SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 146 * Raw log
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• Previous call tries 1 • 58.08 of 350.00 AH used of 24V (83.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 30 s
• GPS2 time: 17 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 106 done -0.84 - - 147 - - - 1872 - -116.8 -79.78 - 3272 - - - - - - - - 14.79 13.88 14.83
110 9.3 -14.1 3 127 roll -0.84 11.80 0.385 2660 213.0 2.42 0.049 462 -582.6 -116.8 - - 3273 - - - - - - - - 14.38 14.63 14.64
190 49.2 -31.8 15 197 done -0.35 0.62 0.274 2807 237.1 2.28 0.037 1845 606.6 -116.8 - - 3274 - - - - - - - - 14.46 14.66 14.65
519 96.2 -10.6 29 525 roll -0.35 - - 2807 - 2.30 0.054 471 -597.4 -116.8 - - 3276 - - - - - - - - 14.92 14.72 14.92
756 114.7 -8.3 63 763 done -0.35 - - 2801 - 2.15 0.031 1817 626.0 -116.8 - - 3283 - - - - - - - - 14.84 14.80 14.85
1079 135.9 -6.6 74 1086 roll -0.35 - - 2800 - 2.25 0.053 463 -601.8 -116.8 - - 3276 - - - - - - - - 14.99 14.79 15.00
1135 140.2 -8.0 82 1142 done -0.35 - - 2792 - 2.20 0.032 1841 626.4 -116.8 - - 3276 - - - - - - - - 14.88 14.83 14.89
1472 165.3 -7.4 95 1474 done -0.35 - - 2792 - - - 1841 - -116.8 - - 3275 - - - - - - - - 15.00 15.02 15.02
1807 190.5 -7.6 101 1813 roll -0.35 - - 2782 - 2.33 0.054 3260 609.0 -116.8 - - 3270 - - - - - - - - 15.00 14.79 15.02
1884 196.3 -7.4 112 1890 done -0.45 - - 2781 - 2.35 0.037 1805 -619.1 -116.8 - - 3272 - - - - - - - - 14.89 14.83 14.90
2200 218.9 -7.0 122 2206 roll -0.45 - - 2781 - 2.22 0.057 467 -602.7 -116.8 - - 3270 - - - - - - - - 15.00 14.81 15.02
2324 228.4 -7.5 140 2331 done -0.45 - - 2773 - 2.15 0.034 1788 614.4 -116.8 - - 3268 - - - - - - - - 14.85 14.83 14.88
2650 251.9 -7.3 151 2663 done -0.45 - - 2773 - - - 1788 - -116.8 - - 3265 - - - - - - - - 15.02 15.04 15.04
2983 277.3 -7.6 157 2997 roll -0.45 - - 2763 - 2.42 0.056 3261 608.7 -116.8 - - 3262 - - - - - - - - 15.04 14.84 15.07
3031 281.0 -7.9 163 3044 done -0.45 - - 2763 - 2.40 0.038 1782 -616.2 -116.8 - - 3262 - - - - - - - - 14.93 14.87 14.95
3387 310.9 -8.6 171 3400 roll -0.45 - - 2762 - 2.17 0.058 470 -604.6 -116.8 - - 3259 - - - - - - - - 15.06 14.85 15.08
3497 321.2 -9.2 186 3511 done -0.45 - - 2755 - 2.05 0.034 1750 624.4 -116.8 - - 3258 - - - - - - - - 14.95 14.90 14.96
3841 351.2 -8.7 193 3855 roll -0.45 0.12 0.280 2776 175.0 2.50 0.053 3259 603.6 -116.8 - - 3256 - - - - - - - - 14.66 14.85 14.80
3941 358.8 -7.6 206 3954 done -0.56 - - 2776 - 2.40 0.038 1772 -619.6 -116.8 - - 3256 - - - - - - - - 14.94 14.88 14.96
4304 387.1 -7.7 215 4317 roll -0.56 - - 2776 - 2.17 0.060 470 -600.0 -116.8 - - 3253 - - - - - - - - 15.07 14.85 15.09
4423 396.8 -8.2 231 4436 done -0.56 - - 2768 - 2.05 0.035 1753 625.9 -116.8 - - 3250 - - - - - - - - 14.95 14.91 14.97
4765 423.2 -7.6 244 4778 roll -0.56 - - 2758 - 2.50 0.056 3263 604.0 -116.8 - - 3249 - - - - - - - - 15.07 14.85 15.09
4827 428.0 -7.8 252 4840 done -0.56 - - 2758 - 2.42 0.039 1776 -614.5 -116.8 - - 3250 - - - - - - - - 14.94 14.87 14.95
5170 454.6 -7.7 265 5183 roll -0.56 - - 2757 - 2.20 0.060 468 -594.5 -116.8 - - 3248 - - - - - - - - 15.07 14.84 15.09
5280 463.9 -8.2 280 5294 done -0.56 - - 2750 - 2.05 0.037 1736 618.5 -116.8 - - 3247 - - - - - - - - 14.94 14.89 14.95
5624 492.7 -8.5 287 5637 roll -0.56 - - 2738 - 2.55 0.057 3266 600.0 -116.8 - - 3246 - - - - - - - - 15.07 14.80 15.09
5727 501.7 -8.6 301 5740 done -0.56 - - 2738 - 2.45 0.039 1756 -616.3 -116.8 - - 3245 - - - - - - - - 14.93 14.86 14.95
6083 533.3 -9.0 309 6097 roll -0.56 - - 2738 - 2.17 0.060 464 -595.4 -116.8 - - 3242 - - - - - - - - 15.06 14.83 15.08
6187 543.4 -9.7 323 6200 done -0.56 - - 2730 - 2.05 0.037 1730 617.6 -116.8 - - 3243 - - - - - - - - 14.94 14.88 14.95
6543 576.6 -9.3 331 6556 roll -0.56 - - 2718 - 2.55 0.057 3262 600.8 -116.8 - - 3243 - - - - - - - - 15.06 14.83 15.07
6605 582.6 -9.5 339 6618 done -0.56 0.12 0.260 2744 216.7 2.50 0.041 1737 -610.0 -116.8 - - 3242 - - - - - - - - 14.64 14.85 14.85
6947 610.6 -8.0 352 6960 roll -0.56 - - 2745 - 2.12 0.061 473 -596.2 -116.8 - - 3241 - - - - - - - - 15.04 14.83 15.07
7009 615.8 -8.3 360 7022 done -0.56 - - 2740 - 2.05 0.037 1743 619.5 -116.8 - - 3241 - - - - - - - - 14.92 14.88 14.97
7351 642.4 -7.7 373 7364 roll -0.56 - - 2728 - 2.53 0.058 3258 598.8 -116.8 - - 3239 - - - - - - - - 15.05 14.81 15.07
7448 650.0 -7.8 386 7462 done -0.56 - - 2728 - 2.45 0.040 1759 -611.8 -116.8 - - 3238 - - - - - - - - 14.91 14.84 14.93
7812 679.4 -8.2 395 7825 roll -0.56 - - 2728 - 2.17 0.062 471 -593.5 -116.8 - - 3241 - - - - - - - - 15.04 14.81 15.07
7915 688.5 -8.7 409 7928 done -0.56 - - 2720 - 2.05 0.036 1745 621.5 -116.8 - - 3236 - - - - - - - - 14.92 14.86 14.92
8271 719.5 -8.8 417 8284 roll -0.56 - - 2708 - 2.53 0.058 3256 597.2 -116.8 - - 3235 - - - - - - - - 15.04 14.80 15.06
8395 731.0 -9.2 434 8409 done -0.56 0.17 0.245 2748 235.3 2.45 0.041 1759 -611.0 -116.8 - - 3235 - - - - - - - - 14.61 14.83 14.83
8732 755.8 -7.3 446 8745 roll -0.56 - - 2749 - 2.17 0.063 474 -592.2 -116.8 - - 3234 - - - - - - - - 15.03 14.80 15.05
8828 763.2 -7.4 459 8841 done -0.56 - - 2743 - 2.05 0.037 1743 619.0 -116.8 - - 3234 - - - - - - - - 14.90 14.85 14.92
9192 788.7 -7.0 468 9205 roll -0.56 - - 2731 - 2.55 0.060 3263 596.1 -116.8 - - 3232 - - - - - - - - 15.02 14.81 15.05
9316 797.6 -7.1 485 9329 done -0.56 - - 2731 - 2.47 0.041 1766 -606.1 -116.8 - - 3232 - - - - - - - - 14.88 14.81 14.90
9652 822.3 -7.5 497 9665 roll -0.56 - - 2731 - 2.20 0.065 474 -587.3 -116.8 - - 3231 - - - - - - - - 15.04 14.78 15.04
9748 830.3 -8.1 510 9761 done -0.56 - - 2723 - 2.10 0.038 1750 607.6 -116.8 - - 3231 - - - - - - - - 14.89 14.83 14.90
10111 858.4 -7.9 519 10124 roll -0.56 - - 2711 - 2.53 0.060 3256 595.3 -116.8 - - 3230 - - - - - - - - 15.02 14.77 15.04
10200 865.7 -8.1 531 10214 done -0.56 0.15 0.251 2745 226.7 2.50 0.041 1743 -605.2 -116.8 - - 3230 - - - - - - - - 14.57 14.80 14.79
10571 893.1 -7.5 541 10584 roll -0.56 - - 2745 - 2.17 0.067 473 -585.3 -116.8 - - 3229 - - - - - - - - 15.02 14.76 15.04
10626 896.7 -7.8 548 10640 done -0.56 - - 2739 - 2.08 0.039 1745 611.5 -116.8 - - 3229 - - - - - - - - 14.87 14.81 14.89
10969 922.3 -7.5 555 10982 roll -0.56 - - 2728 - 2.55 0.060 3260 594.1 -116.8 - - 3229 - - - - - - - - 15.01 14.75 15.03
11073 930.2 -6.7 569 11086 done -0.56 - - 2728 - 2.45 0.042 1780 -604.1 -116.8 - - 3228 - - - - - - - - 14.87 14.79 14.89
11429 956.8 -7.5 577 11442 roll -0.56 - - 2728 - 2.22 0.064 474 -588.3 -116.8 - - 3228 - - - - - - - - 15.00 14.75 15.03
11533 965.9 -10.0 591 11546 done -0.56 - - 2720 - 2.10 0.039 1765 614.8 -116.8 - - 3228 - - - - - - - - 14.87 14.81 14.88
11886 end dive: TARGET_DEPTH_EXCEEDED
11886 begin apogee
11894 992.5 -7.8 599 12022 roll -0.21 0.52 0.237 2858 265.4 - - 1766 - - 118.55 2.203 2793 -3.7 0.307 - - - - - - 14.53 14.08 13.35
12024 end apogee: CONTROL_FINISHED_OK
12024 begin climb
12027 997.5 - 601 12168 roll 0.84 1.15 0.179 3186 285.2 2.45 0.063 399 -558.0 116.8 123.15 2.162 2317 -3.9 0.331 - - - - - - 14.07 14.14 13.21
12174 990.3 9.5 625 12188 done 0.65 0.20 0.246 3143 -215.0 2.42 0.034 1812 583.9 116.8 - - 2298 - - - - - - - - 13.91 14.04 14.07
12519 965.4 7.2 638 12537 roll 0.67 - - 3144 - 2.35 0.055 3186 584.7 128.4 4.20 1.437 2267 -7.4 0.921 - - - - - - 14.70 14.52 13.63
12599 959.1 10.8 649 12612 done 0.67 - - 3150 - 2.28 0.041 1825 -596.9 128.4 - - 2268 - - - - - - - - 14.62 14.56 14.63
12920 934.1 7.9 659 12933 roll 0.67 - - 3161 - 2.47 0.067 399 -577.3 128.4 - - 2267 - - - - - - - - 14.83 14.62 14.86
13010 926.4 8.0 671 13023 done 0.67 - - 3161 - 2.33 0.034 1818 609.0 128.4 - - 2268 - - - - - - - - 14.75 14.70 14.76
13380 894.0 8.8 681 13393 roll 0.67 - - 3161 - 2.30 0.054 3192 597.4 128.4 - - 2268 - - - - - - - - 14.91 14.69 14.92
13442 888.2 9.5 689 13455 done 0.67 - - 3170 - 2.28 0.041 1832 -596.5 128.4 - - 2267 - - - - - - - - 14.79 14.73 14.83
13784 857.0 9.1 702 13798 roll 0.67 - - 3181 - 2.47 0.067 396 -581.4 128.4 - - 2268 - - - - - - - - 14.94 14.71 14.96
13860 849.6 9.9 712 13873 done 0.67 0.15 0.263 3149 -213.3 2.30 0.034 1817 617.8 128.4 - - 2268 - - - - - - - - 14.54 14.78 14.75
14188 822.7 7.9 723 14201 done 0.67 - - 3152 - - - 1817 - 128.4 - - 2266 - - - - - - - - 14.95 14.97 14.97
14524 796.9 7.6 729 14541 roll 0.67 - - 3149 - 2.33 0.054 3179 584.5 132.8 2.62 0.778 2251 -5.7 1.089 - - - - - - 14.96 14.78 13.78
14569 793.3 7.4 735 14601 done 0.68 - - 3156 - 2.25 0.041 1813 -607.1 142.1 18.77 1.971 2207 -2.3 0.175 - - - - - - 14.84 14.78 13.96
14926 764.5 8.2 750 14939 roll 0.68 - - 3165 - 2.45 0.067 400 -576.7 142.1 - - 2197 - - - - - - - - 14.88 14.66 14.91
15037 754.9 8.7 765 15051 done 0.68 - - 3166 - 2.25 0.034 1772 609.8 142.1 - - 2197 - - - - - - - - 14.81 14.73 14.80
15380 725.4 8.6 772 15393 roll 0.68 - - 3166 - 2.35 0.053 3182 600.0 142.1 - - 2197 - - - - - - - - 14.92 14.72 14.95
15434 720.6 9.0 779 15448 done 0.68 - - 3175 - 2.33 0.042 1781 -601.3 142.1 - - 2197 - - - - - - - - 14.81 14.74 14.83
15778 690.4 8.8 786 15792 roll 0.68 - - 3186 - 2.40 0.067 395 -577.5 142.1 - - 2197 - - - - - - - - 14.95 14.71 14.97
15861 682.4 9.7 797 15874 done 0.68 0.15 0.256 3154 -213.3 2.25 0.034 1790 620.0 142.1 - - 2197 - - - - - - - - 14.55 14.78 14.78
16182 657.4 7.7 807 16196 roll 0.69 - - 3154 - 2.33 0.054 3181 597.0 145.4 - - 2197 - - - - - - - - 14.96 14.74 14.98
16230 653.4 8.2 813 16243 done 0.69 - - 3161 - 2.33 0.042 1775 -603.4 145.4 - - 2197 - - - - - - - - 14.80 14.73 14.81
16586 625.3 8.0 821 16599 roll 0.69 - - 3171 - 2.38 0.067 396 -579.4 145.4 - - 2197 - - - - - - - - 14.96 14.73 14.99
16669 618.2 8.7 832 16682 done 0.69 - - 3171 - 2.17 0.034 1743 620.7 145.4 - - 2197 - - - - - - - - 14.85 14.80 14.86
16990 591.6 8.2 842 17003 roll 0.69 - - 3172 - 2.40 0.053 3180 598.8 145.4 - - 2197 - - - - - - - - 14.97 14.75 15.00
17072 584.8 8.3 853 17085 done 0.69 - - 3179 - 2.35 0.041 1766 -601.7 145.4 - - 2197 - - - - - - - - 14.83 14.76 14.85
17394 560.0 7.7 863 17411 roll 0.69 - - 3190 - 2.40 0.067 401 -568.8 149.2 1.70 0.174 2181 -9.4 5.625 - - - - - - 14.97 14.73 14.66
17494 551.7 8.4 877 17507 done 0.69 0.15 0.255 3158 -213.3 2.15 0.034 1746 625.6 149.2 - - 2184 - - - - - - - - 14.54 14.80 14.76
17851 525.7 7.4 885 17873 roll 0.70 - - 3158 - 2.45 0.054 3181 585.7 157.4 7.07 1.570 2153 -4.4 0.273 - - - - - - 14.97 14.77 14.04
17921 519.8 8.3 895 17934 done 0.70 - - 3164 - 2.33 0.041 1772 -604.7 157.4 - - 2156 - - - - - - - - 14.82 14.76 14.83
18249 491.2 8.9 906 18263 roll 0.70 - - 3175 - 2.38 0.067 393 -579.4 157.4 - - 2154 - - - - - - - - 14.95 14.71 14.96
18374 479.4 9.3 923 18387 done 0.70 - - 3175 - 2.15 0.033 1728 620.9 157.4 - - 2156 - - - - - - - - 14.83 14.79 14.85
18709 449.4 9.0 935 18722 roll 0.70 - - 3175 - 2.40 0.051 3173 602.1 157.4 - - 2156 - - - - - - - - 14.95 14.74 14.97
18791 441.5 9.3 946 18805 done 0.70 - - 3183 - 2.33 0.041 1768 -603.0 157.4 - - 2156 - - - - - - - - 14.83 14.76 14.85
19113 411.7 9.4 956 19126 roll 0.70 - - 3194 - 2.35 0.065 399 -582.6 157.4 - - 2156 - - - - - - - - 14.96 14.72 14.97
19232 399.2 10.7 972 19245 done 0.70 0.12 0.226 3160 -283.3 2.17 0.032 1754 624.4 157.4 - - 2154 - - - - - - - - 14.52 14.80 14.66
19574 369.7 8.4 985 19587 roll 0.70 - - 3160 - 2.35 0.051 3171 603.0 157.4 - - 2156 - - - - - - - - 14.96 14.73 14.98
19622 365.6 8.6 991 19635 done 0.70 - - 3167 - 2.35 0.041 1746 -606.4 157.4 - - 2156 - - - - - - - - 14.83 14.76 14.85
19978 337.7 7.7 999 19994 roll 0.70 - - 3176 - 2.35 0.066 403 -571.5 159.7 3.17 0.855 2141 -4.7 0.347 - - - - - - 14.97 14.76 13.98
20029 333.6 8.3 1006 20043 done 0.70 - - 3177 - 2.17 0.033 1748 619.8 159.7 - - 2145 - - - - - - - - 14.85 14.81 14.86
20373 307.0 7.6 1013 20390 roll 0.71 - - 3177 - 2.35 0.048 3171 605.5 163.6 4.70 1.145 2126 -4.0 0.201 - - - - - - 14.97 14.65 14.04
20483 298.7 7.5 1028 20511 done 0.72 - - 3185 - 2.30 0.040 1779 -605.2 170.0 15.80 1.393 2095 -2.0 0.078 - - - - - - 14.83 14.76 14.14
20826 271.3 8.1 1042 20840 roll 0.72 - - 3195 - 2.38 0.065 402 -578.6 170.0 - - 2084 - - - - - - - - 14.90 14.68 14.92
20930 261.9 9.2 1056 20943 done 0.72 0.15 0.246 3163 -213.3 2.20 0.031 1767 620.5 170.0 - - 2084 - - - - - - - - 14.51 14.76 14.73
21287 235.7 7.2 1064 21304 roll 0.73 - - 3162 - 2.33 0.049 3171 602.6 181.4 5.10 1.125 2051 -6.5 0.252 - - - - - - 14.94 14.63 14.05
21317 233.3 7.5 1068 21334 done 0.74 - - 3169 - 2.33 0.041 1756 -607.3 187.6 5.68 1.196 2033 -3.2 0.115 - - - - - - 14.83 14.75 14.06
21684 203.9 8.1 1078 21698 roll 0.74 - - 3179 - 2.33 0.064 402 -581.1 187.6 - - 2036 - - - - - - - - 14.92 14.71 14.95
21781 195.0 9.4 1091 21794 done 0.74 - - 3179 - 2.15 0.032 1746 625.1 187.6 - - 2033 - - - - - - - - 14.82 14.78 14.84
22144 163.7 8.4 1100 22157 roll 0.74 - - 3179 - 2.35 0.049 3171 606.4 187.6 - - 2036 - - - - - - - - 14.95 14.76 14.97
22240 155.4 8.7 1113 22253 done 0.74 - - 3187 - 2.30 0.040 1773 -607.8 187.6 - - 2036 - - - - - - - - 14.81 14.74 14.85
22603 129.0 7.1 1122 22640 roll 0.76 - - 3197 - 2.40 0.064 402 -571.2 201.8 21.42 1.188 1960 -3.5 0.072 - - - - - - 14.97 14.69 14.19
22682 123.2 7.8 1133 22695 done 0.76 - - 3197 - 2.22 0.032 1782 621.6 202.4 - - 1956 - - - - - - - - 14.77 14.73 14.78
23004 98.2 7.6 1143 23017 roll 0.76 - - 3205 - 2.38 0.063 402 -579.8 206.9 - - 1955 - - - - - - - - 14.91 14.70 14.93
23131 89.9 5.3 1160 23187 done 0.92 - - 3206 - 2.08 0.031 1717 632.2 254.5 43.28 0.368 1755 -4.6 0.210 - - - - - - 14.81 14.77 14.38
23516 70.5 4.4 1182 23588 roll 1.17 0.28 0.090 3316 392.9 2.45 0.046 3186 599.6 318.3 58.70 0.314 1499 -4.4 0.182 - - - - - - 14.69 14.58 14.40
23699 55.6 7.9 1208 23718 done 1.17 - - 3324 - 2.40 0.041 1736 -604.2 318.3 2.85 0.156 1499 - - - - - - - - 14.73 14.67 14.52
24023 38.3 5.3 1221 24082 roll 1.23 - - 3324 - 2.45 0.045 3183 590.6 366.5 43.38 0.224 1298 -4.6 0.147 - - - - - - 14.91 14.66 14.50
24200 29.4 5.8 1246 24245 done 1.37 0.12 0.128 3378 450.0 2.12 0.035 1863 -622.6 405.2 33.35 0.198 1141 -4.7 0.130 - - - - - - 14.68 14.69 14.52
24557 end climb: SURFACE_DEPTH_REACHED
24557 begin surface coast
24585 end surface coast: CONTROL_FINISHED_OK
24585 begin surface
SM 1.25 - - - - -8.62 9.20 0.060 156 16.9 - - 1862 - 515.13 66.25 0.122 691 10.4 -0.011 - - - - - -