SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 189 * Raw log
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• Previous call tries 1 • 73.80 of 350.00 AH used of 24V (78.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth 1.17 m • Intended pitch -18.7 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 41 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 101 done -0.89 - - 149 - - - 1869 - -91.8 -76.32 - 3169 - - - - - - - - 14.76 13.31 14.78
105 2.5 -4.3 2 127 roll -0.89 11.77 0.383 2623 210.2 2.38 0.060 3233 573.1 -91.8 - - 3170 - - - - - - - - 14.30 14.58 14.59
183 42.9 -32.1 14 190 done -0.41 0.68 0.283 2789 244.1 2.25 0.041 1871 -605.3 -91.8 - - 3173 - - - - - - - - 14.33 14.56 14.59
519 83.4 -9.1 29 525 roll -0.41 - - 2788 - 2.38 0.057 467 -589.9 -91.8 - - 3172 - - - - - - - - 14.88 14.66 14.90
616 91.9 -7.4 43 622 done -0.42 - - 2783 - 2.03 0.031 1732 623.2 -98.6 - - 3173 - - - - - - - - 14.78 14.71 14.79
967 116.8 -7.4 53 970 done -0.43 - - 2783 - - - 1733 - -106.5 - - 3173 - - - - - - - - 14.92 14.94 14.95
1303 140.3 -7.2 59 1309 roll -0.44 - - 2772 - 2.50 0.054 3237 601.6 -116.8 - - 3172 - - - - - - - - 14.95 14.73 14.97
1330 142.3 -7.3 63 1336 done -0.44 - - 2772 - 2.42 0.037 1757 -611.6 -116.8 - - 3173 - - - - - - - - 14.83 14.74 14.84
1695 168.2 -6.9 73 1702 roll -0.44 - - 2770 - 2.17 0.057 465 -595.4 -116.8 - - 3171 - - - - - - - - 14.96 14.73 14.98
1736 171.3 -7.7 79 1742 done -0.44 - - 2763 - 2.05 0.032 1748 625.9 -116.8 - - 3170 - - - - - - - - 14.84 14.79 14.85
2087 199.3 -8.2 87 2093 roll -0.44 - - 2753 - 2.50 0.054 3239 596.4 -116.8 - - 3167 - - - - - - - - 14.95 14.73 14.98
2121 202.1 -8.4 92 2129 done -0.44 0.15 0.239 2784 206.7 2.47 0.037 1734 -609.3 -116.8 - - 3167 - - - - - - - - 14.55 14.76 14.76
2479 229.2 -7.5 101 2485 roll -0.56 0.12 0.136 2730 -450.0 2.15 0.054 460 -592.6 -116.8 - - 3164 - - - - - - - - 14.73 14.73 14.78
2555 236.6 -10.0 112 2562 done -0.56 - - 2722 - 2.05 0.033 1705 607.3 -116.8 - - 3165 - - - - - - - - 14.84 14.76 14.85
2871 267.9 -9.9 122 2884 roll -0.56 - - 2711 - 2.55 0.052 3239 601.6 -116.8 - - 3161 - - - - - - - - 15.00 14.77 15.02
2911 272.1 -10.3 127 2925 done -0.56 0.12 0.259 2741 250.0 2.50 0.040 1718 -608.4 -116.8 - - 3161 - - - - - - - - 14.57 14.79 14.78
3275 306.0 -9.4 136 3288 roll -0.56 - - 2742 - 2.10 0.058 466 -596.2 -116.8 - - 3157 - - - - - - - - 15.02 14.76 15.04
3329 311.4 -9.8 143 3343 done -0.56 - - 2737 - 2.00 0.034 1704 619.0 -116.8 - - 3157 - - - - - - - - 14.89 14.84 14.90
3673 342.8 -9.1 150 3687 roll -0.56 - - 2725 - 2.55 0.053 3235 600.4 -116.8 - - 3155 - - - - - - - - 15.03 14.78 15.05
3770 351.6 -8.9 163 3783 done -0.56 - - 2724 - 2.45 0.038 1739 -610.6 -116.8 - - 3154 - - - - - - - - 14.88 14.82 14.90
4133 383.8 -8.7 172 4146 roll -0.56 - - 2724 - 2.15 0.059 465 -592.6 -116.8 - - 3152 - - - - - - - - 15.03 14.79 15.09
4243 393.7 -8.7 187 4257 done -0.56 0.12 0.283 2742 150.0 2.00 0.034 1701 618.0 -116.8 - - 3151 - - - - - - - - 14.55 14.85 14.79
4588 419.2 -7.4 194 4601 roll -0.56 - - 2732 - 2.55 0.052 3234 601.2 -116.8 - - 3149 - - - - - - - - 15.03 14.78 15.05
4656 424.4 -7.7 203 4670 done -0.56 - - 2733 - 2.50 0.039 1715 -607.6 -116.8 - - 3149 - - - - - - - - 14.88 14.81 14.90
4992 451.2 -8.1 215 5005 roll -0.56 - - 2733 - 2.12 0.060 457 -593.4 -116.8 - - 3147 - - - - - - - - 15.02 14.78 15.04
5081 459.6 -9.3 227 5094 done -0.56 - - 2726 - 2.00 0.034 1694 618.5 -116.8 - - 3147 - - - - - - - - 14.89 14.83 14.90
5452 493.9 -9.4 237 5465 roll -0.56 - - 2715 - 2.60 0.055 3241 595.0 -116.8 - - 3145 - - - - - - - - 15.02 14.77 15.04
5534 502.2 -9.7 248 5548 done -0.56 0.12 0.259 2741 216.7 2.50 0.039 1725 -606.4 -116.8 - - 3144 - - - - - - - - 14.56 14.81 14.79
5856 530.8 -8.9 258 5869 roll -0.56 - - 2742 - 2.15 0.060 458 -589.3 -116.8 - - 3143 - - - - - - - - 15.02 14.77 15.04
5981 542.9 -9.7 275 5994 done -0.56 - - 2736 - 1.98 0.034 1683 618.7 -116.8 - - 3143 - - - - - - - - 14.89 14.84 14.90
6316 573.9 -9.2 287 6329 roll -0.56 - - 2725 - 2.60 0.054 3237 597.7 -116.8 - - 3141 - - - - - - - - 15.02 14.76 15.03
6538 593.5 -8.3 318 6552 done -0.56 - - 2725 - 2.45 0.039 1759 -603.3 -116.8 - - 3141 - - - - - - - - 14.85 14.78 14.88
6882 621.2 -8.0 325 6895 roll -0.56 - - 2724 - 2.20 0.060 467 -587.3 -116.8 - - 3139 - - - - - - - - 15.01 14.75 15.03
6986 629.9 -8.3 339 6999 done -0.56 0.12 0.279 2741 141.7 2.05 0.035 1722 612.2 -116.8 - - 3138 - - - - - - - - 14.50 14.81 14.75
7342 654.9 -7.0 347 7356 roll -0.56 - - 2732 - 2.55 0.054 3238 594.5 -116.8 - - 3138 - - - - - - - - 15.01 14.74 15.03
7439 662.0 -7.5 360 7452 done -0.56 - - 2732 - 2.47 0.040 1752 -601.6 -116.8 - - 3137 - - - - - - - - 14.85 14.78 14.86
7802 690.3 -7.9 369 7815 roll -0.56 - - 2732 - 2.20 0.061 466 -584.5 -116.8 - - 3135 - - - - - - - - 15.00 14.73 15.02
7856 695.1 -8.9 376 7871 done -0.56 - - 2724 - 2.05 0.037 1718 610.7 -116.8 - - 3135 - - - - - - - - 14.85 14.81 14.88
8201 724.8 -8.7 383 8214 roll -0.56 - - 2712 - 2.58 0.056 3242 590.7 -116.8 - - 3134 - - - - - - - - 15.00 14.73 15.04
8269 731.1 -9.0 392 8283 done -0.56 0.15 0.254 2746 226.7 2.47 0.040 1751 -603.6 -116.8 - - 3133 - - - - - - - - 14.50 14.77 14.74
8607 757.1 -7.7 404 8621 roll -0.65 - - 2745 - 2.20 0.063 468 -583.2 -116.8 - - 3133 - - - - - - - - 14.99 14.73 15.01
8704 765.1 -7.9 417 8717 done -0.65 - - 2740 - 2.05 0.036 1714 607.8 -116.8 - - 3133 - - - - - - - - 14.84 14.81 14.85
9067 791.2 -7.0 426 9081 roll -0.65 - - 2728 - 2.58 0.057 3233 588.8 -116.8 - - 3132 - - - - - - - - 14.99 14.71 15.01
9157 797.4 -6.8 438 9170 done -0.65 - - 2728 - 2.50 0.041 1740 -597.2 -116.8 - - 3132 - - - - - - - - 14.83 14.76 14.85
9528 822.2 -6.6 448 9541 roll -0.65 - - 2727 - 2.20 0.063 465 -579.5 -116.8 - - 3130 - - - - - - - - 15.00 14.70 15.01
9610 828.1 -7.2 459 9624 done -0.65 - - 2720 - 2.05 0.037 1717 610.7 -116.8 - - 3131 - - - - - - - - 14.83 14.78 14.85
9932 850.7 -7.1 469 9945 roll -0.65 - - 2709 - 2.58 0.057 3234 588.0 -116.8 - - 3133 - - - - - - - - 14.97 14.70 15.00
9994 855.5 -8.4 477 10007 done -0.65 - - 2709 - 2.53 0.041 1732 -593.7 -116.8 - - 3130 - - - - - - - - 14.81 14.73 14.83
10337 882.2 -8.1 490 10350 roll -0.65 - - 2708 - 2.17 0.063 467 -582.9 -116.8 - - 3129 - - - - - - - - 14.98 14.69 15.00
10426 890.0 -8.5 502 10439 done -0.65 - - 2700 - 2.03 0.036 1699 606.9 -116.8 - - 3129 - - - - - - - - 14.82 14.77 14.84
10797 921.2 -8.4 512 10810 roll -0.65 - - 2689 - 2.62 0.057 3234 585.9 -116.8 - - 3128 - - - - - - - - 14.98 14.68 15.00
10900 930.4 -6.8 526 10914 done -0.65 - - 2688 - 2.53 0.041 1721 -598.0 -116.8 - - 3127 - - - - - - - - 14.80 14.71 14.81
11257 961.2 -8.6 534 11270 roll -0.65 0.12 0.294 2720 266.7 2.17 0.063 463 -579.7 -116.8 - - 3126 - - - - - - - - 14.36 14.64 14.52
11347 968.7 -8.0 546 11361 done -0.65 - - 2715 - 2.00 0.037 1677 607.0 -116.8 - - 3126 - - - - - - - - 14.80 14.74 14.83
11658 end dive: TARGET_DEPTH_EXCEEDED
11658 begin apogee
11666 993.0 -7.8 555 11770 roll -0.21 0.55 0.243 2854 252.7 - - 1784 - - 93.85 2.192 2792 -3.6 0.301 - - - - - - 14.38 14.12 13.33
11771 end apogee: CONTROL_FINISHED_OK
11771 begin climb
11775 996.2 - 556 11920 roll 0.92 1.30 0.186 3218 280.0 2.55 0.063 404 -541.2 116.8 125.28 2.161 2312 -3.8 0.329 - - - - - - 14.07 14.16 13.15
12108 969.8 10.8 610 12121 done 0.92 - - 3218 - 2.38 0.032 1807 589.5 116.8 - - 2293 - - - - - - - - 14.43 14.38 14.45
12465 933.3 10.2 618 12478 roll 0.92 - - 3228 - 2.50 0.062 392 -566.0 116.8 - - 2291 - - - - - - - - 14.76 14.53 14.79
12687 909.1 10.7 649 12702 done 0.81 0.15 0.280 3197 -206.7 2.38 0.033 1829 603.8 116.8 - - 2291 - - - - - - - - 14.33 14.63 14.61
13031 876.6 9.5 656 13045 roll 0.81 - - 3197 - 2.30 0.054 3180 587.4 116.8 - - 2290 - - - - - - - - 14.87 14.66 14.89
13107 869.1 9.8 666 13121 done 0.81 - - 3204 - 2.25 0.039 1830 -600.0 116.8 - - 2290 - - - - - - - - 14.73 14.66 14.76
13435 836.9 9.7 677 13449 roll 0.81 - - 3215 - 2.50 0.064 399 -572.4 116.8 - - 2290 - - - - - - - - 14.90 14.63 14.92
13547 825.0 11.0 692 13561 done 0.81 - - 3214 - 2.35 0.033 1812 601.3 116.8 - - 2290 - - - - - - - - 14.76 14.71 14.78
13890 790.0 10.1 699 13903 roll 0.81 - - 3215 - 2.35 0.054 3193 587.7 116.8 - - 2290 - - - - - - - - 14.91 14.66 14.94
13944 784.4 10.3 706 13959 done 0.72 0.25 0.276 3168 -188.0 2.28 0.040 1830 -597.8 116.8 - - 2289 - - - - - - - - 14.38 14.69 14.68
14288 756.7 8.0 713 14302 roll 0.72 - - 3176 - 2.50 0.064 398 -572.8 116.8 - - 2287 - - - - - - - - 14.92 14.64 14.95
14385 748.4 8.5 726 14399 done 0.72 - - 3177 - 2.33 0.032 1809 605.6 116.8 - - 2289 - - - - - - - - 14.78 14.73 14.81
14749 718.1 8.4 735 14762 roll 0.72 - - 3177 - 2.35 0.054 3184 585.1 116.8 - - 2289 - - - - - - - - 14.93 14.64 14.95
14831 710.7 8.7 746 14845 done 0.72 - - 3186 - 2.30 0.040 1802 -600.9 116.8 - - 2288 - - - - - - - - 14.77 14.68 14.80
15153 683.7 8.4 756 15167 roll 0.72 - - 3196 - 2.45 0.065 399 -572.7 116.8 - - 2288 - - - - - - - - 14.92 14.64 14.95
15243 676.1 8.6 768 15256 done 0.72 0.15 0.262 3165 -206.7 2.30 0.032 1810 613.5 116.8 - - 2290 - - - - - - - - 14.40 14.73 14.69
15613 650.1 6.9 778 15630 roll 0.74 - - 3166 - 2.30 0.051 3175 593.5 130.9 4.82 1.445 2258 -6.6 0.557 - - - - - - 14.93 14.58 13.83
15693 644.1 7.4 789 15712 done 0.74 - - 3172 - 2.30 0.041 1792 -601.3 137.4 6.35 1.626 2232 -4.1 0.303 - - - - - - 14.77 14.70 13.90
16069 614.6 8.0 800 16082 roll 0.74 - - 3182 - 2.42 0.064 401 -574.8 137.4 - - 2236 - - - - - - - - 14.90 14.59 14.92
16138 608.5 9.1 809 16151 done 0.74 - - 3183 - 2.25 0.033 1772 609.3 137.4 - - 2237 - - - - - - - - 14.76 14.71 14.78
16473 578.4 9.0 821 16486 roll 0.74 - - 3182 - 2.38 0.050 3182 592.4 137.4 - - 2237 - - - - - - - - 14.90 14.66 14.92
16536 572.7 9.2 829 16549 done 0.74 - - 3191 - 2.33 0.038 1789 -597.9 137.4 - - 2236 - - - - - - - - 14.76 14.69 14.78
16878 542.4 8.8 842 16891 done 0.74 - - 3191 - - - 1789 - 137.4 - - 2237 - - - - - - - - 14.92 14.95 14.95
17215 513.6 8.6 848 17228 roll 0.74 - - 3202 - 2.40 0.064 405 -576.7 137.4 - - 2237 - - - - - - - - 14.93 14.64 14.95
17312 504.4 9.7 861 17326 done 0.74 0.15 0.259 3169 -220.0 2.33 0.031 1827 610.3 137.4 - - 2237 - - - - - - - - 14.41 14.73 14.66
17676 475.6 7.8 870 17693 roll 0.75 - - 3171 - 2.30 0.052 3168 583.0 138.8 2.22 0.415 2225 -5.4 1.156 - - - - - - 14.94 14.73 13.74
17736 470.7 8.3 878 17749 done 0.75 - - 3177 - 2.25 0.040 1817 -600.4 138.8 - - 2231 - - - - - - - - 14.78 14.70 14.80
18078 443.8 7.8 891 18092 roll 0.75 - - 3188 - 2.45 0.063 405 -576.3 139.2 - - 2231 - - - - - - - - 14.93 14.64 14.95
18217 432.1 8.4 910 18231 done 0.75 - - 3188 - 2.22 0.031 1769 614.4 139.2 - - 2232 - - - - - - - - 14.78 14.73 14.81
18539 405.9 8.2 920 18552 roll 0.75 - - 3188 - 2.38 0.050 3182 593.7 139.2 - - 2232 - - - - - - - - 14.92 14.66 14.95
18621 398.7 8.7 931 18634 done 0.75 - - 3197 - 2.30 0.038 1796 -602.6 139.2 - - 2232 - - - - - - - - 14.78 14.71 14.81
18943 371.3 8.6 941 18956 roll 0.75 - - 3208 - 2.42 0.063 396 -578.5 139.2 - - 2231 - - - - - - - - 14.93 14.64 14.95
18997 366.3 9.3 948 19011 done 0.75 0.15 0.261 3177 -206.7 2.25 0.031 1780 615.1 139.2 - - 2234 - - - - - - - - 14.40 14.74 14.66
19342 340.1 7.5 955 19357 done 0.75 - - 3176 - - - 1780 - 144.1 5.93 1.297 2204 -5.1 0.247 - - - - - - 14.94 14.76 13.97
19678 314.3 7.7 961 19695 roll 0.76 - - 3176 - 2.38 0.050 3189 592.0 146.0 3.80 0.991 2196 -2.1 0.125 - - - - - - 14.96 14.74 13.93
19757 307.5 8.5 972 19770 done 0.76 - - 3183 - 2.33 0.039 1789 -600.9 146.0 - - 2201 - - - - - - - - 14.77 14.69 14.78
20079 281.1 8.3 982 20092 roll 0.76 - - 3194 - 2.40 0.063 401 -578.3 146.0 - - 2202 - - - - - - - - 14.92 14.64 14.94
20133 276.2 9.0 989 20148 done 0.76 - - 3194 - 2.28 0.031 1786 607.5 146.0 - - 2200 - - - - - - - - 14.78 14.73 14.80
20477 247.7 8.2 996 20491 roll 0.76 - - 3194 - 2.35 0.050 3185 595.3 146.0 - - 2202 - - - - - - - - 14.94 14.67 14.95
20540 242.6 8.3 1004 20553 done 0.76 - - 3202 - 2.30 0.038 1807 -599.1 146.0 - - 2202 - - - - - - - - 14.78 14.71 14.79
20882 215.6 7.9 1017 20896 roll 0.76 - - 3213 - 2.42 0.063 399 -581.8 146.0 - - 2202 - - - - - - - - 14.93 14.65 14.95
20979 207.3 8.5 1030 20993 done 0.76 0.17 0.248 3174 -229.4 2.28 0.030 1808 618.0 146.0 - - 2200 - - - - - - - - 14.42 14.74 14.67
21343 181.3 7.1 1039 21373 roll 0.77 - - 3174 - 2.28 0.048 3163 594.3 157.1 18.27 1.235 2146 -3.0 0.081 - - - - - - 14.93 14.59 14.12
21429 174.6 8.1 1051 21442 done 0.77 - - 3180 - 2.28 0.040 1798 -598.7 157.1 - - 2139 - - - - - - - - 14.71 14.64 14.73
21799 143.8 8.6 1061 21812 roll 0.77 - - 3191 - 2.42 0.063 402 -576.9 157.1 - - 2138 - - - - - - - - 14.90 14.62 14.91
21924 132.9 8.7 1078 21937 done 0.77 - - 3191 - 2.22 0.031 1772 617.1 157.1 - - 2139 - - - - - - - - 14.78 14.73 14.79
22259 106.9 7.7 1090 22272 roll 0.77 - - 3200 - 2.40 0.062 392 -575.0 159.9 - - 2139 - - - - - - - - 14.91 14.64 14.94
22285 104.9 7.2 1093 22309 done 0.79 - - 3200 - 2.20 0.030 1753 618.6 170.7 8.75 0.321 2098 -4.7 0.286 - - - - - - 14.80 14.75 14.31
22635 84.7 4.6 1108 22697 roll 0.94 - - 3200 - 2.45 0.047 3175 580.4 221.2 50.50 0.355 1891 -4.1 0.182 - - - - - - 14.91 14.66 14.35
22721 80.2 6.4 1120 22756 done 1.11 0.22 0.102 3290 409.1 2.33 0.037 1768 -603.9 243.6 23.12 0.330 1798 -4.0 0.182 - - - - - - 14.64 14.66 14.33
23079 59.8 4.2 1138 23144 roll 1.18 - - 3290 - 2.38 0.045 3178 592.4 300.3 53.17 0.285 1572 -4.3 0.166 - - - - - - 14.85 14.52 14.33
23346 45.8 5.6 1176 23394 done 1.35 0.20 0.105 3367 385.0 1.95 0.035 1989 -609.7 335.4 32.92 0.243 1429 -4.3 0.153 - - - - - - 14.61 14.63 14.36
23700 20.1 6.0 1193 23736 roll 1.38 - - 3367 - 2.05 0.046 3178 580.0 364.2 24.02 0.172 1307 -5.1 0.111 - - - - - - 14.87 14.65 14.47
23798 12.7 7.9 1204 23812 done 1.38 - - 3374 - 1.90 0.034 2037 -600.5 364.2 1.85 0.142 1307 - - - - - - - - 14.68 14.65 14.54
23942 end climb: SURFACE_DEPTH_REACHED
23943 begin surface coast
23971 end surface coast: CONTROL_FINISHED_OK
23971 begin surface
SM 1.25 - - - - -8.60 9.40 0.070 159 16.9 0.25 0.085 1875 -29388.0 515.38 90.25 0.122 692 7.7 -0.008 - - - - - -