SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 150 * Raw log
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• Previous call tries 1 • 59.56 of 350.00 AH used of 24V (82.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.1 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 33 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 143 - - - 1887 - -116.8 -79.05 - 3271 - - - - - - - - 14.79 13.84 14.81
111 10.0 -15.5 3 129 roll -0.84 12.02 0.392 2665 209.8 2.42 0.049 466 -587.2 -116.8 - - 3273 - - - - - - - - 14.35 14.59 14.62
285 69.4 -23.4 28 296 done -0.42 0.55 0.277 2786 220.0 2.25 0.036 1843 612.0 -116.8 - - 3273 - - - - - - - - 14.46 14.68 14.68
618 105.3 -8.6 41 625 roll -0.42 - - 2779 - 2.35 0.055 3270 607.2 -116.8 - - 3275 - - - - - - - - 14.92 14.71 14.95
675 109.6 -7.5 49 683 done -0.42 - - 2779 - 2.25 0.037 1880 -617.8 -116.8 - - 3275 - - - - - - - - 14.82 14.76 14.83
1012 135.7 -7.7 62 1015 done -0.42 - - 2779 - - - 1880 - -116.8 - - 3275 - - - - - - - - 14.96 14.99 14.99
1347 160.4 -7.6 68 1354 roll -0.42 - - 2778 - 2.35 0.059 468 -600.9 -116.8 - - 3275 - - - - - - - - 14.99 14.77 15.01
1494 173.1 -8.7 89 1501 done -0.42 - - 2770 - 2.17 0.034 1829 627.2 -116.8 - - 3273 - - - - - - - - 14.86 14.83 14.89
1851 203.8 -8.6 98 1858 roll -0.42 - - 2770 - 2.28 0.057 470 -596.1 -116.8 - - 3270 - - - - - - - - 15.00 14.80 15.02
1913 209.7 -9.4 107 1920 done -0.42 0.12 0.263 2786 133.3 2.12 0.033 1793 624.1 -116.8 - - 3269 - - - - - - - - 14.64 14.83 14.83
2244 236.2 -8.1 119 2250 roll -0.42 - - 2779 - 2.45 0.055 3269 602.4 -116.8 - - 3267 - - - - - - - - 15.00 14.80 15.02
2327 243.1 -8.0 131 2333 done -0.52 - - 2779 - 2.38 0.036 1801 -616.8 -116.8 - - 3269 - - - - - - - - 14.88 14.82 14.90
2692 271.9 -7.9 141 2705 roll -0.52 - - 2779 - 2.22 0.058 468 -600.5 -116.8 - - 3263 - - - - - - - - 15.03 14.83 15.05
2802 281.1 -8.3 156 2816 done -0.52 - - 2770 - 2.12 0.034 1793 625.0 -116.8 - - 3262 - - - - - - - - 14.92 14.88 14.94
3146 308.1 -7.8 163 3159 roll -0.52 - - 2759 - 2.42 0.054 3260 606.2 -116.8 - - 3259 - - - - - - - - 15.05 14.84 15.07
3287 318.9 -7.7 182 3300 done -0.52 - - 2759 - 2.33 0.037 1824 -616.3 -116.8 - - 3258 - - - - - - - - 14.93 14.88 14.95
3608 344.8 -8.1 192 3621 roll -0.52 - - 2759 - 2.28 0.059 464 -596.5 -116.8 - - 3256 - - - - - - - - 15.06 14.85 15.09
3727 355.0 -8.6 208 3740 done -0.52 - - 2751 - 2.15 0.035 1803 622.8 -116.8 - - 3255 - - - - - - - - 14.95 14.88 14.96
4069 384.4 -8.6 221 4082 roll -0.52 - - 2740 - 2.40 0.056 3259 606.7 -116.8 - - 3253 - - - - - - - - 15.06 14.85 15.08
4145 391.0 -8.9 231 4158 done -0.52 - - 2740 - 2.38 0.039 1795 -615.1 -116.8 - - 3253 - - - - - - - - 14.91 14.85 14.92
4473 421.8 -9.5 242 4486 roll -0.52 - - 2740 - 2.22 0.061 470 -596.8 -116.8 - - 3250 - - - - - - - - 15.06 14.84 15.08
4591 433.8 -10.0 258 4604 done -0.52 - - 2731 - 2.10 0.035 1778 622.9 -116.8 - - 3250 - - - - - - - - 14.95 14.90 14.96
4933 467.3 -9.7 271 4947 roll -0.52 - - 2720 - 2.45 0.057 3259 604.5 -116.8 - - 3248 - - - - - - - - 15.04 14.84 15.08
4966 470.6 -9.5 275 4980 done -0.52 0.15 0.250 2753 220.0 2.42 0.039 1770 -615.3 -116.8 - - 3248 - - - - - - - - 14.67 14.87 14.88
5337 501.4 -8.1 285 5350 roll -0.52 - - 2754 - 2.20 0.061 464 -593.6 -116.8 - - 3246 - - - - - - - - 15.06 14.85 15.08
5433 509.8 -8.7 298 5447 done -0.52 - - 2748 - 2.08 0.036 1755 620.7 -116.8 - - 3246 - - - - - - - - 14.94 14.88 14.95
5797 539.5 -8.2 307 5810 roll -0.52 - - 2736 - 2.50 0.057 3259 601.6 -116.8 - - 3243 - - - - - - - - 15.05 14.83 15.07
5893 547.7 -8.5 320 5907 done -0.52 - - 2736 - 2.45 0.040 1761 -611.4 -116.8 - - 3243 - - - - - - - - 14.92 14.85 14.94
6256 579.7 -8.8 329 6269 roll -0.52 - - 2737 - 2.17 0.061 473 -593.5 -116.8 - - 3242 - - - - - - - - 15.05 14.82 15.07
6339 587.6 -9.3 340 6352 done -0.52 0.12 0.279 2753 133.3 2.08 0.036 1764 620.7 -116.8 - - 3242 - - - - - - - - 14.62 14.87 14.85
6660 614.3 -8.2 350 6673 roll -0.52 - - 2744 - 2.50 0.058 3264 600.0 -116.8 - - 3240 - - - - - - - - 15.07 14.82 15.07
6756 622.1 -7.9 363 6770 done -0.52 - - 2743 - 2.47 0.041 1762 -608.1 -116.8 - - 3240 - - - - - - - - 14.91 14.84 14.93
7120 651.1 -8.0 372 7133 roll -0.52 - - 2744 - 2.17 0.063 472 -594.5 -116.8 - - 3241 - - - - - - - - 15.04 14.81 15.07
7202 658.2 -8.5 383 7215 done -0.52 - - 2736 - 2.03 0.037 1729 619.2 -116.8 - - 3237 - - - - - - - - 14.92 14.87 14.94
7523 684.8 -8.3 393 7537 roll -0.52 - - 2724 - 2.55 0.057 3259 600.0 -116.8 - - 3236 - - - - - - - - 15.04 14.81 15.06
7592 690.9 -8.7 402 7605 done -0.52 0.15 0.248 2757 220.0 2.50 0.041 1737 -608.8 -116.8 - - 3236 - - - - - - - - 14.64 14.83 14.83
7928 715.9 -7.4 414 7941 roll -0.52 - - 2759 - 2.15 0.063 471 -588.8 -116.8 - - 3235 - - - - - - - - 15.03 14.79 15.04
8031 724.0 -7.6 428 8044 done -0.52 - - 2753 - 2.00 0.037 1704 616.5 -116.8 - - 3235 - - - - - - - - 14.90 14.85 14.92
8387 749.4 -7.1 436 8400 roll -0.52 - - 2742 - 2.60 0.058 3257 597.3 -116.8 - - 3234 - - - - - - - - 15.03 14.78 15.05
8556 761.6 -7.5 459 8571 done -0.52 - - 2749 - 2.50 0.041 1747 -604.0 -116.8 - - 3233 - - - - - - - - 14.89 14.81 14.91
8897 787.3 -7.5 466 8911 roll -0.52 - - 2748 - 2.17 0.065 471 -588.0 -116.8 - - 3232 - - - - - - - - 15.03 14.78 15.04
8980 794.0 -9.2 477 8993 done -0.52 - - 2733 - 2.03 0.037 1727 618.7 -116.8 - - 3232 - - - - - - - - 14.90 14.84 14.91
9301 819.5 -8.1 487 9314 roll -0.52 - - 2722 - 2.58 0.059 3260 594.2 -116.8 - - 3231 - - - - - - - - 15.02 14.77 15.04
9412 828.7 -8.4 502 9426 done -0.52 0.15 0.251 2754 213.3 2.50 0.041 1757 -601.2 -116.8 - - 3230 - - - - - - - - 14.57 14.80 14.79
9756 853.0 -7.1 509 9769 roll -0.52 - - 2756 - 2.20 0.064 470 -585.0 -116.8 - - 3230 - - - - - - - - 15.02 14.76 15.04
9810 857.3 -6.6 516 9824 done -0.52 - - 2749 - 2.10 0.037 1759 613.8 -116.8 - - 3230 - - - - - - - - 14.88 14.83 14.90
10154 882.6 -7.4 523 10168 roll -0.52 - - 2738 - 2.53 0.060 3262 594.1 -116.8 - - 3229 - - - - - - - - 15.01 14.76 15.03
10209 886.1 -7.4 530 10223 done -0.52 - - 2738 - 2.50 0.042 1759 -601.2 -116.8 - - 3229 - - - - - - - - 14.85 14.78 14.88
10553 910.9 -7.2 537 10566 roll -0.52 - - 2738 - 2.20 0.064 471 -585.5 -116.8 - - 3228 - - - - - - - - 15.00 14.76 15.02
10643 918.1 -8.0 549 10656 done -0.52 - - 2730 - 2.05 0.037 1733 615.6 -116.8 - - 3231 - - - - - - - - 14.88 14.83 14.90
11013 946.3 -7.6 559 11027 roll -0.52 0.12 0.296 2750 166.7 2.58 0.059 3257 590.7 -116.8 - - 3227 - - - - - - - - 14.50 14.74 14.66
11148 955.0 -6.4 577 11161 done -0.62 - - 2751 - 2.47 0.043 1760 -606.1 -116.8 - - 3226 - - - - - - - - 14.85 14.78 14.88
11476 976.0 -6.3 588 11489 roll -0.62 - - 2750 - 2.20 0.065 473 -585.0 -116.8 - - 3227 - - - - - - - - 15.00 14.74 15.02
11546 980.7 -6.8 597 11559 done -0.62 - - 2742 - 2.10 0.038 1758 611.9 -116.8 - - 3227 - - - - - - - - 14.85 14.80 14.88
11709 end dive: TARGET_DEPTH_EXCEEDED
11709 begin apogee
11717 991.9 -6.3 606 11861 roll -0.21 0.45 0.239 2858 257.8 - - 1762 - - 129.15 2.272 2792 -3.4 0.274 - - - - 1 - 14.52 14.02 13.19
11862 end apogee: CONTROL_FINISHED_OK
11862 begin climb
11866 995.1 - 608 12014 roll 0.84 1.17 0.178 3192 285.5 2.47 0.063 395 -553.4 116.8 130.10 2.163 2315 -3.7 0.314 - - - - - - 14.03 14.09 13.16
12020 985.9 11.1 635 12033 done 0.69 0.17 0.255 3153 -229.4 2.42 0.034 1805 582.6 116.8 - - 2298 - - - - - - - - 13.86 13.98 14.02
12391 953.1 8.8 645 12404 roll 0.69 - - 3156 - 2.35 0.055 3182 586.0 116.8 - - 2291 - - - - - - - - 14.70 14.51 14.72
12466 946.3 9.0 655 12479 done 0.69 - - 3164 - 2.30 0.041 1804 -599.1 116.8 - - 2290 - - - - - - - - 14.63 14.57 14.66
12795 919.0 8.2 666 12808 roll 0.69 - - 3174 - 2.45 0.067 401 -572.7 116.8 - - 2291 - - - - - - - - 14.84 14.63 14.87
12884 911.3 8.5 678 12897 done 0.69 - - 3174 - 2.25 0.034 1783 614.2 116.8 - - 2291 - - - - - - - - 14.74 14.70 14.77
13254 880.8 8.3 688 13268 roll 0.69 - - 3174 - 2.38 0.054 3184 588.7 116.8 - - 2291 - - - - - - - - 14.90 14.69 14.92
13316 875.2 9.0 696 13330 done 0.69 0.15 0.283 3153 -140.0 2.33 0.041 1787 -599.6 116.8 - - 2290 - - - - - - - - 14.51 14.72 14.75
13662 849.5 7.5 709 13675 roll 0.69 - - 3161 - 2.40 0.067 402 -577.1 123.5 - - 2290 - - - - - - - - 14.94 14.71 14.95
13773 840.2 8.7 724 13786 done 0.69 - - 3161 - 2.22 0.034 1762 612.6 123.5 - - 2290 - - - - - - - - 14.83 14.77 14.84
14116 810.3 8.9 731 14130 roll 0.69 - - 3161 - 2.38 0.054 3183 597.1 123.5 - - 2290 - - - - - - - - 14.95 14.73 14.97
14192 803.0 8.5 741 14205 done 0.69 - - 3170 - 2.33 0.041 1776 -603.9 123.5 - - 2287 - - - - - - - - 14.83 14.76 14.85
14520 771.7 9.7 752 14533 roll 0.69 - - 3181 - 2.38 0.067 398 -579.0 123.5 - - 2289 - - - - - - - - 14.99 14.72 14.98
14602 763.3 9.8 763 14616 done 0.69 - - 3181 - 2.28 0.035 1788 609.6 123.5 - - 2289 - - - - - - - - 14.84 14.78 14.85
14924 732.5 9.6 773 14937 roll 0.69 - - 3181 - 2.33 0.054 3182 598.3 123.5 - - 2289 - - - - - - - - 14.97 14.74 14.99
14986 726.4 9.8 781 15000 done 0.69 0.15 0.279 3160 -140.0 2.30 0.042 1799 -601.3 123.5 - - 2289 - - - - - - - - 14.52 14.77 14.76
15329 697.8 8.2 794 15342 roll 0.69 - - 3168 - 2.42 0.067 394 -580.6 123.5 - - 2289 - - - - - - - - 14.97 14.72 14.99
15411 690.7 8.7 805 15425 done 0.69 - - 3168 - 2.25 0.034 1778 615.1 123.5 - - 2289 - - - - - - - - 14.84 14.79 14.86
15733 664.1 8.3 815 15746 roll 0.69 - - 3167 - 2.35 0.053 3185 598.7 123.5 - - 2289 - - - - - - - - 14.97 14.74 14.99
15773 660.6 8.1 820 15786 done 0.69 - - 3177 - 2.33 0.041 1778 -603.9 123.5 - - 2289 - - - - - - - - 14.83 14.76 14.85
16136 631.2 8.1 829 16150 roll 0.69 - - 3188 - 2.38 0.067 400 -579.0 123.5 - - 2289 - - - - - - - - 14.97 14.72 14.98
16226 623.5 8.6 841 16240 done 0.69 0.15 0.264 3156 -213.3 2.25 0.034 1787 616.4 123.5 - - 2289 - - - - - - - - 14.52 14.79 14.75
16597 596.6 7.2 851 16626 roll 0.71 - - 3156 - 2.40 0.054 3172 577.1 135.3 14.52 1.756 2235 -3.7 0.236 - - - - - - 14.97 14.71 14.04
16689 589.4 8.2 864 16702 done 0.71 - - 3162 - 2.33 0.042 1775 -599.6 135.3 - - 2228 - - - - - - - - 14.76 14.70 14.78
17052 559.6 8.3 873 17066 roll 0.71 - - 3173 - 2.40 0.067 398 -573.8 135.3 - - 2229 - - - - - - - - 14.92 14.68 14.97
17155 550.4 9.0 887 17169 done 0.71 - - 3173 - 2.22 0.036 1750 609.0 135.3 - - 2230 - - - - - - - - 14.81 14.76 14.83
17512 520.0 8.5 895 17525 roll 0.71 - - 3173 - 2.42 0.053 3193 596.3 135.3 - - 2230 - - - - - - - - 14.93 14.72 14.96
17594 512.7 8.7 906 17608 done 0.71 - - 3182 - 2.35 0.041 1785 -599.1 135.3 - - 2229 - - - - - - - - 14.81 14.74 14.83
17916 485.4 8.6 916 17929 roll 0.71 - - 3192 - 2.40 0.067 400 -577.1 135.3 - - 2230 - - - - - - - - 14.95 14.71 14.97
17984 479.1 9.2 925 17998 done 0.71 0.15 0.259 3161 -206.7 2.28 0.033 1810 618.4 135.3 - - 2229 - - - - - - - - 14.52 14.78 14.76
18320 453.6 7.5 937 18333 done 0.72 - - 3161 - - - 1810 - 141.2 1.92 0.171 2214 -7.8 3.863 - - - - - - 14.96 14.78 14.62
18657 428.8 7.3 943 18686 roll 0.73 - - 3161 - 2.33 0.055 3167 582.4 150.9 15.23 1.568 2169 -3.0 0.151 - - - - - - 14.96 14.70 14.09
18714 424.4 7.6 951 18727 done 0.73 - - 3167 - 2.33 0.041 1774 -597.9 155.8 - - 2161 - - - - - - - - 14.76 14.71 14.78
19056 398.2 7.7 964 19074 roll 0.74 - - 3178 - 2.42 0.067 398 -568.6 158.1 2.20 0.386 2144 -7.7 1.486 - - - - - - 14.90 14.69 13.85
19101 394.5 7.9 970 19114 done 0.74 - - 3178 - 2.25 0.035 1779 613.8 158.1 - - 2145 - - - - - - - - 14.80 14.75 14.81
19457 365.6 8.2 978 19471 roll 0.74 - - 3178 - 2.35 0.052 3186 598.7 158.1 - - 2147 - - - - - - - - 14.92 14.72 14.95
19532 359.0 8.7 988 19546 done 0.74 - - 3186 - 2.28 0.041 1809 -603.9 158.1 - - 2148 - - - - - - - - 14.81 14.73 14.82
19861 330.8 8.7 999 19874 roll 0.74 - - 3196 - 2.42 0.065 399 -582.6 158.1 - - 2147 - - - - - - - - 14.93 14.71 14.97
19957 321.6 9.5 1012 19970 done 0.74 - - 3196 - 2.28 0.033 1796 612.7 158.1 - - 2147 - - - - - - - - 14.83 14.78 14.85
20320 289.1 8.9 1021 20334 roll 0.74 - - 3196 - 2.30 0.051 3181 602.2 158.1 - - 2147 - - - - - - - - 14.96 14.74 14.98
20396 282.1 9.1 1031 20410 done 0.74 0.15 0.275 3174 -146.7 2.25 0.040 1812 -608.4 158.1 - - 2147 - - - - - - - - 14.51 14.77 14.76
20725 257.0 7.6 1042 20742 roll 0.74 - - 3182 - 2.42 0.063 399 -583.9 163.2 4.28 1.045 2127 -4.7 0.214 - - - - - - 14.97 14.65 14.05
20856 246.3 8.6 1060 20873 done 0.74 - - 3182 - 2.25 0.033 1792 619.1 163.2 1.77 0.171 2127 - - - - - - - - 14.84 14.79 14.64
21182 219.1 8.3 1071 21195 roll 0.74 - - 3181 - 2.30 0.050 3180 603.5 163.2 - - 2133 - - - - - - - - 14.96 14.75 14.98
21244 213.7 8.5 1079 21257 done 0.74 - - 3190 - 2.30 0.040 1786 -606.1 163.2 - - 2133 - - - - - - - - 14.83 14.77 14.85
21586 186.2 8.1 1092 21600 roll 0.74 - - 3202 - 2.38 0.064 401 -581.9 163.2 - - 2133 - - - - - - - - 14.97 14.73 14.99
21727 174.4 8.3 1111 21741 done 0.74 0.15 0.252 3169 -220.0 2.12 0.031 1743 633.0 163.2 - - 2131 - - - - - - - - 14.54 14.81 14.76
22049 151.1 7.1 1121 22085 roll 0.76 - - 3169 - 2.47 0.050 3182 582.6 176.7 20.38 1.215 2061 -3.4 0.080 - - - - - - 14.97 14.71 14.19
22133 144.4 8.3 1133 22147 done 0.76 - - 3175 - 2.38 0.042 1746 -603.4 176.7 - - 2058 - - - - - - - - 14.76 14.71 14.78
22504 115.7 7.4 1143 22517 done 0.77 - - 3180 - - - 1746 - 185.1 2.62 0.161 2038 -7.6 1.023 - - - - - - 14.91 14.76 14.57
22812 97.8 5.0 1149 22875 done 0.93 0.17 0.112 3242 364.7 - - 1746 - 238.8 53.47 0.392 1818 -4.1 0.191 - - - - - - 14.74 14.69 14.38
23176 75.9 5.8 1162 23227 roll 0.98 - - 3242 - 2.42 0.050 3183 593.8 276.9 37.35 0.326 1665 -4.1 0.178 - - - - - - 14.90 14.64 14.40
23268 70.3 6.4 1175 23306 done 1.01 - - 3251 - 2.30 0.037 1786 -607.4 303.2 26.25 0.309 1558 -4.1 0.173 - - - - - - 14.74 14.68 14.36
23631 52.1 5.1 1193 23694 roll 1.25 0.22 0.098 3356 477.3 2.38 0.059 401 -581.9 355.1 48.90 0.261 1347 -4.3 0.161 - - - - - - 14.66 14.59 14.42
23746 44.0 8.0 1209 23763 done 1.25 - - 3357 - 2.22 0.030 1789 625.2 355.1 2.62 0.152 1344 -1.1 0.062 - - - - - - 14.76 14.71 14.53
24088 20.5 6.1 1224 24130 roll 1.29 - - 3365 - 2.40 0.060 406 -576.2 387.0 26.55 0.174 1215 -4.9 0.107 - - - - - - 14.92 14.67 14.57
24256 8.6 7.2 1248 24279 done 1.30 - - 3365 - 2.25 0.028 1818 627.6 398.5 9.90 0.143 1166 -4.9 0.055 - - - - - - 14.80 14.77 14.59
24367 end climb: SURFACE_DEPTH_REACHED
24367 begin surface coast
24395 end surface coast: CONTROL_FINISHED_OK
24395 begin surface
SM 1.44 - - - - -8.62 9.27 0.064 153 16.5 - - 1827 - 515.13 69.53 0.123 693 10.0 -0.012 - - - - - -