MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 343 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 128.10 of 350.00 AH used of 24V (63.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.8 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 84 VBD -0.62 - - 126 - - - 2528 - -116.8 -72.25 0.005 2679 - - - - - - - - 14.83 - 14.85
88 5.6 -16.0 15 119 roll -0.62 9.15 0.355 2129 218.9 2.38 0.068 1101 -599.6 -116.8 -14.00 0.009 3445 -54.7 6.535 - - - - - - 14.12 13.57 14.52
147 27.8 -31.6 27 151 done -0.62 - - 2120 - 2.35 0.059 2479 586.4 -116.8 - - 3446 - - - - - - - - 14.62 14.51 14.65
339 86.3 -26.8 53 343 roll -0.62 - - 2117 - 2.28 0.053 1109 -600.9 -116.8 - - 3446 - - - - - - - - 14.96 14.58 14.98
360 91.3 -22.9 57 364 done -0.62 - - 2106 - 2.38 0.061 2505 586.6 -116.8 - - 3446 - - - - - - - - 14.67 14.57 14.71
551 124.4 -15.0 77 555 roll -0.62 - - 2090 - 2.35 0.078 3894 591.1 -116.8 - - 3445 - - - - - - - - 15.02 14.57 15.04
651 140.9 -16.6 97 656 done -0.62 0.17 0.216 2128 223.5 2.20 0.034 2503 -632.3 -116.8 - - 3445 - - - - - - - - 14.39 14.71 14.62
843 165.3 -11.8 117 847 roll -0.62 - - 2125 - 2.28 0.044 1094 -618.0 -116.8 - - 3446 - - - - - - - - 15.06 14.68 15.08
858 167.2 -12.1 120 863 done -0.62 - - 2118 - 2.38 0.054 2506 593.3 -116.8 - - 3446 - - - - - - - - 14.75 14.64 14.78
1045 189.6 -11.7 139 1049 roll -0.62 - - 2113 - 2.38 0.082 3900 585.7 -116.8 - - 3446 - - - - - - - - 15.07 14.59 15.10
1087 194.5 -11.8 147 1091 done -0.62 - - 2111 - 2.22 0.032 2495 -632.9 -116.8 - - 3446 - - - - - - - - 14.81 14.75 14.83
1278 216.3 -11.5 167 1282 roll -0.62 - - 2109 - 2.25 0.045 1102 -619.1 -116.8 - - 3445 - - - - - - - - 15.09 14.69 15.13
1304 219.2 -11.3 172 1311 done -0.62 0.12 0.221 2127 150.0 2.35 0.054 2502 595.7 -116.8 - - 3445 - - - - - - - - 14.47 14.66 14.67
1500 237.9 -9.7 193 1502 done -0.62 - - 2127 - - - 2502 - -116.8 - - 3444 - - - - - - - - 15.09 15.12 15.11
1689 256.6 -9.6 209 1693 roll -0.62 - - 2118 - 2.38 0.083 3894 584.9 -116.8 - - 3444 - - - - - - - - 15.11 14.60 15.14
1745 261.8 -9.1 220 1750 done -0.62 - - 2118 - 2.20 0.032 2497 -635.0 -116.8 - - 3443 - - - - - - - - 14.77 14.76 14.80
2050 291.2 -9.8 236 2054 roll -0.62 - - 2118 - 2.25 0.046 1107 -617.8 -116.8 - - 3441 - - - - - - - - 15.11 14.70 15.15
2087 294.7 -9.9 243 2091 done -0.62 - - 2108 - 2.35 0.055 2501 593.2 -116.8 - - 3440 - - - - - - - - 14.77 14.66 14.81
2391 326.6 -10.6 259 2394 roll -0.62 - - 2097 - 2.38 0.083 3891 584.0 -116.8 - - 3438 - - - - - - - - 15.14 14.59 15.16
2421 330.0 -11.0 265 2426 done -0.62 0.12 0.205 2127 250.0 2.20 0.034 2497 -633.6 -116.8 - - 3438 - - - - - - - - 14.51 14.77 14.69
2733 358.6 -9.1 282 2735 done -0.62 - - 2126 - - - 2496 - -116.8 - - 3435 - - - - - - - - 15.14 15.16 15.16
3032 384.7 -8.5 297 3037 roll -0.62 - - 2127 - 2.25 0.047 1107 -617.3 -116.8 - - 3432 - - - - - - - - 15.14 14.64 15.17
3089 389.5 -8.5 308 3093 done -0.62 - - 2118 - 2.38 0.056 2508 588.7 -116.8 - - 3431 - - - - - - - - 14.75 14.64 14.79
3394 416.4 -8.9 324 3397 done -0.62 - - 2118 - - - 2508 - -116.8 - - 3429 - - - - - - - - 15.13 15.16 15.16
3694 442.0 -8.5 339 3698 roll -0.62 - - 2095 - 2.40 0.086 3897 578.8 -116.8 - - 3427 - - - - - - - - 15.14 14.55 15.16
3736 445.7 -9.2 347 3741 done -0.62 0.12 0.197 2125 250.0 2.22 0.035 2501 -628.8 -116.8 - - 3427 - - - - - - - - 14.50 14.74 14.67
4058 470.4 -7.6 366 4063 roll -0.62 - - 2126 - 2.28 0.048 1110 -610.1 -116.8 - - 3426 - - - - - - - - 15.14 14.66 15.16
4099 473.7 -7.8 374 4104 done -0.62 - - 2116 - 2.35 0.056 2499 591.1 -116.8 - - 3425 - - - - - - - - 14.73 14.62 14.77
4421 498.9 -7.6 393 4429 roll -0.62 - - 2106 - 2.42 0.086 3899 578.5 -116.8 - - 3424 - - - - - - - - 15.13 14.52 15.16
4455 501.7 -8.4 400 4460 done -0.62 - - 2135 - 2.25 0.035 2498 -622.7 -116.8 - - 3423 - - - - - - - - 14.79 14.73 14.81
4761 525.6 -7.6 416 4765 roll -0.62 - - 2135 - 2.30 0.049 1102 -607.0 -116.8 - - 3422 - - - - - - - - 15.14 14.63 15.16
4792 527.9 -7.5 422 4798 done -0.62 - - 2126 - 2.38 0.057 2499 587.0 -116.8 - - 3421 - - - - - - - - 14.71 14.59 14.75
5104 552.1 -7.7 439 5106 done -0.62 - - 2126 - - - 2499 - -116.8 - - 3420 - - - - - - - - 15.13 15.16 15.16
5405 575.9 -8.2 454 5411 roll -0.62 - - 2115 - 2.45 0.087 3898 571.0 -116.8 - - 3419 - - - - - - - - 15.12 14.49 15.15
5442 579.1 -8.7 461 5446 done -0.62 - - 2115 - 2.25 0.036 2501 -620.9 -116.8 - - 3419 - - - - - - - - 14.77 14.70 14.79
5747 607.1 -9.4 477 5751 roll -0.62 - - 2115 - 2.30 0.049 1109 -605.2 -116.8 - - 3417 - - - - - - - - 15.13 14.60 15.16
5783 610.5 -9.6 484 5788 done -0.62 - - 2105 - 2.38 0.057 2498 583.6 -116.8 - - 3416 - - - - - - - - 14.69 14.57 14.73
6088 641.7 -10.4 500 6092 roll -0.62 - - 2094 - 2.42 0.086 3892 576.0 -116.8 - - 3416 - - - - - - - - 15.14 14.47 15.16
6114 644.5 -10.9 505 6119 done -0.62 0.12 0.203 2124 250.0 2.25 0.036 2496 -620.4 -116.8 - - 3415 - - - - - - - - 14.40 14.69 14.59
6432 673.2 -9.0 523 6434 done -0.62 - - 2124 - - - 2494 - -116.8 - - 3415 - - - - - - - - 15.12 15.15 15.14
6731 698.9 -8.3 538 6736 roll -0.62 - - 2124 - 2.30 0.050 1107 -603.0 -116.8 - - 3414 - - - - - - - - 15.13 14.57 15.16
6772 702.4 -8.3 546 6777 done -0.62 - - 2116 - 2.40 0.058 2506 582.9 -116.8 - - 3413 - - - - - - - - 14.66 14.54 14.70
7094 730.6 -8.9 565 7101 roll -0.62 - - 2105 - 2.42 0.087 3893 573.1 -116.8 - - 3412 - - - - - - - - 15.12 14.43 15.14
7126 733.4 -9.6 571 7130 done -0.62 - - 2105 - 2.25 0.036 2501 -618.7 -116.8 - - 3412 - - - - - - - - 14.73 14.66 14.76
7437 762.8 -9.4 588 7441 roll -0.62 - - 2104 - 2.33 0.050 1104 -599.6 -116.8 - - 3411 - - - - - - - - 15.12 14.55 15.15
7503 769.3 -9.7 601 7508 done -0.62 0.15 0.200 2130 173.3 2.40 0.058 2500 581.7 -116.8 - - 3411 - - - - - - - - 14.31 14.51 14.52
7814 794.2 -7.8 618 7816 done -0.62 - - 2130 - - - 2499 - -116.8 - - 3410 - - - - - - - - 15.13 15.15 15.15
8115 817.4 -7.8 633 8120 roll -0.62 - - 2130 - 2.35 0.050 1108 -591.9 -116.8 - - 3409 - - - - - - - - 15.11 14.53 15.14
8161 821.2 -8.0 642 8167 done -0.62 - - 2121 - 2.42 0.058 2507 578.1 -116.8 - - 3409 - - - - - - - - 14.62 14.50 14.66
8478 848.2 -8.8 660 8482 roll -0.62 - - 2111 - 2.45 0.089 3900 568.6 -116.8 - - 3408 - - - - - - - - 15.11 14.39 15.14
8530 852.9 -9.2 670 8535 done -0.62 - - 2111 - 2.28 0.037 2501 -613.6 -116.8 - - 3408 - - - - - - - - 14.69 14.62 14.72
8834 881.4 -9.2 686 8839 roll -0.62 - - 2111 - 2.33 0.050 1107 -598.3 -116.8 - - 3407 - - - - - - - - 15.12 14.52 15.14
8870 884.8 -9.3 693 8874 done -0.62 - - 2100 - 2.42 0.059 2508 578.9 -116.8 - - 3407 - - - - - - - - 14.60 14.47 14.65
9192 914.1 -8.8 712 9196 roll -0.62 - - 2088 - 2.45 0.088 3897 566.9 -116.8 - - 3406 - - - - - - - - 15.11 14.37 15.14
9217 916.4 -9.5 717 9223 done -0.62 0.15 0.196 2127 260.0 2.30 0.038 2493 -610.4 -116.8 - - 3406 - - - - - - - - 14.29 14.60 14.50
9530 937.0 -6.1 734 9535 roll -0.62 - - 2127 - 2.33 0.050 1103 -596.6 -116.8 - - 3405 - - - - - - - - 15.10 14.49 15.13
9572 939.7 -6.2 742 9577 done -0.62 - - 2118 - 2.42 0.060 2504 578.9 -116.8 - - 3405 - - - - - - - - 14.59 14.46 14.64
9895 959.4 -6.2 761 9903 roll -0.62 - - 2108 - 2.45 0.089 3890 565.7 -116.8 - - 3405 - - - - - - - - 15.10 14.35 15.13
9919 961.1 -7.1 766 9926 done -0.62 - - 2107 - 2.25 0.037 2502 -616.9 -116.8 - - 3404 - - - - - - - - 14.59 14.56 14.61
10237 984.1 -7.5 784 10241 roll -0.62 - - 2107 - 2.35 0.051 1103 -595.3 -116.8 - - 3404 - - - - - - - - 15.11 14.47 15.14
10274 986.9 -7.9 791 10281 done -0.62 0.12 0.207 2126 158.3 2.42 0.060 2499 576.9 -116.8 - - 3404 - - - - - - - - 14.28 14.45 14.47
10315 end dive: TARGET_DEPTH_EXCEEDED
10315 begin apogee
10321 990.1 -6.9 797 10437 done -0.15 0.52 0.158 2280 296.2 - - 2499 - - 109.07 2.020 2968 -4.0 0.376 - - - - - - 14.28 14.03 12.78
10438 end apogee: CONTROL_FINISHED_OK
10438 begin climb
10441 992.9 - 803 10563 done 0.62 0.77 0.083 2542 340.3 - - 2499 - 116.8 118.95 2.012 2491 -4.0 0.380 - - - - - - 14.15 13.88 12.83
10858 967.8 8.8 824 10862 roll 0.62 - - 2553 - 2.50 0.053 1043 -582.4 116.8 - - 2483 - - - - - - - - 14.79 14.45 14.83
10928 961.8 8.5 838 10933 done 0.62 - - 2553 - 2.42 0.056 2444 578.9 116.8 - - 2481 - - - - - - - - 14.57 14.47 14.62
11241 934.8 8.6 855 11243 done 0.62 - - 2553 - - - 2445 - 116.8 - - 2480 - - - - - - - - 14.93 14.97 14.96
11540 908.7 8.7 870 11545 roll 0.62 - - 2564 - 2.38 0.052 1045 -588.2 116.8 - - 2479 - - - - - - - - 15.00 14.57 15.02
11602 903.3 8.9 882 11608 done 0.62 0.15 0.230 2531 -220.0 2.42 0.055 2450 580.6 116.8 - - 2479 - - - - - - - - 14.28 14.54 14.56
11927 877.1 8.3 901 11929 done 0.62 - - 2531 - - - 2450 - 116.8 - - 2478 - - - - - - - - 15.02 15.04 15.04
12225 851.4 8.7 916 12227 done 0.62 - - 2531 - - - 2450 - 116.8 - - 2478 - - - - - - - - 15.05 15.09 15.08
12526 825.3 8.7 931 12530 roll 0.62 - - 2541 - 2.38 0.051 1047 -589.5 116.8 - - 2477 - - - - - - - - 15.06 14.57 15.09
12557 822.5 8.7 937 12561 done 0.62 - - 2541 - 2.40 0.055 2444 582.1 116.8 - - 2476 - - - - - - - - 14.66 14.54 14.71
12867 795.0 8.8 954 12869 done 0.62 - - 2541 - - - 2444 - 116.8 - - 2476 - - - - - - - - 15.08 15.11 15.11
13168 769.4 8.5 969 13172 roll 0.62 - - 2553 - 2.38 0.051 1045 -587.8 116.8 - - 2476 - - - - - - - - 15.08 14.55 15.11
13239 763.2 8.4 983 13244 done 0.62 - - 2554 - 2.40 0.054 2442 582.1 116.8 - - 2476 - - - - - - - - 14.64 14.52 14.69
13551 736.4 8.6 1000 13553 done 0.62 - - 2554 - - - 2442 - 116.8 - - 2476 - - - - - - - - 15.08 15.11 15.11
13851 712.3 7.7 1015 13855 roll 0.64 - - 2566 - 2.38 0.051 1046 -586.6 116.8 - - 2476 - - - - - - - - 15.09 14.53 15.11
13912 707.6 7.8 1027 13917 done 0.65 - - 2566 - 2.40 0.054 2439 580.4 116.8 - - 2475 - - - - - - - - 14.63 14.51 14.68
14235 682.7 7.5 1046 14240 roll 0.67 - - 2577 - 2.38 0.051 1044 -586.1 116.8 - - 2475 - - - - - - - - 15.08 14.52 15.11
14263 680.7 7.4 1051 14267 done 0.69 - - 2577 - 2.40 0.054 2440 581.7 116.8 - - 2475 - - - - - - - - 14.63 14.51 14.68
14578 655.9 7.8 1069 14580 done 0.70 - - 2577 - - - 2440 - 116.8 - - 2475 - - - - - - - - 15.09 15.11 15.11
14878 630.4 9.0 1084 14880 done 0.70 - - 2577 - - - 2440 - 116.8 - - 2475 - - - - - - - - 15.09 15.13 15.12
15179 602.7 9.5 1099 15183 roll 0.70 - - 2588 - 2.38 0.052 1046 -585.7 116.8 - - 2475 - - - - - - - - 15.09 14.50 15.12
15275 593.4 9.5 1118 15281 done 0.70 0.12 0.238 2561 -225.0 2.40 0.054 2441 581.2 116.8 - - 2475 - - - - - - - - 14.21 14.49 14.47
15579 566.8 8.3 1134 15581 done 0.70 - - 2561 - - - 2441 - 116.8 - - 2475 - - - - - - - - 15.10 15.13 15.12
15881 543.7 7.7 1149 15885 roll 0.72 - - 2561 - 2.47 0.084 3845 568.4 116.8 - - 2475 - - - - - - - - 15.09 14.38 15.12
15937 538.6 9.0 1160 15941 done 0.72 - - 2572 - 2.30 0.037 2436 -612.6 116.8 - - 2475 - - - - - - - - 14.67 14.61 14.71
16243 514.2 8.2 1176 16247 roll 0.72 - - 2583 - 2.35 0.052 1042 -593.2 116.8 - - 2475 - - - - - - - - 15.09 14.50 15.11
16365 504.6 7.7 1200 16369 done 0.73 - - 2583 - 2.40 0.054 2441 582.9 116.8 - - 2475 - - - - - - - - 14.59 14.47 14.64
16687 478.2 8.1 1219 16693 roll 0.73 - - 2583 - 2.47 0.082 3851 570.9 116.8 - - 2475 - - - - - - - - 15.09 14.38 15.11
16736 473.3 9.9 1229 16740 done 0.73 - - 2594 - 2.30 0.037 2439 -613.9 116.8 - - 2475 - - - - - - - - 14.67 14.60 14.70
17046 445.4 9.1 1246 17051 roll 0.73 - - 2606 - 2.35 0.050 1043 -594.0 116.8 - - 2475 - - - - - - - - 15.09 14.49 15.12
17154 435.6 9.4 1267 17161 done 0.73 0.17 0.233 2565 -241.2 2.40 0.054 2441 582.5 116.8 - - 2475 - - - - - - - - 14.11 14.47 14.35
17471 411.8 7.3 1285 17473 done 0.75 - - 2565 - - - 2441 - 116.8 - - 2475 - - - - - - - - 15.07 15.09 15.09
17769 389.2 7.1 1300 17771 done 0.78 - - 2565 - - - 2441 - 116.8 - - 2475 - - - - - - - - 15.09 15.12 15.11
18068 368.3 7.1 1315 18075 roll 0.81 - - 2565 - 2.47 0.083 3848 569.6 116.8 - - 2474 - - - - - - - - 15.09 14.37 15.12
18118 364.3 8.2 1325 18123 done 0.81 - - 2576 - 2.30 0.037 2432 -615.7 116.8 - - 2474 - - - - - - - - 14.66 14.60 14.70
18431 342.9 7.1 1342 18436 roll 0.83 - - 2587 - 2.33 0.050 1049 -593.6 116.8 - - 2475 - - - - - - - - 15.08 14.49 15.11
18555 334.3 7.1 1366 18560 done 0.86 - - 2587 - 2.40 0.053 2445 581.7 116.8 - - 2475 - - - - - - - - 14.58 14.47 14.64
18877 310.7 7.2 1385 18881 roll 0.89 - - 2586 - 2.45 0.081 3845 571.4 116.8 - - 2475 - - - - - - - - 15.09 14.37 15.12
18942 305.2 8.5 1398 18947 done 0.89 - - 2598 - 2.28 0.036 2441 -615.8 116.8 - - 2474 - - - - - - - - 14.67 14.60 14.70
19259 278.8 8.6 1416 19264 roll 0.89 - - 2609 - 2.35 0.050 1050 -591.9 116.8 - - 2475 - - - - - - - - 15.09 14.48 15.12
19316 274.1 8.3 1427 19320 done 0.89 - - 2610 - 2.40 0.052 2446 581.7 116.8 - - 2475 - - - - - - - - 14.59 14.47 14.64
19622 250.1 7.3 1443 19624 done 0.91 - - 2609 - - - 2446 - 116.8 - - 2475 - - - - - - - - 15.09 15.11 15.11
19921 229.8 6.2 1472 19962 done 0.95 - - 2609 - - - 2446 - 161.7 39.28 1.149 2308 -4.3 0.163 - - - - - - 15.09 14.55 13.74
20143 210.6 9.7 1494 20148 done 0.95 - - 2609 - - - 2446 - 161.7 - - 2303 - - - - - - - - 14.92 14.95 14.94
20330 193.6 8.5 1513 20334 roll 0.95 - - 2621 - 2.38 0.050 1044 -589.1 161.7 - - 2303 - - - - - - - - 14.97 14.47 15.00
20402 187.3 8.7 1527 20406 done 0.95 - - 2621 - 2.40 0.054 2442 582.5 161.7 - - 2301 - - - - - - - - 14.57 14.47 14.62
20593 171.6 9.4 1547 20600 roll 0.95 - - 2622 - 2.45 0.080 3849 574.3 161.7 - - 2301 - - - - - - - - 15.00 14.40 15.02
20725 159.0 9.5 1573 20730 done 0.95 - - 2634 - 2.30 0.035 2431 -616.5 161.7 - - 2301 - - - - - - - - 14.65 14.58 14.67
20916 144.2 6.6 1593 20921 roll 0.99 - - 2645 - 2.30 0.050 1049 -600.9 161.7 - - 2301 - - - - - - - - 15.02 14.50 15.04
21148 134.1 3.7 1639 21238 done 1.09 - - 2647 - 2.38 0.050 2444 586.1 258.6 82.57 1.021 1912 -4.7 0.119 - - - - - - 14.60 14.50 13.74
21425 106.5 9.7 1676 21429 roll 1.09 - - 2658 - 2.38 0.049 1043 -588.7 258.6 - - 1907 - - - - - - - - 14.82 14.43 14.85
21481 100.9 10.5 1687 21486 done 1.09 - - 2658 - 2.40 0.052 2437 580.8 258.6 - - 1906 - - - - - - - - 14.54 14.42 14.57
21667 83.7 5.2 1706 21732 roll 1.15 0.12 0.120 2734 633.3 2.35 0.049 1049 -590.6 323.4 57.15 0.925 1646 -4.5 0.079 - - - - - - 14.59 14.27 13.80
21961 58.4 7.3 1764 21965 done 1.18 - - 2734 - 2.38 0.050 2445 586.6 323.4 - - 1645 - - - - - - - - 14.57 14.47 14.60
22149 46.9 6.7 1788 22153 roll 1.21 - - 2746 - 2.35 0.049 1042 -597.0 323.4 - - 1645 - - - - - - - - 14.90 14.52 14.93
22241 40.5 6.8 1806 22246 done 1.25 - - 2746 - 2.38 0.050 2443 588.7 323.4 - - 1644 - - - - - - - - 14.62 14.52 14.65
22428 25.7 7.0 1843 22431 done 1.27 - - 2746 - - - 2442 - 323.4 - - 1644 - - - - - - - - 14.96 15.00 14.99
22614 12.0 7.0 1880 22617 done 1.30 - - 2746 - - - 2443 - 323.4 - - 1645 - - - - - - - - 14.99 15.02 15.02
22759 end climb: SURFACE_DEPTH_REACHED
22759 begin surface coast
22797 end surface coast: CONTROL_FINISHED_OK
22797 begin surface
SM 1.35 - - - - -6.77 7.45 0.058 118 15.8 0.08 0.170 2506 30450.0 500.17 172.57 0.663 928 5.4 -0.001 - - - - 1 -