MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 663 * Raw log
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• Previous call tries 1 • 223.35 of 350.00 AH used of 24V (36.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 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: 21 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 88 VBD -0.67 - - 113 - - - 2501 - -97.3 -76.07 0.005 2717 - - - - - - - - 14.83 - 14.85
93 5.3 -15.0 16 120 roll -0.67 9.38 0.350 2096 211.4 2.42 0.093 3896 576.4 -97.3 -11.98 0.010 3368 -54.3 5.616 - - - - - - 13.83 12.58 14.30
343 69.8 -19.7 66 348 done -0.67 - - 2096 - 2.28 0.034 2489 -617.1 -97.3 - - 3368 - - - - - - - - 14.62 14.54 14.64
530 97.9 -13.7 85 536 roll -0.67 - - 2085 - 2.45 0.079 3894 573.5 -97.3 - - 3368 - - - - - - - - 14.99 14.39 15.01
744 128.9 -12.9 128 748 done -0.67 - - 2085 - 2.25 0.034 2497 -620.9 -97.3 - - 3369 - - - - - - - - 14.66 14.59 14.68
931 153.4 -14.0 147 936 roll -0.67 - - 2074 - 2.42 0.079 3892 576.4 -97.3 - - 3368 - - - - - - - - 15.01 14.40 15.04
993 163.0 -14.9 159 999 done -0.67 0.15 0.213 2109 233.3 2.25 0.033 2485 -625.3 -97.3 - - 3368 - - - - - - - - 14.25 14.61 14.46
1190 186.8 -12.4 179 1195 roll -0.67 - - 2100 - 2.47 0.081 3900 572.9 -97.3 - - 3369 - - - - - - - - 15.02 14.40 15.04
1232 192.6 -12.5 187 1237 done -0.67 - - 2100 - 2.25 0.032 2492 -625.8 -97.3 - - 3368 - - - - - - - - 14.68 14.62 14.70
1424 215.8 -12.0 207 1426 done -0.67 - - 2100 - - - 2491 - -97.3 - - 3368 - - - - - - - - 15.05 15.09 15.08
1604 237.4 -11.9 225 1606 done -0.67 - - 2100 - - - 2491 - -97.3 - - 3367 - - - - - - - - 15.06 15.09 15.09
1794 260.2 -11.9 240 1796 done -0.67 - - 2100 - - - 2491 - -97.3 - - 3366 - - - - - - - - 15.07 15.09 15.09
2095 295.9 -11.9 255 2097 done -0.67 - - 2100 - - - 2491 - -97.3 - - 3364 - - - - - - - - 15.07 15.09 15.09
2394 331.1 -11.5 270 2398 roll -0.67 - - 2089 - 2.47 0.083 3890 566.4 -97.3 - - 3362 - - - - - - - - 15.08 14.37 15.10
2430 335.4 -12.2 277 2434 done -0.67 - - 2089 - 2.25 0.033 2499 -618.2 -97.3 - - 3362 - - - - - - - - 14.66 14.59 14.69
2736 372.0 -11.9 293 2741 roll -0.67 - - 2089 - 2.33 0.049 1107 -597.4 -97.3 - - 3360 - - - - - - - - 15.07 14.49 15.09
2788 378.3 -11.6 303 2794 done -0.67 0.15 0.202 2114 166.7 2.40 0.057 2502 581.2 -97.3 - - 3359 - - - - - - - - 14.22 14.45 14.42
3101 409.8 -9.9 320 3108 roll -0.67 - - 2105 - 2.42 0.083 3892 574.4 -97.3 - - 3358 - - - - - - - - 15.07 14.34 15.10
3152 414.8 -10.0 330 3156 done -0.67 - - 2105 - 2.25 0.034 2500 -618.7 -97.3 - - 3358 - - - - - - - - 14.65 14.58 14.67
3463 445.0 -9.5 347 3465 done -0.67 - - 2105 - - - 2499 - -97.3 - - 3356 - - - - - - - - 15.07 15.10 15.09
3764 474.8 -10.4 362 3766 done -0.67 - - 2105 - - - 2499 - -97.3 - - 3354 - - - - - - - - 15.06 15.09 15.09
4065 507.9 -11.1 377 4069 roll -0.67 - - 2105 - 2.35 0.049 1108 -591.9 -97.3 - - 3353 - - - - - - - - 15.06 14.45 15.09
4106 512.7 -11.0 385 4110 done -0.67 - - 2094 - 2.40 0.057 2500 580.0 -97.3 - - 3352 - - - - - - - - 14.53 14.40 14.57
4429 547.4 -10.4 404 4431 done -0.67 - - 2094 - - - 2500 - -97.3 - - 3351 - - - - - - - - 15.06 15.09 15.08
4727 577.7 -10.0 419 4732 roll -0.67 - - 2084 - 2.45 0.084 3892 568.2 -97.3 - - 3350 - - - - - - - - 15.07 14.29 15.09
4759 581.1 -11.4 425 4763 done -0.67 - - 2084 - 2.28 0.035 2495 -612.7 -97.3 - - 3350 - - - - - - - - 14.61 14.54 14.64
5072 615.0 -10.9 442 5077 roll -0.67 - - 2083 - 2.33 0.050 1108 -595.3 -97.3 - - 3349 - - - - - - - - 15.06 14.42 15.08
5124 620.8 -10.8 452 5132 done -0.67 0.15 0.197 2109 173.3 2.42 0.057 2507 578.1 -97.3 - - 3349 - - - - - - - - 14.15 14.38 14.35
5435 650.7 -9.7 469 5439 roll -0.67 - - 2109 - 2.38 0.048 1109 -587.4 -97.3 - - 3348 - - - - - - - - 15.05 14.41 15.08
5466 653.9 -9.5 475 5471 done -0.67 - - 2100 - 2.42 0.057 2506 577.3 -97.3 - - 3348 - - - - - - - - 14.49 14.36 14.53
5779 684.6 -9.9 492 5781 done -0.67 - - 2099 - - - 2506 - -97.3 - - 3347 - - - - - - - - 15.06 15.09 15.09
6079 714.3 -10.0 507 6084 roll -0.67 - - 2089 - 2.47 0.086 3895 562.3 -97.3 - - 3346 - - - - - - - - 15.05 14.23 15.08
6111 717.9 -10.7 513 6116 done -0.67 - - 2089 - 2.28 0.036 2501 -611.4 -97.3 - - 3345 - - - - - - - - 14.57 14.50 14.60
6423 750.7 -10.5 530 6427 roll -0.67 - - 2088 - 2.35 0.050 1109 -592.3 -97.3 - - 3345 - - - - - - - - 15.06 14.38 15.09
6449 753.5 -11.1 535 6455 done -0.67 0.12 0.209 2108 166.7 2.42 0.058 2501 575.2 -97.3 - - 3344 - - - - - - - - 14.12 14.33 14.32
6767 783.2 -9.0 553 6773 roll -0.67 - - 2099 - 2.47 0.086 3896 564.8 -97.3 - - 3343 - - - - - - - - 15.06 14.21 15.09
6803 786.4 -9.4 560 6807 done -0.67 - - 2098 - 2.30 0.037 2499 -607.4 -97.3 - - 3344 - - - - - - - - 14.55 14.48 14.57
7109 814.5 -9.0 576 7111 done -0.67 - - 2099 - - - 2497 - -97.3 - - 3343 - - - - - - - - 15.04 15.07 15.07
7407 841.1 -8.9 591 7412 roll -0.67 - - 2098 - 2.35 0.050 1108 -591.1 -97.3 - - 3342 - - - - - - - - 15.07 14.35 15.09
7455 845.4 -9.1 600 7461 done -0.67 - - 2088 - 2.42 0.057 2500 575.2 -97.3 - - 3341 - - - - - - - - 14.43 14.30 14.47
7770 875.0 -9.4 618 7774 roll -0.67 - - 2088 - 2.38 0.050 1108 -584.9 -97.3 - - 3341 - - - - - - - - 15.04 14.34 15.07
7826 880.5 -9.3 629 7834 done -0.67 0.12 0.204 2107 158.3 2.45 0.058 2503 569.4 -97.3 - - 3340 - - - - - - - - 14.07 14.28 14.28
8153 907.4 -8.2 649 8159 roll -0.67 - - 2098 - 2.47 0.086 3893 562.8 -97.3 - - 3340 - - - - - - - - 15.04 14.16 15.07
8207 912.2 -8.9 660 8211 done -0.67 - - 2098 - 2.30 0.037 2500 -605.7 -97.3 - - 3340 - - - - - - - - 14.51 14.44 14.54
8512 938.8 -8.6 676 8516 roll -0.67 - - 2098 - 2.38 0.050 1102 -587.4 -97.3 - - 3339 - - - - - - - - 15.04 14.32 15.07
8589 945.6 -8.8 691 8594 done -0.67 - - 2087 - 2.47 0.059 2504 567.6 -97.3 - - 3339 - - - - - - - - 14.38 14.25 14.42
8893 973.0 -8.9 707 8895 done -0.67 - - 2087 - - - 2504 - -97.3 - - 3338 - - - - - - - - 15.05 15.08 15.08
9090 end dive: TARGET_DEPTH_EXCEEDED
9090 begin apogee
9099 991.5 -9.4 717 9197 done -0.15 0.68 0.168 2275 276.5 - - 2436 - - 93.50 1.987 2968 -4.0 0.385 - - - - - - 13.94 13.95 12.62
9198 end apogee: CONTROL_FINISHED_OK
9198 begin climb
9201 994.6 - 722 9311 done 0.67 0.85 0.093 2550 323.5 - - 2436 - 97.3 104.57 1.967 2570 -3.8 0.375 - - - - - - 14.12 13.55 12.58
9615 976.5 6.7 746 9619 roll 0.70 - - 2561 - 2.38 0.052 1046 -584.0 97.3 - - 2563 - - - - - - - - 14.86 14.40 14.89
9667 972.8 7.1 756 9674 done 0.72 - - 2561 - 2.42 0.054 2444 577.7 97.3 - - 2562 - - - - - - - - 14.50 14.39 14.54
9977 949.7 7.3 773 9981 roll 0.73 - - 2572 - 2.40 0.050 1044 -583.3 97.3 - - 2561 - - - - - - - - 14.97 14.42 15.00
10026 946.4 7.1 782 10033 done 0.75 - - 2572 - 2.42 0.054 2445 578.9 97.3 - - 2560 - - - - - - - - 14.51 14.40 14.57
10341 922.5 7.4 800 10345 roll 0.76 - - 2583 - 2.40 0.050 1043 -584.2 97.3 - - 2559 - - - - - - - - 15.00 14.42 15.03
10454 913.7 7.8 822 10458 done 0.76 - - 2583 - 2.42 0.054 2442 578.1 97.3 - - 2558 - - - - - - - - 14.51 14.40 14.56
10765 889.3 7.9 839 10770 roll 0.76 - - 2583 - 2.47 0.080 3847 568.8 97.3 - - 2558 - - - - - - - - 15.03 14.30 15.06
10793 887.0 8.8 844 10797 done 0.76 - - 2594 - 2.33 0.036 2428 -609.0 97.3 - - 2558 - - - - - - - - 14.59 14.52 14.62
11110 861.1 8.0 862 11115 roll 0.76 - - 2605 - 2.35 0.050 1049 -586.8 97.3 - - 2558 - - - - - - - - 15.02 14.39 15.05
11178 855.7 8.0 875 11183 done 0.76 - - 2605 - 2.42 0.054 2445 576.9 97.3 - - 2557 - - - - - - - - 14.48 14.37 14.54
11496 829.1 8.0 893 11500 roll 0.76 - - 2617 - 2.40 0.049 1046 -582.9 97.3 - - 2556 - - - - - - - - 15.03 14.39 15.06
11607 819.8 8.5 915 11613 done 0.76 0.17 0.232 2579 -223.5 2.42 0.053 2444 577.7 97.3 - - 2556 - - - - - - - - 13.95 14.35 14.27
11922 795.8 7.6 932 11924 done 0.76 - - 2579 - - - 2444 - 97.3 - - 2556 - - - - - - - - 15.02 15.05 15.05
12221 773.8 6.9 947 12226 roll 0.79 - - 2579 - 2.50 0.081 3850 562.4 97.3 - - 2555 - - - - - - - - 15.04 14.23 15.07
12283 768.7 8.2 959 12288 done 0.79 - - 2590 - 2.33 0.036 2437 -606.4 97.3 - - 2555 - - - - - - - - 14.54 14.47 14.58
12607 746.0 6.7 978 12611 roll 0.81 - - 2600 - 2.38 0.050 1046 -584.5 97.3 - - 2555 - - - - - - - - 15.02 14.35 15.05
12653 742.7 7.1 987 12658 done 0.83 - - 2601 - 2.42 0.053 2441 576.4 97.3 - - 2555 - - - - - - - - 14.44 14.32 14.50
12972 720.0 6.9 1005 12979 roll 0.86 - - 2601 - 2.50 0.080 3848 562.8 97.3 - - 2554 - - - - - - - - 15.02 14.20 15.05
13109 709.5 8.1 1032 13113 done 0.86 - - 2612 - 2.33 0.036 2439 -604.7 97.3 - - 2555 - - - - - - - - 14.52 14.45 14.55
13413 686.8 7.5 1048 13415 done 0.87 - - 2613 - - - 2437 - 97.3 - - 2554 - - - - - - - - 15.02 15.04 15.04
13711 662.9 8.2 1063 13716 roll 0.87 - - 2623 - 2.38 0.050 1046 -584.5 97.3 - - 2555 - - - - - - - - 15.04 14.33 15.07
13784 657.0 8.2 1077 13790 done 0.87 - - 2623 - 2.42 0.052 2441 576.4 97.3 - - 2554 - - - - - - - - 14.42 14.30 14.47
14093 631.6 7.9 1094 14100 roll 0.87 - - 2624 - 2.50 0.080 3848 562.8 97.3 - - 2554 - - - - - - - - 15.04 14.18 15.07
14128 628.5 8.9 1101 14132 done 0.87 - - 2635 - 2.33 0.035 2438 -605.2 97.3 - - 2554 - - - - - - - - 14.51 14.45 14.54
14435 605.5 7.4 1117 14439 roll 0.88 - - 2647 - 2.38 0.050 1046 -584.9 97.3 - - 2554 - - - - - - - - 15.03 14.33 15.06
14592 593.6 7.7 1148 14599 done 0.88 0.15 0.244 2618 -193.3 2.42 0.052 2439 575.6 97.3 - - 2554 - - - - - - - - 13.86 14.28 14.17
14921 571.0 7.2 1168 14926 roll 0.90 - - 2629 - 2.40 0.050 1046 -580.4 97.3 - - 2554 - - - - - - - - 15.00 14.31 15.02
14983 566.1 7.5 1180 14990 done 0.91 - - 2629 - 2.42 0.052 2441 576.4 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
15304 541.8 7.7 1199 15309 roll 0.91 - - 2641 - 2.40 0.049 1045 -581.7 97.3 - - 2554 - - - - - - - - 15.02 14.31 15.05
15401 534.0 7.8 1218 15408 done 0.91 - - 2641 - 2.42 0.051 2440 576.4 97.3 - - 2554 - - - - - - - - 14.39 14.28 14.45
15728 510.7 6.8 1238 15733 roll 0.93 - - 2654 - 2.40 0.049 1050 -579.2 97.3 - - 2554 - - - - - - - - 15.02 14.30 15.05
15962 494.5 7.0 1284 15969 done 0.96 - - 2654 - 2.42 0.052 2444 576.0 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.44
16270 473.5 6.5 1301 16274 roll 0.99 - - 2666 - 2.40 0.047 1046 -582.5 97.3 - - 2554 - - - - - - - - 15.04 14.31 15.07
16373 466.8 6.7 1321 16379 done 1.01 - - 2667 - 2.42 0.051 2441 576.4 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.45
16692 444.6 7.1 1340 16696 roll 1.03 - - 2678 - 2.40 0.048 1043 -582.5 97.3 - - 2554 - - - - - - - - 15.03 14.31 15.06
16779 438.5 7.1 1357 16783 done 1.05 - - 2678 - 2.45 0.051 2448 573.5 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.44
17097 415.5 7.6 1375 17102 roll 1.05 - - 2691 - 2.40 0.047 1048 -583.3 97.3 - - 2554 - - - - - - - - 15.03 14.31 15.05
17297 400.8 7.1 1414 17305 done 1.07 - - 2691 - 2.42 0.051 2440 575.2 97.3 - - 2554 - - - - - - - - 14.38 14.26 14.43
17622 377.6 6.9 1434 17626 roll 1.09 - - 2691 - 2.53 0.077 3854 558.9 97.3 - - 2554 - - - - - - - - 15.03 14.15 15.06
17752 367.8 8.1 1459 17757 done 1.09 - - 2703 - 2.33 0.035 2440 -606.9 97.3 - - 2554 - - - - - - - - 14.48 14.42 14.52
18071 346.4 6.8 1477 18075 roll 1.12 - - 2715 - 2.38 0.048 1042 -587.4 97.3 - - 2554 - - - - - - - - 15.02 14.31 15.04
18174 339.8 6.8 1497 18181 done 1.15 - - 2715 - 2.42 0.050 2443 578.9 97.3 - - 2554 - - - - - - - - 14.39 14.28 14.45
18494 317.1 7.2 1516 18498 roll 1.16 - - 2733 - 2.40 0.047 1043 -583.3 97.3 - - 2554 - - - - - - - - 15.03 14.31 15.06
18563 312.0 7.6 1529 18569 done 1.16 - - 2733 - 2.42 0.049 2445 579.3 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
18876 288.2 7.0 1547 18881 roll 1.18 - - 2733 - 2.47 0.075 3846 567.2 97.3 - - 2554 - - - - - - - - 15.04 14.17 15.06
18953 281.9 8.3 1562 18962 done 1.18 0.17 0.290 2712 -123.5 2.33 0.034 2432 -606.9 97.3 - - 2554 - - - - - - - - 13.68 14.43 14.06
19285 259.4 6.4 1582 19289 roll 1.21 - - 2722 - 2.35 0.047 1049 -588.5 97.3 - - 2554 - - - - - - - - 15.00 14.32 15.02
19493 246.4 5.6 1623 19537 done 1.26 - - 2724 - 2.42 0.050 2444 576.4 140.5 38.80 1.166 2395 -4.1 0.169 - - - - - - 14.38 14.27 13.32
19717 222.5 12.4 1650 19721 roll 1.26 - - 2735 - 2.38 0.047 1046 -587.4 140.5 - - 2390 - - - - - - - - 14.90 14.40 14.92
19770 216.5 11.2 1660 19775 done 1.26 - - 2737 - 2.40 0.050 2441 581.2 140.5 - - 2389 - - - - - - - - 14.49 14.38 14.53
19962 192.8 12.7 1680 19964 done 1.26 - - 2737 - - - 2441 - 140.5 - - 2389 - - - - - - - - 14.95 14.98 14.97
20143 170.3 12.1 1698 20147 roll 1.26 - - 2738 - 2.47 0.076 3849 570.0 140.5 - - 2389 - - - - - - - - 14.97 14.28 14.99
20219 160.2 13.2 1713 20224 done 1.26 - - 2751 - 2.30 0.034 2443 -611.3 140.5 - - 2389 - - - - - - - - 14.55 14.49 14.58
20406 138.9 11.7 1732 20411 roll 1.26 - - 2761 - 2.35 0.047 1050 -592.8 140.5 - - 2389 - - - - - - - - 14.98 14.38 15.00
20489 131.0 9.2 1748 20493 done 1.26 - - 2762 - 2.40 0.051 2443 580.4 140.5 - - 2388 - - - - - - - - 14.47 14.36 14.52
20681 117.6 6.1 1768 20687 roll 1.30 - - 2765 - 2.45 0.074 3849 573.9 140.5 - - 2388 - - - - - - - - 15.00 14.27 15.03
20917 100.5 4.3 1815 20984 done 1.36 - - 2777 - 2.30 0.033 2428 -617.8 207.6 59.20 0.988 2119 -4.5 0.090 - - - - - - 14.56 14.50 13.40
21173 74.4 14.3 1848 21180 roll 1.36 - - 2777 - 2.50 0.074 3849 568.4 207.6 - - 2114 - - - - - - - - 14.89 14.29 14.90
21208 70.3 11.3 1855 21213 done 1.36 - - 2790 - 2.30 0.034 2444 -610.9 207.6 - - 2113 - - - - - - - - 14.54 14.47 14.57
21395 56.1 6.8 1874 21402 roll 1.39 - - 2798 - 2.47 0.073 3846 567.6 207.6 - - 2113 - - - - - - - - 14.94 14.30 14.96
21631 50.5 0.5 1921 21760 done 1.52 - - 2812 - 2.30 0.032 2423 -618.7 342.6 117.85 0.888 1570 -4.6 0.051 - - - - - - 14.57 14.52 13.38
21943 23.9 8.3 1983 21947 done 1.52 - - 2813 - - - 2423 - 342.6 - - 1568 - - - - - - - - 14.83 14.85 14.85
22130 6.1 10.6 2020 22133 done 1.52 - - 2813 - - - 2423 - 342.6 - - 1567 - - - - - - - - 14.90 14.92 14.92
22162 end climb: SURFACE_DEPTH_REACHED
22162 begin surface coast
22192 end surface coast: CONTROL_FINISHED_OK
22192 begin surface
SM 1.19 - - - - -6.77 7.85 0.057 116 14.8 0.12 0.145 2502 20800.0 500.17 160.12 0.670 928 5.8 -0.001 - - - - 1 -