SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 86 * Raw log
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• Previous call tries 1 • 36.37 of 350.00 AH used of 24V (89.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.18 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 36 s
• GPS2 time: 26 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 done -0.84 - - 151 - - - 1904 - -116.8 -80.80 - 3272 - - - - - - - - 14.83 13.77 14.85
110 8.4 -12.6 3 127 roll -0.84 11.80 0.389 2643 211.2 2.33 0.052 3265 584.1 -116.8 - - 3272 - - - - - - - - 14.45 14.65 14.67
183 43.5 -33.7 14 191 done -0.34 0.65 0.267 2813 261.5 2.33 0.046 1878 -595.3 -116.8 - - 3274 - - - - - - - - 14.53 14.67 14.70
498 82.3 -8.3 26 505 roll -0.34 - - 2807 - 2.30 0.054 3261 601.3 -116.8 - - 3274 - - - - - - - - 14.94 14.76 14.95
736 98.9 -6.2 60 742 done -0.34 - - 2807 - 1.90 0.035 2069 -627.4 -116.8 - - 3276 - - - - - - - - 14.87 14.82 14.88
1058 121.6 -7.1 68 1065 roll -0.34 - - 2800 - 1.95 0.056 3253 607.2 -116.8 - - 3276 - - - - - - - - 15.01 14.83 15.02
1115 125.5 -6.8 76 1121 done -0.45 - - 2800 - 1.92 0.034 2052 -625.5 -116.8 - - 3276 - - - - - - - - 14.91 14.86 14.92
1451 146.7 -6.2 89 1458 roll -0.45 - - 2800 - 2.67 0.058 458 -597.0 -116.8 - - 3275 - - - - - - - - 15.02 14.85 15.04
1520 151.5 -6.9 99 1527 done -0.45 - - 2790 - 2.60 0.037 2051 612.7 -116.8 - - 3275 - - - - - - - - 14.92 14.88 14.94
1843 173.7 -7.0 110 1850 roll -0.45 - - 2790 - 2.67 0.057 463 -594.8 -116.8 - - 3271 - - - - - - - - 15.03 14.86 15.05
1947 181.9 -7.7 125 1956 done -0.45 - - 2781 - 2.50 0.036 1993 612.0 -116.8 - - 3271 - - - - - - - - 14.96 14.88 14.95
2291 208.3 -7.8 132 2297 roll -0.45 - - 2780 - 2.58 0.055 461 -593.8 -116.8 - - 3271 - - - - - - - - 15.04 14.86 15.06
2360 214.2 -8.6 142 2367 done -0.45 - - 2771 - 2.42 0.035 1955 617.4 -116.8 - - 3268 - - - - - - - - 14.94 14.89 14.95
2683 240.5 -8.1 153 2690 roll -0.45 - - 2771 - 2.53 0.056 457 -592.1 -116.8 - - 3264 - - - - - - - - 15.04 14.86 15.06
2780 248.8 -8.5 167 2787 done -0.45 - - 2761 - 2.42 0.036 1942 613.6 -116.8 - - 3264 - - - - - - - - 14.93 14.88 14.95
3131 277.2 -8.2 175 3144 roll -0.45 - - 2761 - 2.50 0.057 460 -592.8 -116.8 - - 3260 - - - - - - - - 15.07 14.90 15.09
3193 282.8 -9.2 183 3207 done -0.45 0.12 0.263 2777 133.3 2.40 0.037 1922 609.2 -116.8 - - 3261 - - - - - - - - 14.79 14.92 14.95
3535 308.9 -7.6 196 3549 roll -0.45 - - 2771 - 2.20 0.057 3253 605.0 -116.8 - - 3258 - - - - - - - - 15.09 14.91 15.11
3569 311.4 -7.2 200 3582 done -0.54 - - 2770 - 2.15 0.036 1918 -620.9 -116.8 - - 3258 - - - - - - - - 14.97 14.94 14.98
3939 339.1 -7.4 210 3952 roll -0.54 - - 2771 - 2.42 0.059 474 -596.7 -116.8 - - 3255 - - - - - - - - 15.09 14.92 15.12
4126 354.3 -8.2 236 4139 done -0.54 - - 2762 - 2.28 0.035 1881 617.1 -116.8 - - 3256 - - - - - - - - 15.00 14.95 15.01
4454 379.9 -7.8 247 4467 done -0.54 - - 2761 - - - 1882 - -116.8 - - 3251 - - - - - - - - 15.10 15.12 15.12
4791 406.5 -7.9 253 4804 roll -0.54 - - 2762 - 2.38 0.058 473 -592.0 -116.8 - - 3250 - - - - - - - - 15.10 14.92 15.12
4859 412.4 -8.5 262 4872 done -0.54 - - 2752 - 2.28 0.037 1874 614.5 -116.8 - - 3250 - - - - - - - - 15.00 14.95 15.01
5194 439.9 -8.3 274 5207 done -0.54 - - 2752 - - - 1874 - -116.8 - - 3247 - - - - - - - - 15.09 15.12 15.11
5530 467.4 -8.2 280 5544 roll -0.54 - - 2752 - 2.38 0.059 470 -589.9 -116.8 - - 3246 - - - - - - - - 15.10 14.92 15.12
5627 475.7 -8.4 293 5640 done -0.54 - - 2742 - 2.28 0.037 1865 611.8 -116.8 - - 3246 - - - - - - - - 15.00 14.95 15.02
5990 506.1 -8.6 302 6003 done -0.54 - - 2743 - - - 1865 - -116.8 - - 3244 - - - - - - - - 15.09 15.12 15.11
6326 535.4 -8.7 308 6340 roll -0.54 - - 2743 - 2.35 0.059 474 -591.9 -116.8 - - 3242 - - - - - - - - 15.09 14.91 15.12
6388 541.2 -9.4 316 6401 done -0.54 - - 2734 - 2.25 0.037 1849 611.1 -116.8 - - 3243 - - - - - - - - 15.00 14.95 15.02
6731 570.8 -8.5 329 6744 roll -0.54 - - 2734 - 2.33 0.060 474 -590.1 -116.8 - - 3239 - - - - - - - - 15.09 14.91 15.11
6778 575.0 -8.7 335 6791 done -0.54 0.12 0.276 2751 141.7 2.20 0.037 1828 615.5 -116.8 - - 3241 - - - - - - - - 14.78 14.95 14.95
7134 600.2 -6.9 343 7147 roll -0.54 - - 2742 - 2.40 0.060 3264 598.3 -116.8 - - 3240 - - - - - - - - 15.09 14.90 15.11
7197 604.5 -7.0 351 7210 done -0.54 - - 2742 - 2.35 0.039 1832 -609.4 -116.8 - - 3239 - - - - - - - - 14.99 14.90 15.00
7539 630.2 -7.5 364 7552 roll -0.54 - - 2742 - 2.30 0.063 471 -591.7 -116.8 - - 3238 - - - - - - - - 15.09 14.90 15.11
7670 641.8 -8.9 382 7683 done -0.54 - - 2733 - 2.17 0.037 1801 612.9 -116.8 - - 3237 - - - - - - - - 14.98 14.93 14.99
7998 669.8 -8.6 393 8011 roll -0.54 - - 2722 - 2.45 0.060 3263 596.7 -116.8 - - 3236 - - - - - - - - 15.08 14.89 15.10
8038 673.2 -8.8 398 8052 done -0.54 0.12 0.259 2748 216.7 2.40 0.041 1800 -609.6 -116.8 - - 3236 - - - - - - - - 14.76 14.91 14.94
8402 700.8 -7.5 407 8415 roll -0.54 - - 2749 - 2.25 0.063 471 -590.7 -116.8 - - 3235 - - - - - - - - 15.08 14.89 15.10
8498 708.6 -8.0 420 8511 done -0.54 - - 2743 - 2.12 0.037 1774 614.6 -116.8 - - 3235 - - - - - - - - 14.97 14.93 14.99
8862 736.0 -7.6 429 8875 roll -0.54 - - 2731 - 2.50 0.060 3263 595.6 -116.8 - - 3233 - - - - - - - - 15.08 14.88 15.10
8958 743.5 -7.8 442 8971 done -0.54 - - 2731 - 2.42 0.041 1799 -605.0 -116.8 - - 3233 - - - - - - - - 14.97 14.90 14.98
9321 771.7 -7.7 451 9334 roll -0.54 - - 2731 - 2.28 0.065 466 -584.6 -116.8 - - 3229 - - - - - - - - 15.07 14.88 15.09
9445 782.5 -8.6 468 9459 done -0.54 0.12 0.279 2748 141.7 2.10 0.039 1757 614.8 -116.8 - - 3232 - - - - - - - - 14.73 14.95 14.92
9781 806.9 -7.3 480 9794 roll -0.54 - - 2740 - 2.53 0.060 3255 592.1 -116.8 - - 3231 - - - - - - - - 15.07 14.87 15.09
9877 814.1 -7.4 493 9891 done -0.54 - - 2740 - 2.42 0.041 1781 -609.1 -116.8 - - 3231 - - - - - - - - 14.95 14.88 14.97
10241 839.5 -6.9 502 10254 roll -0.54 - - 2740 - 2.22 0.064 471 -590.1 -116.8 - - 3230 - - - - - - - - 15.06 14.86 15.08
10316 845.9 -7.8 512 10329 done -0.54 - - 2731 - 2.10 0.038 1758 612.9 -116.8 - - 3230 - - - - - - - - 14.96 14.91 14.97
10644 870.5 -7.7 523 10657 roll -0.54 - - 2720 - 2.53 0.062 3260 593.7 -116.8 - - 3229 - - - - - - - - 15.04 14.85 15.08
10734 878.0 -8.4 535 10747 done -0.54 0.15 0.249 2753 220.0 2.47 0.042 1773 -602.0 -116.8 - - 3228 - - - - - - - - 14.72 14.88 14.90
11104 905.9 -7.5 545 11118 roll -0.54 - - 2752 - 2.22 0.067 473 -585.6 -116.8 - - 3228 - - - - - - - - 15.05 14.85 15.07
11193 913.5 -8.5 557 11207 done -0.54 - - 2747 - 2.10 0.038 1761 613.3 -116.8 - - 3228 - - - - - - - - 14.95 14.90 14.96
11564 943.2 -8.1 567 11577 roll -0.54 - - 2736 - 2.55 0.062 3267 590.6 -116.8 - - 3227 - - - - - - - - 15.05 14.85 15.07
11646 949.2 -7.7 578 11660 done -0.54 - - 2737 - 2.50 0.042 1764 -601.2 -116.8 - - 3227 - - - - - - - - 14.93 14.87 14.95
11968 973.0 -7.1 588 11981 roll -0.54 - - 2736 - 2.22 0.067 461 -586.9 -116.8 - - 3227 - - - - - - - - 15.04 14.84 15.07
12064 980.4 -6.5 601 12077 done -0.54 - - 2727 - 2.10 0.041 1746 611.9 -116.8 - - 3228 - - - - - - - - 14.93 14.88 14.95
12200 end dive: TARGET_DEPTH_EXCEEDED
12200 begin apogee
12208 990.3 -6.4 606 12336 roll -0.21 0.47 0.232 2854 270.2 - - 1746 - - 118.72 2.194 2792 -3.7 0.306 - - - - - - 14.69 14.09 13.40
12338 end apogee: CONTROL_FINISHED_OK
12338 begin climb
12341 994.6 - 608 12482 roll 0.84 1.10 0.182 3188 303.6 2.50 0.064 401 -538.0 116.8 122.75 2.161 2315 -3.9 0.330 - - - - - - 14.08 14.14 13.28
12686 966.1 12.2 660 12699 done 0.84 - - 3188 - 2.38 0.034 1809 591.6 116.8 - - 2294 - - - - - - - - 14.52 14.47 14.54
13056 931.1 9.3 670 13070 roll 0.84 - - 3198 - 2.47 0.063 401 -570.0 116.8 - - 2292 - - - - - - - - 14.82 14.64 14.83
13258 912.7 7.7 698 13271 done 0.73 0.12 0.266 3172 -216.7 2.35 0.036 1819 603.4 119.8 - - 2292 - - - - - - - - 14.57 14.71 14.74
13629 883.4 7.7 708 13642 roll 0.74 - - 3172 - 2.30 0.056 3187 594.8 122.8 - - 2290 - - - - - - - - 14.92 14.77 14.95
13697 877.9 8.0 717 13710 done 0.74 - - 3178 - 2.25 0.041 1828 -604.0 122.8 - - 2294 - - - - - - - - 14.83 14.77 14.85
14032 851.2 7.9 729 14045 roll 0.74 - - 3189 - 2.45 0.066 403 -581.6 122.8 - - 2290 - - - - - - - - 14.97 14.77 14.99
14122 843.6 9.0 741 14135 done 0.74 - - 3189 - 2.35 0.035 1830 607.2 122.8 - - 2290 - - - - - - - - 14.87 14.85 14.88
14492 810.5 9.0 751 14505 roll 0.74 - - 3192 - 2.28 0.056 3189 596.1 122.8 - - 2290 - - - - - - - - 14.99 14.81 15.01
14546 805.3 8.3 758 14561 done 0.64 0.25 0.268 3139 -212.0 2.28 0.041 1820 -600.4 122.8 - - 2289 - - - - - - - - 14.66 14.83 14.87
14890 780.5 7.2 765 14920 roll 0.65 - - 3148 - 2.47 0.068 405 -572.9 136.0 16.98 1.960 2230 -3.5 0.256 - - - - - - 15.00 14.67 14.04
14989 772.8 7.9 779 15002 done 0.65 - - 3149 - 2.35 0.036 1814 599.6 136.0 - - 2223 - - - - - - - - 14.76 14.72 14.78
15345 745.3 7.6 787 15358 roll 0.66 - - 3148 - 2.33 0.055 3193 591.8 140.6 - - 2221 - - - - - - - - 14.93 14.76 14.95
15385 742.1 7.7 792 15403 done 0.66 - - 3157 - 2.30 0.041 1810 -601.3 144.2 2.72 0.823 2201 -7.4 1.225 - - - - - - 14.83 14.78 13.86
15746 714.5 7.6 801 15763 roll 0.67 - - 3168 - 2.45 0.067 401 -575.1 149.1 4.30 1.405 2182 -4.4 0.415 - - - - - - 14.95 14.76 13.95
15853 705.9 8.0 816 15867 done 0.67 - - 3168 - 2.28 0.034 1788 608.3 149.1 - - 2189 - - - - - - - - 14.84 14.80 14.85
16198 679.2 7.8 823 16211 roll 0.67 - - 3168 - 2.35 0.055 3186 594.9 150.1 - - 2187 - - - - - - - - 14.97 14.79 14.99
16266 673.4 8.5 832 16279 done 0.67 0.12 0.276 3152 -133.3 2.30 0.042 1796 -604.3 150.1 - - 2188 - - - - - - - - 14.66 14.81 14.84
16604 649.0 7.2 844 16638 roll 0.68 - - 3160 - 2.42 0.066 409 -573.1 161.5 22.67 1.725 2129 -2.6 0.181 - - - - - - 14.99 14.56 14.08
16738 638.2 8.2 863 16751 done 0.68 - - 3160 - 2.28 0.035 1778 600.4 161.5 - - 2122 - - - - - - - - 14.74 14.70 14.76
17060 611.2 8.4 873 17073 roll 0.68 - - 3160 - 2.40 0.055 3194 590.0 161.5 - - 2121 - - - - - - - - 14.90 14.73 14.92
17142 603.7 8.9 884 17155 done 0.68 - - 3169 - 2.33 0.041 1796 -600.0 161.5 - - 2121 - - - - - - - - 14.80 14.76 14.83
17463 575.1 9.0 894 17476 roll 0.68 - - 3179 - 2.42 0.067 398 -577.7 161.5 - - 2121 - - - - - - - - 14.95 14.76 14.97
17532 568.4 9.9 903 17545 done 0.68 - - 3179 - 2.28 0.035 1784 607.9 161.5 - - 2122 - - - - - - - - 14.85 14.81 14.88
17867 536.1 9.7 915 17880 roll 0.68 - - 3179 - 2.38 0.055 3191 591.2 161.5 - - 2121 - - - - - - - - 14.97 14.78 15.00
17921 530.6 10.0 922 17935 done 0.68 0.15 0.269 3156 -153.3 2.35 0.041 1783 -599.1 161.5 - - 2121 - - - - - - - - 14.67 14.81 14.85
18266 502.0 8.2 929 18279 roll 0.68 - - 3164 - 2.40 0.067 395 -578.3 161.5 - - 2122 - - - - - - - - 14.99 14.79 15.01
18384 491.6 8.6 945 18397 done 0.68 - - 3164 - 2.28 0.035 1774 604.8 161.5 - - 2124 - - - - - - - - 14.90 14.85 14.91
18726 463.7 8.0 958 18739 roll 0.68 - - 3164 - 2.38 0.054 3186 593.3 161.5 - - 2122 - - - - - - - - 15.00 14.82 15.02
18780 459.1 8.4 965 18795 done 0.68 - - 3173 - 2.35 0.041 1771 -602.1 161.5 - - 2122 - - - - - - - - 14.89 14.83 14.91
19124 431.1 8.2 972 19137 roll 0.68 - - 3183 - 2.35 0.067 401 -583.0 161.5 - - 2119 - - - - - - - - 15.01 14.79 15.03
19207 423.8 9.0 983 19220 done 0.68 0.15 0.246 3150 -220.0 2.22 0.034 1769 616.2 161.5 - - 2121 - - - - - - - - 14.70 14.85 14.88
19528 399.4 7.6 993 19541 roll 0.69 - - 3149 - 2.35 0.054 3177 599.1 166.5 - - 2122 - - - - - - - - 15.01 14.83 15.03
19596 393.5 8.6 1002 19609 done 0.69 - - 3156 - 2.33 0.041 1768 -604.7 166.5 - - 2121 - - - - - - - - 14.90 14.83 14.92
19931 365.6 8.4 1014 19945 roll 0.69 - - 3166 - 2.35 0.066 396 -583.8 166.5 - - 2122 - - - - - - - - 15.01 14.82 15.03
20007 358.9 8.8 1024 20020 done 0.69 - - 3166 - 2.20 0.035 1754 617.3 166.5 - - 2121 - - - - - - - - 14.91 14.83 14.92
20335 332.6 7.9 1035 20348 roll 0.69 - - 3166 - 2.38 0.052 3184 600.8 166.5 - - 2121 - - - - - - - - 15.01 14.83 15.03
20389 328.1 8.2 1042 20403 done 0.69 - - 3175 - 2.38 0.041 1753 -601.3 166.5 - - 2124 - - - - - - - - 14.90 14.84 14.92
20733 300.9 8.0 1049 20747 roll 0.69 - - 3185 - 2.33 0.066 393 -583.7 166.5 - - 2122 - - - - - - - - 15.02 14.82 15.02
20780 296.7 8.6 1055 20794 done 0.69 0.15 0.243 3151 -226.7 2.20 0.034 1759 620.9 166.5 - - 2120 - - - - - - - - 14.71 14.87 14.88
21137 270.9 7.3 1063 21167 roll 0.70 - - 3151 - 2.42 0.054 3184 588.8 177.6 16.95 1.346 2060 -3.5 0.132 - - - - - - 15.01 14.75 14.23
21254 262.1 7.8 1079 21267 done 0.70 - - 3158 - 2.33 0.040 1791 -597.9 178.1 - - 2054 - - - - - - - - 14.82 14.76 14.83
21596 235.2 7.9 1092 21609 roll 0.70 - - 3167 - 2.40 0.066 402 -578.8 178.1 - - 2052 - - - - - - - - 14.96 14.77 14.98
21700 226.3 8.5 1106 21713 done 0.70 - - 3168 - 2.20 0.032 1759 616.8 178.1 - - 2053 - - - - - - - - 14.88 14.83 14.89
22056 196.0 8.6 1114 22069 roll 0.70 - - 3168 - 2.38 0.051 3181 597.5 178.1 - - 2054 - - - - - - - - 14.99 14.81 15.01
22145 188.0 8.7 1126 22158 done 0.70 - - 3175 - 2.25 0.039 1809 -609.8 178.1 - - 2054 - - - - - - - - 14.89 14.83 14.91
22515 157.0 8.3 1136 22528 roll 0.70 - - 3187 - 2.42 0.064 401 -581.8 178.1 - - 2054 - - - - - - - - 15.01 14.81 15.03
22605 148.9 9.0 1148 22618 done 0.70 - - 3186 - 2.25 0.032 1792 618.2 178.1 - - 2054 - - - - - - - - 14.91 14.86 14.92
22975 115.9 9.0 1158 22989 roll 0.70 - - 3186 - 2.30 0.050 3182 604.3 178.1 - - 2054 - - - - - - - - 15.02 14.87 15.04
23116 104.1 9.0 1177 23130 done 0.70 0.15 0.251 3161 -166.7 2.22 0.038 1815 -615.8 178.1 - - 2054 - - - - - - - - 14.71 14.85 14.92
23441 83.1 5.8 1191 23489 roll 0.88 0.15 0.127 3231 466.7 2.50 0.063 399 -566.4 217.1 31.35 0.343 1912 -4.5 0.203 - - - - - - 14.81 14.77 14.57
23600 73.1 5.5 1214 23654 done 0.94 - - 3231 - 2.33 0.031 1834 615.9 261.1 42.55 0.323 1726 -4.4 0.183 - - - - - - 14.90 14.83 14.52
23970 56.9 3.9 1233 24049 roll 1.22 0.22 0.100 3335 472.7 2.55 0.061 403 -561.2 335.2 66.20 0.280 1428 -4.5 0.169 - - - - - - 14.77 14.67 14.52
24280 38.2 6.2 1277 24323 done 1.25 - - 3335 - 2.47 0.030 1920 614.2 365.3 27.92 0.222 1305 -4.4 0.140 - - - - - - 14.82 14.77 14.57
24648 12.3 6.8 1296 24676 done 1.28 - - 3336 - - - 1920 - 384.7 16.58 0.152 1221 -5.1 0.076 - - - - - - 14.95 14.81 14.68
24809 end climb: SURFACE_DEPTH_REACHED
24809 begin surface coast
24838 end surface coast: CONTROL_FINISHED_OK
24838 begin surface
SM 1.23 - - - - -8.62 9.10 0.063 159 17.5 0.05 0.196 1864 -127320.0 515.38 77.62 0.123 692 8.9 -0.009 - - - - - -