SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 182 * Raw log
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• Previous call tries 1 • 71.26 of 350.00 AH used of 24V (79.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 35 s
• GPS2 time: 15 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 158 - - - 1866 - -116.8 -79.32 - 3271 - - - - - - - - 14.76 13.76 14.78
111 9.8 -15.2 3 129 roll -0.84 11.75 0.380 2661 213.0 2.40 0.044 458 -586.7 -116.8 - - 3272 - - - - - - - - 14.33 14.57 14.59
136 27.0 -60.0 7 143 done 0.65 2.08 0.328 3129 225.0 2.28 0.034 1854 612.3 -116.8 - - 3272 - - - - - - - - 14.33 14.60 14.57
465 61.7 -8.8 21 472 roll 0.07 0.55 0.122 2951 -323.6 2.35 0.053 467 -590.2 -116.8 - - 3275 - - - - - - - - 14.59 14.66 14.66
556 68.3 -7.1 34 563 done -0.35 0.43 0.090 2803 -344.2 2.22 0.029 1865 629.7 -116.8 - - 3275 - - - - - - - - 14.66 14.73 14.74
886 92.5 -6.8 48 888 done -0.35 - - 2803 - - - 1865 - -116.8 - - 3275 - - - - - - - - 14.92 14.95 14.95
1221 114.5 -6.3 56 1228 roll -0.35 - - 2803 - 2.35 0.054 468 -594.5 -116.8 - - 3275 - - - - - - - - 14.96 14.75 14.98
1312 120.6 -6.7 69 1318 done -0.35 - - 2793 - 2.33 0.031 1916 621.5 -116.8 - - 3275 - - - - - - - - 14.84 14.79 14.85
1669 145.3 -7.2 78 1676 roll -0.35 - - 2783 - 2.20 0.053 3250 606.4 -116.8 - - 3275 - - - - - - - - 14.97 14.76 15.00
1753 151.5 -7.2 90 1759 done -0.46 - - 2784 - 2.12 0.036 1930 -622.6 -116.8 - - 3274 - - - - - - - - 14.85 14.78 14.87
2117 179.0 -7.7 100 2124 roll -0.46 - - 2784 - 2.47 0.058 463 -593.9 -116.8 - - 3271 - - - - - - - - 14.98 14.76 15.00
2242 189.3 -8.2 118 2249 done -0.46 - - 2775 - 2.33 0.032 1898 615.9 -116.8 - - 3270 - - - - - - - - 14.82 14.77 14.84
2566 215.3 -8.1 129 2572 roll -0.46 - - 2775 - 2.42 0.056 468 -590.9 -116.8 - - 3267 - - - - - - - - 14.97 14.76 15.00
2599 218.3 -9.2 134 2606 done -0.46 - - 2766 - 2.30 0.034 1884 615.7 -116.8 - - 3267 - - - - - - - - 14.85 14.81 14.89
2957 247.5 -8.1 143 2963 roll -0.46 - - 2767 - 2.40 0.056 471 -588.8 -116.8 - - 3264 - - - - - - - - 14.98 14.75 15.00
3014 252.2 -8.4 151 3027 done -0.46 - - 2755 - 2.28 0.033 1865 611.4 -116.8 - - 3264 - - - - - - - - 14.88 14.82 14.89
3356 279.0 -7.8 164 3369 roll -0.46 - - 2747 - 2.33 0.054 3267 601.7 -116.8 - - 3262 - - - - - - - - 15.02 14.79 15.04
3396 282.2 -8.2 169 3409 done -0.46 0.12 0.240 2774 225.0 2.30 0.037 1850 -616.1 -116.8 - - 3261 - - - - - - - - 14.62 14.81 14.82
3760 309.0 -7.5 178 3773 roll -0.46 - - 2774 - 2.33 0.057 471 -591.8 -116.8 - - 3258 - - - - - - - - 15.03 14.83 15.05
3929 323.0 -8.5 201 3943 done -0.46 - - 2768 - 2.17 0.033 1815 619.4 -116.8 - - 3257 - - - - - - - - 14.90 14.85 14.92
4270 350.9 -8.1 208 4283 roll -0.46 - - 2758 - 2.40 0.054 3259 601.7 -116.8 - - 3255 - - - - - - - - 15.04 14.78 15.04
4324 355.3 -8.0 215 4338 done -0.46 - - 2757 - 2.40 0.037 1801 -607.5 -116.8 - - 3255 - - - - - - - - 14.90 14.83 14.91
4669 381.9 -7.7 222 4682 roll -0.46 - - 2758 - 2.25 0.058 469 -592.0 -116.8 - - 3253 - - - - - - - - 15.04 14.80 15.06
4793 392.3 -8.3 239 4807 done -0.46 0.12 0.267 2774 133.3 2.10 0.033 1772 620.5 -116.8 - - 3252 - - - - - - - - 14.59 14.86 14.81
5129 415.8 -7.0 251 5142 roll -0.46 - - 2765 - 2.50 0.054 3267 598.0 -116.8 - - 3251 - - - - - - - - 15.04 14.76 15.06
5163 418.2 -7.0 255 5176 done -0.56 - - 2766 - 2.45 0.037 1769 -611.4 -116.8 - - 3250 - - - - - - - - 14.90 14.83 14.91
5533 446.2 -7.6 265 5547 roll -0.56 - - 2766 - 2.20 0.060 469 -590.9 -116.8 - - 3250 - - - - - - - - 15.03 14.80 15.05
5623 453.9 -8.5 277 5636 done -0.56 - - 2758 - 2.08 0.034 1748 614.9 -116.8 - - 3248 - - - - - - - - 14.90 14.85 14.92
5993 483.9 -8.1 287 6006 roll -0.56 - - 2751 - 2.53 0.054 3260 597.6 -116.8 - - 3247 - - - - - - - - 15.03 14.78 15.05
6132 495.3 -8.0 306 6145 done -0.56 - - 2746 - 2.45 0.037 1781 -603.7 -116.8 - - 3246 - - - - - - - - 14.88 14.82 14.90
6453 520.9 -8.0 316 6466 roll -0.56 - - 2746 - 2.22 0.059 469 -591.0 -116.8 - - 3245 - - - - - - - - 15.03 14.78 15.05
6515 526.2 -8.5 324 6528 done -0.56 - - 2738 - 2.17 0.034 1802 614.3 -116.8 - - 3250 - - - - - - - - 14.89 14.84 14.91
6858 553.9 -8.1 337 6871 roll -0.56 - - 2726 - 2.45 0.056 3260 595.1 -116.8 - - 3243 - - - - - - - - 15.02 14.77 15.07
6898 557.3 -8.2 342 6911 done -0.56 - - 2726 - 2.42 0.039 1788 -608.3 -116.8 - - 3243 - - - - - - - - 14.88 14.81 14.90
7261 587.9 -8.4 351 7274 roll -0.56 - - 2726 - 2.25 0.061 469 -586.2 -116.8 - - 3240 - - - - - - - - 15.02 14.76 15.04
7323 593.5 -9.2 359 7337 done -0.56 0.12 0.275 2743 141.7 2.12 0.035 1769 613.2 -116.8 - - 3241 - - - - - - - - 14.54 14.83 14.78
7666 620.2 -7.7 372 7679 roll -0.56 - - 2734 - 2.50 0.055 3259 596.0 -116.8 - - 3240 - - - - - - - - 15.02 14.76 15.04
7707 623.4 -8.1 377 7720 done -0.56 - - 2734 - 2.45 0.039 1773 -606.5 -116.8 - - 3240 - - - - - - - - 14.88 14.80 14.90
8070 651.5 -7.7 386 8083 roll -0.56 - - 2734 - 2.22 0.063 471 -586.5 -116.8 - - 3239 - - - - - - - - 15.02 14.75 15.04
8180 660.6 -8.3 401 8194 done -0.56 - - 2726 - 2.08 0.035 1733 606.7 -116.8 - - 3239 - - - - - - - - 14.87 14.84 14.87
8525 688.7 -8.3 408 8538 roll -0.56 - - 2714 - 2.60 0.057 3263 588.5 -116.8 - - 3237 - - - - - - - - 15.01 14.73 15.03
8643 699.0 -8.9 424 8656 done -0.56 0.15 0.245 2747 220.0 2.50 0.041 1761 -600.8 -116.8 - - 3237 - - - - - - - - 14.54 14.78 14.76
8986 725.2 -7.6 437 8999 roll -0.56 - - 2748 - 2.20 0.062 474 -585.0 -116.8 - - 3235 - - - - - - - - 15.00 14.73 15.02
9089 733.9 -8.2 451 9102 done -0.56 - - 2742 - 2.08 0.035 1734 605.8 -116.8 - - 3235 - - - - - - - - 14.85 14.80 14.87
9446 761.2 -7.6 459 9459 roll -0.56 - - 2730 - 2.60 0.058 3266 589.2 -116.8 - - 3232 - - - - - - - - 15.00 14.72 15.02
9557 769.5 -7.5 474 9570 done -0.56 - - 2730 - 2.53 0.040 1757 -596.4 -116.8 - - 3233 - - - - - - - - 14.83 14.76 14.86
9900 795.5 -7.6 481 9914 roll -0.56 - - 2730 - 2.22 0.063 466 -581.5 -116.8 - - 3233 - - - - - - - - 15.00 14.71 15.02
9970 801.2 -9.3 490 9983 done -0.56 - - 2722 - 2.10 0.037 1750 611.4 -116.8 - - 3233 - - - - - - - - 14.85 14.79 14.86
10305 829.0 -8.4 502 10318 roll -0.56 - - 2710 - 2.55 0.057 3259 591.8 -116.8 - - 3232 - - - - - - - - 14.99 14.71 15.01
10387 836.2 -8.9 513 10401 done -0.56 0.15 0.245 2743 220.0 2.53 0.041 1758 -593.3 -116.8 - - 3232 - - - - - - - - 14.49 14.75 14.72
10709 861.5 -7.8 523 10722 roll -0.56 - - 2747 - 2.22 0.063 464 -582.9 -116.8 - - 3230 - - - - - - - - 14.99 14.70 15.01
10806 869.9 -8.6 536 10819 done -0.56 - - 2740 - 2.08 0.037 1725 606.2 -116.8 - - 3230 - - - - - - - - 14.83 14.78 14.85
11169 899.7 -8.2 545 11182 roll -0.56 - - 2728 - 2.60 0.058 3257 589.2 -116.8 - - 3230 - - - - - - - - 14.98 14.69 15.00
11294 909.8 -8.0 562 11307 done -0.56 - - 2728 - 2.53 0.041 1742 -598.8 -116.8 - - 3229 - - - - - - - - 14.82 14.74 14.84
11630 936.2 -7.9 574 11643 roll -0.56 - - 2728 - 2.17 0.064 474 -584.3 -116.8 - - 3229 - - - - - - - - 14.97 14.69 15.02
11705 942.6 -8.4 584 11719 done -0.56 - - 2720 - 2.05 0.037 1727 611.2 -116.8 - - 3229 - - - - - - - - 14.82 14.76 14.83
12034 968.8 -8.0 595 12047 roll -0.56 - - 2709 - 2.60 0.059 3257 588.5 -116.8 - - 3228 - - - - - - - - 14.97 14.67 14.99
12145 978.0 -8.2 610 12159 done -0.56 0.17 0.246 2748 229.4 2.55 0.041 1740 -594.9 -116.8 - - 3228 - - - - - - - - 14.45 14.71 14.69
12317 end dive: TARGET_DEPTH_EXCEEDED
12317 begin apogee
12325 990.0 -6.6 614 12454 roll -0.21 0.40 0.223 2856 270.0 - - 1740 - - 119.12 2.182 2792 -3.7 0.310 - - - - - - 14.46 14.06 13.29
12456 end apogee: CONTROL_FINISHED_OK
12456 begin climb
12459 994.8 - 616 12600 roll 0.84 1.23 0.174 3191 272.4 2.60 0.057 3189 557.3 116.8 122.95 2.145 2316 -3.9 0.335 - - - - - - 14.04 14.12 13.15
12742 974.4 9.7 659 12755 done 0.73 0.15 0.271 3171 -133.3 2.38 0.041 1804 -581.9 116.8 - - 2294 - - - - - - - - 14.09 14.29 14.32
13112 941.6 8.8 669 13126 roll 0.73 - - 3171 - 2.38 0.052 3189 581.9 116.8 - - 2292 - - - - - - - - 14.76 14.54 14.78
13223 931.3 10.5 684 13237 done 0.73 - - 3178 - 2.42 0.040 1758 -591.3 116.8 - - 2292 - - - - - - - - 14.66 14.59 14.69
13566 899.7 9.3 691 13580 roll 0.73 - - 3189 - 2.38 0.065 401 -570.2 116.8 - - 2292 - - - - - - - - 14.85 14.62 14.88
13636 892.9 11.0 700 13649 done 0.64 0.20 0.250 3142 -235.0 2.22 0.032 1772 617.6 116.8 - - 2292 - - - - - - - - 14.41 14.70 14.67
13974 866.7 7.6 712 13987 roll 0.64 - - 3142 - 2.35 0.052 3170 594.9 121.8 - - 2291 - - - - - - - - 14.90 14.67 14.91
14036 861.6 7.8 720 14049 done 0.65 - - 3149 - 2.38 0.041 1753 -595.4 122.7 - - 2291 - - - - - - - - 14.76 14.69 14.78
14378 835.6 7.6 733 14395 roll 0.65 - - 3160 - 2.40 0.067 401 -563.3 128.2 3.65 1.274 2268 -6.3 0.771 - - - - - - 14.92 14.73 13.79
14472 827.9 8.3 746 14485 done 0.65 - - 3160 - 2.20 0.033 1742 609.5 128.2 - - 2269 - - - - - - - - 14.79 14.74 14.81
14835 799.2 7.9 755 14848 roll 0.65 - - 3160 - 2.40 0.053 3167 593.8 128.2 - - 2270 - - - - - - - - 14.92 14.69 14.95
14903 793.4 8.5 764 14916 done 0.65 - - 3168 - 2.35 0.041 1760 -598.7 128.2 - - 2269 - - - - - - - - 14.78 14.71 14.83
15239 765.3 8.4 776 15252 roll 0.65 0.12 0.287 3148 -166.7 2.35 0.063 402 -577.9 128.2 - - 2269 - - - - - - - - 14.42 14.66 14.58
15321 758.6 8.1 787 15335 done 0.65 - - 3148 - 2.17 0.032 1730 612.0 128.2 - - 2269 - - - - - - - - 14.80 14.76 14.82
15643 734.1 7.7 797 15661 roll 0.66 - - 3147 - 2.47 0.052 3173 584.2 131.5 2.55 0.711 2255 -5.5 1.057 - - - - - - 14.94 14.75 13.70
15723 727.4 8.2 808 15736 done 0.66 - - 3157 - 2.42 0.041 1724 -598.8 131.5 - - 2259 - - - - - - - - 14.78 14.71 14.81
16044 702.4 7.9 818 16057 roll 0.66 - - 3167 - 2.30 0.066 398 -576.5 131.6 - - 2259 - - - - - - - - 14.93 14.66 14.95
16119 696.3 8.2 828 16133 done 0.66 - - 3167 - 2.17 0.034 1730 613.8 131.6 - - 2257 - - - - - - - - 14.81 14.76 14.82
16448 671.1 7.6 839 16465 roll 0.66 - - 3167 - 2.50 0.052 3177 578.8 136.8 5.53 1.579 2234 -4.2 0.330 - - - - - - 14.94 14.76 13.88
16520 665.4 8.0 849 16534 done 0.66 0.15 0.267 3146 -140.0 2.38 0.041 1750 -599.6 136.8 - - 2241 - - - - - - - - 14.45 14.70 14.69
16850 643.0 6.8 860 16895 roll 0.69 - - 3154 - 2.45 0.067 398 -551.8 156.5 32.65 1.745 2146 -2.9 0.200 - - - - - - 14.92 14.51 13.86
16968 634.2 8.2 876 16981 done 0.69 - - 3154 - 2.25 0.033 1741 596.9 156.5 - - 2139 - - - - - - - - 14.61 14.56 14.62
17310 605.6 8.4 889 17324 roll 0.69 - - 3154 - 2.45 0.053 3174 584.9 156.5 - - 2140 - - - - - - - - 14.81 14.59 14.83
17387 598.6 8.9 899 17400 done 0.69 - - 3163 - 2.35 0.041 1774 -595.7 156.5 - - 2137 - - - - - - - - 14.69 14.62 14.71
17715 569.8 8.9 910 17728 roll 0.69 - - 3173 - 2.40 0.066 404 -570.8 156.5 - - 2135 - - - - - - - - 14.88 14.60 14.90
17790 562.7 9.5 920 17803 done 0.69 - - 3173 - 2.20 0.032 1749 611.4 156.5 - - 2135 - - - - - - - - 14.74 14.71 14.77
18119 532.3 9.3 931 18132 roll 0.69 - - 3173 - 2.40 0.050 3165 590.0 156.5 - - 2137 - - - - - - - - 14.90 14.66 14.92
18187 525.6 9.7 940 18200 done 0.69 0.12 0.271 3158 -125.0 2.35 0.041 1757 -599.1 156.5 - - 2135 - - - - - - - - 14.42 14.68 14.69
18523 498.0 8.1 952 18539 roll 0.69 - - 3165 - 2.35 0.066 399 -577.9 156.5 - - 2137 - - - - - - - - 14.92 14.59 14.94
18594 491.6 8.9 961 18607 done 0.69 - - 3165 - 2.20 0.031 1748 613.2 156.5 - - 2137 - - - - - - - - 14.78 14.73 14.80
18929 464.2 8.2 973 18942 roll 0.69 - - 3165 - 2.40 0.051 3169 592.1 156.5 - - 2137 - - - - - - - - 14.92 14.69 14.95
18977 460.1 8.6 979 18990 done 0.69 - - 3174 - 2.38 0.041 1747 -597.5 156.5 - - 2137 - - - - - - - - 14.78 14.70 14.81
19333 430.8 8.3 987 19346 roll 0.69 - - 3185 - 2.35 0.065 399 -573.6 156.5 - - 2137 - - - - - - - - 14.93 14.64 14.95
19374 427.4 8.4 992 19387 done 0.69 0.15 0.247 3153 -213.3 2.22 0.032 1772 618.5 156.5 - - 2138 - - - - - - - - 14.45 14.75 14.71
19737 402.3 6.7 1001 19774 roll 0.71 - - 3153 - 2.42 0.051 3172 578.5 178.4 21.77 1.517 2053 -3.9 0.193 - - - - - - 14.94 14.65 14.03
19816 396.7 7.5 1012 19829 done 0.72 - - 3159 - 2.35 0.041 1769 -597.0 184.2 - - 2048 - - - - - - - - 14.69 14.65 14.69
20137 373.0 7.4 1022 20155 roll 0.73 - - 3169 - 2.45 0.065 398 -559.6 191.8 6.00 1.328 2009 -6.5 0.341 - - - - - - 14.85 14.66 13.93
20249 364.1 8.4 1037 20262 done 0.73 - - 3169 - 2.20 0.031 1737 608.6 191.8 - - 2013 - - - - - - - - 14.73 14.69 14.75
20591 335.1 8.5 1050 20604 roll 0.73 - - 3169 - 2.42 0.051 3173 593.4 191.8 - - 2013 - - - - - - - - 14.88 14.66 14.90
20638 330.7 9.3 1056 20652 done 0.73 - - 3177 - 2.42 0.043 1733 -595.0 191.8 - - 2013 - - - - - - - - 14.75 14.68 14.77
20995 299.3 8.8 1064 21008 roll 0.73 - - 3187 - 2.33 0.065 401 -571.7 191.8 - - 2013 - - - - - - - - 14.92 14.64 14.93
21057 293.4 9.6 1072 21070 done 0.73 - - 3184 - 2.17 0.031 1727 611.1 191.8 - - 2013 - - - - - - - - 14.78 14.73 14.80
21399 261.7 9.2 1085 21412 roll 0.73 - - 3187 - 2.42 0.050 3169 595.9 191.8 - - 2013 - - - - - - - - 14.92 14.69 14.94
21462 255.7 9.6 1093 21475 done 0.73 0.12 0.265 3171 -133.3 2.38 0.039 1755 -594.1 191.8 - - 2013 - - - - - - - - 14.45 14.71 14.69
21804 227.0 8.3 1106 21818 roll 0.73 - - 3178 - 2.35 0.063 394 -579.1 191.8 - - 2013 - - - - - - - - 14.94 14.66 14.96
21867 221.6 9.0 1114 21880 done 0.73 - - 3178 - 2.17 0.031 1726 613.8 191.8 - - 2013 - - - - - - - - 14.80 14.76 14.82
22210 191.5 8.8 1127 22223 roll 0.73 - - 3178 - 2.42 0.049 3170 596.7 191.8 - - 2013 - - - - - - - - 14.93 14.70 14.95
22285 184.5 9.2 1137 22298 done 0.73 - - 3187 - 2.35 0.039 1753 -603.0 191.8 - - 2013 - - - - - - - - 14.78 14.71 14.81
22614 155.7 8.8 1148 22628 roll 0.73 - - 3197 - 2.33 0.063 402 -579.8 191.8 - - 2013 - - - - - - - - 14.95 14.66 14.97
22711 146.8 8.9 1161 22724 done 0.73 0.15 0.237 3164 -220.0 2.15 0.030 1743 623.7 191.8 - - 2013 - - - - - - - - 14.48 14.77 14.70
23075 120.9 7.3 1170 23105 roll 0.74 - - 3164 - 2.40 0.050 3173 595.8 202.0 15.68 1.163 1959 -3.4 0.067 - - - - - - 14.95 14.73 14.17
23174 112.6 7.9 1184 23187 done 0.74 - - 3170 - 2.35 0.041 1769 -597.4 202.0 - - 1955 - - - - - - - - 14.75 14.68 14.77
23503 89.3 6.6 1194 23534 roll 0.88 0.12 0.129 3236 550.0 2.35 0.060 401 -582.1 225.0 17.62 0.338 1877 -4.4 0.218 - - - - - - 14.68 14.58 14.35
23638 78.3 8.0 1213 23653 done 0.88 - - 3236 - 2.12 0.031 1701 613.2 225.0 - - 1882 - - - - - - - - 14.77 14.72 14.78
23955 63.0 3.1 1225 24049 roll 1.08 0.12 0.132 3299 525.0 2.33 0.064 397 -559.7 312.8 80.65 0.298 1521 -4.5 0.177 - - - - - - 14.67 14.57 14.37
24259 48.7 5.1 1268 24317 done 1.24 - - 3299 - 1.95 0.030 1598 615.9 365.0 46.55 0.253 1305 -4.6 0.167 - - - - - - 14.73 14.69 14.36
24635 26.4 6.1 1288 24683 roll 1.43 0.25 0.086 3400 404.0 2.70 0.044 3177 584.8 398.6 29.60 0.189 1171 -4.5 0.118 - - - - - - 14.65 14.62 14.45
24829 5.8 12.0 1315 24843 done 1.43 - - 3411 - 2.65 0.039 1591 -598.5 398.6 - - 1174 - - - - - - - - 14.73 14.66 14.76
24861 end climb: SURFACE_DEPTH_REACHED
24861 begin surface coast
24890 end surface coast: CONTROL_FINISHED_OK
24890 begin surface
SM 1.21 - - - - -8.60 9.32 0.056 160 17.2 0.40 0.046 1872 2105.0 515.13 69.82 0.123 691 9.9 -0.010 - - - - - -