MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 104 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 36.99 of 350.00 AH used of 24V (89.43% remains)
• Surface angle -69.6 deg, depth 0.70 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.02 (SM_CC=500)
• GPS1 time: 55 s
• GPS2 time: 2 s • Transponder ping count: 29
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
15.00 - - - 89.21 VBD -0.63 - - 239.25 - - - 3230.88 - -145.99 70.49 0.005 2548.22 - - - - - - - - - - 15.17
89.48 4.01 -6.24 7 127.17 -0.63 9.78 0.372 2263.81 207.0 1.54 0.022 2159.88 -695.5 -145.99 18.56 0.006 3493.19 50.9 -5.745 - - - - - - 14.95 15.56 15.20
149.29 25.97 -35.55 13 155.81 roll -0.63 - - 2258.69 - 2.18 0.090 3364.44 552.6 -145.99 - - 3493.66 - - - - - - - - - 15.80 -
339.30 87.25 -23.03 32 345.37 roll -0.63 - - 2254.75 - 0.75 0.090 3809.44 593.3 -145.99 - - 3492.81 - - - - - - - - - 15.85 -
569.53 133.22 -17.97 55 575.65 roll -0.63 - - 2255.31 - 0.78 0.034 3301.06 -651.8 -145.99 - - 3492.94 - - - - - - - - - 15.91 -
759.55 162.96 -14.91 74 765.95 roll -0.63 - - 2251.12 - 0.89 0.094 3804.75 565.9 -145.99 - - 3492.84 - - - - - - - - - 15.90 -
989.65 197.81 -14.13 97 995.93 roll -0.63 - - 2251.88 - 0.78 0.035 3298.69 -648.8 -145.99 - - 3491.91 - - - - - - - - - 15.95 -
1179.79 223.45 -13.40 116 1202.30 no move -0.63 - - 2251.25 - - - 3298.50 - -145.99 - - 3490.25 - - - - - - - - - - -
1374.64 250.72 -13.65 134 1397.15 no move -0.63 - - 2250.56 - - - 3299.06 - -145.99 - - 3489.81 - - - - - - - - - - -
1569.50 275.88 -12.74 152 1592.41 roll -0.63 - - 2250.81 - 1.65 0.022 2159.31 -690.8 -145.99 - - 3489.25 - - - - - - - - - 16.04 -
1604.15 280.20 -12.36 153 1627.21 roll -0.63 - - 2241.81 - 2.17 0.095 3367.00 556.5 -145.99 - - 3488.62 - - - - - - - - - 15.98 -
1809.48 307.38 -13.38 173 1832.21 roll -0.63 - - 2237.44 - 0.76 0.101 3802.94 573.6 -145.99 - - 3487.50 - - - - - - - - - 16.02 -
1848.86 312.69 -13.34 175 1871.60 roll -0.63 - - 2238.00 - 0.79 0.042 3300.06 -636.6 -145.99 - - 3487.25 - - - - - - - - - 15.99 -
2044.00 337.91 -12.92 194 2066.90 roll -0.63 - - 2237.94 - 1.66 0.025 2170.81 -680.3 -145.99 - - 3486.09 - - - - - - - - - 16.07 -
2098.62 344.57 -12.26 197 2121.68 roll -0.63 - - 2228.12 - 2.16 0.098 3366.50 553.6 -145.99 - - 3484.47 - - - - - - - - - 16.00 -
2303.86 371.87 -13.71 217 2326.78 roll back -0.63 0.15 0.233 2268.38 268.4 0.76 0.103 3803.38 574.8 -145.99 - - 3485.69 - - - - - - - - 15.94 15.93 -
2349.18 377.18 -11.85 220 2371.92 roll -0.63 - - 2268.12 - 0.79 0.046 3304.62 -631.3 -145.99 - - 3483.66 - - - - - - - - - 16.05 -
2554.12 399.12 -10.75 239 2577.15 roll -0.63 - - 2268.25 - 1.67 0.026 2181.81 -672.3 -145.99 - - 3481.50 - - - - - - - - - 16.06 -
2608.87 404.62 -10.10 241 2631.93 roll -0.63 - - 2259.62 - 2.12 0.094 3364.12 557.7 -145.99 - - 3480.84 - - - - - - - - - 16.05 -
2934.11 441.99 -11.71 257 2957.15 roll -0.63 - - 2260.00 - 1.80 0.029 2184.69 -655.2 -145.99 - - 3479.16 - - - - - - - - - 16.08 -
2978.85 446.86 -10.88 258 3001.91 roll -0.63 - - 2249.25 - 2.13 0.096 3364.31 553.8 -145.99 - - 3478.28 - - - - - - - - - 16.02 -
3314.05 487.38 -12.12 275 3337.11 roll -0.63 - - 2250.19 - 1.81 0.031 2192.94 -647.2 -145.99 - - 3475.25 - - - - - - - - - 16.08 -
3353.82 492.01 -11.61 276 3376.88 roll -0.63 - - 2240.75 - 2.11 0.097 3363.31 554.7 -145.99 - - 3475.56 - - - - - - - - - 16.05 -
3660.77 530.72 -12.70 291 3683.41 no move -0.63 - - 2241.69 - - - 3363.62 - -145.99 - - 3473.91 - - - - - - - - - - -
3965.60 568.22 -12.20 306 3988.66 roll -0.63 - - 2239.19 - 1.80 0.032 2193.00 -650.3 -145.99 - - 3472.03 - - - - - - - - - 16.07 -
4055.95 578.17 -10.75 310 4079.13 roll -0.63 - - 2231.81 - 2.12 0.099 3363.75 552.2 -145.99 - - 3472.41 - - - - - - - - - 16.03 -
4386.35 618.93 -12.40 326 4409.54 roll back -0.63 0.14 0.233 2267.88 257.6 1.81 0.034 2190.94 -648.0 -145.99 - - 3471.12 - - - - - - - - 15.94 15.96 -
4431.20 623.54 -10.35 327 4454.26 roll -0.63 - - 2262.75 - 2.12 0.096 3364.81 553.7 -145.99 - - 3471.06 - - - - - - - - - 16.01 -
4738.16 654.14 -9.99 343 4761.22 roll -0.63 - - 2262.75 - 1.82 0.034 2190.69 -645.1 -145.99 - - 3469.44 - - - - - - - - - 16.08 -
4788.54 658.83 -9.47 345 4811.60 roll -0.63 - - 2252.75 - 2.12 0.095 3366.69 554.7 -145.99 - - 3468.75 - - - - - - - - - 16.05 -
5118.78 692.98 -10.39 361 5141.84 roll -0.63 - - 2254.81 - 1.80 0.034 2191.19 -653.1 -145.99 - - 3466.56 - - - - - - - - - 16.07 -
5169.14 697.80 -9.74 363 5192.21 roll -0.63 - - 2245.38 - 2.12 0.097 3361.19 551.9 -145.99 - - 3466.09 - - - - - - - - - 16.03 -
5499.41 733.22 -10.89 379 5522.48 roll -0.63 - - 2242.62 - 1.80 0.033 2190.50 -650.4 -145.99 - - 3465.41 - - - - - - - - - 16.07 -
5564.19 739.81 -9.63 381 5587.26 roll -0.63 - - 2236.62 - 2.13 0.100 3362.75 550.4 -145.99 - - 3463.53 - - - - - - - - - 16.00 -
5899.39 777.79 -11.46 398 5922.45 roll -0.63 - - 2236.56 - 1.80 0.033 2188.50 -652.4 -145.99 - - 3462.47 - - - - - - - - - 16.07 -
5974.17 785.66 -10.12 401 5997.37 roll -0.63 - - 2228.50 - 2.13 0.101 3363.25 551.5 -145.99 - - 3461.94 - - - - - - - - - 16.02 -
6299.56 823.70 -11.76 417 6322.76 roll back -0.63 0.15 0.231 2268.56 267.1 1.81 0.035 2190.94 -647.7 -145.99 - - 3462.09 - - - - - - - - 15.90 15.93 -
6350.09 828.37 -9.44 419 6373.15 roll -0.63 - - 2261.62 - 2.13 0.098 3365.88 551.6 -145.99 - - 3461.12 - - - - - - - - - 16.02 -
6680.29 858.69 -9.19 435 6703.35 roll -0.63 - - 2262.62 - 1.82 0.035 2193.19 -644.3 -145.99 - - 3459.38 - - - - - - - - - 16.06 -
6760.07 865.31 -7.99 438 6783.27 roll -0.63 - - 2252.88 - 2.12 0.097 3365.75 553.1 -145.99 - - 3459.81 - - - - - - - - - 16.02 -
7067.17 894.54 -9.64 453 7090.24 roll -0.63 - - 2252.56 - 1.82 0.035 2194.19 -643.7 -145.99 - - 3457.59 - - - - - - - - - 16.05 -
7137.41 900.92 -8.78 456 7160.61 roll -0.63 - - 2243.81 - 2.13 0.099 3366.12 550.2 -145.99 - - 3457.28 - - - - - - - - - 16.01 -
7467.89 934.87 -10.33 472 7490.96 roll -0.63 - - 2243.06 - 1.82 0.036 2193.31 -644.4 -145.99 - - 3458.12 - - - - - - - - - 16.05 -
7538.31 941.49 -9.13 475 7561.51 roll -0.63 - - 2235.12 - 2.13 0.099 3363.25 549.3 -145.99 - - 3459.62 - - - - - - - - - 15.99 -
7868.80 976.00 -10.33 491 7892.01 roll back -0.63 0.13 0.229 2270.19 269.8 1.82 0.036 2193.50 -642.7 -145.99 - - 3455.91 - - - - - - - - 15.88 15.88 -
7923.65 980.60 -8.44 493 7946.71 roll -0.63 - - 2263.50 - 2.13 0.099 3365.56 550.3 -145.99 - - 3456.59 - - - - - - - - - 16.00 -
8049 end dive: TARGET_DEPTH_EXCEEDED
8049 begin apogee
8050.78 990.97 -8.52 499 8176.15 -0.14 0.55 0.175 2430.06 302.8 0.12 0.203 2923.25 -3685.9 - 113.67 2.057 2899.75 -4.9 0.398 - - - - - - 15.91 15.16 11.97
8177 end apogee: CONTROL_FINISHED_OK
8177 begin climb
8176.91 994.18 - 505 8322.58 0.63 0.74 0.074 2696.25 359.7 1.93 0.033 1777.00 -593.9 145.99 122.59 2.034 2305.69 -4.8 0.400 - - - - - - 15.38 15.05 12.66
8419.27 977.60 11.46 516 8442.47 roll 0.63 - - 2692.06 - 2.15 0.103 2911.38 527.6 145.99 - - 2296.31 - - - - - - - - - 15.52 -
8744.75 938.05 11.90 532 8767.81 done 0.63 - - 2697.12 - 1.83 0.033 1784.25 -615.9 145.99 - - 2295.00 - - - - - - - - - 15.79 -
8815.08 930.14 11.14 535 8838.25 done 0.63 - - 2697.94 - 2.10 0.104 2912.88 537.4 145.99 - - 2295.91 - - - - - - - - - 15.78 -
9145.59 890.45 12.21 551 9168.66 done 0.63 - - 2702.62 - 1.83 0.034 1783.19 -617.3 145.99 - - 2293.59 - - - - - - - - - 15.90 -
9215.84 882.36 11.42 554 9239.01 done 0.63 - - 2704.38 - 2.08 0.101 2912.88 543.1 145.99 - - 2292.34 - - - - - - - - - 15.90 -
9546.44 840.16 12.98 570 9569.50 done 0.63 - - 2709.88 - 1.82 0.033 1780.81 -622.0 145.99 - - 2292.38 - - - - - - - - - 15.96 -
9591.21 834.57 12.39 571 9614.33 0.63 0.17 0.218 2662.69 -277.6 2.08 0.099 2911.56 543.6 145.99 - - 2293.62 - - - - - - - - 15.82 15.91 -
9926.59 796.61 11.26 588 9949.65 done 0.63 - - 2670.69 - 1.80 0.032 1777.75 -629.9 145.99 - - 2292.81 - - - - - - - - - 15.98 -
9996.92 789.12 10.37 591 10020.09 done 0.63 - - 2669.31 - 2.09 0.104 2912.19 542.8 145.99 - - 2294.81 - - - - - - - - - 15.95 -
10327.38 751.88 11.14 607 10350.43 done 0.63 - - 2674.25 - 1.78 0.030 1782.81 -634.5 145.99 - - 2291.19 - - - - - - - - - 15.99 -
10387.26 745.56 10.38 609 10410.31 done 0.63 - - 2667.75 - 2.07 0.101 2914.31 546.6 145.99 - - 2293.16 - - - - - - - - - 15.97 -
10694.29 712.47 10.58 624 10717.35 done 0.63 - - 2675.38 - 1.80 0.033 1781.38 -629.4 145.99 - - 2292.81 - - - - - - - - - 16.01 -
10754.06 706.52 9.78 626 10777.11 done 0.63 - - 2676.12 - 2.09 0.105 2914.69 542.3 145.99 - - 2292.53 - - - - - - - - - 15.97 -
11060.98 674.05 10.62 641 11083.63 VBD 0.63 - - 2676.62 - - - 2916.06 - 145.99 - - 2291.59 - - - - - - - - - - -
11365.76 642.04 10.44 656 11388.83 done 0.63 - - 2683.50 - 1.80 0.032 1780.19 -631.0 145.99 - - 2291.88 - - - - - - - - - 16.02 -
11440.55 634.65 9.53 659 11463.72 done 0.63 - - 2681.00 - 2.08 0.102 2912.75 544.5 145.99 - - 2292.28 - - - - - - - - - 15.97 -
11766.04 600.05 10.70 675 11789.09 done 0.63 - - 2686.88 - 1.79 0.032 1778.50 -633.7 145.99 - - 2290.00 - - - - - - - - - 16.03 -
11805.81 595.86 10.56 676 11828.85 done 0.63 - - 2685.94 - 2.07 0.098 2912.44 547.8 145.99 - - 2290.16 - - - - - - - - - 15.99 -
12112.85 562.07 11.14 691 12135.90 done 0.63 - - 2690.44 - 1.78 0.031 1779.19 -636.7 145.99 - - 2289.47 - - - - - - - - - 16.01 -
12192.63 553.56 10.48 694 12215.81 done 0.63 - - 2691.62 - 2.08 0.101 2913.62 545.4 145.99 - - 2289.59 - - - - - - - - - 15.99 -
12499.59 517.87 11.74 709 12522.24 VBD 0.63 - - 2690.69 - - - 2913.44 - 145.99 - - 2289.78 - - - - - - - - - - -
12804.46 484.02 10.91 724 12827.50 done 0.63 - - 2696.75 - 1.78 0.031 1782.94 -635.1 145.99 - - 2291.31 - - - - - - - - - 16.03 -
12859.21 478.39 10.20 726 12882.26 done 0.63 - - 2698.69 - 2.07 0.101 2913.69 546.3 145.99 - - 2289.69 - - - - - - - - - 15.98 -
13184.41 443.27 10.92 742 13207.46 done 0.63 - - 2706.00 - 1.78 0.030 1785.62 -633.7 145.99 - - 2290.16 - - - - - - - - - 16.04 -
13269.19 434.57 10.17 745 13292.42 0.63 0.15 0.210 2666.69 -262.1 2.06 0.099 2914.19 547.8 145.99 - - 2290.41 - - - - - - - - 15.86 15.96 -
13604.65 402.77 9.69 762 13627.29 VBD 0.63 - - 2665.31 - - - 2914.19 - 145.99 - - 2289.34 - - - - - - - - - - -
13909.42 372.02 10.45 790 13932.47 done 0.63 - - 2669.06 - 1.79 0.032 1781.06 -633.0 145.99 - - 2294.34 - - - - - - - - - 16.02 -
13979.85 365.32 9.52 795 14003.03 done 0.63 - - 2670.06 - 2.06 0.099 2915.38 550.6 145.99 - - 2292.06 - - - - - - - - - 15.97 -
14175.27 344.99 10.37 813 14198.31 done 0.63 - - 2672.38 - 1.62 0.118 3796.69 544.0 145.99 - - 2292.66 - - - - - - - - - 15.94 -
14210.01 341.15 10.75 814 14232.89 done 0.63 - - 2679.25 - 1.55 0.045 2851.38 -609.9 145.99 - - 2291.50 - - - - - - - - - 15.95 -
14405.21 321.63 9.83 833 14428.24 done 0.63 - - 2686.19 - 1.66 0.030 1782.75 -643.8 145.99 - - 2292.03 - - - - - - - - - 16.03 -
14475.42 315.20 9.02 838 14498.59 done 0.63 - - 2686.75 - 2.07 0.101 2915.06 547.0 145.99 - - 2289.31 - - - - - - - - - 15.97 -
14670.88 296.18 9.54 856 14693.52 VBD 0.63 - - 2688.31 - - - 2914.00 - 145.99 - - 2289.56 - - - - - - - - - - -
14865.73 278.05 9.26 874 14888.37 VBD 0.63 - - 2686.56 - - - 2913.44 - 145.99 - - 2289.88 - - - - - - - - - - -
15060.55 260.11 9.35 892 15083.60 done 0.63 - - 2691.50 - 1.80 0.031 1783.81 -627.6 145.99 - - 2291.53 - - - - - - - - - 16.03 -
15305.39 239.77 8.59 914 15328.57 done 0.64 - - 2695.44 - 2.07 0.099 2912.88 545.4 145.99 - - 2291.56 - - - - - - - - - 15.93 -
15510.71 219.71 9.74 934 15533.73 done 0.64 - - 2694.94 - 1.63 0.118 3796.44 542.1 145.99 - - 2289.41 - - - - - - - - - 15.93 -
15755.52 193.36 10.15 956 15778.52 done 0.64 - - 2703.06 - 1.54 0.043 2850.62 -614.2 145.99 - - 2291.09 - - - - - - - - - 15.95 -
15950.67 178.04 7.25 975 15973.71 done 0.68 - - 2703.69 - 1.77 0.116 3797.75 535.1 145.99 - - 2293.28 - - - - - - - - - 15.94 -
16021.67 172.11 8.35 980 16044.69 done 0.70 - - 2710.25 - 1.53 0.041 2851.94 -618.2 145.99 - - 2290.31 - - - - - - - - - 16.02 -
16216.87 158.08 7.15 998 16262.24 VBD 0.74 - - 2710.06 - - - 2850.75 - 189.65 33.47 0.947 2126.72 -4.9 0.138 - - - - - - - - 11.98
16437.04 139.80 7.60 1020 16460.08 roll 0.77 - - 2709.44 - 1.78 0.116 3798.69 532.6 189.65 - - 2120.06 - - - - - - - - - 15.89 -
16481.81 136.04 8.14 1022 16504.69 roll 0.80 - - 2718.88 - 1.55 0.041 2848.25 -613.2 189.65 - - 2120.88 - - - - - - - - - 15.89 -
16676.97 120.59 8.33 1041 16699.99 roll 0.81 - - 2725.25 - 1.65 0.027 1772.62 -651.9 189.65 - - 2118.56 - - - - - - - - - 15.96 -
16721.71 117.19 7.61 1043 16744.75 roll 0.84 - - 2724.50 - 2.06 0.091 2917.00 555.5 189.65 - - 2119.53 - - - - - - - - - 15.91 -
16926.98 103.26 6.14 1063 16989.45 0.91 0.09 0.086 2793.69 768.8 1.63 0.115 3797.62 540.3 255.01 48.91 0.852 1859.09 -5.3 0.109 - - - - - - 15.96 15.72 12.51
17046.10 90.83 13.01 1074 17069.17 roll back 0.91 0.17 0.242 2751.69 -247.1 1.55 0.039 2841.75 -616.7 255.01 - - 1856.50 - - - - - - - - 15.72 15.81 -
17241.50 73.38 7.44 1093 17264.54 roll 0.94 - - 2753.88 - 1.78 0.108 3797.88 537.2 255.01 - - 1852.69 - - - - - - - - - 15.85 -
17316.28 67.81 7.35 1098 17339.29 roll 0.98 - - 2757.44 - 1.54 0.037 2844.31 -619.2 255.01 - - 1855.00 - - - - - - - - - 15.85 -
17511.56 58.26 4.09 1117 17602.35 1.09 0.17 0.067 2854.75 572.4 1.67 0.026 1778.06 -638.5 364.83 78.11 0.749 1410.41 -5.7 0.075 - - - - - - 15.91 15.62 12.49
17629.65 51.12 7.18 1128 17652.69 roll 1.13 - - 2857.06 - 2.09 0.093 2913.31 543.2 364.83 - - 1408.09 - - - - - - - - - 15.73 -
17824.87 39.52 7.86 1146 17847.89 roll 1.15 - - 2857.06 - 1.63 0.112 3797.06 542.2 364.83 - - 1406.69 - - - - - - - - - 15.80 -
18069.68 17.92 7.35 1168 18092.69 roll 1.19 - - 2863.88 - 1.53 0.036 2844.69 -622.5 364.83 - - 1406.66 - - - - - - - - - 15.25 -
18264.80 5.13 10.00 1187 18287.83 roll 1.19 - - 2864.94 - 1.73 0.091 3803.31 554.1 364.83 - - 1405.25 - - - - - - - - - 15.93 -
18289 end climb: SURFACE_DEPTH_REACHED
18289 begin surface coast
18319 end surface coast: CONTROL_FINISHED_OK
18319 begin surface
SM 0.73 - - - - 331.4 - 2.696 861.6 - 6.99 0.054 870.1 124.5 - 0.77 0.055 853.1 1105.7 -1.500 - - 30.36 15.93 15.95 -