SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 431 * Raw log
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• Previous call tries 1 • 162.86 of 350.00 AH used of 24V (53.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth 0.99 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 35 s
• GPS2 time: 17 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
30 - - - 117 done -0.84 - - 153 - - - 1789 - -116.8 -83.85 - 3270 - - - - - - - - 14.68 12.71 14.70
120 5.9 -8.4 3 138 roll -0.84 12.40 0.380 2643 200.8 2.33 0.047 3139 579.4 -116.8 - - 3272 - - - - - - - - 14.03 14.45 14.40
230 41.8 -18.1 19 237 done -0.57 0.40 0.239 2740 242.5 2.28 0.037 1773 -599.1 -116.8 - - 3272 - - - - - - - - 14.10 14.46 14.37
559 72.0 -7.8 33 566 roll -0.57 - - 2742 - 2.42 0.058 370 -579.8 -116.8 - - 3275 - - - - - - - - 14.79 14.44 14.81
650 79.6 -8.1 46 656 done -0.57 - - 2736 - 2.25 0.031 1746 611.6 -116.8 - - 3278 - - - - - - - - 14.60 14.54 14.62
979 106.3 -7.9 59 985 roll -0.57 - - 2725 - 2.40 0.050 3169 592.9 -116.8 - - 3277 - - - - - - - - 14.82 14.47 14.83
1055 112.9 -8.6 70 1061 done -0.57 - - 2725 - 2.33 0.037 1770 -600.4 -116.8 - - 3276 - - - - - - - - 14.59 14.52 14.62
1373 142.4 -9.6 80 1379 roll -0.57 - - 2725 - 2.42 0.058 369 -578.9 -116.8 - - 3274 - - - - - - - - 14.82 14.45 14.83
1490 155.1 -10.5 97 1498 done -0.57 - - 2715 - 2.35 0.032 1770 596.2 -116.8 - - 3272 - - - - - - - - 14.61 14.54 14.63
1820 189.0 -10.3 109 1827 roll -0.57 - - 2705 - 2.38 0.051 3172 589.1 -116.8 - - 3269 - - - - - - - - 14.83 14.47 14.85
1862 193.5 -10.4 115 1869 done -0.57 0.15 0.239 2738 220.0 2.33 0.039 1775 -599.6 -116.8 - - 3269 - - - - - - - - 14.19 14.52 14.41
2212 224.9 -8.8 123 2219 roll -0.57 - - 2738 - 2.42 0.058 375 -578.5 -116.8 - - 3265 - - - - - - - - 14.84 14.44 14.86
2268 230.0 -9.0 131 2274 done -0.57 - - 2731 - 2.33 0.032 1780 603.0 -116.8 - - 3266 - - - - - - - - 14.60 14.55 14.62
2605 259.1 -8.7 144 2618 roll -0.57 - - 2721 - 2.35 0.052 3165 589.4 -116.8 - - 3264 - - - - - - - - 14.88 14.52 14.90
2688 266.8 -9.2 155 2701 done -0.57 - - 2720 - 2.33 0.038 1770 -598.7 -116.8 - - 3263 - - - - - - - - 14.66 14.58 14.71
3010 297.5 -9.6 165 3023 roll -0.57 - - 2721 - 2.42 0.060 371 -578.1 -116.8 - - 3260 - - - - - - - - 14.90 14.51 14.92
3092 306.2 -10.3 176 3105 done -0.57 0.15 0.249 2743 146.7 2.33 0.034 1772 601.3 -116.8 - - 3259 - - - - - - - - 14.22 14.61 14.47
3413 334.2 -8.7 186 3427 roll -0.57 - - 2735 - 2.35 0.053 3166 593.2 -116.8 - - 3258 - - - - - - - - 14.94 14.53 14.96
3497 341.3 -8.6 197 3510 done -0.57 - - 2735 - 2.33 0.038 1776 -596.6 -116.8 - - 3257 - - - - - - - - 14.64 14.57 14.68
3818 370.0 -9.1 207 3831 roll -0.57 - - 2735 - 2.45 0.061 369 -574.3 -116.8 - - 3255 - - - - - - - - 14.92 14.50 14.94
3915 379.5 -9.7 220 3928 done -0.57 - - 2726 - 2.35 0.034 1775 598.3 -116.8 - - 3255 - - - - - - - - 14.67 14.61 14.69
4278 412.3 -9.0 229 4292 roll -0.57 - - 2715 - 2.35 0.054 3162 590.2 -116.8 - - 3253 - - - - - - - - 14.92 14.50 14.94
4326 416.5 -8.9 235 4339 done -0.57 - - 2716 - 2.33 0.040 1776 -594.8 -116.8 - - 3253 - - - - - - - - 14.63 14.56 14.66
4683 448.5 -9.0 243 4696 roll -0.57 0.12 0.266 2746 250.0 2.45 0.060 376 -571.4 -116.8 - - 3248 - - - - - - - - 14.20 14.44 14.33
4802 458.4 -8.1 259 4815 done -0.57 - - 2739 - 2.35 0.034 1782 598.3 -116.8 - - 3250 - - - - - - - - 14.66 14.59 14.68
5145 486.3 -8.2 272 5158 roll -0.57 - - 2729 - 2.38 0.056 3163 580.3 -116.8 - - 3249 - - - - - - - - 14.92 14.47 14.94
5236 494.1 -8.6 284 5249 done -0.57 - - 2729 - 2.33 0.037 1772 -597.0 -116.8 - - 3248 - - - - - - - - 14.62 14.54 14.64
5606 525.3 -8.4 294 5619 roll -0.57 - - 2729 - 2.45 0.060 374 -570.6 -116.8 - - 3247 - - - - - - - - 14.94 14.45 14.95
5703 533.9 -8.8 307 5717 done -0.57 - - 2718 - 2.35 0.034 1788 601.7 -116.8 - - 3246 - - - - - - - - 14.65 14.59 14.66
6066 564.6 -8.5 316 6080 roll -0.57 - - 2709 - 2.35 0.055 3159 583.4 -116.8 - - 3244 - - - - - - - - 14.94 14.45 14.95
6178 574.0 -8.5 331 6192 done -0.57 0.15 0.237 2741 213.3 2.35 0.039 1771 -590.6 -116.8 - - 3244 - - - - - - - - 14.12 14.51 14.39
6521 600.7 -7.7 338 6534 roll -0.57 - - 2741 - 2.45 0.062 376 -569.4 -116.8 - - 3243 - - - - - - - - 14.92 14.41 14.95
6653 612.0 -8.6 356 6666 done -0.57 - - 2735 - 2.33 0.034 1773 599.6 -116.8 - - 3243 - - - - - - - - 14.64 14.58 14.66
6982 638.6 -8.1 367 6995 roll -0.57 - - 2724 - 2.38 0.054 3160 582.8 -116.8 - - 3242 - - - - - - - - 14.89 14.45 14.91
7078 646.5 -8.0 380 7091 done -0.57 - - 2724 - 2.35 0.037 1770 -591.5 -116.8 - - 3240 - - - - - - - - 14.58 14.50 14.61
7443 675.1 -7.8 389 7456 roll -0.57 - - 2724 - 2.45 0.062 382 -566.5 -116.8 - - 3240 - - - - - - - - 14.88 14.38 14.90
7525 682.0 -8.1 400 7539 done -0.57 0.12 0.267 2739 125.0 2.33 0.034 1773 597.0 -116.8 - - 3239 - - - - - - - - 14.12 14.57 14.37
7848 703.2 -6.6 410 7861 roll -0.57 - - 2731 - 2.40 0.054 3171 582.5 -116.8 - - 3238 - - - - - - - - 14.86 14.42 14.90
7951 710.1 -6.6 424 7965 done -0.66 - - 2731 - 2.38 0.039 1777 -585.7 -116.8 - - 3239 - - - - - - - - 14.54 14.46 14.57
8308 734.9 -7.1 432 8321 roll -0.66 - - 2731 - 2.47 0.062 377 -566.8 -116.8 - - 3237 - - - - - - - - 14.88 14.35 14.91
8405 742.4 -7.7 445 8419 done -0.66 - - 2722 - 2.38 0.034 1789 593.3 -116.8 - - 3236 - - - - - - - - 14.59 14.54 14.62
8769 769.4 -7.4 454 8782 roll -0.66 - - 2711 - 2.38 0.056 3162 576.9 -116.8 - - 3236 - - - - - - - - 14.91 14.37 14.93
8873 776.9 -7.2 468 8887 done -0.66 - - 2711 - 2.38 0.039 1770 -584.9 -116.8 - - 3235 - - - - - - - - 14.52 14.44 14.56
9230 803.4 -7.5 476 9243 roll -0.66 - - 2711 - 2.47 0.063 376 -564.4 -116.8 - - 3234 - - - - - - - - 14.90 14.32 14.92
9355 813.8 -8.3 493 9368 done -0.66 - - 2702 - 2.35 0.036 1770 593.2 -116.8 - - 3234 - - - - - - - - 14.57 14.50 14.59
9691 840.3 -7.8 505 9704 roll -0.66 - - 2691 - 2.42 0.056 3172 579.3 -116.8 - - 3232 - - - - - - - - 14.87 14.35 14.88
9780 848.3 -8.4 517 9793 done -0.66 - - 2691 - 2.38 0.041 1777 -586.1 -116.8 - - 3232 - - - - - - - - 14.51 14.40 14.52
10152 881.1 -9.2 527 10165 roll -0.66 - - 2691 - 2.50 0.063 376 -560.4 -116.8 - - 3231 - - - - - - - - 14.88 14.29 14.88
10248 891.0 -10.3 540 10261 done -0.66 0.15 0.268 2711 133.3 2.38 0.037 1780 589.9 -116.8 - - 3232 - - - - - - - - 13.96 14.47 14.24
10613 922.6 -8.6 549 10626 roll -0.66 - - 2704 - 2.40 0.057 3162 575.8 -116.8 - - 3231 - - - - - - - - 14.88 14.31 14.90
10688 929.2 -8.5 559 10701 done -0.66 - - 2703 - 2.38 0.040 1767 -586.1 -116.8 - - 3232 - - - - - - - - 14.47 14.39 14.50
11016 956.8 -8.3 570 11029 roll -0.66 - - 2703 - 2.47 0.065 380 -561.5 -116.8 - - 3230 - - - - - - - - 14.85 14.28 14.88
11107 964.6 -8.6 582 11120 done -0.66 - - 2694 - 2.38 0.036 1777 587.0 -116.8 - - 3230 - - - - - - - - 14.50 14.44 14.52
11419 end dive: TARGET_DEPTH_EXCEEDED
11419 begin apogee
11427 990.1 -8.1 591 11558 done -0.21 0.65 0.233 2854 246.2 - - 1662 - - 121.90 2.229 2794 -3.6 0.308 - - - - - - 13.80 13.91 12.85
11560 end apogee: CONTROL_FINISHED_OK
11560 begin climb
11565 994.5 - 593 11708 roll 0.84 1.15 0.150 3200 300.9 2.53 0.064 348 -519.4 116.8 126.62 2.195 2309 -3.8 0.336 - - - - - - 13.91 13.69 12.66
11750 984.0 9.1 623 11764 done 0.84 - - 3200 - 2.30 0.031 1690 583.5 116.8 - - 2298 - - - - - - - - 14.11 14.07 14.12
12107 951.3 9.2 631 12120 roll 0.84 - - 3200 - 2.35 0.050 3057 581.7 116.8 - - 2294 - - - - - - - - 14.73 14.44 14.76
12239 938.8 9.4 649 12252 done 0.84 - - 3209 - 2.30 0.041 1697 -591.3 116.8 - - 2292 - - - - - - - - 14.57 14.49 14.59
12567 908.8 9.2 660 12580 done 0.84 - - 3209 - - - 1697 - 116.8 - - 2292 - - - - - - - - 14.82 14.84 14.83
12904 879.7 8.5 666 12917 roll 0.84 - - 3209 - 2.35 0.049 3061 580.4 116.8 - - 2292 - - - - - - - - 14.83 14.47 14.85
12946 876.1 10.6 671 12959 done 0.84 - - 3218 - 2.35 0.041 1676 -589.4 116.8 - - 2291 - - - - - - - - 14.59 14.51 14.63
13309 845.3 8.5 680 13322 done 0.84 - - 3218 - - - 1676 - 116.8 - - 2292 - - - - - - - - 14.87 14.89 14.88
13645 816.0 8.9 686 13659 roll 0.84 - - 3218 - 2.40 0.047 3064 578.3 116.8 - - 2291 - - - - - - - - 14.88 14.45 14.90
13687 812.1 9.2 691 13701 done 0.74 0.25 0.256 3172 -184.0 2.38 0.041 1669 -586.1 116.8 - - 2291 - - - - - - - - 14.03 14.49 14.38
14051 786.2 7.0 700 14067 done 0.76 - - 3172 - - - 1669 - 132.0 7.05 1.795 2255 -5.1 0.433 - - - - - - 14.85 14.44 13.29
14387 763.2 6.8 706 14425 done 0.79 - - 3172 - - - 1669 - 151.8 28.73 1.974 2173 -2.9 0.214 - - - - - - 14.83 14.38 13.38
14777 735.4 7.2 719 14794 roll 0.80 - - 3172 - 2.40 0.047 3070 583.8 163.9 5.12 1.545 2123 -9.8 0.901 - - - - - - 14.77 14.14 13.19
14828 731.3 7.9 726 14842 done 0.80 - - 3178 - 2.40 0.044 1678 -580.0 163.9 - - 2124 - - - - - - - - 14.56 14.47 14.59
15173 704.3 7.9 733 15187 roll 0.80 - - 3189 - 2.40 0.066 322 -565.0 163.9 - - 2126 - - - - - - - - 14.79 14.39 14.81
15214 700.8 8.1 738 15227 done 0.80 - - 3189 - 2.25 0.031 1687 606.7 163.9 - - 2126 - - - - - - - - 14.60 14.55 14.62
15577 670.5 8.3 747 15591 roll 0.80 - - 3188 - 2.35 0.049 3061 584.7 163.9 - - 2127 - - - - - - - - 14.85 14.42 14.87
15689 660.8 8.6 762 15704 done 0.80 - - 3197 - 2.38 0.042 1680 -580.3 163.9 - - 2127 - - - - - - - - 14.54 14.45 14.57
16032 632.4 8.2 769 16045 done 0.80 - - 3197 - - - 1685 - 163.9 - - 2126 - - - - - - - - 14.86 14.89 14.88
16369 604.8 8.2 775 16382 roll 0.80 - - 3197 - 2.38 0.048 3056 576.1 163.9 - - 2124 - - - - - - - - 14.86 14.40 14.88
16410 601.2 8.5 780 16423 done 0.80 - - 3206 - 2.35 0.041 1676 -587.2 163.9 - - 2126 - - - - - - - - 14.54 14.46 14.58
16773 570.6 8.4 789 16786 roll 0.80 - - 3216 - 2.40 0.065 322 -564.2 163.9 - - 2127 - - - - - - - - 14.84 14.35 14.86
16849 563.8 9.2 799 16863 done 0.80 - - 3215 - 2.25 0.031 1683 604.9 163.9 - - 2126 - - - - - - - - 14.58 14.52 14.60
17178 535.0 8.8 810 17191 roll 0.80 - - 3217 - 2.35 0.048 3047 580.4 163.9 - - 2126 - - - - - - - - 14.88 14.31 14.90
17247 528.6 9.2 819 17260 done 0.80 0.15 0.258 3194 -153.3 2.33 0.041 1679 -587.1 163.9 - - 2127 - - - - - - - - 14.00 14.44 14.29
17584 502.1 7.9 831 17598 roll 0.80 - - 3202 - 2.42 0.065 313 -564.5 163.9 - - 2126 - - - - - - - - 14.83 14.33 14.85
17625 498.6 8.4 836 17638 done 0.80 - - 3203 - 2.25 0.031 1681 608.0 163.9 - - 2127 - - - - - - - - 14.59 14.54 14.62
17989 468.2 8.4 845 18002 roll 0.80 - - 3203 - 2.35 0.048 3052 583.4 163.9 - - 2126 - - - - - - - - 14.86 14.38 14.88
18051 462.6 9.2 853 18064 done 0.80 - - 3211 - 2.35 0.040 1673 -586.8 163.9 - - 2130 - - - - - - - - 14.50 14.42 14.54
18393 430.5 9.5 866 18407 roll 0.80 - - 3222 - 2.40 0.065 322 -562.9 163.9 - - 2127 - - - - - - - - 14.84 14.32 14.89
18428 427.0 10.2 870 18442 done 0.80 0.15 0.244 3191 -206.7 2.22 0.030 1696 618.9 163.9 - - 2127 - - - - - - - - 14.04 14.53 14.31
18799 395.1 8.3 880 18812 roll 0.80 - - 3191 - 2.30 0.049 3035 582.2 163.9 - - 2126 - - - - - - - - 14.88 14.36 14.89
18888 387.8 7.9 892 18901 done 0.80 - - 3197 - 2.33 0.041 1678 -582.4 163.9 - - 2126 - - - - - - - - 14.47 14.38 14.50
19258 360.7 7.3 902 19289 roll 0.81 - - 3207 - 2.38 0.064 320 -570.6 174.9 18.02 1.488 2073 -2.9 0.138 - - - - - - 14.87 14.23 13.54
19337 354.6 8.2 913 19350 done 0.81 - - 3207 - 2.20 0.031 1666 611.8 174.9 - - 2065 - - - - - - - - 14.61 14.55 14.62
19659 330.3 7.5 923 19673 roll 0.82 - - 3207 - 2.35 0.045 3048 588.1 180.7 1.30 0.180 2059 -4.6 1.641 - - - - - - 14.79 14.25 14.13
19742 323.6 7.8 934 19755 done 0.82 - - 3216 - 2.35 0.041 1673 -585.1 181.5 - - 2057 - - - - - - - - 14.54 14.45 14.57
20064 298.1 8.1 944 20078 roll 0.82 - - 3226 - 2.40 0.065 320 -563.8 181.5 - - 2057 - - - - - - - - 14.82 14.35 14.83
20105 294.4 8.9 949 20118 done 0.82 0.12 0.246 3201 -208.3 2.25 0.030 1692 609.8 181.5 - - 2056 - - - - - - - - 14.13 14.55 14.37
20468 266.7 7.6 958 20486 roll 0.83 - - 3201 - 2.33 0.049 3053 584.1 186.3 4.40 1.058 2033 -5.2 0.255 - - - - - - 14.87 14.48 13.38
20570 258.5 8.0 972 20584 done 0.83 - - 3207 - 2.35 0.041 1671 -588.1 186.3 - - 2037 - - - - - - - - 14.58 14.50 14.62
20927 230.2 7.8 980 20940 roll 0.83 - - 3216 - 2.38 0.064 323 -566.4 186.9 - - 2038 - - - - - - - - 14.85 14.35 14.88
20968 226.9 7.8 985 20986 done 0.83 - - 3217 - 2.22 0.030 1680 611.3 188.1 3.22 0.790 2025 -4.0 0.225 - - - - - - 14.58 14.51 13.33
21329 197.7 8.2 994 21342 roll 0.83 - - 3217 - 2.33 0.045 3049 587.6 188.1 - - 2032 - - - - - - - - 14.84 14.44 14.86
21448 186.9 9.0 1010 21462 done 0.83 - - 3225 - 2.35 0.040 1674 -585.1 188.1 - - 2029 - - - - - - - - 14.53 14.44 14.56
21791 156.5 8.8 1023 21804 roll 0.83 - - 3237 - 2.40 0.064 316 -565.8 188.1 - - 2032 - - - - - - - - 14.84 14.34 14.86
21859 150.1 9.2 1032 21873 done 0.83 0.17 0.229 3197 -235.3 2.25 0.028 1698 614.2 188.1 - - 2032 - - - - - - - - 14.09 14.56 14.34
22196 127.4 6.6 1044 22239 roll 0.86 - - 3198 - 2.28 0.044 3040 588.6 211.3 31.15 1.193 1924 -3.5 0.072 - - - - - - 14.87 14.27 13.71
22280 121.3 7.7 1056 22293 done 0.86 - - 3202 - 2.33 0.041 1671 -587.6 214.9 - - 1916 - - - - - - - - 14.54 14.47 14.57
22624 97.2 7.0 1066 22647 done 0.88 - - 3202 - - - 1671 - 231.3 14.52 0.340 1850 -4.5 0.252 - - - - - - 14.78 14.43 14.00
22934 74.4 7.2 1077 22959 done 1.00 0.15 0.112 3269 446.7 - - 1668 - 243.6 15.12 0.294 1799 -3.4 0.165 - - - - - - 14.51 14.36 14.00
23248 47.1 7.4 1088 23271 roll 1.01 - - 3273 - 2.38 0.061 322 -565.5 251.3 9.60 0.223 1773 -2.7 0.111 - - - - - - 14.80 14.19 13.98
23285 45.0 5.2 1093 23344 done 1.07 - - 3273 - 2.20 0.028 1673 614.1 300.5 46.83 0.244 1567 -4.4 0.157 - - - - - - 14.62 14.57 14.16
23673 27.9 4.4 1115 23739 roll 1.37 0.28 0.083 3392 425.0 2.40 0.063 321 -563.3 364.3 52.53 0.194 1308 -4.9 0.137 - - - - - - 14.45 14.31 14.16
23850 11.2 10.5 1140 23863 done 1.37 - - 3392 - 2.20 0.027 1692 623.2 364.3 - - 1315 - - - - - - - - 14.59 14.54 14.61
23959 end climb: SURFACE_DEPTH_REACHED
23959 begin surface coast
23986 end surface coast: CONTROL_FINISHED_OK
23986 begin surface
SM 0.96 - - - - -8.61 9.62 0.066 158 16.4 - - 1701 - 515.13 91.07 0.124 691 7.6 -0.006 - - - - - -