SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 497 * Raw log
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• Previous call tries 1 • 187.81 of 350.00 AH used of 24V (46.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 32 s
• GPS2 time: 23 s • Transponder ping count: 4
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 113 VBD -0.84 - - 158 - - - 1777 - -116.8 -83.47 - 3271 - - - - - - - - 14.66 - 14.69
117 5.9 -8.3 3 133 done -0.84 12.68 0.389 2650 196.5 - - 1773 - -116.8 - - 3271 - - - - - - - - 13.91 14.40 14.32
450 80.0 -12.6 18 456 roll -0.59 0.32 0.262 2732 256.2 2.45 0.055 369 -573.1 -116.8 - - 3276 - - - - - - - - 13.89 14.20 14.07
593 90.1 -6.2 38 599 done -0.50 0.17 0.248 2763 182.4 2.30 0.031 1764 606.5 -116.8 - - 3275 - - - - - - - - 14.02 14.42 14.27
958 111.6 -6.7 51 964 roll -0.50 - - 2755 - 2.38 0.051 3168 589.9 -116.8 - - 3273 - - - - - - - - 14.78 14.41 14.81
1089 122.1 -8.1 70 1096 done -0.50 - - 2755 - 2.33 0.036 1771 -599.6 -116.8 - - 3275 - - - - - - - - 14.53 14.45 14.55
1406 151.0 -9.3 80 1413 roll -0.50 - - 2756 - 2.42 0.059 379 -575.2 -116.8 - - 3273 - - - - - - - - 14.78 14.36 14.81
1518 161.6 -9.2 96 1524 done -0.50 - - 2746 - 2.30 0.031 1774 606.5 -116.8 - - 3272 - - - - - - - - 14.55 14.50 14.57
1854 189.7 -8.2 109 1861 roll -0.50 - - 2736 - 2.38 0.052 3166 584.9 -116.8 - - 3270 - - - - - - - - 14.82 14.41 14.84
1952 197.6 -8.2 123 1959 done -0.50 - - 2736 - 2.33 0.035 1774 -597.4 -116.8 - - 3269 - - - - - - - - 14.44 14.36 14.47
2302 226.2 -8.2 131 2309 roll -0.50 0.12 0.259 2765 241.7 2.45 0.057 379 -569.4 -116.8 - - 3267 - - - - - - - - 14.08 14.28 14.22
2406 234.7 -7.9 146 2414 done -0.50 - - 2759 - 2.35 0.031 1779 595.7 -116.8 - - 3269 - - - - - - - - 14.52 14.42 14.52
2751 261.5 -7.9 153 2765 roll -0.50 - - 2748 - 2.38 0.053 3171 584.9 -116.8 - - 3263 - - - - - - - - 14.87 14.44 14.89
2820 267.2 -8.0 162 2833 done -0.59 - - 2748 - 2.33 0.037 1774 -599.6 -116.8 - - 3261 - - - - - - - - 14.59 14.52 14.62
3157 294.1 -8.0 174 3170 roll -0.59 - - 2748 - 2.45 0.059 370 -573.1 -116.8 - - 3260 - - - - - - - - 14.88 14.42 14.90
3239 301.2 -8.4 185 3252 done -0.59 - - 2739 - 2.35 0.033 1788 603.4 -116.8 - - 3259 - - - - - - - - 14.61 14.56 14.64
3561 326.0 -7.6 195 3574 roll -0.59 - - 2728 - 2.33 0.053 3157 587.6 -116.8 - - 3258 - - - - - - - - 14.92 14.43 14.94
3673 334.3 -7.5 210 3686 done -0.59 - - 2728 - 2.35 0.038 1769 -590.6 -116.8 - - 3257 - - - - - - - - 14.57 14.48 14.59
4015 361.9 -8.2 217 4028 roll -0.59 - - 2728 - 2.45 0.061 373 -569.8 -116.8 - - 3257 - - - - - - - - 14.92 14.38 14.93
4120 371.5 -9.3 231 4133 done -0.59 - - 2719 - 2.33 0.034 1769 599.1 -116.8 - - 3255 - - - - - - - - 14.60 14.54 14.62
4476 404.0 -9.1 239 4489 roll -0.59 - - 2708 - 2.40 0.054 3173 585.0 -116.8 - - 3253 - - - - - - - - 14.92 14.40 14.94
4600 414.8 -8.6 256 4614 done -0.59 0.12 0.248 2734 216.7 2.35 0.039 1772 -596.2 -116.8 - - 3251 - - - - - - - - 14.12 14.49 14.36
4937 440.8 -7.7 268 4950 roll -0.59 - - 2734 - 2.45 0.062 379 -568.6 -116.8 - - 3251 - - - - - - - - 14.88 14.37 14.89
5041 450.1 -8.9 282 5054 done -0.59 - - 2726 - 2.35 0.033 1788 599.6 -116.8 - - 3249 - - - - - - - - 14.58 14.52 14.60
5398 481.4 -8.9 290 5412 roll -0.59 - - 2717 - 2.38 0.056 3164 578.2 -116.8 - - 3248 - - - - - - - - 14.86 14.37 14.89
5530 493.2 -8.8 308 5543 done -0.59 - - 2717 - 2.35 0.038 1775 -591.1 -116.8 - - 3248 - - - - - - - - 14.45 14.36 14.50
5861 522.7 -8.9 319 5874 roll -0.59 - - 2717 - 2.50 0.063 373 -560.8 -116.8 - - 3246 - - - - - - - - 14.90 14.33 14.92
5950 531.1 -9.2 331 5964 done -0.59 0.12 0.277 2732 125.0 2.35 0.034 1773 595.7 -116.8 - - 3246 - - - - - - - - 14.01 14.50 14.28
6321 558.6 -7.4 341 6334 roll -0.59 - - 2724 - 2.40 0.054 3162 578.8 -116.8 - - 3244 - - - - - - - - 14.90 14.35 14.92
6435 567.1 -7.5 356 6448 done -0.59 - - 2724 - 2.38 0.037 1768 -585.7 -116.8 - - 3244 - - - - - - - - 14.50 14.42 14.52
6776 593.1 -7.6 363 6789 roll -0.59 - - 2724 - 2.45 0.061 378 -567.3 -116.8 - - 3243 - - - - - - - - 14.90 14.30 14.92
6866 600.8 -8.5 375 6880 done -0.59 - - 2715 - 2.35 0.034 1781 597.0 -116.8 - - 3243 - - - - - - - - 14.54 14.47 14.56
7237 631.7 -8.4 385 7250 roll -0.59 - - 2704 - 2.40 0.055 3167 577.5 -116.8 - - 3242 - - - - - - - - 14.90 14.32 14.92
7357 641.8 -8.5 401 7370 done -0.59 0.15 0.243 2736 213.3 2.35 0.038 1775 -592.3 -116.8 - - 3241 - - - - - - - - 13.97 14.41 14.24
7699 667.8 -7.5 414 7713 roll -0.59 - - 2736 - 2.47 0.062 379 -565.2 -116.8 - - 3240 - - - - - - - - 14.85 14.19 14.88
7782 674.3 -7.8 425 7795 done -0.59 - - 2736 - 2.35 0.034 1774 593.6 -116.8 - - 3239 - - - - - - - - 14.50 14.44 14.52
8105 698.2 -7.4 435 8118 roll -0.59 - - 2718 - 2.42 0.054 3159 572.3 -116.8 - - 3238 - - - - - - - - 14.88 14.28 14.90
8194 705.0 -7.3 447 8208 done -0.59 - - 2719 - 2.35 0.037 1776 -588.5 -116.8 - - 3238 - - - - - - - - 14.45 14.37 14.50
8566 731.6 -7.1 457 8579 roll -0.59 - - 2719 - 2.50 0.063 375 -560.4 -116.8 - - 3237 - - - - - - - - 14.87 14.23 14.90
8656 738.8 -7.7 469 8669 done -0.59 - - 2710 - 2.38 0.034 1772 587.0 -116.8 - - 3236 - - - - - - - - 14.47 14.41 14.50
9028 767.5 -7.9 479 9041 roll -0.59 - - 2699 - 2.42 0.054 3160 573.6 -116.8 - - 3236 - - - - - - - - 14.88 14.24 14.90
9131 776.0 -7.7 493 9145 done -0.59 0.17 0.238 2736 217.6 2.38 0.039 1768 -584.9 -116.8 - - 3236 - - - - - - - - 13.85 14.34 14.13
9488 803.2 -7.6 501 9501 roll -0.68 - - 2737 - 2.50 0.063 373 -558.0 -116.8 - - 3235 - - - - - - - - 14.87 14.19 14.89
9614 813.6 -8.2 518 9627 done -0.68 - - 2730 - 2.40 0.035 1792 591.2 -116.8 - - 3234 - - - - - - - - 14.47 14.40 14.50
9950 839.6 -7.7 530 9963 roll -0.68 - - 2720 - 2.40 0.056 3156 568.3 -116.8 - - 3233 - - - - - - - - 14.83 14.13 14.85
10054 848.3 -7.9 544 10068 done -0.68 - - 2716 - 2.38 0.039 1773 -581.1 -116.8 - - 3233 - - - - - - - - 14.38 14.30 14.42
10411 876.1 -8.0 552 10424 roll -0.68 - - 2720 - 2.50 0.063 378 -558.0 -116.8 - - 3232 - - - - - - - - 14.83 14.16 14.85
10460 880.3 -7.2 558 10473 done -0.68 - - 2711 - 2.38 0.035 1771 585.3 -116.8 - - 3232 - - - - - - - - 14.39 14.33 14.43
10816 909.4 -8.1 566 10830 roll -0.68 - - 2700 - 2.42 0.055 3157 572.7 -116.8 - - 3231 - - - - - - - - 14.87 14.19 14.89
10899 916.1 -5.9 577 10912 done -0.68 - - 2700 - 2.40 0.039 1762 -581.2 -116.8 - - 3232 - - - - - - - - 14.36 14.27 14.40
11222 942.7 -8.2 587 11235 roll -0.68 - - 2700 - 2.50 0.063 379 -553.2 -116.8 - - 3233 - - - - - - - - 14.81 14.14 14.83
11285 948.4 -9.1 595 11298 done -0.68 - - 2691 - 2.38 0.034 1776 587.0 -116.8 - - 3230 - - - - - - - - 14.40 14.33 14.42
11628 979.2 -9.1 608 11641 roll -0.68 - - 2680 - 2.45 0.057 3167 567.8 -116.8 - - 3230 - - - - - - - - 14.84 14.16 14.86
11741 989.9 -7.3 623 11756 done -0.68 - - 2680 - 2.42 0.040 1772 -576.4 -116.8 - - 3230 - - - - - - - - 14.32 14.24 14.34
11801 end dive: TARGET_DEPTH_EXCEEDED
11801 begin apogee
11809 995.9 -9.5 625 11943 done -0.21 0.73 0.233 2858 243.8 - - 1658 - - 123.40 2.228 2793 -3.5 0.304 - - - - - - 13.66 13.91 12.78
11944 end apogee: CONTROL_FINISHED_OK
11944 begin climb
11949 1002.0 - 627 12095 roll 0.84 1.12 0.147 3190 296.4 2.55 0.049 3065 551.8 116.8 127.78 2.179 2308 -3.8 0.336 - - - - - - 13.94 13.81 12.76
12130 995.9 6.9 657 12161 done 0.86 - - 3199 - 2.40 0.039 1691 -572.5 135.4 18.88 2.095 2240 -3.6 0.329 - - - - - - 14.20 14.13 12.95
12479 969.6 7.7 671 12493 roll 0.86 - - 3209 - 2.42 0.066 328 -563.2 137.7 - - 2221 - - - - - - - - 14.71 14.38 14.73
12535 964.7 8.7 678 12550 done 0.86 - - 3209 - 2.28 0.031 1696 600.0 137.7 - - 2221 - - - - - - - - 14.57 14.52 14.59
12878 934.7 8.8 685 12891 roll 0.86 - - 3210 - 2.33 0.050 3051 581.5 137.7 - - 2221 - - - - - - - - 14.81 14.42 14.83
13003 922.9 9.4 702 13017 done 0.86 - - 3218 - 2.35 0.041 1676 -585.1 137.7 - - 2220 - - - - - - - - 14.54 14.47 14.59
13339 889.6 10.1 714 13353 roll 0.86 - - 3229 - 2.42 0.067 323 -559.1 137.7 - - 2220 - - - - - - - - 14.82 14.35 14.83
13394 883.4 11.4 721 13409 done 0.76 0.22 0.243 3179 -227.3 2.28 0.031 1701 604.4 137.7 - - 2220 - - - - - - - - 14.01 14.50 14.33
13739 853.6 8.5 728 13753 roll 0.76 - - 3178 - 2.30 0.049 3036 580.4 137.7 - - 2220 - - - - - - - - 14.83 14.38 14.86
13836 845.7 8.4 741 13849 done 0.76 - - 3185 - 2.33 0.042 1680 -582.0 137.7 - - 2218 - - - - - - - - 14.51 14.45 14.54
14199 817.2 7.7 750 14213 roll 0.76 - - 3196 - 2.42 0.067 314 -564.5 140.1 - - 2218 - - - - - - - - 14.86 14.29 14.88
14248 813.4 8.1 756 14261 done 0.76 - - 3195 - 2.25 0.031 1678 606.2 140.1 - - 2218 - - - - - - - - 14.54 14.48 14.56
14605 786.5 7.5 764 14622 roll 0.77 - - 3196 - 2.35 0.047 3053 585.1 146.8 3.25 1.107 2193 -7.7 1.051 - - - - - - 14.83 14.45 13.24
14716 778.0 7.7 779 14731 done 0.77 - - 3204 - 2.38 0.044 1673 -579.8 148.9 2.65 0.780 2185 -3.0 0.579 - - - - - - 14.54 14.45 13.12
15056 750.8 8.1 786 15070 roll 0.77 - - 3215 - 2.40 0.066 324 -562.1 148.9 - - 2190 - - - - - - - - 14.81 14.30 14.83
15111 746.0 9.1 793 15125 done 0.77 0.15 0.249 3184 -206.7 2.25 0.031 1691 607.6 148.9 - - 2190 - - - - - - - - 14.01 14.47 14.27
15457 721.0 7.1 800 15498 roll 0.79 - - 3184 - 2.38 0.049 3038 566.0 162.5 26.02 1.792 2125 -2.5 0.193 - - - - - - 14.86 14.42 13.40
15547 714.2 7.6 813 15564 done 0.80 - - 3190 - 2.33 0.043 1678 -583.7 167.2 1.80 0.171 2105 -11.1 8.921 - - - - - - 14.51 14.43 14.24
15908 688.0 7.2 822 15938 roll 0.81 - - 3201 - 2.45 0.067 327 -551.4 178.7 17.48 1.854 2060 -2.6 0.184 - - - - - - 14.76 14.42 13.37
15986 681.7 8.6 833 15999 done 0.81 - - 3201 - 2.22 0.031 1672 605.9 178.7 - - 2052 - - - - - - - - 14.53 14.47 14.55
16309 656.2 8.0 843 16322 roll 0.81 - - 3201 - 2.38 0.048 3052 579.8 178.7 - - 2052 - - - - - - - - 14.77 14.36 14.80
16399 648.5 8.4 855 16412 done 0.81 - - 3209 - 2.35 0.041 1682 -583.0 178.7 - - 2051 - - - - - - - - 14.49 14.40 14.52
16769 616.5 8.8 865 16782 roll 0.81 - - 3220 - 2.42 0.067 323 -561.6 178.7 - - 2051 - - - - - - - - 14.82 14.29 14.84
16804 613.3 9.2 869 16817 done 0.81 - - 3220 - 2.25 0.032 1679 602.7 178.7 - - 2051 - - - - - - - - 14.53 14.47 14.57
17176 577.0 9.8 879 17189 roll 0.81 - - 3220 - 2.38 0.050 3053 577.3 178.7 - - 2051 - - - - - - - - 14.81 14.35 14.83
17267 568.0 9.9 891 17280 done 0.81 0.15 0.262 3197 -153.3 2.38 0.044 1675 -579.0 178.7 - - 2051 - - - - - - - - 13.96 14.38 14.28
17637 536.7 8.3 901 17651 roll 0.81 - - 3206 - 2.42 0.067 323 -558.7 178.7 - - 2051 - - - - - - - - 14.81 14.26 14.83
17692 531.9 9.1 908 17706 done 0.81 - - 3206 - 2.28 0.031 1675 593.0 178.7 - - 2051 - - - - - - - - 14.51 14.47 14.54
18038 503.3 8.3 915 18051 roll 0.81 - - 3205 - 2.40 0.049 3059 576.7 178.7 - - 2051 - - - - - - - - 14.83 14.31 14.85
18120 495.9 8.6 926 18133 done 0.81 - - 3214 - 2.38 0.044 1680 -579.4 178.7 - - 2051 - - - - - - - - 14.45 14.35 14.49
18442 467.4 9.0 936 18455 done 0.81 - - 3214 - - - 1680 - 178.7 - - 2051 - - - - - - - - 14.81 14.84 14.83
18779 437.3 8.9 942 18792 done 0.81 - - 3214 - - - 1680 - 178.7 - - 2051 - - - - - - - - 14.80 14.82 14.82
19114 408.9 8.3 948 19127 done 0.81 - - 3214 - - - 1677 - 178.7 - - 2051 - - - - - - - - 14.82 14.84 14.84
19450 382.1 7.9 954 19463 roll 0.81 - - 3225 - 2.42 0.067 323 -559.5 178.7 - - 2051 - - - - - - - - 14.82 14.22 14.84
19485 379.3 8.0 958 19499 done 0.81 0.15 0.236 3194 -206.7 2.25 0.030 1700 612.0 178.7 - - 2051 - - - - - - - - 13.97 14.45 14.26
19856 354.0 6.7 968 19893 roll 0.84 - - 3194 - 2.30 0.050 3045 584.8 199.7 23.23 1.453 1968 -3.6 0.167 - - - - - - 14.84 14.46 13.52
19943 347.8 7.6 980 19956 done 0.84 - - 3200 - 2.33 0.043 1682 -585.0 204.7 - - 1961 - - - - - - - - 14.53 14.45 14.56
20313 318.6 8.1 990 20326 roll 0.84 - - 3208 - 2.42 0.067 320 -562.8 204.7 - - 1960 - - - - - - - - 14.81 14.28 14.82
20354 315.0 8.8 995 20367 done 0.84 - - 3209 - 2.22 0.030 1673 609.5 204.7 - - 1961 - - - - - - - - 14.52 14.47 14.54
20718 284.1 8.5 1004 20732 roll 0.84 - - 3209 - 2.35 0.046 3047 584.7 204.7 - - 1959 - - - - - - - - 14.78 14.35 14.81
20781 278.5 8.7 1012 20794 done 0.84 - - 3218 - 2.35 0.040 1668 -586.8 204.7 - - 1960 - - - - - - - - 14.47 14.38 14.50
21125 248.8 8.7 1025 21138 roll 0.84 - - 3228 - 2.38 0.064 325 -564.3 204.7 - - 1959 - - - - - - - - 14.83 14.26 14.85
21179 243.3 9.9 1032 21193 done 0.84 - - 3228 - 2.25 0.030 1682 603.1 204.7 - - 1960 - - - - - - - - 14.52 14.47 14.54
21523 209.8 9.9 1039 21537 roll 0.84 - - 3228 - 2.35 0.045 3054 583.8 204.7 - - 1959 - - - - - - - - 14.81 14.34 14.83
21587 203.4 10.1 1047 21601 done 0.84 0.15 0.246 3206 -146.7 2.35 0.041 1678 -585.5 204.7 - - 1959 - - - - - - - - 13.97 14.35 14.23
21930 175.4 7.9 1060 21943 roll 0.84 - - 3214 - 2.40 0.063 328 -562.5 204.7 - - 1960 - - - - - - - - 14.83 14.23 14.87
21964 172.7 8.1 1064 21977 done 0.84 - - 3214 - 2.22 0.029 1680 609.0 204.7 - - 1958 - - - - - - - - 14.52 14.47 14.54
22335 142.2 8.2 1074 22349 roll 0.84 - - 3214 - 2.33 0.044 3046 586.3 204.7 - - 1960 - - - - - - - - 14.81 14.33 14.83
22390 137.2 8.9 1081 22404 done 0.84 - - 3222 - 2.35 0.038 1677 -582.6 204.7 - - 1960 - - - - - - - - 14.45 14.36 14.47
22734 107.0 8.8 1088 22747 roll 0.84 - - 3232 - 2.40 0.063 327 -562.5 204.7 - - 1959 - - - - - - - - 14.86 14.23 14.88
22771 103.8 8.8 1092 22784 done 0.84 0.12 0.230 3206 -216.7 2.22 0.029 1696 616.7 204.7 - - 1960 - - - - - - - - 14.04 14.47 14.26
23117 78.7 6.9 1106 23145 roll 0.86 - - 3205 - 2.33 0.046 3034 574.2 222.9 16.67 0.304 1884 -4.6 0.227 - - - - - - 14.78 14.42 14.00
23278 68.4 5.2 1129 23344 done 1.04 0.17 0.105 3279 435.3 2.33 0.041 1682 -580.3 271.6 48.95 0.304 1691 -3.9 0.171 - - - - - - 14.35 14.38 14.11
23650 46.9 4.0 1149 23729 roll 1.13 - - 3282 - 2.40 0.066 322 -566.7 343.7 64.97 0.249 1392 -4.6 0.167 - - - - - - 14.78 14.42 14.13
23826 38.5 5.7 1174 23879 done 1.36 0.28 0.082 3382 357.1 2.20 0.029 1665 610.5 383.5 35.97 0.223 1233 -4.4 0.147 - - - - - - 14.34 14.49 14.11
24184 3.5 10.2 1192 24201 roll 1.36 - - 3383 - 2.42 0.044 3054 574.0 383.5 2.58 0.143 1229 -1.6 0.007 - - - - - - 14.77 14.21 14.13
24203 end climb: SURFACE_DEPTH_REACHED
24203 begin surface coast
24212 end surface coast: CONTROL_FINISHED_OK
24212 begin surface
SM 1.10 - - - - -8.61 9.62 0.064 156 16.2 2.22 0.039 1774 -3008.1 515.13 80.03 0.123 692 8.6 -0.008 - - - - - -