MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 681 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 228.76 of 350.00 AH used of 24V (34.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 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: 15 s
• GPS2 time: 4 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 - - 104 - - - 2508 - -97.3 -71.60 0.005 2585 - - - - - - - - 14.83 - 14.85
87 4.4 -11.2 15 120 roll -0.67 9.32 0.346 2095 213.6 2.42 0.097 3883 568.2 -97.3 -15.35 0.008 3367 -50.9 5.512 - - - - - - 13.84 12.59 14.31
349 74.7 -15.6 67 354 done -0.67 - - 2095 - 2.22 0.032 2492 -626.6 -97.3 - - 3368 - - - - - - - - 14.61 14.54 14.63
542 103.3 -13.0 87 548 roll -0.67 - - 2085 - 2.42 0.079 3881 574.0 -97.3 - - 3368 - - - - - - - - 14.99 14.35 15.02
777 137.9 -14.9 134 781 done -0.67 - - 2085 - 2.22 0.031 2491 -626.1 -97.3 - - 3369 - - - - - - - - 14.65 14.59 14.67
962 163.0 -12.9 153 966 roll -0.67 - - 2074 - 2.42 0.078 3883 575.2 -97.3 - - 3368 - - - - - - - - 15.04 14.37 15.06
1038 173.6 -13.9 168 1043 done -0.67 0.15 0.210 2110 240.0 2.22 0.031 2490 -627.5 -97.3 - - 3368 - - - - - - - - 14.23 14.60 14.44
1225 194.7 -10.9 187 1229 done -0.67 - - 2110 - - - 2488 - -97.3 - - 3368 - - - - - - - - 15.03 15.07 15.06
1414 215.5 -11.3 206 1419 roll -0.67 - - 2101 - 2.45 0.080 3880 568.2 -97.3 - - 3367 - - - - - - - - 15.04 14.35 15.07
1466 221.7 -12.2 216 1470 done -0.67 - - 2101 - 2.20 0.032 2503 -625.9 -97.3 - - 3367 - - - - - - - - 14.66 14.60 14.69
1658 244.3 -11.8 236 1662 roll -0.67 - - 2101 - 2.30 0.048 1112 -604.8 -97.3 - - 3366 - - - - - - - - 15.04 14.47 15.07
1679 247.0 -12.6 240 1684 done -0.67 - - 2090 - 2.35 0.056 2491 586.8 -97.3 - - 3366 - - - - - - - - 14.57 14.45 14.60
1873 270.0 -11.7 252 1877 roll -0.67 - - 2079 - 2.42 0.080 3891 578.5 -97.3 - - 3365 - - - - - - - - 15.04 14.34 15.07
1925 276.6 -12.6 262 1930 done -0.67 0.12 0.206 2108 241.7 2.22 0.033 2500 -626.6 -97.3 - - 3364 - - - - - - - - 14.28 14.59 14.46
2237 309.2 -10.3 279 2241 roll -0.67 - - 2108 - 2.30 0.049 1113 -603.0 -97.3 - - 3362 - - - - - - - - 15.07 14.47 15.09
2306 316.1 -10.1 292 2310 done -0.67 - - 2099 - 2.38 0.056 2500 582.8 -97.3 - - 3361 - - - - - - - - 14.54 14.42 14.59
2623 349.5 -10.2 310 2629 roll -0.67 - - 2088 - 2.42 0.083 3889 574.0 -97.3 - - 3359 - - - - - - - - 15.07 14.31 15.09
2708 358.6 -10.6 327 2712 done -0.67 - - 2088 - 2.25 0.034 2497 -618.7 -97.3 - - 3359 - - - - - - - - 14.64 14.57 14.66
3024 393.4 -11.3 345 3029 roll -0.67 - - 2077 - 2.47 0.082 3897 566.8 -97.3 - - 3357 - - - - - - - - 15.07 14.29 15.09
3106 403.2 -11.9 361 3113 done -0.67 0.12 0.208 2108 258.3 2.28 0.034 2497 -614.0 -97.3 - - 3357 - - - - - - - - 14.23 14.54 14.41
3431 437.9 -10.7 380 3433 done -0.67 - - 2108 - - - 2496 - -97.3 - - 3354 - - - - - - - - 15.05 15.08 15.07
3730 469.8 -10.5 395 3732 done -0.67 - - 2108 - - - 2496 - -97.3 - - 3352 - - - - - - - - 15.06 15.09 15.09
4032 500.6 -10.0 410 4038 roll -0.67 - - 2099 - 2.50 0.085 3897 560.4 -97.3 - - 3351 - - - - - - - - 15.04 14.25 15.07
4071 504.7 -10.4 418 4075 done -0.67 - - 2099 - 2.28 0.034 2500 -612.7 -97.3 - - 3351 - - - - - - - - 14.59 14.52 14.62
4392 537.9 -10.2 437 4397 roll -0.67 - - 2099 - 2.35 0.049 1105 -593.6 -97.3 - - 3348 - - - - - - - - 15.07 14.39 15.09
4421 540.8 -10.4 442 4428 done -0.67 - - 2088 - 2.42 0.057 2502 577.3 -97.3 - - 3348 - - - - - - - - 14.47 14.35 14.52
4737 574.9 -10.9 460 4745 roll -0.67 - - 2077 - 2.45 0.084 3893 567.8 -97.3 - - 3348 - - - - - - - - 15.05 14.23 15.07
4823 584.9 -11.6 477 4829 done -0.67 0.15 0.196 2113 240.0 2.30 0.035 2494 -608.3 -97.3 - - 3347 - - - - - - - - 14.14 14.49 14.34
5141 616.8 -10.2 495 5143 done -0.67 - - 2113 - - - 2492 - -97.3 - - 3346 - - - - - - - - 15.06 15.09 15.08
5442 648.1 -10.4 510 5448 roll -0.67 - - 2104 - 2.53 0.085 3900 556.5 -97.3 - - 3345 - - - - - - - - 15.06 14.19 15.08
5472 651.3 -11.3 516 5477 done -0.67 - - 2104 - 2.30 0.035 2494 -611.3 -97.3 - - 3345 - - - - - - - - 14.55 14.49 14.59
5784 684.7 -10.4 533 5788 roll -0.67 - - 2104 - 2.35 0.049 1105 -591.1 -97.3 - - 3343 - - - - - - - - 15.06 14.35 15.08
5811 687.6 -11.3 538 5818 done -0.67 - - 2092 - 2.45 0.058 2508 572.7 -97.3 - - 3343 - - - - - - - - 14.42 14.31 14.47
6127 720.6 -10.2 556 6131 roll -0.67 - - 2082 - 2.47 0.086 3892 560.3 -97.3 - - 3342 - - - - - - - - 15.04 14.16 15.07
6179 726.1 -10.5 566 6184 done -0.67 0.12 0.201 2111 241.7 2.30 0.035 2491 -609.1 -97.3 - - 3342 - - - - - - - - 14.15 14.46 14.33
6493 753.5 -8.6 583 6495 done -0.67 - - 2111 - - - 2490 - -97.3 - - 3341 - - - - - - - - 15.04 15.07 15.07
6792 778.9 -8.4 598 6796 roll -0.67 - - 2112 - 2.35 0.049 1105 -589.4 -97.3 - - 3340 - - - - - - - - 15.05 14.32 15.07
6818 781.2 -8.7 603 6824 done -0.67 - - 2102 - 2.45 0.057 2505 571.4 -97.3 - - 3340 - - - - - - - - 14.40 14.27 14.45
7134 808.6 -8.7 621 7140 roll -0.67 - - 2091 - 2.50 0.086 3899 557.6 -97.3 - - 3339 - - - - - - - - 15.04 14.12 15.07
7187 813.6 -9.2 631 7191 done -0.67 - - 2091 - 2.30 0.036 2503 -607.0 -97.3 - - 3339 - - - - - - - - 14.50 14.43 14.53
7498 842.6 -9.4 648 7500 done -0.67 - - 2090 - - - 2502 - -97.3 - - 3338 - - - - - - - - 15.05 15.08 15.07
7800 872.0 -9.9 663 7806 roll -0.67 - - 2080 - 2.53 0.086 3897 551.4 -97.3 - - 3338 - - - - - - - - 15.04 14.10 15.07
7834 875.6 -10.9 670 7841 done -0.67 0.12 0.204 2110 250.0 2.33 0.036 2493 -602.6 -97.3 - - 3338 - - - - - - - - 14.09 14.41 14.27
8163 905.5 -9.3 690 8165 done -0.67 - - 2109 - - - 2492 - -97.3 - - 3337 - - - - - - - - 15.01 15.04 15.03
8458 933.2 -9.1 705 8460 done -0.67 - - 2109 - - - 2492 - -97.3 - - 3336 - - - - - - - - 15.05 15.08 15.07
8758 959.5 -8.5 720 8760 done -0.67 - - 2109 - - - 2492 - -97.3 - - 3336 - - - - - - - - 15.05 15.08 15.07
9060 983.7 -8.0 735 9062 done -0.67 - - 2110 - - - 2492 - -97.3 - - 3335 - - - - - - - - 15.04 15.07 15.06
9135 end dive: TARGET_DEPTH_EXCEEDED
9135 begin apogee
9143 990.1 -7.9 739 9239 done -0.15 0.60 0.163 2277 278.3 - - 2492 - - 92.62 1.983 2968 -4.0 0.389 - - - - - - 13.92 13.97 12.67
9240 end apogee: CONTROL_FINISHED_OK
9240 begin climb
9244 992.3 - 744 9359 roll 0.67 0.85 0.089 2565 338.8 2.58 0.050 1057 -556.2 97.3 103.80 1.956 2569 -3.8 0.384 - - - - - - 14.12 13.95 12.63
9379 991.1 4.5 768 9452 done 0.73 - - 2565 - 2.45 0.053 2447 567.3 161.3 65.97 1.939 2309 -3.9 0.396 - - - - - - 14.30 14.20 12.47
9765 947.8 11.9 800 9769 roll 0.73 - - 2576 - 2.42 0.053 1047 -578.5 161.3 - - 2301 - - - - - - - - 14.87 14.38 14.89
9806 942.9 11.6 808 9813 done 0.73 - - 2576 - 2.42 0.054 2445 577.7 161.3 - - 2300 - - - - - - - - 14.50 14.38 14.54
10127 902.6 12.6 827 10131 roll 0.73 - - 2586 - 2.42 0.051 1046 -578.1 161.3 - - 2299 - - - - - - - - 14.97 14.39 15.00
10170 897.1 13.2 835 10174 done 0.73 - - 2586 - 2.42 0.053 2441 576.4 161.3 - - 2298 - - - - - - - - 14.50 14.39 14.55
10492 852.2 14.6 854 10496 roll 0.73 - - 2598 - 2.40 0.052 1048 -580.4 161.3 - - 2298 - - - - - - - - 15.00 14.38 15.02
10518 848.3 14.4 859 10525 done 0.73 0.12 0.226 2572 -216.7 2.42 0.053 2447 578.1 161.3 - - 2297 - - - - - - - - 14.11 14.38 14.37
10835 805.6 13.5 877 10840 roll 0.73 - - 2582 - 2.40 0.051 1054 -580.4 161.3 - - 2297 - - - - - - - - 15.00 14.37 15.03
10904 796.7 12.8 890 10908 done 0.73 - - 2582 - 2.40 0.054 2440 577.5 161.3 - - 2297 - - - - - - - - 14.47 14.35 14.53
11222 755.8 12.8 908 11226 roll 0.73 - - 2593 - 2.40 0.052 1049 -579.6 161.3 - - 2297 - - - - - - - - 15.02 14.35 15.04
11250 752.4 11.9 913 11255 done 0.73 - - 2594 - 2.42 0.053 2446 577.3 161.3 - - 2296 - - - - - - - - 14.47 14.35 14.52
11567 712.7 12.0 931 11571 roll 0.73 - - 2605 - 2.42 0.052 1049 -577.3 161.3 - - 2296 - - - - - - - - 15.03 14.33 15.06
11675 700.3 11.5 952 11680 done 0.73 0.15 0.219 2572 -220.0 2.45 0.053 2445 569.8 161.3 - - 2296 - - - - - - - - 14.01 14.32 14.28
11993 668.4 9.8 970 11997 roll 0.73 - - 2582 - 2.40 0.051 1053 -580.0 161.3 - - 2296 - - - - - - - - 15.03 14.33 15.06
12045 663.2 10.2 980 12053 done 0.73 - - 2582 - 2.42 0.054 2445 575.2 161.3 - - 2295 - - - - - - - - 14.43 14.31 14.49
12356 629.5 11.2 997 12361 roll 0.73 - - 2593 - 2.40 0.050 1052 -580.4 161.3 - - 2295 - - - - - - - - 15.02 14.32 15.05
12434 620.5 11.5 1012 12438 done 0.73 - - 2594 - 2.42 0.053 2441 574.0 161.3 - - 2294 - - - - - - - - 14.42 14.30 14.47
12738 583.6 12.5 1028 12742 roll 0.73 - - 2605 - 2.40 0.050 1053 -578.3 161.3 - - 2294 - - - - - - - - 15.03 14.31 15.05
12764 580.2 12.7 1033 12770 done 0.73 0.15 0.213 2571 -226.7 2.42 0.053 2447 576.0 161.3 - - 2294 - - - - - - - - 13.99 14.29 14.25
13084 544.7 11.0 1051 13088 roll 0.73 - - 2582 - 2.40 0.050 1053 -580.8 161.3 - - 2294 - - - - - - - - 15.02 14.30 15.05
13135 538.9 11.2 1061 13140 done 0.73 - - 2582 - 2.42 0.053 2444 574.8 161.3 - - 2294 - - - - - - - - 14.40 14.28 14.47
13449 505.3 10.6 1078 13453 roll 0.73 - - 2594 - 2.42 0.050 1046 -577.7 161.3 - - 2294 - - - - - - - - 15.02 14.28 15.04
13486 501.2 10.8 1085 13491 done 0.73 - - 2593 - 2.42 0.052 2440 576.0 161.3 - - 2294 - - - - - - - - 14.40 14.28 14.45
13791 467.4 11.1 1101 13796 roll 0.73 - - 2605 - 2.40 0.050 1053 -577.9 161.3 - - 2294 - - - - - - - - 15.03 14.28 15.06
13829 463.2 11.4 1108 13838 done 0.73 0.15 0.212 2572 -220.0 2.42 0.053 2439 572.7 161.3 - - 2294 - - - - - - - - 13.95 14.26 14.16
14158 430.3 10.0 1128 14162 roll 0.73 - - 2581 - 2.40 0.051 1050 -578.8 161.3 - - 2294 - - - - - - - - 15.01 14.28 15.04
14221 424.1 9.8 1140 14228 done 0.73 - - 2581 - 2.42 0.053 2442 575.2 161.3 - - 2294 - - - - - - - - 14.38 14.26 14.44
14541 391.4 10.0 1159 14546 roll 0.73 - - 2593 - 2.40 0.050 1051 -579.6 161.3 - - 2294 - - - - - - - - 15.02 14.28 15.05
14588 386.5 10.4 1168 14595 done 0.73 - - 2593 - 2.42 0.053 2442 574.8 161.3 - - 2294 - - - - - - - - 14.38 14.26 14.44
14905 351.4 11.5 1186 14910 roll 0.73 - - 2593 - 2.53 0.081 3851 556.9 161.3 - - 2294 - - - - - - - - 15.02 14.11 15.04
14954 345.1 13.6 1195 14961 done 0.73 0.15 0.231 2571 -146.7 2.33 0.037 2444 -603.9 161.3 - - 2294 - - - - - - - - 13.93 14.40 14.21
15272 312.4 9.9 1213 15274 done 0.73 - - 2571 - - - 2443 - 161.3 - - 2294 - - - - - - - - 15.00 15.03 15.02
15568 284.3 9.0 1228 15573 roll 0.73 - - 2581 - 2.42 0.051 1044 -578.1 161.3 - - 2294 - - - - - - - - 15.04 14.26 15.07
15655 276.6 8.7 1245 15660 done 0.73 - - 2581 - 2.42 0.051 2441 577.3 161.3 - - 2293 - - - - - - - - 14.38 14.25 14.43
15963 248.8 9.3 1263 15967 done 0.73 - - 2581 - - - 2441 - 161.3 - - 2294 - - - - - - - - 15.02 15.05 15.04
16152 230.0 10.4 1282 16157 roll 0.73 - - 2592 - 2.40 0.050 1048 -580.4 161.3 - - 2294 - - - - - - - - 15.02 14.26 15.05
16205 224.7 9.9 1292 16212 done 0.73 - - 2592 - 2.42 0.051 2442 576.0 161.3 - - 2293 - - - - - - - - 14.37 14.26 14.42
16394 205.0 10.4 1312 16396 done 0.73 - - 2592 - - - 2442 - 161.3 - - 2294 - - - - - - - - 15.02 15.04 15.04
16574 187.4 9.5 1330 16579 roll 0.73 - - 2593 - 2.53 0.080 3848 555.7 161.3 - - 2294 - - - - - - - - 15.01 14.09 15.04
16612 183.4 10.9 1337 16618 done 0.73 0.15 0.228 2570 -153.3 2.33 0.035 2437 -605.6 161.3 - - 2294 - - - - - - - - 13.93 14.40 14.19
16801 168.7 7.2 1356 16805 roll 0.75 - - 2580 - 2.38 0.050 1047 -584.0 161.3 - - 2293 - - - - - - - - 14.98 14.26 15.01
16844 165.4 7.0 1364 16851 done 0.77 - - 2580 - 2.42 0.051 2444 577.3 161.3 - - 2293 - - - - - - - - 14.37 14.26 14.42
17033 151.3 7.5 1384 17037 roll 0.78 - - 2580 - 2.53 0.080 3851 556.1 161.3 - - 2294 - - - - - - - - 15.02 14.10 15.04
17059 149.1 8.0 1389 17064 done 0.78 - - 2591 - 2.33 0.035 2440 -605.6 161.3 - - 2294 - - - - - - - - 14.47 14.40 14.51
17246 135.2 6.8 1408 17251 roll 0.81 - - 2591 - 2.55 0.080 3847 551.8 161.3 - - 2293 - - - - - - - - 15.00 14.11 15.02
17273 133.0 7.9 1413 17278 done 0.81 - - 2602 - 2.33 0.034 2436 -605.6 161.3 - - 2294 - - - - - - - - 14.48 14.41 14.51
17461 118.3 7.3 1432 17465 roll 0.82 - - 2612 - 2.35 0.049 1053 -588.5 161.3 - - 2294 - - - - - - - - 14.98 14.27 15.01
17585 112.6 4.4 1456 17651 done 0.89 - - 2613 - 2.40 0.050 2442 578.8 226.7 56.58 1.004 2041 -4.5 0.099 - - - - - - 14.37 14.26 13.41
17832 94.6 9.3 1488 17840 roll 0.89 - - 2613 - 2.47 0.080 3845 568.0 226.7 - - 2037 - - - - - - - - 14.89 14.24 14.90
17863 91.8 9.7 1494 17867 done 0.89 - - 2624 - 2.30 0.036 2446 -608.3 226.7 - - 2037 - - - - - - - - 14.52 14.45 14.54
18056 75.7 9.0 1514 18063 roll 0.89 - - 2624 - 2.50 0.080 3849 561.2 226.7 - - 2036 - - - - - - - - 14.92 14.23 14.95
18231 63.1 3.4 1549 18315 done 0.97 - - 2636 - 2.33 0.033 2421 -612.9 310.4 74.20 0.912 1701 -4.5 0.061 - - - - - - 14.54 14.48 13.43
18496 47.0 5.0 1589 18553 roll 1.03 - - 2636 - 2.58 0.080 3842 550.8 364.7 49.97 0.864 1480 -4.4 0.047 - - - - - - 14.84 14.28 13.47
18623 42.6 4.8 1614 18685 done 1.08 - - 2647 - 2.28 0.034 2444 -613.2 423.1 54.00 0.848 1242 -4.4 0.044 - - - - - - 14.50 14.44 13.45
18869 27.8 6.6 1663 18876 roll 1.11 0.12 0.111 2744 808.3 2.35 0.046 1052 -592.3 423.1 - - 1239 - - - - - - - - 14.51 14.36 14.50
18924 22.1 12.1 1674 18931 done 1.11 0.22 0.194 2687 -259.1 2.40 0.054 2445 580.4 423.1 - - 1238 - - - - - - - - 14.08 14.36 14.28
19109 end climb: SURFACE_DEPTH_REACHED
19109 begin surface coast
19134 end surface coast: CONTROL_FINISHED_OK
19134 begin surface
SM 1.21 - - - - -6.77 7.25 0.039 117 16.1 0.08 0.173 2502 -32800.0 500.17 90.80 0.584 928 10.2 -0.002 - - - - 1 -