MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 618 * Raw log
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• Previous call tries 1 • 209.84 of 350.00 AH used of 24V (40.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth 1.19 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 88 VBD -0.67 - - 110 - - - 2504 - -97.3 -76.18 0.005 2694 - - - - - - - - 14.84 - 14.88
92 4.7 -12.9 16 123 roll -0.67 9.25 0.347 2107 215.9 2.33 0.063 1099 -603.0 -97.3 -12.88 0.010 3366 -52.2 4.778 - - - - - - 13.87 13.43 14.33
206 38.8 -21.7 39 211 done -0.67 - - 2098 - 2.40 0.060 2499 583.3 -97.3 - - 3366 - - - - - - - - 14.57 14.46 14.60
401 76.5 -16.5 63 406 roll -0.67 - - 2086 - 2.40 0.078 3899 583.3 -97.3 - - 3366 - - - - - - - - 14.97 14.43 15.00
634 112.0 -13.8 109 638 done -0.67 - - 2087 - 2.22 0.031 2485 -636.9 -97.3 - - 3367 - - - - - - - - 14.71 14.66 14.73
825 137.6 -13.4 129 831 roll -0.67 - - 2076 - 2.45 0.079 3900 577.6 -97.3 - - 3367 - - - - - - - - 15.05 14.46 15.08
1026 167.9 -14.7 169 1031 done -0.67 0.15 0.212 2112 240.0 2.22 0.033 2494 -633.3 -97.3 - - 3367 - - - - - - - - 14.33 14.67 14.54
1219 189.3 -10.7 189 1223 roll -0.67 - - 2112 - 2.25 0.045 1111 -614.7 -97.3 - - 3367 - - - - - - - - 15.05 14.59 15.08
1250 192.8 -11.1 195 1255 done -0.67 - - 2103 - 2.38 0.054 2508 587.0 -97.3 - - 3366 - - - - - - - - 14.66 14.56 14.70
1442 214.2 -10.9 215 1447 roll -0.67 - - 2091 - 2.38 0.081 3891 581.1 -97.3 - - 3366 - - - - - - - - 15.07 14.47 15.09
1475 217.8 -11.6 221 1481 done -0.67 - - 2091 - 2.20 0.032 2494 -635.0 -97.3 - - 3365 - - - - - - - - 14.69 14.66 14.71
1668 240.7 -12.0 241 1672 roll -0.67 - - 2091 - 2.28 0.046 1104 -609.6 -97.3 - - 3365 - - - - - - - - 15.08 14.58 15.10
1704 245.1 -12.1 248 1711 done -0.67 0.12 0.216 2110 158.3 2.38 0.054 2504 588.2 -97.3 - - 3364 - - - - - - - - 14.34 14.55 14.54
1910 266.8 -10.5 262 1914 roll -0.67 - - 2101 - 2.40 0.081 3897 580.4 -97.3 - - 3363 - - - - - - - - 15.07 14.46 15.10
1936 269.6 -11.1 267 1941 done -0.67 - - 2101 - 2.22 0.032 2498 -630.2 -97.3 - - 3363 - - - - - - - - 14.74 14.68 14.76
2254 305.8 -11.9 285 2256 done -0.67 - - 2101 - - - 2497 - -97.3 - - 3361 - - - - - - - - 15.08 15.11 15.11
2553 341.3 -11.8 300 2558 roll -0.67 - - 2090 - 2.45 0.082 3894 570.2 -97.3 - - 3359 - - - - - - - - 15.09 14.44 15.11
2601 347.1 -12.5 309 2605 done -0.67 - - 2090 - 2.22 0.033 2500 -627.9 -97.3 - - 3358 - - - - - - - - 14.73 14.67 14.76
2918 384.7 -11.4 327 2920 done -0.67 - - 2090 - - - 2498 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.11
3217 418.0 -10.9 342 3224 roll -0.67 - - 2079 - 2.45 0.083 3897 571.0 -97.3 - - 3354 - - - - - - - - 15.09 14.42 15.11
3257 422.5 -11.4 350 3262 done -0.67 0.12 0.210 2108 241.7 2.25 0.034 2491 -624.9 -97.3 - - 3354 - - - - - - - - 14.35 14.65 14.54
3580 452.8 -9.2 369 3586 roll -0.67 - - 2099 - 2.47 0.083 3899 570.0 -97.3 - - 3352 - - - - - - - - 15.08 14.41 15.11
3618 456.5 -9.2 377 3622 done -0.67 - - 2099 - 2.25 0.034 2498 -622.7 -97.3 - - 3352 - - - - - - - - 14.71 14.64 14.73
3941 487.3 -9.6 396 3945 roll -0.67 - - 2099 - 2.30 0.047 1107 -604.8 -97.3 - - 3351 - - - - - - - - 15.07 14.54 15.10
3967 490.0 -10.4 401 3971 done -0.67 - - 2087 - 2.38 0.056 2500 585.3 -97.3 - - 3350 - - - - - - - - 14.62 14.50 14.66
4283 522.2 -10.1 419 4285 done -0.67 - - 2088 - - - 2500 - -97.3 - - 3349 - - - - - - - - 15.09 15.12 15.12
4584 552.8 -10.3 434 4588 roll -0.67 - - 2077 - 2.45 0.083 3896 569.8 -97.3 - - 3348 - - - - - - - - 15.08 14.38 15.11
4632 557.9 -10.9 443 4638 done -0.67 0.15 0.199 2114 246.7 2.25 0.034 2497 -621.8 -97.3 - - 3348 - - - - - - - - 14.29 14.62 14.49
4950 586.6 -8.8 461 4956 roll -0.67 - - 2105 - 2.47 0.084 3897 566.8 -97.3 - - 3346 - - - - - - - - 15.09 14.36 15.11
4991 590.3 -9.4 469 4995 done -0.67 - - 2105 - 2.25 0.034 2502 -620.0 -97.3 - - 3347 - - - - - - - - 14.68 14.62 14.70
5313 622.3 -10.3 488 5315 done -0.67 - - 2105 - - - 2500 - -97.3 - - 3346 - - - - - - - - 15.08 15.11 15.11
5613 654.1 -10.9 503 5615 done -0.67 - - 2105 - - - 2500 - -97.3 - - 3344 - - - - - - - - 15.07 15.11 15.10
5912 687.0 -10.8 518 5919 roll -0.67 - - 2093 - 2.47 0.086 3894 564.4 -97.3 - - 3343 - - - - - - - - 15.09 14.33 15.11
5963 692.6 -11.4 528 5967 done -0.67 - - 2093 - 2.25 0.034 2500 -619.6 -97.3 - - 3343 - - - - - - - - 14.66 14.59 14.68
6275 726.7 -10.6 545 6277 done -0.67 - - 2093 - - - 2499 - -97.3 - - 3342 - - - - - - - - 15.07 15.10 15.09
6574 757.2 -9.8 560 6578 roll -0.67 - - 2083 - 2.50 0.085 3894 558.0 -97.3 - - 3341 - - - - - - - - 15.08 14.31 15.10
6605 760.4 -10.3 566 6610 done -0.67 0.12 0.203 2112 241.7 2.28 0.035 2492 -614.9 -97.3 - - 3341 - - - - - - - - 14.28 14.57 14.45
6920 786.5 -8.2 583 6925 roll -0.67 - - 2113 - 2.30 0.048 1111 -600.4 -97.3 - - 3340 - - - - - - - - 15.06 14.46 15.08
6972 791.1 -8.3 593 6978 done -0.67 - - 2103 - 2.40 0.056 2504 580.4 -97.3 - - 3340 - - - - - - - - 14.53 14.41 14.57
7283 818.6 -9.1 610 7291 roll -0.67 - - 2092 - 2.45 0.086 3891 566.1 -97.3 - - 3339 - - - - - - - - 15.07 14.28 15.09
7348 825.0 -9.9 623 7353 done -0.67 - - 2092 - 2.28 0.036 2496 -611.8 -97.3 - - 3339 - - - - - - - - 14.62 14.54 14.64
7665 856.7 -10.2 641 7667 done -0.67 - - 2092 - - - 2495 - -97.3 - - 3338 - - - - - - - - 15.07 15.11 15.10
7967 886.9 -10.3 656 7973 roll -0.67 - - 2081 - 2.50 0.086 3895 560.0 -97.3 - - 3337 - - - - - - - - 15.07 14.26 15.09
8000 890.6 -10.4 663 8006 done -0.67 0.12 0.202 2111 250.0 2.28 0.036 2500 -611.8 -97.3 - - 3338 - - - - - - - - 14.23 14.53 14.41
8305 918.0 -8.9 679 8310 roll -0.67 - - 2111 - 2.33 0.049 1112 -595.7 -97.3 - - 3337 - - - - - - - - 15.07 14.42 15.10
8353 922.3 -8.9 688 8360 done -0.67 - - 2102 - 2.40 0.057 2499 577.9 -97.3 - - 3336 - - - - - - - - 14.50 14.37 14.54
8667 950.1 -8.6 706 8675 roll -0.67 - - 2091 - 2.47 0.087 3894 564.8 -97.3 - - 3336 - - - - - - - - 15.07 14.24 15.09
8719 954.7 -9.2 716 8723 done -0.67 - - 2090 - 2.28 0.036 2500 -611.4 -97.3 - - 3335 - - - - - - - - 14.59 14.52 14.62
9030 983.2 -9.1 733 9032 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3335 - - - - - - - - 15.07 15.10 15.09
9107 end dive: TARGET_DEPTH_EXCEEDED
9107 begin apogee
9114 990.5 -9.1 737 9211 done -0.15 0.65 0.168 2275 283.1 - - 2499 - - 92.78 1.980 2968 -4.0 0.386 - - - - - - 14.07 13.97 12.59
9212 end apogee: CONTROL_FINISHED_OK
9212 begin climb
9216 992.7 - 742 9331 roll 0.67 0.85 0.093 2552 325.9 2.45 0.081 3847 550.2 97.3 103.00 1.971 2569 -3.9 0.380 - - - - - - 14.17 13.59 12.59
9353 990.2 5.6 770 9403 done 0.71 - - 2564 - 2.35 0.034 2430 -603.0 140.3 43.95 1.931 2397 -3.9 0.391 - - - - - - 14.34 14.29 12.66
9711 954.3 10.4 796 9716 roll 0.71 - - 2574 - 2.33 0.052 1054 -590.6 140.3 - - 2388 - - - - - - - - 14.88 14.45 14.90
9778 947.5 10.4 809 9784 done 0.71 - - 2574 - 2.40 0.055 2444 579.2 140.3 - - 2387 - - - - - - - - 14.55 14.45 14.60
10094 915.1 9.8 827 10096 done 0.71 - - 2574 - - - 2444 - 140.3 - - 2387 - - - - - - - - 14.97 15.00 15.00
10393 884.8 10.5 842 10397 roll 0.71 - - 2585 - 2.38 0.051 1055 -583.6 140.3 - - 2386 - - - - - - - - 15.02 14.49 15.04
10459 877.8 10.5 855 10464 done 0.71 - - 2585 - 2.38 0.053 2442 582.8 140.3 - - 2385 - - - - - - - - 14.59 14.47 14.63
10777 841.9 11.2 873 10779 done 0.71 - - 2585 - - - 2442 - 140.3 - - 2385 - - - - - - - - 15.02 15.06 15.06
11077 807.3 11.4 888 11079 done 0.71 - - 2585 - - - 2442 - 140.3 - - 2384 - - - - - - - - 15.04 15.07 15.07
11377 772.6 11.3 903 11383 roll 0.71 - - 2597 - 2.40 0.051 1050 -580.0 140.3 - - 2384 - - - - - - - - 15.04 14.47 15.07
11439 765.4 11.3 915 11445 done 0.71 0.15 0.219 2564 -220.0 2.40 0.052 2448 582.5 140.3 - - 2383 - - - - - - - - 14.16 14.45 14.42
11763 732.8 10.0 934 11768 roll 0.71 - - 2575 - 2.40 0.050 1046 -584.2 140.3 - - 2383 - - - - - - - - 15.04 14.45 15.07
11825 726.3 10.2 946 11829 done 0.71 - - 2575 - 2.40 0.052 2445 582.9 140.3 - - 2383 - - - - - - - - 14.55 14.44 14.60
12146 692.1 10.8 965 12148 done 0.71 - - 2575 - - - 2445 - 140.3 - - 2382 - - - - - - - - 15.06 15.09 15.09
12448 660.7 10.2 980 12450 done 0.71 - - 2575 - - - 2445 - 140.3 - - 2383 - - - - - - - - 15.04 15.08 15.08
12746 630.9 9.9 995 12751 roll 0.71 - - 2575 - 2.47 0.080 3843 566.0 140.3 - - 2383 - - - - - - - - 15.07 14.31 15.09
12778 627.4 11.5 1001 12782 done 0.71 - - 2587 - 2.30 0.036 2437 -611.3 140.3 - - 2382 - - - - - - - - 14.62 14.54 14.64
13092 596.1 10.0 1018 13096 roll 0.71 - - 2598 - 2.35 0.050 1049 -590.6 140.3 - - 2383 - - - - - - - - 15.04 14.43 15.07
13148 590.1 10.3 1029 13155 done 0.71 0.15 0.216 2564 -226.7 2.40 0.051 2441 580.0 140.3 - - 2382 - - - - - - - - 14.11 14.40 14.38
13476 560.6 8.7 1049 13483 roll 0.71 - - 2564 - 2.47 0.080 3845 568.4 140.3 - - 2382 - - - - - - - - 15.03 14.28 15.06
13536 554.5 10.2 1061 13540 done 0.71 - - 2575 - 2.30 0.036 2437 -612.2 140.3 - - 2382 - - - - - - - - 14.59 14.52 14.63
13859 524.7 9.2 1080 13863 roll 0.71 - - 2586 - 2.35 0.051 1049 -590.6 140.3 - - 2382 - - - - - - - - 15.04 14.41 15.07
13950 515.5 9.7 1098 13954 done 0.71 - - 2586 - 2.42 0.052 2448 578.1 140.3 - - 2382 - - - - - - - - 14.52 14.39 14.56
14261 484.7 9.7 1115 14266 roll 0.71 - - 2598 - 2.40 0.050 1044 -585.0 140.3 - - 2382 - - - - - - - - 15.06 14.41 15.09
14365 474.6 9.9 1135 14371 done 0.71 0.15 0.216 2564 -226.7 2.40 0.051 2443 582.9 140.3 - - 2382 - - - - - - - - 14.09 14.40 14.35
14688 446.7 8.5 1154 14692 roll 0.71 - - 2575 - 2.38 0.050 1049 -585.7 140.3 - - 2381 - - - - - - - - 15.05 14.40 15.08
14730 443.3 8.3 1162 14735 done 0.71 - - 2575 - 2.40 0.051 2440 579.6 140.3 - - 2382 - - - - - - - - 14.50 14.38 14.55
15051 417.0 8.2 1181 15054 done 0.71 - - 2575 - - - 2440 - 140.3 - - 2382 - - - - - - - - 15.06 15.09 15.09
15353 391.5 8.6 1196 15360 roll 0.71 - - 2576 - 2.47 0.080 3845 568.8 140.3 - - 2382 - - - - - - - - 15.04 14.26 15.07
15378 388.9 10.1 1201 15382 done 0.71 - - 2587 - 2.30 0.034 2436 -612.6 140.3 - - 2382 - - - - - - - - 14.59 14.52 14.62
15694 359.1 9.6 1219 15699 roll 0.71 - - 2598 - 2.35 0.050 1046 -591.5 140.3 - - 2381 - - - - - - - - 15.06 14.40 15.09
15764 352.8 9.2 1232 15772 done 0.71 0.15 0.216 2564 -226.7 2.40 0.050 2443 582.1 140.3 - - 2382 - - - - - - - - 14.07 14.39 14.28
16081 326.6 8.3 1250 16083 done 0.71 - - 2564 - - - 2443 - 140.3 - - 2381 - - - - - - - - 15.04 15.07 15.06
16380 303.5 7.3 1265 16387 roll 0.73 - - 2564 - 2.47 0.080 3846 568.0 140.3 - - 2381 - - - - - - - - 15.04 14.26 15.07
16415 300.6 8.6 1272 16419 done 0.73 - - 2575 - 2.30 0.034 2437 -612.6 140.3 - - 2382 - - - - - - - - 14.59 14.52 14.62
16720 276.4 8.1 1288 16724 roll 0.73 - - 2586 - 2.35 0.050 1048 -591.1 140.3 - - 2381 - - - - - - - - 15.06 14.39 15.09
16792 270.2 8.9 1302 16796 done 0.73 - - 2586 - 2.40 0.050 2446 582.5 140.3 - - 2381 - - - - - - - - 14.50 14.38 14.54
17106 241.1 9.1 1323 17111 roll 0.73 - - 2597 - 2.38 0.049 1051 -586.1 140.3 - - 2382 - - - - - - - - 15.03 14.40 15.06
17184 233.8 9.4 1338 17192 done 0.73 0.15 0.213 2564 -220.0 2.40 0.051 2442 579.6 140.3 - - 2382 - - - - - - - - 14.07 14.38 14.31
17381 217.3 8.1 1359 17386 roll 0.73 - - 2575 - 2.38 0.049 1049 -585.3 140.3 - - 2381 - - - - - - - - 15.03 14.39 15.05
17413 214.6 7.9 1365 17420 done 0.73 - - 2574 - 2.40 0.051 2446 582.1 140.3 - - 2382 - - - - - - - - 14.49 14.38 14.54
17605 198.9 8.6 1385 17609 roll 0.73 - - 2585 - 2.40 0.049 1043 -584.6 140.3 - - 2382 - - - - - - - - 15.03 14.38 15.06
17642 195.7 8.5 1392 17646 done 0.73 - - 2585 - 2.40 0.051 2438 581.2 140.3 - - 2382 - - - - - - - - 14.48 14.37 14.54
17827 179.2 8.8 1411 17829 done 0.73 - - 2586 - - - 2438 - 140.3 - - 2382 - - - - - - - - 15.04 15.07 15.06
18006 164.9 7.6 1429 18011 roll 0.73 - - 2586 - 2.50 0.080 3850 564.8 140.3 - - 2382 - - - - - - - - 15.04 14.24 15.07
18079 158.9 9.0 1443 18085 done 0.73 0.12 0.236 2570 -133.3 2.30 0.034 2437 -614.3 140.3 - - 2382 - - - - - - - - 14.11 14.52 14.35
18274 143.8 7.8 1463 18279 roll 0.73 - - 2579 - 2.35 0.050 1046 -591.9 140.3 - - 2382 - - - - - - - - 15.02 14.39 15.05
18336 138.9 7.3 1475 18342 done 0.74 - - 2578 - 2.40 0.050 2447 583.8 140.3 - - 2382 - - - - - - - - 14.49 14.38 14.54
18532 127.9 4.5 1495 18593 roll 0.81 - - 2589 - 2.38 0.050 1052 -586.1 204.3 55.55 1.030 2133 -4.5 0.108 - - - - - - 15.02 13.96 13.32
18691 115.2 8.5 1527 18697 done 0.81 - - 2589 - 2.40 0.052 2440 578.3 204.3 - - 2129 - - - - - - - - 14.50 14.39 14.53
18884 98.0 8.2 1547 18888 roll 0.81 - - 2601 - 2.35 0.050 1052 -590.6 204.3 - - 2129 - - - - - - - - 14.93 14.40 14.95
18915 95.3 8.7 1553 18919 done 0.81 - - 2601 - 2.38 0.050 2440 583.2 204.3 - - 2128 - - - - - - - - 14.51 14.40 14.54
19108 78.5 5.6 1573 19154 roll 0.85 - - 2612 - 2.38 0.048 1048 -584.9 248.2 38.03 0.946 1953 -4.6 0.074 - - - - - - 14.96 14.04 13.46
19227 72.2 5.9 1597 19270 done 0.89 - - 2612 - 2.40 0.050 2448 583.3 286.9 35.12 0.925 1796 -4.5 0.068 - - - - - - 14.52 14.42 13.43
19458 53.9 5.8 1625 19500 roll 0.93 - - 2623 - 2.42 0.050 1057 -574.8 326.8 36.60 0.897 1634 -4.4 0.052 - - - - - - 14.88 14.33 13.48
19601 43.6 8.5 1653 19605 done 0.93 - - 2622 - 2.38 0.051 2440 581.1 326.8 - - 1632 - - - - - - - - 14.49 14.38 14.52
19788 36.4 0.7 1690 19916 roll 1.06 0.15 0.099 2711 593.3 2.47 0.079 3840 566.8 458.7 116.68 0.861 1098 -4.6 0.038 - - - - - - 14.58 13.93 13.42
20043 10.5 15.1 1740 20051 done 1.06 0.20 0.200 2671 -200.0 2.30 0.037 2443 -607.4 458.7 - - 1097 - - - - - - - - 14.14 14.45 14.36
20110 end climb: SURFACE_DEPTH_REACHED
20110 begin surface coast
20142 end surface coast: CONTROL_FINISHED_OK
20142 begin surface
SM 1.22 - - - - -6.79 7.38 0.054 116 15.7 0.10 0.148 2505 -26210.0 500.17 60.08 0.509 928 15.4 -0.004 - - - - 1 -