MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 455 * Raw log
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• Previous call tries 1 • 160.90 of 350.00 AH used of 24V (54.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.4 deg, depth 1.35 m • Intended pitch -18.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 21 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 - - - 88 VBD -0.64 - - 88 - - - 2523 - -97.3 -76.78 0.005 2763 - - - - - - - - 14.85 - 14.88
92 5.4 -15.8 16 119 roll -0.64 9.27 0.350 2105 217.6 2.38 0.097 3877 568.9 -97.3 -11.07 0.011 3368 -54.7 5.198 - - - - - - 13.98 12.66 14.42
216 47.5 -27.9 41 220 done -0.64 - - 2105 - 2.22 0.038 2494 -623.0 -97.3 - - 3368 - - - - - - - - 14.69 14.62 14.71
402 88.4 -20.2 61 406 roll -0.64 - - 2094 - 2.40 0.085 3878 576.7 -97.3 - - 3368 - - - - - - - - 15.01 14.51 15.03
503 108.2 -21.0 81 507 done -0.64 - - 2094 - 2.20 0.035 2495 -628.6 -97.3 - - 3368 - - - - - - - - 14.76 14.69 14.78
694 140.2 -17.0 101 698 roll -0.64 - - 2093 - 2.25 0.046 1101 -619.6 -97.3 - - 3368 - - - - - - - - 15.05 14.67 15.08
791 153.7 -12.9 120 798 done -0.64 0.15 0.217 2119 173.3 2.33 0.056 2485 594.0 -97.3 - - 3368 - - - - - - - - 14.42 14.64 14.64
987 173.9 -11.1 141 991 roll -0.64 - - 2110 - 2.40 0.081 3898 588.8 -97.3 - - 3368 - - - - - - - - 15.07 14.59 15.09
1088 185.5 -11.4 161 1092 done -0.64 - - 2110 - 2.22 0.031 2479 -639.2 -97.3 - - 3369 - - - - - - - - 14.82 14.76 14.84
1279 207.9 -11.6 181 1283 roll -0.64 - - 2110 - 2.20 0.045 1111 -621.8 -97.3 - - 3368 - - - - - - - - 15.09 14.69 15.13
1325 213.3 -11.3 190 1329 done -0.64 - - 2099 - 2.33 0.055 2502 597.0 -97.3 - - 3367 - - - - - - - - 14.77 14.66 14.80
1511 235.9 -12.3 209 1515 roll -0.64 - - 2088 - 2.38 0.080 3894 584.9 -97.3 - - 3366 - - - - - - - - 15.10 14.60 15.13
1541 239.8 -12.7 215 1547 done -0.64 0.12 0.217 2119 258.3 2.20 0.031 2490 -638.2 -97.3 - - 3366 - - - - - - - - 14.50 14.78 14.69
1745 260.5 -10.0 231 1747 done -0.64 - - 2118 - - - 2488 - -97.3 - - 3365 - - - - - - - - 15.10 15.14 15.14
2044 290.3 -10.3 246 2048 roll -0.64 - - 2119 - 2.25 0.047 1111 -612.0 -97.3 - - 3363 - - - - - - - - 15.11 14.69 15.15
2075 293.6 -10.7 252 2079 done -0.64 - - 2110 - 2.33 0.054 2501 596.6 -97.3 - - 3363 - - - - - - - - 14.78 14.67 14.81
2388 330.2 -12.0 269 2390 done -0.64 - - 2110 - - - 2501 - -97.3 - - 3360 - - - - - - - - 15.11 15.14 15.14
2686 365.2 -11.3 284 2690 roll -0.64 - - 2099 - 2.38 0.083 3890 583.6 -97.3 - - 3358 - - - - - - - - 15.13 14.59 15.16
2722 369.3 -11.7 291 2728 done -0.64 - - 2098 - 2.20 0.034 2504 -630.0 -97.3 - - 3357 - - - - - - - - 14.83 14.76 14.85
3028 403.4 -11.1 307 3030 done -0.64 - - 2099 - - - 2503 - -97.3 - - 3355 - - - - - - - - 15.12 15.16 15.15
3327 435.7 -10.4 322 3329 done -0.64 - - 2099 - - - 2503 - -97.3 - - 3352 - - - - - - - - 15.13 15.16 15.16
3627 467.6 -10.6 337 3629 done -0.64 - - 2099 - - - 2504 - -97.3 - - 3350 - - - - - - - - 15.14 15.16 15.16
3929 498.9 -10.3 352 3931 done -0.64 - - 2099 - - - 2503 - -97.3 - - 3349 - - - - - - - - 15.11 15.15 15.14
4227 530.7 -10.5 367 4229 done -0.64 - - 2099 - - - 2503 - -97.3 - - 3348 - - - - - - - - 15.13 15.16 15.16
4528 562.5 -10.7 382 4532 roll -0.64 - - 2099 - 2.30 0.050 1107 -607.0 -97.3 - - 3345 - - - - - - - - 15.12 14.65 15.15
4574 567.6 -10.7 391 4580 done -0.64 0.12 0.210 2118 158.3 2.38 0.058 2501 585.7 -97.3 - - 3345 - - - - - - - - 14.44 14.62 14.63
4892 597.3 -9.1 409 4896 roll -0.64 - - 2110 - 2.40 0.086 3891 579.2 -97.3 - - 3343 - - - - - - - - 15.13 14.52 15.16
4919 599.7 -9.7 414 4923 done -0.64 - - 2110 - 2.25 0.034 2494 -620.9 -97.3 - - 3343 - - - - - - - - 14.78 14.71 14.81
5236 630.4 -9.7 432 5240 roll -0.64 - - 2109 - 2.28 0.048 1111 -606.6 -97.3 - - 3342 - - - - - - - - 15.12 14.63 15.14
5261 633.0 -10.5 437 5266 done -0.64 - - 2099 - 2.40 0.060 2505 580.8 -97.3 - - 3341 - - - - - - - - 14.70 14.59 14.74
5578 664.9 -10.1 455 5583 roll -0.64 - - 2087 - 2.40 0.086 3891 577.5 -97.3 - - 3340 - - - - - - - - 15.11 14.50 15.14
5615 668.9 -10.7 462 5619 done -0.64 0.12 0.210 2118 258.3 2.22 0.035 2501 -626.1 -97.3 - - 3340 - - - - - - - - 14.42 14.69 14.61
5921 695.9 -8.7 478 5925 roll -0.64 - - 2119 - 2.30 0.050 1109 -605.2 -97.3 - - 3339 - - - - - - - - 15.11 14.59 15.14
5952 698.7 -8.6 484 5959 done -0.64 - - 2109 - 2.40 0.060 2509 583.3 -97.3 - - 3338 - - - - - - - - 14.69 14.57 14.72
6262 725.7 -8.6 501 6266 roll -0.64 - - 2098 - 2.40 0.086 3891 575.8 -97.3 - - 3337 - - - - - - - - 15.12 14.47 15.15
6288 728.0 -9.2 506 6292 done -0.64 - - 2099 - 2.22 0.035 2504 -624.8 -97.3 - - 3337 - - - - - - - - 14.75 14.69 14.78
6606 756.8 -8.9 524 6608 done -0.64 - - 2099 - - - 2502 - -97.3 - - 3336 - - - - - - - - 15.10 15.14 15.13
6903 783.8 -9.0 539 6906 done -0.64 - - 2098 - - - 2502 - -97.3 - - 3335 - - - - - - - - 15.12 15.16 15.15
7205 811.4 -9.3 554 7209 roll -0.64 - - 2098 - 2.33 0.051 1108 -598.3 -97.3 - - 3334 - - - - - - - - 15.11 14.56 15.14
7245 815.4 -9.5 562 7253 done -0.64 0.12 0.208 2118 166.7 2.40 0.061 2502 580.8 -97.3 - - 3334 - - - - - - - - 14.36 14.53 14.54
7565 841.9 -8.3 581 7567 done -0.64 - - 2118 - - - 2502 - -97.3 - - 3333 - - - - - - - - 15.11 15.14 15.14
7867 866.4 -8.2 596 7869 done -0.64 - - 2118 - - - 2502 - -97.3 - - 3332 - - - - - - - - 15.10 15.13 15.13
8165 890.0 -7.7 611 8167 done -0.64 - - 2118 - - - 2502 - -97.3 - - 3331 - - - - - - - - 15.11 15.14 15.14
8466 912.6 -7.4 626 8471 roll -0.64 - - 2109 - 2.45 0.087 3890 566.5 -97.3 - - 3331 - - - - - - - - 15.10 14.40 15.13
8492 914.7 -8.2 631 8498 done -0.64 - - 2109 - 2.25 0.037 2500 -617.8 -97.3 - - 3331 - - - - - - - - 14.70 14.64 14.73
8809 940.1 -8.0 649 8813 roll -0.64 - - 2109 - 2.33 0.051 1110 -596.6 -97.3 - - 3330 - - - - - - - - 15.10 14.52 15.14
8836 942.2 -8.4 654 8844 done -0.64 - - 2098 - 2.40 0.059 2500 579.2 -97.3 - - 3330 - - - - - - - - 14.60 14.48 14.64
9151 969.2 -8.6 672 9157 roll -0.64 - - 2087 - 2.45 0.086 3894 569.0 -97.3 - - 3329 - - - - - - - - 15.10 14.38 15.13
9176 971.4 -9.4 677 9180 done -0.64 0.12 0.207 2118 258.3 2.28 0.037 2492 -614.9 -97.3 - - 3329 - - - - - - - - 14.32 14.61 14.50
9430 end dive: TARGET_DEPTH_EXCEEDED
9430 begin apogee
9437 990.4 -7.2 692 9532 done -0.15 0.55 0.159 2280 294.5 - - 2491 - - 91.35 1.993 2968 -4.0 0.381 - - - - - - 14.26 14.05 12.73
9533 end apogee: CONTROL_FINISHED_OK
9533 begin climb
9536 992.4 - 697 9647 done 0.64 0.77 0.087 2541 339.0 - - 2491 - 97.3 102.62 1.975 2569 -3.9 0.379 - - - - - - 14.19 13.59 12.66
9957 968.5 7.8 736 9962 roll 0.64 - - 2552 - 2.47 0.053 1047 -584.6 97.3 - - 2562 - - - - - - - - 14.86 14.49 14.89
10061 960.2 8.0 756 10066 done 0.64 - - 2554 - 2.40 0.055 2443 581.7 97.3 - - 2561 - - - - - - - - 14.60 14.51 14.65
10383 934.2 8.1 775 10388 roll 0.64 - - 2567 - 2.38 0.053 1045 -587.4 97.3 - - 2560 - - - - - - - - 14.97 14.56 15.00
10411 932.0 7.6 780 10415 done 0.64 - - 2567 - 2.40 0.054 2447 584.2 97.3 - - 2559 - - - - - - - - 14.65 14.54 14.69
10726 906.4 7.8 798 10729 done 0.64 - - 2567 - - - 2448 - 97.3 - - 2559 - - - - - - - - 15.03 15.07 15.06
11027 882.8 7.8 813 11029 done 0.64 - - 2567 - - - 2448 - 97.3 - - 2558 - - - - - - - - 15.05 15.08 15.07
11327 860.4 7.2 828 11329 done 0.66 - - 2567 - - - 2448 - 97.3 - - 2557 - - - - - - - - 15.07 15.10 15.09
11628 838.7 7.3 843 11633 roll 0.67 - - 2578 - 2.38 0.052 1047 -588.7 97.3 - - 2557 - - - - - - - - 15.07 14.57 15.10
11669 835.5 7.6 851 11675 done 0.67 0.12 0.243 2552 -216.7 2.38 0.054 2441 585.7 97.3 - - 2556 - - - - - - - - 14.27 14.55 14.54
11995 813.4 6.7 870 11999 roll 0.70 - - 2563 - 2.38 0.052 1042 -587.8 97.3 - - 2556 - - - - - - - - 15.05 14.56 15.08
12067 808.3 6.8 884 12071 done 0.73 - - 2563 - 2.40 0.053 2447 585.4 97.3 - - 2555 - - - - - - - - 14.65 14.54 14.70
12378 786.8 6.9 901 12380 done 0.75 - - 2563 - - - 2447 - 97.3 - - 2555 - - - - - - - - 15.08 15.11 15.11
12679 765.5 7.2 916 12683 roll 0.77 - - 2575 - 2.40 0.052 1044 -584.6 97.3 - - 2555 - - - - - - - - 15.07 14.54 15.10
12741 761.0 7.4 928 12745 done 0.78 - - 2575 - 2.40 0.053 2449 585.4 97.3 - - 2554 - - - - - - - - 14.64 14.53 14.69
13063 736.8 7.5 947 13068 roll 0.79 - - 2586 - 2.38 0.051 1047 -589.1 97.3 - - 2555 - - - - - - - - 15.08 14.54 15.11
13105 733.7 7.3 955 13110 done 0.81 - - 2586 - 2.38 0.053 2440 585.3 97.3 - - 2554 - - - - - - - - 14.63 14.52 14.68
13427 710.4 7.2 974 13432 roll 0.82 - - 2586 - 2.42 0.081 3844 580.2 97.3 - - 2554 - - - - - - - - 15.09 14.35 15.11
13481 706.1 8.4 984 13485 done 0.82 - - 2597 - 2.28 0.036 2439 -616.2 97.3 - - 2554 - - - - - - - - 14.69 14.62 14.72
13791 681.8 7.9 1001 13795 roll 0.82 - - 2608 - 2.35 0.052 1042 -594.5 97.3 - - 2554 - - - - - - - - 15.09 14.52 15.11
13833 678.6 7.9 1009 13837 done 0.82 - - 2609 - 2.40 0.052 2447 585.4 97.3 - - 2554 - - - - - - - - 14.62 14.50 14.66
14154 652.9 7.9 1028 14158 roll 0.82 - - 2620 - 2.38 0.050 1047 -588.2 97.3 - - 2554 - - - - - - - - 15.09 14.52 15.11
14180 650.8 7.5 1033 14184 done 0.83 - - 2621 - 2.38 0.052 2440 585.3 97.3 - - 2554 - - - - - - - - 14.61 14.50 14.66
14497 624.7 8.3 1051 14502 roll 0.83 - - 2621 - 2.45 0.079 3846 573.9 97.3 - - 2554 - - - - - - - - 15.08 14.40 15.11
14558 618.8 9.6 1063 14564 done 0.83 0.15 0.269 2600 -140.0 2.28 0.036 2437 -618.0 97.3 - - 2554 - - - - - - - - 14.09 14.61 14.41
14884 593.9 7.6 1082 14888 roll 0.83 - - 2610 - 2.33 0.051 1052 -594.4 97.3 - - 2553 - - - - - - - - 15.05 14.50 15.09
14921 591.0 7.5 1089 14925 done 0.84 - - 2610 - 2.38 0.052 2441 583.6 97.3 - - 2553 - - - - - - - - 14.59 14.48 14.64
15225 567.6 7.9 1105 15229 roll 0.84 - - 2622 - 2.38 0.051 1044 -587.0 97.3 - - 2553 - - - - - - - - 15.09 14.50 15.12
15287 562.9 7.7 1117 15291 done 0.84 - - 2622 - 2.40 0.051 2447 584.6 97.3 - - 2553 - - - - - - - - 14.59 14.49 14.64
15609 538.2 7.3 1136 15614 roll 0.86 - - 2635 - 2.38 0.050 1048 -587.8 97.3 - - 2553 - - - - - - - - 15.08 14.50 15.11
15682 532.9 7.2 1150 15686 done 0.87 - - 2635 - 2.40 0.051 2450 584.2 97.3 - - 2553 - - - - - - - - 14.59 14.48 14.64
15994 509.7 7.4 1167 15996 done 0.89 - - 2635 - - - 2450 - 97.3 - - 2553 - - - - - - - - 15.08 15.11 15.11
16294 488.6 6.6 1182 16298 roll 0.92 - - 2647 - 2.38 0.050 1048 -589.1 97.3 - - 2553 - - - - - - - - 15.09 14.50 15.11
16335 485.8 6.9 1190 16339 done 0.94 - - 2649 - 2.38 0.051 2441 585.3 97.3 - - 2553 - - - - - - - - 14.59 14.47 14.64
16656 463.0 6.8 1209 16660 roll 0.96 - - 2661 - 2.38 0.050 1042 -587.8 97.3 - - 2553 - - - - - - - - 15.09 14.50 15.12
16748 456.8 6.7 1227 16753 done 0.99 - - 2661 - 2.40 0.050 2446 585.0 97.3 - - 2553 - - - - - - - - 14.58 14.48 14.64
17061 435.0 7.1 1244 17063 done 1.01 - - 2661 - - - 2446 - 97.3 - - 2553 - - - - - - - - 15.09 15.11 15.11
17361 411.7 8.2 1259 17363 done 1.01 - - 2661 - - - 2446 - 97.3 - - 2553 - - - - - - - - 15.08 15.11 15.11
17660 388.8 7.3 1274 17665 roll 1.02 - - 2661 - 2.45 0.077 3843 570.2 97.3 - - 2553 - - - - - - - - 15.09 14.38 15.12
17732 383.3 7.6 1288 17736 done 1.02 - - 2673 - 2.28 0.034 2433 -618.4 97.3 - - 2553 - - - - - - - - 14.66 14.60 14.69
18044 361.2 6.6 1305 18048 roll 1.05 - - 2685 - 2.30 0.049 1055 -599.1 97.3 - - 2553 - - - - - - - - 15.08 14.50 15.11
18090 358.2 6.4 1314 18094 done 1.08 - - 2684 - 2.38 0.050 2446 584.5 97.3 - - 2553 - - - - - - - - 14.58 14.47 14.63
18408 336.8 6.9 1332 18410 done 1.11 - - 2684 - - - 2446 - 97.3 - - 2553 - - - - - - - - 15.08 15.11 15.10
18706 317.8 5.9 1347 18750 roll 1.15 - - 2685 - 2.50 0.079 3851 562.0 136.0 34.62 1.243 2412 -4.1 0.202 - - - - - - 15.09 14.40 13.26
18958 288.4 13.2 1397 18963 done 1.15 - - 2697 - 2.30 0.037 2443 -612.2 136.0 - - 2408 - - - - - - - - 14.62 14.56 14.64
19271 254.4 9.8 1414 19275 roll 1.15 - - 2708 - 2.35 0.051 1045 -594.9 136.0 - - 2407 - - - - - - - - 15.00 14.49 15.02
19307 251.1 8.8 1421 19311 done 1.15 - - 2708 - 2.40 0.051 2446 583.8 136.0 - - 2407 - - - - - - - - 14.59 14.48 14.62
19612 224.8 8.6 1451 19617 roll 1.15 - - 2724 - 2.38 0.050 1038 -591.6 136.0 - - 2407 - - - - - - - - 15.03 14.50 15.06
19624 223.9 8.7 1453 19628 done 1.15 - - 2724 - 2.40 0.051 2444 585.8 136.0 - - 2407 - - - - - - - - 14.61 14.50 14.64
19814 206.2 9.4 1473 19818 roll 1.15 - - 2724 - 2.42 0.075 3850 581.0 136.0 - - 2407 - - - - - - - - 15.04 14.42 15.07
19866 201.0 9.8 1483 19872 done 1.15 0.17 0.285 2703 -123.5 2.30 0.034 2423 -620.4 136.0 - - 2407 - - - - - - - - 14.02 14.61 14.34
20061 185.0 8.1 1503 20066 roll 1.15 - - 2704 - 2.50 0.076 3845 568.8 136.0 - - 2407 - - - - - - - - 15.04 14.41 15.06
20164 175.8 9.1 1523 20169 done 1.15 - - 2716 - 2.28 0.034 2433 -619.3 136.0 - - 2407 - - - - - - - - 14.67 14.62 14.70
20356 161.9 6.4 1543 20361 roll 1.18 - - 2716 - 2.45 0.075 3845 576.3 136.0 - - 2406 - - - - - - - - 15.05 14.42 15.07
20548 152.9 3.2 1581 20632 done 1.26 - - 2728 - 2.28 0.034 2423 -623.7 222.2 76.18 1.041 2061 -4.5 0.129 - - - - - - 14.69 14.62 13.45
20818 121.8 13.9 1617 20822 roll 1.26 - - 2739 - 2.30 0.051 1057 -593.9 222.2 - - 2055 - - - - - - - - 14.86 14.43 14.88
21051 101.7 6.2 1663 21056 done 1.30 - - 2739 - 2.38 0.052 2447 584.0 222.2 - - 2053 - - - - - - - - 14.57 14.47 14.62
21244 87.4 9.6 1683 21249 roll 1.30 - - 2739 - 2.42 0.075 3851 580.2 222.2 - - 2053 - - - - - - - - 14.97 14.42 15.00
21477 72.2 1.1 1729 21597 done 1.43 0.12 0.120 2808 575.0 2.25 0.032 2437 -628.4 345.8 108.07 0.902 1557 -4.6 0.071 - - - - - - 14.55 14.62 13.53
21776 42.8 8.8 1779 21781 roll 1.43 - - 2818 - 2.30 0.048 1058 -599.6 345.8 - - 1555 - - - - - - - - 14.82 14.45 14.85
21943 27.0 8.7 1812 21950 done 1.43 0.12 0.250 2792 -216.7 2.35 0.051 2443 589.4 345.8 - - 1553 - - - - - - - - 14.21 14.49 14.45
22134 10.5 9.8 1850 22137 done 1.43 - - 2792 - - - 2443 - 345.8 - - 1553 - - - - - - - - 14.93 14.97 14.96
22201 end climb: SURFACE_DEPTH_REACHED
22201 begin surface coast
22226 end surface coast: CONTROL_FINISHED_OK
22226 begin surface
SM 1.30 - - - - -6.79 7.53 0.050 120 15.9 0.10 0.149 2525 25190.0 500.17 156.05 0.653 928 5.9 -0.001 - - - - 1 -