MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 630 * Raw log
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• Previous call tries 1 • 213.43 of 350.00 AH used of 24V (39.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.11 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 15 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
5 begin dive
9 - - - 83 VBD -0.67 - - 118 - - - 2499 - -97.3 -71.57 0.005 2582 - - - - - - - - 14.83 - 14.86
87 4.4 -11.7 15 119 roll -0.67 9.25 0.347 2103 214.6 2.38 0.062 1104 -586.1 -97.3 -15.35 0.008 3368 -51.2 5.500 - - - - - - 13.85 12.57 14.31
292 54.1 -14.4 56 297 done -0.67 - - 2094 - 2.42 0.061 2506 579.3 -97.3 - - 3368 - - - - - - - - 14.54 14.41 14.58
485 80.5 -13.6 76 489 roll -0.67 - - 2084 - 2.42 0.083 3905 578.1 -97.3 - - 3368 - - - - - - - - 14.98 14.40 15.01
576 93.1 -13.4 94 581 done -0.67 - - 2083 - 2.25 0.034 2499 -624.9 -97.3 - - 3368 - - - - - - - - 14.67 14.61 14.69
768 123.1 -15.1 114 773 roll -0.67 - - 2084 - 2.28 0.046 1106 -611.0 -97.3 - - 3368 - - - - - - - - 15.04 14.56 15.07
821 130.7 -13.8 124 828 done -0.67 0.15 0.217 2108 160.0 2.38 0.056 2506 588.2 -97.3 - - 3368 - - - - - - - - 14.27 14.51 14.48
1010 154.4 -11.6 144 1016 roll -0.67 - - 2098 - 2.42 0.083 3899 575.6 -97.3 - - 3368 - - - - - - - - 15.05 14.43 15.08
1110 167.2 -13.3 163 1114 done -0.67 - - 2098 - 2.25 0.033 2492 -625.3 -97.3 - - 3368 - - - - - - - - 14.71 14.64 14.73
1293 189.7 -12.1 182 1298 roll -0.67 - - 2099 - 2.28 0.046 1102 -609.6 -97.3 - - 3368 - - - - - - - - 15.06 14.56 15.09
1325 193.4 -11.4 188 1329 done -0.67 - - 2087 - 2.38 0.055 2501 587.8 -97.3 - - 3367 - - - - - - - - 14.63 14.52 14.67
1517 216.2 -12.1 208 1521 roll -0.67 - - 2077 - 2.40 0.082 3891 579.2 -97.3 - - 3366 - - - - - - - - 15.06 14.42 15.08
1581 224.0 -12.6 220 1586 done -0.67 0.15 0.207 2113 240.0 2.22 0.033 2495 -628.8 -97.3 - - 3367 - - - - - - - - 14.31 14.64 14.51
1777 244.6 -10.3 240 1780 done -0.67 - - 2113 - - - 2493 - -97.3 - - 3366 - - - - - - - - 15.04 15.07 15.06
1973 265.8 -10.5 253 1981 roll -0.67 - - 2104 - 2.45 0.083 3894 571.8 -97.3 - - 3364 - - - - - - - - 15.07 14.42 15.10
2028 271.6 -10.4 264 2032 done -0.67 - - 2104 - 2.22 0.033 2500 -627.9 -97.3 - - 3364 - - - - - - - - 14.71 14.65 14.73
2335 303.7 -10.5 280 2337 done -0.67 - - 2104 - - - 2499 - -97.3 - - 3362 - - - - - - - - 15.07 15.10 15.09
2634 335.4 -10.8 295 2638 roll -0.67 - - 2093 - 2.45 0.084 3891 568.2 -97.3 - - 3360 - - - - - - - - 15.08 14.40 15.11
2692 342.2 -12.0 306 2697 done -0.67 - - 2093 - 2.25 0.034 2496 -620.0 -97.3 - - 3360 - - - - - - - - 14.70 14.64 14.72
2995 380.5 -12.7 322 2997 done -0.67 - - 2093 - - - 2495 - -97.3 - - 3358 - - - - - - - - 15.09 15.11 15.11
3295 416.8 -11.7 337 3297 done -0.67 - - 2093 - - - 2495 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.11
3597 451.3 -11.4 352 3599 done -0.67 - - 2093 - - - 2495 - -97.3 - - 3354 - - - - - - - - 15.07 15.10 15.10
3896 486.3 -11.4 367 3902 roll -0.67 - - 2083 - 2.47 0.084 3895 566.8 -97.3 - - 3353 - - - - - - - - 15.08 14.38 15.11
3950 492.9 -12.0 378 3956 done -0.67 0.12 0.207 2112 241.7 2.28 0.034 2490 -616.2 -97.3 - - 3353 - - - - - - - - 14.31 14.60 14.49
4257 524.8 -10.3 394 4262 roll -0.67 - - 2112 - 2.30 0.047 1109 -600.4 -97.3 - - 3351 - - - - - - - - 15.07 14.50 15.09
4310 530.2 -9.8 404 4317 done -0.67 - - 2103 - 2.40 0.056 2506 582.1 -97.3 - - 3351 - - - - - - - - 14.57 14.46 14.62
4620 561.5 -10.1 421 4627 roll -0.67 - - 2092 - 2.42 0.086 3890 571.9 -97.3 - - 3349 - - - - - - - - 15.07 14.34 15.09
4664 566.2 -10.2 430 4669 done -0.67 - - 2091 - 2.25 0.034 2500 -617.8 -97.3 - - 3349 - - - - - - - - 14.66 14.59 14.69
4981 598.3 -10.0 448 4983 done -0.67 - - 2092 - - - 2499 - -97.3 - - 3349 - - - - - - - - 15.08 15.11 15.10
5283 628.1 -10.0 463 5287 roll -0.67 - - 2081 - 2.47 0.085 3891 563.6 -97.3 - - 3347 - - - - - - - - 15.07 14.32 15.09
5345 635.1 -11.2 475 5350 done -0.67 0.12 0.205 2110 241.7 2.25 0.035 2500 -618.2 -97.3 - - 3348 - - - - - - - - 14.27 14.57 14.45
5668 667.2 -10.3 494 5670 done -0.67 - - 2111 - - - 2499 - -97.3 - - 3347 - - - - - - - - 15.07 15.09 15.09
5967 696.9 -9.7 509 5969 done -0.67 - - 2110 - - - 2499 - -97.3 - - 3345 - - - - - - - - 15.07 15.11 15.10
6267 724.9 -9.2 524 6271 roll -0.67 - - 2101 - 2.53 0.087 3899 553.4 -97.3 - - 3344 - - - - - - - - 15.07 14.28 15.10
6298 727.9 -9.6 530 6303 done -0.67 - - 2101 - 2.28 0.035 2502 -612.7 -97.3 - - 3344 - - - - - - - - 14.62 14.55 14.65
6611 757.9 -9.6 547 6613 done -0.67 - - 2101 - - - 2500 - -97.3 - - 3343 - - - - - - - - 15.07 15.10 15.09
6910 786.2 -9.4 562 6916 roll -0.67 - - 2090 - 2.50 0.088 3890 556.0 -97.3 - - 3342 - - - - - - - - 15.07 14.26 15.10
6961 790.9 -10.1 571 6965 done -0.67 - - 2090 - 2.28 0.035 2497 -611.0 -97.3 - - 3343 - - - - - - - - 14.60 14.54 14.63
7277 823.6 -10.2 589 7281 roll -0.67 - - 2090 - 2.35 0.050 1104 -592.8 -97.3 - - 3341 - - - - - - - - 15.08 14.42 15.10
7303 826.3 -10.5 594 7309 done -0.67 0.12 0.207 2109 158.3 2.45 0.061 2506 572.2 -97.3 - - 3342 - - - - - - - - 14.17 14.36 14.37
7622 853.7 -8.3 612 7629 roll -0.67 - - 2100 - 2.47 0.086 3901 564.8 -97.3 - - 3341 - - - - - - - - 15.06 14.24 15.09
7666 857.6 -8.7 621 7670 done -0.67 - - 2100 - 2.33 0.036 2495 -603.4 -97.3 - - 3340 - - - - - - - - 14.58 14.51 14.61
7984 884.2 -8.4 639 7986 done -0.67 - - 2100 - - - 2494 - -97.3 - - 3339 - - - - - - - - 15.06 15.09 15.08
8282 908.9 -8.2 654 8287 roll -0.67 - - 2088 - 2.50 0.087 3892 559.2 -97.3 - - 3339 - - - - - - - - 15.07 14.23 15.09
8330 913.0 -8.9 663 8334 done -0.67 - - 2089 - 2.28 0.036 2502 -609.6 -97.3 - - 3339 - - - - - - - - 14.57 14.50 14.60
8649 941.7 -9.2 681 8653 roll -0.67 - - 2089 - 2.35 0.050 1109 -592.8 -97.3 - - 3338 - - - - - - - - 15.04 14.37 15.07
8675 944.4 -9.7 686 8681 done -0.67 0.12 0.202 2108 158.3 2.45 0.062 2499 567.3 -97.3 - - 3338 - - - - - - - - 14.13 14.32 14.33
8993 970.2 -8.1 704 8999 roll -0.67 - - 2099 - 2.47 0.086 3892 564.0 -97.3 - - 3337 - - - - - - - - 15.07 14.21 15.09
9059 975.9 -8.8 717 9063 done -0.67 - - 2099 - 2.30 0.037 2500 -605.2 -97.3 - - 3337 - - - - - - - - 14.54 14.47 14.57
9232 end dive: TARGET_DEPTH_EXCEEDED
9232 begin apogee
9240 991.6 -8.9 728 9337 done -0.15 0.62 0.162 2275 283.9 - - 2498 - - 93.80 1.984 2968 -3.9 0.384 - - - - - - 14.06 13.96 12.59
9338 end apogee: CONTROL_FINISHED_OK
9338 begin climb
9343 994.2 - 733 9454 done 0.67 0.85 0.093 2553 327.1 - - 2498 - 97.3 105.40 1.970 2569 -3.8 0.373 - - - - - - 14.16 13.54 12.56
9758 974.3 7.2 754 9760 done 0.69 - - 2553 - - - 2498 - 97.3 - - 2563 - - - - - - - - 14.85 14.88 14.88
10057 953.0 7.2 769 10061 roll 0.70 - - 2563 - 2.47 0.052 1050 -586.2 97.3 - - 2562 - - - - - - - - 14.95 14.45 14.98
10114 948.7 7.4 780 10121 done 0.72 - - 2563 - 2.42 0.057 2446 576.9 97.3 - - 2560 - - - - - - - - 14.54 14.43 14.59
10441 925.4 7.1 800 10445 roll 0.74 - - 2575 - 2.40 0.053 1048 -582.5 97.3 - - 2560 - - - - - - - - 14.99 14.45 15.02
10539 918.2 7.1 819 10546 done 0.76 - - 2575 - 2.42 0.057 2444 576.9 97.3 - - 2558 - - - - - - - - 14.54 14.43 14.59
10864 894.4 7.5 839 10870 roll 0.77 - - 2575 - 2.47 0.081 3851 569.6 97.3 - - 2558 - - - - - - - - 15.03 14.34 15.06
10899 891.5 8.7 846 10905 done 0.77 - - 2586 - 2.33 0.037 2437 -606.9 97.3 - - 2558 - - - - - - - - 14.61 14.54 14.64
11203 867.6 7.6 862 11205 done 0.77 - - 2586 - - - 2436 - 97.3 - - 2557 - - - - - - - - 15.04 15.07 15.07
11504 843.7 8.3 877 11506 done 0.77 - - 2586 - - - 2436 - 97.3 - - 2557 - - - - - - - - 15.04 15.07 15.07
11803 820.8 7.3 892 11807 roll 0.78 - - 2596 - 2.38 0.051 1041 -586.1 97.3 - - 2556 - - - - - - - - 15.05 14.42 15.08
11890 814.5 7.1 909 11897 done 0.80 - - 2597 - 2.42 0.053 2445 580.2 97.3 - - 2555 - - - - - - - - 14.52 14.40 14.57
12207 791.7 7.3 927 12211 roll 0.82 - - 2608 - 2.40 0.053 1047 -582.5 97.3 - - 2556 - - - - - - - - 15.03 14.42 15.06
12275 786.7 7.3 940 12279 done 0.83 - - 2608 - 2.40 0.052 2439 580.0 97.3 - - 2555 - - - - - - - - 14.51 14.40 14.56
12592 763.0 7.3 958 12594 done 0.85 - - 2608 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.03 15.07 15.06
12891 741.5 7.1 973 12893 done 0.87 - - 2608 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.05 15.08 15.08
13192 719.1 7.4 988 13194 done 0.88 - - 2608 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.04 15.07 15.07
13491 696.0 7.9 1003 13493 done 0.88 - - 2608 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.05 15.08 15.08
13791 672.2 7.8 1018 13796 roll 0.88 - - 2620 - 2.42 0.053 1041 -577.7 97.3 - - 2555 - - - - - - - - 15.05 14.38 15.08
13829 669.3 7.8 1025 13833 done 0.88 - - 2620 - 2.42 0.051 2439 577.7 97.3 - - 2555 - - - - - - - - 14.47 14.35 14.52
14133 645.6 7.9 1041 14137 roll 0.88 - - 2620 - 2.50 0.079 3851 564.8 97.3 - - 2555 - - - - - - - - 15.06 14.24 15.09
14174 642.1 8.5 1049 14179 done 0.88 - - 2632 - 2.33 0.036 2435 -607.7 97.3 - - 2554 - - - - - - - - 14.56 14.49 14.58
14498 619.0 7.1 1068 14502 roll 0.90 - - 2644 - 2.35 0.050 1052 -588.5 97.3 - - 2555 - - - - - - - - 15.04 14.38 15.07
14549 615.1 7.5 1078 14554 done 0.91 - - 2644 - 2.40 0.051 2441 578.8 97.3 - - 2554 - - - - - - - - 14.47 14.35 14.52
14863 592.6 7.4 1095 14868 roll 0.92 - - 2645 - 2.50 0.078 3848 562.8 97.3 - - 2554 - - - - - - - - 15.04 14.23 15.07
14915 588.1 8.3 1105 14919 done 0.92 - - 2657 - 2.30 0.034 2439 -612.6 97.3 - - 2554 - - - - - - - - 14.56 14.50 14.59
15226 564.4 7.5 1122 15231 roll 0.93 - - 2668 - 2.35 0.050 1052 -590.2 97.3 - - 2554 - - - - - - - - 15.05 14.37 15.08
15364 554.8 6.9 1148 15371 done 0.96 0.12 0.265 2644 -200.0 2.40 0.051 2442 579.2 97.3 - - 2554 - - - - - - - - 13.95 14.35 14.16
15673 531.9 7.5 1165 15680 roll 0.97 - - 2644 - 2.47 0.078 3844 567.6 97.3 - - 2554 - - - - - - - - 15.01 14.22 15.04
15713 528.2 8.6 1173 15717 done 0.97 - - 2657 - 2.30 0.034 2436 -612.2 97.3 - - 2554 - - - - - - - - 14.55 14.48 14.59
16035 504.8 7.2 1192 16039 roll 0.98 - - 2668 - 2.38 0.050 1047 -583.6 97.3 - - 2554 - - - - - - - - 15.04 14.36 15.07
16218 491.2 7.6 1228 16224 done 0.98 - - 2668 - 2.40 0.051 2440 580.4 97.3 - - 2554 - - - - - - - - 14.45 14.33 14.50
16539 468.4 7.1 1247 16541 done 1.00 - - 2668 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
16839 445.7 7.7 1262 16844 roll 1.00 - - 2680 - 2.40 0.050 1045 -581.2 97.3 - - 2554 - - - - - - - - 15.04 14.36 15.07
16871 443.1 8.1 1268 16875 done 1.00 - - 2680 - 2.40 0.050 2440 581.2 97.3 - - 2554 - - - - - - - - 14.45 14.34 14.50
17185 417.3 8.3 1285 17193 roll 1.00 - - 2680 - 2.47 0.077 3845 568.8 97.3 - - 2554 - - - - - - - - 15.02 14.22 15.05
17217 414.5 8.8 1291 17224 done 1.00 0.17 0.267 2653 -158.8 2.30 0.034 2436 -612.6 97.3 - - 2554 - - - - - - - - 13.83 14.48 14.18
17527 391.9 7.0 1308 17532 roll 1.03 - - 2664 - 2.35 0.049 1049 -590.2 97.3 - - 2554 - - - - - - - - 15.02 14.36 15.05
17756 376.3 6.9 1353 17762 done 1.05 - - 2664 - 2.40 0.051 2442 580.4 97.3 - - 2554 - - - - - - - - 14.31 14.24 14.35
18076 355.6 6.4 1371 18078 done 1.08 - - 2664 - - - 2443 - 97.3 - - 2554 - - - - - - - - 15.03 15.07 15.06
18375 339.6 5.4 1386 18420 done 1.13 - - 2664 - - - 2442 - 144.8 43.47 1.278 2377 -4.1 0.211 - - - - - - 15.05 14.23 13.21
18716 303.3 11.8 1406 18721 roll 1.13 - - 2664 - 2.47 0.079 3850 570.0 144.8 - - 2371 - - - - - - - - 14.92 14.32 14.95
18733 301.0 11.9 1409 18737 done 1.13 - - 2675 - 2.30 0.035 2444 -611.3 144.8 - - 2371 - - - - - - - - 14.57 14.51 14.60
19039 261.8 13.1 1425 19044 roll 1.13 - - 2687 - 2.35 0.050 1052 -592.3 144.8 - - 2371 - - - - - - - - 14.99 14.41 15.01
19137 248.9 12.9 1444 19141 done 1.13 - - 2687 - 2.40 0.053 2440 578.3 144.8 - - 2370 - - - - - - - - 14.51 14.39 14.54
19441 209.1 13.2 1475 19447 roll 1.13 - - 2688 - 2.45 0.078 3845 573.5 144.8 - - 2370 - - - - - - - - 15.01 14.29 15.03
19472 204.7 15.0 1481 19476 done 1.13 - - 2699 - 2.30 0.035 2441 -610.4 144.8 - - 2370 - - - - - - - - 14.59 14.52 14.62
19663 179.1 13.3 1501 19665 done 1.13 - - 2700 - - - 2440 - 144.8 - - 2370 - - - - - - - - 15.02 15.05 15.04
19845 156.8 11.9 1519 19849 roll 1.13 - - 2710 - 2.38 0.051 1042 -587.4 144.8 - - 2369 - - - - - - - - 15.02 14.40 15.04
19901 150.0 11.6 1530 19906 done 1.13 - - 2711 - 2.42 0.052 2445 579.8 144.8 - - 2370 - - - - - - - - 14.50 14.39 14.54
20086 129.8 11.0 1549 20093 roll 1.13 - - 2711 - 2.45 0.076 3851 573.9 144.8 - - 2370 - - - - - - - - 15.03 14.29 15.06
20158 121.7 11.1 1563 20162 done 1.13 - - 2723 - 2.30 0.034 2437 -614.8 144.8 - - 2370 - - - - - - - - 14.59 14.52 14.62
20350 100.1 11.6 1583 20357 roll 1.13 0.12 0.293 2709 -116.7 2.35 0.047 1046 -591.9 144.8 - - 2370 - - - - - - - - 14.17 14.38 14.30
20566 87.9 3.2 1626 20650 done 1.21 - - 2709 - 2.40 0.050 2444 582.5 230.7 74.45 0.985 2025 -4.6 0.081 - - - - - - 14.50 14.39 13.37
20831 59.7 11.4 1661 20835 roll 1.21 - - 2721 - 2.38 0.050 1051 -585.3 230.7 - - 2020 - - - - - - - - 14.86 14.38 14.88
21065 44.1 3.6 1707 21142 done 1.29 - - 2726 - 2.40 0.050 2450 582.9 310.0 69.22 0.898 1703 -4.6 0.044 - - - - - - 14.50 14.40 13.43
21327 26.7 0.8 1759 21457 roll 1.42 0.15 0.103 2818 613.3 2.53 0.076 3848 552.6 439.6 115.43 0.851 1174 -4.6 0.028 - - - - - - 14.48 14.19 13.40
21464 16.6 15.5 1786 21470 done 1.42 0.17 0.252 2791 -158.8 2.33 0.039 2453 -598.7 439.6 - - 1174 - - - - - - - - 14.02 14.34 14.28
21553 end climb: SURFACE_DEPTH_REACHED
21553 begin surface coast
21571 end surface coast: CONTROL_FINISHED_OK
21571 begin surface
SM 0.98 - - - - -6.77 7.72 0.052 119 15.4 0.08 0.170 2494 -32900.0 500.17 76.80 0.581 928 12.1 -0.002 - - - - 1 -