MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 776 * Raw log
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• Previous call tries 1 • 257.32 of 350.00 AH used of 24V (26.48% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth 1.29 m • Intended pitch -20.9 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 20 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 - - - 83 VBD -0.70 - - 122 - - - 2507 - -89.6 -70.90 0.005 2582 - - - - - - - - 14.79 - 14.82
88 4.6 -12.1 15 119 roll -0.70 9.15 0.347 2094 215.5 2.42 0.070 1112 -576.4 -89.6 -14.23 0.009 3336 -53.0 5.285 - - - - - - 13.87 12.57 14.31
153 29.1 -33.2 28 159 done -0.70 - - 2085 - 2.45 0.067 2499 566.1 -89.6 - - 3336 - - - - - - - - 14.35 14.21 14.39
344 91.2 -24.8 53 352 roll -0.70 - - 2075 - 2.47 0.083 3900 567.2 -89.6 - - 3336 - - - - - - - - 14.90 14.07 14.92
369 96.7 -20.3 58 374 done -0.70 - - 2074 - 2.28 0.031 2498 -614.9 -89.6 - - 3336 - - - - - - - - 14.43 14.37 14.45
555 125.1 -13.5 77 563 roll -0.70 - - 2063 - 2.53 0.084 3900 554.2 -89.6 - - 3336 - - - - - - - - 14.95 14.06 14.97
645 139.7 -15.4 95 653 done -0.70 0.15 0.231 2096 220.0 2.28 0.031 2493 -617.1 -89.6 - - 3336 - - - - - - - - 13.85 14.35 14.09
837 165.4 -13.0 115 841 roll -0.70 - - 2097 - 2.33 0.044 1110 -593.6 -89.6 - - 3337 - - - - - - - - 14.96 14.21 14.99
924 175.6 -11.4 132 930 done -0.70 - - 2087 - 2.42 0.056 2507 577.3 -89.6 - - 3337 - - - - - - - - 14.28 14.17 14.33
1120 200.6 -12.7 153 1127 roll -0.70 - - 2077 - 2.45 0.078 3894 566.1 -89.6 - - 3337 - - - - - - - - 14.97 14.04 15.00
1175 207.9 -13.2 164 1179 done -0.70 - - 2076 - 2.28 0.031 2496 -613.2 -89.6 - - 3337 - - - - - - - - 14.41 14.35 14.43
1360 232.4 -13.8 183 1365 roll -0.70 - - 2066 - 2.53 0.079 3893 552.2 -89.6 - - 3336 - - - - - - - - 14.98 14.02 15.00
1393 236.9 -14.4 189 1402 done -0.70 0.15 0.212 2100 226.7 2.28 0.031 2492 -614.5 -89.6 - - 3335 - - - - - - - - 13.90 14.34 14.12
1582 259.7 -11.6 205 1590 roll -0.70 - - 2091 - 2.53 0.082 3894 554.2 -89.6 - - 3334 - - - - - - - - 15.00 13.99 15.03
1635 265.4 -11.7 215 1640 done -0.70 - - 2090 - 2.28 0.032 2503 -610.1 -89.6 - - 3334 - - - - - - - - 14.38 14.33 14.42
1947 301.0 -11.1 232 1949 done -0.70 - - 2091 - - - 2502 - -89.6 - - 3333 - - - - - - - - 15.00 15.03 15.02
2247 333.8 -11.1 247 2249 done -0.70 - - 2091 - - - 2502 - -89.6 - - 3330 - - - - - - - - 15.00 15.03 15.02
2548 367.9 -11.7 262 2553 roll -0.70 - - 2091 - 2.38 0.047 1107 -586.1 -89.6 - - 3328 - - - - - - - - 14.99 14.12 15.02
2580 372.0 -11.7 268 2587 done -0.70 - - 2080 - 2.45 0.057 2498 567.8 -89.6 - - 3328 - - - - - - - - 14.20 14.07 14.25
2891 411.1 -12.9 285 2895 roll -0.70 - - 2069 - 2.53 0.082 3893 551.4 -89.6 - - 3326 - - - - - - - - 15.00 13.91 15.03
2949 418.4 -13.0 296 2957 done -0.70 0.12 0.209 2097 233.3 2.33 0.034 2490 -602.1 -89.6 - - 3325 - - - - - - - - 13.89 14.26 14.07
3275 455.5 -11.0 316 3277 done -0.70 - - 2097 - - - 2490 - -89.6 - - 3324 - - - - - - - - 15.00 15.03 15.03
3576 488.8 -11.2 331 3579 done -0.70 - - 2097 - - - 2490 - -89.6 - - 3322 - - - - - - - - 14.99 15.02 15.01
3875 522.2 -11.3 346 3880 roll -0.70 - - 2087 - 2.60 0.083 3899 541.9 -89.6 - - 3320 - - - - - - - - 15.00 13.87 15.02
3943 530.2 -11.9 359 3947 done -0.70 - - 2087 - 2.33 0.034 2502 -599.6 -89.6 - - 3320 - - - - - - - - 14.28 14.21 14.31
4259 566.5 -11.3 377 4261 done -0.70 - - 2087 - - - 2501 - -89.6 - - 3318 - - - - - - - - 15.00 15.04 15.03
4559 600.6 -11.3 392 4563 roll -0.70 - - 2077 - 2.60 0.086 3896 536.5 -89.6 - - 3316 - - - - - - - - 15.00 13.85 15.03
4622 607.9 -11.9 404 4626 done -0.70 - - 2076 - 2.33 0.035 2502 -598.3 -89.6 - - 3316 - - - - - - - - 14.26 14.19 14.28
4944 645.0 -11.7 423 4946 done -0.70 - - 2077 - - - 2500 - -89.6 - - 3315 - - - - - - - - 14.99 15.02 15.02
5244 680.8 -11.9 438 5249 roll -0.70 - - 2066 - 2.60 0.086 3897 537.3 -89.6 - - 3313 - - - - - - - - 15.00 13.85 15.02
5283 685.5 -12.5 445 5291 done -0.70 0.15 0.201 2100 226.7 2.35 0.035 2499 -594.9 -89.6 - - 3313 - - - - - - - - 13.76 14.16 13.96
5608 717.8 -9.5 465 5610 done -0.70 - - 2101 - - - 2498 - -89.6 - - 3312 - - - - - - - - 15.00 15.03 15.02
5910 745.6 -9.2 480 5912 done -0.70 - - 2100 - - - 2498 - -89.6 - - 3311 - - - - - - - - 14.99 15.02 15.01
6209 773.5 -9.5 495 6211 done -0.70 - - 2100 - - - 2498 - -89.6 - - 3310 - - - - - - - - 15.00 15.02 15.02
6508 800.3 -8.6 510 6513 roll -0.70 - - 2091 - 2.60 0.086 3892 536.2 -89.6 - - 3309 - - - - - - - - 15.00 13.84 15.02
6582 806.9 -9.3 524 6586 done -0.70 - - 2091 - 2.35 0.036 2499 -592.8 -89.6 - - 3308 - - - - - - - - 14.19 14.11 14.21
6893 834.8 -8.7 541 6895 done -0.70 - - 2091 - - - 2497 - -89.6 - - 3308 - - - - - - - - 14.99 15.02 15.02
7193 861.9 -9.1 556 7198 roll -0.70 - - 2080 - 2.60 0.087 3890 535.8 -89.6 - - 3307 - - - - - - - - 14.99 13.85 15.02
7217 864.0 -9.6 560 7221 done -0.70 - - 2080 - 2.35 0.036 2502 -590.6 -89.6 - - 3306 - - - - - - - - 14.16 14.09 14.20
7539 896.4 -9.9 579 7545 roll -0.70 - - 2069 - 2.58 0.086 3890 538.0 -89.6 - - 3305 - - - - - - - - 14.99 13.79 15.01
7583 901.1 -10.7 588 7590 done -0.70 0.12 0.203 2097 233.3 2.38 0.036 2490 -588.2 -89.6 - - 3305 - - - - - - - - 13.74 14.09 13.92
7899 929.6 -8.6 606 7904 roll -0.70 - - 2097 - 2.42 0.050 1108 -571.1 -89.6 - - 3304 - - - - - - - - 14.97 13.88 15.00
7932 932.6 -8.9 612 7939 done -0.70 - - 2087 - 2.53 0.059 2505 552.2 -89.6 - - 3304 - - - - - - - - 14.08 13.94 14.13
8243 962.2 -9.8 629 8248 roll -0.70 - - 2077 - 2.58 0.087 3893 538.0 -89.6 - - 3303 - - - - - - - - 14.97 13.91 15.00
8275 965.6 -10.5 635 8279 done -0.70 - - 2077 - 2.38 0.036 2496 -587.0 -89.6 - - 3303 - - - - - - - - 14.15 14.07 14.18
8503 end dive: TARGET_DEPTH_EXCEEDED
8503 begin apogee
8511 990.1 -10.5 648 8601 done -0.15 0.75 0.171 2280 270.7 - - 2493 - - 85.65 1.986 2968 -3.9 0.381 - - - - - - 13.77 14.00 12.79
8602 end apogee: CONTROL_FINISHED_OK
8602 begin climb
8607 992.8 - 652 8709 done 0.70 0.88 0.093 2566 325.0 - - 2493 - 89.6 98.15 1.963 2602 -3.7 0.368 - - - - - - 13.93 13.89 12.69
9010 974.4 7.2 673 9014 roll 0.72 - - 2577 - 2.50 0.051 1046 -578.8 89.6 - - 2593 - - - - - - - - 14.81 14.33 14.84
9066 970.5 7.0 683 9074 done 0.74 - - 2577 - 2.47 0.063 2447 567.2 89.6 - - 2592 - - - - - - - - 14.42 14.32 14.47
9372 947.0 7.9 700 9378 roll 0.74 - - 2577 - 2.50 0.082 3844 558.8 89.6 - - 2591 - - - - - - - - 14.92 14.19 14.95
9448 940.3 9.2 715 9452 done 0.74 - - 2587 - 2.35 0.037 2438 -598.3 89.6 - - 2591 - - - - - - - - 14.45 14.37 14.47
9754 914.4 8.6 731 9758 roll 0.74 - - 2598 - 2.42 0.051 1043 -576.4 89.6 - - 2590 - - - - - - - - 14.93 14.19 14.96
9806 909.9 8.2 741 9814 done 0.74 - - 2598 - 2.47 0.054 2447 568.4 89.6 - - 2589 - - - - - - - - 14.33 14.21 14.38
10118 883.7 8.5 758 10124 roll 0.74 - - 2610 - 2.47 0.050 1044 -568.0 89.6 - - 2589 - - - - - - - - 14.95 14.12 14.97
10181 878.3 8.3 770 10186 done 0.74 0.17 0.236 2572 -223.5 2.47 0.054 2447 568.0 89.6 - - 2588 - - - - - - - - 13.80 14.16 14.12
10508 854.5 7.3 789 10513 roll 0.76 - - 2572 - 2.55 0.080 3845 548.2 89.6 - - 2588 - - - - - - - - 14.92 14.00 14.95
10575 848.6 8.4 802 10580 done 0.76 - - 2582 - 2.38 0.036 2431 -594.1 89.6 - - 2588 - - - - - - - - 14.33 14.25 14.35
10893 825.6 7.2 820 10897 roll 0.77 - - 2593 - 2.42 0.050 1050 -570.7 89.6 - - 2587 - - - - - - - - 14.97 14.03 15.00
10926 823.3 7.1 826 10931 done 0.79 - - 2593 - 2.47 0.054 2442 563.6 89.6 - - 2586 - - - - - - - - 14.21 14.09 14.27
11239 801.0 7.1 843 11243 roll 0.81 - - 2593 - 2.58 0.080 3849 545.3 89.6 - - 2586 - - - - - - - - 14.96 13.96 14.99
11287 797.2 8.2 852 11291 done 0.81 - - 2603 - 2.38 0.037 2438 -592.9 89.6 - - 2586 - - - - - - - - 14.27 14.20 14.31
11605 775.6 6.5 870 11608 done 0.84 - - 2604 - - - 2437 - 89.6 - - 2586 - - - - - - - - 14.95 14.97 14.97
11904 757.9 5.7 885 11947 roll 0.88 - - 2604 - 2.58 0.083 3842 544.6 127.9 36.10 1.740 2446 -3.9 0.330 - - - - - - 14.96 14.20 13.06
11976 752.6 10.0 899 11980 done 0.88 - - 2614 - 2.35 0.037 2442 -595.7 127.9 - - 2444 - - - - - - - - 14.40 14.33 14.42
12288 720.7 10.2 916 12292 roll 0.88 - - 2625 - 2.40 0.051 1044 -582.5 127.9 - - 2441 - - - - - - - - 14.88 14.30 14.90
12316 718.0 9.9 921 12323 done 0.88 - - 2625 - 2.45 0.053 2444 571.4 127.9 - - 2440 - - - - - - - - 14.41 14.30 14.45
12631 686.3 10.0 939 12635 roll 0.88 - - 2637 - 2.45 0.051 1044 -571.4 127.9 - - 2440 - - - - - - - - 14.92 14.25 14.95
12756 674.1 10.1 963 12762 done 0.88 - - 2637 - 2.45 0.053 2443 571.0 127.9 - - 2439 - - - - - - - - 14.39 14.27 14.42
13075 640.8 10.3 982 13077 done 0.88 - - 2637 - - - 2443 - 127.9 - - 2439 - - - - - - - - 14.95 14.97 14.97
13375 610.6 9.8 997 13379 roll 0.88 - - 2649 - 2.47 0.050 1040 -568.0 127.9 - - 2439 - - - - - - - - 14.95 14.14 14.97
13430 605.4 10.4 1007 13437 done 0.88 0.12 0.252 2623 -216.7 2.47 0.053 2444 568.4 127.9 - - 2438 - - - - - - - - 13.74 14.19 13.88
13736 574.3 10.0 1024 13743 roll 0.88 - - 2623 - 2.55 0.079 3849 551.0 127.9 - - 2438 - - - - - - - - 14.96 14.00 14.98
13814 565.9 11.7 1039 13818 done 0.88 - - 2634 - 2.38 0.036 2436 -593.7 127.9 - - 2438 - - - - - - - - 14.35 14.28 14.39
14117 534.0 10.7 1055 14121 roll 0.88 - - 2646 - 2.42 0.050 1047 -574.0 127.9 - - 2438 - - - - - - - - 14.95 14.06 14.98
14208 524.0 10.8 1073 14217 done 0.88 0.15 0.240 2615 -206.7 2.47 0.052 2447 566.8 127.9 - - 2438 - - - - - - - - 13.78 14.12 14.09
14520 492.6 10.2 1090 14525 roll 0.88 - - 2616 - 2.55 0.079 3848 549.4 127.9 - - 2438 - - - - - - - - 14.95 13.95 14.97
14582 485.4 11.5 1102 14587 done 0.88 - - 2627 - 2.40 0.036 2433 -589.6 127.9 - - 2438 - - - - - - - - 14.30 14.22 14.33
14906 453.5 9.7 1121 14910 roll 0.88 - - 2638 - 2.42 0.050 1049 -571.9 127.9 - - 2438 - - - - - - - - 14.95 14.00 14.97
15045 441.4 8.9 1148 15051 done 0.88 - - 2638 - 2.47 0.053 2440 563.2 127.9 - - 2438 - - - - - - - - 14.21 14.09 14.26
15372 411.6 9.3 1168 15376 roll 0.88 - - 2639 - 2.58 0.080 3845 544.6 127.9 - - 2438 - - - - - - - - 14.95 13.95 14.97
15501 397.7 10.8 1193 15509 done 0.88 0.15 0.259 2619 -133.3 2.38 0.035 2433 -593.3 127.9 - - 2437 - - - - - - - - 13.66 14.19 13.93
15818 369.6 8.9 1211 15822 roll 0.88 - - 2629 - 2.42 0.050 1048 -572.3 127.9 - - 2438 - - - - - - - - 14.95 13.97 14.97
15890 362.8 9.1 1225 15897 done 0.88 - - 2629 - 2.47 0.053 2441 564.0 127.9 - - 2437 - - - - - - - - 14.16 14.04 14.21
16201 333.8 9.7 1242 16207 roll 0.88 - - 2640 - 2.47 0.050 1047 -564.4 127.9 - - 2437 - - - - - - - - 14.95 13.97 14.97
16279 326.2 9.5 1257 16286 done 0.88 - - 2641 - 2.47 0.052 2441 564.4 127.9 - - 2438 - - - - - - - - 14.16 14.04 14.21
16604 294.5 9.5 1277 16611 roll 0.88 - - 2652 - 2.47 0.050 1042 -566.4 127.9 - - 2437 - - - - - - - - 14.96 13.95 14.98
16690 286.4 9.3 1294 16696 done 0.88 0.17 0.231 2615 -217.6 2.50 0.053 2440 559.2 127.9 - - 2437 - - - - - - - - 13.66 14.02 13.99
17008 258.3 8.5 1312 17015 roll 0.88 - - 2626 - 2.47 0.049 1041 -566.4 127.9 - - 2438 - - - - - - - - 14.97 13.95 14.99
17035 256.2 8.4 1317 17042 done 0.88 - - 2627 - 2.50 0.052 2446 562.0 127.9 - - 2437 - - - - - - - - 14.10 14.01 14.13
17350 231.6 7.4 1347 17355 roll 0.89 - - 2638 - 2.50 0.049 1041 -562.0 127.9 - - 2437 - - - - - - - - 14.93 14.01 14.96
17471 222.3 7.8 1370 17476 done 0.89 - - 2638 - 2.50 0.053 2446 562.0 127.9 - - 2437 - - - - - - - - 14.16 14.04 14.22
17654 207.0 8.1 1389 17658 roll 0.89 - - 2638 - 2.55 0.078 3851 551.0 127.9 - - 2437 - - - - - - - - 14.94 13.99 14.97
17832 189.8 9.6 1424 17839 done 0.89 0.15 0.253 2622 -106.7 2.38 0.035 2438 -593.7 127.9 - - 2437 - - - - - - - - 13.65 14.17 13.98
18030 175.2 6.2 1445 18038 roll 0.93 - - 2622 - 2.58 0.080 3845 545.3 127.9 - - 2437 - - - - - - - - 14.92 13.87 14.94
18127 169.3 6.1 1464 18131 done 0.97 - - 2633 - 2.38 0.034 2432 -593.7 127.9 - - 2437 - - - - - - - - 14.25 14.17 14.28
18311 159.7 5.1 1483 18363 roll 1.02 - - 2644 - 2.40 0.050 1047 -577.1 176.4 44.47 1.050 2246 -4.3 0.127 - - - - - - 14.93 14.33 13.45
18380 155.2 8.5 1497 18388 done 1.02 - - 2645 - 2.42 0.054 2440 575.6 176.4 - - 2245 - - - - - - - - 14.37 14.26 14.40
18571 139.3 7.4 1517 18575 roll 1.03 - - 2657 - 2.40 0.049 1047 -580.4 176.4 - - 2243 - - - - - - - - 14.85 14.27 14.88
18708 130.2 6.3 1543 18714 done 1.06 - - 2657 - 2.42 0.052 2442 576.4 176.4 - - 2242 - - - - - - - - 14.37 14.26 14.40
18893 119.3 4.8 1563 18947 roll 1.12 - - 2657 - 2.47 0.078 3852 570.9 229.9 47.25 0.985 2029 -4.5 0.107 - - - - - - 14.90 14.04 13.47
18957 116.3 5.5 1575 19003 done 1.16 0.10 0.144 2712 550.0 2.35 0.036 2430 -605.1 271.3 38.50 0.958 1860 -4.4 0.104 - - - - - - 14.29 14.39 13.37
19192 91.4 8.0 1604 19196 roll 1.16 - - 2723 - 2.35 0.049 1048 -588.1 271.3 - - 1855 - - - - - - - - 14.80 14.28 14.83
19425 80.0 0.4 1650 19549 done 1.29 - - 2726 - 2.42 0.050 2451 579.8 397.0 114.43 0.911 1348 -4.4 0.076 - - - - - - 14.40 14.29 13.42
19741 62.3 9.7 1694 19743 done 1.29 - - 2726 - - - 2451 - 397.0 - - 1347 - - - - - - - - 14.80 14.83 14.83
19921 44.1 10.2 1717 19925 roll 1.29 - - 2737 - 2.40 0.050 1054 -582.1 397.0 - - 1347 - - - - - - - - 14.84 14.24 14.86
20066 29.7 9.5 1745 20074 done 1.29 - - 2737 - 2.40 0.053 2436 575.8 397.0 - - 1347 - - - - - - - - 14.35 14.24 14.40
20258 10.7 10.2 1783 20262 roll 1.29 - - 2750 - 2.38 0.050 1049 -582.8 397.0 - - 1347 - - - - - - - - 14.91 14.24 14.93
20315 4.6 10.9 1794 20322 done 1.29 - - 2750 - 2.40 0.053 2440 579.6 397.0 - - 1347 - - - - - - - - 14.23 14.16 14.28
20325 end climb: SURFACE_DEPTH_REACHED
20325 begin surface coast
20351 end surface coast: CONTROL_FINISHED_OK
20351 begin surface
SM 1.37 - - - - -6.77 7.47 0.044 127 17.0 0.10 0.125 2550 15200.0 500.17 113.93 0.606 929 8.2 -0.002 - - - - 1 -