MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 606 * Raw log
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• Previous call tries 1 • 206.25 of 350.00 AH used of 24V (41.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth 1.20 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 14 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 83 VBD -0.67 - - 94 - - - 2517 - -97.3 -71.07 0.005 2570 - - - - - - - - 14.83 - 14.86
87 4.4 -11.6 15 120 roll -0.67 9.25 0.343 2104 217.3 2.40 0.068 1117 -583.3 -97.3 -15.57 0.008 3366 -51.1 5.492 - - - - - - 13.85 12.56 14.32
349 70.0 -17.4 67 353 done -0.67 - - 2095 - 2.33 0.058 2483 586.3 -97.3 - - 3367 - - - - - - - - 14.59 14.49 14.64
541 99.4 -11.4 87 545 roll -0.67 - - 2095 - 2.28 0.050 1111 -601.8 -97.3 - - 3367 - - - - - - - - 15.01 14.54 15.03
587 104.8 -11.5 96 591 done -0.67 - - 2085 - 2.38 0.061 2498 582.8 -97.3 - - 3367 - - - - - - - - 14.62 14.50 14.66
772 132.1 -15.7 115 776 roll -0.67 - - 2074 - 2.40 0.082 3896 582.5 -97.3 - - 3367 - - - - - - - - 15.04 14.46 15.07
814 138.4 -15.3 123 819 done -0.67 0.15 0.219 2109 233.3 2.22 0.031 2487 -634.7 -97.3 - - 3367 - - - - - - - - 14.31 14.66 14.53
1006 161.4 -10.4 143 1010 roll -0.67 - - 2110 - 2.25 0.047 1109 -612.4 -97.3 - - 3367 - - - - - - - - 15.06 14.59 15.09
1032 164.1 -10.2 148 1036 done -0.67 - - 2100 - 2.38 0.056 2510 588.7 -97.3 - - 3367 - - - - - - - - 14.66 14.56 14.69
1218 184.7 -11.6 167 1220 done -0.67 - - 2100 - - - 2510 - -97.3 - - 3367 - - - - - - - - 15.05 15.09 15.08
1397 206.6 -12.1 185 1402 roll -0.67 - - 2089 - 2.40 0.084 3893 576.2 -97.3 - - 3366 - - - - - - - - 15.07 14.47 15.09
1447 212.3 -12.3 194 1452 done -0.67 - - 2089 - 2.22 0.033 2499 -627.9 -97.3 - - 3366 - - - - - - - - 14.73 14.68 14.76
1629 234.5 -11.8 213 1631 done -0.67 - - 2089 - - - 2498 - -97.3 - - 3365 - - - - - - - - 15.07 15.11 15.10
1810 255.9 -12.2 229 1815 roll -0.67 - - 2079 - 2.45 0.085 3900 572.2 -97.3 - - 3365 - - - - - - - - 15.07 14.46 15.09
1858 262.1 -12.9 238 1863 done -0.67 0.12 0.211 2108 241.7 2.25 0.034 2492 -625.8 -97.3 - - 3364 - - - - - - - - 14.38 14.67 14.57
2175 296.8 -11.0 256 2182 roll -0.67 - - 2099 - 2.45 0.083 3896 573.1 -97.3 - - 3362 - - - - - - - - 15.09 14.46 15.11
2221 301.7 -11.1 265 2226 done -0.67 - - 2099 - 2.22 0.033 2500 -628.8 -97.3 - - 3361 - - - - - - - - 14.74 14.68 14.76
2538 337.5 -11.1 283 2540 done -0.67 - - 2099 - - - 2499 - -97.3 - - 3359 - - - - - - - - 15.09 15.13 15.12
2838 369.9 -10.7 298 2847 roll -0.67 - - 2088 - 2.45 0.085 3895 569.8 -97.3 - - 3358 - - - - - - - - 15.09 14.45 15.11
2869 373.3 -11.3 304 2873 done -0.67 - - 2088 - 2.25 0.034 2494 -622.7 -97.3 - - 3357 - - - - - - - - 14.73 14.66 14.76
3180 408.7 -11.5 321 3185 roll -0.67 - - 2077 - 2.47 0.084 3892 566.0 -97.3 - - 3355 - - - - - - - - 15.09 14.43 15.12
3212 412.5 -12.5 327 3217 done -0.67 0.12 0.210 2108 258.3 2.25 0.034 2494 -621.3 -97.3 - - 3355 - - - - - - - - 14.35 14.65 14.54
3526 444.0 -10.0 344 3528 done -0.67 - - 2108 - - - 2493 - -97.3 - - 3353 - - - - - - - - 15.07 15.10 15.09
3824 472.5 -9.4 359 3826 done -0.67 - - 2108 - - - 2493 - -97.3 - - 3352 - - - - - - - - 15.09 15.12 15.11
4125 499.9 -9.0 374 4133 roll -0.67 - - 2099 - 2.47 0.085 3896 568.0 -97.3 - - 3350 - - - - - - - - 15.08 14.40 15.10
4180 505.3 -9.5 385 4185 done -0.67 - - 2099 - 2.25 0.034 2503 -619.1 -97.3 - - 3350 - - - - - - - - 14.70 14.63 14.72
4485 535.5 -9.8 401 4490 roll -0.67 - - 2088 - 2.47 0.085 3892 562.3 -97.3 - - 3348 - - - - - - - - 15.09 14.39 15.11
4536 540.4 -10.6 410 4540 done -0.67 - - 2088 - 2.25 0.035 2500 -618.7 -97.3 - - 3348 - - - - - - - - 14.69 14.62 14.71
4852 574.5 -10.8 428 4856 roll -0.67 - - 2088 - 2.33 0.049 1104 -599.1 -97.3 - - 3347 - - - - - - - - 15.08 14.52 15.11
4883 578.0 -11.2 434 4890 done -0.67 0.12 0.212 2108 166.7 2.40 0.058 2499 581.2 -97.3 - - 3347 - - - - - - - - 14.28 14.47 14.47
5194 606.4 -8.9 451 5201 roll -0.67 - - 2099 - 2.45 0.086 3894 569.4 -97.3 - - 3346 - - - - - - - - 15.08 14.36 15.10
5263 613.0 -9.3 465 5268 done -0.67 - - 2099 - 2.28 0.034 2491 -615.4 -97.3 - - 3346 - - - - - - - - 14.67 14.61 14.70
5576 642.3 -9.6 482 5581 roll -0.67 - - 2099 - 2.30 0.049 1108 -601.3 -97.3 - - 3344 - - - - - - - - 15.07 14.50 15.10
5602 645.1 -10.0 487 5606 done -0.67 - - 2088 - 2.40 0.057 2500 580.0 -97.3 - - 3344 - - - - - - - - 14.57 14.45 14.62
5918 677.7 -10.4 505 5923 roll -0.67 - - 2078 - 2.45 0.086 3896 569.8 -97.3 - - 3343 - - - - - - - - 15.08 14.35 15.11
5996 686.0 -10.9 520 6001 done -0.67 0.12 0.212 2108 250.0 2.28 0.035 2499 -612.7 -97.3 - - 3343 - - - - - - - - 14.27 14.58 14.46
6300 714.1 -9.0 536 6304 roll -0.67 - - 2108 - 2.33 0.049 1108 -597.0 -97.3 - - 3342 - - - - - - - - 15.08 14.48 15.11
6333 717.0 -9.0 542 6337 done -0.67 - - 2099 - 2.40 0.058 2499 579.6 -97.3 - - 3342 - - - - - - - - 14.55 14.43 14.59
6644 746.3 -9.4 559 6650 roll -0.67 - - 2088 - 2.47 0.087 3899 566.8 -97.3 - - 3341 - - - - - - - - 15.09 14.32 15.11
6704 752.3 -10.0 571 6708 done -0.67 - - 2088 - 2.30 0.036 2494 -610.9 -97.3 - - 3341 - - - - - - - - 14.64 14.56 14.66
7027 785.1 -10.4 590 7029 done -0.67 - - 2088 - - - 2492 - -97.3 - - 3340 - - - - - - - - 15.07 15.09 15.09
7325 816.4 -10.5 605 7330 roll -0.67 - - 2077 - 2.50 0.087 3893 560.4 -97.3 - - 3339 - - - - - - - - 15.08 14.31 15.11
7414 826.2 -11.3 622 7419 done -0.67 0.12 0.210 2108 258.3 2.28 0.036 2499 -611.4 -97.3 - - 3339 - - - - - - - - 14.24 14.55 14.43
7731 856.0 -9.1 640 7735 roll -0.67 - - 2109 - 2.35 0.050 1106 -592.8 -97.3 - - 3338 - - - - - - - - 15.07 14.44 15.10
7752 858.0 -9.6 644 7759 done -0.67 - - 2099 - 2.42 0.059 2503 577.3 -97.3 - - 3338 - - - - - - - - 14.52 14.39 14.55
8073 888.4 -9.5 663 8079 roll -0.67 - - 2088 - 2.45 0.087 3891 566.5 -97.3 - - 3337 - - - - - - - - 15.07 14.28 15.09
8127 894.0 -10.2 674 8132 done -0.67 - - 2088 - 2.30 0.037 2491 -608.7 -97.3 - - 3337 - - - - - - - - 14.60 14.53 14.63
8432 923.1 -9.4 690 8434 done -0.67 - - 2088 - - - 2489 - -97.3 - - 3337 - - - - - - - - 15.07 15.10 15.10
8733 950.4 -9.1 705 8738 roll -0.67 - - 2077 - 2.53 0.088 3899 557.3 -97.3 - - 3335 - - - - - - - - 15.07 14.26 15.09
8770 954.0 -9.8 712 8775 done -0.67 0.12 0.208 2108 258.3 2.30 0.037 2499 -608.7 -97.3 - - 3335 - - - - - - - - 14.20 14.52 14.39
9076 978.5 -7.9 728 9084 roll -0.67 - - 2099 - 2.50 0.088 3891 556.8 -97.3 - - 3334 - - - - - - - - 15.07 14.24 15.09
9131 983.2 -8.6 739 9135 done -0.67 - - 2099 - 2.30 0.036 2497 -606.1 -97.3 - - 3334 - - - - - - - - 14.57 14.50 14.60
9213 end dive: TARGET_DEPTH_EXCEEDED
9213 begin apogee
9220 990.4 -8.5 744 9317 done -0.15 0.62 0.166 2277 287.1 - - 2495 - - 92.97 2.006 2968 -3.9 0.380 - - - - - - 14.09 13.97 12.59
9319 end apogee: CONTROL_FINISHED_OK
9319 begin climb
9322 992.9 - 749 9431 done 0.67 0.82 0.089 2550 332.9 - - 2494 - 97.3 104.53 1.997 2571 -3.8 0.369 - - - - - - 14.18 13.89 12.57
9722 972.8 7.7 769 9724 done 0.67 - - 2550 - - - 2495 - 97.3 - - 2563 - - - - - - - - 14.85 14.88 14.88
10019 950.1 7.4 784 10023 roll 0.68 - - 2550 - 2.42 0.091 3848 559.1 97.3 - - 2562 - - - - - - - - 14.95 14.38 14.98
10060 946.5 8.8 792 10064 done 0.68 - - 2561 - 2.30 0.036 2436 -613.9 97.3 - - 2561 - - - - - - - - 14.64 14.57 14.66
10382 921.0 8.2 811 10386 roll 0.68 - - 2572 - 2.35 0.051 1048 -590.6 97.3 - - 2560 - - - - - - - - 15.00 14.49 15.04
10429 917.0 8.6 820 10434 done 0.68 - - 2572 - 2.40 0.053 2445 582.1 97.3 - - 2558 - - - - - - - - 14.58 14.47 14.62
10746 890.0 8.6 838 10750 roll 0.68 - - 2583 - 2.38 0.050 1051 -585.7 97.3 - - 2558 - - - - - - - - 15.03 14.49 15.06
10813 884.0 9.0 851 10820 done 0.68 0.12 0.231 2556 -225.0 2.40 0.053 2447 581.7 97.3 - - 2557 - - - - - - - - 14.19 14.46 14.45
11130 859.7 7.6 869 11134 roll 0.68 - - 2567 - 2.38 0.050 1051 -586.6 97.3 - - 2557 - - - - - - - - 15.02 14.47 15.05
11182 855.6 7.4 879 11186 done 0.69 - - 2567 - 2.40 0.053 2447 581.7 97.3 - - 2557 - - - - - - - - 14.57 14.45 14.62
11495 833.3 7.0 896 11501 roll 0.72 - - 2567 - 2.47 0.082 3852 568.8 97.3 - - 2557 - - - - - - - - 15.04 14.35 15.07
11679 818.7 7.7 933 11683 done 0.72 - - 2578 - 2.33 0.037 2429 -610.7 97.3 - - 2556 - - - - - - - - 14.62 14.56 14.65
11997 798.1 6.5 951 11999 done 0.75 - - 2579 - - - 2428 - 97.3 - - 2556 - - - - - - - - 15.04 15.07 15.07
12295 777.8 6.8 966 12300 roll 0.77 - - 2579 - 2.53 0.082 3845 560.1 97.3 - - 2555 - - - - - - - - 15.06 14.32 15.09
12392 770.2 8.0 985 12397 done 0.77 - - 2590 - 2.30 0.036 2440 -610.9 97.3 - - 2555 - - - - - - - - 14.61 14.54 14.64
12698 748.3 7.3 1001 12700 done 0.79 - - 2590 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.06 15.09 15.08
12999 725.6 7.5 1016 13003 roll 0.80 - - 2600 - 2.38 0.050 1048 -584.5 97.3 - - 2555 - - - - - - - - 15.04 14.42 15.07
13040 722.3 7.8 1024 13045 done 0.80 - - 2601 - 2.40 0.051 2444 581.7 97.3 - - 2554 - - - - - - - - 14.52 14.41 14.57
13362 696.8 8.0 1043 13364 done 0.80 - - 2601 - - - 2444 - 97.3 - - 2554 - - - - - - - - 15.05 15.09 15.08
13663 673.9 7.6 1058 13665 done 0.80 - - 2601 - - - 2444 - 97.3 - - 2554 - - - - - - - - 15.04 15.08 15.07
13962 652.1 6.8 1073 13969 roll 0.82 - - 2600 - 2.47 0.081 3845 567.2 97.3 - - 2554 - - - - - - - - 15.07 14.28 15.09
14028 647.2 7.7 1086 14033 done 0.82 - - 2612 - 2.33 0.035 2435 -605.2 97.3 - - 2554 - - - - - - - - 14.59 14.52 14.62
14345 624.8 7.0 1104 14349 roll 0.84 - - 2623 - 2.35 0.050 1047 -590.6 97.3 - - 2554 - - - - - - - - 15.06 14.42 15.09
14417 619.9 7.0 1118 14422 done 0.86 - - 2623 - 2.40 0.050 2443 581.7 97.3 - - 2554 - - - - - - - - 14.50 14.38 14.55
14731 597.0 7.2 1135 14738 roll 0.88 - - 2623 - 2.47 0.080 3845 567.6 97.3 - - 2554 - - - - - - - - 15.04 14.27 15.06
14790 592.0 8.6 1147 14794 done 0.88 - - 2636 - 2.30 0.035 2436 -612.6 97.3 - - 2554 - - - - - - - - 14.58 14.52 14.62
15114 566.4 8.0 1166 15119 roll 0.88 - - 2647 - 2.35 0.049 1048 -590.6 97.3 - - 2554 - - - - - - - - 15.04 14.40 15.07
15196 559.4 8.4 1182 15202 done 0.88 0.15 0.251 2615 -213.3 2.42 0.050 2445 577.3 97.3 - - 2554 - - - - - - - - 13.96 14.38 14.27
15523 535.0 7.3 1201 15527 roll 0.90 - - 2628 - 2.38 0.047 1053 -584.9 97.3 - - 2554 - - - - - - - - 15.02 14.40 15.05
15589 529.8 7.4 1214 15594 done 0.91 - - 2627 - 2.40 0.051 2446 580.4 97.3 - - 2554 - - - - - - - - 14.48 14.37 14.54
15908 507.8 6.4 1232 15914 roll 0.94 - - 2627 - 2.47 0.080 3848 567.6 97.3 - - 2554 - - - - - - - - 15.04 14.25 15.07
15951 504.6 7.4 1241 15956 done 0.95 - - 2640 - 2.30 0.034 2437 -613.5 97.3 - - 2554 - - - - - - - - 14.57 14.51 14.61
16268 483.9 6.4 1259 16273 roll 0.99 - - 2645 - 2.53 0.079 3847 557.3 97.3 - - 2554 - - - - - - - - 15.05 14.25 15.08
16381 476.1 7.0 1280 16385 done 1.01 - - 2658 - 2.30 0.034 2439 -612.2 97.3 - - 2554 - - - - - - - - 14.57 14.50 14.60
16697 457.3 5.9 1298 16741 roll 1.05 - - 2658 - 2.55 0.079 3845 551.4 135.0 34.42 1.411 2416 -4.0 0.254 - - - - - - 15.06 14.33 13.15
16790 449.0 11.7 1316 16794 done 1.05 - - 2670 - 2.30 0.036 2445 -608.7 135.0 - - 2414 - - - - - - - - 14.60 14.54 14.62
17101 414.2 10.8 1333 17105 roll 1.05 - - 2682 - 2.38 0.051 1043 -589.1 135.0 - - 2412 - - - - - - - - 14.97 14.43 14.99
17178 405.6 11.3 1348 17183 done 1.05 - - 2682 - 2.40 0.052 2438 581.2 135.0 - - 2411 - - - - - - - - 14.53 14.42 14.57
17482 368.9 12.4 1364 17484 done 1.05 - - 2682 - - - 2438 - 135.0 - - 2411 - - - - - - - - 15.01 15.04 15.04
17784 332.5 11.8 1379 17786 done 1.05 - - 2682 - - - 2438 - 135.0 - - 2411 - - - - - - - - 15.02 15.05 15.04
18082 297.4 11.7 1394 18084 done 1.05 - - 2682 - - - 2439 - 135.0 - - 2411 - - - - - - - - 15.04 15.07 15.07
18382 263.8 11.5 1409 18384 done 1.05 - - 2682 - - - 2438 - 135.0 - - 2411 - - - - - - - - 15.05 15.09 15.08
18686 231.0 10.5 1432 18692 roll 1.05 - - 2682 - 2.47 0.080 3849 571.3 135.0 - - 2411 - - - - - - - - 15.02 14.30 15.04
18764 221.8 10.9 1448 18769 done 1.05 - - 2694 - 2.30 0.035 2436 -614.3 135.0 - - 2410 - - - - - - - - 14.61 14.54 14.64
18957 202.5 9.7 1468 18959 done 1.05 - - 2695 - - - 2435 - 135.0 - - 2411 - - - - - - - - 15.03 15.06 15.06
19136 184.2 10.4 1486 19141 roll 1.05 - - 2706 - 2.33 0.049 1049 -594.8 135.0 - - 2411 - - - - - - - - 15.05 14.42 15.08
19183 179.7 9.5 1495 19190 done 1.05 0.15 0.259 2672 -226.7 2.40 0.050 2449 583.3 135.0 - - 2410 - - - - - - - - 13.98 14.41 14.26
19381 161.7 9.2 1516 19385 roll 1.05 - - 2683 - 2.38 0.049 1046 -589.5 135.0 - - 2410 - - - - - - - - 15.01 14.42 15.03
19447 155.3 9.1 1529 19451 done 1.05 - - 2683 - 2.40 0.050 2443 582.1 135.0 - - 2410 - - - - - - - - 14.52 14.40 14.56
19634 139.3 8.6 1548 19638 roll 1.05 - - 2694 - 2.38 0.047 1047 -586.6 135.0 - - 2410 - - - - - - - - 15.03 14.42 15.06
19735 129.9 9.0 1568 19739 done 1.05 - - 2695 - 2.40 0.050 2448 583.8 135.0 - - 2410 - - - - - - - - 14.51 14.40 14.55
19928 115.5 6.2 1588 19932 roll 1.08 - - 2710 - 2.38 0.047 1042 -590.8 135.0 - - 2410 - - - - - - - - 15.03 14.42 15.05
20021 109.5 6.6 1606 20026 done 1.11 - - 2710 - 2.40 0.049 2448 585.8 135.0 - - 2410 - - - - - - - - 14.52 14.42 14.56
20214 99.7 3.7 1626 20291 roll 1.19 - - 2726 - 2.42 0.050 1055 -575.6 212.8 68.60 0.991 2098 -4.5 0.089 - - - - - - 15.03 14.31 13.38
20434 80.1 10.2 1670 20439 done 1.19 - - 2726 - 2.38 0.050 2440 581.9 212.8 - - 2094 - - - - - - - - 14.49 14.39 14.52
20626 65.6 4.9 1690 20683 roll 1.24 - - 2742 - 2.38 0.047 1050 -584.0 268.7 48.85 0.923 1870 -4.6 0.064 - - - - - - 14.93 14.02 13.45
20917 44.8 0.3 1747 21051 done 1.38 - - 2742 - 2.38 0.049 2444 585.7 406.8 123.25 0.883 1308 -4.6 0.045 - - - - - - 14.51 14.42 13.40
21232 25.6 10.5 1810 21238 roll 1.38 - - 2754 - 2.38 0.052 1049 -586.1 406.8 - - 1306 - - - - - - - - 14.79 14.38 14.82
21341 13.7 11.6 1831 21346 done 1.38 - - 2754 - 2.38 0.050 2439 584.0 406.8 - - 1305 - - - - - - - - 14.52 14.42 14.55
21420 end climb: SURFACE_DEPTH_REACHED
21420 begin surface coast
21443 end surface coast: CONTROL_FINISHED_OK
21443 begin surface
SM 1.23 - - - - -6.78 7.45 0.042 128 17.2 0.10 0.145 2531 15010.0 500.17 104.80 0.614 928 8.9 -0.002 - - - - 1 -