SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 451 * Raw log
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• Previous call tries 1 • 170.44 of 350.00 AH used of 24V (51.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth 1.03 m • Intended pitch -16.9 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 33 s
• GPS2 time: 15 s • Transponder ping count: 7
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 113 VBD -0.84 - - 147 - - - 1760 - -113.2 -83.65 - 3232 - - - - - - - - 14.68 - 14.71
117 5.2 -7.3 3 141 roll -0.84 12.80 0.389 2657 196.1 2.70 2.020 378 -511.9 -113.2 -0.40 - 3258 -65.0 - - - - - - - 13.96 13.12 14.40
270 50.8 -15.6 25 278 done -0.49 0.47 0.269 2762 223.4 2.33 0.032 1791 606.4 -113.2 - - 3262 - - - - - - - - 14.09 14.52 14.38
592 80.5 -7.9 38 599 roll -0.49 - - 2755 - 2.30 0.050 3165 597.4 -113.2 - - 3259 - - - - - - - - 14.80 14.45 14.81
785 94.0 -6.9 65 793 done -0.50 - - 2755 - 2.33 0.036 1770 -598.7 -116.8 - - 3260 - - - - - - - - 14.59 14.52 14.62
1096 118.0 -7.9 73 1104 roll -0.50 - - 2755 - 2.42 0.057 373 -577.3 -116.8 - - 3262 - - - - - - - - 14.83 14.47 14.85
1209 127.8 -8.7 89 1216 done -0.50 - - 2745 - 2.33 0.031 1778 603.0 -116.8 - - 3260 - - - - - - - - 14.63 14.57 14.64
1546 157.2 -8.7 102 1553 roll -0.50 - - 2735 - 2.35 0.051 3169 591.9 -116.8 - - 3258 - - - - - - - - 14.85 14.48 14.87
1608 163.3 -9.7 111 1614 done -0.50 0.15 0.224 2774 260.0 2.33 0.037 1769 -600.9 -116.8 - - 3258 - - - - - - - - 14.22 14.51 14.45
1939 188.6 -7.2 123 1945 roll -0.59 - - 2767 - 2.42 0.059 375 -576.0 -116.8 - - 3255 - - - - - - - - 14.83 14.45 14.85
2021 194.7 -7.2 135 2028 done -0.59 - - 2761 - 2.33 0.032 1778 602.1 -116.8 - - 3255 - - - - - - - - 14.63 14.57 14.65
2386 222.7 -8.0 145 2394 roll -0.59 - - 2751 - 2.38 0.053 3167 583.6 -116.8 - - 3252 - - - - - - - - 14.85 14.46 14.88
2478 230.1 -8.1 158 2485 done -0.69 0.15 0.108 2687 -426.7 2.33 0.037 1780 -595.3 -116.8 - - 3250 - - - - - - - - 14.47 14.52 14.57
2835 268.1 -10.6 167 2848 roll -0.69 - - 2687 - 2.42 0.060 374 -581.0 -116.8 - - 3247 - - - - - - - - 14.91 14.50 14.92
2961 282.2 -11.1 184 2974 done -0.58 0.25 0.247 2736 196.0 2.33 0.033 1777 602.1 -116.8 - - 3247 - - - - - - - - 14.14 14.62 14.42
3296 310.0 -8.1 196 3309 roll -0.58 - - 2728 - 2.35 0.053 3162 589.4 -116.8 - - 3245 - - - - - - - - 14.92 14.52 14.95
3378 316.5 -8.0 207 3392 done -0.58 - - 2728 - 2.33 0.038 1769 -597.9 -116.8 - - 3245 - - - - - - - - 14.67 14.59 14.69
3701 343.2 -8.4 217 3714 roll -0.58 - - 2728 - 2.42 0.061 375 -576.0 -116.8 - - 3242 - - - - - - - - 14.91 14.49 14.93
3804 352.7 -9.0 231 3817 done -0.58 - - 2716 - 2.33 0.034 1777 601.7 -116.8 - - 3242 - - - - - - - - 14.61 14.54 14.62
4161 384.3 -8.9 239 4174 roll -0.58 - - 2708 - 2.35 0.054 3159 588.1 -116.8 - - 3239 - - - - - - - - 14.90 14.47 14.92
4208 388.7 -8.6 245 4222 done -0.58 0.15 0.241 2740 213.3 2.33 0.039 1768 -597.0 -116.8 - - 3239 - - - - - - - - 14.20 14.56 14.45
4565 417.0 -8.0 253 4578 roll -0.58 - - 2740 - 2.42 0.062 376 -575.2 -116.8 - - 3237 - - - - - - - - 14.95 14.47 14.96
4720 430.5 -8.8 274 4733 done -0.58 - - 2733 - 2.33 0.033 1777 601.3 -116.8 - - 3237 - - - - - - - - 14.68 14.62 14.69
5083 462.7 -8.9 283 5097 roll -0.58 - - 2723 - 2.38 0.055 3165 583.2 -116.8 - - 3235 - - - - - - - - 14.97 14.41 14.94
5174 470.6 -8.8 295 5187 done -0.58 - - 2723 - 2.35 0.038 1773 -592.3 -116.8 - - 3235 - - - - - - - - 14.60 14.54 14.65
5544 502.8 -8.6 305 5557 roll -0.58 - - 2723 - 2.45 0.060 376 -570.2 -116.8 - - 3232 - - - - - - - - 14.91 14.37 14.95
5643 511.9 -9.3 318 5656 done -0.58 - - 2714 - 2.35 0.034 1790 601.7 -116.8 - - 3233 - - - - - - - - 14.64 14.59 14.66
6006 542.3 -8.2 327 6019 done -0.58 - - 2713 - - - 1791 - -116.8 - - 3232 - - - - - - - - 14.93 14.95 14.95
6342 567.8 -7.6 333 6356 roll -0.58 0.12 0.272 2735 183.3 2.35 0.053 3156 580.9 -116.8 - - 3230 - - - - - - - - 14.16 14.39 14.28
6384 570.8 -6.9 338 6397 done -0.58 - - 2734 - 2.33 0.039 1777 -591.8 -116.8 - - 3230 - - - - - - - - 14.54 14.44 14.57
6747 596.2 -7.1 347 6761 roll -0.58 - - 2735 - 2.45 0.062 381 -569.8 -116.8 - - 3228 - - - - - - - - 14.90 14.42 14.92
6816 601.8 -8.1 356 6829 done -0.58 - - 2726 - 2.33 0.034 1772 597.0 -116.8 - - 3228 - - - - - - - - 14.59 14.55 14.64
7152 628.8 -8.2 368 7165 roll -0.58 - - 2715 - 2.38 0.054 3161 583.6 -116.8 - - 3227 - - - - - - - - 14.91 14.42 14.93
7276 639.3 -8.3 385 7290 done -0.58 - - 2715 - 2.35 0.037 1765 -594.0 -116.8 - - 3226 - - - - - - - - 14.57 14.49 14.59
7613 668.7 -8.9 397 7626 roll -0.58 - - 2715 - 2.45 0.062 373 -568.2 -116.8 - - 3225 - - - - - - - - 14.91 14.37 14.93
7695 676.9 -9.8 408 7708 done -0.58 0.15 0.252 2737 146.7 2.38 0.034 1780 591.2 -116.8 - - 3224 - - - - - - - - 14.05 14.52 14.32
8018 703.3 -8.2 418 8031 roll -0.58 - - 2728 - 2.40 0.055 3164 576.7 -116.8 - - 3223 - - - - - - - - 14.88 14.39 14.92
8100 710.3 -8.2 429 8113 done -0.68 - - 2729 - 2.35 0.038 1773 -591.9 -116.8 - - 3223 - - - - - - - - 14.54 14.46 14.57
8421 737.1 -8.4 439 8434 roll -0.68 - - 2726 - 2.47 0.063 375 -566.0 -116.8 - - 3222 - - - - - - - - 14.92 14.34 14.97
8498 744.0 -9.0 449 8511 done -0.68 - - 2719 - 2.38 0.034 1784 592.0 -116.8 - - 3222 - - - - - - - - 14.57 14.50 14.58
8826 772.2 -8.6 460 8839 roll -0.68 - - 2710 - 2.40 0.057 3165 575.4 -116.8 - - 3221 - - - - - - - - 14.88 14.37 14.90
8881 776.9 -8.6 467 8896 done -0.68 - - 2709 - 2.38 0.039 1773 -584.9 -116.8 - - 3221 - - - - - - - - 14.50 14.42 14.53
9224 805.6 -8.2 474 9237 roll -0.68 - - 2710 - 2.47 0.063 379 -564.4 -116.8 - - 3220 - - - - - - - - 14.90 14.31 14.95
9278 810.4 -8.8 481 9293 done -0.68 - - 2700 - 2.38 0.035 1774 586.1 -116.8 - - 3219 - - - - - - - - 14.54 14.47 14.56
9624 837.7 -7.9 488 9637 roll -0.68 - - 2690 - 2.42 0.056 3170 576.9 -116.8 - - 3219 - - - - - - - - 14.86 14.25 14.88
9686 843.3 -8.1 496 9699 done -0.68 - - 2690 - 2.38 0.040 1773 -587.0 -116.8 - - 3219 - - - - - - - - 14.51 14.42 14.54
10028 870.8 -8.2 509 10041 roll -0.68 - - 2691 - 2.50 0.063 370 -561.2 -116.8 - - 3218 - - - - - - - - 14.86 14.31 14.88
10105 877.6 -8.9 519 10118 done -0.68 - - 2681 - 2.40 0.036 1776 585.8 -116.8 - - 3219 - - - - - - - - 14.51 14.45 14.53
10433 906.1 -8.7 530 10446 done -0.68 - - 2686 - - - 1775 - -116.8 - - 3217 - - - - - - - - 14.89 14.91 14.91
10769 935.5 -8.7 536 10783 roll -0.68 - - 2671 - 2.42 0.056 3166 574.8 -116.8 - - 3216 - - - - - - - - 14.89 14.28 14.90
10818 939.9 -9.0 542 10831 done -0.68 0.17 0.256 2706 205.9 2.38 0.039 1771 -586.1 -116.8 - - 3216 - - - - - - - - 13.86 14.38 14.17
11174 968.7 -8.1 550 11188 roll -0.68 - - 2706 - 2.50 0.064 373 -559.2 -116.8 - - 3215 - - - - - - - - 14.85 14.26 14.87
11251 975.5 -8.9 560 11264 done -0.68 - - 2699 - 2.40 0.036 1775 584.2 -116.8 - - 3215 - - - - - - - - 14.47 14.41 14.50
11465 end dive: TARGET_DEPTH_EXCEEDED
11465 begin apogee
11473 994.1 -8.6 569 11601 done -0.21 0.62 0.234 2853 248.4 - - 1655 - - 118.82 2.247 2793 -3.6 0.303 - - - - - - 13.77 13.93 12.85
11603 end apogee: CONTROL_FINISHED_OK
11603 begin climb
11608 999.5 - 571 11755 roll 0.85 1.17 0.156 3204 300.0 2.42 0.063 356 -536.8 116.8 127.20 2.204 2306 -3.8 0.335 - - - - - - 13.93 13.73 12.71
11803 990.9 6.1 602 11849 done 0.89 - - 3204 - 2.30 0.031 1696 582.6 149.4 33.90 2.125 2183 -3.6 0.327 - - - - - - 14.20 14.16 12.93
12203 956.0 8.8 616 12216 roll 0.89 - - 3204 - 2.35 0.050 3060 580.4 149.4 - - 2161 - - - - - - - - 14.73 14.45 14.76
12334 943.3 9.3 634 12347 done 0.89 - - 3212 - 2.30 0.043 1706 -588.7 149.4 - - 2160 - - - - - - - - 14.57 14.49 14.60
12663 912.1 9.6 645 12676 roll 0.89 - - 3223 - 2.45 0.065 324 -564.1 149.4 - - 2160 - - - - - - - - 14.82 14.43 14.83
12704 908.2 11.7 650 12717 done 0.89 - - 3223 - 2.25 0.031 1686 605.3 149.4 - - 2160 - - - - - - - - 14.63 14.59 14.65
13068 870.7 10.2 659 13081 roll 0.89 - - 3223 - 2.38 0.049 3062 578.2 149.4 - - 2159 - - - - - - - - 14.85 14.46 14.88
13192 857.5 10.3 676 13205 done 0.89 - - 3233 - 2.35 0.042 1681 -587.7 149.4 - - 2158 - - - - - - - - 14.58 14.50 14.62
13527 823.2 10.3 688 13540 roll 0.89 - - 3243 - 2.40 0.065 324 -565.4 149.4 - - 2158 - - - - - - - - 14.88 14.40 14.90
13569 818.8 10.4 693 13583 done 0.79 0.25 0.249 3187 -224.0 2.25 0.031 1698 610.7 149.4 - - 2159 - - - - - - - - 14.04 14.50 14.38
13933 788.5 8.2 702 13946 roll 0.79 - - 3187 - 2.33 0.050 3046 578.5 149.4 - - 2158 - - - - - - - - 14.85 14.43 14.88
14029 780.2 8.5 715 14042 done 0.79 - - 3195 - 2.33 0.042 1680 -586.3 149.4 - - 2156 - - - - - - - - 14.59 14.47 14.59
14392 749.1 8.6 724 14405 roll 0.79 - - 3204 - 2.40 0.065 324 -565.0 149.4 - - 2157 - - - - - - - - 14.85 14.36 14.88
14454 743.3 9.5 732 14467 done 0.79 - - 3204 - 2.22 0.032 1674 608.1 149.4 - - 2157 - - - - - - - - 14.61 14.55 14.63
14798 713.2 8.7 745 14811 roll 0.79 - - 3204 - 2.38 0.050 3049 577.7 149.4 - - 2157 - - - - - - - - 14.85 14.40 14.87
14922 702.0 8.9 762 14935 done 0.79 0.15 0.269 3183 -140.0 2.35 0.044 1677 -583.8 149.4 - - 2157 - - - - - - - - 14.00 14.43 14.33
15259 675.8 7.8 774 15272 roll 0.79 - - 3191 - 2.42 0.066 319 -561.2 150.6 - - 2157 - - - - - - - - 14.84 14.35 14.86
15299 672.3 8.1 779 15312 done 0.79 - - 3191 - 2.25 0.032 1676 603.1 150.6 - - 2158 - - - - - - - - 14.57 14.52 14.59
15663 642.4 8.3 788 15676 roll 0.79 - - 3191 - 2.40 0.050 3063 577.9 150.6 - - 2155 - - - - - - - - 14.86 14.36 14.88
15768 633.0 8.9 802 15781 done 0.79 - - 3200 - 2.38 0.042 1679 -581.5 150.6 - - 2161 - - - - - - - - 14.50 14.39 14.54
16125 601.4 8.9 810 16138 done 0.79 - - 3200 - - - 1678 - 150.6 - - 2157 - - - - - - - - 14.87 14.90 14.89
16461 572.9 8.4 816 16474 done 0.79 - - 3199 - - - 1679 - 150.6 - - 2158 - - - - - - - - 14.87 14.89 14.89
16797 547.5 7.4 822 16810 done 0.80 - - 3200 - - - 1678 - 158.8 1.85 0.167 2142 -8.6 5.472 - - - - - - 14.87 14.29 14.10
17133 524.2 6.8 828 17172 roll 0.82 - - 3200 - 2.45 0.050 3060 564.1 178.1 26.92 1.685 2058 -3.1 0.187 - - - - - - 14.88 14.44 13.39
17207 519.0 7.3 838 17224 done 0.83 - - 3212 - 2.38 0.042 1670 -584.0 188.9 4.75 1.287 2021 -7.8 0.606 - - - - - - 14.53 14.46 13.18
17582 490.3 7.8 849 17595 roll 0.83 - - 3218 - 2.40 0.065 322 -561.7 189.5 - - 2024 - - - - - - - - 14.77 14.29 14.78
17652 484.2 9.1 858 17665 done 0.83 - - 3218 - 2.25 0.030 1681 604.0 189.5 - - 2023 - - - - - - - - 14.56 14.52 14.57
17987 452.9 9.5 870 18000 roll 0.83 - - 3218 - 2.35 0.047 3056 585.1 189.5 - - 2023 - - - - - - - - 14.83 14.38 14.85
18055 445.9 10.2 879 18068 done 0.83 - - 3227 - 2.35 0.041 1678 -586.4 189.5 - - 2023 - - - - - - - - 14.51 14.42 14.54
18392 411.5 10.3 891 18405 roll 0.83 - - 3238 - 2.40 0.064 322 -565.0 189.5 - - 2023 - - - - - - - - 14.82 14.34 14.84
18439 406.2 11.0 897 18453 done 0.83 0.17 0.240 3201 -217.6 2.25 0.029 1697 611.1 189.5 - - 2023 - - - - - - - - 14.04 14.54 14.31
18797 376.0 8.2 905 18810 roll 0.83 - - 3200 - 2.33 0.049 3050 580.7 189.5 - - 2023 - - - - - - - - 14.81 14.38 14.83
18872 369.7 8.1 915 18885 done 0.83 - - 3206 - 2.35 0.041 1672 -586.4 189.5 - - 2024 - - - - - - - - 14.51 14.42 14.54
19200 343.2 8.1 926 19213 done 0.83 - - 3206 - - - 1672 - 189.5 - - 2023 - - - - - - - - 14.84 14.86 14.86
19538 315.2 8.4 932 19551 roll 0.83 - - 3206 - 2.35 0.046 3042 583.0 189.5 - - 2023 - - - - - - - - 14.83 14.40 14.85
19578 311.5 8.8 937 19591 done 0.83 - - 3215 - 2.33 0.042 1683 -583.3 189.5 - - 2023 - - - - - - - - 14.52 14.44 14.56
19941 279.8 8.8 946 19954 done 0.83 - - 3215 - - - 1680 - 189.5 - - 2023 - - - - - - - - 14.87 14.90 14.90
20279 249.2 9.1 952 20292 done 0.83 - - 3215 - - - 1680 - 189.5 - - 2023 - - - - - - - - 14.87 14.89 14.89
20613 218.7 9.0 958 20626 roll 0.83 - - 3215 - 2.38 0.046 3044 573.1 189.5 - - 2022 - - - - - - - - 14.88 14.35 14.90
20653 214.9 9.0 963 20667 done 0.83 - - 3224 - 2.35 0.041 1675 -582.6 189.5 - - 2023 - - - - - - - - 14.50 14.41 14.53
21018 184.3 8.3 972 21031 roll 0.83 - - 3223 - 2.35 0.046 3040 580.9 189.5 - - 2023 - - - - - - - - 14.83 14.29 14.85
21051 181.4 8.5 976 21065 done 0.83 0.15 0.247 3201 -146.7 2.33 0.041 1675 -585.8 189.5 - - 2024 - - - - - - - - 14.02 14.43 14.28
21423 154.3 7.4 986 21452 roll 0.84 - - 3209 - 2.40 0.065 330 -560.4 197.4 14.15 1.209 1980 -3.1 0.077 - - - - - - 14.86 14.51 13.59
21472 150.3 8.1 993 21486 done 0.84 - - 3211 - 2.20 0.029 1679 613.2 197.4 - - 1977 - - - - - - - - 14.65 14.60 14.67
21817 124.0 7.5 1000 21834 roll 0.85 - - 3208 - 2.38 0.046 3046 574.4 203.6 2.20 0.347 1958 -8.6 0.596 - - - - - - 14.81 14.42 13.33
21911 116.1 8.7 1013 21924 done 0.85 - - 3217 - 2.33 0.039 1675 -588.4 203.6 - - 1962 - - - - - - - - 14.56 14.48 14.60
22246 89.2 7.2 1024 22270 roll 0.87 - - 3227 - 2.42 0.064 327 -557.0 215.1 11.88 0.311 1917 -3.8 0.210 - - - - - - 14.85 14.50 14.04
22305 84.3 8.8 1032 22322 done 0.87 - - 3228 - 2.20 0.029 1678 614.1 215.1 3.33 0.169 1923 1.8 -0.173 - - - - - - 14.61 14.56 14.07
22640 62.3 4.9 1046 22709 roll 0.93 - - 3228 - 2.38 0.044 3047 575.2 268.6 53.03 0.290 1704 -4.1 0.171 - - - - - - 14.80 14.52 14.15
22754 56.3 5.8 1062 22803 done 1.13 0.17 0.102 3296 400.0 2.33 0.041 1676 -588.4 305.7 36.22 0.272 1545 -4.4 0.175 - - - - - - 14.45 14.46 14.12
23108 36.0 4.0 1080 23181 roll 1.36 0.17 0.101 3385 523.5 2.45 0.063 321 -553.1 375.5 60.08 0.216 1263 -4.7 0.151 - - - - - - 14.43 14.42 14.16
23280 21.8 9.9 1104 23294 done 1.36 - - 3385 - 2.22 0.027 1691 617.1 375.5 - - 1270 - - - - - - - - 14.47 14.43 14.47
23480 end climb: SURFACE_DEPTH_REACHED
23480 begin surface coast
23507 end surface coast: CONTROL_FINISHED_OK
23507 begin surface
SM 0.97 - - - - -8.59 9.65 0.071 164 17.0 - - 1699 - 515.13 84.15 0.123 692 8.2 -0.007 - - - - - -