MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 30.38 of 350.00 AH used of 24V (91.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.7 deg, depth 1.21 m • Intended pitch -17.5 deg, speed -10.000 cm/s
• VBD pumped to 580.87 (SM_CC=580.87036)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 119 VBD -0.66 - - 94 - - - 2527 - -146.0 -97.22 0.005 2857 - - - - - - - - 14.84 - 14.88
122 4.2 -10.7 20 155 roll -0.66 8.85 0.363 2095 226.1 2.35 0.112 3877 574.5 -146.0 -13.68 0.011 3566 -51.8 3.672 - - - - - - 14.47 13.70 14.63
200 31.4 -30.8 35 207 done -0.66 - - 2095 - 2.25 0.047 2514 -605.8 -146.0 - - 3567 - - - - - - - - 14.72 14.68 14.74
395 93.1 -24.9 59 401 roll -0.66 - - 2085 - 2.33 0.094 3877 585.0 -146.0 - - 3566 - - - - - - - - 14.93 14.68 14.95
441 103.3 -19.6 68 449 done -0.66 0.08 0.227 2107 275.0 2.25 0.044 2481 -620.4 -146.0 - - 3566 - - - - - - - - 14.62 14.75 14.73
629 132.0 -14.9 87 635 roll -0.66 - - 2098 - 2.38 0.094 3877 586.6 -146.0 - - 3566 - - - - - - - - 14.96 14.74 14.99
653 135.4 -14.2 91 659 done -0.66 - - 2098 - 2.17 0.041 2496 -636.4 -146.0 - - 3566 - - - - - - - - 14.87 14.81 14.88
848 163.2 -13.0 111 853 roll -0.66 - - 2098 - 2.22 0.049 1096 -630.6 -146.0 - - 3566 - - - - - - - - 14.99 14.82 15.02
902 170.0 -12.5 121 908 done -0.66 - - 2087 - 2.30 0.063 2485 603.9 -146.0 - - 3566 - - - - - - - - 14.88 14.81 14.90
1095 195.6 -13.6 141 1101 roll -0.66 - - 2077 - 2.38 0.092 3898 593.7 -146.0 - - 3566 - - - - - - - - 15.01 14.78 15.04
1189 208.8 -13.9 159 1196 done -0.66 0.15 0.230 2112 233.3 2.17 0.036 2491 -648.4 -146.0 - - 3566 - - - - - - - - 14.73 14.87 14.88
1385 231.5 -11.3 179 1390 roll -0.66 - - 2112 - 2.20 0.050 1104 -630.5 -146.0 - - 3565 - - - - - - - - 15.03 14.86 15.06
1449 238.6 -10.8 191 1455 done -0.66 - - 2104 - 2.30 0.060 2502 607.8 -146.0 - - 3564 - - - - - - - - 14.92 14.85 14.95
1653 262.1 -11.6 207 1657 done -0.66 - - 2104 - - - 2502 - -146.0 - - 3563 - - - - - - - - 15.05 15.09 15.08
1953 298.9 -12.5 222 1956 done -0.66 - - 2104 - - - 2502 - -146.0 - - 3561 - - - - - - - - 15.07 15.10 15.09
2253 335.3 -11.7 237 2256 done -0.66 - - 2103 - - - 2502 - -146.0 - - 3558 - - - - - - - - 15.09 15.11 15.11
2553 369.4 -11.3 252 2556 done -0.66 - - 2103 - - - 2502 - -146.0 - - 3556 - - - - - - - - 15.09 15.11 15.11
2853 403.9 -11.6 267 2859 roll -0.66 - - 2103 - 2.25 0.054 1108 -619.6 -146.0 - - 3553 - - - - - - - - 15.09 14.91 15.12
2898 409.0 -11.5 275 2904 done -0.66 - - 2092 - 2.30 0.064 2498 604.3 -146.0 - - 3552 - - - - - - - - 14.97 14.89 14.99
3222 448.4 -12.2 294 3226 done -0.66 - - 2092 - - - 2498 - -146.0 - - 3551 - - - - - - - - 15.09 15.12 15.12
3522 484.3 -12.0 309 3526 done -0.66 - - 2092 - - - 2498 - -146.0 - - 3548 - - - - - - - - 15.09 15.14 15.12
3821 520.1 -11.8 324 3825 done -0.66 - - 2092 - - - 2498 - -146.0 - - 3546 - - - - - - - - 15.09 15.13 15.12
4122 555.2 -11.6 339 4126 done -0.66 - - 2092 - - - 2498 - -146.0 - - 3545 - - - - - - - - 15.09 15.13 15.12
4421 589.9 -11.5 354 4428 roll -0.66 - - 2082 - 2.35 0.096 3892 593.2 -146.0 - - 3543 - - - - - - - - 15.09 14.87 15.12
4466 595.1 -12.1 362 4473 done -0.66 0.12 0.223 2112 250.0 2.17 0.041 2493 -644.7 -146.0 - - 3543 - - - - - - - - 14.81 14.94 14.95
4791 629.0 -10.3 381 4797 roll -0.66 - - 2112 - 2.22 0.055 1106 -624.8 -146.0 - - 3540 - - - - - - - - 15.09 14.90 15.12
4856 635.6 -10.0 393 4861 done -0.66 - - 2103 - 2.33 0.065 2500 598.3 -146.0 - - 3540 - - - - - - - - 14.97 14.89 14.99
5179 669.6 -10.4 412 5183 done -0.66 - - 2103 - - - 2499 - -146.0 - - 3538 - - - - - - - - 15.09 15.12 15.11
5480 699.9 -9.9 427 5485 roll -0.66 - - 2103 - 2.25 0.055 1110 -617.3 -146.0 - - 3537 - - - - - - - - 15.09 14.90 15.11
5506 702.8 -10.3 432 5512 done -0.66 - - 2091 - 2.33 0.066 2504 598.3 -146.0 - - 3538 - - - - - - - - 14.97 14.88 14.99
5825 735.2 -10.2 450 5831 roll -0.66 - - 2081 - 2.35 0.096 3897 592.8 -146.0 - - 3536 - - - - - - - - 15.07 14.85 15.11
5849 737.8 -10.9 454 5857 done -0.66 0.10 0.194 2112 310.0 2.17 0.041 2511 -638.7 -146.0 - - 3535 - - - - - - - - 14.79 14.92 14.89
6175 767.5 -9.1 473 6181 roll -0.66 - - 2112 - 2.28 0.054 1099 -619.3 -146.0 - - 3533 - - - - - - - - 15.08 14.89 15.11
6212 771.2 -9.2 480 6219 done -0.66 - - 2103 - 2.40 0.067 2505 585.8 -146.0 - - 3533 - - - - - - - - 14.88 14.84 14.92
6519 800.2 -9.6 496 6523 done -0.66 - - 2103 - - - 2505 - -146.0 - - 3532 - - - - - - - - 15.08 15.11 15.11
6819 828.2 -9.4 511 6823 done -0.66 - - 2103 - - - 2505 - -146.0 - - 3532 - - - - - - - - 15.07 15.11 15.10
7119 856.9 -9.6 526 7123 done -0.66 - - 2103 - - - 2505 - -146.0 - - 3531 - - - - - - - - 15.07 15.11 15.10
7419 886.0 -9.8 541 7425 roll -0.66 - - 2103 - 2.28 0.054 1103 -614.9 -146.0 - - 3529 - - - - - - - - 15.07 14.88 15.10
7452 889.4 -10.3 547 7458 done -0.66 - - 2091 - 2.35 0.066 2508 597.9 -146.0 - - 3528 - - - - - - - - 14.95 14.86 14.97
7765 921.7 -10.2 564 7769 done -0.66 - - 2091 - - - 2508 - -146.0 - - 3529 - - - - - - - - 15.07 15.10 15.09
8066 952.4 -10.1 579 8070 done -0.66 - - 2091 - - - 2508 - -146.0 - - 3527 - - - - - - - - 15.07 15.10 15.09
8366 982.6 -10.0 594 8369 done -0.66 - - 2091 - - - 2508 - -146.0 - - 3527 - - - - - - - - 15.07 15.09 15.09
8443 end dive: TARGET_DEPTH_EXCEEDED
8443 begin apogee
8449 990.9 -10.4 598 8585 done -0.15 0.62 0.184 2275 296.8 - - 2436 - - 126.78 2.036 2967 -4.4 0.399 - - - - - - 14.78 14.14 13.32
8587 end apogee: CONTROL_FINISHED_OK
8587 begin climb
8590 994.5 - 605 8735 done 0.66 0.85 0.108 2548 321.2 - - 2436 - 146.0 134.05 2.029 2372 -4.4 0.404 - - - - - - 14.21 14.02 13.22
9028 949.1 12.8 627 9034 roll 0.66 - - 2558 - 2.33 0.057 1046 -596.6 146.0 - - 2362 - - - - - - - - 14.75 14.58 14.78
9052 945.7 12.7 631 9058 done 0.66 - - 2559 - 2.38 0.061 2445 587.8 146.0 - - 2362 - - - - - - - - 14.66 14.59 14.69
9376 902.6 13.2 650 9380 done 0.66 - - 2559 - - - 2444 - 146.0 - - 2361 - - - - - - - - 14.89 14.93 14.93
9675 863.6 12.9 665 9681 roll 0.66 - - 2570 - 2.33 0.057 1041 -602.1 146.0 - - 2360 - - - - - - - - 14.95 14.77 14.98
9713 858.5 13.1 672 9719 done 0.66 - - 2570 - 2.40 0.060 2442 583.8 146.0 - - 2359 - - - - - - - - 14.78 14.73 14.81
10019 817.7 13.2 688 10023 done 0.66 - - 2570 - - - 2443 - 146.0 - - 2359 - - - - - - - - 14.99 15.02 15.02
10319 778.7 12.9 703 10325 roll 0.66 - - 2580 - 2.30 0.057 1047 -607.0 146.0 - - 2358 - - - - - - - - 15.01 14.83 15.04
10345 774.9 12.8 708 10352 done 0.66 0.15 0.233 2546 -226.7 2.33 0.060 2442 598.7 146.0 - - 2357 - - - - - - - - 14.71 14.81 14.88
10660 737.3 12.2 725 10667 roll 0.66 - - 2555 - 2.30 0.057 1047 -606.5 146.0 - - 2358 - - - - - - - - 15.02 14.83 15.04
10693 733.0 12.7 731 10699 done 0.66 - - 2556 - 2.33 0.061 2439 597.4 146.0 - - 2357 - - - - - - - - 14.90 14.82 14.92
11007 693.6 12.6 748 11011 done 0.66 - - 2556 - - - 2439 - 146.0 - - 2357 - - - - - - - - 15.02 15.06 15.05
11308 656.4 12.3 763 11313 roll 0.66 - - 2567 - 2.30 0.057 1043 -607.0 146.0 - - 2357 - - - - - - - - 15.03 14.84 15.06
11354 650.4 12.2 772 11360 done 0.66 - - 2568 - 2.33 0.060 2439 599.1 146.0 - - 2358 - - - - - - - - 14.92 14.83 14.93
11673 611.4 12.3 790 11679 roll 0.66 - - 2579 - 2.30 0.057 1042 -607.4 146.0 - - 2356 - - - - - - - - 15.03 14.85 15.06
11697 608.4 12.0 794 11704 done 0.66 0.15 0.236 2545 -226.7 2.35 0.060 2440 594.9 146.0 - - 2356 - - - - - - - - 14.73 14.83 14.90
12022 572.5 11.0 813 12028 roll 0.66 - - 2545 - 2.40 0.093 3853 588.8 146.0 - - 2356 - - - - - - - - 15.03 14.81 15.06
12049 568.9 13.1 818 12056 done 0.66 - - 2555 - 2.25 0.043 2440 -628.0 146.0 - - 2356 - - - - - - - - 14.92 14.87 14.95
12369 530.6 12.1 836 12375 roll 0.66 - - 2566 - 2.30 0.057 1033 -611.7 146.0 - - 2356 - - - - - - - - 15.03 14.85 15.07
12416 524.7 12.3 845 12422 done 0.66 - - 2566 - 2.35 0.060 2442 599.6 146.0 - - 2357 - - - - - - - - 14.92 14.83 14.94
12735 484.6 12.5 863 12739 done 0.66 - - 2566 - - - 2442 - 146.0 - - 2356 - - - - - - - - 15.04 15.07 15.07
13034 447.2 12.3 878 13041 roll 0.66 - - 2577 - 2.30 0.057 1043 -608.3 146.0 - - 2356 - - - - - - - - 15.04 14.85 15.07
13083 440.9 12.8 887 13089 done 0.66 0.12 0.243 2548 -241.7 2.35 0.060 2449 598.3 146.0 - - 2356 - - - - - - - - 14.74 14.83 14.90
13402 404.8 11.2 905 13406 done 0.66 - - 2549 - - - 2449 - 146.0 - - 2356 - - - - - - - - 15.04 15.07 15.07
13702 371.4 11.0 920 13708 roll 0.66 - - 2559 - 2.33 0.057 1037 -606.0 146.0 - - 2355 - - - - - - - - 15.04 14.85 15.07
13726 368.7 10.9 924 13732 done 0.66 - - 2559 - 2.35 0.060 2448 600.4 146.0 - - 2356 - - - - - - - - 14.92 14.83 14.94
14051 331.2 11.4 943 14054 done 0.66 - - 2559 - - - 2449 - 146.0 - - 2356 - - - - - - - - 15.04 15.07 15.07
14350 296.2 11.9 958 14356 roll 0.66 - - 2568 - 2.33 0.057 1034 -607.3 146.0 - - 2356 - - - - - - - - 15.04 14.85 15.07
14408 289.0 12.3 969 14415 done 0.66 - - 2570 - 2.40 0.060 2445 587.9 146.0 - - 2356 - - - - - - - - 14.85 14.80 14.87
14714 251.8 11.6 985 14720 roll 0.66 - - 2570 - 2.38 0.091 3847 589.1 146.0 - - 2356 - - - - - - - - 15.04 14.81 15.07
14758 246.3 12.9 993 14765 done 0.66 0.15 0.253 2547 -153.3 2.25 0.041 2433 -628.4 146.0 - - 2356 - - - - - - - - 14.73 14.87 14.90
14953 227.1 9.5 1013 14958 roll 0.66 - - 2556 - 2.28 0.057 1037 -612.3 146.0 - - 2355 - - - - - - - - 15.02 14.83 15.06
14987 223.9 9.1 1019 14993 done 0.68 - - 2556 - 2.33 0.059 2441 602.6 146.0 - - 2355 - - - - - - - - 14.90 14.83 14.93
15181 205.3 9.7 1039 15188 done 0.68 - - 2556 - - - 2441 - 146.0 - - 2355 - - - - - - - - 15.02 15.04 15.05
15371 186.5 9.8 1058 15378 roll 0.68 - - 2556 - 2.40 0.091 3853 588.3 146.0 - - 2356 - - - - - - - - 15.02 14.79 15.04
15416 181.5 11.5 1066 15423 done 0.68 - - 2568 - 2.25 0.042 2437 -629.3 146.0 - - 2355 - - - - - - - - 14.91 14.85 14.92
15611 162.8 9.1 1086 15617 roll 0.70 - - 2578 - 2.28 0.056 1042 -611.8 146.0 - - 2355 - - - - - - - - 15.01 14.82 15.04
15760 150.2 7.8 1115 15806 done 0.74 - - 2578 - 2.38 0.059 2439 587.0 193.7 37.72 1.073 2177 -4.7 0.123 - - - - - - 14.82 14.77 14.10
15989 129.6 9.5 1142 15996 roll 0.75 - - 2589 - 2.30 0.056 1042 -607.4 193.7 - - 2172 - - - - - - - - 14.88 14.70 14.90
16076 122.1 8.4 1158 16082 done 0.79 - - 2589 - 2.35 0.059 2448 598.3 193.7 - - 2171 - - - - - - - - 14.79 14.71 14.81
16270 106.7 7.2 1178 16330 roll 0.85 - - 2589 - 2.47 0.090 3844 565.2 254.8 49.55 0.982 1928 -4.9 0.099 - - - - - - 14.94 14.50 14.05
16394 94.5 11.6 1202 16401 done 0.85 - - 2600 - 2.28 0.039 2438 -616.7 254.8 - - 1924 - - - - - - - - 14.67 14.62 14.69
16589 76.3 8.5 1222 16597 done 0.88 - - 2600 - - - 2436 - 254.8 - - 1923 - - - - - - - - 14.86 14.90 14.89
16779 62.8 6.3 1241 16854 roll 0.96 0.12 0.121 2696 800.0 2.35 0.057 1036 -595.7 333.3 65.05 0.903 1607 -4.9 0.063 - - - - - - 14.76 14.49 14.02
16872 53.8 12.8 1259 16882 done 0.96 0.20 0.215 2640 -280.0 2.38 0.059 2437 588.7 333.3 - - 1606 - - - - - - - - 14.40 14.50 14.50
17065 41.3 5.9 1295 17145 done 1.04 - - 2640 - - - 2437 - 420.1 72.25 0.855 1254 -4.9 0.044 - - - - - - 14.82 14.31 13.97
17331 23.2 7.1 1347 17392 roll 1.11 0.15 0.100 2735 633.3 2.35 0.055 1041 -594.0 481.4 50.30 0.795 1003 -5.0 0.027 - - - - - - 14.63 14.36 14.04
17410 12.3 15.4 1362 17419 done 1.11 0.12 0.174 2686 -408.3 2.42 0.065 2433 575.2 481.4 - - 1002 - - - - - - - - 14.42 14.46 14.54
17484 end climb: SURFACE_DEPTH_REACHED
17484 begin surface coast
17510 end surface coast: CONTROL_FINISHED_OK
17510 begin surface
SM 1.14 - - - - -6.76 7.10 0.039 125 17.6 0.12 0.150 2521 -21708.3 580.87 100.03 0.611 600 6.0 -0.001 - - - - 1 -