MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 135 * Raw log
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• Previous call tries 2 • 45.66 of 350.00 AH used of 24V (86.95% remains)
• Surface angle -74.8 deg, depth 0.67 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.06 (SM_CC=500)
• GPS1 time: 43 s
• GPS2 time: 3 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
16.95 - - - 91.00 VBD -0.63 - - 237.44 - - - 3195.19 - -145.99 70.44 0.005 2533.91 - - - - - - - - - - 15.16
91.26 3.55 -4.52 7 129.00 -0.63 9.91 0.376 2266.44 204.7 1.46 0.023 2154.50 -712.8 -145.99 19.68 0.006 3494.44 48.8 -4.882 - - - - - - 14.97 15.51 15.24
265.66 59.74 -32.05 24 273.24 roll -0.63 - - 2259.38 - 2.17 0.088 3367.00 558.8 -145.99 - - 3493.72 - - - - - - - - - 15.79 -
451.23 103.03 -19.27 43 457.31 roll -0.63 - - 2255.38 - 0.73 0.084 3808.00 604.1 -145.99 - - 3492.00 - - - - - - - - - 15.86 -
605.72 132.96 -18.65 58 612.29 roll -0.63 - - 2256.19 - 0.77 0.032 3291.12 -671.3 -145.99 - - 3493.69 - - - - - - - - - 15.87 -
791.51 163.04 -15.23 77 797.53 roll -0.63 - - 2250.00 - 0.89 0.085 3807.31 580.0 -145.99 - - 3492.81 - - - - - - - - - 15.90 -
905.80 180.79 -15.12 88 912.46 roll -0.63 - - 2252.25 - 0.77 0.033 3287.62 -674.9 -145.99 - - 3492.44 - - - - - - - - - 15.94 -
1091.49 205.17 -13.31 107 1114.24 roll -0.63 - - 2247.56 - 0.90 0.092 3803.19 572.9 -145.99 - - 3492.75 - - - - - - - - - 15.95 -
1190.89 218.86 -13.49 115 1213.63 roll -0.63 - - 2247.56 - 0.76 0.034 3288.44 -677.3 -145.99 - - 3491.56 - - - - - - - - - 15.94 -
1385.85 243.63 -12.37 134 1408.76 roll -0.63 - - 2247.81 - 1.61 0.021 2168.94 -695.3 -145.99 - - 3490.31 - - - - - - - - - 16.01 -
1450.47 250.84 -10.50 138 1473.54 roll -0.63 - - 2238.12 - 2.11 0.086 3365.56 567.1 -145.99 - - 3489.16 - - - - - - - - - 15.95 -
1655.78 277.27 -13.07 158 1678.69 roll -0.63 - - 2238.50 - 1.75 0.021 2175.62 -680.0 -145.99 - - 3489.62 - - - - - - - - - 16.03 -
1685.91 281.08 -12.83 159 1708.96 roll -0.63 - - 2228.50 - 2.10 0.086 3368.19 567.9 -145.99 - - 3489.12 - - - - - - - - - 16.00 -
1881.28 307.73 -13.91 177 1904.33 roll back -0.63 0.15 0.235 2269.81 275.4 1.75 0.023 2174.75 -682.0 -145.99 - - 3488.03 - - - - - - - - 15.90 15.43 -
1915.96 311.82 -12.08 178 1939.03 roll -0.63 - - 2262.62 - 2.11 0.082 3368.38 565.7 -145.99 - - 3486.94 - - - - - - - - - 15.98 -
2121.21 335.85 -12.13 198 2143.73 no move -0.63 - - 2262.38 - - - 3368.44 - -145.99 - - 3486.69 - - - - - - - - - - -
2315.92 359.20 -11.96 216 2338.84 roll -0.63 - - 2260.69 - 1.77 0.022 2195.19 -662.9 -145.99 - - 3485.06 - - - - - - - - - 16.05 -
2400.58 368.40 -10.24 222 2423.63 roll -0.63 - - 2253.62 - 2.07 0.085 3370.00 567.5 -145.99 - - 3483.47 - - - - - - - - - 16.00 -
2605.90 391.78 -11.35 242 2628.95 roll -0.63 - - 2253.44 - 1.78 0.025 2175.56 -671.0 -145.99 - - 3481.06 - - - - - - - - - 16.06 -
2636.29 395.07 -10.99 243 2659.34 roll -0.63 - - 2244.94 - 2.10 0.087 3365.94 566.8 -145.99 - - 3482.66 - - - - - - - - - 16.03 -
2831.77 416.74 -11.13 254 2854.82 roll -0.63 - - 2244.25 - 1.76 0.023 2178.31 -674.8 -145.99 - - 3481.31 - - - - - - - - - 16.06 -
2876.53 421.58 -10.78 255 2899.60 roll -0.63 - - 2234.88 - 2.12 0.093 3365.56 560.0 -145.99 - - 3481.19 - - - - - - - - - 15.99 -
3183.44 458.64 -12.22 271 3206.61 roll back -0.63 0.13 0.241 2269.81 268.7 1.76 0.026 2187.00 -669.6 -145.99 - - 3477.44 - - - - - - - - 15.90 15.94 -
3218.24 462.35 -11.37 272 3241.29 roll -0.63 - - 2263.19 - 2.10 0.089 3365.12 561.0 -145.99 - - 3476.84 - - - - - - - - - 16.05 -
3543.66 495.97 -10.45 288 3566.70 roll -0.63 - - 2262.31 - 1.77 0.026 2181.31 -668.8 -145.99 - - 3476.84 - - - - - - - - - 16.06 -
3648.45 506.00 -9.04 292 3671.64 roll -0.63 - - 2253.38 - 2.11 0.089 3366.94 561.9 -145.99 - - 3474.53 - - - - - - - - - 15.99 -
3983.95 543.13 -11.41 309 4007.00 roll -0.63 - - 2253.62 - 1.78 0.030 2183.00 -665.1 -145.99 - - 3471.88 - - - - - - - - - 16.07 -
4058.71 550.98 -10.03 312 4081.92 roll -0.63 - - 2243.81 - 2.12 0.093 3368.38 559.1 -145.99 - - 3472.31 - - - - - - - - - 16.03 -
4384.08 589.59 -12.04 328 4407.13 roll -0.63 - - 2244.81 - 1.79 0.029 2186.56 -660.2 -145.99 - - 3470.25 - - - - - - - - - 16.07 -
4463.84 598.44 -10.48 331 4487.03 roll -0.63 - - 2232.56 - 2.11 0.094 3363.88 558.0 -145.99 - - 3471.41 - - - - - - - - - 16.03 -
4770.95 635.77 -12.14 346 4794.12 roll back -0.63 0.13 0.236 2270.00 288.0 1.78 0.031 2196.88 -655.6 -145.99 - - 3468.66 - - - - - - - - 15.89 15.91 -
4835.76 642.07 -8.83 348 4858.83 roll -0.63 - - 2264.31 - 2.11 0.093 3365.94 554.1 -145.99 - - 3469.66 - - - - - - - - - 16.00 -
5142.59 673.30 -10.28 364 5165.64 roll -0.63 - - 2264.00 - 1.79 0.034 2183.38 -660.6 -145.99 - - 3466.47 - - - - - - - - - 16.05 -
5217.36 680.50 -9.38 367 5240.55 roll -0.63 - - 2254.31 - 2.12 0.095 3364.62 557.2 -145.99 - - 3467.59 - - - - - - - - - 16.01 -
5542.88 715.85 -10.93 383 5565.93 roll -0.63 - - 2251.00 - 1.79 0.032 2187.69 -657.5 -145.99 - - 3465.78 - - - - - - - - - 16.05 -
5633.37 724.85 -9.66 387 5656.57 roll -0.63 - - 2243.94 - 2.11 0.094 3363.75 557.4 -145.99 - - 3466.19 - - - - - - - - - 16.02 -
5963.71 761.71 -11.22 403 5986.75 roll -0.63 - - 2243.25 - 1.79 0.032 2195.44 -652.7 -145.99 - - 3463.09 - - - - - - - - - 16.06 -
6018.47 767.41 -10.40 405 6041.54 roll -0.63 - - 2235.56 - 2.10 0.095 3365.25 557.1 -145.99 - - 3463.25 - - - - - - - - - 16.00 -
6343.70 804.68 -11.53 421 6366.88 roll back -0.63 0.12 0.236 2268.44 274.0 1.79 0.034 2193.62 -654.5 -145.99 - - 3463.69 - - - - - - - - 15.87 15.88 -
6434.02 812.58 -8.23 425 6457.26 roll -0.63 - - 2262.00 - 2.12 0.097 3366.75 553.4 -145.99 - - 3461.56 - - - - - - - - - 16.00 -
6764.45 844.08 -9.68 441 6787.50 roll -0.63 - - 2261.44 - 1.79 0.032 2197.81 -653.0 -145.99 - - 3460.53 - - - - - - - - - 16.04 -
6854.83 852.16 -8.74 445 6878.02 roll -0.63 - - 2253.44 - 2.11 0.097 3364.56 553.0 -145.99 - - 3460.47 - - - - - - - - - 15.99 -
7185.15 885.39 -10.19 461 7208.20 roll -0.63 - - 2252.75 - 1.79 0.032 2194.12 -653.9 -145.99 - - 3458.38 - - - - - - - - - 16.03 -
7275.60 893.75 -8.78 465 7298.79 roll -0.63 - - 2243.50 - 2.11 0.095 3366.75 555.7 -145.99 - - 3459.06 - - - - - - - - - 15.98 -
7606.03 928.96 -10.75 481 7629.08 roll -0.63 - - 2244.88 - 1.79 0.032 2201.00 -651.3 -145.99 - - 3458.06 - - - - - - - - - 16.03 -
7660.79 934.58 -10.31 483 7683.86 roll -0.63 - - 2235.19 - 2.12 0.098 3365.81 549.4 -145.99 - - 3456.53 - - - - - - - - - 15.95 -
7986.15 970.46 -11.04 499 8009.32 roll back -0.63 0.13 0.234 2269.75 265.8 1.80 0.033 2198.00 -648.8 -145.99 - - 3455.16 - - - - - - - - 15.83 15.83 -
8100.98 980.47 -8.15 504 8124.20 roll -0.63 - - 2263.44 - 2.12 0.097 3365.00 550.5 -145.99 - - 3457.34 - - - - - - - - - 15.97 -
8206 end dive: TARGET_DEPTH_EXCEEDED
8206 begin apogee
8208.11 990.20 -9.34 509 8333.75 -0.14 0.56 0.178 2430.25 297.9 0.12 0.199 2922.12 -3690.7 - 114.40 2.072 2900.59 -4.9 0.393 - - - - - - 15.87 15.15 11.74
8334 end apogee: CONTROL_FINISHED_OK
8334 begin climb
8334.51 993.84 - 515 8480.26 0.63 0.75 0.080 2691.81 348.7 1.89 0.031 1782.62 -602.9 145.99 122.71 2.036 2303.56 -4.9 0.401 - - - - - - 15.36 15.03 12.39
8556.92 980.75 10.49 525 8580.12 roll 0.63 - - 2687.69 - 2.13 0.095 2917.19 532.7 145.99 - - 2297.28 - - - - - - - - - 15.46 -
8882.45 943.15 11.75 541 8905.52 done 0.63 - - 2693.06 - 1.82 0.031 1771.88 -629.3 145.99 - - 2295.59 - - - - - - - - - 15.78 -
8992.81 931.16 10.72 546 9016.02 done 0.63 - - 2690.19 - 2.11 0.097 2914.81 541.7 145.99 - - 2293.81 - - - - - - - - - 15.79 -
9323.15 891.87 12.22 562 9346.22 done 0.63 - - 2694.19 - 1.80 0.032 1769.31 -636.4 145.99 - - 2293.84 - - - - - - - - - 15.89 -
9353.57 888.30 12.19 563 9376.62 done 0.63 - - 2691.88 - 2.10 0.097 2915.12 545.6 145.99 - - 2292.78 - - - - - - - - - 15.86 -
9683.76 846.47 12.68 579 9706.83 done 0.63 - - 2693.56 - 1.80 0.032 1767.75 -637.4 145.99 - - 2294.00 - - - - - - - - - 15.94 -
9783.57 834.54 11.72 583 9806.74 done 0.63 - - 2695.62 - 2.10 0.098 2916.38 547.0 145.99 - - 2291.47 - - - - - - - - - 15.90 -
10090.56 795.55 12.67 598 10113.61 done 0.63 - - 2700.56 - 1.80 0.032 1768.12 -637.9 145.99 - - 2291.09 - - - - - - - - - 15.97 -
10165.34 786.69 11.58 601 10188.51 done 0.63 - - 2698.69 - 2.08 0.096 2912.50 550.2 145.99 - - 2291.47 - - - - - - - - - 15.92 -
10490.81 748.64 11.38 617 10513.86 done 0.63 - - 2701.94 - 1.79 0.033 1769.94 -638.3 145.99 - - 2292.25 - - - - - - - - - 15.98 -
10570.59 740.12 10.64 620 10593.76 done 0.63 - - 2702.56 - 2.09 0.099 2913.56 547.2 145.99 - - 2292.72 - - - - - - - - - 15.94 -
10877.53 704.91 11.50 635 10900.57 done 0.63 - - 2712.06 - 1.80 0.032 1765.56 -637.8 145.99 - - 2290.16 - - - - - - - - - 15.99 -
10962.29 695.63 10.67 638 10985.54 0.63 0.17 0.213 2662.25 -293.0 2.10 0.099 2911.69 545.8 145.99 - - 2292.34 - - - - - - - - 15.81 15.92 -
11297.86 662.49 10.00 655 11320.91 done 0.63 - - 2668.25 - 1.79 0.031 1775.62 -634.7 145.99 - - 2290.88 - - - - - - - - - 16.00 -
11352.62 657.28 9.44 657 11375.67 done 0.63 - - 2669.56 - 2.07 0.098 2912.06 549.0 145.99 - - 2292.81 - - - - - - - - - 15.94 -
11679.74 624.12 10.48 673 11702.79 done 0.63 - - 2675.38 - 1.79 0.032 1767.94 -639.2 145.99 - - 2289.28 - - - - - - - - - 16.00 -
11764.53 615.65 9.54 676 11787.71 done 0.63 - - 2676.25 - 2.09 0.098 2911.94 547.4 145.99 - - 2291.72 - - - - - - - - - 15.92 -
12099.84 580.70 10.52 693 12122.88 done 0.63 - - 2684.31 - 1.79 0.032 1768.00 -639.1 145.99 - - 2291.25 - - - - - - - - - 16.00 -
12184.61 572.21 9.81 696 12207.79 done 0.63 - - 2685.50 - 2.09 0.098 2912.44 547.6 145.99 - - 2291.34 - - - - - - - - - 15.91 -
12491.75 539.42 10.58 712 12514.39 VBD 0.63 - - 2685.38 - - - 2911.75 - 145.99 - - 2290.31 - - - - - - - - - - -
12796.74 508.07 10.19 727 12819.79 done 0.63 - - 2692.25 - 1.77 0.031 1770.19 -644.9 145.99 - - 2290.84 - - - - - - - - - 16.00 -
12891.53 499.01 9.34 731 12914.71 done 0.63 - - 2694.25 - 2.08 0.097 2917.06 551.4 145.99 - - 2290.28 - - - - - - - - - 15.94 -
13216.84 465.91 10.16 747 13239.89 done 0.63 - - 2700.94 - 1.78 0.030 1769.75 -644.6 145.99 - - 2289.16 - - - - - - - - - 16.02 -
13327.10 455.62 9.28 752 13350.29 done 0.63 - - 2701.25 - 2.07 0.096 2911.44 551.5 145.99 - - 2288.50 - - - - - - - - - 15.95 -
13657.68 421.29 10.68 768 13680.73 done 0.63 - - 2708.75 - 1.77 0.029 1773.19 -643.1 145.99 - - 2290.50 - - - - - - - - - 16.02 -
13702.44 416.62 10.33 769 13725.56 0.63 0.16 0.202 2663.94 -280.1 2.06 0.093 2916.50 555.0 145.99 - - 2289.50 - - - - - - - - 15.79 15.90 -
14027.78 387.85 8.64 792 14050.83 done 0.64 - - 2670.12 - 1.78 0.030 1783.31 -636.6 145.99 - - 2289.41 - - - - - - - - - 15.99 -
14072.56 384.19 8.12 794 14095.60 done 0.66 - - 2670.62 - 2.06 0.094 2917.12 550.4 145.99 - - 2292.16 - - - - - - - - - 15.86 -
14267.74 366.82 9.01 813 14290.38 VBD 0.66 - - 2669.88 - - - 2917.06 - 145.99 - - 2289.16 - - - - - - - - - - -
14462.78 349.16 8.96 831 14485.83 done 0.66 - - 2678.19 - 1.78 0.029 1777.50 -640.2 145.99 - - 2293.00 - - - - - - - - - 16.01 -
14507.55 345.30 8.49 833 14530.59 done 0.68 - - 2679.19 - 2.06 0.093 2916.19 552.8 145.99 - - 2289.41 - - - - - - - - - 15.91 -
14712.79 326.83 8.94 853 14735.44 VBD 0.68 - - 2679.94 - - - 2915.88 - 145.99 - - 2290.69 - - - - - - - - - - -
14907.74 308.30 9.79 871 14930.38 VBD 0.68 - - 2681.12 - - - 2916.94 - 145.99 - - 2291.56 - - - - - - - - - - -
15102.51 289.19 9.78 889 15125.56 done 0.68 - - 2686.75 - 1.77 0.028 1770.69 -647.6 145.99 - - 2292.47 - - - - - - - - - 16.01 -
15187.30 281.26 9.14 895 15210.49 done 0.68 - - 2687.69 - 2.07 0.092 2917.19 553.9 145.99 - - 2289.34 - - - - - - - - - 15.90 -
15392.80 261.43 9.52 915 15415.44 VBD 0.68 - - 2688.81 - - - 2916.75 - 145.99 - - 2289.41 - - - - - - - - - - -
15587.70 243.73 8.65 933 15610.75 done 0.69 - - 2695.75 - 1.78 0.028 1771.44 -643.4 145.99 - - 2290.75 - - - - - - - - - 16.00 -
15698.18 234.89 7.94 942 15721.35 done 0.71 - - 2695.81 - 2.06 0.091 2914.06 554.7 145.99 - - 2290.25 - - - - - - - - - 15.94 -
15893.72 219.26 7.65 960 15916.36 VBD 0.74 - - 2695.94 - - - 2912.94 - 145.99 - - 2289.47 - - - - - - - - - - -
16088.65 203.01 7.98 978 16111.68 done 0.77 - - 2696.19 - 1.61 0.116 3799.06 550.4 145.99 - - 2290.44 - - - - - - - - - 15.89 -
16198.89 193.16 9.17 987 16221.90 done 0.77 - - 2703.19 - 1.52 0.041 2844.06 -628.3 145.99 - - 2291.22 - - - - - - - - - 15.99 -
16394.10 177.40 8.20 1005 16416.74 VBD 0.79 - - 2704.44 - - - 2843.19 - 145.99 - - 2289.19 - - - - - - - - - - -
16589.14 162.82 8.01 1023 16612.16 done 0.81 - - 2710.62 - 1.63 0.026 1782.06 -651.0 145.99 - - 2290.56 - - - - - - - - - 15.99 -
16633.88 159.65 7.05 1025 16682.04 0.86 0.09 0.099 2788.69 867.4 2.03 0.090 2916.69 558.9 191.74 35.01 0.962 2116.06 -5.0 0.140 - - - - - - 15.84 15.88 11.87
16855.74 135.46 12.04 1047 16878.49 pitch 0.86 0.19 0.238 2736.44 -275.0 - - 2917.00 - 191.74 - - 2110.88 - - - - - - - - 15.75 - -
17050.88 119.06 7.86 1065 17073.89 roll 0.88 - - 2736.12 - 1.59 0.111 3797.69 553.9 191.74 - - 2110.84 - - - - - - - - - 15.86 -
17185.67 107.73 7.32 1076 17208.68 roll 0.92 - - 2741.25 - 1.51 0.038 2844.75 -631.1 191.74 - - 2113.66 - - - - - - - - - 15.87 -
17380.96 98.03 5.61 1095 17450.39 1.00 0.14 0.068 2823.38 586.6 1.65 0.026 1773.06 -649.5 268.70 57.26 0.845 1800.81 -5.5 0.107 - - - - - - 15.94 15.70 12.37
17672.58 72.50 6.93 1124 17721.58 done 1.04 - - 2824.50 - 2.07 0.088 2917.12 552.7 317.14 36.17 0.766 1604.53 -5.4 0.087 - - - - - - - 15.79 12.42
17903.85 60.40 3.85 1147 17997.00 done 1.16 - - 2823.62 - 1.63 0.112 3797.38 540.0 432.03 80.77 0.742 1138.19 -5.8 0.079 - - - - - - - 15.52 12.38
18183.83 32.90 12.98 1174 18206.84 roll 1.16 - - 2830.44 - 1.52 0.034 2826.75 -638.6 432.03 - - 1135.72 - - - - - - - - - 15.16 -
18378.99 14.38 8.16 1193 18401.99 roll 1.18 - - 2838.19 - 1.60 0.023 1761.38 -665.9 432.03 - - 1134.06 - - - - - - - - - 15.22 -
18459.30 8.32 7.73 1199 18482.47 roll 1.21 - - 2836.69 - 2.08 0.088 2917.06 555.6 432.03 - - 1134.00 - - - - - - - - - 15.85 -
18514 end climb: SURFACE_DEPTH_REACHED
18514 begin surface coast
18545 end surface coast: CONTROL_FINISHED_OK
18545 begin surface
SM 0.70 - - - - 336.3 46.66 0.631 861.4 18.5 6.71 0.028 881.6 131.4 - 0.76 0.093 841.3 1104.2 -0.849 - - 12.41 15.87 15.87 -