SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 252 * Raw log
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• Previous call tries 1 • 97.20 of 350.00 AH used of 24V (72.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 30 s
• GPS2 time: 20 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
27 end surface: CONTROL_FINISHED_OK
27 begin dive
31 - - - 117 done -0.84 - - 151 - - - 1869 - -116.8 -80.97 - 3270 - - - - - - - - 14.71 13.14 14.73
121 8.2 -12.3 3 139 roll -0.84 12.07 0.388 2660 207.9 2.40 0.045 463 -585.8 -116.8 - - 3270 - - - - - - - - 14.26 14.56 14.56
224 51.4 -29.7 18 231 done -0.39 0.60 0.282 2794 223.3 2.35 0.034 1874 600.4 -116.8 - - 3272 - - - - - - - - 14.22 14.57 14.50
560 95.4 -9.8 33 566 roll -0.39 - - 2787 - 2.33 0.053 3267 597.9 -116.8 - - 3273 - - - - - - - - 14.83 14.59 14.85
797 114.7 -7.9 67 804 done -0.39 - - 2787 - 2.22 0.036 1905 -613.5 -116.8 - - 3272 - - - - - - - - 14.71 14.64 14.73
1120 138.1 -6.8 78 1128 roll -0.39 - - 2787 - 2.42 0.056 472 -592.1 -116.8 - - 3275 - - - - - - - - 14.89 14.62 14.91
1239 146.8 -6.5 95 1246 done -0.39 - - 2779 - 2.25 0.031 1858 616.0 -116.8 - - 3274 - - - - - - - - 14.74 14.69 14.76
1569 170.9 -7.7 107 1575 roll -0.39 - - 2769 - 2.35 0.054 3264 598.3 -116.8 - - 3272 - - - - - - - - 14.90 14.63 14.92
1610 174.0 -7.5 113 1617 done -0.39 0.15 0.229 2803 226.7 2.33 0.035 1847 -608.2 -116.8 - - 3272 - - - - - - - - 14.43 14.68 14.64
1962 198.4 -7.2 121 1968 roll -0.51 0.12 0.132 2746 -475.0 2.35 0.053 473 -584.7 -116.8 - - 3269 - - - - - - - - 14.64 14.62 14.69
2079 210.7 -10.9 138 2087 done -0.51 - - 2739 - 2.20 0.031 1829 616.4 -116.8 - - 3268 - - - - - - - - 14.75 14.71 14.77
2410 244.0 -10.0 150 2417 roll -0.51 - - 2728 - 2.40 0.054 3263 597.5 -116.8 - - 3266 - - - - - - - - 14.91 14.63 14.93
2444 247.3 -9.1 155 2451 done -0.51 0.15 0.234 2761 220.0 2.40 0.037 1806 -607.1 -116.8 - - 3265 - - - - - - - - 14.42 14.69 14.64
2802 276.7 -8.2 164 2815 roll -0.51 - - 2761 - 2.28 0.057 474 -584.2 -116.8 - - 3262 - - - - - - - - 14.96 14.67 14.98
2933 288.3 -8.9 182 2946 done -0.51 - - 2755 - 2.08 0.032 1760 618.3 -116.8 - - 3261 - - - - - - - - 14.81 14.76 14.81
3261 316.5 -8.6 193 3274 roll -0.51 - - 2744 - 2.53 0.054 3262 593.7 -116.8 - - 3258 - - - - - - - - 14.98 14.67 15.00
3358 324.9 -8.6 206 3371 done -0.51 - - 2744 - 2.47 0.038 1772 -603.2 -116.8 - - 3257 - - - - - - - - 14.79 14.72 14.81
3721 356.9 -8.9 215 3734 roll -0.51 - - 2744 - 2.22 0.058 467 -587.8 -116.8 - - 3255 - - - - - - - - 14.98 14.68 15.00
3811 365.4 -9.4 227 3824 done -0.51 - - 2736 - 2.10 0.033 1766 618.6 -116.8 - - 3255 - - - - - - - - 14.82 14.76 14.83
4181 398.9 -9.0 237 4194 done -0.51 - - 2740 - - - 1766 - -116.8 - - 3257 - - - - - - - - 14.99 15.01 15.00
4517 428.4 -8.8 243 4530 done -0.51 - - 2735 - - - 1766 - -116.8 - - 3248 - - - - - - - - 14.98 15.01 15.00
4854 458.8 -8.9 249 4867 roll -0.51 - - 2724 - 2.53 0.055 3254 588.1 -116.8 - - 3252 - - - - - - - - 14.98 14.66 15.00
4929 465.5 -8.7 259 4942 done -0.51 0.15 0.236 2757 220.0 2.50 0.038 1746 -603.2 -116.8 - - 3249 - - - - - - - - 14.43 14.71 14.66
5258 489.9 -7.4 270 5271 roll -0.51 - - 2758 - 2.17 0.060 473 -586.6 -116.8 - - 3246 - - - - - - - - 14.97 14.66 15.00
5341 496.5 -8.0 281 5354 done -0.51 - - 2752 - 2.05 0.034 1728 612.2 -116.8 - - 3246 - - - - - - - - 14.80 14.74 14.82
5662 523.6 -8.6 291 5675 roll -0.51 - - 2741 - 2.58 0.054 3252 590.7 -116.8 - - 3244 - - - - - - - - 14.98 14.65 14.99
5731 529.7 -8.7 300 5745 done -0.51 - - 2741 - 2.53 0.038 1733 -600.4 -116.8 - - 3242 - - - - - - - - 14.78 14.69 14.80
6067 559.8 -9.0 312 6080 roll -0.51 - - 2741 - 2.15 0.060 474 -585.6 -116.8 - - 3243 - - - - - - - - 14.97 14.65 14.98
6107 563.7 -9.5 317 6120 done -0.51 0.12 0.264 2758 141.7 2.03 0.034 1721 614.3 -116.8 - - 3242 - - - - - - - - 14.40 14.76 14.64
6471 591.5 -7.5 326 6484 roll -0.51 - - 2750 - 2.60 0.055 3252 588.8 -116.8 - - 3242 - - - - - - - - 14.97 14.64 15.00
6596 601.1 -7.6 343 6609 done -0.51 - - 2749 - 2.50 0.039 1749 -601.2 -116.8 - - 3241 - - - - - - - - 14.77 14.68 14.80
6931 627.5 -7.9 355 6945 roll -0.51 - - 2749 - 2.20 0.061 470 -581.4 -116.8 - - 3240 - - - - - - - - 14.95 14.63 14.97
6994 632.8 -8.7 363 7007 done -0.51 - - 2741 - 2.08 0.034 1738 609.6 -116.8 - - 3240 - - - - - - - - 14.78 14.72 14.80
7336 660.6 -8.1 376 7349 roll -0.51 - - 2730 - 2.58 0.057 3250 586.0 -116.8 - - 3238 - - - - - - - - 14.97 14.61 15.00
7426 667.9 -8.1 388 7439 done -0.51 0.12 0.246 2755 208.3 2.53 0.039 1739 -597.2 -116.8 - - 3238 - - - - - - - - 14.38 14.67 14.62
7796 695.4 -7.4 398 7809 roll -0.51 - - 2756 - 2.20 0.061 467 -578.2 -116.8 - - 3236 - - - - - - - - 14.95 14.60 14.97
7921 705.5 -8.1 415 7934 done -0.51 - - 2751 - 2.03 0.035 1706 610.3 -116.8 - - 3236 - - - - - - - - 14.77 14.71 14.79
8256 731.7 -7.9 427 8270 roll -0.51 - - 2739 - 2.65 0.056 3259 586.0 -116.8 - - 3234 - - - - - - - - 14.95 14.59 14.96
8376 741.2 -8.0 443 8389 done -0.51 - - 2739 - 2.58 0.040 1730 -592.6 -116.8 - - 3235 - - - - - - - - 14.76 14.64 14.75
8718 768.4 -7.9 456 8731 roll -0.51 - - 2739 - 2.17 0.062 472 -579.7 -116.8 - - 3234 - - - - - - - - 14.93 14.58 14.95
8808 775.9 -8.3 468 8821 done -0.51 0.12 0.263 2756 141.7 2.03 0.035 1703 606.4 -116.8 - - 3232 - - - - - - - - 14.34 14.71 14.59
9178 800.5 -6.5 478 9192 roll -0.51 - - 2747 - 2.67 0.057 3257 582.0 -116.8 - - 3231 - - - - - - - - 14.95 14.57 14.97
9297 808.2 -6.6 494 9310 done -0.61 - - 2747 - 2.58 0.041 1729 -592.2 -116.8 - - 3231 - - - - - - - - 14.72 14.64 14.75
9640 832.0 -7.0 507 9653 roll -0.61 - - 2747 - 2.17 0.063 476 -577.4 -116.8 - - 3230 - - - - - - - - 14.92 14.52 14.94
9729 839.1 -7.9 519 9742 done -0.61 - - 2739 - 2.03 0.035 1698 602.0 -116.8 - - 3230 - - - - - - - - 14.73 14.67 14.75
10100 867.2 -7.7 529 10113 roll -0.61 - - 2727 - 2.67 0.057 3250 581.3 -116.8 - - 3226 - - - - - - - - 14.92 14.56 14.94
10203 875.6 -8.0 543 10217 done -0.61 - - 2727 - 2.60 0.041 1703 -595.0 -116.8 - - 3229 - - - - - - - - 14.71 14.62 14.73
10560 904.4 -7.9 551 10573 done -0.61 - - 2728 - - - 1702 - -116.8 - - 3229 - - - - - - - - 14.93 14.95 14.95
10896 929.8 -7.5 557 10909 roll -0.61 - - 2727 - 2.12 0.064 477 -577.8 -116.8 - - 3228 - - - - - - - - 14.92 14.54 14.95
10943 933.7 -6.2 563 10957 done -0.61 - - 2715 - 2.00 0.036 1696 609.5 -116.8 - - 3227 - - - - - - - - 14.72 14.66 14.74
11301 960.4 -7.5 571 11314 roll -0.61 - - 2708 - 2.67 0.057 3250 582.0 -116.8 - - 3227 - - - - - - - - 14.90 14.55 14.92
11419 969.4 -8.5 587 11432 done -0.61 - - 2708 - 2.58 0.040 1733 -588.0 -116.8 - - 3226 - - - - - - - - 14.68 14.59 14.71
11702 end dive: TARGET_DEPTH_EXCEEDED
11702 begin apogee
11710 992.2 -8.0 599 11839 roll -0.21 0.57 0.236 2854 256.1 - - 1732 - - 118.85 2.226 2794 -3.6 0.306 - - - - - - 14.28 14.00 13.21
11841 end apogee: CONTROL_FINISHED_OK
11841 begin climb
11844 997.0 - 601 11991 roll 0.84 1.20 0.171 3187 277.5 2.55 0.054 3151 556.5 116.8 125.03 2.180 2305 -3.9 0.338 - - - - - - 13.97 14.07 12.98
12179 973.6 8.6 652 12192 done 0.84 - - 3196 - 2.38 0.041 1768 -581.1 116.8 - - 2294 - - - - - - - - 14.35 14.28 14.38
12502 946.6 8.4 662 12515 roll 0.75 - - 3196 - 2.38 0.050 3146 579.0 116.8 - - 2292 - - - - - - - - 14.71 14.46 14.73
12679 931.4 8.6 686 12692 done 0.64 0.30 0.259 3137 -196.7 2.40 0.041 1734 -588.3 116.8 - - 2292 - - - - - - - - 14.20 14.52 14.51
13022 909.1 6.4 699 13061 roll 0.67 - - 3145 - 2.50 0.067 365 -547.6 143.8 26.50 2.081 2199 -3.5 0.290 - - - - - - 14.81 14.44 13.68
13102 903.3 7.9 710 13115 done 0.67 - - 3145 - 2.33 0.032 1756 597.0 143.9 - - 2190 - - - - - - - - 14.52 14.47 14.54
13473 873.9 8.0 720 13486 roll 0.67 - - 3145 - 2.38 0.052 3143 582.8 143.9 - - 2187 - - - - - - - - 14.77 14.51 14.81
13548 867.4 7.7 730 13561 done 0.67 - - 3154 - 2.33 0.041 1766 -591.0 146.9 - - 2187 - - - - - - - - 14.62 14.55 14.66
13876 840.3 8.3 741 13889 roll 0.67 - - 3165 - 2.50 0.067 356 -564.0 146.9 - - 2187 - - - - - - - - 14.83 14.52 14.85
14001 829.5 9.0 758 14014 done 0.67 - - 3165 - 2.30 0.033 1746 604.3 146.9 - - 2187 - - - - - - - - 14.66 14.63 14.70
14336 800.3 8.7 770 14349 roll 0.67 - - 3165 - 2.38 0.051 3144 587.4 146.9 - - 2186 - - - - - - - - 14.85 14.55 14.88
14384 796.0 8.1 776 14397 done 0.67 - - 3174 - 2.38 0.042 1739 -590.3 146.9 - - 2185 - - - - - - - - 14.66 14.57 14.69
14740 763.4 9.2 784 14753 roll 0.67 - - 3185 - 2.42 0.065 362 -569.0 146.9 - - 2189 - - - - - - - - 14.88 14.52 14.90
14815 756.4 9.7 794 14829 done 0.67 0.15 0.249 3153 -213.3 2.28 0.031 1751 609.2 146.9 - - 2186 - - - - - - - - 14.29 14.65 14.57
15145 730.2 7.8 805 15158 roll 0.68 - - 3153 - 2.35 0.050 3139 590.6 148.4 - - 2186 - - - - - - - - 14.87 14.57 14.89
15241 722.5 7.8 818 15255 done 0.68 - - 3158 - 2.30 0.040 1772 -594.3 148.7 - - 2184 - - - - - - - - 14.68 14.59 14.70
15606 694.9 7.6 827 15623 roll 0.68 - - 3170 - 2.50 0.066 364 -563.2 154.0 2.47 0.645 2165 -7.7 1.566 - - - - - - 14.86 14.66 13.57
15706 686.7 8.1 841 15719 done 0.68 - - 3170 - 2.28 0.032 1745 605.7 154.0 - - 2167 - - - - - - - - 14.73 14.68 14.75
16063 658.4 8.0 849 16076 roll 0.68 - - 3170 - 2.38 0.050 3140 586.1 154.0 - - 2167 - - - - - - - - 14.88 14.56 14.90
16125 653.1 8.6 857 16138 done 0.68 - - 3178 - 2.35 0.041 1753 -590.2 154.0 - - 2167 - - - - - - - - 14.68 14.60 14.71
16467 623.6 8.7 870 16480 roll 0.68 - - 3192 - 2.45 0.066 365 -566.5 154.0 - - 2167 - - - - - - - - 14.88 14.53 14.90
16522 618.4 9.6 877 16537 done 0.68 0.17 0.242 3151 -241.2 2.33 0.031 1777 606.0 154.0 - - 2167 - - - - - - - - 14.28 14.64 14.53
16866 592.2 7.5 884 16884 roll 0.69 - - 3151 - 2.35 0.051 3135 577.9 160.9 6.38 1.594 2139 -4.4 0.308 - - - - - - 14.90 14.71 13.83
16939 586.5 7.8 894 16952 done 0.69 - - 3157 - 2.28 0.041 1779 -594.7 161.7 - - 2141 - - - - - - - - 14.67 14.59 14.70
17260 562.1 7.7 904 17277 roll 0.70 - - 3168 - 2.47 0.064 356 -576.1 165.3 5.35 1.467 2118 -4.3 0.311 - - - - - - 14.85 14.52 13.76
17347 554.9 8.3 916 17360 done 0.70 - - 3168 - 2.33 0.032 1763 603.9 165.3 - - 2125 - - - - - - - - 14.70 14.64 14.71
17718 524.9 8.1 926 17731 roll 0.70 - - 3167 - 2.35 0.051 3138 585.1 165.3 - - 2125 - - - - - - - - 14.86 14.54 14.88
17828 515.7 8.1 941 17842 done 0.70 - - 3176 - 2.28 0.043 1791 -590.8 165.3 - - 2125 - - - - - - - - 14.65 14.59 14.68
18173 489.2 7.7 948 18190 roll 0.70 - - 3187 - 2.47 0.063 361 -578.9 168.2 4.07 1.189 2107 -4.4 0.344 - - - - - - 14.87 14.52 13.76
18304 478.8 8.0 966 18317 done 0.70 0.12 0.250 3161 -216.7 2.28 0.031 1755 611.4 168.2 - - 2113 - - - - - - - - 14.32 14.65 14.56
18633 456.2 6.8 977 18683 roll 0.72 - - 3160 - 2.42 0.051 3137 571.1 188.4 34.58 1.521 2016 -2.8 0.159 - - - - - - 14.86 14.51 13.89
18724 449.0 8.3 990 18737 done 0.72 - - 3168 - 2.35 0.040 1750 -590.2 188.4 - - 2013 - - - - - - - - 14.53 14.46 14.56
19088 419.2 8.3 999 19101 roll 0.72 - - 3177 - 2.47 0.065 357 -564.0 188.4 - - 2013 - - - - - - - - 14.75 14.45 14.79
19212 408.5 8.6 1016 19225 done 0.72 - - 3177 - 2.22 0.031 1706 607.7 188.4 - - 2013 - - - - - - - - 14.63 14.59 14.65
19548 381.2 8.2 1028 19561 done 0.72 - - 3177 - - - 1706 - 188.4 - - 2013 - - - - - - - - 14.83 14.85 14.85
19884 352.6 8.6 1034 19897 roll 0.72 - - 3177 - 2.42 0.049 3132 589.3 188.4 - - 2013 - - - - - - - - 14.86 14.54 14.88
19946 346.8 9.4 1042 19959 done 0.72 - - 3186 - 2.38 0.039 1730 -589.1 188.4 - - 2013 - - - - - - - - 14.65 14.57 14.69
20289 314.3 9.6 1055 20302 roll 0.72 - - 3196 - 2.42 0.065 354 -568.6 188.4 - - 2013 - - - - - - - - 14.85 14.52 14.88
20364 306.5 10.3 1065 20377 done 0.72 0.15 0.237 3164 -213.3 2.25 0.031 1730 611.6 188.4 - - 2013 - - - - - - - - 14.29 14.64 14.56
20693 279.0 8.3 1076 20706 roll 0.72 - - 3164 - 2.40 0.048 3140 587.5 188.4 - - 2013 - - - - - - - - 14.88 14.55 14.88
20755 273.7 8.5 1084 20768 done 0.72 - - 3170 - 2.38 0.038 1734 -590.8 188.4 - - 2013 - - - - - - - - 14.66 14.59 14.70
21097 245.8 8.2 1097 21111 roll 0.72 - - 3181 - 2.42 0.065 362 -566.9 188.4 - - 2013 - - - - - - - - 14.88 14.48 14.90
21180 238.7 8.7 1108 21194 done 0.72 - - 3181 - 2.20 0.031 1711 613.2 188.4 - - 2013 - - - - - - - - 14.71 14.66 14.73
21502 212.5 8.1 1118 21515 roll 0.72 - - 3181 - 2.42 0.047 3143 591.7 188.4 - - 2013 - - - - - - - - 14.89 14.56 14.91
21578 206.0 8.6 1128 21591 done 0.72 - - 3189 - 2.40 0.039 1727 -590.0 188.4 - - 2012 - - - - - - - - 14.63 14.54 14.65
21906 178.9 8.3 1139 21919 roll 0.72 - - 3200 - 2.40 0.064 362 -568.8 188.4 - - 2013 - - - - - - - - 14.88 14.53 14.88
21990 171.8 8.5 1150 22003 done 0.72 0.15 0.234 3167 -220.0 2.20 0.031 1715 615.0 188.4 - - 2013 - - - - - - - - 14.31 14.66 14.57
22311 149.0 7.1 1160 22336 roll 0.74 - - 3166 - 2.42 0.049 3132 585.5 202.3 13.02 1.216 1965 -3.7 0.085 - - - - - - 14.90 14.70 14.05
22392 142.7 7.9 1171 22405 done 0.83 - - 3172 - 2.33 0.039 1740 -597.4 202.3 - - 1958 - - - - - - - - 14.66 14.59 14.69
22763 116.5 6.9 1181 22788 roll 0.94 0.15 0.116 3247 500.0 2.47 0.063 355 -560.7 219.4 12.88 0.376 1899 -4.6 0.268 - - - - - - 14.57 14.62 14.23
22822 110.9 10.4 1189 22839 done 0.94 - - 3247 - 2.20 0.030 1707 614.5 219.4 2.70 0.164 1902 1.1 -0.142 - - - - - - 14.71 14.66 14.37
23158 81.7 7.7 1204 23175 roll 0.95 - - 3247 - 2.38 0.044 3127 596.6 221.8 5.30 0.226 1887 -2.8 0.193 - - - - - - 14.84 14.42 14.17
23358 67.9 6.1 1232 23410 done 0.99 - - 3256 - 2.28 0.037 1779 -591.2 255.0 34.60 0.301 1756 -3.8 0.161 - - - - - - 14.67 14.60 14.31
23728 50.2 4.4 1251 23800 roll 1.22 0.17 0.106 3331 441.2 2.35 0.044 3134 576.6 318.5 58.85 0.257 1497 -4.4 0.162 - - - - - - 14.55 14.59 14.35
23988 38.2 5.0 1288 24047 done 1.28 - - 3338 - 2.20 0.036 1810 -601.8 372.2 47.53 0.223 1275 -4.7 0.151 - - - - - - 14.59 14.50 14.33
24369 13.7 6.6 1309 24401 roll 1.31 - - 3348 - 2.58 0.060 365 -560.1 396.0 19.38 0.155 1180 -4.9 0.082 - - - - - - 14.83 14.55 14.40
24526 2.3 7.0 1331 24539 VBD 1.33 - - 3348 - 2.28 0.027 1801 629.8 411.3 1.73 0.153 1178 - - - - - - - - 14.71 14.66 14.73
24540 end climb: SURFACE_DEPTH_REACHED
24540 begin surface coast
24563 end surface coast: CONTROL_FINISHED_OK
24563 begin surface
SM 1.05 - - - - -8.61 9.35 0.065 158 16.9 - - 1809 - 515.13 71.85 0.121 691 9.6 -0.009 - - - - - -