SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 226 * Raw log
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• Previous call tries 1 • 87.41 of 350.00 AH used of 24V (75.03% 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: 38 s
• GPS2 time: 20 s • Transponder ping count: 4
• 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 - - 159 - - - 1862 - -116.8 -79.93 - 3271 - - - - - - - - 14.72 13.65 14.76
112 9.2 -14.1 3 130 roll -0.84 12.20 0.399 2659 204.9 2.40 0.044 460 -584.2 -116.8 - - 3269 - - - - - - - - 14.27 14.56 14.55
165 38.2 -40.5 11 172 done -0.18 0.90 0.299 2863 226.7 2.25 0.037 1820 604.4 -116.8 - - 3269 - - - - - - - - 14.24 14.56 14.52
501 74.2 -7.0 26 507 roll -0.18 - - 2863 - 2.30 0.054 467 -588.3 -116.8 - - 3271 - - - - - - - - 14.84 14.60 14.86
521 75.7 -6.8 29 530 done -0.18 - - 2855 - 2.42 0.032 1930 604.5 -116.8 - - 3271 - - - - - - - - 14.71 14.66 14.73
838 97.3 -6.4 41 845 roll -0.31 - - 2845 - 2.22 0.052 3275 605.9 -116.8 - - 3271 - - - - - - - - 14.88 14.63 14.91
980 106.3 -5.8 61 987 done -0.52 0.25 0.080 2745 -400.0 2.12 0.034 1959 -620.8 -116.8 - - 3271 - - - - - - - - 14.71 14.70 14.76
1345 138.3 -9.6 71 1351 roll -0.52 - - 2744 - 2.53 0.057 468 -589.3 -116.8 - - 3270 - - - - - - - - 14.91 14.67 14.94
1448 149.0 -10.1 86 1456 done -0.52 0.12 0.258 2756 100.0 2.47 0.033 1969 607.7 -116.8 - - 3269 - - - - - - - - 14.47 14.71 14.69
1793 178.2 -8.5 93 1799 roll -0.52 - - 2757 - 2.55 0.054 470 -587.8 -116.8 - - 3272 - - - - - - - - 14.92 14.66 14.95
1840 182.9 -9.6 100 1849 done -0.52 - - 2750 - 2.45 0.033 1937 598.8 -116.8 - - 3269 - - - - - - - - 14.73 14.70 14.75
2184 214.8 -9.3 107 2187 done -0.52 - - 2751 - - - 1938 - -116.8 - - 3267 - - - - - - - - 14.94 14.96 14.97
2520 246.5 -9.4 113 2528 roll -0.52 - - 2750 - 2.50 0.056 472 -586.4 -116.8 - - 3264 - - - - - - - - 14.94 14.67 14.96
2590 253.4 -10.0 123 2603 done -0.52 - - 2741 - 2.38 0.034 1921 608.8 -116.8 - - 3263 - - - - - - - - 14.81 14.76 14.83
2918 284.5 -9.5 134 2931 done -0.52 - - 2740 - - - 1922 - -116.8 - - 3259 - - - - - - - - 14.98 15.00 15.00
3255 315.5 -9.2 140 3268 roll -0.52 - - 2740 - 2.47 0.057 471 -587.4 -116.8 - - 3258 - - - - - - - - 15.00 14.69 15.02
3344 324.6 -10.2 152 3358 done -0.52 0.12 0.262 2756 133.3 2.35 0.036 1908 611.5 -116.8 - - 3257 - - - - - - - - 14.51 14.79 14.74
3715 358.0 -9.0 162 3728 roll -0.52 - - 2756 - 2.47 0.057 461 -585.8 -116.8 - - 3254 - - - - - - - - 15.00 14.72 15.03
3763 362.6 -9.6 168 3776 done -0.52 - - 2749 - 2.33 0.036 1878 608.2 -116.8 - - 3254 - - - - - - - - 14.85 14.78 14.87
4120 395.3 -9.1 176 4133 roll -0.52 - - 2749 - 2.42 0.058 460 -586.0 -116.8 - - 3252 - - - - - - - - 15.00 14.72 15.02
4174 400.6 -9.5 183 4187 done -0.52 - - 2740 - 2.28 0.036 1836 603.5 -116.8 - - 3252 - - - - - - - - 14.85 14.79 14.87
4519 431.7 -9.0 190 4532 roll -0.52 - - 2729 - 2.40 0.055 3265 595.4 -116.8 - - 3249 - - - - - - - - 15.00 14.72 15.02
4545 434.2 -8.9 193 4559 done -0.52 0.12 0.252 2755 216.7 2.38 0.038 1826 -604.6 -116.8 - - 3249 - - - - - - - - 14.50 14.77 14.73
4867 460.1 -8.0 203 4880 roll -0.52 - - 2759 - 2.33 0.060 461 -585.8 -116.8 - - 3247 - - - - - - - - 15.00 14.71 15.02
4986 469.9 -8.3 219 4999 done -0.52 - - 2753 - 2.17 0.035 1788 611.5 -116.8 - - 3247 - - - - - - - - 14.83 14.78 14.85
5328 498.0 -8.2 232 5341 roll -0.52 - - 2742 - 2.50 0.056 3264 590.4 -116.8 - - 3245 - - - - - - - - 15.00 14.70 15.02
5397 503.8 -8.3 241 5410 done -0.52 - - 2741 - 2.45 0.038 1779 -606.1 -116.8 - - 3244 - - - - - - - - 14.82 14.75 14.84
5732 531.8 -8.4 253 5746 roll -0.52 - - 2742 - 2.25 0.060 461 -585.8 -116.8 - - 3243 - - - - - - - - 15.00 14.69 15.01
5864 543.9 -8.9 271 5877 done -0.52 - - 2733 - 2.10 0.036 1754 615.7 -116.8 - - 3242 - - - - - - - - 14.83 14.77 14.85
6192 572.4 -8.8 282 6205 roll -0.52 - - 2722 - 2.55 0.055 3263 591.8 -116.8 - - 3244 - - - - - - - - 14.99 14.69 15.01
6295 581.9 -9.0 296 6309 done -0.52 0.15 0.245 2754 213.3 2.53 0.039 1750 -598.0 -116.8 - - 3240 - - - - - - - - 14.46 14.74 14.70
6652 610.3 -8.1 304 6665 roll -0.52 - - 2755 - 2.20 0.062 467 -583.2 -116.8 - - 3239 - - - - - - - - 14.99 14.68 15.01
6692 613.9 -9.1 309 6706 done -0.52 - - 2750 - 2.12 0.036 1769 614.2 -116.8 - - 3238 - - - - - - - - 14.83 14.77 14.85
7056 643.4 -8.1 318 7069 roll -0.52 - - 2739 - 2.53 0.057 3262 590.1 -116.8 - - 3238 - - - - - - - - 14.98 14.68 14.98
7118 648.4 -8.0 326 7131 done -0.52 - - 2739 - 2.50 0.040 1759 -601.2 -116.8 - - 3237 - - - - - - - - 14.80 14.72 14.82
7460 675.6 -8.0 339 7473 done -0.52 - - 2739 - - - 1759 - -116.8 - - 3235 - - - - - - - - 14.98 15.01 15.01
7797 702.2 -7.9 345 7810 roll -0.52 - - 2739 - 2.22 0.062 464 -583.3 -116.8 - - 3234 - - - - - - - - 14.98 14.66 15.02
7916 712.0 -8.3 361 7929 done -0.52 0.12 0.268 2755 133.3 2.17 0.037 1775 604.1 -116.8 - - 3234 - - - - - - - - 14.40 14.76 14.66
8259 735.4 -6.7 374 8272 roll -0.52 - - 2747 - 2.53 0.058 3262 587.7 -116.8 - - 3233 - - - - - - - - 14.97 14.66 14.98
8292 737.5 -6.3 378 8305 done -0.52 - - 2746 - 2.50 0.040 1759 -601.2 -116.8 - - 3233 - - - - - - - - 14.79 14.71 14.82
8662 762.4 -6.7 388 8675 roll -0.52 - - 2746 - 2.22 0.063 469 -581.1 -116.8 - - 3231 - - - - - - - - 14.97 14.64 14.99
8710 765.8 -7.4 394 8723 done -0.52 - - 2738 - 2.15 0.037 1772 606.0 -116.8 - - 3231 - - - - - - - - 14.80 14.73 14.82
9067 790.5 -6.9 402 9080 roll -0.52 - - 2727 - 2.55 0.058 3268 586.7 -116.8 - - 3230 - - - - - - - - 14.96 14.64 14.98
9157 797.1 -7.3 414 9170 done -0.52 0.15 0.242 2759 213.3 2.50 0.039 1778 -596.0 -116.8 - - 3230 - - - - - - - - 14.40 14.69 14.64
9527 821.1 -6.5 424 9541 roll -0.61 - - 2759 - 2.28 0.063 465 -575.9 -116.8 - - 3229 - - - - - - - - 14.95 14.62 14.96
9610 827.0 -7.2 435 9623 done -0.61 - - 2750 - 2.20 0.037 1795 604.5 -116.8 - - 3229 - - - - - - - - 14.78 14.73 14.81
9932 850.1 -7.3 445 9945 roll -0.61 - - 2743 - 2.47 0.058 3257 591.9 -116.8 - - 3228 - - - - - - - - 14.95 14.58 14.96
10000 855.5 -9.1 454 10014 done -0.61 - - 2743 - 2.47 0.040 1777 -599.2 -116.8 - - 3227 - - - - - - - - 14.76 14.67 14.78
10336 881.4 -8.0 466 10349 roll -0.61 - - 2743 - 2.28 0.064 465 -575.4 -116.8 - - 3227 - - - - - - - - 14.95 14.62 14.97
10432 889.7 -8.4 479 10446 done -0.61 - - 2734 - 2.17 0.038 1763 598.2 -116.8 - - 3226 - - - - - - - - 14.76 14.70 14.81
10796 918.9 -7.8 488 10809 roll -0.61 - - 2723 - 2.58 0.060 3262 581.0 -116.8 - - 3226 - - - - - - - - 14.94 14.60 14.97
10927 929.5 -8.0 506 10941 done -0.61 - - 2723 - 2.50 0.042 1774 -595.2 -116.8 - - 3226 - - - - - - - - 14.73 14.64 14.75
11256 956.0 -8.0 517 11269 roll -0.61 - - 2723 - 2.28 0.066 469 -572.4 -116.8 - - 3225 - - - - - - - - 14.93 14.59 14.95
11360 964.8 -9.4 531 11373 done -0.61 - - 2715 - 2.15 0.037 1753 597.2 -116.8 - - 3225 - - - - - - - - 14.75 14.71 14.77
11713 end dive: TARGET_DEPTH_EXCEEDED
11713 begin apogee
11721 993.7 -8.1 539 11877 roll -0.21 0.57 0.242 2861 256.1 - - 1753 - - 147.00 1.971 2793 -2.9 0.279 - - - - - - 14.34 14.00 13.20
11879 end apogee: CONTROL_FINISHED_OK
11879 begin climb
11883 998.5 - 541 12027 roll 0.84 1.17 0.181 3190 281.2 2.58 0.063 363 -538.8 116.8 124.50 2.152 2311 -3.9 0.338 - - - - - - 13.97 14.06 13.03
12034 991.4 10.9 569 12047 done 0.67 0.20 0.243 3148 -210.0 2.47 0.034 1776 572.1 116.8 - - 2298 - - - - - - - - 13.76 13.93 13.95
12404 963.0 7.6 579 12418 roll 0.68 - - 3148 - 2.35 0.053 3146 583.0 122.0 - - 2290 - - - - - - - - 14.66 14.45 14.69
12487 956.5 7.8 590 12501 done 0.68 - - 3154 - 2.33 0.041 1777 -587.6 122.8 - - 2290 - - - - - - - - 14.52 14.45 14.54
12810 931.9 7.7 600 12823 roll 0.68 - - 3165 - 2.50 0.067 359 -567.2 124.8 - - 2290 - - - - - - - - 14.80 14.52 14.82
12899 924.4 8.3 612 12912 done 0.68 - - 3165 - 2.33 0.034 1758 600.4 124.8 - - 2290 - - - - - - - - 14.67 14.62 14.69
13269 894.6 8.0 622 13282 roll 0.68 - - 3165 - 2.38 0.053 3148 584.0 124.8 - - 2289 - - - - - - - - 14.85 14.58 14.88
13345 888.2 7.8 632 13361 done 0.68 - - 3174 - 2.33 0.041 1762 -594.8 126.7 2.47 0.666 2272 -6.9 1.728 - - - - - - 14.69 14.62 13.55
13670 861.7 8.1 643 13683 roll 0.68 - - 3185 - 2.45 0.066 363 -571.0 126.7 - - 2274 - - - - - - - - 14.87 14.58 14.89
13745 855.3 8.7 653 13758 done 0.68 0.15 0.253 3150 -233.3 2.33 0.034 1776 606.4 126.7 - - 2274 - - - - - - - - 14.35 14.69 14.59
14073 832.6 6.8 664 14112 roll 0.71 - - 3153 - 2.40 0.054 3139 567.9 146.2 27.00 2.006 2189 -3.1 0.246 - - - - - - 14.90 14.52 13.78
14186 824.4 7.7 679 14199 done 0.71 - - 3160 - 2.33 0.041 1771 -587.1 148.5 - - 2180 - - - - - - - - 14.59 14.49 14.58
14528 798.3 7.5 692 14546 roll 0.72 - - 3171 - 2.47 0.067 368 -568.0 154.8 2.58 0.733 2159 -8.1 1.669 - - - - - - 14.79 14.59 13.57
14636 789.4 8.2 706 14649 done 0.72 - - 3170 - 2.28 0.034 1735 599.6 154.8 - - 2162 - - - - - - - - 14.67 14.62 14.69
14992 761.4 7.9 714 15006 roll 0.72 - - 3170 - 2.40 0.053 3147 588.3 154.8 - - 2162 - - - - - - - - 14.85 14.57 14.87
15082 753.9 8.3 726 15096 done 0.72 - - 3179 - 2.35 0.041 1763 -588.9 154.8 - - 2162 - - - - - - - - 14.69 14.62 14.71
15453 722.3 8.6 736 15466 roll 0.72 - - 3190 - 2.47 0.067 359 -568.4 154.8 - - 2162 - - - - - - - - 14.88 14.55 14.90
15571 711.1 9.6 752 15585 done 0.72 - - 3190 - 2.28 0.034 1736 603.9 154.8 - - 2162 - - - - - - - - 14.73 14.67 14.75
15913 678.4 9.6 765 15927 roll 0.72 - - 3190 - 2.40 0.052 3149 588.8 154.8 - - 2162 - - - - - - - - 14.88 14.60 14.90
15976 672.2 10.0 773 15989 done 0.72 0.17 0.274 3162 -164.7 2.38 0.041 1743 -590.8 154.8 - - 2162 - - - - - - - - 14.29 14.62 14.57
16318 643.1 8.5 786 16332 roll 0.72 - - 3171 - 2.42 0.067 363 -570.2 154.8 - - 2162 - - - - - - - - 14.89 14.56 14.91
16366 638.9 9.3 792 16379 done 0.72 - - 3171 - 2.28 0.033 1738 603.1 154.8 - - 2162 - - - - - - - - 14.73 14.67 14.75
16722 609.4 8.1 800 16736 roll 0.72 - - 3171 - 2.38 0.052 3144 590.8 154.8 - - 2164 - - - - - - - - 14.89 14.59 14.91
16769 605.4 8.3 806 16783 done 0.72 - - 3180 - 2.35 0.041 1741 -597.0 154.8 - - 2163 - - - - - - - - 14.72 14.64 14.74
17126 577.2 7.9 814 17139 done 0.72 - - 3180 - - - 1741 - 154.8 - - 2162 - - - - - - - - 14.91 14.94 14.93
17463 551.7 7.7 820 17480 roll 0.72 - - 3191 - 2.45 0.068 365 -561.6 158.5 2.88 0.840 2145 -5.9 0.730 - - - - - - 14.91 14.67 13.70
17514 547.4 8.3 827 17528 done 0.72 - - 3190 - 2.30 0.034 1748 601.3 158.5 - - 2152 - - - - - - - - 14.74 14.69 14.76
17858 519.6 8.2 834 17871 roll 0.72 - - 3190 - 2.38 0.051 3149 588.7 158.5 - - 2153 - - - - - - - - 14.89 14.59 14.91
17969 509.6 8.9 849 17984 done 0.72 0.15 0.269 3169 -140.0 2.30 0.041 1777 -596.5 158.5 - - 2152 - - - - - - - - 14.30 14.64 14.57
18312 482.7 7.9 856 18326 roll 0.72 - - 3177 - 2.47 0.066 364 -572.1 158.5 - - 2152 - - - - - - - - 14.91 14.56 14.91
18360 478.7 8.6 862 18373 done 0.72 - - 3177 - 2.35 0.032 1787 605.5 158.5 - - 2149 - - - - - - - - 14.73 14.68 14.76
18716 449.4 8.2 870 18729 roll 0.72 - - 3177 - 2.30 0.052 3147 591.3 158.5 - - 2152 - - - - - - - - 14.90 14.55 14.95
18763 445.3 8.8 876 18777 done 0.72 - - 3186 - 2.25 0.041 1801 -598.2 158.5 - - 2152 - - - - - - - - 14.72 14.64 14.74
19120 415.9 8.2 884 19133 roll 0.72 - - 3197 - 2.53 0.065 363 -568.4 158.5 - - 2152 - - - - - - - - 14.90 14.56 14.93
19216 407.4 8.8 897 19230 done 0.72 0.15 0.246 3165 -213.3 2.35 0.031 1792 608.1 158.5 - - 2152 - - - - - - - - 14.29 14.64 14.54
19581 381.6 7.0 906 19624 roll 0.74 - - 3165 - 2.30 0.051 3122 578.3 174.7 28.08 1.434 2073 -2.8 0.141 - - - - - - 14.90 14.59 13.97
19658 375.8 7.7 917 19671 done 0.75 - - 3172 - 2.30 0.040 1760 -592.2 177.0 - - 2071 - - - - - - - - 14.62 14.54 14.63
19980 352.1 7.4 927 19997 roll 0.76 - - 3182 - 2.45 0.064 356 -573.1 184.7 4.40 1.122 2038 -7.5 0.443 - - - - - - 14.79 14.47 13.81
20080 344.1 8.1 941 20093 done 0.76 - - 3182 - 2.28 0.032 1726 600.9 184.7 - - 2043 - - - - - - - - 14.68 14.63 14.69
20436 315.2 8.2 949 20449 roll 0.76 - - 3182 - 2.40 0.049 3148 592.5 184.7 - - 2042 - - - - - - - - 14.85 14.57 14.87
20491 310.3 8.9 956 20504 done 0.76 - - 3191 - 2.40 0.040 1729 -591.2 184.7 - - 2043 - - - - - - - - 14.66 14.59 14.69
20834 280.7 8.6 963 20848 roll 0.76 - - 3201 - 2.40 0.066 360 -570.4 184.7 - - 2043 - - - - - - - - 14.85 14.54 14.88
20917 273.0 9.3 974 20931 done 0.76 - - 3200 - 2.22 0.032 1717 611.3 184.7 - - 2043 - - - - - - - - 14.73 14.68 14.74
21238 244.1 9.0 984 21252 roll 0.76 - - 3201 - 2.40 0.048 3144 594.6 184.7 - - 2044 - - - - - - - - 14.88 14.60 14.90
21286 239.6 9.7 990 21299 done 0.76 0.15 0.264 3179 -146.7 2.40 0.040 1710 -597.5 184.7 - - 2043 - - - - - - - - 14.32 14.63 14.53
21643 211.4 7.9 998 21656 roll 0.76 - - 3187 - 2.35 0.066 363 -573.2 184.7 - - 2043 - - - - - - - - 14.90 14.54 14.92
21690 207.4 8.3 1004 21703 done 0.76 - - 3187 - 2.20 0.031 1715 614.5 184.7 - - 2043 - - - - - - - - 14.74 14.69 14.76
22046 178.8 8.1 1012 22059 roll 0.76 - - 3187 - 2.40 0.049 3141 594.2 184.7 - - 2043 - - - - - - - - 14.90 14.57 14.92
22209 164.8 8.9 1034 22222 done 0.76 - - 3196 - 2.30 0.039 1761 -600.0 184.7 - - 2043 - - - - - - - - 14.71 14.64 14.73
22565 134.2 8.6 1042 22578 roll 0.76 - - 3206 - 2.45 0.064 357 -573.1 184.7 - - 2043 - - - - - - - - 14.95 14.57 14.93
22641 128.1 8.1 1052 22655 done 0.76 0.10 0.209 3178 -280.0 2.22 0.031 1748 626.6 184.7 - - 2043 - - - - - - - - 14.33 14.67 14.47
22970 106.8 6.3 1063 23014 roll 0.79 - - 3186 - 2.42 0.062 357 -574.8 214.5 30.98 0.402 1924 -3.8 0.192 - - - - - - 14.90 14.66 14.34
23132 96.2 6.3 1086 23177 done 0.93 0.12 0.134 3233 391.7 2.50 0.031 1867 604.0 242.9 30.52 0.375 1805 -3.9 0.188 - - - - - - 14.57 14.66 14.28
23507 73.5 5.4 1106 23566 roll 0.98 - - 3233 - 2.10 0.045 3126 599.5 288.8 45.45 0.321 1616 -4.2 0.179 - - - - - - 14.84 14.50 14.31
23572 69.8 5.5 1115 23626 done 1.04 - - 3240 - 1.92 0.036 1960 -607.3 332.1 41.25 0.313 1440 -4.3 0.179 - - - - - - 14.68 14.62 14.30
23934 47.9 4.8 1133 24002 roll 1.28 0.28 0.088 3368 457.1 2.85 0.061 356 -562.8 388.9 51.10 0.249 1208 -4.5 0.164 - - - - - - 14.54 14.52 14.31
24092 33.2 10.5 1156 24106 done 1.28 - - 3364 - 2.40 0.028 1815 607.9 388.9 - - 1217 - - - - - - - - 14.66 14.61 14.67
24409 10.0 7.6 1168 24426 roll 1.29 - - 3364 - 2.25 0.044 3132 585.3 392.8 5.68 0.147 1186 -5.5 0.070 - - - - - - 14.84 14.59 14.45
24506 end climb: SURFACE_DEPTH_REACHED
24506 begin surface coast
24516 end surface coast: CONTROL_FINISHED_OK
24517 begin surface
SM 1.22 - - - - -8.59 9.40 0.068 163 17.3 2.15 0.038 1865 -3078.6 515.13 73.35 0.124 690 9.4 -0.009 - - - - - -