SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 315 * Raw log
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• Previous call tries 1 • 120.46 of 350.00 AH used of 24V (65.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth 1.13 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 15 s • Transponder ping count: 3
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 160 - - - 1753 - -116.8 -80.50 - 3271 - - - - - - - - 14.67 12.99 14.70
113 8.1 -12.2 3 128 done -0.84 12.15 0.383 2654 205.3 - - 1746 - -116.8 - - 3272 - - - - - - - - 14.16 14.56 14.50
418 77.4 -11.7 14 425 roll -0.54 0.35 0.255 2737 237.1 2.45 0.047 3198 592.7 -116.8 - - 3275 - - - - - - - - 14.17 14.46 14.33
626 94.9 -9.0 44 634 done -0.54 - - 2736 - 2.25 0.036 1828 -608.9 -116.8 - - 3275 - - - - - - - - 14.63 14.57 14.65
979 124.0 -8.6 53 981 done -0.54 - - 2735 - - - 1828 - -116.8 - - 3275 - - - - - - - - 14.84 14.86 14.86
1313 156.7 -9.8 59 1320 roll -0.54 - - 2736 - 2.40 0.057 427 -583.8 -116.8 - - 3273 - - - - - - - - 14.85 14.55 14.88
1390 164.4 -10.0 70 1396 done -0.54 - - 2727 - 2.25 0.031 1812 615.6 -116.8 - - 3273 - - - - - - - - 14.68 14.63 14.70
1706 196.0 -10.1 80 1713 roll -0.54 - - 2716 - 2.38 0.054 3216 589.9 -116.8 - - 3270 - - - - - - - - 14.87 14.54 14.89
1754 201.0 -10.2 87 1762 done -0.54 0.15 0.235 2749 220.0 2.33 0.037 1824 -597.4 -116.8 - - 3270 - - - - - - - - 14.29 14.59 14.52
2098 230.3 -8.4 94 2104 roll -0.54 - - 2749 - 2.40 0.057 429 -581.2 -116.8 - - 3267 - - - - - - - - 14.85 14.53 14.88
2210 240.3 -8.9 110 2216 done -0.54 - - 2742 - 2.30 0.031 1830 609.1 -116.8 - - 3269 - - - - - - - - 14.67 14.61 14.69
2546 271.2 -9.4 123 2559 roll -0.54 - - 2732 - 2.35 0.054 3222 592.3 -116.8 - - 3263 - - - - - - - - 14.93 14.59 14.95
2600 276.6 -9.9 130 2614 done -0.54 - - 2732 - 2.33 0.037 1828 -598.3 -116.8 - - 3262 - - - - - - - - 14.71 14.64 14.73
2945 311.5 -10.2 137 2958 roll -0.54 - - 2735 - 2.40 0.058 432 -581.7 -116.8 - - 3256 - - - - - - - - 14.92 14.58 14.95
3090 326.9 -10.4 157 3103 done -0.54 0.12 0.261 2750 125.0 2.30 0.033 1830 607.8 -116.8 - - 3259 - - - - - - - - 14.31 14.69 14.56
3461 358.5 -8.4 167 3474 roll -0.54 - - 2741 - 2.35 0.054 3218 590.6 -116.8 - - 3256 - - - - - - - - 14.94 14.59 14.96
3501 361.9 -8.1 172 3515 done -0.54 - - 2741 - 2.30 0.037 1830 -603.5 -116.8 - - 3256 - - - - - - - - 14.73 14.65 14.75
3865 391.0 -8.0 181 3878 roll -0.54 - - 2741 - 2.40 0.058 432 -582.5 -116.8 - - 3254 - - - - - - - - 14.96 14.57 14.98
4004 402.9 -8.8 200 4017 done -0.54 - - 2732 - 2.30 0.033 1830 607.8 -116.8 - - 3253 - - - - - - - - 14.74 14.67 14.76
4325 430.4 -8.6 210 4338 roll -0.54 - - 2721 - 2.35 0.055 3214 588.9 -116.8 - - 3250 - - - - - - - - 14.94 14.58 14.96
4415 438.2 -8.7 222 4428 done -0.54 0.15 0.236 2753 213.3 2.33 0.038 1827 -595.3 -116.8 - - 3250 - - - - - - - - 14.28 14.63 14.53
4785 465.2 -7.2 232 4798 roll -0.54 - - 2754 - 2.42 0.060 427 -578.5 -116.8 - - 3248 - - - - - - - - 14.94 14.54 14.97
4895 473.9 -7.7 247 4909 done -0.54 - - 2747 - 2.35 0.033 1840 601.3 -116.8 - - 3248 - - - - - - - - 14.71 14.66 14.71
5240 501.5 -8.2 254 5254 roll -0.54 - - 2736 - 2.35 0.055 3218 586.4 -116.8 - - 3246 - - - - - - - - 14.95 14.57 14.97
5372 513.1 -8.8 272 5385 done -0.54 - - 2736 - 2.30 0.038 1831 -603.0 -116.8 - - 3246 - - - - - - - - 14.70 14.62 14.73
5700 542.1 -8.8 283 5714 roll -0.54 - - 2742 - 2.42 0.060 433 -577.7 -116.8 - - 3244 - - - - - - - - 14.92 14.54 14.93
5846 556.1 -9.5 303 5860 done -0.54 - - 2727 - 2.33 0.034 1835 601.7 -116.8 - - 3243 - - - - - - - - 14.70 14.67 14.72
6217 588.4 -8.7 313 6231 roll -0.54 - - 2717 - 2.35 0.056 3216 587.7 -116.8 - - 3242 - - - - - - - - 14.92 14.54 14.94
6265 592.7 -8.6 319 6278 done -0.54 0.15 0.240 2749 213.3 2.33 0.038 1823 -597.9 -116.8 - - 3241 - - - - - - - - 14.24 14.60 14.50
6621 618.5 -7.1 327 6634 roll -0.54 - - 2749 - 2.42 0.060 432 -574.8 -116.8 - - 3241 - - - - - - - - 14.94 14.50 14.96
6746 627.9 -7.5 344 6759 done -0.54 - - 2743 - 2.33 0.034 1831 600.4 -116.8 - - 3240 - - - - - - - - 14.70 14.64 14.71
7081 652.6 -7.4 356 7094 done -0.54 - - 2742 - - - 1831 - -116.8 - - 3239 - - - - - - - - 14.92 14.94 14.94
7419 678.4 -7.8 362 7432 done -0.54 - - 2743 - - - 1831 - -116.8 - - 3237 - - - - - - - - 14.90 14.93 14.93
7753 705.9 -8.3 368 7766 done -0.54 - - 2742 - - - 1831 - -116.8 - - 3235 - - - - - - - - 14.92 14.94 14.94
8090 736.0 -9.0 374 8103 roll -0.54 - - 2743 - 2.47 0.063 431 -566.8 -116.8 - - 3234 - - - - - - - - 14.91 14.46 14.93
8138 740.7 -10.1 380 8151 done -0.54 - - 2733 - 2.35 0.037 1832 596.2 -116.8 - - 3235 - - - - - - - - 14.67 14.61 14.69
8494 772.5 -8.8 388 8507 roll -0.54 - - 2723 - 2.40 0.059 3222 579.2 -116.8 - - 3233 - - - - - - - - 14.92 14.47 14.95
8576 779.5 -8.4 399 8590 done -0.54 0.12 0.248 2748 208.3 2.35 0.040 1829 -592.8 -116.8 - - 3233 - - - - - - - - 14.19 14.54 14.43
8898 802.5 -7.0 409 8913 roll -0.54 - - 2749 - 2.47 0.063 429 -566.8 -116.8 - - 3232 - - - - - - - - 14.90 14.35 14.94
9003 810.2 -7.2 423 9017 done -0.54 - - 2743 - 2.35 0.035 1831 596.6 -116.8 - - 3232 - - - - - - - - 14.62 14.56 14.65
9360 834.0 -6.7 431 9374 roll -0.54 - - 2731 - 2.40 0.059 3222 579.6 -116.8 - - 3230 - - - - - - - - 14.91 14.42 14.93
9408 837.2 -6.5 437 9422 done -0.54 - - 2732 - 2.35 0.041 1827 -593.6 -116.8 - - 3230 - - - - - - - - 14.60 14.54 14.63
9767 860.3 -6.6 445 9780 roll -0.54 - - 2732 - 2.45 0.063 434 -568.6 -116.8 - - 3230 - - - - - - - - 14.88 14.42 14.90
9886 869.1 -7.3 461 9900 done -0.54 0.12 0.263 2748 133.3 2.35 0.037 1831 594.5 -116.8 - - 3229 - - - - - - - - 14.13 14.54 14.38
10229 889.9 -6.0 474 10242 roll -0.54 - - 2740 - 2.42 0.059 3227 576.9 -116.8 - - 3229 - - - - - - - - 14.88 14.42 14.90
10313 895.0 -6.1 485 10326 done -0.65 - - 2740 - 2.38 0.039 1831 -586.6 -116.8 - - 3229 - - - - - - - - 14.59 14.50 14.61
10634 915.8 -6.5 495 10647 roll -0.65 - - 2740 - 2.47 0.063 430 -567.2 -116.8 - - 3228 - - - - - - - - 14.90 14.39 14.92
10746 923.8 -7.2 510 10760 done -0.65 - - 2730 - 2.38 0.035 1838 591.6 -116.8 - - 3228 - - - - - - - - 14.58 14.52 14.61
11088 948.3 -7.2 517 11102 roll -0.65 - - 2720 - 2.40 0.059 3212 572.5 -116.8 - - 3227 - - - - - - - - 14.90 14.31 14.92
11164 954.0 -7.4 527 11177 done -0.65 - - 2720 - 2.35 0.041 1825 -590.2 -116.8 - - 3227 - - - - - - - - 14.56 14.48 14.59
11493 979.6 -7.9 538 11506 roll -0.65 - - 2720 - 2.47 0.063 427 -566.0 -116.8 - - 3227 - - - - - - - - 14.86 14.38 14.88
11582 987.6 -8.7 550 11596 done -0.65 - - 2711 - 2.38 0.036 1826 587.8 -116.8 - - 3226 - - - - - - - - 14.58 14.52 14.61
11613 end dive: TARGET_DEPTH_EXCEEDED
11613 begin apogee
11622 990.4 -7.5 554 11752 done -0.21 0.57 0.233 2857 256.1 - - 1706 - - 120.12 2.175 2793 -3.6 0.313 - - - - - - 14.14 13.96 13.10
11754 end apogee: CONTROL_FINISHED_OK
11755 begin climb
11758 995.9 - 556 11904 roll 0.84 1.15 0.151 3201 299.1 2.55 0.064 352 -531.0 116.8 125.72 2.132 2306 -3.9 0.345 - - - - - - 13.93 13.54 12.86
11924 989.2 9.7 583 11938 done 0.73 0.15 0.247 3172 -193.3 2.42 0.031 1749 577.3 116.8 - - 2300 - - - - - - - - 13.68 13.90 13.90
12246 967.0 6.8 593 12277 roll 0.76 - - 3172 - 2.42 0.052 3105 560.3 136.5 19.15 2.055 2229 -3.7 0.333 - - - - - - 14.62 14.34 13.48
12347 959.8 7.3 607 12365 done 0.77 - - 3179 - 2.33 0.041 1752 -580.7 146.5 3.80 1.312 2193 -9.5 1.322 - - - - - - 14.46 14.39 13.31
12697 933.3 7.7 615 12714 roll 0.77 - - 3189 - 2.53 0.067 326 -563.6 150.1 3.10 1.053 2180 -4.2 0.709 - - - - - - 14.75 14.53 13.38
12776 926.6 8.6 626 12789 done 0.77 - - 3189 - 2.35 0.032 1724 594.9 150.1 - - 2183 - - - - - - - - 14.61 14.56 14.62
13097 899.5 8.5 636 13110 roll 0.77 - - 3189 - 2.38 0.050 3117 585.3 150.1 - - 2184 - - - - - - - - 14.80 14.50 14.85
13180 892.1 8.9 647 13194 done 0.77 - - 3198 - 2.35 0.041 1729 -590.6 150.1 - - 2184 - - - - - - - - 14.61 14.52 14.64
13501 862.8 9.4 657 13515 roll 0.77 - - 3209 - 2.47 0.067 330 -566.4 150.1 - - 2184 - - - - - - - - 14.85 14.39 14.86
13564 856.8 9.8 665 13578 done 0.68 0.25 0.236 3152 -228.0 2.33 0.032 1741 605.6 150.1 - - 2184 - - - - - - - - 14.17 14.58 14.45
13908 831.5 7.1 678 13944 roll 0.70 - - 3152 - 2.33 0.054 3099 582.8 163.4 23.05 1.904 2122 -2.7 0.224 - - - - - - 14.83 14.53 13.77
14024 822.5 8.0 694 14037 done 0.70 - - 3158 - 2.35 0.042 1720 -586.8 163.4 - - 2116 - - - - - - - - 14.52 14.45 14.56
14367 795.0 8.0 707 14380 roll 0.70 - - 3169 - 2.50 0.067 328 -556.8 163.4 - - 2116 - - - - - - - - 14.76 14.42 14.79
14456 787.2 8.6 719 14469 done 0.70 - - 3169 - 2.33 0.033 1722 598.3 163.4 - - 2116 - - - - - - - - 14.60 14.54 14.64
14827 756.4 8.2 729 14840 roll 0.70 - - 3169 - 2.38 0.050 3109 582.8 163.4 - - 2116 - - - - - - - - 14.81 14.45 14.83
14909 749.4 8.4 740 14922 done 0.70 - - 3177 - 2.38 0.042 1722 -582.8 163.4 - - 2116 - - - - - - - - 14.59 14.51 14.63
15230 723.5 8.0 750 15244 roll 0.70 - - 3188 - 2.47 0.067 330 -563.6 163.4 - - 2116 - - - - - - - - 14.83 14.42 14.85
15293 718.4 8.5 758 15307 done 0.70 0.15 0.243 3157 -206.7 2.35 0.032 1745 602.1 163.4 - - 2116 - - - - - - - - 14.21 14.57 14.45
15636 694.7 6.8 771 15673 roll 0.72 - - 3157 - 2.35 0.052 3095 574.5 183.0 22.55 1.835 2036 -3.5 0.256 - - - - - - 14.86 14.53 13.76
15736 687.2 8.0 785 15749 done 0.72 - - 3163 - 2.35 0.042 1727 -582.1 183.0 - - 2030 - - - - - - - - 14.52 14.45 14.55
16092 660.0 7.8 793 16105 roll 0.72 - - 3174 - 2.50 0.068 332 -558.0 183.9 - - 2029 - - - - - - - - 14.78 14.38 14.80
16174 652.9 8.8 804 16188 done 0.72 - - 3174 - 2.35 0.033 1728 594.0 183.9 - - 2029 - - - - - - - - 14.58 14.52 14.61
16496 624.3 9.0 814 16509 roll 0.72 - - 3173 - 2.38 0.050 3115 582.8 183.9 - - 2030 - - - - - - - - 14.81 14.44 14.82
16578 616.5 9.4 825 16591 done 0.72 - - 3182 - 2.38 0.041 1719 -586.6 183.9 - - 2028 - - - - - - - - 14.56 14.47 14.60
16900 587.1 9.2 835 16913 roll 0.72 - - 3193 - 2.50 0.067 334 -554.0 183.9 - - 2028 - - - - - - - - 14.84 14.38 14.85
16983 579.1 9.6 846 16996 done 0.72 - - 3193 - 2.35 0.031 1741 598.7 183.9 - - 2028 - - - - - - - - 14.60 14.54 14.63
17305 550.1 8.9 856 17319 roll 0.72 0.12 0.262 3164 -241.7 2.35 0.049 3111 583.0 183.9 - - 2028 - - - - - - - - 14.14 14.36 14.26
17388 543.2 8.0 867 17401 done 0.72 - - 3170 - 2.35 0.041 1733 -586.4 183.9 - - 2027 - - - - - - - - 14.56 14.47 14.60
17709 518.0 7.9 877 17722 roll 0.72 - - 3181 - 2.53 0.067 324 -556.9 183.9 - - 2028 - - - - - - - - 14.86 14.37 14.87
17785 511.4 8.8 887 17798 done 0.72 - - 3181 - 2.35 0.032 1729 597.9 183.9 - - 2028 - - - - - - - - 14.60 14.54 14.62
18113 483.4 8.5 898 18126 roll 0.72 - - 3181 - 2.38 0.049 3113 581.5 183.9 - - 2028 - - - - - - - - 14.83 14.44 14.85
18189 476.7 8.7 908 18202 done 0.72 - - 3190 - 2.38 0.041 1722 -584.5 183.9 - - 2028 - - - - - - - - 14.55 14.45 14.59
18517 449.5 8.3 919 18530 roll 0.72 - - 3200 - 2.50 0.067 324 -559.2 183.9 - - 2028 - - - - - - - - 14.87 14.34 14.88
18592 442.9 8.8 929 18607 done 0.72 0.15 0.235 3168 -213.3 2.35 0.031 1743 603.8 183.9 - - 2028 - - - - - - - - 14.13 14.54 14.41
18923 418.5 7.4 940 18940 roll 0.73 - - 3168 - 2.35 0.050 3104 579.1 192.1 2.83 0.750 2007 -7.4 0.790 - - - - - - 14.83 14.61 13.56
18974 414.2 8.0 947 18988 done 0.73 - - 3174 - 2.35 0.042 1727 -586.0 192.1 - - 2011 - - - - - - - - 14.62 14.53 14.64
19319 387.6 7.7 954 19337 roll 0.74 - - 3185 - 2.45 0.067 330 -570.2 194.4 2.83 0.733 2000 -3.9 0.392 - - - - - - 14.85 14.59 13.61
19406 380.5 8.0 965 19419 done 0.74 - - 3185 - 2.33 0.031 1729 600.4 194.4 - - 2004 - - - - - - - - 14.65 14.60 14.67
19728 356.2 7.5 975 19750 roll 0.74 - - 3185 - 2.40 0.048 3117 578.3 200.2 6.20 1.310 1978 -4.2 0.218 - - - - - - 14.83 14.69 13.83
19812 349.3 8.0 987 19825 done 0.74 - - 3193 - 2.35 0.039 1724 -592.8 200.2 - - 1983 - - - - - - - - 14.62 14.54 14.64
20182 318.7 8.5 997 20195 roll 0.74 - - 3204 - 2.47 0.066 329 -564.8 200.2 - - 1983 - - - - - - - - 14.83 14.42 14.85
20265 310.8 9.6 1008 20279 done 0.74 0.15 0.232 3171 -220.0 2.33 0.031 1737 604.3 200.2 - - 1983 - - - - - - - - 14.21 14.59 14.45
20587 285.3 7.9 1018 20600 roll 0.74 - - 3170 - 2.33 0.049 3106 587.6 200.2 - - 1983 - - - - - - - - 14.85 14.47 14.86
20650 280.3 8.2 1026 20663 done 0.74 - - 3177 - 2.33 0.040 1730 -590.6 200.2 - - 1983 - - - - - - - - 14.58 14.50 14.62
20992 253.4 7.8 1039 21009 roll 0.74 - - 3187 - 2.47 0.066 336 -564.4 201.5 2.88 0.693 1972 -3.8 0.266 - - - - - - 14.86 14.59 13.66
21086 245.5 8.6 1052 21099 done 0.74 - - 3187 - 2.30 0.031 1724 603.5 201.5 - - 1977 - - - - - - - - 14.66 14.61 14.68
21449 215.3 8.2 1061 21467 roll 0.74 - - 3187 - 2.40 0.047 3120 581.7 201.5 2.45 0.500 1970 -2.9 0.235 - - - - - - 14.87 14.58 13.68
21515 209.8 8.2 1070 21528 done 0.74 - - 3196 - 2.35 0.040 1725 -593.6 201.5 - - 1975 - - - - - - - - 14.63 14.55 14.66
21851 182.7 8.2 1082 21864 roll 0.74 - - 3206 - 2.45 0.064 329 -569.8 201.5 - - 1976 - - - - - - - - 14.85 14.37 14.86
21898 178.3 9.4 1088 21911 done 0.74 0.15 0.226 3172 -226.7 2.30 0.031 1733 610.4 201.5 - - 1977 - - - - - - - - 14.23 14.61 14.47
22256 151.1 7.5 1096 22277 roll 0.84 - - 3172 - 2.35 0.048 3104 583.4 207.5 7.03 1.122 1949 -4.0 0.102 - - - - - - 14.87 14.67 13.95
22326 145.5 7.9 1106 22339 done 0.93 0.17 0.111 3241 405.9 2.33 0.040 1721 -593.6 207.5 - - 1951 - - - - - - - - 14.52 14.56 14.62
22656 111.9 10.4 1117 22669 roll 0.93 - - 3248 - 2.45 0.063 327 -569.0 207.5 - - 1950 - - - - - - - - 14.84 14.44 14.85
22710 105.6 11.7 1124 22724 done 0.93 - - 3252 - 2.33 0.031 1728 601.3 207.5 - - 1952 - - - - - - - - 14.64 14.59 14.66
23026 76.0 8.6 1135 23039 roll 0.93 - - 3251 - 2.35 0.045 3119 591.9 207.5 - - 1952 - - - - - - - - 14.84 14.44 14.86
23061 72.9 9.0 1139 23074 done 0.93 - - 3260 - 2.33 0.037 1729 -596.6 207.5 - - 1952 - - - - - - - - 14.56 14.48 14.58
23403 57.5 3.2 1154 23496 roll 1.04 - - 3271 - 2.47 0.064 321 -570.0 293.5 78.68 0.280 1596 -4.5 0.177 - - - - - - 14.87 14.54 14.31
23643 47.3 5.1 1188 23702 done 1.23 0.17 0.108 3337 388.2 2.35 0.029 1752 608.9 344.7 47.05 0.246 1387 -4.4 0.163 - - - - - - 14.47 14.57 14.28
24025 20.7 5.7 1209 24070 roll 1.28 - - 3337 - 2.33 0.042 3104 580.3 385.5 33.35 0.174 1220 -5.0 0.114 - - - - - - 14.79 14.53 14.30
24149 12.8 7.1 1226 24173 done 1.39 - - 3344 - 2.30 0.039 1730 -597.4 400.4 12.43 0.153 1160 -4.8 0.077 - - - - - - 14.59 14.50 14.31
24303 end climb: SURFACE_DEPTH_REACHED
24303 begin surface coast
24331 end surface coast: CONTROL_FINISHED_OK
24335 begin surface
SM 1.13 - - - - -8.59 9.38 0.064 163 17.4 0.08 0.138 1831 -94387.5 515.13 68.47 0.122 695 10.2 -0.010 - - - - - -