SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 142 * Raw log
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• Previous call tries 1 • 56.59 of 350.00 AH used of 24V (83.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 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: 23 s
• GPS2 time: 11 s • Transponder ping count: 2
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 157 - - - 1875 - -116.8 -79.62 - 3271 - - - - - - - - 14.82 13.90 14.84
111 9.3 -14.4 3 129 roll -0.84 11.82 0.387 2661 211.8 2.40 0.047 463 -588.3 -116.8 - - 3269 - - - - - - - - 14.40 14.63 14.66
212 55.3 -27.1 18 220 done -0.38 0.50 0.262 2796 270.0 2.28 0.036 1827 598.2 -116.8 - - 3270 - - - - - - - - 14.48 14.69 14.69
556 104.5 -9.2 30 562 roll -0.38 - - 2796 - 2.30 0.054 462 -593.5 -116.8 - - 3272 - - - - - - - - 14.95 14.75 14.97
611 109.3 -8.9 38 618 done -0.38 - - 2789 - 2.38 0.033 1935 618.9 -116.8 - - 3270 - - - - - - - - 14.85 14.80 14.85
948 135.1 -7.6 51 954 roll -0.38 - - 2781 - 2.20 0.052 3281 611.8 -116.8 - - 3272 - - - - - - - - 15.00 14.80 15.01
989 138.0 -7.0 57 996 done -0.38 - - 2779 - 2.28 0.036 1876 -616.2 -116.8 - - 3272 - - - - - - - - 14.88 14.82 14.89
1340 165.4 -8.0 65 1347 roll -0.38 - - 2779 - 2.35 0.056 469 -598.7 -116.8 - - 3272 - - - - - - - - 15.01 14.81 15.03
1445 174.9 -8.9 80 1453 done -0.38 0.15 0.250 2804 166.7 2.25 0.032 1862 619.1 -116.8 - - 3271 - - - - - - - - 14.67 14.85 14.84
1789 200.1 -7.3 87 1791 done -0.49 - - 2804 - - - 1862 - -116.8 - - 3268 - - - - - - - - 15.02 15.04 15.04
2124 224.1 -7.3 93 2132 roll -0.61 0.20 0.106 2722 -410.0 2.35 0.053 465 -594.5 -116.8 - - 3265 - - - - - - - - 14.81 14.82 14.84
2194 231.3 -10.8 103 2201 done -0.51 0.20 0.251 2760 190.0 2.20 0.034 1826 618.6 -116.8 - - 3264 - - - - - - - - 14.66 14.86 14.85
2517 259.3 -8.6 114 2530 roll -0.51 - - 2752 - 2.38 0.056 3264 604.2 -116.8 - - 3261 - - - - - - - - 15.04 14.85 15.06
2543 261.6 -8.4 117 2556 done -0.51 - - 2751 - 2.35 0.037 1821 -614.0 -116.8 - - 3262 - - - - - - - - 14.93 14.87 14.95
2864 289.6 -8.7 127 2878 roll -0.51 - - 2752 - 2.28 0.058 461 -596.5 -116.8 - - 3258 - - - - - - - - 15.05 14.85 15.08
2988 301.5 -9.5 144 3002 done -0.51 - - 2743 - 2.15 0.034 1805 625.1 -116.8 - - 3257 - - - - - - - - 14.95 14.90 14.97
3324 332.4 -9.4 156 3337 roll -0.51 - - 2732 - 2.42 0.056 3269 605.0 -116.8 - - 3255 - - - - - - - - 15.07 14.86 15.09
3364 336.4 -9.5 161 3378 done -0.51 0.12 0.252 2758 216.7 2.40 0.037 1794 -614.6 -116.8 - - 3254 - - - - - - - - 14.71 14.89 14.90
3728 367.7 -8.5 170 3741 roll -0.51 - - 2763 - 2.22 0.059 469 -596.8 -116.8 - - 3252 - - - - - - - - 15.08 14.87 15.09
3866 380.3 -9.0 189 3879 done -0.51 - - 2753 - 2.08 0.034 1770 625.5 -116.8 - - 3251 - - - - - - - - 14.97 14.92 14.99
4187 408.3 -8.8 199 4201 roll -0.51 - - 2741 - 2.47 0.055 3268 606.5 -116.8 - - 3248 - - - - - - - - 15.07 14.86 15.09
4277 416.5 -9.0 211 4290 done -0.51 - - 2741 - 2.42 0.038 1782 -614.0 -116.8 - - 3248 - - - - - - - - 14.95 14.89 14.97
4647 450.3 -9.2 221 4660 roll -0.51 - - 2741 - 2.22 0.059 466 -592.8 -116.8 - - 3246 - - - - - - - - 15.07 14.86 15.09
4730 458.6 -10.1 232 4743 done -0.51 - - 2733 - 2.12 0.035 1792 625.5 -116.8 - - 3246 - - - - - - - - 14.97 14.91 14.98
5051 490.7 -10.1 242 5064 done -0.51 - - 2733 - - - 1792 - -116.8 - - 3244 - - - - - - - - 15.07 15.09 15.09
5387 524.6 -10.0 248 5400 done -0.51 0.12 0.295 2757 200.0 - - 1792 - -116.8 - - 3242 - - - - - - - - 14.71 14.94 14.89
5724 551.9 -7.9 254 5737 roll -0.51 - - 2759 - 2.25 0.059 463 -590.7 -116.8 - - 3241 - - - - - - - - 15.07 14.85 15.09
5764 555.3 -8.2 259 5777 done -0.51 - - 2753 - 2.12 0.037 1776 619.3 -116.8 - - 3240 - - - - - - - - 14.96 14.91 14.97
6127 583.8 -7.9 268 6140 roll -0.51 - - 2742 - 2.50 0.057 3269 597.2 -116.8 - - 3239 - - - - - - - - 15.07 14.85 15.09
6231 592.2 -8.1 282 6244 done -0.51 - - 2742 - 2.42 0.037 1798 -607.9 -116.8 - - 3239 - - - - - - - - 14.94 14.88 14.95
6587 620.9 -8.0 290 6600 roll -0.51 - - 2742 - 2.25 0.060 471 -589.8 -116.8 - - 3237 - - - - - - - - 15.07 14.83 15.09
6698 630.2 -8.2 305 6712 done -0.51 - - 2732 - 2.15 0.037 1788 612.6 -116.8 - - 3236 - - - - - - - - 14.94 14.88 14.95
7041 656.4 -7.6 312 7055 roll -0.51 0.12 0.285 2754 183.3 2.47 0.056 3262 596.8 -116.8 - - 3238 - - - - - - - - 14.62 14.83 14.76
7096 660.1 -6.5 319 7110 done -0.60 - - 2754 - 2.45 0.041 1775 -606.9 -116.8 - - 3234 - - - - - - - - 14.92 14.85 14.94
7440 683.4 -6.9 326 7454 roll -0.60 - - 2754 - 2.22 0.063 468 -588.7 -116.8 - - 3233 - - - - - - - - 15.05 14.82 15.09
7530 690.5 -7.9 338 7543 done -0.60 - - 2746 - 2.10 0.037 1760 615.2 -116.8 - - 3232 - - - - - - - - 14.90 14.85 14.92
7900 719.9 -8.1 348 7913 roll -0.60 - - 2738 - 2.55 0.059 3269 591.8 -116.8 - - 3231 - - - - - - - - 15.05 14.81 15.07
8003 728.6 -8.2 362 8017 done -0.60 - - 2735 - 2.50 0.041 1753 -606.4 -116.8 - - 3230 - - - - - - - - 14.91 14.84 14.93
8359 758.1 -8.3 370 8373 roll -0.60 - - 2734 - 2.17 0.063 471 -590.8 -116.8 - - 3229 - - - - - - - - 15.04 14.81 15.07
8456 766.5 -8.7 383 8469 done -0.60 - - 2726 - 2.08 0.037 1735 607.7 -116.8 - - 3229 - - - - - - - - 14.92 14.86 14.93
8819 795.7 -8.0 392 8832 roll -0.60 - - 2715 - 2.58 0.059 3261 591.5 -116.8 - - 3228 - - - - - - - - 15.04 14.76 15.07
8944 805.6 -7.8 409 8957 done -0.60 - - 2715 - 2.47 0.041 1764 -606.1 -116.8 - - 3228 - - - - - - - - 14.90 14.83 14.92
9279 832.6 -8.1 421 9292 roll -0.60 - - 2715 - 2.22 0.064 463 -586.0 -116.8 - - 3230 - - - - - - - - 15.03 14.79 15.09
9390 842.0 -8.4 436 9404 done -0.60 - - 2707 - 2.12 0.039 1749 606.6 -116.8 - - 3226 - - - - - - - - 14.90 14.84 14.92
9733 869.6 -8.0 443 9747 roll -0.60 - - 2695 - 2.58 0.059 3262 586.4 -116.8 - - 3226 - - - - - - - - 15.02 14.78 15.04
9788 874.2 -8.2 450 9802 done -0.60 0.15 0.261 2727 213.3 2.55 0.042 1733 -599.6 -116.8 - - 3225 - - - - - - - - 14.56 14.80 14.79
10133 899.1 -7.2 457 10146 roll -0.60 - - 2735 - 2.17 0.064 463 -585.3 -116.8 - - 3225 - - - - - - - - 15.02 14.77 15.04
10222 905.9 -7.5 469 10236 done -0.60 - - 2729 - 2.08 0.040 1710 599.5 -116.8 - - 3224 - - - - - - - - 14.89 14.83 14.90
10593 932.7 -7.3 479 10606 roll -0.60 - - 2717 - 2.65 0.060 3267 587.5 -116.8 - - 3224 - - - - - - - - 15.02 14.77 15.04
10728 942.8 -7.8 497 10742 done -0.60 - - 2717 - 2.58 0.041 1724 -598.1 -116.8 - - 3223 - - - - - - - - 14.88 14.80 14.90
11057 970.0 -8.3 508 11070 roll -0.60 - - 2717 - 2.17 0.067 463 -581.1 -116.8 - - 3223 - - - - - - - - 15.01 14.76 15.04
11146 978.3 -9.2 520 11159 done -0.60 - - 2712 - 2.05 0.041 1707 606.8 -116.8 - - 3222 - - - - - - - - 14.87 14.84 14.89
11289 end dive: TARGET_DEPTH_EXCEEDED
11289 begin apogee
11297 992.1 -9.1 526 11423 roll -0.21 0.57 0.241 2858 256.1 - - 1820 - - 115.90 2.221 2792 -3.7 0.307 - - - - - - 14.52 14.09 13.36
11425 end apogee: CONTROL_FINISHED_OK
11425 begin climb
11428 997.1 - 528 11565 done 0.84 1.12 0.164 3189 295.5 - - 1820 - 116.8 122.70 2.170 2316 -3.9 0.331 - - - - - - 14.10 14.33 13.23
11908 962.3 8.8 557 11921 roll 0.84 - - 3200 - 2.50 0.064 405 -566.0 116.8 - - 2295 - - - - - - - - 14.71 14.50 14.73
12005 953.3 10.4 570 12019 done 0.73 0.15 0.261 3169 -206.7 2.28 0.034 1782 603.9 116.8 - - 2295 - - - - - - - - 14.40 14.62 14.62
12368 924.3 8.0 579 12382 roll 0.73 - - 3169 - 2.38 0.054 3176 585.7 116.8 - - 2294 - - - - - - - - 14.88 14.67 14.90
12431 919.1 8.4 587 12444 done 0.73 - - 3175 - 2.35 0.041 1785 -591.9 116.8 - - 2294 - - - - - - - - 14.76 14.70 14.78
12773 891.1 8.2 600 12786 roll 0.73 - - 3186 - 2.42 0.067 396 -574.0 116.8 - - 2294 - - - - - - - - 14.92 14.70 14.95
12869 882.6 8.9 613 12883 done 0.73 - - 3186 - 2.20 0.034 1739 610.5 116.8 - - 2294 - - - - - - - - 14.82 14.77 14.83
13233 850.9 8.8 622 13246 roll 0.73 - - 3191 - 2.42 0.053 3174 593.0 116.8 - - 2293 - - - - - - - - 14.95 14.74 14.97
13329 842.2 9.3 635 13343 done 0.63 0.25 0.263 3138 -212.0 2.35 0.041 1763 -600.4 116.8 - - 2293 - - - - - - - - 14.54 14.76 14.78
13693 815.9 7.2 644 13710 roll 0.64 - - 3146 - 2.35 0.065 401 -579.6 129.2 4.47 1.502 2263 -6.7 0.676 - - - - - - 14.97 14.66 13.90
13765 810.1 8.0 654 13779 done 0.64 - - 3146 - 2.22 0.035 1760 612.2 129.2 - - 2264 - - - - - - - - 14.84 14.79 14.85
14094 784.5 7.9 665 14107 roll 0.64 - - 3146 - 2.40 0.054 3186 594.2 129.2 - - 2264 - - - - - - - - 14.96 14.76 14.98
14176 777.6 8.3 676 14189 done 0.64 - - 3155 - 2.35 0.041 1773 -601.3 129.2 - - 2264 - - - - - - - - 14.84 14.77 14.85
14498 751.6 8.1 686 14511 roll 0.64 - - 3165 - 2.38 0.067 401 -576.5 129.2 - - 2264 - - - - - - - - 14.97 14.73 15.00
14552 747.0 8.6 693 14567 done 0.64 - - 3165 - 2.28 0.035 1779 604.4 129.2 - - 2264 - - - - - - - - 14.81 14.76 14.83
14896 718.7 8.2 700 14909 roll 0.64 - - 3165 - 2.35 0.054 3184 597.9 129.2 - - 2264 - - - - - - - - 14.97 14.79 15.00
14951 714.0 8.7 707 14965 done 0.64 0.15 0.269 3143 -146.7 2.33 0.041 1790 -598.3 129.2 - - 2264 - - - - - - - - 14.55 14.78 14.78
15295 689.9 6.9 714 15331 roll 0.67 - - 3152 - 2.45 0.065 399 -567.8 146.8 24.05 1.870 2188 -3.2 0.216 - - - - - - 14.98 14.57 13.97
15417 680.8 7.9 731 15431 done 0.67 - - 3152 - 2.25 0.037 1759 604.4 146.8 - - 2181 - - - - - - - - 14.71 14.67 14.73
15753 654.3 7.8 743 15766 roll 0.67 - - 3152 - 2.42 0.054 3191 591.7 147.0 - - 2179 - - - - - - - - 14.90 14.69 14.91
15828 647.9 8.5 753 15841 done 0.67 - - 3161 - 2.35 0.041 1780 -600.4 147.0 - - 2179 - - - - - - - - 14.77 14.70 14.80
16156 620.3 8.5 764 16169 roll 0.67 - - 3171 - 2.40 0.067 402 -574.2 147.0 - - 2178 - - - - - - - - 14.92 14.69 14.95
16224 614.1 9.2 773 16238 done 0.67 - - 3170 - 2.28 0.034 1791 609.2 147.0 - - 2176 - - - - - - - - 14.82 14.77 14.83
16560 583.8 9.0 785 16574 roll 0.67 - - 3171 - 2.35 0.053 3182 591.9 147.0 - - 2179 - - - - - - - - 14.95 14.74 14.97
16614 578.7 9.4 792 16629 done 0.67 0.15 0.264 3148 -153.3 2.35 0.041 1776 -598.3 147.0 - - 2179 - - - - - - - - 14.54 14.75 14.78
16959 551.3 7.9 799 16972 roll 0.67 - - 3156 - 2.40 0.067 398 -574.2 147.0 - - 2179 - - - - - - - - 14.96 14.71 14.98
17028 545.6 8.2 808 17041 done 0.67 - - 3156 - 2.25 0.035 1771 610.2 147.0 - - 2178 - - - - - - - - 14.85 14.79 14.86
17363 519.3 7.8 820 17376 roll 0.67 - - 3156 - 2.38 0.053 3183 593.3 147.5 - - 2178 - - - - - - - - 14.97 14.76 14.99
17417 514.8 8.3 827 17431 done 0.67 - - 3165 - 2.35 0.041 1780 -597.0 147.5 - - 2179 - - - - - - - - 14.83 14.77 14.86
17761 488.0 7.8 834 17775 roll 0.67 - - 3176 - 2.40 0.067 399 -575.4 147.9 - - 2179 - - - - - - - - 14.97 14.70 15.00
17844 480.8 8.8 845 17857 done 0.67 - - 3176 - 2.22 0.034 1767 616.2 147.9 - - 2179 - - - - - - - - 14.85 14.83 14.87
18165 454.3 8.2 855 18178 roll 0.67 - - 3176 - 2.38 0.052 3185 595.8 147.9 - - 2179 - - - - - - - - 14.97 14.76 14.99
18227 448.8 8.9 863 18241 done 0.67 0.17 0.256 3146 -176.5 2.35 0.041 1776 -599.6 147.9 - - 2178 - - - - - - - - 14.54 14.77 14.78
18570 425.5 6.7 876 18607 roll 0.69 - - 3154 - 2.40 0.067 402 -572.5 169.8 23.58 1.567 2091 -3.7 0.186 - - - - - - 14.97 14.65 14.08
18634 420.9 7.4 885 18651 done 0.71 - - 3154 - 2.28 0.034 1789 608.3 178.0 2.40 0.522 2065 -10.8 1.620 - - - - - - 14.73 14.69 13.88
18966 395.8 7.6 897 18984 roll 0.71 - - 3154 - 2.38 0.053 3185 586.6 183.3 4.60 1.206 2043 -4.8 0.291 - - - - - - 14.88 14.73 13.95
19011 392.1 8.1 903 19024 done 0.71 - - 3162 - 2.38 0.041 1770 -594.5 183.3 - - 2048 - - - - - - - - 14.76 14.69 14.77
19367 362.5 8.4 911 19380 roll 0.71 - - 3172 - 2.38 0.066 403 -574.4 183.3 - - 2052 - - - - - - - - 14.92 14.69 14.94
19449 354.9 9.2 922 19462 done 0.71 - - 3172 - 2.22 0.034 1750 606.8 183.3 - - 2049 - - - - - - - - 14.81 14.76 14.83
19770 326.4 8.8 932 19784 roll 0.71 - - 3172 - 2.40 0.050 3185 597.9 183.3 - - 2049 - - - - - - - - 14.95 14.71 14.96
19825 321.3 9.4 939 19839 done 0.71 - - 3180 - 2.40 0.040 1749 -598.3 183.3 - - 2049 - - - - - - - - 14.81 14.76 14.83
20169 290.4 9.0 946 20182 roll 0.71 - - 3191 - 2.33 0.066 399 -579.4 183.3 - - 2049 - - - - - - - - 14.96 14.72 14.98
20223 285.3 9.6 953 20238 done 0.71 0.12 0.256 3161 -250.0 2.22 0.032 1766 615.8 183.3 - - 2049 - - - - - - - - 14.57 14.79 14.78
20567 257.9 7.9 960 20581 roll 0.71 - - 3165 - 2.35 0.051 3173 598.7 183.3 - - 2049 - - - - - - - - 14.97 14.76 14.99
20615 253.9 8.4 966 20628 done 0.71 - - 3167 - 2.33 0.041 1767 -603.4 183.3 - - 2049 - - - - - - - - 14.85 14.77 14.86
20971 225.2 8.1 974 20984 roll 0.71 - - 3182 - 2.35 0.065 402 -580.9 183.3 - - 2049 - - - - - - - - 14.98 14.74 15.00
21060 217.1 9.2 986 21074 done 0.71 - - 3181 - 2.17 0.033 1746 619.4 183.3 - - 2049 - - - - - - - - 14.86 14.81 14.88
21430 184.1 8.9 996 21444 roll 0.71 - - 3182 - 2.38 0.050 3173 599.6 183.3 - - 2049 - - - - - - - - 14.98 14.77 15.00
21485 178.9 9.5 1003 21499 done 0.71 0.12 0.267 3165 -141.7 2.38 0.040 1750 -597.9 183.3 - - 2049 - - - - - - - - 14.57 14.78 14.78
21829 152.0 7.7 1010 21846 roll 0.71 - - 3172 - 2.35 0.064 402 -573.6 185.6 3.00 0.702 2038 -3.7 0.147 - - - - - - 14.98 14.77 14.07
21967 141.4 7.6 1029 21984 done 0.72 - - 3172 - 2.12 0.031 1726 624.5 189.6 5.22 1.053 2019 -3.6 0.091 - - - - - - 14.87 14.83 14.13
22341 113.8 7.5 1040 22364 roll 0.73 - - 3172 - 2.47 0.048 3174 586.2 195.5 7.22 0.322 2006 -1.8 0.118 - - - - - - 14.97 14.77 14.40
22433 106.5 7.6 1053 22458 done 0.73 - - 3179 - 2.38 0.040 1739 -602.9 199.6 7.80 0.321 1981 -3.2 0.197 - - - - - - 14.84 14.78 14.39
22766 87.3 5.1 1065 22830 roll 0.92 0.12 0.133 3246 558.3 2.35 0.063 402 -568.9 250.3 51.25 0.363 1772 -4.1 0.182 - - - - - - 14.76 14.67 14.40
22984 76.2 5.8 1096 23035 done 0.96 - - 3246 - 2.03 0.030 1655 617.2 289.4 37.62 0.328 1613 -4.2 0.182 - - - - - - 14.80 14.76 14.40
23353 57.2 4.4 1115 23424 roll 1.20 0.17 0.106 3332 505.9 2.22 0.061 393 -568.5 353.6 58.65 0.277 1353 -4.4 0.170 - - - - - - 14.69 14.63 14.42
23521 45.1 6.9 1139 23552 done 1.22 - - 3331 - 1.90 0.030 1583 626.3 371.5 18.30 0.235 1280 -4.0 0.142 - - - - - - 14.76 14.72 14.45
23884 24.3 5.7 1157 23932 roll 1.38 0.12 0.130 3388 475.0 2.72 0.044 3207 597.1 411.4 33.40 0.183 1115 -4.9 0.122 - - - - - - 14.71 14.69 14.55
24043 9.4 10.3 1180 24057 done 1.38 - - 3398 - 2.70 0.037 1585 -600.7 411.4 - - 1124 - - - - - - - - 14.79 14.73 14.81
24132 end climb: SURFACE_DEPTH_REACHED
24132 begin surface coast
24160 end surface coast: CONTROL_FINISHED_OK
24160 begin surface
SM 1.29 - - - - -8.60 9.40 0.068 163 17.3 0.43 0.045 1886 1990.7 515.13 62.50 0.122 692 11.1 -0.012 - - - - - -