SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 257 * Raw log
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• Previous call tries 1 • 99.02 of 350.00 AH used of 24V (71.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 28 s
• GPS2 time: 21 s • Transponder ping count: 3
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 154 - - - 1872 - -116.8 -80.55 - 3272 - - - - - - - - 14.71 13.14 14.74
117 8.2 -12.2 3 135 roll -0.84 12.00 0.389 2642 207.3 2.33 0.048 3237 585.8 -116.8 - - 3273 - - - - - - - - 14.26 14.57 14.56
155 30.5 -49.9 9 163 done 0.16 1.33 0.287 2970 246.6 2.28 0.041 1869 -600.0 -116.8 - - 3274 - - - - - - - - 14.25 14.52 14.52
478 57.1 -6.3 22 485 roll -0.13 0.22 0.083 2865 -477.3 2.38 0.052 464 -590.3 -116.8 - - 3274 - - - - - - - - 14.60 14.57 14.64
715 79.5 -6.8 56 722 done -0.13 - - 2858 - 2.15 0.030 1803 622.8 -116.8 - - 3274 - - - - - - - - 14.72 14.67 14.76
1038 100.2 -5.4 69 1046 roll -0.28 - - 2858 - 2.28 0.053 454 -591.7 -116.8 - - 3274 - - - - - - - - 14.89 14.59 14.90
1158 106.7 -5.3 86 1164 done -0.41 0.17 0.106 2778 -470.6 2.20 0.031 1825 623.2 -116.8 - - 3274 - - - - - - - - 14.65 14.71 14.73
1487 130.6 -7.5 98 1489 done -0.41 - - 2778 - - - 1825 - -116.8 - - 3274 - - - - - - - - 14.91 14.93 14.93
1823 157.6 -7.9 104 1829 roll -0.41 - - 2778 - 2.30 0.054 464 -591.7 -116.8 - - 3273 - - - - - - - - 14.92 14.65 14.95
1892 163.6 -8.5 114 1898 done -0.41 - - 2769 - 2.12 0.032 1778 619.8 -116.8 - - 3273 - - - - - - - - 14.77 14.71 14.78
2215 190.0 -8.0 125 2221 roll -0.41 - - 2758 - 2.47 0.052 3262 600.8 -116.8 - - 3270 - - - - - - - - 14.92 14.64 14.94
2284 195.4 -7.7 135 2291 done -0.41 0.15 0.223 2792 226.7 2.42 0.037 1783 -611.2 -116.8 - - 3270 - - - - - - - - 14.46 14.69 14.66
2607 216.1 -6.4 146 2613 roll -0.51 - - 2792 - 2.25 0.057 457 -589.3 -116.8 - - 3267 - - - - - - - - 14.92 14.64 14.93
2704 223.0 -6.9 160 2710 done -0.60 0.17 0.109 2721 -417.6 2.10 0.032 1752 616.7 -116.8 - - 3266 - - - - - - - - 14.65 14.71 14.73
3057 254.8 -9.2 168 3071 roll -0.60 - - 2710 - 2.53 0.054 3259 595.7 -116.8 - - 3264 - - - - - - - - 14.92 14.66 14.93
3105 259.6 -9.3 174 3118 done -0.60 - - 2710 - 2.47 0.038 1753 -609.7 -116.8 - - 3263 - - - - - - - - 14.78 14.71 14.80
3462 296.9 -10.6 182 3475 roll -0.60 - - 2708 - 2.17 0.057 466 -593.1 -116.8 - - 3261 - - - - - - - - 14.97 14.69 15.00
3544 306.4 -11.4 193 3558 done -0.50 0.25 0.246 2761 212.0 2.05 0.034 1733 618.0 -116.8 - - 3260 - - - - - - - - 14.41 14.76 14.66
3866 333.8 -8.3 203 3879 roll -0.50 - - 2752 - 2.55 0.053 3253 596.1 -116.8 - - 3261 - - - - - - - - 14.98 14.69 15.00
3985 343.6 -8.3 219 3998 done -0.50 - - 2751 - 2.45 0.038 1775 -603.3 -116.8 - - 3256 - - - - - - - - 14.80 14.72 14.82
4327 373.4 -8.8 232 4340 roll -0.50 - - 2752 - 2.22 0.060 465 -590.1 -116.8 - - 3254 - - - - - - - - 14.98 14.67 15.00
4446 384.6 -9.3 248 4459 done -0.50 - - 2743 - 2.10 0.034 1759 616.2 -116.8 - - 3253 - - - - - - - - 14.82 14.76 14.83
4788 414.4 -8.5 261 4801 roll -0.50 - - 2733 - 2.53 0.055 3259 592.9 -116.8 - - 3251 - - - - - - - - 14.99 14.67 15.01
4850 419.5 -8.2 269 4863 done -0.50 0.15 0.230 2766 220.0 2.45 0.038 1780 -603.7 -116.8 - - 3251 - - - - - - - - 14.45 14.72 14.68
5193 443.0 -6.8 282 5206 roll -0.50 - - 2766 - 2.25 0.058 458 -587.6 -116.8 - - 3249 - - - - - - - - 14.98 14.71 15.00
5282 449.8 -7.5 294 5295 done -0.50 - - 2761 - 2.12 0.034 1762 615.1 -116.8 - - 3248 - - - - - - - - 14.81 14.76 14.83
5653 478.9 -8.1 304 5667 roll -0.50 - - 2750 - 2.53 0.054 3261 592.5 -116.8 - - 3247 - - - - - - - - 14.95 14.66 15.00
5763 488.2 -8.3 319 5777 done -0.50 - - 2750 - 2.47 0.038 1770 -603.6 -116.8 - - 3247 - - - - - - - - 14.78 14.71 14.81
6108 517.2 -8.5 326 6122 roll -0.50 - - 2750 - 2.22 0.060 468 -586.5 -116.8 - - 3245 - - - - - - - - 14.98 14.65 15.00
6227 528.0 -8.9 342 6240 done -0.50 - - 2742 - 2.08 0.034 1735 609.1 -116.8 - - 3246 - - - - - - - - 14.81 14.76 14.83
6569 557.1 -8.5 355 6583 roll -0.50 - - 2726 - 2.58 0.055 3250 587.2 -116.8 - - 3242 - - - - - - - - 14.97 14.65 14.99
6680 566.6 -8.5 370 6694 done -0.50 0.15 0.233 2763 246.7 2.50 0.038 1754 -598.4 -116.8 - - 3242 - - - - - - - - 14.40 14.68 14.64
7024 592.3 -7.5 377 7037 roll -0.50 - - 2764 - 2.20 0.060 467 -585.0 -116.8 - - 3241 - - - - - - - - 14.96 14.63 14.98
7114 599.5 -7.9 389 7127 done -0.50 - - 2758 - 2.08 0.034 1737 610.6 -116.8 - - 3240 - - - - - - - - 14.81 14.75 14.82
7484 628.6 -7.9 399 7497 roll -0.50 - - 2747 - 2.58 0.056 3250 586.4 -116.8 - - 3239 - - - - - - - - 14.97 14.62 15.00
7640 640.7 -7.8 420 7653 done -0.50 - - 2747 - 2.47 0.038 1762 -602.4 -116.8 - - 3239 - - - - - - - - 14.76 14.69 14.79
8003 668.7 -7.6 429 8016 roll -0.50 - - 2747 - 2.22 0.060 467 -583.3 -116.8 - - 3237 - - - - - - - - 14.97 14.61 14.99
8078 674.9 -8.2 439 8091 done -0.50 0.12 0.262 2764 141.7 2.12 0.036 1764 611.8 -116.8 - - 3237 - - - - - - - - 14.35 14.71 14.60
8407 697.8 -6.9 450 8420 roll -0.50 - - 2755 - 2.53 0.057 3249 587.0 -116.8 - - 3235 - - - - - - - - 14.95 14.60 14.97
8535 706.6 -6.6 467 8548 done -0.61 - - 2755 - 2.42 0.037 1790 -602.9 -116.8 - - 3234 - - - - - - - - 14.73 14.66 14.76
8871 731.6 -7.3 479 8884 roll -0.61 - - 2755 - 2.30 0.062 461 -577.8 -116.8 - - 3234 - - - - - - - - 14.92 14.59 14.97
8981 740.5 -8.0 494 8995 done -0.61 - - 2748 - 2.15 0.037 1753 600.9 -116.8 - - 3234 - - - - - - - - 14.73 14.69 14.76
9325 768.0 -8.1 501 9339 roll -0.61 - - 2736 - 2.58 0.057 3259 583.7 -116.8 - - 3233 - - - - - - - - 14.93 14.58 14.95
9394 773.8 -8.4 510 9407 done -0.61 - - 2736 - 2.50 0.040 1762 -598.8 -116.8 - - 3232 - - - - - - - - 14.73 14.65 14.76
9730 802.6 -8.7 522 9743 roll -0.61 - - 2739 - 2.25 0.062 462 -577.8 -116.8 - - 3232 - - - - - - - - 14.92 14.58 14.95
9819 810.9 -10.2 534 9832 done -0.61 - - 2728 - 2.10 0.037 1729 603.3 -116.8 - - 3231 - - - - - - - - 14.73 14.68 14.76
10189 841.6 -8.1 544 10202 roll -0.61 - - 2716 - 2.62 0.057 3252 581.3 -116.8 - - 3229 - - - - - - - - 14.93 14.51 14.95
10300 850.9 -9.4 559 10314 done -0.61 - - 2716 - 2.53 0.040 1758 -590.5 -116.8 - - 3229 - - - - - - - - 14.70 14.62 14.73
10644 877.3 -7.8 566 10657 roll -0.61 - - 2716 - 2.25 0.062 461 -576.4 -116.8 - - 3228 - - - - - - - - 14.95 14.55 14.96
10748 886.0 -8.3 580 10761 done -0.61 - - 2708 - 2.12 0.037 1737 601.9 -116.8 - - 3229 - - - - - - - - 14.71 14.65 14.73
11104 914.7 -8.1 588 11117 roll -0.61 - - 2697 - 2.60 0.058 3249 581.5 -116.8 - - 3228 - - - - - - - - 14.93 14.54 14.95
11207 923.3 -8.4 602 11220 done -0.61 0.15 0.246 2729 213.3 2.50 0.040 1765 -593.6 -116.8 - - 3228 - - - - - - - - 14.27 14.61 14.54
11564 949.7 -7.4 610 11578 roll -0.61 - - 2729 - 2.28 0.063 460 -572.4 -116.8 - - 3227 - - - - - - - - 14.92 14.55 14.94
11696 960.3 -7.9 628 11710 done -0.61 - - 2723 - 2.10 0.037 1725 602.4 -116.8 - - 3225 - - - - - - - - 14.70 14.64 14.72
12025 985.8 -7.9 639 12038 roll -0.61 - - 2712 - 2.62 0.057 3249 581.7 -116.8 - - 3226 - - - - - - - - 14.92 14.52 14.94
12069 end dive: TARGET_DEPTH_EXCEEDED
12069 begin apogee
12079 990.7 -8.6 645 12207 roll -0.21 0.55 0.233 2853 256.4 - - 1755 - - 118.47 2.217 2793 -3.7 0.308 - - - - - - 14.29 14.00 13.19
12209 end apogee: CONTROL_FINISHED_OK
12209 begin climb
12213 995.4 - 647 12359 roll 0.84 1.20 0.181 3189 280.0 2.58 0.064 356 -542.2 116.8 124.93 2.169 2305 -3.9 0.339 - - - - - - 13.96 14.06 12.99
12508 978.0 8.1 692 12521 done 0.84 - - 3189 - 2.40 0.032 1766 587.5 116.8 - - 2295 - - - - - - - - 14.33 14.28 14.34
12871 948.7 8.0 701 12884 roll 0.84 - - 3199 - 2.50 0.062 363 -561.2 116.8 - - 2291 - - - - - - - - 14.72 14.45 14.74
13049 933.8 8.7 725 13063 done 0.74 0.12 0.262 3174 -208.3 2.40 0.033 1792 595.4 116.8 - - 2291 - - - - - - - - 14.26 14.58 14.56
13392 907.1 7.7 738 13406 roll 0.74 - - 3174 - 2.33 0.052 3148 582.0 120.0 - - 2290 - - - - - - - - 14.82 14.54 14.84
13490 899.7 6.5 751 13529 done 0.78 - - 3180 - 2.22 0.040 1822 -597.3 145.7 27.83 2.070 2199 -3.3 0.268 - - - - - - 14.65 14.58 13.70
13847 866.4 9.5 766 13860 roll 0.78 - - 3192 - 2.60 0.065 359 -562.7 145.7 - - 2180 - - - - - - - - 14.76 14.47 14.76
13996 851.4 10.6 786 14009 done 0.78 - - 3192 - 2.38 0.033 1784 598.7 145.7 - - 2180 - - - - - - - - 14.64 14.57 14.66
14366 812.3 10.4 796 14379 roll 0.78 - - 3192 - 2.33 0.052 3144 583.7 145.7 - - 2179 - - - - - - - - 14.84 14.54 14.86
14462 801.6 10.9 809 14476 done 0.78 - - 3201 - 2.28 0.041 1800 -589.5 145.7 - - 2178 - - - - - - - - 14.66 14.57 14.69
14827 763.3 10.5 818 14840 roll 0.78 - - 3212 - 2.55 0.065 365 -562.7 145.7 - - 2178 - - - - - - - - 14.87 14.47 14.88
14930 751.6 11.5 832 14943 done 0.67 0.25 0.239 3152 -240.0 2.35 0.033 1788 605.5 145.7 - - 2178 - - - - - - - - 14.25 14.64 14.55
15287 721.9 8.2 840 15300 roll 0.67 - - 3153 - 2.30 0.053 3136 586.1 145.7 - - 2178 - - - - - - - - 14.88 14.54 14.90
15362 715.4 8.4 850 15376 done 0.67 - - 3157 - 2.22 0.041 1807 -598.6 145.7 - - 2177 - - - - - - - - 14.66 14.59 14.70
15691 689.4 7.9 861 15705 roll 0.67 - - 3169 - 2.55 0.066 365 -565.5 145.7 - - 2177 - - - - - - - - 14.90 14.52 14.89
15781 681.9 8.4 873 15794 done 0.67 - - 3169 - 2.35 0.033 1775 600.0 145.7 - - 2177 - - - - - - - - 14.69 14.64 14.71
16151 652.1 8.1 883 16164 roll 0.67 - - 3169 - 2.33 0.051 3141 586.3 145.7 - - 2177 - - - - - - - - 14.90 14.57 14.90
16255 643.5 8.2 897 16269 done 0.67 0.15 0.264 3147 -146.7 2.22 0.040 1807 -600.9 145.7 - - 2177 - - - - - - - - 14.24 14.59 14.54
16612 618.5 7.0 905 16642 roll 0.69 - - 3155 - 2.58 0.066 366 -558.5 162.2 14.85 1.797 2123 -3.6 0.236 - - - - - - 14.89 14.62 13.89
16736 609.3 7.7 922 16749 done 0.69 - - 3155 - 2.38 0.032 1788 597.5 164.8 - - 2118 - - - - - - - - 14.64 14.59 14.66
17071 583.5 7.7 934 17085 roll 0.70 - - 3155 - 2.30 0.050 3142 588.7 167.4 1.12 0.194 2106 -10.7 6.085 - - - - - - 14.81 14.48 14.37
17154 576.6 8.3 945 17168 done 0.70 - - 3163 - 2.22 0.040 1816 -597.3 167.4 - - 2105 - - - - - - - - 14.63 14.57 14.66
17476 550.3 8.3 955 17489 roll 0.70 - - 3175 - 2.55 0.065 368 -567.8 167.4 - - 2104 - - - - - - - - 14.86 14.47 14.88
17595 539.8 9.0 971 17609 done 0.70 - - 3175 - 2.35 0.033 1787 603.8 167.4 - - 2105 - - - - - - - - 14.59 14.57 14.62
17938 509.3 8.9 984 17951 roll 0.70 - - 3174 - 2.33 0.051 3146 583.3 167.4 - - 2105 - - - - - - - - 14.88 14.53 14.88
18049 499.2 8.9 999 18063 done 0.70 - - 3183 - 2.25 0.040 1818 -590.2 167.4 - - 2105 - - - - - - - - 14.64 14.57 14.66
18392 469.1 8.7 1006 18405 roll 0.70 - - 3194 - 2.58 0.065 361 -564.7 167.4 - - 2105 - - - - - - - - 14.86 14.49 14.88
18533 456.3 9.2 1025 18547 done 0.70 0.17 0.238 3155 -229.4 2.35 0.032 1785 606.0 167.4 - - 2105 - - - - - - - - 14.23 14.62 14.50
18856 433.2 6.9 1035 18892 roll 0.72 - - 3156 - 2.30 0.050 3143 590.4 184.3 23.42 1.519 2036 -2.9 0.159 - - - - - - 14.86 14.47 13.93
18933 427.3 7.7 1046 18946 done 0.72 - - 3162 - 2.30 0.040 1780 -592.6 186.7 - - 2030 - - - - - - - - 14.59 14.51 14.60
19255 402.7 7.7 1056 19268 roll 0.72 - - 3171 - 2.50 0.065 364 -566.4 189.0 - - 2029 - - - - - - - - 14.79 14.45 14.81
19351 394.4 8.7 1069 19364 done 0.72 - - 3171 - 2.30 0.031 1746 600.9 189.0 - - 2029 - - - - - - - - 14.63 14.58 14.65
19715 363.2 8.7 1078 19728 roll 0.72 - - 3171 - 2.38 0.049 3145 587.8 189.0 - - 2027 - - - - - - - - 14.83 14.50 14.85
19769 357.9 9.5 1085 19784 done 0.72 - - 3179 - 2.35 0.039 1760 -589.4 189.0 - - 2028 - - - - - - - - 14.62 14.56 14.65
20114 326.2 9.3 1092 20127 roll 0.72 - - 3189 - 2.47 0.065 354 -569.2 189.0 - - 2027 - - - - - - - - 14.87 14.48 14.89
20204 318.0 9.1 1104 20217 done 0.72 - - 3189 - 2.28 0.031 1739 607.5 189.0 - - 2029 - - - - - - - - 14.68 14.63 14.69
20574 288.2 7.8 1114 20587 roll 0.72 - - 3189 - 2.38 0.049 3142 589.5 189.2 - - 2029 - - - - - - - - 14.88 14.52 14.90
20637 283.1 8.1 1122 20650 done 0.72 0.15 0.254 3166 -153.3 2.35 0.039 1747 -593.6 189.2 - - 2029 - - - - - - - - 14.24 14.57 14.50
20982 260.8 6.4 1135 21032 roll 0.76 - - 3175 - 2.50 0.065 362 -554.0 216.0 37.58 1.318 1907 -3.2 0.121 - - - - - - 14.86 14.52 13.93
21097 252.3 8.0 1151 21110 done 0.76 - - 3175 - 2.30 0.031 1739 598.7 216.0 - - 1900 - - - - - - - - 14.54 14.49 14.57
21432 224.8 8.2 1163 21445 roll 0.76 - - 3175 - 2.40 0.048 3143 585.0 216.0 - - 1898 - - - - - - - - 14.77 14.47 14.79
21479 220.4 9.3 1169 21492 done 0.76 - - 3184 - 2.40 0.039 1726 -590.4 216.0 - - 1897 - - - - - - - - 14.59 14.51 14.62
21836 187.8 9.2 1177 21849 roll 0.76 - - 3194 - 2.42 0.065 363 -563.2 216.0 - - 1897 - - - - - - - - 14.83 14.42 14.85
21876 183.9 9.6 1182 21890 done 0.76 - - 3193 - 2.30 0.031 1751 603.5 216.0 - - 1898 - - - - - - - - 14.59 14.54 14.62
22240 150.3 9.3 1191 22253 roll 0.76 - - 3193 - 2.38 0.048 3154 589.5 216.0 - - 1898 - - - - - - - - 14.85 14.54 14.87
22316 142.6 10.0 1201 22329 done 0.76 0.12 0.256 3177 -133.3 2.33 0.038 1763 -597.0 216.0 - - 1898 - - - - - - - - 14.27 14.57 14.54
22644 116.6 7.7 1212 22657 roll 0.76 - - 3185 - 2.45 0.063 364 -571.0 218.6 - - 1897 - - - - - - - - 14.88 14.50 14.90
22755 107.3 8.5 1227 22769 done 0.76 - - 3185 - 2.25 0.031 1730 607.1 218.6 - - 1897 - - - - - - - - 14.69 14.64 14.70
23071 86.0 6.3 1237 23108 roll 0.91 0.12 0.133 3241 466.7 2.35 0.044 3145 602.1 247.4 23.98 0.339 1788 -4.5 0.218 - - - - - - 14.57 14.54 14.32
23284 68.7 7.7 1267 23302 done 0.91 - - 3250 - 2.25 0.037 1797 -599.1 250.9 5.90 0.223 1770 -3.1 0.177 - - - - - - 14.65 14.58 14.22
23610 52.9 4.8 1280 23679 roll 1.11 0.12 0.124 3316 550.0 2.50 0.062 363 -573.6 307.0 54.00 0.263 1543 -4.2 0.160 - - - - - - 14.57 14.59 14.38
23874 37.5 4.1 1318 23949 done 1.29 - - 3315 - 2.10 0.028 1668 621.4 376.6 61.03 0.223 1255 -4.7 0.150 - - - - - - 14.69 14.64 14.35
24257 16.7 5.6 1339 24305 roll 1.48 0.25 0.085 3417 408.0 2.45 0.044 3139 600.4 419.2 33.10 0.160 1085 -5.1 0.101 - - - - - - 14.54 14.58 14.41
24385 end climb: SURFACE_DEPTH_REACHED
24385 begin surface coast
24393 end surface coast: CONTROL_FINISHED_OK
24393 begin surface
SM 1.15 - - - - -8.60 9.57 0.066 162 16.9 2.17 0.041 1874 -4048.8 515.13 58.12 0.122 691 11.9 -0.011 - - - - - -