SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 192 * Raw log
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• Previous call tries 1 • 74.88 of 350.00 AH used of 24V (78.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth 1.18 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 36 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 160 - - - 1791 - -116.8 -79.07 - 3271 - - - - - - - - 14.76 13.74 14.78
113 10.1 -15.6 3 131 roll -0.84 12.15 0.396 2644 204.4 2.45 0.037 3255 597.6 -116.8 - - 3273 - - - - - - - - 14.31 14.60 14.58
242 61.1 -28.8 22 250 done -0.38 0.60 0.263 2798 256.7 2.30 0.040 1872 -601.3 -116.8 - - 3273 - - - - - - - - 14.34 14.57 14.59
558 90.8 -7.0 34 564 roll -0.38 - - 2792 - 2.30 0.052 3246 597.4 -116.8 - - 3275 - - - - - - - - 14.88 14.64 14.90
756 105.9 -6.8 62 762 done -0.38 - - 2791 - 2.17 0.035 1901 -619.8 -116.8 - - 3273 - - - - - - - - 14.78 14.72 14.80
1119 133.9 -7.6 72 1126 roll -0.38 - - 2791 - 2.42 0.057 468 -592.1 -116.8 - - 3275 - - - - - - - - 14.94 14.71 14.95
1294 148.5 -8.0 97 1301 done -0.38 - - 2782 - 2.25 0.032 1859 618.2 -116.8 - - 3277 - - - - - - - - 14.83 14.77 14.83
1623 174.0 -7.8 109 1630 roll -0.38 - - 2772 - 2.33 0.054 3262 602.1 -116.8 - - 3272 - - - - - - - - 14.95 14.73 14.98
1664 177.2 -7.9 115 1671 done -0.38 0.12 0.235 2801 241.7 2.25 0.034 1876 -616.0 -116.8 - - 3275 - - - - - - - - 14.57 14.76 14.76
2016 200.5 -6.5 123 2023 roll -0.49 - - 2800 - 2.38 0.056 468 -591.6 -116.8 - - 3267 - - - - - - - - 14.96 14.74 14.98
2165 211.5 -7.3 144 2171 done -0.59 0.17 0.112 2727 -429.4 2.22 0.032 1844 619.8 -116.8 - - 3267 - - - - - - - - 14.74 14.78 14.81
2522 245.0 -9.4 153 2529 roll -0.59 - - 2716 - 2.35 0.053 3256 600.9 -116.8 - - 3264 - - - - - - - - 14.96 14.69 14.98
2581 250.4 -9.7 161 2595 done -0.59 - - 2716 - 2.30 0.036 1854 -609.6 -116.8 - - 3264 - - - - - - - - 14.85 14.79 14.87
2923 285.3 -10.2 174 2937 roll -0.59 - - 2716 - 2.35 0.057 464 -591.5 -116.8 - - 3261 - - - - - - - - 15.00 14.77 15.02
3072 301.3 -10.9 194 3085 done -0.50 0.25 0.245 2767 204.0 2.17 0.034 1810 620.3 -116.8 - - 3263 - - - - - - - - 14.56 14.83 14.78
3442 333.1 -8.5 204 3455 roll -0.50 - - 2759 - 2.42 0.054 3265 601.2 -116.8 - - 3257 - - - - - - - - 15.02 14.78 15.04
3483 336.6 -8.8 209 3496 done -0.50 - - 2758 - 2.42 0.037 1783 -612.4 -116.8 - - 3257 - - - - - - - - 14.89 14.82 14.90
3846 368.2 -8.7 218 3859 roll -0.50 - - 2759 - 2.22 0.058 466 -593.2 -116.8 - - 3255 - - - - - - - - 15.02 14.78 15.05
3928 375.9 -9.2 229 3941 done -0.50 - - 2750 - 2.12 0.034 1779 619.3 -116.8 - - 3254 - - - - - - - - 14.89 14.85 14.93
4249 404.1 -8.7 239 4262 done -0.50 - - 2750 - - - 1779 - -116.8 - - 3252 - - - - - - - - 15.02 15.04 15.04
4585 433.4 -8.8 245 4598 roll -0.50 - - 2739 - 2.47 0.055 3259 599.2 -116.8 - - 3250 - - - - - - - - 15.02 14.78 15.05
4632 437.8 -9.3 251 4646 done -0.50 0.12 0.247 2765 216.7 2.45 0.037 1770 -607.8 -116.8 - - 3249 - - - - - - - - 14.55 14.78 14.77
4989 465.4 -7.5 259 5003 roll -0.50 - - 2765 - 2.20 0.059 473 -589.5 -116.8 - - 3248 - - - - - - - - 15.03 14.73 15.04
5086 472.8 -7.4 272 5099 done -0.50 - - 2760 - 2.10 0.034 1769 617.1 -116.8 - - 3247 - - - - - - - - 14.89 14.84 14.90
5449 498.4 -7.1 281 5462 roll -0.50 - - 2749 - 2.50 0.054 3262 597.2 -116.8 - - 3246 - - - - - - - - 15.02 14.72 15.04
5597 509.7 -7.8 301 5610 done -0.50 - - 2749 - 2.40 0.039 1802 -608.3 -116.8 - - 3245 - - - - - - - - 14.88 14.81 14.90
5968 540.8 -8.5 311 5982 roll -0.50 - - 2749 - 2.28 0.059 464 -586.8 -116.8 - - 3243 - - - - - - - - 15.02 14.76 15.04
6079 551.3 -9.3 326 6092 done -0.50 - - 2741 - 2.15 0.035 1775 609.8 -116.8 - - 3242 - - - - - - - - 14.88 14.82 14.89
6422 582.7 -9.2 333 6436 roll -0.50 - - 2730 - 2.50 0.056 3256 592.4 -116.8 - - 3241 - - - - - - - - 15.02 14.75 15.04
6477 587.8 -9.2 340 6492 done -0.50 0.15 0.242 2762 213.3 2.47 0.040 1762 -604.9 -116.8 - - 3241 - - - - - - - - 14.53 14.78 14.76
6821 615.3 -7.9 347 6834 roll -0.50 - - 2762 - 2.20 0.061 473 -585.9 -116.8 - - 3240 - - - - - - - - 15.01 14.74 15.02
6903 622.1 -8.1 358 6916 done -0.50 - - 2757 - 2.08 0.034 1746 612.0 -116.8 - - 3239 - - - - - - - - 14.87 14.82 14.89
7224 646.1 -7.5 368 7237 roll -0.50 - - 2742 - 2.55 0.056 3259 593.3 -116.8 - - 3238 - - - - - - - - 15.00 14.73 15.02
7328 653.8 -7.3 382 7341 done -0.50 - - 2746 - 2.47 0.039 1763 -605.7 -116.8 - - 3237 - - - - - - - - 14.84 14.77 14.87
7685 680.2 -7.4 390 7698 roll -0.50 - - 2746 - 2.20 0.061 471 -587.3 -116.8 - - 3236 - - - - - - - - 15.00 14.72 15.02
7803 689.7 -8.0 406 7816 done -0.50 - - 2737 - 2.10 0.035 1755 611.4 -116.8 - - 3235 - - - - - - - - 14.85 14.80 14.87
8146 717.8 -8.3 419 8159 roll -0.50 0.12 0.279 2758 175.0 2.55 0.056 3258 589.4 -116.8 - - 3235 - - - - - - - - 14.45 14.70 14.60
8228 724.3 -7.5 430 8242 done -0.60 - - 2758 - 2.45 0.040 1785 -601.2 -116.8 - - 3234 - - - - - - - - 14.81 14.74 14.83
8550 748.1 -7.4 440 8563 roll -0.60 - - 2758 - 2.25 0.062 473 -583.1 -116.8 - - 3233 - - - - - - - - 14.99 14.71 15.01
8640 755.2 -7.8 452 8653 done -0.60 - - 2750 - 2.15 0.036 1774 605.1 -116.8 - - 3233 - - - - - - - - 14.83 14.78 14.85
9010 782.2 -7.2 462 9024 roll -0.60 - - 2739 - 2.53 0.058 3259 587.0 -116.8 - - 3235 - - - - - - - - 14.98 14.73 15.00
9107 789.5 -7.5 475 9120 done -0.60 - - 2739 - 2.45 0.040 1783 -602.4 -116.8 - - 3231 - - - - - - - - 14.83 14.75 14.85
9470 817.5 -7.8 484 9483 roll -0.60 - - 2739 - 2.25 0.062 474 -581.8 -116.8 - - 3231 - - - - - - - - 14.99 14.69 15.00
9589 827.9 -8.8 500 9602 done -0.60 - - 2732 - 2.10 0.036 1750 607.6 -116.8 - - 3230 - - - - - - - - 14.82 14.73 14.80
9931 856.6 -8.5 513 9944 roll -0.60 - - 2719 - 2.55 0.057 3254 589.8 -116.8 - - 3229 - - - - - - - - 14.97 14.69 15.00
10043 865.9 -8.3 528 10056 done -0.60 - - 2719 - 2.47 0.040 1780 -596.8 -116.8 - - 3229 - - - - - - - - 14.82 14.72 14.82
10386 894.3 -8.2 535 10399 roll -0.60 - - 2719 - 2.28 0.062 466 -576.3 -116.8 - - 3228 - - - - - - - - 14.97 14.67 14.97
10482 902.8 -8.7 548 10495 done -0.60 - - 2711 - 2.10 0.037 1746 609.5 -116.8 - - 3228 - - - - - - - - 14.82 14.76 14.84
10845 933.8 -8.6 557 10859 roll -0.60 - - 2699 - 2.58 0.059 3255 584.9 -116.8 - - 3228 - - - - - - - - 14.97 14.66 15.00
10908 939.4 -9.0 565 10922 done -0.60 0.15 0.252 2731 213.3 2.53 0.041 1753 -593.7 -116.8 - - 3227 - - - - - - - - 14.42 14.71 14.67
11251 966.8 -7.9 578 11264 roll -0.60 - - 2732 - 2.22 0.064 467 -579.3 -116.8 - - 3227 - - - - - - - - 14.96 14.66 14.98
11340 974.7 -8.7 590 11354 done -0.60 - - 2726 - 2.08 0.037 1718 601.4 -116.8 - - 3227 - - - - - - - - 14.80 14.73 14.82
11539 end dive: TARGET_DEPTH_EXCEEDED
11539 begin apogee
11547 991.7 -8.5 597 11675 roll -0.21 0.50 0.231 2854 256.0 - - 1810 - - 118.18 2.189 2792 -3.7 0.312 - - - - - - 14.42 14.05 13.28
11678 end apogee: CONTROL_FINISHED_OK
11678 begin climb
11681 997.5 - 599 11822 roll 0.84 1.17 0.183 3185 282.9 2.60 0.063 389 -546.5 116.8 123.85 2.147 2316 -3.8 0.334 - - - - - - 14.03 14.11 13.12
12017 974.5 10.1 650 12031 done 0.84 - - 3185 - 2.40 0.034 1801 588.3 116.8 - - 2294 - - - - - - - - 14.43 14.38 14.45
12388 941.4 9.0 660 12401 roll 0.84 - - 3195 - 2.45 0.062 407 -569.0 116.8 - - 2291 - - - - - - - - 14.77 14.52 14.79
12610 919.3 10.1 691 12624 done 0.74 - - 3195 - 2.35 0.033 1813 598.3 116.8 - - 2291 - - - - - - - - 14.70 14.64 14.72
12955 886.5 9.6 698 12968 done 0.65 0.22 0.256 3143 -236.4 - - 1818 - 116.8 - - 2291 - - - - - - - - 14.40 14.71 14.66
13290 861.5 7.2 704 13304 done 0.67 - - 3143 - - - 1818 - 128.9 4.55 1.525 2265 -5.7 0.604 - - - - - - 14.88 14.73 13.80
13627 839.2 6.5 710 13671 roll 0.70 - - 3151 - 2.58 0.065 402 -548.8 153.5 32.30 2.013 2161 -3.2 0.251 - - - - - - 14.90 14.46 13.78
13699 834.0 7.0 720 13729 done 0.72 - - 3152 - 2.35 0.034 1802 595.7 168.7 14.93 1.971 2099 -4.2 0.329 - - - - - - 14.57 14.52 13.69
14072 804.4 7.9 731 14085 roll 0.72 - - 3152 - 2.38 0.054 3186 581.5 168.7 - - 2090 - - - - - - - - 14.78 14.56 14.81
14120 800.3 7.6 737 14133 done 0.72 - - 3160 - 2.35 0.041 1792 -593.2 173.0 - - 2089 - - - - - - - - 14.66 14.58 14.68
14476 769.4 8.8 745 14489 roll 0.72 - - 3171 - 2.42 0.065 403 -574.0 173.0 - - 2089 - - - - - - - - 14.85 14.61 14.88
14579 759.3 9.8 759 14592 done 0.72 - - 3177 - 2.28 0.033 1778 603.1 173.0 - - 2089 - - - - - - - - 14.75 14.69 14.75
14936 725.3 9.5 767 14949 roll 0.72 - - 3171 - 2.38 0.053 3182 589.9 173.0 - - 2089 - - - - - - - - 14.90 14.66 14.92
14990 719.9 9.8 774 15004 done 0.72 - - 3179 - 2.40 0.041 1760 -592.5 173.0 - - 2088 - - - - - - - - 14.75 14.67 14.81
15335 688.3 9.2 781 15348 roll 0.72 - - 3190 - 2.38 0.066 396 -573.1 173.0 - - 2088 - - - - - - - - 14.91 14.64 14.93
15454 676.7 9.6 797 15467 done 0.72 - - 3190 - 2.17 0.032 1721 610.6 173.0 - - 2088 - - - - - - - - 14.78 14.74 14.81
15796 643.7 9.7 810 15809 roll 0.72 - - 3190 - 2.47 0.051 3186 593.1 173.0 - - 2089 - - - - - - - - 14.92 14.68 14.95
15865 636.5 10.7 819 15878 done 0.72 0.15 0.273 3168 -146.7 2.42 0.041 1739 -597.9 173.0 - - 2088 - - - - - - - - 14.42 14.69 14.67
16200 606.5 8.8 831 16213 roll 0.72 - - 3176 - 2.33 0.065 400 -574.7 173.0 - - 2088 - - - - - - - - 14.93 14.64 14.95
16262 600.9 9.2 839 16276 done 0.72 - - 3176 - 2.20 0.032 1741 609.5 173.0 - - 2088 - - - - - - - - 14.79 14.74 14.81
16605 571.4 8.5 852 16617 done 0.72 - - 3176 - - - 1741 - 173.0 - - 2088 - - - - - - - - 14.93 14.95 14.95
16941 540.7 9.2 858 16954 roll 0.72 - - 3176 - 2.42 0.052 3181 595.0 173.0 - - 2088 - - - - - - - - 14.94 14.68 14.96
16989 536.0 10.0 864 17002 done 0.72 - - 3185 - 2.47 0.041 1707 -596.8 173.0 - - 2088 - - - - - - - - 14.78 14.71 14.81
17345 500.7 9.9 872 17358 roll 0.72 - - 3195 - 2.28 0.066 395 -575.4 173.0 - - 2088 - - - - - - - - 14.94 14.64 14.97
17421 492.7 10.5 882 17434 done 0.72 0.15 0.252 3164 -206.7 2.12 0.032 1708 619.3 173.0 - - 2088 - - - - - - - - 14.42 14.78 14.65
17749 464.6 8.5 893 17762 roll 0.72 - - 3164 - 2.50 0.051 3190 592.8 173.0 - - 2088 - - - - - - - - 14.93 14.68 14.95
17812 459.0 8.9 901 17825 done 0.72 - - 3171 - 2.50 0.041 1703 -594.8 173.0 - - 2088 - - - - - - - - 14.77 14.69 14.79
18155 431.5 7.9 914 18168 roll 0.72 - - 3181 - 2.28 0.065 392 -575.0 173.0 - - 2089 - - - - - - - - 14.93 14.60 14.95
18230 425.2 8.3 924 18243 done 0.72 - - 3181 - 2.12 0.032 1698 616.0 173.0 - - 2088 - - - - - - - - 14.79 14.78 14.81
18558 398.6 8.2 935 18572 roll 0.72 - - 3181 - 2.53 0.050 3194 591.3 173.0 - - 2088 - - - - - - - - 14.93 14.67 14.95
18634 391.9 8.9 945 18647 done 0.72 - - 3190 - 2.50 0.041 1703 -596.4 173.0 - - 2088 - - - - - - - - 14.77 14.70 14.79
18962 363.9 8.6 956 18975 roll 0.72 - - 3200 - 2.28 0.065 392 -575.0 173.0 - - 2088 - - - - - - - - 14.94 14.63 14.96
19017 358.8 9.5 963 19031 done 0.72 0.15 0.247 3168 -213.3 2.12 0.032 1701 617.5 173.0 - - 2088 - - - - - - - - 14.42 14.74 14.66
19361 331.8 7.8 970 19374 roll 0.72 - - 3168 - 2.50 0.049 3183 592.8 173.2 - - 2088 - - - - - - - - 14.93 14.66 14.95
19451 324.3 8.3 982 19464 done 0.72 - - 3175 - 2.47 0.040 1699 -600.8 173.2 - - 2088 - - - - - - - - 14.78 14.70 14.80
19821 293.8 8.3 992 19834 roll 0.72 - - 3185 - 2.25 0.065 399 -577.8 173.2 - - 2088 - - - - - - - - 14.95 14.64 14.96
19910 285.6 9.1 1004 19923 done 0.72 - - 3185 - 2.10 0.031 1696 617.6 173.2 - - 2088 - - - - - - - - 14.80 14.75 14.81
20281 251.5 9.3 1014 20294 roll 0.72 - - 3185 - 2.53 0.049 3189 590.1 173.2 - - 2088 - - - - - - - - 14.95 14.67 14.97
20328 246.7 9.9 1020 20341 done 0.72 0.15 0.256 3162 -153.3 2.53 0.041 1690 -592.5 173.2 - - 2088 - - - - - - - - 14.42 14.70 14.66
20685 218.5 7.8 1028 20698 roll 0.72 - - 3170 - 2.30 0.065 399 -561.3 175.1 1.45 0.174 2074 -9.7 2.267 - - - - - - 14.93 14.66 14.48
20712 216.4 7.5 1031 20729 done 0.73 - - 3170 - 2.12 0.032 1712 619.3 181.8 5.35 1.135 2048 -4.9 0.173 - - - - - - 14.81 14.76 13.98
21086 187.3 7.8 1042 21102 roll 0.73 - - 3170 - 2.53 0.050 3189 583.8 183.0 2.35 0.448 2049 - - - - - - - - 14.93 14.71 13.89
21145 182.5 8.5 1050 21158 done 0.73 - - 3178 - 2.50 0.040 1701 -595.2 183.0 - - 2057 - - - - - - - - 14.78 14.70 14.81
21487 154.6 8.3 1063 21500 done 0.73 - - 3178 - - - 1700 - 183.0 - - 2053 - - - - - - - - 14.92 14.95 14.95
21824 127.2 8.0 1069 21837 roll 0.73 - - 3188 - 2.25 0.064 396 -579.6 183.0 - - 2053 - - - - - - - - 14.95 14.60 14.96
21892 121.7 7.8 1078 21909 done 0.74 - - 3187 - 2.15 0.032 1724 617.7 184.6 3.47 0.786 2037 -4.6 0.133 - - - - - - 14.80 14.76 13.98
22225 98.8 6.6 1090 22261 roll 0.76 - - 3188 - 2.45 0.045 3192 599.2 207.4 23.85 0.376 1952 -3.6 0.175 - - - - - - 14.94 14.61 14.37
22295 93.6 7.3 1100 22319 done 0.78 - - 3196 - 2.45 0.039 1721 -600.4 216.9 12.40 0.332 1909 -3.5 0.183 - - - - - - 14.76 14.69 14.34
22652 73.0 5.5 1117 22709 roll 0.94 0.12 0.129 3253 475.0 2.55 0.047 3187 574.9 260.3 43.53 0.318 1731 -4.1 0.176 - - - - - - 14.65 14.65 14.37
22940 56.7 4.8 1155 23005 done 1.10 - - 3262 - 2.53 0.037 1675 -597.6 316.9 52.47 0.278 1501 -4.4 0.167 - - - - - - 14.73 14.66 14.35
23327 38.4 5.1 1177 23387 done 1.34 0.28 0.088 3375 403.6 - - 1674 - 367.8 45.03 0.222 1295 -4.6 0.148 - - - - - - 14.64 14.54 14.40
23695 9.8 7.8 1196 23713 roll 1.34 - - 3376 - 2.58 0.044 3186 586.0 368.8 3.25 0.145 1292 -0.9 0.012 - - - - - - 14.88 14.64 14.52
23740 5.8 8.1 1202 23759 done 1.34 - - 3384 - 2.40 0.036 1730 -606.7 368.8 2.15 0.149 1289 -1.4 0.010 - - - - - - 14.75 14.68 14.53
23808 end climb: SURFACE_DEPTH_REACHED
23808 begin surface coast
23836 end surface coast: CONTROL_FINISHED_OK
23836 begin surface
SM 1.15 - - - - -8.61 9.55 0.079 155 16.2 0.20 0.070 1880 -36710.0 515.13 87.78 0.122 691 7.9 -0.008 - - - - - -