MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 660 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 222.46 of 350.00 AH used of 24V (36.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth 1.17 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: 3 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
5 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 83 VBD -0.67 - - 122 - - - 2500 - -97.3 -71.15 0.005 2571 - - - - - - - - 14.84 - 14.87
87 4.3 -11.0 15 119 roll -0.67 9.25 0.347 2105 214.4 2.40 0.070 1102 -582.5 -97.3 -15.95 0.008 3368 -50.0 5.241 - - - - - - 13.85 12.57 14.31
237 43.5 -15.7 45 245 done -0.67 - - 2096 - 2.40 0.060 2499 582.1 -97.3 - - 3367 - - - - - - - - 14.54 14.42 14.57
433 82.4 -20.0 68 437 roll -0.67 - - 2096 - 2.33 0.048 1098 -601.3 -97.3 - - 3368 - - - - - - - - 15.00 14.50 15.02
535 98.6 -16.7 88 541 done -0.67 - - 2085 - 2.40 0.060 2504 585.8 -97.3 - - 3368 - - - - - - - - 14.59 14.47 14.62
724 126.2 -14.1 108 728 roll -0.67 - - 2075 - 2.40 0.080 3894 579.2 -97.3 - - 3368 - - - - - - - - 15.03 14.42 15.05
776 133.3 -13.3 118 782 done -0.67 0.15 0.222 2109 226.7 2.22 0.031 2484 -635.1 -97.3 - - 3368 - - - - - - - - 14.25 14.63 14.47
969 155.8 -11.4 138 974 roll -0.67 - - 2109 - 2.25 0.048 1112 -609.8 -97.3 - - 3368 - - - - - - - - 15.05 14.53 15.08
1017 161.3 -11.4 147 1021 done -0.67 - - 2100 - 2.35 0.054 2502 591.5 -97.3 - - 3368 - - - - - - - - 14.62 14.51 14.66
1202 182.6 -11.3 166 1208 roll -0.67 - - 2088 - 2.40 0.080 3890 578.3 -97.3 - - 3368 - - - - - - - - 15.05 14.42 15.08
1259 189.6 -11.8 177 1264 done -0.67 - - 2089 - 2.20 0.031 2507 -628.6 -97.3 - - 3368 - - - - - - - - 14.70 14.64 14.72
1446 211.3 -11.6 196 1448 done -0.67 - - 2088 - - - 2505 - -97.3 - - 3367 - - - - - - - - 15.04 15.07 15.07
1625 233.2 -12.3 214 1627 done -0.67 - - 2088 - - - 2506 - -97.3 - - 3366 - - - - - - - - 15.07 15.09 15.09
1806 255.9 -12.7 230 1808 done -0.67 - - 2089 - - - 2506 - -97.3 - - 3365 - - - - - - - - 15.07 15.09 15.09
2105 292.3 -12.0 245 2109 roll -0.67 - - 2078 - 2.42 0.081 3894 573.6 -97.3 - - 3363 - - - - - - - - 15.08 14.40 15.11
2136 296.1 -13.1 251 2141 done -0.67 0.12 0.211 2107 241.7 2.25 0.033 2491 -623.6 -97.3 - - 3362 - - - - - - - - 14.31 14.63 14.50
2449 331.0 -11.0 268 2451 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3361 - - - - - - - - 15.07 15.10 15.09
2749 362.5 -10.2 283 2751 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3359 - - - - - - - - 15.08 15.11 15.10
3048 392.8 -10.1 298 3050 done -0.67 - - 2107 - - - 2490 - -97.3 - - 3357 - - - - - - - - 15.08 15.11 15.11
3349 422.8 -9.9 313 3354 roll -0.67 - - 2098 - 2.47 0.083 3891 567.2 -97.3 - - 3354 - - - - - - - - 15.07 14.35 15.09
3381 426.1 -10.7 319 3385 done -0.67 - - 2098 - 2.25 0.034 2495 -620.4 -97.3 - - 3354 - - - - - - - - 14.66 14.60 14.69
3692 458.9 -10.7 336 3695 done -0.67 - - 2098 - - - 2494 - -97.3 - - 3353 - - - - - - - - 15.07 15.11 15.10
3994 490.9 -10.7 351 3999 roll -0.67 - - 2098 - 2.33 0.049 1107 -595.3 -97.3 - - 3351 - - - - - - - - 15.06 14.46 15.09
4026 494.5 -11.3 357 4030 done -0.67 - - 2087 - 2.40 0.057 2500 580.4 -97.3 - - 3351 - - - - - - - - 14.55 14.43 14.59
4337 529.9 -11.3 374 4339 done -0.67 - - 2087 - - - 2500 - -97.3 - - 3350 - - - - - - - - 15.07 15.11 15.09
4638 563.9 -11.4 389 4645 roll -0.67 - - 2076 - 2.45 0.084 3896 569.8 -97.3 - - 3348 - - - - - - - - 15.07 14.31 15.09
4674 568.3 -12.4 396 4678 done -0.67 0.15 0.200 2112 240.0 2.28 0.034 2495 -614.5 -97.3 - - 3348 - - - - - - - - 14.21 14.56 14.42
4980 597.1 -8.9 412 4986 roll -0.67 - - 2103 - 2.47 0.083 3891 565.2 -97.3 - - 3348 - - - - - - - - 15.06 14.30 15.08
5029 601.5 -8.9 422 5033 done -0.67 - - 2103 - 2.25 0.034 2500 -618.2 -97.3 - - 3347 - - - - - - - - 14.62 14.56 14.65
5341 628.9 -8.8 439 5345 roll -0.67 - - 2103 - 2.35 0.050 1106 -593.2 -97.3 - - 3346 - - - - - - - - 15.07 14.42 15.09
5384 632.7 -8.9 447 5388 done -0.67 - - 2092 - 2.45 0.059 2505 571.0 -97.3 - - 3346 - - - - - - - - 14.50 14.38 14.54
5705 662.6 -9.5 466 5710 roll -0.67 - - 2082 - 2.45 0.085 3896 567.8 -97.3 - - 3345 - - - - - - - - 15.07 14.27 15.09
5753 667.4 -10.4 475 5758 done -0.67 0.12 0.203 2111 241.7 2.28 0.035 2499 -612.7 -97.3 - - 3344 - - - - - - - - 14.23 14.53 14.40
6071 695.7 -9.1 493 6075 roll -0.67 - - 2111 - 2.33 0.050 1113 -594.8 -97.3 - - 3343 - - - - - - - - 15.06 14.40 15.09
6112 699.8 -9.4 501 6119 done -0.67 - - 2102 - 2.40 0.060 2499 577.5 -97.3 - - 3343 - - - - - - - - 14.48 14.36 14.53
6433 731.6 -9.9 520 6440 roll -0.67 - - 2091 - 2.47 0.086 3897 566.0 -97.3 - - 3342 - - - - - - - - 15.06 14.24 15.08
6488 737.3 -10.6 531 6492 done -0.67 - - 2091 - 2.30 0.036 2495 -609.6 -97.3 - - 3342 - - - - - - - - 14.57 14.50 14.59
6793 769.4 -10.6 547 6797 roll -0.67 - - 2091 - 2.35 0.050 1101 -593.2 -97.3 - - 3341 - - - - - - - - 15.06 14.38 15.08
6830 773.4 -10.9 554 6836 done -0.67 0.12 0.211 2109 150.0 2.45 0.059 2501 571.4 -97.3 - - 3341 - - - - - - - - 14.12 14.33 14.32
7134 802.9 -9.7 570 7139 roll -0.67 - - 2100 - 2.47 0.086 3897 565.2 -97.3 - - 3340 - - - - - - - - 15.07 14.22 15.09
7171 806.6 -10.1 577 7175 done -0.67 - - 2100 - 2.30 0.036 2497 -608.7 -97.3 - - 3340 - - - - - - - - 14.56 14.49 14.58
7477 837.3 -10.1 593 7485 roll -0.67 - - 2089 - 2.53 0.087 3900 554.5 -97.3 - - 3339 - - - - - - - - 15.05 14.20 15.08
7531 842.6 -10.5 603 7535 done -0.67 - - 2089 - 2.30 0.037 2503 -607.4 -97.3 - - 3339 - - - - - - - - 14.54 14.47 14.57
7843 874.7 -10.0 620 7847 roll -0.67 - - 2089 - 2.38 0.051 1101 -589.1 -97.3 - - 3338 - - - - - - - - 15.05 14.35 15.08
7864 877.0 -10.1 624 7872 done -0.67 0.12 0.207 2108 158.3 2.45 0.060 2502 571.8 -97.3 - - 3338 - - - - - - - - 14.11 14.30 14.30
8185 903.8 -8.1 643 8189 roll -0.67 - - 2098 - 2.50 0.086 3894 556.8 -97.3 - - 3337 - - - - - - - - 15.05 14.17 15.08
8218 906.5 -8.6 649 8222 done -0.67 - - 2099 - 2.30 0.037 2499 -606.5 -97.3 - - 3337 - - - - - - - - 14.53 14.46 14.56
8530 933.1 -8.5 666 8535 roll -0.67 - - 2098 - 2.38 0.051 1102 -587.0 -97.3 - - 3336 - - - - - - - - 15.04 14.33 15.07
8567 936.4 -8.6 673 8574 done -0.67 - - 2088 - 2.47 0.060 2507 568.8 -97.3 - - 3336 - - - - - - - - 14.40 14.27 14.45
8894 965.6 -9.2 693 8901 roll -0.67 - - 2077 - 2.47 0.086 3893 561.1 -97.3 - - 3335 - - - - - - - - 15.04 14.15 15.07
8965 972.7 -10.2 707 8972 done -0.67 0.15 0.198 2113 240.0 2.30 0.037 2497 -607.0 -97.3 - - 3335 - - - - - - - - 14.08 14.43 14.28
9170 end dive: TARGET_DEPTH_EXCEEDED
9170 begin apogee
9179 990.0 -8.0 719 9276 done -0.15 0.57 0.160 2277 287.7 - - 2496 - - 92.90 1.979 2968 -4.0 0.386 - - - - - - 14.02 13.95 12.64
9278 end apogee: CONTROL_FINISHED_OK
9278 begin climb
9281 992.9 - 724 9400 roll 0.67 0.82 0.090 2549 331.7 2.47 0.082 3855 550.2 97.3 104.00 1.952 2569 -3.8 0.381 - - - - - - 14.14 13.58 12.59
9459 990.4 6.8 760 9463 done 0.70 - - 2559 - 2.35 0.037 2444 -600.4 97.3 - - 2565 - - - - - - - - 14.42 14.36 14.44
9781 967.5 7.2 779 9785 roll 0.71 - - 2571 - 2.40 0.054 1038 -585.8 97.3 - - 2562 - - - - - - - - 14.91 14.41 14.94
9829 964.2 7.1 788 9835 done 0.73 - - 2571 - 2.45 0.057 2446 574.7 97.3 - - 2561 - - - - - - - - 14.51 14.40 14.56
10142 941.1 7.2 806 10148 roll 0.75 - - 2571 - 2.50 0.081 3852 562.4 97.3 - - 2560 - - - - - - - - 14.99 14.33 15.02
10326 925.7 8.3 842 10331 done 0.75 - - 2582 - 2.33 0.037 2439 -606.4 97.3 - - 2559 - - - - - - - - 14.59 14.51 14.62
10648 902.1 7.2 861 10653 roll 0.77 - - 2593 - 2.38 0.053 1045 -585.7 97.3 - - 2558 - - - - - - - - 15.02 14.42 15.04
10736 895.9 7.1 878 10741 done 0.79 - - 2593 - 2.42 0.054 2447 579.3 97.3 - - 2557 - - - - - - - - 14.51 14.40 14.56
11054 872.0 7.5 896 11056 done 0.80 - - 2593 - - - 2448 - 97.3 - - 2557 - - - - - - - - 15.03 15.07 15.06
11355 849.4 7.4 911 11357 done 0.81 - - 2593 - - - 2448 - 97.3 - - 2557 - - - - - - - - 15.02 15.05 15.05
11654 827.5 7.3 926 11658 roll 0.82 - - 2604 - 2.42 0.052 1039 -582.2 97.3 - - 2556 - - - - - - - - 15.04 14.39 15.07
11682 825.4 7.5 931 11688 done 0.84 - - 2604 - 2.42 0.053 2441 579.3 97.3 - - 2556 - - - - - - - - 14.49 14.38 14.54
11997 800.8 7.7 949 12004 roll 0.84 - - 2605 - 2.50 0.080 3852 564.4 97.3 - - 2556 - - - - - - - - 15.03 14.26 15.06
12167 785.4 9.2 983 12171 done 0.84 - - 2615 - 2.33 0.036 2437 -607.3 97.3 - - 2556 - - - - - - - - 14.54 14.48 14.58
12479 760.2 8.0 1000 12484 roll 0.84 - - 2626 - 2.38 0.051 1046 -584.5 97.3 - - 2555 - - - - - - - - 15.03 14.36 15.06
12619 749.4 7.9 1027 12623 done 0.84 - - 2626 - 2.42 0.052 2441 576.4 97.3 - - 2555 - - - - - - - - 14.45 14.33 14.50
12923 724.7 7.9 1043 12927 roll 0.84 - - 2639 - 2.40 0.050 1045 -581.7 97.3 - - 2555 - - - - - - - - 15.03 14.35 15.06
12959 721.7 8.0 1050 12965 done 0.84 0.17 0.232 2601 -223.5 2.42 0.052 2442 577.3 97.3 - - 2554 - - - - - - - - 13.92 14.33 14.23
13269 698.9 7.4 1066 13274 roll 0.85 - - 2601 - 2.47 0.079 3844 567.6 97.3 - - 2555 - - - - - - - - 15.00 14.21 15.02
13326 693.7 8.8 1077 13331 done 0.85 - - 2612 - 2.33 0.035 2435 -604.7 97.3 - - 2554 - - - - - - - - 14.52 14.46 14.56
13631 668.7 8.0 1093 13636 roll 0.85 - - 2623 - 2.38 0.050 1043 -584.9 97.3 - - 2554 - - - - - - - - 15.04 14.34 15.07
13804 654.8 7.8 1127 13810 done 0.85 - - 2623 - 2.45 0.052 2444 571.8 97.3 - - 2554 - - - - - - - - 14.42 14.31 14.48
14119 629.5 8.1 1144 14123 roll 0.85 - - 2636 - 2.40 0.050 1049 -581.2 97.3 - - 2554 - - - - - - - - 15.02 14.33 15.05
14190 623.8 7.8 1158 14196 done 0.85 0.15 0.237 2605 -206.7 2.42 0.051 2441 575.2 97.3 - - 2554 - - - - - - - - 13.93 14.31 14.21
14506 602.6 6.8 1175 14510 roll 0.87 - - 2616 - 2.40 0.050 1048 -580.4 97.3 - - 2554 - - - - - - - - 15.02 14.32 15.04
14701 589.4 6.4 1213 14705 done 0.91 - - 2616 - 2.42 0.052 2444 576.9 97.3 - - 2553 - - - - - - - - 14.41 14.30 14.47
15013 568.7 6.5 1230 15019 roll 0.94 - - 2616 - 2.47 0.078 3844 566.8 97.3 - - 2553 - - - - - - - - 15.03 14.17 15.06
15248 550.8 7.5 1276 15252 done 0.95 - - 2628 - 2.33 0.035 2436 -604.3 97.3 - - 2553 - - - - - - - - 14.50 14.43 14.53
15561 530.3 6.5 1293 15563 done 0.98 - - 2629 - - - 2435 - 97.3 - - 2553 - - - - - - - - 15.02 15.05 15.05
15860 510.4 6.8 1308 15862 done 1.01 - - 2628 - - - 2435 - 97.3 - - 2553 - - - - - - - - 15.04 15.07 15.07
16162 491.8 6.1 1323 16169 roll 1.05 0.12 0.129 2708 666.7 2.38 0.047 1045 -584.0 97.3 - - 2553 - - - - - - - - 14.63 14.32 14.64
16397 473.7 7.8 1370 16403 done 1.05 0.17 0.252 2670 -223.5 2.42 0.050 2441 576.9 97.3 - - 2553 - - - - - - - - 13.74 14.28 14.09
16701 451.7 7.1 1386 16706 roll 1.06 - - 2680 - 2.40 0.049 1044 -582.1 97.3 - - 2553 - - - - - - - - 15.04 14.31 15.07
16817 443.7 7.1 1408 16821 done 1.08 - - 2680 - 2.42 0.050 2442 577.7 97.3 - - 2553 - - - - - - - - 14.39 14.28 14.45
17130 421.5 7.2 1425 17138 roll 1.10 - - 2680 - 2.47 0.076 3845 568.0 97.3 - - 2553 - - - - - - - - 15.02 14.16 15.05
17165 418.6 8.3 1432 17169 done 1.10 - - 2691 - 2.33 0.034 2432 -606.4 97.3 - - 2553 - - - - - - - - 14.50 14.43 14.53
17471 398.1 6.3 1448 17478 roll 1.14 - - 2691 - 2.53 0.076 3844 558.1 97.3 - - 2553 - - - - - - - - 15.03 14.16 15.06
17566 390.8 8.0 1467 17570 done 1.14 - - 2702 - 2.33 0.034 2434 -605.2 97.3 - - 2553 - - - - - - - - 14.49 14.42 14.52
17872 369.1 7.2 1483 17877 roll 1.15 - - 2713 - 2.35 0.049 1051 -588.5 97.3 - - 2553 - - - - - - - - 15.02 14.31 15.05
17959 362.6 7.3 1500 17965 done 1.17 - - 2713 - 2.42 0.051 2447 576.9 97.3 - - 2553 - - - - - - - - 14.38 14.28 14.45
18277 340.2 6.9 1518 18282 roll 1.19 - - 2726 - 2.40 0.049 1049 -582.5 97.3 - - 2553 - - - - - - - - 15.01 14.32 15.04
18387 333.0 6.6 1539 18394 done 1.22 - - 2726 - 2.42 0.050 2448 578.1 97.3 - - 2553 - - - - - - - - 14.39 14.28 14.45
18703 312.4 6.5 1557 18705 done 1.25 - - 2726 - - - 2448 - 97.3 - - 2553 - - - - - - - - 15.03 15.06 15.06
19001 294.3 6.1 1572 19003 done 1.29 - - 2726 - - - 2448 - 97.3 - - 2553 - - - - - - - - 15.04 15.07 15.07
19302 276.4 5.4 1587 19350 roll 1.34 - - 2739 - 2.38 0.047 1051 -587.0 144.1 42.35 1.208 2378 -4.1 0.185 - - - - - - 15.04 13.95 13.24
19438 263.7 12.1 1614 19443 done 1.34 - - 2739 - 2.40 0.052 2443 580.0 144.1 - - 2375 - - - - - - - - 14.52 14.42 14.56
19752 222.5 13.7 1642 19757 roll 1.34 - - 2752 - 2.38 0.052 1050 -585.3 144.1 - - 2374 - - - - - - - - 14.95 14.41 14.97
19804 215.6 12.9 1652 19808 done 1.34 - - 2752 - 2.40 0.052 2442 580.0 144.1 - - 2374 - - - - - - - - 14.50 14.40 14.54
19997 189.0 13.9 1672 20001 roll 1.34 - - 2763 - 2.35 0.048 1052 -591.5 144.1 - - 2374 - - - - - - - - 14.97 14.40 15.00
20028 184.6 14.1 1678 20033 done 1.34 - - 2763 - 2.40 0.053 2443 579.6 144.1 - - 2373 - - - - - - - - 14.50 14.39 14.54
20220 158.6 13.6 1698 20222 done 1.34 - - 2764 - - - 2443 - 144.1 - - 2373 - - - - - - - - 15.00 15.02 15.02
20401 139.1 8.8 1716 20405 roll 1.34 - - 2776 - 2.38 0.049 1048 -586.1 144.1 - - 2373 - - - - - - - - 15.00 14.39 15.02
20438 135.7 9.6 1723 20442 done 1.34 - - 2776 - 2.42 0.051 2445 577.3 144.1 - - 2373 - - - - - - - - 14.50 14.38 14.53
20624 121.2 6.1 1742 20630 roll 1.37 - - 2776 - 2.45 0.073 3854 575.1 144.1 - - 2373 - - - - - - - - 15.00 14.28 15.02
20687 116.4 7.7 1754 20692 done 1.37 - - 2789 - 2.30 0.034 2437 -616.1 144.1 - - 2372 - - - - - - - - 14.57 14.50 14.60
20882 102.4 7.0 1774 20887 roll 1.40 - - 2800 - 2.33 0.047 1051 -594.8 144.1 - - 2372 - - - - - - - - 15.00 14.39 15.03
20900 101.3 5.9 1777 20942 done 1.44 - - 2801 - 2.40 0.049 2449 582.5 183.0 35.05 0.982 2219 -4.4 0.088 - - - - - - 14.50 14.40 13.45
21124 81.7 10.4 1804 21128 roll 1.44 - - 2801 - 2.42 0.073 3850 578.9 183.0 - - 2215 - - - - - - - - 14.93 14.34 14.95
21146 79.2 12.1 1808 21151 done 1.44 - - 2814 - 2.30 0.034 2440 -613.0 183.0 - - 2215 - - - - - - - - 14.58 14.52 14.60
21338 70.2 3.2 1828 21421 roll 1.52 - - 2827 - 2.42 0.054 1058 -571.1 269.0 74.55 0.926 1870 -4.6 0.068 - - - - - - 14.97 14.26 13.40
21653 43.4 -1.5 1889 21818 done 1.69 0.15 0.101 2908 540.0 2.38 0.050 2443 581.9 440.2 151.45 0.872 1171 -4.6 0.045 - - - - - - 14.42 14.38 13.35
21945 end climb: SURFACE_DEPTH_REACHED
21945 begin surface coast
21953 end surface coast: CONTROL_FINISHED_OK
21953 begin surface
SM 0.96 - - - - -6.77 8.12 0.055 127 15.5 0.08 0.167 2498 -110050.0 500.17 75.53 0.573 928 12.3 -0.002 - - - - 1 -