MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 590 * Raw log
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• Previous call tries 1 • 201.46 of 350.00 AH used of 24V (42.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.2 deg, depth 1.25 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 20 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
6 begin dive
10 - - - 83 VBD -0.67 - - 95 - - - 2497 - -97.3 -71.35 0.005 2608 - - - - - - - - 14.83 - 14.86
87 5.0 -13.6 15 119 roll -0.67 9.27 0.345 2109 217.3 2.40 0.069 1102 -581.2 -97.3 -14.23 0.009 3368 -53.4 5.790 - - - - - - 13.88 12.57 14.33
257 51.1 -20.2 49 261 done -0.67 - - 2101 - 2.40 0.060 2504 584.2 -97.3 - - 3368 - - - - - - - - 14.58 14.46 14.62
442 86.6 -16.2 68 446 roll -0.67 - - 2089 - 2.40 0.077 3905 583.8 -97.3 - - 3368 - - - - - - - - 15.00 14.46 15.02
675 119.6 -12.3 114 680 done -0.67 - - 2090 - 2.25 0.031 2485 -631.1 -97.3 - - 3368 - - - - - - - - 14.72 14.66 14.74
868 144.8 -13.5 134 873 roll -0.67 - - 2079 - 2.45 0.082 3900 577.6 -97.3 - - 3369 - - - - - - - - 15.04 14.49 15.07
985 161.8 -13.4 157 990 done -0.67 0.12 0.221 2107 233.3 2.22 0.033 2509 -626.6 -97.3 - - 3368 - - - - - - - - 14.36 14.66 14.57
1171 184.6 -12.4 176 1178 roll -0.67 - - 2098 - 2.42 0.086 3899 574.4 -97.3 - - 3368 - - - - - - - - 15.06 14.49 15.08
1206 189.1 -12.9 183 1210 done -0.67 - - 2098 - 2.25 0.035 2499 -622.2 -97.3 - - 3368 - - - - - - - - 14.73 14.66 14.76
1390 213.4 -13.0 202 1395 roll -0.67 - - 2087 - 2.45 0.092 3892 568.6 -97.3 - - 3368 - - - - - - - - 15.07 14.44 15.10
1433 218.8 -12.9 210 1438 done -0.67 - - 2087 - 2.25 0.042 2513 -612.9 -97.3 - - 3368 - - - - - - - - 14.71 14.63 14.74
1625 243.6 -12.8 230 1627 done -0.67 - - 2087 - - - 2513 - -97.3 - - 3366 - - - - - - - - 15.07 15.11 15.10
1816 268.0 -12.8 242 1818 done -0.67 - - 2087 - - - 2512 - -97.3 - - 3365 - - - - - - - - 15.08 15.11 15.10
2115 304.2 -12.0 257 2117 done -0.67 - - 2087 - - - 2512 - -97.3 - - 3363 - - - - - - - - 15.09 15.12 15.12
2415 339.5 -11.7 272 2420 roll -0.67 - - 2076 - 2.45 0.092 3894 564.1 -97.3 - - 3361 - - - - - - - - 15.09 14.46 15.12
2453 344.0 -12.6 279 2458 done -0.67 0.15 0.202 2113 246.7 2.30 0.040 2477 -616.1 -97.3 - - 3360 - - - - - - - - 14.36 14.66 14.56
2757 375.3 -10.2 295 2759 done -0.67 - - 2113 - - - 2475 - -97.3 - - 3359 - - - - - - - - 15.09 15.12 15.11
3056 406.7 -10.5 310 3061 roll -0.67 - - 2104 - 2.53 0.096 3894 560.9 -97.3 - - 3357 - - - - - - - - 15.09 14.42 15.12
3119 413.5 -11.0 322 3124 done -0.67 - - 2104 - 2.28 0.040 2489 -616.2 -97.3 - - 3356 - - - - - - - - 14.73 14.66 14.75
3441 450.0 -11.3 341 3443 done -0.67 - - 2104 - - - 2489 - -97.3 - - 3354 - - - - - - - - 15.09 15.12 15.12
3742 481.7 -10.1 356 3749 roll -0.67 - - 2093 - 2.50 0.090 3899 564.0 -97.3 - - 3352 - - - - - - - - 15.09 14.42 15.11
3777 485.4 -10.6 363 3781 done -0.67 - - 2093 - 2.28 0.035 2494 -616.2 -97.3 - - 3352 - - - - - - - - 14.71 14.64 14.73
4082 516.9 -10.1 379 4084 done -0.67 - - 2093 - - - 2492 - -97.3 - - 3351 - - - - - - - - 15.09 15.12 15.11
4382 546.4 -9.9 394 4387 roll -0.67 - - 2082 - 2.50 0.096 3893 560.4 -97.3 - - 3349 - - - - - - - - 15.08 14.40 15.11
4434 551.9 -10.3 404 4439 done -0.67 0.12 0.208 2112 250.0 2.25 0.035 2495 -621.3 -97.3 - - 3349 - - - - - - - - 14.35 14.64 14.53
4747 577.3 -8.0 421 4755 roll -0.67 - - 2103 - 2.50 0.092 3897 560.8 -97.3 - - 3348 - - - - - - - - 15.09 14.38 15.11
4784 580.4 -8.8 428 4788 done -0.67 - - 2103 - 2.28 0.034 2492 -616.2 -97.3 - - 3347 - - - - - - - - 14.69 14.63 14.71
5088 606.5 -8.6 444 5092 roll -0.67 - - 2103 - 2.30 0.048 1108 -601.7 -97.3 - - 3346 - - - - - - - - 15.09 14.53 15.12
5114 608.9 -9.6 449 5122 done -0.67 - - 2092 - 2.40 0.056 2507 582.9 -97.3 - - 3346 - - - - - - - - 14.60 14.49 14.64
5430 639.5 -10.0 467 5434 roll -0.67 - - 2081 - 2.42 0.086 3890 571.5 -97.3 - - 3345 - - - - - - - - 15.07 14.37 15.10
5502 647.3 -10.9 481 5506 done -0.67 0.12 0.205 2112 258.3 2.25 0.036 2498 -618.7 -97.3 - - 3344 - - - - - - - - 14.32 14.62 14.50
5815 676.2 -9.2 498 5817 done -0.67 - - 2112 - - - 2497 - -97.3 - - 3343 - - - - - - - - 15.07 15.11 15.10
6113 703.4 -8.9 513 6121 roll -0.67 - - 2103 - 2.47 0.086 3893 565.2 -97.3 - - 3343 - - - - - - - - 15.09 14.35 15.11
6148 706.7 -9.5 520 6153 done -0.67 - - 2103 - 2.28 0.036 2494 -613.6 -97.3 - - 3343 - - - - - - - - 14.66 14.59 14.69
6455 735.2 -9.3 536 6461 roll -0.67 - - 2091 - 2.47 0.086 3890 565.2 -97.3 - - 3341 - - - - - - - - 15.07 14.33 15.09
6509 740.7 -9.9 547 6514 done -0.67 - - 2091 - 2.28 0.036 2495 -611.8 -97.3 - - 3341 - - - - - - - - 14.65 14.58 14.68
6815 770.7 -9.8 563 6817 done -0.67 - - 2091 - - - 2493 - -97.3 - - 3340 - - - - - - - - 15.07 15.10 15.09
7113 800.7 -10.0 578 7118 roll -0.67 - - 2081 - 2.50 0.086 3897 561.6 -97.3 - - 3339 - - - - - - - - 15.08 14.31 15.11
7182 807.7 -10.3 591 7187 done -0.67 0.12 0.205 2110 241.7 2.28 0.036 2496 -614.5 -97.3 - - 3339 - - - - - - - - 14.26 14.57 14.45
7500 835.4 -8.5 609 7505 roll -0.67 - - 2111 - 2.33 0.050 1110 -594.8 -97.3 - - 3338 - - - - - - - - 15.07 14.45 15.09
7521 837.4 -9.1 613 7525 done -0.67 - - 2102 - 2.40 0.057 2500 579.2 -97.3 - - 3338 - - - - - - - - 14.54 14.42 14.58
7842 866.4 -8.9 632 7849 roll -0.67 - - 2090 - 2.45 0.086 3890 567.3 -97.3 - - 3337 - - - - - - - - 15.08 14.29 15.11
7879 869.7 -9.6 639 7883 done -0.67 - - 2090 - 2.28 0.036 2501 -609.2 -97.3 - - 3337 - - - - - - - - 14.62 14.54 14.64
8183 898.2 -9.2 655 8185 done -0.67 - - 2090 - - - 2500 - -97.3 - - 3336 - - - - - - - - 15.07 15.11 15.10
8484 925.1 -9.0 670 8489 roll -0.67 - - 2080 - 2.50 0.086 3892 556.8 -97.3 - - 3335 - - - - - - - - 15.07 14.26 15.09
8533 929.7 -9.7 679 8538 done -0.67 0.12 0.206 2109 241.7 2.28 0.037 2497 -611.8 -97.3 - - 3335 - - - - - - - - 14.23 14.53 14.41
8850 955.1 -7.8 697 8852 done -0.67 - - 2110 - - - 2496 - -97.3 - - 3334 - - - - - - - - 15.08 15.11 15.10
9151 978.8 -7.9 712 9153 done -0.67 - - 2109 - - - 2496 - -97.3 - - 3334 - - - - - - - - 15.07 15.10 15.09
9307 end dive: TARGET_DEPTH_EXCEEDED
9307 begin apogee
9314 991.6 -8.0 720 9411 done -0.15 0.57 0.163 2275 291.2 - - 2496 - - 93.47 1.999 2967 -3.9 0.380 - - - - - - 14.12 13.97 12.57
9412 end apogee: CONTROL_FINISHED_OK
9412 begin climb
9415 994.1 - 725 9524 done 0.67 0.82 0.087 2549 334.1 - - 2496 - 97.3 105.00 1.975 2571 -3.8 0.370 - - - - - - 14.17 13.88 12.57
9816 974.4 7.8 745 9820 roll 0.67 - - 2560 - 2.45 0.051 1057 -587.3 97.3 - - 2563 - - - - - - - - 14.84 14.43 14.86
9887 968.4 8.0 759 9892 done 0.67 - - 2560 - 2.40 0.057 2443 577.5 97.3 - - 2562 - - - - - - - - 14.54 14.44 14.59
10203 943.2 8.2 776 10205 done 0.67 - - 2560 - - - 2443 - 97.3 - - 2561 - - - - - - - - 14.96 14.99 14.99
10500 919.7 7.8 791 10502 done 0.67 - - 2560 - - - 2442 - 97.3 - - 2560 - - - - - - - - 15.01 15.04 15.04
10801 896.6 7.7 806 10806 roll 0.67 - - 2571 - 2.38 0.051 1053 -583.6 97.3 - - 2559 - - - - - - - - 15.02 14.49 15.06
10848 892.9 7.7 815 10852 done 0.67 - - 2571 - 2.40 0.054 2448 581.2 97.3 - - 2558 - - - - - - - - 14.58 14.47 14.63
11165 868.9 7.5 833 11169 roll 0.68 - - 2571 - 2.45 0.080 3845 570.2 97.3 - - 2558 - - - - - - - - 15.04 14.38 15.07
11242 862.6 8.3 848 11249 done 0.68 0.15 0.246 2550 -140.0 2.30 0.037 2442 -610.0 97.3 - - 2557 - - - - - - - - 14.13 14.57 14.42
11569 841.1 6.4 868 11573 roll 0.71 - - 2559 - 2.38 0.052 1048 -585.7 97.3 - - 2557 - - - - - - - - 15.03 14.46 15.06
11662 835.3 6.2 886 11667 done 0.75 - - 2559 - 2.40 0.054 2443 581.2 97.3 - - 2556 - - - - - - - - 14.55 14.45 14.61
11975 814.8 6.6 903 11979 roll 0.78 - - 2560 - 2.47 0.080 3843 566.8 97.3 - - 2556 - - - - - - - - 15.05 14.34 15.08
12011 812.1 7.7 910 12016 done 0.78 - - 2570 - 2.33 0.036 2439 -602.6 97.3 - - 2556 - - - - - - - - 14.62 14.55 14.66
12318 791.6 6.5 926 12323 roll 0.81 - - 2581 - 2.35 0.051 1048 -591.9 97.3 - - 2556 - - - - - - - - 15.04 14.45 15.07
12366 788.4 6.6 935 12370 done 0.84 - - 2581 - 2.40 0.054 2441 580.4 97.3 - - 2555 - - - - - - - - 14.54 14.42 14.59
12683 766.7 7.2 953 12691 roll 0.86 - - 2581 - 2.47 0.080 3846 568.8 97.3 - - 2555 - - - - - - - - 15.05 14.32 15.07
12788 757.8 8.5 974 12793 done 0.86 - - 2592 - 2.33 0.037 2439 -603.9 97.3 - - 2555 - - - - - - - - 14.60 14.53 14.64
13107 734.7 7.1 992 13109 done 0.88 - - 2593 - - - 2437 - 97.3 - - 2555 - - - - - - - - 15.04 15.08 15.07
13406 713.3 7.2 1007 13412 roll 0.89 - - 2592 - 2.50 0.080 3846 563.6 97.3 - - 2555 - - - - - - - - 15.06 14.31 15.09
13524 704.1 8.2 1030 13529 done 0.89 - - 2603 - 2.33 0.036 2433 -606.4 97.3 - - 2555 - - - - - - - - 14.59 14.52 14.62
13825 680.7 7.9 1046 13830 roll 0.89 - - 2614 - 2.35 0.051 1048 -589.4 97.3 - - 2555 - - - - - - - - 15.06 14.42 15.09
13920 673.7 7.8 1064 13924 done 0.89 - - 2614 - 2.40 0.053 2441 580.4 97.3 - - 2554 - - - - - - - - 14.50 14.39 14.56
14231 649.5 7.5 1081 14235 roll 0.91 - - 2627 - 2.38 0.050 1050 -584.5 97.3 - - 2554 - - - - - - - - 15.06 14.42 15.09
14309 644.1 7.2 1096 14313 done 0.92 - - 2627 - 2.40 0.053 2441 579.6 97.3 - - 2554 - - - - - - - - 14.50 14.38 14.54
14614 621.8 6.8 1112 14618 roll 0.95 - - 2627 - 2.47 0.079 3849 570.0 97.3 - - 2554 - - - - - - - - 15.04 14.28 15.07
14692 615.8 8.0 1127 14698 done 0.95 - - 2640 - 2.30 0.035 2440 -612.6 97.3 - - 2554 - - - - - - - - 14.48 14.45 14.50
14997 593.6 7.1 1143 15001 roll 0.97 - - 2651 - 2.35 0.050 1048 -592.3 97.3 - - 2554 - - - - - - - - 15.04 14.41 15.07
15079 587.7 7.3 1159 15083 done 0.98 - - 2652 - 2.40 0.052 2443 581.2 97.3 - - 2554 - - - - - - - - 14.49 14.38 14.54
15401 563.8 7.6 1178 15403 done 0.98 - - 2652 - - - 2443 - 97.3 - - 2554 - - - - - - - - 15.05 15.08 15.07
15700 541.2 7.0 1193 15708 roll 1.00 - - 2656 - 2.47 0.078 3851 570.0 97.3 - - 2554 - - - - - - - - 15.06 14.28 15.09
15820 531.8 8.0 1216 15824 done 1.00 - - 2666 - 2.33 0.035 2435 -607.7 97.3 - - 2554 - - - - - - - - 14.57 14.50 14.60
16122 508.7 7.9 1232 16126 roll 1.00 - - 2678 - 2.35 0.050 1049 -589.8 97.3 - - 2554 - - - - - - - - 15.07 14.40 15.09
16262 498.0 8.0 1259 16269 done 1.00 - - 2678 - 2.42 0.052 2450 578.9 97.3 - - 2554 - - - - - - - - 14.47 14.36 14.53
16587 472.4 8.0 1279 16592 roll 1.00 - - 2690 - 2.40 0.049 1042 -586.7 97.3 - - 2554 - - - - - - - - 15.04 14.40 15.07
16609 470.7 7.5 1283 16617 done 1.01 0.15 0.257 2657 -220.0 2.40 0.051 2441 582.9 97.3 - - 2554 - - - - - - - - 13.93 14.38 14.25
16930 446.1 7.6 1302 16932 done 1.01 - - 2657 - - - 2441 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
17229 425.0 6.9 1317 17233 roll 1.04 - - 2657 - 2.47 0.077 3845 568.4 97.3 - - 2554 - - - - - - - - 15.06 14.26 15.08
17261 422.6 7.6 1323 17265 done 1.04 - - 2668 - 2.30 0.034 2432 -614.3 97.3 - - 2554 - - - - - - - - 14.58 14.51 14.61
17576 401.3 6.6 1340 17580 roll 1.07 - - 2679 - 2.33 0.050 1053 -591.8 97.3 - - 2554 - - - - - - - - 15.04 14.40 15.06
17614 398.5 7.0 1347 17618 done 1.09 - - 2679 - 2.40 0.051 2441 578.3 97.3 - - 2554 - - - - - - - - 14.47 14.36 14.52
17919 377.4 6.7 1363 17925 roll 1.11 - - 2683 - 2.47 0.078 3849 570.0 97.3 - - 2554 - - - - - - - - 15.04 14.27 15.07
18047 368.6 7.1 1388 18051 done 1.13 - - 2695 - 2.30 0.034 2439 -613.0 97.3 - - 2554 - - - - - - - - 14.57 14.50 14.60
18364 348.4 6.3 1406 18369 roll 1.17 - - 2706 - 2.35 0.049 1049 -591.5 97.3 - - 2554 - - - - - - - - 15.05 14.39 15.08
18593 335.2 5.5 1451 18643 done 1.21 - - 2706 - 2.40 0.051 2443 580.8 143.3 41.83 1.274 2382 -4.1 0.211 - - - - - - 14.47 14.36 13.19
18946 294.7 12.5 1477 18948 done 1.21 - - 2706 - - - 2443 - 143.3 - - 2378 - - - - - - - - 14.94 14.97 14.96
19247 255.6 12.6 1492 19250 done 1.21 - - 2706 - - - 2443 - 143.3 - - 2377 - - - - - - - - 14.98 15.02 15.01
19549 217.5 12.6 1519 19553 roll 1.21 - - 2718 - 2.35 0.050 1055 -590.6 143.3 - - 2377 - - - - - - - - 15.00 14.43 15.02
19595 211.0 13.2 1528 19599 done 1.21 - - 2718 - 2.40 0.052 2448 580.4 143.3 - - 2376 - - - - - - - - 14.52 14.41 14.56
19782 188.5 12.1 1547 19786 done 1.21 - - 2718 - - - 2448 - 143.3 - - 2376 - - - - - - - - 15.01 15.04 15.03
19970 167.5 10.5 1566 19972 done 1.21 - - 2718 - - - 2448 - 143.3 - - 2376 - - - - - - - - 15.03 15.06 15.06
20151 148.7 9.5 1584 20156 roll 1.21 - - 2733 - 2.38 0.049 1052 -586.6 143.3 - - 2376 - - - - - - - - 15.02 14.43 15.05
20385 127.4 8.9 1630 20389 done 1.21 - - 2733 - 2.38 0.052 2440 583.2 143.3 - - 2376 - - - - - - - - 14.52 14.42 14.56
20577 113.4 5.3 1650 20625 roll 1.26 - - 2733 - 2.42 0.076 3845 580.6 191.8 43.00 1.000 2185 -4.4 0.098 - - - - - - 15.03 14.03 13.42
20705 99.5 14.7 1675 20709 done 1.26 - - 2750 - 2.30 0.035 2439 -611.3 191.8 - - 2181 - - - - - - - - 14.57 14.51 14.60
20900 81.6 6.9 1695 20904 roll 1.28 - - 2761 - 2.35 0.048 1035 -597.4 191.8 - - 2180 - - - - - - - - 14.91 14.43 14.94
20977 77.2 3.7 1710 21050 done 1.36 - - 2761 - 2.40 0.049 2444 587.1 269.0 66.35 0.951 1871 -4.7 0.074 - - - - - - 14.54 14.44 13.43
21237 51.0 12.6 1744 21239 done 1.36 - - 2761 - - - 2444 - 269.0 - - 1866 - - - - - - - - 14.86 14.88 14.88
21418 42.1 3.2 1778 21503 roll 1.45 0.10 0.140 2822 610.0 2.42 0.073 3842 577.7 356.0 77.70 0.875 1514 -4.5 0.043 - - - - - - 14.60 14.00 13.47
21547 29.3 16.7 1803 21554 done 1.45 0.17 0.260 2796 -152.9 2.30 0.034 2436 -611.3 356.0 - - 1513 - - - - - - - - 14.03 14.43 14.30
21737 13.5 10.2 1841 21741 roll 1.45 - - 2806 - 2.33 0.048 1044 -597.4 356.0 - - 1512 - - - - - - - - 14.85 14.42 14.88
21799 7.1 10.9 1853 21803 done 1.45 - - 2806 - 2.38 0.052 2437 585.3 356.0 - - 1511 - - - - - - - - 14.52 14.42 14.56
21837 end climb: SURFACE_DEPTH_REACHED
21837 begin surface coast
21868 end surface coast: CONTROL_FINISHED_OK
21868 begin surface
SM 1.17 - - - - -6.79 7.65 0.050 117 15.3 0.10 0.137 2527 14970.0 500.17 148.30 0.669 928 6.3 -0.001 - - - - 1 -