SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 145 * Raw log
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• Previous call tries 4 • 57.72 of 350.00 AH used of 24V (83.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 35 s
• GPS2 time: 16 s • Transponder ping count: 0
• 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 - - 152 - - - 1880 - -116.8 -78.68 - 3269 - - - - - - - - 14.81 13.90 14.83
112 10.4 -16.2 3 130 roll -0.84 11.75 0.383 2660 213.4 2.42 0.050 459 -587.2 -116.8 - - 3271 - - - - - - - - 14.40 14.63 14.64
171 43.4 -36.0 12 178 done -0.25 0.75 0.279 2840 240.0 2.25 0.037 1835 611.6 -116.8 - - 3272 - - - - - - - - 14.45 14.66 14.66
501 85.3 -7.8 26 507 roll -0.25 - - 2841 - 2.30 0.054 458 -598.7 -116.8 - - 3272 - - - - - - - - 14.93 14.76 14.95
692 100.7 -7.1 53 700 done -0.25 - - 2835 - 2.12 0.033 1782 624.5 -116.8 - - 3276 - - - - - - - - 14.84 14.78 14.85
1033 121.8 -6.2 60 1039 roll -0.36 - - 2824 - 2.45 0.055 3272 608.2 -116.8 - - 3274 - - - - - - - - 14.99 14.76 15.01
1172 130.5 -6.4 80 1178 done -0.51 0.17 0.102 2751 -429.4 2.40 0.037 1779 -622.1 -116.8 - - 3273 - - - - - - - - 14.83 14.83 14.88
1537 164.6 -9.7 90 1543 roll -0.51 - - 2751 - 2.17 0.058 467 -604.6 -116.8 - - 3271 - - - - - - - - 15.01 14.81 15.04
1640 175.7 -10.3 105 1649 done -0.51 - - 2742 - 2.15 0.033 1789 614.9 -116.8 - - 3270 - - - - - - - - 14.86 14.83 14.88
1985 210.5 -10.2 112 1992 roll -0.51 - - 2730 - 2.45 0.055 3277 607.3 -116.8 - - 3268 - - - - - - - - 15.02 14.85 15.03
2054 217.2 -9.6 122 2061 done -0.51 0.15 0.244 2763 220.0 2.42 0.037 1776 -620.2 -116.8 - - 3267 - - - - - - - - 14.69 14.83 14.85
2377 243.5 -8.0 133 2384 roll -0.51 - - 2764 - 2.17 0.057 467 -603.2 -116.8 - - 3264 - - - - - - - - 15.02 14.81 15.04
2489 253.3 -8.8 149 2503 done -0.51 - - 2758 - 2.05 0.034 1759 630.2 -116.8 - - 3262 - - - - - - - - 14.93 14.88 14.95
2831 283.4 -8.9 162 2845 roll -0.51 - - 2746 - 2.50 0.055 3277 607.2 -116.8 - - 3259 - - - - - - - - 15.06 14.85 15.08
2928 292.3 -9.2 175 2941 done -0.51 - - 2746 - 2.47 0.037 1753 -617.0 -116.8 - - 3258 - - - - - - - - 14.94 14.88 14.95
3291 326.3 -9.4 184 3304 roll -0.51 - - 2746 - 2.15 0.058 461 -600.9 -116.8 - - 3255 - - - - - - - - 15.07 14.86 15.09
3415 338.2 -9.4 201 3428 done -0.51 - - 2738 - 2.03 0.034 1745 632.5 -116.8 - - 3255 - - - - - - - - 14.96 14.91 14.98
3751 368.5 -9.0 213 3764 roll -0.51 - - 2726 - 2.53 0.054 3276 605.1 -116.8 - - 3252 - - - - - - - - 15.07 14.86 15.10
3882 380.2 -8.9 231 3895 done -0.51 0.15 0.243 2760 226.7 2.45 0.038 1759 -619.2 -116.8 - - 3249 - - - - - - - - 14.70 14.89 14.90
4210 406.2 -7.9 242 4224 roll -0.51 - - 2762 - 2.15 0.060 469 -600.0 -116.8 - - 3249 - - - - - - - - 15.09 14.87 15.10
4335 417.1 -8.8 259 4348 done -0.51 - - 2756 - 2.05 0.034 1761 630.2 -116.8 - - 3247 - - - - - - - - 14.96 14.91 14.97
4670 446.8 -9.0 271 4683 roll -0.51 - - 2744 - 2.50 0.057 3271 604.0 -116.8 - - 3246 - - - - - - - - 15.07 14.86 15.09
4738 453.1 -9.0 280 4751 done -0.51 - - 2745 - 2.50 0.038 1730 -616.4 -116.8 - - 3246 - - - - - - - - 14.95 14.88 14.97
5073 482.0 -8.5 292 5086 roll -0.51 - - 2745 - 2.12 0.060 458 -600.0 -116.8 - - 3242 - - - - - - - - 15.07 14.86 15.09
5127 486.9 -8.9 299 5141 done -0.51 - - 2737 - 2.08 0.035 1753 622.6 -116.8 - - 3243 - - - - - - - - 14.95 14.90 14.97
5471 515.6 -8.4 306 5485 roll -0.51 - - 2725 - 2.53 0.057 3276 602.0 -116.8 - - 3242 - - - - - - - - 15.07 14.85 15.09
5540 521.7 -8.6 315 5553 done -0.51 0.15 0.246 2758 220.0 2.50 0.039 1736 -616.0 -116.8 - - 3242 - - - - - - - - 14.66 14.85 14.85
5876 547.3 -7.6 327 5889 roll -0.51 - - 2759 - 2.12 0.062 468 -598.1 -116.8 - - 3240 - - - - - - - - 15.07 14.85 15.09
5938 552.6 -8.7 335 5951 done -0.51 - - 2753 - 2.05 0.035 1746 623.4 -116.8 - - 3240 - - - - - - - - 14.95 14.89 14.96
6280 581.0 -8.3 348 6293 roll -0.51 - - 2742 - 2.53 0.056 3268 601.6 -116.8 - - 3238 - - - - - - - - 15.06 14.83 15.09
6320 584.4 -8.5 353 6334 done -0.51 - - 2742 - 2.55 0.041 1710 -611.0 -116.8 - - 3238 - - - - - - - - 14.93 14.86 14.95
6684 613.8 -8.0 362 6697 roll -0.51 - - 2742 - 2.10 0.062 461 -594.8 -116.8 - - 3236 - - - - - - - - 15.05 14.83 15.08
6766 621.0 -8.6 373 6780 done -0.51 0.12 0.276 2759 141.7 2.03 0.037 1713 616.7 -116.8 - - 3235 - - - - - - - - 14.64 14.88 14.86
7088 645.4 -7.7 383 7101 roll -0.51 - - 2750 - 2.60 0.058 3270 598.8 -116.8 - - 3234 - - - - - - - - 15.05 14.83 15.07
7199 654.5 -8.3 398 7213 done -0.51 - - 2755 - 2.55 0.040 1720 -607.8 -116.8 - - 3234 - - - - - - - - 14.91 14.85 14.93
7542 684.1 -8.6 405 7555 roll -0.51 - - 2750 - 2.12 0.063 469 -590.1 -116.8 - - 3233 - - - - - - - - 15.05 14.81 15.07
7604 689.5 -8.8 413 7617 done -0.51 - - 2742 - 2.03 0.037 1722 617.2 -116.8 - - 3232 - - - - - - - - 14.92 14.87 14.94
7946 718.6 -8.3 426 7960 roll -0.51 - - 2730 - 2.60 0.057 3273 596.5 -116.8 - - 3230 - - - - - - - - 15.04 14.82 15.07
8022 724.9 -8.2 436 8035 done -0.51 0.15 0.244 2763 220.0 2.55 0.041 1718 -609.8 -116.8 - - 3231 - - - - - - - - 14.63 14.83 14.84
8351 748.1 -7.0 447 8364 done -0.51 - - 2763 - - - 1721 - -116.8 - - 3230 - - - - - - - - 15.04 15.06 15.06
8686 770.4 -6.5 453 8699 done -0.51 - - 2759 - - - 1718 - -116.8 - - 3229 - - - - - - - - 15.04 15.07 15.07
9022 791.4 -6.3 459 9035 roll -0.51 - - 2763 - 2.12 0.064 469 -589.2 -116.8 - - 3228 - - - - - - - - 15.04 14.80 15.06
9119 798.1 -7.0 472 9132 done -0.51 - - 2757 - 2.05 0.037 1746 622.9 -116.8 - - 3230 - - - - - - - - 14.91 14.86 14.92
9482 823.5 -7.1 481 9495 roll -0.51 - - 2747 - 2.55 0.058 3269 597.3 -116.8 - - 3228 - - - - - - - - 15.04 14.79 15.06
9586 831.4 -7.8 495 9599 done -0.51 - - 2746 - 2.53 0.041 1738 -605.1 -116.8 - - 3226 - - - - - - - - 14.89 14.82 14.91
9942 860.6 -8.3 503 9955 roll -0.51 - - 2746 - 2.15 0.063 470 -589.8 -116.8 - - 3225 - - - - - - - - 15.03 14.78 15.05
10039 868.6 -8.9 516 10052 done -0.51 - - 2738 - 2.08 0.037 1747 613.9 -116.8 - - 3225 - - - - - - - - 14.90 14.84 14.91
10402 898.4 -8.1 525 10415 roll -0.51 - - 2726 - 2.58 0.059 3277 593.0 -116.8 - - 3225 - - - - - - - - 15.02 14.77 15.05
10491 905.5 -7.8 537 10505 done -0.51 0.15 0.243 2760 226.7 2.55 0.041 1741 -602.4 -116.8 - - 3224 - - - - - - - - 14.58 14.80 14.80
10863 929.3 -6.3 547 10876 roll -0.60 - - 2760 - 2.17 0.064 460 -590.3 -116.8 - - 3223 - - - - - - - - 15.02 14.76 15.04
10952 935.5 -6.9 559 10965 done -0.60 - - 2754 - 2.10 0.039 1751 614.8 -116.8 - - 3223 - - - - - - - - 14.88 14.85 14.90
11323 960.0 -6.6 569 11336 roll -0.60 - - 2743 - 2.55 0.060 3268 594.9 -116.8 - - 3222 - - - - - - - - 15.01 14.76 15.03
11436 966.7 -6.6 584 11450 done -0.69 0.12 0.136 2696 -391.7 2.53 0.041 1751 -599.6 -116.8 - - 3225 - - - - - - - - 14.74 14.78 14.84
11717 end dive: TARGET_DEPTH_EXCEEDED
11718 begin apogee
11725 990.5 -8.4 590 11867 roll -0.21 0.60 0.239 2854 263.3 - - 1751 - - 132.05 2.075 2792 -3.3 0.290 - - - - - - 14.52 14.08 13.35
11869 end apogee: CONTROL_FINISHED_OK
11869 begin climb
11872 995.2 - 592 12013 roll 0.84 1.23 0.184 3188 271.5 2.60 0.058 3202 558.1 116.8 122.28 2.150 2314 -3.9 0.336 - - - - - - 14.07 14.15 13.22
12155 973.3 10.1 637 12169 done 0.74 - - 3197 - 2.40 0.040 1795 -586.2 116.8 - - 2294 - - - - - - - - 14.40 14.34 14.42
12519 936.8 10.0 646 12533 roll 0.64 0.22 0.259 3141 -254.5 2.40 0.050 3207 588.3 116.8 - - 2293 - - - - - - - - 14.40 14.59 14.54
12661 925.0 8.0 665 12674 done 0.64 - - 3148 - 2.38 0.041 1781 -599.2 116.8 - - 2292 - - - - - - - - 14.71 14.64 14.73
12982 900.1 7.7 675 12995 roll 0.64 - - 3159 - 2.40 0.066 401 -575.0 118.9 - - 2292 - - - - - - - - 14.88 14.67 14.91
13078 892.2 8.3 688 13092 done 0.64 - - 3159 - 2.28 0.033 1794 611.0 118.9 - - 2291 - - - - - - - - 14.79 14.73 14.81
13442 863.5 7.8 697 13455 roll 0.64 - - 3158 - 2.33 0.054 3185 597.0 119.2 - - 2291 - - - - - - - - 14.93 14.73 14.95
13496 859.0 8.1 704 13510 done 0.64 0.12 0.275 3143 -125.0 2.35 0.041 1774 -600.4 119.2 - - 2291 - - - - - - - - 14.54 14.74 14.76
13841 835.6 6.8 711 13877 roll 0.67 - - 3151 - 2.45 0.067 395 -562.9 139.2 20.40 2.027 2217 -3.6 0.277 - - - - - - 14.95 14.61 13.94
13947 827.5 7.9 726 13961 done 0.67 - - 3152 - 2.22 0.034 1751 610.8 139.2 - - 2211 - - - - - - - - 14.71 14.66 14.72
14290 800.6 7.9 733 14303 roll 0.67 - - 3151 - 2.40 0.052 3183 596.7 139.2 - - 2210 - - - - - - - - 14.89 14.70 14.91
14344 796.2 8.5 740 14358 done 0.67 - - 3162 - 2.38 0.042 1762 -597.1 139.2 - - 2209 - - - - - - - - 14.78 14.71 14.80
14689 767.2 8.6 747 14702 roll 0.67 - - 3171 - 2.35 0.067 401 -579.1 139.2 - - 2210 - - - - - - - - 14.93 14.73 14.95
14785 757.9 9.6 760 14798 done 0.67 - - 3171 - 2.17 0.033 1740 617.1 139.2 - - 2209 - - - - - - - - 14.83 14.78 14.85
15149 723.8 9.4 769 15162 roll 0.67 - - 3171 - 2.42 0.054 3188 598.3 139.2 - - 2210 - - - - - - - - 14.98 14.75 14.98
15217 717.0 9.7 778 15230 done 0.67 0.15 0.272 3149 -146.7 2.38 0.042 1752 -603.4 139.2 - - 2208 - - - - - - - - 14.54 14.78 14.79
15552 689.4 8.1 790 15566 roll 0.67 - - 3157 - 2.35 0.067 394 -577.9 139.2 - - 2208 - - - - - - - - 14.96 14.73 14.99
15649 681.2 8.6 803 15662 done 0.67 - - 3157 - 2.15 0.034 1723 618.1 139.2 - - 2208 - - - - - - - - 14.85 14.81 14.88
16012 650.7 8.5 812 16025 roll 0.67 - - 3157 - 2.45 0.053 3186 597.1 139.2 - - 2208 - - - - - - - - 14.97 14.76 15.00
16080 644.6 8.9 821 16094 done 0.67 - - 3166 - 2.42 0.043 1721 -605.4 139.2 - - 2208 - - - - - - - - 14.84 14.77 14.87
16415 614.7 9.0 833 16429 roll 0.67 - - 3177 - 2.28 0.067 401 -578.9 139.2 - - 2208 - - - - - - - - 14.97 14.77 15.00
16463 610.0 10.0 839 16476 done 0.67 0.12 0.267 3154 -191.7 2.15 0.033 1749 627.0 139.2 - - 2208 - - - - - - - - 14.56 14.82 14.80
16819 579.1 8.6 847 16833 roll 0.67 - - 3151 - 2.40 0.053 3182 597.1 139.2 - - 2208 - - - - - - - - 14.97 14.76 15.00
16852 576.0 9.0 851 16866 done 0.67 - - 3157 - 2.40 0.042 1728 -605.8 139.2 - - 2208 - - - - - - - - 14.85 14.77 14.87
17222 544.5 8.4 861 17236 roll 0.67 - - 3168 - 2.30 0.067 397 -578.7 139.2 - - 2208 - - - - - - - - 14.97 14.73 15.00
17306 537.3 8.6 872 17319 done 0.67 - - 3168 - 2.17 0.034 1737 617.5 139.2 - - 2208 - - - - - - - - 14.83 14.78 14.85
17627 512.2 7.8 882 17640 roll 0.67 - - 3168 - 2.42 0.053 3185 598.3 140.8 - - 2209 - - - - - - - - 14.98 14.75 15.00
17702 506.3 7.7 892 17715 done 0.67 - - 3177 - 2.40 0.042 1739 -602.5 143.8 - - 2208 - - - - - - - - 14.84 14.77 14.86
18030 481.4 7.6 903 18047 roll 0.68 - - 3187 - 2.33 0.067 402 -573.8 148.2 2.75 0.754 2187 -7.6 0.905 - - - - - - 14.97 14.77 13.90
18117 473.9 8.8 915 18130 done 0.68 0.15 0.255 3154 -220.0 2.15 0.032 1741 622.8 148.2 - - 2190 - - - - - - - - 14.57 14.81 14.78
18487 446.5 7.5 925 18505 roll 0.69 - - 3155 - 2.40 0.050 3186 602.1 154.9 5.90 1.414 2161 -4.9 0.288 - - - - - - 14.97 14.66 14.02
18567 439.9 8.1 936 18580 done 0.69 - - 3160 - 2.38 0.042 1750 -603.4 154.9 - - 2167 - - - - - - - - 14.83 14.76 14.85
18889 414.6 8.0 946 18902 roll 0.69 - - 3171 - 2.33 0.066 395 -581.5 154.9 - - 2167 - - - - - - - - 14.96 14.72 14.97
18957 408.7 8.8 955 18970 done 0.69 - - 3170 - 2.20 0.034 1758 619.5 154.9 - - 2170 - - - - - - - - 14.84 14.79 14.85
19292 380.4 8.4 967 19305 done 0.69 - - 3171 - - - 1759 - 154.9 - - 2167 - - - - - - - - 14.97 14.99 14.98
19629 353.1 8.0 973 19642 roll 0.69 - - 3170 - 2.38 0.052 3188 600.4 154.9 - - 2166 - - - - - - - - 14.97 14.76 15.00
19662 350.2 8.3 977 19675 done 0.69 - - 3180 - 2.35 0.041 1763 -606.4 154.9 - - 2167 - - - - - - - - 14.85 14.78 14.86
20033 320.5 8.0 987 20046 roll 0.69 - - 3189 - 2.35 0.066 393 -583.0 154.9 - - 2167 - - - - - - - - 14.97 14.73 15.00
20080 316.5 8.2 993 20094 done 0.69 0.15 0.250 3157 -213.3 2.20 0.033 1775 628.2 154.9 - - 2167 - - - - - - - - 14.57 14.82 14.78
20438 292.5 6.6 1001 20488 roll 0.71 - - 3157 - 2.40 0.051 3171 581.7 178.2 36.47 1.340 2059 -3.0 0.120 - - - - - - 14.97 14.60 14.09
20539 285.4 7.4 1015 20557 done 0.72 - - 3163 - 2.33 0.041 1772 -600.4 186.7 3.33 0.840 2030 -8.7 0.549 - - - - - - 14.69 14.62 13.92
20887 258.3 7.9 1023 20900 roll 0.72 - - 3173 - 2.38 0.065 395 -578.6 186.7 - - 2032 - - - - - - - - 14.87 14.65 14.89
20970 251.1 8.7 1034 20983 done 0.72 - - 3174 - 2.20 0.032 1756 618.6 186.7 - - 2032 - - - - - - - - 14.78 14.70 14.78
21291 224.0 8.5 1044 21304 roll 0.72 - - 3179 - 2.38 0.050 3186 600.8 186.7 - - 2032 - - - - - - - - 14.92 14.71 14.94
21325 221.0 9.0 1048 21338 done 0.72 - - 3182 - 2.38 0.040 1745 -605.5 186.7 - - 2031 - - - - - - - - 14.80 14.74 14.81
21695 187.9 8.8 1058 21708 roll 0.72 - - 3191 - 2.30 0.065 397 -586.1 186.7 - - 2031 - - - - - - - - 14.95 14.71 14.96
21742 183.4 9.6 1064 21755 done 0.72 - - 3191 - 2.17 0.032 1756 626.3 186.7 - - 2032 - - - - - - - - 14.85 14.80 14.85
22098 151.6 8.7 1072 22111 roll 0.72 - - 3192 - 2.35 0.050 3185 608.1 186.7 - - 2031 - - - - - - - - 14.97 14.75 15.01
22222 140.8 8.4 1089 22236 done 0.72 0.15 0.260 3168 -160.0 2.25 0.039 1800 -615.6 186.7 - - 2032 - - - - - - - - 14.57 14.78 14.78
22559 116.9 7.3 1101 22582 roll 0.74 - - 3176 - 2.45 0.064 405 -569.4 197.9 11.43 0.366 1987 -3.9 0.233 - - - - - - 14.97 14.74 14.40
22682 109.9 5.3 1118 22745 done 0.80 - - 3176 - 2.15 0.031 1760 630.2 245.6 49.62 0.427 1793 -3.9 0.187 - - - - - - 14.85 14.81 14.37
23061 87.3 5.4 1140 23120 roll 1.02 0.20 0.103 3272 480.0 2.38 0.063 405 -569.3 290.6 43.88 0.360 1615 -4.1 0.183 - - - - - - 14.69 14.59 14.37
23253 72.9 7.6 1167 23271 done 1.02 - - 3272 - 2.22 0.031 1779 618.9 294.5 6.03 0.230 1594 -3.5 0.205 - - - - - - 14.76 14.71 14.38
23603 53.4 4.9 1183 23667 roll 1.20 0.12 0.127 3337 541.7 2.42 0.060 399 -570.2 348.8 51.25 0.266 1370 -4.4 0.163 - - - - - - 14.72 14.62 14.45
23712 47.0 6.7 1198 23746 done 1.22 - - 3338 - 2.08 0.031 1726 638.0 369.9 21.33 0.244 1286 -3.9 0.141 - - - - - - 14.76 14.71 14.47
24078 23.9 6.7 1217 24112 roll 1.35 - - 3337 - 2.42 0.044 3172 597.5 391.2 19.38 0.181 1198 -4.5 0.111 - - - - - - 14.91 14.70 14.54
24193 15.7 7.3 1233 24216 done 1.47 0.17 0.107 3412 441.2 2.42 0.037 1697 -609.5 402.5 10.70 0.156 1151 -4.4 0.082 - - - - - - 14.72 14.73 14.59
24331 end climb: SURFACE_DEPTH_REACHED
24331 begin surface coast
24363 end surface coast: CONTROL_FINISHED_OK
24363 begin surface
SM 1.13 - - - - -8.60 9.48 0.070 158 16.7 0.22 0.065 1864 -43481.8 515.13 68.00 0.123 690 10.1 -0.010 - - - - - -