SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 443 * Raw log
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• Previous call tries 1 • 167.44 of 350.00 AH used of 24V (52.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 deg, depth 1.02 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 32 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
30 - - - 117 VBD -0.84 - - 155 - - - 1680 - -116.8 -84.00 - 3243 - - - - - - - - 14.71 - 14.70
121 5.4 -7.7 3 144 roll -0.84 12.52 0.382 2659 200.0 2.55 2.027 382 -509.0 -116.8 -0.40 - 3272 -72.5 - - - - - - - 13.99 13.11 14.40
194 34.1 -24.0 14 202 done -0.37 0.62 0.265 2801 229.0 2.28 0.032 1740 595.6 -116.8 - - 3272 - - - - - - - - 14.09 14.50 14.38
508 62.8 -7.9 26 515 roll -0.37 - - 2801 - 2.38 0.056 372 -574.8 -116.8 - - 3275 - - - - - - - - 14.78 14.44 14.80
648 75.5 -8.8 46 655 done -0.37 - - 2795 - 2.33 0.031 1785 606.4 -116.8 - - 3274 - - - - - - - - 14.60 14.54 14.62
986 98.4 -6.7 61 993 roll -0.46 - - 2784 - 2.33 0.052 3163 591.4 -116.8 - - 3274 - - - - - - - - 14.81 14.47 14.83
1069 104.4 -7.0 73 1077 done -0.59 0.15 0.107 2719 -433.3 2.30 0.036 1771 -605.2 -116.8 - - 3274 - - - - - - - - 14.43 14.45 14.51
1435 137.5 -9.1 83 1441 roll -0.59 - - 2719 - 2.40 0.058 379 -580.0 -116.8 - - 3273 - - - - - - - - 14.83 14.46 14.84
1524 147.1 -10.6 96 1531 done -0.59 0.12 0.248 2736 141.7 2.33 0.032 1775 599.1 -116.8 - - 3273 - - - - - - - - 14.23 14.54 14.45
1882 181.2 -9.4 105 1889 roll -0.59 - - 2727 - 2.35 0.051 3163 590.6 -116.8 - - 3270 - - - - - - - - 14.83 14.47 14.86
1924 184.8 -8.5 111 1931 done -0.59 - - 2727 - 2.30 0.037 1778 -602.2 -116.8 - - 3269 - - - - - - - - 14.59 14.52 14.62
2275 212.3 -7.7 119 2281 roll -0.59 - - 2727 - 2.45 0.059 369 -575.1 -116.8 - - 3270 - - - - - - - - 14.83 14.45 14.85
2357 219.4 -8.6 131 2364 done -0.59 - - 2718 - 2.35 0.032 1780 600.4 -116.8 - - 3267 - - - - - - - - 14.55 14.49 14.57
2725 252.2 -9.4 141 2738 done -0.59 - - 2718 - - - 1780 - -116.8 - - 3264 - - - - - - - - 14.84 14.87 14.86
3058 286.5 -10.2 147 3071 roll -0.59 - - 2708 - 2.35 0.055 3168 590.6 -116.8 - - 3262 - - - - - - - - 14.92 14.51 14.94
3113 291.9 -9.7 154 3127 done -0.59 0.15 0.229 2741 220.0 2.33 0.037 1767 -601.3 -116.8 - - 3261 - - - - - - - - 14.24 14.57 14.48
3457 320.5 -8.3 161 3471 roll -0.59 - - 2740 - 2.42 0.060 383 -571.9 -116.8 - - 3259 - - - - - - - - 14.93 14.50 14.95
3576 331.4 -9.0 177 3591 done -0.59 - - 2734 - 2.28 0.031 1775 610.5 -116.8 - - 3259 - - - - - - - - 14.62 14.60 14.64
3921 360.5 -8.4 190 3934 roll -0.59 - - 2723 - 2.35 0.053 3160 589.4 -116.8 - - 3257 - - - - - - - - 14.91 14.52 14.93
4003 367.7 -8.6 201 4017 done -0.59 - - 2724 - 2.30 0.036 1777 -601.3 -116.8 - - 3256 - - - - - - - - 14.64 14.57 14.67
4326 395.7 -8.8 211 4339 roll -0.59 - - 2724 - 2.45 0.060 374 -572.7 -116.8 - - 3254 - - - - - - - - 14.93 14.47 14.95
4422 404.8 -9.2 224 4436 done -0.59 - - 2714 - 2.33 0.033 1779 603.0 -116.8 - - 3254 - - - - - - - - 14.67 14.62 14.69
4786 436.6 -8.7 233 4799 roll -0.59 - - 2704 - 2.35 0.053 3159 587.2 -116.8 - - 3252 - - - - - - - - 14.94 14.49 14.96
4820 439.8 -9.1 237 4834 done -0.59 0.15 0.229 2737 220.0 2.30 0.038 1776 -601.3 -116.8 - - 3252 - - - - - - - - 14.21 14.54 14.45
5191 470.1 -8.1 247 5204 roll -0.59 - - 2737 - 2.45 0.061 373 -572.7 -116.8 - - 3250 - - - - - - - - 14.91 14.45 14.93
5238 474.2 -8.6 253 5251 done -0.59 - - 2730 - 2.33 0.034 1772 600.4 -116.8 - - 3248 - - - - - - - - 14.67 14.61 14.69
5596 503.3 -8.0 261 5610 roll -0.59 - - 2720 - 2.38 0.053 3163 584.5 -116.8 - - 3248 - - - - - - - - 14.92 14.47 14.95
5665 508.7 -7.7 270 5678 done -0.59 - - 2720 - 2.33 0.037 1772 -597.0 -116.8 - - 3249 - - - - - - - - 14.61 14.53 14.64
6001 534.2 -7.6 282 6014 roll -0.59 - - 2720 - 2.45 0.061 372 -571.4 -116.8 - - 3247 - - - - - - - - 14.89 14.44 14.90
6112 543.6 -8.4 297 6126 done -0.59 - - 2712 - 2.38 0.034 1782 592.4 -116.8 - - 3246 - - - - - - - - 14.62 14.56 14.64
6455 572.4 -8.5 304 6469 roll -0.59 - - 2701 - 2.38 0.055 3160 579.0 -116.8 - - 3245 - - - - - - - - 14.90 14.44 14.92
6539 579.9 -9.1 315 6552 done -0.59 0.15 0.230 2734 220.0 2.33 0.040 1777 -593.6 -116.8 - - 3245 - - - - - - - - 14.17 14.52 14.40
6860 606.2 -8.1 325 6873 roll -0.59 - - 2734 - 2.47 0.063 372 -568.8 -116.8 - - 3245 - - - - - - - - 14.90 14.40 14.92
6951 614.0 -8.6 337 6964 done -0.59 - - 2728 - 2.38 0.035 1773 588.7 -116.8 - - 3243 - - - - - - - - 14.61 14.54 14.62
7321 642.7 -7.6 347 7334 roll -0.59 - - 2717 - 2.42 0.055 3171 577.7 -116.8 - - 3242 - - - - - - - - 14.89 14.41 14.91
7368 646.3 -7.4 353 7382 done -0.59 - - 2718 - 2.38 0.040 1774 -587.0 -116.8 - - 3242 - - - - - - - - 14.47 14.38 14.51
7726 673.3 -7.6 361 7739 roll -0.59 - - 2717 - 2.47 0.063 378 -565.2 -116.8 - - 3241 - - - - - - - - 14.90 14.37 14.92
7822 681.4 -8.4 374 7836 done -0.59 0.12 0.252 2734 141.7 2.35 0.035 1776 594.9 -116.8 - - 3240 - - - - - - - - 14.12 14.52 14.35
8187 706.9 -7.0 383 8200 roll -0.59 - - 2726 - 2.40 0.055 3165 578.8 -116.8 - - 3238 - - - - - - - - 14.90 14.38 14.92
8283 713.8 -7.1 396 8296 done -0.59 - - 2726 - 2.35 0.039 1776 -591.1 -116.8 - - 3238 - - - - - - - - 14.54 14.45 14.57
8646 740.6 -7.5 405 8660 roll -0.59 - - 2727 - 2.47 0.063 384 -563.6 -116.8 - - 3237 - - - - - - - - 14.91 14.33 14.93
8779 752.0 -8.5 423 8792 done -0.59 - - 2718 - 2.35 0.034 1782 594.9 -116.8 - - 3237 - - - - - - - - 14.60 14.52 14.60
9107 779.4 -8.4 434 9120 roll -0.59 - - 2708 - 2.40 0.057 3168 577.5 -116.8 - - 3236 - - - - - - - - 14.87 14.37 14.89
9197 787.2 -8.7 446 9211 done -0.59 0.15 0.228 2740 213.3 2.38 0.040 1769 -587.8 -116.8 - - 3237 - - - - - - - - 14.04 14.42 14.28
9568 815.3 -7.5 456 9581 roll -0.68 - - 2741 - 2.50 0.063 376 -557.2 -116.8 - - 3233 - - - - - - - - 14.87 14.32 14.88
9673 823.7 -8.0 470 9686 done -0.68 - - 2734 - 2.35 0.036 1775 595.3 -116.8 - - 3235 - - - - - - - - 14.56 14.50 14.59
10029 850.3 -7.4 478 10042 roll -0.68 - - 2723 - 2.40 0.056 3159 576.7 -116.8 - - 3233 - - - - - - - - 14.92 14.32 14.92
10144 858.5 -6.9 493 10159 done -0.77 0.15 0.116 2668 -366.7 2.38 0.040 1774 -581.9 -116.8 - - 3233 - - - - - - - - 14.34 14.39 14.44
10484 889.9 -9.4 500 10497 roll -0.77 - - 2668 - 2.50 0.064 375 -559.6 -116.8 - - 3231 - - - - - - - - 14.89 14.18 14.94
10587 900.2 -9.7 514 10601 done -0.68 0.22 0.246 2708 181.8 2.38 0.037 1771 586.6 -116.8 - - 3233 - - - - - - - - 13.86 14.44 14.16
10945 926.7 -7.3 522 10958 roll -0.68 - - 2700 - 2.45 0.056 3166 569.4 -116.8 - - 3232 - - - - - - - - 14.88 14.28 14.90
11049 934.2 -4.7 536 11062 done -0.68 - - 2700 - 2.35 0.040 1779 -590.2 -116.8 - - 3232 - - - - - - - - 14.33 14.28 14.37
11406 958.5 -6.7 544 11419 roll -0.68 - - 2700 - 2.53 0.064 366 -558.5 -116.8 - - 3230 - - - - - - - - 14.87 14.23 14.88
11497 965.2 -7.3 556 11510 done -0.68 - - 2691 - 2.40 0.035 1777 587.9 -116.8 - - 3231 - - - - - - - - 14.51 14.42 14.50
11864 end dive: TARGET_DEPTH_EXCEEDED
11864 begin apogee
11873 991.4 -7.1 566 12005 done -0.21 0.68 0.226 2859 247.1 - - 1655 - - 122.30 2.252 2795 -3.6 0.304 - - - - - - 13.76 13.90 12.82
12007 end apogee: CONTROL_FINISHED_OK
12007 begin climb
12010 995.0 - 568 12160 roll 0.84 1.15 0.151 3202 298.3 2.53 0.065 344 -518.2 116.8 127.82 2.213 2306 -3.8 0.334 - - - - - - 13.91 13.71 12.65
12229 980.8 9.2 603 12242 done 0.84 - - 3202 - 2.30 0.032 1689 584.8 116.8 - - 2298 - - - - - - - - 14.23 14.19 14.25
12552 952.9 8.9 613 12565 roll 0.84 - - 3202 - 2.38 0.050 3062 576.9 116.8 - - 2295 - - - - - - - - 14.73 14.43 14.76
12662 943.1 8.5 628 12676 done 0.84 - - 3210 - 2.35 0.041 1691 -583.4 116.8 - - 2293 - - - - - - - - 14.56 14.48 14.58
13006 915.0 8.1 635 13019 done 0.84 - - 3210 - - - 1691 - 116.8 - - 2293 - - - - - - - - 14.81 14.83 14.83
13343 889.3 7.5 641 13357 roll 0.84 - - 3210 - 2.38 0.049 3066 577.7 122.8 - - 2293 - - - - - - - - 14.83 14.45 14.85
13370 887.0 7.7 644 13388 done 0.85 - - 3219 - 2.35 0.041 1681 -589.4 125.2 2.25 0.462 2278 -6.7 2.482 - - - - - - 14.59 14.51 13.03
13745 855.9 8.4 655 13758 done 0.85 - - 3219 - - - 1681 - 125.2 - - 2278 - - - - - - - - 14.87 14.89 14.88
14083 826.9 8.6 661 14096 roll 0.76 0.17 0.267 3177 -247.1 2.38 0.047 3060 579.4 125.2 - - 2278 - - - - - - - - 14.04 14.33 14.21
14151 821.2 7.8 670 14165 done 0.76 - - 3184 - 2.35 0.042 1681 -586.8 126.9 - - 2278 - - - - - - - - 14.57 14.47 14.59
14488 795.0 7.9 682 14501 roll 0.76 - - 3195 - 2.40 0.065 322 -566.2 126.9 - - 2278 - - - - - - - - 14.84 14.38 14.87
14542 790.7 8.6 689 14557 done 0.76 - - 3195 - 2.28 0.031 1691 600.4 126.9 - - 2278 - - - - - - - - 14.59 14.54 14.61
14886 762.3 8.3 696 14900 roll 0.76 - - 3195 - 2.33 0.049 3048 582.4 126.9 - - 2278 - - - - - - - - 14.90 14.40 14.90
14977 754.5 8.6 708 14990 done 0.76 - - 3203 - 2.35 0.045 1676 -583.8 126.9 - - 2278 - - - - - - - - 14.53 14.44 14.57
15347 723.6 8.2 718 15360 roll 0.76 - - 3203 - 2.38 0.048 3050 577.3 126.9 - - 2278 - - - - - - - - 14.88 14.39 14.90
15381 720.8 8.3 722 15394 done 0.76 0.17 0.268 3177 -152.9 2.35 0.041 1673 -586.0 126.9 - - 2278 - - - - - - - - 13.97 14.44 14.27
15752 696.2 6.5 732 15797 done 0.79 - - 3177 - - - 1672 - 152.6 35.50 1.906 2170 -3.0 0.215 - - - - - - 14.83 14.35 13.35
16088 672.6 7.1 738 16110 roll 0.81 - - 3176 - 2.38 0.050 3054 580.7 166.4 9.40 1.780 2116 -5.7 0.421 - - - - - - 14.74 14.46 13.33
16138 668.8 7.1 745 16170 done 0.82 - - 3183 - 2.35 0.041 1680 -584.7 180.0 19.77 1.857 2059 -2.9 0.201 - - - - - - 14.53 14.45 13.34
16478 640.9 8.3 758 16491 roll 0.82 - - 3193 - 2.40 0.066 326 -564.2 180.0 - - 2040 - - - - - - - - 14.76 14.35 14.77
16518 637.3 8.9 763 16532 done 0.82 - - 3193 - 2.25 0.031 1683 603.1 180.0 - - 2042 - - - - - - - - 14.57 14.52 14.59
16883 605.1 8.8 772 16896 roll 0.82 - - 3193 - 2.35 0.048 3058 585.1 180.0 - - 2042 - - - - - - - - 14.79 14.44 14.81
16979 596.3 8.9 785 16992 done 0.82 - - 3202 - 2.38 0.045 1684 -577.3 180.0 - - 2041 - - - - - - - - 14.54 14.44 14.57
17344 563.2 9.2 794 17357 done 0.82 - - 3202 - - - 1683 - 180.0 - - 2041 - - - - - - - - 14.82 14.84 14.84
17679 532.9 8.9 800 17692 done 0.82 - - 3202 - - - 1683 - 180.0 - - 2041 - - - - - - - - 14.83 14.86 14.86
18015 505.4 8.0 806 18028 roll 0.82 - - 3202 - 2.40 0.048 3055 571.7 180.0 - - 2041 - - - - - - - - 14.85 14.40 14.87
18070 501.0 8.0 813 18085 done 0.82 - - 3210 - 2.38 0.042 1670 -581.9 180.0 - - 2041 - - - - - - - - 14.52 14.43 14.56
18413 475.7 7.3 820 18431 roll 0.84 - - 3221 - 2.40 0.066 319 -562.9 190.1 3.72 1.100 2016 -6.7 0.564 - - - - - - 14.87 14.47 13.31
18451 472.7 7.6 825 18469 done 0.84 - - 3221 - 2.25 0.031 1687 608.0 195.3 5.60 1.417 1995 -3.8 0.243 - - - - - - 14.67 14.63 13.29
18813 443.5 8.2 834 18827 roll 0.84 - - 3221 - 2.35 0.049 3060 584.3 195.3 - - 2001 - - - - - - - - 14.82 14.35 14.83
18932 432.7 9.0 850 18945 done 0.84 - - 3230 - 2.38 0.044 1673 -582.8 195.3 - - 2002 - - - - - - - - 14.53 14.44 14.56
19275 400.2 9.7 863 19288 done 0.84 - - 3230 - - - 1672 - 195.3 - - 2001 - - - - - - - - 14.85 14.88 14.87
19610 367.0 9.9 869 19623 done 0.84 - - 3230 - - - 1672 - 195.3 - - 2002 - - - - - - - - 14.88 14.89 14.89
19946 334.9 9.5 875 19959 roll 0.84 - - 3229 - 2.40 0.047 3055 576.2 195.3 - - 2002 - - - - - - - - 14.88 14.38 14.93
19981 331.5 10.0 879 19994 done 0.84 0.17 0.255 3202 -158.8 2.35 0.043 1686 -582.6 195.3 - - 2002 - - - - - - - - 14.00 14.46 14.29
20351 299.5 8.7 889 20364 roll 0.84 - - 3210 - 2.42 0.064 313 -567.4 195.3 - - 2002 - - - - - - - - 14.85 14.37 14.87
20391 295.7 9.1 894 20405 done 0.84 - - 3210 - 2.25 0.031 1681 608.0 195.3 - - 2000 - - - - - - - - 14.60 14.54 14.62
20756 265.1 8.2 903 20769 roll 0.84 - - 3210 - 2.35 0.047 3054 584.3 195.3 - - 2002 - - - - - - - - 14.87 14.38 14.88
20838 258.2 8.2 914 20851 done 0.84 - - 3219 - 2.38 0.042 1673 -580.3 195.3 - - 2004 - - - - - - - - 14.50 14.41 14.53
21160 232.0 8.3 924 21174 roll 0.84 - - 3230 - 2.42 0.065 314 -561.6 195.3 - - 2000 - - - - - - - - 14.83 14.32 14.85
21201 228.3 8.8 929 21214 done 0.84 - - 3230 - 2.28 0.030 1686 601.8 195.3 - - 2002 - - - - - - - - 14.58 14.53 14.60
21564 197.9 8.3 938 21577 roll 0.84 - - 3230 - 2.35 0.047 3059 584.3 195.3 - - 2006 - - - - - - - - 14.87 14.35 14.89
21627 192.4 9.0 946 21641 done 0.84 0.15 0.247 3207 -153.3 2.38 0.041 1671 -583.2 195.3 - - 2002 - - - - - - - - 14.01 14.40 14.27
21970 163.8 8.6 959 21983 roll 0.84 - - 3207 - 2.38 0.046 3056 581.9 195.3 - - 2002 - - - - - - - - 14.84 14.39 14.85
22011 160.2 8.6 964 22025 done 0.84 - - 3213 - 2.35 0.041 1675 -587.7 195.3 - - 2002 - - - - - - - - 14.52 14.43 14.54
22374 130.2 8.3 973 22387 done 0.84 - - 3213 - - - 1674 - 195.3 - - 2002 - - - - - - - - 14.88 14.90 14.90
22711 103.8 7.6 979 22728 done 0.85 - - 3213 - - - 1674 - 200.8 7.78 0.298 1974 -3.6 0.243 - - - - - - 14.88 14.28 13.81
23020 80.0 7.5 989 23042 roll 0.86 - - 3213 - 2.38 0.044 3067 585.3 206.6 9.70 0.284 1950 -2.5 0.135 - - - - - - 14.82 14.19 13.93
23136 71.1 7.6 1005 23157 done 0.86 - - 3222 - 2.35 0.041 1683 -588.9 211.0 7.45 0.254 1934 -2.1 0.117 - - - - - - 14.52 14.44 13.92
23477 51.0 5.5 1020 23533 roll 1.01 - - 3231 - 2.45 0.065 319 -556.7 254.2 43.25 0.256 1758 -4.1 0.157 - - - - - - 14.78 14.47 14.13
23646 41.2 6.3 1044 23691 done 1.20 0.25 0.086 3325 376.0 2.25 0.029 1708 617.3 284.0 28.60 0.230 1635 -4.3 0.149 - - - - - - 14.43 14.50 14.12
24014 24.3 4.2 1063 24085 roll 1.28 - - 3336 - 2.53 0.063 317 -549.8 352.8 56.22 0.187 1356 -5.0 0.125 - - - - - - 14.80 14.42 14.21
24189 12.7 7.5 1088 24208 done 1.29 - - 3336 - 2.20 0.028 1664 612.3 359.6 7.20 0.154 1325 -4.3 0.069 - - - - - - 14.57 14.52 14.15
24341 end climb: SURFACE_DEPTH_REACHED
24341 begin surface coast
24369 end surface coast: CONTROL_FINISHED_OK
24369 begin surface
SM 1.03 - - - - -8.60 9.45 0.067 156 16.5 0.10 0.107 1795 -74590.0 515.13 94.35 0.123 692 7.3 -0.006 - - - - - -