SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 346 * Raw log
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• Previous call tries 1 • 131.69 of 350.00 AH used of 24V (62.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.12 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 41 s
• GPS2 time: 13 s • Transponder ping count: 5
• 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
29 - - - 116 done -0.84 - - 152 - - - 1824 - -116.8 -82.47 - 3272 - - - - - - - - 14.69 12.91 14.70
119 6.8 -10.0 3 137 roll -0.84 12.55 0.395 2643 198.5 2.35 0.044 3200 585.5 -116.8 - - 3273 - - - - - - - - 14.12 14.52 14.48
214 40.7 -22.6 17 223 done -0.48 0.52 0.251 2770 244.2 2.30 0.040 1827 -597.0 -116.8 - - 3272 - - - - - - - - 14.12 14.48 14.42
529 74.4 -9.4 29 537 roll -0.48 - - 2763 - 2.33 0.050 3199 588.8 -116.8 - - 3277 - - - - - - - - 14.80 14.49 14.81
634 83.8 -8.6 44 642 done -0.48 - - 2763 - 2.30 0.036 1825 -597.4 -116.8 - - 3276 - - - - - - - - 14.60 14.53 14.62
979 110.5 -7.8 55 985 roll -0.48 - - 2763 - 2.40 0.057 428 -582.1 -116.8 - - 3277 - - - - - - - - 14.83 14.51 14.85
1019 114.5 -9.5 61 1026 done -0.48 - - 2754 - 2.28 0.030 1817 609.2 -116.8 - - 3277 - - - - - - - - 14.66 14.61 14.68
1370 145.0 -8.6 69 1378 roll -0.48 - - 2744 - 2.38 0.051 3224 591.2 -116.8 - - 3275 - - - - - - - - 14.84 14.50 14.86
1406 148.0 -8.1 74 1413 done -0.48 0.12 0.229 2770 216.7 2.33 0.037 1821 -602.1 -116.8 - - 3275 - - - - - - - - 14.31 14.57 14.51
1763 174.1 -7.3 83 1769 roll -0.48 - - 2770 - 2.40 0.059 428 -580.4 -116.8 - - 3272 - - - - - - - - 14.85 14.49 14.87
1846 181.1 -8.4 95 1853 done -0.48 - - 2763 - 2.30 0.031 1830 609.6 -116.8 - - 3271 - - - - - - - - 14.66 14.62 14.68
2212 211.4 -8.4 105 2214 done -0.48 - - 2764 - - - 1830 - -116.8 - - 3269 - - - - - - - - 14.85 14.88 14.88
2547 238.6 -7.9 111 2549 done -0.48 - - 2763 - - - 1830 - -116.8 - - 3266 - - - - - - - - 14.86 14.89 14.88
2883 264.4 -7.8 117 2896 roll -0.48 - - 2764 - 2.42 0.058 430 -578.5 -116.8 - - 3264 - - - - - - - - 14.92 14.53 14.95
2938 269.0 -8.5 124 2952 done -0.48 - - 2755 - 2.33 0.034 1825 598.7 -116.8 - - 3263 - - - - - - - - 14.70 14.64 14.72
3282 297.0 -8.2 131 3295 roll -0.48 - - 2744 - 2.38 0.054 3224 587.8 -116.8 - - 3261 - - - - - - - - 14.92 14.56 14.95
3378 305.1 -8.5 144 3392 done -0.48 0.12 0.230 2770 216.7 2.33 0.037 1823 -601.3 -116.8 - - 3260 - - - - - - - - 14.33 14.63 14.55
3742 333.8 -8.0 153 3756 roll -0.48 - - 2770 - 2.40 0.059 431 -580.0 -116.8 - - 3258 - - - - - - - - 14.95 14.54 14.97
3881 345.8 -8.5 172 3894 done -0.48 - - 2764 - 2.30 0.032 1836 610.9 -116.8 - - 3257 - - - - - - - - 14.73 14.67 14.75
4203 371.2 -7.9 182 4216 roll -0.48 - - 2754 - 2.33 0.053 3215 591.8 -116.8 - - 3255 - - - - - - - - 14.92 14.56 14.93
4236 373.9 -7.8 186 4249 done -0.48 - - 2754 - 2.30 0.038 1832 -601.3 -116.8 - - 3255 - - - - - - - - 14.70 14.62 14.73
4606 403.7 -8.1 196 4619 roll -0.48 - - 2753 - 2.45 0.060 424 -574.7 -116.8 - - 3253 - - - - - - - - 14.96 14.52 14.97
4738 415.2 -8.6 214 4752 done -0.48 - - 2745 - 2.33 0.032 1832 604.3 -116.8 - - 3252 - - - - - - - - 14.71 14.66 14.73
5066 443.7 -8.8 225 5080 roll -0.48 - - 2734 - 2.38 0.056 3224 584.9 -116.8 - - 3251 - - - - - - - - 14.93 14.54 14.95
5122 448.5 -8.7 232 5136 done -0.48 0.15 0.224 2768 226.7 2.35 0.038 1823 -596.2 -116.8 - - 3251 - - - - - - - - 14.26 14.59 14.49
5465 472.8 -6.9 239 5479 roll -0.58 - - 2768 - 2.42 0.058 430 -575.6 -116.8 - - 3250 - - - - - - - - 14.95 14.50 14.96
5616 484.0 -7.6 259 5629 done -0.68 0.15 0.125 2708 -400.0 2.33 0.033 1837 603.9 -116.8 - - 3249 - - - - - - - - 14.52 14.64 14.63
5986 519.1 -9.6 269 5999 done -0.68 - - 2708 - - - 1837 - -116.8 - - 3247 - - - - - - - - 14.95 14.96 14.97
6323 551.9 -9.8 275 6336 roll -0.68 - - 2698 - 2.35 0.054 3214 586.0 -116.8 - - 3245 - - - - - - - - 14.95 14.50 14.97
6386 558.3 -10.3 283 6399 done -0.68 - - 2698 - 2.33 0.038 1830 -594.0 -116.8 - - 3245 - - - - - - - - 14.65 14.57 14.67
6728 594.4 -10.5 296 6741 roll -0.68 - - 2697 - 2.42 0.060 432 -577.7 -116.8 - - 3244 - - - - - - - - 14.92 14.48 14.94
6860 608.7 -10.3 314 6873 done -0.68 - - 2688 - 2.33 0.034 1829 599.6 -116.8 - - 3244 - - - - - - - - 14.66 14.59 14.68
7188 642.2 -10.2 325 7201 roll -0.68 - - 2678 - 2.40 0.057 3224 581.2 -116.8 - - 3243 - - - - - - - - 14.91 14.47 14.93
7235 647.1 -10.3 331 7249 done -0.68 0.15 0.252 2709 206.7 2.35 0.039 1827 -594.5 -116.8 - - 3243 - - - - - - - - 14.12 14.54 14.43
7593 678.6 -8.8 339 7606 roll -0.68 - - 2709 - 2.45 0.060 427 -571.4 -116.8 - - 3241 - - - - - - - - 14.92 14.45 14.95
7731 691.8 -9.4 358 7744 done -0.68 - - 2702 - 2.35 0.034 1836 599.6 -116.8 - - 3240 - - - - - - - - 14.65 14.59 14.68
8053 721.8 -9.5 368 8066 roll -0.68 - - 2687 - 2.38 0.055 3218 580.7 -116.8 - - 3239 - - - - - - - - 14.90 14.46 14.92
8086 725.3 -10.1 372 8100 done -0.68 - - 2691 - 2.33 0.039 1833 -594.4 -116.8 - - 3239 - - - - - - - - 14.63 14.54 14.65
8457 761.7 -9.8 382 8470 roll -0.68 - - 2690 - 2.47 0.062 427 -569.2 -116.8 - - 3238 - - - - - - - - 14.92 14.42 14.92
8576 773.9 -10.2 398 8590 done -0.68 0.12 0.283 2706 133.3 2.35 0.034 1829 596.6 -116.8 - - 3238 - - - - - - - - 14.09 14.57 14.36
8919 803.5 -8.5 411 8932 roll -0.68 - - 2697 - 2.40 0.057 3218 578.8 -116.8 - - 3236 - - - - - - - - 14.90 14.43 14.92
8967 807.5 -8.4 417 8980 done -0.68 - - 2697 - 2.35 0.040 1827 -591.9 -116.8 - - 3237 - - - - - - - - 14.59 14.52 14.62
9323 837.7 -8.5 425 9336 roll -0.68 - - 2697 - 2.45 0.062 431 -569.8 -116.8 - - 3236 - - - - - - - - 14.92 14.39 14.94
9448 850.1 -9.5 442 9462 done -0.68 - - 2688 - 2.35 0.035 1835 597.4 -116.8 - - 3236 - - - - - - - - 14.62 14.55 14.64
9784 880.9 -9.5 454 9797 done -0.68 - - 2688 - - - 1829 - -116.8 - - 3235 - - - - - - - - 14.88 14.90 14.90
10120 912.7 -9.4 460 10133 done -0.68 - - 2688 - - - 1830 - -116.8 - - 3233 - - - - - - - - 14.88 14.90 14.90
10457 943.7 -9.2 466 10470 done -0.68 - - 2688 - - - 1830 - -116.8 - - 3233 - - - - - - - - 14.88 14.90 14.89
10792 972.9 -8.5 472 10805 roll -0.68 - - 2678 - 2.42 0.060 3213 571.5 -116.8 - - 3230 - - - - - - - - 14.88 14.39 14.90
10818 975.2 -9.1 475 10832 done -0.68 0.15 0.255 2708 200.0 2.38 0.041 1823 -584.0 -116.8 - - 3232 - - - - - - - - 14.04 14.48 14.33
11024 end dive: TARGET_DEPTH_EXCEEDED
11024 begin apogee
11033 990.6 -7.3 483 11164 done -0.21 0.57 0.219 2858 263.2 - - 1672 - - 120.62 2.177 2792 -3.6 0.317 - - - - - - 14.02 13.96 13.07
11165 end apogee: CONTROL_FINISHED_OK
11165 begin climb
11169 994.6 - 485 11315 roll 0.84 1.15 0.149 3193 291.3 2.60 0.049 3064 535.4 116.8 124.57 2.139 2304 -3.9 0.347 - - - - - - 13.94 13.71 12.86
11371 981.0 8.5 517 11384 done 0.84 - - 3202 - 2.42 0.040 1685 -569.8 116.8 - - 2297 - - - - - - - - 14.12 14.04 14.13
11714 947.0 9.9 530 11727 roll 0.84 - - 3213 - 2.42 0.066 328 -560.7 116.8 - - 2294 - - - - - - - - 14.71 14.40 14.73
11748 943.5 11.2 534 11762 done 0.84 - - 3213 - 2.28 0.031 1697 600.4 116.8 - - 2294 - - - - - - - - 14.59 14.54 14.61
12119 905.4 10.2 544 12132 roll 0.73 0.17 0.260 3169 -258.8 2.33 0.047 3061 585.4 116.8 - - 2293 - - - - - - - - 14.16 14.43 14.35
12241 895.1 8.4 560 12254 done 0.73 - - 3176 - 2.35 0.044 1680 -587.7 116.8 - - 2292 - - - - - - - - 14.62 14.54 14.65
12583 867.3 8.0 573 12596 roll 0.73 - - 3187 - 2.40 0.067 326 -564.2 116.8 - - 2292 - - - - - - - - 14.84 14.47 14.86
12630 863.3 9.5 579 12644 done 0.73 - - 3186 - 2.25 0.032 1688 605.3 116.8 - - 2291 - - - - - - - - 14.66 14.62 14.69
12988 835.9 7.8 587 13001 roll 0.74 - - 3186 - 2.35 0.050 3057 582.6 118.4 - - 2291 - - - - - - - - 14.86 14.48 14.88
13098 827.1 7.9 602 13113 done 0.74 - - 3195 - 2.38 0.041 1673 -581.5 118.4 - - 2290 - - - - - - - - 14.60 14.51 14.63
13443 801.1 7.5 609 13456 roll 0.74 - - 3206 - 2.40 0.063 321 -563.3 125.5 1.70 0.168 2276 -8.2 7.491 - - - - - - 14.87 14.36 14.26
13484 797.8 7.4 614 13514 done 0.76 0.15 0.256 3175 -206.7 2.25 0.031 1692 609.3 134.8 15.23 1.962 2235 -2.7 0.209 - - - - - - 14.15 14.59 13.66
13843 772.7 7.0 630 13874 roll 0.78 - - 3175 - 2.33 0.049 3054 584.5 151.3 17.67 1.921 2170 -3.7 0.282 - - - - - - 14.80 14.34 13.66
13936 765.7 7.7 643 13949 done 0.78 - - 3185 - 2.35 0.041 1677 -586.0 154.4 - - 2164 - - - - - - - - 14.54 14.46 14.56
14300 737.0 8.1 652 14313 roll 0.78 - - 3188 - 2.40 0.067 320 -565.4 154.4 - - 2160 - - - - - - - - 14.78 14.41 14.80
14347 732.6 9.0 658 14361 done 0.78 - - 3191 - 2.25 0.032 1676 602.7 154.4 - - 2160 - - - - - - - - 14.62 14.56 14.64
14704 700.9 8.9 666 14717 roll 0.78 - - 3191 - 2.38 0.049 3066 584.0 154.4 - - 2160 - - - - - - - - 14.84 14.46 14.86
14808 691.3 9.2 680 14821 done 0.78 - - 3200 - 2.40 0.044 1675 -579.6 154.4 - - 2159 - - - - - - - - 14.59 14.50 14.62
15164 659.7 8.8 688 15177 done 0.78 - - 3201 - - - 1674 - 154.4 - - 2159 - - - - - - - - 14.87 14.89 14.89
15500 631.4 8.3 694 15513 roll 0.78 - - 3201 - 2.38 0.047 3060 582.4 154.4 - - 2159 - - - - - - - - 14.88 14.45 14.90
15534 628.5 8.5 698 15548 done 0.78 - - 3209 - 2.38 0.041 1676 -581.5 154.4 - - 2159 - - - - - - - - 14.59 14.51 14.62
15906 595.5 9.0 708 15919 roll 0.78 - - 3220 - 2.40 0.065 321 -564.6 154.4 - - 2159 - - - - - - - - 14.84 14.40 14.86
15946 591.3 10.0 713 15960 done 0.78 0.17 0.240 3182 -223.5 2.25 0.031 1695 610.7 154.4 - - 2159 - - - - - - - - 14.13 14.59 14.40
16311 558.7 9.0 722 16324 roll 0.78 - - 3182 - 2.35 0.050 3052 577.4 154.4 - - 2159 - - - - - - - - 14.87 14.43 14.89
16365 553.4 9.5 729 16379 done 0.78 - - 3188 - 2.35 0.041 1679 -584.3 154.4 - - 2159 - - - - - - - - 14.56 14.47 14.59
16710 524.1 8.3 736 16723 roll 0.78 - - 3188 - 2.38 0.048 3056 578.6 154.4 - - 2159 - - - - - - - - 14.84 14.42 14.86
16757 520.1 8.0 742 16770 done 0.78 - - 3197 - 2.35 0.041 1677 -586.8 154.4 - - 2159 - - - - - - - - 14.57 14.47 14.60
17113 493.3 7.5 750 17130 roll 0.79 - - 3208 - 2.40 0.067 327 -562.5 161.2 3.72 1.096 2133 -7.0 0.600 - - - - - - 14.88 14.62 13.48
17158 489.8 7.9 756 17172 done 0.79 - - 3208 - 2.20 0.031 1675 612.7 161.2 - - 2136 - - - - - - - - 14.68 14.62 14.69
17515 461.5 8.0 764 17529 roll 0.79 - - 3208 - 2.35 0.048 3051 585.5 161.2 - - 2135 - - - - - - - - 14.85 14.47 14.87
17612 453.3 8.5 777 17625 done 0.79 0.12 0.273 3190 -150.0 2.35 0.044 1679 -583.8 161.2 - - 2137 - - - - - - - - 14.06 14.40 14.31
17976 425.7 7.7 786 17994 roll 0.79 - - 3198 - 2.42 0.066 322 -560.7 164.8 3.33 0.936 2121 -4.8 0.417 - - - - - - 14.84 14.58 13.51
18021 422.0 7.9 792 18034 done 0.79 - - 3198 - 2.22 0.031 1679 611.3 164.8 - - 2126 - - - - - - - - 14.68 14.62 14.69
18378 394.2 7.8 800 18395 roll 0.79 - - 3198 - 2.38 0.048 3048 575.2 165.9 2.78 0.713 2117 -3.2 0.341 - - - - - - 14.86 14.59 13.49
18471 386.3 8.6 813 18484 done 0.79 - - 3207 - 2.35 0.042 1672 -585.5 165.9 - - 2121 - - - - - - - - 14.61 14.53 14.64
18835 354.6 9.0 822 18849 roll 0.79 - - 3223 - 2.40 0.064 316 -565.0 165.9 - - 2120 - - - - - - - - 14.86 14.41 14.88
18967 341.1 10.2 840 18980 done 0.79 0.15 0.234 3186 -246.7 2.28 0.029 1695 604.8 165.9 - - 2123 - - - - - - - - 14.16 14.58 14.40
19296 313.6 8.2 851 19309 roll 0.79 - - 3186 - 2.33 0.050 3047 580.3 165.9 - - 2122 - - - - - - - - 14.88 14.44 14.89
19336 310.2 8.2 856 19349 done 0.79 - - 3191 - 2.35 0.041 1673 -584.7 165.9 - - 2123 - - - - - - - - 14.58 14.50 14.61
19699 282.3 7.7 865 19717 roll 0.80 - - 3202 - 2.35 0.064 324 -574.0 169.7 5.28 1.157 2099 -4.5 0.212 - - - - - - 14.85 14.39 13.69
19766 276.9 8.4 874 19779 done 0.80 - - 3202 - 2.20 0.031 1667 610.5 169.7 - - 2104 - - - - - - - - 14.66 14.62 14.69
20101 250.9 7.7 886 20119 roll 0.80 - - 3211 - 2.38 0.066 320 -566.0 173.1 4.50 1.041 2088 -3.6 0.163 - - - - - - 14.87 14.64 13.67
20154 246.7 8.1 893 20167 done 0.80 - - 3208 - 2.28 0.031 1689 600.4 173.1 - - 2098 - - - - - - - - 14.67 14.62 14.69
20497 218.7 8.2 900 20510 roll 0.80 - - 3212 - 2.33 0.047 3059 588.0 173.1 - - 2094 - - - - - - - - 14.84 14.47 14.86
20593 209.9 9.1 913 20607 done 0.80 0.15 0.253 3189 -153.3 2.35 0.041 1670 -591.1 173.1 - - 2095 - - - - - - - - 14.15 14.52 14.42
20958 183.0 7.1 922 20988 done 0.82 - - 3189 - - - 1670 - 186.3 21.50 1.208 2032 -2.9 0.085 - - - - - - 14.87 14.61 13.93
21293 157.5 7.6 928 21306 roll 0.82 - - 3189 - 2.38 0.044 3061 584.5 190.8 - - 2017 - - - - - - - - 14.82 14.47 14.84
21435 147.0 7.5 947 21452 done 0.83 - - 3196 - 2.35 0.041 1676 -589.4 197.4 4.55 0.951 1988 -6.4 0.188 - - - - - - 14.59 14.51 13.71
21809 117.8 7.9 958 21822 done 0.83 - - 3196 - - - 1676 - 197.4 - - 1991 - - - - - - - - 14.85 14.87 14.87
22117 94.9 7.2 964 22148 roll 0.85 - - 3195 - 2.40 0.045 3062 577.5 210.4 14.45 0.341 1936 -3.8 0.202 - - - - - - 14.85 14.55 14.17
22308 81.4 7.2 991 22339 done 0.86 - - 3203 - 2.38 0.041 1672 -584.0 222.4 15.12 0.313 1886 -3.3 0.164 - - - - - - 14.59 14.50 14.17
22658 61.3 4.9 1007 22726 roll 1.05 0.15 0.117 3270 446.7 2.38 0.044 3066 585.7 278.4 54.00 0.287 1664 -4.1 0.167 - - - - - - 14.50 14.57 14.27
22880 46.6 6.5 1039 22917 done 1.08 - - 3278 - 2.38 0.041 1675 -584.5 304.2 25.20 0.242 1552 -4.4 0.163 - - - - - - 14.57 14.49 14.21
23249 26.8 4.6 1058 23310 done 1.33 0.22 0.091 3365 395.5 - - 1675 - 365.3 51.40 0.192 1302 -4.9 0.129 - - - - - - 14.52 14.53 14.30
23607 end climb: SURFACE_DEPTH_REACHED
23607 begin surface coast
23635 end surface coast: CONTROL_FINISHED_OK
23635 begin surface
SM 1.09 - - - - -8.62 9.50 0.067 154 16.2 0.22 0.062 1865 -38822.7 515.13 89.65 0.122 691 7.7 -0.007 - - - - - -