SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 253 * Raw log
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• Previous call tries 1 • 97.48 of 350.00 AH used of 24V (72.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.16 m • Intended pitch -23.2 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 41 s
• GPS2 time: 18 s • Transponder ping count: 7
• 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 - - - 101 done -1.04 - - 155 - - - 1808 - -59.2 -75.65 - 3037 - - - - - - - - 14.73 13.15 14.75
105 2.0 -2.9 2 127 roll -1.04 11.80 0.387 2596 206.9 2.28 0.046 467 -588.2 -59.2 - - 3040 - - - - - - - - 14.25 14.54 14.56
225 50.8 -28.2 20 231 done -0.69 0.50 0.318 2698 204.0 2.25 0.034 1833 607.1 -59.2 - - 3040 - - - - - - - - 14.22 14.59 14.52
546 91.6 -8.9 33 554 roll -0.69 - - 2698 - 2.33 0.053 464 -587.6 -59.2 - - 3041 - - - - - - - - 14.85 14.61 14.86
644 99.6 -7.9 47 651 done -0.69 - - 2690 - 2.42 0.032 1954 615.7 -59.2 - - 3042 - - - - - - - - 14.71 14.66 14.73
994 127.8 -8.2 55 1001 roll -0.69 - - 2680 - 2.17 0.051 3268 605.5 -59.2 - - 3041 - - - - - - - - 14.90 14.65 14.90
1232 148.2 -8.7 89 1239 done -0.69 - - 2680 - 2.03 0.034 2024 -612.8 -59.2 - - 3041 - - - - - - - - 14.74 14.68 14.75
1555 177.9 -9.5 100 1561 roll -0.69 - - 2670 - 2.08 0.054 3267 597.6 -59.2 - - 3039 - - - - - - - - 14.90 14.64 14.93
1652 187.3 -9.3 114 1658 done -0.69 0.15 0.262 2704 226.7 2.00 0.035 2030 -618.5 -59.2 - - 3038 - - - - - - - - 14.38 14.69 14.63
2003 216.2 -8.2 122 2010 roll -0.69 - - 2706 - 2.65 0.056 472 -587.9 -59.2 - - 3034 - - - - - - - - 14.90 14.64 14.93
2200 234.3 -9.1 150 2207 done -0.69 - - 2698 - 2.50 0.033 1988 606.4 -59.2 - - 3034 - - - - - - - - 14.74 14.70 14.78
2565 267.0 -9.1 160 2578 roll -0.69 - - 2698 - 2.60 0.055 467 -585.0 -59.2 - - 3031 - - - - - - - - 14.95 14.67 14.97
2661 276.8 -9.8 173 2674 done -0.69 - - 2688 - 2.47 0.035 1972 609.3 -59.2 - - 3030 - - - - - - - - 14.80 14.74 14.81
3024 311.7 -9.8 182 3037 roll -0.69 - - 2688 - 2.58 0.055 470 -582.2 -59.2 - - 3027 - - - - - - - - 14.97 14.69 15.00
3194 328.5 -10.0 205 3208 done -0.69 - - 2678 - 2.40 0.034 1928 607.5 -59.2 - - 3025 - - - - - - - - 14.81 14.75 14.83
3534 359.6 -9.0 212 3547 done -0.69 - - 2678 - - - 1928 - -59.2 - - 3023 - - - - - - - - 15.00 15.02 15.01
3871 389.3 -8.9 218 3884 roll -0.69 - - 2678 - 2.53 0.057 467 -577.5 -59.2 - - 3021 - - - - - - - - 15.00 14.68 15.01
4048 406.2 -9.9 242 4061 done -0.69 0.15 0.285 2698 133.3 2.38 0.035 1907 605.0 -59.2 - - 3020 - - - - - - - - 14.35 14.75 14.64
4391 436.2 -8.8 255 4404 done -0.69 - - 2699 - - - 1907 - -59.2 - - 3018 - - - - - - - - 14.97 15.00 15.00
4726 467.9 -9.5 261 4740 roll -0.69 - - 2698 - 2.47 0.057 464 -584.2 -59.2 - - 3017 - - - - - - - - 14.97 14.66 15.00
4808 476.2 -10.0 272 4822 done -0.69 - - 2691 - 2.33 0.035 1884 609.4 -59.2 - - 3016 - - - - - - - - 14.73 14.70 14.77
5131 505.0 -8.8 282 5143 done -0.69 - - 2691 - - - 1883 - -59.2 - - 3014 - - - - - - - - 14.97 14.99 15.00
5466 531.2 -7.5 288 5479 roll -0.70 - - 2691 - 2.42 0.057 470 -583.9 -63.1 - - 3013 - - - - - - - - 14.97 14.66 14.98
5548 537.7 -7.7 299 5562 done -0.70 - - 2682 - 2.30 0.035 1861 604.8 -64.8 - - 3012 - - - - - - - - 14.80 14.73 14.82
5870 561.0 -7.3 309 5884 roll -0.71 - - 2671 - 2.35 0.055 3261 595.7 -70.9 - - 3011 - - - - - - - - 14.97 14.65 15.00
5939 566.5 -8.0 318 5952 done -0.71 0.12 0.275 2695 200.0 2.28 0.037 1877 -607.0 -70.9 - - 3011 - - - - - - - - 14.35 14.70 14.62
6278 590.7 -7.2 330 6291 roll -0.81 - - 2695 - 2.40 0.059 476 -583.8 -78.2 - - 3009 - - - - - - - - 14.95 14.64 14.97
6417 602.3 -8.1 349 6430 done -0.81 - - 2688 - 2.25 0.034 1842 607.1 -78.2 - - 3008 - - - - - - - - 14.78 14.72 14.81
6738 627.6 -8.0 359 6752 roll -0.81 - - 2676 - 2.40 0.055 3263 592.1 -78.2 - - 3007 - - - - - - - - 14.95 14.63 14.97
6793 632.5 -8.9 366 6806 done -0.81 - - 2677 - 2.38 0.039 1842 -597.1 -78.2 - - 3007 - - - - - - - - 14.76 14.69 14.78
7137 663.2 -9.0 373 7150 roll -0.81 - - 2678 - 2.38 0.060 464 -579.0 -78.2 - - 3004 - - - - - - - - 14.97 14.62 14.99
7276 676.6 -9.7 392 7289 done -0.81 - - 2669 - 2.22 0.035 1811 606.8 -78.2 - - 3005 - - - - - - - - 14.78 14.72 14.80
7597 706.7 -9.4 402 7610 roll -0.81 - - 2657 - 2.47 0.056 3268 589.9 -78.2 - - 3005 - - - - - - - - 14.95 14.62 14.97
7666 713.1 -9.2 411 7679 done -0.81 - - 2657 - 2.45 0.039 1800 -599.2 -78.2 - - 3004 - - - - - - - - 14.74 14.66 14.77
8001 743.4 -9.0 423 8014 roll -0.81 - - 2658 - 2.30 0.060 468 -579.1 -78.2 - - 3003 - - - - - - - - 14.97 14.60 14.99
8164 758.2 -9.2 445 8177 done -0.81 - - 2648 - 2.12 0.035 1765 611.8 -78.2 - - 3003 - - - - - - - - 14.76 14.71 14.78
8520 791.2 -9.3 453 8533 roll -0.81 - - 2637 - 2.58 0.057 3264 581.0 -78.2 - - 3001 - - - - - - - - 14.96 14.58 14.98
8567 795.8 -10.0 459 8580 done -0.81 0.15 0.283 2666 193.3 2.53 0.041 1757 -595.7 -78.2 - - 3001 - - - - - - - - 14.26 14.64 14.56
8924 827.7 -9.0 467 8937 roll -0.81 - - 2666 - 2.22 0.062 471 -579.3 -78.2 - - 3001 - - - - - - - - 14.93 14.59 14.95
8986 833.7 -9.7 475 8999 done -0.81 - - 2660 - 2.15 0.036 1769 603.7 -78.2 - - 3002 - - - - - - - - 14.74 14.69 14.76
9328 866.0 -9.6 488 9341 roll -0.81 - - 2649 - 2.55 0.056 3260 584.7 -78.2 - - 2999 - - - - - - - - 14.95 14.57 14.97
9369 870.0 -7.6 493 9382 done -0.81 - - 2648 - 2.50 0.041 1769 -596.4 -80.4 - - 2999 - - - - - - - - 14.72 14.64 14.75
9732 905.0 -9.5 502 9746 roll -0.81 - - 2649 - 2.25 0.063 471 -576.9 -80.4 - - 2998 - - - - - - - - 14.92 14.57 14.95
9808 912.3 -10.0 512 9821 done -0.81 - - 2640 - 2.12 0.037 1761 608.5 -80.4 - - 2998 - - - - - - - - 14.71 14.66 14.74
10136 942.5 -8.9 523 10149 done -0.81 - - 2640 - - - 1761 - -80.4 - - 2995 - - - - - - - - 14.94 14.97 14.96
10473 972.5 -8.8 529 10486 done -0.81 - - 2640 - - - 1760 - -80.4 - - 2996 - - - - - - - - 14.94 14.96 14.96
10693 end dive: TARGET_DEPTH_EXCEEDED
10693 begin apogee
10701 992.4 -8.9 533 10772 roll -0.21 0.88 0.268 2856 245.5 - - 1761 - - 60.40 2.226 2793 -3.4 0.292 - - - - - - 14.26 14.26 13.41
10773 end apogee: CONTROL_FINISHED_OK
10773 begin climb
10777 995.8 - 534 10884 roll 1.06 1.42 0.180 3263 286.6 2.55 0.063 359 -549.8 80.4 89.75 2.210 2465 -3.7 0.321 - - - - - - 14.14 14.26 13.15
10891 990.7 9.7 553 10905 done 0.93 0.15 0.301 3236 -180.0 2.42 0.031 1780 587.2 80.4 - - 2450 - - - - - - - - 13.86 14.08 14.08
11262 958.1 9.0 563 11275 roll 0.93 - - 3236 - 2.35 0.052 3143 580.0 80.4 - - 2447 - - - - - - - - 14.70 14.44 14.73
11397 946.6 7.4 581 11410 done 0.94 - - 3243 - 2.28 0.038 1789 -593.9 85.5 - - 2446 - - - - - - - - 14.59 14.51 14.61
11725 916.4 9.1 592 11738 roll 0.94 - - 3254 - 2.50 0.063 364 -570.0 85.5 - - 2445 - - - - - - - - 14.80 14.49 14.82
11830 906.3 9.8 606 11843 done 0.94 - - 3254 - 2.33 0.031 1760 599.1 85.5 - - 2444 - - - - - - - - 14.65 14.60 14.67
12186 871.6 9.8 614 12199 roll 0.94 - - 3254 - 2.35 0.051 3144 588.9 85.5 - - 2444 - - - - - - - - 14.85 14.53 14.86
12306 859.6 10.1 630 12319 done 0.94 0.15 0.328 3236 -120.0 2.28 0.038 1790 -593.9 85.5 - - 2444 - - - - - - - - 14.12 14.58 14.50
12649 828.9 8.9 643 12662 roll 0.94 - - 3245 - 2.50 0.063 366 -569.6 85.5 - - 2443 - - - - - - - - 14.88 14.51 14.90
12767 817.8 9.3 659 12781 done 0.94 - - 3245 - 2.33 0.031 1768 601.7 85.5 - - 2444 - - - - - - - - 14.69 14.64 14.74
13110 788.3 8.5 672 13123 roll 0.94 - - 3245 - 2.33 0.051 3141 589.3 85.5 - - 2443 - - - - - - - - 14.86 14.55 14.88
13158 783.9 9.1 678 13171 done 0.94 - - 3259 - 2.30 0.039 1766 -597.8 85.5 - - 2443 - - - - - - - - 14.68 14.61 14.71
13514 751.0 9.4 686 13528 roll 0.94 - - 3265 - 2.47 0.063 356 -570.9 85.5 - - 2443 - - - - - - - - 14.89 14.51 14.91
13611 740.8 10.7 699 13624 done 0.84 0.28 0.291 3206 -210.7 2.30 0.032 1755 608.3 85.5 - - 2443 - - - - - - - - 14.13 14.67 14.47
13974 707.7 9.2 708 13987 roll 0.84 - - 3206 - 2.35 0.052 3133 586.4 85.5 - - 2441 - - - - - - - - 14.90 14.53 14.92
14057 700.0 9.2 719 14070 done 0.84 - - 3213 - 2.33 0.039 1746 -595.3 85.5 - - 2442 - - - - - - - - 14.66 14.59 14.69
14379 671.3 8.9 729 14392 roll 0.84 - - 3223 - 2.42 0.063 365 -570.7 85.5 - - 2441 - - - - - - - - 14.88 14.50 14.90
14448 665.2 8.8 738 14461 done 0.84 - - 3223 - 2.22 0.031 1723 611.7 85.5 - - 2442 - - - - - - - - 14.69 14.64 14.71
14783 639.2 7.5 750 14796 done 0.85 - - 3223 - - - 1723 - 88.9 2.00 0.165 2428 -7.0 5.292 - - - - - - 14.90 14.60 12.57
15120 613.9 7.5 756 15137 roll 0.85 - - 3223 - 2.42 0.050 3135 583.5 92.4 2.20 0.411 2418 -4.5 1.325 - - - - - - 14.90 14.66 13.57
15193 607.9 8.3 766 15206 done 0.85 - - 3233 - 2.30 0.038 1755 -600.0 92.4 - - 2421 - - - - - - - - 14.70 14.63 14.73
15521 582.1 7.9 777 15534 roll 0.85 - - 3244 - 2.45 0.063 357 -570.6 92.4 - - 2422 - - - - - - - - 14.88 14.54 14.90
15562 578.8 8.0 782 15576 done 0.85 0.17 0.275 3208 -211.8 2.28 0.031 1756 613.6 92.4 - - 2422 - - - - - - - - 14.21 14.67 14.52
15926 553.4 7.0 791 15956 roll 0.86 - - 3207 - 2.33 0.050 3136 592.3 101.6 17.55 1.734 2371 -2.9 0.181 - - - - - - 14.90 14.49 13.88
16050 543.4 8.6 808 16063 done 0.86 - - 3213 - 2.28 0.038 1780 -594.7 101.6 - - 2365 - - - - - - - - 14.59 14.53 14.63
16385 514.3 8.6 820 16398 roll 0.86 - - 3225 - 2.50 0.063 365 -566.0 101.6 - - 2365 - - - - - - - - 14.81 14.47 14.83
16489 504.8 9.4 834 16502 done 0.86 - - 3225 - 2.28 0.031 1740 603.1 101.6 - - 2365 - - - - - - - - 14.64 14.59 14.66
16846 471.6 9.4 842 16859 roll 0.86 - - 3225 - 2.42 0.050 3146 581.0 101.6 - - 2365 - - - - - - - - 14.83 14.50 14.85
16964 459.6 10.0 858 16977 done 0.86 - - 3234 - 2.33 0.041 1772 -589.7 101.6 - - 2364 - - - - - - - - 14.62 14.54 14.66
17307 426.8 9.4 871 17320 roll 0.86 - - 3245 - 2.50 0.063 358 -565.6 101.6 - - 2364 - - - - - - - - 14.86 14.47 14.88
17382 419.3 9.8 881 17396 done 0.86 0.17 0.269 3210 -205.9 2.30 0.031 1765 611.7 101.6 - - 2364 - - - - - - - - 14.16 14.61 14.49
17712 393.1 7.8 892 17725 roll 0.86 - - 3209 - 2.33 0.050 3136 588.4 102.1 - - 2362 - - - - - - - - 14.85 14.52 14.88
17875 380.7 7.7 914 17888 done 0.86 - - 3221 - 2.25 0.038 1791 -597.8 104.1 - - 2364 - - - - - - - - 14.64 14.56 14.66
18232 355.3 7.1 922 18249 roll 0.87 - - 3226 - 2.47 0.061 357 -580.6 112.1 4.95 1.238 2335 -5.9 0.328 - - - - - - 14.86 14.50 13.80
18369 344.5 8.0 941 18382 done 0.87 - - 3226 - 2.33 0.031 1769 606.0 112.1 - - 2338 - - - - - - - - 14.66 14.63 14.70
18691 319.1 8.0 951 18704 roll 0.87 - - 3226 - 2.33 0.049 3142 589.3 112.1 - - 2338 - - - - - - - - 14.86 14.53 14.88
18810 308.7 8.7 967 18823 done 0.87 - - 3235 - 2.28 0.037 1786 -594.7 112.1 - - 2338 - - - - - - - - 14.65 14.57 14.67
19152 280.0 8.3 980 19166 roll 0.87 - - 3246 - 2.47 0.061 365 -575.3 112.1 - - 2338 - - - - - - - - 14.88 14.45 14.90
19214 274.3 9.2 988 19228 done 0.87 0.15 0.270 3216 -200.0 2.35 0.029 1802 611.5 112.1 - - 2338 - - - - - - - - 14.19 14.66 14.48
19560 247.6 7.7 1001 19573 done 0.88 - - 3217 - - - 1802 - 114.0 2.85 0.695 2329 -3.2 0.220 - - - - - - 14.86 14.67 13.78
19894 222.2 7.6 1007 19911 roll 0.88 - - 3217 - 2.22 0.050 3130 598.2 116.2 3.50 0.876 2318 -3.1 0.156 - - - - - - 14.87 14.72 13.83
19973 215.8 8.0 1018 19986 done 0.88 - - 3222 - 2.22 0.037 1786 -605.4 116.2 - - 2322 - - - - - - - - 14.69 14.62 14.71
20295 191.5 7.5 1028 20312 roll 0.88 - - 3234 - 2.45 0.060 364 -580.4 120.1 5.32 1.118 2302 -3.8 0.126 - - - - - - 14.88 14.54 13.92
20360 186.2 8.2 1037 20374 done 0.88 - - 3233 - 2.30 0.029 1778 614.8 120.1 - - 2307 - - - - - - - - 14.68 14.62 14.71
20696 159.1 8.2 1049 20709 roll 0.88 - - 3234 - 2.28 0.047 3138 596.5 120.1 - - 2306 - - - - - - - - 14.87 14.57 14.88
20765 153.2 8.6 1058 20778 done 0.88 - - 3243 - 2.20 0.035 1807 -605.0 120.1 - - 2307 - - - - - - - - 14.69 14.61 14.71
21101 124.8 8.5 1070 21114 roll 0.88 - - 3254 - 2.53 0.060 357 -573.1 120.1 - - 2307 - - - - - - - - 14.90 14.54 14.90
21226 113.7 9.2 1087 21239 done 0.88 0.17 0.261 3217 -217.6 2.33 0.028 1799 618.9 120.1 - - 2307 - - - - - - - - 14.23 14.67 14.52
21564 93.7 5.5 1101 21605 roll 1.03 0.12 0.142 3264 391.7 2.22 0.047 3126 597.7 144.8 27.10 0.369 2203 -3.8 0.190 - - - - - - 14.55 14.67 14.33
21836 78.1 5.2 1140 21880 done 1.07 - - 3273 - 2.17 0.036 1814 -604.6 172.3 28.85 0.328 2092 -3.8 0.179 - - - - - - 14.64 14.59 14.31
22213 62.5 1.5 1160 22289 roll 1.28 0.17 0.119 3351 458.8 2.53 0.057 357 -575.9 238.8 62.78 0.295 1819 -4.3 0.180 - - - - - - 14.45 14.50 14.31
22415 52.4 5.9 1189 22449 done 1.31 - - 3351 - 2.58 0.028 1925 607.8 259.0 20.33 0.254 1738 -4.0 0.160 - - - - - - 14.60 14.55 14.26
22779 38.3 2.2 1207 22844 roll 1.52 0.17 0.120 3417 388.2 2.05 0.045 3127 586.3 318.3 53.10 0.223 1494 -4.6 0.154 - - - - - - 14.49 14.59 14.34
22977 22.7 9.8 1235 22990 done 1.52 - - 3425 - 1.98 0.036 1928 -605.6 318.3 - - 1498 - - - - - - - - 14.64 14.57 14.66
23205 end climb: SURFACE_DEPTH_REACHED
23205 begin surface coast
23232 end surface coast: CONTROL_FINISHED_OK
23232 begin surface
SM 1.17 - - - - -8.61 9.52 0.063 156 16.4 0.05 0.197 1838 16160.0 515.13 117.07 0.122 693 5.9 -0.006 - - - - - -