SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 461 * Raw log
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• Previous call tries 1 • 174.13 of 350.00 AH used of 24V (50.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.6 deg, depth 1.06 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 87 s
• GPS2 time: 20 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
30 end surface: CONTROL_FINISHED_OK
30 begin dive
34 - - - 121 VBD -0.84 - - 154 - - - 1679 - -116.8 -83.85 - 3248 - - - - - - - - 14.71 - 14.73
125 5.2 -6.9 3 148 roll -0.84 13.15 0.404 2641 189.1 2.78 2.010 3124 519.8 -116.8 -0.32 - 3272 -75.0 - - - - - - - 13.98 13.09 14.42
243 45.3 -27.5 20 249 done -0.46 0.55 0.253 2766 227.3 2.28 0.044 1779 -589.9 -116.8 - - 3273 - - - - - - - - 14.08 14.47 14.37
571 77.7 -7.9 34 577 roll -0.46 - - 2767 - 2.28 0.050 3128 591.7 -116.8 - - 3272 - - - - - - - - 14.86 14.49 14.88
619 81.7 -8.4 41 629 done -0.46 - - 2767 - 2.25 0.037 1766 -605.3 -116.8 - - 3273 - - - - - - - - 14.62 14.54 14.64
964 108.9 -7.8 52 970 roll -0.46 - - 2764 - 2.38 0.057 376 -584.0 -116.8 - - 3274 - - - - - - - - 14.88 14.51 14.90
1096 119.8 -8.7 71 1102 done -0.46 - - 2759 - 2.22 0.031 1738 613.5 -116.8 - - 3274 - - - - - - - - 14.66 14.61 14.68
1412 147.6 -9.0 81 1418 roll -0.46 - - 2749 - 2.40 0.052 3161 592.9 -116.8 - - 3273 - - - - - - - - 14.89 14.51 14.90
1488 154.1 -8.4 92 1495 done -0.46 0.12 0.234 2774 208.3 2.30 0.035 1766 -606.5 -116.8 - - 3273 - - - - - - - - 14.28 14.58 14.50
1803 177.1 -7.1 102 1810 roll -0.56 - - 2774 - 2.40 0.059 376 -579.2 -116.8 - - 3270 - - - - - - - - 14.90 14.49 14.91
1902 183.8 -6.8 116 1908 done -0.56 - - 2768 - 2.30 0.032 1772 607.0 -116.8 - - 3269 - - - - - - - - 14.65 14.60 14.67
2251 209.5 -7.7 124 2257 roll -0.56 - - 2758 - 2.35 0.050 3165 592.8 -116.8 - - 3266 - - - - - - - - 14.89 14.50 14.92
2329 216.0 -8.6 135 2335 done -0.67 0.15 0.112 2697 -406.7 2.30 0.037 1775 -604.3 -116.8 - - 3266 - - - - - - - - 14.52 14.57 14.62
2645 251.6 -11.5 145 2659 roll -0.67 - - 2697 - 2.42 0.060 373 -579.3 -116.8 - - 3263 - - - - - - - - 14.90 14.52 14.92
2742 262.5 -10.4 158 2756 done -0.67 - - 2687 - 2.33 0.034 1780 603.9 -116.8 - - 3263 - - - - - - - - 14.71 14.63 14.72
3106 299.1 -10.3 167 3119 roll -0.67 - - 2676 - 2.35 0.054 3171 591.9 -116.8 - - 3260 - - - - - - - - 14.97 14.55 15.00
3146 303.5 -10.4 172 3160 done -0.67 0.15 0.256 2707 206.7 2.33 0.040 1771 -600.9 -116.8 - - 3259 - - - - - - - - 14.21 14.59 14.48
3510 337.3 -9.3 181 3523 roll -0.67 - - 2707 - 2.40 0.060 379 -580.0 -116.8 - - 3257 - - - - - - - - 15.01 14.52 15.03
3599 346.6 -10.3 193 3613 done -0.67 - - 2700 - 2.33 0.033 1784 603.0 -116.8 - - 3256 - - - - - - - - 14.71 14.65 14.73
3969 384.7 -10.3 203 3982 roll -0.67 - - 2689 - 2.35 0.054 3170 589.8 -116.8 - - 3254 - - - - - - - - 15.02 14.54 15.04
4025 390.0 -9.8 210 4038 done -0.67 - - 2690 - 2.33 0.040 1775 -598.7 -116.8 - - 3253 - - - - - - - - 14.67 14.59 14.69
4367 423.1 -9.5 217 4380 roll -0.67 - - 2690 - 2.45 0.060 371 -573.1 -116.8 - - 3252 - - - - - - - - 15.00 14.50 15.01
4457 432.5 -10.3 229 4470 done -0.57 0.25 0.249 2739 196.0 2.33 0.034 1772 601.3 -116.8 - - 3251 - - - - - - - - 14.13 14.65 14.42
4828 463.6 -8.5 239 4841 roll -0.57 - - 2730 - 2.38 0.054 3169 587.0 -116.8 - - 3249 - - - - - - - - 15.02 14.52 15.04
4910 470.9 -8.6 250 4923 done -0.57 - - 2730 - 2.35 0.039 1766 -597.0 -116.8 - - 3249 - - - - - - - - 14.66 14.57 14.68
5232 497.7 -8.2 260 5245 roll -0.57 - - 2730 - 2.42 0.062 374 -575.2 -116.8 - - 3248 - - - - - - - - 14.98 14.49 15.00
5315 505.0 -8.6 271 5328 done -0.57 - - 2721 - 2.35 0.034 1781 598.7 -116.8 - - 3247 - - - - - - - - 14.67 14.61 14.69
5636 531.6 -8.4 281 5649 roll -0.57 - - 2710 - 2.38 0.055 3172 584.5 -116.8 - - 3246 - - - - - - - - 15.02 14.49 15.07
5663 533.8 -8.1 284 5677 done -0.57 0.15 0.235 2743 220.0 2.35 0.039 1767 -597.9 -116.8 - - 3245 - - - - - - - - 14.17 14.55 14.42
5984 556.3 -6.9 294 5998 roll -0.57 - - 2743 - 2.42 0.062 379 -573.6 -116.8 - - 3244 - - - - - - - - 14.97 14.45 15.00
6054 561.5 -7.6 303 6067 done -0.57 - - 2736 - 2.33 0.034 1780 601.3 -116.8 - - 3246 - - - - - - - - 14.68 14.61 14.70
6389 586.7 -7.6 315 6402 roll -0.57 - - 2726 - 2.38 0.055 3168 583.2 -116.8 - - 3242 - - - - - - - - 14.97 14.47 15.00
6471 593.0 -7.6 326 6484 done -0.57 - - 2726 - 2.35 0.039 1766 -596.6 -116.8 - - 3242 - - - - - - - - 14.61 14.53 14.64
6793 618.1 -7.8 336 6806 roll -0.57 - - 2726 - 2.42 0.062 379 -573.1 -116.8 - - 3241 - - - - - - - - 15.00 14.42 15.02
6882 626.0 -8.7 348 6896 done -0.57 - - 2717 - 2.35 0.034 1780 596.2 -116.8 - - 3240 - - - - - - - - 14.64 14.58 14.66
7253 656.4 -8.2 358 7266 roll -0.57 - - 2707 - 2.38 0.056 3156 578.2 -116.8 - - 3238 - - - - - - - - 15.00 14.43 15.02
7322 662.0 -8.1 367 7335 done -0.57 0.17 0.235 2746 229.4 2.33 0.039 1773 -593.6 -116.8 - - 3239 - - - - - - - - 14.08 14.51 14.34
7661 685.4 -7.0 379 7674 roll -0.67 - - 2746 - 2.45 0.063 379 -569.0 -116.8 - - 3237 - - - - - - - - 14.92 14.40 14.95
7758 693.1 -7.7 392 7771 done -0.67 - - 2740 - 2.33 0.034 1774 598.7 -116.8 - - 3236 - - - - - - - - 14.61 14.55 14.63
8120 719.6 -7.4 401 8134 roll -0.67 - - 2729 - 2.40 0.054 3168 580.8 -116.8 - - 3235 - - - - - - - - 14.96 14.40 14.98
8243 728.8 -7.8 417 8256 done -0.77 0.15 0.117 2673 -373.3 2.35 0.038 1772 -594.0 -116.8 - - 3235 - - - - - - - - 14.42 14.48 14.51
8584 764.5 -10.5 430 8598 roll -0.77 - - 2673 - 2.47 0.063 373 -566.4 -116.8 - - 3234 - - - - - - - - 14.91 14.35 14.92
8772 785.9 -11.2 456 8785 done -0.77 - - 2664 - 2.38 0.035 1776 589.5 -116.8 - - 3232 - - - - - - - - 14.57 14.51 14.60
9099 821.5 -10.9 467 9112 roll -0.77 - - 2653 - 2.40 0.055 3163 577.9 -116.8 - - 3232 - - - - - - - - 14.95 14.37 14.97
9197 832.0 -10.7 480 9210 done -0.77 - - 2652 - 2.38 0.039 1769 -585.7 -116.8 - - 3232 - - - - - - - - 14.55 14.47 14.59
9559 871.2 -10.7 489 9573 roll -0.77 - - 2653 - 2.47 0.063 374 -564.8 -116.8 - - 3231 - - - - - - - - 14.99 14.32 15.01
9679 884.3 -10.8 505 9692 done -0.65 0.32 0.261 2716 196.9 2.38 0.037 1780 590.8 -116.8 - - 3230 - - - - - - - - 13.81 14.51 14.15
10021 909.7 -7.1 518 10034 roll -0.65 - - 2709 - 2.40 0.057 3167 577.9 -116.8 - - 3230 - - - - - - - - 14.95 14.35 15.00
10084 914.0 -7.0 526 10097 done -0.65 - - 2709 - 2.38 0.040 1767 -588.2 -116.8 - - 3230 - - - - - - - - 14.50 14.42 14.54
10425 938.1 -7.0 539 10438 roll -0.65 - - 2708 - 2.47 0.064 376 -563.2 -116.8 - - 3229 - - - - - - - - 14.98 14.28 14.99
10543 947.0 -7.5 555 10557 done -0.65 - - 2700 - 2.38 0.035 1780 589.9 -116.8 - - 3229 - - - - - - - - 14.55 14.49 14.58
10886 972.1 -7.4 568 10900 roll -0.65 - - 2690 - 2.40 0.057 3164 576.7 -116.8 - - 3228 - - - - - - - - 14.92 14.33 14.95
10955 977.4 -7.5 577 10968 done -0.65 0.12 0.262 2710 166.7 2.38 0.040 1769 -586.1 -116.8 - - 3228 - - - - - - - - 13.96 14.39 14.19
11175 end dive: TARGET_DEPTH_EXCEEDED
11175 begin apogee
11185 993.2 -7.0 587 11316 done -0.21 0.55 0.221 2854 261.8 - - 1663 - - 121.38 2.245 2793 -3.6 0.306 - - - - - - 13.79 13.93 12.83
11317 end apogee: CONTROL_FINISHED_OK
11317 begin climb
11321 997.7 - 589 11467 roll 0.84 1.15 0.151 3189 291.3 2.55 0.047 3070 551.8 116.8 126.18 2.177 2305 -3.9 0.342 - - - - - - 13.96 13.55 12.73
11516 988.1 6.0 620 11569 done 0.88 - - 3198 - 2.42 0.039 1687 -571.5 152.1 36.80 2.098 2159 -4.0 0.360 - - - - - - 14.23 14.16 12.96
11923 952.5 8.7 635 11936 done 0.88 - - 3198 - - - 1688 - 152.1 - - 2150 - - - - - - - - 14.75 14.78 14.80
12255 923.9 8.5 641 12268 done 0.88 - - 3198 - - - 1687 - 152.1 - - 2148 - - - - - - - - 14.83 14.85 14.85
12591 895.6 8.4 647 12604 done 0.88 - - 3199 - - - 1687 - 152.1 - - 2148 - - - - - - - - 14.85 14.88 14.88
12928 865.9 9.0 653 12941 roll 0.88 - - 3209 - 2.42 0.064 321 -564.5 152.1 - - 2149 - - - - - - - - 14.86 14.42 14.88
12968 861.8 11.6 658 12982 done 0.88 - - 3209 - 2.28 0.031 1697 603.5 152.1 - - 2148 - - - - - - - - 14.64 14.59 14.66
13332 827.2 9.5 667 13345 roll 0.88 - - 3209 - 2.33 0.049 3056 583.3 152.1 - - 2148 - - - - - - - - 14.85 14.45 14.88
13436 816.9 9.6 681 13450 done 0.88 - - 3218 - 2.35 0.041 1682 -584.7 152.1 - - 2146 - - - - - - - - 14.57 14.48 14.60
13793 781.9 9.8 689 13805 done 0.88 - - 3218 - - - 1681 - 152.1 - - 2147 - - - - - - - - 14.85 14.88 14.88
14129 749.7 9.5 695 14142 done 0.88 - - 3218 - - - 1681 - 152.1 - - 2147 - - - - - - - - 14.85 14.87 14.88
14466 717.0 9.8 701 14479 roll 0.88 - - 3229 - 2.42 0.065 325 -560.3 152.1 - - 2147 - - - - - - - - 14.85 14.33 14.87
14514 711.9 10.6 707 14528 done 0.88 - - 3228 - 2.25 0.031 1680 602.2 152.1 - - 2147 - - - - - - - - 14.58 14.52 14.60
14871 676.2 9.9 715 14884 roll 0.88 - - 3234 - 2.38 0.047 3058 579.0 152.1 - - 2151 - - - - - - - - 14.88 14.37 14.90
14961 667.2 9.8 727 14974 done 0.88 - - 3238 - 2.38 0.043 1679 -579.4 152.1 - - 2147 - - - - - - - - 14.50 14.41 14.54
15331 631.1 9.6 737 15345 roll 0.88 - - 3249 - 2.42 0.065 321 -561.2 152.1 - - 2150 - - - - - - - - 14.87 14.29 14.90
15380 626.2 10.6 743 15394 done 0.77 0.30 0.239 3179 -233.3 2.28 0.031 1703 606.1 152.1 - - 2147 - - - - - - - - 13.89 14.50 14.25
15737 600.0 7.2 751 15754 roll 0.78 - - 3179 - 2.30 0.050 3049 585.2 164.4 3.65 1.146 2120 -7.4 0.746 - - - - - - 14.84 14.45 13.27
15803 594.9 7.7 760 15820 done 0.79 - - 3185 - 2.33 0.041 1678 -588.4 167.4 3.45 1.071 2109 -3.2 0.341 - - - - - - 14.59 14.54 13.19
16135 570.4 7.4 772 16165 done 0.80 - - 3185 - - - 1678 - 176.7 18.38 1.701 2066 -2.3 0.151 - - - - - - 14.85 14.16 13.43
16473 544.7 7.6 785 16486 done 0.80 - - 3184 - - - 1678 - 180.9 - - 2056 - - - - - - - - 14.80 14.83 14.82
16810 517.9 8.0 791 16823 roll 0.80 - - 3185 - 2.35 0.047 3040 579.6 180.9 - - 2058 - - - - - - - - 14.83 14.39 14.85
16864 513.1 8.6 798 16879 done 0.80 - - 3196 - 2.35 0.042 1678 -579.6 180.9 - - 2057 - - - - - - - - 14.52 14.43 14.54
17209 484.8 8.2 805 17222 roll 0.80 - - 3204 - 2.40 0.064 326 -563.3 180.9 - - 2057 - - - - - - - - 14.82 14.33 14.84
17236 482.5 8.4 808 17249 done 0.80 - - 3203 - 2.25 0.031 1683 603.1 180.9 - - 2057 - - - - - - - - 14.58 14.53 14.60
17558 455.3 8.3 818 17571 roll 0.80 - - 3203 - 2.33 0.046 3048 585.8 180.9 - - 2058 - - - - - - - - 14.84 14.42 14.85
17635 448.9 8.5 828 17648 done 0.80 - - 3211 - 2.35 0.041 1675 -584.3 180.9 - - 2057 - - - - - - - - 14.52 14.41 14.52
17963 422.1 8.1 839 17976 roll 0.80 - - 3222 - 2.40 0.064 324 -562.9 180.9 - - 2057 - - - - - - - - 14.86 14.29 14.88
18017 417.3 9.1 846 18033 done 0.80 0.15 0.238 3190 -213.3 2.25 0.030 1690 607.1 180.9 - - 2057 - - - - - - - - 14.02 14.50 14.28
18363 392.2 7.3 853 18391 roll 0.82 - - 3191 - 2.30 0.047 3047 590.0 192.2 15.75 1.508 2003 -3.4 0.172 - - - - - - 14.82 14.22 13.53
18460 384.3 8.0 867 18473 done 0.82 - - 3197 - 2.35 0.039 1672 -585.1 192.2 - - 1996 - - - - - - - - 14.57 14.50 14.62
18818 354.6 8.5 875 18830 done 0.82 - - 3197 - - - 1672 - 192.2 - - 1996 - - - - - - - - 14.83 14.85 14.85
19153 324.9 8.9 881 19166 done 0.82 - - 3197 - - - 1672 - 192.2 - - 1996 - - - - - - - - 14.85 14.88 14.88
19488 294.6 9.0 887 19502 roll 0.82 - - 3197 - 2.40 0.045 3050 574.2 192.2 - - 1995 - - - - - - - - 14.86 14.39 14.88
19544 289.5 9.3 894 19559 done 0.82 - - 3204 - 2.35 0.040 1678 -583.8 192.2 - - 1996 - - - - - - - - 14.50 14.40 14.53
19887 259.0 8.9 901 19900 roll 0.82 - - 3215 - 2.42 0.065 319 -561.6 192.2 - - 1994 - - - - - - - - 14.84 14.31 14.87
19927 255.2 9.3 906 19940 done 0.82 - - 3215 - 2.22 0.030 1677 611.7 192.2 - - 1996 - - - - - - - - 14.57 14.52 14.59
20291 223.7 8.5 915 20305 roll 0.82 - - 3215 - 2.35 0.047 3056 586.8 192.2 - - 1996 - - - - - - - - 14.86 14.37 14.88
20388 215.0 8.6 928 20401 done 0.82 - - 3225 - 2.38 0.040 1677 -579.4 192.2 - - 1996 - - - - - - - - 14.50 14.40 14.53
20751 184.1 8.6 937 20764 done 0.82 - - 3223 - - - 1676 - 192.2 - - 1996 - - - - - - - - 14.87 14.89 14.88
21088 154.4 9.0 943 21101 roll 0.82 - - 3223 - 2.38 0.044 3057 580.3 192.2 - - 1996 - - - - - - - - 14.86 14.36 14.87
21143 149.1 9.7 950 21157 done 0.82 0.17 0.241 3194 -170.6 2.38 0.040 1674 -581.1 192.2 - - 1996 - - - - - - - - 13.97 14.40 14.28
21488 123.3 7.5 957 21505 roll 0.83 - - 3202 - 2.42 0.064 324 -557.9 198.9 2.50 0.501 1977 -7.6 0.360 - - - - - - 14.85 14.40 13.42
21519 120.8 7.5 961 21537 done 0.83 - - 3202 - 2.22 0.030 1692 616.2 205.2 6.45 0.334 1956 -3.3 0.227 - - - - - - 14.64 14.59 13.89
21852 95.6 7.6 970 21874 roll 0.84 - - 3202 - 2.35 0.046 3046 576.2 210.7 8.65 0.303 1941 -1.7 0.105 - - - - - - 14.86 14.43 13.93
21939 89.0 7.6 982 21960 done 0.85 - - 3211 - 2.33 0.039 1681 -585.8 215.4 8.73 0.292 1915 -3.0 0.175 - - - - - - 14.46 14.38 13.98
22279 65.4 6.4 997 22318 done 0.98 - - 3211 - - - 1681 - 243.0 30.30 0.295 1802 -3.7 0.159 - - - - - - 14.83 14.47 14.12
22616 49.9 3.1 1012 22712 roll 1.27 0.35 0.077 3357 417.1 2.40 0.061 326 -564.6 331.7 79.72 0.259 1442 -4.5 0.168 - - - - - - 14.31 14.42 14.15
22831 37.0 6.6 1043 22871 done 1.29 - - 3357 - 2.22 0.028 1685 612.2 354.6 21.73 0.219 1350 -4.2 0.138 - - - - - - 14.54 14.49 14.07
23177 8.3 9.0 1059 23194 roll 1.29 - - 3357 - 2.35 0.044 3038 575.7 354.6 2.10 0.149 1348 - - - - - - - - 14.76 14.28 14.17
23215 4.6 9.1 1064 23228 done 1.29 - - 3365 - 2.30 0.040 1679 -590.9 354.6 - - 1352 - - - - - - - - 14.51 14.42 14.53
23240 end climb: SURFACE_DEPTH_REACHED
23240 begin surface coast
23268 end surface coast: CONTROL_FINISHED_OK
23268 begin surface
SM 1.12 - - - - -8.61 9.55 0.070 158 16.5 0.08 0.138 1726 8700.0 515.13 97.82 0.126 690 7.1 -0.006 - - - - - -