MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 432 * Raw log
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• Previous call tries 2 • 154.07 of 350.00 AH used of 24V (55.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth 1.31 m • Intended pitch -19.6 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 16 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 83 VBD -0.67 - - 113 - - - 2492 - -97.3 -71.95 0.005 2661 - - - - - - - - 14.84 - 14.87
87 5.4 -15.2 15 115 roll -0.67 9.05 0.347 2096 219.1 2.42 0.092 3897 580.6 -97.3 -12.85 0.010 3367 -54.9 5.735 - - - - - - 14.02 13.50 14.45
211 46.4 -22.0 40 215 done -0.67 - - 2096 - 2.28 0.044 2514 -606.6 -97.3 - - 3367 - - - - - - - - 14.65 14.57 14.68
402 86.6 -17.9 61 406 roll -0.67 - - 2096 - 2.33 0.050 1090 -611.2 -97.3 - - 3367 - - - - - - - - 15.00 14.60 15.02
423 90.0 -16.3 65 428 done -0.67 - - 2086 - 2.38 0.057 2498 591.6 -97.3 - - 3367 - - - - - - - - 14.69 14.58 14.72
614 123.7 -17.4 85 618 roll -0.67 - - 2076 - 2.38 0.078 3903 590.3 -97.3 - - 3367 - - - - - - - - 15.03 14.57 15.06
730 143.2 -15.0 108 738 done -0.67 0.15 0.224 2111 233.3 2.28 0.034 2477 -625.4 -97.3 - - 3367 - - - - - - - - 14.40 14.71 14.62
927 165.7 -10.6 129 931 done -0.67 - - 2111 - - - 2475 - -97.3 - - 3368 - - - - - - - - 15.05 15.09 15.08
1115 186.9 -11.8 148 1119 roll -0.67 - - 2102 - 2.47 0.092 3893 574.1 -97.3 - - 3367 - - - - - - - - 15.09 14.54 15.11
1166 193.3 -12.1 158 1171 done -0.67 - - 2102 - 2.25 0.042 2508 -615.6 -97.3 - - 3367 - - - - - - - - 14.78 14.70 14.81
1351 216.4 -14.3 177 1355 roll -0.67 - - 2090 - 2.42 0.094 3887 569.8 -97.3 - - 3367 - - - - - - - - 15.09 14.54 15.12
1377 220.5 -15.7 182 1382 done -0.67 - - 2090 - 2.28 0.043 2490 -612.7 -97.3 - - 3366 - - - - - - - - 14.78 14.70 14.81
1562 249.3 -15.1 201 1564 done -0.67 - - 2090 - - - 2488 - -97.3 - - 3366 - - - - - - - - 15.10 15.13 15.13
1752 275.0 -12.5 211 1758 roll -0.67 - - 2080 - 2.45 0.093 3892 573.1 -97.3 - - 3365 - - - - - - - - 15.11 14.56 15.14
1782 278.5 -12.0 217 1787 done -0.67 0.12 0.216 2110 250.0 2.28 0.044 2495 -612.7 -97.3 - - 3365 - - - - - - - - 14.48 14.71 14.67
2094 306.2 -8.9 234 2096 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3362 - - - - - - - - 15.12 15.15 15.15
2394 334.2 -9.3 249 2396 done -0.67 - - 2110 - - - 2493 - -97.3 - - 3360 - - - - - - - - 15.13 15.16 15.16
2695 362.5 -9.7 264 2697 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3358 - - - - - - - - 15.12 15.16 15.15
2994 393.7 -10.8 279 2997 done -0.67 - - 2110 - - - 2493 - -97.3 - - 3356 - - - - - - - - 15.13 15.16 15.16
3295 425.8 -10.6 294 3300 roll -0.67 - - 2100 - 2.42 0.084 3892 578.1 -97.3 - - 3353 - - - - - - - - 15.13 14.57 15.15
3322 428.7 -11.2 299 3326 done -0.67 - - 2100 - 2.25 0.035 2486 -624.9 -97.3 - - 3353 - - - - - - - - 14.81 14.74 14.83
3637 462.2 -10.5 317 3640 done -0.67 - - 2100 - - - 2484 - -97.3 - - 3351 - - - - - - - - 15.14 15.16 15.16
3938 494.5 -10.8 332 3941 done -0.67 - - 2100 - - - 2485 - -97.3 - - 3350 - - - - - - - - 15.13 15.16 15.15
4238 526.0 -10.2 347 4240 done -0.67 - - 2101 - - - 2484 - -97.3 - - 3348 - - - - - - - - 15.13 15.16 15.16
4538 555.6 -9.7 362 4543 roll -0.67 - - 2090 - 2.45 0.087 3890 573.9 -97.3 - - 3345 - - - - - - - - 15.14 14.53 15.16
4586 560.4 -10.2 371 4590 done -0.67 - - 2089 - 2.25 0.037 2495 -620.0 -97.3 - - 3345 - - - - - - - - 14.78 14.71 14.81
4902 591.5 -9.4 389 4906 roll -0.67 - - 2089 - 2.30 0.050 1101 -606.1 -97.3 - - 3344 - - - - - - - - 15.12 14.62 15.15
4923 593.6 -9.8 393 4928 done -0.67 0.12 0.213 2109 166.7 2.40 0.060 2505 585.0 -97.3 - - 3344 - - - - - - - - 14.41 14.59 14.60
5243 619.3 -8.0 411 5247 roll -0.67 - - 2100 - 2.40 0.086 3891 577.5 -97.3 - - 3343 - - - - - - - - 15.10 14.50 15.12
5304 624.8 -8.8 423 5308 done -0.67 - - 2100 - 2.25 0.037 2498 -619.1 -97.3 - - 3342 - - - - - - - - 14.76 14.69 14.79
5626 654.1 -9.3 442 5630 roll -0.67 - - 2100 - 2.30 0.050 1106 -605.2 -97.3 - - 3341 - - - - - - - - 15.11 14.60 15.14
5657 657.1 -9.6 448 5661 done -0.67 - - 2089 - 2.42 0.063 2506 578.5 -97.3 - - 3341 - - - - - - - - 14.69 14.57 14.72
5968 687.8 -9.8 465 5972 roll -0.67 - - 2078 - 2.42 0.088 3900 576.0 -97.3 - - 3339 - - - - - - - - 15.12 14.47 15.15
6000 691.0 -10.9 471 6005 done -0.67 0.12 0.213 2108 250.0 2.28 0.037 2495 -616.2 -97.3 - - 3339 - - - - - - - - 14.40 14.67 14.59
6312 720.0 -9.2 488 6316 roll -0.67 - - 2109 - 2.30 0.050 1107 -603.5 -97.3 - - 3338 - - - - - - - - 15.12 14.58 15.14
6353 723.8 -9.4 496 6357 done -0.67 - - 2099 - 2.42 0.067 2507 578.5 -97.3 - - 3338 - - - - - - - - 14.66 14.54 14.70
6669 755.5 -10.3 514 6675 roll -0.67 - - 2088 - 2.45 0.088 3899 568.2 -97.3 - - 3337 - - - - - - - - 15.11 14.45 15.14
6706 759.6 -11.0 521 6710 done -0.67 - - 2088 - 2.30 0.044 2498 -609.1 -97.3 - - 3336 - - - - - - - - 14.72 14.64 14.74
7012 793.3 -11.2 537 7016 roll -0.67 - - 2088 - 2.35 0.052 1097 -596.2 -97.3 - - 3335 - - - - - - - - 15.10 14.56 15.13
7053 798.0 -11.1 545 7062 done -0.67 0.12 0.211 2108 166.7 2.42 0.064 2499 579.3 -97.3 - - 3335 - - - - - - - - 14.34 14.52 14.54
7374 828.4 -9.2 564 7378 roll -0.67 - - 2098 - 2.45 0.088 3899 571.4 -97.3 - - 3335 - - - - - - - - 15.11 14.42 15.14
7420 832.8 -9.8 573 7425 done -0.67 - - 2098 - 2.28 0.037 2496 -615.4 -97.3 - - 3335 - - - - - - - - 14.71 14.64 14.73
7731 863.1 -9.9 590 7733 done -0.67 - - 2098 - - - 2495 - -97.3 - - 3333 - - - - - - - - 15.11 15.14 15.14
8032 892.7 -9.7 605 8034 done -0.67 - - 2098 - - - 2495 - -97.3 - - 3332 - - - - - - - - 15.10 15.14 15.13
8331 920.6 -9.0 620 8333 done -0.67 - - 2099 - - - 2494 - -97.3 - - 3332 - - - - - - - - 15.11 15.14 15.14
8632 946.8 -8.5 635 8634 done -0.67 - - 2098 - - - 2495 - -97.3 - - 3331 - - - - - - - - 15.11 15.14 15.14
8932 972.1 -8.5 650 8938 roll -0.67 - - 2088 - 2.50 0.090 3893 559.2 -97.3 - - 3330 - - - - - - - - 15.10 14.38 15.13
8960 974.5 -9.3 655 8964 done -0.67 - - 2088 - 2.28 0.037 2498 -611.8 -97.3 - - 3330 - - - - - - - - 14.68 14.61 14.71
9133 end dive: TARGET_DEPTH_EXCEEDED
9133 begin apogee
9139 990.1 -8.9 666 9235 done -0.15 0.65 0.169 2274 286.2 - - 2497 - - 92.00 1.997 2968 -3.9 0.377 - - - - - - 14.21 14.05 12.71
9236 end apogee: CONTROL_FINISHED_OK
9236 begin climb
9240 992.3 - 671 9347 done 0.67 0.85 0.093 2556 331.8 - - 2497 - 97.3 102.47 1.990 2571 -3.9 0.373 - - - - - - 14.18 13.89 12.69
9637 968.8 8.3 706 9642 roll 0.67 - - 2567 - 2.47 0.054 1042 -589.1 97.3 - - 2563 - - - - - - - - 14.83 14.48 14.86
9736 961.1 7.8 725 9743 done 0.67 - - 2567 - 2.45 0.064 2443 571.8 97.3 - - 2560 - - - - - - - - 14.59 14.50 14.64
10061 935.0 8.0 745 10065 roll 0.67 - - 2567 - 2.47 0.085 3851 570.0 97.3 - - 2560 - - - - - - - - 14.98 14.48 15.00
10162 926.0 8.7 765 10167 done 0.67 0.12 0.261 2552 -125.0 2.33 0.037 2430 -609.9 97.3 - - 2559 - - - - - - - - 14.28 14.63 14.56
10486 902.3 7.4 784 10490 roll 0.69 - - 2561 - 2.33 0.053 1045 -594.4 97.3 - - 2558 - - - - - - - - 15.01 14.59 15.04
10544 898.0 7.4 795 10548 done 0.70 - - 2561 - 2.40 0.055 2442 582.1 97.3 - - 2557 - - - - - - - - 14.66 14.55 14.71
10848 874.7 7.8 811 10850 done 0.70 - - 2561 - - - 2442 - 97.3 - - 2557 - - - - - - - - 15.04 15.08 15.07
11148 852.5 7.3 826 11154 roll 0.71 - - 2561 - 2.47 0.083 3850 570.0 97.3 - - 2557 - - - - - - - - 15.05 14.48 15.09
11190 849.0 8.4 834 11196 done 0.71 - - 2573 - 2.30 0.037 2434 -615.7 97.3 - - 2556 - - - - - - - - 14.72 14.65 14.75
11513 825.5 7.0 853 11517 roll 0.73 - - 2583 - 2.33 0.051 1046 -595.7 97.3 - - 2556 - - - - - - - - 15.07 14.57 15.10
11632 817.1 7.2 876 11636 done 0.75 - - 2584 - 2.40 0.054 2441 581.2 97.3 - - 2555 - - - - - - - - 14.65 14.54 14.70
11934 795.0 7.3 892 11938 roll 0.76 - - 2583 - 2.45 0.083 3845 573.1 97.3 - - 2555 - - - - - - - - 15.08 14.46 15.11
11961 792.9 7.7 897 11965 done 0.76 - - 2594 - 2.30 0.037 2430 -615.2 97.3 - - 2555 - - - - - - - - 14.71 14.64 14.74
12277 769.4 7.6 915 12281 roll 0.76 - - 2605 - 2.33 0.052 1044 -594.8 97.3 - - 2555 - - - - - - - - 15.08 14.56 15.11
12391 760.9 7.5 937 12395 done 0.78 - - 2605 - 2.40 0.054 2444 583.3 97.3 - - 2555 - - - - - - - - 14.63 14.52 14.69
12702 734.9 9.1 954 12707 roll 0.78 - - 2617 - 2.40 0.052 1040 -585.0 97.3 - - 2555 - - - - - - - - 15.09 14.54 15.11
12744 730.8 9.9 962 12750 done 0.78 0.15 0.238 2583 -226.7 2.40 0.054 2440 583.3 97.3 - - 2554 - - - - - - - - 14.19 14.51 14.48
13068 703.3 8.4 981 13070 done 0.78 - - 2584 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.08 15.11 15.11
13367 678.7 8.1 996 13371 roll 0.78 - - 2594 - 2.38 0.052 1044 -586.6 97.3 - - 2554 - - - - - - - - 15.09 14.54 15.12
13435 673.6 8.0 1009 13439 done 0.78 - - 2594 - 2.40 0.054 2438 580.8 97.3 - - 2554 - - - - - - - - 14.62 14.50 14.66
13751 648.3 7.6 1027 13753 done 0.78 - - 2594 - - - 2438 - 97.3 - - 2554 - - - - - - - - 15.09 15.12 15.11
14051 627.9 6.6 1042 14056 roll 0.80 - - 2605 - 2.38 0.051 1041 -587.0 97.3 - - 2554 - - - - - - - - 15.09 14.52 15.12
14104 624.4 6.9 1052 14108 done 0.83 - - 2605 - 2.40 0.054 2441 583.3 97.3 - - 2553 - - - - - - - - 14.61 14.49 14.66
14415 602.4 7.2 1069 14422 roll 0.84 - - 2605 - 2.47 0.082 3852 571.3 97.3 - - 2554 - - - - - - - - 15.09 14.39 15.11
14475 597.5 8.4 1081 14479 done 0.84 - - 2616 - 2.30 0.037 2440 -613.9 97.3 - - 2553 - - - - - - - - 14.67 14.61 14.71
14796 572.3 8.0 1100 14800 roll 0.84 - - 2628 - 2.35 0.051 1044 -594.0 97.3 - - 2553 - - - - - - - - 15.09 14.51 15.12
14857 567.5 8.1 1112 14861 done 0.84 - - 2628 - 2.40 0.054 2442 582.5 97.3 - - 2553 - - - - - - - - 14.59 14.48 14.64
15182 544.0 7.1 1131 15184 done 0.86 - - 2628 - - - 2443 - 97.3 - - 2553 - - - - - - - - 15.06 15.09 15.09
15478 525.1 5.7 1146 15522 roll 0.91 - - 2628 - 2.45 0.083 3844 571.8 138.7 37.72 1.499 2400 -4.1 0.275 - - - - - - 15.09 14.44 13.24
15561 518.5 10.7 1162 15566 done 0.91 - - 2641 - 2.30 0.037 2441 -610.0 138.7 - - 2399 - - - - - - - - 14.61 14.54 14.63
15883 483.5 11.0 1181 15887 roll 0.91 - - 2656 - 2.35 0.053 1045 -594.0 138.7 - - 2395 - - - - - - - - 14.96 14.48 14.99
15949 475.9 11.5 1194 15955 done 0.91 0.15 0.245 2624 -213.3 2.40 0.054 2440 581.2 138.7 - - 2395 - - - - - - - - 14.16 14.47 14.45
16267 441.7 10.8 1212 16271 roll 0.91 - - 2635 - 2.38 0.054 1047 -585.3 138.7 - - 2394 - - - - - - - - 15.02 14.50 15.04
16307 437.3 11.0 1220 16311 done 0.91 - - 2635 - 2.40 0.054 2443 581.7 138.7 - - 2394 - - - - - - - - 14.60 14.49 14.65
16630 400.6 11.2 1239 16634 roll 0.91 - - 2647 - 2.38 0.054 1047 -586.6 138.7 - - 2394 - - - - - - - - 15.03 14.51 15.06
16680 394.5 11.7 1249 16684 done 0.91 - - 2648 - 2.40 0.054 2444 582.1 138.7 - - 2394 - - - - - - - - 14.61 14.50 14.66
16994 357.9 11.8 1266 16999 roll 0.91 - - 2663 - 2.40 0.054 1038 -585.8 138.7 - - 2394 - - - - - - - - 15.04 14.51 15.07
17032 353.2 12.0 1273 17040 done 0.91 0.17 0.242 2624 -229.4 2.42 0.054 2449 583.1 138.7 - - 2394 - - - - - - - - 14.12 14.50 14.35
17358 320.8 9.4 1293 17362 roll 0.91 - - 2635 - 2.40 0.054 1043 -585.8 138.7 - - 2394 - - - - - - - - 15.06 14.52 15.08
17420 314.7 9.8 1305 17424 done 0.91 - - 2635 - 2.40 0.053 2440 582.1 138.7 - - 2394 - - - - - - - - 14.61 14.50 14.66
17741 278.6 11.9 1324 17745 roll 0.91 - - 2635 - 2.45 0.081 3844 573.1 138.7 - - 2394 - - - - - - - - 15.08 14.40 15.11
17788 272.6 13.5 1333 17792 done 0.91 0.15 0.263 2624 -73.3 2.28 0.035 2438 -616.7 138.7 - - 2394 - - - - - - - - 14.12 14.62 14.44
18095 240.9 9.0 1355 18097 done 0.91 - - 2624 - - - 2437 - 138.7 - - 2394 - - - - - - - - 15.07 15.10 15.09
18275 225.7 8.1 1373 18277 done 0.91 - - 2624 - - - 2437 - 138.7 - - 2394 - - - - - - - - 15.07 15.10 15.09
18455 212.3 7.2 1391 18461 roll 0.92 - - 2624 - 2.50 0.083 3846 563.6 138.7 - - 2393 - - - - - - - - 15.07 14.40 15.10
18479 210.3 8.2 1396 18483 done 0.92 - - 2634 - 2.30 0.037 2436 -613.0 138.7 - - 2393 - - - - - - - - 14.68 14.61 14.71
18666 197.7 6.7 1415 18670 roll 0.95 - - 2645 - 2.35 0.051 1045 -591.9 138.7 - - 2394 - - - - - - - - 15.06 14.51 15.09
18704 195.0 7.3 1422 18709 done 0.96 - - 2645 - 2.40 0.053 2444 582.9 138.7 - - 2394 - - - - - - - - 14.60 14.50 14.66
18888 180.1 7.6 1441 18893 roll 0.96 - - 2645 - 2.47 0.079 3854 570.9 138.7 - - 2394 - - - - - - - - 15.06 14.40 15.09
18920 177.6 8.1 1447 18924 done 0.96 - - 2657 - 2.30 0.036 2433 -617.8 138.7 - - 2394 - - - - - - - - 14.68 14.62 14.71
19114 165.2 6.6 1467 19118 roll 0.99 - - 2669 - 2.33 0.050 1044 -596.1 138.7 - - 2394 - - - - - - - - 15.05 14.51 15.07
19217 158.6 6.0 1487 19255 done 1.03 - - 2669 - 2.38 0.051 2441 587.0 174.5 32.72 1.045 2256 -4.2 0.124 - - - - - - 14.60 14.50 13.53
19443 133.3 12.3 1514 19448 roll 1.03 - - 2669 - 2.42 0.080 3844 579.8 174.5 - - 2252 - - - - - - - - 14.95 14.41 14.97
19674 107.7 8.0 1560 19678 done 1.03 - - 2681 - 2.28 0.036 2439 -616.2 174.5 - - 2250 - - - - - - - - 14.66 14.59 14.68
19866 95.1 6.7 1580 19873 roll 1.05 - - 2682 - 2.47 0.080 3851 571.7 174.5 - - 2250 - - - - - - - - 15.00 14.42 15.03
20103 83.1 1.9 1627 20204 done 1.16 - - 2699 - 2.30 0.034 2420 -622.2 284.4 94.28 0.945 1807 -4.7 0.080 - - - - - - 14.69 14.62 13.55
20385 64.1 11.0 1666 20391 roll 1.16 - - 2725 - 2.50 0.071 3855 574.0 284.4 - - 1802 - - - - - - - - 14.85 14.40 14.86
20454 54.4 11.0 1679 20461 done 1.16 0.17 0.301 2709 -94.1 2.28 0.028 2416 -631.1 284.4 - - 1801 - - - - - - - - 14.03 14.59 14.36
20645 42.2 10.2 1715 20651 roll 1.16 - - 2717 - 2.55 0.086 3856 564.7 284.4 - - 1799 - - - - - - - - 14.91 14.34 14.94
20657 41.0 9.3 1718 20663 done 1.16 - - 2730 - 2.25 0.033 2446 -626.7 284.4 - - 1799 - - - - - - - - 14.66 14.61 14.69
20846 31.4 8.4 1755 20853 roll 1.16 0.15 0.243 2705 -166.7 2.45 0.080 3845 571.0 284.4 - - 1799 - - - - - - - - 14.23 14.35 14.34
20965 26.7 1.6 1779 21073 done 1.28 - - 2724 - 2.22 0.031 2433 -636.0 399.3 100.45 0.792 1338 -4.6 0.030 - - - - - - 14.70 14.65 13.69
21260 6.2 3.5 1837 21296 VBD 1.36 - - 2741 - - - 2432 - 479.9 33.33 0.724 1189 -4.5 0.007 - - - - - - 14.83 - 14.86
21297 end climb: SURFACE_DEPTH_REACHED
21297 begin surface coast
21335 end surface coast: CONTROL_FINISHED_OK
21335 begin surface
SM 1.27 - - - - -6.78 7.45 0.054 125 16.7 0.10 0.115 2557 -59250.0 500.17 78.45 0.549 929 11.8 -0.003 - - - - 1 -