MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 48.48 of 350.00 AH used of 24V (86.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth 1.31 m • Intended pitch -17.3 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
15 begin dive
18 - - - 112 VBD -0.62 - - 104 - - - 2522 - -116.8 -89.95 0.005 3104 - - - - - - - - 14.85 - 14.88
115 5.7 -17.2 18 139 roll -0.62 8.88 0.365 2126 227.7 2.38 0.070 1095 -599.6 -116.8 -5.78 0.022 3447 -59.3 2.849 - - - - - - 14.41 13.57 14.61
233 50.4 -29.3 41 242 done -0.62 - - 2117 - 2.40 0.067 2484 578.8 -116.8 - - 3447 - - - - - - - - 14.71 14.66 14.75
420 93.7 -17.2 60 426 roll -0.62 - - 2106 - 2.40 0.088 3902 590.8 -116.8 - - 3447 - - - - - - - - 14.93 14.71 14.97
457 100.8 -16.8 67 464 done -0.62 - - 2106 - 2.28 0.037 2493 -618.0 -116.8 - - 3447 - - - - - - - - 14.78 14.75 14.80
644 126.8 -13.4 86 650 roll -0.62 - - 2106 - 2.22 0.046 1095 -629.7 -116.8 - - 3447 - - - - - - - - 14.98 14.80 15.01
681 131.4 -12.2 93 688 done -0.62 0.10 0.222 2123 170.0 2.40 0.061 2505 587.5 -116.8 - - 3447 - - - - - - - - 14.63 14.74 14.73
867 152.1 -10.8 112 874 roll -0.62 - - 2115 - 2.33 0.086 3890 594.4 -116.8 - - 3447 - - - - - - - - 15.00 14.77 15.03
892 154.9 -11.5 116 899 done -0.62 - - 2115 - 2.17 0.034 2493 -643.8 -116.8 - - 3448 - - - - - - - - 14.90 14.85 14.91
1086 178.2 -10.9 136 1094 done -0.62 - - 2114 - - - 2491 - -116.8 - - 3447 - - - - - - - - 15.02 15.04 15.04
1276 199.1 -11.9 155 1286 roll -0.62 - - 2104 - 2.38 0.086 3892 588.7 -116.8 - - 3446 - - - - - - - - 15.02 14.77 15.05
1312 203.7 -12.7 162 1318 done -0.62 - - 2105 - 2.22 0.035 2494 -629.7 -116.8 - - 3446 - - - - - - - - 14.87 14.85 14.89
1499 224.8 -10.5 181 1509 roll -0.62 - - 2093 - 2.38 0.087 3892 587.4 -116.8 - - 3445 - - - - - - - - 15.04 14.81 15.07
1532 228.3 -11.2 187 1538 done -0.62 0.12 0.233 2122 241.7 2.17 0.034 2490 -646.1 -116.8 - - 3445 - - - - - - - - 14.73 14.88 14.88
1726 249.4 -10.8 207 1733 done -0.62 - - 2123 - - - 2489 - -116.8 - - 3443 - - - - - - - - 15.04 15.08 15.07
1917 269.0 -10.3 217 1923 roll -0.62 - - 2123 - 2.20 0.048 1108 -627.7 -116.8 - - 3442 - - - - - - - - 15.07 14.87 15.09
1962 273.8 -10.4 225 1970 done -0.62 - - 2113 - 2.33 0.059 2511 602.1 -116.8 - - 3442 - - - - - - - - 14.94 14.85 14.95
2283 308.0 -10.4 244 2289 roll -0.62 - - 2103 - 2.33 0.090 3890 591.8 -116.8 - - 3439 - - - - - - - - 15.08 14.84 15.10
2320 312.2 -11.1 251 2327 done -0.62 - - 2102 - 2.22 0.036 2498 -627.0 -116.8 - - 3439 - - - - - - - - 14.90 14.86 14.91
2627 346.2 -11.1 267 2631 done -0.62 - - 2103 - - - 2497 - -116.8 - - 3437 - - - - - - - - 15.09 15.11 15.11
2927 380.8 -11.6 282 2930 done -0.62 - - 2103 - - - 2497 - -116.8 - - 3433 - - - - - - - - 15.09 15.12 15.11
3227 414.6 -11.2 297 3231 done -0.62 - - 2103 - - - 2497 - -116.8 - - 3431 - - - - - - - - 15.09 15.12 15.12
3527 447.6 -10.9 312 3531 done -0.62 - - 2103 - - - 2497 - -116.8 - - 3428 - - - - - - - - 15.09 15.12 15.11
3827 480.0 -10.9 327 3833 roll -0.62 - - 2103 - 2.25 0.051 1103 -619.6 -116.8 - - 3426 - - - - - - - - 15.09 14.89 15.11
3860 483.7 -11.5 333 3869 done -0.62 0.12 0.235 2122 158.3 2.35 0.063 2505 596.6 -116.8 - - 3427 - - - - - - - - 14.76 14.87 14.92
4171 513.6 -9.2 350 4179 roll -0.62 - - 2113 - 2.35 0.092 3890 589.4 -116.8 - - 3425 - - - - - - - - 15.09 14.84 15.11
4232 519.6 -9.8 362 4238 done -0.62 - - 2113 - 2.17 0.037 2498 -641.5 -116.8 - - 3425 - - - - - - - - 14.98 14.92 14.99
4556 551.4 -10.0 381 4560 done -0.62 - - 2113 - - - 2497 - -116.8 - - 3423 - - - - - - - - 15.08 15.12 15.11
4856 581.1 -9.7 396 4862 roll -0.62 - - 2103 - 2.40 0.093 3894 582.1 -116.8 - - 3421 - - - - - - - - 15.08 14.83 15.11
4894 585.0 -10.4 403 4900 done -0.62 - - 2102 - 2.25 0.040 2509 -615.6 -116.8 - - 3421 - - - - - - - - 14.89 14.85 14.91
5200 615.2 -9.9 419 5204 done -0.62 - - 2103 - - - 2507 - -116.8 - - 3420 - - - - - - - - 15.09 15.11 15.11
5500 645.2 -10.0 434 5504 done -0.62 - - 2103 - - - 2507 - -116.8 - - 3418 - - - - - - - - 15.08 15.11 15.11
5800 674.8 -9.6 449 5804 done -0.62 - - 2103 - - - 2507 - -116.8 - - 3417 - - - - - - - - 15.08 15.11 15.11
6100 702.2 -8.9 464 6106 roll -0.62 - - 2091 - 2.38 0.093 3889 580.7 -116.8 - - 3416 - - - - - - - - 15.08 14.82 15.11
6153 707.3 -9.7 474 6160 done -0.62 0.12 0.228 2122 258.3 2.25 0.041 2486 -623.6 -116.8 - - 3415 - - - - - - - - 14.74 14.90 14.90
6468 731.6 -7.6 491 6474 roll -0.62 - - 2123 - 2.25 0.053 1099 -616.4 -116.8 - - 3414 - - - - - - - - 15.07 14.86 15.10
6505 734.7 -7.8 498 6511 done -0.62 - - 2114 - 2.42 0.066 2499 578.5 -116.8 - - 3414 - - - - - - - - 14.84 14.78 14.87
6812 760.3 -8.7 514 6816 done -0.62 - - 2114 - - - 2500 - -116.8 - - 3413 - - - - - - - - 15.07 15.11 15.10
7112 786.5 -8.6 529 7116 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3412 - - - - - - - - 15.07 15.11 15.10
7411 811.5 -8.4 544 7415 done -0.62 - - 2113 - - - 2500 - -116.8 - - 3411 - - - - - - - - 15.07 15.10 15.09
7711 837.1 -8.6 559 7715 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3410 - - - - - - - - 15.07 15.10 15.09
8011 862.8 -8.6 574 8015 done -0.62 - - 2114 - - - 2500 - -116.8 - - 3410 - - - - - - - - 15.07 15.09 15.09
8312 887.5 -8.1 589 8316 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3409 - - - - - - - - 15.07 15.09 15.09
8611 911.7 -8.1 604 8615 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3408 - - - - - - - - 15.06 15.09 15.09
8911 936.6 -8.2 619 8915 done -0.62 - - 2114 - - - 2499 - -116.8 - - 3407 - - - - - - - - 15.06 15.09 15.09
9211 962.4 -8.6 634 9215 done -0.62 - - 2114 - - - 2500 - -116.8 - - 3405 - - - - - - - - 15.05 15.09 15.08
9512 987.9 -8.4 649 9516 done -0.62 - - 2114 - - - 2500 - -116.8 - - 3406 - - - - - - - - 15.05 15.09 15.08
9549 end dive: TARGET_DEPTH_EXCEEDED
9549 begin apogee
9555 991.3 -8.2 651 9662 done -0.15 0.57 0.180 2281 293.0 - - 2500 - - 101.80 2.014 2968 -4.3 0.392 - - - - - - 14.70 14.21 13.35
9665 end apogee: CONTROL_FINISHED_OK
9665 begin climb
9667 993.8 - 656 9791 done 0.62 0.77 0.107 2531 324.7 - - 2499 - 116.8 111.12 1.994 2490 -4.3 0.397 - - - - - - 14.25 13.90 13.24
10094 955.9 10.8 678 10102 roll 0.62 - - 2542 - 2.45 0.054 1052 -590.6 116.8 - - 2481 - - - - - - - - 14.77 14.58 14.81
10135 951.2 10.8 686 10141 done 0.62 - - 2542 - 2.38 0.059 2443 584.5 116.8 - - 2480 - - - - - - - - 14.68 14.59 14.71
10459 915.3 10.9 705 10462 done 0.62 - - 2542 - - - 2443 - 116.8 - - 2479 - - - - - - - - 14.90 14.94 14.94
10759 883.2 10.7 720 10764 roll 0.62 - - 2553 - 2.33 0.054 1051 -597.4 116.8 - - 2478 - - - - - - - - 14.96 14.76 14.99
10791 879.6 10.7 726 10797 done 0.62 - - 2553 - 2.35 0.058 2440 591.1 116.8 - - 2478 - - - - - - - - 14.83 14.75 14.86
11104 844.1 11.4 743 11108 done 0.62 - - 2553 - - - 2440 - 116.8 - - 2478 - - - - - - - - 14.98 15.02 15.02
11405 809.6 11.5 758 11409 done 0.62 - - 2553 - - - 2440 - 116.8 - - 2477 - - - - - - - - 15.00 15.03 15.03
11704 774.1 11.9 773 11711 roll 0.62 - - 2565 - 2.33 0.055 1046 -598.3 116.8 - - 2477 - - - - - - - - 15.01 14.81 15.04
11742 769.4 12.1 780 11749 done 0.62 0.10 0.207 2536 -290.0 2.40 0.057 2439 580.4 116.8 - - 2476 - - - - - - - - 14.64 14.73 14.76
12048 734.9 11.4 796 12052 done 0.62 - - 2536 - - - 2439 - 116.8 - - 2475 - - - - - - - - 15.02 15.05 15.04
12348 701.3 11.1 811 12352 done 0.62 - - 2536 - - - 2439 - 116.8 - - 2475 - - - - - - - - 15.02 15.05 15.05
12649 668.6 10.9 826 12653 done 0.62 - - 2536 - - - 2439 - 116.8 - - 2475 - - - - - - - - 15.02 15.06 15.05
12948 636.4 10.5 841 12952 done 0.62 - - 2536 - - - 2439 - 116.8 - - 2475 - - - - - - - - 15.02 15.06 15.06
13248 604.8 10.4 856 13254 roll 0.62 - - 2545 - 2.33 0.054 1044 -598.7 116.8 - - 2475 - - - - - - - - 15.02 14.81 15.07
13265 602.9 10.5 859 13271 done 0.62 - - 2546 - 2.40 0.058 2436 580.0 116.8 - - 2474 - - - - - - - - 14.78 14.73 14.82
13572 569.5 10.9 875 13575 done 0.62 - - 2546 - - - 2437 - 116.8 - - 2474 - - - - - - - - 15.02 15.06 15.05
13872 538.8 10.0 890 13876 done 0.62 - - 2546 - - - 2437 - 116.8 - - 2474 - - - - - - - - 15.02 15.06 15.05
14171 509.6 9.8 905 14178 roll 0.62 - - 2546 - 2.42 0.090 3849 583.5 116.8 - - 2473 - - - - - - - - 15.03 14.76 15.07
14196 507.0 10.9 909 14203 done 0.62 - - 2557 - 2.25 0.040 2444 -624.4 116.8 - - 2474 - - - - - - - - 14.90 14.85 14.92
14520 472.7 10.5 928 14526 roll 0.62 - - 2568 - 2.33 0.054 1042 -601.7 116.8 - - 2473 - - - - - - - - 15.02 14.80 15.05
14558 468.5 10.8 935 14565 done 0.62 0.10 0.203 2538 -300.0 2.40 0.057 2438 581.7 116.8 - - 2474 - - - - - - - - 14.61 14.73 14.72
14864 438.5 10.2 951 14870 roll 0.62 - - 2548 - 2.33 0.054 1040 -600.0 116.8 - - 2474 - - - - - - - - 15.02 14.81 15.05
14888 436.2 9.9 955 14894 done 0.62 - - 2547 - 2.35 0.057 2441 596.2 116.8 - - 2474 - - - - - - - - 14.88 14.80 14.90
15212 402.4 10.6 974 15216 done 0.62 - - 2548 - - - 2442 - 116.8 - - 2474 - - - - - - - - 15.02 15.06 15.05
15512 370.5 10.4 989 15518 roll 0.62 - - 2559 - 2.33 0.053 1040 -601.7 116.8 - - 2474 - - - - - - - - 15.02 14.81 15.06
15536 368.1 9.4 993 15543 done 0.62 - - 2559 - 2.35 0.057 2442 596.6 116.8 - - 2474 - - - - - - - - 14.88 14.79 14.90
15861 335.8 9.4 1012 15866 roll 0.62 - - 2559 - 2.40 0.090 3843 583.8 116.8 - - 2473 - - - - - - - - 15.02 14.76 15.05
15904 331.4 10.2 1020 15914 done 0.62 0.15 0.252 2536 -153.3 2.25 0.039 2434 -626.2 116.8 - - 2474 - - - - - - - - 14.63 14.84 14.85
16227 304.7 8.3 1039 16232 roll 0.62 - - 2545 - 2.28 0.054 1044 -609.6 116.8 - - 2474 - - - - - - - - 15.02 14.81 15.06
16259 301.9 8.5 1045 16266 done 0.62 - - 2546 - 2.35 0.057 2445 596.2 116.8 - - 2473 - - - - - - - - 14.88 14.78 14.90
16574 275.0 8.7 1062 16578 done 0.62 - - 2546 - - - 2445 - 116.8 - - 2474 - - - - - - - - 15.02 15.06 15.05
16874 250.1 8.4 1077 16877 done 0.62 - - 2546 - - - 2445 - 116.8 - - 2474 - - - - - - - - 15.02 15.05 15.05
17174 223.1 9.0 1106 17181 done 0.62 - - 2548 - - - 2445 - 116.8 - - 2474 - - - - - - - - 15.02 15.04 15.04
17364 207.3 8.6 1125 17371 roll 0.62 - - 2546 - 2.40 0.090 3844 582.9 116.8 - - 2474 - - - - - - - - 15.01 14.73 15.04
17409 202.7 10.7 1133 17415 done 0.62 - - 2557 - 2.25 0.039 2434 -626.7 116.8 - - 2474 - - - - - - - - 14.88 14.83 14.90
17603 184.7 9.0 1153 17609 roll 0.62 - - 2567 - 2.28 0.053 1044 -609.6 116.8 - - 2474 - - - - - - - - 15.00 14.78 15.03
17627 182.6 9.0 1157 17635 done 0.62 0.15 0.224 2532 -233.3 2.35 0.057 2445 596.2 116.8 - - 2474 - - - - - - - - 14.64 14.76 14.83
17823 169.0 5.7 1177 17878 roll 0.68 - - 2532 - 2.42 0.088 3843 577.7 173.9 46.25 1.092 2257 -4.7 0.135 - - - - - - 15.00 14.47 14.03
17916 162.6 8.3 1195 17922 done 0.68 - - 2541 - 2.33 0.040 2439 -602.6 173.9 - - 2254 - - - - - - - - 14.64 14.62 14.66
18104 147.3 8.6 1214 18109 roll 0.68 - - 2552 - 2.30 0.053 1044 -606.5 173.9 - - 2252 - - - - - - - - 14.87 14.66 14.89
18210 139.5 7.5 1234 18215 done 0.70 - - 2552 - 2.38 0.058 2448 589.9 173.9 - - 2250 - - - - - - - - 14.76 14.67 14.78
18404 125.5 7.1 1254 18410 roll 0.73 - - 2563 - 2.33 0.052 1045 -602.1 173.9 - - 2251 - - - - - - - - 14.92 14.71 14.95
18429 123.9 6.9 1258 18435 done 0.76 - - 2563 - 2.35 0.056 2440 593.6 173.9 - - 2250 - - - - - - - - 14.79 14.71 14.81
18623 109.5 7.4 1278 18629 roll 0.78 - - 2574 - 2.33 0.053 1042 -600.0 173.9 - - 2250 - - - - - - - - 14.95 14.74 14.97
18700 104.1 6.7 1292 18705 done 0.81 - - 2573 - 2.35 0.055 2443 596.2 173.9 - - 2250 - - - - - - - - 14.82 14.73 14.85
18893 93.3 4.8 1312 18966 roll 0.89 0.12 0.119 2662 741.7 2.40 0.053 1038 -585.4 249.1 60.55 0.954 1951 -4.9 0.089 - - - - - - 14.79 14.52 14.04
18999 85.3 9.3 1332 19006 done 0.89 0.17 0.220 2619 -252.9 2.40 0.057 2438 583.3 249.1 - - 1948 - - - - - - - - 14.45 14.55 14.61
19194 72.2 7.2 1352 19200 roll 0.91 - - 2620 - 2.42 0.088 3848 582.6 249.1 - - 1948 - - - - - - - - 14.85 14.62 14.88
19249 69.3 4.9 1362 19317 done 0.99 - - 2630 - 2.25 0.035 2425 -632.4 322.5 61.30 0.897 1653 -4.8 0.069 - - - - - - 14.76 14.71 13.99
19499 55.8 4.7 1394 19580 roll 1.06 0.12 0.115 2715 708.3 2.30 0.052 1054 -596.1 399.4 65.60 0.863 1337 -4.8 0.058 - - - - - - 14.65 14.32 13.95
19645 43.0 11.1 1422 19652 done 1.06 0.12 0.175 2666 -408.3 2.40 0.057 2433 574.6 399.4 - - 1336 - - - - - - - - 14.42 14.49 14.55
19836 25.3 9.0 1459 19842 roll 1.06 - - 2676 - 2.33 0.052 1064 -587.6 399.4 - - 1335 - - - - - - - - 14.82 14.60 14.85
19865 22.6 9.1 1464 19872 done 1.06 - - 2676 - 2.38 0.054 2446 580.7 399.4 - - 1336 - - - - - - - - 14.65 14.60 14.68
20055 4.5 10.4 1501 20063 roll 1.06 - - 2687 - 2.35 0.053 1055 -591.9 399.4 - - 1336 - - - - - - - - 14.88 14.66 14.91
20074 end climb: SURFACE_DEPTH_REACHED
20074 begin surface coast
20084 end surface coast: CONTROL_FINISHED_OK
20085 begin surface
SM 1.29 - - - - -6.76 7.15 0.051 128 17.9 2.47 0.055 2502 804.0 500.17 104.75 0.610 928 8.9 -0.002 - - - - 1 -