SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 619 * Raw log
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• Previous call tries 1 • 234.36 of 350.00 AH used of 24V (33.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.5 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 14 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 116 VBD -0.84 - - 153 - - - 1765 - -116.8 -82.80 - 3144 - - - - - - - - 14.57 - 14.59
121 4.3 -5.7 3 144 roll -0.84 12.45 0.372 2666 201.8 2.67 2.039 368 -523.2 -116.8 -1.90 - 3271 -66.8 - - - - - - - 13.90 13.01 14.32
262 44.8 -23.4 23 268 done -0.45 0.52 0.269 2776 211.5 2.35 0.034 1778 600.0 -116.8 - - 3272 - - - - - - - - 13.95 14.42 14.25
598 75.8 -6.7 38 605 roll -0.45 - - 2773 - 2.47 0.054 367 -571.3 -116.8 - - 3273 - - - - - - - - 14.66 14.26 14.69
628 77.8 -7.5 42 635 done -0.45 - - 2769 - 2.35 0.031 1776 599.6 -116.8 - - 3272 - - - - - - - - 14.45 14.39 14.47
992 110.6 -8.4 56 995 done -0.45 - - 2769 - - - 1776 - -116.8 - - 3274 - - - - - - - - 14.71 14.71 14.73
1328 135.3 -7.1 62 1335 roll -0.45 - - 2763 - 2.42 0.050 3173 577.3 -116.8 - - 3274 - - - - - - - - 14.69 14.19 14.71
1414 141.8 -7.7 74 1420 done -0.45 - - 2758 - 2.38 0.036 1771 -589.1 -116.8 - - 3277 - - - - - - - - 14.37 14.29 14.39
1778 169.7 -7.4 84 1785 roll -0.45 - - 2759 - 2.47 0.058 373 -566.0 -116.8 - - 3270 - - - - - - - - 14.66 14.14 14.68
1891 178.8 -8.1 100 1897 done -0.45 0.12 0.249 2776 141.7 2.38 0.032 1787 594.1 -116.8 - - 3270 - - - - - - - - 13.90 14.30 14.14
2229 204.7 -8.0 113 2236 roll -0.57 - - 2768 - 2.40 0.052 3159 571.7 -116.8 - - 3265 - - - - - - - - 14.64 14.13 14.66
2334 213.4 -8.0 128 2342 done -0.70 0.20 0.090 2686 -410.0 2.40 0.037 1765 -580.8 -116.8 - - 3267 - - - - - - - - 14.21 14.21 14.28
2680 250.1 -10.6 135 2693 roll -0.70 - - 2686 - 2.47 0.058 373 -563.6 -116.8 - - 3264 - - - - - - - - 14.64 14.14 14.66
2799 263.5 -11.0 151 2813 done -0.59 0.25 0.246 2732 184.0 2.40 0.032 1780 586.2 -116.8 - - 3264 - - - - - - - - 13.71 14.30 14.02
3144 291.4 -7.9 164 3157 roll -0.59 - - 2723 - 2.42 0.052 3166 572.7 -116.8 - - 3261 - - - - - - - - 14.81 14.11 14.81
3185 294.8 -8.0 169 3199 done -0.59 - - 2724 - 2.38 0.037 1779 -582.8 -116.8 - - 3261 - - - - - - - - 14.31 14.23 14.34
3549 325.2 -8.5 178 3563 roll -0.59 - - 2724 - 2.55 0.059 370 -552.5 -116.8 - - 3259 - - - - - - - - 14.78 13.97 14.80
3670 336.9 -10.0 194 3683 done -0.59 - - 2714 - 2.40 0.033 1778 586.7 -116.8 - - 3257 - - - - - - - - 14.31 14.23 14.34
4013 372.1 -10.4 207 4026 roll -0.59 - - 2703 - 2.42 0.053 3163 572.3 -116.8 - - 3255 - - - - - - - - 14.78 14.09 14.80
4047 375.8 -10.5 211 4061 done -0.59 0.15 0.239 2734 206.7 2.38 0.037 1772 -584.5 -116.8 - - 3255 - - - - - - - - 13.78 14.23 14.03
4420 409.2 -8.7 221 4433 roll -0.59 - - 2735 - 2.53 0.060 373 -553.0 -116.8 - - 3253 - - - - - - - - 14.81 14.00 14.83
4573 423.2 -8.7 242 4587 done -0.59 - - 2727 - 2.40 0.033 1780 586.2 -116.8 - - 3252 - - - - - - - - 14.29 14.23 14.31
4939 453.6 -8.3 251 4952 roll -0.59 - - 2716 - 2.45 0.053 3169 566.9 -116.8 - - 3251 - - - - - - - - 14.75 14.02 14.77
4980 457.3 -8.7 256 4993 done -0.59 - - 2715 - 2.40 0.038 1778 -579.6 -116.8 - - 3251 - - - - - - - - 14.24 14.16 14.28
5345 488.4 -8.6 265 5359 roll -0.59 - - 2716 - 2.55 0.060 371 -551.8 -116.8 - - 3249 - - - - - - - - 14.79 13.97 14.81
5485 501.2 -8.9 284 5498 done -0.59 0.12 0.268 2732 133.3 2.40 0.033 1775 585.0 -116.8 - - 3248 - - - - - - - - 13.69 14.20 13.95
5808 525.6 -7.5 294 5822 roll -0.59 - - 2724 - 2.45 0.054 3163 566.5 -116.8 - - 3247 - - - - - - - - 14.81 14.00 14.83
5893 532.0 -7.5 305 5907 done -0.59 - - 2724 - 2.42 0.037 1772 -574.8 -116.8 - - 3246 - - - - - - - - 14.21 14.12 14.23
6215 557.6 -8.0 315 6229 roll -0.59 - - 2724 - 2.55 0.060 373 -548.6 -116.8 - - 3245 - - - - - - - - 14.75 13.96 14.76
6356 570.0 -8.6 334 6369 done -0.59 - - 2715 - 2.42 0.033 1773 578.5 -116.8 - - 3243 - - - - - - - - 14.23 14.16 14.26
6678 597.3 -8.4 344 6691 roll -0.59 - - 2704 - 2.47 0.052 3169 565.2 -116.8 - - 3244 - - - - - - - - 14.74 13.97 14.76
6789 606.7 -8.3 359 6803 done -0.59 0.15 0.238 2734 200.0 2.45 0.037 1773 -569.8 -116.8 - - 3243 - - - - - - - - 13.63 13.95 13.89
7134 632.9 -7.6 366 7147 roll -0.59 - - 2734 - 2.55 0.062 379 -546.7 -116.8 - - 3242 - - - - - - - - 14.78 13.90 14.81
7217 639.7 -8.1 377 7230 done -0.59 - - 2727 - 2.42 0.034 1787 581.8 -116.8 - - 3242 - - - - - - - - 14.22 14.14 14.24
7540 665.2 -8.0 387 7554 roll -0.59 - - 2717 - 2.45 0.054 3161 560.8 -116.8 - - 3240 - - - - - - - - 14.72 13.96 14.74
7596 669.8 -8.1 394 7610 done -0.59 - - 2717 - 2.42 0.038 1777 -571.9 -116.8 - - 3239 - - - - - - - - 14.14 14.06 14.21
7940 698.0 -8.2 401 7953 roll -0.59 - - 2717 - 2.58 0.061 372 -544.6 -116.8 - - 3239 - - - - - - - - 14.77 13.90 14.79
8073 709.7 -8.7 419 8087 done -0.59 0.12 0.265 2731 116.7 2.42 0.034 1774 579.3 -116.8 - - 3238 - - - - - - - - 13.62 14.12 13.86
8403 734.5 -7.5 430 8416 roll -0.59 - - 2723 - 2.47 0.054 3161 561.5 -116.8 - - 3237 - - - - - - - - 14.76 13.90 14.78
8509 742.6 -7.8 444 8522 done -0.68 - - 2723 - 2.45 0.038 1771 -567.3 -116.8 - - 3237 - - - - - - - - 14.12 14.03 14.16
8866 771.2 -8.1 452 8879 roll -0.68 - - 2723 - 2.58 0.063 373 -541.9 -116.8 - - 3236 - - - - - - - - 14.77 13.88 14.79
8951 778.5 -8.5 463 8964 done -0.68 - - 2714 - 2.45 0.034 1781 574.7 -116.8 - - 3237 - - - - - - - - 14.17 14.11 14.20
9273 805.7 -8.4 473 9286 roll -0.68 - - 2704 - 2.47 0.054 3161 558.7 -116.8 - - 3235 - - - - - - - - 14.70 13.90 14.71
9342 811.2 -7.2 482 9355 done -0.68 - - 2704 - 2.42 0.037 1774 -573.1 -116.8 - - 3233 - - - - - - - - 14.12 14.02 14.14
9680 840.7 -8.6 494 9693 roll -0.68 - - 2704 - 2.58 0.062 376 -541.9 -116.8 - - 3232 - - - - - - - - 14.74 13.88 14.76
9784 851.2 -9.4 508 9797 done -0.68 - - 2694 - 2.45 0.034 1774 570.6 -116.8 - - 3233 - - - - - - - - 14.16 14.09 14.19
10142 883.8 -9.4 516 10156 roll -0.68 - - 2684 - 2.50 0.054 3169 558.0 -116.8 - - 3232 - - - - - - - - 14.73 13.89 14.75
10225 891.8 -9.3 527 10239 done -0.68 - - 2684 - 2.45 0.038 1774 -569.4 -116.8 - - 3232 - - - - - - - - 14.10 14.01 14.14
10547 922.4 -9.6 537 10561 roll -0.68 - - 2684 - 2.58 0.063 377 -541.5 -116.8 - - 3232 - - - - - - - - 14.68 13.89 14.70
10661 933.7 -10.0 552 10675 done -0.68 0.15 0.272 2703 126.7 2.47 0.034 1783 569.2 -116.8 - - 3232 - - - - - - - - 13.57 14.07 13.85
11003 962.6 -8.3 559 11016 roll -0.68 - - 2694 - 2.50 0.056 3167 553.6 -116.8 - - 3232 - - - - - - - - 14.66 13.90 14.66
11088 969.5 -8.2 570 11101 done -0.68 - - 2694 - 2.45 0.039 1776 -567.8 -116.8 - - 3232 - - - - - - - - 14.07 14.00 14.12
11350 end dive: TARGET_DEPTH_EXCEEDED
11350 begin apogee
11359 991.1 -8.1 579 11491 done -0.21 0.68 0.234 2856 238.2 - - 1668 - - 121.32 2.238 2795 -3.6 0.305 - - - - - - 13.72 13.86 12.86
11494 end apogee: CONTROL_FINISHED_OK
11494 begin climb
11498 995.7 - 581 11645 roll 0.84 1.17 0.150 3194 288.9 2.55 0.047 3074 551.4 116.8 127.80 2.192 2306 -3.8 0.333 - - - - - - 13.78 13.82 12.82
11730 982.0 8.6 618 11744 done 0.84 - - 3202 - 2.42 0.039 1685 -574.0 116.8 - - 2295 - - - - - - - - 14.31 14.23 14.35
12095 949.9 8.9 627 12108 roll 0.84 - - 3213 - 2.42 0.063 324 -562.4 116.8 - - 2293 - - - - - - - - 14.71 14.29 14.74
12150 944.7 9.6 634 12165 done 0.84 - - 3213 - 2.30 0.030 1700 598.3 116.8 - - 2292 - - - - - - - - 14.46 14.40 14.49
12496 913.6 9.0 641 12509 roll 0.84 - - 3213 - 2.35 0.048 3050 574.5 116.8 - - 2292 - - - - - - - - 14.74 14.26 14.76
12632 901.2 8.9 659 12645 done 0.75 0.22 0.260 3175 -172.7 2.38 0.041 1670 -579.8 116.8 - - 2291 - - - - - - - - 13.88 14.31 14.23
12963 877.8 6.9 670 12988 done 0.77 - - 3175 - - - 1671 - 134.7 16.17 2.057 2242 -3.0 0.247 - - - - - - 14.71 14.32 13.35
13298 855.1 6.7 676 13330 done 0.79 - - 3175 - - - 1671 - 155.7 23.08 2.055 2157 -3.7 0.293 - - - - - - 14.71 14.23 13.26
13634 832.2 6.8 682 13670 roll 0.82 - - 3175 - 2.45 0.047 3049 562.4 175.5 20.70 2.025 2066 -4.4 0.346 - - - - - - 14.69 14.28 13.24
13714 826.4 7.5 693 13727 done 0.83 - - 3180 - 2.35 0.041 1683 -581.3 181.8 - - 2060 - - - - - - - - 14.47 14.38 14.49
14036 802.0 7.6 703 14053 roll 0.83 - - 3191 - 2.42 0.067 321 -562.8 185.7 3.67 1.252 2033 -7.4 0.902 - - - - - - 14.69 14.39 13.26
14088 798.2 7.0 710 14126 done 0.85 - - 3191 - 2.28 0.030 1690 600.4 202.3 26.52 1.980 1966 -2.5 0.195 - - - - - - 14.53 14.47 13.23
14435 769.8 8.2 724 14448 roll 0.85 - - 3190 - 2.35 0.047 3045 576.6 202.3 - - 1953 - - - - - - - - 14.71 14.30 14.73
14527 762.1 8.4 736 14540 done 0.85 - - 3199 - 2.38 0.043 1679 -573.9 202.3 - - 1948 - - - - - - - - 14.43 14.34 14.47
14898 730.6 8.6 746 14911 roll 0.85 - - 3209 - 2.47 0.066 316 -551.8 202.3 - - 1948 - - - - - - - - 14.76 14.21 14.78
14939 726.7 9.4 751 14952 done 0.85 - - 3209 - 2.28 0.030 1682 599.1 202.3 - - 1948 - - - - - - - - 14.47 14.41 14.50
15305 692.0 9.5 760 15318 roll 0.85 - - 3209 - 2.40 0.047 3050 570.0 202.3 - - 1948 - - - - - - - - 14.72 14.25 14.73
15409 681.4 9.8 774 15423 done 0.85 - - 3218 - 2.38 0.041 1678 -576.5 202.3 - - 1948 - - - - - - - - 14.38 14.29 14.42
15768 646.5 9.8 782 15781 roll 0.85 - - 3228 - 2.45 0.066 326 -551.8 202.3 - - 1951 - - - - - - - - 14.72 14.14 14.73
15823 640.5 10.7 789 15837 done 0.85 - - 3228 - 2.28 0.030 1677 592.5 202.3 - - 1948 - - - - - - - - 14.42 14.35 14.45
16167 605.3 10.2 796 16180 roll 0.85 - - 3228 - 2.42 0.047 3059 571.1 202.3 - - 1947 - - - - - - - - 14.76 14.15 14.78
16273 594.5 10.1 810 16287 done 0.85 0.15 0.255 3207 -140.0 2.42 0.041 1682 -569.0 202.3 - - 1948 - - - - - - - - 13.86 14.24 14.18
16631 563.9 8.3 818 16644 roll 0.85 - - 3215 - 2.50 0.066 317 -546.0 202.3 - - 1948 - - - - - - - - 14.81 14.09 14.78
16665 561.1 8.2 822 16678 done 0.85 - - 3215 - 2.30 0.030 1684 594.3 202.3 - - 1948 - - - - - - - - 14.40 14.37 14.44
17038 531.2 7.8 832 17051 roll 0.85 - - 3214 - 2.40 0.046 3057 572.1 203.4 - - 1948 - - - - - - - - 14.69 14.16 14.71
17135 523.4 7.8 845 17148 done 0.85 - - 3224 - 2.40 0.040 1674 -576.2 205.0 - - 1948 - - - - - - - - 14.32 14.22 14.34
17502 493.4 8.5 854 17516 roll 0.85 - - 3235 - 2.47 0.066 319 -548.6 205.0 - - 1948 - - - - - - - - 14.68 14.08 14.70
17586 484.8 10.2 865 17599 done 0.85 - - 3235 - 2.33 0.029 1692 589.3 205.0 - - 1948 - - - - - - - - 14.38 14.33 14.43
17908 451.5 10.5 875 17921 roll 0.85 - - 3235 - 2.40 0.047 3055 567.9 205.0 - - 1948 - - - - - - - - 14.75 14.10 14.77
17986 443.0 11.0 885 17999 done 0.85 0.17 0.248 3207 -164.7 2.40 0.041 1676 -574.6 205.0 - - 1946 - - - - - - - - 13.80 14.21 14.13
18315 411.4 9.4 896 18328 roll 0.85 - - 3215 - 2.47 0.066 320 -549.0 205.0 - - 1948 - - - - - - - - 14.70 14.04 14.71
18358 407.3 10.0 901 18371 done 0.85 - - 3215 - 2.28 0.029 1690 600.9 205.0 - - 1948 - - - - - - - - 14.37 14.31 14.40
18722 371.9 9.7 910 18736 roll 0.85 - - 3215 - 2.40 0.047 3052 567.5 205.0 - - 1948 - - - - - - - - 14.74 14.05 14.77
18771 366.9 9.9 916 18784 done 0.85 - - 3223 - 2.38 0.040 1682 -575.6 205.0 - - 1948 - - - - - - - - 14.29 14.20 14.33
19129 332.4 9.6 924 19143 roll 0.85 - - 3234 - 2.47 0.064 319 -551.8 205.0 - - 1948 - - - - - - - - 14.68 14.02 14.71
19171 328.1 9.8 929 19184 done 0.85 - - 3234 - 2.28 0.029 1672 593.4 205.0 - - 1948 - - - - - - - - 14.36 14.31 14.39
19535 293.2 9.5 938 19548 roll 0.85 - - 3234 - 2.45 0.047 3063 567.8 205.0 - - 1950 - - - - - - - - 14.74 14.05 14.76
19641 282.9 9.7 952 19654 done 0.85 0.15 0.245 3212 -146.7 2.42 0.041 1676 -573.1 205.0 - - 1949 - - - - - - - - 13.77 14.16 14.08
19998 251.2 9.1 960 20011 roll 0.85 - - 3219 - 2.50 0.065 321 -542.0 205.0 - - 1948 - - - - - - - - 14.73 13.99 14.75
20055 245.8 9.9 967 20069 done 0.85 - - 3219 - 2.30 0.028 1681 591.3 205.0 - - 1948 - - - - - - - - 14.32 14.26 14.35
20397 215.1 8.8 974 20410 roll 0.85 - - 3219 - 2.42 0.044 3062 570.7 205.0 - - 1948 - - - - - - - - 14.69 14.06 14.71
20438 211.3 9.1 979 20452 done 0.85 - - 3228 - 2.40 0.040 1681 -575.4 205.0 - - 1947 - - - - - - - - 14.26 14.17 14.31
20804 179.2 8.8 988 20817 done 0.85 - - 3228 - - - 1680 - 205.0 - - 1948 - - - - - - - - 14.72 14.75 14.75
21139 150.1 8.6 994 21152 done 0.85 - - 3227 - - - 1680 - 205.0 - - 1948 - - - - - - - - 14.73 14.76 14.76
21474 120.6 8.9 1000 21488 roll 0.85 - - 3228 - 2.45 0.045 3060 563.3 205.0 - - 1951 - - - - - - - - 14.74 14.05 14.76
21573 111.7 9.0 1013 21587 done 0.85 0.15 0.238 3206 -146.7 2.40 0.039 1677 -576.2 205.0 - - 1948 - - - - - - - - 13.79 14.16 14.09
21913 89.4 6.3 1024 21953 roll 0.89 - - 3214 - 2.45 0.064 323 -552.7 233.9 24.70 0.343 1842 -4.3 0.214 - - - - - - 14.69 14.31 13.93
21989 83.8 7.6 1035 22013 done 0.99 0.10 0.145 3256 420.0 2.28 0.028 1691 600.0 239.5 8.48 0.277 1821 -2.5 0.143 - - - - - - 14.29 14.43 13.85
22341 57.8 5.4 1051 22400 roll 1.05 - - 3257 - 2.42 0.062 325 -564.5 284.8 45.62 0.276 1634 -4.1 0.164 - - - - - - 14.68 14.23 14.01
22619 50.3 3.1 1091 22713 done 1.37 0.35 0.070 3384 362.9 2.25 0.028 1687 605.3 374.3 81.30 0.256 1266 -4.5 0.170 - - - - - - 14.26 14.35 14.04
23036 10.7 10.7 1117 23054 roll 1.37 - - 3394 - 2.47 0.062 333 -548.2 374.3 2.33 0.143 1266 - - - - - - - - 14.71 14.07 13.92
23082 5.5 11.7 1123 23096 done 1.37 - - 3394 - 2.22 0.027 1678 605.9 374.3 - - 1272 - - - - - - - - 14.39 14.34 14.40
23129 end climb: SURFACE_DEPTH_REACHED
23129 begin surface coast
23157 end surface coast: CONTROL_FINISHED_OK
23157 begin surface
SM 1.13 - - - - -8.60 9.65 0.054 160 16.6 0.08 0.135 1783 9412.5 515.13 86.28 0.122 691 8.0 -0.008 - - - - - -