MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 478 * Raw log
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• Previous call tries 1 • 167.87 of 350.00 AH used of 24V (52.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.4 deg, depth 1.37 m • Intended pitch -18.5 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 19 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 -0.64 - - 124 - - - 2514 - -97.3 -71.60 0.005 2655 - - - - - - - - 14.84 - 14.86
87 5.4 -15.2 15 115 roll -0.64 9.05 0.347 2112 219.7 2.33 0.063 1108 -603.4 -97.3 -13.12 0.010 3366 -54.2 5.693 - - - - - - 13.98 13.48 14.41
217 48.7 -26.0 41 221 done -0.64 - - 2104 - 2.35 0.060 2486 586.4 -97.3 - - 3366 - - - - - - - - 14.62 14.52 14.66
408 97.8 -21.1 61 411 roll -0.64 - - 2092 - 2.38 0.074 3894 591.6 -97.3 - - 3366 - - - - - - - - 15.00 14.53 15.02
440 103.1 -16.8 67 445 done -0.64 0.12 0.239 2119 225.0 2.20 0.031 2485 -640.5 -97.3 - - 3366 - - - - - - - - 14.36 14.69 14.57
632 130.5 -12.3 87 638 roll -0.64 - - 2111 - 2.42 0.078 3900 584.7 -97.3 - - 3366 - - - - - - - - 15.04 14.54 15.06
702 139.9 -14.0 101 706 done -0.64 - - 2110 - 2.20 0.033 2506 -633.6 -97.3 - - 3366 - - - - - - - - 14.78 14.71 14.78
893 164.8 -12.4 121 897 roll -0.64 - - 2110 - 2.28 0.046 1101 -616.2 -97.3 - - 3366 - - - - - - - - 15.07 14.66 15.09
919 167.9 -12.5 126 924 done -0.64 - - 2100 - 2.38 0.058 2506 590.3 -97.3 - - 3366 - - - - - - - - 14.73 14.62 14.76
1104 191.1 -13.3 145 1108 roll -0.64 - - 2089 - 2.35 0.078 3893 590.2 -97.3 - - 3366 - - - - - - - - 15.08 14.58 15.11
1246 209.8 -12.9 173 1251 done -0.64 0.12 0.220 2118 241.7 2.20 0.032 2494 -635.9 -97.3 - - 3366 - - - - - - - - 14.47 14.74 14.65
1441 231.5 -10.9 193 1445 roll -0.64 - - 2109 - 2.42 0.081 3896 579.3 -97.3 - - 3365 - - - - - - - - 15.07 14.57 15.09
1512 240.2 -11.9 207 1517 done -0.64 - - 2109 - 2.20 0.032 2502 -633.6 -97.3 - - 3365 - - - - - - - - 14.81 14.75 14.83
1704 262.9 -11.8 222 1709 roll -0.64 - - 2098 - 2.40 0.086 3893 579.6 -97.3 - - 3364 - - - - - - - - 15.09 14.57 15.12
1741 267.3 -11.7 229 1745 done -0.64 - - 2098 - 2.20 0.032 2500 -633.2 -97.3 - - 3364 - - - - - - - - 14.81 14.75 14.83
2046 301.2 -11.1 245 2050 roll -0.64 - - 2098 - 2.28 0.047 1101 -613.6 -97.3 - - 3361 - - - - - - - - 15.11 14.69 15.14
2083 305.2 -10.8 252 2090 done -0.64 0.12 0.213 2118 166.7 2.38 0.055 2507 590.8 -97.3 - - 3361 - - - - - - - - 14.47 14.64 14.66
2407 336.8 -9.5 272 2411 roll -0.64 - - 2109 - 2.38 0.083 3893 582.4 -97.3 - - 3358 - - - - - - - - 15.12 14.57 15.15
2427 338.8 -10.2 276 2431 done -0.64 - - 2109 - 2.22 0.034 2491 -631.5 -97.3 - - 3358 - - - - - - - - 14.81 14.75 14.83
2749 370.4 -9.7 295 2752 done -0.64 - - 2109 - - - 2489 - -97.3 - - 3356 - - - - - - - - 15.11 15.14 15.14
3048 399.6 -9.8 310 3053 roll -0.64 - - 2109 - 2.28 0.047 1103 -607.9 -97.3 - - 3353 - - - - - - - - 15.12 14.66 15.15
3099 404.8 -10.0 320 3103 done -0.64 - - 2098 - 2.38 0.057 2501 587.4 -97.3 - - 3352 - - - - - - - - 14.73 14.62 14.77
3411 438.1 -10.7 337 3413 done -0.64 - - 2098 - - - 2501 - -97.3 - - 3350 - - - - - - - - 15.11 15.14 15.14
3710 470.2 -10.6 352 3714 roll -0.64 - - 2087 - 2.42 0.085 3900 578.1 -97.3 - - 3349 - - - - - - - - 15.12 14.53 15.15
3758 475.2 -11.0 361 3763 done -0.64 0.15 0.199 2125 253.3 2.25 0.035 2492 -625.8 -97.3 - - 3348 - - - - - - - - 14.44 14.72 14.63
4075 504.8 -9.3 379 4077 done -0.64 - - 2125 - - - 2491 - -97.3 - - 3346 - - - - - - - - 15.12 15.15 15.14
4375 533.1 -9.6 394 4379 roll -0.64 - - 2126 - 2.28 0.047 1110 -605.7 -97.3 - - 3344 - - - - - - - - 15.13 14.63 15.15
4423 537.6 -9.6 403 4427 done -0.64 - - 2117 - 2.38 0.057 2505 586.1 -97.3 - - 3344 - - - - - - - - 14.70 14.59 14.74
4738 568.3 -9.6 421 4742 roll -0.64 - - 2106 - 2.40 0.086 3891 577.5 -97.3 - - 3343 - - - - - - - - 15.11 14.50 15.14
4774 571.8 -10.0 428 4778 done -0.64 - - 2106 - 2.25 0.035 2494 -620.9 -97.3 - - 3343 - - - - - - - - 14.76 14.70 14.78
5080 601.9 -9.7 444 5082 done -0.64 - - 2106 - - - 2493 - -97.3 - - 3342 - - - - - - - - 15.11 15.14 15.14
5379 630.2 -9.5 459 5384 roll -0.64 - - 2106 - 2.30 0.049 1103 -604.3 -97.3 - - 3339 - - - - - - - - 15.11 14.60 15.14
5426 634.7 -9.5 468 5433 done -0.64 - - 2095 - 2.40 0.058 2502 582.9 -97.3 - - 3339 - - - - - - - - 14.67 14.56 14.71
5742 666.9 -10.5 486 5747 roll -0.64 - - 2084 - 2.42 0.086 3896 576.0 -97.3 - - 3338 - - - - - - - - 15.11 14.46 15.13
5803 673.7 -11.0 498 5809 done -0.64 0.15 0.199 2122 253.3 2.25 0.036 2498 -621.3 -97.3 - - 3338 - - - - - - - - 14.38 14.67 14.57
6126 702.7 -9.1 517 6130 roll -0.64 - - 2122 - 2.30 0.049 1108 -604.3 -97.3 - - 3337 - - - - - - - - 15.10 14.57 15.13
6163 706.2 -9.2 524 6168 done -0.64 - - 2113 - 2.40 0.057 2505 582.1 -97.3 - - 3336 - - - - - - - - 14.65 14.53 14.69
6468 735.1 -9.4 540 6474 roll -0.64 - - 2103 - 2.42 0.088 3892 573.1 -97.3 - - 3335 - - - - - - - - 15.10 14.44 15.13
6517 740.0 -9.9 550 6522 done -0.64 - - 2103 - 2.25 0.036 2498 -619.6 -97.3 - - 3335 - - - - - - - - 14.72 14.66 14.75
6829 769.7 -9.3 567 6834 roll -0.64 - - 2102 - 2.33 0.050 1107 -597.0 -97.3 - - 3334 - - - - - - - - 15.11 14.54 15.14
6866 773.2 -9.4 574 6872 done -0.64 0.12 0.207 2122 166.7 2.40 0.058 2498 579.6 -97.3 - - 3333 - - - - - - - - 14.33 14.51 14.52
7170 797.3 -7.8 590 7172 done -0.64 - - 2122 - - - 2498 - -97.3 - - 3333 - - - - - - - - 15.11 15.14 15.13
7472 821.4 -8.2 605 7476 roll -0.64 - - 2113 - 2.45 0.088 3893 569.4 -97.3 - - 3332 - - - - - - - - 15.09 14.40 15.12
7504 824.1 -8.7 611 7508 done -0.64 - - 2113 - 2.25 0.036 2501 -618.7 -97.3 - - 3332 - - - - - - - - 14.71 14.64 14.73
7817 851.3 -8.8 628 7821 roll -0.64 - - 2113 - 2.33 0.050 1108 -597.9 -97.3 - - 3331 - - - - - - - - 15.09 14.52 15.12
7842 853.7 -9.8 633 7847 done -0.64 - - 2102 - 2.40 0.059 2501 580.4 -97.3 - - 3331 - - - - - - - - 14.61 14.48 14.64
8154 882.5 -9.2 650 8159 roll -0.64 - - 2091 - 2.47 0.089 3898 565.6 -97.3 - - 3330 - - - - - - - - 15.09 14.38 15.12
8191 886.1 -9.8 657 8196 done -0.64 0.12 0.204 2122 258.3 2.28 0.037 2499 -613.6 -97.3 - - 3331 - - - - - - - - 14.33 14.61 14.51
8497 909.9 -7.5 673 8501 roll -0.64 - - 2122 - 2.33 0.050 1108 -597.0 -97.3 - - 3329 - - - - - - - - 15.09 14.50 15.12
8538 913.1 -7.6 681 8542 done -0.64 - - 2113 - 2.40 0.059 2501 580.4 -97.3 - - 3329 - - - - - - - - 14.59 14.47 14.63
8854 936.2 -7.1 699 8861 roll -0.64 - - 2102 - 2.45 0.089 3892 567.8 -97.3 - - 3329 - - - - - - - - 15.10 14.35 15.13
8889 938.9 -7.8 706 8895 done -0.64 - - 2103 - 2.28 0.037 2499 -611.0 -97.3 - - 3328 - - - - - - - - 14.66 14.59 14.69
9194 961.8 -7.5 722 9199 roll -0.64 - - 2102 - 2.33 0.050 1107 -597.4 -97.3 - - 3328 - - - - - - - - 15.10 14.49 15.13
9242 965.6 -7.8 731 9249 done -0.64 0.12 0.209 2122 166.7 2.42 0.059 2506 578.1 -97.3 - - 3327 - - - - - - - - 14.26 14.44 14.45
9559 986.8 -6.9 749 9561 done -0.64 - - 2122 - - - 2506 - -97.3 - - 3327 - - - - - - - - 15.07 15.11 15.10
9613 end dive: TARGET_DEPTH_EXCEEDED
9613 begin apogee
9621 991.1 -7.1 752 9715 done -0.15 0.52 0.155 2276 296.2 - - 2431 - - 90.55 2.004 2968 -4.0 0.381 - - - - - - 14.23 14.03 12.65
9716 end apogee: CONTROL_FINISHED_OK
9716 begin climb
9719 993.3 - 757 9830 roll 0.64 0.80 0.091 2553 346.2 2.47 0.051 1055 -557.1 97.3 102.85 1.993 2569 -3.9 0.376 - - - - - - 14.17 13.95 12.61
9855 991.6 4.5 772 9927 done 0.70 - - 2553 - 2.47 0.055 2451 565.2 159.7 63.40 1.975 2315 -4.0 0.391 - - - - - - 14.26 14.16 12.62
10238 952.2 10.6 804 10242 roll 0.70 - - 2563 - 2.38 0.053 1061 -584.0 159.7 - - 2307 - - - - - - - - 14.86 14.49 14.89
10279 947.9 10.6 812 10283 done 0.70 - - 2563 - 2.38 0.056 2441 579.8 159.7 - - 2306 - - - - - - - - 14.59 14.49 14.63
10600 912.8 11.0 831 10604 roll 0.70 - - 2574 - 2.35 0.053 1060 -587.7 159.7 - - 2305 - - - - - - - - 14.97 14.55 15.00
10643 908.2 10.9 839 10647 done 0.70 - - 2574 - 2.38 0.056 2444 581.5 159.7 - - 2304 - - - - - - - - 14.64 14.53 14.69
10964 871.8 11.4 858 10966 done 0.70 - - 2574 - - - 2444 - 159.7 - - 2304 - - - - - - - - 15.02 15.05 15.05
11265 836.4 11.9 873 11267 done 0.70 - - 2574 - - - 2444 - 159.7 - - 2303 - - - - - - - - 15.04 15.07 15.07
11564 800.8 11.9 888 11568 roll 0.70 - - 2585 - 2.35 0.053 1057 -590.2 159.7 - - 2303 - - - - - - - - 15.06 14.57 15.09
11624 793.5 12.0 900 11629 done 0.70 - - 2585 - 2.38 0.055 2444 582.8 159.7 - - 2302 - - - - - - - - 14.66 14.54 14.70
11947 753.9 12.0 919 11951 roll 0.70 - - 2596 - 2.35 0.052 1058 -589.8 159.7 - - 2302 - - - - - - - - 15.05 14.56 15.08
12012 745.8 12.0 932 12020 done 0.70 0.15 0.223 2562 -226.7 2.38 0.054 2443 581.9 159.7 - - 2302 - - - - - - - - 14.27 14.54 14.53
12330 712.1 10.3 950 12335 roll 0.70 - - 2573 - 2.35 0.052 1060 -588.5 159.7 - - 2301 - - - - - - - - 15.06 14.54 15.09
12357 709.1 9.9 955 12361 done 0.70 - - 2573 - 2.38 0.055 2443 581.1 159.7 - - 2301 - - - - - - - - 14.64 14.52 14.69
12673 673.8 11.5 973 12675 done 0.70 - - 2573 - - - 2443 - 159.7 - - 2301 - - - - - - - - 15.07 15.11 15.10
12974 639.6 11.4 988 12976 done 0.70 - - 2574 - - - 2444 - 159.7 - - 2301 - - - - - - - - 15.07 15.10 15.10
13273 605.7 11.2 1003 13278 roll 0.70 - - 2584 - 2.35 0.052 1058 -589.8 159.7 - - 2301 - - - - - - - - 15.08 14.53 15.11
13350 597.1 11.3 1018 13355 done 0.70 - - 2585 - 2.38 0.054 2438 579.8 159.7 - - 2300 - - - - - - - - 14.62 14.50 14.67
13654 562.9 11.2 1034 13656 done 0.70 - - 2585 - - - 2438 - 159.7 - - 2300 - - - - - - - - 15.08 15.11 15.11
13954 530.4 10.7 1049 13959 roll 0.70 - - 2596 - 2.35 0.052 1060 -586.4 159.7 - - 2300 - - - - - - - - 15.08 14.51 15.10
13990 526.6 10.6 1056 13996 done 0.70 0.15 0.220 2561 -233.3 2.38 0.054 2443 581.1 159.7 - - 2300 - - - - - - - - 14.21 14.50 14.47
14315 496.7 9.0 1075 14317 done 0.70 - - 2561 - - - 2443 - 159.7 - - 2300 - - - - - - - - 15.07 15.10 15.09
14613 470.4 8.8 1090 14618 roll 0.70 - - 2573 - 2.35 0.051 1058 -589.4 159.7 - - 2300 - - - - - - - - 15.08 14.50 15.11
14656 466.5 9.1 1098 14661 done 0.70 - - 2573 - 2.38 0.054 2441 581.1 159.7 - - 2300 - - - - - - - - 14.60 14.49 14.66
14978 434.9 10.1 1117 14982 roll 0.70 - - 2584 - 2.35 0.051 1058 -588.5 159.7 - - 2300 - - - - - - - - 15.09 14.50 15.11
15014 431.1 10.7 1124 15019 done 0.70 - - 2584 - 2.38 0.054 2439 580.3 159.7 - - 2300 - - - - - - - - 14.59 14.47 14.64
15318 397.6 11.0 1140 15323 roll 0.70 - - 2595 - 2.38 0.052 1053 -582.4 159.7 - - 2300 - - - - - - - - 15.09 14.49 15.12
15365 392.5 11.2 1149 15370 done 0.70 0.15 0.218 2560 -233.3 2.40 0.054 2448 581.2 159.7 - - 2300 - - - - - - - - 14.19 14.47 14.45
15683 361.7 9.7 1167 15687 roll 0.70 - - 2572 - 2.35 0.051 1058 -591.5 159.7 - - 2300 - - - - - - - - 15.07 14.50 15.10
15766 354.1 9.0 1183 15770 done 0.70 - - 2571 - 2.38 0.054 2443 581.9 159.7 - - 2300 - - - - - - - - 14.59 14.47 14.64
16088 324.9 8.8 1202 16090 done 0.70 - - 2571 - - - 2443 - 159.7 - - 2300 - - - - - - - - 15.08 15.11 15.11
16387 297.4 9.2 1217 16391 roll 0.70 - - 2582 - 2.35 0.051 1058 -589.4 159.7 - - 2300 - - - - - - - - 15.09 14.50 15.12
16432 293.1 9.6 1226 16437 done 0.70 - - 2582 - 2.38 0.054 2440 580.7 159.7 - - 2300 - - - - - - - - 14.59 14.47 14.64
16750 260.9 9.3 1244 16754 roll 0.70 - - 2593 - 2.35 0.051 1054 -589.8 159.7 - - 2300 - - - - - - - - 15.08 14.49 15.11
16811 255.2 8.9 1256 16818 done 0.70 0.15 0.213 2558 -233.3 2.38 0.054 2440 582.4 159.7 - - 2300 - - - - - - - - 14.20 14.47 14.45
17121 233.4 6.7 1286 17126 roll 0.73 - - 2569 - 2.35 0.050 1055 -589.4 159.7 - - 2300 - - - - - - - - 15.07 14.49 15.10
17169 230.3 6.5 1295 17173 done 0.76 - - 2570 - 2.38 0.053 2440 581.9 159.7 - - 2300 - - - - - - - - 14.57 14.46 14.63
17354 216.7 8.1 1314 17359 roll 0.76 - - 2570 - 2.47 0.083 3851 571.3 159.7 - - 2300 - - - - - - - - 15.07 14.35 15.09
17422 210.2 9.8 1327 17426 done 0.76 - - 2581 - 2.28 0.036 2446 -616.2 159.7 - - 2300 - - - - - - - - 14.65 14.57 14.68
17607 194.8 8.2 1346 17612 roll 0.76 - - 2592 - 2.35 0.051 1048 -594.9 159.7 - - 2300 - - - - - - - - 15.06 14.47 15.09
17748 184.3 6.3 1374 17753 done 0.80 - - 2592 - 2.38 0.050 2441 585.3 159.7 - - 2300 - - - - - - - - 14.58 14.47 14.63
17941 174.6 5.2 1394 17993 roll 0.85 - - 2592 - 2.50 0.083 3845 561.6 210.9 45.17 1.072 2108 -4.3 0.135 - - - - - - 15.06 14.40 13.40
18120 158.2 10.6 1430 18125 done 0.85 - - 2603 - 2.30 0.037 2436 -612.6 210.9 - - 2104 - - - - - - - - 14.60 14.53 14.62
18313 140.5 8.4 1450 18318 roll 0.85 - - 2614 - 2.33 0.050 1046 -596.6 210.9 - - 2103 - - - - - - - - 14.95 14.47 14.97
18340 138.2 8.5 1455 18345 done 0.85 - - 2614 - 2.40 0.050 2447 583.8 210.9 - - 2102 - - - - - - - - 14.57 14.46 14.60
18526 121.4 10.6 1474 18531 roll 0.85 - - 2614 - 2.42 0.080 3845 577.7 210.9 - - 2102 - - - - - - - - 14.98 14.39 15.01
18543 119.5 10.5 1477 18547 done 0.85 - - 2626 - 2.30 0.035 2432 -614.3 210.9 - - 2102 - - - - - - - - 14.64 14.58 14.66
18728 107.5 6.1 1496 18735 roll 0.89 - - 2626 - 2.47 0.080 3844 571.7 210.9 - - 2102 - - - - - - - - 15.01 14.40 15.04
18959 99.4 2.1 1542 19058 done 0.99 - - 2640 - 2.28 0.033 2417 -625.9 315.6 91.95 0.949 1681 -4.6 0.093 - - - - - - 14.68 14.63 13.50
19239 82.7 4.2 1580 19309 roll 1.06 - - 2640 - 2.53 0.080 3843 563.6 384.7 63.58 0.903 1398 -4.5 0.079 - - - - - - 14.84 14.04 13.51
19492 64.0 8.4 1630 19498 done 1.06 - - 2652 - 2.25 0.034 2456 -616.4 384.7 - - 1396 - - - - - - - - 14.59 14.52 14.60
19677 52.3 6.5 1649 19685 roll 1.09 - - 2652 - 2.42 0.080 3845 574.0 384.7 - - 1396 - - - - - - - - 14.92 14.41 14.95
19758 46.0 8.0 1665 19762 done 1.09 - - 2663 - 2.28 0.035 2438 -617.1 384.7 - - 1396 - - - - - - - - 14.66 14.59 14.68
19945 33.3 6.6 1702 19950 roll 1.12 - - 2674 - 2.30 0.050 1045 -605.7 384.7 - - 1396 - - - - - - - - 14.96 14.54 14.99
19977 31.2 6.3 1708 19981 done 1.16 - - 2674 - 2.38 0.057 2440 586.1 384.7 - - 1396 - - - - - - - - 14.64 14.54 14.67
20164 20.2 6.6 1745 20168 done 1.19 0.12 0.116 2762 733.3 - - 2440 - 384.7 - - 1396 - - - - - - - - 14.71 14.73 14.73
20327 end climb: SURFACE_DEPTH_REACHED
20327 begin surface coast
20353 end surface coast: CONTROL_FINISHED_OK
20353 begin surface
SM 1.41 - - - - -6.77 7.40 0.051 126 17.0 0.10 0.142 2553 4350.0 500.17 122.32 0.607 929 7.6 -0.002 - - - - 1 -