MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 659 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 222.16 of 350.00 AH used of 24V (36.53% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth 1.20 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 20 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 - - - 89 VBD -0.67 - - 111 - - - 2522 - -97.3 -76.90 0.005 2734 - - - - - - - - 14.85 - 14.88
94 5.0 -14.4 16 120 roll -0.67 9.35 0.350 2096 212.3 2.33 0.093 3880 582.8 -97.3 -11.73 0.010 3367 -54.0 5.257 - - - - - - 13.85 12.59 14.31
349 71.1 -14.3 67 354 done -0.67 - - 2096 - 2.22 0.031 2483 -629.3 -97.3 - - 3367 - - - - - - - - 14.65 14.60 14.67
533 95.9 -12.2 86 540 roll -0.67 - - 2086 - 2.42 0.079 3881 577.7 -97.3 - - 3367 - - - - - - - - 15.01 14.42 15.04
769 130.2 -14.1 133 773 done -0.67 - - 2086 - 2.20 0.033 2501 -627.3 -97.3 - - 3367 - - - - - - - - 14.69 14.64 14.71
954 154.5 -12.9 152 958 roll -0.67 - - 2075 - 2.40 0.081 3878 573.8 -97.3 - - 3367 - - - - - - - - 15.04 14.42 15.07
1071 170.2 -13.4 175 1077 done -0.67 0.15 0.213 2111 240.0 2.20 0.033 2497 -627.7 -97.3 - - 3367 - - - - - - - - 14.28 14.64 14.49
1255 190.4 -10.9 194 1259 roll -0.67 - - 2111 - 2.28 0.047 1107 -609.6 -97.3 - - 3367 - - - - - - - - 15.06 14.55 15.09
1296 195.0 -11.0 202 1300 done -0.67 - - 2102 - 2.35 0.057 2491 588.9 -97.3 - - 3366 - - - - - - - - 14.62 14.50 14.66
1489 216.1 -11.3 222 1493 roll -0.67 - - 2091 - 2.42 0.080 3897 581.0 -97.3 - - 3366 - - - - - - - - 15.05 14.42 15.08
1549 223.5 -11.7 234 1554 done -0.67 - - 2091 - 2.22 0.032 2503 -627.9 -97.3 - - 3365 - - - - - - - - 14.70 14.64 14.72
1742 246.7 -12.4 254 1749 roll -0.67 - - 2080 - 2.45 0.083 3900 570.2 -97.3 - - 3364 - - - - - - - - 15.04 14.41 15.07
1786 252.5 -12.7 263 1792 done -0.67 0.12 0.209 2109 241.7 2.25 0.034 2498 -623.1 -97.3 - - 3364 - - - - - - - - 14.33 14.63 14.52
2105 288.7 -11.4 281 2109 roll -0.67 - - 2110 - 2.30 0.047 1108 -604.3 -97.3 - - 3361 - - - - - - - - 15.07 14.53 15.09
2131 291.9 -11.6 286 2135 done -0.67 - - 2100 - 2.38 0.056 2500 584.9 -97.3 - - 3360 - - - - - - - - 14.61 14.49 14.64
2448 329.8 -11.8 304 2452 roll -0.67 - - 2089 - 2.42 0.083 3896 576.9 -97.3 - - 3358 - - - - - - - - 15.07 14.40 15.09
2495 335.5 -12.3 313 2499 done -0.67 - - 2089 - 2.25 0.034 2498 -621.3 -97.3 - - 3358 - - - - - - - - 14.69 14.62 14.71
2811 372.9 -11.4 331 2813 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3357 - - - - - - - - 15.07 15.10 15.10
3111 406.9 -11.3 346 3113 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3354 - - - - - - - - 15.07 15.11 15.10
3413 440.8 -11.3 361 3415 done -0.67 - - 2089 - - - 2497 - -97.3 - - 3352 - - - - - - - - 15.07 15.09 15.09
3712 473.8 -10.8 376 3717 roll -0.67 - - 2079 - 2.45 0.086 3886 566.9 -97.3 - - 3350 - - - - - - - - 15.07 14.28 15.10
3744 477.5 -11.3 382 3749 done -0.67 0.12 0.207 2108 241.7 2.25 0.035 2498 -616.9 -97.3 - - 3350 - - - - - - - - 14.28 14.59 14.47
4057 508.2 -9.9 399 4059 done -0.67 - - 2108 - - - 2497 - -97.3 - - 3349 - - - - - - - - 15.07 15.09 15.09
4356 537.5 -9.6 414 4361 roll -0.67 - - 2108 - 2.33 0.049 1109 -595.7 -97.3 - - 3348 - - - - - - - - 15.07 14.47 15.10
4398 541.6 -9.6 422 4402 done -0.67 - - 2099 - 2.40 0.058 2500 579.6 -97.3 - - 3347 - - - - - - - - 14.54 14.42 14.59
4720 573.4 -10.2 441 4726 roll -0.67 - - 2088 - 2.45 0.085 3892 568.2 -97.3 - - 3346 - - - - - - - - 15.06 14.31 15.09
4779 579.9 -10.7 453 4784 done -0.67 - - 2088 - 2.25 0.034 2496 -620.4 -97.3 - - 3345 - - - - - - - - 14.54 14.52 14.57
5103 614.7 -10.9 472 5107 roll -0.67 - - 2088 - 2.33 0.049 1107 -596.1 -97.3 - - 3344 - - - - - - - - 15.06 14.45 15.09
5124 617.3 -11.1 476 5132 done -0.67 0.15 0.203 2112 160.0 2.42 0.060 2507 578.5 -97.3 - - 3344 - - - - - - - - 14.17 14.40 14.38
5444 648.1 -9.7 495 5449 roll -0.67 - - 2104 - 2.45 0.086 3894 566.1 -97.3 - - 3343 - - - - - - - - 15.08 14.28 15.10
5487 652.3 -10.3 503 5492 done -0.67 - - 2104 - 2.28 0.036 2497 -612.7 -97.3 - - 3343 - - - - - - - - 14.61 14.54 14.64
5809 685.8 -10.5 522 5811 done -0.67 - - 2104 - - - 2495 - -97.3 - - 3343 - - - - - - - - 15.07 15.10 15.10
6109 716.8 -10.2 537 6111 done -0.67 - - 2104 - - - 2495 - -97.3 - - 3341 - - - - - - - - 15.07 15.11 15.10
6409 746.8 -9.8 552 6414 roll -0.67 - - 2104 - 2.33 0.050 1111 -594.0 -97.3 - - 3340 - - - - - - - - 15.07 14.40 15.09
6436 749.5 -10.2 557 6442 done -0.67 - - 2092 - 2.42 0.063 2499 573.6 -97.3 - - 3339 - - - - - - - - 14.48 14.35 14.52
6752 780.7 -9.9 575 6757 roll -0.67 - - 2082 - 2.47 0.086 3890 563.2 -97.3 - - 3339 - - - - - - - - 15.06 14.23 15.09
6789 784.8 -10.7 582 6794 done -0.67 0.12 0.203 2111 241.7 2.30 0.036 2498 -605.2 -97.3 - - 3339 - - - - - - - - 14.19 14.49 14.37
7094 811.5 -8.6 598 7096 done -0.67 - - 2111 - - - 2496 - -97.3 - - 3338 - - - - - - - - 15.07 15.09 15.09
7395 838.3 -9.3 613 7402 roll -0.67 - - 2102 - 2.50 0.087 3890 557.6 -97.3 - - 3337 - - - - - - - - 15.05 14.21 15.08
7454 844.1 -9.9 625 7458 done -0.67 - - 2103 - 2.28 0.037 2503 -608.3 -97.3 - - 3337 - - - - - - - - 14.55 14.48 14.58
7777 876.5 -9.9 644 7779 done -0.67 - - 2102 - - - 2502 - -97.3 - - 3336 - - - - - - - - 15.04 15.08 15.07
8075 905.7 -9.6 659 8080 roll -0.67 - - 2091 - 2.50 0.088 3890 555.2 -97.3 - - 3335 - - - - - - - - 15.07 14.18 15.09
8117 910.0 -10.2 667 8122 done -0.67 - - 2091 - 2.30 0.037 2494 -607.0 -97.3 - - 3335 - - - - - - - - 14.54 14.46 14.57
8440 941.7 -9.7 686 8445 roll -0.67 - - 2091 - 2.38 0.051 1107 -582.8 -97.3 - - 3334 - - - - - - - - 15.05 14.33 15.07
8466 944.5 -10.1 691 8472 done -0.67 0.12 0.204 2110 158.3 2.45 0.064 2497 567.3 -97.3 - - 3334 - - - - - - - - 14.09 14.28 14.28
8784 971.1 -8.2 709 8787 done -0.67 - - 2110 - - - 2497 - -97.3 - - 3334 - - - - - - - - 15.05 15.09 15.08
9021 end dive: TARGET_DEPTH_EXCEEDED
9021 begin apogee
9030 990.3 -8.0 721 9126 done -0.15 0.60 0.164 2279 281.7 - - 2497 - - 92.12 1.984 2968 -4.0 0.386 - - - - - - 14.00 13.95 12.64
9127 end apogee: CONTROL_FINISHED_OK
9127 begin climb
9131 992.8 - 726 9247 roll 0.67 0.82 0.087 2563 346.3 2.60 0.050 1050 -556.5 97.3 103.03 1.964 2569 -3.9 0.381 - - - - - - 14.15 13.96 12.60
9289 991.4 5.7 758 9338 done 0.71 - - 2563 - 2.45 0.057 2444 569.0 139.4 43.33 1.920 2399 -3.9 0.395 - - - - - - 14.36 14.26 12.66
9652 955.4 10.6 785 9658 roll 0.71 - - 2563 - 2.47 0.084 3845 567.2 139.4 - - 2392 - - - - - - - - 14.88 14.33 14.90
9715 947.7 12.0 798 9720 done 0.71 - - 2575 - 2.33 0.038 2437 -604.3 139.4 - - 2391 - - - - - - - - 14.57 14.51 14.61
10032 915.0 10.1 816 10036 roll 0.71 - - 2586 - 2.38 0.053 1042 -586.1 139.4 - - 2389 - - - - - - - - 14.97 14.45 15.00
10172 901.2 10.0 843 10177 done 0.71 - - 2586 - 2.45 0.057 2445 572.7 139.4 - - 2389 - - - - - - - - 14.53 14.41 14.58
10475 868.5 10.6 859 10480 roll 0.71 - - 2598 - 2.40 0.051 1043 -584.2 139.4 - - 2388 - - - - - - - - 15.02 14.44 15.04
10518 864.0 10.8 867 10524 done 0.71 0.15 0.225 2565 -220.0 2.42 0.054 2447 580.2 139.4 - - 2388 - - - - - - - - 14.10 14.41 14.38
10841 831.9 10.0 886 10843 done 0.71 - - 2565 - - - 2447 - 139.4 - - 2387 - - - - - - - - 15.03 15.07 15.06
11142 801.8 10.0 901 11147 roll 0.71 - - 2565 - 2.50 0.083 3852 562.0 139.4 - - 2387 - - - - - - - - 15.03 14.29 15.06
11204 794.7 11.5 913 11208 done 0.71 - - 2576 - 2.33 0.037 2439 -606.4 139.4 - - 2387 - - - - - - - - 14.59 14.52 14.62
11526 760.5 10.4 932 11530 roll 0.71 - - 2587 - 2.38 0.051 1043 -586.6 139.4 - - 2386 - - - - - - - - 15.04 14.40 15.07
11623 750.6 9.7 951 11628 done 0.71 - - 2588 - 2.42 0.054 2440 577.3 139.4 - - 2385 - - - - - - - - 14.49 14.37 14.54
11927 720.7 9.6 967 11932 roll 0.71 - - 2599 - 2.42 0.053 1039 -578.9 139.4 - - 2385 - - - - - - - - 15.04 14.39 15.07
12006 713.1 10.1 982 12014 done 0.71 0.15 0.213 2561 -253.3 2.45 0.054 2445 573.9 139.4 - - 2385 - - - - - - - - 14.01 14.35 14.14
12333 683.9 9.0 1002 12337 roll 0.71 - - 2572 - 2.40 0.050 1044 -583.8 139.4 - - 2385 - - - - - - - - 15.02 14.38 15.04
12379 679.6 9.1 1011 12384 done 0.71 - - 2572 - 2.42 0.054 2440 576.9 139.4 - - 2384 - - - - - - - - 14.47 14.35 14.52
12698 648.7 9.9 1029 12700 done 0.71 - - 2573 - - - 2441 - 139.4 - - 2384 - - - - - - - - 15.03 15.06 15.06
12997 619.0 10.2 1044 13001 roll 0.71 - - 2583 - 2.42 0.051 1042 -578.1 139.4 - - 2384 - - - - - - - - 15.04 14.36 15.07
13093 608.9 10.6 1063 13098 done 0.71 - - 2584 - 2.45 0.054 2445 572.7 139.4 - - 2384 - - - - - - - - 14.45 14.33 14.50
13398 575.1 11.1 1079 13404 roll 0.71 - - 2584 - 2.53 0.083 3851 555.7 139.4 - - 2384 - - - - - - - - 15.04 14.21 15.07
13477 565.8 12.3 1094 13485 done 0.71 0.15 0.236 2563 -140.0 2.38 0.037 2432 -596.2 139.4 - - 2384 - - - - - - - - 14.00 14.46 14.28
13805 534.5 9.0 1114 13809 roll 0.71 - - 2572 - 2.38 0.051 1040 -584.9 139.4 - - 2384 - - - - - - - - 15.02 14.35 15.05
13866 528.9 8.7 1126 13873 done 0.71 - - 2572 - 2.42 0.054 2439 578.1 139.4 - - 2384 - - - - - - - - 14.43 14.31 14.50
14187 501.0 8.4 1145 14191 roll 0.71 - - 2582 - 2.40 0.051 1043 -581.7 139.4 - - 2384 - - - - - - - - 15.04 14.34 15.07
14248 495.8 8.4 1157 14255 done 0.71 - - 2582 - 2.42 0.054 2440 577.3 139.4 - - 2384 - - - - - - - - 14.43 14.31 14.49
14570 467.3 9.3 1176 14572 done 0.71 - - 2582 - - - 2440 - 139.4 - - 2384 - - - - - - - - 15.03 15.06 15.05
14868 438.9 9.7 1191 14874 roll 0.71 - - 2594 - 2.42 0.050 1041 -578.1 139.4 - - 2384 - - - - - - - - 15.04 14.33 15.07
14911 434.7 9.9 1199 14917 done 0.71 0.15 0.212 2561 -220.0 2.42 0.053 2440 578.1 139.4 - - 2384 - - - - - - - - 14.00 14.31 14.26
15235 406.7 8.6 1218 15237 done 0.71 - - 2561 - - - 2440 - 139.4 - - 2384 - - - - - - - - 15.04 15.07 15.07
15534 379.7 9.1 1233 15538 roll 0.71 - - 2572 - 2.40 0.050 1042 -582.5 139.4 - - 2384 - - - - - - - - 15.05 14.34 15.08
15572 376.6 8.9 1240 15578 done 0.71 - - 2572 - 2.45 0.053 2447 573.5 139.4 - - 2384 - - - - - - - - 14.42 14.30 14.47
15897 347.3 8.6 1260 15901 roll 0.71 - - 2583 - 2.40 0.050 1043 -585.0 139.4 - - 2384 - - - - - - - - 15.04 14.33 15.07
15939 343.6 9.1 1268 15946 done 0.71 - - 2583 - 2.42 0.053 2441 577.7 139.4 - - 2384 - - - - - - - - 14.42 14.31 14.48
16260 314.4 9.1 1287 16262 done 0.71 - - 2584 - - - 2442 - 139.4 - - 2384 - - - - - - - - 15.03 15.07 15.06
16559 289.6 8.0 1302 16563 roll 0.71 - - 2595 - 2.40 0.050 1043 -582.9 139.4 - - 2384 - - - - - - - - 15.05 14.33 15.07
16586 287.4 8.1 1307 16592 done 0.71 0.15 0.211 2562 -220.0 2.42 0.054 2441 577.7 139.4 - - 2384 - - - - - - - - 14.00 14.30 14.26
16907 266.0 6.4 1325 16911 roll 0.74 - - 2573 - 2.40 0.050 1043 -582.5 139.4 - - 2384 - - - - - - - - 15.02 14.33 15.05
16969 261.8 6.4 1337 16975 done 0.78 - - 2573 - 2.42 0.054 2441 577.7 139.4 - - 2384 - - - - - - - - 14.42 14.30 14.47
17282 238.8 8.4 1362 17285 done 0.78 - - 2573 - - - 2441 - 139.4 - - 2384 - - - - - - - - 15.00 15.03 15.03
17468 223.7 7.6 1381 17473 roll 0.78 - - 2583 - 2.40 0.050 1042 -582.9 139.4 - - 2384 - - - - - - - - 15.03 14.33 15.06
17501 221.4 7.5 1387 17506 done 0.79 - - 2584 - 2.42 0.054 2440 577.7 139.4 - - 2384 - - - - - - - - 14.41 14.30 14.47
17693 205.9 7.7 1407 17699 roll 0.79 - - 2583 - 2.50 0.081 3845 562.0 139.4 - - 2384 - - - - - - - - 15.03 14.16 15.06
17757 200.5 8.9 1419 17762 done 0.79 - - 2595 - 2.33 0.035 2427 -608.6 139.4 - - 2384 - - - - - - - - 14.52 14.45 14.55
17949 185.2 7.8 1439 17954 roll 0.79 - - 2605 - 2.35 0.050 1048 -586.8 139.4 - - 2384 - - - - - - - - 15.03 14.32 15.06
18032 179.0 7.3 1455 18037 done 0.80 - - 2606 - 2.42 0.054 2445 577.3 139.4 - - 2384 - - - - - - - - 14.40 14.29 14.47
18225 164.0 8.0 1475 18230 roll 0.80 - - 2617 - 2.40 0.048 1044 -583.8 139.4 - - 2384 - - - - - - - - 15.02 14.33 15.05
18267 160.3 9.0 1483 18272 done 0.80 - - 2617 - 2.42 0.053 2442 577.7 139.4 - - 2384 - - - - - - - - 14.42 14.29 14.47
18460 144.9 7.7 1503 18463 done 0.80 - - 2617 - - - 2442 - 139.4 - - 2384 - - - - - - - - 15.02 15.05 15.04
18640 133.2 5.4 1521 18688 roll 0.85 - - 2630 - 2.40 0.050 1040 -584.2 187.4 42.17 1.030 2203 -4.3 0.108 - - - - - - 15.02 14.33 13.39
18777 122.0 9.7 1548 18781 done 0.85 - - 2630 - 2.42 0.054 2440 578.5 187.4 - - 2200 - - - - - - - - 14.51 14.40 14.54
18961 105.1 9.2 1567 18967 roll 0.85 - - 2642 - 2.40 0.051 1042 -582.5 187.4 - - 2199 - - - - - - - - 14.94 14.40 14.96
19020 100.0 9.0 1578 19028 done 0.85 0.15 0.216 2610 -213.3 2.42 0.053 2442 578.5 187.4 - - 2198 - - - - - - - - 14.11 14.38 14.31
19218 86.6 5.8 1599 19259 roll 0.89 - - 2610 - 2.45 0.080 3845 572.7 227.3 35.40 0.947 2040 -4.5 0.080 - - - - - - 14.96 14.02 13.43
19337 78.5 7.6 1623 19342 done 0.89 - - 2620 - 2.30 0.034 2432 -614.3 227.3 - - 2037 - - - - - - - - 14.57 14.51 14.59
19529 64.6 8.0 1643 19535 roll 0.89 - - 2620 - 2.53 0.085 3846 558.9 227.3 - - 2036 - - - - - - - - 14.94 14.28 14.97
19593 59.5 8.1 1655 19598 done 0.89 - - 2632 - 2.30 0.035 2434 -613.9 227.3 - - 2035 - - - - - - - - 14.57 14.50 14.59
19785 52.2 2.6 1675 19878 roll 0.99 - - 2643 - 2.40 0.051 1049 -577.1 324.7 85.93 0.891 1643 -4.6 0.052 - - - - - - 14.99 14.26 13.41
19949 44.2 6.3 1707 19954 done 1.02 - - 2644 - 2.40 0.053 2442 580.4 324.7 - - 1641 - - - - - - - - 14.45 14.34 14.48
20138 32.4 2.8 1744 20230 roll 1.12 0.12 0.111 2721 641.7 2.47 0.080 3844 567.6 419.1 85.12 0.836 1258 -4.5 0.034 - - - - - - 14.57 14.25 13.47
20265 23.2 11.8 1769 20272 done 1.12 0.17 0.216 2691 -176.5 2.30 0.035 2444 -608.7 419.1 - - 1257 - - - - - - - - 14.11 14.40 14.33
20459 5.4 9.1 1807 20464 roll 1.12 - - 2701 - 2.35 0.050 1044 -595.7 419.1 - - 1256 - - - - - - - - 14.87 14.39 14.89
20488 end climb: SURFACE_DEPTH_REACHED
20488 begin surface coast
20493 end surface coast: CONTROL_FINISHED_OK
20493 begin surface
SM 1.11 - - - - -6.76 7.80 0.086 137 17.6 2.55 0.054 2498 777.3 500.17 93.72 0.596 928 9.9 -0.002 - - - - 1 -