SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 177 * Raw log
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• Previous call tries 2 • 69.42 of 350.00 AH used of 24V (80.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth 1.18 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 36 s
• GPS2 time: 15 s • Transponder ping count: 1
• 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 - - - 107 done -0.84 - - 152 - - - 1860 - -116.8 -79.22 - 3272 - - - - - - - - 14.77 13.79 14.78
111 9.5 -14.7 3 128 roll -0.84 11.77 0.380 2642 211.6 2.38 0.044 3266 590.8 -116.8 - - 3273 - - - - - - - - 14.35 14.57 14.62
359 76.6 -15.7 39 366 done -0.48 0.47 0.258 2771 274.5 2.30 0.038 1864 -609.6 -116.8 - - 3274 - - - - - - - - 14.45 14.67 14.66
696 106.4 -7.8 53 704 roll -0.48 - - 2772 - 2.35 0.057 469 -593.6 -116.8 - - 3275 - - - - - - - - 14.92 14.71 14.95
794 116.6 -10.3 67 801 done -0.48 - - 2764 - 2.40 0.033 1920 604.6 -116.8 - - 3276 - - - - - - - - 14.76 14.73 14.82
1145 148.5 -8.9 75 1151 roll -0.48 - - 2764 - 2.45 0.054 470 -591.8 -116.8 - - 3275 - - - - - - - - 14.96 14.75 14.97
1207 154.2 -9.0 84 1213 done -0.48 - - 2755 - 2.25 0.033 1863 619.1 -116.8 - - 3275 - - - - - - - - 14.84 14.78 14.85
1536 181.9 -8.4 96 1543 roll -0.48 - - 2755 - 2.35 0.054 471 -592.3 -116.8 - - 3273 - - - - - - - - 14.98 14.76 15.00
1571 185.2 -9.7 101 1579 done -0.48 - - 2747 - 2.30 0.033 1859 603.5 -116.8 - - 3273 - - - - - - - - 14.81 14.76 14.86
1929 217.0 -9.0 110 1935 roll -0.48 - - 2746 - 2.35 0.055 470 -591.1 -116.8 - - 3269 - - - - - - - - 14.97 14.76 15.00
1984 222.5 -9.8 118 1991 done -0.48 0.15 0.256 2769 153.3 2.22 0.034 1834 614.4 -116.8 - - 3269 - - - - - - - - 14.59 14.80 14.78
2323 250.3 -8.2 131 2337 roll -0.48 - - 2769 - 2.33 0.057 463 -588.4 -116.8 - - 3266 - - - - - - - - 14.99 14.78 15.01
2365 254.0 -8.5 136 2378 done -0.48 - - 2763 - 2.20 0.035 1816 615.0 -116.8 - - 3266 - - - - - - - - 14.88 14.83 14.90
2728 284.4 -8.5 145 2741 roll -0.48 - - 2763 - 2.28 0.056 472 -589.5 -116.8 - - 3263 - - - - - - - - 15.02 14.80 15.04
2775 288.7 -9.2 151 2788 done -0.48 - - 2754 - 2.12 0.034 1793 623.1 -116.8 - - 3262 - - - - - - - - 14.89 14.85 14.92
3131 319.0 -8.6 159 3145 roll -0.48 - - 2744 - 2.45 0.054 3261 599.2 -116.8 - - 3259 - - - - - - - - 15.03 14.81 15.06
3172 322.5 -8.7 164 3185 done -0.48 0.12 0.246 2769 208.3 2.40 0.037 1789 -613.3 -116.8 - - 3259 - - - - - - - - 14.64 14.85 14.84
3536 349.7 -7.4 173 3549 roll -0.48 - - 2770 - 2.22 0.059 472 -593.2 -116.8 - - 3257 - - - - - - - - 15.04 14.81 15.06
3625 357.1 -8.1 185 3638 done -0.48 - - 2763 - 2.12 0.034 1786 619.8 -116.8 - - 3254 - - - - - - - - 14.92 14.87 14.93
3995 388.4 -8.7 195 4008 roll -0.48 - - 2753 - 2.47 0.056 3266 599.2 -116.8 - - 3253 - - - - - - - - 15.04 14.81 15.06
4091 397.2 -9.4 208 4104 done -0.48 - - 2752 - 2.42 0.037 1785 -612.0 -116.8 - - 3253 - - - - - - - - 14.90 14.83 14.92
4454 431.5 -9.5 217 4467 roll -0.48 - - 2753 - 2.22 0.060 470 -592.3 -116.8 - - 3250 - - - - - - - - 15.04 14.80 15.06
4623 447.7 -9.6 240 4638 done -0.48 0.12 0.267 2769 133.3 2.08 0.034 1751 615.9 -116.8 - - 3249 - - - - - - - - 14.59 14.85 14.81
4964 475.5 -7.9 247 4977 done -0.48 - - 2770 - - - 1751 - -116.8 - - 3248 - - - - - - - - 15.04 15.07 15.06
5301 498.9 -6.8 253 5314 roll -0.48 - - 2761 - 2.53 0.055 3262 597.2 -116.8 - - 3246 - - - - - - - - 15.04 14.79 15.06
5363 503.1 -6.8 261 5377 done -0.48 - - 2761 - 2.53 0.039 1736 -603.2 -116.8 - - 3246 - - - - - - - - 14.89 14.83 14.91
5706 526.2 -6.7 274 5719 roll -0.48 - - 2761 - 2.15 0.060 467 -590.2 -116.8 - - 3244 - - - - - - - - 15.03 14.79 15.05
5817 534.0 -6.9 289 5832 done -0.48 - - 2753 - 2.03 0.034 1707 610.8 -116.8 - - 3244 - - - - - - - - 14.90 14.85 14.92
6160 558.2 -7.2 296 6174 roll -0.48 - - 2741 - 2.62 0.055 3266 595.0 -116.8 - - 3242 - - - - - - - - 15.03 14.78 15.05
6250 565.2 -7.7 308 6264 done -0.48 0.15 0.240 2774 220.0 2.58 0.040 1709 -603.5 -116.8 - - 3242 - - - - - - - - 14.59 14.81 14.81
6621 590.7 -7.0 318 6634 roll -0.57 - - 2775 - 2.12 0.062 461 -588.7 -116.8 - - 3241 - - - - - - - - 15.03 14.77 15.05
6675 594.9 -7.7 325 6689 done -0.57 - - 2769 - 2.08 0.036 1727 608.7 -116.8 - - 3240 - - - - - - - - 14.89 14.83 14.90
7020 620.0 -7.4 332 7033 roll -0.57 - - 2758 - 2.60 0.056 3269 593.1 -116.8 - - 3239 - - - - - - - - 15.02 14.76 15.04
7154 630.0 -7.6 350 7168 done -0.67 0.15 0.121 2700 -386.7 2.50 0.038 1754 -606.0 -116.8 - - 3239 - - - - - - - - 14.77 14.80 14.85
7483 662.0 -9.8 361 7496 roll -0.67 - - 2700 - 2.20 0.062 466 -585.5 -116.8 - - 3237 - - - - - - - - 15.01 14.76 15.03
7586 672.8 -10.1 375 7599 done -0.67 - - 2692 - 2.08 0.037 1733 609.1 -116.8 - - 3234 - - - - - - - - 14.88 14.83 14.90
7943 707.6 -9.8 383 7956 done -0.67 - - 2692 - - - 1733 - -116.8 - - 3235 - - - - - - - - 15.02 15.04 15.04
8278 739.3 -9.3 389 8291 done -0.67 - - 2690 - - - 1733 - -116.8 - - 3235 - - - - - - - - 15.02 15.04 15.04
8614 770.4 -9.2 395 8627 roll -0.67 - - 2680 - 2.60 0.060 3262 588.1 -116.8 - - 3233 - - - - - - - - 15.02 14.73 15.04
8704 778.9 -9.4 407 8717 done -0.67 0.15 0.269 2711 206.7 2.60 0.041 1703 -599.6 -116.8 - - 3233 - - - - - - - - 14.49 14.77 14.74
9074 810.3 -8.5 417 9087 roll -0.67 - - 2720 - 2.10 0.064 474 -585.2 -116.8 - - 3232 - - - - - - - - 15.01 14.73 15.03
9163 818.5 -9.1 429 9177 done -0.67 - - 2714 - 2.00 0.037 1697 611.5 -116.8 - - 3232 - - - - - - - - 14.86 14.81 14.88
9534 851.6 -9.1 439 9547 roll -0.67 - - 2702 - 2.67 0.058 3262 586.1 -116.8 - - 3231 - - - - - - - - 15.00 14.72 15.02
9630 860.9 -9.5 452 9644 done -0.67 - - 2702 - 2.60 0.042 1713 -595.8 -116.8 - - 3231 - - - - - - - - 14.83 14.75 14.85
9994 895.9 -9.7 461 10007 roll -0.67 - - 2702 - 2.12 0.063 474 -584.4 -116.8 - - 3229 - - - - - - - - 14.99 14.71 15.01
10105 907.0 -9.8 476 10118 done -0.67 - - 2695 - 2.00 0.037 1685 605.5 -116.8 - - 3229 - - - - - - - - 14.85 14.79 14.85
10448 939.8 -9.6 483 10462 roll -0.67 - - 2682 - 2.70 0.059 3260 583.3 -116.8 - - 3229 - - - - - - - - 15.00 14.70 15.01
10545 948.9 -9.4 496 10559 done -0.67 0.12 0.273 2707 208.3 2.62 0.043 1697 -596.6 -116.8 - - 3228 - - - - - - - - 14.45 14.73 14.71
10908 979.4 -8.2 505 10922 roll -0.67 - - 2707 - 2.10 0.065 475 -581.9 -116.8 - - 3228 - - - - - - - - 14.99 14.69 15.01
10984 986.0 -8.8 515 10997 done -0.67 - - 2701 - 2.00 0.037 1696 610.5 -116.8 - - 3228 - - - - - - - - 14.83 14.78 14.84
11085 end dive: TARGET_DEPTH_EXCEEDED
11085 begin apogee
11093 994.6 -8.3 522 11221 roll -0.21 0.60 0.236 2858 261.7 - - 1817 - - 118.12 2.214 2792 -3.7 0.310 - - - - - - 14.46 14.05 13.29
11222 end apogee: CONTROL_FINISHED_OK
11222 begin climb
11226 999.2 - 524 11367 roll 0.84 1.17 0.181 3192 285.5 2.60 0.063 396 -546.5 116.8 123.30 2.165 2315 -3.9 0.333 - - - - - - 14.04 14.12 13.14
11524 976.2 10.1 569 11538 done 0.74 - - 3192 - 2.38 0.033 1796 588.2 116.8 - - 2294 - - - - - - - - 14.40 14.35 14.41
11881 941.6 9.6 577 11894 roll 0.74 - - 3202 - 2.45 0.062 406 -567.3 116.8 - - 2291 - - - - - - - - 14.76 14.54 14.79
12083 921.2 9.0 605 12097 done 0.63 0.28 0.247 3137 -232.1 2.33 0.033 1818 606.0 116.8 - - 2291 - - - - - - - - 14.40 14.68 14.64
12454 894.2 6.9 615 12483 roll 0.66 - - 3137 - 2.40 0.054 3188 570.8 133.9 14.07 2.036 2239 -3.7 0.303 - - - - - - 14.88 14.62 13.88
12532 888.4 7.6 626 12545 done 0.66 - - 3144 - 2.28 0.040 1826 -597.4 139.0 - - 2235 - - - - - - - - 14.69 14.62 14.69
12853 865.3 7.2 636 12883 roll 0.68 - - 3154 - 2.53 0.064 398 -564.4 151.3 18.80 2.047 2169 -3.5 0.277 - - - - - - 14.85 14.44 13.83
13002 854.1 7.0 657 13032 done 0.70 - - 3155 - 2.30 0.034 1782 601.7 167.4 15.90 2.017 2104 -4.1 0.323 - - - - - - 14.66 14.61 13.75
13364 824.1 8.2 673 13377 roll 0.70 - - 3155 - 2.40 0.054 3185 584.6 167.4 - - 2095 - - - - - - - - 14.81 14.61 14.83
13447 816.4 9.0 684 13460 done 0.70 - - 3163 - 2.30 0.041 1815 -595.7 167.4 - - 2094 - - - - - - - - 14.71 14.64 14.73
13768 787.1 9.2 694 13781 roll 0.70 - - 3174 - 2.47 0.067 401 -572.5 167.4 - - 2095 - - - - - - - - 14.88 14.65 14.91
13906 773.1 10.1 713 13919 done 0.70 - - 3174 - 2.28 0.034 1783 606.1 167.4 - - 2094 - - - - - - - - 14.79 14.73 14.81
14228 741.5 9.8 723 14241 roll 0.70 - - 3174 - 2.38 0.054 3188 590.3 167.4 - - 2094 - - - - - - - - 14.92 14.71 14.94
14296 734.3 10.3 732 14309 done 0.70 - - 3183 - 2.35 0.042 1782 -598.3 167.4 - - 2093 - - - - - - - - 14.79 14.73 14.81
14632 700.6 10.0 744 14645 roll 0.70 - - 3194 - 2.42 0.067 392 -574.4 167.4 - - 2093 - - - - - - - - 14.94 14.69 14.96
14756 687.3 10.8 761 14769 done 0.70 0.17 0.246 3155 -229.4 2.20 0.034 1744 614.5 167.4 - - 2093 - - - - - - - - 14.52 14.77 14.76
15092 659.3 8.1 773 15105 roll 0.70 - - 3155 - 2.45 0.053 3189 589.8 167.4 - - 2093 - - - - - - - - 14.97 14.72 14.97
15160 653.5 8.4 782 15173 done 0.70 - - 3161 - 2.40 0.041 1748 -600.4 167.4 - - 2093 - - - - - - - - 14.81 14.73 14.81
15496 626.1 8.2 794 15509 roll 0.70 - - 3172 - 2.35 0.067 395 -575.7 167.4 - - 2093 - - - - - - - - 14.95 14.69 14.97
15551 621.3 8.8 801 15565 done 0.70 - - 3172 - 2.25 0.033 1759 606.2 167.4 - - 2093 - - - - - - - - 14.83 14.78 14.84
15895 591.6 8.7 808 15908 roll 0.70 - - 3172 - 2.40 0.053 3181 592.5 167.4 - - 2093 - - - - - - - - 14.95 14.72 14.97
16006 581.5 8.9 823 16020 done 0.70 - - 3180 - 2.33 0.041 1794 -595.3 167.4 - - 2093 - - - - - - - - 14.81 14.74 14.83
16349 550.0 9.3 830 16362 roll 0.70 - - 3191 - 2.42 0.066 399 -576.4 167.4 - - 2093 - - - - - - - - 14.95 14.69 14.98
16460 538.6 10.4 845 16475 done 0.70 0.15 0.249 3159 -213.3 2.28 0.032 1786 608.3 167.4 - - 2093 - - - - - - - - 14.50 14.77 14.75
16804 509.1 8.5 852 16817 roll 0.70 - - 3159 - 2.38 0.054 3183 587.0 167.4 - - 2093 - - - - - - - - 14.96 14.71 14.98
16844 505.5 8.5 857 16857 done 0.70 - - 3165 - 2.38 0.041 1764 -596.2 167.4 - - 2093 - - - - - - - - 14.87 14.74 14.83
17208 475.3 8.3 866 17221 roll 0.70 - - 3176 - 2.38 0.066 399 -573.5 167.4 - - 2093 - - - - - - - - 14.95 14.69 14.97
17370 461.8 8.1 888 17384 done 0.70 - - 3176 - 2.15 0.033 1718 613.5 167.4 - - 2093 - - - - - - - - 14.83 14.78 14.85
17728 433.5 7.9 896 17741 roll 0.70 - - 3176 - 2.45 0.052 3174 594.3 167.4 - - 2093 - - - - - - - - 14.96 14.71 14.98
17796 427.8 8.0 905 17810 done 0.70 0.12 0.272 3159 -141.7 2.42 0.041 1719 -601.2 167.4 - - 2093 - - - - - - - - 14.50 14.73 14.73
18132 404.2 7.2 917 18149 roll 0.71 - - 3167 - 2.28 0.063 396 -580.3 180.3 5.70 1.346 2054 -6.8 0.384 - - - - - - 14.95 14.62 13.98
18192 399.5 8.2 925 18205 done 0.71 - - 3167 - 2.20 0.032 1739 610.5 180.3 - - 2057 - - - - - - - - 14.81 14.76 14.83
18534 372.0 8.0 938 18547 roll 0.71 - - 3167 - 2.40 0.050 3174 597.9 180.3 - - 2059 - - - - - - - - 14.96 14.71 14.96
18610 365.4 8.7 948 18623 done 0.71 - - 3176 - 2.38 0.042 1753 -597.1 180.3 - - 2058 - - - - - - - - 14.79 14.71 14.84
18938 338.0 8.4 959 18951 roll 0.71 - - 3186 - 2.35 0.065 395 -577.9 180.3 - - 2058 - - - - - - - - 14.94 14.69 14.96
19034 329.2 9.2 972 19047 done 0.71 - - 3186 - 2.17 0.032 1730 615.2 180.3 - - 2058 - - - - - - - - 14.82 14.77 14.83
19398 295.7 9.4 981 19411 roll 0.71 - - 3186 - 2.42 0.050 3177 597.9 180.3 - - 2062 - - - - - - - - 14.95 14.71 14.97
19466 288.7 10.2 990 19479 done 0.71 0.15 0.259 3163 -153.3 2.38 0.039 1745 -601.7 180.3 - - 2058 - - - - - - - - 14.50 14.74 14.72
19802 260.3 8.4 1002 19815 roll 0.71 - - 3171 - 2.33 0.064 398 -578.1 180.3 - - 2058 - - - - - - - - 14.95 14.69 14.97
19884 252.9 8.7 1013 19897 done 0.71 - - 3171 - 2.15 0.032 1721 615.3 180.3 - - 2058 - - - - - - - - 14.83 14.78 14.84
20206 226.7 8.1 1023 20219 roll 0.71 - - 3171 - 2.45 0.050 3184 597.1 180.3 - - 2059 - - - - - - - - 14.96 14.71 14.97
20260 222.1 8.2 1030 20274 done 0.71 - - 3180 - 2.47 0.040 1708 -597.6 180.3 - - 2059 - - - - - - - - 14.81 14.73 14.83
20605 195.1 7.8 1037 20618 roll 0.71 - - 3189 - 2.25 0.064 399 -581.8 181.3 - - 2056 - - - - - - - - 14.95 14.69 14.97
20680 188.8 8.3 1047 20694 done 0.71 - - 3189 - 2.10 0.031 1713 625.7 181.3 - - 2059 - - - - - - - - 14.83 14.79 14.85
21009 163.5 7.7 1058 21026 roll 0.72 - - 3189 - 2.45 0.047 3183 600.0 185.0 4.60 1.001 2037 -4.8 0.146 - - - - - - 14.96 14.63 14.04
21109 154.8 9.0 1072 21123 done 0.72 0.15 0.257 3167 -146.7 2.42 0.039 1720 -604.5 185.0 - - 2044 - - - - - - - - 14.48 14.71 14.70
21466 128.4 7.3 1080 21496 roll 0.73 - - 3174 - 2.35 0.064 399 -562.1 195.6 18.65 1.157 1990 -2.9 0.060 - - - - - - 14.95 14.69 14.18
21604 118.4 7.3 1099 21625 done 0.75 - - 3174 - 2.08 0.031 1698 624.5 206.8 6.75 0.301 1954 -5.3 0.392 - - - - - - 14.76 14.71 14.28
21950 93.8 7.3 1111 21978 roll 0.85 - - 3174 - 2.50 0.048 3181 593.2 217.9 13.93 0.337 1910 -3.2 0.164 - - - - - - 14.90 14.66 14.35
22066 85.3 7.0 1127 22100 done 0.98 0.20 0.108 3260 430.0 2.47 0.039 1693 -602.4 233.8 19.05 0.334 1840 -3.7 0.175 - - - - - - 14.66 14.69 14.35
22429 59.3 6.5 1146 22467 roll 1.02 - - 3260 - 2.58 0.045 3183 577.5 259.8 25.92 0.278 1736 -4.0 0.160 - - - - - - 14.90 14.67 14.40
22697 49.1 3.6 1184 22784 done 1.21 0.17 0.113 3333 429.4 2.20 0.035 1844 -608.6 338.4 70.72 0.256 1414 -4.6 0.163 - - - - - - 14.66 14.69 14.40
23099 29.3 4.5 1208 23164 roll 1.29 - - 3340 - 2.45 0.058 415 -583.3 401.6 52.70 0.199 1153 -5.0 0.136 - - - - - - 14.88 14.56 14.42
23304 15.5 7.4 1237 23329 done 1.40 0.12 0.130 3393 441.7 2.28 0.028 1835 622.8 410.4 8.48 0.160 1119 -4.0 0.073 - - - - - - 14.62 14.71 14.49
23462 end climb: SURFACE_DEPTH_REACHED
23462 begin surface coast
23493 end surface coast: CONTROL_FINISHED_OK
23493 begin surface
SM 1.24 - - - - -8.59 9.40 0.070 162 17.2 - - 1843 - 515.13 63.33 0.122 691 10.9 -0.011 - - - - - -