MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 61.64 of 350.00 AH used of 24V (82.39% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.6 deg, depth 1.33 m • Intended pitch -17.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 44 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
19 - - - 102 VBD -0.62 - - 5 - - - 2484 - -116.8 -77.07 0.005 2770 - - - - - - - - 14.85 - 14.89
105 5.0 -13.9 16 137 roll -0.62 9.25 0.356 2120 228.6 2.20 0.064 1116 -621.8 -116.8 -11.68 0.013 3445 -57.8 4.127 - - - - - - 14.38 13.92 14.58
176 32.8 -28.3 30 185 done -0.62 - - 2111 - 2.38 0.063 2489 576.9 -116.8 - - 3445 - - - - - - - - 14.64 14.57 14.66
373 88.9 -23.5 54 380 roll -0.62 - - 2100 - 2.38 0.085 3898 592.0 -116.8 - - 3445 - - - - - - - - 14.94 14.69 14.97
448 105.2 -21.1 68 454 done -0.62 - - 2100 - 2.20 0.038 2502 -634.5 -116.8 - - 3446 - - - - - - - - 14.81 14.78 14.82
641 139.9 -14.7 88 647 roll -0.62 - - 2102 - 2.25 0.048 1100 -623.1 -116.8 - - 3446 - - - - - - - - 14.97 14.78 15.00
756 156.9 -15.1 110 763 done -0.62 0.15 0.238 2124 146.7 2.35 0.060 2502 596.6 -116.8 - - 3446 - - - - - - - - 14.62 14.71 14.79
952 182.0 -11.7 130 959 roll -0.62 - - 2115 - 2.35 0.086 3897 593.6 -116.8 - - 3446 - - - - - - - - 15.00 14.76 15.02
986 186.1 -11.6 136 992 done -0.62 - - 2115 - 2.20 0.034 2497 -636.4 -116.8 - - 3445 - - - - - - - - 14.85 14.78 14.86
1180 209.6 -12.4 156 1185 roll -0.62 - - 2114 - 2.25 0.048 1092 -624.4 -116.8 - - 3445 - - - - - - - - 15.02 14.82 15.05
1284 222.2 -12.3 176 1290 done -0.62 - - 2104 - 2.38 0.061 2511 596.2 -116.8 - - 3445 - - - - - - - - 14.89 14.80 14.91
1477 246.6 -12.7 196 1484 done -0.62 - - 2104 - - - 2511 - -116.8 - - 3444 - - - - - - - - 15.04 15.07 15.07
1670 270.5 -12.5 207 1678 roll -0.62 - - 2093 - 2.33 0.086 3895 594.0 -116.8 - - 3443 - - - - - - - - 15.05 14.80 15.07
1711 276.4 -13.9 215 1718 done -0.62 0.12 0.216 2124 258.3 2.20 0.034 2487 -640.0 -116.8 - - 3442 - - - - - - - - 14.73 14.88 14.88
2036 313.8 -11.1 234 2042 roll -0.62 - - 2124 - 2.22 0.049 1101 -624.3 -116.8 - - 3439 - - - - - - - - 15.07 14.86 15.09
2084 319.3 -10.7 243 2090 done -0.62 - - 2116 - 2.35 0.060 2505 597.4 -116.8 - - 3439 - - - - - - - - 14.92 14.83 14.95
2403 356.0 -11.4 261 2408 roll -0.62 - - 2105 - 2.35 0.088 3897 592.3 -116.8 - - 3435 - - - - - - - - 15.07 14.81 15.10
2479 365.2 -11.6 276 2486 done -0.62 - - 2105 - 2.25 0.037 2502 -620.0 -116.8 - - 3434 - - - - - - - - 14.87 14.83 14.88
2786 400.8 -11.7 292 2790 done -0.62 - - 2105 - - - 2500 - -116.8 - - 3432 - - - - - - - - 15.08 15.11 15.11
3087 434.5 -11.2 307 3092 roll -0.62 - - 2105 - 2.25 0.050 1105 -620.0 -116.8 - - 3429 - - - - - - - - 15.08 14.86 15.11
3113 437.7 -11.8 312 3119 done -0.62 0.12 0.221 2124 158.3 2.35 0.060 2507 596.6 -116.8 - - 3429 - - - - - - - - 14.73 14.84 14.90
3427 467.8 -9.4 329 3433 roll -0.62 - - 2115 - 2.38 0.091 3897 584.0 -116.8 - - 3426 - - - - - - - - 15.08 14.81 15.11
3466 471.6 -9.9 336 3472 done -0.62 - - 2115 - 2.28 0.039 2500 -612.7 -116.8 - - 3426 - - - - - - - - 14.85 14.82 14.88
3771 501.5 -9.8 352 3777 roll -0.62 - - 2115 - 2.28 0.051 1095 -616.2 -116.8 - - 3425 - - - - - - - - 15.08 14.83 15.10
3843 508.7 -9.4 366 3849 done -0.62 - - 2104 - 2.38 0.063 2502 591.2 -116.8 - - 3425 - - - - - - - - 14.92 14.83 14.95
4157 540.4 -10.3 383 4165 roll -0.62 - - 2093 - 2.38 0.089 3900 587.4 -116.8 - - 3422 - - - - - - - - 15.08 14.79 15.11
4219 547.1 -10.7 395 4226 done -0.62 0.12 0.216 2124 258.3 2.22 0.040 2493 -633.8 -116.8 - - 3422 - - - - - - - - 14.73 14.88 14.90
4544 578.1 -9.9 414 4551 roll -0.62 - - 2125 - 2.25 0.053 1106 -616.4 -116.8 - - 3421 - - - - - - - - 15.07 14.85 15.10
4589 582.6 -9.7 422 4596 done -0.62 - - 2115 - 2.38 0.067 2508 589.1 -116.8 - - 3420 - - - - - - - - 14.92 14.81 14.94
4913 615.4 -9.9 441 4917 done -0.62 - - 2115 - - - 2508 - -116.8 - - 3418 - - - - - - - - 15.07 15.10 15.09
5213 644.3 -9.4 456 5217 done -0.62 - - 2115 - - - 2508 - -116.8 - - 3416 - - - - - - - - 15.07 15.10 15.09
5514 673.1 -9.6 471 5519 roll -0.62 - - 2114 - 2.30 0.053 1108 -608.7 -116.8 - - 3415 - - - - - - - - 15.07 14.83 15.09
5546 676.4 -10.0 477 5551 done -0.62 - - 2105 - 2.38 0.066 2508 588.2 -116.8 - - 3415 - - - - - - - - 14.90 14.81 14.93
5859 709.3 -10.7 494 5866 roll -0.62 - - 2094 - 2.38 0.093 3892 581.5 -116.8 - - 3414 - - - - - - - - 15.07 14.76 15.09
5912 715.6 -11.5 504 5919 done -0.62 0.12 0.213 2125 258.3 2.22 0.038 2501 -626.6 -116.8 - - 3414 - - - - - - - - 14.69 14.86 14.86
6227 747.4 -10.2 521 6233 roll -0.62 - - 2125 - 2.28 0.053 1103 -613.2 -116.8 - - 3412 - - - - - - - - 15.06 14.82 15.09
6279 753.0 -10.1 531 6285 done -0.62 - - 2116 - 2.38 0.064 2500 587.0 -116.8 - - 3412 - - - - - - - - 14.90 14.79 14.92
6593 785.7 -10.4 548 6599 roll -0.62 - - 2105 - 2.40 0.093 3899 582.9 -116.8 - - 3411 - - - - - - - - 15.06 14.75 15.09
6625 789.2 -11.0 554 6632 done -0.62 - - 2105 - 2.22 0.039 2503 -628.8 -116.8 - - 3411 - - - - - - - - 14.91 14.85 14.93
6940 822.3 -10.3 571 6946 roll -0.62 - - 2105 - 2.30 0.052 1096 -611.7 -116.8 - - 3410 - - - - - - - - 15.06 14.81 15.09
6984 826.9 -10.0 579 6993 done -0.62 0.12 0.222 2124 158.3 2.40 0.067 2505 587.1 -116.8 - - 3409 - - - - - - - - 14.66 14.78 14.84
7306 854.8 -8.5 598 7312 roll -0.62 - - 2115 - 2.40 0.096 3897 580.0 -116.8 - - 3408 - - - - - - - - 15.06 14.73 15.08
7360 859.6 -8.8 608 7366 done -0.62 - - 2115 - 2.25 0.039 2492 -624.4 -116.8 - - 3409 - - - - - - - - 14.90 14.84 14.92
7673 888.3 -9.2 625 7679 roll -0.62 - - 2115 - 2.28 0.052 1103 -609.2 -116.8 - - 3407 - - - - - - - - 15.04 14.77 15.06
7706 891.5 -9.7 631 7715 done -0.62 - - 2104 - 2.40 0.067 2508 585.4 -116.8 - - 3406 - - - - - - - - 14.88 14.77 14.90
8017 921.4 -9.5 648 8021 done -0.62 - - 2104 - - - 2508 - -116.8 - - 3407 - - - - - - - - 15.04 15.08 15.07
8317 949.4 -9.2 663 8323 roll -0.62 - - 2104 - 2.33 0.054 1105 -602.1 -116.8 - - 3406 - - - - - - - - 15.04 14.78 15.07
8349 952.6 -9.6 669 8360 done -0.62 0.12 0.222 2124 166.7 2.38 0.063 2499 585.7 -116.8 - - 3406 - - - - - - - - 14.64 14.76 14.82
8661 977.1 -7.9 686 8667 roll -0.62 - - 2115 - 2.42 0.096 3900 578.9 -116.8 - - 3405 - - - - - - - - 15.04 14.71 15.07
8699 980.6 -9.2 693 8705 done -0.62 - - 2114 - 2.30 0.040 2501 -608.3 -116.8 - - 3405 - - - - - - - - 14.76 14.73 14.79
8823 end dive: TARGET_DEPTH_EXCEEDED
8823 begin apogee
8830 991.1 -8.5 700 8938 done -0.15 0.55 0.173 2276 294.5 - - 2438 - - 102.85 2.039 2968 -4.2 0.384 - - - - - - 14.63 14.19 13.27
8940 end apogee: CONTROL_FINISHED_OK
8941 begin climb
8943 993.8 - 705 9071 roll 0.62 0.80 0.103 2536 325.0 2.58 0.088 3845 545.3 116.8 111.88 2.028 2490 -4.3 0.389 - - - - - - 14.24 13.90 13.21
9098 988.7 9.3 739 9105 done 0.62 - - 2547 - 2.40 0.038 2443 -584.2 116.8 - - 2486 - - - - - - - - 14.26 14.22 14.27
9405 958.9 9.5 755 9410 roll 0.62 - - 2558 - 2.35 0.054 1043 -595.7 116.8 - - 2481 - - - - - - - - 14.80 14.60 14.83
9451 954.3 9.5 764 9457 done 0.62 - - 2558 - 2.40 0.058 2442 582.9 116.8 - - 2481 - - - - - - - - 14.69 14.60 14.71
9769 923.5 9.9 782 9776 roll 0.62 - - 2570 - 2.35 0.053 1042 -595.7 116.8 - - 2480 - - - - - - - - 14.92 14.71 14.95
9822 918.1 10.2 792 9832 done 0.62 0.15 0.248 2536 -226.7 2.38 0.057 2441 587.8 116.8 - - 2478 - - - - - - - - 14.54 14.71 14.76
10134 888.5 9.8 809 10139 roll 0.62 - - 2546 - 2.35 0.053 1036 -597.9 116.8 - - 2479 - - - - - - - - 14.97 14.75 15.00
10160 885.7 9.5 814 10167 done 0.62 - - 2549 - 2.38 0.057 2440 589.9 116.8 - - 2478 - - - - - - - - 14.82 14.73 14.85
10480 850.1 11.6 832 10484 done 0.62 - - 2546 - - - 2440 - 116.8 - - 2478 - - - - - - - - 14.99 15.02 15.02
10780 815.6 11.2 847 10784 done 0.62 - - 2546 - - - 2440 - 116.8 - - 2477 - - - - - - - - 15.01 15.03 15.03
11079 783.5 10.1 862 11086 roll 0.62 - - 2557 - 2.35 0.054 1033 -598.7 116.8 - - 2477 - - - - - - - - 15.00 14.78 15.03
11144 777.0 10.2 874 11151 done 0.62 - - 2558 - 2.38 0.056 2439 590.8 116.8 - - 2476 - - - - - - - - 14.85 14.76 14.88
11469 743.9 10.2 893 11475 roll 0.62 - - 2569 - 2.35 0.052 1036 -597.0 116.8 - - 2475 - - - - - - - - 15.01 14.78 15.04
11493 741.4 10.0 897 11502 done 0.62 0.15 0.238 2535 -226.7 2.38 0.056 2445 592.0 116.8 - - 2475 - - - - - - - - 14.59 14.76 14.81
11816 711.6 9.5 916 11822 roll 0.62 - - 2545 - 2.35 0.052 1040 -597.9 116.8 - - 2475 - - - - - - - - 15.01 14.78 15.04
11859 707.5 9.5 924 11865 done 0.62 - - 2545 - 2.38 0.057 2444 589.9 116.8 - - 2474 - - - - - - - - 14.85 14.76 14.88
12184 675.8 9.8 943 12189 roll 0.62 - - 2545 - 2.40 0.087 3846 584.2 116.8 - - 2475 - - - - - - - - 15.01 14.72 15.04
12228 670.9 11.2 951 12234 done 0.62 - - 2556 - 2.25 0.037 2433 -628.0 116.8 - - 2474 - - - - - - - - 14.88 14.82 14.90
12552 638.5 9.7 970 12559 roll 0.62 - - 2567 - 2.30 0.053 1040 -605.7 116.8 - - 2474 - - - - - - - - 15.02 14.78 15.04
12625 631.4 9.5 984 12635 done 0.62 0.15 0.236 2533 -226.7 2.38 0.055 2450 592.4 116.8 - - 2474 - - - - - - - - 14.59 14.76 14.81
12937 604.7 8.5 1001 12940 done 0.62 - - 2533 - - - 2450 - 116.8 - - 2474 - - - - - - - - 15.01 15.04 15.04
13236 578.9 8.6 1016 13240 done 0.62 - - 2533 - - - 2450 - 116.8 - - 2474 - - - - - - - - 15.02 15.04 15.04
13537 552.8 8.4 1031 13543 roll 0.62 - - 2543 - 2.35 0.052 1043 -598.7 116.8 - - 2473 - - - - - - - - 15.02 14.77 15.04
13583 548.8 8.4 1040 13590 done 0.62 - - 2543 - 2.38 0.055 2442 587.8 116.8 - - 2474 - - - - - - - - 14.85 14.75 14.88
13903 521.0 8.8 1058 13909 roll 0.62 - - 2543 - 2.40 0.087 3842 583.3 116.8 - - 2474 - - - - - - - - 15.01 14.71 15.04
13947 516.5 10.3 1066 13954 done 0.62 - - 2554 - 2.25 0.038 2433 -626.2 116.8 - - 2474 - - - - - - - - 14.87 14.81 14.89
14272 485.6 9.3 1085 14278 roll 0.62 - - 2565 - 2.30 0.053 1040 -605.7 116.8 - - 2473 - - - - - - - - 15.01 14.76 15.04
14367 476.6 9.8 1103 14377 done 0.62 0.15 0.230 2530 -233.3 2.38 0.056 2447 591.2 116.8 - - 2473 - - - - - - - - 14.56 14.72 14.78
14677 449.7 8.4 1120 14682 roll 0.62 - - 2533 - 2.40 0.090 3843 581.7 116.8 - - 2473 - - - - - - - - 15.01 14.70 15.03
14703 447.1 9.4 1125 14709 done 0.62 - - 2541 - 2.25 0.037 2433 -626.7 116.8 - - 2473 - - - - - - - - 14.86 14.81 14.89
15023 420.8 7.9 1143 15028 roll 0.63 - - 2551 - 2.28 0.052 1049 -607.0 116.8 - - 2474 - - - - - - - - 15.01 14.76 15.04
15068 417.3 7.7 1151 15074 done 0.65 - - 2551 - 2.38 0.056 2446 587.0 116.8 - - 2473 - - - - - - - - 14.84 14.74 14.88
15392 392.1 7.3 1170 15396 done 0.67 - - 2552 - - - 2447 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
15691 368.7 8.2 1185 15695 done 0.67 - - 2552 - - - 2447 - 116.8 - - 2473 - - - - - - - - 15.01 15.04 15.04
15992 345.3 7.4 1200 15998 roll 0.69 - - 2563 - 2.33 0.051 1047 -600.9 116.8 - - 2474 - - - - - - - - 15.02 14.76 15.04
16016 343.5 7.3 1204 16022 done 0.71 - - 2562 - 2.35 0.056 2442 593.6 116.8 - - 2473 - - - - - - - - 14.84 14.74 14.87
16341 318.1 8.2 1223 16347 roll 0.71 - - 2562 - 2.42 0.089 3846 580.2 116.8 - - 2473 - - - - - - - - 15.01 14.69 15.04
16460 306.8 9.3 1246 16468 done 0.71 - - 2574 - 2.30 0.037 2444 -609.6 116.8 - - 2473 - - - - - - - - 14.75 14.71 14.76
16767 283.1 7.4 1262 16774 roll 0.74 - - 2585 - 2.30 0.050 1044 -608.7 116.8 - - 2474 - - - - - - - - 15.00 14.73 15.03
16846 277.2 7.6 1277 16853 done 0.75 - - 2585 - 2.40 0.054 2437 580.4 116.8 - - 2473 - - - - - - - - 14.70 14.65 14.74
17151 250.9 8.3 1293 17157 roll 0.75 - - 2585 - 2.42 0.087 3848 583.1 116.8 - - 2473 - - - - - - - - 15.01 14.70 15.04
17228 243.9 9.4 1307 17234 done 0.75 - - 2596 - 2.25 0.037 2435 -628.0 116.8 - - 2473 - - - - - - - - 14.86 14.81 14.88
17422 226.8 8.0 1327 17428 roll 0.75 - - 2607 - 2.28 0.050 1048 -608.3 116.8 - - 2473 - - - - - - - - 15.00 14.75 15.02
17509 220.3 7.7 1343 17514 done 0.77 - - 2607 - 2.35 0.055 2447 595.3 116.8 - - 2473 - - - - - - - - 14.83 14.73 14.85
17703 206.8 6.2 1363 17752 roll 0.81 - - 2618 - 2.40 0.051 1049 -582.5 162.9 38.15 1.147 2302 -4.5 0.150 - - - - - - 15.00 14.60 13.99
17847 194.3 10.0 1391 17852 done 0.81 - - 2619 - 2.38 0.056 2443 585.7 162.9 - - 2299 - - - - - - - - 14.69 14.60 14.71
18041 173.1 10.5 1411 18046 roll 0.81 - - 2618 - 2.40 0.085 3843 583.3 162.9 - - 2297 - - - - - - - - 14.89 14.61 14.91
18067 169.8 11.7 1416 18074 done 0.81 0.12 0.241 2596 -183.3 2.30 0.037 2445 -607.8 162.9 - - 2296 - - - - - - - - 14.42 14.66 14.57
18255 151.7 9.1 1435 18262 done 0.81 - - 2596 - - - 2444 - 162.9 - - 2297 - - - - - - - - 14.92 14.95 14.95
18444 138.4 6.4 1454 18487 roll 0.86 - - 2605 - 2.38 0.052 1021 -597.9 204.6 35.30 1.030 2132 -4.7 0.117 - - - - - - 14.94 14.60 14.01
18517 133.1 9.4 1465 18527 done 0.86 - - 2606 - 2.42 0.053 2449 590.1 204.6 - - 2131 - - - - - - - - 14.67 14.59 14.69
18705 114.7 8.6 1485 18711 roll 0.86 - - 2617 - 2.35 0.050 1042 -598.7 204.6 - - 2129 - - - - - - - - 14.86 14.64 14.89
18801 106.0 9.2 1503 18807 done 0.86 - - 2617 - 2.38 0.054 2441 587.8 204.6 - - 2128 - - - - - - - - 14.74 14.65 14.76
18996 96.5 4.3 1523 19077 roll 0.94 - - 2628 - 2.38 0.052 1045 -586.6 288.9 70.07 0.962 1787 -4.9 0.091 - - - - - - 14.92 14.34 13.93
19135 85.3 9.7 1550 19142 done 0.94 - - 2628 - 2.42 0.056 2433 573.6 288.9 - - 1785 - - - - - - - - 14.51 14.46 14.54
19321 70.7 6.8 1569 19332 roll 0.97 - - 2629 - 2.42 0.084 3846 583.9 288.9 - - 1784 - - - - - - - - 14.83 14.57 14.85
19564 57.7 0.7 1616 19706 done 1.13 0.12 0.058 2715 716.7 2.30 0.034 2425 -617.8 445.3 132.30 0.879 1151 -4.8 0.058 - - - - - - 14.68 14.69 13.85
19892 23.5 15.0 1679 19899 roll 1.13 - - 2726 - 2.33 0.056 1060 -585.8 445.3 - - 1148 - - - - - - - - 14.76 14.52 14.78
20019 6.4 11.6 1703 20026 done 1.13 0.08 0.174 2699 -337.5 2.38 0.054 2437 578.6 445.3 - - 1148 - - - - - - - - 14.49 14.57 14.59
20046 end climb: SURFACE_DEPTH_REACHED
20046 begin surface coast
20073 end surface coast: CONTROL_FINISHED_OK
20073 begin surface
SM 1.42 - - - - -6.78 7.28 0.057 123 16.9 0.10 0.120 2573 -25530.0 500.17 68.45 0.535 928 13.6 -0.004 - - - - 1 -