SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 477 * Raw log
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• Previous call tries 2 • 180.25 of 350.00 AH used of 24V (48.50% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.2 deg, depth 1.03 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 45 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
25 - - - 111 VBD -0.84 - - 143 - - - 1699 - -116.8 -83.57 - 2971 - - - - - - - - 14.70 - 14.72
115 3.7 -4.6 3 139 roll -0.84 12.40 0.376 2652 202.3 2.62 2.013 373 -506.1 -116.8 -4.68 - 3272 -64.3 - - - - - - - 14.00 13.07 14.41
322 58.2 -16.6 33 330 done -0.52 0.45 0.260 2757 233.3 2.28 0.033 1751 604.4 -116.8 - - 3272 - - - - - - - - 14.08 14.47 14.35
645 83.6 -7.1 46 651 roll -0.52 - - 2745 - 2.40 0.052 3177 594.2 -116.8 - - 3274 - - - - - - - - 14.81 14.47 14.83
729 93.0 -11.7 58 735 done -0.52 - - 2745 - 2.33 0.035 1768 -604.7 -116.8 - - 3273 - - - - - - - - 14.60 14.53 14.62
1094 125.8 -8.1 69 1101 roll -0.52 - - 2744 - 2.40 0.058 372 -581.7 -116.8 - - 3273 - - - - - - - - 14.83 14.46 14.85
1129 128.9 -9.0 74 1135 done -0.52 - - 2736 - 2.33 0.033 1780 604.3 -116.8 - - 3274 - - - - - - - - 14.63 14.57 14.65
1487 159.2 -8.7 83 1493 roll -0.52 - - 2726 - 2.33 0.052 3161 592.7 -116.8 - - 3272 - - - - - - - - 14.84 14.44 14.86
1544 164.0 -8.7 91 1551 done -0.52 0.15 0.222 2759 220.0 2.30 0.035 1768 -605.7 -116.8 - - 3271 - - - - - - - - 14.23 14.54 14.45
1880 188.6 -7.2 104 1886 roll -0.52 - - 2759 - 2.40 0.058 380 -578.3 -116.8 - - 3267 - - - - - - - - 14.85 14.45 14.88
1985 197.2 -8.1 119 1992 done -0.52 - - 2753 - 2.33 0.031 1779 600.4 -116.8 - - 3269 - - - - - - - - 14.61 14.56 14.63
2328 225.7 -8.4 126 2334 roll -0.52 - - 2743 - 2.35 0.051 3164 589.4 -116.8 - - 3267 - - - - - - - - 14.83 14.47 14.85
2446 236.1 -8.8 143 2452 done -0.52 - - 2743 - 2.30 0.035 1776 -603.5 -116.8 - - 3265 - - - - - - - - 14.58 14.51 14.60
2777 264.0 -8.4 155 2790 roll -0.52 - - 2743 - 2.42 0.060 377 -578.1 -116.8 - - 3262 - - - - - - - - 14.90 14.48 14.92
2839 269.4 -8.8 163 2852 done -0.52 - - 2734 - 2.33 0.033 1790 606.4 -116.8 - - 3261 - - - - - - - - 14.66 14.61 14.69
3181 299.2 -8.8 176 3195 roll -0.52 - - 2723 - 2.33 0.052 3164 589.7 -116.8 - - 3257 - - - - - - - - 14.94 14.51 14.97
3271 307.1 -8.8 188 3284 done -0.52 0.15 0.227 2756 220.0 2.33 0.037 1772 -597.4 -116.8 - - 3258 - - - - - - - - 14.24 14.56 14.47
3642 334.9 -7.4 198 3655 roll -0.52 - - 2756 - 2.42 0.060 382 -574.4 -116.8 - - 3256 - - - - - - - - 14.94 14.47 14.96
3746 343.3 -8.0 212 3759 done -0.52 - - 2750 - 2.30 0.032 1777 606.5 -116.8 - - 3254 - - - - - - - - 14.66 14.61 14.70
4103 370.5 -7.6 220 4116 roll -0.52 - - 2740 - 2.35 0.054 3157 587.2 -116.8 - - 3252 - - - - - - - - 14.95 14.49 14.96
4166 375.1 -7.6 228 4180 done -0.52 - - 2739 - 2.30 0.037 1779 -599.1 -116.8 - - 3252 - - - - - - - - 14.62 14.54 14.65
4509 401.9 -7.8 241 4522 roll -0.52 - - 2740 - 2.45 0.060 374 -573.5 -116.8 - - 3250 - - - - - - - - 14.92 14.46 14.93
4612 410.5 -8.3 255 4625 done -0.52 - - 2730 - 2.33 0.034 1771 599.6 -116.8 - - 3249 - - - - - - - - 14.64 14.59 14.66
4970 439.4 -8.2 263 4983 roll -0.52 0.12 0.268 2752 183.3 2.40 0.051 3169 582.5 -116.8 - - 3247 - - - - - - - - 14.16 14.40 14.31
5098 448.5 -7.1 280 5111 done -0.65 - - 2752 - 2.35 0.037 1771 -594.9 -116.8 - - 3247 - - - - - - - - 14.60 14.52 14.63
5434 473.6 -7.5 292 5448 roll -0.65 - - 2752 - 2.45 0.061 378 -568.6 -116.8 - - 3246 - - - - - - - - 14.90 14.42 14.91
5518 480.3 -7.9 303 5531 done -0.65 - - 2743 - 2.33 0.034 1778 600.9 -116.8 - - 3245 - - - - - - - - 14.62 14.57 14.65
5841 503.7 -7.2 313 5854 roll -0.65 - - 2733 - 2.38 0.054 3165 582.8 -116.8 - - 3244 - - - - - - - - 14.91 14.44 14.93
5972 513.0 -6.8 331 5986 done -0.65 - - 2733 - 2.35 0.038 1766 -595.3 -116.8 - - 3244 - - - - - - - - 14.58 14.50 14.60
6302 535.9 -7.0 342 6315 roll -0.65 - - 2733 - 2.45 0.062 375 -567.8 -116.8 - - 3242 - - - - - - - - 14.91 14.38 14.93
6406 544.1 -7.9 356 6419 done -0.65 - - 2724 - 2.35 0.034 1771 594.0 -116.8 - - 3242 - - - - - - - - 14.59 14.53 14.62
6762 572.9 -8.3 364 6775 roll -0.65 - - 2714 - 2.40 0.054 3170 582.9 -116.8 - - 3240 - - - - - - - - 14.92 14.41 14.93
6867 581.8 -8.6 378 6880 done -0.65 - - 2714 - 2.38 0.038 1774 -586.6 -116.8 - - 3239 - - - - - - - - 14.55 14.47 14.58
7223 613.3 -8.8 386 7236 roll -0.65 - - 2714 - 2.47 0.063 373 -567.2 -116.8 - - 3238 - - - - - - - - 14.92 14.35 14.94
7321 622.3 -9.3 399 7334 done -0.65 - - 2705 - 2.38 0.034 1776 589.5 -116.8 - - 3237 - - - - - - - - 14.57 14.50 14.59
7684 654.4 -8.8 408 7697 roll -0.65 - - 2695 - 2.40 0.057 3165 578.8 -116.8 - - 3236 - - - - - - - - 14.92 14.37 14.93
7773 662.2 -8.5 420 7786 done -0.65 - - 2694 - 2.38 0.040 1766 -587.8 -116.8 - - 3236 - - - - - - - - 14.52 14.44 14.55
8145 695.8 -9.2 430 8158 roll -0.65 - - 2694 - 2.47 0.063 378 -561.9 -116.8 - - 3235 - - - - - - - - 14.90 14.33 14.91
8248 706.5 -10.1 444 8262 done -0.65 0.15 0.265 2716 146.7 2.38 0.035 1785 591.2 -116.8 - - 3234 - - - - - - - - 13.98 14.47 14.25
8606 737.4 -8.7 452 8619 roll -0.65 - - 2707 - 2.40 0.057 3164 574.6 -116.8 - - 3233 - - - - - - - - 14.90 14.33 14.92
8674 743.6 -8.8 461 8688 done -0.65 - - 2708 - 2.38 0.038 1770 -585.7 -116.8 - - 3233 - - - - - - - - 14.49 14.41 14.55
9010 774.3 -9.2 473 9023 roll -0.65 - - 2707 - 2.47 0.063 370 -566.8 -116.8 - - 3233 - - - - - - - - 14.86 14.31 14.88
9107 783.9 -9.9 486 9121 done -0.65 - - 2699 - 2.40 0.036 1779 587.1 -116.8 - - 3232 - - - - - - - - 14.52 14.45 14.54
9471 818.7 -9.6 495 9484 roll -0.65 - - 2687 - 2.40 0.057 3162 576.2 -116.8 - - 3231 - - - - - - - - 14.86 14.30 14.88
9547 826.1 -9.6 505 9561 done -0.65 0.15 0.252 2718 206.7 2.38 0.039 1768 -585.7 -116.8 - - 3228 - - - - - - - - 13.95 14.40 14.22
9876 853.6 -8.1 516 9889 roll -0.65 - - 2720 - 2.50 0.063 380 -555.2 -116.8 - - 3230 - - - - - - - - 14.87 14.25 14.88
9987 863.3 -8.7 531 10000 done -0.65 - - 2712 - 2.40 0.035 1784 585.0 -116.8 - - 3230 - - - - - - - - 14.48 14.42 14.51
10332 891.0 -8.0 538 10345 roll -0.65 - - 2701 - 2.40 0.057 3162 574.2 -116.8 - - 3229 - - - - - - - - 14.84 14.26 14.85
10429 898.6 -8.5 551 10442 done -0.65 - - 2702 - 2.40 0.039 1766 -581.7 -116.8 - - 3229 - - - - - - - - 14.44 14.35 14.47
10793 926.7 -7.7 560 10807 roll -0.65 - - 2701 - 2.50 0.064 379 -554.8 -116.8 - - 3228 - - - - - - - - 14.83 14.21 14.85
10869 932.9 -6.7 570 10882 done -0.65 - - 2692 - 2.38 0.035 1775 586.6 -116.8 - - 3228 - - - - - - - - 14.47 14.40 14.47
11199 957.6 -7.6 581 11212 roll -0.65 0.12 0.286 2712 166.7 2.45 0.055 3169 569.0 -116.8 - - 3227 - - - - - - - - 13.93 14.16 14.04
11275 962.7 -6.3 591 11288 done -0.65 - - 2712 - 2.40 0.041 1773 -581.7 -116.8 - - 3227 - - - - - - - - 14.40 14.31 14.42
11604 983.3 -6.3 602 11618 roll -0.65 - - 2712 - 2.53 0.064 370 -554.5 -116.8 - - 3227 - - - - - - - - 14.84 14.18 14.86
11702 990.0 -7.0 615 11715 done -0.65 - - 2704 - 2.42 0.037 1782 583.5 -116.8 - - 3227 - - - - - - - - 14.44 14.38 14.46
11718 end dive: TARGET_DEPTH_EXCEEDED
11718 begin apogee
11726 992.1 -9.2 617 11857 done -0.21 0.60 0.226 2854 250.0 - - 1662 - - 121.35 2.218 2793 -3.6 0.307 - - - - - - 13.71 13.93 12.83
11859 end apogee: CONTROL_FINISHED_OK
11859 begin climb
11864 994.6 - 619 12005 roll 0.84 1.15 0.150 3202 302.6 2.50 0.063 341 -528.4 116.8 127.80 2.163 2310 -3.8 0.334 - - - - - - 13.95 13.58 12.77
12040 984.0 8.9 648 12053 done 0.84 - - 3202 - 2.30 0.031 1695 588.7 116.8 - - 2301 - - - - - - - - 14.21 14.16 14.22
12396 952.4 8.7 656 12410 roll 0.84 - - 3202 - 2.35 0.050 3058 580.0 116.8 - - 2296 - - - - - - - - 14.74 14.45 14.78
12486 944.5 8.7 668 12499 done 0.84 - - 3210 - 2.33 0.041 1692 -586.3 116.8 - - 2295 - - - - - - - - 14.57 14.49 14.59
12857 914.0 8.2 678 12870 roll 0.84 - - 3221 - 2.42 0.065 329 -563.2 116.8 - - 2295 - - - - - - - - 14.82 14.40 14.84
12891 911.1 8.9 682 12904 done 0.84 - - 3221 - 2.25 0.031 1694 606.7 116.8 - - 2295 - - - - - - - - 14.62 14.57 14.64
13262 881.1 8.1 692 13276 roll 0.75 0.17 0.255 3178 -252.9 2.33 0.047 3049 581.5 116.8 - - 2294 - - - - - - - - 14.06 14.35 14.23
13404 871.1 6.0 711 13454 done 0.79 - - 3185 - 2.30 0.040 1685 -593.0 150.6 34.55 2.034 2171 -3.6 0.293 - - - - - - 14.45 14.42 13.33
13780 842.2 8.0 729 13793 roll 0.79 - - 3195 - 2.42 0.067 320 -564.0 150.6 - - 2160 - - - - - - - - 14.73 14.38 14.76
13806 839.5 7.9 732 13820 done 0.79 - - 3195 - 2.25 0.032 1680 604.4 150.6 - - 2160 - - - - - - - - 14.59 14.52 14.61
14128 810.2 9.2 742 14141 roll 0.79 - - 3195 - 2.35 0.049 3053 584.3 150.6 - - 2159 - - - - - - - - 14.81 14.43 14.83
14226 800.6 9.8 755 14239 done 0.79 - - 3205 - 2.35 0.041 1678 -585.1 150.6 - - 2158 - - - - - - - - 14.54 14.45 14.57
14589 766.5 9.3 764 14602 done 0.79 - - 3204 - - - 1679 - 150.6 - - 2158 - - - - - - - - 14.83 14.85 14.85
14926 737.3 8.5 770 14940 roll 0.79 - - 3204 - 2.38 0.049 3051 576.5 150.6 - - 2159 - - - - - - - - 14.83 14.40 14.85
14967 733.7 8.0 775 14980 done 0.79 - - 3213 - 2.35 0.041 1676 -585.1 150.6 - - 2158 - - - - - - - - 14.54 14.45 14.57
15330 704.4 8.0 784 15343 done 0.79 - - 3211 - - - 1676 - 150.6 - - 2158 - - - - - - - - 14.86 14.89 14.88
15668 676.9 8.2 790 15681 roll 0.79 - - 3213 - 2.40 0.047 3057 575.4 150.6 - - 2158 - - - - - - - - 14.85 14.37 14.88
15694 674.4 8.5 793 15708 done 0.79 0.17 0.262 3186 -158.8 2.38 0.041 1672 -581.9 150.6 - - 2158 - - - - - - - - 14.00 14.42 14.31
16016 650.0 7.6 803 16029 done 0.79 - - 3186 - - - 1671 - 155.0 - - 2157 - - - - - - - - 14.83 14.86 14.85
16353 623.0 8.1 809 16366 done 0.79 - - 3186 - - - 1671 - 155.0 - - 2157 - - - - - - - - 14.81 14.85 14.85
16688 596.4 7.8 815 16701 roll 0.79 - - 3186 - 2.40 0.046 3059 578.3 155.8 - - 2157 - - - - - - - - 14.84 14.33 14.85
16750 591.6 7.8 823 16764 done 0.80 - - 3191 - 2.38 0.041 1680 -579.4 157.4 - - 2157 - - - - - - - - 14.50 14.40 14.52
17094 566.4 7.3 836 17123 roll 0.81 - - 3203 - 2.40 0.065 322 -565.8 168.3 17.05 1.730 2099 -3.4 0.214 - - - - - - 14.82 14.17 13.40
17158 561.3 8.2 845 17171 done 0.81 - - 3203 - 2.25 0.031 1689 607.6 168.3 - - 2091 - - - - - - - - 14.61 14.56 14.63
17495 534.0 8.3 857 17508 roll 0.81 - - 3203 - 2.35 0.048 3053 580.4 168.3 - - 2089 - - - - - - - - 14.81 14.39 14.83
17577 526.4 9.0 868 17590 done 0.81 - - 3217 - 2.35 0.042 1680 -584.3 168.3 - - 2088 - - - - - - - - 14.51 14.42 14.54
17898 497.3 9.2 878 17911 roll 0.81 - - 3222 - 2.42 0.067 323 -560.7 168.3 - - 2088 - - - - - - - - 14.81 14.33 14.83
17940 493.2 9.9 883 17953 done 0.81 0.12 0.249 3197 -208.3 2.25 0.031 1696 610.2 168.3 - - 2088 - - - - - - - - 14.09 14.52 14.38
18303 461.8 8.6 892 18317 roll 0.81 - - 3198 - 2.33 0.050 3041 577.3 168.3 - - 2088 - - - - - - - - 14.86 14.35 14.88
18380 455.1 8.9 902 18393 done 0.81 - - 3203 - 2.35 0.041 1678 -580.0 168.3 - - 2088 - - - - - - - - 14.49 14.40 14.53
18708 426.5 8.7 913 18721 roll 0.81 - - 3212 - 2.40 0.065 326 -563.3 168.3 - - 2088 - - - - - - - - 14.82 14.29 14.84
18755 422.1 9.5 919 18769 done 0.81 - - 3213 - 2.22 0.031 1678 609.0 168.3 - - 2088 - - - - - - - - 14.56 14.50 14.59
19113 391.4 8.5 927 19126 roll 0.81 - - 3213 - 2.35 0.048 3047 582.6 168.3 - - 2088 - - - - - - - - 14.85 14.34 14.86
19202 383.6 8.4 939 19216 done 0.81 0.12 0.260 3197 -133.3 2.35 0.042 1678 -582.6 168.3 - - 2088 - - - - - - - - 14.00 14.38 14.30
19574 354.9 7.9 949 19587 roll 0.81 - - 3205 - 2.45 0.066 326 -551.8 168.3 - - 2088 - - - - - - - - 14.85 14.25 14.87
19614 351.2 8.8 954 19627 done 0.81 - - 3205 - 2.25 0.031 1679 601.3 168.3 - - 2088 - - - - - - - - 14.54 14.47 14.55
19977 321.5 8.0 963 19991 roll 0.81 - - 3205 - 2.38 0.048 3056 578.6 168.3 - - 2088 - - - - - - - - 14.83 14.33 14.85
20061 314.8 7.9 974 20074 done 0.81 - - 3213 - 2.38 0.040 1681 -577.7 168.3 - - 2088 - - - - - - - - 14.47 14.38 14.50
20382 289.0 8.1 984 20395 roll 0.81 - - 3224 - 2.42 0.063 320 -562.4 168.3 - - 2088 - - - - - - - - 14.87 14.24 14.88
20437 283.9 9.4 991 20451 done 0.81 0.15 0.231 3192 -213.3 2.28 0.029 1702 606.1 168.3 - - 2088 - - - - - - - - 14.00 14.46 14.27
20782 257.3 7.6 998 20795 roll 0.81 - - 3192 - 2.30 0.046 3043 583.0 172.4 - - 2088 - - - - - - - - 14.82 14.32 14.84
20857 251.2 7.7 1008 20871 done 0.82 - - 3198 - 2.33 0.040 1680 -585.0 174.4 - - 2088 - - - - - - - - 14.47 14.39 14.51
21187 226.3 7.7 1019 21204 roll 0.82 - - 3207 - 2.42 0.066 329 -558.3 177.7 2.83 0.662 2067 -7.4 0.487 - - - - - - 14.81 14.40 13.40
21231 222.6 8.2 1025 21244 done 0.82 - - 3207 - 2.20 0.030 1675 611.8 177.7 - - 2071 - - - - - - - - 14.56 14.50 14.57
21587 193.0 8.3 1033 21600 roll 0.82 - - 3207 - 2.35 0.047 3047 583.8 177.7 - - 2071 - - - - - - - - 14.86 14.33 14.88
21629 189.5 8.6 1038 21642 done 0.82 - - 3215 - 2.33 0.040 1679 -587.1 177.7 - - 2072 - - - - - - - - 14.49 14.40 14.52
21992 159.6 8.2 1047 22005 roll 0.82 - - 3225 - 2.42 0.064 319 -562.0 177.7 - - 2071 - - - - - - - - 14.83 14.26 14.85
22055 154.2 9.0 1055 22069 done 0.82 0.12 0.233 3199 -216.7 2.25 0.029 1696 612.0 177.7 - - 2071 - - - - - - - - 14.05 14.47 14.27
22401 130.1 6.8 1068 22442 roll 0.85 - - 3199 - 2.30 0.048 3047 587.4 197.6 27.17 1.168 1976 -3.5 0.075 - - - - - - 14.80 14.50 13.67
22518 122.4 6.6 1084 22553 done 0.88 - - 3204 - 2.35 0.040 1673 -584.7 221.9 23.25 1.144 1888 -3.8 0.078 - - - - - - 14.53 14.45 13.63
22878 97.6 7.2 1097 22899 roll 0.89 - - 3215 - 2.42 0.065 330 -555.0 234.9 6.85 0.268 1837 -7.4 0.521 - - - - - - 14.74 14.33 13.81
22956 91.5 7.6 1108 22975 done 0.90 - - 3215 - 2.22 0.030 1678 607.2 240.3 8.20 0.286 1814 -2.8 0.172 - - - - - - 14.52 14.49 13.89
23307 66.1 7.3 1124 23336 roll 1.01 0.12 0.133 3271 466.7 2.40 0.046 3050 571.7 250.1 13.05 0.267 1778 -2.8 0.131 - - - - - - 14.45 14.36 14.00
23402 56.6 10.2 1137 23420 done 1.01 - - 3279 - 2.35 0.040 1678 -583.8 250.1 3.30 0.161 1774 -1.2 0.082 - - - - - - 14.52 14.45 14.02
23735 36.5 4.9 1151 23800 roll 1.08 - - 3280 - 2.35 0.045 3047 582.6 305.7 51.00 0.221 1545 -4.5 0.142 - - - - - - 14.80 14.48 14.17
23873 31.0 4.4 1170 23942 done 1.31 0.20 0.100 3356 380.0 2.33 0.040 1680 -586.7 370.2 54.22 0.205 1283 -4.8 0.140 - - - - - - 14.40 14.42 14.14
24211 end climb: SURFACE_DEPTH_REACHED
24211 begin surface coast
24240 end surface coast: CONTROL_FINISHED_OK
24240 begin surface
SM 0.97 - - - - -8.61 9.48 0.067 154 16.2 0.08 0.138 1783 -120587.5 515.13 87.97 0.123 691 7.9 -0.006 - - - - - -