MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 388 * Raw log
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• Previous call tries 1 • 141.23 of 350.00 AH used of 24V (59.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.4 deg, depth 1.31 m • Intended pitch -18.5 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 17 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 83 VBD -0.64 - - 110 - - - 2493 - -97.3 -72.12 0.005 2604 - - - - - - - - 14.83 - 14.87
87 4.6 -12.3 15 119 roll -0.64 9.10 0.353 2103 219.0 2.50 0.096 3906 565.2 -97.3 -14.80 0.009 3368 -51.6 5.041 - - - - - - 14.07 12.86 14.48
200 43.3 -30.5 38 205 done -0.64 - - 2103 - 2.28 0.036 2495 -618.9 -97.3 - - 3367 - - - - - - - - 14.67 14.61 14.69
392 78.5 -15.0 60 396 roll -0.64 - - 2103 - 2.28 0.048 1100 -611.8 -97.3 - - 3368 - - - - - - - - 14.99 14.60 15.01
438 85.3 -14.3 69 443 done -0.64 0.12 0.231 2121 150.0 2.33 0.063 2501 601.3 -97.3 - - 3368 - - - - - - - - 14.38 14.54 14.59
622 114.6 -16.2 88 626 roll -0.64 - - 2111 - 2.38 0.082 3899 587.4 -97.3 - - 3368 - - - - - - - - 15.03 14.57 15.06
647 118.6 -15.7 93 652 done -0.64 - - 2112 - 2.25 0.033 2484 -628.9 -97.3 - - 3368 - - - - - - - - 14.77 14.70 14.79
833 143.3 -12.1 112 835 done -0.64 - - 2112 - - - 2483 - -97.3 - - 3368 - - - - - - - - 15.05 15.09 15.08
1013 164.1 -12.7 130 1018 roll -0.64 - - 2101 - 2.47 0.090 3902 574.5 -97.3 - - 3368 - - - - - - - - 15.08 14.55 15.10
1040 167.7 -14.4 135 1044 done -0.64 - - 2101 - 2.22 0.032 2493 -634.7 -97.3 - - 3368 - - - - - - - - 14.81 14.75 14.83
1225 193.8 -13.1 154 1227 done -0.64 - - 2101 - - - 2492 - -97.3 - - 3368 - - - - - - - - 15.09 15.11 15.11
1404 214.8 -11.1 172 1409 roll -0.64 - - 2090 - 2.42 0.085 3897 580.6 -97.3 - - 3367 - - - - - - - - 15.10 14.59 15.13
1431 217.8 -12.2 177 1436 done -0.64 0.12 0.219 2120 250.0 2.20 0.032 2494 -637.7 -97.3 - - 3367 - - - - - - - - 14.49 14.76 14.68
1624 239.3 -11.5 197 1629 roll -0.64 - - 2120 - 2.25 0.046 1105 -617.3 -97.3 - - 3366 - - - - - - - - 15.09 14.69 15.11
1670 244.9 -11.5 206 1675 done -0.64 - - 2111 - 2.35 0.055 2508 597.0 -97.3 - - 3365 - - - - - - - - 14.76 14.66 14.80
1856 265.8 -10.8 218 1858 done -0.64 - - 2111 - - - 2508 - -97.3 - - 3364 - - - - - - - - 15.11 15.14 15.14
2155 298.2 -10.4 233 2159 roll -0.64 - - 2100 - 2.38 0.083 3900 584.9 -97.3 - - 3362 - - - - - - - - 15.13 14.59 15.15
2207 303.6 -10.6 243 2211 done -0.64 - - 2100 - 2.20 0.034 2506 -633.6 -97.3 - - 3362 - - - - - - - - 14.83 14.76 14.85
2518 338.6 -11.3 260 2520 done -0.64 - - 2100 - - - 2505 - -97.3 - - 3359 - - - - - - - - 15.11 15.15 15.14
2818 372.9 -11.6 275 2822 roll -0.64 - - 2100 - 2.28 0.048 1110 -611.8 -97.3 - - 3357 - - - - - - - - 15.13 14.68 15.16
2844 375.9 -12.2 280 2851 done -0.64 0.12 0.212 2120 166.7 2.35 0.057 2504 593.2 -97.3 - - 3357 - - - - - - - - 14.47 14.65 14.66
3158 406.0 -9.0 298 3160 done -0.64 - - 2119 - - - 2504 - -97.3 - - 3355 - - - - - - - - 15.13 15.16 15.16
3458 432.5 -8.9 313 3460 done -0.64 - - 2120 - - - 2503 - -97.3 - - 3353 - - - - - - - - 15.13 15.16 15.16
3759 460.4 -9.4 328 3763 roll -0.64 - - 2111 - 2.40 0.085 3891 578.3 -97.3 - - 3350 - - - - - - - - 15.13 14.54 15.15
3785 462.9 -9.6 333 3789 done -0.64 - - 2111 - 2.22 0.034 2492 -630.2 -97.3 - - 3350 - - - - - - - - 14.81 14.74 14.83
4101 493.1 -9.5 351 4103 done -0.64 - - 2111 - - - 2491 - -97.3 - - 3350 - - - - - - - - 15.13 15.16 15.15
4401 521.2 -9.3 366 4403 done -0.64 - - 2111 - - - 2491 - -97.3 - - 3348 - - - - - - - - 15.11 15.16 15.15
4700 550.5 -10.2 381 4704 roll -0.64 - - 2111 - 2.28 0.049 1111 -605.3 -97.3 - - 3346 - - - - - - - - 15.13 14.63 15.16
4726 553.3 -10.7 386 4731 done -0.64 - - 2100 - 2.35 0.056 2499 590.6 -97.3 - - 3345 - - - - - - - - 14.71 14.60 14.75
5044 589.0 -11.6 404 5048 roll -0.64 - - 2089 - 2.40 0.085 3890 579.6 -97.3 - - 3344 - - - - - - - - 15.12 14.50 15.15
5100 595.7 -11.8 415 5104 done -0.64 0.12 0.210 2120 258.3 2.22 0.035 2499 -626.6 -97.3 - - 3344 - - - - - - - - 14.42 14.71 14.61
5406 626.2 -9.7 431 5410 roll -0.64 - - 2120 - 2.33 0.050 1106 -597.9 -97.3 - - 3343 - - - - - - - - 15.12 14.60 15.15
5431 628.9 -10.1 436 5436 done -0.64 - - 2111 - 2.38 0.056 2501 586.1 -97.3 - - 3343 - - - - - - - - 14.69 14.57 14.73
5749 660.0 -9.8 454 5753 roll -0.64 - - 2100 - 2.42 0.086 3899 577.7 -97.3 - - 3342 - - - - - - - - 15.11 14.47 15.14
5777 662.8 -10.7 459 5781 done -0.64 - - 2100 - 2.28 0.036 2496 -615.4 -97.3 - - 3342 - - - - - - - - 14.75 14.69 14.78
6093 695.0 -10.1 477 6097 roll -0.64 - - 2100 - 2.30 0.050 1106 -604.3 -97.3 - - 3340 - - - - - - - - 15.13 14.57 15.16
6118 697.7 -11.2 482 6124 done -0.64 0.12 0.210 2119 158.3 2.40 0.057 2507 583.8 -97.3 - - 3340 - - - - - - - - 14.37 14.54 14.57
6437 726.9 -9.3 500 6443 roll -0.64 - - 2110 - 2.42 0.087 3897 574.4 -97.3 - - 3339 - - - - - - - - 15.11 14.45 15.14
6481 731.4 -10.0 509 6485 done -0.64 - - 2110 - 2.25 0.036 2500 -620.9 -97.3 - - 3339 - - - - - - - - 14.73 14.67 14.76
6798 762.8 -9.8 527 6802 roll -0.64 - - 2110 - 2.33 0.050 1110 -596.6 -97.3 - - 3338 - - - - - - - - 15.11 14.55 15.14
6823 765.5 -10.3 532 6827 done -0.64 - - 2099 - 2.38 0.057 2499 583.6 -97.3 - - 3338 - - - - - - - - 14.65 14.53 14.69
7139 796.5 -9.6 550 7141 done -0.64 - - 2099 - - - 2499 - -97.3 - - 3337 - - - - - - - - 15.12 15.15 15.15
7440 824.3 -9.1 565 7442 done -0.64 - - 2099 - - - 2499 - -97.3 - - 3336 - - - - - - - - 15.11 15.14 15.14
7739 851.1 -8.8 580 7741 done -0.64 - - 2099 - - - 2499 - -97.3 - - 3335 - - - - - - - - 15.12 15.15 15.15
8039 877.6 -8.9 595 8046 roll -0.64 - - 2088 - 2.45 0.088 3896 570.2 -97.3 - - 3334 - - - - - - - - 15.11 14.40 15.14
8070 880.4 -9.8 601 8075 done -0.64 0.12 0.209 2119 258.3 2.28 0.037 2491 -616.2 -97.3 - - 3334 - - - - - - - - 14.34 14.63 14.52
8381 904.4 -7.5 618 8386 roll -0.64 - - 2119 - 2.30 0.051 1110 -600.4 -97.3 - - 3333 - - - - - - - - 15.11 14.52 15.14
8408 906.4 -7.9 623 8415 done -0.64 - - 2110 - 2.40 0.058 2505 581.2 -97.3 - - 3333 - - - - - - - - 14.60 14.49 14.65
8723 931.2 -7.9 641 8728 roll -0.64 - - 2099 - 2.45 0.088 3891 565.7 -97.3 - - 3332 - - - - - - - - 15.11 14.37 15.14
8771 935.2 -8.7 650 8776 done -0.64 - - 2099 - 2.25 0.037 2502 -617.3 -97.3 - - 3332 - - - - - - - - 14.68 14.61 14.71
9088 962.7 -8.7 668 9093 roll -0.64 - - 2099 - 2.33 0.052 1109 -597.9 -97.3 - - 3331 - - - - - - - - 15.11 14.49 15.13
9125 966.0 -8.9 675 9132 done -0.64 0.12 0.209 2118 158.3 2.40 0.058 2499 579.2 -97.3 - - 3331 - - - - - - - - 14.27 14.46 14.47
9447 end dive: TARGET_DEPTH_EXCEEDED
9449 begin apogee
9455 990.9 -7.6 695 9548 done -0.15 0.55 0.161 2279 292.7 - - 2500 - - 89.07 2.020 2969 -4.1 0.381 - - - - - - 14.23 14.13 13.00
9550 end apogee: CONTROL_FINISHED_OK
9550 begin climb
9553 993.1 - 700 9667 roll 0.64 0.80 0.093 2555 345.0 2.62 0.051 1053 -552.3 97.3 100.00 2.007 2569 -4.0 0.378 - - - - - - 14.19 13.96 12.84
9694 990.1 6.2 728 9701 done 0.68 - - 2556 - 2.45 0.054 2443 567.3 97.3 - - 2566 - - - - - - - - 14.24 14.16 14.27
10014 963.8 8.5 747 10020 roll 0.68 - - 2556 - 2.45 0.083 3845 572.2 97.3 - - 2562 - - - - - - - - 14.86 14.45 14.89
10054 960.1 9.5 755 10058 done 0.68 - - 2566 - 2.30 0.037 2434 -613.5 97.3 - - 2561 - - - - - - - - 14.64 14.58 14.66
10376 931.7 8.8 774 10380 roll 0.68 - - 2577 - 2.33 0.053 1050 -594.0 97.3 - - 2560 - - - - - - - - 14.96 14.56 15.00
10467 923.8 8.5 792 10471 done 0.68 - - 2577 - 2.38 0.054 2441 584.5 97.3 - - 2559 - - - - - - - - 14.66 14.56 14.71
10778 897.5 8.3 809 10786 roll 0.68 - - 2577 - 2.45 0.082 3849 574.7 97.3 - - 2559 - - - - - - - - 15.02 14.50 15.04
10822 893.3 9.6 818 10829 done 0.68 0.15 0.253 2555 -146.7 2.30 0.037 2439 -613.0 97.3 - - 2558 - - - - - - - - 14.26 14.66 14.56
11142 869.1 7.5 836 11146 roll 0.69 - - 2564 - 2.33 0.051 1050 -596.1 97.3 - - 2558 - - - - - - - - 15.02 14.58 15.06
11204 864.5 7.4 848 11208 done 0.70 - - 2564 - 2.38 0.053 2444 585.7 97.3 - - 2557 - - - - - - - - 14.68 14.57 14.72
11525 839.2 7.9 867 11527 done 0.70 - - 2564 - - - 2444 - 97.3 - - 2557 - - - - - - - - 15.07 15.09 15.09
11825 815.3 8.0 882 11830 roll 0.70 - - 2575 - 2.38 0.050 1043 -588.7 97.3 - - 2556 - - - - - - - - 15.07 14.57 15.10
11892 810.0 7.9 895 11897 done 0.70 - - 2575 - 2.38 0.052 2442 587.8 97.3 - - 2556 - - - - - - - - 14.67 14.57 14.71
12210 784.5 8.1 913 12212 done 0.70 - - 2575 - - - 2442 - 97.3 - - 2556 - - - - - - - - 15.07 15.10 15.10
12509 760.0 8.1 928 12511 done 0.70 - - 2575 - - - 2442 - 97.3 - - 2556 - - - - - - - - 15.07 15.11 15.10
12809 736.1 7.9 943 12813 roll 0.70 - - 2586 - 2.38 0.050 1042 -588.2 97.3 - - 2555 - - - - - - - - 15.09 14.55 15.11
12851 733.0 8.0 951 12855 done 0.70 - - 2587 - 2.38 0.052 2440 587.4 97.3 - - 2555 - - - - - - - - 14.65 14.54 14.70
13171 707.5 7.8 970 13176 roll 0.70 0.12 0.244 2559 -233.3 2.45 0.078 3845 573.5 97.3 - - 2555 - - - - - - - - 14.42 14.44 14.52
13233 702.5 8.0 982 13239 done 0.70 - - 2569 - 2.30 0.037 2428 -616.1 97.3 - - 2555 - - - - - - - - 14.69 14.64 14.73
13557 680.4 6.6 1001 13561 roll 0.73 - - 2580 - 2.33 0.051 1045 -593.6 97.3 - - 2555 - - - - - - - - 15.08 14.53 15.11
13609 677.0 6.7 1011 13613 done 0.76 - - 2580 - 2.38 0.052 2440 586.1 97.3 - - 2554 - - - - - - - - 14.63 14.52 14.68
13922 656.5 6.6 1028 13924 done 0.79 - - 2580 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.07 15.10 15.10
14220 636.4 6.9 1043 14224 roll 0.81 - - 2591 - 2.35 0.050 1053 -590.2 97.3 - - 2554 - - - - - - - - 15.09 14.52 15.11
14246 634.5 6.6 1048 14250 done 0.84 - - 2591 - 2.38 0.052 2442 583.6 97.3 - - 2554 - - - - - - - - 14.62 14.52 14.67
14562 611.2 7.7 1066 14565 done 0.84 - - 2591 - - - 2442 - 97.3 - - 2554 - - - - - - - - 15.09 15.12 15.11
14862 588.7 7.2 1081 14864 done 0.85 - - 2591 - - - 2442 - 97.3 - - 2554 - - - - - - - - 15.09 15.13 15.12
15163 567.6 7.0 1096 15165 done 0.88 - - 2590 - - - 2442 - 97.3 - - 2554 - - - - - - - - 15.09 15.12 15.12
15462 546.4 7.1 1111 15464 done 0.89 - - 2590 - - - 2442 - 97.3 - - 2554 - - - - - - - - 15.09 15.13 15.13
15762 526.0 6.7 1126 15768 roll 0.92 0.12 0.129 2674 700.0 2.35 0.047 1053 -591.1 97.3 - - 2554 - - - - - - - - 14.71 14.51 14.73
15845 519.3 8.3 1142 15851 done 0.92 0.20 0.252 2629 -225.0 2.38 0.051 2446 585.3 97.3 - - 2554 - - - - - - - - 14.00 14.50 14.35
16171 494.5 7.5 1161 16173 done 0.93 - - 2629 - - - 2446 - 97.3 - - 2554 - - - - - - - - 15.07 15.11 15.10
16468 472.0 7.4 1176 16472 roll 0.95 - - 2639 - 2.38 0.049 1052 -585.7 97.3 - - 2554 - - - - - - - - 15.10 14.50 15.13
16505 469.3 7.5 1183 16509 done 0.96 - - 2639 - 2.38 0.052 2437 581.9 97.3 - - 2554 - - - - - - - - 14.59 14.48 14.64
16811 448.5 6.8 1199 16815 roll 0.98 - - 2650 - 2.35 0.048 1050 -590.2 97.3 - - 2554 - - - - - - - - 15.09 14.50 15.11
16857 445.2 6.8 1208 16861 done 1.00 - - 2650 - 2.38 0.050 2441 584.5 97.3 - - 2554 - - - - - - - - 14.59 14.49 14.64
17174 421.5 8.0 1226 17179 roll 1.00 - - 2651 - 2.45 0.080 3846 573.5 97.3 - - 2554 - - - - - - - - 15.09 14.38 15.12
17360 404.7 8.8 1263 17365 done 1.00 - - 2662 - 2.28 0.034 2435 -618.9 97.3 - - 2554 - - - - - - - - 14.66 14.60 14.69
17677 381.0 7.0 1281 17681 roll 1.03 - - 2673 - 2.33 0.048 1047 -595.7 97.3 - - 2554 - - - - - - - - 15.08 14.49 15.11
17775 374.0 7.2 1300 17779 done 1.04 - - 2673 - 2.40 0.050 2450 584.6 97.3 - - 2554 - - - - - - - - 14.58 14.47 14.63
18079 351.4 7.4 1316 18086 roll 1.06 - - 2673 - 2.42 0.078 3843 575.6 97.3 - - 2554 - - - - - - - - 15.08 14.38 15.11
18138 346.4 8.3 1328 18142 done 1.06 - - 2685 - 2.28 0.034 2433 -618.4 97.3 - - 2554 - - - - - - - - 14.66 14.60 14.69
18460 323.6 6.9 1347 18462 done 1.08 - - 2685 - - - 2432 - 97.3 - - 2554 - - - - - - - - 15.09 15.12 15.11
18760 301.8 7.1 1362 18765 roll 1.10 - - 2685 - 2.47 0.076 3843 571.3 97.3 - - 2553 - - - - - - - - 15.09 14.38 15.11
18797 298.7 8.3 1369 18801 done 1.10 - - 2697 - 2.28 0.034 2438 -616.2 97.3 - - 2553 - - - - - - - - 14.66 14.60 14.69
19103 277.6 6.4 1385 19110 roll 1.13 - - 2697 - 2.47 0.076 3844 569.2 97.3 - - 2554 - - - - - - - - 15.09 14.38 15.11
19173 272.7 6.9 1399 19177 done 1.16 - - 2708 - 2.28 0.034 2438 -616.7 97.3 - - 2554 - - - - - - - - 14.66 14.59 14.69
19485 254.7 6.0 1416 19522 roll 1.19 - - 2720 - 2.30 0.050 1057 -600.4 133.0 31.73 1.181 2423 -4.1 0.170 - - - - - - 15.09 14.57 13.63
19709 230.0 12.8 1461 19713 done 1.19 - - 2720 - 2.38 0.051 2447 584.0 133.0 - - 2419 - - - - - - - - 14.60 14.50 14.64
19895 207.6 11.1 1480 19901 roll 1.19 - - 2721 - 2.40 0.076 3844 582.1 133.0 - - 2419 - - - - - - - - 14.98 14.42 15.00
19919 204.7 12.0 1485 19923 done 1.19 - - 2734 - 2.28 0.035 2441 -615.4 133.0 - - 2418 - - - - - - - - 14.66 14.59 14.68
20104 184.2 11.0 1504 20106 done 1.19 - - 2736 - - - 2439 - 133.0 - - 2418 - - - - - - - - 15.00 15.04 15.03
20284 166.3 9.5 1522 20290 roll 1.19 - - 2748 - 2.33 0.049 1042 -599.6 133.0 - - 2418 - - - - - - - - 15.02 14.51 15.05
20356 160.3 7.7 1536 20364 done 1.19 0.15 0.268 2716 -213.3 2.38 0.049 2445 589.5 133.0 - - 2418 - - - - - - - - 14.09 14.52 14.38
20551 148.1 6.0 1556 20590 roll 1.23 - - 2727 - 2.35 0.050 1047 -594.9 169.8 32.80 1.046 2273 -4.4 0.120 - - - - - - 15.01 14.57 13.78
20817 122.5 10.1 1610 20822 done 1.23 - - 2727 - 2.38 0.050 2441 585.7 169.8 - - 2270 - - - - - - - - 14.59 14.50 14.63
21011 106.4 7.3 1630 21017 roll 1.24 - - 2739 - 2.35 0.047 1046 -593.6 169.8 - - 2267 - - - - - - - - 14.96 14.52 14.99
21069 100.6 7.5 1641 21074 done 1.25 - - 2739 - 2.35 0.049 2438 592.3 169.8 - - 2267 - - - - - - - - 14.52 14.47 14.56
21254 93.7 3.3 1660 21332 roll 1.34 - - 2739 - 2.47 0.079 3835 565.6 254.1 71.20 0.964 1930 -4.7 0.088 - - - - - - 15.01 14.41 13.75
21394 80.9 14.7 1688 21398 done 1.34 - - 2752 - 2.28 0.036 2443 -610.5 254.1 - - 1927 - - - - - - - - 14.54 14.49 14.57
21585 58.6 9.5 1708 21589 roll 1.34 - - 2762 - 2.33 0.047 1044 -600.4 254.1 - - 1925 - - - - - - - - 14.88 14.48 14.90
21771 43.7 8.7 1745 21775 done 1.34 - - 2762 - 2.38 0.050 2446 589.1 254.1 - - 1924 - - - - - - - - 14.61 14.51 14.64
21957 38.7 -1.2 1782 22108 roll 1.50 0.12 0.115 2847 708.3 2.45 0.075 3849 572.7 418.5 141.23 0.848 1260 -4.7 0.041 - - - - - - 14.64 14.30 13.72
22237 end climb: SURFACE_DEPTH_REACHED
22240 begin surface coast
22248 end surface coast: CONTROL_FINISHED_OK
22249 begin surface
SM 1.23 - - - - -6.77 7.85 0.059 119 15.1 2.22 0.029 2446 -3873.0 500.17 92.38 0.600 928 10.0 -0.002 - - - - 1 -