SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 437 * Raw log
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• Previous call tries 2 • 165.15 of 350.00 AH used of 24V (52.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth 1.06 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 15 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 VBD -0.84 - - 145 - - - 1747 - -116.8 -84.35 - 3253 - - - - - - - - 14.69 - 14.71
116 5.3 -7.5 3 139 roll -0.84 12.57 0.383 2657 199.8 2.70 2.026 380 -506.3 -116.8 -0.25 - 3272 -76.0 - - - - - - - 13.98 13.10 14.41
327 56.1 -14.4 34 335 done -0.54 0.40 0.262 2747 225.0 2.38 0.032 1797 595.4 -116.8 - - 3273 - - - - - - - - 14.06 14.47 14.33
644 80.3 -7.6 46 650 roll -0.54 - - 2739 - 2.33 0.051 3175 591.4 -116.8 - - 3274 - - - - - - - - 14.79 14.47 14.81
733 87.8 -7.9 59 740 done -0.54 - - 2738 - 2.33 0.036 1772 -602.1 -116.8 - - 3274 - - - - - - - - 14.59 14.52 14.62
1063 116.8 -9.0 70 1070 roll -0.54 - - 2738 - 2.42 0.059 374 -577.7 -116.8 - - 3274 - - - - - - - - 14.83 14.40 14.85
1120 122.3 -9.9 78 1127 done -0.54 - - 2730 - 2.33 0.032 1775 601.3 -116.8 - - 3274 - - - - - - - - 14.64 14.58 14.65
1456 154.8 -9.5 91 1462 roll -0.54 - - 2719 - 2.35 0.053 3166 591.9 -116.8 - - 3273 - - - - - - - - 14.83 14.50 14.85
1554 163.3 -8.7 105 1561 done -0.54 0.15 0.233 2754 233.3 2.33 0.037 1767 -600.4 -116.8 - - 3271 - - - - - - - - 14.22 14.53 14.45
1904 191.6 -8.2 113 1911 roll -0.54 - - 2749 - 2.42 0.060 375 -575.2 -116.8 - - 3269 - - - - - - - - 14.83 14.45 14.85
2008 201.0 -8.7 128 2016 done -0.54 - - 2745 - 2.35 0.033 1782 598.7 -116.8 - - 3268 - - - - - - - - 14.62 14.56 14.64
2354 230.6 -8.6 135 2360 roll -0.54 - - 2744 - 2.45 0.057 380 -572.2 -116.8 - - 3264 - - - - - - - - 14.84 14.42 14.85
2394 234.6 -9.5 141 2401 done -0.54 - - 2737 - 2.35 0.033 1778 594.9 -116.8 - - 3265 - - - - - - - - 14.59 14.52 14.62
2745 266.3 -9.1 149 2758 roll -0.54 - - 2726 - 2.35 0.054 3163 589.4 -116.8 - - 3262 - - - - - - - - 14.90 14.51 14.92
2828 273.8 -9.0 160 2842 done -0.54 0.12 0.236 2751 208.3 2.30 0.037 1775 -603.5 -116.8 - - 3262 - - - - - - - - 14.29 14.59 14.51
3150 298.7 -7.6 170 3163 roll -0.54 - - 2752 - 2.42 0.060 377 -577.7 -116.8 - - 3260 - - - - - - - - 14.91 14.51 14.93
3262 307.9 -8.3 185 3276 done -0.54 - - 2745 - 2.35 0.032 1790 601.3 -116.8 - - 3259 - - - - - - - - 14.68 14.63 14.70
3604 334.6 -7.7 192 3618 roll -0.54 - - 2735 - 2.33 0.053 3161 588.4 -116.8 - - 3257 - - - - - - - - 14.92 14.52 14.94
3680 340.0 -7.0 202 3694 done -0.54 - - 2735 - 2.30 0.038 1777 -601.7 -116.8 - - 3257 - - - - - - - - 14.66 14.59 14.69
4010 364.3 -7.5 213 4023 roll -0.54 - - 2735 - 2.45 0.061 372 -573.5 -116.8 - - 3255 - - - - - - - - 14.91 14.50 14.93
4121 374.1 -8.9 228 4135 done -0.54 - - 2726 - 2.33 0.034 1770 600.0 -116.8 - - 3254 - - - - - - - - 14.66 14.59 14.68
4466 406.6 -9.8 235 4479 roll -0.54 - - 2716 - 2.38 0.054 3163 585.3 -116.8 - - 3252 - - - - - - - - 14.91 14.47 14.96
4506 410.9 -10.4 240 4519 done -0.54 0.15 0.234 2749 220.0 2.33 0.038 1774 -596.1 -116.8 - - 3252 - - - - - - - - 14.21 14.57 14.46
4869 443.1 -8.7 249 4883 roll -0.54 - - 2749 - 2.45 0.062 370 -573.1 -116.8 - - 3251 - - - - - - - - 14.95 14.45 14.96
4981 453.0 -8.9 264 4995 done -0.54 - - 2742 - 2.38 0.034 1781 592.9 -116.8 - - 3250 - - - - - - - - 14.64 14.58 14.66
5324 481.1 -8.2 271 5337 roll -0.54 - - 2732 - 2.38 0.056 3168 582.8 -116.8 - - 3248 - - - - - - - - 14.93 14.47 14.95
5379 485.7 -8.2 278 5394 done -0.54 - - 2732 - 2.38 0.039 1759 -592.0 -116.8 - - 3248 - - - - - - - - 14.60 14.52 14.63
5724 513.7 -8.1 285 5738 roll -0.54 - - 2732 - 2.42 0.060 375 -571.9 -116.8 - - 3247 - - - - - - - - 14.90 14.44 14.92
5814 521.6 -8.5 297 5828 done -0.54 0.12 0.257 2747 125.0 2.35 0.034 1782 598.7 -116.8 - - 3245 - - - - - - - - 14.19 14.60 14.44
6187 547.1 -6.8 307 6200 roll -0.54 - - 2740 - 2.38 0.055 3162 579.8 -116.8 - - 3245 - - - - - - - - 14.92 14.45 14.95
6249 551.4 -6.6 315 6262 done -0.64 - - 2740 - 2.33 0.037 1778 -594.0 -116.8 - - 3248 - - - - - - - - 14.59 14.52 14.62
6593 575.1 -7.0 328 6606 roll -0.64 - - 2745 - 2.47 0.061 373 -568.8 -116.8 - - 3244 - - - - - - - - 14.90 14.42 14.92
6696 583.5 -7.9 342 6709 done -0.64 - - 2731 - 2.35 0.034 1781 599.1 -116.8 - - 3243 - - - - - - - - 14.62 14.62 14.65
7052 610.8 -7.7 350 7066 roll -0.64 - - 2721 - 2.38 0.056 3159 579.0 -116.8 - - 3242 - - - - - - - - 14.90 14.42 14.92
7115 615.7 -8.0 358 7128 done -0.64 - - 2720 - 2.35 0.039 1768 -591.9 -116.8 - - 3242 - - - - - - - - 14.59 14.51 14.62
7457 644.4 -8.4 371 7470 roll -0.64 - - 2720 - 2.45 0.063 375 -568.6 -116.8 - - 3241 - - - - - - - - 14.89 14.40 14.90
7582 656.1 -9.4 388 7596 done -0.64 - - 2712 - 2.35 0.036 1773 594.9 -116.8 - - 3239 - - - - - - - - 14.59 14.53 14.62
7918 687.3 -9.3 400 7931 roll -0.64 - - 2701 - 2.40 0.055 3166 580.4 -116.8 - - 3238 - - - - - - - - 14.88 14.40 14.91
8049 700.0 -9.5 418 8062 done -0.64 - - 2701 - 2.35 0.040 1776 -591.5 -116.8 - - 3238 - - - - - - - - 14.54 14.46 14.57
8379 731.3 -9.5 429 8392 roll -0.64 - - 2701 - 2.47 0.063 378 -566.0 -116.8 - - 3237 - - - - - - - - 14.88 14.35 14.94
8503 743.6 -9.6 446 8516 done -0.64 0.15 0.253 2723 146.7 2.35 0.035 1776 594.9 -116.8 - - 3237 - - - - - - - - 14.06 14.53 14.32
8840 769.4 -7.5 458 8853 roll -0.64 - - 2715 - 2.40 0.055 3163 577.9 -116.8 - - 3236 - - - - - - - - 14.87 14.38 14.89
8915 775.3 -7.7 468 8928 done -0.64 - - 2715 - 2.35 0.039 1774 -591.1 -116.8 - - 3236 - - - - - - - - 14.51 14.44 14.55
9245 801.1 -7.8 479 9258 roll -0.64 - - 2715 - 2.50 0.063 369 -562.0 -116.8 - - 3235 - - - - - - - - 14.90 14.31 14.92
9376 812.3 -8.3 497 9389 done -0.64 - - 2706 - 2.38 0.036 1776 591.2 -116.8 - - 3233 - - - - - - - - 14.54 14.48 14.57
9706 837.3 -7.6 508 9719 roll -0.64 - - 2695 - 2.42 0.057 3171 576.4 -116.8 - - 3236 - - - - - - - - 14.92 14.33 14.90
9802 845.4 -7.7 521 9815 done -0.64 - - 2695 - 2.40 0.041 1770 -583.8 -116.8 - - 3233 - - - - - - - - 14.50 14.40 14.52
10166 873.5 -7.9 530 10179 roll -0.64 - - 2695 - 2.47 0.063 378 -563.6 -116.8 - - 3232 - - - - - - - - 14.90 14.29 14.92
10263 882.2 -9.1 543 10277 done -0.64 0.17 0.251 2722 158.8 2.38 0.037 1774 586.6 -116.8 - - 3232 - - - - - - - - 13.93 14.45 14.21
10627 909.1 -7.4 552 10640 roll -0.64 - - 2715 - 2.42 0.056 3166 575.2 -116.8 - - 3232 - - - - - - - - 14.89 14.30 14.91
10738 917.7 -7.6 567 10752 done -0.64 - - 2714 - 2.40 0.039 1767 -582.9 -116.8 - - 3231 - - - - - - - - 14.44 14.38 14.45
11081 944.7 -7.9 574 11095 roll -0.64 - - 2715 - 2.47 0.064 378 -562.3 -116.8 - - 3230 - - - - - - - - 14.88 14.26 14.90
11179 952.9 -9.2 587 11192 done -0.64 - - 2710 - 2.40 0.035 1786 586.7 -116.8 - - 3230 - - - - - - - - 14.49 14.45 14.52
11543 982.2 -8.1 596 11556 roll -0.64 - - 2695 - 2.42 0.058 3169 571.5 -116.8 - - 3230 - - - - - - - - 14.91 14.27 14.90
11606 987.2 -8.1 604 11619 done -0.64 - - 2695 - 2.40 0.041 1778 -579.6 -116.8 - - 3230 - - - - - - - - 14.44 14.35 14.47
11635 end dive: TARGET_DEPTH_EXCEEDED
11635 begin apogee
11645 990.0 -7.5 608 11777 done -0.21 0.65 0.226 2858 250.8 - - 1662 - - 122.28 2.225 2793 -3.6 0.307 - - - - - - 13.80 13.91 12.85
11779 end apogee: CONTROL_FINISHED_OK
11779 begin climb
11782 994.9 - 610 11924 done 0.84 1.17 0.150 3194 287.2 - - 1662 - 116.8 128.27 2.188 2308 -3.8 0.332 - - - - - - 13.93 13.66 12.69
12260 963.5 7.9 619 12273 roll 0.84 - - 3194 - 2.45 0.050 3070 574.7 116.8 - - 2292 - - - - - - - - 14.70 14.42 14.72
12356 955.1 8.4 632 12370 done 0.84 - - 3202 - 2.38 0.044 1690 -579.8 116.8 - - 2291 - - - - - - - - 14.55 14.46 14.59
12720 924.3 8.7 641 12733 done 0.84 - - 3203 - - - 1695 - 116.8 - - 2291 - - - - - - - - 14.81 14.83 14.83
13057 894.3 8.9 647 13070 roll 0.84 - - 3203 - 2.40 0.050 3076 575.4 116.8 - - 2290 - - - - - - - - 14.83 14.47 14.85
13091 891.0 9.8 651 13104 done 0.84 - - 3212 - 2.38 0.041 1678 -587.4 116.8 - - 2290 - - - - - - - - 14.54 14.45 14.57
13462 857.4 9.0 661 13475 done 0.84 - - 3212 - - - 1678 - 116.8 - - 2290 - - - - - - - - 14.86 14.88 14.88
13798 829.6 8.3 667 13811 done 0.84 - - 3212 - - - 1678 - 116.8 - - 2290 - - - - - - - - 14.88 14.90 14.90
14133 803.3 7.8 673 14147 roll 0.84 - - 3212 - 2.42 0.050 3075 577.3 118.8 - - 2289 - - - - - - - - 14.88 14.43 14.91
14181 799.4 8.2 679 14194 done 0.84 - - 3221 - 2.40 0.042 1672 -584.6 118.8 - - 2288 - - - - - - - - 14.56 14.47 14.59
14538 772.4 7.6 687 14552 roll 0.85 - - 3231 - 2.40 0.066 319 -563.8 123.6 - - 2289 - - - - - - - - 14.88 14.38 14.87
14565 770.1 7.7 690 14582 done 0.85 - - 3232 - 2.28 0.031 1694 603.1 126.5 1.98 0.162 2274 -7.6 6.961 - - - - - - 14.62 14.57 14.18
14941 738.3 8.5 701 14955 roll 0.74 0.22 0.250 3177 -250.0 2.35 0.047 3060 581.3 126.5 - - 2275 - - - - - - - - 13.97 14.29 14.12
15083 727.9 7.1 720 15119 done 0.76 - - 3183 - 2.35 0.043 1682 -586.4 140.1 20.67 1.922 2215 -2.9 0.213 - - - - - - 14.54 14.45 13.42
15453 699.6 7.8 731 15467 roll 0.76 - - 3194 - 2.42 0.066 321 -562.4 141.6 - - 2207 - - - - - - - - 14.78 14.38 14.81
15516 694.4 8.3 739 15529 done 0.76 - - 3194 - 2.25 0.031 1683 605.3 141.6 - - 2207 - - - - - - - - 14.58 14.53 14.61
15859 667.7 7.7 752 15872 roll 0.76 - - 3193 - 2.35 0.049 3053 583.0 144.4 - - 2206 - - - - - - - - 14.81 14.42 14.83
15991 657.0 8.0 770 16004 done 0.76 - - 3203 - 2.35 0.041 1679 -584.7 144.4 - - 2206 - - - - - - - - 14.54 14.45 14.57
16319 631.1 7.9 781 16332 roll 0.76 - - 3213 - 2.40 0.066 325 -564.2 144.4 - - 2206 - - - - - - - - 14.83 14.35 14.85
16395 624.6 8.6 791 16409 done 0.76 0.15 0.250 3181 -213.3 2.25 0.032 1695 608.9 144.4 - - 2206 - - - - - - - - 14.07 14.54 14.34
16724 600.8 7.2 802 16755 roll 0.78 - - 3182 - 2.30 0.049 3047 587.8 157.1 18.10 1.782 2145 -3.4 0.220 - - - - - - 14.83 14.23 13.47
16843 591.9 8.0 818 16856 done 0.78 - - 3188 - 2.35 0.041 1675 -583.8 157.1 - - 2137 - - - - - - - - 14.54 14.46 14.57
17185 563.1 8.4 831 17198 done 0.78 - - 3188 - - - 1674 - 157.1 - - 2137 - - - - - - - - 14.80 14.82 14.81
17523 533.9 8.7 837 17536 roll 0.78 - - 3188 - 2.38 0.047 3046 576.5 157.1 - - 2136 - - - - - - - - 14.81 14.42 14.83
17570 529.6 8.8 843 17583 done 0.78 - - 3197 - 2.33 0.041 1679 -586.7 157.1 - - 2136 - - - - - - - - 14.55 14.47 14.59
17927 501.4 7.7 851 17940 done 0.78 - - 3197 - - - 1680 - 159.7 - - 2133 - - - - - - - - 14.85 14.87 14.88
18264 478.8 6.6 857 18306 roll 0.81 - - 3197 - 2.40 0.048 3044 568.3 182.7 28.00 1.589 2041 -3.3 0.191 - - - - - - 14.85 14.48 13.59
18341 473.2 7.4 868 18358 done 0.82 - - 3205 - 2.33 0.043 1686 -582.8 190.9 3.22 0.910 2012 -9.0 0.905 - - - - - - 14.49 14.46 13.21
18716 443.9 8.0 879 18729 roll 0.82 - - 3216 - 2.42 0.066 314 -566.9 190.9 - - 2013 - - - - - - - - 14.76 14.35 14.78
18756 440.3 8.4 884 18770 done 0.82 - - 3216 - 2.22 0.031 1673 612.2 190.9 - - 2013 - - - - - - - - 14.58 14.53 14.59
19120 407.0 9.4 893 19133 roll 0.82 - - 3216 - 2.35 0.048 3047 584.7 190.9 - - 2013 - - - - - - - - 14.83 14.40 14.85
19204 398.6 10.0 904 19217 done 0.82 0.12 0.262 3200 -133.3 2.35 0.043 1675 -583.8 190.9 - - 2013 - - - - - - - - 14.08 14.46 14.33
19525 369.2 9.1 914 19538 roll 0.82 - - 3208 - 2.40 0.067 323 -563.3 190.9 - - 2011 - - - - - - - - 14.86 14.35 14.84
19565 365.4 9.3 919 19579 done 0.82 - - 3208 - 2.22 0.031 1676 609.5 190.9 - - 2013 - - - - - - - - 14.59 14.54 14.62
19930 333.3 8.8 928 19943 roll 0.82 - - 3208 - 2.35 0.049 3050 584.7 190.9 - - 2013 - - - - - - - - 14.85 14.39 14.88
20019 324.7 9.2 940 20032 done 0.82 - - 3217 - 2.35 0.041 1679 -583.4 190.9 - - 2013 - - - - - - - - 14.52 14.43 14.54
20391 291.6 8.9 950 20404 roll 0.82 - - 3229 - 2.40 0.064 324 -564.6 190.9 - - 2014 - - - - - - - - 14.86 14.33 14.88
20431 287.6 9.5 955 20445 done 0.82 0.15 0.239 3195 -226.7 2.25 0.031 1691 607.6 190.9 - - 2016 - - - - - - - - 14.06 14.52 14.31
20795 258.5 8.0 964 20808 roll 0.82 - - 3195 - 2.30 0.047 3039 586.1 190.9 - - 2013 - - - - - - - - 14.84 14.40 14.86
20864 252.8 8.2 973 20878 done 0.82 - - 3201 - 2.30 0.042 1681 -590.4 190.9 - - 2013 - - - - - - - - 14.39 14.35 14.42
21200 226.2 7.9 985 21213 roll 0.82 - - 3211 - 2.40 0.065 322 -566.2 190.9 - - 2013 - - - - - - - - 14.87 14.32 14.89
21283 219.3 8.2 996 21296 done 0.82 - - 3213 - 2.22 0.030 1671 607.7 190.9 - - 2013 - - - - - - - - 14.57 14.51 14.57
21604 192.2 8.5 1006 21618 roll 0.82 - - 3211 - 2.35 0.047 3050 586.8 190.9 - - 2013 - - - - - - - - 14.84 14.39 14.86
21652 188.0 8.8 1012 21665 done 0.82 - - 3220 - 2.35 0.041 1670 -587.2 190.9 - - 2013 - - - - - - - - 14.52 14.44 14.55
22009 160.0 7.5 1020 22024 done 0.83 - - 3220 - - - 1669 - 197.1 5.32 1.065 1988 -4.7 0.136 - - - - - - 14.87 14.41 13.45
22345 135.6 7.5 1026 22366 roll 0.84 - - 3220 - 2.42 0.047 3056 573.1 203.1 6.15 1.092 1968 -3.3 0.078 - - - - - - 14.87 14.50 13.56
22387 131.8 9.0 1032 22400 done 0.84 - - 3228 - 2.33 0.042 1682 -589.7 203.1 - - 1972 - - - - - - - - 14.62 14.54 14.65
22744 95.9 10.3 1040 22756 done 0.84 - - 3228 - - - 1681 - 203.1 - - 1972 - - - - - - - - 14.83 14.86 14.86
23052 69.7 8.4 1051 23064 done 0.84 - - 3228 - - - 1680 - 203.1 - - 1973 - - - - - - - - 14.85 14.91 14.88
23360 48.1 7.0 1062 23393 roll 0.85 - - 3228 - 2.35 0.044 3060 587.2 218.5 16.88 0.237 1902 -4.2 0.165 - - - - - - 14.83 14.33 14.14
23421 44.0 6.9 1070 23455 done 0.88 - - 3236 - 2.35 0.041 1672 -590.6 237.0 19.35 0.233 1830 -3.7 0.136 - - - - - - 14.51 14.43 14.13
23761 28.6 2.6 1085 23857 roll 1.15 0.17 0.109 3321 500.0 2.42 0.064 323 -557.4 334.4 81.38 0.200 1430 -4.9 0.136 - - - - - - 14.45 14.41 14.20
23948 19.4 6.0 1112 23988 done 1.29 - - 3321 - 2.25 0.028 1704 613.8 368.1 27.20 0.173 1291 -5.1 0.111 - - - - - - 14.57 14.52 14.16
24232 end climb: SURFACE_DEPTH_REACHED
24232 begin surface coast
24264 end surface coast: CONTROL_FINISHED_OK
24264 begin surface
SM 1.11 - - - - -8.61 9.35 0.062 159 17.0 - - 1705 - 515.13 90.07 0.124 690 7.7 -0.007 - - - - - -