MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 553 * Raw log
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• Previous call tries 1 • 190.33 of 350.00 AH used of 24V (45.62% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth 1.27 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 18 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 - - - 83 VBD -0.67 - - 94 - - - 2539 - -97.3 -71.07 0.005 2611 - - - - - - - - 14.85 - 14.88
87 4.9 -13.4 15 119 roll -0.67 9.23 0.346 2106 218.0 2.47 0.070 1106 -580.2 -97.3 -14.12 0.009 3367 -53.5 5.675 - - - - - - 13.92 12.61 14.37
171 33.5 -26.7 32 175 done -0.67 - - 2096 - 2.30 0.054 2470 593.0 -97.3 - - 3367 - - - - - - - - 14.59 14.49 14.63
364 79.8 -21.7 57 369 done -0.67 - - 2096 - - - 2470 - -97.3 - - 3367 - - - - - - - - 14.97 15.00 15.00
553 111.0 -15.9 76 557 roll -0.67 - - 2096 - 2.25 0.047 1097 -610.2 -97.3 - - 3367 - - - - - - - - 15.02 14.61 15.04
604 118.8 -13.3 86 609 done -0.67 - - 2085 - 2.38 0.056 2508 592.9 -97.3 - - 3368 - - - - - - - - 14.69 14.57 14.71
796 145.3 -12.9 106 798 done -0.67 - - 2086 - - - 2507 - -97.3 - - 3367 - - - - - - - - 15.06 15.09 15.09
977 169.8 -13.8 124 981 roll -0.67 - - 2086 - 2.33 0.047 1104 -602.1 -97.3 - - 3367 - - - - - - - - 15.07 14.62 15.09
1048 179.4 -13.3 138 1054 done -0.67 0.15 0.216 2111 166.7 2.35 0.057 2500 594.0 -97.3 - - 3367 - - - - - - - - 14.38 14.60 14.59
1241 202.1 -11.1 158 1247 roll -0.67 - - 2102 - 2.40 0.083 3891 579.6 -97.3 - - 3367 - - - - - - - - 15.07 14.52 15.09
1290 207.6 -12.0 167 1295 done -0.67 - - 2102 - 2.22 0.031 2487 -632.4 -97.3 - - 3367 - - - - - - - - 14.78 14.73 14.81
1473 227.9 -10.6 186 1478 roll -0.67 - - 2090 - 2.45 0.084 3899 576.3 -97.3 - - 3365 - - - - - - - - 15.09 14.52 15.11
1526 234.1 -12.2 196 1530 done -0.67 - - 2090 - 2.22 0.033 2496 -632.0 -97.3 - - 3365 - - - - - - - - 14.78 14.72 14.80
1717 257.9 -12.7 213 1721 roll -0.67 - - 2091 - 2.25 0.047 1108 -616.9 -97.3 - - 3364 - - - - - - - - 15.09 14.64 15.12
1758 263.1 -12.6 221 1763 done -0.67 0.12 0.213 2110 158.3 2.35 0.055 2504 594.0 -97.3 - - 3364 - - - - - - - - 14.42 14.60 14.61
2075 298.5 -10.9 239 2079 roll -0.67 - - 2100 - 2.38 0.083 3891 582.8 -97.3 - - 3361 - - - - - - - - 15.10 14.53 15.13
2126 304.2 -11.3 249 2130 done -0.67 - - 2101 - 2.22 0.033 2492 -630.2 -97.3 - - 3361 - - - - - - - - 14.78 14.72 14.81
2438 339.3 -11.2 266 2440 done -0.67 - - 2101 - - - 2491 - -97.3 - - 3359 - - - - - - - - 15.10 15.13 15.13
2737 370.6 -10.4 281 2741 roll -0.67 - - 2101 - 2.28 0.047 1105 -607.9 -97.3 - - 3357 - - - - - - - - 15.11 14.64 15.14
2758 372.9 -10.8 285 2762 done -0.67 - - 2090 - 2.38 0.057 2504 587.8 -97.3 - - 3357 - - - - - - - - 14.71 14.59 14.74
3080 408.6 -11.5 304 3084 roll -0.67 - - 2080 - 2.42 0.085 3900 576.9 -97.3 - - 3354 - - - - - - - - 15.09 14.50 15.12
3111 412.5 -12.3 310 3116 done -0.67 0.12 0.213 2109 241.7 2.25 0.035 2492 -625.8 -97.3 - - 3354 - - - - - - - - 14.42 14.71 14.61
3425 445.7 -10.7 327 3429 roll -0.67 - - 2100 - 2.45 0.086 3892 571.4 -97.3 - - 3352 - - - - - - - - 15.09 14.49 15.12
3456 449.3 -11.2 333 3460 done -0.67 - - 2100 - 2.22 0.034 2501 -626.6 -97.3 - - 3352 - - - - - - - - 14.76 14.69 14.78
3767 483.3 -10.9 350 3769 done -0.67 - - 2100 - - - 2499 - -97.3 - - 3350 - - - - - - - - 15.11 15.14 15.14
4068 514.9 -10.2 365 4072 roll -0.67 - - 2089 - 2.45 0.086 3890 567.8 -97.3 - - 3348 - - - - - - - - 15.10 14.47 15.13
4101 518.4 -10.7 371 4105 done -0.67 - - 2089 - 2.25 0.035 2492 -621.3 -97.3 - - 3348 - - - - - - - - 14.74 14.69 14.77
4412 551.1 -10.5 388 4414 done -0.67 - - 2089 - - - 2491 - -97.3 - - 3347 - - - - - - - - 15.11 15.14 15.13
4713 583.2 -10.8 403 4718 roll -0.67 - - 2079 - 2.47 0.086 3892 567.2 -97.3 - - 3345 - - - - - - - - 15.09 14.45 15.12
4739 586.3 -12.4 408 4744 done -0.67 0.12 0.209 2109 250.0 2.25 0.035 2495 -620.9 -97.3 - - 3344 - - - - - - - - 14.38 14.66 14.57
5056 616.5 -9.5 426 5061 roll -0.67 - - 2099 - 2.45 0.086 3891 569.8 -97.3 - - 3343 - - - - - - - - 15.10 14.44 15.13
5094 620.2 -10.1 433 5098 done -0.67 - - 2100 - 2.25 0.034 2499 -618.7 -97.3 - - 3343 - - - - - - - - 14.72 14.66 14.74
5398 650.8 -10.0 449 5402 roll -0.67 - - 2099 - 2.30 0.049 1110 -603.9 -97.3 - - 3342 - - - - - - - - 15.10 14.55 15.13
5444 655.5 -10.1 458 5449 done -0.67 - - 2089 - 2.40 0.058 2507 582.1 -97.3 - - 3341 - - - - - - - - 14.63 14.52 14.67
5762 689.0 -10.8 476 5764 done -0.67 - - 2089 - - - 2508 - -97.3 - - 3340 - - - - - - - - 15.09 15.12 15.11
6061 721.5 -10.9 491 6066 roll -0.67 - - 2089 - 2.35 0.049 1109 -595.3 -97.3 - - 3339 - - - - - - - - 15.10 14.54 15.12
6088 724.5 -11.6 496 6095 done -0.67 0.12 0.211 2108 158.3 2.40 0.059 2504 581.2 -97.3 - - 3339 - - - - - - - - 14.31 14.50 14.50
6404 755.0 -9.6 514 6409 roll -0.67 - - 2099 - 2.42 0.086 3891 573.1 -97.3 - - 3337 - - - - - - - - 15.09 14.38 15.11
6467 761.4 -10.2 526 6472 done -0.67 - - 2099 - 2.25 0.036 2499 -618.7 -97.3 - - 3337 - - - - - - - - 14.69 14.62 14.71
6790 794.1 -10.1 545 6792 done -0.67 - - 2099 - - - 2498 - -97.3 - - 3337 - - - - - - - - 15.08 15.11 15.11
7089 823.8 -9.7 560 7095 roll -0.67 - - 2088 - 2.47 0.088 3891 564.0 -97.3 - - 3335 - - - - - - - - 15.09 14.36 15.12
7135 828.3 -10.1 569 7139 done -0.67 - - 2088 - 2.28 0.037 2492 -613.6 -97.3 - - 3335 - - - - - - - - 14.67 14.60 14.69
7451 860.1 -9.9 587 7453 done -0.67 - - 2088 - - - 2491 - -97.3 - - 3334 - - - - - - - - 15.09 15.12 15.11
7751 888.8 -9.5 602 7753 done -0.67 - - 2088 - - - 2491 - -97.3 - - 3333 - - - - - - - - 15.09 15.12 15.12
8052 916.5 -9.1 617 8054 done -0.67 - - 2088 - - - 2491 - -97.3 - - 3333 - - - - - - - - 15.08 15.11 15.11
8351 944.0 -9.1 632 8353 done -0.67 - - 2088 - - - 2491 - -97.3 - - 3332 - - - - - - - - 15.09 15.12 15.12
8651 971.2 -9.1 647 8656 roll -0.67 - - 2077 - 2.53 0.088 3898 556.1 -97.3 - - 3331 - - - - - - - - 15.09 14.31 15.11
8694 975.2 -9.6 655 8699 done -0.67 0.12 0.210 2108 258.3 2.30 0.037 2495 -610.0 -97.3 - - 3330 - - - - - - - - 14.26 14.56 14.45
8893 end dive: TARGET_DEPTH_EXCEEDED
8893 begin apogee
8900 991.3 -7.9 668 8996 done -0.15 0.57 0.164 2275 293.0 - - 2494 - - 92.62 2.001 2968 -3.9 0.377 - - - - - - 14.17 14.00 12.60
8997 end apogee: CONTROL_FINISHED_OK
8997 begin climb
9001 993.9 - 673 9117 roll 0.67 0.82 0.091 2548 332.9 2.53 0.083 3848 535.2 97.3 103.57 1.978 2570 -3.8 0.376 - - - - - - 14.18 13.96 12.60
9144 992.8 6.0 702 9188 done 0.71 - - 2559 - 2.35 0.035 2441 -598.7 133.4 37.70 1.929 2424 -3.9 0.388 - - - - - - 14.33 14.28 12.66
9500 957.5 10.4 728 9504 roll 0.71 - - 2570 - 2.35 0.053 1053 -590.6 133.4 - - 2416 - - - - - - - - 14.88 14.47 14.90
9582 949.0 10.2 744 9587 done 0.71 - - 2570 - 2.40 0.054 2449 581.7 133.4 - - 2414 - - - - - - - - 14.59 14.47 14.62
9899 915.1 10.6 762 9904 roll 0.71 - - 2580 - 2.38 0.052 1054 -586.1 133.4 - - 2414 - - - - - - - - 14.97 14.52 15.00
9941 910.5 10.9 770 9946 done 0.71 - - 2581 - 2.38 0.054 2440 582.4 133.4 - - 2413 - - - - - - - - 14.62 14.51 14.66
10263 874.3 11.1 789 10267 roll 0.71 - - 2591 - 2.38 0.052 1046 -585.7 133.4 - - 2412 - - - - - - - - 15.02 14.52 15.05
10305 869.7 11.4 797 10313 done 0.71 0.15 0.226 2558 -220.0 2.40 0.054 2447 583.8 133.4 - - 2412 - - - - - - - - 14.23 14.52 14.48
10625 836.5 10.2 816 10629 roll 0.71 - - 2558 - 2.45 0.082 3848 571.8 133.4 - - 2411 - - - - - - - - 15.04 14.43 15.07
10647 834.1 11.2 820 10651 done 0.71 - - 2569 - 2.30 0.037 2436 -613.9 133.4 - - 2411 - - - - - - - - 14.68 14.62 14.71
10969 799.1 10.6 839 10973 roll 0.71 - - 2580 - 2.35 0.052 1045 -591.9 133.4 - - 2411 - - - - - - - - 15.05 14.52 15.08
11005 795.2 10.6 846 11010 done 0.71 - - 2579 - 2.40 0.054 2440 581.2 133.4 - - 2410 - - - - - - - - 14.61 14.50 14.66
11311 762.7 10.4 862 11313 done 0.71 - - 2580 - - - 2441 - 133.4 - - 2410 - - - - - - - - 15.05 15.09 15.09
11610 731.9 10.2 877 11617 roll 0.71 - - 2580 - 2.47 0.082 3852 571.3 133.4 - - 2410 - - - - - - - - 15.07 14.40 15.10
11665 725.6 11.7 888 11672 done 0.71 0.15 0.244 2558 -146.7 2.33 0.037 2436 -607.7 133.4 - - 2410 - - - - - - - - 14.16 14.59 14.45
11993 696.2 8.8 908 11997 roll 0.71 - - 2567 - 2.35 0.053 1046 -591.5 133.4 - - 2409 - - - - - - - - 15.04 14.49 15.07
12039 692.1 8.5 917 12043 done 0.71 - - 2567 - 2.40 0.053 2443 582.1 133.4 - - 2409 - - - - - - - - 14.59 14.47 14.64
12351 664.5 8.8 934 12356 roll 0.71 - - 2578 - 2.38 0.052 1046 -587.0 133.4 - - 2409 - - - - - - - - 15.06 14.48 15.09
12423 658.0 9.1 948 12429 done 0.71 - - 2578 - 2.40 0.052 2443 582.1 133.4 - - 2409 - - - - - - - - 14.58 14.47 14.63
12734 628.5 9.6 965 12738 roll 0.71 - - 2589 - 2.38 0.050 1046 -587.0 133.4 - - 2409 - - - - - - - - 15.06 14.47 15.09
12795 622.5 9.7 977 12801 done 0.71 0.10 0.187 2560 -290.0 2.38 0.052 2438 584.9 133.4 - - 2409 - - - - - - - - 14.11 14.39 14.25
13118 593.0 9.1 996 13125 roll 0.71 - - 2560 - 2.47 0.082 3846 570.0 133.4 - - 2409 - - - - - - - - 15.07 14.35 15.10
13179 586.6 11.0 1008 13183 done 0.71 - - 2571 - 2.30 0.037 2439 -611.7 133.4 - - 2409 - - - - - - - - 14.64 14.57 14.67
13500 556.7 9.1 1027 13505 roll 0.71 - - 2582 - 2.35 0.052 1046 -592.8 133.4 - - 2409 - - - - - - - - 15.07 14.45 15.09
13552 552.0 9.3 1037 13557 done 0.71 - - 2582 - 2.40 0.053 2442 581.7 133.4 - - 2408 - - - - - - - - 14.56 14.44 14.61
13863 523.0 9.2 1054 13865 done 0.71 - - 2582 - - - 2442 - 133.4 - - 2408 - - - - - - - - 15.07 15.10 15.10
14163 495.7 9.0 1069 14168 roll 0.71 - - 2593 - 2.40 0.051 1043 -582.9 133.4 - - 2408 - - - - - - - - 15.07 14.45 15.10
14201 492.4 9.3 1076 14208 done 0.71 0.15 0.216 2559 -226.7 2.42 0.052 2449 581.0 133.4 - - 2408 - - - - - - - - 14.14 14.43 14.34
14527 464.5 8.5 1096 14529 done 0.71 - - 2559 - - - 2449 - 133.4 - - 2408 - - - - - - - - 15.05 15.08 15.08
14827 438.5 8.7 1111 14831 roll 0.71 - - 2569 - 2.40 0.050 1043 -585.8 133.4 - - 2408 - - - - - - - - 15.06 14.45 15.09
14864 435.1 8.8 1118 14869 done 0.71 - - 2570 - 2.42 0.052 2449 581.0 133.4 - - 2408 - - - - - - - - 14.54 14.43 14.59
15169 408.3 8.5 1134 15174 roll 0.71 - - 2580 - 2.40 0.050 1045 -585.0 133.4 - - 2408 - - - - - - - - 15.08 14.44 15.10
15212 404.7 8.6 1142 15218 done 0.71 - - 2581 - 2.42 0.054 2444 578.1 133.4 - - 2408 - - - - - - - - 14.53 14.42 14.59
15535 377.0 8.5 1161 15537 done 0.71 - - 2581 - - - 2444 - 133.4 - - 2408 - - - - - - - - 15.07 15.10 15.09
15835 352.4 8.1 1176 15837 done 0.71 - - 2580 - - - 2444 - 133.4 - - 2408 - - - - - - - - 15.07 15.10 15.09
16136 329.1 7.9 1191 16138 done 0.71 - - 2580 - - - 2444 - 133.4 - - 2409 - - - - - - - - 15.06 15.09 15.09
16435 305.3 8.0 1206 16439 roll 0.71 - - 2592 - 2.38 0.050 1045 -587.8 133.4 - - 2408 - - - - - - - - 15.07 14.45 15.10
16487 301.1 8.1 1216 16495 done 0.71 0.15 0.215 2557 -233.3 2.40 0.052 2442 582.1 133.4 - - 2408 - - - - - - - - 14.12 14.42 14.30
16799 278.6 7.1 1233 16806 roll 0.73 - - 2557 - 2.47 0.081 3848 569.2 133.4 - - 2408 - - - - - - - - 15.05 14.31 15.07
16829 275.9 8.7 1239 16833 done 0.73 - - 2568 - 2.30 0.036 2433 -615.2 133.4 - - 2408 - - - - - - - - 14.62 14.56 14.66
17141 252.5 7.5 1256 17145 roll 0.74 - - 2578 - 2.33 0.051 1052 -592.7 133.4 - - 2408 - - - - - - - - 15.06 14.44 15.09
17223 246.7 6.7 1272 17227 done 0.76 - - 2578 - 2.38 0.052 2439 582.8 133.4 - - 2408 - - - - - - - - 14.53 14.42 14.59
17415 234.3 6.1 1292 17419 roll 0.80 - - 2589 - 2.38 0.050 1046 -585.3 133.4 - - 2408 - - - - - - - - 15.05 14.43 15.08
17497 229.6 5.1 1308 17551 done 0.85 - - 2590 - 2.40 0.051 2448 584.2 185.7 47.08 1.156 2209 -4.2 0.163 - - - - - - 14.53 14.42 13.31
17737 209.4 10.7 1338 17743 roll 0.85 - - 2589 - 2.45 0.080 3849 571.8 185.7 - - 2204 - - - - - - - - 14.90 14.33 14.92
17829 198.2 12.6 1356 17834 done 0.85 - - 2600 - 2.30 0.037 2443 -611.3 185.7 - - 2203 - - - - - - - - 14.58 14.51 14.60
18022 177.2 10.6 1376 18026 roll 0.85 - - 2612 - 2.35 0.051 1047 -594.0 185.7 - - 2203 - - - - - - - - 14.96 14.42 14.98
18062 173.0 9.7 1384 18067 done 0.85 - - 2612 - 2.40 0.051 2447 583.3 185.7 - - 2202 - - - - - - - - 14.54 14.42 14.59
18255 154.6 9.0 1404 18259 roll 0.85 - - 2624 - 2.40 0.050 1048 -582.9 185.7 - - 2202 - - - - - - - - 14.99 14.44 15.01
18307 149.7 10.0 1414 18312 done 0.85 - - 2624 - 2.38 0.051 2438 584.0 185.7 - - 2202 - - - - - - - - 14.54 14.44 14.59
18499 129.9 9.0 1434 18504 roll 0.85 - - 2635 - 2.38 0.050 1039 -587.8 185.7 - - 2202 - - - - - - - - 15.02 14.45 15.04
18548 125.8 9.2 1443 18555 done 0.85 0.12 0.239 2609 -216.7 2.40 0.051 2442 584.6 185.7 - - 2202 - - - - - - - - 14.15 14.44 14.42
18744 110.2 7.6 1464 18749 roll 0.85 - - 2620 - 2.38 0.049 1042 -588.2 185.7 - - 2202 - - - - - - - - 15.01 14.46 15.04
18797 105.7 9.0 1474 18802 done 0.85 - - 2620 - 2.40 0.050 2447 585.4 185.7 - - 2202 - - - - - - - - 14.57 14.46 14.62
18991 93.3 6.5 1494 18996 roll 0.89 - - 2620 - 2.45 0.079 3851 573.1 185.7 - - 2202 - - - - - - - - 15.02 14.36 15.04
19085 86.9 7.5 1512 19089 done 0.90 - - 2631 - 2.30 0.034 2427 -619.1 185.7 - - 2202 - - - - - - - - 14.64 14.58 14.68
19277 77.0 3.8 1532 19350 roll 0.97 - - 2643 - 2.38 0.050 1054 -576.9 260.9 64.78 0.941 1903 -4.6 0.074 - - - - - - 15.04 14.36 13.49
19386 71.3 6.9 1550 19391 done 0.99 - - 2643 - 2.38 0.050 2439 581.9 260.9 - - 1901 - - - - - - - - 14.52 14.41 14.54
19568 58.9 5.2 1569 19621 roll 1.05 - - 2656 - 2.40 0.050 1061 -574.2 311.9 46.25 0.890 1695 -4.5 0.057 - - - - - - 14.90 14.35 13.52
19639 55.5 5.2 1581 19692 done 1.10 - - 2656 - 2.38 0.051 2445 581.5 362.3 46.95 0.880 1490 -4.4 0.054 - - - - - - 14.50 14.40 13.44
19873 37.9 7.7 1625 19877 roll 1.10 - - 2667 - 2.38 0.050 1048 -587.0 362.3 - - 1487 - - - - - - - - 14.83 14.40 14.85
20106 25.6 4.4 1671 20174 done 1.16 0.10 0.135 2736 690.0 2.38 0.054 2440 584.9 427.2 58.42 0.799 1225 -4.5 0.028 - - - - - - 14.46 14.47 13.62
20329 end climb: SURFACE_DEPTH_REACHED
20329 begin surface coast
20349 end surface coast: CONTROL_FINISHED_OK
20349 begin surface
SM 1.25 - - - - -6.77 7.38 0.045 123 16.6 0.10 0.145 2519 -87830.0 500.17 86.55 0.581 928 10.7 -0.002 - - - - 1 -