MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 149 * Raw log
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• Previous call tries 1 • 58.23 of 350.00 AH used of 24V (83.36% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.0 deg, depth 1.29 m • Intended pitch -17.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 107 VBD -0.62 - - 92 - - - 2498 - -116.8 -82.88 0.005 2884 - - - - - - - - 14.85 - 14.88
110 4.9 -12.8 17 138 roll -0.62 9.10 0.369 2112 222.0 2.42 0.102 3899 578.9 -116.8 -10.07 0.015 3447 -55.9 3.391 - - - - - - 14.39 13.49 14.59
171 28.6 -32.1 29 178 done -0.62 - - 2112 - 2.28 0.036 2498 -614.5 -116.8 - - 3448 - - - - - - - - 14.71 14.69 14.73
361 82.2 -23.2 54 367 roll -0.62 - - 2112 - 2.28 0.053 1099 -613.6 -116.8 - - 3447 - - - - - - - - 14.92 14.73 14.94
435 97.9 -17.0 68 441 done -0.62 - - 2103 - 2.35 0.057 2510 600.4 -116.8 - - 3447 - - - - - - - - 14.76 14.69 14.78
629 127.1 -12.6 88 635 roll -0.62 - - 2091 - 2.33 0.085 3891 592.7 -116.8 - - 3447 - - - - - - - - 14.97 14.73 15.00
673 132.9 -12.7 96 680 done -0.62 0.15 0.236 2126 233.3 2.20 0.034 2483 -640.0 -116.8 - - 3447 - - - - - - - - 14.64 14.82 14.81
869 156.1 -12.0 116 874 roll -0.62 - - 2119 - 2.40 0.087 3891 586.7 -116.8 - - 3447 - - - - - - - - 15.00 14.76 15.02
983 170.2 -11.7 138 989 done -0.62 - - 2117 - 2.15 0.034 2504 -645.1 -116.8 - - 3447 - - - - - - - - 14.90 14.85 14.90
1177 190.8 -10.9 158 1183 roll -0.62 - - 2107 - 2.38 0.088 3893 583.6 -116.8 - - 3447 - - - - - - - - 15.02 14.77 15.04
1265 201.8 -12.3 175 1272 done -0.62 - - 2107 - 2.22 0.034 2498 -628.4 -116.8 - - 3446 - - - - - - - - 14.85 14.83 14.88
1453 222.3 -11.0 194 1458 roll -0.62 - - 2107 - 2.22 0.047 1110 -625.2 -116.8 - - 3445 - - - - - - - - 15.03 14.83 15.06
1507 228.1 -10.8 204 1514 done -0.62 0.12 0.236 2125 150.0 2.33 0.057 2502 597.4 -116.8 - - 3445 - - - - - - - - 14.71 14.82 14.87
1702 248.2 -10.0 224 1708 roll -0.62 - - 2116 - 2.35 0.088 3894 592.3 -116.8 - - 3444 - - - - - - - - 15.04 14.79 15.07
1769 255.3 -10.7 237 1775 done -0.62 - - 2116 - 2.17 0.033 2498 -643.3 -116.8 - - 3444 - - - - - - - - 14.94 14.88 14.95
2088 288.5 -10.2 255 2092 done -0.62 - - 2116 - - - 2497 - -116.8 - - 3441 - - - - - - - - 15.07 15.10 15.09
2387 318.9 -10.0 270 2393 roll -0.62 - - 2106 - 2.38 0.087 3890 585.3 -116.8 - - 3440 - - - - - - - - 15.07 14.82 15.10
2431 323.4 -10.4 278 2437 done -0.62 - - 2106 - 2.17 0.034 2501 -640.1 -116.8 - - 3438 - - - - - - - - 14.96 14.91 14.97
2755 355.2 -9.8 297 2761 roll -0.62 - - 2106 - 2.22 0.049 1111 -626.1 -116.8 - - 3435 - - - - - - - - 15.08 14.88 15.11
2887 368.4 -9.7 323 2894 done -0.62 0.12 0.233 2124 150.0 2.33 0.059 2507 599.1 -116.8 - - 3434 - - - - - - - - 14.74 14.85 14.90
3202 395.7 -8.6 340 3209 roll -0.62 - - 2125 - 2.28 0.048 1111 -612.3 -116.8 - - 3432 - - - - - - - - 15.08 14.88 15.11
3240 399.3 -8.8 347 3248 done -0.62 - - 2116 - 2.38 0.058 2503 584.9 -116.8 - - 3430 - - - - - - - - 14.83 14.78 14.85
3547 425.5 -8.5 363 3553 roll -0.62 - - 2116 - 2.28 0.048 1103 -614.0 -116.8 - - 3429 - - - - - - - - 15.07 14.87 15.10
3624 432.2 -8.5 378 3631 done -0.62 - - 2106 - 2.40 0.060 2504 583.8 -116.8 - - 3428 - - - - - - - - 14.84 14.79 14.87
3931 458.7 -8.7 394 3936 roll -0.62 - - 2106 - 2.28 0.049 1105 -613.6 -116.8 - - 3426 - - - - - - - - 15.08 14.87 15.11
4036 467.8 -8.6 414 4046 done -0.62 0.12 0.233 2123 141.7 2.35 0.060 2509 597.4 -116.8 - - 3427 - - - - - - - - 14.73 14.85 14.90
4359 493.9 -8.2 433 4362 done -0.62 - - 2127 - - - 2510 - -116.8 - - 3424 - - - - - - - - 15.07 15.11 15.11
4659 518.5 -8.1 448 4665 roll -0.62 - - 2124 - 2.28 0.050 1112 -613.2 -116.8 - - 3422 - - - - - - - - 15.08 14.86 15.11
4786 529.4 -8.5 473 4792 done -0.62 - - 2115 - 2.33 0.060 2501 596.1 -116.8 - - 3422 - - - - - - - - 14.92 14.83 14.95
5105 557.2 -9.1 491 5111 roll -0.62 - - 2115 - 2.28 0.051 1110 -610.1 -116.8 - - 3421 - - - - - - - - 15.07 14.84 15.10
5204 566.8 -9.6 510 5211 done -0.62 - - 2104 - 2.40 0.062 2503 580.4 -116.8 - - 3420 - - - - - - - - 14.81 14.76 14.85
5509 597.0 -10.1 526 5515 roll -0.62 - - 2104 - 2.28 0.050 1111 -610.5 -116.8 - - 3419 - - - - - - - - 15.07 14.85 15.10
5573 603.7 -10.4 538 5580 done -0.62 0.12 0.233 2123 158.3 2.35 0.062 2506 593.6 -116.8 - - 3418 - - - - - - - - 14.70 14.83 14.88
5898 634.2 -9.3 557 5904 roll -0.62 - - 2122 - 2.28 0.050 1112 -611.4 -116.8 - - 3417 - - - - - - - - 15.07 14.84 15.09
5982 642.1 -9.3 573 5987 done -0.62 - - 2115 - 2.35 0.064 2504 592.3 -116.8 - - 3416 - - - - - - - - 14.91 14.82 14.94
6306 672.1 -8.9 592 6311 roll -0.62 - - 2115 - 2.28 0.050 1112 -610.5 -116.8 - - 3415 - - - - - - - - 15.07 14.83 15.09
6370 678.1 -9.1 604 6376 done -0.62 - - 2103 - 2.35 0.063 2506 593.2 -116.8 - - 3415 - - - - - - - - 14.91 14.81 14.93
6694 708.2 -9.4 623 6697 done -0.62 - - 2104 - - - 2506 - -116.8 - - 3414 - - - - - - - - 15.07 15.09 15.09
6994 735.9 -9.3 638 7000 roll -0.62 - - 2104 - 2.28 0.050 1112 -611.4 -116.8 - - 3413 - - - - - - - - 15.06 14.83 15.09
7117 747.3 -9.0 662 7127 done -0.62 0.15 0.221 2129 166.7 2.35 0.063 2504 592.3 -116.8 - - 3412 - - - - - - - - 14.67 14.81 14.86
7440 771.4 -7.3 681 7447 roll -0.62 - - 2130 - 2.30 0.050 1105 -608.3 -116.8 - - 3412 - - - - - - - - 15.04 14.82 15.07
7487 775.1 -7.4 690 7493 done -0.62 - - 2120 - 2.38 0.064 2507 589.1 -116.8 - - 3412 - - - - - - - - 14.90 14.80 14.92
7806 799.7 -8.0 708 7812 roll -0.62 - - 2120 - 2.30 0.051 1109 -607.8 -116.8 - - 3411 - - - - - - - - 15.06 14.81 15.08
7871 805.1 -8.5 720 7877 done -0.62 - - 2110 - 2.38 0.064 2505 586.6 -116.8 - - 3411 - - - - - - - - 14.89 14.79 14.91
8195 833.1 -8.6 739 8201 roll -0.62 - - 2109 - 2.30 0.050 1106 -608.3 -116.8 - - 3410 - - - - - - - - 15.05 14.81 15.08
8273 840.2 -9.0 754 8280 done -0.62 0.08 0.196 2122 162.5 2.42 0.064 2500 576.0 -116.8 - - 3409 - - - - - - - - 14.62 14.71 14.87
8579 864.3 -7.9 770 8584 roll -0.62 - - 2123 - 2.28 0.050 1113 -608.3 -116.8 - - 3408 - - - - - - - - 15.04 14.81 15.07
8636 869.1 -8.3 781 8643 done -0.62 - - 2114 - 2.40 0.064 2495 575.8 -116.8 - - 3408 - - - - - - - - 14.76 14.70 14.79
8943 893.8 -8.2 797 8949 roll -0.62 - - 2114 - 2.28 0.050 1112 -606.6 -116.8 - - 3407 - - - - - - - - 15.02 14.80 15.05
9015 900.2 -8.6 811 9021 done -0.62 - - 2103 - 2.35 0.063 2501 591.1 -116.8 - - 3407 - - - - - - - - 14.88 14.77 14.90
9330 926.9 -8.4 828 9335 roll -0.62 - - 2103 - 2.30 0.050 1106 -606.5 -116.8 - - 3407 - - - - - - - - 15.04 14.79 15.07
9374 930.7 -8.9 836 9383 done -0.62 0.15 0.220 2129 173.3 2.38 0.064 2504 587.4 -116.8 - - 3407 - - - - - - - - 14.64 14.77 14.83
9696 953.9 -7.0 855 9703 roll -0.62 - - 2129 - 2.30 0.050 1109 -606.5 -116.8 - - 3406 - - - - - - - - 15.04 14.78 15.07
9780 960.2 -7.1 871 9787 done -0.62 - - 2120 - 2.38 0.064 2507 587.4 -116.8 - - 3406 - - - - - - - - 14.86 14.76 14.89
10105 984.4 -7.5 890 10111 roll -0.62 - - 2120 - 2.30 0.051 1111 -607.0 -116.8 - - 3405 - - - - - - - - 15.03 14.78 15.06
10149 987.9 -8.1 898 10155 done -0.62 - - 2109 - 2.35 0.064 2497 589.8 -116.8 - - 3405 - - - - - - - - 14.86 14.77 14.89
10190 end dive: TARGET_DEPTH_EXCEEDED
10190 begin apogee
10196 991.3 -8.0 903 10304 done -0.15 0.57 0.178 2276 293.0 - - 2499 - - 102.12 2.039 2968 -4.3 0.386 - - - - - - 14.64 14.19 13.31
10307 end apogee: CONTROL_FINISHED_OK
10307 begin climb
10309 993.9 - 908 10434 done 0.62 0.80 0.108 2533 321.2 - - 2499 - 116.8 113.03 2.019 2491 -4.2 0.386 - - - - - - 14.23 14.04 13.21
10734 957.8 10.5 930 10740 roll 0.62 - - 2533 - 2.38 0.090 3857 570.6 116.8 - - 2481 - - - - - - - - 14.77 14.53 14.80
10767 954.0 11.3 936 10773 done 0.62 - - 2547 - 2.30 0.039 2446 -613.5 116.8 - - 2480 - - - - - - - - 14.67 14.62 14.69
11081 919.9 10.8 953 11085 done 0.62 - - 2547 - - - 2444 - 116.8 - - 2479 - - - - - - - - 14.90 14.93 14.92
11382 887.5 10.7 968 11390 roll 0.62 - - 2548 - 2.45 0.087 3852 574.7 116.8 - - 2478 - - - - - - - - 14.95 14.69 14.98
11423 882.4 12.7 976 11429 done 0.62 - - 2560 - 2.28 0.040 2441 -618.9 116.8 - - 2478 - - - - - - - - 14.83 14.78 14.85
11747 845.8 11.4 995 11755 roll 0.62 - - 2559 - 2.42 0.087 3849 581.8 116.8 - - 2478 - - - - - - - - 14.97 14.70 15.01
11786 840.7 12.9 1002 11794 done 0.62 0.12 0.238 2537 -183.3 2.33 0.040 2441 -604.3 116.8 - - 2477 - - - - - - - - 14.52 14.73 14.66
12092 809.3 10.2 1018 12098 roll 0.62 - - 2546 - 2.33 0.055 1037 -602.6 116.8 - - 2477 - - - - - - - - 15.00 14.77 15.02
12136 804.8 10.2 1026 12143 done 0.62 - - 2546 - 2.38 0.058 2444 591.2 116.8 - - 2475 - - - - - - - - 14.85 14.76 14.88
12461 770.0 10.9 1045 12466 roll 0.62 - - 2546 - 2.40 0.088 3845 583.8 116.8 - - 2476 - - - - - - - - 15.00 14.73 15.03
12505 764.7 12.4 1053 12511 done 0.62 - - 2557 - 2.28 0.039 2428 -621.5 116.8 - - 2475 - - - - - - - - 14.87 14.81 14.90
12830 728.3 11.2 1072 12835 roll 0.62 - - 2568 - 2.30 0.054 1037 -604.8 116.8 - - 2475 - - - - - - - - 15.00 14.78 15.04
12874 723.2 11.3 1080 12883 done 0.62 0.15 0.231 2533 -233.3 2.38 0.057 2445 591.6 116.8 - - 2475 - - - - - - - - 14.62 14.76 14.83
13196 691.4 9.5 1099 13203 roll 0.62 - - 2533 - 2.40 0.089 3843 582.5 116.8 - - 2475 - - - - - - - - 15.01 14.73 15.04
13261 684.4 11.1 1111 13267 done 0.62 - - 2543 - 2.25 0.040 2440 -623.6 116.8 - - 2475 - - - - - - - - 14.88 14.81 14.90
13585 652.1 10.1 1130 13591 roll 0.62 - - 2554 - 2.30 0.055 1046 -606.1 116.8 - - 2475 - - - - - - - - 15.01 14.78 15.04
13669 643.9 9.7 1146 13674 done 0.62 - - 2554 - 2.35 0.058 2439 592.8 116.8 - - 2474 - - - - - - - - 14.86 14.76 14.88
13992 611.5 10.1 1165 13996 done 0.62 - - 2554 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.05
14293 581.1 10.0 1180 14299 roll 0.62 - - 2565 - 2.33 0.054 1045 -598.3 116.8 - - 2474 - - - - - - - - 15.02 14.78 15.04
14350 575.3 9.9 1191 14358 done 0.62 0.10 0.207 2536 -290.0 2.40 0.057 2435 579.2 116.8 - - 2474 - - - - - - - - 14.57 14.69 14.85
14656 547.6 8.9 1207 14663 roll 0.62 - - 2536 - 2.42 0.089 3844 582.2 116.8 - - 2474 - - - - - - - - 15.01 14.72 15.04
14694 543.6 10.8 1214 14701 done 0.62 - - 2546 - 2.30 0.039 2447 -607.4 116.8 - - 2474 - - - - - - - - 14.78 14.73 14.79
15001 514.4 9.4 1230 15006 roll 0.62 - - 2556 - 2.33 0.054 1040 -603.9 116.8 - - 2474 - - - - - - - - 15.01 14.77 15.04
15044 510.3 9.5 1238 15050 done 0.62 - - 2557 - 2.38 0.058 2447 591.2 116.8 - - 2474 - - - - - - - - 14.85 14.76 14.88
15368 476.9 10.7 1257 15374 roll 0.62 - - 2557 - 2.40 0.088 3843 581.7 116.8 - - 2474 - - - - - - - - 15.01 14.72 15.04
15440 468.0 12.5 1271 15447 done 0.62 0.15 0.255 2535 -146.7 2.28 0.038 2427 -621.1 116.8 - - 2474 - - - - - - - - 14.58 14.81 14.82
15756 437.3 9.6 1288 15761 roll 0.62 - - 2543 - 2.28 0.054 1045 -606.1 116.8 - - 2474 - - - - - - - - 15.01 14.77 15.04
15809 432.3 9.5 1298 15815 done 0.62 - - 2544 - 2.35 0.057 2438 592.8 116.8 - - 2473 - - - - - - - - 14.85 14.76 14.88
16124 401.5 9.6 1315 16127 done 0.62 - - 2544 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
16423 373.8 9.1 1330 16427 done 0.62 - - 2543 - - - 2438 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
16723 348.1 8.3 1345 16729 roll 0.62 - - 2544 - 2.42 0.090 3845 581.4 116.8 - - 2474 - - - - - - - - 15.01 14.71 15.04
16775 343.0 9.9 1355 16781 done 0.62 - - 2555 - 2.28 0.038 2432 -619.7 116.8 - - 2474 - - - - - - - - 14.87 14.81 14.90
17090 316.1 8.8 1372 17095 roll 0.62 - - 2566 - 2.30 0.054 1040 -605.2 116.8 - - 2474 - - - - - - - - 15.01 14.76 15.05
17116 313.6 8.8 1377 17123 done 0.62 0.15 0.226 2530 -240.0 2.38 0.058 2449 592.0 116.8 - - 2474 - - - - - - - - 14.60 14.75 14.81
17431 286.2 8.9 1394 17437 roll 0.62 - - 2531 - 2.40 0.090 3843 580.8 116.8 - - 2474 - - - - - - - - 15.01 14.71 15.04
17468 282.3 10.6 1401 17475 done 0.62 - - 2540 - 2.30 0.038 2444 -608.3 116.8 - - 2474 - - - - - - - - 14.76 14.73 14.78
17775 253.2 9.1 1417 17780 roll 0.62 - - 2551 - 2.33 0.054 1035 -604.7 116.8 - - 2474 - - - - - - - - 15.01 14.76 15.04
17818 249.2 9.2 1425 17825 done 0.62 - - 2551 - 2.40 0.058 2434 582.9 116.8 - - 2473 - - - - - - - - 14.79 14.73 14.82
18013 232.2 8.2 1445 18019 roll 0.62 - - 2551 - 2.42 0.088 3845 583.1 116.8 - - 2475 - - - - - - - - 15.00 14.70 15.03
18037 230.2 9.0 1449 18043 done 0.62 0.12 0.254 2535 -133.3 2.25 0.037 2433 -627.6 116.8 - - 2474 - - - - - - - - 14.57 14.80 14.80
18232 216.3 6.1 1469 18280 roll 0.67 - - 2544 - 2.38 0.055 1047 -582.4 165.2 39.85 1.153 2292 -4.6 0.159 - - - - - - 15.00 14.59 14.00
18354 207.9 7.7 1493 18360 done 0.68 - - 2543 - 2.38 0.057 2440 585.3 165.2 - - 2289 - - - - - - - - 14.69 14.60 14.71
18548 193.5 7.0 1513 18553 roll 0.71 - - 2544 - 2.42 0.089 3846 581.0 165.2 - - 2289 - - - - - - - - 14.88 14.61 14.90
18605 188.6 8.9 1524 18612 done 0.71 - - 2555 - 2.33 0.039 2442 -602.6 165.2 - - 2287 - - - - - - - - 14.66 14.64 14.69
18792 173.6 8.1 1543 18799 roll 0.71 - - 2556 - 2.45 0.088 3852 575.5 165.2 - - 2286 - - - - - - - - 14.92 14.64 14.94
18836 169.2 9.9 1551 18843 done 0.71 - - 2567 - 2.28 0.039 2438 -620.2 165.2 - - 2287 - - - - - - - - 14.79 14.73 14.81
19031 151.4 8.4 1571 19040 done 0.71 - - 2567 - - - 2437 - 165.2 - - 2287 - - - - - - - - 14.94 14.97 14.96
19222 136.3 7.9 1590 19228 roll 0.73 - - 2577 - 2.33 0.053 1038 -600.4 165.2 - - 2287 - - - - - - - - 14.95 14.72 14.97
19379 125.3 6.3 1620 19427 done 0.77 - - 2577 - 2.38 0.057 2449 592.9 209.4 37.12 1.007 2112 -4.7 0.109 - - - - - - 14.81 14.73 14.07
19611 107.3 7.9 1648 19621 roll 0.78 - - 2578 - 2.40 0.088 3844 581.2 209.4 - - 2108 - - - - - - - - 14.87 14.60 14.89
19811 92.2 7.0 1687 19818 done 0.81 - - 2588 - 2.30 0.037 2435 -612.6 209.4 - - 2107 - - - - - - - - 14.72 14.69 14.74
19999 82.9 3.8 1706 20090 roll 0.90 - - 2599 - 2.33 0.050 1049 -594.8 302.8 77.05 0.930 1731 -4.9 0.081 - - - - - - 14.93 14.35 13.96
20156 72.3 8.7 1737 20163 done 0.90 - - 2599 - 2.42 0.054 2445 576.9 302.8 - - 1729 - - - - - - - - 14.53 14.48 14.56
20344 60.8 4.2 1756 20424 done 0.99 0.15 0.103 2690 606.7 - - 2445 - 389.0 74.45 0.871 1381 -4.7 0.061 - - - - - - 14.67 14.42 13.94
20608 36.6 9.1 1796 20614 done 0.99 0.15 0.209 2650 -266.7 - - 2445 - 389.0 - - 1378 - - - - - - - - 14.44 14.59 14.54
20800 22.2 7.6 1833 20807 roll 1.01 - - 2659 - 2.35 0.052 1056 -591.1 389.0 - - 1378 - - - - - - - - 14.86 14.62 14.88
20830 19.9 8.2 1838 20837 done 1.01 - - 2659 - 2.38 0.057 2436 579.8 389.0 - - 1378 - - - - - - - - 14.67 14.62 14.70
21022 3.4 9.8 1875 21030 done 1.01 - - 2659 - - - 2437 - 389.0 - - 1378 - - - - - - - - 14.91 14.94 14.93
21035 end climb: SURFACE_DEPTH_REACHED
21035 begin surface coast
21065 end surface coast: CONTROL_FINISHED_OK
21065 begin surface
SM 1.21 - - - - -6.77 7.03 0.045 121 17.2 0.10 0.173 2506 25000.0 500.17 113.68 0.619 928 8.2 -0.002 - - - - 1 -