MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 579 * Raw log
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• Previous call tries 1 • 198.16 of 350.00 AH used of 24V (43.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 1.22 m • Intended pitch -19.5 deg, speed -8.049 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 17 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 84 VBD -0.67 - - 122 - - - 2537 - -97.3 -72.12 0.005 2602 - - - - - - - - 14.83 - 14.86
88 4.6 -12.6 15 120 roll -0.67 9.12 0.345 2106 217.5 2.47 0.070 1104 -580.2 -97.3 -14.62 0.009 3368 -52.4 5.234 - - - - - - 13.87 12.55 14.33
262 57.9 -26.3 50 267 done -0.67 - - 2097 - 2.33 0.060 2460 582.0 -97.3 - - 3368 - - - - - - - - 14.59 14.48 14.62
447 96.9 -18.9 69 452 roll -0.67 - - 2086 - 2.47 0.080 3896 581.4 -97.3 - - 3368 - - - - - - - - 15.00 14.45 15.02
680 133.6 -14.8 115 685 done -0.67 - - 2086 - 2.22 0.033 2493 -632.0 -97.3 - - 3368 - - - - - - - - 14.72 14.66 14.74
873 160.1 -13.7 135 877 roll -0.67 - - 2076 - 2.42 0.079 3896 579.8 -97.3 - - 3368 - - - - - - - - 15.04 14.50 15.06
909 165.7 -15.4 142 915 done -0.67 0.15 0.218 2111 233.3 2.22 0.033 2494 -631.5 -97.3 - - 3369 - - - - - - - - 14.33 14.67 14.54
1094 188.4 -11.3 161 1099 roll -0.67 - - 2102 - 2.45 0.083 3894 571.4 -97.3 - - 3368 - - - - - - - - 15.06 14.50 15.09
1117 190.8 -11.4 165 1121 done -0.67 - - 2102 - 2.20 0.032 2503 -632.3 -97.3 - - 3368 - - - - - - - - 14.75 14.69 14.77
1308 212.7 -11.4 185 1310 done -0.67 - - 2102 - - - 2501 - -97.3 - - 3368 - - - - - - - - 15.07 15.10 15.10
1489 235.2 -12.4 203 1496 roll -0.67 - - 2090 - 2.45 0.087 3902 571.8 -97.3 - - 3368 - - - - - - - - 15.07 14.49 15.09
1523 239.7 -13.1 210 1528 done -0.67 - - 2090 - 2.28 0.034 2494 -617.5 -97.3 - - 3367 - - - - - - - - 14.75 14.68 14.77
1708 263.3 -12.3 224 1710 done -0.67 - - 2091 - - - 2493 - -97.3 - - 3366 - - - - - - - - 15.09 15.11 15.11
2009 299.4 -11.8 239 2016 roll -0.67 - - 2080 - 2.47 0.093 3892 566.4 -97.3 - - 3364 - - - - - - - - 15.09 14.45 15.11
2048 304.1 -11.8 247 2053 done -0.67 0.12 0.211 2110 250.0 2.22 0.034 2495 -629.3 -97.3 - - 3364 - - - - - - - - 14.40 14.69 14.59
2370 336.6 -10.1 266 2375 roll -0.67 - - 2101 - 2.47 0.084 3898 568.0 -97.3 - - 3362 - - - - - - - - 15.09 14.47 15.12
2399 339.5 -11.3 271 2403 done -0.67 - - 2101 - 2.25 0.034 2495 -623.6 -97.3 - - 3362 - - - - - - - - 14.75 14.69 14.77
2715 373.7 -10.8 289 2717 done -0.67 - - 2101 - - - 2494 - -97.3 - - 3360 - - - - - - - - 15.10 15.13 15.13
3016 405.7 -10.6 304 3022 roll -0.67 - - 2089 - 2.45 0.086 3891 570.2 -97.3 - - 3358 - - - - - - - - 15.09 14.46 15.12
3060 410.7 -11.2 313 3064 done -0.67 - - 2090 - 2.25 0.034 2492 -621.8 -97.3 - - 3358 - - - - - - - - 14.74 14.67 14.76
3376 446.3 -11.2 331 3378 done -0.67 - - 2090 - - - 2491 - -97.3 - - 3356 - - - - - - - - 15.10 15.13 15.12
3677 479.7 -10.9 346 3682 roll -0.67 - - 2079 - 2.47 0.086 3899 570.0 -97.3 - - 3354 - - - - - - - - 15.09 14.44 15.12
3719 484.8 -12.0 354 3724 done -0.67 0.12 0.210 2109 250.0 2.25 0.036 2499 -622.2 -97.3 - - 3354 - - - - - - - - 14.37 14.66 14.55
4041 518.4 -10.3 373 4043 done -0.67 - - 2109 - - - 2498 - -97.3 - - 3352 - - - - - - - - 15.09 15.13 15.12
4342 548.3 -9.7 388 4346 roll -0.67 - - 2109 - 2.30 0.050 1109 -603.9 -97.3 - - 3350 - - - - - - - - 15.09 14.56 15.11
4379 551.9 -9.5 395 4385 done -0.67 - - 2100 - 2.40 0.061 2500 579.6 -97.3 - - 3350 - - - - - - - - 14.62 14.50 14.66
4705 584.0 -9.8 415 4709 roll -0.67 - - 2089 - 2.45 0.086 3896 569.8 -97.3 - - 3349 - - - - - - - - 15.08 14.41 15.10
4771 591.0 -10.3 428 4775 done -0.67 - - 2089 - 2.25 0.036 2503 -619.1 -97.3 - - 3349 - - - - - - - - 14.70 14.63 14.72
5087 623.0 -10.2 446 5089 done -0.67 - - 2089 - - - 2502 - -97.3 - - 3347 - - - - - - - - 15.09 15.13 15.11
5389 652.5 -9.9 461 5391 done -0.67 - - 2089 - - - 2502 - -97.3 - - 3347 - - - - - - - - 15.08 15.11 15.11
5687 681.9 -9.7 476 5692 roll -0.67 - - 2078 - 2.47 0.088 3891 562.3 -97.3 - - 3345 - - - - - - - - 15.09 14.38 15.12
5735 686.7 -10.5 485 5740 done -0.67 0.12 0.208 2108 250.0 2.28 0.036 2491 -614.0 -97.3 - - 3345 - - - - - - - - 14.32 14.61 14.50
6053 714.2 -8.5 503 6056 done -0.67 - - 2108 - - - 2490 - -97.3 - - 3344 - - - - - - - - 15.08 15.11 15.10
6352 739.8 -8.5 518 6357 roll -0.67 - - 2108 - 2.33 0.050 1099 -597.0 -97.3 - - 3342 - - - - - - - - 15.09 14.50 15.12
6390 743.1 -8.7 525 6394 done -0.67 - - 2099 - 2.42 0.059 2499 578.5 -97.3 - - 3342 - - - - - - - - 14.57 14.45 14.61
6694 770.6 -9.1 541 6698 roll -0.67 - - 2088 - 2.47 0.088 3894 564.8 -97.3 - - 3342 - - - - - - - - 15.09 14.34 15.11
6755 776.7 -10.0 553 6759 done -0.67 - - 2088 - 2.28 0.037 2498 -612.3 -97.3 - - 3341 - - - - - - - - 14.65 14.58 14.68
7077 808.9 -10.2 572 7079 done -0.67 - - 2088 - - - 2497 - -97.3 - - 3340 - - - - - - - - 15.07 15.10 15.10
7376 838.6 -9.9 587 7381 roll -0.67 - - 2077 - 2.53 0.091 3899 554.2 -97.3 - - 3339 - - - - - - - - 15.09 14.31 15.11
7413 842.4 -10.5 594 7419 done -0.67 0.12 0.207 2108 258.3 2.30 0.037 2499 -608.7 -97.3 - - 3339 - - - - - - - - 14.26 14.55 14.45
7719 868.3 -8.2 610 7721 done -0.67 - - 2108 - - - 2498 - -97.3 - - 3339 - - - - - - - - 15.07 15.10 15.10
8018 892.3 -7.9 625 8025 roll -0.67 - - 2099 - 2.50 0.093 3890 556.8 -97.3 - - 3338 - - - - - - - - 15.09 14.29 15.11
8053 895.2 -8.6 632 8057 done -0.67 - - 2099 - 2.28 0.037 2501 -609.2 -97.3 - - 3337 - - - - - - - - 14.62 14.54 14.65
8359 920.4 -8.3 648 8361 done -0.67 - - 2099 - - - 2499 - -97.3 - - 3337 - - - - - - - - 15.07 15.10 15.10
8658 945.3 -8.3 663 8660 done -0.67 - - 2099 - - - 2499 - -97.3 - - 3336 - - - - - - - - 15.08 15.11 15.11
8959 970.1 -8.3 678 8961 done -0.67 - - 2099 - - - 2499 - -97.3 - - 3335 - - - - - - - - 15.07 15.11 15.10
9215 end dive: TARGET_DEPTH_EXCEEDED
9215 begin apogee
9222 991.7 -8.3 691 9320 done -0.15 0.62 0.168 2276 285.5 - - 2499 - - 93.65 1.990 2968 -3.9 0.382 - - - - - - 14.11 13.97 12.57
9321 end apogee: CONTROL_FINISHED_OK
9321 begin climb
9324 994.0 - 696 9435 done 0.67 0.82 0.090 2550 334.1 - - 2499 - 97.3 104.95 1.975 2570 -3.8 0.373 - - - - - - 14.16 13.88 12.57
9743 972.1 7.8 717 9745 done 0.67 - - 2549 - - - 2498 - 97.3 - - 2563 - - - - - - - - 14.84 14.88 14.88
10038 949.6 7.3 732 10045 roll 0.68 - - 2560 - 2.47 0.052 1046 -587.9 97.3 - - 2562 - - - - - - - - 14.97 14.48 15.00
10144 942.0 7.1 753 10149 done 0.70 - - 2560 - 2.40 0.054 2444 582.5 97.3 - - 2559 - - - - - - - - 14.58 14.47 14.62
10461 917.7 7.6 771 10465 roll 0.70 - - 2571 - 2.38 0.050 1051 -585.3 97.3 - - 2559 - - - - - - - - 15.01 14.49 15.04
10509 914.1 7.6 780 10513 done 0.70 - - 2571 - 2.40 0.054 2439 578.3 97.3 - - 2558 - - - - - - - - 14.59 14.47 14.63
10825 889.2 8.1 798 10827 done 0.70 - - 2571 - - - 2439 - 97.3 - - 2558 - - - - - - - - 15.04 15.07 15.07
11125 866.0 7.7 813 11129 roll 0.70 - - 2582 - 2.38 0.051 1050 -583.6 97.3 - - 2558 - - - - - - - - 15.05 14.48 15.08
11158 863.7 7.9 819 11162 done 0.70 - - 2582 - 2.40 0.053 2443 580.4 97.3 - - 2557 - - - - - - - - 14.57 14.47 14.62
11469 839.0 7.9 836 11471 done 0.70 - - 2582 - - - 2444 - 97.3 - - 2557 - - - - - - - - 15.06 15.09 15.09
11771 816.2 7.5 851 11777 roll 0.71 - - 2582 - 2.47 0.082 3849 568.8 97.3 - - 2556 - - - - - - - - 15.04 14.35 15.07
11854 809.1 8.6 868 11859 done 0.71 0.12 0.253 2567 -125.0 2.30 0.037 2438 -613.5 97.3 - - 2556 - - - - - - - - 14.16 14.57 14.42
12174 788.5 6.1 886 12179 roll 0.75 - - 2576 - 2.35 0.050 1052 -589.8 97.3 - - 2555 - - - - - - - - 15.04 14.46 15.07
12305 780.3 6.3 911 12309 done 0.79 - - 2576 - 2.40 0.053 2444 580.0 97.3 - - 2554 - - - - - - - - 14.54 14.43 14.59
12623 759.9 6.3 929 12630 roll 0.82 - - 2576 - 2.47 0.082 3849 568.8 97.3 - - 2554 - - - - - - - - 15.04 14.32 15.07
12722 752.5 7.5 949 12726 done 0.83 - - 2587 - 2.30 0.037 2440 -612.6 97.3 - - 2554 - - - - - - - - 14.62 14.54 14.64
13045 730.9 6.4 968 13049 roll 0.87 - - 2598 - 2.35 0.051 1051 -591.1 97.3 - - 2554 - - - - - - - - 15.04 14.43 15.07
13218 718.9 7.1 1002 13223 done 0.88 - - 2598 - 2.40 0.053 2441 579.2 97.3 - - 2554 - - - - - - - - 14.52 14.40 14.57
13532 695.1 8.2 1019 13536 roll 0.88 - - 2598 - 2.50 0.081 3845 561.6 97.3 - - 2554 - - - - - - - - 15.04 14.29 15.07
13588 689.9 9.0 1030 13593 done 0.88 - - 2609 - 2.30 0.037 2440 -610.9 97.3 - - 2554 - - - - - - - - 14.59 14.53 14.63
13893 665.6 8.0 1046 13898 roll 0.88 - - 2619 - 2.35 0.050 1051 -591.1 97.3 - - 2554 - - - - - - - - 15.06 14.42 15.09
14036 653.8 8.3 1074 14041 done 0.88 - - 2619 - 2.40 0.053 2443 580.0 97.3 - - 2554 - - - - - - - - 14.50 14.39 14.56
14358 626.4 8.9 1093 14365 roll 0.88 - - 2620 - 2.47 0.080 3847 568.4 97.3 - - 2554 - - - - - - - - 15.06 14.28 15.08
14389 623.5 9.6 1099 14394 done 0.88 - - 2631 - 2.30 0.036 2438 -612.6 97.3 - - 2553 - - - - - - - - 14.59 14.52 14.62
14700 597.1 8.2 1116 14705 roll 0.88 - - 2642 - 2.35 0.050 1049 -591.1 97.3 - - 2554 - - - - - - - - 15.06 14.41 15.09
14778 590.8 8.5 1131 14784 done 0.88 - - 2642 - 2.38 0.051 2436 582.8 97.3 - - 2553 - - - - - - - - 14.37 14.31 14.42
15082 566.0 8.1 1147 15086 roll 0.88 - - 2654 - 2.38 0.049 1044 -584.9 97.3 - - 2553 - - - - - - - - 15.05 14.41 15.08
15108 563.8 8.1 1152 15115 done 0.88 0.15 0.252 2621 -220.0 2.40 0.051 2441 582.1 97.3 - - 2553 - - - - - - - - 13.97 14.39 14.28
15427 541.9 7.0 1170 15432 roll 0.90 - - 2621 - 2.50 0.080 3850 563.6 97.3 - - 2553 - - - - - - - - 15.02 14.26 15.05
15476 537.8 8.1 1179 15481 done 0.90 - - 2632 - 2.30 0.036 2438 -613.9 97.3 - - 2553 - - - - - - - - 14.59 14.52 14.62
15794 515.5 7.1 1197 15798 roll 0.92 - - 2644 - 2.35 0.049 1052 -589.8 97.3 - - 2553 - - - - - - - - 15.04 14.40 15.08
15890 508.6 7.0 1216 15895 done 0.94 - - 2644 - 2.40 0.050 2442 579.2 97.3 - - 2553 - - - - - - - - 14.49 14.38 14.54
16197 487.5 7.2 1232 16201 roll 0.96 - - 2645 - 2.50 0.079 3847 562.0 97.3 - - 2553 - - - - - - - - 15.04 14.26 15.07
16245 483.7 7.9 1241 16249 done 0.96 - - 2656 - 2.30 0.035 2436 -613.5 97.3 - - 2553 - - - - - - - - 14.59 14.52 14.62
16561 459.4 8.1 1259 16567 roll 0.96 - - 2656 - 2.50 0.076 3844 563.2 97.3 - - 2553 - - - - - - - - 15.06 14.27 15.08
16592 456.8 8.6 1265 16596 done 0.96 - - 2668 - 2.30 0.035 2436 -612.2 97.3 - - 2553 - - - - - - - - 14.58 14.52 14.62
16903 431.2 8.3 1282 16905 done 0.96 - - 2668 - - - 2435 - 97.3 - - 2553 - - - - - - - - 15.07 15.10 15.09
17203 407.9 7.7 1297 17207 roll 0.96 - - 2679 - 2.35 0.050 1046 -591.1 97.3 - - 2553 - - - - - - - - 15.07 14.41 15.09
17280 402.1 7.6 1312 17287 done 0.96 0.15 0.243 2645 -226.7 2.40 0.051 2440 580.8 97.3 - - 2553 - - - - - - - - 13.96 14.38 14.26
17607 380.8 6.3 1332 17611 roll 0.99 - - 2645 - 2.50 0.080 3844 561.6 97.3 - - 2553 - - - - - - - - 15.04 14.26 15.07
17685 375.4 6.8 1347 17689 done 1.02 - - 2657 - 2.30 0.034 2436 -612.2 97.3 - - 2553 - - - - - - - - 14.58 14.51 14.61
17989 356.6 5.9 1363 18027 done 1.06 - - 2657 - - - 2435 - 135.4 34.12 1.287 2416 -4.0 0.217 - - - - - - 15.06 14.26 13.19
18331 323.3 10.7 1386 18337 roll 1.06 - - 2667 - 2.35 0.050 1052 -588.5 135.4 - - 2411 - - - - - - - - 14.93 14.43 14.95
18399 315.4 11.1 1399 18403 done 1.06 - - 2667 - 2.40 0.052 2446 580.8 135.4 - - 2411 - - - - - - - - 14.53 14.42 14.57
18717 279.2 11.1 1417 18724 roll 1.06 - - 2668 - 2.45 0.079 3852 573.9 135.4 - - 2410 - - - - - - - - 15.00 14.33 15.03
18781 271.2 12.4 1430 18786 done 1.06 - - 2680 - 2.30 0.035 2443 -612.6 135.4 - - 2410 - - - - - - - - 14.61 14.54 14.64
19092 237.3 10.5 1453 19096 roll 1.06 - - 2692 - 2.35 0.050 1046 -594.5 135.4 - - 2410 - - - - - - - - 15.00 14.43 15.02
19114 234.8 10.0 1457 19118 done 1.06 - - 2692 - 2.40 0.050 2448 584.2 135.4 - - 2410 - - - - - - - - 14.54 14.44 14.59
19305 214.6 10.4 1477 19309 roll 1.06 - - 2705 - 2.38 0.050 1046 -589.1 135.4 - - 2410 - - - - - - - - 15.04 14.44 15.06
19392 205.9 9.8 1494 19398 done 1.06 0.15 0.259 2673 -213.3 2.40 0.050 2445 582.9 135.4 - - 2410 - - - - - - - - 14.01 14.43 14.28
19578 188.5 8.8 1513 19583 roll 1.06 - - 2673 - 2.45 0.077 3842 570.2 135.4 - - 2410 - - - - - - - - 15.02 14.32 15.04
19611 185.4 9.4 1519 19615 done 1.06 - - 2684 - 2.30 0.035 2430 -613.9 135.4 - - 2410 - - - - - - - - 14.62 14.54 14.64
19803 167.6 8.9 1539 19807 roll 1.06 - - 2696 - 2.33 0.049 1044 -594.8 135.4 - - 2410 - - - - - - - - 15.02 14.43 15.04
19869 161.3 8.8 1552 19873 done 1.06 - - 2696 - 2.40 0.050 2443 582.9 135.4 - - 2410 - - - - - - - - 14.54 14.42 14.57
20058 146.1 7.7 1571 20062 roll 1.06 - - 2709 - 2.38 0.048 1040 -589.5 135.4 - - 2410 - - - - - - - - 15.02 14.44 15.04
20129 140.8 7.2 1585 20137 done 1.08 0.15 0.255 2676 -220.0 2.40 0.050 2446 585.8 135.4 - - 2410 - - - - - - - - 14.01 14.43 14.28
20323 128.0 6.5 1605 20327 roll 1.11 - - 2676 - 2.45 0.077 3846 571.4 135.4 - - 2409 - - - - - - - - 15.02 14.31 15.04
20404 121.0 8.0 1621 20408 done 1.11 - - 2688 - 2.28 0.034 2432 -620.2 135.4 - - 2410 - - - - - - - - 14.62 14.56 14.64
20597 112.6 2.7 1641 20688 roll 1.20 - - 2688 - 2.55 0.080 3836 550.6 230.9 83.88 1.000 2024 -4.6 0.101 - - - - - - 15.03 14.26 13.35
20809 89.0 14.5 1683 20813 done 1.20 - - 2700 - 2.28 0.034 2446 -609.6 230.9 - - 2019 - - - - - - - - 14.52 14.45 14.54
21001 72.9 6.8 1703 21005 roll 1.23 - - 2711 - 2.35 0.050 1050 -594.0 230.9 - - 2018 - - - - - - - - 14.90 14.40 14.93
21092 65.1 8.8 1721 21096 done 1.23 - - 2711 - 2.38 0.052 2438 583.2 230.9 - - 2017 - - - - - - - - 14.51 14.40 14.56
21285 55.4 4.3 1741 21353 roll 1.30 0.10 0.146 2787 760.0 2.50 0.077 3843 562.0 298.3 58.58 0.897 1750 -4.6 0.055 - - - - - - 14.63 14.33 13.48
21582 36.8 2.0 1800 21686 done 1.40 - - 2798 - 2.28 0.032 2424 -622.4 405.7 96.03 0.848 1312 -4.6 0.039 - - - - - - 14.59 14.53 13.44
21869 6.9 15.6 1857 21873 roll 1.40 - - 2809 - 2.28 0.052 1070 -593.9 405.7 - - 1310 - - - - - - - - 14.83 14.40 14.85
21893 end climb: SURFACE_DEPTH_REACHED
21893 begin surface coast
21906 end surface coast: CONTROL_FINISHED_OK
21907 begin surface
SM 1.18 - - - - -6.77 7.55 0.040 124 16.4 2.53 0.057 2497 783.0 500.17 105.38 0.614 929 8.8 -0.002 - - - - 1 -