SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 476 * Raw log
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• Previous call tries 5 • 179.84 of 350.00 AH used of 24V (48.62% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.9 deg, depth 1.07 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 562.47 (SM_CC=562.4729)
• GPS1 time: 35 s
• GPS2 time: 18 s • Transponder ping count: 2
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 111 VBD -0.84 - - 144 - - - 1797 - -116.8 -83.78 - 3215 - - - - - - - - 14.74 - 14.77
115 5.1 -7.0 3 139 roll -0.84 12.57 0.383 2645 199.0 2.55 2.023 3127 521.6 -116.8 -0.85 - 3274 -69.4 - - - - - - - 13.97 13.11 14.40
247 47.6 -24.1 22 255 done -0.52 0.45 0.246 2754 242.2 2.28 0.041 1773 -593.9 -116.8 - - 3275 - - - - - - - - 14.05 14.47 14.33
559 78.5 -7.2 34 561 done -0.52 - - 2754 - - - 1773 - -116.8 - - 3276 - - - - - - - - 14.80 14.82 14.81
867 101.5 -8.0 45 875 roll -0.52 - - 2747 - 2.30 0.051 3135 592.2 -116.8 - - 3276 - - - - - - - - 14.81 14.44 14.83
917 105.7 -8.6 52 925 done -0.52 - - 2747 - 2.28 0.037 1766 -600.4 -116.8 - - 3276 - - - - - - - - 14.57 14.50 14.59
1260 137.0 -8.9 59 1266 roll -0.52 - - 2747 - 2.40 0.058 378 -578.3 -116.8 - - 3277 - - - - - - - - 14.81 14.43 14.84
1357 146.3 -9.6 73 1365 done -0.52 - - 2739 - 2.28 0.031 1757 604.8 -116.8 - - 3276 - - - - - - - - 14.58 14.52 14.60
1709 175.7 -8.4 81 1716 roll -0.52 - - 2728 - 2.40 0.052 3169 588.3 -116.8 - - 3274 - - - - - - - - 14.81 14.43 14.83
1799 183.6 -8.6 94 1806 done -0.52 0.12 0.233 2758 250.0 2.35 0.037 1766 -597.0 -116.8 - - 3271 - - - - - - - - 14.21 14.50 14.42
2157 212.3 -8.1 103 2164 roll -0.52 - - 2754 - 2.42 0.060 375 -574.8 -116.8 - - 3271 - - - - - - - - 14.84 14.39 14.86
2242 220.0 -9.3 115 2248 done -0.52 - - 2748 - 2.33 0.032 1779 602.6 -116.8 - - 3270 - - - - - - - - 14.58 14.52 14.60
2608 252.2 -8.9 125 2621 roll -0.52 - - 2737 - 2.35 0.054 3162 588.5 -116.8 - - 3267 - - - - - - - - 14.83 14.48 14.86
2664 257.5 -9.3 132 2677 done -0.52 - - 2737 - 2.33 0.037 1777 -594.4 -116.8 - - 3267 - - - - - - - - 14.60 14.52 14.63
3007 289.5 -9.2 139 3020 roll -0.52 - - 2737 - 2.45 0.060 370 -574.3 -116.8 - - 3264 - - - - - - - - 14.92 14.45 14.95
3089 297.3 -9.3 150 3102 done -0.52 0.12 0.258 2753 133.3 2.33 0.033 1772 601.7 -116.8 - - 3263 - - - - - - - - 14.17 14.59 14.40
3412 321.7 -7.5 160 3425 roll -0.52 - - 2745 - 2.38 0.053 3174 589.1 -116.8 - - 3261 - - - - - - - - 14.90 14.50 14.92
3523 330.6 -7.9 175 3538 done -0.62 - - 2744 - 2.35 0.038 1775 -595.3 -116.8 - - 3260 - - - - - - - - 14.60 14.53 14.63
3868 359.7 -8.5 182 3881 roll -0.62 - - 2745 - 2.45 0.060 372 -572.7 -116.8 - - 3258 - - - - - - - - 14.89 14.43 14.91
3971 369.4 -9.3 196 3984 done -0.62 - - 2736 - 2.35 0.034 1791 603.8 -116.8 - - 3258 - - - - - - - - 14.65 14.62 14.68
4327 400.4 -8.6 204 4340 roll -0.62 - - 2725 - 2.35 0.054 3165 584.7 -116.8 - - 3256 - - - - - - - - 14.93 14.45 14.94
4396 406.5 -8.7 213 4410 done -0.62 - - 2725 - 2.33 0.037 1773 -597.4 -116.8 - - 3255 - - - - - - - - 14.60 14.52 14.62
4732 434.5 -8.2 225 4745 roll -0.62 - - 2726 - 2.45 0.060 371 -572.2 -116.8 - - 3253 - - - - - - - - 14.90 14.43 14.92
4815 441.6 -8.4 236 4828 done -0.62 - - 2716 - 2.35 0.033 1773 596.6 -116.8 - - 3253 - - - - - - - - 14.62 14.56 14.64
5136 467.4 -8.1 246 5150 roll -0.62 - - 2706 - 2.38 0.053 3164 584.5 -116.8 - - 3252 - - - - - - - - 14.92 14.45 14.95
5226 474.9 -8.2 258 5239 done -0.62 - - 2706 - 2.35 0.037 1772 -592.3 -116.8 - - 3251 - - - - - - - - 14.58 14.50 14.61
5597 507.0 -8.8 268 5610 roll -0.62 - - 2706 - 2.45 0.060 379 -568.6 -116.8 - - 3250 - - - - - - - - 14.93 14.38 14.95
5673 514.2 -9.5 278 5686 done -0.62 0.12 0.256 2724 150.0 2.33 0.034 1774 598.7 -116.8 - - 3250 - - - - - - - - 14.12 14.54 14.35
6002 540.7 -8.0 289 6016 roll -0.62 - - 2716 - 2.38 0.054 3162 583.2 -116.8 - - 3248 - - - - - - - - 14.89 14.42 14.90
6057 545.2 -8.0 296 6071 done -0.62 - - 2716 - 2.35 0.038 1778 -588.9 -116.8 - - 3248 - - - - - - - - 14.54 14.47 14.58
6401 571.8 -7.6 303 6414 roll -0.62 - - 2717 - 2.47 0.063 375 -568.0 -116.8 - - 3244 - - - - - - - - 14.91 14.35 14.93
6506 580.4 -8.3 317 6519 done -0.62 - - 2707 - 2.35 0.034 1773 594.9 -116.8 - - 3246 - - - - - - - - 14.57 14.51 14.59
6862 608.7 -8.0 325 6875 roll -0.62 - - 2696 - 2.40 0.055 3163 579.2 -116.8 - - 3245 - - - - - - - - 14.92 14.38 14.94
6924 613.7 -8.1 333 6938 done -0.62 0.15 0.239 2728 213.3 2.35 0.038 1770 -592.8 -116.8 - - 3245 - - - - - - - - 14.04 14.45 14.30
7271 638.7 -7.3 346 7284 roll -0.62 - - 2727 - 2.45 0.062 379 -567.8 -116.8 - - 3244 - - - - - - - - 14.84 14.35 14.86
7361 646.8 -8.9 358 7374 done -0.62 - - 2722 - 2.38 0.034 1784 590.3 -116.8 - - 3244 - - - - - - - - 14.46 14.40 14.48
7732 680.3 -9.3 368 7745 roll -0.62 - - 2711 - 2.40 0.055 3162 574.2 -116.8 - - 3242 - - - - - - - - 14.86 14.34 14.88
7821 688.9 -9.4 380 7835 done -0.62 - - 2711 - 2.35 0.037 1776 -589.8 -116.8 - - 3241 - - - - - - - - 14.50 14.42 14.54
8193 723.1 -9.0 390 8206 roll -0.62 - - 2711 - 2.47 0.063 381 -564.8 -116.8 - - 3244 - - - - - - - - 14.86 14.28 14.88
8312 733.7 -8.7 406 8325 done -0.62 - - 2702 - 2.35 0.034 1778 594.5 -116.8 - - 3239 - - - - - - - - 14.52 14.46 14.54
8654 761.2 -7.9 419 8667 roll -0.62 - - 2691 - 2.40 0.055 3159 575.4 -116.8 - - 3238 - - - - - - - - 14.86 14.31 14.88
8779 771.4 -8.2 436 8793 done -0.62 0.17 0.237 2735 258.8 2.35 0.039 1777 -588.1 -116.8 - - 3238 - - - - - - - - 13.88 14.29 14.16
9115 796.0 -7.4 448 9128 roll -0.62 - - 2729 - 2.50 0.063 375 -560.8 -116.8 - - 3235 - - - - - - - - 14.92 14.25 14.91
9241 806.4 -8.4 465 9254 done -0.62 - - 2723 - 2.38 0.035 1780 590.3 -116.8 - - 3237 - - - - - - - - 14.50 14.46 14.54
9576 834.1 -8.3 477 9589 roll -0.62 - - 2713 - 2.40 0.056 3159 574.6 -116.8 - - 3236 - - - - - - - - 14.85 14.28 14.88
9673 842.4 -8.6 490 9687 done -0.62 - - 2712 - 2.38 0.039 1775 -581.5 -116.8 - - 3236 - - - - - - - - 14.44 14.35 14.47
10037 873.3 -8.6 499 10050 roll -0.62 - - 2713 - 2.50 0.063 378 -558.8 -116.8 - - 3235 - - - - - - - - 14.85 14.22 14.87
10133 882.3 -9.2 512 10146 done -0.62 - - 2704 - 2.38 0.036 1775 587.0 -116.8 - - 3233 - - - - - - - - 14.50 14.42 14.52
10498 913.7 -8.6 521 10511 roll -0.62 - - 2694 - 2.45 0.056 3166 567.8 -116.8 - - 3234 - - - - - - - - 14.88 14.23 14.89
10560 919.2 -8.6 529 10574 done -0.62 0.15 0.243 2725 206.7 2.40 0.040 1775 -579.6 -116.8 - - 3234 - - - - - - - - 13.88 14.32 14.14
10905 945.7 -7.7 542 10918 roll -0.62 - - 2725 - 2.53 0.064 378 -552.2 -116.8 - - 3233 - - - - - - - - 14.83 14.20 14.84
10987 952.0 -8.2 553 11001 done -0.62 - - 2718 - 2.38 0.035 1778 588.2 -116.8 - - 3233 - - - - - - - - 14.45 14.38 14.47
11310 977.1 -7.9 563 11323 roll -0.62 - - 2708 - 2.42 0.057 3160 571.1 -116.8 - - 3232 - - - - - - - - 14.85 14.20 14.87
11365 981.7 -8.0 570 11379 done -0.62 - - 2708 - 2.40 0.040 1773 -577.9 -116.8 - - 3236 - - - - - - - - 14.38 14.30 14.42
11482 end dive: TARGET_DEPTH_EXCEEDED
11482 begin apogee
11490 991.1 -7.7 573 11623 done -0.21 0.60 0.219 2859 251.7 - - 1656 - - 122.85 2.225 2793 -3.6 0.309 - - - - - - 13.74 13.93 12.85
11624 end apogee: CONTROL_FINISHED_OK
11624 begin climb
11629 995.9 - 575 11777 roll 0.84 1.12 0.151 3188 293.8 2.60 0.048 3062 540.8 116.8 127.95 2.167 2305 -3.8 0.337 - - - - - - 13.93 13.79 12.75
11820 986.7 8.1 606 11833 done 0.84 - - 3196 - 2.40 0.039 1699 -567.9 116.8 - - 2297 - - - - - - - - 14.20 14.14 14.23
12163 957.9 8.5 613 12176 roll 0.84 - - 3207 - 2.45 0.065 322 -562.0 116.8 - - 2294 - - - - - - - - 14.75 14.40 14.77
12231 951.5 9.4 622 12245 done 0.84 - - 3208 - 2.25 0.031 1696 610.7 116.8 - - 2294 - - - - - - - - 14.53 14.51 14.54
12568 921.2 9.1 634 12581 roll 0.84 - - 3207 - 2.35 0.050 3056 578.7 116.8 - - 2295 - - - - - - - - 14.82 14.44 14.84
12692 909.5 10.8 651 12706 done 0.84 - - 3216 - 2.35 0.041 1674 -588.1 116.8 - - 2292 - - - - - - - - 14.57 14.49 14.61
13029 879.3 9.0 663 13042 roll 0.84 - - 3227 - 2.40 0.066 324 -562.5 116.8 - - 2292 - - - - - - - - 14.82 14.39 14.84
13062 876.0 9.6 667 13076 done 0.73 0.25 0.244 3170 -228.0 2.25 0.031 1701 612.0 116.8 - - 2292 - - - - - - - - 14.05 14.57 14.39
13433 850.7 6.7 677 13471 roll 0.76 - - 3170 - 2.35 0.050 3040 569.8 138.7 21.35 2.013 2216 -3.6 0.289 - - - - - - 14.87 14.47 13.38
13534 844.3 6.4 691 13577 done 0.79 - - 3177 - 2.35 0.043 1675 -580.9 165.4 28.85 2.010 2112 -3.6 0.291 - - - - - - 14.54 14.46 13.26
13888 819.2 7.2 706 13902 done 0.81 - - 3177 - - - 1676 - 177.7 4.85 1.538 2068 -9.1 0.930 - - - - - - 14.72 14.35 13.15
14223 795.4 7.1 712 14255 done 0.83 - - 3177 - - - 1675 - 191.7 23.52 1.979 2010 -2.5 0.191 - - - - - - 14.78 14.35 13.37
14558 769.8 7.8 718 14571 done 0.83 - - 3176 - - - 1675 - 193.7 - - 1994 - - - - - - - - 14.75 14.78 14.77
14893 742.4 8.3 724 14907 roll 0.83 - - 3177 - 2.40 0.048 3050 572.9 193.7 - - 1993 - - - - - - - - 14.81 14.43 14.83
14942 738.2 8.8 730 14955 done 0.83 - - 3185 - 2.35 0.044 1682 -582.1 193.7 - - 1993 - - - - - - - - 14.55 14.47 14.59
15298 707.9 8.5 738 15311 roll 0.83 - - 3194 - 2.42 0.067 323 -561.6 193.7 - - 1993 - - - - - - - - 14.85 14.35 14.88
15354 703.0 9.2 745 15368 done 0.83 - - 3195 - 2.22 0.031 1671 607.2 193.7 - - 1992 - - - - - - - - 14.57 14.52 14.59
15697 673.4 8.6 752 15710 roll 0.83 - - 3195 - 2.38 0.050 3049 579.0 193.7 - - 1993 - - - - - - - - 14.83 14.39 14.85
15807 663.5 8.7 767 15821 done 0.83 - - 3203 - 2.35 0.043 1680 -582.6 193.7 - - 1992 - - - - - - - - 14.51 14.42 14.55
16152 633.8 8.7 774 16165 roll 0.83 - - 3214 - 2.42 0.066 316 -563.6 193.7 - - 1991 - - - - - - - - 14.85 14.31 14.87
16185 630.7 8.9 778 16199 done 0.83 - - 3214 - 2.25 0.031 1675 604.0 193.7 - - 1995 - - - - - - - - 14.57 14.52 14.59
16556 597.7 8.9 788 16569 roll 0.83 - - 3214 - 2.38 0.050 3056 580.3 193.7 - - 1992 - - - - - - - - 14.83 14.37 14.85
16688 585.1 9.5 806 16701 done 0.83 - - 3223 - 2.38 0.042 1671 -581.9 193.7 - - 1992 - - - - - - - - 14.49 14.40 14.53
17017 552.3 10.1 817 17031 roll 0.83 - - 3233 - 2.42 0.066 316 -559.9 193.7 - - 1993 - - - - - - - - 14.83 14.28 14.85
17045 549.4 10.3 820 17059 done 0.83 0.15 0.244 3202 -206.7 2.28 0.031 1697 605.7 193.7 - - 1992 - - - - - - - - 14.01 14.48 14.31
17367 519.0 9.4 830 17383 roll 0.83 - - 3202 - 2.30 0.050 3047 587.0 193.7 - - 1992 - - - - - - - - 14.83 14.35 14.85
17417 514.0 9.8 836 17431 done 0.83 - - 3208 - 2.33 0.042 1682 -585.8 193.7 - - 1992 - - - - - - - - 14.50 14.40 14.53
17775 481.3 9.1 844 17788 done 0.83 - - 3207 - - - 1681 - 193.7 - - 1992 - - - - - - - - 14.85 14.88 14.88
18110 453.0 8.3 850 18123 roll 0.83 - - 3218 - 2.42 0.067 323 -561.2 193.7 - - 1992 - - - - - - - - 14.86 14.25 14.88
18150 449.4 8.9 855 18163 done 0.83 - - 3220 - 2.25 0.031 1679 602.7 193.7 - - 1992 - - - - - - - - 14.52 14.47 14.54
18515 416.4 9.3 864 18528 roll 0.83 - - 3219 - 2.38 0.048 3062 581.1 193.7 - - 1992 - - - - - - - - 14.82 14.33 14.84
18577 410.1 10.0 872 18590 done 0.83 - - 3228 - 2.38 0.042 1678 -581.5 193.7 - - 1992 - - - - - - - - 14.45 14.36 14.49
18919 376.0 10.0 885 18933 roll 0.83 0.12 0.267 3206 -183.3 2.42 0.062 321 -560.7 193.7 - - 1992 - - - - - - - - 14.01 14.23 14.13
18982 370.1 9.1 893 18995 done 0.83 - - 3206 - 2.25 0.030 1685 606.2 193.7 - - 1992 - - - - - - - - 14.50 14.47 14.54
19325 343.5 7.5 906 19342 roll 0.84 - - 3206 - 2.38 0.047 3049 573.1 199.7 2.20 0.376 1974 -8.2 1.438 - - - - - - 14.81 14.35 13.18
19384 338.9 7.7 914 19397 done 0.84 - - 3215 - 2.35 0.042 1678 -583.4 202.0 - - 1977 - - - - - - - - 14.48 14.40 14.52
19726 312.9 7.7 927 19743 roll 0.84 - - 3225 - 2.38 0.063 324 -568.9 205.2 4.68 1.131 1956 -4.5 0.239 - - - - - - 14.86 14.15 13.38
19813 305.3 9.0 939 19830 done 0.84 - - 3226 - 2.25 0.030 1678 601.8 205.2 2.30 0.431 1955 - - - - - - - - 14.62 14.57 13.20
20180 271.2 9.5 949 20194 roll 0.84 - - 3226 - 2.35 0.047 3055 586.0 205.2 - - 1961 - - - - - - - - 14.83 14.38 14.84
20264 263.2 9.5 960 20277 done 0.84 0.15 0.250 3204 -146.7 2.38 0.041 1679 -578.2 205.2 - - 1961 - - - - - - - - 14.02 14.41 14.28
20586 237.9 7.7 970 20603 roll 0.85 - - 3211 - 2.42 0.065 327 -558.7 207.4 3.58 0.877 1946 -4.2 0.219 - - - - - - 14.85 14.45 13.40
20659 231.7 8.8 980 20672 done 0.85 - - 3211 - 2.22 0.030 1690 614.0 207.4 - - 1957 - - - - - - - - 14.62 14.57 14.64
20987 203.2 8.6 991 21001 roll 0.85 - - 3211 - 2.33 0.047 3053 585.0 207.4 - - 1953 - - - - - - - - 14.82 14.38 14.84
21035 199.0 9.0 997 21048 done 0.85 - - 3221 - 2.35 0.041 1675 -586.4 207.4 - - 1954 - - - - - - - - 14.52 14.42 14.57
21392 167.6 9.0 1005 21405 roll 0.85 - - 3231 - 2.40 0.065 323 -563.3 207.4 - - 1954 - - - - - - - - 14.85 14.20 14.87
21439 162.8 10.0 1011 21452 done 0.85 - - 3231 - 2.22 0.029 1674 608.6 207.4 - - 1953 - - - - - - - - 14.54 14.50 14.57
21795 130.9 8.8 1019 21809 roll 0.85 - - 3230 - 2.35 0.047 3053 586.8 207.4 - - 1954 - - - - - - - - 14.83 14.34 14.85
21893 122.3 8.8 1032 21906 done 0.85 0.15 0.250 3207 -153.3 2.38 0.041 1678 -577.7 207.4 - - 1954 - - - - - - - - 13.97 14.38 14.23
22228 97.6 7.3 1041 22252 roll 0.86 - - 3216 - 2.45 0.064 321 -553.9 216.9 12.15 0.326 1910 -3.6 0.209 - - - - - - 14.83 14.45 13.97
22302 92.0 8.2 1051 22316 done 0.86 - - 3215 - 2.25 0.029 1690 608.4 216.9 2.58 0.161 1907 -1.2 0.128 - - - - - - 14.58 14.53 14.16
22616 72.4 4.8 1063 22688 roll 0.93 - - 3215 - 2.35 0.047 3047 577.4 273.8 57.55 0.318 1682 -3.9 0.171 - - - - - - 14.84 14.47 14.11
22779 64.3 4.9 1086 22846 done 1.14 0.22 0.090 3305 409.1 2.35 0.038 1675 -583.8 328.3 52.38 0.294 1454 -4.4 0.183 - - - - - - 14.40 14.42 14.04
23150 37.3 5.8 1106 23201 roll 1.30 0.12 0.128 3371 550.0 2.45 0.063 314 -555.5 367.1 35.17 0.219 1300 -4.4 0.143 - - - - - - 14.43 14.38 14.11
23270 27.5 9.6 1123 23287 done 1.30 - - 3371 - 2.25 0.028 1688 610.7 367.1 2.47 0.150 1296 -1.6 0.057 - - - - - - 14.52 14.48 14.12
23543 end climb: SURFACE_DEPTH_REACHED
23543 begin surface coast
23575 end surface coast: CONTROL_FINISHED_OK
23575 begin surface
SM 1.13 - - - - -8.61 9.57 0.067 158 16.5 - - 1698 - 562.47 118.18 0.124 498 4.2 -0.004 - - - - - -