SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 534 * Raw log
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• Previous call tries 5 • 201.90 of 350.00 AH used of 24V (42.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 33 s
• GPS2 time: 13 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
27 - - - 113 VBD -0.84 - - 139 - - - 1782 - -116.8 -82.88 - 3180 - - - - - - - - 14.68 - 14.71
117 4.7 -6.3 3 140 roll -0.84 12.43 0.375 2661 202.9 2.75 2.019 374 -512.0 -116.8 -1.38 - 3273 -67.4 - - - - - - - 13.94 13.07 14.40
229 39.8 -24.0 19 236 done -0.45 0.52 0.275 2776 221.2 2.30 0.033 1758 601.7 -116.8 - - 3272 - - - - - - - - 14.04 14.50 14.35
566 73.4 -7.4 34 572 roll -0.45 - - 2768 - 2.38 0.051 3165 591.2 -116.8 - - 3275 - - - - - - - - 14.78 14.41 14.81
671 80.9 -7.3 49 680 done -0.45 - - 2768 - 2.33 0.035 1769 -599.1 -116.8 - - 3275 - - - - - - - - 14.53 14.46 14.56
1014 108.2 -7.5 60 1020 roll -0.45 - - 2768 - 2.42 0.057 369 -578.5 -116.8 - - 3275 - - - - - - - - 14.81 14.38 14.84
1111 115.4 -7.4 74 1117 done -0.45 - - 2760 - 2.35 0.031 1788 603.8 -116.8 - - 3275 - - - - - - - - 14.57 14.51 14.58
1463 141.8 -7.7 82 1469 roll -0.45 - - 2750 - 2.33 0.052 3161 589.3 -116.8 - - 3276 - - - - - - - - 14.79 14.41 14.83
1539 148.0 -7.9 93 1546 done -0.45 0.15 0.226 2781 206.7 2.33 0.036 1765 -599.1 -116.8 - - 3273 - - - - - - - - 14.10 14.40 14.33
1856 169.4 -6.7 103 1863 roll -0.57 0.12 0.131 2724 -475.0 2.42 0.056 376 -574.0 -116.8 - - 3271 - - - - - - - - 14.47 14.35 14.49
1940 177.4 -9.7 115 1946 done -0.57 0.12 0.261 2740 133.3 2.33 0.032 1773 599.6 -116.8 - - 3270 - - - - - - - - 14.09 14.49 14.32
2305 208.8 -8.6 125 2311 roll -0.57 - - 2731 - 2.38 0.051 3165 584.9 -116.8 - - 3266 - - - - - - - - 14.80 14.38 14.82
2403 217.5 -8.9 139 2410 done -0.57 - - 2731 - 2.35 0.037 1772 -592.8 -116.8 - - 3266 - - - - - - - - 14.47 14.40 14.50
2753 249.6 -9.2 147 2768 roll -0.57 - - 2732 - 2.42 0.060 381 -574.8 -116.8 - - 3264 - - - - - - - - 14.78 14.26 14.81
2875 261.2 -9.7 163 2888 done -0.57 - - 2723 - 2.33 0.032 1780 600.4 -116.8 - - 3262 - - - - - - - - 14.52 14.50 14.54
3217 293.4 -9.3 176 3231 roll -0.57 - - 2713 - 2.38 0.054 3160 579.8 -116.8 - - 3260 - - - - - - - - 14.88 14.40 14.90
3280 299.1 -9.2 184 3293 done -0.57 0.12 0.240 2739 216.7 2.33 0.036 1763 -599.6 -116.8 - - 3263 - - - - - - - - 14.14 14.50 14.38
3624 327.9 -8.3 197 3638 roll -0.57 - - 2739 - 2.42 0.060 378 -572.3 -116.8 - - 3257 - - - - - - - - 14.88 14.39 14.90
3679 333.1 -9.2 204 3693 done -0.57 - - 2732 - 2.35 0.033 1775 594.5 -116.8 - - 3257 - - - - - - - - 14.58 14.52 14.60
4023 362.7 -8.6 211 4036 roll -0.57 - - 2722 - 2.38 0.051 3162 582.8 -116.8 - - 3258 - - - - - - - - 14.91 14.38 14.93
4143 372.8 -8.4 227 4156 done -0.57 - - 2722 - 2.35 0.037 1776 -589.8 -116.8 - - 3254 - - - - - - - - 14.55 14.48 14.59
4486 402.5 -8.7 240 4499 roll -0.57 - - 2722 - 2.45 0.060 381 -569.4 -116.8 - - 3252 - - - - - - - - 14.88 14.35 14.90
4556 409.2 -9.6 249 4570 done -0.57 0.15 0.259 2744 146.7 2.33 0.032 1774 597.9 -116.8 - - 3252 - - - - - - - - 14.01 14.50 14.27
4892 436.9 -8.2 261 4905 roll -0.57 - - 2737 - 2.38 0.052 3161 582.8 -116.8 - - 3251 - - - - - - - - 14.90 14.37 14.92
4968 443.3 -8.2 271 4981 done -0.57 - - 2736 - 2.35 0.036 1775 -589.8 -116.8 - - 3250 - - - - - - - - 14.51 14.43 14.54
5296 472.3 -9.0 282 5309 roll -0.57 - - 2735 - 2.47 0.061 375 -566.8 -116.8 - - 3248 - - - - - - - - 14.86 14.33 14.89
5422 484.6 -9.6 299 5435 done -0.57 - - 2727 - 2.35 0.033 1771 594.0 -116.8 - - 3248 - - - - - - - - 14.53 14.47 14.55
5759 515.0 -9.1 311 5772 roll -0.57 - - 2716 - 2.40 0.053 3165 580.8 -116.8 - - 3246 - - - - - - - - 14.86 14.34 14.88
5822 520.8 -9.0 319 5835 done -0.57 0.12 0.241 2741 208.3 2.35 0.036 1771 -593.2 -116.8 - - 3245 - - - - - - - - 14.04 14.41 14.26
6169 547.3 -7.6 332 6182 roll -0.57 - - 2742 - 2.47 0.062 375 -565.2 -116.8 - - 3244 - - - - - - - - 14.85 14.27 14.88
6232 552.6 -7.8 340 6245 done -0.57 - - 2736 - 2.38 0.033 1790 594.5 -116.8 - - 3244 - - - - - - - - 14.52 14.46 14.54
6576 577.2 -7.1 353 6589 roll -0.57 - - 2726 - 2.38 0.055 3157 574.4 -116.8 - - 3243 - - - - - - - - 14.85 14.31 14.88
6680 584.6 -7.0 367 6693 done -0.57 - - 2725 - 2.35 0.039 1774 -588.5 -116.8 - - 3243 - - - - - - - - 14.46 14.38 14.51
7037 611.5 -7.7 375 7051 roll -0.57 - - 2725 - 2.50 0.063 371 -561.2 -116.8 - - 3242 - - - - - - - - 14.85 14.24 14.87
7170 622.8 -8.5 393 7184 done -0.57 - - 2716 - 2.35 0.034 1765 593.2 -116.8 - - 3240 - - - - - - - - 14.48 14.42 14.50
7499 650.1 -8.3 404 7512 roll -0.57 0.12 0.276 2736 166.7 2.45 0.054 3166 571.8 -116.8 - - 3239 - - - - - - - - 13.96 14.19 14.08
7594 656.9 -7.3 416 7607 done -0.67 - - 2736 - 2.40 0.039 1776 -579.2 -116.8 - - 3239 - - - - - - - - 14.42 14.33 14.47
7965 685.0 -7.5 426 7978 roll -0.67 - - 2736 - 2.50 0.062 373 -561.2 -116.8 - - 3238 - - - - - - - - 14.88 14.20 14.89
8063 692.9 -8.0 439 8076 done -0.67 - - 2727 - 2.38 0.034 1771 587.4 -116.8 - - 3237 - - - - - - - - 14.46 14.40 14.48
8426 722.0 -8.1 448 8439 roll -0.67 - - 2716 - 2.45 0.054 3173 572.2 -116.8 - - 3236 - - - - - - - - 14.88 14.21 14.88
8502 728.3 -8.3 458 8515 done -0.67 - - 2717 - 2.42 0.039 1764 -582.2 -116.8 - - 3236 - - - - - - - - 14.39 14.31 14.42
8832 757.0 -8.8 469 8845 roll -0.67 - - 2717 - 2.50 0.063 375 -555.6 -116.8 - - 3234 - - - - - - - - 14.82 14.19 14.84
8894 762.7 -8.7 477 8908 done -0.67 - - 2708 - 2.40 0.034 1781 585.8 -116.8 - - 3234 - - - - - - - - 14.42 14.36 14.45
9239 793.2 -8.9 490 9252 roll -0.67 - - 2697 - 2.45 0.055 3164 564.5 -116.8 - - 3233 - - - - - - - - 14.85 14.18 14.87
9328 800.9 -8.4 502 9342 done -0.67 - - 2697 - 2.38 0.039 1777 -582.8 -116.8 - - 3231 - - - - - - - - 14.37 14.28 14.40
9699 832.0 -8.3 512 9712 roll -0.67 - - 2702 - 2.53 0.063 376 -553.8 -116.8 - - 3231 - - - - - - - - 14.86 14.12 14.88
9804 841.6 -9.1 526 9817 done -0.67 - - 2688 - 2.40 0.035 1775 582.9 -116.8 - - 3232 - - - - - - - - 14.39 14.33 14.42
10161 872.0 -8.6 534 10174 roll -0.67 - - 2677 - 2.42 0.055 3160 572.3 -116.8 - - 3232 - - - - - - - - 14.88 14.15 14.88
10266 881.1 -8.6 548 10279 done -0.67 0.15 0.257 2707 200.0 2.40 0.039 1766 -580.8 -116.8 - - 3231 - - - - - - - - 13.73 14.23 14.01
10623 908.2 -7.5 556 10636 roll -0.67 - - 2707 - 2.50 0.063 382 -553.6 -116.8 - - 3230 - - - - - - - - 14.85 14.09 14.87
10728 916.6 -7.9 570 10741 done -0.67 - - 2700 - 2.40 0.034 1778 581.7 -116.8 - - 3230 - - - - - - - - 14.37 14.31 14.39
11085 943.2 -7.5 578 11098 roll -0.67 - - 2690 - 2.45 0.057 3161 564.5 -116.8 - - 3230 - - - - - - - - 14.84 14.10 14.86
11204 952.0 -7.3 594 11217 done -0.67 - - 2689 - 2.38 0.039 1779 -580.7 -116.8 - - 3228 - - - - - - - - 14.32 14.23 14.35
11549 979.0 -8.0 607 11562 roll -0.67 - - 2689 - 2.55 0.064 372 -551.8 -116.8 - - 3229 - - - - - - - - 14.79 14.07 14.82
11625 985.9 -9.0 617 11639 done -0.67 0.15 0.269 2709 133.3 2.42 0.035 1781 582.2 -116.8 - - 3229 - - - - - - - - 13.68 14.27 13.97
11726 end dive: TARGET_DEPTH_EXCEEDED
11726 begin apogee
11736 993.9 -7.1 624 11876 done -0.21 0.60 0.233 2858 248.3 - - 1660 - - 124.62 2.386 2792 -3.5 0.284 - - - - 1 - 13.64 13.87 12.63
11877 end apogee: CONTROL_FINISHED_OK
11878 begin climb
11881 998.9 - 626 12037 roll 0.84 1.15 0.155 3201 298.3 2.47 0.065 348 -531.2 116.8 133.52 2.182 2307 -3.6 0.323 - - - - - - 13.93 13.88 12.79
12073 991.1 7.7 658 12086 done 0.84 - - 3201 - 2.28 0.031 1699 592.5 119.0 - - 2302 - - - - - - - - 14.29 14.24 14.33
12417 964.7 7.7 671 12430 roll 0.84 - - 3201 - 2.33 0.049 3053 581.1 122.6 - - 2298 - - - - - - - - 14.76 14.40 14.78
12542 954.5 8.1 688 12555 done 0.84 - - 3210 - 2.33 0.041 1694 -583.3 122.6 - - 2297 - - - - - - - - 14.52 14.43 14.54
12877 928.0 7.9 700 12891 roll 0.84 - - 3221 - 2.42 0.065 326 -565.3 122.6 - - 2296 - - - - - - - - 14.82 14.33 14.84
12934 923.4 8.7 707 12948 done 0.74 0.22 0.248 3171 -227.3 2.28 0.031 1709 606.6 122.6 - - 2297 - - - - - - - - 13.97 14.49 14.28
13277 901.9 6.0 714 13335 roll 0.78 - - 3171 - 2.35 0.050 3030 562.1 156.3 40.58 2.092 2143 -3.8 0.318 - - - - - - 14.81 14.31 13.21
13403 894.1 6.3 731 13451 done 0.82 - - 3177 - 2.33 0.042 1681 -579.0 185.9 31.35 2.066 2024 -3.8 0.319 - - - - - - 14.45 14.37 13.14
13784 865.1 7.6 744 13797 roll 0.82 - - 3188 - 2.42 0.067 321 -562.0 190.3 - - 2017 - - - - - - - - 14.71 14.32 14.74
13848 859.8 10.2 752 13861 done 0.82 - - 3188 - 2.22 0.031 1669 607.2 190.3 - - 2016 - - - - - - - - 14.54 14.49 14.57
14191 830.3 8.7 765 14204 roll 0.82 - - 3183 - 2.38 0.049 3050 580.3 190.3 - - 2015 - - - - - - - - 14.79 14.37 14.81
14275 822.4 9.5 776 14288 done 0.82 - - 3195 - 2.38 0.045 1681 -575.2 190.3 - - 2014 - - - - - - - - 14.50 14.40 14.52
14597 791.0 9.8 786 14610 roll 0.82 - - 3205 - 2.42 0.067 320 -562.4 190.3 - - 2014 - - - - - - - - 14.84 14.31 14.85
14665 783.6 10.8 795 14679 done 0.82 - - 3205 - 2.25 0.031 1677 603.1 190.3 - - 2014 - - - - - - - - 14.54 14.48 14.56
15002 748.9 10.3 807 15016 roll 0.82 - - 3205 - 2.38 0.049 3056 579.4 190.3 - - 2018 - - - - - - - - 14.79 14.34 14.81
15106 737.9 10.2 821 15120 done 0.82 - - 3214 - 2.40 0.042 1669 -577.9 190.3 - - 2014 - - - - - - - - 14.46 14.37 14.50
15465 702.5 9.8 829 15478 roll 0.82 - - 3224 - 2.42 0.066 323 -556.2 190.3 - - 2013 - - - - - - - - 14.79 14.24 14.82
15540 694.6 10.1 839 15554 done 0.82 - - 3224 - 2.28 0.031 1684 596.9 190.3 - - 2013 - - - - - - - - 14.50 14.45 14.53
15869 663.0 9.6 850 15882 roll 0.82 - - 3224 - 2.38 0.048 3061 578.6 190.3 - - 2013 - - - - - - - - 14.83 14.28 14.85
15946 655.3 10.0 860 15960 done 0.82 0.15 0.259 3202 -146.7 2.40 0.041 1675 -577.5 190.3 - - 2014 - - - - - - - - 13.88 14.34 14.17
16275 625.5 9.1 871 16288 roll 0.82 - - 3210 - 2.42 0.066 326 -557.4 190.3 - - 2014 - - - - - - - - 14.81 14.24 14.82
16331 620.0 10.3 878 16346 done 0.82 - - 3210 - 2.30 0.031 1694 594.8 190.3 - - 2014 - - - - - - - - 14.47 14.40 14.49
16674 587.2 9.4 885 16687 roll 0.82 - - 3210 - 2.35 0.049 3054 578.7 190.3 - - 2014 - - - - - - - - 14.84 14.26 14.85
16718 583.2 9.3 890 16731 done 0.82 - - 3218 - 2.38 0.042 1678 -578.2 190.3 - - 2014 - - - - - - - - 14.40 14.32 14.44
17083 550.5 8.8 899 17096 roll 0.82 - - 3229 - 2.45 0.066 317 -555.5 190.3 - - 2017 - - - - - - - - 14.78 14.18 14.80
17166 542.5 9.8 910 17179 done 0.82 0.15 0.239 3199 -200.0 2.30 0.031 1698 600.4 190.3 - - 2014 - - - - - - - - 13.88 14.39 14.14
17489 516.7 8.0 920 17502 roll 0.82 - - 3199 - 2.35 0.049 3041 571.5 190.3 - - 2014 - - - - - - - - 14.82 14.22 14.84
17558 510.5 8.7 929 17571 done 0.82 - - 3205 - 2.35 0.043 1680 -579.1 190.3 - - 2010 - - - - - - - - 14.37 14.28 14.40
17894 480.3 9.2 941 17907 roll 0.82 - - 3215 - 2.45 0.067 320 -555.1 190.3 - - 2014 - - - - - - - - 14.80 14.15 14.82
17985 471.6 9.7 953 17998 done 0.82 - - 3216 - 2.28 0.030 1681 596.9 190.3 - - 2013 - - - - - - - - 14.42 14.37 14.45
18356 438.8 8.6 963 18369 roll 0.82 - - 3216 - 2.38 0.047 3051 575.6 190.3 - - 2014 - - - - - - - - 14.79 14.21 14.81
18440 431.7 8.4 974 18453 done 0.82 - - 3225 - 2.38 0.042 1671 -579.8 190.3 - - 2014 - - - - - - - - 14.38 14.28 14.41
18761 404.3 8.6 984 18775 roll 0.82 - - 3235 - 2.42 0.065 319 -558.7 190.3 - - 2013 - - - - - - - - 14.78 14.11 14.81
18824 398.4 9.9 992 18837 done 0.82 0.17 0.234 3198 -217.6 2.28 0.029 1697 604.4 190.3 - - 2013 - - - - - - - - 13.81 14.36 14.08
19168 370.6 8.1 1005 19181 roll 0.82 - - 3198 - 2.33 0.048 3040 576.4 190.3 - - 2014 - - - - - - - - 14.81 14.19 14.83
19231 365.1 8.7 1013 19244 done 0.82 - - 3204 - 2.35 0.042 1679 -579.1 190.3 - - 2014 - - - - - - - - 14.34 14.24 14.38
19575 334.9 8.9 1026 19588 roll 0.82 - - 3215 - 2.45 0.066 322 -553.9 190.3 - - 2012 - - - - - - - - 14.77 14.12 14.80
19637 328.8 9.8 1034 19651 done 0.82 - - 3214 - 2.25 0.030 1669 598.7 190.3 - - 2014 - - - - - - - - 14.41 14.36 14.43
19980 294.1 10.3 1047 19993 roll 0.82 - - 3215 - 2.40 0.047 3052 576.2 190.3 - - 2014 - - - - - - - - 14.82 14.19 14.84
20064 284.9 10.8 1058 20078 done 0.82 - - 3222 - 2.38 0.042 1679 -576.9 190.3 - - 2014 - - - - - - - - 14.33 14.23 14.36
20386 253.1 9.6 1068 20399 roll 0.82 - - 3233 - 2.42 0.064 323 -560.3 190.3 - - 2014 - - - - - - - - 14.79 14.12 14.81
20463 245.8 9.8 1078 20476 done 0.82 0.15 0.226 3201 -213.3 2.30 0.030 1700 598.7 190.3 - - 2017 - - - - - - - - 13.84 14.33 14.08
20792 219.5 7.9 1089 20805 done 0.82 - - 3201 - - - 1702 - 190.3 - - 2017 - - - - - - - - 14.83 14.84 14.85
21128 191.9 8.2 1095 21142 roll 0.82 - - 3201 - 2.33 0.046 3043 575.5 190.3 - - 2014 - - - - - - - - 14.82 14.19 14.84
21171 188.4 8.5 1100 21184 done 0.82 - - 3207 - 2.35 0.040 1678 -580.9 190.3 - - 2014 - - - - - - - - 14.34 14.25 14.37
21534 159.8 7.8 1109 21548 roll 0.82 - - 3218 - 2.42 0.065 326 -558.7 191.5 - - 2014 - - - - - - - - 14.78 14.12 14.81
21582 155.7 8.8 1115 21595 done 0.82 - - 3218 - 2.22 0.029 1668 604.5 191.5 - - 2014 - - - - - - - - 14.34 14.28 14.36
21940 125.8 8.4 1123 21953 roll 0.82 - - 3218 - 2.40 0.046 3056 578.3 191.5 - - 2012 - - - - - - - - 14.82 14.19 14.83
21995 120.7 9.0 1130 22009 done 0.82 0.15 0.239 3196 -146.7 2.40 0.040 1674 -575.8 191.5 - - 2014 - - - - - - - - 13.81 14.22 14.06
22313 97.4 7.1 1137 22342 roll 0.84 - - 3204 - 2.45 0.064 324 -551.0 205.5 13.07 0.338 1960 -4.1 0.231 - - - - - - 14.76 14.27 13.79
22398 91.2 7.2 1149 22429 done 0.86 - - 3208 - 2.22 0.029 1676 609.0 217.1 15.05 0.335 1909 -3.4 0.179 - - - - - - 14.41 14.42 13.85
22739 68.3 6.8 1164 22773 roll 0.98 0.12 0.123 3263 458.3 2.42 0.047 3059 571.5 236.2 21.60 0.291 1832 -3.6 0.163 - - - - - - 14.29 14.40 14.00
22793 63.2 8.9 1172 22807 done 0.98 - - 3272 - 2.35 0.041 1680 -586.8 236.2 - - 1836 - - - - - - - - 14.47 14.38 14.50
23131 38.6 5.5 1186 23189 roll 1.03 - - 3273 - 2.40 0.044 3054 572.5 280.5 41.33 0.223 1652 -4.5 0.150 - - - - - - 14.74 14.40 14.11
23420 26.2 4.2 1227 23491 done 1.27 0.17 0.100 3346 429.4 2.35 0.039 1676 -586.4 348.2 55.95 0.190 1371 -5.0 0.135 - - - - - - 14.28 14.33 14.16
23719 end climb: SURFACE_DEPTH_REACHED
23719 begin surface coast
23747 end surface coast: CONTROL_FINISHED_OK
23747 begin surface
SM 1.12 - - - - -8.61 9.62 0.072 157 16.3 0.12 0.092 1803 -80225.0 515.13 101.22 0.123 692 6.8 -0.006 - - - - - -