SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 133 * Raw log
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• Previous call tries 2 • 53.41 of 350.00 AH used of 24V (84.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.19 m • Intended pitch -22.4 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 28 s
• GPS2 time: 18 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
30 - - - 109 done -1.01 - - 152 - - - 1841 - -63.6 -75.18 - 3054 - - - - - - - - 14.81 13.59 14.83
113 2.2 -3.0 2 135 roll -1.01 11.55 0.386 2606 212.5 2.33 0.047 467 -589.7 -63.6 - - 3056 - - - - - - - - 14.38 14.64 14.64
204 44.6 -30.7 16 211 done -0.63 0.52 0.317 2718 215.4 2.25 0.036 1840 610.2 -63.6 - - 3056 - - - - - - - - 14.47 14.68 14.69
527 98.8 -11.6 29 535 roll -0.54 0.12 0.296 2741 191.7 2.38 0.051 3278 604.2 -63.6 - - 3058 - - - - - - - - 14.58 14.73 14.74
698 111.7 -6.9 53 706 done -0.55 - - 2741 - 2.28 0.037 1878 -614.0 -74.3 - - 3058 - - - - - - - - 14.85 14.79 14.87
1035 135.9 -6.9 66 1042 roll -0.56 - - 2741 - 2.35 0.056 468 -600.0 -84.7 - - 3058 - - - - - - - - 15.00 14.81 15.02
1174 146.7 -7.8 86 1180 done -0.56 - - 2732 - 2.17 0.031 1826 625.8 -85.0 - - 3058 - - - - - - - - 14.90 14.85 14.92
1539 173.4 -7.3 96 1545 roll -0.57 - - 2721 - 2.35 0.054 3259 609.8 -90.8 - - 3056 - - - - - - - - 15.02 14.83 15.05
1566 175.5 -7.3 100 1573 done -0.58 - - 2721 - 2.40 0.039 1800 -607.9 -97.5 - - 3056 - - - - - - - - 14.90 14.84 14.92
1931 201.8 -7.3 110 1937 roll -0.58 - - 2721 - 2.22 0.059 470 -599.1 -104.2 - - 3054 - - - - - - - - 15.02 14.82 15.04
1993 207.1 -8.6 119 2000 done -0.58 - - 2713 - 2.10 0.033 1776 621.9 -104.2 - - 3053 - - - - - - - - 14.92 14.87 14.93
2323 233.7 -8.0 131 2329 roll -0.58 - - 2713 - 2.20 0.057 470 -593.6 -104.2 - - 3050 - - - - - - - - 15.02 14.83 15.04
2392 239.9 -8.8 141 2399 done -0.58 0.15 0.284 2736 153.3 2.03 0.033 1730 620.7 -104.2 - - 3049 - - - - - - - - 14.66 14.87 14.84
2715 264.0 -7.4 152 2728 roll -0.69 - - 2727 - 2.53 0.053 3259 604.3 -108.9 - - 3046 - - - - - - - - 15.05 14.85 15.07
2834 273.5 -8.3 168 2847 done -0.80 0.17 0.117 2661 -388.2 2.45 0.037 1760 -611.8 -108.9 - - 3045 - - - - - - - - 14.89 14.88 14.94
3177 309.9 -10.9 181 3190 roll -0.80 - - 2661 - 2.17 0.059 460 -599.1 -108.9 - - 3043 - - - - - - - - 15.07 14.88 15.09
3318 325.8 -11.3 200 3331 done -0.70 0.20 0.294 2696 175.0 2.00 0.034 1714 627.0 -108.9 - - 3041 - - - - - - - - 14.69 14.91 14.88
3640 356.9 -9.5 210 3653 roll -0.70 - - 2686 - 2.58 0.054 3265 601.2 -108.9 - - 3039 - - - - - - - - 15.07 14.88 15.09
3702 362.8 -9.6 218 3715 done -0.70 - - 2686 - 2.53 0.040 1733 -605.5 -108.9 - - 3038 - - - - - - - - 14.96 14.90 14.97
4044 395.5 -9.6 231 4057 roll -0.70 - - 2686 - 2.12 0.060 465 -598.1 -108.9 - - 3037 - - - - - - - - 15.08 14.88 15.08
4155 406.9 -10.2 246 4168 done -0.70 - - 2679 - 2.03 0.035 1707 611.8 -108.9 - - 3035 - - - - - - - - 14.97 14.92 14.99
4498 440.5 -9.7 253 4512 roll -0.70 - - 2679 - 2.10 0.058 466 -591.0 -108.9 - - 3033 - - - - - - - - 15.08 14.88 15.10
4581 449.1 -10.4 264 4594 done -0.70 0.12 0.308 2694 125.0 1.95 0.036 1678 621.5 -108.9 - - 3033 - - - - - - - - 14.68 14.92 14.90
4903 478.7 -9.2 274 4916 roll -0.70 - - 2685 - 2.62 0.054 3256 602.3 -108.9 - - 3031 - - - - - - - - 15.07 14.88 15.09
4985 486.3 -9.1 285 4998 done -0.70 - - 2685 - 2.60 0.041 1680 -606.2 -108.9 - - 3034 - - - - - - - - 14.96 14.89 14.97
5306 516.4 -9.4 295 5319 done -0.70 - - 2685 - - - 1680 - -108.9 - - 3030 - - - - - - - - 15.08 15.10 15.10
5643 546.4 -8.9 301 5655 done -0.70 - - 2681 - - - 1680 - -108.9 - - 3028 - - - - - - - - 15.08 15.10 15.10
5979 575.6 -8.6 307 5992 roll -0.70 - - 2685 - 2.05 0.062 468 -591.2 -108.9 - - 3029 - - - - - - - - 15.07 14.84 15.10
6026 579.9 -9.4 313 6039 done -0.70 - - 2677 - 1.92 0.036 1665 623.4 -108.9 - - 3026 - - - - - - - - 14.97 14.92 14.98
6382 610.7 -8.8 321 6396 roll -0.70 - - 2665 - 2.67 0.055 3265 599.3 -108.9 - - 3025 - - - - - - - - 15.07 14.90 15.09
6535 624.6 -9.3 342 6549 done -0.70 0.15 0.282 2693 186.7 2.62 0.041 1678 -605.7 -108.9 - - 3025 - - - - - - - - 14.66 14.88 14.88
6898 654.8 -8.3 351 6912 roll -0.70 - - 2705 - 2.05 0.063 462 -593.2 -108.9 - - 3023 - - - - - - - - 15.09 14.85 15.09
6995 663.1 -8.5 364 7008 done -0.70 - - 2699 - 1.92 0.037 1655 621.4 -108.9 - - 3022 - - - - - - - - 14.95 14.90 14.96
7358 691.6 -7.8 373 7371 roll -0.70 - - 2687 - 2.70 0.056 3265 596.3 -109.5 - - 3021 - - - - - - - - 15.06 14.85 15.08
7520 704.5 -8.0 395 7534 done -0.70 - - 2687 - 2.62 0.041 1684 -603.4 -109.5 - - 3021 - - - - - - - - 14.93 14.86 14.95
7876 733.9 -8.2 403 7889 roll -0.70 - - 2687 - 2.05 0.064 471 -591.7 -109.5 - - 3023 - - - - - - - - 15.09 14.84 15.07
7951 741.0 -9.3 413 7965 done -0.70 - - 2679 - 1.98 0.037 1687 614.1 -109.5 - - 3019 - - - - - - - - 14.94 14.89 14.95
8280 769.5 -8.7 424 8293 done -0.70 - - 2680 - - - 1687 - -109.5 - - 3018 - - - - - - - - 15.05 15.08 15.07
8616 797.5 -8.2 430 8629 roll -0.70 - - 2668 - 2.65 0.057 3260 593.6 -109.5 - - 3017 - - - - - - - - 15.05 14.83 15.07
8656 801.0 -9.5 435 8670 done -0.70 0.15 0.279 2698 200.0 2.65 0.042 1669 -600.4 -109.5 - - 3017 - - - - - - - - 14.64 14.85 14.85
9020 827.4 -7.1 444 9033 roll -0.71 - - 2706 - 2.03 0.064 470 -590.6 -116.8 - - 3016 - - - - - - - - 15.04 14.83 15.07
9102 833.6 -7.4 455 9116 done -0.71 - - 2700 - 1.92 0.037 1657 618.2 -116.8 - - 3016 - - - - - - - - 14.92 14.86 14.94
9424 855.1 -6.8 465 9437 roll -0.71 - - 2694 - 2.70 0.057 3259 593.3 -116.8 - - 3015 - - - - - - - - 15.04 14.81 15.06
9572 866.0 -7.6 485 9585 done -0.71 - - 2688 - 2.62 0.043 1684 -601.1 -116.8 - - 3015 - - - - - - - - 14.90 14.83 14.92
9943 894.3 -7.6 495 9956 done -0.71 - - 2688 - - - 1683 - -116.8 - - 3014 - - - - - - - - 15.04 15.06 15.05
10279 920.2 -7.9 501 10292 roll -0.71 - - 2677 - 2.67 0.059 3256 589.1 -116.8 - - 3014 - - - - - - - - 15.04 14.80 15.05
10313 923.0 -7.8 505 10326 done -0.71 - - 2677 - 2.60 0.043 1692 -601.5 -116.8 - - 3014 - - - - - - - - 14.92 14.83 14.92
10683 954.5 -8.6 515 10696 done -0.71 - - 2677 - - - 1692 - -116.8 - - 3013 - - - - - - - - 15.02 15.04 15.05
11019 982.6 -8.5 521 11032 roll -0.71 - - 2677 - 2.08 0.065 474 -585.6 -116.8 - - 3012 - - - - - - - - 15.02 14.77 15.05
11081 989.0 -9.0 529 11094 done -0.71 - - 2669 - 2.00 0.039 1701 613.5 -116.8 - - 3011 - - - - - - - - 14.90 14.85 14.92
11097 end dive: TARGET_DEPTH_EXCEEDED
11097 begin apogee
11105 990.7 -9.1 531 11179 roll -0.21 0.73 0.256 2857 257.5 - - 1809 - - 63.62 2.196 2792 -3.4 0.286 - - - - - - 14.56 14.31 13.57
11180 end apogee: CONTROL_FINISHED_OK
11181 begin climb
11184 993.4 - 532 11325 done 1.08 1.38 0.160 3271 300.0 - - 1810 - 116.8 126.25 2.173 2316 -3.8 0.318 - - - - - - 14.25 14.50 13.31
11655 943.2 12.8 561 11668 roll 0.98 - - 3281 - 2.47 0.064 405 -568.8 116.8 - - 2296 - - - - - - - - 14.73 14.52 14.75
11689 938.6 13.9 565 11703 done 0.86 0.30 0.291 3213 -226.7 2.30 0.034 1791 602.6 116.8 - - 2296 - - - - - - - - 14.36 14.58 14.60
12060 898.3 10.7 575 12073 roll 0.86 - - 3215 - 2.38 0.054 3186 586.1 116.8 - - 2294 - - - - - - - - 14.86 14.67 14.89
12149 888.1 11.4 587 12162 done 0.86 - - 3221 - 2.30 0.041 1813 -597.0 116.8 - - 2293 - - - - - - - - 14.80 14.71 14.79
12519 846.6 11.1 597 12532 roll 0.86 - - 3232 - 2.45 0.066 400 -576.7 116.8 - - 2293 - - - - - - - - 14.93 14.71 14.95
12588 838.8 12.6 606 12601 done 0.86 - - 3232 - 2.33 0.034 1813 606.4 116.8 - - 2296 - - - - - - - - 14.83 14.78 14.85
12923 799.4 11.7 618 12936 roll 0.86 - - 3232 - 2.33 0.054 3193 592.3 116.8 - - 2293 - - - - - - - - 14.96 14.76 14.98
12970 793.7 12.0 624 12984 done 0.86 0.15 0.315 3212 -133.3 2.30 0.041 1808 -602.2 116.8 - - 2292 - - - - - - - - 14.54 14.78 14.80
13327 756.3 10.3 632 13340 roll 0.86 - - 3221 - 2.45 0.067 396 -576.3 116.8 - - 2292 - - - - - - - - 14.97 14.75 14.98
13445 743.6 10.9 648 13458 done 0.86 - - 3220 - 2.33 0.034 1808 606.0 116.8 - - 2292 - - - - - - - - 14.86 14.81 14.88
13787 708.2 10.3 661 13800 roll 0.86 - - 3221 - 2.33 0.055 3185 591.0 116.8 - - 2292 - - - - - - - - 14.98 14.78 15.00
13834 703.1 10.4 667 13847 done 0.86 - - 3230 - 2.33 0.042 1784 -601.3 116.8 - - 2291 - - - - - - - - 14.86 14.79 14.88
14191 664.5 10.9 675 14204 done 0.86 - - 3230 - - - 1783 - 116.8 - - 2291 - - - - - - - - 14.99 15.01 15.01
14527 627.9 10.9 681 14540 roll 0.86 - - 3241 - 2.40 0.066 398 -577.1 116.8 - - 2291 - - - - - - - - 15.00 14.76 15.02
14602 619.0 11.5 691 14615 done 0.86 0.15 0.283 3210 -206.7 2.28 0.034 1795 612.7 116.8 - - 2291 - - - - - - - - 14.55 14.82 14.81
14931 586.3 9.9 702 14944 roll 0.86 - - 3211 - 2.33 0.054 3177 593.1 116.8 - - 2291 - - - - - - - - 15.00 14.78 15.01
15027 576.3 10.1 715 15040 done 0.86 - - 3217 - 2.28 0.042 1801 -603.5 116.8 - - 2291 - - - - - - - - 14.87 14.79 14.90
15390 541.8 9.6 724 15403 roll 0.86 - - 3228 - 2.42 0.066 394 -581.4 116.8 - - 2291 - - - - - - - - 14.99 14.75 15.00
15465 534.0 10.4 734 15478 done 0.86 - - 3229 - 2.30 0.034 1800 611.3 116.8 - - 2290 - - - - - - - - 14.88 14.80 14.90
15793 500.7 10.2 745 15806 roll 0.86 - - 3228 - 2.33 0.054 3192 597.4 116.8 - - 2292 - - - - - - - - 14.99 14.78 15.02
15876 491.6 11.1 756 15889 done 0.86 - - 3237 - 2.30 0.041 1814 -599.1 116.8 - - 2291 - - - - - - - - 14.88 14.80 14.88
16197 456.5 10.9 766 16210 roll 0.86 - - 3249 - 2.45 0.065 397 -578.4 116.8 - - 2292 - - - - - - - - 14.99 14.75 15.02
16272 447.5 12.0 776 16286 done 0.86 0.17 0.281 3211 -223.5 2.35 0.034 1838 613.2 116.8 - - 2291 - - - - - - - - 14.53 14.82 14.80
16601 414.3 9.9 787 16614 roll 0.86 - - 3219 - 2.50 0.062 398 -576.0 116.8 - - 2291 - - - - - - - - 14.99 14.76 15.01
16641 410.2 10.3 792 16654 done 0.86 - - 3219 - 2.30 0.033 1807 612.6 116.8 - - 2291 - - - - - - - - 14.88 14.83 14.90
17004 374.2 9.9 801 17018 roll 0.86 - - 3219 - 2.33 0.053 3191 594.0 116.8 - - 2291 - - - - - - - - 15.00 14.77 15.02
17045 369.8 10.5 806 17058 done 0.86 - - 3228 - 2.30 0.041 1799 -605.2 116.8 - - 2290 - - - - - - - - 14.86 14.79 14.88
17409 333.9 9.8 815 17422 roll 0.86 - - 3239 - 2.42 0.065 396 -579.8 116.8 - - 2290 - - - - - - - - 15.00 14.76 15.02
17463 328.2 10.5 822 17477 done 0.86 0.12 0.276 3214 -208.3 2.28 0.033 1798 614.9 116.8 - - 2291 - - - - - - - - 14.54 14.82 14.80
17807 296.6 9.1 829 17820 roll 0.86 - - 3214 - 2.30 0.051 3174 598.3 116.8 - - 2291 - - - - - - - - 15.00 14.75 15.02
17848 292.6 9.4 834 17861 done 0.86 - - 3221 - 2.30 0.040 1782 -605.2 116.8 - - 2289 - - - - - - - - 14.86 14.80 14.88
18211 257.7 9.8 843 18224 roll 0.86 - - 3232 - 2.38 0.064 404 -579.0 116.8 - - 2291 - - - - - - - - 15.00 14.76 15.02
18245 254.1 10.0 847 18258 done 0.86 - - 3232 - 2.25 0.032 1797 619.1 116.8 - - 2291 - - - - - - - - 14.88 14.83 14.90
18615 216.0 10.3 857 18629 roll 0.86 - - 3232 - 2.33 0.050 3186 596.1 116.8 - - 2291 - - - - - - - - 15.00 14.78 15.02
18656 211.6 10.7 862 18669 done 0.86 0.15 0.295 3211 -140.0 2.30 0.039 1788 -607.8 116.8 - - 2291 - - - - - - - - 14.53 14.80 14.80
19020 179.0 9.0 871 19033 roll 0.86 - - 3220 - 2.40 0.063 397 -579.6 116.8 - - 2291 - - - - - - - - 15.00 14.76 15.02
19082 172.9 9.9 879 19095 done 0.86 - - 3220 - 2.28 0.032 1794 612.7 116.8 - - 2291 - - - - - - - - 14.88 14.83 14.90
19424 141.8 8.9 892 19437 roll 0.86 - - 3219 - 2.33 0.050 3185 597.0 116.8 - - 2291 - - - - - - - - 15.00 14.78 15.02
19548 131.5 8.3 909 19562 done 0.86 - - 3228 - 2.25 0.038 1816 -608.4 116.8 - - 2291 - - - - - - - - 14.87 14.81 14.90
19884 106.5 6.9 921 19901 roll 0.88 - - 3240 - 2.47 0.061 399 -573.7 128.0 3.40 0.156 2271 -5.9 0.740 - - - - - - 15.00 14.71 14.63
20027 98.2 5.5 941 20071 done 0.91 - - 3240 - 2.30 0.031 1821 618.3 154.8 28.48 0.383 2160 -3.9 0.184 - - - - - - 14.85 14.80 14.45
20396 83.0 3.4 960 20459 roll 1.10 0.15 0.132 3292 346.7 2.28 0.047 3188 599.6 205.5 49.67 0.353 1959 -4.0 0.175 - - - - - - 14.73 14.62 14.42
20503 78.1 6.4 972 20532 done 1.12 - - 3301 - 2.33 0.037 1788 -600.9 221.7 17.62 0.317 1886 -4.1 0.188 - - - - - - 14.77 14.71 14.40
20840 61.3 4.2 987 20897 roll 1.28 0.12 0.139 3364 525.0 2.42 0.060 408 -570.2 262.4 40.00 0.286 1725 -4.0 0.159 - - - - - - 14.69 14.64 14.45
21127 44.4 3.7 1028 21185 done 1.34 - - 3364 - 2.35 0.028 1870 622.1 308.9 43.45 0.241 1536 -4.3 0.148 - - - - - - 14.77 14.73 14.47
21515 26.6 4.1 1050 21566 roll 1.52 0.15 0.134 3432 453.3 2.55 0.056 399 -576.9 351.1 35.80 0.189 1364 -4.8 0.125 - - - - - - 14.69 14.67 14.54
21769 3.5 9.0 1086 21782 done 1.52 - - 3431 - 2.50 0.029 1937 615.2 351.1 - - 1369 - - - - - - - - 14.83 14.78 14.84
21784 end climb: SURFACE_DEPTH_REACHED
21784 begin surface coast
21792 end surface coast: CONTROL_FINISHED_OK
21792 begin surface
SM 1.26 - - - - -8.62 9.57 0.077 156 16.3 0.10 0.115 1857 8270.0 515.13 97.62 0.124 691 7.1 -0.007 - - - - - -