MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 400 * Raw log
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• Previous call tries 1 • 144.70 of 350.00 AH used of 24V (58.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth 1.28 m • Intended pitch -18.5 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 2 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 - - 113 - - - 2519 - -97.3 -72.22 0.005 2638 - - - - - - - - 14.82 - 14.85
87 5.1 -14.9 15 118 roll -0.64 9.15 0.353 2112 218.5 2.30 0.060 1110 -612.6 -97.3 -13.55 0.009 3366 -53.7 5.821 - - - - - - 14.05 13.52 14.47
155 29.6 -27.0 29 159 done -0.64 - - 2104 - 2.33 0.060 2476 586.3 -97.3 - - 3367 - - - - - - - - 14.62 14.52 14.64
348 74.3 -17.3 56 350 done -0.64 - - 2104 - - - 2476 - -97.3 - - 3367 - - - - - - - - 14.95 14.98 14.97
527 100.1 -13.9 74 532 roll -0.64 - - 2104 - 2.25 0.046 1110 -607.1 -97.3 - - 3367 - - - - - - - - 15.00 14.64 15.02
594 110.8 -15.4 87 599 done -0.64 - - 2093 - 2.35 0.057 2502 592.3 -97.3 - - 3367 - - - - - - - - 14.71 14.61 14.74
779 138.8 -13.6 106 781 done -0.64 - - 2093 - - - 2502 - -97.3 - - 3367 - - - - - - - - 15.05 15.08 15.07
960 164.8 -14.5 124 964 roll -0.64 - - 2082 - 2.38 0.080 3890 583.2 -97.3 - - 3367 - - - - - - - - 15.06 14.57 15.09
1036 176.1 -14.7 139 1041 done -0.64 0.15 0.217 2118 240.0 2.20 0.031 2490 -636.4 -97.3 - - 3367 - - - - - - - - 14.43 14.75 14.64
1221 199.0 -11.2 158 1223 done -0.64 - - 2118 - - - 2488 - -97.3 - - 3366 - - - - - - - - 15.08 15.11 15.11
1400 218.4 -10.6 176 1403 done -0.64 - - 2118 - - - 2488 - -97.3 - - 3366 - - - - - - - - 15.09 15.13 15.12
1581 237.6 -10.9 194 1587 roll -0.64 - - 2119 - 2.22 0.046 1116 -618.0 -97.3 - - 3365 - - - - - - - - 15.09 14.67 15.12
1598 239.6 -10.8 197 1602 done -0.64 - - 2110 - 2.33 0.056 2499 593.6 -97.3 - - 3365 - - - - - - - - 14.76 14.66 14.79
1793 261.8 -11.5 212 1797 roll -0.64 - - 2099 - 2.38 0.080 3896 587.0 -97.3 - - 3364 - - - - - - - - 15.11 14.59 15.14
1819 264.8 -12.5 217 1823 done -0.64 - - 2099 - 2.20 0.032 2501 -634.1 -97.3 - - 3364 - - - - - - - - 14.82 14.76 14.84
2136 303.9 -12.6 235 2138 done -0.64 - - 2099 - - - 2500 - -97.3 - - 3361 - - - - - - - - 15.11 15.14 15.14
2435 340.9 -12.2 250 2437 done -0.64 - - 2099 - - - 2500 - -97.3 - - 3359 - - - - - - - - 15.13 15.16 15.16
2736 377.5 -12.1 265 2738 done -0.64 - - 2099 - - - 2500 - -97.3 - - 3357 - - - - - - - - 15.12 15.16 15.15
3035 412.0 -11.2 280 3039 roll -0.64 - - 2088 - 2.42 0.088 3891 574.8 -97.3 - - 3355 - - - - - - - - 15.14 14.57 15.16
3086 417.8 -11.3 290 3091 done -0.64 0.12 0.213 2118 250.0 2.22 0.034 2497 -627.9 -97.3 - - 3355 - - - - - - - - 14.47 14.75 14.66
3391 446.2 -9.1 306 3397 roll -0.64 - - 2119 - 2.30 0.048 1106 -604.8 -97.3 - - 3351 - - - - - - - - 15.13 14.66 15.15
3413 448.4 -9.4 310 3419 done -0.64 - - 2110 - 2.38 0.060 2499 585.3 -97.3 - - 3351 - - - - - - - - 14.73 14.62 14.77
3736 479.4 -9.5 329 3740 roll -0.64 - - 2099 - 2.40 0.085 3892 580.4 -97.3 - - 3350 - - - - - - - - 15.12 14.54 15.15
3767 482.6 -10.3 335 3771 done -0.64 - - 2099 - 2.25 0.034 2497 -620.0 -97.3 - - 3350 - - - - - - - - 14.79 14.73 14.82
4078 514.4 -10.1 352 4082 roll -0.64 - - 2099 - 2.28 0.048 1109 -608.8 -97.3 - - 3348 - - - - - - - - 15.13 14.64 15.16
4119 518.5 -9.8 360 4126 done -0.64 0.12 0.215 2118 158.3 2.38 0.058 2504 586.1 -97.3 - - 3348 - - - - - - - - 14.42 14.60 14.62
4439 546.5 -8.5 379 4444 roll -0.64 - - 2109 - 2.40 0.086 3892 578.3 -97.3 - - 3346 - - - - - - - - 15.13 14.52 15.15
4475 549.8 -9.0 386 4481 done -0.64 - - 2109 - 2.25 0.036 2491 -622.7 -97.3 - - 3346 - - - - - - - - 14.78 14.71 14.80
4781 577.2 -9.0 402 4786 roll -0.64 - - 2109 - 2.30 0.049 1106 -602.2 -97.3 - - 3344 - - - - - - - - 15.12 14.62 15.14
4813 580.3 -9.6 408 4817 done -0.64 - - 2098 - 2.38 0.057 2500 585.7 -97.3 - - 3344 - - - - - - - - 14.70 14.58 14.73
5123 611.0 -10.2 425 5128 roll -0.64 - - 2087 - 2.42 0.086 3892 575.2 -97.3 - - 3343 - - - - - - - - 15.13 14.50 15.16
5171 616.0 -11.0 434 5177 done -0.64 0.12 0.210 2117 250.0 2.25 0.036 2492 -622.2 -97.3 - - 3343 - - - - - - - - 14.41 14.69 14.61
5489 646.1 -9.4 452 5491 done -0.64 - - 2117 - - - 2491 - -97.3 - - 3341 - - - - - - - - 15.12 15.16 15.15
5790 674.0 -9.3 467 5792 done -0.64 - - 2118 - - - 2491 - -97.3 - - 3340 - - - - - - - - 15.12 15.15 15.14
6089 701.0 -8.7 482 6094 roll -0.64 - - 2118 - 2.30 0.049 1104 -603.0 -97.3 - - 3339 - - - - - - - - 15.13 14.59 15.15
6116 703.4 -9.2 487 6122 done -0.64 - - 2109 - 2.40 0.057 2505 583.8 -97.3 - - 3339 - - - - - - - - 14.66 14.54 14.71
6431 731.8 -8.9 505 6436 roll -0.64 - - 2098 - 2.42 0.087 3894 574.0 -97.3 - - 3338 - - - - - - - - 15.12 14.45 15.14
6479 736.2 -9.6 514 6484 done -0.64 - - 2098 - 2.25 0.036 2500 -619.6 -97.3 - - 3338 - - - - - - - - 14.73 14.66 14.76
6795 767.0 -9.9 532 6799 roll -0.64 - - 2098 - 2.33 0.050 1100 -600.9 -97.3 - - 3336 - - - - - - - - 15.12 14.56 15.15
6827 770.0 -10.3 538 6833 done -0.64 0.12 0.210 2117 158.3 2.40 0.058 2498 582.5 -97.3 - - 3336 - - - - - - - - 14.34 14.52 14.54
7140 797.7 -8.8 555 7146 roll -0.64 - - 2108 - 2.45 0.088 3897 571.0 -97.3 - - 3335 - - - - - - - - 15.11 14.42 15.14
7195 802.8 -9.3 566 7200 done -0.64 - - 2108 - 2.28 0.036 2496 -614.5 -97.3 - - 3335 - - - - - - - - 14.71 14.64 14.73
7500 831.2 -9.2 582 7504 roll -0.64 - - 2108 - 2.33 0.050 1101 -598.7 -97.3 - - 3335 - - - - - - - - 15.12 14.54 15.14
7527 833.7 -10.1 587 7533 done -0.64 - - 2097 - 2.42 0.058 2509 581.8 -97.3 - - 3334 - - - - - - - - 14.62 14.50 14.66
7842 863.7 -9.5 605 7844 done -0.64 - - 2097 - - - 2509 - -97.3 - - 3333 - - - - - - - - 15.11 15.14 15.13
8141 891.6 -9.3 620 8143 done -0.64 - - 2097 - - - 2509 - -97.3 - - 3332 - - - - - - - - 15.11 15.15 15.14
8442 919.6 -9.4 635 8446 roll -0.64 - - 2086 - 2.45 0.089 3894 565.3 -97.3 - - 3331 - - - - - - - - 15.11 14.38 15.14
8484 923.7 -10.1 643 8489 done -0.64 0.15 0.198 2124 253.3 2.30 0.037 2492 -609.6 -97.3 - - 3332 - - - - - - - - 14.30 14.61 14.50
8806 949.9 -8.1 662 8811 roll -0.64 - - 2124 - 2.33 0.050 1104 -595.7 -97.3 - - 3331 - - - - - - - - 15.11 14.50 15.14
8847 953.4 -8.5 670 8852 done -0.64 - - 2115 - 2.42 0.059 2507 579.8 -97.3 - - 3331 - - - - - - - - 14.59 14.46 14.63
9169 981.2 -8.7 689 9173 roll -0.64 - - 2105 - 2.45 0.089 3891 564.9 -97.3 - - 3330 - - - - - - - - 15.11 14.35 15.13
9205 984.5 -9.3 696 9209 done -0.64 - - 2104 - 2.28 0.037 2500 -610.1 -97.3 - - 3330 - - - - - - - - 14.66 14.59 14.69
9267 end dive: TARGET_DEPTH_EXCEEDED
9267 begin apogee
9274 990.4 -9.0 700 9368 done -0.15 0.60 0.166 2277 288.3 - - 2498 - - 89.50 2.010 2968 -4.0 0.381 - - - - - - 14.20 13.82 12.93
9370 end apogee: CONTROL_FINISHED_OK
9370 begin climb
9373 993.6 - 705 9482 roll 0.64 0.80 0.091 2544 333.8 2.50 0.087 3856 543.2 97.3 100.10 2.000 2570 -4.0 0.378 - - - - - - 14.20 13.69 12.83
9522 992.0 6.7 734 9527 done 0.67 - - 2555 - 2.38 0.037 2443 -593.7 97.3 - - 2566 - - - - - - - - 14.29 14.23 14.31
9838 966.8 8.1 752 9843 roll 0.67 - - 2566 - 2.38 0.053 1042 -588.7 97.3 - - 2562 - - - - - - - - 14.87 14.50 14.90
9884 963.1 8.3 761 9889 done 0.67 - - 2566 - 2.42 0.061 2446 580.2 97.3 - - 2561 - - - - - - - - 14.52 14.47 14.57
10202 935.3 8.7 779 10207 roll 0.67 - - 2577 - 2.38 0.053 1045 -588.7 97.3 - - 2560 - - - - - - - - 14.96 14.57 14.99
10238 932.1 8.9 786 10244 done 0.67 0.12 0.237 2550 -225.0 2.40 0.056 2443 582.5 97.3 - - 2559 - - - - - - - - 14.31 14.55 14.57
10544 906.9 8.0 802 10546 done 0.67 - - 2550 - - - 2443 - 97.3 - - 2559 - - - - - - - - 15.01 15.04 15.04
10843 882.9 8.0 817 10845 done 0.67 - - 2550 - - - 2443 - 97.3 - - 2559 - - - - - - - - 15.04 15.07 15.07
11143 859.3 8.1 832 11145 done 0.67 - - 2550 - - - 2443 - 97.3 - - 2558 - - - - - - - - 15.06 15.09 15.09
11445 835.9 7.9 847 11449 roll 0.67 - - 2561 - 2.40 0.052 1037 -585.8 97.3 - - 2557 - - - - - - - - 15.06 14.58 15.09
11541 827.9 8.3 866 11546 done 0.67 - - 2561 - 2.40 0.054 2439 584.2 97.3 - - 2557 - - - - - - - - 14.66 14.56 14.71
11847 802.5 8.3 882 11849 done 0.67 - - 2561 - - - 2439 - 97.3 - - 2557 - - - - - - - - 15.07 15.10 15.10
12146 778.5 7.8 897 12148 done 0.67 - - 2561 - - - 2439 - 97.3 - - 2556 - - - - - - - - 15.09 15.12 15.11
12446 756.1 7.3 912 12448 done 0.69 - - 2561 - - - 2439 - 97.3 - - 2556 - - - - - - - - 15.09 15.12 15.11
12747 734.5 7.1 927 12752 roll 0.71 - - 2573 - 2.38 0.051 1041 -587.4 97.3 - - 2555 - - - - - - - - 15.08 14.55 15.11
12834 728.4 7.0 944 12838 done 0.73 - - 2573 - 2.40 0.053 2443 584.2 97.3 - - 2555 - - - - - - - - 14.64 14.53 14.69
13151 706.8 6.6 962 13155 roll 0.76 - - 2573 - 2.45 0.083 3845 572.2 97.3 - - 2555 - - - - - - - - 15.09 14.43 15.11
13197 703.2 7.9 971 13202 done 0.76 - - 2584 - 2.30 0.037 2431 -614.8 97.3 - - 2555 - - - - - - - - 14.70 14.63 14.73
13514 681.2 7.0 989 13516 done 0.78 - - 2584 - - - 2429 - 97.3 - - 2555 - - - - - - - - 15.09 15.11 15.11
13815 661.2 6.8 1004 13819 roll 0.80 - - 2595 - 2.33 0.052 1046 -593.6 97.3 - - 2555 - - - - - - - - 15.08 14.53 15.11
13925 653.0 7.5 1026 13930 done 0.80 - - 2594 - 2.40 0.053 2447 583.8 97.3 - - 2554 - - - - - - - - 14.62 14.51 14.66
14238 628.0 8.4 1043 14240 done 0.80 - - 2594 - - - 2447 - 97.3 - - 2554 - - - - - - - - 15.08 15.11 15.11
14537 603.0 8.3 1058 14543 roll 0.80 - - 2606 - 2.35 0.050 1053 -593.2 97.3 - - 2554 - - - - - - - - 15.10 14.45 15.12
14574 599.8 8.5 1065 14578 done 0.80 - - 2606 - 2.38 0.053 2440 582.8 97.3 - - 2554 - - - - - - - - 14.61 14.50 14.66
14880 574.0 8.0 1081 14888 roll 0.80 - - 2606 - 2.45 0.080 3844 573.1 97.3 - - 2554 - - - - - - - - 15.09 14.39 15.11
14950 567.5 9.2 1095 14954 done 0.80 - - 2617 - 2.30 0.036 2429 -615.2 97.3 - - 2553 - - - - - - - - 14.67 14.61 14.70
15263 543.5 7.3 1112 15267 roll 0.82 - - 2628 - 2.33 0.052 1047 -593.1 97.3 - - 2554 - - - - - - - - 15.08 14.50 15.11
15382 535.1 6.9 1135 15386 done 0.84 - - 2628 - 2.40 0.052 2444 582.1 97.3 - - 2553 - - - - - - - - 14.59 14.48 14.64
15686 513.8 7.1 1151 15692 roll 0.86 - - 2628 - 2.45 0.080 3845 571.8 97.3 - - 2553 - - - - - - - - 15.08 14.38 15.10
15729 510.2 8.1 1160 15734 done 0.86 0.15 0.273 2609 -126.7 2.28 0.036 2439 -616.7 97.3 - - 2553 - - - - - - - - 14.07 14.60 14.40
16044 490.3 6.2 1177 16048 roll 0.89 - - 2618 - 2.35 0.050 1043 -594.0 97.3 - - 2553 - - - - - - - - 15.07 14.50 15.09
16140 484.2 6.3 1196 16144 done 0.93 - - 2618 - 2.40 0.052 2441 582.5 97.3 - - 2553 - - - - - - - - 14.59 14.47 14.64
16445 463.8 6.7 1212 16447 done 0.96 - - 2619 - - - 2441 - 97.3 - - 2553 - - - - - - - - 15.09 15.12 15.12
16745 441.6 7.4 1227 16749 roll 0.97 - - 2629 - 2.38 0.050 1044 -587.0 97.3 - - 2553 - - - - - - - - 15.09 14.50 15.12
16827 435.4 7.6 1243 16831 done 0.97 - - 2630 - 2.40 0.051 2447 584.6 97.3 - - 2553 - - - - - - - - 14.59 14.47 14.64
17148 409.0 8.6 1262 17153 roll 0.97 - - 2630 - 2.45 0.080 3848 571.8 97.3 - - 2553 - - - - - - - - 15.09 14.36 15.12
17350 390.2 9.0 1302 17356 done 0.97 - - 2641 - 2.30 0.035 2438 -613.0 97.3 - - 2553 - - - - - - - - 14.65 14.58 14.68
17672 364.9 7.6 1321 17677 roll 0.97 - - 2641 - 2.50 0.080 3848 564.0 97.3 - - 2553 - - - - - - - - 15.09 14.37 15.12
17698 362.7 8.4 1326 17704 done 0.97 - - 2654 - 2.30 0.035 2430 -616.5 97.3 - - 2553 - - - - - - - - 14.66 14.59 14.69
18012 340.1 6.9 1343 18019 roll 0.99 - - 2654 - 2.50 0.080 3845 566.0 97.3 - - 2553 - - - - - - - - 15.08 14.37 15.11
18032 338.6 7.4 1347 18036 done 1.01 - - 2666 - 2.28 0.035 2439 -616.7 97.3 - - 2553 - - - - - - - - 14.66 14.59 14.69
18354 317.7 5.9 1366 18397 roll 1.04 - - 2677 - 2.38 0.051 1052 -582.8 136.0 34.35 1.258 2411 -4.1 0.200 - - - - - - 15.09 14.53 13.54
18444 310.8 9.4 1384 18448 done 1.04 - - 2677 - 2.38 0.054 2440 583.2 136.0 - - 2409 - - - - - - - - 14.61 14.51 14.64
18754 279.8 9.3 1401 18756 done 1.04 - - 2677 - - - 2440 - 136.0 - - 2407 - - - - - - - - 14.98 15.01 15.00
19055 249.0 10.8 1416 19060 roll 1.04 - - 2689 - 2.38 0.051 1060 -579.8 136.0 - - 2407 - - - - - - - - 15.01 14.44 15.04
19158 237.1 12.0 1436 19162 done 1.04 - - 2689 - 2.38 0.056 2445 581.9 136.0 - - 2406 - - - - - - - - 14.60 14.50 14.64
19350 214.8 11.7 1456 19356 roll 1.04 - - 2690 - 2.42 0.077 3853 581.8 136.0 - - 2406 - - - - - - - - 15.03 14.42 15.05
19379 211.0 13.3 1462 19385 done 1.04 0.15 0.271 2668 -146.7 2.28 0.037 2445 -617.5 136.0 - - 2406 - - - - - - - - 14.11 14.60 14.40
19574 190.6 10.5 1482 19579 roll 1.04 - - 2679 - 2.35 0.050 1038 -598.7 136.0 - - 2406 - - - - - - - - 15.02 14.52 15.04
19626 185.1 10.3 1492 19630 done 1.04 - - 2679 - 2.40 0.053 2446 586.7 136.0 - - 2406 - - - - - - - - 14.61 14.50 14.64
19811 166.4 10.0 1511 19815 roll 1.04 - - 2690 - 2.35 0.048 1041 -597.9 136.0 - - 2406 - - - - - - - - 15.04 14.52 15.07
19834 164.4 9.7 1515 19838 done 1.04 - - 2690 - 2.38 0.052 2441 588.2 136.0 - - 2406 - - - - - - - - 14.62 14.52 14.66
20025 147.5 7.2 1535 20032 roll 1.06 - - 2691 - 2.42 0.077 3848 581.4 136.0 - - 2406 - - - - - - - - 15.06 14.42 15.08
20260 131.9 7.3 1582 20266 done 1.08 - - 2702 - 2.28 0.035 2432 -621.1 136.0 - - 2406 - - - - - - - - 14.68 14.62 14.70
20446 122.9 2.6 1601 20535 roll 1.17 - - 2702 - 2.50 0.084 3849 566.8 232.1 82.57 1.017 2019 -4.7 0.108 - - - - - - 15.05 14.17 13.65
20699 94.1 17.2 1651 20703 done 1.17 - - 2714 - 2.28 0.037 2452 -612.7 232.1 - - 2014 - - - - - - - - 14.57 14.50 14.59
20891 68.6 10.5 1671 20895 roll 1.17 - - 2726 - 2.35 0.050 1043 -599.6 232.1 - - 2012 - - - - - - - - 14.90 14.49 14.93
20977 60.4 9.1 1688 20981 done 1.17 - - 2726 - 2.40 0.050 2450 586.2 232.1 - - 2011 - - - - - - - - 14.59 14.48 14.62
21169 51.4 4.8 1708 21226 roll 1.23 - - 2727 - 2.47 0.077 3856 569.2 290.2 49.30 0.887 1783 -4.6 0.051 - - - - - - 14.96 14.45 13.77
21456 33.0 2.3 1765 21551 done 1.33 - - 2741 - 2.30 0.034 2423 -623.0 391.4 89.05 0.842 1371 -4.6 0.035 - - - - - - 14.64 14.58 13.71
21734 16.1 8.8 1821 21741 roll 1.33 - - 2741 - 2.50 0.083 3846 569.2 391.4 - - 1369 - - - - - - - - 14.81 14.40 14.83
21853 end climb: SURFACE_DEPTH_REACHED
21853 begin surface coast
21876 end surface coast: CONTROL_FINISHED_OK
21876 begin surface
SM 1.29 - - - - -6.78 7.50 0.060 122 16.3 2.25 0.047 2522 1005.3 500.17 115.85 0.627 929 8.0 -0.002 - - - - 1 -