MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 751 * Raw log
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• Previous call tries 1 • 249.80 of 350.00 AH used of 24V (28.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.25 m • Intended pitch -19.6 deg, speed -8.049 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 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 - - - 84 VBD -0.67 - - 84 - - - 2533 - -97.3 -71.70 0.005 2594 - - - - - - - - 14.81 - 14.83
89 4.5 -11.6 15 120 roll -0.67 9.35 0.343 2105 216.1 2.45 0.073 1126 -574.3 -97.3 -14.85 0.009 3366 -52.0 5.064 - - - - - - 13.86 12.59 14.30
213 44.4 -29.3 40 217 done -0.67 - - 2097 - 2.35 0.063 2468 571.1 -97.3 - - 3366 - - - - - - - - 14.35 14.21 14.40
404 91.3 -17.5 61 408 roll -0.67 - - 2096 - 2.28 0.051 1120 -591.2 -97.3 - - 3366 - - - - - - - - 14.95 14.27 14.98
502 105.7 -13.7 80 508 done -0.67 - - 2086 - 2.42 0.061 2508 573.6 -97.3 - - 3366 - - - - - - - - 14.35 14.21 14.39
695 135.5 -14.7 101 697 done -0.67 - - 2086 - - - 2508 - -97.3 - - 3367 - - - - - - - - 14.99 15.02 15.02
877 162.5 -15.7 119 884 roll -0.67 - - 2075 - 2.42 0.080 3893 572.3 -97.3 - - 3367 - - - - - - - - 14.98 14.13 15.01
946 172.8 -13.6 133 951 done -0.67 0.15 0.216 2109 226.7 2.28 0.038 2516 -603.9 -97.3 - - 3367 - - - - - - - - 13.98 14.37 14.20
1142 196.1 -11.8 153 1146 roll -0.67 - - 2110 - 2.38 0.052 1109 -591.2 -97.3 - - 3367 - - - - - - - - 14.97 14.24 15.00
1203 203.9 -11.2 165 1208 done -0.67 - - 2100 - 2.42 0.057 2504 576.4 -97.3 - - 3366 - - - - - - - - 14.36 14.23 14.40
1395 227.2 -12.5 185 1402 roll -0.67 - - 2090 - 2.45 0.081 3893 566.9 -97.3 - - 3366 - - - - - - - - 15.02 14.10 15.04
1431 231.7 -13.3 192 1435 done -0.67 - - 2089 - 2.30 0.033 2490 -610.0 -97.3 - - 3365 - - - - - - - - 14.46 14.39 14.49
1625 255.6 -11.9 210 1630 roll -0.67 - - 2089 - 2.35 0.051 1099 -591.9 -97.3 - - 3364 - - - - - - - - 15.02 14.23 15.05
1653 258.9 -12.6 215 1660 done -0.67 0.12 0.207 2107 150.0 2.42 0.057 2501 579.3 -97.3 - - 3364 - - - - - - - - 14.01 14.23 14.21
1969 292.5 -10.6 233 1973 roll -0.67 - - 2098 - 2.50 0.082 3896 558.0 -97.3 - - 3362 - - - - - - - - 15.02 14.07 15.04
2025 298.9 -11.0 244 2029 done -0.67 - - 2098 - 2.30 0.032 2492 -610.4 -97.3 - - 3361 - - - - - - - - 14.45 14.38 14.48
2331 334.1 -11.8 260 2334 done -0.67 - - 2097 - - - 2490 - -97.3 - - 3359 - - - - - - - - 15.02 15.04 15.04
2631 369.0 -11.3 275 2637 roll -0.67 - - 2087 - 2.53 0.082 3892 554.2 -97.3 - - 3357 - - - - - - - - 15.03 14.02 15.05
2680 375.0 -12.2 285 2684 done -0.67 - - 2087 - 2.30 0.034 2491 -609.1 -97.3 - - 3357 - - - - - - - - 14.43 14.35 14.46
2993 412.6 -12.1 302 2998 roll -0.67 - - 2076 - 2.53 0.082 3893 554.2 -97.3 - - 3354 - - - - - - - - 15.01 14.01 15.04
3015 415.5 -12.2 306 3021 done -0.67 0.15 0.199 2111 233.3 2.30 0.034 2494 -608.3 -97.3 - - 3353 - - - - - - - - 13.96 14.35 14.16
3338 451.0 -10.7 325 3340 done -0.67 - - 2111 - - - 2493 - -97.3 - - 3353 - - - - - - - - 15.03 15.06 15.05
3639 482.6 -10.4 340 3646 roll -0.67 - - 2102 - 2.55 0.083 3906 554.1 -97.3 - - 3350 - - - - - - - - 15.02 13.95 15.04
3683 487.4 -10.9 349 3687 done -0.67 - - 2102 - 2.33 0.034 2498 -604.3 -97.3 - - 3350 - - - - - - - - 14.40 14.33 14.42
4001 522.4 -11.1 367 4003 done -0.67 - - 2102 - - - 2497 - -97.3 - - 3349 - - - - - - - - 15.01 15.04 15.03
4299 555.3 -10.9 382 4304 roll -0.67 - - 2090 - 2.58 0.086 3896 542.2 -97.3 - - 3347 - - - - - - - - 15.02 13.93 15.05
4353 561.4 -11.3 392 4357 done -0.67 - - 2090 - 2.33 0.034 2493 -602.1 -97.3 - - 3347 - - - - - - - - 14.38 14.30 14.40
4666 596.7 -11.3 409 4668 done -0.67 - - 2090 - - - 2491 - -97.3 - - 3346 - - - - - - - - 15.01 15.04 15.03
4964 629.8 -11.0 424 4968 roll -0.67 - - 2090 - 2.38 0.048 1105 -582.4 -97.3 - - 3343 - - - - - - - - 15.02 14.13 15.04
4981 631.6 -10.9 427 4988 done -0.67 0.12 0.200 2108 150.0 2.47 0.057 2499 564.4 -97.3 - - 3343 - - - - - - - - 13.87 14.07 14.06
5308 663.6 -9.8 447 5312 roll -0.67 - - 2099 - 2.55 0.086 3891 545.9 -97.3 - - 3342 - - - - - - - - 15.00 13.90 15.02
5356 668.6 -10.5 456 5360 done -0.67 - - 2099 - 2.33 0.034 2494 -599.6 -97.3 - - 3342 - - - - - - - - 14.34 14.26 14.37
5673 701.5 -10.3 474 5675 done -0.67 - - 2099 - - - 2492 - -97.3 - - 3341 - - - - - - - - 15.00 15.03 15.03
5972 731.0 -9.7 489 5979 roll -0.67 - - 2088 - 2.58 0.086 3893 543.0 -97.3 - - 3340 - - - - - - - - 15.02 13.87 15.04
6007 734.6 -10.2 496 6011 done -0.67 - - 2088 - 2.35 0.034 2492 -596.2 -97.3 - - 3340 - - - - - - - - 14.31 14.23 14.33
6313 764.9 -9.7 512 6317 roll -0.67 - - 2088 - 2.40 0.048 1102 -579.2 -97.3 - - 3339 - - - - - - - - 15.00 14.06 15.02
6350 768.7 -9.9 519 6357 done -0.67 0.10 0.217 2104 160.0 2.50 0.057 2500 559.2 -97.3 - - 3338 - - - - - - - - 13.79 14.03 13.88
6675 796.8 -8.6 539 6682 roll -0.67 - - 2095 - 2.55 0.086 3894 546.7 -97.3 - - 3338 - - - - - - - - 15.00 13.84 15.03
6717 800.4 -9.1 547 6721 done -0.67 - - 2095 - 2.33 0.035 2500 -598.3 -97.3 - - 3338 - - - - - - - - 14.28 14.21 14.31
7038 829.0 -8.6 566 7040 done -0.67 - - 2094 - - - 2498 - -97.3 - - 3336 - - - - - - - - 15.01 15.04 15.03
7339 855.1 -8.7 581 7341 done -0.67 - - 2095 - - - 2499 - -97.3 - - 3335 - - - - - - - - 15.00 15.04 15.02
7638 882.3 -9.3 596 7642 roll -0.67 - - 2085 - 2.60 0.086 3890 535.0 -97.3 - - 3334 - - - - - - - - 15.00 13.82 15.03
7686 886.9 -9.9 605 7690 done -0.67 - - 2084 - 2.35 0.036 2495 -593.6 -97.3 - - 3334 - - - - - - - - 14.25 14.17 14.28
8004 918.8 -10.2 623 8008 roll -0.67 - - 2084 - 2.40 0.050 1112 -576.2 -97.3 - - 3334 - - - - - - - - 14.99 13.97 15.02
8035 922.3 -11.0 629 8044 done -0.67 0.15 0.190 2108 160.0 2.50 0.059 2505 557.2 -97.3 - - 3334 - - - - - - - - 13.74 13.97 13.95
8345 951.1 -9.4 646 8350 roll -0.67 - - 2099 - 2.55 0.086 3891 543.5 -97.3 - - 3332 - - - - - - - - 15.00 13.83 15.03
8399 956.4 -10.1 656 8404 done -0.67 - - 2099 - 2.35 0.036 2496 -593.6 -97.3 - - 3333 - - - - - - - - 14.23 14.15 14.26
8711 987.9 -10.3 673 8715 roll -0.67 - - 2099 - 2.42 0.050 1109 -573.1 -97.3 - - 3332 - - - - - - - - 15.00 13.95 15.02
8729 end dive: TARGET_DEPTH_EXCEEDED
8729 begin apogee
8740 990.2 -10.9 677 8837 done -0.15 0.70 0.166 2279 257.1 - - 2440 - - 92.22 1.989 2968 -3.9 0.383 - - - - - - 13.71 14.00 12.76
8838 end apogee: CONTROL_FINISHED_OK
8838 begin climb
8841 994.5 - 682 8958 roll 0.67 0.85 0.090 2565 336.5 2.55 0.052 1040 -549.0 97.3 104.00 1.965 2569 -3.8 0.378 - - - - - - 14.04 13.95 12.69
9028 993.7 5.3 720 9085 done 0.72 - - 2565 - 2.47 0.053 2447 569.6 146.2 50.60 1.941 2371 -3.9 0.390 - - - - - - 14.32 14.21 12.74
9397 958.9 10.3 749 9401 roll 0.72 - - 2576 - 2.42 0.052 1050 -577.3 146.2 - - 2363 - - - - - - - - 14.87 14.34 14.89
9441 954.5 10.2 757 9447 done 0.72 - - 2576 - 2.42 0.054 2442 575.2 146.2 - - 2361 - - - - - - - - 14.46 14.35 14.51
9760 920.1 10.9 776 9762 done 0.72 - - 2576 - - - 2442 - 146.2 - - 2361 - - - - - - - - 14.93 14.97 14.96
10060 886.4 11.6 791 10065 roll 0.72 - - 2587 - 2.42 0.051 1049 -575.6 146.2 - - 2360 - - - - - - - - 14.97 14.29 14.99
10124 879.3 11.2 803 10128 done 0.72 - - 2587 - 2.42 0.053 2439 574.4 146.2 - - 2359 - - - - - - - - 14.42 14.31 14.48
10446 840.5 12.3 822 10453 roll 0.72 - - 2587 - 2.53 0.080 3843 554.9 146.2 - - 2359 - - - - - - - - 14.97 14.13 15.00
10472 837.2 12.7 827 10478 done 0.72 0.15 0.246 2566 -140.0 2.35 0.037 2437 -598.3 146.2 - - 2359 - - - - - - - - 13.95 14.40 14.25
10790 801.8 10.6 845 10794 roll 0.72 - - 2575 - 2.42 0.052 1043 -576.0 146.2 - - 2358 - - - - - - - - 14.98 14.18 15.01
10832 797.4 10.8 853 10838 done 0.72 - - 2576 - 2.45 0.052 2442 571.0 146.2 - - 2358 - - - - - - - - 14.35 14.23 14.41
11154 762.8 10.9 872 11156 done 0.72 - - 2575 - - - 2442 - 146.2 - - 2358 - - - - - - - - 14.96 15.00 15.00
11452 732.8 9.7 887 11457 roll 0.72 - - 2586 - 2.45 0.051 1046 -569.8 146.2 - - 2357 - - - - - - - - 14.98 14.13 15.01
11550 723.3 9.5 906 11558 done 0.72 - - 2586 - 2.45 0.052 2439 568.6 146.2 - - 2356 - - - - - - - - 14.31 14.19 14.36
11875 691.0 10.0 926 11882 roll 0.72 - - 2586 - 2.55 0.081 3846 551.8 146.2 - - 2356 - - - - - - - - 14.98 14.00 15.01
11925 685.3 11.7 936 11933 done 0.72 0.15 0.236 2565 -140.0 2.38 0.037 2431 -594.5 146.2 - - 2356 - - - - - - - - 13.85 14.30 14.14
12236 656.4 9.6 953 12241 roll 0.72 - - 2575 - 2.42 0.051 1049 -571.1 146.2 - - 2356 - - - - - - - - 14.97 14.08 15.00
12268 653.2 9.7 959 12273 done 0.72 - - 2574 - 2.45 0.052 2439 567.3 146.2 - - 2356 - - - - - - - - 14.26 14.14 14.32
12582 620.7 10.5 976 12584 done 0.72 - - 2575 - - - 2439 - 146.2 - - 2356 - - - - - - - - 14.97 15.00 15.00
12880 588.6 10.9 991 12885 roll 0.72 - - 2585 - 2.45 0.050 1048 -567.8 146.2 - - 2356 - - - - - - - - 14.99 14.05 15.02
12928 583.5 10.8 1000 12933 done 0.72 - - 2585 - 2.47 0.052 2439 563.2 146.2 - - 2356 - - - - - - - - 14.23 14.12 14.29
13246 547.8 11.6 1018 13248 done 0.72 - - 2585 - - - 2439 - 146.2 - - 2356 - - - - - - - - 14.97 15.00 15.00
13545 514.5 11.0 1033 13547 done 0.72 - - 2585 - - - 2440 - 146.2 - - 2356 - - - - - - - - 14.98 15.02 15.01
13847 484.1 9.7 1048 13849 done 0.72 - - 2586 - - - 2439 - 146.2 - - 2356 - - - - - - - - 14.97 15.00 15.00
14145 456.0 9.2 1063 14150 roll 0.72 - - 2597 - 2.45 0.050 1047 -568.2 146.2 - - 2356 - - - - - - - - 14.99 14.03 15.01
14167 454.0 9.1 1067 14173 done 0.72 0.15 0.210 2565 -213.3 2.47 0.052 2448 567.2 146.2 - - 2356 - - - - - - - - 13.78 14.08 14.04
14491 426.4 8.4 1086 14493 done 0.72 - - 2565 - - - 2448 - 146.2 - - 2356 - - - - - - - - 14.97 15.00 15.00
14790 402.5 7.7 1101 14792 done 0.72 - - 2565 - - - 2448 - 146.2 - - 2356 - - - - - - - - 14.98 15.02 15.02
15091 379.4 7.7 1116 15095 roll 0.72 - - 2565 - 2.55 0.080 3844 547.5 146.2 - - 2356 - - - - - - - - 14.98 13.91 15.01
15124 376.6 9.2 1122 15128 done 0.72 - - 2575 - 2.38 0.035 2430 -594.1 146.2 - - 2356 - - - - - - - - 14.28 14.21 14.32
15436 350.3 8.8 1139 15441 roll 0.72 - - 2586 - 2.42 0.051 1042 -573.6 146.2 - - 2356 - - - - - - - - 14.99 14.00 15.02
15563 339.6 8.7 1163 15568 done 0.72 - - 2587 - 2.47 0.051 2443 567.2 146.2 - - 2356 - - - - - - - - 14.18 14.06 14.23
15885 309.6 9.3 1182 15892 roll 0.72 - - 2587 - 2.55 0.080 3844 549.4 146.2 - - 2356 - - - - - - - - 14.98 13.88 15.01
15925 305.4 10.8 1190 15933 done 0.72 0.15 0.230 2566 -140.0 2.35 0.035 2441 -597.0 146.2 - - 2356 - - - - - - - - 13.74 14.21 14.01
16245 277.8 8.3 1209 16249 roll 0.72 - - 2575 - 2.42 0.050 1051 -574.4 146.2 - - 2356 - - - - - - - - 15.00 13.99 15.02
16346 269.2 8.2 1229 16353 done 0.72 - - 2575 - 2.45 0.051 2438 566.1 146.2 - - 2356 - - - - - - - - 14.16 14.04 14.22
16660 242.9 8.0 1251 16665 roll 0.72 - - 2575 - 2.58 0.080 3848 546.5 146.2 - - 2356 - - - - - - - - 14.94 13.90 14.97
16702 238.7 9.3 1259 16708 done 0.72 - - 2586 - 2.38 0.034 2430 -595.8 146.2 - - 2356 - - - - - - - - 14.28 14.21 14.32
16896 223.0 7.8 1279 16901 roll 0.72 - - 2597 - 2.40 0.050 1049 -575.4 146.2 - - 2356 - - - - - - - - 14.95 14.04 14.97
16959 218.3 7.3 1291 16964 done 0.74 - - 2597 - 2.45 0.051 2441 568.2 146.2 - - 2356 - - - - - - - - 14.19 14.07 14.24
17152 203.6 7.8 1311 17157 done 0.74 - - 2597 - - - 2441 - 146.2 - - 2356 - - - - - - - - 14.96 14.99 14.99
17341 187.2 9.0 1330 17345 roll 0.74 - - 2608 - 2.45 0.049 1051 -567.3 146.2 - - 2356 - - - - - - - - 14.97 14.03 15.00
17402 182.1 8.3 1342 17411 done 0.74 0.17 0.204 2570 -223.5 2.45 0.050 2441 567.3 146.2 - - 2356 - - - - - - - - 13.74 14.07 14.02
17598 167.4 7.7 1362 17602 roll 0.74 - - 2580 - 2.45 0.049 1051 -567.3 146.2 - - 2356 - - - - - - - - 14.92 14.04 14.95
17690 160.6 7.0 1380 17696 done 0.76 - - 2580 - 2.47 0.051 2450 566.4 146.2 - - 2356 - - - - - - - - 14.18 14.07 14.23
17881 147.9 6.2 1400 17888 roll 0.79 - - 2591 - 2.45 0.048 1047 -572.7 146.2 - - 2356 - - - - - - - - 14.95 14.04 14.97
18052 139.1 5.0 1434 18108 done 0.85 - - 2591 - 2.45 0.050 2443 569.8 201.4 47.55 1.053 2145 -4.4 0.114 - - - - - - 14.18 14.07 13.43
18291 121.0 7.8 1464 18297 roll 0.85 - - 2591 - 2.47 0.080 3842 566.4 201.4 - - 2141 - - - - - - - - 14.86 14.19 14.89
18507 103.6 6.0 1507 18545 done 0.89 - - 2602 - 2.33 0.034 2435 -603.9 237.5 32.00 0.968 1998 -4.5 0.093 - - - - - - 14.47 14.40 13.47
18733 89.1 7.1 1534 18737 roll 0.91 - - 2613 - 2.35 0.050 1054 -587.7 237.5 - - 1995 - - - - - - - - 14.88 14.31 14.90
18965 77.7 3.7 1580 19044 done 0.98 - - 2613 - 2.40 0.050 2441 577.9 314.9 69.50 0.925 1683 -4.5 0.073 - - - - - - 14.40 14.29 13.45
19225 64.0 5.0 1614 19284 roll 1.04 0.15 0.097 2714 673.3 2.42 0.053 1057 -571.9 368.9 50.55 0.882 1463 -4.4 0.062 - - - - - - 14.48 14.27 13.46
19515 41.3 7.9 1669 19523 done 1.04 0.20 0.184 2661 -265.0 2.40 0.053 2441 576.7 368.9 - - 1462 - - - - - - - - 13.96 14.28 14.06
19707 29.4 5.3 1707 19759 roll 1.09 - - 2670 - 2.40 0.051 1061 -575.0 417.6 45.10 0.789 1264 -4.4 0.032 - - - - - - 14.88 14.35 13.59
19839 20.6 7.4 1733 19843 done 1.10 - - 2670 - 2.38 0.053 2438 578.6 417.6 - - 1262 - - - - - - - - 14.43 14.33 14.47
20026 6.4 7.1 1770 20030 roll 1.12 - - 2681 - 2.35 0.049 1056 -588.1 417.6 - - 1262 - - - - - - - - 14.89 14.31 14.91
20065 3.1 9.0 1777 20070 roll 1.12 - - 2681 - 2.40 0.052 2451 581.2 417.6 - - 1262 - - - - - - - - 14.43 14.32 14.47
20071 end climb: SURFACE_DEPTH_REACHED
20071 begin surface coast
20099 end surface coast: CONTROL_FINISHED_OK
20099 begin surface
SM 1.23 - - - - -6.79 7.38 0.052 119 16.1 0.08 0.154 2549 19012.5 500.17 96.15 0.586 928 9.7 -0.002 - - - - 1 -