MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 325 * Raw log
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• Previous call tries 1 • 122.34 of 350.00 AH used of 24V (65.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.2 deg, depth 1.40 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: 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 - - - 92 VBD -0.62 - - 119 - - - 2521 - -116.8 -72.15 0.005 2679 - - - - - - - - 14.80 - 14.83
95 5.4 -15.1 15 120 done -0.62 9.05 0.353 2120 221.1 - - 2521 - -116.8 -13.68 0.010 3448 -56.2 5.790 - - - - - - 14.15 13.04 14.54
309 79.6 -31.2 49 313 roll -0.62 - - 2121 - 2.33 0.049 1114 -603.9 -116.8 - - 3448 - - - - - - - - 14.89 14.57 14.91
330 85.9 -27.8 53 334 done -0.62 - - 2112 - 2.33 0.057 2491 591.0 -116.8 - - 3448 - - - - - - - - 14.66 14.57 14.69
522 123.2 -13.8 73 525 roll -0.62 - - 2102 - 2.38 0.079 3894 589.5 -116.8 - - 3448 - - - - - - - - 14.92 14.54 14.94
618 137.0 -13.8 92 622 done -0.62 - - 2102 - 2.22 0.032 2501 -627.5 -116.8 - - 3448 - - - - - - - - 14.73 14.68 14.76
805 166.0 -17.5 111 807 done -0.62 - - 2102 - - - 2500 - -116.8 - - 3448 - - - - - - - - 14.96 15.00 14.99
985 190.7 -11.9 129 989 roll -0.62 - - 2091 - 2.40 0.083 3896 581.7 -116.8 - - 3447 - - - - - - - - 14.97 14.57 15.00
1091 204.4 -13.1 150 1097 done -0.62 0.15 0.212 2127 240.0 2.22 0.033 2498 -629.7 -116.8 - - 3447 - - - - - - - - 14.43 14.71 14.64
1278 225.8 -11.1 169 1280 done -0.62 - - 2127 - - - 2497 - -116.8 - - 3447 - - - - - - - - 14.99 15.02 15.02
1458 245.0 -10.4 187 1462 roll -0.62 - - 2119 - 2.40 0.083 3894 582.1 -116.8 - - 3445 - - - - - - - - 15.01 14.58 15.03
1494 248.9 -10.6 194 1500 done -0.62 - - 2118 - 2.22 0.034 2502 -627.0 -116.8 - - 3445 - - - - - - - - 14.78 14.72 14.81
1689 270.4 -11.3 205 1693 roll -0.62 - - 2119 - 2.30 0.050 1100 -609.6 -116.8 - - 3444 - - - - - - - - 15.02 14.65 15.04
1731 275.0 -10.6 213 1736 done -0.62 - - 2109 - 2.40 0.061 2496 581.7 -116.8 - - 3443 - - - - - - - - 14.73 14.60 14.76
2053 310.0 -11.6 232 2055 done -0.62 - - 2109 - - - 2496 - -116.8 - - 3441 - - - - - - - - 15.03 15.06 15.06
2353 344.2 -10.8 247 2355 done -0.62 - - 2107 - - - 2498 - -116.8 - - 3438 - - - - - - - - 15.04 15.07 15.07
2653 377.0 -11.1 262 2655 done -0.62 - - 2107 - - - 2498 - -116.8 - - 3436 - - - - - - - - 15.04 15.07 15.07
2953 409.9 -11.1 277 2960 roll -0.62 - - 2098 - 2.42 0.089 3899 578.9 -116.8 - - 3433 - - - - - - - - 15.04 14.56 15.07
2978 412.8 -11.6 282 2984 done -0.62 0.12 0.201 2128 250.0 2.25 0.038 2499 -622.2 -116.8 - - 3433 - - - - - - - - 14.48 14.71 14.66
3296 444.0 -9.5 300 3301 roll -0.62 - - 2129 - 2.30 0.050 1107 -605.2 -116.8 - - 3430 - - - - - - - - 15.04 14.63 15.07
3334 447.4 -9.2 307 3339 done -0.62 - - 2120 - 2.42 0.063 2506 578.1 -116.8 - - 3429 - - - - - - - - 14.71 14.60 14.76
3638 475.8 -9.3 323 3640 done -0.62 - - 2120 - - - 2506 - -116.8 - - 3427 - - - - - - - - 15.04 15.07 15.06
3938 504.9 -9.7 338 3940 done -0.62 - - 2120 - - - 2506 - -116.8 - - 3426 - - - - - - - - 15.03 15.07 15.06
4238 535.1 -10.4 353 4240 done -0.62 - - 2120 - - - 2506 - -116.8 - - 3425 - - - - - - - - 15.03 15.07 15.06
4538 565.9 -10.0 368 4542 roll -0.62 - - 2120 - 2.35 0.057 1107 -595.3 -116.8 - - 3422 - - - - - - - - 15.03 14.61 15.05
4583 570.5 -9.4 377 4588 done -0.62 - - 2109 - 2.40 0.066 2495 578.3 -116.8 - - 3422 - - - - - - - - 14.68 14.54 14.72
4896 602.0 -9.9 394 4901 roll -0.62 - - 2098 - 2.47 0.089 3904 570.4 -116.8 - - 3420 - - - - - - - - 15.03 14.49 15.05
4944 606.9 -10.3 403 4949 done -0.62 0.12 0.202 2128 250.0 2.30 0.041 2491 -614.3 -116.8 - - 3420 - - - - - - - - 14.42 14.67 14.61
5262 634.3 -8.4 421 5266 roll -0.62 - - 2129 - 2.33 0.053 1102 -596.1 -116.8 - - 3418 - - - - - - - - 15.02 14.58 15.04
5288 636.6 -9.0 426 5294 done -0.62 - - 2120 - 2.42 0.065 2505 579.8 -116.8 - - 3418 - - - - - - - - 14.68 14.57 14.72
5607 666.1 -9.5 444 5613 roll -0.62 - - 2109 - 2.42 0.088 3892 573.1 -116.8 - - 3417 - - - - - - - - 15.02 14.47 15.04
5630 668.5 -10.1 449 5634 done -0.62 - - 2109 - 2.25 0.038 2500 -618.7 -116.8 - - 3417 - - - - - - - - 14.74 14.67 14.76
5948 700.8 -10.4 467 5952 roll -0.62 - - 2109 - 2.33 0.051 1107 -597.9 -116.8 - - 3416 - - - - - - - - 15.02 14.57 15.04
5979 704.3 -11.0 473 5984 done -0.62 0.12 0.210 2128 158.3 2.42 0.069 2496 574.0 -116.8 - - 3415 - - - - - - - - 14.38 14.51 14.57
6286 732.5 -9.1 489 6293 roll -0.62 - - 2119 - 2.45 0.090 3897 571.8 -116.8 - - 3414 - - - - - - - - 15.01 14.45 15.03
6316 735.4 -10.0 495 6320 done -0.62 - - 2119 - 2.28 0.037 2493 -615.8 -116.8 - - 3414 - - - - - - - - 14.73 14.66 14.76
6627 765.1 -9.5 512 6631 roll -0.62 - - 2118 - 2.30 0.049 1103 -604.3 -116.8 - - 3413 - - - - - - - - 15.01 14.57 15.04
6663 768.6 -9.6 519 6667 done -0.62 - - 2108 - 2.45 0.060 2506 572.7 -116.8 - - 3413 - - - - - - - - 14.66 14.54 14.69
6969 798.4 -9.8 535 6973 roll -0.62 - - 2098 - 2.45 0.090 3894 566.5 -116.8 - - 3412 - - - - - - - - 15.01 14.44 15.04
7011 802.7 -10.3 543 7016 done -0.62 0.12 0.200 2128 250.0 2.28 0.037 2486 -617.5 -116.8 - - 3412 - - - - - - - - 14.38 14.65 14.57
7334 830.9 -8.6 562 7339 roll -0.62 - - 2128 - 2.28 0.049 1113 -602.2 -116.8 - - 3410 - - - - - - - - 15.00 14.54 15.03
7365 833.8 -8.7 568 7370 done -0.62 - - 2119 - 2.40 0.058 2506 580.4 -116.8 - - 3410 - - - - - - - - 14.64 14.52 14.69
7677 861.7 -9.0 585 7684 roll -0.62 - - 2109 - 2.45 0.090 3899 568.6 -116.8 - - 3409 - - - - - - - - 15.00 14.42 15.03
7707 864.5 -9.8 591 7711 done -0.62 - - 2109 - 2.28 0.037 2497 -614.9 -116.8 - - 3409 - - - - - - - - 14.71 14.64 14.73
8018 894.1 -9.4 608 8023 roll -0.62 - - 2109 - 2.33 0.050 1104 -597.9 -116.8 - - 3408 - - - - - - - - 15.00 14.52 15.02
8049 897.1 -9.8 614 8055 done -0.62 0.12 0.208 2129 166.7 2.42 0.058 2501 577.3 -116.8 - - 3408 - - - - - - - - 14.34 14.51 14.53
8363 921.9 -7.7 631 8365 done -0.62 - - 2128 - - - 2501 - -116.8 - - 3407 - - - - - - - - 15.00 15.02 15.02
8663 944.1 -7.3 646 8668 roll -0.62 - - 2128 - 2.35 0.049 1106 -593.6 -116.8 - - 3407 - - - - - - - - 14.99 14.52 15.02
8690 946.2 -8.1 651 8694 done -0.62 - - 2119 - 2.42 0.057 2500 576.0 -116.8 - - 3407 - - - - - - - - 14.62 14.50 14.66
9007 971.2 -7.9 669 9015 roll -0.62 - - 2108 - 2.45 0.090 3890 567.3 -116.8 - - 3406 - - - - - - - - 14.99 14.38 15.01
9037 973.9 -9.3 675 9041 done -0.62 - - 2108 - 2.28 0.037 2493 -612.7 -116.8 - - 3406 - - - - - - - - 14.68 14.61 14.71
9227 end dive: TARGET_DEPTH_EXCEEDED
9228 begin apogee
9234 990.0 -8.5 686 9346 done -0.15 0.60 0.164 2280 286.7 - - 2491 - - 108.28 2.016 2968 -4.0 0.379 - - - - - - 14.29 14.04 12.86
9349 end apogee: CONTROL_FINISHED_OK
9349 begin climb
9351 993.3 - 692 9479 roll 0.62 0.77 0.088 2538 335.1 2.50 0.085 3846 542.0 116.8 116.97 2.002 2490 -4.1 0.387 - - - - - - 14.14 13.93 12.91
9526 988.5 10.2 727 9531 done 0.62 - - 2549 - 2.38 0.036 2444 -589.1 116.8 - - 2486 - - - - - - - - 14.26 14.20 14.27
9833 959.5 9.3 743 9837 roll 0.62 - - 2560 - 2.38 0.051 1039 -590.3 116.8 - - 2482 - - - - - - - - 14.78 14.49 14.81
9874 955.5 9.6 751 9881 done 0.62 - - 2560 - 2.42 0.057 2446 581.4 116.8 - - 2480 - - - - - - - - 14.58 14.48 14.62
10194 924.8 9.1 770 10196 done 0.62 - - 2560 - - - 2446 - 116.8 - - 2480 - - - - - - - - 14.89 14.92 14.92
10494 897.4 9.1 785 10498 roll 0.62 - - 2571 - 2.38 0.052 1047 -587.8 116.8 - - 2479 - - - - - - - - 14.92 14.56 14.95
10587 888.9 9.2 803 10595 done 0.62 0.17 0.227 2531 -235.3 2.40 0.054 2450 584.6 116.8 - - 2478 - - - - - - - - 14.27 14.55 14.44
10896 862.8 8.7 820 10898 done 0.62 - - 2531 - - - 2450 - 116.8 - - 2477 - - - - - - - - 14.95 14.97 14.97
11196 835.5 9.4 835 11198 done 0.62 - - 2531 - - - 2450 - 116.8 - - 2477 - - - - - - - - 14.97 15.00 14.99
11495 805.9 9.8 850 11500 roll 0.62 - - 2540 - 2.38 0.051 1047 -589.5 116.8 - - 2477 - - - - - - - - 14.97 14.54 15.00
11563 799.4 9.8 863 11567 done 0.62 - - 2540 - 2.38 0.053 2440 585.3 116.8 - - 2477 - - - - - - - - 14.65 14.54 14.70
11879 768.3 9.7 881 11883 roll 0.62 - - 2540 - 2.45 0.082 3842 572.2 116.8 - - 2476 - - - - - - - - 14.97 14.45 15.00
11925 763.3 11.0 890 11930 done 0.62 - - 2552 - 2.30 0.037 2430 -613.9 116.8 - - 2476 - - - - - - - - 14.70 14.63 14.73
12242 732.7 9.3 908 12246 roll 0.62 - - 2562 - 2.33 0.053 1049 -592.7 116.8 - - 2476 - - - - - - - - 14.97 14.53 15.00
12284 728.9 9.2 916 12291 done 0.62 0.12 0.233 2535 -225.0 2.38 0.053 2441 584.9 116.8 - - 2475 - - - - - - - - 14.28 14.53 14.54
12605 703.3 7.8 935 12609 roll 0.63 - - 2544 - 2.38 0.051 1046 -586.1 116.8 - - 2475 - - - - - - - - 14.97 14.52 15.00
12651 699.5 7.9 944 12655 done 0.64 - - 2545 - 2.40 0.052 2447 583.8 116.8 - - 2475 - - - - - - - - 14.63 14.52 14.68
12964 675.1 7.8 961 12968 roll 0.66 - - 2545 - 2.45 0.081 3848 571.8 116.8 - - 2475 - - - - - - - - 14.96 14.42 15.00
12990 672.6 8.8 966 12996 done 0.66 - - 2556 - 2.30 0.037 2435 -614.3 116.8 - - 2475 - - - - - - - - 14.69 14.62 14.71
13308 646.8 8.0 984 13313 roll 0.66 - - 2567 - 2.35 0.052 1049 -589.8 116.8 - - 2475 - - - - - - - - 14.97 14.51 15.00
13375 641.2 8.2 997 13379 done 0.66 - - 2567 - 2.40 0.053 2449 583.3 116.8 - - 2474 - - - - - - - - 14.62 14.51 14.66
13686 614.1 9.0 1014 13691 roll 0.66 - - 2567 - 2.45 0.081 3849 571.4 116.8 - - 2475 - - - - - - - - 14.97 14.41 14.99
13718 610.9 10.4 1020 13723 done 0.66 0.15 0.249 2546 -140.0 2.30 0.037 2438 -613.5 116.8 - - 2475 - - - - - - - - 14.19 14.61 14.48
14024 584.8 8.8 1036 14028 roll 0.66 - - 2554 - 2.35 0.051 1043 -593.6 116.8 - - 2475 - - - - - - - - 14.96 14.50 15.00
14054 582.0 8.7 1042 14059 done 0.66 - - 2555 - 2.40 0.052 2443 583.3 116.8 - - 2475 - - - - - - - - 14.61 14.51 14.66
14368 554.3 8.6 1059 14370 done 0.66 - - 2555 - - - 2444 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.00
14666 529.9 8.3 1074 14672 roll 0.66 - - 2566 - 2.38 0.050 1047 -587.0 116.8 - - 2475 - - - - - - - - 14.96 14.50 15.00
14779 520.4 8.0 1096 14783 done 0.66 - - 2566 - 2.40 0.052 2447 583.3 116.8 - - 2474 - - - - - - - - 14.60 14.49 14.64
15091 494.0 8.4 1113 15093 done 0.66 - - 2566 - - - 2447 - 116.8 - - 2475 - - - - - - - - 14.96 14.99 14.99
15391 470.6 7.7 1128 15393 done 0.67 - - 2566 - - - 2447 - 116.8 - - 2475 - - - - - - - - 14.96 15.00 14.99
15691 447.4 7.6 1143 15693 done 0.69 - - 2566 - - - 2447 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.00
15992 423.8 8.2 1158 15994 done 0.69 - - 2566 - - - 2447 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.00
16291 398.9 8.1 1173 16295 roll 0.69 - - 2577 - 2.38 0.050 1050 -587.0 116.8 - - 2475 - - - - - - - - 14.96 14.47 14.99
16347 394.4 7.7 1184 16351 done 0.70 - - 2577 - 2.42 0.052 2441 574.8 116.8 - - 2475 - - - - - - - - 14.59 14.48 14.64
16652 371.0 7.3 1200 16657 roll 0.73 - - 2577 - 2.47 0.081 3846 568.8 116.8 - - 2475 - - - - - - - - 14.96 14.38 15.00
16718 365.6 8.3 1213 16722 done 0.73 - - 2588 - 2.30 0.037 2434 -613.9 116.8 - - 2475 - - - - - - - - 14.65 14.58 14.68
17036 342.2 7.7 1231 17040 roll 0.74 - - 2599 - 2.35 0.050 1040 -593.2 116.8 - - 2474 - - - - - - - - 14.96 14.47 14.99
17099 337.3 7.8 1243 17103 done 0.75 - - 2599 - 2.40 0.050 2444 585.0 116.8 - - 2474 - - - - - - - - 14.59 14.48 14.64
17420 312.5 7.7 1262 17425 roll 0.77 - - 2599 - 2.45 0.080 3845 571.8 116.8 - - 2474 - - - - - - - - 14.96 14.38 14.99
17448 310.1 8.9 1267 17453 done 0.77 0.12 0.258 2584 -125.0 2.30 0.035 2427 -616.5 116.8 - - 2474 - - - - - - - - 14.18 14.59 14.46
17767 288.0 7.3 1285 17771 roll 0.79 - - 2594 - 2.33 0.050 1044 -593.6 116.8 - - 2474 - - - - - - - - 14.95 14.48 14.98
17878 279.7 7.2 1307 17883 done 0.82 - - 2594 - 2.40 0.050 2449 585.4 116.8 - - 2475 - - - - - - - - 14.59 14.48 14.64
18190 257.5 6.8 1324 18194 roll 0.85 - - 2605 - 2.38 0.049 1047 -589.1 116.8 - - 2474 - - - - - - - - 14.96 14.48 14.99
18274 252.0 6.9 1340 18278 done 0.88 - - 2605 - 2.38 0.050 2440 585.3 116.8 - - 2475 - - - - - - - - 14.59 14.48 14.64
18586 232.0 6.2 1372 18633 roll 0.93 - - 2605 - 2.50 0.080 3848 563.2 161.8 38.62 1.151 2307 -4.4 0.167 - - - - - - 14.95 14.54 13.81
18716 218.3 12.9 1398 18722 done 0.93 - - 2616 - 2.30 0.037 2444 -610.4 161.8 - - 2304 - - - - - - - - 14.57 14.51 14.59
18910 195.9 10.5 1418 18916 done 0.93 - - 2616 - - - 2443 - 161.8 - - 2302 - - - - - - - - 14.85 14.88 14.87
19099 176.9 9.7 1437 19107 roll 0.93 - - 2616 - 2.45 0.077 3842 571.0 161.8 - - 2302 - - - - - - - - 14.87 14.38 14.90
19140 172.9 9.3 1445 19144 done 0.93 - - 2628 - 2.30 0.035 2428 -614.8 161.8 - - 2302 - - - - - - - - 14.61 14.55 14.63
19332 161.3 4.7 1465 19404 roll 1.00 - - 2639 - 2.38 0.052 1051 -578.6 237.3 64.88 1.060 1998 -4.7 0.136 - - - - - - 14.90 14.42 13.76
19439 152.4 12.3 1483 19443 done 1.00 - - 2639 - 2.42 0.052 2446 576.4 237.3 - - 1996 - - - - - - - - 14.46 14.36 14.48
19624 129.3 11.2 1502 19629 roll 1.00 - - 2640 - 2.42 0.078 3845 578.1 237.3 - - 1994 - - - - - - - - 14.78 14.36 14.81
19819 114.0 6.7 1540 19824 done 1.04 - - 2652 - 2.28 0.036 2444 -614.5 237.3 - - 1992 - - - - - - - - 14.60 14.54 14.62
20012 102.9 4.9 1560 20082 roll 1.11 0.10 0.135 2721 690.0 2.35 0.046 1045 -595.3 309.2 62.28 0.956 1706 -4.6 0.094 - - - - - - 14.60 14.26 13.82
20187 85.2 11.0 1594 20193 done 1.11 0.15 0.226 2685 -240.0 2.40 0.050 2447 584.2 309.2 - - 1704 - - - - - - - - 14.19 14.41 14.41
20381 68.6 6.5 1614 20384 done 1.15 - - 2685 - - - 2447 - 309.2 - - 1703 - - - - - - - - 14.81 14.85 14.84
20562 62.8 1.7 1632 20689 roll 1.29 0.15 0.099 2789 693.3 2.42 0.052 1047 -578.5 446.0 120.12 0.861 1147 -4.6 0.064 - - - - - - 14.60 14.33 13.78
20753 39.2 17.5 1670 20760 done 1.29 0.17 0.228 2749 -235.3 2.40 0.049 2440 580.4 446.0 - - 1145 - - - - - - - - 14.14 14.35 14.36
20945 10.6 14.8 1707 20949 roll 1.29 - - 2758 - 2.35 0.050 1049 -591.9 446.0 - - 1145 - - - - - - - - 14.78 14.47 14.81
21002 end climb: SURFACE_DEPTH_REACHED
21002 begin surface coast
21021 end surface coast: CONTROL_FINISHED_OK
21021 begin surface
SM 1.41 - - - - -6.77 7.55 0.058 123 16.3 2.55 0.060 2500 778.0 500.17 69.18 0.530 928 13.4 -0.004 - - - - 1 -