SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 128 * Raw log
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• Previous call tries 1 • 51.63 of 350.00 AH used of 24V (85.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 1.21 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 21 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 done -0.84 - - 163 - - - 1869 - -116.8 -78.43 - 3272 - - - - - - - - 14.81 13.59 14.84
112 10.7 -16.8 3 129 roll -0.84 11.55 0.376 2661 216.3 2.45 0.061 469 -571.4 -116.8 - - 3274 - - - - - - - - 14.42 14.61 14.64
193 47.8 -28.9 15 199 done -0.42 0.52 0.269 2785 238.5 2.33 0.034 1888 609.0 -116.8 - - 3275 - - - - - - - - 14.49 14.65 14.68
528 94.0 -10.7 30 535 roll -0.42 - - 2790 - 2.40 0.054 465 -592.9 -116.8 - - 3278 - - - - - - - - 14.92 14.73 14.95
682 108.3 -7.3 52 689 done -0.42 - - 2779 - 2.17 0.033 1822 625.3 -116.8 - - 3275 - - - - - - - - 14.85 14.81 14.86
1032 133.9 -7.6 60 1039 roll -0.42 - - 2769 - 2.38 0.054 3265 606.3 -116.8 - - 3277 - - - - - - - - 14.99 14.80 15.01
1144 142.7 -7.5 76 1151 done -0.42 - - 2769 - 2.33 0.035 1832 -615.0 -116.8 - - 3277 - - - - - - - - 14.88 14.83 14.90
1481 169.2 -7.9 89 1488 roll -0.42 - - 2769 - 2.28 0.057 471 -596.9 -116.8 - - 3275 - - - - - - - - 15.00 14.82 15.02
1593 179.0 -8.8 105 1601 done -0.42 0.12 0.254 2786 141.7 2.12 0.032 1796 625.0 -116.8 - - 3273 - - - - - - - - 14.71 14.86 14.86
1930 203.2 -7.1 118 1937 roll -0.42 - - 2779 - 2.42 0.052 3264 606.6 -116.8 - - 3271 - - - - - - - - 15.03 14.83 15.04
1986 207.3 -7.5 126 1992 done -0.42 - - 2778 - 2.40 0.037 1797 -611.2 -116.8 - - 3270 - - - - - - - - 14.90 14.85 14.92
2321 233.9 -8.0 139 2328 roll -0.42 - - 2778 - 2.22 0.058 474 -595.9 -116.8 - - 3268 - - - - - - - - 15.02 14.83 15.04
2454 245.2 -8.3 158 2460 done -0.42 - - 2771 - 2.10 0.033 1780 621.9 -116.8 - - 3266 - - - - - - - - 14.92 14.88 14.92
2769 271.6 -8.4 168 2783 roll -0.42 - - 2759 - 2.45 0.054 3261 604.5 -116.8 - - 3264 - - - - - - - - 15.05 14.85 15.07
2823 276.3 -8.6 175 2838 done -0.42 0.12 0.234 2787 233.3 2.42 0.037 1787 -609.1 -116.8 - - 3263 - - - - - - - - 14.74 14.88 14.90
3169 302.3 -7.5 182 3182 roll -0.52 - - 2783 - 2.20 0.058 470 -598.6 -116.8 - - 3261 - - - - - - - - 15.07 14.88 15.09
3251 309.1 -8.1 193 3264 done -0.52 - - 2782 - 2.08 0.034 1768 624.0 -116.8 - - 3260 - - - - - - - - 14.97 14.92 14.98
3572 333.9 -7.7 203 3586 roll -0.52 - - 2771 - 2.47 0.054 3263 605.3 -116.8 - - 3256 - - - - - - - - 15.07 14.88 15.09
3641 339.2 -7.8 212 3654 done -0.62 0.12 0.133 2716 -458.3 2.45 0.038 1759 -613.9 -116.8 - - 3257 - - - - - - - - 14.88 14.90 14.95
3977 372.3 -10.1 224 3990 roll -0.62 - - 2720 - 2.17 0.060 463 -597.2 -116.8 - - 3256 - - - - - - - - 15.07 14.88 15.10
4066 381.9 -10.6 236 4079 done -0.62 - - 2711 - 2.05 0.036 1741 623.4 -116.8 - - 3254 - - - - - - - - 14.97 14.92 14.98
4436 420.5 -10.6 246 4449 roll -0.62 - - 2699 - 2.53 0.056 3257 599.2 -116.8 - - 3252 - - - - - - - - 15.08 14.88 15.09
4476 424.8 -10.8 251 4490 done -0.62 0.12 0.262 2725 216.7 2.50 0.039 1734 -609.2 -116.8 - - 3252 - - - - - - - - 14.73 14.90 14.92
4840 459.7 -9.5 260 4853 roll -0.62 - - 2726 - 2.12 0.061 476 -593.4 -116.8 - - 3251 - - - - - - - - 15.07 14.88 15.10
4873 463.0 -9.7 264 4887 done -0.62 - - 2720 - 2.03 0.036 1733 619.2 -116.8 - - 3250 - - - - - - - - 14.97 14.92 14.99
5243 497.8 -9.3 274 5257 roll -0.62 - - 2709 - 2.55 0.057 3263 600.0 -116.8 - - 3247 - - - - - - - - 15.08 14.88 15.09
5333 506.5 -9.6 286 5346 done -0.62 - - 2708 - 2.47 0.040 1757 -609.7 -116.8 - - 3247 - - - - - - - - 14.96 14.89 14.97
5704 544.0 -10.4 296 5717 roll -0.62 - - 2708 - 2.20 0.060 463 -588.2 -116.8 - - 3245 - - - - - - - - 15.08 14.87 15.09
5822 557.1 -10.9 312 5835 done -0.62 0.12 0.289 2725 141.7 2.10 0.037 1752 613.8 -116.8 - - 3245 - - - - - - - - 14.70 14.92 14.90
6164 590.0 -9.6 325 6178 roll -0.62 - - 2715 - 2.53 0.057 3263 597.2 -116.8 - - 3243 - - - - - - - - 15.07 14.86 15.09
6283 601.4 -9.4 341 6296 done -0.62 - - 2716 - 2.47 0.040 1763 -607.3 -116.8 - - 3243 - - - - - - - - 14.95 14.88 14.97
6625 633.0 -9.0 354 6639 roll -0.62 - - 2716 - 2.20 0.063 465 -590.0 -116.8 - - 3242 - - - - - - - - 15.06 14.85 15.09
6749 644.7 -9.3 371 6763 done -0.62 - - 2707 - 2.03 0.037 1716 616.3 -116.8 - - 3241 - - - - - - - - 14.94 14.90 14.96
7085 675.0 -9.1 383 7098 roll -0.62 - - 2696 - 2.58 0.058 3256 596.9 -116.8 - - 3239 - - - - - - - - 15.07 14.87 15.08
7125 678.9 -9.5 388 7139 done -0.62 0.15 0.252 2730 226.7 2.53 0.041 1724 -605.5 -116.8 - - 3239 - - - - - - - - 14.69 14.88 14.89
7489 709.7 -8.5 397 7502 roll -0.62 - - 2732 - 2.12 0.063 472 -590.6 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.08
7557 716.0 -9.1 406 7570 done -0.62 - - 2726 - 2.03 0.037 1720 614.8 -116.8 - - 3238 - - - - - - - - 14.95 14.89 14.95
7892 745.4 -8.8 418 7905 roll -0.62 - - 2714 - 2.60 0.058 3264 593.8 -116.8 - - 3236 - - - - - - - - 15.05 14.84 15.08
7995 754.7 -8.9 432 8009 done -0.62 - - 2714 - 2.50 0.041 1753 -604.4 -116.8 - - 3239 - - - - - - - - 14.93 14.86 14.95
8352 786.7 -9.0 440 8365 roll -0.62 - - 2714 - 2.17 0.063 474 -589.4 -116.8 - - 3235 - - - - - - - - 15.04 14.83 15.07
8441 794.9 -8.3 452 8454 done -0.62 - - 2706 - 2.05 0.038 1723 609.3 -116.8 - - 3236 - - - - - - - - 14.93 14.88 14.95
8812 828.8 -9.1 462 8825 roll -0.62 - - 2695 - 2.60 0.059 3260 591.2 -116.8 - - 3233 - - - - - - - - 15.05 14.83 15.07
8880 835.2 -9.4 471 8894 done -0.62 0.15 0.255 2727 213.3 2.55 0.042 1720 -603.9 -116.8 - - 3237 - - - - - - - - 14.65 14.85 14.85
9216 861.2 -7.5 483 9229 roll -0.62 - - 2728 - 2.12 0.065 474 -587.7 -116.8 - - 3232 - - - - - - - - 15.04 14.81 15.06
9298 867.9 -8.1 494 9311 done -0.62 - - 2722 - 2.00 0.039 1695 610.5 -116.8 - - 3232 - - - - - - - - 14.92 14.86 14.93
9620 892.0 -7.5 504 9633 roll -0.62 - - 2710 - 2.65 0.060 3262 591.3 -116.8 - - 3230 - - - - - - - - 15.04 14.81 15.06
9709 898.8 -8.0 516 9722 done -0.62 - - 2710 - 2.58 0.044 1721 -597.3 -116.8 - - 3233 - - - - - - - - 14.91 14.83 14.92
10080 926.6 -7.5 526 10093 roll -0.62 - - 2711 - 2.15 0.067 467 -583.3 -116.8 - - 3230 - - - - - - - - 15.04 14.80 15.05
10176 934.6 -8.4 539 10189 done -0.62 - - 2702 - 2.03 0.039 1705 609.9 -116.8 - - 3230 - - - - - - - - 14.91 14.85 14.92
10539 964.0 -8.3 548 10552 roll -0.62 - - 2691 - 2.62 0.060 3255 591.6 -116.8 - - 3229 - - - - - - - - 15.03 14.79 15.05
10629 971.6 -6.2 560 10642 done -0.62 0.15 0.261 2724 220.0 2.55 0.043 1726 -599.6 -116.8 - - 3227 - - - - - - - - 14.59 14.81 14.81
10884 end dive: TARGET_DEPTH_EXCEEDED
10884 begin apogee
10892 991.1 -7.2 568 11020 roll -0.21 0.50 0.227 2861 274.0 - - 1798 - - 118.20 2.202 2792 -3.7 0.306 - - - - - - 14.62 14.09 13.39
11022 end apogee: CONTROL_FINISHED_OK
11022 begin climb
11025 995.7 - 570 11166 roll 0.84 1.12 0.168 3192 295.5 2.50 0.059 3183 554.0 116.8 121.22 2.143 2313 -4.0 0.340 - - - - - - 14.09 14.16 13.26
11356 969.9 9.9 620 11370 done 0.72 0.17 0.280 3163 -170.6 2.35 0.041 1803 -587.2 116.8 - - 2293 - - - - - - - - 14.26 14.43 14.46
11685 942.2 8.6 631 11698 roll 0.72 - - 3165 - 2.40 0.054 3199 581.7 116.8 - - 2292 - - - - - - - - 14.79 14.61 14.82
11823 930.0 8.7 650 11836 done 0.72 - - 3172 - 2.42 0.042 1760 -594.6 116.8 - - 2292 - - - - - - - - 14.73 14.66 14.78
12145 902.2 8.8 660 12158 roll 0.72 - - 3182 - 2.38 0.067 398 -572.3 116.8 - - 2292 - - - - - - - - 14.90 14.69 14.92
12263 890.9 9.7 676 12276 done 0.72 - - 3182 - 2.22 0.035 1753 610.4 116.8 - - 2291 - - - - - - - - 14.81 14.78 14.83
12605 858.5 9.5 689 12619 roll 0.72 - - 3183 - 2.42 0.054 3188 593.0 116.8 - - 2291 - - - - - - - - 14.94 14.76 14.97
12653 854.2 10.2 695 12666 done 0.63 0.25 0.266 3135 -192.0 2.40 0.043 1748 -600.0 116.8 - - 2289 - - - - - - - - 14.57 14.77 14.80
13010 826.9 7.6 703 13023 roll 0.64 - - 3143 - 2.35 0.068 402 -572.8 121.2 - - 2294 - - - - - - - - 14.97 14.75 14.99
13078 821.2 8.3 712 13091 done 0.64 - - 3143 - 2.20 0.036 1743 609.5 121.2 - - 2290 - - - - - - - - 14.86 14.81 14.88
13413 794.5 8.0 724 13426 roll 0.64 - - 3143 - 2.42 0.054 3184 595.5 121.2 - - 2290 - - - - - - - - 14.97 14.78 15.00
13461 790.5 7.3 730 13479 done 0.65 - - 3152 - 2.40 0.043 1742 -600.8 131.7 6.32 1.740 2256 -5.4 0.452 - - - - - - 14.86 14.80 14.00
13811 762.0 8.2 738 13824 roll 0.65 - - 3163 - 2.33 0.068 397 -577.3 131.7 - - 2256 - - - - - - - - 14.96 14.75 14.98
13908 753.8 8.5 751 13921 done 0.65 - - 3163 - 2.17 0.037 1728 613.4 131.7 - - 2256 - - - - - - - - 14.86 14.81 14.87
14271 725.4 7.6 760 14289 roll 0.65 - - 3163 - 2.47 0.054 3186 590.3 136.3 3.95 1.329 2235 -5.3 0.537 - - - - - - 14.97 14.78 13.94
14331 720.7 7.8 768 14344 done 0.65 0.12 0.282 3146 -141.7 2.42 0.042 1738 -598.3 136.9 - - 2240 - - - - - - - - 14.60 14.78 14.80
14674 698.1 6.6 781 14732 roll 0.68 - - 3154 - 2.42 0.068 402 -552.1 160.5 41.28 1.721 2130 -2.7 0.200 - - - - - - 14.97 14.47 13.91
14790 690.0 7.7 797 14803 done 0.69 - - 3155 - 2.22 0.034 1738 601.8 164.4 - - 2126 - - - - - - - - 14.62 14.57 14.63
15133 664.1 7.5 810 15150 roll 0.70 - - 3154 - 2.45 0.052 3183 589.8 170.3 4.07 1.297 2096 -7.4 0.698 - - - - - - 14.85 14.54 13.84
15192 659.2 8.5 818 15205 done 0.70 - - 3163 - 2.40 0.043 1749 -597.5 170.3 - - 2097 - - - - - - - - 14.73 14.67 14.75
15534 629.7 8.7 831 15547 roll 0.70 - - 3178 - 2.35 0.069 401 -573.6 170.3 - - 2098 - - - - - - - - 14.90 14.69 14.92
15623 621.0 9.8 843 15636 done 0.70 - - 3173 - 2.17 0.035 1724 609.7 170.3 - - 2098 - - - - - - - - 14.81 14.76 14.82
15994 585.3 9.6 853 16007 roll 0.70 - - 3174 - 2.47 0.053 3188 592.7 170.3 - - 2098 - - - - - - - - 14.95 14.75 14.97
16041 580.4 10.1 859 16054 done 0.70 - - 3183 - 2.42 0.043 1735 -600.4 170.3 - - 2098 - - - - - - - - 14.83 14.76 14.85
16397 545.5 9.9 867 16411 roll 0.70 - - 3194 - 2.30 0.068 400 -580.4 170.3 - - 2098 - - - - - - - - 14.97 14.75 14.99
16438 541.4 10.2 872 16451 done 0.70 0.17 0.254 3154 -235.3 2.20 0.034 1757 616.8 170.3 - - 2098 - - - - - - - - 14.61 14.82 14.80
16801 513.3 7.4 881 16824 roll 0.71 - - 3154 - 2.40 0.054 3177 591.7 178.4 9.48 1.618 2067 -3.3 0.192 - - - - - - 14.98 14.76 14.11
16866 508.2 8.1 890 16879 done 0.71 - - 3161 - 2.35 0.042 1768 -599.6 178.4 - - 2066 - - - - - - - - 14.81 14.74 14.82
17202 481.7 8.0 902 17215 roll 0.71 - - 3169 - 2.38 0.067 395 -576.9 178.4 - - 2067 - - - - - - - - 14.94 14.73 14.97
17264 476.2 9.0 910 17277 done 0.71 - - 3171 - 2.30 0.035 1792 607.4 178.4 - - 2066 - - - - - - - - 14.84 14.79 14.85
17606 445.2 9.1 923 17619 roll 0.71 - - 3171 - 2.33 0.053 3184 597.4 178.4 - - 2067 - - - - - - - - 14.96 14.77 14.99
17668 439.2 9.9 931 17681 done 0.71 - - 3179 - 2.28 0.041 1812 -601.8 178.4 - - 2067 - - - - - - - - 14.85 14.78 14.87
18011 406.1 9.8 944 18024 roll 0.71 - - 3190 - 2.42 0.067 402 -582.6 178.4 - - 2067 - - - - - - - - 14.97 14.76 15.00
18079 398.9 10.5 953 18093 done 0.71 0.15 0.250 3158 -213.3 2.28 0.034 1808 616.7 178.4 - - 2067 - - - - - - - - 14.60 14.81 14.81
18415 370.1 8.4 965 18428 roll 0.71 - - 3158 - 2.30 0.053 3181 597.0 178.4 - - 2067 - - - - - - - - 14.98 14.78 15.01
18469 365.3 8.9 972 18483 done 0.71 - - 3164 - 2.28 0.041 1817 -598.2 178.4 - - 2065 - - - - - - - - 14.86 14.80 14.88
18813 335.8 8.6 979 18826 roll 0.71 - - 3175 - 2.45 0.067 393 -581.2 178.4 - - 2067 - - - - - - - - 14.98 14.76 15.01
18924 325.6 9.1 994 18938 done 0.71 - - 3175 - 2.28 0.034 1783 609.6 178.4 - - 2067 - - - - - - - - 14.88 14.83 14.89
19267 295.8 8.7 1001 19281 roll 0.71 - - 3174 - 2.35 0.052 3190 598.7 178.4 - - 2067 - - - - - - - - 15.00 14.79 15.08
19336 289.6 8.9 1010 19349 done 0.71 - - 3184 - 2.30 0.041 1800 -604.3 178.4 - - 2068 - - - - - - - - 14.87 14.81 14.88
19671 261.0 8.6 1022 19684 roll 0.71 - - 3194 - 2.40 0.066 403 -582.1 178.4 - - 2067 - - - - - - - - 14.99 14.78 15.01
19753 253.6 9.0 1033 19767 done 0.71 0.15 0.248 3161 -220.0 2.28 0.033 1811 617.5 178.4 - - 2067 - - - - - - - - 14.64 14.83 14.82
20076 230.8 6.9 1043 20113 roll 0.73 - - 3161 - 2.38 0.052 3180 575.2 196.3 25.30 1.276 1989 -3.1 0.103 - - - - - - 15.00 14.69 14.18
20140 226.2 7.2 1052 20159 done 0.74 - - 3167 - 2.33 0.041 1783 -599.6 209.0 7.18 1.193 1939 -7.0 0.244 - - - - - - 14.75 14.69 14.10
20467 200.8 7.9 1063 20481 roll 0.74 - - 3178 - 2.38 0.065 405 -579.0 209.0 - - 1939 - - - - - - - - 14.88 14.69 14.91
20530 195.4 8.9 1071 20543 done 0.74 - - 3178 - 2.20 0.033 1754 613.2 209.0 - - 1941 - - - - - - - - 14.81 14.76 14.81
20872 165.6 8.7 1084 20885 roll 0.74 - - 3178 - 2.38 0.050 3183 600.4 209.0 - - 1941 - - - - - - - - 14.93 14.76 14.95
20919 161.3 8.8 1090 20932 done 0.74 - - 3186 - 2.35 0.040 1765 -603.4 209.0 - - 1941 - - - - - - - - 14.83 14.77 14.85
21275 129.4 9.2 1098 21289 roll 0.74 - - 3196 - 2.35 0.065 397 -582.1 209.0 - - 1941 - - - - - - - - 14.97 14.75 14.99
21365 120.7 9.4 1110 21378 done 0.74 - - 3195 - 2.20 0.033 1747 613.6 209.0 - - 1941 - - - - - - - - 14.87 14.82 14.88
21707 93.6 7.2 1121 21731 roll 0.76 - - 3196 - 2.47 0.049 3191 584.6 221.7 11.75 0.325 1893 -4.1 0.218 - - - - - - 14.98 14.78 14.48
21856 84.3 5.7 1142 21910 done 0.91 - - 3203 - 2.35 0.039 1767 -606.0 261.8 40.83 0.353 1726 -4.1 0.181 - - - - - - 14.85 14.79 14.45
22217 65.8 4.6 1160 22287 roll 1.16 0.28 0.090 3324 432.1 2.35 0.061 405 -579.6 322.1 56.00 0.302 1486 -4.3 0.173 - - - - - - 14.73 14.62 14.45
22333 56.8 9.1 1176 22351 done 1.16 - - 3324 - 2.30 0.031 1814 612.6 322.1 3.03 0.157 1480 -2.0 0.133 - - - - - - 14.76 14.71 14.54
22675 35.7 4.4 1191 22745 roll 1.24 - - 3324 - 2.28 0.047 3182 600.0 387.3 55.88 0.218 1217 -4.7 0.143 - - - - - - 14.92 14.69 14.54
22947 17.6 6.8 1230 22979 done 1.39 0.15 0.116 3386 413.3 2.05 0.035 1926 -612.7 406.8 16.67 0.167 1136 -4.9 0.095 - - - - - - 14.73 14.74 14.57
23150 end climb: SURFACE_DEPTH_REACHED
23150 begin surface coast
23182 end surface coast: CONTROL_FINISHED_OK
23182 begin surface
SM 1.25 - - - - -8.59 9.45 0.077 162 17.1 0.05 0.204 1864 -191320.0 515.13 65.43 0.124 690 10.5 -0.011 - - - - - -