MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 653 * Raw log
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• Previous call tries 1 • 220.35 of 350.00 AH used of 24V (37.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 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: 30 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
6 begin dive
10 - - - 88 VBD -0.67 - - 101 - - - 2510 - -97.3 -75.97 0.005 2732 - - - - - - - - 14.84 - 14.87
93 5.5 -16.0 16 119 roll -0.67 9.40 0.349 2108 213.5 2.35 0.071 1124 -589.8 -97.3 -11.48 0.011 3367 -55.3 5.401 - - - - - - 13.84 12.60 14.31
213 42.4 -23.0 40 217 done -0.67 - - 2098 - 2.40 0.073 2495 571.2 -97.3 - - 3367 - - - - - - - - 14.52 14.38 14.56
407 75.7 -14.5 63 411 roll -0.67 - - 2087 - 2.42 0.081 3901 581.0 -97.3 - - 3367 - - - - - - - - 14.97 14.40 15.00
640 111.9 -15.4 109 644 done -0.67 - - 2087 - 2.22 0.032 2503 -629.7 -97.3 - - 3367 - - - - - - - - 14.68 14.62 14.71
832 138.1 -13.9 129 836 roll -0.67 - - 2077 - 2.42 0.082 3896 575.6 -97.3 - - 3367 - - - - - - - - 15.04 14.43 15.06
868 143.3 -14.1 136 873 done -0.67 0.15 0.216 2112 233.3 2.22 0.032 2497 -630.2 -97.3 - - 3367 - - - - - - - - 14.27 14.64 14.49
1053 165.7 -11.8 155 1058 roll -0.67 - - 2112 - 2.28 0.048 1112 -607.5 -97.3 - - 3367 - - - - - - - - 15.06 14.54 15.09
1102 171.1 -10.9 164 1106 done -0.67 - - 2103 - 2.38 0.056 2511 587.8 -97.3 - - 3367 - - - - - - - - 14.62 14.50 14.66
1285 191.2 -11.0 183 1290 roll -0.67 - - 2091 - 2.38 0.080 3893 580.7 -97.3 - - 3366 - - - - - - - - 15.06 14.43 15.09
1314 194.3 -11.3 188 1319 done -0.67 - - 2091 - 2.22 0.032 2501 -627.0 -97.3 - - 3366 - - - - - - - - 14.71 14.64 14.72
1499 215.7 -11.8 207 1501 done -0.67 - - 2092 - - - 2498 - -97.3 - - 3365 - - - - - - - - 15.05 15.08 15.08
1678 237.7 -12.0 225 1684 roll -0.67 - - 2081 - 2.47 0.090 3897 566.4 -97.3 - - 3364 - - - - - - - - 15.07 14.40 15.09
1735 244.6 -12.4 236 1740 done -0.67 0.12 0.210 2110 241.7 2.25 0.033 2496 -622.7 -97.3 - - 3364 - - - - - - - - 14.32 14.62 14.51
1928 265.2 -10.3 249 1930 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3363 - - - - - - - - 15.07 15.10 15.09
2228 295.8 -10.4 264 2230 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3361 - - - - - - - - 15.07 15.10 15.10
2529 325.9 -9.9 279 2531 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3358 - - - - - - - - 15.07 15.10 15.09
2828 355.3 -9.9 294 2830 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.10
3128 386.7 -10.9 309 3130 done -0.67 - - 2110 - - - 2495 - -97.3 - - 3354 - - - - - - - - 15.08 15.11 15.10
3429 420.0 -11.2 324 3434 roll -0.67 - - 2101 - 2.50 0.089 3893 559.2 -97.3 - - 3353 - - - - - - - - 15.06 14.35 15.09
3481 426.1 -11.7 334 3485 done -0.67 - - 2101 - 2.25 0.034 2502 -618.2 -97.3 - - 3353 - - - - - - - - 14.67 14.61 14.70
3794 462.1 -11.4 351 3796 done -0.67 - - 2101 - - - 2500 - -97.3 - - 3351 - - - - - - - - 15.07 15.09 15.09
4092 494.9 -10.7 366 4096 roll -0.67 - - 2101 - 2.33 0.049 1109 -597.0 -97.3 - - 3349 - - - - - - - - 15.08 14.49 15.10
4133 499.3 -10.4 374 4141 done -0.67 - - 2090 - 2.42 0.062 2507 577.7 -97.3 - - 3349 - - - - - - - - 14.55 14.43 14.59
4455 533.6 -10.8 393 4461 roll -0.67 - - 2079 - 2.45 0.086 3900 568.6 -97.3 - - 3348 - - - - - - - - 15.07 14.31 15.09
4544 543.9 -11.4 411 4550 done -0.67 0.12 0.207 2108 241.7 2.28 0.036 2503 -612.7 -97.3 - - 3348 - - - - - - - - 14.26 14.56 14.45
4860 575.2 -9.9 428 4862 done -0.67 - - 2108 - - - 2502 - -97.3 - - 3346 - - - - - - - - 15.06 15.09 15.09
5158 603.7 -9.2 443 5160 done -0.67 - - 2108 - - - 2502 - -97.3 - - 3345 - - - - - - - - 15.08 15.11 15.10
5458 630.9 -9.0 458 5460 done -0.67 - - 2108 - - - 2502 - -97.3 - - 3344 - - - - - - - - 15.08 15.11 15.10
5759 658.0 -9.0 473 5761 done -0.67 - - 2108 - - - 2501 - -97.3 - - 3343 - - - - - - - - 15.07 15.09 15.09
6058 685.0 -8.9 488 6060 done -0.67 - - 2108 - - - 2502 - -97.3 - - 3343 - - - - - - - - 15.07 15.10 15.09
6358 710.9 -8.5 503 6363 roll -0.67 - - 2109 - 2.35 0.051 1108 -593.2 -97.3 - - 3341 - - - - - - - - 15.07 14.41 15.10
6381 712.8 -8.6 507 6386 done -0.67 - - 2099 - 2.42 0.060 2503 576.4 -97.3 - - 3341 - - - - - - - - 14.50 14.37 14.54
6703 742.1 -8.9 526 6711 roll -0.67 - - 2088 - 2.45 0.086 3892 566.9 -97.3 - - 3340 - - - - - - - - 15.07 14.25 15.09
6763 747.9 -9.8 538 6767 done -0.67 - - 2089 - 2.28 0.036 2500 -610.5 -97.3 - - 3340 - - - - - - - - 14.59 14.50 14.61
7086 779.0 -9.8 557 7088 done -0.67 - - 2088 - - - 2499 - -97.3 - - 3339 - - - - - - - - 15.05 15.09 15.08
7385 808.4 -10.0 572 7387 done -0.67 - - 2088 - - - 2499 - -97.3 - - 3338 - - - - - - - - 15.06 15.09 15.09
7686 838.2 -9.9 587 7691 roll -0.67 - - 2077 - 2.55 0.091 3900 549.4 -97.3 - - 3337 - - - - - - - - 15.05 14.21 15.08
7713 841.1 -11.2 592 7720 done -0.67 0.15 0.195 2113 240.0 2.30 0.037 2500 -608.7 -97.3 - - 3337 - - - - - - - - 14.15 14.48 14.35
8028 867.6 -8.2 610 8030 done -0.67 - - 2113 - - - 2499 - -97.3 - - 3336 - - - - - - - - 15.07 15.09 15.09
8329 892.9 -8.4 625 8336 roll -0.67 - - 2105 - 2.53 0.092 3892 550.6 -97.3 - - 3335 - - - - - - - - 15.06 14.19 15.08
8358 895.6 -9.6 631 8363 done -0.67 - - 2105 - 2.30 0.037 2494 -607.8 -97.3 - - 3335 - - - - - - - - 14.54 14.47 14.57
8671 924.6 -9.5 648 8673 done -0.67 - - 2105 - - - 2493 - -97.3 - - 3335 - - - - - - - - 15.06 15.09 15.09
8971 953.7 -9.6 663 8976 roll -0.67 - - 2105 - 2.35 0.050 1108 -589.4 -97.3 - - 3334 - - - - - - - - 15.05 14.34 15.07
8999 956.5 -10.1 668 9005 done -0.67 - - 2093 - 2.45 0.062 2499 567.8 -97.3 - - 3334 - - - - - - - - 14.41 14.28 14.46
9313 987.9 -9.8 686 9315 done -0.67 - - 2093 - - - 2499 - -97.3 - - 3333 - - - - - - - - 15.06 15.09 15.09
9352 end dive: TARGET_DEPTH_EXCEEDED
9352 begin apogee
9360 991.7 -9.6 688 9456 done -0.15 0.68 0.166 2282 277.9 - - 2499 - - 92.53 1.974 2968 -3.9 0.387 - - - - - - 13.98 13.95 12.62
9457 end apogee: CONTROL_FINISHED_OK
9457 begin climb
9460 994.8 - 693 9577 roll 0.67 0.82 0.084 2567 347.6 2.55 0.048 1046 -569.8 97.3 104.20 1.954 2569 -3.8 0.381 - - - - - - 14.16 13.56 12.56
9615 993.4 6.1 724 9620 done 0.71 - - 2567 - 2.47 0.057 2449 568.0 97.3 - - 2566 - - - - - - - - 14.35 14.25 14.38
9920 967.4 8.9 740 9925 roll 0.71 - - 2567 - 2.47 0.083 3845 565.2 97.3 - - 2563 - - - - - - - - 14.90 14.33 14.92
9998 959.6 10.0 755 10002 done 0.71 - - 2578 - 2.33 0.037 2436 -604.7 97.3 - - 2562 - - - - - - - - 14.57 14.51 14.60
10302 932.4 8.6 771 10306 roll 0.71 - - 2589 - 2.35 0.050 1048 -590.6 97.3 - - 2561 - - - - - - - - 14.99 14.45 15.02
10410 923.3 8.4 792 10416 done 0.71 0.12 0.230 2564 -208.3 2.42 0.054 2448 578.5 97.3 - - 2559 - - - - - - - - 14.14 14.42 14.40
10728 897.4 7.7 810 10730 done 0.71 - - 2563 - - - 2449 - 97.3 - - 2558 - - - - - - - - 15.02 15.05 15.05
11029 875.0 7.2 825 11031 done 0.73 - - 2563 - - - 2449 - 97.3 - - 2558 - - - - - - - - 15.03 15.06 15.06
11330 854.4 6.8 840 11335 roll 0.75 - - 2574 - 2.40 0.050 1045 -585.0 97.3 - - 2557 - - - - - - - - 15.03 14.43 15.06
11392 850.2 6.7 852 11397 done 0.78 - - 2574 - 2.42 0.052 2450 580.6 97.3 - - 2557 - - - - - - - - 14.51 14.40 14.57
11716 828.7 6.7 871 11718 done 0.80 - - 2574 - - - 2450 - 97.3 - - 2556 - - - - - - - - 15.03 15.06 15.06
12014 808.5 6.9 886 12018 roll 0.83 - - 2585 - 2.40 0.050 1048 -584.2 97.3 - - 2556 - - - - - - - - 15.04 14.40 15.07
12056 805.6 7.1 894 12062 done 0.85 - - 2586 - 2.42 0.053 2448 578.5 97.3 - - 2555 - - - - - - - - 14.49 14.37 14.54
12377 781.2 7.9 913 12381 roll 0.85 - - 2597 - 2.40 0.050 1046 -584.2 97.3 - - 2556 - - - - - - - - 15.03 14.39 15.06
12453 775.0 7.9 928 12458 done 0.85 - - 2597 - 2.42 0.052 2441 576.4 97.3 - - 2555 - - - - - - - - 14.47 14.35 14.52
12760 750.2 8.3 944 12765 roll 0.85 - - 2597 - 2.50 0.081 3848 562.8 97.3 - - 2555 - - - - - - - - 15.04 14.23 15.06
12837 743.1 9.3 959 12841 done 0.85 - - 2608 - 2.33 0.036 2436 -606.0 97.3 - - 2555 - - - - - - - - 14.55 14.48 14.59
13143 717.3 8.2 975 13147 roll 0.85 - - 2620 - 2.35 0.050 1050 -589.8 97.3 - - 2555 - - - - - - - - 15.03 14.38 15.06
13209 711.9 8.0 988 13214 done 0.85 - - 2620 - 2.42 0.052 2443 575.6 97.3 - - 2555 - - - - - - - - 14.45 14.33 14.50
13526 685.8 8.2 1006 13533 roll 0.85 - - 2621 - 2.50 0.080 3851 563.2 97.3 - - 2555 - - - - - - - - 15.04 14.22 15.07
13583 680.8 9.3 1017 13590 done 0.85 0.12 0.276 2608 -108.3 2.33 0.036 2440 -605.6 97.3 - - 2555 - - - - - - - - 13.96 14.47 14.26
13911 657.2 6.8 1037 13915 roll 0.87 - - 2618 - 2.38 0.050 1045 -586.1 97.3 - - 2555 - - - - - - - - 15.02 14.35 15.04
14008 650.5 6.7 1056 14013 done 0.90 - - 2618 - 2.42 0.051 2441 576.9 97.3 - - 2554 - - - - - - - - 14.43 14.32 14.49
14312 629.9 6.6 1072 14314 done 0.93 - - 2618 - - - 2441 - 97.3 - - 2554 - - - - - - - - 15.04 15.08 15.07
14614 609.9 6.5 1087 14616 done 0.96 - - 2618 - - - 2441 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
14912 589.8 6.5 1102 14917 roll 0.99 - - 2630 - 2.42 0.049 1043 -577.7 97.3 - - 2554 - - - - - - - - 15.05 14.34 15.07
15043 581.9 6.5 1127 15050 done 1.02 - - 2630 - 2.42 0.051 2441 577.7 97.3 - - 2554 - - - - - - - - 14.42 14.31 14.48
15358 560.1 7.0 1145 15361 done 1.04 0.10 0.138 2688 580.0 - - 2441 - 97.3 - - 2554 - - - - - - - - 14.71 14.72 14.71
15657 534.2 8.9 1160 15662 roll 1.04 - - 2689 - 2.50 0.079 3848 562.8 97.3 - - 2554 - - - - - - - - 15.04 14.19 15.08
15675 532.6 8.9 1163 15684 done 1.04 0.15 0.271 2669 -133.3 2.33 0.034 2436 -606.0 97.3 - - 2554 - - - - - - - - 13.85 14.45 14.17
16003 505.7 8.0 1183 16011 roll 1.04 - - 2669 - 2.58 0.085 3854 549.6 97.3 - - 2554 - - - - - - - - 15.02 14.17 15.05
16099 497.4 8.3 1202 16103 done 1.04 - - 2679 - 2.35 0.034 2428 -606.8 97.3 - - 2554 - - - - - - - - 14.52 14.45 14.54
16403 473.6 7.9 1218 16405 done 1.04 - - 2679 - - - 2427 - 97.3 - - 2554 - - - - - - - - 15.04 15.08 15.07
16705 450.3 7.8 1233 16709 roll 1.04 - - 2690 - 2.35 0.049 1046 -587.7 97.3 - - 2554 - - - - - - - - 15.03 14.33 15.07
16911 433.8 7.9 1274 16917 done 1.04 - - 2690 - 2.42 0.051 2445 578.1 97.3 - - 2554 - - - - - - - - 14.41 14.30 14.47
17228 409.5 7.2 1292 17233 roll 1.06 - - 2690 - 2.50 0.078 3844 559.6 97.3 - - 2554 - - - - - - - - 15.03 14.17 15.06
17316 402.4 8.3 1309 17320 done 1.06 0.12 0.273 2676 -116.7 2.30 0.034 2440 -610.4 97.3 - - 2554 - - - - - - - - 13.92 14.45 14.21
17637 381.2 6.6 1327 17641 roll 1.09 - - 2686 - 2.35 0.048 1054 -589.8 97.3 - - 2554 - - - - - - - - 15.00 14.33 15.03
17870 364.3 7.0 1373 17874 done 1.11 - - 2686 - 2.40 0.051 2439 577.1 97.3 - - 2554 - - - - - - - - 14.40 14.29 14.46
18183 341.6 7.6 1390 18189 roll 1.11 - - 2686 - 2.50 0.080 3844 562.0 97.3 - - 2553 - - - - - - - - 15.03 14.16 15.06
18226 337.9 8.0 1399 18230 done 1.11 - - 2698 - 2.30 0.034 2437 -611.7 97.3 - - 2554 - - - - - - - - 14.52 14.46 14.55
18545 314.7 7.0 1417 18547 done 1.13 - - 2698 - - - 2437 - 97.3 - - 2553 - - - - - - - - 15.02 15.05 15.05
18843 293.9 6.9 1432 18850 roll 1.15 - - 2709 - 2.38 0.047 1049 -583.2 97.3 - - 2554 - - - - - - - - 15.04 14.33 15.07
18934 287.7 6.8 1449 18938 done 1.18 - - 2709 - 2.40 0.050 2440 579.6 97.3 - - 2554 - - - - - - - - 14.41 14.30 14.47
19251 266.1 6.5 1467 19258 roll 1.21 - - 2709 - 2.50 0.077 3850 564.0 97.3 - - 2554 - - - - - - - - 15.04 14.17 15.07
19291 263.3 7.0 1475 19295 done 1.23 - - 2720 - 2.30 0.034 2439 -613.5 97.3 - - 2554 - - - - - - - - 14.52 14.46 14.56
19607 243.9 6.0 1498 19647 roll 1.26 - - 2731 - 2.30 0.047 1058 -600.4 134.1 32.92 1.155 2419 -4.1 0.169 - - - - - - 15.00 14.00 13.28
19674 238.3 10.2 1512 19679 done 1.26 - - 2731 - 2.38 0.051 2445 582.8 134.1 - - 2418 - - - - - - - - 14.57 14.47 14.61
19867 215.0 12.0 1532 19869 done 1.26 - - 2731 - - - 2445 - 134.1 - - 2416 - - - - - - - - 14.92 14.96 14.95
20046 193.6 11.4 1550 20051 roll 1.26 - - 2745 - 2.38 0.047 1056 -583.6 134.1 - - 2415 - - - - - - - - 14.97 14.41 15.00
20198 177.3 11.2 1579 20202 done 1.26 - - 2745 - 2.40 0.051 2444 578.3 134.1 - - 2415 - - - - - - - - 14.50 14.39 14.54
20380 157.2 10.5 1598 20386 roll 1.26 - - 2746 - 2.45 0.075 3848 573.1 134.1 - - 2414 - - - - - - - - 15.00 14.29 15.03
20417 153.1 11.9 1605 20421 done 1.26 - - 2758 - 2.30 0.034 2439 -612.6 134.1 - - 2414 - - - - - - - - 14.57 14.51 14.60
20600 132.6 10.5 1624 20602 done 1.26 - - 2758 - - - 2439 - 134.1 - - 2414 - - - - - - - - 15.02 15.04 15.04
20781 118.0 7.0 1642 20786 roll 1.29 - - 2769 - 2.35 0.046 1049 -591.5 134.1 - - 2414 - - - - - - - - 15.01 14.40 15.03
20868 111.2 7.6 1659 20872 done 1.29 - - 2769 - 2.40 0.050 2444 581.2 134.1 - - 2414 - - - - - - - - 14.50 14.39 14.53
21055 100.2 5.4 1678 21106 roll 1.33 - - 2780 - 2.35 0.044 1048 -594.0 181.5 42.47 0.986 2226 -4.4 0.088 - - - - - - 15.01 14.02 13.41
21123 95.2 9.5 1692 21129 done 1.33 - - 2780 - 2.38 0.052 2438 584.0 181.5 - - 2225 - - - - - - - - 14.57 14.47 14.60
21316 73.2 8.0 1712 21321 roll 1.33 - - 2780 - 2.45 0.073 3851 576.7 181.5 - - 2222 - - - - - - - - 14.92 14.32 14.95
21551 67.4 3.2 1758 21634 done 1.42 - - 2793 - 2.30 0.033 2423 -620.9 267.7 74.72 0.923 1875 -4.6 0.066 - - - - - - 14.59 14.53 13.40
21817 36.2 6.3 1805 21820 done 1.46 - - 2793 - - - 2423 - 267.7 - - 1870 - - - - - - - - 14.84 14.87 14.86
22005 33.4 1.7 1842 22113 roll 1.57 0.12 0.134 2885 766.7 2.30 0.046 1063 -591.3 380.8 100.82 0.848 1414 -4.5 0.035 - - - - - - 14.54 14.22 13.42
22265 9.5 18.1 1893 22272 done 1.57 0.22 0.256 2833 -236.4 2.38 0.051 2445 580.7 380.8 - - 1412 - - - - - - - - 13.85 14.36 14.02
22303 end climb: SURFACE_DEPTH_REACHED
22303 begin surface coast
22322 end surface coast: CONTROL_FINISHED_OK
22322 begin surface
SM 1.08 - - - - -6.76 7.95 0.061 124 15.6 0.08 0.181 2497 -32862.5 500.17 127.62 0.648 928 7.3 -0.001 - - - - 1 -