SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 121 * Raw log
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• Previous call tries 1 • 49.04 of 350.00 AH used of 24V (85.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 54 s
• GPS2 time: 18 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
28 - - - 114 done -0.84 - - 159 - - - 1894 - -116.8 -81.88 - 3272 - - - - - - - - 14.81 13.60 14.83
118 7.7 -11.4 3 136 roll -0.84 12.10 0.401 2643 205.3 2.28 0.043 3245 592.5 -116.8 - - 3278 - - - - - - - - 14.40 14.64 14.64
171 34.5 -34.2 11 178 done -0.29 0.73 0.287 2826 250.7 2.25 0.041 1877 -608.0 -116.8 - - 3275 - - - - - - - - 14.46 14.66 14.67
507 81.0 -9.6 26 513 roll -0.29 - - 2823 - 2.38 0.057 470 -591.2 -116.8 - - 3275 - - - - - - - - 14.90 14.73 14.94
527 83.6 -11.6 29 536 done -0.29 - - 2820 - 2.22 0.034 1811 604.1 -116.8 - - 3274 - - - - - - - - 14.78 14.76 14.80
844 108.7 -7.1 39 850 roll -0.29 - - 2809 - 2.35 0.055 3235 606.0 -116.8 - - 3277 - - - - - - - - 14.97 14.78 14.99
947 116.7 -8.2 54 955 done -0.39 - - 2810 - 2.25 0.037 1858 -612.0 -116.8 - - 3277 - - - - - - - - 14.87 14.81 14.88
1291 140.8 -6.5 61 1298 roll -0.39 - - 2814 - 2.33 0.058 469 -596.1 -116.8 - - 3277 - - - - - - - - 15.00 14.82 15.02
1423 149.9 -7.1 80 1430 done -0.39 - - 2802 - 2.15 0.032 1799 618.6 -116.8 - - 3276 - - - - - - - - 14.90 14.85 14.92
1739 173.6 -7.6 90 1745 roll -0.49 - - 2790 - 2.38 0.055 3237 604.2 -116.8 - - 3274 - - - - - - - - 15.01 14.83 15.03
1788 177.1 -7.2 97 1796 done -0.60 0.17 0.109 2720 -411.8 2.33 0.037 1813 -611.2 -116.8 - - 3274 - - - - - - - - 14.85 14.83 14.88
2131 212.0 -10.3 104 2137 roll -0.60 - - 2720 - 2.25 0.058 467 -598.2 -116.8 - - 3271 - - - - - - - - 15.02 14.83 15.04
2263 226.5 -10.9 123 2270 done -0.50 0.15 0.226 2766 306.7 2.10 0.034 1746 609.0 -116.8 - - 3270 - - - - - - - - 14.69 14.85 14.86
2580 253.2 -8.4 133 2594 roll -0.50 - - 2757 - 2.47 0.053 3241 605.3 -116.8 - - 3267 - - - - - - - - 15.02 14.84 15.04
2621 256.9 -8.8 138 2634 done -0.50 - - 2757 - 2.40 0.038 1768 -613.8 -116.8 - - 3267 - - - - - - - - 14.92 14.86 14.95
2984 288.8 -8.8 147 2998 roll -0.50 - - 2757 - 2.17 0.059 470 -598.2 -116.8 - - 3264 - - - - - - - - 15.07 14.87 15.09
3115 300.9 -9.1 165 3129 done -0.50 - - 2749 - 1.98 0.033 1710 626.3 -116.8 - - 3262 - - - - - - - - 14.97 14.92 14.97
3443 329.0 -8.5 176 3457 roll -0.50 - - 2738 - 2.53 0.054 3237 603.6 -116.8 - - 3260 - - - - - - - - 15.07 14.88 15.09
3540 337.1 -8.4 189 3554 done -0.50 0.12 0.246 2764 216.7 2.42 0.039 1754 -612.8 -116.8 - - 3259 - - - - - - - - 14.75 14.90 14.92
3904 364.2 -7.4 198 3917 roll -0.50 - - 2761 - 2.17 0.060 464 -594.5 -116.8 - - 3257 - - - - - - - - 15.08 14.88 15.09
3966 369.2 -8.2 206 3979 done -0.50 - - 2759 - 2.08 0.034 1743 614.9 -116.8 - - 3257 - - - - - - - - 14.97 14.93 15.00
4308 396.5 -8.0 219 4321 roll -0.50 - - 2748 - 2.50 0.054 3245 600.8 -116.8 - - 3254 - - - - - - - - 15.08 14.89 15.10
4370 401.6 -8.3 227 4383 done -0.50 - - 2748 - 2.45 0.038 1753 -609.0 -116.8 - - 3255 - - - - - - - - 14.96 14.90 14.98
4713 431.5 -8.8 240 4726 roll -0.50 - - 2748 - 2.17 0.060 463 -594.5 -116.8 - - 3252 - - - - - - - - 15.08 14.88 15.10
4775 437.2 -9.2 248 4788 done -0.50 - - 2740 - 2.05 0.036 1723 614.6 -116.8 - - 3251 - - - - - - - - 14.95 14.90 14.97
5117 468.4 -9.2 261 5130 done -0.50 - - 2740 - - - 1722 - -116.8 - - 3250 - - - - - - - - 15.07 15.10 15.09
5453 499.1 -9.1 267 5466 roll -0.50 - - 2728 - 2.53 0.055 3238 599.2 -116.8 - - 3246 - - - - - - - - 15.08 14.88 15.10
5556 508.7 -8.9 281 5570 done -0.50 0.15 0.243 2762 226.7 2.45 0.039 1753 -606.1 -116.8 - - 3248 - - - - - - - - 14.73 14.90 14.92
5914 536.0 -7.5 289 5927 roll -0.50 - - 2763 - 2.17 0.061 466 -593.1 -116.8 - - 3244 - - - - - - - - 15.08 14.88 15.09
5961 539.9 -8.1 295 5974 done -0.50 - - 2757 - 2.05 0.036 1744 623.4 -116.8 - - 3245 - - - - - - - - 14.97 14.92 14.98
6317 567.1 -7.6 303 6330 roll -0.50 - - 2746 - 2.50 0.056 3244 600.0 -116.8 - - 3245 - - - - - - - - 15.07 14.87 15.09
6364 570.7 -7.6 309 6378 done -0.50 - - 2743 - 2.42 0.039 1761 -612.8 -116.8 - - 3244 - - - - - - - - 14.95 14.89 14.97
6721 597.9 -7.6 317 6734 done -0.50 - - 2746 - - - 1761 - -116.8 - - 3243 - - - - - - - - 15.07 15.09 15.09
7057 623.1 -7.5 323 7071 roll -0.50 - - 2746 - 2.20 0.063 463 -590.0 -116.8 - - 3242 - - - - - - - - 15.07 14.86 15.09
7196 634.8 -8.3 342 7209 done -0.50 0.12 0.266 2764 150.0 2.10 0.037 1759 617.1 -116.8 - - 3241 - - - - - - - - 14.70 14.90 14.90
7517 657.2 -7.0 352 7531 roll -0.50 - - 2756 - 2.47 0.058 3238 598.8 -116.8 - - 3239 - - - - - - - - 15.07 14.85 15.11
7621 664.7 -7.2 366 7634 done -0.59 - - 2755 - 2.38 0.040 1799 -604.6 -116.8 - - 3238 - - - - - - - - 14.95 14.88 14.96
7978 690.7 -7.4 374 7991 roll -0.59 - - 2755 - 2.28 0.063 461 -586.8 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.08
8067 697.9 -8.0 386 8080 done -0.59 - - 2747 - 2.15 0.037 1771 609.3 -116.8 - - 3237 - - - - - - - - 14.95 14.89 14.96
8437 725.9 -7.5 396 8450 roll -0.59 - - 2736 - 2.45 0.057 3235 597.6 -116.8 - - 3236 - - - - - - - - 15.08 14.83 15.07
8478 729.0 -8.0 401 8491 done -0.59 - - 2736 - 2.40 0.040 1786 -603.8 -116.8 - - 3236 - - - - - - - - 14.93 14.85 14.95
8841 757.6 -7.9 410 8854 roll -0.59 - - 2736 - 2.25 0.064 466 -586.7 -116.8 - - 3235 - - - - - - - - 15.05 14.83 15.07
8937 765.8 -8.6 423 8950 done -0.59 - - 2733 - 2.10 0.038 1752 612.4 -116.8 - - 3235 - - - - - - - - 14.93 14.88 14.95
9301 794.6 -7.9 432 9314 roll -0.59 - - 2716 - 2.50 0.058 3237 594.0 -116.8 - - 3233 - - - - - - - - 15.04 14.83 15.07
9390 801.8 -8.0 444 9403 done -0.59 - - 2716 - 2.40 0.041 1786 -604.6 -116.8 - - 3233 - - - - - - - - 14.92 14.86 14.94
9760 831.7 -8.2 454 9773 roll -0.59 - - 2716 - 2.28 0.065 463 -580.3 -116.8 - - 3232 - - - - - - - - 15.04 14.81 15.07
9856 840.5 -9.1 467 9870 done -0.59 0.12 0.282 2732 133.3 2.08 0.039 1737 612.5 -116.8 - - 3232 - - - - - - - - 14.63 14.87 14.85
10220 868.8 -7.9 476 10233 roll -0.59 - - 2724 - 2.53 0.060 3232 590.9 -116.8 - - 3231 - - - - - - - - 15.04 14.81 15.06
10309 876.1 -8.1 488 10323 done -0.59 - - 2724 - 2.42 0.041 1776 -601.7 -116.8 - - 3231 - - - - - - - - 14.91 14.83 14.92
10680 907.7 -8.6 498 10693 roll -0.59 - - 2723 - 2.25 0.065 466 -582.2 -116.8 - - 3230 - - - - - - - - 15.03 14.80 15.06
10811 920.5 -10.3 516 10824 done -0.59 - - 2716 - 2.05 0.039 1715 609.3 -116.8 - - 3230 - - - - - - - - 14.91 14.85 14.92
11139 949.5 -8.9 527 11153 roll -0.59 - - 2704 - 2.58 0.060 3238 590.3 -116.8 - - 3229 - - - - - - - - 15.04 14.79 15.04
11229 957.7 -8.9 539 11243 done -0.59 0.12 0.259 2732 233.3 2.50 0.043 1743 -598.0 -116.8 - - 3229 - - - - - - - - 14.62 14.82 14.83
11600 985.4 -7.2 549 11614 roll -0.59 - - 2732 - 2.20 0.067 469 -579.1 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
11659 end dive: TARGET_DEPTH_EXCEEDED
11660 begin apogee
11670 990.1 -4.3 557 11798 roll -0.21 0.50 0.230 2859 254.0 - - 1773 - - 118.30 2.178 2794 -3.7 0.308 - - - - - - 14.63 14.09 13.39
11799 end apogee: CONTROL_FINISHED_OK
11799 begin climb
11803 994.2 - 559 11943 roll 0.84 1.15 0.178 3190 287.8 2.55 0.063 401 -538.0 116.8 122.93 2.126 2316 -3.9 0.336 - - - - - - 14.09 14.14 13.27
12114 967.7 10.7 606 12127 done 0.84 - - 3190 - 2.38 0.033 1807 590.8 116.8 - - 2294 - - - - - - - - 14.47 14.42 14.48
12456 931.5 10.5 619 12470 roll 0.84 - - 3200 - 2.50 0.063 400 -562.8 116.8 - - 2295 - - - - - - - - 14.79 14.59 14.81
12644 911.3 10.5 645 12657 done 0.73 0.15 0.264 3169 -206.7 2.38 0.034 1836 603.4 116.8 - - 2292 - - - - - - - - 14.52 14.70 14.71
12973 883.4 8.3 656 12986 roll 0.73 - - 3169 - 2.30 0.054 3195 590.9 116.8 - - 2291 - - - - - - - - 14.90 14.72 14.92
13020 879.4 9.8 662 13033 done 0.73 - - 3175 - 2.25 0.041 1834 -604.9 116.8 - - 2291 - - - - - - - - 14.81 14.74 14.83
13376 851.0 7.9 670 13389 roll 0.73 - - 3186 - 2.50 0.067 398 -574.4 116.8 - - 2290 - - - - - - - - 14.95 14.73 14.97
13508 840.5 8.5 688 13521 done 0.73 - - 3186 - 2.33 0.035 1815 608.2 116.8 - - 2290 - - - - - - - - 14.85 14.80 14.87
13836 813.4 8.3 699 13849 roll 0.73 - - 3186 - 2.30 0.054 3185 595.7 116.8 - - 2288 - - - - - - - - 14.97 14.78 14.99
13898 807.8 9.1 707 13912 done 0.63 0.25 0.266 3137 -196.0 2.25 0.041 1827 -603.6 116.8 - - 2289 - - - - - - - - 14.59 14.79 14.81
14243 784.3 6.8 720 14273 roll 0.66 - - 3146 - 2.55 0.067 406 -557.3 136.7 17.42 1.942 2230 -3.4 0.253 - - - - - - 14.97 14.66 14.00
14353 776.1 7.8 735 14366 done 0.66 - - 3146 - 2.30 0.034 1797 604.8 137.2 - - 2221 - - - - - - - - 14.76 14.71 14.78
14695 749.7 7.7 748 14708 roll 0.66 - - 3146 - 2.35 0.054 3190 592.8 140.6 - - 2220 - - - - - - - - 14.91 14.73 14.92
14757 744.7 8.2 756 14771 done 0.66 - - 3155 - 2.33 0.040 1808 -593.1 140.6 - - 2219 - - - - - - - - 14.81 14.76 14.83
15100 717.4 8.0 769 15113 roll 0.66 - - 3165 - 2.42 0.067 403 -580.6 140.6 - - 2219 - - - - - - - - 14.95 14.76 14.97
15182 710.2 8.8 780 15195 done 0.66 - - 3165 - 2.28 0.033 1799 612.3 140.6 - - 2219 - - - - - - - - 14.83 14.80 14.87
15503 682.3 8.7 790 15516 roll 0.66 - - 3166 - 2.33 0.054 3188 596.1 140.6 - - 2219 - - - - - - - - 14.97 14.78 14.99
15565 676.6 9.2 798 15579 done 0.66 0.12 0.278 3149 -141.7 2.33 0.041 1790 -600.0 140.6 - - 2219 - - - - - - - - 14.61 14.79 14.81
15911 649.8 7.7 811 15924 roll 0.66 - - 3157 - 2.47 0.067 401 -562.3 142.9 1.58 0.179 2204 -9.5 6.371 - - - - - - 14.97 14.76 14.70
16000 642.3 8.0 823 16014 done 0.66 - - 3157 - 2.25 0.034 1780 612.9 142.9 - - 2205 - - - - - - - - 14.88 14.83 14.89
16371 613.7 7.7 833 16384 roll 0.67 - - 3163 - 2.38 0.054 3184 589.9 145.0 - - 2205 - - - - - - - - 15.02 14.78 15.01
16418 609.5 8.7 839 16431 done 0.67 - - 3166 - 2.35 0.041 1774 -600.0 145.0 - - 2205 - - - - - - - - 14.87 14.81 14.88
16774 578.5 8.9 847 16787 roll 0.67 - - 3177 - 2.38 0.067 398 -578.2 145.0 - - 2205 - - - - - - - - 14.99 14.77 15.00
16878 568.0 10.2 861 16891 done 0.67 0.15 0.256 3145 -213.3 2.22 0.034 1770 618.0 145.0 - - 2205 - - - - - - - - 14.62 14.83 14.82
17235 537.9 8.3 869 17248 roll 0.67 - - 3145 - 2.35 0.053 3174 597.4 145.0 - - 2204 - - - - - - - - 14.99 14.79 15.01
17289 533.3 8.3 876 17303 done 0.67 - - 3152 - 2.35 0.041 1765 -599.6 145.0 - - 2204 - - - - - - - - 14.88 14.81 14.89
17634 507.1 7.6 883 17651 roll 0.67 - - 3162 - 2.35 0.065 402 -580.0 150.5 4.90 1.360 2179 -5.1 0.352 - - - - - - 15.00 14.69 14.04
17744 498.6 7.8 898 17759 done 0.68 - - 3162 - 2.20 0.033 1750 612.7 152.4 3.53 1.058 2171 -2.3 0.197 - - - - - - 14.86 14.82 13.99
18086 473.2 7.4 905 18112 done 0.69 - - 3162 - - - 1750 - 161.3 17.33 1.584 2136 -2.0 0.112 - - - - - - 14.97 14.70 14.12
18421 447.8 7.7 911 18434 roll 0.69 - - 3162 - 2.40 0.050 3180 595.8 165.1 - - 2123 - - - - - - - - 14.90 14.72 14.92
18455 445.0 8.2 915 18468 done 0.69 - - 3171 - 2.40 0.040 1740 -600.0 165.1 - - 2123 - - - - - - - - 14.80 14.72 14.81
18825 413.4 8.7 925 18839 roll 0.69 - - 3181 - 2.30 0.066 402 -581.7 165.1 - - 2123 - - - - - - - - 14.94 14.73 14.97
18887 407.5 9.6 933 18901 done 0.69 - - 3181 - 2.17 0.032 1741 617.1 165.1 - - 2123 - - - - - - - - 14.84 14.80 14.85
19230 376.2 9.0 946 19244 roll 0.69 - - 3180 - 2.40 0.051 3181 600.0 165.1 - - 2123 - - - - - - - - 14.96 14.77 14.99
19299 369.6 9.4 955 19312 done 0.69 0.15 0.265 3157 -153.3 2.35 0.041 1758 -605.5 165.1 - - 2123 - - - - - - - - 14.61 14.78 14.81
19634 342.4 8.2 967 19648 roll 0.69 - - 3165 - 2.33 0.065 402 -582.0 165.1 - - 2123 - - - - - - - - 14.97 14.76 15.00
19682 338.2 9.0 973 19695 done 0.69 - - 3165 - 2.20 0.032 1766 620.0 165.1 - - 2123 - - - - - - - - 14.88 14.83 14.89
20038 308.5 8.2 981 20051 roll 0.69 - - 3165 - 2.35 0.051 3177 600.4 165.1 - - 2124 - - - - - - - - 14.99 14.79 15.01
20085 304.5 8.2 987 20098 done 0.69 - - 3174 - 2.35 0.040 1756 -604.7 165.1 - - 2123 - - - - - - - - 14.87 14.81 14.88
20441 277.1 7.7 995 20458 roll 0.70 - - 3188 - 2.38 0.065 405 -567.6 168.9 2.80 0.687 2103 -7.1 0.533 - - - - - - 15.00 14.79 14.06
20506 271.7 8.6 1004 20519 done 0.70 - - 3184 - 2.17 0.031 1757 623.0 168.9 - - 2108 - - - - - - - - 14.85 14.81 14.87
20842 243.1 8.7 1016 20855 roll 0.70 - - 3184 - 2.38 0.050 3185 600.0 168.9 - - 2107 - - - - - - - - 14.97 14.80 15.01
20904 237.4 9.1 1024 20917 done 0.70 0.17 0.252 3153 -182.4 2.33 0.038 1776 -604.7 168.9 - - 2109 - - - - - - - - 14.64 14.81 14.82
21250 212.6 7.2 1037 21284 roll 0.71 - - 3162 - 2.38 0.066 405 -576.1 182.0 20.20 1.255 2044 -3.2 0.101 - - - - - - 14.99 14.71 14.21
21388 202.0 7.7 1057 21401 done 0.72 - - 3162 - 2.17 0.032 1745 617.5 185.0 - - 2040 - - - - - - - - 14.79 14.76 14.81
21758 174.7 7.3 1067 21781 roll 0.73 - - 3162 - 2.47 0.050 3184 582.6 194.6 6.97 1.151 2000 -5.7 0.161 - - - - - - 14.94 14.75 14.17
21822 169.8 7.7 1076 21839 done 0.73 - - 3171 - 2.40 0.041 1740 -601.7 197.8 3.53 0.832 1985 -4.2 0.160 - - - - - - 14.80 14.74 14.07
22155 144.2 8.0 1088 22168 roll 0.73 - - 3180 - 2.30 0.064 400 -582.6 197.8 - - 1992 - - - - - - - - 14.94 14.73 14.96
22244 137.2 7.6 1100 22262 done 0.74 - - 3180 - 2.17 0.031 1745 619.8 202.4 5.22 1.022 1965 -5.2 0.128 - - - - - - 14.85 14.81 14.12
22612 109.5 7.4 1110 22631 done 0.75 - - 3181 - - - 1739 - 210.5 9.95 0.341 1932 -3.3 0.197 - - - - - - 14.95 14.76 14.46
22920 90.7 5.2 1118 22981 roll 0.92 0.12 0.135 3236 458.3 2.47 0.049 3178 582.6 259.6 48.58 0.372 1736 -4.0 0.182 - - - - - - 14.77 14.70 14.45
23085 78.9 7.6 1141 23108 done 0.93 - - 3245 - 2.50 0.038 1685 -597.2 265.1 8.10 0.271 1718 -2.2 0.120 - - - - - - 14.81 14.72 14.45
23433 58.1 5.4 1157 23490 roll 1.08 - - 3255 - 2.20 0.061 402 -583.2 311.0 43.75 0.279 1526 -4.4 0.169 - - - - - - 14.93 14.64 14.49
23636 46.2 5.0 1186 23697 done 1.34 0.30 0.085 3370 383.3 1.90 0.030 1596 628.4 364.0 48.10 0.246 1307 -4.6 0.158 - - - - - - 14.71 14.74 14.50
24026 13.3 8.1 1208 24039 roll 1.34 - - 3370 - 2.65 0.044 3187 600.4 364.0 - - 1316 - - - - - - - - 14.92 14.75 14.95
24154 end climb: SURFACE_DEPTH_REACHED
24154 begin surface coast
24161 end surface coast: CONTROL_FINISHED_OK
24161 begin surface
SM 1.28 - - - - -8.60 9.60 0.097 165 17.2 2.20 0.034 1869 731.4 515.13 89.62 0.123 691 7.7 -0.008 - - - - - -