SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 2 • 55.24 of 350.00 AH used of 24V (84.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 60 s
• GPS2 time: 16 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 done -0.84 - - 152 - - - 1881 - -116.8 -78.93 - 3272 - - - - - - - - 14.80 13.93 14.84
110 10.2 -15.8 3 127 roll -0.84 11.82 0.389 2642 210.7 2.30 0.048 3235 588.7 -116.8 - - 3273 - - - - - - - - 14.40 14.66 14.64
191 47.4 -29.3 15 197 done -0.44 0.55 0.299 2779 249.1 2.25 0.040 1867 -608.0 -116.8 - - 3273 - - - - - - - - 14.46 14.66 14.68
526 97.4 -9.9 30 533 roll -0.44 - - 2773 - 2.28 0.053 3235 600.0 -116.8 - - 3273 - - - - - - - - 14.92 14.75 14.95
763 115.4 -7.6 64 770 done -0.44 - - 2772 - 2.22 0.037 1862 -618.5 -116.8 - - 3275 - - - - - - - - 14.85 14.80 14.87
1086 139.1 -7.3 75 1093 roll -0.44 - - 2763 - 2.28 0.054 3235 602.2 -116.8 - - 3275 - - - - - - - - 15.00 14.81 15.02
1177 146.2 -7.8 88 1183 done -0.44 - - 2763 - 2.22 0.037 1862 -618.5 -116.8 - - 3275 - - - - - - - - 14.87 14.82 14.88
1535 174.0 -7.6 97 1542 roll -0.44 - - 2763 - 2.35 0.058 463 -595.3 -116.8 - - 3274 - - - - - - - - 15.00 14.82 15.03
1653 184.5 -8.8 114 1660 done -0.44 0.10 0.232 2782 190.0 2.17 0.034 1789 611.1 -116.8 - - 3272 - - - - - - - - 14.67 14.84 14.79
1983 209.0 -7.4 126 1986 done -0.44 - - 2782 - - - 1789 - -116.8 - - 3268 - - - - - - - - 15.01 15.04 15.03
2319 234.2 -7.5 132 2321 done -0.44 - - 2782 - - - 1789 - -116.8 - - 3266 - - - - - - - - 15.02 15.04 15.04
2655 257.2 -6.7 138 2668 done -0.44 - - 2782 - - - 1789 - -116.8 - - 3266 - - - - - - - - 15.02 15.07 15.06
2991 280.3 -6.9 144 3004 done -0.44 - - 2782 - - - 1789 - -116.8 - - 3260 - - - - - - - - 15.04 15.09 15.08
3327 304.8 -7.4 150 3340 roll -0.44 - - 2774 - 2.40 0.055 3235 602.5 -116.8 - - 3257 - - - - - - - - 15.07 14.88 15.09
3374 308.4 -7.7 156 3388 done -0.54 - - 2774 - 2.28 0.037 1831 -615.8 -116.8 - - 3257 - - - - - - - - 14.95 14.89 14.96
3731 335.4 -7.5 164 3744 roll -0.54 - - 2774 - 2.30 0.059 463 -594.8 -116.8 - - 3255 - - - - - - - - 15.08 14.88 15.10
3850 344.8 -7.9 180 3863 done -0.54 - - 2765 - 2.15 0.036 1793 618.6 -116.8 - - 3253 - - - - - - - - 15.00 14.92 14.99
4192 370.3 -7.4 193 4205 roll -0.54 - - 2755 - 2.38 0.055 3227 602.5 -116.8 - - 3252 - - - - - - - - 15.08 14.88 15.10
4295 377.9 -7.3 207 4308 done -0.54 - - 2755 - 2.25 0.037 1841 -616.0 -116.8 - - 3250 - - - - - - - - 14.96 14.92 14.98
4652 404.6 -7.6 215 4665 roll -0.54 - - 2755 - 2.30 0.060 474 -594.3 -116.8 - - 3249 - - - - - - - - 15.07 14.88 15.09
4834 420.1 -8.7 240 4848 done -0.54 - - 2746 - 2.08 0.034 1768 622.1 -116.8 - - 3248 - - - - - - - - 14.95 14.90 14.95
5170 449.2 -8.7 252 5183 roll -0.54 - - 2735 - 2.45 0.056 3229 596.3 -116.8 - - 3245 - - - - - - - - 15.07 14.85 15.13
5217 453.4 -9.0 258 5230 done -0.54 - - 2735 - 2.38 0.039 1788 -605.5 -116.8 - - 3246 - - - - - - - - 14.95 14.89 14.97
5573 485.0 -8.9 266 5586 roll -0.54 - - 2735 - 2.22 0.060 470 -593.7 -116.8 - - 3244 - - - - - - - - 15.07 14.87 15.09
5676 495.1 -9.8 280 5689 done -0.54 - - 2727 - 2.03 0.035 1720 615.8 -116.8 - - 3243 - - - - - - - - 14.96 14.93 14.97
6032 529.0 -9.5 288 6045 roll -0.54 - - 2716 - 2.53 0.056 3233 598.0 -116.8 - - 3242 - - - - - - - - 15.07 14.86 15.09
6151 540.1 -9.4 304 6164 done -0.54 0.15 0.253 2749 220.0 2.42 0.040 1762 -607.9 -116.8 - - 3241 - - - - - - - - 14.69 14.88 14.90
6494 566.7 -7.5 317 6507 roll -0.54 - - 2749 - 2.17 0.061 473 -594.0 -116.8 - - 3241 - - - - - - - - 15.07 14.85 15.09
6618 576.4 -7.8 334 6631 done -0.54 - - 2748 - 1.98 0.037 1698 618.7 -116.8 - - 3240 - - - - - - - - 14.95 14.90 14.97
6953 601.5 -7.5 346 6967 roll -0.54 - - 2728 - 2.58 0.056 3237 596.5 -116.8 - - 3239 - - - - - - - - 15.06 14.81 15.08
7091 612.9 -8.3 365 7105 done -0.54 - - 2732 - 2.42 0.041 1763 -609.1 -116.8 - - 3238 - - - - - - - - 14.93 14.87 14.95
7413 641.4 -9.1 375 7426 roll -0.54 - - 2732 - 2.20 0.062 467 -589.1 -116.8 - - 3237 - - - - - - - - 15.05 14.83 15.08
7509 651.0 -10.0 388 7522 done -0.54 0.12 0.284 2749 141.7 2.03 0.037 1717 615.8 -116.8 - - 3236 - - - - - - - - 14.65 14.89 14.87
7873 681.8 -8.4 397 7886 roll -0.54 - - 2740 - 2.55 0.057 3235 595.3 -116.8 - - 3233 - - - - - - - - 15.05 14.83 15.07
7955 688.8 -8.5 408 7968 done -0.54 - - 2740 - 2.45 0.041 1751 -605.7 -116.8 - - 3235 - - - - - - - - 14.92 14.85 14.94
8276 715.3 -8.2 418 8289 roll -0.54 - - 2740 - 2.17 0.063 474 -588.5 -116.8 - - 3233 - - - - - - - - 15.05 14.83 15.07
8344 721.3 -9.1 427 8357 done -0.54 - - 2731 - 2.00 0.036 1707 616.5 -116.8 - - 3231 - - - - - - - - 14.93 14.88 14.95
8679 748.1 -7.9 439 8693 roll -0.54 - - 2720 - 2.58 0.057 3236 592.6 -116.8 - - 3232 - - - - - - - - 15.04 14.82 15.07
8835 759.7 -7.4 460 8848 done -0.54 0.15 0.246 2753 220.0 2.40 0.041 1781 -606.2 -116.8 - - 3231 - - - - - - - - 14.66 14.85 14.86
9198 782.7 -6.2 469 9211 roll -0.54 - - 2753 - 2.22 0.063 474 -588.7 -116.8 - - 3230 - - - - - - - - 15.07 14.81 15.07
9317 790.8 -6.8 485 9330 done -0.54 - - 2747 - 2.05 0.037 1729 612.2 -116.8 - - 3230 - - - - - - - - 14.92 14.86 14.94
9659 814.4 -7.0 498 9673 roll -0.54 - - 2736 - 2.53 0.057 3226 591.7 -116.8 - - 3230 - - - - - - - - 15.03 14.82 15.06
9791 824.1 -8.5 516 9804 done -0.54 - - 2736 - 2.38 0.040 1786 -605.0 -116.8 - - 3229 - - - - - - - - 14.90 14.83 14.92
10119 849.6 -7.8 527 10132 roll -0.54 - - 2736 - 2.25 0.065 473 -583.6 -116.8 - - 3229 - - - - - - - - 15.02 14.79 15.04
10238 859.7 -8.5 543 10251 done -0.54 - - 2728 - 2.05 0.037 1725 610.7 -116.8 - - 3228 - - - - - - - - 14.90 14.85 14.91
10580 887.5 -8.0 556 10593 roll -0.54 - - 2717 - 2.55 0.059 3234 591.8 -116.8 - - 3228 - - - - - - - - 15.02 14.78 15.04
10704 897.4 -8.0 573 10717 done -0.54 0.15 0.248 2750 220.0 2.40 0.041 1789 -602.1 -116.8 - - 3227 - - - - - - - - 14.58 14.79 14.79
11040 919.3 -6.4 585 11053 roll -0.54 - - 2750 - 2.25 0.065 475 -584.0 -116.8 - - 3226 - - - - - - - - 15.04 14.78 15.04
11087 922.6 -6.2 591 11100 done -0.54 - - 2744 - 2.10 0.038 1759 611.4 -116.8 - - 3226 - - - - - - - - 14.90 14.84 14.91
11444 946.9 -6.9 599 11457 roll -0.54 - - 2733 - 2.50 0.060 3233 589.6 -116.8 - - 3226 - - - - - - - - 15.02 14.78 15.04
11519 951.7 -6.9 609 11532 done -0.54 - - 2733 - 2.38 0.042 1802 -601.3 -116.8 - - 3226 - - - - - - - - 14.87 14.80 14.89
11848 975.5 -7.1 620 11861 roll -0.54 - - 2733 - 2.28 0.064 476 -581.6 -116.8 - - 3225 - - - - - - - - 15.01 14.77 15.03
11944 983.5 -7.1 633 11958 done -0.54 0.12 0.286 2749 133.3 2.10 0.039 1746 604.8 -116.8 - - 3224 - - - - - - - - 14.56 14.83 14.79
12081 end dive: TARGET_DEPTH_EXCEEDED
12081 begin apogee
12089 993.4 -6.3 638 12216 roll -0.21 0.40 0.230 2856 267.5 - - 1746 - - 117.35 2.206 2794 -3.7 0.305 - - - - - - 14.57 14.09 13.38
12218 end apogee: CONTROL_FINISHED_OK
12218 begin climb
12221 998.4 - 640 12363 roll 0.84 1.10 0.176 3191 304.5 2.47 0.063 410 -540.9 116.8 123.72 2.154 2315 -3.9 0.332 - - - - - - 14.09 14.14 13.26
12579 971.7 9.4 694 12592 done 0.74 - - 3191 - 2.28 0.034 1775 598.7 116.8 - - 2293 - - - - - - - - 14.50 14.45 14.51
12935 939.4 9.1 702 12949 roll 0.64 0.20 0.264 3150 -205.0 2.40 0.061 404 -571.2 116.8 - - 2291 - - - - - - - - 14.43 14.59 14.57
13123 924.4 7.8 728 13136 done 0.64 - - 3151 - 2.33 0.035 1815 605.6 117.1 - - 2291 - - - - - - - - 14.74 14.69 14.76
13451 898.0 8.1 739 13465 roll 0.64 - - 3150 - 2.33 0.054 3186 588.4 117.1 - - 2290 - - - - - - - - 14.90 14.71 14.92
13541 890.1 8.7 751 13554 done 0.64 - - 3158 - 2.22 0.041 1847 -603.2 117.1 - - 2289 - - - - - - - - 14.81 14.75 14.86
13911 857.8 8.8 761 13924 roll 0.64 - - 3170 - 2.50 0.066 409 -575.2 117.1 - - 2289 - - - - - - - - 14.95 14.72 14.97
14042 845.9 9.4 779 14056 done 0.64 0.15 0.261 3138 -213.3 2.33 0.034 1831 610.3 117.1 - - 2289 - - - - - - - - 14.56 14.80 14.79
14371 820.7 7.4 790 14388 roll 0.65 - - 3138 - 2.28 0.055 3181 592.1 125.9 2.17 0.392 2274 -6.9 2.677 - - - - - - 14.96 14.78 13.71
14401 818.3 7.4 793 14419 done 0.66 - - 3144 - 2.25 0.042 1821 -604.4 133.6 5.68 1.731 2247 -4.8 0.416 - - - - - - 14.85 14.78 13.91
14776 791.0 7.1 804 14813 roll 0.68 - - 3156 - 2.50 0.067 398 -569.2 146.8 24.45 1.869 2189 -2.4 0.186 - - - - - - 14.95 14.50 13.97
14899 781.8 7.8 821 14912 done 0.68 - - 3156 - 2.33 0.035 1790 597.4 147.3 - - 2184 - - - - - - - - 14.69 14.64 14.71
15234 756.6 7.4 833 15252 roll 0.69 - - 3156 - 2.40 0.055 3180 579.2 155.9 3.75 1.272 2156 -7.5 0.822 - - - - - - 14.87 14.69 13.83
15279 753.0 7.8 839 15292 done 0.69 - - 3164 - 2.33 0.042 1791 -596.1 157.3 - - 2158 - - - - - - - - 14.76 14.72 14.78
15635 724.7 8.0 847 15648 roll 0.69 - - 3174 - 2.40 0.067 402 -578.8 157.3 - - 2159 - - - - - - - - 14.92 14.70 14.94
15697 719.5 8.7 855 15710 done 0.69 - - 3176 - 2.30 0.034 1796 606.1 157.3 - - 2159 - - - - - - - - 14.81 14.81 14.83
16040 689.4 8.9 868 16053 roll 0.69 - - 3174 - 2.33 0.054 3183 595.3 157.3 - - 2159 - - - - - - - - 14.95 14.75 14.97
16108 682.8 9.5 877 16121 done 0.69 - - 3183 - 2.30 0.041 1799 -601.7 157.3 - - 2159 - - - - - - - - 14.83 14.77 14.85
16443 651.6 9.3 889 16457 roll 0.69 - - 3194 - 2.40 0.067 399 -583.3 157.3 - - 2159 - - - - - - - - 14.96 14.72 14.99
16547 641.0 10.3 903 16561 done 0.69 0.17 0.261 3156 -223.5 2.28 0.034 1800 614.5 157.3 - - 2159 - - - - - - - - 14.57 14.81 14.78
16904 611.3 8.3 911 16917 roll 0.69 - - 3156 - 2.33 0.054 3185 594.4 157.3 - - 2159 - - - - - - - - 14.97 14.76 15.00
16958 606.5 8.9 918 16972 done 0.69 - - 3162 - 2.35 0.042 1779 -598.3 157.3 - - 2159 - - - - - - - - 14.85 14.78 14.85
17302 576.2 8.9 925 17315 roll 0.69 - - 3173 - 2.38 0.067 404 -577.7 157.3 - - 2159 - - - - - - - - 14.97 14.74 15.00
17364 570.4 9.8 933 17378 done 0.69 - - 3173 - 2.22 0.034 1764 612.6 157.3 - - 2159 - - - - - - - - 14.87 14.82 14.88
17707 538.9 9.1 946 17720 roll 0.69 - - 3173 - 2.38 0.053 3181 595.4 157.3 - - 2159 - - - - - - - - 14.98 14.78 15.00
17770 533.0 9.4 954 17783 done 0.69 - - 3181 - 2.33 0.041 1785 -599.1 157.3 - - 2159 - - - - - - - - 14.85 14.79 14.88
18112 503.1 8.6 967 18129 roll 0.69 0.12 0.278 3161 -166.7 2.47 0.067 395 -562.8 157.3 1.58 0.165 2152 -4.4 2.499 - - - - - - 14.56 14.75 14.68
18177 497.7 8.2 976 18190 done 0.69 - - 3160 - 2.25 0.034 1775 613.3 157.3 - - 2156 - - - - - - - - 14.86 14.81 14.85
18513 471.4 7.9 988 18526 roll 0.69 - - 3160 - 2.35 0.053 3181 598.3 157.3 - - 2156 - - - - - - - - 15.00 14.77 15.00
18567 466.6 8.7 995 18580 done 0.69 - - 3169 - 2.35 0.041 1775 -598.3 157.3 - - 2156 - - - - - - - - 14.85 14.78 14.87
18911 438.7 8.0 1002 18924 roll 0.69 - - 3180 - 2.38 0.067 399 -578.2 157.3 - - 2156 - - - - - - - - 14.98 14.75 15.01
18979 432.9 8.5 1011 18993 done 0.69 - - 3180 - 2.22 0.034 1772 618.5 157.3 - - 2156 - - - - - - - - 14.86 14.82 14.88
19314 406.6 7.8 1023 19331 roll 0.69 - - 3180 - 2.40 0.052 3177 585.4 158.8 3.00 0.831 2142 -4.7 0.422 - - - - - - 14.98 14.80 13.96
19365 402.3 8.7 1030 19379 done 0.69 0.15 0.269 3157 -153.3 2.35 0.041 1769 -599.1 158.8 - - 2148 - - - - - - - - 14.59 14.79 14.79
19709 376.3 7.8 1037 19727 roll 0.70 - - 3165 - 2.40 0.066 406 -567.9 160.7 2.90 0.770 2136 -4.1 0.374 - - - - - - 14.98 14.77 13.97
19796 368.9 8.5 1049 19809 done 0.70 - - 3165 - 2.20 0.033 1750 610.9 160.7 - - 2144 - - - - - - - - 14.86 14.82 14.88
20166 337.8 8.4 1059 20179 roll 0.70 - - 3165 - 2.40 0.050 3184 597.5 160.7 - - 2144 - - - - - - - - 14.98 14.77 15.00
20255 330.2 8.2 1071 20268 done 0.70 - - 3173 - 2.35 0.040 1764 -604.3 160.7 - - 2144 - - - - - - - - 14.85 14.78 14.88
20626 301.1 7.8 1081 20643 roll 0.70 - - 3184 - 2.40 0.065 402 -567.5 161.3 2.60 0.609 2135 -3.5 0.317 - - - - - - 14.99 14.77 13.97
20726 292.5 8.4 1095 20739 done 0.70 - - 3184 - 2.20 0.033 1758 616.4 161.3 - - 2142 - - - - - - - - 14.87 14.82 14.88
21083 263.6 8.1 1103 21096 roll 0.70 - - 3184 - 2.38 0.050 3183 598.7 161.3 - - 2142 - - - - - - - - 15.01 14.78 15.01
21144 258.3 8.8 1111 21162 done 0.70 0.15 0.262 3161 -153.3 2.38 0.040 1751 -601.7 161.3 2.20 0.379 2134 -3.6 0.458 - - - - - - 14.62 14.76 13.95
21487 234.6 6.9 1124 21528 roll 0.72 - - 3169 - 2.35 0.063 401 -574.5 179.0 28.38 1.273 2058 -2.7 0.091 - - - - - - 14.98 14.57 14.14
21601 226.1 7.8 1140 21614 done 0.72 - - 3169 - 2.20 0.032 1741 609.1 179.4 - - 2052 - - - - - - - - 14.74 14.70 14.76
21944 198.8 8.0 1153 21957 roll 0.72 - - 3169 - 2.42 0.050 3180 594.6 179.4 - - 2052 - - - - - - - - 14.90 14.71 14.92
22019 192.4 8.4 1163 22032 done 0.72 - - 3178 - 2.38 0.040 1751 -600.4 179.4 - - 2052 - - - - - - - - 14.79 14.72 14.81
22347 164.8 8.5 1174 22360 roll 0.72 - - 3187 - 2.35 0.066 395 -577.0 179.4 - - 2052 - - - - - - - - 14.94 14.71 14.96
22488 152.4 8.6 1193 22502 done 0.72 - - 3188 - 2.12 0.032 1715 622.6 179.4 - - 2052 - - - - - - - - 14.85 14.81 14.86
22810 126.9 7.7 1203 22823 roll 0.72 - - 3187 - 2.45 0.049 3185 600.0 182.9 - - 2052 - - - - - - - - 14.97 14.76 14.99
22906 119.7 7.1 1216 22932 done 0.74 - - 3196 - 2.35 0.038 1756 -608.1 197.0 13.52 0.390 1989 -4.7 0.265 - - - - - - 14.85 14.78 14.40
23264 97.2 6.1 1225 23314 roll 0.78 - - 3203 - 2.40 0.063 405 -562.9 229.9 34.50 0.381 1863 -3.7 0.172 - - - - - - 14.96 14.68 14.43
23517 82.3 5.2 1261 23583 done 0.99 0.12 0.133 3256 441.7 2.00 0.030 1658 626.5 280.1 49.50 0.347 1654 -4.2 0.185 - - - - - - 14.71 14.78 14.40
23912 59.6 4.8 1284 23978 roll 1.16 0.15 0.122 3314 386.7 2.55 0.044 3181 597.3 336.4 52.83 0.283 1424 -4.4 0.170 - - - - - - 14.71 14.59 14.43
24005 53.0 8.1 1294 24022 done 1.16 - - 3324 - 2.62 0.039 1610 -599.6 336.4 2.90 0.156 1421 -1.0 0.065 - - - - - - 14.73 14.66 14.50
24340 36.2 4.5 1308 24409 roll 1.24 - - 3324 - 2.67 0.043 3178 587.3 398.2 53.78 0.218 1170 -4.7 0.143 - - - - - - 14.92 14.65 14.51
24415 31.8 5.8 1319 24460 done 1.45 0.20 0.098 3405 405.0 2.50 0.036 1676 -600.8 436.0 32.05 0.210 1013 -4.9 0.137 - - - - - - 14.69 14.69 14.50
24730 end climb: SURFACE_DEPTH_REACHED
24730 begin surface coast
24758 end surface coast: CONTROL_FINISHED_OK
24758 begin surface
SM 1.11 - - - - -8.61 9.52 0.076 157 16.5 0.28 0.057 1891 -34067.9 515.13 48.12 0.123 693 14.4 -0.013 - - - - - -