SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 147 * Raw log
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• Previous call tries 1 • 58.45 of 350.00 AH used of 24V (83.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 1.12 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 14 s • Transponder ping count: 2
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 106 done -0.84 - - 148 - - - 1862 - -116.8 -79.85 - 3273 - - - - - - - - 14.80 13.52 14.82
110 9.3 -14.1 3 127 roll -0.84 11.73 0.381 2661 214.2 2.38 0.047 458 -589.9 -116.8 - - 3274 - - - - - - - - 14.39 14.63 14.64
183 45.4 -32.8 14 191 done -0.37 0.60 0.282 2802 235.0 2.30 0.037 1847 603.9 -116.8 - - 3275 - - - - - - - - 14.45 14.66 14.66
498 94.3 -11.7 26 505 roll -0.37 - - 2802 - 2.33 0.054 457 -596.6 -116.8 - - 3275 - - - - - - - - 14.91 14.73 14.94
581 103.4 -10.5 38 588 done -0.37 - - 2794 - 2.35 0.034 1925 624.7 -116.8 - - 3275 - - - - - - - - 14.82 14.78 14.84
947 128.9 -7.0 48 953 roll -0.37 - - 2794 - 2.42 0.053 465 -603.3 -116.8 - - 3277 - - - - - - - - 14.97 14.76 15.00
1016 134.2 -7.5 58 1022 done -0.37 - - 2785 - 2.40 0.033 1963 624.2 -116.8 - - 3277 - - - - - - - - 14.88 14.83 14.89
1339 158.9 -7.9 69 1341 done -0.37 - - 2784 - - - 1963 - -116.8 - - 3276 - - - - - - - - 15.00 15.02 15.02
1674 184.3 -7.6 75 1677 done -0.37 - - 2784 - - - 1963 - -116.8 - - 3275 - - - - - - - - 15.01 15.03 15.03
2011 209.8 -7.7 81 2018 roll -0.37 - - 2784 - 2.50 0.055 467 -598.4 -116.8 - - 3271 - - - - - - - - 15.01 14.82 15.02
2094 216.9 -8.5 93 2101 done -0.37 0.15 0.238 2810 173.3 2.38 0.034 1942 619.7 -116.8 - - 3270 - - - - - - - - 14.68 14.85 14.85
2459 241.6 -6.7 103 2466 roll -0.50 0.12 0.134 2753 -475.0 2.47 0.054 468 -596.8 -116.8 - - 3267 - - - - - - - - 14.80 14.81 14.83
2500 245.4 -9.9 109 2508 done -0.50 - - 2743 - 2.35 0.035 1920 617.9 -116.8 - - 3267 - - - - - - - - 14.90 14.84 14.91
2851 278.9 -9.6 117 2865 roll -0.50 - - 2742 - 2.45 0.057 464 -594.3 -116.8 - - 3264 - - - - - - - - 15.04 14.85 15.07
2955 289.8 -10.3 131 2968 done -0.50 0.15 0.260 2766 160.0 2.25 0.036 1864 622.2 -116.8 - - 3263 - - - - - - - - 14.69 14.88 14.88
3311 321.5 -8.9 139 3324 roll -0.50 - - 2766 - 2.35 0.057 460 -597.4 -116.8 - - 3260 - - - - - - - - 15.06 14.86 15.08
3344 324.7 -9.5 143 3357 done -0.50 - - 2760 - 2.25 0.036 1863 623.6 -116.8 - - 3260 - - - - - - - - 14.92 14.88 14.94
3714 359.2 -9.4 153 3727 done -0.50 - - 2760 - - - 1863 - -116.8 - - 3256 - - - - - - - - 15.07 15.13 15.09
4051 388.5 -8.5 159 4064 roll -0.50 - - 2760 - 2.35 0.057 463 -595.7 -116.8 - - 3255 - - - - - - - - 15.07 14.86 15.10
4113 393.9 -8.7 167 4126 done -0.50 - - 2751 - 2.22 0.036 1838 619.4 -116.8 - - 3254 - - - - - - - - 14.96 14.90 14.97
4455 421.5 -8.0 180 4468 roll -0.50 - - 2751 - 2.30 0.057 469 -595.2 -116.8 - - 3252 - - - - - - - - 15.07 14.86 15.09
4488 424.4 -8.5 184 4502 done -0.50 - - 2742 - 2.17 0.036 1823 624.0 -116.8 - - 3252 - - - - - - - - 14.96 14.91 14.98
4858 455.2 -8.5 194 4871 done -0.50 - - 2742 - - - 1822 - -116.8 - - 3250 - - - - - - - - 15.07 15.10 15.09
5195 484.4 -8.8 200 5207 done -0.50 - - 2742 - - - 1825 - -116.8 - - 3248 - - - - - - - - 15.07 15.09 15.09
5531 515.6 -9.3 206 5544 roll -0.50 - - 2742 - 2.30 0.058 467 -590.4 -116.8 - - 3247 - - - - - - - - 15.07 14.85 15.09
5585 521.0 -9.9 213 5600 done -0.50 0.10 0.288 2757 150.0 2.17 0.037 1814 620.7 -116.8 - - 3246 - - - - - - - - 14.67 14.89 14.88
5929 548.7 -7.9 220 5942 roll -0.50 - - 2749 - 2.42 0.057 3268 600.8 -116.8 - - 3245 - - - - - - - - 15.07 14.85 15.09
5969 551.8 -8.1 225 5982 done -0.50 - - 2749 - 2.40 0.038 1789 -616.2 -116.8 - - 3245 - - - - - - - - 14.94 14.88 14.95
6333 579.2 -7.4 234 6346 roll -0.50 - - 2749 - 2.22 0.062 467 -595.5 -116.8 - - 3244 - - - - - - - - 15.07 14.83 15.09
6451 588.8 -8.0 250 6464 done -0.50 - - 2740 - 2.08 0.037 1758 620.7 -116.8 - - 3243 - - - - - - - - 14.95 14.89 14.96
6793 615.6 -7.9 263 6806 roll -0.50 - - 2735 - 2.47 0.059 3255 606.1 -116.8 - - 3242 - - - - - - - - 15.06 14.81 15.08
6889 623.5 -8.0 276 6903 done -0.50 0.15 0.251 2761 173.3 2.40 0.040 1785 -612.5 -116.8 - - 3241 - - - - - - - - 14.64 14.85 14.85
7253 648.0 -6.6 285 7267 roll -0.50 - - 2762 - 2.25 0.063 460 -588.9 -116.8 - - 3239 - - - - - - - - 15.05 14.81 15.07
7364 656.0 -7.1 300 7377 done -0.50 - - 2756 - 2.12 0.038 1757 611.8 -116.8 - - 3237 - - - - - - - - 14.92 14.87 14.94
7709 679.5 -6.9 307 7722 roll -0.50 - - 2745 - 2.50 0.059 3257 600.0 -116.8 - - 3238 - - - - - - - - 15.04 14.81 15.07
7819 687.5 -7.0 322 7833 done -0.50 - - 2745 - 2.45 0.041 1767 -608.2 -116.8 - - 3237 - - - - - - - - 14.90 14.84 14.92
8163 713.6 -7.7 329 8176 roll -0.50 - - 2745 - 2.20 0.063 470 -589.5 -116.8 - - 3237 - - - - - - - - 15.04 14.81 15.06
8238 720.1 -8.3 339 8252 done -0.50 - - 2736 - 2.08 0.038 1760 620.2 -116.8 - - 3237 - - - - - - - - 14.92 14.86 14.93
8567 747.4 -8.4 350 8580 roll -0.50 0.12 0.283 2758 183.3 2.50 0.058 3256 598.4 -116.8 - - 3235 - - - - - - - - 14.59 14.80 14.73
8607 750.6 -7.6 355 8621 done -0.59 - - 2757 - 2.47 0.041 1749 -610.1 -116.8 - - 3234 - - - - - - - - 14.91 14.83 14.92
8971 776.7 -7.2 364 8984 roll -0.59 - - 2754 - 2.17 0.064 470 -589.4 -116.8 - - 3233 - - - - - - - - 15.04 14.79 15.05
9039 781.9 -8.4 373 9052 done -0.59 - - 2750 - 2.05 0.038 1739 619.0 -116.8 - - 3233 - - - - - - - - 14.90 14.88 14.92
9374 805.5 -7.0 385 9388 roll -0.59 - - 2738 - 2.55 0.060 3259 596.1 -116.8 - - 3233 - - - - - - - - 15.02 14.78 15.05
9457 811.4 -7.1 396 9470 done -0.59 - - 2735 - 2.50 0.042 1752 -602.8 -116.8 - - 3232 - - - - - - - - 14.88 14.80 14.90
9778 835.1 -7.5 406 9792 roll -0.59 - - 2738 - 2.20 0.064 461 -586.8 -116.8 - - 3232 - - - - - - - - 15.02 14.78 15.04
9875 844.0 -8.7 419 9888 done -0.59 - - 2730 - 2.08 0.039 1729 609.6 -116.8 - - 3231 - - - - - - - - 14.89 14.83 14.90
10238 873.4 -8.3 428 10251 roll -0.59 - - 2718 - 2.58 0.060 3262 594.2 -116.8 - - 3231 - - - - - - - - 15.02 14.76 15.04
10300 878.6 -7.2 436 10313 done -0.59 - - 2718 - 2.55 0.043 1728 -601.6 -116.8 - - 3230 - - - - - - - - 14.88 14.80 14.92
10642 907.2 -8.3 449 10655 roll -0.59 - - 2718 - 2.15 0.066 468 -586.0 -116.8 - - 3229 - - - - - - - - 15.01 14.77 15.03
10683 910.9 -6.7 454 10696 done -0.59 - - 2709 - 2.05 0.040 1728 614.6 -116.8 - - 3230 - - - - - - - - 14.88 14.83 14.90
11046 942.4 -8.7 463 11059 roll -0.59 0.12 0.294 2729 166.7 2.58 0.058 3255 591.9 -116.8 - - 3229 - - - - - - - - 14.52 14.76 14.70
11136 949.6 -7.8 475 11149 done -0.59 - - 2729 - 2.53 0.042 1740 -598.8 -116.8 - - 3229 - - - - - - - - 14.85 14.79 14.89
11506 978.5 -7.8 485 11519 roll -0.59 - - 2729 - 2.17 0.066 470 -585.3 -116.8 - - 3228 - - - - - - - - 15.01 14.75 15.03
11582 984.9 -8.4 495 11595 done -0.59 - - 2721 - 2.05 0.039 1730 614.6 -116.8 - - 3228 - - - - - - - - 14.87 14.81 14.89
11683 end dive: TARGET_DEPTH_EXCEEDED
11683 begin apogee
11691 993.3 -8.1 502 11819 roll -0.21 0.52 0.234 2857 261.5 - - 1803 - - 118.40 2.207 2793 -3.7 0.307 - - - - - - 14.54 14.08 13.36
11820 end apogee: CONTROL_FINISHED_OK
11821 begin climb
11824 998.4 - 504 11965 roll 0.84 1.17 0.177 3192 286.3 2.55 0.064 397 -551.4 116.8 123.20 2.163 2316 -3.9 0.332 - - - - - - 14.08 14.14 13.22
12153 973.5 9.7 554 12166 done 0.74 - - 3192 - 2.35 0.035 1801 597.4 116.8 - - 2293 - - - - - - - - 14.46 14.41 14.47
12482 941.9 9.7 565 12496 roll 0.74 - - 3202 - 2.45 0.063 402 -571.0 116.8 - - 2291 - - - - - - - - 14.78 14.57 14.81
12684 920.6 10.5 593 12698 done 0.63 0.25 0.250 3141 -244.0 2.35 0.035 1833 608.9 116.8 - - 2290 - - - - - - - - 14.46 14.68 14.69
13055 891.6 7.6 603 13068 roll 0.63 - - 3141 - 2.30 0.057 3188 589.1 121.0 - - 2290 - - - - - - - - 14.90 14.69 14.92
13117 886.6 8.1 611 13130 done 0.63 - - 3148 - 2.28 0.042 1827 -596.9 121.0 - - 2289 - - - - - - - - 14.77 14.70 14.78
13460 860.7 7.5 624 13478 roll 0.64 - - 3158 - 2.47 0.067 406 -575.3 127.2 3.05 1.030 2272 -5.6 0.864 - - - - - - 14.93 14.74 13.83
13598 849.4 8.3 643 13612 done 0.64 - - 3158 - 2.22 0.035 1782 619.8 127.2 - - 2272 - - - - - - - - 14.82 14.77 14.84
13920 823.2 7.9 653 13933 roll 0.64 - - 3158 - 2.35 0.055 3188 598.3 127.2 - - 2272 - - - - - - - - 14.95 14.73 14.97
13974 818.4 8.8 660 13988 done 0.64 - - 3167 - 2.35 0.042 1779 -599.6 127.2 - - 2272 - - - - - - - - 14.83 14.76 14.84
14318 789.2 8.5 667 14332 roll 0.64 - - 3178 - 2.38 0.067 401 -579.0 127.2 - - 2272 - - - - - - - - 14.96 14.72 14.99
14408 781.2 9.0 679 14422 done 0.64 0.17 0.255 3139 -229.4 2.22 0.035 1780 621.2 127.2 - - 2272 - - - - - - - - 14.54 14.79 14.76
14778 753.3 7.5 689 14796 roll 0.65 - - 3139 - 2.35 0.054 3185 597.9 134.7 5.32 1.620 2243 -5.5 0.470 - - - - - - 14.97 14.64 13.92
14845 748.1 8.1 698 14858 done 0.65 - - 3147 - 2.33 0.042 1779 -603.4 134.7 - - 2248 - - - - - - - - 14.82 14.76 14.83
15180 721.8 7.8 710 15193 roll 0.65 - - 3157 - 2.38 0.067 401 -579.0 135.1 - - 2248 - - - - - - - - 14.95 14.72 14.97
15276 713.7 8.3 723 15290 done 0.65 - - 3157 - 2.20 0.036 1748 612.3 135.1 - - 2248 - - - - - - - - 14.84 14.79 14.85
15640 685.7 7.6 732 15658 roll 0.66 - - 3157 - 2.45 0.054 3176 582.9 140.6 6.05 1.657 2219 -4.8 0.368 - - - - - - 14.96 14.77 13.99
15727 678.8 7.9 744 15740 done 0.66 - - 3166 - 2.33 0.042 1775 -601.3 140.6 - - 2227 - - - - - - - - 14.79 14.74 14.80
16097 651.4 7.4 754 16129 roll 0.67 - - 3177 - 2.42 0.067 403 -566.9 150.1 19.35 1.783 2177 -2.6 0.175 - - - - - - 14.95 14.62 14.00
16184 644.4 8.6 766 16197 done 0.67 0.12 0.260 3150 -225.0 2.20 0.035 1753 613.6 150.1 - - 2169 - - - - - - - - 14.50 14.66 14.69
16548 616.9 7.6 775 16564 roll 0.68 - - 3152 - 2.47 0.054 3181 578.1 155.3 1.73 0.175 2154 -8.7 5.671 - - - - - - 14.92 14.69 14.60
16606 612.2 8.2 783 16619 done 0.68 - - 3158 - 2.35 0.042 1775 -598.3 155.3 - - 2157 - - - - - - - - 14.77 14.71 14.79
16949 584.6 8.1 796 16962 roll 0.68 - - 3169 - 2.38 0.067 399 -578.2 155.3 - - 2156 - - - - - - - - 14.95 14.69 14.95
17031 577.3 9.0 807 17044 done 0.68 - - 3169 - 2.22 0.035 1772 618.5 155.3 - - 2155 - - - - - - - - 14.81 14.75 14.83
17352 549.4 8.7 817 17365 roll 0.68 - - 3169 - 2.35 0.053 3184 600.9 155.3 - - 2157 - - - - - - - - 14.95 14.73 14.97
17415 543.7 9.2 825 17428 done 0.68 - - 3177 - 2.33 0.041 1783 -601.3 155.3 - - 2156 - - - - - - - - 14.82 14.76 14.84
17757 512.9 9.0 838 17770 roll 0.68 - - 3187 - 2.38 0.067 402 -580.3 155.3 - - 2157 - - - - - - - - 15.00 14.72 14.98
17861 502.7 9.9 852 17874 done 0.68 0.17 0.247 3149 -223.5 2.17 0.034 1759 625.3 155.3 - - 2157 - - - - - - - - 14.57 14.79 14.77
18217 475.1 7.6 860 18235 roll 0.68 - - 3149 - 2.40 0.054 3173 589.2 159.9 3.42 1.023 2139 -5.3 0.454 - - - - - - 14.97 14.78 13.95
18269 471.0 7.9 867 18283 done 0.68 - - 3155 - 2.38 0.042 1749 -598.3 159.9 - - 2142 - - - - - - - - 14.83 14.76 14.85
18613 444.9 7.6 874 18631 roll 0.69 - - 3165 - 2.35 0.067 405 -571.9 165.1 6.03 1.427 2118 -4.0 0.230 - - - - - - 14.96 14.76 14.05
18693 438.5 7.9 885 18706 done 0.69 - - 3165 - 2.15 0.034 1740 620.9 165.1 - - 2124 - - - - - - - - 14.83 14.78 14.84
19063 411.4 7.2 895 19099 roll 0.70 - - 3166 - 2.50 0.053 3186 578.4 176.8 20.90 1.505 2067 -2.7 0.138 - - - - - - 14.95 14.65 14.12
19168 403.0 8.1 910 19183 done 0.70 - - 3174 - 2.38 0.041 1764 -597.5 176.8 - - 2061 - - - - - - - - 14.72 14.66 14.74
19513 375.1 8.2 917 19526 roll 0.70 - - 3185 - 2.38 0.067 393 -576.1 176.8 - - 2061 - - - - - - - - 14.89 14.67 14.92
19616 365.7 9.1 931 19629 done 0.70 - - 3185 - 2.15 0.034 1729 621.4 176.8 - - 2061 - - - - - - - - 14.80 14.75 14.81
19972 334.1 8.9 939 19985 roll 0.70 - - 3185 - 2.42 0.052 3178 598.8 176.8 - - 2061 - - - - - - - - 14.93 14.73 14.96
20027 328.9 9.6 946 20041 done 0.70 0.15 0.264 3162 -153.3 2.38 0.040 1752 -599.2 176.8 - - 2060 - - - - - - - - 14.52 14.72 14.75
20371 302.3 7.6 953 20384 roll 0.71 - - 3170 - 2.33 0.066 398 -581.1 181.1 - - 2061 - - - - - - - - 14.95 14.72 14.97
20453 295.6 8.1 964 20466 done 0.71 - - 3170 - 2.17 0.034 1759 627.2 181.1 - - 2060 - - - - - - - - 14.81 14.79 14.83
20774 270.2 8.0 974 20787 roll 0.71 - - 3170 - 2.38 0.052 3190 601.3 181.1 - - 2060 - - - - - - - - 14.97 14.76 14.99
20828 265.5 8.6 981 20843 done 0.71 - - 3179 - 2.38 0.041 1758 -601.7 181.1 - - 2061 - - - - - - - - 14.84 14.78 14.86
21173 235.3 8.9 988 21187 roll 0.71 - - 3189 - 2.33 0.065 399 -583.3 181.1 - - 2060 - - - - - - - - 14.97 14.74 14.99
21291 223.9 9.6 1004 21305 done 0.71 0.12 0.249 3163 -216.7 2.17 0.032 1746 620.7 181.1 - - 2061 - - - - - - - - 14.59 14.81 14.78
21634 197.7 7.5 1017 21652 roll 0.72 - - 3164 - 2.38 0.049 3185 604.6 188.0 6.07 1.173 2025 -5.9 0.185 - - - - - - 14.97 14.66 14.16
21672 194.7 7.9 1022 21685 done 0.72 - - 3170 - 2.40 0.041 1727 -607.5 188.0 - - 2029 - - - - - - - - 14.83 14.77 14.85
22036 165.9 8.0 1031 22049 roll 0.72 - - 3170 - 2.42 0.050 3183 601.7 188.0 - - 2029 - - - - - - - - 14.97 14.76 15.00
22069 162.8 9.0 1035 22082 done 0.72 - - 3179 - 2.38 0.040 1740 -606.3 188.0 - - 2029 - - - - - - - - 14.84 14.77 14.85
22439 133.5 7.5 1045 22457 roll 0.72 - - 3189 - 2.28 0.062 399 -588.2 194.3 5.68 1.080 2001 -4.9 0.113 - - - - - - 15.00 14.66 14.13
22526 126.4 8.7 1057 22539 done 0.72 - - 3189 - 2.15 0.031 1739 623.3 194.3 - - 2007 - - - - - - - - 14.85 14.81 14.86
22897 98.4 7.1 1067 22928 roll 0.74 - - 3189 - 2.40 0.047 3191 605.0 209.2 17.25 0.364 1943 -3.7 0.186 - - - - - - 14.97 14.65 14.42
23088 87.7 5.0 1094 23155 done 0.91 - - 3198 - 2.35 0.039 1763 -607.7 262.9 52.15 0.365 1727 -4.1 0.185 - - - - - - 14.80 14.76 14.40
23460 67.9 5.3 1114 23521 roll 1.14 0.25 0.091 3301 412.0 2.38 0.047 3183 596.6 311.1 45.83 0.307 1526 -4.4 0.180 - - - - - - 14.71 14.59 14.40
23751 47.6 5.0 1155 23811 done 1.20 - - 3310 - 2.55 0.040 1645 -603.1 363.6 47.47 0.249 1309 -4.6 0.162 - - - - - - 14.77 14.70 14.45
24141 27.3 4.7 1177 24201 roll 1.41 0.20 0.101 3393 415.0 2.65 0.044 3192 583.8 422.3 47.75 0.192 1069 -5.0 0.133 - - - - - - 14.71 14.68 14.50
24232 20.2 9.7 1189 24246 done 1.41 - - 3403 - 2.58 0.040 1642 -600.8 422.3 - - 1076 - - - - - - - - 14.76 14.69 14.78
24403 end climb: SURFACE_DEPTH_REACHED
24403 begin surface coast
24432 end surface coast: CONTROL_FINISHED_OK
24432 begin surface
SM 1.16 - - - - -8.61 9.40 0.067 167 17.8 0.35 0.053 1889 2454.3 515.13 56.30 0.122 691 12.3 -0.012 - - - - - -