MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 354 * Raw log
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• Previous call tries 1 • 131.36 of 350.00 AH used of 24V (62.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.7 deg, depth 1.35 m • Intended pitch -18.5 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 17 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 78 VBD -0.64 - - 104 - - - 2498 - -97.3 -67.18 0.005 2517 - - - - - - - - 14.83 - 14.86
82 4.6 -11.5 14 114 roll -0.64 9.10 0.348 2117 221.2 2.38 0.072 1112 -582.4 -97.3 -16.70 0.008 3366 -50.8 5.576 - - - - - - 14.10 12.86 14.50
141 24.7 -33.2 26 146 done -0.64 - - 2108 - 2.38 0.060 2502 584.0 -97.3 - - 3367 - - - - - - - - 14.62 14.50 14.65
329 80.6 -23.1 52 333 roll -0.64 - - 2106 - 2.30 0.053 1112 -604.3 -97.3 - - 3367 - - - - - - - - 14.95 14.59 14.98
364 87.7 -20.9 59 368 done -0.64 - - 2096 - 2.38 0.060 2505 585.3 -97.3 - - 3366 - - - - - - - - 14.67 14.55 14.71
551 120.9 -16.2 78 554 roll -0.64 - - 2083 - 2.38 0.083 3896 584.5 -97.3 - - 3367 - - - - - - - - 15.02 14.56 15.04
586 126.9 -16.3 85 592 done -0.64 0.15 0.220 2118 233.3 2.20 0.032 2491 -638.6 -97.3 - - 3366 - - - - - - - - 14.40 14.71 14.62
772 150.3 -12.8 104 776 roll -0.64 - - 2118 - 2.22 0.045 1116 -619.4 -97.3 - - 3367 - - - - - - - - 15.05 14.67 15.07
832 157.9 -11.7 116 836 done -0.64 - - 2109 - 2.35 0.059 2508 592.3 -97.3 - - 3367 - - - - - - - - 14.73 14.62 14.77
1023 179.8 -11.6 136 1027 roll -0.64 - - 2098 - 2.35 0.081 3897 591.1 -97.3 - - 3367 - - - - - - - - 15.08 14.59 15.11
1064 184.6 -11.7 144 1069 done -0.64 - - 2099 - 2.17 0.031 2505 -641.5 -97.3 - - 3366 - - - - - - - - 14.79 14.76 14.81
1255 207.9 -11.7 164 1259 roll -0.64 - - 2088 - 2.40 0.080 3904 582.9 -97.3 - - 3366 - - - - - - - - 15.09 14.60 15.12
1307 214.1 -12.4 174 1312 done -0.64 0.12 0.212 2118 250.0 2.22 0.033 2493 -635.6 -97.3 - - 3365 - - - - - - - - 14.50 14.76 14.69
1501 232.0 -8.6 194 1505 roll -0.64 - - 2109 - 2.42 0.080 3897 580.2 -97.3 - - 3365 - - - - - - - - 15.09 14.60 15.11
1522 234.0 -8.6 198 1527 done -0.64 - - 2109 - 2.20 0.032 2497 -636.4 -97.3 - - 3365 - - - - - - - - 14.83 14.77 14.85
1714 252.7 -10.2 217 1716 done -0.64 - - 2109 - - - 2496 - -97.3 - - 3364 - - - - - - - - 15.11 15.14 15.13
2013 284.8 -11.3 232 2017 roll -0.64 - - 2098 - 2.40 0.080 3896 583.3 -97.3 - - 3361 - - - - - - - - 15.12 14.60 15.15
2094 294.1 -11.4 248 2098 done -0.64 - - 2098 - 2.20 0.033 2501 -634.1 -97.3 - - 3361 - - - - - - - - 14.83 14.78 14.85
2414 329.4 -10.7 267 2416 done -0.64 - - 2099 - - - 2499 - -97.3 - - 3358 - - - - - - - - 15.14 15.16 15.16
2715 360.6 -10.2 282 2717 done -0.64 - - 2098 - - - 2499 - -97.3 - - 3356 - - - - - - - - 15.14 15.16 15.16
3015 390.8 -9.9 297 3017 done -0.64 - - 2098 - - - 2499 - -97.3 - - 3353 - - - - - - - - 15.14 15.16 15.16
3315 420.9 -10.4 312 3319 roll -0.64 - - 2088 - 2.42 0.084 3896 577.3 -97.3 - - 3350 - - - - - - - - 15.14 14.57 15.17
3370 426.9 -10.6 323 3375 done -0.64 0.12 0.204 2118 250.0 2.22 0.034 2493 -632.0 -97.3 - - 3350 - - - - - - - - 14.48 14.76 14.66
3693 456.3 -9.2 342 3697 roll -0.64 - - 2118 - 2.28 0.050 1110 -606.6 -97.3 - - 3348 - - - - - - - - 15.13 14.65 15.16
3718 458.9 -9.6 347 3722 done -0.64 - - 2109 - 2.38 0.060 2507 587.0 -97.3 - - 3348 - - - - - - - - 14.74 14.63 14.78
4035 490.4 -10.1 365 4040 roll -0.64 - - 2106 - 2.40 0.084 3898 579.6 -97.3 - - 3346 - - - - - - - - 15.13 14.54 15.16
4087 496.1 -10.9 375 4091 done -0.64 - - 2106 - 2.22 0.034 2504 -627.9 -97.3 - - 3346 - - - - - - - - 14.80 14.73 14.82
4397 529.9 -10.8 392 4399 done -0.64 - - 2106 - - - 2503 - -97.3 - - 3344 - - - - - - - - 15.14 15.16 15.16
4698 560.4 -9.8 407 4700 done -0.64 - - 2106 - - - 2503 - -97.3 - - 3343 - - - - - - - - 15.14 15.16 15.16
4998 589.7 -9.6 422 5005 roll -0.64 - - 2095 - 2.42 0.086 3890 573.1 -97.3 - - 3341 - - - - - - - - 15.14 14.50 15.16
5027 592.7 -10.5 428 5031 done -0.64 - - 2096 - 2.22 0.035 2500 -626.1 -97.3 - - 3341 - - - - - - - - 14.78 14.71 14.80
5339 624.7 -10.4 445 5341 done -0.64 - - 2095 - - - 2499 - -97.3 - - 3340 - - - - - - - - 15.12 15.16 15.16
5638 656.5 -10.6 460 5642 roll -0.64 - - 2085 - 2.45 0.087 3890 567.8 -97.3 - - 3338 - - - - - - - - 15.14 14.49 15.16
5679 661.0 -10.8 468 5684 done -0.64 0.15 0.202 2122 246.7 2.25 0.036 2499 -618.2 -97.3 - - 3338 - - - - - - - - 14.38 14.69 14.58
6001 688.4 -8.2 487 6003 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3337 - - - - - - - - 15.13 15.16 15.16
6301 713.0 -8.2 502 6304 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3336 - - - - - - - - 15.13 15.16 15.15
6602 737.4 -8.1 517 6604 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3335 - - - - - - - - 15.12 15.16 15.15
6901 761.9 -8.1 532 6903 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3333 - - - - - - - - 15.13 15.16 15.16
7201 786.4 -8.3 547 7203 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3333 - - - - - - - - 15.13 15.16 15.16
7502 811.1 -8.2 562 7504 done -0.64 - - 2122 - - - 2497 - -97.3 - - 3332 - - - - - - - - 15.11 15.15 15.14
7801 835.2 -8.0 577 7806 roll -0.64 - - 2123 - 2.33 0.052 1109 -595.7 -97.3 - - 3331 - - - - - - - - 15.13 14.53 15.16
7828 837.4 -8.3 582 7834 done -0.64 - - 2114 - 2.40 0.060 2499 579.2 -97.3 - - 3330 - - - - - - - - 14.62 14.50 14.66
8143 864.2 -8.5 600 8147 roll -0.64 - - 2103 - 2.47 0.087 3900 567.2 -97.3 - - 3330 - - - - - - - - 15.11 14.39 15.14
8190 868.4 -9.1 609 8196 done -0.64 - - 2103 - 2.28 0.037 2497 -615.4 -97.3 - - 3330 - - - - - - - - 14.69 14.62 14.72
8508 897.7 -9.3 627 8510 done -0.64 - - 2103 - - - 2496 - -97.3 - - 3329 - - - - - - - - 15.11 15.14 15.14
8807 925.3 -9.2 642 8809 done -0.64 - - 2103 - - - 2496 - -97.3 - - 3328 - - - - - - - - 15.11 15.15 15.14
9107 952.8 -9.1 657 9109 done -0.64 - - 2103 - - - 2496 - -97.3 - - 3328 - - - - - - - - 15.12 15.15 15.15
9408 979.5 -8.9 672 9410 done -0.64 - - 2103 - - - 2495 - -97.3 - - 3326 - - - - - - - - 15.11 15.14 15.14
9525 end dive: TARGET_DEPTH_EXCEEDED
9525 begin apogee
9531 990.2 -8.9 678 9625 done -0.15 0.60 0.168 2275 286.7 - - 2495 - - 88.97 2.017 2967 -4.0 0.378 - - - - - - 14.19 14.15 13.02
9626 end apogee: CONTROL_FINISHED_OK
9626 begin climb
9629 993.0 - 683 9734 done 0.64 0.80 0.095 2539 330.0 - - 2495 - 97.3 100.88 2.009 2571 -3.9 0.370 - - - - - - 14.21 13.93 12.87
10027 971.9 7.4 709 10032 roll 0.65 - - 2550 - 2.45 0.054 1052 -589.0 97.3 - - 2562 - - - - - - - - 14.81 14.47 14.84
10104 966.0 7.9 724 10109 done 0.65 - - 2550 - 2.40 0.055 2443 579.6 97.3 - - 2560 - - - - - - - - 14.59 14.49 14.63
10409 942.2 7.7 740 10413 roll 0.65 - - 2561 - 2.38 0.052 1048 -586.1 97.3 - - 2559 - - - - - - - - 14.96 14.55 14.99
10460 938.2 7.9 750 10466 done 0.65 - - 2561 - 2.40 0.055 2449 583.8 97.3 - - 2559 - - - - - - - - 14.65 14.54 14.69
10771 913.0 8.4 767 10775 roll 0.65 - - 2561 - 2.45 0.083 3845 569.8 97.3 - - 2559 - - - - - - - - 15.00 14.50 15.03
10807 909.7 9.1 774 10811 done 0.65 - - 2572 - 2.30 0.037 2430 -615.2 97.3 - - 2558 - - - - - - - - 14.71 14.65 14.74
11112 884.6 8.0 790 11119 roll 0.65 0.12 0.254 2555 -141.7 2.33 0.050 1047 -593.6 97.3 - - 2558 - - - - - - - - 14.40 14.57 14.54
11168 880.5 7.4 801 11173 done 0.67 - - 2554 - 2.40 0.054 2450 584.6 97.3 - - 2558 - - - - - - - - 14.67 14.56 14.71
11471 856.9 7.9 817 11473 done 0.67 - - 2554 - - - 2450 - 97.3 - - 2558 - - - - - - - - 15.06 15.09 15.09
11772 832.9 8.0 832 11776 roll 0.67 - - 2565 - 2.38 0.051 1050 -588.2 97.3 - - 2556 - - - - - - - - 15.07 14.57 15.10
11828 828.5 8.0 843 11832 done 0.67 - - 2565 - 2.38 0.054 2439 583.6 97.3 - - 2555 - - - - - - - - 14.66 14.55 14.71
12134 804.4 7.5 859 12136 done 0.68 - - 2565 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.07 15.10 15.09
12434 781.7 7.3 874 12436 done 0.70 - - 2565 - - - 2438 - 97.3 - - 2555 - - - - - - - - 15.08 15.11 15.11
12733 759.6 7.1 889 12735 done 0.71 - - 2565 - - - 2439 - 97.3 - - 2555 - - - - - - - - 15.09 15.12 15.11
13034 737.9 7.2 904 13039 roll 0.73 - - 2576 - 2.38 0.053 1050 -583.6 97.3 - - 2555 - - - - - - - - 15.08 14.54 15.11
13095 733.6 7.0 916 13099 done 0.75 - - 2576 - 2.38 0.054 2440 584.0 97.3 - - 2554 - - - - - - - - 14.64 14.52 14.69
13416 709.1 7.7 935 13418 done 0.75 - - 2577 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.09 15.12 15.11
13716 685.5 7.7 950 13718 done 0.75 - - 2577 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.10 15.13 15.13
14015 662.1 7.9 965 14020 roll 0.75 - - 2576 - 2.47 0.083 3850 570.9 97.3 - - 2554 - - - - - - - - 15.11 14.40 15.13
14053 658.9 8.9 972 14057 done 0.75 - - 2587 - 2.30 0.036 2438 -613.9 97.3 - - 2553 - - - - - - - - 14.69 14.62 14.73
14357 635.4 7.7 988 14359 done 0.75 - - 2588 - - - 2436 - 97.3 - - 2554 - - - - - - - - 15.10 15.14 15.13
14657 612.5 7.6 1003 14661 roll 0.75 - - 2598 - 2.33 0.050 1052 -594.0 97.3 - - 2554 - - - - - - - - 15.10 14.51 15.12
14694 609.9 7.5 1010 14698 done 0.76 - - 2598 - 2.40 0.053 2450 582.5 97.3 - - 2553 - - - - - - - - 14.62 14.50 14.66
14998 587.0 7.3 1026 15002 roll 0.78 - - 2598 - 2.45 0.080 3846 569.8 97.3 - - 2553 - - - - - - - - 15.09 14.39 15.13
15024 584.9 7.7 1031 15028 done 0.78 - - 2609 - 2.28 0.035 2440 -616.7 97.3 - - 2553 - - - - - - - - 14.69 14.62 14.72
15341 561.9 7.2 1049 15343 done 0.79 - - 2609 - - - 2438 - 97.3 - - 2553 - - - - - - - - 15.09 15.12 15.12
15639 538.8 7.8 1064 15642 done 0.79 - - 2610 - - - 2438 - 97.3 - - 2553 - - - - - - - - 15.10 15.13 15.13
15940 516.6 7.6 1079 15944 roll 0.79 - - 2620 - 2.33 0.049 1051 -595.3 97.3 - - 2554 - - - - - - - - 15.10 14.50 15.13
15966 514.7 7.6 1084 15975 done 0.79 0.15 0.235 2587 -220.0 2.38 0.052 2442 584.5 97.3 - - 2553 - - - - - - - - 14.14 14.49 14.43
16285 493.5 6.8 1102 16287 done 0.82 - - 2587 - - - 2442 - 97.3 - - 2553 - - - - - - - - 15.08 15.11 15.11
16583 474.2 6.3 1117 16588 roll 0.85 - - 2587 - 2.47 0.081 3851 570.4 97.3 - - 2553 - - - - - - - - 15.09 14.37 15.12
16660 468.5 7.3 1132 16664 done 0.87 - - 2597 - 2.30 0.035 2436 -615.2 97.3 - - 2553 - - - - - - - - 14.66 14.60 14.70
16966 448.6 6.6 1148 16968 done 0.90 - - 2597 - - - 2435 - 97.3 - - 2553 - - - - - - - - 15.09 15.12 15.12
17265 427.8 6.8 1163 17269 roll 0.92 - - 2608 - 2.33 0.049 1051 -594.0 97.3 - - 2553 - - - - - - - - 15.10 14.49 15.13
17367 421.2 6.4 1183 17371 done 0.96 - - 2608 - 2.38 0.051 2440 583.6 97.3 - - 2553 - - - - - - - - 14.59 14.47 14.64
17688 401.1 5.9 1202 17729 roll 1.00 0.12 0.122 2679 591.7 2.45 0.081 3848 574.7 136.0 34.35 1.353 2412 -4.1 0.232 - - - - - - 14.73 14.57 13.54
17901 374.8 13.9 1244 17907 done 1.00 0.17 0.272 2651 -164.7 2.33 0.036 2435 -606.4 136.0 - - 2408 - - - - - - - - 14.09 14.56 14.39
18214 339.6 11.1 1261 18219 roll 1.00 - - 2661 - 2.33 0.050 1044 -597.0 136.0 - - 2408 - - - - - - - - 14.99 14.49 15.01
18270 333.3 11.1 1272 18274 done 1.00 - - 2661 - 2.40 0.050 2446 584.2 136.0 - - 2406 - - - - - - - - 14.59 14.49 14.63
18575 298.3 11.5 1288 18579 roll 1.00 - - 2672 - 2.35 0.048 1048 -594.9 136.0 - - 2406 - - - - - - - - 15.04 14.50 15.06
18627 292.9 10.5 1298 18631 done 1.00 - - 2672 - 2.38 0.050 2441 585.3 136.0 - - 2406 - - - - - - - - 14.61 14.50 14.64
18939 257.9 11.0 1315 18941 done 1.00 - - 2672 - - - 2442 - 136.0 - - 2406 - - - - - - - - 15.04 15.07 15.07
19241 223.7 11.0 1341 19246 roll 1.00 - - 2672 - 2.45 0.079 3851 575.1 136.0 - - 2406 - - - - - - - - 15.04 14.40 15.06
19312 216.2 9.5 1355 19319 done 1.00 0.15 0.269 2651 -140.0 2.30 0.034 2428 -618.7 136.0 - - 2406 - - - - - - - - 14.09 14.62 14.38
19508 201.3 7.4 1375 19512 done 1.01 - - 2651 - - - 2426 - 136.0 - - 2406 - - - - - - - - 15.04 15.07 15.07
19695 185.0 9.2 1394 19702 roll 1.01 - - 2651 - 2.50 0.079 3848 568.8 136.0 - - 2406 - - - - - - - - 15.07 14.40 15.09
19857 171.2 7.0 1426 19861 done 1.03 - - 2661 - 2.28 0.034 2432 -621.1 136.0 - - 2406 - - - - - - - - 14.69 14.62 14.71
20050 158.5 6.4 1446 20057 roll 1.06 - - 2661 - 2.47 0.078 3845 572.1 136.0 - - 2406 - - - - - - - - 15.05 14.40 15.07
20194 151.0 3.6 1475 20269 done 1.14 - - 2673 - 2.28 0.034 2430 -620.6 214.0 67.65 1.051 2093 -4.6 0.127 - - - - - - 14.69 14.62 13.74
20450 126.8 11.0 1508 20454 roll 1.14 - - 2684 - 2.33 0.051 1055 -590.1 214.0 - - 2087 - - - - - - - - 14.85 14.44 14.88
20542 118.0 8.9 1526 20546 done 1.14 - - 2684 - 2.40 0.053 2447 580.0 214.0 - - 2086 - - - - - - - - 14.55 14.45 14.59
20733 99.7 8.4 1546 20736 done 1.14 - - 2684 - - - 2447 - 214.0 - - 2086 - - - - - - - - 14.95 14.97 14.97
20914 87.6 4.3 1564 20978 roll 1.21 0.10 0.142 2762 780.0 2.35 0.048 1061 -589.8 281.3 57.15 0.940 1819 -4.7 0.083 - - - - - - 14.66 14.29 13.80
21209 63.0 5.5 1622 21258 done 1.25 - - 2762 - 2.35 0.050 2443 588.1 326.2 40.38 0.875 1637 -4.5 0.062 - - - - - - 14.57 14.48 13.81
21441 45.4 10.3 1655 21445 roll 1.25 - - 2773 - 2.33 0.050 1061 -593.1 326.2 - - 1635 - - - - - - - - 14.84 14.49 14.87
21672 29.2 7.4 1701 21677 done 1.27 0.15 0.228 2740 -220.0 2.33 0.050 2439 591.4 326.2 - - 1635 - - - - - - - - 14.25 14.53 14.49
21861 17.7 6.6 1738 21865 roll 1.30 - - 2740 - 2.40 0.078 3839 583.3 326.2 - - 1635 - - - - - - - - 14.97 14.47 14.99
21923 13.0 7.7 1750 21927 done 1.30 - - 2750 - 2.22 0.034 2448 -626.6 326.2 - - 1635 - - - - - - - - 14.71 14.64 14.72
22086 end climb: SURFACE_DEPTH_REACHED
22086 begin surface coast
22146 end surface coast: CONTROL_FINISHED_OK
22146 begin surface
SM 1.36 - - - - -6.78 7.35 0.047 115 15.6 0.08 0.170 2507 18462.5 500.17 170.75 0.659 929 5.4 -0.001 - - - - 1 -