SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 176 * Raw log
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• Previous call tries 1 • 69.05 of 350.00 AH used of 24V (80.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 35 s
• GPS2 time: 14 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 162 - - - 1887 - -116.8 -80.03 - 3268 - - - - - - - - 14.77 13.78 14.79
111 9.3 -14.3 3 128 roll -0.84 11.70 0.380 2645 212.2 2.30 0.048 3238 587.4 -116.8 - - 3270 - - - - - - - - 14.34 14.57 14.60
233 56.9 -23.4 21 241 done -0.51 0.43 0.269 2755 255.8 2.25 0.037 1863 -611.1 -116.8 - - 3271 - - - - - - - - 14.40 14.63 14.63
556 94.5 -11.2 34 562 roll -0.40 0.12 0.262 2783 233.3 2.30 0.051 3235 596.5 -116.8 - - 3272 - - - - - - - - 14.51 14.67 14.64
575 96.6 -11.3 37 585 done -0.40 - - 2782 - 2.28 0.037 1869 -599.1 -116.8 - - 3272 - - - - - - - - 14.73 14.69 14.74
920 122.8 -8.0 45 927 roll -0.40 - - 2773 - 2.28 0.053 3234 598.7 -116.8 - - 3272 - - - - - - - - 14.93 14.73 14.96
976 127.3 -8.1 53 984 done -0.40 - - 2774 - 2.22 0.037 1870 -614.4 -116.8 - - 3270 - - - - - - - - 14.82 14.76 14.83
1312 156.0 -8.7 66 1319 roll -0.40 - - 2774 - 2.38 0.058 463 -591.2 -116.8 - - 3272 - - - - - - - - 14.96 14.72 14.98
1518 174.1 -8.6 95 1524 done -0.40 0.15 0.252 2798 160.0 2.15 0.034 1795 619.5 -116.8 - - 3270 - - - - - - - - 14.58 14.80 14.78
1875 199.3 -7.0 104 1881 roll -0.50 - - 2789 - 2.40 0.054 3238 601.2 -116.8 - - 3267 - - - - - - - - 14.97 14.76 15.00
1931 203.3 -7.2 112 1938 done -0.62 0.17 0.107 2720 -405.9 2.33 0.036 1816 -610.3 -116.8 - - 3267 - - - - - - - - 14.76 14.78 14.83
2266 238.6 -10.8 125 2274 roll -0.62 - - 2720 - 2.28 0.057 470 -590.4 -116.8 - - 3264 - - - - - - - - 14.97 14.74 15.00
2444 259.1 -11.7 150 2457 done -0.52 0.20 0.251 2758 190.0 2.03 0.033 1730 620.7 -116.8 - - 3262 - - - - - - - - 14.58 14.83 14.79
2779 291.4 -9.4 162 2792 roll -0.52 - - 2748 - 2.50 0.053 3228 599.2 -116.8 - - 3259 - - - - - - - - 15.02 14.81 15.04
2862 299.0 -9.0 173 2875 done -0.52 - - 2749 - 2.40 0.037 1762 -610.8 -116.8 - - 3259 - - - - - - - - 14.90 14.83 14.90
3183 329.1 -9.4 183 3196 roll -0.52 - - 2749 - 2.17 0.058 471 -594.9 -116.8 - - 3258 - - - - - - - - 15.03 14.81 15.05
3279 338.4 -9.4 196 3292 done -0.52 - - 2741 - 2.03 0.033 1727 618.7 -116.8 - - 3256 - - - - - - - - 14.91 14.86 14.92
3643 371.9 -9.2 205 3656 done -0.52 - - 2741 - - - 1727 - -116.8 - - 3253 - - - - - - - - 15.04 15.06 15.06
3979 403.2 -9.3 211 3992 roll -0.52 - - 2730 - 2.53 0.054 3241 598.4 -116.8 - - 3252 - - - - - - - - 15.04 14.81 15.07
4061 411.0 -9.5 222 4075 done -0.52 0.12 0.252 2756 216.7 2.42 0.038 1766 -609.5 -116.8 - - 3251 - - - - - - - - 14.62 14.83 14.83
4382 437.5 -8.1 232 4396 roll -0.52 - - 2757 - 2.17 0.060 471 -596.8 -116.8 - - 3249 - - - - - - - - 15.04 14.81 15.06
4472 445.0 -8.1 244 4485 done -0.52 - - 2750 - 2.00 0.034 1710 619.5 -116.8 - - 3248 - - - - - - - - 14.90 14.86 14.90
4842 472.8 -7.5 254 4856 roll -0.52 - - 2739 - 2.58 0.054 3238 592.2 -116.8 - - 3246 - - - - - - - - 15.03 14.79 15.05
4946 480.7 -7.5 268 4959 done -0.52 - - 2739 - 2.47 0.040 1735 -608.5 -116.8 - - 3246 - - - - - - - - 14.90 14.81 14.92
5302 509.7 -8.3 276 5316 roll -0.52 - - 2739 - 2.15 0.060 464 -591.2 -116.8 - - 3244 - - - - - - - - 15.04 14.79 15.05
5391 518.0 -9.1 288 5405 done -0.52 0.12 0.272 2756 141.7 2.03 0.035 1704 610.8 -116.8 - - 3243 - - - - - - - - 14.58 14.85 14.81
5763 548.0 -8.1 298 5776 roll -0.52 - - 2746 - 2.58 0.055 3226 589.9 -116.8 - - 3242 - - - - - - - - 15.03 14.77 15.05
5897 558.5 -7.7 316 5910 done -0.52 - - 2747 - 2.42 0.037 1753 -608.7 -116.8 - - 3241 - - - - - - - - 14.89 14.82 14.91
6225 584.7 -8.0 327 6238 roll -0.52 - - 2747 - 2.17 0.060 471 -590.8 -116.8 - - 3240 - - - - - - - - 15.02 14.78 15.04
6336 594.0 -8.2 342 6350 done -0.52 - - 2739 - 2.00 0.034 1698 613.5 -116.8 - - 3238 - - - - - - - - 14.89 14.84 14.90
6679 621.2 -7.9 349 6692 roll -0.52 - - 2727 - 2.58 0.056 3230 593.8 -116.8 - - 3238 - - - - - - - - 15.02 14.77 15.04
6734 625.6 -7.9 356 6749 done -0.52 0.12 0.249 2754 225.0 2.50 0.040 1724 -602.4 -116.8 - - 3238 - - - - - - - - 14.57 14.80 14.79
7077 648.9 -6.7 363 7090 done -0.52 - - 2754 - - - 1724 - -116.8 - - 3236 - - - - - - - - 15.02 15.04 15.04
7414 671.8 -6.9 369 7427 roll -0.52 - - 2754 - 2.15 0.063 466 -585.1 -116.8 - - 3235 - - - - - - - - 15.02 14.76 15.04
7497 678.2 -7.7 380 7510 done -0.52 - - 2749 - 1.98 0.037 1682 614.1 -116.8 - - 3234 - - - - - - - - 14.88 14.83 14.90
7818 702.8 -7.8 390 7831 roll -0.52 - - 2737 - 2.62 0.056 3235 592.7 -116.8 - - 3231 - - - - - - - - 15.02 14.76 15.04
7901 709.5 -8.2 401 7914 done -0.52 - - 2738 - 2.55 0.041 1713 -596.9 -116.8 - - 3233 - - - - - - - - 14.85 14.78 14.88
8222 735.3 -8.0 411 8235 roll -0.52 - - 2738 - 2.12 0.063 469 -586.8 -116.8 - - 3232 - - - - - - - - 15.01 14.74 15.03
8255 738.1 -8.2 415 8269 done -0.52 0.12 0.268 2755 141.7 2.00 0.035 1696 613.5 -116.8 - - 3232 - - - - - - - - 14.53 14.82 14.76
8627 763.7 -6.8 425 8640 roll -0.52 - - 2745 - 2.60 0.057 3232 590.8 -116.8 - - 3230 - - - - - - - - 15.00 14.74 15.02
8782 774.2 -6.8 446 8795 done -0.52 - - 2746 - 2.45 0.040 1750 -604.9 -116.8 - - 3230 - - - - - - - - 14.78 14.73 14.80
9146 799.8 -7.0 455 9159 roll -0.52 - - 2746 - 2.20 0.063 474 -580.0 -116.8 - - 3228 - - - - - - - - 15.00 14.72 15.02
9249 808.0 -9.0 469 9262 done -0.52 - - 2737 - 2.05 0.037 1721 608.3 -116.8 - - 3229 - - - - - - - - 14.85 14.79 14.87
9605 835.4 -7.7 477 9618 roll -0.52 - - 2726 - 2.58 0.057 3237 587.6 -116.8 - - 3228 - - - - - - - - 15.00 14.71 15.02
9688 842.0 -8.0 488 9701 done -0.52 0.15 0.243 2759 220.0 2.47 0.041 1758 -598.8 -116.8 - - 3228 - - - - - - - - 14.50 14.75 14.73
10010 863.5 -6.6 498 10023 roll -0.52 - - 2759 - 2.22 0.063 464 -582.9 -116.8 - - 3227 - - - - - - - - 14.98 14.71 15.00
10121 872.3 -9.3 513 10135 done -0.52 - - 2755 - 2.05 0.038 1706 605.9 -116.8 - - 3227 - - - - - - - - 14.83 14.77 14.85
10464 895.3 -6.9 520 10477 roll -0.52 - - 2743 - 2.60 0.057 3229 585.8 -116.8 - - 3230 - - - - - - - - 14.97 14.70 15.00
10620 906.1 -7.1 541 10633 done -0.52 - - 2743 - 2.42 0.040 1771 -602.5 -116.8 - - 3226 - - - - - - - - 14.82 14.74 14.84
10984 932.6 -7.2 550 10997 roll -0.52 - - 2743 - 2.25 0.064 468 -579.1 -116.8 - - 3225 - - - - - - - - 14.97 14.69 15.00
11095 941.3 -7.7 565 11109 done -0.52 - - 2741 - 2.10 0.036 1720 596.2 -116.8 - - 3225 - - - - - - - - 14.81 14.73 14.83
11438 966.3 -7.4 572 11452 roll -0.52 - - 2723 - 2.58 0.059 3230 585.3 -116.8 - - 3225 - - - - - - - - 14.97 14.69 15.00
11557 975.0 -7.3 588 11571 done -0.52 0.15 0.246 2756 220.0 2.45 0.041 1768 -596.7 -116.8 - - 3224 - - - - - - - - 14.45 14.72 14.69
11841 end dive: TARGET_DEPTH_EXCEEDED
11841 begin apogee
11849 992.8 -6.1 600 11977 roll -0.21 0.38 0.221 2857 265.8 - - 1768 - - 118.07 2.202 2794 -3.6 0.307 - - - - - - 14.48 14.05 13.29
11978 end apogee: CONTROL_FINISHED_OK
11979 begin climb
11982 997.0 - 602 12124 roll 0.84 1.20 0.173 3192 279.2 2.53 0.058 3155 548.2 116.8 124.18 2.161 2316 -3.8 0.332 - - - - - - 14.04 14.11 13.12
12301 973.1 7.6 650 12315 done 0.74 0.15 0.271 3171 -140.0 2.33 0.041 1804 -579.8 120.9 - - 2294 - - - - - - - - 14.16 14.33 14.34
12637 944.1 8.2 662 12650 roll 0.74 - - 3171 - 2.35 0.051 3170 581.3 120.9 - - 2292 - - - - - - - - 14.75 14.55 14.77
12792 931.6 8.0 683 12805 done 0.74 - - 3177 - 2.38 0.041 1771 -587.8 120.9 - - 2292 - - - - - - - - 14.67 14.60 14.69
13155 903.1 7.8 692 13169 roll 0.74 - - 3195 - 2.40 0.065 394 -573.8 121.8 - - 2292 - - - - - - - - 14.87 14.59 14.89
13252 895.0 8.5 705 13266 done 0.65 0.20 0.249 3144 -255.0 2.20 0.033 1748 615.5 121.8 - - 2292 - - - - - - - - 14.43 14.70 14.66
13616 870.7 6.6 714 13659 roll 0.68 - - 3143 - 2.50 0.054 3165 566.8 145.2 27.17 2.061 2191 -3.7 0.294 - - - - - - 14.90 14.52 13.80
13714 863.1 8.0 728 13727 done 0.68 - - 3150 - 2.35 0.041 1774 -591.9 145.2 - - 2184 - - - - - - - - 14.60 14.54 14.62
14070 834.3 8.3 736 14083 roll 0.68 - - 3160 - 2.42 0.067 395 -569.8 145.2 - - 2183 - - - - - - - - 14.83 14.59 14.84
14173 824.4 9.5 750 14187 done 0.68 - - 3161 - 2.20 0.034 1733 608.2 145.2 - - 2183 - - - - - - - - 14.73 14.69 14.76
14530 791.4 9.3 758 14543 roll 0.68 - - 3161 - 2.42 0.053 3162 590.5 145.2 - - 2182 - - - - - - - - 14.89 14.69 14.91
14592 785.6 9.4 766 14605 done 0.68 - - 3170 - 2.35 0.041 1764 -594.9 145.2 - - 2182 - - - - - - - - 14.76 14.70 14.79
14934 755.6 8.7 779 14947 roll 0.68 - - 3180 - 2.38 0.067 401 -572.7 145.2 - - 2182 - - - - - - - - 14.91 14.66 14.92
15038 746.3 8.9 793 15052 done 0.68 0.12 0.261 3155 -208.3 2.17 0.034 1729 612.0 145.2 - - 2182 - - - - - - - - 14.48 14.75 14.72
15395 720.2 7.1 801 15412 roll 0.70 - - 3155 - 2.42 0.050 3170 595.5 158.7 5.70 1.646 2145 -6.5 0.531 - - - - - - 14.93 14.64 13.88
15489 713.1 7.5 814 15507 done 0.70 - - 3161 - 2.35 0.041 1770 -595.7 164.6 6.65 1.711 2122 -3.5 0.270 - - - - - - 14.80 14.71 13.90
15840 686.0 7.8 822 15853 roll 0.70 - - 3172 - 2.38 0.066 402 -574.8 165.3 - - 2125 - - - - - - - - 14.89 14.64 14.91
15958 675.7 9.0 838 15972 done 0.70 - - 3172 - 2.20 0.033 1739 607.7 165.3 - - 2125 - - - - - - - - 14.78 14.73 14.80
16300 645.6 8.9 851 16314 roll 0.70 - - 3172 - 2.40 0.051 3165 594.2 165.3 - - 2125 - - - - - - - - 14.92 14.69 14.94
16376 638.5 9.5 861 16389 done 0.70 - - 3180 - 2.38 0.041 1741 -598.3 165.3 - - 2125 - - - - - - - - 14.78 14.71 14.81
16704 608.2 9.2 872 16717 roll 0.70 - - 3191 - 2.33 0.066 397 -576.8 165.3 - - 2125 - - - - - - - - 14.93 14.68 14.95
16758 602.8 10.1 879 16772 done 0.70 0.15 0.250 3159 -213.3 2.15 0.033 1726 618.1 165.3 - - 2125 - - - - - - - - 14.49 14.76 14.71
17103 575.4 7.8 886 17120 roll 0.70 - - 3158 - 2.47 0.052 3165 582.6 166.2 2.65 0.732 2112 -4.9 0.721 - - - - - - 14.94 14.74 13.80
17175 569.5 8.2 896 17188 done 0.70 - - 3165 - 2.35 0.041 1755 -600.0 166.2 - - 2117 - - - - - - - - 14.77 14.69 14.78
17503 543.7 7.9 907 17517 roll 0.70 - - 3176 - 2.35 0.066 401 -576.2 166.2 - - 2118 - - - - - - - - 14.94 14.68 14.96
17614 534.0 8.8 922 17628 done 0.70 - - 3176 - 2.12 0.032 1710 617.5 166.2 - - 2118 - - - - - - - - 14.81 14.78 14.83
17958 504.5 8.6 929 17972 roll 0.70 - - 3176 - 2.45 0.050 3164 593.5 166.2 - - 2118 - - - - - - - - 14.94 14.71 14.96
18021 498.6 9.5 937 18035 done 0.70 - - 3186 - 2.42 0.041 1716 -598.3 166.2 - - 2118 - - - - - - - - 14.80 14.73 14.82
18364 466.2 9.5 950 18377 roll 0.70 - - 3196 - 2.28 0.067 401 -576.8 166.2 - - 2118 - - - - - - - - 14.94 14.68 14.97
18468 456.1 9.9 964 18481 done 0.70 0.15 0.252 3162 -226.7 2.08 0.031 1702 625.5 166.2 - - 2118 - - - - - - - - 14.48 14.79 14.71
18824 427.9 7.8 972 18842 roll 0.71 - - 3162 - 2.53 0.051 3165 578.3 167.7 2.72 0.720 2108 -3.7 0.409 - - - - - - 14.95 14.76 13.85
18876 423.8 7.8 979 18889 done 0.71 - - 3170 - 2.50 0.042 1683 -592.8 168.5 - - 2113 - - - - - - - - 14.81 14.73 14.82
19220 397.0 7.8 986 19237 roll 0.71 - - 3169 - 2.53 0.051 3174 589.3 168.9 3.05 0.842 2100 -4.3 0.376 - - - - - - 14.94 14.76 13.88
19264 393.1 8.5 992 19277 done 0.71 - - 3179 - 2.45 0.041 1708 -598.4 168.9 - - 2106 - - - - - - - - 14.81 14.73 14.83
19621 362.7 8.7 1000 19634 roll 0.71 - - 3189 - 2.28 0.067 394 -576.3 168.9 - - 2107 - - - - - - - - 14.95 14.68 14.97
19661 358.7 9.2 1005 19675 done 0.71 0.12 0.252 3163 -216.7 2.12 0.032 1711 621.2 168.9 - - 2108 - - - - - - - - 14.50 14.78 14.72
20025 327.5 8.7 1014 20038 roll 0.71 - - 3163 - 2.45 0.050 3170 595.5 168.9 - - 2107 - - - - - - - - 14.95 14.71 14.97
20121 318.7 9.0 1027 20134 done 0.71 - - 3170 - 2.38 0.041 1749 -597.1 168.9 - - 2107 - - - - - - - - 14.80 14.72 14.82
20484 287.9 8.4 1036 20497 roll 0.71 - - 3180 - 2.33 0.065 401 -578.5 168.9 - - 2107 - - - - - - - - 14.95 14.68 14.97
20552 281.9 8.9 1045 20566 done 0.71 - - 3180 - 2.17 0.031 1743 618.4 168.9 - - 2107 - - - - - - - - 14.83 14.78 14.85
20888 254.4 8.1 1057 20901 done 0.71 - - 3181 - - - 1744 - 168.9 - - 2107 - - - - - - - - 14.95 14.97 14.97
21224 228.0 7.7 1063 21241 roll 0.71 - - 3190 - 2.35 0.065 393 -574.9 171.2 3.80 0.932 2093 -3.7 0.169 - - - - - - 14.95 14.76 14.00
21268 224.4 8.0 1069 21282 done 0.71 0.12 0.249 3164 -216.7 2.15 0.031 1728 620.9 171.2 - - 2099 - - - - - - - - 14.54 14.80 14.75
21626 199.4 7.0 1077 21668 roll 0.73 - - 3164 - 2.50 0.048 3173 578.0 187.6 27.17 1.235 2019 -2.9 0.089 - - - - - - 14.95 14.66 14.12
21683 195.3 7.4 1085 21700 done 0.74 - - 3171 - 2.45 0.041 1717 -594.3 196.1 3.45 0.810 1992 -7.8 0.353 - - - - - - 14.71 14.64 13.95
22022 168.9 7.8 1098 22035 roll 0.74 - - 3180 - 2.28 0.063 399 -578.1 196.5 - - 1995 - - - - - - - - 14.85 14.62 14.88
22192 154.4 8.7 1121 22206 done 0.74 - - 3181 - 2.03 0.030 1666 624.1 196.5 - - 1995 - - - - - - - - 14.76 14.70 14.77
22532 127.7 7.5 1128 22556 roll 0.75 - - 3189 - 2.22 0.067 392 -573.9 204.0 9.75 1.154 1964 -3.2 0.066 - - - - - - 14.91 14.70 14.13
22618 120.3 9.0 1140 22631 done 0.75 - - 3188 - 1.90 0.031 1574 622.1 204.0 - - 1964 - - - - - - - - 14.77 14.73 14.78
22960 93.9 7.5 1150 22978 roll 0.76 - - 3189 - 2.75 0.047 3167 579.3 210.4 5.53 0.246 1935 -5.2 0.374 - - - - - - 14.91 14.71 14.36
23138 82.0 5.8 1175 23191 done 0.81 - - 3198 - 2.47 0.038 1678 -602.8 248.7 38.92 0.343 1782 -3.9 0.176 - - - - - - 14.78 14.71 14.37
23520 62.0 4.5 1196 23593 roll 1.05 0.17 0.109 3275 452.9 2.53 0.047 3169 589.3 311.2 58.50 0.293 1526 -4.4 0.173 - - - - - - 14.67 14.61 14.38
23768 49.2 4.9 1231 23834 done 1.23 0.12 0.133 3330 458.3 2.67 0.039 1578 -595.9 365.7 49.05 0.255 1302 -4.6 0.165 - - - - - - 14.61 14.65 14.37
24139 26.3 5.6 1251 24185 roll 1.28 - - 3339 - 2.10 0.063 393 -564.3 407.1 34.60 0.190 1133 -4.9 0.126 - - - - - - 14.87 14.62 14.47
24236 20.2 7.1 1264 24265 done 1.41 0.12 0.127 3390 425.0 1.98 0.029 1632 625.8 421.9 13.45 0.172 1071 -4.6 0.101 - - - - - - 14.64 14.71 14.45
24443 end climb: SURFACE_DEPTH_REACHED
24443 begin surface coast
24471 end surface coast: CONTROL_FINISHED_OK
24471 begin surface
SM 1.14 - - - - -8.62 9.40 0.067 155 16.5 0.32 0.052 1850 -29937.5 515.13 56.47 0.124 692 12.3 -0.012 - - - - - -