MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 861 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 230.69 of 350.00 AH used of 24V (34.09% remains)
• Surface angle -70.9 deg, depth 0.67 m • Intended pitch -19.2 deg, speed -8.462 cm/s
VBD pumped to 499.91 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 94
• 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
4.29 - - - 75.15 VBD -0.66 - - 249.38 - - - 2666.88 - -116.79 70.20 0.005 2367.53 - - - - - - - - - - 14.75
75.43 3.41 -4.59 7 111.21 -0.66 10.82 0.376 2284.50 188.1 2.27 0.093 3723.44 465.4 -116.79 17.57 0.006 3174.41 45.9 -4.599 - - - - - - 14.79 14.88 15.03
143.64 26.86 -36.10 14 148.88 roll -0.66 - - 2284.50 - 2.12 0.020 2604.62 -527.7 -116.79 - - 3174.56 - - - - - - - - - 15.82 -
333.68 78.12 -25.51 33 338.97 roll -0.66 - - 2271.12 - 2.45 0.090 3723.94 456.9 -116.79 - - 3174.41 - - - - - - - - - 15.53 -
438.70 97.00 -16.91 43 443.96 roll -0.66 - - 2273.50 - 2.11 0.020 2571.00 -546.4 -116.79 - - 3173.59 - - - - - - - - - 15.88 -
623.87 123.21 -13.72 62 625.20 no move -0.66 - - 2272.94 - - - 2565.00 - -116.79 - - 3172.81 - - - - - - - - - - -
803.80 148.63 -13.07 80 809.12 roll -0.66 - - 2262.81 - 2.57 0.103 3724.62 451.2 -116.79 - - 3173.22 - - - - - - - - - 15.51 -
843.80 153.70 -12.53 84 849.04 roll -0.66 - - 2261.50 - 2.11 0.023 2590.06 -537.7 -116.79 - - 3173.25 - - - - - - - - - 15.87 -
1033.84 177.52 -12.96 103 1039.15 roll -0.66 - - 2252.56 - 2.51 0.098 3725.31 452.3 -116.79 - - 3172.88 - - - - - - - - - 15.52 -
1128.84 190.90 -14.13 112 1134.24 roll back -0.66 0.16 0.207 2292.19 247.7 2.12 0.023 2582.69 -539.0 -116.79 - - 3172.22 - - - - - - - - 15.41 15.91 -
1313.90 211.48 -10.96 131 1316.62 roll -0.66 - - 2294.56 - 1.60 0.021 1523.00 -662.3 -116.79 - - 3171.66 - - - - - - - - - 15.90 -
1348.96 215.25 -10.76 135 1354.18 roll -0.66 - - 2289.69 - 2.01 0.067 2662.19 566.8 -116.79 - - 3172.00 - - - - - - - - - 15.65 -
1538.93 237.57 -12.09 154 1540.26 no move -0.66 - - 2289.56 - - - 2661.94 - -116.79 - - 3172.12 - - - - - - - - - - -
1718.96 259.54 -12.48 172 1721.74 roll -0.66 - - 2288.00 - 1.81 0.020 1522.19 -629.7 -116.79 - - 3171.44 - - - - - - - - - 15.87 -
1773.97 266.14 -11.68 178 1779.19 roll -0.66 - - 2280.50 - 2.02 0.071 2661.38 564.0 -116.79 - - 3170.72 - - - - - - - - - 15.61 -
1964.00 289.48 -12.34 197 1966.76 roll -0.66 - - 2281.56 - 1.80 0.023 1532.88 -626.9 -116.79 - - 3167.19 - - - - - - - - - 15.89 -
1998.99 293.64 -11.86 201 2004.20 roll -0.66 - - 2274.31 - 2.00 0.066 2663.38 565.2 -116.79 - - 3167.28 - - - - - - - - - 15.65 -
2189.03 317.07 -12.29 220 2194.30 roll -0.66 - - 2264.62 - 2.32 0.104 3721.81 456.2 -116.79 - - 3166.59 - - - - - - - - - 15.46 -
2209.03 319.65 -12.33 222 2214.27 roll -0.66 - - 2264.62 - 2.13 0.026 2600.88 -526.3 -116.79 - - 3167.38 - - - - - - - - - 15.85 -
2399.06 344.46 -12.78 241 2400.39 no move -0.66 - - 2265.19 - - - 2594.62 - -116.79 - - 3164.97 - - - - - - - - - - -
2579.09 366.83 -12.34 259 2581.83 roll -0.66 - - 2264.88 - 1.66 0.022 1522.88 -645.6 -116.79 - - 3161.88 - - - - - - - - - 15.90 -
2629.07 372.74 -11.62 264 2634.38 roll -0.66 - - 2257.69 - 2.03 0.070 2662.94 561.6 -116.79 - - 3163.69 - - - - - - - - - 15.61 -
2814.11 396.06 -12.78 283 2819.54 roll back -0.66 0.14 0.218 2287.75 214.7 2.34 0.107 3721.31 452.3 -116.79 - - 3162.03 - - - - - - - - 15.40 15.33 -
2849.10 400.28 -12.08 286 2854.36 roll -0.66 - - 2286.69 - 2.14 0.027 2601.69 -523.2 -116.79 - - 3162.47 - - - - - - - - - 15.85 -
3034.14 421.76 -11.79 296 3036.88 roll -0.66 - - 2286.88 - 1.66 0.023 1525.88 -648.1 -116.79 - - 3159.47 - - - - - - - - - 15.91 -
3084.12 427.42 -11.19 298 3089.36 roll -0.66 - - 2278.94 - 2.03 0.071 2660.88 559.1 -116.79 - - 3160.72 - - - - - - - - - 15.59 -
3389.18 464.80 -12.37 314 3390.51 no move -0.66 - - 2279.62 - - - 2660.88 - -116.79 - - 3157.72 - - - - - - - - - - -
3689.20 500.01 -11.33 329 3691.98 roll -0.66 - - 2278.75 - 1.83 0.024 1536.25 -614.6 -116.79 - - 3156.66 - - - - - - - - - 15.90 -
3724.21 503.82 -10.89 331 3729.43 roll -0.66 - - 2271.69 - 2.02 0.069 2662.31 557.5 -116.79 - - 3157.72 - - - - - - - - - 15.56 -
4044.25 539.32 -11.23 347 4045.59 no move -0.66 - - 2272.56 - - - 2662.50 - -116.79 - - 3154.53 - - - - - - - - - - -
4344.29 573.54 -11.69 362 4345.63 no move -0.66 - - 2272.94 - - - 2662.25 - -116.79 - - 3154.06 - - - - - - - - - - -
4644.34 608.57 -11.77 377 4647.11 roll -0.66 - - 2271.06 - 1.82 0.022 1526.62 -624.0 -116.79 - - 3153.31 - - - - - - - - - 15.87 -
4709.32 615.98 -11.20 380 4714.54 roll -0.66 - - 2263.94 - 2.03 0.068 2662.19 559.4 -116.79 - - 3153.00 - - - - - - - - - 15.56 -
5019.39 655.23 -12.91 396 5022.16 roll -0.66 - - 2264.94 - 1.82 0.023 1527.00 -623.7 -116.79 - - 3150.31 - - - - - - - - - 15.88 -
5074.40 662.02 -12.05 399 5079.62 roll -0.66 - - 2257.69 - 2.03 0.067 2661.75 559.0 -116.79 - - 3151.50 - - - - - - - - - 15.55 -
5394.44 702.69 -12.63 415 5395.91 pitch -0.66 0.14 0.214 2293.62 256.6 - - 2662.25 - -116.79 - - 3150.38 - - - - - - - - 15.38 - -
5694.49 732.05 -9.37 430 5695.82 no move -0.66 - - 2295.56 - - - 2662.94 - -116.79 - - 3149.34 - - - - - - - - - - -
5994.52 760.41 -9.42 445 5997.30 roll -0.66 - - 2296.06 - 1.83 0.024 1527.94 -620.2 -116.79 - - 3146.44 - - - - - - - - - 15.85 -
6029.53 763.68 -9.36 447 6034.75 roll -0.66 - - 2290.62 - 2.03 0.066 2660.44 557.9 -116.79 - - 3148.03 - - - - - - - - - 15.52 -
6349.57 794.47 -9.74 463 6350.91 no move -0.66 - - 2290.12 - - - 2660.38 - -116.79 - - 3146.78 - - - - - - - - - - -
6649.62 823.70 -9.65 478 6652.40 roll -0.66 - - 2290.25 - 1.83 0.024 1526.75 -619.5 -116.79 - - 3144.69 - - - - - - - - - 15.83 -
6699.60 828.35 -9.22 480 6704.85 roll -0.66 - - 2281.19 - 2.04 0.068 2662.62 556.8 -116.79 - - 3146.91 - - - - - - - - - 15.48 -
7004.66 857.49 -9.57 496 7005.99 no move -0.66 - - 2282.81 - - - 2662.94 - -116.79 - - 3144.44 - - - - - - - - - - -
7304.70 887.01 -9.87 511 7306.04 no move -0.66 - - 2282.94 - - - 2662.94 - -116.79 - - 3142.97 - - - - - - - - - - -
7604.75 918.37 -10.70 526 7607.52 roll -0.66 - - 2280.75 - 1.84 0.025 1531.50 -614.9 -116.79 - - 3144.19 - - - - - - - - - 15.81 -
7649.72 923.06 -10.29 528 7654.94 roll -0.66 - - 2273.31 - 2.04 0.068 2663.69 555.0 -116.79 - - 3144.00 - - - - - - - - - 15.45 -
7959.79 956.54 -10.71 544 7961.13 no move -0.66 - - 2275.31 - - - 2663.94 - -116.79 - - 3142.47 - - - - - - - - - - -
8259.81 986.67 -9.86 559 8262.59 roll -0.66 - - 2275.06 - 1.85 0.025 1527.81 -614.1 -116.79 - - 3141.06 - - - - - - - - - 15.79 -
8295 end dive: TARGET_DEPTH_EXCEEDED
8295 begin apogee
8298.43 990.12 -9.73 561 8400.11 -0.14 0.70 0.179 2460.44 264.8 0.06 0.224 2715.88 19801.2 - 99.95 2.015 2697.78 -4.4 0.384 - - - - - - 15.06 14.92 10.06
8400 end apogee: CONTROL_FINISHED_OK
8400 begin climb
8400.50 993.22 - 566 8514.84 0.66 0.81 0.082 2728.69 331.2 2.49 0.123 3797.50 434.4 116.79 107.90 1.981 2222.06 -4.4 0.390 - - - - - - 15.22 14.86 11.38
8532.38 988.21 6.74 572 8537.64 roll 0.70 - - 2737.56 - 2.11 0.033 2715.00 -513.0 116.79 - - 2219.78 - - - - - - - - - 15.40 -
8837.40 962.45 8.78 588 8840.18 done 0.70 - - 2743.69 - 1.85 0.030 1644.88 -578.4 116.79 - - 2215.59 - - - - - - - - - 15.76 -
8882.41 958.51 8.73 590 8887.66 done 0.70 - - 2746.12 - 2.13 0.071 2757.25 522.2 116.79 - - 2214.19 - - - - - - - - - 15.60 -
9192.47 928.19 10.18 606 9197.73 done 0.70 - - 2746.31 - 2.26 0.118 3796.31 459.8 116.79 - - 2214.72 - - - - - - - - - 15.41 -
9262.46 920.37 11.15 609 9267.69 done 0.70 - - 2756.12 - 2.05 0.033 2714.31 -527.8 116.79 - - 2214.41 - - - - - - - - - 15.78 -
9572.52 889.79 9.62 625 9573.86 VBD 0.70 - - 2756.44 - - - 2715.00 - 116.79 - - 2211.25 - - - - - - - - - - -
9872.56 861.50 9.31 640 9877.86 done 0.70 - - 2755.81 - 2.44 0.120 3795.81 443.0 116.79 - - 2212.44 - - - - - - - - - 15.33 -
9912.58 857.22 10.88 642 9917.81 done 0.70 - - 2764.19 - 2.06 0.034 2714.44 -524.9 116.79 - - 2213.00 - - - - - - - - - 15.78 -
10232.61 827.16 9.15 658 10238.06 0.70 0.17 0.239 2719.06 -265.5 2.44 0.117 3796.12 443.3 116.79 - - 2211.97 - - - - - - - - 15.23 15.20 -
10312.65 820.32 8.40 662 10317.88 done 0.70 - - 2724.06 - 2.06 0.034 2713.19 -525.7 116.79 - - 2212.47 - - - - - - - - - 15.75 -
10632.71 796.70 7.46 678 10634.05 VBD 0.72 - - 2725.88 - - - 2714.19 - 116.79 - - 2211.28 - - - - - - - - - - -
10932.72 772.68 8.12 693 10938.02 done 0.72 - - 2726.06 - 2.44 0.117 3796.94 443.8 116.79 - - 2210.38 - - - - - - - - - 15.28 -
10992.73 767.09 9.44 696 10997.95 done 0.72 - - 2735.12 - 2.07 0.034 2709.88 -525.1 116.79 - - 2211.06 - - - - - - - - - 15.74 -
11312.77 740.05 8.46 712 11318.07 done 0.72 - - 2735.69 - 2.45 0.116 3794.12 442.5 116.79 - - 2211.75 - - - - - - - - - 15.26 -
11377.78 733.85 9.63 715 11383.01 done 0.72 - - 2745.94 - 2.06 0.035 2708.62 -526.9 116.79 - - 2210.12 - - - - - - - - - 15.73 -
11692.81 705.67 9.16 731 11698.10 done 0.72 - - 2746.12 - 2.45 0.116 3796.19 443.9 116.79 - - 2210.50 - - - - - - - - - 15.23 -
11732.82 701.53 10.42 733 11738.05 done 0.72 - - 2756.12 - 2.07 0.035 2707.62 -525.9 116.79 - - 2210.03 - - - - - - - - - 15.73 -
12052.84 671.74 9.19 749 12058.14 done 0.72 - - 2754.81 - 2.46 0.116 3800.75 444.4 116.79 - - 2211.25 - - - - - - - - - 15.22 -
12112.85 665.54 10.36 752 12118.08 done 0.72 - - 2765.00 - 2.08 0.034 2701.12 -528.7 116.79 - - 2212.00 - - - - - - - - - 15.73 -
12432.88 636.26 9.18 768 12438.17 done 0.72 - - 2765.19 - 2.46 0.114 3794.25 444.4 116.79 - - 2210.88 - - - - - - - - - 15.21 -
12517.87 627.79 9.80 772 12523.10 done 0.72 - - 2775.88 - 2.06 0.035 2706.00 -528.3 116.79 - - 2209.50 - - - - - - - - - 15.71 -
12832.91 599.15 9.10 788 12838.36 0.72 0.19 0.232 2724.50 -270.4 2.46 0.112 3796.44 443.3 116.79 - - 2209.88 - - - - - - - - 15.12 15.09 -
12867.90 595.98 9.02 789 12873.16 done 0.72 - - 2732.56 - 2.07 0.036 2703.19 -528.1 116.79 - - 2209.84 - - - - - - - - - 15.71 -
13172.96 572.05 7.77 805 13178.25 done 0.73 - - 2730.62 - 2.48 0.114 3797.50 441.3 116.79 - - 2211.00 - - - - - - - - - 15.19 -
13212.94 568.59 8.71 807 13218.17 done 0.73 - - 2742.12 - 2.08 0.035 2699.75 -527.8 116.79 - - 2209.34 - - - - - - - - - 15.70 -
13533.01 543.81 7.76 823 13538.30 done 0.75 - - 2742.00 - 2.48 0.113 3797.75 442.7 116.79 - - 2209.47 - - - - - - - - - 15.19 -
13572.98 540.34 8.71 825 13578.20 done 0.75 - - 2752.44 - 2.07 0.034 2699.88 -530.4 116.79 - - 2209.25 - - - - - - - - - 15.71 -
13893.02 515.14 7.88 841 13898.32 done 0.76 - - 2751.44 - 2.48 0.112 3795.12 441.6 116.79 - - 2210.03 - - - - - - - - - 15.17 -
13953.00 509.68 9.16 844 13958.24 done 0.76 - - 2762.56 - 2.07 0.035 2701.12 -528.5 116.79 - - 2209.38 - - - - - - - - - 15.70 -
14273.02 481.80 8.90 860 14278.32 done 0.76 - - 2762.69 - 2.47 0.109 3798.38 444.2 116.79 - - 2210.00 - - - - - - - - - 15.18 -
14338.02 475.41 9.91 863 14343.24 done 0.76 - - 2772.69 - 2.07 0.034 2700.69 -530.3 116.79 - - 2209.56 - - - - - - - - - 15.72 -
14653.07 448.10 8.55 879 14658.37 done 0.76 - - 2772.69 - 2.47 0.109 3797.12 443.9 116.79 - - 2209.12 - - - - - - - - - 15.15 -
14718.06 441.78 9.78 882 14723.28 done 0.76 - - 2783.31 - 2.08 0.034 2700.94 -527.0 116.79 - - 2209.75 - - - - - - - - - 15.71 -
15033.11 415.12 8.54 898 15038.56 0.76 0.16 0.225 2738.00 -283.2 2.46 0.107 3797.75 445.9 116.79 - - 2210.44 - - - - - - - - 15.17 15.11 -
15108.10 408.64 8.67 901 15113.35 done 0.76 - - 2744.81 - 2.07 0.033 2698.06 -531.3 116.79 - - 2210.34 - - - - - - - - - 15.73 -
15413.17 385.61 7.55 926 15414.51 VBD 0.78 - - 2745.62 - - - 2698.62 - 116.79 - - 2209.03 - - - - - - - - - - -
15593.22 372.24 7.36 944 15598.52 done 0.80 - - 2745.25 - 2.48 0.111 3795.94 442.5 116.79 - - 2209.16 - - - - - - - - - 15.15 -
15688.18 364.24 8.44 953 15693.42 done 0.80 - - 2754.75 - 2.07 0.034 2699.81 -529.5 116.79 - - 2210.28 - - - - - - - - - 15.70 -
15873.26 350.49 7.36 972 15874.60 VBD 0.82 - - 2755.62 - - - 2700.50 - 116.79 - - 2209.38 - - - - - - - - - - -
16053.32 337.62 7.13 990 16058.62 done 0.85 - - 2755.25 - 2.47 0.109 3796.00 443.5 116.79 - - 2209.47 - - - - - - - - - 15.15 -
16128.30 331.06 8.78 997 16133.55 done 0.85 - - 2765.69 - 2.07 0.033 2700.06 -529.4 116.79 - - 2209.81 - - - - - - - - - 15.66 -
16313.38 317.03 7.56 1016 16318.68 done 0.87 - - 2765.69 - 2.47 0.107 3797.19 444.2 116.79 - - 2209.47 - - - - - - - - - 15.16 -
16368.36 312.16 8.97 1021 16373.61 done 0.87 - - 2776.38 - 2.07 0.032 2698.94 -530.6 116.79 - - 2209.75 - - - - - - - - - 15.71 -
16553.42 296.97 8.18 1040 16558.71 done 0.87 - - 2775.19 - 2.47 0.107 3795.69 444.0 116.79 - - 2210.38 - - - - - - - - - 15.15 -
16613.45 291.46 9.21 1046 16618.67 done 0.87 - - 2786.44 - 2.07 0.033 2701.31 -528.7 116.79 - - 2209.69 - - - - - - - - - 15.69 -
16803.50 275.94 8.05 1065 16808.80 done 0.87 - - 2786.25 - 2.45 0.106 3796.38 447.0 116.79 - - 2210.84 - - - - - - - - - 15.16 -
16873.51 269.41 9.38 1072 16878.74 done 0.87 - - 2797.00 - 2.07 0.032 2699.62 -529.8 116.79 - - 2209.69 - - - - - - - - - 15.67 -
17063.58 253.72 8.35 1091 17064.92 VBD 0.87 - - 2796.50 - - - 2700.50 - 116.79 - - 2209.22 - - - - - - - - - - -
17243.61 238.62 8.60 1109 17248.90 done 0.87 - - 2796.38 - 2.46 0.105 3796.75 445.6 116.79 - - 2210.19 - - - - - - - - - 15.16 -
17313.63 232.00 8.98 1116 17318.85 done 0.87 - - 2806.00 - 2.06 0.031 2699.50 -532.6 116.79 - - 2211.12 - - - - - - - - - 15.71 -
17503.68 215.81 8.57 1135 17505.01 VBD 0.87 - - 2806.81 - - - 2700.06 - 116.79 - - 2209.91 - - - - - - - - - - -
17683.74 201.80 7.37 1153 17689.04 done 0.89 - - 2806.25 - 2.46 0.106 3794.19 444.8 116.79 - - 2209.47 - - - - - - - - - 15.16 -
17768.72 195.09 8.00 1161 17773.98 done 0.89 - - 2815.56 - 2.06 0.031 2699.81 -531.3 116.79 - - 2210.72 - - - - - - - - - 15.72 -
17953.80 182.93 6.74 1180 17955.14 VBD 0.92 - - 2816.62 - - - 2700.88 - 116.79 - - 2209.34 - - - - - - - - - - -
18133.83 173.00 5.17 1198 18191.52 done 0.99 - - 2817.00 - 2.42 0.107 3799.69 454.1 183.85 53.44 0.992 1948.97 -4.9 0.150 - - - - - - - 15.23 10.58
18318.84 153.31 13.44 1216 18324.07 roll 0.99 - - 2826.44 - 2.06 0.028 2717.56 -525.3 183.85 - - 1946.34 - - - - - - - - - 15.72 -
18508.86 133.39 8.17 1235 18511.64 roll 0.99 - - 2832.56 - 1.82 0.025 1631.81 -596.6 183.85 - - 1943.84 - - - - - - - - - 15.79 -
18538.83 130.90 8.23 1238 18544.10 roll 0.99 - - 2833.62 - 2.15 0.071 2758.56 524.1 183.85 - - 1943.00 - - - - - - - - - 15.51 -
18723.89 115.32 8.17 1257 18729.15 roll 0.99 - - 2833.62 - 2.25 0.110 3796.00 461.1 183.85 - - 1943.91 - - - - - - - - - 15.32 -
18953.94 101.00 4.07 1280 19026.99 done 1.08 - - 2841.69 - 2.04 0.030 2695.56 -539.4 273.43 69.70 0.866 1585.84 -5.1 0.106 - - - - - - - 15.74 11.66
19208.98 81.08 7.23 1306 19214.27 roll 1.10 - - 2842.50 - 2.49 0.111 3800.81 443.9 273.43 - - 1580.59 - - - - - - - - - 15.34 -
19303.98 74.09 7.33 1315 19309.22 roll 1.13 - - 2852.75 - 2.05 0.028 2702.75 -535.6 273.43 - - 1579.94 - - - - - - - - - 15.72 -
19489.03 66.13 3.01 1334 19575.70 1.24 0.14 0.069 2939.38 618.8 1.80 0.026 1631.50 -595.1 384.56 82.17 0.760 1131.91 -5.5 0.084 - - - - - - 15.76 15.22 11.46
19593.99 58.74 10.30 1344 19599.54 roll back 1.24 0.16 0.190 2892.19 -294.9 2.14 0.069 2759.50 527.1 384.56 - - 1129.53 - - - - - - - - 15.36 15.53 -
19779.05 50.01 4.93 1363 19835.89 1.31 0.10 0.086 2953.75 615.6 2.22 0.110 3799.06 468.3 456.63 53.28 0.695 838.25 -5.5 0.069 - - - - - - 15.71 15.21 11.37
19929.06 32.53 13.93 1378 19934.28 roll 1.31 - - 2962.62 - 2.05 0.025 2700.19 -536.0 456.63 - - 837.44 - - - - - - - - - 15.70 -
20119.07 5.06 15.39 1397 20120.54 pitch 1.31 0.18 0.199 2914.19 -269.1 - - 2696.88 - 456.63 - - 837.28 - - - - - - - - 15.36 - -
20139 end climb: SURFACE_DEPTH_REACHED
20139 begin surface coast
20159 end surface coast: CONTROL_FINISHED_OK
20159 begin surface
SM 0.89 - - - - 335.6 - 0.017 662.1 - 7.45 0.063 687.4 92.2 - 0.14 0.053 636.8 4548.6 -7.807 - - 30.36 15.35 15.83 -