SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 5 • 78.44 of 350.00 AH used of 24V (77.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 562.72 (SM_CC=562.4729)
• GPS1 time: 30 s
• GPS2 time: 19 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 - - 149 - - - 1900 - -116.8 -78.22 - 3276 - - - - - - - - 14.88 13.28 14.88
112 10.7 -16.7 3 130 roll -0.84 11.85 0.386 2660 211.9 2.47 0.048 452 -586.2 -116.8 - - 3274 - - - - - - - - 14.38 14.66 14.66
185 45.8 -31.5 14 193 done -0.30 0.73 0.297 2825 226.0 2.30 0.036 1835 601.3 -116.8 - - 3274 - - - - - - - - 14.35 14.65 14.62
501 84.6 -8.3 26 507 roll -0.30 - - 2825 - 2.33 0.054 463 -588.8 -116.8 - - 3276 - - - - - - - - 14.89 14.66 14.90
598 91.4 -7.1 40 604 done -0.30 - - 2814 - 2.25 0.033 1846 614.7 -116.8 - - 3277 - - - - - - - - 14.73 14.67 14.76
921 113.0 -6.9 50 927 roll -0.30 - - 2818 - 2.35 0.054 457 -591.1 -116.8 - - 3276 - - - - - - - - 14.92 14.70 14.95
1004 118.7 -6.3 62 1010 done -0.30 - - 2808 - 2.22 0.032 1828 617.6 -116.8 - - 3276 - - - - - - - - 14.81 14.76 14.83
1369 144.0 -7.3 72 1375 roll -0.40 - - 2809 - 2.30 0.053 463 -593.5 -116.8 - - 3275 - - - - - - - - 14.95 14.72 14.97
1410 147.3 -8.0 78 1416 done -0.40 - - 2801 - 2.20 0.033 1817 615.5 -116.8 - - 3275 - - - - - - - - 14.83 14.77 14.84
1761 173.7 -7.5 86 1767 roll -0.49 - - 2790 - 2.40 0.053 3259 600.8 -116.8 - - 3271 - - - - - - - - 14.95 14.72 14.97
1838 179.5 -7.4 97 1845 done -0.61 0.17 0.103 2716 -435.3 2.38 0.035 1799 -613.4 -116.8 - - 3271 - - - - - - - - 14.72 14.73 14.78
2153 212.1 -10.5 107 2159 roll -0.61 - - 2717 - 2.25 0.058 464 -593.3 -116.8 - - 3268 - - - - - - - - 14.95 14.72 14.97
2243 221.9 -10.6 120 2250 done -0.49 0.25 0.246 2767 200.0 2.15 0.034 1783 613.5 -116.8 - - 3268 - - - - - - - - 14.50 14.77 14.73
2601 249.2 -7.6 129 2608 roll -0.49 - - 2758 - 2.47 0.056 3256 596.4 -116.8 - - 3264 - - - - - - - - 14.95 14.71 14.99
2670 254.5 -7.5 139 2683 done -0.49 - - 2758 - 2.42 0.036 1775 -612.0 -116.8 - - 3264 - - - - - - - - 14.85 14.78 14.85
2999 280.2 -7.9 150 3012 roll -0.49 - - 2758 - 2.22 0.058 456 -594.1 -116.8 - - 3259 - - - - - - - - 15.00 14.76 15.02
3102 289.3 -8.8 164 3115 done -0.49 - - 2749 - 2.15 0.033 1781 616.3 -116.8 - - 3260 - - - - - - - - 14.88 14.83 14.88
3458 321.2 -9.1 172 3471 roll -0.49 - - 2738 - 2.47 0.055 3260 598.8 -116.8 - - 3258 - - - - - - - - 15.01 14.76 15.03
3526 327.6 -9.4 181 3540 done -0.49 0.12 0.246 2764 216.7 2.45 0.037 1766 -609.8 -116.8 - - 3257 - - - - - - - - 14.57 14.81 14.78
3861 356.1 -8.5 193 3875 roll -0.49 - - 2764 - 2.20 0.059 465 -591.4 -116.8 - - 3255 - - - - - - - - 15.02 14.77 15.04
3951 364.1 -8.8 205 3965 done -0.49 - - 2759 - 2.10 0.034 1750 611.9 -116.8 - - 3255 - - - - - - - - 14.88 14.83 14.90
4321 394.8 -8.2 215 4334 roll -0.49 - - 2748 - 2.53 0.054 3258 596.0 -116.8 - - 3252 - - - - - - - - 15.02 14.76 15.04
4383 399.7 -8.0 223 4397 done -0.49 - - 2748 - 2.53 0.037 1734 -602.4 -116.8 - - 3252 - - - - - - - - 14.87 14.81 14.90
4726 427.9 -8.3 236 4739 roll -0.49 - - 2748 - 2.17 0.059 460 -587.1 -116.8 - - 3250 - - - - - - - - 15.02 14.76 15.04
4788 433.4 -8.8 244 4802 done -0.49 0.12 0.267 2764 133.3 2.08 0.035 1727 609.1 -116.8 - - 3250 - - - - - - - - 14.53 14.82 14.77
5131 458.3 -7.2 257 5144 roll -0.49 - - 2756 - 2.58 0.054 3256 592.6 -116.8 - - 3248 - - - - - - - - 15.01 14.75 15.04
5179 461.9 -7.2 263 5192 done -0.49 - - 2756 - 2.55 0.038 1723 -601.2 -116.8 - - 3247 - - - - - - - - 14.86 14.79 14.88
5535 489.0 -7.7 271 5549 roll -0.49 - - 2755 - 2.15 0.060 457 -588.8 -116.8 - - 3246 - - - - - - - - 15.02 14.76 15.04
5598 494.3 -8.7 279 5611 done -0.49 - - 2748 - 2.05 0.035 1714 613.2 -116.8 - - 3245 - - - - - - - - 14.87 14.81 14.88
5940 522.0 -8.0 292 5953 roll -0.49 - - 2735 - 2.60 0.056 3255 592.7 -116.8 - - 3244 - - - - - - - - 15.02 14.74 15.04
6065 531.7 -7.8 309 6079 done -0.49 0.15 0.243 2769 226.7 2.50 0.038 1740 -606.0 -116.8 - - 3243 - - - - - - - - 14.53 14.81 14.76
6401 554.2 -6.6 321 6414 roll -0.49 - - 2769 - 2.17 0.060 462 -588.9 -116.8 - - 3243 - - - - - - - - 15.01 14.73 15.03
6483 560.4 -7.5 332 6496 done -0.49 - - 2763 - 2.08 0.037 1739 613.9 -116.8 - - 3242 - - - - - - - - 14.86 14.80 14.88
6805 582.9 -7.0 342 6818 roll -0.49 - - 2752 - 2.58 0.057 3263 590.7 -116.8 - - 3241 - - - - - - - - 15.01 14.72 15.03
6887 588.9 -7.3 353 6900 done -0.49 - - 2752 - 2.53 0.039 1752 -597.2 -116.8 - - 3240 - - - - - - - - 14.84 14.76 14.89
7209 613.1 -7.6 363 7222 roll -0.49 - - 2752 - 2.20 0.062 465 -585.0 -116.8 - - 3238 - - - - - - - - 15.00 14.72 15.02
7333 623.5 -8.2 380 7347 done -0.49 - - 2744 - 2.08 0.036 1734 610.1 -116.8 - - 3237 - - - - - - - - 14.85 14.79 14.87
7669 649.6 -7.8 392 7682 roll -0.49 - - 2732 - 2.58 0.057 3254 589.1 -116.8 - - 3236 - - - - - - - - 14.99 14.71 15.01
7744 655.6 -7.9 402 7758 done -0.49 0.15 0.244 2765 220.0 2.53 0.040 1732 -601.6 -116.8 - - 3237 - - - - - - - - 14.50 14.76 14.73
8074 677.7 -6.7 413 8087 roll -0.49 - - 2765 - 2.17 0.061 461 -585.7 -116.8 - - 3236 - - - - - - - - 15.00 14.71 15.01
8170 684.8 -7.6 426 8183 done -0.49 - - 2760 - 2.08 0.037 1719 604.8 -116.8 - - 3235 - - - - - - - - 14.86 14.78 14.85
8533 710.0 -7.0 435 8546 roll -0.49 - - 2749 - 2.60 0.057 3249 588.5 -116.8 - - 3234 - - - - - - - - 15.01 14.70 15.00
8645 717.9 -7.2 450 8658 done -0.49 - - 2749 - 2.55 0.040 1733 -594.5 -116.8 - - 3233 - - - - - - - - 14.81 14.73 14.83
8988 743.3 -7.4 457 9001 roll -0.49 - - 2749 - 2.20 0.063 457 -580.0 -116.8 - - 3233 - - - - - - - - 14.99 14.67 15.01
9077 750.7 -8.2 469 9091 done -0.49 - - 2741 - 2.08 0.037 1718 606.2 -116.8 - - 3232 - - - - - - - - 14.81 14.77 14.85
9447 780.2 -8.0 479 9461 roll -0.49 - - 2729 - 2.62 0.058 3263 589.7 -116.8 - - 3231 - - - - - - - - 14.97 14.67 15.00
9530 787.0 -7.7 490 9543 done -0.49 0.17 0.242 2768 229.4 2.58 0.041 1719 -598.4 -116.8 - - 3231 - - - - - - - - 14.45 14.73 14.69
9852 807.8 -6.3 500 9865 roll -0.60 - - 2773 - 2.15 0.064 466 -582.8 -116.8 - - 3231 - - - - - - - - 14.97 14.68 15.00
9935 813.1 -6.2 511 9948 done -0.69 0.20 0.113 2697 -380.0 2.05 0.037 1709 606.3 -116.8 - - 3231 - - - - - - - - 14.68 14.76 14.77
10257 839.6 -8.4 521 10270 roll -0.69 - - 2686 - 2.62 0.058 3253 589.3 -116.8 - - 3230 - - - - - - - - 14.97 14.66 15.00
10353 847.7 -8.3 534 10366 done -0.69 - - 2685 - 2.60 0.041 1702 -596.5 -116.8 - - 3229 - - - - - - - - 14.72 14.69 14.76
10717 878.8 -8.8 543 10730 roll -0.69 - - 2686 - 2.12 0.064 468 -582.1 -116.8 - - 3228 - - - - - - - - 14.97 14.65 14.99
10799 886.8 -9.6 554 10813 done -0.59 0.25 0.268 2735 196.0 2.05 0.037 1708 604.9 -116.8 - - 3229 - - - - - - - - 14.37 14.72 14.66
11122 910.5 -7.3 564 11135 roll -0.59 - - 2725 - 2.65 0.058 3261 586.0 -116.8 - - 3228 - - - - - - - - 14.94 14.66 14.97
11240 919.6 -7.8 580 11254 done -0.59 - - 2725 - 2.58 0.042 1730 -593.4 -116.8 - - 3227 - - - - - - - - 14.78 14.69 14.80
11583 947.7 -8.4 593 11596 roll -0.59 - - 2725 - 2.17 0.064 467 -582.0 -116.8 - - 3227 - - - - - - - - 14.95 14.64 14.97
11652 953.9 -7.3 602 11665 done -0.59 - - 2717 - 2.08 0.037 1728 606.2 -116.8 - - 3226 - - - - - - - - 14.81 14.74 14.82
11987 983.4 -8.8 614 12000 roll -0.59 - - 2705 - 2.60 0.059 3253 586.5 -116.8 - - 3225 - - - - - - - - 14.95 14.64 14.97
12050 989.1 -6.9 622 12063 done -0.59 0.15 0.259 2738 220.0 2.58 0.041 1726 -591.9 -116.8 - - 3225 - - - - - - - - 14.38 14.69 14.64
12066 end dive: TARGET_DEPTH_EXCEEDED
12066 begin apogee
12074 991.7 -9.5 624 12201 roll -0.21 0.45 0.229 2856 262.2 - - 1810 - - 118.07 2.173 2793 -3.7 0.313 - - - - - - 14.43 14.04 13.27
12203 end apogee: CONTROL_FINISHED_OK
12203 begin climb
12207 996.5 - 626 12348 roll 0.84 1.23 0.177 3193 274.0 2.47 0.058 3179 554.3 116.8 124.00 2.133 2315 -3.9 0.337 - - - - - - 14.02 14.09 13.09
12498 976.8 9.3 670 12511 done 0.73 0.15 0.275 3176 -113.3 2.38 0.041 1791 -583.2 116.8 - - 2294 - - - - - - - - 14.07 14.28 14.31
12868 945.1 8.8 680 12881 roll 0.73 - - 3172 - 2.40 0.052 3184 580.4 116.8 - - 2292 - - - - - - - - 14.76 14.54 14.77
13030 930.3 9.3 702 13044 done 0.73 - - 3179 - 2.38 0.041 1772 -593.3 116.8 - - 2292 - - - - - - - - 14.68 14.59 14.69
13386 896.4 9.5 710 13400 roll 0.73 - - 3190 - 2.40 0.064 399 -572.1 116.8 - - 2292 - - - - - - - - 14.86 14.59 14.88
13449 890.1 10.4 718 13462 done 0.73 - - 3190 - 2.28 0.032 1783 607.0 116.8 - - 2292 - - - - - - - - 14.73 14.68 14.74
13791 856.3 9.8 731 13804 roll 0.73 - - 3190 - 2.38 0.053 3183 588.2 116.8 - - 2292 - - - - - - - - 14.88 14.64 14.92
13860 849.8 10.1 740 13873 done 0.63 0.28 0.265 3136 -192.9 2.33 0.040 1789 -598.3 116.8 - - 2291 - - - - - - - - 14.35 14.64 14.65
14195 825.7 7.0 752 14220 roll 0.65 - - 3145 - 2.45 0.065 405 -564.9 132.5 12.62 1.971 2249 -3.3 0.261 - - - - - - 14.90 14.65 13.90
14268 820.4 7.5 762 14285 done 0.66 - - 3145 - 2.30 0.033 1800 606.5 138.5 2.22 0.444 2226 -10.4 3.587 - - - - - - 14.70 14.65 13.62
14642 793.7 7.1 773 14679 roll 0.68 - - 3145 - 2.40 0.054 3173 572.1 152.4 21.38 1.942 2161 -3.0 0.233 - - - - - - 14.85 14.54 13.85
14706 788.9 7.3 782 14723 done 0.69 - - 3154 - 2.28 0.040 1817 -594.7 162.3 4.05 1.352 2129 -7.9 0.864 - - - - - - 14.60 14.54 13.66
15039 762.8 8.0 794 15052 roll 0.69 - - 3164 - 2.47 0.065 402 -572.9 162.3 - - 2131 - - - - - - - - 14.81 14.55 14.82
15157 752.6 8.7 810 15170 done 0.69 - - 3164 - 2.30 0.033 1789 603.0 162.3 - - 2133 - - - - - - - - 14.71 14.66 14.72
15499 723.4 8.5 823 15512 roll 0.69 - - 3164 - 2.35 0.053 3181 592.3 162.3 - - 2131 - - - - - - - - 14.87 14.64 14.89
15539 719.7 9.1 828 15552 done 0.69 - - 3172 - 2.33 0.041 1791 -596.6 162.3 - - 2131 - - - - - - - - 14.73 14.67 14.76
15902 687.0 9.1 837 15916 roll 0.69 - - 3183 - 2.45 0.066 385 -573.9 162.3 - - 2131 - - - - - - - - 14.90 14.62 14.92
15985 678.9 10.0 848 15999 done 0.69 0.12 0.258 3158 -208.3 2.28 0.033 1771 607.9 162.3 - - 2131 - - - - - - - - 14.42 14.71 14.66
16307 652.2 8.1 858 16320 roll 0.69 - - 3158 - 2.38 0.052 3179 591.6 162.3 - - 2131 - - - - - - - - 14.91 14.66 14.93
16354 648.1 8.4 864 16367 done 0.69 - - 3165 - 2.38 0.041 1756 -597.9 162.3 - - 2131 - - - - - - - - 14.76 14.69 14.78
16711 617.4 8.8 872 16724 roll 0.69 - - 3175 - 2.35 0.066 400 -577.0 162.3 - - 2131 - - - - - - - - 14.92 14.63 14.95
16807 608.3 9.4 885 16821 done 0.69 - - 3175 - 2.20 0.031 1742 610.0 162.3 - - 2131 - - - - - - - - 14.78 14.73 14.79
17172 576.1 8.8 894 17185 roll 0.69 - - 3175 - 2.42 0.051 3178 593.4 162.3 - - 2131 - - - - - - - - 14.93 14.66 14.95
17234 570.6 8.9 902 17247 done 0.69 0.15 0.269 3157 -120.0 2.40 0.041 1748 -595.8 162.3 - - 2131 - - - - - - - - 14.39 14.69 14.65
17579 545.7 7.2 915 17613 roll 0.71 - - 3162 - 2.38 0.066 401 -566.0 175.2 19.08 1.685 2069 -3.2 0.197 - - - - - - 14.92 14.62 13.95
17707 535.9 7.9 933 17720 done 0.71 - - 3161 - 2.15 0.031 1713 610.2 175.2 - - 2065 - - - - - - - - 14.69 14.64 14.71
18035 510.2 7.8 944 18048 roll 0.71 - - 3162 - 2.50 0.052 3180 586.8 175.6 - - 2064 - - - - - - - - 14.85 14.62 14.88
18111 503.8 8.4 954 18124 done 0.71 - - 3171 - 2.42 0.041 1733 -597.9 175.6 - - 2063 - - - - - - - - 14.70 14.63 14.73
18439 476.6 8.3 965 18452 roll 0.71 - - 3187 - 2.33 0.066 398 -573.0 175.6 - - 2064 - - - - - - - - 14.88 14.59 14.90
18486 472.4 8.9 971 18500 done 0.71 - - 3181 - 2.17 0.032 1730 613.8 175.6 - - 2063 - - - - - - - - 14.78 14.71 14.78
18842 441.8 8.5 979 18856 roll 0.71 - - 3181 - 2.45 0.051 3176 590.2 175.6 - - 2063 - - - - - - - - 14.88 14.65 14.92
18911 435.7 8.7 988 18924 done 0.71 0.15 0.261 3159 -146.7 2.40 0.042 1744 -596.7 175.6 - - 2063 - - - - - - - - 14.39 14.63 14.66
19247 411.9 7.1 1000 19276 roll 0.72 - - 3167 - 2.35 0.065 405 -569.8 189.7 14.48 1.519 2009 -3.7 0.190 - - - - - - 14.91 14.65 14.03
19338 404.6 8.2 1013 19351 done 0.72 - - 3167 - 2.15 0.031 1723 613.0 189.7 - - 2006 - - - - - - - - 14.71 14.67 14.73
19701 374.3 8.5 1022 19715 roll 0.72 - - 3167 - 2.47 0.050 3181 590.3 189.7 - - 2005 - - - - - - - - 14.88 14.63 14.89
19776 367.5 8.9 1032 19790 done 0.72 - - 3176 - 2.40 0.041 1747 -597.5 189.7 - - 2005 - - - - - - - - 14.71 14.65 14.75
20105 339.4 8.6 1043 20118 roll 0.72 - - 3186 - 2.35 0.065 401 -572.8 189.7 - - 2005 - - - - - - - - 14.90 14.61 14.92
20167 333.8 9.1 1051 20180 done 0.72 - - 3186 - 2.20 0.032 1745 610.9 189.7 - - 2005 - - - - - - - - 14.76 14.71 14.78
20509 304.0 8.7 1064 20522 roll 0.72 - - 3186 - 2.42 0.050 3179 592.6 189.7 - - 2005 - - - - - - - - 14.91 14.66 14.93
20585 296.9 9.2 1074 20598 done 0.72 0.12 0.265 3169 -141.7 2.38 0.040 1754 -598.7 189.7 - - 2005 - - - - - - - - 14.41 14.67 14.67
20913 270.3 8.2 1085 20927 roll 0.72 - - 3176 - 2.35 0.064 400 -576.2 189.7 - - 2004 - - - - - - - - 14.92 14.63 14.95
20982 264.3 8.8 1094 20995 done 0.72 - - 3177 - 2.20 0.031 1753 615.0 189.7 - - 2005 - - - - - - - - 14.78 14.73 14.80
21317 236.5 8.1 1106 21330 roll 0.72 - - 3177 - 2.40 0.050 3179 594.2 189.7 - - 2005 - - - - - - - - 14.92 14.67 14.95
21371 232.0 8.1 1113 21386 done 0.72 - - 3186 - 2.38 0.039 1761 -595.8 189.7 - - 2005 - - - - - - - - 14.76 14.69 14.79
21716 204.4 8.1 1120 21729 roll 0.72 - - 3196 - 2.38 0.064 395 -573.9 189.7 - - 2005 - - - - - - - - 14.93 14.63 14.95
21799 196.9 9.0 1131 21812 done 0.72 0.15 0.243 3163 -220.0 2.17 0.031 1752 625.3 189.7 - - 2005 - - - - - - - - 14.43 14.74 14.69
22121 172.5 7.6 1141 22134 roll 0.73 - - 3163 - 2.38 0.048 3170 595.8 194.3 - - 2005 - - - - - - - - 14.93 14.68 14.95
22196 166.3 8.0 1151 22209 done 0.73 - - 3170 - 2.38 0.039 1740 -600.8 194.3 - - 2005 - - - - - - - - 14.76 14.69 14.79
22524 140.7 7.9 1162 22537 roll 0.73 - - 3180 - 2.33 0.063 394 -577.7 194.3 - - 2005 - - - - - - - - 14.93 14.64 14.95
22565 137.5 7.8 1167 22578 done 0.73 - - 3180 - 2.20 0.030 1753 617.7 194.5 - - 2004 - - - - - - - - 14.79 14.75 14.81
22928 108.1 8.3 1176 22941 roll 0.73 - - 3180 - 2.38 0.049 3176 597.9 194.5 - - 2005 - - - - - - - - 14.93 14.69 14.95
22968 104.5 8.8 1181 22981 done 0.73 - - 3187 - 2.35 0.038 1758 -603.4 194.5 - - 2007 - - - - - - - - 14.78 14.71 14.81
23303 83.2 5.5 1194 23362 roll 0.78 - - 3198 - 2.40 0.062 392 -569.2 238.2 40.90 0.348 1822 -4.5 0.203 - - - - - - 14.92 14.64 14.38
23427 76.1 6.5 1211 23468 done 0.94 - - 3198 - 2.20 0.030 1754 619.1 263.9 26.10 0.322 1720 -3.9 0.173 - - - - - - 14.74 14.69 14.35
23786 58.0 4.8 1229 23849 done 1.23 0.35 0.075 3342 411.4 - - 1757 - 321.5 52.92 0.278 1481 -4.5 0.177 - - - - - - 14.64 14.63 14.37
24151 30.9 5.9 1248 24198 roll 1.27 - - 3351 - 2.40 0.060 399 -565.8 358.1 31.80 0.203 1334 -4.6 0.132 - - - - - - 14.85 14.59 14.37
24401 14.8 6.2 1284 24438 done 1.31 - - 3351 - 2.20 0.028 1766 621.4 388.6 24.30 0.160 1207 -5.2 0.091 - - - - - - 14.74 14.71 14.47
24595 end climb: SURFACE_DEPTH_REACHED
24595 begin surface coast
24626 end surface coast: CONTROL_FINISHED_OK
24626 begin surface
SM 1.26 - - - - -8.62 9.35 0.066 156 16.7 0.10 0.114 1882 -73720.0 562.72 102.80 0.123 498 4.8 -0.005 - - - - - -