MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 200 * Raw log
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• Previous call tries 1 • 77.58 of 350.00 AH used of 24V (77.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.1 deg, depth 1.26 m • Intended pitch -17.3 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 98 VBD -0.62 - - 34 - - - 2519 - -116.8 -72.90 0.005 2637 - - - - - - - - 14.83 - 14.86
101 4.3 -10.9 15 134 roll -0.62 9.15 0.349 2118 227.8 2.33 0.065 1111 -604.3 -116.8 -15.12 0.011 3446 -53.5 3.914 - - - - - - 14.31 13.82 14.52
223 43.7 -28.9 39 230 done -0.62 - - 2109 - 2.35 0.057 2483 583.8 -116.8 - - 3446 - - - - - - - - 14.65 14.60 14.69
417 93.6 -22.3 60 427 roll -0.62 - - 2099 - 2.40 0.083 3895 588.3 -116.8 - - 3446 - - - - - - - - 14.92 14.63 14.95
524 115.5 -17.8 81 532 done -0.62 - - 2099 - 2.25 0.036 2505 -617.8 -116.8 - - 3446 - - - - - - - - 14.71 14.69 14.73
711 147.9 -17.4 100 721 roll -0.62 - - 2088 - 2.38 0.084 3897 584.9 -116.8 - - 3446 - - - - - - - - 14.96 14.68 14.98
734 151.9 -18.0 104 741 done -0.62 0.15 0.233 2123 233.3 2.20 0.032 2491 -639.1 -116.8 - - 3446 - - - - - - - - 14.57 14.78 14.76
929 181.6 -14.8 124 938 roll -0.62 - - 2114 - 2.40 0.086 3894 584.6 -116.8 - - 3446 - - - - - - - - 14.97 14.70 15.00
952 185.0 -14.7 128 958 done -0.62 - - 2114 - 2.17 0.032 2498 -643.3 -116.8 - - 3446 - - - - - - - - 14.85 14.80 14.86
1146 212.7 -13.7 148 1152 roll -0.62 - - 2113 - 2.22 0.049 1112 -624.3 -116.8 - - 3446 - - - - - - - - 15.00 14.76 15.02
1231 223.6 -12.5 164 1237 done -0.62 - - 2104 - 2.33 0.061 2502 596.6 -116.8 - - 3445 - - - - - - - - 14.84 14.75 14.86
1425 248.7 -13.2 184 1435 roll -0.62 - - 2092 - 2.35 0.083 3897 593.6 -116.8 - - 3445 - - - - - - - - 15.01 14.73 15.04
1461 253.8 -13.4 191 1468 done -0.62 0.10 0.189 2123 310.0 2.25 0.034 2497 -622.2 -116.8 - - 3445 - - - - - - - - 14.56 14.74 14.67
1768 290.9 -12.2 207 1775 roll -0.62 - - 2114 - 2.38 0.084 3891 585.7 -116.8 - - 3442 - - - - - - - - 15.03 14.74 15.06
1791 293.9 -12.5 212 1797 done -0.62 - - 2114 - 2.20 0.034 2500 -632.3 -116.8 - - 3442 - - - - - - - - 14.89 14.83 14.91
2110 331.2 -11.3 230 2114 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3440 - - - - - - - - 15.04 15.08 15.07
2410 364.9 -11.3 245 2413 done -0.62 - - 2116 - - - 2499 - -116.8 - - 3437 - - - - - - - - 15.05 15.08 15.07
2710 399.6 -11.7 260 2713 done -0.62 - - 2115 - - - 2499 - -116.8 - - 3434 - - - - - - - - 15.05 15.09 15.08
3009 433.4 -11.1 275 3013 done -0.62 - - 2115 - - - 2498 - -116.8 - - 3431 - - - - - - - - 15.05 15.09 15.08
3310 465.8 -10.6 290 3316 roll -0.62 - - 2115 - 2.28 0.051 1102 -612.3 -116.8 - - 3429 - - - - - - - - 15.05 14.80 15.08
3342 469.4 -10.6 296 3348 done -0.62 - - 2104 - 2.33 0.062 2491 596.1 -116.8 - - 3428 - - - - - - - - 14.81 14.74 14.84
3657 504.4 -11.4 313 3663 roll -0.62 - - 2093 - 2.42 0.089 3902 583.1 -116.8 - - 3426 - - - - - - - - 15.04 14.72 15.07
3709 510.9 -11.6 323 3716 done -0.62 0.12 0.213 2123 250.0 2.25 0.037 2485 -629.8 -116.8 - - 3426 - - - - - - - - 14.64 14.83 14.82
4024 542.3 -9.9 340 4027 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3425 - - - - - - - - 15.04 15.08 15.07
4324 572.0 -10.0 355 4327 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3423 - - - - - - - - 15.05 15.08 15.08
4624 604.0 -10.9 370 4628 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3422 - - - - - - - - 15.04 15.08 15.07
4924 637.8 -11.3 385 4927 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3420 - - - - - - - - 15.04 15.08 15.07
5224 671.3 -11.2 400 5227 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3418 - - - - - - - - 15.04 15.07 15.07
5524 703.5 -10.4 415 5527 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3417 - - - - - - - - 15.04 15.07 15.07
5824 732.7 -9.4 430 5828 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3415 - - - - - - - - 15.04 15.07 15.06
6124 758.9 -8.4 445 6127 done -0.62 - - 2123 - - - 2484 - -116.8 - - 3415 - - - - - - - - 15.03 15.07 15.06
6424 782.3 -7.5 460 6433 roll -0.62 - - 2114 - 2.45 0.090 3894 575.5 -116.8 - - 3413 - - - - - - - - 15.03 14.67 15.06
6459 785.2 -8.0 467 6465 done -0.62 - - 2114 - 2.30 0.040 2498 -607.0 -116.8 - - 3413 - - - - - - - - 14.72 14.69 14.74
6765 809.1 -7.8 483 6769 done -0.62 - - 2114 - - - 2497 - -116.8 - - 3412 - - - - - - - - 15.02 15.06 15.05
7066 833.7 -8.5 498 7070 done -0.62 - - 2114 - - - 2497 - -116.8 - - 3411 - - - - - - - - 15.02 15.06 15.05
7365 860.9 -9.3 513 7372 roll -0.62 - - 2114 - 2.30 0.052 1101 -607.0 -116.8 - - 3410 - - - - - - - - 15.02 14.72 15.04
7410 865.1 -9.5 521 7417 done -0.62 - - 2103 - 2.40 0.063 2501 583.3 -116.8 - - 3409 - - - - - - - - 14.81 14.70 14.84
7735 898.6 -10.5 540 7743 roll -0.62 - - 2092 - 2.42 0.091 3899 577.7 -116.8 - - 3408 - - - - - - - - 15.02 14.64 15.04
7780 903.7 -11.0 549 7787 done -0.62 0.12 0.215 2123 258.3 2.25 0.039 2498 -622.7 -116.8 - - 3408 - - - - - - - - 14.56 14.77 14.74
8100 933.2 -9.0 567 8104 done -0.62 - - 2123 - - - 2497 - -116.8 - - 3407 - - - - - - - - 15.01 15.04 15.03
8400 959.8 -8.8 582 8404 done -0.62 - - 2123 - - - 2497 - -116.8 - - 3407 - - - - - - - - 15.01 15.04 15.04
8700 986.0 -8.8 597 8706 roll -0.62 - - 2124 - 2.30 0.053 1102 -606.5 -116.8 - - 3406 - - - - - - - - 15.00 14.70 15.03
8742 end dive: TARGET_DEPTH_EXCEEDED
8742 begin apogee
8750 990.2 -9.1 605 8859 done -0.15 0.57 0.171 2282 277.2 - - 2447 - - 103.47 2.035 2967 -4.2 0.386 - - - - - - 14.54 14.16 13.21
8861 end apogee: CONTROL_FINISHED_OK
8862 begin climb
8864 993.6 - 610 8993 roll 0.62 0.77 0.093 2550 348.1 2.50 0.053 1047 -560.0 116.8 112.03 2.015 2490 -4.3 0.393 - - - - - - 14.22 14.03 13.11
9015 992.0 6.8 644 9026 done 0.66 - - 2550 - 2.47 0.061 2442 564.8 116.8 - - 2486 - - - - - - - - 14.24 14.16 14.26
9326 962.5 9.9 661 9333 roll 0.66 - - 2561 - 2.38 0.054 1046 -586.6 116.8 - - 2482 - - - - - - - - 14.78 14.54 14.81
9364 958.6 10.4 668 9371 done 0.66 - - 2561 - 2.45 0.058 2439 568.6 116.8 - - 2481 - - - - - - - - 14.54 14.49 14.57
9670 927.1 10.7 684 9676 roll 0.66 - - 2572 - 2.35 0.054 1049 -591.5 116.8 - - 2481 - - - - - - - - 14.89 14.64 14.92
9707 923.0 10.8 691 9714 done 0.66 - - 2572 - 2.42 0.057 2437 573.6 116.8 - - 2479 - - - - - - - - 14.62 14.57 14.65
10014 889.6 11.3 707 10018 done 0.66 - - 2572 - - - 2437 - 116.8 - - 2479 - - - - - - - - 14.94 14.97 14.96
10314 855.4 11.3 722 10318 done 0.66 - - 2572 - - - 2437 - 116.8 - - 2478 - - - - - - - - 14.96 15.00 14.99
10614 821.9 11.1 737 10620 roll 0.66 - - 2582 - 2.33 0.052 1049 -595.7 116.8 - - 2478 - - - - - - - - 14.97 14.70 15.00
10713 810.9 10.7 756 10721 done 0.66 0.12 0.218 2548 -283.3 2.42 0.055 2446 577.3 116.8 - - 2476 - - - - - - - - 14.40 14.60 14.55
11019 781.2 9.5 772 11025 roll 0.66 - - 2548 - 2.42 0.086 3851 580.6 116.8 - - 2476 - - - - - - - - 14.97 14.65 15.01
11043 778.8 10.3 776 11048 done 0.66 - - 2558 - 2.28 0.038 2437 -620.2 116.8 - - 2476 - - - - - - - - 14.82 14.76 14.84
11366 745.5 10.4 795 11370 done 0.66 - - 2558 - - - 2437 - 116.8 - - 2476 - - - - - - - - 14.97 15.01 15.01
11667 714.3 10.3 810 11672 roll 0.66 - - 2569 - 2.30 0.052 1049 -603.5 116.8 - - 2476 - - - - - - - - 14.98 14.71 15.01
11711 709.7 10.7 818 11716 done 0.66 - - 2569 - 2.35 0.054 2440 591.9 116.8 - - 2475 - - - - - - - - 14.79 14.70 14.83
12034 674.3 10.7 837 12041 roll 0.66 - - 2580 - 2.35 0.052 1043 -594.5 116.8 - - 2475 - - - - - - - - 14.98 14.70 15.01
12052 672.3 10.8 840 12059 done 0.66 0.12 0.210 2545 -291.7 2.42 0.054 2439 576.9 116.8 - - 2475 - - - - - - - - 14.40 14.59 14.54
12358 643.4 9.1 856 12362 done 0.66 - - 2545 - - - 2439 - 116.8 - - 2475 - - - - - - - - 14.98 15.01 15.01
12658 617.3 8.7 871 12664 roll 0.66 - - 2555 - 2.33 0.052 1049 -596.6 116.8 - - 2475 - - - - - - - - 14.98 14.69 15.01
12706 613.3 8.5 880 12712 done 0.66 - - 2555 - 2.35 0.054 2440 591.9 116.8 - - 2474 - - - - - - - - 14.79 14.69 14.82
13026 587.1 8.2 898 13031 roll 0.66 - - 2566 - 2.35 0.052 1042 -594.9 116.8 - - 2474 - - - - - - - - 14.98 14.70 15.01
13069 583.5 8.3 906 13075 done 0.66 - - 2566 - 2.38 0.054 2444 589.1 116.8 - - 2474 - - - - - - - - 14.78 14.69 14.82
13394 556.1 8.6 925 13400 roll 0.66 - - 2577 - 2.35 0.050 1043 -596.2 116.8 - - 2474 - - - - - - - - 14.95 14.69 14.98
13438 552.3 8.5 933 13445 done 0.66 0.15 0.233 2544 -220.0 2.38 0.054 2446 589.5 116.8 - - 2474 - - - - - - - - 14.46 14.68 14.72
13764 527.1 7.7 952 13767 done 0.67 - - 2544 - - - 2447 - 116.8 - - 2474 - - - - - - - - 14.98 15.01 15.01
14064 503.8 7.8 967 14068 done 0.69 - - 2544 - - - 2447 - 116.8 - - 2474 - - - - - - - - 14.98 15.01 15.01
14364 479.9 8.1 982 14370 roll 0.69 - - 2554 - 2.33 0.050 1049 -600.0 116.8 - - 2475 - - - - - - - - 14.98 14.65 15.02
14402 476.6 8.4 989 14410 done 0.69 - - 2554 - 2.42 0.054 2442 575.6 116.8 - - 2474 - - - - - - - - 14.62 14.57 14.66
14708 450.9 8.6 1005 14714 roll 0.69 - - 2565 - 2.35 0.050 1040 -596.6 116.8 - - 2474 - - - - - - - - 14.97 14.69 15.01
14736 448.5 8.1 1010 14742 done 0.69 - - 2565 - 2.38 0.054 2442 589.1 116.8 - - 2474 - - - - - - - - 14.77 14.68 14.81
15054 422.0 8.1 1028 15058 done 0.69 - - 2565 - - - 2442 - 116.8 - - 2474 - - - - - - - - 14.97 15.01 15.00
15355 400.1 6.9 1043 15360 roll 0.72 - - 2576 - 2.35 0.050 1041 -596.2 116.8 - - 2474 - - - - - - - - 14.98 14.69 15.01
15413 396.1 7.0 1054 15419 done 0.75 - - 2576 - 2.42 0.054 2436 576.4 116.8 - - 2474 - - - - - - - - 14.61 14.56 14.65
15719 373.8 7.7 1070 15723 done 0.76 - - 2576 - - - 2436 - 116.8 - - 2474 - - - - - - - - 14.98 15.01 15.01
16018 349.6 8.4 1085 16022 done 0.76 - - 2577 - - - 2436 - 116.8 - - 2474 - - - - - - - - 14.97 15.01 15.00
16318 323.2 9.1 1100 16324 roll 0.76 - - 2576 - 2.42 0.084 3844 581.8 116.8 - - 2474 - - - - - - - - 14.97 14.61 15.00
16376 317.4 9.9 1111 16383 done 0.76 - - 2587 - 2.33 0.037 2434 -605.2 116.8 - - 2474 - - - - - - - - 14.65 14.62 14.67
16683 289.5 9.0 1127 16689 roll 0.76 - - 2597 - 2.30 0.050 1047 -603.0 116.8 - - 2474 - - - - - - - - 14.97 14.67 15.00
16777 280.8 9.1 1145 16783 done 0.76 - - 2597 - 2.38 0.053 2450 589.5 116.8 - - 2474 - - - - - - - - 14.76 14.66 14.80
17092 254.8 8.2 1162 17098 roll 0.76 - - 2598 - 2.42 0.085 3849 578.1 116.8 - - 2474 - - - - - - - - 14.98 14.61 15.00
17238 241.9 8.7 1190 17244 done 0.76 0.15 0.256 2577 -140.0 2.28 0.037 2430 -622.4 116.8 - - 2474 - - - - - - - - 14.40 14.73 14.68
17434 229.0 6.4 1210 17474 done 0.80 - - 2576 - - - 2429 - 158.8 35.28 1.157 2319 -4.4 0.163 - - - - - - 14.96 14.60 13.94
17653 210.0 9.1 1232 17658 roll 0.80 - - 2586 - 2.30 0.050 1046 -601.3 158.8 - - 2314 - - - - - - - - 14.84 14.59 14.86
17717 204.3 8.8 1244 17723 done 0.80 - - 2586 - 2.38 0.053 2442 586.6 158.8 - - 2314 - - - - - - - - 14.68 14.58 14.70
17912 189.8 7.3 1264 17917 roll 0.83 - - 2596 - 2.33 0.050 1053 -596.1 158.8 - - 2314 - - - - - - - - 14.88 14.62 14.91
17955 187.0 6.3 1272 18005 done 0.87 - - 2596 - 2.35 0.053 2439 589.8 203.6 38.83 1.093 2136 -4.6 0.147 - - - - - - 14.71 14.61 13.93
18187 164.9 10.1 1300 18194 done 0.87 - - 2596 - - - 2438 - 203.6 - - 2131 - - - - - - - - 14.81 14.83 14.83
18375 147.3 9.7 1319 18381 roll 0.87 - - 2607 - 2.33 0.050 1051 -595.3 203.6 - - 2131 - - - - - - - - 14.85 14.60 14.88
18398 145.0 9.9 1323 18404 done 0.87 - - 2607 - 2.38 0.054 2446 586.1 203.6 - - 2130 - - - - - - - - 14.69 14.59 14.71
18592 128.2 8.0 1343 18599 done 0.87 - - 2607 - - - 2446 - 203.6 - - 2130 - - - - - - - - 14.89 14.92 14.90
18783 115.4 5.8 1362 18837 roll 0.93 - - 2607 - 2.42 0.083 3845 578.1 258.9 46.05 0.981 1911 -4.8 0.105 - - - - - - 14.91 14.41 13.98
18873 109.2 9.0 1379 18878 done 0.93 - - 2618 - 2.28 0.036 2439 -616.7 258.9 - - 1909 - - - - - - - - 14.63 14.58 14.64
19067 92.6 6.4 1399 19110 roll 0.97 - - 2618 - 2.47 0.082 3849 570.9 300.8 36.25 0.928 1739 -4.7 0.088 - - - - - - 14.83 14.39 13.98
19146 86.4 9.8 1414 19151 done 0.97 - - 2629 - 2.28 0.035 2442 -617.1 300.8 - - 1738 - - - - - - - - 14.62 14.56 14.62
19340 67.6 9.4 1434 19349 roll 0.97 - - 2629 - 2.42 0.082 3840 577.7 300.8 - - 1737 - - - - - - - - 14.83 14.54 14.85
19506 55.8 6.0 1466 19558 done 1.02 - - 2641 - 2.25 0.034 2433 -625.3 350.9 43.53 0.847 1537 -4.6 0.057 - - - - - - 14.73 14.68 14.04
19747 40.9 5.7 1509 19812 roll 1.08 0.10 0.134 2722 810.0 2.30 0.048 1051 -600.9 407.4 49.47 0.807 1304 -4.7 0.045 - - - - - - 14.62 14.36 14.00
19911 23.3 12.9 1541 19920 done 1.08 0.12 0.164 2681 -341.7 2.42 0.058 2440 574.0 407.4 - - 1303 - - - - - - - - 14.40 14.49 14.50
20108 3.3 9.2 1578 20114 roll 1.08 - - 2691 - 2.35 0.048 1050 -591.5 407.4 - - 1303 - - - - - - - - 14.84 14.57 14.87
20119 end climb: SURFACE_DEPTH_REACHED
20119 begin surface coast
20160 end surface coast: CONTROL_FINISHED_OK
20160 begin surface
SM 1.22 - - - - -6.77 7.22 0.054 120 16.6 2.55 0.067 2500 778.0 500.17 99.28 0.598 929 9.4 -0.002 - - - - 1 -