MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 85 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 31.76 of 350.00 AH used of 24V (90.92% remains)
• Surface angle -70.1 deg, depth 0.58 m • Intended pitch -18.6 deg, speed -9.167 cm/s
VBD pumped to 500.13 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 s • Transponder ping count: 27
• 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
14.98 - - - 89.14 VBD -0.65 - - 249.88 - - - 3213.62 - -145.99 70.44 0.005 2508.66 - - - - - - - - - - 15.21
89.41 3.45 -4.32 7 127.12 -0.65 9.71 0.374 2260.31 207.0 1.52 0.026 2163.00 -691.2 -145.99 20.01 0.006 3495.00 49.3 -4.792 - - - - - - 14.98 15.57 15.26
143.84 23.22 -36.17 12 151.39 roll -0.65 - - 2253.69 - 2.13 0.078 3371.06 567.2 -145.99 - - 3494.41 - - - - - - - - - 15.79 -
329.27 79.82 -23.63 31 335.57 roll -0.65 - - 2250.50 - 0.74 0.087 3806.75 588.8 -145.99 - - 3494.50 - - - - - - - - - 15.84 -
559.55 127.36 -17.34 54 565.63 roll -0.65 - - 2249.75 - 0.78 0.035 3298.88 -651.1 -145.99 - - 3493.53 - - - - - - - - - 15.91 -
749.44 157.30 -15.21 73 755.74 roll -0.65 - - 2246.81 - 0.88 0.086 3806.75 577.1 -145.99 - - 3493.59 - - - - - - - - - 15.91 -
963.98 189.35 -14.90 94 971.03 roll -0.65 - - 2247.06 - 0.78 0.036 3295.44 -655.5 -145.99 - - 3493.12 - - - - - - - - - 15.95 -
1149.59 215.84 -14.01 113 1172.33 roll -0.65 - - 2240.81 - 0.89 0.090 3804.50 572.0 -145.99 - - 3493.81 - - - - - - - - - 15.97 -
1194.62 222.31 -14.41 116 1217.35 roll -0.65 - - 2243.12 - 0.77 0.037 3297.62 -658.3 -145.99 - - 3492.62 - - - - - - - - - 16.01 -
1399.68 251.66 -14.21 135 1422.57 roll -0.65 - - 2240.69 - 1.64 0.024 2163.88 -691.3 -145.99 - - 3493.34 - - - - - - - - - 16.03 -
1439.94 256.82 -13.01 137 1462.99 roll -0.65 - - 2233.38 - 2.12 0.086 3366.94 567.5 -145.99 - - 3491.62 - - - - - - - - - 16.01 -
1635.12 285.01 -14.44 155 1657.86 roll -0.65 - - 2229.69 - 0.75 0.093 3802.44 580.7 -145.99 - - 3491.72 - - - - - - - - - 16.02 -
1690.16 293.06 -14.76 159 1712.95 roll back -0.65 0.13 0.223 2264.94 271.2 0.77 0.041 3303.31 -648.2 -145.99 - - 3490.41 - - - - - - - - 15.93 16.05 -
1895.12 316.95 -11.17 178 1917.63 no move -0.65 - - 2265.06 - - - 3304.31 - -145.99 - - 3488.69 - - - - - - - - - - -
2089.77 338.87 -11.38 196 2112.28 no move -0.65 - - 2264.81 - - - 3304.50 - -145.99 - - 3487.00 - - - - - - - - - - -
2284.63 361.47 -11.63 214 2307.53 roll -0.65 - - 2265.00 - 1.67 0.030 2173.69 -677.1 -145.99 - - 3486.38 - - - - - - - - - 16.07 -
2314.73 364.83 -11.28 215 2337.78 roll -0.65 - - 2258.88 - 2.12 0.091 3363.19 561.1 -145.99 - - 3486.75 - - - - - - - - - 16.06 -
2510.14 388.13 -11.79 233 2533.18 roll -0.65 - - 2259.00 - 1.78 0.028 2175.44 -667.3 -145.99 - - 3484.34 - - - - - - - - - 16.07 -
2540.39 391.58 -11.48 234 2563.46 roll -0.65 - - 2247.50 - 2.12 0.091 3366.31 561.7 -145.99 - - 3485.75 - - - - - - - - - 16.06 -
2735.85 415.62 -12.42 246 2758.89 roll -0.65 - - 2249.25 - 1.79 0.027 2172.88 -666.7 -145.99 - - 3484.34 - - - - - - - - - 16.08 -
2766.24 419.15 -12.18 247 2789.30 roll -0.65 - - 2239.12 - 2.12 0.093 3365.69 562.6 -145.99 - - 3483.59 - - - - - - - - - 16.06 -
3096.48 460.89 -12.50 263 3119.12 no move -0.65 - - 2240.19 - - - 3364.88 - -145.99 - - 3480.53 - - - - - - - - - - -
3401.32 498.28 -12.19 278 3424.36 roll -0.65 - - 2238.44 - 1.79 0.029 2181.44 -661.1 -145.99 - - 3479.16 - - - - - - - - - 16.09 -
3441.06 502.71 -11.15 279 3464.12 roll -0.65 - - 2230.06 - 2.12 0.095 3364.69 558.1 -145.99 - - 3480.03 - - - - - - - - - 16.06 -
3747.87 539.73 -12.00 294 3770.91 roll -0.65 - - 2230.50 - 1.79 0.031 2183.75 -659.7 -145.99 - - 3476.72 - - - - - - - - - 16.09 -
3992.68 564.45 -9.86 305 4015.88 roll -0.65 - - 2221.25 - 2.12 0.096 3365.44 557.4 -145.99 - - 3475.69 - - - - - - - - - 16.03 -
4328.01 606.09 -12.67 322 4350.93 roll back -0.65 0.16 0.235 2263.62 264.8 0.76 0.105 3804.12 577.2 -145.99 - - 3474.94 - - - - - - - - 15.96 15.96 -
4572.67 631.04 -9.91 333 4595.52 roll -0.65 - - 2264.12 - 0.80 0.049 3305.12 -623.8 -145.99 - - 3473.19 - - - - - - - - - 16.09 -
4897.69 663.34 -10.09 349 4920.32 no move -0.65 - - 2263.75 - - - 3306.25 - -145.99 - - 3470.72 - - - - - - - - - - -
5202.57 694.09 -10.08 364 5225.59 roll -0.65 - - 2263.44 - 1.69 0.035 2192.19 -659.2 -145.99 - - 3471.19 - - - - - - - - - 16.09 -
5447.40 715.87 -8.63 375 5470.58 roll -0.65 - - 2254.75 - 2.11 0.094 3364.12 555.4 -145.99 - - 3469.62 - - - - - - - - - 16.01 -
5782.72 750.67 -10.57 392 5805.57 roll -0.65 - - 2251.62 - 0.76 0.105 3804.56 579.5 -145.99 - - 3468.34 - - - - - - - - - 16.04 -
6027.30 777.44 -10.99 403 6050.16 roll -0.65 - - 2251.06 - 0.80 0.049 3307.00 -621.9 -145.99 - - 3467.81 - - - - - - - - - 16.08 -
6352.48 810.91 -10.25 419 6375.50 roll -0.65 - - 2250.75 - 1.69 0.034 2195.25 -657.8 -145.99 - - 3467.34 - - - - - - - - - 16.08 -
6412.21 816.55 -9.28 421 6435.28 roll -0.65 - - 2241.88 - 2.11 0.097 3364.50 554.1 -145.99 - - 3464.31 - - - - - - - - - 16.04 -
6719.02 848.87 -10.66 436 6742.08 roll -0.65 - - 2243.19 - 1.80 0.034 2196.88 -648.7 -145.99 - - 3463.91 - - - - - - - - - 16.07 -
6749.44 851.99 -10.48 437 6772.49 roll -0.65 - - 2233.31 - 2.10 0.096 3363.88 555.7 -145.99 - - 3463.84 - - - - - - - - - 16.04 -
7079.82 888.67 -11.35 453 7102.46 no move -0.65 - - 2234.12 - - - 3362.50 - -145.99 - - 3462.59 - - - - - - - - - - -
7384.84 922.85 -11.08 468 7407.90 roll -0.65 - - 2231.38 - 1.81 0.034 2195.94 -644.5 -145.99 - - 3463.84 - - - - - - - - - 16.06 -
7459.62 930.33 -9.54 471 7482.80 roll -0.65 - - 2223.94 - 2.12 0.098 3362.38 550.2 -145.99 - - 3463.25 - - - - - - - - - 16.03 -
7785.01 966.96 -11.45 487 7808.20 roll back -0.65 0.14 0.233 2264.19 287.5 1.82 0.034 2192.25 -642.9 -145.99 - - 3460.28 - - - - - - - - 15.91 15.94 -
7829.84 971.10 -9.22 488 7852.89 roll -0.65 - - 2258.19 - 2.11 0.095 3363.75 555.2 -145.99 - - 3462.25 - - - - - - - - - 15.99 -
8045 end dive: TARGET_DEPTH_EXCEEDED
8045 begin apogee
8046.97 990.38 -9.07 499 8173.49 -0.14 0.56 0.177 2427.12 301.7 0.12 0.209 2921.38 -3686.4 - 115.13 2.070 2898.47 -4.9 0.396 - - - - - - 15.96 15.15 12.12
8174 end apogee: CONTROL_FINISHED_OK
8174 begin climb
8174.25 993.51 - 505 8319.90 0.65 0.75 0.076 2697.94 361.1 1.93 0.034 1783.12 -589.8 145.99 123.17 2.049 2304.81 -4.8 0.395 - - - - - - 15.36 15.03 12.54
8401.58 978.15 11.89 515 8424.79 roll 0.65 - - 2697.06 - 2.15 0.104 2913.62 525.8 145.99 - - 2300.41 - - - - - - - - - 15.48 -
8708.55 938.44 12.97 530 8731.61 done 0.65 - - 2706.94 - 1.84 0.033 1782.31 -614.8 145.99 - - 2293.81 - - - - - - - - - 15.78 -
8738.98 934.65 12.78 531 8762.03 done 0.65 - - 2704.50 - 2.11 0.103 2914.25 536.5 145.99 - - 2295.75 - - - - - - - - - 15.77 -
9069.24 891.44 12.97 547 9092.30 done 0.65 - - 2710.75 - 1.81 0.033 1782.44 -625.3 145.99 - - 2292.50 - - - - - - - - - 15.90 -
9114.00 885.91 12.27 548 9137.11 0.65 0.15 0.212 2667.00 -291.7 2.09 0.101 2913.75 541.3 145.99 - - 2294.94 - - - - - - - - 15.76 15.83 -
9449.31 847.60 11.44 565 9472.34 done 0.65 - - 2667.31 - 1.66 0.130 3795.50 531.2 145.99 - - 2292.88 - - - - - - - - - 15.90 -
9494.04 841.83 12.70 566 9516.92 done 0.65 - - 2673.25 - 1.54 0.042 2843.94 -617.9 145.99 - - 2293.56 - - - - - - - - - 15.92 -
9801.03 806.10 11.74 582 9823.67 VBD 0.65 - - 2672.56 - - - 2844.62 - 145.99 - - 2292.44 - - - - - - - - - - -
10105.87 770.48 11.94 597 10128.51 VBD 0.65 - - 2673.44 - - - 2843.25 - 145.99 - - 2291.88 - - - - - - - - - - -
10410.77 734.69 11.61 612 10433.81 done 0.65 - - 2673.00 - 1.79 0.119 3798.81 533.8 145.99 - - 2290.56 - - - - - - - - - 15.96 -
10445.51 730.08 12.39 613 10468.40 done 0.65 - - 2679.31 - 1.55 0.047 2845.62 -615.0 145.99 - - 2293.88 - - - - - - - - - 16.00 -
10770.77 691.42 11.68 629 10793.41 VBD 0.65 - - 2679.69 - - - 2846.75 - 145.99 - - 2291.38 - - - - - - - - - - -
11075.58 655.80 11.59 644 11098.22 VBD 0.65 - - 2680.69 - - - 2845.75 - 145.99 - - 2290.69 - - - - - - - - - - -
11380.40 620.59 11.36 659 11403.45 done 0.65 - - 2681.25 - 1.77 0.120 3797.88 537.9 145.99 - - 2292.62 - - - - - - - - - 15.98 -
11415.17 616.05 12.17 660 11438.05 done 0.65 - - 2687.38 - 1.55 0.047 2846.44 -613.8 145.99 - - 2290.12 - - - - - - - - - 16.04 -
11740.20 577.46 11.88 676 11762.84 VBD 0.65 - - 2687.62 - - - 2846.12 - 145.99 - - 2290.78 - - - - - - - - - - -
12044.97 542.00 11.56 691 12067.61 VBD 0.65 - - 2687.19 - - - 2845.25 - 145.99 - - 2290.59 - - - - - - - - - - -
12349.93 507.32 11.22 706 12372.97 done 0.65 - - 2687.62 - 1.78 0.118 3798.00 535.3 145.99 - - 2291.88 - - - - - - - - - 15.99 -
12384.67 502.85 12.04 707 12407.56 done 0.65 - - 2693.25 - 1.54 0.046 2846.75 -617.7 145.99 - - 2294.12 - - - - - - - - - 16.05 -
12709.74 466.06 10.98 723 12732.38 VBD 0.65 - - 2694.25 - - - 2846.75 - 145.99 - - 2290.19 - - - - - - - - - - -
13014.71 433.11 10.55 738 13037.34 VBD 0.65 - - 2694.50 - - - 2846.19 - 145.99 - - 2290.03 - - - - - - - - - - -
13319.61 401.24 10.53 753 13342.68 done 0.65 - - 2700.62 - 1.65 0.030 1779.75 -646.3 145.99 - - 2289.81 - - - - - - - - - 16.06 -
13359.99 397.20 10.00 755 13383.02 done 0.65 - - 2703.38 - 2.07 0.100 2917.81 549.8 145.99 - - 2290.31 - - - - - - - - - 16.01 -
13555.27 376.01 11.03 773 13577.91 VBD 0.65 - - 2703.12 - - - 2917.88 - 145.99 - - 2291.00 - - - - - - - - - - -
13750.15 355.22 10.75 791 13773.17 done 0.65 - - 2702.50 - 1.62 0.119 3798.25 543.4 145.99 - - 2289.50 - - - - - - - - - 15.98 -
13994.94 323.11 13.65 813 14017.94 done 0.65 - - 2710.62 - 1.55 0.046 2846.75 -613.9 145.99 - - 2292.12 - - - - - - - - - 16.00 -
14190.08 299.74 11.78 832 14213.23 0.65 0.15 0.232 2674.50 -240.8 1.66 0.031 1771.56 -647.7 145.99 - - 2289.91 - - - - - - - - 15.89 15.93 -
14404.91 279.12 9.22 851 14428.07 done 0.65 - - 2674.94 - 2.06 0.094 2916.94 556.0 145.99 - - 2291.12 - - - - - - - - - 15.98 -
14610.37 258.83 10.11 871 14633.40 done 0.65 - - 2673.88 - 1.62 0.117 3800.75 545.6 145.99 - - 2290.44 - - - - - - - - - 15.98 -
14680.75 251.13 11.09 876 14703.76 done 0.65 - - 2681.56 - 1.54 0.047 2851.12 -616.6 145.99 - - 2289.72 - - - - - - - - - 16.03 -
14875.96 233.15 8.90 894 14898.60 VBD 0.65 - - 2681.62 - - - 2852.31 - 145.99 - - 2290.03 - - - - - - - - - - -
15070.83 215.48 8.90 912 15093.85 done 0.65 - - 2687.69 - 1.67 0.031 1773.62 -645.9 145.99 - - 2294.59 - - - - - - - - - 16.04 -
15121.25 211.08 8.71 915 15144.28 done 0.65 - - 2690.31 - 2.05 0.090 2919.75 559.1 145.99 - - 2292.38 - - - - - - - - - 16.01 -
15316.43 193.90 8.71 933 15339.45 done 0.65 - - 2689.75 - 1.61 0.114 3798.75 546.0 145.99 - - 2289.59 - - - - - - - - - 15.98 -
15356.62 189.94 10.00 935 15379.50 done 0.65 - - 2695.19 - 1.54 0.045 2846.31 -618.5 145.99 - - 2291.41 - - - - - - - - - 16.03 -
15551.83 173.29 7.55 953 15574.87 done 0.68 - - 2696.25 - 1.76 0.112 3798.19 540.8 145.99 - - 2289.84 - - - - - - - - - 15.98 -
15642.17 166.09 8.28 960 15665.18 done 0.70 - - 2704.25 - 1.53 0.044 2846.25 -622.2 145.99 - - 2290.34 - - - - - - - - - 16.04 -
15837.44 153.88 7.01 978 15889.78 done 0.75 - - 2703.19 - 1.78 0.115 3798.25 534.8 196.78 38.74 0.954 2095.53 -5.0 0.137 - - - - - - - 15.81 12.18
15976.50 139.96 11.32 991 15999.51 roll 0.75 - - 2710.56 - 1.55 0.042 2844.31 -615.4 196.78 - - 2093.78 - - - - - - - - - 15.88 -
16171.82 122.94 8.27 1010 16194.86 roll 0.77 - - 2710.75 - 1.78 0.112 3800.81 537.4 196.78 - - 2090.75 - - - - - - - - - 15.91 -
16242.45 116.89 8.85 1015 16265.45 roll 0.77 - - 2716.69 - 1.54 0.041 2843.50 -621.6 196.78 - - 2094.34 - - - - - - - - - 15.96 -
16437.68 103.21 6.43 1033 16500.16 done 0.83 - - 2718.62 - 1.80 0.112 3801.25 532.1 261.24 48.15 0.860 1832.69 -5.4 0.110 - - - - - - - 15.70 12.45
16526.79 95.74 9.95 1041 16549.67 roll 0.83 - - 2725.81 - 1.56 0.040 2840.19 -616.1 261.24 - - 1831.44 - - - - - - - - - 15.79 -
16722.07 79.16 7.83 1060 16745.09 roll 0.86 - - 2733.50 - 1.65 0.026 1778.00 -643.8 261.24 - - 1828.69 - - - - - - - - - 15.89 -
16952.49 64.57 6.10 1081 17020.24 0.93 0.10 0.080 2803.06 695.6 2.03 0.084 2919.69 562.4 333.49 52.74 0.761 1540.25 -5.5 0.078 - - - - - - 15.87 15.93 12.49
17194.65 44.87 5.97 1105 17262.28 done 1.01 - - 2812.81 - 1.83 0.026 1775.88 -625.0 408.72 53.56 0.714 1232.06 -5.8 0.061 - - - - - - - 15.62 12.48
17484.03 24.33 12.62 1133 17507.19 roll 1.01 - - 2814.06 - 2.03 0.078 2917.06 562.2 408.72 - - 1227.22 - - - - - - - - - 15.80 -
17679.51 13.22 8.29 1152 17702.51 roll 1.02 - - 2814.88 - 1.50 0.065 3807.25 593.5 408.72 - - 1226.69 - - - - - - - - - 15.90 -
17800 end climb: SURFACE_DEPTH_REACHED
17800 begin surface coast
17830 end surface coast: CONTROL_FINISHED_OK
17830 begin surface
SM 0.56 - - - - 331.5 61.48 0.633 861.2 14.0 6.72 0.038 876.6 130.4 - 0.77 0.028 845.7 1096.4 -2.241 - - 12.42 15.92 15.94 -