MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 756 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 251.31 of 350.00 AH used of 24V (28.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth 1.28 m • Intended pitch -19.6 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 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
5 begin dive
9 - - - 83 VBD -0.67 - - 71 - - - 2511 - -97.3 -71.62 0.005 2625 - - - - - - - - 14.80 - 14.83
88 5.2 -14.8 15 119 roll -0.67 9.50 0.347 2102 213.8 2.50 0.078 1093 -567.2 -97.3 -13.52 0.009 3367 -54.9 6.173 - - - - - - 13.85 12.60 14.31
222 50.3 -29.0 42 228 done -0.67 - - 2093 - 2.42 0.057 2494 578.9 -97.3 - - 3367 - - - - - - - - 14.37 14.25 14.42
407 92.4 -16.8 61 411 roll -0.67 - - 2093 - 2.35 0.047 1098 -594.0 -97.3 - - 3367 - - - - - - - - 14.95 14.28 14.97
480 103.8 -14.2 75 487 done -0.67 0.12 0.236 2113 166.7 2.45 0.058 2507 575.1 -97.3 - - 3367 - - - - - - - - 13.87 14.23 13.96
669 128.6 -10.3 95 671 done -0.67 - - 2112 - - - 2507 - -97.3 - - 3368 - - - - - - - - 14.98 15.01 15.00
849 151.7 -14.0 113 857 roll -0.67 - - 2104 - 2.42 0.078 3891 571.9 -97.3 - - 3368 - - - - - - - - 14.99 14.14 15.01
874 154.9 -12.4 118 879 done -0.67 - - 2104 - 2.28 0.031 2484 -617.1 -97.3 - - 3368 - - - - - - - - 14.48 14.42 14.51
1059 175.1 -10.6 137 1063 roll -0.67 - - 2104 - 2.30 0.046 1109 -597.8 -97.3 - - 3368 - - - - - - - - 15.00 14.28 15.03
1122 181.9 -11.3 149 1129 done -0.67 - - 2092 - 2.42 0.057 2506 577.3 -97.3 - - 3368 - - - - - - - - 14.35 14.23 14.40
1311 204.1 -12.2 169 1313 done -0.67 - - 2092 - - - 2507 - -97.3 - - 3367 - - - - - - - - 15.00 15.03 15.02
1491 227.0 -12.8 187 1496 roll -0.67 - - 2092 - 2.40 0.056 1111 -581.7 -97.3 - - 3366 - - - - - - - - 15.00 14.23 15.02
1515 229.9 -13.1 191 1522 done -0.67 0.12 0.213 2110 150.0 2.40 0.055 2500 578.8 -97.3 - - 3366 - - - - - - - - 14.00 14.23 14.16
1717 252.6 -11.2 211 1724 roll -0.67 - - 2101 - 2.47 0.080 3897 565.6 -97.3 - - 3365 - - - - - - - - 14.97 14.07 15.00
1767 258.9 -11.9 221 1771 done -0.67 - - 2101 - 2.28 0.033 2500 -612.7 -97.3 - - 3365 - - - - - - - - 14.46 14.39 14.48
2079 295.1 -10.9 238 2081 done -0.67 - - 2101 - - - 2498 - -97.3 - - 3363 - - - - - - - - 15.02 15.05 15.04
2379 327.1 -10.8 253 2381 done -0.67 - - 2101 - - - 2498 - -97.3 - - 3360 - - - - - - - - 15.02 15.05 15.05
2680 359.2 -10.6 268 2682 done -0.67 - - 2101 - - - 2498 - -97.3 - - 3358 - - - - - - - - 15.01 15.04 15.04
2979 391.4 -10.8 283 2984 roll -0.67 - - 2090 - 2.55 0.083 3896 548.2 -97.3 - - 3356 - - - - - - - - 15.02 13.99 15.04
3041 398.4 -11.1 295 3045 done -0.67 - - 2090 - 2.30 0.034 2499 -607.4 -97.3 - - 3356 - - - - - - - - 14.40 14.34 14.43
3364 437.1 -12.5 314 3366 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3353 - - - - - - - - 15.00 15.04 15.03
3663 474.3 -12.2 329 3667 roll -0.67 - - 2079 - 2.55 0.083 3897 549.0 -97.3 - - 3352 - - - - - - - - 15.02 13.96 15.04
3717 480.8 -12.4 339 3724 done -0.67 0.12 0.207 2107 233.3 2.33 0.034 2491 -603.4 -97.3 - - 3351 - - - - - - - - 13.96 14.31 14.14
4024 513.8 -10.4 356 4026 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3350 - - - - - - - - 15.02 15.05 15.04
4325 544.4 -10.1 371 4327 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3348 - - - - - - - - 15.02 15.04 15.04
4626 574.5 -10.0 386 4628 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3348 - - - - - - - - 15.01 15.04 15.03
4924 604.4 -10.0 401 4932 roll -0.67 - - 2097 - 2.55 0.083 3890 549.0 -97.3 - - 3346 - - - - - - - - 15.02 13.91 15.04
4949 607.1 -11.2 406 4955 done -0.67 - - 2097 - 2.33 0.035 2494 -599.1 -97.3 - - 3346 - - - - - - - - 14.33 14.26 14.36
5268 641.7 -11.1 424 5270 done -0.67 - - 2097 - - - 2493 - -97.3 - - 3345 - - - - - - - - 15.00 15.02 15.02
5567 675.8 -11.4 439 5574 roll -0.67 - - 2086 - 2.55 0.083 3890 547.8 -97.3 - - 3343 - - - - - - - - 15.00 13.89 15.03
5592 678.7 -11.9 444 5596 done -0.67 - - 2086 - 2.33 0.035 2497 -597.9 -97.3 - - 3343 - - - - - - - - 14.31 14.23 14.34
5910 716.7 -12.0 462 5912 done -0.67 - - 2086 - - - 2496 - -97.3 - - 3342 - - - - - - - - 15.00 15.03 15.02
6208 752.6 -12.0 477 6216 roll -0.67 - - 2076 - 2.58 0.083 3897 543.0 -97.3 - - 3341 - - - - - - - - 15.01 13.86 15.04
6250 757.6 -12.5 485 6258 done -0.67 0.15 0.193 2110 226.7 2.35 0.036 2491 -598.3 -97.3 - - 3341 - - - - - - - - 13.82 14.21 14.02
6570 790.6 -10.1 504 6572 done -0.67 - - 2110 - - - 2491 - -97.3 - - 3340 - - - - - - - - 15.01 15.04 15.04
6870 820.2 -9.7 519 6873 done -0.67 - - 2110 - - - 2491 - -97.3 - - 3339 - - - - - - - - 15.01 15.04 15.04
7171 848.7 -9.4 534 7173 done -0.67 - - 2110 - - - 2491 - -97.3 - - 3338 - - - - - - - - 15.00 15.03 15.02
7470 877.0 -9.5 549 7472 done -0.67 - - 2110 - - - 2491 - -97.3 - - 3337 - - - - - - - - 15.01 15.04 15.04
7771 906.2 -9.8 564 7775 roll -0.67 - - 2110 - 2.40 0.049 1110 -575.4 -97.3 - - 3336 - - - - - - - - 15.00 13.98 15.02
7809 910.1 -10.2 571 7815 done -0.67 - - 2101 - 2.50 0.058 2499 555.6 -97.3 - - 3336 - - - - - - - - 14.10 13.97 14.15
8133 944.1 -10.4 591 8140 roll -0.67 - - 2090 - 2.55 0.086 3893 546.7 -97.3 - - 3335 - - - - - - - - 15.00 13.82 15.02
8199 951.2 -11.1 604 8203 done -0.67 - - 2090 - 2.35 0.036 2499 -593.2 -97.3 - - 3335 - - - - - - - - 14.21 14.14 14.25
8515 985.1 -10.4 622 8520 roll -0.67 - - 2090 - 2.42 0.050 1106 -575.6 -97.3 - - 3334 - - - - - - - - 15.00 13.95 15.02
8553 989.1 -10.6 629 8561 done -0.67 0.12 0.203 2107 141.7 2.53 0.059 2505 553.0 -97.3 - - 3334 - - - - - - - - 13.77 13.96 13.96
8564 end dive: TARGET_DEPTH_EXCEEDED
8564 begin apogee
8574 990.6 -10.1 632 8670 done -0.15 0.62 0.156 2280 279.0 - - 2439 - - 92.20 1.983 2968 -4.0 0.386 - - - - - - 13.72 14.00 12.80
8671 end apogee: CONTROL_FINISHED_OK
8671 begin climb
8674 994.3 - 637 8791 roll 0.67 0.85 0.090 2564 334.1 2.50 0.051 1046 -557.2 97.3 103.38 1.959 2569 -3.9 0.381 - - - - - - 14.04 13.96 12.75
8813 994.2 3.7 665 8902 done 0.75 - - 2564 - 2.47 0.054 2445 566.4 174.2 78.47 1.952 2256 -4.0 0.396 - - - - - - 14.21 14.12 12.73
9215 950.3 12.0 700 9219 roll 0.75 - - 2575 - 2.42 0.052 1046 -578.1 174.2 - - 2250 - - - - - - - - 14.85 14.34 14.88
9261 944.5 12.1 709 9269 done 0.75 - - 2575 - 2.45 0.055 2448 572.2 174.2 - - 2248 - - - - - - - - 14.45 14.34 14.50
9577 903.3 13.4 727 9579 done 0.75 - - 2575 - - - 2448 - 174.2 - - 2247 - - - - - - - - 14.93 14.96 14.96
9878 863.4 13.3 742 9883 roll 0.75 - - 2586 - 2.45 0.051 1047 -571.8 174.2 - - 2247 - - - - - - - - 14.95 14.28 14.97
9975 850.2 13.0 761 9983 done 0.75 - - 2586 - 2.45 0.054 2443 569.8 174.2 - - 2246 - - - - - - - - 14.40 14.28 14.45
10303 807.4 12.6 781 10307 roll 0.75 - - 2597 - 2.42 0.051 1050 -575.6 174.2 - - 2246 - - - - - - - - 14.96 14.21 14.99
10349 801.5 12.4 790 10354 done 0.75 - - 2598 - 2.45 0.054 2444 569.0 174.2 - - 2245 - - - - - - - - 14.35 14.24 14.42
10666 762.2 11.7 808 10668 done 0.75 - - 2598 - - - 2444 - 174.2 - - 2245 - - - - - - - - 14.98 15.02 15.01
10968 728.2 11.3 823 10975 roll 0.75 - - 2609 - 2.45 0.051 1044 -571.4 174.2 - - 2245 - - - - - - - - 14.97 14.14 15.00
11017 722.4 11.3 833 11025 done 0.75 0.15 0.227 2577 -213.3 2.45 0.054 2439 569.4 174.2 - - 2244 - - - - - - - - 13.89 14.19 14.17
11327 689.6 10.5 850 11332 roll 0.75 - - 2587 - 2.45 0.051 1047 -568.2 174.2 - - 2244 - - - - - - - - 14.98 14.12 15.01
11361 686.2 10.9 856 11367 done 0.75 - - 2587 - 2.45 0.054 2438 567.8 174.2 - - 2244 - - - - - - - - 14.29 14.16 14.35
11670 650.9 11.4 873 11677 roll 0.75 - - 2598 - 2.45 0.051 1043 -569.4 174.2 - - 2244 - - - - - - - - 14.98 14.09 15.01
11716 645.6 11.9 882 11721 done 0.75 - - 2599 - 2.47 0.053 2446 568.0 174.2 - - 2244 - - - - - - - - 14.27 14.14 14.33
12033 605.3 13.3 900 12035 done 0.75 - - 2599 - - - 2446 - 174.2 - - 2244 - - - - - - - - 14.98 15.02 15.02
12334 565.4 13.2 915 12338 roll 0.75 - - 2611 - 2.47 0.050 1049 -565.6 174.2 - - 2244 - - - - - - - - 14.99 14.05 15.02
12407 555.8 13.3 929 12415 done 0.75 0.12 0.234 2580 -258.3 2.47 0.053 2446 565.6 174.2 - - 2244 - - - - - - - - 13.69 14.11 13.82
12715 517.8 11.7 946 12721 roll 0.75 - - 2591 - 2.47 0.050 1048 -566.0 174.2 - - 2243 - - - - - - - - 14.99 14.04 15.02
12754 513.3 12.0 953 12762 done 0.75 - - 2591 - 2.47 0.053 2443 564.8 174.2 - - 2243 - - - - - - - - 14.23 14.10 14.28
13079 473.2 12.3 973 13083 roll 0.75 - - 2603 - 2.45 0.050 1052 -567.8 174.2 - - 2244 - - - - - - - - 14.98 14.03 15.02
13125 467.7 11.8 982 13131 done 0.75 0.12 0.227 2578 -208.3 2.47 0.054 2447 564.8 174.2 - - 2244 - - - - - - - - 13.82 14.08 14.07
13445 433.8 10.1 1000 13447 done 0.75 - - 2578 - - - 2447 - 174.2 - - 2244 - - - - - - - - 14.97 15.00 15.00
13744 403.0 10.4 1015 13750 roll 0.75 - - 2588 - 2.47 0.050 1040 -569.6 174.2 - - 2244 - - - - - - - - 14.97 14.01 15.01
13800 397.4 10.3 1026 13805 done 0.75 - - 2588 - 2.50 0.053 2447 562.8 174.2 - - 2244 - - - - - - - - 14.19 14.07 14.26
14103 364.2 11.0 1042 14108 roll 0.75 - - 2588 - 2.55 0.078 3849 549.8 174.2 - - 2244 - - - - - - - - 14.99 13.92 15.02
14146 359.0 12.6 1050 14151 done 0.75 - - 2599 - 2.38 0.036 2442 -591.2 174.2 - - 2243 - - - - - - - - 14.28 14.19 14.31
14470 323.4 10.6 1069 14474 roll 0.75 - - 2610 - 2.42 0.050 1048 -576.0 174.2 - - 2243 - - - - - - - - 14.97 14.00 15.00
14543 315.9 10.1 1083 14550 done 0.75 0.12 0.230 2579 -258.3 2.47 0.052 2444 565.2 174.2 - - 2243 - - - - - - - - 13.63 14.04 13.75
14852 285.8 9.9 1100 14859 roll 0.75 - - 2590 - 2.47 0.050 1040 -568.4 174.2 - - 2243 - - - - - - - - 14.97 13.99 15.00
14927 278.0 10.4 1115 14934 done 0.75 - - 2590 - 2.47 0.052 2438 566.0 174.2 - - 2243 - - - - - - - - 14.16 14.04 14.23
15246 244.2 10.6 1137 15253 roll 0.75 - - 2601 - 2.45 0.050 1046 -568.2 174.2 - - 2243 - - - - - - - - 14.93 14.00 14.96
15290 239.1 10.4 1146 15295 done 0.75 - - 2601 - 2.47 0.051 2442 565.2 174.2 - - 2243 - - - - - - - - 14.17 14.05 14.23
15475 219.3 10.8 1165 15479 roll 0.75 - - 2613 - 2.45 0.050 1048 -569.0 174.2 - - 2243 - - - - - - - - 14.97 14.04 15.00
15528 214.0 10.4 1175 15533 done 0.75 0.17 0.205 2574 -229.4 2.47 0.051 2442 564.4 174.2 - - 2243 - - - - - - - - 13.75 14.07 14.03
15724 196.3 8.8 1195 15727 done 0.75 - - 2574 - - - 2442 - 174.2 - - 2243 - - - - - - - - 14.93 14.96 14.96
15912 179.9 8.4 1214 15917 done 0.75 - - 2574 - - - 2442 - 174.2 - - 2243 - - - - - - - - 14.95 14.98 14.97
16101 165.4 6.8 1233 16105 roll 0.78 - - 2584 - 2.47 0.049 1039 -568.0 174.2 - - 2243 - - - - - - - - 14.96 14.03 14.99
16256 155.8 5.4 1263 16302 done 0.82 - - 2584 - 2.47 0.052 2442 568.0 220.9 40.88 1.063 2067 -4.3 0.123 - - - - - - 14.18 14.06 13.47
16485 136.8 8.9 1291 16487 done 0.82 - - 2584 - - - 2442 - 220.9 - - 2064 - - - - - - - - 14.87 14.90 14.90
16666 121.7 6.7 1309 16670 roll 0.85 - - 2595 - 2.40 0.049 1045 -582.1 220.9 - - 2063 - - - - - - - - 14.90 14.28 14.92
16728 117.6 7.0 1321 16735 done 0.87 - - 2595 - 2.42 0.052 2440 576.4 220.9 - - 2062 - - - - - - - - 14.39 14.28 14.43
16919 104.4 6.8 1341 16924 roll 0.90 - - 2606 - 2.40 0.049 1043 -582.1 220.9 - - 2063 - - - - - - - - 14.92 14.26 14.95
16946 102.3 7.3 1346 16951 done 0.91 - - 2607 - 2.45 0.051 2447 573.1 220.9 - - 2062 - - - - - - - - 14.38 14.26 14.42
17131 89.9 5.6 1365 17180 roll 0.95 - - 2606 - 2.50 0.079 3845 559.2 264.4 38.85 0.943 1889 -4.5 0.083 - - - - - - 14.95 14.37 13.52
17294 77.3 7.4 1397 17298 done 0.97 - - 2618 - 2.33 0.034 2428 -608.2 264.4 - - 1887 - - - - - - - - 14.50 14.43 14.52
17487 70.7 2.9 1417 17576 done 1.06 0.15 0.103 2706 586.7 - - 2426 - 356.7 84.47 0.908 1513 -4.4 0.067 - - - - - - 14.52 14.20 13.45
17756 54.6 2.5 1450 17853 roll 1.16 - - 2717 - 2.40 0.050 1051 -572.9 455.4 89.62 0.862 1109 -4.5 0.056 - - - - - - 14.83 14.22 13.45
17958 41.1 9.3 1490 17963 done 1.16 - - 2717 - 2.40 0.052 2438 577.9 455.4 - - 1107 - - - - - - - - 14.37 14.26 14.40
18148 21.4 8.2 1527 18152 roll 1.16 - - 2728 - 2.38 0.051 1052 -582.4 455.4 - - 1106 - - - - - - - - 14.84 14.27 14.87
18224 13.1 10.6 1542 18229 done 1.16 - - 2728 - 2.40 0.053 2440 578.3 455.4 - - 1106 - - - - - - - - 14.38 14.26 14.42
18313 end climb: SURFACE_DEPTH_REACHED
18313 begin surface coast
18342 end surface coast: CONTROL_FINISHED_OK
18342 begin surface
SM 1.35 - - - - -6.77 7.53 0.048 128 17.0 0.10 0.140 2522 14920.0 500.17 63.20 0.503 927 14.7 -0.004 - - - - 1 -