SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 131 * Raw log
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• Previous call tries 1 • 52.74 of 350.00 AH used of 24V (84.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth 1.21 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 41 s
• GPS2 time: 27 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 done -0.84 - - 157 - - - 1869 - -116.8 -78.12 - 3272 - - - - - - - - 14.81 13.56 14.83
114 11.3 -17.7 3 131 roll -0.84 11.62 0.381 2659 215.3 2.38 0.041 460 -592.0 -116.8 - - 3275 - - - - - - - - 14.40 14.61 14.63
180 42.7 -30.4 13 187 done -0.37 0.60 0.270 2801 236.7 2.33 0.036 1880 609.4 -116.8 - - 3275 - - - - - - - - 14.47 14.65 14.66
502 86.9 -10.3 26 509 roll -0.37 - - 2793 - 2.28 0.053 3266 607.9 -116.8 - - 3273 - - - - - - - - 14.92 14.71 14.94
679 99.7 -6.8 51 686 done -0.37 - - 2793 - 2.28 0.037 1872 -611.4 -116.8 - - 3277 - - - - - - - - 14.84 14.78 14.85
1036 125.6 -7.0 60 1042 roll -0.37 - - 2793 - 2.35 0.058 470 -596.6 -116.8 - - 3277 - - - - - - - - 14.98 14.78 15.00
1105 130.7 -7.4 70 1112 done -0.37 - - 2784 - 2.28 0.033 1885 620.6 -116.8 - - 3277 - - - - - - - - 14.88 14.83 14.90
1428 153.7 -7.2 81 1434 roll -0.37 - - 2774 - 2.28 0.055 3263 604.4 -116.8 - - 3276 - - - - - - - - 15.00 14.81 15.02
1455 155.8 -7.8 85 1463 done -0.37 0.15 0.228 2809 233.3 2.28 0.039 1868 -611.8 -116.8 - - 3276 - - - - - - - - 14.69 14.83 14.85
1820 180.2 -6.6 95 1827 roll -0.50 0.12 0.134 2752 -475.0 2.35 0.057 467 -596.2 -116.8 - - 3275 - - - - - - - - 14.83 14.82 14.86
1952 193.0 -10.1 114 1958 done -0.50 - - 2742 - 2.22 0.034 1842 619.4 -116.8 - - 3271 - - - - - - - - 14.86 14.85 14.89
2268 222.9 -9.4 124 2275 roll -0.50 - - 2736 - 2.38 0.055 3268 599.2 -116.8 - - 3268 - - - - - - - - 15.01 14.82 15.03
2344 230.2 -9.3 135 2351 done -0.50 0.15 0.239 2765 193.3 2.30 0.037 1840 -620.9 -116.8 - - 3268 - - - - - - - - 14.69 14.84 14.88
2660 254.6 -7.6 145 2674 roll -0.50 - - 2765 - 2.30 0.058 474 -593.9 -116.8 - - 3265 - - - - - - - - 15.03 14.84 15.05
2743 261.3 -8.1 156 2756 done -0.50 - - 2759 - 2.20 0.033 1838 620.0 -116.8 - - 3264 - - - - - - - - 14.94 14.89 14.95
3064 286.4 -7.8 166 3077 roll -0.50 - - 2748 - 2.35 0.054 3262 606.0 -116.8 - - 3262 - - - - - - - - 15.05 14.86 15.08
3146 293.2 -8.2 177 3160 done -0.50 - - 2748 - 2.28 0.037 1857 -616.2 -116.8 - - 3261 - - - - - - - - 14.95 14.89 14.97
3468 321.0 -8.7 187 3481 roll -0.50 - - 2748 - 2.33 0.059 472 -594.4 -116.8 - - 3259 - - - - - - - - 15.07 14.87 15.09
3550 328.9 -9.6 198 3563 done -0.50 - - 2739 - 2.20 0.034 1834 619.1 -116.8 - - 3258 - - - - - - - - 14.96 14.91 14.97
3871 358.2 -9.2 208 3885 roll -0.50 - - 2728 - 2.38 0.056 3268 602.5 -116.8 - - 3256 - - - - - - - - 15.07 14.88 15.09
3939 364.7 -9.4 217 3953 done -0.50 0.15 0.242 2762 226.7 2.30 0.038 1850 -616.5 -116.8 - - 3255 - - - - - - - - 14.73 14.90 14.91
4275 390.8 -7.7 229 4289 roll -0.50 - - 2762 - 2.33 0.059 470 -592.3 -116.8 - - 3254 - - - - - - - - 15.07 14.87 15.09
4364 398.4 -8.3 241 4378 done -0.50 - - 2756 - 2.17 0.034 1818 621.2 -116.8 - - 3252 - - - - - - - - 14.96 14.94 14.98
4734 428.2 -8.2 251 4747 roll -0.50 - - 2745 - 2.40 0.056 3263 602.1 -116.8 - - 3251 - - - - - - - - 15.07 14.87 15.10
4797 433.5 -8.6 259 4810 done -0.50 - - 2745 - 2.38 0.039 1817 -607.6 -116.8 - - 3248 - - - - - - - - 14.95 14.90 14.97
5139 462.7 -8.4 272 5152 roll -0.50 - - 2746 - 2.28 0.060 469 -591.2 -116.8 - - 3249 - - - - - - - - 15.05 14.86 15.09
5263 473.4 -8.4 289 5277 done -0.50 0.12 0.267 2762 133.3 2.15 0.034 1802 620.0 -116.8 - - 3248 - - - - - - - - 14.69 14.91 14.90
5599 496.5 -6.8 301 5612 roll -0.50 - - 2754 - 2.42 0.057 3260 602.5 -116.8 - - 3247 - - - - - - - - 15.07 14.84 15.09
5710 504.2 -6.8 316 5724 done -0.50 - - 2754 - 2.35 0.038 1828 -609.4 -116.8 - - 3246 - - - - - - - - 14.95 14.89 14.97
6053 528.3 -7.1 323 6066 roll -0.50 - - 2754 - 2.30 0.061 474 -588.7 -116.8 - - 3244 - - - - - - - - 15.10 14.89 15.09
6142 535.4 -7.8 335 6156 done -0.50 - - 2746 - 2.15 0.035 1805 619.1 -116.8 - - 3244 - - - - - - - - 14.96 14.90 14.97
6513 565.0 -8.2 345 6526 roll -0.50 - - 2734 - 2.45 0.057 3265 595.9 -116.8 - - 3243 - - - - - - - - 15.07 14.85 15.09
6682 579.3 -8.8 368 6696 done -0.50 0.12 0.249 2762 233.3 2.33 0.040 1841 -611.2 -116.8 - - 3242 - - - - - - - - 14.69 14.88 14.88
7023 606.2 -7.8 375 7037 roll -0.50 - - 2761 - 2.33 0.061 474 -586.7 -116.8 - - 3241 - - - - - - - - 15.06 14.84 15.08
7085 611.5 -8.6 383 7099 done -0.50 - - 2755 - 2.22 0.037 1830 610.8 -116.8 - - 3241 - - - - - - - - 14.95 14.89 14.95
7428 637.9 -7.6 396 7441 roll -0.50 - - 2744 - 2.40 0.058 3265 597.9 -116.8 - - 3240 - - - - - - - - 15.06 14.84 15.08
7510 644.2 -7.6 407 7523 done -0.50 - - 2744 - 2.35 0.040 1832 -609.8 -116.8 - - 3239 - - - - - - - - 14.93 14.87 14.95
7832 668.7 -7.6 417 7845 roll -0.50 - - 2750 - 2.33 0.063 470 -584.5 -116.8 - - 3238 - - - - - - - - 15.06 14.83 15.08
7942 678.1 -8.4 432 7956 done -0.50 0.12 0.262 2761 91.7 2.20 0.037 1811 609.5 -116.8 - - 3237 - - - - - - - - 14.66 14.88 14.86
8286 701.6 -6.8 439 8299 roll -0.50 - - 2753 - 2.45 0.059 3265 593.5 -116.8 - - 3236 - - - - - - - - 15.05 14.83 15.07
8382 708.3 -6.9 452 8399 done -0.59 - - 2754 - 2.38 0.041 1812 -610.5 -116.8 - - 3236 - - - - - - - - 14.92 14.86 14.94
8749 734.6 -7.2 461 8762 roll -0.59 - - 2753 - 2.30 0.063 464 -586.1 -116.8 - - 3235 - - - - - - - - 15.04 14.79 15.07
8832 741.3 -8.1 472 8845 done -0.59 - - 2745 - 2.20 0.038 1802 608.2 -116.8 - - 3234 - - - - - - - - 14.92 14.87 14.94
9153 766.9 -8.1 482 9166 roll -0.59 - - 2734 - 2.45 0.060 3259 594.7 -116.8 - - 3233 - - - - - - - - 15.04 14.81 15.06
9271 776.8 -8.4 498 9284 done -0.59 - - 2734 - 2.35 0.041 1840 -603.8 -116.8 - - 3233 - - - - - - - - 14.90 14.84 14.92
9613 805.2 -8.3 511 9627 roll -0.59 - - 2734 - 2.35 0.064 467 -584.3 -116.8 - - 3232 - - - - - - - - 15.04 14.78 15.05
9681 811.2 -8.6 520 9695 done -0.59 - - 2725 - 2.22 0.039 1819 609.0 -116.8 - - 3232 - - - - - - - - 14.92 14.86 14.93
10017 838.4 -8.1 532 10030 roll -0.59 - - 2714 - 2.42 0.060 3259 595.0 -116.8 - - 3231 - - - - - - - - 15.03 14.81 15.08
10079 843.4 -8.1 540 10092 done -0.59 - - 2713 - 2.35 0.041 1843 -602.6 -116.8 - - 3231 - - - - - - - - 14.90 14.83 14.91
10422 871.1 -8.1 553 10435 roll -0.59 - - 2714 - 2.35 0.065 470 -584.3 -116.8 - - 3231 - - - - - - - - 15.03 14.79 15.05
10525 879.9 -8.9 567 10539 done -0.59 0.15 0.270 2737 153.3 2.22 0.038 1819 607.7 -116.8 - - 3230 - - - - - - - - 14.60 14.85 14.82
10882 906.1 -7.4 575 10895 roll -0.59 - - 2728 - 2.45 0.060 3267 591.0 -116.8 - - 3229 - - - - - - - - 15.05 14.78 15.04
10964 912.6 -7.8 586 10978 done -0.59 - - 2728 - 2.40 0.041 1818 -603.8 -116.8 - - 3229 - - - - - - - - 14.89 14.82 14.91
11286 938.7 -8.3 596 11299 roll -0.59 - - 2729 - 2.33 0.065 464 -581.1 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
11355 945.0 -9.3 605 11368 done -0.59 - - 2719 - 2.20 0.039 1799 606.8 -116.8 - - 3228 - - - - - - - - 14.89 14.83 14.90
11690 974.7 -8.8 617 11703 roll -0.59 - - 2709 - 2.47 0.061 3259 591.1 -116.8 - - 3228 - - - - - - - - 15.02 14.77 15.04
11801 985.5 -11.1 632 11814 done -0.59 - - 2709 - 2.40 0.043 1826 -597.1 -116.8 - - 3228 - - - - - - - - 14.88 14.81 14.88
11861 end dive: TARGET_DEPTH_EXCEEDED
11861 begin apogee
11869 990.5 -8.9 634 11997 roll -0.21 0.55 0.230 2855 265.5 - - 1825 - - 118.62 2.191 2792 -3.7 0.308 - - - - - - 14.57 14.12 13.37
11999 end apogee: CONTROL_FINISHED_OK
11999 begin climb
12002 996.3 - 636 12143 roll 0.84 1.15 0.171 3191 292.2 2.47 0.058 3186 551.0 116.8 122.82 2.139 2316 -3.9 0.334 - - - - - - 14.09 14.14 13.24
12289 976.6 9.3 680 12303 done 0.72 0.17 0.268 3165 -152.9 2.38 0.041 1800 -582.4 116.8 - - 2294 - - - - - - - - 14.21 14.35 14.40
12660 946.8 8.0 690 12673 roll 0.72 - - 3164 - 2.40 0.054 3196 581.7 116.8 - - 2292 - - - - - - - - 14.78 14.59 14.81
12763 937.8 8.5 704 12776 done 0.72 - - 3171 - 2.45 0.043 1753 -589.0 116.8 - - 2293 - - - - - - - - 14.71 14.64 14.73
13120 908.0 8.4 712 13133 roll 0.72 - - 3182 - 2.38 0.067 393 -571.4 116.8 - - 2292 - - - - - - - - 14.89 14.68 14.92
13238 897.5 8.8 728 13251 done 0.72 - - 3182 - 2.20 0.034 1730 607.7 116.8 - - 2291 - - - - - - - - 14.81 14.76 14.83
13580 869.3 8.2 741 13593 roll 0.72 - - 3182 - 2.47 0.054 3192 591.9 116.8 - - 2291 - - - - - - - - 14.94 14.76 14.97
13635 864.0 8.6 748 13649 done 0.62 0.25 0.263 3134 -192.0 2.47 0.043 1722 -595.1 116.8 - - 2291 - - - - - - - - 14.55 14.76 14.78
13979 842.8 6.0 755 14029 roll 0.67 - - 3141 - 2.40 0.069 399 -551.2 150.7 34.00 1.989 2166 -3.7 0.289 - - - - - - 14.97 14.48 13.84
14106 834.6 7.2 773 14123 done 0.68 - - 3142 - 2.20 0.035 1720 600.5 162.5 4.65 1.519 2130 -7.7 0.788 - - - - - - 14.61 14.57 13.74
14431 811.0 7.3 784 14462 roll 0.69 - - 3142 - 2.55 0.056 3194 578.0 172.6 17.02 1.977 2082 -2.8 0.214 - - - - - - 14.84 14.53 13.88
14496 805.8 8.3 793 14509 done 0.69 - - 3151 - 2.50 0.043 1722 -588.8 172.6 - - 2075 - - - - - - - - 14.62 14.55 14.64
14831 777.6 8.5 805 14845 roll 0.69 - - 3161 - 2.33 0.068 395 -569.5 172.6 - - 2072 - - - - - - - - 14.85 14.65 14.88
14886 772.5 9.5 812 14900 done 0.69 - - 3161 - 2.22 0.035 1734 603.2 172.6 - - 2074 - - - - - - - - 14.74 14.70 14.76
15230 739.9 9.6 819 15243 roll 0.69 - - 3161 - 2.47 0.054 3193 590.7 172.6 - - 2074 - - - - - - - - 14.92 14.73 14.94
15277 735.1 10.0 825 15290 done 0.69 - - 3170 - 2.42 0.044 1739 -600.8 172.6 - - 2073 - - - - - - - - 14.81 14.74 14.83
15634 700.2 9.8 833 15648 roll 0.69 - - 3181 - 2.35 0.068 389 -574.5 172.6 - - 2073 - - - - - - - - 14.95 14.73 14.97
15731 690.2 10.2 846 15744 done 0.69 - - 3181 - 2.20 0.034 1726 607.7 172.6 - - 2073 - - - - - - - - 14.85 14.80 14.87
16094 654.7 9.7 855 16107 roll 0.69 - - 3181 - 2.47 0.053 3195 594.7 172.6 - - 2073 - - - - - - - - 14.97 14.77 14.99
16141 649.9 10.2 861 16155 done 0.69 0.15 0.267 3159 -146.7 2.47 0.043 1709 -601.6 172.6 - - 2073 - - - - - - - - 14.61 14.78 14.82
16498 619.7 8.4 869 16512 roll 0.69 - - 3167 - 2.28 0.068 398 -575.0 172.6 - - 2073 - - - - - - - - 14.98 14.76 15.00
16574 612.9 8.9 879 16587 done 0.69 - - 3166 - 2.12 0.034 1707 617.5 172.6 - - 2073 - - - - - - - - 14.88 14.83 14.89
16902 584.5 8.7 890 16915 roll 0.69 - - 3167 - 2.50 0.053 3190 593.2 172.6 - - 2074 - - - - - - - - 14.99 14.78 15.01
16970 578.3 9.0 899 16984 done 0.69 - - 3177 - 2.45 0.043 1717 -601.2 172.6 - - 2073 - - - - - - - - 14.87 14.79 14.89
17306 548.4 9.0 911 17319 roll 0.69 - - 3187 - 2.28 0.068 399 -578.1 172.6 - - 2073 - - - - - - - - 14.99 14.77 15.04
17381 541.0 10.0 921 17395 done 0.69 0.15 0.251 3154 -220.0 2.17 0.034 1746 620.7 172.6 - - 2072 - - - - - - - - 14.62 14.83 14.83
17710 513.8 8.3 932 17723 roll 0.69 - - 3154 - 2.45 0.054 3198 592.7 172.6 - - 2073 - - - - - - - - 14.99 14.78 15.01
17772 508.2 9.1 940 17785 done 0.69 - - 3161 - 2.47 0.043 1718 -599.2 172.6 - - 2073 - - - - - - - - 14.88 14.79 14.89
18114 477.7 8.9 953 18127 roll 0.69 - - 3171 - 2.30 0.068 390 -577.4 172.6 - - 2073 - - - - - - - - 14.99 14.76 15.01
18197 469.8 9.7 964 18210 done 0.69 - - 3171 - 2.20 0.033 1734 610.9 172.6 - - 2073 - - - - - - - - 14.88 14.83 14.90
18518 439.9 9.2 974 18531 roll 0.69 - - 3172 - 2.42 0.053 3189 601.2 172.6 - - 2073 - - - - - - - - 15.00 14.76 15.02
18580 433.8 9.7 982 18593 done 0.69 - - 3180 - 2.45 0.041 1719 -600.0 172.6 - - 2073 - - - - - - - - 14.86 14.79 14.89
18922 402.3 9.2 995 18935 roll 0.69 - - 3191 - 2.30 0.067 392 -577.0 172.6 - - 2073 - - - - - - - - 14.99 14.76 15.01
19011 393.6 9.7 1007 19025 done 0.69 0.15 0.247 3158 -220.0 2.20 0.034 1745 615.0 172.6 - - 2073 - - - - - - - - 14.62 14.83 14.83
19382 365.8 7.3 1017 19400 roll 0.71 - - 3157 - 2.47 0.053 3190 585.0 182.7 3.53 0.978 2048 -7.1 0.491 - - - - - - 15.00 14.80 14.03
19442 361.2 7.8 1025 19455 done 0.71 - - 3164 - 2.42 0.042 1734 -601.7 183.7 - - 2051 - - - - - - - - 14.87 14.80 14.88
19785 334.6 7.9 1038 19798 roll 0.71 - - 3175 - 2.30 0.067 396 -581.7 183.7 - - 2051 - - - - - - - - 14.98 14.76 15.02
19881 326.1 8.8 1051 19894 done 0.71 - - 3174 - 2.17 0.034 1733 616.1 183.7 - - 2051 - - - - - - - - 14.88 14.83 14.89
20244 294.0 9.0 1060 20258 roll 0.71 - - 3174 - 2.45 0.051 3199 598.4 183.7 - - 2051 - - - - - - - - 14.99 14.78 15.01
20284 290.0 9.5 1065 20298 done 0.71 - - 3184 - 2.47 0.041 1708 -603.6 183.7 - - 2054 - - - - - - - - 14.87 14.79 14.88
20648 256.3 9.2 1074 20661 roll 0.71 - - 3194 - 2.25 0.066 396 -583.1 183.7 - - 2051 - - - - - - - - 14.99 14.77 15.02
20717 249.6 9.7 1083 20730 done 0.71 0.15 0.246 3160 -226.7 2.15 0.034 1736 623.3 183.7 - - 2053 - - - - - - - - 14.62 14.83 14.81
21052 223.0 7.8 1095 21069 roll 0.71 - - 3161 - 2.45 0.051 3195 595.5 185.4 3.38 0.843 2035 -5.3 0.261 - - - - - - 15.00 14.81 14.07
21089 220.0 8.0 1100 21103 done 0.71 - - 3167 - 2.45 0.041 1715 -604.1 185.4 - - 2038 - - - - - - - - 14.88 14.81 14.89
21453 190.8 8.2 1109 21466 roll 0.71 - - 3177 - 2.25 0.065 398 -585.3 185.4 - - 2042 - - - - - - - - 14.99 14.77 15.04
21563 181.3 8.6 1124 21577 done 0.71 - - 3177 - 2.15 0.032 1721 615.3 185.4 - - 2042 - - - - - - - - 14.88 14.84 14.89
21907 154.2 7.8 1131 21924 roll 0.71 - - 3186 - 2.35 0.063 391 -566.0 186.3 2.33 0.431 2035 -3.0 0.199 - - - - - - 15.00 14.78 14.04
21952 150.5 8.3 1137 21965 done 0.71 - - 3186 - 2.12 0.032 1705 619.8 186.3 - - 2040 - - - - - - - - 14.88 14.84 14.90
22309 120.7 8.5 1145 22322 roll 0.71 - - 3186 - 2.47 0.049 3195 603.2 186.3 - - 2040 - - - - - - - - 15.00 14.80 15.00
22363 115.7 9.0 1152 22377 done 0.71 0.15 0.254 3163 -153.3 2.45 0.039 1720 -602.0 186.3 - - 2041 - - - - - - - - 14.62 14.81 14.82
22679 97.2 5.6 1159 22738 roll 0.86 0.15 0.123 3216 353.3 2.53 0.048 3193 582.2 228.0 42.05 0.389 1863 -4.2 0.196 - - - - - - 14.80 14.72 14.45
22759 91.7 7.0 1167 22790 done 0.88 - - 3225 - 2.40 0.039 1755 -599.2 243.6 17.80 0.353 1799 -3.6 0.173 - - - - - - 14.80 14.73 14.42
23107 69.9 5.8 1183 23157 roll 0.93 - - 3236 - 2.42 0.063 392 -563.2 281.7 37.08 0.311 1647 -4.1 0.171 - - - - - - 14.92 14.64 14.45
23254 61.5 5.2 1204 23313 done 1.13 0.17 0.111 3303 394.1 2.17 0.031 1750 625.8 330.9 46.45 0.291 1443 -4.4 0.172 - - - - - - 14.69 14.75 14.41
23642 36.4 5.5 1226 23694 roll 1.18 - - 3303 - 2.38 0.043 3174 598.3 374.3 38.60 0.220 1266 -4.6 0.141 - - - - - - 14.91 14.64 14.50
23805 27.8 5.9 1249 23850 done 1.38 0.20 0.097 3387 420.0 2.30 0.037 1783 -604.8 409.9 30.85 0.197 1120 -4.7 0.124 - - - - - - 14.72 14.71 14.52
24119 end climb: SURFACE_DEPTH_REACHED
24119 begin surface coast
24148 end surface coast: CONTROL_FINISHED_OK
24148 begin surface
SM 1.36 - - - - -8.60 9.38 0.068 162 17.2 0.03 0.300 1862 -318933.3 515.13 63.67 0.124 692 10.9 -0.012 - - - - - -