SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 130 * Raw log
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• Previous call tries 1 • 52.37 of 350.00 AH used of 24V (85.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.3 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: 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 111 done -0.84 - - 160 - - - 1894 - -116.8 -80.18 - 3271 - - - - - - - - 14.81 13.95 14.84
115 8.9 -13.5 3 133 roll -0.84 11.60 0.379 2662 215.7 2.47 0.055 463 -579.4 -116.8 - - 3274 - - - - - - - - 14.42 14.63 14.66
181 41.9 -33.4 13 189 done -0.29 0.68 0.261 2826 241.2 2.33 0.037 1871 604.3 -116.8 - - 3274 - - - - - - - - 14.50 14.66 14.68
503 85.4 -9.9 26 510 roll -0.29 - - 2818 - 2.33 0.054 3274 602.1 -116.8 - - 3274 - - - - - - - - 14.91 14.74 14.95
559 90.5 -8.5 34 566 done -0.29 - - 2819 - 2.33 0.037 1854 -609.4 -116.8 - - 3274 - - - - - - - - 14.83 14.78 14.84
896 116.1 -6.9 45 903 roll -0.29 - - 2818 - 2.33 0.057 466 -595.7 -116.8 - - 3276 - - - - - - - - 14.98 14.80 15.00
978 123.2 -8.6 57 986 done -0.29 - - 2809 - 2.28 0.034 1876 618.4 -116.8 - - 3276 - - - - - - - - 14.88 14.83 14.90
1344 147.7 -6.4 67 1351 roll -0.38 - - 2809 - 2.38 0.054 462 -594.1 -116.8 - - 3276 - - - - - - - - 15.01 14.83 15.03
1378 150.1 -6.8 72 1385 done -0.38 - - 2800 - 2.22 0.033 1842 621.6 -116.8 - - 3276 - - - - - - - - 14.90 14.86 14.92
1736 172.0 -6.1 81 1738 done -0.38 - - 2800 - - - 1842 - -116.8 - - 3273 - - - - - - - - 15.02 15.04 15.04
2073 193.0 -6.2 87 2079 roll -0.48 - - 2800 - 2.33 0.056 458 -594.0 -116.8 - - 3269 - - - - - - - - 15.02 14.84 15.04
2162 199.3 -6.9 100 2169 done -0.48 - - 2792 - 2.20 0.034 1827 622.3 -116.8 - - 3269 - - - - - - - - 14.92 14.87 14.92
2520 222.9 -6.7 109 2527 roll -0.48 - - 2781 - 2.38 0.056 3259 601.7 -116.8 - - 3266 - - - - - - - - 15.02 14.83 15.04
2577 227.1 -7.5 117 2584 done -0.59 0.15 0.117 2720 -406.7 2.35 0.037 1819 -612.8 -116.8 - - 3265 - - - - - - - - 14.82 14.85 14.88
2913 260.8 -10.2 130 2927 roll -0.59 - - 2720 - 2.28 0.058 464 -594.3 -116.8 - - 3262 - - - - - - - - 15.04 14.85 15.07
3062 276.7 -10.9 150 3075 done -0.50 0.22 0.239 2766 209.1 2.15 0.034 1797 620.0 -116.8 - - 3261 - - - - - - - - 14.73 14.90 14.90
3432 308.0 -8.3 160 3445 roll -0.50 - - 2758 - 2.42 0.054 3262 605.4 -116.8 - - 3258 - - - - - - - - 15.07 14.87 15.09
3486 312.6 -8.2 167 3500 done -0.50 - - 2764 - 2.40 0.037 1799 -609.6 -116.8 - - 3259 - - - - - - - - 14.96 14.89 14.97
3831 340.7 -8.0 174 3844 roll -0.50 - - 2758 - 2.22 0.058 470 -598.6 -116.8 - - 3255 - - - - - - - - 15.07 14.88 15.10
3934 349.4 -8.2 188 3947 done -0.50 - - 2750 - 2.10 0.034 1779 623.3 -116.8 - - 3254 - - - - - - - - 14.98 14.93 15.00
4290 378.2 -8.1 196 4304 roll -0.50 - - 2739 - 2.45 0.055 3259 604.1 -116.8 - - 3252 - - - - - - - - 15.08 14.88 15.10
4379 385.7 -8.4 208 4393 done -0.50 - - 2739 - 2.40 0.038 1785 -614.2 -116.8 - - 3251 - - - - - - - - 14.96 14.90 14.98
4750 418.6 -9.0 218 4763 roll -0.50 - - 2739 - 2.22 0.060 469 -592.8 -116.8 - - 3250 - - - - - - - - 15.08 14.88 15.10
4874 431.0 -9.9 235 4888 done -0.50 0.15 0.256 2763 160.0 2.08 0.035 1758 619.7 -116.8 - - 3249 - - - - - - - - 14.72 14.93 14.90
5210 459.2 -8.4 247 5223 roll -0.50 - - 2755 - 2.50 0.056 3259 600.4 -116.8 - - 3247 - - - - - - - - 15.08 14.88 15.10
5328 469.2 -8.4 263 5341 done -0.50 - - 2755 - 2.42 0.038 1782 -610.3 -116.8 - - 3246 - - - - - - - - 14.96 14.90 14.97
5671 498.6 -8.6 276 5684 roll -0.50 - - 2754 - 2.22 0.061 463 -594.1 -116.8 - - 3244 - - - - - - - - 15.07 14.87 15.09
5789 508.9 -8.8 292 5802 done -0.50 - - 2748 - 2.08 0.036 1745 616.3 -116.8 - - 3244 - - - - - - - - 14.95 14.90 14.97
6131 537.3 -8.2 305 6144 roll -0.50 - - 2735 - 2.53 0.057 3260 598.8 -116.8 - - 3243 - - - - - - - - 15.07 14.86 15.09
6213 543.8 -8.0 316 6227 done -0.50 0.12 0.246 2762 225.0 2.50 0.041 1739 -608.4 -116.8 - - 3243 - - - - - - - - 14.72 14.88 14.90
6535 566.3 -6.9 326 6549 roll -0.50 - - 2762 - 2.15 0.062 470 -590.2 -116.8 - - 3241 - - - - - - - - 15.07 14.86 15.09
6598 571.0 -7.6 334 6611 done -0.50 - - 2757 - 2.05 0.037 1730 614.6 -116.8 - - 3241 - - - - - - - - 14.96 14.91 14.97
6940 596.0 -7.3 347 6953 roll -0.50 - - 2745 - 2.55 0.057 3259 599.6 -116.8 - - 3240 - - - - - - - - 15.07 14.85 15.09
7015 601.8 -7.6 357 7029 done -0.50 - - 2744 - 2.50 0.041 1739 -608.0 -116.8 - - 3239 - - - - - - - - 14.94 14.88 14.95
7344 627.7 -8.0 368 7357 roll -0.50 - - 2744 - 2.15 0.063 470 -590.2 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.09
7398 632.5 -8.8 375 7412 done -0.50 0.12 0.265 2762 150.0 2.08 0.037 1740 610.6 -116.8 - - 3237 - - - - - - - - 14.69 14.90 14.88
7742 657.8 -7.4 382 7756 roll -0.50 - - 2754 - 2.55 0.058 3259 595.7 -116.8 - - 3236 - - - - - - - - 15.06 14.84 15.08
7839 665.3 -7.6 395 7852 done -0.50 - - 2754 - 2.47 0.041 1768 -603.6 -116.8 - - 3235 - - - - - - - - 14.94 14.87 14.95
8202 692.6 -7.6 404 8216 roll -0.50 - - 2754 - 2.22 0.064 462 -588.3 -116.8 - - 3234 - - - - - - - - 15.06 14.84 15.08
8271 698.4 -8.3 413 8284 done -0.50 - - 2745 - 2.10 0.038 1756 616.2 -116.8 - - 3234 - - - - - - - - 14.94 14.88 14.95
8606 724.6 -7.9 425 8619 roll -0.50 - - 2734 - 2.53 0.060 3257 593.3 -116.8 - - 3232 - - - - - - - - 15.05 14.82 15.07
8695 731.8 -8.1 437 8709 done -0.50 0.12 0.246 2761 225.0 2.45 0.041 1777 -604.1 -116.8 - - 3232 - - - - - - - - 14.66 14.85 14.87
9066 758.5 -7.2 447 9079 roll -0.50 - - 2761 - 2.25 0.064 467 -582.2 -116.8 - - 3231 - - - - - - - - 15.04 14.83 15.10
9184 767.5 -7.8 463 9198 done -0.50 - - 2755 - 2.10 0.038 1751 611.4 -116.8 - - 3231 - - - - - - - - 14.90 14.85 14.92
9527 792.5 -7.3 476 9540 roll -0.50 - - 2744 - 2.55 0.058 3264 593.3 -116.8 - - 3230 - - - - - - - - 15.04 14.82 15.07
9682 804.0 -7.5 497 9695 done -0.50 - - 2744 - 2.42 0.041 1798 -605.8 -116.8 - - 3230 - - - - - - - - 14.92 14.85 14.94
10046 831.8 -7.7 506 10059 roll -0.50 - - 2743 - 2.28 0.064 467 -583.8 -116.8 - - 3228 - - - - - - - - 15.04 14.81 15.06
10177 843.0 -8.4 524 10190 done -0.50 0.12 0.262 2761 150.0 2.12 0.038 1769 614.2 -116.8 - - 3229 - - - - - - - - 14.64 14.86 14.84
10508 865.6 -7.0 535 10522 roll -0.60 - - 2753 - 2.53 0.060 3264 590.9 -116.8 - - 3228 - - - - - - - - 15.03 14.81 15.04
10598 872.3 -7.2 547 10611 done -0.70 0.15 0.123 2696 -380.0 2.47 0.042 1775 -602.8 -116.8 - - 3228 - - - - - - - - 14.81 14.83 14.88
10969 905.9 -9.1 557 10982 roll -0.70 - - 2696 - 2.25 0.066 470 -580.0 -116.8 - - 3227 - - - - - - - - 15.02 14.79 15.04
11065 915.3 -9.6 570 11078 done -0.70 - - 2687 - 2.10 0.039 1751 610.0 -116.8 - - 3227 - - - - - - - - 14.91 14.85 14.93
11429 948.6 -9.2 579 11442 roll -0.70 - - 2682 - 2.55 0.060 3257 590.6 -116.8 - - 3226 - - - - - - - - 15.03 14.80 15.04
11491 954.4 -9.4 587 11504 done -0.70 - - 2676 - 2.53 0.042 1747 -596.8 -116.8 - - 3226 - - - - - - - - 14.89 14.81 14.90
11833 987.2 -9.5 600 11846 roll -0.70 - - 2676 - 2.20 0.067 466 -582.3 -116.8 - - 3225 - - - - - - - - 15.01 14.76 15.04
11856 end dive: TARGET_DEPTH_EXCEEDED
11856 begin apogee
11866 990.7 -10.6 603 11993 roll -0.21 0.73 0.246 2858 249.3 - - 1805 - - 116.72 2.204 2793 -3.7 0.308 - - - - - - 14.57 14.09 13.38
11994 end apogee: CONTROL_FINISHED_OK
11994 begin climb
11998 995.1 - 605 12139 roll 0.84 1.12 0.171 3191 297.3 2.50 0.060 3187 552.8 116.8 122.40 2.139 2311 -3.9 0.339 - - - - - - 14.10 14.15 13.27
12285 972.7 10.1 649 12299 done 0.73 0.15 0.280 3170 -140.0 2.38 0.041 1799 -583.2 116.8 - - 2295 - - - - - - - - 14.22 14.36 14.40
12656 939.5 9.0 659 12669 roll 0.73 - - 3170 - 2.40 0.054 3198 582.9 116.8 - - 2293 - - - - - - - - 14.79 14.61 14.81
12780 927.5 9.5 676 12793 done 0.73 - - 3177 - 2.40 0.042 1764 -597.5 116.8 - - 2293 - - - - - - - - 14.72 14.64 14.74
13116 895.8 9.5 688 13129 roll 0.73 - - 3187 - 2.38 0.067 401 -572.7 116.8 - - 2293 - - - - - - - - 14.90 14.69 14.92
13219 885.4 9.1 702 13233 done 0.73 - - 3186 - 2.22 0.035 1755 609.9 116.8 - - 2293 - - - - - - - - 14.81 14.76 14.83
13575 852.0 9.2 710 13589 roll 0.73 - - 3187 - 2.42 0.054 3189 592.6 116.8 - - 2292 - - - - - - - - 14.95 14.75 14.96
13644 845.4 9.5 719 13658 done 0.62 0.28 0.262 3133 -192.9 2.40 0.042 1747 -600.8 116.8 - - 2292 - - - - - - - - 14.57 14.76 14.80
13979 822.9 6.5 731 14016 roll 0.65 - - 3140 - 2.38 0.069 398 -566.8 141.3 23.62 1.998 2208 -3.6 0.271 - - - - - - 14.97 14.59 13.93
14072 816.4 7.3 744 14089 done 0.66 - - 3142 - 2.25 0.036 1754 602.7 151.0 3.55 1.219 2178 -8.5 1.046 - - - - - - 14.69 14.64 13.77
14432 790.6 7.2 753 14464 roll 0.68 - - 3140 - 2.53 0.055 3185 565.6 163.7 20.08 1.945 2119 -2.9 0.221 - - - - - - 14.88 14.54 13.89
14512 784.4 8.0 764 14526 done 0.68 - - 3149 - 2.40 0.042 1764 -592.1 163.7 - - 2110 - - - - - - - - 14.64 14.59 14.66
14883 754.4 8.2 774 14896 roll 0.68 - - 3160 - 2.38 0.068 403 -571.8 163.7 - - 2110 - - - - - - - - 14.88 14.67 14.90
14951 748.2 9.1 783 14964 done 0.68 - - 3160 - 2.20 0.035 1745 610.0 163.7 - - 2110 - - - - - - - - 14.78 14.73 14.80
15286 717.6 9.2 795 15300 roll 0.68 - - 3160 - 2.42 0.054 3182 593.8 163.7 - - 2109 - - - - - - - - 14.92 14.74 14.95
15362 710.2 9.7 805 15375 done 0.68 - - 3169 - 2.35 0.042 1770 -600.9 163.7 - - 2109 - - - - - - - - 14.82 14.76 14.84
15690 679.5 9.4 816 15703 roll 0.68 - - 3179 - 2.38 0.068 402 -574.8 163.7 - - 2108 - - - - - - - - 14.96 14.75 14.97
15744 674.0 10.2 823 15759 done 0.68 0.12 0.262 3154 -208.3 2.30 0.035 1804 609.6 163.7 - - 2109 - - - - - - - - 14.62 14.80 14.81
16089 644.3 8.6 830 16102 roll 0.68 - - 3154 - 2.33 0.054 3185 592.7 163.7 - - 2109 - - - - - - - - 14.97 14.78 15.00
16151 638.6 9.3 838 16164 done 0.68 - - 3160 - 2.30 0.042 1803 -600.9 163.7 - - 2109 - - - - - - - - 14.86 14.80 14.88
16493 607.6 9.1 851 16506 roll 0.68 - - 3171 - 2.42 0.067 402 -578.9 163.7 - - 2109 - - - - - - - - 14.98 14.77 15.03
16612 596.3 9.6 867 16625 done 0.68 - - 3171 - 2.20 0.034 1748 611.8 163.7 - - 2109 - - - - - - - - 14.88 14.83 14.90
16954 565.1 9.0 880 16967 roll 0.68 - - 3171 - 2.40 0.053 3173 593.8 163.7 - - 2109 - - - - - - - - 14.98 14.79 15.00
16995 561.4 8.8 885 17009 done 0.68 0.12 0.272 3154 -141.7 2.35 0.042 1752 -604.7 163.7 - - 2109 - - - - - - - - 14.62 14.80 14.83
17359 533.0 7.8 894 17372 done 0.68 - - 3154 - - - 1752 - 163.9 - - 2108 - - - - - - - - 14.99 15.01 15.01
17695 506.6 8.0 900 17708 roll 0.68 - - 3162 - 2.35 0.068 398 -576.2 163.9 - - 2109 - - - - - - - - 15.00 14.78 15.02
17770 500.1 8.7 910 17783 done 0.68 - - 3162 - 2.22 0.034 1761 614.0 163.9 - - 2109 - - - - - - - - 14.89 14.83 14.90
18098 472.3 8.5 921 18111 roll 0.68 - - 3162 - 2.40 0.054 3188 594.6 163.9 - - 2109 - - - - - - - - 15.00 14.80 15.02
18174 465.6 8.8 931 18187 done 0.68 - - 3167 - 2.33 0.041 1785 -602.1 163.9 - - 2110 - - - - - - - - 14.88 14.81 14.90
18502 437.6 8.5 942 18515 roll 0.68 - - 3181 - 2.40 0.067 400 -577.1 163.9 - - 2109 - - - - - - - - 15.00 14.77 15.02
18564 432.0 9.2 950 18578 done 0.68 0.15 0.248 3149 -213.3 2.25 0.034 1783 614.7 163.9 - - 2107 - - - - - - - - 14.63 14.83 14.83
18910 405.2 7.8 963 18924 roll 0.68 - - 3148 - 2.35 0.054 3179 594.0 165.4 - - 2108 - - - - - - - - 15.00 14.80 15.04
18973 399.8 8.3 971 18986 done 0.68 - - 3155 - 2.33 0.041 1781 -600.0 165.4 - - 2109 - - - - - - - - 14.87 14.81 14.91
19315 371.6 8.3 984 19328 roll 0.68 - - 3165 - 2.38 0.067 402 -579.4 165.4 - - 2109 - - - - - - - - 15.00 14.77 15.02
19397 364.4 8.6 995 19410 done 0.68 - - 3166 - 2.20 0.033 1760 617.3 165.4 - - 2109 - - - - - - - - 14.91 14.84 14.90
19718 338.4 8.0 1005 19732 roll 0.68 - - 3165 - 2.38 0.052 3176 595.0 165.4 - - 2109 - - - - - - - - 15.00 14.80 15.02
19787 332.5 8.5 1014 19800 done 0.68 - - 3170 - 2.30 0.042 1783 -605.7 165.4 - - 2111 - - - - - - - - 14.87 14.81 14.89
20122 304.2 8.5 1026 20135 roll 0.68 - - 3184 - 2.40 0.066 395 -578.3 165.4 - - 2110 - - - - - - - - 15.00 14.77 15.02
20184 298.4 9.6 1034 20199 done 0.68 0.15 0.246 3152 -213.3 2.25 0.033 1785 617.8 165.4 - - 2109 - - - - - - - - 14.62 14.83 14.83
20528 270.7 8.0 1047 20541 roll 0.68 - - 3151 - 2.33 0.051 3171 594.8 165.4 - - 2109 - - - - - - - - 15.00 14.80 15.02
20596 264.8 8.5 1056 20609 done 0.68 - - 3158 - 2.28 0.041 1793 -604.4 165.4 - - 2109 - - - - - - - - 14.87 14.81 14.90
20931 237.1 8.3 1068 20945 roll 0.68 - - 3170 - 2.40 0.065 402 -579.6 165.4 - - 2109 - - - - - - - - 15.00 14.77 15.02
21042 228.2 7.9 1083 21056 done 0.68 - - 3168 - 2.20 0.032 1750 612.7 165.6 - - 2109 - - - - - - - - 14.88 14.83 14.90
21386 201.3 7.8 1090 21399 done 0.68 - - 3168 - - - 1750 - 167.1 - - 2109 - - - - - - - - 15.02 15.02 15.01
21722 174.2 8.1 1096 21735 done 0.68 - - 3168 - - - 1750 - 167.1 - - 2108 - - - - - - - - 15.00 15.02 15.02
22057 147.0 8.0 1102 22071 roll 0.68 - - 3180 - 2.35 0.064 395 -576.6 167.1 - - 2109 - - - - - - - - 15.01 14.78 15.03
22098 143.6 8.6 1107 22111 done 0.68 - - 3177 - 2.17 0.032 1745 622.1 167.1 - - 2109 - - - - - - - - 14.90 14.85 14.91
22461 115.7 7.6 1116 22478 roll 0.69 - - 3177 - 2.42 0.050 3176 591.3 171.9 2.78 0.160 2090 -6.8 0.914 - - - - - - 15.01 14.78 14.67
22541 109.5 7.3 1127 22565 done 0.70 - - 3186 - 2.28 0.038 1783 -611.0 183.1 12.77 0.376 2046 -3.4 0.185 - - - - - - 14.85 14.79 14.44
22884 88.8 5.4 1139 22945 roll 0.76 - - 3186 - 2.42 0.049 3185 579.3 229.5 46.17 0.367 1865 -3.9 0.175 - - - - - - 14.98 14.71 14.45
22973 84.1 5.6 1149 23031 done 0.92 0.10 0.151 3231 450.0 2.30 0.038 1792 -605.7 272.3 41.83 0.353 1687 -4.3 0.187 - - - - - - 14.69 14.73 14.38
23360 60.1 5.1 1171 23420 roll 1.11 0.15 0.122 3307 506.7 2.45 0.062 402 -567.3 322.8 46.83 0.286 1477 -4.5 0.174 - - - - - - 14.74 14.64 14.45
23637 40.4 6.1 1210 23681 done 1.26 - - 3307 - 2.22 0.031 1773 617.6 355.8 30.12 0.230 1344 -4.4 0.143 - - - - - - 14.79 14.76 14.49
24011 21.7 4.4 1230 24077 roll 1.49 0.28 0.087 3426 425.0 2.38 0.060 407 -573.9 419.9 50.03 0.178 1081 -5.3 0.118 - - - - - - 14.73 14.66 14.57
24212 end climb: SURFACE_DEPTH_REACHED
24213 begin surface coast
24220 end surface coast: CONTROL_FINISHED_OK
24220 begin surface
SM 1.15 - - - - -8.61 9.48 0.067 160 16.9 2.42 0.031 1843 -3749.2 515.13 57.45 0.125 691 12.0 -0.011 - - - - - -