MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 1 • 60.88 of 350.00 AH used of 24V (82.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.7 deg, depth 1.32 m • Intended pitch -17.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 108 VBD -0.62 - - 88 - - - 2548 - -116.8 -83.05 0.005 2908 - - - - - - - - 14.86 - 14.90
111 5.1 -13.6 17 140 roll -0.62 9.02 0.363 2126 225.9 2.42 0.074 1105 -596.3 -116.8 -9.45 0.015 3447 -57.0 3.607 - - - - - - 14.39 13.47 14.59
255 54.0 -25.6 45 262 done -0.62 - - 2117 - 2.30 0.069 2455 587.0 -116.8 - - 3447 - - - - - - - - 14.73 14.64 14.75
450 98.3 -20.8 65 457 roll -0.62 - - 2106 - 2.45 0.090 3897 588.6 -116.8 - - 3447 - - - - - - - - 14.95 14.71 14.98
607 125.8 -15.3 95 612 done -0.62 - - 2106 - 2.22 0.037 2498 -630.2 -116.8 - - 3447 - - - - - - - - 14.85 14.77 14.87
801 151.6 -13.2 115 807 roll -0.62 - - 2106 - 2.28 0.052 1090 -617.5 -116.8 - - 3447 - - - - - - - - 15.00 14.79 15.03
924 168.3 -12.5 139 934 done -0.62 0.12 0.247 2123 141.7 2.38 0.063 2510 596.6 -116.8 - - 3447 - - - - - - - - 14.67 14.79 14.84
1114 191.9 -11.5 159 1120 roll -0.62 - - 2114 - 2.35 0.091 3896 589.8 -116.8 - - 3447 - - - - - - - - 15.02 14.76 15.05
1181 199.6 -11.1 172 1188 done -0.62 - - 2114 - 2.28 0.040 2494 -614.9 -116.8 - - 3447 - - - - - - - - 14.83 14.78 14.85
1369 218.8 -10.9 191 1376 done -0.62 - - 2114 - - - 2493 - -116.8 - - 3446 - - - - - - - - 15.04 15.07 15.07
1559 239.7 -10.3 210 1564 roll -0.62 - - 2103 - 2.40 0.091 3896 584.6 -116.8 - - 3445 - - - - - - - - 15.05 14.78 15.08
1592 243.3 -10.8 216 1598 done -0.62 - - 2102 - 2.22 0.040 2474 -640.5 -116.8 - - 3445 - - - - - - - - 14.93 14.88 14.95
1797 265.4 -10.9 230 1803 roll -0.62 - - 2103 - 2.17 0.050 1113 -627.2 -116.8 - - 3443 - - - - - - - - 15.07 14.85 15.09
1841 270.6 -11.5 238 1850 done -0.62 0.15 0.223 2129 173.3 2.33 0.063 2504 597.0 -116.8 - - 3444 - - - - - - - - 14.72 14.83 14.89
2163 303.2 -9.6 257 2170 roll -0.62 - - 2120 - 2.35 0.090 3893 591.1 -116.8 - - 3440 - - - - - - - - 15.07 14.82 15.09
2221 309.0 -9.7 268 2228 done -0.62 - - 2120 - 2.22 0.034 2506 -624.8 -116.8 - - 3440 - - - - - - - - 14.88 14.84 14.88
2528 337.2 -9.1 284 2534 roll -0.62 - - 2122 - 2.25 0.048 1101 -624.4 -116.8 - - 3437 - - - - - - - - 15.08 14.88 15.11
2561 340.5 -9.9 290 2567 done -0.62 - - 2109 - 2.35 0.060 2511 600.0 -116.8 - - 3436 - - - - - - - - 14.94 14.85 14.96
2875 373.6 -10.7 307 2881 roll -0.62 - - 2098 - 2.33 0.088 3889 591.4 -116.8 - - 3433 - - - - - - - - 15.09 14.83 15.11
2907 377.3 -11.2 313 2914 done -0.62 0.12 0.221 2127 241.7 2.20 0.037 2487 -637.3 -116.8 - - 3433 - - - - - - - - 14.74 14.90 14.90
3223 407.8 -9.7 330 3229 roll -0.62 - - 2120 - 2.42 0.090 3890 579.8 -116.8 - - 3430 - - - - - - - - 15.09 14.82 15.11
3248 410.3 -10.1 334 3253 done -0.62 - - 2121 - 2.17 0.035 2498 -641.5 -116.8 - - 3430 - - - - - - - - 14.96 14.91 14.97
3572 443.3 -10.2 353 3575 done -0.62 - - 2120 - - - 2497 - -116.8 - - 3427 - - - - - - - - 15.09 15.11 15.11
3871 472.8 -9.6 368 3875 done -0.62 - - 2120 - - - 2497 - -116.8 - - 3426 - - - - - - - - 15.09 15.11 15.11
4171 501.5 -9.4 383 4175 done -0.62 - - 2120 - - - 2497 - -116.8 - - 3424 - - - - - - - - 15.08 15.11 15.11
4472 528.9 -9.1 398 4480 roll -0.62 - - 2110 - 2.40 0.092 3894 582.1 -116.8 - - 3421 - - - - - - - - 15.09 14.81 15.11
4534 534.9 -9.8 410 4540 done -0.62 - - 2110 - 2.20 0.038 2505 -631.4 -116.8 - - 3422 - - - - - - - - 14.95 14.89 14.97
4857 566.6 -9.7 429 4864 roll -0.62 - - 2107 - 2.28 0.051 1101 -615.8 -116.8 - - 3420 - - - - - - - - 15.08 14.85 15.10
4915 572.6 -10.0 440 4922 done -0.62 0.08 0.194 2123 200.0 2.40 0.061 2494 580.4 -116.8 - - 3420 - - - - - - - - 14.66 14.76 14.78
5221 602.2 -10.0 456 5230 roll -0.62 - - 2114 - 2.40 0.092 3899 585.4 -116.8 - - 3418 - - - - - - - - 15.08 14.78 15.10
5283 609.0 -11.2 468 5289 done -0.62 - - 2114 - 2.22 0.038 2491 -634.2 -116.8 - - 3417 - - - - - - - - 14.94 14.88 14.96
5607 645.2 -11.2 487 5613 roll -0.62 - - 2113 - 2.25 0.050 1102 -617.3 -116.8 - - 3416 - - - - - - - - 15.07 14.84 15.10
5639 649.0 -11.3 493 5646 done -0.62 - - 2103 - 2.38 0.061 2510 591.6 -116.8 - - 3416 - - - - - - - - 14.91 14.81 14.94
5954 682.0 -10.0 510 5960 roll -0.62 - - 2092 - 2.38 0.095 3897 582.8 -116.8 - - 3414 - - - - - - - - 15.07 14.77 15.10
5992 686.0 -10.4 517 6001 done -0.62 0.10 0.192 2123 310.0 2.28 0.038 2491 -616.7 -116.8 - - 3415 - - - - - - - - 14.61 14.79 14.73
6298 711.0 -7.8 533 6304 roll -0.62 - - 2124 - 2.25 0.051 1108 -614.7 -116.8 - - 3413 - - - - - - - - 15.07 14.83 15.09
6376 717.4 -8.0 548 6382 done -0.62 - - 2114 - 2.40 0.060 2500 580.0 -116.8 - - 3413 - - - - - - - - 14.79 14.73 14.83
6682 742.7 -8.5 564 6688 roll -0.62 - - 2104 - 2.38 0.092 3893 585.3 -116.8 - - 3412 - - - - - - - - 15.06 14.76 15.09
6719 746.1 -9.1 571 6726 done -0.62 - - 2104 - 2.25 0.037 2507 -616.0 -116.8 - - 3412 - - - - - - - - 14.81 14.79 14.84
7025 773.9 -9.3 587 7031 roll -0.62 - - 2104 - 2.28 0.050 1105 -614.9 -116.8 - - 3412 - - - - - - - - 15.06 14.82 15.09
7058 777.1 -9.6 593 7065 done -0.62 0.12 0.232 2123 158.3 2.35 0.060 2502 594.5 -116.8 - - 3410 - - - - - - - - 14.66 14.80 14.85
7374 804.0 -8.6 610 7380 roll -0.62 - - 2115 - 2.40 0.093 3892 579.2 -116.8 - - 3410 - - - - - - - - 15.06 14.75 15.09
7426 809.0 -9.4 620 7432 done -0.62 - - 2114 - 2.22 0.038 2490 -631.5 -116.8 - - 3408 - - - - - - - - 14.92 14.86 14.93
7740 836.9 -8.8 637 7746 roll -0.62 - - 2114 - 2.25 0.050 1106 -615.1 -116.8 - - 3408 - - - - - - - - 15.03 14.81 15.06
7785 840.9 -8.9 645 7792 done -0.62 - - 2104 - 2.38 0.060 2501 586.1 -116.8 - - 3409 - - - - - - - - 14.88 14.79 14.91
8110 871.5 -9.7 664 8119 roll -0.62 - - 2092 - 2.40 0.093 3898 582.1 -116.8 - - 3407 - - - - - - - - 15.05 14.73 15.07
8160 876.9 -10.6 674 8167 done -0.62 0.15 0.213 2130 253.3 2.22 0.039 2496 -631.5 -116.8 - - 3407 - - - - - - - - 14.65 14.85 14.83
8476 903.9 -8.6 691 8482 roll -0.62 - - 2130 - 2.28 0.051 1102 -611.4 -116.8 - - 3406 - - - - - - - - 15.04 14.79 15.07
8513 907.4 -8.5 698 8520 done -0.62 - - 2121 - 2.42 0.062 2500 577.7 -116.8 - - 3406 - - - - - - - - 14.75 14.69 14.79
8820 934.2 -8.7 714 8825 roll -0.62 - - 2112 - 2.40 0.094 3893 580.4 -116.8 - - 3405 - - - - - - - - 15.04 14.73 15.07
8857 937.8 -9.4 721 8864 done -0.62 - - 2111 - 2.28 0.038 2499 -611.4 -116.8 - - 3405 - - - - - - - - 14.78 14.75 14.81
9163 964.5 -8.6 737 9167 done -0.62 - - 2111 - - - 2498 - -116.8 - - 3405 - - - - - - - - 15.04 15.07 15.07
9463 989.8 -8.4 752 9467 done -0.62 - - 2111 - - - 2498 - -116.8 - - 3404 - - - - - - - - 15.04 15.07 15.07
9481 end dive: TARGET_DEPTH_EXCEEDED
9481 begin apogee
9488 991.5 -8.4 753 9596 done -0.15 0.57 0.177 2277 291.2 - - 2498 - - 102.97 2.042 2968 -4.2 0.382 - - - - - - 14.62 14.19 13.27
9599 end apogee: CONTROL_FINISHED_OK
9599 begin climb
9601 994.0 - 758 9726 done 0.62 0.77 0.107 2528 326.0 - - 2498 - 116.8 112.95 2.026 2492 -4.2 0.385 - - - - - - 14.23 14.04 13.19
10025 958.3 10.2 780 10034 roll 0.62 - - 2539 - 2.42 0.054 1052 -597.5 116.8 - - 2482 - - - - - - - - 14.78 14.57 14.81
10050 955.3 10.0 785 10057 done 0.62 - - 2539 - 2.38 0.058 2441 583.6 116.8 - - 2481 - - - - - - - - 14.66 14.57 14.69
10370 920.3 11.1 803 10374 done 0.62 - - 2539 - - - 2441 - 116.8 - - 2481 - - - - - - - - 14.90 14.94 14.93
10670 885.2 12.0 818 10676 roll 0.62 - - 2550 - 2.33 0.054 1048 -597.9 116.8 - - 2480 - - - - - - - - 14.96 14.73 14.99
10722 878.7 11.9 828 10728 done 0.62 - - 2550 - 2.35 0.056 2442 593.2 116.8 - - 2479 - - - - - - - - 14.82 14.73 14.85
11036 840.3 12.3 845 11040 done 0.62 - - 2550 - - - 2442 - 116.8 - - 2479 - - - - - - - - 14.98 15.02 15.01
11337 804.4 12.0 860 11342 roll 0.62 - - 2561 - 2.33 0.052 1049 -597.9 116.8 - - 2478 - - - - - - - - 15.00 14.78 15.02
11373 799.6 12.2 867 11381 done 0.62 0.10 0.199 2532 -290.0 2.40 0.057 2438 578.8 116.8 - - 2477 - - - - - - - - 14.59 14.69 14.71
11681 766.4 10.7 883 11684 done 0.62 - - 2532 - - - 2437 - 116.8 - - 2477 - - - - - - - - 15.00 15.04 15.04
11980 735.4 10.4 898 11984 done 0.62 - - 2533 - - - 2438 - 116.8 - - 2477 - - - - - - - - 15.02 15.04 15.04
12281 704.8 10.2 913 12287 roll 0.62 - - 2541 - 2.33 0.053 1044 -598.3 116.8 - - 2477 - - - - - - - - 15.01 14.78 15.04
12318 700.7 10.1 920 12325 done 0.62 - - 2541 - 2.40 0.056 2434 579.2 116.8 - - 2476 - - - - - - - - 14.76 14.71 14.78
12625 669.6 10.1 936 12631 roll 0.62 - - 2554 - 2.33 0.052 1041 -597.9 116.8 - - 2476 - - - - - - - - 15.00 14.76 15.04
12649 667.2 10.4 940 12654 done 0.62 - - 2554 - 2.38 0.057 2449 591.6 116.8 - - 2476 - - - - - - - - 14.86 14.76 14.89
12972 633.4 10.4 959 12976 done 0.62 - - 2553 - - - 2449 - 116.8 - - 2474 - - - - - - - - 15.02 15.04 15.04
13272 602.9 10.2 974 13278 roll 0.62 - - 2566 - 2.35 0.052 1042 -598.7 116.8 - - 2474 - - - - - - - - 15.02 14.78 15.04
13319 597.8 10.5 983 13325 done 0.62 0.15 0.225 2531 -233.3 2.38 0.056 2440 587.4 116.8 - - 2476 - - - - - - - - 14.61 14.76 14.83
13638 567.7 9.4 1001 13642 done 0.62 - - 2531 - - - 2440 - 116.8 - - 2476 - - - - - - - - 15.02 15.04 15.04
13939 538.7 9.8 1016 13942 done 0.62 - - 2531 - - - 2440 - 116.8 - - 2475 - - - - - - - - 15.02 15.04 15.04
14238 510.5 9.3 1031 14244 roll 0.62 - - 2541 - 2.33 0.053 1044 -599.1 116.8 - - 2476 - - - - - - - - 15.01 14.77 15.04
14263 508.3 9.4 1035 14268 done 0.62 - - 2541 - 2.35 0.057 2441 594.5 116.8 - - 2475 - - - - - - - - 14.85 14.76 14.88
14587 477.2 9.6 1054 14590 done 0.62 - - 2540 - - - 2441 - 116.8 - - 2475 - - - - - - - - 15.02 15.05 15.04
14886 448.6 9.7 1069 14893 roll 0.62 - - 2553 - 2.33 0.052 1046 -598.7 116.8 - - 2475 - - - - - - - - 15.02 14.77 15.04
14911 446.1 9.9 1073 14918 done 0.62 - - 2553 - 2.35 0.056 2440 593.2 116.8 - - 2476 - - - - - - - - 14.85 14.75 14.88
15236 412.2 10.4 1092 15239 done 0.62 - - 2553 - - - 2440 - 116.8 - - 2476 - - - - - - - - 15.01 15.04 15.04
15536 381.9 9.7 1107 15542 roll 0.62 - - 2565 - 2.33 0.053 1044 -599.1 116.8 - - 2476 - - - - - - - - 15.01 14.77 15.04
15560 379.7 9.2 1111 15568 done 0.62 0.15 0.222 2531 -226.7 2.35 0.056 2441 594.5 116.8 - - 2476 - - - - - - - - 14.61 14.75 14.82
15882 353.2 8.3 1130 15888 roll 0.62 - - 2530 - 2.42 0.091 3845 580.2 116.8 - - 2474 - - - - - - - - 15.01 14.70 15.04
15908 350.9 9.1 1134 15914 done 0.62 - - 2540 - 2.25 0.037 2431 -628.4 116.8 - - 2475 - - - - - - - - 14.87 14.81 14.89
16232 322.0 9.5 1153 16239 roll 0.62 - - 2551 - 2.28 0.052 1047 -607.0 116.8 - - 2475 - - - - - - - - 15.00 14.76 15.03
16250 320.0 9.7 1156 16257 done 0.62 - - 2551 - 2.40 0.056 2437 579.2 116.8 - - 2476 - - - - - - - - 14.71 14.66 14.74
16557 288.7 10.2 1172 16563 roll 0.62 - - 2562 - 2.33 0.050 1041 -599.1 116.8 - - 2475 - - - - - - - - 15.01 14.75 15.04
16600 284.3 10.2 1180 16610 done 0.62 0.12 0.226 2533 -241.7 2.35 0.056 2441 595.7 116.8 - - 2475 - - - - - - - - 14.60 14.74 14.81
16924 258.2 7.2 1199 16927 done 0.65 - - 2533 - - - 2441 - 116.8 - - 2475 - - - - - - - - 15.01 15.04 15.04
17224 236.1 8.2 1223 17230 roll 0.65 - - 2543 - 2.33 0.051 1043 -600.0 116.8 - - 2475 - - - - - - - - 15.00 14.76 15.03
17319 228.3 8.3 1241 17326 done 0.65 - - 2543 - 2.35 0.056 2440 594.5 116.8 - - 2475 - - - - - - - - 14.83 14.73 14.86
17514 213.3 7.3 1261 17521 roll 0.67 - - 2555 - 2.33 0.051 1043 -599.6 116.8 - - 2476 - - - - - - - - 15.00 14.75 15.02
17539 211.4 7.3 1265 17546 done 0.69 - - 2555 - 2.35 0.055 2441 594.9 116.8 - - 2475 - - - - - - - - 14.83 14.73 14.85
17735 198.2 7.2 1285 17742 roll 0.72 - - 2555 - 2.42 0.090 3846 580.6 116.8 - - 2475 - - - - - - - - 14.99 14.68 15.02
17749 196.9 8.1 1287 17756 done 0.72 - - 2566 - 2.28 0.037 2428 -621.9 116.8 - - 2476 - - - - - - - - 14.84 14.79 14.86
17944 180.1 7.8 1307 17950 roll 0.73 - - 2578 - 2.28 0.051 1044 -607.0 116.8 - - 2475 - - - - - - - - 14.98 14.73 15.01
18008 175.8 6.5 1319 18014 done 0.77 - - 2577 - 2.35 0.054 2442 594.9 116.8 - - 2475 - - - - - - - - 14.81 14.72 14.85
18202 164.5 5.8 1339 18255 roll 0.82 - - 2588 - 2.40 0.051 1046 -581.7 170.5 44.12 1.097 2270 -4.6 0.130 - - - - - - 14.98 14.59 13.99
18336 154.4 8.7 1363 18342 done 0.82 - - 2588 - 2.38 0.054 2445 587.8 170.5 - - 2267 - - - - - - - - 14.67 14.59 14.69
18530 135.0 8.9 1383 18536 roll 0.82 - - 2588 - 2.40 0.086 3844 582.9 170.5 - - 2266 - - - - - - - - 14.88 14.59 14.90
18557 132.5 9.3 1388 18564 done 0.82 - - 2599 - 2.30 0.036 2443 -609.1 170.5 - - 2265 - - - - - - - - 14.66 14.63 14.68
18745 118.7 6.9 1407 18750 roll 0.85 - - 2609 - 2.30 0.050 1042 -609.1 170.5 - - 2265 - - - - - - - - 14.91 14.71 14.94
18981 104.7 4.9 1453 19050 done 0.93 - - 2609 - 2.35 0.053 2441 595.3 242.2 58.85 0.979 1979 -4.9 0.097 - - - - - - 14.78 14.70 13.96
19232 85.0 7.2 1485 19239 roll 0.95 - - 2620 - 2.33 0.050 1044 -599.6 242.2 - - 1974 - - - - - - - - 14.80 14.60 14.83
19297 80.2 7.2 1497 19304 done 0.98 - - 2621 - 2.35 0.054 2439 593.6 242.2 - - 1973 - - - - - - - - 14.70 14.62 14.73
19493 67.5 5.4 1517 19557 roll 1.04 0.12 0.115 2697 633.3 2.42 0.084 3845 581.0 304.8 52.50 0.892 1724 -4.7 0.067 - - - - - - 14.72 14.39 13.98
19638 58.2 6.6 1545 19646 done 1.08 0.12 0.238 2679 -150.0 2.25 0.034 2428 -629.8 304.8 - - 1723 - - - - - - - - 14.44 14.62 14.61
19832 46.9 6.1 1569 19886 roll 1.12 - - 2679 - 2.53 0.084 3839 557.7 353.2 42.12 0.828 1527 -4.7 0.049 - - - - - - 14.85 14.48 14.02
19967 34.2 11.3 1595 19973 done 1.12 - - 2690 - 2.28 0.036 2451 -608.8 353.2 - - 1526 - - - - - - - - 14.62 14.59 14.63
20160 10.3 4.9 1632 20213 VBD 1.19 - - 2692 - - - 2448 - 424.1 49.03 0.759 1294 -4.7 0.012 - - - - - - 14.86 - 14.89
20216 end climb: SURFACE_DEPTH_REACHED
20216 begin surface coast
20232 end surface coast: CONTROL_FINISHED_OK
20232 begin surface
SM 1.21 - - - - -6.78 7.15 0.040 124 17.2 0.10 0.144 2524 -64700.0 500.17 96.28 0.604 929 9.6 -0.002 - - - - 1 -