
9660 863.6 -7.7 720 9666 done -0.60 - - 2015 - 2.85 0.088 2527 495.8 -116.8 - - 3273 - - - - - - - - 14.04 13.86 14.10
9985 888.7 -7.8 734 9991 roll -0.60 - - 2015 - 2.88 0.095 1110 -492.0 -116.8 - - 3272 - - - - - - - - 14.85 13.90 14.88
10079 896.5 -8.2 752 10085 done -0.60 - - 2006 - 2.88 0.089 2532 493.8 -116.8 - - 3271 - - - - - - - - 14.02 13.84 14.09
10414 924.1 -8.2 768 10419 roll -0.60 - - 2006 - 2.88 0.093 1118 -491.0 -116.8 - - 3271 - - - - - - - - 14.84 13.80 14.85
10487 930.6 -8.6 782 10493 done -0.60 - - 1998 - 2.88 0.089 2534 491.7 -116.8 - - 3271 - - - - - - - - 14.03 13.85 14.09
10812 958.7 -8.7 796 10818 roll -0.60 - - 1998 - 2.88 0.093 1117 -492.0 -116.8 - - 3270 - - - - - - - - 14.83 13.87 14.84
10828 end dive: TARGET_DEPTH_EXCEEDED
10828 begin apogee
10836 960.4 -9.0 799 10964 done -0.12 0.68 0.186 2175 260.3 - - 1724 - - 123.97 2.202 2800 -3.8 0.325 - - - - - - 13.69 13.78 12.47
10966 end apogee: CONTROL_FINISHED_OK
10966 begin loiter
11253 966.9 -1.2 808 11274 done -0.10 - - 2175 - - - 1724 - 16.7 18.48 2.156 2732 -3.7 0.325 - - - - - - 14.81 14.16 12.83
11851 957.7 1.9 818 11853 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2729 - - - - - - - - 14.92 14.94 14.94
12451 945.9 1.9 828 12453 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2728 - - - - - - - - 14.95 14.97 14.96
13051 932.8 2.3 838 13053 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2727 - - - - - - - - 14.95 14.97 14.97
13651 920.1 2.0 848 13653 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2726 - - - - - - - - 14.96 14.97 14.97
14251 910.9 1.3 858 14253 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2726 - - - - - - - - 14.96 14.98 14.97
14851 903.8 1.2 868 14853 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2725 - - - - - - - - 14.96 14.97 14.97
15451 894.8 1.6 878 15453 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2725 - - - - - - - - 14.96 14.98 14.97
16051 883.7 1.8 888 16053 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2724 - - - - - - - - 14.95 14.98 14.97
16651 872.4 1.9 898 16653 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2724 - - - - - - - - 14.96 14.97 14.97
17251 861.4 1.7 908 17253 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2723 - - - - - - - - 14.96 14.98 14.97
17851 852.9 1.3 918 17853 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2723 - - - - - - - - 14.96 14.98 14.97
18451 845.9 1.1 928 18453 done -0.10 - - 2176 - - - 1724 - 16.7 - - 2723 - - - - - - - - 14.95 14.98 14.97
19051 839.2 1.1 938 19053 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2723 - - - - - - - - 14.95 14.98 14.97
19651 834.6 0.7 948 19653 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2723 - - - - - - - - 14.95 14.97 14.97
20251 830.2 0.9 958 20253 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2723 - - - - - - - - 14.95 14.98 14.97
20851 821.6 1.7 968 20853 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
21451 810.4 1.9 978 21453 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
22051 801.1 1.3 988 22053 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
22651 796.6 0.7 998 22653 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
23251 791.9 0.9 1008 23253 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
23851 785.7 1.0 1018 23853 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
24451 777.9 1.4 1028 24453 done -0.10 - - 2175 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
25051 771.1 0.9 1038 25053 done -0.10 - - 2176 - - - 1723 - 16.7 - - 2722 - - - - - - - - 14.95 14.97 14.97
25348 end loiter: LOITER_COMPLETE
25348 begin climb
25351 770.1 - 1043 25464 roll 0.60 0.75 0.089 2428 336.0 2.80 0.105 300 -508.2 116.8 101.00 2.093 2323 -4.0 0.286 - - - - - - 13.87 13.87 12.61
25612 752.7 9.4 1094 25618 done 0.60 - - 2428 - 2.62 0.074 1706 536.6 116.8 - - 2321 - - - - - - - - 14.36 14.23 14.40
25931 721.3 10.2 1107 25933 done 0.60 - - 2428 - - - 1706 - 116.8 - - 2319 - - - - - - - - 14.84 14.85 14.85
26232 690.8 10.4 1117 26234 done 0.60 - - 2428 - - - 1707 - 116.8 - - 2318 - - - - - - - - 14.86 14.88 14.88
26531 660.7 10.3 1127 26537 roll 0.60 - - 2428 - 2.62 0.094 3127 542.0 116.8 - - 2317 - - - - - - - - 14.87 14.21 14.88
26609 651.9 11.3 1142 26615 done 0.60 - - 2437 - 2.62 0.088 1719 -537.4 116.8 - - 2316 - - - - - - - - 14.42 14.26 14.47
26929 616.5 10.9 1155 26934 roll 0.60 - - 2449 - 2.78 0.115 289 -514.4 116.8 - - 2316 - - - - - - - - 14.85 14.02 14.87
27032 604.0 12.2 1175 27039 done 0.60 0.15 0.273 2419 -200.0 2.67 0.076 1716 534.5 116.8 - - 2315 - - - - - - - - 13.95 14.26 14.28
27358 571.9 9.7 1189 27363 roll 0.60 - - 2419 - 2.62 0.092 3119 535.5 116.8 - - 2315 - - - - - - - - 14.81 14.09 14.83
27422 565.5 10.0 1201 27428 done 0.60 - - 2426 - 2.67 0.091 1713 -526.6 116.8 - - 2314 - - - - - - - - 14.33 14.16 14.41
27758 532.9 9.9 1217 27763 roll 0.60 - - 2437 - 2.80 0.116 292 -507.5 116.8 - - 2314 - - - - - - - - 14.85 14.02 14.86
27866 520.9 10.9 1238 27872 done 0.60 - - 2438 - 2.67 0.077 1710 531.1 116.8 - - 2313 - - - - - - - - 14.31 14.17 14.38
28185 487.8 10.3 1251 28191 roll 0.60 - - 2437 - 2.67 0.096 3123 529.2 116.8 - - 2314 - - - - - - - - 14.83 13.99 14.85
28253 480.4 10.6 1264 28261 done 0.60 0.15 0.277 2417 -133.3 2.70 0.092 1708 -524.1 116.8 - - 2313 - - - - - - - - 13.81 14.07 14.15
28585 449.7 9.4 1279 28590 roll 0.60 - - 2426 - 2.80 0.111 291 -506.1 116.8 - - 2313 - - - - - - - - 14.83 13.94 14.85
28679 440.6 9.6 1297 28685 done 0.60 - - 2426 - 2.70 0.076 1718 528.5 116.8 - - 2313 - - - - - - - - 14.26 14.11 14.32
29014 408.9 9.6 1313 29020 roll 0.60 - - 2426 - 2.67 0.096 3128 528.1 116.8 - - 2313 - - - - - - - - 14.84 13.93 14.86
29092 400.8 10.1 1328 29099 done 0.60 - - 2436 - 2.72 0.091 1702 -524.3 116.8 - - 2314 - - - - - - - - 14.19 14.02 14.27
29413 369.5 9.7 1341 29419 roll 0.60 - - 2447 - 2.80 0.111 289 -504.6 116.8 - - 2314 - - - - - - - - 14.85 13.90 14.86
29501 360.3 10.1 1358 29508 done 0.60 0.15 0.265 2416 -206.7 2.70 0.077 1711 526.7 116.8 - - 2314 - - - - - - - - 13.76 14.08 14.09
29808 333.8 8.7 1369 29814 roll 0.60 - - 2417 - 2.70 0.096 3127 524.4 116.8 - - 2314 - - - - - - - - 14.79 13.91 14.81
29897 325.4 9.4 1386 29904 done 0.60 - - 2424 - 2.75 0.091 1702 -518.2 116.8 - - 2314 - - - - - - - - 14.18 14.00 14.26
30203 297.5 9.3 1397 30209 roll 0.60 - - 2435 - 2.80 0.112 296 -502.1 116.8 - - 2314 - - - - - - - - 14.82 13.88 14.83
30292 288.5 10.1 1414 30299 done 0.60 - - 2435 - 2.70 0.079 1709 523.3 116.8 - - 2315 - - - - - - - - 14.19 14.04 14.26
30598 257.8 10.1 1425 30604 roll 0.60 - - 2435 - 2.70 0.097 3119 522.2 116.8 - - 2314 - - - - - - - - 14.83 13.90 14.85
30678 249.0 10.8 1440 30686 done 0.60 - - 2444 - 2.72 0.093 1714 -516.5 116.8 - - 2315 - - - - - - - - 14.13 13.96 14.20
31001 217.2 9.5 1453 31008 roll 0.60 - - 2456 - 2.83 0.113 288 -503.9 116.8 - - 2315 - - - - - - - - 14.65 13.97 14.67
31081 208.6 10.4 1468 31090 done 0.60 0.17 0.261 2419 -217.6 2.72 0.080 1717 525.4 116.8 - - 2315 - - - - - - - - 13.79 14.08 14.12
31404 181.3 8.4 1481 31411 roll 0.60 - - 2419 - 2.67 0.097 3130 529.2 116.8 - - 2315 - - - - - - - - 14.64 13.97 14.66
31494 173.2 8.6 1498 31503 done 0.60 - - 2426 - 2.72 0.092 1705 -523.9 116.8 - - 2315 - - - - - - - - 14.19 14.02 14.26
31801 145.3 9.6 1509 31808 roll 0.60 - - 2437 - 2.80 0.114 295 -503.6 116.8 - - 2315 - - - - - - - - 14.65 13.95 14.67
31891 135.6 10.5 1526 31899 done 0.60 - - 2437 - 2.70 0.080 1709 523.7 116.8 - - 2315 - - - - - - - - 14.21 14.07 14.27
32197 104.6 9.9 1537 32205 roll 0.60 - - 2437 - 2.72 0.101 3132 523.2 116.8 - - 2315 - - - - - - - - 14.64 13.95 14.66
32274 96.1 11.7 1551 32282 done 0.60 0.15 0.276 2417 -133.3 2.75 0.093 1708 -517.8 116.8 - - 2315 - - - - - - - - 13.78 14.01 14.10
32590 63.9 10.6 1583 32598 roll 0.60 - - 2425 - 2.83 0.114 285 -502.8 116.8 - - 2315 - - - - - - - - 14.66 13.95 14.67
32680 52.5 11.9 1600 32690 done 0.60 - - 2425 - 2.72 0.079 1712 524.6 116.8 - - 2316 - - - - - - - - 14.15 14.02 14.21
32988 20.7 7.9 1631 32996 roll 0.60 - - 2436 - 2.85 0.112 285 -500.7 116.8 - - 2316 - - - - - - - - 14.64 13.96 14.65
33055 13.6 10.5 1643 33062 done 0.60 - - 2436 - 2.72 0.079 1714 525.4 116.8 - - 2316 - - - - - - - - 14.21 14.07 14.25
33148 end climb: SURFACE_DEPTH_REACHED
33149 begin surface coast
33169 end surface coast: CONTROL_FINISHED_OK
33169 begin surface
SM 0.00 - - - - -6.34 6.75 0.061 162 24.0 1.67 0.102 2538 903.0 400.08 228.70 1.106 1169 5.1 0.000 - - - - - -