SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 194 * Raw log
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• Previous call tries 1 • 75.61 of 350.00 AH used of 24V (78.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 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: 40 s
• GPS2 time: 17 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 163 - - - 1888 - -116.8 -78.40 - 3269 - - - - - - - - 14.76 13.74 14.78
111 10.3 -16.1 3 128 roll -0.84 12.05 0.392 2662 207.4 2.47 0.055 464 -576.5 -116.8 - - 3271 - - - - - - - - 14.32 14.57 14.59
271 65.9 -21.4 26 278 done -0.47 0.47 0.264 2771 231.9 2.22 0.035 1832 616.2 -116.8 - - 3271 - - - - - - - - 14.38 14.64 14.62
607 99.7 -8.3 41 613 roll -0.47 - - 2762 - 2.38 0.053 3264 601.7 -116.8 - - 3277 - - - - - - - - 14.89 14.67 14.90
806 114.4 -7.7 69 812 done -0.47 - - 2763 - 2.15 0.036 1937 -617.2 -116.8 - - 3272 - - - - - - - - 14.78 14.72 14.80
1169 142.7 -7.9 79 1175 roll -0.47 - - 2763 - 2.47 0.056 470 -593.9 -116.8 - - 3273 - - - - - - - - 14.94 14.72 14.96
1301 154.7 -9.3 98 1308 done -0.47 - - 2754 - 2.35 0.033 1915 614.9 -116.8 - - 3270 - - - - - - - - 14.81 14.76 14.83
1617 182.9 -8.9 108 1624 roll -0.47 - - 2755 - 2.45 0.054 467 -591.0 -116.8 - - 3269 - - - - - - - - 14.95 14.73 14.97
1665 187.4 -9.5 115 1673 done -0.47 0.12 0.259 2771 133.3 2.33 0.034 1885 608.6 -116.8 - - 3269 - - - - - - - - 14.54 14.76 14.75
2009 215.0 -8.0 122 2012 done -0.47 - - 2770 - - - 1885 - -116.8 - - 3266 - - - - - - - - 14.96 14.98 14.97
2345 241.6 -7.9 128 2351 roll -0.47 - - 2771 - 2.40 0.056 470 -589.6 -116.8 - - 3263 - - - - - - - - 14.96 14.73 15.01
2421 248.2 -8.6 139 2427 done -0.47 - - 2764 - 2.22 0.034 1836 615.3 -116.8 - - 3260 - - - - - - - - 14.83 14.78 14.85
2737 274.3 -8.3 149 2750 done -0.47 - - 2764 - - - 1838 - -116.8 - - 3260 - - - - - - - - 15.00 15.03 15.02
3072 302.6 -8.5 155 3085 done -0.47 - - 2768 - - - 1838 - -116.8 - - 3257 - - - - - - - - 15.02 15.04 15.07
3409 330.9 -8.4 161 3422 roll -0.47 - - 2764 - 2.33 0.057 467 -588.4 -116.8 - - 3254 - - - - - - - - 15.03 14.78 15.05
3449 334.6 -8.9 166 3462 done -0.47 - - 2757 - 2.22 0.034 1838 617.6 -116.8 - - 3254 - - - - - - - - 14.88 14.82 14.88
3813 367.2 -9.1 175 3826 roll -0.47 - - 2746 - 2.38 0.055 3266 600.0 -116.8 - - 3252 - - - - - - - - 15.03 14.79 15.04
3881 373.7 -9.3 184 3895 done -0.47 0.12 0.242 2771 208.3 2.33 0.037 1834 -614.6 -116.8 - - 3251 - - - - - - - - 14.59 14.83 14.80
4217 401.7 -8.3 196 4230 roll -0.47 - - 2773 - 2.30 0.059 479 -589.1 -116.8 - - 3249 - - - - - - - - 15.02 14.80 15.04
4313 410.0 -8.3 209 4326 done -0.47 - - 2766 - 2.20 0.034 1821 610.0 -116.8 - - 3248 - - - - - - - - 14.90 14.84 14.91
4676 438.9 -8.0 218 4689 roll -0.47 - - 2756 - 2.40 0.055 3258 598.8 -116.8 - - 3245 - - - - - - - - 15.03 14.77 15.05
4745 444.4 -8.0 227 4758 done -0.47 - - 2757 - 2.38 0.037 1808 -609.2 -116.8 - - 3246 - - - - - - - - 14.88 14.82 14.90
5080 471.6 -8.1 239 5093 roll -0.47 - - 2756 - 2.28 0.059 468 -587.7 -116.8 - - 3245 - - - - - - - - 15.02 14.77 15.04
5191 481.1 -8.6 254 5204 done -0.47 - - 2747 - 2.15 0.034 1792 615.8 -116.8 - - 3244 - - - - - - - - 14.88 14.83 14.90
5534 508.3 -7.8 261 5547 roll -0.47 0.12 0.276 2768 175.0 2.47 0.054 3262 595.1 -116.8 - - 3240 - - - - - - - - 14.50 14.72 14.66
5610 513.3 -6.2 271 5623 done -0.58 - - 2769 - 2.40 0.037 1802 -608.3 -116.8 - - 3242 - - - - - - - - 14.88 14.81 14.90
5939 534.4 -6.5 282 5952 roll -0.58 - - 2768 - 2.25 0.059 474 -590.2 -116.8 - - 3241 - - - - - - - - 15.01 14.75 15.03
6035 541.5 -7.4 295 6048 done -0.58 - - 2761 - 2.12 0.034 1782 617.0 -116.8 - - 3240 - - - - - - - - 14.88 14.83 14.88
6399 568.4 -7.5 304 6412 roll -0.58 - - 2750 - 2.47 0.057 3253 595.5 -116.8 - - 3239 - - - - - - - - 15.01 14.74 15.03
6467 573.7 -7.7 313 6480 done -0.58 - - 2750 - 2.40 0.037 1794 -607.9 -116.8 - - 3239 - - - - - - - - 14.86 14.79 14.88
6803 598.9 -7.5 325 6816 roll -0.58 - - 2750 - 2.25 0.060 475 -586.2 -116.8 - - 3238 - - - - - - - - 15.00 14.74 15.02
6914 607.7 -7.8 340 6928 done -0.58 - - 2741 - 2.12 0.035 1771 611.3 -116.8 - - 3237 - - - - - - - - 14.86 14.81 14.88
7258 634.1 -7.8 347 7271 roll -0.58 - - 2730 - 2.53 0.056 3262 589.3 -116.8 - - 3235 - - - - - - - - 15.00 14.73 15.02
7347 641.5 -8.2 359 7360 done -0.58 - - 2730 - 2.45 0.040 1778 -605.7 -116.8 - - 3235 - - - - - - - - 14.85 14.78 14.87
7717 672.6 -8.3 369 7730 roll -0.58 - - 2730 - 2.22 0.060 474 -587.4 -116.8 - - 3234 - - - - - - - - 15.01 14.72 15.03
7828 682.2 -8.6 384 7843 done -0.58 - - 2722 - 2.12 0.035 1768 610.4 -116.8 - - 3233 - - - - - - - - 14.85 14.80 14.87
8172 708.8 -7.7 391 8185 roll -0.58 - - 2710 - 2.53 0.057 3256 588.1 -116.8 - - 3232 - - - - - - - - 15.00 14.71 15.02
8226 713.2 -8.0 398 8241 done -0.58 0.12 0.258 2742 266.7 2.47 0.039 1775 -599.6 -116.8 - - 3232 - - - - - - - - 14.50 14.74 14.72
8570 738.0 -7.2 405 8583 roll -0.58 - - 2736 - 2.22 0.062 474 -586.0 -116.8 - - 3231 - - - - - - - - 14.99 14.70 15.01
8680 746.8 -8.7 420 8695 done -0.58 - - 2730 - 2.10 0.035 1749 607.1 -116.8 - - 3230 - - - - - - - - 14.82 14.78 14.85
9025 773.6 -7.8 427 9038 roll -0.58 - - 2719 - 2.55 0.057 3256 591.0 -116.8 - - 3229 - - - - - - - - 15.00 14.69 15.02
9093 779.1 -8.5 436 9107 done -0.58 - - 2718 - 2.50 0.039 1752 -601.6 -116.8 - - 3229 - - - - - - - - 14.82 14.73 14.84
9429 807.0 -8.4 448 9442 roll -0.58 - - 2719 - 2.20 0.063 473 -581.4 -116.8 - - 3229 - - - - - - - - 14.98 14.70 15.03
9504 814.0 -9.2 458 9518 done -0.58 0.12 0.278 2735 133.3 2.05 0.037 1727 611.7 -116.8 - - 3229 - - - - - - - - 14.44 14.77 14.69
9833 840.1 -7.9 469 9846 roll -0.58 - - 2726 - 2.60 0.057 3258 588.8 -116.8 - - 3227 - - - - - - - - 14.98 14.68 15.00
9937 849.2 -8.3 483 9950 done -0.58 - - 2726 - 2.53 0.041 1755 -594.1 -116.8 - - 3227 - - - - - - - - 14.80 14.72 14.83
10293 878.4 -8.3 491 10306 roll -0.58 - - 2730 - 2.20 0.063 475 -581.8 -116.8 - - 3227 - - - - - - - - 14.98 14.67 15.00
10383 886.3 -8.8 503 10396 done -0.58 - - 2718 - 2.08 0.037 1741 608.7 -116.8 - - 3226 - - - - - - - - 14.81 14.76 14.83
10753 917.4 -8.4 513 10766 roll -0.58 - - 2707 - 2.60 0.059 3263 585.4 -116.8 - - 3226 - - - - - - - - 14.97 14.66 15.00
10815 922.6 -8.6 521 10828 done -0.58 0.15 0.250 2739 213.3 2.55 0.041 1755 -591.4 -116.8 - - 3225 - - - - - - - - 14.43 14.71 14.68
11161 947.6 -7.0 534 11174 roll -0.58 - - 2740 - 2.22 0.064 476 -576.1 -116.8 - - 3225 - - - - - - - - 14.95 14.66 14.97
11243 954.3 -7.7 545 11256 done -0.58 - - 2734 - 2.05 0.037 1724 608.8 -116.8 - - 3225 - - - - - - - - 14.81 14.74 14.82
11565 978.1 -7.4 555 11578 roll -0.58 - - 2722 - 2.62 0.058 3260 586.3 -116.8 - - 3224 - - - - - - - - 14.96 14.64 14.98
11655 985.1 -7.6 567 11668 done -0.58 - - 2721 - 2.58 0.041 1729 -593.4 -116.8 - - 3224 - - - - - - - - 14.77 14.69 14.80
11741 end dive: TARGET_DEPTH_EXCEEDED
11742 begin apogee
11750 992.0 -6.7 572 11878 roll -0.21 0.52 0.231 2859 265.4 - - 1806 - - 118.35 2.196 2792 -3.7 0.308 - - - - - - 14.42 14.04 13.27
11880 end apogee: CONTROL_FINISHED_OK
11880 begin climb
11883 996.9 - 574 12025 roll 0.84 1.12 0.171 3187 292.9 2.50 0.058 3182 550.4 116.8 123.15 2.142 2313 -3.9 0.338 - - - - - - 14.02 14.10 13.12
12188 975.5 9.3 620 12201 done 0.74 - - 3195 - 2.38 0.040 1798 -581.5 116.8 - - 2294 - - - - - - - - 14.38 14.31 14.40
12545 942.2 9.6 628 12559 roll 0.65 0.20 0.260 3151 -220.0 2.40 0.050 3192 580.8 116.8 - - 2294 - - - - - - - - 14.29 14.53 14.45
12698 929.9 7.6 649 12712 done 0.66 - - 3154 - 2.40 0.041 1772 -591.7 121.4 - - 2292 - - - - - - - - 14.66 14.59 14.67
13062 902.5 7.6 658 13079 roll 0.66 - - 3165 - 2.45 0.066 398 -560.8 126.2 2.33 0.542 2275 -7.3 2.271 - - - - - - 14.85 14.64 13.60
13134 896.6 8.2 668 13148 done 0.66 - - 3165 - 2.28 0.033 1785 608.3 126.2 - - 2275 - - - - - - - - 14.74 14.69 14.76
13462 870.8 7.8 679 13476 roll 0.66 - - 3165 - 2.35 0.052 3176 591.9 126.6 - - 2276 - - - - - - - - 14.89 14.65 14.91
13503 867.5 10.5 684 13517 done 0.66 - - 3174 - 2.35 0.041 1771 -597.9 126.6 - - 2275 - - - - - - - - 14.76 14.68 14.77
13866 838.9 8.0 693 13880 roll 0.66 - - 3184 - 2.40 0.065 393 -574.2 126.6 - - 2276 - - - - - - - - 14.91 14.59 14.93
13907 836.0 8.3 698 13920 done 0.66 0.17 0.252 3147 -217.6 2.28 0.033 1788 611.8 126.6 - - 2275 - - - - - - - - 14.41 14.72 14.66
14271 811.2 6.7 707 14315 roll 0.69 - - 3146 - 2.45 0.055 3177 566.9 147.2 27.67 1.993 2182 -3.4 0.256 - - - - - - 14.92 14.54 13.82
14356 804.9 8.0 719 14369 done 0.69 - - 3153 - 2.38 0.041 1782 -586.1 147.2 - - 2179 - - - - - - - - 14.59 14.52 14.61
14726 775.5 8.0 729 14740 roll 0.69 - - 3164 - 2.42 0.067 402 -570.2 147.2 - - 2178 - - - - - - - - 14.82 14.56 14.84
14808 768.3 8.8 740 14822 done 0.69 - - 3161 - 2.22 0.033 1757 610.4 147.2 - - 2177 - - - - - - - - 14.71 14.66 14.71
15130 741.0 8.5 750 15143 roll 0.69 - - 3163 - 2.42 0.053 3182 588.8 147.2 - - 2177 - - - - - - - - 14.87 14.62 14.89
15198 734.4 9.9 759 15211 done 0.69 - - 3172 - 2.35 0.041 1781 -596.2 147.2 - - 2177 - - - - - - - - 14.72 14.65 14.75
15533 704.7 9.0 771 15546 roll 0.69 - - 3182 - 2.40 0.066 406 -572.9 147.2 - - 2178 - - - - - - - - 14.90 14.61 14.92
15596 698.9 9.6 779 15609 done 0.69 - - 3183 - 2.28 0.032 1789 606.6 147.2 - - 2178 - - - - - - - - 14.76 14.71 14.78
15938 667.0 9.2 792 15951 roll 0.69 - - 3182 - 2.38 0.053 3186 587.0 147.2 - - 2178 - - - - - - - - 14.90 14.65 14.92
16006 660.7 9.0 801 16019 done 0.69 0.17 0.262 3153 -170.6 2.33 0.042 1796 -596.6 147.2 - - 2178 - - - - - - - - 14.39 14.67 14.67
16344 636.6 7.0 813 16372 roll 0.71 - - 3161 - 2.42 0.065 403 -575.6 162.4 14.98 1.815 2125 -3.5 0.232 - - - - - - 14.91 14.54 13.95
16435 629.6 7.7 826 16448 done 0.71 - - 3161 - 2.28 0.033 1785 606.1 164.9 - - 2119 - - - - - - - - 14.70 14.65 14.71
16798 603.2 7.3 835 16820 roll 0.72 - - 3162 - 2.42 0.053 3179 576.0 175.7 6.93 1.628 2079 -5.8 0.400 - - - - - - 14.87 14.68 13.90
16855 598.7 7.9 843 16868 done 0.72 - - 3170 - 2.35 0.041 1786 -592.8 175.7 - - 2079 - - - - - - - - 14.70 14.64 14.72
17198 570.6 8.3 856 17211 roll 0.72 - - 3181 - 2.42 0.066 401 -572.3 175.7 - - 2079 - - - - - - - - 14.87 14.60 14.89
17322 558.7 9.7 873 17335 done 0.72 - - 3180 - 2.22 0.032 1755 609.9 175.7 - - 2079 - - - - - - - - 14.74 14.69 14.76
17657 526.7 9.6 885 17670 roll 0.72 - - 3185 - 2.40 0.051 3179 593.3 175.7 - - 2077 - - - - - - - - 14.89 14.64 14.91
17725 519.9 9.8 894 17738 done 0.72 - - 3189 - 2.38 0.043 1763 -595.0 175.7 - - 2079 - - - - - - - - 14.75 14.67 14.77
18061 488.8 9.2 906 18074 roll 0.72 - - 3201 - 2.38 0.066 396 -574.4 175.7 - - 2079 - - - - - - - - 14.90 14.63 14.92
18136 481.4 9.7 916 18149 done 0.72 0.15 0.252 3169 -213.3 2.20 0.033 1754 617.3 175.7 - - 2079 - - - - - - - - 14.42 14.72 14.65
18464 455.4 7.9 927 18477 roll 0.72 - - 3169 - 2.40 0.051 3174 591.7 175.7 - - 2079 - - - - - - - - 14.92 14.66 14.95
18554 447.7 8.5 939 18567 done 0.72 - - 3175 - 2.35 0.041 1768 -598.3 175.7 - - 2080 - - - - - - - - 14.76 14.69 14.78
18924 417.0 8.4 949 18937 roll 0.72 - - 3186 - 2.38 0.065 401 -574.4 175.7 - - 2079 - - - - - - - - 14.93 14.62 14.95
18993 410.7 9.2 958 19006 done 0.72 - - 3185 - 2.22 0.032 1766 614.9 175.7 - - 2079 - - - - - - - - 14.78 14.73 14.78
19328 380.7 8.9 970 19341 roll 0.72 - - 3186 - 2.35 0.051 3169 597.0 175.7 - - 2080 - - - - - - - - 14.92 14.64 14.95
19390 375.0 9.2 978 19403 done 0.72 0.12 0.269 3170 -133.3 2.35 0.040 1764 -597.9 175.7 - - 2079 - - - - - - - - 14.40 14.69 14.65
19736 348.2 7.8 991 19753 roll 0.73 - - 3178 - 2.40 0.065 405 -566.2 177.5 2.10 0.296 2067 -5.7 1.257 - - - - - - 14.92 14.69 13.73
19815 341.2 8.6 1002 19828 done 0.73 - - 3178 - 2.20 0.033 1756 614.1 177.5 - - 2073 - - - - - - - - 14.79 14.74 14.81
20137 314.2 8.5 1012 20150 roll 0.73 - - 3178 - 2.40 0.050 3185 595.4 177.5 - - 2073 - - - - - - - - 14.92 14.68 14.95
20199 308.3 9.4 1020 20212 done 0.73 - - 3187 - 2.38 0.041 1769 -595.0 177.5 - - 2071 - - - - - - - - 14.76 14.69 14.78
20541 276.5 9.4 1033 20554 roll 0.73 - - 3197 - 2.38 0.063 398 -576.1 177.5 - - 2074 - - - - - - - - 14.92 14.64 14.95
20652 265.3 10.1 1048 20667 done 0.73 0.15 0.241 3164 -220.0 2.20 0.031 1752 615.5 177.5 - - 2073 - - - - - - - - 14.41 14.73 14.66
20995 237.9 7.7 1055 21013 roll 0.73 - - 3165 - 2.38 0.050 3168 595.0 179.9 3.58 0.896 2057 -4.5 0.222 - - - - - - 14.94 14.76 13.94
21040 234.3 8.0 1061 21053 done 0.73 - - 3172 - 2.40 0.040 1725 -601.2 179.9 - - 2062 - - - - - - - - 14.78 14.71 14.80
21396 206.9 7.7 1069 21413 roll 0.73 - - 3182 - 2.28 0.062 401 -580.7 182.8 4.18 0.982 2046 -3.8 0.151 - - - - - - 14.95 14.59 13.98
21461 201.7 8.3 1078 21475 done 0.73 - - 3182 - 2.12 0.031 1717 620.8 182.8 - - 2053 - - - - - - - - 14.79 14.75 14.82
21796 174.3 8.3 1090 21810 roll 0.73 - - 3182 - 2.42 0.049 3167 599.2 182.8 - - 2053 - - - - - - - - 14.93 14.68 14.95
21851 169.6 8.6 1097 21864 done 0.73 - - 3190 - 2.42 0.040 1723 -596.7 182.8 - - 2054 - - - - - - - - 14.77 14.69 14.78
22195 140.4 8.7 1104 22209 roll 0.73 - - 3200 - 2.35 0.063 402 -562.1 182.8 1.48 0.173 2048 -4.1 0.615 - - - - - - 14.92 14.66 14.55
22243 135.7 9.7 1110 22256 done 0.73 0.15 0.233 3166 -226.7 2.10 0.031 1715 625.2 182.8 - - 2051 - - - - - - - - 14.46 14.75 14.69
22600 110.7 6.6 1118 22636 done 0.76 - - 3167 - - - 1715 - 207.2 27.00 0.411 1948 -3.8 0.192 - - - - - - 14.94 14.71 14.35
22908 94.5 4.6 1125 22980 roll 0.98 0.20 0.106 3246 395.0 2.45 0.046 3176 596.3 267.7 59.35 0.383 1704 -4.1 0.190 - - - - - - 14.62 14.52 14.31
22995 88.0 8.5 1137 23012 done 0.98 - - 3256 - 2.53 0.040 1680 -591.3 267.7 2.30 0.161 1702 - - - - - - - - 14.69 14.62 14.47
23336 68.2 4.4 1152 23412 roll 1.06 - - 3257 - 2.60 0.047 3172 573.8 332.3 60.38 0.310 1441 -4.3 0.178 - - - - - - 14.86 14.59 14.31
23496 58.9 6.8 1175 23528 done 1.25 0.22 0.096 3349 418.2 2.33 0.037 1786 -594.8 352.3 20.38 0.270 1356 -4.2 0.170 - - - - - - 14.55 14.57 14.31
23835 33.6 6.6 1190 23870 roll 1.28 - - 3360 - 2.38 0.058 400 -582.4 375.5 22.52 0.205 1264 -4.1 0.125 - - - - - - 14.85 14.56 14.39
23904 28.1 8.0 1200 23918 done 1.28 - - 3359 - 2.17 0.028 1767 630.0 375.5 2.30 0.153 1261 -1.3 0.045 - - - - - - 14.73 14.69 14.48
24236 4.3 7.3 1213 24257 roll 1.29 - - 3368 - 2.35 0.059 402 -580.9 385.8 9.35 0.132 1218 -4.6 0.028 - - - - - - 14.90 14.63 14.53
24267 end climb: SURFACE_DEPTH_REACHED
24267 begin surface coast
24274 end surface coast: CONTROL_FINISHED_OK
24274 begin surface
SM 1.21 - - - - -8.59 9.25 0.064 163 17.6 2.40 0.029 1833 -2877.9 515.13 76.95 0.123 690 9.0 -0.009 - - - - - -