SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 144 * Raw log
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• Previous call tries 1 • 57.33 of 350.00 AH used of 24V (83.62% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 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: 44 s
• GPS2 time: 13 s • Transponder ping count: 1
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 done -0.84 - - 154 - - - 1874 - -116.8 -79.12 - 3272 - - - - - - - - 14.81 13.89 14.83
110 9.9 -15.4 3 127 roll -0.84 11.62 0.378 2660 215.7 2.42 0.058 467 -581.4 -116.8 - - 3274 - - - - - - - - 14.39 14.62 14.64
148 34.2 -51.9 9 156 done 0.23 1.40 0.295 2995 239.3 2.28 0.037 1857 609.6 -116.8 - - 3274 - - - - - - - - 14.43 14.64 14.65
471 64.9 -6.0 22 478 roll -0.04 0.22 0.089 2892 -468.2 2.33 0.051 462 -598.7 -116.8 - - 3275 - - - - - - - - 14.74 14.72 14.77
519 70.4 -12.6 29 527 done -0.04 - - 2887 - 2.22 0.033 1842 621.6 -116.8 - - 3274 - - - - - - - - 14.81 14.76 14.83
836 97.5 -5.8 41 842 roll -0.19 - - 2885 - 2.28 0.053 467 -603.1 -116.8 - - 3274 - - - - - - - - 14.96 14.78 14.98
967 106.2 -6.0 60 974 done -0.36 0.20 0.100 2796 -445.0 2.00 0.031 1741 637.0 -116.8 - - 3274 - - - - - - - - 14.78 14.81 14.84
1284 130.0 -7.8 70 1290 roll -0.36 - - 2785 - 2.50 0.054 3266 610.0 -116.8 - - 3275 - - - - - - - - 15.00 14.81 15.02
1331 133.7 -7.4 77 1340 done -0.36 - - 2785 - 2.53 0.038 1735 -605.1 -116.8 - - 3275 - - - - - - - - 14.83 14.80 14.85
1675 157.3 -6.9 84 1682 roll -0.36 - - 2785 - 2.10 0.057 462 -606.2 -116.8 - - 3274 - - - - - - - - 15.02 14.82 15.04
1801 167.4 -8.0 102 1807 done -0.36 0.15 0.248 2811 173.3 1.98 0.032 1716 633.3 -116.8 - - 3277 - - - - - - - - 14.69 14.87 14.86
2124 187.4 -6.1 113 2131 roll -0.48 0.12 0.135 2741 -583.3 2.55 0.052 3270 609.4 -116.8 - - 3272 - - - - - - - - 14.83 14.83 14.87
2201 194.0 -9.1 124 2207 done -0.48 0.12 0.239 2768 225.0 2.47 0.037 1735 -621.5 -116.8 - - 3272 - - - - - - - - 14.70 14.84 14.86
2516 220.8 -8.4 134 2523 roll -0.48 - - 2768 - 2.10 0.057 465 -604.8 -116.8 - - 3268 - - - - - - - - 15.02 14.82 15.04
2572 225.5 -8.6 142 2579 done -0.48 - - 2762 - 2.03 0.033 1740 628.1 -116.8 - - 3268 - - - - - - - - 14.91 14.87 14.92
2911 253.0 -8.2 155 2925 roll -0.48 - - 2751 - 2.50 0.055 3263 609.2 -116.8 - - 3265 - - - - - - - - 15.02 14.83 15.05
2987 259.7 -8.4 165 3000 done -0.48 - - 2751 - 2.45 0.038 1746 -619.2 -116.8 - - 3263 - - - - - - - - 14.92 14.86 14.96
3315 288.4 -8.8 176 3329 roll -0.48 - - 2751 - 2.12 0.059 466 -603.8 -116.8 - - 3261 - - - - - - - - 15.06 14.85 15.08
3418 297.9 -9.0 190 3432 done -0.48 0.12 0.265 2768 141.7 2.00 0.034 1728 631.0 -116.8 - - 3261 - - - - - - - - 14.71 14.90 14.89
3775 325.0 -7.6 198 3788 roll -0.48 - - 2759 - 2.53 0.054 3265 607.5 -116.8 - - 3257 - - - - - - - - 15.07 14.87 15.12
3851 330.9 -7.7 208 3864 done -0.48 - - 2759 - 2.47 0.039 1733 -620.2 -116.8 - - 3257 - - - - - - - - 14.95 14.88 14.97
4179 357.1 -8.1 219 4192 roll -0.48 - - 2759 - 2.10 0.059 468 -602.4 -116.8 - - 3254 - - - - - - - - 15.07 14.85 15.09
4226 361.2 -8.7 225 4239 done -0.48 - - 2752 - 2.03 0.034 1749 631.0 -116.8 - - 3254 - - - - - - - - 14.97 14.92 14.97
4582 392.1 -8.8 233 4595 roll -0.48 - - 2740 - 2.50 0.054 3268 607.6 -116.8 - - 3252 - - - - - - - - 15.08 14.87 15.10
4693 402.1 -8.9 248 4707 done -0.48 0.12 0.245 2766 216.7 2.45 0.037 1759 -615.9 -116.8 - - 3251 - - - - - - - - 14.71 14.88 14.90
5037 429.5 -8.0 255 5050 roll -0.48 - - 2766 - 2.17 0.059 461 -598.2 -116.8 - - 3249 - - - - - - - - 15.08 14.86 15.08
5133 437.8 -8.4 268 5146 done -0.48 - - 2760 - 2.05 0.035 1756 631.7 -116.8 - - 3248 - - - - - - - - 14.95 14.91 14.97
5497 466.4 -7.8 277 5510 roll -0.48 - - 2750 - 2.50 0.057 3269 605.2 -116.8 - - 3249 - - - - - - - - 15.07 14.86 15.10
5551 470.7 -7.9 284 5564 done -0.48 - - 2750 - 2.45 0.038 1766 -613.5 -116.8 - - 3244 - - - - - - - - 14.95 14.88 14.98
5895 498.0 -8.0 291 5908 roll -0.48 - - 2750 - 2.17 0.061 466 -599.1 -116.8 - - 3245 - - - - - - - - 15.07 14.85 15.09
5999 506.9 -8.5 305 6012 done -0.48 0.12 0.269 2766 133.3 2.12 0.036 1781 620.3 -116.8 - - 3244 - - - - - - - - 14.69 14.91 14.89
6355 532.4 -7.1 313 6368 roll -0.48 - - 2758 - 2.45 0.057 3262 604.5 -116.8 - - 3245 - - - - - - - - 15.07 14.85 15.09
6438 538.1 -6.9 324 6451 done -0.48 - - 2758 - 2.45 0.039 1771 -608.6 -116.8 - - 3242 - - - - - - - - 14.94 14.87 14.96
6759 560.7 -7.0 334 6772 roll -0.48 - - 2758 - 2.20 0.061 460 -595.9 -116.8 - - 3241 - - - - - - - - 15.07 14.84 15.09
6870 569.4 -7.8 349 6884 done -0.48 - - 2750 - 2.08 0.037 1749 619.7 -116.8 - - 3240 - - - - - - - - 14.94 14.88 14.95
7213 596.0 -7.8 356 7227 roll -0.48 - - 2739 - 2.53 0.057 3263 598.4 -116.8 - - 3237 - - - - - - - - 15.06 14.83 15.08
7303 603.2 -8.0 368 7316 done -0.48 0.15 0.236 2772 220.0 2.42 0.040 1773 -615.7 -116.8 - - 3239 - - - - - - - - 14.67 14.87 14.87
7674 628.8 -6.9 378 7687 roll -0.57 - - 2773 - 2.20 0.062 468 -593.2 -116.8 - - 3238 - - - - - - - - 15.06 14.80 15.08
7792 637.7 -7.5 394 7806 done -0.57 - - 2767 - 2.10 0.037 1771 620.5 -116.8 - - 3237 - - - - - - - - 14.94 14.88 14.95
8135 662.2 -7.2 407 8148 roll -0.57 - - 2755 - 2.47 0.057 3262 603.6 -116.8 - - 3236 - - - - - - - - 15.05 14.83 15.07
8231 669.3 -7.3 420 8245 done -0.67 0.12 0.135 2708 -391.7 2.45 0.041 1767 -610.2 -116.8 - - 3235 - - - - - - - - 14.82 14.85 14.90
8595 702.5 -9.2 429 8609 roll -0.67 - - 2709 - 2.20 0.063 471 -589.1 -116.8 - - 3234 - - - - - - - - 15.04 14.81 15.07
8707 713.5 -9.9 444 8720 done -0.67 - - 2700 - 2.10 0.037 1765 616.2 -116.8 - - 3234 - - - - - - - - 14.92 14.86 14.93
9050 746.0 -9.4 451 9063 roll -0.67 - - 2687 - 2.50 0.059 3263 599.2 -116.8 - - 3232 - - - - - - - - 15.05 14.81 15.07
9113 751.8 -9.3 459 9126 done -0.67 - - 2688 - 2.47 0.041 1759 -608.9 -116.8 - - 3233 - - - - - - - - 14.90 14.82 14.92
9455 784.6 -9.6 472 9468 roll -0.67 - - 2688 - 2.17 0.063 471 -593.5 -116.8 - - 3232 - - - - - - - - 15.03 14.81 15.06
9603 799.5 -10.2 492 9617 done -0.56 0.28 0.259 2747 210.7 2.00 0.037 1711 620.0 -116.8 - - 3231 - - - - - - - - 14.58 14.85 14.81
9974 827.6 -7.4 502 9987 roll -0.56 - - 2738 - 2.60 0.060 3263 596.9 -116.8 - - 3229 - - - - - - - - 15.03 14.78 15.05
10122 838.3 -7.1 522 10135 done -0.56 - - 2738 - 2.50 0.042 1741 -608.8 -116.8 - - 3229 - - - - - - - - 14.89 14.82 14.91
10492 864.9 -7.3 532 10505 roll -0.56 - - 2738 - 2.15 0.065 471 -590.7 -116.8 - - 3229 - - - - - - - - 15.03 14.78 15.04
10589 872.4 -7.7 545 10602 done -0.56 - - 2730 - 2.03 0.038 1717 613.8 -116.8 - - 3228 - - - - - - - - 14.88 14.83 14.90
10952 899.6 -7.6 554 10965 roll -0.56 - - 2717 - 2.60 0.060 3265 595.4 -116.8 - - 3228 - - - - - - - - 15.02 14.76 15.04
11049 907.1 -7.0 567 11062 done -0.56 0.12 0.259 2744 225.0 2.55 0.043 1728 -602.7 -116.8 - - 3228 - - - - - - - - 14.57 14.80 14.81
11413 931.6 -6.6 576 11426 roll -0.56 - - 2744 - 2.15 0.066 472 -584.2 -116.8 - - 3226 - - - - - - - - 15.02 14.76 15.04
11488 937.2 -7.3 586 11502 done -0.56 - - 2739 - 2.03 0.039 1727 618.2 -116.8 - - 3229 - - - - - - - - 14.88 14.82 14.90
11817 959.8 -6.9 597 11830 roll -0.56 - - 2727 - 2.58 0.060 3260 594.2 -116.8 - - 3225 - - - - - - - - 15.00 14.76 15.03
11936 968.4 -7.3 613 11949 done -0.56 - - 2727 - 2.53 0.044 1741 -600.4 -116.8 - - 3225 - - - - - - - - 14.85 14.78 14.88
12219 end dive: TARGET_DEPTH_EXCEEDED
12219 begin apogee
12227 990.8 -7.9 625 12355 roll -0.21 0.50 0.229 2859 264.0 - - 1808 - - 117.68 2.212 2794 -3.7 0.304 - - - - - - 14.54 14.09 13.35
12356 end apogee: CONTROL_FINISHED_OK
12356 begin climb
12360 995.1 - 627 12502 roll 0.84 1.12 0.172 3188 293.8 2.47 0.060 3181 555.9 116.8 122.57 2.168 2310 -3.9 0.336 - - - - - - 14.09 14.14 13.22
12655 974.1 9.2 672 12668 done 0.74 - - 3197 - 2.35 0.041 1796 -589.4 116.8 - - 2293 - - - - - - - - 14.42 14.36 14.45
13018 940.6 9.2 681 13032 roll 0.64 0.22 0.257 3141 -254.5 2.38 0.051 3194 587.4 116.8 - - 2291 - - - - - - - - 14.42 14.59 14.55
13171 928.8 7.3 702 13188 done 0.65 - - 3148 - 2.38 0.042 1769 -598.7 127.3 3.20 1.100 2272 -5.9 0.930 - - - - - - 14.72 14.66 13.73
13531 901.8 7.6 711 13547 roll 0.65 - - 3157 - 2.40 0.067 408 -567.1 131.2 2.97 1.001 2257 -5.1 0.844 - - - - - - 14.89 14.69 13.76
13609 895.2 8.5 722 13622 done 0.65 - - 3158 - 2.22 0.034 1785 620.3 131.2 - - 2259 - - - - - - - - 14.78 14.73 14.80
13931 868.5 8.4 732 13944 roll 0.65 - - 3158 - 2.33 0.054 3179 598.3 131.2 - - 2260 - - - - - - - - 14.92 14.72 14.95
13999 862.5 8.7 741 14012 done 0.65 - - 3166 - 2.30 0.042 1786 -605.7 131.2 - - 2260 - - - - - - - - 14.80 14.74 14.83
14334 835.4 8.1 753 14347 roll 0.65 - - 3177 - 2.40 0.067 392 -580.8 131.2 - - 2259 - - - - - - - - 14.95 14.71 14.96
14417 827.9 9.8 764 14430 done 0.65 0.15 0.259 3146 -206.7 2.28 0.034 1803 618.9 131.2 - - 2260 - - - - - - - - 14.55 14.78 14.76
14738 806.4 6.7 774 14782 roll 0.68 - - 3146 - 2.40 0.056 3174 571.2 152.6 32.75 1.922 2164 -2.9 0.228 - - - - - - 14.95 14.53 13.86
14831 799.4 7.9 787 14844 done 0.68 - - 3152 - 2.30 0.042 1796 -599.1 152.6 - - 2155 - - - - - - - - 14.62 14.56 14.64
15194 769.4 8.4 796 15207 roll 0.68 - - 3163 - 2.42 0.067 398 -577.7 152.6 - - 2154 - - - - - - - - 14.88 14.62 14.87
15297 759.5 9.8 810 15310 done 0.68 - - 3163 - 2.25 0.035 1771 610.2 152.6 - - 2154 - - - - - - - - 14.77 14.72 14.79
15653 724.5 9.9 818 15666 roll 0.68 - - 3163 - 2.35 0.053 3183 600.9 152.6 - - 2154 - - - - - - - - 14.92 14.71 14.95
15721 717.4 10.3 827 15735 done 0.68 - - 3171 - 2.30 0.041 1790 -605.7 152.6 - - 2154 - - - - - - - - 14.81 14.73 14.83
16057 683.9 10.0 839 16070 roll 0.68 - - 3182 - 2.40 0.067 401 -578.8 152.6 - - 2154 - - - - - - - - 14.94 14.71 14.96
16167 672.5 10.2 854 16181 done 0.68 - - 3179 - 2.20 0.033 1755 615.5 152.6 - - 2154 - - - - - - - - 14.83 14.78 14.85
16511 639.6 9.4 861 16525 roll 0.68 0.12 0.268 3152 -225.0 2.40 0.051 3191 598.3 152.6 - - 2154 - - - - - - - - 14.53 14.74 14.69
16559 635.5 8.2 867 16572 done 0.68 - - 3159 - 2.38 0.042 1757 -602.5 152.6 - - 2154 - - - - - - - - 14.83 14.76 14.85
16915 607.9 7.8 875 16928 roll 0.68 - - 3169 - 2.35 0.068 397 -578.7 154.5 - - 2154 - - - - - - - - 14.97 14.72 15.00
16978 602.7 8.4 883 16991 done 0.68 - - 3169 - 2.20 0.034 1761 620.0 154.5 - - 2154 - - - - - - - - 14.81 14.79 14.83
17320 574.5 8.3 896 17333 roll 0.68 - - 3168 - 2.40 0.053 3198 598.8 154.5 - - 2154 - - - - - - - - 14.96 14.75 15.00
17360 570.9 8.8 901 17374 done 0.68 - - 3177 - 2.35 0.042 1768 -608.5 154.5 - - 2154 - - - - - - - - 14.85 14.77 14.88
17724 539.0 8.9 910 17738 roll 0.68 - - 3188 - 2.38 0.067 393 -577.7 154.5 - - 2154 - - - - - - - - 14.97 14.73 15.00
17814 530.4 9.6 922 17827 done 0.68 0.15 0.254 3155 -220.0 2.22 0.034 1776 623.0 154.5 - - 2154 - - - - - - - - 14.55 14.81 14.78
18184 501.6 7.7 932 18198 roll 0.69 - - 3155 - 2.35 0.053 3180 597.4 157.4 - - 2154 - - - - - - - - 14.98 14.76 15.00
18260 495.4 8.1 942 18273 done 0.69 - - 3162 - 2.33 0.042 1767 -606.4 157.4 - - 2154 - - - - - - - - 14.84 14.77 14.85
18588 468.9 8.3 953 18601 roll 0.69 - - 3173 - 2.35 0.067 400 -581.7 157.4 - - 2155 - - - - - - - - 14.97 14.73 15.00
18663 461.9 9.4 963 18676 done 0.69 - - 3172 - 2.20 0.033 1768 621.8 157.4 - - 2154 - - - - - - - - 14.81 14.76 14.83
18991 431.7 9.2 974 19004 roll 0.69 - - 3178 - 2.35 0.052 3183 602.1 157.4 - - 2154 - - - - - - - - 14.98 14.75 15.00
19039 427.1 9.7 980 19052 done 0.69 - - 3180 - 2.33 0.041 1769 -606.9 157.4 - - 2154 - - - - - - - - 14.84 14.77 14.86
19395 394.4 9.1 988 19408 roll 0.69 - - 3192 - 2.35 0.066 401 -582.1 157.4 - - 2154 - - - - - - - - 14.98 14.73 14.98
19470 387.1 9.8 998 19483 done 0.69 0.17 0.245 3152 -235.3 2.17 0.033 1766 629.0 157.4 - - 2154 - - - - - - - - 14.54 14.81 14.76
19799 361.8 7.5 1009 19817 roll 0.70 - - 3152 - 2.35 0.050 3178 600.9 163.9 4.68 1.196 2123 -6.6 0.372 - - - - - - 14.98 14.66 14.02
19851 357.6 7.7 1015 19869 done 0.70 - - 3159 - 2.35 0.041 1751 -607.2 167.0 3.88 1.050 2110 -3.4 0.212 - - - - - - 14.84 14.77 14.03
20202 331.9 7.3 1023 20233 roll 0.71 - - 3169 - 2.40 0.067 401 -562.5 177.7 18.52 1.421 2064 -2.5 0.108 - - - - - - 14.96 14.67 14.13
20260 327.4 7.7 1031 20273 done 0.71 - - 3169 - 2.17 0.032 1749 621.2 179.9 - - 2057 - - - - - - - - 14.76 14.71 14.76
20595 300.3 8.1 1043 20608 roll 0.71 - - 3169 - 2.38 0.050 3179 600.8 179.9 - - 2057 - - - - - - - - 14.90 14.70 14.92
20642 296.0 9.1 1049 20655 done 0.71 - - 3177 - 2.33 0.040 1770 -604.7 179.9 - - 2056 - - - - - - - - 14.78 14.72 14.81
20999 265.5 8.6 1057 21012 roll 0.71 - - 3187 - 2.33 0.065 409 -584.1 179.9 - - 2056 - - - - - - - - 14.96 14.69 14.96
21088 257.2 9.2 1069 21102 done 0.71 - - 3187 - 2.12 0.031 1739 627.4 179.9 - - 2056 - - - - - - - - 14.83 14.79 14.88
21459 223.9 9.1 1079 21472 roll 0.71 - - 3187 - 2.40 0.050 3176 598.8 179.9 - - 2056 - - - - - - - - 14.97 14.75 14.97
21549 215.2 9.6 1091 21562 done 0.71 0.15 0.256 3163 -160.0 2.33 0.040 1767 -604.7 179.9 - - 2056 - - - - - - - - 14.57 14.78 14.78
21919 186.1 7.7 1101 21932 roll 0.72 - - 3169 - 2.35 0.065 392 -585.1 182.1 - - 2056 - - - - - - - - 14.97 14.75 15.00
21981 180.9 8.6 1109 21995 done 0.72 - - 3171 - 2.20 0.032 1760 621.8 182.1 - - 2056 - - - - - - - - 14.85 14.81 14.87
22323 153.3 7.9 1122 22337 roll 0.72 - - 3172 - 2.35 0.050 3180 604.3 182.1 - - 2056 - - - - - - - - 14.97 14.77 15.00
22420 145.4 8.1 1135 22433 done 0.72 - - 3179 - 2.28 0.041 1798 -606.1 182.1 - - 2056 - - - - - - - - 14.83 14.78 14.87
22784 115.9 8.1 1144 22797 roll 0.72 - - 3189 - 2.38 0.064 399 -587.8 182.1 - - 2056 - - - - - - - - 14.98 14.72 15.01
22846 110.5 8.9 1152 22859 done 0.72 - - 3189 - 2.25 0.032 1796 620.9 182.1 - - 2054 - - - - - - - - 14.87 14.83 14.88
23191 89.3 5.7 1168 23241 roll 0.77 - - 3189 - 2.38 0.050 3187 584.5 222.2 37.40 0.361 1887 -4.5 0.205 - - - - - - 14.97 14.73 14.45
23471 73.1 4.5 1208 23544 done 0.98 0.15 0.116 3261 480.0 2.53 0.039 1662 -602.8 284.4 58.08 0.323 1634 -4.4 0.183 - - - - - - 14.73 14.73 14.41
23859 51.6 5.2 1230 23920 roll 1.16 0.12 0.131 3326 541.7 2.17 0.060 395 -583.9 333.5 45.05 0.259 1436 -4.4 0.162 - - - - - - 14.69 14.59 14.42
24010 42.3 5.9 1251 24056 done 1.20 - - 3327 - 2.17 0.031 1765 631.3 370.7 34.72 0.235 1280 -4.5 0.150 - - - - - - 14.78 14.73 14.45
24364 23.2 5.4 1268 24413 roll 1.40 0.12 0.129 3383 466.7 2.40 0.045 3182 590.4 416.6 36.85 0.181 1095 -5.0 0.119 - - - - - - 14.71 14.69 14.54
24517 9.4 10.4 1290 24532 done 1.40 - - 3395 - 2.33 0.040 1769 -606.4 416.6 2.30 0.148 1094 - - - - - - - - 14.78 14.74 14.61
24606 end climb: SURFACE_DEPTH_REACHED
24606 begin surface coast
24634 end surface coast: CONTROL_FINISHED_OK
24634 begin surface
SM 1.22 - - - - -8.60 9.40 0.069 161 17.1 0.10 0.113 1879 -73430.0 515.13 62.85 0.123 691 11.0 -0.011 - - - - - -