SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 336 * Raw log
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• Previous call tries 2 • 128.11 of 350.00 AH used of 24V (63.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 28 s
• GPS2 time: 36 s • Transponder ping count: 4
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 done -0.84 - - 143 - - - 1769 - -116.8 -80.68 - 3270 - - - - - - - - 14.70 12.93 14.70
114 8.3 -12.4 3 132 roll -0.84 11.88 0.371 2659 211.8 2.33 0.047 418 -579.8 -116.8 - - 3275 - - - - - - - - 14.17 14.52 14.50
363 69.3 -10.3 39 369 done -0.53 0.43 0.260 2753 218.6 2.28 0.033 1800 606.1 -116.8 - - 3272 - - - - - - - - 14.14 14.50 14.40
699 96.5 -9.4 54 705 roll -0.53 - - 2745 - 2.40 0.050 3225 593.8 -116.8 - - 3273 - - - - - - - - 14.83 14.53 14.85
929 116.3 -7.0 87 935 done -0.53 - - 2744 - 2.30 0.035 1824 -609.1 -116.8 - - 3273 - - - - - - - - 14.65 14.58 14.67
1259 141.4 -7.8 99 1266 roll -0.53 - - 2745 - 2.38 0.057 430 -585.7 -116.8 - - 3273 - - - - - - - - 14.85 14.53 14.88
1342 149.0 -9.2 111 1348 done -0.53 - - 2737 - 2.30 0.031 1836 611.3 -116.8 - - 3272 - - - - - - - - 14.69 14.63 14.70
1707 184.3 -9.8 121 1714 roll -0.53 - - 2726 - 2.35 0.054 3227 591.9 -116.8 - - 3269 - - - - - - - - 14.88 14.54 14.88
1756 188.9 -9.6 128 1764 done -0.53 0.12 0.233 2753 225.0 2.33 0.036 1823 -602.6 -116.8 - - 3268 - - - - - - - - 14.31 14.58 14.52
2099 218.6 -8.6 135 2105 roll -0.53 - - 2753 - 2.40 0.057 435 -578.3 -116.8 - - 3266 - - - - - - - - 14.86 14.52 14.88
2203 228.3 -9.2 150 2211 done -0.53 - - 2746 - 2.33 0.032 1833 600.0 -116.8 - - 3265 - - - - - - - - 14.66 14.61 14.68
2548 257.9 -8.6 157 2561 roll -0.53 - - 2736 - 2.35 0.055 3224 591.9 -116.8 - - 3261 - - - - - - - - 14.91 14.57 14.94
2595 262.3 -9.1 163 2608 done -0.53 - - 2736 - 2.30 0.036 1832 -605.2 -116.8 - - 3261 - - - - - - - - 14.70 14.63 14.73
2952 295.4 -9.4 171 2965 roll -0.53 - - 2736 - 2.40 0.057 428 -585.0 -116.8 - - 3259 - - - - - - - - 14.93 14.59 14.95
3084 308.7 -10.0 189 3097 done -0.53 0.12 0.260 2753 141.7 2.30 0.031 1832 610.4 -116.8 - - 3258 - - - - - - - - 14.31 14.68 14.54
3412 335.6 -8.1 200 3425 roll -0.53 - - 2744 - 2.35 0.054 3220 590.6 -116.8 - - 3254 - - - - - - - - 14.95 14.58 15.00
3460 339.5 -8.2 206 3473 done -0.53 - - 2744 - 2.30 0.038 1828 -605.2 -116.8 - - 3255 - - - - - - - - 14.71 14.66 14.74
3816 368.3 -8.1 214 3830 roll -0.53 - - 2744 - 2.40 0.060 432 -581.7 -116.8 - - 3252 - - - - - - - - 14.97 14.57 15.02
3962 380.4 -8.1 234 3975 done -0.53 - - 2736 - 2.30 0.033 1830 607.8 -116.8 - - 3251 - - - - - - - - 14.74 14.69 14.76
4333 412.1 -8.8 244 4346 roll -0.53 - - 2725 - 2.38 0.057 3224 585.7 -116.8 - - 3250 - - - - - - - - 14.95 14.55 14.97
4401 418.4 -9.0 253 4415 done -0.53 0.15 0.230 2757 213.3 2.33 0.039 1826 -600.0 -116.8 - - 3249 - - - - - - - - 14.28 14.62 14.52
4738 444.2 -7.6 265 4751 roll -0.53 - - 2757 - 2.40 0.060 431 -581.2 -116.8 - - 3247 - - - - - - - - 14.93 14.54 14.95
4841 452.7 -8.1 279 4854 done -0.53 - - 2751 - 2.33 0.033 1835 602.6 -116.8 - - 3247 - - - - - - - - 14.71 14.65 14.73
5197 482.5 -8.6 287 5210 roll -0.53 - - 2740 - 2.38 0.056 3227 584.9 -116.8 - - 3246 - - - - - - - - 14.93 14.54 14.95
5238 486.2 -8.9 292 5251 done -0.53 - - 2740 - 2.33 0.037 1829 -600.0 -116.8 - - 3245 - - - - - - - - 14.69 14.62 14.71
5601 519.8 -9.3 301 5614 roll -0.53 - - 2740 - 2.42 0.059 428 -578.9 -116.8 - - 3242 - - - - - - - - 14.95 14.52 14.98
5721 531.6 -9.8 317 5735 done -0.53 - - 2731 - 2.33 0.033 1836 604.3 -116.8 - - 3242 - - - - - - - - 14.71 14.66 14.73
6064 563.6 -9.2 330 6077 roll -0.53 - - 2720 - 2.35 0.055 3214 586.4 -116.8 - - 3241 - - - - - - - - 14.92 14.54 14.95
6139 570.3 -8.8 340 6153 done -0.53 0.15 0.233 2753 220.0 2.33 0.039 1823 -597.0 -116.8 - - 3241 - - - - - - - - 14.23 14.58 14.47
6469 594.4 -7.3 351 6482 roll -0.53 - - 2753 - 2.42 0.060 428 -576.4 -116.8 - - 3240 - - - - - - - - 14.94 14.50 14.96
6587 603.8 -7.7 367 6600 done -0.53 - - 2747 - 2.33 0.034 1832 602.6 -116.8 - - 3239 - - - - - - - - 14.69 14.64 14.71
6930 629.0 -7.4 380 6943 roll -0.53 - - 2737 - 2.38 0.057 3216 581.5 -116.8 - - 3238 - - - - - - - - 14.91 14.50 14.93
6977 632.6 -7.6 386 6991 done -0.53 - - 2737 - 2.33 0.038 1825 -597.0 -116.8 - - 3238 - - - - - - - - 14.66 14.58 14.69
7335 659.3 -7.5 394 7348 roll -0.53 - - 2736 - 2.42 0.060 434 -574.8 -116.8 - - 3236 - - - - - - - - 14.93 14.47 14.95
7459 669.6 -8.2 411 7472 done -0.53 0.12 0.256 2752 133.3 2.33 0.034 1826 597.4 -116.8 - - 3233 - - - - - - - - 14.20 14.59 14.44
7795 692.9 -6.9 423 7809 roll -0.53 - - 2744 - 2.42 0.057 3235 582.2 -116.8 - - 3234 - - - - - - - - 14.92 14.46 14.95
7850 696.8 -7.1 430 7864 done -0.62 - - 2745 - 2.38 0.037 1824 -592.9 -116.8 - - 3234 - - - - - - - - 14.62 14.56 14.65
8194 721.5 -7.2 437 8207 roll -0.62 - - 2744 - 2.42 0.060 438 -572.7 -116.8 - - 3231 - - - - - - - - 14.90 14.44 14.92
8340 733.4 -8.2 457 8354 done -0.62 - - 2735 - 2.35 0.035 1838 595.7 -116.8 - - 3233 - - - - - - - - 14.63 14.57 14.66
8711 762.1 -7.8 467 8724 roll -0.62 - - 2725 - 2.40 0.057 3228 579.2 -116.8 - - 3234 - - - - - - - - 14.90 14.44 14.92
8774 766.8 -7.6 475 8787 done -0.62 - - 2725 - 2.35 0.037 1826 -596.6 -116.8 - - 3231 - - - - - - - - 14.62 14.54 14.65
9116 792.6 -7.5 488 9129 roll -0.62 - - 2725 - 2.45 0.061 431 -569.4 -116.8 - - 3230 - - - - - - - - 14.90 14.44 14.92
9228 801.3 -7.8 503 9242 done -0.62 - - 2715 - 2.38 0.034 1835 589.9 -116.8 - - 3229 - - - - - - - - 14.61 14.54 14.63
9570 827.6 -7.8 510 9584 roll -0.62 - - 2704 - 2.42 0.057 3227 575.2 -116.8 - - 3228 - - - - - - - - 14.89 14.40 14.91
9639 833.1 -7.9 519 9652 done -0.62 - - 2705 - 2.35 0.038 1832 -593.6 -116.8 - - 3228 - - - - - - - - 14.59 14.52 14.63
9975 859.9 -8.2 531 9988 roll -0.62 - - 2705 - 2.47 0.063 427 -568.8 -116.8 - - 3228 - - - - - - - - 14.88 14.40 14.90
10114 872.7 -9.1 550 10127 done -0.62 0.15 0.272 2725 133.3 2.38 0.035 1836 592.0 -116.8 - - 3228 - - - - - - - - 14.03 14.52 14.32
10436 898.3 -8.0 560 10449 roll -0.62 - - 2717 - 2.40 0.058 3220 576.7 -116.8 - - 3226 - - - - - - - - 14.88 14.38 14.90
10498 903.4 -8.1 568 10512 done -0.62 - - 2717 - 2.38 0.040 1824 -586.6 -116.8 - - 3227 - - - - - - - - 14.57 14.50 14.61
10840 931.5 -8.2 581 10854 roll -0.62 - - 2717 - 2.47 0.063 425 -566.4 -116.8 - - 3226 - - - - - - - - 14.88 14.38 14.90
10973 942.9 -8.5 599 10986 done -0.62 - - 2708 - 2.38 0.035 1833 591.6 -116.8 - - 3226 - - - - - - - - 14.57 14.51 14.59
11301 970.5 -8.5 610 11314 roll -0.62 - - 2697 - 2.42 0.060 3224 574.8 -116.8 - - 3225 - - - - - - - - 14.87 14.36 14.89
11384 977.8 -8.8 621 11398 done -0.62 0.12 0.257 2721 200.0 2.38 0.041 1830 -585.7 -116.8 - - 3225 - - - - - - - - 14.08 14.47 14.33
11536 end dive: TARGET_DEPTH_EXCEEDED
11536 begin apogee
11544 990.4 -8.0 628 11674 done -0.21 0.52 0.216 2860 267.3 - - 1707 - - 120.12 2.176 2792 -3.6 0.313 - - - - - - 14.08 13.96 13.07
11676 end apogee: CONTROL_FINISHED_OK
11676 begin climb
11681 995.8 - 630 11827 roll 0.84 1.12 0.147 3189 293.8 2.60 0.049 3129 546.9 116.8 125.95 2.131 2304 -3.9 0.345 - - - - - - 13.94 13.54 12.86
11884 986.1 6.9 662 11915 done 0.86 - - 3198 - 2.42 0.040 1753 -568.6 134.1 17.00 2.038 2241 -3.7 0.342 - - - - - - 14.09 14.03 13.04
12223 957.2 8.6 675 12236 roll 0.86 - - 3209 - 2.55 0.065 329 -558.4 134.1 - - 2228 - - - - - - - - 14.68 14.37 14.70
12286 951.4 9.6 683 12299 done 0.86 - - 3209 - 2.38 0.032 1743 594.1 134.1 - - 2229 - - - - - - - - 14.54 14.49 14.56
12628 920.3 9.0 696 12641 roll 0.86 - - 3209 - 2.35 0.051 3111 582.1 134.1 - - 2227 - - - - - - - - 14.78 14.47 14.80
12710 912.4 9.5 707 12724 done 0.76 0.17 0.273 3181 -164.7 2.35 0.041 1725 -589.8 134.1 - - 2226 - - - - - - - - 14.14 14.50 14.45
13033 887.1 7.8 717 13046 roll 0.76 - - 3194 - 2.50 0.066 332 -557.2 135.1 - - 2226 - - - - - - - - 14.83 14.44 14.85
13095 881.8 8.7 725 13109 done 0.76 - - 3190 - 2.33 0.032 1731 600.4 135.1 - - 2224 - - - - - - - - 14.63 14.57 14.65
13438 854.0 8.1 738 13452 roll 0.76 - - 3189 - 2.38 0.050 3120 583.6 135.1 - - 2226 - - - - - - - - 14.83 14.48 14.85
13521 846.7 8.6 749 13534 done 0.76 - - 3197 - 2.35 0.040 1731 -591.1 135.1 - - 2225 - - - - - - - - 14.59 14.51 14.63
13842 819.2 8.6 759 13855 roll 0.76 - - 3208 - 2.50 0.066 324 -562.8 135.1 - - 2225 - - - - - - - - 14.87 14.42 14.89
13905 813.4 9.6 767 13918 done 0.76 0.15 0.251 3177 -206.7 2.35 0.033 1745 604.7 135.1 - - 2225 - - - - - - - - 14.14 14.56 14.44
14247 785.8 7.9 780 14260 roll 0.76 - - 3178 - 2.35 0.051 3110 580.9 135.1 - - 2226 - - - - - - - - 14.85 14.45 14.87
14337 777.8 9.4 792 14351 done 0.76 - - 3181 - 2.35 0.041 1732 -586.4 135.1 - - 2225 - - - - - - - - 14.57 14.49 14.62
14707 747.6 8.2 802 14721 roll 0.76 - - 3195 - 2.50 0.067 329 -561.2 135.1 - - 2225 - - - - - - - - 14.85 14.38 14.87
14798 739.9 8.6 814 14811 done 0.76 - - 3194 - 2.33 0.032 1729 600.9 135.1 - - 2225 - - - - - - - - 14.62 14.57 14.65
15168 711.1 7.6 824 15181 roll 0.77 - - 3195 - 2.38 0.049 3110 580.3 139.3 - - 2225 - - - - - - - - 14.87 14.41 14.89
15243 705.1 8.1 834 15256 done 0.77 - - 3203 - 2.35 0.040 1728 -588.1 139.3 - - 2226 - - - - - - - - 14.55 14.47 14.58
15572 679.9 7.7 845 15586 roll 0.77 - - 3214 - 2.50 0.065 323 -562.0 141.3 - - 2225 - - - - - - - - 14.84 14.36 14.86
15648 673.3 8.8 855 15661 done 0.77 0.15 0.248 3183 -206.7 2.35 0.031 1743 604.3 141.3 - - 2225 - - - - - - - - 14.08 14.54 14.33
15977 648.3 7.7 866 15994 roll 0.77 - - 3183 - 2.35 0.051 3098 576.6 144.3 2.70 0.770 2203 -8.1 1.309 - - - - - - 14.87 14.55 13.29
16049 642.3 8.3 876 16062 done 0.77 - - 3189 - 2.33 0.041 1725 -589.3 144.3 - - 2204 - - - - - - - - 14.61 14.52 14.63
16377 615.0 8.4 887 16390 roll 0.77 - - 3200 - 2.47 0.066 332 -564.0 144.3 - - 2204 - - - - - - - - 14.84 14.38 14.88
16466 607.0 9.1 899 16479 done 0.77 - - 3200 - 2.33 0.032 1728 599.1 144.3 - - 2205 - - - - - - - - 14.60 14.54 14.62
16836 573.9 9.1 909 16850 roll 0.77 - - 3200 - 2.38 0.049 3113 581.9 144.3 - - 2205 - - - - - - - - 14.83 14.40 14.87
16921 566.0 9.4 920 16934 done 0.77 0.15 0.269 3178 -146.7 2.35 0.040 1723 -591.5 144.3 - - 2207 - - - - - - - - 14.05 14.47 14.34
17242 540.3 7.8 930 17255 done 0.77 - - 3179 - - - 1723 - 145.0 - - 2206 - - - - - - - - 14.85 14.87 14.85
17578 515.8 7.3 936 17610 roll 0.79 - - 3188 - 2.53 0.067 323 -553.4 156.2 19.58 1.585 2151 -2.8 0.174 - - - - - - 14.84 14.57 13.79
17632 511.9 7.3 943 17649 done 0.80 - - 3188 - 2.35 0.031 1731 599.1 167.2 5.75 1.395 2110 -7.1 0.499 - - - - - - 14.59 14.54 13.52
17964 485.2 8.1 955 17977 roll 0.80 - - 3188 - 2.38 0.049 3114 581.1 167.2 - - 2114 - - - - - - - - 14.79 14.40 14.81
18062 476.8 8.5 968 18075 done 0.80 - - 3197 - 2.38 0.039 1726 -583.2 167.2 - - 2114 - - - - - - - - 14.56 14.45 14.56
18425 445.4 8.8 977 18438 roll 0.80 - - 3207 - 2.50 0.065 323 -561.2 167.2 - - 2114 - - - - - - - - 14.83 14.35 14.85
18536 434.4 10.1 992 18550 done 0.80 - - 3208 - 2.38 0.031 1738 594.5 167.2 - - 2114 - - - - - - - - 14.57 14.52 14.59
18879 401.4 9.5 999 18892 done 0.80 - - 3208 - - - 1739 - 167.2 - - 2114 - - - - - - - - 14.85 14.88 14.87
19216 370.0 9.3 1005 19229 roll 0.80 - - 3208 - 2.35 0.049 3111 583.8 167.2 - - 2114 - - - - - - - - 14.86 14.40 14.88
19257 366.1 9.3 1010 19270 done 0.80 - - 3217 - 2.35 0.040 1727 -588.9 167.2 - - 2114 - - - - - - - - 14.55 14.46 14.58
19621 332.4 9.2 1019 19634 roll 0.80 - - 3228 - 2.47 0.065 331 -565.2 167.2 - - 2114 - - - - - - - - 14.84 14.36 14.85
19710 323.6 9.8 1031 19723 done 0.80 0.17 0.238 3189 -229.4 2.33 0.031 1740 604.7 167.2 - - 2114 - - - - - - - - 14.07 14.53 14.33
20081 296.7 7.0 1041 20118 roll 0.82 - - 3190 - 2.30 0.047 3101 591.7 182.4 23.95 1.313 2044 -2.9 0.126 - - - - - - 14.83 14.41 13.89
20198 288.1 7.7 1057 20211 done 0.82 - - 3195 - 2.35 0.041 1725 -585.5 185.6 - - 2037 - - - - - - - - 14.53 14.45 14.56
20540 260.7 8.1 1070 20554 roll 0.82 - - 3206 - 2.50 0.065 325 -560.0 185.6 - - 2038 - - - - - - - - 14.78 14.35 14.81
20616 253.6 9.6 1080 20629 done 0.82 - - 3206 - 2.33 0.031 1726 601.3 185.6 - - 2037 - - - - - - - - 14.59 14.54 14.60
20945 223.7 9.0 1091 20958 roll 0.82 - - 3206 - 2.35 0.047 3109 588.5 185.6 - - 2037 - - - - - - - - 14.81 14.42 14.83
21020 216.8 9.0 1101 21033 done 0.82 - - 3215 - 2.35 0.039 1722 -590.2 185.6 - - 2037 - - - - - - - - 14.54 14.46 14.57
21348 187.5 8.9 1112 21361 roll 0.82 - - 3226 - 2.47 0.064 326 -565.2 185.6 - - 2037 - - - - - - - - 14.85 14.35 14.88
21424 180.2 9.8 1122 21438 done 0.82 0.12 0.238 3200 -216.7 2.35 0.030 1749 605.5 185.6 - - 2037 - - - - - - - - 14.15 14.54 14.38
21753 152.5 8.4 1133 21766 roll 0.82 - - 3200 - 2.30 0.047 3099 587.0 185.6 - - 2037 - - - - - - - - 14.83 14.43 14.85
21816 147.0 9.0 1141 21829 done 0.82 - - 3206 - 2.33 0.039 1730 -587.6 185.6 - - 2037 - - - - - - - - 14.55 14.45 14.58
22158 117.2 8.6 1154 22171 roll 0.82 - - 3206 - 2.35 0.047 3102 583.8 185.6 - - 2037 - - - - - - - - 14.86 14.42 14.88
22178 115.6 8.2 1156 22191 done 0.82 - - 3215 - 2.33 0.039 1729 -589.3 185.6 - - 2037 - - - - - - - - 14.56 14.47 14.59
22507 88.0 8.0 1169 22520 roll 0.82 - - 3225 - 2.47 0.063 329 -566.8 185.6 - - 2037 - - - - - - - - 14.83 14.37 14.85
22612 79.7 7.7 1183 22630 done 0.83 - - 3226 - 2.30 0.030 1725 607.0 189.0 2.75 0.154 2020 -6.2 0.610 - - - - - - 14.60 14.54 14.21
22935 59.6 6.0 1196 22980 roll 0.87 - - 3226 - 2.40 0.045 3115 579.2 223.4 33.15 0.278 1884 -4.1 0.168 - - - - - - 14.83 14.61 14.30
23092 51.6 4.5 1218 23165 done 0.95 - - 3233 - 2.35 0.037 1724 -591.9 286.3 58.38 0.261 1625 -4.4 0.167 - - - - - - 14.56 14.49 14.24
23494 31.0 5.0 1242 23554 roll 1.29 0.30 0.080 3357 413.3 2.35 0.041 3107 588.5 339.5 44.92 0.201 1411 -4.8 0.140 - - - - - - 14.46 14.42 14.28
23606 22.8 8.3 1257 23621 done 1.29 - - 3366 - 2.33 0.039 1732 -590.1 339.5 1.73 0.158 1410 - - - - - - - - 14.54 14.47 14.32
23918 3.5 6.1 1269 23951 VBD 1.33 - - 3366 - - - 1732 - 372.5 22.92 0.126 1274 -5.9 0.031 - - - - - - 14.81 - 14.85
23951 end climb: SURFACE_DEPTH_REACHED
23951 begin surface coast
23971 end surface coast: CONTROL_FINISHED_OK
23971 begin surface
SM 1.05 - - - - -8.60 9.55 0.070 164 17.2 0.10 0.112 1851 -68870.0 515.38 84.60 0.123 693 8.2 -0.007 - - - - - -