MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 728 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 197.75 of 350.00 AH used of 24V (43.50% remains)
• Surface angle -73.3 deg, depth 0.47 m • Intended pitch -19.0 deg, speed -8.462 cm/s
VBD pumped to 499.87 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 119
• 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
4.05 - - - 80.17 VBD -0.63 - - 311.31 - - - 2526.62 - -116.79 75.63 0.005 2613.88 - - - - - - - - - - 14.69
80.43 5.25 -8.98 8 111.57 -0.63 10.35 0.373 2281.50 190.4 2.53 0.096 3721.12 472.1 -116.79 13.18 0.006 3301.16 52.1 -8.035 - - - - - - 14.92 14.87 14.98
258.62 55.48 -21.32 26 263.83 roll -0.63 - - 2283.56 - 2.05 0.022 2584.44 -554.5 -116.79 - - 3298.88 - - - - - - - - - 15.85 -
448.65 86.77 -14.82 45 453.93 roll -0.63 - - 2272.50 - 2.42 0.097 3724.81 471.2 -116.79 - - 3300.09 - - - - - - - - - 15.66 -
523.66 98.19 -16.14 52 528.91 roll -0.63 - - 2272.69 - 2.04 0.021 2583.12 -559.7 -116.79 - - 3298.50 - - - - - - - - - 15.91 -
708.75 126.02 -14.87 71 711.49 roll -0.63 - - 2274.19 - 1.62 0.021 1522.69 -654.6 -116.79 - - 3299.44 - - - - - - - - - 15.94 -
783.76 136.68 -13.82 79 788.98 roll -0.63 - - 2264.50 - 2.04 0.072 2656.69 555.9 -116.79 - - 3299.19 - - - - - - - - - 15.74 -
973.80 163.28 -13.66 98 979.05 roll -0.63 - - 2255.50 - 2.21 0.103 3725.00 483.4 -116.79 - - 3300.38 - - - - - - - - - 15.68 -
1018.79 169.48 -13.75 102 1024.10 roll back -0.63 0.14 0.209 2293.25 269.6 2.05 0.024 2590.69 -553.3 -116.79 - - 3300.03 - - - - - - - - 15.58 15.95 -
1203.84 190.54 -11.17 121 1206.58 roll -0.63 - - 2294.69 - 1.64 0.021 1523.44 -650.8 -116.79 - - 3296.38 - - - - - - - - - 15.96 -
1288.86 199.91 -10.86 130 1294.08 roll -0.63 - - 2289.75 - 2.03 0.070 2657.75 558.8 -116.79 - - 3298.16 - - - - - - - - - 15.77 -
1478.88 223.51 -12.84 149 1480.21 no move -0.63 - - 2289.69 - - - 2657.88 - -116.79 - - 3296.28 - - - - - - - - - - -
1658.91 246.31 -12.88 167 1660.24 no move -0.63 - - 2289.31 - - - 2658.62 - -116.79 - - 3296.12 - - - - - - - - - - -
1838.93 269.19 -12.73 185 1841.71 roll -0.63 - - 2290.38 - 1.83 0.022 1538.75 -612.0 -116.79 - - 3295.44 - - - - - - - - - 15.96 -
1898.91 276.15 -11.29 191 1904.15 roll -0.63 - - 2281.81 - 2.03 0.073 2659.56 552.1 -116.79 - - 3296.00 - - - - - - - - - 15.76 -
2083.96 298.86 -12.21 210 2086.74 roll -0.63 - - 2280.88 - 1.85 0.022 1530.88 -610.1 -116.79 - - 3294.03 - - - - - - - - - 15.95 -
2123.94 303.66 -11.80 214 2129.18 roll -0.63 - - 2273.94 - 2.02 0.066 2660.12 559.0 -116.79 - - 3293.97 - - - - - - - - - 15.78 -
2309.00 327.37 -13.08 233 2311.78 roll -0.63 - - 2273.69 - 1.86 0.022 1529.00 -608.1 -116.79 - - 3292.22 - - - - - - - - - 15.90 -
2334.07 330.61 -13.03 236 2339.29 roll -0.63 - - 2265.12 - 2.03 0.068 2660.12 557.2 -116.79 - - 3293.16 - - - - - - - - - 15.76 -
2524.02 356.28 -13.67 255 2526.79 roll -0.63 - - 2266.75 - 1.85 0.022 1540.25 -605.3 -116.79 - - 3289.91 - - - - - - - - - 15.95 -
2559.02 360.88 -13.10 259 2564.22 roll -0.63 - - 2258.69 - 2.00 0.067 2658.31 559.0 -116.79 - - 3290.97 - - - - - - - - - 15.76 -
2749.06 386.36 -13.26 278 2754.31 roll back -0.63 0.14 0.220 2297.88 279.9 1.84 0.022 1527.81 -614.4 -116.79 - - 3290.25 - - - - - - - - 15.57 15.55 -
2784.03 390.23 -11.08 281 2789.28 roll -0.63 - - 2292.06 - 2.03 0.066 2661.69 558.6 -116.79 - - 3290.12 - - - - - - - - - 15.77 -
2979.08 411.64 -11.07 296 2981.85 roll -0.63 - - 2292.94 - 1.86 0.024 1539.06 -603.6 -116.79 - - 3288.34 - - - - - - - - - 15.97 -
3024.06 416.44 -10.48 298 3029.29 roll -0.63 - - 2284.19 - 2.01 0.066 2659.44 557.4 -116.79 - - 3288.19 - - - - - - - - - 15.76 -
3334.11 450.37 -10.65 314 3336.88 roll -0.63 - - 2284.25 - 1.84 0.022 1525.75 -616.1 -116.79 - - 3286.78 - - - - - - - - - 15.92 -
3384.09 455.37 -9.71 316 3389.33 roll -0.63 - - 2276.56 - 2.04 0.067 2659.31 555.7 -116.79 - - 3286.38 - - - - - - - - - 15.75 -
3689.14 489.63 -11.68 332 3690.47 no move -0.63 - - 2276.38 - - - 2658.50 - -116.79 - - 3284.06 - - - - - - - - - - -
3989.16 524.56 -11.48 347 3991.94 roll -0.63 - - 2277.19 - 1.85 0.023 1528.94 -610.6 -116.79 - - 3282.22 - - - - - - - - - 15.97 -
4064.17 532.87 -10.85 351 4069.38 roll -0.63 - - 2267.50 - 2.03 0.067 2659.38 556.9 -116.79 - - 3284.66 - - - - - - - - - 15.74 -
4384.23 571.56 -12.38 367 4387.00 roll -0.63 - - 2269.12 - 1.86 0.023 1529.38 -607.5 -116.79 - - 3282.44 - - - - - - - - - 15.95 -
4414.17 575.15 -11.87 368 4419.42 roll -0.63 - - 2261.19 - 2.03 0.065 2660.75 557.3 -116.79 - - 3282.22 - - - - - - - - - 15.74 -
4719.23 613.43 -12.48 384 4722.08 roll back -0.63 0.13 0.221 2296.25 269.7 1.84 0.023 1541.12 -608.5 -116.79 - - 3279.66 - - - - - - - - 15.56 15.51 -
4789.24 620.65 -9.79 387 4794.48 roll -0.63 - - 2291.19 - 2.04 0.068 2659.94 548.4 -116.79 - - 3281.41 - - - - - - - - - 15.71 -
5094.29 652.93 -10.56 403 5095.63 no move -0.63 - - 2290.50 - - - 2659.50 - -116.79 - - 3278.88 - - - - - - - - - - -
5394.34 684.42 -10.23 418 5397.11 roll -0.63 - - 2290.44 - 1.85 0.023 1526.19 -612.6 -116.79 - - 3277.81 - - - - - - - - - 15.96 -
5439.32 688.93 -9.94 420 5444.54 roll -0.63 - - 2283.12 - 2.05 0.068 2659.62 552.9 -116.79 - - 3278.34 - - - - - - - - - 15.70 -
5749.38 720.87 -10.38 436 5752.15 roll -0.63 - - 2282.44 - 1.87 0.024 1526.88 -605.7 -116.79 - - 3276.28 - - - - - - - - - 15.96 -
5784.39 724.35 -10.49 438 5789.62 roll -0.63 - - 2274.19 - 2.05 0.066 2659.88 552.7 -116.79 - - 3277.25 - - - - - - - - - 15.69 -
6104.44 758.22 -10.45 454 6107.21 roll -0.63 - - 2275.12 - 1.84 0.024 1524.88 -616.8 -116.79 - - 3274.97 - - - - - - - - - 15.92 -
6134.42 761.29 -10.39 455 6139.66 roll -0.63 - - 2266.31 - 2.05 0.067 2660.31 553.9 -116.79 - - 3276.62 - - - - - - - - - 15.68 -
6439.48 795.09 -11.36 471 6440.81 no move -0.63 - - 2267.00 - - - 2660.19 - -116.79 - - 3274.50 - - - - - - - - - - -
6739.52 830.63 -12.03 486 6740.86 no move -0.63 - - 2266.94 - - - 2660.19 - -116.79 - - 3273.34 - - - - - - - - - - -
7039.55 866.72 -11.72 501 7042.32 roll -0.63 - - 2266.25 - 1.85 0.024 1526.44 -612.8 -116.79 - - 3274.88 - - - - - - - - - 15.93 -
7129.55 876.64 -10.74 505 7134.80 roll -0.63 - - 2258.75 - 2.05 0.067 2658.25 552.1 -116.79 - - 3274.34 - - - - - - - - - 15.66 -
7434.61 911.40 -11.28 521 7439.87 roll back -0.63 0.14 0.212 2297.81 279.0 1.86 0.025 1529.94 -606.6 -116.79 - - 3272.59 - - - - - - - - 15.51 15.45 -
7469.60 914.61 -10.40 522 7474.83 roll -0.63 - - 2291.69 - 2.04 0.066 2659.69 553.8 -116.79 - - 3273.06 - - - - - - - - - 15.66 -
7774.66 942.10 -9.24 538 7775.99 no move -0.63 - - 2290.56 - - - 2659.94 - -116.79 - - 3272.62 - - - - - - - - - - -
8074.69 970.21 -9.35 553 8076.02 no move -0.63 - - 2291.88 - - - 2659.31 - -116.79 - - 3270.16 - - - - - - - - - - -
8294 end dive: TARGET_DEPTH_EXCEEDED
8294 begin apogee
8295.93 991.08 -9.51 564 8397.98 -0.14 0.57 0.170 2455.50 287.1 0.08 0.185 2717.69 729.8 - 99.94 2.019 2825.25 -4.5 0.385 - - - - - - 15.41 14.85 10.00
8398 end apogee: CONTROL_FINISHED_OK
8398 begin climb
8398.35 994.51 - 569 8512.65 0.63 0.74 0.068 2704.06 335.9 2.37 0.121 3793.44 453.9 116.79 108.00 1.983 2349.88 -4.4 0.389 - - - - - - 15.26 14.85 11.49
8560.26 993.10 4.48 577 8637.24 done 0.71 - - 2710.88 - 2.01 0.035 2706.50 -540.8 198.29 72.59 1.940 2017.38 -4.6 0.413 - - - - - - - 15.47 11.48
8935.27 959.33 9.70 596 8936.60 no move 0.71 - - 2711.12 - - - 2707.81 - 198.29 - - 2008.41 - - - - - - - - - - -
9235.31 930.30 9.82 611 9236.64 no move 0.71 - - 2711.62 - - - 2707.62 - 198.29 - - 2007.31 - - - - - - - - - - -
9535.35 900.45 9.90 626 9540.62 done 0.71 - - 2707.69 - 2.31 0.113 3795.31 470.9 198.29 - - 2009.44 - - - - - - - - - 15.56 -
9585.33 895.03 11.04 628 9588.12 done 0.71 - - 2714.06 - 1.98 0.035 2724.94 -540.6 198.29 - - 2009.97 - - - - - - - - - 15.84 -
9890.39 865.76 9.51 644 9891.73 VBD 0.71 - - 2714.69 - - - 2714.25 - 198.29 - - 2005.28 - - - - - - - - - - -
10190.43 839.16 8.44 659 10193.21 done 0.71 - - 2722.56 - 1.88 0.031 1645.31 -568.6 198.29 - - 2005.16 - - - - - - - - - 15.91 -
10230.42 835.79 8.52 661 10235.65 done 0.71 - - 2721.56 - 2.17 0.080 2757.31 512.4 198.29 - - 2007.19 - - - - - - - - - 15.69 -
10545.49 809.08 8.67 677 10546.83 VBD 0.71 - - 2722.06 - - - 2756.56 - 198.29 - - 2005.81 - - - - - - - - - - -
10845.51 782.27 9.09 692 10850.72 done 0.71 - - 2727.12 - 2.00 0.031 1646.81 -554.9 198.29 - - 2007.72 - - - - - - - - - 15.91 -
10870.82 780.00 9.04 693 10875.95 done 0.71 - - 2726.81 - 2.19 0.081 2757.88 507.3 198.29 - - 2006.34 - - - - - - - - - 15.65 -
11185.56 748.02 10.63 709 11186.90 VBD 0.71 - - 2727.50 - - - 2757.94 - 198.29 - - 2004.44 - - - - - - - - - - -
11485.61 717.04 10.12 724 11490.81 done 0.71 - - 2733.38 - 2.00 0.030 1643.88 -557.0 198.29 - - 2006.22 - - - - - - - - - 15.91 -
11530.58 712.67 9.63 726 11535.82 done 0.71 - - 2735.38 - 2.19 0.080 2758.69 509.0 198.29 - - 2005.25 - - - - - - - - - 15.63 -
11845.65 682.39 9.16 742 11850.85 done 0.71 - - 2742.50 - 2.00 0.030 1642.00 -558.3 198.29 - - 2005.84 - - - - - - - - - 15.90 -
11870.69 680.16 9.06 743 11875.93 done 0.71 - - 2742.62 - 2.18 0.078 2757.44 511.7 198.29 - - 2006.53 - - - - - - - - - 15.64 -
12185.69 651.69 8.80 759 12190.89 done 0.71 - - 2750.38 - 2.00 0.030 1643.00 -557.2 198.29 - - 2006.84 - - - - - - - - - 15.91 -
12215.67 649.03 8.68 760 12220.91 done 0.71 - - 2750.94 - 2.19 0.078 2758.69 509.4 198.29 - - 2005.38 - - - - - - - - - 15.63 -
12525.74 618.50 10.08 776 12530.97 done 0.71 - - 2749.94 - 2.14 0.118 3795.19 484.3 198.29 - - 2006.16 - - - - - - - - - 15.46 -
12565.75 613.89 11.74 778 12570.95 done 0.71 - - 2759.81 - 1.97 0.038 2701.69 -555.1 198.29 - - 2005.34 - - - - - - - - - 15.83 -
12885.79 578.54 11.28 794 12891.21 0.71 0.17 0.233 2705.75 -318.0 2.33 0.110 3795.69 469.5 198.29 - - 2005.34 - - - - - - - - 15.37 15.35 -
12910.77 575.90 11.39 795 12913.57 done 0.71 - - 2711.62 - 1.97 0.037 2717.38 -547.4 198.29 - - 2003.44 - - - - - - - - - 15.83 -
13220.82 549.29 8.45 811 13226.09 done 0.71 - - 2712.69 - 2.36 0.119 3794.19 456.3 198.29 - - 2005.22 - - - - - - - - - 15.43 -
13250.80 546.52 8.53 812 13256.00 done 0.71 - - 2722.44 - 1.97 0.037 2697.62 -556.6 198.29 - - 2005.25 - - - - - - - - - 15.82 -
13560.86 521.42 7.69 828 13562.20 VBD 0.73 - - 2722.44 - - - 2698.12 - 198.29 - - 2004.09 - - - - - - - - - - -
13860.89 498.32 7.72 843 13862.22 VBD 0.74 - - 2721.81 - - - 2698.19 - 198.29 - - 2004.41 - - - - - - - - - - -
14160.90 473.96 8.27 858 14166.18 done 0.74 - - 2722.31 - 2.38 0.121 3794.00 460.4 198.29 - - 2004.94 - - - - - - - - - 15.41 -
14200.89 470.14 9.54 860 14206.09 done 0.74 - - 2732.25 - 1.97 0.036 2697.50 -556.6 198.29 - - 2005.09 - - - - - - - - - 15.81 -
14520.92 441.15 9.34 876 14526.19 done 0.74 - - 2732.00 - 2.35 0.116 3792.06 465.8 198.29 - - 2005.53 - - - - - - - - - 15.41 -
14580.93 434.71 10.74 879 14586.13 done 0.74 - - 2741.81 - 1.96 0.036 2698.06 -558.2 198.29 - - 2005.09 - - - - - - - - - 15.82 -
14900.96 404.25 9.35 895 14902.29 VBD 0.74 - - 2741.25 - - - 2699.38 - 198.29 - - 2003.72 - - - - - - - - - - -
15201.06 376.22 9.49 922 15206.33 done 0.74 - - 2741.88 - 2.36 0.116 3792.94 463.4 198.29 - - 2005.09 - - - - - - - - - 15.41 -
15241.01 371.92 10.85 926 15243.80 done 0.74 - - 2750.62 - 1.96 0.035 2717.38 -548.8 198.29 - - 2005.94 - - - - - - - - - 15.81 -
15426.03 354.06 9.78 945 15427.36 VBD 0.74 - - 2751.81 - - - 2697.81 - 198.29 - - 2004.53 - - - - - - - - - - -
15606.06 337.16 9.10 963 15607.40 VBD 0.74 - - 2751.31 - - - 2698.81 - 198.29 - - 2004.62 - - - - - - - - - - -
15786.08 321.32 8.68 981 15791.36 done 0.74 - - 2751.62 - 2.35 0.116 3791.25 464.9 198.29 - - 2005.75 - - - - - - - - - 15.41 -
15811.05 318.82 9.25 983 15813.85 done 0.74 - - 2761.00 - 1.95 0.035 2715.88 -551.5 198.29 - - 2005.09 - - - - - - - - - 15.83 -
15991.10 302.25 9.27 1001 15996.38 done 0.74 - - 2761.31 - 2.35 0.114 3792.75 458.2 198.29 - - 2005.75 - - - - - - - - - 15.41 -
16011.10 300.25 9.54 1003 16016.30 done 0.74 - - 2770.44 - 1.96 0.035 2697.88 -558.6 198.29 - - 2004.81 - - - - - - - - - 15.82 -
16201.14 281.48 10.11 1022 16202.60 0.74 0.17 0.213 2722.38 -282.7 - - 2698.19 - 198.29 - - 2004.69 - - - - - - - - 15.39 - -
16381.17 266.35 8.49 1040 16386.44 done 0.74 - - 2723.12 - 2.36 0.116 3793.50 464.1 198.29 - - 2004.91 - - - - - - - - - 15.38 -
16401.17 264.52 8.67 1042 16406.37 done 0.74 - - 2729.31 - 1.97 0.035 2697.81 -556.2 198.29 - - 2006.28 - - - - - - - - - 15.82 -
16591.19 247.80 8.67 1061 16592.53 VBD 0.74 - - 2729.81 - - - 2698.75 - 198.29 - - 2003.81 - - - - - - - - - - -
16771.25 233.23 7.46 1079 16776.53 done 0.76 - - 2729.81 - 2.35 0.114 3792.75 465.5 198.29 - - 2005.31 - - - - - - - - - 15.40 -
16816.23 229.48 8.38 1083 16821.45 done 0.76 - - 2739.19 - 1.97 0.034 2695.38 -557.0 198.29 - - 2005.81 - - - - - - - - - 15.82 -
17001.31 216.12 7.10 1102 17002.65 VBD 0.79 - - 2739.88 - - - 2695.81 - 198.29 - - 2004.00 - - - - - - - - - - -
17181.36 202.46 7.76 1120 17186.63 done 0.80 - - 2739.62 - 2.35 0.109 3794.88 467.7 198.29 - - 2005.41 - - - - - - - - - 15.38 -
17201.36 200.73 7.83 1122 17204.15 done 0.82 - - 2747.25 - 1.97 0.036 2718.19 -546.5 198.29 - - 2007.22 - - - - - - - - - 15.80 -
17386.39 184.34 9.12 1141 17391.66 done 0.82 - - 2749.25 - 2.36 0.115 3792.94 455.4 198.29 - - 2005.28 - - - - - - - - - 15.35 -
17481.41 174.15 10.80 1150 17484.21 done 0.82 - - 2758.00 - 1.97 0.033 2716.62 -546.4 198.29 - - 2006.28 - - - - - - - - - 15.83 -
17661.48 157.81 8.88 1168 17664.23 done 0.82 - - 2766.06 - 1.79 0.027 1634.25 -604.7 198.29 - - 2004.22 - - - - - - - - - 15.91 -
17721.47 152.72 8.59 1174 17726.73 done 0.82 - - 2765.88 - 2.15 0.068 2760.94 524.0 198.29 - - 2006.53 - - - - - - - - - 15.61 -
17906.54 135.97 8.67 1193 17911.78 done 0.82 - - 2765.38 - 2.14 0.115 3795.31 483.4 198.29 - - 2005.41 - - - - - - - - - 15.38 -
17961.53 130.86 9.35 1198 17964.33 done 0.82 - - 2775.12 - 1.97 0.034 2719.75 -546.0 198.29 - - 2005.38 - - - - - - - - - 15.82 -
18141.63 118.16 6.85 1216 18142.97 VBD 0.85 - - 2776.62 - - - 2700.50 - 198.29 - - 2004.56 - - - - - - - - - - -
18321.67 103.14 8.32 1234 18323.00 VBD 0.85 - - 2775.12 - - - 2700.56 - 198.29 - - 2004.00 - - - - - - - - - - -
18501.72 91.30 5.87 1252 18548.02 done 0.90 - - 2783.69 - 1.82 0.027 1633.50 -586.3 251.38 42.74 0.869 1798.44 -4.8 0.089 - - - - - - - 15.24 10.14
18766.79 69.31 7.77 1278 18772.05 roll 0.91 - - 2783.50 - 2.17 0.071 2758.19 518.3 251.38 - - 1794.75 - - - - - - - - - 15.61 -
18951.83 57.41 5.46 1297 19004.33 done 0.98 - - 2782.56 - 2.16 0.119 3796.19 480.6 312.76 48.51 0.804 1547.81 -5.1 0.064 - - - - - - - 15.19 11.21
19126.86 45.58 7.29 1315 19132.06 roll 1.00 - - 2792.25 - 1.97 0.032 2698.38 -557.3 312.76 - - 1545.44 - - - - - - - - - 15.74 -
19316.90 38.60 2.91 1334 19403.15 1.11 0.17 0.060 2897.25 617.6 - - 2699.56 - 426.43 83.88 0.744 1086.47 -5.5 0.050 - - - - - - 15.79 - 11.12
19587.12 20.49 7.09 1361 19591.37 roll back 1.14 0.17 0.187 2856.00 -242.6 1.80 0.024 1637.81 -589.9 426.43 - - 1082.44 - - - - - - - - 15.44 15.41 -
19731.94 11.61 6.05 1375 19773.20 done 1.19 - - 2855.62 - 2.14 0.065 2759.81 524.3 475.93 36.83 0.638 884.84 -5.4 0.017 - - - - - - - 15.62 10.98
19867 end climb: SURFACE_DEPTH_REACHED
19867 begin surface coast
19907 end surface coast: CONTROL_FINISHED_OK
19907 begin surface
SM 1.30 - - - - 335.2 - 0.013 787.2 - 7.09 0.046 807.4 113.9 - 0.33 0.028 767.0 2317.8 -10.998 - - 30.36 15.65 15.79 -