MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 651 * Raw log
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• Previous call tries 1 • 219.76 of 350.00 AH used of 24V (37.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.9 deg, depth 1.12 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 13 s
• GPS2 time: 3 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 - - - 88 VBD -0.67 - - 99 - - - 2499 - -97.3 -76.45 0.005 2697 - - - - - - - - 14.83 - 14.86
92 5.0 -13.9 16 120 roll -0.67 9.45 0.351 2108 212.6 2.33 0.063 1106 -597.9 -97.3 -12.55 0.010 3367 -53.4 5.213 - - - - - - 13.83 13.38 14.30
258 48.8 -17.5 49 263 done -0.67 - - 2098 - 2.42 0.061 2510 580.2 -97.3 - - 3367 - - - - - - - - 14.52 14.40 14.56
450 82.1 -14.1 69 456 roll -0.67 - - 2088 - 2.40 0.081 3896 577.5 -97.3 - - 3367 - - - - - - - - 14.99 14.37 15.02
667 113.7 -13.5 112 672 done -0.67 - - 2088 - 2.25 0.032 2486 -626.7 -97.3 - - 3368 - - - - - - - - 14.66 14.59 14.68
853 138.7 -13.2 131 855 done -0.67 - - 2087 - - - 2486 - -97.3 - - 3368 - - - - - - - - 15.02 15.04 15.04
1033 163.4 -13.7 149 1040 roll -0.67 - - 2077 - 2.47 0.081 3903 573.7 -97.3 - - 3368 - - - - - - - - 15.03 14.40 15.07
1077 169.6 -13.8 158 1082 done -0.67 0.15 0.212 2112 233.3 2.25 0.033 2492 -627.1 -97.3 - - 3368 - - - - - - - - 14.26 14.62 14.47
1263 191.2 -11.7 177 1265 done -0.67 - - 2112 - - - 2492 - -97.3 - - 3368 - - - - - - - - 15.04 15.07 15.07
1442 212.1 -11.4 195 1447 roll -0.67 - - 2104 - 2.47 0.080 3894 567.6 -97.3 - - 3367 - - - - - - - - 15.06 14.39 15.08
1470 215.3 -11.8 200 1474 done -0.67 - - 2104 - 2.22 0.032 2508 -624.3 -97.3 - - 3367 - - - - - - - - 14.69 14.62 14.71
1656 236.7 -11.4 219 1661 roll -0.67 - - 2092 - 2.45 0.083 3900 568.2 -97.3 - - 3366 - - - - - - - - 15.04 14.38 15.07
1683 240.0 -11.6 224 1687 done -0.67 - - 2093 - 2.25 0.033 2499 -622.7 -97.3 - - 3366 - - - - - - - - 14.68 14.62 14.70
1869 262.2 -12.1 238 1871 done -0.67 - - 2092 - - - 2497 - -97.3 - - 3365 - - - - - - - - 15.06 15.09 15.08
2168 299.7 -12.6 253 2174 roll -0.67 - - 2082 - 2.45 0.083 3893 569.8 -97.3 - - 3363 - - - - - - - - 15.07 14.38 15.10
2188 302.3 -12.9 257 2193 done -0.67 0.12 0.210 2111 241.7 2.25 0.034 2492 -622.7 -97.3 - - 3363 - - - - - - - - 14.31 14.61 14.50
2512 339.2 -11.3 276 2518 roll -0.67 - - 2102 - 2.47 0.083 3893 567.2 -97.3 - - 3361 - - - - - - - - 15.07 14.36 15.09
2535 342.2 -12.1 281 2540 done -0.67 - - 2102 - 2.25 0.033 2499 -619.6 -97.3 - - 3361 - - - - - - - - 14.67 14.61 14.69
2852 378.9 -11.4 299 2856 roll -0.67 - - 2102 - 2.33 0.048 1102 -599.6 -97.3 - - 3359 - - - - - - - - 15.07 14.50 15.09
2890 383.2 -11.4 306 2897 done -0.67 - - 2090 - 2.42 0.057 2507 580.6 -97.3 - - 3358 - - - - - - - - 14.56 14.45 14.60
3214 421.0 -11.6 326 3218 roll -0.67 - - 2080 - 2.42 0.084 3893 572.7 -97.3 - - 3358 - - - - - - - - 15.07 14.34 15.10
3292 430.1 -12.1 341 3297 done -0.67 0.12 0.208 2109 241.7 2.28 0.034 2492 -614.5 -97.3 - - 3357 - - - - - - - - 14.28 14.58 14.46
3595 461.4 -10.2 357 3599 roll -0.67 - - 2109 - 2.30 0.047 1108 -601.7 -97.3 - - 3355 - - - - - - - - 15.07 14.48 15.09
3621 464.1 -10.9 362 3625 done -0.67 - - 2100 - 2.40 0.056 2503 581.2 -97.3 - - 3355 - - - - - - - - 14.55 14.43 14.59
3939 497.7 -10.8 380 3941 done -0.67 - - 2100 - - - 2503 - -97.3 - - 3353 - - - - - - - - 15.05 15.09 15.08
4238 530.4 -10.6 395 4242 roll -0.67 - - 2089 - 2.45 0.086 3894 567.8 -97.3 - - 3352 - - - - - - - - 15.07 14.31 15.10
4316 538.7 -10.3 410 4320 done -0.67 - - 2089 - 2.28 0.034 2499 -611.8 -97.3 - - 3352 - - - - - - - - 14.62 14.56 14.65
4622 570.6 -10.4 426 4624 done -0.67 - - 2090 - - - 2497 - -97.3 - - 3350 - - - - - - - - 15.07 15.09 15.09
4921 602.3 -10.8 441 4927 roll -0.67 - - 2078 - 2.50 0.086 3898 560.4 -97.3 - - 3349 - - - - - - - - 15.07 14.28 15.10
4994 610.5 -11.8 455 4999 done -0.67 0.12 0.203 2108 250.0 2.28 0.035 2501 -612.7 -97.3 - - 3349 - - - - - - - - 14.23 14.54 14.42
5307 642.0 -9.9 472 5309 done -0.67 - - 2109 - - - 2500 - -97.3 - - 3348 - - - - - - - - 15.07 15.09 15.09
5606 670.4 -9.3 487 5608 done -0.67 - - 2106 - - - 2500 - -97.3 - - 3348 - - - - - - - - 15.07 15.10 15.09
5907 697.2 -8.7 502 5909 done -0.67 - - 2107 - - - 2500 - -97.3 - - 3346 - - - - - - - - 15.06 15.09 15.09
6206 722.6 -8.7 517 6212 roll -0.67 - - 2098 - 2.50 0.088 3891 556.4 -97.3 - - 3345 - - - - - - - - 15.07 14.23 15.09
6236 725.4 -9.6 523 6241 done -0.67 - - 2098 - 2.28 0.034 2502 -609.2 -97.3 - - 3345 - - - - - - - - 14.58 14.52 14.61
6550 755.1 -9.7 540 6554 roll -0.67 - - 2098 - 2.38 0.050 1103 -587.8 -97.3 - - 3344 - - - - - - - - 15.05 14.38 15.07
6581 758.4 -10.1 546 6589 done -0.67 - - 2087 - 2.42 0.057 2500 577.3 -97.3 - - 3343 - - - - - - - - 14.47 14.34 14.51
6893 790.2 -10.2 563 6895 done -0.67 - - 2087 - - - 2500 - -97.3 - - 3343 - - - - - - - - 15.05 15.08 15.07
7192 820.9 -10.2 578 7196 roll -0.67 - - 2076 - 2.50 0.087 3892 556.8 -97.3 - - 3343 - - - - - - - - 15.06 14.20 15.09
7248 827.0 -10.8 589 7255 done -0.67 0.15 0.197 2112 240.0 2.30 0.036 2495 -607.4 -97.3 - - 3343 - - - - - - - - 14.13 14.47 14.33
7575 855.3 -8.7 609 7578 done -0.67 - - 2113 - - - 2495 - -97.3 - - 3342 - - - - - - - - 15.04 15.07 15.07
7873 881.7 -8.9 624 7876 done -0.67 - - 2112 - - - 2494 - -97.3 - - 3341 - - - - - - - - 15.06 15.09 15.09
8174 908.6 -9.0 639 8176 done -0.67 - - 2112 - - - 2494 - -97.3 - - 3340 - - - - - - - - 15.05 15.08 15.08
8473 935.3 -8.8 654 8475 done -0.67 - - 2112 - - - 2494 - -97.3 - - 3339 - - - - - - - - 15.07 15.09 15.09
8773 960.6 -8.2 669 8775 done -0.67 - - 2112 - - - 2494 - -97.3 - - 3339 - - - - - - - - 15.07 15.09 15.09
9075 985.2 -8.1 684 9079 roll -0.67 - - 2103 - 2.58 0.090 3897 543.8 -97.3 - - 3338 - - - - - - - - 15.04 14.13 15.07
9106 988.0 -8.8 690 9110 done -0.67 - - 2103 - 2.30 0.037 2504 -605.7 -97.3 - - 3338 - - - - - - - - 14.51 14.44 14.54
9134 end dive: TARGET_DEPTH_EXCEEDED
9134 begin apogee
9142 990.8 -8.9 693 9240 done -0.15 0.62 0.164 2278 282.3 - - 2432 - - 93.68 1.981 2968 -3.9 0.386 - - - - - - 13.99 13.95 12.61
9241 end apogee: CONTROL_FINISHED_OK
9241 begin climb
9246 993.5 - 698 9356 done 0.67 0.82 0.091 2549 330.5 - - 2432 - 97.3 104.88 1.959 2571 -3.8 0.375 - - - - - - 14.16 13.53 12.56
9660 971.4 8.3 719 9662 done 0.67 - - 2549 - - - 2431 - 97.3 - - 2564 - - - - - - - - 14.85 14.88 14.88
9959 947.1 7.9 734 9961 done 0.67 - - 2549 - - - 2431 - 97.3 - - 2561 - - - - - - - - 14.95 14.97 14.97
10258 924.9 6.7 749 10262 roll 0.70 - - 2560 - 2.35 0.050 1055 -585.5 97.3 - - 2560 - - - - - - - - 15.00 14.43 15.02
10331 919.9 6.8 763 10336 done 0.72 - - 2560 - 2.40 0.054 2444 578.8 97.3 - - 2559 - - - - - - - - 14.52 14.41 14.57
10645 897.8 7.0 780 10647 done 0.74 - - 2560 - - - 2444 - 97.3 - - 2559 - - - - - - - - 15.00 15.04 15.03
10944 878.0 6.5 795 10949 roll 0.77 - - 2571 - 2.40 0.050 1055 -578.8 97.3 - - 2558 - - - - - - - - 15.03 14.41 15.05
11003 874.3 6.4 806 11007 done 0.81 - - 2571 - 2.40 0.052 2440 577.1 97.3 - - 2557 - - - - - - - - 14.50 14.38 14.55
11306 854.8 6.3 822 11308 done 0.84 - - 2571 - - - 2440 - 97.3 - - 2558 - - - - - - - - 15.04 15.07 15.07
11606 836.4 6.4 837 11613 roll 0.87 0.12 0.123 2642 591.7 2.38 0.047 1053 -582.8 97.3 - - 2557 - - - - - - - - 14.66 14.40 14.67
11733 826.4 7.9 862 11741 done 0.87 0.12 0.252 2617 -208.3 2.40 0.052 2440 577.9 97.3 - - 2556 - - - - - - - - 14.01 14.36 14.30
12050 801.3 8.2 880 12054 roll 0.87 - - 2628 - 2.38 0.049 1053 -582.8 97.3 - - 2556 - - - - - - - - 15.02 14.38 15.05
12072 799.3 8.3 884 12076 done 0.87 - - 2628 - 2.40 0.053 2439 577.5 97.3 - - 2556 - - - - - - - - 14.47 14.35 14.52
12393 770.5 9.0 903 12395 done 0.87 - - 2628 - - - 2439 - 97.3 - - 2556 - - - - - - - - 15.04 15.08 15.07
12694 743.1 9.0 918 12699 roll 0.87 - - 2639 - 2.40 0.049 1053 -577.5 97.3 - - 2556 - - - - - - - - 15.04 14.36 15.06
12856 728.4 8.8 950 12860 done 0.87 - - 2639 - 2.42 0.053 2440 573.1 97.3 - - 2554 - - - - - - - - 14.43 14.32 14.49
13179 700.4 8.6 969 13183 roll 0.87 - - 2651 - 2.38 0.048 1052 -583.2 97.3 - - 2555 - - - - - - - - 15.02 14.35 15.05
13240 695.0 8.4 981 13250 done 0.87 0.17 0.243 2613 -223.5 2.40 0.052 2440 578.3 97.3 - - 2553 - - - - - - - - 13.88 14.32 14.21
13567 671.8 6.8 1000 13569 done 0.90 - - 2613 - - - 2439 - 97.3 - - 2554 - - - - - - - - 15.00 15.02 15.02
13862 651.2 6.7 1015 13864 done 0.93 - - 2613 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
14162 630.6 6.9 1030 14167 roll 0.95 - - 2624 - 2.40 0.049 1050 -579.2 97.3 - - 2555 - - - - - - - - 15.04 14.33 15.07
14273 623.1 7.1 1051 14278 done 0.97 - - 2624 - 2.45 0.052 2447 570.2 97.3 - - 2554 - - - - - - - - 14.40 14.29 14.46
14591 600.1 7.3 1069 14597 roll 0.98 - - 2624 - 2.50 0.080 3851 561.6 97.3 - - 2554 - - - - - - - - 15.04 14.18 15.07
14726 588.9 8.9 1095 14730 done 0.98 - - 2635 - 2.33 0.034 2436 -607.3 97.3 - - 2554 - - - - - - - - 14.51 14.45 14.54
15038 562.8 8.2 1112 15040 done 0.98 - - 2635 - - - 2434 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
15339 538.8 7.7 1127 15343 roll 0.98 - - 2647 - 2.35 0.048 1052 -588.1 97.3 - - 2554 - - - - - - - - 15.03 14.33 15.06
15496 526.3 8.0 1158 15503 done 0.98 - - 2647 - 2.42 0.050 2445 575.6 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.46
15822 502.7 6.9 1178 15830 roll 1.01 - - 2647 - 2.50 0.080 3848 561.2 97.3 - - 2554 - - - - - - - - 15.03 14.16 15.06
15877 498.4 7.9 1189 15881 done 1.01 - - 2660 - 2.33 0.034 2436 -606.0 97.3 - - 2554 - - - - - - - - 14.50 14.44 14.54
16184 477.5 6.8 1205 16186 done 1.03 - - 2660 - - - 2434 - 97.3 - - 2554 - - - - - - - - 15.03 15.06 15.05
16483 457.3 6.7 1220 16487 roll 1.06 - - 2670 - 2.35 0.047 1052 -588.1 97.3 - - 2554 - - - - - - - - 15.04 14.33 15.07
16605 449.2 7.0 1243 16610 done 1.08 - - 2670 - 2.42 0.051 2443 574.8 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
16906 429.1 6.7 1259 16911 roll 1.11 - - 2683 - 2.40 0.047 1043 -583.3 97.3 - - 2554 - - - - - - - - 15.04 14.33 15.07
16968 425.0 6.5 1271 16974 done 1.14 - - 2682 - 2.45 0.050 2448 573.5 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
17293 402.3 7.3 1290 17300 roll 1.15 - - 2683 - 2.47 0.078 3844 565.2 97.3 - - 2554 - - - - - - - - 15.03 14.17 15.06
17459 388.7 8.3 1323 17464 done 1.15 - - 2696 - 2.30 0.034 2439 -610.9 97.3 - - 2554 - - - - - - - - 14.51 14.44 14.54
17776 364.0 7.5 1341 17780 roll 1.16 - - 2707 - 2.35 0.047 1051 -590.6 97.3 - - 2554 - - - - - - - - 15.04 14.33 15.07
18010 346.2 7.4 1387 18015 done 1.17 - - 2707 - 2.40 0.049 2440 578.8 97.3 - - 2554 - - - - - - - - 14.40 14.29 14.45
18323 325.3 6.2 1404 18325 done 1.21 - - 2707 - - - 2440 - 97.3 - - 2554 - - - - - - - - 15.04 15.07 15.07
18624 308.0 5.7 1419 18669 roll 1.25 - - 2724 - 2.45 0.050 1043 -570.2 139.1 37.83 1.239 2399 -4.1 0.199 - - - - - - 15.03 14.30 13.24
18784 291.1 13.0 1451 18789 done 1.25 - - 2724 - 2.40 0.050 2439 581.7 139.1 - - 2396 - - - - - - - - 14.53 14.42 14.57
19107 248.1 13.2 1470 19112 roll 1.25 - - 2738 - 2.38 0.049 1045 -585.7 139.1 - - 2396 - - - - - - - - 14.96 14.39 14.99
19149 242.6 13.0 1478 19153 done 1.25 - - 2738 - 2.40 0.050 2439 580.8 139.1 - - 2395 - - - - - - - - 14.51 14.39 14.54
19342 218.5 12.4 1498 19349 roll 1.25 - - 2738 - 2.47 0.076 3852 572.1 139.1 - - 2395 - - - - - - - - 14.97 14.30 15.00
19359 216.5 13.0 1501 19363 done 1.25 - - 2752 - 2.33 0.036 2436 -607.7 139.1 - - 2395 - - - - - - - - 14.58 14.51 14.60
19543 192.5 12.9 1520 19547 roll 1.25 - - 2763 - 2.35 0.048 1040 -594.0 139.1 - - 2395 - - - - - - - - 14.99 14.40 15.01
19614 183.0 13.1 1534 19620 done 1.25 0.15 0.277 2734 -193.3 2.42 0.050 2444 580.2 139.1 - - 2394 - - - - - - - - 13.92 14.38 14.22
19809 161.8 9.5 1554 19813 roll 1.25 - - 2745 - 2.38 0.048 1046 -587.4 139.1 - - 2394 - - - - - - - - 14.99 14.40 15.01
19857 156.9 10.5 1563 19862 done 1.25 - - 2745 - 2.40 0.050 2438 580.0 139.1 - - 2394 - - - - - - - - 14.49 14.38 14.52
20042 137.9 9.0 1582 20046 done 1.25 - - 2745 - - - 2438 - 139.1 - - 2394 - - - - - - - - 15.00 15.03 15.02
20232 121.7 9.9 1601 20234 done 1.25 - - 2745 - - - 2438 - 139.1 - - 2394 - - - - - - - - 15.00 15.04 15.03
20411 110.2 5.0 1619 20468 roll 1.31 - - 2757 - 2.42 0.048 1043 -576.4 193.4 48.80 1.001 2177 -4.4 0.096 - - - - - - 15.03 14.33 13.39
20502 103.6 10.8 1637 20506 done 1.31 - - 2758 - 2.40 0.050 2442 582.9 193.4 - - 2174 - - - - - - - - 14.54 14.43 14.57
20693 77.0 13.2 1657 20697 roll 1.31 - - 2770 - 2.38 0.047 1041 -588.7 193.4 - - 2172 - - - - - - - - 14.91 14.40 14.93
20710 75.1 12.1 1660 20717 done 1.31 - - 2769 - 2.42 0.049 2450 582.2 193.4 - - 2172 - - - - - - - - 14.50 14.39 14.53
20909 63.9 4.2 1681 20975 roll 1.38 - - 2781 - 2.33 0.047 1047 -602.1 262.8 59.90 0.928 1894 -4.6 0.062 - - - - - - 14.92 13.97 13.41
20987 57.7 11.4 1697 20993 done 1.38 - - 2781 - 2.40 0.047 2450 584.6 262.8 - - 1893 - - - - - - - - 14.50 14.40 14.52
21180 34.6 2.9 1731 21270 roll 1.47 - - 2781 - 2.47 0.078 3845 564.8 354.6 81.93 0.872 1520 -4.6 0.035 - - - - - - 14.85 13.93 13.39
21500 14.6 9.8 1795 21505 done 1.47 - - 2793 - 2.30 0.034 2439 -611.3 354.6 - - 1519 - - - - - - - - 14.53 14.47 14.55
21613 end climb: SURFACE_DEPTH_REACHED
21613 begin surface coast
21641 end surface coast: CONTROL_FINISHED_OK
21641 begin surface
SM 1.06 - - - - -6.78 7.75 0.054 114 14.7 0.10 0.156 2498 14680.0 500.17 150.82 0.673 928 6.2 -0.001 - - - - 1 -