MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 1 • 43.43 of 350.00 AH used of 24V (87.59% remains)
• Surface angle -72.3 deg, depth 0.66 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.21 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 26
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
15.33 - - - 94.39 VBD -0.63 - - 250.06 - - - 3238.19 - -145.99 75.44 0.005 2641.88 - - - - - - - - - - 15.16
94.67 4.13 -6.89 8 128.95 -0.63 9.93 0.380 2263.50 202.8 1.00 0.091 3810.25 572.1 -145.99 16.75 0.006 3493.59 50.8 -5.917 - - - - - - 14.93 15.48 15.18
161.04 29.33 -38.55 15 167.27 roll -0.63 - - 2263.12 - 0.78 0.027 3280.31 -679.4 -145.99 - - 3494.53 - - - - - - - - - 15.81 -
351.30 90.10 -22.14 34 357.40 roll -0.63 - - 2260.06 - 0.92 0.084 3809.94 575.7 -145.99 - - 3494.97 - - - - - - - - - 15.82 -
511.20 122.76 -18.42 50 517.28 roll -0.63 - - 2259.25 - 0.78 0.032 3293.56 -662.0 -145.99 - - 3493.50 - - - - - - - - - 15.88 -
701.38 152.35 -12.87 69 707.62 roll -0.63 - - 2259.44 - 1.62 0.020 2167.69 -695.0 -145.99 - - 3493.88 - - - - - - - - - 15.90 -
755.72 159.35 -12.71 74 763.33 roll -0.63 - - 2250.06 - 2.12 0.084 3369.12 566.7 -145.99 - - 3494.78 - - - - - - - - - 15.89 -
941.46 184.09 -14.33 93 945.90 no move -0.63 - - 2249.56 - - - 3369.19 - -145.99 - - 3492.53 - - - - - - - - - - -
1121.31 209.93 -14.03 111 1144.24 roll -0.63 - - 2249.62 - 1.76 0.022 2158.81 -687.7 -145.99 - - 3494.09 - - - - - - - - - 15.35 -
1201.50 220.25 -12.08 117 1224.57 roll -0.63 - - 2240.75 - 2.13 0.087 3368.19 567.8 -145.99 - - 3492.69 - - - - - - - - - 15.97 -
1396.70 247.21 -14.21 135 1419.44 roll -0.63 - - 2236.88 - 0.74 0.093 3806.75 592.6 -145.99 - - 3491.31 - - - - - - - - - 15.97 -
1431.72 252.22 -14.23 137 1454.46 roll -0.63 - - 2236.56 - 0.77 0.039 3297.06 -661.9 -145.99 - - 3490.84 - - - - - - - - - 16.01 -
1636.81 280.93 -13.70 156 1659.33 no move -0.63 - - 2237.00 - - - 3296.75 - -145.99 - - 3488.12 - - - - - - - - - - -
1831.49 306.64 -13.15 174 1854.02 no move -0.63 - - 2236.38 - - - 3297.44 - -145.99 - - 3487.75 - - - - - - - - - - -
2026.17 332.14 -13.15 192 2049.08 roll -0.63 - - 2236.44 - 1.62 0.023 2172.81 -694.2 -145.99 - - 3486.88 - - - - - - - - - 16.05 -
2060.78 336.67 -13.06 193 2083.86 roll -0.63 - - 2226.88 - 2.12 0.092 3365.56 562.6 -145.99 - - 3486.84 - - - - - - - - - 15.98 -
2266.06 364.86 -13.92 213 2289.25 roll back -0.63 0.16 0.233 2270.25 271.1 1.76 0.028 2177.75 -674.9 -145.99 - - 3486.91 - - - - - - - - 15.91 15.94 -
2306.57 369.53 -11.63 215 2329.64 roll -0.63 - - 2262.81 - 2.11 0.091 3365.31 562.8 -145.99 - - 3485.59 - - - - - - - - - 16.03 -
2501.88 392.19 -11.57 233 2524.53 no move -0.63 - - 2262.88 - - - 3364.88 - -145.99 - - 3483.44 - - - - - - - - - - -
2696.74 414.96 -11.66 245 2719.80 roll -0.63 - - 2263.06 - 1.78 0.029 2177.06 -667.3 -145.99 - - 3483.78 - - - - - - - - - 16.05 -
2741.51 419.89 -10.96 246 2764.59 roll -0.63 - - 2253.44 - 2.13 0.094 3370.06 560.1 -145.99 - - 3484.47 - - - - - - - - - 15.99 -
3076.81 459.17 -11.71 263 3099.87 roll -0.63 - - 2250.19 - 1.78 0.030 2176.19 -670.7 -145.99 - - 3479.94 - - - - - - - - - 16.06 -
3147.29 466.87 -10.59 266 3170.49 roll -0.63 - - 2244.12 - 2.12 0.096 3364.56 560.6 -145.99 - - 3478.88 - - - - - - - - - 16.03 -
3477.71 507.35 -12.30 282 3500.77 roll -0.63 - - 2243.31 - 1.76 0.029 2187.56 -668.8 -145.99 - - 3477.16 - - - - - - - - - 16.06 -
3537.48 514.12 -10.85 284 3560.56 roll -0.63 - - 2235.06 - 2.11 0.097 3368.44 559.7 -145.99 - - 3475.34 - - - - - - - - - 16.03 -
3844.51 552.21 -12.54 299 3867.57 roll -0.63 - - 2235.50 - 1.78 0.030 2183.94 -665.4 -145.99 - - 3476.72 - - - - - - - - - 16.06 -
3884.28 557.03 -12.15 300 3907.42 roll back -0.63 0.16 0.214 2268.12 203.9 2.12 0.097 3365.06 557.1 -145.99 - - 3473.41 - - - - - - - - 15.88 16.02 -
4191.31 588.61 -10.18 315 4214.37 roll -0.63 - - 2268.12 - 1.78 0.031 2183.81 -663.6 -145.99 - - 3472.38 - - - - - - - - - 16.06 -
4306.10 599.31 -9.03 320 4329.31 roll -0.63 - - 2262.25 - 2.11 0.096 3361.81 558.3 -145.99 - - 3472.34 - - - - - - - - - 16.02 -
4631.61 632.57 -10.08 336 4654.67 roll -0.63 - - 2261.38 - 1.77 0.031 2188.38 -663.0 -145.99 - - 3472.38 - - - - - - - - - 16.04 -
4696.40 638.69 -8.97 338 4719.48 roll -0.63 - - 2252.69 - 2.12 0.098 3364.69 554.9 -145.99 - - 3472.88 - - - - - - - - - 15.99 -
5003.25 670.79 -10.55 354 5026.31 roll -0.63 - - 2251.69 - 1.78 0.030 2189.75 -660.1 -145.99 - - 3468.59 - - - - - - - - - 16.06 -
5068.03 677.13 -9.41 356 5091.11 roll -0.63 - - 2243.38 - 2.11 0.097 3361.19 555.2 -145.99 - - 3470.31 - - - - - - - - - 15.97 -
5403.25 714.45 -11.29 373 5426.31 roll -0.63 - - 2243.12 - 1.77 0.031 2193.50 -659.7 -145.99 - - 3469.88 - - - - - - - - - 16.05 -
5483.02 722.65 -9.91 376 5506.23 roll -0.63 - - 2234.31 - 2.11 0.099 3362.94 554.2 -145.99 - - 3468.62 - - - - - - - - - 15.99 -
5790.00 758.45 -11.81 391 5813.19 roll back -0.63 0.13 0.238 2268.00 259.2 1.78 0.033 2191.19 -658.3 -145.99 - - 3468.28 - - - - - - - - 15.87 15.89 -
5860.49 765.07 -8.81 394 5883.69 roll -0.63 - - 2262.81 - 2.12 0.096 3366.94 554.6 -145.99 - - 3464.84 - - - - - - - - - 16.01 -
6190.87 797.79 -9.96 410 6213.93 roll -0.63 - - 2263.19 - 1.80 0.032 2192.81 -652.3 -145.99 - - 3465.72 - - - - - - - - - 16.05 -
6275.66 805.47 -8.74 413 6298.87 roll -0.63 - - 2253.06 - 2.12 0.096 3367.00 553.9 -145.99 - - 3464.38 - - - - - - - - - 15.96 -
6611.02 839.14 -10.29 430 6634.08 roll -0.63 - - 2253.94 - 1.80 0.033 2187.12 -655.5 -145.99 - - 3461.47 - - - - - - - - - 16.04 -
6685.81 846.33 -9.19 433 6709.02 roll -0.63 - - 2242.88 - 2.12 0.098 3363.06 554.7 -145.99 - - 3462.91 - - - - - - - - - 15.99 -
7011.16 881.56 -10.99 449 7034.22 roll -0.63 - - 2240.75 - 1.79 0.033 2194.00 -653.1 -145.99 - - 3461.72 - - - - - - - - - 16.02 -
7081.39 888.52 -9.71 452 7104.61 roll -0.63 - - 2234.38 - 2.12 0.100 3363.75 551.8 -145.99 - - 3461.06 - - - - - - - - - 15.97 -
7411.77 925.27 -11.16 468 7434.97 roll back -0.63 0.12 0.233 2265.62 260.3 1.78 0.033 2193.19 -657.6 -145.99 - - 3460.94 - - - - - - - - 15.84 15.86 -
7482.09 931.51 -8.35 471 7505.29 roll -0.63 - - 2261.25 - 2.11 0.096 3368.00 556.8 -145.99 - - 3459.19 - - - - - - - - - 15.98 -
7812.57 962.55 -9.60 487 7835.65 roll -0.63 - - 2262.50 - 1.80 0.034 2192.88 -652.8 -145.99 - - 3461.53 - - - - - - - - - 16.03 -
7902.89 970.56 -8.63 491 7926.09 roll -0.63 - - 2252.81 - 2.12 0.096 3368.62 554.6 -145.99 - - 3459.03 - - - - - - - - - 15.97 -
8113 end dive: TARGET_DEPTH_EXCEEDED
8113 begin apogee
8115.10 991.98 -10.27 501 8240.59 -0.14 0.60 0.184 2428.31 292.5 0.13 0.198 2922.81 -3429.3 - 114.81 2.070 2898.84 -4.9 0.395 - - - - - - 15.17 15.14 11.93
8241 end apogee: CONTROL_FINISHED_OK
8241 begin climb
8241.35 996.09 - 507 8384.06 0.63 0.75 0.079 2685.38 342.8 - - 2923.81 - 145.99 122.67 2.032 2302.00 -4.9 0.403 - - - - - - 15.34 - 12.44
8675.08 959.83 11.08 528 8698.17 done 0.63 - - 2693.44 - 1.82 0.028 1785.31 -625.5 145.99 - - 2294.12 - - - - - - - - - 15.71 -
8809.90 945.86 9.96 534 8833.10 done 0.63 - - 2694.56 - 2.11 0.107 2911.06 533.5 145.99 - - 2293.19 - - - - - - - - - 15.73 -
9135.31 909.30 11.32 550 9158.38 done 0.63 - - 2701.50 - 1.78 0.029 1769.25 -641.5 145.99 - - 2293.22 - - - - - - - - - 15.88 -
9225.69 899.67 10.44 554 9248.88 done 0.63 - - 2696.25 - 2.10 0.103 2912.12 544.2 145.99 - - 2293.50 - - - - - - - - - 15.85 -
9556.18 861.75 11.47 570 9579.25 done 0.63 - - 2699.00 - 1.78 0.032 1768.25 -642.6 145.99 - - 2293.50 - - - - - - - - - 15.93 -
9635.96 853.17 10.36 573 9659.14 done 0.63 - - 2696.81 - 2.10 0.101 2913.50 545.4 145.99 - - 2295.59 - - - - - - - - - 15.90 -
9942.99 819.26 11.24 588 9966.05 done 0.63 - - 2701.75 - 1.79 0.032 1767.62 -640.2 145.99 - - 2292.69 - - - - - - - - - 15.97 -
10007.77 812.62 9.97 590 10030.83 done 0.63 - - 2702.62 - 2.08 0.095 2912.44 550.4 145.99 - - 2291.28 - - - - - - - - - 15.90 -
10343.02 775.29 11.33 607 10366.08 done 0.63 - - 2711.88 - 1.78 0.031 1765.69 -644.2 145.99 - - 2295.72 - - - - - - - - - 15.98 -
10407.80 768.30 10.72 609 10430.92 0.63 0.16 0.217 2665.38 -290.6 2.08 0.095 2918.81 554.4 145.99 - - 2291.94 - - - - - - - - 15.80 15.92 -
10743.09 735.16 9.92 626 10766.16 done 0.63 - - 2671.81 - 1.78 0.030 1768.94 -646.0 145.99 - - 2290.31 - - - - - - - - - 15.99 -
10822.88 727.51 9.50 629 10846.07 done 0.63 - - 2671.19 - 2.09 0.101 2911.31 546.6 145.99 - - 2289.75 - - - - - - - - - 15.94 -
11130.01 696.46 10.17 644 11153.08 done 0.63 - - 2677.62 - 1.78 0.031 1774.62 -638.6 145.99 - - 2289.56 - - - - - - - - - 16.00 -
11189.79 690.55 9.83 646 11212.85 done 0.63 - - 2678.25 - 2.07 0.098 2913.94 550.4 145.99 - - 2292.12 - - - - - - - - - 15.95 -
11496.62 658.30 10.59 661 11519.68 done 0.63 - - 2682.44 - 1.77 0.031 1765.81 -648.7 145.99 - - 2291.41 - - - - - - - - - 16.01 -
11581.41 649.52 10.05 664 11604.59 done 0.63 - - 2679.56 - 2.08 0.097 2914.81 552.4 145.99 - - 2291.44 - - - - - - - - - 15.92 -
11916.96 613.84 10.60 681 11940.02 done 0.63 - - 2686.25 - 1.78 0.031 1763.94 -646.6 145.99 - - 2289.16 - - - - - - - - - 16.01 -
11987.42 607.01 9.54 684 12010.60 done 0.63 - - 2683.75 - 2.10 0.100 2917.62 549.4 145.99 - - 2291.47 - - - - - - - - - 15.95 -
12317.76 574.11 9.64 700 12340.83 done 0.63 - - 2689.75 - 1.78 0.030 1764.12 -648.0 145.99 - - 2289.19 - - - - - - - - - 16.01 -
12417.57 565.21 8.79 704 12440.76 done 0.63 - - 2692.44 - 2.09 0.098 2912.88 549.6 145.99 - - 2291.25 - - - - - - - - - 15.95 -
12724.67 536.04 9.54 719 12747.73 done 0.63 - - 2695.88 - 1.77 0.030 1765.69 -648.1 145.99 - - 2289.34 - - - - - - - - - 16.01 -
12795.08 529.88 8.67 722 12818.27 done 0.63 - - 2695.75 - 2.08 0.095 2918.12 554.1 145.99 - - 2290.16 - - - - - - - - - 15.95 -
13125.55 498.02 9.65 738 13148.61 done 0.63 - - 2700.62 - 1.77 0.030 1765.88 -651.0 145.99 - - 2291.94 - - - - - - - - - 16.02 -
13195.80 491.41 9.40 741 13218.99 done 0.63 - - 2699.56 - 2.08 0.095 2915.38 552.6 145.99 - - 2291.22 - - - - - - - - - 15.95 -
13526.31 455.95 11.08 757 13549.37 done 0.63 - - 2710.56 - 1.77 0.029 1768.81 -647.8 145.99 - - 2291.44 - - - - - - - - - 16.03 -
13601.21 447.82 10.81 760 13624.46 0.63 0.16 0.211 2664.31 -289.1 2.06 0.093 2915.38 556.6 145.99 - - 2291.22 - - - - - - - - 15.80 15.95 -
13926.65 416.69 9.46 776 13949.71 done 0.63 - - 2671.31 - 1.77 0.030 1784.00 -639.2 145.99 - - 2289.72 - - - - - - - - - 16.01 -
14001.44 409.68 9.19 779 14024.62 done 0.63 - - 2671.75 - 2.02 0.090 2914.25 559.5 145.99 - - 2291.06 - - - - - - - - - 15.93 -
14326.90 377.84 9.77 806 14349.56 VBD 0.63 - - 2672.56 - - - 2914.88 - 145.99 - - 2288.81 - - - - - - - - - - -
14521.79 359.55 9.26 824 14544.85 done 0.63 - - 2681.12 - 1.77 0.028 1772.69 -645.3 145.99 - - 2293.41 - - - - - - - - - 16.02 -
14586.56 353.69 8.89 828 14609.62 done 0.63 - - 2680.44 - 2.07 0.094 2913.38 551.1 145.99 - - 2290.97 - - - - - - - - - 15.91 -
14791.84 333.24 10.41 848 14814.90 done 0.63 - - 2689.31 - 1.77 0.030 1766.44 -648.0 145.99 - - 2290.09 - - - - - - - - - 16.01 -
14842.19 328.24 9.93 851 14865.25 done 0.63 - - 2688.81 - 2.07 0.094 2917.56 556.1 145.99 - - 2289.69 - - - - - - - - - 15.94 -
15037.47 307.85 10.36 869 15060.53 done 0.63 - - 2696.81 - 1.77 0.029 1770.62 -648.0 145.99 - - 2289.06 - - - - - - - - - 16.01 -
15087.77 302.99 9.56 872 15110.83 done 0.63 - - 2698.25 - 2.07 0.095 2914.69 552.7 145.99 - - 2291.44 - - - - - - - - - 15.94 -
15283.00 282.45 10.32 890 15306.07 done 0.63 - - 2706.00 - 1.77 0.029 1773.50 -644.7 145.99 - - 2289.72 - - - - - - - - - 16.00 -
15317.77 278.98 9.69 891 15340.90 0.63 0.14 0.197 2664.25 -298.2 2.05 0.090 2915.69 557.2 145.99 - - 2290.59 - - - - - - - - 15.78 15.91 -
15523.32 260.46 9.26 911 15545.98 VBD 0.63 - - 2664.06 - - - 2915.69 - 145.99 - - 2289.50 - - - - - - - - - - -
15718.24 243.68 8.04 929 15740.89 VBD 0.66 - - 2664.56 - - - 2915.69 - 145.99 - - 2289.66 - - - - - - - - - - -
15913.06 228.12 8.34 947 15936.12 done 0.67 - - 2669.94 - 1.77 0.029 1775.12 -644.4 145.99 - - 2290.56 - - - - - - - - - 16.00 -
15943.48 225.60 8.19 948 15966.54 done 0.69 - - 2671.31 - 2.03 0.088 2915.31 561.7 145.99 - - 2289.22 - - - - - - - - - 15.95 -
16138.68 208.86 8.12 966 16161.33 VBD 0.71 - - 2671.31 - - - 2914.69 - 145.99 - - 2289.81 - - - - - - - - - - -
16333.57 193.67 7.98 984 16356.75 0.74 0.10 0.095 2746.31 750.0 1.76 0.027 1783.38 -642.8 145.99 - - 2289.44 - - - - - - - - 15.98 15.94 -
16468.44 180.79 9.60 995 16491.68 0.74 0.17 0.228 2698.88 -279.0 2.02 0.084 2919.12 562.2 145.99 - - 2289.16 - - - - - - - - 15.78 15.91 -
16674.18 165.59 7.80 1015 16697.24 done 0.76 - - 2704.69 - 1.77 0.027 1784.31 -641.1 145.99 - - 2289.91 - - - - - - - - - 16.01 -
16764.66 160.10 5.63 1022 16834.05 0.84 0.09 0.098 2780.12 838.1 2.01 0.082 2919.94 565.0 222.53 56.92 0.986 1990.97 -5.3 0.144 - - - - - - 15.83 15.94 11.83
17016.24 130.71 11.67 1047 17039.44 roll back 0.84 0.18 0.244 2735.19 -249.6 1.78 0.026 1780.44 -640.2 222.53 - - 1987.16 - - - - - - - - 15.71 15.74 -
17121.11 120.65 9.73 1055 17144.30 roll 0.84 - - 2738.69 - 2.04 0.085 2913.94 555.6 222.53 - - 1985.12 - - - - - - - - - 15.81 -
17326.53 99.76 8.74 1075 17349.19 no move 0.84 - - 2738.81 - - - 2914.44 - 222.53 - - 1984.91 - - - - - - - - - - -
17521.50 88.15 5.97 1093 17582.65 VBD 0.91 - - 2739.31 - - - 2915.06 - 291.63 51.04 0.833 1709.38 -5.4 0.097 - - - - - - - - 12.31
17756.51 70.50 7.41 1116 17779.67 roll back 0.95 0.10 0.078 2813.81 745.0 1.78 0.026 1773.62 -641.3 291.63 - - 1707.25 - - - - - - - - 15.81 15.80 -
17956.85 57.92 4.45 1134 18041.97 done 1.05 - - 2814.81 - 2.02 0.080 2919.31 567.2 393.58 72.18 0.753 1294.84 -5.7 0.074 - - - - - - - 15.87 12.37
18214.35 44.05 8.19 1159 18237.37 roll 1.07 - - 2814.56 - 1.59 0.106 3801.12 554.6 393.58 - - 1289.84 - - - - - - - - - 15.76 -
18249.07 40.71 9.19 1160 18271.97 roll 1.07 - - 2819.94 - 1.52 0.034 2840.12 -632.2 393.58 - - 1290.09 - - - - - - - - - 15.75 -
18444.23 23.45 10.00 1179 18466.88 no move 1.07 - - 2820.56 - - - 2840.38 - 393.58 - - 1288.72 - - - - - - - - - - -
18639.18 7.35 10.54 1197 18662.21 roll 1.07 - - 2826.88 - 1.61 0.021 1776.88 -660.6 393.58 - - 1290.16 - - - - - - - - - 15.92 -
18669 end climb: SURFACE_DEPTH_REACHED
18669 begin surface coast
18689 end surface coast: CONTROL_FINISHED_OK
18689 begin surface
SM 0.73 - - - - 320.8 71.57 0.642 860.8 12.0 6.53 0.019 880.3 134.8 - 2.89 0.108 841.3 290.6 -0.201 - - 12.36 15.92 15.89 -