MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 329 * Raw log
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• Previous call tries 1 • 123.73 of 350.00 AH used of 24V (64.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.462 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 93 VBD -0.62 - - 127 - - - 2501 - -116.8 -72.72 0.005 2697 - - - - - - - - 14.80 - 14.83
96 5.6 -15.8 15 121 done -0.62 9.10 0.356 2122 219.2 - - 2501 - -116.8 -13.23 0.010 3449 -56.8 6.020 - - - - - - 14.15 13.06 14.54
308 78.7 -29.2 49 313 roll -0.62 - - 2113 - 2.40 0.077 3896 581.2 -116.8 - - 3449 - - - - - - - - 14.89 14.52 14.92
371 94.3 -21.5 61 375 done -0.62 - - 2113 - 2.22 0.034 2504 -627.0 -116.8 - - 3449 - - - - - - - - 14.71 14.64 14.73
562 129.5 -16.9 81 564 done -0.62 - - 2113 - - - 2503 - -116.8 - - 3449 - - - - - - - - 14.93 14.96 14.95
742 154.6 -14.1 99 746 roll -0.62 - - 2103 - 2.40 0.081 3900 582.1 -116.8 - - 3449 - - - - - - - - 14.95 14.57 14.97
845 168.4 -13.1 119 849 done -0.62 - - 2103 - 2.22 0.032 2488 -636.0 -116.8 - - 3448 - - - - - - - - 14.77 14.71 14.78
1037 194.3 -12.8 139 1041 roll -0.62 - - 2103 - 2.25 0.047 1110 -612.4 -116.8 - - 3449 - - - - - - - - 14.98 14.54 15.00
1124 205.2 -11.2 156 1129 done -0.62 0.15 0.211 2128 166.7 2.38 0.059 2504 585.7 -116.8 - - 3448 - - - - - - - - 14.44 14.62 14.64
1311 223.9 -10.1 175 1313 done -0.62 - - 2128 - - - 2504 - -116.8 - - 3448 - - - - - - - - 15.00 15.03 15.02
1491 242.4 -10.5 193 1493 done -0.62 - - 2128 - - - 2504 - -116.8 - - 3447 - - - - - - - - 15.00 15.03 15.03
1670 261.3 -10.4 206 1675 roll -0.62 - - 2119 - 2.38 0.081 3894 584.0 -116.8 - - 3445 - - - - - - - - 15.02 14.59 15.04
1693 263.6 -10.7 210 1698 done -0.62 - - 2119 - 2.20 0.033 2503 -632.3 -116.8 - - 3445 - - - - - - - - 14.80 14.73 14.82
2016 297.5 -10.3 229 2018 done -0.62 - - 2120 - - - 2501 - -116.8 - - 3442 - - - - - - - - 15.03 15.06 15.05
2316 331.8 -11.5 244 2320 roll -0.62 - - 2119 - 2.28 0.048 1108 -611.0 -116.8 - - 3439 - - - - - - - - 15.04 14.67 15.06
2341 334.9 -11.8 249 2345 done -0.62 - - 2109 - 2.38 0.060 2506 587.4 -116.8 - - 3439 - - - - - - - - 14.75 14.64 14.78
2658 371.1 -11.0 267 2660 done -0.62 - - 2109 - - - 2506 - -116.8 - - 3436 - - - - - - - - 15.04 15.07 15.07
2958 403.3 -10.8 282 2960 done -0.62 - - 2109 - - - 2506 - -116.8 - - 3434 - - - - - - - - 15.03 15.07 15.06
3257 436.7 -11.1 297 3261 roll -0.62 - - 2098 - 2.40 0.085 3900 580.8 -116.8 - - 3431 - - - - - - - - 15.04 14.56 15.07
3278 439.0 -11.2 301 3283 done -0.62 0.12 0.203 2128 250.0 2.25 0.037 2494 -624.9 -116.8 - - 3431 - - - - - - - - 14.48 14.72 14.66
3600 470.2 -9.6 320 3602 done -0.62 - - 2129 - - - 2493 - -116.8 - - 3429 - - - - - - - - 15.04 15.07 15.07
3901 497.2 -8.6 335 3905 roll -0.62 - - 2129 - 2.28 0.049 1109 -607.0 -116.8 - - 3426 - - - - - - - - 15.04 14.64 15.07
3925 499.5 -9.0 340 3929 done -0.62 - - 2120 - 2.38 0.057 2504 586.1 -116.8 - - 3426 - - - - - - - - 14.72 14.61 14.76
4242 527.8 -9.1 358 4247 roll -0.62 - - 2109 - 2.40 0.086 3892 578.3 -116.8 - - 3425 - - - - - - - - 15.03 14.53 15.06
4284 531.8 -9.6 366 4289 done -0.62 - - 2109 - 2.22 0.036 2502 -626.1 -116.8 - - 3425 - - - - - - - - 14.77 14.71 14.79
4607 563.7 -10.1 385 4611 roll -0.62 - - 2111 - 2.30 0.050 1107 -606.5 -116.8 - - 3423 - - - - - - - - 15.03 14.62 15.06
4633 566.5 -10.5 390 4638 done -0.62 0.12 0.211 2128 141.7 2.38 0.057 2501 585.7 -116.8 - - 3422 - - - - - - - - 14.42 14.59 14.62
4951 595.5 -9.2 408 4957 roll -0.62 - - 2119 - 2.42 0.086 3894 575.6 -116.8 - - 3420 - - - - - - - - 15.02 14.50 15.05
4980 598.4 -10.1 414 4985 done -0.62 - - 2119 - 2.25 0.036 2500 -619.6 -116.8 - - 3421 - - - - - - - - 14.76 14.69 14.78
5293 629.0 -9.7 431 5297 roll -0.62 - - 2119 - 2.33 0.050 1104 -599.1 -116.8 - - 3419 - - - - - - - - 15.02 14.59 15.05
5323 632.1 -9.8 437 5328 done -0.62 - - 2109 - 2.40 0.057 2506 584.2 -116.8 - - 3419 - - - - - - - - 14.69 14.57 14.73
5629 662.1 -9.7 453 5634 roll -0.62 - - 2098 - 2.42 0.086 3891 572.3 -116.8 - - 3417 - - - - - - - - 15.02 14.49 15.04
5655 664.8 -10.3 458 5661 done -0.62 0.12 0.202 2128 250.0 2.25 0.037 2497 -619.6 -116.8 - - 3417 - - - - - - - - 14.42 14.67 14.60
5973 692.1 -8.7 476 5975 done -0.62 - - 2128 - - - 2496 - -116.8 - - 3416 - - - - - - - - 15.02 15.05 15.04
6274 719.7 -9.6 491 6278 roll -0.62 - - 2129 - 2.30 0.049 1109 -603.0 -116.8 - - 3416 - - - - - - - - 15.02 14.57 15.04
6304 722.9 -10.3 497 6308 done -0.62 - - 2120 - 2.40 0.058 2506 582.1 -116.8 - - 3415 - - - - - - - - 14.66 14.54 14.71
6610 754.6 -10.4 513 6612 done -0.62 - - 2120 - - - 2507 - -116.8 - - 3414 - - - - - - - - 15.01 15.04 15.04
6910 784.3 -9.7 528 6914 roll -0.62 - - 2109 - 2.42 0.088 3893 572.7 -116.8 - - 3412 - - - - - - - - 15.01 14.45 15.04
6943 787.4 -10.1 534 6949 done -0.62 - - 2109 - 2.22 0.037 2510 -623.0 -116.8 - - 3412 - - - - - - - - 14.64 14.62 14.67
7257 819.1 -10.1 551 7261 roll -0.62 - - 2109 - 2.35 0.050 1099 -600.4 -116.8 - - 3412 - - - - - - - - 15.01 14.54 15.04
7302 823.8 -10.1 560 7310 done -0.62 0.12 0.210 2128 158.3 2.42 0.058 2505 581.0 -116.8 - - 3411 - - - - - - - - 14.35 14.52 14.54
7619 851.8 -8.7 578 7621 done -0.62 - - 2128 - - - 2505 - -116.8 - - 3410 - - - - - - - - 15.00 15.02 15.02
7918 876.6 -8.1 593 7922 roll -0.62 - - 2128 - 2.35 0.050 1105 -595.7 -116.8 - - 3409 - - - - - - - - 15.00 14.53 15.02
7950 879.2 -8.6 599 7956 done -0.62 - - 2119 - 2.40 0.059 2499 580.8 -116.8 - - 3409 - - - - - - - - 14.63 14.51 14.67
8259 905.3 -8.5 616 8263 roll -0.62 - - 2108 - 2.45 0.089 3891 568.2 -116.8 - - 3408 - - - - - - - - 15.00 14.41 15.02
8296 908.5 -8.8 623 8301 done -0.62 - - 2109 - 2.30 0.037 2497 -606.1 -116.8 - - 3408 - - - - - - - - 14.68 14.61 14.70
8601 936.1 -9.2 639 8605 roll -0.62 - - 2109 - 2.33 0.051 1107 -596.6 -116.8 - - 3407 - - - - - - - - 15.00 14.51 15.02
8632 939.1 -9.3 645 8642 done -0.62 0.12 0.210 2127 150.0 2.42 0.060 2508 578.9 -116.8 - - 3407 - - - - - - - - 14.33 14.50 14.52
8943 964.5 -8.1 662 8945 done -0.62 - - 2127 - - - 2508 - -116.8 - - 3407 - - - - - - - - 14.99 15.02 15.02
9242 988.1 -7.7 677 9244 done -0.62 - - 2127 - - - 2508 - -116.8 - - 3406 - - - - - - - - 14.99 15.02 15.02
9280 end dive: TARGET_DEPTH_EXCEEDED
9280 begin apogee
9287 991.1 -7.6 679 9399 done -0.15 0.52 0.158 2281 296.2 - - 2437 - - 106.72 2.008 2966 -4.1 0.385 - - - - - - 14.32 14.09 13.07
9401 end apogee: CONTROL_FINISHED_OK
9401 begin climb
9404 994.5 - 685 9532 roll 0.62 0.77 0.089 2550 349.4 2.53 0.052 1046 -549.8 116.8 116.03 1.997 2489 -4.1 0.387 - - - - - - 14.15 13.95 12.97
9566 991.3 8.6 714 9572 done 0.62 - - 2550 - 2.47 0.056 2440 564.4 116.8 - - 2486 - - - - - - - - 14.21 14.12 14.23
9889 960.3 9.6 733 9893 roll 0.62 - - 2561 - 2.38 0.053 1048 -584.9 116.8 - - 2482 - - - - - - - - 14.79 14.49 14.82
9920 957.5 9.2 739 9928 done 0.62 0.12 0.233 2536 -208.3 2.40 0.056 2442 580.8 116.8 - - 2481 - - - - - - - - 14.28 14.48 14.52
10231 931.4 8.2 756 10233 done 0.62 - - 2536 - - - 2442 - 116.8 - - 2480 - - - - - - - - 14.88 14.92 14.91
10530 907.2 8.1 771 10535 roll 0.62 - - 2547 - 2.40 0.053 1041 -583.8 116.8 - - 2479 - - - - - - - - 14.92 14.57 14.96
10582 902.9 8.2 781 10586 done 0.62 - - 2547 - 2.40 0.055 2439 582.5 116.8 - - 2478 - - - - - - - - 14.66 14.55 14.70
10893 876.7 8.4 798 10895 done 0.62 - - 2548 - - - 2439 - 116.8 - - 2478 - - - - - - - - 14.95 14.98 14.97
11194 850.7 8.9 813 11198 roll 0.62 - - 2559 - 2.38 0.052 1041 -587.4 116.8 - - 2478 - - - - - - - - 14.97 14.56 15.00
11275 843.3 9.0 829 11280 done 0.62 - - 2559 - 2.42 0.055 2446 580.6 116.8 - - 2477 - - - - - - - - 14.66 14.54 14.70
11597 813.2 9.4 848 11601 roll 0.62 - - 2570 - 2.38 0.051 1047 -587.8 116.8 - - 2477 - - - - - - - - 14.97 14.56 15.00
11634 809.9 9.4 855 11639 done 0.62 0.17 0.222 2530 -235.3 2.42 0.054 2442 576.4 116.8 - - 2477 - - - - - - - - 14.26 14.54 14.54
11939 784.8 8.1 871 11943 roll 0.62 - - 2539 - 2.38 0.052 1046 -586.6 116.8 - - 2477 - - - - - - - - 14.97 14.54 15.00
11982 781.4 8.3 879 11986 done 0.62 - - 2540 - 2.40 0.055 2441 581.2 116.8 - - 2475 - - - - - - - - 14.64 14.53 14.69
12304 755.1 7.8 898 12306 done 0.63 - - 2540 - - - 2442 - 116.8 - - 2475 - - - - - - - - 14.97 15.00 15.00
12606 732.3 7.5 913 12610 roll 0.65 - - 2552 - 2.38 0.051 1044 -587.4 116.8 - - 2476 - - - - - - - - 14.98 14.53 15.01
12668 727.5 7.6 925 12672 done 0.67 - - 2552 - 2.40 0.054 2441 582.1 116.8 - - 2475 - - - - - - - - 14.63 14.52 14.68
12990 701.9 8.1 944 12996 roll 0.67 - - 2553 - 2.47 0.083 3852 571.3 116.8 - - 2475 - - - - - - - - 14.97 14.43 15.00
13025 698.7 9.5 951 13030 done 0.67 - - 2563 - 2.35 0.037 2433 -603.8 116.8 - - 2475 - - - - - - - - 14.67 14.60 14.71
13330 672.5 8.6 967 13334 roll 0.67 - - 2575 - 2.35 0.053 1041 -592.3 116.8 - - 2475 - - - - - - - - 14.97 14.51 15.00
13401 666.2 8.8 981 13408 done 0.67 - - 2574 - 2.40 0.054 2440 582.9 116.8 - - 2475 - - - - - - - - 14.62 14.50 14.66
13712 637.6 9.4 998 13717 roll 0.67 - - 2585 - 2.38 0.052 1045 -586.1 116.8 - - 2475 - - - - - - - - 14.95 14.51 14.99
13759 633.1 9.3 1007 13767 done 0.67 0.15 0.220 2551 -226.7 2.40 0.054 2443 582.5 116.8 - - 2474 - - - - - - - - 14.23 14.50 14.50
14075 606.8 8.2 1025 14079 roll 0.67 - - 2562 - 2.38 0.051 1046 -587.0 116.8 - - 2475 - - - - - - - - 14.96 14.50 14.98
14101 604.5 7.9 1030 14107 done 0.68 - - 2561 - 2.42 0.055 2447 578.9 116.8 - - 2474 - - - - - - - - 14.62 14.50 14.66
14419 576.0 9.2 1048 14421 done 0.68 - - 2562 - - - 2447 - 116.8 - - 2474 - - - - - - - - 14.96 15.00 14.99
14720 549.1 8.9 1063 14724 roll 0.68 - - 2574 - 2.38 0.050 1047 -588.2 116.8 - - 2474 - - - - - - - - 14.97 14.50 15.00
14777 544.1 8.8 1074 14782 done 0.68 - - 2574 - 2.45 0.054 2449 572.2 116.8 - - 2474 - - - - - - - - 14.59 14.48 14.64
15083 517.6 8.4 1090 15088 roll 0.68 - - 2574 - 2.47 0.082 3854 568.8 116.8 - - 2474 - - - - - - - - 14.95 14.40 14.99
15134 512.8 9.2 1100 15139 done 0.68 0.15 0.243 2552 -146.7 2.30 0.037 2441 -614.3 116.8 - - 2474 - - - - - - - - 14.17 14.59 14.46
15441 491.9 6.7 1116 15446 roll 0.71 - - 2552 - 2.53 0.086 3848 556.1 116.8 - - 2474 - - - - - - - - 14.96 14.39 14.99
15467 489.8 7.7 1121 15472 done 0.73 - - 2562 - 2.30 0.037 2436 -613.9 116.8 - - 2474 - - - - - - - - 14.66 14.59 14.69
15785 467.2 7.6 1139 15789 roll 0.75 - - 2573 - 2.35 0.051 1043 -592.8 116.8 - - 2474 - - - - - - - - 14.97 14.49 15.00
15840 462.7 8.0 1150 15845 done 0.75 - - 2573 - 2.45 0.053 2447 573.1 116.8 - - 2474 - - - - - - - - 14.59 14.48 14.64
16146 436.8 8.7 1166 16151 roll 0.75 - - 2584 - 2.40 0.051 1046 -583.8 116.8 - - 2474 - - - - - - - - 14.96 14.48 14.99
16208 431.3 8.9 1178 16213 done 0.75 - - 2583 - 2.40 0.053 2442 581.7 116.8 - - 2474 - - - - - - - - 14.59 14.47 14.64
16531 402.1 9.0 1197 16533 done 0.75 - - 2584 - - - 2443 - 116.8 - - 2474 - - - - - - - - 14.95 14.99 14.99
16830 376.4 8.3 1212 16832 done 0.75 - - 2584 - - - 2443 - 116.8 - - 2474 - - - - - - - - 14.96 15.00 14.99
17131 351.3 8.4 1227 17135 roll 0.75 - - 2595 - 2.38 0.051 1048 -586.1 116.8 - - 2474 - - - - - - - - 14.97 14.47 15.00
17202 345.3 8.2 1241 17206 done 0.75 - - 2595 - 2.40 0.053 2444 581.7 116.8 - - 2474 - - - - - - - - 14.58 14.47 14.63
17515 322.1 7.1 1258 17520 roll 0.78 - - 2606 - 2.38 0.050 1046 -587.4 116.8 - - 2474 - - - - - - - - 14.95 14.48 14.98
17572 317.9 7.3 1269 17576 done 0.80 - - 2606 - 2.42 0.052 2440 576.0 116.8 - - 2474 - - - - - - - - 14.58 14.47 14.63
17877 297.6 6.7 1285 17882 roll 0.83 - - 2618 - 2.38 0.050 1049 -584.5 116.8 - - 2474 - - - - - - - - 14.96 14.48 14.99
17939 292.9 8.1 1297 17943 done 0.83 - - 2618 - 2.40 0.053 2448 582.9 116.8 - - 2474 - - - - - - - - 14.58 14.47 14.63
18261 264.6 9.0 1316 18263 done 0.83 - - 2618 - - - 2448 - 116.8 - - 2474 - - - - - - - - 14.96 14.99 14.99
18561 238.8 7.8 1337 18563 done 0.85 - - 2618 - - - 2448 - 116.8 - - 2474 - - - - - - - - 14.96 14.99 14.99
18742 226.9 5.6 1355 18800 roll 0.90 - - 2619 - 2.47 0.084 3839 563.2 174.5 49.60 1.154 2254 -4.4 0.165 - - - - - - 14.95 14.46 13.78
18887 213.5 11.7 1384 18892 done 0.90 - - 2630 - 2.33 0.037 2446 -597.9 174.5 - - 2252 - - - - - - - - 14.54 14.47 14.56
19074 192.5 11.0 1403 19079 done 0.90 - - 2630 - - - 2445 - 174.5 - - 2250 - - - - - - - - 14.83 14.86 14.85
19262 173.2 10.7 1422 19265 done 0.90 - - 2630 - - - 2445 - 174.5 - - 2250 - - - - - - - - 14.85 14.89 14.88
19443 157.5 7.8 1440 19447 roll 0.92 - - 2642 - 2.35 0.050 1044 -596.2 174.5 - - 2249 - - - - - - - - 14.88 14.46 14.90
19670 142.8 5.5 1485 19729 done 0.98 - - 2642 - 2.42 0.051 2448 580.2 235.1 51.55 1.033 2008 -4.7 0.122 - - - - - - 14.57 14.47 13.82
19916 119.6 8.5 1516 19923 roll 0.98 - - 2642 - 2.45 0.081 3851 572.7 235.1 - - 2003 - - - - - - - - 14.79 14.37 14.81
19937 117.6 10.1 1520 19941 done 0.98 - - 2654 - 2.33 0.037 2433 -608.6 235.1 - - 2002 - - - - - - - - 14.57 14.50 14.59
20131 100.6 7.1 1540 20135 done 1.01 - - 2655 - - - 2433 - 235.1 - - 2002 - - - - - - - - 14.84 14.87 14.87
20320 93.8 2.6 1559 20431 roll 1.12 0.12 0.119 2732 641.7 2.33 0.049 1041 -597.4 354.3 103.68 0.940 1522 -4.6 0.087 - - - - - - 14.60 14.18 13.75
20495 81.2 9.2 1593 20503 done 1.12 0.15 0.219 2696 -240.0 2.42 0.051 2446 580.6 354.3 - - 1520 - - - - - - - - 14.16 14.34 14.31
20683 64.3 7.5 1613 20691 roll 1.14 - - 2696 - 2.42 0.081 3844 577.7 354.3 - - 1519 - - - - - - - - 14.78 14.39 14.81
20795 55.2 8.4 1635 20799 done 1.14 - - 2707 - 2.30 0.036 2426 -616.5 354.3 - - 1520 - - - - - - - - 14.61 14.54 14.63
20983 40.4 8.3 1666 20988 roll 1.14 - - 2718 - 2.30 0.050 1047 -599.6 354.3 - - 1519 - - - - - - - - 14.86 14.52 14.88
21016 37.7 8.7 1672 21020 done 1.14 - - 2718 - 2.38 0.050 2440 585.3 354.3 - - 1519 - - - - - - - - 14.61 14.51 14.64
21205 21.2 8.6 1709 21209 done 1.14 - - 2718 - - - 2441 - 354.3 - - 1519 - - - - - - - - 14.89 14.92 14.92
21392 5.1 9.5 1746 21397 done 1.14 - - 2718 - - - 2440 - 354.3 - - 1518 - - - - - - - - 14.90 14.93 14.93
21417 end climb: SURFACE_DEPTH_REACHED
21417 begin surface coast
21449 end surface coast: CONTROL_FINISHED_OK
21449 begin surface
SM 1.39 - - - - -6.77 7.43 0.063 128 17.2 0.10 0.139 2527 25210.0 500.17 146.15 0.643 928 6.3 -0.001 - - - - 1 -