MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 170 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 55.40 of 350.00 AH used of 24V (84.17% remains)
• Surface angle -71.9 deg, depth 0.63 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 499.85 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 25
• 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
16.19 - - - 90.09 VBD -0.63 - - 308.88 - - - 3049.81 - -145.99 70.19 0.005 2495.62 - - - - - - - - - - 15.09
90.36 3.09 -4.03 7 129.05 -0.63 9.56 0.374 2262.94 204.4 1.35 0.086 3808.38 561.9 -145.99 21.48 0.006 3492.75 46.4 -4.044 - - - - - - 14.87 15.43 15.18
350.74 96.50 -27.43 32 358.09 roll -0.63 - - 2262.56 - 1.13 0.029 3071.00 -652.5 -145.99 - - 3492.84 - - - - - - - - - 15.84 -
536.29 131.04 -16.69 51 540.73 no move -0.63 - - 2262.44 - - - 3071.50 - -145.99 - - 3491.16 - - - - - - - - - - -
716.32 159.25 -15.22 69 722.66 roll -0.63 - - 2257.12 - 1.32 0.085 3808.12 558.0 -145.99 - - 3491.88 - - - - - - - - - 15.86 -
746.50 163.69 -14.65 72 752.63 roll -0.63 - - 2257.12 - 1.13 0.032 3080.38 -644.0 -145.99 - - 3492.12 - - - - - - - - - 15.90 -
936.48 189.82 -13.29 91 941.14 no move -0.63 - - 2256.81 - - - 3078.44 - -145.99 - - 3491.38 - - - - - - - - - - -
1116.55 213.30 -13.17 109 1139.37 roll -0.63 - - 2251.81 - 1.30 0.085 3807.88 561.1 -145.99 - - 3491.91 - - - - - - - - - 15.93 -
1161.59 219.31 -13.47 112 1184.40 roll -0.63 - - 2251.62 - 1.13 0.034 3083.75 -640.8 -145.99 - - 3491.19 - - - - - - - - - 15.97 -
1366.58 245.30 -12.68 131 1389.40 roll -0.63 - - 2246.56 - 1.29 0.087 3806.81 560.5 -145.99 - - 3490.66 - - - - - - - - - 15.95 -
1446.05 256.11 -13.64 137 1468.86 roll -0.63 - - 2245.31 - 1.14 0.035 3084.31 -633.8 -145.99 - - 3490.91 - - - - - - - - - 15.95 -
1641.16 282.10 -13.48 156 1663.68 no move -0.63 - - 2246.31 - - - 3084.75 - -145.99 - - 3488.06 - - - - - - - - - - -
1835.84 307.51 -13.06 174 1858.67 roll -0.63 - - 2241.44 - 1.30 0.090 3806.25 555.0 -145.99 - - 3487.84 - - - - - - - - - 15.98 -
1875.37 313.06 -13.97 176 1898.18 roll -0.63 - - 2240.06 - 1.14 0.037 3087.62 -630.4 -145.99 - - 3488.50 - - - - - - - - - 15.98 -
2070.56 340.48 -14.20 195 2093.20 no move -0.63 - - 2241.12 - - - 3087.25 - -145.99 - - 3485.16 - - - - - - - - - - -
2265.44 368.19 -14.01 213 2288.39 roll -0.63 - - 2234.69 - 1.30 0.094 3803.75 551.2 -145.99 - - 3483.88 - - - - - - - - - 15.99 -
2375.05 384.33 -14.63 222 2398.04 roll back -0.63 0.12 0.215 2269.38 289.1 1.14 0.038 3096.69 -620.2 -145.99 - - 3483.72 - - - - - - - - 15.86 15.97 -
2570.31 407.07 -11.09 238 2592.95 no move -0.63 - - 2269.06 - - - 3097.75 - -145.99 - - 3482.56 - - - - - - - - - - -
2875.21 439.45 -10.38 253 2898.16 roll -0.63 - - 2264.69 - 1.29 0.096 3804.38 547.8 -145.99 - - 3480.59 - - - - - - - - - 16.00 -
2944.80 447.00 -10.70 255 2967.74 roll -0.63 - - 2266.12 - 1.15 0.041 3091.25 -620.1 -145.99 - - 3480.34 - - - - - - - - - 15.97 -
3251.80 480.25 -10.94 271 3274.78 roll -0.63 - - 2260.75 - 1.30 0.097 3804.12 548.4 -145.99 - - 3477.31 - - - - - - - - - 16.00 -
3321.42 488.35 -11.75 273 3344.36 roll -0.63 - - 2260.12 - 1.15 0.042 3094.38 -617.2 -145.99 - - 3477.00 - - - - - - - - - 15.98 -
3628.36 524.22 -11.91 289 3651.00 no move -0.63 - - 2260.25 - - - 3094.06 - -145.99 - - 3473.41 - - - - - - - - - - -
3933.22 560.48 -11.93 304 3956.17 roll -0.63 - - 2253.88 - 1.30 0.098 3802.94 545.3 -145.99 - - 3472.50 - - - - - - - - - 15.99 -
4037.83 573.78 -12.74 308 4060.77 roll -0.63 - - 2255.44 - 1.14 0.043 3095.25 -620.8 -145.99 - - 3472.81 - - - - - - - - - 16.05 -
4363.08 613.66 -12.27 324 4386.03 roll -0.63 - - 2249.31 - 1.30 0.100 3802.50 544.0 -145.99 - - 3471.78 - - - - - - - - - 15.98 -
4442.68 623.70 -12.56 327 4465.62 roll -0.63 - - 2249.06 - 1.14 0.043 3097.50 -618.4 -145.99 - - 3471.09 - - - - - - - - - 16.04 -
4772.82 663.34 -11.78 343 4795.78 roll -0.63 - - 2244.19 - 1.30 0.100 3805.06 544.3 -145.99 - - 3468.84 - - - - - - - - - 15.97 -
4808.08 667.59 -11.93 344 4830.90 roll -0.63 - - 2244.50 - 1.15 0.044 3095.62 -616.9 -145.99 - - 3468.78 - - - - - - - - - 16.04 -
5143.26 706.83 -11.60 360 5166.24 roll -0.63 - - 2239.69 - 1.30 0.101 3803.50 544.5 -145.99 - - 3466.84 - - - - - - - - - 15.94 -
5247.89 719.88 -12.21 364 5270.83 roll -0.63 - - 2238.50 - 1.15 0.044 3095.44 -615.7 -145.99 - - 3466.94 - - - - - - - - - 16.00 -
5573.01 758.77 -11.93 380 5595.98 roll -0.63 - - 2232.00 - 1.30 0.101 3802.50 543.9 -145.99 - - 3464.59 - - - - - - - - - 15.93 -
5617.68 764.46 -12.38 381 5640.56 roll back -0.63 0.13 0.213 2268.62 281.7 1.14 0.045 3101.75 -614.7 -145.99 - - 3464.22 - - - - - - - - 15.84 16.03 -
5942.89 797.53 -10.02 397 5965.53 no move -0.63 - - 2269.12 - - - 3101.50 - -145.99 - - 3462.47 - - - - - - - - - - -
6247.88 827.51 -9.76 412 6270.53 no move -0.63 - - 2269.12 - - - 3102.31 - -145.99 - - 3461.00 - - - - - - - - - - -
6552.66 856.87 -9.70 427 6575.63 roll -0.63 - - 2266.12 - 1.30 0.103 3803.50 539.4 -145.99 - - 3461.16 - - - - - - - - - 15.92 -
6607.91 862.39 -10.17 429 6630.73 roll -0.63 - - 2265.19 - 1.16 0.047 3100.75 -605.8 -145.99 - - 3460.28 - - - - - - - - - 16.01 -
6942.86 896.73 -10.43 445 6965.50 no move -0.63 - - 2265.81 - - - 3099.62 - -145.99 - - 3457.66 - - - - - - - - - - -
7247.68 928.63 -10.34 460 7270.33 no move -0.63 - - 2265.31 - - - 3099.81 - -145.99 - - 3458.34 - - - - - - - - - - -
7552.51 960.44 -10.46 475 7575.15 no move -0.63 - - 2265.62 - - - 3099.69 - -145.99 - - 3457.03 - - - - - - - - - - -
7857 end dive: TARGET_DEPTH_EXCEEDED
7857 begin apogee
7859.20 990.77 -9.71 490 7984.60 -0.14 0.55 0.171 2430.38 299.6 0.12 0.215 2724.06 -3130.3 - 114.71 2.083 2900.22 -4.9 0.391 - - - - - - 15.82 15.14 11.46
7985 end apogee: CONTROL_FINISHED_OK
7985 begin climb
7985.36 994.67 - 496 8131.21 0.63 0.75 0.080 2692.81 349.9 1.96 0.035 1594.06 -576.5 145.99 123.20 2.045 2304.53 -4.8 0.398 - - - - - - 15.34 15.03 12.33
8247.89 977.48 10.42 508 8271.06 roll 0.63 - - 2688.75 - 2.07 0.082 2714.44 541.2 145.99 - - 2296.34 - - - - - - - - - 15.52 -
8573.36 941.30 11.17 524 8596.42 done 0.63 - - 2693.31 - 1.84 0.030 1582.69 -615.1 145.99 - - 2294.75 - - - - - - - - - 15.78 -
8608.12 937.34 11.12 525 8631.17 done 0.63 - - 2686.69 - 2.04 0.080 2715.56 555.3 145.99 - - 2294.41 - - - - - - - - - 15.77 -
8933.33 900.92 11.23 541 8955.97 VBD 0.63 - - 2689.50 - - - 2715.56 - 145.99 - - 2293.66 - - - - - - - - - - -
9238.11 867.50 10.91 556 9261.18 done 0.63 - - 2695.38 - 1.82 0.030 1578.75 -624.6 145.99 - - 2295.41 - - - - - - - - - 15.90 -
9277.88 863.31 10.35 557 9300.92 done 0.63 - - 2692.62 - 2.03 0.077 2718.81 561.6 145.99 - - 2292.81 - - - - - - - - - 15.89 -
9584.90 830.24 10.86 572 9608.05 done 0.63 - - 2687.75 - 1.93 0.107 3777.31 548.4 145.99 - - 2295.88 - - - - - - - - - 15.87 -
9629.68 824.71 12.25 573 9652.62 done 0.63 - - 2692.81 - 1.84 0.036 2611.81 -633.4 145.99 - - 2295.06 - - - - - - - - - 15.88 -
9936.72 792.10 10.29 589 9959.37 VBD 0.63 - - 2692.94 - - - 2611.75 - 145.99 - - 2292.06 - - - - - - - - - - -
10241.50 760.94 10.24 604 10264.71 done 0.63 - - 2687.44 - 2.16 0.109 3773.31 537.8 145.99 - - 2292.28 - - - - - - - - - 15.88 -
10311.94 752.88 11.64 607 10335.01 done 0.63 - - 2694.81 - 1.82 0.037 2617.94 -634.8 145.99 - - 2292.34 - - - - - - - - - 15.97 -
10642.22 718.18 10.38 623 10664.86 VBD 0.63 - - 2694.56 - - - 2617.12 - 145.99 - - 2292.34 - - - - - - - - - - -
10947.03 686.92 10.29 638 10970.23 done 0.63 - - 2688.81 - 2.13 0.104 3775.25 543.7 145.99 - - 2290.16 - - - - - - - - - 15.88 -
11006.87 679.73 12.33 640 11029.81 done 0.63 - - 2694.94 - 1.83 0.036 2620.25 -631.1 145.99 - - 2290.12 - - - - - - - - - 15.98 -
11313.87 646.43 10.81 655 11336.52 VBD 0.63 - - 2695.50 - - - 2618.44 - 145.99 - - 2291.19 - - - - - - - - - - -
11618.65 613.67 10.88 670 11641.84 done 0.63 - - 2695.50 - 2.13 0.103 3775.94 543.4 145.99 - - 2291.91 - - - - - - - - - 15.87 -
11658.47 608.83 11.98 671 11681.41 done 0.63 - - 2704.00 - 1.83 0.036 2619.50 -631.9 145.99 - - 2290.53 - - - - - - - - - 15.98 -
11965.28 575.33 11.11 686 11988.53 0.63 0.14 0.229 2659.94 -314.7 2.12 0.101 3775.81 545.4 145.99 - - 2292.59 - - - - - - - - 15.77 15.77 -
12035.74 567.64 10.76 689 12058.80 done 0.63 - - 2670.31 - 1.83 0.037 2631.94 -625.1 145.99 - - 2290.28 - - - - - - - - - 15.97 -
12366.02 537.60 8.78 705 12389.21 done 0.63 - - 2669.50 - 2.12 0.106 3775.62 539.5 145.99 - - 2291.94 - - - - - - - - - 15.86 -
12416.35 532.49 10.06 707 12439.30 done 0.63 - - 2676.69 - 1.83 0.038 2638.94 -621.1 145.99 - - 2291.34 - - - - - - - - - 15.98 -
12746.50 500.79 9.77 723 12769.69 done 0.63 - - 2678.19 - 2.11 0.107 3775.69 538.7 145.99 - - 2293.66 - - - - - - - - - 15.87 -
12811.35 493.46 11.50 725 12834.30 done 0.63 - - 2684.75 - 1.85 0.039 2641.25 -613.2 145.99 - - 2291.59 - - - - - - - - - 15.91 -
13118.25 462.49 10.01 741 13140.89 VBD 0.63 - - 2688.06 - - - 2636.56 - 145.99 - - 2290.16 - - - - - - - - - - -
13423.20 433.41 9.44 756 13445.85 VBD 0.63 - - 2687.81 - - - 2635.31 - 145.99 - - 2289.38 - - - - - - - - - - -
13728.05 405.97 8.71 771 13752.77 done 0.63 - - 2687.44 - 2.12 0.105 3778.31 539.2 145.99 - - 2289.53 - - - - - - - - - 15.86 -
13784.41 400.21 10.07 773 13807.35 done 0.63 - - 2697.81 - 1.84 0.038 2643.31 -616.8 145.99 - - 2291.03 - - - - - - - - - 15.98 -
14109.59 369.79 9.73 804 14132.23 VBD 0.63 - - 2697.44 - - - 2644.00 - 145.99 - - 2290.56 - - - - - - - - - - -
14304.46 351.48 9.32 822 14327.65 done 0.63 - - 2695.56 - 2.11 0.105 3776.12 536.5 145.99 - - 2289.81 - - - - - - - - - 15.85 -
14355.00 346.28 10.23 825 14377.94 done 0.63 - - 2705.62 - 1.83 0.038 2642.00 -619.7 145.99 - - 2289.84 - - - - - - - - - 15.94 -
14550.28 328.50 8.86 843 14573.03 0.63 0.14 0.208 2663.81 -298.6 - - 2643.50 - 145.99 - - 2291.28 - - - - - - - - 15.78 - -
14745.33 314.84 6.76 861 14795.74 VBD 0.69 - - 2664.62 - - - 2641.06 - 198.10 40.51 1.209 2092.84 -4.9 0.216 - - - - - - - - 11.73
14967.91 298.08 7.47 883 14991.17 roll back 0.72 0.12 0.084 2731.12 554.2 2.13 0.109 3774.50 532.1 198.10 - - 2084.69 - - - - - - - - 15.81 15.75 -
15018.55 292.07 12.05 886 15041.62 roll back 0.72 0.17 0.227 2693.12 -223.5 1.85 0.037 2637.00 -614.9 198.10 - - 2085.19 - - - - - - - - 15.67 15.84 -
15213.81 273.57 9.37 904 15237.00 roll 0.72 - - 2693.25 - 2.11 0.102 3774.19 539.0 198.10 - - 2084.28 - - - - - - - - - 15.79 -
15244.21 270.34 10.27 905 15267.15 roll 0.72 - - 2698.88 - 1.84 0.038 2627.00 -623.5 198.10 - - 2086.84 - - - - - - - - - 15.88 -
15439.57 249.49 11.01 923 15462.21 no move 0.72 - - 2700.44 - - - 2626.75 - 198.10 - - 2084.53 - - - - - - - - - - -
15634.51 227.61 11.94 941 15657.69 roll 0.72 - - 2700.19 - 2.13 0.103 3776.75 539.9 198.10 - - 2084.88 - - - - - - - - - 15.82 -
15694.81 219.63 13.50 945 15717.75 roll 0.72 - - 2707.62 - 1.84 0.037 2630.69 -622.9 198.10 - - 2084.91 - - - - - - - - - 15.91 -
15890.17 196.61 11.21 963 15912.81 no move 0.72 - - 2709.19 - - - 2631.12 - 198.10 - - 2083.62 - - - - - - - - - - -
16085.17 177.22 9.00 981 16107.82 no move 0.72 - - 2707.50 - - - 2631.31 - 198.10 - - 2084.12 - - - - - - - - - - -
16280.07 159.43 8.85 999 16303.25 roll 0.72 - - 2708.94 - 2.12 0.103 3775.75 539.8 198.10 - - 2085.75 - - - - - - - - - 15.84 -
16350.55 152.39 10.13 1004 16373.61 roll 0.72 - - 2717.69 - 1.84 0.036 2624.44 -625.7 198.10 - - 2083.59 - - - - - - - - - 15.94 -
16545.85 136.77 7.62 1022 16569.03 roll 0.75 - - 2716.94 - 2.12 0.102 3776.19 543.3 198.10 - - 2084.50 - - - - - - - - - 15.85 -
16740.72 121.42 7.27 1039 16763.79 roll 0.79 - - 2725.88 - 1.83 0.034 2630.31 -626.2 198.10 - - 2085.84 - - - - - - - - - 15.90 -
16936.22 111.05 4.82 1058 17019.15 done 0.88 - - 2733.88 - 1.65 0.027 1560.56 -648.3 291.95 68.97 0.889 1709.22 -5.5 0.115 - - - - - - - 15.68 11.97
17201.53 93.48 6.44 1084 17259.58 0.94 0.10 0.076 2807.81 739.3 2.07 0.079 2715.62 558.0 350.98 43.27 0.816 1469.00 -5.6 0.108 - - - - - - 15.71 15.79 12.32
17433.58 69.21 9.93 1107 17456.78 roll back 0.94 0.16 0.187 2767.31 -253.1 1.82 0.025 1565.56 -631.9 350.98 - - 1463.19 - - - - - - - - 15.69 15.69 -
17564.00 58.85 7.85 1118 17587.16 roll 0.97 - - 2767.50 - 2.05 0.075 2716.50 561.4 350.98 - - 1462.28 - - - - - - - - - 15.81 -
17759.50 45.99 5.78 1136 17822.19 1.04 0.10 0.086 2838.62 711.2 - - 2717.62 - 424.23 51.85 0.707 1169.84 -5.6 0.062 - - - - - - 15.85 - 12.20
17994.46 23.73 9.63 1159 18017.21 pitch 1.04 0.15 0.185 2793.81 -298.7 - - 2717.12 - 424.23 - - 1166.19 - - - - - - - - 15.73 - -
18189.45 10.32 6.41 1177 18241.16 VBD 1.10 - - 2791.94 - - - 2717.75 - 483.73 41.97 0.633 928.88 -5.7 0.016 - - - - - - - - 12.22
18293 end climb: SURFACE_DEPTH_REACHED
18293 begin surface coast
18333 end surface coast: CONTROL_FINISHED_OK
18333 begin surface
SM 0.45 - - - - 328.7 - 0.010 862.3 - 6.75 0.042 882.2 130.7 - 0.75 0.093 842.4 1123.2 -0.555 - - 30.36 15.82 15.79 -