MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 654 * Raw log
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• Previous call tries 1 • 220.66 of 350.00 AH used of 24V (36.96% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.2 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: 13 s
• GPS2 time: 3 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 88 VBD -0.67 - - 113 - - - 2499 - -97.3 -75.90 0.005 2690 - - - - - - - - 14.83 - 14.86
92 4.9 -14.1 16 123 roll -0.67 9.32 0.349 2094 212.6 2.40 0.092 3894 581.2 -97.3 -12.73 0.010 3366 -53.1 5.078 - - - - - - 13.83 13.39 14.30
352 68.5 -15.6 68 357 done -0.67 - - 2093 - 2.20 0.034 2505 -631.4 -97.3 - - 3366 - - - - - - - - 14.63 14.56 14.65
545 95.1 -15.2 88 551 roll -0.67 - - 2084 - 2.40 0.083 3891 577.5 -97.3 - - 3367 - - - - - - - - 14.99 14.39 15.01
779 129.7 -13.0 135 784 done -0.67 - - 2084 - 2.22 0.033 2496 -628.4 -97.3 - - 3367 - - - - - - - - 14.67 14.60 14.69
965 153.0 -12.3 154 969 roll -0.67 - - 2073 - 2.45 0.083 3900 573.1 -97.3 - - 3367 - - - - - - - - 15.03 14.41 15.06
1068 167.3 -13.9 174 1073 done -0.67 0.15 0.215 2108 233.3 2.25 0.035 2494 -624.9 -97.3 - - 3367 - - - - - - - - 14.26 14.60 14.47
1263 190.1 -11.8 194 1271 roll -0.67 - - 2099 - 2.45 0.089 3887 568.6 -97.3 - - 3366 - - - - - - - - 15.02 14.35 15.04
1303 195.4 -12.3 202 1307 done -0.67 - - 2099 - 2.25 0.041 2510 -612.0 -97.3 - - 3366 - - - - - - - - 14.65 14.57 14.68
1497 218.6 -11.8 222 1501 roll -0.67 - - 2099 - 2.35 0.050 1085 -606.4 -97.3 - - 3365 - - - - - - - - 15.04 14.52 15.07
1523 222.0 -12.5 227 1528 done -0.67 - - 2087 - 2.42 0.058 2506 587.2 -97.3 - - 3365 - - - - - - - - 14.59 14.48 14.64
1708 245.0 -12.4 246 1712 roll -0.67 - - 2077 - 2.40 0.085 3892 577.5 -97.3 - - 3364 - - - - - - - - 15.07 14.40 15.09
1765 252.3 -12.9 257 1770 done -0.67 0.15 0.204 2113 240.0 2.28 0.039 2487 -616.2 -97.3 - - 3364 - - - - - - - - 14.27 14.59 14.47
2069 285.5 -10.8 273 2071 done -0.67 - - 2113 - - - 2486 - -97.3 - - 3363 - - - - - - - - 15.07 15.11 15.10
2369 318.2 -11.0 288 2371 done -0.67 - - 2113 - - - 2486 - -97.3 - - 3360 - - - - - - - - 15.07 15.11 15.10
2670 349.7 -10.2 303 2672 done -0.67 - - 2113 - - - 2486 - -97.3 - - 3358 - - - - - - - - 15.07 15.10 15.09
2969 380.7 -10.4 318 2971 done -0.67 - - 2112 - - - 2486 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.11
3270 411.0 -9.8 333 3272 done -0.67 - - 2113 - - - 2486 - -97.3 - - 3354 - - - - - - - - 15.07 15.10 15.09
3569 439.8 -9.6 348 3574 roll -0.67 - - 2113 - 2.33 0.054 1108 -591.4 -97.3 - - 3352 - - - - - - - - 15.08 14.45 15.10
3596 442.4 -9.6 353 3600 done -0.67 - - 2104 - 2.40 0.057 2507 582.9 -97.3 - - 3352 - - - - - - - - 14.56 14.45 14.60
3913 473.6 -9.8 371 3918 roll -0.67 - - 2093 - 2.42 0.084 3894 573.1 -97.3 - - 3351 - - - - - - - - 15.07 14.33 15.09
3955 478.1 -10.6 379 3960 done -0.67 - - 2092 - 2.28 0.034 2488 -616.7 -97.3 - - 3351 - - - - - - - - 14.64 14.57 14.66
4277 513.2 -11.2 398 4280 done -0.67 - - 2093 - - - 2486 - -97.3 - - 3349 - - - - - - - - 15.07 15.10 15.09
4579 545.5 -10.8 413 4585 roll -0.67 - - 2082 - 2.50 0.087 3895 563.6 -97.3 - - 3348 - - - - - - - - 15.06 14.31 15.09
4608 548.9 -11.5 419 4613 done -0.67 0.12 0.207 2112 250.0 2.28 0.036 2496 -613.6 -97.3 - - 3348 - - - - - - - - 14.26 14.54 14.44
4922 578.8 -9.3 436 4925 done -0.67 - - 2112 - - - 2496 - -97.3 - - 3347 - - - - - - - - 15.05 15.08 15.08
5221 607.3 -10.0 451 5223 done -0.67 - - 2111 - - - 2495 - -97.3 - - 3346 - - - - - - - - 15.07 15.10 15.09
5521 638.2 -10.4 466 5525 roll -0.67 - - 2112 - 2.35 0.050 1105 -591.5 -97.3 - - 3344 - - - - - - - - 15.07 14.42 15.09
5568 643.0 -10.2 475 5574 done -0.67 - - 2103 - 2.42 0.060 2500 576.4 -97.3 - - 3344 - - - - - - - - 14.50 14.38 14.54
5886 675.7 -9.9 493 5892 roll -0.67 - - 2091 - 2.45 0.086 3891 567.8 -97.3 - - 3343 - - - - - - - - 15.07 14.26 15.09
5916 678.8 -10.7 499 5921 done -0.67 - - 2091 - 2.28 0.036 2500 -610.1 -97.3 - - 3344 - - - - - - - - 14.59 14.52 14.62
6230 710.6 -10.2 516 6232 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3343 - - - - - - - - 15.05 15.09 15.08
6528 740.3 -9.5 531 6533 roll -0.67 - - 2081 - 2.53 0.094 3894 551.4 -97.3 - - 3342 - - - - - - - - 15.07 14.20 15.09
6565 743.8 -9.6 538 6570 done -0.67 0.12 0.206 2110 241.7 2.33 0.043 2495 -600.4 -97.3 - - 3342 - - - - - - - - 14.18 14.47 14.37
6871 769.6 -8.8 554 6875 roll -0.67 - - 2110 - 2.35 0.051 1099 -594.0 -97.3 - - 3341 - - - - - - - - 15.06 14.38 15.08
6923 774.4 -9.0 564 6929 done -0.67 - - 2101 - 2.45 0.062 2503 573.1 -97.3 - - 3340 - - - - - - - - 14.46 14.33 14.50
7234 804.6 -10.0 581 7240 roll -0.67 - - 2090 - 2.47 0.087 3899 565.2 -97.3 - - 3340 - - - - - - - - 15.05 14.21 15.08
7268 808.3 -10.9 588 7272 done -0.67 - - 2090 - 2.30 0.037 2499 -608.7 -97.3 - - 3339 - - - - - - - - 14.55 14.47 14.58
7573 842.5 -11.0 604 7575 done -0.67 - - 2090 - - - 2498 - -97.3 - - 3339 - - - - - - - - 15.06 15.09 15.09
7874 873.4 -10.0 619 7876 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3338 - - - - - - - - 15.05 15.08 15.07
8172 901.5 -9.0 634 8180 roll -0.67 - - 2079 - 2.55 0.095 3899 549.8 -97.3 - - 3337 - - - - - - - - 15.06 14.16 15.09
8197 903.9 -9.7 639 8203 done -0.67 0.12 0.206 2108 241.7 2.33 0.038 2490 -604.7 -97.3 - - 3337 - - - - - - - - 14.15 14.46 14.33
8517 929.1 -8.0 657 8521 roll -0.67 - - 2108 - 2.35 0.052 1102 -590.6 -97.3 - - 3336 - - - - - - - - 15.04 14.33 15.07
8558 932.7 -8.3 665 8564 done -0.67 - - 2099 - 2.47 0.068 2500 566.0 -97.3 - - 3336 - - - - - - - - 14.38 14.25 14.44
8880 961.2 -9.1 684 8882 done -0.67 - - 2099 - - - 2500 - -97.3 - - 3335 - - - - - - - - 15.04 15.07 15.07
9178 989.4 -9.3 699 9183 roll -0.67 - - 2088 - 2.50 0.090 3893 557.2 -97.3 - - 3334 - - - - - - - - 15.07 14.14 15.09
9186 end dive: TARGET_DEPTH_EXCEEDED
9186 begin apogee
9197 990.4 -9.2 701 9294 done -0.15 0.68 0.168 2276 276.5 - - 2438 - - 92.93 1.978 2967 -3.9 0.386 - - - - - - 13.97 13.95 12.62
9295 end apogee: CONTROL_FINISHED_OK
9295 begin climb
9299 993.5 - 706 9413 roll 0.67 0.85 0.090 2564 338.8 2.50 0.050 1040 -559.2 97.3 104.35 1.958 2569 -3.8 0.378 - - - - - - 14.15 13.95 12.57
9437 991.8 5.1 726 9500 done 0.72 - - 2565 - 2.50 0.060 2453 565.2 150.3 54.83 1.939 2354 -3.9 0.391 - - - - - - 14.31 14.21 12.61
9812 949.2 12.0 756 9819 roll 0.72 - - 2564 - 2.45 0.083 3842 566.9 150.3 - - 2347 - - - - - - - - 14.88 14.33 14.91
9842 945.3 12.9 762 9846 done 0.72 - - 2576 - 2.33 0.037 2431 -605.6 150.3 - - 2346 - - - - - - - - 14.57 14.50 14.59
10154 908.4 11.3 779 10159 roll 0.72 - - 2587 - 2.35 0.052 1046 -589.4 150.3 - - 2345 - - - - - - - - 14.96 14.44 14.99
10263 895.9 11.4 800 10267 done 0.72 - - 2587 - 2.40 0.053 2439 580.4 150.3 - - 2344 - - - - - - - - 14.53 14.42 14.59
10579 858.0 12.1 818 10581 done 0.72 - - 2587 - - - 2439 - 150.3 - - 2344 - - - - - - - - 15.02 15.04 15.04
10880 821.8 12.2 833 10884 roll 0.72 - - 2598 - 2.38 0.050 1046 -585.3 150.3 - - 2343 - - - - - - - - 15.02 14.43 15.04
10937 815.0 11.9 844 10944 done 0.72 0.15 0.223 2565 -220.0 2.40 0.051 2439 580.4 150.3 - - 2342 - - - - - - - - 14.10 14.41 14.38
11265 780.7 10.6 864 11272 roll 0.72 - - 2565 - 2.47 0.082 3842 568.0 150.3 - - 2341 - - - - - - - - 15.00 14.28 15.02
11305 775.8 12.1 872 11309 done 0.72 - - 2575 - 2.30 0.037 2439 -610.0 150.3 - - 2341 - - - - - - - - 14.59 14.52 14.62
11626 741.2 10.9 891 11631 roll 0.72 - - 2587 - 2.38 0.052 1046 -585.3 150.3 - - 2340 - - - - - - - - 15.04 14.40 15.07
11744 728.8 10.2 914 11748 done 0.72 - - 2587 - 2.40 0.052 2439 580.4 150.3 - - 2340 - - - - - - - - 14.50 14.38 14.54
12048 697.1 10.5 930 12050 done 0.72 - - 2587 - - - 2439 - 150.3 - - 2340 - - - - - - - - 15.04 15.07 15.07
12349 665.0 10.9 945 12351 done 0.72 - - 2587 - - - 2439 - 150.3 - - 2340 - - - - - - - - 15.04 15.06 15.06
12648 631.7 11.2 960 12653 roll 0.72 - - 2598 - 2.40 0.050 1040 -582.9 150.3 - - 2340 - - - - - - - - 15.04 14.38 15.07
12717 624.1 11.4 973 12724 done 0.72 0.15 0.215 2565 -220.0 2.42 0.051 2444 580.2 150.3 - - 2340 - - - - - - - - 14.05 14.36 14.23
13031 592.1 9.9 991 13036 roll 0.72 - - 2577 - 2.40 0.050 1045 -582.9 150.3 - - 2340 - - - - - - - - 15.04 14.37 15.07
13104 585.0 9.7 1005 13110 done 0.72 - - 2577 - 2.42 0.052 2446 578.9 150.3 - - 2340 - - - - - - - - 14.46 14.35 14.52
13415 555.1 9.8 1022 13419 roll 0.72 - - 2588 - 2.40 0.050 1044 -584.2 150.3 - - 2340 - - - - - - - - 15.03 14.35 15.06
13451 551.4 9.7 1029 13457 done 0.72 - - 2588 - 2.45 0.051 2446 572.2 150.3 - - 2340 - - - - - - - - 14.46 14.34 14.52
13777 518.9 10.0 1049 13783 roll 0.72 - - 2588 - 2.47 0.081 3843 565.6 150.3 - - 2340 - - - - - - - - 15.04 14.21 15.07
13811 514.9 11.3 1056 13819 done 0.72 0.15 0.243 2568 -133.3 2.33 0.036 2432 -605.6 150.3 - - 2340 - - - - - - - - 13.99 14.47 14.27
14139 484.2 10.0 1076 14143 roll 0.72 - - 2577 - 2.38 0.050 1043 -583.6 150.3 - - 2339 - - - - - - - - 15.02 14.34 15.05
14211 477.0 9.5 1090 14215 done 0.72 - - 2577 - 2.42 0.052 2445 579.3 150.3 - - 2340 - - - - - - - - 14.45 14.33 14.50
14522 445.4 10.3 1107 14525 done 0.72 - - 2577 - - - 2445 - 150.3 - - 2340 - - - - - - - - 15.04 15.07 15.07
14824 414.9 9.9 1122 14828 roll 0.72 - - 2588 - 2.40 0.050 1048 -582.1 150.3 - - 2340 - - - - - - - - 15.04 14.34 15.07
14900 407.4 9.6 1137 14906 done 0.72 - - 2587 - 2.42 0.051 2445 577.3 150.3 - - 2339 - - - - - - - - 14.43 14.32 14.49
15226 375.0 10.0 1157 15228 done 0.72 - - 2588 - - - 2445 - 150.3 - - 2339 - - - - - - - - 15.04 15.07 15.07
15525 344.8 10.3 1172 15530 roll 0.72 - - 2599 - 2.40 0.050 1049 -581.7 150.3 - - 2340 - - - - - - - - 15.04 14.33 15.07
15587 338.7 9.6 1184 15595 done 0.72 0.15 0.213 2566 -220.0 2.40 0.051 2438 578.8 150.3 - - 2339 - - - - - - - - 14.01 14.31 14.27
15909 311.5 8.6 1203 15915 roll 0.72 - - 2576 - 2.40 0.049 1049 -578.8 150.3 - - 2339 - - - - - - - - 15.02 14.33 15.05
15973 305.6 8.9 1215 15978 done 0.72 - - 2576 - 2.40 0.051 2441 580.0 150.3 - - 2339 - - - - - - - - 14.43 14.31 14.49
16296 275.6 9.3 1234 16300 roll 0.72 - - 2587 - 2.38 0.049 1049 -584.9 150.3 - - 2339 - - - - - - - - 15.04 14.33 15.07
16342 271.1 9.1 1243 16347 done 0.72 - - 2587 - 2.42 0.052 2450 578.9 150.3 - - 2339 - - - - - - - - 14.43 14.31 14.49
16652 242.7 9.1 1264 16656 roll 0.72 - - 2598 - 2.40 0.049 1049 -583.8 150.3 - - 2339 - - - - - - - - 15.02 14.33 15.04
16700 238.1 9.4 1273 16707 done 0.72 0.15 0.214 2566 -213.3 2.42 0.051 2446 577.3 150.3 - - 2340 - - - - - - - - 14.00 14.30 14.21
16896 221.8 8.3 1294 16900 roll 0.72 - - 2576 - 2.40 0.048 1045 -583.8 150.3 - - 2339 - - - - - - - - 15.02 14.33 15.04
16934 218.6 8.4 1301 16938 done 0.72 - - 2576 - 2.42 0.050 2443 577.7 150.3 - - 2340 - - - - - - - - 14.42 14.31 14.47
17118 202.2 9.0 1320 17125 roll 0.72 - - 2577 - 2.50 0.082 3849 562.4 150.3 - - 2339 - - - - - - - - 15.02 14.16 15.05
17158 198.1 10.5 1328 17163 done 0.72 - - 2587 - 2.30 0.034 2437 -613.9 150.3 - - 2339 - - - - - - - - 14.53 14.46 14.56
17354 180.7 8.8 1348 17358 roll 0.72 - - 2598 - 2.35 0.049 1052 -589.4 150.3 - - 2339 - - - - - - - - 14.99 14.32 15.02
17465 170.9 8.4 1370 17474 done 0.72 0.15 0.213 2565 -220.0 2.40 0.051 2441 578.8 150.3 - - 2340 - - - - - - - - 14.00 14.30 14.25
17660 157.1 7.0 1390 17663 done 0.74 - - 2565 - - - 2442 - 150.3 - - 2339 - - - - - - - - 14.99 15.02 15.02
17846 143.6 7.1 1409 17852 roll 0.76 - - 2565 - 2.50 0.083 3845 561.2 150.3 - - 2340 - - - - - - - - 15.02 14.16 15.05
17887 140.5 7.9 1417 17891 done 0.76 - - 2575 - 2.30 0.034 2434 -613.5 150.3 - - 2340 - - - - - - - - 14.53 14.47 14.57
18078 128.1 5.9 1437 18120 roll 0.80 - - 2586 - 2.40 0.050 1050 -576.7 189.3 34.03 1.029 2194 -4.3 0.104 - - - - - - 15.03 14.35 13.38
18172 121.9 7.5 1455 18177 done 0.81 - - 2586 - 2.40 0.052 2441 579.6 189.3 - - 2192 - - - - - - - - 14.54 14.45 14.59
18364 104.7 9.3 1475 18366 done 0.81 - - 2586 - - - 2442 - 189.3 - - 2191 - - - - - - - - 14.95 14.98 14.97
18546 92.6 5.4 1493 18596 roll 0.86 - - 2587 - 2.47 0.081 3846 568.4 237.0 42.50 0.973 2000 -4.5 0.083 - - - - - - 14.97 14.00 13.39
18639 84.4 10.8 1510 18643 done 0.86 - - 2597 - 2.30 0.035 2445 -609.1 237.0 - - 1997 - - - - - - - - 14.56 14.50 14.58
18826 68.8 6.2 1529 18830 roll 0.90 - - 2608 - 2.38 0.049 1040 -590.3 237.0 - - 1996 - - - - - - - - 14.90 14.38 14.92
18843 67.9 5.1 1532 18900 done 0.95 - - 2608 - 2.42 0.050 2450 582.6 290.5 48.00 0.928 1781 -4.5 0.064 - - - - - - 14.50 14.38 13.42
19083 48.1 8.0 1564 19089 roll 0.95 - - 2608 - 2.45 0.080 3843 568.6 290.5 - - 1779 - - - - - - - - 14.84 14.26 14.87
19107 45.8 9.3 1569 19112 done 0.95 - - 2619 - 2.30 0.034 2434 -612.6 290.5 - - 1778 - - - - - - - - 14.54 14.47 14.56
19296 35.5 3.9 1606 19370 roll 1.02 0.12 0.116 2701 683.3 2.47 0.076 3842 570.0 364.8 66.95 0.867 1479 -4.5 0.036 - - - - - - 14.59 13.99 13.45
19379 30.0 9.0 1622 19387 done 1.02 0.20 0.212 2662 -195.0 2.30 0.034 2433 -612.6 364.8 - - 1478 - - - - - - - - 14.15 14.45 14.38
19571 22.7 5.3 1660 19623 roll 1.07 - - 2672 - 2.38 0.050 1056 -578.6 414.2 45.45 0.815 1277 -4.4 0.024 - - - - - - 14.85 14.31 13.52
19743 10.6 7.5 1694 19747 done 1.09 - - 2672 - 2.38 0.050 2445 583.6 414.2 - - 1275 - - - - - - - - 14.48 14.38 14.52
19846 end climb: SURFACE_DEPTH_REACHED
19846 begin surface coast
19886 end surface coast: CONTROL_FINISHED_OK
19886 begin surface
SM 1.15 - - - - -6.78 7.35 0.050 112 15.2 0.08 0.178 2494 17500.0 500.17 98.38 0.604 928 9.4 -0.002 - - - - 1 -