SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 214 * Raw log
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• Previous call tries 1 • 82.92 of 350.00 AH used of 24V (76.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth 1.18 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 36 s
• GPS2 time: 18 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
29 - - - 115 done -0.84 - - 159 - - - 1872 - -116.8 -79.50 - 3269 - - - - - - - - 14.73 13.69 14.76
119 9.5 -14.7 3 137 roll -0.84 12.02 0.388 2661 208.2 2.40 0.046 468 -585.0 -116.8 - - 3272 - - - - - - - - 14.29 14.57 14.58
346 79.1 -14.9 36 352 done -0.47 0.47 0.259 2767 225.5 2.30 0.033 1873 610.9 -116.8 - - 3272 - - - - - - - - 14.36 14.64 14.59
703 110.9 -8.9 49 711 roll -0.47 - - 2763 - 2.30 0.053 3261 603.5 -116.8 - - 3274 - - - - - - - - 14.89 14.65 14.90
865 123.5 -8.2 72 872 done -0.47 - - 2763 - 2.28 0.036 1874 -608.3 -116.8 - - 3274 - - - - - - - - 14.76 14.70 14.78
1208 153.6 -8.9 79 1215 roll -0.47 - - 2763 - 2.38 0.055 468 -590.8 -116.8 - - 3274 - - - - - - - - 14.92 14.69 14.95
1321 163.9 -9.3 95 1327 done -0.47 - - 2755 - 2.25 0.032 1846 612.4 -116.8 - - 3271 - - - - - - - - 14.79 14.75 14.81
1656 193.4 -8.7 108 1662 roll -0.47 - - 2744 - 2.38 0.054 3269 597.9 -116.8 - - 3270 - - - - - - - - 14.93 14.70 14.95
1683 195.9 -8.7 112 1690 done -0.47 0.12 0.238 2770 216.7 2.33 0.037 1850 -609.0 -116.8 - - 3270 - - - - - - - - 14.52 14.73 14.72
2049 223.9 -7.7 122 2055 roll -0.47 - - 2770 - 2.35 0.057 468 -588.1 -116.8 - - 3268 - - - - - - - - 14.94 14.67 14.96
2195 236.2 -8.3 143 2201 done -0.47 - - 2768 - 2.20 0.033 1815 612.3 -116.8 - - 3266 - - - - - - - - 14.81 14.76 14.83
2553 265.6 -8.3 152 2566 roll -0.47 - - 2754 - 2.42 0.054 3268 600.4 -116.8 - - 3263 - - - - - - - - 14.98 14.73 15.00
2600 269.7 -8.7 158 2613 done -0.47 - - 2754 - 2.42 0.036 1795 -608.7 -116.8 - - 3262 - - - - - - - - 14.83 14.77 14.85
2956 300.9 -8.7 166 2970 roll -0.47 - - 2754 - 2.25 0.057 463 -592.0 -116.8 - - 3260 - - - - - - - - 15.00 14.75 15.02
3067 310.8 -8.8 181 3082 done -0.47 0.12 0.262 2770 133.3 2.15 0.033 1782 613.5 -116.8 - - 3259 - - - - - - - - 14.52 14.81 14.75
3411 335.6 -7.1 188 3424 roll -0.47 - - 2762 - 2.47 0.055 3257 597.2 -116.8 - - 3256 - - - - - - - - 15.00 14.74 15.02
3479 340.5 -7.0 197 3492 done -0.47 - - 2762 - 2.42 0.037 1779 -610.7 -116.8 - - 3256 - - - - - - - - 14.85 14.79 14.85
3815 365.3 -7.5 209 3828 roll -0.47 - - 2762 - 2.22 0.057 466 -591.4 -116.8 - - 3254 - - - - - - - - 15.01 14.71 15.02
3890 371.5 -8.1 219 3903 done -0.47 - - 2754 - 2.12 0.034 1772 616.0 -116.8 - - 3253 - - - - - - - - 14.87 14.82 14.88
4219 398.1 -8.2 230 4232 roll -0.47 - - 2743 - 2.50 0.054 3263 596.4 -116.8 - - 3249 - - - - - - - - 15.01 14.73 15.03
4273 402.8 -8.7 237 4287 done -0.47 0.12 0.241 2769 216.7 2.50 0.038 1757 -602.4 -116.8 - - 3250 - - - - - - - - 14.54 14.78 14.75
4617 430.1 -8.0 244 4630 roll -0.47 - - 2769 - 2.20 0.058 462 -588.6 -116.8 - - 3249 - - - - - - - - 15.00 14.73 15.02
4693 436.7 -8.7 254 4706 done -0.47 - - 2763 - 2.10 0.034 1761 618.6 -116.8 - - 3249 - - - - - - - - 14.87 14.82 14.88
5021 463.7 -8.3 265 5034 roll -0.47 - - 2752 - 2.53 0.055 3263 593.7 -116.8 - - 3247 - - - - - - - - 15.00 14.73 15.04
5117 472.0 -8.7 278 5131 done -0.47 - - 2753 - 2.45 0.038 1779 -605.7 -116.8 - - 3246 - - - - - - - - 14.84 14.77 14.85
5481 505.0 -9.2 287 5494 roll -0.47 - - 2752 - 2.22 0.059 470 -589.6 -116.8 - - 3244 - - - - - - - - 15.00 14.72 15.02
5606 517.4 -10.0 304 5619 done -0.47 0.12 0.262 2769 141.7 2.10 0.034 1767 617.6 -116.8 - - 3244 - - - - - - - - 14.49 14.80 14.72
5941 544.8 -8.0 316 5954 roll -0.47 - - 2760 - 2.53 0.055 3263 591.3 -116.8 - - 3242 - - - - - - - - 15.00 14.71 15.02
5989 548.6 -7.9 322 6002 done -0.57 - - 2760 - 2.50 0.039 1755 -603.2 -116.8 - - 3242 - - - - - - - - 14.83 14.76 14.85
6346 574.0 -6.9 330 6359 roll -0.57 - - 2760 - 2.20 0.060 472 -583.2 -116.8 - - 3241 - - - - - - - - 14.99 14.71 15.01
6421 579.5 -7.2 340 6434 done -0.57 - - 2752 - 2.12 0.034 1770 612.3 -116.8 - - 3240 - - - - - - - - 14.84 14.78 14.86
6750 601.9 -6.8 351 6763 roll -0.57 - - 2741 - 2.53 0.056 3265 590.9 -116.8 - - 3239 - - - - - - - - 15.02 14.69 15.01
6846 608.8 -7.1 364 6859 done -0.57 - - 2741 - 2.47 0.039 1784 -599.6 -116.8 - - 3239 - - - - - - - - 14.80 14.74 14.83
7209 636.1 -7.6 373 7223 roll -0.57 - - 2741 - 2.25 0.060 472 -583.1 -116.8 - - 3237 - - - - - - - - 15.00 14.69 15.01
7334 646.6 -8.5 390 7347 done -0.57 - - 2733 - 2.10 0.034 1760 613.3 -116.8 - - 3236 - - - - - - - - 14.83 14.78 14.83
7669 675.6 -8.8 402 7683 roll -0.57 - - 2721 - 2.55 0.057 3265 590.2 -116.8 - - 3235 - - - - - - - - 14.98 14.69 15.00
7752 683.1 -8.8 413 7765 done -0.57 - - 2721 - 2.50 0.039 1775 -596.0 -116.8 - - 3235 - - - - - - - - 14.81 14.73 14.83
8073 714.2 -9.7 423 8087 roll -0.57 - - 2721 - 2.25 0.062 472 -579.1 -116.8 - - 3234 - - - - - - - - 14.98 14.67 15.00
8163 723.6 -10.2 435 8177 done -0.57 0.12 0.276 2739 150.0 2.12 0.035 1762 608.5 -116.8 - - 3235 - - - - - - - - 14.42 14.76 14.66
8534 755.5 -8.5 445 8547 roll -0.57 - - 2730 - 2.58 0.057 3268 583.7 -116.8 - - 3233 - - - - - - - - 14.98 14.66 15.00
8637 764.3 -8.2 459 8650 done -0.57 - - 2730 - 2.50 0.040 1765 -601.2 -116.8 - - 3232 - - - - - - - - 14.78 14.71 14.81
8994 793.3 -8.0 467 9007 roll -0.57 - - 2730 - 2.25 0.063 465 -577.8 -116.8 - - 3231 - - - - - - - - 14.97 14.65 14.99
9076 800.3 -8.5 478 9089 done -0.57 - - 2721 - 2.17 0.036 1775 603.7 -116.8 - - 3231 - - - - - - - - 14.80 14.74 14.82
9398 826.2 -8.1 488 9411 roll -0.57 - - 2716 - 2.55 0.058 3269 585.9 -116.8 - - 3230 - - - - - - - - 14.95 14.66 14.97
9460 831.3 -8.9 496 9473 done -0.57 0.15 0.246 2742 173.3 2.53 0.040 1764 -594.9 -116.8 - - 3230 - - - - - - - - 14.40 14.70 14.64
9802 854.4 -6.6 509 9816 roll -0.57 - - 2742 - 2.25 0.063 464 -577.8 -116.8 - - 3229 - - - - - - - - 14.97 14.64 14.99
9892 860.3 -7.0 521 9906 done -0.57 - - 2736 - 2.15 0.037 1755 600.5 -116.8 - - 3229 - - - - - - - - 14.77 14.73 14.81
10263 885.4 -6.8 531 10276 roll -0.57 - - 2725 - 2.60 0.058 3267 581.5 -116.8 - - 3228 - - - - - - - - 14.96 14.63 14.98
10353 891.7 -6.9 543 10366 done -0.57 - - 2726 - 2.55 0.041 1749 -595.3 -116.8 - - 3228 - - - - - - - - 14.76 14.68 14.79
10723 917.9 -7.1 553 10736 roll -0.57 - - 2725 - 2.22 0.063 467 -577.5 -116.8 - - 3227 - - - - - - - - 14.95 14.62 14.97
10813 925.6 -9.7 565 10827 done -0.57 - - 2713 - 2.10 0.037 1737 604.8 -116.8 - - 3227 - - - - - - - - 14.77 14.72 14.80
11184 954.1 -8.0 575 11197 roll -0.57 0.12 0.287 2737 200.0 2.62 0.057 3262 582.1 -116.8 - - 3226 - - - - - - - - 14.31 14.59 14.47
11318 963.8 -7.3 593 11331 done -0.57 - - 2737 - 2.53 0.041 1765 -591.7 -116.8 - - 3226 - - - - - - - - 14.76 14.67 14.76
11648 988.6 -7.6 604 11661 roll -0.57 - - 2737 - 2.25 0.064 474 -573.8 -116.8 - - 3226 - - - - - - - - 14.92 14.61 14.95
11663 end dive: TARGET_DEPTH_EXCEEDED
11664 begin apogee
11673 990.2 -7.7 606 11802 roll -0.21 0.50 0.236 2856 238.0 - - 1808 - - 119.57 2.171 2792 -3.6 0.311 - - - - - - 14.39 14.02 13.25
11804 end apogee: CONTROL_FINISHED_OK
11804 begin climb
11808 995.4 - 608 11954 roll 0.84 1.23 0.177 3192 273.2 2.50 0.058 3202 557.6 116.8 123.80 2.141 2305 -3.9 0.344 - - - - - - 14.00 14.09 13.06
12128 971.8 9.5 657 12142 done 0.73 0.15 0.274 3172 -133.3 2.40 0.040 1800 -584.2 116.8 - - 2294 - - - - - - - - 14.07 14.31 14.32
12465 942.5 8.8 669 12478 roll 0.73 - - 3172 - 2.40 0.050 3192 580.0 116.8 - - 2293 - - - - - - - - 14.73 14.50 14.75
12611 928.9 8.2 689 12624 done 0.73 - - 3179 - 2.42 0.041 1760 -591.7 116.8 - - 2292 - - - - - - - - 14.63 14.57 14.66
12981 894.6 9.3 699 12995 roll 0.73 - - 3190 - 2.40 0.065 399 -567.1 116.8 - - 2291 - - - - - - - - 14.87 14.52 14.86
13044 888.6 9.9 707 13057 done 0.73 - - 3189 - 2.28 0.031 1772 602.2 116.8 - - 2292 - - - - - - - - 14.71 14.68 14.73
13386 856.3 9.3 720 13399 roll 0.73 - - 3190 - 2.42 0.052 3186 584.3 116.8 - - 2293 - - - - - - - - 14.88 14.61 14.90
13426 852.8 9.9 725 13441 done 0.63 0.28 0.263 3136 -192.9 2.40 0.040 1756 -595.8 116.8 - - 2291 - - - - - - - - 14.32 14.65 14.62
13791 827.4 6.7 734 13822 roll 0.66 - - 3144 - 2.45 0.066 398 -554.3 137.6 18.62 1.994 2228 -3.4 0.264 - - - - - - 14.89 14.59 13.85
13863 822.3 7.2 744 13880 done 0.67 - - 3144 - 2.22 0.032 1745 606.8 149.3 5.85 1.701 2186 -7.2 0.652 - - - - - - 14.64 14.59 13.68
14189 798.3 7.4 755 14219 roll 0.68 - - 3144 - 2.45 0.051 3179 585.3 158.5 16.80 1.940 2139 -2.8 0.216 - - - - - - 14.81 14.42 13.83
14274 791.5 8.2 767 14287 done 0.68 - - 3153 - 2.42 0.041 1749 -590.9 158.5 - - 2133 - - - - - - - - 14.58 14.51 14.60
14645 762.5 7.9 777 14658 roll 0.68 - - 3163 - 2.38 0.066 401 -566.4 158.5 - - 2133 - - - - - - - - 14.81 14.56 14.83
14727 755.6 8.5 788 14740 done 0.68 - - 3163 - 2.22 0.032 1749 607.2 158.5 - - 2133 - - - - - - - - 14.70 14.65 14.72
15048 729.7 8.1 798 15061 roll 0.68 - - 3163 - 2.42 0.050 3180 591.3 158.5 - - 2132 - - - - - - - - 14.86 14.62 14.88
15102 725.0 8.7 805 15117 done 0.68 - - 3172 - 2.42 0.040 1747 -592.1 158.5 - - 2132 - - - - - - - - 14.71 14.64 14.74
15446 696.1 8.4 812 15460 roll 0.68 - - 3182 - 2.35 0.065 403 -571.9 158.5 - - 2132 - - - - - - - - 14.88 14.60 14.90
15509 690.5 9.3 820 15523 done 0.68 0.15 0.253 3152 -200.0 2.20 0.031 1753 613.6 158.5 - - 2132 - - - - - - - - 14.39 14.71 14.66
15854 664.8 7.4 833 15872 roll 0.70 - - 3150 - 2.42 0.050 3165 583.5 167.5 3.33 1.088 2108 -7.2 0.827 - - - - - - 14.90 14.73 13.75
15941 657.7 8.0 845 15954 done 0.70 - - 3158 - 2.35 0.041 1765 -595.7 167.5 - - 2109 - - - - - - - - 14.74 14.67 14.76
16312 627.8 8.2 855 16325 roll 0.70 - - 3167 - 2.40 0.065 393 -571.7 167.5 - - 2111 - - - - - - - - 14.90 14.56 14.92
16450 615.3 8.9 874 16463 done 0.70 - - 3167 - 2.17 0.032 1721 612.0 167.5 - - 2111 - - - - - - - - 14.76 14.71 14.78
16772 586.8 9.0 884 16785 roll 0.70 - - 3167 - 2.45 0.050 3171 591.8 167.5 - - 2112 - - - - - - - - 14.90 14.64 14.92
16840 580.2 9.3 893 16854 done 0.70 - - 3176 - 2.40 0.042 1744 -594.6 167.5 - - 2111 - - - - - - - - 14.73 14.66 14.76
17177 550.9 8.6 905 17190 roll 0.70 - - 3187 - 2.35 0.065 395 -574.0 167.5 - - 2109 - - - - - - - - 14.90 14.61 14.92
17239 545.3 9.2 913 17253 done 0.70 0.15 0.248 3155 -213.3 2.17 0.031 1729 614.7 167.5 - - 2111 - - - - - - - - 14.38 14.72 14.63
17582 520.7 7.0 926 17619 roll 0.72 - - 3155 - 2.53 0.051 3171 570.0 183.5 25.65 1.603 2039 -2.8 0.171 - - - - - - 14.92 14.59 13.93
17654 515.4 7.7 936 17667 done 0.72 - - 3161 - 2.45 0.041 1722 -591.4 185.7 - - 2032 - - - - - - - - 14.63 14.56 14.65
17975 490.3 8.0 946 17989 roll 0.72 - - 3171 - 2.33 0.066 395 -569.5 185.7 - - 2031 - - - - - - - - 14.81 14.52 14.85
18051 483.7 8.9 956 18064 done 0.72 - - 3171 - 2.12 0.031 1696 613.7 185.7 - - 2031 - - - - - - - - 14.70 14.66 14.71
18379 455.4 8.6 967 18392 roll 0.72 - - 3171 - 2.50 0.050 3170 589.6 185.7 - - 2031 - - - - - - - - 14.85 14.60 14.88
18449 449.1 9.3 976 18462 done 0.72 - - 3179 - 2.45 0.043 1719 -592.2 185.7 - - 2031 - - - - - - - - 14.69 14.61 14.71
18784 417.8 9.4 988 18797 roll 0.72 - - 3189 - 2.30 0.064 399 -573.9 185.7 - - 2031 - - - - - - - - 14.89 14.57 14.90
18846 411.5 10.3 996 18859 done 0.72 - - 3188 - 2.15 0.031 1715 612.1 185.7 - - 2031 - - - - - - - - 14.73 14.69 14.75
19189 378.4 9.6 1009 19202 roll 0.72 - - 3189 - 2.47 0.051 3176 591.5 185.7 - - 2031 - - - - - - - - 14.88 14.62 14.90
19236 373.6 9.6 1015 19249 done 0.72 0.15 0.262 3166 -153.3 2.40 0.041 1742 -597.5 185.7 - - 2031 - - - - - - - - 14.35 14.65 14.61
19593 344.9 8.0 1023 19606 roll 0.72 - - 3175 - 2.35 0.064 393 -574.0 185.7 - - 2031 - - - - - - - - 14.90 14.59 14.92
19647 340.1 8.8 1030 19661 done 0.72 - - 3175 - 2.20 0.032 1728 606.8 185.7 - - 2030 - - - - - - - - 14.75 14.70 14.77
19991 310.8 8.6 1037 20005 roll 0.72 - - 3175 - 2.42 0.048 3168 595.0 185.7 - - 2030 - - - - - - - - 14.90 14.59 14.92
20033 307.1 9.1 1042 20046 done 0.72 - - 3184 - 2.40 0.040 1733 -597.9 185.7 - - 2031 - - - - - - - - 14.73 14.66 14.76
20396 274.1 9.1 1051 20409 roll 0.72 - - 3194 - 2.33 0.063 394 -574.7 185.7 - - 2029 - - - - - - - - 14.92 14.59 14.93
20480 266.0 9.8 1062 20493 done 0.72 0.15 0.243 3168 -173.3 2.15 0.031 1725 619.1 185.7 - - 2031 - - - - - - - - 14.38 14.72 14.62
20802 240.4 7.8 1072 20815 roll 0.72 - - 3162 - 2.45 0.050 3177 592.7 186.5 - - 2031 - - - - - - - - 14.91 14.64 14.93
20864 235.3 8.2 1080 20877 done 0.72 - - 3169 - 2.42 0.038 1731 -597.5 186.5 - - 2031 - - - - - - - - 14.73 14.66 14.76
21207 208.1 8.0 1093 21220 roll 0.72 - - 3178 - 2.30 0.063 401 -578.3 186.5 - - 2031 - - - - - - - - 14.92 14.60 14.94
21289 201.1 8.5 1104 21302 done 0.72 - - 3179 - 2.15 0.030 1717 612.1 186.5 - - 2031 - - - - - - - - 14.77 14.72 14.78
21610 175.0 8.1 1114 21623 roll 0.72 - - 3179 - 2.45 0.048 3177 595.9 186.5 - - 2031 - - - - - - - - 14.91 14.64 14.93
21679 169.2 8.4 1123 21692 done 0.72 - - 3187 - 2.40 0.039 1738 -599.6 186.5 - - 2031 - - - - - - - - 14.75 14.67 14.77
22014 142.4 8.0 1135 22027 roll 0.72 - - 3197 - 2.33 0.063 395 -576.4 186.5 - - 2030 - - - - - - - - 14.92 14.62 14.93
22077 137.2 8.6 1143 22090 done 0.72 0.15 0.233 3165 -213.3 2.20 0.029 1757 619.1 186.5 - - 2031 - - - - - - - - 14.40 14.73 14.64
22423 113.1 7.0 1156 22447 done 0.83 0.12 0.135 3210 375.0 - - 1759 - 202.4 14.45 0.383 1966 -4.5 0.249 - - - - - - 14.66 14.71 14.32
22729 87.4 8.3 1164 22746 roll 0.83 - - 3222 - 2.40 0.062 404 -564.6 202.4 1.95 0.163 1969 1.5 -0.155 - - - - - - 14.90 14.59 14.51
22816 80.6 7.5 1176 22839 done 0.84 - - 3220 - 2.15 0.030 1728 615.8 208.7 8.57 0.279 1947 -2.6 0.139 - - - - - - 14.76 14.71 14.30
23157 62.6 4.7 1191 23226 roll 0.91 - - 3220 - 2.40 0.044 3167 599.6 267.4 56.75 0.292 1703 -4.3 0.173 - - - - - - 14.89 14.56 14.40
23457 48.3 4.2 1234 23531 done 1.17 0.25 0.089 3321 404.0 2.35 0.036 1760 -598.7 335.4 60.60 0.253 1424 -4.6 0.165 - - - - - - 14.62 14.63 14.35
23853 25.8 4.8 1257 23913 roll 1.33 0.10 0.149 3375 540.0 2.35 0.057 396 -580.4 391.7 45.28 0.189 1197 -5.0 0.129 - - - - - - 14.61 14.50 14.37
23964 17.6 9.1 1272 23978 done 1.33 - - 3375 - 2.12 0.028 1727 627.8 391.7 - - 1202 - - - - - - - - 14.70 14.65 14.71
24161 end climb: SURFACE_DEPTH_REACHED
24161 begin surface coast
24189 end surface coast: CONTROL_FINISHED_OK
24189 begin surface
SM 1.05 - - - - -8.61 9.43 0.067 159 16.9 0.15 0.084 1874 5626.7 515.13 74.12 0.123 693 9.3 -0.008 - - - - - -