SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 131 * Raw log
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• Previous call tries 2 • 58.42 of 350.00 AH used of 24V (83.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 20 s • Transponder ping count: 10
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 210 - - - 2294 - -116.8 -85.25 - 2894 - - - - - - - - 14.76 - 14.78
107 4.2 -5.6 3 131 roll -0.68 8.98 0.432 1980 197.1 2.75 2.100 866 -519.3 -116.8 -5.95 - 3220 -54.8 - - - - - - - 14.27 13.45 14.59
284 65.5 -25.0 29 291 done -0.44 0.32 0.296 2048 212.5 2.50 0.068 2301 574.0 -116.8 - - 3221 - - - - - - - - 14.39 14.57 14.62
608 105.6 -9.0 41 614 roll -0.36 0.12 0.272 2073 208.3 2.40 0.082 3702 583.8 -116.8 - - 3223 - - - - - - - - 14.52 14.64 14.65
763 116.9 -6.1 63 768 done -0.36 - - 2075 - 2.33 0.048 2282 -609.4 -116.8 - - 3224 - - - - - - - - 14.81 14.76 14.82
1112 140.2 -6.8 71 1117 roll -0.36 - - 2073 - 2.35 0.058 888 -593.2 -116.8 - - 3225 - - - - - - - - 14.97 14.74 14.99
1174 144.5 -6.4 80 1179 done -0.36 - - 2068 - 2.45 0.068 2308 579.6 -116.8 - - 3223 - - - - - - - - 14.83 14.73 14.85
1503 166.0 -6.6 92 1504 done -0.36 - - 2068 - - - 2308 - -116.8 - - 3224 - - - - - - - - 15.00 15.02 15.02
1840 188.4 -6.7 98 1841 done -0.36 - - 2068 - - - 2310 - -116.8 - - 3222 - - - - - - - - 15.00 15.03 15.03
2175 213.1 -7.5 104 2180 roll -0.36 - - 2056 - 2.40 0.090 3696 577.5 -116.8 - - 3219 - - - - - - - - 15.02 14.76 15.04
2223 217.0 -7.7 111 2230 done -0.36 - - 2059 - 2.35 0.053 2293 -597.0 -116.8 - - 3218 - - - - - - - - 14.83 14.80 14.86
2567 241.2 -6.8 118 2572 roll -0.36 - - 2059 - 2.40 0.063 892 -583.8 -116.8 - - 3216 - - - - - - - - 15.02 14.78 15.04
2665 247.8 -6.6 132 2670 done -0.36 - - 2056 - 2.45 0.071 2299 574.3 -116.8 - - 3216 - - - - - - - - 14.87 14.77 14.89
3015 270.2 -6.5 140 3020 roll -0.36 - - 2050 - 2.42 0.096 3692 575.6 -116.8 - - 3213 - - - - - - - - 15.03 14.74 15.04
3049 272.5 -6.7 145 3056 done -0.36 0.08 0.206 2084 425.0 2.35 0.053 2292 -595.7 -116.8 - - 3212 - - - - - - - - 14.64 14.79 14.83
3408 291.7 -5.4 154 3413 roll -0.42 - - 2083 - 2.40 0.063 887 -585.4 -116.8 - - 3210 - - - - - - - - 15.03 14.76 15.04
3512 297.9 -5.8 169 3520 done -0.48 0.08 0.099 2034 -612.5 2.47 0.073 2285 566.0 -116.8 - - 3209 - - - - - - - - 14.74 14.71 14.81
3856 323.2 -7.5 176 3861 roll -0.48 - - 2028 - 2.47 0.096 3705 574.9 -116.8 - - 3207 - - - - - - - - 15.02 14.74 15.04
3903 326.9 -7.8 183 3910 done -0.48 - - 2025 - 2.38 0.054 2291 -594.1 -116.8 - - 3206 - - - - - - - - 14.83 14.80 14.85
4247 353.9 -7.9 190 4252 roll -0.48 - - 2025 - 2.40 0.067 889 -584.2 -116.8 - - 3204 - - - - - - - - 15.03 14.76 15.05
4394 365.8 -8.0 211 4399 done -0.48 - - 2019 - 2.42 0.075 2281 575.2 -116.8 - - 3203 - - - - - - - - 14.86 14.75 14.88
4752 393.8 -7.7 220 4752 done -0.48 - - 2019 - - - 2282 - -116.8 - - 3201 - - - - - - - - 15.02 15.04 15.04
5087 418.6 -7.4 226 5092 roll -0.48 - - 2011 - 2.47 0.098 3694 571.7 -116.8 - - 3199 - - - - - - - - 15.03 14.73 15.04
5136 422.5 -8.1 233 5143 done -0.48 0.12 0.257 2043 266.7 2.40 0.059 2269 -593.8 -116.8 - - 3199 - - - - - - - - 14.59 14.80 14.81
5479 447.7 -7.5 240 5484 roll -0.48 - - 2040 - 2.38 0.068 887 -580.7 -116.8 - - 3197 - - - - - - - - 15.02 14.75 15.04
5520 451.2 -8.5 246 5526 done -0.48 - - 2039 - 2.47 0.078 2293 569.2 -116.8 - - 3196 - - - - - - - - 14.85 14.73 14.88
5872 479.6 -8.0 254 5873 done -0.48 - - 2039 - - - 2292 - -116.8 - - 3195 - - - - - - - - 15.02 15.04 15.04
6207 502.9 -6.8 260 6212 roll -0.48 - - 2039 - 2.42 0.062 881 -583.1 -116.8 - - 3194 - - - - - - - - 15.02 14.75 15.04
6263 506.6 -6.4 268 6268 done -0.48 - - 2039 - 2.47 0.080 2287 569.2 -116.8 - - 3193 - - - - - - - - 14.84 14.72 14.86
6600 526.2 -5.8 281 6601 done -0.48 - - 2039 - - - 2281 - -116.8 - - 3191 - - - - - - - - 15.01 15.03 15.03
6935 547.1 -6.4 287 6936 done -0.48 - - 2039 - - - 2282 - -116.8 - - 3190 - - - - - - - - 15.02 15.04 15.03
7271 568.9 -6.5 293 7272 done -0.48 - - 2039 - - - 2282 - -116.8 - - 3188 - - - - - - - - 15.02 15.04 15.03
7608 590.6 -6.4 299 7612 roll -0.48 - - 2031 - 2.50 0.104 3689 562.8 -116.8 - - 3188 - - - - - - - - 15.02 14.69 15.03
7683 595.8 -6.7 310 7689 done -0.48 - - 2031 - 2.40 0.060 2270 -591.2 -116.8 - - 3188 - - - - - - - - 14.84 14.76 14.87
7999 617.1 -6.7 320 8004 roll -0.48 - - 2031 - 2.40 0.070 886 -576.7 -116.8 - - 3187 - - - - - - - - 15.01 14.71 15.02
8118 625.6 -7.1 337 8124 done -0.48 - - 2025 - 2.45 0.082 2274 566.5 -116.8 - - 3187 - - - - 1 - - - 14.81 14.69 14.84
8447 649.8 -7.5 349 8453 roll -0.48 - - 2021 - 2.53 0.106 3692 560.5 -116.8 - - 3187 - - - - - - - - 15.01 14.67 15.02
8495 653.6 -8.1 356 8502 done -0.48 - - 2021 - 2.45 0.060 2266 -582.0 -116.8 - - 3184 - - - - - - - - 14.76 14.73 14.80
8840 680.4 -7.8 363 8844 roll -0.48 - - 2021 - 2.40 0.071 890 -573.3 -116.8 - - 3184 - - - - - - - - 15.00 14.70 15.02
8978 692.1 -8.2 383 8984 done -0.48 - - 2015 - 2.50 0.083 2264 549.6 -116.8 - - 3183 - - - - - - - - 14.72 14.65 14.77
9344 720.7 -7.8 393 9344 done -0.48 - - 2015 - - - 2263 - -116.8 - - 3182 - - - - - - - - 14.99 15.01 15.01
9679 744.9 -7.1 399 9680 done -0.48 - - 2015 - - - 2264 - -116.8 - - 3181 - - - - - - - - 15.00 15.02 15.02
10015 765.9 -6.2 405 10021 roll -0.48 - - 2015 - 2.40 0.070 891 -572.1 -116.8 - - 3180 - - - - - - - - 15.00 14.69 15.02
10056 768.6 -6.6 411 10062 done -0.48 0.12 0.288 2040 208.3 2.47 0.084 2270 558.3 -116.8 - - 3180 - - - - - - - - 14.49 14.66 14.73
10408 787.3 -5.3 419 10409 done -0.48 - - 2040 - - - 2270 - -116.8 - - 3180 - - - - - - - - 14.99 15.00 15.01
10743 806.8 -5.9 425 10749 roll -0.48 - - 2035 - 2.55 0.111 3692 557.6 -116.8 - - 3178 - - - - - - - - 15.00 14.63 15.02
10819 811.6 -6.4 436 10825 done -0.48 - - 2035 - 2.40 0.062 2271 -592.1 -116.8 - - 3178 - - - - - - - - 14.79 14.71 14.83
11136 831.1 -6.2 446 11141 roll -0.48 - - 2035 - 2.42 0.076 889 -571.1 -116.8 - - 3178 - - - - - - - - 14.97 14.66 15.00
11260 839.9 -8.2 464 11266 done -0.48 - - 2029 - 2.53 0.084 2267 544.7 -116.8 - - 3177 - - - - - - - - 14.68 14.61 14.73
11584 860.2 -6.6 475 11588 roll -0.48 - - 2022 - 2.58 0.109 3702 556.2 -116.8 - - 3176 - - - - - - - - 14.99 14.62 15.00
11624 862.8 -6.4 481 11631 done -0.48 - - 2022 - 2.47 0.063 2238 -592.7 -116.8 - - 3176 - - - - - - - - 14.80 14.71 14.82
11975 887.1 -7.0 489 11981 roll -0.48 - - 2022 - 2.35 0.073 889 -574.0 -116.8 - - 3176 - - - - - - - - 14.99 14.64 15.00
12066 893.9 -7.5 502 12071 done -0.48 - - 2019 - 2.47 0.086 2266 557.5 -116.8 - - 3175 - - - - - - - - 14.76 14.62 14.79
12423 919.2 -7.1 511 12424 done -0.48 - - 2019 - - - 2269 - -116.8 - - 3174 - - - - - - - - 14.97 14.99 14.99
12759 940.9 -6.4 517 12765 roll -0.48 - - 2012 - 2.58 0.111 3692 551.6 -116.8 - - 3175 - - - - - - - - 14.97 14.59 15.00
12836 946.1 -3.8 528 12841 done -0.48 0.12 0.255 2041 241.7 2.42 0.064 2274 -586.0 -116.8 - - 3173 - - - - - - - - 14.46 14.69 14.69
13151 963.1 -5.3 538 13156 roll -0.48 - - 2041 - 2.40 0.075 871 -584.6 -116.8 - - 3173 - - - - - - - - 14.96 14.62 14.98
13214 966.7 -5.7 547 13219 done -0.48 - - 2040 - 2.53 0.088 2267 551.8 -116.8 - - 3172 - - - - - - - - 14.75 14.60 14.78
13544 984.0 -5.3 559 13548 roll -0.48 - - 2037 - 2.60 0.115 3700 551.2 -116.8 - - 3172 - - - - - - - - 14.95 14.58 14.97
13592 987.6 -5.8 566 13598 done -0.53 - - 2036 - 2.47 0.066 2253 -585.8 -116.8 - - 3172 - - - - - - - - 14.77 14.69 14.79
13652 end dive: TARGET_DEPTH_EXCEEDED
13652 begin apogee
13660 990.3 -4.6 568 13854 roll -0.19 0.35 0.213 2135 282.9 - - 2253 - - 191.68 1.682 2740 -2.3 0.247 - - - - - - 14.47 14.00 13.39
13855 end apogee: CONTROL_FINISHED_OK
13855 begin climb
13859 995.0 - 571 14020 roll 0.68 0.95 0.169 2411 290.5 2.70 0.116 3647 516.3 116.8 147.25 1.923 2253 -3.3 0.319 - - - - - - 13.95 13.99 13.16
14082 975.3 11.4 608 14088 done 0.60 - - 2421 - 2.58 0.084 2253 -540.3 116.8 - - 2238 - - - - 1 - - - 14.12 14.04 14.14
14440 934.6 11.4 617 14446 roll 0.51 0.20 0.278 2369 -260.0 2.60 0.115 3640 533.5 116.8 - - 2228 - - - - - - - - 14.23 14.38 14.39
14590 920.5 9.0 638 14594 done 0.51 - - 2379 - 2.53 0.080 2221 -560.9 116.8 - - 2227 - - - - - - - - 14.57 14.47 14.61
14945 888.6 9.0 647 14950 roll 0.51 - - 2389 - 2.55 0.099 822 -548.6 116.8 - - 2225 - - - - - - - - 14.81 14.52 14.83
15014 882.4 8.7 657 15020 done 0.51 - - 2389 - 2.55 0.089 2224 549.8 116.8 - - 2224 - - - - - - - - 14.66 14.55 14.69
15337 852.1 9.5 668 15342 roll 0.51 - - 2389 - 2.58 0.117 3638 548.1 116.8 - - 2224 - - - - - - - - 14.86 14.54 14.88
15393 845.8 12.2 676 15398 done 0.46 0.20 0.274 2353 -180.0 2.50 0.080 2225 -565.2 116.8 - - 2224 - - - - - - - - 14.41 14.59 14.66
15729 818.9 7.8 689 15735 roll 0.46 - - 2362 - 2.55 0.098 822 -550.2 116.8 - - 2223 - - - - - - - - 14.88 14.57 14.90
15798 813.5 7.7 699 15803 done 0.46 - - 2362 - 2.58 0.086 2223 543.0 116.8 - - 2222 - - - - - - - - 14.73 14.56 14.76
16121 788.8 7.6 710 16126 roll 0.46 - - 2362 - 2.58 0.117 3640 549.2 116.8 - - 2219 - - - - - - - - 14.90 14.57 14.92
16190 782.7 8.3 720 16195 done 0.46 - - 2372 - 2.47 0.080 2230 -570.9 116.8 - - 2222 - - - - - - - - 14.73 14.62 14.76
16513 758.3 7.6 731 16518 roll 0.46 - - 2383 - 2.55 0.099 817 -554.1 116.8 - - 2221 - - - - - - - - 14.91 14.59 14.93
16569 754.0 7.8 739 16574 done 0.46 0.12 0.275 2355 -233.3 2.55 0.089 2228 553.3 116.8 - - 2221 - - - - - - - - 14.45 14.59 14.69
16905 729.5 7.5 752 16910 roll 0.46 - - 2355 - 2.60 0.119 3647 545.8 116.8 - - 2221 - - - - - - - - 14.91 14.57 14.93
16981 722.9 8.7 763 16986 done 0.46 - - 2365 - 2.53 0.082 2239 -556.5 116.8 - - 2221 - - - - - - - - 14.66 14.60 14.71
17297 696.9 8.2 773 17303 roll 0.46 - - 2375 - 2.58 0.096 816 -551.6 116.8 - - 2220 - - - - - - - - 14.92 14.59 14.94
17353 692.3 8.5 781 17359 done 0.46 - - 2375 - 2.58 0.088 2243 553.1 116.8 - - 2220 - - - - - - - - 14.73 14.59 14.77
17689 665.4 8.0 794 17694 roll 0.46 - - 2375 - 2.55 0.116 3647 550.6 116.8 - - 2220 - - - - - - - - 14.92 14.57 14.94
17779 657.3 8.7 807 17785 done 0.46 0.15 0.270 2351 -160.0 2.47 0.081 2241 -569.2 116.8 - - 2220 - - - - - - - - 14.44 14.63 14.70
18137 633.5 6.6 816 18149 roll 0.47 - - 2361 - 2.60 0.096 821 -546.2 133.2 4.88 1.440 2194 -5.3 0.437 - - - - - - 14.93 14.66 13.86
18193 629.7 6.9 824 18219 done 0.52 - - 2361 - 2.58 0.085 2254 555.4 142.6 19.23 1.740 2154 -2.1 0.140 - - - - - - 14.73 14.62 13.93
18529 603.3 8.0 837 18534 roll 0.52 - - 2361 - 2.55 0.118 3644 545.1 142.6 - - 2141 - - - - - - - - 14.82 14.52 14.83
18585 598.3 9.1 845 18590 done 0.52 - - 2370 - 2.47 0.081 2244 -566.8 142.6 - - 2140 - - - - - - - - 14.66 14.57 14.69
18921 569.6 8.6 858 18926 roll 0.52 - - 2379 - 2.58 0.096 823 -550.8 142.6 - - 2139 - - - - - - - - 14.87 14.56 14.89
18962 566.1 8.3 864 18967 done 0.52 - - 2379 - 2.62 0.087 2252 545.4 142.6 - - 2138 - - - - - - - - 14.62 14.56 14.67
19313 537.3 8.0 872 19317 roll 0.52 - - 2379 - 2.55 0.118 3647 547.1 142.6 - - 2137 - - - - - - - - 14.90 14.56 14.95
19411 528.8 8.3 886 19416 done 0.52 - - 2389 - 2.47 0.080 2244 -568.0 142.6 - - 2138 - - - - - - - - 14.73 14.62 14.76
19761 501.8 7.8 894 19765 roll 0.52 - - 2399 - 2.58 0.096 816 -553.5 142.6 - - 2138 - - - - - - - - 14.91 14.59 14.92
19817 497.5 7.7 902 19821 done 0.52 - - 2402 - 2.60 0.086 2261 555.8 142.6 - - 2140 - - - - - - - - 14.73 14.61 14.77
20153 467.9 9.0 915 20158 roll 0.52 - - 2398 - 2.53 0.116 3643 546.2 142.6 - - 2138 - - - - - - - - 14.92 14.58 14.93
20187 464.4 10.1 920 20193 done 0.52 0.15 0.270 2373 -166.7 2.45 0.079 2244 -571.0 142.6 - - 2138 - - - - - - - - 14.47 14.64 14.71
20545 435.4 8.1 929 20550 roll 0.52 - - 2384 - 2.55 0.093 825 -556.5 142.6 - - 2138 - - - - - - - - 14.92 14.60 14.95
20607 430.2 8.1 938 20612 done 0.52 - - 2388 - 2.55 0.087 2245 556.9 142.6 - - 2137 - - - - - - - - 14.73 14.60 14.77
20937 401.0 9.0 950 20941 roll 0.52 - - 2384 - 2.55 0.115 3645 549.0 142.6 - - 2139 - - - - - - - - 14.92 14.58 14.94
20999 394.7 10.1 959 21004 done 0.52 - - 2399 - 2.47 0.076 2257 -561.9 142.6 - - 2137 - - - - - - - - 14.67 14.62 14.72
21329 362.9 9.7 971 21334 roll 0.52 - - 2403 - 2.60 0.093 812 -555.8 142.6 - - 2137 - - - - - - - - 14.92 14.59 14.94
21391 357.0 9.2 980 21397 done 0.52 0.12 0.261 2374 -241.7 2.62 0.087 2271 556.9 142.6 - - 2141 - - - - - - - - 14.47 14.59 14.71
21721 329.8 8.2 992 21726 roll 0.52 - - 2374 - 2.50 0.115 3645 549.6 142.6 - - 2137 - - - - - - - - 14.93 14.58 14.95
21777 324.6 9.1 1000 21782 done 0.52 - - 2383 - 2.45 0.076 2243 -572.2 142.6 - - 2137 - - - - - - - - 14.75 14.64 14.78
22113 296.4 8.4 1013 22118 roll 0.52 - - 2391 - 2.55 0.091 823 -556.9 142.6 - - 2137 - - - - - - - - 14.93 14.60 14.95
22169 292.0 8.0 1021 22175 done 0.52 - - 2388 - 2.58 0.084 2258 556.2 142.6 - - 2137 - - - - - - - - 14.73 14.61 14.77
22505 264.5 8.2 1034 22509 roll 0.52 - - 2392 - 2.50 0.113 3638 552.0 142.6 - - 2137 - - - - - - - - 14.93 14.58 14.95
22553 260.2 8.9 1041 22565 done 0.52 0.10 0.230 2372 -200.0 2.45 0.073 2251 -566.1 142.6 - - 2138 - - - - - - - - 14.45 14.61 14.59
22898 237.8 6.5 1048 22924 roll 0.54 - - 2382 - 2.65 0.091 811 -543.4 163.2 22.35 1.294 2069 -3.1 0.106 - - - - - - 14.92 14.58 14.07
22952 234.3 6.3 1056 22986 done 0.60 - - 2381 - 2.58 0.083 2250 557.8 187.4 27.27 1.265 1969 -3.7 0.127 - - - - - - 14.65 14.55 13.95
23338 204.6 7.9 1069 23344 roll 0.60 - - 2381 - 2.53 0.110 3635 547.4 187.4 - - 1951 - - - - - - - - 14.79 14.48 14.81
23407 198.4 8.9 1079 23412 done 0.60 - - 2390 - 2.47 0.073 2254 -559.1 187.4 - - 1950 - - - - - - - - 14.59 14.52 14.62
23730 168.6 9.6 1090 23735 roll 0.60 - - 2400 - 2.58 0.090 821 -555.4 187.4 - - 1950 - - - - - - - - 14.85 14.55 14.88
23764 165.5 8.5 1095 23769 done 0.60 - - 2399 - 2.58 0.080 2260 557.8 187.4 - - 1949 - - - - - - - - 14.69 14.57 14.72
24122 134.1 8.7 1104 24126 roll 0.60 - - 2399 - 2.50 0.109 3641 552.4 187.4 - - 1949 - - - - - - - - 14.88 14.52 14.90
24191 127.5 9.5 1114 24196 done 0.60 - - 2408 - 2.45 0.072 2260 -563.7 187.4 - - 1949 - - - - - - - - 14.76 14.61 14.77
24514 101.2 7.9 1125 24520 roll 0.60 - - 2417 - 2.58 0.086 820 -558.1 187.4 - - 1949 - - - - - - - - 14.90 14.61 14.92
24642 94.5 4.3 1143 24687 done 0.71 - - 2417 - 2.55 0.078 2257 563.5 259.5 39.92 0.428 1680 -6.7 0.277 - - - - - - 14.70 14.59 14.31
25021 74.8 4.9 1164 25065 roll 0.84 0.12 0.135 2480 525.0 2.50 0.106 3639 552.8 317.4 37.03 0.360 1450 -6.2 0.241 - - - - - - 14.66 14.52 14.31
25171 64.7 6.8 1186 25185 done 0.91 - - 2488 - 2.38 0.067 2267 -576.5 330.3 9.93 0.298 1393 -5.7 0.232 - - - - - - 14.67 14.58 14.31
25497 44.5 5.6 1199 25533 roll 1.01 0.12 0.132 2562 616.7 2.62 0.081 825 -550.4 371.7 27.90 0.263 1226 -6.0 0.189 - - - - - - 14.64 14.55 14.38
25584 38.6 6.6 1212 25606 done 1.02 0.12 0.258 2534 -233.3 2.55 0.074 2267 565.5 388.2 12.48 0.240 1156 -5.6 0.168 - - - - - - 14.43 14.56 14.33
25917 18.5 5.9 1226 25948 roll 1.18 0.12 0.127 2606 600.0 2.62 0.074 821 -551.9 423.3 23.20 0.182 1014 -6.1 0.116 - - - - - - 14.66 14.57 14.45
26042 6.6 10.6 1244 26047 done 1.18 - - 2608 - 2.42 0.074 2197 568.6 423.3 - - 1016 - - - - - - - - 14.68 14.57 14.69
26078 end climb: SURFACE_DEPTH_REACHED
26079 begin surface coast
26107 end surface coast: CONTROL_FINISHED_OK
26107 begin surface
SM 1.06 - - - - -6.13 6.85 0.078 211 30.8 0.15 0.136 2290 8400.0 500.17 48.15 0.140 700 14.5 -0.011 - - - - - -