SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 289 * Raw log
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• Previous call tries 3 • 110.94 of 350.00 AH used of 24V (68.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth 1.13 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 18 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 108 done -0.84 - - 151 - - - 1838 - -116.8 -81.18 - 3272 - - - - - - - - 14.71 13.04 14.72
112 7.8 -11.9 3 130 roll -0.84 12.07 0.383 2661 208.0 2.45 0.050 424 -577.1 -116.8 - - 3273 - - - - - - - - 14.20 14.54 14.50
272 57.8 -17.3 26 280 done -0.48 0.47 0.258 2769 229.8 2.28 0.032 1800 603.5 -116.8 - - 3274 - - - - - - - - 14.23 14.52 14.49
585 86.7 -7.6 38 591 roll -0.48 - - 2764 - 2.38 0.052 3220 596.6 -116.8 - - 3276 - - - - - - - - 14.83 14.56 14.84
626 90.7 -9.4 44 633 done -0.48 - - 2761 - 2.30 0.037 1822 -607.8 -116.8 - - 3276 - - - - - - - - 14.67 14.60 14.69
978 118.7 -7.9 54 984 roll -0.48 - - 2752 - 2.35 0.051 3223 596.2 -116.8 - - 3276 - - - - - - - - 14.86 14.59 14.88
1011 121.3 -7.6 59 1017 done -0.48 - - 2752 - 2.28 0.037 1833 -609.6 -116.8 - - 3275 - - - - - - - - 14.71 14.64 14.73
1369 151.2 -8.6 68 1375 roll -0.48 - - 2752 - 2.40 0.058 428 -585.4 -116.8 - - 3274 - - - - - - - - 14.89 14.59 14.90
1446 158.4 -9.5 79 1452 done -0.48 0.12 0.250 2769 141.7 2.30 0.031 1837 612.6 -116.8 - - 3273 - - - - - - - - 14.40 14.66 14.59
1761 183.0 -7.9 89 1767 roll -0.48 - - 2769 - 2.42 0.055 424 -583.9 -116.8 - - 3270 - - - - - - - - 14.90 14.59 14.90
1795 186.2 -9.5 94 1801 done -0.48 - - 2762 - 2.30 0.031 1831 611.7 -116.8 - - 3272 - - - - - - - - 14.72 14.67 14.73
2153 218.1 -8.9 103 2160 roll -0.48 - - 2752 - 2.35 0.055 3223 592.3 -116.8 - - 3267 - - - - - - - - 14.88 14.59 14.90
2187 221.2 -9.3 108 2194 done -0.48 - - 2752 - 2.30 0.037 1827 -607.0 -116.8 - - 3265 - - - - - - - - 14.67 14.60 14.69
2546 254.8 -9.3 117 2560 roll -0.48 - - 2752 - 2.38 0.057 433 -585.7 -116.8 - - 3262 - - - - - - - - 14.89 14.62 14.91
2651 265.1 -9.4 131 2665 done -0.48 0.12 0.245 2768 133.3 2.33 0.031 1844 605.6 -116.8 - - 3263 - - - - - - - - 14.39 14.71 14.62
3008 292.9 -7.7 139 3021 roll -0.48 - - 2761 - 2.30 0.054 3216 596.5 -116.8 - - 3260 - - - - - - - - 14.96 14.64 14.97
3055 296.7 -8.1 145 3068 done -0.48 - - 2761 - 2.28 0.038 1830 -607.9 -116.8 - - 3260 - - - - - - - - 14.76 14.69 14.78
3412 323.6 -7.4 153 3425 roll -0.48 - - 2760 - 2.40 0.060 429 -583.8 -116.8 - - 3257 - - - - - - - - 14.95 14.64 14.97
3515 331.9 -8.1 167 3528 done -0.48 - - 2752 - 2.30 0.033 1827 607.8 -116.8 - - 3256 - - - - - - - - 14.77 14.71 14.79
3872 359.2 -7.8 175 3886 roll -0.48 - - 2742 - 2.38 0.057 3224 587.0 -116.8 - - 3254 - - - - - - - - 14.95 14.63 14.97
3912 362.7 -8.1 180 3926 done -0.48 0.12 0.233 2768 216.7 2.30 0.037 1828 -607.0 -116.8 - - 3254 - - - - - - - - 14.40 14.69 14.63
4276 392.0 -8.3 189 4289 roll -0.48 - - 2768 - 2.42 0.060 427 -578.9 -116.8 - - 3251 - - - - - - - - 14.97 14.62 15.00
4408 404.1 -9.2 207 4421 done -0.48 - - 2762 - 2.30 0.033 1833 611.3 -116.8 - - 3246 - - - - - - - - 14.78 14.72 14.79
4736 432.7 -8.7 218 4749 roll -0.48 - - 2752 - 2.35 0.055 3225 592.3 -116.8 - - 3249 - - - - - - - - 14.95 14.62 14.97
4791 437.4 -8.6 225 4805 done -0.48 - - 2752 - 2.33 0.037 1828 -599.6 -116.8 - - 3248 - - - - - - - - 14.74 14.67 14.77
5134 466.1 -8.3 232 5147 roll -0.48 - - 2752 - 2.40 0.059 433 -581.2 -116.8 - - 3247 - - - - - - - - 14.96 14.60 14.98
5273 478.3 -8.6 251 5287 done -0.48 0.12 0.245 2768 133.3 2.30 0.033 1830 607.4 -116.8 - - 3246 - - - - - - - - 14.37 14.71 14.59
5595 501.8 -7.3 261 5609 roll -0.48 - - 2761 - 2.35 0.057 3218 590.6 -116.8 - - 3244 - - - - - - - - 14.97 14.60 14.97
5650 505.8 -7.2 268 5664 done -0.58 - - 2760 - 2.33 0.038 1827 -597.0 -116.8 - - 3244 - - - - - - - - 14.73 14.65 14.76
5995 528.9 -6.6 275 6008 roll -0.58 - - 2761 - 2.40 0.060 434 -580.4 -116.8 - - 3243 - - - - - - - - 14.95 14.58 14.97
6126 538.3 -7.0 293 6140 done -0.58 - - 2752 - 2.30 0.034 1830 607.0 -116.8 - - 3243 - - - - - - - - 14.75 14.69 14.77
6455 561.0 -7.0 304 6469 roll -0.58 - - 2741 - 2.38 0.057 3224 585.7 -116.8 - - 3245 - - - - - - - - 14.94 14.58 14.96
6503 564.6 -7.6 310 6516 done -0.58 - - 2742 - 2.33 0.039 1824 -600.9 -116.8 - - 3241 - - - - - - - - 14.73 14.65 14.76
6859 592.2 -7.9 318 6872 roll -0.58 - - 2741 - 2.42 0.060 427 -577.3 -116.8 - - 3240 - - - - - - - - 14.97 14.56 14.97
6978 602.4 -8.7 334 6991 done -0.58 - - 2732 - 2.33 0.034 1830 602.1 -116.8 - - 3239 - - - - - - - - 14.74 14.68 14.76
7320 631.1 -8.4 347 7333 roll -0.58 - - 2722 - 2.38 0.058 3222 584.9 -116.8 - - 3237 - - - - - - - - 14.93 14.57 14.95
7383 636.4 -8.7 355 7396 done -0.58 - - 2722 - 2.33 0.040 1827 -598.7 -116.8 - - 3237 - - - - - - - - 14.70 14.62 14.73
7725 666.4 -8.8 368 7738 roll -0.58 - - 2728 - 2.42 0.060 431 -576.9 -116.8 - - 3236 - - - - - - - - 14.95 14.54 14.97
7906 683.9 -9.6 393 7920 done -0.58 - - 2713 - 2.35 0.034 1829 594.9 -116.8 - - 3236 - - - - - - - - 14.73 14.64 14.72
8242 715.1 -9.3 405 8255 roll -0.58 - - 2707 - 2.40 0.058 3222 580.4 -116.8 - - 3235 - - - - - - - - 14.92 14.53 14.95
8296 720.5 -9.6 412 8311 done -0.58 0.15 0.242 2735 186.7 2.35 0.041 1830 -592.3 -116.8 - - 3235 - - - - - - - - 14.25 14.59 14.51
8641 748.8 -8.2 419 8654 roll -0.58 - - 2735 - 2.45 0.062 430 -571.4 -116.8 - - 3233 - - - - - - - - 14.91 14.51 14.94
8737 757.3 -8.7 432 8750 done -0.58 - - 2728 - 2.35 0.036 1840 600.0 -116.8 - - 3233 - - - - - - - - 14.70 14.64 14.72
9100 787.5 -8.3 441 9113 done -0.58 - - 2728 - - - 1840 - -116.8 - - 3231 - - - - - - - - 14.94 14.97 14.95
9438 814.1 -7.8 447 9451 done -0.58 - - 2728 - - - 1840 - -116.8 - - 3231 - - - - - - - - 14.92 14.95 14.95
9772 839.7 -7.5 453 9785 done -0.58 - - 2724 - - - 1840 - -116.8 - - 3230 - - - - - - - - 14.93 14.96 14.95
10109 863.9 -7.1 459 10122 roll -0.58 - - 2728 - 2.47 0.062 436 -568.4 -116.8 - - 3230 - - - - - - - - 14.93 14.47 14.95
10143 866.6 -7.5 463 10157 done -0.58 - - 2718 - 2.35 0.036 1835 595.3 -116.8 - - 3230 - - - - - - - - 14.62 14.55 14.64
10514 895.4 -7.9 473 10527 roll -0.58 - - 2708 - 2.40 0.058 3228 580.4 -116.8 - - 3229 - - - - - - - - 14.90 14.50 14.92
10569 899.8 -6.8 480 10583 done -0.58 0.15 0.244 2740 213.3 2.38 0.039 1824 -589.9 -116.8 - - 3229 - - - - - - - - 14.20 14.56 14.46
10912 923.5 -6.9 487 10925 roll -0.58 - - 2740 - 2.45 0.063 428 -569.8 -116.8 - - 3228 - - - - - - - - 14.90 14.46 14.93
11009 930.9 -7.6 500 11022 done -0.58 - - 2734 - 2.38 0.035 1838 592.4 -116.8 - - 3228 - - - - - - - - 14.64 14.57 14.65
11373 957.4 -7.4 509 11386 roll -0.58 - - 2723 - 2.40 0.058 3221 576.2 -116.8 - - 3227 - - - - - - - - 14.90 14.46 14.92
11407 960.1 -6.9 513 11420 done -0.58 - - 2723 - 2.35 0.041 1824 -594.5 -116.8 - - 3227 - - - - - - - - 14.63 14.55 14.66
11778 988.2 -7.7 523 11791 roll -0.58 - - 2722 - 2.45 0.063 429 -569.4 -116.8 - - 3226 - - - - - - - - 14.88 14.45 14.88
11794 end dive: TARGET_DEPTH_EXCEEDED
11794 begin apogee
11803 990.7 -8.2 525 11933 done -0.21 0.55 0.228 2855 241.8 - - 1747 - - 120.00 2.192 2792 -3.6 0.310 - - - - - - 14.23 13.98 13.14
11935 end apogee: CONTROL_FINISHED_OK
11935 begin climb
11938 995.1 - 527 12085 roll 0.84 1.17 0.158 3192 288.0 2.53 0.050 3114 540.3 116.8 124.72 2.151 2303 -3.9 0.344 - - - - - - 13.95 13.71 12.93
12141 983.4 8.0 559 12154 done 0.84 - - 3201 - 2.42 0.038 1731 -571.5 116.8 - - 2294 - - - - - - - - 14.08 14.01 14.10
12484 952.8 9.1 572 12497 roll 0.84 - - 3212 - 2.50 0.065 325 -562.4 116.8 - - 2291 - - - - - - - - 14.70 14.37 14.69
12552 946.2 9.6 581 12566 done 0.71 0.22 0.246 3161 -231.8 2.35 0.032 1748 605.5 116.8 - - 2293 - - - - - - - - 14.16 14.50 14.44
12889 921.2 7.4 593 12903 roll 0.72 - - 3161 - 2.38 0.050 3099 567.6 125.6 1.83 0.168 2275 -9.8 10.232 - - - - - - 14.78 14.49 14.35
12972 914.5 7.9 604 12985 done 0.72 - - 3168 - 2.35 0.041 1721 -586.4 125.6 - - 2276 - - - - - - - - 14.59 14.52 14.62
13293 888.8 8.1 614 13306 roll 0.72 - - 3179 - 2.47 0.067 323 -566.0 125.6 - - 2276 - - - - - - - - 14.83 14.45 14.85
13348 883.9 9.0 621 13363 done 0.72 - - 3178 - 2.35 0.032 1729 598.3 125.6 - - 2276 - - - - - - - - 14.62 14.59 14.66
13692 853.3 8.9 628 13705 roll 0.72 - - 3178 - 2.35 0.050 3108 586.8 125.6 - - 2276 - - - - - - - - 14.83 14.50 14.86
13775 845.9 9.6 639 13788 done 0.72 - - 3187 - 2.33 0.041 1730 -591.4 125.6 - - 2276 - - - - - - - - 14.63 14.54 14.65
14096 816.1 9.1 649 14109 roll 0.72 - - 3198 - 2.47 0.065 328 -567.6 125.6 - - 2276 - - - - - - - - 14.85 14.46 14.87
14164 809.5 9.8 658 14177 done 0.72 0.15 0.252 3167 -206.7 2.33 0.032 1741 606.4 125.6 - - 2276 - - - - - - - - 14.18 14.59 14.45
14500 782.6 7.9 670 14513 roll 0.72 - - 3167 - 2.33 0.051 3101 583.7 125.6 - - 2276 - - - - - - - - 14.87 14.47 14.89
14582 775.8 8.0 681 14596 done 0.72 - - 3174 - 2.35 0.042 1720 -587.7 125.6 - - 2274 - - - - - - - - 14.60 14.51 14.64
14905 751.3 7.7 691 14918 roll 0.73 - - 3185 - 2.47 0.066 329 -563.2 129.2 - - 2276 - - - - - - - - 14.85 14.45 14.88
14980 745.2 8.1 701 14994 done 0.73 - - 3185 - 2.33 0.032 1729 600.9 129.2 2.08 0.275 2264 -5.8 2.966 - - - - - - 14.64 14.59 13.14
15310 720.0 7.6 712 15328 roll 0.73 - - 3181 - 2.33 0.049 3114 594.4 133.3 4.43 1.425 2247 -3.8 0.368 - - - - - - 14.88 14.46 13.60
15429 710.7 7.8 728 15442 done 0.73 - - 3194 - 2.33 0.040 1729 -594.4 133.4 - - 2252 - - - - - - - - 14.64 14.56 14.66
15771 684.4 7.7 741 15789 roll 0.74 - - 3205 - 2.50 0.067 326 -561.2 136.3 3.90 1.273 2236 -4.1 0.418 - - - - - - 14.84 14.64 13.61
15824 680.2 7.9 748 15838 done 0.64 0.28 0.236 3140 -232.1 2.35 0.032 1745 603.8 136.3 - - 2243 - - - - - - - - 14.24 14.62 14.51
16167 660.0 5.8 755 16246 roll 0.69 - - 3140 - 2.38 0.052 3107 572.3 175.1 64.35 1.646 2073 -2.6 0.201 - - - - - - 14.85 14.28 13.59
16291 651.9 7.5 772 16309 done 0.70 - - 3146 - 2.38 0.041 1730 -578.6 181.6 2.20 0.394 2049 -10.9 3.424 - - - - - - 14.35 14.28 13.26
16624 626.6 7.6 784 16641 roll 0.70 - - 3157 - 2.50 0.067 322 -563.2 185.9 3.55 1.108 2034 -4.2 0.453 - - - - - - 14.69 14.51 13.52
16726 617.9 8.6 798 16739 done 0.70 - - 3157 - 2.35 0.031 1722 595.7 185.9 - - 2039 - - - - - - - - 14.57 14.51 14.58
17082 587.3 8.7 806 17096 roll 0.70 - - 3157 - 2.38 0.050 3115 585.3 185.9 - - 2039 - - - - - - - - 14.78 14.45 14.80
17158 580.3 9.2 816 17172 done 0.70 - - 3165 - 2.35 0.041 1729 -589.8 185.9 - - 2040 - - - - - - - - 14.58 14.50 14.61
17487 550.8 9.0 827 17500 roll 0.70 - - 3175 - 2.47 0.066 329 -566.8 185.9 - - 2038 - - - - - - - - 14.81 14.43 14.83
17576 542.4 9.4 839 17589 done 0.70 - - 3175 - 2.35 0.032 1738 599.6 185.9 - - 2039 - - - - - - - - 14.62 14.57 14.64
17947 511.1 8.2 849 17960 roll 0.70 - - 3175 - 2.35 0.051 3108 583.0 185.9 - - 2039 - - - - - - - - 14.83 14.46 14.84
18015 505.5 8.1 858 18029 done 0.70 - - 3184 - 2.35 0.041 1721 -590.2 185.9 - - 2038 - - - - - - - - 14.60 14.52 14.63
18352 479.5 7.7 870 18368 roll 0.71 - - 3195 - 2.42 0.067 330 -574.8 188.6 3.38 0.991 2022 -4.7 0.435 - - - - - - 14.83 14.64 13.64
18410 474.7 8.5 878 18424 done 0.71 0.15 0.243 3163 -213.3 2.33 0.032 1742 606.0 188.6 - - 2028 - - - - - - - - 14.26 14.61 14.50
18756 451.3 6.7 891 18805 roll 0.73 - - 3163 - 2.40 0.052 3104 567.5 209.5 36.30 1.480 1933 -2.6 0.151 - - - - - - 14.83 14.49 13.79
18839 444.8 8.1 903 18852 done 0.73 - - 3169 - 2.35 0.042 1729 -585.1 209.5 - - 1923 - - - - - - - - 14.49 14.41 14.52
19209 413.8 8.6 913 19222 roll 0.73 - - 3180 - 2.50 0.067 323 -562.4 209.5 - - 1924 - - - - - - - - 14.76 14.38 14.78
19292 406.0 9.5 924 19305 done 0.73 - - 3180 - 2.35 0.033 1725 596.6 209.5 - - 1924 - - - - - - - - 14.58 14.53 14.61
19613 376.0 9.4 934 19626 roll 0.73 - - 3180 - 2.38 0.050 3110 581.9 209.5 - - 1924 - - - - - - - - 14.80 14.46 14.82
19661 371.0 10.0 940 19675 done 0.73 - - 3189 - 2.35 0.041 1722 -590.6 209.5 - - 1924 - - - - - - - - 14.54 14.45 14.57
20017 335.5 10.0 948 20031 roll 0.73 - - 3199 - 2.47 0.066 332 -562.8 209.5 - - 1924 - - - - - - - - 14.84 14.41 14.86
20080 329.2 10.3 956 20093 done 0.73 0.12 0.245 3172 -225.0 2.33 0.031 1739 603.9 209.5 - - 1924 - - - - - - - - 14.21 14.57 14.48
20423 300.8 8.1 969 20436 roll 0.73 - - 3172 - 2.33 0.050 3103 585.4 209.5 - - 1924 - - - - - - - - 14.83 14.48 14.85
20485 295.4 8.5 977 20498 done 0.73 - - 3176 - 2.33 0.041 1728 -590.1 209.5 - - 1923 - - - - - - - - 14.60 14.52 14.63
20828 266.2 8.7 990 20841 roll 0.73 - - 3189 - 2.47 0.066 329 -566.4 209.5 - - 1924 - - - - - - - - 14.86 14.42 14.88
20896 259.8 9.2 999 20909 done 0.73 - - 3189 - 2.30 0.032 1720 604.8 209.5 - - 1924 - - - - - - - - 14.64 14.59 14.66
21231 231.1 8.5 1011 21244 roll 0.73 - - 3188 - 2.38 0.049 3114 585.7 209.5 - - 1924 - - - - - - - - 14.85 14.42 14.88
21294 225.9 8.3 1019 21308 done 0.73 0.15 0.251 3166 -146.7 2.33 0.040 1731 -593.6 209.5 - - 1924 - - - - - - - - 14.17 14.54 14.47
21639 202.8 6.6 1032 21675 roll 0.86 0.12 0.135 3228 516.7 2.53 0.066 327 -554.9 233.0 23.08 1.267 1836 -3.8 0.116 - - - - - - 14.49 14.59 13.97
21741 193.7 10.0 1046 21755 done 0.86 - - 3228 - 2.35 0.031 1737 600.0 233.0 - - 1828 - - - - - - - - 14.59 14.54 14.62
22081 156.8 11.0 1053 22094 roll 0.86 - - 3228 - 2.35 0.048 3115 586.4 233.0 - - 1827 - - - - - - - - 14.79 14.43 14.81
22150 148.6 11.7 1062 22164 done 0.86 - - 3237 - 2.35 0.039 1726 -591.1 233.0 - - 1827 - - - - - - - - 14.57 14.49 14.61
22486 109.3 11.9 1074 22499 roll 0.86 - - 3248 - 2.47 0.065 327 -566.4 233.0 - - 1826 - - - - - - - - 14.84 14.42 14.86
22512 106.1 11.7 1077 22526 done 0.86 0.17 0.243 3209 -229.4 2.33 0.031 1736 604.7 233.0 - - 1827 - - - - - - - - 14.18 14.57 14.47
22837 76.3 8.7 1091 22850 roll 0.86 - - 3217 - 2.53 0.064 322 -558.9 233.0 - - 1826 - - - - - - - - 14.81 14.43 14.83
22986 65.5 6.4 1111 23020 done 0.99 - - 3217 - 2.33 0.031 1743 609.9 260.9 20.08 0.284 1735 -4.5 0.198 - - - - - - 14.59 14.54 14.28
23353 48.5 4.9 1130 23417 roll 1.21 0.28 0.091 3323 378.6 2.35 0.046 3108 580.9 316.5 50.72 0.249 1505 -4.5 0.168 - - - - - - 14.42 14.60 14.36
23591 29.6 7.4 1164 23611 done 1.22 - - 3332 - 2.35 0.038 1722 -589.8 324.7 8.70 0.187 1469 -4.1 0.124 - - - - - - 14.53 14.45 14.26
23943 9.5 5.4 1180 23991 roll 1.28 - - 3342 - 2.47 0.062 333 -562.3 370.4 33.97 0.144 1279 -5.6 0.070 - - - - - - 14.81 14.51 14.40
24061 end climb: SURFACE_DEPTH_REACHED
24061 begin surface coast
24064 end surface coast: CONTROL_FINISHED_OK
24064 begin surface
SM 1.26 - - - - -8.60 9.32 0.060 160 17.2 2.50 0.029 1833 -2762.8 515.13 86.30 0.124 692 8.0 -0.008 - - - - - -