SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 143 * Raw log
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• Previous call tries 1 • 56.97 of 350.00 AH used of 24V (83.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth 1.21 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: 26 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 done -0.84 - - 157 - - - 1891 - -116.8 -78.25 - 3272 - - - - - - - - 14.81 13.49 14.83
112 10.8 -16.8 3 129 roll -0.84 11.77 0.385 2661 212.7 2.45 0.047 460 -584.1 -116.8 - - 3272 - - - - - - - - 14.38 14.62 14.63
185 47.7 -30.6 14 193 done -0.35 0.62 0.275 2809 238.7 2.28 0.036 1833 602.2 -116.8 - - 3273 - - - - - - - - 14.45 14.66 14.66
500 94.6 -11.3 26 507 roll -0.35 - - 2809 - 2.30 0.054 472 -591.7 -116.8 - - 3274 - - - - - - - - 14.92 14.72 14.93
556 99.9 -9.5 34 563 done -0.35 - - 2802 - 2.33 0.033 1905 615.0 -116.8 - - 3274 - - - - - - - - 14.82 14.77 14.82
921 125.8 -6.6 44 927 roll -0.35 - - 2792 - 2.22 0.053 3262 611.3 -116.8 - - 3275 - - - - - - - - 14.97 14.78 15.00
990 130.6 -6.9 54 996 done -0.35 - - 2792 - 2.20 0.036 1901 -618.6 -116.8 - - 3276 - - - - - - - - 14.87 14.84 14.88
1313 153.1 -7.0 65 1321 roll -0.35 - - 2792 - 2.40 0.057 466 -597.9 -116.8 - - 3276 - - - - - - - - 15.00 14.81 15.02
1426 162.2 -8.0 81 1433 done -0.35 0.12 0.256 2810 150.0 2.25 0.034 1861 620.0 -116.8 - - 3275 - - - - - - - - 14.70 14.84 14.84
1762 186.4 -7.4 94 1769 roll -0.48 0.12 0.133 2753 -475.0 2.33 0.053 466 -598.7 -116.8 - - 3272 - - - - - - - - 14.81 14.81 14.85
1803 190.4 -10.3 100 1810 done -0.48 0.12 0.265 2768 125.0 2.20 0.034 1836 622.7 -116.8 - - 3272 - - - - - - - - 14.66 14.85 14.84
2154 221.3 -8.8 108 2157 done -0.48 - - 2769 - - - 1836 - -116.8 - - 3269 - - - - - - - - 15.01 15.03 15.03
2490 249.7 -8.4 114 2505 roll -0.48 - - 2770 - 2.28 0.057 465 -601.3 -116.8 - - 3265 - - - - - - - - 15.01 14.80 15.03
2532 253.4 -8.7 119 2545 done -0.48 - - 2762 - 2.17 0.034 1824 626.3 -116.8 - - 3265 - - - - - - - - 14.92 14.88 14.92
2895 281.9 -7.7 128 2908 roll -0.48 - - 2752 - 2.38 0.056 3270 607.6 -116.8 - - 3262 - - - - - - - - 15.02 14.85 15.07
2935 285.1 -7.9 133 2948 done -0.48 - - 2758 - 2.33 0.037 1821 -621.9 -116.8 - - 3261 - - - - - - - - 14.94 14.88 14.95
3298 314.1 -8.1 142 3312 roll -0.48 - - 2752 - 2.25 0.059 461 -604.4 -116.8 - - 3258 - - - - - - - - 15.07 14.86 15.09
3453 327.9 -8.9 163 3467 done -0.48 0.12 0.268 2769 141.7 2.12 0.034 1797 630.2 -116.8 - - 3258 - - - - - - - - 14.70 14.90 14.89
3817 355.3 -7.4 172 3830 roll -0.48 - - 2760 - 2.40 0.055 3262 610.4 -116.8 - - 3255 - - - - - - - - 15.07 14.86 15.09
3857 358.4 -7.2 177 3870 done -0.48 - - 2760 - 2.38 0.038 1783 -621.4 -116.8 - - 3255 - - - - - - - - 14.97 14.88 14.97
4220 386.1 -7.7 186 4233 roll -0.48 - - 2760 - 2.17 0.060 470 -605.1 -116.8 - - 3252 - - - - - - - - 15.05 14.87 15.09
4310 393.9 -8.7 198 4323 done -0.48 - - 2752 - 2.10 0.035 1787 627.1 -116.8 - - 3252 - - - - - - - - 14.96 14.91 15.03
4680 425.0 -8.4 208 4693 roll -0.48 - - 2740 - 2.45 0.057 3268 604.5 -116.8 - - 3250 - - - - - - - - 15.07 14.85 15.09
4742 430.6 -8.9 216 4756 done -0.48 0.15 0.244 2774 226.7 2.38 0.039 1800 -616.8 -116.8 - - 3250 - - - - - - - - 14.69 14.89 14.89
5085 456.7 -7.5 229 5098 roll -0.48 - - 2775 - 2.22 0.060 464 -601.8 -116.8 - - 3248 - - - - - - - - 15.07 14.85 15.09
5174 463.9 -7.9 241 5187 done -0.48 - - 2769 - 2.08 0.036 1771 628.4 -116.8 - - 3247 - - - - - - - - 14.95 14.90 14.97
5545 492.1 -7.6 251 5558 roll -0.48 - - 2758 - 2.45 0.056 3262 608.6 -116.8 - - 3245 - - - - - - - - 15.07 14.85 15.09
5656 500.7 -7.8 266 5669 done -0.48 - - 2758 - 2.42 0.039 1774 -614.9 -116.8 - - 3244 - - - - - - - - 14.94 14.87 14.94
5999 527.2 -7.7 273 6012 roll -0.48 - - 2758 - 2.17 0.061 472 -600.0 -116.8 - - 3241 - - - - - - - - 15.06 14.84 15.08
6061 532.4 -8.5 281 6074 done -0.48 - - 2750 - 2.10 0.035 1783 624.3 -116.8 - - 3243 - - - - - - - - 14.94 14.90 14.96
6403 559.9 -8.1 294 6417 roll -0.48 - - 2739 - 2.47 0.058 3266 600.4 -116.8 - - 3243 - - - - - - - - 15.06 14.84 15.07
6499 567.8 -8.0 307 6513 done -0.48 0.15 0.240 2772 220.0 2.40 0.040 1785 -617.1 -116.8 - - 3242 - - - - - - - - 14.66 14.86 14.87
6863 593.5 -7.2 316 6876 roll -0.48 - - 2773 - 2.20 0.062 471 -597.3 -116.8 - - 3240 - - - - - - - - 15.05 14.83 15.07
6959 601.3 -8.1 329 6973 done -0.48 - - 2767 - 2.10 0.037 1778 622.4 -116.8 - - 3240 - - - - - - - - 14.95 14.89 14.95
7322 630.8 -8.3 338 7335 done -0.48 - - 2767 - - - 1778 - -116.8 - - 3238 - - - - - - - - 15.06 15.08 15.07
7659 658.3 -8.1 344 7672 done -0.48 - - 2767 - - - 1778 - -116.8 - - 3236 - - - - - - - - 15.05 15.07 15.07
7995 683.3 -7.3 350 8008 roll -0.48 - - 2756 - 2.47 0.059 3262 600.8 -116.8 - - 3235 - - - - - - - - 15.05 14.81 15.07
8084 689.8 -7.2 362 8097 done -0.58 - - 2755 - 2.42 0.041 1778 -613.2 -116.8 - - 3235 - - - - - - - - 14.91 14.85 14.93
8455 716.4 -7.2 372 8468 roll -0.58 - - 2756 - 2.20 0.063 471 -594.1 -116.8 - - 3234 - - - - - - - - 15.03 14.81 15.07
8558 724.3 -7.5 386 8571 done -0.58 - - 2748 - 2.10 0.037 1777 621.9 -116.8 - - 3231 - - - - - - - - 14.91 14.85 14.93
8914 749.6 -7.1 394 8927 roll -0.58 - - 2737 - 2.47 0.060 3262 601.2 -116.8 - - 3233 - - - - - - - - 15.04 14.78 15.07
9011 756.6 -7.2 407 9024 done -0.58 - - 2737 - 2.42 0.041 1778 -613.2 -116.8 - - 3232 - - - - - - - - 14.89 14.85 14.92
9374 783.0 -7.3 416 9387 roll -0.58 - - 2736 - 2.20 0.064 474 -592.7 -116.8 - - 3231 - - - - - - - - 15.03 14.79 15.06
9477 791.4 -8.2 430 9490 done -0.58 - - 2728 - 2.08 0.037 1766 621.2 -116.8 - - 3231 - - - - - - - - 14.90 14.85 14.92
9833 819.8 -8.1 438 9846 roll -0.58 - - 2717 - 2.50 0.060 3262 598.4 -116.8 - - 3231 - - - - - - - - 15.03 14.78 15.05
9901 825.5 -8.6 447 9915 done -0.58 - - 2716 - 2.47 0.042 1754 -610.5 -116.8 - - 3230 - - - - - - - - 14.88 14.81 14.89
10236 853.7 -8.4 459 10250 roll -0.58 - - 2716 - 2.17 0.065 470 -591.7 -116.8 - - 3229 - - - - - - - - 15.02 14.78 15.04
10319 861.2 -9.1 470 10332 done -0.58 0.15 0.277 2739 153.3 2.08 0.039 1752 616.3 -116.8 - - 3229 - - - - - - - - 14.55 14.83 14.79
10641 884.6 -7.2 480 10654 roll -0.58 - - 2730 - 2.53 0.060 3261 596.4 -116.8 - - 3229 - - - - - - - - 15.01 14.75 15.03
10703 889.2 -7.4 488 10716 done -0.58 - - 2730 - 2.47 0.042 1759 -608.1 -116.8 - - 3228 - - - - - - - - 14.87 14.78 14.89
11045 914.3 -7.3 501 11059 roll -0.58 - - 2730 - 2.20 0.065 463 -589.1 -116.8 - - 3228 - - - - - - - - 15.01 14.76 15.04
11128 921.1 -8.3 512 11141 done -0.58 - - 2722 - 2.08 0.039 1747 617.3 -116.8 - - 3227 - - - - - - - - 14.88 14.81 14.89
11449 946.4 -7.9 522 11462 roll -0.58 - - 2710 - 2.55 0.060 3265 595.3 -116.8 - - 3227 - - - - - - - - 15.00 14.76 15.03
11512 951.5 -8.1 530 11525 done -0.58 0.12 0.262 2735 208.3 2.50 0.042 1748 -606.8 -116.8 - - 3227 - - - - - - - - 14.54 14.81 14.78
11857 976.4 -7.3 543 11870 roll -0.58 - - 2736 - 2.17 0.067 473 -587.6 -116.8 - - 3226 - - - - - - - - 14.99 14.74 15.02
11946 983.6 -7.6 555 11960 done -0.58 - - 2730 - 2.05 0.039 1728 612.2 -116.8 - - 3226 - - - - - - - - 14.87 14.81 14.88
12033 end dive: TARGET_DEPTH_EXCEEDED
12033 begin apogee
12041 990.1 -6.3 560 12168 roll -0.21 0.47 0.231 2854 263.8 - - 1799 - - 118.05 2.205 2794 -3.7 0.305 - - - - - - 14.52 14.08 13.35
12170 end apogee: CONTROL_FINISHED_OK
12170 begin climb
12174 994.8 - 562 12315 roll 0.84 1.17 0.182 3189 286.3 2.53 0.063 398 -553.8 116.8 124.00 2.147 2316 -3.9 0.331 - - - - - - 14.07 14.14 13.23
12478 971.7 9.7 608 12492 done 0.84 - - 3189 - 2.38 0.035 1805 591.2 116.8 - - 2293 - - - - - - - - 14.42 14.36 14.45
12819 939.3 9.4 615 12832 roll 0.84 - - 3199 - 2.45 0.063 402 -572.7 116.8 - - 2291 - - - - - - - - 14.78 14.57 14.78
13027 918.3 10.0 644 13041 done 0.73 0.15 0.263 3168 -206.7 2.30 0.035 1817 615.2 116.8 - - 2291 - - - - - - - - 14.49 14.68 14.69
13391 888.6 8.0 653 13404 roll 0.73 - - 3168 - 2.30 0.054 3189 596.5 116.8 - - 2290 - - - - - - - - 14.90 14.69 14.92
13453 883.1 8.5 661 13467 done 0.73 - - 3174 - 2.28 0.041 1807 -606.1 116.8 - - 2289 - - - - - - - - 14.78 14.71 14.81
13796 854.9 8.2 674 13809 roll 0.73 - - 3185 - 2.42 0.067 402 -580.6 116.8 - - 2289 - - - - - - - - 14.93 14.71 14.95
13892 846.8 8.8 687 13906 done 0.73 - - 3185 - 2.25 0.034 1789 616.4 116.8 - - 2289 - - - - - - - - 14.82 14.77 14.84
14255 814.5 9.0 696 14269 roll 0.73 - - 3185 - 2.33 0.054 3184 598.7 116.8 - - 2289 - - - - - - - - 14.95 14.73 14.97
14338 806.6 9.4 707 14351 done 0.63 0.25 0.265 3136 -196.0 2.28 0.041 1800 -607.0 116.8 - - 2288 - - - - - - - - 14.53 14.76 14.78
14660 782.9 7.3 717 14674 roll 0.64 - - 3145 - 2.45 0.067 408 -568.2 126.9 2.67 0.800 2273 -5.6 1.019 - - - - - - 15.00 14.78 13.82
14771 774.1 7.9 732 14785 done 0.64 - - 3145 - 2.22 0.034 1777 616.7 126.9 - - 2273 - - - - - - - - 14.84 14.78 14.85
15115 748.3 7.5 739 15132 roll 0.65 - - 3145 - 2.35 0.052 3186 599.6 133.5 4.97 1.561 2247 -5.2 0.465 - - - - - - 14.96 14.64 13.91
15174 743.7 7.9 747 15187 done 0.65 - - 3154 - 2.33 0.041 1778 -604.3 133.5 - - 2248 - - - - - - - - 14.83 14.76 14.85
15517 717.7 7.7 760 15534 roll 0.66 - - 3165 - 2.35 0.067 401 -586.0 136.7 3.72 1.255 2235 -3.5 0.371 - - - - - - 14.95 14.76 13.89
15617 709.1 8.8 774 15630 done 0.66 - - 3165 - 2.20 0.034 1763 619.1 136.7 - - 2242 - - - - - - - - 14.83 14.78 14.84
15973 678.0 8.9 782 15986 roll 0.66 - - 3164 - 2.38 0.054 3191 600.0 136.7 - - 2240 - - - - - - - - 14.95 14.74 14.97
16021 673.4 9.7 788 16034 done 0.66 0.15 0.274 3143 -140.0 2.35 0.042 1766 -606.4 136.7 - - 2241 - - - - - - - - 14.54 14.76 14.77
16378 644.2 8.1 796 16391 roll 0.66 - - 3151 - 2.35 0.067 399 -581.7 136.7 - - 2241 - - - - - - - - 14.97 14.72 14.99
16453 637.9 8.3 806 16467 done 0.66 - - 3152 - 2.20 0.035 1762 619.5 136.7 - - 2241 - - - - - - - - 14.85 14.79 14.86
16781 612.2 7.8 817 16799 roll 0.66 - - 3151 - 2.40 0.054 3176 589.2 138.3 3.28 1.045 2227 -4.3 0.464 - - - - - - 14.97 14.79 13.90
16841 607.5 8.2 825 16854 done 0.66 - - 3160 - 2.35 0.041 1756 -604.3 138.3 - - 2233 - - - - - - - - 14.83 14.76 14.85
17184 580.6 7.8 838 17197 roll 0.66 - - 3170 - 2.33 0.067 399 -582.4 138.5 - - 2233 - - - - - - - - 14.97 14.73 14.99
17231 576.7 8.0 844 17244 done 0.66 - - 3169 - 2.20 0.034 1763 620.0 138.5 - - 2233 - - - - - - - - 14.85 14.80 14.86
17588 549.3 7.6 852 17605 roll 0.66 - - 3170 - 2.35 0.051 3189 606.8 142.8 4.80 1.376 2212 -4.4 0.324 - - - - - - 14.97 14.65 13.95
17639 545.1 8.1 859 17653 done 0.66 0.15 0.264 3148 -146.7 2.38 0.041 1753 -603.4 142.8 - - 2216 - - - - - - - - 14.58 14.76 14.78
17983 522.0 6.7 866 18035 roll 0.69 - - 3156 - 2.45 0.067 393 -555.1 165.3 39.90 1.563 2115 -2.5 0.157 - - - - - - 14.96 14.50 13.95
18095 514.5 7.6 881 18108 done 0.70 - - 3156 - 2.25 0.034 1750 603.1 170.3 - - 2107 - - - - - - - - 14.63 14.59 14.66
18437 489.3 7.3 894 18467 roll 0.71 - - 3156 - 2.47 0.052 3182 579.8 179.9 14.62 1.623 2051 -3.8 0.214 - - - - - - 14.84 14.58 13.95
18523 482.6 7.7 906 18536 done 0.71 - - 3163 - 2.33 0.041 1782 -600.9 182.6 - - 2045 - - - - - - - - 14.66 14.59 14.68
18893 453.1 8.2 916 18906 roll 0.71 - - 3175 - 2.38 0.066 405 -578.6 182.6 - - 2045 - - - - - - - - 14.87 14.64 14.90
19024 441.2 9.0 934 19038 done 0.71 - - 3174 - 2.17 0.032 1753 621.2 182.6 - - 2042 - - - - - - - - 14.78 14.73 14.79
19352 410.9 9.4 945 19366 roll 0.71 - - 3174 - 2.38 0.051 3181 600.0 182.6 - - 2045 - - - - - - - - 14.92 14.71 14.94
19407 405.3 10.3 952 19421 done 0.71 - - 3183 - 2.38 0.041 1756 -598.7 182.6 - - 2044 - - - - - - - - 14.77 14.71 14.79
19751 370.7 10.1 959 19764 roll 0.71 - - 3193 - 2.33 0.066 399 -582.4 182.6 - - 2044 - - - - - - - - 14.94 14.71 14.96
19798 365.6 10.6 965 19812 done 0.71 0.15 0.251 3161 -213.3 2.17 0.033 1766 630.0 182.6 - - 2044 - - - - - - - - 14.56 14.78 14.76
20155 335.1 8.4 973 20168 roll 0.71 - - 3160 - 2.35 0.052 3182 602.6 182.6 - - 2044 - - - - - - - - 14.96 14.75 14.97
20223 329.0 8.8 982 20236 done 0.71 - - 3166 - 2.30 0.041 1776 -611.3 182.6 - - 2044 - - - - - - - - 14.83 14.77 14.85
20558 300.0 8.7 994 20572 roll 0.71 - - 3177 - 2.35 0.066 401 -585.1 182.6 - - 2044 - - - - - - - - 14.97 14.73 14.99
20662 290.4 9.2 1008 20675 done 0.71 - - 3177 - 2.17 0.033 1749 621.2 182.6 - - 2045 - - - - - - - - 14.85 14.81 14.87
21018 259.9 8.4 1016 21031 roll 0.71 - - 3177 - 2.35 0.050 3170 604.7 182.6 - - 2044 - - - - - - - - 14.97 14.76 15.00
21087 253.9 8.9 1025 21100 done 0.71 - - 3186 - 2.30 0.040 1770 -608.7 182.6 - - 2044 - - - - - - - - 14.82 14.76 14.84
21422 224.5 8.9 1037 21435 roll 0.71 - - 3196 - 2.35 0.065 393 -586.0 182.6 - - 2044 - - - - - - - - 14.98 14.74 15.00
21518 214.8 10.0 1050 21532 done 0.71 0.15 0.243 3163 -220.0 2.15 0.032 1747 629.8 182.6 - - 2044 - - - - - - - - 14.57 14.82 14.78
21882 184.0 8.3 1059 21895 roll 0.71 - - 3162 - 2.38 0.050 3175 600.0 182.6 - - 2044 - - - - - - - - 14.98 14.77 15.00
21957 177.8 8.2 1069 21971 done 0.71 - - 3169 - 2.33 0.042 1756 -609.0 182.6 - - 2044 - - - - - - - - 14.85 14.79 14.88
22286 153.1 7.3 1080 22304 roll 0.72 - - 3179 - 2.35 0.064 401 -576.6 192.1 6.07 1.120 2007 -6.1 0.154 - - - - - - 14.98 14.78 14.19
22373 145.6 8.8 1092 22386 done 0.72 - - 3178 - 2.17 0.032 1754 623.5 192.1 - - 2011 - - - - - - - - 14.85 14.81 14.85
22744 117.3 7.2 1102 22773 roll 0.74 - - 3179 - 2.42 0.050 3180 589.3 205.0 13.50 0.388 1960 -3.8 0.212 - - - - - - 14.97 14.76 14.42
22807 112.8 7.6 1111 22832 done 0.75 - - 3187 - 2.30 0.039 1773 -611.7 210.4 8.70 0.342 1936 -2.8 0.169 - - - - - - 14.83 14.77 14.40
23143 94.2 4.4 1125 23219 roll 0.96 0.12 0.132 3253 550.0 2.40 0.062 402 -571.2 275.0 63.92 0.386 1676 -4.1 0.184 - - - - - - 14.76 14.64 14.38
23323 84.1 6.1 1151 23370 done 1.00 - - 3256 - 2.22 0.031 1792 626.1 307.5 32.50 0.347 1539 -4.2 0.189 - - - - - - 14.76 14.71 14.35
23678 65.6 6.0 1168 23726 roll 1.19 0.15 0.118 3331 500.0 2.40 0.059 398 -580.8 342.7 34.62 0.293 1399 -4.0 0.168 - - - - - - 14.70 14.60 14.41
23901 51.6 4.5 1200 23973 done 1.27 - - 3331 - 2.05 0.030 1703 636.6 404.9 58.10 0.262 1144 -4.4 0.160 - - - - - - 14.78 14.73 14.42
24295 28.1 6.5 1223 24332 roll 1.43 0.15 0.112 3405 493.3 2.25 0.063 405 -576.9 430.1 22.67 0.190 1040 -4.6 0.126 - - - - - - 14.71 14.66 14.54
24422 16.0 10.8 1241 24436 done 1.43 - - 3405 - 1.98 0.028 1691 649.5 430.1 2.85 0.146 1039 - - - - - - - - 14.78 14.75 14.61
24552 end climb: SURFACE_DEPTH_REACHED
24552 begin surface coast
24580 end surface coast: CONTROL_FINISHED_OK
24580 begin surface
SM 1.12 - - - - -8.59 9.43 0.070 161 17.1 0.22 0.063 1865 -33440.9 515.13 52.62 0.122 692 13.2 -0.012 - - - - - -