MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 730 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 198.30 of 350.00 AH used of 24V (43.34% remains)
• Surface angle -70.5 deg, depth 0.46 m • Intended pitch -19.0 deg, speed -8.462 cm/s
VBD pumped to 500.23 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 s • Transponder ping count: 99
• 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
4.07 - - - 85.26 VBD -0.63 - - 316.75 - - - 2527.25 - -116.79 80.57 0.005 2559.97 - - - - - - - - - - 14.73
85.58 3.83 -5.37 8 116.40 -0.63 10.40 0.375 2292.25 190.0 1.55 0.027 1527.12 -645.2 -116.79 15.78 0.006 3298.94 46.8 -5.256 - - - - - - 14.92 14.89 14.99
233.60 41.49 -20.59 23 238.82 roll -0.63 - - 2285.06 - 2.07 0.076 2657.06 545.9 -116.79 - - 3300.00 - - - - - - - - - 15.65 -
423.64 74.76 -13.33 42 428.88 roll -0.63 - - 2277.19 - 2.19 0.099 3728.56 489.3 -116.79 - - 3299.03 - - - - - - - - - 15.61 -
623.76 103.54 -15.15 62 628.99 roll -0.63 - - 2276.50 - 2.02 0.021 2584.38 -566.4 -116.79 - - 3299.47 - - - - - - - - - 15.92 -
813.74 130.10 -13.96 81 816.48 roll -0.63 - - 2276.50 - 1.63 0.022 1531.38 -646.0 -116.79 - - 3297.81 - - - - - - - - - 15.93 -
888.73 140.38 -13.67 89 893.95 roll -0.63 - - 2270.38 - 2.03 0.070 2659.12 555.5 -116.79 - - 3299.28 - - - - - - - - - 15.76 -
1078.76 169.24 -14.72 108 1083.99 roll -0.63 - - 2257.81 - 2.19 0.101 3724.81 486.6 -116.79 - - 3299.91 - - - - - - - - - 15.69 -
1103.74 172.91 -14.74 110 1109.05 roll back -0.63 0.13 0.209 2295.81 292.3 2.03 0.024 2589.12 -559.5 -116.79 - - 3298.59 - - - - - - - - 15.59 15.96 -
1288.80 195.41 -12.23 129 1291.54 roll -0.63 - - 2295.62 - 1.65 0.024 1533.88 -639.5 -116.79 - - 3298.81 - - - - - - - - - 15.96 -
1323.86 199.39 -11.35 133 1329.09 roll -0.63 - - 2290.69 - 2.03 0.070 2661.38 555.4 -116.79 - - 3298.19 - - - - - - - - - 15.77 -
1513.83 222.06 -11.80 152 1515.16 no move -0.63 - - 2290.12 - - - 2660.50 - -116.79 - - 3296.03 - - - - - - - - - - -
1693.86 242.83 -11.67 170 1696.63 roll -0.63 - - 2289.69 - 1.87 0.026 1540.56 -598.9 -116.79 - - 3296.88 - - - - - - - - - 15.94 -
1753.84 249.17 -10.19 176 1759.08 roll -0.63 - - 2282.19 - 2.03 0.071 2661.12 552.0 -116.79 - - 3295.62 - - - - - - - - - 15.76 -
1938.88 270.02 -11.82 195 1940.22 no move -0.63 - - 2281.12 - - - 2660.12 - -116.79 - - 3295.44 - - - - - - - - - - -
2118.92 290.94 -11.87 213 2121.69 roll -0.63 - - 2282.81 - 1.86 0.024 1539.94 -602.2 -116.79 - - 3292.19 - - - - - - - - - 15.95 -
2178.89 297.73 -11.03 219 2184.14 roll -0.63 - - 2274.19 - 2.02 0.068 2659.81 554.4 -116.79 - - 3293.81 - - - - - - - - - 15.76 -
2363.95 321.58 -13.22 238 2366.72 roll -0.63 - - 2273.69 - 1.85 0.025 1539.19 -605.7 -116.79 - - 3292.25 - - - - - - - - - 15.95 -
2393.93 325.41 -12.77 241 2399.18 roll -0.63 - - 2266.50 - 2.03 0.069 2661.00 552.6 -116.79 - - 3293.81 - - - - - - - - - 15.77 -
2578.98 350.57 -13.81 260 2580.31 no move -0.63 - - 2266.69 - - - 2661.25 - -116.79 - - 3290.62 - - - - - - - - - - -
2759.02 375.21 -13.65 278 2761.80 roll -0.63 - - 2266.50 - 1.86 0.023 1529.25 -608.6 -116.79 - - 3289.25 - - - - - - - - - 15.97 -
2818.99 383.07 -13.00 284 2824.23 roll -0.63 - - 2260.12 - 2.05 0.073 2659.00 551.1 -116.79 - - 3288.59 - - - - - - - - - 15.74 -
3004.03 409.39 -14.39 300 3005.50 pitch -0.63 0.14 0.220 2296.31 258.5 - - 2660.06 - -116.79 - - 3286.53 - - - - - - - - 15.56 - -
3304.07 443.74 -11.09 315 3306.84 roll -0.63 - - 2296.12 - 1.85 0.025 1535.00 -608.1 -116.79 - - 3287.78 - - - - - - - - - 15.97 -
3364.04 449.88 -9.89 318 3369.27 roll -0.63 - - 2291.31 - 2.04 0.070 2660.38 551.7 -116.79 - - 3285.91 - - - - - - - - - 15.74 -
3679.11 484.78 -11.18 334 3681.89 roll -0.63 - - 2291.25 - 1.87 0.025 1535.62 -601.5 -116.79 - - 3284.44 - - - - - - - - - 15.98 -
3719.09 489.26 -11.07 336 3724.32 roll -0.63 - - 2283.75 - 2.04 0.069 2659.62 551.0 -116.79 - - 3285.22 - - - - - - - - - 15.73 -
4034.17 525.81 -11.53 352 4035.51 no move -0.63 - - 2283.12 - - - 2659.25 - -116.79 - - 3284.50 - - - - - - - - - - -
4334.21 559.44 -11.01 367 4336.98 roll -0.63 - - 2282.62 - 1.87 0.025 1537.12 -600.1 -116.79 - - 3282.94 - - - - - - - - - 15.95 -
4374.19 563.56 -10.17 369 4379.40 roll -0.63 - - 2274.62 - 2.02 0.067 2657.75 554.8 -116.79 - - 3283.72 - - - - - - - - - 15.73 -
4689.26 598.74 -11.34 385 4690.59 no move -0.63 - - 2275.44 - - - 2658.38 - -116.79 - - 3279.50 - - - - - - - - - - -
4989.30 634.08 -12.21 400 4992.07 roll -0.63 - - 2274.88 - 1.87 0.026 1536.00 -600.2 -116.79 - - 3278.47 - - - - - - - - - 15.95 -
5029.28 638.92 -12.15 402 5034.50 roll -0.63 - - 2266.38 - 2.05 0.072 2659.38 548.0 -116.79 - - 3280.06 - - - - - - - - - 15.68 -
5344.35 678.12 -12.19 418 5347.12 roll -0.63 - - 2266.56 - 1.85 0.025 1535.44 -607.5 -116.79 - - 3277.97 - - - - - - - - - 15.91 -
5379.35 682.23 -11.75 420 5384.56 roll -0.63 - - 2258.56 - 2.05 0.072 2658.38 547.8 -116.79 - - 3279.88 - - - - - - - - - 15.68 -
5699.40 720.43 -11.74 436 5700.86 pitch -0.63 0.13 0.216 2294.44 276.0 - - 2658.75 - -116.79 - - 3275.62 - - - - - - - - 15.54 - -
5999.44 748.77 -9.33 451 6002.21 roll -0.63 - - 2294.38 - 1.86 0.026 1540.38 -601.3 -116.79 - - 3278.22 - - - - - - - - - 15.93 -
6089.45 756.94 -8.94 455 6094.68 roll -0.63 - - 2288.81 - 2.07 0.078 2657.56 539.7 -116.79 - - 3275.94 - - - - - - - - - 15.62 -
6394.50 787.59 -10.33 471 6395.84 no move -0.63 - - 2289.62 - - - 2657.75 - -116.79 - - 3274.41 - - - - - - - - - - -
6694.55 818.21 -10.08 486 6697.32 roll -0.63 - - 2287.75 - 1.86 0.026 1538.50 -601.7 -116.79 - - 3274.50 - - - - - - - - - 15.94 -
6724.52 821.17 -10.16 487 6729.76 roll -0.63 - - 2281.25 - 2.05 0.072 2657.75 546.0 -116.79 - - 3273.97 - - - - - - - - - 15.63 -
7029.59 853.80 -10.92 503 7032.37 roll -0.63 - - 2280.75 - 1.85 0.024 1527.81 -610.8 -116.79 - - 3271.56 - - - - - - - - - 15.94 -
7064.59 857.60 -10.87 505 7069.81 roll -0.63 - - 2274.00 - 2.07 0.072 2657.56 545.8 -116.79 - - 3272.53 - - - - - - - - - 15.62 -
7384.64 894.64 -11.65 521 7387.41 roll -0.63 - - 2273.00 - 1.85 0.024 1531.44 -608.7 -116.79 - - 3272.81 - - - - - - - - - 15.93 -
7454.63 902.42 -10.77 524 7459.88 roll -0.63 - - 2264.44 - 2.06 0.071 2659.31 547.5 -116.79 - - 3272.66 - - - - - - - - - 15.63 -
7759.68 937.77 -11.52 540 7761.02 no move -0.63 - - 2265.44 - - - 2658.81 - -116.79 - - 3270.69 - - - - - - - - - - -
8059.71 970.84 -10.71 555 8062.48 roll -0.63 - - 2266.19 - 1.87 0.025 1526.50 -605.5 -116.79 - - 3268.88 - - - - - - - - - 15.92 -
8099.68 974.89 -10.11 557 8104.90 roll -0.63 - - 2258.31 - 2.08 0.073 2658.44 544.2 -116.79 - - 3269.97 - - - - - - - - - 15.58 -
8255 end dive: TARGET_DEPTH_EXCEEDED
8255 begin apogee
8255.94 991.40 -10.69 565 8358.03 -0.14 0.70 0.186 2453.31 278.6 0.08 0.185 2717.50 738.2 - 99.97 2.008 2825.28 -4.4 0.386 - - - - - - 15.33 14.85 10.02
8358 end apogee: CONTROL_FINISHED_OK
8358 begin climb
8358.41 993.99 - 570 8472.36 0.63 0.75 0.072 2709.31 341.3 2.39 0.129 3791.75 449.5 116.79 109.00 1.969 2344.94 -4.4 0.391 - - - - - - 15.25 14.82 11.53
8479.02 993.14 0.88 575 8619.45 0.79 0.09 0.091 2762.75 593.8 2.02 0.036 2698.06 -541.4 272.11 136.44 1.950 1715.84 -4.6 0.413 - - - - - - 15.26 15.29 11.43
8926.16 936.03 13.61 598 8928.93 roll 0.79 - - 2769.50 - 1.83 0.031 1648.31 -573.6 272.11 - - 1709.66 - - - - - - - - - 15.77 -
8956.13 932.04 13.30 599 8961.39 roll 0.79 - - 2770.94 - 2.20 0.085 2755.06 503.1 272.11 - - 1708.81 - - - - - - - - - 15.63 -
9261.19 890.18 13.63 615 9262.53 no move 0.79 - - 2769.25 - - - 2755.06 - 272.11 - - 1707.81 - - - - - - - - - - -
9561.24 850.74 12.84 630 9566.44 roll 0.79 - - 2776.12 - 1.99 0.031 1641.88 -559.4 272.11 - - 1707.84 - - - - - - - - - 15.88 -
9591.21 847.00 12.53 631 9596.47 roll 0.79 - - 2773.69 - 2.20 0.082 2757.06 506.9 272.11 - - 1708.59 - - - - - - - - - 15.68 -
9901.27 808.07 12.43 647 9902.61 no move 0.79 - - 2774.19 - - - 2756.56 - 272.11 - - 1706.38 - - - - - - - - - - -
10201.32 772.48 11.70 662 10206.51 done 0.79 - - 2777.62 - 2.00 0.031 1644.06 -556.2 272.11 - - 1708.88 - - - - - - - - - 15.89 -
10241.41 767.90 11.40 664 10246.93 0.79 0.12 0.220 2739.00 -321.8 2.18 0.079 2758.12 511.0 272.11 - - 1708.53 - - - - - - - - 15.44 15.68 -
10561.38 734.95 10.54 680 10566.58 done 0.79 - - 2744.50 - 1.99 0.030 1647.00 -558.4 272.11 - - 1706.75 - - - - - - - - - 15.91 -
10586.41 732.33 10.51 681 10591.65 done 0.79 - - 2744.12 - 2.18 0.079 2756.38 508.9 272.11 - - 1707.12 - - - - - - - - - 15.67 -
10901.41 697.38 11.07 697 10906.65 done 0.79 - - 2744.75 - 2.13 0.120 3794.25 487.3 272.11 - - 1705.97 - - - - - - - - - 15.50 -
10916.39 695.63 11.20 697 10919.18 done 0.79 - - 2752.50 - 1.95 0.036 2716.00 -552.9 272.11 - - 1706.34 - - - - - - - - - 15.86 -
11216.45 660.90 11.66 712 11217.79 VBD 0.79 - - 2753.94 - - - 2709.12 - 272.11 - - 1706.72 - - - - - - - - - - -
11516.50 625.17 11.70 727 11521.78 done 0.79 - - 2753.62 - 2.32 0.120 3793.31 467.3 272.11 - - 1706.03 - - - - - - - - - 15.49 -
11561.48 619.52 12.90 729 11564.28 done 0.79 - - 2762.06 - 1.94 0.035 2718.62 -554.0 272.11 - - 1708.44 - - - - - - - - - 15.86 -
11871.55 582.43 11.85 745 11872.89 VBD 0.79 - - 2763.81 - - - 2710.69 - 272.11 - - 1705.75 - - - - - - - - - - -
12171.59 547.53 11.52 760 12176.86 done 0.79 - - 2763.75 - 2.28 0.112 3793.94 475.1 272.11 - - 1706.34 - - - - - - - - - 15.48 -
12206.57 542.97 13.25 761 12211.81 done 0.79 - - 2771.81 - 1.95 0.036 2710.25 -555.7 272.11 - - 1706.06 - - - - - - - - - 15.85 -
12511.64 503.50 13.38 777 12512.97 VBD 0.79 - - 2772.25 - - - 2710.12 - 272.11 - - 1705.16 - - - - - - - - - - -
12811.67 463.78 13.07 792 12816.93 done 0.79 - - 2772.69 - 2.28 0.110 3793.88 475.3 272.11 - - 1706.31 - - - - - - - - - 15.46 -
12846.64 458.78 14.51 793 12851.87 done 0.79 - - 2780.25 - 1.95 0.035 2709.69 -556.0 272.11 - - 1707.56 - - - - - - - - - 15.84 -
13151.70 420.17 12.45 809 13157.10 0.79 0.16 0.217 2737.50 -267.2 2.29 0.110 3793.00 473.1 272.11 - - 1706.66 - - - - - - - - 15.46 15.41 -
13171.69 417.74 12.50 810 13176.90 done 0.79 - - 2742.75 - 1.96 0.035 2706.25 -554.5 272.11 - - 1706.88 - - - - - - - - - 15.85 -
13481.73 385.00 10.61 832 13484.51 done 0.79 - - 2750.25 - 1.83 0.028 1644.19 -580.4 272.11 - - 1707.78 - - - - - - - - - 15.92 -
13526.73 380.20 10.63 837 13531.98 done 0.79 - - 2751.88 - 2.18 0.080 2756.25 510.1 272.11 - - 1706.06 - - - - - - - - - 15.61 -
13716.77 357.89 11.94 856 13722.00 done 0.79 - - 2751.50 - 2.14 0.118 3794.12 485.0 272.11 - - 1706.19 - - - - - - - - - 15.43 -
13741.74 354.66 12.74 858 13746.96 done 0.79 - - 2759.56 - 1.95 0.035 2710.62 -555.6 272.11 - - 1707.16 - - - - - - - - - 15.84 -
13926.80 331.98 12.19 877 13928.14 VBD 0.79 - - 2760.81 - - - 2710.81 - 272.11 - - 1706.00 - - - - - - - - - - -
14106.82 310.34 12.01 895 14109.60 done 0.79 - - 2766.88 - 1.85 0.028 1645.75 -575.7 272.11 - - 1706.28 - - - - - - - - - 15.91 -
14131.82 307.38 11.97 898 14137.06 done 0.79 - - 2766.81 - 2.18 0.078 2755.56 509.1 272.11 - - 1707.91 - - - - - - - - - 15.61 -
14321.85 283.33 12.83 917 14327.08 done 0.79 - - 2768.56 - 2.14 0.118 3793.69 485.1 272.11 - - 1706.94 - - - - - - - - - 15.42 -
14346.82 279.78 13.44 919 14349.62 done 0.79 - - 2775.88 - 1.95 0.034 2720.25 -550.5 272.11 - - 1706.41 - - - - - - - - - 15.83 -
14526.88 255.70 13.25 937 14528.21 VBD 0.79 - - 2777.56 - - - 2712.75 - 272.11 - - 1705.34 - - - - - - - - - - -
14706.90 232.71 12.69 955 14708.24 VBD 0.79 - - 2778.50 - - - 2713.25 - 272.11 - - 1706.62 - - - - - - - - - - -
14886.93 210.16 12.31 973 14888.27 VBD 0.79 - - 2777.69 - - - 2713.25 - 272.11 - - 1705.31 - - - - - - - - - - -
15066.96 188.40 12.08 991 15072.36 0.79 0.14 0.212 2737.38 -287.9 2.29 0.110 3792.38 471.2 272.11 - - 1706.38 - - - - - - - - 15.47 15.41 -
15116.98 182.95 10.66 996 15122.18 done 0.79 - - 2743.81 - 1.95 0.033 2700.81 -559.8 272.11 - - 1706.00 - - - - - - - - - 15.85 -
15306.99 165.86 8.83 1015 15308.32 VBD 0.79 - - 2743.88 - - - 2701.25 - 272.11 - - 1705.97 - - - - - - - - - - -
15487.02 149.10 9.75 1033 15492.30 done 0.79 - - 2743.50 - 2.35 0.118 3796.25 466.0 272.11 - - 1707.06 - - - - - - - - - 15.41 -
15527.02 144.86 10.76 1037 15529.83 done 0.79 - - 2753.12 - 1.97 0.034 2715.75 -548.5 272.11 - - 1706.16 - - - - - - - - - 15.82 -
15712.06 127.36 9.11 1056 15713.40 VBD 0.79 - - 2753.00 - - - 2697.56 - 272.11 - - 1705.72 - - - - - - - - - - -
15892.10 110.57 9.27 1074 15893.44 VBD 0.79 - - 2753.75 - - - 2696.75 - 272.11 - - 1706.22 - - - - - - - - - - -
16072.16 95.35 7.94 1092 16073.50 VBD 0.80 - - 2753.75 - - - 2696.75 - 272.11 - - 1706.19 - - - - - - - - - - -
16252.21 82.46 6.56 1110 16257.49 done 0.83 - - 2754.62 - 2.34 0.115 3792.38 468.2 272.11 - - 1706.25 - - - - - - - - - 15.44 -
16332.22 75.83 8.65 1118 16337.42 done 0.83 - - 2763.94 - 1.95 0.033 2695.75 -562.4 272.11 - - 1706.84 - - - - - - - - - 15.82 -
16522.35 63.35 4.87 1137 16584.05 done 0.91 - - 2764.00 - 2.35 0.116 3796.12 468.2 345.70 57.49 0.818 1416.09 -5.1 0.069 - - - - - - - 15.19 10.14
16652.31 55.03 7.69 1150 16655.10 roll 0.92 - - 2772.00 - 1.96 0.033 2717.56 -550.3 345.70 - - 1413.19 - - - - - - - - - 15.74 -
16837.37 44.22 4.73 1169 16898.06 1.00 0.12 0.071 2862.00 750.0 - - 2697.81 - 422.17 57.90 0.758 1103.34 -5.4 0.055 - - - - - - 15.78 - 11.14
17077.46 33.78 5.16 1193 17130.88 done 1.07 - - 2868.25 - 1.82 0.027 1648.25 -576.7 489.82 50.19 0.700 827.16 -5.5 0.047 - - - - - - - 15.22 11.15
17277.61 20.27 7.43 1213 17282.87 roll 1.09 - - 2868.19 - 2.15 0.071 2757.31 515.8 489.82 - - 825.22 - - - - - - - - - 15.59 -
17462.66 5.61 7.50 1232 17467.85 roll 1.11 - - 2875.50 - 1.99 0.028 1656.19 -553.3 489.82 - - 825.34 - - - - - - - - - 15.79 -
17497.64 3.14 7.20 1235 17502.89 roll 1.13 - - 2874.56 - 2.13 0.072 2756.69 516.7 489.82 - - 825.38 - - - - - - - - - 15.64 -
17513 end climb: SURFACE_DEPTH_REACHED
17513 begin surface coast
17553 end surface coast: CONTROL_FINISHED_OK
17553 begin surface
SM 1.68 - - - - 334.3 8.19 0.566 785.8 95.9 6.98 0.036 825.2 118.2 - 0.32 0.028 746.3 2325.5 -14.261 - - 11.08 15.76 15.86 -