SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 231 * Raw log
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• Previous call tries 1 • 89.26 of 350.00 AH used of 24V (74.50% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 37 s
• GPS2 time: 17 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 112 done -0.84 - - 158 - - - 1849 - -116.8 -80.70 - 3270 - - - - - - - - 14.72 13.19 14.75
116 8.8 -13.3 3 134 roll -0.84 12.20 0.395 2642 203.6 2.42 0.047 3263 584.3 -116.8 - - 3273 - - - - - - - - 14.28 14.56 14.57
262 59.0 -19.7 24 269 done -0.48 0.50 0.279 2768 252.0 2.30 0.037 1863 -608.7 -116.8 - - 3273 - - - - - - - - 14.26 14.59 14.52
591 94.0 -7.9 38 597 roll -0.48 - - 2768 - 2.38 0.057 464 -587.8 -116.8 - - 3275 - - - - - - - - 14.85 14.61 14.87
618 96.6 -9.4 42 625 done -0.48 - - 2763 - 2.20 0.033 1812 612.7 -116.8 - - 3275 - - - - - - - - 14.72 14.67 14.72
955 124.5 -8.1 52 962 roll -0.48 - - 2751 - 2.42 0.054 3265 600.4 -116.8 - - 3275 - - - - - - - - 14.89 14.64 14.91
1114 138.2 -8.6 75 1123 done -0.48 - - 2751 - 2.40 0.037 1811 -605.8 -116.8 - - 3274 - - - - - - - - 14.75 14.67 14.76
1459 168.0 -8.6 82 1465 roll -0.48 - - 2752 - 2.28 0.059 471 -587.7 -116.8 - - 3274 - - - - - - - - 14.91 14.69 14.93
1571 178.7 -9.7 98 1577 done -0.48 0.12 0.263 2767 125.0 2.12 0.032 1778 616.5 -116.8 - - 3273 - - - - - - - - 14.45 14.72 14.67
1907 207.6 -8.6 111 1909 done -0.48 - - 2767 - - - 1779 - -116.8 - - 3270 - - - - - - - - 14.92 14.93 14.95
2243 236.1 -8.5 117 2250 roll -0.48 - - 2759 - 2.50 0.054 3265 594.4 -116.8 - - 3267 - - - - - - - - 14.92 14.66 14.94
2284 239.7 -8.3 123 2290 done -0.48 - - 2759 - 2.47 0.039 1770 -605.3 -116.8 - - 3267 - - - - - - - - 14.77 14.69 14.79
2635 270.6 -8.9 131 2648 roll -0.48 - - 2759 - 2.20 0.060 473 -589.5 -116.8 - - 3264 - - - - - - - - 14.97 14.70 14.98
2753 281.6 -9.3 147 2767 done -0.48 - - 2751 - 2.05 0.032 1740 618.0 -116.8 - - 3263 - - - - - - - - 14.83 14.78 14.85
3096 311.9 -8.8 160 3109 roll -0.48 - - 2739 - 2.55 0.054 3262 596.9 -116.8 - - 3260 - - - - - - - - 15.00 14.71 15.02
3192 320.4 -8.6 173 3206 done -0.48 0.15 0.233 2772 220.0 2.47 0.037 1768 -604.9 -116.8 - - 3257 - - - - - - - - 14.48 14.75 14.72
3556 347.5 -7.4 182 3569 roll -0.48 - - 2773 - 2.20 0.060 473 -588.6 -116.8 - - 3258 - - - - - - - - 15.00 14.71 15.02
3674 356.5 -7.5 198 3688 done -0.48 - - 2767 - 2.05 0.034 1736 616.1 -116.8 - - 3256 - - - - - - - - 14.85 14.82 14.86
4017 381.2 -7.3 211 4030 roll -0.48 - - 2756 - 2.58 0.055 3265 592.6 -116.8 - - 3254 - - - - - - - - 14.99 14.71 15.01
4086 386.2 -7.3 220 4099 done -0.48 - - 2756 - 2.53 0.038 1739 -603.2 -116.8 - - 3254 - - - - - - - - 14.82 14.75 14.85
4421 412.1 -7.8 232 4434 roll -0.48 - - 2756 - 2.15 0.060 469 -590.7 -116.8 - - 3251 - - - - - - - - 15.00 14.71 15.02
4447 414.4 -8.0 235 4461 done -0.48 - - 2748 - 2.08 0.034 1753 617.3 -116.8 - - 3251 - - - - - - - - 14.84 14.79 14.86
4769 441.0 -8.4 245 4782 roll -0.48 - - 2737 - 2.55 0.054 3265 592.9 -116.8 - - 3250 - - - - - - - - 14.98 14.70 15.00
4816 445.1 -8.7 251 4830 done -0.48 0.15 0.236 2770 220.0 2.53 0.041 1742 -602.0 -116.8 - - 3250 - - - - - - - - 14.49 14.71 14.71
5173 473.1 -7.8 259 5186 roll -0.48 - - 2770 - 2.17 0.062 468 -587.1 -116.8 - - 3248 - - - - - - - - 15.00 14.69 15.01
5248 479.5 -8.5 269 5261 done -0.48 - - 2764 - 2.05 0.034 1736 618.5 -116.8 - - 3248 - - - - - - - - 14.83 14.78 14.85
5577 507.1 -8.4 280 5590 roll -0.48 - - 2753 - 2.58 0.057 3260 590.7 -116.8 - - 3246 - - - - - - - - 14.98 14.69 15.00
5723 519.6 -8.6 300 5736 done -0.48 - - 2753 - 2.45 0.039 1776 -605.7 -116.8 - - 3245 - - - - - - - - 14.80 14.73 14.83
6093 551.7 -8.6 310 6106 roll -0.48 - - 2753 - 2.22 0.060 473 -586.9 -116.8 - - 3244 - - - - - - - - 14.97 14.69 15.00
6224 563.5 -8.7 328 6237 done -0.48 - - 2745 - 2.08 0.034 1749 613.5 -116.8 - - 3243 - - - - - - - - 14.82 14.76 14.83
6553 590.4 -8.2 339 6566 roll -0.48 - - 2733 - 2.55 0.055 3260 592.5 -116.8 - - 3242 - - - - - - - - 14.97 14.67 15.00
6593 593.7 -8.1 344 6607 done -0.48 0.17 0.231 2773 235.3 2.55 0.040 1725 -602.0 -116.8 - - 3242 - - - - - - - - 14.45 14.72 14.69
6958 616.3 -6.1 353 6971 roll -0.58 - - 2773 - 2.15 0.063 474 -581.9 -116.8 - - 3241 - - - - - - - - 14.98 14.66 15.00
7012 620.1 -6.8 360 7025 done -0.58 - - 2768 - 2.03 0.035 1702 604.9 -116.8 - - 3241 - - - - - - - - 14.79 14.76 14.83
7356 641.9 -6.4 367 7369 roll -0.58 - - 2757 - 2.65 0.056 3261 588.3 -116.8 - - 3239 - - - - - - - - 14.97 14.65 14.99
7491 650.5 -6.5 385 7505 done -0.69 0.17 0.110 2689 -400.0 2.53 0.040 1745 -599.2 -116.8 - - 3239 - - - - - - - - 14.68 14.70 14.77
7820 681.0 -9.5 396 7833 roll -0.69 - - 2689 - 2.20 0.063 470 -579.5 -116.8 - - 3237 - - - - - - - - 14.96 14.64 14.98
7903 689.3 -9.8 407 7916 done -0.59 0.22 0.269 2732 195.5 2.10 0.036 1748 608.6 -116.8 - - 3237 - - - - - - - - 14.35 14.75 14.64
8224 714.9 -7.8 417 8237 roll -0.59 - - 2723 - 2.58 0.057 3260 586.0 -116.8 - - 3236 - - - - - - - - 14.99 14.60 14.98
8328 723.4 -8.1 431 8341 done -0.59 - - 2724 - 2.53 0.041 1758 -593.7 -116.8 - - 3236 - - - - - - - - 14.77 14.69 14.79
8684 753.5 -8.6 439 8697 roll -0.59 - - 2723 - 2.22 0.063 468 -581.1 -116.8 - - 3235 - - - - - - - - 14.95 14.63 14.97
8795 763.7 -9.1 454 8809 done -0.59 - - 2715 - 2.08 0.036 1720 601.9 -116.8 - - 3234 - - - - - - - - 14.77 14.71 14.78
9138 794.4 -9.0 461 9152 roll -0.59 - - 2703 - 2.62 0.057 3257 586.6 -116.8 - - 3233 - - - - - - - - 14.96 14.62 14.98
9221 802.3 -9.4 472 9234 done -0.59 0.15 0.253 2735 213.3 2.55 0.041 1734 -597.3 -116.8 - - 3233 - - - - - - - - 14.36 14.65 14.62
9543 828.3 -8.1 482 9556 roll -0.59 - - 2736 - 2.17 0.064 474 -580.6 -116.8 - - 3232 - - - - - - - - 14.94 14.62 14.96
9646 837.4 -8.7 496 9659 done -0.59 - - 2729 - 2.03 0.036 1705 606.4 -116.8 - - 3231 - - - - - - - - 14.77 14.71 14.79
10002 866.4 -8.0 504 10016 roll -0.59 - - 2717 - 2.65 0.058 3258 586.0 -116.8 - - 3230 - - - - - - - - 14.93 14.61 14.95
10127 876.9 -8.3 521 10140 done -0.59 - - 2718 - 2.55 0.041 1737 -596.5 -116.8 - - 3230 - - - - - - - - 14.73 14.65 14.76
10462 904.9 -8.4 533 10475 roll -0.59 - - 2718 - 2.20 0.064 467 -577.3 -116.8 - - 3227 - - - - - - - - 14.95 14.59 14.97
10525 910.4 -8.8 541 10539 done -0.59 0.12 0.284 2734 133.3 2.08 0.037 1721 602.9 -116.8 - - 3230 - - - - - - - - 14.33 14.69 14.59
10868 936.5 -7.5 554 10881 roll -0.59 - - 2725 - 2.62 0.058 3256 585.9 -116.8 - - 3229 - - - - - - - - 14.95 14.59 14.95
10923 940.7 -7.0 561 10937 done -0.59 - - 2725 - 2.60 0.041 1720 -590.8 -116.8 - - 3229 - - - - - - - - 14.72 14.64 14.75
11266 966.9 -7.7 568 11279 roll -0.59 - - 2721 - 2.17 0.065 470 -576.0 -116.8 - - 3228 - - - - - - - - 14.93 14.58 14.95
11321 972.2 -10.3 575 11335 done -0.59 - - 2716 - 2.10 0.037 1726 598.1 -116.8 - - 3228 - - - - - - - - 14.74 14.69 14.76
11550 end dive: TARGET_DEPTH_EXCEEDED
11550 begin apogee
11558 990.0 -7.8 580 11687 roll -0.21 0.55 0.237 2857 256.4 - - 1726 - - 119.35 2.203 2792 -3.7 0.309 - - - - - - 14.36 14.01 13.22
11689 end apogee: CONTROL_FINISHED_OK
11689 begin climb
11692 995.0 - 582 11841 roll 0.84 1.20 0.179 3193 280.0 2.47 0.063 365 -551.0 116.8 124.72 2.165 2304 -3.9 0.339 - - 1 - - - 13.97 14.07 13.02
12043 969.6 9.0 635 12056 done 0.84 - - 3193 - 2.38 0.032 1768 589.5 116.8 - - 2294 - - - - - - - - 14.40 14.35 14.43
12406 939.2 8.3 644 12420 roll 0.84 - - 3203 - 2.50 0.065 366 -560.8 116.8 - - 2291 - - - - - - - - 14.74 14.50 14.76
12615 920.6 8.1 673 12629 done 0.72 0.17 0.256 3165 -223.5 2.35 0.032 1785 603.8 116.8 - - 2291 - - - - - - - - 14.28 14.60 14.56
12979 893.5 7.4 682 12993 roll 0.73 - - 3165 - 2.30 0.053 3139 588.7 125.0 - - 2290 - - - - - - - - 14.83 14.57 14.85
13055 887.3 10.1 692 13068 done 0.73 - - 3167 - 2.25 0.041 1796 -596.9 125.0 - - 2290 - - - - - - - - 14.69 14.61 14.71
13383 860.1 8.5 703 13397 roll 0.73 - - 3182 - 2.50 0.063 365 -572.4 125.0 1.38 0.181 2278 -8.7 7.785 - - - - - - 14.86 14.54 14.44
13473 852.1 9.5 715 13486 done 0.73 - - 3182 - 2.38 0.033 1783 595.8 125.0 - - 2278 - - - - - - - - 14.72 14.64 14.73
13843 816.5 9.6 725 13857 roll 0.73 - - 3182 - 2.33 0.053 3151 587.1 125.0 - - 2278 - - - - - - - - 14.88 14.59 14.90
13906 810.1 10.1 733 13919 done 0.73 - - 3191 - 2.33 0.041 1774 -591.0 125.0 - - 2278 - - - - - - - - 14.71 14.63 14.73
14248 776.9 9.7 746 14262 roll 0.73 - - 3202 - 2.47 0.067 364 -570.9 125.0 - - 2278 - - - - - - - - 14.88 14.57 14.90
14324 769.1 10.2 756 14338 done 0.63 0.28 0.243 3137 -232.1 2.33 0.032 1779 607.3 125.0 - - 2278 - - - - - - - - 14.29 14.67 14.57
14653 745.5 6.9 767 14690 roll 0.65 - - 3138 - 2.33 0.054 3142 585.0 143.2 23.48 1.934 2201 -3.3 0.238 - - - - - - 14.90 14.57 13.78
14732 739.9 7.5 778 14745 done 0.66 - - 3144 - 2.33 0.041 1766 -590.6 149.0 1.55 0.178 2184 -11.0 8.589 - - - - - - 14.57 14.50 14.40
15053 717.2 7.0 788 15090 roll 0.68 - - 3155 - 2.50 0.068 364 -560.8 164.9 23.92 1.823 2115 -2.9 0.214 - - - - - - 14.80 14.47 13.81
15152 709.5 8.1 802 15166 done 0.68 - - 3154 - 2.33 0.033 1743 591.8 164.9 - - 2110 - - - - - - - - 14.54 14.49 14.56
15509 681.6 7.9 810 15522 roll 0.68 - - 3155 - 2.40 0.052 3142 582.9 164.9 - - 2109 - - - - - - - - 14.78 14.51 14.80
15598 674.1 8.4 822 15611 done 0.68 - - 3164 - 2.33 0.041 1766 -590.6 164.9 - - 2108 - - - - - - - - 14.64 14.57 14.67
15969 643.4 8.3 832 15982 roll 0.68 - - 3174 - 2.50 0.067 357 -563.6 164.9 - - 2107 - - - - - - - - 14.84 14.52 14.86
16065 634.7 9.0 845 16078 done 0.68 - - 3175 - 2.30 0.034 1746 603.9 164.9 - - 2108 - - - - - - - - 14.69 14.64 14.71
16429 602.4 9.0 854 16442 roll 0.68 - - 3174 - 2.38 0.051 3144 587.4 164.9 - - 2107 - - - - - - - - 14.87 14.57 14.89
16525 593.2 9.4 867 16538 done 0.68 0.15 0.262 3153 -140.0 2.33 0.041 1768 -590.6 164.9 - - 2107 - - - - - - - - 14.28 14.60 14.55
16889 564.9 7.7 876 16902 roll 0.68 - - 3161 - 2.47 0.067 363 -568.8 167.4 - - 2107 - - - - - - - - 14.88 14.54 14.90
16978 557.4 8.4 888 16992 done 0.68 - - 3162 - 2.30 0.032 1761 607.8 167.4 - - 2108 - - - - - - - - 14.72 14.66 14.73
17349 527.0 8.3 898 17362 done 0.68 - - 3161 - - - 1762 - 167.4 - - 2107 - - - - - - - - 14.90 14.92 14.92
17686 499.3 8.2 904 17699 done 0.68 - - 3161 - - - 1761 - 167.4 - - 2107 - - - - - - - - 14.90 14.92 14.92
18021 473.1 7.8 910 18034 done 0.68 - - 3161 - - - 1762 - 169.2 - - 2107 - - - - - - - - 14.91 14.94 14.93
18358 448.0 7.4 916 18375 roll 0.69 - - 3161 - 2.40 0.053 3149 577.9 177.5 5.97 1.429 2068 -6.5 0.386 - - - - - - 14.91 14.73 13.86
18403 444.4 7.8 922 18416 done 0.69 - - 3170 - 2.38 0.041 1734 -594.5 178.6 - - 2072 - - - - - - - - 14.71 14.62 14.74
18760 417.2 7.7 930 18777 roll 0.70 - - 3180 - 2.38 0.065 363 -576.1 181.8 4.90 1.278 2049 -4.7 0.289 - - - - - - 14.88 14.55 13.85
18846 409.8 8.6 942 18859 done 0.70 - - 3181 - 2.28 0.032 1736 602.2 181.8 - - 2056 - - - - - - - - 14.73 14.68 14.74
19216 378.6 8.5 952 19230 roll 0.70 - - 3181 - 2.40 0.050 3150 589.2 181.8 - - 2054 - - - - - - - - 14.88 14.59 14.90
19320 369.1 9.1 966 19334 done 0.70 0.15 0.253 3158 -153.3 2.35 0.041 1749 -596.2 181.8 - - 2056 - - - - - - - - 14.33 14.63 14.58
19677 341.8 7.6 974 19694 roll 0.70 - - 3167 - 2.40 0.064 362 -577.9 186.2 5.07 1.229 2033 -4.5 0.238 - - - - - - 14.90 14.56 13.88
19763 334.7 8.2 986 19776 done 0.70 - - 3167 - 2.25 0.032 1736 610.7 186.2 - - 2039 - - - - - - - - 14.73 14.68 14.74
20134 305.3 7.9 996 20147 roll 0.70 - - 3167 - 2.38 0.050 3140 589.9 186.2 - - 2040 - - - - - - - - 14.88 14.59 14.90
20181 301.3 8.4 1002 20194 done 0.70 - - 3176 - 2.38 0.042 1735 -590.3 186.2 - - 2040 - - - - - - - - 14.71 14.62 14.73
20538 273.0 7.9 1010 20551 roll 0.70 - - 3185 - 2.42 0.066 354 -570.7 186.2 - - 2043 - - - - - - - - 14.89 14.57 14.89
20585 268.9 8.6 1016 20598 done 0.70 - - 3186 - 2.28 0.031 1733 604.8 186.2 - - 2038 - - - - - - - - 14.75 14.70 14.76
20941 239.8 8.1 1024 20955 roll 0.70 - - 3186 - 2.38 0.050 3144 592.9 186.2 - - 2040 - - - - - - - - 14.91 14.60 14.93
20996 235.1 8.6 1031 21011 done 0.70 0.15 0.250 3162 -160.0 2.38 0.040 1731 -593.7 186.2 - - 2040 - - - - - - - - 14.34 14.63 14.59
21340 211.3 6.9 1038 21384 roll 0.72 - - 3170 - 2.45 0.066 363 -558.4 204.1 28.55 1.271 1954 -3.0 0.094 - - - - - - 14.89 14.59 14.03
21432 204.5 7.8 1051 21446 done 0.72 - - 3169 - 2.25 0.031 1733 608.9 205.0 - - 1950 - - - - - - - - 14.65 14.61 14.67
21796 177.0 7.6 1060 21813 roll 0.73 - - 3169 - 2.42 0.049 3138 580.6 209.3 1.95 0.162 1933 -8.7 1.795 - - - - - - 14.83 14.53 14.40
21855 172.2 8.5 1068 21868 done 0.73 - - 3178 - 2.38 0.039 1728 -592.4 209.3 - - 1935 - - - - - - - - 14.62 14.54 14.64
22198 144.8 8.0 1081 22211 roll 0.73 - - 3187 - 2.40 0.066 357 -571.2 209.3 - - 1936 - - - - - - - - 14.85 14.54 14.87
22308 135.1 8.7 1096 22322 done 0.73 - - 3187 - 2.22 0.031 1709 609.0 209.3 - - 1937 - - - - - - - - 14.71 14.66 14.73
22653 107.4 7.9 1103 22666 roll 0.73 - - 3187 - 2.42 0.047 3146 593.8 209.3 - - 1936 - - - - - - - - 14.88 14.60 14.90
22686 104.9 7.3 1107 22710 done 0.74 - - 3195 - 2.40 0.038 1710 -598.3 220.6 11.18 0.343 1893 -3.8 0.222 - - - - - - 14.71 14.62 14.27
23028 82.2 6.4 1121 23070 roll 0.78 - - 3203 - 2.35 0.063 356 -576.2 247.6 29.12 0.337 1782 -3.8 0.175 - - - - - - 14.87 14.54 14.31
23157 74.4 5.9 1139 23206 done 0.95 - - 3204 - 2.10 0.031 1649 615.7 284.4 37.03 0.321 1632 -4.1 0.177 - - - - - - 14.71 14.66 14.27
23535 55.3 4.7 1160 23602 roll 1.28 0.38 0.073 3367 428.9 2.30 0.063 357 -561.7 342.9 53.62 0.271 1397 -4.4 0.168 - - - - - - 14.59 14.54 14.34
23832 30.7 7.6 1202 23851 done 1.29 - - 3368 - 2.47 0.030 1854 606.1 347.8 6.28 0.180 1375 -3.5 0.113 - - - - - - 14.68 14.64 14.33
24183 6.7 6.7 1218 24214 roll 1.32 - - 3376 - 2.67 0.060 360 -559.6 368.6 16.65 0.137 1288 -5.2 0.048 - - - - - - 14.85 14.57 14.48
24228 3.7 6.4 1224 24258 done 1.35 - - 3376 - 2.53 0.028 1910 612.6 394.9 18.08 0.129 1180 -6.0 0.032 - - - - - - 14.73 14.67 14.50
24260 end climb: SURFACE_DEPTH_REACHED
24260 begin surface coast
24298 end surface coast: CONTROL_FINISHED_OK
24298 begin surface
SM 1.14 - - - - -8.59 9.30 0.058 165 17.7 0.05 0.203 1867 -147740.0 515.13 70.97 0.123 692 9.8 -0.009 - - - - - -