MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 667 * Raw log
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• Previous call tries 1 • 224.56 of 350.00 AH used of 24V (35.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 1.25 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 18 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 88 VBD -0.67 - - 114 - - - 2506 - -97.3 -76.50 0.005 2745 - - - - - - - - 14.85 - 14.88
92 5.2 -14.6 16 119 roll -0.67 9.32 0.349 2108 213.9 2.35 0.068 1106 -595.7 -97.3 -11.52 0.010 3367 -54.0 5.462 - - - - - - 13.85 12.62 14.32
333 67.2 -15.6 64 337 done -0.67 - - 2099 - 2.38 0.059 2498 584.9 -97.3 - - 3367 - - - - - - - - 14.56 14.44 14.59
526 94.6 -14.1 84 530 roll -0.67 - - 2088 - 2.40 0.078 3898 583.3 -97.3 - - 3367 - - - - - - - - 15.00 14.41 15.02
670 116.8 -13.0 112 674 done -0.67 - - 2088 - 2.22 0.031 2493 -632.9 -97.3 - - 3367 - - - - - - - - 14.69 14.62 14.71
863 142.8 -12.5 132 867 roll -0.67 - - 2077 - 2.42 0.077 3894 578.9 -97.3 - - 3367 - - - - - - - - 15.04 14.42 15.06
1059 170.0 -14.2 171 1065 done -0.67 0.15 0.212 2113 240.0 2.22 0.032 2494 -630.6 -97.3 - - 3366 - - - - - - - - 14.27 14.63 14.48
1246 192.7 -12.1 190 1248 done -0.67 - - 2113 - - - 2493 - -97.3 - - 3366 - - - - - - - - 15.04 15.08 15.07
1425 214.7 -11.9 208 1427 done -0.67 - - 2113 - - - 2493 - -97.3 - - 3366 - - - - - - - - 15.06 15.09 15.09
1607 235.6 -11.7 226 1614 roll -0.67 - - 2104 - 2.45 0.081 3895 572.2 -97.3 - - 3365 - - - - - - - - 15.04 14.40 15.07
1626 238.3 -11.9 230 1631 done -0.67 - - 2104 - 2.22 0.032 2502 -627.5 -97.3 - - 3365 - - - - - - - - 14.69 14.63 14.71
1828 261.2 -11.0 246 1830 done -0.67 - - 2104 - - - 2501 - -97.3 - - 3364 - - - - - - - - 15.07 15.10 15.10
2129 294.6 -10.9 261 2131 done -0.67 - - 2104 - - - 2500 - -97.3 - - 3361 - - - - - - - - 15.07 15.10 15.09
2428 327.2 -10.7 276 2433 roll -0.67 - - 2093 - 2.45 0.083 3892 568.2 -97.3 - - 3359 - - - - - - - - 15.08 14.38 15.11
2465 331.3 -11.4 283 2470 done -0.67 - - 2093 - 2.25 0.033 2495 -620.9 -97.3 - - 3359 - - - - - - - - 14.68 14.62 14.70
2771 366.3 -11.6 299 2773 done -0.67 - - 2093 - - - 2494 - -97.3 - - 3357 - - - - - - - - 15.05 15.09 15.09
3070 400.8 -11.5 314 3072 done -0.67 - - 2093 - - - 2494 - -97.3 - - 3354 - - - - - - - - 15.07 15.11 15.10
3370 435.8 -11.8 329 3372 done -0.67 - - 2093 - - - 2494 - -97.3 - - 3352 - - - - - - - - 15.07 15.11 15.10
3672 471.2 -11.9 344 3676 roll -0.67 - - 2093 - 2.33 0.050 1112 -593.1 -97.3 - - 3351 - - - - - - - - 15.06 14.47 15.09
3724 477.5 -11.6 354 3732 done -0.67 0.12 0.210 2112 158.3 2.40 0.059 2503 579.6 -97.3 - - 3350 - - - - - - - - 14.23 14.44 14.43
4034 510.2 -10.4 371 4036 done -0.67 - - 2112 - - - 2503 - -97.3 - - 3349 - - - - - - - - 15.07 15.09 15.09
4333 540.8 -10.1 386 4340 roll -0.67 - - 2102 - 2.45 0.084 3899 569.8 -97.3 - - 3348 - - - - - - - - 15.08 14.32 15.10
4358 543.5 -10.6 391 4363 done -0.67 - - 2103 - 2.28 0.034 2496 -615.4 -97.3 - - 3347 - - - - - - - - 14.64 14.57 14.66
4676 577.1 -10.5 409 4679 done -0.67 - - 2103 - - - 2494 - -97.3 - - 3346 - - - - - - - - 15.06 15.09 15.09
4976 609.4 -11.1 424 4980 roll -0.67 - - 2091 - 2.53 0.086 3900 555.7 -97.3 - - 3345 - - - - - - - - 15.07 14.28 15.09
5018 614.2 -11.7 432 5022 done -0.67 - - 2091 - 2.30 0.036 2505 -606.5 -97.3 - - 3344 - - - - - - - - 14.61 14.53 14.63
5342 651.8 -11.4 451 5347 roll -0.67 - - 2081 - 2.47 0.085 3891 561.1 -97.3 - - 3343 - - - - - - - - 15.05 14.28 15.08
5379 656.3 -12.1 458 5384 done -0.67 0.12 0.209 2110 241.7 2.30 0.036 2491 -608.7 -97.3 - - 3343 - - - - - - - - 14.21 14.52 14.40
5685 687.2 -9.8 474 5687 done -0.67 - - 2110 - - - 2490 - -97.3 - - 3343 - - - - - - - - 15.06 15.09 15.09
5984 715.6 -9.2 489 5986 done -0.67 - - 2110 - - - 2490 - -97.3 - - 3341 - - - - - - - - 15.07 15.10 15.09
6285 743.0 -9.2 504 6289 roll -0.67 - - 2111 - 2.35 0.050 1102 -590.6 -97.3 - - 3340 - - - - - - - - 15.07 14.39 15.09
6312 745.6 -9.6 509 6319 done -0.67 - - 2101 - 2.45 0.059 2506 573.1 -97.3 - - 3339 - - - - - - - - 14.47 14.34 14.51
6626 775.8 -9.6 527 6631 roll -0.67 - - 2090 - 2.47 0.086 3892 561.1 -97.3 - - 3338 - - - - - - - - 15.07 14.22 15.09
6683 781.6 -10.3 538 6687 done -0.67 - - 2090 - 2.30 0.036 2496 -607.0 -97.3 - - 3338 - - - - - - - - 14.56 14.48 14.58
6990 811.9 -10.0 554 6997 roll -0.67 - - 2080 - 2.50 0.085 3891 558.0 -97.3 - - 3337 - - - - - - - - 15.04 14.21 15.07
7034 816.8 -10.6 563 7040 done -0.67 0.12 0.208 2108 233.3 2.30 0.036 2492 -608.3 -97.3 - - 3337 - - - - - - - - 14.16 14.48 14.35
7353 846.5 -9.5 581 7355 done -0.67 - - 2109 - - - 2491 - -97.3 - - 3337 - - - - - - - - 15.05 15.08 15.08
7652 876.2 -9.9 596 7659 roll -0.67 - - 2099 - 2.53 0.086 3896 555.3 -97.3 - - 3336 - - - - - - - - 15.06 14.19 15.09
7693 880.3 -10.4 604 7697 done -0.67 - - 2100 - 2.30 0.036 2499 -607.4 -97.3 - - 3335 - - - - - - - - 14.54 14.47 14.57
8017 911.9 -9.6 623 8021 roll -0.67 - - 2099 - 2.38 0.051 1100 -587.8 -97.3 - - 3334 - - - - - - - - 15.03 14.33 15.06
8058 916.1 -9.3 631 8064 done -0.67 - - 2088 - 2.45 0.059 2497 570.2 -97.3 - - 3334 - - - - - - - - 14.41 14.28 14.45
8381 946.8 -9.7 650 8388 roll -0.67 - - 2077 - 2.50 0.086 3900 561.2 -97.3 - - 3333 - - - - - - - - 15.05 14.16 15.08
8447 953.4 -10.4 663 8453 done -0.67 0.15 0.197 2114 246.7 2.33 0.037 2494 -603.4 -97.3 - - 3334 - - - - - - - - 14.08 14.43 14.28
8765 979.5 -8.2 681 8767 done -0.67 - - 2114 - - - 2493 - -97.3 - - 3333 - - - - - - - - 15.06 15.09 15.09
8902 end dive: TARGET_DEPTH_EXCEEDED
8902 begin apogee
8911 991.0 -8.2 688 9008 done -0.15 0.57 0.161 2277 286.0 - - 2493 - - 92.65 1.978 2967 -4.0 0.385 - - - - - - 14.02 13.96 12.65
9009 end apogee: CONTROL_FINISHED_OK
9009 begin climb
9012 993.9 - 693 9123 done 0.67 0.82 0.087 2549 331.7 - - 2493 - 97.3 104.88 1.947 2570 -3.8 0.376 - - - - - - 14.14 13.90 12.61
9429 974.2 7.2 714 9434 roll 0.69 - - 2560 - 2.47 0.052 1047 -585.4 97.3 - - 2563 - - - - - - - - 14.85 14.40 14.88
9486 969.7 7.5 725 9493 done 0.70 - - 2560 - 2.45 0.056 2451 573.1 97.3 - - 2562 - - - - - - - - 14.50 14.39 14.55
9811 944.4 7.5 745 9818 roll 0.71 - - 2560 - 2.47 0.083 3851 566.8 97.3 - - 2561 - - - - - - - - 14.97 14.33 15.00
9857 940.6 8.7 754 9861 done 0.71 - - 2571 - 2.35 0.037 2439 -600.9 97.3 - - 2560 - - - - - - - - 14.59 14.52 14.62
10174 916.2 7.8 772 10176 done 0.71 - - 2571 - - - 2437 - 97.3 - - 2559 - - - - - - - - 15.01 15.04 15.04
10473 892.7 7.6 787 10478 roll 0.71 - - 2581 - 2.38 0.052 1044 -585.3 97.3 - - 2558 - - - - - - - - 15.03 14.42 15.06
10558 886.3 7.8 803 10563 done 0.71 - - 2581 - 2.42 0.054 2445 578.9 97.3 - - 2557 - - - - - - - - 14.50 14.40 14.56
10881 861.3 7.5 822 10884 roll 0.72 - - 2592 - 2.42 0.054 1040 -580.6 97.3 - - 2557 - - - - - - - - 15.04 14.40 15.07
10913 858.9 7.8 828 10920 done 0.72 0.12 0.230 2567 -208.3 2.42 0.053 2440 578.5 97.3 - - 2557 - - - - - - - - 14.09 14.38 14.25
11222 836.8 7.3 845 11227 roll 0.73 - - 2567 - 2.50 0.081 3846 562.4 97.3 - - 2556 - - - - - - - - 15.03 14.26 15.06
11310 829.3 8.6 862 11314 done 0.73 - - 2578 - 2.33 0.037 2436 -605.2 97.3 - - 2557 - - - - - - - - 14.56 14.49 14.59
11627 804.7 7.5 880 11631 roll 0.74 - - 2588 - 2.38 0.051 1045 -584.5 97.3 - - 2556 - - - - - - - - 15.03 14.37 15.07
11735 796.5 7.5 901 11742 done 0.75 - - 2588 - 2.42 0.053 2443 577.7 97.3 - - 2555 - - - - - - - - 14.46 14.35 14.52
12049 772.9 7.5 919 12054 roll 0.77 - - 2588 - 2.50 0.080 3848 562.0 97.3 - - 2555 - - - - - - - - 15.04 14.23 15.07
12131 766.0 8.0 935 12136 done 0.77 - - 2600 - 2.33 0.036 2437 -605.6 97.3 - - 2555 - - - - - - - - 14.54 14.47 14.57
12455 742.4 7.3 954 12459 roll 0.78 - - 2611 - 2.38 0.051 1044 -585.3 97.3 - - 2555 - - - - - - - - 15.02 14.35 15.05
12522 737.5 7.5 967 12527 done 0.79 - - 2611 - 2.42 0.052 2442 577.7 97.3 - - 2555 - - - - - - - - 14.45 14.33 14.50
12840 712.5 8.1 985 12844 roll 0.79 - - 2623 - 2.40 0.052 1048 -580.8 97.3 - - 2555 - - - - - - - - 15.03 14.34 15.06
12951 703.5 7.9 1007 12957 done 0.79 0.15 0.231 2591 -213.3 2.42 0.052 2446 577.7 97.3 - - 2554 - - - - - - - - 13.94 14.32 14.23
13268 680.7 7.3 1024 13271 done 0.81 - - 2591 - - - 2445 - 97.3 - - 2555 - - - - - - - - 15.00 15.04 15.03
13564 658.6 7.4 1039 13570 roll 0.82 - - 2602 - 2.45 0.053 1040 -573.5 97.3 - - 2554 - - - - - - - - 15.04 14.32 15.07
13603 655.7 7.7 1046 13610 done 0.82 - - 2602 - 2.45 0.051 2446 573.9 97.3 - - 2554 - - - - - - - - 14.42 14.31 14.47
13928 630.1 8.0 1066 13930 done 0.82 - - 2602 - - - 2446 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
14228 607.7 7.4 1081 14230 done 0.83 - - 2602 - - - 2446 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
14530 585.4 7.2 1096 14532 done 0.85 - - 2602 - - - 2446 - 97.3 - - 2554 - - - - - - - - 15.02 15.06 15.05
14828 563.6 7.2 1111 14833 roll 0.87 - - 2602 - 2.50 0.080 3853 562.8 97.3 - - 2554 - - - - - - - - 15.04 14.16 15.07
14937 555.2 7.9 1132 14941 done 0.87 - - 2614 - 2.33 0.035 2436 -608.2 97.3 - - 2554 - - - - - - - - 14.50 14.43 14.54
15253 533.6 6.5 1150 15258 roll 0.90 - - 2624 - 2.38 0.050 1048 -583.2 97.3 - - 2554 - - - - - - - - 15.04 14.31 15.07
15451 520.2 7.1 1189 15458 done 0.92 - - 2625 - 2.42 0.052 2440 575.2 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.44
15777 497.1 6.6 1209 15781 roll 0.95 - - 2638 - 2.40 0.050 1048 -580.0 97.3 - - 2554 - - - - - - - - 15.04 14.30 15.07
15804 495.4 6.1 1214 15812 done 0.99 - - 2638 - 2.42 0.050 2444 576.9 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
16120 472.9 7.4 1232 16126 roll 1.00 - - 2651 - 2.40 0.049 1048 -581.7 97.3 - - 2554 - - - - - - - - 15.04 14.30 15.07
16355 454.2 8.0 1279 16360 done 1.00 - - 2653 - 2.42 0.051 2441 575.6 97.3 - - 2553 - - - - - - - - 14.38 14.26 14.43
16661 431.8 7.0 1295 16665 roll 1.02 - - 2664 - 2.40 0.049 1044 -582.1 97.3 - - 2554 - - - - - - - - 15.04 14.30 15.07
16895 415.6 6.7 1341 16899 done 1.05 - - 2665 - 2.42 0.051 2441 577.3 97.3 - - 2554 - - - - - - - - 14.38 14.26 14.43
17208 394.0 6.9 1358 17212 roll 1.07 - - 2677 - 2.40 0.049 1045 -581.7 97.3 - - 2554 - - - - - - - - 15.02 14.29 15.05
17436 378.4 6.3 1403 17441 done 1.10 - - 2677 - 2.42 0.050 2442 577.3 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.43
17754 357.9 6.4 1421 17758 roll 1.14 - - 2689 - 2.40 0.048 1043 -582.9 97.3 - - 2554 - - - - - - - - 15.04 14.30 15.07
17962 344.2 7.0 1462 17970 done 1.16 - - 2689 - 2.42 0.050 2440 577.3 97.3 - - 2554 - - - - - - - - 14.38 14.26 14.43
18278 321.8 7.1 1480 18284 roll 1.18 - - 2690 - 2.50 0.076 3851 564.4 97.3 - - 2554 - - - - - - - - 15.03 14.14 15.05
18363 315.1 8.2 1497 18367 done 1.18 - - 2701 - 2.33 0.034 2436 -607.3 97.3 - - 2554 - - - - - - - - 14.49 14.42 14.52
18680 291.6 7.1 1515 18685 roll 1.20 - - 2713 - 2.35 0.048 1052 -588.9 97.3 - - 2554 - - - - - - - - 15.04 14.30 15.06
18812 283.1 6.5 1540 18816 done 1.23 - - 2713 - 2.40 0.050 2440 578.3 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.44
19129 263.2 6.5 1558 19136 roll 1.26 - - 2713 - 2.50 0.076 3851 564.4 97.3 - - 2553 - - - - - - - - 15.04 14.15 15.07
19161 261.1 7.1 1564 19165 done 1.28 - - 2726 - 2.33 0.034 2434 -608.2 97.3 - - 2553 - - - - - - - - 14.50 14.43 14.52
19475 241.4 6.5 1587 19480 roll 1.31 - - 2738 - 2.35 0.047 1050 -588.9 97.3 - - 2554 - - - - - - - - 15.01 14.31 15.03
19517 238.4 6.8 1595 19524 done 1.33 - - 2739 - 2.38 0.050 2437 582.8 97.3 - - 2554 - - - - - - - - 14.24 14.19 14.29
19713 226.0 6.1 1615 19718 roll 1.37 - - 2752 - 2.38 0.047 1050 -582.8 97.3 - - 2554 - - - - - - - - 15.01 14.31 15.04
19947 212.0 5.8 1661 19990 done 1.41 - - 2752 - 2.40 0.050 2441 579.6 138.4 36.72 1.120 2402 -4.1 0.152 - - - - - - 14.38 14.27 13.34
20171 187.0 12.4 1688 20175 roll 1.41 - - 2763 - 2.38 0.049 1044 -587.0 138.4 - - 2398 - - - - - - - - 14.91 14.40 14.93
20223 180.5 12.7 1698 20227 done 1.41 - - 2763 - 2.40 0.050 2440 581.7 138.4 - - 2397 - - - - - - - - 14.50 14.39 14.53
20415 157.1 11.1 1718 20417 done 1.41 - - 2763 - - - 2441 - 138.4 - - 2397 - - - - - - - - 14.96 14.99 14.99
20597 139.9 10.6 1736 20601 roll 1.41 - - 2764 - 2.47 0.075 3846 568.8 138.4 - - 2397 - - - - - - - - 14.97 14.28 14.99
20640 135.2 10.3 1744 20645 done 1.41 - - 2792 - 2.30 0.034 2431 -615.2 138.4 - - 2396 - - - - - - - - 14.57 14.50 14.59
20833 122.3 5.6 1764 20880 roll 1.46 - - 2800 - 2.55 0.076 3850 556.5 182.0 39.12 1.012 2225 -4.4 0.103 - - - - - - 14.99 14.34 13.40
21003 103.0 11.3 1798 21007 done 1.46 - - 2815 - 2.30 0.035 2449 -609.1 182.0 - - 2221 - - - - - - - - 14.55 14.48 14.58
21198 86.3 6.8 1818 21202 roll 1.48 - - 2817 - 2.47 0.073 3847 566.0 182.0 - - 2219 - - - - - - - - 14.91 14.31 14.94
21274 82.5 4.8 1833 21332 done 1.54 - - 2834 - 2.33 0.033 2421 -612.0 239.3 50.05 0.952 1991 -4.6 0.077 - - - - - - 14.56 14.50 13.44
21520 56.6 9.5 1864 21526 roll 1.54 - - 2834 - 2.50 0.072 3846 570.0 239.3 - - 1986 - - - - - - - - 14.88 14.31 14.90
21580 52.4 6.1 1876 21584 done 1.58 - - 2849 - 2.28 0.033 2443 -615.4 239.3 - - 1986 - - - - - - - - 14.54 14.48 14.57
21770 49.0 -0.1 1908 21906 done 1.72 - - 2858 - - - 2441 - 385.2 129.38 0.877 1396 -4.6 0.050 - - - - - - 14.92 14.14 13.40
22095 12.0 16.8 1972 22100 roll 1.72 - - 2869 - 2.33 0.047 1056 -594.4 385.2 - - 1394 - - - - - - - - 14.79 14.37 14.81
22143 end climb: SURFACE_DEPTH_REACHED
22143 begin surface coast
22158 end surface coast: CONTROL_FINISHED_OK
22158 begin surface
SM 1.16 - - - - -6.79 8.07 0.060 116 14.4 2.58 0.064 2491 765.5 500.17 123.20 0.645 928 7.5 -0.001 - - - - 1 -