MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 436 * Raw log
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• Previous call tries 1 • 155.23 of 350.00 AH used of 24V (55.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 1.29 m • Intended pitch -19.6 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 19 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 83 VBD -0.67 - - 123 - - - 2521 - -97.3 -71.75 0.005 2637 - - - - - - - - 14.83 - 14.85
87 5.3 -14.7 15 116 roll -0.67 9.10 0.351 2097 216.9 2.33 0.092 3879 582.8 -97.3 -13.38 0.009 3367 -54.6 6.280 - - - - - - 13.98 13.48 14.42
263 65.1 -18.8 50 268 done -0.67 - - 2096 - 2.15 0.031 2514 -634.9 -97.3 - - 3367 - - - - - - - - 14.69 14.64 14.71
455 100.4 -19.1 70 460 roll -0.67 - - 2086 - 2.33 0.076 3878 585.4 -97.3 - - 3367 - - - - - - - - 15.00 14.52 15.02
472 103.4 -18.7 73 476 done -0.67 - - 2086 - 2.17 0.031 2500 -635.0 -97.3 - - 3367 - - - - - - - - 14.74 14.69 14.76
657 134.9 -17.9 92 659 done -0.67 - - 2086 - - - 2498 - -97.3 - - 3368 - - - - - - - - 15.04 15.07 15.06
837 163.3 -14.4 110 840 done -0.67 - - 2086 - - - 2498 - -97.3 - - 3368 - - - - - - - - 15.05 15.08 15.08
1017 186.9 -13.2 128 1021 roll -0.67 - - 2086 - 2.28 0.046 1104 -611.4 -97.3 - - 3368 - - - - - - - - 15.08 14.67 15.09
1069 193.7 -13.2 138 1075 done -0.67 0.15 0.219 2112 173.3 2.33 0.057 2487 593.6 -97.3 - - 3368 - - - - - - - - 14.42 14.64 14.63
1265 218.4 -12.7 158 1270 roll -0.67 - - 2103 - 2.40 0.080 3900 588.8 -97.3 - - 3367 - - - - - - - - 15.06 14.57 15.09
1336 227.9 -12.4 172 1341 done -0.67 - - 2103 - 2.20 0.032 2498 -637.3 -97.3 - - 3367 - - - - - - - - 14.81 14.76 14.83
1538 253.2 -12.2 192 1540 done -0.67 - - 2103 - - - 2497 - -97.3 - - 3367 - - - - - - - - 15.09 15.12 15.11
1838 287.5 -10.5 207 1842 roll -0.67 - - 2091 - 2.40 0.081 3893 581.7 -97.3 - - 3365 - - - - - - - - 15.11 14.58 15.14
1873 291.5 -11.1 214 1879 done -0.67 - - 2091 - 2.20 0.032 2500 -633.2 -97.3 - - 3365 - - - - - - - - 14.82 14.76 14.84
2179 323.4 -10.5 230 2181 done -0.67 - - 2091 - - - 2498 - -97.3 - - 3363 - - - - - - - - 15.11 15.14 15.14
2479 357.3 -11.4 245 2483 roll -0.67 - - 2091 - 2.28 0.047 1108 -609.6 -97.3 - - 3360 - - - - - - - - 15.13 14.68 15.16
2494 359.2 -11.3 248 2499 done -0.67 0.12 0.212 2111 166.7 2.38 0.060 2506 587.4 -97.3 - - 3360 - - - - - - - - 14.46 14.64 14.65
2818 389.6 -9.3 267 2822 roll -0.67 - - 2112 - 2.33 0.049 1106 -600.9 -97.3 - - 3358 - - - - - - - - 15.11 14.67 15.14
2843 392.2 -9.6 272 2848 done -0.67 - - 2103 - 2.35 0.057 2499 592.8 -97.3 - - 3357 - - - - - - - - 14.75 14.64 14.78
3161 423.4 -10.4 290 3167 roll -0.67 - - 2091 - 2.40 0.083 3900 583.8 -97.3 - - 3356 - - - - - - - - 15.11 14.55 15.14
3203 428.4 -11.4 298 3208 done -0.67 - - 2091 - 2.22 0.034 2503 -629.3 -97.3 - - 3355 - - - - - - - - 14.81 14.74 14.83
3525 466.6 -12.3 317 3527 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3353 - - - - - - - - 15.12 15.16 15.15
3826 502.7 -11.9 332 3828 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3351 - - - - - - - - 15.11 15.15 15.14
4126 537.7 -11.5 347 4128 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3350 - - - - - - - - 15.12 15.16 15.15
4425 570.4 -10.5 362 4427 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3348 - - - - - - - - 15.13 15.16 15.15
4725 600.6 -10.0 377 4727 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3346 - - - - - - - - 15.12 15.16 15.15
5025 630.5 -9.9 392 5027 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3345 - - - - - - - - 15.13 15.16 15.15
5326 660.8 -10.0 407 5328 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3344 - - - - - - - - 15.12 15.16 15.15
5626 690.0 -9.5 422 5628 done -0.67 - - 2091 - - - 2501 - -97.3 - - 3343 - - - - - - - - 15.11 15.15 15.14
5925 717.9 -9.2 437 5929 roll -0.67 - - 2091 - 2.33 0.050 1103 -600.0 -97.3 - - 3341 - - - - - - - - 15.12 14.59 15.15
5951 720.4 -9.7 442 5957 done -0.67 0.12 0.207 2111 166.7 2.40 0.061 2498 581.2 -97.3 - - 3341 - - - - - - - - 14.38 14.54 14.57
6270 745.9 -8.0 460 6276 roll -0.67 - - 2102 - 2.42 0.086 3892 576.0 -97.3 - - 3340 - - - - - - - - 15.11 14.45 15.14
6314 749.8 -8.8 469 6318 done -0.67 - - 2103 - 2.25 0.036 2498 -619.6 -97.3 - - 3339 - - - - - - - - 14.73 14.66 14.76
6631 777.0 -8.6 487 6633 done -0.67 - - 2102 - - - 2498 - -97.3 - - 3339 - - - - - - - - 15.10 15.14 15.13
6929 803.2 -8.7 502 6931 done -0.67 - - 2102 - - - 2498 - -97.3 - - 3338 - - - - - - - - 15.11 15.15 15.14
7229 829.5 -8.7 517 7231 done -0.67 - - 2102 - - - 2498 - -97.3 - - 3337 - - - - - - - - 15.11 15.14 15.14
7530 856.5 -9.1 532 7533 done -0.67 - - 2102 - - - 2498 - -97.3 - - 3336 - - - - - - - - 15.10 15.14 15.13
7830 883.9 -9.2 547 7834 roll -0.67 - - 2102 - 2.33 0.050 1110 -595.7 -97.3 - - 3335 - - - - - - - - 15.11 14.53 15.14
7861 887.0 -9.5 553 7865 done -0.67 - - 2091 - 2.40 0.060 2499 578.8 -97.3 - - 3335 - - - - - - - - 14.62 14.49 14.66
8174 917.5 -9.9 570 8176 done -0.67 - - 2091 - - - 2499 - -97.3 - - 3334 - - - - - - - - 15.09 15.13 15.12
8471 947.3 -9.9 585 8476 roll -0.67 - - 2081 - 2.45 0.087 3893 569.0 -97.3 - - 3333 - - - - - - - - 15.11 14.38 15.14
8518 952.1 -10.6 594 8524 done -0.67 0.12 0.209 2111 250.0 2.28 0.037 2494 -613.6 -97.3 - - 3332 - - - - - - - - 14.31 14.61 14.50
8831 979.3 -8.4 611 8835 roll -0.67 - - 2111 - 2.33 0.050 1104 -596.6 -97.3 - - 3332 - - - - - - - - 15.10 14.50 15.12
8857 981.5 -8.7 616 8861 done -0.67 - - 2102 - 2.42 0.060 2503 578.1 -97.3 - - 3332 - - - - - - - - 14.58 14.45 14.62
8966 end dive: TARGET_DEPTH_EXCEEDED
8966 begin apogee
8974 991.2 -8.8 623 9070 done -0.15 0.62 0.166 2282 290.3 - - 2437 - - 92.20 2.005 2968 -3.9 0.381 - - - - - - 14.21 14.03 12.68
9071 end apogee: CONTROL_FINISHED_OK
9071 begin climb
9074 994.1 - 628 9187 roll 0.67 0.80 0.086 2562 350.0 2.47 0.052 1058 -558.3 97.3 103.75 1.993 2569 -3.8 0.375 - - - - - - 14.18 13.92 12.55
9217 993.1 5.8 654 9266 done 0.71 - - 2562 - 2.45 0.054 2441 564.5 137.7 41.83 1.952 2405 -3.9 0.390 - - - - - - 14.25 14.16 12.64
9572 954.5 11.4 680 9574 done 0.71 - - 2562 - - - 2441 - 137.7 - - 2398 - - - - - - - - 14.85 14.88 14.88
9874 919.3 11.8 695 9878 roll 0.71 - - 2573 - 2.38 0.053 1045 -586.6 137.7 - - 2396 - - - - - - - - 14.95 14.55 14.97
9899 916.1 12.0 700 9903 done 0.71 - - 2573 - 2.40 0.054 2443 582.5 137.7 - - 2395 - - - - - - - - 14.64 14.54 14.69
10215 876.9 12.4 718 10220 roll 0.71 - - 2584 - 2.35 0.051 1052 -591.9 137.7 - - 2394 - - - - - - - - 15.01 14.57 15.04
10258 871.8 12.5 726 10263 done 0.71 - - 2584 - 2.38 0.055 2440 583.2 137.7 - - 2394 - - - - - - - - 14.66 14.55 14.71
10580 830.8 12.5 745 10584 roll 0.71 - - 2595 - 2.35 0.052 1053 -590.2 137.7 - - 2393 - - - - - - - - 15.04 14.57 15.07
10617 826.3 12.5 752 10624 done 0.71 0.15 0.225 2561 -226.7 2.40 0.054 2450 582.1 137.7 - - 2393 - - - - - - - - 14.28 14.55 14.55
10943 789.9 11.0 772 10945 done 0.71 - - 2561 - - - 2450 - 137.7 - - 2393 - - - - - - - - 15.04 15.07 15.07
11242 758.0 10.5 787 11246 roll 0.71 - - 2573 - 2.38 0.051 1047 -589.5 137.7 - - 2393 - - - - - - - - 15.07 14.57 15.09
11273 754.7 11.0 793 11277 done 0.71 - - 2573 - 2.40 0.054 2447 583.3 137.7 - - 2392 - - - - - - - - 14.66 14.54 14.71
11584 721.7 10.5 810 11586 done 0.71 - - 2573 - - - 2447 - 137.7 - - 2392 - - - - - - - - 15.07 15.11 15.11
11884 690.2 10.6 825 11886 done 0.71 - - 2573 - - - 2447 - 137.7 - - 2392 - - - - - - - - 15.08 15.11 15.11
12185 658.6 10.7 840 12189 roll 0.71 - - 2584 - 2.38 0.051 1047 -588.2 137.7 - - 2391 - - - - - - - - 15.09 14.55 15.11
12286 647.8 10.6 860 12290 done 0.71 - - 2584 - 2.40 0.054 2446 582.9 137.7 - - 2391 - - - - - - - - 14.64 14.52 14.69
12608 613.6 10.7 879 12612 roll 0.71 - - 2595 - 2.38 0.051 1047 -587.8 137.7 - - 2391 - - - - - - - - 15.08 14.54 15.11
12645 609.5 10.9 886 12651 done 0.71 0.15 0.223 2561 -226.7 2.40 0.054 2443 581.7 137.7 - - 2391 - - - - - - - - 14.22 14.51 14.49
12950 579.4 9.6 902 12955 roll 0.71 - - 2572 - 2.38 0.051 1044 -587.8 137.7 - - 2391 - - - - - - - - 15.08 14.53 15.11
12986 575.9 9.6 909 12990 done 0.71 - - 2572 - 2.40 0.054 2440 581.7 137.7 - - 2391 - - - - - - - - 14.62 14.50 14.67
13291 546.2 9.6 925 13293 done 0.71 - - 2572 - - - 2440 - 137.7 - - 2391 - - - - - - - - 15.09 15.11 15.11
13592 518.4 8.9 940 13596 roll 0.71 - - 2583 - 2.38 0.052 1043 -587.0 137.7 - - 2391 - - - - - - - - 15.08 14.52 15.11
13664 512.1 8.6 954 13669 done 0.71 - - 2583 - 2.40 0.054 2440 582.1 137.7 - - 2391 - - - - - - - - 14.61 14.49 14.66
13976 484.6 8.8 971 13981 roll 0.71 - - 2595 - 2.38 0.051 1044 -586.6 137.7 - - 2391 - - - - - - - - 15.09 14.51 15.11
14008 481.7 9.1 977 14018 done 0.71 0.15 0.222 2560 -233.3 2.40 0.054 2443 582.9 137.7 - - 2391 - - - - - - - - 14.19 14.48 14.45
14317 453.5 9.2 994 14319 done 0.71 - - 2560 - - - 2443 - 137.7 - - 2391 - - - - - - - - 15.09 15.12 15.11
14618 425.2 9.6 1009 14623 roll 0.71 - - 2572 - 2.38 0.050 1053 -584.0 137.7 - - 2391 - - - - - - - - 15.09 14.50 15.11
14671 420.0 10.1 1019 14675 done 0.71 - - 2572 - 2.38 0.054 2438 581.9 137.7 - - 2391 - - - - - - - - 14.59 14.47 14.65
14982 388.3 10.1 1036 14986 roll 0.71 - - 2583 - 2.35 0.050 1050 -590.6 137.7 - - 2391 - - - - - - - - 15.09 14.50 15.12
15034 383.2 10.1 1046 15039 done 0.71 - - 2582 - 2.40 0.054 2447 582.1 137.7 - - 2391 - - - - - - - - 14.59 14.47 14.64
15346 355.0 8.1 1063 15350 roll 0.71 - - 2594 - 2.38 0.050 1045 -589.1 137.7 - - 2391 - - - - - - - - 15.09 14.50 15.11
15398 350.7 8.6 1073 15406 done 0.71 0.15 0.217 2559 -233.3 2.40 0.054 2444 582.9 137.7 - - 2391 - - - - - - - - 14.17 14.47 14.44
15709 329.7 6.1 1090 15714 roll 0.75 - - 2559 - 2.45 0.082 3845 571.8 137.7 - - 2391 - - - - - - - - 15.07 14.37 15.10
15746 327.0 7.1 1097 15751 done 0.77 - - 2570 - 2.28 0.036 2444 -614.5 137.7 - - 2391 - - - - - - - - 14.66 14.59 14.70
16052 307.7 6.7 1113 16057 roll 0.80 - - 2581 - 2.35 0.051 1046 -594.9 137.7 - - 2391 - - - - - - - - 15.08 14.50 15.11
16129 302.2 7.2 1128 16133 done 0.81 - - 2581 - 2.40 0.053 2441 581.2 137.7 - - 2391 - - - - - - - - 14.58 14.47 14.64
16435 279.0 7.2 1144 16439 roll 0.83 - - 2592 - 2.38 0.050 1041 -588.2 137.7 - - 2391 - - - - - - - - 15.08 14.50 15.11
16465 276.6 7.6 1150 16471 done 0.83 - - 2592 - 2.40 0.052 2441 583.3 137.7 - - 2391 - - - - - - - - 14.59 14.47 14.64
16778 252.0 7.4 1167 16782 roll 0.84 - - 2592 - 2.45 0.080 3845 573.1 137.7 - - 2391 - - - - - - - - 15.09 14.37 15.11
16880 243.1 8.3 1187 16885 done 0.84 - - 2603 - 2.28 0.036 2438 -617.1 137.7 - - 2391 - - - - - - - - 14.66 14.60 14.70
17072 229.1 7.7 1207 17076 roll 0.84 - - 2614 - 2.33 0.050 1048 -596.6 137.7 - - 2391 - - - - - - - - 15.07 14.49 15.10
17175 221.5 7.4 1227 17179 done 0.86 - - 2614 - 2.40 0.052 2450 584.2 137.7 - - 2391 - - - - - - - - 14.58 14.46 14.63
17366 206.5 7.7 1247 17370 roll 0.86 - - 2614 - 2.45 0.080 3852 572.2 137.7 - - 2391 - - - - - - - - 15.07 14.36 15.10
17543 192.0 8.5 1282 17548 done 0.86 - - 2627 - 2.30 0.035 2438 -614.8 137.7 - - 2391 - - - - - - - - 14.66 14.59 14.69
17728 176.7 9.1 1301 17732 roll 0.86 - - 2627 - 2.50 0.082 3848 564.0 137.7 - - 2391 - - - - - - - - 15.07 14.35 15.10
17770 173.0 8.8 1309 17778 done 0.86 0.15 0.257 2607 -133.3 2.30 0.034 2426 -618.3 137.7 - - 2391 - - - - - - - - 14.07 14.59 14.38
17967 160.5 5.4 1330 18012 done 0.90 - - 2607 - - - 2426 - 184.1 41.33 1.053 2216 -4.2 0.126 - - - - - - 15.05 14.03 13.38
18200 142.5 9.1 1355 18204 roll 0.90 - - 2617 - 2.30 0.050 1053 -597.0 184.1 - - 2212 - - - - - - - - 14.91 14.48 14.94
18372 127.6 7.6 1389 18376 done 0.90 - - 2617 - 2.38 0.053 2440 582.8 184.1 - - 2210 - - - - - - - - 14.57 14.46 14.61
18563 112.9 7.4 1409 18565 done 0.92 - - 2617 - - - 2440 - 184.1 - - 2210 - - - - - - - - 15.00 15.03 15.02
18746 100.4 6.3 1427 18750 roll 0.95 - - 2630 - 2.33 0.049 1055 -594.4 184.1 - - 2210 - - - - - - - - 15.00 14.52 15.02
18783 98.2 5.5 1434 18830 done 1.00 - - 2630 - 2.38 0.052 2444 583.6 229.3 39.55 0.958 2031 -4.5 0.091 - - - - - - 14.61 14.50 13.59
19019 82.8 6.4 1463 19023 roll 1.03 - - 2630 - 2.42 0.080 3845 578.9 229.3 - - 2028 - - - - - - - - 14.91 14.40 14.94
19250 66.3 4.5 1509 19314 done 1.09 0.12 0.117 2702 600.0 2.25 0.033 2430 -628.9 292.6 54.90 0.905 1773 -4.6 0.067 - - - - - - 14.54 14.62 13.62
19501 49.3 6.5 1541 19505 roll 1.12 - - 2702 - 2.50 0.084 3846 566.4 292.6 - - 1771 - - - - - - - - 14.89 14.40 14.91
19619 42.6 4.2 1564 19686 done 1.19 - - 2713 - 2.25 0.033 2441 -624.4 361.2 61.00 0.841 1495 -4.5 0.045 - - - - - - 14.65 14.59 13.67
19869 28.1 6.4 1614 19874 roll 1.23 - - 2725 - 2.30 0.048 1055 -602.6 361.2 - - 1492 - - - - - - - - 14.85 14.49 14.88
19957 22.1 7.1 1631 19961 done 1.24 - - 2725 - 2.38 0.055 2450 586.1 361.2 - - 1492 - - - - - - - - 14.59 14.50 14.63
20144 8.0 7.4 1668 20148 roll 1.26 - - 2725 - 2.40 0.079 3846 581.7 361.2 - - 1492 - - - - - - - - 14.95 14.46 14.97
20206 end climb: SURFACE_DEPTH_REACHED
20206 begin surface coast
20241 end surface coast: CONTROL_FINISHED_OK
20244 begin surface
SM 1.32 - - - - -6.78 7.28 0.044 112 15.4 2.20 0.032 2511 994.1 500.17 142.43 0.640 928 6.5 -0.001 - - - - 1 -