SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 347 * Raw log
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• Previous call tries 1 • 132.05 of 350.00 AH used of 24V (62.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 1.08 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: 13 s • Transponder ping count: 3
• 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
27 end surface: CONTROL_FINISHED_OK
27 begin dive
31 - - - 118 done -0.84 - - 149 - - - 1866 - -116.8 -82.55 - 3272 - - - - - - - - 14.69 12.88 14.71
121 7.0 -10.3 3 139 roll -0.84 12.40 0.389 2641 201.0 2.28 0.050 3184 578.1 -116.8 - - 3274 - - - - - - - - 14.13 14.52 14.49
237 46.0 -20.3 20 244 done -0.50 0.50 0.265 2763 244.0 2.25 0.037 1824 -604.4 -116.8 - - 3275 - - - - - - - - 14.11 14.51 14.38
559 79.6 -8.4 33 566 roll -0.50 - - 2756 - 2.30 0.050 3185 591.7 -116.8 - - 3275 - - - - - - - - 14.81 14.52 14.83
656 88.1 -8.2 47 663 done -0.50 - - 2756 - 2.28 0.035 1813 -601.8 -116.8 - - 3275 - - - - - - - - 14.62 14.54 14.64
980 114.5 -8.1 57 987 roll -0.50 - - 2756 - 2.38 0.058 430 -581.1 -116.8 - - 3276 - - - - - - - - 14.84 14.53 14.86
1014 117.7 -9.1 62 1021 done -0.50 - - 2747 - 2.22 0.031 1795 614.9 -116.8 - - 3276 - - - - - - - - 14.68 14.62 14.70
1373 149.6 -9.0 71 1379 roll -0.50 - - 2736 - 2.40 0.051 3219 593.3 -116.8 - - 3274 - - - - - - - - 14.85 14.54 14.88
1400 152.0 -8.7 75 1407 done -0.50 0.12 0.229 2763 225.0 2.30 0.037 1833 -602.6 -116.8 - - 3274 - - - - - - - - 14.33 14.58 14.53
1764 180.3 -8.0 85 1771 roll -0.50 - - 2763 - 2.38 0.058 420 -593.7 -116.8 - - 3272 - - - - - - - - 14.86 14.50 14.88
1868 189.4 -8.6 100 1877 done -0.50 - - 2755 - 2.38 0.031 1830 592.4 -116.8 - - 3271 - - - - - - - - 14.58 14.56 14.61
2213 217.6 -8.3 107 2220 roll -0.50 - - 2746 - 2.38 0.055 3226 586.6 -116.8 - - 3267 - - - - - - - - 14.87 14.52 14.88
2247 220.6 -8.7 112 2253 done -0.50 - - 2746 - 2.33 0.037 1830 -599.1 -116.8 - - 3267 - - - - - - - - 14.64 14.57 14.67
2607 250.6 -8.3 121 2621 roll -0.50 - - 2746 - 2.42 0.059 425 -580.6 -116.8 - - 3265 - - - - - - - - 14.87 14.54 14.89
2727 261.7 -9.4 137 2741 done -0.50 - - 2738 - 2.33 0.031 1838 606.4 -116.8 - - 3264 - - - - - - - - 14.71 14.66 14.73
3070 293.2 -9.2 150 3083 roll -0.50 - - 2726 - 2.35 0.054 3227 591.1 -116.8 - - 3261 - - - - - - - - 14.92 14.58 14.95
3146 300.3 -9.4 160 3159 done -0.50 0.15 0.229 2760 226.7 2.33 0.037 1818 -604.7 -116.8 - - 3261 - - - - - - - - 14.33 14.64 14.55
3474 326.8 -8.0 171 3487 roll -0.50 - - 2760 - 2.38 0.058 431 -582.8 -116.8 - - 3258 - - - - - - - - 14.94 14.57 14.96
3606 337.7 -8.2 189 3619 done -0.50 - - 2754 - 2.30 0.032 1832 609.1 -116.8 - - 3257 - - - - - - - - 14.73 14.67 14.75
3934 363.3 -7.8 200 3948 roll -0.50 - - 2743 - 2.35 0.054 3219 590.2 -116.8 - - 3255 - - - - - - - - 14.94 14.51 14.96
3997 368.3 -8.2 208 4010 done -0.50 - - 2744 - 2.30 0.037 1830 -603.9 -116.8 - - 3255 - - - - - - - - 14.71 14.64 14.73
4340 397.5 -8.6 221 4353 roll -0.50 - - 2744 - 2.40 0.059 432 -582.5 -116.8 - - 3253 - - - - - - - - 14.93 14.56 14.95
4450 408.1 -9.7 236 4464 done -0.50 0.12 0.252 2760 133.3 2.33 0.032 1834 601.7 -116.8 - - 3253 - - - - - - - - 14.29 14.66 14.52
4795 435.6 -8.0 243 4808 roll -0.50 - - 2752 - 2.38 0.054 3224 584.0 -116.8 - - 3251 - - - - - - - - 14.93 14.48 14.95
4857 440.6 -8.0 251 4870 done -0.60 - - 2757 - 2.33 0.039 1830 -598.3 -116.8 - - 3251 - - - - - - - - 14.69 14.62 14.72
5199 467.3 -7.7 264 5213 roll -0.60 - - 2758 - 2.42 0.061 432 -577.7 -116.8 - - 3249 - - - - - - - - 14.96 14.53 14.95
5325 477.5 -8.1 281 5339 done -0.60 - - 2743 - 2.33 0.032 1829 599.6 -116.8 - - 3248 - - - - - - - - 14.69 14.64 14.71
5661 503.7 -7.8 293 5674 done -0.60 - - 2743 - - - 1829 - -116.8 - - 3247 - - - - - - - - 14.93 14.95 14.95
5998 528.8 -7.4 299 6011 roll -0.60 - - 2732 - 2.38 0.057 3219 584.0 -116.8 - - 3246 - - - - - - - - 14.92 14.52 14.94
6045 532.4 -7.7 305 6059 done -0.60 - - 2732 - 2.33 0.038 1828 -597.0 -116.8 - - 3246 - - - - - - - - 14.66 14.59 14.69
6402 559.7 -7.7 313 6415 roll -0.60 - - 2733 - 2.42 0.060 432 -576.9 -116.8 - - 3244 - - - - - - - - 14.95 14.50 14.97
6521 569.0 -7.8 329 6535 done -0.60 - - 2723 - 2.33 0.033 1834 601.7 -116.8 - - 3242 - - - - - - - - 14.72 14.63 14.71
6864 594.9 -7.5 342 6877 done -0.60 - - 2723 - - - 1834 - -116.8 - - 3242 - - - - - - - - 14.92 14.95 14.94
7201 621.4 -8.0 348 7214 done -0.60 - - 2723 - - - 1834 - -116.8 - - 3241 - - - - - - - - 14.91 14.93 14.93
7535 651.1 -9.1 354 7548 done -0.60 - - 2723 - - - 1835 - -116.8 - - 3238 - - - - - - - - 14.92 14.94 14.94
7872 682.2 -9.3 360 7885 done -0.60 - - 2723 - - - 1834 - -116.8 - - 3239 - - - - - - - - 14.92 14.94 14.94
8209 710.8 -8.4 366 8221 done -0.60 - - 2723 - - - 1834 - -116.8 - - 3238 - - - - - - - - 14.90 14.93 14.92
8544 737.0 -7.7 372 8557 roll -0.60 - - 2713 - 2.38 0.057 3215 580.3 -116.8 - - 3237 - - - - - - - - 14.91 14.45 14.92
8578 739.6 -7.6 376 8591 done -0.60 - - 2712 - 2.33 0.040 1833 -593.1 -116.8 - - 3237 - - - - - - - - 14.63 14.54 14.65
8949 769.1 -8.1 386 8962 roll -0.60 - - 2713 - 2.47 0.062 427 -569.2 -116.8 - - 3235 - - - - - - - - 14.92 14.42 14.94
9031 776.4 -8.8 397 9045 done -0.60 0.12 0.265 2728 125.0 2.35 0.034 1830 597.0 -116.8 - - 3233 - - - - - - - - 14.12 14.54 14.37
9354 801.4 -7.8 407 9367 roll -0.60 - - 2720 - 2.42 0.058 3221 574.8 -116.8 - - 3234 - - - - - - - - 14.88 14.42 14.90
9416 806.6 -8.4 415 9429 done -0.60 - - 2720 - 2.38 0.041 1826 -586.1 -116.8 - - 3236 - - - - - - - - 14.57 14.49 14.60
9758 834.7 -8.2 428 9771 roll -0.60 - - 2724 - 2.47 0.061 425 -567.2 -116.8 - - 3233 - - - - - - - - 14.92 14.36 14.94
9862 844.7 -8.9 442 9876 done -0.60 - - 2711 - 2.38 0.034 1839 594.1 -116.8 - - 3233 - - - - - - - - 14.59 14.54 14.62
10219 873.9 -8.3 450 10231 done -0.60 - - 2711 - - - 1838 - -116.8 - - 3232 - - - - - - - - 14.91 14.93 14.93
10555 900.4 -7.8 456 10568 roll -0.60 - - 2700 - 2.40 0.056 3222 576.7 -116.8 - - 3232 - - - - - - - - 14.90 14.38 14.93
10590 903.1 -7.1 460 10603 done -0.60 0.15 0.241 2732 213.3 2.35 0.039 1827 -593.6 -116.8 - - 3231 - - - - - - - - 14.07 14.46 14.33
10960 929.3 -7.0 470 10973 roll -0.60 - - 2732 - 2.47 0.062 430 -565.6 -116.8 - - 3231 - - - - - - - - 14.86 14.28 14.92
11080 938.4 -7.8 486 11093 done -0.60 - - 2726 - 2.38 0.035 1837 591.2 -116.8 - - 3229 - - - - - - - - 14.56 14.50 14.59
11422 964.7 -7.7 499 11435 roll -0.60 - - 2715 - 2.40 0.057 3220 576.2 -116.8 - - 3229 - - - - - - - - 14.87 14.38 14.88
11505 971.4 -8.2 510 11519 done -0.60 - - 2714 - 2.38 0.040 1827 -585.3 -116.8 - - 3229 - - - - - - - - 14.52 14.44 14.55
11767 end dive: TARGET_DEPTH_EXCEEDED
11767 begin apogee
11775 993.7 -8.4 519 11905 done -0.21 0.52 0.216 2854 269.2 - - 1673 - - 120.45 2.183 2791 -3.6 0.316 - - - - - - 14.03 13.96 13.07
11908 end apogee: CONTROL_FINISHED_OK
11908 begin climb
11911 999.6 - 521 12057 roll 0.84 1.15 0.149 3189 291.3 2.58 0.048 3071 541.9 116.8 125.20 2.134 2304 -3.9 0.348 - - - - - - 13.93 13.70 12.83
12126 989.8 7.6 555 12140 done 0.84 - - 3198 - 2.45 0.043 1691 -563.3 122.1 - - 2296 - - - - - - - - 14.13 14.06 14.15
12456 964.8 7.7 566 12470 roll 0.85 - - 3209 - 2.50 0.065 317 -549.6 125.1 2.15 0.360 2277 -8.8 4.528 - - - - - - 14.70 14.42 13.05
12504 960.7 8.5 572 12518 done 0.75 0.15 0.252 3178 -206.7 2.28 0.031 1710 611.0 125.1 - - 2278 - - - - - - - - 14.21 14.54 14.45
12862 935.5 7.0 580 12897 roll 0.77 - - 3178 - 2.33 0.050 3061 579.8 140.9 22.23 2.055 2209 -3.1 0.270 - - - - - - 14.79 14.46 13.55
12983 926.3 7.8 597 12997 done 0.77 - - 3184 - 2.38 0.041 1676 -581.9 141.4 - - 2201 - - - - - - - - 14.52 14.45 14.55
13319 898.1 8.6 609 13332 done 0.77 - - 3185 - - - 1675 - 141.4 - - 2201 - - - - - - - - 14.78 14.80 14.80
13655 867.5 9.3 615 13668 done 0.77 - - 3185 - - - 1674 - 141.4 - - 2201 - - - - - - - - 14.82 14.84 14.84
13991 836.8 9.0 621 14004 roll 0.77 - - 3185 - 2.38 0.048 3050 578.2 141.4 - - 2201 - - - - - - - - 14.84 14.50 14.87
14031 833.0 9.3 626 14045 done 0.77 - - 3193 - 2.35 0.041 1676 -584.7 141.4 - - 2200 - - - - - - - - 14.63 14.54 14.66
14395 800.3 8.8 635 14408 roll 0.77 - - 3204 - 2.40 0.067 322 -564.2 141.4 - - 2200 - - - - - - - - 14.88 14.43 14.90
14428 797.1 9.4 639 14441 done 0.77 - - 3204 - 2.22 0.031 1674 609.0 141.4 - - 2200 - - - - - - - - 14.65 14.58 14.68
14799 763.1 9.2 649 14812 roll 0.77 - - 3204 - 2.38 0.050 3054 579.8 141.4 - - 2200 - - - - - - - - 14.85 14.45 14.90
14930 750.6 9.3 667 14944 done 0.77 0.15 0.271 3183 -140.0 2.35 0.041 1675 -586.8 141.4 - - 2200 - - - - - - - - 14.10 14.50 14.42
15260 723.0 8.5 678 15273 roll 0.77 - - 3192 - 2.40 0.066 323 -563.3 141.4 - - 2200 - - - - - - - - 14.84 14.40 14.87
15293 720.0 8.5 682 15306 done 0.77 - - 3191 - 2.25 0.031 1687 606.2 141.4 - - 2200 - - - - - - - - 14.64 14.59 14.66
15663 687.3 8.9 692 15676 roll 0.77 - - 3191 - 2.35 0.048 3056 582.6 141.4 - - 2200 - - - - - - - - 14.88 14.45 14.90
15775 676.9 9.4 707 15789 done 0.77 - - 3200 - 2.38 0.044 1684 -576.5 141.4 - - 2200 - - - - - - - - 14.56 14.46 14.59
16117 645.8 9.0 714 16131 roll 0.77 - - 3211 - 2.45 0.067 312 -560.0 141.4 - - 2200 - - - - - - - - 14.88 14.37 14.90
16159 641.8 9.3 719 16172 done 0.77 0.15 0.244 3180 -206.7 2.28 0.031 1684 601.8 141.4 - - 2200 - - - - - - - - 14.12 14.56 14.41
16522 612.9 7.8 728 16536 roll 0.77 - - 3180 - 2.35 0.049 3054 583.0 142.4 - - 2200 - - - - - - - - 14.85 14.43 14.88
16591 607.3 8.1 737 16604 done 0.77 - - 3186 - 2.35 0.041 1677 -586.0 142.4 - - 2199 - - - - - - - - 14.55 14.46 14.59
16928 580.5 8.0 749 16941 roll 0.77 - - 3196 - 2.42 0.066 317 -562.0 142.4 - - 2200 - - - - - - - - 14.83 14.35 14.85
16982 575.8 8.4 756 16996 done 0.77 - - 3196 - 2.28 0.031 1680 597.8 142.4 - - 2200 - - - - - - - - 14.59 14.54 14.62
17328 549.3 7.7 763 17341 roll 0.78 - - 3196 - 2.35 0.048 3053 584.3 145.9 - - 2200 - - - - - - - - 14.84 14.41 14.86
17431 541.1 7.6 777 17450 done 0.78 - - 3205 - 2.38 0.041 1672 -580.3 151.2 3.72 1.123 2174 -7.0 0.644 - - - - - - 14.54 14.45 13.42
17782 515.4 7.4 785 17812 roll 0.79 - - 3205 - 2.40 0.048 3049 573.8 159.5 15.43 1.634 2133 -2.7 0.160 - - - - - - 14.84 14.59 13.74
17847 510.2 8.3 794 17860 done 0.79 - - 3214 - 2.33 0.042 1681 -587.1 159.5 - - 2128 - - - - - - - - 14.58 14.50 14.62
18182 480.2 9.2 806 18195 done 0.79 - - 3214 - - - 1681 - 159.5 - - 2127 - - - - - - - - 14.80 14.82 14.82
18519 448.0 9.5 812 18532 done 0.79 - - 3214 - - - 1681 - 159.5 - - 2127 - - - - - - - - 14.81 14.83 14.83
18854 418.0 8.8 818 18867 done 0.79 - - 3214 - - - 1681 - 159.5 - - 2127 - - - - - - - - 14.83 14.86 14.85
19190 390.2 8.3 824 19204 roll 0.79 - - 3214 - 2.38 0.047 3054 576.9 159.5 - - 2127 - - - - - - - - 14.84 14.43 14.86
19246 385.5 8.5 831 19260 done 0.79 0.15 0.266 3204 -66.7 2.38 0.040 1670 -581.5 159.5 - - 2127 - - - - - - - - 14.05 14.46 14.38
19589 360.4 7.4 838 19606 roll 0.81 - - 3200 - 2.40 0.065 325 -560.4 168.1 2.78 0.700 2107 -7.2 0.708 - - - - - - 14.88 14.49 13.47
19627 357.4 7.6 843 19644 done 0.81 - - 3200 - 2.22 0.030 1688 614.0 172.9 4.93 1.218 2088 -3.9 0.216 - - - - - - 14.66 14.62 13.61
19988 326.9 8.6 852 20001 roll 0.81 - - 3200 - 2.33 0.047 3053 585.8 172.9 - - 2094 - - - - - - - - 14.83 14.45 14.84
20070 319.1 9.4 863 20083 done 0.81 - - 3205 - 2.35 0.042 1674 -586.8 172.9 - - 2094 - - - - - - - - 14.59 14.50 14.62
20392 289.5 9.3 873 20405 done 0.81 - - 3215 - - - 1673 - 172.9 - - 2094 - - - - - - - - 14.83 14.85 14.85
20727 259.0 9.0 879 20740 done 0.81 - - 3209 - - - 1673 - 172.9 - - 2093 - - - - - - - - 14.84 14.86 14.85
21063 228.6 9.1 885 21076 done 0.81 - - 3209 - - - 1673 - 172.9 - - 2093 - - - - - - - - 14.85 14.88 14.87
21399 197.9 9.1 891 21413 roll 0.81 - - 3208 - 2.35 0.047 3048 585.1 172.9 - - 2094 - - - - - - - - 14.85 14.45 14.90
21469 191.5 9.2 900 21482 done 0.81 - - 3217 - 2.33 0.040 1676 -588.8 172.9 - - 2094 - - - - - - - - 14.59 14.47 14.59
21804 162.7 8.5 912 21817 roll 0.81 - - 3228 - 2.38 0.063 326 -567.2 172.9 - - 2093 - - - - - - - - 14.88 14.37 14.89
21838 159.6 9.0 916 21852 done 0.81 0.15 0.239 3196 -213.3 2.22 0.029 1698 618.0 172.9 - - 2094 - - - - - - - - 14.12 14.57 14.38
22209 132.2 7.3 926 22240 roll 0.82 - - 3196 - 2.33 0.047 3042 576.8 183.9 19.67 1.138 2037 -2.9 0.064 - - - - - - 14.85 14.64 13.95
22365 119.1 8.3 948 22379 done 0.82 - - 3202 - 2.33 0.041 1684 -582.8 183.9 - - 2032 - - - - - - - - 14.57 14.48 14.60
22682 95.1 7.6 955 22695 roll 0.83 - - 3212 - 2.40 0.062 317 -569.6 189.2 1.27 0.173 2022 -7.9 0.828 - - - - - - 14.81 14.36 14.26
22722 91.6 8.4 960 22736 done 0.83 - - 3211 - 2.20 0.029 1671 615.5 189.2 - - 2023 - - - - - - - - 14.56 14.51 14.57
23059 67.5 6.4 974 23101 roll 0.87 - - 3211 - 2.40 0.046 3053 575.8 217.1 26.65 0.295 1912 -4.2 0.182 - - - - - - 14.81 14.58 14.23
23128 63.3 6.8 984 23165 done 0.89 - - 3219 - 2.35 0.041 1671 -588.1 237.3 21.83 0.281 1829 -3.8 0.164 - - - - - - 14.59 14.51 14.19
23484 45.5 4.2 1001 23559 roll 1.13 0.20 0.099 3300 405.0 2.35 0.041 3058 590.2 305.9 61.70 0.243 1550 -4.5 0.162 - - - - - - 14.39 14.42 14.24
23791 26.4 4.3 1045 23862 done 1.21 - - 3308 - 2.35 0.041 1674 -588.9 372.2 54.50 0.193 1277 -5.0 0.131 - - - - - - 14.54 14.47 14.28
24186 5.1 5.8 1068 24229 roll 1.43 0.22 0.091 3401 422.7 2.40 0.042 3048 572.5 411.3 27.02 0.130 1113 -6.1 0.046 - - - - - - 14.47 14.49 14.33
24232 end climb: SURFACE_DEPTH_REACHED
24232 begin surface coast
24242 end surface coast: CONTROL_FINISHED_OK
24242 begin surface
SM 1.25 - - - - -8.60 9.60 0.066 161 16.8 2.10 0.044 1831 -4204.3 515.13 62.12 0.124 691 11.1 -0.011 - - - - - -