MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 371 * Raw log
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• Previous call tries 1 • 136.31 of 350.00 AH used of 24V (61.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth 1.32 m • Intended pitch -18.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
9 - - - 83 VBD -0.64 - - 124 - - - 2507 - -97.3 -71.78 0.005 2611 - - - - - - - - 14.81 - 14.85
87 4.7 -13.0 15 114 done -0.64 8.98 0.350 2113 221.5 - - 2507 - -97.3 -14.45 0.009 3367 -52.3 5.240 - - - - - - 14.08 13.59 14.49
300 67.7 -22.0 51 304 roll -0.64 - - 2104 - 2.38 0.076 3896 583.6 -97.3 - - 3367 - - - - - - - - 14.95 14.51 14.97
331 74.3 -21.3 57 336 done -0.64 - - 2103 - 2.22 0.034 2495 -631.1 -97.3 - - 3367 - - - - - - - - 14.71 14.65 14.73
524 109.4 -15.9 77 528 roll -0.64 - - 2104 - 2.25 0.044 1103 -618.7 -97.3 - - 3367 - - - - - - - - 15.00 14.63 15.02
630 124.9 -13.3 98 637 done -0.64 0.12 0.226 2121 141.7 2.35 0.058 2496 592.8 -97.3 - - 3368 - - - - - - - - 14.42 14.61 14.62
827 148.5 -11.8 119 832 done -0.64 - - 2121 - - - 2496 - -97.3 - - 3368 - - - - - - - - 15.03 15.07 15.06
1015 172.3 -12.1 138 1017 done -0.64 - - 2121 - - - 2496 - -97.3 - - 3368 - - - - - - - - 15.07 15.10 15.10
1195 193.8 -12.1 156 1199 roll -0.64 - - 2112 - 2.38 0.080 3896 588.2 -97.3 - - 3368 - - - - - - - - 15.08 14.59 15.11
1227 197.6 -12.4 162 1231 done -0.64 - - 2112 - 2.20 0.032 2491 -638.6 -97.3 - - 3368 - - - - - - - - 14.82 14.76 14.83
1418 221.7 -12.5 182 1424 roll -0.64 - - 2102 - 2.42 0.083 3899 581.8 -97.3 - - 3367 - - - - - - - - 15.09 14.59 15.12
1442 224.9 -13.5 187 1447 done -0.64 - - 2102 - 2.20 0.033 2506 -633.2 -97.3 - - 3366 - - - - - - - - 14.81 14.76 14.83
1629 248.7 -12.5 206 1633 roll -0.64 - - 2102 - 2.30 0.047 1101 -610.9 -97.3 - - 3366 - - - - - - - - 15.09 14.68 15.12
1655 252.1 -13.0 211 1660 done -0.64 0.12 0.217 2121 158.3 2.38 0.058 2508 591.2 -97.3 - - 3365 - - - - - - - - 14.47 14.65 14.66
1969 283.8 -9.8 228 1973 roll -0.64 - - 2111 - 2.38 0.084 3897 583.6 -97.3 - - 3364 - - - - - - - - 15.11 14.59 15.13
2044 291.5 -10.0 243 2048 done -0.64 - - 2112 - 2.22 0.034 2494 -632.0 -97.3 - - 3363 - - - - - - - - 14.82 14.76 14.84
2349 323.4 -10.7 259 2351 done -0.64 - - 2112 - - - 2492 - -97.3 - - 3361 - - - - - - - - 15.13 15.16 15.16
2651 355.1 -10.6 274 2653 done -0.64 - - 2112 - - - 2492 - -97.3 - - 3359 - - - - - - - - 15.13 15.16 15.15
2949 387.0 -10.6 289 2951 done -0.64 - - 2112 - - - 2493 - -97.3 - - 3356 - - - - - - - - 15.14 15.17 15.16
3249 420.6 -11.3 304 3254 roll -0.64 - - 2101 - 2.47 0.094 3892 566.4 -97.3 - - 3355 - - - - - - - - 15.14 14.54 15.16
3285 424.8 -11.9 311 3289 done -0.64 - - 2101 - 2.22 0.034 2497 -628.4 -97.3 - - 3355 - - - - - - - - 14.81 14.74 14.83
3590 461.2 -11.9 327 3594 roll -0.64 - - 2101 - 2.28 0.049 1109 -608.8 -97.3 - - 3351 - - - - - - - - 15.13 14.65 15.16
3611 463.7 -12.1 331 3616 done -0.64 0.12 0.214 2121 166.7 2.38 0.063 2501 584.9 -97.3 - - 3351 - - - - - - - - 14.44 14.62 14.63
3928 496.2 -10.0 349 3934 roll -0.64 - - 2111 - 2.40 0.086 3892 579.6 -97.3 - - 3350 - - - - - - - - 15.13 14.52 15.16
3970 500.6 -10.3 357 3976 done -0.64 - - 2111 - 2.22 0.035 2499 -627.5 -97.3 - - 3350 - - - - - - - - 14.79 14.72 14.81
4292 533.2 -10.0 376 4294 done -0.64 - - 2111 - - - 2498 - -97.3 - - 3348 - - - - - - - - 15.13 15.16 15.16
4592 562.9 -9.9 391 4594 done -0.64 - - 2111 - - - 2498 - -97.3 - - 3346 - - - - - - - - 15.13 15.16 15.16
4893 592.4 -9.9 406 4899 roll -0.64 - - 2101 - 2.45 0.090 3892 569.0 -97.3 - - 3345 - - - - - - - - 15.13 14.50 15.16
4943 597.5 -10.3 416 4947 done -0.64 - - 2101 - 2.22 0.036 2503 -625.7 -97.3 - - 3344 - - - - - - - - 14.76 14.70 14.79
5255 628.2 -9.6 433 5257 done -0.64 - - 2101 - - - 2502 - -97.3 - - 3343 - - - - - - - - 15.12 15.16 15.15
5554 656.6 -9.4 448 5562 roll -0.64 - - 2090 - 2.45 0.089 3894 568.2 -97.3 - - 3342 - - - - - - - - 15.12 14.47 15.15
5584 659.5 -10.5 454 5589 done -0.64 0.12 0.212 2120 250.0 2.25 0.037 2494 -622.2 -97.3 - - 3342 - - - - - - - - 14.39 14.68 14.59
5896 686.1 -8.5 471 5898 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3341 - - - - - - - - 15.13 15.16 15.15
6197 711.1 -8.4 486 6199 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3340 - - - - - - - - 15.11 15.15 15.14
6496 736.1 -8.6 501 6498 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3338 - - - - - - - - 15.13 15.16 15.16
6796 761.5 -8.4 516 6798 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3337 - - - - - - - - 15.13 15.16 15.16
7097 785.8 -8.0 531 7099 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3336 - - - - - - - - 15.11 15.15 15.14
7396 808.5 -7.3 546 7399 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3335 - - - - - - - - 15.12 15.16 15.15
7697 830.1 -7.1 561 7699 done -0.64 - - 2120 - - - 2493 - -97.3 - - 3335 - - - - - - - - 15.11 15.15 15.14
7996 851.4 -7.1 576 8000 roll -0.64 - - 2111 - 2.50 0.090 3891 559.2 -97.3 - - 3334 - - - - - - - - 15.12 14.38 15.15
8032 854.1 -7.7 583 8036 done -0.64 - - 2111 - 2.28 0.037 2495 -612.3 -97.3 - - 3333 - - - - - - - - 14.69 14.62 14.72
8338 877.4 -7.9 599 8340 done -0.64 - - 2111 - - - 2494 - -97.3 - - 3332 - - - - - - - - 15.11 15.14 15.14
8639 902.4 -8.6 614 8641 done -0.64 - - 2111 - - - 2494 - -97.3 - - 3332 - - - - - - - - 15.10 15.14 15.13
8937 929.1 -8.9 629 8942 roll -0.64 - - 2112 - 2.33 0.050 1106 -595.7 -97.3 - - 3331 - - - - - - - - 15.11 14.50 15.14
8965 931.6 -9.3 634 8971 done -0.64 - - 2101 - 2.42 0.063 2499 575.6 -97.3 - - 3331 - - - - - - - - 14.58 14.45 14.62
9278 961.1 -9.2 652 9283 roll -0.64 - - 2089 - 2.47 0.089 3891 563.6 -97.3 - - 3331 - - - - - - - - 15.12 14.34 15.14
9344 967.5 -9.8 665 9350 done -0.64 0.12 0.211 2120 258.3 2.28 0.037 2495 -612.3 -97.3 - - 3331 - - - - - - - - 14.28 14.58 14.47
9639 end dive: TARGET_DEPTH_EXCEEDED
9639 begin apogee
9647 990.7 -7.5 682 9740 done -0.15 0.55 0.164 2280 290.9 - - 2494 - - 89.60 2.013 2968 -4.1 0.382 - - - - - - 14.21 14.12 12.90
9741 end apogee: CONTROL_FINISHED_OK
9741 begin climb
9744 992.8 - 687 9849 done 0.64 0.80 0.092 2546 332.5 - - 2493 - 97.3 101.30 2.005 2571 -3.9 0.372 - - - - - - 14.19 13.90 12.79
10146 966.6 9.2 707 10152 roll 0.64 - - 2557 - 2.45 0.051 1045 -591.0 97.3 - - 2562 - - - - - - - - 14.80 14.47 14.83
10209 960.3 9.2 720 10213 done 0.64 - - 2557 - 2.42 0.056 2450 580.6 97.3 - - 2561 - - - - - - - - 14.59 14.48 14.62
10521 931.7 8.9 737 10526 roll 0.64 - - 2557 - 2.45 0.083 3845 569.4 97.3 - - 2560 - - - - - - - - 14.95 14.48 14.97
10569 926.7 10.4 746 10577 done 0.64 0.12 0.266 2543 -116.7 2.30 0.037 2432 -614.3 97.3 - - 2559 - - - - - - - - 14.28 14.62 14.55
10884 899.9 8.3 764 10888 roll 0.64 - - 2552 - 2.33 0.052 1045 -595.3 97.3 - - 2559 - - - - - - - - 15.01 14.57 15.04
10995 890.6 8.4 786 11000 done 0.64 - - 2553 - 2.38 0.053 2441 586.6 97.3 - - 2558 - - - - - - - - 14.66 14.56 14.71
11308 863.5 8.6 803 11312 roll 0.64 - - 2564 - 2.35 0.050 1047 -593.2 97.3 - - 2558 - - - - - - - - 15.03 14.57 15.07
11349 859.8 8.7 811 11354 done 0.64 - - 2564 - 2.38 0.052 2442 586.1 97.3 - - 2558 - - - - - - - - 14.66 14.56 14.71
11671 833.2 8.1 830 11675 roll 0.64 - - 2575 - 2.35 0.050 1047 -593.6 97.3 - - 2558 - - - - - - - - 15.05 14.57 15.09
11739 828.1 7.7 843 11746 done 0.64 0.15 0.236 2542 -220.0 2.38 0.053 2441 585.7 97.3 - - 2556 - - - - - - - - 14.25 14.55 14.53
12055 806.4 6.9 861 12060 roll 0.67 - - 2542 - 2.45 0.084 3844 572.7 97.3 - - 2556 - - - - - - - - 15.06 14.45 15.09
12096 802.9 8.1 869 12101 done 0.67 - - 2553 - 2.28 0.037 2436 -617.5 97.3 - - 2556 - - - - - - - - 14.72 14.64 14.74
12419 779.2 7.4 888 12423 roll 0.68 - - 2564 - 2.33 0.050 1044 -597.4 97.3 - - 2555 - - - - - - - - 15.07 14.56 15.10
12494 773.3 7.9 903 12499 done 0.68 - - 2564 - 2.40 0.053 2447 584.6 97.3 - - 2555 - - - - - - - - 14.64 14.53 14.69
12800 748.6 8.1 919 12804 roll 0.68 - - 2575 - 2.35 0.050 1049 -594.9 97.3 - - 2555 - - - - - - - - 15.09 14.54 15.11
12841 745.2 8.4 927 12845 done 0.68 - - 2575 - 2.38 0.053 2442 585.3 97.3 - - 2554 - - - - - - - - 14.64 14.53 14.69
13162 718.0 8.1 946 13168 roll 0.68 - - 2575 - 2.45 0.083 3848 573.9 97.3 - - 2554 - - - - - - - - 15.09 14.42 15.11
13194 715.4 8.6 952 13202 done 0.68 0.15 0.243 2553 -146.7 2.28 0.037 2435 -619.7 97.3 - - 2554 - - - - - - - - 14.20 14.64 14.49
13502 694.8 6.1 969 13507 roll 0.72 - - 2562 - 2.33 0.050 1041 -598.3 97.3 - - 2554 - - - - - - - - 15.09 14.53 15.12
13555 691.6 6.2 979 13559 done 0.75 - - 2562 - 2.40 0.053 2447 585.8 97.3 - - 2553 - - - - - - - - 14.62 14.51 14.67
13866 673.5 5.3 996 13919 roll 0.80 - - 2573 - 2.40 0.053 1056 -579.6 146.7 45.58 1.690 2367 -4.1 0.312 - - - - - - 15.08 14.45 13.28
13951 667.6 8.7 1013 13956 done 0.80 - - 2573 - 2.38 0.053 2438 580.7 146.7 - - 2365 - - - - - - - - 14.53 14.43 14.55
14270 636.6 10.1 1031 14272 done 0.80 - - 2573 - - - 2439 - 146.7 - - 2362 - - - - - - - - 14.92 14.94 14.94
14568 604.0 11.0 1046 14573 roll 0.80 - - 2584 - 2.33 0.051 1051 -595.7 146.7 - - 2362 - - - - - - - - 14.98 14.50 15.01
14620 598.1 11.5 1056 14624 done 0.80 - - 2584 - 2.38 0.054 2438 582.8 146.7 - - 2361 - - - - - - - - 14.60 14.49 14.65
14931 562.8 10.7 1073 14933 done 0.80 - - 2584 - - - 2439 - 146.7 - - 2360 - - - - - - - - 15.02 15.06 15.05
15232 530.9 10.3 1088 15236 roll 0.80 - - 2595 - 2.35 0.051 1046 -592.8 146.7 - - 2360 - - - - - - - - 15.04 14.52 15.07
15277 526.1 10.3 1097 15283 done 0.80 - - 2596 - 2.40 0.053 2450 585.0 146.7 - - 2360 - - - - - - - - 14.62 14.50 14.67
15594 492.8 10.4 1115 15596 done 0.80 - - 2596 - - - 2450 - 146.7 - - 2360 - - - - - - - - 15.06 15.09 15.09
15896 459.2 11.5 1130 15900 roll 0.80 - - 2607 - 2.35 0.051 1051 -595.3 146.7 - - 2360 - - - - - - - - 15.06 14.52 15.09
15962 451.3 11.7 1143 15966 done 0.80 - - 2607 - 2.38 0.053 2441 584.0 146.7 - - 2359 - - - - - - - - 14.62 14.50 14.66
16279 411.9 12.2 1161 16281 done 0.80 - - 2607 - - - 2441 - 146.7 - - 2359 - - - - - - - - 15.07 15.10 15.10
16578 379.3 9.8 1176 16582 roll 0.80 - - 2619 - 2.35 0.051 1046 -593.6 146.7 - - 2359 - - - - - - - - 15.09 14.51 15.11
16618 375.3 10.2 1184 16623 done 0.80 - - 2619 - 2.38 0.053 2441 586.1 146.7 - - 2359 - - - - - - - - 14.61 14.49 14.66
16940 343.1 9.9 1203 16947 roll 0.80 0.15 0.256 2596 -153.3 2.35 0.047 1044 -594.5 146.7 - - 2359 - - - - - - - - 14.21 14.43 14.34
16969 340.4 8.4 1209 16974 done 0.80 - - 2596 - 2.40 0.053 2449 585.4 146.7 - - 2359 - - - - - - - - 14.61 14.50 14.66
17281 311.0 9.8 1226 17286 roll 0.80 - - 2607 - 2.35 0.050 1051 -594.9 146.7 - - 2359 - - - - - - - - 15.09 14.50 15.11
17328 306.2 10.5 1235 17333 done 0.80 - - 2607 - 2.40 0.053 2445 580.8 146.7 - - 2359 - - - - - - - - 14.60 14.49 14.66
17644 271.7 10.2 1253 17646 done 0.80 - - 2607 - - - 2445 - 146.7 - - 2359 - - - - - - - - 15.10 15.13 15.12
17946 245.9 8.2 1270 17948 done 0.80 - - 2607 - - - 2445 - 146.7 - - 2359 - - - - - - - - 15.09 15.11 15.11
18124 231.6 8.0 1288 18128 roll 0.80 - - 2607 - 2.45 0.083 3852 574.3 146.7 - - 2359 - - - - - - - - 15.09 14.38 15.12
18165 227.6 10.0 1296 18169 done 0.80 - - 2618 - 2.28 0.037 2440 -619.3 146.7 - - 2359 - - - - - - - - 14.68 14.61 14.71
18356 209.2 10.2 1316 18360 roll 0.80 - - 2629 - 2.33 0.050 1042 -600.0 146.7 - - 2359 - - - - - - - - 15.08 14.50 15.11
18442 200.1 10.6 1333 18448 done 0.80 0.15 0.229 2594 -233.3 2.40 0.052 2449 586.2 146.7 - - 2359 - - - - - - - - 14.16 14.48 14.44
18628 182.3 9.1 1352 18630 done 0.80 - - 2594 - - - 2449 - 146.7 - - 2359 - - - - - - - - 15.07 15.10 15.10
18808 168.7 6.4 1370 18812 roll 0.84 - - 2594 - 2.45 0.083 3852 572.7 146.7 - - 2359 - - - - - - - - 15.07 14.38 15.10
18875 163.8 7.7 1383 18879 done 0.84 - - 2605 - 2.30 0.037 2431 -617.8 146.7 - - 2359 - - - - - - - - 14.67 14.60 14.71
19060 152.8 5.1 1402 19112 roll 0.89 - - 2616 - 2.35 0.052 1048 -588.5 199.3 45.95 1.050 2154 -4.5 0.125 - - - - - - 15.07 14.55 13.70
19139 147.8 7.7 1416 19143 done 0.89 - - 2616 - 2.38 0.053 2440 584.9 199.3 - - 2152 - - - - - - - - 14.59 14.50 14.62
19331 130.9 8.5 1436 19335 roll 0.89 - - 2628 - 2.35 0.050 1041 -595.3 199.3 - - 2151 - - - - - - - - 14.92 14.49 14.95
19367 127.7 8.6 1443 19371 done 0.89 - - 2628 - 2.40 0.052 2443 584.2 199.3 - - 2150 - - - - - - - - 14.58 14.47 14.62
19554 113.5 7.0 1462 19560 roll 0.91 - - 2628 - 2.42 0.081 3849 581.0 199.3 - - 2150 - - - - - - - - 14.95 14.40 14.98
19637 107.2 7.1 1479 19641 done 0.93 - - 2640 - 2.28 0.035 2432 -621.5 199.3 - - 2149 - - - - - - - - 14.65 14.59 14.68
19824 95.2 6.0 1498 19862 roll 0.97 - - 2651 - 2.28 0.048 1042 -609.6 235.8 31.73 0.942 2004 -4.6 0.089 - - - - - - 15.00 14.34 13.83
20089 77.3 6.2 1551 20093 done 1.00 - - 2651 - 2.38 0.050 2443 588.7 235.8 - - 2002 - - - - - - - - 14.60 14.50 14.64
20275 68.5 2.8 1570 20362 roll 1.10 - - 2663 - 2.35 0.051 1051 -592.3 329.1 81.10 0.901 1625 -4.6 0.068 - - - - - - 14.97 14.42 13.76
20590 48.2 5.3 1633 20644 done 1.15 0.12 0.114 2741 650.0 2.38 0.052 2450 587.8 378.5 45.08 0.833 1423 -4.5 0.050 - - - - - - 14.50 14.47 13.80
20826 23.1 9.7 1680 20835 roll 1.15 0.12 0.229 2704 -308.3 2.40 0.078 3848 582.5 378.5 - - 1421 - - - - - - - - 14.26 14.42 14.35
20872 19.0 9.3 1689 20877 done 1.15 - - 2715 - 2.25 0.034 2439 -626.2 378.5 - - 1421 - - - - - - - - 14.64 14.57 14.66
21051 end climb: SURFACE_DEPTH_REACHED
21051 begin surface coast
21081 end surface coast: CONTROL_FINISHED_OK
21081 begin surface
SM 1.33 - - - - -6.78 7.35 0.055 122 16.6 0.10 0.142 2528 14980.0 500.17 126.57 0.634 929 7.3 -0.002 - - - - 1 -