SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 72 * Raw log
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• Previous call tries 1 • 31.39 of 350.00 AH used of 24V (91.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.24 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 19 s • Transponder ping count: 1
• 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
28 - - - 114 done -0.84 - - 154 - - - 1871 - -116.8 -80.10 - 3272 - - - - - - - - 14.84 13.88 14.85
118 8.8 -13.1 3 133 done -0.84 12.38 0.407 2653 201.9 - - 1868 - -116.8 - - 3272 - - - - - - - - 14.45 14.71 14.67
422 91.5 -16.7 14 429 roll -0.72 0.15 0.311 2681 186.7 2.33 0.050 3276 604.3 -116.8 - - 3275 - - - - - - - - 14.64 14.75 14.75
463 96.8 -12.5 20 470 done -0.66 0.15 0.277 2713 213.3 2.30 0.038 1867 -612.6 -116.8 - - 3275 - - - - - - - - 14.65 14.78 14.81
787 127.9 -9.8 28 793 roll -0.61 - - 2706 - 2.33 0.055 3269 601.7 -116.8 - - 3277 - - - - - - - - 14.99 14.83 15.01
957 143.7 -9.6 52 963 done -0.57 0.15 0.256 2739 220.0 2.12 0.035 1950 -622.2 -116.8 - - 3276 - - - - - - - - 14.73 14.88 14.88
1292 173.5 -8.9 65 1299 roll -0.57 - - 2740 - 2.50 0.057 457 -597.2 -116.8 - - 3276 - - - - - - - - 15.02 14.85 15.05
1460 190.2 -9.9 89 1466 done -0.57 - - 2732 - 2.35 0.034 1906 616.6 -116.8 - - 3275 - - - - - - - - 14.94 14.89 14.93
1796 223.6 -10.0 102 1802 roll -0.57 - - 2728 - 2.42 0.055 463 -596.3 -116.8 - - 3271 - - - - - - - - 15.02 14.87 15.06
1844 228.7 -10.5 109 1852 done -0.57 - - 2722 - 2.33 0.035 1886 610.7 -116.8 - - 3270 - - - - - - - - 14.95 14.90 14.95
2188 262.9 -10.0 116 2201 roll -0.57 - - 2722 - 2.38 0.056 467 -596.2 -116.8 - - 3268 - - - - - - - - 15.07 14.90 15.09
2242 268.6 -10.6 123 2257 done -0.57 0.12 0.281 2739 141.7 2.28 0.036 1864 612.7 -116.8 - - 3267 - - - - - - - - 14.79 14.92 14.94
2586 298.1 -8.4 130 2599 done -0.57 - - 2739 - - - 1862 - -116.8 - - 3264 - - - - - - - - 15.09 15.11 15.11
2922 326.6 -8.6 136 2935 roll -0.57 - - 2736 - 2.35 0.057 465 -594.5 -116.8 - - 3261 - - - - - - - - 15.10 14.93 15.12
2984 332.2 -9.4 144 2997 done -0.57 - - 2732 - 2.22 0.035 1836 617.6 -116.8 - - 3261 - - - - - - - - 15.01 14.97 15.02
3326 364.1 -9.4 157 3339 done -0.57 - - 2732 - - - 1837 - -116.8 - - 3256 - - - - - - - - 15.11 15.13 15.13
3662 396.4 -9.6 163 3675 done -0.57 - - 2733 - - - 1837 - -116.8 - - 3256 - - - - - - - - 15.11 15.14 15.14
3998 428.0 -9.3 169 4012 roll -0.57 - - 2733 - 2.33 0.058 464 -589.3 -116.8 - - 3254 - - - - - - - - 15.11 14.95 15.14
4045 432.7 -10.2 175 4059 done -0.57 - - 2723 - 2.20 0.037 1822 617.3 -116.8 - - 3255 - - - - - - - - 15.02 14.98 15.04
4402 466.3 -9.4 183 4415 roll -0.57 - - 2723 - 2.30 0.059 458 -593.0 -116.8 - - 3251 - - - - - - - - 15.11 14.94 15.14
4449 470.9 -9.9 189 4463 done -0.57 0.12 0.280 2741 150.0 2.17 0.037 1803 619.8 -116.8 - - 3251 - - - - - - - - 14.83 14.97 14.99
4806 499.5 -7.8 197 4819 roll -0.57 - - 2732 - 2.45 0.058 3269 598.4 -116.8 - - 3248 - - - - - - - - 15.11 14.94 15.13
4881 505.3 -7.8 207 4894 done -0.57 - - 2728 - 2.38 0.038 1809 -613.4 -116.8 - - 3248 - - - - - - - - 15.01 14.95 15.02
5209 531.0 -8.0 218 5222 roll -0.57 - - 2737 - 2.25 0.062 469 -595.6 -116.8 - - 3247 - - - - - - - - 15.11 14.93 15.13
5291 538.4 -9.0 229 5304 done -0.57 - - 2725 - 2.17 0.037 1815 620.3 -116.8 - - 3246 - - - - - - - - 15.01 14.97 15.02
5612 566.4 -8.8 239 5625 roll -0.57 - - 2725 - 2.28 0.060 467 -591.2 -116.8 - - 3244 - - - - - - - - 15.11 14.93 15.12
5645 569.6 -9.3 243 5659 done -0.57 - - 2716 - 2.20 0.037 1824 616.8 -116.8 - - 3245 - - - - - - - - 15.01 14.97 15.03
6015 602.9 -9.0 253 6029 roll -0.57 - - 2705 - 2.40 0.059 3266 600.8 -116.8 - - 3243 - - - - - - - - 15.10 14.93 15.13
6063 607.2 -9.4 259 6077 done -0.57 0.15 0.262 2739 226.7 2.40 0.041 1798 -611.7 -116.8 - - 3242 - - - - - - - - 14.82 14.95 14.97
6420 634.6 -7.4 267 6433 roll -0.57 - - 2739 - 2.22 0.063 471 -597.7 -116.8 - - 3241 - - - - - - - - 15.10 14.92 15.12
6516 642.3 -8.1 280 6529 done -0.57 - - 2732 - 2.12 0.037 1783 618.9 -116.8 - - 3240 - - - - - - - - 15.00 14.96 15.02
6880 671.1 -8.0 289 6893 roll -0.57 - - 2721 - 2.47 0.059 3265 600.0 -116.8 - - 3238 - - - - - - - - 15.09 14.91 15.12
6942 676.3 -8.4 297 6955 done -0.57 - - 2721 - 2.42 0.040 1790 -609.5 -116.8 - - 3238 - - - - - - - - 15.01 14.95 15.02
7284 705.8 -8.7 310 7297 roll -0.57 - - 2721 - 2.25 0.064 461 -590.7 -116.8 - - 3237 - - - - - - - - 15.09 14.92 15.11
7415 718.0 -9.2 328 7428 done -0.57 0.12 0.285 2739 150.0 2.10 0.038 1750 613.8 -116.8 - - 3237 - - - - - - - - 14.80 14.95 14.96
7744 743.4 -7.7 339 7757 roll -0.57 - - 2729 - 2.53 0.059 3260 596.8 -116.8 - - 3236 - - - - - - - - 15.12 14.90 15.11
7840 750.9 -7.7 352 7853 done -0.57 - - 2730 - 2.50 0.041 1748 -604.8 -116.8 - - 3235 - - - - - - - - 15.00 14.92 15.00
8203 778.1 -7.4 361 8216 roll -0.57 - - 2729 - 2.20 0.065 463 -584.1 -116.8 - - 3234 - - - - - - - - 15.09 14.91 15.11
8279 784.7 -8.3 371 8292 done -0.57 - - 2721 - 2.05 0.039 1730 618.0 -116.8 - - 3233 - - - - - - - - 14.99 14.94 15.00
8607 811.1 -8.3 382 8620 roll -0.57 - - 2710 - 2.58 0.060 3263 594.2 -116.8 - - 3232 - - - - - - - - 15.08 14.90 15.10
8725 820.9 -8.4 398 8739 done -0.57 0.15 0.257 2743 220.0 2.50 0.042 1753 -604.0 -116.8 - - 3232 - - - - - - - - 14.78 14.92 14.95
9068 845.5 -7.0 411 9081 roll -0.57 - - 2744 - 2.17 0.065 469 -591.7 -116.8 - - 3234 - - - - - - - - 15.08 14.90 15.10
9157 853.1 -7.9 423 9170 done -0.57 - - 2739 - 2.08 0.038 1737 609.6 -116.8 - - 3231 - - - - - - - - 14.98 14.93 15.00
9527 880.4 -7.5 433 9541 roll -0.57 - - 2726 - 2.58 0.061 3261 590.7 -116.8 - - 3230 - - - - - - - - 15.07 14.89 15.09
9624 887.7 -7.5 446 9637 done -0.57 - - 2727 - 2.53 0.043 1732 -604.3 -116.8 - - 3230 - - - - - - - - 14.97 14.90 14.98
9987 915.0 -7.4 455 10000 roll -0.57 - - 2727 - 2.15 0.067 467 -588.4 -116.8 - - 3229 - - - - - - - - 15.07 14.89 15.09
10062 921.6 -9.2 465 10075 done -0.57 - - 2718 - 2.05 0.039 1729 615.6 -116.8 - - 3229 - - - - - - - - 14.97 14.92 14.99
10391 946.5 -7.7 476 10404 roll -0.57 - - 2707 - 2.58 0.060 3260 593.4 -116.8 - - 3228 - - - - - - - - 15.07 14.89 15.09
10466 952.5 -8.0 486 10479 done -0.57 0.15 0.258 2740 220.0 2.53 0.044 1734 -603.2 -116.8 - - 3228 - - - - - - - - 14.76 14.90 14.92
10795 974.7 -6.7 497 10808 roll -0.57 - - 2738 - 2.15 0.067 468 -588.8 -116.8 - - 3227 - - - - - - - - 15.06 14.88 15.09
10857 979.2 -4.0 505 10870 done -0.57 - - 2735 - 2.08 0.039 1739 611.1 -116.8 - - 3227 - - - - - - - - 14.96 14.91 14.98
11027 end dive: TARGET_DEPTH_EXCEEDED
11027 begin apogee
11035 991.1 -6.8 515 11164 roll -0.21 0.45 0.230 2855 266.7 - - 1660 - - 118.72 2.191 2796 -3.6 0.303 - - - - - - 14.76 14.08 13.38
11166 end apogee: CONTROL_FINISHED_OK
11166 begin climb
11169 995.3 - 517 11310 roll 0.84 1.10 0.188 3187 301.8 2.42 0.068 348 -542.1 116.8 122.05 2.157 2311 -4.0 0.338 - - - - - - 14.09 14.14 13.29
11515 966.6 12.3 569 11528 done 0.84 - - 3188 - 2.25 0.036 1694 598.2 116.8 - - 2293 - - - - - - - - 14.54 14.50 14.55
11885 929.8 9.8 579 11898 roll 0.84 - - 3197 - 2.35 0.067 346 -573.6 116.8 - - 2291 - - - - - - - - 14.83 14.66 14.85
12065 911.5 10.1 604 12078 done 0.80 - - 3197 - 2.25 0.037 1713 607.6 116.8 - - 2291 - - - - - - - - 14.78 14.74 14.81
12401 879.3 9.6 616 12414 roll 0.77 - - 3197 - 2.30 0.054 3065 587.8 116.8 - - 2289 - - - - - - - - 14.94 14.77 14.96
12504 869.6 7.9 630 12518 done 0.73 0.17 0.291 3169 -164.7 2.17 0.042 1751 -605.5 116.8 - - 2289 - - - - - - - - 14.64 14.78 14.83
12860 838.9 8.4 638 12873 roll 0.73 - - 3177 - 2.42 0.068 346 -580.6 116.8 - - 2289 - - - - - - - - 14.98 14.79 15.00
12908 835.1 9.2 644 12921 done 0.73 - - 3177 - 2.28 0.035 1739 611.0 116.8 - - 2289 - - - - - - - - 14.89 14.84 14.90
13264 803.2 8.9 652 13277 roll 0.73 - - 3178 - 2.20 0.054 3060 600.5 116.8 - - 2289 - - - - - - - - 15.00 14.83 15.02
13360 794.4 9.0 665 13373 done 0.73 - - 3183 - 2.10 0.041 1790 -604.8 116.8 - - 2288 - - - - - - - - 14.90 14.85 14.92
13723 761.7 9.0 674 13736 roll 0.73 - - 3197 - 2.50 0.068 347 -577.2 116.8 - - 2288 - - - - - - - - 15.01 14.83 15.04
13819 752.3 9.8 687 13833 done 0.70 0.17 0.267 3158 -229.4 2.30 0.036 1753 611.3 116.8 - - 2288 - - - - - - - - 14.72 14.88 14.90
14184 724.0 7.7 696 14197 roll 0.71 - - 3158 - 2.20 0.054 3062 595.0 119.6 - - 2287 - - - - - - - - 15.02 14.85 15.04
14273 716.8 7.3 708 14290 done 0.72 - - 3164 - 2.10 0.041 1783 -609.0 130.1 5.07 1.539 2259 -5.5 0.475 - - - - - - 14.92 14.87 14.00
14640 688.1 7.8 718 14653 roll 0.72 - - 3175 - 2.47 0.069 346 -581.8 130.2 - - 2260 - - - - - - - - 15.00 14.82 15.02
14702 682.9 8.6 726 14715 done 0.72 - - 3174 - 2.33 0.033 1764 608.6 130.2 - - 2259 - - - - - - - - 14.91 14.87 14.92
15044 654.0 8.5 739 15058 roll 0.72 - - 3175 - 2.17 0.053 3071 602.3 130.2 - - 2258 - - - - - - - - 15.02 14.85 15.03
15133 646.0 8.9 751 15147 done 0.72 - - 3183 - 2.08 0.042 1813 -604.8 130.2 - - 2260 - - - - - - - - 14.92 14.85 14.92
15504 614.2 8.6 761 15517 roll 0.72 - - 3195 - 2.55 0.068 343 -576.5 130.2 - - 2260 - - - - - - - - 15.04 14.83 15.04
15642 601.0 9.4 780 15656 done 0.72 0.12 0.281 3167 -233.3 2.33 0.034 1770 612.4 130.2 - - 2259 - - - - - - - - 14.71 14.86 14.88
15964 574.6 8.2 790 15977 roll 0.72 - - 3167 - 2.15 0.052 3065 602.3 130.2 - - 2260 - - - - - - - - 15.02 14.85 15.04
16053 567.2 8.4 802 16066 done 0.72 - - 3173 - 2.15 0.041 1768 -603.3 130.2 - - 2259 - - - - - - - - 14.92 14.86 14.93
16423 536.0 8.5 812 16436 roll 0.72 - - 3184 - 2.47 0.068 340 -578.1 130.2 - - 2260 - - - - - - - - 15.02 14.83 15.04
16526 526.8 9.1 826 16539 done 0.72 - - 3181 - 2.28 0.033 1742 614.9 130.2 - - 2257 - - - - - - - - 14.93 14.88 14.94
16882 495.9 8.7 834 16895 roll 0.72 - - 3184 - 2.20 0.052 3068 602.7 130.2 - - 2260 - - - - - - - - 15.03 14.85 15.05
17013 484.1 8.8 852 17027 done 0.72 0.12 0.296 3168 -133.3 2.12 0.041 1774 -610.4 130.2 - - 2260 - - - - - - - - 14.71 14.88 14.89
17342 459.3 7.5 863 17359 roll 0.73 - - 3176 - 2.47 0.068 342 -579.8 136.3 4.03 1.163 2235 -6.2 0.452 - - - - - - 15.03 14.83 14.04
17422 452.9 8.0 874 17435 done 0.73 - - 3176 - 2.30 0.033 1762 617.4 136.3 - - 2243 - - - - - - - - 14.91 14.87 14.92
17743 428.0 7.7 884 17760 roll 0.73 - - 3176 - 2.17 0.052 3062 599.1 138.6 3.60 1.040 2227 -4.4 0.338 - - - - - - 15.02 14.83 14.04
17808 422.5 8.5 893 17821 done 0.73 - - 3184 - 2.10 0.041 1782 -609.5 138.6 - - 2232 - - - - - - - - 14.90 14.84 14.91
18143 395.4 8.2 905 18156 roll 0.73 - - 3195 - 2.47 0.067 351 -579.4 138.6 - - 2231 - - - - - - - - 15.01 14.82 15.03
18239 386.6 9.3 918 18253 done 0.73 - - 3195 - 2.28 0.033 1747 612.3 138.6 - - 2233 - - - - - - - - 14.95 14.88 14.93
18603 354.4 8.9 927 18616 roll 0.73 - - 3195 - 2.17 0.050 3063 606.5 138.6 - - 2233 - - - - - - - - 15.02 14.84 15.04
18734 341.8 9.3 945 18747 done 0.73 0.17 0.280 3166 -170.6 2.10 0.040 1781 -610.5 138.6 - - 2234 - - - - - - - - 14.71 14.85 14.88
19062 317.0 7.5 956 19093 roll 0.74 - - 3175 - 2.53 0.067 351 -565.2 145.6 14.85 1.401 2191 -2.9 0.121 - - - - - - 15.01 14.76 14.23
19170 308.5 8.2 971 19184 done 0.74 - - 3175 - 2.30 0.032 1755 610.4 145.6 - - 2188 - - - - - - - - 14.83 14.80 14.85
19513 281.1 8.0 978 19526 roll 0.74 - - 3175 - 2.17 0.050 3070 606.0 145.6 - - 2188 - - - - - - - - 14.97 14.80 15.00
19575 275.8 8.5 986 19589 done 0.74 - - 3184 - 2.15 0.040 1764 -607.4 145.6 - - 2187 - - - - - - - - 14.88 14.81 14.90
19917 245.4 9.1 999 19931 roll 0.74 - - 3191 - 2.45 0.067 346 -578.8 145.6 - - 2187 - - - - - - - - 15.00 14.81 15.04
19980 239.4 9.8 1007 19993 done 0.74 0.12 0.266 3168 -191.7 2.30 0.032 1764 616.5 145.6 - - 2188 - - - - - - - - 14.71 14.86 14.88
20323 212.8 7.5 1020 20339 roll 0.74 - - 3169 - 2.22 0.050 3068 587.4 151.5 2.20 0.365 2169 -8.6 0.929 - - - - - - 15.01 14.83 14.07
20415 205.7 7.4 1033 20442 done 0.76 - - 3174 - 2.10 0.040 1788 -609.5 159.8 13.57 1.271 2137 -2.4 0.070 - - - - - - 14.89 14.85 14.22
20774 177.6 8.0 1042 20787 roll 0.76 - - 3185 - 2.50 0.066 344 -577.6 159.8 - - 2130 - - - - - - - - 14.97 14.78 14.99
20849 171.1 8.7 1052 20862 done 0.76 - - 3185 - 2.33 0.033 1771 612.4 159.8 - - 2129 - - - - - - - - 14.88 14.84 14.89
21178 143.3 8.5 1063 21191 roll 0.76 - - 3185 - 2.15 0.048 3074 606.0 159.8 - - 2129 - - - - - - - - 15.00 14.83 15.02
21240 138.0 8.6 1071 21253 done 0.76 - - 3194 - 2.12 0.038 1777 -611.8 159.8 - - 2129 - - - - - - - - 14.90 14.84 14.92
21582 110.3 7.7 1084 21595 done 0.76 - - 3194 - - - 1777 - 163.0 - - 2130 - - - - - - - - 15.01 15.03 15.03
21890 91.9 4.9 1092 21954 roll 0.83 - - 3204 - 2.55 0.065 342 -562.7 217.5 48.42 0.378 1909 -4.6 0.205 - - - - - - 15.02 14.74 14.54
22185 75.5 4.7 1134 22258 done 0.94 - - 3203 - 2.33 0.030 1790 621.5 277.0 56.33 0.332 1671 -4.2 0.177 - - - - - - 14.86 14.83 14.51
22563 60.1 3.6 1155 22651 roll 1.13 0.25 0.093 3313 440.0 2.17 0.046 3071 590.3 355.7 71.32 0.290 1352 -4.5 0.171 - - - - - - 14.77 14.66 14.51
22776 47.4 7.3 1185 22800 done 1.14 - - 3319 - 1.92 0.037 1882 -619.3 365.6 11.25 0.227 1306 -4.1 0.158 - - - - - - 14.78 14.72 14.56
23132 28.1 5.6 1202 23180 roll 1.23 - - 3319 - 1.95 0.042 3069 608.7 407.4 36.30 0.195 1133 -4.8 0.127 - - - - - - 14.95 14.73 14.64
23246 21.2 6.3 1218 23282 done 1.32 - - 3324 - 1.92 0.036 1882 -618.2 436.5 24.27 0.175 1012 -5.0 0.111 - - - - - - 14.83 14.78 14.66
23517 end climb: SURFACE_DEPTH_REACHED
23517 begin surface coast
23545 end surface coast: CONTROL_FINISHED_OK
23545 begin surface
SM 1.07 - - - - -8.60 9.18 0.076 164 17.8 - - 1881 - 515.13 48.55 0.123 693 14.3 -0.013 - - - - - -