SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 1 • 51.26 of 350.00 AH used of 24V (85.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth 1.24 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 17 s • Transponder ping count: 4
• 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 110 done -0.84 - - 159 - - - 1872 - -116.8 -78.62 - 3273 - - - - - - - - 14.81 13.95 14.83
114 10.1 -15.8 3 131 roll -0.84 11.62 0.380 2659 215.1 2.42 0.050 457 -584.7 -116.8 - - 3275 - - - - - - - - 14.40 14.62 14.64
266 66.7 -23.0 25 274 done -0.39 0.60 0.282 2798 231.7 2.28 0.035 1851 611.4 -116.8 - - 3276 - - - - - - - - 14.51 14.70 14.70
617 106.3 -10.0 38 623 roll -0.39 - - 2790 - 2.35 0.055 3272 604.7 -116.8 - - 3277 - - - - - - - - 14.94 14.76 14.96
644 108.8 -9.1 42 651 done -0.39 - - 2790 - 2.28 0.037 1873 -613.6 -116.8 - - 3277 - - - - - - - - 14.83 14.77 14.85
1010 136.6 -7.4 52 1012 done -0.39 - - 2790 - - - 1873 - -116.8 - - 3277 - - - - - - - - 14.98 15.01 15.00
1345 160.5 -7.0 58 1351 roll -0.39 - - 2790 - 2.35 0.058 470 -597.0 -116.8 - - 3277 - - - - - - - - 15.00 14.82 15.02
1435 167.9 -8.1 71 1442 done -0.39 - - 2781 - 2.35 0.034 1924 618.7 -116.8 - - 3276 - - - - - - - - 14.90 14.85 14.91
1793 196.1 -8.0 80 1796 done -0.39 - - 2781 - - - 1924 - -116.8 - - 3273 - - - - - - - - 15.01 15.04 15.03
2129 223.4 -8.2 86 2135 roll -0.39 - - 2781 - 2.40 0.057 469 -606.2 -116.8 - - 3270 - - - - - - - - 15.02 14.83 15.04
2212 230.9 -8.9 98 2219 done -0.39 - - 2772 - 2.35 0.034 1910 613.2 -116.8 - - 3269 - - - - - - - - 14.92 14.86 14.93
2577 262.2 -8.5 108 2590 done -0.39 0.12 0.257 2798 216.7 - - 1911 - -116.8 - - 3266 - - - - - - - - 14.71 14.91 14.88
2913 285.6 -6.8 114 2927 roll -0.51 - - 2799 - 2.45 0.058 463 -591.0 -116.8 - - 3264 - - - - - - - - 15.07 14.87 15.09
2976 290.2 -7.6 122 2990 done -0.61 0.20 0.106 2716 -415.0 2.33 0.036 1885 610.3 -116.8 - - 3262 - - - - - - - - 14.88 14.90 14.95
3318 324.8 -10.3 135 3331 done -0.61 - - 2715 - - - 1886 - -116.8 - - 3260 - - - - - - - - 15.07 15.09 15.09
3655 359.2 -10.2 141 3668 roll -0.61 - - 2715 - 2.40 0.057 463 -592.9 -116.8 - - 3258 - - - - - - - - 15.08 14.86 15.10
3751 369.8 -11.0 154 3765 done -0.52 0.20 0.249 2755 200.0 2.28 0.036 1866 615.4 -116.8 - - 3257 - - - - - - - - 14.73 14.92 14.92
4115 400.6 -8.4 163 4128 done -0.52 - - 2755 - - - 1867 - -116.8 - - 3258 - - - - - - - - 15.08 15.11 15.10
4451 428.6 -8.3 169 4464 done -0.52 - - 2755 - - - 1866 - -116.8 - - 3253 - - - - - - - - 15.08 15.11 15.10
4787 455.3 -7.9 175 4799 done -0.52 - - 2754 - - - 1867 - -116.8 - - 3251 - - - - - - - - 15.08 15.10 15.09
5123 481.3 -7.6 181 5136 roll -0.52 - - 2747 - 2.33 0.057 3265 600.0 -116.8 - - 3248 - - - - - - - - 15.08 14.88 15.10
5164 484.5 -8.1 186 5177 done -0.52 - - 2745 - 2.33 0.038 1836 -613.3 -116.8 - - 3249 - - - - - - - - 14.97 14.91 14.98
5527 513.4 -7.9 195 5540 roll -0.52 - - 2747 - 2.30 0.061 473 -592.6 -116.8 - - 3246 - - - - - - - - 15.08 14.88 15.10
5658 524.6 -8.4 213 5671 done -0.52 - - 2738 - 2.15 0.036 1798 616.3 -116.8 - - 3246 - - - - - - - - 14.97 14.92 14.99
5987 551.8 -8.4 224 6000 roll -0.52 - - 2727 - 2.45 0.057 3267 599.6 -116.8 - - 3244 - - - - - - - - 15.07 14.88 15.09
6027 555.3 -8.6 229 6040 done -0.52 0.15 0.238 2761 226.7 2.45 0.039 1773 -609.8 -116.8 - - 3244 - - - - - - - - 14.73 14.90 14.91
6391 583.6 -7.9 238 6404 roll -0.52 - - 2761 - 2.20 0.063 474 -590.5 -116.8 - - 3243 - - - - - - - - 15.07 14.86 15.09
6459 589.5 -8.7 247 6472 done -0.52 - - 2755 - 2.12 0.037 1780 616.0 -116.8 - - 3244 - - - - - - - - 14.95 14.90 14.97
6794 616.8 -8.1 259 6807 roll -0.52 - - 2744 - 2.47 0.059 3262 600.0 -116.8 - - 3242 - - - - - - - - 15.07 14.82 15.09
6905 625.8 -8.0 274 6919 done -0.52 - - 2744 - 2.42 0.040 1797 -605.4 -116.8 - - 3240 - - - - - - - - 14.94 14.88 14.96
7248 652.4 -7.7 281 7262 roll -0.52 - - 2744 - 2.25 0.063 472 -588.9 -116.8 - - 3240 - - - - - - - - 15.06 14.85 15.08
7345 660.2 -8.1 294 7358 done -0.52 - - 2736 - 2.12 0.037 1781 617.5 -116.8 - - 3239 - - - - - - - - 14.95 14.90 14.97
7708 688.6 -7.8 303 7721 roll -0.52 - - 2724 - 2.50 0.060 3268 594.8 -116.8 - - 3237 - - - - - - - - 15.07 14.85 15.08
7783 694.7 -8.1 313 7797 done -0.52 0.15 0.236 2758 226.7 2.45 0.041 1780 -607.3 -116.8 - - 3237 - - - - - - - - 14.70 14.86 14.88
8112 717.8 -7.0 324 8125 roll -0.52 - - 2759 - 2.22 0.063 472 -589.2 -116.8 - - 3236 - - - - - - - - 15.05 14.84 15.06
8159 721.6 -8.1 330 8172 done -0.52 - - 2753 - 2.15 0.038 1791 613.5 -116.8 - - 3235 - - - - - - - - 14.93 14.88 14.95
8516 749.4 -7.9 338 8529 roll -0.52 - - 2742 - 2.47 0.060 3263 596.0 -116.8 - - 3235 - - - - - - - - 15.05 14.82 15.07
8578 754.5 -8.1 346 8591 done -0.52 - - 2742 - 2.42 0.041 1798 -605.4 -116.8 - - 3235 - - - - - - - - 14.92 14.85 14.94
8920 782.4 -8.2 359 8933 roll -0.52 - - 2742 - 2.28 0.064 466 -584.2 -116.8 - - 3234 - - - - - - - - 15.07 14.83 15.09
9039 792.3 -8.3 375 9052 done -0.52 - - 2733 - 2.12 0.039 1766 613.2 -116.8 - - 3233 - - - - - - - - 14.92 14.87 14.93
9381 818.9 -7.7 388 9394 roll -0.52 - - 2722 - 2.53 0.060 3264 592.1 -116.8 - - 3232 - - - - - - - - 15.04 14.81 15.06
9492 827.2 -6.8 403 9506 done -0.52 0.15 0.239 2756 226.7 2.45 0.042 1796 -599.2 -116.8 - - 3232 - - - - - - - - 14.66 14.83 14.85
9835 850.5 -6.8 410 9849 roll -0.52 - - 2757 - 2.28 0.066 467 -582.9 -116.8 - - 3232 - - - - - - - - 15.03 14.81 15.06
9925 857.2 -5.5 422 9938 done -0.52 - - 2751 - 2.12 0.040 1770 614.6 -116.8 - - 3232 - - - - - - - - 14.91 14.85 14.92
10295 883.0 -6.9 432 10309 roll -0.52 - - 2739 - 2.53 0.060 3265 590.9 -116.8 - - 3231 - - - - - - - - 15.03 14.80 15.05
10385 889.3 -7.0 444 10398 done -0.52 - - 2740 - 2.47 0.042 1779 -601.6 -116.8 - - 3230 - - - - - - - - 14.92 14.82 14.91
10755 915.6 -7.1 454 10769 roll -0.52 - - 2740 - 2.25 0.065 476 -579.1 -116.8 - - 3230 - - - - - - - - 15.02 14.80 15.04
10852 923.2 -7.8 467 10865 done -0.52 0.12 0.266 2763 191.7 2.12 0.038 1769 609.9 -116.8 - - 3229 - - - - - - - - 14.62 14.84 14.83
11216 947.5 -6.4 476 11229 roll -0.52 - - 2748 - 2.53 0.061 3262 590.1 -116.8 - - 3229 - - - - - - - - 15.02 14.78 15.04
11312 954.2 -6.2 489 11325 done -0.62 - - 2748 - 2.47 0.043 1780 -600.0 -116.8 - - 3228 - - - - - - - - 14.91 14.81 14.90
11676 980.0 -7.1 498 11689 roll -0.62 - - 2748 - 2.25 0.065 470 -582.2 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
11758 986.5 -7.8 509 11772 done -0.62 - - 2740 - 2.15 0.040 1770 604.7 -116.8 - - 3228 - - - - - - - - 14.88 14.83 14.90
11852 end dive: TARGET_DEPTH_EXCEEDED
11852 begin apogee
11860 993.7 -7.5 515 11988 roll -0.21 0.45 0.224 2859 264.4 - - 1770 - - 118.35 2.198 2793 -3.7 0.308 - - - - - - 14.59 14.08 13.38
11990 end apogee: CONTROL_FINISHED_OK
11990 begin climb
11993 998.7 - 517 12135 roll 0.84 1.15 0.177 3197 293.9 2.50 0.063 401 -547.6 116.8 124.07 2.140 2316 -3.8 0.332 - - - - - - 14.08 14.14 13.24
12330 973.0 10.7 568 12343 done 0.75 - - 3190 - 2.38 0.035 1806 590.3 116.8 - - 2292 - - - - - - - - 14.45 14.42 14.50
12700 937.9 9.5 578 12713 roll 0.75 - - 3200 - 2.47 0.063 403 -568.0 116.8 - - 2290 - - - - - - - - 14.79 14.59 14.81
12944 913.2 10.1 612 12957 done 0.63 0.28 0.246 3134 -235.7 2.33 0.036 1808 603.0 116.8 - - 2290 - - - - - - - - 14.51 14.71 14.71
13272 889.2 7.2 623 13290 roll 0.64 - - 3134 - 2.33 0.055 3183 590.1 129.5 4.90 1.596 2262 -5.7 0.590 - - - - - - 14.90 14.59 13.87
13317 885.8 9.9 629 13330 done 0.64 - - 3141 - 2.30 0.042 1803 -600.0 129.5 - - 2264 - - - - - - - - 14.76 14.70 14.78
13673 858.8 7.9 637 13686 roll 0.64 - - 3152 - 2.42 0.067 402 -578.9 129.5 - - 2261 - - - - - - - - 14.93 14.72 14.95
13777 850.8 7.3 651 13809 done 0.66 - - 3151 - 2.28 0.036 1779 603.9 140.3 16.67 2.026 2213 -2.9 0.224 - - - - - - 14.83 14.78 13.96
14133 820.4 8.6 666 14147 roll 0.66 - - 3151 - 2.38 0.056 3180 588.7 140.3 - - 2205 - - - - - - - - 14.88 14.69 14.90
14196 814.4 9.3 674 14209 done 0.66 - - 3161 - 2.33 0.042 1793 -595.3 140.3 - - 2205 - - - - - - - - 14.78 14.71 14.80
14538 782.7 9.3 687 14552 roll 0.66 - - 3171 - 2.42 0.068 401 -575.2 140.3 - - 2206 - - - - - - - - 14.93 14.73 14.95
14663 770.4 9.8 704 14676 done 0.66 - - 3171 - 2.20 0.036 1747 611.8 140.3 - - 2205 - - - - - - - - 14.84 14.79 14.85
14998 738.9 9.4 716 15011 roll 0.66 - - 3171 - 2.42 0.055 3185 594.2 140.3 - - 2206 - - - - - - - - 14.96 14.77 14.98
15066 732.1 10.0 725 15080 done 0.66 0.15 0.275 3148 -153.3 2.35 0.042 1767 -603.4 140.3 - - 2205 - - - - - - - - 14.59 14.78 14.81
15402 704.0 8.4 737 15415 roll 0.66 - - 3156 - 2.38 0.067 399 -574.8 140.3 - - 2205 - - - - - - - - 14.97 14.75 14.99
15491 696.1 8.9 749 15504 done 0.66 - - 3156 - 2.20 0.036 1743 610.9 140.3 - - 2206 - - - - - - - - 14.87 14.81 14.88
15862 665.0 8.3 759 15875 roll 0.66 - - 3156 - 2.42 0.055 3180 593.8 140.3 - - 2205 - - - - - - - - 14.98 14.78 15.00
15916 660.2 8.9 766 15930 done 0.66 - - 3161 - 2.38 0.043 1762 -595.8 140.3 - - 2205 - - - - - - - - 14.86 14.79 14.88
16260 631.7 8.3 773 16274 roll 0.66 - - 3172 - 2.38 0.068 391 -576.1 140.3 - - 2205 - - - - - - - - 14.98 14.76 15.03
16356 623.3 8.5 786 16371 done 0.66 0.15 0.252 3143 -193.3 2.20 0.035 1749 617.3 140.3 - - 2205 - - - - - - - - 14.62 14.83 14.83
16721 597.5 7.0 795 16751 roll 0.68 - - 3141 - 2.47 0.056 3179 578.9 156.7 15.88 1.758 2147 -3.7 0.230 - - - - - - 14.99 14.69 14.10
16771 593.8 7.2 802 16790 done 0.69 - - 3150 - 2.42 0.043 1741 -594.2 169.5 6.62 1.571 2104 -6.5 0.455 - - - - - - 14.76 14.71 13.97
17119 566.8 7.9 816 17132 roll 0.69 - - 3160 - 2.33 0.068 403 -574.2 169.5 - - 2104 - - - - - - - - 14.89 14.68 14.91
17167 562.7 8.8 822 17180 done 0.69 - - 3161 - 2.20 0.034 1745 610.0 169.5 - - 2108 - - - - - - - - 14.79 14.75 14.81
17523 532.0 8.7 830 17536 roll 0.69 - - 3160 - 2.42 0.054 3185 595.0 169.5 - - 2104 - - - - - - - - 14.93 14.73 14.95
17605 524.6 8.9 841 17618 done 0.69 - - 3169 - 2.38 0.043 1767 -595.8 169.5 - - 2104 - - - - - - - - 14.83 14.76 14.84
17927 496.2 8.8 851 17940 roll 0.69 - - 3180 - 2.38 0.067 392 -577.7 169.5 - - 2104 - - - - - - - - 14.96 14.74 14.98
18023 487.3 9.2 864 18036 done 0.69 - - 3179 - 2.22 0.035 1751 612.2 169.5 - - 2104 - - - - - - - - 14.85 14.81 14.87
18387 455.1 8.9 873 18400 roll 0.69 - - 3179 - 2.40 0.053 3183 596.7 169.5 - - 2107 - - - - - - - - 14.97 14.77 14.99
18477 446.8 9.2 885 18490 done 0.69 0.15 0.269 3155 -160.0 2.35 0.042 1775 -599.1 169.5 - - 2104 - - - - - - - - 14.61 14.77 14.81
18848 418.5 7.6 895 18865 roll 0.70 - - 3164 - 2.38 0.065 403 -576.5 174.7 4.72 1.257 2079 -5.3 0.327 - - - - - - 14.98 14.70 14.04
18907 413.7 8.4 903 18920 done 0.70 - - 3164 - 2.28 0.034 1790 608.3 174.7 - - 2085 - - - - - - - - 14.85 14.81 14.87
19249 386.5 7.9 916 19262 roll 0.70 - - 3164 - 2.33 0.053 3183 597.9 174.7 - - 2089 - - - - - - - - 14.97 14.77 15.00
19283 383.8 7.9 920 19296 done 0.70 - - 3173 - 2.35 0.041 1765 -603.4 174.7 - - 2086 - - - - - - - - 14.86 14.79 14.88
19653 355.7 7.6 930 19671 roll 0.71 - - 3183 - 2.35 0.065 400 -580.9 180.0 5.75 1.309 2057 -5.0 0.254 - - - - - - 14.98 14.66 14.07
19747 347.9 8.5 943 19760 done 0.71 - - 3183 - 2.22 0.034 1754 609.9 180.0 - - 2069 - - - - - - - - 14.85 14.80 14.86
20110 317.0 8.6 952 20123 roll 0.71 - - 3183 - 2.40 0.052 3192 599.2 180.0 - - 2066 - - - - - - - - 14.97 14.77 14.99
20157 312.7 9.3 958 20171 done 0.71 0.15 0.262 3160 -153.3 2.40 0.041 1745 -602.9 180.0 - - 2066 - - - - - - - - 14.62 14.79 14.81
20514 284.3 8.0 966 20527 roll 0.71 - - 3168 - 2.33 0.066 392 -580.7 180.0 - - 2067 - - - - - - - - 14.98 14.76 15.00
20582 278.2 8.9 975 20595 done 0.71 - - 3168 - 2.20 0.034 1745 615.0 180.0 - - 2064 - - - - - - - - 14.88 14.83 14.89
20918 249.8 8.4 987 20935 roll 0.71 - - 3169 - 2.45 0.051 3177 584.5 180.0 1.80 0.169 2059 -2.8 0.761 - - - - - - 14.99 14.78 14.70
20990 243.2 9.1 997 21003 done 0.71 - - 3176 - 2.38 0.043 1746 -601.3 180.0 - - 2064 - - - - - - - - 14.86 14.80 14.88
21318 214.5 8.8 1008 21331 roll 0.71 - - 3187 - 2.33 0.065 392 -581.1 180.0 - - 2067 - - - - - - - - 14.99 14.77 15.01
21365 210.2 9.0 1014 21379 done 0.71 - - 3187 - 2.22 0.034 1768 619.8 180.0 - - 2065 - - - - - - - - 14.88 14.84 14.90
21721 178.7 8.8 1022 21735 roll 0.71 - - 3187 - 2.35 0.051 3182 601.7 180.0 - - 2066 - - - - - - - - 14.99 14.80 15.01
21776 173.6 9.1 1029 21790 done 0.71 0.15 0.257 3165 -146.7 2.38 0.040 1752 -600.8 180.0 - - 2066 - - - - - - - - 14.60 14.77 14.79
22121 148.2 7.4 1036 22150 roll 0.72 - - 3172 - 2.33 0.063 404 -578.5 188.9 16.95 1.183 2018 -2.8 0.066 - - - - - - 15.01 14.65 14.23
22243 138.3 8.5 1053 22256 done 0.72 - - 3173 - 2.17 0.032 1737 614.3 188.9 - - 2014 - - - - - - - - 14.82 14.77 14.83
22579 113.3 7.0 1065 22602 roll 0.74 - - 3172 - 2.50 0.050 3190 581.2 205.3 11.73 0.368 1957 -4.9 0.277 - - - - - - 14.95 14.75 14.43
22709 104.0 7.0 1083 22740 done 0.76 - - 3180 - 2.30 0.039 1794 -607.0 221.5 18.88 0.382 1890 -3.5 0.179 - - - - - - 14.83 14.77 14.44
23047 86.6 4.2 1097 23124 roll 0.99 0.17 0.110 3265 500.0 2.47 0.063 405 -562.3 288.9 64.65 0.364 1615 -4.3 0.187 - - - - - - 14.76 14.63 14.40
23249 71.2 7.8 1126 23268 done 0.99 - - 3265 - 2.25 0.031 1793 616.9 290.2 3.75 0.170 1614 - - - - - - - - 14.76 14.72 14.45
23575 52.8 4.6 1139 23644 roll 1.18 0.12 0.135 3321 466.7 2.33 0.047 3183 596.6 350.3 55.25 0.266 1368 -4.5 0.164 - - - - - - 14.72 14.67 14.47
23874 35.2 6.1 1182 23919 done 1.22 - - 3328 - 2.20 0.036 1844 -608.6 383.6 30.48 0.215 1227 -4.6 0.140 - - - - - - 14.79 14.73 14.52
24248 12.1 6.5 1202 24280 roll 1.37 0.12 0.128 3394 550.0 2.53 0.060 405 -568.8 408.8 19.83 0.150 1125 -5.1 0.077 - - - - - - 14.76 14.73 14.64
24356 end climb: SURFACE_DEPTH_REACHED
24356 begin surface coast
24361 end surface coast: CONTROL_FINISHED_OK
24362 begin surface
SM 1.33 - - - - -8.59 9.23 0.057 164 17.8 2.42 0.031 1847 -3747.5 515.38 63.72 0.124 691 10.8 -0.012 - - - - - -