MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 757 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 205.20 of 350.00 AH used of 24V (41.37% remains)
• Surface angle -72.9 deg, depth 0.55 m • Intended pitch -19.0 deg, speed -8.462 cm/s
VBD pumped to 499.84 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 102
• 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
4.08 - - - 75.07 VBD -0.63 - - 310.62 - - - 2703.75 - -116.79 70.35 0.005 2429.91 - - - - - - - - - - 14.72
75.33 3.12 -4.25 7 111.64 -0.63 10.65 0.385 2284.88 185.4 2.08 0.097 3725.44 491.2 -116.79 19.46 0.006 3299.91 44.7 -4.106 - - - - - - 14.91 14.84 15.00
198.56 40.30 -30.61 19 203.80 roll -0.63 - - 2286.19 - 2.05 0.021 2603.31 -547.4 -116.79 - - 3298.53 - - - - - - - - - 15.81 -
383.62 81.17 -16.39 38 386.36 roll -0.63 - - 2286.19 - 1.67 0.019 1521.88 -647.6 -116.79 - - 3297.84 - - - - - - - - - 15.92 -
548.70 106.82 -14.93 55 553.92 roll -0.63 - - 2277.75 - 2.02 0.062 2658.69 562.8 -116.79 - - 3298.53 - - - - - - - - - 15.76 -
738.74 137.15 -14.43 74 740.07 no move -0.63 - - 2275.88 - - - 2659.88 - -116.79 - - 3299.38 - - - - - - - - - - -
918.82 162.39 -14.56 92 920.15 no move -0.63 - - 2277.19 - - - 2658.81 - -116.79 - - 3297.03 - - - - - - - - - - -
1098.82 186.45 -12.82 110 1104.05 roll -0.63 - - 2267.94 - 2.19 0.098 3724.94 486.8 -116.79 - - 3297.38 - - - - - - - - - 15.68 -
1123.79 190.02 -13.83 112 1129.03 roll -0.63 - - 2267.88 - 2.03 0.024 2588.31 -559.9 -116.79 - - 3297.38 - - - - - - - - - 15.96 -
1308.83 215.49 -13.44 131 1311.57 roll -0.63 - - 2266.94 - 1.65 0.019 1514.31 -650.9 -116.79 - - 3297.34 - - - - - - - - - 15.94 -
1338.88 219.47 -13.13 134 1344.12 roll -0.63 - - 2260.12 - 2.05 0.065 2660.12 558.9 -116.79 - - 3297.34 - - - - - - - - - 15.78 -
1523.87 244.58 -13.49 153 1525.33 pitch -0.63 0.13 0.213 2295.19 269.8 - - 2660.75 - -116.79 - - 3296.25 - - - - - - - - 15.62 - -
1703.90 265.22 -11.25 171 1706.67 roll -0.63 - - 2296.38 - 1.84 0.021 1522.75 -618.5 -116.79 - - 3294.31 - - - - - - - - - 15.94 -
1768.90 272.04 -10.09 178 1774.12 roll -0.63 - - 2290.56 - 2.05 0.070 2660.31 554.9 -116.79 - - 3293.94 - - - - - - - - - 15.75 -
1958.94 292.80 -10.94 197 1961.71 roll -0.63 - - 2289.56 - 1.83 0.021 1521.88 -622.1 -116.79 - - 3293.81 - - - - - - - - - 15.94 -
2013.93 298.47 -10.11 203 2019.15 roll -0.63 - - 2281.75 - 2.05 0.068 2659.56 555.0 -116.79 - - 3293.81 - - - - - - - - - 15.76 -
2203.97 319.36 -11.06 222 2205.30 no move -0.63 - - 2282.75 - - - 2660.19 - -116.79 - - 3291.09 - - - - - - - - - - -
2384.00 339.78 -11.44 240 2386.77 roll -0.63 - - 2282.44 - 1.84 0.022 1520.56 -619.4 -116.79 - - 3289.88 - - - - - - - - - 15.94 -
2404.03 342.01 -11.42 242 2409.27 roll -0.63 - - 2274.25 - 2.05 0.067 2660.56 556.1 -116.79 - - 3289.03 - - - - - - - - - 15.76 -
2589.04 364.06 -12.22 261 2591.82 roll -0.63 - - 2274.62 - 1.84 0.021 1521.62 -619.0 -116.79 - - 3288.16 - - - - - - - - - 15.94 -
2629.00 368.85 -11.83 265 2634.24 roll -0.63 - - 2266.69 - 2.05 0.070 2658.38 554.5 -116.79 - - 3288.56 - - - - - - - - - 15.74 -
2814.06 392.27 -12.96 284 2815.39 no move -0.63 - - 2266.50 - - - 2657.44 - -116.79 - - 3286.19 - - - - - - - - - - -
2994.07 415.28 -12.71 296 2996.85 roll -0.63 - - 2264.69 - 1.84 0.022 1523.38 -616.3 -116.79 - - 3286.47 - - - - - - - - - 15.97 -
3054.05 422.46 -11.66 299 3059.27 roll -0.63 - - 2259.12 - 2.07 0.073 2661.12 549.6 -116.79 - - 3285.81 - - - - - - - - - 15.74 -
3369.11 462.80 -12.76 315 3374.36 roll back -0.63 0.14 0.215 2298.00 277.7 1.85 0.023 1522.25 -615.6 -116.79 - - 3284.16 - - - - - - - - 15.58 15.54 -
3414.09 467.54 -10.18 317 3419.30 roll -0.63 - - 2291.94 - 2.07 0.073 2659.25 549.3 -116.79 - - 3284.28 - - - - - - - - - 15.71 -
3729.14 500.81 -10.55 333 3731.91 roll -0.63 - - 2291.88 - 1.85 0.022 1522.62 -614.4 -116.79 - - 3282.81 - - - - - - - - - 15.97 -
3764.14 504.50 -10.55 335 3769.35 roll -0.63 - - 2284.25 - 2.08 0.072 2658.88 546.3 -116.79 - - 3282.72 - - - - - - - - - 15.69 -
4084.17 541.17 -11.58 351 4085.50 no move -0.63 - - 2283.38 - - - 2657.88 - -116.79 - - 3280.69 - - - - - - - - - - -
4384.19 577.35 -12.13 366 4386.96 roll -0.63 - - 2282.12 - 1.85 0.023 1527.88 -610.8 -116.79 - - 3278.75 - - - - - - - - - 15.97 -
4424.16 581.96 -11.44 368 4429.38 roll -0.63 - - 2276.00 - 2.07 0.072 2657.31 545.6 -116.79 - - 3279.53 - - - - - - - - - 15.69 -
4739.23 620.72 -12.28 384 4740.56 no move -0.63 - - 2275.50 - - - 2657.25 - -116.79 - - 3276.62 - - - - - - - - - - -
5039.34 656.68 -11.85 399 5040.67 no move -0.63 - - 2276.19 - - - 2657.94 - -116.79 - - 3275.47 - - - - - - - - - - -
5339.31 691.57 -11.51 414 5342.09 roll -0.63 - - 2275.50 - 1.88 0.023 1532.75 -598.5 -116.79 - - 3274.12 - - - - - - - - - 15.96 -
5389.29 697.05 -10.73 416 5394.54 roll -0.63 - - 2267.56 - 2.09 0.080 2657.81 538.3 -116.79 - - 3276.81 - - - - - - - - - 15.64 -
5694.34 733.30 -12.03 432 5695.68 no move -0.63 - - 2267.62 - - - 2657.50 - -116.79 - - 3274.03 - - - - - - - - - - -
5994.38 769.27 -11.91 447 5997.16 roll -0.63 - - 2267.19 - 1.87 0.023 1528.62 -603.7 -116.79 - - 3273.28 - - - - - - - - - 15.95 -
6034.36 773.81 -11.29 449 6039.57 roll -0.63 - - 2258.50 - 2.08 0.072 2658.06 543.0 -116.79 - - 3274.50 - - - - - - - - - 15.63 -
6349.43 810.38 -11.25 465 6354.68 roll back -0.63 0.13 0.210 2295.12 281.7 1.89 0.024 1526.31 -598.8 -116.79 - - 3274.16 - - - - - - - - 15.54 15.49 -
6379.41 813.18 -10.75 466 6384.62 roll -0.63 - - 2290.50 - 2.08 0.073 2658.19 544.2 -116.79 - - 3271.94 - - - - - - - - - 15.63 -
6689.47 841.82 -9.04 482 6692.24 roll -0.63 - - 2290.00 - 1.88 0.025 1527.94 -601.2 -116.79 - - 3270.31 - - - - - - - - - 15.93 -
6719.45 844.55 -9.10 483 6724.69 roll -0.63 - - 2282.62 - 2.09 0.076 2659.56 541.4 -116.79 - - 3272.38 - - - - - - - - - 15.60 -
7024.51 874.13 -9.77 499 7027.29 roll -0.63 - - 2282.62 - 1.87 0.024 1525.81 -606.3 -116.79 - - 3269.59 - - - - - - - - - 15.92 -
7074.51 878.97 -9.62 501 7079.74 roll -0.63 - - 2273.75 - 2.09 0.074 2658.25 541.8 -116.79 - - 3271.19 - - - - - - - - - 15.62 -
7379.57 910.26 -10.33 517 7380.91 no move -0.63 - - 2274.94 - - - 2659.12 - -116.79 - - 3268.28 - - - - - - - - - - -
7679.61 941.67 -10.48 532 7682.39 roll -0.63 - - 2274.62 - 1.86 0.024 1529.31 -607.4 -116.79 - - 3267.78 - - - - - - - - - 15.91 -
7739.62 947.70 -9.87 535 7744.84 roll -0.63 - - 2266.56 - 2.08 0.072 2657.56 542.4 -116.79 - - 3268.28 - - - - - - - - - 15.60 -
8054.66 982.22 -10.98 551 8055.99 no move -0.63 - - 2266.19 - - - 2657.12 - -116.79 - - 3266.94 - - - - - - - - - - -
8134 end dive: TARGET_DEPTH_EXCEEDED
8134 begin apogee
8135.88 990.75 -10.73 555 8237.96 -0.14 0.67 0.180 2453.19 279.1 0.08 0.176 2718.19 763.4 - 99.76 2.004 2824.59 -4.4 0.387 - - - - - - 15.34 14.92 10.04
8238 end apogee: CONTROL_FINISHED_OK
8238 begin climb
8238.33 993.90 - 560 8353.21 0.63 0.74 0.067 2704.06 339.0 2.38 0.118 3797.31 453.4 116.79 108.85 1.972 2346.47 -4.4 0.391 - - - - - - 15.26 14.82 11.59
8360.20 993.98 -0.49 566 8524.06 0.81 0.14 0.082 2774.69 504.5 2.06 0.036 2698.56 -533.4 300.06 159.42 1.956 1601.06 -4.7 0.420 - - - - - - 15.29 15.33 11.54
8835.83 934.20 13.50 590 8838.61 roll 0.81 - - 2781.69 - 1.86 0.031 1640.00 -569.1 300.06 - - 1595.41 - - - - - - - - - 15.77 -
8875.80 929.06 12.85 592 8881.06 roll 0.81 - - 2779.75 - 2.23 0.082 2758.50 501.6 300.06 - - 1595.91 - - - - - - - - - 15.66 -
9190.85 886.58 13.65 608 9196.07 roll 0.81 - - 2784.19 - 2.03 0.032 1640.31 -550.8 300.06 - - 1595.38 - - - - - - - - - 15.84 -
9240.83 879.79 13.47 610 9246.09 roll 0.81 - - 2783.69 - 2.20 0.080 2758.31 508.2 300.06 - - 1594.91 - - - - - - - - - 15.68 -
9550.88 834.40 14.89 626 9556.09 roll 0.81 - - 2789.38 - 2.02 0.032 1655.38 -546.0 300.06 - - 1594.75 - - - - - - - - - 15.89 -
9590.88 828.47 14.71 628 9596.26 roll back 0.81 0.13 0.215 2747.25 -324.1 2.17 0.078 2756.44 507.4 300.06 - - 1594.50 - - - - - - - - 15.46 15.66 -
9910.92 787.47 12.63 644 9916.12 roll 0.81 - - 2752.44 - 2.00 0.031 1655.38 -550.5 300.06 - - 1594.22 - - - - - - - - - 15.91 -
9940.88 783.76 12.39 645 9946.12 roll 0.81 - - 2752.88 - 2.18 0.078 2758.44 506.0 300.06 - - 1593.84 - - - - - - - - - 15.68 -
10250.94 743.77 12.90 661 10256.16 roll 0.81 - - 2758.62 - 2.01 0.031 1652.25 -550.3 300.06 - - 1595.28 - - - - - - - - - 15.90 -
10285.93 739.33 12.77 662 10291.19 roll 0.81 - - 2759.94 - 2.17 0.079 2755.00 508.2 300.06 - - 1594.00 - - - - - - - - - 15.67 -
10590.97 698.60 13.52 678 10596.17 done 0.81 - - 2766.81 - 2.00 0.031 1654.56 -550.2 300.06 - - 1593.47 - - - - - - - - - 15.92 -
10620.94 694.63 13.21 679 10626.17 done 0.81 - - 2768.12 - 2.17 0.077 2758.44 508.7 300.06 - - 1593.97 - - - - - - - - - 15.67 -
10930.99 650.77 13.93 695 10932.32 VBD 0.81 - - 2767.62 - - - 2757.81 - 300.06 - - 1592.31 - - - - - - - - - - -
11231.01 611.20 12.71 710 11236.23 done 0.81 - - 2775.50 - 2.01 0.030 1650.12 -551.1 300.06 - - 1592.84 - - - - - - - - - 15.91 -
11276.00 605.65 12.25 712 11281.23 done 0.81 - - 2775.44 - 2.17 0.077 2757.06 510.1 300.06 - - 1593.31 - - - - - - - - - 15.65 -
11591.04 565.42 12.40 728 11592.38 VBD 0.81 - - 2775.25 - - - 2756.69 - 300.06 - - 1592.69 - - - - - - - - - - -
11891.07 527.60 12.72 743 11896.30 done 0.81 - - 2775.25 - 2.13 0.114 3793.44 486.7 300.06 - - 1593.47 - - - - - - - - - 15.50 -
11906.03 525.57 12.83 743 11911.25 done 0.81 - - 2784.38 - 1.97 0.038 2708.44 -550.8 300.06 - - 1593.38 - - - - - - - - - 15.83 -
12211.08 485.37 13.46 759 12212.42 VBD 0.81 - - 2784.81 - - - 2708.81 - 300.06 - - 1592.62 - - - - - - - - - - -
12511.10 443.18 14.20 774 12512.44 VBD 0.81 - - 2783.75 - - - 2708.69 - 300.06 - - 1592.72 - - - - - - - - - - -
12811.12 399.15 14.60 789 12812.48 VBD 0.81 - - 2784.81 - - - 2708.69 - 300.06 - - 1592.44 - - - - - - - - - - -
12991.16 372.61 14.52 807 12996.43 done 0.81 - - 2784.81 - 2.32 0.111 3795.69 468.5 300.06 - - 1594.09 - - - - - - - - - 15.46 -
13016.11 368.69 15.67 809 13021.34 done 0.81 - - 2793.19 - 1.97 0.035 2716.12 -548.0 300.06 - - 1593.78 - - - - - - - - - 15.83 -
13201.17 341.12 14.79 828 13206.58 0.81 0.16 0.200 2749.38 -273.8 2.29 0.109 3795.00 471.1 300.06 - - 1593.88 - - - - - - - - 15.48 15.41 -
13221.16 338.17 14.59 830 13226.36 done 0.81 - - 2754.25 - 1.97 0.035 2708.12 -551.7 300.06 - - 1593.72 - - - - - - - - - 15.83 -
13411.20 314.37 12.53 849 13412.53 VBD 0.81 - - 2756.19 - - - 2708.06 - 300.06 - - 1592.97 - - - - - - - - - - -
13591.24 291.99 12.21 867 13592.58 VBD 0.81 - - 2755.94 - - - 2707.81 - 300.06 - - 1592.59 - - - - - - - - - - -
13771.28 270.31 11.91 885 13774.06 done 0.81 - - 2762.69 - 1.85 0.029 1644.44 -574.8 300.06 - - 1592.78 - - - - - - - - - 15.90 -
13796.27 267.43 11.60 888 13801.51 done 0.81 - - 2762.81 - 2.20 0.080 2757.50 505.9 300.06 - - 1593.09 - - - - - - - - - 15.59 -
13986.33 245.13 11.27 907 13991.53 done 0.81 - - 2770.62 - 2.00 0.029 1650.19 -553.7 300.06 - - 1593.22 - - - - - - - - - 15.89 -
14011.37 242.42 11.04 909 14016.63 done 0.81 - - 2770.62 - 2.18 0.076 2757.44 507.9 300.06 - - 1593.19 - - - - - - - - - 15.60 -
14196.38 220.51 11.92 928 14201.62 done 0.81 - - 2771.06 - 2.14 0.116 3792.12 483.5 300.06 - - 1593.22 - - - - - - - - - 15.43 -
14231.36 215.85 13.49 931 14236.58 done 0.81 - - 2779.62 - 1.96 0.034 2715.62 -549.2 300.06 - - 1593.50 - - - - - - - - - 15.83 -
14416.42 192.46 12.77 950 14417.76 VBD 0.81 - - 2780.44 - - - 2713.12 - 300.06 - - 1592.75 - - - - - - - - - - -
14596.47 169.82 12.12 968 14597.81 VBD 0.81 - - 2780.88 - - - 2713.44 - 300.06 - - 1592.69 - - - - - - - - - - -
14776.51 147.78 12.39 986 14781.77 done 0.81 - - 2779.56 - 2.28 0.108 3791.25 472.7 300.06 - - 1594.72 - - - - - - - - - 15.43 -
14811.49 143.25 13.14 989 14816.71 done 0.81 - - 2790.12 - 1.96 0.033 2708.62 -552.4 300.06 - - 1594.31 - - - - - - - - - 15.83 -
14996.58 120.36 12.32 1008 15002.00 0.81 0.14 0.195 2748.75 -295.5 2.33 0.113 3793.44 465.6 300.06 - - 1593.53 - - - - - - - - 15.48 15.39 -
15041.55 115.83 9.95 1012 15046.78 done 0.81 - - 2754.00 - 1.97 0.033 2717.75 -546.0 300.06 - - 1593.50 - - - - - - - - - 15.83 -
15226.64 100.00 7.65 1031 15231.89 done 0.83 - - 2754.69 - 2.29 0.111 3792.12 469.2 300.06 - - 1593.72 - - - - - - - - - 15.41 -
15246.65 98.36 7.70 1033 15249.44 done 0.84 - - 2763.31 - 1.95 0.030 2721.62 -549.0 300.06 - - 1592.69 - - - - - - - - - 15.87 -
15431.67 83.25 8.53 1052 15434.45 done 0.84 - - 2771.81 - 1.86 0.028 1639.00 -582.1 300.06 - - 1593.00 - - - - - - - - - 15.90 -
15461.65 80.56 8.89 1055 15466.91 done 0.84 - - 2772.00 - 2.18 0.072 2758.19 513.4 300.06 - - 1593.75 - - - - - - - - - 15.61 -
15646.74 65.65 7.50 1074 15651.98 roll 0.86 - - 2772.31 - 2.15 0.118 3793.12 481.4 300.06 - - 1594.09 - - - - - - - - - 15.42 -
15676.75 63.27 7.63 1077 15679.54 roll 0.88 - - 2780.25 - 1.96 0.033 2720.06 -547.5 300.06 - - 1594.06 - - - - - - - - - 15.83 -
15861.79 50.32 6.62 1096 15863.13 no move 0.92 - - 2781.56 - - - 2711.56 - 300.06 - - 1593.66 - - - - - - - - - - -
16041.83 39.85 5.13 1114 16098.35 done 0.99 - - 2788.31 - 1.86 0.029 1636.19 -578.2 368.29 53.12 0.765 1323.28 -5.1 0.047 - - - - - - - 15.25 10.32
16320.13 28.46 2.99 1141 16407.40 1.10 0.17 0.059 2899.62 654.8 2.18 0.075 2757.44 514.3 480.34 82.08 0.711 866.56 -5.6 0.039 - - - - - - 15.49 15.62 11.32
16585.10 6.05 10.63 1168 16590.49 roll back 1.10 0.22 0.171 2836.25 -288.0 2.15 0.114 3795.25 482.7 480.34 - - 863.88 - - - - - - - - 15.46 15.39 -
16625 end climb: SURFACE_DEPTH_REACHED
16625 begin surface coast
16655 end surface coast: CONTROL_FINISHED_OK
16655 begin surface
SM 0.56 - - - - 336.5 - 0.010 787.3 - 7.28 0.067 808.2 111.0 - 2.18 0.026 766.4 350.6 -0.772 - - 30.36 15.50 15.80 -