MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 549 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 152.98 of 350.00 AH used of 24V (56.29% remains)
• Surface angle -73.7 deg, depth 0.77 m • Intended pitch -17.9 deg, speed -8.462 cm/s
VBD pumped to 500.07 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 s • Transponder ping count: 84
• 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
3.70 - - - 74.93 VBD -0.60 - - 330.88 - - - 2819.12 - -116.79 70.61 0.005 2452.78 - - - - - - - - - - 14.81
75.19 3.06 -3.68 7 110.70 -0.60 10.11 0.371 2300.94 194.9 1.65 0.020 1807.44 -613.1 -116.79 19.33 0.006 3299.41 43.8 -3.908 - - - - - - 15.08 14.94 15.04
253.48 51.47 -22.38 25 258.73 roll -0.60 - - 2294.31 - 2.20 0.072 2966.44 526.8 -116.79 - - 3300.22 - - - - - - - - - 15.74 -
443.51 96.86 -22.70 44 446.30 roll -0.60 - - 2293.81 - 1.92 0.017 1825.88 -594.0 -116.79 - - 3299.25 - - - - - - - - - 15.90 -
488.53 103.03 -13.47 49 493.76 roll -0.60 - - 2284.38 - 2.19 0.072 2967.19 521.1 -116.79 - - 3298.97 - - - - - - - - - 15.80 -
678.58 128.52 -13.59 68 681.28 roll -0.60 - - 2277.62 - 1.50 0.087 3801.06 555.9 -116.79 - - 3297.78 - - - - - - - - - 15.79 -
743.60 138.83 -15.31 75 746.30 roll -0.60 - - 2277.94 - 1.46 0.031 2853.69 -648.9 -116.79 - - 3297.41 - - - - - - - - - 15.95 -
928.64 163.45 -13.03 94 931.40 roll -0.60 - - 2269.81 - 1.76 0.093 3797.44 536.2 -116.79 - - 3298.22 - - - - - - - - - 15.79 -
1018.64 175.77 -14.38 103 1021.42 roll back -0.60 0.12 0.213 2306.06 302.1 1.45 0.031 2876.38 -635.2 -116.79 - - 3296.62 - - - - - - - - 15.68 15.98 -
1198.71 194.69 -9.92 121 1201.46 roll -0.60 - - 2305.69 - 1.73 0.017 1801.12 -621.5 -116.79 - - 3296.81 - - - - - - - - - 16.00 -
1233.71 198.25 -10.15 125 1238.96 roll -0.60 - - 2298.25 - 2.20 0.073 2966.94 529.9 -116.79 - - 3297.53 - - - - - - - - - 15.85 -
1423.75 218.09 -10.56 144 1426.54 roll -0.60 - - 2297.44 - 1.93 0.021 1825.75 -591.3 -116.79 - - 3298.25 - - - - - - - - - 15.97 -
1458.74 221.91 -10.89 148 1463.97 roll -0.60 - - 2286.88 - 2.19 0.073 2966.19 520.7 -116.79 - - 3297.47 - - - - - - - - - 15.86 -
1648.78 242.62 -10.50 167 1650.12 no move -0.60 - - 2288.06 - - - 2965.44 - -116.79 - - 3296.41 - - - - - - - - - - -
1828.82 262.60 -11.16 185 1831.54 roll -0.60 - - 2281.75 - 1.53 0.103 3796.62 543.3 -116.79 - - 3294.81 - - - - - - - - - 15.79 -
1873.88 267.76 -11.34 190 1876.58 roll -0.60 - - 2280.69 - 1.46 0.032 2872.44 -633.0 -116.79 - - 3293.75 - - - - - - - - - 15.98 -
2058.84 287.51 -10.69 209 2060.18 no move -0.60 - - 2280.94 - - - 2871.00 - -116.79 - - 3292.78 - - - - - - - - - - -
2238.88 306.71 -10.34 227 2240.21 no move -0.60 - - 2280.38 - - - 2871.62 - -116.79 - - 3292.09 - - - - - - - - - - -
2418.91 325.61 -10.74 245 2420.24 no move -0.60 - - 2281.19 - - - 2871.06 - -116.79 - - 3290.31 - - - - - - - - - - -
2599.00 344.60 -10.51 263 2601.75 roll -0.60 - - 2274.56 - 1.76 0.104 3796.31 525.7 -116.79 - - 3287.19 - - - - - - - - - 15.77 -
2668.91 352.26 -10.97 270 2671.61 roll -0.60 - - 2274.12 - 1.47 0.036 2870.38 -629.9 -116.79 - - 3286.12 - - - - - - - - - 15.99 -
2848.96 371.24 -10.48 288 2850.29 no move -0.60 - - 2273.69 - - - 2870.50 - -116.79 - - 3285.38 - - - - - - - - - - -
3028.99 390.28 -10.72 306 3031.75 roll -0.60 - - 2266.81 - 1.77 0.103 3797.75 523.9 -116.79 - - 3285.22 - - - - - - - - - 15.75 -
3094.00 397.77 -11.53 313 3096.77 roll back -0.60 0.14 0.201 2305.62 277.2 1.48 0.036 2891.62 -612.3 -116.79 - - 3284.75 - - - - - - - - 15.69 16.00 -
3279.01 414.30 -8.82 324 3281.76 roll -0.60 - - 2305.44 - 1.78 0.021 1806.56 -609.6 -116.79 - - 3284.50 - - - - - - - - - 16.00 -
3299.05 416.01 -8.89 325 3304.30 roll -0.60 - - 2297.94 - 2.26 0.085 2962.38 511.4 -116.79 - - 3284.44 - - - - - - - - - 15.79 -
3614.05 444.72 -9.14 341 3619.25 roll -0.60 - - 2298.56 - 1.95 0.025 1814.06 -588.9 -116.79 - - 3282.59 - - - - - - - - - 15.98 -
3669.04 449.68 -8.82 343 3674.31 roll -0.60 - - 2289.06 - 2.23 0.083 2964.50 515.9 -116.79 - - 3281.25 - - - - - - - - - 15.80 -
3974.10 479.87 -10.05 359 3976.89 roll -0.60 - - 2288.06 - 1.95 0.025 1834.94 -579.3 -116.79 - - 3282.50 - - - - - - - - - 16.00 -
3999.08 482.37 -9.98 360 4004.33 roll -0.60 - - 2279.12 - 2.24 0.085 2963.81 504.0 -116.79 - - 3278.59 - - - - - - - - - 15.79 -
4309.15 514.10 -10.08 376 4310.48 no move -0.60 - - 2278.75 - - - 2963.75 - -116.79 - - 3277.66 - - - - - - - - - - -
4609.19 544.57 -10.17 391 4611.98 roll -0.60 - - 2278.94 - 1.96 0.024 1836.75 -575.0 -116.79 - - 3276.19 - - - - - - - - - 16.00 -
4654.17 548.93 -9.71 393 4659.42 roll -0.60 - - 2269.62 - 2.23 0.083 2963.94 505.5 -116.79 - - 3277.34 - - - - - - - - - 15.77 -
4964.24 581.81 -10.73 409 4965.70 pitch -0.60 0.13 0.224 2304.88 271.2 - - 2963.88 - -116.79 - - 3273.62 - - - - - - - - 15.65 - -
5264.28 608.20 -8.75 424 5265.61 no move -0.60 - - 2304.62 - - - 2964.06 - -116.79 - - 3271.91 - - - - - - - - - - -
5564.32 634.18 -8.65 439 5569.51 roll -0.60 - - 2304.69 - 1.95 0.024 1819.38 -587.0 -116.79 - - 3271.88 - - - - - - - - - 15.96 -
5619.30 638.90 -8.47 441 5624.58 roll -0.60 - - 2297.62 - 2.24 0.085 2964.31 511.1 -116.79 - - 3271.75 - - - - - - - - - 15.74 -
5924.37 667.01 -9.24 457 5925.70 no move -0.60 - - 2297.50 - - - 2964.38 - -116.79 - - 3269.59 - - - - - - - - - - -
6224.40 694.56 -9.03 472 6229.60 roll -0.60 - - 2297.19 - 1.97 0.026 1816.88 -582.5 -116.79 - - 3270.28 - - - - - - - - - 15.99 -
6264.41 698.17 -9.07 474 6269.66 roll -0.60 - - 2289.00 - 2.24 0.084 2961.50 511.0 -116.79 - - 3270.12 - - - - - - - - - 15.74 -
6584.47 728.33 -9.31 490 6585.81 no move -0.60 - - 2288.06 - - - 2961.50 - -116.79 - - 3268.22 - - - - - - - - - - -
6884.51 754.75 -8.58 505 6889.70 roll -0.60 - - 2287.62 - 1.97 0.026 1813.56 -582.7 -116.79 - - 3267.56 - - - - - - - - - 15.98 -
6929.48 758.52 -8.38 507 6934.73 roll -0.60 - - 2278.00 - 2.26 0.086 2961.56 508.0 -116.79 - - 3266.94 - - - - - - - - - 15.71 -
7244.55 786.08 -8.73 523 7247.27 roll -0.60 - - 2271.31 - 1.56 0.103 3797.25 535.7 -116.79 - - 3267.94 - - - - - - - - - 15.71 -
7279.63 789.33 -8.67 525 7282.32 roll -0.60 - - 2271.56 - 1.49 0.037 2892.19 -607.4 -116.79 - - 3265.31 - - - - - - - - - 15.97 -
7594.60 818.09 -9.18 541 7595.94 no move -0.60 - - 2271.25 - - - 2891.44 - -116.79 - - 3266.28 - - - - - - - - - - -
7894.63 846.33 -9.37 556 7895.97 no move -0.60 - - 2271.25 - - - 2891.50 - -116.79 - - 3264.72 - - - - - - - - - - -
8194.65 875.19 -9.71 571 8195.99 no move -0.60 - - 2271.69 - - - 2892.06 - -116.79 - - 3262.38 - - - - - - - - - - -
8494.70 904.69 -9.86 586 8496.04 no move -0.60 - - 2271.75 - - - 2891.88 - -116.79 - - 3261.72 - - - - - - - - - - -
8794.78 934.06 -9.66 601 8796.11 no move -0.60 - - 2271.44 - - - 2891.94 - -116.79 - - 3260.44 - - - - - - - - - - -
9094.73 962.91 -9.34 616 9096.06 no move -0.60 - - 2271.00 - - - 2891.56 - -116.79 - - 3261.75 - - - - - - - - - - -
9395 end dive: TARGET_DEPTH_EXCEEDED
9395 begin apogee
9396.53 990.72 -9.16 631 9497.00 -0.14 0.64 0.174 2456.31 289.5 0.17 0.159 2615.69 -1622.8 - 97.92 2.032 2825.12 -4.5 0.380 - - - - - - 15.49 14.91 10.18
9497 end apogee: CONTROL_FINISHED_OK
9497 begin climb
9497.37 993.02 - 636 9607.65 0.60 0.73 0.085 2705.56 341.4 1.97 0.033 1490.88 -571.0 116.79 106.15 2.001 2347.38 -4.5 0.391 - - - - - - 15.23 14.83 11.71
9639.75 986.31 6.84 643 9644.97 roll 0.63 - - 2704.25 - 2.09 0.072 2612.50 536.7 116.79 - - 2343.12 - - - - - - - - - 15.31 -
9954.80 961.59 7.96 659 9956.13 VBD 0.64 - - 2704.06 - - - 2611.94 - 116.79 - - 2338.38 - - - - - - - - - - -
10254.83 938.29 7.57 674 10256.17 VBD 0.66 - - 2703.88 - - - 2611.31 - 116.79 - - 2337.31 - - - - - - - - - - -
10554.85 915.65 7.58 689 10556.19 VBD 0.68 - - 2704.81 - - - 2612.00 - 116.79 - - 2335.97 - - - - - - - - - - -
10854.89 894.16 7.17 704 10857.66 done 0.70 - - 2709.19 - 1.86 0.029 1485.00 -605.9 116.79 - - 2336.50 - - - - - - - - - 15.91 -
10894.83 891.32 7.07 706 10900.05 done 0.73 - - 2709.44 - 2.04 0.073 2614.06 553.5 116.79 - - 2336.59 - - - - - - - - - 15.75 -
11209.90 868.52 7.24 722 11211.23 VBD 0.76 - - 2709.31 - - - 2613.69 - 116.79 - - 2336.06 - - - - - - - - - - -
11510.00 846.34 7.41 737 11512.85 0.78 0.10 0.090 2778.50 691.9 1.86 0.029 1491.50 -603.3 116.79 - - 2335.12 - - - - - - - - 15.87 15.77 -
11544.90 843.19 7.97 739 11550.19 0.78 0.14 0.227 2736.44 -300.4 2.02 0.072 2613.12 555.3 116.79 - - 2335.78 - - - - - - - - 15.47 15.75 -
11864.94 814.98 8.86 755 11870.17 done 0.78 - - 2736.00 - 2.13 0.109 3674.06 498.1 116.79 - - 2335.16 - - - - - - - - - 15.59 -
11919.92 809.31 10.46 757 11925.14 done 0.78 - - 2743.75 - 1.98 0.036 2535.00 -575.3 116.79 - - 2335.47 - - - - - - - - - 15.90 -
12224.97 779.36 10.04 773 12227.71 done 0.78 - - 2750.19 - 1.67 0.030 1486.44 -627.9 116.79 - - 2335.50 - - - - - - - - - 15.95 -
12260.03 775.96 10.07 775 12265.25 done 0.78 - - 2750.75 - 2.02 0.071 2612.38 557.4 116.79 - - 2336.28 - - - - - - - - - 15.74 -
12580.00 743.06 10.38 791 12585.23 done 0.78 - - 2750.12 - 2.12 0.107 3671.38 499.5 116.79 - - 2334.78 - - - - - - - - - 15.58 -
12620.00 738.52 11.42 793 12622.79 done 0.78 - - 2755.44 - 1.98 0.035 2560.12 -561.2 116.79 - - 2334.38 - - - - - - - - - 15.90 -
12935.03 706.80 9.70 809 12940.30 done 0.78 - - 2757.56 - 2.35 0.111 3671.50 472.9 116.79 - - 2334.91 - - - - - - - - - 15.52 -
12965.03 703.57 10.09 810 12967.83 done 0.78 - - 2764.44 - 1.97 0.035 2560.06 -564.2 116.79 - - 2332.94 - - - - - - - - - 15.90 -
13270.06 674.67 9.26 826 13275.33 done 0.78 - - 2764.75 - 2.36 0.109 3673.81 471.9 116.79 - - 2335.81 - - - - - - - - - 15.54 -
13305.05 671.06 10.32 827 13310.26 done 0.78 - - 2772.00 - 1.98 0.035 2528.12 -578.6 116.79 - - 2336.62 - - - - - - - - - 15.90 -
13610.11 644.07 8.57 843 13615.37 done 0.78 - - 2768.12 - 2.34 0.106 3671.69 488.7 116.79 - - 2334.38 - - - - - - - - - 15.54 -
13665.10 638.67 9.95 845 13670.32 done 0.78 - - 2777.75 - 1.98 0.035 2528.94 -577.1 116.79 - - 2334.84 - - - - - - - - - 15.90 -
13970.16 611.82 8.79 861 13975.57 0.78 0.16 0.237 2732.19 -284.7 2.33 0.103 3673.06 491.0 116.79 - - 2335.53 - - - - - - - - 15.46 15.45 -
13995.14 609.72 8.74 862 14000.33 done 0.78 - - 2740.69 - 1.98 0.035 2526.69 -579.0 116.79 - - 2335.00 - - - - - - - - - 15.89 -
14310.22 586.50 7.43 878 14315.49 done 0.80 - - 2740.69 - 2.34 0.104 3672.50 489.7 116.79 - - 2333.72 - - - - - - - - - 15.54 -
14350.21 582.91 8.96 880 14355.41 done 0.80 - - 2750.00 - 1.98 0.035 2528.94 -577.6 116.79 - - 2335.22 - - - - - - - - - 15.89 -
14670.26 555.26 8.89 896 14671.59 VBD 0.80 - - 2750.06 - - - 2529.62 - 116.79 - - 2332.50 - - - - - - - - - - -
14970.29 528.39 8.96 911 14975.57 done 0.80 - - 2750.69 - 2.35 0.108 3672.25 486.2 116.79 - - 2334.12 - - - - - - - - - 15.50 -
15045.29 520.61 10.66 914 15050.51 done 0.80 - - 2759.81 - 1.98 0.034 2528.44 -577.7 116.79 - - 2335.09 - - - - - - - - - 15.89 -
15350.37 491.76 9.34 930 15351.71 VBD 0.80 - - 2760.00 - - - 2528.62 - 116.79 - - 2333.78 - - - - - - - - - - -
15650.40 464.51 8.88 945 15651.74 VBD 0.80 - - 2759.81 - - - 2528.88 - 116.79 - - 2333.72 - - - - - - - - - - -
15950.43 438.58 8.48 960 15955.70 done 0.80 - - 2758.94 - 2.34 0.104 3673.06 489.0 116.79 - - 2334.06 - - - - - - - - - 15.51 -
15975.40 436.26 8.57 961 15980.60 done 0.80 - - 2770.25 - 1.98 0.034 2527.50 -578.6 116.79 - - 2334.12 - - - - - - - - - 15.88 -
16290.47 409.69 8.11 977 16295.75 done 0.80 - - 2769.38 - 2.33 0.102 3672.38 491.4 116.79 - - 2334.88 - - - - - - - - - 15.52 -
16330.47 406.07 9.02 979 16335.67 done 0.80 - - 2780.12 - 1.98 0.033 2527.06 -578.4 116.79 - - 2336.34 - - - - - - - - - 15.90 -
16640.55 379.77 8.73 1006 16645.83 done 0.80 - - 2779.56 - 2.32 0.103 3669.62 492.5 116.79 - - 2333.53 - - - - - - - - - 15.52 -
16685.54 375.32 10.03 1010 16688.33 done 0.80 - - 2789.62 - 1.98 0.032 2558.44 -561.2 116.79 - - 2335.09 - - - - - - - - - 15.90 -
16865.61 358.50 9.27 1028 16867.07 0.80 0.17 0.212 2743.06 -273.9 - - 2526.06 - 116.79 - - 2333.50 - - - - - - - - 15.46 - -
17045.66 344.45 7.58 1046 17047.00 VBD 0.82 - - 2743.44 - - - 2526.00 - 116.79 - - 2336.38 - - - - - - - - - - -
17225.69 331.24 7.28 1064 17230.95 done 0.84 - - 2743.50 - 2.34 0.102 3673.25 490.3 116.79 - - 2336.41 - - - - - - - - - 15.50 -
17285.67 326.08 8.71 1070 17290.87 done 0.84 - - 2750.38 - 1.99 0.033 2526.38 -576.3 116.79 - - 2334.38 - - - - - - - - - 15.89 -
17475.72 311.81 7.51 1089 17477.06 VBD 0.86 - - 2750.50 - - - 2527.50 - 116.79 - - 2333.12 - - - - - - - - - - -
17655.77 298.70 6.90 1107 17658.50 done 0.89 - - 2757.25 - 1.65 0.026 1478.00 -636.1 116.79 - - 2335.41 - - - - - - - - - 15.96 -
17690.80 296.40 6.67 1111 17696.08 0.93 0.10 0.090 2815.88 586.3 2.02 0.067 2610.19 560.5 116.79 - - 2333.91 - - - - - - - - 15.55 15.67 -
17880.77 279.80 8.89 1130 17886.01 done 0.93 - - 2809.31 - 2.11 0.100 3673.38 503.9 116.79 - - 2334.16 - - - - - - - - - 15.53 -
17950.78 272.92 9.87 1137 17955.97 done 0.93 - - 2816.62 - 1.98 0.032 2527.06 -578.9 116.79 - - 2333.69 - - - - - - - - - 15.88 -
18140.80 257.02 8.28 1156 18142.13 VBD 0.93 - - 2816.31 - - - 2527.81 - 116.79 - - 2334.41 - - - - - - - - - - -
18320.83 239.97 10.09 1174 18326.10 done 0.93 - - 2816.75 - 2.33 0.100 3672.88 491.4 116.79 - - 2334.34 - - - - - - - - - 15.51 -
18395.81 232.04 10.34 1181 18401.03 done 0.93 - - 2826.56 - 1.98 0.032 2526.94 -578.8 116.79 - - 2336.56 - - - - - - - - - 15.89 -
18580.86 214.58 9.73 1200 18586.27 0.93 0.16 0.215 2779.94 -291.4 2.33 0.097 3674.50 492.5 116.79 - - 2335.00 - - - - - - - - 15.49 15.45 -
18675.87 205.66 9.06 1209 18681.09 done 0.93 - - 2787.69 - 1.98 0.032 2526.81 -579.6 116.79 - - 2334.16 - - - - - - - - - 15.89 -
18860.93 192.33 7.51 1228 18866.20 done 0.94 - - 2787.19 - 2.32 0.099 3669.75 492.6 116.79 - - 2335.72 - - - - - - - - - 15.53 -
18880.93 190.60 7.87 1230 18883.72 done 0.96 - - 2796.25 - 1.97 0.030 2556.06 -565.3 116.79 - - 2331.56 - - - - - - - - - 15.89 -
19065.97 177.46 7.18 1249 19067.30 VBD 0.98 - - 2797.25 - - - 2526.81 - 116.79 - - 2334.56 - - - - - - - - - - -
19246.00 167.86 5.19 1267 19299.17 1.05 0.10 0.092 2865.56 683.1 - - 2527.25 - 182.70 52.34 0.970 2077.66 -4.9 0.149 - - - - - - 15.93 - 10.23
19481.00 143.69 10.95 1291 19486.41 roll back 1.05 0.16 0.230 2820.94 -278.9 2.33 0.097 3673.75 492.1 182.70 - - 2074.53 - - - - - - - - 15.40 15.39 -
19626.01 127.41 11.46 1305 19631.22 roll 1.05 - - 2827.56 - 1.98 0.029 2527.38 -579.0 182.70 - - 2072.91 - - - - - - - - - 15.83 -
19811.06 113.30 7.75 1324 19816.33 roll 1.06 - - 2827.69 - 2.32 0.097 3674.31 494.4 182.70 - - 2072.59 - - - - - - - - - 15.54 -
20041.63 96.67 5.87 1347 20087.01 done 1.11 - - 2837.62 - 1.98 0.028 2522.31 -581.8 234.90 40.80 0.827 1867.41 -5.0 0.103 - - - - - - - 15.88 11.14
20271.26 85.10 3.92 1370 20343.12 1.21 0.12 0.067 2916.19 654.8 1.67 0.027 1481.88 -623.0 326.60 69.02 0.797 1492.12 -5.4 0.102 - - - - - - 15.78 15.29 11.30
20356.21 79.78 7.78 1378 20361.44 roll 1.22 - - 2915.38 - 2.02 0.060 2614.81 560.9 326.60 - - 1490.44 - - - - - - - - - 15.58 -
20541.23 62.27 8.43 1397 20546.47 roll 1.22 - - 2913.88 - 2.11 0.100 3673.12 501.6 326.60 - - 1487.09 - - - - - - - - - 15.51 -
20771.32 47.41 5.64 1420 20817.66 done 1.28 - - 2921.31 - 1.97 0.026 2521.25 -584.7 383.58 42.44 0.685 1259.59 -5.4 0.065 - - - - - - - 15.79 11.14
21001.36 28.22 9.38 1443 21004.09 roll 1.28 - - 2927.50 - 1.63 0.024 1483.19 -636.8 383.58 - - 1257.94 - - - - - - - - - 15.79 -
21196.46 11.20 8.66 1463 21201.65 roll 1.28 - - 2927.25 - 1.98 0.059 2616.00 572.1 383.58 - - 1256.44 - - - - - - - - - 15.75 -
21296 end climb: SURFACE_DEPTH_REACHED
21296 begin surface coast
21326 end surface coast: CONTROL_FINISHED_OK
21326 begin surface
SM 0.72 - - - - 335.8 - 2.586 786.4 - 7.19 0.045 790.1 109.9 - 0.69 0.088 782.6 1131.3 -0.946 - - 30.36 15.77 15.76 -