NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 481 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 0.00 of 0.00 AH used of 24V (NaN% remains)
• Previous NAKs 0, Timeouts 0 • 236.49 of 310.00 AH used of 10V (23.71% remains)
• Surface angle -56.1 deg, depth 0.08 m • Intended pitch -27.6 deg, speed -7.805 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 8 s • Transponder ping count: 21
• 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
11 - - - 105 done -0.68 - - - - - - 2490 - -43.3 -91.35 0.008 2978 - - - - - - - - 14.74 12.43 14.63
109 1.3 -1.8 9 133 roll -0.73 10.80 0.420 1981 183.4 2.60 0.085 1101 -534.2 -93.2 -6.10 0.020 3182 -33.4 0.429 1 - - - - - 13.43 13.21 14.29
219 15.5 -9.9 29 226 done -0.73 - - 1974 - 2.72 0.067 2529 525.0 -93.2 - - 3185 - - - - - - - - 14.35 14.23 14.40
534 53.3 -8.3 61 542 done -0.73 - - 1974 - - - 2529 - -93.2 - - 3185 - - - - - - - - 14.83 14.84 14.84
847 90.9 -12.4 92 852 roll -0.73 - - 1974 - 2.70 0.063 1106 -527.0 -93.2 - - 3184 - - - - - - - - 14.81 14.07 14.83
883 96.4 -13.5 98 888 done -0.73 - - 1965 - 2.72 0.061 2532 524.3 -93.2 - - 3185 - - - - - - - - 14.31 14.18 14.34
1217 139.0 -12.3 112 1219 done -0.73 - - 1965 - - - 2532 - -93.2 - - 3184 - - - - - - - - 14.84 14.85 14.85
1517 177.3 -13.2 122 1523 roll -0.73 - - 1965 - 2.70 0.064 1113 -525.6 -93.2 - - 3185 - - - - - - - - 14.84 14.11 14.85
1566 184.0 -13.4 131 1571 done -0.73 - - 1956 - 2.70 0.063 2524 522.6 -93.2 - - 3184 - - - - - - - - 14.12 14.02 14.16
1885 227.4 -13.3 144 1887 done -0.73 - - 1956 - - - 2524 - -93.2 - - 3184 - - - - - - - - 14.85 14.88 14.88
2185 266.5 -12.8 154 2191 roll -0.73 - - 1956 - 2.70 0.063 1104 -525.9 -93.2 - - 3185 - - - - - - - - 14.86 14.07 14.88
2229 272.4 -13.3 162 2235 done -0.73 0.17 0.266 1981 147.1 2.72 0.061 2531 524.6 -93.2 - - 3184 - - - - - - - - 13.62 14.09 13.93
2554 309.0 -11.1 176 2560 roll -0.73 - - 1982 - 2.65 0.062 1105 -538.1 -93.2 - - 3184 - - - - - - - - 14.80 14.04 14.81
2589 313.0 -12.0 182 2594 done -0.73 - - 1977 - 2.72 0.060 2530 523.9 -93.2 - - 3184 - - - - - - - - 14.19 14.07 14.23
2923 351.9 -11.7 198 2929 roll -0.73 - - 1975 - 2.70 0.060 1113 -524.8 -93.2 - - 3184 - - - - - - - - 14.79 14.03 14.81
2962 356.5 -11.4 205 2968 done -0.73 - - 1965 - 2.72 0.061 2530 521.0 -93.2 - - 3184 - - - - - - - - 14.20 14.07 14.24
3292 394.7 -11.5 220 3297 roll -0.73 - - 1966 - 2.70 0.060 1113 -524.8 -93.2 - - 3184 - - - - - - - - 14.78 14.02 14.80
3330 399.8 -12.5 227 3335 done -0.73 - - 1956 - 2.70 0.061 2523 522.2 -93.2 - - 3185 - - - - - - - - 14.18 14.05 14.22
3659 439.8 -12.4 242 3665 roll -0.73 - - 1956 - 2.70 0.067 1106 -524.8 -93.2 - - 3185 - - - - - - - - 14.85 14.03 14.87
3688 443.6 -12.4 247 3695 done -0.73 0.15 0.272 1975 126.7 2.72 0.061 2530 523.5 -93.2 - - 3185 - - - - - - - - 13.61 14.05 13.90
3994 476.9 -10.9 258 4000 roll -0.73 - - 1975 - 2.70 0.063 1113 -524.8 -93.2 - - 3185 - - - - - - - - 14.85 14.02 14.88
4042 482.5 -11.0 267 4048 done -0.73 - - 1969 - 2.72 0.060 2527 519.9 -93.2 - - 3184 - - - - - - - - 14.17 14.04 14.21
4362 519.4 -12.1 280 4368 roll -0.73 - - 1969 - 2.72 0.061 1112 -520.2 -93.2 - - 3185 - - - - - - - - 14.79 13.99 14.81
4390 523.0 -12.5 285 4398 done -0.73 - - 1959 - 2.72 0.060 2530 521.3 -93.2 - - 3184 - - - - - - - - 14.14 14.02 14.19
4696 558.4 -11.3 296 4702 roll -0.73 - - 1959 - 2.70 0.067 1111 -525.6 -93.2 - - 3184 - - - - - - - - 14.85 14.02 14.88
4760 565.7 -11.4 308 4767 done -0.73 0.15 0.266 1978 126.7 2.72 0.060 2531 522.1 -93.2 - - 3184 - - - - - - - - 13.51 13.93 13.81
5095 599.6 -10.2 324 5101 roll -0.73 - - 1971 - 2.28 0.086 3843 575.4 -93.2 - - 3184 - - - - - - - - 14.86 13.90 14.88
5123 602.4 -9.8 329 5131 done -0.73 - - 1971 - 2.25 0.050 2507 -593.8 -93.2 - - 3184 - - - - - - - - 14.22 14.13 14.26
5429 633.2 -10.5 340 5435 roll -0.73 - - 1971 - 2.60 0.069 1121 -533.1 -93.2 - - 3184 - - - - - - - - 14.84 13.96 14.85
5483 639.3 -11.1 350 5489 done -0.73 - - 1962 - 2.70 0.061 2525 520.0 -93.2 - - 3184 - - - - - - - - 14.14 14.02 14.19
5798 673.5 -10.7 362 5803 roll -0.73 - - 1962 - 2.67 0.067 1124 -524.7 -93.2 - - 3184 - - - - - - - - 14.85 13.99 14.87
5876 683.0 -12.1 377 5883 done -0.73 0.12 0.269 1975 108.3 2.70 0.060 2528 520.0 -93.2 - - 3184 - - - - - - - - 13.61 13.99 13.87
6197 714.7 -9.7 390 6203 roll -0.73 - - 1976 - 2.70 0.068 1117 -522.6 -93.2 - - 3184 - - - - - - - - 14.85 13.97 14.87
6262 721.4 -10.1 402 6268 done -0.73 - - 1969 - 2.72 0.060 2529 519.1 -93.2 - - 3184 - - - - - - - - 14.12 14.00 14.16
6597 756.7 -11.0 418 6599 done -0.73 - - 1969 - - - 2529 - -93.2 - - 3184 - - - - - - - - 14.85 14.87 14.86
6896 791.1 -11.7 428 6902 roll -0.73 - - 1969 - 2.70 0.063 1120 -521.9 -93.2 - - 3184 - - - - - - - - 14.85 13.97 14.87
6945 796.8 -11.1 437 6951 done -0.73 - - 1960 - 2.72 0.060 2534 519.9 -93.2 - - 3184 - - - - - - - - 14.12 13.98 14.16
7265 832.6 -11.0 450 7271 roll -0.73 - - 1960 - 2.70 0.062 1124 -522.2 -93.2 - - 3184 - - - - - - - - 14.83 13.97 14.85
7323 839.4 -11.1 461 7332 done -0.73 0.15 0.265 1979 126.7 2.70 0.060 2525 518.9 -93.2 - - 3184 - - - - - - - - 13.53 13.97 13.82
7629 869.4 -9.9 472 7635 roll -0.73 - - 1979 - 2.70 0.070 1123 -519.3 -93.2 - - 3184 - - - - - - - - 14.83 13.92 14.85
7678 874.5 -10.4 481 7684 done -0.73 - - 1973 - 2.70 0.061 2525 519.3 -93.2 - - 3184 - - - - - - - - 14.09 13.97 14.14
7998 907.4 -10.1 494 8004 roll -0.73 - - 1973 - 2.70 0.068 1121 -520.0 -93.2 - - 3184 - - - - - - - - 14.84 13.95 14.86
8056 913.6 -10.7 505 8064 done -0.73 - - 1963 - 2.72 0.060 2531 518.4 -93.2 - - 3183 - - - - - - - - 14.07 13.94 14.11
8362 945.2 -10.2 516 8364 done -0.73 - - 1964 - - - 2531 - -93.2 - - 3183 - - - - - - - - 14.76 14.78 14.78
8509 end dive: TARGET_DEPTH_EXCEEDED
8509 begin apogee
8518 960.7 -10.4 521 8620 done -0.12 0.82 0.215 2173 254.9 - - 1716 - - 98.72 2.307 2800 -3.9 0.319 - - - - - - 13.73 13.83 12.52
8622 end apogee: CONTROL_FINISHED_OK
8622 begin loiter
8902 964.6 -0.6 529 8910 done -0.11 - - 2173 - - - 1716 - 4.8 5.80 1.662 2780 -3.4 0.395 - - - - - - 14.83 14.26 12.87
9502 967.5 -0.6 539 9511 done -0.11 - - 2174 - - - 1716 - 9.4 6.28 1.746 2761 -3.0 0.331 - - - - - - 14.92 14.33 12.95
10102 962.7 1.1 549 10104 done -0.11 - - 2174 - - - 1716 - 9.4 - - 2758 - - - - - - - - 14.94 14.96 14.95
10702 956.0 1.1 559 10704 done -0.11 - - 2173 - - - 1716 - 9.4 - - 2757 - - - - - - - - 14.95 14.97 14.97
11302 949.3 1.1 569 11304 done -0.11 - - 2174 - - - 1716 - 9.4 - - 2756 - - - - - - - - 14.95 14.97 14.97
11902 943.1 1.0 579 11904 done -0.11 - - 2174 - - - 1716 - 9.4 - - 2756 - - - - - - - - 14.95 14.97 14.97
12502 938.9 0.5 589 12504 done -0.11 - - 2174 - - - 1716 - 9.4 - - 2755 - - - - - - - - 14.95 14.97 14.97
13102 938.0 - 599 13104 done -0.11 - - 2173 - - - 1716 - 9.4 - - 2755 - - - - - - - - 14.95 14.97 14.97
13702 938.9 -0.2 609 13704 done -0.11 - - 2173 - - - 1716 - 11.0 - - 2754 - - - - - - - - 14.95 14.97 14.97
14302 939.9 -0.1 619 14304 done -0.10 - - 2173 - - - 1716 - 12.0 - - 2754 - - - - - - - - 14.95 14.97 14.97
14902 939.7 0.1 629 14904 done -0.10 - - 2173 - - - 1715 - 12.0 - - 2754 - - - - - - - - 14.95 14.97 14.97
15502 939.3 - 639 15504 done -0.10 - - 2173 - - - 1716 - 12.0 - - 2754 - - - - - - - - 14.95 14.97 14.97
16102 939.7 -0.1 649 16104 done -0.10 - - 2174 - - - 1716 - 13.1 - - 2754 - - - - - - - - 14.95 14.97 14.97
16702 941.5 -0.4 659 16712 done -0.10 - - 2174 - - - 1716 - 16.1 7.35 1.844 2734 -2.7 0.274 - - - - - - 14.95 14.28 12.83
17302 936.2 1.0 669 17304 done -0.10 - - 2174 - - - 1715 - 16.1 - - 2733 - - - - - - - - 14.94 14.96 14.96
17902 929.6 1.1 679 17904 done -0.10 - - 2174 - - - 1716 - 16.1 - - 2733 - - - - - - - - 14.95 14.97 14.97
18502 920.5 1.7 689 18504 done -0.10 - - 2173 - - - 1716 - 16.1 - - 2733 - - - - - - - - 14.95 14.97 14.97
19102 908.7 2.0 699 19104 done -0.10 - - 2174 - - - 1716 - 16.1 - - 2733 - - - - - - - - 14.95 14.97 14.97
19702 896.8 1.8 709 19704 done -0.10 - - 2174 - - - 1716 - 16.1 - - 2733 - - - - - - - - 14.95 14.97 14.97
20302 890.8 0.6 719 20304 done -0.10 - - 2174 - - - 1716 - 16.1 - - 2732 - - - - - - - - 14.95 14.97 14.97
20902 890.0 -0.1 729 20904 done -0.10 - - 2173 - - - 1716 - 16.6 - - 2732 - - - - - - - - 14.95 14.97 14.96
21502 890.7 -0.1 739 21504 done -0.10 - - 2173 - - - 1716 - 17.3 - - 2733 - - - - - - - - 14.95 14.97 14.95
22102 888.7 0.6 749 22104 done -0.10 - - 2174 - - - 1716 - 17.3 - - 2732 - - - - - - - - 14.95 14.97 14.97
22702 882.6 1.1 759 22704 done -0.10 - - 2174 - - - 1716 - 17.3 - - 2733 - - - - - - - - 14.95 14.97 14.97
22999 end loiter: LOITER_COMPLETE
22999 begin climb
23002 879.2 - 764 23095 roll 0.73 0.88 0.097 2464 329.5 2.78 0.096 304 -507.9 93.2 83.32 2.235 2418 -3.8 0.293 - - - - - - 13.71 13.88 12.55
23251 859.6 10.9 812 23256 done 0.73 - - 2464 - 2.58 0.063 1703 542.2 93.2 - - 2415 - - - - - - - - 14.38 14.27 14.42
23585 822.4 11.5 828 23591 roll 0.73 - - 2464 - 2.58 0.078 3133 554.3 93.2 - - 2414 - - - - - - - - 14.83 14.30 14.85
23628 817.2 11.9 836 23634 done 0.73 - - 2472 - 2.58 0.070 1715 -549.6 93.2 - - 2413 - - - - - - - - 14.48 14.35 14.52
23953 779.5 11.3 850 23958 roll 0.73 - - 2484 - 2.67 0.096 289 -534.1 93.2 - - 2413 - - - - - - - - 14.85 14.15 14.86
24083 764.5 11.6 875 24089 done 0.73 - - 2484 - 2.62 0.062 1720 546.2 93.2 - - 2413 - - - - - - - - 14.47 14.35 14.50
24413 727.3 11.1 890 24415 done 0.73 - - 2484 - - - 1720 - 93.2 - - 2412 - - - - - - - - 14.84 14.86 14.85
24712 692.5 11.7 900 24718 roll 0.73 - - 2484 - 2.55 0.078 3124 550.6 93.2 - - 2412 - - - - - - - - 14.84 14.16 14.85
24747 688.3 12.4 906 24753 done 0.73 0.17 0.305 2460 -141.2 2.58 0.068 1711 -547.7 93.2 - - 2412 - - - - - - - - 13.80 14.17 14.19
25082 652.1 10.8 922 25088 roll 0.73 - - 2469 - 2.70 0.095 293 -525.2 93.2 - - 2411 - - - - - - - - 14.85 14.09 14.88
25130 646.7 11.6 931 25135 done 0.73 - - 2469 - 2.60 0.059 1710 545.0 93.2 - - 2412 - - - - - - - - 14.38 14.27 14.42
25449 613.7 10.1 944 25455 roll 0.73 - - 2469 - 2.60 0.076 3131 546.5 93.2 - - 2411 - - - - - - - - 14.83 14.08 14.85
25472 611.2 10.8 948 25478 done 0.73 - - 2478 - 2.60 0.068 1710 -546.5 93.2 - - 2411 - - - - - - - - 14.33 14.20 14.39
25786 579.1 10.7 960 25792 roll 0.73 - - 2490 - 2.72 0.090 287 -523.2 93.2 - - 2411 - - - - - - - - 14.83 14.04 14.85
25854 571.3 11.7 973 25861 done 0.73 0.15 0.286 2461 -193.3 2.62 0.060 1715 545.0 93.2 - - 2410 - - - - - - - - 13.76 14.21 14.12
26185 538.7 9.6 988 26187 done 0.73 - - 2462 - - - 1715 - 93.2 - - 2411 - - - - - - - - 14.83 14.85 14.85
26486 510.1 9.5 998 26491 roll 0.73 - - 2461 - 2.60 0.076 3125 542.3 93.2 - - 2411 - - - - - - - - 14.83 13.98 14.85
26523 506.2 10.2 1005 26530 done 0.73 - - 2468 - 2.60 0.067 1709 -544.6 93.2 - - 2410 - - - - - - - - 14.23 14.11 14.30
26853 473.0 10.1 1020 26859 roll 0.73 - - 2479 - 2.72 0.093 288 -522.4 93.2 - - 2410 - - - - - - - - 14.81 13.98 14.83
26948 462.9 10.7 1038 26954 done 0.73 - - 2480 - 2.62 0.059 1706 541.2 93.2 - - 2411 - - - - - - - - 14.27 14.15 14.32
27283 428.1 10.3 1054 27289 roll 0.73 - - 2480 - 2.60 0.073 3122 544.6 93.2 - - 2410 - - - - - - - - 14.83 13.96 14.85
27321 423.8 10.2 1061 27328 done 0.73 0.15 0.295 2461 -126.7 2.60 0.067 1707 -544.2 93.2 - - 2411 - - - - - - - - 13.67 14.08 14.04
27651 392.4 9.6 1076 27657 roll 0.73 - - 2470 - 2.72 0.088 287 -522.1 93.2 - - 2411 - - - - - - - - 14.82 13.96 14.83
27754 382.0 9.9 1096 27760 done 0.73 - - 2470 - 2.65 0.059 1719 540.4 93.2 - - 2411 - - - - - - - - 14.23 14.12 14.29
28079 349.4 9.8 1110 28085 roll 0.73 - - 2470 - 2.60 0.075 3130 542.7 93.2 - - 2411 - - - - - - - - 14.76 13.95 14.78
28128 344.4 10.2 1119 28133 done 0.73 - - 2478 - 2.62 0.067 1707 -543.1 93.2 - - 2411 - - - - - - - - 14.19 14.05 14.26
28447 312.2 10.1 1132 28452 roll 0.73 - - 2490 - 2.72 0.086 289 -521.3 93.2 - - 2411 - - - - - - - - 14.83 13.88 14.84
28555 300.7 10.4 1153 28562 done 0.73 0.15 0.275 2462 -186.7 2.65 0.059 1718 539.2 93.2 - - 2411 - - - - - - - - 13.65 14.12 13.96
28876 270.6 9.2 1166 28882 roll 0.73 - - 2462 - 2.58 0.076 3119 543.0 93.2 - - 2412 - - - - - - - - 14.81 13.93 14.83
28950 263.6 9.4 1180 28955 done 0.73 - - 2468 - 2.62 0.067 1700 -541.6 93.2 - - 2412 - - - - - - - - 14.16 14.03 14.23
29274 233.3 9.6 1194 29282 roll 0.73 - - 2480 - 2.67 0.086 292 -527.3 93.2 - - 2412 - - - - - - - - 14.62 13.97 14.63
29389 221.2 10.2 1216 29397 done 0.73 - - 2480 - 2.62 0.058 1711 541.6 93.2 - - 2412 - - - - - - - - 14.24 14.14 14.28
29705 189.6 10.0 1228 29712 roll 0.73 - - 2480 - 2.58 0.073 3126 548.4 93.2 - - 2412 - - - - - - - - 14.63 14.02 14.64
29781 181.2 11.3 1242 29789 done 0.73 0.15 0.294 2461 -126.7 2.62 0.067 1700 -544.3 93.2 - - 2412 - - - - - - - - 13.73 14.08 14.04
30108 150.6 8.4 1256 30115 roll 0.73 - - 2470 - 2.67 0.086 290 -528.1 93.2 - - 2412 - - - - - - - - 14.59 14.02 14.62
30198 142.2 9.4 1273 30207 done 0.73 - - 2470 - 2.62 0.058 1711 542.4 93.2 - - 2412 - - - - - - - - 14.24 14.14 14.28
30503 113.7 9.6 1284 30511 roll 0.73 - - 2470 - 2.58 0.073 3122 546.9 93.2 - - 2412 - - - - - - - - 14.63 14.02 14.64
30549 109.0 9.9 1292 30556 done 0.73 - - 2479 - 2.60 0.066 1709 -543.5 93.2 - - 2413 - - - - - - - - 14.21 14.07 14.24
30864 77.6 9.2 1319 30872 roll 0.73 - - 2491 - 2.70 0.086 287 -526.7 93.2 - - 2412 - - - - - - - - 14.63 14.02 14.64
30935 70.7 10.1 1332 30944 done 0.73 0.15 0.275 2462 -193.3 2.65 0.058 1719 540.4 93.2 - - 2413 - - - - - - - - 13.73 14.12 14.02
31243 40.1 11.6 1363 31250 roll 0.73 - - 2462 - 2.58 0.074 3128 546.1 93.2 - - 2413 - - - - - - - - 14.61 14.04 14.62
31333 33.8 6.8 1380 31348 done 0.74 - - 2469 - 2.62 0.067 1704 -543.5 101.5 8.35 0.979 2386 -3.2 0.022 - - - - - - 14.20 14.07 13.45
31643 end climb: SURFACE_DEPTH_REACHED
31644 begin surface coast
31668 end surface coast: CONTROL_FINISHED_OK
31668 begin surface
SM 0.20 - - - - -6.33 6.85 0.070 165 23.9 1.58 0.058 2526 -4258.2 400.08 240.73 1.104 1169 4.9 -0.000 - - - - - -