SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 178 * Raw log
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• Previous call tries 1 • 69.78 of 350.00 AH used of 24V (80.06% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth 1.11 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 33 s
• GPS2 time: 15 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 159 - - - 1844 - -116.8 -80.22 - 3269 - - - - - - - - 14.77 13.78 14.80
111 9.2 -14.1 3 128 roll -0.84 11.65 0.379 2640 213.0 2.38 0.046 3245 588.7 -116.8 - - 3272 - - - - - - - - 14.35 14.59 14.62
359 80.7 -15.7 39 366 done -0.51 0.47 0.263 2759 253.2 2.22 0.037 1878 -615.8 -116.8 - - 3272 - - - - - - - - 14.45 14.67 14.66
695 111.7 -8.5 52 698 done -0.51 - - 2758 - - - 1879 - -116.8 - - 3274 - - - - - - - - 14.92 14.95 14.94
1032 139.5 -7.9 58 1038 roll -0.51 - - 2758 - 2.38 0.057 469 -592.4 -116.8 - - 3274 - - - - - - - - 14.93 14.71 14.97
1170 150.4 -8.0 78 1178 done -0.51 - - 2751 - 2.35 0.032 1898 608.1 -116.8 - - 3274 - - - - - - - - 14.85 14.77 14.85
1535 182.0 -9.0 88 1538 done -0.51 - - 2751 - - - 1898 - -116.8 - - 3272 - - - - - - - - 14.97 15.00 15.00
1872 213.8 -9.4 94 1878 roll -0.51 - - 2750 - 2.42 0.056 464 -592.6 -116.8 - - 3266 - - - - - - - - 14.97 14.76 15.00
1928 219.0 -9.4 102 1934 done -0.51 - - 2741 - 2.33 0.035 1887 610.7 -116.8 - - 3268 - - - - - - - - 14.88 14.82 14.87
2263 249.9 -9.2 115 2279 roll -0.51 - - 2742 - 2.40 0.056 475 -588.3 -116.8 - - 3265 - - - - - - - - 14.97 14.75 15.00
2334 256.8 -9.6 124 2347 done -0.51 0.12 0.266 2758 133.3 2.22 0.034 1841 615.3 -116.8 - - 3265 - - - - - - - - 14.59 14.82 14.79
2669 285.0 -8.3 136 2682 roll -0.51 - - 2758 - 2.33 0.057 468 -589.3 -116.8 - - 3262 - - - - - - - - 15.02 14.79 15.04
2724 289.8 -8.7 143 2737 done -0.51 - - 2752 - 2.20 0.034 1816 612.7 -116.8 - - 3261 - - - - - - - - 14.90 14.85 14.91
3068 319.4 -8.7 150 3081 done -0.51 - - 2752 - - - 1816 - -116.8 - - 3259 - - - - - - - - 15.03 15.06 15.05
3403 349.4 -8.9 156 3416 roll -0.51 - - 2741 - 2.42 0.055 3268 600.0 -116.8 - - 3254 - - - - - - - - 15.04 14.81 15.06
3451 353.8 -9.0 162 3464 done -0.51 - - 2741 - 2.42 0.037 1791 -610.3 -116.8 - - 3256 - - - - - - - - 14.91 14.84 14.93
3807 388.4 -9.9 170 3820 roll -0.51 - - 2741 - 2.22 0.060 473 -593.7 -116.8 - - 3253 - - - - - - - - 15.04 14.81 15.06
3903 398.7 -10.5 183 3916 done -0.51 0.12 0.266 2757 133.3 2.08 0.034 1759 618.3 -116.8 - - 3253 - - - - - - - - 14.62 14.87 14.83
4267 431.6 -9.0 192 4280 roll -0.51 - - 2750 - 2.53 0.056 3269 596.8 -116.8 - - 3250 - - - - - - - - 15.04 14.81 15.06
4349 438.9 -8.6 203 4362 done -0.51 - - 2749 - 2.47 0.038 1763 -609.7 -116.8 - - 3249 - - - - - - - - 14.90 14.83 14.91
4670 465.3 -8.1 213 4684 roll -0.51 - - 2749 - 2.17 0.060 472 -594.9 -116.8 - - 3248 - - - - - - - - 15.04 14.80 15.05
4789 475.1 -8.2 229 4802 done -0.51 - - 2741 - 2.08 0.034 1757 617.8 -116.8 - - 3247 - - - - - - - - 14.91 14.85 14.92
5131 500.9 -7.5 242 5144 roll -0.51 - - 2730 - 2.53 0.057 3263 595.3 -116.8 - - 3245 - - - - - - - - 15.03 14.78 15.05
5220 508.0 -7.9 254 5234 done -0.51 0.15 0.238 2763 220.0 2.45 0.040 1772 -608.6 -116.8 - - 3244 - - - - - - - - 14.60 14.83 14.82
5591 533.9 -7.0 264 5604 roll -0.51 - - 2763 - 2.20 0.061 474 -590.0 -116.8 - - 3243 - - - - - - - - 15.03 14.78 15.05
5737 545.5 -8.0 284 5750 done -0.51 - - 2758 - 2.08 0.034 1752 614.4 -116.8 - - 3242 - - - - - - - - 14.90 14.85 14.92
6107 575.6 -8.3 294 6120 roll -0.51 - - 2747 - 2.55 0.057 3271 595.7 -116.8 - - 3241 - - - - - - - - 15.03 14.78 15.05
6190 582.5 -8.3 305 6203 done -0.51 - - 2746 - 2.50 0.038 1751 -608.0 -116.8 - - 3241 - - - - - - - - 14.88 14.81 14.90
6511 610.0 -8.5 315 6524 roll -0.51 - - 2746 - 2.17 0.062 476 -587.6 -116.8 - - 3240 - - - - - - - - 15.02 14.76 15.04
6551 613.6 -9.2 320 6564 done -0.51 - - 2738 - 2.10 0.035 1770 616.2 -116.8 - - 3240 - - - - - - - - 14.90 14.85 14.90
6915 646.1 -9.0 329 6928 roll -0.51 - - 2727 - 2.53 0.057 3270 592.9 -116.8 - - 3238 - - - - - - - - 15.02 14.77 15.05
7033 656.7 -8.8 345 7046 done -0.51 0.15 0.236 2760 220.0 2.47 0.038 1775 -605.3 -116.8 - - 3238 - - - - - - - - 14.57 14.80 14.79
7376 684.1 -7.9 358 7389 roll -0.51 - - 2760 - 2.20 0.062 477 -590.0 -116.8 - - 3236 - - - - - - - - 15.02 14.71 15.04
7487 693.3 -8.1 373 7501 done -0.51 - - 2752 - 2.08 0.035 1746 610.1 -116.8 - - 3235 - - - - - - - - 14.88 14.82 14.89
7830 719.5 -7.6 380 7843 roll -0.51 - - 2743 - 2.58 0.057 3268 589.9 -116.8 - - 3235 - - - - - - - - 15.01 14.74 15.03
7913 725.9 -7.6 391 7926 done -0.51 - - 2743 - 2.50 0.039 1757 -604.4 -116.8 - - 3238 - - - - - - - - 14.87 14.80 14.89
8234 750.6 -7.7 401 8247 roll -0.51 - - 2744 - 2.20 0.063 470 -585.0 -116.8 - - 3233 - - - - - - - - 15.00 14.74 15.02
8289 755.2 -8.0 408 8303 done -0.51 - - 2735 - 2.10 0.036 1748 608.6 -116.8 - - 3233 - - - - - - - - 14.87 14.81 14.88
8633 783.9 -8.4 415 8646 roll -0.51 0.12 0.279 2756 175.0 2.58 0.056 3267 588.8 -116.8 - - 3232 - - - - - - - - 14.48 14.72 14.64
8740 791.9 -7.5 429 8753 done -0.61 - - 2756 - 2.50 0.040 1771 -598.4 -116.8 - - 3231 - - - - - - - - 14.84 14.77 14.87
9096 819.8 -7.8 437 9109 roll -0.61 - - 2756 - 2.22 0.063 476 -583.3 -116.8 - - 3230 - - - - - - - - 14.99 14.72 15.02
9186 827.4 -8.4 449 9199 done -0.61 - - 2748 - 2.10 0.036 1758 610.5 -116.8 - - 3230 - - - - - - - - 14.85 14.80 14.86
9557 856.2 -7.7 459 9570 roll -0.61 - - 2737 - 2.58 0.059 3266 584.5 -116.8 - - 3229 - - - - - - - - 15.00 14.71 15.02
9667 864.9 -7.7 474 9681 done -0.61 - - 2736 - 2.50 0.041 1774 -596.8 -116.8 - - 3229 - - - - - - - - 14.82 14.74 14.84
10012 890.7 -7.4 481 10025 roll -0.61 - - 2737 - 2.25 0.064 467 -580.9 -116.8 - - 3228 - - - - - - - - 14.99 14.71 15.01
10108 898.5 -7.9 494 10122 done -0.61 - - 2728 - 2.10 0.037 1748 610.0 -116.8 - - 3228 - - - - - - - - 14.84 14.78 14.85
10472 926.0 -7.6 503 10485 roll -0.61 - - 2717 - 2.58 0.058 3261 586.4 -116.8 - - 3227 - - - - - - - - 14.97 14.70 15.01
10562 933.1 -7.9 515 10575 done -0.61 - - 2717 - 2.50 0.042 1769 -596.8 -116.8 - - 3227 - - - - - - - - 14.81 14.76 14.84
10932 964.6 -8.6 525 10945 roll -0.61 - - 2716 - 2.25 0.065 471 -576.9 -116.8 - - 3226 - - - - - - - - 14.98 14.69 15.00
11007 970.9 -9.2 535 11021 done -0.61 - - 2708 - 2.10 0.037 1751 609.5 -116.8 - - 3226 - - - - - - - - 14.82 14.76 14.84
11276 end dive: TARGET_DEPTH_EXCEEDED
11276 begin apogee
11284 995.0 -8.7 545 11412 roll -0.21 0.57 0.239 2858 263.2 - - 1752 - - 118.30 2.196 2792 -3.7 0.310 - - - - - - 14.45 14.06 13.29
11414 end apogee: CONTROL_FINISHED_OK
11414 begin climb
11418 1000.5 - 547 11559 roll 0.84 1.17 0.178 3191 284.6 2.47 0.062 414 -541.7 116.8 123.62 2.157 2316 -3.9 0.333 - - - - - - 14.05 14.12 13.14
11747 976.7 9.4 597 11761 done 0.84 - - 3191 - 2.35 0.034 1807 592.8 116.8 - - 2294 - - - - - - - - 14.44 14.38 14.45
12069 946.8 9.4 607 12082 roll 0.84 - - 3201 - 2.47 0.062 401 -569.2 116.8 - - 2291 - - - - - - - - 14.76 14.53 14.78
12291 924.1 10.1 638 12305 done 0.72 0.17 0.259 3164 -217.6 2.35 0.034 1819 603.4 116.8 - - 2291 - - - - - - - - 14.39 14.67 14.63
12635 895.7 8.1 645 12648 roll 0.72 - - 3163 - 2.33 0.054 3187 587.1 116.8 - - 2291 - - - - - - - - 14.88 14.65 14.90
12697 889.9 8.7 653 12711 done 0.72 - - 3169 - 2.30 0.041 1811 -598.3 116.8 - - 2290 - - - - - - - - 14.75 14.68 14.77
13040 861.7 8.2 666 13053 roll 0.72 - - 3180 - 2.45 0.066 405 -573.9 116.8 - - 2290 - - - - - - - - 14.90 14.66 14.92
13171 851.0 8.5 684 13184 done 0.72 - - 3180 - 2.25 0.034 1780 611.1 116.8 - - 2290 - - - - - - - - 14.78 14.73 14.81
13500 824.2 7.9 695 13513 roll 0.72 - - 3180 - 2.38 0.054 3182 589.1 116.8 - - 2291 - - - - - - - - 14.92 14.69 14.97
13603 815.1 8.6 709 13616 done 0.72 - - 3189 - 2.28 0.041 1810 -601.8 116.8 - - 2289 - - - - - - - - 14.79 14.73 14.82
13960 783.8 9.0 717 13973 roll 0.72 - - 3199 - 2.45 0.065 404 -573.9 116.8 - - 2289 - - - - - - - - 14.94 14.66 14.95
14063 773.6 9.9 731 14076 done 0.60 0.30 0.243 3128 -236.7 2.28 0.033 1801 612.7 116.8 - - 2289 - - - - - - - - 14.44 14.75 14.71
14420 748.4 6.9 739 14449 roll 0.62 - - 3129 - 2.40 0.054 3180 574.6 133.9 13.68 1.905 2240 -3.6 0.263 - - - - - - 14.95 14.69 13.95
14490 743.0 7.8 749 14503 done 0.62 - - 3135 - 2.30 0.041 1801 -599.6 135.0 - - 2236 - - - - - - - - 14.73 14.66 14.74
14818 718.5 7.5 760 14836 roll 0.63 - - 3145 - 2.47 0.067 406 -564.8 142.2 2.90 0.915 2212 -8.3 1.213 - - - - - - 14.88 14.66 13.76
14926 710.1 7.9 775 14940 done 0.63 - - 3152 - 2.25 0.034 1779 610.2 142.2 - - 2214 - - - - - - - - 14.76 14.71 14.78
15270 684.8 7.3 782 15300 roll 0.64 - - 3145 - 2.38 0.054 3180 588.7 151.6 16.83 1.828 2168 -2.7 0.191 - - - - - - 14.91 14.64 14.02
15363 677.8 7.3 795 15381 done 0.65 - - 3154 - 2.30 0.040 1803 -598.7 162.6 5.78 1.587 2127 -7.1 0.566 - - - - - - 14.67 14.62 13.79
15724 650.5 7.7 804 15741 roll 0.66 - - 3165 - 2.45 0.067 403 -571.4 166.2 3.95 1.265 2114 -3.3 0.316 - - - - - - 14.85 14.66 13.79
15825 642.1 8.4 818 15838 done 0.66 - - 3165 - 2.28 0.032 1785 606.1 166.2 - - 2119 - - - - - - - - 14.73 14.69 14.75
16181 613.1 8.1 826 16194 roll 0.66 - - 3165 - 2.35 0.054 3178 592.8 166.2 - - 2119 - - - - - - - - 14.88 14.67 14.90
16250 607.1 8.9 835 16263 done 0.66 0.15 0.265 3143 -146.7 2.30 0.041 1798 -600.0 166.2 - - 2119 - - - - - - - - 14.47 14.70 14.69
16585 582.2 7.4 847 16615 roll 0.67 - - 3152 - 2.45 0.067 402 -569.8 174.5 16.55 1.702 2075 -2.7 0.170 - - - - - - 14.91 14.64 14.03
16740 569.5 8.4 869 16753 done 0.67 - - 3155 - 2.22 0.033 1753 608.6 174.5 - - 2069 - - - - - - - - 14.71 14.66 14.72
17096 541.0 8.0 877 17109 roll 0.67 - - 3151 - 2.42 0.052 3183 590.9 174.5 - - 2068 - - - - - - - - 14.88 14.66 14.90
17136 537.6 8.5 882 17149 done 0.67 - - 3160 - 2.38 0.041 1752 -601.3 174.5 - - 2068 - - - - - - - - 14.74 14.66 14.73
17500 507.8 8.1 891 17513 roll 0.67 - - 3173 - 2.35 0.067 396 -577.0 174.5 - - 2068 - - - - - - - - 14.91 14.66 14.93
17589 500.3 8.3 903 17602 done 0.67 - - 3171 - 2.20 0.034 1733 607.7 174.5 - - 2066 - - - - - - - - 14.79 14.74 14.81
17960 471.7 7.5 913 17974 roll 0.68 - - 3169 - 2.53 0.051 3191 576.3 180.6 2.10 0.304 2051 -7.1 2.069 - - - - - - 14.93 14.73 13.67
18074 462.9 7.8 928 18088 done 0.68 - - 3178 - 2.38 0.041 1774 -595.4 181.6 - - 2055 - - - - - - - - 14.79 14.72 14.82
18415 435.4 8.2 935 18429 roll 0.68 - - 3189 - 2.38 0.066 402 -576.5 181.6 - - 2055 - - - - - - - - 14.94 14.67 14.96
18547 423.0 9.4 953 18561 done 0.68 0.17 0.239 3150 -229.4 2.17 0.032 1749 620.7 181.6 - - 2055 - - - - - - - - 14.50 14.78 14.72
18876 397.6 7.7 964 18893 roll 0.68 - - 3150 - 2.45 0.051 3178 583.3 184.0 2.75 0.716 2041 -5.1 0.528 - - - - - - 14.94 14.76 13.86
18935 392.7 8.4 972 18948 done 0.68 - - 3156 - 2.40 0.041 1744 -597.5 184.0 - - 2047 - - - - - - - - 14.80 14.73 14.82
19277 365.6 8.0 985 19290 roll 0.68 - - 3166 - 2.33 0.066 399 -577.3 184.0 - - 2047 - - - - - - - - 14.95 14.68 14.97
19353 359.0 8.7 995 19366 done 0.68 - - 3167 - 2.20 0.032 1754 615.9 184.0 - - 2049 - - - - - - - - 14.82 14.77 14.83
19681 331.9 8.2 1006 19694 roll 0.68 - - 3167 - 2.40 0.050 3185 596.2 184.0 - - 2049 - - - - - - - - 14.95 14.68 14.97
19757 325.3 8.7 1016 19770 done 0.68 - - 3176 - 2.35 0.039 1765 -604.3 184.0 - - 2049 - - - - - - - - 14.81 14.73 14.85
20085 297.0 8.8 1027 20098 roll 0.68 - - 3185 - 2.35 0.065 403 -579.6 184.0 - - 2049 - - - - - - - - 14.95 14.69 14.96
20181 287.8 9.5 1040 20194 done 0.68 0.15 0.239 3153 -213.3 2.20 0.031 1766 619.5 184.0 - - 2049 - - - - - - - - 14.50 14.76 14.69
20545 258.9 7.8 1049 20563 roll 0.68 - - 3153 - 2.40 0.050 3173 586.2 184.9 2.53 0.557 2040 -3.6 0.309 - - - - - - 14.98 14.76 13.90
20611 253.5 8.2 1058 20624 done 0.68 - - 3159 - 2.33 0.040 1771 -601.7 184.9 - - 2046 - - - - - - - - 14.81 14.74 14.83
20946 227.3 7.9 1070 20960 roll 0.68 - - 3169 - 2.38 0.065 395 -578.2 184.9 - - 2046 - - - - - - - - 14.95 14.69 14.96
21057 217.7 8.6 1085 21071 done 0.68 - - 3169 - 2.17 0.031 1728 614.3 184.9 - - 2047 - - - - - - - - 14.83 14.78 14.83
21401 190.0 8.0 1092 21414 roll 0.68 - - 3169 - 2.42 0.048 3175 597.9 184.9 - - 2047 - - - - - - - - 14.95 14.69 14.97
21463 185.0 7.9 1100 21476 done 0.68 - - 3177 - 2.42 0.039 1732 -596.3 184.9 - - 2047 - - - - - - - - 14.81 14.73 14.83
21805 159.2 7.5 1113 21835 roll 0.69 - - 3186 - 2.38 0.065 396 -561.3 191.4 14.40 1.206 2005 -2.9 0.072 - - - - - - 14.95 14.71 14.18
21904 151.0 8.8 1127 21918 done 0.69 0.15 0.233 3153 -220.0 2.15 0.031 1726 618.6 191.4 - - 2001 - - - - - - - - 14.51 14.74 14.71
22261 125.7 6.9 1135 22291 roll 0.82 0.12 0.135 3205 433.3 2.42 0.046 3173 597.9 209.9 18.15 1.164 1931 -3.9 0.078 - - - - - - 14.69 14.57 14.15
22388 114.1 9.4 1153 22401 done 0.82 - - 3214 - 2.33 0.040 1777 -599.1 209.9 - - 1922 - - - - - - - - 14.72 14.67 14.74
22716 85.5 8.3 1167 22730 roll 0.82 - - 3225 - 2.38 0.063 402 -577.7 209.9 - - 1921 - - - - - - - - 14.89 14.65 14.91
22904 73.7 4.9 1193 22962 done 0.89 - - 3224 - 2.08 0.030 1709 628.4 265.2 45.15 0.324 1713 -4.6 0.196 - - - - - - 14.78 14.73 14.38
23288 57.2 3.6 1214 23373 roll 1.19 0.22 0.098 3321 440.9 2.53 0.044 3175 579.4 344.5 70.80 0.278 1392 -4.5 0.174 - - - - - - 14.67 14.62 14.38
23583 39.2 5.1 1256 23641 done 1.25 - - 3329 - 2.38 0.037 1736 -604.6 395.0 44.72 0.226 1182 -4.7 0.152 - - - - - - 14.72 14.66 14.39
23964 13.5 6.9 1277 23995 roll 1.40 0.12 0.123 3395 550.0 2.35 0.061 397 -569.8 413.6 15.52 0.153 1107 -4.8 0.080 - - - - - - 14.66 14.62 14.54
24061 4.9 9.8 1290 24074 done 1.40 - - 3393 - 2.15 0.028 1749 628.8 413.6 - - 1115 - - - - - - - - 14.78 14.74 14.78
24084 end climb: SURFACE_DEPTH_REACHED
24084 begin surface coast
24113 end surface coast: CONTROL_FINISHED_OK
24113 begin surface
SM 1.25 - - - - -8.60 9.43 0.069 164 17.4 0.12 0.090 1885 7125.0 515.13 61.10 0.122 692 11.3 -0.012 - - - - - -