MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 367 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 107.96 of 350.00 AH used of 24V (69.15% remains)
• Surface angle -74.1 deg, depth 0.79 m • Intended pitch -19.8 deg, speed -10.000 cm/s
VBD pumped to 500.07 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 3 s • Transponder ping count: 24
• 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
10.01 - - - 92.86 VBD -0.68 - - 330.94 - - - 2995.75 - -145.99 80.75 0.005 2771.75 - - - - - - - - - - 14.96
93.15 5.35 -8.55 8 121.16 -0.68 9.76 0.370 2280.38 199.7 1.52 0.018 2005.94 -651.2 -145.99 11.88 0.007 3418.38 54.4 -7.176 - - - - - - 14.53 15.17 15.05
182.82 40.96 -33.72 16 189.49 roll -0.68 - - 2272.81 - 2.11 0.074 3169.00 551.2 -145.99 - - 3419.00 - - - - - - - - - 15.73 -
368.32 105.38 -23.25 35 373.90 roll -0.68 - - 2265.62 - 1.11 0.087 3802.12 570.4 -145.99 - - 3419.31 - - - - - - - - - 15.76 -
532.88 137.62 -19.65 51 539.07 roll -0.68 - - 2268.25 - 1.10 0.025 3062.19 -672.7 -145.99 - - 3418.75 - - - - - - - - - 15.88 -
718.47 168.08 -15.83 70 724.01 roll -0.68 - - 2262.25 - 1.32 0.086 3802.06 560.5 -145.99 - - 3418.03 - - - - - - - - - 15.83 -
768.63 176.18 -15.73 75 773.99 roll -0.68 - - 2261.94 - 1.11 0.028 3072.44 -657.3 -145.99 - - 3418.00 - - - - - - - - - 15.91 -
958.58 204.16 -14.03 94 964.04 roll -0.68 - - 2256.75 - 1.30 0.081 3805.38 563.8 -145.99 - - 3419.09 - - - - - - - - - 15.86 -
1002.99 210.59 -14.27 98 1009.23 roll -0.68 - - 2255.19 - 1.12 0.030 3075.56 -651.6 -145.99 - - 3417.62 - - - - - - - - - 15.94 -
1188.57 235.80 -13.43 117 1194.08 roll -0.68 - - 2250.75 - 1.30 0.083 3804.00 560.3 -145.99 - - 3416.91 - - - - - - - - - 15.87 -
1238.66 243.24 -14.90 122 1244.07 roll -0.68 - - 2250.38 - 1.12 0.031 3076.62 -649.4 -145.99 - - 3417.50 - - - - - - - - - 15.93 -
1428.59 269.86 -14.28 141 1431.49 no move -0.68 - - 2250.44 - - - 3075.62 - -145.99 - - 3415.00 - - - - - - - - - - -
1608.71 295.51 -13.91 159 1614.16 roll -0.68 - - 2245.12 - 1.32 0.088 3804.00 551.8 -145.99 - - 3414.88 - - - - - - - - - 15.87 -
1638.73 299.88 -14.54 162 1644.20 roll back -0.68 0.12 0.205 2278.19 275.6 1.12 0.033 3084.06 -642.8 -145.99 - - 3414.28 - - - - - - - - 15.72 15.98 -
1828.67 322.78 -11.84 181 1834.26 roll -0.68 - - 2276.94 - 1.66 0.019 2014.38 -644.4 -145.99 - - 3411.88 - - - - - - - - - 15.97 -
1868.73 327.36 -11.32 185 1874.35 roll -0.68 - - 2271.12 - 2.09 0.078 3170.62 553.2 -145.99 - - 3413.09 - - - - - - - - - 15.85 -
2058.85 350.26 -12.09 204 2064.33 roll -0.68 - - 2271.38 - 1.83 0.019 2010.25 -634.1 -145.99 - - 3411.50 - - - - - - - - - 15.98 -
2098.78 354.84 -11.40 208 2104.38 roll -0.68 - - 2262.00 - 2.09 0.079 3171.12 555.4 -145.99 - - 3411.41 - - - - - - - - - 15.87 -
2288.67 378.82 -13.01 227 2291.58 no move -0.68 - - 2262.00 - - - 3170.94 - -145.99 - - 3407.97 - - - - - - - - - - -
2478.94 403.87 -13.20 245 2484.39 roll -0.68 - - 2260.62 - 1.83 0.021 2017.62 -630.2 -145.99 - - 3407.28 - - - - - - - - - 15.97 -
2538.87 411.27 -12.08 248 2544.44 roll -0.68 - - 2252.69 - 2.09 0.080 3168.88 550.8 -145.99 - - 3407.97 - - - - - - - - - 15.86 -
2858.82 454.23 -13.65 264 2864.44 roll -0.68 - - 2250.81 - 1.83 0.022 2019.94 -627.8 -145.99 - - 3405.47 - - - - - - - - - 15.99 -
2918.95 462.08 -12.75 267 2924.50 roll -0.68 - - 2242.00 - 2.09 0.079 3170.19 550.4 -145.99 - - 3404.78 - - - - - - - - - 15.85 -
3238.94 507.94 -14.31 283 3244.56 roll back -0.68 0.13 0.227 2278.31 279.3 1.83 0.023 2022.00 -627.4 -145.99 - - 3403.22 - - - - - - - - 15.69 15.68 -
3288.33 513.87 -11.40 285 3294.55 roll -0.68 - - 2270.75 - 2.09 0.080 3170.00 549.3 -145.99 - - 3402.78 - - - - - - - - - 15.86 -
3598.94 550.03 -11.46 301 3604.53 roll -0.68 - - 2269.44 - 1.85 0.025 2021.00 -621.1 -145.99 - - 3401.66 - - - - - - - - - 15.99 -
3708.40 561.93 -10.71 306 3714.62 roll -0.68 - - 2262.38 - 2.10 0.081 3168.44 546.4 -145.99 - - 3399.81 - - - - - - - - - 15.85 -
4018.94 598.92 -12.04 322 4024.61 roll -0.68 - - 2262.44 - 1.85 0.025 2013.31 -624.4 -145.99 - - 3397.38 - - - - - - - - - 15.99 -
4093.45 607.47 -11.16 325 4100.28 roll -0.68 - - 2252.81 - 2.11 0.082 3168.81 547.6 -145.99 - - 3396.78 - - - - - - - - - 15.84 -
4399.08 645.99 -12.56 341 4404.66 roll -0.68 - - 2252.44 - 1.85 0.025 2027.31 -617.0 -145.99 - - 3397.06 - - - - - - - - - 15.98 -
4453.49 652.51 -11.63 343 4460.22 roll -0.68 - - 2242.62 - 2.09 0.083 3165.19 544.4 -145.99 - - 3396.16 - - - - - - - - - 15.83 -
4758.99 690.38 -12.19 359 4764.77 roll back -0.68 0.13 0.223 2277.31 266.8 1.85 0.026 2025.44 -616.1 -145.99 - - 3393.00 - - - - - - - - 15.63 15.62 -
4788.52 693.55 -11.92 360 4794.74 roll -0.68 - - 2269.12 - 2.10 0.082 3166.81 543.5 -145.99 - - 3393.25 - - - - - - - - - 15.80 -
5099.13 724.64 -9.85 376 5104.73 roll -0.68 - - 2270.56 - 1.85 0.025 2028.31 -615.4 -145.99 - - 3391.06 - - - - - - - - - 15.94 -
5193.59 733.54 -9.10 380 5200.36 roll -0.68 - - 2261.62 - 2.10 0.083 3167.94 542.7 -145.99 - - 3390.41 - - - - - - - - - 15.81 -
5499.15 765.55 -10.82 396 5504.79 roll -0.68 - - 2261.94 - 1.85 0.025 2027.69 -616.4 -145.99 - - 3391.69 - - - - - - - - - 15.98 -
5568.63 772.92 -10.45 399 5574.85 roll -0.68 - - 2251.94 - 2.10 0.083 3164.00 541.1 -145.99 - - 3389.53 - - - - - - - - - 15.81 -
5879.35 809.10 -11.64 415 5884.84 roll -0.68 - - 2252.25 - 1.85 0.025 2026.31 -615.0 -145.99 - - 3389.34 - - - - - - - - - 15.97 -
5933.68 815.24 -11.05 417 5940.54 roll -0.68 - - 2243.12 - 2.10 0.082 3166.31 542.9 -145.99 - - 3389.56 - - - - - - - - - 15.79 -
6239.35 852.87 -12.39 433 6244.95 roll back -0.68 0.13 0.221 2277.06 261.1 1.86 0.025 2027.38 -612.3 -145.99 - - 3388.47 - - - - - - - - 15.62 15.59 -
6288.72 858.12 -10.08 435 6294.96 roll -0.68 - - 2271.88 - 2.11 0.082 3167.19 540.2 -145.99 - - 3387.28 - - - - - - - - - 15.79 -
6599.43 892.12 -11.22 451 6604.93 roll -0.68 - - 2271.56 - 1.85 0.025 2028.75 -615.4 -145.99 - - 3386.19 - - - - - - - - - 15.96 -
6673.78 899.98 -10.20 454 6680.62 roll -0.68 - - 2262.81 - 2.11 0.082 3165.88 538.9 -145.99 - - 3385.69 - - - - - - - - - 15.77 -
6979.45 934.35 -11.18 470 6984.98 roll -0.68 - - 2262.12 - 1.86 0.026 2027.50 -612.0 -145.99 - - 3384.56 - - - - - - - - - 15.95 -
7068.82 943.85 -10.27 474 7075.06 roll -0.68 - - 2252.12 - 2.11 0.081 3167.00 540.0 -145.99 - - 3384.59 - - - - - - - - - 15.76 -
7379.51 979.41 -11.54 490 7385.03 roll -0.68 - - 2252.62 - 1.86 0.026 2023.19 -615.0 -145.99 - - 3383.34 - - - - - - - - - 15.96 -
7459.40 988.04 -10.39 494 7465.10 roll -0.68 - - 2243.31 - 2.11 0.081 3166.12 541.7 -145.99 - - 3383.75 - - - - - - - - - 15.73 -
7479 end dive: TARGET_DEPTH_EXCEEDED
7479 begin apogee
7481.39 990.20 -10.60 495 7604.95 -0.14 0.74 0.185 2452.75 283.0 0.14 0.177 2722.25 -3170.5 - 119.70 2.078 2825.75 -4.7 0.383 - - - - - - 15.50 15.01 10.46
7605 end apogee: CONTROL_FINISHED_OK
7605 begin climb
7605.78 993.53 - 501 7749.81 0.68 0.81 0.080 2732.25 345.1 2.00 0.033 1590.62 -565.8 145.99 127.97 2.028 2227.69 -4.7 0.395 - - - - - - 15.22 14.87 11.92
7826.49 977.26 11.04 511 7832.71 roll 0.68 - - 2731.56 - 2.12 0.074 2714.06 529.9 145.99 - - 2223.66 - - - - - - - - - 15.38 -
8136.98 939.44 12.31 527 8142.68 done 0.68 - - 2740.56 - 1.88 0.028 1583.81 -601.2 145.99 - - 2219.88 - - - - - - - - - 15.72 -
8231.54 928.26 11.71 531 8238.51 done 0.68 - - 2740.69 - 2.08 0.075 2714.94 543.8 145.99 - - 2220.72 - - - - - - - - - 15.69 -
8537.14 891.05 12.06 547 8542.75 done 0.68 - - 2748.50 - 1.87 0.028 1582.38 -605.6 145.99 - - 2218.34 - - - - - - - - - 15.82 -
8617.13 881.85 11.48 551 8622.87 0.68 0.16 0.220 2706.75 -260.9 2.07 0.073 2714.44 546.9 145.99 - - 2219.97 - - - - - - - - 15.56 15.75 -
8937.10 849.56 9.89 567 8940.00 VBD 0.68 - - 2706.94 - - - 2714.81 - 145.99 - - 2218.56 - - - - - - - - - - -
9237.22 820.49 9.52 582 9242.83 done 0.68 - - 2712.00 - 1.86 0.028 1585.12 -607.4 145.99 - - 2217.00 - - - - - - - - - 15.89 -
9306.69 814.12 9.13 585 9312.90 done 0.70 - - 2712.69 - 2.06 0.075 2713.38 547.7 145.99 - - 2217.34 - - - - - - - - - 15.78 -
9617.33 784.63 9.33 601 9622.88 done 0.71 - - 2719.31 - 1.86 0.029 1580.69 -609.0 145.99 - - 2217.12 - - - - - - - - - 15.91 -
9646.78 781.93 9.26 602 9652.93 done 0.73 - - 2719.25 - 2.07 0.072 2717.75 549.3 145.99 - - 2218.78 - - - - - - - - - 15.78 -
9957.41 751.94 9.76 618 9962.91 done 0.73 - - 2726.06 - 1.86 0.028 1580.50 -611.4 145.99 - - 2216.91 - - - - - - - - - 15.91 -
10041.76 743.66 9.81 622 10049.05 done 0.73 - - 2726.75 - 2.07 0.070 2714.81 548.0 145.99 - - 2216.03 - - - - - - - - - 15.77 -
10357.46 710.02 10.81 638 10362.98 done 0.73 - - 2735.38 - 1.86 0.028 1579.88 -610.2 145.99 - - 2216.19 - - - - - - - - - 15.91 -
10426.82 702.47 10.72 641 10433.03 done 0.73 - - 2734.88 - 2.06 0.069 2716.62 551.8 145.99 - - 2215.38 - - - - - - - - - 15.79 -
10737.63 666.36 11.69 657 10740.54 VBD 0.73 - - 2737.19 - - - 2716.00 - 145.99 - - 2214.72 - - - - - - - - - - -
11037.56 632.62 11.06 672 11043.06 done 0.73 - - 2742.75 - 1.84 0.028 1580.50 -617.1 145.99 - - 2215.44 - - - - - - - - - 15.92 -
11131.89 622.85 10.12 676 11138.77 done 0.73 - - 2743.50 - 2.05 0.067 2714.75 553.3 145.99 - - 2215.47 - - - - - - - - - 15.79 -
11437.43 589.69 10.82 692 11443.09 done 0.73 - - 2749.12 - 1.85 0.027 1577.00 -615.0 145.99 - - 2215.25 - - - - - - - - - 15.94 -
11541.94 578.99 10.24 697 11548.97 done 0.73 - - 2750.31 - 2.07 0.070 2716.56 550.5 145.99 - - 2215.44 - - - - - - - - - 15.74 -
11857.43 543.32 11.45 713 11863.14 done 0.73 - - 2757.69 - 1.86 0.028 1573.75 -614.4 145.99 - - 2217.41 - - - - - - - - - 15.92 -
11926.98 535.51 11.03 716 11933.20 done 0.73 - - 2759.62 - 2.07 0.070 2715.06 551.4 145.99 - - 2215.84 - - - - - - - - - 15.75 -
12237.60 497.65 12.27 732 12243.19 done 0.73 - - 2765.50 - 1.85 0.027 1575.19 -616.1 145.99 - - 2215.56 - - - - - - - - - 15.94 -
12322.02 487.62 11.54 736 12328.30 0.73 0.17 0.222 2722.25 -254.4 2.06 0.069 2713.25 552.5 145.99 - - 2217.25 - - - - - - - - 15.45 15.73 -
12637.77 454.73 10.30 752 12643.23 done 0.73 - - 2727.06 - 1.85 0.027 1571.50 -617.2 145.99 - - 2215.28 - - - - - - - - - 15.93 -
12677.74 450.72 9.98 754 12683.28 done 0.73 - - 2726.12 - 2.07 0.068 2717.94 553.8 145.99 - - 2214.81 - - - - - - - - - 15.73 -
12997.56 417.96 10.08 770 13003.26 done 0.73 - - 2733.25 - 1.86 0.026 1571.81 -616.2 145.99 - - 2215.91 - - - - - - - - - 15.93 -
13072.11 410.92 9.32 773 13078.84 done 0.74 - - 2734.19 - 2.08 0.070 2716.31 550.2 145.99 - - 2215.38 - - - - - - - - - 15.74 -
13377.75 381.73 9.10 798 13383.32 done 0.76 - - 2743.31 - 1.86 0.026 1570.62 -616.0 145.99 - - 2215.66 - - - - - - - - - 15.92 -
13412.16 378.68 8.77 801 13418.93 done 0.78 - - 2742.12 - 2.08 0.068 2718.06 551.7 145.99 - - 2215.56 - - - - - - - - - 15.74 -
13597.86 361.08 9.74 820 13600.77 VBD 0.78 - - 2741.88 - - - 2717.88 - 145.99 - - 2214.34 - - - - - - - - - - -
13777.94 342.55 10.70 838 13783.37 done 0.78 - - 2750.75 - 1.87 0.026 1568.44 -614.7 145.99 - - 2215.31 - - - - - - - - - 15.93 -
13812.20 338.93 10.40 841 13818.93 done 0.78 - - 2750.75 - 2.08 0.067 2720.19 553.7 145.99 - - 2215.53 - - - - - - - - - 15.74 -
13997.81 317.99 11.29 860 14003.41 done 0.78 - - 2758.19 - 1.86 0.026 1570.12 -618.3 145.99 - - 2216.06 - - - - - - - - - 15.92 -
14037.81 313.67 10.88 864 14043.46 done 0.78 - - 2757.94 - 2.08 0.066 2716.62 551.2 145.99 - - 2214.94 - - - - - - - - - 15.73 -
14227.77 292.07 11.32 883 14233.47 done 0.78 - - 2765.19 - 1.86 0.025 1570.25 -616.3 145.99 - - 2216.19 - - - - - - - - - 15.92 -
14272.30 287.08 10.96 887 14279.08 done 0.78 - - 2766.06 - 2.07 0.066 2718.19 554.6 145.99 - - 2215.84 - - - - - - - - - 15.73 -
14457.96 265.79 11.15 906 14460.86 VBD 0.78 - - 2766.56 - - - 2717.75 - 145.99 - - 2216.31 - - - - - - - - - - -
14638.01 246.71 10.43 924 14640.92 VBD 0.78 - - 2765.75 - - - 2717.88 - 145.99 - - 2214.31 - - - - - - - - - - -
14818.10 229.68 9.03 942 14823.60 done 0.80 - - 2767.12 - 1.91 0.094 3776.38 554.2 145.99 - - 2215.75 - - - - - - - - - 15.62 -
14868.17 224.48 10.52 947 14873.60 done 0.80 - - 2776.06 - 1.82 0.034 2630.00 -629.9 145.99 - - 2215.81 - - - - - - - - - 15.88 -
15058.17 208.08 8.14 966 15063.59 done 0.84 - - 2783.50 - 1.66 0.025 1569.94 -638.6 145.99 - - 2215.47 - - - - - - - - - 15.93 -
15108.05 204.38 7.43 971 15150.89 done 0.89 - - 2781.00 - 2.07 0.065 2719.31 555.3 192.13 36.40 1.064 2041.53 -4.8 0.158 - - - - - - - 15.73 10.83
15327.96 182.69 9.84 993 15333.69 roll 0.89 - - 2783.50 - 1.90 0.092 3775.94 556.1 192.13 - - 2036.09 - - - - - - - - - 15.63 -
15382.50 176.00 12.47 998 15388.81 roll 0.89 - - 2792.94 - 1.83 0.033 2624.44 -629.2 192.13 - - 2035.62 - - - - - - - - - 15.80 -
15568.06 158.19 10.18 1017 15573.76 roll 0.89 - - 2791.50 - 2.15 0.095 3775.50 535.4 192.13 - - 2036.62 - - - - - - - - - 15.60 -
15678.06 146.26 10.43 1028 15683.75 roll 0.89 - - 2799.50 - 1.82 0.032 2628.88 -630.0 192.13 - - 2036.56 - - - - - - - - - 15.83 -
15868.26 131.75 7.92 1047 15904.39 done 0.92 - - 2808.31 - 1.66 0.026 1568.31 -638.9 229.42 29.67 0.918 1887.47 -5.0 0.124 - - - - - - - 15.61 11.59
15958.19 123.97 9.24 1056 15963.84 roll 0.94 - - 2806.69 - 2.08 0.066 2718.88 553.2 229.42 - - 1886.78 - - - - - - - - - 15.68 -
16148.19 108.77 6.85 1075 16194.35 VBD 0.99 - - 2808.56 - - - 2719.62 - 285.94 43.74 0.875 1657.66 -5.2 0.112 - - - - - - - - 11.74
16378.34 93.61 5.15 1098 16447.33 1.08 0.10 0.088 2879.88 713.2 1.91 0.092 3774.88 552.5 373.10 63.69 0.831 1302.25 -5.6 0.108 - - - - - - 15.72 15.39 11.63
16594.46 70.18 9.81 1119 16600.24 roll back 1.08 0.19 0.206 2833.94 -241.8 1.83 0.028 2611.50 -635.7 373.10 - - 1299.16 - - - - - - - - 15.46 15.67 -
16784.62 58.09 6.91 1138 16831.19 done 1.14 - - 2834.38 - 2.18 0.097 3774.88 533.7 428.52 40.68 0.724 1077.44 -5.5 0.075 - - - - - - - 15.48 11.49
16849.08 53.29 7.64 1144 16886.58 1.18 0.10 0.080 2907.50 731.2 1.83 0.028 2612.00 -635.5 470.95 31.73 0.700 905.59 -5.4 0.071 - - - - - - 15.63 15.67 12.05
17064.53 26.19 12.78 1166 17067.56 pitch 1.18 0.17 0.184 2859.88 -280.1 - - 2610.06 - 470.95 - - 901.16 - - - - - - - - 15.57 - -
17244.72 9.86 8.70 1184 17250.24 roll 1.21 - - 2865.62 - 1.62 0.021 1570.00 -642.0 470.95 - - 901.03 - - - - - - - - - 15.73 -
17289.19 6.02 8.47 1188 17295.97 roll 1.24 - - 2866.75 - 2.05 0.063 2716.56 559.3 470.95 - - 901.19 - - - - - - - - - 15.74 -
17325 end climb: SURFACE_DEPTH_REACHED
17325 begin surface coast
17354 end surface coast: CONTROL_FINISHED_OK
17354 begin surface
SM 0.83 - - - - 331.6 - 2.639 786.4 - 6.95 0.040 810.6 116.6 - 0.74 0.072 762.2 1027.2 -1.210 - - 30.36 15.79 15.79 -