SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 438 * Raw log
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• Previous call tries 1 • 165.53 of 350.00 AH used of 24V (52.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 15 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 111 VBD -0.84 - - 147 - - - 1706 - -116.8 -84.15 - 3243 - - - - - - - - 14.69 - 14.71
115 5.4 -7.8 3 139 roll -0.84 12.75 0.389 2659 197.0 2.60 2.023 376 -511.5 -116.8 -0.43 - 3273 -69.8 - - - - - - - 13.99 13.10 14.41
313 53.5 -16.1 32 320 done -0.55 0.40 0.261 2747 220.0 2.25 0.033 1741 606.7 -116.8 - - 3273 - - - - - - - - 14.09 14.50 14.38
643 81.2 -8.8 46 650 roll -0.55 - - 2738 - 2.40 0.052 3160 591.2 -116.8 - - 3276 - - - - - - - - 14.79 14.47 14.81
741 89.4 -7.9 60 747 done -0.55 - - 2738 - 2.30 0.037 1772 -603.5 -116.8 - - 3275 - - - - - - - - 14.59 14.52 14.61
1063 115.6 -8.5 70 1069 roll -0.55 - - 2738 - 2.40 0.058 378 -580.8 -116.8 - - 3275 - - - - - - - - 14.83 14.43 14.84
1139 122.6 -9.3 81 1146 done -0.55 - - 2729 - 2.33 0.031 1783 603.0 -116.8 - - 3275 - - - - - - - - 14.63 14.58 14.65
1456 152.2 -9.5 91 1462 roll -0.55 - - 2718 - 2.35 0.053 3170 590.2 -116.8 - - 3273 - - - - - - - - 14.83 14.48 14.85
1517 158.1 -9.4 100 1524 done -0.55 0.15 0.230 2750 213.3 2.33 0.037 1776 -598.3 -116.8 - - 3273 - - - - - - - - 14.16 14.50 14.39
1847 184.4 -7.9 112 1853 roll -0.55 - - 2751 - 2.42 0.060 379 -577.3 -116.8 - - 3270 - - - - - - - - 14.85 14.38 14.88
1896 188.5 -8.6 119 1904 done -0.55 - - 2744 - 2.33 0.032 1775 599.1 -116.8 - - 3269 - - - - - - - - 14.62 14.54 14.63
2239 215.7 -7.8 126 2245 roll -0.55 - - 2733 - 2.38 0.052 3175 588.2 -116.8 - - 3267 - - - - - - - - 14.83 14.46 14.85
2280 219.0 -7.9 132 2287 done -0.55 - - 2733 - 2.35 0.037 1769 -598.3 -116.8 - - 3266 - - - - - - - - 14.59 14.50 14.61
2632 248.0 -8.4 140 2639 roll -0.55 - - 2733 - 2.42 0.060 377 -575.2 -116.8 - - 3268 - - - - - - - - 14.83 14.44 14.85
2715 255.7 -9.2 152 2728 done -0.55 - - 2724 - 2.33 0.034 1777 600.9 -116.8 - - 3264 - - - - - - - - 14.66 14.61 14.69
3085 288.3 -8.8 162 3098 roll -0.55 - - 2714 - 2.35 0.054 3162 589.4 -116.8 - - 3261 - - - - - - - - 14.91 14.51 14.92
3168 295.8 -9.1 173 3182 done -0.55 0.15 0.232 2746 213.3 2.30 0.037 1772 -604.3 -116.8 - - 3261 - - - - - - - - 14.23 14.59 14.49
3490 320.2 -7.4 183 3503 roll -0.55 - - 2747 - 2.42 0.060 375 -577.3 -116.8 - - 3259 - - - - - - - - 14.92 14.51 14.95
3581 327.5 -8.1 195 3594 done -0.55 - - 2740 - 2.33 0.033 1774 600.4 -116.8 - - 3258 - - - - - - - - 14.68 14.62 14.70
3951 355.7 -7.5 205 3964 roll -0.55 - - 2730 - 2.35 0.051 3162 590.6 -116.8 - - 3256 - - - - - - - - 14.92 14.51 14.94
4083 365.7 -7.6 223 4096 done -0.55 - - 2730 - 2.33 0.037 1768 -598.3 -116.8 - - 3256 - - - - - - - - 14.64 14.57 14.67
4412 392.2 -8.1 234 4425 roll -0.55 - - 2730 - 2.42 0.060 373 -576.4 -116.8 - - 3254 - - - - - - - - 14.94 14.47 14.96
4508 400.8 -8.9 247 4521 done -0.55 0.12 0.253 2746 133.3 2.33 0.034 1773 600.9 -116.8 - - 3254 - - - - - - - - 14.22 14.61 14.46
4872 427.8 -7.4 256 4886 roll -0.55 - - 2738 - 2.38 0.053 3168 586.1 -116.8 - - 3251 - - - - - - - - 14.92 14.49 14.95
4920 431.6 -7.6 262 4933 done -0.55 - - 2738 - 2.35 0.038 1769 -595.3 -116.8 - - 3251 - - - - - - - - 14.62 14.54 14.65
5277 460.9 -8.3 270 5290 roll -0.55 - - 2738 - 2.45 0.061 376 -568.6 -116.8 - - 3250 - - - - - - - - 14.90 14.47 14.92
5410 472.3 -8.5 288 5423 done -0.55 - - 2729 - 2.33 0.034 1775 600.4 -116.8 - - 3250 - - - - - - - - 14.64 14.58 14.66
5738 498.6 -8.0 299 5751 roll -0.55 - - 2718 - 2.38 0.054 3164 583.6 -116.8 - - 3248 - - - - - - - - 14.90 14.47 14.92
5822 505.0 -7.8 310 5835 done -0.55 0.15 0.233 2751 220.0 2.35 0.038 1772 -592.3 -116.8 - - 3250 - - - - - - - - 14.19 14.54 14.43
6143 526.7 -6.7 320 6156 roll -0.55 - - 2751 - 2.45 0.062 373 -571.0 -116.8 - - 3246 - - - - - - - - 14.90 14.44 14.92
6227 533.0 -7.7 331 6240 done -0.55 - - 2744 - 2.38 0.034 1789 595.0 -116.8 - - 3246 - - - - - - - - 14.62 14.57 14.65
6548 558.4 -8.0 341 6561 roll -0.55 - - 2734 - 2.35 0.057 3156 581.7 -116.8 - - 3245 - - - - - - - - 14.92 14.44 14.95
6611 563.6 -8.4 349 6625 done -0.64 - - 2733 - 2.33 0.038 1776 -592.3 -116.8 - - 3244 - - - - - - - - 14.59 14.51 14.62
6954 592.9 -8.4 362 6967 roll -0.64 - - 2734 - 2.45 0.062 379 -570.2 -116.8 - - 3243 - - - - - - - - 14.90 14.42 14.95
7043 601.0 -9.0 374 7056 done -0.64 - - 2725 - 2.35 0.034 1773 593.2 -116.8 - - 3243 - - - - - - - - 14.61 14.55 14.64
7414 632.5 -8.6 384 7428 roll -0.64 - - 2715 - 2.40 0.054 3161 578.3 -116.8 - - 3242 - - - - - - - - 14.89 14.42 14.91
7490 639.1 -8.6 394 7503 done -0.64 - - 2715 - 2.33 0.037 1776 -594.4 -116.8 - - 3242 - - - - - - - - 14.58 14.50 14.61
7819 667.4 -8.6 405 7832 roll -0.64 - - 2715 - 2.45 0.062 379 -570.2 -116.8 - - 3241 - - - - - - - - 14.88 14.39 14.90
7922 677.3 -9.6 419 7935 done -0.64 - - 2706 - 2.35 0.034 1777 594.9 -116.8 - - 3241 - - - - - - - - 14.59 14.53 14.61
8279 709.7 -9.2 427 8292 roll -0.64 - - 2695 - 2.40 0.056 3166 578.8 -116.8 - - 3239 - - - - - - - - 14.88 14.39 14.90
8398 720.7 -9.2 443 8411 done -0.64 - - 2695 - 2.38 0.041 1768 -587.4 -116.8 - - 3239 - - - - - - - - 14.54 14.45 14.57
8740 752.2 -9.2 456 8754 roll -0.64 - - 2695 - 2.47 0.063 372 -565.2 -116.8 - - 3239 - - - - - - - - 14.94 14.34 14.93
8866 764.0 -9.2 473 8880 done -0.64 0.15 0.260 2717 146.7 2.38 0.036 1774 589.1 -116.8 - - 3237 - - - - - - - - 14.02 14.51 14.30
9202 787.2 -6.6 485 9215 roll -0.64 - - 2708 - 2.40 0.056 3166 580.0 -116.8 - - 3236 - - - - - - - - 14.88 14.38 14.90
9292 793.0 -6.4 497 9305 done -0.64 - - 2709 - 2.38 0.039 1773 -585.3 -116.8 - - 3236 - - - - - - - - 14.51 14.42 14.54
9663 816.5 -6.3 507 9676 roll -0.64 - - 2709 - 2.50 0.063 373 -560.0 -116.8 - - 3235 - - - - - - - - 14.88 14.29 14.89
9795 826.2 -7.4 525 9809 done -0.64 - - 2699 - 2.40 0.036 1783 587.5 -116.8 - - 3235 - - - - - - - - 14.52 14.46 14.54
10124 851.2 -7.7 536 10137 roll -0.64 - - 2689 - 2.38 0.057 3159 578.2 -116.8 - - 3234 - - - - - - - - 14.92 14.16 14.91
10178 856.2 -8.1 543 10192 done -0.64 0.15 0.248 2719 200.0 2.38 0.040 1775 -581.5 -116.8 - - 3236 - - - - - - - - 13.97 14.40 14.23
10524 882.3 -7.9 550 10537 roll -0.64 - - 2720 - 2.50 0.064 373 -560.8 -116.8 - - 3234 - - - - - - - - 14.85 14.28 14.87
10606 889.7 -8.8 561 10619 done -0.64 - - 2713 - 2.40 0.036 1783 587.5 -116.8 - - 3230 - - - - - - - - 14.51 14.45 14.54
10927 917.5 -8.9 571 10940 roll -0.64 - - 2703 - 2.40 0.057 3162 574.6 -116.8 - - 3232 - - - - - - - - 14.91 14.28 14.90
11025 926.2 -8.9 584 11038 done -0.64 - - 2702 - 2.40 0.040 1768 -580.8 -116.8 - - 3231 - - - - - - - - 14.47 14.35 14.47
11389 958.2 -8.7 593 11402 roll -0.64 - - 2703 - 2.50 0.065 379 -555.6 -116.8 - - 3231 - - - - - - - - 14.88 14.24 14.89
11493 967.5 -8.0 607 11507 done -0.64 - - 2693 - 2.38 0.035 1779 588.2 -116.8 - - 3231 - - - - - - - - 14.50 14.43 14.52
11791 end dive: TARGET_DEPTH_EXCEEDED
11791 begin apogee
11799 992.8 -8.4 614 11931 done -0.21 0.65 0.233 2853 246.2 - - 1656 - - 122.53 2.223 2795 -3.6 0.308 - - - - - - 13.78 13.91 12.85
11933 end apogee: CONTROL_FINISHED_OK
11933 begin climb
11937 997.6 - 616 12086 roll 0.84 1.17 0.150 3202 298.3 2.53 0.066 343 -519.0 116.8 127.45 2.198 2309 -3.8 0.335 - - - - - - 13.92 13.69 12.66
12141 986.5 8.8 649 12154 done 0.84 - - 3203 - 2.30 0.031 1692 586.5 116.8 - - 2298 - - - - - - - - 14.18 14.14 14.20
12477 957.7 8.6 661 12491 roll 0.84 - - 3203 - 2.35 0.050 3058 581.3 116.8 - - 2294 - - - - - - - - 14.74 14.43 14.76
12616 945.5 8.7 680 12629 done 0.84 - - 3211 - 2.33 0.041 1690 -587.1 116.8 - - 2293 - - - - - - - - 14.58 14.49 14.59
12938 917.8 8.7 690 12951 roll 0.84 - - 3222 - 2.42 0.066 323 -564.9 116.8 - - 2292 - - - - - - - - 14.82 14.42 14.84
12964 915.2 8.3 693 12978 done 0.84 - - 3222 - 2.25 0.031 1684 604.9 116.8 - - 2293 - - - - - - - - 14.62 14.57 14.64
13287 886.3 9.0 703 13301 roll 0.75 0.20 0.252 3174 -240.0 2.35 0.047 3062 586.4 116.8 - - 2291 - - - - - - - - 14.07 14.37 14.25
13384 878.7 7.2 716 13401 done 0.76 - - 3182 - 2.35 0.042 1682 -587.2 129.1 4.35 1.471 2264 -6.2 0.718 - - - - - - 14.58 14.50 13.21
13744 853.1 7.1 725 13776 done 0.78 - - 3181 - - - 1682 - 143.0 22.70 2.055 2211 -2.3 0.188 - - - - - - 14.84 14.42 13.40
14082 828.7 7.2 731 14099 roll 0.79 - - 3191 - 2.40 0.065 314 -570.0 154.4 4.93 1.580 2161 -10.1 1.031 - - - - - - 14.76 14.14 13.16
14112 826.3 7.3 735 14145 done 0.81 - - 3191 - 2.28 0.032 1686 601.8 165.6 21.05 2.025 2118 -2.0 0.162 - - - - - - 14.62 14.58 13.37
14478 796.5 8.2 745 14491 roll 0.81 - - 3191 - 2.38 0.049 3058 576.5 165.6 - - 2100 - - - - - - - - 14.77 14.43 14.77
14547 790.6 8.4 754 14560 done 0.81 - - 3200 - 2.35 0.042 1680 -586.4 165.6 - - 2097 - - - - - - - - 14.55 14.46 14.58
14882 762.6 8.4 766 14895 roll 0.81 - - 3211 - 2.42 0.066 316 -563.6 165.6 - - 2099 - - - - - - - - 14.83 14.39 14.85
14916 759.5 9.0 770 14930 done 0.81 - - 3211 - 2.25 0.032 1675 604.0 165.6 - - 2099 - - - - - - - - 14.62 14.57 14.64
15286 726.2 9.0 780 15300 roll 0.81 - - 3211 - 2.38 0.050 3059 581.5 165.6 - - 2099 - - - - - - - - 14.83 14.45 14.86
15377 717.7 9.5 792 15390 done 0.81 - - 3219 - 2.38 0.043 1677 -580.7 165.6 - - 2098 - - - - - - - - 14.57 14.47 14.60
15747 682.5 9.5 802 15760 done 0.81 - - 3219 - - - 1676 - 165.6 - - 2098 - - - - - - - - 14.85 14.86 14.87
16083 650.5 9.5 808 16097 roll 0.81 0.12 0.274 3191 -233.3 2.40 0.046 3066 579.2 165.6 - - 2098 - - - - - - - - 14.03 14.28 14.17
16118 647.3 9.1 812 16131 done 0.81 - - 3197 - 2.38 0.041 1672 -585.7 165.6 - - 2098 - - - - - - - - 14.55 14.47 14.59
16488 614.8 8.9 822 16501 roll 0.81 - - 3208 - 2.40 0.066 317 -564.6 165.6 - - 2098 - - - - - - - - 14.88 14.35 14.90
16514 612.3 9.1 825 16528 done 0.81 - - 3208 - 2.28 0.031 1692 603.1 165.6 - - 2101 - - - - - - - - 14.59 14.55 14.62
16838 580.3 10.0 835 16851 roll 0.81 - - 3208 - 2.35 0.049 3056 580.4 165.6 - - 2098 - - - - - - - - 14.84 14.40 14.86
16928 570.7 10.3 847 16941 done 0.81 0.12 0.274 3193 -125.0 2.35 0.044 1681 -585.1 165.6 - - 2098 - - - - - - - - 14.03 14.42 14.34
17300 536.8 9.1 857 17313 roll 0.81 - - 3202 - 2.45 0.068 316 -557.1 165.6 - - 2098 - - - - - - - - 14.83 14.33 14.86
17326 534.2 9.1 860 17339 done 0.81 - - 3202 - 2.28 0.031 1689 602.2 165.6 - - 2098 - - - - - - - - 14.58 14.52 14.60
17647 505.6 8.8 870 17660 roll 0.81 - - 3202 - 2.38 0.049 3062 576.9 165.6 - - 2098 - - - - - - - - 14.84 14.39 14.86
17703 500.7 8.9 877 17717 done 0.81 - - 3211 - 2.38 0.041 1681 -580.3 165.6 - - 2098 - - - - - - - - 14.50 14.41 14.54
18046 471.1 8.6 884 18059 roll 0.81 - - 3221 - 2.40 0.065 325 -565.0 165.6 - - 2098 - - - - - - - - 14.87 14.31 14.88
18086 467.5 9.0 889 18100 done 0.81 0.15 0.246 3196 -166.7 2.25 0.031 1696 609.3 165.6 - - 2098 - - - - - - - - 14.02 14.52 14.32
18451 440.6 7.3 898 18468 roll 0.82 - - 3190 - 2.35 0.050 3040 571.9 175.7 3.17 0.911 2074 -7.6 0.709 - - - - - - 14.83 14.45 13.31
18502 436.5 8.1 905 18517 done 0.82 - - 3197 - 2.33 0.042 1680 -583.7 175.7 - - 2078 - - - - - - - - 14.59 14.52 14.63
18848 408.6 8.2 912 18861 roll 0.82 - - 3207 - 2.40 0.066 326 -564.2 175.7 - - 2078 - - - - - - - - 14.85 14.33 14.88
18888 405.1 8.1 917 18901 done 0.82 - - 3207 - 2.22 0.031 1678 609.0 175.7 - - 2078 - - - - - - - - 14.59 14.53 14.60
19251 375.8 8.0 926 19265 roll 0.82 - - 3207 - 2.35 0.047 3049 583.4 175.7 - - 2078 - - - - - - - - 14.84 14.39 14.86
19335 368.6 8.6 937 19348 done 0.82 - - 3216 - 2.35 0.041 1674 -585.1 175.7 - - 2078 - - - - - - - - 14.50 14.42 14.54
19656 341.0 8.7 947 19669 roll 0.82 - - 3216 - 2.38 0.046 3052 579.0 175.7 - - 2076 - - - - - - - - 14.88 14.37 14.90
19704 336.6 9.4 953 19717 done 0.82 0.15 0.257 3195 -140.0 2.35 0.042 1675 -586.0 175.7 - - 2077 - - - - - - - - 14.00 14.43 14.27
20061 308.0 8.0 961 20074 done 0.82 - - 3194 - - - 1675 - 175.7 - - 2078 - - - - - - - - 14.83 14.88 14.85
20397 283.4 7.2 967 20428 roll 0.83 - - 3203 - 2.42 0.067 326 -557.4 188.1 19.25 1.380 2019 -3.1 0.122 - - - - - - 14.85 14.52 13.59
20442 280.0 7.3 973 20461 done 0.85 - - 3202 - 2.25 0.031 1684 603.6 199.0 5.12 1.125 1983 -7.0 0.339 - - - - - - 14.64 14.59 13.38
20790 252.1 8.1 987 20803 roll 0.85 - - 3202 - 2.35 0.047 3062 586.4 199.0 - - 1983 - - - - - - - - 14.82 14.38 14.85
20852 246.8 8.6 995 20866 done 0.85 - - 3211 - 2.38 0.043 1675 -582.8 199.0 - - 1983 - - - - - - - - 14.52 14.43 14.55
21196 219.9 7.7 1008 21213 roll 0.85 - - 3221 - 2.42 0.064 318 -560.7 201.4 2.50 0.522 1974 -3.6 0.294 - - - - - - 14.81 14.43 13.31
21282 213.0 7.8 1020 21300 done 0.85 - - 3221 - 2.25 0.029 1681 605.8 202.2 3.05 0.728 1966 -2.6 0.149 - - - - - - 14.59 14.55 13.31
21651 181.9 8.8 1030 21664 roll 0.85 - - 3221 - 2.35 0.047 3057 585.5 202.2 - - 1973 - - - - - - - - 14.82 14.40 14.84
21713 175.6 10.0 1038 21726 done 0.85 - - 3230 - 2.35 0.040 1672 -589.4 202.2 - - 1973 - - - - - - - - 14.54 14.45 14.57
22057 143.1 9.3 1051 22069 done 0.85 - - 3230 - - - 1672 - 202.2 - - 1973 - - - - - - - - 14.85 14.88 14.88
22392 115.0 8.4 1057 22405 done 0.85 - - 3230 - - - 1672 - 202.2 - - 1973 - - - - - - - - 14.88 14.90 14.90
22699 86.2 9.7 1065 22713 roll 0.85 - - 3241 - 2.38 0.063 323 -566.8 202.2 - - 1973 - - - - - - - - 14.87 14.34 14.89
22727 83.5 9.5 1068 22742 done 0.85 0.15 0.234 3206 -233.3 2.25 0.029 1701 612.4 202.2 - - 1972 - - - - - - - - 14.09 14.53 14.33
23042 60.9 5.7 1080 23093 roll 0.90 - - 3209 - 2.25 0.043 3040 595.1 242.0 38.97 0.283 1808 -4.2 0.175 - - - - - - 14.85 14.35 14.14
23233 50.5 4.9 1107 23301 done 1.12 0.22 0.091 3296 395.5 2.33 0.039 1670 -588.0 296.2 51.33 0.256 1586 -4.3 0.165 - - - - - - 14.44 14.45 14.12
23605 24.4 5.1 1127 23665 roll 1.27 0.12 0.129 3363 558.3 2.40 0.063 321 -562.1 347.1 42.38 0.187 1381 -4.8 0.122 - - - - - - 14.45 14.38 14.15
23818 9.1 9.1 1157 23831 done 1.27 - - 3363 - 2.22 0.028 1687 615.3 347.1 - - 1385 - - - - - - - - 14.58 14.54 14.60
23919 end climb: SURFACE_DEPTH_REACHED
23919 begin surface coast
23947 end surface coast: CONTROL_FINISHED_OK
23947 begin surface
SM 1.09 - - - - -8.60 9.60 0.071 160 16.7 - - 1696 - 515.13 101.00 0.124 691 6.8 -0.006 - - - - - -