SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 39 * Raw log
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• Previous call tries 1 • 18.52 of 350.00 AH used of 24V (94.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth 1.20 m • Intended pitch -14.8 deg, speed -7.857 cm/s
VBD pumped to 550.21 (SM_CC=550)
• GPS1 time: 41 s
• GPS2 time: 17 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 - - - 106 VBD -0.80 - - 160 - - - 1844 - -146.0 -75.20 - 2791 - - - - - - - - 14.83 - 14.85
110 4.0 -3.8 5 137 roll -0.80 12.12 0.405 2671 207.2 2.50 2.121 461 -553.2 -146.0 -8.82 - 3390 -67.9 - - - - - - - 14.51 13.96 14.72
318 73.4 -23.4 46 326 done -0.65 0.25 0.297 2715 176.0 2.22 0.035 1832 617.6 -146.0 - - 3391 - - - - - - - - 14.64 14.77 14.78
626 110.8 -11.4 64 633 roll -0.58 - - 2708 - 2.33 0.054 3251 609.0 -146.0 - - 3392 - - - - - - - - 14.99 14.83 15.02
859 137.2 -10.6 110 865 done -0.53 0.20 0.244 2754 230.0 2.05 0.037 1971 -624.4 -146.0 - - 3393 - - - - - - - - 14.77 14.87 14.90
1173 163.9 -8.4 122 1179 roll -0.53 - - 2755 - 2.55 0.059 454 -594.9 -146.0 - - 3390 - - - - - - - - 15.04 14.88 15.07
1326 178.5 -9.5 152 1332 done -0.53 - - 2747 - 2.33 0.034 1893 617.6 -146.0 - - 3392 - - - - - - - - 14.98 14.91 14.97
1659 207.8 -8.7 168 1666 roll -0.53 - - 2746 - 2.42 0.058 447 -597.5 -146.0 - - 3388 - - - - - - - - 15.07 14.91 15.09
1731 214.8 -9.6 182 1738 done -0.53 - - 2737 - 2.28 0.035 1867 622.8 -146.0 - - 3387 - - - - - - - - 14.97 14.92 14.99
2055 245.1 -9.5 196 2061 roll -0.53 - - 2727 - 2.28 0.057 3244 603.9 -146.0 - - 3383 - - - - - - - - 15.07 14.92 15.09
2082 247.9 -9.5 201 2090 done -0.53 0.12 0.252 2754 225.0 2.22 0.038 1875 -616.7 -146.0 - - 3384 - - - - - - - - 14.83 14.93 14.96
2388 275.8 -9.2 212 2401 roll -0.53 - - 2754 - 2.38 0.060 448 -599.6 -146.0 - - 3381 - - - - - - - - 15.10 14.93 15.12
2515 288.1 -9.8 235 2530 done -0.53 - - 2747 - 2.22 0.035 1834 624.3 -146.0 - - 3380 - - - - - - - - 15.00 14.97 15.02
2818 317.3 -9.6 246 2831 done -0.53 - - 2743 - - - 1834 - -146.0 - - 3376 - - - - - - - - 15.11 15.14 15.13
3118 346.8 -9.9 256 3131 roll -0.53 - - 2747 - 2.33 0.059 443 -597.0 -146.0 - - 3375 - - - - - - - - 15.12 14.95 15.14
3158 350.8 -10.2 262 3171 done -0.53 - - 2738 - 2.22 0.037 1818 619.4 -146.0 - - 3375 - - - - - - - - 15.02 14.98 15.04
3498 383.3 -9.3 278 3511 roll -0.53 - - 2727 - 2.38 0.057 3252 602.5 -146.0 - - 3371 - - - - - - - - 15.12 14.96 15.14
3542 387.5 -9.4 285 3556 done -0.53 0.12 0.253 2754 225.0 2.33 0.039 1817 -615.9 -146.0 - - 3369 - - - - - - - - 14.88 14.97 15.00
3880 415.5 -8.3 300 3893 roll -0.53 - - 2754 - 2.30 0.062 444 -597.0 -146.0 - - 3369 - - - - - - - - 15.11 14.95 15.14
4015 427.4 -8.2 325 4028 done -0.53 - - 2748 - 2.15 0.036 1783 622.8 -146.0 - - 3368 - - - - - - - - 15.03 14.98 15.04
4350 455.3 -8.5 340 4363 roll -0.53 - - 2737 - 2.42 0.058 3246 604.5 -146.0 - - 3366 - - - - - - - - 15.11 14.95 15.14
4434 462.7 -8.8 355 4448 done -0.53 - - 2736 - 2.35 0.039 1796 -617.0 -146.0 - - 3366 - - - - - - - - 15.02 14.97 15.04
4760 492.1 -9.0 368 4773 roll -0.53 - - 2736 - 2.28 0.063 441 -594.3 -146.0 - - 3364 - - - - - - - - 15.11 14.95 15.14
4882 503.7 -9.3 390 4895 done -0.53 0.12 0.278 2753 141.7 2.12 0.037 1764 624.1 -146.0 - - 3363 - - - - - - - - 14.85 14.97 15.00
5203 529.2 -7.7 402 5216 roll -0.53 - - 2745 - 2.45 0.059 3241 602.9 -146.0 - - 3361 - - - - - - - - 15.11 14.95 15.13
5303 537.0 -7.8 420 5316 done -0.53 - - 2745 - 2.40 0.040 1775 -610.8 -146.0 - - 3361 - - - - - - - - 15.02 14.96 15.03
5643 565.6 -8.6 436 5656 roll -0.53 - - 2745 - 2.25 0.063 448 -589.8 -146.0 - - 3359 - - - - - - - - 15.11 14.95 15.14
5776 578.0 -9.6 460 5789 done -0.53 - - 2737 - 2.12 0.037 1757 617.5 -146.0 - - 3358 - - - - - - - - 15.02 14.97 15.03
6116 611.8 -10.0 476 6130 roll -0.53 - - 2725 - 2.47 0.060 3245 602.4 -146.0 - - 3356 - - - - - - - - 15.11 14.94 15.13
6150 615.3 -10.4 481 6164 done -0.53 0.12 0.259 2753 233.3 2.47 0.041 1739 -609.7 -146.0 - - 3356 - - - - - - - - 14.85 14.95 14.99
6457 642.5 -8.6 492 6470 roll -0.53 - - 2752 - 2.17 0.065 447 -595.4 -146.0 - - 3355 - - - - - - - - 15.11 14.94 15.13
6557 651.3 -8.7 510 6570 done -0.53 - - 2746 - 2.05 0.037 1717 619.5 -146.0 - - 3355 - - - - - - - - 15.01 14.97 15.02
6897 678.7 -7.9 526 6910 roll -0.53 - - 2735 - 2.58 0.060 3252 595.0 -146.0 - - 3353 - - - - - - - - 15.10 14.93 15.16
6991 686.3 -7.8 543 7006 done -0.53 - - 2736 - 2.53 0.041 1723 -604.3 -146.0 - - 3353 - - - - - - - - 14.99 14.95 15.02
7297 712.5 -8.8 554 7310 roll -0.53 - - 2735 - 2.15 0.066 448 -593.0 -146.0 - - 3352 - - - - - - - - 15.10 14.93 15.12
7382 720.5 -9.5 569 7395 done -0.53 0.12 0.276 2752 141.7 2.05 0.037 1718 619.5 -146.0 - - 3352 - - - - - - - - 14.84 14.96 14.98
7707 747.8 -8.4 582 7720 roll -0.53 - - 2743 - 2.55 0.060 3245 598.8 -146.0 - - 3350 - - - - - - - - 15.09 14.93 15.12
7841 759.4 -9.8 607 7855 done -0.53 - - 2744 - 2.47 0.041 1738 -610.1 -146.0 - - 3350 - - - - - - - - 15.00 14.94 15.01
8177 787.1 -8.1 622 8190 roll -0.53 - - 2744 - 2.20 0.065 436 -591.8 -146.0 - - 3349 - - - - - - - - 15.09 14.92 15.11
8211 789.7 -9.0 627 8226 done -0.53 - - 2735 - 2.12 0.038 1739 614.6 -146.0 - - 3350 - - - - - - - - 15.00 14.95 15.01
8517 814.2 -7.7 638 8530 roll -0.53 - - 2724 - 2.53 0.061 3248 596.4 -146.0 - - 3347 - - - - - - - - 15.09 14.92 15.11
8611 821.4 -7.6 655 8626 done -0.53 0.12 0.256 2751 225.0 2.45 0.041 1764 -605.7 -146.0 - - 3347 - - - - - - - - 14.83 14.92 14.96
8917 841.4 -6.5 666 8930 roll -0.53 - - 2747 - 2.25 0.067 438 -589.3 -146.0 - - 3350 - - - - - - - - 15.08 14.91 15.10
8997 847.2 -6.9 680 9010 done -0.53 - - 2745 - 2.15 0.040 1760 614.9 -146.0 - - 3349 - - - - - - - - 14.99 14.94 15.00
9327 870.1 -7.2 694 9340 roll -0.53 - - 2730 - 2.47 0.062 3241 599.6 -146.0 - - 3345 - - - - - - - - 15.08 14.91 15.10
9392 874.9 -7.4 705 9405 done -0.53 - - 2734 - 2.45 0.043 1760 -604.5 -146.0 - - 3345 - - - - - - - - 14.98 14.92 14.99
9697 897.6 -7.4 716 9711 roll -0.53 - - 2734 - 2.22 0.066 447 -591.4 -146.0 - - 3344 - - - - - - - - 15.07 14.90 15.10
9767 903.2 -8.0 728 9781 done -0.53 0.12 0.278 2751 141.7 2.15 0.039 1755 608.4 -146.0 - - 3343 - - - - - - - - 14.81 14.93 14.95
10111 925.8 -6.6 744 10124 roll -0.53 - - 2743 - 2.50 0.063 3242 594.8 -146.0 - - 3343 - - - - - - - - 15.07 14.90 15.09
10240 934.8 -4.1 768 10254 done -0.53 - - 2743 - 2.45 0.043 1770 -600.8 -146.0 - - 3343 - - - - - - - - 14.97 14.91 14.98
10584 959.6 -7.1 784 10597 roll -0.53 - - 2743 - 2.25 0.068 448 -587.6 -146.0 - - 3343 - - - - - - - - 15.07 14.90 15.09
10691 967.1 -6.3 803 10704 done -0.53 - - 2734 - 2.10 0.039 1741 615.7 -146.0 - - 3342 - - - - - - - - 14.97 14.92 14.97
10992 end dive: TARGET_DEPTH_EXCEEDED
10992 begin apogee
11000 990.2 -7.5 817 11157 roll -0.21 0.45 0.232 2856 271.1 - - 1741 - - 147.10 2.189 2793 -3.7 0.312 - - - - - - 14.78 14.00 13.31
11158 end apogee: CONTROL_FINISHED_OK
11158 begin climb
11162 995.6 - 822 11330 roll 0.80 1.15 0.188 3179 280.9 2.60 0.067 325 -544.6 146.0 152.38 2.124 2193 -3.9 0.341 - - - - - - 14.01 14.08 13.26
11507 967.2 7.1 889 11533 done 0.79 - - 3179 - 2.38 0.037 1730 590.3 162.9 14.93 2.003 2127 -4.4 0.395 - - - - - - 14.50 14.44 13.70
11843 930.9 10.7 904 11856 roll 0.79 - - 3189 - 2.47 0.068 328 -567.6 162.9 - - 2112 - - - - - - - - 14.76 14.59 14.78
11972 916.0 12.0 928 11986 done 0.75 - - 3189 - 2.40 0.036 1770 600.8 162.9 - - 2112 - - - - - - - - 14.72 14.67 14.73
12315 878.0 11.2 944 12328 roll 0.72 - - 3189 - 2.28 0.055 3116 590.4 162.9 - - 2111 - - - - - - - - 14.90 14.73 14.92
12395 868.5 11.8 958 12408 done 0.68 0.20 0.282 3154 -175.0 2.22 0.042 1776 -603.6 162.9 - - 2110 - - - - - - - - 14.63 14.76 14.79
12725 838.5 9.0 972 12739 roll 0.68 - - 3163 - 2.53 0.070 327 -572.7 162.9 - - 2111 - - - - - - - - 14.95 14.78 14.97
12800 831.5 9.4 985 12813 done 0.68 - - 3163 - 2.38 0.036 1768 605.5 162.9 - - 2110 - - - - - - - - 14.87 14.83 14.88
13135 801.7 8.9 1000 13148 roll 0.68 - - 3163 - 2.25 0.055 3112 597.3 162.9 - - 2111 - - - - - - - - 14.98 14.82 15.01
13205 795.1 8.5 1012 13218 done 0.68 - - 3172 - 2.20 0.043 1785 -603.2 162.9 - - 2110 - - - - - - - - 14.88 14.83 14.90
13545 763.4 9.4 1028 13559 roll 0.68 - - 3183 - 2.55 0.070 327 -571.8 162.9 - - 2110 - - - - - - - - 15.00 14.85 15.02
13625 755.4 10.1 1042 13638 done 0.68 0.15 0.270 3151 -213.3 2.38 0.035 1781 610.9 162.9 - - 2110 - - - - - - - - 14.73 14.85 14.88
13955 727.6 8.3 1056 13968 roll 0.68 - - 3151 - 2.22 0.056 3110 598.6 162.9 - - 2110 - - - - - - - - 15.02 14.84 15.04
14019 721.9 8.8 1067 14034 done 0.68 - - 3158 - 2.22 0.043 1768 -604.5 162.9 - - 2110 - - - - - - - - 14.92 14.86 14.93
14325 696.6 8.2 1078 14338 roll 0.68 - - 3169 - 2.50 0.070 329 -575.6 162.9 - - 2110 - - - - - - - - 15.02 14.84 15.04
14395 690.5 8.8 1090 14408 done 0.68 - - 3168 - 2.35 0.037 1757 607.7 162.9 - - 2110 - - - - - - - - 14.93 14.88 14.95
14735 661.3 8.6 1106 14749 roll 0.68 - - 3168 - 2.28 0.055 3122 598.7 162.9 - - 2110 - - - - - - - - 15.02 14.85 15.05
14805 655.1 8.9 1118 14819 done 0.68 - - 3177 - 2.22 0.043 1780 -604.5 162.9 - - 2110 - - - - - - - - 14.92 14.87 14.94
15146 625.2 8.8 1134 15159 roll 0.68 - - 3188 - 2.53 0.070 326 -574.7 162.9 - - 2110 - - - - - - - - 15.02 14.85 15.08
15225 617.6 9.6 1148 15238 done 0.64 0.20 0.261 3142 -230.0 2.38 0.035 1790 615.1 162.9 - - 2110 - - - - - - - - 14.76 14.89 14.92
15558 591.8 7.8 1162 15571 roll 0.65 - - 3142 - 2.22 0.056 3117 597.7 163.7 - - 2107 - - - - - - - - 15.03 14.86 15.05
15622 586.3 8.1 1173 15636 done 0.65 - - 3148 - 2.22 0.043 1777 -603.6 163.7 - - 2110 - - - - - - - - 14.93 14.88 14.95
15929 562.6 7.6 1184 15942 roll 0.65 - - 3159 - 2.50 0.070 325 -580.8 168.7 - - 2110 - - - - - - - - 15.04 14.85 15.05
16013 555.7 8.2 1199 16026 done 0.65 - - 3159 - 2.35 0.035 1769 614.5 168.7 - - 2110 - - - - - - - - 14.94 14.90 14.95
16339 530.3 7.8 1212 16352 roll 0.65 - - 3159 - 2.30 0.053 3112 583.9 170.4 1.67 0.181 2093 -10.2 5.517 - - - - - - 15.02 14.86 14.81
16403 524.9 8.3 1223 16418 done 0.65 - - 3168 - 2.22 0.042 1762 -608.1 170.4 - - 2095 - - - - - - - - 14.92 14.87 14.95
16709 499.6 8.4 1234 16722 roll 0.65 - - 3179 - 2.47 0.070 325 -581.8 170.4 - - 2095 - - - - - - - - 15.04 14.85 15.05
16759 495.1 9.3 1242 16772 done 0.65 0.15 0.266 3147 -213.3 2.35 0.035 1774 616.6 170.4 - - 2095 - - - - - - - - 14.76 14.90 14.90
17092 470.3 7.4 1256 17121 roll 0.67 - - 3147 - 2.30 0.054 3114 582.6 180.9 15.75 1.609 2049 -2.9 0.158 - - - - - - 15.02 14.73 14.19
17153 465.5 7.8 1267 17167 done 0.67 - - 3152 - 2.25 0.042 1768 -598.2 182.8 - - 2044 - - - - - - - - 14.81 14.75 14.82
17458 442.2 7.8 1278 17472 roll 0.67 - - 3163 - 2.50 0.070 323 -578.0 184.4 - - 2043 - - - - - - - - 14.95 14.78 14.97
17513 437.6 8.6 1287 17526 done 0.67 - - 3163 - 2.38 0.035 1774 609.7 184.4 - - 2043 - - - - - - - - 14.87 14.83 14.88
17838 409.9 8.6 1300 17851 roll 0.67 - - 3163 - 2.22 0.053 3115 604.1 184.4 - - 2043 - - - - - - - - 14.98 14.82 15.00
17908 403.7 8.8 1312 17921 done 0.67 - - 3172 - 2.20 0.041 1784 -605.0 184.4 - - 2043 - - - - - - - - 14.90 14.83 14.90
18248 374.4 8.6 1328 18262 roll 0.67 - - 3183 - 2.53 0.069 318 -579.4 184.4 - - 2044 - - - - - - - - 15.00 14.83 15.02
18333 366.6 9.3 1343 18346 done 0.67 0.15 0.259 3151 -213.3 2.35 0.034 1771 618.3 184.4 - - 2043 - - - - - - - - 14.74 14.87 14.88
18658 342.2 7.5 1356 18679 roll 0.68 - - 3150 - 2.28 0.053 3105 585.1 192.6 6.10 1.328 2005 -6.2 0.297 - - - - - - 15.01 14.81 14.21
18710 338.0 8.1 1365 18723 done 0.68 - - 3157 - 2.22 0.041 1758 -606.8 192.6 - - 2009 - - - - - - - - 14.88 14.80 14.89
19035 311.4 8.4 1378 19049 roll 0.68 - - 3167 - 2.47 0.068 319 -582.6 192.6 - - 2013 - - - - - - - - 15.00 14.81 15.01
19099 305.4 9.4 1389 19114 done 0.68 - - 3172 - 2.35 0.033 1759 612.8 192.6 - - 2010 - - - - - - - - 14.90 14.86 14.91
19406 277.8 8.9 1400 19419 roll 0.68 - - 3168 - 2.25 0.052 3112 601.3 192.6 - - 2010 - - - - - - - - 15.02 14.84 15.06
19480 271.0 9.0 1413 19493 done 0.68 - - 3176 - 2.22 0.041 1757 -610.4 192.6 - - 2009 - - - - - - - - 14.90 14.85 14.92
19818 241.8 8.6 1428 19824 roll 0.68 - - 3187 - 2.45 0.067 330 -582.4 192.6 - - 2010 - - - - - - - - 15.00 14.82 15.02
19866 237.2 9.3 1437 19872 done 0.68 0.15 0.256 3154 -220.0 2.33 0.033 1766 616.3 192.6 - - 2010 - - - - - - - - 14.76 14.86 14.88
20185 212.7 7.6 1450 20196 roll 0.69 - - 3154 - 2.22 0.049 3109 605.0 198.1 4.95 1.096 1983 -5.5 0.196 - - - - - - 15.00 14.71 14.18
20237 208.3 8.2 1460 20243 done 0.69 - - 3161 - 2.22 0.041 1760 -607.7 198.1 - - 1992 - - - - - - - - 14.86 14.81 14.88
20550 182.6 8.1 1472 20557 roll 0.69 - - 3171 - 2.47 0.067 322 -582.2 198.1 - - 1992 - - - - - - - - 14.96 14.79 14.98
20663 172.8 8.6 1494 20669 done 0.69 - - 3171 - 2.22 0.034 1704 622.5 198.1 - - 1993 - - - - - - - - 14.85 14.83 14.87
20976 145.3 9.2 1506 20982 roll 0.69 - - 3172 - 2.33 0.050 3102 600.0 198.1 - - 1993 - - - - - - - - 14.96 14.80 14.98
21018 141.4 9.0 1514 21030 done 0.69 - - 3180 - 2.30 0.041 1705 -607.4 198.1 2.20 0.346 1984 -4.1 0.309 - - - - - - 14.82 14.78 14.16
21342 115.5 8.2 1528 21348 roll 0.69 - - 3180 - 2.33 0.050 3099 598.3 198.1 - - 1994 - - - - - - - - 14.96 14.80 14.98
21394 111.9 6.4 1538 21449 done 0.73 - - 3188 - 2.25 0.040 1732 -607.6 229.6 46.67 1.142 1851 -3.1 0.056 - - - - - - 14.84 14.81 14.12
21751 86.6 6.9 1567 21772 roll 0.75 - - 3188 - 2.35 0.048 3095 580.0 248.8 12.30 0.311 1781 -5.7 0.293 - - - - - - 14.83 14.64 14.48
21793 83.5 7.3 1575 21816 done 0.77 - - 3197 - 2.20 0.039 1780 -597.7 261.5 15.20 0.330 1726 -3.6 0.169 - - - - - - 14.72 14.66 14.47
22117 68.8 3.7 1599 22202 roll 0.92 - - 3197 - 2.30 0.047 3101 574.3 349.7 77.40 0.317 1370 -4.6 0.185 - - - - - - 14.87 14.59 14.45
22236 63.2 5.5 1622 22291 done 1.06 0.22 0.099 3290 422.7 2.15 0.038 1814 -598.6 399.5 46.10 0.298 1166 -4.4 0.174 - - - - - - 14.63 14.63 14.42
22603 39.0 6.3 1655 22639 roll 1.14 - - 3298 - 2.58 0.063 326 -576.7 431.6 29.15 0.226 1035 -4.5 0.143 - - - - - - 14.84 14.63 14.54
22735 29.9 6.5 1681 22772 done 1.23 - - 3298 - 2.38 0.031 1785 613.0 460.6 25.77 0.200 920 -4.5 0.123 - - - - - - 14.75 14.71 14.57
23072 10.6 5.7 1708 23112 roll 1.34 0.15 0.120 3378 533.3 2.58 0.061 328 -564.7 506.2 33.42 0.148 728 -5.7 0.076 - - - - - - 14.74 14.69 14.65
23166 2.0 10.6 1726 23174 VBD 1.34 - - 3378 - 2.30 0.029 1763 623.9 506.2 2.05 0.155 728 - - - - - - - - 14.79 14.76 14.81
23174 end climb: SURFACE_DEPTH_REACHED
23174 begin surface coast
23187 end surface coast: CONTROL_FINISHED_OK
23187 begin surface
SM 1.20 - - - - -8.60 9.38 0.073 164 17.5 - - 1772 - 550.21 45.88 0.538 548 11.9 -0.003 - - - - 1 -