MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 193 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 74.91 of 350.00 AH used of 24V (78.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth 1.23 m • Intended pitch -17.3 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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 - - - 102 VBD -0.62 - - 3 - - - 2532 - -116.8 -77.15 0.005 2744 - - - - - - - - 14.84 - 14.87
105 4.4 -11.3 16 136 roll -0.62 9.30 0.355 2116 227.2 2.40 0.071 1108 -593.3 -116.8 -12.75 0.012 3447 -55.1 3.771 - - - - - - 14.33 13.37 14.54
236 46.2 -22.7 42 243 done -0.62 - - 2107 - 2.38 0.062 2478 575.6 -116.8 - - 3447 - - - - - - - - 14.62 14.55 14.65
427 97.2 -23.3 62 437 roll -0.62 - - 2096 - 2.40 0.080 3899 592.1 -116.8 - - 3447 - - - - - - - - 14.93 14.67 14.96
516 116.7 -19.8 79 524 done -0.62 0.10 0.212 2124 280.0 2.28 0.034 2483 -621.1 -116.8 - - 3447 - - - - - - - - 14.45 14.64 14.57
703 146.6 -15.0 98 710 done -0.62 - - 2124 - - - 2482 - -116.8 - - 3447 - - - - - - - - 14.97 15.00 14.99
892 172.6 -13.4 117 899 done -0.62 - - 2124 - - - 2481 - -116.8 - - 3447 - - - - - - - - 14.98 15.01 15.00
1083 196.5 -12.6 136 1089 roll -0.62 - - 2115 - 2.42 0.090 3895 584.3 -116.8 - - 3446 - - - - - - - - 14.99 14.72 15.02
1137 203.0 -11.2 146 1143 done -0.62 - - 2116 - 2.17 0.033 2501 -642.4 -116.8 - - 3446 - - - - - - - - 14.87 14.82 14.89
1330 227.0 -13.0 166 1337 done -0.62 - - 2115 - - - 2500 - -116.8 - - 3446 - - - - - - - - 15.02 15.04 15.04
1520 251.0 -12.6 185 1527 roll -0.62 - - 2105 - 2.38 0.085 3896 586.6 -116.8 - - 3444 - - - - - - - - 15.02 14.74 15.05
1547 254.7 -13.3 190 1553 done -0.62 - - 2105 - 2.17 0.033 2501 -642.9 -116.8 - - 3444 - - - - - - - - 14.90 14.84 14.91
1866 295.8 -12.6 208 1870 done -0.62 - - 2105 - - - 2500 - -116.8 - - 3441 - - - - - - - - 15.04 15.08 15.07
2166 333.1 -12.3 223 2170 done -0.62 - - 2105 - - - 2500 - -116.8 - - 3439 - - - - - - - - 15.05 15.09 15.08
2466 368.3 -11.5 238 2470 done -0.62 - - 2105 - - - 2500 - -116.8 - - 3436 - - - - - - - - 15.06 15.09 15.09
2766 402.8 -11.5 253 2771 roll -0.62 - - 2094 - 2.40 0.087 3902 584.2 -116.8 - - 3433 - - - - - - - - 15.06 14.76 15.09
2792 406.1 -12.1 258 2798 done -0.62 0.12 0.216 2124 250.0 2.20 0.035 2496 -639.1 -116.8 - - 3433 - - - - - - - - 14.69 14.87 14.85
3111 440.0 -10.6 276 3117 roll -0.62 - - 2124 - 2.22 0.047 1115 -622.1 -116.8 - - 3430 - - - - - - - - 15.06 14.82 15.09
3156 444.6 -10.3 284 3162 done -0.62 - - 2116 - 2.33 0.060 2502 595.3 -116.8 - - 3429 - - - - - - - - 14.89 14.80 14.92
3480 480.6 -11.2 303 3486 roll -0.62 - - 2105 - 2.38 0.089 3896 585.7 -116.8 - - 3427 - - - - - - - - 15.04 14.75 15.06
3545 488.1 -11.7 315 3552 done -0.62 - - 2105 - 2.20 0.036 2513 -628.6 -116.8 - - 3427 - - - - - - - - 14.91 14.85 14.93
3869 526.0 -11.6 334 3875 roll -0.62 - - 2105 - 2.30 0.049 1098 -615.2 -116.8 - - 3425 - - - - - - - - 15.06 14.80 15.08
3913 531.0 -11.0 342 3923 done -0.62 0.12 0.222 2123 150.0 2.38 0.062 2503 590.3 -116.8 - - 3425 - - - - - - - - 14.66 14.78 14.83
4236 564.4 -10.5 361 4244 roll -0.62 - - 2114 - 2.38 0.090 3893 584.0 -116.8 - - 3423 - - - - - - - - 15.05 14.73 15.08
4286 569.9 -10.9 371 4293 done -0.62 - - 2114 - 2.22 0.037 2491 -631.5 -116.8 - - 3423 - - - - - - - - 14.90 14.85 14.92
4601 604.2 -10.9 388 4607 roll -0.62 - - 2114 - 2.28 0.050 1106 -607.5 -116.8 - - 3421 - - - - - - - - 15.05 14.79 15.07
4634 608.0 -11.1 394 4640 done -0.62 - - 2103 - 2.35 0.061 2499 592.8 -116.8 - - 3420 - - - - - - - - 14.88 14.77 14.90
4948 643.1 -11.2 411 4955 roll -0.62 - - 2092 - 2.40 0.091 3893 580.8 -116.8 - - 3419 - - - - - - - - 15.04 14.71 15.07
5012 650.7 -11.8 423 5020 done -0.62 0.12 0.216 2124 266.7 2.22 0.037 2491 -631.5 -116.8 - - 3418 - - - - - - - - 14.64 14.83 14.82
5339 682.4 -9.4 442 5342 done -0.62 - - 2123 - - - 2490 - -116.8 - - 3417 - - - - - - - - 15.04 15.07 15.07
5638 711.2 -9.7 457 5642 done -0.62 - - 2123 - - - 2490 - -116.8 - - 3415 - - - - - - - - 15.04 15.07 15.07
5938 739.3 -9.3 472 5942 done -0.62 - - 2123 - - - 2490 - -116.8 - - 3415 - - - - - - - - 15.04 15.07 15.07
6238 767.0 -9.1 487 6241 done -0.62 - - 2123 - - - 2490 - -116.8 - - 3413 - - - - - - - - 15.04 15.07 15.07
6538 793.3 -8.5 502 6546 roll -0.62 - - 2114 - 2.45 0.092 3908 578.8 -116.8 - - 3413 - - - - - - - - 15.03 14.67 15.07
6580 797.0 -8.8 510 6585 done -0.62 - - 2114 - 2.25 0.037 2500 -625.8 -116.8 - - 3412 - - - - - - - - 14.87 14.81 14.89
6904 825.7 -8.8 529 6909 roll -0.62 - - 2114 - 2.28 0.050 1111 -609.2 -116.8 - - 3411 - - - - - - - - 15.03 14.75 15.06
6942 829.1 -8.7 536 6948 done -0.62 - - 2103 - 2.42 0.063 2498 573.1 -116.8 - - 3410 - - - - - - - - 14.69 14.63 14.73
7248 857.9 -9.6 552 7255 roll -0.62 - - 2092 - 2.42 0.092 3901 579.8 -116.8 - - 3410 - - - - - - - - 15.03 14.68 15.06
7310 864.1 -10.2 564 7316 done -0.62 0.12 0.213 2123 258.3 2.25 0.039 2497 -624.0 -116.8 - - 3409 - - - - - - - - 14.59 14.80 14.78
7635 893.0 -9.1 583 7639 done -0.62 - - 2123 - - - 2496 - -116.8 - - 3408 - - - - - - - - 15.02 15.05 15.04
7934 921.7 -9.8 598 7940 roll -0.62 - - 2124 - 2.30 0.051 1100 -607.0 -116.8 - - 3407 - - - - - - - - 15.02 14.73 15.04
7972 925.6 -10.1 605 7979 done -0.62 - - 2114 - 2.45 0.062 2498 570.6 -116.8 - - 3407 - - - - - - - - 14.67 14.60 14.73
8278 957.9 -10.7 621 8286 roll -0.62 - - 2104 - 2.42 0.093 3894 576.9 -116.8 - - 3407 - - - - - - - - 15.00 14.66 15.03
8319 962.4 -11.1 629 8325 done -0.62 - - 2104 - 2.25 0.039 2493 -622.7 -116.8 - - 3406 - - - - - - - - 14.85 14.78 14.87
8580 end dive: TARGET_DEPTH_EXCEEDED
8580 begin apogee
8586 991.3 -10.7 645 8695 done -0.15 0.60 0.176 2277 288.3 - - 2492 - - 103.12 2.038 2968 -4.2 0.385 - - - - - - 14.56 14.19 13.26
8697 end apogee: CONTROL_FINISHED_OK
8697 begin climb
8700 994.9 - 650 8827 roll 0.62 0.77 0.100 2530 328.6 2.50 0.090 3854 544.8 116.8 112.07 2.029 2489 -4.3 0.391 - - - - - - 14.23 13.87 13.15
8849 991.1 7.2 683 8856 done 0.65 - - 2543 - 2.38 0.038 2441 -593.7 116.8 - - 2486 - - - - - - - - 14.26 14.22 14.28
9165 958.0 11.1 700 9171 roll 0.65 - - 2554 - 2.38 0.053 1037 -589.9 116.8 - - 2482 - - - - - - - - 14.79 14.58 14.82
9230 950.9 10.3 712 9238 done 0.65 - - 2554 - 2.42 0.057 2453 585.1 116.8 - - 2481 - - - - - - - - 14.67 14.59 14.71
9551 912.9 12.0 731 9555 done 0.65 - - 2554 - - - 2453 - 116.8 - - 2480 - - - - - - - - 14.90 14.94 14.94
9851 877.0 12.0 746 9857 roll 0.65 - - 2565 - 2.38 0.051 1039 -594.1 116.8 - - 2479 - - - - - - - - 14.95 14.71 14.97
9884 872.9 12.0 752 9890 done 0.65 - - 2564 - 2.38 0.055 2440 588.7 116.8 - - 2478 - - - - - - - - 14.79 14.70 14.82
10198 835.7 11.4 769 10202 done 0.65 - - 2565 - - - 2440 - 116.8 - - 2478 - - - - - - - - 14.97 15.00 15.00
10499 802.8 10.4 784 10504 roll 0.65 - - 2576 - 2.35 0.051 1039 -596.2 116.8 - - 2477 - - - - - - - - 14.98 14.73 15.01
10535 798.9 10.2 791 10544 done 0.65 0.10 0.215 2548 -280.0 2.42 0.056 2435 576.9 116.8 - - 2477 - - - - - - - - 14.49 14.63 14.80
10842 770.8 8.8 807 10849 roll 0.65 - - 2558 - 2.33 0.051 1043 -597.4 116.8 - - 2476 - - - - - - - - 14.98 14.73 15.02
10860 769.1 9.1 810 10866 done 0.65 - - 2558 - 2.42 0.055 2439 576.9 116.8 - - 2475 - - - - - - - - 14.68 14.63 14.71
11166 740.7 9.3 826 11170 done 0.65 - - 2558 - - - 2440 - 116.8 - - 2475 - - - - - - - - 14.99 15.02 15.02
11466 711.3 10.0 841 11472 roll 0.65 - - 2569 - 2.35 0.051 1036 -597.4 116.8 - - 2476 - - - - - - - - 14.99 14.73 15.02
11490 709.0 9.6 845 11496 done 0.65 - - 2569 - 2.38 0.055 2440 589.9 116.8 - - 2474 - - - - - - - - 14.81 14.71 14.84
11814 676.2 10.1 864 11818 done 0.65 - - 2569 - - - 2440 - 116.8 - - 2475 - - - - - - - - 15.00 15.02 15.02
12114 647.0 9.0 879 12117 done 0.65 - - 2569 - - - 2440 - 116.8 - - 2475 - - - - - - - - 14.99 15.02 15.02
12414 621.2 8.6 894 12417 done 0.65 - - 2569 - - - 2440 - 116.8 - - 2474 - - - - - - - - 15.00 15.02 15.02
12714 596.8 8.0 909 12719 roll 0.65 - - 2581 - 2.35 0.051 1037 -597.0 116.8 - - 2474 - - - - - - - - 14.99 14.72 15.02
12740 594.6 7.7 914 12750 done 0.67 0.15 0.233 2547 -226.7 2.38 0.055 2440 589.5 116.8 - - 2474 - - - - - - - - 14.50 14.71 14.75
13059 570.6 7.9 932 13063 done 0.68 - - 2547 - - - 2440 - 116.8 - - 2474 - - - - - - - - 15.00 15.02 15.02
13359 546.8 8.0 947 13365 roll 0.68 - - 2557 - 2.35 0.051 1036 -597.4 116.8 - - 2474 - - - - - - - - 14.98 14.71 15.02
13383 544.9 7.7 951 13390 done 0.69 - - 2557 - 2.38 0.056 2439 589.5 116.8 - - 2474 - - - - - - - - 14.79 14.70 14.83
13708 518.2 8.2 970 13714 roll 0.69 - - 2558 - 2.45 0.086 3849 575.5 116.8 - - 2474 - - - - - - - - 14.99 14.64 15.02
13732 516.0 8.8 974 13738 done 0.69 - - 2569 - 2.28 0.038 2431 -621.9 116.8 - - 2474 - - - - - - - - 14.83 14.76 14.85
14056 489.5 8.0 993 14060 done 0.69 - - 2570 - - - 2431 - 116.8 - - 2474 - - - - - - - - 14.98 15.02 15.01
14356 464.9 8.4 1008 14362 roll 0.69 - - 2580 - 2.30 0.051 1043 -603.5 116.8 - - 2474 - - - - - - - - 14.99 14.71 15.02
14403 460.5 9.3 1017 14409 done 0.69 - - 2580 - 2.38 0.054 2445 589.1 116.8 - - 2474 - - - - - - - - 14.79 14.70 14.83
14721 427.4 11.0 1035 14728 roll 0.69 - - 2591 - 2.35 0.050 1040 -597.9 116.8 - - 2473 - - - - - - - - 14.98 14.71 15.01
14760 422.9 11.4 1042 14767 done 0.69 0.10 0.207 2550 -410.0 2.42 0.054 2437 577.3 116.8 - - 2474 - - - - - - - - 14.48 14.59 14.73
15067 391.0 10.3 1058 15070 done 0.69 - - 2550 - - - 2437 - 116.8 - - 2474 - - - - - - - - 14.98 15.01 15.01
15366 364.1 8.1 1073 15371 roll 0.69 - - 2561 - 2.33 0.050 1045 -597.4 116.8 - - 2473 - - - - - - - - 14.98 14.71 15.01
15418 360.1 7.6 1083 15425 done 0.71 - - 2561 - 2.38 0.054 2443 587.4 116.8 - - 2473 - - - - - - - - 14.78 14.69 14.82
15734 338.7 6.6 1100 15738 done 0.75 - - 2561 - - - 2443 - 116.8 - - 2474 - - - - - - - - 14.99 15.02 15.02
16033 317.8 7.4 1115 16040 roll 0.77 - - 2572 - 2.33 0.049 1047 -599.1 116.8 - - 2474 - - - - - - - - 14.99 14.71 15.01
16086 313.2 8.6 1125 16092 done 0.77 - - 2572 - 2.38 0.054 2449 589.1 116.8 - - 2473 - - - - - - - - 14.78 14.69 14.82
16400 286.6 8.3 1142 16406 roll 0.77 - - 2572 - 2.40 0.085 3845 581.7 116.8 - - 2474 - - - - - - - - 14.98 14.64 15.01
16453 281.7 9.4 1152 16459 done 0.77 - - 2583 - 2.25 0.037 2438 -625.3 116.8 - - 2474 - - - - - - - - 14.81 14.76 14.84
16767 256.9 7.2 1169 16773 roll 0.80 - - 2583 - 2.47 0.083 3854 573.3 116.8 - - 2474 - - - - - - - - 14.99 14.64 15.01
16806 253.8 8.2 1176 16813 done 0.80 - - 2594 - 2.33 0.036 2440 -606.9 116.8 - - 2474 - - - - - - - - 14.68 14.64 14.70
17113 231.3 7.6 1204 17119 roll 0.81 - - 2594 - 2.45 0.083 3847 574.3 116.8 - - 2474 - - - - - - - - 14.97 14.63 15.00
17167 226.6 8.6 1214 17172 done 0.81 - - 2606 - 2.25 0.036 2437 -626.7 116.8 - - 2474 - - - - - - - - 14.81 14.75 14.83
17361 213.0 7.5 1234 17368 done 0.83 - - 2606 - - - 2436 - 116.8 - - 2474 - - - - - - - - 14.96 15.00 15.00
17550 199.6 6.2 1253 17599 roll 0.88 - - 2617 - 2.38 0.050 1050 -582.4 162.6 37.92 1.115 2303 -4.5 0.151 - - - - - - 14.96 14.61 13.96
17693 187.8 9.4 1281 17699 done 0.88 - - 2617 - 2.38 0.053 2444 585.7 162.6 - - 2300 - - - - - - - - 14.65 14.56 14.68
17888 170.1 8.3 1301 17897 roll 0.88 - - 2616 - 2.42 0.083 3852 581.8 162.6 - - 2298 - - - - - - - - 14.85 14.56 14.89
17940 165.8 8.3 1311 17947 done 0.88 - - 2628 - 2.28 0.036 2440 -619.3 162.6 - - 2298 - - - - - - - - 14.72 14.67 14.74
18135 151.6 7.8 1331 18142 roll 0.89 - - 2629 - 2.47 0.082 3854 572.5 162.6 - - 2298 - - - - - - - - 14.90 14.59 14.92
18180 148.1 7.8 1339 18187 done 0.90 - - 2641 - 2.28 0.035 2432 -623.7 162.6 - - 2298 - - - - - - - - 14.76 14.71 14.77
18375 138.2 2.8 1359 18481 roll 1.02 - - 2641 - 2.53 0.081 3851 560.9 278.3 95.70 1.030 1833 -4.9 0.122 - - - - - - 14.92 14.25 13.81
18492 130.4 11.9 1382 18499 done 1.02 - - 2653 - 2.35 0.039 2459 -592.3 278.3 - - 1831 - - - - - - - - 14.42 14.38 14.42
18679 104.0 13.6 1401 18685 roll 1.02 - - 2664 - 2.38 0.050 1037 -597.5 278.3 - - 1827 - - - - - - - - 14.76 14.53 14.78
18733 97.5 12.0 1411 18740 done 1.02 - - 2664 - 2.40 0.052 2447 587.5 278.3 - - 1826 - - - - - - - - 14.63 14.54 14.66
18928 78.0 9.5 1431 18934 roll 1.02 - - 2676 - 2.35 0.050 1040 -598.7 278.3 - - 1826 - - - - - - - - 14.84 14.62 14.86
19034 67.7 9.2 1451 19040 done 1.02 - - 2676 - 2.38 0.054 2446 590.8 278.3 - - 1826 - - - - - - - - 14.71 14.62 14.73
19229 54.1 3.4 1471 19329 roll 1.12 - - 2688 - 2.45 0.050 1036 -575.5 381.6 87.57 0.868 1410 -4.8 0.055 - - - - - - 14.88 14.42 13.95
19389 41.2 11.9 1502 19396 done 1.12 - - 2688 - 2.42 0.051 2430 576.0 381.6 - - 1409 - - - - - - - - 14.49 14.44 14.52
19580 20.0 10.8 1539 19587 roll 1.12 - - 2700 - 2.38 0.051 1039 -584.5 381.6 - - 1409 - - - - - - - - 14.81 14.54 14.83
19637 13.5 12.7 1549 19644 done 1.12 - - 2700 - 2.42 0.052 2446 581.4 381.6 - - 1409 - - - - - - - - 14.60 14.54 14.63
19745 end climb: SURFACE_DEPTH_REACHED
19745 begin surface coast
19787 end surface coast: CONTROL_FINISHED_OK
19787 begin surface
SM 1.20 - - - - -6.77 7.12 0.040 133 18.7 0.10 0.155 2511 14810.0 500.17 120.15 0.634 929 7.7 -0.001 - - - - 1 -