MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 159 * Raw log
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• Previous call tries 1 • 62.02 of 350.00 AH used of 24V (82.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth 1.33 m • Intended pitch -17.1 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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 - - - 107 VBD -0.62 - - 96 - - - 2573 - -116.8 -82.50 0.005 2897 - - - - - - - - 14.85 - 14.88
110 5.5 -15.7 17 138 roll -0.62 8.95 0.361 2126 226.8 2.45 0.070 1113 -595.9 -116.8 -9.40 0.015 3448 -58.6 4.012 - - - - - - 14.36 13.40 14.57
171 32.4 -32.6 29 177 done -0.62 - - 2117 - 2.40 0.068 2491 574.2 -116.8 - - 3448 - - - - - - - - 14.66 14.61 14.70
361 85.6 -22.5 53 370 roll -0.62 - - 2106 - 2.40 0.089 3904 588.8 -116.8 - - 3448 - - - - - - - - 14.92 14.67 14.95
454 104.3 -16.8 71 461 done -0.62 - - 2106 - 2.22 0.041 2516 -625.2 -116.8 - - 3448 - - - - - - - - 14.82 14.75 14.83
649 135.6 -15.8 91 657 roll -0.62 - - 2106 - 2.30 0.049 1089 -620.4 -116.8 - - 3448 - - - - - - - - 14.95 14.76 14.98
725 147.1 -14.3 105 735 done -0.62 0.12 0.243 2123 141.7 2.38 0.060 2507 595.8 -116.8 - - 3449 - - - - - - - - 14.63 14.74 14.81
914 172.1 -12.6 125 923 roll -0.62 - - 2113 - 2.35 0.090 3894 590.2 -116.8 - - 3449 - - - - - - - - 15.00 14.73 15.02
960 178.0 -12.4 134 967 done -0.62 - - 2114 - 2.28 0.038 2496 -613.2 -116.8 - - 3448 - - - - - - - - 14.78 14.76 14.81
1147 202.0 -13.7 153 1153 done -0.62 - - 2114 - - - 2495 - -116.8 - - 3448 - - - - - - - - 15.00 15.03 15.03
1337 229.1 -13.5 172 1342 roll -0.62 - - 2114 - 2.25 0.050 1097 -621.3 -116.8 - - 3449 - - - - - - - - 15.02 14.81 15.05
1393 236.8 -12.8 183 1402 done -0.62 - - 2103 - 2.40 0.062 2495 582.5 -116.8 - - 3447 - - - - - - - - 14.79 14.73 14.83
1581 261.0 -12.7 198 1590 roll -0.62 - - 2092 - 2.38 0.090 3898 589.5 -116.8 - - 3446 - - - - - - - - 15.04 14.78 15.06
1656 270.7 -12.3 213 1663 done -0.62 0.10 0.186 2124 320.0 2.28 0.040 2485 -619.7 -116.8 - - 3446 - - - - - - - - 14.65 14.80 14.76
1963 302.7 -10.3 229 1969 roll -0.62 - - 2125 - 2.22 0.048 1099 -624.3 -116.8 - - 3444 - - - - - - - - 15.05 14.84 15.08
1989 305.7 -10.5 234 1995 done -0.62 - - 2115 - 2.35 0.062 2501 596.6 -116.8 - - 3443 - - - - - - - - 14.91 14.81 14.94
2308 341.8 -11.9 252 2316 roll -0.62 - - 2105 - 2.38 0.090 3902 588.7 -116.8 - - 3440 - - - - - - - - 15.07 14.79 15.09
2411 354.1 -11.9 272 2417 done -0.62 - - 2105 - 2.22 0.036 2492 -635.1 -116.8 - - 3440 - - - - - - - - 14.94 14.89 14.96
2735 391.7 -11.2 291 2741 roll -0.62 - - 2104 - 2.25 0.047 1103 -617.3 -116.8 - - 3437 - - - - - - - - 15.07 14.85 15.11
2788 397.7 -10.6 301 2798 done -0.62 0.12 0.222 2123 158.3 2.35 0.061 2505 596.6 -116.8 - - 3437 - - - - - - - - 14.73 14.83 14.88
3100 427.2 -9.7 318 3105 roll -0.62 - - 2114 - 2.35 0.091 3891 589.8 -116.8 - - 3434 - - - - - - - - 15.07 14.80 15.10
3133 430.7 -10.5 324 3139 done -0.62 - - 2114 - 2.20 0.038 2502 -631.4 -116.8 - - 3434 - - - - - - - - 14.94 14.88 14.96
3446 465.9 -11.5 341 3452 roll -0.62 - - 2115 - 2.28 0.051 1096 -616.7 -116.8 - - 3430 - - - - - - - - 15.07 14.85 15.10
3490 471.0 -11.4 349 3496 done -0.62 - - 2103 - 2.38 0.064 2498 589.1 -116.8 - - 3431 - - - - - - - - 14.91 14.82 14.94
3814 509.9 -12.0 368 3820 roll -0.62 - - 2092 - 2.38 0.092 3894 586.6 -116.8 - - 3429 - - - - - - - - 15.07 14.78 15.10
3847 514.1 -12.8 374 3853 done -0.62 0.12 0.216 2124 266.7 2.20 0.037 2490 -638.2 -116.8 - - 3428 - - - - - - - - 14.72 14.89 14.88
4162 547.9 -10.7 391 4168 roll -0.62 - - 2125 - 2.22 0.050 1114 -619.8 -116.8 - - 3426 - - - - - - - - 15.07 14.84 15.09
4207 552.6 -10.2 399 4214 done -0.62 - - 2116 - 2.35 0.063 2506 592.3 -116.8 - - 3427 - - - - - - - - 14.91 14.82 14.94
4532 587.9 -10.9 418 4538 roll -0.62 - - 2105 - 2.38 0.092 3897 584.5 -116.8 - - 3425 - - - - - - - - 15.07 14.78 15.09
4576 592.9 -11.3 426 4582 done -0.62 - - 2105 - 2.20 0.039 2511 -630.0 -116.8 - - 3425 - - - - - - - - 14.93 14.88 14.95
4900 628.7 -10.8 445 4906 roll -0.62 - - 2105 - 2.30 0.051 1096 -615.2 -116.8 - - 3423 - - - - - - - - 15.07 14.83 15.09
4964 635.4 -10.2 457 4972 done -0.62 0.12 0.222 2124 158.3 2.38 0.066 2498 589.1 -116.8 - - 3423 - - - - - - - - 14.69 14.80 14.86
5286 664.3 -8.9 476 5289 done -0.62 - - 2124 - - - 2498 - -116.8 - - 3422 - - - - - - - - 15.07 15.09 15.09
5585 691.8 -9.4 491 5592 roll -0.62 - - 2115 - 2.40 0.094 3899 583.8 -116.8 - - 3420 - - - - - - - - 15.06 14.76 15.09
5638 697.1 -9.9 501 5645 done -0.62 - - 2115 - 2.25 0.039 2492 -625.3 -116.8 - - 3420 - - - - - - - - 14.92 14.87 14.94
5953 730.0 -10.6 518 5959 roll -0.62 - - 2115 - 2.25 0.053 1108 -615.1 -116.8 - - 3418 - - - - - - - - 15.06 14.81 15.09
5997 734.8 -10.6 526 6003 done -0.62 - - 2104 - 2.35 0.065 2502 593.2 -116.8 - - 3418 - - - - - - - - 14.83 14.77 14.87
6322 770.5 -11.0 545 6327 roll -0.62 - - 2093 - 2.40 0.095 3897 581.2 -116.8 - - 3417 - - - - - - - - 15.05 14.75 15.08
6353 774.3 -11.7 551 6361 done -0.62 0.12 0.217 2125 266.7 2.22 0.039 2497 -630.6 -116.8 - - 3417 - - - - - - - - 14.68 14.85 14.85
6670 803.5 -9.0 568 6675 roll -0.62 - - 2125 - 2.28 0.054 1105 -610.5 -116.8 - - 3416 - - - - - - - - 15.05 14.81 15.08
6706 807.1 -8.9 575 6714 done -0.62 - - 2117 - 2.42 0.064 2501 576.9 -116.8 - - 3416 - - - - - - - - 14.76 14.70 14.80
7013 835.6 -9.4 591 7020 roll -0.62 - - 2105 - 2.40 0.094 3894 580.4 -116.8 - - 3415 - - - - - - - - 15.04 14.74 15.08
7046 838.9 -9.9 597 7051 done -0.62 - - 2105 - 2.22 0.039 2500 -627.9 -116.8 - - 3415 - - - - - - - - 14.90 14.84 14.92
7359 869.6 -9.9 614 7365 roll -0.62 - - 2105 - 2.28 0.052 1106 -611.4 -116.8 - - 3414 - - - - - - - - 15.04 14.79 15.08
7393 873.0 -10.4 620 7403 done -0.62 0.12 0.221 2124 158.3 2.38 0.064 2504 587.4 -116.8 - - 3414 - - - - - - - - 14.66 14.77 14.83
7703 900.0 -8.5 637 7707 done -0.62 - - 2124 - - - 2504 - -116.8 - - 3413 - - - - - - - - 15.04 15.07 15.07
8003 925.5 -8.6 652 8009 roll -0.62 - - 2124 - 2.30 0.050 1106 -607.8 -116.8 - - 3412 - - - - - - - - 15.04 14.79 15.07
8048 929.4 -8.8 660 8054 done -0.62 - - 2115 - 2.38 0.063 2503 587.0 -116.8 - - 3412 - - - - - - - - 14.87 14.76 14.90
8372 959.8 -9.8 679 8379 roll -0.62 - - 2104 - 2.40 0.094 3893 579.2 -116.8 - - 3411 - - - - - - - - 15.04 14.72 15.06
8405 963.6 -11.2 685 8411 done -0.62 - - 2105 - 2.22 0.040 2501 -627.0 -116.8 - - 3411 - - - - - - - - 14.89 14.82 14.90
8657 end dive: TARGET_DEPTH_EXCEEDED
8657 begin apogee
8663 990.4 -10.8 699 8773 done -0.15 0.60 0.175 2279 290.0 - - 2500 - - 104.28 2.035 2968 -4.2 0.386 - - - - - - 14.63 14.17 13.21
8775 end apogee: CONTROL_FINISHED_OK
8775 begin climb
8778 994.5 - 704 8903 done 0.62 0.77 0.098 2535 332.5 - - 2500 - 116.8 112.15 2.024 2490 -4.3 0.391 - - - - - - 14.23 14.01 13.14
9199 968.3 9.5 747 9203 done 0.62 - - 2535 - - - 2500 - 116.8 - - 2482 - - - - - - - - 14.77 14.81 14.80
9499 938.3 10.5 762 9507 roll 0.62 - - 2547 - 2.42 0.054 1045 -601.2 116.8 - - 2479 - - - - - - - - 14.89 14.68 14.92
9569 930.8 10.6 776 9575 done 0.62 - - 2546 - 2.38 0.057 2443 587.4 116.8 - - 2478 - - - - - - - - 14.77 14.69 14.80
9883 898.2 10.6 793 9888 roll 0.62 - - 2557 - 2.33 0.052 1047 -599.1 116.8 - - 2478 - - - - - - - - 14.95 14.74 14.98
9909 895.3 10.0 798 9915 done 0.62 - - 2557 - 2.38 0.057 2449 589.1 116.8 - - 2477 - - - - - - - - 14.81 14.73 14.84
10228 863.8 9.7 816 10234 roll 0.62 - - 2568 - 2.35 0.051 1041 -599.1 116.8 - - 2477 - - - - - - - - 14.98 14.76 15.01
10273 859.5 9.7 824 10282 done 0.62 0.15 0.245 2533 -233.3 2.38 0.056 2448 591.2 116.8 - - 2476 - - - - - - - - 14.59 14.76 14.81
10595 830.0 9.3 843 10599 done 0.62 - - 2535 - - - 2448 - 116.8 - - 2477 - - - - - - - - 15.00 15.03 15.02
10895 799.3 10.5 858 10901 roll 0.62 - - 2544 - 2.35 0.054 1043 -597.9 116.8 - - 2476 - - - - - - - - 15.00 14.78 15.03
10918 796.8 10.4 862 10924 done 0.62 - - 2545 - 2.38 0.057 2446 589.5 116.8 - - 2475 - - - - - - - - 14.85 14.76 14.88
11242 761.0 11.0 881 11246 done 0.62 - - 2545 - - - 2446 - 116.8 - - 2475 - - - - - - - - 15.01 15.04 15.04
11543 729.5 10.2 896 11547 done 0.62 - - 2545 - - - 2446 - 116.8 - - 2475 - - - - - - - - 15.02 15.04 15.04
11842 700.7 9.3 911 11849 roll 0.62 - - 2556 - 2.33 0.050 1046 -600.9 116.8 - - 2475 - - - - - - - - 15.01 14.78 15.04
11875 697.5 9.6 917 11881 done 0.62 - - 2556 - 2.35 0.056 2440 593.2 116.8 - - 2474 - - - - - - - - 14.85 14.76 14.88
12189 667.3 9.9 934 12193 done 0.62 - - 2556 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
12489 636.7 10.3 949 12493 done 0.62 - - 2556 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
12790 607.3 9.6 964 12793 done 0.62 - - 2556 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.02 15.04 15.04
13089 579.3 9.2 979 13093 done 0.62 - - 2556 - - - 2439 - 116.8 - - 2474 - - - - - - - - 15.02 15.04 15.04
13389 552.9 8.5 994 13395 roll 0.62 - - 2568 - 2.33 0.053 1044 -598.7 116.8 - - 2473 - - - - - - - - 15.01 14.77 15.04
13426 549.6 8.7 1001 13433 done 0.62 0.12 0.210 2520 -400.0 2.40 0.056 2433 578.8 116.8 - - 2474 - - - - - - - - 14.56 14.67 14.80
13733 528.4 6.7 1017 13739 roll 0.65 - - 2531 - 2.33 0.052 1037 -599.1 116.8 - - 2473 - - - - - - - - 15.02 14.77 15.04
13765 526.0 7.2 1023 13772 done 0.68 - - 2531 - 2.38 0.057 2442 590.3 116.8 - - 2473 - - - - - - - - 14.85 14.75 14.88
14080 501.6 8.2 1040 14084 done 0.68 - - 2529 - - - 2442 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
14381 475.7 8.9 1055 14385 done 0.68 - - 2531 - - - 2442 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
14680 449.8 8.3 1070 14686 roll 0.68 - - 2542 - 2.33 0.052 1044 -600.0 116.8 - - 2474 - - - - - - - - 15.01 14.76 15.04
14713 447.0 8.2 1076 14719 done 0.68 - - 2542 - 2.35 0.057 2441 594.5 116.8 - - 2473 - - - - - - - - 14.84 14.74 14.88
15027 420.1 8.6 1093 15033 roll 0.68 - - 2555 - 2.35 0.051 1037 -597.4 116.8 - - 2473 - - - - - - - - 15.00 14.76 15.04
15085 415.0 8.7 1104 15092 done 0.68 - - 2555 - 2.42 0.057 2438 578.9 116.8 - - 2473 - - - - - - - - 14.71 14.65 14.75
15392 387.2 9.2 1120 15398 roll 0.68 - - 2566 - 2.33 0.051 1042 -599.1 116.8 - - 2473 - - - - - - - - 15.01 14.76 15.04
15418 384.6 8.8 1125 15424 done 0.68 - - 2566 - 2.38 0.056 2449 591.2 116.8 - - 2472 - - - - - - - - 14.83 14.74 14.87
15738 356.4 8.6 1143 15745 roll 0.68 - - 2577 - 2.38 0.052 1037 -593.3 116.8 - - 2473 - - - - - - - - 15.00 14.76 15.03
15816 349.4 8.9 1158 15823 done 0.68 - - 2578 - 2.42 0.057 2436 578.1 116.8 - - 2473 - - - - - - - - 14.71 14.65 14.75
16122 323.1 8.7 1174 16126 done 0.68 - - 2577 - - - 2437 - 116.8 - - 2473 - - - - - - - - 15.00 15.04 15.04
16423 296.1 8.9 1189 16429 roll 0.68 - - 2580 - 2.42 0.086 3849 583.5 116.8 - - 2473 - - - - - - - - 15.00 14.70 15.03
16496 289.1 9.9 1203 16503 done 0.68 0.15 0.252 2554 -173.3 2.25 0.037 2439 -626.7 116.8 - - 2473 - - - - - - - - 14.54 14.80 14.78
16812 265.3 7.1 1220 16816 done 0.71 - - 2556 - - - 2438 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
17112 246.7 5.7 1237 17162 done 0.76 - - 2555 - - - 2438 - 171.9 45.65 1.203 2267 -4.5 0.173 - - - - - - 15.00 14.57 13.94
17342 225.8 10.4 1262 17349 done 0.76 - - 2554 - - - 2438 - 171.9 - - 2262 - - - - - - - - 14.84 14.87 14.87
17531 208.7 8.5 1281 17537 roll 0.76 - - 2564 - 2.30 0.054 1047 -604.8 171.9 - - 2261 - - - - - - - - 14.89 14.66 14.91
17647 199.3 7.5 1303 17654 done 0.78 - - 2564 - 2.38 0.055 2450 589.5 171.9 - - 2260 - - - - - - - - 14.75 14.66 14.78
17842 181.1 10.1 1323 17848 roll 0.78 - - 2575 - 2.35 0.053 1047 -597.0 171.9 - - 2260 - - - - - - - - 14.92 14.69 14.95
17866 178.7 9.4 1327 17873 done 0.78 - - 2575 - 2.35 0.055 2441 593.2 171.9 - - 2260 - - - - - - - - 14.78 14.69 14.80
18061 161.1 8.5 1347 18068 roll 0.78 - - 2586 - 2.33 0.052 1044 -599.6 171.9 - - 2259 - - - - - - - - 14.94 14.69 14.97
18097 158.3 7.7 1353 18103 done 0.80 - - 2586 - 2.35 0.055 2442 594.9 171.9 - - 2259 - - - - - - - - 14.78 14.69 14.81
18291 142.4 7.2 1373 18297 roll 0.82 - - 2586 - 2.40 0.085 3843 583.8 171.9 - - 2259 - - - - - - - - 14.95 14.66 14.98
18346 138.5 7.2 1383 18353 done 0.85 - - 2597 - 2.25 0.037 2440 -623.6 171.9 - - 2259 - - - - - - - - 14.82 14.76 14.84
18542 126.7 5.3 1403 18605 roll 0.91 - - 2608 - 2.40 0.054 1041 -582.9 236.1 52.83 1.024 2003 -4.8 0.112 - - - - - - 14.96 14.54 13.99
18735 114.3 6.2 1441 18784 done 0.96 - - 2608 - 2.38 0.055 2438 587.0 281.1 38.17 0.977 1820 -4.8 0.105 - - - - - - 14.67 14.58 13.92
18967 93.8 8.7 1469 18973 done 0.96 - - 2607 - - - 2439 - 281.1 - - 1817 - - - - - - - - 14.82 14.83 14.83
19156 79.7 6.0 1488 19208 roll 1.00 0.15 0.105 2698 606.7 2.47 0.081 3845 569.2 330.9 43.08 0.910 1618 -4.6 0.076 - - - - - - 14.70 14.49 13.99
19247 68.8 14.6 1506 19258 done 1.00 0.20 0.234 2659 -195.0 2.28 0.037 2435 -618.4 330.9 - - 1618 - - - - - - - - 14.40 14.58 14.59
19438 56.2 3.8 1526 19530 roll 1.10 - - 2659 - 2.50 0.082 3845 564.0 424.0 80.57 0.865 1237 -4.7 0.057 - - - - - - 14.85 14.29 13.90
19644 40.0 10.7 1566 19651 done 1.10 - - 2669 - 2.33 0.037 2446 -600.4 424.0 - - 1236 - - - - - - - - 14.57 14.54 14.59
19835 20.1 9.9 1603 19843 roll 1.10 - - 2680 - 2.38 0.052 1035 -592.9 424.0 - - 1235 - - - - - - - - 14.83 14.60 14.85
19918 12.6 8.2 1618 19925 done 1.10 - - 2680 - 2.42 0.060 2438 579.8 424.0 - - 1235 - - - - - - - - 14.66 14.61 14.69
20002 end climb: SURFACE_DEPTH_REACHED
20002 begin surface coast
20027 end surface coast: CONTROL_FINISHED_OK
20027 begin surface
SM 1.30 - - - - -6.76 7.22 0.061 129 17.9 0.10 0.132 2549 15190.0 500.17 85.38 0.578 928 10.9 -0.002 - - - - 1 -