NISKINE May19 * SG135 * Dive index * Mission links * Dive 90 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 47.48 of 350.00 AH used of 24V (86.43% remains)
• Surface angle -51.5 deg, depth 2.33 m • Intended pitch -15.4 deg, speed -9.167 cm/s
VBD pumped to 400.01 (SM_CC=400)
• GPS1 time: 25 s
• GPS2 time: 27 s • Transponder ping count: 1840
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
4.81 - - - 91.22 VBD -0.48 - - 128.75 - - - 2594.00 - -145.99 77.78 0.005 2819.19 - - - - - - - - - - 15.34
91.51 3.04 -1.06 8 150.71 -0.48 8.57 0.495 1665.62 179.3 2.23 0.036 1239.31 -607.5 -145.99 28.19 0.006 3474.59 23.2 -2.008 - - - - - - 15.32 15.52 15.40
282.86 19.02 -10.49 44 300.94 roll -0.48 - - 1654.06 - 2.55 0.060 2725.44 582.8 -145.99 - - 3475.91 - - - - - - - - - 15.43 -
473.18 42.42 -12.13 63 491.22 roll -0.48 - - 1655.31 - 2.44 0.034 1243.38 -607.4 -145.99 - - 3474.59 - - - - - - - - - 15.70 -
508.41 46.47 -11.69 68 526.48 roll -0.48 - - 1644.81 - 2.55 0.060 2725.75 581.3 -145.99 - - 3476.06 - - - - - - - - - 15.48 -
698.60 69.82 -12.68 87 716.57 roll -0.48 - - 1634.75 - 2.04 0.066 3967.94 608.9 -145.99 - - 3475.28 - - - - - - - - - 15.79 -
733.61 74.27 -12.70 92 751.60 roll -0.48 - - 1635.00 - 2.12 0.033 2644.19 -624.4 -145.99 - - 3474.97 - - - - - - - - - 15.47 -
923.81 98.29 -12.47 111 941.26 no move -0.48 - - 1635.19 - - - 2607.94 - -145.99 - - 3474.62 - - - - - - - - - - -
1113.34 122.31 -12.73 129 1130.80 no move -0.48 - - 1635.50 - - - 2607.50 - -145.99 - - 3474.88 - - - - - - - - - - -
1302.86 146.31 -12.92 147 1320.86 roll -0.48 - - 1626.00 - 2.25 0.067 3966.25 603.9 -145.99 - - 3474.75 - - - - - - - - - 15.91 -
1338.05 150.95 -13.31 152 1356.11 roll back -0.48 0.14 0.240 1666.19 287.1 2.12 0.031 2635.88 -627.5 -145.99 - - 3474.41 - - - - - - - - 15.82 15.57 -
1528.34 171.17 -10.56 171 1545.81 no move -0.48 - - 1666.25 - - - 2599.69 - -145.99 - - 3474.59 - - - - - - - - - - -
1718.07 191.71 -10.97 189 1736.08 roll -0.48 - - 1657.19 - 2.26 0.065 3967.94 605.4 -145.99 - - 3475.06 - - - - - - - - - 15.91 -
1743.18 194.55 -11.14 192 1763.49 roll -0.48 - - 1657.06 - 2.11 0.028 2639.19 -629.7 -145.99 - - 3474.97 - - - - - - - - - 15.89 -
1935.77 216.28 -11.28 211 1953.22 no move -0.48 - - 1657.50 - - - 2602.62 - -145.99 - - 3474.66 - - - - - - - - - - -
2125.31 238.16 -11.53 229 2142.77 no move -0.48 - - 1657.25 - - - 2603.25 - -145.99 - - 3474.59 - - - - - - - - - - -
2314.84 259.86 -11.45 243 2332.85 roll -0.48 - - 1647.12 - 2.24 0.063 3966.19 608.5 -145.99 - - 3476.28 - - - - - - - - - 15.94 -
2360.06 265.03 -11.56 250 2378.06 roll -0.48 - - 1647.75 - 2.11 0.029 2639.69 -628.7 -145.99 - - 3475.00 - - - - - - - - - 15.92 -
2685.29 303.19 -11.76 268 2702.75 no move -0.48 - - 1647.50 - - - 2604.19 - -145.99 - - 3474.75 - - - - - - - - - - -
2985.18 338.58 -11.65 283 3003.18 roll -0.48 - - 1637.75 - 2.24 0.063 3965.50 607.7 -145.99 - - 3475.06 - - - - - - - - - 15.76 -
3010.25 341.61 -11.77 286 3030.58 roll -0.48 - - 1636.75 - 2.10 0.028 2640.31 -631.0 -145.99 - - 3476.22 - - - - - - - - - 15.98 -
3337.84 381.69 -12.18 304 3355.30 no move -0.48 - - 1638.12 - - - 2604.19 - -145.99 - - 3474.38 - - - - - - - - - - -
3637.68 418.35 -12.24 319 3655.69 roll -0.48 - - 1628.81 - 2.24 0.068 3964.62 607.3 -145.99 - - 3474.47 - - - - - - - - - 15.59 -
3672.32 422.82 -12.83 324 3690.36 roll back -0.48 0.13 0.229 1666.00 286.1 2.10 0.033 2636.88 -632.3 -145.99 - - 3476.38 - - - - - - - - 15.91 15.64 -
3978.50 453.21 -9.82 340 3995.97 no move -0.48 - - 1667.81 - - - 2601.00 - -145.99 - - 3474.34 - - - - - - - - - - -
4278.38 482.70 -9.68 355 4295.84 no move -0.48 - - 1667.56 - - - 2600.69 - -145.99 - - 3474.44 - - - - - - - - - - -
4578.34 511.36 -9.49 370 4595.80 no move -0.48 - - 1667.31 - - - 2600.94 - -145.99 - - 3474.19 - - - - - - - - - - -
4878.42 539.83 -9.38 385 4895.88 no move -0.48 - - 1667.94 - - - 2600.88 - -145.99 - - 3474.00 - - - - - - - - - - -
5178.70 568.26 -9.43 400 5196.76 roll -0.48 - - 1656.75 - 2.24 0.066 3967.88 610.3 -145.99 - - 3475.41 - - - - - - - - - 15.62 -
5213.40 571.68 -9.50 405 5231.40 roll -0.48 - - 1659.00 - 2.11 0.030 2639.38 -629.6 -145.99 - - 3475.62 - - - - - - - - - 15.62 -
5519.39 601.52 -9.80 421 5536.86 no move -0.48 - - 1658.69 - - - 2601.88 - -145.99 - - 3473.44 - - - - - - - - - - -
5819.49 631.12 -9.84 436 5836.95 no move -0.48 - - 1658.62 - - - 2601.75 - -145.99 - - 3473.53 - - - - - - - - - - -
6119.43 659.97 -9.52 451 6137.44 roll -0.48 - - 1649.31 - 2.24 0.064 3966.12 609.1 -145.99 - - 3473.31 - - - - - - - - - 15.95 -
6144.67 662.41 -9.61 454 6164.83 roll -0.48 - - 1649.31 - 2.10 0.027 2639.06 -631.9 -145.99 - - 3473.38 - - - - - - - - - 16.01 -
6472.06 695.95 -10.50 472 6490.08 roll -0.48 - - 1639.38 - 2.23 0.063 3967.62 595.8 -145.99 - - 3473.34 - - - - - - - - - 16.00 -
6501.72 699.17 -10.99 476 6519.70 roll -0.48 - - 1639.31 - 2.10 0.031 2639.44 -632.5 -145.99 - - 3472.62 - - - - - - - - - 15.61 -
6821.79 734.92 -11.45 493 6839.81 roll -0.48 - - 1629.44 - 2.23 0.067 3965.31 594.6 -145.99 - - 3472.81 - - - - - - - - - 15.63 -
6851.44 738.43 -11.39 497 6869.48 roll back -0.48 0.12 0.289 1667.12 314.0 2.10 0.030 2637.12 -632.5 -145.99 - - 3473.09 - - - - - - - - 15.48 16.01 -
7171.57 767.30 -8.94 514 7189.58 roll -0.48 - - 1668.81 - 2.20 0.034 1240.12 -635.0 -145.99 - - 3475.12 - - - - - - - - - 15.61 -
7201.22 770.00 -9.04 518 7219.31 roll -0.48 - - 1656.38 - 2.52 0.061 2727.31 590.2 -145.99 - - 3474.78 - - - - - - - - - 15.59 -
7521.36 798.79 -8.86 535 7539.55 roll -0.48 - - 1658.12 - 2.42 0.034 1243.12 -613.3 -145.99 - - 3472.34 - - - - - - - - - 15.97 -
7551.19 801.50 -8.85 539 7569.27 roll -0.48 - - 1646.00 - 2.52 0.061 2726.25 588.5 -145.99 - - 3473.69 - - - - - - - - - 15.60 -
7871.36 832.69 -10.09 556 7889.34 roll -0.48 - - 1637.88 - 2.02 0.067 3967.69 614.6 -145.99 - - 3471.91 - - - - - - - - - 15.99 -
7896.50 835.25 -9.91 559 7916.77 roll -0.48 - - 1638.19 - 2.10 0.031 2638.69 -632.9 -145.99 - - 3473.16 - - - - - - - - - 15.64 -
8224.06 867.78 -9.58 577 8242.07 roll -0.48 - - 1638.88 - 2.20 0.034 1241.00 -635.3 -145.99 - - 3473.97 - - - - - - - - - 15.61 -
8269.10 871.92 -9.54 584 8287.17 roll -0.48 - - 1627.81 - 2.52 0.064 2728.38 590.2 -145.99 - - 3471.81 - - - - - - - - - 15.64 -
8594.33 905.24 -10.62 602 8612.37 roll back -0.48 0.14 0.269 1659.81 228.6 2.01 0.063 3968.00 616.7 -145.99 - - 3473.38 - - - - - - - - 15.89 15.93 -
8634.01 908.90 -9.89 608 8652.00 roll -0.48 - - 1660.25 - 2.09 0.030 2639.19 -635.8 -145.99 - - 3472.25 - - - - - - - - - 15.62 -
8964.26 935.07 -7.84 627 8982.28 roll -0.48 - - 1658.31 - 2.20 0.032 1240.50 -635.8 -145.99 - - 3473.28 - - - - - - - - - 16.01 -
9013.92 939.07 -8.15 635 9032.00 roll -0.48 - - 1649.50 - 2.52 0.061 2727.38 590.0 -145.99 - - 3473.34 - - - - - - - - - 15.60 -
9334.31 968.57 -9.41 652 9352.37 roll -0.48 - - 1649.62 - 2.42 0.036 1245.12 -612.5 -145.99 - - 3470.72 - - - - - - - - - 15.64 -
9359.41 970.92 -9.53 655 9379.82 roll -0.48 - - 1637.25 - 2.52 0.060 2724.31 587.0 -145.99 - - 3472.16 - - - - - - - - - 15.76 -
9547 end dive: TARGET_DEPTH_EXCEEDED
9547 begin apogee
9548.68 990.32 -10.57 666 9686.45 -0.10 0.50 0.229 1789.31 304.1 0.17 0.131 2347.75 -2215.1 - 126.95 2.296 2879.75 -4.7 0.343 - - - - - - 15.52 15.04 12.21
9687 end apogee: CONTROL_FINISHED_OK
9687 begin climb
9687.43 994.48 - 672 9822.83 0.48 0.56 0.106 1994.25 366.0 2.67 0.049 857.44 -558.2 145.99 118.55 2.258 2280.81 -5.1 0.379 - - - - - - 15.21 14.90 12.34
9869.51 982.45 9.80 705 9875.85 roll 0.48 - - 1993.25 - 2.62 0.059 2327.06 560.9 145.99 - - 2278.94 - - - - - - - - - 15.25 -
10180.16 946.84 11.81 722 10183.04 VBD 0.48 - - 1993.44 - - - 2327.50 - 145.99 - - 2267.75 - - - - - - - - - - -
10479.99 911.81 11.88 737 10486.17 done 0.48 - - 2003.50 - 2.50 0.046 855.12 -589.0 145.99 - - 2267.88 - - - - - - - - - 15.65 -
10529.53 905.91 11.62 747 10535.89 done 0.48 - - 2002.75 - 2.53 0.058 2331.94 583.7 145.99 - - 2267.47 - - - - - - - - - 15.79 -
10840.28 866.79 13.11 764 10845.80 done 0.48 - - 2001.88 - 2.34 0.067 3738.38 601.0 145.99 - - 2266.25 - - - - - - - - - 15.71 -
10889.57 859.38 14.99 774 10895.84 done 0.48 - - 2012.38 - 2.42 0.037 2255.19 -612.9 145.99 - - 2263.62 - - - - - - - - - 15.84 -
11200.00 815.74 13.90 791 11205.96 0.48 0.17 0.275 1977.81 -203.4 2.29 0.045 851.88 -612.8 145.99 - - 2266.00 - - - - - - - - 15.78 15.76 -
11234.61 811.71 11.51 798 11241.42 done 0.48 - - 1976.56 - 2.52 0.058 2331.25 587.1 145.99 - - 2263.81 - - - - - - - - - 15.86 -
11540.24 778.49 10.71 814 11545.88 done 0.48 - - 1976.31 - 2.32 0.065 3738.81 606.7 145.99 - - 2263.62 - - - - - - - - - 15.90 -
11564.63 775.55 10.82 819 11570.91 done 0.48 - - 1986.62 - 2.41 0.036 2255.44 -615.5 145.99 - - 2262.69 - - - - - - - - - 15.89 -
11880.14 739.67 11.28 837 11885.89 done 0.48 - - 1998.31 - 2.28 0.045 847.75 -617.4 145.99 - - 2262.88 - - - - - - - - - 15.90 -
11940.09 733.10 10.81 849 11946.18 done 0.48 - - 1995.25 - 2.52 0.058 2329.69 588.1 145.99 - - 2262.72 - - - - - - - - - 15.92 -
12260.29 695.35 11.60 868 12263.18 VBD 0.48 - - 1996.62 - - - 2330.38 - 145.99 - - 2260.62 - - - - - - - - - - -
12560.31 662.94 10.47 883 12563.19 VBD 0.48 - - 1996.19 - - - 2330.31 - 145.99 - - 2260.38 - - - - - - - - - - -
12860.38 632.43 10.08 898 12866.02 done 0.48 - - 2006.38 - 2.46 0.043 846.31 -603.3 145.99 - - 2262.94 - - - - - - - - - 15.92 -
12889.76 629.42 10.07 904 12896.18 0.48 0.14 0.253 1967.75 -275.9 2.51 0.056 2330.06 591.1 145.99 - - 2262.00 - - - - - - - - 15.82 15.93 -
13200.43 603.92 8.30 921 13206.21 done 0.50 - - 1967.00 - 2.32 0.063 3741.00 608.2 145.99 - - 2262.72 - - - - - - - - - 15.91 -
13220.28 602.02 8.56 925 13226.07 done 0.51 - - 1975.69 - 2.41 0.035 2254.19 -616.9 145.99 - - 2261.16 - - - - - - - - - 15.93 -
13540.39 573.41 8.94 944 13543.27 VBD 0.51 - - 1975.62 - - - 2241.44 - 145.99 - - 2259.00 - - - - - - - - - - -
13840.23 546.74 8.90 959 13843.12 VBD 0.51 - - 1975.88 - - - 2241.75 - 145.99 - - 2259.34 - - - - - - - - - - -
14140.27 519.79 9.06 974 14146.27 done 0.51 - - 1975.31 - 2.53 0.067 3738.00 591.4 145.99 - - 2261.12 - - - - - - - - - 15.73 -
14174.86 516.19 10.24 981 14181.97 done 0.51 - - 1976.06 - 2.41 0.035 2253.69 -615.9 145.99 - - 2262.12 - - - - - - - - - 15.89 -
14480.35 488.17 9.13 997 14486.12 done 0.51 - - 1986.56 - 2.28 0.043 847.38 -616.8 145.99 - - 2261.53 - - - - - - - - - 15.90 -
14500.44 486.31 9.11 1001 14506.25 done 0.51 - - 1986.38 - 2.53 0.057 2331.75 586.7 145.99 - - 2260.84 - - - - - - - - - 15.73 -
14820.39 454.99 9.87 1020 14823.27 VBD 0.51 - - 1985.94 - - - 2333.12 - 145.99 - - 2259.12 - - - - - - - - - - -
15120.54 425.20 9.88 1035 15126.20 done 0.51 - - 1993.81 - 2.47 0.043 847.69 -601.4 145.99 - - 2261.84 - - - - - - - - - 15.88 -
15154.94 421.79 9.74 1042 15161.87 done 0.51 - - 1990.88 - 2.52 0.057 2330.12 588.3 145.99 - - 2261.50 - - - - - - - - - 15.92 -
15460.43 390.29 10.51 1058 15463.31 VBD 0.51 - - 1992.69 - - - 2331.69 - 145.99 - - 2259.31 - - - - - - - - - - -
15760.53 358.27 10.87 1073 15763.66 VBD 0.51 - - 1992.44 - - - 2332.00 - 145.99 - - 2259.12 - - - - - - - - - - -
16060.40 325.95 10.89 1088 16063.29 VBD 0.51 - - 1992.88 - - - 2331.69 - 145.99 - - 2259.34 - - - - - - - - - - -
16360.61 293.41 10.71 1103 16366.30 done 0.51 - - 2003.31 - 2.48 0.042 849.19 -597.8 145.99 - - 2262.03 - - - - - - - - - 15.72 -
16385.03 290.77 10.70 1108 16391.39 done 0.51 - - 2000.19 - 2.51 0.054 2333.94 591.5 145.99 - - 2262.12 - - - - - - - - - 15.92 -
16700.62 254.47 11.71 1126 16703.62 VBD 0.51 - - 2001.62 - - - 2334.88 - 145.99 - - 2259.34 - - - - - - - - - - -
17000.71 217.92 11.98 1154 17006.37 done 0.51 - - 2012.38 - 2.47 0.042 847.81 -602.1 145.99 - - 2262.16 - - - - - - - - - 15.79 -
17030.62 214.34 11.89 1160 17036.46 done 0.51 - - 2009.25 - 2.52 0.056 2331.25 588.7 145.99 - - 2262.19 - - - - - - - - - 15.82 -
17220.53 191.06 12.21 1180 17226.38 done 0.51 - - 2011.19 - 2.33 0.064 3740.19 604.7 145.99 - - 2262.25 - - - - - - - - - 15.78 -
17245.13 187.64 12.87 1185 17252.02 done 0.51 - - 2020.31 - 2.41 0.034 2253.94 -616.7 145.99 - - 2260.84 - - - - - - - - - 15.89 -
17430.60 164.77 12.01 1204 17436.55 0.51 0.15 0.255 1986.56 -225.0 2.29 0.043 849.19 -613.4 145.99 - - 2261.16 - - - - - - - - 15.77 15.81 -
17450.78 162.66 11.45 1208 17456.54 done 0.51 - - 1985.88 - 2.53 0.056 2335.31 587.4 145.99 - - 2262.31 - - - - - - - - - 15.81 -
17640.70 145.65 8.57 1228 17646.47 done 0.52 - - 1985.38 - 2.33 0.065 3740.38 603.0 145.99 - - 2262.12 - - - - - - - - - 15.76 -
17665.22 143.23 9.01 1233 17671.90 done 0.52 - - 1990.25 - 2.42 0.036 2255.81 -613.5 145.99 - - 2260.97 - - - - - - - - - 15.89 -
17850.68 128.69 7.47 1252 17853.75 VBD 0.56 - - 1988.81 - - - 2245.25 - 145.99 - - 2260.91 - - - - - - - - - - -
18030.71 116.49 6.47 1270 18083.25 done 0.63 - - 1989.69 - 2.57 0.065 3738.56 581.1 208.81 44.88 1.175 2024.72 -5.3 0.089 - - - - - - - 15.59 12.31
18100.80 111.50 7.67 1284 18106.71 0.66 0.12 0.111 2050.25 504.7 2.46 0.036 2255.38 -602.9 208.81 - - 2018.22 - - - - - - - - 15.61 15.54 -
18290.73 88.91 12.77 1304 18296.88 done 0.66 - - 2061.12 - 2.30 0.042 851.94 -610.2 208.81 - - 2017.91 - - - - - - - - - 15.68 -
18320.91 85.00 12.99 1310 18326.70 done 0.66 - - 2059.69 - 2.54 0.055 2333.12 583.1 208.81 - - 2017.38 - - - - - - - - - 15.69 -
18510.92 55.79 16.54 1330 18516.70 done 0.66 - - 2057.94 - 2.34 0.063 3740.25 601.3 208.81 - - 2017.56 - - - - - - - - - 15.65 -
18565.38 47.13 15.42 1341 18572.05 done 0.66 - - 2070.69 - 2.44 0.034 2253.88 -609.2 208.81 - - 2012.53 - - - - - - - - - 15.68 -
18751.01 16.86 16.06 1360 18757.09 0.66 0.17 0.298 2035.50 -207.0 2.29 0.040 846.38 -614.6 208.81 - - 2013.59 - - - - - - - - 15.54 15.74 -
18800.91 10.68 11.60 1370 18806.78 done 0.66 - - 2032.25 - 2.54 0.055 2331.94 584.9 208.81 - - 2013.31 - - - - - - - - - 15.71 -
18871 end climb: SURFACE_DEPTH_REACHED
18871 begin surface coast
18881 end surface coast: CONTROL_FINISHED_OK
18881 begin surface
SM 2.31 - - - - 132.9 184.26 0.109 1249.3 6.8 5.14 0.051 1325.8 257.9 - 0.60 0.044 1172.9 1950.6 -10.467 - - 15.74 15.83 15.86 -