SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 591 * Raw log
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• Previous call tries 1 • 229.59 of 350.00 AH used of 24V (34.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 16 s • Transponder ping count: 23
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
8 - - - 99 VBD -0.68 - - 196 - - - 2319 - -116.8 -89.60 - 2958 - - - - - - - - 14.67 - 14.70
102 3.2 -4.0 3 128 roll -0.68 8.77 0.387 1980 203.4 2.88 2.045 876 -501.0 -116.8 -4.70 - 3221 -56.0 - - - - - - - 13.81 12.87 14.07
221 37.2 -23.8 19 226 done -0.50 0.25 0.262 2031 204.0 2.45 0.057 2256 563.3 -116.8 - - 3221 - - - - - - - - 13.93 14.31 14.24
560 87.5 -9.3 34 565 roll -0.50 - - 2020 - 2.53 0.070 3701 571.1 -116.8 - - 3222 - - - - - - - - 14.85 14.21 14.87
648 94.5 -7.8 46 658 done -0.50 - - 2020 - 2.40 0.036 2241 -608.3 -116.8 - - 3223 - - - - - - - - 14.47 14.40 14.47
1020 122.7 -7.4 57 1026 roll -0.50 - - 2012 - 2.62 0.073 3699 556.5 -116.8 - - 3224 - - - - - - - - 14.89 14.16 14.92
1110 131.1 -9.0 70 1116 done -0.50 - - 2012 - 2.42 0.037 2254 -597.1 -116.8 - - 3223 - - - - - - - - 14.42 14.33 14.45
1474 162.3 -8.7 79 1479 roll -0.50 - - 2009 - 2.60 0.073 3692 553.1 -116.8 - - 3223 - - - - - - - - 14.90 14.15 14.92
1499 165.0 -8.5 83 1504 done -0.50 - - 2009 - 2.42 0.040 2254 -594.2 -116.8 - - 3223 - - - - - - - - 14.41 14.31 14.45
1868 198.9 -9.3 93 1874 roll -0.50 - - 2008 - 2.42 0.050 887 -564.9 -116.8 - - 3222 - - - - - - - - 14.92 14.23 14.94
1945 206.6 -9.4 104 1950 done -0.50 - - 2008 - 2.50 0.054 2286 559.6 -116.8 - - 3222 - - - - - - - - 14.34 14.22 14.38
2264 236.2 -9.4 114 2269 roll -0.50 - - 2001 - 2.55 0.078 3699 554.1 -116.8 - - 3220 - - - - - - - - 14.93 14.10 14.95
2353 245.4 -9.9 127 2358 done -0.50 0.12 0.219 2031 250.0 2.42 0.040 2268 -591.3 -116.8 - - 3219 - - - - - - - - 13.97 14.33 14.17
2716 277.8 -9.1 136 2721 roll -0.50 - - 2031 - 2.45 0.055 901 -558.0 -116.8 - - 3217 - - - - - - - - 14.92 14.16 14.94
2813 286.6 -8.1 150 2819 done -0.50 - - 2029 - 2.47 0.056 2281 558.7 -116.8 - - 3217 - - - - - - - - 14.28 14.16 14.33
3169 313.7 -7.7 158 3174 roll -0.50 - - 2025 - 2.55 0.080 3690 552.5 -116.8 - - 3215 - - - - - - - - 14.92 14.05 14.94
3238 319.1 -7.5 168 3242 done -0.56 - - 2025 - 2.40 0.042 2280 -587.5 -116.8 - - 3215 - - - - - - - - 14.41 14.35 14.44
3564 344.7 -8.1 179 3568 roll -0.56 - - 2025 - 2.47 0.054 882 -566.0 -116.8 - - 3213 - - - - - - - - 14.92 14.14 14.94
3622 349.7 -8.5 187 3627 done -0.56 - - 2025 - 2.53 0.057 2279 552.2 -116.8 - - 3213 - - - - - - - - 14.28 14.15 14.33
3962 376.3 -7.8 200 3966 roll -0.56 - - 2020 - 2.58 0.080 3701 551.2 -116.8 - - 3211 - - - - - - - - 14.92 14.04 14.93
4036 382.5 -7.7 211 4042 done -0.61 - - 2020 - 2.45 0.041 2282 -579.2 -116.8 - - 3210 - - - - - - - - 14.25 14.21 14.35
4358 408.4 -8.4 221 4363 roll -0.61 - - 2021 - 2.47 0.054 892 -562.8 -116.8 - - 3209 - - - - - - - - 14.91 14.13 14.93
4447 416.3 -7.8 234 4452 done -0.61 - - 2018 - 2.50 0.055 2281 555.6 -116.8 - - 3208 - - - - - - - - 14.25 14.12 14.30
4809 444.6 -7.9 243 4814 roll -0.61 - - 2015 - 2.58 0.083 3686 544.6 -116.8 - - 3206 - - - - - - - - 14.92 13.97 14.94
4899 452.0 -7.8 256 4904 done -0.66 - - 2015 - 2.42 0.043 2272 -584.3 -116.8 - - 3205 - - - - - - - - 14.36 14.28 14.39
5260 482.6 -8.8 265 5266 roll -0.66 - - 2015 - 2.50 0.057 889 -553.2 -116.8 - - 3204 - - - - - - - - 14.92 14.07 14.95
5344 490.5 -8.7 277 5350 done -0.66 - - 2015 - 2.53 0.057 2282 550.6 -116.8 - - 3204 - - - - - - - - 14.20 14.07 14.26
5715 521.5 -8.5 287 5720 roll -0.66 - - 2013 - 2.58 0.083 3689 545.3 -116.8 - - 3202 - - - - - - - - 14.90 13.95 14.92
5774 526.4 -8.2 295 5779 done -0.71 0.15 0.122 1952 -406.7 2.45 0.044 2269 -579.6 -116.8 - - 3202 - - - - - - - - 14.15 14.25 14.26
6113 565.7 -11.9 308 6118 roll -0.64 0.12 0.252 1984 266.7 2.47 0.056 895 -556.3 -116.8 - - 3200 - - - - - - - - 13.96 14.03 14.03
6229 577.0 -9.3 324 6234 done -0.64 - - 1984 - 2.55 0.060 2274 540.8 -116.8 - - 3200 - - - - - - - - 14.17 14.03 14.22
6568 608.5 -9.3 337 6574 roll -0.64 - - 1977 - 2.62 0.084 3695 542.4 -116.8 - - 3199 - - - - - - - - 14.92 13.91 14.94
6652 616.5 -9.1 349 6657 done -0.64 - - 1977 - 2.50 0.045 2262 -573.2 -116.8 - - 3197 - - - - - - - - 14.29 14.22 14.31
7020 650.4 -9.2 359 7025 roll -0.64 - - 1977 - 2.50 0.057 890 -548.8 -116.8 - - 3197 - - - - - - - - 14.91 14.00 14.93
7115 659.5 -8.9 373 7122 done -0.64 - - 1973 - 2.53 0.059 2269 545.1 -116.8 - - 3196 - - - - - - - - 14.10 13.95 14.16
7472 692.9 -9.8 381 7478 roll -0.64 - - 1971 - 2.65 0.090 3690 536.2 -116.8 - - 3195 - - - - - - - - 14.90 13.83 14.92
7541 700.1 -9.9 391 7546 done -0.64 - - 1971 - 2.47 0.047 2270 -574.9 -116.8 - - 3195 - - - - - - - - 14.19 14.09 14.23
7868 732.9 -10.2 402 7873 roll -0.64 - - 1972 - 2.53 0.060 891 -545.1 -116.8 - - 3193 - - - - - - - - 14.92 13.94 14.93
7937 740.1 -10.2 412 7942 done -0.64 - - 1972 - 2.55 0.061 2274 542.4 -116.8 - - 3193 - - - - - - - - 14.10 13.96 14.16
8263 772.4 -9.9 423 8268 roll -0.64 - - 1970 - 2.67 0.090 3697 533.0 -116.8 - - 3192 - - - - - - - - 14.91 13.81 14.92
8310 777.3 -9.5 430 8322 done -0.64 - - 1970 - 2.55 0.047 2267 -560.8 -116.8 - - 3191 - - - - - - - - 14.02 13.97 14.05
8659 809.5 -9.4 437 8665 roll -0.64 - - 1970 - 2.50 0.062 894 -549.2 -116.8 - - 3190 - - - - - - - - 14.90 13.90 14.92
8727 816.5 -7.9 447 8733 done -0.64 - - 1967 - 2.60 0.062 2270 529.2 -116.8 - - 3190 - - - - - - - - 13.88 13.81 13.95
9055 846.5 -9.2 458 9060 roll -0.64 - - 1959 - 2.67 0.090 3696 534.1 -116.8 - - 3189 - - - - - - - - 14.91 13.78 14.93
9115 851.9 -9.5 466 9120 done -0.64 0.12 0.231 1986 225.0 2.53 0.047 2262 -566.8 -116.8 - - 3189 - - - - - - - - 13.69 14.10 13.90
9453 879.4 -8.2 479 9458 roll -0.64 - - 1986 - 2.50 0.060 895 -546.8 -116.8 - - 3188 - - - - - - - - 14.90 13.89 14.92
9550 888.0 -8.4 493 9556 done -0.64 - - 1986 - 2.55 0.062 2267 538.0 -116.8 - - 3187 - - - - - - - - 14.04 13.90 14.10
9904 918.4 -8.6 501 9910 roll -0.64 - - 1984 - 2.72 0.093 3699 526.5 -116.8 - - 3186 - - - - - - - - 14.89 13.78 14.92
9973 923.9 -5.9 511 9978 done -0.64 - - 1985 - 2.53 0.047 2263 -567.6 -116.8 - - 3186 - - - - - - - - 14.16 14.07 14.20
10302 951.2 -8.5 522 10306 roll -0.64 - - 1985 - 2.53 0.060 885 -544.7 -116.8 - - 3185 - - - - - - - - 14.89 13.85 14.91
10362 957.7 -8.5 531 10367 done -0.64 - - 1985 - 2.62 0.062 2266 527.1 -116.8 - - 3185 - - - - - - - - 13.85 13.76 13.91
10697 985.8 -8.6 543 10701 roll -0.64 - - 1980 - 2.70 0.093 3692 528.1 -116.8 - - 3184 - - - - - - - - 14.89 13.78 14.91
10739 end dive: TARGET_DEPTH_EXCEEDED
10739 begin apogee
10751 990.3 -8.7 550 10928 roll -0.19 0.57 0.207 2132 266.7 - - 2199 - - 174.77 1.731 2741 -2.5 0.276 - - - - - - 13.61 13.89 13.02
10930 end apogee: CONTROL_FINISHED_OK
10930 begin climb
10934 996.2 - 553 11088 done 0.68 0.90 0.125 2416 315.6 - - 2199 - 116.8 150.05 1.894 2261 -3.2 0.321 - - - - - - 13.85 14.25 12.88
11426 965.4 8.1 590 11432 roll 0.62 - - 2425 - 2.60 0.068 797 -539.2 116.8 - - 2233 - - - - - - - - 14.73 14.20 14.76
11486 961.4 8.2 598 11492 done 0.62 - - 2426 - 2.55 0.057 2205 552.2 116.8 - - 2231 - - - - - - - - 14.36 14.24 14.41
11827 932.3 8.4 611 11832 roll 0.56 0.15 0.272 2384 -280.0 2.58 0.085 3606 543.0 116.8 - - 2230 - - - - - - - - 13.83 14.10 13.98
11859 929.8 5.9 616 11907 done 0.53 - - 2394 - 2.47 0.054 2204 -567.6 150.4 39.08 1.852 2116 -2.9 0.279 - - - - - - 14.38 14.28 13.20
12222 901.5 7.8 632 12226 roll 0.53 - - 2404 - 2.58 0.073 794 -546.5 150.4 - - 2101 - - - - - - - - 14.76 14.20 14.78
12312 894.3 9.6 645 12317 done 0.53 0.12 0.252 2377 -225.0 2.55 0.057 2206 553.7 150.4 - - 2099 - - - - - - - - 13.97 14.26 14.26
12673 869.2 7.0 654 12679 roll 0.54 - - 2377 - 2.58 0.087 3608 543.4 157.5 - - 2099 - - - - - - - - 14.85 14.12 14.86
12707 866.8 6.2 659 12754 done 0.55 - - 2386 - 2.50 0.053 2187 -568.4 183.7 40.80 1.801 1987 -2.7 0.252 - - - - - - 14.40 14.31 13.22
13069 836.8 8.6 675 13074 roll 0.55 - - 2397 - 2.55 0.069 795 -545.9 183.7 - - 1965 - - - - - - - - 14.76 14.21 14.78
13165 827.4 8.7 689 13170 done 0.55 - - 2397 - 2.53 0.056 2191 551.8 183.7 - - 1964 - - - - - - - - 14.36 14.23 14.42
13522 796.4 9.0 697 13526 roll 0.55 - - 2397 - 2.62 0.087 3616 543.9 183.7 - - 1964 - - - - - - - - 14.83 14.13 14.85
13561 791.8 10.0 703 13566 done 0.55 - - 2406 - 2.55 0.055 2199 -555.7 183.7 - - 1963 - - - - - - - - 14.28 14.23 14.32
13916 759.4 9.2 711 13921 roll 0.55 - - 2418 - 2.60 0.073 789 -542.3 183.7 - - 1962 - - - - - - - - 14.87 14.12 14.89
14032 748.7 8.7 727 14037 done 0.55 0.15 0.238 2383 -233.3 2.55 0.058 2189 549.0 183.7 - - 1961 - - - - - - - - 13.86 14.19 14.17
14371 722.8 7.7 740 14376 roll 0.55 - - 2383 - 2.62 0.086 3612 543.1 183.7 - - 1961 - - - - - - - - 14.88 14.04 14.90
14417 718.1 8.9 747 14429 done 0.55 - - 2392 - 2.58 0.054 2186 -552.7 183.7 - - 1960 - - - - - - - - 14.18 14.13 14.23
14766 690.2 8.1 754 14772 roll 0.55 - - 2402 - 2.58 0.069 791 -540.7 183.7 - - 1960 - - - - - - - - 14.88 14.06 14.90
14855 682.5 8.4 767 14861 done 0.55 - - 2402 - 2.55 0.057 2193 549.8 183.7 - - 1959 - - - - - - - - 14.27 14.14 14.33
15219 653.2 8.2 776 15224 roll 0.55 - - 2402 - 2.62 0.086 3615 542.7 183.7 - - 1959 - - - - - - - - 14.87 14.00 14.88
15294 645.8 9.0 787 15299 done 0.55 0.12 0.242 2383 -158.3 2.55 0.054 2176 -564.3 183.7 - - 1959 - - - - - - - - 13.87 14.19 14.14
15614 623.5 7.1 797 15619 roll 0.56 - - 2392 - 2.55 0.072 797 -540.8 190.2 - - 1959 - - - - - - - - 14.88 14.00 14.90
15697 617.1 7.2 809 15702 done 0.56 - - 2392 - 2.53 0.056 2186 549.0 193.4 - - 1958 - - - - - - - - 14.25 14.12 14.28
16066 589.0 7.9 819 16070 roll 0.56 - - 2392 - 2.62 0.083 3615 545.4 193.4 - - 1958 - - - - - - - - 14.88 13.95 14.90
16134 582.4 9.2 829 16139 done 0.56 - - 2402 - 2.55 0.053 2186 -560.4 193.4 - - 1958 - - - - - - - - 14.26 14.14 14.31
16462 555.6 8.3 840 16467 roll 0.56 - - 2411 - 2.60 0.067 788 -537.7 193.4 - - 1958 - - - - - - - - 14.88 13.98 14.89
16531 549.6 7.8 850 16538 done 0.56 0.12 0.239 2384 -225.0 2.55 0.056 2185 547.8 193.4 - - 1958 - - - - - - - - 13.78 14.06 14.02
16860 528.2 6.5 861 16901 roll 0.57 - - 2384 - 2.58 0.083 3610 552.3 212.9 36.17 1.459 1866 -2.5 0.176 - - - - - - 14.87 14.03 13.40
16952 521.4 7.4 875 16957 done 0.57 - - 2392 - 2.50 0.052 2182 -571.2 212.9 - - 1855 - - - - - - - - 14.44 14.35 14.47
17308 497.9 6.8 883 17322 roll 0.58 - - 2393 - 2.50 0.070 795 -554.8 226.4 9.05 1.476 1818 -4.1 0.263 - - - - - - 14.80 14.07 13.35
17402 491.0 7.1 897 17420 done 0.64 - - 2393 - 2.50 0.055 2193 559.2 231.6 3.85 1.089 1793 -6.5 0.558 - - - - - - 14.45 14.34 13.24
17756 463.3 8.1 905 17761 roll 0.64 - - 2393 - 2.60 0.084 3614 546.5 231.6 - - 1800 - - - - - - - - 14.82 14.15 14.83
17825 456.3 9.8 915 17829 done 0.64 - - 2403 - 2.53 0.052 2176 -568.4 231.6 - - 1800 - - - - - - - - 14.40 14.30 14.42
18151 426.5 9.3 926 18157 roll 0.64 - - 2410 - 2.55 0.070 787 -544.7 231.6 - - 1801 - - - - - - - - 14.85 14.10 14.87
18219 420.0 8.7 936 18225 done 0.64 - - 2410 - 2.53 0.056 2184 552.2 231.6 - - 1800 - - - - - - - - 14.32 14.19 14.36
18548 393.2 8.3 947 18553 roll 0.64 - - 2410 - 2.60 0.081 3610 548.5 231.6 - - 1800 - - - - - - - - 14.87 14.04 14.87
18607 387.9 8.9 955 18611 done 0.64 - - 2419 - 2.53 0.050 2180 -565.2 231.6 - - 1801 - - - - - - - - 14.34 14.24 14.38
18945 359.3 8.5 968 18950 roll 0.64 - - 2429 - 2.53 0.067 797 -546.6 231.6 - - 1801 - - - - - - - - 14.88 14.04 14.90
19061 349.2 8.8 984 19066 done 0.64 - - 2429 - 2.53 0.054 2185 548.6 231.6 - - 1800 - - - - - - - - 14.27 14.15 14.31
19400 317.2 9.4 997 19405 roll 0.64 - - 2429 - 2.60 0.079 3611 548.5 231.6 - - 1800 - - - - - - - - 14.88 13.99 14.89
19476 308.9 10.5 1008 19481 done 0.64 0.12 0.255 2410 -158.3 2.50 0.050 2186 -570.0 231.6 - - 1800 - - - - - - - - 13.82 14.20 14.07
19795 283.0 8.2 1018 19801 roll 0.64 - - 2418 - 2.58 0.064 785 -543.0 231.6 - - 1800 - - - - - - - - 14.88 14.01 14.90
19878 275.4 8.8 1030 19884 done 0.64 - - 2418 - 2.55 0.054 2185 549.0 231.6 - - 1800 - - - - - - - - 14.23 14.11 14.28
20249 241.1 9.5 1040 20253 roll 0.64 - - 2418 - 2.60 0.078 3608 547.3 231.6 - - 1800 - - - - - - - - 14.88 13.95 14.89
20307 234.9 10.6 1048 20312 done 0.64 - - 2424 - 2.53 0.049 2183 -563.2 231.6 - - 1801 - - - - - - - - 14.27 14.15 14.31
20646 201.2 10.0 1061 20651 roll 0.64 - - 2431 - 2.55 0.064 796 -543.9 231.6 - - 1801 - - - - - - - - 14.88 13.96 14.90
20736 192.1 9.1 1074 20741 done 0.64 - - 2431 - 2.50 0.053 2179 553.2 231.6 - - 1801 - - - - - - - - 14.22 14.09 14.26
21098 159.7 8.9 1083 21102 roll 0.64 - - 2431 - 2.62 0.078 3611 546.6 231.6 - - 1801 - - - - - - - - 14.88 13.92 14.89
21166 152.4 10.2 1093 21171 done 0.64 0.12 0.252 2410 -175.0 2.53 0.050 2182 -564.8 231.6 - - 1801 - - - - - - - - 13.76 14.12 14.01
21494 127.4 7.6 1104 21499 roll 0.64 - - 2410 - 2.58 0.066 788 -540.3 231.6 - - 1801 - - - - - - - - 14.88 13.94 14.90
21553 123.3 6.8 1112 21596 done 0.72 - - 2410 - 2.55 0.054 2189 549.4 245.4 34.75 1.038 1735 -1.9 0.043 - - - - - - 14.21 14.09 13.53
21947 97.5 6.4 1126 21973 roll 0.78 0.12 0.137 2461 425.0 2.58 0.079 3608 550.0 266.5 12.88 0.373 1655 -6.2 0.309 - - - - - - 14.38 14.30 13.82
22036 88.3 10.2 1138 22042 done 0.78 - - 2471 - 2.50 0.048 2169 -575.6 266.5 2.03 0.185 1652 -1.5 0.134 - - - - - - 14.42 14.33 14.02
22377 60.7 7.0 1153 22392 roll 0.79 - - 2476 - 2.50 0.065 805 -545.6 274.6 8.10 0.259 1621 -3.8 0.171 - - - - - - 14.83 14.24 13.83
22633 50.7 2.8 1189 22715 done 0.98 0.12 0.125 2533 475.0 2.47 0.051 2182 557.5 381.7 72.50 0.285 1182 -6.1 0.205 - - - - - - 14.20 14.21 14.00
23023 24.9 8.2 1212 23028 roll 1.03 - - 2533 - 2.58 0.077 3610 553.5 381.7 - - 1184 - - - - - - - - 14.81 14.09 14.83
23083 19.6 8.0 1220 23088 done 1.09 - - 2541 - 2.53 0.045 2165 -571.1 381.7 - - 1184 - - - - - - - - 14.35 14.26 14.38
23306 end climb: SURFACE_DEPTH_REACHED
23306 begin surface coast
23335 end surface coast: CONTROL_FINISHED_OK
23335 begin surface
SM 0.78 - - - - -6.12 6.82 0.069 220 32.3 0.22 0.085 2299 5186.4 500.17 74.00 0.138 699 9.4 -0.005 - - - - - -