MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 645 * Raw log
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• Previous call tries 1 • 217.97 of 350.00 AH used of 24V (37.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.22 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 14 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 88 VBD -0.67 - - 104 - - - 2483 - -97.3 -76.00 0.005 2709 - - - - - - - - 14.85 - 14.88
92 4.9 -13.2 16 120 roll -0.67 9.23 0.344 2094 215.6 2.47 0.096 3909 577.3 -97.3 -12.50 0.010 3367 -52.6 5.034 - - - - - - 13.86 13.40 14.32
348 70.5 -21.1 67 353 done -0.67 - - 2094 - 2.25 0.035 2512 -620.9 -97.3 - - 3367 - - - - - - - - 14.65 14.58 14.67
541 100.9 -16.0 87 546 roll -0.67 - - 2084 - 2.42 0.080 3907 576.4 -97.3 - - 3367 - - - - - - - - 15.01 14.43 15.04
691 121.9 -12.4 116 695 done -0.67 - - 2084 - 2.28 0.032 2479 -626.3 -97.3 - - 3367 - - - - - - - - 14.70 14.64 14.72
874 144.4 -12.6 135 880 roll -0.67 - - 2072 - 2.47 0.079 3905 577.3 -97.3 - - 3368 - - - - - - - - 15.04 14.45 15.07
982 159.8 -15.3 156 987 done -0.67 0.15 0.211 2108 240.0 2.25 0.034 2497 -625.8 -97.3 - - 3368 - - - - - - - - 14.31 14.64 14.52
1168 183.0 -11.7 175 1173 roll -0.67 - - 2108 - 2.28 0.047 1108 -609.2 -97.3 - - 3367 - - - - - - - - 15.05 14.57 15.07
1220 189.1 -11.1 185 1226 done -0.67 - - 2099 - 2.40 0.059 2518 587.5 -97.3 - - 3367 - - - - - - - - 14.64 14.53 14.67
1410 210.8 -11.6 205 1414 roll -0.67 - - 2088 - 2.38 0.081 3893 577.7 -97.3 - - 3366 - - - - - - - - 15.07 14.45 15.09
1477 218.9 -12.3 218 1483 done -0.67 - - 2088 - 2.20 0.033 2506 -630.5 -97.3 - - 3366 - - - - - - - - 14.66 14.63 14.67
1661 241.4 -11.9 237 1663 done -0.67 - - 2088 - - - 2504 - -97.3 - - 3365 - - - - - - - - 15.07 15.10 15.09
1842 262.3 -11.6 250 1849 roll -0.67 - - 2077 - 2.45 0.086 3900 569.8 -97.3 - - 3364 - - - - - - - - 15.07 14.44 15.09
1872 265.8 -11.5 256 1877 done -0.67 0.12 0.213 2107 250.0 2.25 0.034 2494 -624.9 -97.3 - - 3363 - - - - - - - - 14.34 14.65 14.54
2184 297.9 -10.5 273 2190 roll -0.67 - - 2098 - 2.47 0.086 3900 569.2 -97.3 - - 3361 - - - - - - - - 15.09 14.42 15.11
2220 301.8 -11.3 280 2225 done -0.67 - - 2099 - 2.25 0.034 2502 -621.3 -97.3 - - 3360 - - - - - - - - 14.71 14.64 14.73
2526 335.2 -10.8 296 2530 roll -0.67 - - 2098 - 2.33 0.049 1103 -600.4 -97.3 - - 3358 - - - - - - - - 15.07 14.54 15.09
2557 338.7 -10.8 302 2565 done -0.67 - - 2087 - 2.40 0.063 2498 581.2 -97.3 - - 3358 - - - - - - - - 14.62 14.50 14.65
2868 373.2 -11.2 319 2873 roll -0.67 - - 2077 - 2.45 0.083 3894 569.8 -97.3 - - 3356 - - - - - - - - 15.07 14.40 15.10
2920 379.3 -11.4 329 2925 done -0.67 0.15 0.203 2113 240.0 2.25 0.034 2496 -621.3 -97.3 - - 3356 - - - - - - - - 14.30 14.63 14.50
3233 409.2 -9.7 346 3241 roll -0.67 - - 2104 - 2.47 0.086 3894 566.0 -97.3 - - 3353 - - - - - - - - 15.07 14.39 15.09
3283 414.4 -10.3 356 3287 done -0.67 - - 2104 - 2.25 0.034 2499 -620.0 -97.3 - - 3353 - - - - - - - - 14.69 14.62 14.71
3597 447.0 -10.5 373 3601 roll -0.67 - - 2104 - 2.30 0.049 1111 -603.5 -97.3 - - 3351 - - - - - - - - 15.06 14.52 15.09
3635 451.2 -10.6 380 3639 done -0.67 - - 2093 - 2.40 0.059 2501 579.2 -97.3 - - 3351 - - - - - - - - 14.59 14.47 14.63
3939 484.6 -10.8 396 3945 roll -0.67 - - 2083 - 2.45 0.085 3902 571.8 -97.3 - - 3349 - - - - - - - - 15.08 14.37 15.10
4003 492.0 -11.5 409 4008 done -0.67 0.12 0.207 2112 241.7 2.28 0.035 2498 -615.8 -97.3 - - 3349 - - - - - - - - 14.31 14.60 14.49
4322 524.1 -10.1 427 4327 roll -0.67 - - 2112 - 2.33 0.049 1103 -598.7 -97.3 - - 3348 - - - - - - - - 15.07 14.50 15.09
4344 526.5 -10.0 431 4349 done -0.67 - - 2103 - 2.40 0.058 2500 582.1 -97.3 - - 3348 - - - - - - - - 14.57 14.45 14.61
4668 561.1 -10.8 450 4675 roll -0.67 - - 2091 - 2.45 0.085 3894 569.0 -97.3 - - 3346 - - - - - - - - 15.07 14.35 15.09
4722 567.3 -11.3 461 4726 done -0.67 - - 2091 - 2.28 0.035 2500 -611.4 -97.3 - - 3346 - - - - - - - - 14.65 14.58 14.67
5027 601.7 -11.2 477 5029 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3345 - - - - - - - - 15.08 15.11 15.10
5329 633.1 -10.3 492 5331 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3343 - - - - - - - - 15.07 15.09 15.09
5627 663.9 -10.2 507 5629 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3343 - - - - - - - - 15.08 15.11 15.11
5927 695.0 -10.5 522 5929 done -0.67 - - 2091 - - - 2498 - -97.3 - - 3342 - - - - - - - - 15.08 15.11 15.10
6228 726.4 -10.4 537 6233 roll -0.67 - - 2081 - 2.50 0.089 3892 557.6 -97.3 - - 3340 - - - - - - - - 15.07 14.28 15.09
6255 729.4 -11.1 542 6259 done -0.67 0.12 0.206 2110 241.7 2.28 0.036 2499 -611.0 -97.3 - - 3340 - - - - - - - - 14.24 14.54 14.42
6573 758.3 -9.0 560 6575 done -0.67 - - 2111 - - - 2498 - -97.3 - - 3340 - - - - - - - - 15.06 15.09 15.08
6871 784.1 -8.3 575 6876 roll -0.67 - - 2101 - 2.50 0.090 3892 557.6 -97.3 - - 3339 - - - - - - - - 15.07 14.26 15.10
6899 786.4 -9.1 580 6903 done -0.67 - - 2102 - 2.28 0.036 2499 -611.0 -97.3 - - 3338 - - - - - - - - 14.60 14.53 14.62
7216 814.1 -8.9 598 7220 roll -0.67 - - 2102 - 2.35 0.050 1104 -593.6 -97.3 - - 3337 - - - - - - - - 15.06 14.41 15.09
7257 818.0 -9.3 606 7265 done -0.67 - - 2090 - 2.42 0.059 2500 576.9 -97.3 - - 3337 - - - - - - - - 14.49 14.36 14.53
7577 849.3 -10.0 625 7584 roll -0.67 - - 2080 - 2.47 0.086 3894 564.4 -97.3 - - 3336 - - - - - - - - 15.07 14.23 15.09
7644 856.2 -10.8 638 7648 done -0.67 0.12 0.207 2109 241.7 2.30 0.037 2491 -610.0 -97.3 - - 3336 - - - - - - - - 14.19 14.50 14.38
7961 884.8 -8.9 656 7965 roll -0.67 - - 2109 - 2.33 0.050 1110 -592.7 -97.3 - - 3335 - - - - - - - - 15.06 14.39 15.09
7998 888.1 -9.0 663 8003 done -0.67 - - 2100 - 2.45 0.060 2508 570.6 -97.3 - - 3335 - - - - - - - - 14.45 14.33 14.50
8302 916.3 -9.3 679 8307 roll -0.67 - - 2089 - 2.47 0.087 3898 562.8 -97.3 - - 3334 - - - - - - - - 15.07 14.21 15.09
8349 920.8 -9.7 688 8354 done -0.67 - - 2089 - 2.30 0.037 2498 -608.7 -97.3 - - 3334 - - - - - - - - 14.56 14.49 14.59
8667 950.8 -9.4 706 8671 roll -0.67 - - 2089 - 2.38 0.051 1104 -585.7 -97.3 - - 3334 - - - - - - - - 15.05 14.35 15.08
8693 953.4 -9.9 711 8699 done -0.67 0.12 0.207 2108 158.3 2.45 0.060 2502 570.6 -97.3 - - 3333 - - - - - - - - 14.10 14.31 14.31
9011 978.7 -7.8 729 9013 done -0.67 - - 2108 - - - 2502 - -97.3 - - 3333 - - - - - - - - 15.07 15.09 15.09
9167 end dive: TARGET_DEPTH_EXCEEDED
9168 begin apogee
9176 991.3 -7.9 737 9274 done -0.15 0.60 0.162 2280 286.7 - - 2502 - - 93.22 2.002 2968 -3.9 0.378 - - - - - - 14.04 13.95 12.59
9275 end apogee: CONTROL_FINISHED_OK
9275 begin climb
9278 993.6 - 742 9389 done 0.67 0.82 0.086 2555 335.4 - - 2502 - 97.3 105.95 1.983 2569 -3.8 0.368 - - - - - - 14.16 13.54 12.57
9695 971.9 7.9 763 9700 roll 0.67 - - 2567 - 2.50 0.051 1049 -581.2 97.3 - - 2562 - - - - - - - - 14.86 14.42 14.89
9793 963.7 8.1 782 9798 done 0.67 - - 2566 - 2.42 0.054 2447 577.7 97.3 - - 2561 - - - - - - - - 14.52 14.42 14.57
10098 938.1 8.4 798 10102 roll 0.67 - - 2577 - 2.40 0.050 1045 -584.2 97.3 - - 2561 - - - - - - - - 14.98 14.45 15.00
10124 935.9 7.8 803 10130 done 0.67 0.12 0.231 2552 -208.3 2.40 0.053 2442 582.1 97.3 - - 2559 - - - - - - - - 14.16 14.44 14.42
10445 912.1 7.2 821 10447 done 0.69 - - 2552 - - - 2440 - 97.3 - - 2559 - - - - - - - - 14.99 15.02 15.02
10744 892.4 6.5 836 10748 roll 0.72 - - 2563 - 2.38 0.050 1049 -584.5 97.3 - - 2558 - - - - - - - - 15.02 14.45 15.04
10821 887.4 6.4 851 10826 done 0.75 - - 2563 - 2.40 0.054 2438 578.8 97.3 - - 2557 - - - - - - - - 14.53 14.42 14.59
11127 868.0 6.1 867 11129 done 0.79 - - 2563 - - - 2438 - 97.3 - - 2557 - - - - - - - - 15.03 15.06 15.06
11426 849.5 6.3 882 11430 roll 0.82 - - 2574 - 2.38 0.050 1049 -583.6 97.3 - - 2557 - - - - - - - - 15.04 14.42 15.07
11522 843.4 6.5 901 11529 done 0.86 - - 2574 - 2.42 0.053 2448 578.1 97.3 - - 2556 - - - - - - - - 14.51 14.40 14.56
11849 821.5 6.9 921 11851 done 0.88 0.12 0.120 2639 541.7 - - 2448 - 97.3 - - 2556 - - - - - - - - 14.68 14.72 14.71
12148 795.9 8.6 936 12152 roll 0.88 - - 2651 - 2.40 0.049 1045 -584.6 97.3 - - 2556 - - - - - - - - 15.05 14.40 15.07
12191 792.2 8.9 944 12198 done 0.88 0.17 0.242 2609 -247.1 2.42 0.052 2450 580.6 97.3 - - 2555 - - - - - - - - 13.91 14.38 14.07
12510 766.2 8.0 963 12515 roll 0.88 - - 2619 - 2.40 0.049 1049 -583.8 97.3 - - 2555 - - - - - - - - 15.05 14.38 15.08
12641 756.2 7.9 988 12648 done 0.88 - - 2619 - 2.42 0.052 2448 578.1 97.3 - - 2556 - - - - - - - - 14.47 14.36 14.53
12955 729.3 8.7 1006 12959 roll 0.88 - - 2619 - 2.47 0.080 3845 565.6 97.3 - - 2555 - - - - - - - - 15.05 14.24 15.08
13008 724.2 10.2 1016 13013 done 0.88 - - 2630 - 2.33 0.035 2428 -608.2 97.3 - - 2555 - - - - - - - - 14.56 14.50 14.59
13320 695.0 9.3 1033 13326 roll 0.88 - - 2630 - 2.55 0.079 3851 558.0 97.3 - - 2555 - - - - - - - - 15.04 14.24 15.07
13375 689.4 10.3 1044 13379 done 0.88 - - 2642 - 2.33 0.035 2439 -606.0 97.3 - - 2554 - - - - - - - - 14.55 14.48 14.59
13680 662.1 8.5 1060 13682 done 0.88 - - 2642 - - - 2437 - 97.3 - - 2556 - - - - - - - - 15.04 15.07 15.07
13979 637.5 8.1 1075 13985 roll 0.88 - - 2653 - 2.38 0.050 1045 -584.9 97.3 - - 2555 - - - - - - - - 15.05 14.35 15.08
14027 633.8 7.8 1084 14033 done 0.88 0.17 0.236 2617 -211.8 2.42 0.051 2442 577.3 97.3 - - 2554 - - - - - - - - 13.88 14.34 14.21
14349 611.5 6.7 1102 14353 roll 0.90 - - 2625 - 2.40 0.049 1046 -581.7 97.3 - - 2554 - - - - - - - - 15.01 14.35 15.04
14457 603.7 7.0 1123 14462 done 0.93 - - 2626 - 2.42 0.051 2447 578.9 97.3 - - 2553 - - - - - - - - 14.45 14.33 14.50
14776 579.8 7.4 1141 14780 roll 0.94 - - 2638 - 2.40 0.048 1047 -583.3 97.3 - - 2553 - - - - - - - - 15.03 14.35 15.07
14798 578.2 7.0 1145 14802 done 0.96 - - 2637 - 2.40 0.051 2439 580.0 97.3 - - 2553 - - - - - - - - 14.45 14.33 14.50
15121 554.5 7.6 1164 15123 done 0.96 - - 2637 - - - 2439 - 97.3 - - 2553 - - - - - - - - 15.03 15.06 15.05
15419 533.2 7.2 1179 15424 roll 0.98 - - 2649 - 2.38 0.049 1052 -582.8 97.3 - - 2553 - - - - - - - - 15.04 14.35 15.07
15452 530.9 7.2 1185 15456 done 0.99 - - 2650 - 2.40 0.051 2438 577.5 97.3 - - 2553 - - - - - - - - 14.45 14.33 14.49
15765 507.6 7.2 1202 15771 roll 1.01 - - 2652 - 2.47 0.078 3845 569.6 97.3 - - 2554 - - - - - - - - 15.04 14.11 15.06
15838 501.3 8.6 1216 15843 done 1.01 - - 2663 - 2.30 0.034 2436 -612.6 97.3 - - 2553 - - - - - - - - 14.53 14.47 14.57
16151 477.6 7.7 1233 16155 roll 1.01 - - 2674 - 2.35 0.048 1055 -587.7 97.3 - - 2553 - - - - - - - - 15.03 14.34 15.06
16270 468.5 7.9 1256 16274 done 1.01 - - 2674 - 2.42 0.050 2451 576.9 97.3 - - 2553 - - - - - - - - 14.42 14.31 14.48
16574 445.6 7.4 1272 16579 roll 1.02 - - 2674 - 2.47 0.077 3844 564.0 97.3 - - 2553 - - - - - - - - 15.02 14.19 15.05
16699 435.6 7.9 1296 16703 done 1.02 - - 2687 - 2.30 0.035 2440 -610.4 97.3 - - 2554 - - - - - - - - 14.53 14.46 14.56
17022 414.8 5.8 1315 17064 roll 1.06 - - 2698 - 2.35 0.049 1050 -591.5 138.1 37.17 1.381 2404 -4.0 0.237 - - - - - - 15.04 13.92 13.12
17152 403.1 11.2 1341 17156 done 1.06 - - 2698 - 2.40 0.052 2441 579.6 138.1 - - 2401 - - - - - - - - 14.54 14.43 14.56
17464 366.9 11.9 1358 17468 roll 1.06 - - 2698 - 2.47 0.076 3846 568.8 138.1 - - 2399 - - - - - - - - 14.96 14.32 14.98
17520 359.3 13.6 1369 17525 done 1.06 0.15 0.274 2679 -126.7 2.30 0.035 2443 -610.0 138.1 - - 2399 - - - - - - - - 13.99 14.51 14.28
17826 324.5 11.4 1385 17828 done 1.06 - - 2678 - - - 2442 - 138.1 - - 2399 - - - - - - - - 15.00 15.02 15.02
18126 289.4 11.8 1400 18130 roll 1.06 - - 2689 - 2.35 0.050 1049 -592.8 138.1 - - 2398 - - - - - - - - 15.02 14.40 15.04
18197 281.1 11.4 1414 18201 done 1.06 - - 2689 - 2.40 0.051 2444 581.2 138.1 - - 2398 - - - - - - - - 14.51 14.39 14.56
18510 245.5 11.3 1432 18514 roll 1.06 - - 2701 - 2.38 0.049 1050 -585.7 138.1 - - 2397 - - - - - - - - 15.02 14.39 15.04
18552 240.6 11.3 1440 18556 done 1.06 - - 2701 - 2.40 0.051 2445 581.2 138.1 - - 2397 - - - - - - - - 14.50 14.39 14.56
18745 217.7 12.4 1460 18751 roll 1.06 - - 2701 - 2.47 0.077 3851 569.2 138.1 - - 2397 - - - - - - - - 15.02 14.27 15.04
18798 210.5 12.7 1471 18804 done 1.06 0.17 0.265 2675 -152.9 2.33 0.035 2433 -608.6 138.1 - - 2397 - - - - - - - - 13.90 14.51 14.26
18985 191.7 9.3 1490 18989 roll 1.06 - - 2686 - 2.35 0.050 1049 -588.9 138.1 - - 2397 - - - - - - - - 15.02 14.38 15.04
19061 184.5 9.8 1505 19065 done 1.06 - - 2686 - 2.40 0.051 2441 580.0 138.1 - - 2397 - - - - - - - - 14.48 14.37 14.54
19247 167.0 9.8 1524 19251 roll 1.06 - - 2686 - 2.50 0.078 3849 563.2 138.1 - - 2397 - - - - - - - - 15.02 14.25 15.05
19296 162.0 11.0 1533 19300 done 1.06 - - 2698 - 2.33 0.035 2435 -606.9 138.1 - - 2397 - - - - - - - - 14.57 14.50 14.60
19479 143.2 11.0 1552 19483 roll 1.06 - - 2709 - 2.35 0.048 1044 -591.9 138.1 - - 2397 - - - - - - - - 15.02 14.38 15.05
19510 139.8 10.6 1558 19519 done 1.06 0.15 0.255 2676 -220.0 2.40 0.050 2442 582.5 138.1 - - 2397 - - - - - - - - 13.95 14.38 14.26
19706 121.2 9.9 1578 19710 roll 1.06 - - 2687 - 2.38 0.047 1048 -585.7 138.1 - - 2397 - - - - - - - - 14.99 14.38 15.02
19718 119.6 9.6 1580 19722 done 1.06 - - 2687 - 2.40 0.051 2443 581.2 138.1 - - 2397 - - - - - - - - 14.48 14.38 14.54
19911 104.4 6.7 1600 19916 done 1.09 - - 2687 - - - 2443 - 138.1 - - 2397 - - - - - - - - 15.01 15.04 15.04
20099 97.4 2.8 1619 20188 roll 1.18 - - 2687 - 2.45 0.076 3843 571.4 232.2 82.22 0.997 2019 -4.6 0.088 - - - - - - 15.03 13.91 13.31
20307 75.7 13.7 1660 20311 done 1.18 - - 2699 - 2.30 0.037 2445 -607.8 232.2 - - 2015 - - - - - - - - 14.50 14.43 14.52
20502 59.9 6.5 1680 20505 done 1.22 - - 2700 - - - 2444 - 232.2 - - 2013 - - - - - - - - 14.88 14.91 14.90
20690 50.8 2.7 1699 20782 roll 1.31 0.15 0.106 2793 620.0 2.50 0.078 3847 561.2 328.2 84.50 0.903 1629 -4.5 0.050 - - - - - - 14.58 14.25 13.41
20879 30.5 14.7 1736 20886 done 1.31 0.22 0.245 2754 -177.3 2.33 0.034 2421 -612.0 328.2 - - 1626 - - - - - - - - 13.96 14.44 14.23
21069 23.5 4.6 1774 21132 roll 1.37 - - 2763 - 2.33 0.053 1057 -585.4 390.7 56.83 0.821 1374 -4.4 0.025 - - - - - - 14.87 14.30 13.50
21167 15.3 11.3 1793 21172 done 1.37 - - 2763 - 2.40 0.055 2444 577.9 390.7 - - 1373 - - - - - - - - 14.47 14.36 14.50
21270 end climb: SURFACE_DEPTH_REACHED
21270 begin surface coast
21292 end surface coast: CONTROL_FINISHED_OK
21292 begin surface
SM 1.15 - - - - -6.76 7.68 0.060 131 17.1 0.10 0.141 2534 15040.0 500.17 118.97 0.637 929 7.8 -0.001 - - - - 1 -