SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 62.46 of 350.00 AH used of 24V (82.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 37 s
• GPS2 time: 16 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 145 - - - 1888 - -116.8 -80.35 - 3272 - - - - - - - - 14.78 13.43 14.81
117 8.6 -13.0 3 134 roll -0.84 11.55 0.373 2662 217.9 2.42 0.043 455 -592.1 -116.8 - - 3274 - - - - - - - - 14.38 14.61 14.62
211 51.8 -35.1 17 219 done -0.30 0.68 0.272 2822 235.3 2.35 0.035 1878 605.5 -116.8 - - 3274 - - - - - - - - 14.43 14.66 14.64
534 85.0 -9.1 30 540 roll -0.30 - - 2814 - 2.30 0.055 3267 603.9 -116.8 - - 3275 - - - - - - - - 14.90 14.68 14.92
590 89.1 -7.6 38 597 done -0.30 - - 2814 - 2.22 0.037 1902 -614.9 -116.8 - - 3275 - - - - - - - - 14.80 14.73 14.81
955 114.9 -6.5 50 961 roll -0.39 - - 2813 - 2.40 0.057 466 -598.3 -116.8 - - 3276 - - - - - - - - 14.96 14.76 14.98
1030 120.6 -6.9 61 1038 done -0.49 0.12 0.130 2753 -500.0 2.30 0.033 1900 623.5 -116.8 - - 3275 - - - - - - - - 14.77 14.78 14.84
1347 144.0 -7.6 71 1353 roll -0.49 - - 2741 - 2.22 0.054 3251 608.6 -116.8 - - 3275 - - - - - - - - 14.98 14.78 15.00
1387 147.2 -7.8 77 1394 done -0.49 - - 2743 - 2.33 0.037 1820 -614.2 -116.8 - - 3274 - - - - - - - - 14.86 14.80 14.88
1738 174.3 -7.5 85 1745 roll -0.49 - - 2743 - 2.25 0.057 467 -601.3 -116.8 - - 3273 - - - - - - - - 15.00 14.77 15.02
1843 183.5 -9.2 100 1851 done -0.49 0.15 0.246 2768 166.7 2.12 0.032 1791 624.5 -116.8 - - 3272 - - - - - - - - 14.64 14.83 14.82
2186 209.0 -7.5 107 2192 roll -0.49 - - 2759 - 2.42 0.054 3259 606.6 -116.8 - - 3269 - - - - - - - - 15.00 14.79 15.02
2256 214.2 -7.6 117 2262 done -0.49 - - 2759 - 2.35 0.037 1805 -618.7 -116.8 - - 3269 - - - - - - - - 14.88 14.83 14.90
2578 240.2 -8.2 128 2584 roll -0.49 - - 2759 - 2.25 0.057 460 -597.8 -116.8 - - 3266 - - - - - - - - 15.03 14.79 15.02
2717 252.7 -8.9 148 2730 done -0.49 - - 2751 - 2.10 0.034 1775 626.2 -116.8 - - 3264 - - - - - - - - 14.91 14.87 14.92
3087 284.2 -8.6 158 3101 roll -0.49 - - 2739 - 2.45 0.053 3260 606.1 -116.8 - - 3263 - - - - - - - - 15.04 14.83 15.07
3155 290.0 -8.3 167 3169 done -0.49 0.10 0.259 2764 250.0 2.40 0.038 1778 -617.5 -116.8 - - 3262 - - - - - - - - 14.68 14.90 14.88
3491 314.6 -7.2 179 3504 roll -0.49 - - 2762 - 2.20 0.058 464 -597.3 -116.8 - - 3259 - - - - - - - - 15.06 14.85 15.08
3601 323.1 -7.7 194 3615 done -0.49 - - 2759 - 2.08 0.034 1745 615.9 -116.8 - - 3259 - - - - - - - - 14.94 14.90 14.95
3945 348.6 -7.5 201 3958 roll -0.49 - - 2748 - 2.50 0.054 3251 602.4 -116.8 - - 3256 - - - - - - - - 15.07 14.85 15.08
4008 353.3 -7.6 209 4021 done -0.49 - - 2747 - 2.45 0.037 1745 -614.7 -116.8 - - 3255 - - - - - - - - 14.94 14.88 14.96
4350 380.2 -7.9 222 4363 roll -0.49 - - 2748 - 2.15 0.060 464 -595.8 -116.8 - - 3253 - - - - - - - - 15.07 14.85 15.08
4468 390.2 -8.6 238 4482 done -0.49 0.12 0.269 2765 141.7 2.00 0.035 1708 622.0 -116.8 - - 3254 - - - - - - - - 14.66 14.89 14.87
4811 414.7 -7.1 251 4824 roll -0.49 - - 2754 - 2.58 0.054 3251 598.1 -116.8 - - 3254 - - - - - - - - 15.06 14.84 15.08
4952 424.9 -7.3 270 4965 done -0.49 - - 2756 - 2.47 0.037 1733 -614.6 -116.8 - - 3253 - - - - - - - - 14.93 14.86 14.95
5273 450.1 -7.9 280 5286 roll -0.49 - - 2756 - 2.12 0.060 468 -596.7 -116.8 - - 3248 - - - - - - - - 15.09 14.83 15.09
5349 456.5 -8.5 290 5362 done -0.49 - - 2748 - 2.03 0.034 1730 621.7 -116.8 - - 3248 - - - - - - - - 14.94 14.89 14.95
5677 483.0 -8.0 301 5691 roll -0.49 - - 2737 - 2.55 0.055 3263 601.2 -116.8 - - 3247 - - - - - - - - 15.06 14.82 15.08
5808 493.7 -8.0 319 5822 done -0.49 0.15 0.242 2769 213.3 2.47 0.040 1752 -611.7 -116.8 - - 3244 - - - - - - - - 14.65 14.85 14.85
6140 516.1 -6.8 330 6154 roll -0.58 - - 2770 - 2.17 0.061 464 -593.5 -116.8 - - 3242 - - - - - - - - 15.04 14.82 15.06
6259 525.1 -7.4 346 6272 done -0.58 - - 2764 - 2.03 0.036 1722 619.7 -116.8 - - 3243 - - - - - - - - 14.92 14.88 14.97
6602 549.9 -7.2 359 6615 roll -0.58 - - 2753 - 2.55 0.056 3250 599.2 -116.8 - - 3243 - - - - - - - - 15.04 14.82 15.07
6736 559.7 -7.3 377 6750 done -0.68 0.12 0.132 2704 -408.3 2.40 0.038 1778 -613.3 -116.8 - - 3242 - - - - - - - - 14.81 14.85 14.90
7065 590.7 -9.6 388 7078 roll -0.68 - - 2704 - 2.22 0.061 463 -592.3 -116.8 - - 3241 - - - - - - - - 15.04 14.81 15.07
7140 598.5 -10.0 398 7154 done -0.68 - - 2695 - 2.12 0.037 1775 618.9 -116.8 - - 3244 - - - - - - - - 14.92 14.87 14.94
7469 629.8 -9.5 409 7482 done -0.68 - - 2695 - - - 1774 - -116.8 - - 3237 - - - - - - - - 15.04 15.07 15.07
7805 661.0 -9.2 415 7818 done -0.68 - - 2694 - - - 1775 - -116.8 - - 3238 - - - - - - - - 15.04 15.07 15.07
8140 693.5 -9.7 421 8153 done -0.68 - - 2695 - - - 1771 - -116.8 - - 3237 - - - - - - - - 15.04 15.07 15.07
8477 728.5 -10.5 427 8490 roll -0.68 - - 2683 - 2.47 0.058 3250 598.8 -116.8 - - 3235 - - - - - - - - 15.04 14.81 15.06
8517 733.0 -11.0 432 8531 done -0.68 - - 2683 - 2.45 0.041 1760 -608.2 -116.8 - - 3235 - - - - - - - - 14.91 14.83 14.93
8880 771.7 -10.6 441 8894 roll -0.68 - - 2683 - 2.20 0.063 462 -590.0 -116.8 - - 3235 - - - - - - - - 15.04 14.78 15.07
9012 786.3 -10.9 459 9026 done -0.58 0.25 0.261 2736 212.0 2.05 0.038 1716 611.7 -116.8 - - 3234 - - - - - - - - 14.56 14.85 14.81
9341 812.7 -7.8 470 9354 roll -0.58 - - 2726 - 2.60 0.059 3255 591.9 -116.8 - - 3233 - - - - - - - - 15.02 14.78 15.05
9490 823.9 -7.6 490 9503 done -0.58 - - 2727 - 2.50 0.041 1739 -606.4 -116.8 - - 3232 - - - - - - - - 14.88 14.81 14.90
9860 852.3 -7.6 500 9873 roll -0.58 - - 2726 - 2.17 0.064 467 -586.2 -116.8 - - 3231 - - - - - - - - 15.02 14.76 15.03
9964 860.1 -7.6 514 9977 done -0.58 - - 2718 - 2.05 0.038 1710 606.3 -116.8 - - 3231 - - - - - - - - 14.86 14.82 14.90
10320 886.7 -7.4 522 10333 roll -0.58 - - 2707 - 2.60 0.059 3249 591.9 -116.8 - - 3230 - - - - - - - - 15.02 14.76 15.04
10452 897.3 -9.6 540 10465 done -0.58 0.15 0.255 2740 220.0 2.47 0.041 1753 -605.7 -116.8 - - 3227 - - - - - - - - 14.54 14.78 14.78
10780 918.0 -6.5 551 10794 roll -0.58 - - 2740 - 2.20 0.064 468 -584.1 -116.8 - - 3229 - - - - - - - - 15.02 14.72 15.03
10856 923.5 -7.3 561 10869 done -0.58 - - 2734 - 2.08 0.038 1737 610.1 -116.8 - - 3229 - - - - - - - - 14.87 14.81 14.89
11185 946.6 -7.1 572 11198 roll -0.58 - - 2722 - 2.58 0.060 3257 589.1 -116.8 - - 3228 - - - - - - - - 15.01 14.73 15.02
11295 954.8 -7.4 587 11309 done -0.58 - - 2722 - 2.50 0.042 1759 -599.2 -116.8 - - 3229 - - - - - - - - 14.85 14.77 14.86
11639 980.9 -7.5 594 11653 roll -0.58 - - 2722 - 2.22 0.064 464 -583.3 -116.8 - - 3227 - - - - - - - - 15.00 14.73 15.02
11722 987.9 -8.4 605 11736 done -0.58 - - 2714 - 2.08 0.040 1734 610.6 -116.8 - - 3227 - - - - - - - - 14.85 14.80 14.88
11738 end dive: TARGET_DEPTH_EXCEEDED
11738 begin apogee
11746 990.3 -11.3 607 11873 roll -0.21 0.55 0.235 2859 263.6 - - 1734 - - 117.68 2.205 2791 -3.7 0.309 - - - - - - 14.51 14.09 13.34
11876 end apogee: CONTROL_FINISHED_OK
11876 begin climb
11880 994.5 - 609 12021 roll 0.84 1.05 0.168 3186 311.4 2.47 0.064 402 -539.3 116.8 123.03 2.166 2313 -3.9 0.331 - - - - - - 14.09 14.14 13.21
12199 972.4 7.2 657 12217 done 0.85 - - 3186 - 2.38 0.034 1801 587.8 128.2 4.75 1.541 2268 -9.5 1.110 - - - - - - 14.46 14.41 13.51
12540 941.3 9.0 670 12553 roll 0.85 - - 3196 - 2.45 0.062 398 -572.7 128.2 - - 2268 - - - - - - - - 14.78 14.57 14.81
12702 926.3 9.4 692 12715 done 0.75 - - 3196 - 2.38 0.035 1832 602.5 128.2 - - 2268 - - - - - - - - 14.72 14.67 14.73
13058 893.0 9.3 700 13072 roll 0.65 0.20 0.259 3146 -250.0 2.30 0.052 3197 593.5 128.2 - - 2268 - - - - - - - - 14.48 14.69 14.62
13127 887.1 8.1 709 13140 done 0.65 - - 3153 - 2.25 0.041 1841 -602.7 128.2 - - 2268 - - - - - - - - 14.78 14.71 14.80
13462 860.6 8.0 721 13475 roll 0.65 - - 3164 - 2.50 0.066 396 -578.0 128.2 - - 2268 - - - - - - - - 14.93 14.69 14.95
13566 852.1 8.9 735 13579 done 0.65 - - 3164 - 2.38 0.034 1827 601.3 128.2 - - 2268 - - - - - - - - 14.82 14.76 14.83
13922 820.7 8.8 743 13935 roll 0.65 - - 3165 - 2.30 0.055 3196 595.2 128.2 - - 2268 - - - - - - - - 14.95 14.73 14.97
13984 814.8 9.6 751 13998 done 0.65 0.15 0.267 3142 -153.3 2.30 0.042 1820 -598.3 128.2 - - 2268 - - - - - - - - 14.52 14.76 14.74
14327 786.5 8.1 764 14340 roll 0.65 - - 3150 - 2.45 0.066 401 -579.2 128.2 - - 2265 - - - - - - - - 14.98 14.71 14.98
14409 779.5 8.5 775 14422 done 0.65 - - 3150 - 2.33 0.036 1815 606.9 128.2 - - 2268 - - - - - - - - 14.83 14.78 14.85
14731 753.5 8.0 785 14744 roll 0.65 - - 3150 - 2.30 0.054 3188 597.0 128.2 - - 2268 - - - - - - - - 14.97 14.73 14.99
14806 747.0 8.4 795 14819 done 0.65 - - 3159 - 2.30 0.041 1799 -603.9 128.2 - - 2268 - - - - - - - - 14.81 14.76 14.85
15134 721.6 7.7 806 15147 roll 0.66 - - 3169 - 2.42 0.067 396 -579.8 130.7 - - 2268 - - - - - - - - 14.97 14.74 14.97
15223 714.5 7.6 818 15242 done 0.66 - - 3170 - 2.33 0.034 1811 607.3 135.0 4.55 1.456 2241 -5.9 0.541 - - - - - - 14.84 14.78 13.88
15592 686.1 7.7 828 15609 roll 0.66 - - 3170 - 2.33 0.055 3192 592.7 138.3 3.92 1.290 2228 -3.3 0.328 - - - - - - 14.95 14.78 13.88
15678 678.8 8.4 840 15691 done 0.66 0.15 0.274 3148 -146.7 2.30 0.041 1812 -600.0 138.3 - - 2233 - - - - - - - - 14.53 14.73 14.75
16049 653.1 6.9 850 16092 roll 0.69 - - 3156 - 2.47 0.067 408 -568.4 155.4 29.80 1.718 2154 -2.7 0.187 - - - - - - 14.97 14.56 13.97
16192 641.9 8.3 870 16206 done 0.69 - - 3156 - 2.30 0.035 1797 603.9 155.4 - - 2148 - - - - - - - - 14.67 14.62 14.69
16563 611.0 8.4 880 16576 roll 0.69 - - 3156 - 2.35 0.054 3187 591.5 155.4 - - 2148 - - - - - - - - 14.87 14.62 14.88
16638 604.1 9.1 890 16651 done 0.69 - - 3164 - 2.28 0.041 1821 -599.1 155.4 - - 2148 - - - - - - - - 14.75 14.68 14.77
16966 575.4 8.8 901 16979 roll 0.69 - - 3177 - 2.47 0.067 403 -574.1 155.4 - - 2148 - - - - - - - - 14.91 14.67 14.93
17077 565.1 9.1 916 17091 done 0.69 - - 3175 - 2.30 0.034 1795 605.2 155.4 - - 2147 - - - - - - - - 14.79 14.73 14.81
17420 535.9 8.4 923 17434 roll 0.69 - - 3175 - 2.35 0.054 3183 590.6 155.4 - - 2147 - - - - - - - - 14.93 14.71 14.96
17503 529.0 8.3 934 17517 done 0.69 0.15 0.260 3152 -153.3 2.30 0.041 1794 -603.9 155.4 - - 2147 - - - - - - - - 14.50 14.73 14.75
17825 507.5 6.6 944 17863 roll 0.72 - - 3161 - 2.50 0.067 402 -556.8 179.2 25.80 1.653 2055 -3.6 0.203 - - - - - - 14.95 14.60 14.00
17960 497.6 7.6 963 17974 done 0.72 - - 3160 - 2.28 0.034 1781 604.8 184.0 - - 2045 - - - - - - - - 14.69 14.64 14.70
18331 469.4 7.7 973 18348 roll 0.72 - - 3160 - 2.42 0.053 3186 580.6 187.1 2.10 0.301 2028 -8.1 2.344 - - - - - - 14.87 14.67 13.65
18411 462.7 8.5 984 18424 done 0.72 - - 3169 - 2.33 0.041 1794 -597.4 187.1 - - 2028 - - - - - - - - 14.76 14.69 14.77
18732 435.4 8.6 994 18745 roll 0.72 - - 3179 - 2.42 0.067 397 -577.3 187.1 - - 2028 - - - - - - - - 14.91 14.66 14.93
18807 428.5 9.2 1004 18820 done 0.72 - - 3179 - 2.28 0.034 1785 608.8 187.1 - - 2026 - - - - - - - - 14.79 14.73 14.81
19136 399.5 8.9 1015 19149 roll 0.72 - - 3179 - 2.35 0.054 3183 594.9 187.1 - - 2029 - - - - - - - - 14.93 14.71 14.95
19225 391.2 9.0 1027 19238 done 0.72 - - 3186 - 2.33 0.044 1798 -594.4 187.1 - - 2026 - - - - - - - - 14.80 14.72 14.81
19595 360.2 8.3 1037 19609 roll 0.72 - - 3197 - 2.42 0.066 397 -578.9 187.1 - - 2028 - - - - - - - - 14.94 14.69 14.96
19736 347.8 8.8 1056 19750 done 0.72 0.15 0.246 3165 -213.3 2.25 0.034 1780 614.7 187.1 - - 2028 - - - - - - - - 14.52 14.74 14.73
20058 324.1 7.2 1066 20088 roll 0.74 - - 3165 - 2.35 0.051 3176 594.0 199.0 17.98 1.413 1975 -2.9 0.126 - - - - - - 14.95 14.60 14.13
20143 317.4 8.0 1078 20156 done 0.74 - - 3171 - 2.33 0.041 1781 -598.7 199.0 - - 1968 - - - - - - - - 14.73 14.66 14.75
20513 287.1 8.4 1088 20526 roll 0.74 - - 3182 - 2.40 0.067 399 -575.8 199.0 - - 1968 - - - - - - - - 14.90 14.66 14.92
20617 277.4 9.3 1102 20630 done 0.74 - - 3181 - 2.22 0.034 1754 610.4 199.0 - - 1968 - - - - - - - - 14.79 14.74 14.81
20973 245.9 8.8 1110 20986 roll 0.74 - - 3181 - 2.42 0.052 3192 594.2 199.0 - - 1970 - - - - - - - - 14.93 14.71 14.95
21070 237.3 8.7 1123 21083 done 0.74 - - 3189 - 2.33 0.041 1799 -597.9 199.0 - - 1968 - - - - - - - - 14.81 14.73 14.83
21433 207.5 8.2 1132 21446 roll 0.74 - - 3200 - 2.42 0.066 402 -577.3 199.0 - - 1967 - - - - - - - - 14.95 14.66 14.97
21529 198.9 9.0 1145 21543 done 0.74 0.12 0.252 3170 -250.0 2.28 0.034 1803 614.5 199.0 - - 1968 - - - - - - - - 14.53 14.77 14.76
21893 171.5 7.7 1154 21906 roll 0.74 - - 3174 - 2.30 0.051 3177 597.4 201.5 - - 1968 - - - - - - - - 14.96 14.73 14.98
21969 165.1 8.3 1164 21982 done 0.74 - - 3179 - 2.25 0.040 1812 -606.7 201.5 - - 1968 - - - - - - - - 14.82 14.75 14.84
22297 138.7 8.1 1175 22311 roll 0.74 - - 3190 - 2.42 0.064 404 -581.8 201.5 - - 1968 - - - - - - - - 14.96 14.71 14.98
22429 127.7 8.3 1193 22442 done 0.74 - - 3190 - 2.22 0.031 1779 619.4 201.5 - - 1968 - - - - - - - - 14.83 14.78 14.85
22757 104.2 6.8 1204 22787 roll 0.77 - - 3189 - 2.35 0.048 3183 597.4 221.9 17.92 0.376 1888 -4.5 0.230 - - - - - - 14.96 14.64 14.39
22927 95.0 5.9 1228 22980 done 0.94 - - 3197 - 2.17 0.038 1847 -615.7 257.7 36.38 0.379 1744 -4.0 0.184 - - - - - - 14.77 14.69 14.38
23298 75.8 4.7 1247 23368 roll 1.22 0.35 0.083 3345 422.9 2.47 0.062 412 -581.0 316.8 56.38 0.328 1501 -4.3 0.185 - - - - - - 14.69 14.56 14.36
23437 61.6 11.4 1267 23451 done 1.22 - - 3345 - 2.30 0.031 1811 608.3 316.8 - - 1508 - - - - - - - - 14.70 14.65 14.71
23780 39.3 3.5 1282 23858 done 1.32 - - 3345 - - - 1811 - 398.5 69.07 0.227 1168 -4.9 0.158 - - - - - - 14.89 14.66 14.45
24148 14.7 6.4 1301 24182 roll 1.46 0.12 0.129 3412 558.3 2.42 0.062 412 -578.1 425.5 20.75 0.157 1059 -5.3 0.091 - - - - - - 14.67 14.62 14.50
24247 5.2 10.8 1315 24266 done 1.46 - - 3412 - 2.38 0.028 1891 621.4 425.5 2.28 0.151 1058 - - - - - - - - 14.75 14.71 14.57
24284 end climb: SURFACE_DEPTH_REACHED
24284 begin surface coast
24313 end surface coast: CONTROL_FINISHED_OK
24314 begin surface
SM 0.99 - - - - -8.62 9.38 0.059 154 16.4 - - 1900 - 515.13 54.03 0.124 691 12.8 -0.010 - - - - - -