MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 671 * Raw log
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• Previous call tries 1 • 225.78 of 350.00 AH used of 24V (35.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth 1.26 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 23 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9 - - - 83 VBD -0.67 - - 96 - - - 2566 - -97.3 -71.60 0.005 2588 - - - - - - - - 14.83 - 14.86
87 4.3 -10.8 15 119 roll -0.67 9.38 0.347 2103 214.0 2.47 0.068 1121 -585.0 -97.3 -15.50 0.008 3366 -50.2 5.257 - - - - - - 13.85 12.59 14.31
308 61.2 -19.4 59 315 done -0.67 - - 2094 - 2.40 0.069 2497 573.3 -97.3 - - 3367 - - - - - - - - 14.50 14.37 14.55
500 92.4 -13.7 79 504 roll -0.67 - - 2084 - 2.42 0.081 3901 580.2 -97.3 - - 3366 - - - - - - - - 14.98 14.39 15.01
616 111.0 -15.7 102 621 done -0.67 - - 2084 - 2.22 0.033 2514 -624.8 -97.3 - - 3367 - - - - - - - - 14.66 14.59 14.68
801 138.1 -14.9 121 808 roll -0.67 - - 2073 - 2.42 0.084 3901 573.1 -97.3 - - 3367 - - - - - - - - 15.04 14.40 15.07
927 154.3 -14.1 146 933 done -0.67 0.15 0.213 2109 240.0 2.25 0.034 2500 -622.7 -97.3 - - 3367 - - - - - - - - 14.25 14.60 14.46
1111 176.1 -11.8 165 1118 roll -0.67 - - 2099 - 2.47 0.085 3908 570.0 -97.3 - - 3366 - - - - - - - - 15.05 14.40 15.08
1167 183.0 -13.1 176 1172 done -0.67 - - 2099 - 2.28 0.032 2497 -618.9 -97.3 - - 3366 - - - - - - - - 14.68 14.62 14.71
1351 208.3 -13.2 195 1355 roll -0.67 - - 2099 - 2.28 0.046 1108 -609.2 -97.3 - - 3365 - - - - - - - - 15.05 14.54 15.08
1394 213.8 -13.0 203 1399 done -0.67 - - 2088 - 2.40 0.057 2513 585.4 -97.3 - - 3365 - - - - - - - - 14.59 14.47 14.63
1586 239.3 -13.2 223 1588 done -0.67 - - 2088 - - - 2513 - -97.3 - - 3364 - - - - - - - - 15.05 15.08 15.08
1776 263.8 -13.0 237 1780 roll -0.67 - - 2077 - 2.40 0.084 3891 574.2 -97.3 - - 3363 - - - - - - - - 15.07 14.38 15.09
1818 269.3 -13.4 245 1823 done -0.67 0.15 0.204 2113 240.0 2.22 0.033 2497 -627.9 -97.3 - - 3363 - - - - - - - - 14.26 14.62 14.47
2140 304.4 -10.3 264 2146 roll -0.67 - - 2104 - 2.45 0.083 3891 569.0 -97.3 - - 3361 - - - - - - - - 15.07 14.37 15.09
2177 308.1 -11.0 271 2181 done -0.67 - - 2104 - 2.25 0.033 2495 -620.4 -97.3 - - 3361 - - - - - - - - 14.67 14.61 14.69
2480 340.2 -10.3 287 2482 done -0.67 - - 2104 - - - 2494 - -97.3 - - 3358 - - - - - - - - 15.07 15.09 15.09
2780 369.6 -9.5 302 2782 done -0.67 - - 2105 - - - 2494 - -97.3 - - 3357 - - - - - - - - 15.07 15.10 15.09
3081 397.7 -9.4 317 3083 done -0.67 - - 2105 - - - 2494 - -97.3 - - 3354 - - - - - - - - 15.06 15.09 15.08
3380 426.9 -10.0 332 3382 done -0.67 - - 2104 - - - 2493 - -97.3 - - 3353 - - - - - - - - 15.07 15.10 15.09
3680 457.1 -10.1 347 3684 roll -0.67 - - 2104 - 2.33 0.048 1102 -597.0 -97.3 - - 3351 - - - - - - - - 15.07 14.47 15.09
3708 459.9 -11.0 352 3714 done -0.67 - - 2093 - 2.42 0.057 2504 579.3 -97.3 - - 3350 - - - - - - - - 14.54 14.41 14.57
4021 494.8 -11.5 370 4027 roll -0.67 - - 2083 - 2.45 0.085 3893 566.9 -97.3 - - 3348 - - - - - - - - 15.07 14.30 15.09
4065 499.9 -12.0 378 4071 done -0.67 0.12 0.208 2111 233.3 2.28 0.034 2491 -614.9 -97.3 - - 3348 - - - - - - - - 14.23 14.56 14.42
4389 535.2 -11.0 397 4396 roll -0.67 - - 2102 - 2.50 0.085 3896 562.0 -97.3 - - 3348 - - - - - - - - 15.06 14.28 15.09
4419 538.7 -12.2 403 4423 done -0.67 - - 2102 - 2.28 0.035 2500 -612.3 -97.3 - - 3347 - - - - - - - - 14.62 14.54 14.64
4733 575.1 -11.5 420 4735 done -0.67 - - 2102 - - - 2499 - -97.3 - - 3346 - - - - - - - - 15.05 15.08 15.08
5032 609.1 -11.4 435 5036 roll -0.67 - - 2090 - 2.53 0.087 3900 553.8 -97.3 - - 3344 - - - - - - - - 15.06 14.25 15.09
5128 620.6 -11.9 454 5133 done -0.67 - - 2091 - 2.30 0.036 2499 -609.1 -97.3 - - 3344 - - - - - - - - 14.58 14.51 14.61
5435 656.4 -11.7 470 5440 roll -0.67 - - 2080 - 2.50 0.086 3894 558.0 -97.3 - - 3343 - - - - - - - - 15.05 14.24 15.07
5462 659.8 -12.1 475 5467 done -0.67 0.12 0.206 2109 241.7 2.30 0.036 2492 -609.6 -97.3 - - 3343 - - - - - - - - 14.19 14.50 14.38
5781 692.3 -9.9 493 5788 roll -0.67 - - 2100 - 2.53 0.086 3900 556.5 -97.3 - - 3342 - - - - - - - - 15.05 14.23 15.07
5815 696.0 -10.2 500 5819 done -0.67 - - 2100 - 2.30 0.036 2500 -608.7 -97.3 - - 3342 - - - - - - - - 14.57 14.50 14.59
6120 726.2 -9.7 516 6124 roll -0.67 - - 2100 - 2.35 0.050 1105 -593.6 -97.3 - - 3340 - - - - - - - - 15.07 14.38 15.09
6147 728.7 -9.7 521 6155 done -0.67 - - 2089 - 2.42 0.058 2499 576.0 -97.3 - - 3340 - - - - - - - - 14.45 14.33 14.50
6462 760.3 -10.2 539 6464 done -0.67 - - 2089 - - - 2499 - -97.3 - - 3339 - - - - - - - - 15.06 15.09 15.09
6762 791.2 -10.5 554 6767 roll -0.67 - - 2078 - 2.50 0.087 3896 558.8 -97.3 - - 3339 - - - - - - - - 15.07 14.19 15.09
6816 797.0 -11.0 564 6821 done -0.67 0.12 0.203 2108 250.0 2.30 0.037 2498 -607.8 -97.3 - - 3338 - - - - - - - - 14.15 14.47 14.34
7128 825.0 -8.8 581 7130 done -0.67 - - 2108 - - - 2497 - -97.3 - - 3338 - - - - - - - - 15.05 15.09 15.08
7428 850.7 -8.5 596 7432 roll -0.67 - - 2108 - 2.35 0.050 1108 -591.1 -97.3 - - 3336 - - - - - - - - 15.05 14.35 15.08
7470 854.3 -8.6 604 7476 done -0.67 - - 2098 - 2.42 0.057 2500 575.2 -97.3 - - 3337 - - - - - - - - 14.42 14.28 14.46
7790 883.5 -9.2 623 7796 roll -0.67 - - 2087 - 2.50 0.087 3897 558.8 -97.3 - - 3336 - - - - - - - - 15.05 14.16 15.08
7875 892.1 -10.2 640 7880 done -0.67 - - 2087 - 2.33 0.037 2494 -602.1 -97.3 - - 3335 - - - - - - - - 14.51 14.43 14.54
8192 925.7 -10.9 658 8197 roll -0.67 - - 2077 - 2.55 0.089 3899 551.0 -97.3 - - 3335 - - - - - - - - 15.05 14.14 15.07
8239 931.2 -11.6 667 8247 done -0.67 0.15 0.198 2112 233.3 2.33 0.037 2492 -603.9 -97.3 - - 3335 - - - - - - - - 14.07 14.43 14.27
8555 962.6 -10.1 685 8561 roll -0.67 - - 2112 - 2.35 0.049 1108 -588.9 -97.3 - - 3334 - - - - - - - - 15.04 14.31 15.07
8578 965.2 -11.0 689 8586 done -0.67 - - 2103 - 2.45 0.058 2506 570.6 -97.3 - - 3334 - - - - - - - - 14.38 14.25 14.42
8815 end dive: TARGET_DEPTH_EXCEEDED
8815 begin apogee
8825 990.2 -10.3 704 8921 done -0.15 0.62 0.166 2276 279.0 - - 2434 - - 92.65 1.971 2968 -4.0 0.387 - - - - - - 13.97 13.96 12.66
8922 end apogee: CONTROL_FINISHED_OK
8922 begin climb
8926 994.5 - 709 9042 roll 0.67 0.85 0.093 2561 335.3 2.42 0.048 1043 -574.8 97.3 104.22 1.952 2569 -3.8 0.380 - - - - - - 14.12 13.59 12.61
9064 994.7 3.5 737 9153 done 0.75 - - 2561 - 2.47 0.054 2451 570.0 178.2 82.43 1.946 2241 -4.0 0.396 - - - - - - 14.32 14.22 12.62
9461 952.2 12.1 771 9465 roll 0.75 - - 2572 - 2.42 0.052 1046 -580.6 178.2 - - 2232 - - - - - - - - 14.88 14.41 14.90
9538 942.9 12.1 786 9543 done 0.75 - - 2573 - 2.42 0.054 2440 576.0 178.2 - - 2231 - - - - - - - - 14.52 14.40 14.56
9842 904.9 12.6 802 9847 roll 0.75 - - 2573 - 2.50 0.083 3846 562.4 178.2 - - 2231 - - - - - - - - 14.97 14.33 15.00
9875 900.3 14.3 808 9880 done 0.75 - - 2584 - 2.33 0.037 2437 -604.7 178.2 - - 2230 - - - - - - - - 14.59 14.52 14.62
10188 858.5 13.7 825 10192 roll 0.75 - - 2595 - 2.38 0.052 1042 -586.1 178.2 - - 2229 - - - - - - - - 15.00 14.42 15.02
10254 849.3 13.3 838 10259 done 0.75 - - 2595 - 2.42 0.052 2445 579.8 178.2 - - 2228 - - - - - - - - 14.52 14.40 14.57
10575 804.9 14.0 856 10579 roll 0.75 - - 2607 - 2.40 0.051 1044 -583.8 178.2 - - 2229 - - - - - - - - 15.00 14.41 15.02
10641 795.6 13.4 869 10649 done 0.75 0.15 0.220 2574 -220.0 2.42 0.052 2446 579.3 178.2 - - 2228 - - - - - - - - 14.09 14.40 14.36
10958 755.9 12.1 887 10963 roll 0.75 - - 2584 - 2.42 0.051 1043 -579.8 178.2 - - 2228 - - - - - - - - 15.02 14.38 15.04
11011 749.4 12.5 897 11019 done 0.75 - - 2584 - 2.42 0.053 2443 578.5 178.2 - - 2228 - - - - - - - - 14.50 14.38 14.54
11320 710.9 12.2 914 11325 roll 0.75 - - 2596 - 2.40 0.051 1045 -582.5 178.2 - - 2227 - - - - - - - - 15.04 14.38 15.07
11363 705.8 12.5 922 11368 done 0.75 - - 2596 - 2.42 0.052 2446 578.9 178.2 - - 2227 - - - - - - - - 14.48 14.36 14.54
11686 665.2 12.4 941 11689 roll 0.75 - - 2608 - 2.42 0.051 1037 -582.2 178.2 - - 2227 - - - - - - - - 15.04 14.38 15.07
11717 661.2 13.1 947 11722 done 0.75 0.15 0.223 2575 -220.0 2.45 0.052 2440 572.7 178.2 - - 2227 - - - - - - - - 14.04 14.35 14.32
12031 625.6 11.4 964 12033 done 0.75 - - 2575 - - - 2441 - 178.2 - - 2227 - - - - - - - - 15.02 15.06 15.05
12330 592.0 11.4 979 12332 done 0.75 - - 2575 - - - 2441 - 178.2 - - 2227 - - - - - - - - 15.04 15.07 15.07
12631 556.9 11.4 994 12633 done 0.75 - - 2576 - - - 2441 - 178.2 - - 2227 - - - - - - - - 15.03 15.06 15.06
12929 523.6 11.1 1009 12934 roll 0.75 - - 2585 - 2.40 0.051 1043 -582.5 178.2 - - 2227 - - - - - - - - 15.04 14.35 15.07
12971 519.0 11.7 1017 12978 done 0.75 - - 2586 - 2.42 0.052 2442 578.1 178.2 - - 2227 - - - - - - - - 14.45 14.33 14.50
13292 480.8 12.3 1036 13296 roll 0.75 - - 2597 - 2.40 0.050 1044 -582.5 178.2 - - 2226 - - - - - - - - 15.02 14.33 15.05
13313 478.0 12.7 1040 13320 done 0.75 - - 2597 - 2.42 0.051 2444 578.5 178.2 - - 2226 - - - - - - - - 14.44 14.32 14.50
13634 436.5 13.1 1059 13638 roll 0.75 - - 2609 - 2.40 0.050 1044 -583.3 178.2 - - 2226 - - - - - - - - 15.03 14.33 15.07
13700 427.8 12.9 1072 13705 done 0.75 0.15 0.218 2577 -213.3 2.45 0.052 2447 572.7 178.2 - - 2226 - - - - - - - - 14.00 14.31 14.26
14018 390.7 11.3 1090 14023 roll 0.75 - - 2587 - 2.42 0.050 1038 -582.2 178.2 - - 2226 - - - - - - - - 15.04 14.33 15.07
14103 382.0 10.3 1106 14107 done 0.75 - - 2587 - 2.42 0.052 2441 579.8 178.2 - - 2226 - - - - - - - - 14.42 14.31 14.48
14425 348.3 10.0 1125 14429 roll 0.75 - - 2599 - 2.40 0.050 1043 -582.5 178.2 - - 2226 - - - - - - - - 15.04 14.33 15.07
14476 343.3 9.7 1135 14483 done 0.75 - - 2599 - 2.42 0.051 2441 577.7 178.2 - - 2226 - - - - - - - - 14.42 14.31 14.48
14786 311.5 10.4 1152 14788 done 0.75 - - 2599 - - - 2441 - 178.2 - - 2226 - - - - - - - - 15.04 15.07 15.07
15086 278.9 11.2 1167 15091 roll 0.75 - - 2611 - 2.40 0.049 1042 -582.9 178.2 - - 2226 - - - - - - - - 15.04 14.33 15.07
15110 276.3 11.4 1171 15117 done 0.75 0.15 0.215 2578 -220.0 2.42 0.052 2442 578.5 178.2 - - 2226 - - - - - - - - 14.00 14.31 14.26
15422 244.4 10.3 1192 15426 roll 0.75 - - 2587 - 2.40 0.050 1044 -582.5 178.2 - - 2226 - - - - - - - - 15.02 14.32 15.04
15481 238.1 10.5 1203 15485 done 0.75 - - 2588 - 2.42 0.052 2440 576.9 178.2 - - 2226 - - - - - - - - 14.41 14.29 14.47
15663 219.3 9.7 1222 15668 roll 0.75 - - 2600 - 2.40 0.050 1043 -582.1 178.2 - - 2226 - - - - - - - - 15.03 14.32 15.06
15752 210.7 9.7 1239 15757 done 0.75 - - 2600 - 2.42 0.051 2441 577.7 178.2 - - 2226 - - - - - - - - 14.41 14.29 14.46
15935 192.4 9.6 1258 15940 roll 0.75 - - 2600 - 2.50 0.080 3848 562.8 178.2 - - 2227 - - - - - - - - 15.03 14.16 15.05
16105 172.8 11.1 1291 16112 done 0.75 0.15 0.235 2579 -140.0 2.33 0.036 2436 -606.0 178.2 - - 2226 - - - - - - - - 13.97 14.43 14.23
16302 155.8 8.3 1312 16306 roll 0.75 - - 2588 - 2.38 0.050 1042 -585.7 178.2 - - 2227 - - - - - - - - 15.00 14.32 15.03
16394 147.6 8.6 1330 16399 done 0.75 - - 2588 - 2.42 0.052 2443 578.9 178.2 - - 2226 - - - - - - - - 14.41 14.30 14.47
16590 133.5 7.0 1350 16594 done 0.77 - - 2588 - - - 2443 - 178.2 - - 2226 - - - - - - - - 15.00 15.02 15.02
16778 119.0 7.8 1369 16785 roll 0.77 - - 2588 - 2.50 0.080 3851 563.2 178.2 - - 2226 - - - - - - - - 15.01 14.16 15.04
16842 113.7 8.0 1382 16847 done 0.77 - - 2599 - 2.33 0.034 2434 -608.2 178.2 - - 2227 - - - - - - - - 14.52 14.45 14.54
17028 102.2 5.3 1401 17076 roll 0.82 - - 2610 - 2.35 0.050 1043 -591.9 227.3 42.10 0.986 2039 -4.5 0.090 - - - - - - 15.02 14.35 13.45
17115 96.9 7.6 1418 17122 done 0.82 - - 2610 - 2.38 0.050 2436 585.3 227.3 - - 2038 - - - - - - - - 14.43 14.38 14.47
17299 83.9 7.1 1437 17303 roll 0.84 - - 2610 - 2.50 0.080 3851 566.0 227.3 - - 2037 - - - - - - - - 14.93 14.29 14.95
17533 65.3 6.1 1483 17537 done 0.88 - - 2620 - 2.30 0.035 2440 -613.5 227.3 - - 2036 - - - - - - - - 14.57 14.50 14.59
17726 59.3 2.3 1503 17827 roll 0.98 - - 2631 - 2.42 0.050 1050 -574.4 329.7 91.80 0.892 1622 -4.5 0.058 - - - - - - 14.98 14.25 13.41
17852 53.5 7.4 1526 17857 done 1.00 - - 2631 - 2.42 0.051 2440 574.4 329.7 - - 1621 - - - - - - - - 14.45 14.35 14.47
18037 41.4 3.6 1559 18119 roll 1.08 0.12 0.112 2726 791.7 2.45 0.049 1043 -570.2 409.9 73.10 0.843 1295 -4.5 0.043 - - - - - - 14.54 14.24 13.45
18163 34.6 8.7 1584 18170 done 1.08 0.20 0.193 2670 -280.0 2.42 0.050 2440 577.3 409.9 - - 1293 - - - - - - - - 14.07 14.34 14.17
18352 18.7 7.7 1622 18356 done 1.08 - - 2670 - - - 2440 - 409.9 - - 1293 - - - - - - - - 14.87 14.90 14.89
18541 5.0 6.6 1659 18545 roll 1.10 - - 2680 - 2.35 0.049 1047 -592.8 409.9 - - 1293 - - - - - - - - 14.92 14.42 14.95
18564 end climb: SURFACE_DEPTH_REACHED
18564 begin surface coast
18580 end surface coast: CONTROL_FINISHED_OK
18580 begin surface
SM 1.28 - - - - -6.78 7.65 0.077 120 15.7 2.55 0.055 2499 752.5 500.17 101.97 0.598 928 9.1 -0.002 - - - - 1 -