SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 126 * Raw log
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• Previous call tries 1 • 50.90 of 350.00 AH used of 24V (85.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.20 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 34 s
• GPS2 time: 16 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 154 - - - 1867 - -116.8 -79.15 - 3270 - - - - - - - - 14.80 13.93 14.83
113 9.5 -14.5 3 128 done -0.84 12.00 0.389 2651 208.1 - - 1864 - -116.8 - - 3270 - - - - - - - - 14.38 14.65 14.62
418 91.4 -17.1 14 424 roll -0.49 0.43 0.263 2765 265.1 2.35 0.054 465 -595.3 -116.8 - - 3272 - - - - - - - - 14.58 14.71 14.68
619 109.9 -8.5 43 626 done -0.49 - - 2760 - 2.17 0.032 1820 624.4 -116.8 - - 3274 - - - - - - - - 14.83 14.79 14.85
977 138.8 -8.3 52 984 roll -0.49 - - 2749 - 2.38 0.053 3262 605.9 -116.8 - - 3272 - - - - - - - - 14.98 14.79 15.00
1089 148.1 -8.2 68 1095 done -0.49 - - 2749 - 2.28 0.035 1850 -619.3 -116.8 - - 3274 - - - - - - - - 14.88 14.83 14.89
1425 176.7 -8.6 81 1432 roll -0.49 - - 2750 - 2.30 0.056 472 -599.1 -116.8 - - 3272 - - - - - - - - 15.00 14.81 15.02
1571 190.8 -9.5 102 1578 done -0.49 0.12 0.265 2765 125.0 2.15 0.033 1815 624.7 -116.8 - - 3271 - - - - - - - - 14.69 14.86 14.86
1929 222.1 -8.8 111 1936 roll -0.49 - - 2757 - 2.38 0.053 3261 607.6 -116.8 - - 3268 - - - - - - - - 15.01 14.82 15.03
1986 227.2 -9.1 119 1992 done -0.49 - - 2757 - 2.40 0.037 1789 -613.3 -116.8 - - 3267 - - - - - - - - 14.90 14.84 14.91
2321 258.1 -9.2 132 2335 roll -0.49 - - 2757 - 2.22 0.060 463 -597.3 -116.8 - - 3264 - - - - - - - - 15.03 14.84 15.05
2397 265.6 -9.8 142 2410 done -0.49 - - 2749 - 2.10 0.034 1776 625.2 -116.8 - - 3264 - - - - - - - - 14.94 14.89 14.95
2725 295.7 -9.2 153 2738 roll -0.49 - - 2738 - 2.45 0.054 3260 605.7 -116.8 - - 3261 - - - - - - - - 15.05 14.86 15.08
2787 301.4 -9.1 161 2800 done -0.49 0.12 0.246 2766 233.3 2.42 0.038 1776 -613.2 -116.8 - - 3260 - - - - - - - - 14.73 14.88 14.90
3130 329.4 -8.1 174 3143 roll -0.49 - - 2766 - 2.20 0.060 466 -595.5 -116.8 - - 3258 - - - - - - - - 15.06 14.88 15.09
3226 337.8 -8.5 187 3239 done -0.49 - - 2760 - 2.10 0.034 1769 620.5 -116.8 - - 3257 - - - - - - - - 14.96 14.92 14.98
3589 367.5 -8.2 196 3602 roll -0.49 - - 2760 - 2.20 0.057 463 -593.6 -116.8 - - 3254 - - - - - - - - 15.07 14.88 15.09
3651 372.8 -8.6 204 3664 done -0.49 - - 2752 - 2.05 0.036 1738 622.0 -116.8 - - 3254 - - - - - - - - 14.97 14.91 14.98
3993 399.9 -7.8 217 4006 roll -0.49 - - 2740 - 2.53 0.056 3259 601.2 -116.8 - - 3252 - - - - - - - - 15.07 14.88 15.09
4104 408.5 -7.7 232 4118 done -0.49 0.12 0.251 2766 216.7 2.47 0.039 1751 -610.5 -116.8 - - 3250 - - - - - - - - 14.73 14.89 14.91
4448 431.8 -6.8 239 4461 roll -0.49 - - 2769 - 2.17 0.061 463 -593.5 -116.8 - - 3249 - - - - - - - - 15.07 14.88 15.10
4523 437.4 -7.4 249 4536 done -0.49 - - 2763 - 2.05 0.036 1744 624.9 -116.8 - - 3251 - - - - - - - - 14.95 14.92 14.98
4851 462.0 -7.6 260 4865 roll -0.49 - - 2752 - 2.53 0.056 3263 600.4 -116.8 - - 3247 - - - - - - - - 15.08 14.88 15.09
4941 469.3 -8.3 272 4954 done -0.49 - - 2752 - 2.47 0.040 1759 -608.9 -116.8 - - 3246 - - - - - - - - 14.95 14.90 14.97
5311 501.6 -8.8 282 5325 roll -0.49 - - 2757 - 2.17 0.060 473 -592.6 -116.8 - - 3245 - - - - - - - - 15.07 14.87 15.10
5387 508.8 -9.5 292 5400 done -0.49 - - 2743 - 2.08 0.036 1766 621.6 -116.8 - - 3243 - - - - - - - - 14.97 14.92 14.98
5715 539.1 -9.2 303 5729 roll -0.49 - - 2732 - 2.47 0.057 3257 603.6 -116.8 - - 3242 - - - - - - - - 15.07 14.87 15.09
5770 544.1 -8.9 310 5784 done -0.49 0.15 0.243 2765 220.0 2.50 0.040 1747 -604.0 -116.8 - - 3242 - - - - - - - - 14.71 14.88 14.90
6114 569.5 -7.3 317 6127 roll -0.49 - - 2767 - 2.15 0.063 474 -592.1 -116.8 - - 3241 - - - - - - - - 15.07 14.86 15.09
6183 574.8 -7.7 326 6196 done -0.49 - - 2760 - 2.03 0.037 1730 618.7 -116.8 - - 3241 - - - - - - - - 14.96 14.90 14.97
6518 597.9 -6.9 338 6531 roll -0.49 - - 2749 - 2.55 0.057 3257 598.8 -116.8 - - 3240 - - - - - - - - 15.07 14.85 15.08
6601 603.9 -7.3 349 6614 done -0.49 - - 2749 - 2.50 0.040 1748 -603.6 -116.8 - - 3240 - - - - - - - - 14.95 14.88 14.96
6922 628.0 -7.6 359 6935 roll -0.49 - - 2745 - 2.17 0.063 467 -590.3 -116.8 - - 3237 - - - - - - - - 15.07 14.85 15.09
6990 633.7 -8.4 368 7004 done -0.49 0.12 0.272 2766 175.0 2.05 0.037 1727 614.6 -116.8 - - 3236 - - - - - - - - 14.69 14.90 14.88
7326 658.3 -7.4 380 7340 roll -0.49 - - 2757 - 2.58 0.057 3263 595.3 -116.8 - - 3233 - - - - - - - - 15.06 14.85 15.08
7423 665.8 -7.7 393 7436 done -0.59 - - 2757 - 2.47 0.041 1761 -608.1 -116.8 - - 3235 - - - - - - - - 14.93 14.87 14.95
7787 694.3 -7.8 402 7800 roll -0.59 - - 2757 - 2.20 0.063 467 -588.2 -116.8 - - 3234 - - - - - - - - 15.05 14.84 15.07
7897 703.6 -8.2 417 7911 done -0.59 - - 2749 - 2.08 0.037 1734 609.1 -116.8 - - 3234 - - - - - - - - 14.93 14.88 14.95
8242 730.2 -7.7 424 8255 roll -0.59 - - 2737 - 2.60 0.060 3265 588.8 -116.8 - - 3233 - - - - - - - - 15.05 14.83 15.07
8352 738.5 -6.9 439 8366 done -0.59 - - 2737 - 2.53 0.041 1750 -598.8 -116.8 - - 3232 - - - - - - - - 14.92 14.85 14.94
8696 766.0 -8.1 446 8709 roll -0.59 - - 2737 - 2.17 0.065 476 -587.1 -116.8 - - 3231 - - - - - - - - 15.04 14.82 15.07
8779 773.2 -8.0 457 8792 done -0.59 - - 2729 - 2.03 0.038 1717 611.3 -116.8 - - 3230 - - - - - - - - 14.92 14.88 14.94
9100 800.1 -8.5 467 9113 roll -0.59 - - 2717 - 2.60 0.060 3257 592.3 -116.8 - - 3230 - - - - - - - - 15.04 14.82 15.06
9238 812.2 -8.6 486 9251 done -0.59 - - 2718 - 2.50 0.042 1749 -603.2 -116.8 - - 3229 - - - - - - - - 14.90 14.84 14.93
9559 840.1 -8.7 496 9572 roll -0.59 - - 2723 - 2.17 0.065 475 -587.1 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.05
9627 846.5 -9.4 505 9641 done -0.59 0.12 0.284 2734 91.7 2.08 0.039 1744 610.1 -116.8 - - 3226 - - - - - - - - 14.62 14.86 14.84
9963 872.3 -7.6 517 9977 roll -0.59 - - 2725 - 2.55 0.060 3256 592.9 -116.8 - - 3226 - - - - - - - - 15.03 14.81 15.05
10082 881.7 -7.9 533 10095 done -0.59 - - 2725 - 2.45 0.042 1781 -602.0 -116.8 - - 3228 - - - - - - - - 14.90 14.82 14.91
10424 908.4 -7.7 546 10438 roll -0.59 - - 2725 - 2.25 0.065 468 -583.6 -116.8 - - 3227 - - - - - - - - 15.02 14.79 15.04
10543 918.2 -8.3 562 10556 done -0.59 - - 2717 - 2.12 0.039 1758 608.5 -116.8 - - 3227 - - - - - - - - 14.90 14.85 14.92
10885 945.7 -8.0 575 10899 roll -0.59 - - 2705 - 2.55 0.061 3262 589.8 -116.8 - - 3226 - - - - - - - - 15.02 14.78 15.04
10981 953.8 -8.3 588 10995 done -0.59 0.15 0.261 2737 213.3 2.50 0.043 1771 -596.4 -116.8 - - 3225 - - - - - - - - 14.60 14.81 14.81
11345 980.9 -7.5 597 11359 roll -0.59 - - 2738 - 2.25 0.067 474 -576.4 -116.8 - - 3225 - - - - - - - - 15.02 14.78 15.04
11449 989.6 -8.3 611 11462 done -0.59 - - 2732 - 2.08 0.040 1738 607.7 -116.8 - - 3224 - - - - - - - - 14.89 14.83 14.90
11466 end dive: TARGET_DEPTH_EXCEEDED
11466 begin apogee
11473 991.8 -10.8 613 11643 roll -0.21 0.47 0.226 2859 270.2 - - 1738 - - 159.48 1.863 2793 -2.7 0.267 - - - - - - 14.59 14.09 13.45
11644 end apogee: CONTROL_FINISHED_OK
11644 begin climb
11648 998.1 - 616 11789 roll 0.84 1.15 0.176 3191 288.7 2.45 0.065 399 -546.5 116.8 124.25 2.131 2313 -3.9 0.335 - - - - - - 14.08 14.14 13.24
11987 974.0 10.0 665 12000 done 0.84 - - 3191 - 2.38 0.036 1801 589.1 116.8 - - 2293 - - - - - - - - 14.47 14.42 14.49
12322 943.1 9.1 677 12336 roll 0.84 - - 3201 - 2.45 0.063 408 -568.6 116.8 - - 2291 - - - - - - - - 14.78 14.59 14.81
12531 922.1 10.8 706 12544 done 0.72 0.17 0.258 3162 -229.4 2.33 0.035 1816 604.3 116.8 - - 2291 - - - - - - - - 14.50 14.69 14.71
12894 891.0 8.6 715 12907 roll 0.72 - - 3162 - 2.33 0.055 3187 588.4 116.8 - - 2289 - - - - - - - - 14.91 14.70 14.93
12934 887.4 11.4 720 12947 done 0.72 - - 3169 - 2.28 0.042 1814 -602.2 116.8 - - 2288 - - - - - - - - 14.81 14.74 14.83
13297 855.7 8.7 729 13310 roll 0.72 - - 3180 - 2.45 0.067 402 -576.3 116.8 - - 2288 - - - - - - - - 14.95 14.73 14.97
13394 847.3 9.2 742 13407 done 0.72 - - 3180 - 2.30 0.036 1798 607.0 116.8 - - 2288 - - - - - - - - 14.85 14.79 14.86
13757 815.2 8.8 751 13770 roll 0.72 - - 3180 - 2.35 0.055 3191 592.8 116.8 - - 2286 - - - - - - - - 14.97 14.76 14.99
13839 807.6 9.1 762 13852 done 0.72 - - 3189 - 2.30 0.042 1806 -602.2 116.8 - - 2287 - - - - - - - - 14.85 14.78 14.88
14161 778.9 9.0 772 14174 roll 0.72 - - 3200 - 2.45 0.068 397 -575.1 116.8 - - 2287 - - - - - - - - 14.98 14.78 15.00
14229 772.0 10.1 781 14243 done 0.61 0.28 0.246 3133 -239.3 2.33 0.036 1816 609.0 116.8 - - 2287 - - - - - - - - 14.59 14.81 14.82
14565 747.3 7.3 793 14582 roll 0.63 - - 3133 - 2.35 0.056 3181 580.9 127.7 2.88 0.907 2269 -6.2 0.954 - - - - - - 14.98 14.81 13.88
14624 742.6 7.7 801 14638 done 0.63 - - 3140 - 2.28 0.042 1813 -600.0 130.6 2.22 0.444 2261 -3.6 1.117 - - - - - - 14.86 14.79 13.83
14967 716.1 7.8 814 14984 roll 0.63 - - 3151 - 2.47 0.067 384 -578.5 132.5 3.08 1.004 2251 -3.2 0.429 - - - - - - 14.97 14.78 13.90
15085 706.5 8.4 830 15098 done 0.63 - - 3151 - 2.33 0.035 1799 607.3 132.5 - - 2257 - - - - - - - - 14.85 14.81 14.88
15427 677.5 8.5 843 15441 roll 0.63 - - 3151 - 2.33 0.055 3185 594.8 132.5 - - 2257 - - - - - - - - 14.97 14.78 15.00
15482 672.5 9.2 850 15495 done 0.63 - - 3159 - 2.33 0.042 1796 -596.1 132.5 - - 2257 - - - - - - - - 14.86 14.79 14.88
15826 642.4 8.7 857 15839 roll 0.63 - - 3170 - 2.42 0.067 393 -579.8 132.5 - - 2257 - - - - - - - - 14.98 14.76 15.00
15909 634.8 9.2 868 15922 done 0.63 0.15 0.250 3138 -213.3 2.28 0.035 1790 612.7 132.5 - - 2257 - - - - - - - - 14.60 14.82 14.81
16230 610.7 7.3 878 16262 roll 0.64 - - 3135 - 2.42 0.055 3180 574.4 142.9 19.98 1.704 2205 -2.6 0.173 - - - - - - 14.98 14.68 14.07
16317 604.0 8.0 890 16330 done 0.64 - - 3144 - 2.30 0.043 1804 -598.3 142.9 - - 2198 - - - - - - - - 14.74 14.69 14.76
16680 575.2 8.0 899 16694 roll 0.64 - - 3155 - 2.45 0.067 399 -573.5 142.9 - - 2197 - - - - - - - - 14.91 14.69 14.92
16836 562.2 8.6 920 16849 done 0.64 - - 3158 - 2.22 0.034 1761 613.5 142.9 - - 2198 - - - - - - - - 14.82 14.77 14.83
17199 530.4 8.8 929 17212 roll 0.64 - - 3155 - 2.40 0.054 3183 592.5 142.9 - - 2197 - - - - - - - - 14.95 14.76 14.96
17281 522.9 8.8 940 17294 done 0.64 - - 3163 - 2.33 0.041 1786 -599.6 142.9 - - 2198 - - - - - - - - 14.83 14.77 14.86
17603 496.3 8.3 950 17616 roll 0.64 - - 3174 - 2.38 0.067 408 -579.0 142.9 - - 2198 - - - - - - - - 14.97 14.74 14.99
17685 488.9 8.8 961 17700 done 0.64 0.15 0.246 3141 -220.0 2.25 0.034 1784 611.6 142.9 - - 2198 - - - - - - - - 14.60 14.83 14.81
18008 466.1 7.0 971 18038 roll 0.66 - - 3141 - 2.35 0.053 3178 593.2 159.2 16.95 1.608 2137 -3.6 0.193 - - - - - - 14.97 14.60 14.09
18079 460.9 7.5 981 18092 done 0.67 - - 3147 - 2.33 0.042 1784 -598.3 165.0 1.67 0.175 2115 -13.2 6.428 - - - - - - 14.76 14.70 14.61
18408 436.1 7.6 992 18425 roll 0.68 - - 3158 - 2.40 0.066 399 -577.1 170.6 4.05 1.140 2095 -4.9 0.350 - - - - - - 14.91 14.71 13.97
18526 426.9 7.9 1008 18539 done 0.68 - - 3157 - 2.22 0.034 1751 609.0 170.6 - - 2101 - - - - - - - - 14.81 14.76 14.82
18869 400.3 7.7 1021 18886 roll 0.68 - - 3158 - 2.42 0.052 3189 594.2 173.8 3.97 1.099 2087 -3.5 0.238 - - - - - - 14.94 14.76 14.00
18934 394.9 8.2 1030 18947 done 0.68 - - 3165 - 2.40 0.041 1749 -600.0 173.8 - - 2089 - - - - - - - - 14.81 14.75 14.83
19269 367.9 8.1 1042 19282 roll 0.68 - - 3176 - 2.33 0.067 402 -578.1 173.8 - - 2089 - - - - - - - - 14.95 14.73 14.97
19317 363.7 8.9 1048 19330 done 0.68 - - 3175 - 2.20 0.034 1754 614.5 173.8 - - 2092 - - - - - - - - 14.85 14.80 14.85
19673 333.8 8.4 1056 19686 roll 0.68 - - 3175 - 2.40 0.053 3187 597.1 173.8 - - 2090 - - - - - - - - 14.97 14.77 14.99
19706 330.8 8.7 1060 19720 done 0.68 0.15 0.262 3153 -146.7 2.38 0.041 1755 -601.7 173.8 - - 2090 - - - - - - - - 14.61 14.78 14.80
20077 304.1 7.2 1070 20114 roll 0.70 - - 3161 - 2.40 0.067 405 -562.5 186.2 21.90 1.356 2028 -2.8 0.118 - - - - - - 14.98 14.66 14.16
20176 296.6 7.9 1084 20189 done 0.70 - - 3161 - 2.17 0.034 1738 614.3 186.2 - - 2024 - - - - - - - - 14.76 14.71 14.78
20532 268.9 7.9 1092 20545 roll 0.70 - - 3161 - 2.42 0.052 3182 596.7 186.2 - - 2024 - - - - - - - - 14.91 14.73 14.97
20607 262.4 8.5 1102 20620 done 0.70 - - 3170 - 2.38 0.041 1755 -599.6 186.2 - - 2021 - - - - - - - - 14.81 14.74 14.83
20936 235.7 8.2 1113 20949 roll 0.70 - - 3180 - 2.35 0.067 398 -577.4 186.2 - - 2024 - - - - - - - - 14.94 14.73 14.97
20983 231.5 8.9 1119 20996 done 0.70 - - 3180 - 2.22 0.034 1765 615.8 186.2 - - 2023 - - - - - - - - 14.85 14.80 14.87
21339 200.9 8.7 1127 21352 roll 0.70 - - 3180 - 2.38 0.051 3182 595.4 186.2 - - 2023 - - - - - - - - 14.97 14.78 14.99
21408 194.5 9.4 1136 21421 done 0.70 0.15 0.262 3156 -160.0 2.35 0.041 1760 -605.1 186.2 - - 2023 - - - - - - - - 14.62 14.79 14.82
21746 168.4 7.7 1148 21759 roll 0.70 - - 3164 - 2.33 0.065 403 -582.4 188.7 - - 2023 - - - - - - - - 14.98 14.76 15.00
21808 163.4 7.8 1156 21821 done 0.70 - - 3164 - 2.20 0.033 1761 617.3 190.5 - - 2023 - - - - - - - - 14.88 14.83 14.89
22150 137.4 7.7 1169 22167 roll 0.71 - - 3164 - 2.40 0.050 3173 588.3 194.1 3.38 0.783 1999 -7.1 0.231 - - - - - - 14.99 14.80 14.12
22237 130.9 7.0 1181 22275 done 0.73 - - 3172 - 2.33 0.041 1774 -600.4 209.5 22.05 1.169 1931 -3.1 0.064 - - - - - - 14.86 14.80 14.20
22607 103.2 7.7 1198 22620 roll 0.73 - - 3182 - 2.38 0.065 398 -578.2 213.3 - - 1926 - - - - - - - - 14.92 14.71 14.94
22698 97.0 6.4 1210 22735 done 0.89 0.12 0.138 3229 391.7 2.22 0.033 1751 609.5 241.2 24.70 0.375 1810 -4.7 0.225 - - - - - - 14.73 14.78 14.43
23064 75.1 5.7 1229 23115 roll 0.94 - - 3229 - 2.38 0.046 3178 599.6 281.3 39.22 0.328 1644 -4.2 0.180 - - - - - - 14.92 14.62 14.42
23201 69.0 4.9 1248 23266 done 1.16 0.20 0.106 3312 415.0 2.38 0.039 1756 -597.5 335.9 51.97 0.312 1422 -4.3 0.175 - - - - - - 14.70 14.71 14.42
23570 45.3 6.3 1268 23614 roll 1.19 - - 3312 - 2.45 0.046 3182 582.0 365.7 28.12 0.241 1304 -4.2 0.146 - - - - - - 14.89 14.69 14.51
23753 33.9 6.1 1294 23800 done 1.36 0.15 0.116 3380 453.3 2.58 0.037 1625 -603.5 399.0 30.02 0.211 1167 -4.6 0.136 - - - - - - 14.72 14.73 14.54
24107 3.5 9.0 1311 24124 roll 1.36 - - 3380 - 2.65 0.044 3186 589.1 399.0 2.70 0.144 1165 - - - - - - - - 14.93 14.72 14.69
24127 end climb: SURFACE_DEPTH_REACHED
24127 begin surface coast
24135 end surface coast: CONTROL_FINISHED_OK
24135 begin surface
SM 1.21 - - - - -8.60 9.38 0.070 161 17.1 2.22 0.044 1874 -2963.1 515.13 68.80 0.123 691 10.0 -0.010 - - - - - -