SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 187 * Raw log
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• Previous call tries 1 • 73.11 of 350.00 AH used of 24V (79.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth 1.20 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 15 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 156 - - - 1855 - -116.8 -79.38 - 3269 - - - - - - - - 14.76 13.75 14.78
117 9.2 -14.1 3 135 roll -0.84 11.93 0.391 2642 208.4 2.45 0.063 3252 570.2 -116.8 - - 3271 - - - - - - - - 14.33 14.57 14.60
155 31.8 -47.8 9 163 done 0.11 1.27 0.278 2957 248.0 2.30 0.039 1865 -603.0 -116.8 - - 3271 - - - - - - - - 14.35 14.59 14.59
478 61.2 -7.4 22 485 roll -0.11 0.17 0.101 2875 -482.4 2.38 0.053 459 -590.8 -116.8 - - 3271 - - - - - - - - 14.67 14.64 14.71
540 67.5 -9.8 31 547 done -0.25 - - 2866 - 2.28 0.033 1864 616.2 -116.8 - - 3273 - - - - - - - - 14.76 14.71 14.78
871 87.3 -5.3 45 878 roll -0.41 0.17 0.104 2775 -535.3 2.30 0.049 3256 605.2 -116.8 - - 3276 - - - - - - - - 14.71 14.71 14.74
1017 99.1 -8.2 66 1024 done -0.41 - - 2775 - 2.17 0.034 1915 -618.0 -116.8 - - 3273 - - - - - - - - 14.81 14.74 14.82
1376 128.8 -8.3 75 1382 roll -0.41 - - 2775 - 2.42 0.056 473 -595.9 -116.8 - - 3273 - - - - - - - - 14.95 14.73 14.98
1599 148.6 -8.9 107 1606 done -0.41 0.12 0.261 2792 141.7 2.28 0.032 1873 614.0 -116.8 - - 3272 - - - - - - - - 14.57 14.78 14.76
1936 173.2 -7.2 120 1942 roll -0.41 - - 2792 - 2.38 0.055 471 -589.1 -116.8 - - 3269 - - - - - - - - 14.97 14.74 14.99
1962 175.4 -7.9 124 1969 done -0.41 - - 2786 - 2.25 0.033 1859 616.9 -116.8 - - 3269 - - - - - - - - 14.84 14.79 14.86
2327 201.8 -7.1 134 2330 done -0.41 - - 2786 - - - 1860 - -116.8 - - 3266 - - - - - - - - 14.97 15.00 14.97
2664 225.3 -7.1 140 2666 done -0.41 - - 2786 - - - 1859 - -116.8 - - 3264 - - - - - - - - 14.97 15.00 15.00
3002 250.6 -7.5 146 3016 roll -0.41 - - 2786 - 2.35 0.056 471 -590.6 -116.8 - - 3261 - - - - - - - - 14.98 14.76 15.00
3085 257.6 -8.1 157 3098 done -0.41 - - 2778 - 2.25 0.034 1846 611.1 -116.8 - - 3260 - - - - - - - - 14.86 14.81 14.88
3407 282.4 -7.7 167 3420 done -0.41 - - 2778 - - - 1844 - -116.8 - - 3258 - - - - - - - - 15.02 15.04 15.03
3743 306.3 -7.1 173 3755 done -0.41 - - 2778 - - - 1847 - -116.8 - - 3255 - - - - - - - - 15.02 15.05 15.04
4079 329.2 -6.8 179 4092 roll -0.41 - - 2778 - 2.38 0.058 458 -583.6 -116.8 - - 3253 - - - - - - - - 15.03 14.79 15.05
4134 333.4 -7.6 186 4148 done -0.41 - - 2770 - 2.25 0.037 1832 610.7 -116.8 - - 3253 - - - - - - - - 14.90 14.84 14.91
4477 359.2 -7.6 193 4490 roll -0.41 - - 2759 - 2.40 0.057 3270 599.2 -116.8 - - 3251 - - - - - - - - 15.04 14.80 15.07
4524 363.0 -8.0 199 4538 done -0.41 0.15 0.228 2793 226.7 2.35 0.037 1827 -614.0 -116.8 - - 3250 - - - - - - - - 14.61 14.83 14.81
4881 387.4 -6.9 207 4894 roll -0.52 - - 2793 - 2.30 0.058 465 -592.2 -116.8 - - 3249 - - - - - - - - 15.04 14.79 15.05
4992 395.9 -7.5 222 5006 done -0.62 0.20 0.106 2714 -395.0 2.20 0.034 1815 613.6 -116.8 - - 3248 - - - - - - - - 14.79 14.85 14.87
5336 430.8 -10.4 229 5350 roll -0.62 - - 2714 - 2.28 0.056 471 -589.5 -116.8 - - 3246 - - - - - - - - 15.03 14.78 15.05
5377 435.4 -11.3 234 5390 done -0.62 - - 2706 - 2.12 0.034 1771 613.2 -116.8 - - 3246 - - - - - - - - 14.90 14.85 14.91
5740 472.9 -10.3 243 5753 roll -0.62 - - 2694 - 2.50 0.054 3266 598.0 -116.8 - - 3244 - - - - - - - - 15.03 14.78 15.05
5781 477.2 -10.3 248 5794 done -0.62 0.15 0.251 2727 220.0 2.47 0.038 1759 -610.1 -116.8 - - 3244 - - - - - - - - 14.56 14.80 14.79
6144 507.2 -8.0 257 6157 roll -0.62 - - 2727 - 2.20 0.060 466 -587.7 -116.8 - - 3243 - - - - - - - - 15.02 14.77 15.04
6290 519.2 -8.2 277 6303 done -0.62 - - 2721 - 2.05 0.035 1727 615.1 -116.8 - - 3242 - - - - - - - - 14.88 14.83 14.90
6660 549.7 -8.4 287 6673 roll -0.62 - - 2709 - 2.58 0.055 3263 595.3 -116.8 - - 3241 - - - - - - - - 15.02 14.76 15.04
6736 556.2 -8.6 297 6749 done -0.62 - - 2709 - 2.55 0.040 1720 -605.1 -116.8 - - 3240 - - - - - - - - 14.86 14.79 14.88
7064 587.0 -9.4 308 7077 roll -0.62 - - 2709 - 2.12 0.061 472 -588.7 -116.8 - - 3239 - - - - - - - - 15.02 14.75 15.04
7111 591.9 -10.5 314 7124 done -0.62 - - 2701 - 2.03 0.035 1725 617.2 -116.8 - - 3239 - - - - - - - - 14.88 14.82 14.92
7467 627.5 -10.1 322 7481 roll -0.62 - - 2689 - 2.60 0.056 3269 593.8 -116.8 - - 3237 - - - - - - - - 15.01 14.76 15.03
7543 635.3 -10.1 332 7556 done -0.62 0.15 0.256 2721 213.3 2.55 0.039 1731 -603.1 -116.8 - - 3237 - - - - - - - - 14.51 14.78 14.76
7872 664.5 -8.8 343 7885 roll -0.62 - - 2726 - 2.15 0.062 473 -585.1 -116.8 - - 3238 - - - - - - - - 15.00 14.73 15.03
7968 673.7 -9.3 356 7981 done -0.62 - - 2716 - 2.05 0.035 1728 612.2 -116.8 - - 3236 - - - - - - - - 14.86 14.81 14.88
8331 706.8 -9.3 365 8344 roll -0.62 - - 2704 - 2.60 0.057 3263 590.4 -116.8 - - 3234 - - - - - - - - 15.01 14.73 15.03
8442 717.2 -9.8 380 8456 done -0.62 - - 2704 - 2.55 0.041 1737 -598.4 -116.8 - - 3234 - - - - - - - - 14.83 14.76 14.86
8785 748.9 -9.2 387 8798 roll -0.62 - - 2704 - 2.17 0.062 469 -584.3 -116.8 - - 3232 - - - - - - - - 15.01 14.72 15.03
8931 763.6 -10.1 407 8945 done -0.62 0.12 0.290 2720 133.3 2.00 0.036 1695 613.0 -116.8 - - 3232 - - - - - - - - 14.46 14.81 14.73
9301 795.3 -8.5 417 9315 roll -0.62 - - 2710 - 2.67 0.058 3263 587.3 -116.8 - - 3231 - - - - - - - - 15.00 14.70 15.02
9440 807.4 -8.2 436 9454 done -0.62 - - 2711 - 2.58 0.041 1725 -596.1 -116.8 - - 3234 - - - - - - - - 14.82 14.75 14.85
9762 835.4 -8.7 446 9775 roll -0.62 - - 2711 - 2.15 0.063 473 -582.3 -116.8 - - 3230 - - - - - - - - 14.99 14.71 15.01
9851 844.0 -8.1 458 9864 done -0.62 - - 2702 - 2.05 0.036 1725 610.7 -116.8 - - 3230 - - - - - - - - 14.85 14.78 14.85
10222 877.1 -8.9 468 10235 roll -0.62 - - 2691 - 2.62 0.058 3263 587.0 -116.8 - - 3228 - - - - - - - - 14.98 14.69 15.00
10318 885.6 -8.7 481 10332 done -0.62 0.15 0.260 2722 206.7 2.53 0.042 1750 -598.0 -116.8 - - 3229 - - - - - - - - 14.44 14.73 14.70
10682 912.1 -7.0 490 10696 roll -0.62 - - 2723 - 2.20 0.063 474 -580.0 -116.8 - - 3228 - - - - - - - - 14.98 14.66 15.00
10823 922.8 -7.7 509 10837 done -0.62 - - 2717 - 2.05 0.037 1726 610.7 -116.8 - - 3227 - - - - - - - - 14.83 14.77 14.85
11146 947.0 -7.5 519 11159 roll -0.62 - - 2705 - 2.62 0.058 3268 588.5 -116.8 - - 3226 - - - - - - - - 14.97 14.69 14.99
11235 954.0 -7.8 531 11248 done -0.62 - - 2705 - 2.58 0.041 1734 -594.6 -116.8 - - 3227 - - - - - - - - 14.79 14.71 14.82
11605 983.9 -8.1 541 11618 roll -0.62 - - 2705 - 2.20 0.064 464 -577.3 -116.8 - - 3226 - - - - - - - - 14.97 14.66 14.99
11668 989.5 -5.8 549 11682 done -0.62 0.12 0.288 2721 133.3 2.12 0.037 1740 601.9 -116.8 - - 3225 - - - - - - - - 14.40 14.76 14.67
11685 end dive: TARGET_DEPTH_EXCEEDED
11685 begin apogee
11693 992.2 -10.1 551 11863 roll -0.21 0.50 0.226 2854 266.0 - - 1798 - - 158.57 1.870 2791 -2.7 0.272 - - - - - - 14.46 14.05 13.43
11864 end apogee: CONTROL_FINISHED_OK
11864 begin climb
11868 997.7 - 554 12009 done 0.84 1.15 0.164 3192 293.9 - - 1799 - 116.8 123.93 2.141 2307 -3.9 0.341 - - - - - - 14.04 14.28 13.11
12366 957.8 9.3 584 12379 roll 0.84 - - 3202 - 2.47 0.063 404 -564.8 116.8 - - 2292 - - - - - - - - 14.69 14.46 14.71
12407 953.9 12.5 589 12421 done 0.73 0.15 0.263 3171 -206.7 2.35 0.033 1819 602.1 116.8 - - 2292 - - - - - - - - 14.30 14.54 14.54
12771 923.4 8.3 598 12784 roll 0.73 - - 3170 - 2.33 0.054 3185 586.3 116.8 - - 2292 - - - - - - - - 14.83 14.61 14.85
12846 916.8 8.7 608 12859 done 0.73 - - 3174 - 2.28 0.040 1820 -598.7 116.8 - - 2291 - - - - - - - - 14.71 14.64 14.73
13174 889.3 8.4 619 13187 roll 0.73 - - 3188 - 2.47 0.065 404 -573.3 116.8 - - 2291 - - - - - - - - 14.88 14.62 14.91
13277 880.1 9.0 633 13291 done 0.73 - - 3189 - 2.28 0.033 1789 607.5 116.8 - - 2291 - - - - - - - - 14.76 14.73 14.78
13634 850.1 8.2 641 13647 roll 0.73 - - 3188 - 2.38 0.054 3192 589.5 116.8 - - 2291 - - - - - - - - 14.91 14.65 14.94
13717 842.8 8.7 652 13730 done 0.63 0.25 0.265 3141 -188.0 2.33 0.041 1799 -597.9 116.8 - - 2289 - - - - - - - - 14.41 14.69 14.69
14039 822.3 6.3 662 14081 roll 0.67 - - 3149 - 2.53 0.067 404 -551.4 145.4 27.27 1.988 2189 -3.7 0.284 - - - - - - 14.92 14.53 13.90
14154 814.4 7.4 678 14171 done 0.68 - - 3149 - 2.33 0.034 1795 597.0 154.8 3.10 1.027 2160 -9.4 1.388 - - - - - - 14.62 14.57 13.64
14496 789.9 7.1 691 14536 roll 0.70 - - 3149 - 2.45 0.054 3183 566.5 169.3 24.70 1.834 2094 -2.7 0.215 - - - - - - 14.82 14.49 13.85
14577 783.4 8.0 703 14590 done 0.70 - - 3158 - 2.33 0.041 1808 -590.1 169.3 - - 2088 - - - - - - - - 14.57 14.51 14.59
14947 754.0 8.0 713 14961 roll 0.70 - - 3168 - 2.45 0.066 398 -575.5 169.3 - - 2087 - - - - - - - - 14.82 14.55 14.84
15030 746.8 8.7 724 15043 done 0.70 - - 3168 - 2.35 0.034 1815 603.0 169.3 - - 2087 - - - - - - - - 14.71 14.66 14.71
15351 719.2 8.6 734 15364 roll 0.70 - - 3169 - 2.33 0.053 3185 588.0 169.3 - - 2087 - - - - - - - - 14.88 14.66 14.90
15399 714.8 8.5 740 15412 done 0.70 - - 3176 - 2.30 0.041 1805 -600.0 169.3 - - 2086 - - - - - - - - 14.76 14.69 14.78
15755 683.7 8.8 748 15768 roll 0.70 - - 3187 - 2.45 0.066 404 -571.8 169.3 - - 2086 - - - - - - - - 14.91 14.64 14.92
15851 674.7 9.5 761 15865 done 0.70 0.15 0.250 3155 -213.3 2.28 0.033 1799 611.8 169.3 - - 2086 - - - - - - - - 14.47 14.73 14.71
16215 646.8 7.6 770 16228 roll 0.70 - - 3155 - 2.33 0.053 3177 591.4 174.4 - - 2086 - - - - - - - - 14.93 14.68 14.95
16290 640.7 8.1 780 16303 done 0.70 - - 3161 - 2.28 0.041 1811 -599.1 174.4 - - 2086 - - - - - - - - 14.78 14.71 14.80
16619 614.4 8.1 791 16632 roll 0.70 - - 3172 - 2.45 0.066 401 -575.5 174.4 - - 2086 - - - - - - - - 14.93 14.66 14.95
16715 605.7 9.0 804 16728 done 0.70 - - 3171 - 2.28 0.033 1790 609.2 174.4 - - 2086 - - - - - - - - 14.79 14.74 14.81
17079 573.7 8.9 813 17092 roll 0.70 - - 3172 - 2.35 0.052 3183 592.8 174.4 - - 2086 - - - - - - - - 14.92 14.69 14.95
17168 565.0 9.8 825 17181 done 0.70 - - 3179 - 2.28 0.040 1816 -599.6 174.4 - - 2085 - - - - - - - - 14.79 14.72 14.81
17539 528.8 9.9 835 17552 roll 0.70 - - 3190 - 2.47 0.065 402 -572.5 174.4 - - 2086 - - - - - - - - 14.95 14.67 14.96
17657 516.0 10.9 851 17671 done 0.70 0.15 0.249 3158 -213.3 2.33 0.032 1818 607.7 174.4 - - 2086 - - - - - - - - 14.47 14.76 14.69
18000 484.4 9.2 864 18014 roll 0.70 - - 3158 - 2.30 0.052 3185 594.3 174.4 - - 2086 - - - - - - - - 14.94 14.69 14.95
18048 479.8 9.5 870 18061 done 0.70 - - 3164 - 2.28 0.041 1814 -601.3 174.4 - - 2086 - - - - - - - - 14.79 14.72 14.81
18404 449.5 8.3 878 18417 roll 0.70 - - 3174 - 2.45 0.065 404 -575.5 174.4 - - 2083 - - - - - - - - 14.95 14.65 14.96
18493 442.1 8.1 890 18506 done 0.70 - - 3175 - 2.28 0.032 1796 610.5 174.4 - - 2086 - - - - - - - - 14.80 14.75 14.81
18863 413.5 7.7 900 18881 roll 0.71 - - 3174 - 2.38 0.050 3180 581.5 177.8 2.55 0.618 2065 -8.2 1.031 - - - - - - 14.95 14.73 13.79
18929 408.1 8.2 909 18942 done 0.71 - - 3181 - 2.30 0.040 1797 -601.3 177.8 - - 2069 - - - - - - - - 14.78 14.72 14.81
19264 380.6 8.3 921 19277 roll 0.71 - - 3194 - 2.42 0.064 398 -578.1 177.8 - - 2069 - - - - - - - - 14.93 14.66 14.95
19339 373.8 9.0 931 19353 done 0.71 0.15 0.246 3162 -213.3 2.22 0.032 1773 619.4 177.8 - - 2069 - - - - - - - - 14.45 14.75 14.69
19669 349.3 7.5 942 19690 roll 0.72 - - 3161 - 2.42 0.050 3179 581.0 184.9 6.12 1.315 2038 -5.1 0.252 - - - - - - 14.94 14.76 14.04
19725 344.7 8.1 950 19738 done 0.72 - - 3167 - 2.35 0.039 1772 -598.7 184.9 - - 2042 - - - - - - - - 14.80 14.71 14.80
20067 317.0 8.2 963 20080 roll 0.72 - - 3179 - 2.38 0.064 401 -576.1 184.9 - - 2045 - - - - - - - - 14.92 14.64 14.93
20185 306.7 8.6 979 20199 done 0.72 - - 3178 - 2.17 0.031 1736 615.2 184.9 - - 2045 - - - - - - - - 14.79 14.74 14.81
20528 277.2 8.7 992 20541 roll 0.72 - - 3178 - 2.40 0.049 3170 597.5 184.9 - - 2045 - - - - - - - - 14.93 14.69 14.95
20610 269.4 9.3 1003 20623 done 0.72 - - 3181 - 2.38 0.040 1746 -598.3 184.9 - - 2045 - - - - - - - - 14.78 14.70 14.80
20931 240.9 8.9 1013 20944 roll 0.72 - - 3197 - 2.33 0.063 400 -577.7 184.9 - - 2045 - - - - - - - - 14.94 14.62 14.95
21000 234.5 9.2 1022 21014 done 0.72 0.15 0.239 3164 -220.0 2.15 0.031 1737 621.9 184.9 - - 2045 - - - - - - - - 14.46 14.76 14.69
21336 209.6 7.3 1034 21367 roll 0.73 - - 3165 - 2.47 0.050 3170 580.2 195.6 19.17 1.255 1993 -2.7 0.085 - - - - - - 14.94 14.70 14.14
21446 201.3 7.8 1049 21460 done 0.73 - - 3171 - 2.35 0.041 1767 -597.0 197.2 - - 1982 - - - - - - - - 14.71 14.65 14.73
21787 174.5 7.9 1056 21800 roll 0.73 - - 3180 - 2.38 0.063 396 -576.1 197.2 - - 1983 - - - - - - - - 14.89 14.62 14.91
21883 165.9 8.9 1069 21896 done 0.73 - - 3181 - 2.20 0.032 1737 609.5 197.2 - - 1982 - - - - - - - - 14.77 14.72 14.78
22246 134.3 8.7 1078 22259 done 0.73 - - 3181 - - - 1737 - 197.2 - - 1982 - - - - - - - - 14.92 14.94 14.94
22582 108.1 7.7 1084 22595 roll 0.74 - - 3189 - 2.33 0.063 398 -574.7 200.2 - - 1982 - - - - - - - - 14.94 14.66 14.95
22637 103.8 8.0 1091 22651 done 0.74 - - 3189 - 2.15 0.032 1714 612.1 200.2 - - 1982 - - - - - - - - 14.81 14.75 14.82
22953 82.5 6.5 1102 22990 roll 0.77 - - 3189 - 2.45 0.047 3180 598.4 226.1 24.50 0.332 1871 -4.5 0.211 - - - - - - 14.93 14.61 14.40
23043 77.4 5.7 1114 23099 done 0.93 - - 3197 - 2.47 0.038 1696 -600.8 267.2 40.75 0.332 1710 -4.0 0.172 - - - - - - 14.76 14.71 14.35
23406 62.6 3.6 1133 23491 roll 1.30 0.43 0.072 3368 397.7 2.58 0.047 3176 573.6 346.5 71.62 0.292 1382 -4.6 0.184 - - - - - - 14.66 14.61 14.35
23715 34.1 10.2 1177 23730 done 1.30 - - 3377 - 2.20 0.037 1846 -604.5 346.5 2.35 0.151 1379 -1.3 0.054 - - - - - - 14.71 14.64 14.50
24062 9.0 6.7 1192 24091 roll 1.33 - - 3377 - 2.28 0.044 3175 582.9 367.9 16.52 0.143 1291 -5.3 0.063 - - - - - - 14.90 14.68 14.52
24156 end climb: SURFACE_DEPTH_REACHED
24156 begin surface coast
24163 end surface coast: CONTROL_FINISHED_OK
24163 begin surface
SM 1.07 - - - - -8.61 9.38 0.066 159 16.9 2.20 0.034 1872 -3005.5 515.13 87.72 0.123 692 7.9 -0.007 - - - - - -