MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 560 * Raw log
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• Previous call tries 1 • 192.43 of 350.00 AH used of 24V (45.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.3 deg, depth 1.24 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 -0.67 - - 95 - - - 2496 - -97.3 -66.57 0.005 2473 - - - - - - - - 14.84 - 14.87
82 4.3 -10.8 14 115 roll -0.67 9.15 0.340 2105 219.7 2.35 0.070 1094 -596.6 -97.3 -17.85 0.008 3365 -50.0 5.242 - - - - - - 13.90 13.43 14.35
343 72.1 -21.4 66 350 done -0.67 - - 2095 - 2.40 0.058 2502 586.7 -97.3 - - 3365 - - - - - - - - 14.61 14.48 14.65
539 104.2 -16.6 87 543 roll -0.67 - - 2085 - 2.40 0.081 3903 583.8 -97.3 - - 3366 - - - - - - - - 15.01 14.49 15.04
740 136.3 -15.3 127 745 done -0.67 - - 2084 - 2.30 0.044 2502 -609.1 -97.3 - - 3366 - - - - - - - - 14.71 14.62 14.73
932 163.3 -14.7 147 938 roll -0.67 - - 2074 - 2.42 0.083 3900 577.7 -97.3 - - 3366 - - - - - - - - 15.06 14.52 15.09
1064 183.4 -14.6 173 1069 done -0.67 0.15 0.220 2109 233.3 2.28 0.036 2478 -623.7 -97.3 - - 3366 - - - - - - - - 14.36 14.68 14.58
1260 207.9 -11.4 193 1264 roll -0.67 - - 2109 - 2.25 0.048 1099 -612.9 -97.3 - - 3365 - - - - - - - - 15.05 14.62 15.07
1276 210.2 -11.6 196 1280 done -0.67 - - 2100 - 2.38 0.057 2502 589.5 -97.3 - - 3365 - - - - - - - - 14.70 14.59 14.73
1462 231.6 -11.5 215 1466 roll -0.67 - - 2089 - 2.40 0.083 3901 582.9 -97.3 - - 3364 - - - - - - - - 15.07 14.52 15.10
1523 238.8 -11.6 227 1527 done -0.67 - - 2089 - 2.25 0.035 2494 -625.3 -97.3 - - 3364 - - - - - - - - 14.76 14.70 14.78
1724 262.8 -11.9 243 1731 roll -0.67 - - 2078 - 2.45 0.089 3894 571.4 -97.3 - - 3363 - - - - - - - - 15.09 14.51 15.12
1757 266.6 -13.0 249 1763 done -0.67 0.12 0.214 2108 250.0 2.28 0.042 2491 -615.4 -97.3 - - 3363 - - - - - - - - 14.41 14.66 14.60
2070 300.0 -10.4 266 2074 roll -0.67 - - 2108 - 2.28 0.048 1099 -610.5 -97.3 - - 3361 - - - - - - - - 15.09 14.63 15.12
2112 304.5 -10.5 274 2116 done -0.67 - - 2099 - 2.38 0.058 2501 589.1 -97.3 - - 3360 - - - - - - - - 14.69 14.59 14.74
2434 340.2 -11.4 293 2440 roll -0.67 - - 2087 - 2.38 0.084 3889 583.2 -97.3 - - 3358 - - - - - - - - 15.09 14.46 15.11
2524 351.2 -12.2 310 2528 done -0.67 - - 2087 - 2.25 0.036 2489 -622.2 -97.3 - - 3358 - - - - - - - - 14.76 14.69 14.78
2841 390.2 -12.4 328 2845 roll -0.67 - - 2087 - 2.28 0.048 1105 -607.0 -97.3 - - 3355 - - - - - - - - 15.09 14.61 15.12
2893 396.6 -12.1 338 2900 done -0.67 0.15 0.203 2113 173.3 2.40 0.067 2495 579.2 -97.3 - - 3355 - - - - - - - - 14.35 14.52 14.57
3203 427.9 -9.8 355 3208 roll -0.67 - - 2104 - 2.45 0.086 3897 572.2 -97.3 - - 3353 - - - - - - - - 15.09 14.47 15.12
3255 433.3 -10.4 365 3260 done -0.67 - - 2104 - 2.28 0.044 2515 -606.1 -97.3 - - 3353 - - - - - - - - 14.72 14.63 14.74
3567 464.9 -10.0 382 3571 roll -0.67 - - 2104 - 2.35 0.050 1093 -605.1 -97.3 - - 3351 - - - - - - - - 15.10 14.59 15.13
3599 468.1 -10.1 388 3607 done -0.67 - - 2093 - 2.45 0.067 2506 576.7 -97.3 - - 3350 - - - - - - - - 14.65 14.52 14.69
3908 501.5 -11.0 405 3910 done -0.67 - - 2093 - - - 2506 - -97.3 - - 3349 - - - - - - - - 15.10 15.14 15.13
4208 534.9 -11.2 420 4215 roll -0.67 - - 2082 - 2.42 0.086 3897 574.8 -97.3 - - 3347 - - - - - - - - 15.10 14.45 15.13
4249 539.5 -11.6 428 4254 done -0.67 0.12 0.209 2112 250.0 2.30 0.042 2484 -614.3 -97.3 - - 3347 - - - - - - - - 14.37 14.65 14.56
4572 571.2 -9.6 447 4576 roll -0.67 - - 2112 - 2.25 0.050 1111 -610.2 -97.3 - - 3345 - - - - - - - - 15.10 14.52 15.13
4593 573.3 -10.1 451 4600 done -0.67 - - 2103 - 2.42 0.069 2498 573.1 -97.3 - - 3345 - - - - - - - - 14.60 14.46 14.65
4915 604.3 -9.4 470 4921 roll -0.67 - - 2092 - 2.45 0.087 3899 571.8 -97.3 - - 3343 - - - - - - - - 15.08 14.42 15.11
4974 610.2 -10.0 482 4978 done -0.67 - - 2091 - 2.28 0.036 2493 -616.7 -97.3 - - 3343 - - - - - - - - 14.71 14.64 14.73
5296 641.7 -9.7 501 5301 roll -0.67 - - 2081 - 2.50 0.087 3901 563.2 -97.3 - - 3342 - - - - - - - - 15.09 14.41 15.11
5353 647.6 -10.2 512 5357 done -0.67 0.12 0.205 2111 250.0 2.28 0.036 2497 -615.8 -97.3 - - 3342 - - - - - - - - 14.35 14.63 14.54
5658 674.9 -9.0 528 5660 done -0.67 - - 2111 - - - 2495 - -97.3 - - 3341 - - - - - - - - 15.10 15.13 15.13
5958 702.4 -9.3 543 5960 done -0.67 - - 2111 - - - 2496 - -97.3 - - 3339 - - - - - - - - 15.10 15.13 15.13
6258 730.4 -9.5 558 6260 done -0.67 - - 2111 - - - 2495 - -97.3 - - 3338 - - - - - - - - 15.10 15.13 15.12
6559 758.6 -9.3 573 6561 done -0.67 - - 2111 - - - 2495 - -97.3 - - 3337 - - - - - - - - 15.09 15.12 15.11
6858 785.8 -8.8 588 6862 roll -0.67 - - 2102 - 2.55 0.097 3900 551.0 -97.3 - - 3336 - - - - - - - - 15.10 14.34 15.12
6924 792.1 -9.5 601 6929 done -0.67 - - 2102 - 2.28 0.037 2502 -613.2 -97.3 - - 3336 - - - - - - - - 14.66 14.60 14.69
7242 821.8 -9.3 619 7246 roll -0.67 - - 2102 - 2.35 0.049 1101 -596.2 -97.3 - - 3334 - - - - - - - - 15.08 14.49 15.11
7303 827.7 -9.4 631 7308 done -0.67 - - 2091 - 2.42 0.058 2506 580.6 -97.3 - - 3334 - - - - - - - - 14.57 14.44 14.60
7620 858.4 -9.9 649 7625 roll -0.67 - - 2090 - 2.35 0.048 1108 -594.9 -97.3 - - 3333 - - - - - - - - 15.07 14.48 15.10
7648 861.3 -10.2 654 7655 done -0.67 0.12 0.209 2110 166.7 2.40 0.057 2500 580.0 -97.3 - - 3333 - - - - - - - - 14.24 14.43 14.43
7962 888.8 -8.7 672 7967 roll -0.67 - - 2101 - 2.47 0.089 3896 565.2 -97.3 - - 3333 - - - - - - - - 15.09 14.31 15.11
8016 893.5 -9.2 682 8020 done -0.67 - - 2101 - 2.28 0.037 2498 -613.2 -97.3 - - 3333 - - - - - - - - 14.64 14.57 14.66
8327 921.5 -8.9 699 8331 roll -0.67 - - 2101 - 2.33 0.050 1110 -595.7 -97.3 - - 3332 - - - - - - - - 15.09 14.46 15.11
8383 926.6 -9.0 710 8390 done -0.67 - - 2090 - 2.42 0.058 2503 575.6 -97.3 - - 3331 - - - - - - - - 14.53 14.40 14.57
8710 956.9 -9.3 730 8716 roll -0.67 - - 2079 - 2.47 0.089 3899 565.2 -97.3 - - 3330 - - - - - - - - 15.07 14.28 15.09
8743 960.3 -10.5 737 8749 done -0.67 0.12 0.207 2110 258.3 2.30 0.037 2495 -610.4 -97.3 - - 3330 - - - - - - - - 14.24 14.54 14.42
9049 985.6 -8.1 753 9051 done -0.67 - - 2110 - - - 2494 - -97.3 - - 3330 - - - - - - - - 15.07 15.10 15.09
9105 end dive: TARGET_DEPTH_EXCEEDED
9105 begin apogee
9112 990.5 -8.2 756 9208 done -0.15 0.57 0.162 2276 291.2 - - 2494 - - 92.22 2.015 2968 -3.9 0.377 - - - - - - 14.16 13.98 12.59
9209 end apogee: CONTROL_FINISHED_OK
9209 begin climb
9212 993.2 - 761 9321 done 0.67 0.82 0.087 2551 335.4 - - 2494 - 97.3 104.40 1.996 2570 -3.8 0.370 - - - - - - 14.18 13.88 12.57
9613 974.6 7.3 781 9617 roll 0.68 - - 2562 - 2.45 0.050 1055 -587.3 97.3 - - 2563 - - - - - - - - 14.84 14.45 14.87
9700 968.0 7.1 798 9706 done 0.70 - - 2562 - 2.42 0.059 2447 575.2 97.3 - - 2561 - - - - - - - - 14.56 14.45 14.60
10019 944.5 7.5 816 10021 done 0.72 - - 2562 - - - 2447 - 97.3 - - 2561 - - - - - - - - 14.97 15.00 15.00
10318 922.4 7.4 831 10323 roll 0.73 - - 2573 - 2.38 0.050 1051 -586.6 97.3 - - 2560 - - - - - - - - 15.02 14.52 15.04
10411 915.6 7.4 849 10415 done 0.74 - - 2573 - 2.40 0.054 2447 581.7 97.3 - - 2558 - - - - - - - - 14.59 14.50 14.65
10722 891.2 7.9 866 10727 roll 0.74 - - 2584 - 2.38 0.050 1050 -587.0 97.3 - - 2558 - - - - - - - - 15.04 14.51 15.07
10779 886.7 8.0 877 10783 done 0.74 - - 2584 - 2.40 0.054 2441 579.6 97.3 - - 2557 - - - - - - - - 14.59 14.48 14.64
11085 861.7 8.1 893 11089 roll 0.74 - - 2584 - 2.45 0.081 3845 573.1 97.3 - - 2557 - - - - - - - - 15.04 14.39 15.07
11126 857.9 9.2 901 11130 done 0.74 - - 2595 - 2.30 0.036 2432 -614.3 97.3 - - 2557 - - - - - - - - 14.66 14.59 14.69
11448 831.3 8.0 920 11452 roll 0.74 - - 2606 - 2.35 0.052 1042 -591.5 97.3 - - 2556 - - - - - - - - 15.04 14.49 15.07
11614 817.9 8.1 953 11623 done 0.74 0.15 0.233 2573 -220.0 2.40 0.052 2443 583.8 97.3 - - 2556 - - - - - - - - 14.12 14.47 14.41
11934 794.2 7.4 971 11938 roll 0.75 - - 2583 - 2.38 0.050 1048 -586.1 97.3 - - 2556 - - - - - - - - 15.02 14.48 15.06
12000 788.9 7.7 984 12004 done 0.75 - - 2583 - 2.40 0.053 2440 580.0 97.3 - - 2555 - - - - - - - - 14.57 14.45 14.62
12317 764.7 7.8 1002 12322 roll 0.75 - - 2583 - 2.47 0.080 3848 570.0 97.3 - - 2555 - - - - - - - - 15.05 14.35 15.08
12414 756.0 9.0 1021 12418 done 0.75 - - 2594 - 2.30 0.036 2439 -612.6 97.3 - - 2555 - - - - - - - - 14.63 14.57 14.66
12719 732.1 7.8 1037 12723 roll 0.75 - - 2605 - 2.35 0.051 1048 -591.9 97.3 - - 2555 - - - - - - - - 15.06 14.46 15.09
12792 726.5 7.9 1051 12800 done 0.75 0.12 0.237 2579 -216.7 2.40 0.052 2445 582.1 97.3 - - 2555 - - - - - - - - 14.14 14.44 14.40
13100 702.3 7.9 1068 13104 roll 0.75 - - 2579 - 2.45 0.080 3843 570.6 97.3 - - 2555 - - - - - - - - 15.07 14.33 15.09
13192 694.2 9.1 1086 13197 done 0.75 - - 2590 - 2.30 0.036 2433 -613.0 97.3 - - 2554 - - - - - - - - 14.62 14.55 14.66
13504 667.9 8.3 1103 13507 done 0.75 - - 2590 - - - 2432 - 97.3 - - 2554 - - - - - - - - 15.07 15.09 15.09
13805 645.3 7.2 1118 13810 roll 0.77 - - 2600 - 2.35 0.051 1046 -589.8 97.3 - - 2554 - - - - - - - - 15.05 14.44 15.09
13925 636.6 7.4 1141 13932 done 0.78 - - 2601 - 2.42 0.052 2449 579.8 97.3 - - 2554 - - - - - - - - 14.52 14.41 14.57
14251 615.9 6.2 1161 14258 roll 0.82 - - 2600 - 2.45 0.080 3843 569.0 97.3 - - 2554 - - - - - - - - 15.05 14.31 15.08
14450 601.6 7.3 1201 14455 done 0.84 - - 2612 - 2.30 0.036 2432 -613.5 97.3 - - 2554 - - - - - - - - 14.60 14.54 14.64
14773 578.0 7.8 1220 14777 roll 0.84 - - 2623 - 2.35 0.050 1043 -591.1 97.3 - - 2554 - - - - - - - - 15.05 14.43 15.08
14799 575.9 7.9 1225 14803 done 0.84 - - 2623 - 2.40 0.051 2440 582.1 97.3 - - 2554 - - - - - - - - 14.52 14.41 14.57
15116 548.9 8.6 1243 15118 done 0.84 - - 2623 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.05 15.09 15.08
15415 523.5 8.4 1258 15420 roll 0.84 - - 2634 - 2.38 0.050 1049 -584.5 97.3 - - 2554 - - - - - - - - 15.07 14.42 15.10
15493 517.0 8.1 1273 15501 done 0.84 0.15 0.239 2602 -213.3 2.40 0.051 2440 579.6 97.3 - - 2554 - - - - - - - - 14.02 14.40 14.31
15822 493.4 6.9 1293 15829 roll 0.86 - - 2602 - 2.47 0.080 3846 569.2 97.3 - - 2553 - - - - - - - - 15.04 14.28 15.06
15851 490.9 7.9 1299 15856 done 0.86 - - 2613 - 2.30 0.035 2432 -614.8 97.3 - - 2554 - - - - - - - - 14.60 14.54 14.64
16164 471.6 5.6 1316 16211 roll 0.91 - - 2624 - 2.38 0.053 1062 -575.6 141.8 40.90 1.457 2388 -4.1 0.256 - - - - - - 15.05 14.30 13.06
16272 463.8 9.3 1337 16276 done 0.91 - - 2624 - 2.38 0.052 2440 579.0 141.8 - - 2386 - - - - - - - - 14.52 14.42 14.56
16589 431.2 10.4 1355 16593 roll 0.91 - - 2636 - 2.35 0.050 1057 -588.5 141.8 - - 2384 - - - - - - - - 14.95 14.42 14.97
16624 427.3 11.2 1362 16630 done 0.91 - - 2636 - 2.40 0.052 2445 578.3 141.8 - - 2383 - - - - - - - - 14.53 14.42 14.57
16930 391.7 11.5 1378 16934 roll 0.91 - - 2640 - 2.45 0.078 3848 572.7 141.8 - - 2383 - - - - - - - - 15.00 14.33 15.02
16958 388.4 12.9 1383 16965 done 0.91 0.15 0.262 2623 -113.3 2.30 0.036 2440 -612.2 141.8 - - 2382 - - - - - - - - 14.04 14.54 14.33
17275 354.2 10.2 1401 17279 roll 0.91 - - 2633 - 2.35 0.050 1045 -593.6 141.8 - - 2382 - - - - - - - - 15.01 14.44 15.04
17389 342.8 10.1 1423 17393 done 0.91 - - 2633 - 2.40 0.052 2440 581.2 141.8 - - 2382 - - - - - - - - 14.54 14.43 14.59
17700 308.3 11.1 1440 17706 roll 0.91 - - 2633 - 2.45 0.079 3845 573.5 141.8 - - 2382 - - - - - - - - 15.05 14.33 15.07
17777 299.6 12.3 1455 17781 done 0.91 - - 2645 - 2.30 0.036 2438 -611.7 141.8 - - 2382 - - - - - - - - 14.62 14.55 14.65
18081 266.4 10.6 1471 18085 roll 0.91 - - 2656 - 2.33 0.050 1048 -596.6 141.8 - - 2382 - - - - - - - - 15.05 14.45 15.08
18147 259.6 10.1 1484 18154 done 0.91 0.15 0.238 2624 -213.3 2.40 0.051 2448 583.3 141.8 - - 2381 - - - - - - - - 14.07 14.42 14.36
18462 232.3 8.1 1512 18466 roll 0.91 - - 2635 - 2.40 0.050 1042 -585.8 141.8 - - 2381 - - - - - - - - 15.05 14.45 15.09
18543 225.4 8.4 1528 18547 done 0.91 - - 2635 - 2.40 0.050 2443 583.8 141.8 - - 2381 - - - - - - - - 14.54 14.44 14.58
18735 208.7 8.6 1548 18739 roll 0.91 - - 2647 - 2.38 0.049 1041 -589.1 141.8 - - 2381 - - - - - - - - 15.04 14.45 15.07
18791 203.8 8.5 1559 18795 done 0.91 - - 2648 - 2.40 0.050 2440 582.9 141.8 - - 2381 - - - - - - - - 14.54 14.43 14.59
18978 187.8 9.4 1578 18983 roll 0.91 - - 2649 - 2.47 0.079 3850 570.9 141.8 - - 2381 - - - - - - - - 15.03 14.32 15.06
19200 165.5 10.9 1622 19206 done 0.91 0.17 0.259 2626 -135.3 2.30 0.035 2436 -614.8 141.8 - - 2381 - - - - - - - - 13.99 14.54 14.31
19398 151.3 5.9 1642 19435 done 0.94 - - 2626 - - - 2434 - 179.8 34.15 1.050 2235 -4.3 0.120 - - - - - - 15.02 14.33 13.41
19613 133.2 9.9 1668 19617 roll 0.94 - - 2626 - 2.47 0.080 3842 570.0 179.8 - - 2231 - - - - - - - - 14.93 14.35 14.95
19701 124.1 10.1 1685 19705 done 0.94 - - 2637 - 2.28 0.035 2442 -614.0 179.8 - - 2230 - - - - - - - - 14.61 14.54 14.63
19896 108.0 6.7 1705 19900 roll 0.97 - - 2648 - 2.35 0.050 1040 -596.6 179.8 - - 2230 - - - - - - - - 14.96 14.46 14.98
20057 97.2 7.7 1737 20061 done 0.97 - - 2648 - 2.42 0.051 2448 581.8 179.8 - - 2228 - - - - - - - - 14.55 14.45 14.59
20250 88.7 3.2 1757 20332 roll 1.06 - - 2649 - 2.50 0.080 3843 558.0 265.9 74.93 0.962 1881 -4.6 0.083 - - - - - - 15.00 14.31 13.43
20420 74.5 13.1 1791 20424 done 1.06 - - 2660 - 2.30 0.035 2442 -609.1 265.9 - - 1878 - - - - - - - - 14.52 14.46 14.54
20613 58.6 5.5 1811 20659 roll 1.10 - - 2671 - 2.35 0.051 1045 -594.5 310.7 40.30 0.885 1701 -4.4 0.057 - - - - - - 14.88 14.34 13.52
20843 47.4 4.1 1857 20915 done 1.17 0.10 0.134 2742 710.0 2.40 0.049 2451 585.8 382.0 65.22 0.867 1409 -4.5 0.048 - - - - - - 14.42 14.43 13.50
21099 21.3 6.8 1908 21102 roll 1.20 - - 2743 - 2.42 0.077 3849 577.7 382.0 - - 1406 - - - - - - - - 14.82 14.35 14.85
21119 19.6 8.1 1912 21127 done 1.20 0.15 0.231 2720 -153.3 2.30 0.034 2430 -617.0 382.0 - - 1407 - - - - - - - - 14.17 14.52 14.40
21312 4.1 6.4 1950 21316 done 1.23 - - 2720 - - - 2428 - 382.0 - - 1406 - - - - - - - - 14.91 14.94 14.94
21324 end climb: SURFACE_DEPTH_REACHED
21324 begin surface coast
21359 end surface coast: CONTROL_FINISHED_OK
21360 begin surface
SM 1.28 - - - - -6.77 7.30 0.047 133 18.2 0.12 0.127 2530 20500.0 500.17 125.95 0.635 929 7.4 -0.002 - - - - 1 -