MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 600 * Raw log
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• Previous call tries 1 • 204.46 of 350.00 AH used of 24V (41.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.2 deg, depth 1.17 m • Intended pitch -19.5 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: 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 - - 103 - - - 2502 - -97.3 -71.43 0.005 2582 - - - - - - - - 14.83 - 14.86
87 4.9 -13.5 15 119 roll -0.67 9.27 0.346 2098 215.2 2.45 0.098 3893 567.8 -97.3 -14.93 0.009 3368 -52.6 5.602 - - - - - - 13.88 12.59 14.33
317 65.6 -19.6 61 321 done -0.67 - - 2097 - 2.22 0.035 2513 -621.6 -97.3 - - 3368 - - - - - - - - 14.64 14.57 14.66
509 92.9 -12.5 81 516 roll -0.67 - - 2087 - 2.40 0.080 3899 577.5 -97.3 - - 3368 - - - - - - - - 15.00 14.43 15.02
543 97.8 -13.8 88 547 done -0.67 - - 2086 - 2.25 0.031 2485 -628.4 -97.3 - - 3368 - - - - - - - - 14.69 14.64 14.71
729 122.0 -13.5 107 735 roll -0.67 - - 2076 - 2.47 0.083 3906 575.3 -97.3 - - 3369 - - - - - - - - 15.02 14.45 15.05
964 155.0 -13.6 154 970 done -0.67 0.15 0.213 2112 240.0 2.25 0.033 2496 -626.7 -97.3 - - 3369 - - - - - - - - 14.31 14.66 14.53
1151 176.4 -11.3 173 1158 roll -0.67 - - 2103 - 2.42 0.080 3897 578.9 -97.3 - - 3369 - - - - - - - - 15.04 14.46 15.07
1287 192.8 -11.9 200 1291 done -0.67 - - 2103 - 2.22 0.032 2499 -629.7 -97.3 - - 3369 - - - - - - - - 14.73 14.67 14.75
1470 214.4 -11.5 219 1474 roll -0.67 - - 2103 - 2.28 0.047 1111 -608.8 -97.3 - - 3368 - - - - - - - - 15.07 14.57 15.09
1501 218.0 -11.6 225 1506 done -0.67 - - 2091 - 2.38 0.054 2507 586.6 -97.3 - - 3368 - - - - - - - - 14.66 14.55 14.69
1692 240.3 -11.7 245 1696 roll -0.67 - - 2081 - 2.38 0.080 3890 581.1 -97.3 - - 3367 - - - - - - - - 15.07 14.46 15.09
1719 243.3 -12.0 250 1725 done -0.67 0.12 0.211 2110 241.7 2.22 0.034 2496 -627.9 -97.3 - - 3367 - - - - - - - - 14.37 14.66 14.56
1904 263.0 -10.5 263 1906 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3366 - - - - - - - - 15.08 15.11 15.10
2203 295.6 -11.1 278 2205 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3365 - - - - - - - - 15.09 15.11 15.11
2504 328.3 -10.8 293 2510 roll -0.67 - - 2101 - 2.42 0.082 3890 576.9 -97.3 - - 3362 - - - - - - - - 15.08 14.38 15.10
2562 334.7 -10.9 304 2566 done -0.67 - - 2101 - 2.22 0.034 2503 -624.8 -97.3 - - 3361 - - - - - - - - 14.73 14.66 14.75
2868 369.2 -11.2 320 2870 done -0.67 - - 2101 - - - 2501 - -97.3 - - 3360 - - - - - - - - 15.08 15.11 15.11
3168 401.7 -10.8 335 3172 roll -0.67 - - 2090 - 2.45 0.083 3890 566.9 -97.3 - - 3358 - - - - - - - - 15.09 14.42 15.11
3204 405.8 -11.4 342 3209 done -0.67 - - 2090 - 2.25 0.034 2495 -620.0 -97.3 - - 3358 - - - - - - - - 14.71 14.65 14.74
3510 440.4 -11.3 358 3512 done -0.67 - - 2090 - - - 2494 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.11
3809 475.1 -11.5 373 3811 done -0.67 - - 2090 - - - 2494 - -97.3 - - 3355 - - - - - - - - 15.09 15.12 15.12
4109 508.9 -11.0 388 4113 roll -0.67 - - 2079 - 2.47 0.083 3894 566.8 -97.3 - - 3353 - - - - - - - - 15.09 14.40 15.12
4158 514.1 -11.3 397 4163 done -0.67 0.12 0.210 2109 250.0 2.25 0.034 2497 -620.9 -97.3 - - 3353 - - - - - - - - 14.33 14.63 14.52
4475 544.4 -9.1 415 4477 done -0.67 - - 2109 - - - 2497 - -97.3 - - 3352 - - - - - - - - 15.08 15.11 15.11
4775 571.2 -8.9 430 4777 done -0.67 - - 2109 - - - 2497 - -97.3 - - 3351 - - - - - - - - 15.09 15.11 15.11
5076 597.3 -8.6 445 5078 done -0.67 - - 2109 - - - 2497 - -97.3 - - 3349 - - - - - - - - 15.07 15.11 15.10
5375 622.8 -8.5 460 5379 roll -0.67 - - 2099 - 2.47 0.086 3892 564.8 -97.3 - - 3348 - - - - - - - - 15.09 14.35 15.11
5416 626.5 -9.2 468 5420 done -0.67 - - 2100 - 2.28 0.035 2501 -610.1 -97.3 - - 3348 - - - - - - - - 14.66 14.60 14.69
5739 656.8 -9.7 487 5741 done -0.67 - - 2099 - - - 2500 - -97.3 - - 3347 - - - - - - - - 15.07 15.10 15.09
6037 686.1 -10.0 502 6039 done -0.67 - - 2100 - - - 2500 - -97.3 - - 3347 - - - - - - - - 15.09 15.11 15.11
6338 716.2 -10.1 517 6346 roll -0.67 - - 2088 - 2.47 0.086 3892 563.6 -97.3 - - 3346 - - - - - - - - 15.07 14.32 15.10
6408 723.8 -10.6 531 6413 done -0.67 - - 2088 - 2.28 0.035 2495 -612.7 -97.3 - - 3345 - - - - - - - - 14.64 14.57 14.67
6720 757.0 -10.6 548 6724 roll -0.67 - - 2088 - 2.33 0.050 1108 -595.3 -97.3 - - 3344 - - - - - - - - 15.08 14.46 15.10
6777 763.1 -10.7 559 6785 done -0.67 0.12 0.212 2108 166.7 2.42 0.058 2506 577.7 -97.3 - - 3344 - - - - - - - - 14.21 14.41 14.40
7104 794.2 -9.5 579 7111 roll -0.67 - - 2098 - 2.45 0.086 3890 564.9 -97.3 - - 3343 - - - - - - - - 15.05 14.30 15.08
7185 802.2 -9.9 595 7189 done -0.67 - - 2098 - 2.28 0.036 2497 -611.0 -97.3 - - 3342 - - - - - - - - 14.62 14.54 14.64
7506 832.5 -9.2 614 7508 done -0.67 - - 2098 - - - 2495 - -97.3 - - 3342 - - - - - - - - 15.08 15.11 15.10
7807 858.6 -8.5 629 7814 roll -0.67 - - 2087 - 2.50 0.087 3894 559.6 -97.3 - - 3341 - - - - - - - - 15.07 14.28 15.09
7851 862.7 -9.1 638 7856 done -0.67 - - 2087 - 2.28 0.036 2502 -610.5 -97.3 - - 3341 - - - - - - - - 14.61 14.54 14.64
8168 891.1 -9.2 656 8170 done -0.67 - - 2087 - - - 2501 - -97.3 - - 3340 - - - - - - - - 15.07 15.10 15.10
8470 919.6 -9.6 671 8472 done -0.67 - - 2087 - - - 2501 - -97.3 - - 3340 - - - - - - - - 15.06 15.09 15.09
8768 949.8 -10.2 686 8773 roll -0.67 - - 2077 - 2.50 0.088 3890 555.6 -97.3 - - 3339 - - - - - - - - 15.07 14.25 15.10
8800 953.2 -10.8 692 8805 done -0.67 0.15 0.200 2113 240.0 2.28 0.037 2499 -610.1 -97.3 - - 3339 - - - - - - - - 14.17 14.52 14.37
9113 980.9 -8.8 709 9115 done -0.67 - - 2113 - - - 2497 - -97.3 - - 3338 - - - - - - - - 15.07 15.09 15.09
9229 end dive: TARGET_DEPTH_EXCEEDED
9229 begin apogee
9237 991.3 -8.6 715 9335 done -0.15 0.57 0.161 2279 291.2 - - 2497 - - 94.18 1.992 2968 -3.9 0.382 - - - - - - 14.11 13.96 12.57
9336 end apogee: CONTROL_FINISHED_OK
9336 begin climb
9339 994.6 - 720 9450 done 0.67 0.82 0.084 2555 336.6 - - 2497 - 97.3 105.28 1.975 2569 -3.8 0.373 - - - - - - 14.18 13.53 12.55
9757 975.1 7.7 741 9761 roll 0.67 - - 2555 - 2.42 0.084 3855 561.2 97.3 - - 2562 - - - - - - - - 14.84 14.35 14.88
9843 967.2 9.0 758 9848 done 0.67 - - 2566 - 2.35 0.037 2435 -604.3 97.3 - - 2561 - - - - - - - - 14.59 14.52 14.62
10161 941.6 7.9 776 10163 done 0.67 - - 2566 - - - 2433 - 97.3 - - 2559 - - - - - - - - 14.97 15.00 15.00
10461 918.2 7.7 791 10465 roll 0.67 - - 2577 - 2.35 0.054 1049 -588.9 97.3 - - 2559 - - - - - - - - 15.01 14.47 15.04
10513 914.0 8.2 801 10521 done 0.67 0.12 0.232 2551 -216.7 2.40 0.057 2444 581.2 97.3 - - 2557 - - - - - - - - 14.19 14.46 14.45
10824 891.8 7.0 818 10827 done 0.69 - - 2550 - - - 2444 - 97.3 - - 2557 - - - - - - - - 15.02 15.04 15.04
11122 870.8 6.8 833 11127 roll 0.72 - - 2561 - 2.42 0.053 1040 -580.2 97.3 - - 2556 - - - - - - - - 15.04 14.46 15.07
11165 867.9 6.9 841 11170 done 0.74 - - 2562 - 2.42 0.054 2439 578.1 97.3 - - 2556 - - - - - - - - 14.56 14.45 14.61
11487 846.4 6.3 860 11493 roll 0.77 - - 2562 - 2.47 0.081 3846 569.6 97.3 - - 2555 - - - - - - - - 15.04 14.35 15.07
11538 842.7 7.6 870 11543 done 0.77 - - 2573 - 2.30 0.037 2438 -612.2 97.3 - - 2555 - - - - - - - - 14.62 14.56 14.66
11851 821.5 6.7 887 11853 done 0.80 - - 2573 - - - 2437 - 97.3 - - 2555 - - - - - - - - 15.05 15.08 15.08
12150 800.8 6.7 902 12156 roll 0.83 - - 2583 - 2.38 0.052 1048 -583.6 97.3 - - 2554 - - - - - - - - 15.05 14.44 15.09
12178 799.0 6.8 907 12182 done 0.85 - - 2583 - 2.40 0.054 2440 580.0 97.3 - - 2554 - - - - - - - - 14.53 14.42 14.59
12494 776.1 7.7 925 12502 roll 0.85 - - 2584 - 2.47 0.080 3845 568.8 97.3 - - 2554 - - - - - - - - 15.05 14.31 15.09
12660 761.3 8.6 958 12665 done 0.85 - - 2594 - 2.30 0.036 2440 -610.9 97.3 - - 2554 - - - - - - - - 14.60 14.53 14.63
12979 736.9 7.6 976 12983 roll 0.85 - - 2605 - 2.40 0.052 1042 -582.5 97.3 - - 2554 - - - - - - - - 15.04 14.41 15.07
13121 725.8 7.6 1004 13125 done 0.85 - - 2605 - 2.42 0.054 2449 581.4 97.3 - - 2553 - - - - - - - - 14.50 14.39 14.56
13443 701.4 7.6 1023 13449 roll 0.85 - - 2605 - 2.47 0.080 3851 567.6 97.3 - - 2553 - - - - - - - - 15.05 14.29 15.08
13548 692.2 8.5 1044 13552 done 0.85 - - 2616 - 2.33 0.036 2434 -608.2 97.3 - - 2553 - - - - - - - - 14.58 14.52 14.62
13864 667.3 7.8 1062 13869 roll 0.85 - - 2626 - 2.38 0.052 1049 -581.9 97.3 - - 2553 - - - - - - - - 15.05 14.40 15.09
14013 655.9 7.4 1091 14018 done 0.86 - - 2626 - 2.40 0.053 2440 579.6 97.3 - - 2553 - - - - - - - - 14.50 14.38 14.54
14330 632.3 7.3 1109 14337 roll 0.88 - - 2627 - 2.47 0.080 3845 568.8 97.3 - - 2553 - - - - - - - - 15.05 14.27 15.08
14441 622.6 9.0 1131 14445 done 0.88 - - 2640 - 2.30 0.035 2439 -611.3 97.3 - - 2553 - - - - - - - - 14.57 14.51 14.61
14752 597.4 8.3 1148 14759 roll 0.88 - - 2640 - 2.53 0.078 3854 559.3 97.3 - - 2553 - - - - - - - - 15.05 14.27 15.08
14893 583.9 10.2 1176 14899 done 0.88 0.17 0.267 2615 -147.1 2.33 0.036 2439 -607.3 97.3 - - 2553 - - - - - - - - 13.88 14.49 14.23
15213 559.3 7.7 1194 15215 done 0.88 - - 2615 - - - 2437 - 97.3 - - 2553 - - - - - - - - 15.03 15.07 15.06
15512 536.5 7.4 1209 15516 roll 0.89 - - 2624 - 2.38 0.051 1043 -585.7 97.3 - - 2553 - - - - - - - - 15.04 14.38 15.07
15636 527.3 7.4 1233 15644 done 0.90 - - 2624 - 2.42 0.052 2448 580.6 97.3 - - 2553 - - - - - - - - 14.47 14.36 14.52
15957 503.7 7.3 1252 15961 roll 0.92 - - 2635 - 2.40 0.050 1046 -584.2 97.3 - - 2553 - - - - - - - - 15.04 14.38 15.07
15983 501.6 7.7 1257 15987 done 0.92 - - 2635 - 2.40 0.052 2440 580.8 97.3 - - 2553 - - - - - - - - 14.47 14.36 14.53
16301 479.8 6.4 1275 16308 roll 0.95 - - 2642 - 2.47 0.080 3845 568.8 97.3 - - 2553 - - - - - - - - 15.04 14.25 15.07
16496 464.2 8.1 1314 16501 done 0.95 - - 2654 - 2.33 0.035 2429 -607.7 97.3 - - 2553 - - - - - - - - 14.55 14.49 14.59
16802 443.4 6.4 1330 16807 roll 0.98 - - 2656 - 2.53 0.077 3845 559.7 97.3 - - 2553 - - - - - - - - 15.04 14.25 15.07
16839 440.7 7.1 1337 16844 done 1.00 - - 2667 - 2.30 0.034 2439 -611.3 97.3 - - 2552 - - - - - - - - 14.57 14.50 14.59
17146 420.3 6.8 1353 17150 roll 1.03 - - 2678 - 2.35 0.050 1050 -591.1 97.3 - - 2553 - - - - - - - - 15.04 14.38 15.07
17378 404.4 6.8 1399 17382 done 1.05 - - 2679 - 2.40 0.052 2441 579.6 97.3 - - 2553 - - - - - - - - 14.46 14.35 14.52
17691 382.9 6.9 1416 17695 roll 1.08 - - 2690 - 2.40 0.050 1046 -581.2 97.3 - - 2553 - - - - - - - - 15.04 14.38 15.07
17768 377.5 6.9 1431 17772 done 1.10 - - 2690 - 2.42 0.051 2448 579.3 97.3 - - 2552 - - - - - - - - 14.46 14.35 14.52
18074 356.5 6.7 1447 18078 roll 1.13 - - 2690 - 2.45 0.077 3844 569.8 97.3 - - 2553 - - - - - - - - 15.04 14.25 15.07
18180 348.1 7.8 1468 18184 done 1.13 - - 2702 - 2.30 0.034 2437 -611.7 97.3 - - 2553 - - - - - - - - 14.57 14.50 14.59
18498 326.4 6.8 1486 18503 roll 1.15 - - 2714 - 2.35 0.050 1051 -589.8 97.3 - - 2553 - - - - - - - - 15.04 14.38 15.07
18566 321.6 7.1 1499 18570 done 1.17 - - 2714 - 2.40 0.051 2444 580.4 97.3 - - 2553 - - - - - - - - 14.47 14.36 14.52
18883 301.6 6.0 1517 18922 roll 1.21 - - 2714 - 2.42 0.076 3844 578.5 134.1 32.85 1.230 2420 -4.0 0.194 - - - - - - 15.04 13.97 13.22
18994 290.8 12.7 1539 18998 done 1.21 - - 2726 - 2.30 0.035 2442 -609.6 134.1 - - 2417 - - - - - - - - 14.61 14.54 14.63
19301 254.2 12.1 1555 19303 done 1.21 - - 2728 - - - 2440 - 134.1 - - 2416 - - - - - - - - 14.96 14.99 14.99
19601 216.8 12.4 1583 19605 done 1.21 - - 2728 - - - 2440 - 134.1 - - 2416 - - - - - - - - 14.99 15.02 15.01
19791 193.9 11.8 1602 19793 done 1.21 - - 2728 - - - 2440 - 134.1 - - 2416 - - - - - - - - 15.00 15.03 15.03
19970 172.7 11.5 1620 19974 roll 1.21 - - 2740 - 2.35 0.050 1043 -594.5 134.1 - - 2416 - - - - - - - - 15.02 14.43 15.04
20051 163.5 11.6 1636 20055 done 1.21 - - 2740 - 2.40 0.051 2444 583.8 134.1 - - 2415 - - - - - - - - 14.53 14.42 14.57
20243 140.6 11.6 1656 20247 roll 1.21 - - 2754 - 2.38 0.051 1045 -587.8 134.1 - - 2415 - - - - - - - - 15.02 14.43 15.05
20269 137.5 11.1 1661 20277 done 1.21 0.15 0.275 2726 -186.7 2.40 0.050 2444 582.9 134.1 - - 2415 - - - - - - - - 13.98 14.43 14.27
20470 120.9 7.9 1682 20475 roll 1.21 - - 2738 - 2.38 0.048 1040 -589.9 134.1 - - 2415 - - - - - - - - 15.00 14.43 15.02
20527 115.9 7.9 1693 20531 done 1.21 - - 2738 - 2.40 0.050 2441 583.8 134.1 - - 2415 - - - - - - - - 14.53 14.42 14.57
20712 106.0 4.7 1712 20774 roll 1.27 - - 2738 - 2.42 0.074 3845 580.2 193.7 52.83 0.999 2176 -4.5 0.094 - - - - - - 15.03 14.00 13.40
20803 98.6 12.8 1730 20808 done 1.27 - - 2751 - 2.30 0.036 2442 -610.0 193.7 - - 2174 - - - - - - - - 14.57 14.50 14.59
20995 79.8 8.6 1750 21000 roll 1.27 - - 2752 - 2.47 0.076 3844 567.6 193.7 - - 2172 - - - - - - - - 14.91 14.32 14.94
21049 75.6 6.1 1760 21053 done 1.31 - - 2767 - 2.30 0.034 2427 -616.1 193.7 - - 2171 - - - - - - - - 14.58 14.52 14.60
21241 72.0 0.7 1780 21363 roll 1.44 - - 2792 - 2.58 0.070 3845 549.6 324.4 113.65 0.942 1644 -4.6 0.069 - - - - - - 14.96 14.20 13.35
21404 53.8 16.5 1812 21408 done 1.44 - - 2804 - 2.33 0.037 2452 -597.9 324.4 - - 1642 - - - - - - - - 14.43 14.36 14.45
21594 37.8 0.1 1847 21733 roll 1.58 - - 2805 - 2.47 0.078 3842 562.8 466.4 125.57 0.870 1064 -4.6 0.039 - - - - - - 14.83 13.91 13.40
21873 end climb: SURFACE_DEPTH_REACHED
21873 begin surface coast
21887 end surface coast: CONTROL_FINISHED_OK
21888 begin surface
SM 1.18 - - - - -6.77 7.75 0.054 122 15.6 2.28 0.032 2483 -2632.0 500.17 53.22 0.481 928 17.4 -0.004 - - - - 1 -