SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 221 * Raw log
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• Previous call tries 1 • 85.52 of 350.00 AH used of 24V (75.57% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth 1.18 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 47 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 147 - - - 1873 - -116.8 -80.07 - 3273 - - - - - - - - 14.73 13.22 14.75
113 8.9 -13.3 3 131 roll -0.84 12.12 0.389 2661 207.4 2.45 0.050 453 -579.6 -116.8 - - 3275 - - - - - - - - 14.26 14.57 14.54
172 37.7 -27.0 12 179 done -0.39 0.60 0.277 2797 226.7 2.30 0.034 1850 607.4 -116.8 - - 3275 - - - - - - - - 14.26 14.58 14.52
502 82.4 -10.6 26 508 roll -0.39 - - 2789 - 2.38 0.054 3271 597.1 -116.8 - - 3273 - - - - - - - - 14.85 14.61 14.87
530 84.8 -8.5 30 536 done -0.39 - - 2788 - 2.22 0.036 1917 -609.9 -116.8 - - 3275 - - - - - - - - 14.71 14.65 14.73
894 112.0 -7.1 43 900 roll -0.39 - - 2780 - 2.25 0.053 3264 598.7 -116.8 - - 3277 - - - - - - - - 14.90 14.66 14.92
1006 120.5 -7.8 59 1012 done -0.39 - - 2780 - 2.05 0.035 2007 -613.2 -116.8 - - 3277 - - - - - - - - 14.76 14.70 14.78
1342 146.8 -7.9 72 1349 roll -0.39 - - 2780 - 2.60 0.056 471 -590.8 -116.8 - - 3277 - - - - - - - - 14.92 14.67 14.94
1495 159.3 -8.2 94 1502 done -0.39 0.12 0.246 2797 141.7 2.45 0.032 1966 610.2 -116.8 - - 3276 - - - - - - - - 14.50 14.73 14.70
1847 183.5 -6.8 102 1853 roll -0.49 - - 2797 - 2.55 0.054 469 -587.1 -116.8 - - 3272 - - - - - - - - 14.96 14.68 14.95
1887 186.6 -7.4 108 1894 done -0.49 - - 2791 - 2.40 0.034 1931 609.2 -116.8 - - 3273 - - - - - - - - 14.79 14.73 14.81
2238 212.5 -7.4 116 2245 roll -0.49 - - 2791 - 2.50 0.055 469 -584.8 -116.8 - - 3269 - - - - - - - - 14.92 14.67 14.95
2272 215.3 -8.3 121 2279 done -0.49 - - 2783 - 2.38 0.034 1915 607.6 -116.8 - - 3269 - - - - - - - - 14.79 14.73 14.81
2631 243.0 -7.7 130 2637 roll -0.49 - - 2783 - 2.47 0.057 469 -585.4 -116.8 - - 3266 - - - - - - - - 14.92 14.67 14.97
2706 249.2 -7.9 141 2713 done -0.49 - - 2775 - 2.33 0.034 1886 608.2 -116.8 - - 3266 - - - - - - - - 14.78 14.73 14.81
3023 273.4 -7.6 151 3036 done -0.49 - - 2775 - - - 1887 - -116.8 - - 3263 - - - - - - - - 14.99 15.01 15.00
3359 299.1 -7.7 157 3372 roll -0.49 - - 2772 - 2.42 0.057 464 -588.0 -116.8 - - 3261 - - - - - - - - 15.00 14.73 15.02
3427 305.0 -8.4 166 3440 done -0.49 - - 2766 - 2.30 0.036 1866 609.6 -116.8 - - 3260 - - - - - - - - 14.83 14.77 14.85
3762 332.3 -8.2 178 3775 roll -0.49 - - 2766 - 2.40 0.057 461 -585.4 -116.8 - - 3258 - - - - - - - - 15.00 14.73 15.02
3824 337.8 -8.8 186 3837 done -0.49 - - 2758 - 2.22 0.036 1815 609.9 -116.8 - - 3257 - - - - - - - - 14.85 14.79 14.87
4166 367.3 -8.7 199 4179 roll -0.49 - - 2747 - 2.42 0.054 3265 599.2 -116.8 - - 3255 - - - - - - - - 15.01 14.73 15.03
4214 371.4 -8.7 205 4227 done -0.49 - - 2747 - 2.38 0.037 1814 -609.7 -116.8 - - 3254 - - - - - - - - 14.85 14.77 14.87
4570 401.3 -8.3 213 4583 roll -0.49 - - 2747 - 2.30 0.060 466 -586.1 -116.8 - - 3253 - - - - - - - - 15.00 14.73 15.02
4674 410.8 -8.9 227 4687 done -0.49 0.12 0.258 2765 150.0 2.17 0.035 1790 610.1 -116.8 - - 3252 - - - - - - - - 14.51 14.80 14.73
5030 438.4 -7.7 235 5043 roll -0.49 - - 2756 - 2.47 0.056 3265 597.2 -116.8 - - 3250 - - - - - - - - 15.00 14.71 15.02
5071 441.5 -7.8 240 5084 done -0.49 - - 2756 - 2.45 0.038 1779 -606.5 -116.8 - - 3250 - - - - - - - - 14.83 14.76 14.85
5435 470.5 -8.1 249 5448 roll -0.49 - - 2756 - 2.25 0.060 460 -586.2 -116.8 - - 3249 - - - - - - - - 15.00 14.71 15.02
5545 480.3 -8.9 264 5559 done -0.49 - - 2748 - 2.15 0.036 1771 609.8 -116.8 - - 3248 - - - - - - - - 14.84 14.78 14.85
5890 510.3 -8.8 271 5903 roll -0.49 - - 2736 - 2.53 0.054 3265 590.5 -116.8 - - 3247 - - - - - - - - 15.03 14.71 15.03
6021 522.0 -8.8 289 6035 done -0.49 0.15 0.238 2768 213.3 2.45 0.039 1784 -604.5 -116.8 - - 3246 - - - - - - - - 14.48 14.76 14.72
6350 546.3 -7.2 300 6364 roll -0.49 - - 2769 - 2.28 0.061 465 -578.5 -116.8 - - 3244 - - - - - - - - 14.98 14.70 15.01
6513 558.5 -7.5 322 6526 done -0.49 - - 2763 - 2.08 0.036 1740 613.0 -116.8 - - 3244 - - - - - - - - 14.83 14.78 14.85
6870 584.5 -7.3 330 6883 roll -0.49 - - 2752 - 2.58 0.057 3264 590.7 -116.8 - - 3243 - - - - - - - - 14.99 14.68 15.01
7011 595.3 -7.8 349 7025 done -0.49 - - 2752 - 2.50 0.040 1758 -602.4 -116.8 - - 3242 - - - - - - - - 14.80 14.73 14.84
7333 621.8 -8.2 359 7346 roll -0.49 - - 2752 - 2.22 0.061 457 -586.0 -116.8 - - 3241 - - - - - - - - 14.98 14.69 14.98
7415 629.3 -9.2 370 7429 done -0.49 - - 2743 - 2.12 0.036 1763 616.0 -116.8 - - 3240 - - - - - - - - 14.82 14.76 14.83
7737 657.8 -9.0 380 7750 roll -0.49 - - 2732 - 2.55 0.058 3266 589.4 -116.8 - - 3239 - - - - - - - - 14.98 14.67 15.00
7861 668.5 -8.4 397 7875 done -0.49 0.15 0.238 2765 220.0 2.45 0.040 1790 -602.4 -116.8 - - 3238 - - - - - - - - 14.44 14.72 14.68
8200 691.9 -6.8 409 8213 roll -0.58 - - 2765 - 2.28 0.063 471 -578.5 -116.8 - - 3237 - - - - - - - - 14.96 14.66 14.98
8325 701.2 -7.1 426 8338 done -0.58 - - 2761 - 2.10 0.036 1752 610.0 -116.8 - - 3237 - - - - - - - - 14.76 14.70 14.78
8660 723.1 -6.5 438 8673 roll -0.58 - - 2750 - 2.58 0.057 3266 586.8 -116.8 - - 3238 - - - - - - - - 14.95 14.65 14.98
8772 730.6 -6.9 453 8787 done -0.68 0.12 0.132 2700 -416.7 2.50 0.041 1778 -595.2 -116.8 - - 3236 - - - - - - - - 14.65 14.70 14.75
9115 761.5 -9.3 460 9128 roll -0.68 - - 2700 - 2.28 0.063 461 -577.6 -116.8 - - 3239 - - - - - - - - 14.97 14.64 14.99
9239 774.0 -9.9 477 9253 done -0.68 - - 2692 - 2.10 0.037 1737 607.6 -116.8 - - 3237 - - - - - - - - 14.78 14.73 14.81
9575 807.2 -10.0 489 9589 roll -0.68 - - 2680 - 2.60 0.058 3262 586.5 -116.8 - - 3234 - - - - - - - - 14.95 14.64 14.97
9651 815.1 -10.4 499 9664 done -0.68 0.12 0.276 2704 200.0 2.58 0.042 1728 -594.6 -116.8 - - 3233 - - - - - - - - 14.38 14.68 14.63
9980 845.8 -9.3 510 9993 roll -0.68 - - 2707 - 2.17 0.065 472 -578.8 -116.8 - - 3232 - - - - - - - - 14.95 14.62 14.97
10069 854.5 -9.4 522 10082 done -0.68 - - 2701 - 2.05 0.037 1717 607.3 -116.8 - - 3232 - - - - - - - - 14.77 14.71 14.79
10440 887.3 -8.9 532 10453 roll -0.68 - - 2689 - 2.65 0.059 3262 583.0 -116.8 - - 3231 - - - - - - - - 14.95 14.62 14.98
10550 897.4 -9.1 547 10564 done -0.68 - - 2689 - 2.60 0.043 1726 -590.8 -116.8 - - 3234 - - - - - - - - 14.74 14.64 14.77
10894 928.7 -9.1 554 10908 roll -0.68 - - 2687 - 2.17 0.065 473 -577.4 -116.8 - - 3230 - - - - - - - - 14.94 14.61 14.97
10970 936.0 -9.7 564 10984 done -0.68 - - 2681 - 2.05 0.038 1720 608.3 -116.8 - - 3228 - - - - - - - - 14.76 14.71 14.78
11298 966.3 -9.2 575 11312 roll -0.68 0.12 0.307 2699 150.0 2.65 0.057 3263 582.3 -116.8 - - 3230 - - - - - - - - 14.26 14.56 14.44
11375 972.7 -8.1 585 11389 done -0.68 - - 2699 - 2.60 0.042 1722 -592.7 -116.8 - - 3230 - - - - - - - - 14.73 14.65 14.76
11589 end dive: TARGET_DEPTH_EXCEEDED
11589 begin apogee
11596 991.8 -8.9 594 11725 roll -0.21 0.60 0.236 2854 258.3 - - 1721 - - 119.05 2.196 2792 -3.7 0.312 - - - - - - 14.34 14.03 13.26
11727 end apogee: CONTROL_FINISHED_OK
11727 begin climb
11730 995.8 - 596 11872 roll 0.84 1.23 0.177 3191 274.0 2.58 0.057 3154 555.4 116.8 123.45 2.144 2315 -3.9 0.337 - - - - - - 14.00 14.09 13.07
12035 972.9 9.8 642 12050 done 0.74 - - 3200 - 2.40 0.041 1765 -578.8 116.8 - - 2294 - - - - - - - - 14.35 14.28 14.37
12376 940.5 9.4 649 12389 roll 0.64 0.22 0.262 3145 -250.0 2.40 0.049 3160 581.2 116.8 - - 2292 - - - - - - - - 14.24 14.49 14.40
12551 927.0 7.4 673 12566 done 0.65 - - 3152 - 2.38 0.040 1756 -589.9 125.9 2.70 0.822 2277 -5.6 1.176 - - - - - - 14.64 14.57 13.57
12898 902.0 7.3 686 12929 roll 0.67 - - 3162 - 2.47 0.069 361 -564.8 136.7 16.65 2.052 2226 -3.1 0.253 - - - - - - 14.83 14.54 13.80
12985 894.9 8.3 698 12998 done 0.67 - - 3162 - 2.35 0.034 1765 597.4 136.7 - - 2223 - - - - - - - - 14.61 14.56 14.63
13355 865.2 8.1 708 13368 roll 0.67 - - 3163 - 2.35 0.053 3142 586.0 136.7 - - 2222 - - - - - - - - 14.82 14.57 14.84
13409 860.4 8.8 715 13423 done 0.67 - - 3171 - 2.33 0.043 1761 -592.7 136.7 - - 2221 - - - - - - - - 14.68 14.60 14.70
13754 830.6 8.7 722 13767 roll 0.67 - - 3182 - 2.45 0.067 360 -571.8 136.7 - - 2222 - - - - - - - - 14.88 14.57 14.89
13816 824.7 8.4 730 13829 done 0.67 0.15 0.252 3151 -206.7 2.35 0.034 1782 605.1 136.7 - - 2222 - - - - - - - - 14.36 14.68 14.63
14159 796.8 8.0 743 14172 roll 0.67 - - 3151 - 2.30 0.053 3134 587.8 136.7 - - 2222 - - - - - - - - 14.88 14.62 14.90
14213 792.1 8.4 750 14227 done 0.67 - - 3158 - 2.30 0.041 1773 -591.7 136.7 - - 2220 - - - - - - - - 14.71 14.64 14.75
14558 764.2 8.2 757 14571 roll 0.67 - - 3168 - 2.50 0.068 359 -565.6 136.7 - - 2220 - - - - - - - - 14.90 14.59 14.92
14641 757.0 8.7 768 14654 done 0.67 - - 3167 - 2.35 0.034 1777 603.4 136.7 - - 2220 - - - - - - - - 14.75 14.69 14.77
14962 730.9 8.0 778 14975 roll 0.67 - - 3168 - 2.33 0.053 3146 587.6 136.7 - - 2220 - - - - - - - - 14.89 14.62 14.92
15009 727.0 8.2 784 15022 done 0.67 0.15 0.266 3146 -146.7 2.28 0.041 1782 -598.2 136.7 - - 2220 - - - - - - - - 14.35 14.66 14.64
15366 702.4 6.8 792 15397 roll 0.69 - - 3156 - 2.58 0.068 362 -550.4 155.7 18.98 1.879 2154 -3.5 0.244 - - - - - - 14.90 14.61 13.87
15459 695.4 7.8 805 15472 done 0.69 - - 3155 - 2.40 0.034 1789 594.6 156.8 - - 2145 - - - - - - - - 14.64 14.59 14.66
15816 668.1 7.7 813 15829 roll 0.69 - - 3155 - 2.30 0.052 3146 590.0 159.4 - - 2144 - - - - - - - - 14.83 14.57 14.85
15856 664.7 8.5 818 15869 done 0.69 - - 3163 - 2.30 0.042 1777 -595.2 159.4 - - 2143 - - - - - - - - 14.69 14.60 14.71
16219 635.2 8.2 827 16233 roll 0.69 - - 3174 - 2.50 0.067 360 -566.8 159.4 - - 2143 - - - - - - - - 14.88 14.54 14.89
16309 627.1 9.1 839 16323 done 0.69 - - 3174 - 2.38 0.034 1783 597.9 159.4 - - 2143 - - - - - - - - 14.71 14.66 14.73
16679 593.4 9.2 849 16693 roll 0.69 - - 3174 - 2.33 0.052 3146 585.0 159.4 - - 2144 - - - - - - - - 14.90 14.59 14.92
16756 585.9 9.8 859 16769 done 0.69 - - 3182 - 2.30 0.042 1778 -594.8 159.4 - - 2142 - - - - - - - - 14.71 14.63 14.73
17085 554.5 9.6 870 17098 roll 0.69 - - 3199 - 2.50 0.067 355 -569.2 159.4 - - 2143 - - - - - - - - 14.89 14.57 14.91
17204 542.4 10.4 886 17218 done 0.69 0.12 0.223 3160 -325.0 2.30 0.034 1760 610.9 159.4 - - 2140 - - - - - - - - 14.31 14.64 14.46
17547 513.9 8.1 899 17560 done 0.69 - - 3160 - - - 1760 - 159.4 - - 2146 - - - - - - - - 14.90 14.92 14.91
17883 488.7 7.4 905 17901 roll 0.70 - - 3160 - 2.33 0.050 3141 592.7 168.1 5.88 1.450 2106 -6.8 0.430 - - - - - - 14.90 14.57 13.86
17964 482.5 7.8 916 17981 done 0.71 - - 3166 - 2.28 0.041 1780 -596.9 169.6 2.83 0.780 2098 -2.8 0.328 - - - - - - 14.68 14.59 13.75
18338 454.8 7.4 927 18368 roll 0.72 - - 3177 - 2.50 0.067 358 -568.8 178.6 16.45 1.576 2056 -2.6 0.138 - - - - - - 14.91 14.62 14.00
18469 444.4 8.3 945 18482 done 0.72 - - 3177 - 2.30 0.033 1749 604.8 178.6 - - 2050 - - - - - - - - 14.66 14.61 14.68
18797 417.5 8.2 956 18810 roll 0.72 - - 3177 - 2.38 0.050 3146 587.0 178.6 - - 2050 - - - - - - - - 14.83 14.57 14.85
18860 412.0 8.8 964 18873 done 0.72 - - 3186 - 2.38 0.043 1744 -589.1 178.6 - - 2049 - - - - - - - - 14.68 14.60 14.71
19202 381.9 8.8 977 19215 roll 0.72 - - 3196 - 2.45 0.067 354 -567.3 178.6 - - 2048 - - - - - - - - 14.87 14.56 14.89
19299 372.7 9.7 990 19312 done 0.72 0.15 0.240 3163 -220.0 2.22 0.033 1707 609.5 178.6 - - 2049 - - - - - - - - 14.35 14.67 14.62
19662 344.4 7.7 999 19676 roll 0.72 - - 3163 - 2.42 0.050 3142 593.0 181.7 - - 2049 - - - - - - - - 14.88 14.60 14.90
19710 340.4 8.2 1005 19723 done 0.72 - - 3170 - 2.42 0.041 1696 -597.5 181.7 - - 2049 - - - - - - - - 14.71 14.63 14.73
20067 311.6 8.1 1013 20080 roll 0.72 - - 3181 - 2.33 0.066 359 -573.8 181.7 - - 2049 - - - - - - - - 14.90 14.57 14.92
20142 304.9 8.7 1023 20155 done 0.72 - - 3180 - 2.17 0.032 1694 615.2 181.7 - - 2049 - - - - - - - - 14.74 14.70 14.76
20471 276.8 8.6 1034 20484 roll 0.72 - - 3181 - 2.45 0.050 3149 593.9 181.7 - - 2049 - - - - - - - - 14.90 14.62 14.94
20553 269.2 9.0 1045 20566 done 0.72 - - 3189 - 2.45 0.043 1695 -593.5 181.7 - - 2049 - - - - - - - - 14.71 14.63 14.73
20874 240.9 8.9 1055 20887 roll 0.72 - - 3199 - 2.33 0.066 360 -573.0 181.7 - - 2049 - - - - - - - - 14.91 14.57 14.94
20928 235.7 9.5 1062 20943 done 0.72 0.15 0.238 3167 -213.3 2.20 0.031 1708 612.7 181.7 - - 2049 - - - - - - - - 14.37 14.71 14.61
21273 210.1 7.3 1069 21294 done 0.73 - - 3167 - - - 1708 - 192.1 12.93 1.261 2010 -3.0 0.094 - - - - - - 14.90 14.71 14.07
21609 185.4 7.4 1075 21622 done 0.74 - - 3167 - - - 1708 - 201.0 3.00 0.701 1975 -11.7 0.579 - - - - - - 14.87 14.69 13.89
21945 161.0 7.3 1081 21975 roll 0.76 - - 3167 - 2.50 0.050 3153 578.0 212.1 17.73 1.201 1922 -3.0 0.075 - - - - - - 14.88 14.65 14.12
22003 156.5 7.6 1089 22016 done 0.86 - - 3172 - 2.50 0.041 1673 -592.0 216.3 - - 1915 - - - - - - - - 14.67 14.59 14.69
22346 130.4 7.6 1102 22363 roll 0.86 0.12 0.129 3236 533.3 2.28 0.066 367 -572.8 221.1 3.67 0.818 1890 -6.8 0.204 - - - - - - 14.58 14.66 13.93
22418 123.0 10.9 1112 22431 done 0.86 - - 3240 - 2.12 0.031 1671 615.1 221.1 - - 1894 - - - - - - - - 14.73 14.68 14.74
22747 90.8 8.5 1124 22760 roll 0.86 - - 3236 - 2.47 0.048 3146 597.2 221.1 - - 1894 - - - - - - - - 14.87 14.62 14.89
22991 73.7 6.2 1158 23037 done 0.90 - - 3245 - 2.28 0.038 1772 -602.6 252.9 30.45 0.316 1762 -4.3 0.190 - - - - - - 14.73 14.66 14.33
23345 56.2 4.7 1175 23410 done 1.08 - - 3245 - - - 1770 - 311.6 55.78 0.274 1523 -4.3 0.165 - - - - - - 14.86 14.63 14.34
23709 38.4 4.8 1191 23773 roll 1.35 0.32 0.079 3379 418.8 2.38 0.045 3149 579.4 369.1 50.72 0.222 1286 -4.7 0.152 - - - - - - 14.60 14.60 14.37
23968 19.3 8.8 1228 23981 done 1.35 - - 3384 - 2.33 0.040 1748 -601.3 369.1 - - 1295 - - - - - - - - 14.69 14.62 14.71
24181 end climb: SURFACE_DEPTH_REACHED
24181 begin surface coast
24208 end surface coast: CONTROL_FINISHED_OK
24208 begin surface
SM 1.02 - - - - -8.60 9.45 0.067 159 16.8 0.15 0.083 1884 5693.3 515.13 87.57 0.122 692 7.9 -0.007 - - - - - -