SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 292 * Raw log
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• Previous call tries 1 • 112.01 of 350.00 AH used of 24V (68.00% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 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: 37 s
• GPS2 time: 15 s • Transponder ping count: 1
• 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
28 - - - 114 done -0.84 - - 158 - - - 1823 - -116.8 -80.90 - 3272 - - - - - - - - 14.69 13.05 14.70
118 8.2 -12.2 3 136 roll -0.84 12.00 0.381 2660 208.5 2.45 0.053 419 -573.1 -116.8 - - 3273 - - - - - - - - 14.21 14.50 14.51
258 55.3 -20.2 23 265 done -0.47 0.50 0.260 2774 228.0 2.28 0.033 1802 606.6 -116.8 - - 3274 - - - - - - - - 14.23 14.51 14.47
594 87.0 -7.2 38 600 roll -0.47 - - 2774 - 2.38 0.055 421 -580.3 -116.8 - - 3276 - - - - - - - - 14.81 14.53 14.83
623 88.9 -6.8 42 629 done -0.47 - - 2767 - 2.33 0.032 1837 607.7 -116.8 - - 3276 - - - - - - - - 14.63 14.61 14.63
958 115.4 -8.4 54 964 roll -0.47 - - 2768 - 2.42 0.054 422 -584.7 -116.8 - - 3274 - - - - - - - - 14.85 14.57 14.86
1170 134.1 -8.6 84 1177 done -0.47 - - 2758 - 2.33 0.031 1839 608.2 -116.8 - - 3276 - - - - - - - - 14.72 14.65 14.72
1520 161.6 -7.7 92 1526 roll -0.47 - - 2748 - 2.33 0.052 3225 594.8 -116.8 - - 3274 - - - - - - - - 14.88 14.57 14.90
1554 164.4 -7.8 97 1562 done -0.47 0.12 0.234 2773 208.3 2.33 0.036 1821 -602.6 -116.8 - - 3273 - - - - - - - - 14.36 14.62 14.57
1913 192.2 -7.8 106 1920 roll -0.47 - - 2777 - 2.40 0.057 424 -582.1 -116.8 - - 3270 - - - - - - - - 14.87 14.56 14.88
2010 200.6 -8.5 120 2016 done -0.47 - - 2763 - 2.33 0.031 1837 606.4 -116.8 - - 3270 - - - - - - - - 14.71 14.66 14.73
2361 227.8 -7.6 128 2363 done -0.47 - - 2767 - - - 1837 - -116.8 - - 3267 - - - - - - - - 14.88 14.90 14.90
2700 253.7 -7.9 134 2712 done -0.47 - - 2773 - - - 1837 - -116.8 - - 3265 - - - - - - - - 14.88 14.90 14.90
3032 281.6 -8.3 140 3046 roll -0.47 - - 2767 - 2.42 0.056 428 -582.2 -116.8 - - 3261 - - - - - - - - 14.95 14.60 14.97
3066 284.6 -8.8 144 3079 done -0.47 - - 2759 - 2.30 0.032 1831 610.0 -116.8 - - 3261 - - - - - - - - 14.76 14.71 14.78
3437 315.5 -8.4 154 3450 roll -0.47 - - 2758 - 2.42 0.057 431 -578.5 -116.8 - - 3259 - - - - - - - - 14.94 14.55 14.95
3477 319.3 -9.7 159 3490 done -0.47 - - 2749 - 2.30 0.034 1831 608.7 -116.8 - - 3258 - - - - - - - - 14.77 14.71 14.79
3840 351.5 -8.8 168 3853 roll -0.47 - - 2739 - 2.35 0.055 3220 591.1 -116.8 - - 3256 - - - - - - - - 14.97 14.59 14.99
3874 354.5 -8.7 172 3887 done -0.47 0.15 0.224 2772 220.0 2.30 0.038 1829 -604.8 -116.8 - - 3256 - - - - - - - - 14.37 14.67 14.60
4244 382.5 -7.3 182 4257 roll -0.47 - - 2772 - 2.40 0.059 431 -582.5 -116.8 - - 3254 - - - - - - - - 14.95 14.61 14.97
4355 390.6 -7.3 197 4369 done -0.47 - - 2766 - 2.33 0.033 1832 601.3 -116.8 - - 3254 - - - - - - - - 14.75 14.69 14.77
4699 415.0 -7.2 204 4712 roll -0.47 - - 2756 - 2.35 0.055 3218 589.8 -116.8 - - 3251 - - - - - - - - 14.95 14.59 14.97
4740 418.0 -7.4 209 4753 done -0.56 - - 2756 - 2.33 0.038 1826 -597.4 -116.8 - - 3250 - - - - - - - - 14.71 14.66 14.73
5104 445.8 -7.8 218 5117 roll -0.56 - - 2756 - 2.42 0.058 428 -577.7 -116.8 - - 3250 - - - - - - - - 14.95 14.58 14.97
5207 454.7 -8.5 232 5220 done -0.56 - - 2750 - 2.33 0.032 1841 606.4 -116.8 - - 3248 - - - - - - - - 14.76 14.69 14.76
5563 483.7 -8.2 240 5576 roll -0.56 - - 2737 - 2.35 0.055 3224 588.5 -116.8 - - 3248 - - - - - - - - 14.95 14.58 14.98
5633 489.3 -8.1 249 5646 done -0.56 - - 2737 - 2.33 0.037 1826 -600.0 -116.8 - - 3247 - - - - - - - - 14.71 14.64 14.73
5968 516.4 -8.1 261 5981 roll -0.56 - - 2737 - 2.40 0.059 432 -580.8 -116.8 - - 3246 - - - - - - - - 14.94 14.57 14.96
6114 529.9 -9.4 281 6127 done -0.56 - - 2728 - 2.33 0.034 1837 603.0 -116.8 - - 3244 - - - - - - - - 14.73 14.66 14.74
6484 562.1 -8.6 291 6497 done -0.56 - - 2727 - - - 1837 - -116.8 - - 3243 - - - - - - - - 14.94 14.96 14.96
6820 589.3 -8.0 297 6834 roll -0.56 - - 2717 - 2.35 0.055 3217 587.2 -116.8 - - 3243 - - - - - - - - 14.94 14.57 14.95
6862 592.5 -8.2 302 6875 done -0.56 0.12 0.244 2742 208.3 2.33 0.038 1823 -598.3 -116.8 - - 3242 - - - - - - - - 14.31 14.64 14.54
7225 616.8 -6.5 311 7239 roll -0.56 - - 2743 - 2.42 0.060 428 -576.4 -116.8 - - 3241 - - - - - - - - 14.95 14.53 14.97
7345 625.0 -7.0 327 7358 done -0.56 - - 2736 - 2.35 0.034 1838 600.0 -116.8 - - 3241 - - - - - - - - 14.71 14.66 14.74
7687 649.4 -7.2 340 7700 roll -0.56 - - 2726 - 2.35 0.056 3216 586.4 -116.8 - - 3239 - - - - - - - - 14.92 14.54 14.94
7763 655.2 -7.7 350 7776 done -0.56 - - 2725 - 2.33 0.039 1826 -596.6 -116.8 - - 3238 - - - - - - - - 14.67 14.60 14.70
8091 682.1 -8.3 361 8105 roll -0.56 - - 2725 - 2.42 0.060 432 -576.0 -116.8 - - 3237 - - - - - - - - 14.96 14.51 14.95
8216 693.9 -9.3 378 8229 done -0.56 0.12 0.261 2742 141.7 2.33 0.034 1830 600.0 -116.8 - - 3237 - - - - - - - - 14.24 14.64 14.50
8552 721.4 -8.3 390 8565 done -0.56 - - 2741 - - - 1830 - -116.8 - - 3236 - - - - - - - - 14.91 14.93 14.92
8888 749.5 -8.4 396 8901 roll -0.56 - - 2742 - 2.47 0.063 426 -568.4 -116.8 - - 3235 - - - - - - - - 14.91 14.49 14.92
8921 752.5 -9.2 400 8934 done -0.56 - - 2735 - 2.35 0.037 1828 596.6 -116.8 - - 3235 - - - - - - - - 14.69 14.63 14.73
9292 782.8 -8.2 410 9305 roll -0.56 - - 2724 - 2.40 0.059 3224 581.7 -116.8 - - 3234 - - - - - - - - 14.92 14.49 14.95
9325 785.6 -8.2 414 9338 done -0.56 - - 2725 - 2.35 0.041 1824 -595.7 -116.8 - - 3234 - - - - - - - - 14.65 14.57 14.69
9696 816.1 -8.2 424 9709 roll -0.56 - - 2724 - 2.45 0.063 427 -570.2 -116.8 - - 3232 - - - - - - - - 14.88 14.48 14.92
9827 827.9 -8.9 442 9841 done -0.56 0.15 0.250 2743 126.7 2.35 0.035 1833 598.3 -116.8 - - 3232 - - - - - - - - 14.18 14.59 14.45
10156 852.2 -7.4 453 10169 roll -0.56 - - 2739 - 2.40 0.058 3225 580.0 -116.8 - - 3231 - - - - - - - - 14.89 14.47 14.91
10197 855.3 -7.6 458 10211 done -0.65 - - 2739 - 2.35 0.039 1826 -595.3 -116.8 - - 3231 - - - - - - - - 14.64 14.56 14.67
10561 883.1 -7.8 467 10574 roll -0.65 - - 2739 - 2.45 0.063 434 -568.2 -116.8 - - 3231 - - - - - - - - 14.92 14.45 14.94
10710 895.6 -8.5 487 10723 done -0.65 - - 2730 - 2.35 0.037 1832 594.9 -116.8 - - 3230 - - - - - - - - 14.58 14.51 14.60
11080 926.2 -8.3 497 11093 roll -0.65 - - 2719 - 2.40 0.059 3220 578.3 -116.8 - - 3230 - - - - - - - - 14.90 14.45 14.93
11135 930.8 -8.4 504 11149 done -0.65 - - 2720 - 2.38 0.041 1825 -586.1 -116.8 - - 3229 - - - - - - - - 14.61 14.53 14.64
11478 959.3 -8.3 511 11491 roll -0.65 - - 2720 - 2.45 0.063 431 -569.0 -116.8 - - 3228 - - - - - - - - 14.88 14.45 14.90
11617 971.4 -8.5 530 11630 done -0.65 - - 2711 - 2.35 0.036 1830 595.3 -116.8 - - 3228 - - - - - - - - 14.62 14.56 14.64
11880 end dive: TARGET_DEPTH_EXCEEDED
11880 begin apogee
11888 993.0 -8.1 539 12060 done -0.21 0.57 0.230 2857 256.1 - - 1709 - - 161.48 1.881 2793 -2.7 0.270 - - - - - - 14.18 13.96 13.21
12061 end apogee: CONTROL_FINISHED_OK
12061 begin climb
12065 999.0 - 542 12211 roll 0.84 1.15 0.151 3203 300.9 2.58 0.067 348 -527.5 116.8 125.80 2.140 2306 -3.9 0.344 - - - - - - 13.96 13.69 12.90
12238 989.0 11.0 568 12251 done 0.74 0.15 0.249 3173 -200.0 2.42 0.031 1749 578.9 116.8 - - 2298 - - - - - - - - 13.70 13.93 13.92
12567 961.5 8.3 579 12580 roll 0.74 - - 3173 - 2.35 0.050 3109 578.7 116.8 - - 2293 - - - - - - - - 14.62 14.36 14.66
12664 953.2 8.4 592 12677 done 0.74 - - 3179 - 2.33 0.041 1745 -585.4 116.8 - - 2292 - - - - - - - - 14.52 14.44 14.55
13027 923.7 8.1 601 13040 roll 0.74 - - 3190 - 2.53 0.067 327 -560.5 116.8 - - 2293 - - - - - - - - 14.78 14.43 14.81
13082 919.1 8.6 608 13096 done 0.74 - - 3190 - 2.35 0.032 1731 597.4 116.8 - - 2293 - - - - - - - - 14.62 14.57 14.64
13425 890.0 8.5 615 13438 roll 0.74 - - 3190 - 2.38 0.050 3116 581.9 116.8 - - 2291 - - - - - - - - 14.81 14.48 14.83
13536 880.0 8.8 630 13550 done 0.74 - - 3199 - 2.38 0.041 1728 -583.2 116.8 - - 2291 - - - - - - - - 14.60 14.52 14.64
13879 849.4 9.1 637 13893 roll 0.74 - - 3209 - 2.47 0.066 327 -567.2 116.8 - - 2291 - - - - - - - - 14.85 14.46 14.88
13934 844.4 10.1 644 13948 done 0.63 0.30 0.239 3140 -230.0 2.35 0.031 1743 602.6 116.8 - - 2291 - - - - - - - - 14.15 14.59 14.47
14279 820.3 6.8 651 14308 roll 0.66 - - 3139 - 2.30 0.051 3098 589.1 135.7 17.12 1.981 2233 -3.4 0.267 - - - - - - 14.84 14.43 13.74
14377 812.9 7.5 665 14391 done 0.66 - - 3146 - 2.35 0.041 1719 -586.8 141.7 - - 2223 - - - - - - - - 14.57 14.49 14.59
14735 786.5 7.5 673 14753 roll 0.67 - - 3161 - 2.42 0.066 337 -571.1 148.6 6.12 1.710 2185 -6.2 0.543 - - - - - - 14.80 14.42 13.66
14808 780.4 8.7 683 14821 done 0.67 - - 3156 - 2.33 0.034 1726 596.1 148.6 - - 2187 - - - - - - - - 14.62 14.57 14.66
15136 753.0 8.4 694 15149 roll 0.67 - - 3164 - 2.38 0.050 3120 585.7 148.6 - - 2187 - - - - - - - - 14.80 14.48 14.82
15212 747.0 7.9 704 15225 done 0.67 - - 3165 - 2.38 0.041 1723 -587.0 148.6 - - 2188 - - - - - - - - 14.59 14.51 14.62
15540 721.2 7.9 715 15553 roll 0.67 - - 3176 - 2.47 0.067 329 -564.4 148.6 - - 2188 - - - - - - - - 14.85 14.43 14.87
15623 714.2 8.5 726 15636 done 0.67 - - 3176 - 2.33 0.032 1731 601.7 148.6 - - 2188 - - - - - - - - 14.64 14.59 14.65
15944 688.9 7.8 736 15958 roll 0.67 - - 3176 - 2.38 0.050 3123 584.9 149.2 - - 2187 - - - - - - - - 14.84 14.48 14.85
16020 682.7 8.1 746 16033 done 0.67 0.17 0.262 3149 -158.8 2.35 0.041 1730 -592.8 149.2 - - 2188 - - - - - - - - 14.14 14.51 14.42
16349 661.0 6.6 757 16401 roll 0.70 - - 3157 - 2.58 0.067 323 -545.3 172.9 39.72 1.677 2082 -2.7 0.200 - - - - - - 14.86 14.42 13.75
16435 654.7 7.8 769 16448 done 0.71 - - 3157 - 2.38 0.033 1732 592.0 174.3 - - 2074 - - - - - - - - 14.47 14.42 14.49
16799 625.9 8.0 778 16812 roll 0.71 - - 3157 - 2.38 0.051 3117 581.9 174.3 - - 2073 - - - - - - - - 14.73 14.42 14.75
16868 620.0 8.4 787 16881 done 0.71 - - 3165 - 2.38 0.043 1725 -584.9 174.3 - - 2072 - - - - - - - - 14.54 14.45 14.57
17203 592.0 8.4 799 17217 roll 0.71 - - 3176 - 2.50 0.067 326 -559.6 174.3 - - 2072 - - - - - - - - 14.80 14.40 14.82
17280 585.1 9.0 809 17293 done 0.71 - - 3173 - 2.35 0.032 1736 600.0 174.3 - - 2076 - - - - - - - - 14.60 14.54 14.62
17608 556.2 8.8 820 17621 roll 0.71 - - 3176 - 2.38 0.050 3116 579.8 174.3 - - 2073 - - - - - - - - 14.81 14.46 14.83
17684 549.5 8.8 830 17697 done 0.71 - - 3185 - 2.38 0.041 1726 -584.0 174.3 - - 2075 - - - - - - - - 14.57 14.49 14.62
18012 520.3 8.9 841 18025 roll 0.71 - - 3196 - 2.50 0.067 325 -560.4 174.3 - - 2072 - - - - - - - - 14.84 14.40 14.87
18075 514.4 9.6 849 18089 done 0.71 0.17 0.236 3158 -223.5 2.35 0.033 1736 600.4 174.3 - - 2072 - - - - - - - - 14.16 14.56 14.45
18418 488.8 7.3 862 18435 roll 0.72 - - 3157 - 2.33 0.049 3105 587.6 184.8 5.47 1.399 2037 -6.4 0.425 - - - - - - 14.83 14.45 13.71
18484 483.7 7.7 871 18501 done 0.72 - - 3164 - 2.33 0.041 1730 -590.1 187.9 3.97 1.149 2025 -3.0 0.242 - - - - - - 14.62 14.53 13.67
18817 459.3 7.4 883 18847 roll 0.73 - - 3175 - 2.53 0.067 332 -552.6 197.3 18.33 1.535 1982 -2.3 0.133 - - - - - - 14.83 14.57 13.90
18896 452.9 8.4 894 18909 done 0.73 - - 3175 - 2.33 0.033 1726 598.3 197.3 - - 1978 - - - - - - - - 14.58 14.52 14.59
19266 423.1 8.1 904 19283 roll 0.73 - - 3175 - 2.35 0.050 3111 589.4 197.3 - - 1975 - - - - - - - - 14.78 14.47 14.80
19352 415.7 8.5 915 19365 done 0.73 - - 3183 - 2.38 0.042 1722 -583.6 197.3 - - 1975 - - - - - - - - 14.57 14.49 14.61
19674 387.8 8.8 925 19687 roll 0.73 - - 3194 - 2.50 0.067 323 -559.6 197.3 - - 1975 - - - - - - - - 14.83 14.42 14.85
19722 383.1 9.8 931 19735 done 0.73 - - 3194 - 2.35 0.031 1736 601.3 197.3 - - 1975 - - - - - - - - 14.63 14.57 14.68
20078 349.3 9.6 939 20091 roll 0.73 - - 3198 - 2.35 0.050 3115 586.8 197.3 - - 1975 - - - - - - - - 14.83 14.47 14.85
20154 341.9 9.5 949 20168 done 0.73 0.15 0.255 3171 -180.0 2.35 0.040 1730 -589.4 197.3 - - 1974 - - - - - - - - 14.17 14.51 14.47
20483 315.0 8.2 960 20496 roll 0.73 - - 3180 - 2.50 0.066 323 -562.8 197.3 - - 1975 - - - - - - - - 14.85 14.42 14.88
20538 310.4 8.7 967 20552 done 0.73 - - 3180 - 2.35 0.031 1730 598.7 197.3 - - 1975 - - - - - - - - 14.63 14.57 14.65
20881 281.9 8.3 974 20894 roll 0.73 - - 3180 - 2.38 0.049 3120 584.0 197.3 - - 1975 - - - - - - - - 14.85 14.47 14.87
20943 276.6 8.6 982 20956 done 0.73 - - 3188 - 2.35 0.041 1729 -591.9 197.3 - - 1975 - - - - - - - - 14.61 14.52 14.65
21286 247.5 8.5 995 21299 roll 0.73 - - 3199 - 2.47 0.065 330 -566.4 197.3 - - 1975 - - - - - - - - 14.84 14.44 14.86
21348 241.8 9.5 1003 21361 done 0.73 0.15 0.232 3166 -220.0 2.33 0.031 1744 606.9 197.3 - - 1975 - - - - - - - - 14.16 14.52 14.43
21694 216.7 7.1 1016 21721 roll 0.75 - - 3163 - 2.30 0.048 3107 592.6 211.0 14.05 1.275 1925 -3.6 0.115 - - - - - - 14.85 14.50 13.98
21786 209.8 7.6 1029 21799 done 0.85 - - 3172 - 2.33 0.041 1733 -589.7 215.9 - - 1919 - - - - - - - - 14.60 14.52 14.63
22150 181.8 7.8 1038 22167 roll 0.85 0.10 0.145 3221 490.0 2.53 0.066 323 -557.3 217.9 2.30 0.402 1901 -7.8 0.673 - - - - - - 14.49 14.54 13.71
22210 175.9 10.6 1046 22223 done 0.85 - - 3221 - 2.30 0.030 1723 608.7 217.9 - - 1903 - - - - - - - - 14.65 14.60 14.67
22553 142.2 9.7 1059 22566 roll 0.85 - - 3221 - 2.35 0.047 3113 591.5 217.9 - - 1905 - - - - - - - - 14.83 14.51 14.85
22615 135.7 10.3 1067 22629 done 0.85 - - 3230 - 2.33 0.039 1729 -594.0 217.9 - - 1903 - - - - - - - - 14.61 14.53 14.64
22958 100.9 10.1 1080 22971 roll 0.85 - - 3241 - 2.47 0.064 323 -569.2 217.9 - - 1903 - - - - - - - - 14.87 14.38 14.89
23055 91.5 9.5 1093 23069 done 0.85 0.15 0.244 3209 -213.3 2.33 0.029 1744 609.9 217.9 - - 1903 - - - - - - - - 14.19 14.61 14.45
23394 68.7 6.5 1107 23429 roll 0.88 - - 3209 - 2.33 0.047 3098 581.1 243.3 23.95 0.297 1802 -4.2 0.185 - - - - - - 14.83 14.60 14.31
23568 59.5 5.5 1132 23628 done 1.07 0.17 0.109 3281 423.5 2.30 0.039 1726 -596.5 287.6 43.12 0.281 1627 -4.1 0.163 - - - - - - 14.51 14.50 14.31
23950 35.2 6.4 1153 23988 roll 1.10 - - 3291 - 2.50 0.063 331 -558.0 314.9 24.98 0.213 1512 -4.6 0.145 - - - - - - 14.80 14.54 14.33
24053 30.3 4.9 1167 24115 done 1.28 0.15 0.119 3346 366.7 2.28 0.030 1724 611.0 369.2 46.78 0.204 1289 -4.8 0.135 - - - - - - 14.45 14.55 14.32
24431 6.9 6.8 1188 24462 roll 1.30 - - 3357 - 2.50 0.063 332 -556.8 389.6 15.80 0.138 1204 -5.4 0.051 - - - - - - 14.81 14.45 14.38
24490 2.5 7.7 1196 24503 VBD 1.30 - - 3357 - 2.28 0.028 1733 614.5 391.9 1.73 0.163 1199 -2.9 0.008 - - - - - - 14.65 14.61 14.66
24504 end climb: SURFACE_DEPTH_REACHED
24504 begin surface coast
24506 end surface coast: CONTROL_FINISHED_OK
24506 begin surface
SM 1.04 - - - - -8.61 9.43 0.063 157 16.6 0.08 0.138 1845 -92562.5 515.13 73.88 0.124 691 9.4 -0.008 - - - - - -