MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 633 * Raw log
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• Previous call tries 3 • 214.32 of 350.00 AH used of 24V (38.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.8 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: 23 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 - - 107 - - - 2523 - -97.3 -71.68 0.005 2601 - - - - - - - - 14.85 - 14.88
88 4.3 -10.9 15 119 roll -0.67 9.25 0.346 2094 214.8 2.38 0.099 3874 567.6 -97.3 -15.07 0.009 3367 -50.8 4.732 - - - - - - 13.87 12.59 14.33
126 17.9 -30.7 23 130 done -0.67 - - 2094 - 2.17 0.030 2484 -640.6 -97.3 - - 3367 - - - - - - - - 14.64 14.60 14.66
318 62.6 -18.7 55 322 roll -0.67 - - 2085 - 2.42 0.080 3875 574.8 -97.3 - - 3367 - - - - - - - - 14.97 14.40 15.00
529 95.9 -12.2 97 534 done -0.67 - - 2085 - 2.15 0.032 2515 -632.6 -97.3 - - 3367 - - - - - - - - 14.70 14.64 14.71
722 122.5 -14.5 117 724 done -0.67 - - 2085 - - - 2513 - -97.3 - - 3367 - - - - - - - - 15.02 15.06 15.05
901 147.8 -13.3 135 905 roll -0.67 - - 2074 - 2.38 0.083 3880 574.4 -97.3 - - 3367 - - - - - - - - 15.06 14.46 15.08
993 160.7 -14.3 153 998 done -0.67 0.15 0.215 2110 240.0 2.17 0.031 2496 -637.8 -97.3 - - 3367 - - - - - - - - 14.32 14.67 14.53
1188 183.3 -11.4 173 1192 done -0.67 - - 2110 - - - 2495 - -97.3 - - 3366 - - - - - - - - 15.04 15.07 15.07
1375 205.2 -11.5 192 1379 roll -0.67 - - 2101 - 2.40 0.080 3877 575.8 -97.3 - - 3365 - - - - - - - - 15.06 14.45 15.09
1417 210.2 -12.4 200 1421 done -0.67 - - 2101 - 2.17 0.032 2507 -631.3 -97.3 - - 3365 - - - - - - - - 14.73 14.67 14.75
1608 233.9 -12.2 220 1610 done -0.67 - - 2101 - - - 2506 - -97.3 - - 3364 - - - - - - - - 15.07 15.10 15.10
1790 255.1 -11.5 236 1794 roll -0.67 - - 2101 - 2.30 0.046 1106 -608.7 -97.3 - - 3363 - - - - - - - - 15.07 14.57 15.09
1816 258.3 -11.5 241 1820 done -0.67 - - 2090 - 2.33 0.055 2482 590.6 -97.3 - - 3362 - - - - - - - - 14.65 14.54 14.69
2132 295.4 -11.8 259 2139 roll -0.67 - - 2080 - 2.42 0.080 3890 581.8 -97.3 - - 3360 - - - - - - - - 15.08 14.45 15.11
2194 302.7 -12.3 271 2198 done -0.67 0.12 0.209 2109 241.7 2.22 0.034 2496 -627.9 -97.3 - - 3360 - - - - - - - - 14.37 14.66 14.54
2515 338.7 -11.3 290 2520 roll -0.67 - - 2100 - 2.45 0.081 3895 571.0 -97.3 - - 3358 - - - - - - - - 15.09 14.43 15.11
2552 343.0 -11.4 297 2557 done -0.67 - - 2100 - 2.25 0.034 2493 -623.1 -97.3 - - 3358 - - - - - - - - 14.71 14.65 14.73
2859 377.8 -11.5 313 2861 done -0.67 - - 2100 - - - 2491 - -97.3 - - 3355 - - - - - - - - 15.07 15.10 15.10
3158 410.0 -10.5 328 3162 roll -0.67 - - 2100 - 2.30 0.047 1108 -601.3 -97.3 - - 3353 - - - - - - - - 15.09 14.54 15.11
3200 414.4 -10.4 336 3205 done -0.67 - - 2089 - 2.40 0.057 2505 582.1 -97.3 - - 3353 - - - - - - - - 14.62 14.50 14.66
3522 450.2 -11.2 355 3526 roll -0.67 - - 2078 - 2.40 0.082 3892 577.9 -97.3 - - 3351 - - - - - - - - 15.08 14.40 15.11
3608 460.4 -11.7 372 3613 done -0.67 0.12 0.210 2108 250.0 2.25 0.034 2496 -620.4 -97.3 - - 3351 - - - - - - - - 14.32 14.62 14.51
3926 491.2 -9.6 390 3931 roll -0.67 - - 2109 - 2.30 0.048 1108 -603.5 -97.3 - - 3349 - - - - - - - - 15.07 14.52 15.10
3958 494.4 -9.6 396 3962 done -0.67 - - 2099 - 2.40 0.058 2506 582.5 -97.3 - - 3349 - - - - - - - - 14.59 14.48 14.64
4270 525.8 -10.1 413 4274 roll -0.67 - - 2088 - 2.42 0.083 3896 574.4 -97.3 - - 3347 - - - - - - - - 15.07 14.38 15.10
4297 528.7 -10.5 418 4302 done -0.67 - - 2088 - 2.25 0.035 2504 -618.7 -97.3 - - 3347 - - - - - - - - 14.67 14.61 14.69
4614 562.7 -10.7 436 4616 done -0.67 - - 2087 - - - 2503 - -97.3 - - 3346 - - - - - - - - 15.08 15.11 15.11
4916 593.0 -9.8 451 4923 roll -0.67 - - 2077 - 2.47 0.086 3899 565.2 -97.3 - - 3345 - - - - - - - - 15.07 14.35 15.09
4960 597.7 -10.5 460 4965 done -0.67 0.15 0.201 2114 246.7 2.30 0.036 2494 -610.9 -97.3 - - 3345 - - - - - - - - 14.25 14.58 14.45
5277 625.4 -8.9 478 5282 roll -0.67 - - 2105 - 2.47 0.085 3892 566.0 -97.3 - - 3343 - - - - - - - - 15.08 14.34 15.11
5306 628.0 -9.6 483 5310 done -0.67 - - 2105 - 2.25 0.035 2502 -617.8 -97.3 - - 3343 - - - - - - - - 14.65 14.59 14.67
5622 659.5 -10.0 501 5626 roll -0.67 - - 2105 - 2.33 0.049 1109 -597.9 -97.3 - - 3342 - - - - - - - - 15.08 14.47 15.11
5668 664.2 -9.9 510 5673 done -0.67 - - 2093 - 2.40 0.060 2499 579.2 -97.3 - - 3342 - - - - - - - - 14.54 14.42 14.59
5986 697.6 -10.5 528 5990 roll -0.67 - - 2083 - 2.45 0.086 3892 568.6 -97.3 - - 3341 - - - - - - - - 15.07 14.32 15.09
6027 702.1 -11.0 536 6032 done -0.67 0.12 0.205 2112 241.7 2.28 0.036 2491 -614.5 -97.3 - - 3340 - - - - - - - - 14.26 14.57 14.45
6351 732.0 -9.3 555 6358 roll -0.67 - - 2103 - 2.50 0.085 3893 560.8 -97.3 - - 3339 - - - - - - - - 15.06 14.30 15.09
6375 734.5 -9.9 560 6379 done -0.67 - - 2103 - 2.28 0.035 2499 -611.4 -97.3 - - 3339 - - - - - - - - 14.62 14.56 14.65
6691 766.1 -9.9 578 6693 done -0.67 - - 2103 - - - 2497 - -97.3 - - 3338 - - - - - - - - 15.07 15.11 15.10
6992 795.3 -9.5 593 6994 done -0.67 - - 2103 - - - 2498 - -97.3 - - 3338 - - - - - - - - 15.07 15.09 15.09
7291 822.0 -8.6 608 7295 roll -0.67 - - 2092 - 2.53 0.087 3897 553.0 -97.3 - - 3337 - - - - - - - - 15.08 14.26 15.11
7334 825.7 -9.1 616 7338 done -0.67 - - 2092 - 2.30 0.037 2493 -610.4 -97.3 - - 3337 - - - - - - - - 14.60 14.53 14.63
7657 855.1 -9.2 635 7659 done -0.67 - - 2092 - - - 2492 - -97.3 - - 3336 - - - - - - - - 15.06 15.09 15.09
7955 883.1 -9.5 650 7957 done -0.67 - - 2092 - - - 2492 - -97.3 - - 3335 - - - - - - - - 15.07 15.11 15.10
8256 912.0 -9.9 665 8264 roll -0.67 - - 2082 - 2.53 0.087 3897 555.3 -97.3 - - 3334 - - - - - - - - 15.06 14.23 15.09
8308 917.3 -10.6 675 8313 done -0.67 0.12 0.207 2111 241.7 2.30 0.037 2494 -610.0 -97.3 - - 3334 - - - - - - - - 14.20 14.50 14.38
8620 946.2 -9.1 692 8622 done -0.67 - - 2111 - - - 2493 - -97.3 - - 3334 - - - - - - - - 15.07 15.10 15.09
8922 971.9 -8.3 707 8924 done -0.67 - - 2111 - - - 2493 - -97.3 - - 3333 - - - - - - - - 15.05 15.09 15.08
9157 end dive: TARGET_DEPTH_EXCEEDED
9157 begin apogee
9164 990.5 -7.5 719 9261 done -0.15 0.57 0.161 2276 289.5 - - 2493 - - 92.32 1.976 2968 -4.0 0.386 - - - - - - 14.09 13.97 12.61
9262 end apogee: CONTROL_FINISHED_OK
9262 begin climb
9266 992.2 - 724 9381 roll 0.67 0.82 0.090 2557 342.7 2.58 0.050 1052 -558.5 97.3 103.15 1.968 2569 -3.9 0.380 - - - - - - 14.17 13.97 12.59
9423 988.5 6.8 756 9430 done 0.69 - - 2557 - 2.45 0.054 2449 570.2 97.3 - - 2566 - - - - - - - - 14.36 14.27 14.39
9745 961.0 8.7 775 9751 roll 0.69 - - 2557 - 2.47 0.083 3850 567.2 97.3 - - 2562 - - - - - - - - 14.89 14.36 14.92
9810 954.6 9.7 788 9814 done 0.69 - - 2568 - 2.33 0.036 2435 -607.3 97.3 - - 2562 - - - - - - - - 14.59 14.53 14.63
10127 928.0 8.1 806 10132 roll 0.69 - - 2579 - 2.35 0.051 1048 -590.2 97.3 - - 2561 - - - - - - - - 14.98 14.47 15.01
10179 923.8 8.0 816 10183 done 0.69 - - 2579 - 2.40 0.054 2441 580.4 97.3 - - 2559 - - - - - - - - 14.56 14.45 14.61
10490 899.4 7.9 833 10492 done 0.69 - - 2579 - - - 2441 - 97.3 - - 2559 - - - - - - - - 15.02 15.05 15.05
10792 875.3 8.0 848 10798 roll 0.69 - - 2579 - 2.47 0.082 3847 569.2 97.3 - - 2558 - - - - - - - - 15.02 14.35 15.05
10875 867.5 9.3 865 10883 done 0.69 0.15 0.244 2558 -140.0 2.30 0.037 2438 -612.6 97.3 - - 2557 - - - - - - - - 14.11 14.55 14.40
11195 843.8 7.5 883 11200 roll 0.71 - - 2567 - 2.38 0.051 1045 -585.3 97.3 - - 2557 - - - - - - - - 15.00 14.45 15.03
11287 836.8 7.1 901 11291 done 0.72 - - 2567 - 2.40 0.053 2441 581.7 97.3 - - 2556 - - - - - - - - 14.54 14.42 14.59
11600 813.5 7.5 918 11602 done 0.73 - - 2567 - - - 2442 - 97.3 - - 2557 - - - - - - - - 15.04 15.07 15.06
11899 792.2 6.8 933 11903 roll 0.76 - - 2578 - 2.38 0.050 1049 -585.3 97.3 - - 2556 - - - - - - - - 15.05 14.43 15.08
12019 784.4 6.5 956 12023 done 0.79 - - 2578 - 2.42 0.054 2448 578.1 97.3 - - 2555 - - - - - - - - 14.51 14.40 14.56
12320 764.5 6.7 972 12325 roll 0.82 - - 2578 - 2.50 0.081 3849 560.4 97.3 - - 2555 - - - - - - - - 15.05 14.29 15.08
12362 761.3 7.9 980 12366 done 0.82 - - 2589 - 2.33 0.036 2439 -605.2 97.3 - - 2555 - - - - - - - - 14.59 14.52 14.62
12685 738.1 7.6 999 12687 done 0.82 - - 2589 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.04 15.07 15.07
12983 715.0 7.8 1014 12988 roll 0.82 - - 2600 - 2.38 0.050 1042 -587.0 97.3 - - 2555 - - - - - - - - 15.05 14.41 15.08
13011 713.1 7.4 1019 13015 done 0.83 - - 2600 - 2.42 0.051 2447 580.6 97.3 - - 2555 - - - - - - - - 14.50 14.38 14.54
13329 688.4 7.7 1037 13336 roll 0.83 - - 2600 - 2.47 0.080 3846 566.4 97.3 - - 2555 - - - - - - - - 15.04 14.27 15.07
13419 680.9 8.0 1055 13423 done 0.83 - - 2611 - 2.30 0.036 2438 -612.2 97.3 - - 2555 - - - - - - - - 14.57 14.51 14.61
13732 659.2 6.8 1072 13736 roll 0.85 - - 2622 - 2.35 0.050 1051 -590.2 97.3 - - 2555 - - - - - - - - 15.04 14.39 15.07
13773 656.4 6.8 1080 13777 done 0.88 - - 2622 - 2.40 0.052 2441 579.2 97.3 - - 2554 - - - - - - - - 14.48 14.36 14.53
14096 634.8 6.4 1099 14101 roll 0.91 - - 2634 - 2.38 0.049 1051 -584.0 97.3 - - 2554 - - - - - - - - 15.04 14.39 15.06
14221 626.8 6.8 1123 14225 done 0.94 - - 2634 - 2.42 0.052 2445 576.0 97.3 - - 2554 - - - - - - - - 14.46 14.35 14.52
14544 604.6 6.9 1142 14549 roll 0.96 - - 2648 - 2.40 0.048 1042 -584.6 97.3 - - 2554 - - - - - - - - 15.04 14.38 15.06
14592 601.2 7.1 1151 14599 done 0.98 - - 2650 - 2.42 0.051 2446 580.2 97.3 - - 2554 - - - - - - - - 14.47 14.35 14.52
14908 577.5 7.8 1169 14915 roll 0.98 - - 2652 - 2.47 0.078 3848 567.6 97.3 - - 2554 - - - - - - - - 15.04 14.25 15.07
15074 561.7 9.9 1202 15079 done 0.98 - - 2663 - 2.30 0.035 2439 -612.6 97.3 - - 2554 - - - - - - - - 14.55 14.48 14.59
15392 533.4 9.1 1220 15396 roll 0.98 - - 2675 - 2.38 0.050 1049 -584.0 97.3 - - 2554 - - - - - - - - 15.03 14.37 15.06
15490 524.4 9.2 1239 15497 done 0.98 - - 2674 - 2.42 0.051 2447 577.7 97.3 - - 2554 - - - - - - - - 14.45 14.33 14.50
15815 497.2 8.1 1259 15819 roll 0.98 - - 2687 - 2.40 0.047 1043 -585.0 97.3 - - 2554 - - - - - - - - 15.05 14.38 15.08
15913 489.4 7.8 1278 15919 done 0.98 0.17 0.239 2648 -229.4 2.42 0.050 2443 578.5 97.3 - - 2554 - - - - - - - - 13.87 14.34 14.19
16219 467.1 7.1 1294 16221 done 1.00 - - 2648 - - - 2443 - 97.3 - - 2554 - - - - - - - - 15.02 15.05 15.05
16518 445.7 7.0 1309 16523 roll 1.02 - - 2660 - 2.40 0.048 1045 -582.5 97.3 - - 2554 - - - - - - - - 15.04 14.37 15.06
16660 435.4 7.5 1337 16664 done 1.03 - - 2660 - 2.40 0.052 2438 580.4 97.3 - - 2554 - - - - - - - - 14.45 14.33 14.50
16983 412.1 7.1 1356 16989 roll 1.05 - - 2660 - 2.50 0.078 3854 566.4 97.3 - - 2554 - - - - - - - - 15.04 14.23 15.07
17143 398.7 8.4 1388 17147 done 1.05 - - 2671 - 2.33 0.035 2434 -609.4 97.3 - - 2554 - - - - - - - - 14.54 14.48 14.58
17465 375.0 7.1 1407 17470 roll 1.07 - - 2682 - 2.38 0.049 1045 -583.6 97.3 - - 2554 - - - - - - - - 15.04 14.36 15.07
17608 364.9 6.9 1435 17615 done 1.09 - - 2682 - 2.42 0.050 2450 580.6 97.3 - - 2553 - - - - - - - - 14.45 14.33 14.50
17929 344.3 6.3 1454 17933 roll 1.12 - - 2694 - 2.40 0.047 1042 -586.7 97.3 - - 2554 - - - - - - - - 15.05 14.38 15.08
18029 338.0 7.0 1473 18036 done 1.15 - - 2694 - 2.42 0.050 2445 579.8 97.3 - - 2554 - - - - - - - - 14.45 14.34 14.50
18356 314.9 6.6 1493 18361 roll 1.17 - - 2706 - 2.40 0.047 1046 -582.9 97.3 - - 2554 - - - - - - - - 15.02 14.37 15.05
18389 312.7 6.4 1499 18393 done 1.21 - - 2706 - 2.40 0.050 2440 580.8 97.3 - - 2554 - - - - - - - - 14.45 14.34 14.50
18701 292.1 6.5 1516 18708 roll 1.24 - - 2707 - 2.47 0.076 3846 569.2 97.3 - - 2554 - - - - - - - - 15.04 14.24 15.07
18715 291.0 6.6 1519 18720 done 1.27 - - 2719 - 2.30 0.034 2435 -613.5 97.3 - - 2553 - - - - - - - - 14.54 14.48 14.58
19022 271.3 6.3 1535 19026 roll 1.30 - - 2732 - 2.35 0.047 1051 -588.9 97.3 - - 2554 - - - - - - - - 15.04 14.38 15.07
19191 261.4 6.0 1568 19231 done 1.34 - - 2732 - 2.40 0.050 2445 580.8 133.5 32.33 1.175 2422 -4.1 0.177 - - - - - - 14.45 14.34 13.31
19534 223.7 11.7 1604 19538 roll 1.34 - - 2746 - 2.35 0.047 1055 -591.5 133.5 - - 2418 - - - - - - - - 14.96 14.43 14.99
19600 215.5 12.7 1617 19604 done 1.34 - - 2746 - 2.40 0.051 2447 580.0 133.5 - - 2417 - - - - - - - - 14.52 14.40 14.55
19786 191.2 13.0 1636 19788 done 1.34 - - 2746 - - - 2447 - 133.5 - - 2417 - - - - - - - - 14.98 15.01 15.00
19965 167.1 13.4 1654 19971 roll 1.34 - - 2757 - 2.38 0.048 1052 -586.1 133.5 - - 2417 - - - - - - - - 15.00 14.42 15.03
20035 158.2 13.1 1667 20039 done 1.34 - - 2758 - 2.40 0.051 2442 579.2 133.5 - - 2417 - - - - - - - - 14.50 14.39 14.54
20218 137.0 10.2 1686 20223 roll 1.34 - - 2762 - 2.45 0.076 3848 573.9 133.5 - - 2417 - - - - - - - - 15.02 14.31 15.04
20301 127.6 11.5 1702 20307 done 1.34 0.15 0.297 2762 - 2.30 0.034 2436 -613.9 133.5 - - 2417 - - - - - - - - 13.90 14.52 14.22
20497 113.1 5.9 1722 20538 roll 1.38 - - 2763 - 2.47 0.076 3849 572.1 172.1 35.08 1.001 2265 -4.3 0.095 - - - - - - 15.00 14.21 13.45
20604 104.0 12.7 1742 20609 done 1.38 - - 2776 - 2.30 0.036 2444 -610.9 172.1 - - 2262 - - - - - - - - 14.60 14.53 14.62
20798 83.5 7.7 1762 20803 roll 1.38 - - 2777 - 2.50 0.075 3855 564.4 172.1 - - 2260 - - - - - - - - 14.95 14.34 14.97
20867 78.1 8.0 1775 20871 done 1.38 - - 2789 - 2.33 0.034 2435 -609.4 172.1 - - 2260 - - - - - - - - 14.58 14.52 14.61
21051 67.1 5.2 1794 21100 roll 1.43 - - 2789 - 2.50 0.076 3854 567.6 222.4 44.05 0.936 2060 -4.5 0.063 - - - - - - 14.98 14.36 13.49
21329 48.5 -1.2 1849 21487 done 1.59 0.12 0.128 2867 650.0 2.30 0.034 2428 -620.0 388.5 145.50 0.893 1383 -4.7 0.049 - - - - - - 14.42 14.52 13.36
21669 13.9 13.5 1916 21673 roll 1.59 - - 2877 - 2.30 0.047 1060 -594.8 388.5 - - 1381 - - - - - - - - 14.80 14.38 14.83
21737 end climb: SURFACE_DEPTH_REACHED
21737 begin surface coast
21751 end surface coast: CONTROL_FINISHED_OK
21752 begin surface
SM 1.02 - - - - -6.78 8.07 0.060 117 14.5 2.58 0.067 2487 764.0 500.17 120.82 0.655 929 7.7 -0.001 - - - - 1 -