MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 620 * Raw log
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• Previous call tries 1 • 210.44 of 350.00 AH used of 24V (39.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 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: 18 s
• GPS2 time: 3 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
5 begin dive
9 - - - 88 VBD -0.67 - - 88 - - - 2494 - -97.3 -76.55 0.005 2704 - - - - - - - - 14.83 - 14.88
92 5.0 -14.3 16 120 roll -0.67 9.30 0.343 2106 217.0 2.33 0.065 1096 -600.0 -97.3 -12.43 0.010 3366 -53.3 5.197 - - - - - - 13.88 13.40 14.33
191 35.3 -25.1 35 196 done -0.67 - - 2097 - 2.42 0.061 2505 582.2 -97.3 - - 3366 - - - - - - - - 14.55 14.42 14.59
381 71.9 -13.1 60 387 roll -0.67 - - 2086 - 2.38 0.078 3894 583.6 -97.3 - - 3367 - - - - - - - - 14.97 14.43 15.00
616 105.3 -16.2 107 620 done -0.67 - - 2086 - 2.25 0.031 2473 -631.6 -97.3 - - 3367 - - - - - - - - 14.71 14.66 14.73
801 131.8 -13.6 126 808 roll -0.67 - - 2075 - 2.45 0.077 3895 580.4 -97.3 - - 3367 - - - - - - - - 15.05 14.47 15.07
957 154.1 -13.7 157 962 done -0.67 0.15 0.213 2111 240.0 2.20 0.031 2500 -634.1 -97.3 - - 3367 - - - - - - - - 14.32 14.66 14.53
1143 175.0 -10.8 176 1148 roll -0.67 - - 2102 - 2.42 0.080 3894 576.0 -97.3 - - 3367 - - - - - - - - 15.07 14.46 15.09
1201 181.6 -11.5 187 1206 done -0.67 - - 2102 - 2.22 0.031 2493 -631.1 -97.3 - - 3367 - - - - - - - - 14.73 14.68 14.76
1385 203.3 -11.5 206 1387 done -0.67 - - 2102 - - - 2491 - -97.3 - - 3366 - - - - - - - - 15.07 15.09 15.09
1565 224.4 -12.0 224 1567 done -0.67 - - 2102 - - - 2491 - -97.3 - - 3365 - - - - - - - - 15.07 15.09 15.09
1745 245.1 -11.5 242 1749 roll -0.67 - - 2102 - 2.28 0.046 1113 -604.4 -97.3 - - 3364 - - - - - - - - 15.07 14.58 15.09
1771 248.1 -11.5 247 1776 done -0.67 - - 2090 - 2.38 0.055 2510 587.0 -97.3 - - 3364 - - - - - - - - 14.65 14.54 14.69
1957 270.3 -11.9 258 1961 roll -0.67 - - 2080 - 2.38 0.080 3893 581.1 -97.3 - - 3363 - - - - - - - - 15.07 14.46 15.10
1989 274.2 -12.4 264 1994 done -0.67 0.12 0.211 2109 241.7 2.22 0.033 2494 -630.2 -97.3 - - 3363 - - - - - - - - 14.37 14.67 14.56
2301 307.6 -10.6 281 2305 roll -0.67 - - 2100 - 2.45 0.080 3897 572.7 -97.3 - - 3360 - - - - - - - - 15.09 14.45 15.11
2338 311.6 -11.1 288 2343 done -0.67 - - 2100 - 2.25 0.034 2494 -623.6 -97.3 - - 3360 - - - - - - - - 14.73 14.66 14.75
2642 345.9 -11.4 304 2649 roll -0.67 - - 2088 - 2.45 0.080 3898 573.1 -97.3 - - 3358 - - - - - - - - 15.08 14.45 15.11
2688 351.2 -12.1 313 2692 done -0.67 - - 2089 - 2.25 0.034 2504 -619.6 -97.3 - - 3358 - - - - - - - - 14.71 14.65 14.73
3004 389.7 -12.2 331 3006 done -0.67 - - 2089 - - - 2503 - -97.3 - - 3357 - - - - - - - - 15.09 15.12 15.11
3304 426.1 -12.1 346 3311 roll -0.67 - - 2078 - 2.45 0.082 3900 570.2 -97.3 - - 3354 - - - - - - - - 15.09 14.42 15.11
3356 432.5 -12.9 356 3361 done -0.67 0.12 0.209 2108 250.0 2.28 0.035 2489 -618.9 -97.3 - - 3354 - - - - - - - - 14.34 14.64 14.53
3668 467.6 -11.2 373 3672 roll -0.67 - - 2098 - 2.47 0.083 3892 568.0 -97.3 - - 3352 - - - - - - - - 15.09 14.40 15.11
3709 472.5 -11.8 381 3714 done -0.67 - - 2099 - 2.25 0.034 2498 -619.6 -97.3 - - 3352 - - - - - - - - 14.70 14.63 14.71
4032 509.8 -11.5 400 4036 roll -0.67 - - 2098 - 2.30 0.048 1109 -603.9 -97.3 - - 3351 - - - - - - - - 15.07 14.53 15.10
4068 514.2 -11.5 407 4073 done -0.67 - - 2087 - 2.40 0.057 2505 581.7 -97.3 - - 3350 - - - - - - - - 14.60 14.48 14.64
4374 550.4 -12.1 423 4379 roll -0.67 - - 2077 - 2.42 0.083 3897 575.2 -97.3 - - 3349 - - - - - - - - 15.07 14.39 15.10
4422 556.3 -12.2 432 4427 done -0.67 0.15 0.200 2113 240.0 2.25 0.035 2499 -621.3 -97.3 - - 3349 - - - - - - - - 14.28 14.62 14.49
4739 588.6 -10.0 450 4743 roll -0.67 - - 2104 - 2.45 0.083 3890 567.8 -97.3 - - 3348 - - - - - - - - 15.08 14.30 15.11
4777 592.3 -10.4 457 4781 done -0.67 - - 2105 - 2.25 0.035 2500 -617.8 -97.3 - - 3348 - - - - - - - - 14.67 14.61 14.70
5080 623.4 -10.0 473 5082 done -0.67 - - 2105 - - - 2499 - -97.3 - - 3347 - - - - - - - - 15.08 15.11 15.11
5381 652.2 -9.4 488 5383 done -0.67 - - 2105 - - - 2499 - -97.3 - - 3346 - - - - - - - - 15.08 15.11 15.11
5682 680.2 -9.4 503 5686 roll -0.67 - - 2093 - 2.47 0.084 3896 565.6 -97.3 - - 3344 - - - - - - - - 15.07 14.34 15.09
5733 685.5 -10.1 513 5738 done -0.67 - - 2093 - 2.28 0.036 2498 -613.2 -97.3 - - 3344 - - - - - - - - 14.66 14.59 14.68
6046 716.8 -10.0 530 6048 done -0.67 - - 2093 - - - 2497 - -97.3 - - 3343 - - - - - - - - 15.07 15.09 15.09
6344 747.0 -9.8 545 6351 roll -0.67 - - 2083 - 2.47 0.084 3894 565.6 -97.3 - - 3342 - - - - - - - - 15.08 14.33 15.11
6374 750.1 -10.7 551 6380 done -0.67 0.12 0.203 2112 241.7 2.28 0.035 2495 -613.6 -97.3 - - 3342 - - - - - - - - 14.28 14.57 14.45
6689 776.8 -8.4 568 6693 roll -0.67 - - 2113 - 2.33 0.050 1106 -596.1 -97.3 - - 3341 - - - - - - - - 15.07 14.45 15.09
6740 781.5 -8.7 578 6748 done -0.67 - - 2103 - 2.42 0.058 2508 579.3 -97.3 - - 3341 - - - - - - - - 14.53 14.41 14.57
7050 809.5 -9.1 595 7056 roll -0.67 - - 2092 - 2.45 0.085 3891 564.5 -97.3 - - 3340 - - - - - - - - 15.07 14.30 15.10
7104 814.6 -9.7 605 7110 done -0.67 - - 2092 - 2.25 0.036 2503 -616.9 -97.3 - - 3340 - - - - - - - - 14.54 14.51 14.56
7417 845.1 -9.6 622 7419 done -0.67 - - 2091 - - - 2502 - -97.3 - - 3339 - - - - - - - - 15.08 15.11 15.10
7718 872.3 -8.9 637 7725 roll -0.67 - - 2081 - 2.47 0.084 3892 562.8 -97.3 - - 3338 - - - - - - - - 15.07 14.28 15.09
7772 877.4 -9.5 648 7777 done -0.67 0.12 0.202 2111 250.0 2.30 0.036 2492 -608.7 -97.3 - - 3338 - - - - - - - - 14.23 14.52 14.41
8077 900.2 -7.3 664 8082 roll -0.67 - - 2111 - 2.33 0.050 1107 -594.4 -97.3 - - 3338 - - - - - - - - 15.07 14.41 15.10
8125 903.7 -7.6 673 8129 done -0.67 - - 2102 - 2.45 0.059 2504 570.2 -97.3 - - 3337 - - - - - - - - 14.49 14.36 14.53
8441 928.7 -7.7 691 8446 roll -0.67 - - 2090 - 2.45 0.085 3891 566.1 -97.3 - - 3337 - - - - - - - - 15.07 14.26 15.10
8518 935.1 -8.4 706 8523 done -0.67 - - 2091 - 2.30 0.037 2494 -607.4 -97.3 - - 3336 - - - - - - - - 14.58 14.51 14.61
8824 961.3 -8.8 722 8826 done -0.67 - - 2090 - - - 2492 - -97.3 - - 3336 - - - - - - - - 15.06 15.09 15.09
9123 989.3 -9.7 737 9125 done -0.67 - - 2090 - - - 2492 - -97.3 - - 3335 - - - - - - - - 15.07 15.10 15.10
9140 end dive: TARGET_DEPTH_EXCEEDED
9140 begin apogee
9148 991.3 -9.7 738 9246 done -0.15 0.68 0.169 2281 280.9 - - 2492 - - 93.25 1.991 2968 -3.9 0.382 - - - - - - 14.06 13.96 12.57
9247 end apogee: CONTROL_FINISHED_OK
9247 begin climb
9250 994.5 - 743 9362 done 0.67 0.82 0.088 2554 332.9 - - 2492 - 97.3 104.38 1.971 2570 -3.8 0.375 - - - - - - 14.17 13.90 12.58
9668 977.6 6.4 764 9672 roll 0.70 - - 2565 - 2.45 0.051 1049 -589.0 97.3 - - 2563 - - - - - - - - 14.86 14.43 14.88
9751 972.0 6.6 780 9756 done 0.73 - - 2565 - 2.40 0.054 2442 580.4 97.3 - - 2562 - - - - - - - - 14.54 14.43 14.59
10073 949.1 7.3 799 10077 roll 0.75 - - 2576 - 2.38 0.051 1048 -585.7 97.3 - - 2561 - - - - - - - - 14.98 14.47 15.02
10116 946.2 7.1 807 10120 done 0.77 - - 2576 - 2.40 0.054 2442 580.8 97.3 - - 2560 - - - - - - - - 14.57 14.46 14.62
10437 921.2 8.0 826 10444 roll 0.77 - - 2576 - 2.47 0.080 3853 571.3 97.3 - - 2559 - - - - - - - - 15.02 14.38 15.05
10494 916.4 8.8 837 10498 done 0.77 - - 2587 - 2.33 0.036 2438 -607.3 97.3 - - 2558 - - - - - - - - 14.63 14.57 14.66
10797 890.6 8.6 853 10802 roll 0.77 - - 2598 - 2.35 0.051 1048 -591.5 97.3 - - 2558 - - - - - - - - 15.04 14.47 15.07
10980 874.5 8.9 889 10984 done 0.77 - - 2598 - 2.40 0.053 2441 580.4 97.3 - - 2557 - - - - - - - - 14.56 14.45 14.60
11301 845.8 8.9 908 11308 roll 0.77 - - 2598 - 2.45 0.080 3846 573.5 97.3 - - 2557 - - - - - - - - 15.04 14.28 15.07
11434 833.0 9.8 933 11442 done 0.77 0.15 0.252 2578 -133.3 2.30 0.036 2436 -613.0 97.3 - - 2556 - - - - - - - - 14.07 14.55 14.37
11751 810.0 6.8 951 11756 roll 0.79 - - 2587 - 2.35 0.050 1047 -591.1 97.3 - - 2556 - - - - - - - - 15.02 14.45 15.05
11836 804.2 6.9 967 11840 done 0.81 - - 2587 - 2.40 0.053 2441 580.8 97.3 - - 2555 - - - - - - - - 14.53 14.42 14.58
12157 782.2 6.9 986 12163 roll 0.84 - - 2587 - 2.47 0.079 3850 570.4 97.3 - - 2555 - - - - - - - - 15.05 14.32 15.08
12207 778.3 8.1 996 12212 done 0.84 - - 2598 - 2.30 0.036 2440 -613.0 97.3 - - 2555 - - - - - - - - 14.60 14.54 14.64
12521 755.6 7.2 1013 12523 done 0.85 - - 2598 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.04 15.07 15.06
12819 734.3 7.1 1028 12824 roll 0.87 - - 2609 - 2.38 0.050 1050 -583.6 97.3 - - 2555 - - - - - - - - 15.05 14.42 15.08
13013 720.0 7.5 1066 13017 done 0.89 - - 2609 - 2.40 0.052 2441 579.6 97.3 - - 2554 - - - - - - - - 14.50 14.39 14.55
13326 697.3 7.1 1083 13330 roll 0.91 - - 2621 - 2.38 0.050 1050 -584.5 97.3 - - 2554 - - - - - - - - 15.04 14.41 15.07
13418 690.2 7.8 1101 13423 done 0.91 - - 2621 - 2.42 0.053 2443 575.6 97.3 - - 2554 - - - - - - - - 14.49 14.37 14.54
13730 666.0 7.6 1118 13736 roll 0.91 - - 2621 - 2.47 0.078 3848 568.8 97.3 - - 2554 - - - - - - - - 15.06 14.28 15.09
13787 661.3 8.6 1129 13791 done 0.91 - - 2632 - 2.33 0.035 2431 -608.2 97.3 - - 2554 - - - - - - - - 14.57 14.51 14.61
14091 638.0 7.5 1145 14093 done 0.92 - - 2633 - - - 2430 - 97.3 - - 2554 - - - - - - - - 15.05 15.08 15.08
14391 615.2 7.3 1160 14397 roll 0.93 - - 2633 - 2.53 0.076 3846 559.7 97.3 - - 2554 - - - - - - - - 15.05 14.27 15.08
14441 611.1 8.8 1169 14445 done 0.93 - - 2645 - 2.30 0.035 2440 -611.3 97.3 - - 2554 - - - - - - - - 14.58 14.51 14.61
14757 585.8 7.9 1187 14761 roll 0.93 - - 2656 - 2.35 0.049 1051 -591.1 97.3 - - 2554 - - - - - - - - 15.06 14.40 15.09
14804 582.2 7.8 1196 14809 done 0.93 - - 2657 - 2.40 0.051 2442 579.6 97.3 - - 2554 - - - - - - - - 14.48 14.37 14.54
15121 556.8 8.0 1214 15123 done 0.93 - - 2657 - - - 2442 - 97.3 - - 2554 - - - - - - - - 15.06 15.09 15.08
15422 533.6 8.0 1229 15428 roll 0.93 - - 2657 - 2.47 0.077 3847 568.8 97.3 - - 2554 - - - - - - - - 15.04 14.26 15.08
15551 523.3 7.9 1254 15558 done 0.93 0.17 0.268 2631 -152.9 2.30 0.034 2439 -612.2 97.3 - - 2554 - - - - - - - - 13.88 14.50 14.22
15869 502.0 6.3 1272 15875 roll 0.96 - - 2641 - 2.35 0.049 1051 -590.6 97.3 - - 2554 - - - - - - - - 15.02 14.38 15.04
16009 493.3 6.2 1299 16013 done 1.00 - - 2641 - 2.40 0.051 2440 578.8 97.3 - - 2554 - - - - - - - - 14.46 14.35 14.51
16313 472.9 6.8 1315 16317 roll 1.03 - - 2653 - 2.38 0.049 1049 -584.5 97.3 - - 2554 - - - - - - - - 15.04 14.38 15.07
16545 455.9 7.6 1361 16549 done 1.03 - - 2655 - 2.40 0.050 2441 580.0 97.3 - - 2554 - - - - - - - - 14.47 14.35 14.52
16858 432.5 7.4 1378 16862 roll 1.04 - - 2656 - 2.47 0.077 3846 568.8 97.3 - - 2554 - - - - - - - - 15.04 14.25 15.07
16978 423.7 7.4 1401 16982 done 1.05 - - 2668 - 2.33 0.034 2427 -609.0 97.3 - - 2554 - - - - - - - - 14.55 14.49 14.59
17281 404.4 6.0 1417 17322 roll 1.09 - - 2679 - 2.38 0.050 1054 -576.9 133.6 32.80 1.349 2421 -4.1 0.237 - - - - - - 15.04 14.34 13.19
17354 398.8 9.0 1432 17361 done 1.09 - - 2679 - 2.38 0.051 2444 584.0 133.6 - - 2420 - - - - - - - - 14.49 14.44 14.53
17661 367.6 10.0 1448 17663 done 1.09 - - 2679 - - - 2444 - 133.6 - - 2418 - - - - - - - - 14.95 14.98 14.97
17959 336.6 11.1 1463 17962 done 1.09 - - 2679 - - - 2444 - 133.6 - - 2418 - - - - - - - - 15.01 15.04 15.03
18259 303.0 11.2 1478 18264 roll 1.09 - - 2680 - 2.45 0.076 3845 571.8 133.6 - - 2417 - - - - - - - - 15.03 14.33 15.06
18338 293.3 12.9 1493 18342 done 1.09 - - 2692 - 2.30 0.034 2439 -611.3 133.6 - - 2417 - - - - - - - - 14.61 14.54 14.63
18642 256.9 11.8 1509 18644 done 1.09 - - 2692 - - - 2437 - 133.6 - - 2417 - - - - - - - - 15.04 15.07 15.07
18946 221.0 11.6 1536 18951 roll 1.09 - - 2703 - 2.35 0.050 1042 -593.6 133.6 - - 2417 - - - - - - - - 15.01 14.42 15.03
19065 206.4 12.3 1559 19073 done 1.09 - - 2704 - 2.42 0.051 2448 581.0 133.6 - - 2416 - - - - - - - - 14.52 14.40 14.55
19261 182.5 11.6 1580 19266 roll 1.09 0.12 0.272 2695 -75.0 2.40 0.046 1044 -585.0 133.6 - - 2416 - - - - - - - - 14.24 14.40 14.31
19295 178.8 11.1 1586 19299 done 1.09 - - 2695 - 2.40 0.051 2444 583.3 133.6 - - 2416 - - - - - - - - 14.52 14.42 14.56
19487 158.7 9.7 1606 19494 roll 1.09 - - 2696 - 2.45 0.075 3851 574.3 133.6 - - 2416 - - - - - - - - 15.03 14.31 15.05
19522 155.2 10.0 1613 19526 done 1.09 - - 2707 - 2.30 0.034 2438 -614.3 133.6 - - 2416 - - - - - - - - 14.60 14.54 14.62
19706 137.1 10.1 1632 19708 done 1.09 - - 2707 - - - 2436 - 133.6 - - 2416 - - - - - - - - 15.04 15.07 15.07
19887 120.2 9.1 1650 19892 roll 1.09 - - 2719 - 2.35 0.049 1046 -591.5 133.6 - - 2416 - - - - - - - - 15.03 14.41 15.05
19934 115.8 9.1 1659 19942 done 1.09 0.15 0.255 2686 -220.0 2.40 0.050 2442 581.7 133.6 - - 2416 - - - - - - - - 13.98 14.40 14.26
20133 107.8 3.7 1680 20207 roll 1.17 - - 2697 - 2.38 0.050 1052 -584.0 211.6 68.40 1.007 2104 -4.6 0.095 - - - - - - 15.01 14.29 13.38
20401 76.8 11.7 1734 20407 done 1.17 - - 2697 - 2.40 0.054 2440 578.3 211.6 - - 2099 - - - - - - - - 14.47 14.36 14.52
20590 62.7 5.1 1754 20644 roll 1.22 - - 2710 - 2.40 0.050 1056 -576.7 263.8 45.35 0.928 1890 -4.6 0.061 - - - - - - 14.93 14.31 13.45
20876 43.1 4.5 1810 20938 done 1.28 - - 2710 - 2.38 0.050 2444 583.2 326.5 56.28 0.883 1635 -4.5 0.043 - - - - - - 14.50 14.40 13.47
21122 30.2 2.7 1859 21215 roll 1.38 0.15 0.103 2807 646.7 2.50 0.076 3840 558.4 421.6 84.88 0.847 1248 -4.6 0.032 - - - - - - 14.52 14.24 13.45
21318 end climb: SURFACE_DEPTH_REACHED
21318 begin surface coast
21323 end surface coast: CONTROL_FINISHED_OK
21323 begin surface
SM 1.05 - - - - -6.77 7.65 0.044 132 17.1 2.22 0.034 2495 -3620.3 500.17 91.82 0.611 929 10.1 -0.002 - - - - 1 -