SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 136 * Raw log
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• Previous call tries 1 • 54.50 of 350.00 AH used of 24V (84.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.21 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 18 s • Transponder ping count: 7
• 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 - - 160 - - - 1903 - -116.8 -78.03 - 3272 - - - - - - - - 14.81 13.54 14.83
112 11.0 -17.0 3 129 roll -0.84 11.82 0.387 2645 210.2 2.28 0.050 3230 582.0 -116.8 - - 3273 - - - - - - - - 14.39 14.62 14.63
157 39.0 -48.9 10 165 done -0.07 1.00 0.278 2901 256.0 2.25 0.043 1874 -602.7 -116.8 - - 3276 - - - - - - - - 14.45 14.63 14.65
473 76.4 -9.1 22 475 done -0.17 - - 2901 - - - 1874 - -116.8 - - 3275 - - - - - - - - 14.91 14.93 14.96
781 93.9 -5.0 33 788 roll -0.40 0.28 0.079 2778 -439.3 2.38 0.053 450 -598.3 -116.8 - - 3277 - - - - - - - - 14.80 14.77 14.85
857 100.8 -9.7 44 865 done -0.40 0.12 0.263 2795 141.7 2.30 0.032 1861 613.5 -116.8 - - 3277 - - - - - - - - 14.65 14.81 14.82
1201 124.6 -6.7 51 1207 roll -0.40 - - 2787 - 2.30 0.054 3260 608.3 -116.8 - - 3276 - - - - - - - - 15.00 14.81 15.00
1364 136.2 -7.3 74 1371 done -0.40 - - 2787 - 2.15 0.036 1931 -618.1 -116.8 - - 3276 - - - - - - - - 14.89 14.83 14.90
1705 160.4 -7.0 81 1712 roll -0.40 - - 2787 - 2.47 0.057 461 -595.1 -116.8 - - 3274 - - - - - - - - 15.02 14.82 15.04
1851 171.3 -7.5 102 1858 done -0.40 - - 2778 - 2.28 0.034 1871 618.4 -116.8 - - 3273 - - - - - - - - 14.90 14.85 14.92
2209 198.5 -7.9 111 2215 roll -0.40 - - 2778 - 2.38 0.056 461 -592.4 -116.8 - - 3270 - - - - - - - - 15.02 14.83 15.04
2257 202.9 -8.9 118 2265 done -0.40 0.12 0.257 2795 141.7 2.30 0.034 1866 610.9 -116.8 - - 3269 - - - - - - - - 14.69 14.85 14.86
2601 229.3 -7.7 125 2608 roll -0.51 - - 2787 - 2.33 0.056 3260 598.3 -116.8 - - 3268 - - - - - - - - 15.02 14.82 15.04
2635 232.1 -8.1 130 2642 done -0.63 0.20 0.099 2709 -390.0 2.30 0.037 1846 -614.8 -116.8 - - 3267 - - - - - - - - 14.85 14.85 14.90
2993 271.8 -11.4 139 3006 roll -0.63 - - 2709 - 2.30 0.057 470 -598.3 -116.8 - - 3264 - - - - - - - - 15.05 14.85 15.07
3097 284.4 -12.0 153 3111 done -0.51 0.25 0.251 2760 204.0 2.25 0.034 1855 615.6 -116.8 - - 3264 - - - - - - - - 14.70 14.90 14.89
3454 315.2 -8.3 161 3467 roll -0.51 - - 2753 - 2.33 0.056 3261 603.4 -116.8 - - 3260 - - - - - - - - 15.04 14.87 15.09
3487 318.0 -8.2 165 3500 done -0.51 - - 2753 - 2.30 0.037 1845 -615.7 -116.8 - - 3260 - - - - - - - - 14.95 14.90 14.97
3857 348.7 -8.3 175 3870 roll -0.51 - - 2749 - 2.30 0.059 471 -597.4 -116.8 - - 3256 - - - - - - - - 15.07 14.88 15.09
4002 361.7 -8.9 195 4015 done -0.51 - - 2744 - 2.17 0.034 1820 621.7 -116.8 - - 3256 - - - - - - - - 14.97 14.92 14.98
4373 392.1 -8.2 205 4386 roll -0.51 - - 2733 - 2.40 0.055 3266 602.5 -116.8 - - 3255 - - - - - - - - 15.08 14.88 15.10
4406 394.9 -7.9 209 4419 done -0.51 0.12 0.256 2758 208.3 2.38 0.038 1810 -611.8 -116.8 - - 3255 - - - - - - - - 14.73 14.90 14.92
4777 422.0 -7.4 219 4790 roll -0.51 - - 2758 - 2.25 0.060 472 -594.7 -116.8 - - 3251 - - - - - - - - 15.08 14.88 15.10
4946 436.2 -8.9 242 4960 done -0.51 - - 2753 - 2.10 0.035 1768 617.1 -116.8 - - 3251 - - - - - - - - 14.96 14.92 14.97
5287 467.5 -9.2 249 5300 roll -0.51 - - 2742 - 2.47 0.056 3260 604.0 -116.8 - - 3249 - - - - - - - - 15.07 14.86 15.12
5370 475.3 -9.3 260 5383 done -0.51 - - 2742 - 2.40 0.038 1798 -609.2 -116.8 - - 3249 - - - - - - - - 14.95 14.89 14.97
5691 505.0 -9.2 270 5704 roll -0.51 - - 2742 - 2.25 0.060 466 -592.0 -116.8 - - 3249 - - - - - - - - 15.09 14.86 15.09
5837 518.9 -9.2 290 5850 done -0.51 0.12 0.275 2759 141.7 2.08 0.036 1751 617.8 -116.8 - - 3246 - - - - - - - - 14.69 14.91 14.89
6207 546.6 -7.4 300 6220 roll -0.51 - - 2750 - 2.53 0.057 3262 597.2 -116.8 - - 3245 - - - - - - - - 15.07 14.86 15.09
6318 554.9 -7.5 315 6332 done -0.51 - - 2750 - 2.47 0.040 1766 -605.7 -116.8 - - 3245 - - - - - - - - 14.95 14.88 14.96
6661 580.8 -7.5 322 6674 roll -0.51 - - 2750 - 2.20 0.062 474 -587.3 -116.8 - - 3243 - - - - - - - - 15.07 14.85 15.09
6750 588.2 -8.2 334 6764 done -0.51 - - 2738 - 2.08 0.036 1753 614.9 -116.8 - - 3243 - - - - - - - - 14.96 14.90 14.97
7121 616.2 -7.5 344 7134 roll -0.51 - - 2730 - 2.53 0.057 3262 596.4 -116.8 - - 3241 - - - - - - - - 15.07 14.85 15.09
7190 621.5 -7.6 353 7203 done -0.51 0.12 0.256 2757 225.0 2.47 0.040 1758 -608.9 -116.8 - - 3242 - - - - - - - - 14.68 14.87 14.88
7526 644.7 -7.0 365 7539 roll -0.51 - - 2759 - 2.17 0.062 473 -592.2 -116.8 - - 3240 - - - - - - - - 15.06 14.83 15.08
7608 651.3 -7.9 376 7621 done -0.51 - - 2754 - 2.08 0.037 1749 613.5 -116.8 - - 3238 - - - - - - - - 14.94 14.89 14.95
7929 676.3 -7.9 386 7942 roll -0.51 - - 2742 - 2.53 0.057 3256 595.7 -116.8 - - 3238 - - - - - - - - 15.05 14.83 15.07
8032 685.0 -8.3 400 8045 done -0.51 - - 2743 - 2.47 0.040 1756 -607.3 -116.8 - - 3237 - - - - - - - - 14.93 14.85 14.94
8388 714.2 -8.2 408 8401 roll -0.51 - - 2742 - 2.17 0.063 473 -591.2 -116.8 - - 3236 - - - - - - - - 15.04 14.83 15.06
8457 720.3 -8.8 417 8470 done -0.51 0.12 0.278 2759 141.7 2.10 0.037 1761 613.3 -116.8 - - 3236 - - - - - - - - 14.64 14.88 14.85
8792 744.8 -7.3 429 8805 roll -0.51 - - 2750 - 2.53 0.059 3265 594.5 -116.8 - - 3235 - - - - - - - - 15.07 14.83 15.07
8882 751.3 -7.2 441 8895 done -0.60 - - 2750 - 2.47 0.041 1779 -601.6 -116.8 - - 3234 - - - - - - - - 14.91 14.84 14.93
9252 777.4 -7.0 451 9265 roll -0.60 - - 2750 - 2.25 0.063 463 -584.9 -116.8 - - 3233 - - - - - - - - 15.04 14.81 15.07
9335 784.0 -7.4 462 9348 done -0.60 - - 2742 - 2.10 0.039 1749 612.4 -116.8 - - 3233 - - - - - - - - 14.92 14.87 14.94
9656 805.8 -6.8 472 9669 roll -0.60 - - 2730 - 2.55 0.058 3262 593.3 -116.8 - - 3235 - - - - - - - - 15.04 14.81 15.06
9759 812.7 -7.7 486 9773 done -0.60 - - 2730 - 2.47 0.041 1772 -603.2 -116.8 - - 3232 - - - - - - - - 14.90 14.83 14.92
10116 837.3 -7.0 494 10129 roll -0.60 - - 2730 - 2.22 0.065 473 -585.1 -116.8 - - 3231 - - - - - - - - 15.03 14.80 15.05
10250 847.6 -7.7 512 10263 done -0.60 - - 2722 - 2.08 0.037 1747 612.5 -116.8 - - 3231 - - - - - - - - 14.90 14.85 14.92
10579 872.4 -7.8 523 10592 roll -0.60 - - 2710 - 2.55 0.060 3256 591.8 -116.8 - - 3231 - - - - - - - - 15.02 14.78 15.04
10668 879.9 -8.2 535 10681 done -0.60 - - 2711 - 2.50 0.042 1760 -598.4 -116.8 - - 3230 - - - - - - - - 14.89 14.82 14.91
11038 911.1 -8.5 545 11052 roll -0.60 - - 2710 - 2.22 0.064 473 -579.7 -116.8 - - 3229 - - - - - - - - 15.02 14.78 15.04
11170 923.8 -11.0 563 11184 done -0.60 0.15 0.277 2734 160.0 2.08 0.038 1734 606.2 -116.8 - - 3229 - - - - - - - - 14.59 14.85 14.80
11499 948.3 -7.6 574 11513 roll -0.60 - - 2724 - 2.60 0.061 3257 585.8 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
11589 955.5 -7.9 586 11602 done -0.60 - - 2724 - 2.47 0.043 1771 -601.6 -116.8 - - 3228 - - - - - - - - 14.88 14.81 14.90
11959 986.2 -8.5 596 11972 roll -0.60 - - 2725 - 2.22 0.067 474 -584.2 -116.8 - - 3228 - - - - - - - - 15.02 14.76 15.03
11989 end dive: TARGET_DEPTH_EXCEEDED
11989 begin apogee
11999 990.1 -11.1 600 12126 roll -0.21 0.52 0.234 2855 250.0 - - 1799 - - 117.62 2.202 2794 -3.7 0.307 - - - - - - 14.57 14.08 13.36
12128 end apogee: CONTROL_FINISHED_OK
12128 begin climb
12131 995.2 - 602 12272 roll 0.84 1.23 0.180 3191 273.2 2.53 0.059 3222 562.5 116.8 122.47 2.159 2316 -3.9 0.333 - - - - - - 14.09 14.15 13.24
12418 976.1 9.1 646 12432 done 0.73 0.15 0.282 3171 -133.3 2.42 0.041 1807 -584.7 116.8 - - 2293 - - - - - - - - 14.20 14.35 14.39
12789 946.7 8.0 656 12802 roll 0.73 - - 3172 - 2.38 0.054 3193 582.4 116.8 - - 2292 - - - - - - - - 14.78 14.59 14.81
12927 934.9 8.3 675 12940 done 0.73 - - 3178 - 2.40 0.042 1767 -594.2 116.8 - - 2292 - - - - - - - - 14.71 14.65 14.73
13248 907.5 8.6 685 13262 roll 0.73 - - 3188 - 2.40 0.067 393 -572.5 116.8 - - 2292 - - - - - - - - 14.89 14.67 14.91
13352 897.7 9.5 699 13365 done 0.63 0.22 0.253 3137 -231.8 2.28 0.035 1779 607.9 116.8 - - 2292 - - - - - - - - 14.53 14.75 14.76
13709 870.9 7.4 707 13722 roll 0.64 - - 3137 - 2.33 0.055 3172 597.9 124.4 - - 2291 - - - - - - - - 14.94 14.72 14.96
13770 865.9 8.1 715 13784 done 0.64 - - 3144 - 2.35 0.042 1768 -597.4 124.4 - - 2290 - - - - - - - - 14.82 14.76 14.84
14113 838.9 8.1 728 14126 roll 0.64 - - 3155 - 2.38 0.067 395 -576.9 124.4 - - 2291 - - - - - - - - 14.95 14.73 14.98
14195 832.3 9.1 739 14208 done 0.64 - - 3154 - 2.22 0.035 1748 609.5 124.4 - - 2291 - - - - - - - - 14.85 14.83 14.86
14516 805.2 8.4 749 14529 roll 0.64 - - 3154 - 2.40 0.054 3174 594.2 124.4 - - 2289 - - - - - - - - 14.97 14.76 15.00
14579 799.8 8.9 757 14592 done 0.64 - - 3163 - 2.33 0.043 1779 -598.7 124.4 - - 2290 - - - - - - - - 14.85 14.78 14.86
14921 769.7 8.8 770 14934 roll 0.64 - - 3174 - 2.40 0.067 391 -578.3 124.4 - - 2290 - - - - - - - - 14.97 14.74 15.00
14989 763.3 9.1 779 15003 done 0.64 0.15 0.262 3142 -213.3 2.28 0.034 1789 613.2 124.4 - - 2290 - - - - - - - - 14.57 14.80 14.78
15325 736.6 8.0 791 15338 roll 0.64 - - 3142 - 2.33 0.055 3172 593.6 124.4 - - 2290 - - - - - - - - 14.98 14.76 15.00
15393 730.9 8.2 800 15406 done 0.64 - - 3149 - 2.30 0.043 1787 -602.2 124.4 - - 2290 - - - - - - - - 14.85 14.78 14.87
15729 705.6 7.5 812 15750 roll 0.65 - - 3159 - 2.47 0.067 396 -563.2 131.4 6.38 1.677 2256 -5.3 0.415 - - - - - - 14.98 14.77 14.02
15819 698.5 7.9 825 15832 done 0.65 - - 3159 - 2.25 0.036 1771 611.1 131.4 - - 2256 - - - - - - - - 14.83 14.78 14.84
16183 672.1 7.2 834 16219 roll 0.66 - - 3160 - 2.47 0.054 3187 573.3 144.3 20.95 1.784 2197 -2.8 0.197 - - - - - - 14.96 14.64 14.04
16267 665.6 7.9 846 16280 done 0.66 - - 3168 - 2.35 0.041 1786 -596.2 144.3 - - 2191 - - - - - - - - 14.71 14.65 14.73
16637 635.4 8.4 856 16650 roll 0.66 - - 3179 - 2.42 0.067 397 -574.0 144.3 - - 2191 - - - - - - - - 14.90 14.67 14.92
16726 627.1 9.5 868 16740 done 0.66 0.15 0.256 3147 -213.3 2.28 0.034 1788 610.1 144.3 - - 2190 - - - - - - - - 14.57 14.75 14.75
17097 597.0 8.2 878 17110 roll 0.66 - - 3147 - 2.35 0.054 3174 589.8 144.3 - - 2190 - - - - - - - - 14.94 14.73 14.96
17159 591.6 8.6 886 17172 done 0.66 - - 3153 - 2.33 0.042 1786 -595.7 144.3 - - 2190 - - - - - - - - 14.82 14.76 14.84
17501 564.6 7.7 899 17514 roll 0.67 - - 3164 - 2.40 0.067 397 -578.8 147.1 - - 2190 - - - - - - - - 14.95 14.73 14.97
17564 559.7 8.1 907 17577 done 0.67 - - 3164 - 2.25 0.035 1766 608.4 147.1 - - 2190 - - - - - - - - 14.84 14.80 14.86
17906 533.5 7.7 920 17919 roll 0.67 - - 3165 - 2.38 0.051 3183 595.4 150.0 1.38 0.184 2177 -9.4 5.060 - - - - - - 14.97 14.74 14.65
17995 525.9 8.5 932 18009 done 0.67 - - 3172 - 2.30 0.041 1798 -602.2 150.0 - - 2178 - - - - - - - - 14.85 14.78 14.86
18366 493.8 8.8 942 18379 roll 0.67 - - 3189 - 2.42 0.066 393 -580.6 150.0 - - 2178 - - - - - - - - 14.97 14.77 15.00
18469 483.8 9.8 956 18482 done 0.67 0.15 0.255 3151 -253.3 2.25 0.033 1783 617.8 150.0 - - 2178 - - - - - - - - 14.58 14.81 14.78
18826 455.1 7.9 964 18839 roll 0.67 - - 3150 - 2.33 0.053 3172 596.1 150.0 - - 2178 - - - - - - - - 14.98 14.77 15.00
18880 450.8 7.9 971 18894 done 0.67 - - 3156 - 2.33 0.041 1779 -597.9 150.0 - - 2178 - - - - - - - - 14.85 14.78 14.87
19224 425.0 7.5 978 19241 roll 0.68 - - 3168 - 2.45 0.067 399 -563.3 157.6 5.47 1.353 2149 -5.3 0.309 - - - - - - 15.00 14.78 14.04
19334 416.6 7.8 993 19349 done 0.68 - - 3168 - 2.20 0.033 1745 611.8 158.2 - - 2156 - - - - - - - - 14.85 14.81 14.86
19675 389.8 7.8 1000 19692 roll 0.68 - - 3168 - 2.42 0.051 3163 586.0 158.6 3.00 0.823 2143 -4.3 0.380 - - - - - - 14.97 14.78 13.98
19748 383.8 8.4 1010 19761 done 0.68 - - 3177 - 2.33 0.041 1764 -600.4 158.6 - - 2150 - - - - - - - - 14.84 14.78 14.85
20076 357.3 8.1 1021 20089 roll 0.68 - - 3185 - 2.35 0.066 401 -580.0 158.6 - - 2150 - - - - - - - - 14.97 14.74 14.99
20144 351.4 8.7 1030 20158 done 0.68 0.15 0.249 3154 -206.7 2.17 0.033 1750 621.7 158.6 - - 2149 - - - - - - - - 14.59 14.81 14.79
20480 327.4 7.1 1042 20517 roll 0.70 - - 3154 - 2.40 0.050 3171 592.1 172.9 24.20 1.393 2081 -2.8 0.122 - - - - - - 14.98 14.58 14.13
20572 320.2 7.9 1055 20585 done 0.70 - - 3160 - 2.35 0.041 1766 -597.9 172.9 - - 2076 - - - - - - - - 14.73 14.67 14.76
20935 291.8 7.9 1064 20948 roll 0.70 - - 3170 - 2.38 0.066 399 -574.4 172.9 - - 2075 - - - - - - - - 14.90 14.67 14.93
21010 285.5 8.4 1074 21023 done 0.70 - - 3171 - 2.22 0.034 1761 613.5 172.9 - - 2077 - - - - - - - - 14.81 14.76 14.82
21338 258.7 8.3 1085 21352 roll 0.70 - - 3170 - 2.38 0.051 3180 596.2 172.9 - - 2075 - - - - - - - - 14.94 14.74 14.96
21385 254.6 8.6 1091 21399 done 0.70 - - 3178 - 2.33 0.040 1777 -602.1 172.9 - - 2075 - - - - - - - - 14.83 14.77 14.85
21742 225.1 8.2 1099 21755 roll 0.70 - - 3191 - 2.38 0.065 403 -577.3 172.9 - - 2075 - - - - - - - - 14.96 14.73 14.99
21831 216.9 9.1 1111 21844 done 0.70 0.15 0.242 3156 -233.3 2.20 0.032 1770 621.4 172.9 - - 2075 - - - - - - - - 14.60 14.81 14.81
22201 188.0 7.8 1121 22215 roll 0.70 - - 3155 - 2.38 0.050 3178 591.6 173.1 - - 2075 - - - - - - - - 14.97 14.78 15.00
22249 184.1 8.4 1127 22262 done 0.70 - - 3161 - 2.35 0.040 1765 -601.3 173.1 - - 2075 - - - - - - - - 14.88 14.79 14.88
22605 156.6 7.6 1135 22622 roll 0.71 - - 3171 - 2.38 0.064 404 -571.8 178.6 2.17 0.343 2059 -7.4 0.624 - - - - - - 15.00 14.77 14.01
22706 148.7 7.7 1149 22719 done 0.71 - - 3171 - 2.12 0.031 1723 622.2 181.5 2.55 0.539 2053 -2.4 0.120 - - - - - - 14.88 14.83 14.05
23062 123.1 7.0 1157 23100 roll 0.73 - - 3171 - 2.47 0.049 3170 585.8 197.2 22.75 1.177 1978 -3.3 0.064 - - - - - - 14.98 14.70 14.19
23148 116.9 7.5 1169 23162 done 0.74 - - 3179 - 2.33 0.039 1768 -601.7 204.4 2.05 0.164 1957 -10.2 1.353 - - - - - - 14.78 14.71 14.62
23491 94.6 6.5 1179 23528 roll 0.77 - - 3188 - 2.38 0.062 397 -576.1 229.3 24.23 0.366 1864 -3.8 0.184 - - - - - - 14.92 14.63 14.42
23556 90.0 6.7 1188 23593 done 0.92 0.12 0.139 3237 408.3 2.25 0.033 1783 616.0 251.1 23.05 0.355 1776 -3.8 0.179 - - - - - - 14.69 14.75 14.39
23915 69.3 4.5 1206 23987 roll 0.99 - - 3237 - 2.35 0.050 3182 595.3 313.0 58.40 0.314 1521 -4.4 0.179 - - - - - - 14.91 14.64 14.42
24010 64.5 5.9 1219 24061 done 1.17 0.20 0.105 3317 400.0 2.35 0.037 1760 -605.1 349.5 34.92 0.296 1371 -4.3 0.173 - - - - - - 14.64 14.66 14.39
24365 39.1 5.7 1237 24415 roll 1.22 - - 3322 - 2.45 0.045 3183 580.8 388.9 35.38 0.227 1211 -4.5 0.144 - - - - - - 14.88 14.67 14.50
24555 27.6 6.3 1264 24594 done 1.39 0.15 0.115 3381 393.3 2.12 0.035 1877 -616.0 418.2 25.02 0.194 1088 -4.9 0.130 - - - - - - 14.68 14.69 14.53
24870 end climb: SURFACE_DEPTH_REACHED
24870 begin surface coast
24895 end surface coast: CONTROL_FINISHED_OK
24895 begin surface
SM 1.03 - - - - -8.61 9.15 0.050 152 16.6 - - 1876 - 515.13 59.30 0.123 690 11.6 -0.010 - - - - - -