MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 302 * Raw log
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• Previous call tries 1 • 114.38 of 350.00 AH used of 24V (67.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth 1.43 m • Intended pitch -17.1 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 18 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 92 VBD -0.62 - - 122 - - - 2519 - -116.8 -72.00 0.005 2640 - - - - - - - - 14.81 - 14.83
95 4.5 -11.5 15 125 roll -0.62 9.10 0.356 2112 218.7 2.35 0.096 3882 580.0 -116.8 -15.15 0.009 3447 -53.3 5.045 - - - - - - 14.19 13.06 14.57
189 38.2 -30.3 34 194 done -0.62 - - 2112 - 2.22 0.035 2510 -618.0 -116.8 - - 3447 - - - - - - - - 14.68 14.62 14.70
382 101.2 -27.0 57 386 roll -0.62 - - 2112 - 2.30 0.047 1095 -615.2 -116.8 - - 3446 - - - - - - - - 14.91 14.62 14.94
434 111.2 -18.2 67 438 done -0.62 - - 2102 - 2.33 0.058 2479 594.0 -116.8 - - 3447 - - - - - - - - 14.69 14.58 14.72
627 145.1 -17.1 87 631 roll -0.62 - - 2090 - 2.42 0.078 3900 587.2 -116.8 - - 3447 - - - - - - - - 14.95 14.47 14.98
859 179.3 -15.2 133 864 done -0.62 0.15 0.216 2127 246.7 2.22 0.033 2490 -635.1 -116.8 - - 3447 - - - - - - - - 14.45 14.72 14.66
1052 201.4 -10.7 153 1056 roll -0.62 - - 2118 - 2.40 0.080 3894 585.0 -116.8 - - 3447 - - - - - - - - 14.99 14.60 15.01
1077 204.4 -12.1 158 1083 done -0.62 - - 2118 - 2.20 0.032 2501 -633.2 -116.8 - - 3446 - - - - - - - - 14.79 14.73 14.81
1263 225.8 -11.5 177 1267 roll -0.62 - - 2108 - 2.40 0.083 3900 582.9 -116.8 - - 3446 - - - - - - - - 15.01 14.61 15.04
1346 235.7 -12.1 193 1350 done -0.62 - - 2108 - 2.22 0.034 2493 -633.8 -116.8 - - 3445 - - - - - - - - 14.81 14.75 14.83
1547 260.0 -12.0 210 1552 roll -0.62 - - 2108 - 2.25 0.046 1096 -620.9 -116.8 - - 3444 - - - - - - - - 15.02 14.70 15.04
1619 268.6 -11.4 224 1624 done -0.62 0.12 0.214 2126 150.0 2.35 0.056 2501 597.9 -116.8 - - 3443 - - - - - - - - 14.50 14.66 14.69
1925 300.7 -10.3 240 1929 roll -0.62 - - 2117 - 2.38 0.083 3893 584.9 -116.8 - - 3441 - - - - - - - - 15.04 14.62 15.06
1976 306.2 -10.8 250 1981 done -0.62 - - 2117 - 2.22 0.034 2488 -632.9 -116.8 - - 3441 - - - - - - - - 14.82 14.76 14.85
2289 339.0 -10.3 267 2291 done -0.62 - - 2117 - - - 2487 - -116.8 - - 3438 - - - - - - - - 15.05 15.08 15.08
2588 370.1 -10.6 282 2594 roll -0.62 - - 2107 - 2.45 0.090 3896 575.1 -116.8 - - 3434 - - - - - - - - 15.05 14.60 15.08
2611 372.5 -10.4 286 2616 done -0.62 - - 2107 - 2.22 0.034 2496 -630.6 -116.8 - - 3434 - - - - - - - - 14.83 14.76 14.85
2933 409.4 -11.8 305 2937 roll -0.62 - - 2107 - 2.25 0.049 1110 -616.0 -116.8 - - 3431 - - - - - - - - 15.05 14.69 15.08
2958 412.6 -12.3 310 2964 done -0.62 0.12 0.212 2126 158.3 2.35 0.060 2502 592.3 -116.8 - - 3430 - - - - - - - - 14.50 14.66 14.69
3276 447.4 -10.8 328 3279 done -0.62 - - 2126 - - - 2502 - -116.8 - - 3428 - - - - - - - - 15.04 15.08 15.07
3577 477.7 -9.8 343 3579 done -0.62 - - 2125 - - - 2502 - -116.8 - - 3426 - - - - - - - - 15.05 15.08 15.07
3876 506.7 -9.7 358 3879 done -0.62 - - 2125 - - - 2502 - -116.8 - - 3425 - - - - - - - - 15.04 15.07 15.07
4177 536.4 -10.0 373 4182 roll -0.62 - - 2117 - 2.38 0.086 3889 582.8 -116.8 - - 3422 - - - - - - - - 15.04 14.51 15.07
4199 538.7 -10.6 377 4204 done -0.62 - - 2117 - 2.25 0.036 2495 -619.6 -116.8 - - 3422 - - - - - - - - 14.80 14.73 14.82
4521 573.0 -10.6 396 4523 done -0.62 - - 2117 - - - 2493 - -116.8 - - 3420 - - - - - - - - 15.04 15.07 15.06
4822 604.7 -10.7 411 4824 done -0.62 - - 2117 - - - 2493 - -116.8 - - 3419 - - - - - - - - 15.04 15.07 15.07
5121 636.9 -10.7 426 5125 roll -0.62 - - 2117 - 2.30 0.050 1100 -605.7 -116.8 - - 3416 - - - - - - - - 15.04 14.63 15.07
5150 639.8 -11.1 431 5154 done -0.62 - - 2106 - 2.40 0.067 2498 582.5 -116.8 - - 3416 - - - - - - - - 14.71 14.60 14.76
5466 673.3 -10.2 449 5468 done -0.62 - - 2107 - - - 2498 - -116.8 - - 3415 - - - - - - - - 15.03 15.06 15.06
5766 702.4 -9.4 464 5773 roll -0.62 - - 2095 - 2.42 0.087 3893 576.4 -116.8 - - 3413 - - - - - - - - 15.03 14.52 15.06
5806 706.3 -9.7 472 5811 done -0.62 0.12 0.199 2126 258.3 2.25 0.037 2495 -621.3 -116.8 - - 3413 - - - - - - - - 14.45 14.69 14.63
6128 731.8 -7.8 491 6132 roll -0.62 - - 2126 - 2.30 0.050 1105 -604.3 -116.8 - - 3412 - - - - - - - - 15.03 14.60 15.06
6160 734.4 -8.0 497 6164 done -0.62 - - 2118 - 2.40 0.064 2499 580.8 -116.8 - - 3412 - - - - - - - - 14.70 14.59 14.73
6471 761.2 -8.9 514 6476 roll -0.62 - - 2107 - 2.42 0.088 3893 576.0 -116.8 - - 3411 - - - - - - - - 15.02 14.50 15.05
6514 765.2 -9.6 522 6520 done -0.62 - - 2107 - 2.25 0.037 2498 -620.0 -116.8 - - 3411 - - - - - - - - 14.75 14.68 14.78
6837 797.6 -10.5 541 6841 roll -0.62 - - 2107 - 2.30 0.050 1107 -604.8 -116.8 - - 3410 - - - - - - - - 15.02 14.59 15.04
6879 802.1 -10.9 549 6887 done -0.62 0.12 0.210 2125 150.0 2.40 0.062 2502 581.2 -116.8 - - 3409 - - - - - - - - 14.40 14.57 14.59
7199 833.6 -9.9 568 7201 done -0.62 - - 2126 - - - 2502 - -116.8 - - 3408 - - - - - - - - 15.02 15.04 15.04
7499 862.3 -9.3 583 7501 done -0.62 - - 2124 - - - 2502 - -116.8 - - 3407 - - - - - - - - 15.02 15.05 15.04
7799 888.3 -8.3 598 7801 done -0.62 - - 2125 - - - 2502 - -116.8 - - 3407 - - - - - - - - 15.01 15.04 15.04
8099 911.5 -7.6 613 8101 done -0.62 - - 2125 - - - 2502 - -116.8 - - 3406 - - - - - - - - 15.00 15.04 15.04
8399 934.1 -7.6 628 8405 roll -0.62 - - 2116 - 2.45 0.090 3899 570.2 -116.8 - - 3405 - - - - - - - - 15.00 14.45 15.03
8423 936.0 -8.6 633 8427 done -0.62 - - 2116 - 2.28 0.038 2498 -614.5 -116.8 - - 3405 - - - - - - - - 14.71 14.64 14.74
8740 962.9 -8.6 651 8744 roll -0.62 - - 2117 - 2.33 0.051 1104 -598.3 -116.8 - - 3404 - - - - - - - - 15.01 14.54 15.03
8762 964.9 -9.5 655 8768 done -0.62 - - 2106 - 2.40 0.059 2501 582.1 -116.8 - - 3404 - - - - - - - - 14.65 14.53 14.69
9039 end dive: TARGET_DEPTH_EXCEEDED
9039 begin apogee
9045 992.0 -9.9 672 9158 done -0.15 0.60 0.167 2277 285.0 - - 2501 - - 106.90 1.997 2967 -4.1 0.385 - - - - - - 14.34 14.09 13.02
9160 end apogee: CONTROL_FINISHED_OK
9160 begin climb
9163 996.3 - 678 9286 done 0.62 0.77 0.090 2533 332.5 - - 2502 - 116.8 118.10 1.987 2490 -4.0 0.384 - - - - - - 14.16 13.93 12.95
9582 973.3 8.5 699 9587 roll 0.62 - - 2544 - 2.50 0.053 1048 -581.6 116.8 - - 2482 - - - - - - - - 14.76 14.47 14.78
9664 966.0 9.4 715 9670 done 0.62 - - 2544 - 2.40 0.056 2444 581.7 116.8 - - 2480 - - - - - - - - 14.59 14.48 14.62
9987 936.4 9.3 734 9992 roll 0.62 - - 2555 - 2.38 0.051 1043 -588.7 116.8 - - 2480 - - - - - - - - 14.89 14.56 14.92
10043 931.0 9.4 745 10047 done 0.62 - - 2555 - 2.42 0.054 2444 578.9 116.8 - - 2478 - - - - - - - - 14.65 14.54 14.69
10349 898.6 10.8 761 10354 roll 0.62 - - 2555 - 2.42 0.083 3845 578.9 116.8 - - 2478 - - - - - - - - 14.93 14.46 14.96
10371 896.0 12.0 765 10378 done 0.62 0.15 0.258 2534 -140.0 2.28 0.037 2441 -615.8 116.8 - - 2478 - - - - - - - - 14.28 14.64 14.57
10692 863.6 9.9 784 10696 roll 0.62 - - 2543 - 2.33 0.052 1047 -598.3 116.8 - - 2478 - - - - - - - - 14.96 14.58 14.99
10734 859.4 10.1 792 10738 done 0.62 - - 2542 - 2.38 0.054 2440 585.3 116.8 - - 2477 - - - - - - - - 14.68 14.57 14.71
11055 827.9 9.6 811 11060 roll 0.62 - - 2554 - 2.35 0.051 1046 -593.2 116.8 - - 2477 - - - - - - - - 14.97 14.57 15.00
11098 823.9 9.5 819 11103 done 0.62 - - 2554 - 2.38 0.054 2441 586.1 116.8 - - 2477 - - - - - - - - 14.67 14.57 14.71
11420 793.9 8.9 838 11422 done 0.62 - - 2554 - - - 2441 - 116.8 - - 2476 - - - - - - - - 14.97 15.00 15.00
11720 768.1 8.4 853 11724 roll 0.62 - - 2565 - 2.38 0.051 1039 -589.1 116.8 - - 2475 - - - - - - - - 14.98 14.57 15.01
11801 761.1 8.6 869 11809 done 0.62 0.15 0.223 2532 -220.0 2.40 0.053 2446 586.2 116.8 - - 2475 - - - - - - - - 14.29 14.55 14.56
12122 735.9 7.8 888 12125 done 0.63 - - 2531 - - - 2446 - 116.8 - - 2475 - - - - - - - - 14.98 15.02 15.01
12421 711.4 8.3 903 12423 done 0.63 - - 2532 - - - 2446 - 116.8 - - 2475 - - - - - - - - 14.98 15.02 15.01
12721 685.3 9.0 918 12725 roll 0.63 - - 2542 - 2.38 0.050 1043 -589.5 116.8 - - 2476 - - - - - - - - 14.98 14.55 15.01
12783 679.7 9.3 930 12787 done 0.63 - - 2542 - 2.40 0.054 2439 581.7 116.8 - - 2475 - - - - - - - - 14.65 14.53 14.69
13105 649.5 9.5 949 13107 done 0.63 - - 2542 - - - 2440 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.00
13405 620.7 9.2 964 13409 roll 0.63 - - 2554 - 2.38 0.051 1038 -589.1 116.8 - - 2475 - - - - - - - - 14.98 14.54 15.01
13447 616.9 9.4 972 13452 done 0.63 - - 2555 - 2.40 0.053 2444 585.8 116.8 - - 2475 - - - - - - - - 14.64 14.53 14.69
13769 587.1 9.0 991 13774 roll 0.63 - - 2567 - 2.38 0.050 1042 -589.1 116.8 - - 2475 - - - - - - - - 14.97 14.53 15.00
13816 582.9 9.0 1000 13824 done 0.63 0.15 0.228 2533 -226.7 2.40 0.053 2448 585.8 116.8 - - 2474 - - - - - - - - 14.25 14.52 14.52
14132 558.6 7.6 1018 14136 roll 0.65 - - 2544 - 2.38 0.050 1044 -589.9 116.8 - - 2474 - - - - - - - - 14.97 14.53 14.99
14163 556.1 7.6 1024 14170 done 0.67 - - 2544 - 2.40 0.053 2448 585.0 116.8 - - 2474 - - - - - - - - 14.63 14.52 14.68
14475 532.8 7.3 1041 14477 done 0.69 - - 2543 - - - 2447 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 15.00
14774 510.2 7.6 1056 14778 roll 0.71 - - 2544 - 2.45 0.083 3848 571.8 116.8 - - 2474 - - - - - - - - 14.98 14.42 15.01
14826 505.8 8.7 1066 14830 done 0.71 - - 2555 - 2.30 0.037 2432 -615.7 116.8 - - 2474 - - - - - - - - 14.68 14.62 14.71
15138 481.4 8.0 1083 15143 roll 0.71 - - 2565 - 2.33 0.051 1048 -594.0 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
15174 478.3 8.2 1090 15179 done 0.71 - - 2565 - 2.42 0.053 2445 577.3 116.8 - - 2474 - - - - - - - - 14.63 14.52 14.68
15481 452.9 8.2 1106 15485 roll 0.71 - - 2576 - 2.38 0.050 1041 -589.9 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
15537 448.1 8.4 1117 15541 done 0.71 - - 2576 - 2.42 0.053 2441 578.5 116.8 - - 2474 - - - - - - - - 14.62 14.52 14.67
15844 421.8 8.9 1133 15846 done 0.71 - - 2576 - - - 2441 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 15.00
16143 393.8 9.5 1148 16145 done 0.71 - - 2576 - - - 2441 - 116.8 - - 2474 - - - - - - - - 14.97 15.01 15.00
16443 366.1 9.1 1163 16448 roll 0.71 - - 2587 - 2.35 0.050 1047 -593.2 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
16537 357.9 8.5 1181 16541 done 0.71 - - 2587 - 2.38 0.052 2439 584.9 116.8 - - 2474 - - - - - - - - 14.61 14.50 14.66
16848 333.2 7.7 1198 16851 done 0.72 - - 2587 - - - 2440 - 116.8 - - 2474 - - - - - - - - 14.97 15.00 15.00
17148 309.8 7.9 1213 17152 roll 0.73 - - 2598 - 2.35 0.050 1047 -592.8 116.8 - - 2474 - - - - - - - - 14.97 14.52 15.00
17198 305.5 8.5 1223 17204 done 0.73 0.12 0.239 2572 -216.7 2.38 0.051 2440 585.3 116.8 - - 2474 - - - - - - - - 14.23 14.51 14.50
17512 283.1 6.4 1240 17554 roll 0.78 - - 2581 - 2.40 0.051 1044 -581.7 157.6 34.92 1.202 2323 -4.3 0.193 - - - - - - 14.97 14.59 13.80
17614 275.2 8.3 1260 17618 done 0.78 - - 2582 - 2.40 0.053 2442 582.5 157.6 - - 2320 - - - - - - - - 14.55 14.45 14.59
17926 248.3 9.2 1279 17931 roll 0.78 - - 2592 - 2.35 0.050 1049 -592.8 157.6 - - 2320 - - - - - - - - 14.88 14.47 14.90
18028 238.8 9.7 1299 18034 done 0.78 - - 2593 - 2.40 0.054 2443 580.8 157.6 - - 2319 - - - - - - - - 14.57 14.46 14.61
18221 220.1 10.0 1319 18226 roll 0.78 - - 2592 - 2.45 0.082 3850 574.3 157.6 - - 2319 - - - - - - - - 14.90 14.40 14.92
18349 205.1 12.6 1344 18353 done 0.78 - - 2603 - 2.33 0.037 2442 -604.3 157.6 - - 2318 - - - - - - - - 14.63 14.57 14.65
18537 186.6 8.8 1363 18542 roll 0.78 - - 2614 - 2.33 0.050 1046 -599.1 157.6 - - 2318 - - - - - - - - 14.92 14.49 14.94
18584 182.6 7.6 1372 18588 done 0.79 - - 2614 - 2.40 0.050 2443 582.1 157.6 - - 2318 - - - - - - - - 14.61 14.49 14.64
18770 170.1 6.5 1391 18772 done 0.83 - - 2614 - - - 2444 - 157.6 - - 2317 - - - - - - - - 14.92 14.96 14.95
18950 159.2 6.0 1409 19003 roll 0.88 - - 2614 - 2.47 0.082 3844 566.8 208.3 44.38 1.048 2116 -4.5 0.130 - - - - - - 14.92 14.50 13.84
19095 144.8 9.3 1438 19100 done 0.88 - - 2625 - 2.30 0.034 2436 -612.2 208.3 - - 2112 - - - - - - - - 14.57 14.51 14.59
19282 130.4 7.3 1457 19288 roll 0.91 - - 2626 - 2.50 0.085 3848 564.8 208.3 - - 2111 - - - - - - - - 14.84 14.39 14.86
19441 116.7 5.6 1489 19499 done 0.96 - - 2638 - 2.28 0.034 2429 -622.4 266.7 49.75 0.975 1879 -4.7 0.106 - - - - - - 14.63 14.57 13.83
19682 104.3 4.0 1519 19771 roll 1.05 - - 2638 - 2.58 0.082 3843 548.1 356.4 80.22 0.949 1513 -4.6 0.095 - - - - - - 14.78 14.28 13.72
19931 81.5 9.1 1568 19936 done 1.05 - - 2649 - 2.30 0.035 2445 -607.8 356.4 - - 1511 - - - - - - - - 14.54 14.49 14.57
20115 70.6 6.1 1587 20166 roll 1.10 0.10 0.136 2726 770.0 2.35 0.047 1041 -597.4 403.7 42.97 0.860 1320 -4.4 0.069 - - - - - - 14.57 14.31 13.88
20269 55.1 10.6 1618 20275 done 1.10 0.15 0.198 2689 -246.7 2.40 0.050 2442 583.8 403.7 - - 1319 - - - - - - - - 14.30 14.46 14.49
20456 36.5 10.0 1650 20459 done 1.10 - - 2689 - - - 2442 - 403.7 - - 1319 - - - - - - - - 14.83 14.86 14.85
20642 18.5 9.0 1687 20648 roll 1.10 - - 2699 - 2.35 0.049 1047 -593.6 403.7 - - 1319 - - - - - - - - 14.87 14.54 14.90
20666 16.4 9.1 1691 20671 done 1.10 - - 2699 - 2.33 0.050 2440 597.9 403.7 - - 1319 - - - - - - - - 14.64 14.54 14.67
20807 end climb: SURFACE_DEPTH_REACHED
20807 begin surface coast
20837 end surface coast: CONTROL_FINISHED_OK
20837 begin surface
SM 1.49 - - - - -6.77 7.40 0.061 128 17.3 0.10 0.149 2529 14990.0 500.17 105.10 0.598 928 8.8 -0.002 - - - - 1 -