SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 370 * Raw log
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• Previous call tries 2 • 140.46 of 350.00 AH used of 24V (59.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 1.08 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: 21 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
28 - - - 115 done -0.84 - - 140 - - - 1826 - -116.8 -83.35 - 3271 - - - - - - - - 14.70 12.80 14.71
118 6.0 -8.5 3 134 done -0.84 12.23 0.371 2651 205.3 - - 1825 - -116.8 - - 3273 - - - - - - - - 14.11 14.53 14.45
422 75.2 -13.1 14 429 roll -0.57 0.32 0.268 2735 262.5 2.42 0.054 418 -581.4 -116.8 - - 3274 - - - - - - - - 14.10 14.38 14.27
565 89.1 -9.9 34 572 done -0.46 0.22 0.250 2779 200.0 2.30 0.033 1815 607.4 -116.8 - - 3276 - - - - - - - - 14.19 14.57 14.45
902 113.9 -7.3 46 908 roll -0.46 - - 2771 - 2.38 0.050 3230 594.5 -116.8 - - 3276 - - - - - - - - 14.83 14.52 14.85
963 118.7 -7.7 55 970 done -0.46 - - 2771 - 2.33 0.036 1822 -604.3 -116.8 - - 3279 - - - - - - - - 14.65 14.58 14.67
1294 144.1 -7.6 67 1300 roll -0.46 - - 2771 - 2.40 0.057 427 -581.2 -116.8 - - 3277 - - - - - - - - 14.85 14.52 14.87
1425 155.1 -8.5 86 1432 done -0.46 - - 2762 - 2.33 0.031 1840 606.4 -116.8 - - 3273 - - - - - - - - 14.66 14.62 14.68
1741 180.3 -8.0 96 1748 roll -0.46 - - 2752 - 2.35 0.053 3223 588.5 -116.8 - - 3271 - - - - - - - - 14.85 14.52 14.88
1783 183.6 -8.1 102 1790 done -0.46 - - 2752 - 2.33 0.037 1824 -600.4 -116.8 - - 3270 - - - - - - - - 14.64 14.57 14.66
2133 212.9 -8.5 110 2139 roll -0.46 - - 2757 - 2.42 0.059 424 -578.5 -116.8 - - 3268 - - - - - - - - 14.86 14.51 14.88
2279 226.2 -8.9 131 2286 done -0.46 0.15 0.247 2774 113.3 2.33 0.032 1829 603.0 -116.8 - - 3267 - - - - - - - - 14.23 14.59 14.47
2642 251.8 -7.1 140 2655 roll -0.55 - - 2767 - 2.35 0.055 3219 591.5 -116.8 - - 3264 - - - - - - - - 14.88 14.56 14.90
2724 258.3 -7.5 151 2738 done -0.67 0.20 0.093 2684 -415.0 2.33 0.038 1822 -599.6 -116.8 - - 3263 - - - - - - - - 14.59 14.61 14.67
3047 294.2 -11.5 161 3060 roll -0.57 0.22 0.251 2745 277.3 2.40 0.059 431 -579.6 -116.8 - - 3261 - - - - - - - - 14.18 14.47 14.34
3158 305.2 -9.2 176 3173 done -0.57 - - 2739 - 2.33 0.034 1831 600.9 -116.8 - - 3260 - - - - - - - - 14.71 14.66 14.73
3502 336.5 -9.2 183 3515 roll -0.57 - - 2728 - 2.38 0.056 3222 584.5 -116.8 - - 3258 - - - - - - - - 14.95 14.56 14.97
3528 339.0 -9.2 186 3541 done -0.57 - - 2728 - 2.33 0.039 1826 -599.1 -116.8 - - 3258 - - - - - - - - 14.70 14.62 14.72
3849 368.2 -9.0 196 3863 roll -0.57 - - 2728 - 2.42 0.060 425 -578.9 -116.8 - - 3256 - - - - - - - - 14.94 14.54 14.96
3939 376.8 -9.4 208 3953 done -0.57 - - 2718 - 2.33 0.033 1831 603.4 -116.8 - - 3255 - - - - - - - - 14.73 14.67 14.76
4310 410.3 -9.0 218 4323 roll -0.57 - - 2707 - 2.38 0.057 3225 585.7 -116.8 - - 3254 - - - - - - - - 14.95 14.55 14.97
4350 414.0 -8.8 223 4363 done -0.57 0.15 0.245 2740 220.0 2.33 0.038 1828 -599.6 -116.8 - - 3253 - - - - - - - - 14.24 14.61 14.50
4714 442.2 -7.6 232 4728 roll -0.57 - - 2740 - 2.45 0.060 425 -572.7 -116.8 - - 3251 - - - - - - - - 14.93 14.48 14.94
4877 455.3 -8.0 254 4890 done -0.57 - - 2733 - 2.33 0.034 1833 604.3 -116.8 - - 3250 - - - - - - - - 14.70 14.64 14.74
5234 484.4 -8.2 262 5247 done -0.57 - - 2733 - - - 1833 - -116.8 - - 3248 - - - - - - - - 14.94 14.97 14.96
5569 511.5 -8.0 268 5582 done -0.57 - - 2732 - - - 1832 - -116.8 - - 3247 - - - - - - - - 14.95 14.98 14.97
5905 538.3 -8.0 274 5918 done -0.57 - - 2733 - - - 1833 - -116.8 - - 3242 - - - - - - - - 14.95 14.97 14.97
6242 565.8 -8.2 280 6255 roll -0.57 - - 2723 - 2.40 0.056 3225 580.0 -116.8 - - 3244 - - - - - - - - 14.95 14.50 14.95
6304 571.1 -8.2 288 6317 done -0.57 - - 2723 - 2.38 0.040 1824 -588.7 -116.8 - - 3243 - - - - - - - - 14.64 14.56 14.66
6646 600.9 -8.8 301 6659 roll -0.57 - - 2722 - 2.45 0.063 424 -571.4 -116.8 - - 3243 - - - - - - - - 14.92 14.49 14.95
6785 614.0 -9.3 320 6799 done -0.57 0.12 0.263 2738 133.3 2.38 0.035 1835 592.9 -116.8 - - 3243 - - - - - - - - 14.19 14.60 14.44
7107 639.9 -8.0 330 7120 roll -0.57 - - 2731 - 2.38 0.055 3218 581.1 -116.8 - - 3242 - - - - - - - - 14.92 14.48 14.94
7170 644.9 -8.1 338 7183 done -0.57 - - 2730 - 2.33 0.039 1827 -597.0 -116.8 - - 3244 - - - - - - - - 14.64 14.56 14.66
7512 673.2 -8.2 351 7525 roll -0.57 - - 2730 - 2.45 0.060 426 -571.8 -116.8 - - 3240 - - - - - - - - 14.91 14.45 14.93
7658 686.3 -8.8 371 7672 done -0.57 - - 2722 - 2.35 0.034 1834 599.1 -116.8 - - 3238 - - - - - - - - 14.64 14.58 14.66
8028 717.0 -8.2 381 8042 roll -0.57 - - 2711 - 2.38 0.057 3218 581.5 -116.8 - - 3237 - - - - - - - - 14.91 14.46 14.93
8125 725.0 -8.1 394 8138 done -0.57 0.15 0.238 2743 213.3 2.35 0.039 1829 -591.1 -116.8 - - 3237 - - - - - - - - 14.12 14.50 14.38
8489 750.4 -6.9 403 8503 roll -0.57 - - 2744 - 2.47 0.062 430 -566.4 -116.8 - - 3236 - - - - - - - - 14.92 14.41 14.92
8593 757.9 -7.2 417 8606 done -0.57 - - 2739 - 2.35 0.035 1831 596.2 -116.8 - - 3236 - - - - - - - - 14.63 14.57 14.66
8950 782.7 -7.0 425 8963 roll -0.57 - - 2727 - 2.40 0.058 3222 579.6 -116.8 - - 3235 - - - - - - - - 14.90 14.42 14.92
9004 786.8 -7.4 432 9018 done -0.57 - - 2728 - 2.38 0.041 1826 -586.6 -116.8 - - 3234 - - - - - - - - 14.56 14.48 14.59
9349 812.3 -7.5 439 9362 roll -0.57 - - 2728 - 2.45 0.062 433 -568.6 -116.8 - - 3233 - - - - - - - - 14.89 14.38 14.91
9468 822.0 -8.2 455 9481 done -0.57 - - 2718 - 2.38 0.036 1830 587.0 -116.8 - - 3233 - - - - - - - - 14.59 14.52 14.61
9810 850.4 -8.4 468 9823 roll -0.57 - - 2709 - 2.42 0.060 3218 573.6 -116.8 - - 3232 - - - - - - - - 14.92 14.38 14.94
9880 855.8 -6.9 477 9893 done -0.57 0.15 0.246 2739 200.0 2.35 0.041 1832 -589.8 -116.8 - - 3232 - - - - - - - - 14.04 14.46 14.31
10216 882.8 -8.1 489 10229 roll -0.66 - - 2740 - 2.47 0.063 431 -567.2 -116.8 - - 3231 - - - - - - - - 14.88 14.38 14.90
10327 892.7 -9.0 504 10341 done -0.66 - - 2739 - 2.38 0.036 1828 587.0 -116.8 - - 3231 - - - - - - - - 14.55 14.49 14.58
10670 921.7 -8.4 511 10683 roll -0.66 - - 2723 - 2.45 0.060 3224 569.8 -116.8 - - 3230 - - - - - - - - 14.88 14.35 14.90
10732 926.9 -8.4 519 10745 done -0.66 - - 2723 - 2.38 0.041 1831 -585.3 -116.8 - - 3230 - - - - - - - - 14.54 14.45 14.57
11076 954.6 -8.0 532 11089 roll -0.66 - - 2723 - 2.50 0.063 429 -560.8 -116.8 - - 3229 - - - - - - - - 14.86 14.35 14.88
11194 964.2 -7.0 548 11207 done -0.66 - - 2720 - 2.38 0.037 1832 589.5 -116.8 - - 3232 - - - - - - - - 14.54 14.47 14.57
11537 989.7 -7.4 561 11551 roll -0.66 - - 2704 - 2.42 0.060 3221 574.0 -116.8 - - 3229 - - - - - - - - 14.85 14.33 14.88
11553 end dive: TARGET_DEPTH_EXCEEDED
11553 begin apogee
11564 992.0 -7.9 563 11693 done -0.21 0.60 0.230 2855 251.7 - - 1685 - - 119.97 2.183 2794 -3.6 0.316 - - - - - - 13.95 13.95 12.98
11696 end apogee: CONTROL_FINISHED_OK
11696 begin climb
11700 995.8 - 565 11842 roll 0.84 1.17 0.158 3190 286.3 2.62 0.050 3078 531.7 116.8 127.70 2.139 2306 -3.8 0.341 - - - - - - 13.94 13.70 12.78
11865 987.5 7.6 571 11879 done 0.72 0.17 0.269 3166 -141.2 2.53 0.041 1671 -556.1 120.9 - - 2298 - - - - - - - - 13.70 13.91 13.91
12188 963.0 7.5 581 12206 roll 0.73 - - 3171 - 2.40 0.068 319 -563.3 128.0 3.92 1.340 2269 -7.4 1.020 - - - - - - 14.69 14.45 13.16
12240 958.8 9.8 588 12254 done 0.73 - - 3174 - 2.33 0.032 1700 592.7 128.0 - - 2270 - - - - - - - - 14.57 14.52 14.59
12585 932.1 7.8 595 12598 roll 0.73 - - 3174 - 2.35 0.050 3069 582.6 129.1 - - 2270 - - - - - - - - 14.80 14.48 14.81
12704 922.3 8.2 611 12717 done 0.73 - - 3182 - 2.38 0.042 1673 -586.6 129.1 - - 2270 - - - - - - - - 14.62 14.55 14.62
13046 893.8 8.3 624 13059 roll 0.73 - - 3193 - 2.38 0.067 325 -566.4 129.1 - - 2270 - - - - - - - - 14.83 14.47 14.85
13073 891.4 8.6 627 13087 done 0.73 - - 3193 - 2.25 0.031 1692 607.6 129.1 - - 2273 - - - - - - - - 14.67 14.62 14.69
13395 862.3 9.0 637 13408 roll 0.73 - - 3193 - 2.33 0.050 3056 585.4 129.1 - - 2269 - - - - - - - - 14.85 14.50 14.87
13492 853.4 8.4 650 13506 done 0.73 0.15 0.272 3172 -140.0 2.35 0.042 1677 -586.8 129.1 - - 2270 - - - - - - - - 14.14 14.52 14.42
13856 822.5 8.3 659 13869 done 0.73 - - 3172 - - - 1678 - 129.1 - - 2269 - - - - - - - - 14.86 14.89 14.88
14193 794.4 8.3 665 14206 done 0.73 - - 3170 - - - 1677 - 129.1 - - 2273 - - - - - - - - 14.86 14.88 14.88
14529 769.6 7.3 671 14555 done 0.74 - - 3172 - - - 1678 - 138.6 16.90 1.917 2226 -2.8 0.214 - - - - - - 14.86 14.55 13.62
14865 745.3 7.2 677 14881 done 0.76 - - 3172 - - - 1678 - 151.7 7.28 1.733 2176 -6.9 0.567 - - - - - - 14.81 14.54 13.50
15201 722.5 6.7 683 15244 done 0.79 - - 3172 - - - 1674 - 173.0 31.23 1.837 2078 -3.1 0.237 - - - - - - 14.81 14.19 13.54
15595 693.7 7.5 697 15609 roll 0.79 - - 3172 - 2.38 0.050 3053 579.4 180.0 - - 2067 - - - - - - - - 14.75 14.45 14.78
15643 689.7 8.1 703 15656 done 0.79 - - 3177 - 2.35 0.043 1676 -586.0 180.0 - - 2066 - - - - - - - - 14.57 14.49 14.59
15999 661.0 8.2 711 16012 done 0.79 - - 3178 - - - 1675 - 180.0 - - 2066 - - - - - - - - 14.83 14.85 14.85
16336 632.8 8.5 717 16350 roll 0.79 - - 3178 - 2.38 0.049 3055 579.8 180.0 - - 2066 - - - - - - - - 14.84 14.47 14.86
16384 628.4 8.9 723 16397 done 0.79 - - 3186 - 2.35 0.042 1678 -586.0 180.0 - - 2066 - - - - - - - - 14.59 14.50 14.61
16740 597.2 8.7 731 16753 roll 0.79 - - 3197 - 2.40 0.067 322 -565.0 180.0 - - 2066 - - - - - - - - 14.84 14.41 14.86
16775 594.2 8.7 735 16788 done 0.79 - - 3197 - 2.25 0.032 1682 604.4 180.0 - - 2069 - - - - - - - - 14.64 14.59 14.66
17145 562.5 8.4 745 17158 roll 0.79 - - 3197 - 2.35 0.048 3057 585.1 180.0 - - 2064 - - - - - - - - 14.88 14.45 14.89
17235 554.9 8.5 757 17248 done 0.79 - - 3205 - 2.38 0.046 1679 -579.0 180.0 - - 2066 - - - - - - - - 14.57 14.47 14.59
17605 523.6 8.5 767 17619 roll 0.79 - - 3215 - 2.40 0.067 323 -565.0 180.0 - - 2069 - - - - - - - - 14.88 14.38 14.90
17668 517.8 9.6 775 17681 done 0.79 - - 3215 - 2.25 0.032 1682 604.0 180.0 - - 2066 - - - - - - - - 14.61 14.56 14.63
18012 485.7 9.4 788 18026 roll 0.79 - - 3215 - 2.35 0.049 3056 584.7 180.0 - - 2066 - - - - - - - - 14.85 14.44 14.87
18075 479.5 9.8 796 18088 done 0.79 0.17 0.258 3194 -123.5 2.35 0.045 1678 -586.4 180.0 - - 2066 - - - - - - - - 14.03 14.45 14.33
18418 451.8 8.0 809 18431 roll 0.79 - - 3196 - 2.42 0.067 313 -564.0 180.0 - - 2066 - - - - - - - - 14.87 14.31 14.89
18481 446.5 8.7 817 18494 done 0.79 - - 3196 - 2.28 0.031 1684 601.3 180.0 - - 2066 - - - - - - - - 14.58 14.54 14.62
18823 418.6 8.1 830 18836 roll 0.79 - - 3196 - 2.35 0.048 3059 585.1 180.0 - - 2066 - - - - - - - - 14.85 14.43 14.87
18892 412.6 8.7 839 18905 done 0.79 - - 3204 - 2.35 0.041 1680 -586.8 180.0 - - 2066 - - - - - - - - 14.54 14.45 14.57
19227 384.2 8.5 851 19241 roll 0.79 - - 3214 - 2.40 0.066 326 -564.2 180.0 - - 2066 - - - - - - - - 14.88 14.34 14.90
19276 379.9 9.0 857 19289 done 0.79 0.15 0.236 3183 -206.7 2.25 0.031 1699 610.2 180.0 - - 2066 - - - - - - - - 14.09 14.54 14.34
19632 354.2 7.0 865 19669 roll 0.81 - - 3183 - 2.33 0.050 3038 574.7 195.7 23.02 1.389 1988 -3.4 0.166 - - - - - - 14.85 14.57 13.76
19733 347.0 7.5 879 19752 done 0.82 - - 3188 - 2.33 0.042 1675 -585.0 203.1 2.53 0.555 1961 -10.7 1.281 - - - - - - 14.55 14.47 13.37
20083 322.0 7.1 887 20118 roll 0.84 - - 3199 - 2.45 0.067 321 -552.7 216.8 20.12 1.356 1899 -3.1 0.140 - - - - - - 14.80 14.52 13.74
20166 315.3 8.5 899 20180 done 0.84 - - 3199 - 2.22 0.031 1672 608.6 216.8 - - 1895 - - - - - - - - 14.57 14.53 14.60
20538 284.0 8.6 909 20551 roll 0.84 - - 3199 - 2.38 0.048 3055 581.1 216.8 - - 1893 - - - - - - - - 14.80 14.43 14.83
20627 275.6 9.3 921 20640 done 0.84 - - 3203 - 2.35 0.041 1678 -586.0 216.8 - - 1892 - - - - - - - - 14.55 14.47 14.59
20998 241.4 9.2 931 21011 roll 0.84 - - 3217 - 2.42 0.067 318 -562.0 216.8 - - 1892 - - - - - - - - 14.85 14.35 14.86
21046 236.8 9.6 937 21059 done 0.84 - - 3217 - 2.25 0.031 1678 604.4 216.8 - - 1892 - - - - - - - - 14.62 14.57 14.65
21402 205.0 8.9 945 21415 roll 0.84 - - 3217 - 2.35 0.046 3063 589.4 216.8 - - 1892 - - - - - - - - 14.81 14.47 14.83
21506 195.2 9.4 959 21519 done 0.84 - - 3226 - 2.35 0.041 1680 -588.5 216.8 - - 1892 - - - - - - - - 14.57 14.48 14.61
21863 159.4 10.2 967 21876 roll 0.84 - - 3235 - 2.40 0.066 318 -567.5 216.8 - - 1892 - - - - - - - - 14.83 14.38 14.87
21897 155.7 10.6 971 21911 done 0.84 0.15 0.238 3205 -200.0 2.25 0.031 1697 612.9 216.8 - - 1896 - - - - - - - - 14.14 14.60 14.43
22268 124.2 7.9 981 22281 roll 0.84 - - 3204 - 2.30 0.047 3047 587.0 216.8 - - 1892 - - - - - - - - 14.88 14.45 14.90
22330 119.5 7.5 989 22347 done 0.85 - - 3210 - 2.33 0.040 1675 -588.8 223.7 2.33 0.155 1875 -7.3 1.080 - - - - - - 14.59 14.47 14.21
22670 92.2 8.2 1003 22684 roll 0.85 - - 3210 - 2.35 0.045 3050 585.1 223.7 - - 1881 - - - - - - - - 14.84 14.47 14.88
22739 86.9 7.5 1012 22764 done 0.86 - - 3218 - 2.35 0.040 1665 -589.4 231.1 7.97 0.269 1853 -3.5 0.218 - - - - - - 14.50 14.42 14.00
23073 65.0 5.5 1026 23129 roll 1.02 0.12 0.128 3269 425.0 2.40 0.044 3045 575.0 274.5 43.92 0.293 1676 -4.0 0.172 - - - - - - 14.52 14.57 14.21
23209 55.7 6.9 1042 23244 done 1.04 - - 3276 - 2.33 0.040 1678 -586.7 292.0 18.88 0.259 1601 -4.0 0.164 - - - - - - 14.49 14.40 14.16
23554 37.3 4.9 1058 23615 roll 1.24 0.12 0.133 3346 583.3 2.38 0.063 320 -570.6 346.2 48.50 0.219 1383 -4.5 0.147 - - - - - - 14.48 14.38 14.21
23791 21.3 5.2 1092 23843 done 1.30 - - 3345 - 2.20 0.028 1687 621.4 396.1 40.08 0.175 1178 -5.1 0.119 - - - - - - 14.60 14.54 14.26
24022 end climb: SURFACE_DEPTH_REACHED
24025 begin surface coast
24050 end surface coast: CONTROL_FINISHED_OK
24050 begin surface
SM 1.12 - - - - -8.61 9.48 0.067 157 16.5 0.15 0.082 1834 -49466.7 515.13 72.10 0.122 694 9.6 -0.009 - - - - - -