MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 641 * Raw log
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• Previous call tries 1 • 216.74 of 350.00 AH used of 24V (38.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.16 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
10 - - - 83 VBD -0.67 - - 107 - - - 2494 - -97.3 -71.38 0.005 2574 - - - - - - - - 14.83 - 14.85
87 4.4 -11.4 15 119 roll -0.67 9.35 0.348 2094 212.5 2.45 0.088 3887 568.6 -97.3 -15.35 0.008 3367 -51.7 5.554 - - - - - - 13.84 12.56 14.31
348 67.9 -16.4 67 352 done -0.67 - - 2094 - 2.25 0.033 2482 -624.4 -97.3 - - 3367 - - - - - - - - 14.64 14.58 14.66
541 99.3 -15.3 87 545 roll -0.67 - - 2084 - 2.45 0.080 3884 572.2 -97.3 - - 3368 - - - - - - - - 14.99 14.40 15.02
772 134.6 -13.9 133 777 done -0.67 - - 2084 - 2.20 0.032 2497 -630.5 -97.3 - - 3367 - - - - - - - - 14.69 14.63 14.71
965 159.7 -12.7 153 969 roll -0.67 - - 2073 - 2.42 0.078 3884 573.1 -97.3 - - 3368 - - - - - - - - 15.03 14.42 15.06
1006 165.8 -14.6 161 1011 done -0.67 0.15 0.212 2108 233.3 2.22 0.033 2499 -623.9 -97.3 - - 3368 - - - - - - - - 14.28 14.64 14.50
1199 187.5 -11.1 181 1207 roll -0.67 - - 2100 - 2.42 0.080 3892 575.6 -97.3 - - 3368 - - - - - - - - 15.04 14.43 15.07
1244 192.7 -11.6 190 1249 done -0.67 - - 2100 - 2.22 0.033 2499 -627.5 -97.3 - - 3368 - - - - - - - - 14.70 14.64 14.72
1429 214.3 -12.0 209 1433 roll -0.67 - - 2100 - 2.28 0.047 1110 -609.2 -97.3 - - 3367 - - - - - - - - 15.05 14.54 15.08
1456 217.5 -12.4 214 1462 done -0.67 - - 2089 - 2.38 0.059 2499 583.6 -97.3 - - 3367 - - - - - - - - 14.62 14.50 14.66
1640 242.1 -13.2 233 1644 roll -0.67 - - 2078 - 2.42 0.080 3893 576.0 -97.3 - - 3366 - - - - - - - - 15.06 14.42 15.09
1701 250.6 -13.7 245 1707 done -0.67 0.12 0.213 2108 250.0 2.25 0.033 2481 -627.6 -97.3 - - 3366 - - - - - - - - 14.31 14.59 14.50
2028 286.2 -10.2 264 2030 done -0.67 - - 2109 - - - 2479 - -97.3 - - 3364 - - - - - - - - 15.04 15.07 15.07
2324 316.0 -10.0 279 2326 done -0.67 - - 2108 - - - 2479 - -97.3 - - 3362 - - - - - - - - 15.08 15.11 15.10
2625 347.2 -10.8 294 2630 roll -0.67 - - 2098 - 2.53 0.084 3899 561.3 -97.3 - - 3361 - - - - - - - - 15.07 14.39 15.10
2653 350.4 -11.1 299 2657 done -0.67 - - 2098 - 2.25 0.034 2503 -620.4 -97.3 - - 3360 - - - - - - - - 14.69 14.63 14.71
2969 385.8 -11.1 317 2971 done -0.67 - - 2098 - - - 2502 - -97.3 - - 3358 - - - - - - - - 15.08 15.11 15.11
3270 419.2 -11.1 332 3277 roll -0.67 - - 2087 - 2.47 0.086 3896 564.4 -97.3 - - 3356 - - - - - - - - 15.07 14.38 15.09
3314 424.3 -11.5 341 3318 done -0.67 - - 2087 - 2.25 0.034 2502 -619.6 -97.3 - - 3356 - - - - - - - - 14.68 14.60 14.70
3632 459.5 -10.9 359 3636 roll -0.67 - - 2087 - 2.33 0.048 1104 -600.0 -97.3 - - 3354 - - - - - - - - 15.07 14.50 15.09
3678 464.8 -10.8 368 3685 done -0.67 0.15 0.200 2112 166.7 2.40 0.058 2498 580.8 -97.3 - - 3353 - - - - - - - - 14.23 14.45 14.44
3993 495.0 -10.0 386 3998 roll -0.67 - - 2104 - 2.45 0.086 3894 569.8 -97.3 - - 3353 - - - - - - - - 15.07 14.35 15.10
4082 504.5 -11.0 403 4086 done -0.67 - - 2104 - 2.28 0.035 2500 -611.4 -97.3 - - 3352 - - - - - - - - 14.65 14.58 14.67
4398 540.0 -11.1 421 4400 done -0.67 - - 2104 - - - 2499 - -97.3 - - 3351 - - - - - - - - 15.07 15.11 15.10
4699 572.5 -10.7 436 4701 done -0.67 - - 2103 - - - 2499 - -97.3 - - 3349 - - - - - - - - 15.07 15.10 15.09
4999 604.2 -10.5 451 5003 roll -0.67 - - 2092 - 2.47 0.087 3891 563.6 -97.3 - - 3348 - - - - - - - - 15.07 14.23 15.10
5077 612.4 -10.6 466 5082 done -0.67 - - 2092 - 2.28 0.036 2498 -611.0 -97.3 - - 3348 - - - - - - - - 14.62 14.56 14.66
5381 644.3 -10.2 482 5386 roll -0.67 - - 2092 - 2.33 0.050 1108 -596.6 -97.3 - - 3347 - - - - - - - - 15.06 14.45 15.09
5423 648.8 -10.2 490 5429 done -0.67 0.12 0.208 2111 158.3 2.45 0.060 2508 571.4 -97.3 - - 3347 - - - - - - - - 14.21 14.40 14.40
5747 677.8 -9.0 509 5754 roll -0.67 - - 2102 - 2.45 0.086 3892 564.9 -97.3 - - 3346 - - - - - - - - 15.07 14.28 15.09
5801 683.1 -9.6 520 5805 done -0.67 - - 2102 - 2.28 0.036 2500 -610.5 -97.3 - - 3346 - - - - - - - - 14.61 14.54 14.64
6107 713.3 -9.9 536 6109 done -0.67 - - 2102 - - - 2498 - -97.3 - - 3345 - - - - - - - - 15.07 15.10 15.09
6408 741.4 -9.0 551 6413 roll -0.67 - - 2091 - 2.53 0.087 3900 554.2 -97.3 - - 3344 - - - - - - - - 15.05 14.26 15.08
6435 744.0 -9.6 556 6439 done -0.67 - - 2091 - 2.30 0.037 2496 -610.4 -97.3 - - 3343 - - - - - - - - 14.60 14.52 14.62
6751 772.1 -8.6 574 6756 roll -0.67 - - 2081 - 2.53 0.086 3902 555.7 -97.3 - - 3343 - - - - - - - - 15.07 14.25 15.10
6786 775.1 -9.3 580 6791 done -0.67 0.12 0.207 2110 241.7 2.30 0.037 2496 -611.3 -97.3 - - 3343 - - - - - - - - 14.21 14.52 14.39
7098 800.4 -8.3 597 7102 roll -0.67 - - 2110 - 2.35 0.051 1104 -592.3 -97.3 - - 3342 - - - - - - - - 15.07 14.40 15.10
7124 802.7 -9.0 602 7129 done -0.67 - - 2101 - 2.45 0.059 2509 573.5 -97.3 - - 3342 - - - - - - - - 14.47 14.35 14.52
7442 831.7 -9.2 620 7444 done -0.67 - - 2101 - - - 2509 - -97.3 - - 3341 - - - - - - - - 15.07 15.09 15.08
7742 860.0 -9.5 635 7744 done -0.67 - - 2101 - - - 2509 - -97.3 - - 3340 - - - - - - - - 15.07 15.09 15.09
8042 888.1 -9.2 650 8047 roll -0.67 - - 2090 - 2.47 0.088 3892 559.9 -97.3 - - 3339 - - - - - - - - 15.06 14.21 15.08
8095 893.3 -9.9 660 8099 done -0.67 - - 2090 - 2.28 0.037 2502 -609.6 -97.3 - - 3339 - - - - - - - - 14.56 14.49 14.59
8406 923.5 -9.6 677 8413 roll -0.67 - - 2079 - 2.50 0.088 3892 556.0 -97.3 - - 3338 - - - - - - - - 15.07 14.19 15.09
8442 927.0 -10.5 684 8449 done -0.67 0.10 0.171 2109 300.0 2.28 0.037 2499 -611.0 -97.3 - - 3338 - - - - - - - - 14.06 14.42 14.16
8746 953.8 -8.8 700 8750 roll -0.67 - - 2110 - 2.38 0.051 1101 -587.4 -97.3 - - 3338 - - - - - - - - 15.07 14.35 15.09
8788 957.6 -8.9 708 8792 done -0.67 - - 2100 - 2.47 0.060 2507 569.2 -97.3 - - 3337 - - - - - - - - 14.42 14.29 14.47
9111 986.6 -9.0 727 9117 roll -0.67 - - 2089 - 2.47 0.089 3893 561.1 -97.3 - - 3337 - - - - - - - - 15.04 14.17 15.07
9147 end dive: TARGET_DEPTH_EXCEEDED
9147 begin apogee
9157 990.4 -9.7 735 9255 done -0.15 0.68 0.169 2278 277.9 - - 2443 - - 93.62 1.988 2967 -4.0 0.385 - - - - - - 14.00 13.95 12.59
9256 end apogee: CONTROL_FINISHED_OK
9256 begin climb
9261 993.5 - 740 9377 roll 0.67 0.82 0.088 2561 345.1 2.50 0.053 1044 -559.6 97.3 104.05 1.980 2569 -3.8 0.375 - - - - - - 14.17 13.95 12.55
9429 991.1 6.5 775 9435 done 0.70 - - 2561 - 2.47 0.061 2446 567.6 97.3 - - 2565 - - - - - - - - 14.37 14.26 14.39
9735 966.9 8.0 791 9740 roll 0.70 - - 2561 - 2.47 0.082 3845 566.4 97.3 - - 2563 - - - - - - - - 14.89 14.33 14.92
9793 961.4 9.5 802 9798 done 0.70 - - 2572 - 2.35 0.037 2436 -599.6 97.3 - - 2562 - - - - - - - - 14.57 14.50 14.60
10100 935.6 8.1 818 10104 roll 0.70 - - 2583 - 2.38 0.053 1046 -584.0 97.3 - - 2561 - - - - - - - - 14.97 14.45 15.00
10201 927.4 8.1 838 10206 done 0.70 - - 2583 - 2.42 0.055 2446 578.5 97.3 - - 2559 - - - - - - - - 14.53 14.42 14.58
10524 901.7 7.7 857 10528 roll 0.70 - - 2594 - 2.40 0.052 1045 -583.8 97.3 - - 2559 - - - - - - - - 15.00 14.44 15.03
10545 900.0 7.3 861 10553 done 0.72 0.15 0.228 2561 -220.0 2.42 0.055 2448 579.8 97.3 - - 2558 - - - - - - - - 14.10 14.42 14.39
10868 878.3 6.6 880 10873 roll 0.75 - - 2561 - 2.47 0.081 3845 565.6 97.3 - - 2558 - - - - - - - - 15.00 14.32 15.03
10912 874.9 7.6 888 10916 done 0.75 - - 2571 - 2.33 0.037 2438 -603.9 97.3 - - 2557 - - - - - - - - 14.59 14.53 14.63
11234 853.7 6.5 907 11239 roll 0.78 - - 2582 - 2.38 0.052 1040 -587.4 97.3 - - 2557 - - - - - - - - 15.04 14.42 15.07
11276 850.8 6.8 915 11281 done 0.80 - - 2582 - 2.42 0.054 2442 579.3 97.3 - - 2556 - - - - - - - - 14.52 14.40 14.57
11601 828.0 7.1 934 11605 roll 0.82 - - 2593 - 2.40 0.050 1043 -582.9 97.3 - - 2556 - - - - - - - - 15.02 14.41 15.04
11658 823.5 7.5 945 11662 done 0.83 - - 2593 - 2.42 0.054 2441 577.7 97.3 - - 2555 - - - - - - - - 14.50 14.39 14.55
11964 800.6 7.7 961 11968 roll 0.83 - - 2605 - 2.40 0.050 1042 -582.9 97.3 - - 2555 - - - - - - - - 15.04 14.40 15.07
12050 793.7 7.9 978 12057 done 0.83 - - 2605 - 2.42 0.054 2441 578.1 97.3 - - 2555 - - - - - - - - 14.49 14.37 14.54
12366 769.4 7.8 996 12371 roll 0.83 - - 2617 - 2.40 0.050 1046 -581.2 97.3 - - 2555 - - - - - - - - 15.03 14.39 15.06
12423 764.8 8.1 1007 12428 done 0.83 - - 2617 - 2.42 0.053 2441 576.4 97.3 - - 2555 - - - - - - - - 14.47 14.36 14.53
12728 740.2 7.9 1023 12730 done 0.83 - - 2617 - - - 2441 - 97.3 - - 2555 - - - - - - - - 15.05 15.08 15.08
13030 718.8 6.7 1038 13037 roll 0.86 - - 2617 - 2.50 0.080 3853 564.8 97.3 - - 2555 - - - - - - - - 15.04 14.25 15.07
13129 711.0 7.8 1058 13133 done 0.86 - - 2629 - 2.33 0.037 2437 -607.7 97.3 - - 2555 - - - - - - - - 14.55 14.48 14.59
13452 689.2 6.6 1077 13456 roll 0.89 - - 2640 - 2.40 0.050 1040 -582.1 97.3 - - 2555 - - - - - - - - 15.04 14.36 15.06
13519 684.6 6.8 1090 13523 done 0.91 - - 2640 - 2.42 0.052 2442 579.3 97.3 - - 2554 - - - - - - - - 14.46 14.34 14.51
13837 660.0 8.3 1108 13841 roll 0.91 - - 2653 - 2.40 0.050 1044 -582.5 97.3 - - 2554 - - - - - - - - 15.04 14.37 15.07
13908 653.9 8.4 1122 13916 done 0.91 0.12 0.258 2629 -200.0 2.42 0.052 2446 579.3 97.3 - - 2555 - - - - - - - - 13.96 14.34 14.25
14219 628.3 8.4 1139 14224 roll 0.91 - - 2629 - 2.47 0.079 3845 566.4 97.3 - - 2554 - - - - - - - - 15.04 14.22 15.07
14338 617.1 9.4 1162 14342 done 0.91 - - 2641 - 2.33 0.036 2436 -604.7 97.3 - - 2554 - - - - - - - - 14.53 14.46 14.56
14641 592.5 7.9 1178 14645 roll 0.91 - - 2652 - 2.35 0.050 1048 -590.6 97.3 - - 2554 - - - - - - - - 15.05 14.35 15.08
14783 581.4 7.8 1206 14787 done 0.91 - - 2653 - 2.45 0.053 2448 571.4 97.3 - - 2554 - - - - - - - - 14.43 14.32 14.49
15106 557.0 7.5 1225 15112 roll 0.92 - - 2657 - 2.47 0.078 3846 566.0 97.3 - - 2554 - - - - - - - - 15.03 14.21 15.06
15177 551.4 8.1 1239 15183 done 0.92 0.17 0.268 2630 -158.8 2.33 0.035 2432 -606.9 97.3 - - 2554 - - - - - - - - 13.83 14.47 14.17
15493 530.1 6.5 1256 15497 roll 0.95 - - 2640 - 2.35 0.050 1048 -588.9 97.3 - - 2554 - - - - - - - - 15.02 14.35 15.04
15541 526.8 6.9 1265 15548 done 0.98 - - 2641 - 2.42 0.053 2445 577.3 97.3 - - 2554 - - - - - - - - 14.42 14.31 14.48
15855 504.6 6.9 1283 15857 done 1.00 - - 2641 - - - 2445 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
16156 483.7 7.3 1298 16160 roll 1.01 - - 2652 - 2.40 0.049 1046 -582.9 97.3 - - 2554 - - - - - - - - 15.03 14.35 15.06
16203 480.1 7.5 1307 16208 done 1.03 - - 2654 - 2.42 0.052 2445 578.1 97.3 - - 2554 - - - - - - - - 14.43 14.32 14.48
16520 454.8 7.8 1325 16524 roll 1.03 - - 2655 - 2.50 0.078 3849 561.6 97.3 - - 2554 - - - - - - - - 15.04 14.20 15.07
16578 449.8 9.0 1336 16582 done 1.03 - - 2667 - 2.33 0.035 2437 -606.0 97.3 - - 2554 - - - - - - - - 14.53 14.45 14.55
16882 426.3 7.3 1352 16886 roll 1.04 - - 2678 - 2.35 0.049 1051 -589.8 97.3 - - 2554 - - - - - - - - 15.04 14.34 15.07
17051 415.2 6.1 1385 17057 done 1.08 - - 2678 - 2.42 0.052 2448 577.3 97.3 - - 2554 - - - - - - - - 14.42 14.31 14.47
17366 396.7 5.7 1403 17412 roll 1.12 - - 2690 - 2.45 0.050 1052 -569.8 140.0 39.00 1.357 2396 -4.1 0.231 - - - - - - 15.04 14.40 13.12
17469 388.5 10.6 1423 17474 done 1.12 - - 2690 - 2.40 0.054 2439 577.9 140.0 - - 2393 - - - - - - - - 14.54 14.43 14.57
17791 349.3 12.5 1442 17799 roll 1.12 - - 2690 - 2.47 0.078 3852 572.1 140.0 - - 2391 - - - - - - - - 14.95 14.31 14.98
17817 346.0 12.9 1447 17823 done 1.12 - - 2702 - 2.33 0.037 2439 -606.4 140.0 - - 2390 - - - - - - - - 14.57 14.50 14.60
18135 305.5 12.7 1465 18139 roll 1.12 - - 2713 - 2.35 0.050 1046 -592.8 140.0 - - 2390 - - - - - - - - 15.01 14.40 15.03
18186 298.9 13.2 1475 18191 done 1.12 - - 2713 - 2.40 0.052 2440 580.8 140.0 - - 2390 - - - - - - - - 14.50 14.39 14.54
18500 256.5 13.2 1492 18504 roll 1.12 - - 2730 - 2.40 0.051 1046 -580.8 140.0 - - 2390 - - - - - - - - 15.02 14.39 15.04
18582 244.8 13.8 1508 18589 done 1.12 0.15 0.262 2699 -206.7 2.40 0.052 2440 580.8 140.0 - - 2390 - - - - - - - - 13.96 14.39 14.24
18776 219.9 12.8 1528 18779 done 1.12 - - 2701 - - - 2440 - 140.0 - - 2390 - - - - - - - - 14.99 15.02 15.01
18961 196.3 12.4 1547 18966 roll 1.12 - - 2712 - 2.38 0.050 1046 -585.7 140.0 - - 2390 - - - - - - - - 15.03 14.39 15.05
19030 188.3 11.7 1560 19037 done 1.12 - - 2712 - 2.42 0.052 2447 578.9 140.0 - - 2390 - - - - - - - - 14.49 14.38 14.54
19224 167.1 10.9 1581 19226 done 1.12 - - 2712 - - - 2447 - 140.0 - - 2390 - - - - - - - - 15.02 15.05 15.04
19405 149.6 8.5 1599 19410 roll 1.12 - - 2728 - 2.38 0.049 1045 -589.1 140.0 - - 2390 - - - - - - - - 15.02 14.39 15.04
19447 145.2 10.9 1607 19453 done 1.12 0.15 0.262 2697 -206.7 2.42 0.054 2448 579.8 140.0 - - 2390 - - - - - - - - 13.94 14.37 14.22
19642 127.5 8.5 1627 19647 roll 1.12 - - 2697 - 2.45 0.077 3845 570.2 140.0 - - 2390 - - - - - - - - 15.00 14.25 15.03
19792 114.8 7.0 1656 19796 done 1.14 - - 2708 - 2.33 0.035 2426 -609.0 140.0 - - 2390 - - - - - - - - 14.56 14.49 14.59
19977 103.1 5.8 1675 20020 roll 1.18 - - 2709 - 2.50 0.079 3846 568.0 180.6 36.80 1.002 2229 -4.4 0.088 - - - - - - 15.01 14.02 13.41
20199 81.9 10.5 1719 20204 done 1.18 - - 2721 - 2.30 0.036 2440 -611.3 180.6 - - 2225 - - - - - - - - 14.58 14.51 14.60
20393 69.5 4.0 1739 20464 roll 1.26 - - 2732 - 2.42 0.050 1048 -575.2 253.3 63.03 0.947 1933 -4.6 0.066 - - - - - - 14.95 14.28 13.40
20488 63.6 8.3 1758 20493 done 1.26 - - 2732 - 2.40 0.050 2441 580.4 253.3 - - 1931 - - - - - - - - 14.48 14.38 14.51
20675 44.2 9.5 1782 20679 roll 1.26 - - 2749 - 2.38 0.051 1050 -584.5 253.3 - - 1930 - - - - - - - - 14.83 14.37 14.86
20908 37.2 1.5 1828 21020 done 1.37 - - 2750 - 2.40 0.050 2451 583.8 371.1 104.65 0.874 1453 -4.6 0.038 - - - - - - 14.50 14.40 13.39
21208 18.6 8.7 1887 21213 roll 1.37 - - 2750 - 2.42 0.079 3839 573.6 371.1 - - 1451 - - - - - - - - 14.80 14.28 14.82
21250 13.8 11.2 1895 21256 done 1.37 - - 2763 - 2.30 0.036 2436 -610.0 371.1 - - 1451 - - - - - - - - 14.53 14.47 14.56
21349 end climb: SURFACE_DEPTH_REACHED
21349 begin surface coast
21377 end surface coast: CONTROL_FINISHED_OK
21377 begin surface
SM 1.14 - - - - -6.77 7.60 0.051 116 15.3 0.10 0.154 2499 14690.0 500.17 135.35 0.660 929 6.9 -0.001 - - - - 1 -