SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 528 * Raw log
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• Previous call tries 1 • 199.57 of 350.00 AH used of 24V (42.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.2 deg, depth 1.01 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 98 s
• GPS2 time: 12 s • Transponder ping count: 3
• 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
29 - - - 116 done -0.84 - - 137 - - - 1773 - -116.8 -83.53 - 3271 - - - - - - - - 14.66 12.74 14.66
120 5.8 -8.3 3 143 roll -0.84 12.62 0.382 2659 199.8 2.45 0.051 372 -571.8 -116.8 - - 3273 - - - - - - - - 13.94 14.44 14.33
221 40.9 -23.0 18 229 done -0.45 0.52 0.272 2774 221.2 2.30 0.034 1749 598.7 -116.8 - - 3276 - - - - - - - - 13.90 14.43 14.23
535 73.1 -8.8 30 538 done -0.45 - - 2774 - - - 1749 - -116.8 - - 3275 - - - - - - - - 14.76 14.78 14.77
844 95.4 -6.4 41 846 done -0.45 - - 2774 - - - 1749 - -116.8 - - 3275 - - - - - - - - 14.79 14.81 14.81
1153 114.5 -6.2 48 1159 roll -0.45 - - 2765 - 2.42 0.050 3175 589.3 -116.8 - - 3275 - - - - - - - - 14.80 14.36 14.82
1285 123.9 -7.4 67 1291 done -0.55 - - 2765 - 2.35 0.037 1770 -597.9 -116.8 - - 3274 - - - - - - - - 14.52 14.44 14.54
1601 150.4 -8.6 77 1608 roll -0.55 - - 2766 - 2.45 0.058 367 -572.7 -116.8 - - 3273 - - - - - - - - 14.79 14.34 14.81
1715 160.9 -9.1 93 1722 done -0.55 - - 2757 - 2.40 0.031 1797 595.8 -116.8 - - 3271 - - - - - - - - 14.52 14.46 14.54
2052 187.4 -7.5 106 2058 roll -0.55 - - 2747 - 2.35 0.052 3168 583.4 -116.8 - - 3269 - - - - - - - - 14.78 14.28 14.81
2115 191.8 -7.2 115 2122 done -0.55 - - 2746 - 2.35 0.037 1766 -596.6 -116.8 - - 3269 - - - - - - - - 14.50 14.42 14.54
2444 215.8 -7.2 127 2450 roll -0.55 - - 2746 - 2.45 0.060 373 -568.6 -116.8 - - 3266 - - - - - - - - 14.78 14.31 14.80
2520 222.1 -8.4 138 2526 done -0.55 - - 2739 - 2.35 0.033 1778 597.9 -116.8 - - 3265 - - - - - - - - 14.50 14.44 14.52
2837 249.1 -8.7 148 2843 roll -0.55 - - 2728 - 2.38 0.052 3168 584.0 -116.8 - - 3263 - - - - - - - - 14.78 14.33 14.81
2941 258.4 -8.9 163 2955 done -0.55 - - 2727 - 2.35 0.037 1772 -594.0 -116.8 - - 3262 - - - - - - - - 14.53 14.45 14.56
3286 289.9 -9.3 170 3299 roll -0.55 - - 2727 - 2.45 0.060 373 -571.0 -116.8 - - 3260 - - - - - - - - 14.87 14.38 14.88
3390 300.3 -9.7 184 3403 done -0.55 0.15 0.247 2750 153.3 2.35 0.033 1776 597.0 -116.8 - - 3259 - - - - - - - - 14.06 14.51 14.32
3748 328.2 -7.7 192 3761 roll -0.55 - - 2742 - 2.40 0.053 3174 582.5 -116.8 - - 3257 - - - - - - - - 14.86 14.38 14.90
3868 337.0 -7.3 208 3881 done -0.55 - - 2742 - 2.35 0.039 1776 -594.9 -116.8 - - 3256 - - - - - - - - 14.53 14.45 14.56
4210 362.3 -7.4 221 4224 roll -0.55 - - 2742 - 2.47 0.060 377 -566.4 -116.8 - - 3254 - - - - - - - - 14.88 14.33 14.90
4322 371.2 -7.9 236 4336 done -0.55 - - 2733 - 2.38 0.033 1789 593.3 -116.8 - - 3254 - - - - - - - - 14.56 14.50 14.58
4665 397.0 -7.6 243 4679 roll -0.55 - - 2722 - 2.38 0.055 3167 579.0 -116.8 - - 3251 - - - - - - - - 14.90 14.36 14.92
4720 401.4 -7.9 250 4734 done -0.55 - - 2722 - 2.38 0.039 1769 -587.4 -116.8 - - 3251 - - - - - - - - 14.51 14.43 14.54
5065 431.3 -8.9 257 5079 roll -0.55 0.12 0.258 2752 250.0 2.47 0.060 372 -565.6 -116.8 - - 3250 - - - - - - - - 14.08 14.29 14.19
5169 441.0 -8.9 271 5183 done -0.55 - - 2745 - 2.38 0.034 1771 587.8 -116.8 - - 3249 - - - - - - - - 14.51 14.44 14.54
5527 471.9 -8.8 279 5540 roll -0.55 - - 2735 - 2.42 0.054 3170 578.1 -116.8 - - 3247 - - - - - - - - 14.85 14.33 14.86
5653 483.1 -8.6 296 5666 done -0.55 - - 2732 - 2.38 0.039 1778 -584.9 -116.8 - - 3247 - - - - - - - - 14.47 14.39 14.51
5990 512.2 -8.7 308 6003 roll -0.55 - - 2735 - 2.50 0.063 376 -560.8 -116.8 - - 3246 - - - - - - - - 14.85 14.27 14.88
6086 520.9 -8.8 321 6100 done -0.55 - - 2725 - 2.38 0.034 1787 592.9 -116.8 - - 3245 - - - - - - - - 14.51 14.45 14.54
6450 550.5 -8.1 330 6463 roll -0.55 - - 2715 - 2.40 0.056 3167 575.0 -116.8 - - 3244 - - - - - - - - 14.86 14.29 14.88
6492 553.9 -8.1 335 6505 done -0.55 0.15 0.233 2747 213.3 2.38 0.039 1766 -588.7 -116.8 - - 3243 - - - - - - - - 13.98 14.38 14.23
6856 579.7 -7.0 344 6869 roll -0.64 - - 2747 - 2.45 0.061 379 -566.1 -116.8 - - 3242 - - - - - - - - 14.89 14.26 14.90
6962 587.7 -7.5 358 6975 done -0.64 - - 2740 - 2.35 0.034 1775 594.0 -116.8 - - 3242 - - - - - - - - 14.50 14.44 14.52
7319 613.0 -7.0 366 7332 roll -0.64 - - 2731 - 2.40 0.054 3159 576.7 -116.8 - - 3241 - - - - - - - - 14.88 14.26 14.90
7415 619.8 -6.9 379 7429 done -0.64 - - 2730 - 2.38 0.037 1770 -583.6 -116.8 - - 3243 - - - - - - - - 14.44 14.35 14.47
7780 645.8 -7.2 388 7794 roll -0.64 - - 2730 - 2.47 0.062 381 -562.3 -116.8 - - 3239 - - - - - - - - 14.87 14.24 14.89
7856 652.1 -8.2 398 7869 done -0.64 - - 2721 - 2.35 0.033 1778 594.5 -116.8 - - 3238 - - - - - - - - 14.45 14.41 14.49
8186 679.0 -8.4 409 8199 roll -0.64 - - 2711 - 2.40 0.055 3156 574.2 -116.8 - - 3237 - - - - - - - - 14.83 14.25 14.85
8283 687.8 -9.1 422 8296 done -0.64 - - 2711 - 2.38 0.039 1775 -580.3 -116.8 - - 3237 - - - - - - - - 14.40 14.32 14.44
8646 724.0 -10.2 431 8659 roll -0.64 - - 2711 - 2.50 0.063 377 -559.2 -116.8 - - 3236 - - - - - - - - 14.83 14.18 14.85
8730 733.3 -11.1 442 8743 done -0.64 - - 2707 - 2.38 0.035 1772 586.1 -116.8 - - 3236 - - - - - - - - 14.45 14.39 14.47
9052 767.3 -10.5 452 9065 roll -0.64 - - 2691 - 2.42 0.054 3162 574.4 -116.8 - - 3235 - - - - - - - - 14.84 14.22 14.85
9157 777.7 -9.7 466 9170 done -0.64 0.12 0.253 2714 191.7 2.40 0.038 1766 -581.7 -116.8 - - 3235 - - - - - - - - 13.85 14.28 14.11
9514 806.7 -7.8 474 9527 roll -0.64 - - 2715 - 2.50 0.063 376 -556.0 -116.8 - - 3234 - - - - - - - - 14.82 14.13 14.83
9626 815.4 -7.7 489 9641 done -0.64 - - 2708 - 2.40 0.035 1779 584.6 -116.8 - - 3233 - - - - - - - - 14.40 14.33 14.42
9969 838.2 -6.4 496 9982 roll -0.64 - - 2697 - 2.42 0.055 3156 569.0 -116.8 - - 3232 - - - - - - - - 14.85 14.16 14.86
10079 845.9 -6.5 511 10094 done -0.64 - - 2698 - 2.40 0.039 1770 -577.5 -116.8 - - 3232 - - - - - - - - 14.33 14.23 14.35
10425 869.0 -6.7 518 10438 roll -0.64 - - 2698 - 2.53 0.063 372 -552.6 -116.8 - - 3231 - - - - - - - - 14.83 14.10 14.85
10515 876.2 -8.0 530 10528 done -0.64 0.15 0.266 2718 133.3 2.42 0.035 1776 580.2 -116.8 - - 3231 - - - - - - - - 13.74 14.31 14.02
10887 901.7 -6.7 540 10900 roll -0.64 - - 2716 - 2.47 0.057 3169 564.0 -116.8 - - 3231 - - - - - - - - 14.83 14.12 14.85
10998 910.1 -7.5 555 11011 done -0.64 - - 2710 - 2.42 0.041 1778 -574.8 -116.8 - - 3231 - - - - - - - - 14.30 14.21 14.33
11343 937.9 -8.2 562 11356 roll -0.64 - - 2710 - 2.55 0.064 370 -552.2 -116.8 - - 3230 - - - - - - - - 14.82 14.07 14.85
11419 945.1 -9.4 572 11432 done -0.64 - - 2701 - 2.42 0.036 1781 583.1 -116.8 - - 3230 - - - - - - - - 14.24 14.18 14.26
11749 974.8 -9.1 583 11762 roll -0.64 - - 2690 - 2.45 0.057 3168 566.1 -116.8 - - 3229 - - - - - - - - 14.80 14.01 14.82
11854 984.5 -9.2 597 11868 done -0.64 0.12 0.256 2715 208.3 2.40 0.039 1772 -581.7 -116.8 - - 3229 - - - - - - - - 13.75 14.19 14.00
11927 end dive: TARGET_DEPTH_EXCEEDED
11928 begin apogee
11936 991.4 -8.7 600 12070 done -0.21 0.57 0.226 2858 250.9 - - 1657 - - 123.80 2.217 2792 -3.5 0.304 - - - - - - 13.64 13.91 12.78
12072 end apogee: CONTROL_FINISHED_OK
12072 begin climb
12077 997.4 - 602 12222 roll 0.84 1.15 0.154 3195 293.0 2.55 0.048 3067 552.9 116.8 127.03 2.179 2305 -3.8 0.338 - - - - - - 13.95 13.87 12.79
12251 991.8 8.9 631 12264 done 0.84 - - 3203 - 2.40 0.040 1690 -573.8 116.8 - - 2297 - - - - - - - - 14.23 14.16 14.26
12615 965.9 7.2 640 12632 roll 0.85 - - 3214 - 2.40 0.063 325 -568.8 128.5 4.12 1.417 2266 -7.5 0.988 - - - - - - 14.77 14.09 13.15
12667 961.8 8.1 647 12681 done 0.85 - - 3214 - 2.30 0.031 1705 600.0 128.5 - - 2264 - - - - - - - - 14.59 14.54 14.61
13013 935.1 7.8 654 13026 roll 0.85 - - 3214 - 2.33 0.048 3059 581.1 129.3 - - 2267 - - - - - - - - 14.77 14.39 14.79
13132 925.0 8.3 670 13145 done 0.75 0.20 0.262 3180 -170.0 2.38 0.041 1675 -581.5 129.3 - - 2267 - - - - - - - - 13.98 14.42 14.27
13476 901.5 6.9 683 13518 roll 0.78 - - 3188 - 2.45 0.068 326 -550.6 147.9 28.08 2.057 2180 -3.1 0.261 - - - - - - 14.80 14.39 13.31
13539 896.7 9.6 692 13552 done 0.78 - - 3188 - 2.25 0.031 1686 604.4 147.9 - - 2174 - - - - - - - - 14.52 14.47 14.54
13876 869.4 8.3 704 13889 roll 0.78 - - 3188 - 2.35 0.047 3049 580.0 147.9 - - 2171 - - - - - - - - 14.74 14.40 14.76
13951 862.5 8.8 714 13965 done 0.78 - - 3196 - 2.35 0.041 1681 -582.1 147.9 - - 2171 - - - - - - - - 14.51 14.42 14.54
14280 833.2 9.1 725 14293 roll 0.78 - - 3207 - 2.42 0.066 324 -560.7 147.9 - - 2171 - - - - - - - - 14.83 14.31 14.84
14329 828.5 9.8 731 14342 done 0.78 - - 3207 - 2.25 0.031 1684 604.4 147.9 - - 2171 - - - - - - - - 14.54 14.50 14.57
14686 793.4 9.8 739 14699 roll 0.78 - - 3207 - 2.35 0.047 3047 580.0 147.9 - - 2168 - - - - - - - - 14.81 14.37 14.83
14775 784.5 9.8 751 14789 done 0.78 0.15 0.264 3186 -140.0 2.35 0.041 1676 -583.4 147.9 - - 2170 - - - - - - - - 13.97 14.39 14.28
15148 754.6 7.9 761 15161 roll 0.78 - - 3194 - 2.45 0.066 319 -553.9 147.9 - - 2170 - - - - - - - - 14.80 14.25 14.81
15189 751.1 7.2 766 15206 done 0.79 - - 3194 - 2.28 0.031 1688 600.4 159.7 4.72 1.501 2140 -6.4 0.612 - - - - - - 14.52 14.45 13.27
15551 724.0 7.5 775 15579 roll 0.80 - - 3194 - 2.33 0.048 3048 583.7 167.2 15.70 1.905 2102 -2.4 0.177 - - - - - - 14.82 14.15 13.35
15667 714.9 8.1 791 15680 done 0.80 - - 3203 - 2.35 0.044 1682 -581.3 167.2 - - 2096 - - - - - - - - 14.54 14.45 14.57
16011 685.5 8.6 804 16025 roll 0.80 - - 3213 - 2.45 0.066 313 -558.8 167.2 - - 2096 - - - - - - - - 14.76 14.31 14.78
16052 681.6 9.2 809 16066 done 0.80 - - 3213 - 2.25 0.031 1678 606.7 167.2 - - 2096 - - - - - - - - 14.55 14.50 14.58
16416 646.4 9.7 818 16429 roll 0.80 - - 3213 - 2.38 0.048 3055 578.6 167.2 - - 2095 - - - - - - - - 14.81 14.32 14.83
16537 634.2 10.3 834 16550 done 0.80 0.15 0.256 3192 -140.0 2.35 0.040 1673 -588.1 167.2 - - 2095 - - - - - - - - 13.97 14.39 14.29
16879 603.7 8.7 847 16893 roll 0.80 - - 3200 - 2.42 0.065 323 -557.9 167.2 - - 2094 - - - - - - - - 14.79 14.26 14.82
16909 601.2 8.7 850 16922 done 0.80 - - 3200 - 2.25 0.031 1685 605.3 167.2 - - 2095 - - - - - - - - 14.52 14.47 14.56
17231 573.3 8.6 860 17244 roll 0.80 - - 3200 - 2.35 0.047 3052 581.7 167.2 - - 2095 - - - - - - - - 14.80 14.31 14.82
17272 569.5 8.6 865 17285 done 0.80 - - 3209 - 2.35 0.040 1680 -583.8 167.2 - - 2095 - - - - - - - - 14.47 14.38 14.50
17637 538.7 8.4 874 17650 roll 0.80 - - 3219 - 2.45 0.065 323 -553.9 167.2 - - 2095 - - - - - - - - 14.82 14.21 14.84
17691 533.8 8.9 881 17707 done 0.80 0.15 0.243 3189 -200.0 2.28 0.031 1695 601.8 167.2 - - 2095 - - - - - - - - 13.93 14.41 14.23
18037 509.3 6.9 888 18072 roll 0.82 - - 3189 - 2.35 0.050 3032 568.9 184.9 18.73 1.649 2030 -3.5 0.206 - - - - - - 14.77 14.45 13.47
18144 501.9 7.1 903 18172 done 0.84 - - 3195 - 2.30 0.041 1684 -586.1 198.9 14.32 1.625 1977 -3.7 0.220 - - - - - - 14.52 14.43 13.39
18492 476.8 7.3 917 18509 roll 0.85 - - 3205 - 2.42 0.067 316 -565.3 208.9 4.15 1.168 1940 -8.9 0.701 - - - - - - 14.70 14.39 13.26
18558 471.1 8.3 926 18571 done 0.85 - - 3205 - 2.22 0.031 1664 607.2 208.9 - - 1943 - - - - - - - - 14.55 14.49 14.57
18894 443.1 8.5 938 18907 roll 0.85 - - 3205 - 2.38 0.047 3048 581.5 208.9 - - 1943 - - - - - - - - 14.80 14.34 14.81
18971 436.4 8.8 948 18984 done 0.85 - - 3214 - 2.38 0.042 1673 -577.7 208.9 - - 1944 - - - - - - - - 14.45 14.37 14.49
19299 407.8 8.7 959 19313 roll 0.85 - - 3225 - 2.42 0.067 316 -560.7 208.9 - - 1943 - - - - - - - - 14.79 14.26 14.81
19363 401.9 9.7 967 19376 done 0.85 - - 3225 - 2.25 0.029 1677 604.9 208.9 - - 1943 - - - - - - - - 14.50 14.47 14.52
19706 370.6 9.1 980 19719 roll 0.85 - - 3225 - 2.38 0.047 3052 577.7 208.9 - - 1943 - - - - - - - - 14.80 14.28 14.82
19782 363.4 9.2 990 19795 done 0.85 - - 3233 - 2.38 0.043 1676 -578.2 208.9 - - 1943 - - - - - - - - 14.45 14.35 14.48
20111 334.3 8.8 1001 20125 roll 0.85 - - 3244 - 2.42 0.067 322 -559.5 208.9 - - 1943 - - - - - - - - 14.78 14.21 14.81
20159 329.8 9.3 1007 20173 done 0.85 0.17 0.233 3206 -223.5 2.25 0.029 1692 608.9 208.9 - - 1943 - - - - - - - - 13.93 14.45 14.20
20518 304.9 6.9 1015 20559 roll 0.88 - - 3206 - 2.38 0.048 3047 569.3 227.0 25.85 1.388 1856 -3.4 0.142 - - - - - - 14.82 14.45 13.53
20573 300.8 7.2 1023 20591 done 0.89 - - 3212 - 2.33 0.042 1681 -586.3 240.0 6.07 1.216 1814 -6.9 0.330 - - - - - - 14.55 14.47 13.40
20906 273.4 8.4 1035 20919 roll 0.89 - - 3222 - 2.42 0.067 321 -562.0 240.0 - - 1818 - - - - - - - - 14.74 14.26 14.76
20983 266.2 9.7 1045 20997 done 0.89 - - 3222 - 2.25 0.030 1678 603.1 240.0 - - 1818 - - - - - - - - 14.51 14.45 14.53
21312 235.2 9.4 1056 21325 roll 0.89 - - 3222 - 2.35 0.046 3045 581.7 240.0 - - 1818 - - - - - - - - 14.78 14.33 14.81
21367 229.9 9.6 1063 21381 done 0.89 - - 3231 - 2.38 0.041 1675 -575.6 240.0 - - 1818 - - - - - - - - 14.43 14.35 14.47
21711 196.8 9.6 1070 21724 roll 0.89 - - 3242 - 2.42 0.065 317 -561.2 240.0 - - 1818 - - - - - - - - 14.81 14.23 14.85
21780 189.9 10.3 1079 21793 done 0.89 0.12 0.235 3217 -208.3 2.25 0.029 1695 612.4 240.0 - - 1818 - - - - - - - - 13.95 14.45 14.18
22117 160.2 8.9 1091 22130 roll 0.89 - - 3217 - 2.30 0.047 3035 582.6 240.0 - - 1818 - - - - - - - - 14.79 14.32 14.81
22187 153.6 9.0 1100 22200 done 0.89 - - 3222 - 2.33 0.041 1679 -582.0 240.0 - - 1818 - - - - - - - - 14.40 14.34 14.46
22524 124.0 8.9 1112 22537 roll 0.89 - - 3233 - 2.42 0.065 321 -561.2 240.0 - - 1818 - - - - - - - - 14.83 14.21 14.85
22572 119.3 9.4 1118 22585 done 0.89 - - 3233 - 2.22 0.030 1655 600.9 240.0 - - 1818 - - - - - - - - 14.50 14.45 14.52
22900 87.3 9.2 1127 22914 roll 0.89 - - 3233 - 2.45 0.046 3076 580.0 240.0 - - 1818 - - - - - - - - 14.77 14.22 14.81
22936 84.0 9.7 1131 22950 done 0.89 - - 3242 - 2.40 0.041 1682 -580.8 240.0 - - 1818 - - - - - - - - 14.44 14.35 14.47
23279 56.5 7.3 1146 23302 roll 0.90 - - 3251 - 2.47 0.066 322 -550.6 250.7 11.48 0.243 1776 -3.7 0.164 - - - - - - 14.78 14.38 13.98
23412 47.5 7.6 1164 23431 done 1.00 - - 3251 - 2.30 0.028 1712 604.3 255.3 7.50 0.210 1752 -3.2 0.139 - - - - - - 14.49 14.44 13.99
23764 34.6 2.2 1180 23866 done 1.33 0.30 0.080 3372 403.3 - - 1719 - 361.0 91.78 0.213 1319 -4.7 0.148 - - - - - - 14.34 14.43 14.17
24149 end climb: SURFACE_DEPTH_REACHED
24149 begin surface coast
24177 end surface coast: CONTROL_FINISHED_OK
24177 begin surface
SM 1.03 - - - - -8.61 9.65 0.069 161 16.7 - - 1721 - 515.13 94.22 0.123 691 7.3 -0.006 - - - - - -