SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 400 * Raw log
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• Previous call tries 1 • 151.40 of 350.00 AH used of 24V (56.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.3 deg, depth 1.02 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 16 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 111 done -0.84 - - 125 - - - 1803 - -116.8 -83.65 - 3273 - - - - - - - - 14.69 12.75 14.70
115 6.0 -8.6 3 139 roll -0.84 12.43 0.376 2660 203.9 2.50 0.047 356 -578.8 -116.8 - - 3273 - - - - - - - - 14.06 14.49 14.40
216 37.3 -18.9 18 225 done -0.48 0.47 0.251 2768 229.8 2.30 0.033 1743 603.0 -116.8 - - 3273 - - - - - - - - 14.09 14.50 14.38
531 67.8 -8.1 30 538 roll -0.48 - - 2760 - 2.40 0.051 3171 595.0 -116.8 - - 3276 - - - - - - - - 14.81 14.52 14.82
579 71.7 -8.2 37 587 done -0.48 - - 2760 - 2.35 0.037 1771 -595.7 -116.8 - - 3275 - - - - - - - - 14.59 14.51 14.62
896 99.8 -8.9 49 903 roll -0.48 - - 2760 - 2.40 0.058 376 -581.2 -116.8 - - 3275 - - - - - - - - 14.82 14.47 14.84
1000 110.2 -9.7 64 1008 done -0.48 - - 2757 - 2.35 0.031 1794 603.4 -116.8 - - 3274 - - - - - - - - 14.64 14.59 14.65
1344 138.0 -7.9 71 1350 roll -0.48 - - 2740 - 2.33 0.051 3166 588.8 -116.8 - - 3272 - - - - - - - - 14.87 14.51 14.86
1484 149.1 -8.0 91 1490 done -0.48 0.12 0.233 2767 225.0 2.30 0.037 1773 -605.7 -116.8 - - 3273 - - - - - - - - 14.29 14.56 14.50
1848 174.4 -6.9 101 1854 roll -0.48 - - 2767 - 2.42 0.059 376 -577.3 -116.8 - - 3270 - - - - - - - - 14.86 14.42 14.88
1946 181.9 -7.7 115 1952 done -0.48 - - 2761 - 2.33 0.032 1785 604.7 -116.8 - - 3270 - - - - - - - - 14.64 14.59 14.66
2296 210.4 -8.3 123 2302 roll -0.48 - - 2748 - 2.33 0.054 3158 589.3 -116.8 - - 3267 - - - - - - - - 14.88 14.50 14.87
2379 217.2 -7.9 135 2385 done -0.48 - - 2751 - 2.33 0.037 1767 -597.0 -116.8 - - 3266 - - - - - - - - 14.62 14.54 14.64
2744 246.2 -7.9 145 2747 done -0.48 - - 2751 - - - 1766 - -116.8 - - 3264 - - - - - - - - 14.83 14.86 14.86
3080 272.0 -7.6 151 3093 roll -0.48 - - 2751 - 2.42 0.059 375 -574.8 -116.8 - - 3261 - - - - - - - - 14.92 14.52 14.94
3162 278.9 -8.4 162 3176 done -0.48 0.12 0.249 2767 133.3 2.30 0.033 1772 607.4 -116.8 - - 3261 - - - - - - - - 14.31 14.66 14.54
3485 301.7 -7.1 172 3498 roll -0.57 - - 2759 - 2.35 0.051 3167 593.6 -116.8 - - 3259 - - - - - - - - 14.92 14.57 14.94
3612 310.6 -7.0 189 3626 done -0.69 0.17 0.106 2689 -411.8 2.33 0.038 1767 -600.9 -116.8 - - 3257 - - - - - - - - 14.57 14.60 14.66
3949 344.2 -10.2 201 3962 roll -0.69 - - 2689 - 2.40 0.061 380 -577.9 -116.8 - - 3256 - - - - - - - - 14.92 14.52 14.95
4059 356.5 -11.2 216 4073 done -0.58 0.25 0.246 2739 200.0 2.33 0.033 1780 600.9 -116.8 - - 3255 - - - - - - - - 14.17 14.64 14.45
4404 386.1 -8.6 223 4417 roll -0.58 - - 2730 - 2.35 0.054 3160 587.2 -116.8 - - 3253 - - - - - - - - 14.92 14.54 14.94
4522 396.3 -8.5 239 4536 done -0.58 - - 2730 - 2.30 0.037 1776 -601.7 -116.8 - - 3252 - - - - - - - - 14.67 14.59 14.69
4865 427.1 -9.1 252 4879 roll -0.58 - - 2730 - 2.45 0.061 368 -574.7 -116.8 - - 3251 - - - - - - - - 14.95 14.50 14.97
4962 436.5 -9.5 265 4975 done -0.58 - - 2721 - 2.33 0.034 1773 603.0 -116.8 - - 3251 - - - - - - - - 14.69 14.63 14.71
5325 470.5 -9.4 274 5338 roll -0.58 - - 2711 - 2.38 0.054 3169 586.6 -116.8 - - 3249 - - - - - - - - 14.94 14.52 14.96
5388 476.1 -9.0 282 5402 done -0.58 0.12 0.248 2736 208.3 2.33 0.038 1774 -598.7 -116.8 - - 3249 - - - - - - - - 14.24 14.57 14.47
5732 501.0 -6.9 295 5745 roll -0.58 - - 2736 - 2.42 0.060 377 -577.3 -116.8 - - 3247 - - - - - - - - 14.92 14.50 14.94
5766 503.4 -7.0 299 5780 done -0.58 - - 2729 - 2.33 0.034 1776 600.4 -116.8 - - 3247 - - - - - - - - 14.69 14.64 14.71
6137 530.4 -7.5 309 6150 roll -0.58 - - 2718 - 2.38 0.053 3169 585.3 -116.8 - - 3245 - - - - - - - - 14.95 14.50 14.97
6205 536.1 -8.4 318 6218 done -0.58 - - 2718 - 2.35 0.040 1769 -595.7 -116.8 - - 3245 - - - - - - - - 14.63 14.54 14.66
6541 565.3 -8.8 330 6554 roll -0.58 - - 2718 - 2.42 0.062 378 -574.8 -116.8 - - 3244 - - - - - - - - 14.92 14.47 14.93
6623 573.3 -9.5 341 6637 done -0.58 0.15 0.254 2741 153.3 2.35 0.034 1778 595.7 -116.8 - - 3244 - - - - - - - - 14.16 14.59 14.42
6946 597.7 -7.5 351 6959 roll -0.58 - - 2733 - 2.40 0.056 3166 578.3 -116.8 - - 3243 - - - - - - - - 14.92 14.47 14.94
7022 603.3 -7.3 361 7035 done -0.58 - - 2733 - 2.35 0.038 1766 -595.7 -116.8 - - 3243 - - - - - - - - 14.62 14.54 14.62
7351 627.6 -7.4 372 7364 roll -0.58 - - 2733 - 2.42 0.061 378 -573.6 -116.8 - - 3242 - - - - - - - - 14.88 14.45 14.90
7462 636.7 -8.1 387 7475 done -0.58 - - 2725 - 2.38 0.035 1789 592.9 -116.8 - - 3241 - - - - - - - - 14.62 14.57 14.65
7805 664.0 -8.0 394 7818 roll -0.58 - - 2714 - 2.35 0.056 3158 582.6 -116.8 - - 3244 - - - - - - - - 14.91 14.44 14.93
7882 670.3 -8.3 404 7895 done -0.58 - - 2714 - 2.35 0.041 1763 -593.6 -116.8 - - 3242 - - - - - - - - 14.61 14.52 14.64
8210 699.1 -8.8 415 8224 roll -0.58 - - 2714 - 2.45 0.063 370 -568.6 -116.8 - - 3239 - - - - - - - - 14.90 14.42 14.92
8273 705.1 -9.7 423 8286 done -0.58 0.15 0.252 2736 146.7 2.35 0.034 1774 597.4 -116.8 - - 3238 - - - - - - - - 14.11 14.57 14.37
8616 732.0 -7.7 436 8630 roll -0.58 - - 2728 - 2.40 0.054 3165 579.6 -116.8 - - 3237 - - - - - - - - 14.92 14.45 14.94
8735 740.9 -7.5 452 8748 done -0.58 - - 2728 - 2.35 0.038 1772 -592.8 -116.8 - - 3237 - - - - - - - - 14.49 14.41 14.52
9078 766.3 -7.3 465 9091 roll -0.58 - - 2728 - 2.47 0.063 370 -567.6 -116.8 - - 3236 - - - - - - - - 14.90 14.38 14.91
9160 772.9 -8.0 476 9173 done -0.58 - - 2719 - 2.38 0.035 1776 590.8 -116.8 - - 3236 - - - - - - - - 14.59 14.53 14.62
9483 797.2 -7.7 486 9496 roll -0.58 - - 2709 - 2.40 0.057 3162 577.5 -116.8 - - 3233 - - - - - - - - 14.88 14.40 14.90
9552 802.8 -7.8 495 9565 done -0.58 0.15 0.239 2741 213.3 2.35 0.038 1769 -592.8 -116.8 - - 3235 - - - - - - - - 14.07 14.46 14.33
9891 825.6 -6.8 507 9905 roll -0.67 - - 2741 - 2.47 0.063 372 -565.6 -116.8 - - 3234 - - - - - - - - 14.87 14.35 14.88
9967 831.5 -7.3 517 9980 done -0.67 - - 2735 - 2.38 0.035 1782 592.4 -116.8 - - 3233 - - - - - - - - 14.57 14.51 14.59
10295 854.9 -7.1 528 10308 roll -0.67 - - 2724 - 2.40 0.057 3162 575.0 -116.8 - - 3232 - - - - - - - - 14.87 14.36 14.89
10344 858.7 -8.1 534 10357 done -0.76 0.10 0.086 2677 -470.0 2.33 0.038 1778 -594.0 -116.8 - - 3233 - - - - - - - - 14.31 14.40 14.37
10700 894.4 -10.2 542 10714 roll -0.76 - - 2676 - 2.50 0.063 370 -563.2 -116.8 - - 3232 - - - - - - - - 14.90 14.33 14.92
10777 902.8 -11.0 552 10790 done -0.76 - - 2667 - 2.40 0.036 1773 584.6 -116.8 - - 3232 - - - - - - - - 14.54 14.47 14.56
11105 936.8 -10.3 563 11118 roll -0.76 - - 2656 - 2.42 0.056 3169 576.9 -116.8 - - 3231 - - - - - - - - 14.86 14.35 14.88
11168 943.3 -10.2 571 11182 done -0.76 - - 2656 - 2.38 0.041 1773 -586.6 -116.8 - - 3231 - - - - - - - - 14.50 14.41 14.54
11512 977.9 -10.1 584 11525 roll -0.76 - - 2656 - 2.50 0.064 370 -561.2 -116.8 - - 3230 - - - - - - - - 14.88 14.33 14.89
11615 989.4 -10.9 598 11629 done -0.65 0.30 0.252 2715 196.7 2.42 0.036 1781 583.1 -116.8 - - 3230 - - - - - - - - 13.83 14.44 14.16
11632 end dive: TARGET_DEPTH_EXCEEDED
11632 begin apogee
11641 991.3 -11.2 600 11774 done -0.21 0.55 0.216 2858 260.0 - - 1656 - - 122.28 2.194 2793 -3.6 0.312 - - - - - - 13.94 13.93 12.90
11775 end apogee: CONTROL_FINISHED_OK
11775 begin climb
11779 996.1 - 602 11924 roll 0.84 1.12 0.146 3198 303.6 2.53 0.065 347 -517.4 116.8 126.57 2.174 2307 -3.8 0.340 - - - - - - 13.92 13.68 12.69
11951 988.0 9.5 630 11964 done 0.84 - - 3198 - 2.33 0.031 1694 578.1 116.8 - - 2296 - - - - - - - - 14.02 13.98 14.04
12321 958.0 8.1 640 12335 roll 0.84 - - 3198 - 2.35 0.050 3060 581.3 116.8 - - 2292 - - - - - - - - 14.73 14.45 14.75
12398 952.3 6.5 650 12435 done 0.87 - - 3207 - 2.30 0.041 1699 -591.7 142.2 24.95 2.077 2212 -3.2 0.284 - - - - - - 14.57 14.49 13.34
12778 918.1 9.0 662 12791 roll 0.87 - - 3217 - 2.42 0.065 327 -566.9 142.2 - - 2194 - - - - - - - - 14.76 14.44 14.78
12868 909.4 9.9 674 12881 done 0.87 - - 3218 - 2.25 0.031 1682 602.2 142.2 - - 2194 - - - - - - - - 14.63 14.59 14.66
13238 874.1 9.6 684 13251 roll 0.87 - - 3218 - 2.38 0.049 3063 580.3 142.2 - - 2193 - - - - - - - - 14.85 14.50 14.87
13342 863.8 9.8 698 13356 done 0.77 0.20 0.265 3184 -170.0 2.35 0.041 1678 -589.4 142.2 - - 2192 - - - - - - - - 14.14 14.48 14.46
13699 835.2 7.9 706 13712 roll 0.77 - - 3192 - 2.40 0.066 322 -565.0 142.2 - - 2192 - - - - - - - - 14.87 14.45 14.88
13788 827.6 8.6 718 13801 done 0.77 - - 3191 - 2.28 0.031 1689 599.6 142.2 - - 2192 - - - - - - - - 14.64 14.61 14.68
14159 796.5 8.5 728 14172 roll 0.77 - - 3192 - 2.35 0.050 3054 580.9 142.2 - - 2192 - - - - - - - - 14.88 14.47 14.90
14255 787.9 8.9 741 14269 done 0.77 - - 3201 - 2.33 0.041 1683 -588.4 142.2 - - 2190 - - - - - - - - 14.60 14.52 14.64
14620 756.2 8.8 750 14633 roll 0.77 - - 3216 - 2.40 0.066 325 -565.8 142.2 - - 2191 - - - - - - - - 14.88 14.42 14.90
14667 751.6 9.6 756 14680 done 0.77 0.15 0.243 3179 -246.7 2.25 0.031 1696 609.3 142.2 - - 2191 - - - - - - - - 14.16 14.58 14.44
15023 723.2 7.9 764 15037 roll 0.77 - - 3180 - 2.33 0.050 3047 579.8 142.2 - - 2190 - - - - - - - - 14.87 14.45 14.89
15135 713.8 8.3 779 15149 done 0.77 - - 3187 - 2.35 0.041 1672 -585.1 142.2 - - 2191 - - - - - - - - 14.57 14.48 14.62
15477 685.4 8.3 786 15491 roll 0.77 - - 3197 - 2.40 0.065 322 -562.5 142.2 - - 2191 - - - - - - - - 14.86 14.38 14.88
15547 679.3 9.1 795 15561 done 0.77 - - 3197 - 2.22 0.031 1675 609.5 142.2 - - 2191 - - - - - - - - 14.62 14.57 14.65
15882 652.1 7.9 807 15896 roll 0.77 - - 3197 - 2.35 0.050 3051 585.5 142.2 - - 2191 - - - - - - - - 14.86 14.43 14.88
15958 646.1 7.8 817 15971 done 0.77 - - 3206 - 2.33 0.041 1680 -588.4 143.7 - - 2191 - - - - - - - - 14.55 14.47 14.59
16287 621.4 7.6 828 16301 roll 0.78 - - 3216 - 2.40 0.065 323 -565.4 149.3 - - 2190 - - - - - - - - 14.88 14.35 14.90
16321 618.6 7.9 832 16334 done 0.78 0.15 0.245 3185 -206.7 2.25 0.032 1689 607.1 149.3 - - 2191 - - - - - - - - 14.09 14.55 14.35
16693 592.2 7.2 842 16724 roll 0.80 - - 3185 - 2.38 0.050 3047 570.6 162.2 19.48 1.748 2125 -3.4 0.222 - - - - - - 14.85 14.53 13.54
16787 584.6 8.3 855 16800 done 0.80 - - 3191 - 2.33 0.041 1676 -588.4 162.2 - - 2114 - - - - - - - - 14.57 14.49 14.60
17143 553.3 9.1 863 17156 roll 0.80 - - 3202 - 2.40 0.066 324 -563.3 162.2 - - 2114 - - - - - - - - 14.80 14.38 14.82
17177 550.0 9.5 867 17191 done 0.80 - - 3202 - 2.22 0.031 1678 609.9 162.2 - - 2114 - - - - - - - - 14.60 14.54 14.62
17548 513.8 9.7 877 17561 roll 0.80 - - 3202 - 2.38 0.048 3057 579.4 162.2 - - 2113 - - - - - - - - 14.85 14.42 14.87
17623 506.6 9.3 887 17637 done 0.80 - - 3211 - 2.35 0.041 1681 -585.5 162.2 - - 2114 - - - - - - - - 14.55 14.47 14.59
17952 479.8 8.0 898 17965 roll 0.80 - - 3221 - 2.40 0.065 324 -565.4 162.2 - - 2113 - - - - - - - - 14.83 14.38 14.85
17985 477.1 7.5 902 18003 done 0.80 0.15 0.244 3187 -226.7 2.22 0.031 1684 612.6 169.1 1.70 0.167 2097 -9.4 5.198 - - - - - - 14.15 14.57 14.27
18357 453.5 6.5 912 18413 roll 0.84 - - 3190 - 2.38 0.050 3040 569.7 195.3 40.05 1.476 1988 -2.7 0.162 - - - - - - 14.83 14.42 13.60
18433 447.6 7.9 923 18446 done 0.84 - - 3196 - 2.33 0.041 1678 -584.5 195.3 - - 1983 - - - - - - - - 14.49 14.46 14.52
18755 418.8 9.2 933 18768 roll 0.84 - - 3206 - 2.40 0.066 325 -563.8 195.3 - - 1981 - - - - - - - - 14.75 14.37 14.76
18817 412.6 9.9 941 18830 done 0.84 - - 3206 - 2.22 0.030 1680 610.4 195.3 - - 1982 - - - - - - - - 14.53 14.50 14.58
19159 381.3 9.0 954 19173 roll 0.84 - - 3206 - 2.35 0.047 3051 583.4 195.3 - - 1981 - - - - - - - - 14.83 14.43 14.85
19229 375.0 9.0 963 19243 done 0.84 - - 3215 - 2.35 0.043 1675 -585.5 195.3 - - 1981 - - - - - - - - 14.54 14.45 14.57
19565 346.4 8.5 975 19578 roll 0.84 - - 3225 - 2.40 0.065 320 -564.6 195.3 - - 1981 - - - - - - - - 14.83 14.38 14.85
19628 340.8 9.0 983 19641 done 0.84 - - 3226 - 2.22 0.030 1677 611.3 195.3 - - 1981 - - - - - - - - 14.60 14.55 14.62
19970 310.0 9.2 996 19983 roll 0.84 - - 3226 - 2.35 0.047 3055 586.4 195.3 - - 1981 - - - - - - - - 14.87 14.42 14.90
20024 304.2 10.6 1003 20039 done 0.84 0.15 0.259 3204 -146.7 2.38 0.043 1674 -580.3 195.3 - - 1981 - - - - - - - - 14.07 14.47 14.38
20370 270.7 9.9 1010 20383 roll 0.84 - - 3212 - 2.40 0.064 322 -563.3 195.3 - - 1981 - - - - - - - - 14.84 14.37 14.86
20410 266.3 10.0 1015 20423 done 0.84 - - 3212 - 2.22 0.029 1673 608.6 195.3 - - 1981 - - - - - - - - 14.61 14.56 14.63
20774 232.5 9.0 1024 20787 roll 0.84 - - 3212 - 2.38 0.047 3059 582.4 195.3 - - 1981 - - - - - - - - 14.88 14.42 14.90
20829 227.7 8.5 1031 20843 done 0.84 - - 3221 - 2.35 0.040 1684 -585.1 195.3 - - 1981 - - - - - - - - 14.54 14.45 14.58
21172 198.4 8.6 1038 21185 roll 0.84 - - 3231 - 2.42 0.065 319 -564.0 195.3 - - 1981 - - - - - - - - 14.85 14.35 14.87
21221 193.8 9.8 1044 21234 done 0.84 0.15 0.233 3199 -213.3 2.25 0.030 1697 612.4 195.3 - - 1981 - - - - - - - - 14.12 14.55 14.40
21577 166.5 7.6 1052 21590 roll 0.84 - - 3199 - 2.30 0.046 3051 588.7 200.9 - - 1981 - - - - - - - - 14.88 14.42 14.90
21674 158.9 7.8 1065 21691 done 0.85 - - 3204 - 2.35 0.040 1674 -586.0 202.9 2.67 0.579 1962 -7.1 0.378 - - - - - - 14.54 14.45 13.40
22036 130.1 8.1 1074 22049 roll 0.85 - - 3215 - 2.38 0.064 324 -567.2 202.9 - - 1965 - - - - - - - - 14.88 14.38 14.89
22104 124.3 8.2 1083 22118 done 0.85 - - 3214 - 2.20 0.029 1681 616.8 202.9 - - 1965 - - - - - - - - 14.61 14.55 14.63
22441 96.9 8.3 1095 22454 roll 0.85 - - 3215 - 2.30 0.044 3044 592.6 202.9 - - 1965 - - - - - - - - 14.85 14.45 14.87
22559 85.7 8.7 1111 22572 done 0.85 - - 3223 - 2.30 0.039 1679 -593.5 202.9 - - 1965 - - - - - - - - 14.55 14.45 14.59
22902 56.2 8.1 1126 22915 roll 0.85 - - 3223 - 2.35 0.044 3054 585.1 202.9 - - 1965 - - - - - - - - 14.86 14.43 14.88
22957 51.4 8.5 1133 22970 done 0.85 - - 3230 - 2.35 0.038 1674 -587.2 202.9 - - 1965 - - - - - - - - 14.47 14.40 14.51
23273 37.2 4.0 1145 23351 roll 1.04 - - 3230 - 2.40 0.043 3053 574.6 274.9 62.12 0.223 1677 -4.6 0.149 - - - - - - 14.84 14.54 14.25
23435 30.3 5.1 1168 23495 done 1.32 0.35 0.076 3365 385.7 2.35 0.039 1672 -587.7 326.3 44.85 0.203 1463 -4.8 0.138 - - - - - - 14.48 14.47 14.22
23810 6.2 8.5 1188 23823 roll 1.32 - - 3376 - 2.38 0.060 322 -567.2 326.3 1.85 0.150 1462 - - - - - - - - 14.81 14.24 14.14
23861 end climb: SURFACE_DEPTH_REACHED
23861 begin surface coast
23869 end surface coast: CONTROL_FINISHED_OK
23869 begin surface
SM 1.13 - - - - -8.59 9.43 0.059 165 17.5 2.42 0.027 1741 -2878.9 515.13 114.07 0.124 692 6.1 -0.006 - - - - - -