SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 392 * Raw log
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• Previous call tries 1 • 148.39 of 350.00 AH used of 24V (57.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 deg, depth 1.06 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 24 s
• GPS2 time: 18 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 113 done -0.84 - - 159 - - - 1679 - -116.8 -82.70 - 3272 - - - - - - - - 14.71 12.76 14.72
116 6.5 -9.4 3 134 roll -0.84 12.25 0.383 2661 204.2 2.22 0.035 352 -597.7 -116.8 - - 3276 - - - - - - - - 14.09 14.54 14.45
163 27.5 -33.3 10 171 done -0.27 0.75 0.268 2836 233.3 2.28 0.035 1723 601.3 -116.8 - - 3274 - - - - - - - - 14.09 14.52 14.40
500 58.9 -7.4 25 507 roll -0.37 - - 2835 - 2.33 0.056 373 -579.4 -116.8 - - 3274 - - - - - - - - 14.81 14.47 14.83
528 61.2 -8.1 29 535 done -0.49 0.17 0.106 2758 -452.9 2.22 0.031 1740 615.8 -116.8 - - 3273 - - - - - - - - 14.51 14.57 14.59
865 88.5 -7.7 44 872 roll -0.49 - - 2747 - 2.38 0.051 3159 596.2 -116.8 - - 3275 - - - - - - - - 14.84 14.52 14.86
899 91.4 -8.3 49 905 done -0.49 - - 2747 - 2.30 0.037 1773 -602.6 -116.8 - - 3276 - - - - - - - - 14.62 14.54 14.64
1229 118.2 -8.0 59 1235 roll -0.49 - - 2747 - 2.40 0.058 373 -583.3 -116.8 - - 3275 - - - - - - - - 14.85 14.50 14.87
1313 125.6 -8.9 71 1320 done -0.49 0.12 0.255 2763 133.3 2.30 0.032 1777 610.4 -116.8 - - 3275 - - - - - - - - 14.28 14.62 14.50
1677 155.5 -8.5 81 1683 roll -0.49 - - 2755 - 2.35 0.052 3172 593.6 -116.8 - - 3273 - - - - - - - - 14.88 14.51 14.89
1775 163.0 -7.5 95 1782 done -0.49 - - 2755 - 2.33 0.038 1774 -600.0 -116.8 - - 3271 - - - - - - - - 14.63 14.56 14.66
2125 190.5 -7.9 103 2131 roll -0.49 - - 2755 - 2.42 0.059 374 -578.5 -116.8 - - 3269 - - - - - - - - 14.84 14.50 14.88
2237 200.6 -9.2 119 2243 done -0.49 - - 2747 - 2.33 0.032 1773 600.4 -116.8 - - 3267 - - - - - - - - 14.64 14.59 14.66
2574 229.6 -8.6 132 2580 roll -0.49 - - 2736 - 2.38 0.052 3174 588.7 -116.8 - - 3265 - - - - - - - - 14.82 14.52 14.85
2607 232.6 -8.2 137 2614 done -0.49 0.15 0.224 2768 213.3 2.35 0.038 1768 -598.3 -116.8 - - 3264 - - - - - - - - 14.21 14.54 14.41
2965 259.4 -7.6 146 2979 roll -0.58 - - 2769 - 2.42 0.060 368 -578.5 -116.8 - - 3260 - - - - - - - - 14.91 14.53 14.93
3056 267.1 -8.4 158 3069 done -0.58 - - 2762 - 2.35 0.033 1785 603.0 -116.8 - - 3259 - - - - - - - - 14.71 14.64 14.72
3426 296.6 -7.9 168 3439 roll -0.58 - - 2753 - 2.35 0.054 3167 588.1 -116.8 - - 3263 - - - - - - - - 14.93 14.56 14.95
3530 304.6 -7.6 182 3544 done -0.68 0.15 0.113 2694 -393.3 2.33 0.037 1763 -602.6 -116.8 - - 3258 - - - - - - - - 14.59 14.63 14.68
3887 341.9 -10.6 190 3900 roll -0.68 - - 2694 - 2.40 0.060 379 -576.7 -116.8 - - 3255 - - - - - - - - 14.95 14.53 14.97
4036 358.6 -11.2 210 4050 done -0.58 0.22 0.249 2735 186.4 2.30 0.034 1773 606.1 -116.8 - - 3255 - - - - - - - - 14.20 14.67 14.48
4407 393.4 -9.3 220 4420 roll -0.58 - - 2726 - 2.35 0.052 3163 591.5 -116.8 - - 3252 - - - - - - - - 14.96 14.55 14.98
4475 399.9 -9.4 229 4488 done -0.58 - - 2726 - 2.30 0.037 1777 -602.6 -116.8 - - 3252 - - - - - - - - 14.68 14.60 14.70
4811 430.3 -8.9 241 4824 roll -0.58 - - 2727 - 2.42 0.060 378 -578.1 -116.8 - - 3251 - - - - - - - - 14.94 14.53 14.95
4886 437.3 -9.0 251 4900 done -0.58 - - 2714 - 2.33 0.034 1776 600.0 -116.8 - - 3251 - - - - - - - - 14.69 14.63 14.71
5216 464.8 -8.4 262 5229 roll -0.58 - - 2707 - 2.35 0.054 3163 590.2 -116.8 - - 3249 - - - - - - - - 14.95 14.53 14.97
5320 474.0 -8.7 276 5334 done -0.58 0.15 0.245 2739 213.3 2.33 0.039 1770 -597.9 -116.8 - - 3247 - - - - - - - - 14.21 14.58 14.46
5677 502.3 -7.9 284 5690 roll -0.58 - - 2739 - 2.42 0.061 379 -574.8 -116.8 - - 3247 - - - - - - - - 14.95 14.49 14.97
5732 507.0 -8.7 291 5746 done -0.58 - - 2732 - 2.35 0.034 1786 598.7 -116.8 - - 3247 - - - - - - - - 14.68 14.62 14.70
6076 536.5 -8.7 298 6089 roll -0.58 - - 2722 - 2.35 0.055 3160 584.7 -116.8 - - 3245 - - - - - - - - 14.93 14.51 14.95
6138 541.9 -8.6 306 6151 done -0.58 - - 2722 - 2.33 0.038 1775 -594.4 -116.8 - - 3245 - - - - - - - - 14.66 14.58 14.69
6481 571.8 -8.7 319 6494 roll -0.58 - - 2722 - 2.45 0.061 373 -572.2 -116.8 - - 3244 - - - - - - - - 14.91 14.51 14.93
6570 580.2 -9.2 331 6584 done -0.58 0.12 0.269 2737 125.0 2.35 0.035 1772 595.3 -116.8 - - 3244 - - - - - - - - 14.18 14.60 14.44
6942 609.9 -8.0 341 6955 roll -0.58 - - 2729 - 2.40 0.054 3169 582.1 -116.8 - - 3243 - - - - - - - - 14.91 14.48 14.92
6982 613.2 -7.9 346 6996 done -0.58 - - 2729 - 2.35 0.039 1772 -594.5 -116.8 - - 3243 - - - - - - - - 14.62 14.54 14.65
7347 643.6 -8.5 355 7360 done -0.58 - - 2729 - - - 1772 - -116.8 - - 3241 - - - - - - - - 14.93 14.96 14.95
7683 671.1 -8.0 361 7696 roll -0.58 - - 2729 - 2.45 0.063 376 -569.8 -116.8 - - 3240 - - - - - - - - 14.92 14.46 14.95
7758 677.6 -8.4 371 7771 done -0.58 - - 2720 - 2.35 0.035 1780 597.4 -116.8 - - 3237 - - - - - - - - 14.64 14.58 14.66
8088 702.6 -7.5 382 8101 done -0.58 - - 2720 - - - 1780 - -116.8 - - 3238 - - - - - - - - 14.90 14.92 14.92
8423 727.1 -7.3 388 8436 roll -0.58 - - 2710 - 2.38 0.056 3160 579.8 -116.8 - - 3237 - - - - - - - - 14.90 14.45 14.92
8485 731.6 -7.2 396 8499 done -0.58 0.12 0.249 2736 216.7 2.35 0.038 1770 -591.5 -116.8 - - 3237 - - - - - - - - 14.14 14.50 14.38
8829 754.3 -6.6 409 8842 roll -0.58 - - 2736 - 2.45 0.063 378 -568.2 -116.8 - - 3236 - - - - - - - - 14.92 14.39 14.94
8904 759.9 -7.5 419 8918 done -0.58 - - 2729 - 2.35 0.035 1779 596.2 -116.8 - - 3236 - - - - - - - - 14.61 14.54 14.63
9234 784.2 -7.5 430 9247 roll -0.58 - - 2718 - 2.38 0.056 3160 580.3 -116.8 - - 3235 - - - - - - - - 14.87 14.42 14.91
9330 791.8 -7.7 443 9343 done -0.58 - - 2719 - 2.35 0.039 1775 -589.4 -116.8 - - 3234 - - - - - - - - 14.56 14.47 14.59
9693 820.9 -8.1 452 9706 roll -0.58 - - 2718 - 2.50 0.063 376 -559.6 -116.8 - - 3234 - - - - - - - - 14.90 14.35 14.91
9784 828.9 -8.9 464 9797 done -0.58 0.15 0.260 2741 153.3 2.35 0.036 1773 594.5 -116.8 - - 3233 - - - - - - - - 14.06 14.54 14.33
10154 856.4 -7.5 474 10167 roll -0.58 - - 2733 - 2.42 0.056 3172 578.1 -116.8 - - 3232 - - - - - - - - 14.91 14.31 14.92
10297 867.1 -7.6 493 10310 done -0.68 - - 2732 - 2.38 0.040 1775 -587.0 -116.8 - - 3232 - - - - - - - - 14.54 14.46 14.57
10618 892.3 -7.8 503 10632 roll -0.68 - - 2733 - 2.47 0.064 378 -565.6 -116.8 - - 3232 - - - - - - - - 14.88 14.35 14.90
10709 899.8 -8.4 515 10722 done -0.68 - - 2724 - 2.38 0.036 1777 587.8 -116.8 - - 3231 - - - - - - - - 14.54 14.49 14.57
11079 929.4 -8.0 525 11092 roll -0.68 - - 2714 - 2.42 0.057 3165 573.6 -116.8 - - 3231 - - - - - - - - 14.86 14.34 14.88
11141 935.1 -10.3 533 11154 done -0.68 - - 2713 - 2.40 0.041 1763 -584.2 -116.8 - - 3231 - - - - - - - - 14.52 14.44 14.55
11485 962.3 -8.2 546 11499 roll -0.68 - - 2714 - 2.47 0.065 381 -559.5 -116.8 - - 3230 - - - - - - - - 14.85 14.31 14.88
11575 970.2 -8.8 558 11588 done -0.68 - - 2704 - 2.38 0.035 1786 590.3 -116.8 - - 3230 - - - - - - - - 14.54 14.48 14.56
11830 end dive: TARGET_DEPTH_EXCEEDED
11830 begin apogee
11839 991.7 -8.3 566 11971 done -0.21 0.62 0.239 2858 248.4 - - 1667 - - 121.97 2.187 2792 -3.6 0.314 - - - - - - 13.88 13.94 12.93
11973 end apogee: CONTROL_FINISHED_OK
11973 begin climb
11976 996.6 - 568 12121 roll 0.84 1.15 0.152 3201 298.3 2.55 0.065 344 -518.8 116.8 126.20 2.148 2308 -3.8 0.343 - - - - - - 13.91 13.70 12.73
12177 985.5 9.0 600 12190 done 0.84 - - 3201 - 2.33 0.031 1696 580.3 116.8 - - 2297 - - - - - - - - 14.15 14.11 14.17
12519 954.3 9.2 613 12532 roll 0.84 - - 3201 - 2.35 0.050 3061 580.9 116.8 - - 2294 - - - - - - - - 14.74 14.45 14.76
12651 941.5 9.3 631 12665 done 0.84 - - 3209 - 2.33 0.041 1692 -587.6 116.8 - - 2293 - - - - - - - - 14.59 14.51 14.62
12980 909.4 9.7 642 12993 roll 0.84 - - 3220 - 2.42 0.065 327 -564.0 116.8 - - 2293 - - - - - - - - 14.82 14.47 14.84
13056 901.8 10.2 652 13070 done 0.74 0.22 0.239 3169 -231.8 2.28 0.031 1708 605.7 116.8 - - 2292 - - - - - - - - 14.18 14.63 14.48
13385 876.8 7.4 663 13398 roll 0.75 - - 3169 - 2.35 0.049 3048 570.2 126.0 2.10 0.306 2275 -8.1 4.470 - - - - - - 14.87 14.45 12.93
13475 870.0 7.6 675 13493 done 0.76 - - 3176 - 2.33 0.043 1679 -587.6 131.5 4.75 1.563 2256 -4.0 0.429 - - - - - - 14.62 14.54 13.24
13843 842.6 7.5 685 13865 roll 0.76 - - 3176 - 2.40 0.050 3044 568.8 137.5 6.88 1.810 2234 -3.2 0.287 - - - - - - 14.86 14.59 13.43
13901 838.4 8.2 693 13914 done 0.76 - - 3184 - 2.33 0.041 1680 -585.4 137.5 - - 2236 - - - - - - - - 14.63 14.55 14.65
14243 810.0 8.4 706 14256 roll 0.76 - - 3193 - 2.40 0.066 318 -567.5 137.5 - - 2236 - - - - - - - - 14.86 14.46 14.85
14278 807.0 8.5 710 14291 done 0.76 - - 3195 - 2.22 0.032 1673 610.4 137.5 - - 2236 - - - - - - - - 14.66 14.62 14.68
14649 774.7 8.6 720 14662 roll 0.76 - - 3201 - 2.35 0.050 3052 586.8 137.5 - - 2236 - - - - - - - - 14.87 14.43 14.88
14768 764.4 8.5 736 14781 done 0.76 - - 3200 - 2.33 0.042 1681 -588.4 137.5 - - 2236 - - - - - - - - 14.62 14.53 14.64
15111 735.7 8.4 749 15124 roll 0.76 - - 3214 - 2.40 0.066 320 -567.1 137.5 - - 2236 - - - - - - - - 14.85 14.43 14.88
15137 733.3 8.3 752 15150 done 0.76 0.17 0.242 3176 -223.5 2.25 0.031 1694 610.7 137.5 - - 2236 - - - - - - - - 14.15 14.61 14.42
15459 710.1 7.2 762 15496 roll 0.78 - - 3176 - 2.35 0.051 3042 573.6 150.5 22.67 1.851 2169 -3.0 0.218 - - - - - - 14.86 14.51 13.55
15576 701.1 8.1 778 15590 done 0.78 - - 3182 - 2.33 0.041 1678 -585.4 150.5 - - 2163 - - - - - - - - 14.54 14.47 14.58
15919 673.3 8.1 791 15932 roll 0.78 - - 3193 - 2.40 0.067 327 -562.9 150.5 - - 2163 - - - - - - - - 14.79 14.40 14.82
15960 669.7 8.3 796 15974 done 0.78 - - 3193 - 2.22 0.032 1676 607.7 150.5 - - 2163 - - - - - - - - 14.62 14.56 14.64
16324 639.3 8.3 805 16337 roll 0.78 - - 3193 - 2.38 0.049 3054 579.0 150.5 - - 2163 - - - - - - - - 14.85 14.44 14.88
16406 632.3 8.3 816 16420 done 0.78 - - 3201 - 2.35 0.045 1685 -582.6 150.5 - - 2163 - - - - - - - - 14.56 14.47 14.60
16729 606.6 8.0 826 16742 roll 0.78 - - 3212 - 2.42 0.066 321 -563.6 150.5 - - 2163 - - - - - - - - 14.83 14.40 14.85
16763 603.6 8.2 830 16777 done 0.78 0.12 0.253 3187 -208.3 2.25 0.031 1686 606.7 150.5 - - 2163 - - - - - - - - 14.16 14.58 14.47
17135 575.8 7.5 840 17153 roll 0.79 - - 3183 - 2.40 0.048 3053 569.6 157.4 2.15 0.354 2146 -7.9 2.478 - - - - - - 14.87 14.47 13.14
17236 568.0 7.5 854 17255 done 0.80 - - 3193 - 2.35 0.041 1673 -587.2 164.1 6.03 1.518 2124 -3.6 0.263 - - - - - - 14.59 14.50 13.45
17588 541.9 7.5 862 17617 roll 0.80 - - 3204 - 2.35 0.065 329 -571.9 171.2 15.85 1.665 2088 -2.3 0.142 - - - - - - 14.83 14.32 13.62
17679 534.4 8.3 875 17692 done 0.80 - - 3204 - 2.22 0.031 1677 607.2 171.2 - - 2081 - - - - - - - - 14.59 14.54 14.62
18042 505.9 7.8 884 18055 roll 0.81 - - 3203 - 2.35 0.048 3053 585.5 172.6 - - 2080 - - - - - - - - 14.80 14.43 14.82
18132 498.6 8.3 896 18146 done 0.81 - - 3212 - 2.35 0.044 1682 -583.4 172.6 - - 2079 - - - - - - - - 14.57 14.48 14.60
18503 467.2 8.6 906 18516 roll 0.81 - - 3223 - 2.42 0.066 316 -564.5 172.6 - - 2080 - - - - - - - - 14.85 14.41 14.88
18551 462.9 9.1 912 18565 done 0.81 0.12 0.251 3195 -233.3 2.28 0.031 1696 605.3 172.6 - - 2079 - - - - - - - - 14.14 14.56 14.39
18908 435.9 7.4 920 18925 roll 0.82 - - 3202 - 2.30 0.050 3045 586.5 180.8 3.97 1.101 2054 -6.3 0.480 - - - - - - 14.84 14.54 13.38
18973 430.8 7.8 929 18987 done 0.82 - - 3202 - 2.33 0.041 1675 -588.0 181.5 - - 2056 - - - - - - - - 14.59 14.53 14.64
19310 405.6 7.5 941 19338 roll 0.82 - - 3212 - 2.40 0.067 330 -560.4 188.0 14.23 1.489 2018 -2.7 0.140 - - - - - - 14.85 14.56 13.69
19366 400.9 8.3 949 19380 done 0.82 - - 3212 - 2.20 0.031 1674 610.9 188.0 - - 2012 - - - - - - - - 14.65 14.58 14.64
19710 371.3 8.7 962 19723 roll 0.82 - - 3212 - 2.38 0.048 3054 579.8 188.0 - - 2013 - - - - - - - - 14.81 14.43 14.82
19813 361.9 8.8 976 19826 done 0.82 - - 3221 - 2.35 0.041 1680 -584.7 188.0 - - 2012 - - - - - - - - 14.57 14.47 14.61
20170 328.1 9.8 984 20184 roll 0.82 - - 3232 - 2.40 0.065 327 -563.8 188.0 - - 2012 - - - - - - - - 14.85 14.38 14.88
20204 324.5 10.2 988 20217 done 0.82 0.15 0.240 3200 -213.3 2.22 0.031 1686 612.2 188.0 - - 2012 - - - - - - - - 14.14 14.57 14.42
20574 294.7 7.7 998 20588 roll 0.83 - - 3200 - 2.33 0.047 3048 584.5 191.2 - - 2012 - - - - - - - - 14.85 14.45 14.87
20651 288.8 7.5 1008 20668 done 0.84 - - 3206 - 2.33 0.041 1680 -587.1 197.1 3.78 0.944 1988 -6.3 0.374 - - - - - - 14.56 14.47 13.44
20976 264.8 7.5 1019 20999 done 0.85 - - 3206 - - - 1679 - 204.5 13.98 1.302 1959 -2.1 0.081 - - - - - - 14.86 14.55 13.76
21314 238.4 7.9 1025 21327 roll 0.85 - - 3206 - 2.38 0.048 3056 578.6 204.5 - - 1947 - - - - - - - - 14.83 14.46 14.84
21354 234.8 8.5 1030 21367 done 0.85 - - 3215 - 2.35 0.041 1674 -588.1 204.5 - - 1946 - - - - - - - - 14.57 14.49 14.61
21717 202.9 9.1 1039 21730 done 0.85 - - 3215 - - - 1673 - 204.5 - - 1946 - - - - - - - - 14.83 14.85 14.85
22055 171.7 9.3 1045 22068 roll 0.85 - - 3215 - 2.38 0.045 3053 579.8 204.5 - - 1946 - - - - - - - - 14.84 14.46 14.86
22117 165.7 9.5 1053 22130 done 0.85 - - 3223 - 2.35 0.041 1670 -588.5 204.5 - - 1947 - - - - - - - - 14.59 14.50 14.62
22459 134.4 9.2 1066 22472 roll 0.85 - - 3223 - 2.38 0.044 3053 581.1 204.5 - - 1946 - - - - - - - - 14.85 14.40 14.88
22495 131.0 9.5 1070 22508 done 0.85 - - 3232 - 2.33 0.041 1679 -589.7 204.5 - - 1946 - - - - - - - - 14.59 14.51 14.63
22865 98.2 8.5 1080 22878 roll 0.85 - - 3243 - 2.40 0.064 322 -565.4 204.5 - - 1946 - - - - - - - - 14.88 14.38 14.90
22934 91.6 9.9 1089 22948 done 0.85 0.17 0.227 3204 -229.4 2.22 0.028 1696 618.9 204.5 - - 1946 - - - - - - - - 14.07 14.50 14.35
23273 67.2 6.9 1103 23301 done 0.97 0.12 0.131 3251 391.7 - - 1702 - 223.0 14.15 0.277 1882 -4.5 0.211 - - - - - - 14.55 14.30 14.07
23607 47.3 5.8 1115 23657 roll 1.02 - - 3261 - 2.42 0.063 320 -571.1 261.1 36.83 0.248 1730 -4.1 0.152 - - - - - - 14.83 14.47 14.22
23832 34.6 4.8 1147 23897 done 1.19 0.15 0.116 3317 373.3 2.20 0.028 1671 614.1 318.7 50.90 0.215 1491 -4.7 0.146 - - - - - - 14.45 14.56 14.22
24226 14.4 5.6 1170 24271 roll 1.38 0.15 0.113 3393 506.7 2.38 0.061 316 -569.3 360.3 31.80 0.158 1322 -5.3 0.093 - - - - - - 14.48 14.33 14.21
24346 4.0 9.7 1187 24360 done 1.38 - - 3397 - 2.22 0.028 1674 611.7 360.3 - - 1325 - - - - - - - - 14.58 14.54 14.62
24370 end climb: SURFACE_DEPTH_REACHED
24370 begin surface coast
24398 end surface coast: CONTROL_FINISHED_OK
24398 begin surface
SM 0.99 - - - - -8.60 9.55 0.063 156 16.3 0.10 0.110 1797 7670.0 515.13 93.20 0.124 691 7.4 -0.006 - - - - - -