SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 111 * Raw log
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• Previous call tries 1 • 45.43 of 350.00 AH used of 24V (87.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 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: 16 s • Transponder ping count: 0
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 110 done -0.84 - - 152 - - - 1850 - -116.8 -81.95 - 3272 - - - - - - - - 14.81 13.65 14.83
113 7.3 -10.8 3 128 done -0.84 11.88 0.385 2657 210.9 - - 1847 - -116.8 - - 3273 - - - - - - - - 14.42 14.68 14.64
417 87.0 -16.0 14 424 roll -0.50 0.43 0.257 2763 246.5 2.33 0.057 482 -585.8 -116.8 - - 3278 - - - - - - - - 14.59 14.71 14.69
493 94.5 -8.0 25 502 done -0.41 0.12 0.226 2791 233.3 2.25 0.033 1840 603.6 -116.8 - - 3277 - - - - - - - - 14.62 14.76 14.73
809 118.1 -7.9 33 816 roll -0.41 - - 2783 - 2.35 0.053 3269 608.1 -116.8 - - 3277 - - - - - - - - 14.98 14.79 15.00
921 127.0 -8.0 49 928 done -0.41 - - 2784 - 2.25 0.037 1879 -617.8 -116.8 - - 3275 - - - - - - - - 14.88 14.82 14.88
1257 153.3 -7.7 62 1264 roll -0.41 - - 2783 - 2.38 0.060 469 -592.4 -116.8 - - 3275 - - - - - - - - 15.00 14.80 15.02
1404 165.6 -8.3 83 1410 done -0.41 - - 2775 - 2.20 0.033 1834 620.5 -116.8 - - 3276 - - - - - - - - 14.90 14.85 14.92
1761 193.5 -7.8 92 1763 done -0.41 - - 2771 - - - 1834 - -116.8 - - 3275 - - - - - - - - 15.01 15.04 15.03
2097 220.1 -8.0 98 2104 roll -0.41 - - 2775 - 2.33 0.058 460 -589.7 -116.8 - - 3273 - - - - - - - - 15.02 14.82 15.04
2145 224.2 -8.6 105 2154 done -0.41 0.12 0.256 2793 150.0 2.20 0.036 1809 613.2 -116.8 - - 3269 - - - - - - - - 14.71 14.87 14.88
2489 248.5 -7.0 112 2492 done -0.50 - - 2793 - - - 1809 - -116.8 - - 3266 - - - - - - - - 15.04 15.04 15.04
2825 272.5 -7.1 118 2839 roll -0.60 0.15 0.126 2730 -420.0 2.28 0.057 466 -589.0 -116.8 - - 3263 - - - - - - - - 14.88 14.87 14.92
2866 276.3 -9.8 123 2879 done -0.60 - - 2719 - 2.20 0.035 1826 618.2 -116.8 - - 3263 - - - - - - - - 14.96 14.91 14.97
3229 311.7 -9.8 132 3242 done -0.60 - - 2720 - - - 1826 - -116.8 - - 3260 - - - - - - - - 15.07 15.10 15.09
3565 343.4 -9.5 138 3579 roll -0.60 - - 2720 - 2.30 0.057 465 -591.7 -116.8 - - 3258 - - - - - - - - 15.08 14.90 15.11
3613 348.6 -11.0 144 3626 done -0.60 - - 2711 - 2.15 0.036 1796 619.1 -116.8 - - 3261 - - - - - - - - 14.98 14.93 15.00
3969 386.2 -10.6 152 3982 roll -0.60 - - 2700 - 2.42 0.054 3259 604.5 -116.8 - - 3256 - - - - - - - - 15.08 14.90 15.11
4016 391.6 -11.3 158 4030 done -0.60 0.15 0.251 2734 226.7 2.38 0.038 1802 -612.2 -116.8 - - 3255 - - - - - - - - 14.76 14.92 14.94
4373 426.4 -9.7 166 4387 roll -0.60 - - 2734 - 2.25 0.060 466 -593.8 -116.8 - - 3254 - - - - - - - - 15.09 14.92 15.11
4504 440.0 -10.2 184 4517 done -0.60 - - 2728 - 2.15 0.035 1796 618.6 -116.8 - - 3252 - - - - - - - - 14.98 14.93 15.00
4833 472.2 -9.8 195 4846 roll -0.60 - - 2717 - 2.42 0.055 3259 604.5 -116.8 - - 3253 - - - - - - - - 15.08 14.89 15.10
4880 476.8 -9.9 201 4893 done -0.60 - - 2717 - 2.40 0.039 1788 -612.9 -116.8 - - 3250 - - - - - - - - 14.97 14.91 14.99
5236 510.5 -9.5 209 5249 roll -0.60 - - 2717 - 2.22 0.063 471 -593.2 -116.8 - - 3247 - - - - - - - - 15.08 14.88 15.10
5347 521.4 -9.8 224 5360 done -0.60 - - 2708 - 2.10 0.036 1763 615.2 -116.8 - - 3248 - - - - - - - - 14.97 14.92 14.99
5690 554.1 -9.5 231 5703 roll -0.60 - - 2697 - 2.50 0.057 3259 598.4 -116.8 - - 3245 - - - - - - - - 15.08 14.88 15.10
5766 561.6 -9.9 241 5779 done -0.60 0.15 0.252 2727 200.0 2.45 0.040 1767 -609.0 -116.8 - - 3246 - - - - - - - - 14.73 14.90 14.92
6094 589.7 -8.5 252 6107 roll -0.60 - - 2735 - 2.20 0.063 475 -587.3 -116.8 - - 3245 - - - - - - - - 15.07 14.88 15.09
6183 597.9 -9.1 264 6196 done -0.60 - - 2728 - 2.08 0.036 1750 613.0 -116.8 - - 3248 - - - - - - - - 14.96 14.91 14.99
6554 631.6 -9.2 274 6567 roll -0.60 - - 2718 - 2.55 0.057 3262 592.9 -116.8 - - 3243 - - - - - - - - 15.07 14.88 15.09
6678 643.3 -9.1 291 6691 done -0.60 - - 2717 - 2.45 0.040 1773 -607.8 -116.8 - - 3243 - - - - - - - - 14.95 14.88 14.97
7013 673.3 -9.0 303 7026 roll -0.60 - - 2717 - 2.22 0.063 461 -591.0 -116.8 - - 3239 - - - - - - - - 15.07 14.86 15.09
7116 683.3 -9.7 317 7130 done -0.60 - - 2709 - 2.12 0.037 1762 613.7 -116.8 - - 3241 - - - - - - - - 14.95 14.90 14.97
7473 715.2 -8.9 325 7486 roll -0.60 - - 2703 - 2.53 0.058 3266 594.5 -116.8 - - 3239 - - - - - - - - 15.07 14.86 15.08
7520 719.6 -9.4 331 7533 done -0.60 0.15 0.251 2731 186.7 2.50 0.041 1752 -605.6 -116.8 - - 3239 - - - - - - - - 14.71 14.90 14.90
7876 748.1 -8.0 339 7889 roll -0.60 - - 2732 - 2.17 0.064 472 -589.9 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.08
7945 754.0 -8.6 348 7958 done -0.60 - - 2726 - 2.05 0.037 1733 615.1 -116.8 - - 3237 - - - - - - - - 14.95 14.90 14.96
8280 782.1 -8.4 360 8293 roll -0.60 - - 2715 - 2.58 0.060 3261 592.2 -116.8 - - 3236 - - - - - - - - 15.06 14.84 15.08
8334 786.8 -8.6 367 8347 done -0.60 - - 2715 - 2.55 0.042 1732 -599.6 -116.8 - - 3236 - - - - - - - - 14.93 14.86 14.95
8679 816.7 -8.6 374 8692 roll -0.60 - - 2715 - 2.15 0.065 471 -586.5 -116.8 - - 3234 - - - - - - - - 15.04 14.84 15.07
8768 825.2 -9.2 386 8781 done -0.60 0.12 0.285 2732 141.7 2.03 0.037 1717 613.8 -116.8 - - 3235 - - - - - - - - 14.67 14.89 14.88
9139 853.2 -7.6 396 9152 roll -0.60 - - 2722 - 2.60 0.060 3256 591.9 -116.8 - - 3233 - - - - - - - - 15.07 14.83 15.07
9228 860.1 -7.9 408 9241 done -0.60 - - 2722 - 2.55 0.041 1726 -600.0 -116.8 - - 3233 - - - - - - - - 14.92 14.85 14.94
9598 888.8 -7.9 418 9611 roll -0.60 - - 2722 - 2.15 0.067 474 -582.3 -116.8 - - 3232 - - - - - - - - 15.04 14.83 15.06
9660 894.1 -8.6 426 9673 done -0.60 - - 2714 - 2.08 0.038 1726 601.9 -116.8 - - 3232 - - - - - - - - 14.93 14.88 14.95
10002 922.8 -8.4 439 10015 roll -0.60 - - 2703 - 2.60 0.060 3255 588.1 -116.8 - - 3232 - - - - - - - - 15.04 14.83 15.06
10105 931.1 -8.6 453 10119 done -0.60 0.12 0.260 2728 208.3 2.50 0.042 1754 -600.4 -116.8 - - 3231 - - - - - - - - 14.66 14.84 14.85
10462 958.7 -7.8 461 10475 roll -0.60 - - 2728 - 2.20 0.066 470 -583.6 -116.8 - - 3231 - - - - - - - - 15.03 14.81 15.05
10538 965.1 -8.5 471 10551 done -0.60 - - 2722 - 2.08 0.038 1744 612.5 -116.8 - - 3230 - - - - - - - - 14.92 14.87 14.94
10863 end dive: TARGET_DEPTH_EXCEEDED
10863 begin apogee
10870 991.5 -8.0 482 10999 roll -0.21 0.50 0.227 2856 268.0 - - 1744 - - 119.10 2.147 2792 -3.7 0.313 - - - - - - 14.64 14.10 13.41
11000 end apogee: CONTROL_FINISHED_OK
11000 begin climb
11004 996.4 - 484 11144 roll 0.84 1.10 0.171 3188 301.8 2.47 0.063 409 -540.5 116.8 122.65 2.111 2313 -3.9 0.340 - - - - - - 14.09 14.15 13.29
11357 968.7 9.7 537 11370 done 0.84 - - 3191 - 2.35 0.034 1805 594.0 116.8 - - 2292 - - - - - - - - 14.52 14.47 14.54
11720 934.5 9.3 546 11734 roll 0.75 - - 3201 - 2.47 0.064 398 -569.6 116.8 - - 2291 - - - - - - - - 14.82 14.62 14.84
11951 912.5 9.4 578 11964 done 0.63 0.28 0.243 3135 -235.7 2.33 0.035 1806 604.3 116.8 - - 2290 - - - - - - - - 14.55 14.72 14.74
12296 889.4 6.6 591 12331 roll 0.66 - - 3134 - 2.38 0.055 3190 581.5 140.9 22.17 2.013 2210 -3.6 0.294 - - - - - - 14.92 14.47 13.92
12372 883.8 7.5 602 12389 done 0.67 - - 3141 - 2.35 0.041 1795 -593.6 148.1 1.85 0.174 2186 -13.0 12.162 - - - - - - 14.66 14.59 14.52
12746 855.7 7.9 613 12759 roll 0.67 - - 3152 - 2.42 0.067 399 -576.9 148.2 - - 2187 - - - - - - - - 14.88 14.69 14.90
12864 846.3 8.5 629 12877 done 0.67 - - 3152 - 2.28 0.035 1773 602.6 148.2 - - 2187 - - - - - - - - 14.81 14.76 14.82
13206 817.1 8.4 642 13219 roll 0.67 - - 3152 - 2.38 0.054 3186 593.7 148.2 - - 2187 - - - - - - - - 14.95 14.76 14.96
13268 811.5 8.0 650 13281 done 0.67 - - 3161 - 2.33 0.041 1793 -597.9 148.2 - - 2187 - - - - - - - - 14.84 14.78 14.85
13611 780.8 9.0 663 13624 roll 0.67 - - 3172 - 2.40 0.067 397 -581.7 148.2 - - 2187 - - - - - - - - 14.97 14.77 14.99
13729 769.5 9.7 679 13742 done 0.67 - - 3172 - 2.25 0.034 1769 609.8 148.2 - - 2186 - - - - - - - - 14.88 14.83 14.89
14072 737.4 9.4 692 14085 roll 0.67 - - 3172 - 2.38 0.054 3185 595.0 148.2 - - 2187 - - - - - - - - 14.98 14.80 15.00
14126 731.9 9.9 699 14140 done 0.67 0.15 0.273 3149 -153.3 2.35 0.041 1778 -598.7 148.2 - - 2187 - - - - - - - - 14.64 14.81 14.83
14470 703.6 8.2 706 14484 roll 0.67 - - 3158 - 2.38 0.067 401 -578.6 148.2 - - 2187 - - - - - - - - 15.00 14.78 15.02
14532 698.3 8.7 714 14546 done 0.67 - - 3158 - 2.28 0.034 1788 608.3 148.2 - - 2187 - - - - - - - - 14.89 14.83 14.90
14875 670.0 8.2 727 14888 roll 0.67 - - 3163 - 2.35 0.054 3190 596.6 148.2 - - 2187 - - - - - - - - 15.00 14.81 15.02
14929 665.4 8.5 734 14943 done 0.67 - - 3166 - 2.33 0.041 1796 -598.3 148.2 - - 2187 - - - - - - - - 14.88 14.82 14.90
15273 637.9 8.0 741 15286 roll 0.67 - - 3177 - 2.40 0.067 403 -580.4 148.2 - - 2187 - - - - - - - - 15.00 14.79 15.02
15391 628.0 8.3 757 15405 done 0.67 0.12 0.262 3150 -225.0 2.22 0.034 1764 613.1 148.2 - - 2186 - - - - - - - - 14.66 14.85 14.85
15737 604.0 7.0 770 15772 roll 0.69 - - 3150 - 2.47 0.054 3179 572.9 164.5 23.27 1.678 2122 -2.8 0.183 - - - - - - 15.00 14.66 14.12
15845 595.6 8.1 785 15858 done 0.69 - - 3158 - 2.35 0.041 1789 -591.5 164.5 - - 2110 - - - - - - - - 14.74 14.68 14.76
16187 565.7 8.9 798 16200 roll 0.69 - - 3167 - 2.42 0.067 402 -573.1 164.5 - - 2110 - - - - - - - - 14.91 14.71 14.93
16290 555.6 9.7 812 16304 done 0.69 - - 3167 - 2.20 0.034 1748 611.8 164.5 - - 2110 - - - - - - - - 14.83 14.77 14.84
16647 520.7 9.9 820 16660 roll 0.69 - - 3167 - 2.40 0.052 3175 594.6 164.5 - - 2110 - - - - - - - - 14.95 14.75 14.97
16715 513.6 10.1 829 16728 done 0.69 - - 3181 - 2.38 0.041 1747 -600.0 164.5 - - 2110 - - - - - - - - 14.85 14.78 14.87
17050 482.2 9.2 841 17064 roll 0.69 - - 3187 - 2.33 0.067 403 -576.8 164.5 - - 2109 - - - - - - - - 14.97 14.77 14.99
17091 478.3 9.3 846 17104 done 0.69 0.15 0.250 3154 -220.0 2.17 0.033 1752 621.7 164.5 - - 2110 - - - - - - - - 14.65 14.83 14.84
17454 450.8 7.3 855 17471 roll 0.70 - - 3154 - 2.40 0.053 3177 593.8 174.1 3.85 1.112 2082 -7.3 0.544 - - - - - - 14.99 14.81 14.04
17527 445.1 7.8 865 17540 done 0.70 - - 3161 - 2.33 0.041 1772 -603.0 174.5 - - 2086 - - - - - - - - 14.84 14.78 14.85
17855 419.8 7.8 876 17868 roll 0.70 - - 3174 - 2.38 0.066 396 -578.2 175.3 - - 2084 - - - - - - - - 14.98 14.78 15.00
17958 410.9 8.6 890 17972 done 0.70 - - 3171 - 2.25 0.034 1770 610.7 175.3 - - 2086 - - - - - - - - 14.92 14.83 14.90
18315 380.1 8.7 898 18328 roll 0.70 - - 3171 - 2.35 0.051 3181 600.4 175.3 - - 2086 - - - - - - - - 14.99 14.80 15.01
18377 374.3 9.4 906 18390 done 0.70 - - 3179 - 2.30 0.039 1794 -603.0 175.3 - - 2086 - - - - - - - - 14.88 14.82 14.90
18719 342.6 9.4 919 18732 roll 0.70 - - 3190 - 2.40 0.066 398 -581.7 175.3 - - 2086 - - - - - - - - 15.00 14.79 15.02
18838 330.8 10.0 935 18851 done 0.70 0.15 0.244 3157 -220.0 2.22 0.032 1771 618.5 175.3 - - 2086 - - - - - - - - 14.66 14.85 14.84
19183 303.4 7.8 948 19196 roll 0.70 - - 3157 - 2.35 0.051 3181 600.0 175.5 - - 2086 - - - - - - - - 15.00 14.81 15.02
19245 298.1 8.1 956 19262 done 0.70 - - 3163 - 2.33 0.038 1777 -602.6 175.5 2.55 0.582 2074 -4.7 0.445 - - - - - - 14.88 14.82 14.02
19585 271.8 7.8 969 19603 roll 0.70 - - 3174 - 2.42 0.065 399 -569.4 177.3 2.97 0.741 2066 -2.7 0.182 - - - - - - 15.00 14.79 14.07
19672 264.5 8.5 981 19685 done 0.70 - - 3175 - 2.20 0.032 1751 614.5 177.3 - - 2073 - - - - - - - - 14.88 14.84 14.90
20043 232.4 8.9 991 20056 roll 0.70 - - 3174 - 2.40 0.050 3186 597.9 177.3 - - 2074 - - - - - - - - 15.00 14.81 15.02
20097 227.1 9.6 998 20111 done 0.70 - - 3183 - 2.35 0.039 1765 -604.7 177.3 - - 2074 - - - - - - - - 14.85 14.79 14.87
20441 195.3 9.3 1005 20454 roll 0.70 - - 3194 - 2.35 0.064 394 -583.4 177.3 - - 2074 - - - - - - - - 15.03 14.77 15.02
20516 187.9 9.8 1015 20530 done 0.70 0.15 0.243 3160 -226.7 2.22 0.032 1775 622.1 177.3 - - 2074 - - - - - - - - 14.67 14.85 14.85
20845 162.9 7.4 1026 20875 roll 0.71 - - 3160 - 2.40 0.051 3175 583.3 186.2 16.33 1.183 2027 -2.9 0.073 - - - - - - 15.00 14.75 14.26
20917 157.3 7.9 1036 20930 done 0.71 - - 3166 - 2.30 0.039 1783 -605.2 186.2 - - 2024 - - - - - - - - 14.80 14.74 14.82
21245 131.9 7.8 1047 21258 roll 0.72 - - 3177 - 2.38 0.063 399 -581.5 187.0 - - 2021 - - - - - - - - 14.96 14.75 14.97
21292 127.7 9.1 1053 21305 done 0.72 - - 3177 - 2.25 0.031 1785 616.0 187.0 - - 2023 - - - - - - - - 14.86 14.81 14.88
21649 99.0 7.6 1061 21662 done 0.72 - - 3177 - - - 1786 - 192.4 2.45 0.161 2005 -7.3 0.834 - - - - - - 14.98 14.85 14.71
21957 82.3 4.6 1072 22029 roll 0.92 0.12 0.139 3232 458.3 2.38 0.050 3177 584.5 253.5 57.50 0.350 1760 -4.3 0.185 - - - - - - 14.80 14.70 14.48
22091 72.6 8.7 1091 22105 done 0.92 - - 3242 - 2.42 0.040 1719 -602.5 253.5 - - 1767 - - - - - - - - 14.78 14.72 14.81
22407 54.1 5.2 1103 22467 roll 0.98 - - 3252 - 2.28 0.061 399 -578.9 303.6 46.25 0.269 1555 -4.6 0.170 - - - - - - 14.94 14.64 14.49
22698 38.5 3.5 1144 22779 done 1.28 0.28 0.086 3359 382.1 2.10 0.031 1724 631.0 385.2 68.85 0.227 1224 -4.8 0.150 - - - - - - 14.75 14.78 14.52
23083 5.7 9.6 1166 23100 roll 1.28 - - 3359 - 2.45 0.046 3180 594.3 385.2 2.60 0.146 1222 - - - - - - - - 14.92 14.73 14.66
23124 end climb: SURFACE_DEPTH_REACHED
23124 begin surface coast
23131 end surface coast: CONTROL_FINISHED_OK
23131 begin surface
SM 1.29 - - - - -8.59 9.23 0.063 160 17.3 2.22 0.047 1877 -2961.7 515.13 76.85 0.125 691 9.0 -0.009 - - - - - -