SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 1 • 61.69 of 350.00 AH used of 24V (82.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.3 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 16 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 - - 153 - - - 1797 - -116.8 -81.20 - 3273 - - - - - - - - 14.79 13.44 14.81
112 7.8 -11.5 3 130 roll -0.84 11.90 0.389 2661 210.8 2.25 0.037 447 -600.0 -116.8 - - 3276 - - - - - - - - 14.38 14.64 14.64
165 35.5 -36.9 11 172 done -0.26 0.75 0.281 2837 234.7 2.28 0.037 1833 607.9 -116.8 - - 3275 - - - - - - - - 14.41 14.65 14.64
500 78.3 -8.2 26 507 roll -0.26 - - 2837 - 2.30 0.055 467 -593.9 -116.8 - - 3274 - - - - - - - - 14.90 14.70 14.92
556 83.8 -9.7 34 563 done -0.26 - - 2831 - 2.20 0.033 1827 618.2 -116.8 - - 3274 - - - - - - - - 14.81 14.75 14.82
921 109.2 -6.7 48 927 roll -0.26 - - 2821 - 2.38 0.055 3268 605.5 -116.8 - - 3275 - - - - - - - - 14.96 14.76 14.98
997 113.1 -5.0 59 1003 done -0.41 - - 2821 - 2.30 0.037 1843 -619.6 -116.8 - - 3275 - - - - - - - - 14.88 14.79 14.86
1313 131.2 -5.9 69 1320 roll -0.52 0.15 0.116 2750 -473.3 2.30 0.057 471 -596.5 -116.8 - - 3275 - - - - - - - - 14.78 14.78 14.82
1403 139.3 -9.5 82 1410 done -0.52 - - 2741 - 2.12 0.032 1795 624.5 -116.8 - - 3275 - - - - - - - - 14.88 14.83 14.88
1761 173.2 -9.6 91 1768 roll -0.52 - - 2730 - 2.42 0.053 3268 608.7 -116.8 - - 3273 - - - - - - - - 15.00 14.79 15.02
1817 178.7 -9.8 99 1824 done -0.52 0.12 0.257 2755 208.3 2.42 0.040 1783 -613.6 -116.8 - - 3273 - - - - - - - - 14.63 14.81 14.82
2153 209.0 -9.0 112 2159 roll -0.52 - - 2756 - 2.20 0.060 470 -596.8 -116.8 - - 3270 - - - - - - - - 15.02 14.79 15.02
2250 218.4 -9.8 126 2257 done -0.52 - - 2750 - 2.08 0.034 1769 624.5 -116.8 - - 3269 - - - - - - - - 14.88 14.83 14.90
2604 251.7 -9.5 134 2618 roll -0.52 - - 2738 - 2.47 0.054 3267 606.5 -116.8 - - 3265 - - - - - - - - 15.01 14.79 15.03
2694 260.3 -9.2 146 2707 done -0.52 - - 2739 - 2.40 0.037 1790 -615.4 -116.8 - - 3265 - - - - - - - - 14.90 14.83 14.92
3064 294.6 -9.2 156 3077 roll -0.52 - - 2739 - 2.22 0.060 463 -597.7 -116.8 - - 3263 - - - - - - - - 15.07 14.83 15.06
3188 307.1 -9.8 173 3202 done -0.52 0.12 0.270 2755 133.3 2.08 0.035 1765 626.0 -116.8 - - 3261 - - - - - - - - 14.66 14.88 14.86
3524 335.7 -8.5 185 3537 roll -0.52 - - 2746 - 2.47 0.055 3262 606.1 -116.8 - - 3259 - - - - - - - - 15.07 14.83 15.07
3564 339.3 -9.1 190 3577 done -0.52 - - 2747 - 2.45 0.039 1761 -612.7 -116.8 - - 3261 - - - - - - - - 14.92 14.88 14.95
3927 372.6 -9.3 199 3940 roll -0.52 - - 2746 - 2.17 0.059 463 -598.2 -116.8 - - 3256 - - - - - - - - 15.06 14.84 15.08
4046 384.2 -9.7 215 4059 done -0.52 - - 2738 - 2.08 0.034 1754 620.7 -116.8 - - 3255 - - - - - - - - 14.97 14.89 14.96
4388 415.9 -9.2 228 4401 roll -0.52 - - 2727 - 2.50 0.055 3261 602.8 -116.8 - - 3254 - - - - - - - - 15.06 14.83 15.07
4477 424.0 -9.1 240 4490 done -0.52 0.15 0.244 2760 220.0 2.50 0.040 1734 -610.8 -116.8 - - 3253 - - - - - - - - 14.66 14.86 14.86
4847 451.7 -7.3 250 4861 roll -0.52 - - 2760 - 2.15 0.061 467 -589.3 -116.8 - - 3251 - - - - - - - - 15.06 14.83 15.08
4937 458.6 -7.7 262 4950 done -0.52 - - 2755 - 2.05 0.035 1748 624.9 -116.8 - - 3250 - - - - - - - - 14.92 14.88 14.95
5307 486.4 -7.6 272 5320 roll -0.52 - - 2744 - 2.53 0.055 3266 600.0 -116.8 - - 3248 - - - - - - - - 15.09 14.83 15.07
5376 492.1 -8.1 281 5389 done -0.52 - - 2744 - 2.50 0.039 1738 -611.2 -116.8 - - 3248 - - - - - - - - 14.92 14.85 14.94
5711 521.3 -8.9 293 5725 roll -0.52 - - 2744 - 2.12 0.060 470 -598.1 -116.8 - - 3246 - - - - - - - - 15.05 14.83 15.07
5822 532.3 -10.0 308 5835 done -0.52 - - 2736 - 2.00 0.035 1726 628.0 -116.8 - - 3246 - - - - - - - - 14.92 14.87 14.94
6165 565.9 -9.8 315 6179 roll -0.52 - - 2724 - 2.58 0.057 3267 597.3 -116.8 - - 3244 - - - - - - - - 15.04 14.81 15.07
6262 575.4 -9.6 328 6275 done -0.52 0.15 0.244 2757 220.0 2.50 0.040 1739 -611.2 -116.8 - - 3244 - - - - - - - - 14.64 14.85 14.85
6625 606.1 -8.3 337 6638 roll -0.52 - - 2757 - 2.15 0.061 467 -591.6 -116.8 - - 3242 - - - - - - - - 15.08 14.81 15.07
6701 612.8 -8.8 347 6714 done -0.52 - - 2752 - 2.05 0.036 1734 618.0 -116.8 - - 3242 - - - - - - - - 14.92 14.87 14.93
7029 639.0 -7.9 358 7042 roll -0.52 - - 2741 - 2.55 0.057 3259 598.0 -116.8 - - 3240 - - - - - - - - 15.04 14.81 15.04
7091 644.0 -8.0 366 7104 done -0.52 - - 2741 - 2.55 0.041 1720 -603.5 -116.8 - - 3239 - - - - - - - - 14.90 14.83 14.92
7434 671.3 -8.0 379 7447 roll -0.52 - - 2741 - 2.12 0.063 468 -590.6 -116.8 - - 3239 - - - - - - - - 15.04 14.79 15.06
7530 679.5 -8.4 392 7543 done -0.52 - - 2733 - 2.00 0.036 1698 615.0 -116.8 - - 3239 - - - - - - - - 14.90 14.85 14.91
7893 708.7 -8.0 401 7906 roll -0.52 - - 2721 - 2.62 0.057 3262 596.9 -116.8 - - 3238 - - - - - - - - 15.03 14.78 15.06
7989 716.6 -8.1 414 8003 done -0.52 0.17 0.242 2761 235.3 2.60 0.042 1689 -605.0 -116.8 - - 3236 - - - - - - - - 14.59 14.82 14.81
8352 739.7 -6.3 423 8366 roll -0.52 - - 2761 - 2.08 0.063 470 -586.1 -116.8 - - 3239 - - - - - - - - 15.04 14.78 15.05
8400 743.0 -6.8 429 8413 done -0.52 - - 2756 - 1.98 0.036 1693 617.7 -116.8 - - 3236 - - - - - - - - 14.90 14.85 14.91
8756 765.9 -6.5 437 8769 roll -0.52 - - 2744 - 2.65 0.059 3264 592.8 -116.8 - - 3235 - - - - - - - - 15.02 14.78 15.04
8904 775.8 -6.7 457 8918 done -0.52 - - 2744 - 2.55 0.041 1731 -601.2 -116.8 - - 3234 - - - - - - - - 14.88 14.80 14.90
9275 803.5 -7.6 467 9288 roll -0.52 - - 2744 - 2.15 0.064 471 -586.0 -116.8 - - 3234 - - - - - - - - 15.02 14.76 15.04
9364 811.1 -9.1 479 9377 done -0.52 - - 2736 - 2.05 0.037 1725 611.7 -116.8 - - 3232 - - - - - - - - 14.88 14.83 14.90
9734 841.5 -8.2 489 9748 roll -0.52 - - 2724 - 2.60 0.059 3262 591.2 -116.8 - - 3231 - - - - - - - - 15.01 14.76 15.06
9831 850.1 -7.9 502 9844 done -0.52 0.15 0.245 2757 220.0 2.55 0.042 1727 -602.0 -116.8 - - 3231 - - - - - - - - 14.56 14.78 14.78
10194 875.8 -7.1 511 10208 roll -0.52 - - 2758 - 2.15 0.066 470 -584.7 -116.8 - - 3231 - - - - - - - - 15.01 14.75 15.03
10257 880.5 -7.5 519 10270 done -0.52 - - 2754 - 2.05 0.038 1726 612.7 -116.8 - - 3231 - - - - - - - - 14.87 14.81 14.88
10599 903.9 -6.8 532 10612 roll -0.52 - - 2743 - 2.60 0.059 3265 591.9 -116.8 - - 3229 - - - - - - - - 15.00 14.75 15.02
10710 911.4 -6.7 547 10724 done -0.52 - - 2743 - 2.55 0.042 1741 -597.6 -116.8 - - 3229 - - - - - - - - 14.84 14.76 14.86
11054 934.4 -6.7 554 11067 roll -0.52 - - 2743 - 2.20 0.066 467 -579.1 -116.8 - - 3228 - - - - - - - - 15.00 14.73 15.02
11150 941.5 -8.2 567 11163 done -0.52 - - 2734 - 2.05 0.038 1726 614.1 -116.8 - - 3227 - - - - - - - - 14.87 14.81 14.88
11514 966.7 -7.0 576 11527 roll -0.52 - - 2722 - 2.60 0.060 3261 590.4 -116.8 - - 3227 - - - - - - - - 15.00 14.72 15.02
11604 973.2 -7.3 588 11617 done -0.52 0.15 0.246 2755 220.0 2.55 0.043 1737 -597.6 -116.8 - - 3227 - - - - - - - - 14.52 14.76 14.75
11859 end dive: TARGET_DEPTH_EXCEEDED
11859 begin apogee
11867 990.2 -6.5 596 11995 roll -0.21 0.38 0.230 2855 263.2 - - 1808 - - 119.15 2.189 2792 -3.7 0.307 - - - - - - 14.51 14.07 13.33
11997 end apogee: CONTROL_FINISHED_OK
11997 begin climb
12001 993.8 - 598 12140 roll 0.84 1.20 0.174 3189 278.3 2.47 0.060 3192 560.3 116.8 122.28 2.147 2317 -3.9 0.334 - - - - - - 14.07 14.14 13.19
12304 970.8 9.7 644 12317 done 0.74 - - 3198 - 2.40 0.041 1800 -580.0 116.8 - - 2295 - - - - - - - - 14.42 14.35 14.44
12660 935.3 10.0 652 12673 roll 0.63 0.22 0.261 3142 -254.5 2.38 0.051 3189 583.6 116.8 - - 2294 - - - - - - - - 14.38 14.57 14.52
12802 923.8 7.8 671 12815 done 0.63 - - 3149 - 2.35 0.041 1785 -597.4 117.5 - - 2294 - - - - - - - - 14.70 14.63 14.73
13123 899.2 7.7 681 13136 roll 0.64 - - 3165 - 2.40 0.067 403 -575.8 121.3 - - 2293 - - - - - - - - 14.88 14.65 14.89
13213 891.9 8.2 693 13226 done 0.64 - - 3159 - 2.28 0.034 1785 606.1 121.3 - - 2293 - - - - - - - - 14.78 14.71 14.79
13583 862.1 8.0 703 13597 roll 0.64 - - 3160 - 2.35 0.054 3181 594.0 121.3 - - 2292 - - - - - - - - 14.92 14.70 14.94
13652 856.3 8.5 712 13665 done 0.64 0.10 0.243 3142 -180.0 2.30 0.041 1789 -605.2 121.3 - - 2292 - - - - - - - - 14.47 14.71 14.63
13988 832.1 7.4 724 14006 roll 0.65 - - 3151 - 2.40 0.064 398 -579.6 130.2 5.20 1.632 2260 -6.2 0.584 - - - - - - 14.94 14.63 13.90
14068 825.9 7.9 735 14081 done 0.65 - - 3151 - 2.28 0.035 1792 611.4 130.2 - - 2262 - - - - - - - - 14.81 14.76 14.82
14389 801.2 7.7 745 14407 roll 0.65 - - 3151 - 2.38 0.054 3174 580.7 133.5 2.85 0.917 2247 -5.3 0.855 - - - - - - 14.93 14.76 13.81
14469 794.7 8.0 756 14482 done 0.65 - - 3159 - 2.25 0.041 1813 -604.9 133.5 - - 2252 - - - - - - - - 14.81 14.74 14.82
14790 769.3 8.0 766 14803 roll 0.65 - - 3169 - 2.45 0.067 396 -578.4 133.5 - - 2253 - - - - - - - - 14.94 14.70 14.96
14909 758.8 8.9 782 14922 done 0.65 - - 3170 - 2.25 0.034 1769 610.2 133.5 - - 2253 - - - - - - - - 14.83 14.77 14.83
15251 728.3 9.1 795 15265 roll 0.65 0.12 0.272 3139 -258.3 2.38 0.050 3185 595.0 133.5 - - 2252 - - - - - - - - 14.50 14.73 14.65
15334 721.1 8.4 806 15347 done 0.65 - - 3146 - 2.33 0.042 1794 -597.0 133.5 - - 2253 - - - - - - - - 14.83 14.76 14.85
15655 695.2 8.2 816 15668 roll 0.65 - - 3156 - 2.42 0.067 392 -579.3 133.5 - - 2253 - - - - - - - - 14.96 14.71 14.97
15745 687.5 8.7 828 15758 done 0.65 - - 3156 - 2.28 0.034 1776 607.0 133.5 - - 2253 - - - - - - - - 14.83 14.78 14.85
16115 657.9 7.8 838 16128 roll 0.65 - - 3156 - 2.38 0.054 3186 592.4 134.3 - - 2253 - - - - - - - - 14.96 14.73 14.98
16170 653.5 8.2 845 16184 done 0.65 - - 3165 - 2.38 0.042 1766 -596.6 134.3 - - 2253 - - - - - - - - 14.82 14.74 14.84
16513 627.4 7.6 852 16531 roll 0.66 - - 3175 - 2.42 0.067 402 -563.6 139.9 6.30 1.613 2226 -4.3 0.310 - - - - - - 14.97 14.76 14.00
16607 619.7 8.3 865 16621 done 0.66 0.15 0.255 3144 -206.7 2.22 0.034 1770 616.2 139.9 - - 2228 - - - - - - - - 14.53 14.77 14.73
16972 595.0 6.7 874 17022 roll 0.69 - - 3144 - 2.40 0.051 3179 587.1 161.3 37.58 1.628 2129 -2.6 0.179 - - - - - - 14.95 14.42 13.93
17064 588.3 7.8 887 17077 done 0.69 - - 3150 - 2.35 0.041 1774 -597.9 162.4 - - 2122 - - - - - - - - 14.57 14.53 14.59
17428 560.5 7.7 896 17441 roll 0.69 - - 3161 - 2.40 0.067 399 -572.9 165.4 - - 2122 - - - - - - - - 14.83 14.60 14.85
17517 553.0 8.3 908 17530 done 0.69 - - 3161 - 2.20 0.034 1745 611.8 165.4 - - 2121 - - - - - - - - 14.74 14.69 14.76
17888 522.2 8.4 918 17901 roll 0.69 - - 3161 - 2.42 0.052 3176 591.3 165.4 - - 2122 - - - - - - - - 14.90 14.69 14.92
17950 516.8 8.7 926 17963 done 0.69 - - 3170 - 2.40 0.041 1754 -592.5 165.4 - - 2122 - - - - - - - - 14.77 14.70 14.79
18292 488.0 8.3 939 18305 roll 0.69 - - 3179 - 2.35 0.067 400 -576.2 165.4 - - 2121 - - - - - - - - 14.92 14.68 14.95
18361 482.1 8.7 948 18374 done 0.69 - - 3179 - 2.15 0.033 1725 616.3 165.4 - - 2121 - - - - - - - - 14.81 14.76 14.81
18696 455.1 7.9 960 18709 roll 0.69 - - 3179 - 2.45 0.051 3183 595.1 165.4 - - 2122 - - - - - - - - 14.94 14.71 14.96
18815 445.6 7.8 976 18828 done 0.69 0.15 0.263 3156 -153.3 2.38 0.041 1760 -597.9 166.5 - - 2121 - - - - - - - - 14.51 14.73 14.73
19157 424.5 6.1 989 19217 roll 0.74 - - 3164 - 2.47 0.067 396 -552.2 199.9 47.72 1.455 1973 -3.1 0.168 - - - - - - 14.95 14.47 13.95
19259 417.6 7.4 1003 19277 done 0.75 - - 3165 - 2.25 0.032 1760 606.2 207.8 3.00 0.800 1943 -10.0 0.971 - - - - - - 14.59 14.55 13.76
19610 391.9 7.4 1011 19639 roll 0.76 - - 3165 - 2.47 0.052 3179 574.5 216.4 13.80 1.473 1905 -2.8 0.136 - - - - - - 14.81 14.56 14.01
19680 386.2 8.3 1021 19693 done 0.76 - - 3172 - 2.35 0.043 1780 -595.3 216.4 - - 1898 - - - - - - - - 14.64 14.59 14.67
20008 357.8 8.9 1032 20021 roll 0.76 - - 3185 - 2.42 0.067 391 -574.0 216.4 - - 1901 - - - - - - - - 14.85 14.63 14.87
20091 349.5 10.1 1043 20104 done 0.76 - - 3183 - 2.22 0.032 1753 613.5 216.4 - - 1897 - - - - - - - - 14.75 14.71 14.77
20412 318.2 9.8 1053 20425 roll 0.76 - - 3183 - 2.40 0.051 3182 595.4 216.4 - - 1897 - - - - - - - - 14.90 14.69 14.92
20459 313.3 10.0 1059 20472 done 0.76 - - 3191 - 2.38 0.041 1747 -602.9 216.4 - - 1897 - - - - - - - - 14.78 14.71 14.81
20816 277.7 10.1 1067 20829 roll 0.76 - - 3201 - 2.35 0.067 392 -576.6 216.4 - - 1897 - - - - - - - - 14.93 14.69 14.95
20905 268.3 10.4 1079 20918 done 0.76 - - 3201 - 2.17 0.032 1733 618.0 216.4 - - 1897 - - - - - - - - 14.82 14.77 14.83
21275 231.1 10.0 1089 21289 roll 0.76 - - 3201 - 2.42 0.050 3183 599.2 216.4 - - 1897 - - - - - - - - 14.95 14.73 14.96
21323 226.3 9.9 1095 21336 done 0.76 0.15 0.263 3179 -146.7 2.42 0.040 1730 -600.4 216.4 - - 1897 - - - - - - - - 14.54 14.74 14.77
21679 196.0 8.6 1103 21692 roll 0.76 - - 3187 - 2.30 0.066 393 -581.3 216.4 - - 1897 - - - - - - - - 14.96 14.71 14.98
21769 187.4 9.7 1115 21782 done 0.76 - - 3187 - 2.15 0.032 1718 616.3 216.4 - - 1897 - - - - - - - - 14.84 14.80 14.86
22139 153.6 9.0 1125 22152 roll 0.76 - - 3185 - 2.45 0.050 3182 597.6 216.4 - - 1897 - - - - - - - - 14.97 14.75 15.00
22193 148.3 9.8 1132 22207 done 0.76 - - 3196 - 2.42 0.041 1713 -607.0 216.4 - - 1897 - - - - - - - - 14.83 14.76 14.85
22538 116.2 9.2 1139 22551 roll 0.76 - - 3196 - 2.47 0.048 3184 595.5 216.4 - - 1897 - - - - - - - - 14.97 14.76 14.99
22578 112.3 9.3 1144 22592 done 0.76 0.12 0.261 3179 -141.7 2.42 0.041 1713 -607.9 216.4 - - 1898 - - - - - - - - 14.57 14.76 14.79
22917 90.4 6.0 1155 22958 roll 0.93 0.12 0.134 3243 533.3 2.25 0.063 398 -584.4 251.6 28.33 0.355 1768 -4.6 0.217 - - - - - - 14.75 14.65 14.42
22978 84.9 8.9 1164 22996 done 0.93 - - 3243 - 2.12 0.031 1731 628.8 251.6 2.72 0.159 1768 - - - - - - - - 14.82 14.81 14.57
23314 61.8 7.4 1178 23342 roll 0.94 - - 3248 - 2.35 0.062 397 -567.7 260.6 10.70 0.252 1735 -3.1 0.141 - - - - - - 14.94 14.71 14.46
23572 51.0 2.8 1215 23672 done 1.20 0.20 0.103 3328 400.0 2.28 0.031 1833 629.8 354.1 83.93 0.262 1353 -4.6 0.165 - - - - - - 14.73 14.78 14.44
23987 24.3 6.4 1241 24025 roll 1.23 - - 3328 - 2.20 0.043 3166 605.9 382.0 24.62 0.184 1234 -4.8 0.119 - - - - - - 14.90 14.64 14.51
24133 14.3 7.1 1261 24161 done 1.25 - - 3336 - 2.35 0.039 1740 -606.8 396.5 12.80 0.156 1174 -4.7 0.080 - - - - - - 14.78 14.71 14.54
24295 end climb: SURFACE_DEPTH_REACHED
24295 begin surface coast
24323 end surface coast: CONTROL_FINISHED_OK
24323 begin surface
SM 1.12 - - - - -8.61 9.18 0.063 152 16.5 0.12 0.095 1866 -61566.7 515.38 71.25 0.123 692 9.7 -0.009 - - - - - -