SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 174 * Raw log
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• Previous call tries 2 • 68.31 of 350.00 AH used of 24V (80.48% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.14 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: 17 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 done -0.84 - - 153 - - - 1873 - -116.8 -79.00 - 3271 - - - - - - - - 14.78 13.79 14.81
114 9.8 -15.2 3 129 done -0.84 11.90 0.382 2650 209.8 - - 1870 - -116.8 - - 3270 - - - - - - - - 14.35 14.65 14.62
418 89.0 -15.3 14 425 roll -0.47 0.45 0.258 2761 246.7 2.30 0.050 3247 598.7 -116.8 - - 3273 - - - - - - - - 14.45 14.68 14.61
655 111.1 -7.2 48 662 done -0.47 - - 2761 - 2.28 0.034 1842 -616.2 -116.8 - - 3274 - - - - - - - - 14.81 14.74 14.81
978 135.0 -7.4 59 981 done -0.47 - - 2761 - - - 1844 - -116.8 - - 3275 - - - - - - - - 14.95 14.98 14.97
1314 163.5 -8.5 65 1322 roll -0.47 - - 2761 - 2.30 0.057 475 -595.2 -116.8 - - 3274 - - - - - - - - 14.97 14.79 15.00
1461 177.7 -9.4 86 1467 done -0.47 - - 2753 - 2.15 0.032 1812 621.9 -116.8 - - 3273 - - - - - - - - 14.85 14.80 14.88
1819 209.2 -8.7 95 1821 done -0.47 - - 2753 - - - 1812 - -116.8 - - 3267 - - - - - - - - 14.96 15.00 15.00
2155 239.1 -8.9 101 2157 done -0.47 - - 2753 - - - 1812 - -116.8 - - 3264 - - - - - - - - 14.98 15.00 15.00
2490 269.1 -9.0 107 2503 done -0.47 - - 2753 - - - 1812 - -116.8 - - 3264 - - - - - - - - 15.01 15.04 15.03
2827 301.0 -9.5 113 2840 done -0.47 - - 2754 - - - 1812 - -116.8 - - 3260 - - - - - - - - 15.04 15.06 15.10
3162 331.1 -8.9 119 3175 done -0.47 - - 2759 - - - 1812 - -116.8 - - 3258 - - - - - - - - 15.04 15.07 15.07
3499 359.3 -8.3 125 3512 roll -0.47 - - 2753 - 2.25 0.058 479 -592.4 -116.8 - - 3256 - - - - - - - - 15.05 14.80 15.07
3581 366.8 -8.9 136 3595 done -0.47 0.12 0.255 2770 141.7 2.12 0.034 1792 619.3 -116.8 - - 3255 - - - - - - - - 14.64 14.88 14.83
3903 392.5 -8.1 146 3916 roll -0.47 - - 2768 - 2.40 0.054 3240 603.3 -116.8 - - 3253 - - - - - - - - 15.04 14.82 15.07
3943 396.0 -8.7 151 3957 done -0.47 - - 2762 - 2.28 0.037 1838 -614.9 -116.8 - - 3252 - - - - - - - - 14.92 14.85 14.93
4306 426.8 -8.5 160 4320 roll -0.47 - - 2762 - 2.33 0.060 463 -590.1 -116.8 - - 3249 - - - - - - - - 15.04 14.81 15.06
4417 436.6 -8.6 175 4431 done -0.47 - - 2754 - 2.17 0.035 1796 614.3 -116.8 - - 3249 - - - - - - - - 14.91 14.86 14.93
4760 464.7 -8.3 182 4774 roll -0.47 - - 2743 - 2.42 0.054 3240 596.7 -116.8 - - 3249 - - - - - - - - 15.04 14.81 15.07
4843 471.7 -8.3 193 4856 done -0.47 0.15 0.234 2776 220.0 2.33 0.038 1814 -612.0 -116.8 - - 3247 - - - - - - - - 14.62 14.85 14.83
5165 494.6 -7.1 203 5178 roll -0.56 - - 2777 - 2.28 0.060 473 -588.2 -116.8 - - 3245 - - - - - - - - 15.04 14.80 15.07
5306 505.0 -7.5 222 5319 done -0.56 - - 2771 - 2.05 0.034 1750 622.9 -116.8 - - 3244 - - - - - - - - 14.91 14.86 14.92
5628 528.1 -7.2 232 5641 roll -0.56 - - 2760 - 2.50 0.054 3246 598.4 -116.8 - - 3243 - - - - - - - - 15.04 14.81 15.06
5739 536.0 -6.8 247 5753 done -0.66 0.12 0.132 2710 -416.7 2.40 0.038 1792 -605.8 -116.8 - - 3242 - - - - - - - - 14.78 14.79 14.88
6082 567.8 -9.4 254 6096 roll -0.66 - - 2709 - 2.25 0.061 470 -587.6 -116.8 - - 3241 - - - - - - - - 15.03 14.77 15.06
6228 582.7 -10.2 274 6241 done -0.66 - - 2701 - 2.05 0.034 1732 615.6 -116.8 - - 3241 - - - - - - - - 14.90 14.84 14.91
6599 621.0 -10.5 284 6612 roll -0.66 - - 2689 - 2.55 0.057 3241 591.8 -116.8 - - 3239 - - - - - - - - 15.02 14.73 15.04
6709 633.1 -10.9 299 6723 done -0.66 - - 2689 - 2.45 0.040 1770 -600.4 -116.8 - - 3237 - - - - - - - - 14.88 14.80 14.92
7054 670.5 -11.0 306 7067 roll -0.66 - - 2689 - 2.22 0.061 466 -587.4 -116.8 - - 3237 - - - - - - - - 15.02 14.76 15.04
7101 676.2 -11.8 312 7115 done -0.54 0.30 0.255 2754 216.7 2.10 0.037 1750 611.4 -116.8 - - 3237 - - - - - - - - 14.54 14.83 14.78
7458 706.4 -8.3 320 7471 roll -0.54 - - 2746 - 2.50 0.056 3237 594.8 -116.8 - - 3234 - - - - - - - - 15.02 14.77 15.07
7548 713.8 -8.2 332 7561 done -0.54 - - 2745 - 2.40 0.039 1794 -601.2 -116.8 - - 3235 - - - - - - - - 14.88 14.80 14.89
7918 743.9 -8.0 342 7931 roll -0.54 - - 2745 - 2.28 0.062 466 -582.5 -116.8 - - 3233 - - - - - - - - 15.02 14.75 15.04
8029 753.2 -8.3 357 8044 done -0.54 - - 2737 - 2.10 0.036 1746 609.5 -116.8 - - 3233 - - - - - - - - 14.87 14.81 14.89
8372 780.1 -7.8 364 8386 roll -0.54 - - 2726 - 2.53 0.058 3241 590.9 -116.8 - - 3231 - - - - - - - - 15.01 14.74 15.06
8483 788.9 -7.8 379 8497 done -0.54 0.12 0.250 2751 208.3 2.42 0.041 1789 -600.0 -116.8 - - 3231 - - - - - - - - 14.54 14.78 14.76
8827 813.4 -7.2 386 8841 roll -0.54 - - 2752 - 2.28 0.063 470 -578.5 -116.8 - - 3230 - - - - - - - - 15.00 14.73 15.02
8959 823.9 -7.3 404 8972 done -0.54 - - 2745 - 2.05 0.035 1730 614.6 -116.8 - - 3229 - - - - - - - - 14.85 14.81 14.86
9288 848.9 -7.7 415 9301 roll -0.54 - - 2735 - 2.55 0.057 3235 590.2 -116.8 - - 3229 - - - - - - - - 15.00 14.72 15.01
9412 859.1 -7.9 432 9425 done -0.54 - - 2735 - 2.42 0.041 1773 -604.1 -116.8 - - 3228 - - - - - - - - 14.83 14.76 14.86
9747 886.9 -8.4 444 9761 roll -0.54 - - 2734 - 2.25 0.063 465 -581.3 -116.8 - - 3228 - - - - - - - - 15.00 14.73 15.01
9865 897.3 -8.7 460 9879 done -0.54 0.12 0.273 2752 150.0 2.05 0.037 1709 606.8 -116.8 - - 3228 - - - - - - - - 14.47 14.79 14.73
10211 922.6 -7.4 473 10225 roll -0.54 - - 2743 - 2.60 0.058 3238 588.1 -116.8 - - 3227 - - - - - - - - 14.98 14.71 15.00
10330 931.5 -7.2 489 10343 done -0.54 - - 2742 - 2.47 0.041 1760 -598.4 -116.8 - - 3226 - - - - - - - - 14.81 14.74 14.84
10673 956.1 -7.1 502 10686 roll -0.54 - - 2743 - 2.22 0.063 467 -582.4 -116.8 - - 3227 - - - - - - - - 14.98 14.69 15.00
10762 962.8 -7.5 514 10775 done -0.54 - - 2734 - 2.05 0.036 1721 611.7 -116.8 - - 3226 - - - - - - - - 14.87 14.78 14.85
11132 988.7 -6.9 524 11146 roll -0.54 - - 2723 - 2.58 0.059 3235 586.8 -116.8 - - 3224 - - - - - - - - 14.98 14.69 15.00
11148 end dive: TARGET_DEPTH_EXCEEDED
11148 begin apogee
11158 990.8 -7.4 526 11285 roll -0.21 0.50 0.226 2855 264.0 - - 1801 - - 117.35 2.202 2794 -3.7 0.307 - - - - - - 14.47 14.07 13.31
11287 end apogee: CONTROL_FINISHED_OK
11287 begin climb
11290 994.4 - 528 11432 roll 0.84 1.17 0.180 3190 286.3 2.58 0.064 391 -546.5 116.8 123.35 2.154 2317 -3.9 0.333 - - - - - - 14.04 14.12 13.16
11616 968.2 9.0 577 11629 done 0.84 - - 3190 - 2.35 0.033 1783 592.3 116.8 - - 2295 - - - - - - - - 14.44 14.39 14.44
11952 936.0 9.7 589 11965 roll 0.84 - - 3200 - 2.45 0.063 393 -567.3 116.8 - - 2292 - - - - - - - - 14.77 14.54 14.79
12160 914.9 9.9 618 12174 done 0.73 0.15 0.261 3169 -206.7 2.35 0.033 1817 606.0 116.8 - - 2292 - - - - - - - - 14.40 14.66 14.65
12525 885.4 8.0 627 12538 roll 0.73 - - 3169 - 2.33 0.052 3186 587.6 116.8 - - 2290 - - - - - - - - 14.88 14.66 14.90
12587 880.0 9.2 635 12601 done 0.73 - - 3175 - 2.33 0.041 1796 -596.6 116.8 - - 2291 - - - - - - - - 14.76 14.69 14.78
12930 852.1 8.1 648 12943 roll 0.73 - - 3186 - 2.42 0.066 406 -574.4 116.8 - - 2291 - - - - - - - - 14.92 14.65 14.94
13019 843.9 9.4 660 13033 done 0.73 - - 3186 - 2.28 0.033 1790 607.0 116.8 - - 2291 - - - - - - - - 14.79 14.74 14.81
13390 809.6 9.4 670 13403 roll 0.73 - - 3186 - 2.38 0.053 3186 586.6 116.8 - - 2291 - - - - - - - - 14.94 14.69 14.96
13466 801.5 11.1 680 13479 done 0.63 0.25 0.263 3138 -192.0 2.28 0.040 1817 -600.4 116.8 - - 2290 - - - - - - - - 14.45 14.73 14.72
13794 776.5 7.6 691 13807 roll 0.63 - - 3147 - 2.45 0.065 406 -575.9 121.7 - - 2290 - - - - - - - - 14.94 14.68 14.96
13936 765.8 7.6 710 13953 done 0.64 - - 3144 - 2.25 0.033 1780 610.7 127.1 3.08 1.011 2273 -5.5 0.779 - - - - - - 14.81 14.76 13.77
14310 738.9 7.0 721 14347 roll 0.66 - - 3146 - 2.45 0.054 3186 573.9 143.1 22.92 1.926 2199 -3.2 0.231 - - - - - - 14.92 14.59 13.91
14428 730.1 8.0 737 14441 done 0.66 - - 3155 - 2.35 0.041 1799 -590.2 143.1 - - 2193 - - - - - - - - 14.66 14.59 14.68
14770 702.5 8.0 750 14783 roll 0.66 - - 3166 - 2.45 0.067 404 -569.4 143.1 - - 2190 - - - - - - - - 14.85 14.61 14.88
14867 693.7 8.9 763 14880 done 0.66 - - 3165 - 2.28 0.033 1787 606.6 143.1 - - 2191 - - - - - - - - 14.75 14.70 14.76
15230 660.5 9.2 772 15243 roll 0.66 - - 3166 - 2.38 0.054 3186 587.8 143.1 - - 2191 - - - - - - - - 14.90 14.66 14.92
15306 653.1 9.6 782 15320 done 0.66 0.15 0.264 3143 -153.3 2.30 0.041 1807 -599.6 143.1 - - 2191 - - - - - - - - 14.45 14.70 14.71
15635 627.9 7.5 793 15648 roll 0.67 - - 3152 - 2.45 0.066 398 -575.1 149.3 - - 2190 - - - - - - - - 14.92 14.66 14.95
15776 617.8 7.3 812 15805 done 0.68 - - 3152 - 2.25 0.032 1773 611.1 160.5 16.62 1.785 2139 -3.1 0.198 - - - - - - 14.80 14.74 13.97
16138 592.6 6.9 822 16169 roll 0.71 - - 3152 - 2.47 0.053 3184 571.3 179.2 19.17 1.748 2056 -4.3 0.274 - - - - - - 14.86 14.57 13.92
16204 587.7 7.4 831 16221 done 0.71 - - 3161 - 2.38 0.041 1778 -590.8 186.9 2.22 0.422 2029 -12.2 3.157 - - - - - - 14.64 14.58 13.71
16529 563.2 7.6 842 16546 roll 0.72 - - 3171 - 2.40 0.067 399 -574.6 190.9 3.70 1.139 2012 -4.6 0.423 - - - - - - 14.81 14.63 13.81
16653 552.9 8.6 859 16666 done 0.72 - - 3171 - 2.20 0.033 1742 610.5 190.9 - - 2019 - - - - - - - - 14.73 14.69 14.74
16988 524.1 8.6 871 17002 roll 0.72 - - 3171 - 2.42 0.051 3179 593.8 190.9 - - 2019 - - - - - - - - 14.88 14.67 14.90
17051 518.3 9.4 879 17064 done 0.72 - - 3180 - 2.40 0.041 1753 -594.2 190.9 - - 2019 - - - - - - - - 14.76 14.68 14.77
17393 486.9 9.2 892 17406 roll 0.72 - - 3190 - 2.35 0.066 398 -576.6 190.9 - - 2019 - - - - - - - - 14.91 14.63 14.93
17475 478.7 10.2 903 17489 done 0.72 - - 3190 - 2.17 0.032 1723 610.6 190.9 - - 2019 - - - - - - - - 14.79 14.75 14.81
17797 447.5 9.7 913 17810 roll 0.72 - - 3188 - 2.45 0.050 3178 593.9 190.9 - - 2019 - - - - - - - - 14.92 14.71 14.95
17866 440.6 9.9 922 17879 done 0.72 0.15 0.263 3168 -133.3 2.38 0.041 1754 -598.3 190.9 - - 2019 - - - - - - - - 14.47 14.71 14.71
18201 413.0 8.2 934 18214 roll 0.72 - - 3176 - 2.35 0.067 399 -576.6 190.9 - - 2019 - - - - - - - - 14.94 14.66 14.96
18277 406.4 8.8 944 18291 done 0.72 - - 3176 - 2.20 0.032 1750 614.1 190.9 - - 2019 - - - - - - - - 14.81 14.76 14.83
18606 378.5 8.6 955 18619 roll 0.72 - - 3181 - 2.40 0.050 3180 595.8 190.9 - - 2019 - - - - - - - - 14.95 14.71 14.96
18660 373.4 9.3 962 18674 done 0.72 - - 3185 - 2.40 0.040 1739 -600.4 190.9 - - 2020 - - - - - - - - 14.80 14.72 14.81
19004 341.7 9.3 969 19017 roll 0.72 - - 3195 - 2.33 0.066 395 -576.8 190.9 - - 2019 - - - - - - - - 14.95 14.68 14.97
19122 329.7 10.4 985 19136 done 0.72 0.15 0.249 3162 -220.0 2.15 0.031 1723 617.7 190.9 - - 2019 - - - - - - - - 14.50 14.78 14.72
19466 300.9 8.2 998 19479 roll 0.72 - - 3162 - 2.45 0.050 3178 593.9 190.9 - - 2019 - - - - - - - - 14.95 14.72 14.97
19541 294.3 8.6 1008 19554 done 0.72 - - 3169 - 2.40 0.040 1735 -601.2 190.9 - - 2019 - - - - - - - - 14.81 14.73 14.82
19870 268.0 8.0 1019 19883 roll 0.72 - - 3178 - 2.30 0.065 403 -579.1 190.9 - - 2019 - - - - - - - - 14.95 14.69 14.97
19932 262.8 8.6 1027 19945 done 0.72 - - 3179 - 2.17 0.031 1740 616.1 190.9 - - 2019 - - - - - - - - 14.83 14.78 14.84
20275 234.3 8.3 1040 20288 roll 0.72 - - 3179 - 2.40 0.049 3179 599.6 190.9 - - 2019 - - - - - - - - 14.96 14.72 14.97
20337 228.7 9.0 1048 20350 done 0.72 - - 3187 - 2.40 0.039 1741 -599.2 190.9 - - 2019 - - - - - - - - 14.81 14.73 14.83
20679 197.9 9.2 1061 20692 roll 0.72 - - 3194 - 2.33 0.064 394 -578.1 190.9 - - 2019 - - - - - - - - 14.95 14.68 14.97
20755 190.4 10.0 1071 20768 done 0.72 0.15 0.240 3164 -200.0 2.17 0.031 1748 624.0 190.9 - - 2020 - - - - - - - - 14.50 14.78 14.72
21083 162.7 8.3 1082 21096 roll 0.72 - - 3165 - 2.40 0.049 3182 597.5 190.9 - - 2019 - - - - - - - - 14.99 14.69 14.97
21131 158.5 8.5 1088 21144 done 0.72 - - 3172 - 2.42 0.041 1722 -603.3 190.9 - - 2019 - - - - - - - - 14.81 14.74 14.83
21487 130.6 7.6 1096 21505 roll 0.72 - - 3180 - 2.28 0.063 395 -582.0 194.9 4.35 0.943 1998 -4.8 0.125 - - - - - - 14.96 14.62 14.04
21581 122.5 8.6 1109 21594 done 0.72 - - 3181 - 2.12 0.031 1708 619.3 194.9 - - 2005 - - - - - - - - 14.83 14.78 14.84
21945 98.1 6.4 1118 21988 roll 0.76 - - 3181 - 2.50 0.048 3174 586.4 221.9 28.20 0.378 1892 -4.0 0.194 - - - - - - 14.95 14.68 14.40
22099 87.5 6.4 1140 22146 done 0.79 - - 3188 - 2.38 0.039 1743 -601.3 249.9 29.90 0.352 1778 -3.8 0.177 - - - - - - 14.77 14.70 14.35
22454 68.0 5.3 1157 22511 roll 1.01 0.17 0.110 3264 447.1 2.50 0.047 3180 574.8 296.7 44.67 0.306 1582 -4.4 0.182 - - - - - - 14.67 14.64 14.38
22741 47.5 5.9 1198 22786 done 1.15 - - 3272 - 2.30 0.037 1795 -602.2 332.3 33.22 0.249 1438 -4.3 0.154 - - - - - - 14.74 14.67 14.40
23105 31.0 3.9 1216 23180 roll 1.47 0.35 0.079 3423 431.4 2.45 0.061 406 -566.9 405.8 60.50 0.203 1145 -4.8 0.138 - - - - - - 14.67 14.59 14.44
23196 24.6 8.6 1226 23213 done 1.38 0.22 0.256 3374 -222.7 2.28 0.028 1829 624.1 405.8 2.47 0.148 1139 -2.4 0.075 - - - - - - 14.40 14.69 14.50
23469 end climb: SURFACE_DEPTH_REACHED
23472 begin surface coast
23497 end surface coast: CONTROL_FINISHED_OK
23497 begin surface
SM 1.26 - - - - -8.61 9.40 0.072 158 16.8 - - 1836 - 515.13 66.03 0.123 691 10.5 -0.011 - - - - - -