MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 137 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 53.71 of 350.00 AH used of 24V (84.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth 1.28 m • Intended pitch -17.3 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
18 - - - 108 VBD -0.62 - - 53 - - - 2498 - -116.8 -84.05 0.005 2909 - - - - - - - - 14.85 - 14.88
111 4.8 -12.7 17 138 roll -0.62 9.00 0.355 2111 228.7 2.42 0.099 3896 577.7 -116.8 -9.45 0.015 3447 -56.9 3.375 - - - - - - 14.40 13.54 14.60
227 45.4 -29.2 40 234 done -0.62 - - 2111 - 2.28 0.040 2506 -609.6 -116.8 - - 3447 - - - - - - - - 14.73 14.70 14.75
417 90.5 -16.7 60 424 roll -0.62 - - 2103 - 2.35 0.082 3895 591.1 -116.8 - - 3447 - - - - - - - - 14.94 14.70 14.96
555 113.6 -15.1 87 562 done -0.62 - - 2103 - 2.25 0.034 2489 -624.9 -116.8 - - 3447 - - - - - - - - 14.74 14.71 14.76
742 138.8 -14.8 106 749 done -0.62 - - 2102 - - - 2487 - -116.8 - - 3448 - - - - - - - - 14.99 15.02 15.02
933 163.8 -12.8 125 940 done -0.62 - - 2103 - - - 2487 - -116.8 - - 3448 - - - - - - - - 15.00 15.04 15.03
1122 188.4 -11.7 144 1130 done -0.62 - - 2103 - - - 2487 - -116.8 - - 3447 - - - - - - - - 15.01 15.04 15.04
1313 210.5 -10.9 163 1318 roll -0.62 - - 2103 - 2.22 0.049 1101 -624.3 -116.8 - - 3447 - - - - - - - - 15.02 14.83 15.05
1336 213.1 -10.9 167 1347 done -0.62 0.15 0.228 2128 166.7 2.35 0.066 2502 596.2 -116.8 - - 3447 - - - - - - - - 14.71 14.81 14.87
1527 231.4 -9.4 187 1533 roll -0.62 - - 2128 - 2.30 0.052 1098 -610.4 -116.8 - - 3445 - - - - - - - - 15.04 14.84 15.07
1553 234.1 -9.7 192 1561 done -0.62 - - 2119 - 2.40 0.067 2491 580.4 -116.8 - - 3446 - - - - - - - - 14.82 14.76 14.84
1740 252.2 -10.0 210 1744 done -0.62 - - 2119 - - - 2491 - -116.8 - - 3444 - - - - - - - - 15.03 15.07 15.06
2041 283.1 -10.4 225 2047 roll -0.62 - - 2108 - 2.40 0.093 3905 589.2 -116.8 - - 3442 - - - - - - - - 15.05 14.82 15.08
2105 290.2 -11.3 237 2111 done -0.62 - - 2108 - 2.22 0.041 2494 -635.6 -116.8 - - 3440 - - - - - - - - 14.95 14.90 14.97
2429 324.7 -10.2 256 2436 roll -0.62 - - 2108 - 2.22 0.050 1108 -624.3 -116.8 - - 3440 - - - - - - - - 15.07 14.87 15.10
2467 328.8 -10.4 263 2474 done -0.62 0.08 0.198 2121 162.5 2.40 0.063 2508 583.3 -116.8 - - 3439 - - - - - - - - 14.72 14.79 14.83
2773 357.0 -9.1 279 2777 done -0.62 - - 2121 - - - 2508 - -116.8 - - 3436 - - - - - - - - 15.08 15.11 15.11
3073 384.7 -9.3 294 3079 roll -0.62 - - 2112 - 2.35 0.091 3897 591.1 -116.8 - - 3434 - - - - - - - - 15.09 14.83 15.11
3101 387.5 -10.2 299 3107 done -0.62 - - 2112 - 2.20 0.037 2491 -639.1 -116.8 - - 3434 - - - - - - - - 14.97 14.92 14.98
3420 420.1 -10.4 317 3426 roll -0.62 - - 2112 - 2.22 0.051 1110 -622.1 -116.8 - - 3431 - - - - - - - - 15.08 14.88 15.11
3465 424.8 -10.7 325 3471 done -0.62 - - 2102 - 2.33 0.062 2504 598.3 -116.8 - - 3430 - - - - - - - - 14.95 14.86 14.97
3789 460.8 -11.1 344 3795 roll -0.62 - - 2090 - 2.35 0.093 3890 589.8 -116.8 - - 3428 - - - - - - - - 15.08 14.82 15.11
3813 463.7 -11.4 348 3821 done -0.62 0.15 0.216 2128 253.3 2.17 0.037 2494 -643.3 -116.8 - - 3428 - - - - - - - - 14.76 14.91 14.92
4139 495.1 -9.6 367 4143 done -0.62 - - 2128 - - - 2493 - -116.8 - - 3426 - - - - - - - - 15.07 15.10 15.10
4438 523.9 -9.6 382 4442 done -0.62 - - 2128 - - - 2493 - -116.8 - - 3425 - - - - - - - - 15.07 15.11 15.10
4739 551.9 -9.2 397 4745 roll -0.62 - - 2129 - 2.22 0.051 1116 -620.3 -116.8 - - 3423 - - - - - - - - 15.07 14.86 15.10
4783 556.1 -9.3 405 4789 done -0.62 - - 2120 - 2.33 0.062 2504 595.7 -116.8 - - 3423 - - - - - - - - 14.94 14.85 14.96
5107 586.7 -9.5 424 5113 roll -0.62 - - 2110 - 2.38 0.093 3901 587.0 -116.8 - - 3422 - - - - - - - - 15.08 14.81 15.10
5144 590.5 -10.0 431 5151 done -0.62 - - 2110 - 2.25 0.039 2513 -616.9 -116.8 - - 3422 - - - - - - - - 14.87 14.83 14.89
5451 619.5 -9.3 447 5455 done -0.62 - - 2110 - - - 2512 - -116.8 - - 3420 - - - - - - - - 15.07 15.11 15.10
5751 647.1 -9.1 462 5757 roll -0.62 - - 2110 - 2.30 0.054 1097 -615.2 -116.8 - - 3418 - - - - - - - - 15.07 14.85 15.10
5809 652.6 -9.2 473 5815 done -0.62 - - 2099 - 2.42 0.065 2499 579.3 -116.8 - - 3418 - - - - - - - - 14.83 14.77 14.86
6115 681.0 -9.2 489 6120 roll -0.62 - - 2088 - 2.38 0.093 3893 585.7 -116.8 - - 3417 - - - - - - - - 15.07 14.80 15.09
6139 683.2 -9.8 493 6145 done -0.62 0.15 0.220 2125 246.7 2.22 0.038 2487 -633.3 -116.8 - - 3417 - - - - - - - - 14.72 14.90 14.89
6463 708.8 -7.8 512 6470 roll -0.62 - - 2125 - 2.25 0.054 1108 -612.9 -116.8 - - 3415 - - - - - - - - 15.07 14.84 15.09
6488 710.8 -8.1 516 6494 done -0.62 - - 2116 - 2.35 0.064 2500 592.3 -116.8 - - 3416 - - - - - - - - 14.92 14.83 14.95
6813 738.0 -8.6 535 6816 done -0.62 - - 2116 - - - 2501 - -116.8 - - 3415 - - - - - - - - 15.07 15.10 15.09
7112 763.9 -8.6 550 7116 done -0.62 - - 2116 - - - 2501 - -116.8 - - 3414 - - - - - - - - 15.07 15.09 15.09
7412 789.1 -8.4 565 7418 roll -0.62 - - 2116 - 2.30 0.052 1099 -609.6 -116.8 - - 3413 - - - - - - - - 15.07 14.84 15.09
7465 793.7 -8.7 575 7471 done -0.62 - - 2106 - 2.40 0.066 2509 587.5 -116.8 - - 3412 - - - - - - - - 14.91 14.81 14.93
7778 821.0 -8.8 592 7782 done -0.62 - - 2106 - - - 2509 - -116.8 - - 3412 - - - - - - - - 15.05 15.09 15.09
8078 848.0 -9.1 607 8084 roll -0.62 - - 2094 - 2.38 0.094 3897 583.2 -116.8 - - 3411 - - - - - - - - 15.06 14.76 15.08
8116 851.8 -10.1 614 8123 done -0.62 0.10 0.186 2126 320.0 2.28 0.039 2493 -615.8 -116.8 - - 3411 - - - - - - - - 14.63 14.79 14.74
8422 877.4 -8.4 630 8427 roll -0.62 - - 2126 - 2.25 0.054 1111 -614.2 -116.8 - - 3411 - - - - - - - - 15.05 14.83 15.08
8468 881.6 -9.1 639 8474 done -0.62 - - 2117 - 2.38 0.065 2507 586.6 -116.8 - - 3410 - - - - - - - - 14.90 14.81 14.92
8787 910.1 -9.1 657 8791 done -0.62 - - 2118 - - - 2507 - -116.8 - - 3409 - - - - - - - - 15.05 15.08 15.08
9087 937.0 -8.7 672 9090 done -0.62 - - 2117 - - - 2506 - -116.8 - - 3408 - - - - - - - - 15.05 15.08 15.07
9387 962.6 -8.1 687 9392 roll -0.62 - - 2116 - 2.30 0.054 1111 -606.5 -116.8 - - 3407 - - - - - - - - 15.04 14.81 15.07
9413 964.9 -9.1 692 9421 done -0.62 - - 2106 - 2.35 0.063 2504 592.8 -116.8 - - 3407 - - - - - - - - 14.83 14.77 14.86
9712 end dive: TARGET_DEPTH_EXCEEDED
9712 begin apogee
9718 990.4 -8.5 709 9825 done -0.15 0.60 0.178 2280 290.0 - - 2504 - - 101.75 2.039 2967 -4.3 0.389 - - - - - - 14.67 14.20 13.36
9827 end apogee: CONTROL_FINISHED_OK
9827 begin climb
9830 992.7 - 714 9955 done 0.62 0.77 0.108 2530 324.7 - - 2504 - 116.8 111.75 2.017 2490 -4.3 0.389 - - - - - - 14.24 14.04 13.24
10256 954.1 10.9 736 10263 roll 0.62 - - 2541 - 2.45 0.054 1057 -590.6 116.8 - - 2482 - - - - - - - - 14.77 14.57 14.80
10320 946.8 10.9 748 10327 done 0.62 - - 2541 - 2.38 0.059 2446 583.6 116.8 - - 2480 - - - - - - - - 14.69 14.60 14.71
10646 911.0 11.1 767 10650 done 0.62 - - 2541 - - - 2445 - 116.8 - - 2479 - - - - - - - - 14.91 14.94 14.94
10945 879.2 10.5 782 10951 roll 0.62 - - 2552 - 2.33 0.053 1054 -597.0 116.8 - - 2478 - - - - - - - - 14.96 14.75 14.99
10974 876.3 10.1 787 10979 done 0.62 - - 2553 - 2.35 0.059 2440 589.8 116.8 - - 2478 - - - - - - - - 14.83 14.74 14.85
11293 841.7 11.1 805 11298 roll 0.62 - - 2553 - 2.42 0.090 3848 581.8 116.8 - - 2478 - - - - - - - - 15.00 14.73 15.02
11329 836.8 12.9 812 11338 done 0.62 0.10 0.233 2536 -170.0 2.30 0.040 2452 -607.0 116.8 - - 2477 - - - - - - - - 14.57 14.75 14.69
11636 805.3 10.1 828 11643 roll 0.62 - - 2546 - 2.33 0.054 1043 -604.7 116.8 - - 2476 - - - - - - - - 15.00 14.78 15.02
11690 799.8 10.0 838 11696 done 0.62 - - 2545 - 2.38 0.058 2449 590.8 116.8 - - 2476 - - - - - - - - 14.86 14.77 14.89
12004 767.5 10.3 855 12008 done 0.62 - - 2546 - - - 2449 - 116.8 - - 2476 - - - - - - - - 15.02 15.04 15.04
12304 736.9 10.2 870 12310 roll 0.62 - - 2556 - 2.35 0.053 1037 -600.9 116.8 - - 2476 - - - - - - - - 15.01 14.80 15.04
12336 733.3 10.4 876 12343 done 0.62 - - 2557 - 2.38 0.058 2444 591.2 116.8 - - 2475 - - - - - - - - 14.87 14.78 14.90
12652 698.5 11.0 893 12656 done 0.62 - - 2557 - - - 2444 - 116.8 - - 2475 - - - - - - - - 15.02 15.04 15.04
12951 664.5 11.4 908 12957 roll 0.62 - - 2568 - 2.35 0.054 1034 -600.0 116.8 - - 2475 - - - - - - - - 15.02 14.80 15.04
12979 661.4 10.7 913 12986 done 0.62 0.10 0.208 2538 -300.0 2.35 0.058 2438 597.4 116.8 - - 2475 - - - - - - - - 14.63 14.76 14.76
13300 628.6 10.1 931 13305 roll 0.62 - - 2538 - 2.42 0.090 3848 582.6 116.8 - - 2475 - - - - - - - - 15.02 14.75 15.04
13333 624.8 11.5 937 13338 done 0.62 - - 2549 - 2.28 0.040 2431 -621.5 116.8 - - 2474 - - - - - - - - 14.89 14.83 14.91
13646 591.8 10.4 954 13652 roll 0.62 - - 2559 - 2.30 0.054 1036 -606.5 116.8 - - 2475 - - - - - - - - 15.02 14.80 15.04
13679 588.3 10.4 960 13685 done 0.62 - - 2559 - 2.38 0.057 2444 591.6 116.8 - - 2475 - - - - - - - - 14.87 14.78 14.90
13994 555.0 10.3 977 14000 roll 0.62 - - 2559 - 2.42 0.090 3854 582.6 116.8 - - 2474 - - - - - - - - 15.02 14.74 15.04
14047 548.7 11.5 987 14054 done 0.62 0.12 0.227 2536 -191.7 2.25 0.039 2441 -628.0 116.8 - - 2474 - - - - - - - - 14.59 14.81 14.73
14363 520.7 8.8 1004 14370 roll 0.62 - - 2545 - 2.33 0.054 1041 -600.9 116.8 - - 2475 - - - - - - - - 15.02 14.79 15.04
14431 514.5 8.9 1017 14436 done 0.62 - - 2544 - 2.35 0.057 2440 595.3 116.8 - - 2473 - - - - - - - - 14.87 14.77 14.90
14749 485.5 9.0 1035 14755 roll 0.62 - - 2545 - 2.42 0.091 3849 582.2 116.8 - - 2473 - - - - - - - - 15.02 14.73 15.04
14793 481.1 10.3 1043 14799 done 0.62 - - 2556 - 2.28 0.039 2426 -624.1 116.8 - - 2473 - - - - - - - - 14.89 14.83 14.90
15118 450.7 9.4 1062 15123 roll 0.62 - - 2566 - 2.28 0.054 1041 -607.5 116.8 - - 2474 - - - - - - - - 15.02 14.79 15.05
15182 444.7 9.2 1074 15189 done 0.62 0.15 0.232 2532 -226.7 2.38 0.058 2449 591.6 116.8 - - 2474 - - - - - - - - 14.63 14.78 14.83
15507 417.4 8.3 1093 15511 done 0.62 - - 2532 - - - 2449 - 116.8 - - 2473 - - - - - - - - 15.02 15.05 15.04
15806 391.0 9.0 1108 15813 roll 0.62 - - 2532 - 2.40 0.091 3845 581.7 116.8 - - 2473 - - - - - - - - 15.02 14.73 15.04
15851 386.3 10.8 1116 15858 done 0.62 - - 2542 - 2.25 0.039 2436 -626.2 116.8 - - 2473 - - - - - - - - 14.88 14.82 14.90
16176 354.9 9.7 1135 16182 roll 0.62 - - 2552 - 2.25 0.054 1053 -614.7 116.8 - - 2473 - - - - - - - - 15.02 14.77 15.04
16220 350.7 9.6 1143 16226 done 0.62 - - 2552 - 2.33 0.059 2436 593.6 116.8 - - 2474 - - - - - - - - 14.86 14.77 14.90
16544 320.0 9.0 1162 16549 roll 0.62 - - 2553 - 2.42 0.090 3848 583.5 116.8 - - 2473 - - - - - - - - 15.02 14.73 15.05
16570 317.2 10.3 1167 16576 done 0.62 0.12 0.256 2537 -133.3 2.25 0.039 2440 -625.8 116.8 - - 2473 - - - - - - - - 14.61 14.83 14.83
16889 289.8 8.8 1185 16895 roll 0.62 - - 2546 - 2.30 0.053 1040 -608.7 116.8 - - 2474 - - - - - - - - 15.02 14.79 15.04
16943 285.1 9.0 1195 16949 done 0.62 - - 2546 - 2.38 0.057 2451 592.9 116.8 - - 2474 - - - - - - - - 14.86 14.77 14.89
17257 256.6 8.7 1212 17263 roll 0.62 - - 2546 - 2.40 0.090 3849 582.5 116.8 - - 2474 - - - - - - - - 15.02 14.73 15.04
17353 247.8 9.1 1230 17359 done 0.62 - - 2554 - 2.25 0.038 2441 -625.8 116.8 - - 2473 - - - - - - - - 14.85 14.80 14.88
17548 231.5 8.2 1250 17554 roll 0.62 - - 2568 - 2.30 0.054 1043 -607.8 116.8 - - 2473 - - - - - - - - 15.00 14.77 15.03
17612 226.2 8.2 1262 17622 done 0.62 0.15 0.226 2532 -240.0 2.35 0.057 2440 594.5 116.8 - - 2473 - - - - - - - - 14.62 14.75 14.82
17802 213.0 6.8 1282 17808 roll 0.66 - - 2543 - 2.30 0.053 1043 -607.4 116.8 - - 2473 - - - - - - - - 15.00 14.75 15.02
17827 211.4 6.4 1286 17869 done 0.70 - - 2542 - 2.35 0.057 2441 594.9 158.3 34.25 1.143 2320 -4.5 0.153 - - - - - - 14.85 14.76 14.06
18059 190.9 9.7 1314 18065 done 0.70 - - 2541 - - - 2441 - 158.3 - - 2317 - - - - - - - - 14.88 14.91 14.90
18248 174.6 7.7 1333 18254 roll 0.71 - - 2553 - 2.35 0.053 1040 -596.2 158.3 - - 2316 - - - - - - - - 14.92 14.70 14.94
18302 170.0 8.7 1343 18308 done 0.71 - - 2553 - 2.38 0.057 2444 589.9 158.3 - - 2315 - - - - - - - - 14.78 14.69 14.81
18497 154.3 7.5 1363 18502 roll 0.73 - - 2563 - 2.33 0.053 1044 -600.9 158.3 - - 2315 - - - - - - - - 14.94 14.73 14.97
18562 150.0 6.8 1375 18568 done 0.77 - - 2564 - 2.35 0.057 2441 594.5 158.3 - - 2314 - - - - - - - - 14.81 14.71 14.83
18756 136.5 6.9 1395 18762 roll 0.80 - - 2574 - 2.33 0.052 1044 -599.6 158.3 - - 2314 - - - - - - - - 14.96 14.74 14.99
18833 131.3 6.5 1409 18839 done 0.84 - - 2574 - 2.35 0.056 2441 594.5 158.3 - - 2314 - - - - - - - - 14.82 14.73 14.84
19027 120.7 5.9 1429 19080 roll 0.89 0.12 0.121 2658 700.0 2.38 0.051 1052 -583.6 211.1 43.80 1.002 2106 -4.7 0.106 - - - - - - 14.78 14.59 14.07
19151 110.0 10.9 1453 19158 done 0.89 0.15 0.232 2622 -240.0 2.38 0.057 2448 586.6 211.1 - - 2103 - - - - - - - - 14.49 14.61 14.66
19346 92.9 8.3 1473 19352 roll 0.89 - - 2633 - 2.33 0.051 1046 -601.7 211.1 - - 2102 - - - - - - - - 14.88 14.68 14.90
19463 85.1 5.6 1495 19521 done 0.95 - - 2633 - 2.35 0.055 2446 595.7 270.0 48.83 0.933 1865 -4.9 0.082 - - - - - - 14.77 14.69 14.02
19703 67.8 6.4 1525 19751 roll 0.99 - - 2645 - 2.42 0.053 1049 -577.3 313.0 36.60 0.887 1690 -4.8 0.068 - - - - - - 14.83 14.52 14.02
19898 57.2 4.1 1563 19990 done 1.08 0.10 0.136 2710 650.0 2.35 0.056 2439 591.5 401.9 76.47 0.867 1328 -4.7 0.058 - - - - - - 14.62 14.61 13.94
20171 29.5 13.1 1615 20179 roll 1.08 0.12 0.230 2679 -258.3 2.42 0.083 3841 579.3 401.9 - - 1326 - - - - - - - - 14.47 14.54 14.58
20207 24.7 13.9 1621 20214 done 1.08 - - 2690 - 2.30 0.036 2438 -610.0 401.9 - - 1325 - - - - - - - - 14.64 14.61 14.66
20375 end climb: SURFACE_DEPTH_REACHED
20376 begin surface coast
20396 end surface coast: CONTROL_FINISHED_OK
20396 begin surface
SM 1.29 - - - - -6.76 7.18 0.051 135 18.8 0.10 0.151 2511 14810.0 500.17 102.90 0.614 927 9.0 -0.002 - - - - 1 -