MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 220 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 69.34 of 350.00 AH used of 24V (80.19% remains)
• Surface angle -74.0 deg, depth 0.83 m • Intended pitch -18.8 deg, speed -8.462 cm/s
VBD pumped to 500.06 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 24
• 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
16 begin dive
16.94 - - - 90.84 VBD -0.62 - - 242.19 - - - 3012.62 - -116.79 70.25 0.005 2567.97 - - - - - - - - - - 15.02
91.10 3.87 -5.12 7 125.25 -0.62 9.93 0.366 2278.38 205.1 1.41 0.080 3809.56 565.2 -116.79 16.19 0.006 3374.59 49.8 -5.440 - - - - - - 14.78 15.05 15.07
177.46 38.02 -41.25 16 183.71 roll -0.62 - - 2278.12 - 1.13 0.017 3026.75 -692.8 -116.79 - - 3374.44 - - - - - - - - - 15.77 -
367.38 106.21 -30.48 35 374.01 roll -0.62 - - 2273.19 - 1.38 0.076 3805.56 564.4 -116.79 - - 3375.09 - - - - - - - - - 15.80 -
411.94 117.80 -23.77 39 419.33 roll -0.62 - - 2273.56 - 1.12 0.021 3038.75 -684.7 -116.79 - - 3374.44 - - - - - - - - - 15.79 -
597.63 150.25 -15.25 58 602.12 no move -0.62 - - 2272.69 - - - 3037.56 - -116.79 - - 3372.50 - - - - - - - - - - -
777.55 177.47 -14.37 76 783.85 roll -0.62 - - 2266.94 - 1.38 0.080 3806.00 556.8 -116.79 - - 3373.34 - - - - - - - - - 15.85 -
842.07 187.42 -15.44 82 849.40 roll -0.62 - - 2266.75 - 1.12 0.025 3058.88 -667.1 -116.79 - - 3373.34 - - - - - - - - - 15.88 -
1027.74 212.81 -13.65 101 1050.62 roll -0.62 - - 2266.88 - 1.57 0.016 1998.56 -675.4 -116.79 - - 3371.91 - - - - - - - - - 15.95 -
1107.95 222.98 -12.43 107 1131.00 roll -0.62 - - 2258.25 - 2.03 0.071 3177.81 580.9 -116.79 - - 3373.47 - - - - - - - - - 15.91 -
1303.15 249.04 -13.13 125 1325.67 no move -0.62 - - 2258.00 - - - 3177.62 - -116.79 - - 3370.84 - - - - - - - - - - -
1497.83 274.62 -13.47 143 1520.35 no move -0.62 - - 2258.38 - - - 3177.31 - -116.79 - - 3369.78 - - - - - - - - - - -
1692.59 300.11 -13.06 161 1715.12 no move -0.62 - - 2258.88 - - - 3177.50 - -116.79 - - 3368.84 - - - - - - - - - - -
1887.27 324.56 -12.43 179 1909.91 no move -0.62 - - 2258.56 - - - 3177.44 - -116.79 - - 3366.12 - - - - - - - - - - -
2082.17 348.15 -11.99 197 2104.82 no move -0.62 - - 2258.25 - - - 3178.19 - -116.79 - - 3364.34 - - - - - - - - - - -
2277.17 370.98 -12.18 215 2299.82 no move -0.62 - - 2258.19 - - - 3178.12 - -116.79 - - 3361.97 - - - - - - - - - - -
2472.03 394.38 -12.00 233 2495.08 roll -0.62 - - 2258.56 - 1.80 0.020 1996.06 -656.7 -116.79 - - 3362.38 - - - - - - - - - 16.03 -
2512.29 398.96 -11.52 235 2535.34 roll -0.62 - - 2249.88 - 2.05 0.076 3174.12 574.7 -116.79 - - 3363.38 - - - - - - - - - 15.95 -
2717.47 424.49 -12.54 245 2740.47 roll back -0.62 0.14 0.237 2283.56 240.6 1.12 0.090 3804.31 562.7 -116.79 - - 3359.91 - - - - - - - - 15.77 15.76 -
2757.10 429.05 -11.28 246 2780.00 roll -0.62 - - 2283.38 - 1.15 0.036 3088.31 -622.6 -116.79 - - 3360.38 - - - - - - - - - 16.02 -
3087.36 462.80 -10.40 262 3110.01 no move -0.62 - - 2283.25 - - - 3087.75 - -116.79 - - 3356.16 - - - - - - - - - - -
3392.23 494.70 -10.59 277 3414.88 no move -0.62 - - 2283.31 - - - 3087.12 - -116.79 - - 3354.78 - - - - - - - - - - -
3697.01 525.79 -9.99 292 3719.99 roll -0.62 - - 2277.62 - 1.31 0.094 3804.12 547.3 -116.79 - - 3354.25 - - - - - - - - - 15.91 -
3736.68 530.06 -10.65 293 3759.50 roll -0.62 - - 2279.19 - 1.15 0.039 3090.94 -620.2 -116.79 - - 3354.41 - - - - - - - - - 16.02 -
4066.78 564.05 -10.24 309 4089.42 no move -0.62 - - 2278.38 - - - 3090.50 - -116.79 - - 3349.72 - - - - - - - - - - -
4371.77 593.73 -9.57 324 4394.42 no move -0.62 - - 2277.25 - - - 3091.00 - -116.79 - - 3349.31 - - - - - - - - - - -
4676.59 622.46 -9.37 339 4699.24 no move -0.62 - - 2277.50 - - - 3089.69 - -116.79 - - 3346.34 - - - - - - - - - - -
4981.44 652.14 -9.88 354 5004.08 no move -0.62 - - 2278.31 - - - 3089.94 - -116.79 - - 3345.44 - - - - - - - - - - -
5286.36 682.79 -10.20 369 5309.01 no move -0.62 - - 2277.44 - - - 3090.00 - -116.79 - - 3343.44 - - - - - - - - - - -
5591.38 713.76 -10.12 384 5614.36 roll -0.62 - - 2271.88 - 1.32 0.097 3803.81 540.8 -116.79 - - 3345.44 - - - - - - - - - 15.87 -
5636.06 718.57 -10.67 385 5658.88 roll -0.62 - - 2271.75 - 1.16 0.042 3099.00 -607.6 -116.79 - - 3342.97 - - - - - - - - - 16.00 -
5961.03 752.64 -10.74 401 5984.06 roll -0.62 - - 2272.31 - 1.67 0.025 1998.44 -659.0 -116.79 - - 3341.69 - - - - - - - - - 16.00 -
6015.77 758.37 -10.48 403 6038.82 roll -0.62 - - 2263.81 - 2.08 0.085 3171.25 563.9 -116.79 - - 3342.78 - - - - - - - - - 15.87 -
6341.03 795.52 -11.61 419 6363.68 no move -0.62 - - 2263.94 - - - 3172.38 - -116.79 - - 3338.59 - - - - - - - - - - -
6645.85 830.53 -11.43 434 6668.92 roll -0.62 - - 2263.38 - 1.83 0.029 2018.75 -630.4 -116.79 - - 3337.97 - - - - - - - - - 15.96 -
6700.63 836.52 -10.84 436 6723.70 roll -0.62 - - 2254.19 - 2.05 0.086 3169.19 561.2 -116.79 - - 3338.94 - - - - - - - - - 15.83 -
7026.16 874.61 -11.69 452 7049.23 roll -0.62 - - 2253.75 - 1.82 0.026 2020.31 -631.3 -116.79 - - 3338.31 - - - - - - - - - 15.99 -
7065.93 879.08 -11.07 453 7088.98 roll -0.62 - - 2246.12 - 2.06 0.085 3173.06 559.6 -116.79 - - 3337.31 - - - - - - - - - 15.83 -
7372.94 914.91 -11.88 468 7395.70 pitch -0.62 0.15 0.228 2285.62 263.3 - - 3171.19 - -116.79 - - 3335.88 - - - - - - - - 15.63 - -
7677.98 943.48 -9.00 483 7701.04 roll -0.62 - - 2285.31 - 1.83 0.029 2023.25 -627.3 -116.79 - - 3334.12 - - - - - - - - - 15.98 -
7762.77 950.77 -8.43 486 7785.95 roll -0.62 - - 2279.06 - 2.07 0.085 3171.56 554.7 -116.79 - - 3333.34 - - - - - - - - - 15.77 -
8098.25 981.06 -8.89 503 8120.90 no move -0.62 - - 2278.38 - - - 3171.94 - -116.79 - - 3333.41 - - - - - - - - - - -
8203 end dive: TARGET_DEPTH_EXCEEDED
8203 begin apogee
8205.05 990.38 -8.90 508 8305.83 -0.14 0.56 0.178 2444.62 296.9 0.13 0.187 2724.81 -3439.5 - 90.17 2.073 2900.22 -4.8 0.389 - - - - - - 14.89 15.21 10.91
8306 end apogee: CONTROL_FINISHED_OK
8306 begin climb
8306.59 992.68 - 512 8431.17 0.62 0.73 0.078 2695.81 344.1 2.02 0.103 3773.75 519.3 116.79 101.40 2.047 2422.62 -4.7 0.387 - - - - - - 15.38 15.01 12.17
8437.89 988.01 5.23 517 8505.51 done 0.69 - - 2705.50 - 1.93 0.033 2621.06 -597.2 179.12 53.90 1.964 2171.47 -4.7 0.397 - - - - - - - 15.27 12.07
8812.72 945.33 11.57 536 8835.37 VBD 0.69 - - 2704.94 - - - 2622.12 - 179.12 - - 2159.28 - - - - - - - - - - -
9117.72 909.50 11.92 551 9140.37 VBD 0.69 - - 2704.88 - - - 2621.19 - 179.12 - - 2158.75 - - - - - - - - - - -
9422.61 872.66 12.24 566 9445.81 done 0.69 - - 2703.62 - 2.17 0.105 3774.94 531.7 179.12 - - 2157.12 - - - - - - - - - 15.76 -
9482.45 864.44 14.04 568 9505.41 done 0.69 - - 2708.00 - 1.86 0.036 2623.56 -619.0 179.12 - - 2159.41 - - - - - - - - - 15.87 -
9789.29 827.19 11.91 583 9811.95 VBD 0.69 - - 2710.50 - - - 2619.00 - 179.12 - - 2156.31 - - - - - - - - - - -
10094.27 791.99 11.56 598 10116.92 VBD 0.69 - - 2709.19 - - - 2618.88 - 179.12 - - 2156.97 - - - - - - - - - - -
10399.22 757.31 11.34 613 10421.87 VBD 0.69 - - 2710.44 - - - 2619.06 - 179.12 - - 2155.34 - - - - - - - - - - -
10704.08 723.30 10.95 628 10726.73 VBD 0.69 - - 2710.00 - - - 2619.06 - 179.12 - - 2155.81 - - - - - - - - - - -
11009.09 690.00 11.03 643 11032.29 done 0.69 - - 2709.12 - 2.15 0.100 3775.06 537.7 179.12 - - 2156.44 - - - - - - - - - 15.79 -
11053.93 684.34 12.58 644 11076.88 done 0.69 - - 2718.75 - 1.87 0.035 2627.69 -613.6 179.12 - - 2157.25 - - - - - - - - - 15.88 -
11360.86 647.76 12.11 660 11383.51 VBD 0.69 - - 2718.88 - - - 2614.00 - 179.12 - - 2154.19 - - - - - - - - - - -
11665.69 610.26 12.56 675 11688.34 VBD 0.69 - - 2718.31 - - - 2614.56 - 179.12 - - 2155.94 - - - - - - - - - - -
11970.54 572.25 12.27 690 11993.19 VBD 0.69 - - 2718.75 - - - 2612.75 - 179.12 - - 2155.66 - - - - - - - - - - -
12275.54 535.12 12.13 705 12298.19 VBD 0.69 - - 2719.00 - - - 2614.31 - 179.12 - - 2156.16 - - - - - - - - - - -
12580.32 499.39 11.58 720 12603.52 done 0.69 - - 2719.00 - 2.15 0.102 3773.44 539.1 179.12 - - 2153.94 - - - - - - - - - 15.76 -
12670.67 487.55 13.41 724 12693.74 done 0.69 - - 2729.38 - 1.85 0.035 2616.50 -625.4 179.12 - - 2156.38 - - - - - - - - - 15.92 -
13000.93 448.21 11.62 740 13023.97 done 0.69 - - 2735.38 - 1.62 0.026 1576.75 -641.8 179.12 - - 2157.59 - - - - - - - - - 15.97 -
13055.68 442.10 11.08 742 13078.80 0.69 0.14 0.214 2694.50 -292.0 2.02 0.069 2718.25 565.1 179.12 - - 2158.19 - - - - - - - - 15.61 15.85 -
13381.10 409.72 9.96 758 13403.75 VBD 0.69 - - 2695.69 - - - 2718.56 - 179.12 - - 2154.72 - - - - - - - - - - -
13685.96 379.14 10.03 783 13708.61 VBD 0.69 - - 2694.06 - - - 2718.25 - 179.12 - - 2156.19 - - - - - - - - - - -
13880.75 359.68 10.09 801 13903.82 done 0.69 - - 2700.25 - 1.83 0.027 1591.31 -615.8 179.12 - - 2154.06 - - - - - - - - - 15.96 -
13941.19 353.83 9.73 805 13964.22 done 0.69 - - 2698.69 - 1.99 0.069 2716.94 565.6 179.12 - - 2158.44 - - - - - - - - - 15.83 -
14136.40 333.44 10.57 823 14159.05 VBD 0.69 - - 2699.38 - - - 2716.50 - 179.12 - - 2153.97 - - - - - - - - - - -
14331.40 312.66 10.72 841 14354.05 VBD 0.69 - - 2700.38 - - - 2716.12 - 179.12 - - 2154.38 - - - - - - - - - - -
14526.18 292.17 10.38 859 14549.25 done 0.69 - - 2707.88 - 1.82 0.026 1580.94 -623.7 179.12 - - 2154.72 - - - - - - - - - 15.94 -
14560.96 288.71 9.77 860 14584.01 done 0.69 - - 2707.69 - 2.02 0.068 2717.62 562.7 179.12 - - 2154.31 - - - - - - - - - 15.77 -
14766.17 267.17 10.24 880 14789.32 done 0.69 - - 2707.44 - 1.93 0.099 3775.75 548.3 179.12 - - 2154.22 - - - - - - - - - 15.73 -
14806.65 262.50 11.52 882 14829.60 done 0.69 - - 2716.88 - 1.84 0.034 2613.88 -631.5 179.12 - - 2155.00 - - - - - - - - - 15.93 -
15001.82 242.51 9.46 900 15024.86 done 0.69 - - 2723.56 - 1.62 0.027 1577.25 -639.9 179.12 - - 2154.91 - - - - - - - - - 15.96 -
15072.04 235.93 9.38 905 15095.21 done 0.69 - - 2723.62 - 2.02 0.069 2718.75 565.1 179.12 - - 2154.66 - - - - - - - - - 15.83 -
15267.51 216.18 10.14 923 15290.16 VBD 0.69 - - 2724.50 - - - 2719.25 - 179.12 - - 2153.56 - - - - - - - - - - -
15462.50 197.12 9.24 941 15485.15 VBD 0.69 - - 2722.62 - - - 2718.94 - 179.12 - - 2154.50 - - - - - - - - - - -
15657.31 180.11 8.66 959 15680.38 done 0.69 - - 2731.19 - 1.83 0.025 1579.75 -622.5 179.12 - - 2157.31 - - - - - - - - - 15.95 -
15777.72 170.61 7.86 969 15800.89 done 0.70 - - 2731.50 - 2.01 0.067 2720.06 567.3 179.12 - - 2154.59 - - - - - - - - - 15.82 -
15973.08 155.24 7.61 987 15996.25 done 0.72 - - 2731.12 - 1.92 0.098 3776.88 550.4 179.12 - - 2153.78 - - - - - - - - - 15.74 -
16023.37 151.26 7.82 990 16046.31 done 0.73 - - 2739.06 - 1.84 0.030 2616.25 -630.8 179.12 - - 2154.38 - - - - - - - - - 15.94 -
16218.62 139.75 4.53 1008 16287.78 done 0.80 - - 2747.88 - 1.64 0.027 1572.38 -636.5 254.88 56.50 0.957 1859.12 -5.2 0.129 - - - - - - - 15.69 11.39
16414.99 125.76 8.14 1027 16438.16 roll 0.80 - - 2748.62 - 2.04 0.069 2718.88 562.0 254.88 - - 1854.31 - - - - - - - - - 15.73 -
16610.39 110.84 7.97 1045 16633.46 roll 0.80 - - 2755.44 - 1.83 0.023 1572.69 -626.3 254.88 - - 1854.22 - - - - - - - - - 15.81 -
16752.34 101.39 6.46 1057 16795.50 done 0.84 - - 2755.81 - 2.03 0.068 2716.25 563.3 293.58 30.34 0.828 1702.81 -5.0 0.103 - - - - - - - 15.77 12.10
16969.40 87.14 6.21 1078 17016.82 done 0.89 - - 2762.81 - 1.84 0.025 1573.75 -620.9 336.94 33.08 0.788 1525.41 -5.4 0.100 - - - - - - - 15.65 12.13
17148.51 77.08 4.73 1095 17215.31 done 0.96 - - 2763.25 - 2.03 0.065 2720.56 564.9 408.95 52.28 0.769 1232.69 -5.6 0.095 - - - - - - - 15.71 12.13
17397.69 63.63 5.21 1120 17453.15 1.02 0.13 0.065 2856.50 717.3 - - 2720.88 - 471.69 45.42 0.723 977.94 -5.6 0.084 - - - - - - 15.74 - 12.01
17627.62 42.93 8.98 1143 17650.38 pitch 1.02 0.19 0.188 2801.31 -290.5 - - 2720.69 - 471.69 - - 972.47 - - - - - - - - 15.64 - -
17822.78 31.28 6.63 1161 17845.42 no move 1.06 - - 2801.56 - - - 2720.25 - 471.69 - - 972.38 - - - - - - - - - - -
18017.60 17.25 7.92 1179 18040.66 roll 1.07 - - 2806.00 - 1.81 0.022 1579.25 -630.4 471.69 - - 972.97 - - - - - - - - - 15.12 -
18052.37 14.20 8.78 1180 18075.38 roll 1.07 - - 2805.88 - 1.98 0.060 2720.31 576.3 471.69 - - 972.84 - - - - - - - - - 15.82 -
18207 end climb: SURFACE_DEPTH_REACHED
18207 begin surface coast
18237 end surface coast: CONTROL_FINISHED_OK
18237 begin surface
SM 0.99 - - - - 334.6 - 0.010 861.4 - 6.55 0.024 891.4 136.1 - 0.75 0.086 831.4 1105.9 -1.301 - - 30.36 15.89 15.88 -