SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 311 * Raw log
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• Previous call tries 1 • 118.97 of 350.00 AH used of 24V (66.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth 1.06 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 67 s
• GPS2 time: 25 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 111 done -0.84 - - 145 - - - 1853 - -116.8 -80.88 - 3272 - - - - - - - - 14.70 13.02 14.71
115 8.2 -12.3 3 133 roll -0.84 12.10 0.380 2662 208.0 2.45 0.046 425 -582.9 -116.8 - - 3273 - - - - - - - - 14.19 14.55 14.52
168 37.1 -40.6 11 175 done -0.18 0.85 0.264 2864 237.6 2.28 0.034 1793 600.0 -116.8 - - 3273 - - - - - - - - 14.16 14.48 14.45
504 67.9 -6.5 26 511 roll -0.32 0.12 0.124 2794 -583.3 2.42 0.050 3234 595.5 -116.8 - - 3275 - - - - - - - - 14.55 14.52 14.58
706 81.3 -6.6 55 713 done -0.32 0.12 0.227 2822 233.3 2.33 0.035 1818 -607.7 -116.8 - - 3275 - - - - - - - - 14.33 14.59 14.54
1036 101.3 -6.1 69 1044 roll -0.45 0.12 0.129 2760 -516.7 2.38 0.052 3227 592.0 -116.8 - - 3278 - - - - - - - - 14.59 14.51 14.65
1114 107.2 -7.7 80 1121 done -0.45 - - 2760 - 2.30 0.035 1828 -608.3 -116.8 - - 3274 - - - - - - - - 14.68 14.62 14.70
1429 131.5 -7.7 90 1436 roll -0.45 - - 2760 - 2.40 0.057 425 -584.6 -116.8 - - 3273 - - - - - - - - 14.87 14.57 14.89
1512 138.9 -8.7 102 1519 done -0.45 0.12 0.256 2777 141.7 2.33 0.031 1847 610.3 -116.8 - - 3273 - - - - - - - - 14.31 14.64 14.49
1878 166.6 -7.6 112 1884 roll -0.45 - - 2768 - 2.33 0.054 3225 591.4 -116.8 - - 3269 - - - - - - - - 14.88 14.55 14.92
1912 169.3 -7.7 117 1919 done -0.45 - - 2769 - 2.30 0.036 1830 -606.5 -116.8 - - 3269 - - - - - - - - 14.68 14.62 14.71
2269 197.1 -7.8 126 2276 roll -0.45 - - 2770 - 2.40 0.057 431 -582.9 -116.8 - - 3266 - - - - - - - - 14.88 14.55 14.90
2367 205.4 -8.5 140 2374 done -0.45 - - 2760 - 2.30 0.031 1837 611.3 -116.8 - - 3266 - - - - - - - - 14.69 14.64 14.71
2717 235.9 -8.8 148 2720 done -0.45 - - 2757 - - - 1837 - -116.8 - - 3263 - - - - - - - - 14.88 14.90 14.89
3053 264.3 -8.4 154 3066 roll -0.45 - - 2750 - 2.33 0.052 3217 592.3 -116.8 - - 3260 - - - - - - - - 14.92 14.59 14.95
3116 269.5 -8.4 162 3130 done -0.45 0.12 0.236 2776 216.7 2.30 0.036 1821 -607.0 -116.8 - - 3260 - - - - - - - - 14.36 14.66 14.59
3461 295.4 -7.6 175 3475 roll -0.54 - - 2776 - 2.40 0.059 427 -580.8 -116.8 - - 3257 - - - - - - - - 14.93 14.60 14.96
3593 306.6 -8.2 193 3606 done -0.54 - - 2769 - 2.30 0.031 1831 610.4 -116.8 - - 3256 - - - - - - - - 14.75 14.69 14.77
3921 332.7 -8.0 204 3934 roll -0.54 - - 2759 - 2.35 0.054 3221 591.5 -116.8 - - 3254 - - - - - - - - 14.95 14.59 14.97
3954 335.4 -8.0 208 3968 done -0.54 - - 2759 - 2.30 0.037 1828 -605.7 -116.8 - - 3253 - - - - - - - - 14.73 14.66 14.76
4326 364.1 -7.6 218 4339 roll -0.54 - - 2759 - 2.40 0.059 431 -582.1 -116.8 - - 3251 - - - - - - - - 14.96 14.58 14.98
4457 374.6 -8.0 236 4470 done -0.54 - - 2750 - 2.30 0.033 1832 609.1 -116.8 - - 3250 - - - - - - - - 14.74 14.69 14.77
4786 400.8 -8.1 247 4799 roll -0.54 - - 2740 - 2.35 0.055 3215 588.5 -116.8 - - 3248 - - - - - - - - 14.94 14.59 14.96
4819 403.7 -8.5 251 4832 done -0.54 - - 2740 - 2.30 0.038 1830 -602.2 -116.8 - - 3248 - - - - - - - - 14.73 14.66 14.76
5189 436.4 -8.9 261 5202 roll -0.54 - - 2740 - 2.42 0.059 427 -579.8 -116.8 - - 3247 - - - - - - - - 14.97 14.55 14.99
5307 447.4 -9.2 277 5321 done -0.54 - - 2731 - 2.30 0.032 1830 610.0 -116.8 - - 3247 - - - - - - - - 14.74 14.69 14.76
5650 476.7 -8.3 290 5663 done -0.54 - - 2731 - - - 1830 - -116.8 - - 3247 - - - - - - - - 14.95 14.97 14.97
5988 502.1 -7.6 296 6001 done -0.54 - - 2731 - - - 1830 - -116.8 - - 3243 - - - - - - - - 14.93 14.96 14.96
6322 529.0 -8.1 302 6336 roll -0.54 - - 2731 - 2.45 0.059 427 -572.7 -116.8 - - 3242 - - - - - - - - 14.94 14.54 14.97
6356 532.0 -9.0 306 6369 done -0.54 0.12 0.263 2744 108.3 2.33 0.035 1830 602.1 -116.8 - - 3241 - - - - - - - - 14.28 14.66 14.53
6727 562.1 -8.2 316 6740 done -0.54 - - 2746 - - - 1835 - -116.8 - - 3241 - - - - - - - - 14.95 14.97 14.97
7062 590.7 -8.5 322 7075 roll -0.54 - - 2747 - 2.45 0.061 432 -572.7 -116.8 - - 3239 - - - - - - - - 14.96 14.51 14.97
7116 595.7 -9.2 329 7131 done -0.54 - - 2740 - 2.35 0.035 1828 594.0 -116.8 - - 3239 - - - - - - - - 14.69 14.63 14.71
7461 625.9 -8.8 336 7475 roll -0.54 - - 2730 - 2.40 0.057 3226 582.5 -116.8 - - 3238 - - - - - - - - 14.92 14.50 14.95
7530 632.1 -8.8 345 7543 done -0.54 - - 2730 - 2.33 0.038 1829 -599.6 -116.8 - - 3238 - - - - - - - - 14.68 14.61 14.69
7866 661.2 -8.6 357 7879 roll -0.54 - - 2730 - 2.42 0.061 433 -576.9 -116.8 - - 3237 - - - - - - - - 14.92 14.50 14.94
7985 671.9 -8.9 373 7998 done -0.54 0.15 0.249 2753 153.3 2.35 0.035 1838 597.9 -116.8 - - 3236 - - - - - - - - 14.19 14.61 14.45
8327 696.9 -7.2 386 8341 roll -0.54 - - 2744 - 2.38 0.056 3223 581.9 -116.8 - - 3234 - - - - - - - - 14.92 14.50 14.94
8369 699.9 -7.7 391 8382 done -0.64 - - 2745 - 2.33 0.039 1831 -597.4 -116.8 - - 3234 - - - - - - - - 14.66 14.59 14.69
8732 726.5 -7.4 400 8745 roll -0.64 - - 2745 - 2.45 0.062 431 -571.4 -116.8 - - 3233 - - - - - - - - 14.92 14.47 14.95
8888 739.0 -8.1 421 8901 done -0.64 - - 2736 - 2.35 0.035 1836 597.9 -116.8 - - 3232 - - - - - - - - 14.66 14.61 14.69
9251 767.8 -7.9 430 9264 roll -0.64 - - 2725 - 2.40 0.057 3227 579.6 -116.8 - - 3232 - - - - - - - - 14.93 14.46 14.95
9319 773.2 -7.7 439 9332 done -0.64 - - 2725 - 2.35 0.037 1827 -595.7 -116.8 - - 3232 - - - - - - - - 14.63 14.55 14.66
9655 799.4 -7.8 451 9668 roll -0.64 - - 2725 - 2.45 0.061 430 -570.2 -116.8 - - 3231 - - - - - - - - 14.89 14.46 14.91
9779 810.4 -8.7 468 9793 done -0.64 - - 2716 - 2.35 0.034 1830 595.7 -116.8 - - 3230 - - - - - - - - 14.60 14.54 14.63
10115 839.1 -8.7 480 10128 roll -0.64 - - 2705 - 2.40 0.058 3220 579.2 -116.8 - - 3229 - - - - - - - - 14.89 14.43 14.91
10155 842.9 -9.4 485 10169 done -0.64 - - 2705 - 2.35 0.041 1828 -592.3 -116.8 - - 3228 - - - - - - - - 14.61 14.52 14.64
10519 875.5 -9.1 494 10532 roll -0.64 - - 2705 - 2.47 0.063 425 -568.0 -116.8 - - 3228 - - - - - - - - 14.91 14.42 14.93
10688 891.8 -9.6 517 10703 done -0.64 - - 2696 - 2.38 0.036 1831 590.8 -116.8 - - 3226 - - - - - - - - 14.61 14.54 14.63
11029 923.3 -9.1 524 11043 roll -0.64 - - 2685 - 2.42 0.059 3227 576.9 -116.8 - - 3227 - - - - - - - - 14.92 14.42 14.93
11092 928.9 -9.1 532 11106 done -0.64 0.15 0.257 2715 200.0 2.35 0.040 1828 -595.3 -116.8 - - 3227 - - - - - - - - 14.07 14.51 14.40
11435 956.2 -7.9 545 11448 roll -0.64 - - 2720 - 2.47 0.063 426 -567.6 -116.8 - - 3226 - - - - - - - - 14.88 14.41 14.90
11539 964.7 -9.1 559 11552 done -0.64 - - 2713 - 2.40 0.036 1836 587.5 -116.8 - - 3226 - - - - - - - - 14.61 14.54 14.63
11892 end dive: TARGET_DEPTH_EXCEEDED
11892 begin apogee
11900 992.7 -7.9 567 12029 done -0.21 0.55 0.226 2854 256.4 - - 1711 - - 118.47 2.194 2793 -3.7 0.314 - - - - - - 14.14 13.98 13.12
12030 end apogee: CONTROL_FINISHED_OK
12030 begin climb
12035 997.4 - 569 12182 roll 0.84 1.15 0.152 3189 291.3 2.62 0.050 3124 539.3 116.8 125.60 2.140 2304 -3.9 0.345 - - - - - - 13.95 13.73 12.91
12202 988.5 10.9 596 12215 done 0.75 - - 3199 - 2.45 0.039 1745 -562.9 116.8 - - 2299 - - - - - - - - 13.97 13.90 14.00
12524 959.1 9.2 606 12537 roll 0.75 - - 3210 - 2.55 0.066 323 -557.6 116.8 - - 2295 - - - - - - - - 14.64 14.35 14.66
12607 950.6 10.2 617 12620 done 0.64 0.30 0.233 3138 -240.0 2.40 0.031 1764 600.4 116.8 - - 2297 - - - - - - - - 14.14 14.50 14.43
12929 927.4 7.1 627 12946 roll 0.66 - - 3138 - 2.35 0.053 3103 569.8 130.6 6.18 1.758 2259 -6.1 0.616 - - - - - - 14.77 14.60 13.59
13023 920.2 7.6 640 13040 done 0.66 - - 3145 - 2.35 0.041 1726 -586.0 136.2 5.53 1.696 2236 -4.2 0.429 - - - - - - 14.62 14.52 13.51
13384 894.1 7.3 649 13419 roll 0.68 - - 3156 - 2.55 0.067 326 -549.0 147.4 19.62 2.030 2183 -2.7 0.226 - - - - - - 14.79 14.49 13.67
13453 888.7 9.6 659 13466 done 0.68 - - 3156 - 2.35 0.033 1729 597.0 147.4 - - 2180 - - - - - - - - 14.54 14.50 14.57
13782 862.8 7.9 670 13795 roll 0.68 - - 3156 - 2.38 0.050 3119 584.0 147.4 - - 2178 - - - - - - - - 14.76 14.47 14.78
13844 857.6 8.3 678 13857 done 0.68 - - 3164 - 2.35 0.040 1729 -591.5 147.4 - - 2177 - - - - - - - - 14.59 14.51 14.62
14186 829.6 8.2 691 14199 roll 0.68 - - 3176 - 2.50 0.067 326 -561.2 147.4 - - 2178 - - - - - - - - 14.83 14.45 14.85
14262 822.7 9.3 701 14276 done 0.68 - - 3175 - 2.35 0.032 1744 603.4 147.4 - - 2177 - - - - - - - - 14.64 14.57 14.66
14590 793.1 9.0 712 14604 roll 0.68 - - 3175 - 2.35 0.050 3109 580.9 147.4 - - 2175 - - - - - - - - 14.83 14.50 14.86
14645 788.0 9.4 719 14659 done 0.68 0.15 0.265 3154 -140.0 2.38 0.041 1725 -581.5 147.4 - - 2177 - - - - - - - - 14.17 14.52 14.48
14990 761.2 7.7 726 15003 roll 0.68 - - 3163 - 2.47 0.067 323 -567.6 150.3 - - 2177 - - - - - - - - 14.85 14.44 14.86
15072 754.4 8.2 737 15085 done 0.68 - - 3163 - 2.33 0.032 1725 601.7 150.3 - - 2177 - - - - - - - - 14.64 14.59 14.66
15394 730.3 7.4 747 15411 roll 0.69 - - 3162 - 2.35 0.049 3119 593.2 158.8 5.22 1.577 2141 -6.9 0.607 - - - - - - 14.85 14.46 13.60
15480 723.7 7.5 759 15513 done 0.70 - - 3171 - 2.38 0.044 1729 -584.0 166.2 16.15 1.882 2105 -2.2 0.163 - - - - - - 14.64 14.55 13.78
15846 696.7 7.4 769 15864 roll 0.71 - - 3182 - 2.53 0.067 326 -554.5 174.1 2.12 0.335 2082 -10.8 4.287 - - - - - - 14.77 14.49 13.39
15926 690.3 8.0 780 15939 done 0.71 - - 3182 - 2.33 0.032 1729 602.1 174.1 - - 2082 - - - - - - - - 14.63 14.58 14.65
16247 665.8 7.7 790 16264 roll 0.71 - - 3182 - 2.40 0.050 3114 577.1 177.4 3.28 1.056 2069 -4.0 0.475 - - - - - - 14.81 14.62 13.54
16313 660.4 8.2 799 16326 done 0.71 0.12 0.271 3166 -133.3 2.35 0.040 1724 -591.5 177.4 - - 2074 - - - - - - - - 14.23 14.54 14.49
16648 636.1 7.3 811 16679 roll 0.73 - - 3174 - 2.53 0.067 332 -550.2 187.0 18.98 1.763 2023 -2.7 0.184 - - - - - - 14.85 14.55 13.81
16728 629.5 8.9 822 16741 done 0.73 - - 3174 - 2.33 0.032 1728 599.1 187.0 - - 2017 - - - - - - - - 14.57 14.52 14.59
17049 601.2 8.9 832 17062 roll 0.73 - - 3174 - 2.38 0.050 3111 581.1 187.0 - - 2015 - - - - - - - - 14.81 14.49 14.80
17091 597.2 9.5 837 17104 done 0.73 - - 3183 - 2.35 0.040 1726 -589.4 187.0 - - 2015 - - - - - - - - 14.58 14.50 14.62
17454 563.5 9.2 846 17467 roll 0.73 - - 3191 - 2.50 0.066 324 -560.8 187.0 - - 2015 - - - - - - - - 14.83 14.42 14.85
17508 558.2 9.8 853 17522 done 0.73 - - 3194 - 2.38 0.032 1741 595.4 187.0 - - 2014 - - - - - - - - 14.62 14.56 14.62
17854 525.5 9.5 860 17867 roll 0.73 - - 3194 - 2.35 0.051 3107 581.3 187.0 - - 2014 - - - - - - - - 14.83 14.46 14.85
17916 519.2 10.0 868 17929 done 0.73 0.17 0.246 3165 -170.6 2.35 0.043 1723 -588.9 187.0 - - 2014 - - - - - - - - 14.16 14.51 14.46
18259 491.7 8.0 881 18272 roll 0.73 - - 3173 - 2.47 0.067 332 -563.2 187.0 - - 2013 - - - - - - - - 14.83 14.42 14.85
18313 487.0 8.6 888 18327 done 0.73 - - 3173 - 2.35 0.032 1733 596.2 187.0 - - 2015 - - - - - - - - 14.62 14.57 14.64
18657 458.9 8.1 895 18671 roll 0.73 - - 3173 - 2.38 0.051 3116 581.1 187.0 - - 2015 - - - - - - - - 14.87 14.45 14.89
18726 453.2 8.1 904 18740 done 0.73 - - 3182 - 2.35 0.041 1729 -590.2 187.0 - - 2015 - - - - - - - - 14.59 14.50 14.62
19061 426.4 8.0 916 19075 roll 0.73 - - 3192 - 2.50 0.067 326 -561.2 187.0 - - 2015 - - - - - - - - 14.85 14.41 14.87
19151 418.8 8.6 928 19164 done 0.73 - - 3197 - 2.35 0.031 1736 600.0 187.0 - - 2015 - - - - - - - - 14.62 14.57 14.65
19522 387.5 8.5 938 19535 roll 0.73 - - 3191 - 2.38 0.050 3117 580.3 187.0 - - 2014 - - - - - - - - 14.84 14.44 14.86
19584 381.7 9.2 946 19597 done 0.73 0.15 0.247 3170 -140.0 2.35 0.040 1731 -589.8 187.0 - - 2015 - - - - - - - - 14.15 14.50 14.45
19927 355.4 7.6 959 19941 roll 0.73 - - 3178 - 2.50 0.066 331 -560.0 190.9 - - 2015 - - - - - - - - 14.85 14.38 14.87
20003 349.1 8.3 969 20016 done 0.73 - - 3178 - 2.30 0.031 1727 607.0 190.9 - - 2015 - - - - - - - - 14.53 14.50 14.54
20331 324.1 7.6 980 20347 roll 0.74 - - 3178 - 2.35 0.048 3119 592.3 196.0 3.47 0.918 1992 -6.6 0.445 - - - - - - 14.88 14.67 13.66
20382 319.9 8.3 987 20396 done 0.74 - - 3186 - 2.38 0.040 1723 -586.6 196.0 - - 1996 - - - - - - - - 14.63 14.54 14.66
20726 291.1 8.6 994 20739 roll 0.74 - - 3197 - 2.47 0.065 323 -566.8 196.0 - - 1996 - - - - - - - - 14.85 14.42 14.88
20830 281.3 9.5 1008 20843 done 0.74 - - 3197 - 2.35 0.031 1735 600.9 196.0 - - 1996 - - - - - - - - 14.65 14.60 14.66
21186 247.8 9.4 1016 21199 roll 0.74 - - 3197 - 2.33 0.047 3106 588.4 196.0 - - 1997 - - - - - - - - 14.87 14.46 14.90
21240 242.3 10.1 1023 21254 done 0.74 0.15 0.246 3173 -160.0 2.35 0.040 1727 -586.8 196.0 - - 1996 - - - - - - - - 14.16 14.50 14.42
21585 213.5 8.3 1030 21599 roll 0.74 - - 3181 - 2.47 0.064 329 -566.0 196.0 - - 1997 - - - - - - - - 14.85 14.40 14.87
21661 206.8 8.7 1040 21674 done 0.74 - - 3181 - 2.33 0.031 1738 604.7 196.0 - - 1997 - - - - - - - - 14.64 14.59 14.66
21990 180.7 7.8 1051 22003 roll 0.74 - - 3181 - 2.33 0.047 3108 588.0 196.5 - - 1996 - - - - - - - - 14.85 14.47 14.87
22058 175.3 7.7 1060 22075 done 0.74 - - 3190 - 2.33 0.039 1732 -590.6 198.6 3.42 0.810 1981 -4.4 0.180 - - - - - - 14.51 14.43 13.73
22390 149.7 7.9 1072 22403 roll 0.74 - - 3200 - 2.47 0.065 330 -567.6 198.6 - - 1987 - - - - - - - - 14.88 14.43 14.90
22446 144.9 8.7 1079 22460 done 0.74 0.12 0.233 3173 -225.0 2.33 0.031 1733 602.1 198.6 - - 1987 - - - - - - - - 14.24 14.59 14.46
22790 118.3 7.9 1086 22803 roll 0.83 - - 3173 - 2.33 0.047 3104 588.4 198.6 - - 1987 - - - - - - - - 14.85 14.47 14.88
22901 110.3 6.9 1101 22933 done 0.95 0.17 0.110 3242 405.9 2.33 0.040 1728 -590.6 215.6 19.27 0.393 1915 -3.7 0.199 - - - - - - 14.47 14.51 14.23
23241 81.6 8.5 1117 23259 roll 0.95 - - 3253 - 2.50 0.063 337 -556.4 215.6 2.47 0.159 1918 1.2 -0.118 - - - - - - 14.83 14.43 14.28
23302 76.4 8.4 1125 23319 done 0.95 - - 3253 - 2.30 0.030 1741 610.4 215.6 2.50 0.160 1914 -1.6 0.145 - - - - - - 14.64 14.60 14.27
23644 58.0 5.2 1140 23706 roll 1.02 - - 3253 - 2.30 0.047 3114 597.0 266.0 49.12 0.278 1710 -4.2 0.165 - - - - - - 14.82 14.61 14.33
23742 53.6 5.2 1151 23800 done 1.17 0.15 0.117 3314 406.7 2.33 0.037 1723 -597.0 314.9 45.95 0.265 1508 -4.4 0.169 - - - - - - 14.50 14.53 14.26
24123 28.4 5.5 1172 24170 done 1.32 0.12 0.128 3370 466.7 - - 1723 - 359.0 37.40 0.196 1326 -4.9 0.134 - - - - - - 14.45 14.57 14.33
24461 4.2 7.6 1187 24479 roll 1.33 - - 3380 - 2.42 0.058 331 -575.2 363.6 5.18 0.135 1309 -3.3 0.019 - - - - - - 14.79 14.42 14.31
24495 end climb: SURFACE_DEPTH_REACHED
24495 begin surface coast
24502 end surface coast: CONTROL_FINISHED_OK
24502 begin surface
SM 1.11 - - - - -8.61 9.45 0.060 155 16.4 2.53 0.031 1816 -2736.8 515.13 90.53 0.122 689 7.6 -0.007 - - - - - -