SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 323 * Raw log
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• Previous call tries 1 • 123.46 of 350.00 AH used of 24V (64.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth 1.09 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 16 s • Transponder ping count: 2
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 152 - - - 1827 - -116.8 -80.97 - 3271 - - - - - - - - 14.68 12.95 14.69
113 8.1 -11.9 3 131 roll -0.84 12.23 0.386 2642 203.6 2.38 0.044 3221 585.7 -116.8 - - 3272 - - - - - - - - 14.14 14.53 14.46
223 52.6 -28.7 19 230 done -0.40 0.62 0.263 2791 240.3 2.33 0.041 1833 -595.7 -116.8 - - 3273 - - - - - - - - 14.13 14.45 14.42
559 86.1 -6.7 34 565 roll -0.40 - - 2784 - 2.35 0.050 3222 591.1 -116.8 - - 3273 - - - - - - - - 14.81 14.52 14.83
788 102.4 -6.6 67 795 done -0.40 - - 2785 - 2.30 0.036 1826 -607.0 -116.8 - - 3276 - - - - - - - - 14.62 14.54 14.65
1118 127.8 -8.1 79 1125 roll -0.40 - - 2785 - 2.40 0.057 427 -582.9 -116.8 - - 3276 - - - - - - - - 14.86 14.52 14.87
1258 139.7 -8.0 99 1264 done -0.40 - - 2775 - 2.28 0.031 1823 612.3 -116.8 - - 3275 - - - - - - - - 14.63 14.58 14.65
1622 167.8 -7.7 109 1629 roll -0.40 - - 2765 - 2.35 0.054 3219 594.0 -116.8 - - 3272 - - - - - - - - 14.85 14.54 14.88
1719 175.8 -8.3 123 1726 done -0.40 0.12 0.230 2791 216.7 2.33 0.037 1824 -598.7 -116.8 - - 3271 - - - - - - - - 14.32 14.58 14.52
2072 202.6 -7.5 131 2078 roll -0.52 - - 2791 - 2.40 0.059 431 -580.4 -116.8 - - 3269 - - - - - - - - 14.85 14.52 14.87
2196 212.3 -7.7 149 2204 done -0.62 0.17 0.111 2722 -405.9 2.30 0.031 1833 609.6 -116.8 - - 3267 - - - - - - - - 14.53 14.62 14.62
2520 242.7 -9.6 160 2526 roll -0.62 - - 2711 - 2.38 0.054 3223 584.0 -116.8 - - 3264 - - - - - - - - 14.86 14.52 14.88
2602 250.9 -9.7 172 2616 done -0.62 - - 2711 - 2.33 0.038 1825 -600.0 -116.8 - - 3264 - - - - - - - - 14.69 14.60 14.71
2972 288.9 -10.3 182 2986 roll -0.62 - - 2708 - 2.40 0.060 430 -581.2 -116.8 - - 3261 - - - - - - - - 14.92 14.57 14.95
3092 302.0 -11.2 198 3105 done -0.62 - - 2702 - 2.30 0.032 1826 607.0 -116.8 - - 3260 - - - - - - - - 14.72 14.66 14.74
3434 338.5 -10.5 211 3447 roll -0.62 - - 2702 - 2.42 0.058 427 -578.1 -116.8 - - 3257 - - - - - - - - 14.93 14.57 14.95
3482 343.8 -11.4 217 3496 done -0.51 0.28 0.253 2756 192.9 2.33 0.034 1833 603.4 -116.8 - - 3257 - - - - - - - - 14.21 14.66 14.50
3839 370.8 -7.3 225 3852 roll -0.51 - - 2751 - 2.35 0.056 3223 591.5 -116.8 - - 3254 - - - - - - - - 14.95 14.57 14.97
3914 376.2 -7.0 235 3927 done -0.51 - - 2748 - 2.33 0.038 1824 -600.4 -116.8 - - 3254 - - - - - - - - 14.71 14.63 14.73
4243 400.8 -7.6 246 4256 roll -0.51 - - 2748 - 2.40 0.060 432 -580.0 -116.8 - - 3252 - - - - - - - - 14.93 14.57 14.95
4361 410.6 -8.2 262 4374 done -0.51 - - 2739 - 2.33 0.034 1837 603.0 -116.8 - - 3251 - - - - - - - - 14.71 14.66 14.74
4704 439.8 -8.7 275 4717 done -0.51 - - 2739 - - - 1837 - -116.8 - - 3250 - - - - - - - - 14.93 14.96 14.95
5040 467.8 -8.3 281 5053 roll -0.51 - - 2728 - 2.35 0.054 3222 589.4 -116.8 - - 3248 - - - - - - - - 14.94 14.53 14.96
5087 471.8 -8.0 287 5100 done -0.51 0.15 0.233 2761 220.0 2.33 0.038 1823 -600.4 -116.8 - - 3248 - - - - - - - - 14.27 14.62 14.52
5444 497.7 -7.3 295 5458 roll -0.51 - - 2761 - 2.42 0.060 425 -577.7 -116.8 - - 3247 - - - - - - - - 14.95 14.53 14.97
5534 505.0 -7.7 307 5547 done -0.51 - - 2754 - 2.33 0.033 1837 606.0 -116.8 - - 3246 - - - - - - - - 14.71 14.65 14.73
5906 532.8 -7.5 317 5919 roll -0.51 - - 2744 - 2.35 0.055 3214 586.0 -116.8 - - 3244 - - - - - - - - 14.95 14.53 14.97
5974 538.0 -7.3 326 5987 done -0.51 - - 2744 - 2.33 0.038 1821 -597.9 -116.8 - - 3244 - - - - - - - - 14.66 14.59 14.70
6310 563.3 -7.6 338 6323 roll -0.51 - - 2744 - 2.42 0.061 427 -576.0 -116.8 - - 3243 - - - - - - - - 14.91 14.52 14.93
6441 574.0 -8.0 356 6454 done -0.51 - - 2735 - 2.33 0.033 1830 602.1 -116.8 - - 3240 - - - - - - - - 14.69 14.63 14.71
6769 598.9 -7.6 367 6783 roll -0.51 - - 2724 - 2.38 0.057 3216 582.4 -116.8 - - 3241 - - - - - - - - 14.92 14.50 14.94
6838 603.9 -7.3 376 6852 done -0.51 0.15 0.232 2757 220.0 2.33 0.040 1826 -596.6 -116.8 - - 3241 - - - - - - - - 14.23 14.59 14.48
7174 623.5 -5.7 388 7187 roll -0.51 - - 2757 - 2.42 0.060 431 -576.4 -116.8 - - 3240 - - - - - - - - 14.92 14.50 14.93
7323 633.0 -6.6 408 7336 done -0.51 - - 2752 - 2.33 0.035 1830 600.4 -116.8 - - 3238 - - - - - - - - 14.66 14.61 14.69
7693 657.2 -6.6 418 7706 roll -0.51 - - 2740 - 2.40 0.057 3223 580.4 -116.8 - - 3237 - - - - - - - - 14.93 14.47 14.95
7813 665.7 -7.3 434 7826 done -0.51 - - 2740 - 2.35 0.040 1824 -595.3 -116.8 - - 3236 - - - - - - - - 14.64 14.57 14.67
8155 691.8 -7.7 447 8168 roll -0.51 - - 2740 - 2.42 0.062 432 -575.2 -116.8 - - 3236 - - - - - - - - 14.90 14.37 14.92
8280 702.6 -8.6 464 8294 done -0.51 0.12 0.262 2757 141.7 2.35 0.034 1835 597.0 -116.8 - - 3236 - - - - - - - - 14.16 14.57 14.41
8619 726.2 -6.9 476 8632 roll -0.61 - - 2749 - 2.40 0.057 3225 579.2 -116.8 - - 3237 - - - - - - - - 14.88 14.45 14.89
8653 728.6 -6.8 480 8667 done -0.71 0.15 0.116 2693 -373.3 2.35 0.038 1826 -595.3 -116.8 - - 3233 - - - - - - - - 14.49 14.54 14.59
9024 762.9 -9.3 490 9037 roll -0.71 - - 2692 - 2.45 0.062 431 -569.4 -116.8 - - 3233 - - - - - - - - 14.92 14.43 14.94
9148 775.2 -9.7 507 9161 done -0.71 - - 2683 - 2.35 0.035 1832 596.2 -116.8 - - 3232 - - - - - - - - 14.64 14.57 14.66
9484 806.9 -9.6 519 9497 roll -0.71 - - 2672 - 2.40 0.058 3222 579.2 -116.8 - - 3232 - - - - - - - - 14.89 14.43 14.90
9524 811.0 -10.2 524 9537 done -0.71 - - 2672 - 2.35 0.041 1827 -593.6 -116.8 - - 3231 - - - - - - - - 14.61 14.55 14.64
9888 845.9 -9.6 533 9901 roll -0.71 - - 2672 - 2.45 0.062 432 -569.4 -116.8 - - 3231 - - - - - - - - 14.91 14.40 14.93
10020 859.6 -10.0 551 10033 done -0.61 0.28 0.269 2725 189.3 2.35 0.036 1830 594.9 -116.8 - - 3230 - - - - - - - - 13.97 14.54 14.32
10349 883.6 -7.2 562 10363 roll -0.61 - - 2717 - 2.42 0.059 3220 574.4 -116.8 - - 3230 - - - - - - - - 14.87 14.42 14.90
10432 889.7 -7.2 573 10445 done -0.61 - - 2717 - 2.38 0.041 1827 -585.3 -116.8 - - 3229 - - - - - - - - 14.57 14.49 14.60
10753 913.9 -7.6 583 10766 roll -0.61 - - 2722 - 2.47 0.063 427 -566.8 -116.8 - - 3232 - - - - - - - - 14.90 14.38 14.92
10865 922.7 -8.2 598 10878 done -0.61 - - 2708 - 2.40 0.036 1837 587.5 -116.8 - - 3229 - - - - - - - - 14.58 14.52 14.60
11207 949.1 -7.7 605 11221 roll -0.61 - - 2697 - 2.40 0.058 3219 575.8 -116.8 - - 3228 - - - - - - - - 14.90 14.39 14.92
11262 953.4 -7.9 612 11277 done -0.61 0.15 0.247 2728 206.7 2.38 0.041 1825 -585.7 -116.8 - - 3228 - - - - - - - - 14.08 14.47 14.35
11606 976.3 -6.6 619 11619 roll -0.61 - - 2728 - 2.47 0.063 428 -565.6 -116.8 - - 3227 - - - - - - - - 14.88 14.37 14.89
11777 989.4 -9.5 642 11791 done -0.61 - - 2721 - 2.38 0.036 1832 589.9 -116.8 - - 3227 - - - - - - - - 14.56 14.50 14.59
11833 end dive: TARGET_DEPTH_EXCEEDED
11833 begin apogee
11841 993.1 -6.8 644 11971 done -0.21 0.52 0.233 2854 255.8 - - 1710 - - 120.18 2.200 2793 -3.6 0.311 - - - - - - 14.11 13.95 13.09
11973 end apogee: CONTROL_FINISHED_OK
11973 begin climb
11976 997.3 - 646 12125 roll 0.84 1.17 0.154 3204 299.1 2.60 0.066 345 -525.0 116.8 125.65 2.147 2303 -3.9 0.346 - - - - - - 13.93 13.67 12.86
12159 986.2 9.8 675 12172 done 0.84 - - 3204 - 2.42 0.031 1738 575.6 116.8 - - 2297 - - - - - - - - 14.02 13.97 14.04
12523 951.2 9.6 684 12536 roll 0.84 - - 3204 - 2.38 0.051 3114 578.2 116.8 - - 2293 - - - - - - - - 14.69 14.39 14.71
12585 944.9 10.0 692 12599 done 0.74 0.20 0.269 3172 -160.0 2.33 0.041 1747 -586.7 116.8 - - 2291 - - - - - - - - 14.11 14.45 14.41
12928 917.4 7.9 705 12941 roll 0.74 - - 3180 - 2.53 0.067 328 -560.9 116.8 - - 2291 - - - - - - - - 14.78 14.42 14.80
12990 912.3 8.4 713 13005 done 0.74 - - 3179 - 2.33 0.033 1726 600.0 116.8 - - 2290 - - - - - - - - 14.54 14.51 14.56
13334 885.2 7.9 726 13347 roll 0.74 - - 3180 - 2.40 0.050 3122 581.7 116.8 - - 2290 - - - - - - - - 14.82 14.47 14.84
13417 878.3 8.2 737 13431 done 0.74 - - 3188 - 2.38 0.041 1728 -585.7 116.8 - - 2290 - - - - - - - - 14.59 14.52 14.64
13739 853.3 7.7 747 13752 roll 0.74 - - 3199 - 2.47 0.067 333 -564.8 119.2 - - 2290 - - - - - - - - 14.83 14.43 14.85
13786 849.3 8.5 753 13800 done 0.74 0.12 0.260 3175 -200.0 2.33 0.033 1740 603.9 119.2 - - 2290 - - - - - - - - 14.19 14.58 14.47
14144 823.9 7.1 761 14173 roll 0.76 - - 3174 - 2.40 0.052 3113 572.1 133.6 13.27 1.969 2242 -3.6 0.289 - - - - - - 14.85 14.62 13.69
14221 817.9 7.9 772 14234 done 0.76 - - 3180 - 2.35 0.041 1728 -589.4 133.6 - - 2238 - - - - - - - - 14.59 14.51 14.62
14542 792.5 8.0 782 14556 roll 0.76 - - 3191 - 2.50 0.067 326 -560.8 133.6 - - 2238 - - - - - - - - 14.79 14.41 14.81
14611 786.5 8.7 791 14624 done 0.76 - - 3191 - 2.33 0.032 1724 600.0 133.6 - - 2237 - - - - - - - - 14.62 14.57 14.65
14946 758.0 8.6 803 14959 roll 0.76 - - 3191 - 2.38 0.050 3110 582.4 133.6 - - 2237 - - - - - - - - 14.82 14.46 14.84
15021 751.2 9.0 813 15034 done 0.76 - - 3200 - 2.35 0.041 1726 -588.9 133.6 - - 2239 - - - - - - - - 14.57 14.49 14.61
15349 722.5 8.8 824 15362 roll 0.76 - - 3211 - 2.50 0.067 325 -560.4 133.6 - - 2236 - - - - - - - - 14.86 14.40 14.88
15397 718.2 9.3 830 15411 done 0.66 0.28 0.234 3147 -228.6 2.35 0.032 1743 603.4 133.6 - - 2236 - - - - - - - - 14.10 14.56 14.42
15754 694.4 6.5 838 15797 roll 0.70 - - 3147 - 2.40 0.053 3103 566.7 158.5 27.55 1.831 2137 -3.6 0.260 - - - - - - 14.84 14.52 13.71
15853 687.2 7.8 852 15866 done 0.70 - - 3153 - 2.35 0.043 1732 -583.4 160.3 - - 2130 - - - - - - - - 14.50 14.42 14.53
16209 660.5 7.5 860 16226 roll 0.70 - - 3165 - 2.50 0.067 335 -558.8 166.4 2.22 0.427 2111 -8.6 2.525 - - - - - - 14.76 14.45 13.35
16295 653.5 8.0 872 16308 done 0.70 - - 3164 - 2.33 0.033 1725 596.6 166.4 - - 2113 - - - - - - - - 14.59 14.54 14.60
16666 625.1 7.7 882 16679 roll 0.71 - - 3164 - 2.40 0.050 3113 578.3 168.8 - - 2113 - - - - - - - - 14.82 14.42 14.84
16721 620.4 8.4 889 16736 done 0.71 - - 3173 - 2.38 0.041 1726 -582.8 168.8 - - 2113 - - - - - - - - 14.56 14.47 14.58
17066 592.3 8.2 896 17079 roll 0.71 - - 3182 - 2.50 0.067 322 -561.6 168.8 - - 2113 - - - - - - - - 14.81 14.39 14.82
17169 583.3 8.7 910 17182 done 0.71 - - 3183 - 2.35 0.031 1731 599.6 168.8 - - 2113 - - - - - - - - 14.60 14.54 14.62
17525 554.3 8.1 918 17538 roll 0.71 - - 3183 - 2.38 0.050 3115 581.5 168.8 - - 2113 - - - - - - - - 14.83 14.42 14.86
17622 546.2 8.2 931 17636 done 0.71 0.15 0.262 3162 -140.0 2.38 0.043 1726 -583.6 168.8 - - 2113 - - - - - - - - 14.09 14.49 14.37
17986 521.0 6.9 940 18029 roll 0.73 - - 3170 - 2.50 0.067 333 -557.2 186.3 27.50 1.620 2022 -3.3 0.203 - - - - - - 14.86 14.52 13.78
18085 513.2 8.5 954 18098 done 0.73 - - 3170 - 2.35 0.033 1735 596.6 186.3 - - 2017 - - - - - - - - 14.53 14.48 14.55
18441 482.1 8.9 962 18454 roll 0.73 - - 3170 - 2.38 0.051 3111 578.2 186.3 - - 2015 - - - - - - - - 14.76 14.41 14.78
18524 474.2 9.6 973 18537 done 0.73 - - 3178 - 2.38 0.041 1728 -581.1 186.3 - - 2014 - - - - - - - - 14.53 14.45 14.57
18845 444.4 9.2 983 18858 roll 0.73 - - 3188 - 2.50 0.067 329 -559.6 186.3 - - 2014 - - - - - - - - 14.82 14.36 14.84
18927 436.7 9.2 994 18941 done 0.73 - - 3188 - 2.35 0.032 1729 595.7 186.3 - - 2015 - - - - - - - - 14.58 14.52 14.61
19249 410.2 8.1 1004 19262 roll 0.73 - - 3188 - 2.38 0.050 3118 583.6 186.3 - - 2014 - - - - - - - - 14.81 14.43 14.83
19282 407.3 8.4 1008 19296 done 0.73 0.15 0.249 3166 -146.7 2.35 0.040 1731 -590.2 186.3 - - 2015 - - - - - - - - 14.13 14.49 14.42
19653 382.2 6.8 1018 19684 roll 0.75 - - 3174 - 2.50 0.067 331 -560.0 206.1 19.38 1.468 1945 -3.6 0.179 - - - - - - 14.85 14.57 13.86
19747 375.1 7.9 1031 19760 done 0.75 - - 3174 - 2.33 0.032 1731 600.9 206.1 - - 1938 - - - - - - - - 14.57 14.52 14.59
20110 344.9 8.6 1040 20123 roll 0.75 - - 3174 - 2.38 0.049 3114 581.1 206.1 - - 1936 - - - - - - - - 14.81 14.41 14.83
20158 340.4 9.6 1046 20171 done 0.75 - - 3182 - 2.35 0.041 1731 -588.5 206.1 - - 1936 - - - - - - - - 14.54 14.47 14.58
20514 306.8 9.4 1054 20528 roll 0.75 - - 3192 - 2.50 0.067 328 -561.2 206.1 - - 1935 - - - - - - - - 14.80 14.39 14.83
20610 297.6 9.4 1067 20624 done 0.75 - - 3192 - 2.35 0.031 1730 596.6 206.1 - - 1935 - - - - - - - - 14.59 14.54 14.62
20974 264.9 9.0 1076 20988 roll 0.75 - - 3192 - 2.40 0.049 3119 578.8 206.1 - - 1933 - - - - - - - - 14.82 14.43 14.84
21029 259.7 9.3 1083 21043 done 0.75 - - 3201 - 2.38 0.039 1727 -584.9 206.1 - - 1934 - - - - - - - - 14.56 14.47 14.59
21373 228.3 9.2 1090 21387 roll 0.75 - - 3211 - 2.47 0.064 329 -566.0 206.1 - - 1936 - - - - - - - - 14.85 14.38 14.88
21470 218.5 10.1 1103 21483 done 0.75 0.15 0.230 3179 -213.3 2.35 0.031 1745 602.6 206.1 - - 1935 - - - - - - - - 14.12 14.48 14.37
21833 187.2 8.6 1112 21846 roll 0.75 - - 3179 - 2.33 0.049 3101 582.0 206.1 - - 1935 - - - - - - - - 14.87 14.43 14.88
21860 184.9 8.3 1115 21873 done 0.75 - - 3184 - 2.33 0.041 1731 -588.0 206.1 - - 1935 - - - - - - - - 14.50 14.42 14.57
22181 159.4 7.9 1125 22194 roll 0.75 - - 3195 - 2.50 0.064 326 -562.0 206.1 - - 1935 - - - - - - - - 14.84 14.38 14.86
22271 152.1 7.9 1137 22284 done 0.75 - - 3195 - 2.33 0.031 1729 602.1 206.1 - - 1935 - - - - - - - - 14.62 14.58 14.65
22642 121.9 8.4 1147 22655 roll 0.75 - - 3195 - 2.35 0.047 3113 588.9 206.1 - - 1933 - - - - - - - - 14.88 14.44 14.90
22675 119.0 8.5 1151 22689 done 0.75 0.12 0.248 3178 -141.7 2.33 0.038 1727 -594.8 206.1 - - 1936 - - - - - - - - 14.16 14.48 14.44
23022 94.1 7.1 1162 23043 roll 0.87 - - 3187 - 2.47 0.064 333 -564.4 219.5 7.00 0.272 1901 -5.0 0.330 - - - - - - 14.81 14.51 14.12
23165 84.3 6.5 1182 23206 done 1.01 0.20 0.104 3260 365.0 2.33 0.031 1739 603.4 244.6 27.40 0.337 1797 -3.8 0.181 - - - - - - 14.43 14.50 14.26
23528 56.8 5.7 1201 23579 roll 1.05 - - 3260 - 2.30 0.045 3114 597.8 284.1 38.90 0.274 1635 -4.2 0.165 - - - - - - 14.81 14.47 14.30
23768 42.4 5.4 1235 23822 done 1.23 0.17 0.108 3331 417.6 2.33 0.039 1732 -593.1 330.3 41.95 0.236 1446 -4.5 0.154 - - - - - - 14.45 14.49 14.28
24145 17.5 5.5 1255 24195 roll 1.28 - - 3342 - 2.50 0.063 327 -562.0 373.6 34.33 0.168 1269 -5.2 0.102 - - - - - - 14.78 14.47 14.35
24281 8.7 7.5 1274 24300 done 1.39 - - 3341 - 2.33 0.029 1750 610.7 379.7 6.28 0.145 1242 -4.3 0.049 - - - - - - 14.61 14.55 14.30
24401 end climb: SURFACE_DEPTH_REACHED
24402 begin surface coast
24430 end surface coast: CONTROL_FINISHED_OK
24430 begin surface
SM 1.13 - - - - -8.60 9.23 0.052 163 17.6 - - 1759 - 515.13 81.20 0.123 691 8.5 -0.008 - - - - - -