MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 171 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 55.68 of 350.00 AH used of 24V (84.09% remains)
• Surface angle -73.5 deg, depth 0.62 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.05 (SM_CC=500)
• GPS1 time: 17 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
16.21 - - - 100.31 VBD -0.63 - - 316.81 - - - 3082.44 - -145.99 80.47 0.005 2806.94 - - - - - - - - - - 15.10
100.60 5.25 -8.65 8 130.32 -0.63 9.48 0.372 2262.50 205.2 1.30 0.089 3808.44 558.5 -145.99 12.35 0.007 3492.91 55.5 -7.052 - - - - - - 14.86 15.43 15.18
141.95 24.21 -41.08 11 149.30 roll -0.63 - - 2262.94 - 1.14 0.028 3062.31 -654.5 -145.99 - - 3494.25 - - - - - - - - - 15.80 -
327.64 90.30 -31.13 30 333.88 roll -0.63 - - 2262.31 - 1.58 0.017 1983.50 -682.8 -145.99 - - 3494.22 - - - - - - - - - 15.84 -
447.45 112.89 -15.78 42 454.00 roll -0.63 - - 2251.75 - 2.07 0.075 3177.75 576.9 -145.99 - - 3493.69 - - - - - - - - - 15.85 -
637.70 146.68 -16.99 61 642.38 no move -0.63 - - 2252.69 - - - 3177.88 - -145.99 - - 3493.03 - - - - - - - - - - -
817.61 174.55 -14.09 79 822.04 no move -0.63 - - 2253.31 - - - 3178.00 - -145.99 - - 3492.59 - - - - - - - - - - -
997.76 199.28 -13.19 97 1003.90 roll -0.63 - - 2247.69 - 1.10 0.085 3809.44 574.0 -145.99 - - 3494.03 - - - - - - - - - 15.86 -
1042.12 205.52 -14.20 101 1064.93 roll -0.63 - - 2247.81 - 1.13 0.034 3085.19 -640.9 -145.99 - - 3493.56 - - - - - - - - - 15.89 -
1237.29 232.31 -13.60 120 1259.81 no move -0.63 - - 2248.31 - - - 3086.06 - -145.99 - - 3492.19 - - - - - - - - - - -
1432.12 258.77 -13.32 138 1454.95 roll -0.63 - - 2241.44 - 1.29 0.089 3805.31 557.6 -145.99 - - 3492.22 - - - - - - - - - 15.97 -
1527.18 272.16 -14.02 146 1549.99 roll -0.63 - - 2241.81 - 1.13 0.035 3084.94 -637.5 -145.99 - - 3489.81 - - - - - - - - - 16.01 -
1732.16 300.24 -13.62 165 1754.99 roll -0.63 - - 2236.69 - 1.29 0.089 3805.31 558.4 -145.99 - - 3490.19 - - - - - - - - - 15.98 -
1781.69 307.57 -14.65 168 1804.50 roll -0.63 - - 2235.19 - 1.13 0.036 3087.06 -635.6 -145.99 - - 3489.03 - - - - - - - - - 15.97 -
1976.85 334.64 -13.53 187 1999.68 roll -0.63 - - 2230.69 - 1.30 0.091 3805.25 552.5 -145.99 - - 3488.22 - - - - - - - - - 15.99 -
2026.38 341.77 -14.18 190 2049.26 roll back -0.63 0.14 0.216 2266.44 255.4 1.13 0.036 3092.69 -630.6 -145.99 - - 3488.12 - - - - - - - - 15.84 15.98 -
2221.54 364.13 -11.43 209 2244.18 no move -0.63 - - 2269.00 - - - 3093.69 - -145.99 - - 3485.53 - - - - - - - - - - -
2416.41 387.20 -11.86 227 2439.36 roll -0.63 - - 2265.25 - 1.29 0.094 3806.00 552.2 -145.99 - - 3484.25 - - - - - - - - - 16.00 -
2466.06 393.33 -12.04 230 2488.87 roll -0.63 - - 2265.12 - 1.15 0.040 3088.56 -623.9 -145.99 - - 3484.22 - - - - - - - - - 15.98 -
2671.02 417.64 -11.89 243 2694.00 roll -0.63 - - 2260.38 - 1.30 0.094 3806.44 552.2 -145.99 - - 3483.94 - - - - - - - - - 15.99 -
2710.72 422.61 -12.34 244 2733.53 roll -0.63 - - 2261.62 - 1.15 0.041 3091.38 -621.8 -145.99 - - 3484.09 - - - - - - - - - 16.03 -
3040.76 462.79 -12.17 260 3063.40 no move -0.63 - - 2260.06 - - - 3090.81 - -145.99 - - 3480.00 - - - - - - - - - - -
3345.76 499.70 -12.04 275 3368.74 roll -0.63 - - 2254.81 - 1.30 0.097 3804.50 549.0 -145.99 - - 3479.28 - - - - - - - - - 15.99 -
3395.37 505.85 -12.32 276 3418.18 roll -0.63 - - 2252.50 - 1.15 0.042 3093.06 -618.6 -145.99 - - 3478.97 - - - - - - - - - 15.96 -
3702.23 542.00 -11.58 292 3725.20 roll -0.63 - - 2249.69 - 1.30 0.098 3804.50 547.3 -145.99 - - 3475.88 - - - - - - - - - 15.95 -
3791.85 552.68 -11.64 295 3814.79 roll -0.63 - - 2249.12 - 1.15 0.042 3091.62 -619.9 -145.99 - - 3474.69 - - - - - - - - - 15.99 -
4098.99 588.06 -11.39 311 4121.96 roll -0.63 - - 2242.81 - 1.30 0.099 3802.56 546.9 -145.99 - - 3473.69 - - - - - - - - - 15.98 -
4143.67 593.33 -11.46 312 4166.48 roll -0.63 - - 2244.00 - 1.14 0.043 3095.62 -620.1 -145.99 - - 3473.16 - - - - - - - - - 16.04 -
4468.63 630.28 -11.52 328 4491.61 roll -0.63 - - 2239.31 - 1.30 0.099 3803.81 544.8 -145.99 - - 3472.03 - - - - - - - - - 15.98 -
4543.92 639.28 -12.03 331 4566.86 roll -0.63 - - 2239.38 - 1.15 0.043 3096.19 -615.3 -145.99 - - 3472.97 - - - - - - - - - 16.05 -
4879.14 678.72 -11.76 347 4902.11 roll -0.63 - - 2232.50 - 1.30 0.099 3803.50 544.1 -145.99 - - 3470.06 - - - - - - - - - 15.97 -
4948.75 687.59 -12.49 349 4971.75 roll back -0.63 0.13 0.214 2267.75 271.2 1.15 0.044 3100.44 -611.4 -145.99 - - 3469.53 - - - - - - - - 15.81 15.98 -
5255.92 719.22 -10.30 365 5278.56 no move -0.63 - - 2267.19 - - - 3100.44 - -145.99 - - 3466.69 - - - - - - - - - - -
5560.76 749.97 -9.98 380 5583.40 no move -0.63 - - 2268.06 - - - 3100.06 - -145.99 - - 3466.22 - - - - - - - - - - -
5865.62 779.85 -9.78 395 5888.57 roll -0.63 - - 2265.94 - 1.29 0.101 3800.38 542.9 -145.99 - - 3465.25 - - - - - - - - - 15.95 -
5915.28 784.99 -10.23 396 5938.09 roll -0.63 - - 2265.31 - 1.16 0.047 3098.62 -605.0 -145.99 - - 3465.00 - - - - - - - - - 15.94 -
6222.31 815.15 -9.83 412 6245.28 roll -0.63 - - 2260.44 - 1.30 0.101 3803.38 542.1 -145.99 - - 3463.88 - - - - - - - - - 15.94 -
6261.98 819.11 -9.87 413 6284.80 roll -0.63 - - 2259.81 - 1.16 0.047 3099.38 -606.9 -145.99 - - 3463.34 - - - - - - - - - 16.02 -
6592.09 850.15 -9.15 429 6615.12 roll -0.63 - - 2257.12 - 1.67 0.030 1995.69 -660.9 -145.99 - - 3463.75 - - - - - - - - - 16.03 -
6836.86 869.24 -7.79 440 6860.03 roll -0.63 - - 2250.44 - 2.10 0.092 3174.38 561.3 -145.99 - - 3461.75 - - - - - - - - - 15.89 -
7172.46 900.20 -9.47 457 7195.53 roll -0.63 - - 2247.38 - 1.82 0.032 2000.56 -645.0 -145.99 - - 3461.88 - - - - - - - - - 16.02 -
7417.31 921.52 -8.63 468 7440.48 roll -0.63 - - 2241.62 - 2.09 0.092 3171.44 560.2 -145.99 - - 3461.34 - - - - - - - - - 15.87 -
7752.76 957.30 -10.97 485 7775.41 no move -0.63 - - 2241.75 - - - 3172.50 - -145.99 - - 3457.56 - - - - - - - - - - -
8057 end dive: TARGET_DEPTH_EXCEEDED
8057 begin apogee
8059.37 991.98 -11.56 500 8185.93 -0.14 0.64 0.181 2429.44 293.3 0.11 0.214 2721.44 -4100.5 - 115.07 2.086 2897.12 -4.9 0.392 - - - - - - 15.77 15.14 11.52
8186 end apogee: CONTROL_FINISHED_OK
8186 begin climb
8186.69 996.56 - 506 8332.49 0.63 0.75 0.083 2693.06 351.5 1.94 0.033 1587.06 -584.7 145.99 122.95 2.052 2304.78 -4.8 0.396 - - - - - - 15.34 15.02 12.25
8404.85 985.03 9.64 516 8428.03 roll 0.63 - - 2687.94 - 2.09 0.082 2714.00 539.2 145.99 - - 2297.31 - - - - - - - - - 15.45 -
8735.31 951.16 10.42 532 8757.95 VBD 0.63 - - 2687.25 - - - 2712.94 - 145.99 - - 2294.59 - - - - - - - - - - -
9040.27 919.06 10.60 547 9063.43 done 0.63 - - 2680.94 - 1.97 0.112 3772.38 537.8 145.99 - - 2292.56 - - - - - - - - - 15.79 -
9075.06 914.86 11.26 548 9098.01 done 0.63 - - 2688.19 - 1.84 0.037 2620.62 -626.0 145.99 - - 2293.50 - - - - - - - - - 15.85 -
9400.20 879.71 10.87 564 9422.84 VBD 0.63 - - 2688.81 - - - 2617.56 - 145.99 - - 2292.22 - - - - - - - - - - -
9705.07 846.80 10.78 579 9728.28 done 0.63 - - 2686.44 - 2.19 0.118 3773.62 527.9 145.99 - - 2293.75 - - - - - - - - - 15.84 -
9784.94 836.93 12.72 582 9808.00 done 0.63 - - 2696.19 - 1.85 0.038 2614.44 -626.6 145.99 - - 2292.06 - - - - - - - - - 15.93 -
10092.02 803.09 10.93 597 10114.67 VBD 0.63 - - 2697.38 - - - 2613.19 - 145.99 - - 2292.84 - - - - - - - - - - -
10396.99 770.48 10.79 612 10420.20 done 0.63 - - 2690.00 - 2.15 0.106 3777.31 541.5 145.99 - - 2293.41 - - - - - - - - - 15.85 -
10451.84 763.84 12.21 614 10474.78 done 0.63 - - 2696.44 - 1.83 0.037 2621.06 -631.8 145.99 - - 2292.56 - - - - - - - - - 15.96 -
10777.06 729.64 10.31 630 10800.25 done 0.63 - - 2690.88 - 2.14 0.106 3775.69 539.5 145.99 - - 2292.75 - - - - - - - - - 15.85 -
10821.89 724.55 11.08 631 10844.83 done 0.63 - - 2698.19 - 1.84 0.036 2634.25 -620.3 145.99 - - 2291.88 - - - - - - - - - 15.91 -
11128.95 693.24 10.11 647 11151.59 VBD 0.63 - - 2696.44 - - - 2616.38 - 145.99 - - 2290.06 - - - - - - - - - - -
11433.75 662.13 10.14 662 11456.94 done 0.63 - - 2697.56 - 2.13 0.101 3776.00 544.4 145.99 - - 2293.53 - - - - - - - - - 15.87 -
11513.60 652.70 12.14 665 11536.67 done 0.63 - - 2706.00 - 1.83 0.036 2621.56 -630.8 145.99 - - 2290.00 - - - - - - - - - 15.98 -
11820.74 619.47 10.93 680 11843.98 0.63 0.15 0.231 2661.94 -293.7 2.13 0.100 3774.94 541.5 145.99 - - 2291.06 - - - - - - - - 15.76 15.75 -
11875.64 613.39 10.90 682 11898.58 done 0.63 - - 2669.75 - 1.83 0.038 2625.25 -628.2 145.99 - - 2289.75 - - - - - - - - - 15.97 -
12200.80 582.35 9.54 698 12223.99 done 0.63 - - 2670.50 - 2.14 0.108 3776.12 537.8 145.99 - - 2291.81 - - - - - - - - - 15.86 -
12260.64 575.74 11.28 700 12283.58 done 0.63 - - 2677.12 - 1.84 0.039 2633.69 -620.9 145.99 - - 2291.16 - - - - - - - - - 15.98 -
12567.72 546.21 9.49 715 12590.36 VBD 0.63 - - 2679.19 - - - 2635.88 - 145.99 - - 2291.28 - - - - - - - - - - -
12872.71 517.31 9.49 730 12895.90 done 0.63 - - 2679.75 - 2.13 0.110 3775.31 534.9 145.99 - - 2290.16 - - - - - - - - - 15.86 -
12952.56 508.21 11.60 733 12975.62 done 0.63 - - 2687.69 - 1.83 0.039 2641.06 -619.8 145.99 - - 2292.19 - - - - - - - - - 15.98 -
13259.60 477.38 9.79 748 13282.79 done 0.63 - - 2686.12 - 2.12 0.110 3775.19 535.0 145.99 - - 2291.06 - - - - - - - - - 15.85 -
13290.02 473.98 10.32 749 13312.97 done 0.63 - - 2696.75 - 1.84 0.039 2640.75 -616.5 145.99 - - 2289.41 - - - - - - - - - 15.98 -
13620.22 440.15 10.13 765 13642.87 VBD 0.63 - - 2695.69 - - - 2639.88 - 145.99 - - 2289.22 - - - - - - - - - - -
13925.23 409.75 9.88 780 13948.42 done 0.63 - - 2696.50 - 2.14 0.115 3773.44 529.7 145.99 - - 2290.38 - - - - - - - - - 15.78 -
13955.71 406.37 10.34 781 13978.65 done 0.63 - - 2702.12 - 1.83 0.038 2620.19 -630.2 145.99 - - 2291.09 - - - - - - - - - 15.98 -
14275.88 373.82 9.92 809 14298.63 0.63 0.14 0.218 2665.12 -264.3 - - 2617.75 - 145.99 - - 2289.12 - - - - - - - - 15.73 - -
14471.09 357.45 8.42 827 14494.27 done 0.65 - - 2664.88 - 2.15 0.105 3775.94 538.7 145.99 - - 2292.31 - - - - - - - - - 15.84 -
14525.91 352.07 9.68 830 14548.86 done 0.65 - - 2671.06 - 1.85 0.035 2620.38 -624.6 145.99 - - 2291.12 - - - - - - - - - 15.85 -
14721.23 334.81 8.65 849 14744.42 done 0.66 - - 2669.75 - 2.14 0.105 3774.00 539.1 145.99 - - 2291.25 - - - - - - - - - 15.83 -
14766.06 330.22 10.21 851 14789.00 done 0.66 - - 2679.81 - 1.84 0.035 2646.19 -612.9 145.99 - - 2290.66 - - - - - - - - - 15.89 -
14961.22 311.71 9.53 870 14984.41 done 0.66 - - 2678.88 - 2.15 0.106 3771.38 523.3 145.99 - - 2291.47 - - - - - - - - - 15.81 -
15016.05 305.66 10.96 873 15038.99 done 0.66 - - 2689.38 - 1.84 0.035 2628.25 -621.3 145.99 - - 2291.91 - - - - - - - - - 15.91 -
15211.22 286.16 9.76 892 15233.87 VBD 0.66 - - 2688.81 - - - 2619.62 - 145.99 - - 2290.22 - - - - - - - - - - -
15406.23 268.24 8.86 910 15428.87 VBD 0.66 - - 2689.31 - - - 2619.81 - 145.99 - - 2290.72 - - - - - - - - - - -
15601.08 251.84 8.50 928 15624.27 done 0.67 - - 2688.94 - 2.15 0.106 3775.00 537.3 145.99 - - 2290.25 - - - - - - - - - 15.82 -
15671.56 244.76 10.21 933 15694.62 done 0.67 - - 2697.19 - 1.83 0.035 2629.44 -626.0 145.99 - - 2292.59 - - - - - - - - - 15.97 -
15866.94 227.94 9.00 951 15890.12 done 0.67 - - 2696.62 - 2.14 0.109 3775.00 535.3 145.99 - - 2290.78 - - - - - - - - - 15.82 -
15901.76 224.22 10.36 952 15924.70 done 0.67 - - 2706.94 - 1.84 0.034 2619.19 -628.2 145.99 - - 2291.28 - - - - - - - - - 15.91 -
16096.99 207.06 8.48 971 16120.17 done 0.69 - - 2706.62 - 2.15 0.104 3776.75 538.4 145.99 - - 2291.69 - - - - - - - - - 15.82 -
16197.42 198.32 8.42 979 16220.48 done 0.70 - - 2715.31 - 1.83 0.034 2621.62 -631.2 145.99 - - 2291.72 - - - - - - - - - 15.97 -
16392.81 185.27 6.48 997 16450.83 done 0.76 - - 2723.38 - 1.63 0.028 1564.38 -648.6 204.11 44.28 1.026 2066.34 -5.1 0.156 - - - - - - - 15.76 11.63
16498.14 176.66 9.40 1007 16521.31 roll 0.76 - - 2724.69 - 2.09 0.086 2716.56 551.3 204.11 - - 2061.78 - - - - - - - - - 15.82 -
16693.65 156.42 9.94 1025 16716.80 roll 0.76 - - 2724.25 - 1.93 0.101 3773.81 547.8 204.11 - - 2063.56 - - - - - - - - - 15.78 -
16764.04 149.39 10.23 1030 16787.10 roll 0.76 - - 2730.50 - 1.84 0.034 2619.38 -627.4 204.11 - - 2061.53 - - - - - - - - - 15.84 -
16959.41 132.98 8.39 1048 16982.60 roll 0.77 - - 2733.31 - 2.15 0.105 3775.38 537.7 204.11 - - 2059.56 - - - - - - - - - 15.80 -
17139.93 117.46 7.97 1064 17163.00 roll 0.80 - - 2739.94 - 1.83 0.033 2621.25 -630.7 204.11 - - 2061.03 - - - - - - - - - 15.90 -
17335.30 106.31 5.29 1082 17409.58 done 0.88 - - 2749.81 - 1.64 0.026 1567.31 -642.6 288.00 61.88 0.873 1723.59 -5.5 0.112 - - - - - - - 15.68 12.18
17631.33 85.80 6.58 1110 17685.35 done 0.94 - - 2748.06 - 2.09 0.087 2713.56 548.4 343.95 41.56 0.798 1496.44 -5.5 0.099 - - - - - - - 15.74 12.29
17867.75 71.20 7.08 1134 17915.04 0.98 0.10 0.077 2829.12 810.6 1.82 0.027 1576.19 -624.9 389.07 33.09 0.741 1312.12 -5.6 0.091 - - - - - - 15.77 15.63 12.34
18096.77 51.29 8.26 1156 18119.99 roll back 1.00 0.16 0.177 2781.12 -300.0 2.05 0.078 2717.19 556.6 389.07 - - 1308.81 - - - - - - - - 15.66 15.75 -
18302.29 38.51 6.67 1176 18354.61 done 1.06 - - 2779.62 - 1.96 0.111 3776.19 540.3 443.00 38.63 0.673 1092.53 -5.6 0.054 - - - - - - - 15.66 12.24
18376.87 32.79 7.81 1183 18399.91 roll back 1.08 0.09 0.092 2851.88 802.9 1.83 0.030 2618.62 -632.6 443.00 - - 1091.38 - - - - - - - - 15.75 15.78 -
18572.17 11.65 11.28 1201 18594.92 pitch 1.08 0.16 0.190 2804.06 -298.9 - - 2616.19 - 443.00 - - 1091.09 - - - - - - - - 15.74 - -
18677 end climb: SURFACE_DEPTH_REACHED
18677 begin surface coast
18717 end surface coast: CONTROL_FINISHED_OK
18717 begin surface
SM 0.82 - - - - 336.2 - 2.702 861.5 - 6.70 0.037 872.1 130.1 - 0.98 0.096 850.9 868.3 -0.758 - - 30.36 15.88 15.86 -