MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 163 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 53.46 of 350.00 AH used of 24V (84.73% remains)
• Surface angle -70.8 deg, depth 0.67 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.22 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 4 s • Transponder ping count: 26
• 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
16.11 - - - 100.29 VBD -0.63 - - 293.75 - - - 3004.88 - -145.99 80.56 0.005 2814.25 - - - - - - - - - - 15.12
100.58 5.27 -8.59 8 130.31 -0.63 9.64 0.374 2261.31 204.1 1.42 0.087 3807.19 565.0 -145.99 12.19 0.007 3493.22 55.7 -7.099 - - - - - - 14.89 15.45 15.13
311.98 86.25 -20.36 28 319.37 roll -0.63 - - 2260.19 - 1.12 0.027 3063.31 -664.2 -145.99 - - 3494.72 - - - - - - - - - 15.84 -
497.49 120.48 -17.30 47 503.88 roll -0.63 - - 2254.69 - 1.33 0.086 3806.88 559.1 -145.99 - - 3494.59 - - - - - - - - - 15.83 -
652.05 146.11 -16.14 62 659.59 roll -0.63 - - 2255.81 - 1.12 0.030 3078.06 -650.7 -145.99 - - 3493.69 - - - - - - - - - 15.88 -
837.68 172.67 -13.31 81 842.12 no move -0.63 - - 2255.94 - - - 3076.00 - -145.99 - - 3492.06 - - - - - - - - - - -
1017.79 198.32 -14.60 99 1022.26 no move -0.63 - - 2256.31 - - - 3075.88 - -145.99 - - 3492.88 - - - - - - - - - - -
1197.64 224.91 -14.01 117 1220.49 roll -0.63 - - 2249.50 - 1.32 0.094 3805.69 552.9 -145.99 - - 3494.31 - - - - - - - - - 15.94 -
1267.14 234.89 -14.02 122 1289.96 roll -0.63 - - 2250.56 - 1.12 0.032 3078.00 -649.7 -145.99 - - 3492.84 - - - - - - - - - 15.93 -
1462.24 260.87 -13.62 141 1485.11 roll -0.63 - - 2244.50 - 1.31 0.096 3800.56 551.6 -145.99 - - 3491.22 - - - - - - - - - 15.96 -
1517.32 268.21 -13.24 145 1540.14 roll -0.63 - - 2243.06 - 1.11 0.033 3077.94 -651.0 -145.99 - - 3491.56 - - - - - - - - - 16.00 -
1722.31 294.58 -12.41 164 1745.17 roll -0.63 - - 2239.44 - 1.32 0.098 3800.88 547.7 -145.99 - - 3489.84 - - - - - - - - - 15.97 -
1787.43 302.97 -13.06 169 1810.26 roll -0.63 - - 2238.38 - 1.11 0.031 3068.00 -660.3 -145.99 - - 3489.03 - - - - - - - - - 15.99 -
1992.51 330.68 -13.88 188 2015.05 no move -0.63 - - 2238.94 - - - 3067.75 - -145.99 - - 3486.84 - - - - - - - - - - -
2187.35 358.43 -14.12 206 2210.34 roll -0.63 - - 2232.00 - 1.35 0.100 3801.81 543.7 -145.99 - - 3486.84 - - - - - - - - - 15.98 -
2292.57 374.55 -15.45 215 2315.59 roll back -0.63 0.13 0.220 2270.44 295.7 1.12 0.036 3091.38 -634.3 -145.99 - - 3486.12 - - - - - - - - 15.89 16.05 -
2497.83 399.69 -11.58 234 2520.79 roll -0.63 - - 2265.62 - 1.30 0.101 3801.44 546.2 -145.99 - - 3484.59 - - - - - - - - - 15.96 -
2552.91 406.29 -12.06 237 2575.74 roll -0.63 - - 2266.12 - 1.13 0.038 3084.94 -634.1 -145.99 - - 3484.62 - - - - - - - - - 16.03 -
2887.99 442.79 -10.46 253 2910.98 roll -0.63 - - 2260.25 - 1.32 0.103 3803.75 544.6 -145.99 - - 3482.34 - - - - - - - - - 15.99 -
2963.20 451.01 -11.08 256 2986.16 roll -0.63 - - 2259.50 - 1.13 0.040 3088.62 -632.9 -145.99 - - 3481.03 - - - - - - - - - 16.05 -
3298.49 487.73 -11.17 272 3321.47 roll -0.63 - - 2254.44 - 1.32 0.104 3801.12 539.8 -145.99 - - 3480.25 - - - - - - - - - 15.99 -
3458.14 507.03 -12.19 279 3481.10 roll -0.63 - - 2255.62 - 1.13 0.042 3090.06 -629.3 -145.99 - - 3479.50 - - - - - - - - - 16.05 -
3788.30 545.51 -11.65 295 3811.29 roll -0.63 - - 2249.88 - 1.31 0.103 3800.94 542.7 -145.99 - - 3475.06 - - - - - - - - - 15.98 -
3892.94 558.25 -12.07 299 3915.89 roll -0.63 - - 2250.06 - 1.13 0.042 3094.19 -625.4 -145.99 - - 3475.97 - - - - - - - - - 16.04 -
4218.21 595.95 -11.48 315 4241.20 roll -0.63 - - 2244.50 - 1.30 0.103 3800.69 543.5 -145.99 - - 3474.00 - - - - - - - - - 15.97 -
4347.85 611.98 -12.49 320 4370.81 roll -0.63 - - 2243.38 - 1.14 0.042 3091.81 -621.8 -145.99 - - 3473.75 - - - - - - - - - 15.99 -
4654.80 648.55 -11.98 336 4677.79 roll -0.63 - - 2238.25 - 1.31 0.103 3804.31 543.9 -145.99 - - 3472.00 - - - - - - - - - 15.98 -
4749.95 660.85 -12.98 340 4772.91 roll -0.63 - - 2239.00 - 1.14 0.042 3090.31 -626.3 -145.99 - - 3470.03 - - - - - - - - - 16.04 -
5085.05 702.60 -12.47 356 5108.04 roll -0.63 - - 2233.94 - 1.32 0.104 3801.38 538.7 -145.99 - - 3469.66 - - - - - - - - - 15.96 -
5164.69 713.22 -13.50 359 5187.71 roll back -0.63 0.13 0.218 2269.12 270.6 1.14 0.043 3100.56 -614.8 -145.99 - - 3468.50 - - - - - - - - 15.86 16.03 -
5495.06 747.32 -9.97 375 5518.03 roll -0.63 - - 2264.94 - 1.29 0.103 3803.19 544.7 -145.99 - - 3467.94 - - - - - - - - - 15.95 -
5539.73 752.05 -10.29 376 5562.56 roll -0.63 - - 2265.69 - 1.14 0.046 3097.81 -618.8 -145.99 - - 3467.47 - - - - - - - - - 16.04 -
5864.73 784.52 -9.88 392 5887.72 roll -0.63 - - 2260.31 - 1.30 0.103 3803.50 542.8 -145.99 - - 3465.03 - - - - - - - - - 15.95 -
5964.38 794.93 -10.33 396 5987.34 roll -0.63 - - 2259.81 - 1.14 0.045 3097.06 -619.7 -145.99 - - 3464.94 - - - - - - - - - 16.03 -
6294.52 827.34 -9.59 412 6317.52 roll -0.63 - - 2256.44 - 1.30 0.103 3800.88 541.4 -145.99 - - 3463.69 - - - - - - - - - 15.94 -
6344.16 832.41 -9.97 413 6366.99 roll -0.63 - - 2254.81 - 1.15 0.045 3097.50 -611.6 -145.99 - - 3463.91 - - - - - - - - - 15.97 -
6651.00 862.39 -9.90 429 6674.00 roll -0.63 - - 2251.31 - 1.30 0.105 3800.06 540.4 -145.99 - - 3462.94 - - - - - - - - - 15.93 -
6690.71 866.56 -10.47 430 6713.54 roll -0.63 - - 2250.62 - 1.14 0.046 3098.38 -615.5 -145.99 - - 3462.50 - - - - - - - - - 16.02 -
7020.91 902.22 -10.92 446 7043.90 roll -0.63 - - 2244.56 - 1.31 0.104 3802.25 537.3 -145.99 - - 3460.62 - - - - - - - - - 15.93 -
7105.55 912.04 -11.54 449 7128.51 roll -0.63 - - 2243.81 - 1.14 0.046 3098.50 -617.3 -145.99 - - 3459.94 - - - - - - - - - 16.01 -
7430.77 948.75 -11.34 465 7453.76 roll -0.63 - - 2238.56 - 1.31 0.105 3801.06 536.3 -145.99 - - 3458.94 - - - - - - - - - 15.92 -
7520.42 959.79 -12.32 468 7543.38 roll -0.63 - - 2239.38 - 1.15 0.046 3098.06 -611.3 -145.99 - - 3458.72 - - - - - - - - - 15.93 -
7787 end dive: TARGET_DEPTH_EXCEEDED
7787 begin apogee
7789.20 991.16 -11.62 482 7916.81 -0.14 0.64 0.189 2428.25 295.1 0.13 0.197 2723.50 -2881.2 - 114.92 2.074 2901.22 -4.9 0.392 - - - - - - 15.12 15.14 11.58
7917 end apogee: CONTROL_FINISHED_OK
7917 begin climb
7917.57 995.51 - 488 8063.43 0.63 0.75 0.086 2691.38 350.8 1.95 0.033 1585.62 -583.5 145.99 123.18 2.048 2304.72 -4.8 0.398 - - - - - - 15.34 15.03 12.41
8150.10 981.53 10.10 498 8173.30 roll 0.63 - - 2686.94 - 2.09 0.083 2712.88 539.4 145.99 - - 2296.09 - - - - - - - - - 15.46 -
8485.58 944.83 11.22 515 8508.75 done 0.63 - - 2687.25 - 1.97 0.111 3773.75 538.5 145.99 - - 2293.94 - - - - - - - - - 15.73 -
8535.99 938.46 12.93 517 8558.95 done 0.63 - - 2691.75 - 1.86 0.037 2616.50 -622.2 145.99 - - 2296.62 - - - - - - - - - 15.78 -
8866.17 899.62 11.67 533 8889.40 done 0.63 - - 2686.75 - 2.16 0.110 3773.56 535.7 145.99 - - 2292.66 - - - - - - - - - 15.81 -
8931.05 890.97 13.53 535 8954.01 done 0.63 - - 2694.56 - 1.84 0.036 2655.00 -607.9 145.99 - - 2292.78 - - - - - - - - - 15.83 -
9238.01 854.05 12.13 551 9261.22 done 0.63 - - 2687.69 - 2.15 0.107 3772.19 519.6 145.99 - - 2292.06 - - - - - - - - - 15.85 -
9348.56 839.37 13.30 556 9371.65 done 0.63 - - 2694.12 - 1.83 0.035 2615.75 -631.9 145.99 - - 2292.75 - - - - - - - - - 15.93 -
9678.84 801.02 11.26 572 9701.34 done 0.63 - - 2688.12 - 2.14 0.105 3772.62 540.6 145.99 - - 2292.50 - - - - - - - - - 15.87 -
9717.98 796.12 12.21 573 9740.94 done 0.63 - - 2694.25 - 1.83 0.036 2621.06 -629.3 145.99 - - 2292.84 - - - - - - - - - 15.95 -
10025.00 762.81 10.61 588 10048.20 done 0.63 - - 2687.56 - 2.14 0.105 3773.50 538.5 145.99 - - 2291.06 - - - - - - - - - 15.88 -
10075.43 756.86 11.97 590 10098.40 done 0.63 - - 2693.44 - 1.83 0.035 2618.94 -630.9 145.99 - - 2295.22 - - - - - - - - - 15.97 -
10405.80 721.83 10.43 606 10429.01 done 0.63 - - 2688.00 - 2.13 0.104 3774.12 542.3 145.99 - - 2293.44 - - - - - - - - - 15.88 -
10516.22 709.03 11.82 611 10539.31 done 0.63 - - 2695.19 - 1.83 0.035 2622.12 -629.5 145.99 - - 2291.81 - - - - - - - - - 15.97 -
10846.53 674.72 10.62 627 10869.76 done 0.63 - - 2690.06 - 2.13 0.103 3775.00 541.3 145.99 - - 2290.78 - - - - - - - - - 15.89 -
10901.40 668.26 12.10 629 10924.37 done 0.63 - - 2696.12 - 1.83 0.035 2623.06 -629.5 145.99 - - 2290.66 - - - - - - - - - 15.98 -
11226.68 632.21 11.22 645 11249.89 done 0.63 - - 2696.06 - 2.13 0.103 3776.31 541.4 145.99 - - 2290.34 - - - - - - - - - 15.89 -
11311.55 621.08 13.38 648 11334.64 done 0.63 - - 2705.25 - 1.84 0.036 2631.62 -622.1 145.99 - - 2292.31 - - - - - - - - - 15.34 -
11618.65 585.10 11.36 664 11641.92 0.63 0.15 0.237 2662.50 -285.0 2.12 0.099 3772.75 538.3 145.99 - - 2294.16 - - - - - - - - 15.76 15.78 -
11709.17 575.15 10.96 668 11732.25 done 0.63 - - 2670.19 - 1.83 0.036 2619.56 -630.2 145.99 - - 2290.16 - - - - - - - - - 15.99 -
12039.71 545.71 8.44 684 12062.91 done 0.65 - - 2668.94 - 2.13 0.103 3772.25 541.2 145.99 - - 2290.16 - - - - - - - - - 15.89 -
12184.60 530.87 10.09 690 12207.69 done 0.65 - - 2678.00 - 1.83 0.036 2626.19 -626.3 145.99 - - 2291.03 - - - - - - - - - 15.91 -
12491.75 503.45 9.13 706 12514.96 done 0.65 - - 2678.00 - 2.12 0.103 3774.69 541.7 145.99 - - 2289.38 - - - - - - - - - 15.87 -
12602.26 491.53 10.85 711 12625.35 done 0.65 - - 2685.56 - 1.82 0.035 2618.62 -635.2 145.99 - - 2292.56 - - - - - - - - - 15.99 -
12932.62 460.06 9.50 727 12955.85 done 0.65 - - 2687.50 - 2.13 0.103 3776.75 543.7 145.99 - - 2288.66 - - - - - - - - - 15.88 -
13047.52 447.36 10.90 732 13070.60 done 0.65 - - 2694.88 - 1.82 0.036 2628.06 -631.1 145.99 - - 2294.09 - - - - - - - - - 15.99 -
13372.87 416.15 9.53 748 13396.06 done 0.65 - - 2695.94 - 2.10 0.100 3774.38 545.9 145.99 - - 2289.16 - - - - - - - - - 15.88 -
13412.70 411.82 10.77 749 13435.66 done 0.65 - - 2704.94 - 1.82 0.037 2638.94 -623.9 145.99 - - 2289.09 - - - - - - - - - 15.99 -
13719.76 381.67 9.93 773 13742.95 done 0.65 - - 2704.50 - 2.10 0.105 3774.56 540.8 145.99 - - 2289.72 - - - - - - - - - 15.87 -
13774.61 375.23 12.11 776 13797.57 done 0.65 - - 2712.94 - 1.83 0.037 2634.25 -623.1 145.99 - - 2291.06 - - - - - - - - - 15.92 -
13969.82 353.92 10.91 795 13993.00 0.65 0.16 0.225 2673.62 -245.8 1.63 0.029 1561.62 -658.1 145.99 - - 2288.78 - - - - - - - - 15.76 15.77 -
14004.64 350.59 9.63 796 14027.71 done 0.65 - - 2674.56 - 2.09 0.087 2713.44 551.1 145.99 - - 2288.56 - - - - - - - - - 15.86 -
14200.02 333.44 8.72 815 14223.19 done 0.65 - - 2675.50 - 1.94 0.106 3777.75 548.6 145.99 - - 2288.84 - - - - - - - - - 15.85 -
14264.84 326.92 10.10 819 14289.51 done 0.65 - - 2681.38 - 1.84 0.038 2642.06 -617.2 145.99 - - 2291.88 - - - - - - - - - 15.91 -
14461.86 310.30 8.10 838 14484.91 done 0.67 - - 2690.25 - 1.66 0.028 1559.00 -652.4 145.99 - - 2289.22 - - - - - - - - - 15.99 -
14496.65 307.43 8.17 839 14519.71 done 0.69 - - 2691.25 - 2.08 0.085 2715.56 556.0 145.99 - - 2290.47 - - - - - - - - - 15.84 -
14692.01 291.25 8.29 858 14715.18 done 0.71 - - 2691.12 - 1.92 0.102 3775.81 552.2 145.99 - - 2289.38 - - - - - - - - - 15.86 -
14772.49 283.36 10.00 864 14795.57 done 0.71 - - 2699.38 - 1.83 0.036 2635.75 -623.0 145.99 - - 2288.66 - - - - - - - - - 15.98 -
14967.99 266.59 8.73 882 14990.65 VBD 0.71 - - 2699.81 - - - 2634.88 - 145.99 - - 2289.69 - - - - - - - - - - -
15163.03 250.17 8.42 900 15185.77 VBD 0.72 - - 2699.94 - - - 2634.81 - 145.99 - - 2289.22 - - - - - - - - - - -
15358.09 233.73 8.64 918 15381.30 done 0.73 - - 2699.25 - 2.12 0.107 3772.94 536.9 145.99 - - 2289.97 - - - - - - - - - 15.85 -
15428.73 226.48 10.81 923 15451.82 done 0.73 - - 2708.38 - 1.83 0.038 2641.44 -618.3 145.99 - - 2289.34 - - - - - - - - - 15.97 -
15624.02 208.18 9.13 941 15647.07 done 0.73 - - 2715.19 - 1.66 0.027 1557.00 -653.3 145.99 - - 2291.06 - - - - - - - - - 15.99 -
15698.80 202.05 8.11 946 15721.99 done 0.75 - - 2716.25 - 2.07 0.082 2715.06 559.4 145.99 - - 2289.44 - - - - - - - - - 15.86 -
15904.33 185.39 7.92 966 15927.50 done 0.78 - - 2716.81 - 1.92 0.101 3775.56 552.3 145.99 - - 2290.16 - - - - - - - - - 15.86 -
16039.17 173.22 9.25 977 16062.26 done 0.78 - - 2726.19 - 1.82 0.035 2642.56 -622.5 145.99 - - 2289.25 - - - - - - - - - 15.90 -
16244.50 157.53 7.04 997 16292.32 done 0.82 - - 2732.69 - 1.67 0.029 1557.94 -649.5 191.95 35.06 0.972 2115.38 -5.0 0.136 - - - - - - - 15.81 11.69
16353.99 148.55 8.87 1007 16377.17 roll 0.82 - - 2734.56 - 2.08 0.080 2714.31 555.9 191.95 - - 2113.06 - - - - - - - - - 15.81 -
16549.30 132.01 7.70 1026 16571.96 no move 0.85 - - 2733.81 - - - 2715.19 - 191.95 - - 2111.22 - - - - - - - - - - -
16744.29 119.50 6.27 1044 16803.54 done 0.92 - - 2734.62 - 1.93 0.103 3774.88 549.1 254.47 47.04 0.899 1859.62 -5.3 0.120 - - - - - - - 15.67 12.29
16840.19 111.20 10.92 1053 16863.28 roll 0.92 - - 2742.44 - 1.84 0.033 2619.00 -628.2 254.47 - - 1859.44 - - - - - - - - - 15.75 -
17035.60 95.45 5.95 1072 17100.44 0.99 0.12 0.071 2815.25 606.7 2.16 0.101 3775.62 535.5 323.95 51.26 0.839 1576.59 -5.5 0.106 - - - - - - 15.81 15.59 12.30
17322.16 67.98 5.27 1099 17395.51 done 1.07 - - 2824.81 - 1.84 0.031 2621.94 -627.0 408.11 59.76 0.771 1235.62 -5.7 0.085 - - - - - - - 15.74 12.33
17569.22 51.86 8.72 1124 17592.27 roll 1.07 - - 2830.75 - 1.63 0.022 1557.38 -653.1 408.11 - - 1231.97 - - - - - - - - - 15.76 -
17684.01 42.31 7.89 1133 17707.19 roll 1.10 - - 2831.31 - 2.07 0.074 2717.62 560.5 408.11 - - 1231.31 - - - - - - - - - 15.76 -
17889.38 23.25 9.66 1153 17912.55 roll 1.10 - - 2831.81 - 1.91 0.102 3774.81 553.5 408.11 - - 1230.72 - - - - - - - - - 15.82 -
17919.78 20.05 10.27 1154 17942.73 roll 1.10 - - 2841.38 - 1.80 0.029 2599.75 -652.8 408.11 - - 1231.91 - - - - - - - - - 15.87 -
18105 end climb: SURFACE_DEPTH_REACHED
18105 begin surface coast
18135 end surface coast: CONTROL_FINISHED_OK
18135 begin surface
SM 0.54 - - - - 332.5 0.01 1.358 860.8 86080.0 6.89 0.048 864.3 125.4 - 1.01 0.103 857.2 846.9 -0.454 - - 30.36 15.91 15.89 -