MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 734 * Raw log
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• Previous call tries 1 • 244.66 of 350.00 AH used of 24V (30.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.29 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 4 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 - - 108 - - - 2461 - -97.3 -75.85 0.005 2709 - - - - - - - - 14.82 - 14.85
93 5.0 -14.1 16 120 roll -0.67 9.35 0.347 2096 212.6 2.50 0.093 3893 572.8 -97.3 -12.27 0.010 3366 -53.5 5.179 - - - - - - 13.85 13.35 14.31
167 31.7 -28.2 31 173 done -0.67 - - 2096 - 2.30 0.037 2493 -608.7 -97.3 - - 3366 - - - - - - - - 14.48 14.39 14.51
363 86.0 -17.7 56 369 roll -0.67 - - 2085 - 2.47 0.083 3885 563.6 -97.3 - - 3366 - - - - - - - - 14.92 14.17 14.95
448 100.6 -16.7 73 452 done -0.67 - - 2085 - 2.30 0.041 2503 -600.9 -97.3 - - 3366 - - - - - - - - 14.47 14.38 14.50
632 129.3 -12.4 92 636 roll -0.67 - - 2085 - 2.35 0.048 1090 -601.3 -97.3 - - 3367 - - - - - - - - 15.00 14.35 15.02
658 133.3 -14.8 97 666 done -0.67 0.15 0.223 2108 153.3 2.42 0.057 2497 581.4 -97.3 - - 3366 - - - - - - - - 14.02 14.31 14.26
857 158.5 -13.2 118 864 roll -0.67 - - 2098 - 2.45 0.081 3899 572.2 -97.3 - - 3367 - - - - - - - - 14.98 14.22 15.00
931 169.9 -13.9 133 936 done -0.67 - - 2099 - 2.30 0.034 2484 -615.2 -97.3 - - 3367 - - - - - - - - 14.53 14.46 14.56
1119 192.9 -12.6 152 1125 roll -0.67 - - 2088 - 2.50 0.090 3883 559.6 -97.3 - - 3367 - - - - - - - - 15.00 14.07 15.03
1207 204.8 -13.1 170 1211 done -0.67 - - 2087 - 2.28 0.043 2517 -599.1 -97.3 - - 3366 - - - - - - - - 14.48 14.38 14.52
1399 230.1 -13.3 190 1404 done -0.67 - - 2088 - - - 2515 - -97.3 - - 3366 - - - - - - - - 15.02 15.04 15.04
1599 256.0 -12.4 208 1601 done -0.67 - - 2088 - - - 2515 - -97.3 - - 3365 - - - - - - - - 15.04 15.07 15.06
1898 293.1 -12.3 223 1903 roll -0.67 - - 2077 - 2.50 0.093 3889 549.6 -97.3 - - 3363 - - - - - - - - 15.04 14.09 15.07
1937 297.9 -13.2 230 1945 done -0.67 0.15 0.203 2112 233.3 2.35 0.046 2487 -596.6 -97.3 - - 3363 - - - - - - - - 14.04 14.33 14.14
2265 335.3 -11.2 250 2267 done -0.67 - - 2112 - - - 2486 - -97.3 - - 3360 - - - - - - - - 15.02 15.05 15.04
2563 365.9 -9.7 265 2570 roll -0.67 - - 2103 - 2.50 0.086 3884 559.2 -97.3 - - 3358 - - - - - - - - 15.03 14.08 15.06
2592 368.9 -10.9 271 2597 done -0.67 - - 2103 - 2.30 0.036 2484 -608.7 -97.3 - - 3358 - - - - - - - - 14.50 14.42 14.52
2905 400.6 -10.2 288 2907 done -0.67 - - 2103 - - - 2483 - -97.3 - - 3355 - - - - - - - - 15.04 15.07 15.07
3204 431.9 -10.5 303 3209 roll -0.67 - - 2091 - 2.55 0.086 3890 551.8 -97.3 - - 3352 - - - - - - - - 15.04 14.09 15.07
3246 436.6 -11.3 311 3252 done -0.67 - - 2092 - 2.30 0.036 2498 -605.2 -97.3 - - 3352 - - - - - - - - 14.46 14.38 14.49
3569 472.5 -11.2 330 3571 done -0.67 - - 2092 - - - 2497 - -97.3 - - 3351 - - - - - - - - 15.04 15.07 15.07
3870 505.1 -10.7 345 3877 roll -0.67 - - 2081 - 2.47 0.084 3882 560.7 -97.3 - - 3349 - - - - - - - - 15.03 14.02 15.06
3909 509.6 -11.5 353 3916 done -0.67 0.12 0.206 2109 233.3 2.30 0.036 2490 -605.2 -97.3 - - 3349 - - - - - - - - 14.04 14.38 14.23
4231 540.3 -9.3 372 4235 roll -0.67 - - 2109 - 2.35 0.049 1105 -589.4 -97.3 - - 3347 - - - - - - - - 15.02 14.23 15.04
4268 544.0 -9.3 379 4273 done -0.67 - - 2100 - 2.50 0.068 2496 556.4 -97.3 - - 3347 - - - - - - - - 14.24 14.08 14.30
4572 574.7 -10.4 395 4577 roll -0.67 - - 2089 - 2.53 0.086 3900 554.9 -97.3 - - 3345 - - - - - - - - 15.04 14.02 15.06
4636 581.6 -11.4 407 4641 done -0.67 - - 2089 - 2.33 0.036 2499 -601.3 -97.3 - - 3345 - - - - - - - - 14.42 14.34 14.45
4958 619.3 -11.6 426 4960 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3343 - - - - - - - - 15.03 15.06 15.06
5258 654.2 -11.6 441 5265 roll -0.67 - - 2078 - 2.55 0.086 3899 549.8 -97.3 - - 3342 - - - - - - - - 15.03 13.99 15.06
5284 657.2 -12.8 446 5292 done -0.67 0.12 0.204 2106 233.3 2.33 0.036 2497 -601.7 -97.3 - - 3342 - - - - - - - - 14.00 14.33 14.12
5599 690.0 -10.0 464 5603 roll -0.67 - - 2107 - 2.38 0.049 1108 -583.6 -97.3 - - 3341 - - - - - - - - 15.03 14.19 15.06
5636 693.7 -9.9 471 5641 done -0.67 - - 2097 - 2.50 0.060 2512 561.6 -97.3 - - 3340 - - - - - - - - 14.24 14.11 14.29
5942 724.5 -9.9 487 5947 roll -0.67 - - 2086 - 2.53 0.087 3897 547.4 -97.3 - - 3340 - - - - - - - - 15.02 13.95 15.04
5999 730.6 -10.3 498 6006 done -0.67 - - 2086 - 2.33 0.036 2500 -599.6 -97.3 - - 3340 - - - - - - - - 14.37 14.29 14.40
6326 762.9 -9.6 518 6330 roll -0.67 - - 2086 - 2.40 0.048 1103 -582.1 -97.3 - - 3338 - - - - - - - - 15.02 14.16 15.04
6382 768.4 -9.4 529 6391 done -0.67 0.15 0.197 2110 160.0 2.50 0.057 2505 560.8 -97.3 - - 3338 - - - - - - - - 13.84 14.08 14.05
6708 796.3 -8.7 549 6716 roll -0.67 - - 2102 - 2.53 0.087 3894 549.0 -97.3 - - 3337 - - - - - - - - 15.02 13.93 15.05
6750 800.0 -9.5 557 6754 done -0.67 - - 2101 - 2.35 0.036 2493 -596.2 -97.3 - - 3337 - - - - - - - - 14.34 14.27 14.37
7072 828.8 -8.5 576 7074 done -0.67 - - 2101 - - - 2491 - -97.3 - - 3336 - - - - - - - - 15.02 15.05 15.04
7373 852.4 -7.7 591 7378 roll -0.67 - - 2090 - 2.58 0.088 3891 542.6 -97.3 - - 3335 - - - - - - - - 15.02 13.89 15.04
7400 854.7 -8.6 596 7406 done -0.67 - - 2090 - 2.33 0.036 2500 -597.0 -97.3 - - 3334 - - - - - - - - 14.33 14.26 14.36
7715 882.8 -9.1 614 7717 done -0.67 - - 2090 - - - 2498 - -97.3 - - 3334 - - - - - - - - 15.02 15.05 15.04
8016 910.9 -9.6 629 8021 roll -0.67 - - 2080 - 2.60 0.090 3894 536.9 -97.3 - - 3333 - - - - - - - - 15.01 13.86 15.03
8053 914.7 -10.3 636 8060 done -0.67 0.12 0.201 2108 233.3 2.35 0.036 2497 -594.5 -97.3 - - 3333 - - - - - - - - 13.90 14.23 14.07
8381 942.8 -8.4 656 8387 roll -0.67 - - 2098 - 2.55 0.087 3884 543.9 -97.3 - - 3332 - - - - - - - - 14.99 13.78 15.02
8416 946.0 -8.8 663 8421 done -0.67 - - 2099 - 2.33 0.036 2501 -593.6 -97.3 - - 3332 - - - - - - - - 14.29 14.22 14.33
8719 972.9 -8.9 679 8724 roll -0.67 - - 2098 - 2.40 0.049 1110 -579.6 -97.3 - - 3331 - - - - - - - - 15.02 14.07 15.04
8763 976.8 -9.2 687 8768 done -0.67 - - 2088 - 2.47 0.057 2500 562.8 -97.3 - - 3331 - - - - - - - - 14.14 14.01 14.19
8903 end dive: TARGET_DEPTH_EXCEEDED
8903 begin apogee
8913 990.8 -9.9 697 9009 done -0.15 0.70 0.168 2279 272.9 - - 2499 - - 91.97 1.984 2968 -3.9 0.381 - - - - - - 13.71 14.00 12.75
9010 end apogee: CONTROL_FINISHED_OK
9010 begin climb
9014 994.2 - 702 9126 roll 0.67 0.82 0.089 2548 328.0 2.45 0.082 3854 553.1 97.3 105.03 1.959 2569 -3.8 0.373 - - - - - - 14.06 13.63 12.68
9167 993.5 5.6 718 9221 done 0.71 - - 2559 - 2.38 0.035 2434 -596.6 141.4 46.00 1.923 2390 -3.9 0.389 - - - - - - 14.33 14.27 12.69
9523 959.5 10.2 745 9527 roll 0.71 - - 2570 - 2.40 0.052 1044 -579.2 141.4 - - 2383 - - - - - - - - 14.88 14.35 14.90
9629 948.5 10.3 766 9634 done 0.71 - - 2569 - 2.47 0.062 2440 565.2 141.4 - - 2381 - - - - - - - - 14.45 14.32 14.50
9946 914.5 10.8 784 9948 done 0.71 - - 2570 - - - 2440 - 141.4 - - 2381 - - - - - - - - 14.95 14.98 14.97
10247 881.3 11.3 799 10252 roll 0.71 - - 2580 - 2.42 0.053 1046 -576.0 141.4 - - 2380 - - - - - - - - 14.97 14.30 15.00
10294 875.8 11.3 808 10301 done 0.71 - - 2580 - 2.42 0.053 2444 577.7 141.4 - - 2379 - - - - - - - - 14.44 14.32 14.49
10609 839.8 11.3 826 10613 roll 0.71 - - 2592 - 2.42 0.051 1055 -574.0 141.4 - - 2379 - - - - - - - - 15.00 14.26 15.02
10632 837.4 10.8 830 10640 done 0.71 0.10 0.196 2564 -280.0 2.42 0.053 2448 575.6 141.4 - - 2378 - - - - - - - - 13.96 14.29 14.09
10954 805.3 9.7 849 10961 roll 0.71 - - 2575 - 2.42 0.051 1054 -576.0 141.4 - - 2378 - - - - - - - - 14.97 14.23 15.00
10989 801.8 9.5 856 10995 done 0.71 - - 2575 - 2.42 0.053 2440 572.7 141.4 - - 2377 - - - - - - - - 14.38 14.26 14.44
11315 770.7 9.5 876 11317 done 0.71 - - 2575 - - - 2439 - 141.4 - - 2377 - - - - - - - - 14.99 15.02 15.02
11613 742.4 9.5 891 11618 roll 0.71 - - 2586 - 2.42 0.051 1055 -571.9 141.4 - - 2377 - - - - - - - - 15.01 14.18 15.04
11731 730.8 10.0 914 11739 done 0.71 - - 2587 - 2.45 0.053 2446 567.8 141.4 - - 2376 - - - - - - - - 14.30 14.21 14.33
12056 696.2 10.9 934 12060 roll 0.71 - - 2598 - 2.45 0.050 1052 -569.0 141.4 - - 2376 - - - - - - - - 15.00 14.16 15.02
12124 688.9 11.0 947 12129 done 0.71 0.15 0.218 2566 -213.3 2.45 0.053 2448 569.8 141.4 - - 2376 - - - - - - - - 13.88 14.19 14.16
12441 657.2 9.8 965 12446 roll 0.71 - - 2577 - 2.45 0.050 1051 -570.2 141.4 - - 2376 - - - - - - - - 15.00 14.14 15.03
12494 652.1 9.8 975 12499 done 0.71 - - 2577 - 2.45 0.052 2445 569.0 141.4 - - 2375 - - - - - - - - 14.30 14.18 14.35
12808 620.4 10.4 992 12814 roll 0.71 - - 2588 - 2.42 0.051 1055 -574.4 141.4 - - 2375 - - - - - - - - 14.99 14.13 15.02
12851 615.7 10.4 1001 12858 done 0.71 - - 2587 - 2.42 0.052 2439 571.9 141.4 - - 2375 - - - - - - - - 14.29 14.16 14.35
13168 583.5 10.2 1019 13173 roll 0.71 - - 2599 - 2.45 0.050 1047 -568.2 141.4 - - 2376 - - - - - - - - 14.99 14.11 15.02
13222 577.9 10.6 1029 13228 done 0.71 0.12 0.194 2566 -275.0 2.45 0.052 2441 569.0 141.4 - - 2375 - - - - - - - - 13.67 14.15 13.82
13530 550.0 8.6 1046 13532 done 0.71 - - 2566 - - - 2442 - 141.4 - - 2375 - - - - - - - - 15.00 15.04 15.03
13831 524.4 8.6 1061 13838 roll 0.71 - - 2577 - 2.42 0.050 1054 -573.6 141.4 - - 2375 - - - - - - - - 15.00 14.09 15.02
13875 520.5 8.7 1070 13882 done 0.71 - - 2577 - 2.45 0.052 2446 568.2 141.4 - - 2376 - - - - - - - - 14.25 14.13 14.31
14192 492.1 9.3 1088 14196 roll 0.71 - - 2588 - 2.45 0.050 1051 -569.4 141.4 - - 2375 - - - - - - - - 14.99 14.09 15.02
14254 486.2 9.5 1100 14260 done 0.71 - - 2588 - 2.45 0.053 2442 567.8 141.4 - - 2375 - - - - - - - - 14.24 14.12 14.30
14574 454.3 10.1 1119 14578 roll 0.71 - - 2588 - 2.55 0.080 3851 552.5 141.4 - - 2375 - - - - - - - - 15.00 13.93 15.03
14597 451.9 10.8 1123 14603 done 0.71 0.15 0.233 2566 -146.7 2.35 0.036 2444 -598.7 141.4 - - 2375 - - - - - - - - 13.78 14.27 14.06
14924 422.5 8.7 1142 14928 roll 0.71 - - 2575 - 2.45 0.050 1040 -573.1 141.4 - - 2375 - - - - - - - - 14.97 14.07 15.00
14987 416.5 9.6 1154 14994 done 0.71 - - 2575 - 2.47 0.051 2454 572.5 141.4 - - 2375 - - - - - - - - 14.13 14.08 14.17
15306 385.5 10.1 1173 15312 roll 0.71 - - 2587 - 2.47 0.050 1041 -572.1 141.4 - - 2375 - - - - - - - - 15.00 14.07 15.02
15346 381.5 10.1 1181 15352 done 0.71 - - 2586 - 2.47 0.051 2449 570.0 141.4 - - 2375 - - - - - - - - 14.23 14.11 14.28
15668 349.1 9.9 1200 15670 done 0.71 - - 2586 - - - 2450 - 141.4 - - 2375 - - - - - - - - 14.98 15.02 15.01
15966 321.6 8.9 1215 15971 roll 0.71 - - 2598 - 2.45 0.049 1046 -573.1 141.4 - - 2375 - - - - - - - - 15.00 14.07 15.03
15988 319.7 8.6 1219 15993 done 0.71 0.15 0.210 2566 -213.3 2.45 0.050 2442 569.8 141.4 - - 2375 - - - - - - - - 13.76 14.09 14.03
16314 294.0 8.0 1238 16319 roll 0.71 - - 2576 - 2.45 0.049 1046 -569.8 141.4 - - 2375 - - - - - - - - 14.97 14.06 15.00
16356 290.3 8.3 1246 16363 done 0.71 - - 2576 - 2.45 0.051 2440 569.0 141.4 - - 2375 - - - - - - - - 14.21 14.09 14.27
16677 262.0 8.9 1265 16684 roll 0.71 - - 2587 - 2.45 0.050 1040 -571.4 141.4 - - 2375 - - - - - - - - 15.00 14.06 15.02
16741 256.1 9.3 1278 16745 done 0.71 - - 2587 - 2.47 0.051 2439 566.4 141.4 - - 2375 - - - - - - - - 14.20 14.08 14.26
17047 230.0 8.2 1307 17049 done 0.71 - - 2588 - - - 2439 - 141.4 - - 2375 - - - - - - - - 14.99 15.02 15.02
17228 215.9 7.5 1325 17230 done 0.72 - - 2588 - - - 2439 - 141.4 - - 2375 - - - - - - - - 14.98 15.02 15.01
17409 202.6 7.3 1343 17414 done 0.74 - - 2587 - - - 2440 - 141.4 - - 2375 - - - - - - - - 14.97 15.00 15.00
17598 190.1 6.6 1362 17602 roll 0.77 - - 2587 - 2.55 0.080 3844 550.6 141.4 - - 2375 - - - - - - - - 14.99 13.95 15.01
17699 182.3 7.6 1382 17704 done 0.77 - - 2598 - 2.38 0.034 2428 -595.0 141.4 - - 2375 - - - - - - - - 14.31 14.24 14.35
17895 169.9 6.3 1402 17898 done 0.80 - - 2599 - - - 2428 - 141.4 - - 2375 - - - - - - - - 14.94 14.97 14.97
18081 159.9 5.6 1421 18129 roll 0.85 - - 2599 - 2.58 0.079 3845 549.2 185.9 39.35 1.061 2208 -4.2 0.124 - - - - - - 14.97 14.34 13.41
18167 154.0 9.0 1438 18171 done 0.85 - - 2610 - 2.33 0.035 2438 -603.9 185.9 - - 2206 - - - - - - - - 14.52 14.45 14.54
18351 135.6 9.8 1457 18353 done 0.85 - - 2610 - - - 2436 - 185.9 - - 2205 - - - - - - - - 14.90 14.92 14.92
18532 121.5 7.4 1475 18538 done 0.86 - - 2610 - - - 2436 - 185.9 - - 2205 - - - - - - - - 14.92 14.95 14.95
18721 107.1 6.5 1494 18729 roll 0.89 - - 2610 - 2.53 0.077 3852 559.7 185.9 - - 2204 - - - - - - - - 14.95 14.19 14.97
18781 102.6 7.4 1506 18788 done 0.91 - - 2621 - 2.33 0.034 2432 -609.4 185.9 - - 2204 - - - - - - - - 14.50 14.43 14.52
18971 96.3 3.1 1526 19056 roll 0.99 - - 2632 - 2.35 0.049 1053 -586.8 273.8 78.22 0.957 1849 -4.5 0.088 - - - - - - 14.97 13.97 13.40
19099 88.3 7.6 1543 19104 done 0.99 - - 2632 - 2.40 0.052 2439 577.5 273.8 - - 1846 - - - - - - - - 14.42 14.31 14.45
19292 72.9 5.8 1563 19335 roll 1.03 - - 2632 - 2.47 0.080 3845 569.2 313.9 37.28 0.895 1687 -4.3 0.067 - - - - - - 14.87 14.30 13.47
19481 63.0 1.8 1600 19596 done 1.15 0.17 0.092 2723 535.3 2.30 0.034 2433 -613.9 425.2 102.62 0.884 1232 -4.4 0.061 - - - - - - 14.39 14.42 13.39
19779 37.9 9.4 1652 19785 roll 1.15 - - 2724 - 2.50 0.074 3846 565.2 425.2 - - 1230 - - - - - - - - 14.77 14.20 14.79
19828 32.6 10.7 1662 19836 done 1.15 0.15 0.216 2699 -166.7 2.30 0.035 2454 -605.2 425.2 - - 1230 - - - - - - - - 14.04 14.38 14.26
20020 17.0 10.3 1700 20024 roll 1.15 - - 2709 - 2.38 0.048 1047 -591.2 425.2 - - 1230 - - - - - - - - 14.88 14.31 14.90
20096 11.0 8.3 1715 20101 done 1.15 - - 2709 - 2.40 0.050 2440 580.4 425.2 - - 1230 - - - - - - - - 14.42 14.30 14.45
20184 end climb: SURFACE_DEPTH_REACHED
20185 begin surface coast
20214 end surface coast: CONTROL_FINISHED_OK
20214 begin surface
SM 1.25 - - - - -6.77 7.50 0.050 119 15.9 0.10 0.169 2493 14630.0 500.17 89.88 0.573 928 10.3 -0.002 - - - - 1 -