SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 242 * Raw log
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• Previous call tries 1 • 93.42 of 350.00 AH used of 24V (73.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 42 s
• GPS2 time: 18 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 112 done -0.84 - - 153 - - - 1869 - -116.8 -80.35 - 3271 - - - - - - - - 14.72 13.65 14.74
116 8.9 -13.6 3 134 roll -0.84 11.98 0.385 2656 208.9 2.40 0.043 460 -587.1 -116.8 - - 3270 - - - - - - - - 14.26 14.56 14.56
147 29.7 -58.1 8 154 done 0.43 1.67 0.291 3056 239.5 2.30 0.037 1838 599.1 -116.8 - - 3272 - - - - - - - - 14.28 14.51 14.52
477 57.3 -8.2 22 483 roll -0.12 0.50 0.098 2885 -342.0 2.40 0.048 3278 600.0 -116.8 - - 3273 - - - - - - - - 14.55 14.56 14.61
589 64.8 -6.5 38 596 done -0.38 0.22 0.083 2785 -454.5 2.35 0.034 1845 -609.8 -116.8 - - 3273 - - - - - - - - 14.65 14.64 14.70
925 95.9 -7.7 53 931 roll -0.38 - - 2785 - 2.33 0.054 468 -591.0 -116.8 - - 3273 - - - - - - - - 14.88 14.64 14.90
987 100.1 -7.1 62 994 done -0.38 0.12 0.256 2801 133.3 2.33 0.031 1907 617.6 -116.8 - - 3273 - - - - - - - - 14.40 14.70 14.62
1346 122.4 -6.6 71 1352 roll -0.38 - - 2794 - 2.25 0.054 3262 602.2 -116.8 - - 3273 - - - - - - - - 14.90 14.66 14.92
1478 131.8 -6.8 90 1484 done -0.49 - - 2793 - 2.17 0.035 1922 -617.5 -116.8 - - 3273 - - - - - - - - 14.76 14.71 14.78
1794 155.1 -7.6 100 1796 done -0.49 - - 2794 - - - 1922 - -116.8 - - 3271 - - - - - - - - 14.92 14.95 14.95
2130 177.9 -6.9 106 2136 roll -0.60 0.15 0.111 2726 -453.3 2.47 0.054 465 -589.9 -116.8 - - 3269 - - - - - - - - 14.69 14.66 14.75
2301 194.9 -10.5 130 2307 done -0.60 - - 2714 - 2.35 0.034 1897 609.4 -116.8 - - 3268 - - - - - - - - 14.78 14.71 14.79
2636 229.8 -10.3 143 2642 roll -0.60 - - 2716 - 2.42 0.054 474 -588.0 -116.8 - - 3266 - - - - - - - - 14.92 14.66 14.95
2663 232.7 -10.3 147 2670 done -0.51 0.22 0.245 2760 200.0 2.33 0.033 1875 601.3 -116.8 - - 3266 - - - - - - - - 14.43 14.71 14.66
3028 263.0 -8.3 157 3042 roll -0.51 - - 2759 - 2.40 0.056 469 -585.8 -116.8 - - 3262 - - - - - - - - 14.96 14.69 14.98
3076 267.3 -9.2 163 3089 done -0.51 - - 2753 - 2.25 0.034 1844 611.1 -116.8 - - 3262 - - - - - - - - 14.82 14.76 14.83
3432 298.0 -8.6 171 3445 roll -0.51 - - 2743 - 2.38 0.055 3262 595.8 -116.8 - - 3259 - - - - - - - - 14.99 14.71 15.01
3480 302.2 -8.6 177 3493 done -0.51 - - 2743 - 2.33 0.037 1845 -608.2 -116.8 - - 3258 - - - - - - - - 14.82 14.76 14.83
3836 335.4 -9.4 185 3849 roll -0.51 - - 2743 - 2.35 0.057 461 -588.9 -116.8 - - 3256 - - - - - - - - 14.99 14.72 15.01
3968 348.3 -9.7 203 3981 done -0.51 0.12 0.256 2759 133.3 2.22 0.034 1822 613.1 -116.8 - - 3255 - - - - - - - - 14.48 14.79 14.71
4296 374.5 -7.9 214 4309 roll -0.51 - - 2752 - 2.42 0.054 3268 597.5 -116.8 - - 3251 - - - - - - - - 15.00 14.71 15.01
4385 381.7 -8.0 226 4399 done -0.51 - - 2751 - 2.38 0.037 1828 -605.0 -116.8 - - 3253 - - - - - - - - 14.84 14.76 14.86
4756 412.0 -8.2 236 4769 roll -0.51 - - 2752 - 2.33 0.058 464 -585.4 -116.8 - - 3250 - - - - - - - - 15.00 14.71 15.02
4887 423.8 -8.8 254 4900 done -0.51 - - 2742 - 2.17 0.034 1799 615.2 -116.8 - - 3250 - - - - - - - - 14.85 14.76 14.86
5216 451.3 -8.4 265 5229 roll -0.51 - - 2732 - 2.47 0.054 3269 595.1 -116.8 - - 3245 - - - - - - - - 14.99 14.71 15.01
5270 455.9 -8.3 272 5285 done -0.51 0.12 0.247 2759 225.0 2.45 0.037 1796 -601.2 -116.8 - - 3247 - - - - - - - - 14.46 14.73 14.69
5614 482.8 -7.9 279 5628 roll -0.51 - - 2759 - 2.28 0.060 464 -584.2 -116.8 - - 3246 - - - - - - - - 15.00 14.69 15.01
5753 494.6 -8.4 298 5766 done -0.51 - - 2753 - 2.15 0.034 1775 609.8 -116.8 - - 3245 - - - - - - - - 14.83 14.81 14.85
6075 519.6 -7.6 308 6088 roll -0.51 - - 2743 - 2.50 0.054 3260 594.0 -116.8 - - 3244 - - - - - - - - 14.98 14.69 15.00
6130 523.7 -7.6 315 6143 done -0.51 - - 2743 - 2.53 0.039 1750 -596.8 -116.8 - - 3243 - - - - - - - - 14.80 14.72 14.82
6473 549.3 -7.4 322 6486 roll -0.51 - - 2742 - 2.20 0.060 465 -584.1 -116.8 - - 3242 - - - - - - - - 14.99 14.67 15.02
6556 556.2 -8.2 333 6570 done -0.51 0.12 0.264 2759 141.7 2.08 0.034 1739 612.5 -116.8 - - 3241 - - - - - - - - 14.43 14.76 14.67
6878 579.9 -7.5 343 6891 roll -0.51 - - 2750 - 2.58 0.056 3259 589.1 -116.8 - - 3240 - - - - - - - - 14.97 14.67 15.00
6960 586.6 -8.2 354 6973 done -0.60 - - 2750 - 2.53 0.039 1749 -596.8 -116.8 - - 3240 - - - - - - - - 14.83 14.71 14.81
7282 614.7 -8.9 364 7295 roll -0.60 - - 2750 - 2.20 0.060 467 -582.7 -116.8 - - 3240 - - - - - - - - 14.98 14.65 15.00
7322 618.7 -10.2 369 7335 done -0.60 - - 2742 - 2.10 0.034 1752 611.9 -116.8 - - 3239 - - - - - - - - 14.81 14.75 14.83
7686 651.3 -8.7 378 7699 roll -0.60 - - 2730 - 2.58 0.056 3268 587.6 -116.8 - - 3241 - - - - - - - - 14.97 14.66 14.99
7761 657.6 -8.1 388 7774 done -0.60 - - 2730 - 2.50 0.038 1766 -600.8 -116.8 - - 3237 - - - - - - - - 14.78 14.70 14.80
8089 683.0 -7.7 399 8102 roll -0.60 - - 2730 - 2.22 0.061 471 -583.3 -116.8 - - 3237 - - - - - - - - 14.98 14.64 15.00
8158 688.3 -7.7 408 8171 done -0.60 - - 2722 - 2.12 0.035 1770 612.7 -116.8 - - 3236 - - - - - - - - 14.77 14.73 14.81
8493 713.5 -7.5 420 8507 roll -0.60 - - 2711 - 2.53 0.056 3260 588.9 -116.8 - - 3234 - - - - - - - - 14.96 14.64 14.98
8556 718.2 -7.6 428 8570 done -0.60 - - 2711 - 2.50 0.040 1765 -598.0 -116.8 - - 3234 - - - - - - - - 14.76 14.68 14.78
8899 746.0 -8.3 441 8912 roll -0.60 - - 2711 - 2.22 0.062 473 -582.0 -116.8 - - 3233 - - - - - - - - 14.97 14.62 14.99
9002 755.6 -9.5 455 9015 done -0.60 0.12 0.275 2728 141.7 2.10 0.034 1742 604.3 -116.8 - - 3232 - - - - - - - - 14.34 14.71 14.61
9359 784.0 -7.9 463 9372 roll -0.60 - - 2718 - 2.60 0.057 3257 582.7 -116.8 - - 3232 - - - - - - - - 14.96 14.56 14.98
9448 791.3 -8.2 475 9461 done -0.60 - - 2719 - 2.53 0.040 1750 -595.7 -116.8 - - 3232 - - - - - - - - 14.74 14.66 14.77
9819 821.7 -8.1 485 9832 roll -0.60 - - 2719 - 2.22 0.063 467 -577.9 -116.8 - - 3231 - - - - - - - - 14.95 14.60 14.99
9908 829.5 -8.4 497 9922 done -0.60 - - 2710 - 2.10 0.037 1739 605.7 -116.8 - - 3230 - - - - - - - - 14.76 14.70 14.81
10279 859.6 -8.1 507 10292 roll -0.60 - - 2699 - 2.62 0.058 3266 582.8 -116.8 - - 3229 - - - - - - - - 14.95 14.59 14.97
10397 869.3 -8.3 523 10411 done -0.60 0.15 0.254 2730 206.7 2.53 0.041 1766 -592.9 -116.8 - - 3229 - - - - - - - - 14.32 14.66 14.59
10743 893.6 -6.9 536 10756 roll -0.60 - - 2733 - 2.22 0.063 476 -581.1 -116.8 - - 3227 - - - - - - - - 14.92 14.57 14.94
10862 902.4 -7.3 552 10875 done -0.60 - - 2728 - 2.08 0.036 1727 601.4 -116.8 - - 3228 - - - - - - - - 14.74 14.68 14.76
11204 926.7 -7.1 565 11218 roll -0.60 - - 2716 - 2.62 0.057 3259 584.7 -116.8 - - 3227 - - - - - - - - 14.92 14.57 14.95
11302 933.7 -7.2 578 11315 done -0.60 - - 2716 - 2.55 0.041 1754 -590.2 -116.8 - - 3227 - - - - - - - - 14.72 14.64 14.75
11666 960.6 -7.2 587 11679 roll -0.60 - - 2716 - 2.22 0.063 472 -577.5 -116.8 - - 3226 - - - - - - - - 14.94 14.57 14.96
11777 969.7 -8.2 602 11790 done -0.60 - - 2707 - 2.10 0.036 1733 600.5 -116.8 - - 3226 - - - - - - - - 14.72 14.67 14.74
12060 end dive: TARGET_DEPTH_EXCEEDED
12060 begin apogee
12068 992.7 -8.1 608 12197 roll -0.21 0.57 0.244 2854 257.9 - - 1734 - - 119.25 2.222 2792 -3.6 0.307 - - - - - - 14.31 14.01 13.21
12198 end apogee: CONTROL_FINISHED_OK
12198 begin climb
12203 997.7 - 610 12350 roll 0.84 1.20 0.183 3189 279.2 2.55 0.062 370 -534.9 116.8 125.07 2.174 2305 -3.9 0.337 - - - - - - 13.97 14.05 13.00
12559 971.1 9.4 664 12572 done 0.84 - - 3188 - 2.38 0.034 1769 587.8 116.8 - - 2293 - - - - - - - - 14.42 14.36 14.43
12915 937.5 9.5 672 12928 roll 0.84 - - 3198 - 2.47 0.061 366 -568.0 116.8 - - 2290 - - - - - - - - 14.75 14.47 14.77
13093 919.6 10.5 696 13106 done 0.74 - - 3198 - 2.40 0.032 1795 595.4 116.8 - - 2293 - - - - - - - - 14.64 14.59 14.66
13436 884.9 10.0 709 13449 roll 0.64 0.22 0.256 3143 -250.0 2.30 0.050 3146 587.4 116.8 - - 2290 - - - - - - - - 14.23 14.50 14.42
13512 878.2 8.2 719 13525 done 0.64 - - 3150 - 2.22 0.040 1817 -598.6 116.8 - - 2289 - - - - - - - - 14.68 14.64 14.71
13840 853.9 7.3 730 13857 roll 0.65 - - 3161 - 2.58 0.064 369 -561.2 126.3 2.08 0.273 2274 -7.2 4.256 - - - - - - 14.85 14.61 13.29
13926 847.4 6.5 742 13972 done 0.69 - - 3161 - 2.38 0.034 1801 601.7 152.5 34.80 2.046 2170 -3.0 0.234 - - - - - - 14.72 14.66 13.67
14291 818.0 8.1 758 14304 roll 0.69 - - 3161 - 2.30 0.052 3146 584.8 152.5 - - 2154 - - - - - - - - 14.73 14.50 14.76
14373 810.6 8.5 769 14386 done 0.69 - - 3169 - 2.22 0.039 1826 -594.6 152.5 - - 2149 - - - - - - - - 14.60 14.53 14.63
14695 784.5 8.1 779 14708 roll 0.69 - - 3180 - 2.58 0.065 368 -565.1 152.5 - - 2150 - - - - - - - - 14.82 14.51 14.84
14813 774.2 8.8 795 14826 done 0.69 - - 3180 - 2.40 0.033 1805 598.8 152.5 - - 2149 - - - - - - - - 14.69 14.63 14.70
15156 745.8 8.2 808 15169 roll 0.69 - - 3180 - 2.30 0.052 3153 586.1 152.5 - - 2156 - - - - - - - - 14.85 14.57 14.87
15224 739.8 8.6 817 15238 done 0.69 0.15 0.272 3157 -153.3 2.25 0.040 1808 -597.8 152.5 - - 2149 - - - - - - - - 14.27 14.60 14.57
15560 713.6 8.0 829 15573 roll 0.69 - - 3166 - 2.55 0.065 366 -565.5 152.5 - - 2149 - - - - - - - - 14.88 14.53 14.90
15678 702.9 9.2 845 15692 done 0.69 - - 3166 - 2.33 0.032 1765 600.4 152.5 - - 2148 - - - - - - - - 14.71 14.66 14.74
16020 671.1 9.4 858 16034 roll 0.69 - - 3166 - 2.35 0.052 3145 587.2 152.5 - - 2149 - - - - - - - - 14.88 14.57 14.90
16089 664.1 10.2 867 16102 done 0.69 - - 3175 - 2.28 0.041 1788 -595.2 152.5 - - 2148 - - - - - - - - 14.69 14.60 14.71
16424 630.9 9.9 879 16438 roll 0.69 - - 3186 - 2.53 0.065 360 -564.4 152.5 - - 2148 - - - - - - - - 14.90 14.53 14.92
16507 622.4 10.3 890 16520 done 0.69 0.15 0.249 3154 -213.3 2.35 0.032 1783 605.5 152.5 - - 2149 - - - - - - - - 14.30 14.66 14.57
16828 596.8 7.7 900 16841 roll 0.69 - - 3154 - 2.30 0.051 3134 587.4 156.0 - - 2148 - - - - - - - - 14.89 14.57 14.92
16869 593.8 7.6 905 16886 done 0.70 - - 3160 - 2.30 0.040 1762 -596.5 161.1 1.85 0.170 2132 -8.6 5.700 - - - - - - 14.70 14.62 14.45
17230 569.3 6.8 914 17274 roll 0.72 - - 3171 - 2.47 0.064 357 -568.8 181.6 31.33 1.659 2049 -2.6 0.172 - - - - - - 14.90 14.41 13.84
17322 562.8 7.6 927 17339 done 0.73 - - 3171 - 2.33 0.031 1750 597.9 187.1 1.73 0.172 2027 -12.7 7.852 - - - - - - 14.56 14.51 14.35
17683 535.4 7.7 936 17697 roll 0.73 - - 3171 - 2.42 0.050 3143 575.6 189.6 2.15 0.353 2018 -4.2 1.198 - - - - - - 14.78 14.59 13.55
17759 528.7 8.8 946 17772 done 0.73 - - 3178 - 2.35 0.042 1757 -589.8 189.6 - - 2021 - - - - - - - - 14.62 14.54 14.64
18088 499.4 9.1 957 18101 roll 0.73 - - 3189 - 2.47 0.066 354 -568.0 189.6 - - 2023 - - - - - - - - 14.85 14.50 14.85
18170 491.1 10.1 968 18183 done 0.73 - - 3189 - 2.28 0.031 1731 603.9 189.6 - - 2022 - - - - - - - - 14.67 14.62 14.69
18492 459.7 9.8 978 18505 roll 0.73 - - 3189 - 2.40 0.050 3145 589.2 189.6 - - 2023 - - - - - - - - 14.85 14.56 14.87
18568 451.8 10.2 988 18581 done 0.73 0.15 0.261 3168 -140.0 2.38 0.040 1732 -593.7 189.6 - - 2023 - - - - - - - - 14.27 14.58 14.53
18896 422.9 8.8 999 18910 roll 0.73 - - 3176 - 2.42 0.065 353 -569.8 189.6 - - 2023 - - - - - - - - 14.88 14.52 14.90
18972 415.7 9.6 1009 18986 done 0.73 - - 3176 - 2.28 0.031 1736 606.6 189.6 - - 2023 - - - - - - - - 14.70 14.64 14.71
19300 385.0 9.3 1020 19314 roll 0.73 - - 3175 - 2.38 0.050 3140 589.9 189.6 - - 2023 - - - - - - - - 14.88 14.57 14.89
19376 377.5 9.7 1030 19390 done 0.73 - - 3185 - 2.38 0.039 1733 -591.2 189.6 - - 2023 - - - - - - - - 14.67 14.59 14.72
19705 346.8 9.3 1041 19718 roll 0.73 - - 3195 - 2.40 0.064 363 -570.8 189.6 - - 2023 - - - - - - - - 14.89 14.53 14.91
19795 338.0 9.8 1053 19808 done 0.73 - - 3195 - 2.25 0.031 1729 607.1 189.6 - - 2023 - - - - - - - - 14.71 14.66 14.73
20165 303.8 9.2 1063 20178 roll 0.73 - - 3195 - 2.40 0.049 3140 587.9 189.6 - - 2022 - - - - - - - - 14.88 14.57 14.92
20254 295.3 9.4 1075 20267 done 0.73 0.17 0.249 3166 -170.6 2.33 0.038 1753 -595.3 189.6 - - 2023 - - - - - - - - 14.28 14.60 14.54
20625 266.7 7.7 1085 20642 roll 0.73 - - 3174 - 2.42 0.065 357 -576.9 192.5 3.40 0.879 2006 -5.0 0.286 - - - - - - 14.90 14.71 13.81
20718 258.9 8.5 1098 20731 done 0.73 - - 3175 - 2.28 0.031 1748 610.1 192.5 - - 2014 - - - - - - - - 14.72 14.69 14.75
21082 229.5 8.1 1107 21095 roll 0.73 - - 3174 - 2.35 0.048 3150 596.6 192.5 - - 2014 - - - - - - - - 14.90 14.58 14.92
21157 223.1 8.2 1117 21170 done 0.73 - - 3183 - 2.30 0.038 1768 -600.9 192.5 - - 2014 - - - - - - - - 14.69 14.62 14.72
21486 196.7 8.1 1128 21499 roll 0.73 - - 3193 - 2.45 0.063 364 -573.1 192.5 - - 2014 - - - - - - - - 14.88 14.54 14.91
21575 189.0 8.6 1140 21588 done 0.73 - - 3194 - 2.28 0.030 1756 610.5 192.5 - - 2013 - - - - - - - - 14.72 14.68 14.73
21945 159.3 8.0 1150 21959 roll 0.73 - - 3194 - 2.35 0.047 3141 589.4 192.5 - - 2014 - - - - - - - - 14.90 14.52 14.91
22015 153.4 8.4 1159 22028 done 0.73 0.15 0.254 3171 -153.3 2.28 0.037 1773 -600.0 192.5 - - 2014 - - - - - - - - 14.31 14.64 14.57
22353 130.6 6.6 1171 22401 roll 0.76 - - 3179 - 2.47 0.062 360 -572.1 215.2 35.53 1.184 1909 -3.0 0.062 - - - - - - 14.88 14.47 14.02
22429 125.0 7.8 1182 22442 done 0.76 - - 3179 - 2.38 0.031 1792 601.7 216.6 - - 1904 - - - - - - - - 14.62 14.57 14.67
22751 98.6 8.3 1192 22764 roll 0.76 - - 3179 - 2.28 0.047 3144 593.0 216.6 - - 1903 - - - - - - - - 14.82 14.48 14.83
22855 92.3 6.2 1206 22893 done 0.80 - - 3186 - 2.33 0.039 1757 -595.3 247.4 26.12 0.359 1784 -4.6 0.221 - - - - - - 14.57 14.49 14.26
23201 73.3 4.6 1222 23272 roll 1.03 0.20 0.099 3280 470.0 2.50 0.062 363 -557.6 308.1 57.60 0.322 1538 -4.3 0.183 - - - - - - 14.53 14.54 14.29
23376 60.3 7.8 1247 23395 done 1.03 - - 3280 - 2.28 0.028 1756 611.0 308.4 2.90 0.155 1540 - - - - - - - - 14.60 14.56 14.31
23702 40.4 4.8 1260 23765 roll 1.21 0.12 0.122 3340 500.0 2.38 0.046 3138 580.7 365.0 50.70 0.230 1302 -4.7 0.156 - - - - - - 14.56 14.58 14.33
23855 31.3 6.1 1282 23901 done 1.25 - - 3344 - 2.00 0.034 1925 -606.5 398.1 29.95 0.203 1168 -4.5 0.130 - - - - - - 14.64 14.59 14.33
24210 7.6 6.3 1299 24243 roll 1.28 - - 3355 - 2.70 0.059 365 -577.8 426.3 20.98 0.138 1052 -5.5 0.057 - - - - - - 14.82 14.52 14.43
24274 end climb: SURFACE_DEPTH_REACHED
24274 begin surface coast
24284 end surface coast: CONTROL_FINISHED_OK
24284 begin surface
SM 1.02 - - - - -8.59 9.35 0.067 162 17.3 2.53 0.031 1866 -2717.0 515.13 53.65 0.123 692 12.9 -0.011 - - - - - -