SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 60.67 of 350.00 AH used of 24V (82.67% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth 1.19 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 16 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 109 done -0.84 - - 156 - 0.03 2.123 1881 - -116.8 -79.25 - 3269 - - - - - - - - 14.80 13.45 14.82
112 9.7 -14.9 3 130 roll -0.84 11.90 0.389 2663 210.7 2.42 0.047 449 -591.7 -116.8 - - 3270 - - - - - - - - 14.37 14.62 14.62
178 41.9 -29.3 13 186 done -0.35 0.62 0.282 2807 232.3 2.25 0.033 1833 615.1 -116.8 - - 3271 - - - - - - - - 14.43 14.65 14.64
501 91.8 -13.0 26 507 roll -0.35 - - 2799 - 2.35 0.053 3263 608.5 -116.8 - - 3271 - - - - - - - - 14.90 14.73 14.92
626 103.0 -7.5 44 633 done -0.35 - - 2799 - 2.25 0.037 1868 -620.0 -116.8 - - 3272 - - - - - - - - 14.81 14.76 14.83
949 126.1 -6.9 55 955 roll -0.35 - - 2799 - 2.35 0.057 460 -599.1 -116.8 - - 3273 - - - - - - - - 14.96 14.77 15.01
1018 131.4 -7.6 65 1025 done -0.35 - - 2789 - 2.17 0.033 1821 627.2 -116.8 - - 3273 - - - - - - - - 14.85 14.81 14.86
1341 154.5 -7.4 76 1344 done -0.35 - - 2790 - - - 1823 - -116.8 - - 3270 - - - - - - - - 14.99 15.01 15.00
1677 180.4 -7.7 82 1683 roll -0.35 - - 2790 - 2.28 0.056 461 -597.4 -116.8 - - 3273 - - - - - - - - 15.00 14.81 15.02
1704 182.6 -8.1 86 1711 done -0.35 0.15 0.245 2816 173.3 2.15 0.034 1800 622.8 -116.8 - - 3270 - - - - - - - - 14.66 14.84 14.84
2069 204.6 -5.8 96 2076 roll -0.49 0.12 0.134 2753 -525.0 2.42 0.052 3268 606.6 -116.8 - - 3267 - - - - - - - - 14.81 14.80 14.83
2138 210.0 -8.4 106 2144 done -0.49 - - 2747 - 2.40 0.037 1789 -616.2 -116.8 - - 3267 - - - - - - - - 14.87 14.81 14.89
2461 238.9 -9.0 117 2468 roll -0.49 - - 2753 - 2.22 0.058 461 -598.2 -116.8 - - 3261 - - - - - - - - 15.00 14.80 15.02
2559 248.6 -9.9 131 2565 done -0.49 - - 2740 - 2.10 0.034 1771 623.8 -116.8 - - 3266 - - - - - - - - 14.89 14.84 14.90
2909 283.1 -9.9 139 2923 roll -0.49 0.12 0.281 2761 175.0 2.47 0.052 3265 604.9 -116.8 - - 3259 - - - - - - - - 14.64 14.83 14.78
3020 292.8 -8.3 154 3034 done -0.49 - - 2761 - 2.38 0.037 1807 -612.6 -116.8 - - 3259 - - - - - - - - 14.92 14.87 14.94
3364 321.2 -8.2 161 3377 roll -0.49 - - 2761 - 2.25 0.059 464 -596.9 -116.8 - - 3256 - - - - - - - - 15.05 14.85 15.09
3439 327.8 -8.5 171 3452 done -0.49 - - 2753 - 2.12 0.035 1794 627.4 -116.8 - - 3256 - - - - - - - - 14.94 14.89 14.95
3768 354.9 -8.4 182 3781 roll -0.49 - - 2742 - 2.42 0.054 3260 605.8 -116.8 - - 3253 - - - - - - - - 15.06 14.85 15.08
3815 359.0 -8.4 188 3828 done -0.49 - - 2742 - 2.38 0.038 1794 -616.0 -116.8 - - 3252 - - - - - - - - 14.95 14.88 14.96
4171 390.1 -8.7 196 4184 roll -0.49 - - 2742 - 2.22 0.060 470 -596.4 -116.8 - - 3251 - - - - - - - - 15.07 14.85 15.09
4348 406.5 -9.2 220 4361 done -0.49 0.15 0.270 2765 153.3 2.08 0.034 1756 618.3 -116.8 - - 3249 - - - - - - - - 14.66 14.89 14.87
4690 432.9 -7.6 233 4703 roll -0.49 - - 2757 - 2.53 0.055 3268 597.6 -116.8 - - 3247 - - - - - - - - 15.06 14.84 15.07
4766 438.6 -7.4 243 4779 done -0.49 - - 2756 - 2.45 0.037 1760 -615.5 -116.8 - - 3247 - - - - - - - - 14.94 14.87 14.95
5095 463.7 -7.7 254 5108 roll -0.49 - - 2757 - 2.17 0.060 467 -595.9 -116.8 - - 3245 - - - - - - - - 15.06 14.84 15.08
5227 475.1 -8.6 272 5240 done -0.49 - - 2749 - 2.05 0.035 1746 623.9 -116.8 - - 3245 - - - - - - - - 14.94 14.89 14.95
5556 503.5 -8.8 283 5569 roll -0.49 - - 2737 - 2.53 0.056 3266 600.8 -116.8 - - 3241 - - - - - - - - 15.06 14.83 15.07
5618 509.3 -9.3 291 5632 done -0.49 - - 2738 - 2.50 0.039 1743 -609.2 -116.8 - - 3242 - - - - - - - - 14.93 14.86 14.95
5960 541.5 -9.3 304 5974 roll -0.49 0.12 0.270 2773 291.7 2.15 0.060 470 -592.1 -116.8 - - 3241 - - - - - - - - 14.63 14.83 14.77
6095 552.8 -8.3 322 6108 done -0.49 - - 2767 - 2.03 0.035 1733 622.2 -116.8 - - 3240 - - - - - - - - 14.93 14.88 14.95
6423 577.1 -7.2 333 6436 roll -0.49 - - 2756 - 2.55 0.057 3260 598.8 -116.8 - - 3243 - - - - - - - - 15.05 14.82 15.07
6527 584.2 -6.6 347 6540 done -0.49 - - 2756 - 2.53 0.039 1734 -603.2 -116.8 - - 3239 - - - - - - - - 14.91 14.84 14.93
6883 608.1 -6.7 355 6897 roll -0.49 - - 2756 - 2.15 0.062 469 -588.4 -116.8 - - 3238 - - - - - - - - 15.04 14.81 15.07
7024 618.6 -7.5 374 7038 done -0.49 - - 2748 - 2.03 0.035 1726 619.2 -116.8 - - 3236 - - - - - - - - 14.92 14.87 14.94
7346 642.8 -7.6 384 7359 roll -0.49 - - 2736 - 2.58 0.057 3263 595.7 -116.8 - - 3235 - - - - - - - - 15.04 14.81 15.06
7421 649.0 -8.1 394 7435 done -0.49 0.15 0.243 2765 193.3 2.53 0.041 1726 -607.5 -116.8 - - 3234 - - - - - - - - 14.62 14.83 14.84
7753 673.0 -7.3 405 7767 roll -0.58 - - 2769 - 2.12 0.063 471 -592.0 -116.8 - - 3234 - - - - - - - - 15.04 14.81 15.06
7843 680.6 -8.1 417 7856 done -0.58 - - 2764 - 2.03 0.037 1722 616.3 -116.8 - - 3233 - - - - - - - - 14.91 14.85 14.92
8213 709.0 -7.7 427 8226 roll -0.58 - - 2753 - 2.60 0.057 3265 593.5 -116.8 - - 3232 - - - - - - - - 15.03 14.78 15.05
8335 718.0 -7.6 443 8348 done -0.67 0.12 0.134 2704 -408.3 2.53 0.041 1742 -602.0 -116.8 - - 3231 - - - - - - - - 14.79 14.82 14.88
8677 750.5 -9.6 456 8690 roll -0.67 - - 2703 - 2.17 0.064 473 -584.8 -116.8 - - 3230 - - - - - - - - 15.02 14.78 15.05
8809 764.0 -10.2 474 8822 done -0.67 - - 2695 - 2.03 0.037 1709 608.9 -116.8 - - 3229 - - - - - - - - 14.90 14.84 14.91
9137 796.8 -10.0 485 9150 roll -0.67 - - 2684 - 2.62 0.059 3263 593.1 -116.8 - - 3229 - - - - - - - - 15.02 14.77 15.04
9200 803.1 -9.5 493 9213 done -0.67 - - 2683 - 2.60 0.042 1704 -599.6 -116.8 - - 3229 - - - - - - - - 14.88 14.81 14.90
9542 837.0 -9.8 506 9555 roll -0.67 - - 2683 - 2.10 0.065 473 -586.2 -116.8 - - 3228 - - - - - - - - 15.02 14.77 15.03
9697 853.3 -10.2 527 9711 done -0.56 0.28 0.265 2741 207.1 1.92 0.037 1661 618.8 -116.8 - - 3228 - - - - - - - - 14.52 14.83 14.78
10061 878.7 -6.9 536 10074 roll -0.56 - - 2732 - 2.65 0.058 3262 604.2 -116.8 - - 3226 - - - - - - - - 15.01 14.76 15.03
10216 889.9 -8.5 557 10230 done -0.56 - - 2731 - 2.62 0.043 1686 -601.5 -116.8 - - 3226 - - - - - - - - 14.88 14.79 14.89
10580 915.4 -7.3 566 10593 roll -0.56 - - 2732 - 2.08 0.066 471 -584.1 -116.8 - - 3226 - - - - - - - - 15.01 14.75 15.03
10642 920.4 -8.1 574 10655 done -0.56 - - 2723 - 2.00 0.038 1695 612.0 -116.8 - - 3226 - - - - - - - - 14.87 14.83 14.89
10984 948.5 -8.3 587 10998 roll -0.56 - - 2712 - 2.65 0.060 3258 589.8 -116.8 - - 3225 - - - - - - - - 15.00 14.73 15.02
11047 953.9 -8.8 595 11060 done -0.56 0.15 0.255 2744 213.3 2.60 0.043 1701 -598.8 -116.8 - - 3225 - - - - - - - - 14.53 14.78 14.77
11392 980.2 -7.6 608 11405 roll -0.56 - - 2745 - 2.12 0.067 463 -584.0 -116.8 - - 3224 - - - - - - - - 14.98 14.73 15.02
11489 988.4 -8.1 621 11502 done -0.56 - - 2740 - 1.98 0.040 1675 612.1 -116.8 - - 3224 - - - - - - - - 14.85 14.81 14.86
11504 end dive: TARGET_DEPTH_EXCEEDED
11504 begin apogee
11513 990.6 -10.7 623 11640 roll -0.21 0.45 0.230 2857 260.0 - - 1820 - - 117.70 2.198 2794 -3.7 0.306 - - - - - - 14.52 14.08 13.34
11642 end apogee: CONTROL_FINISHED_OK
11642 begin climb
11645 995.1 - 625 11787 roll 0.84 1.15 0.179 3187 287.0 2.62 0.063 381 -549.2 116.8 123.80 2.150 2313 -3.9 0.334 - - - - - - 14.08 14.14 13.20
11950 973.7 9.3 671 11963 done 0.84 - - 3187 - 2.38 0.034 1789 591.6 116.8 - - 2293 - - - - - - - - 14.43 14.38 14.45
12306 940.5 9.6 679 12320 roll 0.84 - - 3197 - 2.45 0.063 397 -568.2 116.8 - - 2291 - - - - - - - - 14.78 14.56 14.80
12469 924.5 10.0 701 12482 done 0.74 - - 3197 - 2.38 0.034 1831 602.5 116.8 - - 2291 - - - - - - - - 14.72 14.67 14.74
12825 889.4 9.8 709 12839 roll 0.64 0.22 0.259 3140 -259.1 2.28 0.053 3190 596.1 116.8 - - 2290 - - - - - - - - 14.47 14.66 14.62
12922 881.4 7.5 722 12936 done 0.65 - - 3146 - 2.22 0.041 1848 -604.5 123.6 - - 2289 - - - - - - - - 14.78 14.72 14.80
13286 854.7 7.2 731 13317 roll 0.66 - - 3157 - 2.55 0.067 402 -567.1 135.0 15.57 2.009 2233 -3.6 0.284 - - - - - - 14.93 14.63 13.93
13404 845.7 7.8 747 13417 done 0.66 - - 3157 - 2.38 0.034 1833 601.3 136.5 - - 2228 - - - - - - - - 14.73 14.68 14.74
13746 818.8 7.5 760 13763 roll 0.67 - - 3157 - 2.35 0.055 3189 577.0 142.7 2.25 0.471 2207 -9.3 3.015 - - - - - - 14.89 14.69 13.69
13790 815.2 8.3 766 13804 done 0.67 - - 3165 - 2.25 0.041 1834 -602.2 142.7 - - 2211 - - - - - - - - 14.78 14.72 14.81
14147 786.5 8.2 774 14160 roll 0.67 - - 3175 - 2.47 0.067 402 -579.8 142.7 - - 2214 - - - - - - - - 14.93 14.70 14.95
14236 778.5 9.0 786 14250 done 0.67 - - 3176 - 2.35 0.034 1825 605.5 142.7 - - 2211 - - - - - - - - 14.82 14.77 14.83
14607 745.9 8.9 796 14620 roll 0.67 - - 3176 - 2.30 0.054 3196 596.1 142.7 - - 2211 - - - - - - - - 14.95 14.73 14.97
14682 738.8 8.9 806 14696 done 0.67 0.17 0.263 3147 -170.6 2.22 0.041 1845 -608.6 142.7 - - 2211 - - - - - - - - 14.54 14.76 14.76
15011 714.1 7.4 817 15033 roll 0.68 - - 3155 - 2.55 0.067 396 -568.2 150.6 6.20 1.688 2181 -4.8 0.380 - - - - - - 14.95 14.75 13.98
15095 707.4 8.1 829 15108 done 0.68 - - 3155 - 2.35 0.035 1826 608.5 150.6 - - 2185 - - - - - - - - 14.80 14.76 14.83
15466 678.8 7.7 839 15482 roll 0.68 - - 3155 - 2.30 0.056 3192 593.9 153.0 3.72 1.229 2168 -4.6 0.469 - - - - - - 14.94 14.76 13.88
15565 670.8 7.9 853 15578 done 0.68 - - 3163 - 2.20 0.041 1860 -605.5 153.0 - - 2173 - - - - - - - - 14.84 14.76 14.84
15921 642.5 8.1 861 15935 roll 0.68 - - 3174 - 2.53 0.066 400 -577.1 153.0 - - 2173 - - - - - - - - 14.95 14.71 14.97
16053 631.1 8.7 879 16066 done 0.68 - - 3175 - 2.35 0.034 1836 611.1 153.0 - - 2174 - - - - - - - - 14.84 14.79 14.85
16381 603.0 8.6 890 16394 roll 0.68 - - 3174 - 2.28 0.055 3194 595.6 153.0 - - 2174 - - - - - - - - 14.96 14.74 14.98
16450 596.7 9.2 899 16463 done 0.68 0.15 0.262 3152 -146.7 2.25 0.041 1835 -604.0 153.0 - - 2174 - - - - - - - - 14.54 14.78 14.79
16785 572.1 7.2 911 16822 roll 0.70 - - 3160 - 2.47 0.067 405 -578.9 165.1 23.25 1.643 2114 -2.6 0.167 - - - - - - 14.97 14.63 14.04
16878 565.1 8.1 924 16891 done 0.70 - - 3160 - 2.38 0.034 1843 604.2 165.1 - - 2108 - - - - - - - - 14.71 14.67 14.73
17241 537.7 7.5 933 17258 roll 0.71 - - 3160 - 2.30 0.054 3182 582.2 171.6 2.22 0.423 2090 -8.1 1.915 - - - - - - 14.88 14.70 13.77
17314 531.9 7.9 943 17327 done 0.71 - - 3169 - 2.22 0.040 1836 -606.3 171.6 - - 2093 - - - - - - - - 14.77 14.71 14.78
17642 506.2 8.0 954 17655 roll 0.71 - - 3180 - 2.47 0.066 403 -580.2 171.6 - - 2093 - - - - - - - - 14.92 14.69 14.95
17738 497.7 8.9 967 17751 done 0.71 - - 3180 - 2.38 0.033 1846 606.3 171.6 - - 2094 - - - - - - - - 14.78 14.73 14.79
18102 465.7 8.9 976 18115 roll 0.71 - - 3179 - 2.25 0.054 3190 597.3 171.6 - - 2093 - - - - - - - - 14.94 14.73 14.96
18164 459.9 9.3 984 18177 done 0.71 - - 3187 - 2.22 0.041 1846 -605.4 171.6 - - 2093 - - - - - - - - 14.81 14.73 14.83
18506 428.9 9.1 997 18519 roll 0.71 - - 3199 - 2.50 0.065 401 -578.0 171.6 - - 2093 - - - - - - - - 14.95 14.71 14.97
18560 423.6 9.9 1004 18575 done 0.71 0.17 0.249 3160 -229.4 2.35 0.033 1847 615.3 171.6 - - 2093 - - - - - - - - 14.54 14.78 14.76
18905 397.8 7.3 1011 18930 done 0.72 - - 3160 - - - 1847 - 181.4 16.33 1.493 2052 -2.5 0.124 - - - - - - 14.97 14.72 14.12
19241 372.1 7.7 1017 19254 roll 0.72 - - 3160 - 2.22 0.052 3178 599.5 183.7 - - 2042 - - - - - - - - 14.90 14.70 14.92
19288 368.0 8.3 1023 19302 done 0.72 - - 3165 - 2.22 0.040 1828 -608.1 183.7 - - 2042 - - - - - - - - 14.76 14.70 14.78
19645 337.9 8.7 1031 19658 roll 0.72 - - 3176 - 2.45 0.065 406 -580.4 183.7 - - 2042 - - - - - - - - 14.94 14.69 14.96
19748 328.2 9.3 1045 19762 done 0.72 - - 3177 - 2.28 0.032 1805 613.6 183.7 - - 2042 - - - - - - - - 14.79 14.74 14.81
20104 296.2 8.9 1053 20118 roll 0.72 - - 3177 - 2.30 0.051 3185 600.0 183.7 - - 2042 - - - - - - - - 14.95 14.74 14.97
20187 288.8 8.8 1064 20200 done 0.72 - - 3185 - 2.25 0.039 1817 -608.0 183.7 - - 2041 - - - - - - - - 14.83 14.76 14.85
20508 260.4 8.9 1074 20521 roll 0.72 - - 3195 - 2.42 0.064 405 -583.5 183.7 - - 2042 - - - - - - - - 14.97 14.73 14.98
20590 252.5 9.6 1085 20604 done 0.72 0.15 0.245 3162 -220.0 2.28 0.031 1812 617.1 183.7 - - 2042 - - - - - - - - 14.57 14.80 14.77
20912 226.6 8.0 1095 20925 roll 0.72 - - 3159 - 2.28 0.051 3178 599.1 183.7 - - 2042 - - - - - - - - 14.97 14.76 14.99
20994 219.8 8.2 1106 21007 done 0.72 - - 3167 - 2.20 0.039 1835 -610.5 183.7 - - 2042 - - - - - - - - 14.84 14.78 14.86
21315 194.2 8.1 1116 21328 roll 0.72 - - 3178 - 2.45 0.064 405 -583.7 183.7 - - 2042 - - - - - - - - 14.97 14.73 14.99
21411 185.9 8.5 1129 21425 done 0.72 - - 3178 - 2.22 0.031 1790 623.9 183.7 - - 2042 - - - - - - - - 14.85 14.81 14.87
21775 155.5 8.4 1138 21788 roll 0.72 - - 3178 - 2.30 0.050 3176 602.6 183.7 - - 2042 - - - - - - - - 14.97 14.76 15.00
21850 149.4 8.0 1148 21863 done 0.72 - - 3186 - 2.22 0.038 1822 -609.9 183.7 - - 2042 - - - - - - - - 14.85 14.78 14.87
22178 124.0 7.9 1159 22191 roll 0.72 - - 3196 - 2.42 0.063 402 -586.8 183.7 - - 2042 - - - - - - - - 14.98 14.71 15.00
22289 115.4 7.7 1174 22305 done 0.72 0.15 0.231 3162 -226.7 2.17 0.031 1764 627.6 187.2 2.50 0.157 2028 -5.6 0.765 - - - - - - 14.59 14.81 14.64
22636 98.5 4.6 1181 22711 roll 0.94 0.22 0.100 3257 431.8 2.40 0.061 401 -567.9 248.7 59.55 0.395 1778 -4.2 0.195 - - - - - - 14.75 14.67 14.39
22872 81.5 7.7 1215 22891 done 0.94 - - 3256 - 2.38 0.031 1869 616.8 252.2 5.50 0.227 1765 -2.4 0.158 - - - - - - 14.78 14.73 14.38
23195 60.9 4.3 1228 23274 roll 1.02 - - 3260 - 2.60 0.061 396 -566.5 317.9 63.10 0.291 1502 -4.2 0.162 - - - - - - 14.92 14.04 14.42
23290 57.2 5.2 1241 23347 done 1.22 0.17 0.109 3332 423.5 2.35 0.031 1854 620.4 367.1 44.42 0.275 1297 -4.6 0.178 - - - - - - 14.65 14.69 14.39
23676 27.1 6.5 1263 23713 roll 1.26 - - 3332 - 2.17 0.048 3169 606.0 393.0 23.52 0.192 1190 -4.5 0.119 - - - - - - 14.88 14.68 14.51
23902 11.3 8.3 1295 23919 done 1.35 - - 3337 - 2.05 0.039 1916 -611.2 393.0 2.28 0.148 1190 - - - - - - - - 14.78 14.71 14.59
24041 end climb: SURFACE_DEPTH_REACHED
24041 begin surface coast
24069 end surface coast: CONTROL_FINISHED_OK
24069 begin surface
SM 1.04 - - - - -8.61 9.23 0.069 156 16.9 - - 1915 - 515.13 73.60 0.122 692 9.4 -0.008 - - - - - -