MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 660 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 180.16 of 350.00 AH used of 24V (48.53% remains)
• Surface angle -72.6 deg, depth 0.59 m • Intended pitch -19.2 deg, speed -8.462 cm/s
VBD pumped to 499.94 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 98
• 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
3.82 - - - 74.91 VBD -0.63 - - 288.12 - - - 2576.25 - -116.79 70.51 0.005 2459.03 - - - - - - - - - - 14.64
75.18 3.75 -5.15 7 108.31 -0.63 10.41 0.372 2288.31 192.1 1.64 0.024 1521.19 -643.3 -116.79 17.58 0.006 3299.69 47.8 -5.259 - - - - - - 14.94 14.86 14.97
190.04 36.77 -19.72 19 195.26 roll -0.63 - - 2283.69 - 2.08 0.074 2661.56 548.3 -116.79 - - 3299.75 - - - - - - - - - 15.63 -
380.09 78.89 -17.77 38 385.32 roll -0.63 - - 2274.19 - 2.13 0.095 3731.19 502.2 -116.79 - - 3299.31 - - - - - - - - - 15.67 -
610.32 116.01 -13.85 61 615.51 roll -0.63 - - 2273.75 - 1.98 0.021 2599.75 -571.4 -116.79 - - 3298.16 - - - - - - - - - 15.91 -
800.27 143.59 -14.60 80 805.52 roll -0.63 - - 2264.75 - 2.29 0.091 3727.88 492.6 -116.79 - - 3299.00 - - - - - - - - - 15.73 -
910.31 160.74 -14.71 91 915.50 roll -0.63 - - 2264.31 - 1.99 0.024 2597.56 -568.0 -116.79 - - 3298.50 - - - - - - - - - 15.92 -
1100.36 186.56 -13.20 110 1103.10 roll -0.63 - - 2263.56 - 1.66 0.019 1518.12 -650.3 -116.79 - - 3297.53 - - - - - - - - - 15.98 -
1135.43 191.04 -12.54 114 1140.65 roll -0.63 - - 2256.50 - 2.02 0.062 2662.25 566.4 -116.79 - - 3297.66 - - - - - - - - - 15.80 -
1325.43 216.82 -13.64 133 1326.89 pitch -0.63 0.14 0.217 2292.81 259.4 - - 2661.88 - -116.79 - - 3296.19 - - - - - - - - 15.63 - -
1505.47 236.67 -10.63 151 1508.24 roll -0.63 - - 2291.94 - 1.84 0.021 1518.38 -621.5 -116.79 - - 3296.72 - - - - - - - - - 15.95 -
1525.51 238.73 -10.44 153 1530.74 roll -0.63 - - 2287.38 - 2.03 0.062 2661.75 563.2 -116.79 - - 3298.38 - - - - - - - - - 15.81 -
1710.50 259.71 -11.71 172 1715.73 roll -0.63 - - 2278.06 - 2.13 0.099 3726.00 499.6 -116.79 - - 3296.12 - - - - - - - - - 15.73 -
1735.47 262.76 -11.96 174 1740.68 roll -0.63 - - 2277.88 - 1.99 0.026 2584.00 -573.9 -116.79 - - 3296.19 - - - - - - - - - 15.95 -
1920.60 285.91 -12.65 193 1921.93 no move -0.63 - - 2278.06 - - - 2584.50 - -116.79 - - 3294.84 - - - - - - - - - - -
2100.57 309.10 -12.81 211 2101.90 no move -0.63 - - 2277.25 - - - 2584.25 - -116.79 - - 3293.69 - - - - - - - - - - -
2280.60 331.44 -12.14 229 2281.94 no move -0.63 - - 2278.25 - - - 2584.50 - -116.79 - - 3291.00 - - - - - - - - - - -
2460.63 352.88 -11.83 247 2465.90 roll -0.63 - - 2267.56 - 2.36 0.097 3727.50 484.3 -116.79 - - 3291.09 - - - - - - - - - 15.71 -
2490.62 356.67 -12.70 250 2495.83 roll -0.63 - - 2266.06 - 2.01 0.028 2590.19 -565.8 -116.79 - - 3291.56 - - - - - - - - - 15.95 -
2680.67 380.54 -12.65 269 2682.00 no move -0.63 - - 2267.69 - - - 2589.25 - -116.79 - - 3290.25 - - - - - - - - - - -
2860.70 403.45 -12.73 286 2862.03 no move -0.63 - - 2267.62 - - - 2589.56 - -116.79 - - 3287.91 - - - - - - - - - - -
3160.72 441.95 -12.71 301 3165.99 roll -0.63 - - 2257.88 - 2.36 0.099 3724.44 480.9 -116.79 - - 3286.66 - - - - - - - - - 15.70 -
3180.71 444.62 -12.81 302 3186.00 roll back -0.63 0.13 0.198 2293.56 274.5 2.01 0.028 2576.44 -571.1 -116.79 - - 3288.44 - - - - - - - - 15.62 15.94 -
3500.75 478.23 -10.37 318 3506.01 roll -0.63 - - 2287.44 - 2.38 0.096 3723.44 481.9 -116.79 - - 3284.59 - - - - - - - - - 15.71 -
3520.74 480.43 -10.33 319 3525.95 roll -0.63 - - 2286.62 - 2.01 0.027 2583.25 -567.3 -116.79 - - 3284.34 - - - - - - - - - 15.95 -
3840.77 515.50 -10.84 335 3842.10 no move -0.63 - - 2287.12 - - - 2582.62 - -116.79 - - 3282.34 - - - - - - - - - - -
4140.80 547.21 -10.43 350 4146.07 roll -0.63 - - 2276.88 - 2.38 0.102 3725.50 480.2 -116.79 - - 3282.56 - - - - - - - - - 15.68 -
4180.80 551.62 -11.17 352 4186.01 roll -0.63 - - 2277.12 - 2.02 0.029 2583.56 -565.3 -116.79 - - 3281.47 - - - - - - - - - 15.92 -
4500.83 586.65 -10.92 368 4502.16 no move -0.63 - - 2276.75 - - - 2583.12 - -116.79 - - 3279.22 - - - - - - - - - - -
4800.85 619.88 -11.13 383 4806.12 roll -0.63 - - 2267.12 - 2.39 0.101 3726.81 478.5 -116.79 - - 3279.22 - - - - - - - - - 15.66 -
4830.83 623.45 -11.82 384 4836.04 roll -0.63 - - 2267.06 - 2.02 0.029 2588.88 -563.3 -116.79 - - 3278.56 - - - - - - - - - 15.95 -
5140.89 659.87 -11.71 400 5142.22 no move -0.63 - - 2266.69 - - - 2587.88 - -116.79 - - 3277.06 - - - - - - - - - - -
5440.93 693.69 -11.13 415 5446.19 roll -0.63 - - 2255.94 - 2.37 0.101 3725.19 479.9 -116.79 - - 3277.00 - - - - - - - - - 15.64 -
5475.90 697.83 -11.80 416 5481.22 roll back -0.63 0.12 0.195 2293.00 308.8 2.02 0.030 2581.31 -566.3 -116.79 - - 3275.88 - - - - - - - - 15.57 15.94 -
5780.97 727.50 -9.68 432 5782.30 no move -0.63 - - 2291.50 - - - 2580.31 - -116.79 - - 3276.56 - - - - - - - - - - -
6081.01 756.16 -9.29 447 6082.35 no move -0.63 - - 2292.94 - - - 2580.94 - -116.79 - - 3273.50 - - - - - - - - - - -
6381.05 784.75 -9.62 462 6386.33 roll -0.63 - - 2285.06 - 2.42 0.105 3724.88 472.7 -116.79 - - 3273.69 - - - - - - - - - 15.57 -
6406.02 787.26 -9.71 463 6411.24 roll -0.63 - - 2284.62 - 2.03 0.030 2581.31 -563.3 -116.79 - - 3272.97 - - - - - - - - - 15.92 -
6721.10 818.89 -10.08 479 6722.43 no move -0.63 - - 2285.75 - - - 2581.38 - -116.79 - - 3272.22 - - - - - - - - - - -
7021.14 847.72 -9.53 494 7026.43 roll -0.63 - - 2275.00 - 2.41 0.101 3727.56 475.6 -116.79 - - 3273.00 - - - - - - - - - 15.57 -
7056.12 851.27 -10.15 495 7061.35 roll -0.63 - - 2275.06 - 2.04 0.032 2583.25 -560.9 -116.79 - - 3270.75 - - - - - - - - - 15.89 -
7361.18 882.05 -9.94 511 7362.52 no move -0.63 - - 2274.50 - - - 2582.38 - -116.79 - - 3269.50 - - - - - - - - - - -
7661.23 911.73 -9.77 526 7666.52 roll -0.63 - - 2264.12 - 2.41 0.102 3726.81 474.9 -116.79 - - 3268.66 - - - - - - - - - 15.55 -
7681.22 913.75 -9.71 527 7686.43 roll -0.63 - - 2265.38 - 2.04 0.031 2584.50 -560.0 -116.79 - - 3268.06 - - - - - - - - - 15.90 -
8001.27 946.80 -10.24 543 8006.56 roll -0.63 - - 2255.19 - 2.44 0.109 3724.50 467.2 -116.79 - - 3267.81 - - - - - - - - - 15.48 -
8026.26 949.58 -10.29 544 8031.55 roll back -0.63 0.14 0.192 2294.75 282.6 2.04 0.030 2581.62 -560.2 -116.79 - - 3266.69 - - - - - - - - 15.48 15.88 -
8341.33 976.61 -8.53 560 8342.66 no move -0.63 - - 2294.69 - - - 2580.62 - -116.79 - - 3266.72 - - - - - - - - - - -
8501 end dive: TARGET_DEPTH_EXCEEDED
8501 begin apogee
8502.61 990.24 -8.55 568 8603.60 -0.14 0.55 0.164 2454.50 290.6 0.07 0.207 2719.69 1986.7 - 99.36 2.021 2825.09 -4.4 0.383 - - - - - - 15.45 14.84 9.98
8604 end apogee: CONTROL_FINISHED_OK
8604 begin climb
8603.97 993.46 - 573 8713.81 0.63 0.74 0.065 2713.50 350.0 - - 2720.00 - 116.79 107.82 1.986 2347.22 -4.4 0.390 - - - - - - 15.25 - 11.67
9021.46 975.96 6.27 594 9067.17 done 0.68 - - 2710.56 - 2.27 0.116 3796.19 474.1 161.55 40.08 1.894 2164.88 -4.5 0.413 - - - - - - - 15.08 11.18
9151.45 965.51 9.09 600 9154.24 roll 0.68 - - 2715.12 - 1.95 0.032 2719.44 -552.2 161.55 - - 2163.88 - - - - - - - - - 15.62 -
9456.45 940.33 8.16 616 9459.22 roll 0.68 - - 2723.81 - 1.87 0.030 1646.88 -573.6 161.55 - - 2160.00 - - - - - - - - - 15.81 -
9506.45 936.39 8.03 618 9511.70 roll 0.68 - - 2724.81 - 2.19 0.083 2757.31 507.0 161.55 - - 2158.50 - - - - - - - - - 15.64 -
9811.50 911.08 8.42 634 9816.69 done 0.68 - - 2732.62 - 1.99 0.031 1647.38 -557.8 161.55 - - 2157.88 - - - - - - - - - 15.88 -
9846.47 908.18 8.46 635 9851.73 done 0.68 - - 2733.12 - 2.17 0.082 2757.81 511.7 161.55 - - 2158.69 - - - - - - - - - 15.67 -
10151.52 882.14 8.40 651 10156.72 done 0.68 - - 2740.12 - 1.99 0.031 1646.00 -558.7 161.55 - - 2159.75 - - - - - - - - - 15.91 -
10196.50 878.36 8.38 653 10201.74 done 0.68 - - 2741.12 - 2.19 0.083 2760.56 508.9 161.55 - - 2157.16 - - - - - - - - - 15.67 -
10511.57 849.83 9.18 669 10516.76 done 0.68 - - 2748.50 - 1.98 0.030 1644.25 -563.8 161.55 - - 2156.91 - - - - - - - - - 15.91 -
10551.55 846.17 9.14 671 10556.93 0.68 0.16 0.218 2705.31 -269.9 2.18 0.081 2759.69 511.7 161.55 - - 2158.31 - - - - - - - - 15.42 15.67 -
10871.62 820.70 7.85 687 10872.96 VBD 0.69 - - 2705.81 - - - 2760.19 - 161.55 - - 2154.44 - - - - - - - - - - -
11171.64 798.39 7.41 702 11176.83 done 0.71 - - 2711.12 - 2.00 0.028 1642.75 -558.7 161.55 - - 2155.53 - - - - - - - - - 15.94 -
11216.61 795.11 7.22 704 11221.85 done 0.74 - - 2709.12 - 2.18 0.078 2759.94 512.5 161.55 - - 2155.94 - - - - - - - - - 15.68 -
11531.67 771.76 7.39 720 11536.87 done 0.76 - - 2715.25 - 2.00 0.029 1636.44 -561.8 161.55 - - 2156.03 - - - - - - - - - 15.93 -
11591.67 767.37 7.39 723 11596.92 done 0.78 - - 2715.00 - 2.20 0.080 2759.81 510.6 161.55 - - 2156.19 - - - - - - - - - 15.66 -
11911.71 742.61 7.55 739 11913.17 0.80 0.11 0.091 2783.31 621.0 - - 2760.00 - 161.55 - - 2157.75 - - - - - - - - 15.91 - -
12211.75 712.38 10.22 754 12213.21 0.80 0.16 0.240 2743.81 -246.9 - - 2760.94 - 161.55 - - 2154.38 - - - - - - - - 15.39 - -
12511.75 686.55 8.71 769 12516.94 done 0.80 - - 2748.88 - 2.00 0.028 1639.31 -560.8 161.55 - - 2156.59 - - - - - - - - - 15.94 -
12611.75 678.03 8.50 774 12616.98 done 0.80 - - 2748.44 - 2.18 0.078 2759.94 514.1 161.55 - - 2157.28 - - - - - - - - - 15.64 -
12931.78 649.21 8.85 790 12933.12 VBD 0.80 - - 2749.56 - - - 2759.50 - 161.55 - - 2154.03 - - - - - - - - - - -
13231.81 622.60 8.98 805 13237.02 done 0.80 - - 2749.50 - 2.09 0.117 3795.88 495.9 161.55 - - 2154.78 - - - - - - - - - 15.49 -
13261.77 619.59 9.25 806 13264.57 done 0.80 - - 2757.62 - 1.92 0.035 2717.25 -561.8 161.55 - - 2154.03 - - - - - - - - - 15.86 -
13566.83 591.40 9.33 822 13572.08 done 0.80 - - 2758.38 - 2.28 0.110 3797.31 473.7 161.55 - - 2156.41 - - - - - - - - - 15.49 -
13621.81 585.41 10.90 824 13624.59 done 0.80 - - 2765.56 - 1.91 0.035 2717.69 -565.2 161.55 - - 2154.47 - - - - - - - - - 15.87 -
13921.85 557.44 9.13 839 13923.18 VBD 0.80 - - 2767.12 - - - 2699.38 - 161.55 - - 2154.41 - - - - - - - - - - -
14221.87 529.72 9.10 854 14223.21 VBD 0.80 - - 2768.00 - - - 2699.25 - 161.55 - - 2154.34 - - - - - - - - - - -
14521.91 502.42 9.01 869 14527.16 done 0.80 - - 2768.06 - 2.26 0.106 3796.38 485.5 161.55 - - 2155.19 - - - - - - - - - 15.49 -
14586.89 495.72 10.44 872 14589.68 done 0.80 - - 2774.56 - 1.91 0.035 2714.19 -566.6 161.55 - - 2154.91 - - - - - - - - - 15.86 -
14896.96 466.81 9.50 888 14899.73 done 0.80 - - 2783.81 - 1.81 0.028 1635.00 -596.2 161.55 - - 2155.62 - - - - - - - - - 15.92 -
14931.99 463.52 9.65 890 14937.36 0.80 0.13 0.224 2743.69 -308.6 2.17 0.074 2760.94 518.9 161.55 - - 2155.19 - - - - - - - - 15.30 15.63 -
15252.02 436.42 8.38 906 15257.24 done 0.80 - - 2743.69 - 2.08 0.116 3795.56 497.4 161.55 - - 2154.50 - - - - - - - - - 15.45 -
15302.01 431.70 9.53 908 15304.80 done 0.80 - - 2749.75 - 1.92 0.036 2716.81 -561.8 161.55 - - 2153.59 - - - - - - - - - 15.84 -
15607.07 405.62 8.51 924 15612.33 done 0.80 - - 2750.62 - 2.27 0.106 3794.75 474.9 161.55 - - 2155.25 - - - - - - - - - 15.47 -
15667.09 399.84 9.71 927 15669.90 done 0.80 - - 2759.38 - 1.91 0.035 2704.81 -570.6 161.55 - - 2153.44 - - - - - - - - - 15.85 -
15852.14 383.91 8.47 946 15854.90 done 0.80 - - 2768.25 - 1.80 0.027 1635.81 -593.9 161.55 - - 2153.53 - - - - - - - - - 15.92 -
15907.16 379.46 8.18 952 15912.40 done 0.80 - - 2767.69 - 2.17 0.071 2761.56 518.8 161.55 - - 2154.78 - - - - - - - - - 15.63 -
16097.22 363.42 8.25 971 16098.55 VBD 0.80 - - 2767.44 - - - 2760.88 - 161.55 - - 2154.19 - - - - - - - - - - -
16277.27 348.38 8.47 989 16278.61 VBD 0.80 - - 2767.81 - - - 2761.56 - 161.55 - - 2153.94 - - - - - - - - - - -
16457.31 333.34 8.14 1007 16462.53 done 0.80 - - 2767.12 - 2.07 0.113 3795.75 499.6 161.55 - - 2154.72 - - - - - - - - - 15.45 -
16492.29 330.10 8.93 1010 16495.08 done 0.80 - - 2775.12 - 1.91 0.035 2708.69 -569.1 161.55 - - 2156.94 - - - - - - - - - 15.85 -
16672.36 315.03 8.30 1028 16673.70 VBD 0.80 - - 2777.00 - - - 2697.94 - 161.55 - - 2153.97 - - - - - - - - - - -
16852.42 299.84 8.57 1046 16855.17 done 0.80 - - 2784.38 - 1.79 0.026 1635.31 -593.6 161.55 - - 2154.91 - - - - - - - - - 15.92 -
16877.51 297.79 8.44 1049 16882.89 0.80 0.16 0.202 2742.25 -263.3 2.17 0.071 2759.12 517.9 161.55 - - 2155.22 - - - - - - - - 15.32 15.62 -
17067.48 283.59 7.42 1068 17068.82 VBD 0.82 - - 2742.56 - - - 2758.75 - 161.55 - - 2153.84 - - - - - - - - - - -
17247.51 271.42 6.51 1086 17252.72 done 0.86 - - 2742.56 - 2.07 0.113 3793.00 499.6 161.55 - - 2155.19 - - - - - - - - - 15.44 -
17292.49 267.99 7.60 1090 17297.76 0.88 0.08 0.099 2809.19 832.9 1.91 0.036 2691.69 -576.6 161.55 - - 2156.03 - - - - - - - - 15.76 15.84 -
17477.54 251.66 9.04 1109 17480.37 0.88 0.15 0.217 2772.25 -246.3 1.79 0.027 1637.25 -589.1 161.55 - - 2154.72 - - - - - - - - 15.43 15.41 -
17512.54 249.01 8.28 1113 17517.78 done 0.88 - - 2773.12 - 2.19 0.072 2762.31 513.7 161.55 - - 2156.28 - - - - - - - - - 15.61 -
17702.57 233.76 8.23 1132 17707.78 done 0.88 - - 2772.81 - 2.07 0.112 3794.94 498.9 161.55 - - 2155.38 - - - - - - - - - 15.45 -
17722.56 231.98 8.34 1134 17725.35 done 0.88 - - 2781.69 - 1.91 0.035 2713.50 -566.2 161.55 - - 2155.09 - - - - - - - - - 15.84 -
17907.60 216.77 8.46 1153 17908.94 VBD 0.88 - - 2781.62 - - - 2694.44 - 161.55 - - 2154.56 - - - - - - - - - - -
18087.64 202.19 7.87 1171 18088.98 VBD 0.89 - - 2782.12 - - - 2694.75 - 161.55 - - 2154.41 - - - - - - - - - - -
18267.66 187.62 8.20 1189 18272.93 done 0.89 - - 2782.50 - 2.31 0.112 3794.81 476.2 161.55 - - 2155.38 - - - - - - - - - 15.44 -
18317.65 182.79 9.87 1194 18320.44 done 0.89 - - 2791.00 - 1.91 0.033 2708.69 -568.6 161.55 - - 2155.06 - - - - - - - - - 15.82 -
18502.71 167.68 7.85 1213 18507.96 done 0.90 - - 2790.94 - 2.27 0.109 3794.94 478.5 161.55 - - 2155.44 - - - - - - - - - 15.45 -
18522.76 165.90 8.16 1215 18525.55 done 0.90 - - 2799.81 - 1.91 0.034 2707.50 -569.3 161.55 - - 2154.31 - - - - - - - - - 15.84 -
18707.74 152.95 6.84 1234 18710.49 done 0.93 - - 2806.88 - 1.80 0.026 1628.88 -599.2 161.55 - - 2154.97 - - - - - - - - - 15.92 -
18887.76 140.73 6.67 1252 18893.02 done 0.97 - - 2808.31 - 2.17 0.072 2759.75 521.1 161.55 - - 2155.69 - - - - - - - - - 15.63 -
19072.80 129.61 6.13 1271 19115.12 done 1.02 - - 2816.56 - 2.01 0.028 1630.00 -562.1 209.14 39.07 0.913 1968.44 -4.8 0.120 - - - - - - - 15.25 10.20
19147.81 124.67 7.00 1279 19153.04 roll 1.04 - - 2816.62 - 2.17 0.072 2759.62 520.6 209.14 - - 1968.44 - - - - - - - - - 15.66 -
19337.82 107.84 9.05 1298 19343.04 roll 1.04 - - 2810.88 - 2.07 0.109 3794.62 500.0 209.14 - - 1966.19 - - - - - - - - - 15.50 -
19447.87 97.86 7.66 1309 19450.66 roll 1.06 - - 2817.44 - 1.90 0.032 2706.69 -572.6 209.14 - - 1965.72 - - - - - - - - - 15.82 -
19632.88 87.75 4.71 1328 19694.20 1.14 0.12 0.074 2896.12 655.7 - - 2693.94 - 285.73 59.99 0.849 1660.97 -5.1 0.092 - - - - - - 15.84 - 11.21
19873.13 63.83 10.21 1352 19874.59 pitch 1.14 0.17 0.223 2852.69 -255.5 - - 2694.38 - 285.73 - - 1653.94 - - - - - - - - 15.34 - -
20052.96 54.36 4.26 1370 20120.81 1.22 0.11 0.077 2920.12 613.0 1.80 0.026 1634.00 -589.1 371.42 64.01 0.771 1309.09 -5.4 0.067 - - - - - - 15.80 15.27 11.16
20343.02 30.69 10.39 1398 20348.42 roll back 1.22 0.14 0.202 2878.00 -300.9 2.15 0.066 2761.38 524.4 371.42 - - 1303.97 - - - - - - - - 15.39 15.62 -
20528.12 21.89 3.16 1417 20610.24 1.33 0.14 0.074 2945.50 482.1 2.05 0.105 3798.94 506.1 479.58 77.43 0.673 868.56 -5.6 0.032 - - - - - - 15.80 15.26 11.08
20703 end climb: SURFACE_DEPTH_REACHED
20703 begin surface coast
20723 end surface coast: CONTROL_FINISHED_OK
20723 begin surface
SM 0.80 - - - - 342.9 - 0.011 786.9 - 7.22 0.036 798.4 110.6 - 2.10 0.020 775.5 368.3 -1.506 - - 30.36 15.66 15.74 -