SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 283 * Raw log
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• Previous call tries 5 • 108.67 of 350.00 AH used of 24V (68.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 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: 17 s • Transponder ping count: 0
• 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 - - 155 - - - 1851 - -116.8 -80.50 - 3272 - - - - - - - - 14.71 13.07 14.73
116 8.4 -12.5 3 134 roll -0.84 11.98 0.381 2660 209.1 2.45 0.045 421 -583.7 -116.8 - - 3273 - - - - - - - - 14.23 14.56 14.55
154 31.5 -51.0 9 162 done 0.18 1.33 0.275 2979 239.8 2.28 0.035 1791 600.9 -116.8 - - 3275 - - - - - - - - 14.23 14.54 14.50
478 50.4 -4.5 22 484 roll -0.15 0.28 0.076 2850 -460.7 2.42 0.049 3231 595.0 -116.8 - - 3274 - - - - - - - - 14.60 14.56 14.63
567 57.7 -8.4 35 575 done -0.27 - - 2850 - 2.30 0.033 1822 -612.6 -116.8 - - 3274 - - - - - - - - 14.64 14.58 14.66
898 79.8 -5.8 49 905 roll -0.39 0.12 0.125 2787 -525.0 2.35 0.054 434 -590.6 -116.8 - - 3274 - - - - - - - - 14.62 14.60 14.65
975 85.8 -8.3 60 982 done -0.39 - - 2779 - 2.30 0.031 1840 611.3 -116.8 - - 3274 - - - - - - - - 14.72 14.67 14.73
1291 108.3 -7.2 70 1297 roll -0.39 - - 2769 - 2.30 0.050 3220 600.0 -116.8 - - 3274 - - - - - - - - 14.90 14.63 14.92
1506 124.3 -7.0 101 1515 done -0.39 0.15 0.223 2802 220.0 2.30 0.037 1823 -607.4 -116.8 - - 3274 - - - - - - - - 14.41 14.66 14.62
1851 145.5 -6.3 108 1858 roll -0.50 0.12 0.129 2741 -508.3 2.38 0.054 427 -586.6 -116.8 - - 3276 - - - - - - - - 14.63 14.62 14.67
1977 158.0 -10.0 126 1983 done -0.50 0.12 0.253 2761 166.7 2.30 0.031 1832 610.9 -116.8 - - 3271 - - - - - - - - 14.40 14.69 14.62
2299 186.0 -8.6 137 2306 roll -0.50 - - 2753 - 2.33 0.053 3220 595.7 -116.8 - - 3268 - - - - - - - - 14.91 14.62 14.92
2341 189.6 -8.7 143 2347 done -0.50 - - 2753 - 2.28 0.037 1833 -608.3 -116.8 - - 3267 - - - - - - - - 14.73 14.66 14.75
2691 217.9 -8.0 151 2697 roll -0.50 - - 2753 - 2.42 0.060 419 -584.3 -116.8 - - 3265 - - - - - - - - 14.90 14.59 14.92
2803 227.7 -8.8 167 2809 done -0.50 - - 2744 - 2.33 0.034 1834 607.3 -116.8 - - 3264 - - - - - - - - 14.73 14.67 14.75
3140 256.5 -8.6 180 3153 roll -0.50 - - 2734 - 2.33 0.055 3221 595.3 -116.8 - - 3261 - - - - - - - - 14.94 14.64 14.99
3215 263.4 -8.9 190 3229 done -0.50 0.12 0.233 2761 225.0 2.30 0.037 1824 -607.4 -116.8 - - 3260 - - - - - - - - 14.42 14.69 14.62
3544 290.7 -8.3 201 3558 roll -0.50 - - 2760 - 2.38 0.060 432 -584.9 -116.8 - - 3258 - - - - - - - - 14.96 14.65 14.97
3669 302.0 -9.0 218 3682 done -0.50 - - 2754 - 2.30 0.033 1837 610.9 -116.8 - - 3256 - - - - - - - - 14.78 14.73 14.81
4004 330.9 -8.6 230 4017 done -0.50 - - 2754 - - - 1837 - -116.8 - - 3254 - - - - - - - - 14.96 14.99 14.98
4341 358.7 -8.2 236 4354 done -0.50 - - 2754 - - - 1837 - -116.8 - - 3252 - - - - - - - - 14.96 14.99 14.99
4676 386.2 -8.2 242 4689 roll -0.50 - - 2754 - 2.42 0.057 431 -581.0 -116.8 - - 3251 - - - - - - - - 14.97 14.64 14.97
4730 391.2 -9.1 249 4745 done -0.50 - - 2746 - 2.33 0.034 1835 602.6 -116.8 - - 3249 - - - - - - - - 14.78 14.72 14.81
5075 421.0 -8.7 256 5088 done -0.50 - - 2745 - - - 1835 - -116.8 - - 3248 - - - - - - - - 14.97 15.00 15.00
5410 449.2 -8.3 262 5423 roll -0.50 - - 2745 - 2.42 0.058 429 -581.0 -116.8 - - 3246 - - - - - - - - 14.97 14.62 15.00
5451 452.7 -9.0 267 5464 done -0.50 0.12 0.253 2762 141.7 2.30 0.034 1829 608.7 -116.8 - - 3246 - - - - - - - - 14.38 14.72 14.62
5815 477.4 -6.7 276 5829 roll -0.50 - - 2754 - 2.38 0.057 3230 588.7 -116.8 - - 3245 - - - - - - - - 14.96 14.63 15.00
5849 479.7 -6.7 280 5862 done -0.50 - - 2754 - 2.33 0.037 1821 -604.7 -116.8 - - 3247 - - - - - - - - 14.76 14.69 14.78
6220 505.5 -7.0 290 6233 roll -0.50 - - 2755 - 2.40 0.060 430 -579.6 -116.8 - - 3242 - - - - - - - - 14.96 14.60 14.99
6323 513.4 -7.7 304 6336 done -0.50 - - 2746 - 2.35 0.034 1844 601.7 -116.8 - - 3242 - - - - - - - - 14.76 14.71 14.78
6679 540.8 -7.9 312 6692 roll -0.50 - - 2735 - 2.33 0.056 3220 590.6 -116.8 - - 3240 - - - - - - - - 14.97 14.61 15.00
6706 543.0 -8.0 315 6720 done -0.50 0.12 0.236 2762 225.0 2.30 0.038 1829 -604.8 -116.8 - - 3240 - - - - - - - - 14.38 14.67 14.60
7028 567.4 -7.5 325 7041 roll -0.50 - - 2762 - 2.42 0.060 426 -579.8 -116.8 - - 3240 - - - - - - - - 14.95 14.59 14.97
7153 577.7 -8.3 342 7166 done -0.50 - - 2755 - 2.33 0.033 1836 605.2 -116.8 - - 3238 - - - - - - - - 14.75 14.69 14.77
7488 604.7 -8.1 354 7501 roll -0.50 - - 2745 - 2.35 0.056 3219 588.5 -116.8 - - 3237 - - - - - - - - 14.96 14.59 14.98
7542 609.2 -8.2 361 7556 done -0.50 - - 2745 - 2.33 0.038 1832 -595.3 -116.8 - - 3237 - - - - - - - - 14.72 14.64 14.74
7887 637.0 -8.1 368 7900 roll -0.50 - - 2745 - 2.42 0.060 430 -579.3 -116.8 - - 3236 - - - - - - - - 14.93 14.56 14.95
8025 648.9 -8.4 387 8038 done -0.50 0.12 0.252 2762 141.7 2.33 0.034 1831 601.3 -116.8 - - 3235 - - - - - - - - 14.31 14.66 14.54
8347 670.8 -6.7 397 8361 roll -0.59 - - 2754 - 2.38 0.057 3225 585.7 -116.8 - - 3234 - - - - - - - - 14.95 14.56 14.97
8381 673.0 -6.2 401 8394 done -0.70 0.15 0.118 2695 -393.3 2.35 0.038 1818 -598.7 -116.8 - - 3234 - - - - - - - - 14.59 14.64 14.68
8752 706.8 -9.3 411 8765 roll -0.70 - - 2696 - 2.42 0.063 427 -574.8 -116.8 - - 3233 - - - - - - - - 14.93 14.54 14.95
8876 719.4 -10.1 428 8890 done -0.70 - - 2685 - 2.35 0.034 1837 600.0 -116.8 - - 3233 - - - - - - - - 14.71 14.64 14.73
9212 752.4 -9.9 440 9225 done -0.70 - - 2685 - - - 1836 - -116.8 - - 3231 - - - - - - - - 14.92 14.95 14.94
9548 785.7 -9.9 446 9561 roll -0.70 - - 2685 - 2.47 0.059 422 -572.5 -116.8 - - 3230 - - - - - - - - 14.92 14.52 14.95
9588 790.1 -11.0 451 9601 done -0.70 - - 2676 - 2.35 0.036 1831 599.6 -116.8 - - 3229 - - - - - - - - 14.71 14.64 14.73
9952 827.0 -10.2 460 9965 done -0.70 - - 2676 - - - 1830 - -116.8 - - 3229 - - - - - - - - 14.93 14.95 14.95
10287 860.1 -9.7 466 10300 done -0.70 - - 2676 - - - 1831 - -116.8 - - 3228 - - - - - - - - 14.93 14.94 14.95
10623 892.3 -9.6 472 10636 roll -0.70 - - 2676 - 2.47 0.063 430 -567.2 -116.8 - - 3227 - - - - - - - - 14.93 14.48 14.95
10693 899.2 -9.9 481 10706 done -0.59 0.30 0.249 2737 203.3 2.35 0.038 1825 593.6 -116.8 - - 3227 - - - - - - - - 14.17 14.61 14.47
11028 922.3 -6.7 493 11042 roll -0.59 - - 2729 - 2.42 0.060 3232 581.4 -116.8 - - 3226 - - - - - - - - 14.90 14.50 14.92
11076 925.6 -5.0 499 11089 done -0.59 - - 2728 - 2.35 0.040 1828 -597.4 -116.8 - - 3226 - - - - - - - - 14.66 14.59 14.69
11433 951.7 -7.4 507 11446 roll -0.59 - - 2729 - 2.45 0.063 431 -570.2 -116.8 - - 3226 - - - - - - - - 14.91 14.45 14.93
11557 962.1 -8.3 524 11570 done -0.59 - - 2720 - 2.35 0.036 1835 597.4 -116.8 - - 3226 - - - - - - - - 14.66 14.60 14.69
11893 989.6 -8.2 536 11907 roll -0.59 - - 2710 - 2.40 0.060 3227 580.0 -116.8 - - 3224 - - - - - - - - 14.88 14.48 14.90
11909 end dive: TARGET_DEPTH_EXCEEDED
11909 begin apogee
11919 992.0 -8.8 538 12048 done -0.21 0.57 0.220 2859 261.4 - - 1733 - - 119.07 2.201 2792 -3.6 0.310 - - - - - - 14.26 13.99 13.16
12050 end apogee: CONTROL_FINISHED_OK
12050 begin climb
12054 996.7 - 540 12192 done 0.84 1.12 0.151 3189 294.6 - - 1733 - 116.8 123.55 2.170 2318 -3.8 0.334 - - - - - - 13.97 13.74 12.95
12523 963.3 8.6 569 12536 done 0.84 - - 3188 - - - 1733 - 116.8 - - 2295 - - - - - - - - 14.63 14.66 14.65
12859 933.9 8.8 575 12873 roll 0.84 - - 3200 - 2.53 0.066 327 -555.7 116.8 - - 2295 - - - - - - - - 14.76 14.44 14.78
12914 928.6 9.7 582 12928 done 0.74 - - 3200 - 2.38 0.032 1746 596.2 116.8 - - 2294 - - - - - - - - 14.62 14.56 14.63
13257 895.8 9.7 589 13271 roll 0.74 0.12 0.273 3169 -258.3 2.33 0.049 3111 585.8 116.8 - - 2293 - - - - - - - - 14.19 14.44 14.35
13334 888.8 8.9 599 13347 done 0.74 - - 3176 - 2.35 0.041 1719 -592.3 116.8 - - 2292 - - - - - - - - 14.62 14.54 14.66
13662 860.6 8.6 610 13675 roll 0.74 - - 3186 - 2.45 0.066 335 -564.9 116.8 - - 2292 - - - - - - - - 14.84 14.48 14.86
13725 855.1 9.3 618 13738 done 0.74 - - 3186 - 2.33 0.033 1739 602.6 116.8 - - 2292 - - - - - - - - 14.66 14.60 14.69
14067 825.8 8.4 631 14080 roll 0.74 - - 3186 - 2.33 0.050 3108 587.6 116.8 - - 2292 - - - - - - - - 14.88 14.45 14.90
14156 817.9 8.7 643 14169 done 0.74 - - 3196 - 2.35 0.041 1724 -588.9 116.8 - - 2292 - - - - - - - - 14.63 14.54 14.69
14527 786.0 8.7 653 14540 roll 0.74 - - 3205 - 2.47 0.066 329 -564.8 116.8 - - 2292 - - - - - - - - 14.88 14.46 14.88
14596 779.6 9.1 662 14610 done 0.64 0.28 0.238 3142 -225.0 2.33 0.033 1739 605.2 116.8 - - 2292 - - - - - - - - 14.16 14.60 14.48
14932 757.8 6.3 674 14975 roll 0.67 - - 3142 - 2.38 0.054 3097 570.6 145.6 28.62 1.942 2188 -3.6 0.269 - - - - - - 14.85 14.50 13.70
15017 752.1 7.1 686 15034 done 0.69 - - 3148 - 2.33 0.041 1730 -586.7 159.4 6.18 1.673 2143 -7.3 0.620 - - - - - - 14.50 14.42 13.57
15378 726.9 7.1 695 15415 roll 0.71 - - 3159 - 2.55 0.067 330 -549.0 174.4 24.85 1.811 2079 -2.6 0.196 - - - - - - 14.75 14.42 13.73
15463 720.2 8.2 707 15476 done 0.71 - - 3159 - 2.33 0.034 1717 595.3 174.4 - - 2072 - - - - - - - - 14.50 14.45 14.52
15834 689.4 8.5 717 15847 roll 0.71 - - 3159 - 2.40 0.051 3115 582.5 174.4 - - 2070 - - - - - - - - 14.76 14.45 14.78
15909 682.6 8.9 727 15922 done 0.71 - - 3167 - 2.35 0.041 1730 -589.4 174.4 - - 2066 - - - - - - - - 14.57 14.49 14.61
16237 653.7 8.8 738 16250 roll 0.71 - - 3178 - 2.50 0.067 325 -562.0 174.4 - - 2069 - - - - - - - - 14.80 14.45 14.83
16292 648.7 9.4 745 16306 done 0.71 - - 3179 - 2.38 0.034 1737 593.3 174.4 - - 2069 - - - - - - - - 14.63 14.57 14.65
16635 618.1 8.9 752 16649 roll 0.71 - - 3178 - 2.35 0.053 3115 586.4 174.4 - - 2070 - - - - - - - - 14.88 14.48 14.88
16732 609.0 9.2 765 16745 done 0.71 - - 3187 - 2.35 0.041 1728 -590.2 174.4 - - 2068 - - - - - - - - 14.62 14.53 14.65
17096 575.8 9.2 774 17109 roll 0.71 - - 3197 - 2.50 0.066 322 -562.4 174.4 - - 2068 - - - - - - - - 14.86 14.47 14.88
17150 570.3 10.1 781 17166 done 0.71 0.17 0.236 3159 -223.5 2.38 0.033 1749 599.6 174.4 - - 2068 - - - - - - - - 14.21 14.59 14.50
17496 543.2 7.8 788 17509 roll 0.71 - - 3159 - 2.33 0.051 3104 581.5 175.5 - - 2068 - - - - - - - - 14.85 14.49 14.87
17550 538.5 8.3 795 17564 done 0.71 - - 3165 - 2.35 0.041 1728 -585.5 175.5 - - 2068 - - - - - - - - 14.62 14.53 14.65
17894 511.0 8.0 802 17907 roll 0.71 - - 3176 - 2.50 0.067 323 -562.0 175.5 - - 2068 - - - - - - - - 14.87 14.44 14.89
17977 503.7 9.2 813 17990 done 0.71 - - 3176 - 2.33 0.033 1726 602.1 175.5 - - 2068 - - - - - - - - 14.65 14.59 14.68
18298 476.2 8.5 823 18312 roll 0.71 - - 3176 - 2.35 0.050 3111 589.4 175.5 - - 2070 - - - - - - - - 14.85 14.50 14.88
18375 469.4 9.0 833 18388 done 0.71 - - 3184 - 2.35 0.043 1728 -588.5 175.5 - - 2068 - - - - - - - - 14.60 14.51 14.64
18703 439.9 9.1 844 18716 roll 0.71 - - 3195 - 2.50 0.066 322 -562.4 175.5 - - 2068 - - - - - - - - 14.88 14.43 14.90
18771 433.3 9.8 853 18785 done 0.71 0.15 0.243 3163 -213.3 2.33 0.031 1740 608.6 175.5 - - 2068 - - - - - - - - 14.19 14.59 14.47
19108 407.5 7.5 865 19121 roll 0.72 - - 3163 - 2.35 0.050 3098 577.9 182.0 2.38 0.509 2048 -8.4 1.274 - - - - - - 14.85 14.66 13.62
19142 404.8 7.8 869 19159 done 0.72 - - 3169 - 2.33 0.041 1717 -592.7 183.7 2.38 0.512 2042 -2.5 0.378 - - - - - - 14.68 14.59 13.64
19510 377.2 7.5 879 19532 roll 0.73 - - 3180 - 2.47 0.066 330 -561.5 190.0 6.38 1.362 2022 -3.1 0.164 - - - - - - 14.88 14.68 13.88
19580 371.2 8.6 889 19593 done 0.73 - - 3180 - 2.30 0.031 1726 607.0 190.0 - - 2028 - - - - - - - - 14.67 14.62 14.69
19908 344.2 8.2 900 19925 roll 0.73 - - 3180 - 2.38 0.050 3109 581.1 190.0 2.25 0.412 2018 -4.4 0.703 - - - - - - 14.84 14.59 13.66
19939 341.5 8.5 904 19953 done 0.73 0.12 0.259 3165 -125.0 2.33 0.040 1725 -594.0 190.0 - - 2021 - - - - - - - - 14.29 14.59 14.54
20310 313.2 7.6 914 20328 roll 0.73 - - 3173 - 2.50 0.066 329 -558.4 195.3 6.00 1.274 1995 -4.3 0.202 - - - - - - 14.87 14.66 13.85
20384 307.3 8.1 924 20397 done 0.73 - - 3173 - 2.33 0.032 1736 603.9 195.3 - - 2003 - - - - - - - - 14.68 14.63 14.70
20705 282.2 7.8 934 20722 roll 0.73 - - 3173 - 2.35 0.050 3105 582.6 195.8 2.55 0.571 1994 -3.5 0.330 - - - - - - 14.84 14.59 13.71
20743 279.2 8.1 939 20756 done 0.73 - - 3181 - 2.30 0.039 1732 -597.0 195.8 - - 2000 - - - - - - - - 14.66 14.59 14.69
21106 249.2 8.3 948 21119 roll 0.73 - - 3191 - 2.47 0.065 325 -569.6 195.8 - - 2000 - - - - - - - - 14.87 14.48 14.90
21168 243.5 9.3 956 21181 done 0.73 - - 3191 - 2.33 0.031 1735 605.2 195.8 - - 1999 - - - - - - - - 14.67 14.62 14.66
21511 213.6 8.7 969 21524 roll 0.73 - - 3191 - 2.33 0.048 3108 589.3 195.8 - - 2000 - - - - - - - - 14.85 14.53 14.87
21586 206.8 9.0 979 21599 done 0.73 0.15 0.251 3169 -146.7 2.33 0.039 1727 -592.7 195.8 - - 2000 - - - - - - - - 14.23 14.56 14.49
21915 183.4 7.0 990 21953 roll 0.75 - - 3177 - 2.53 0.065 323 -554.9 212.0 25.65 1.226 1920 -3.1 0.088 - - - - - - 14.88 14.59 14.02
22008 176.4 7.9 1003 22021 done 0.75 - - 3177 - 2.33 0.031 1731 604.3 212.0 - - 1915 - - - - - - - - 14.61 14.56 14.63
22364 149.0 7.7 1011 22378 roll 0.76 - - 3177 - 2.33 0.047 3110 591.8 215.0 - - 1913 - - - - - - - - 14.81 14.50 14.83
22433 143.2 8.5 1020 22447 done 0.76 - - 3186 - 2.33 0.038 1729 -592.7 215.0 - - 1913 - - - - - - - - 14.61 14.53 14.64
22769 115.6 8.2 1032 22783 roll 0.76 - - 3196 - 2.45 0.064 331 -570.6 215.0 - - 1915 - - - - - - - - 14.85 14.47 14.88
22860 107.8 8.7 1044 22873 done 0.76 - - 3196 - 2.33 0.031 1739 604.3 215.0 - - 1912 - - - - - - - - 14.66 14.62 14.68
23202 83.0 6.6 1057 23235 roll 0.79 - - 3196 - 2.35 0.047 3111 583.8 237.7 19.30 0.326 1825 -4.5 0.217 - - - - - - 14.84 14.57 14.31
23249 79.8 7.0 1063 23279 done 0.90 - - 3204 - 2.33 0.039 1725 -594.8 252.9 16.98 0.323 1761 -3.8 0.176 - - - - - - 14.66 14.59 14.28
23604 58.3 5.2 1080 23666 roll 1.11 0.22 0.096 3306 463.6 2.45 0.063 336 -566.9 302.8 47.15 0.279 1563 -4.2 0.166 - - - - - - 14.44 14.51 14.32
23805 42.5 6.6 1109 23843 done 1.14 - - 3306 - 2.30 0.030 1744 612.2 325.5 21.95 0.232 1468 -4.3 0.150 - - - - - - 14.64 14.59 14.25
24169 21.6 4.9 1127 24225 roll 1.32 0.12 0.124 3362 466.7 2.35 0.044 3111 581.7 380.3 43.90 0.179 1242 -5.1 0.118 - - - - - - 14.52 14.57 14.38
24287 14.3 6.9 1144 24314 done 1.34 - - 3370 - 2.33 0.038 1727 -594.0 397.4 14.52 0.159 1169 -5.0 0.086 - - - - - - 14.57 14.48 14.32
24446 end climb: SURFACE_DEPTH_REACHED
24446 begin surface coast
24474 end surface coast: CONTROL_FINISHED_OK
24474 begin surface
SM 1.06 - - - - -8.61 9.48 0.066 158 16.6 0.10 0.112 1844 -74100.0 515.13 70.65 0.123 691 9.8 -0.009 - - - - - -