MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 59.73 of 350.00 AH used of 24V (82.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 deg, depth 1.30 m • Intended pitch -17.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 32 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
19 - - - 103 VBD -0.62 - - 67 - - - 2523 - -116.8 -78.88 0.005 2801 - - - - - - - - 14.87 - 14.89
106 4.5 -11.1 16 139 roll -0.62 8.98 0.356 2125 229.2 2.30 0.072 1114 -612.6 -116.8 -11.98 0.013 3447 -53.9 3.469 - - - - - - 14.40 13.93 14.59
217 39.9 -26.5 38 224 done -0.62 - - 2116 - 2.35 0.060 2483 582.6 -116.8 - - 3447 - - - - - - - - 14.71 14.66 14.73
407 88.7 -24.6 60 416 roll -0.62 - - 2105 - 2.38 0.082 3893 592.4 -116.8 - - 3446 - - - - - - - - 14.95 14.71 14.97
616 128.7 -13.1 101 623 done -0.62 - - 2105 - 2.22 0.032 2496 -629.3 -116.8 - - 3447 - - - - - - - - 14.76 14.73 14.78
801 154.4 -13.3 120 807 roll -0.62 - - 2104 - 2.22 0.050 1112 -623.4 -116.8 - - 3446 - - - - - - - - 15.00 14.78 15.02
838 159.9 -13.3 127 847 done -0.62 0.10 0.207 2124 200.0 2.35 0.056 2501 591.1 -116.8 - - 3447 - - - - - - - - 14.63 14.73 14.73
1025 182.6 -11.3 146 1031 roll -0.62 - - 2125 - 2.25 0.047 1105 -620.4 -116.8 - - 3447 - - - - - - - - 15.02 14.76 15.04
1081 188.9 -11.1 157 1088 done -0.62 - - 2116 - 2.38 0.060 2504 587.8 -116.8 - - 3446 - - - - - - - - 14.80 14.75 14.83
1269 209.7 -11.1 176 1276 done -0.62 - - 2116 - - - 2502 - -116.8 - - 3447 - - - - - - - - 15.03 15.06 15.06
1458 228.7 -9.5 195 1465 roll -0.62 - - 2105 - 2.33 0.085 3890 595.7 -116.8 - - 3446 - - - - - - - - 15.04 14.79 15.07
1487 231.6 -10.3 200 1494 done -0.62 - - 2105 - 2.22 0.033 2492 -629.7 -116.8 - - 3445 - - - - - - - - 14.85 14.82 14.87
1673 252.6 -11.9 218 1678 roll -0.62 - - 2105 - 2.20 0.048 1116 -625.5 -116.8 - - 3445 - - - - - - - - 15.05 14.83 15.07
1757 262.6 -11.8 234 1763 done -0.62 0.12 0.234 2123 150.0 2.30 0.057 2504 603.5 -116.8 - - 3444 - - - - - - - - 14.72 14.83 14.88
2081 298.1 -10.5 253 2089 roll -0.62 - - 2114 - 2.35 0.088 3897 592.8 -116.8 - - 3441 - - - - - - - - 15.07 14.81 15.10
2162 306.7 -10.5 269 2168 done -0.62 - - 2114 - 2.17 0.034 2500 -643.8 -116.8 - - 3440 - - - - - - - - 14.96 14.90 14.97
2487 339.5 -10.0 288 2493 roll -0.62 - - 2114 - 2.25 0.051 1111 -617.3 -116.8 - - 3437 - - - - - - - - 15.08 14.86 15.11
2524 343.7 -10.3 295 2532 done -0.62 - - 2104 - 2.35 0.058 2496 589.4 -116.8 - - 3437 - - - - - - - - 14.85 14.80 14.88
2831 377.8 -11.6 311 2838 roll -0.62 - - 2092 - 2.35 0.089 3888 592.3 -116.8 - - 3434 - - - - - - - - 15.08 14.83 15.11
2980 396.1 -12.3 340 2986 done -0.62 0.15 0.212 2130 253.3 2.17 0.036 2497 -641.0 -116.8 - - 3433 - - - - - - - - 14.76 14.91 14.91
3299 426.5 -9.3 358 3305 roll -0.62 - - 2131 - 2.22 0.050 1114 -623.0 -116.8 - - 3429 - - - - - - - - 15.08 14.87 15.11
3326 429.2 -10.1 363 3333 done -0.62 - - 2122 - 2.33 0.060 2504 596.6 -116.8 - - 3429 - - - - - - - - 14.94 14.85 14.96
3646 458.7 -9.1 381 3652 roll -0.62 - - 2112 - 2.38 0.093 3895 584.5 -116.8 - - 3427 - - - - - - - - 15.08 14.82 15.11
3678 462.0 -9.8 387 3685 done -0.62 - - 2112 - 2.20 0.037 2500 -634.1 -116.8 - - 3427 - - - - - - - - 14.95 14.90 14.97
3993 491.0 -9.0 404 3999 roll -0.62 - - 2101 - 2.40 0.092 3896 581.7 -116.8 - - 3426 - - - - - - - - 15.09 14.81 15.11
4040 495.8 -10.2 413 4046 done -0.62 - - 2101 - 2.22 0.037 2503 -627.5 -116.8 - - 3426 - - - - - - - - 14.95 14.90 14.97
4359 529.3 -10.8 431 4366 roll -0.62 - - 2101 - 2.28 0.050 1095 -617.5 -116.8 - - 3424 - - - - - - - - 15.08 14.86 15.11
4393 533.1 -11.3 437 4402 done -0.62 0.15 0.226 2126 166.7 2.35 0.060 2500 597.9 -116.8 - - 3423 - - - - - - - - 14.71 14.84 14.89
4704 564.3 -10.1 454 4710 roll -0.62 - - 2118 - 2.38 0.093 3893 585.3 -116.8 - - 3422 - - - - - - - - 15.07 14.80 15.10
4757 570.0 -10.9 464 4763 done -0.62 - - 2118 - 2.22 0.038 2494 -630.2 -116.8 - - 3422 - - - - - - - - 14.95 14.90 14.97
5071 601.0 -9.5 481 5077 roll -0.62 - - 2117 - 2.25 0.050 1104 -617.8 -116.8 - - 3419 - - - - - - - - 15.08 14.85 15.10
5138 607.6 -9.5 494 5144 done -0.62 - - 2105 - 2.38 0.060 2511 591.2 -116.8 - - 3419 - - - - - - - - 14.92 14.83 14.95
5458 637.5 -9.4 512 5462 done -0.62 - - 2107 - - - 2511 - -116.8 - - 3417 - - - - - - - - 15.07 15.10 15.10
5757 666.7 -9.9 527 5764 roll -0.62 - - 2096 - 2.38 0.093 3900 583.6 -116.8 - - 3416 - - - - - - - - 15.07 14.78 15.09
5802 671.4 -10.5 535 5809 done -0.62 0.12 0.216 2126 250.0 2.22 0.037 2492 -634.2 -116.8 - - 3416 - - - - - - - - 14.71 14.88 14.88
6128 699.8 -8.5 554 6131 done -0.62 - - 2126 - - - 2491 - -116.8 - - 3415 - - - - - - - - 15.07 15.10 15.09
6427 725.1 -8.3 569 6433 roll -0.62 - - 2126 - 2.25 0.050 1105 -616.0 -116.8 - - 3412 - - - - - - - - 15.07 14.83 15.09
6454 727.5 -8.9 574 6460 done -0.62 - - 2117 - 2.35 0.061 2499 593.2 -116.8 - - 3412 - - - - - - - - 14.91 14.81 14.93
6773 755.3 -8.8 592 6781 roll -0.62 - - 2106 - 2.40 0.095 3894 581.2 -116.8 - - 3412 - - - - - - - - 15.07 14.77 15.09
6862 764.0 -9.6 610 6868 done -0.62 - - 2107 - 2.20 0.037 2502 -632.7 -116.8 - - 3412 - - - - - - - - 14.92 14.87 14.94
7176 793.2 -9.3 627 7183 roll -0.62 - - 2107 - 2.28 0.051 1105 -612.7 -116.8 - - 3411 - - - - - - - - 15.06 14.83 15.09
7229 798.4 -9.7 637 7236 done -0.62 0.12 0.226 2125 150.0 2.38 0.061 2503 587.4 -116.8 - - 3410 - - - - - - - - 14.68 14.80 14.85
7544 823.9 -7.9 654 7549 roll -0.62 - - 2116 - 2.38 0.093 3888 581.9 -116.8 - - 3410 - - - - - - - - 15.05 14.76 15.08
7581 827.2 -8.6 661 7588 done -0.62 - - 2116 - 2.25 0.038 2506 -614.2 -116.8 - - 3409 - - - - - - - - 14.81 14.78 14.83
7887 853.1 -8.6 677 7893 roll -0.62 - - 2116 - 2.28 0.051 1107 -613.6 -116.8 - - 3408 - - - - - - - - 15.04 14.81 15.08
7931 857.0 -9.0 685 7937 done -0.62 - - 2105 - 2.35 0.061 2499 592.3 -116.8 - - 3408 - - - - - - - - 14.89 14.79 14.91
8255 887.1 -9.4 704 8263 roll -0.62 - - 2094 - 2.40 0.094 3894 581.2 -116.8 - - 3407 - - - - - - - - 15.05 14.75 15.08
8325 894.4 -10.4 718 8331 done -0.62 0.12 0.216 2124 250.0 2.22 0.038 2493 -631.1 -116.8 - - 3407 - - - - - - - - 14.66 14.85 14.84
8640 921.3 -8.3 735 8646 roll -0.62 - - 2125 - 2.25 0.051 1109 -615.1 -116.8 - - 3406 - - - - - - - - 15.04 14.80 15.07
8668 923.8 -9.2 740 8674 done -0.62 - - 2116 - 2.35 0.063 2500 591.9 -116.8 - - 3406 - - - - - - - - 14.88 14.78 14.90
8988 950.8 -8.3 758 8996 roll -0.62 - - 2105 - 2.40 0.095 3892 580.0 -116.8 - - 3406 - - - - - - - - 15.04 14.73 15.07
9043 955.9 -8.9 769 9050 done -0.62 - - 2105 - 2.28 0.039 2500 -610.5 -116.8 - - 3406 - - - - - - - - 14.78 14.75 14.81
9350 982.1 -8.5 785 9356 roll -0.62 - - 2105 - 2.28 0.053 1108 -610.5 -116.8 - - 3404 - - - - - - - - 15.04 14.79 15.07
9394 986.0 -8.8 793 9402 done -0.62 0.12 0.230 2123 150.0 2.38 0.062 2508 588.2 -116.8 - - 3405 - - - - - - - - 14.64 14.77 14.83
9453 end dive: TARGET_DEPTH_EXCEEDED
9453 begin apogee
9460 990.8 -7.7 799 9568 done -0.15 0.52 0.174 2277 296.2 - - 2435 - - 102.68 2.046 2968 -4.3 0.383 - - - - - - 14.65 14.19 13.30
9571 end apogee: CONTROL_FINISHED_OK
9571 begin climb
9573 993.2 - 804 9703 roll 0.62 0.80 0.108 2546 336.2 2.42 0.053 1048 -573.1 116.8 111.38 2.036 2489 -4.3 0.390 - - - - - - 14.23 13.90 13.20
9725 984.5 10.3 838 9731 done 0.62 - - 2546 - 2.42 0.058 2453 580.6 116.8 - - 2485 - - - - - - - - 14.28 14.21 14.30
10039 948.0 11.8 855 10046 roll 0.62 - - 2556 - 2.38 0.052 1047 -590.8 116.8 - - 2481 - - - - - - - - 14.80 14.60 14.83
10066 944.6 11.0 860 10073 done 0.62 - - 2556 - 2.40 0.057 2443 581.7 116.8 - - 2480 - - - - - - - - 14.69 14.60 14.71
10385 906.5 12.0 878 10389 done 0.62 - - 2557 - - - 2443 - 116.8 - - 2479 - - - - - - - - 14.91 14.95 14.95
10686 871.7 11.4 893 10692 roll 0.62 - - 2567 - 2.33 0.053 1050 -597.9 116.8 - - 2478 - - - - - - - - 14.95 14.74 14.99
10718 867.7 11.5 899 10725 done 0.62 0.15 0.239 2533 -226.7 2.35 0.057 2441 591.9 116.8 - - 2477 - - - - - - - - 14.59 14.73 14.80
11034 834.4 10.6 916 11040 roll 0.62 - - 2543 - 2.35 0.055 1044 -594.5 116.8 - - 2476 - - - - - - - - 14.99 14.77 15.02
11058 831.7 10.5 920 11064 done 0.62 - - 2543 - 2.38 0.058 2449 590.3 116.8 - - 2476 - - - - - - - - 14.85 14.75 14.86
11382 794.5 11.5 939 11386 done 0.62 - - 2543 - - - 2449 - 116.8 - - 2476 - - - - - - - - 15.00 15.02 15.02
11682 759.6 11.7 954 11687 roll 0.62 - - 2555 - 2.35 0.053 1042 -598.7 116.8 - - 2476 - - - - - - - - 15.01 14.78 15.04
11739 752.7 11.9 965 11745 done 0.62 - - 2555 - 2.42 0.057 2442 578.5 116.8 - - 2475 - - - - - - - - 14.75 14.70 14.78
12045 715.8 12.2 981 12051 roll 0.62 - - 2555 - 2.42 0.091 3848 581.0 116.8 - - 2475 - - - - - - - - 15.01 14.73 15.04
12072 712.1 13.9 986 12079 done 0.62 0.10 0.230 2538 -170.0 2.22 0.039 2447 -631.1 116.8 - - 2475 - - - - - - - - 14.59 14.81 14.73
12392 676.7 11.1 1004 12398 roll 0.62 - - 2547 - 2.35 0.054 1037 -600.0 116.8 - - 2475 - - - - - - - - 15.02 14.78 15.04
12437 671.8 11.2 1012 12443 done 0.62 - - 2547 - 2.38 0.057 2444 591.2 116.8 - - 2474 - - - - - - - - 14.86 14.76 14.89
12761 635.4 11.3 1031 12768 roll 0.62 - - 2547 - 2.42 0.090 3852 581.8 116.8 - - 2474 - - - - - - - - 15.01 14.73 15.04
12779 633.0 11.8 1034 12786 done 0.62 - - 2558 - 2.33 0.039 2437 -607.3 116.8 - - 2474 - - - - - - - - 14.78 14.74 14.80
13086 597.2 11.5 1050 13092 roll 0.62 - - 2569 - 2.30 0.053 1043 -606.1 116.8 - - 2474 - - - - - - - - 15.01 14.78 15.04
13153 589.3 11.4 1063 13161 done 0.62 0.15 0.230 2534 -233.3 2.38 0.057 2451 591.6 116.8 - - 2474 - - - - - - - - 14.61 14.76 14.83
13473 558.3 9.3 1081 13480 roll 0.62 - - 2544 - 2.38 0.052 1037 -594.1 116.8 - - 2474 - - - - - - - - 15.02 14.77 15.04
13511 554.7 9.3 1088 13518 done 0.62 - - 2544 - 2.42 0.057 2439 579.3 116.8 - - 2474 - - - - - - - - 14.73 14.68 14.77
13818 525.7 9.5 1104 13824 roll 0.62 - - 2544 - 2.42 0.090 3846 581.4 116.8 - - 2474 - - - - - - - - 15.01 14.72 15.04
13856 521.3 10.8 1111 13863 done 0.62 - - 2556 - 2.30 0.038 2443 -610.0 116.8 - - 2474 - - - - - - - - 14.77 14.73 14.79
14162 491.1 10.0 1127 14166 done 0.62 - - 2555 - - - 2442 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
14463 461.1 10.0 1142 14468 roll 0.62 - - 2566 - 2.33 0.053 1036 -603.4 116.8 - - 2475 - - - - - - - - 15.01 14.78 15.04
14499 457.2 10.1 1149 14507 done 0.62 0.10 0.203 2524 -420.0 2.42 0.056 2439 579.8 116.8 - - 2473 - - - - - - - - 14.60 14.68 14.81
14807 430.9 8.8 1165 14810 done 0.62 - - 2524 - - - 2439 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
15107 404.5 8.7 1180 15110 done 0.62 - - 2524 - - - 2440 - 116.8 - - 2473 - - - - - - - - 15.02 15.05 15.04
15406 378.8 8.0 1195 15413 roll 0.62 - - 2535 - 2.33 0.052 1044 -599.1 116.8 - - 2472 - - - - - - - - 15.02 14.77 15.04
15444 375.7 7.8 1202 15451 done 0.63 - - 2534 - 2.40 0.057 2434 579.2 116.8 - - 2474 - - - - - - - - 14.73 14.67 14.76
15751 352.9 7.5 1218 15756 roll 0.65 - - 2534 - 2.42 0.090 3846 583.5 116.8 - - 2473 - - - - - - - - 15.02 14.71 15.04
15815 347.2 9.1 1230 15821 done 0.65 - - 2546 - 2.25 0.037 2437 -626.2 116.8 - - 2473 - - - - - - - - 14.88 14.81 14.90
16138 321.5 8.3 1249 16144 roll 0.65 - - 2556 - 2.30 0.052 1046 -604.8 116.8 - - 2474 - - - - - - - - 15.02 14.77 15.04
16196 316.5 8.4 1260 16203 done 0.65 - - 2556 - 2.40 0.056 2437 579.6 116.8 - - 2473 - - - - - - - - 14.70 14.65 14.73
16503 288.6 9.4 1276 16508 roll 0.65 - - 2556 - 2.42 0.089 3846 582.2 116.8 - - 2474 - - - - - - - - 15.00 14.71 15.00
16548 283.8 10.8 1284 16554 done 0.65 - - 2567 - 2.25 0.037 2435 -627.1 116.8 - - 2474 - - - - - - - - 14.87 14.81 14.89
16872 249.3 10.8 1303 16879 roll 0.65 - - 2578 - 2.28 0.051 1049 -607.9 116.8 - - 2475 - - - - - - - - 15.01 14.76 15.04
16981 237.2 10.7 1324 16989 done 0.65 0.10 0.203 2548 -300.0 2.40 0.055 2440 579.6 116.8 - - 2473 - - - - - - - - 14.52 14.66 14.65
17168 221.5 7.4 1343 17175 roll 0.67 - - 2548 - 2.42 0.090 3846 581.0 116.8 - - 2473 - - - - - - - - 15.00 14.69 15.02
17192 219.4 8.2 1347 17200 done 0.67 - - 2559 - 2.25 0.037 2433 -628.0 116.8 - - 2473 - - - - - - - - 14.85 14.81 14.88
17388 204.7 7.8 1367 17394 roll 0.69 - - 2570 - 2.28 0.051 1048 -607.5 116.8 - - 2473 - - - - - - - - 15.00 14.75 15.02
17423 202.0 7.8 1373 17429 done 0.70 - - 2570 - 2.35 0.055 2447 595.3 116.8 - - 2474 - - - - - - - - 14.83 14.73 14.86
17617 185.5 8.6 1393 17623 roll 0.70 - - 2570 - 2.40 0.089 3844 582.1 116.8 - - 2473 - - - - - - - - 14.99 14.69 15.02
17782 170.9 8.6 1425 17788 done 0.70 - - 2581 - 2.20 0.037 2444 -636.4 116.8 - - 2474 - - - - - - - - 14.81 14.79 14.83
17976 158.7 5.6 1445 18030 roll 0.76 - - 2592 - 2.30 0.051 1050 -606.1 173.8 45.97 1.085 2257 -4.7 0.128 - - - - - - 14.99 14.59 14.01
18139 145.4 8.7 1477 18145 done 0.76 - - 2592 - 2.38 0.055 2449 587.8 173.8 - - 2255 - - - - - - - - 14.69 14.59 14.71
18333 129.4 8.8 1497 18340 roll 0.76 - - 2602 - 2.30 0.050 1056 -605.7 173.8 - - 2254 - - - - - - - - 14.88 14.64 14.90
18531 115.3 7.5 1535 18538 done 0.78 - - 2602 - 2.35 0.056 2447 591.9 173.8 - - 2252 - - - - - - - - 14.76 14.68 14.79
18727 102.6 5.1 1555 18789 roll 0.85 - - 2613 - 2.40 0.051 1054 -580.4 241.1 54.83 0.972 1984 -4.9 0.096 - - - - - - 14.94 14.52 14.02
18817 97.2 7.5 1570 18824 done 0.86 - - 2613 - 2.35 0.055 2442 590.6 241.1 - - 1982 - - - - - - - - 14.58 14.53 14.62
19012 80.7 7.7 1590 19018 roll 0.88 - - 2624 - 2.33 0.050 1044 -600.0 241.1 - - 1981 - - - - - - - - 14.85 14.64 14.87
19056 77.3 7.2 1598 19062 done 0.91 - - 2624 - 2.35 0.054 2441 594.5 241.1 - - 1980 - - - - - - - - 14.72 14.64 14.74
19250 66.8 3.9 1618 19342 roll 1.00 - - 2636 - 2.42 0.051 1051 -574.4 333.6 77.22 0.893 1607 -4.8 0.067 - - - - - - 14.90 14.46 13.97
19399 56.9 8.8 1647 19407 done 1.00 - - 2636 - 2.42 0.057 2438 573.1 333.6 - - 1606 - - - - - - - - 14.52 14.47 14.55
19588 43.0 7.4 1675 19595 roll 1.02 - - 2636 - 2.47 0.087 3849 571.3 333.6 - - 1606 - - - - - - - - 14.83 14.55 14.85
19751 29.5 8.5 1706 19758 done 1.02 - - 2647 - 2.30 0.036 2439 -613.0 333.6 - - 1606 - - - - - - - - 14.71 14.67 14.72
19943 15.4 9.1 1743 19950 roll 1.02 - - 2658 - 2.33 0.054 1047 -597.4 333.6 - - 1604 - - - - - - - - 14.91 14.66 14.94
20018 9.0 8.3 1757 20025 done 1.02 - - 2658 - 2.40 0.060 2443 581.7 333.6 - - 1605 - - - - - - - - 14.72 14.66 14.75
20104 end climb: SURFACE_DEPTH_REACHED
20104 begin surface coast
20140 end surface coast: CONTROL_FINISHED_OK
20140 begin surface
SM 1.36 - - - - -6.77 7.15 0.060 127 17.8 0.10 0.142 2535 15050.0 500.17 158.73 0.657 928 5.8 -0.001 - - - - 1 -