MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 196 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.71 of 350.00 AH used of 24V (82.08% remains)
• Surface angle -68.5 deg, depth 0.72 m • Intended pitch -18.0 deg, speed -9.167 cm/s
VBD pumped to 500.11 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: 28
• 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
16.55 - - - 95.50 VBD -0.63 - - 241.69 - - - 3051.12 - -145.99 75.32 0.005 2615.09 - - - - - - - - - - 15.08
95.77 4.16 -6.31 8 129.96 -0.63 10.01 0.376 2261.62 201.8 1.32 0.076 3809.69 574.7 -145.99 16.80 0.006 3494.00 52.3 -6.149 - - - - - - 14.86 15.39 15.16
176.59 39.03 -45.09 16 184.02 roll -0.63 - - 2262.31 - 1.13 0.018 3033.06 -687.3 -145.99 - - 3493.94 - - - - - - - - - 15.80 -
362.08 97.71 -23.78 35 368.68 roll -0.63 - - 2262.00 - 1.52 0.015 1991.69 -685.1 -145.99 - - 3493.38 - - - - - - - - - 15.83 -
402.28 105.44 -18.40 39 408.64 roll -0.63 - - 2252.56 - 2.05 0.070 3179.44 579.4 -145.99 - - 3493.00 - - - - - - - - - 15.81 -
592.20 138.24 -17.57 58 598.62 roll -0.63 - - 2247.00 - 1.11 0.082 3809.19 567.3 -145.99 - - 3493.50 - - - - - - - - - 15.83 -
742.34 166.09 -17.74 73 748.57 roll -0.63 - - 2247.50 - 1.14 0.028 3066.69 -651.3 -145.99 - - 3493.03 - - - - - - - - - 15.86 -
932.29 195.20 -14.31 92 938.44 no move -0.63 - - 2246.56 - - - 3066.25 - -145.99 - - 3492.44 - - - - - - - - - - -
1112.38 220.10 -13.68 110 1135.23 roll -0.63 - - 2241.12 - 1.33 0.084 3804.06 554.7 -145.99 - - 3492.25 - - - - - - - - - 15.91 -
1197.39 232.75 -15.04 117 1220.20 roll -0.63 - - 2241.00 - 1.12 0.029 3067.69 -657.5 -145.99 - - 3492.88 - - - - - - - - - 15.96 -
1402.47 261.18 -13.70 136 1425.32 roll -0.63 - - 2236.25 - 1.34 0.088 3804.94 550.2 -145.99 - - 3490.53 - - - - - - - - - 15.94 -
1511.99 277.87 -15.84 145 1534.80 roll -0.63 - - 2235.50 - 1.13 0.032 3072.50 -648.2 -145.99 - - 3490.16 - - - - - - - - - 15.32 -
1707.02 307.07 -14.92 164 1729.54 no move -0.63 - - 2236.25 - - - 3072.88 - -145.99 - - 3487.75 - - - - - - - - - - -
1901.70 334.90 -14.07 182 1924.68 roll -0.63 - - 2227.75 - 1.33 0.089 3807.12 552.1 -145.99 - - 3488.38 - - - - - - - - - 15.92 -
1991.33 347.77 -14.25 189 2014.20 roll back -0.63 0.14 0.212 2269.44 297.8 1.13 0.032 3085.75 -638.4 -145.99 - - 3486.38 - - - - - - - - 15.80 15.96 -
2186.37 369.57 -10.83 208 2209.34 roll -0.63 - - 2265.38 - 1.31 0.091 3806.62 550.3 -145.99 - - 3485.22 - - - - - - - - - 15.96 -
2221.58 373.52 -11.12 210 2244.39 roll -0.63 - - 2265.06 - 1.15 0.036 3081.94 -630.2 -145.99 - - 3485.94 - - - - - - - - - 16.01 -
2426.54 396.79 -11.60 229 2449.19 no move -0.63 - - 2265.94 - - - 3083.12 - -145.99 - - 3482.66 - - - - - - - - - - -
2621.32 420.47 -12.37 239 2644.29 roll -0.63 - - 2260.25 - 1.32 0.093 3803.50 545.7 -145.99 - - 3481.94 - - - - - - - - - 15.96 -
2651.01 424.44 -12.73 239 2673.83 roll -0.63 - - 2258.75 - 1.14 0.037 3086.31 -629.1 -145.99 - - 3482.75 - - - - - - - - - 15.94 -
2957.96 463.79 -12.61 255 2980.93 roll -0.63 - - 2253.94 - 1.31 0.095 3803.19 547.2 -145.99 - - 3479.66 - - - - - - - - - 15.96 -
2997.63 469.06 -13.14 256 3020.45 roll -0.63 - - 2253.44 - 1.14 0.038 3087.94 -627.4 -145.99 - - 3479.91 - - - - - - - - - 16.02 -
3327.70 512.25 -13.21 272 3350.68 roll -0.63 - - 2248.50 - 1.32 0.096 3803.00 541.7 -145.99 - - 3476.47 - - - - - - - - - 15.96 -
3392.31 521.04 -13.47 274 3415.13 roll -0.63 - - 2248.81 - 1.14 0.038 3086.62 -628.4 -145.99 - - 3476.97 - - - - - - - - - 16.02 -
3717.47 564.32 -13.34 290 3740.45 roll -0.63 - - 2243.12 - 1.32 0.097 3801.75 541.8 -145.99 - - 3475.34 - - - - - - - - - 15.94 -
3762.15 570.65 -13.90 291 3784.97 roll -0.63 - - 2242.38 - 1.14 0.039 3088.00 -626.1 -145.99 - - 3475.34 - - - - - - - - - 16.02 -
4087.12 613.28 -12.67 307 4109.77 no move -0.63 - - 2243.50 - - - 3089.69 - -145.99 - - 3471.75 - - - - - - - - - - -
4391.94 650.20 -12.04 322 4414.92 roll -0.63 - - 2236.44 - 1.32 0.097 3802.62 540.1 -145.99 - - 3470.84 - - - - - - - - - 15.94 -
4471.57 660.42 -12.99 325 4494.51 roll -0.63 - - 2237.81 - 1.15 0.040 3086.50 -622.7 -145.99 - - 3469.97 - - - - - - - - - 16.02 -
4801.84 701.73 -12.63 341 4824.82 roll -0.63 - - 2230.25 - 1.32 0.098 3803.06 542.8 -145.99 - - 3469.47 - - - - - - - - - 15.93 -
4857.18 709.03 -13.40 343 4880.06 roll back -0.63 0.14 0.211 2269.00 276.8 1.15 0.040 3096.19 -614.7 -145.99 - - 3467.22 - - - - - - - - 15.79 16.02 -
5192.31 745.20 -10.61 359 5214.96 no move -0.63 - - 2269.75 - - - 3096.44 - -145.99 - - 3466.16 - - - - - - - - - - -
5497.14 778.44 -11.00 374 5519.79 no move -0.63 - - 2269.25 - - - 3098.19 - -145.99 - - 3465.28 - - - - - - - - - - -
5802.12 811.68 -10.76 389 5825.09 roll -0.63 - - 2266.06 - 1.31 0.097 3803.88 538.7 -145.99 - - 3463.09 - - - - - - - - - 15.85 -
5837.38 815.58 -10.88 390 5860.20 roll -0.63 - - 2266.56 - 1.16 0.044 3095.81 -610.4 -145.99 - - 3463.91 - - - - - - - - - 16.00 -
6172.57 851.69 -10.58 406 6195.22 no move -0.63 - - 2266.19 - - - 3095.25 - -145.99 - - 3461.66 - - - - - - - - - - -
6477.38 883.61 -10.41 421 6500.36 roll -0.63 - - 2261.19 - 1.32 0.100 3800.62 534.4 -145.99 - - 3461.19 - - - - - - - - - 15.88 -
6522.00 888.62 -11.05 422 6544.82 roll -0.63 - - 2261.31 - 1.15 0.044 3095.50 -613.1 -145.99 - - 3460.84 - - - - - - - - - 16.00 -
6847.10 923.94 -10.98 438 6870.08 roll -0.63 - - 2256.25 - 1.32 0.099 3802.69 535.8 -145.99 - - 3460.78 - - - - - - - - - 15.87 -
6896.72 929.67 -11.24 439 6919.54 roll -0.63 - - 2256.88 - 1.16 0.044 3096.19 -609.1 -145.99 - - 3459.72 - - - - - - - - - 15.91 -
7203.59 963.42 -10.85 455 7226.24 no move -0.63 - - 2256.38 - - - 3096.06 - -145.99 - - 3457.34 - - - - - - - - - - -
7468 end dive: TARGET_DEPTH_EXCEEDED
7468 begin apogee
7470.19 991.76 -10.68 468 7596.72 -0.14 0.58 0.179 2428.88 297.4 0.13 0.187 2728.00 -2831.2 - 115.44 2.084 2899.22 -4.8 0.390 - - - - - - 15.02 15.13 11.45
7597 end apogee: CONTROL_FINISHED_OK
7597 begin climb
7597.47 995.98 - 474 7743.37 0.63 0.76 0.086 2690.19 343.8 1.98 0.034 1595.62 -571.9 145.99 123.43 2.043 2303.94 -4.8 0.399 - - - - - - 15.32 15.02 12.26
7820.04 983.62 9.40 484 7843.21 roll 0.63 - - 2686.69 - 2.08 0.082 2715.19 538.3 145.99 - - 2297.94 - - - - - - - - - 15.44 -
8145.52 951.76 9.74 500 8168.17 VBD 0.63 - - 2687.06 - - - 2714.19 - 145.99 - - 2294.31 - - - - - - - - - - -
8450.40 923.27 9.23 515 8473.05 VBD 0.63 - - 2687.31 - - - 2713.94 - 145.99 - - 2293.25 - - - - - - - - - - -
8755.38 894.61 9.43 530 8778.54 done 0.63 - - 2684.81 - 1.97 0.108 3777.31 539.8 145.99 - - 2293.44 - - - - - - - - - 15.80 -
8785.83 891.43 9.86 531 8808.77 done 0.63 - - 2691.81 - 1.87 0.040 2622.12 -617.7 145.99 - - 2294.22 - - - - - - - - - 15.86 -
9116.07 857.86 10.25 547 9138.72 VBD 0.63 - - 2692.69 - - - 2622.50 - 145.99 - - 2291.59 - - - - - - - - - - -
9420.86 826.49 10.19 562 9443.51 VBD 0.63 - - 2693.06 - - - 2622.56 - 145.99 - - 2291.78 - - - - - - - - - - -
9725.67 794.85 10.36 577 9748.87 done 0.63 - - 2689.50 - 2.16 0.106 3775.06 533.6 145.99 - - 2294.00 - - - - - - - - - 15.82 -
9790.52 787.18 11.87 579 9813.47 done 0.63 - - 2696.62 - 1.87 0.039 2630.44 -612.1 145.99 - - 2293.50 - - - - - - - - - 15.86 -
10097.52 753.88 10.91 595 10120.17 VBD 0.63 - - 2698.12 - - - 2623.50 - 145.99 - - 2291.38 - - - - - - - - - - -
10402.52 721.09 10.53 610 10425.17 VBD 0.63 - - 2698.50 - - - 2623.88 - 145.99 - - 2290.28 - - - - - - - - - - -
10707.37 689.63 10.26 625 10730.56 done 0.63 - - 2697.69 - 2.15 0.104 3776.19 536.0 145.99 - - 2292.56 - - - - - - - - - 15.83 -
10807.22 677.49 12.57 629 10830.29 done 0.63 - - 2706.38 - 1.86 0.038 2622.69 -620.2 145.99 - - 2291.09 - - - - - - - - - 15.96 -
11114.23 644.45 10.71 644 11137.40 0.63 0.16 0.225 2669.44 -230.9 1.64 0.028 1571.44 -641.0 145.99 - - 2292.00 - - - - - - - - 15.72 15.73 -
11144.65 641.58 10.15 645 11167.70 done 0.63 - - 2670.62 - 2.03 0.074 2715.62 563.6 145.99 - - 2291.50 - - - - - - - - - 15.89 -
11474.95 610.95 9.16 661 11498.11 done 0.63 - - 2669.06 - 1.93 0.101 3777.88 550.4 145.99 - - 2290.28 - - - - - - - - - 15.83 -
11534.76 604.78 10.39 663 11557.71 done 0.63 - - 2676.94 - 1.86 0.039 2628.25 -618.1 145.99 - - 2290.62 - - - - - - - - - 15.95 -
11843.04 578.47 8.32 678 11865.77 VBD 0.65 - - 2676.94 - - - 2626.12 - 145.99 - - 2289.66 - - - - - - - - - - -
12148.08 554.41 7.64 693 12171.27 done 0.68 - - 2676.44 - 2.15 0.106 3775.12 534.4 145.99 - - 2289.16 - - - - - - - - - 15.79 -
12247.95 545.05 9.66 697 12271.02 done 0.68 - - 2685.50 - 1.86 0.039 2625.94 -617.8 145.99 - - 2290.44 - - - - - - - - - 15.95 -
12555.09 518.33 8.94 712 12578.31 done 0.68 - - 2685.75 - 2.14 0.103 3774.38 536.7 145.99 - - 2290.53 - - - - - - - - - 15.81 -
12589.95 514.74 9.70 713 12612.89 done 0.68 - - 2694.75 - 1.85 0.039 2625.19 -621.2 145.99 - - 2289.50 - - - - - - - - - 15.96 -
12915.28 481.94 10.11 729 12937.93 VBD 0.68 - - 2693.62 - - - 2625.00 - 145.99 - - 2290.28 - - - - - - - - - - -
13220.21 451.88 9.39 744 13243.40 done 0.68 - - 2692.94 - 2.14 0.101 3776.12 537.9 145.99 - - 2290.41 - - - - - - - - - 15.80 -
13250.59 448.84 9.50 745 13273.54 done 0.68 - - 2700.06 - 1.86 0.038 2629.62 -616.4 145.99 - - 2290.16 - - - - - - - - - 15.95 -
13580.99 418.80 8.94 761 13604.18 done 0.68 - - 2700.81 - 2.14 0.101 3774.94 535.2 145.99 - - 2290.06 - - - - - - - - - 15.80 -
13625.82 414.15 10.22 762 13648.77 done 0.68 - - 2712.25 - 1.86 0.037 2630.44 -615.3 145.99 - - 2291.22 - - - - - - - - - 15.87 -
13932.64 384.77 9.76 785 13955.67 done 0.68 - - 2717.38 - 1.65 0.026 1563.06 -646.9 145.99 - - 2292.62 - - - - - - - - - 15.94 -
13982.98 380.00 9.53 788 14006.03 done 0.68 - - 2718.69 - 2.06 0.079 2716.00 559.7 145.99 - - 2290.03 - - - - - - - - - 15.87 -
14178.17 360.28 10.29 806 14201.33 done 0.68 - - 2719.12 - 1.92 0.098 3777.25 552.7 145.99 - - 2290.44 - - - - - - - - - 15.80 -
14262.99 350.26 11.86 812 14286.06 done 0.68 - - 2726.69 - 1.86 0.036 2646.50 -607.9 145.99 - - 2291.53 - - - - - - - - - 15.86 -
14458.28 330.31 10.12 831 14481.46 0.68 0.17 0.220 2684.12 -250.4 1.64 0.027 1561.88 -661.4 145.99 - - 2290.66 - - - - - - - - 15.67 15.67 -
14498.58 326.76 8.99 833 14521.64 done 0.68 - - 2685.19 - 2.06 0.078 2715.31 559.9 145.99 - - 2291.75 - - - - - - - - - 15.86 -
14694.04 309.97 8.43 851 14717.19 done 0.70 - - 2687.25 - 1.93 0.100 3775.38 549.3 145.99 - - 2291.91 - - - - - - - - - 15.79 -
14724.43 307.09 9.11 852 14747.38 done 0.70 - - 2693.81 - 1.85 0.037 2633.81 -617.1 145.99 - - 2290.25 - - - - - - - - - 15.95 -
14919.73 290.60 8.32 870 14942.76 done 0.71 - - 2700.69 - 1.64 0.027 1564.62 -651.9 145.99 - - 2291.34 - - - - - - - - - 15.97 -
14960.01 287.49 7.83 872 14983.06 done 0.74 - - 2701.50 - 2.05 0.077 2717.94 562.6 145.99 - - 2290.38 - - - - - - - - - 15.85 -
15155.29 271.81 8.20 890 15178.45 done 0.76 - - 2698.06 - 1.93 0.100 3776.12 548.3 145.99 - - 2290.78 - - - - - - - - - 15.78 -
15240.10 264.01 9.32 896 15263.17 done 0.76 - - 2703.44 - 1.86 0.036 2629.50 -616.5 145.99 - - 2292.62 - - - - - - - - - 15.88 -
15435.44 248.50 7.58 915 15458.64 done 0.79 - - 2706.31 - 2.14 0.101 3774.00 534.8 145.99 - - 2291.09 - - - - - - - - - 15.71 -
15470.29 245.50 8.22 916 15493.24 done 0.81 - - 2713.38 - 1.85 0.036 2632.06 -617.3 145.99 - - 2291.03 - - - - - - - - - 15.86 -
15665.66 230.17 7.96 935 15688.31 VBD 0.83 - - 2714.75 - - - 2625.06 - 145.99 - - 2290.66 - - - - - - - - - - -
15860.58 213.95 8.44 953 15883.22 VBD 0.85 - - 2714.06 - - - 2625.50 - 145.99 - - 2289.69 - - - - - - - - - - -
16055.51 198.04 7.66 971 16078.27 0.88 0.11 0.084 2789.75 688.1 - - 2625.06 - 145.99 - - 2289.62 - - - - - - - - 15.93 - -
16250.42 179.36 10.09 989 16273.17 0.88 0.17 0.236 2744.44 -266.5 - - 2626.50 - 145.99 - - 2289.19 - - - - - - - - 15.60 - -
16445.41 164.45 7.06 1007 16493.35 done 0.92 - - 2747.31 - 1.65 0.027 1562.81 -644.7 191.55 35.15 0.984 2119.19 -4.8 0.137 - - - - - - - 15.79 11.47
16500.50 160.63 6.92 1012 16552.64 done 0.97 - - 2749.31 - 2.06 0.076 2718.44 561.0 240.05 37.83 0.970 1920.97 -5.2 0.147 - - - - - - - 15.87 12.60
16734.97 136.02 10.56 1035 16757.71 pitch 0.97 0.09 0.089 2806.69 637.6 - - 2718.06 - 240.05 - - 1914.81 - - - - - - - - 15.73 - -
16929.95 113.60 11.38 1053 16953.09 roll 0.97 - - 2803.00 - 1.93 0.096 3778.50 549.5 240.05 - - 1913.81 - - - - - - - - - 15.72 -
17024.76 102.31 11.39 1060 17047.83 roll 0.97 - - 2809.38 - 1.86 0.031 2605.31 -630.7 240.05 - - 1913.81 - - - - - - - - - 15.75 -
17230.07 85.86 6.35 1080 17288.14 done 1.03 - - 2815.94 - 1.62 0.026 1573.06 -637.2 300.95 45.34 0.832 1671.22 -5.4 0.094 - - - - - - - 15.68 12.09
17355.30 77.31 7.74 1092 17378.47 roll 1.06 - - 2816.94 - 2.04 0.071 2717.88 561.2 300.95 - - 1665.97 - - - - - - - - - 15.76 -
17550.65 61.55 8.30 1110 17573.72 roll 1.08 - - 2824.75 - 1.81 0.023 1580.44 -628.4 300.95 - - 1665.62 - - - - - - - - - 15.82 -
17640.97 56.11 5.56 1117 17709.19 done 1.16 - - 2825.38 - 2.00 0.068 2720.38 570.0 378.91 55.97 0.739 1354.97 -5.6 0.071 - - - - - - - 15.82 12.21
17883.01 36.98 7.81 1141 17906.07 roll 1.18 - - 2831.69 - 1.82 0.023 1577.69 -627.9 378.91 - - 1348.31 - - - - - - - - - 15.77 -
17923.31 34.50 6.59 1143 17975.67 1.24 0.10 0.080 2904.19 725.0 2.01 0.069 2716.56 566.6 434.58 40.04 0.676 1128.41 -5.5 0.048 - - - - - - 15.69 15.78 12.23
18158.00 9.32 11.64 1166 18181.20 roll back 1.24 0.17 0.212 2858.25 -270.2 1.93 0.099 3775.69 548.8 434.58 - - 1124.69 - - - - - - - - 15.66 15.64 -
18222 end climb: SURFACE_DEPTH_REACHED
18222 begin surface coast
18252 end surface coast: CONTROL_FINISHED_OK
18253 begin surface
SM 0.70 - - - - 332.7 45.13 0.633 861.2 19.1 6.86 0.035 882.2 128.6 - 1.06 0.021 840.3 790.9 -2.695 - - 12.21 15.81 15.84 -