SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 134 * Raw log
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• Previous call tries 1 • 53.77 of 350.00 AH used of 24V (84.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 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: 33 s
• GPS2 time: 21 s • Transponder ping count: 6
• 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 - - 153 - - - 1861 - -116.8 -78.90 - 3271 - - - - - - - - 14.81 13.90 14.84
113 10.4 -16.3 3 130 roll -0.84 12.02 0.396 2660 208.6 2.38 0.051 471 -584.0 -116.8 - - 3273 - - - - - - - - 14.39 14.62 14.64
273 71.6 -25.9 26 281 done -0.38 0.60 0.278 2799 231.7 2.28 0.034 1854 606.6 -116.8 - - 3274 - - - - - - - - 14.50 14.69 14.70
585 107.4 -9.3 37 593 roll -0.38 - - 2792 - 2.35 0.054 3275 604.7 -116.8 - - 3274 - - - - - - - - 14.95 14.75 14.97
670 114.0 -7.4 49 677 done -0.38 - - 2788 - 2.38 0.035 1816 -613.0 -116.8 - - 3274 - - - - - - - - 14.85 14.78 14.85
1034 140.1 -7.3 59 1040 roll -0.38 - - 2782 - 2.42 0.054 3271 601.2 -116.8 - - 3274 - - - - - - - - 14.99 14.78 15.01
1090 144.0 -6.9 67 1096 done -0.38 - - 2782 - 2.35 0.037 1829 -613.6 -116.8 - - 3274 - - - - - - - - 14.88 14.83 14.89
1427 167.7 -7.2 80 1433 roll -0.38 - - 2782 - 2.28 0.058 468 -596.9 -116.8 - - 3273 - - - - - - - - 15.01 14.81 15.03
1558 178.5 -8.3 99 1565 done -0.38 0.12 0.257 2800 150.0 2.12 0.033 1799 627.8 -116.8 - - 3272 - - - - - - - - 14.70 14.85 14.85
1875 200.6 -7.0 109 1877 done -0.48 - - 2800 - - - 1798 - -116.8 - - 3269 - - - - - - - - 15.02 15.04 15.04
2211 223.5 -6.7 115 2218 roll -0.59 0.17 0.112 2718 -482.4 2.45 0.052 3275 602.9 -116.8 - - 3267 - - - - - - - - 14.83 14.83 14.85
2267 228.8 -10.2 123 2273 done -0.59 - - 2718 - 2.40 0.036 1805 -612.5 -116.8 - - 3266 - - - - - - - - 14.90 14.85 14.92
2603 263.3 -10.2 136 2616 roll -0.59 - - 2717 - 2.25 0.057 463 -596.4 -116.8 - - 3263 - - - - - - - - 15.04 14.84 15.07
2706 274.2 -10.3 150 2720 done -0.48 0.25 0.246 2770 212.0 2.12 0.034 1785 623.6 -116.8 - - 3262 - - - - - - - - 14.69 14.90 14.88
3063 300.2 -7.1 158 3076 roll -0.48 - - 2762 - 2.47 0.055 3268 600.4 -116.8 - - 3259 - - - - - - - - 15.07 14.86 15.09
3138 306.0 -7.5 168 3151 done -0.48 - - 2761 - 2.42 0.038 1780 -614.9 -116.8 - - 3259 - - - - - - - - 14.95 14.88 14.97
3467 332.0 -8.0 179 3480 roll -0.48 - - 2762 - 2.20 0.058 467 -596.8 -116.8 - - 3256 - - - - - - - - 15.09 14.89 15.09
3549 339.2 -8.6 190 3562 done -0.48 - - 2754 - 2.10 0.035 1776 623.3 -116.8 - - 3255 - - - - - - - - 14.97 14.92 14.97
3870 365.5 -8.3 200 3883 done -0.48 - - 2753 - - - 1774 - -116.8 - - 3253 - - - - - - - - 15.08 15.10 15.09
4206 392.4 -7.9 206 4219 roll -0.48 - - 2742 - 2.50 0.055 3275 600.4 -116.8 - - 3251 - - - - - - - - 15.08 14.88 15.10
4260 396.7 -7.9 213 4275 done -0.48 0.12 0.247 2768 216.7 2.53 0.038 1742 -605.9 -116.8 - - 3250 - - - - - - - - 14.70 14.86 14.88
4605 421.8 -7.3 220 4618 roll -0.48 - - 2768 - 2.15 0.060 466 -593.5 -116.8 - - 3248 - - - - - - - - 15.07 14.87 15.09
4659 426.2 -8.2 227 4673 done -0.48 - - 2762 - 2.10 0.036 1763 617.6 -116.8 - - 3248 - - - - - - - - 14.96 14.91 14.97
5003 451.6 -7.4 234 5017 roll -0.48 - - 2751 - 2.50 0.057 3268 602.0 -116.8 - - 3246 - - - - - - - - 15.07 14.87 15.09
5100 458.8 -7.2 247 5113 done -0.48 - - 2751 - 2.50 0.039 1754 -605.6 -116.8 - - 3247 - - - - - - - - 14.95 14.88 14.96
5463 487.6 -8.0 256 5476 roll -0.48 - - 2751 - 2.17 0.061 466 -593.5 -116.8 - - 3244 - - - - - - - - 15.07 14.86 15.10
5560 496.0 -8.5 269 5573 done -0.48 0.12 0.269 2768 141.7 2.08 0.036 1745 614.9 -116.8 - - 3243 - - - - - - - - 14.69 14.90 14.89
5923 522.2 -7.2 278 5937 roll -0.48 - - 2759 - 2.55 0.056 3270 598.0 -116.8 - - 3242 - - - - - - - - 15.07 14.85 15.09
6048 531.0 -7.0 295 6061 done -0.48 - - 2759 - 2.47 0.039 1758 -612.1 -116.8 - - 3242 - - - - - - - - 14.95 14.88 14.96
6383 555.6 -7.4 307 6396 roll -0.48 - - 2759 - 2.17 0.060 468 -594.5 -116.8 - - 3241 - - - - - - - - 15.07 14.85 15.09
6445 560.7 -8.4 315 6458 done -0.48 - - 2751 - 2.12 0.036 1773 615.6 -116.8 - - 3241 - - - - - - - - 14.95 14.90 14.96
6787 588.8 -8.3 328 6800 roll -0.48 - - 2740 - 2.50 0.057 3267 597.6 -116.8 - - 3239 - - - - - - - - 15.06 14.84 15.09
6877 596.6 -8.7 340 6890 done -0.48 0.12 0.246 2766 216.7 2.47 0.040 1775 -604.0 -116.8 - - 3238 - - - - - - - - 14.68 14.87 14.88
7247 624.5 -7.4 350 7260 roll -0.48 - - 2766 - 2.22 0.063 468 -588.7 -116.8 - - 3237 - - - - - - - - 15.06 14.83 15.08
7337 631.5 -7.8 362 7350 done -0.48 - - 2760 - 2.10 0.037 1763 616.7 -116.8 - - 3236 - - - - - - - - 14.94 14.88 14.95
7707 657.4 -6.9 372 7720 roll -0.48 - - 2749 - 2.53 0.058 3272 596.4 -116.8 - - 3235 - - - - - - - - 15.06 14.83 15.08
7839 666.6 -6.9 390 7852 done -0.48 - - 2749 - 2.47 0.041 1767 -609.3 -116.8 - - 3234 - - - - - - - - 14.92 14.85 14.95
8167 689.9 -7.2 401 8180 roll -0.48 - - 2749 - 2.22 0.063 461 -588.3 -116.8 - - 3233 - - - - - - - - 15.04 14.82 15.07
8256 697.2 -8.2 413 8270 done -0.48 0.12 0.270 2766 141.7 2.15 0.038 1766 607.0 -116.8 - - 3233 - - - - - - - - 14.64 14.87 14.85
8627 722.9 -6.9 423 8640 roll -0.57 - - 2757 - 2.55 0.059 3275 591.8 -116.8 - - 3232 - - - - - - - - 15.04 14.81 15.07
8716 729.4 -7.3 435 8730 done -0.68 0.15 0.122 2700 -380.0 2.53 0.041 1746 -604.3 -116.8 - - 3231 - - - - - - - - 14.83 14.85 14.90
9087 764.9 -9.7 445 9101 roll -0.68 - - 2701 - 2.20 0.064 460 -584.5 -116.8 - - 3230 - - - - - - - - 15.04 14.81 15.07
9163 772.4 -9.1 455 9176 done -0.68 - - 2692 - 2.12 0.039 1759 612.7 -116.8 - - 3230 - - - - - - - - 14.91 14.85 14.92
9491 803.9 -9.5 466 9504 roll -0.68 - - 2680 - 2.55 0.060 3268 591.8 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.06
9610 815.0 -9.5 482 9623 done -0.68 0.12 0.274 2705 208.3 2.50 0.041 1768 -600.0 -116.8 - - 3229 - - - - - - - - 14.59 14.83 14.81
9952 844.5 -8.5 495 9966 roll -0.68 - - 2706 - 2.22 0.065 469 -585.1 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
10041 852.8 -9.2 507 10055 done -0.68 - - 2699 - 2.10 0.039 1751 610.5 -116.8 - - 3229 - - - - - - - - 14.91 14.85 14.92
10412 885.1 -8.9 517 10425 roll -0.68 - - 2688 - 2.58 0.060 3268 588.0 -116.8 - - 3227 - - - - - - - - 15.03 14.76 15.05
10516 894.7 -9.1 531 10529 done -0.68 - - 2688 - 2.53 0.042 1751 -599.6 -116.8 - - 3227 - - - - - - - - 14.91 14.80 14.90
10872 927.2 -9.1 539 10885 roll -0.68 - - 2688 - 2.20 0.066 470 -582.3 -116.8 - - 3226 - - - - - - - - 15.02 14.78 15.04
10969 936.7 -9.9 552 10982 done -0.58 0.25 0.265 2739 204.0 2.10 0.039 1745 607.1 -116.8 - - 3226 - - - - - - - - 14.55 14.83 14.79
11332 963.3 -7.2 561 11345 roll -0.58 - - 2730 - 2.60 0.060 3271 586.9 -116.8 - - 3225 - - - - - - - - 15.02 14.77 15.04
11451 972.2 -8.6 577 11464 done -0.58 - - 2730 - 2.50 0.041 1773 -599.2 -116.8 - - 3225 - - - - - - - - 14.88 14.80 14.90
11678 end dive: TARGET_DEPTH_EXCEEDED
11678 begin apogee
11686 990.1 -7.7 588 11813 roll -0.21 0.47 0.226 2856 268.1 - - 1772 - - 117.40 2.194 2794 -3.7 0.307 - - - - - - 14.57 14.09 13.37
11814 end apogee: CONTROL_FINISHED_OK
11814 begin climb
11818 995.2 - 590 11959 roll 0.84 1.20 0.180 3188 276.7 2.58 0.059 3199 553.1 116.8 122.20 2.157 2312 -3.9 0.337 - - - - - - 14.09 14.16 13.25
12130 973.2 9.3 637 12145 done 0.73 0.15 0.279 3168 -133.3 2.40 0.041 1802 -582.1 116.8 - - 2294 - - - - - - - - 14.23 14.39 14.42
12470 944.8 8.2 644 12483 roll 0.73 - - 3168 - 2.40 0.054 3199 582.1 116.8 - - 2296 - - - - - - - - 14.78 14.59 14.81
12626 931.2 8.9 665 12639 done 0.73 - - 3175 - 2.40 0.042 1769 -595.8 116.8 - - 2293 - - - - - - - - 14.73 14.66 14.81
12989 898.5 9.0 674 13002 roll 0.73 - - 3187 - 2.40 0.067 395 -572.5 116.8 - - 2292 - - - - - - - - 14.90 14.69 14.93
13078 889.9 9.6 686 13091 done 0.73 - - 3185 - 2.25 0.035 1765 608.9 116.8 - - 2292 - - - - - - - - 14.81 14.76 14.82
13449 855.4 9.3 696 13462 roll 0.73 - - 3186 - 2.42 0.054 3186 587.2 116.8 - - 2292 - - - - - - - - 14.95 14.73 14.96
13517 849.1 9.8 705 13531 done 0.63 0.25 0.265 3138 -192.0 2.38 0.042 1760 -599.2 116.8 - - 2292 - - - - - - - - 14.54 14.76 14.78
13853 824.1 7.1 717 13871 roll 0.65 - - 3146 - 2.35 0.065 398 -579.6 131.1 5.90 1.731 2257 -5.9 0.523 - - - - - - 14.96 14.64 13.93
13933 817.3 9.1 728 13946 done 0.65 - - 3146 - 2.20 0.034 1742 610.9 131.1 - - 2258 - - - - - - - - 14.83 14.78 14.84
14254 792.7 7.8 738 14267 roll 0.65 - - 3146 - 2.42 0.054 3181 594.6 131.8 - - 2258 - - - - - - - - 14.95 14.75 14.97
14323 787.0 7.3 747 14354 done 0.66 - - 3155 - 2.38 0.042 1759 -597.5 142.7 18.50 1.964 2211 -2.5 0.188 - - - - - - 14.83 14.77 13.96
14711 753.9 8.7 760 14724 roll 0.66 - - 3165 - 2.38 0.067 399 -571.4 142.7 - - 2198 - - - - - - - - 14.89 14.68 14.91
14786 746.9 9.3 770 14799 done 0.66 - - 3163 - 2.20 0.034 1741 610.0 142.7 - - 2198 - - - - - - - - 14.79 14.75 14.81
15114 717.4 9.0 781 15128 roll 0.66 - - 3165 - 2.42 0.054 3180 594.6 142.7 - - 2198 - - - - - - - - 14.93 14.74 14.95
15204 708.8 9.6 793 15217 done 0.66 - - 3174 - 2.38 0.042 1763 -595.4 142.7 - - 2198 - - - - - - - - 14.82 14.75 14.84
15574 673.6 9.6 803 15588 roll 0.66 0.12 0.287 3153 -175.0 2.38 0.065 401 -572.3 142.7 - - 2198 - - - - - - - - 14.57 14.73 14.71
15657 666.1 8.9 814 15670 done 0.66 - - 3153 - 2.22 0.034 1761 612.6 142.7 - - 2198 - - - - - - - - 14.85 14.81 14.88
15978 638.7 8.5 824 15992 roll 0.66 - - 3153 - 2.40 0.054 3181 591.7 142.7 - - 2198 - - - - - - - - 14.97 14.77 14.99
16025 634.4 8.9 830 16039 done 0.66 - - 3162 - 2.38 0.043 1754 -599.6 142.7 - - 2198 - - - - - - - - 14.85 14.79 14.88
16382 603.9 8.6 838 16395 roll 0.66 - - 3173 - 2.35 0.067 398 -577.0 142.7 - - 2198 - - - - - - - - 14.98 14.74 15.00
16436 598.9 9.2 845 16451 done 0.66 - - 3173 - 2.22 0.036 1748 608.1 142.7 - - 2198 - - - - - - - - 14.86 14.82 14.88
16780 568.4 8.8 852 16794 roll 0.66 - - 3173 - 2.42 0.053 3187 594.6 142.7 - - 2198 - - - - - - - - 14.98 14.77 15.00
16828 563.9 9.3 858 16842 done 0.66 0.15 0.269 3150 -153.3 2.38 0.042 1754 -602.1 142.7 - - 2197 - - - - - - - - 14.58 14.79 14.81
17185 536.2 7.8 866 17198 roll 0.67 - - 3159 - 2.35 0.067 395 -578.3 144.5 - - 2198 - - - - - - - - 14.99 14.75 15.01
17247 531.2 8.0 874 17260 done 0.67 - - 3158 - 2.22 0.034 1753 611.7 144.5 - - 2198 - - - - - - - - 14.87 14.82 14.89
17590 505.4 7.5 887 17607 roll 0.67 - - 3158 - 2.42 0.054 3194 595.5 151.9 3.58 1.093 2172 -7.3 0.622 - - - - - - 14.99 14.81 13.97
17662 499.7 7.8 897 17675 done 0.68 - - 3167 - 2.38 0.041 1765 -600.4 153.1 - - 2176 - - - - - - - - 14.88 14.78 14.87
17990 474.3 7.9 908 18004 roll 0.68 - - 3178 - 2.35 0.067 401 -580.4 153.1 - - 2176 - - - - - - - - 14.97 14.74 15.00
18066 467.8 8.7 918 18079 done 0.68 - - 3178 - 2.25 0.034 1779 612.4 153.1 - - 2176 - - - - - - - - 14.86 14.81 14.88
18394 439.9 8.5 929 18407 roll 0.68 - - 3178 - 2.35 0.053 3183 597.4 153.1 - - 2176 - - - - - - - - 14.98 14.77 15.00
18435 436.2 9.2 934 18448 done 0.68 0.17 0.262 3149 -170.6 2.35 0.041 1765 -603.4 153.1 - - 2176 - - - - - - - - 14.58 14.79 14.80
18798 408.7 7.5 943 18828 roll 0.68 - - 3157 - 2.45 0.067 393 -560.0 160.3 14.70 1.541 2131 -3.1 0.150 - - - - - - 14.98 14.71 14.16
18849 404.7 7.9 950 18862 done 0.68 - - 3157 - 2.28 0.034 1773 605.3 160.3 - - 2128 - - - - - - - - 14.79 14.74 14.79
19193 377.6 7.9 957 19206 roll 0.68 - - 3157 - 2.38 0.052 3183 592.4 160.3 - - 2127 - - - - - - - - 14.92 14.73 14.95
19240 373.7 8.1 963 19253 done 0.68 - - 3165 - 2.35 0.041 1769 -601.7 160.3 - - 2127 - - - - - - - - 14.81 14.74 14.83
19597 346.5 7.6 971 19610 roll 0.69 - - 3176 - 2.38 0.066 393 -578.2 164.9 - - 2126 - - - - - - - - 14.95 14.72 14.97
19693 338.7 8.0 984 19707 done 0.69 - - 3176 - 2.22 0.033 1758 614.9 164.9 - - 2126 - - - - - - - - 14.85 14.80 14.86
20057 309.7 8.1 993 20070 roll 0.69 - - 3176 - 2.38 0.051 3181 597.9 164.9 - - 2127 - - - - - - - - 14.97 14.76 15.00
20119 304.3 8.6 1001 20133 done 0.69 0.15 0.259 3150 -173.3 2.35 0.041 1767 -601.7 164.9 - - 2126 - - - - - - - - 14.59 14.78 14.78
20465 279.8 7.1 1014 20499 roll 0.71 - - 3161 - 2.42 0.066 405 -562.8 178.3 18.30 1.381 2056 -3.8 0.143 - - - - - - 14.97 14.70 14.15
20554 272.8 7.9 1027 20567 done 0.71 - - 3161 - 2.20 0.033 1752 612.3 178.3 - - 2051 - - - - - - - - 14.78 14.73 14.80
20917 245.5 7.6 1036 20930 roll 0.71 - - 3161 - 2.40 0.050 3186 597.5 183.6 - - 2050 - - - - - - - - 14.92 14.73 14.95
20986 239.7 8.4 1045 20999 done 0.71 - - 3170 - 2.35 0.040 1767 -603.8 183.6 - - 2049 - - - - - - - - 14.82 14.76 14.83
21321 211.5 8.6 1057 21335 roll 0.71 - - 3180 - 2.33 0.064 405 -584.5 183.6 - - 2049 - - - - - - - - 14.98 14.69 14.97
21376 206.4 9.4 1064 21390 done 0.71 - - 3180 - 2.22 0.033 1769 614.4 183.6 - - 2049 - - - - - - - - 14.85 14.80 14.86
21720 176.6 8.5 1071 21733 roll 0.71 - - 3180 - 2.35 0.050 3182 601.3 183.6 - - 2050 - - - - - - - - 14.97 14.77 14.99
21754 173.6 8.6 1075 21767 done 0.71 - - 3188 - 2.35 0.040 1761 -604.7 183.6 - - 2050 - - - - - - - - 14.85 14.78 14.87
22124 142.7 8.4 1085 22138 roll 0.71 - - 3199 - 2.33 0.064 401 -583.7 183.6 - - 2049 - - - - - - - - 14.97 14.76 15.00
22228 132.8 9.6 1099 22241 done 0.71 0.15 0.245 3166 -220.0 2.20 0.031 1771 622.7 183.6 - - 2051 - - - - - - - - 14.61 14.83 14.80
22585 108.0 6.8 1107 22615 roll 0.74 - - 3165 - 2.40 0.049 3171 583.3 204.2 18.92 0.392 1961 -4.8 0.243 - - - - - - 14.98 14.77 14.44
22709 100.4 6.2 1124 22758 done 0.88 0.12 0.133 3217 433.3 2.28 0.040 1792 -604.8 235.8 33.25 0.395 1836 -3.8 0.177 - - - - - - 14.71 14.78 14.42
23087 76.8 5.5 1145 23147 roll 1.03 0.12 0.135 3284 558.3 2.47 0.063 399 -564.0 279.8 42.08 0.330 1651 -4.4 0.189 - - - - - - 14.72 14.66 14.43
23251 64.7 6.0 1168 23297 done 1.07 - - 3284 - 2.38 0.031 1851 610.1 313.6 32.83 0.297 1515 -4.1 0.167 - - - - - - 14.77 14.72 14.42
23629 44.4 3.8 1188 23707 roll 1.29 0.17 0.109 3370 505.9 2.58 0.059 404 -560.9 388.3 65.78 0.242 1210 -4.6 0.157 - - - - - - 14.70 14.64 14.47
23832 29.4 7.3 1217 23856 done 1.31 - - 3370 - 2.47 0.029 1926 616.2 399.3 11.35 0.190 1164 -4.1 0.116 - - - - - - 14.77 14.72 14.52
24188 2.5 7.6 1234 24201 VBD 1.31 - - 3370 - - - 1927 - 403.2 4.40 0.135 1147 -3.9 0.013 - - - - - - 14.93 - 14.95
24202 end climb: SURFACE_DEPTH_REACHED
24202 begin surface coast
24204 end surface coast: CONTROL_FINISHED_OK
24204 begin surface
SM 1.25 - - - - -8.61 9.25 0.064 159 17.2 0.08 0.140 1830 -86350.0 515.13 66.68 0.123 691 10.4 -0.011 - - - - - -