MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 680 * Raw log
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• Previous call tries 1 • 228.45 of 350.00 AH used of 24V (34.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.9 deg, depth 1.07 m • Intended pitch -19.5 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 32 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 - - - 83 VBD -0.67 - - 101 - - - 2543 - -97.3 -71.72 0.005 2598 - - - - - - - - 14.84 - 14.87
88 4.7 -12.6 15 121 roll -0.67 9.30 0.343 2100 214.9 2.35 0.104 3853 557.4 -97.3 -14.70 0.009 3367 -52.3 5.314 - - - - - - 13.85 12.61 14.31
191 39.8 -29.1 35 195 done -0.67 - - 2100 - 2.20 0.035 2500 -615.0 -97.3 - - 3368 - - - - - - - - 14.57 14.50 14.59
384 82.0 -14.3 57 389 roll -0.67 - - 2088 - 2.40 0.090 3850 562.5 -97.3 - - 3368 - - - - - - - - 14.97 14.28 15.00
617 118.2 -14.5 103 621 done -0.67 - - 2090 - 2.17 0.031 2484 -629.5 -97.3 - - 3368 - - - - - - - - 14.65 14.59 14.67
808 146.2 -15.0 123 812 roll -0.67 - - 2078 - 2.40 0.081 3858 572.5 -97.3 - - 3368 - - - - - - - - 15.03 14.37 15.06
947 165.6 -14.0 150 952 done -0.67 0.15 0.207 2114 240.0 2.17 0.032 2492 -629.5 -97.3 - - 3368 - - - - - - - - 14.23 14.60 14.45
1129 185.8 -10.8 169 1131 done -0.67 - - 2114 - - - 2491 - -97.3 - - 3369 - - - - - - - - 15.04 15.08 15.07
1311 204.6 -10.3 187 1315 roll -0.67 - - 2105 - 2.38 0.080 3853 572.3 -97.3 - - 3368 - - - - - - - - 15.04 14.36 15.07
1342 208.0 -10.6 193 1347 done -0.67 - - 2105 - 2.15 0.031 2498 -630.2 -97.3 - - 3367 - - - - - - - - 14.67 14.62 14.69
1535 229.5 -11.4 213 1537 done -0.67 - - 2105 - - - 2497 - -97.3 - - 3366 - - - - - - - - 15.04 15.07 15.07
1714 249.6 -11.3 231 1716 done -0.67 - - 2106 - - - 2496 - -97.3 - - 3365 - - - - - - - - 15.05 15.09 15.08
1904 271.1 -11.2 241 1909 roll -0.67 - - 2094 - 2.38 0.081 3851 569.3 -97.3 - - 3364 - - - - - - - - 15.07 14.34 15.09
1962 277.6 -11.4 252 1967 done -0.67 - - 2094 - 2.17 0.032 2496 -624.4 -97.3 - - 3364 - - - - - - - - 14.66 14.60 14.68
2266 312.5 -11.1 268 2270 roll -0.67 - - 2094 - 2.30 0.047 1109 -603.0 -97.3 - - 3361 - - - - - - - - 15.07 14.47 15.09
2292 315.5 -12.0 273 2298 done -0.67 - - 2084 - 2.30 0.054 2460 587.4 -97.3 - - 3361 - - - - - - - - 14.56 14.45 14.59
2611 352.2 -11.8 291 2615 roll -0.67 - - 2073 - 2.50 0.082 3892 572.8 -97.3 - - 3359 - - - - - - - - 15.06 14.32 15.09
2697 363.0 -12.2 308 2702 done -0.67 0.15 0.200 2109 240.0 2.25 0.034 2495 -620.9 -97.3 - - 3358 - - - - - - - - 14.22 14.57 14.42
3016 395.3 -10.2 326 3023 roll -0.67 - - 2100 - 2.47 0.082 3891 565.2 -97.3 - - 3356 - - - - - - - - 15.04 14.30 15.07
3080 402.4 -10.9 339 3084 done -0.67 - - 2100 - 2.25 0.034 2500 -618.2 -97.3 - - 3356 - - - - - - - - 14.63 14.56 14.65
3397 436.3 -10.5 357 3399 done -0.67 - - 2100 - - - 2499 - -97.3 - - 3354 - - - - - - - - 15.06 15.09 15.08
3696 468.0 -10.7 372 3698 done -0.67 - - 2100 - - - 2499 - -97.3 - - 3352 - - - - - - - - 15.07 15.10 15.09
3996 500.8 -10.9 387 4003 roll -0.67 - - 2089 - 2.47 0.083 3890 563.2 -97.3 - - 3350 - - - - - - - - 15.07 14.26 15.09
4033 504.7 -11.5 394 4037 done -0.67 - - 2089 - 2.28 0.034 2497 -611.0 -97.3 - - 3350 - - - - - - - - 14.59 14.53 14.62
4337 538.9 -11.0 410 4339 done -0.67 - - 2089 - - - 2496 - -97.3 - - 3348 - - - - - - - - 15.07 15.09 15.09
4636 570.4 -10.4 425 4638 done -0.67 - - 2088 - - - 2496 - -97.3 - - 3348 - - - - - - - - 15.07 15.10 15.09
4937 602.2 -10.7 440 4945 roll -0.67 - - 2078 - 2.50 0.084 3894 559.2 -97.3 - - 3346 - - - - - - - - 15.05 14.23 15.08
4977 606.9 -11.4 448 4982 done -0.67 0.12 0.207 2108 250.0 2.28 0.034 2500 -611.4 -97.3 - - 3346 - - - - - - - - 14.18 14.50 14.36
5299 639.1 -9.9 467 5306 roll -0.67 - - 2098 - 2.50 0.085 3893 557.2 -97.3 - - 3345 - - - - - - - - 15.07 14.20 15.09
5326 641.6 -10.9 472 5330 done -0.67 - - 2098 - 2.28 0.035 2501 -610.5 -97.3 - - 3345 - - - - - - - - 14.56 14.49 14.59
5642 673.5 -9.7 490 5644 done -0.67 - - 2098 - - - 2499 - -97.3 - - 3343 - - - - - - - - 15.06 15.09 15.09
5943 700.9 -8.9 505 5948 roll -0.67 - - 2098 - 2.35 0.049 1109 -591.5 -97.3 - - 3342 - - - - - - - - 15.05 14.35 15.08
5980 704.3 -8.8 512 5988 done -0.67 - - 2087 - 2.42 0.058 2498 574.0 -97.3 - - 3342 - - - - - - - - 14.42 14.31 14.47
6307 733.8 -9.0 532 6314 roll -0.67 - - 2077 - 2.47 0.086 3891 564.0 -97.3 - - 3341 - - - - - - - - 15.04 14.17 15.07
6363 739.3 -9.8 543 6370 done -0.67 0.15 0.195 2112 233.3 2.30 0.035 2494 -607.4 -97.3 - - 3341 - - - - - - - - 14.11 14.45 14.30
6687 765.8 -8.2 563 6691 roll -0.67 - - 2113 - 2.35 0.050 1105 -591.1 -97.3 - - 3340 - - - - - - - - 15.06 14.33 15.08
6728 769.3 -8.4 571 6735 done -0.67 - - 2104 - 2.45 0.058 2507 572.2 -97.3 - - 3340 - - - - - - - - 14.40 14.28 14.45
7050 798.5 -9.4 590 7057 roll -0.67 - - 2093 - 2.47 0.086 3892 560.7 -97.3 - - 3339 - - - - - - - - 15.04 14.14 15.07
7104 804.1 -10.1 601 7109 done -0.67 - - 2092 - 2.30 0.035 2498 -606.1 -97.3 - - 3339 - - - - - - - - 14.50 14.43 14.53
7410 834.8 -9.9 617 7412 done -0.67 - - 2092 - - - 2498 - -97.3 - - 3338 - - - - - - - - 15.04 15.07 15.07
7709 864.4 -10.0 632 7711 done -0.67 - - 2092 - - - 2497 - -97.3 - - 3338 - - - - - - - - 15.06 15.09 15.08
8009 894.5 -10.1 647 8016 roll -0.67 - - 2082 - 2.53 0.086 3894 552.2 -97.3 - - 3336 - - - - - - - - 15.05 14.11 15.08
8050 898.7 -10.5 655 8055 done -0.67 0.12 0.200 2111 241.7 2.30 0.036 2496 -607.8 -97.3 - - 3336 - - - - - - - - 14.10 14.42 14.28
8373 926.1 -8.0 674 8377 roll -0.67 - - 2111 - 2.35 0.050 1111 -589.4 -97.3 - - 3336 - - - - - - - - 15.04 14.28 15.07
8436 931.1 -7.9 686 8442 done -0.67 - - 2102 - 2.45 0.058 2507 569.8 -97.3 - - 3335 - - - - - - - - 14.35 14.23 14.40
8754 956.3 -7.8 705 8759 roll -0.67 - - 2090 - 2.50 0.087 3896 555.6 -97.3 - - 3335 - - - - - - - - 15.05 14.08 15.07
8791 959.3 -8.4 712 8796 done -0.67 - - 2091 - 2.33 0.037 2498 -600.0 -97.3 - - 3335 - - - - - - - - 14.46 14.38 14.49
9097 985.4 -8.7 728 9102 roll -0.67 - - 2091 - 2.38 0.051 1109 -583.6 -97.3 - - 3334 - - - - - - - - 15.04 14.25 15.06
9129 988.3 -9.0 734 9136 done -0.67 0.12 0.207 2109 150.0 2.45 0.058 2501 568.2 -97.3 - - 3334 - - - - - - - - 14.00 14.20 14.19
9155 end dive: TARGET_DEPTH_EXCEEDED
9155 begin apogee
9163 990.8 -8.4 737 9258 done -0.15 0.60 0.161 2279 283.3 - - 2501 - - 91.80 1.981 2968 -4.0 0.388 - - - - - - 13.95 13.97 12.70
9259 end apogee: CONTROL_FINISHED_OK
9259 begin climb
9264 993.0 - 742 9372 done 0.67 0.82 0.091 2549 329.3 - - 2501 - 97.3 104.35 1.955 2571 -3.8 0.376 - - - - - - 14.13 13.88 12.62
9663 973.6 7.1 762 9667 roll 0.69 - - 2560 - 2.53 0.050 1041 -577.1 97.3 - - 2563 - - - - - - - - 14.84 14.38 14.87
9752 967.2 7.0 779 9759 done 0.71 - - 2560 - 2.42 0.053 2445 580.2 97.3 - - 2561 - - - - - - - - 14.49 14.38 14.53
10067 945.3 7.0 797 10072 roll 0.73 - - 2571 - 2.40 0.050 1047 -582.5 97.3 - - 2560 - - - - - - - - 14.97 14.40 15.00
10126 941.2 7.3 808 10133 done 0.74 - - 2571 - 2.42 0.052 2445 577.7 97.3 - - 2559 - - - - - - - - 14.49 14.38 14.54
10450 916.6 7.6 828 10454 roll 0.74 - - 2582 - 2.40 0.050 1049 -581.7 97.3 - - 2559 - - - - - - - - 15.01 14.38 15.03
10506 912.2 8.0 839 10511 done 0.74 - - 2582 - 2.40 0.053 2438 578.8 97.3 - - 2558 - - - - - - - - 14.35 14.29 14.40
10813 886.9 8.4 855 10817 roll 0.74 - - 2593 - 2.40 0.050 1042 -581.7 97.3 - - 2557 - - - - - - - - 15.01 14.37 15.04
10844 884.1 8.4 861 10849 done 0.74 - - 2593 - 2.42 0.052 2442 578.5 97.3 - - 2557 - - - - - - - - 14.47 14.36 14.53
11158 856.2 8.8 878 11160 done 0.74 - - 2593 - - - 2443 - 97.3 - - 2557 - - - - - - - - 15.01 15.04 15.04
11456 831.9 8.0 893 11461 roll 0.74 - - 2605 - 2.42 0.050 1046 -577.3 97.3 - - 2556 - - - - - - - - 15.03 14.34 15.07
11559 823.9 7.7 913 11566 done 0.74 0.15 0.229 2573 -213.3 2.42 0.052 2442 576.9 97.3 - - 2555 - - - - - - - - 13.97 14.33 14.18
11888 802.1 6.6 932 11890 done 0.77 - - 2573 - - - 2442 - 97.3 - - 2555 - - - - - - - - 15.00 15.02 15.02
12184 780.5 7.3 947 12186 done 0.79 - - 2573 - - - 2442 - 97.3 - - 2555 - - - - - - - - 15.03 15.07 15.06
12485 758.6 7.2 962 12490 roll 0.80 - - 2582 - 2.42 0.050 1042 -578.5 97.3 - - 2555 - - - - - - - - 15.02 14.31 15.04
12605 750.0 7.3 985 12610 done 0.82 - - 2582 - 2.45 0.051 2446 573.1 97.3 - - 2554 - - - - - - - - 14.40 14.29 14.46
12909 727.3 7.1 1001 12914 roll 0.84 - - 2594 - 2.42 0.049 1041 -580.6 97.3 - - 2554 - - - - - - - - 15.02 14.30 15.05
12986 721.9 7.1 1016 12994 done 0.86 - - 2594 - 2.45 0.051 2445 573.1 97.3 - - 2554 - - - - - - - - 14.40 14.28 14.45
13313 699.4 6.7 1036 13320 roll 0.88 - - 2594 - 2.50 0.080 3846 560.4 97.3 - - 2554 - - - - - - - - 15.02 14.14 15.05
13358 696.0 7.5 1045 13363 done 0.90 - - 2605 - 2.35 0.036 2436 -600.0 97.3 - - 2554 - - - - - - - - 14.48 14.42 14.52
13676 674.5 7.0 1063 13681 roll 0.92 - - 2616 - 2.35 0.050 1053 -588.5 97.3 - - 2554 - - - - - - - - 15.03 14.20 15.06
13720 671.4 7.4 1071 13724 done 0.93 - - 2616 - 2.40 0.050 2440 577.9 97.3 - - 2554 - - - - - - - - 14.38 14.27 14.44
14042 647.2 7.6 1090 14046 roll 0.93 - - 2630 - 2.40 0.048 1052 -578.3 97.3 - - 2554 - - - - - - - - 15.03 14.28 15.06
14191 635.4 7.7 1119 14197 done 0.93 - - 2629 - 2.42 0.051 2444 575.2 97.3 - - 2554 - - - - - - - - 14.37 14.25 14.42
14505 610.6 7.8 1137 14507 done 0.93 - - 2630 - - - 2444 - 97.3 - - 2554 - - - - - - - - 15.03 15.06 15.06
14806 587.5 7.4 1152 14808 done 0.94 - - 2630 - - - 2444 - 97.3 - - 2554 - - - - - - - - 15.02 15.04 15.04
15105 565.6 7.4 1167 15107 done 0.95 - - 2630 - - - 2444 - 97.3 - - 2554 - - - - - - - - 15.03 15.06 15.06
15405 542.7 7.5 1182 15410 roll 0.96 - - 2643 - 2.42 0.048 1045 -578.1 97.3 - - 2554 - - - - - - - - 15.02 14.26 15.05
15464 538.4 7.5 1193 15469 done 0.97 - - 2643 - 2.45 0.050 2448 572.7 97.3 - - 2554 - - - - - - - - 14.35 14.24 14.41
15767 515.3 7.6 1209 15772 roll 0.97 - - 2656 - 2.42 0.047 1042 -581.0 97.3 - - 2554 - - - - - - - - 15.04 14.26 15.07
15819 511.3 7.8 1219 15826 done 0.97 - - 2657 - 2.42 0.050 2441 578.1 97.3 - - 2554 - - - - - - - - 14.36 14.24 14.41
16129 487.1 7.7 1236 16137 roll 0.97 - - 2656 - 2.50 0.077 3845 561.6 97.3 - - 2554 - - - - - - - - 15.03 14.10 15.06
16149 485.4 8.2 1240 16154 done 0.97 - - 2668 - 2.33 0.034 2436 -604.7 97.3 - - 2554 - - - - - - - - 14.45 14.38 14.49
16472 459.7 7.6 1259 16476 roll 0.97 - - 2679 - 2.38 0.048 1049 -582.8 97.3 - - 2553 - - - - - - - - 15.02 14.26 15.05
16554 453.5 7.5 1275 16561 done 0.99 0.12 0.246 2653 -216.7 2.42 0.050 2447 577.7 97.3 - - 2554 - - - - - - - - 13.86 14.24 14.13
16878 430.3 7.1 1294 16883 roll 1.00 - - 2665 - 2.42 0.047 1050 -577.3 97.3 - - 2554 - - - - - - - - 14.99 14.25 15.02
16915 427.3 7.1 1301 16920 done 1.02 - - 2665 - 2.42 0.050 2441 574.8 97.3 - - 2554 - - - - - - - - 14.35 14.23 14.40
17222 406.5 6.5 1317 17227 roll 1.05 - - 2676 - 2.40 0.047 1053 -578.3 97.3 - - 2554 - - - - - - - - 15.02 14.25 15.05
17280 402.6 6.5 1328 17284 done 1.08 - - 2676 - 2.42 0.050 2443 574.4 97.3 - - 2554 - - - - - - - - 14.34 14.23 14.40
17585 382.9 6.5 1344 17592 roll 1.12 - - 2676 - 2.50 0.076 3848 562.0 97.3 - - 2553 - - - - - - - - 15.03 14.09 15.06
17724 373.1 7.4 1371 17728 done 1.13 - - 2688 - 2.33 0.034 2439 -604.7 97.3 - - 2554 - - - - - - - - 14.44 14.38 14.47
18025 352.7 6.8 1387 18031 roll 1.15 - - 2688 - 2.53 0.076 3845 555.7 97.3 - - 2554 - - - - - - - - 15.02 14.09 15.06
18263 336.1 7.4 1434 18267 done 1.17 - - 2700 - 2.33 0.034 2436 -604.7 97.3 - - 2554 - - - - - - - - 14.44 14.37 14.47
18569 315.6 6.9 1450 18573 roll 1.19 - - 2711 - 2.38 0.047 1044 -584.9 97.3 - - 2554 - - - - - - - - 15.01 14.25 15.04
18802 298.7 6.9 1496 18810 done 1.21 - - 2711 - 2.42 0.049 2444 578.5 97.3 - - 2553 - - - - - - - - 14.34 14.23 14.40
19111 278.3 6.6 1513 19116 roll 1.24 - - 2727 - 2.40 0.047 1050 -580.8 97.3 - - 2554 - - - - - - - - 15.02 14.25 15.05
19164 274.7 6.8 1523 19168 done 1.27 - - 2727 - 2.40 0.048 2439 578.8 97.3 - - 2554 - - - - - - - - 14.35 14.24 14.40
19477 255.0 5.4 1540 19523 done 1.31 - - 2728 - - - 2439 - 145.4 43.28 1.167 2375 -4.1 0.176 - - - - - - 15.02 14.23 13.29
19817 212.6 13.5 1576 19821 roll 1.31 - - 2741 - 2.35 0.047 1054 -589.4 145.4 - - 2369 - - - - - - - - 14.91 14.40 14.94
19833 210.2 13.4 1579 19837 done 1.31 - - 2741 - 2.40 0.050 2442 578.3 145.4 - - 2369 - - - - - - - - 14.50 14.39 14.54
20020 183.9 13.6 1598 20024 roll 1.31 - - 2756 - 2.38 0.047 1048 -585.7 145.4 - - 2368 - - - - - - - - 14.95 14.39 14.97
20037 181.7 12.2 1601 20043 done 1.31 - - 2757 - 2.40 0.049 2441 580.4 145.4 - - 2368 - - - - - - - - 14.50 14.39 14.53
20221 161.3 10.6 1620 20226 roll 1.31 - - 2769 - 2.38 0.047 1052 -583.6 145.4 - - 2368 - - - - - - - - 14.98 14.38 15.00
20268 156.9 9.1 1629 20273 done 1.31 - - 2769 - 2.40 0.051 2440 578.3 145.4 - - 2368 - - - - - - - - 14.47 14.36 14.51
20454 143.5 8.4 1648 20458 roll 1.31 - - 2784 - 2.35 0.047 1053 -590.2 145.4 - - 2368 - - - - - - - - 14.99 14.37 15.01
20569 134.5 6.9 1670 20573 done 1.34 - - 2785 - 2.40 0.050 2450 582.1 145.4 - - 2368 - - - - - - - - 14.47 14.37 14.51
20764 123.9 5.9 1690 20805 roll 1.38 - - 2785 - 2.42 0.075 3845 576.4 184.6 35.33 1.001 2213 -4.4 0.106 - - - - - - 14.98 14.35 13.43
20928 106.6 13.4 1723 20933 done 1.38 0.15 0.292 2776 -60.0 2.30 0.034 2437 -612.2 184.6 - - 2210 - - - - - - - - 13.98 14.50 14.29
21115 83.2 12.1 1742 21119 roll 1.38 - - 2785 - 2.33 0.047 1050 -595.3 184.6 - - 2209 - - - - - - - - 14.92 14.39 14.94
21191 76.5 8.1 1757 21196 done 1.38 - - 2785 - 2.40 0.050 2444 580.8 184.6 - - 2208 - - - - - - - - 14.48 14.38 14.53
21378 65.5 5.2 1776 21429 roll 1.43 - - 2785 - 2.47 0.076 3839 564.8 236.2 44.85 0.907 2003 -4.6 0.064 - - - - - - 14.97 14.35 13.49
21519 54.5 7.3 1804 21525 done 1.44 - - 2797 - 2.28 0.035 2440 -613.6 236.2 - - 2000 - - - - - - - - 14.46 14.44 14.49
21712 52.6 1.1 1824 21834 roll 1.57 0.12 0.131 2891 783.3 2.35 0.042 1042 -594.9 360.9 110.62 0.878 1496 -4.6 0.053 - - - - - - 14.55 14.21 13.39
22062 15.0 15.0 1893 22068 done 1.57 0.22 0.249 2840 -231.8 2.40 0.049 2443 583.8 360.9 - - 1493 - - - - - - - - 13.90 14.35 14.21
22142 end climb: SURFACE_DEPTH_REACHED
22142 begin surface coast
22161 end surface coast: CONTROL_FINISHED_OK
22161 begin surface
SM 1.07 - - - - -6.77 7.75 0.045 120 15.5 0.08 0.169 2506 -32750.0 500.17 144.12 0.664 928 6.4 -0.001 - - - - 1 -