SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 237 * Raw log
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• Previous call tries 1 • 97.83 of 350.00 AH used of 24V (72.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.7 deg, depth 0.93 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: 16 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
18 - - - 103 VBD -0.68 - - 221 - - - 2283 - -116.8 -84.45 - 2923 - - - - - - - - 14.70 - 14.71
107 5.0 -6.9 3 131 roll -0.68 8.85 0.417 1962 196.7 2.78 2.092 3703 510.8 -116.8 -5.12 - 3221 -58.2 - - - - - - - 14.14 13.33 14.51
239 53.5 -34.2 22 246 done -0.41 0.38 0.278 2058 252.6 2.42 0.042 2265 -594.2 -116.8 - - 3222 - - - - - - - - 14.18 14.50 14.46
552 96.5 -9.5 34 553 done -0.33 0.12 0.272 2086 233.3 - - 2256 - -116.8 - - 3223 - - - - - - - - 14.32 14.61 14.54
888 119.4 -6.6 41 894 roll -0.33 - - 2086 - 2.38 0.051 870 -582.4 -116.8 - - 3225 - - - - - - - - 14.88 14.60 14.90
935 122.7 -6.8 48 942 done -0.33 - - 2081 - 2.47 0.055 2276 569.2 -116.8 - - 3225 - - - - - - - - 14.60 14.54 14.64
1279 143.2 -6.0 55 1284 roll -0.33 - - 2081 - 2.45 0.083 3684 574.7 -116.8 - - 3225 - - - - - - - - 14.93 14.57 14.95
1356 148.1 -6.7 66 1361 done -0.39 - - 2085 - 2.38 0.041 2238 -607.6 -116.8 - - 3225 - - - - - - - - 14.75 14.69 14.77
1671 168.3 -6.2 76 1672 done -0.39 - - 2077 - - - 2232 - -116.8 - - 3223 - - - - - - - - 14.94 14.95 14.95
2008 188.1 -5.9 82 2009 done -0.44 - - 2081 - - - 2232 - -116.8 - - 3221 - - - - - - - - 14.94 14.96 14.97
2343 207.6 -5.8 88 2348 roll -0.49 0.12 0.133 2019 -516.7 2.30 0.050 898 -580.0 -116.8 - - 3218 - - - - - - - - 14.66 14.62 14.69
2391 211.8 -9.1 95 2398 done -0.49 - - 2015 - 2.42 0.059 2258 562.0 -116.8 - - 3218 - - - - - - - - 14.63 14.57 14.67
2736 245.0 -9.6 102 2740 roll -0.49 - - 2006 - 2.50 0.081 3694 574.4 -116.8 - - 3216 - - - - - - - - 14.95 14.57 14.96
2770 248.3 -10.0 107 2775 done -0.49 0.12 0.247 2036 250.0 2.38 0.044 2258 -603.4 -116.8 - - 3214 - - - - - - - - 14.39 14.70 14.63
3127 276.2 -7.5 116 3132 roll -0.49 - - 2036 - 2.35 0.054 892 -581.3 -116.8 - - 3214 - - - - - - - - 14.97 14.62 14.98
3218 282.8 -7.1 129 3224 done -0.49 - - 2028 - 2.40 0.058 2263 571.2 -116.8 - - 3213 - - - - - - - - 14.71 14.60 14.73
3576 309.2 -7.4 138 3580 roll -0.49 - - 2021 - 2.53 0.083 3702 568.8 -116.8 - - 3211 - - - - - - - - 14.95 14.55 14.97
3609 312.0 -8.2 143 3615 done -0.49 - - 2026 - 2.45 0.044 2261 -588.2 -116.8 - - 3210 - - - - - - - - 14.67 14.64 14.71
3967 341.6 -8.4 152 3972 roll -0.49 - - 2021 - 2.38 0.054 877 -581.5 -116.8 - - 3211 - - - - - - - - 14.95 14.59 14.97
4002 344.9 -9.5 157 4008 done -0.49 - - 2015 - 2.45 0.061 2265 566.5 -116.8 - - 3207 - - - - - - - - 14.71 14.59 14.74
4359 378.1 -9.4 166 4364 roll -0.49 - - 2008 - 2.53 0.086 3693 564.4 -116.8 - - 3206 - - - - - - - - 14.96 14.54 14.98
4386 380.9 -9.9 170 4392 done -0.49 0.12 0.253 2038 250.0 2.45 0.044 2225 -599.2 -116.8 - - 3205 - - - - - - - - 14.36 14.65 14.59
4752 411.9 -8.4 180 4757 roll -0.49 - - 2038 - 2.33 0.057 883 -576.0 -116.8 - - 3203 - - - - - - - - 14.94 14.52 14.95
4785 414.9 -8.8 185 4792 done -0.49 - - 2038 - 2.47 0.063 2257 556.3 -116.8 - - 3203 - - - - - - - - 14.61 14.54 14.65
5143 443.5 -8.0 194 5144 done -0.49 - - 2038 - - - 2257 - -116.8 - - 3201 - - - - - - - - 14.94 14.96 14.96
5480 470.1 -7.9 200 5485 roll -0.49 - - 2027 - 2.55 0.086 3701 566.3 -116.8 - - 3199 - - - - - - - - 14.94 14.50 14.95
5548 475.7 -8.0 210 5554 done -0.49 - - 2027 - 2.40 0.048 2267 -597.5 -116.8 - - 3198 - - - - - - - - 14.71 14.64 14.73
5871 501.6 -8.0 221 5877 roll -0.49 - - 2027 - 2.40 0.060 887 -575.0 -116.8 - - 3197 - - - - - - - - 14.94 14.55 14.96
5984 510.9 -8.2 237 5989 done -0.49 - - 2026 - 2.45 0.065 2261 560.8 -116.8 - - 3196 - - - - - - - - 14.67 14.55 14.71
6319 538.3 -8.2 250 6324 roll -0.49 - - 2021 - 2.55 0.090 3701 564.7 -116.8 - - 3195 - - - - - - - - 14.95 14.49 14.97
6367 542.5 -8.6 257 6375 done -0.49 - - 2021 - 2.47 0.048 2254 -585.8 -116.8 - - 3195 - - - - - - - - 14.63 14.59 14.66
6711 572.0 -8.7 264 6716 roll -0.49 - - 2021 - 2.40 0.058 886 -570.0 -116.8 - - 3193 - - - - - - - - 14.95 14.54 14.97
6794 579.6 -8.9 276 6800 done -0.49 - - 2021 - 2.50 0.064 2267 552.4 -116.8 - - 3192 - - - - - - - - 14.55 14.48 14.59
7159 610.6 -8.5 286 7164 roll -0.49 - - 2012 - 2.55 0.092 3694 559.6 -116.8 - - 3191 - - - - - - - - 14.92 14.47 14.94
7229 616.4 -8.2 296 7234 done -0.49 - - 2012 - 2.42 0.050 2263 -591.3 -116.8 - - 3191 - - - - - - - - 14.69 14.62 14.71
7551 641.7 -7.8 307 7556 roll -0.49 0.12 0.267 2041 241.7 2.40 0.056 884 -574.6 -116.8 - - 3190 - - - - - - - - 14.31 14.53 14.51
7635 647.3 -6.3 319 7640 done -0.49 - - 2040 - 2.47 0.067 2265 559.1 -116.8 - - 3190 - - - - - - - - 14.64 14.51 14.67
7999 669.2 -6.1 329 8005 roll -0.49 - - 2039 - 2.58 0.094 3696 554.7 -116.8 - - 3188 - - - - - - - - 14.92 14.45 14.94
8034 671.3 -6.3 334 8039 done -0.49 - - 2039 - 2.45 0.050 2254 -588.6 -116.8 - - 3189 - - - - - - - - 14.70 14.62 14.71
8392 692.5 -6.0 343 8397 roll -0.49 - - 2039 - 2.40 0.061 889 -568.8 -116.8 - - 3186 - - - - - - - - 14.91 14.50 14.92
8460 697.2 -6.6 353 8468 done -0.49 - - 2042 - 2.47 0.067 2270 559.1 -116.8 - - 3186 - - - - - - - - 14.62 14.49 14.66
8783 716.7 -6.1 364 8788 roll -0.49 - - 2039 - 2.58 0.097 3690 550.4 -116.8 - - 3185 - - - - - - - - 14.92 14.43 14.93
8832 719.7 -6.2 371 8838 done -0.54 - - 2039 - 2.45 0.053 2247 -589.0 -116.8 - - 3185 - - - - - - - - 14.66 14.59 14.69
9176 739.9 -5.9 378 9180 roll -0.54 - - 2039 - 2.40 0.063 894 -563.8 -116.8 - - 3184 - - - - - - - - 14.91 14.49 14.92
9251 744.6 -6.0 389 9258 done -0.54 - - 2039 - 2.47 0.067 2269 556.7 -116.8 - - 3184 - - - - - - - - 14.62 14.49 14.66
9568 761.9 -5.5 399 9573 roll -0.54 - - 2039 - 2.60 0.098 3703 551.5 -116.8 - - 3183 - - - - - - - - 14.90 14.43 14.91
9616 764.8 -6.0 406 9622 done -0.60 - - 2040 - 2.45 0.050 2258 -589.8 -116.8 - - 3179 - - - - - - - - 14.66 14.59 14.69
9959 783.5 -5.5 413 9965 roll -0.60 - - 2039 - 2.42 0.063 890 -565.3 -116.8 - - 3182 - - - - - - - - 14.90 14.47 14.92
10036 788.4 -6.3 424 10041 done -0.60 - - 2039 - 2.47 0.068 2264 556.3 -116.8 - - 3182 - - - - - - - - 14.61 14.48 14.65
10351 807.9 -6.3 434 10356 roll -0.60 - - 2039 - 2.60 0.097 3701 552.7 -116.8 - - 3181 - - - - - - - - 14.92 14.41 14.93
10400 811.0 -6.1 441 10408 done -0.65 0.15 0.131 1981 -386.7 2.47 0.051 2251 -587.0 -116.8 - - 3180 - - - - - - - - 14.50 14.60 14.61
10744 842.2 -9.3 448 10749 roll -0.65 - - 1981 - 2.40 0.063 896 -564.6 -116.8 - - 3178 - - - - - - - - 14.89 14.46 14.90
10833 851.1 -9.6 461 10840 done -0.65 - - 1973 - 2.50 0.067 2278 552.8 -116.8 - - 3178 - - - - - - - - 14.59 14.45 14.64
11192 886.4 -10.0 470 11197 roll -0.61 0.12 0.298 1994 175.0 2.55 0.092 3691 554.1 -116.8 - - 3178 - - - - - - - - 14.12 14.40 14.28
11219 889.1 -9.8 474 11224 done -0.61 - - 1994 - 2.47 0.055 2254 -581.8 -116.8 - - 3178 - - - - - - - - 14.63 14.55 14.66
11583 921.6 -9.0 484 11588 roll -0.61 - - 1994 - 2.42 0.067 887 -564.9 -116.8 - - 3177 - - - - - - - - 14.90 14.44 14.92
11674 930.0 -9.2 497 11680 done -0.61 - - 1986 - 2.47 0.069 2250 551.8 -116.8 - - 3177 - - - - - - - - 14.59 14.45 14.62
12031 963.2 -9.3 506 12036 roll -0.61 - - 1983 - 2.62 0.101 3691 550.0 -116.8 - - 3176 - - - - - - - - 14.88 14.39 14.90
12058 966.5 -12.5 510 12064 done -0.61 - - 1983 - 2.53 0.057 2256 -567.2 -116.8 - - 3176 - - - - - - - - 14.54 14.49 14.58
12364 end dive: TARGET_DEPTH_EXCEEDED
12364 begin apogee
12373 993.0 -8.9 519 12523 roll -0.19 0.55 0.239 2130 267.3 - - 2184 - - 142.80 2.544 2742 -3.0 0.228 - - - - 1 - 14.22 13.76 12.74
12524 end apogee: CONTROL_FINISHED_OK
12524 begin climb
12528 997.5 - 521 12699 roll 0.68 0.98 0.164 2409 284.7 2.75 0.098 3609 518.2 116.8 155.90 1.911 2250 -3.2 0.317 - - - - - - 13.76 13.79 12.89
12796 974.7 11.6 566 12803 done 0.59 - - 2419 - 2.60 0.063 2225 -532.3 116.8 - - 2238 - - - - - - - - 14.07 13.94 14.09
13154 932.4 12.0 575 13159 roll 0.51 0.17 0.262 2372 -276.5 2.60 0.095 3615 534.6 116.8 - - 2233 - - - - - - - - 14.11 14.31 14.27
13311 916.0 10.1 597 13315 done 0.51 - - 2381 - 2.53 0.066 2191 -562.8 116.8 - - 2231 - - - - - - - - 14.50 14.40 14.54
13659 882.3 9.6 605 13663 roll 0.51 - - 2391 - 2.55 0.083 797 -546.7 116.8 - - 2229 - - - - - - - - 14.78 14.40 14.79
13707 877.7 9.4 612 13714 done 0.51 - - 2391 - 2.58 0.070 2210 547.7 116.8 - - 2228 - - - - - - - - 14.55 14.43 14.59
14051 844.7 9.7 619 14055 roll 0.51 - - 2391 - 2.55 0.099 3612 549.8 116.8 - - 2228 - - - - - - - - 14.83 14.39 14.84
14134 835.7 10.6 631 14140 done 0.45 0.22 0.262 2348 -195.5 2.47 0.063 2199 -572.1 116.8 - - 2227 - - - - - - - - 14.17 14.47 14.48
14499 808.1 7.5 641 14504 roll 0.45 - - 2358 - 2.58 0.083 795 -544.2 116.8 - - 2226 - - - - - - - - 14.83 14.41 14.85
14568 802.9 7.5 651 14573 done 0.45 - - 2358 - 2.55 0.070 2201 551.4 116.8 - - 2226 - - - - - - - - 14.54 14.42 14.61
14891 776.8 8.3 662 14896 roll 0.45 - - 2358 - 2.58 0.099 3608 545.3 116.8 - - 2226 - - - - - - - - 14.85 14.38 14.87
14995 767.4 9.2 677 15002 done 0.45 - - 2367 - 2.50 0.064 2202 -562.4 116.8 - - 2226 - - - - - - - - 14.58 14.47 14.62
15339 738.1 8.4 684 15344 roll 0.45 - - 2377 - 2.58 0.083 796 -545.0 116.8 - - 2226 - - - - - - - - 14.84 14.39 14.86
15395 733.6 8.1 692 15401 done 0.45 0.12 0.265 2348 -241.7 2.55 0.069 2206 552.9 116.8 - - 2225 - - - - - - - - 14.21 14.45 14.50
15732 709.5 7.0 705 15737 roll 0.46 - - 2350 - 2.58 0.099 3609 543.8 123.9 - - 2225 - - - - - - - - 14.85 14.38 14.88
15821 702.4 7.7 718 15827 done 0.46 - - 2359 - 2.50 0.063 2214 -558.0 123.9 - - 2225 - - - - - - - - 14.48 14.42 14.62
16180 677.9 6.8 727 16205 roll 0.46 - - 2370 - 2.62 0.080 792 -542.7 136.5 16.62 1.708 2176 -2.9 0.225 - - - - - - 14.84 14.54 13.82
16255 672.7 6.8 738 16275 done 0.47 - - 2370 - 2.58 0.068 2212 550.4 148.6 15.02 1.724 2133 -2.9 0.215 - - - - - - 14.51 14.40 13.76
16627 644.8 7.6 749 16632 roll 0.47 - - 2370 - 2.58 0.098 3613 543.0 148.6 - - 2116 - - - - - - - - 14.73 14.34 14.73
16724 636.6 8.2 763 16729 done 0.47 - - 2380 - 2.50 0.063 2221 -556.8 148.6 - - 2115 - - - - - - - - 14.45 14.39 14.57
17075 609.2 7.9 771 17079 roll 0.47 - - 2389 - 2.62 0.082 790 -546.2 148.6 - - 2113 - - - - - - - - 14.79 14.38 14.81
17158 602.9 7.3 783 17164 done 0.47 0.15 0.252 2355 -226.7 2.60 0.069 2219 549.6 149.4 - - 2113 - - - - - - - - 14.19 14.42 14.47
17523 579.7 6.4 793 17556 roll 0.48 - - 2355 - 2.53 0.096 3610 549.8 171.9 28.58 1.588 2033 -2.8 0.197 - - - - - - 14.82 14.35 13.81
17627 571.7 8.2 808 17634 done 0.48 - - 2364 - 2.50 0.062 2203 -562.8 171.9 - - 2021 - - - - - - - - 14.46 14.36 14.50
17971 544.1 8.2 815 17976 roll 0.48 - - 2374 - 2.58 0.081 797 -545.0 171.9 - - 2017 - - - - - - - - 14.74 14.36 14.75
18027 539.6 8.2 823 18032 done 0.54 - - 2374 - 2.58 0.067 2217 550.4 171.9 - - 2016 - - - - - - - - 14.52 14.39 14.57
18363 508.9 9.3 836 18368 roll 0.54 - - 2373 - 2.53 0.096 3609 550.2 171.9 - - 2016 - - - - - - - - 14.77 14.35 14.81
18446 500.4 10.2 848 18451 done 0.54 - - 2380 - 2.47 0.062 2222 -561.5 171.9 - - 2015 - - - - - - - - 14.45 14.40 14.50
18811 464.7 9.9 858 18816 roll 0.54 - - 2391 - 2.58 0.080 797 -552.3 171.9 - - 2015 - - - - - - - - 14.83 14.38 14.85
18908 455.4 9.2 872 18913 done 0.54 - - 2391 - 2.55 0.066 2217 556.9 171.9 - - 2015 - - - - - - - - 14.55 14.42 14.60
19259 423.0 9.0 880 19263 roll 0.54 - - 2391 - 2.53 0.096 3608 549.8 171.9 - - 2014 - - - - - - - - 14.85 14.38 14.87
19349 414.1 9.7 893 19354 done 0.54 - - 2401 - 2.47 0.060 2217 -563.2 171.9 - - 2014 - - - - - - - - 14.58 14.41 14.62
19707 382.4 8.8 902 19713 roll 0.54 - - 2410 - 2.60 0.078 787 -550.0 171.9 - - 2015 - - - - - - - - 14.83 14.38 14.85
19748 378.9 8.4 908 19754 done 0.54 0.15 0.240 2374 -240.0 2.60 0.067 2224 552.7 171.9 - - 2014 - - - - - - - - 14.23 14.43 14.50
20099 354.1 7.1 916 20103 roll 0.54 - - 2374 - 2.53 0.095 3610 547.8 178.1 - - 2015 - - - - - - - - 14.84 14.35 14.85
20182 347.0 8.5 928 20187 done 0.54 - - 2382 - 2.42 0.060 2223 -573.1 178.1 - - 2015 - - - - - - - - 14.58 14.48 14.62
20547 317.2 8.4 938 20552 roll 0.54 - - 2390 - 2.60 0.079 792 -550.4 178.1 - - 2014 - - - - - - - - 14.84 14.38 14.86
20595 313.0 8.5 945 20601 done 0.54 - - 2390 - 2.65 0.067 2232 543.4 178.1 - - 2014 - - - - - - - - 14.45 14.39 14.51
20939 282.6 8.8 952 20944 roll 0.54 - - 2390 - 2.50 0.093 3609 550.8 178.1 - - 2014 - - - - - - - - 14.84 14.38 14.86
20995 277.3 9.7 960 20999 done 0.54 - - 2398 - 2.40 0.060 2233 -573.3 178.1 - - 2014 - - - - - - - - 14.57 14.50 14.61
21331 248.3 8.6 973 21336 roll 0.54 - - 2406 - 2.60 0.075 789 -555.4 178.1 - - 2015 - - - - - - - - 14.85 14.34 14.86
21387 243.6 8.2 981 21392 done 0.54 0.12 0.239 2377 -241.7 2.60 0.065 2240 558.1 178.1 - - 2014 - - - - - - - - 14.25 14.43 14.47
21723 219.2 7.2 994 21729 roll 0.54 - - 2377 - 2.55 0.093 3617 540.0 180.7 1.98 0.186 2002 -6.1 1.375 - - - - - - 14.84 14.44 14.30
21785 214.0 8.3 1003 21790 done 0.54 - - 2385 - 2.42 0.060 2229 -573.6 180.7 - - 2006 - - - - - - - - 14.59 14.48 14.62
22115 188.1 8.0 1015 22119 roll 0.54 - - 2394 - 2.58 0.076 795 -555.8 180.7 - - 2009 - - - - - - - - 14.86 14.40 14.90
22191 182.2 7.5 1026 22197 done 0.60 - - 2393 - 2.58 0.063 2236 558.5 180.7 - - 2009 - - - - - - - - 14.50 14.38 14.54
22508 157.7 7.7 1036 22512 roll 0.60 - - 2393 - 2.47 0.090 3608 555.5 180.7 - - 2009 - - - - - - - - 14.85 14.38 14.88
22597 150.5 8.0 1049 22603 done 0.60 - - 2401 - 2.42 0.056 2236 -566.9 180.7 - - 2009 - - - - - - - - 14.49 14.43 14.52
22956 124.9 7.2 1058 22966 roll 0.60 - - 2409 - 2.60 0.073 797 -553.5 184.6 4.38 0.951 1988 -4.8 0.121 - - - - - - 14.86 14.60 13.81
23017 120.1 7.8 1067 23022 done 0.60 - - 2410 - 2.55 0.060 2234 563.5 184.6 - - 1993 - - - - - - - - 14.60 14.48 14.63
23347 94.9 7.2 1080 23358 roll 0.60 - - 2410 - 2.53 0.089 3607 542.7 187.3 3.90 0.254 1983 -2.6 0.184 - - - - - - 14.83 14.43 14.07
23591 82.4 3.7 1115 23654 done 0.65 - - 2418 - 2.40 0.052 2234 -572.1 274.4 58.17 0.392 1624 -6.2 0.250 - - - - - - 14.51 14.46 14.23
23967 62.5 4.8 1135 24019 roll 0.88 0.17 0.116 2490 423.5 2.55 0.085 3609 539.2 334.6 40.70 0.320 1379 -6.0 0.226 - - - - - - 14.43 14.47 14.24
24201 51.2 5.5 1169 24236 done 1.03 0.12 0.127 2558 566.7 2.40 0.051 2223 -577.5 378.2 30.30 0.282 1198 -6.0 0.209 - - - - - - 14.40 14.45 14.21
24547 28.9 6.8 1185 24563 roll 1.11 - - 2564 - 2.55 0.068 793 -560.8 391.3 10.27 0.204 1143 -5.4 0.146 - - - - - - 14.77 14.45 14.25
24652 21.7 6.9 1200 24669 done 1.20 - - 2561 - 2.53 0.058 2223 565.2 402.8 9.50 0.187 1097 -4.8 0.108 - - - - - - 14.56 14.45 14.25
24932 end climb: SURFACE_DEPTH_REACHED
24932 begin surface coast
24964 end surface coast: CONTROL_FINISHED_OK
24964 begin surface
SM 0.91 - - - - -6.15 6.68 0.063 208 31.1 0.10 0.142 2295 -70870.0 500.17 61.25 0.134 700 11.4 -0.008 - - - - - -