NISKINE May19 * SG135 * Dive index * Mission links * Dive 225 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 109.91 of 350.00 AH used of 24V (68.60% remains)
• Surface angle -57.7 deg, depth 2.41 m • Intended pitch -13.8 deg, speed -10.000 cm/s
VBD pumped to 400.18 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 21 s • Transponder ping count: 1161
• 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
8.06 - - - 91.09 VBD -0.49 - - 128.44 - - - 2617.38 - -175.18 77.33 0.005 2827.44 - - - - - - - - - - 15.26
91.37 3.16 -1.10 8 134.87 -0.49 8.26 0.468 1655.50 184.9 2.04 0.064 3841.50 600.1 -175.18 28.34 0.006 3594.44 27.1 -2.476 - - - - - - 15.12 15.33 15.24
276.97 21.66 -11.42 45 282.94 roll -0.49 - - 1655.31 - 1.86 0.026 2684.75 -621.9 -175.18 - - 3596.34 - - - - - - - - - 15.56 -
467.00 46.60 -12.86 65 472.67 roll -0.49 - - 1655.62 - 1.63 0.028 1636.94 -642.8 -175.18 - - 3595.34 - - - - - - - - - 15.70 -
517.10 52.32 -10.97 75 522.75 roll -0.49 - - 1646.12 - 1.96 0.055 2778.81 582.6 -175.18 - - 3596.47 - - - - - - - - - 15.52 -
707.13 75.82 -12.66 95 712.93 roll -0.49 - - 1648.00 - 1.86 0.029 1638.62 -613.0 -175.18 - - 3597.34 - - - - - - - - - 15.57 -
737.17 79.48 -12.20 101 743.00 roll -0.49 - - 1639.00 - 1.95 0.055 2775.81 583.2 -175.18 - - 3596.25 - - - - - - - - - 15.51 -
927.04 104.47 -13.35 121 929.92 no move -0.49 - - 1640.00 - - - 2775.69 - -175.18 - - 3594.81 - - - - - - - - - - -
1107.18 128.68 -13.32 139 1112.82 roll -0.49 - - 1639.25 - 1.85 0.029 1639.25 -614.3 -175.18 - - 3596.66 - - - - - - - - - 15.64 -
1147.22 133.71 -12.26 147 1152.85 roll -0.49 - - 1632.38 - 1.96 0.056 2775.62 579.8 -175.18 - - 3596.19 - - - - - - - - - 15.63 -
1338.84 158.94 -13.34 167 1341.82 pitch -0.49 0.12 0.255 1663.62 260.3 - - 2775.75 - -175.18 - - 3596.09 - - - - - - - - 15.32 - -
1517.19 177.96 -10.11 185 1522.88 roll -0.49 - - 1666.00 - 1.85 0.029 1639.31 -614.3 -175.18 - - 3596.53 - - - - - - - - - 15.61 -
1561.72 182.23 -9.39 194 1567.83 roll -0.49 - - 1658.19 - 1.94 0.055 2775.81 585.8 -175.18 - - 3596.25 - - - - - - - - - 15.75 -
1747.30 200.91 -10.15 213 1750.20 no move -0.49 - - 1657.56 - - - 2776.19 - -175.18 - - 3595.25 - - - - - - - - - - -
1927.35 219.15 -10.19 231 1932.94 roll -0.49 - - 1658.69 - 1.86 0.029 1638.62 -611.6 -175.18 - - 3597.03 - - - - - - - - - 15.67 -
1977.24 223.91 -9.29 241 1982.96 roll -0.49 - - 1650.31 - 1.94 0.054 2779.31 588.0 -175.18 - - 3596.28 - - - - - - - - - 15.59 -
2167.34 244.44 -11.18 261 2172.97 roll -0.49 - - 1650.56 - 1.86 0.029 1638.69 -613.2 -175.18 - - 3597.06 - - - - - - - - - 15.66 -
2191.90 247.16 -11.08 266 2198.03 roll -0.49 - - 1641.56 - 1.94 0.055 2775.75 586.1 -175.18 - - 3596.72 - - - - - - - - - 15.76 -
2387.45 270.30 -11.99 278 2392.99 roll -0.49 - - 1642.06 - 1.85 0.030 1639.00 -614.5 -175.18 - - 3596.91 - - - - - - - - - 15.76 -
2411.89 273.25 -11.97 283 2417.61 roll -0.49 - - 1633.88 - 1.95 0.056 2775.81 583.0 -175.18 - - 3595.97 - - - - - - - - - 15.77 -
2727.26 312.67 -12.63 301 2732.96 roll -0.49 - - 1634.69 - 1.85 0.031 1639.25 -614.4 -175.18 - - 3597.53 - - - - - - - - - 15.79 -
2761.87 316.96 -12.23 308 2768.22 roll -0.49 - - 1626.19 - 1.94 0.057 2776.25 586.1 -175.18 - - 3596.19 - - - - - - - - - 15.78 -
3067.40 357.70 -13.47 324 3073.11 roll back -0.49 0.14 0.249 1668.00 298.6 1.86 0.029 1639.38 -611.2 -175.18 - - 3596.75 - - - - - - - - 15.54 15.60 -
3096.89 361.02 -12.93 330 3102.61 roll -0.49 - - 1659.69 - 1.95 0.055 2777.44 583.6 -175.18 - - 3595.97 - - - - - - - - - 15.74 -
3407.55 393.94 -10.73 347 3413.08 roll -0.49 - - 1660.00 - 1.85 0.030 1639.50 -615.1 -175.18 - - 3596.19 - - - - - - - - - 15.74 -
3467.31 400.09 -9.87 359 3473.30 roll -0.49 - - 1651.94 - 1.95 0.056 2777.44 583.6 -175.18 - - 3596.19 - - - - - - - - - 15.71 -
3787.47 435.84 -11.17 378 3793.11 roll -0.49 - - 1652.50 - 1.85 0.029 1639.38 -615.2 -175.18 - - 3596.12 - - - - - - - - - 15.68 -
3841.96 441.62 -10.13 389 3848.25 roll -0.49 - - 1644.00 - 1.94 0.056 2777.56 586.7 -175.18 - - 3594.62 - - - - - - - - - 15.78 -
4147.47 476.59 -11.72 405 4153.14 roll -0.49 - - 1643.94 - 1.85 0.029 1639.44 -615.2 -175.18 - - 3595.09 - - - - - - - - - 15.68 -
4202.00 482.70 -10.71 416 4208.29 roll -0.49 - - 1635.94 - 1.95 0.058 2777.19 583.5 -175.18 - - 3596.03 - - - - - - - - - 15.79 -
4507.53 519.20 -12.10 432 4525.40 roll -0.49 - - 1636.50 - 1.85 0.034 1640.19 -614.6 -175.18 - - 3595.50 - - - - - - - - - 15.35 -
4532.53 522.12 -12.15 435 4552.92 roll -0.49 - - 1628.31 - 1.95 0.061 2777.56 583.3 -175.18 - - 3593.94 - - - - - - - - - 15.32 -
4859.99 562.28 -12.13 453 4877.99 roll back -0.49 0.13 0.240 1666.88 296.7 1.85 0.030 1639.00 -615.4 -175.18 - - 3594.66 - - - - - - - - 15.62 15.66 -
4919.62 567.85 -9.52 463 4937.52 roll -0.49 - - 1657.00 - 1.93 0.057 2773.56 587.9 -175.18 - - 3594.03 - - - - - - - - - 15.32 -
5225.74 595.46 -8.98 479 5243.62 roll -0.49 - - 1659.06 - 1.85 0.033 1638.50 -613.5 -175.18 - - 3594.25 - - - - - - - - - 15.42 -
5280.31 600.14 -8.70 488 5298.27 roll -0.49 - - 1650.25 - 1.94 0.058 2778.94 587.9 -175.18 - - 3592.09 - - - - - - - - - 15.37 -
5586.54 628.37 -9.25 504 5604.42 roll -0.49 - - 1650.88 - 1.86 0.033 1639.31 -612.7 -175.18 - - 3594.09 - - - - - - - - - 15.33 -
5621.10 631.51 -9.08 509 5639.06 roll -0.49 - - 1641.44 - 1.93 0.060 2775.94 588.9 -175.18 - - 3591.81 - - - - - - - - - 15.32 -
5927.02 660.06 -9.40 525 5944.90 roll -0.49 - - 1642.25 - 1.86 0.035 1640.75 -610.3 -175.18 - - 3591.38 - - - - - - - - - 15.28 -
5981.59 665.03 -9.18 534 5999.55 roll -0.49 - - 1634.25 - 1.93 0.061 2775.81 588.1 -175.18 - - 3591.44 - - - - - - - - - 15.36 -
6287.71 696.30 -10.54 550 6305.59 roll -0.49 - - 1633.94 - 1.86 0.035 1641.31 -609.9 -175.18 - - 3590.47 - - - - - - - - - 15.25 -
6342.30 701.97 -10.44 559 6360.26 roll -0.49 - - 1626.50 - 1.93 0.061 2776.19 588.0 -175.18 - - 3591.09 - - - - - - - - - 15.37 -
6648.25 736.93 -11.61 575 6666.25 roll back -0.49 0.14 0.234 1667.06 289.7 1.85 0.030 1639.50 -614.4 -175.18 - - 3591.19 - - - - - - - - 15.59 15.62 -
6697.88 741.61 -9.69 583 6715.84 roll -0.49 - - 1658.94 - 1.93 0.058 2776.62 589.2 -175.18 - - 3591.75 - - - - - - - - - 15.36 -
7018.02 769.70 -8.79 600 7035.90 roll -0.49 - - 1658.94 - 1.84 0.034 1640.75 -617.3 -175.18 - - 3588.62 - - - - - - - - - 15.43 -
7072.59 774.44 -8.79 609 7090.55 roll -0.49 - - 1648.62 - 1.94 0.059 2778.25 586.3 -175.18 - - 3590.22 - - - - - - - - - 15.38 -
7378.70 802.81 -9.30 625 7396.58 roll -0.49 - - 1651.62 - 1.85 0.034 1639.88 -615.3 -175.18 - - 3590.47 - - - - - - - - - 15.43 -
7428.26 807.36 -9.21 633 7446.22 roll -0.49 - - 1642.62 - 1.94 0.060 2776.75 586.0 -175.18 - - 3590.56 - - - - - - - - - 15.29 -
7748.33 838.40 -9.72 650 7766.21 roll -0.49 - - 1641.44 - 1.86 0.035 1639.19 -611.6 -175.18 - - 3588.94 - - - - - - - - - 15.39 -
7793.37 842.68 -9.62 657 7811.33 roll -0.49 - - 1634.88 - 1.94 0.061 2777.00 586.5 -175.18 - - 3588.31 - - - - - - - - - 15.35 -
8118.42 875.58 -10.25 675 8136.31 roll -0.49 - - 1634.62 - 1.86 0.036 1640.38 -611.1 -175.18 - - 3586.81 - - - - - - - - - 15.35 -
8173.01 880.91 -9.86 684 8190.97 roll -0.49 - - 1626.94 - 1.95 0.061 2776.69 582.7 -175.18 - - 3588.16 - - - - - - - - - 15.33 -
8479.15 913.72 -10.86 700 8497.15 roll back -0.49 0.14 0.279 1665.44 275.0 1.86 0.031 1639.25 -611.5 -175.18 - - 3587.50 - - - - - - - - 15.01 15.37 -
8528.78 918.06 -8.86 708 8546.74 roll -0.49 - - 1659.19 - 1.93 0.060 2777.56 589.8 -175.18 - - 3587.38 - - - - - - - - - 15.34 -
8848.77 945.00 -8.45 725 8866.65 roll -0.49 - - 1659.12 - 1.85 0.035 1639.88 -615.0 -175.18 - - 3586.72 - - - - - - - - - 15.38 -
8903.34 949.49 -8.29 734 8921.31 roll -0.49 - - 1651.38 - 1.94 0.061 2776.69 586.0 -175.18 - - 3586.44 - - - - - - - - - 15.35 -
9209.38 975.68 -8.58 750 9227.26 roll -0.49 - - 1649.75 - 1.85 0.034 1639.19 -614.9 -175.18 - - 3585.72 - - - - - - - - - 15.35 -
9254.40 979.51 -8.37 757 9272.36 roll -0.49 - - 1643.81 - 1.94 0.061 2776.31 586.1 -175.18 - - 3585.25 - - - - - - - - - 15.36 -
9379 end dive: TARGET_DEPTH_EXCEEDED
9379 begin apogee
9381.39 990.63 -8.98 765 9543.46 -0.10 0.49 0.217 1789.12 296.6 0.20 0.113 2233.06 -2716.2 - 151.39 2.316 2878.31 -4.7 0.347 - - - - - - 15.21 14.91 11.46
9544 end apogee: CONTROL_FINISHED_OK
9544 begin climb
9544.37 995.06 - 772 9704.85 0.49 0.56 0.095 1994.44 366.6 2.06 0.046 1107.69 -546.3 175.18 141.49 2.253 2161.16 -5.1 0.389 - - - - - - 15.08 14.53 12.09
9726.54 982.22 11.41 806 9744.52 roll 0.49 - - 1991.88 - 2.05 0.057 2223.69 544.4 175.18 - - 2155.56 - - - - - - - - - 14.57 -
10056.65 942.13 12.13 825 10074.52 done 0.49 - - 1992.06 - 1.79 0.066 3288.88 595.1 175.18 - - 2146.69 - - - - - - - - - 15.18 -
10081.72 938.93 12.41 828 10102.05 done 0.49 - - 1999.75 - 1.90 0.041 2154.44 -597.1 175.18 - - 2141.53 - - - - - - - - - 15.16 -
10409.10 896.53 13.12 846 10426.58 VBD 0.49 - - 1999.38 - - - 2153.56 - 175.18 - - 2140.81 - - - - - - - - - - -
10709.18 857.78 12.80 861 10727.14 done 0.49 - - 1998.56 - 1.95 0.057 3290.00 582.8 175.18 - - 2141.53 - - - - - - - - - 15.77 -
10743.76 852.93 14.02 866 10761.65 done 0.49 - - 2005.62 - 1.88 0.039 2152.81 -604.9 175.18 - - 2138.47 - - - - - - - - - 15.77 -
11049.83 811.97 13.32 882 11067.30 VBD 0.49 - - 2005.81 - - - 2151.75 - 175.18 - - 2138.50 - - - - - - - - - - -
11349.87 772.03 13.42 897 11367.83 done 0.49 - - 2005.31 - 1.93 0.055 3297.19 593.5 175.18 - - 2139.62 - - - - - - - - - 15.84 -
11379.45 767.83 13.67 901 11397.33 done 0.49 - - 2011.00 - 1.87 0.038 2154.00 -611.3 175.18 - - 2139.34 - - - - - - - - - 15.40 -
11699.62 724.23 13.57 918 11717.58 0.49 0.17 0.267 1974.88 -212.5 1.68 0.039 1098.88 -628.0 175.18 - - 2141.41 - - - - - - - - 15.65 15.71 -
11734.21 720.31 11.32 923 11752.17 done 0.49 - - 1974.50 - 1.93 0.058 2227.62 584.8 175.18 - - 2138.19 - - - - - - - - - 15.34 -
12040.16 687.51 10.86 939 12058.03 done 0.49 - - 1974.38 - 1.74 0.059 3295.00 613.4 175.18 - - 2136.97 - - - - - - - - - 15.85 -
12069.71 684.07 11.24 943 12087.60 done 0.49 - - 1979.38 - 1.86 0.040 2155.44 -612.7 175.18 - - 2136.19 - - - - - - - - - 15.40 -
12389.83 650.23 10.31 960 12407.79 done 0.49 - - 1978.50 - 1.93 0.056 3292.50 589.2 175.18 - - 2137.19 - - - - - - - - - 15.75 -
12414.95 647.47 10.44 963 12435.22 done 0.49 - - 1985.81 - 1.87 0.036 2154.44 -608.6 175.18 - - 2136.00 - - - - - - - - - 15.88 -
12742.38 611.95 10.95 981 12760.34 done 0.49 - - 1985.94 - 1.94 0.057 3291.31 586.0 175.18 - - 2136.94 - - - - - - - - - 15.86 -
12791.97 606.06 11.65 989 12809.85 done 0.49 - - 1991.75 - 1.87 0.042 2156.81 -606.7 175.18 - - 2135.97 - - - - - - - - - 15.44 -
13112.15 569.29 11.40 1006 13129.62 VBD 0.49 - - 1991.75 - - - 2147.31 - 175.18 - - 2135.66 - - - - - - - - - - -
13412.12 535.86 10.85 1021 13430.08 done 0.49 - - 1990.88 - 1.93 0.055 3293.25 593.8 175.18 - - 2136.69 - - - - - - - - - 15.81 -
13471.72 529.14 10.98 1031 13489.60 done 0.49 - - 1999.12 - 1.88 0.037 2153.25 -606.4 175.18 - - 2136.88 - - - - - - - - - 15.42 -
13801.81 493.13 11.05 1050 13819.77 done 0.49 - - 1998.50 - 1.96 0.059 3292.81 581.4 175.18 - - 2137.53 - - - - - - - - - 15.32 -
13831.39 489.62 11.28 1054 13849.27 done 0.49 - - 2005.44 - 1.88 0.036 2151.38 -607.1 175.18 - - 2135.75 - - - - - - - - - 15.42 -
14151.55 452.56 11.80 1071 14169.51 done 0.49 - - 2004.69 - 1.95 0.060 3291.88 584.9 175.18 - - 2136.56 - - - - - - - - - 15.37 -
14191.21 447.42 12.88 1077 14209.09 done 0.49 - - 2009.56 - 1.88 0.035 2148.69 -608.1 175.18 - - 2137.66 - - - - - - - - - 15.41 -
14521.23 406.23 12.47 1096 14538.81 0.49 0.16 0.248 1968.12 -259.0 - - 2116.62 - 175.18 - - 2136.66 - - - - - - - - 15.61 - -
14821.22 377.54 9.50 1111 14839.18 done 0.49 - - 1967.12 - 1.97 0.059 3293.69 597.5 175.18 - - 2136.59 - - - - - - - - - 15.36 -
14895.82 370.15 9.79 1124 14913.70 done 0.49 - - 1973.88 - 1.89 0.035 2156.00 -602.0 175.18 - - 2135.59 - - - - - - - - - 15.39 -
15201.87 341.24 9.41 1140 15219.84 done 0.50 - - 1973.75 - 1.94 0.060 3291.44 585.3 175.18 - - 2137.06 - - - - - - - - - 15.34 -
15241.46 337.21 10.00 1146 15259.35 done 0.50 - - 1977.81 - 1.88 0.036 2154.12 -605.0 175.18 - - 2135.81 - - - - - - - - - 15.38 -
15571.61 305.48 9.66 1165 15589.57 done 0.50 - - 1977.69 - 1.96 0.056 3292.19 580.6 175.18 - - 2137.16 - - - - - - - - - 15.35 -
15616.80 300.84 10.18 1172 15634.68 done 0.50 - - 1986.19 - 1.88 0.036 2154.06 -605.4 175.18 - - 2135.62 - - - - - - - - - 15.30 -
15941.79 268.41 9.97 1190 15959.75 done 0.50 - - 1984.44 - 1.93 0.056 3291.75 589.5 175.18 - - 2135.81 - - - - - - - - - 15.86 -
15981.37 264.11 10.70 1196 15999.25 done 0.50 - - 1990.62 - 1.87 0.037 2156.25 -607.2 175.18 - - 2135.84 - - - - - - - - - 15.87 -
16303.18 231.68 10.11 1223 16321.13 done 0.50 - - 1990.00 - 1.93 0.057 3292.31 588.6 175.18 - - 2137.72 - - - - - - - - - 15.35 -
16338.31 227.76 10.69 1228 16356.18 done 0.50 - - 1996.00 - 1.87 0.036 2152.38 -609.6 175.18 - - 2135.75 - - - - - - - - - 15.78 -
16528.32 208.28 10.11 1247 16545.79 VBD 0.50 - - 1997.25 - - - 2142.12 - 175.18 - - 2135.66 - - - - - - - - - - -
16717.94 189.14 10.20 1265 16735.89 done 0.50 - - 1996.12 - 1.93 0.056 3293.75 596.7 175.18 - - 2136.69 - - - - - - - - - 15.84 -
16762.96 184.14 11.08 1272 16780.83 done 0.50 - - 2001.31 - 1.87 0.040 2155.81 -608.5 175.18 - - 2137.19 - - - - - - - - - 15.38 -
16953.04 163.91 10.75 1291 16970.52 VBD 0.50 - - 2003.38 - - - 2146.38 - 175.18 - - 2135.69 - - - - - - - - - - -
17142.72 143.76 10.35 1309 17160.67 done 0.50 - - 2002.31 - 1.92 0.054 3291.94 596.6 175.18 - - 2138.28 - - - - - - - - - 15.83 -
17177.82 139.88 10.98 1314 17195.69 done 0.50 - - 2009.94 - 1.87 0.035 2154.88 -608.1 175.18 - - 2135.81 - - - - - - - - - 15.78 -
17367.91 119.45 10.90 1333 17385.38 VBD 0.50 - - 2009.69 - - - 2144.62 - 175.18 - - 2135.81 - - - - - - - - - - -
17557.51 99.25 10.67 1351 17575.47 done 0.50 - - 2008.94 - 1.93 0.059 3294.88 596.0 175.18 - - 2135.91 - - - - - - - - - 15.33 -
17587.09 95.71 11.42 1355 17604.97 done 0.50 - - 2017.06 - 1.87 0.038 2149.25 -612.6 175.18 - - 2135.59 - - - - - - - - - 15.32 -
17787.17 73.10 11.56 1375 17804.73 0.50 0.16 0.246 1970.88 -288.6 - - 2115.69 - 175.18 - - 2136.00 - - - - - - - - 15.60 - -
17977.04 57.22 7.72 1393 18028.57 done 0.57 - - 1970.81 - 1.98 0.065 3289.50 592.8 232.24 40.67 1.093 1931.34 -5.0 0.046 - - - - - - - 15.57 11.76
18080.28 48.50 8.92 1413 18098.27 roll back 0.59 0.10 0.118 2020.06 492.5 1.89 0.039 2154.62 -600.5 232.24 - - 1927.03 - - - - - - - - 15.57 15.24 -
18280.43 26.20 11.11 1433 18298.39 roll 0.59 - - 2022.88 - 1.97 0.058 3290.56 576.6 232.24 - - 1926.22 - - - - - - - - - 15.56 -
18410.04 11.76 10.83 1457 18427.92 done 0.59 - - 2030.88 - 1.89 0.037 2164.62 -595.7 232.24 - - 1925.66 - - - - - - - - - 15.61 -
18500 end climb: SURFACE_DEPTH_REACHED
18500 begin surface coast
18510 end surface coast: CONTROL_FINISHED_OK
18510 begin surface
SM 2.40 - - - - 127.8 187.46 0.108 1248.6 6.7 5.16 0.051 1330.2 257.8 - 1.07 0.048 1167.1 1089.0 -5.565 - - 15.61 15.74 15.77 -