SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 359 * Raw log
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• Previous call tries 2 • 136.39 of 350.00 AH used of 24V (61.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.08 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 20 s • Transponder ping count: 5
• 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
30 - - - 116 done -0.84 - - 146 - - - 1829 - -116.8 -81.68 - 3271 - - - - - - - - 14.69 12.83 14.71
120 7.4 -10.9 3 138 roll -0.84 12.18 0.383 2657 206.2 2.42 0.042 412 -585.5 -116.8 - - 3272 - - - - - - - - 14.12 14.50 14.47
301 56.9 -16.3 29 309 done -0.49 0.47 0.257 2765 229.8 2.30 0.033 1809 607.4 -116.8 - - 3273 - - - - - - - - 14.14 14.54 14.42
624 83.2 -7.0 42 630 roll -0.49 - - 2766 - 2.40 0.054 417 -580.0 -116.8 - - 3274 - - - - - - - - 14.81 14.50 14.83
652 85.3 -7.5 46 659 done -0.49 - - 2759 - 2.33 0.032 1834 608.2 -116.8 - - 3274 - - - - - - - - 14.59 14.54 14.62
1016 114.5 -8.6 59 1022 roll -0.49 - - 2748 - 2.33 0.052 3217 593.6 -116.8 - - 3275 - - - - - - - - 14.85 14.52 14.88
1177 127.9 -8.1 82 1184 done -0.49 - - 2748 - 2.33 0.037 1824 -597.9 -116.8 - - 3273 - - - - - - - - 14.64 14.57 14.66
1520 157.4 -8.6 89 1527 roll -0.49 - - 2748 - 2.40 0.057 426 -582.5 -116.8 - - 3272 - - - - - - - - 14.87 14.52 14.88
1610 166.1 -9.3 102 1617 done -0.49 0.12 0.251 2764 133.3 2.30 0.031 1827 609.1 -116.8 - - 3273 - - - - - - - - 14.28 14.61 14.51
1969 194.7 -7.9 111 1975 roll -0.49 - - 2756 - 2.38 0.054 3228 588.7 -116.8 - - 3268 - - - - - - - - 14.85 14.53 14.88
2044 200.8 -7.8 122 2051 done -0.49 - - 2757 - 2.33 0.036 1827 -601.3 -116.8 - - 3268 - - - - - - - - 14.64 14.57 14.66
2361 226.0 -8.0 132 2367 roll -0.49 - - 2757 - 2.42 0.058 424 -579.8 -116.8 - - 3265 - - - - - - - - 14.88 14.50 14.89
2473 235.7 -8.5 148 2479 done -0.49 - - 2748 - 2.33 0.032 1836 606.0 -116.8 - - 3264 - - - - - - - - 14.66 14.60 14.68
2808 264.9 -8.8 161 2822 roll -0.49 - - 2737 - 2.35 0.054 3225 591.1 -116.8 - - 3261 - - - - - - - - 14.91 14.57 14.93
2857 269.2 -9.1 167 2870 done -0.49 0.12 0.233 2763 216.7 2.33 0.038 1824 -601.3 -116.8 - - 3261 - - - - - - - - 14.33 14.62 14.55
3213 297.4 -7.8 175 3227 roll -0.49 - - 2763 - 2.38 0.060 435 -583.6 -116.8 - - 3256 - - - - - - - - 14.95 14.50 15.00
3352 308.8 -8.1 194 3365 done -0.49 - - 2757 - 2.30 0.034 1831 607.0 -116.8 - - 3258 - - - - - - - - 14.73 14.67 14.76
3674 334.1 -7.9 204 3687 roll -0.49 - - 2747 - 2.35 0.055 3219 590.6 -116.8 - - 3255 - - - - - - - - 14.93 14.58 14.95
3742 339.7 -8.1 213 3756 done -0.49 - - 2747 - 2.33 0.040 1826 -597.9 -116.8 - - 3255 - - - - - - - - 14.69 14.61 14.71
4078 367.5 -8.3 225 4092 roll -0.49 - - 2747 - 2.40 0.060 431 -581.2 -116.8 - - 3253 - - - - - - - - 14.95 14.55 14.97
4189 377.5 -8.8 240 4203 done -0.49 0.12 0.248 2763 133.3 2.33 0.033 1830 600.4 -116.8 - - 3252 - - - - - - - - 14.22 14.65 14.46
4533 404.2 -7.8 247 4546 roll -0.49 - - 2755 - 2.38 0.056 3224 585.7 -116.8 - - 3250 - - - - - - - - 14.95 14.54 14.97
4603 409.8 -8.0 256 4616 done -0.59 - - 2755 - 2.33 0.037 1827 -599.6 -116.8 - - 3249 - - - - - - - - 14.69 14.61 14.71
4938 437.8 -8.4 268 4951 roll -0.59 - - 2756 - 2.42 0.058 427 -578.5 -116.8 - - 3248 - - - - - - - - 14.93 14.47 14.95
5049 447.7 -9.0 283 5063 done -0.59 - - 2746 - 2.35 0.032 1838 600.4 -116.8 - - 3247 - - - - - - - - 14.64 14.57 14.66
5392 476.9 -8.5 290 5405 done -0.59 - - 2746 - - - 1839 - -116.8 - - 3246 - - - - - - - - 14.93 14.95 14.95
5728 503.9 -7.9 296 5741 done -0.59 - - 2746 - - - 1838 - -116.8 - - 3245 - - - - - - - - 14.92 14.98 14.93
6065 527.6 -6.9 302 6078 done -0.59 - - 2751 - - - 1839 - -116.8 - - 3243 - - - - - - - - 14.92 14.95 14.95
6400 550.5 -6.9 308 6414 roll -0.59 - - 2736 - 2.35 0.055 3215 585.5 -116.8 - - 3242 - - - - - - - - 14.92 14.51 14.95
6463 554.9 -7.1 316 6476 done -0.59 - - 2736 - 2.33 0.040 1827 -595.7 -116.8 - - 3242 - - - - - - - - 14.67 14.59 14.69
6806 581.3 -7.9 329 6819 roll -0.59 - - 2736 - 2.42 0.060 431 -576.9 -116.8 - - 3239 - - - - - - - - 14.94 14.50 14.93
6916 591.0 -8.6 344 6930 done -0.59 - - 2727 - 2.35 0.034 1831 595.7 -116.8 - - 3240 - - - - - - - - 14.66 14.59 14.69
7261 620.3 -8.6 351 7274 roll -0.59 - - 2713 - 2.40 0.057 3221 579.2 -116.8 - - 3239 - - - - - - - - 14.92 14.47 14.94
7323 625.9 -8.8 359 7337 done -0.59 - - 2717 - 2.35 0.039 1824 -594.5 -116.8 - - 3239 - - - - - - - - 14.64 14.56 14.66
7666 657.6 -9.3 372 7679 roll -0.59 - - 2716 - 2.45 0.061 424 -571.4 -116.8 - - 3237 - - - - - - - - 14.91 14.47 14.92
7777 668.7 -9.8 387 7791 done -0.59 0.12 0.262 2732 133.3 2.38 0.035 1832 591.6 -116.8 - - 3237 - - - - - - - - 14.16 14.57 14.40
8120 697.9 -8.4 394 8133 roll -0.59 - - 2724 - 2.40 0.057 3225 580.4 -116.8 - - 3235 - - - - - - - - 14.90 14.45 14.92
8168 701.9 -8.5 400 8182 done -0.59 - - 2724 - 2.35 0.039 1828 -594.5 -116.8 - - 3236 - - - - - - - - 14.61 14.52 14.64
8525 732.1 -8.5 408 8538 roll -0.59 - - 2724 - 2.45 0.061 431 -570.2 -116.8 - - 3235 - - - - - - - - 14.93 14.42 14.95
8649 743.4 -9.0 425 8662 done -0.59 - - 2715 - 2.35 0.035 1836 597.9 -116.8 - - 3234 - - - - - - - - 14.63 14.57 14.66
8985 774.2 -9.3 437 8998 roll -0.59 - - 2704 - 2.40 0.057 3226 579.2 -116.8 - - 3233 - - - - - - - - 14.89 14.44 14.91
9032 778.9 -10.1 443 9046 done -0.59 0.15 0.243 2735 206.7 2.35 0.039 1831 -593.6 -116.8 - - 3233 - - - - - - - - 14.12 14.52 14.38
9389 810.5 -9.0 451 9403 roll -0.59 - - 2736 - 2.47 0.063 430 -567.2 -116.8 - - 3232 - - - - - - - - 14.91 14.31 14.93
9535 824.6 -9.5 471 9548 done -0.59 - - 2729 - 2.35 0.035 1830 595.7 -116.8 - - 3231 - - - - - - - - 14.62 14.55 14.64
9906 857.1 -8.6 481 9919 roll -0.59 - - 2718 - 2.42 0.060 3224 576.0 -116.8 - - 3230 - - - - - - - - 14.90 14.38 14.92
9968 862.6 -8.8 489 9981 done -0.59 - - 2718 - 2.38 0.041 1821 -589.5 -116.8 - - 3230 - - - - - - - - 14.54 14.48 14.57
10310 891.7 -8.4 502 10323 roll -0.59 - - 2718 - 2.45 0.063 434 -566.1 -116.8 - - 3230 - - - - - - - - 14.88 14.38 14.90
10407 900.0 -8.5 515 10421 done -0.59 - - 2709 - 2.38 0.037 1831 587.0 -116.8 - - 3229 - - - - - - - - 14.57 14.50 14.59
10771 928.9 -7.9 524 10784 roll -0.59 - - 2698 - 2.42 0.059 3221 574.4 -116.8 - - 3229 - - - - - - - - 14.88 14.36 14.90
10804 931.7 -7.3 528 10817 done -0.59 0.15 0.243 2731 220.0 2.38 0.041 1825 -586.6 -116.8 - - 3229 - - - - - - - - 14.04 14.45 14.31
11176 957.6 -6.9 538 11189 roll -0.59 - - 2733 - 2.47 0.063 429 -565.2 -116.8 - - 3227 - - - - - - - - 14.89 14.34 14.90
11272 965.2 -7.7 551 11285 done -0.59 - - 2727 - 2.38 0.036 1830 588.7 -116.8 - - 3228 - - - - - - - - 14.55 14.49 14.57
11632 end dive: TARGET_DEPTH_EXCEEDED
11632 begin apogee
11641 991.9 -7.0 560 11770 done -0.21 0.52 0.223 2859 253.8 - - 1679 - - 119.88 2.170 2795 -3.6 0.316 - - - - - - 13.98 13.95 13.02
11773 end apogee: CONTROL_FINISHED_OK
11773 begin climb
11777 996.5 - 562 11924 roll 0.84 1.15 0.153 3203 299.1 2.53 0.065 331 -532.8 116.8 125.60 2.128 2305 -3.9 0.350 - - - - - - 13.94 13.52 12.82
11972 986.3 7.0 593 12002 done 0.86 - - 3203 - 2.38 0.033 1693 572.3 132.7 14.85 2.000 2248 -3.8 0.362 - - - - - - 14.10 14.06 12.98
12318 953.5 9.6 607 12332 roll 0.86 - - 3203 - 2.38 0.050 3060 574.4 132.7 - - 2238 - - - - - - - - 14.69 14.42 14.71
12437 941.7 10.0 623 12451 done 0.86 - - 3211 - 2.33 0.043 1688 -588.8 132.7 - - 2237 - - - - - - - - 14.47 14.43 14.51
12781 908.3 9.7 636 12794 roll 0.86 - - 3222 - 2.42 0.067 322 -564.5 132.7 - - 2236 - - - - - - - - 14.80 14.45 14.82
12843 901.9 10.2 644 12857 done 0.75 0.20 0.245 3176 -230.0 2.25 0.032 1696 610.7 132.7 - - 2237 - - - - - - - - 14.19 14.60 14.49
13187 874.3 7.9 657 13200 roll 0.75 - - 3177 - 2.33 0.051 3048 580.3 132.7 - - 2236 - - - - - - - - 14.83 14.50 14.85
13276 866.9 8.0 669 13290 done 0.75 - - 3183 - 2.35 0.046 1674 -584.7 132.7 - - 2235 - - - - - - - - 14.60 14.52 14.64
13647 837.5 8.1 679 13660 done 0.75 - - 3183 - - - 1674 - 132.7 - - 2235 - - - - - - - - 14.85 14.88 14.88
13985 811.2 8.0 685 13998 roll 0.75 - - 3183 - 2.38 0.050 3047 576.9 132.7 - - 2239 - - - - - - - - 14.85 14.47 14.87
14018 808.1 8.2 689 14032 done 0.75 - - 3192 - 2.35 0.044 1669 -586.4 132.7 - - 2235 - - - - - - - - 14.60 14.51 14.64
14389 776.2 8.7 699 14402 roll 0.75 - - 3202 - 2.40 0.067 320 -562.1 132.7 - - 2235 - - - - - - - - 14.88 14.40 14.90
14423 773.2 8.7 703 14436 done 0.75 0.12 0.255 3177 -208.3 2.22 0.032 1682 613.5 132.7 - - 2235 - - - - - - - - 14.15 14.57 14.45
14793 743.1 8.0 713 14807 roll 0.75 - - 3177 - 2.35 0.050 3049 581.7 132.7 - - 2235 - - - - - - - - 14.85 14.45 14.88
14862 737.4 8.3 722 14875 done 0.75 - - 3183 - 2.35 0.044 1673 -585.5 132.7 - - 2234 - - - - - - - - 14.57 14.48 14.61
15198 709.6 8.4 734 15211 done 0.75 - - 3183 - - - 1672 - 132.7 - - 2233 - - - - - - - - 14.87 14.90 14.88
15533 681.9 8.3 740 15547 roll 0.75 - - 3183 - 2.38 0.050 3047 577.7 132.7 - - 2234 - - - - - - - - 14.88 14.42 14.90
15575 678.4 8.3 745 15588 done 0.75 - - 3192 - 2.35 0.044 1673 -584.7 132.7 - - 2234 - - - - - - - - 14.56 14.47 14.60
15939 650.2 7.5 754 15952 done 0.75 - - 3192 - - - 1672 - 138.5 - - 2234 - - - - - - - - 14.85 14.88 14.88
16274 626.6 7.0 760 16311 roll 0.78 - - 3192 - 2.40 0.050 3041 570.4 155.3 22.65 1.743 2151 -3.7 0.252 - - - - - - 14.86 14.54 13.61
16347 621.2 8.1 770 16360 done 0.78 - - 3201 - 2.33 0.042 1682 -583.3 155.3 - - 2144 - - - - - - - - 14.55 14.47 14.58
16675 595.1 8.0 781 16688 roll 0.78 - - 3211 - 2.42 0.067 316 -564.5 155.3 - - 2144 - - - - - - - - 14.80 14.37 14.82
16751 588.4 9.1 791 16764 done 0.78 0.15 0.242 3180 -206.7 2.25 0.031 1680 606.2 155.3 - - 2144 - - - - - - - - 14.12 14.53 14.40
17080 563.1 7.7 802 17093 roll 0.78 - - 3180 - 2.35 0.049 3045 580.9 158.5 - - 2143 - - - - - - - - 14.81 14.43 14.83
17155 557.0 8.0 812 17169 done 0.78 - - 3186 - 2.35 0.041 1671 -584.7 158.5 - - 2143 - - - - - - - - 14.54 14.46 14.57
17485 531.3 7.8 823 17498 done 0.78 - - 3186 - - - 1670 - 159.3 - - 2144 - - - - - - - - 14.84 14.87 14.86
17820 506.0 7.5 829 17833 done 0.79 - - 3186 - - - 1670 - 166.8 4.85 1.304 2112 -6.6 0.490 - - - - - - 14.87 14.55 13.48
18156 480.7 7.6 835 18173 roll 0.79 - - 3193 - 2.35 0.065 320 -574.5 171.3 5.05 1.304 2092 -4.0 0.279 - - - - - - 14.85 14.33 13.52
18208 476.3 8.6 842 18222 done 0.79 - - 3196 - 2.25 0.031 1680 604.4 171.3 - - 2095 - - - - - - - - 14.66 14.60 14.67
18551 446.8 8.7 849 18565 roll 0.79 - - 3196 - 2.35 0.047 3054 584.7 171.3 - - 2097 - - - - - - - - 14.83 14.45 14.85
18642 438.5 9.2 861 18655 done 0.79 - - 3206 - 2.35 0.044 1678 -585.5 171.3 - - 2097 - - - - - - - - 14.58 14.50 14.62
19012 403.9 9.4 871 19025 roll 0.79 - - 3216 - 2.40 0.066 323 -564.6 171.3 - - 2097 - - - - - - - - 14.87 14.38 14.90
19045 400.6 9.8 875 19059 done 0.79 - - 3216 - 2.25 0.031 1687 606.2 171.3 - - 2097 - - - - - - - - 14.62 14.57 14.64
19416 365.7 9.2 885 19429 roll 0.79 - - 3216 - 2.33 0.048 3053 586.3 171.3 - - 2097 - - - - - - - - 14.85 14.44 14.87
19505 357.5 9.0 897 19519 done 0.79 0.17 0.255 3188 -164.7 2.35 0.041 1676 -586.0 171.3 - - 2097 - - - - - - - - 14.04 14.47 14.33
19877 330.3 7.2 907 19912 roll 0.81 - - 3196 - 2.42 0.067 326 -557.9 183.8 19.90 1.384 2034 -3.2 0.145 - - - - - - 14.85 14.58 13.81
19940 325.6 7.6 916 19953 done 0.82 - - 3196 - 2.22 0.031 1683 611.3 188.9 - - 2029 - - - - - - - - 14.61 14.56 14.63
20276 300.2 7.6 928 20293 roll 0.82 - - 3196 - 2.33 0.048 3055 588.8 193.6 4.00 0.995 2001 -7.0 0.404 - - - - - - 14.79 14.57 13.52
20341 294.8 8.1 937 20355 done 0.82 - - 3205 - 2.35 0.043 1676 -586.8 193.6 - - 2003 - - - - - - - - 14.58 14.50 14.61
20677 266.9 8.4 949 20690 roll 0.82 - - 3215 - 2.40 0.065 317 -566.2 193.6 - - 2005 - - - - - - - - 14.84 14.39 14.86
20740 261.2 9.4 957 20754 done 0.82 - - 3215 - 2.25 0.030 1679 605.3 193.6 - - 2005 - - - - - - - - 14.61 14.58 14.63
21083 229.4 9.3 970 21096 roll 0.82 - - 3216 - 2.35 0.047 3062 588.5 193.6 - - 2005 - - - - - - - - 14.83 14.46 14.85
21187 219.7 9.3 984 21200 done 0.82 - - 3224 - 2.38 0.042 1676 -582.4 193.6 - - 2005 - - - - - - - - 14.56 14.47 14.59
21543 185.3 9.8 992 21556 roll 0.82 - - 3235 - 2.40 0.064 316 -566.7 193.6 - - 2005 - - - - - - - - 14.85 14.38 14.85
21619 177.6 10.2 1002 21632 done 0.82 0.17 0.234 3196 -229.4 2.25 0.029 1700 615.1 193.6 - - 2005 - - - - - - - - 14.13 14.59 14.38
21948 152.3 7.5 1013 21966 roll 0.83 - - 3195 - 2.25 0.045 3044 597.3 200.0 6.03 1.082 1977 -4.6 0.125 - - - - - - 14.85 14.38 13.76
22035 145.5 7.6 1025 22053 done 0.84 - - 3202 - 2.33 0.041 1676 -587.1 205.4 6.15 1.078 1954 -3.7 0.097 - - - - - - 14.62 14.54 13.79
22404 116.8 8.0 1035 22417 roll 0.84 - - 3211 - 2.38 0.065 323 -568.5 205.4 - - 1960 - - - - - - - - 14.83 14.42 14.85
22451 112.7 8.6 1041 22465 done 0.84 - - 3211 - 2.20 0.030 1677 615.5 205.4 - - 1961 - - - - - - - - 14.63 14.57 14.65
22781 86.1 8.2 1051 22794 roll 0.84 - - 3211 - 2.33 0.045 3048 588.4 205.4 - - 1961 - - - - - - - - 14.85 14.47 14.87
23024 70.2 6.0 1085 23075 done 0.88 - - 3220 - 2.33 0.040 1678 -588.0 240.7 35.88 0.306 1812 -4.2 0.182 - - - - - - 14.57 14.50 14.22
23405 53.3 3.5 1106 23493 roll 1.15 0.22 0.095 3322 463.6 2.42 0.064 326 -558.7 321.4 74.20 0.265 1489 -4.4 0.168 - - - - - - 14.45 14.46 14.22
23725 30.3 5.9 1151 23769 done 1.20 - - 3322 - 2.20 0.028 1682 616.4 358.2 32.28 0.201 1330 -4.9 0.142 - - - - - - 14.54 14.49 14.23
24087 7.7 6.4 1169 24122 roll 1.34 0.12 0.121 3389 558.3 2.40 0.065 323 -566.2 385.0 20.30 0.138 1222 -5.3 0.057 - - - - - - 14.52 14.45 14.31
24153 end climb: SURFACE_DEPTH_REACHED
24153 begin surface coast
24164 end surface coast: CONTROL_FINISHED_OK
24164 begin surface
SM 1.16 - - - - -8.61 9.60 0.070 162 16.9 2.50 0.029 1802 -3645.6 515.38 78.25 0.123 690 8.8 -0.008 - - - - - -