MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 297 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 112.66 of 350.00 AH used of 24V (67.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 21 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 97 VBD -0.62 - - 128 - - - 2528 - -116.8 -77.72 0.005 2814 - - - - - - - - 14.81 - 14.83
100 5.7 -17.0 16 125 roll -0.62 9.20 0.357 2123 216.8 2.38 0.063 1103 -598.7 -116.8 -10.85 0.011 3445 -58.2 5.717 - - - - - - 14.14 13.58 14.52
173 35.0 -29.9 31 179 done -0.62 - - 2114 - 2.38 0.065 2471 574.8 -116.8 - - 3445 - - - - - - - - 14.63 14.52 14.66
361 96.2 -27.3 54 369 roll -0.62 - - 2104 - 2.45 0.083 3906 585.7 -116.8 - - 3445 - - - - - - - - 14.91 14.54 14.93
483 124.8 -16.9 78 487 done -0.62 - - 2104 - 2.25 0.035 2494 -627.6 -116.8 - - 3445 - - - - - - - - 14.73 14.66 14.76
675 158.4 -15.5 98 683 roll -0.62 - - 2092 - 2.42 0.083 3906 583.5 -116.8 - - 3445 - - - - - - - - 14.97 14.57 14.99
769 173.5 -15.7 117 775 done -0.62 0.15 0.214 2128 240.0 2.28 0.034 2493 -619.7 -116.8 - - 3445 - - - - - - - - 14.43 14.70 14.64
955 195.6 -12.1 136 958 done -0.62 - - 2128 - - - 2491 - -116.8 - - 3445 - - - - - - - - 14.98 15.01 15.01
1135 216.6 -11.7 154 1143 roll -0.62 - - 2120 - 2.45 0.091 3896 573.5 -116.8 - - 3445 - - - - - - - - 15.00 14.55 15.02
1186 222.5 -11.9 164 1191 done -0.62 - - 2120 - 2.22 0.038 2493 -632.0 -116.8 - - 3445 - - - - - - - - 14.79 14.73 14.81
1378 246.4 -12.4 184 1382 roll -0.62 - - 2120 - 2.25 0.044 1099 -619.6 -116.8 - - 3444 - - - - - - - - 15.02 14.69 15.04
1414 250.8 -12.0 191 1420 done -0.62 - - 2109 - 2.38 0.055 2507 591.6 -116.8 - - 3443 - - - - - - - - 14.76 14.64 14.78
1719 288.3 -12.1 207 1725 roll -0.62 - - 2098 - 2.38 0.084 3895 583.2 -116.8 - - 3441 - - - - - - - - 15.03 14.60 15.06
1782 296.1 -12.4 219 1787 done -0.62 - - 2098 - 2.22 0.034 2490 -632.9 -116.8 - - 3441 - - - - - - - - 14.82 14.76 14.83
2105 336.3 -12.3 238 2108 done -0.62 0.12 0.222 2127 241.7 - - 2488 - -116.8 - - 3439 - - - - - - - - 14.54 14.77 14.71
2404 367.8 -10.3 253 2407 done -0.62 - - 2127 - - - 2488 - -116.8 - - 3435 - - - - - - - - 15.05 15.08 15.08
2705 397.9 -10.1 268 2712 roll -0.62 - - 2119 - 2.45 0.090 3893 573.5 -116.8 - - 3432 - - - - - - - - 15.05 14.59 15.07
2729 400.4 -10.7 273 2733 done -0.62 - - 2119 - 2.22 0.034 2491 -631.5 -116.8 - - 3433 - - - - - - - - 14.82 14.76 14.84
3045 434.0 -10.6 291 3050 roll -0.62 - - 2119 - 2.25 0.048 1110 -613.8 -116.8 - - 3429 - - - - - - - - 15.05 14.67 15.08
3067 436.4 -10.9 295 3072 done -0.62 - - 2108 - 2.38 0.066 2498 583.2 -116.8 - - 3428 - - - - - - - - 14.74 14.60 14.78
3389 471.4 -10.8 314 3394 roll -0.62 - - 2098 - 2.42 0.086 3901 579.8 -116.8 - - 3426 - - - - - - - - 15.04 14.57 15.07
3455 478.8 -11.2 327 3461 done -0.62 0.12 0.203 2127 241.7 2.25 0.036 2493 -625.8 -116.8 - - 3426 - - - - - - - - 14.48 14.73 14.67
3773 509.6 -9.8 345 3775 done -0.62 - - 2127 - - - 2491 - -116.8 - - 3425 - - - - - - - - 15.04 15.07 15.07
4073 538.9 -9.8 360 4079 roll -0.62 - - 2119 - 2.47 0.090 3901 570.9 -116.8 - - 3423 - - - - - - - - 15.04 14.54 15.07
4097 541.4 -10.4 365 4101 done -0.62 - - 2119 - 2.25 0.035 2495 -624.9 -116.8 - - 3423 - - - - - - - - 14.80 14.73 14.82
4413 571.3 -9.2 383 4415 done -0.62 - - 2118 - - - 2494 - -116.8 - - 3421 - - - - - - - - 15.04 15.07 15.07
4713 598.2 -8.9 398 4720 roll -0.62 - - 2108 - 2.45 0.089 3894 571.4 -116.8 - - 3417 - - - - - - - - 15.04 14.52 15.07
4743 601.0 -9.8 404 4748 done -0.62 - - 2108 - 2.25 0.036 2493 -622.7 -116.8 - - 3418 - - - - - - - - 14.78 14.71 14.81
5055 632.2 -10.4 421 5060 roll -0.62 - - 2098 - 2.47 0.090 3895 567.6 -116.8 - - 3416 - - - - - - - - 15.03 14.52 15.06
5086 635.7 -11.0 427 5092 done -0.62 0.12 0.205 2128 250.0 2.25 0.037 2494 -622.7 -116.8 - - 3416 - - - - - - - - 14.45 14.71 14.64
5400 665.7 -9.5 444 5405 roll -0.62 - - 2128 - 2.28 0.049 1109 -607.5 -116.8 - - 3415 - - - - - - - - 15.03 14.62 15.06
5456 671.2 -9.4 455 5461 done -0.62 - - 2119 - 2.42 0.061 2506 577.3 -116.8 - - 3415 - - - - - - - - 14.70 14.59 14.74
5762 700.7 -9.5 471 5768 roll -0.62 - - 2109 - 2.42 0.089 3894 573.6 -116.8 - - 3413 - - - - - - - - 15.02 14.50 15.05
5810 705.4 -9.8 480 5814 done -0.62 - - 2109 - 2.25 0.037 2496 -621.3 -116.8 - - 3413 - - - - - - - - 14.76 14.69 14.78
6126 737.5 -10.2 498 6128 done -0.62 - - 2109 - - - 2495 - -116.8 - - 3412 - - - - - - - - 15.02 15.05 15.05
6426 767.6 -9.8 513 6428 done -0.62 - - 2109 - - - 2495 - -116.8 - - 3411 - - - - - - - - 15.02 15.06 15.05
6726 794.8 -8.7 528 6728 done -0.62 - - 2107 - - - 2495 - -116.8 - - 3410 - - - - - - - - 15.02 15.05 15.05
7026 821.0 -8.9 543 7028 done -0.62 - - 2109 - - - 2495 - -116.8 - - 3409 - - - - - - - - 15.02 15.05 15.04
7326 849.0 -9.6 558 7333 roll -0.62 - - 2098 - 2.47 0.093 3893 566.0 -116.8 - - 3408 - - - - - - - - 15.02 14.47 15.04
7381 854.6 -10.3 569 7385 done -0.62 0.12 0.203 2128 250.0 2.30 0.037 2491 -609.6 -116.8 - - 3408 - - - - - - - - 14.39 14.66 14.58
7686 881.6 -8.8 585 7688 done -0.62 - - 2128 - - - 2490 - -116.8 - - 3407 - - - - - - - - 15.01 15.04 15.04
7986 906.7 -8.0 600 7989 done -0.62 - - 2128 - - - 2490 - -116.8 - - 3406 - - - - - - - - 15.01 15.04 15.04
8286 929.2 -7.3 615 8288 done -0.62 - - 2128 - - - 2490 - -116.8 - - 3405 - - - - - - - - 15.01 15.04 15.03
8586 950.5 -7.1 630 8590 roll -0.62 - - 2128 - 2.30 0.051 1110 -600.0 -116.8 - - 3405 - - - - - - - - 15.00 14.53 15.03
8617 952.8 -7.1 636 8624 done -0.62 - - 2119 - 2.40 0.060 2503 580.4 -116.8 - - 3404 - - - - - - - - 14.64 14.52 14.69
8927 977.0 -8.0 653 8934 roll -0.62 - - 2109 - 2.45 0.090 3898 569.4 -116.8 - - 3403 - - - - - - - - 15.00 14.42 15.02
8982 981.7 -8.8 664 8987 done -0.62 - - 2109 - 2.30 0.037 2500 -607.8 -116.8 - - 3403 - - - - - - - - 14.69 14.62 14.71
9084 end dive: TARGET_DEPTH_EXCEEDED
9084 begin apogee
9090 990.9 -8.7 670 9202 done -0.15 0.60 0.168 2280 285.0 - - 2499 - - 107.53 2.009 2968 -4.0 0.379 - - - - - - 14.32 14.08 12.97
9203 end apogee: CONTROL_FINISHED_OK
9203 begin climb
9207 993.5 - 675 9331 roll 0.62 0.77 0.089 2537 333.8 2.47 0.083 3848 546.2 116.8 116.40 1.998 2490 -4.1 0.387 - - - - - - 14.14 13.74 12.93
9379 989.2 9.4 713 9384 done 0.62 - - 2548 - 2.38 0.037 2444 -589.9 116.8 - - 2486 - - - - - - - - 14.26 14.20 14.27
9684 958.9 10.3 729 9688 roll 0.62 - - 2559 - 2.38 0.053 1044 -588.2 116.8 - - 2481 - - - - - - - - 14.78 14.47 14.82
9740 953.1 9.7 740 9745 done 0.62 - - 2559 - 2.42 0.054 2443 578.1 116.8 - - 2480 - - - - - - - - 14.59 14.49 14.62
10046 920.7 10.5 756 10048 done 0.62 - - 2559 - - - 2443 - 116.8 - - 2479 - - - - - - - - 14.88 14.92 14.92
10345 888.5 10.9 771 10350 roll 0.62 - - 2570 - 2.38 0.051 1043 -588.2 116.8 - - 2479 - - - - - - - - 14.93 14.57 14.95
10411 881.4 10.9 784 10417 done 0.62 0.17 0.229 2530 -235.3 2.38 0.052 2441 587.4 116.8 - - 2479 - - - - - - - - 14.29 14.57 14.57
10729 850.8 9.5 802 10733 roll 0.62 - - 2540 - 2.38 0.051 1039 -589.1 116.8 - - 2477 - - - - - - - - 14.95 14.58 14.98
10780 845.9 9.6 812 10785 done 0.62 - - 2540 - 2.40 0.054 2445 585.8 116.8 - - 2477 - - - - - - - - 14.67 14.57 14.71
11094 816.7 8.9 829 11100 roll 0.62 - - 2540 - 2.45 0.083 3851 573.9 116.8 - - 2477 - - - - - - - - 14.96 14.50 15.00
11127 813.2 10.7 836 11132 done 0.62 - - 2552 - 2.33 0.037 2436 -607.3 116.8 - - 2476 - - - - - - - - 14.71 14.65 14.74
11433 785.8 8.6 852 11435 done 0.62 - - 2552 - - - 2436 - 116.8 - - 2476 - - - - - - - - 14.96 15.00 14.99
11733 760.6 8.2 867 11737 roll 0.62 - - 2562 - 2.35 0.052 1045 -591.9 116.8 - - 2476 - - - - - - - - 14.97 14.57 15.00
11775 757.2 8.4 875 11780 done 0.62 0.12 0.229 2535 -225.0 2.38 0.053 2442 587.0 116.8 - - 2475 - - - - - - - - 14.32 14.56 14.57
12097 731.9 8.1 894 12101 roll 0.62 - - 2546 - 2.38 0.051 1042 -588.2 116.8 - - 2476 - - - - - - - - 14.97 14.56 15.01
12139 728.5 8.2 902 12143 done 0.62 - - 2546 - 2.40 0.053 2449 586.2 116.8 - - 2475 - - - - - - - - 14.66 14.56 14.71
12461 700.5 8.8 921 12465 roll 0.62 - - 2556 - 2.38 0.050 1049 -588.2 116.8 - - 2475 - - - - - - - - 14.97 14.56 15.00
12503 696.8 9.0 929 12507 done 0.62 - - 2557 - 2.38 0.053 2441 584.9 116.8 - - 2475 - - - - - - - - 14.66 14.55 14.71
12825 668.1 8.7 948 12827 done 0.62 - - 2557 - - - 2441 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.01
13124 642.7 8.7 963 13128 roll 0.62 - - 2568 - 2.38 0.052 1044 -587.0 116.8 - - 2475 - - - - - - - - 14.97 14.54 15.01
13166 639.0 8.9 971 13174 done 0.62 0.15 0.226 2535 -220.0 2.38 0.052 2439 586.1 116.8 - - 2475 - - - - - - - - 14.26 14.54 14.54
13487 613.3 7.9 990 13491 roll 0.63 - - 2544 - 2.38 0.051 1041 -587.4 116.8 - - 2475 - - - - - - - - 14.98 14.53 15.00
13533 609.5 8.4 999 13540 done 0.63 - - 2544 - 2.40 0.053 2445 585.0 116.8 - - 2474 - - - - - - - - 14.64 14.53 14.69
13849 581.5 9.1 1017 13853 roll 0.63 - - 2545 - 2.45 0.083 3847 572.2 116.8 - - 2474 - - - - - - - - 14.97 14.44 15.00
13911 575.2 10.2 1029 13915 done 0.63 - - 2556 - 2.30 0.037 2430 -616.1 116.8 - - 2474 - - - - - - - - 14.69 14.62 14.72
14232 547.1 8.5 1048 14234 done 0.63 - - 2556 - - - 2429 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 15.00
14532 522.4 8.1 1063 14534 done 0.63 - - 2556 - - - 2429 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 15.00
14832 498.7 8.1 1078 14836 roll 0.63 - - 2566 - 2.33 0.052 1049 -592.3 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
14889 494.2 8.1 1089 14894 done 0.63 0.12 0.229 2538 -233.3 2.42 0.052 2447 577.7 116.8 - - 2474 - - - - - - - - 14.27 14.52 14.53
15194 471.7 7.2 1105 15201 roll 0.66 - - 2539 - 2.45 0.083 3846 571.0 116.8 - - 2474 - - - - - - - - 14.97 14.43 15.00
15255 466.7 8.5 1117 15259 done 0.66 - - 2550 - 2.30 0.037 2437 -612.6 116.8 - - 2474 - - - - - - - - 14.68 14.61 14.71
15578 443.0 7.2 1136 15580 done 0.68 - - 2550 - - - 2435 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 14.99
15877 422.1 7.0 1151 15881 roll 0.71 - - 2560 - 2.33 0.051 1050 -594.4 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
15929 418.4 7.3 1161 15933 done 0.73 - - 2560 - 2.40 0.052 2446 581.7 116.8 - - 2474 - - - - - - - - 14.62 14.51 14.67
16240 395.4 7.3 1178 16244 roll 0.76 - - 2560 - 2.45 0.081 3849 572.7 116.8 - - 2474 - - - - - - - - 14.97 14.42 15.00
16258 394.1 7.5 1181 16262 done 0.78 - - 2572 - 2.33 0.036 2439 -605.2 116.8 - - 2474 - - - - - - - - 14.69 14.62 14.71
16562 369.3 8.6 1197 16566 roll 0.78 - - 2582 - 2.33 0.050 1049 -596.6 116.8 - - 2474 - - - - - - - - 14.97 14.51 15.00
16660 361.1 8.5 1216 16665 done 0.78 - - 2582 - 2.42 0.052 2448 578.1 116.8 - - 2474 - - - - - - - - 14.62 14.51 14.66
16964 335.7 8.2 1232 16966 done 0.78 - - 2582 - - - 2449 - 116.8 - - 2474 - - - - - - - - 14.96 15.00 14.99
17264 311.2 7.6 1247 17268 roll 0.79 - - 2593 - 2.38 0.050 1049 -588.2 116.8 - - 2474 - - - - - - - - 14.98 14.52 15.00
17320 307.0 7.2 1258 17325 done 0.82 - - 2593 - 2.40 0.051 2440 579.6 116.8 - - 2474 - - - - - - - - 14.62 14.52 14.67
17626 287.5 6.2 1274 17668 done 0.86 - - 2593 - - - 2440 - 163.4 39.95 1.228 2301 -4.3 0.192 - - - - - - 14.97 14.53 13.78
17966 254.4 10.7 1297 17968 done 0.86 - - 2593 - - - 2440 - 163.4 - - 2297 - - - - - - - - 14.85 14.89 14.88
18267 223.1 9.7 1324 18272 roll 0.86 - - 2605 - 2.35 0.050 1052 -590.6 163.4 - - 2296 - - - - - - - - 14.89 14.47 14.92
18364 213.0 10.1 1343 18369 done 0.86 - - 2605 - 2.40 0.051 2439 577.9 163.4 - - 2294 - - - - - - - - 14.59 14.48 14.62
18550 194.7 9.9 1362 18557 roll 0.86 - - 2605 - 2.45 0.081 3847 574.7 163.4 - - 2294 - - - - - - - - 14.91 14.41 14.93
18610 189.0 9.3 1374 18615 done 0.86 - - 2616 - 2.28 0.035 2437 -618.4 163.4 - - 2294 - - - - - - - - 14.65 14.58 14.67
18803 174.4 6.6 1394 18808 done 0.90 - - 2616 - - - 2436 - 163.4 - - 2294 - - - - - - - - 14.92 14.96 14.95
18993 162.2 6.3 1413 19033 done 0.95 - - 2616 - - - 2436 - 206.2 37.58 1.053 2126 -4.5 0.131 - - - - - - 14.93 14.54 13.86
19212 144.1 8.4 1436 19217 roll 0.95 - - 2616 - 2.47 0.079 3848 571.7 206.2 - - 2123 - - - - - - - - 14.83 14.40 14.85
19259 139.9 9.2 1445 19263 done 0.95 - - 2627 - 2.30 0.035 2441 -611.7 206.2 - - 2122 - - - - - - - - 14.61 14.54 14.63
19445 128.8 5.8 1464 19498 roll 1.00 - - 2628 - 2.53 0.081 3870 564.8 260.2 46.30 0.999 1906 -4.7 0.114 - - - - - - 14.87 14.46 13.84
19671 107.5 8.7 1509 19675 done 1.00 - - 2640 - 2.35 0.034 2439 -608.9 260.2 - - 1903 - - - - - - - - 14.58 14.52 14.60
19856 98.4 3.2 1528 19962 roll 1.11 0.12 0.112 2711 591.7 2.58 0.080 3851 547.3 366.8 93.93 0.949 1471 -4.6 0.090 - - - - - - 14.59 14.31 13.74
20035 80.5 14.5 1562 20040 done 1.11 0.15 0.241 2688 -153.3 2.33 0.034 2443 -604.3 366.8 - - 1469 - - - - - - - - 14.15 14.42 14.38
20220 62.8 8.8 1581 20224 roll 1.11 - - 2698 - 2.33 0.050 1048 -598.7 366.8 - - 1468 - - - - - - - - 14.79 14.47 14.81
20289 57.4 7.6 1594 20293 done 1.12 - - 2698 - 2.40 0.050 2448 583.3 366.8 - - 1469 - - - - - - - - 14.59 14.49 14.62
20473 42.4 8.1 1622 20478 roll 1.12 - - 2709 - 2.35 0.050 1047 -596.2 366.8 - - 1468 - - - - - - - - 14.85 14.52 14.88
20536 36.5 9.8 1634 20541 done 1.12 - - 2709 - 2.38 0.050 2443 586.6 366.8 - - 1468 - - - - - - - - 14.63 14.54 14.66
20726 17.7 9.9 1671 20729 done 1.12 - - 2709 - - - 2444 - 366.8 - - 1468 - - - - - - - - 14.89 14.92 14.91
20885 end climb: SURFACE_DEPTH_REACHED
20886 begin surface coast
20917 end surface coast: CONTROL_FINISHED_OK
20917 begin surface
SM 1.44 - - - - -6.78 7.45 0.063 124 16.6 0.08 0.173 2519 31412.5 500.17 135.52 0.630 928 6.8 -0.002 - - - - 1 -