SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 500 * Raw log
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• Previous call tries 3 • 188.97 of 350.00 AH used of 24V (46.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 18 s • Transponder ping count: 0
• 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
32 - - - 117 VBD -0.84 - - 154 - - - 1769 - -116.8 -82.57 - 3155 - - - - - - - - 14.67 - 14.70
121 4.6 -6.1 3 145 roll -0.84 12.38 0.377 2660 202.4 2.70 2.013 374 -516.7 -116.8 -1.73 - 3272 -67.6 - - - - - - - 13.95 13.07 14.39
158 22.4 -41.4 9 166 done 0.17 1.33 0.275 2976 237.6 2.25 0.034 1736 605.3 -116.8 - - 3273 - - - - - - - - 14.14 14.52 14.42
483 44.3 -5.4 22 489 roll -0.17 0.28 0.073 2849 -453.6 2.42 0.049 3168 591.7 -116.8 - - 3274 - - - - - - - - 14.49 14.42 14.52
611 54.8 -6.6 40 617 done -0.34 - - 2849 - 2.33 0.035 1759 -604.7 -116.8 - - 3274 - - - - - - - - 14.57 14.50 14.59
934 74.7 -6.8 53 941 roll -0.50 0.22 0.086 2741 -490.9 2.40 0.045 3178 591.2 -116.8 - - 3274 - - - - - - - - 14.50 14.46 14.56
947 75.7 -6.5 55 954 done -0.63 - - 2739 - 2.33 0.036 1775 -602.1 -116.8 - - 3274 - - - - - - - - 14.52 14.45 14.54
1272 106.7 -10.1 67 1278 roll -0.63 - - 2741 - 2.40 0.057 374 -583.8 -116.8 - - 3274 - - - - - - - - 14.83 14.43 14.85
1508 129.1 -9.4 101 1516 done -0.63 - - 2732 - 2.33 0.031 1795 609.9 -116.8 - - 3278 - - - - - - - - 14.60 14.54 14.62
1831 158.2 -8.9 112 1838 roll -0.63 - - 2721 - 2.30 0.050 3159 593.0 -116.8 - - 3273 - - - - - - - - 14.83 14.45 14.85
1894 163.7 -8.7 121 1902 done -0.63 - - 2722 - 2.33 0.036 1768 -597.0 -116.8 - - 3272 - - - - - - - - 14.58 14.51 14.61
2224 192.8 -8.8 133 2231 roll -0.63 - - 2721 - 2.42 0.057 366 -579.3 -116.8 - - 3270 - - - - - - - - 14.81 14.42 14.85
2288 198.9 -9.6 142 2294 done -0.63 - - 2713 - 2.33 0.031 1771 603.0 -116.8 - - 3270 - - - - - - - - 14.52 14.47 14.55
2616 231.9 -10.2 154 2623 roll -0.63 - - 2702 - 2.38 0.050 3171 588.2 -116.8 - - 3267 - - - - - - - - 14.85 14.42 14.87
2678 238.3 -10.4 163 2685 done -0.63 - - 2702 - 2.35 0.037 1771 -595.7 -116.8 - - 3266 - - - - - - - - 14.54 14.47 14.57
3010 272.5 -10.3 175 3023 roll -0.63 - - 2702 - 2.42 0.059 373 -577.7 -116.8 - - 3263 - - - - - - - - 14.89 14.45 14.91
3092 281.6 -10.7 186 3106 done -0.63 0.15 0.260 2724 146.7 2.33 0.032 1777 602.6 -116.8 - - 3263 - - - - - - - - 14.16 14.60 14.42
3414 310.3 -8.8 196 3427 roll -0.63 - - 2716 - 2.35 0.052 3161 588.9 -116.8 - - 3261 - - - - - - - - 14.91 14.42 14.92
3526 320.1 -8.7 211 3540 done -0.63 - - 2718 - 2.35 0.037 1765 -594.0 -116.8 - - 3260 - - - - - - - - 14.61 14.53 14.64
3868 351.4 -9.1 218 3882 roll -0.63 - - 2714 - 2.42 0.060 376 -574.0 -116.8 - - 3257 - - - - - - - - 14.91 14.44 14.93
3973 361.5 -9.6 232 3986 done -0.63 - - 2707 - 2.33 0.032 1781 603.0 -116.8 - - 3256 - - - - - - - - 14.66 14.60 14.69
4329 392.6 -8.6 240 4343 roll -0.63 - - 2696 - 2.35 0.054 3160 586.8 -116.8 - - 3253 - - - - - - - - 14.93 14.46 14.95
4384 397.2 -8.4 247 4398 done -0.63 0.12 0.250 2721 208.3 2.33 0.036 1770 -596.6 -116.8 - - 3254 - - - - - - - - 14.16 14.52 14.40
4730 424.2 -7.9 254 4743 roll -0.63 - - 2722 - 2.42 0.060 383 -573.1 -116.8 - - 3254 - - - - - - - - 14.90 14.41 14.91
4821 432.2 -8.8 266 4834 done -0.63 - - 2715 - 2.30 0.031 1775 605.2 -116.8 - - 3252 - - - - - - - - 14.62 14.56 14.64
5193 464.7 -8.8 276 5206 roll -0.63 - - 2704 - 2.40 0.052 3168 580.4 -116.8 - - 3249 - - - - - - - - 14.88 14.43 14.90
5290 473.7 -8.9 289 5303 done -0.63 - - 2704 - 2.33 0.036 1778 -596.6 -116.8 - - 3249 - - - - - - - - 14.57 14.48 14.60
5654 506.7 -9.1 298 5667 roll -0.63 - - 2704 - 2.45 0.060 379 -571.0 -116.8 - - 3247 - - - - - - - - 14.90 14.34 14.92
5730 513.9 -9.4 308 5744 done -0.63 0.15 0.265 2725 140.0 2.33 0.032 1776 599.6 -116.8 - - 3247 - - - - - - - - 14.06 14.55 14.33
6059 539.0 -7.5 319 6072 roll -0.63 - - 2717 - 2.38 0.052 3157 580.3 -116.8 - - 3246 - - - - - - - - 14.88 14.42 14.90
6143 545.3 -7.5 330 6156 done -0.63 - - 2717 - 2.33 0.035 1775 -593.1 -116.8 - - 3245 - - - - - - - - 14.56 14.47 14.59
6465 571.3 -8.2 340 6478 roll -0.63 - - 2718 - 2.47 0.060 375 -566.8 -116.8 - - 3244 - - - - - - - - 14.91 14.30 14.94
6561 580.3 -9.3 353 6575 done -0.63 - - 2709 - 2.35 0.032 1778 597.0 -116.8 - - 3244 - - - - - - - - 14.57 14.51 14.59
6926 614.3 -9.5 362 6939 roll -0.63 - - 2698 - 2.40 0.053 3163 577.1 -116.8 - - 3242 - - - - - - - - 14.90 14.36 14.92
7009 622.6 -9.7 373 7022 done -0.63 - - 2698 - 2.35 0.037 1774 -591.1 -116.8 - - 3242 - - - - - - - - 14.52 14.43 14.54
7332 654.3 -9.9 383 7345 roll -0.63 - - 2698 - 2.47 0.061 373 -567.2 -116.8 - - 3240 - - - - - - - - 14.90 14.35 14.89
7421 664.2 -10.8 395 7435 done -0.63 0.15 0.267 2720 146.7 2.38 0.034 1773 588.2 -116.8 - - 3240 - - - - - - - - 13.96 14.48 14.23
7792 699.4 -9.4 405 7805 roll -0.63 - - 2711 - 2.40 0.053 3162 578.8 -116.8 - - 3239 - - - - - - - - 14.88 14.33 14.90
7897 709.2 -9.4 419 7910 done -0.63 - - 2710 - 2.35 0.037 1771 -591.9 -116.8 - - 3238 - - - - - - - - 14.52 14.43 14.54
8253 742.6 -9.3 427 8266 roll -0.63 - - 2711 - 2.47 0.061 376 -564.8 -116.8 - - 3238 - - - - - - - - 14.92 14.27 14.92
8358 752.5 -9.4 441 8371 done -0.63 - - 2702 - 2.38 0.034 1783 591.2 -116.8 - - 3236 - - - - - - - - 14.50 14.45 14.53
8715 783.6 -8.6 449 8728 roll -0.63 - - 2691 - 2.40 0.054 3162 574.6 -116.8 - - 3235 - - - - - - - - 14.90 14.28 14.92
8833 793.6 -8.4 465 8847 done -0.63 0.15 0.247 2723 213.3 2.35 0.037 1773 -591.1 -116.8 - - 3235 - - - - - - - - 13.88 14.40 14.12
9178 818.8 -7.2 478 9191 roll -0.63 - - 2722 - 2.47 0.062 380 -564.0 -116.8 - - 3234 - - - - - - - - 14.85 14.26 14.87
9267 826.0 -7.9 490 9281 done -0.63 - - 2716 - 2.38 0.034 1779 587.8 -116.8 - - 3234 - - - - - - - - 14.48 14.42 14.50
9639 853.2 -7.2 500 9652 roll -0.63 - - 2706 - 2.42 0.055 3162 571.5 -116.8 - - 3233 - - - - - - - - 14.83 14.25 14.86
9743 861.2 -7.4 514 9756 done -0.63 - - 2706 - 2.38 0.037 1769 -585.3 -116.8 - - 3233 - - - - - - - - 14.43 14.35 14.46
10101 888.1 -7.6 522 10114 roll -0.63 - - 2706 - 2.50 0.062 377 -556.8 -116.8 - - 3232 - - - - - - - - 14.84 14.20 14.85
10184 894.9 -8.0 533 10198 done -0.63 0.12 0.270 2720 116.7 2.40 0.036 1777 583.3 -116.8 - - 3232 - - - - - - - - 13.82 14.39 14.06
10506 916.6 -6.7 543 10520 roll -0.63 - - 2712 - 2.42 0.056 3162 572.3 -116.8 - - 3231 - - - - - - - - 14.87 14.21 14.88
10627 924.6 -6.7 559 10640 done -0.63 - - 2712 - 2.38 0.037 1774 -583.2 -116.8 - - 3230 - - - - - - - - 14.42 14.33 14.43
10969 948.6 -7.0 572 10983 roll -0.63 - - 2712 - 2.50 0.063 379 -558.0 -116.8 - - 3230 - - - - - - - - 14.83 14.19 14.83
11074 956.8 -7.9 586 11088 done -0.63 - - 2702 - 2.40 0.034 1785 585.8 -116.8 - - 3230 - - - - - - - - 14.45 14.35 14.44
11432 984.6 -7.8 594 11445 roll -0.63 - - 2692 - 2.40 0.056 3159 572.5 -116.8 - - 3228 - - - - - - - - 14.82 14.20 14.84
11497 end dive: TARGET_DEPTH_EXCEEDED
11497 begin apogee
11509 990.9 -10.1 603 11641 done -0.21 0.65 0.225 2853 247.7 - - 1685 - - 121.65 2.231 2793 -3.6 0.304 - - - - - - 13.68 13.94 12.83
11642 end apogee: CONTROL_FINISHED_OK
11643 begin climb
11646 995.1 - 605 11794 roll 0.84 1.15 0.145 3199 300.9 2.60 0.063 313 -527.7 116.8 125.60 2.166 2308 -3.9 0.339 - - - - - - 13.97 13.86 12.82
11822 986.6 10.1 634 11835 done 0.84 - - 3202 - 2.35 0.030 1703 591.5 116.8 - - 2302 - - - - - - - - 14.25 14.21 14.27
12185 955.9 8.5 643 12198 roll 0.84 - - 3202 - 2.33 0.047 3059 582.0 116.8 - - 2297 - - - - - - - - 14.76 14.45 14.78
12255 949.9 8.8 652 12268 done 0.84 - - 3210 - 2.35 0.039 1674 -589.4 116.8 - - 2297 - - - - - - - - 14.54 14.47 14.57
12590 921.1 8.5 664 12603 roll 0.84 - - 3221 - 2.40 0.064 322 -563.3 116.8 - - 2297 - - - - - - - - 14.83 14.38 14.85
12624 918.1 9.5 668 12637 done 0.84 - - 3221 - 2.25 0.030 1693 609.3 116.8 - - 2297 - - - - - - - - 14.59 14.54 14.62
12996 886.0 8.7 678 13009 roll 0.75 0.20 0.259 3173 -240.0 2.33 0.046 3050 582.4 116.8 - - 2295 - - - - - - - - 14.00 14.30 14.18
13099 877.6 7.6 692 13113 done 0.75 - - 3180 - 2.35 0.041 1673 -586.0 122.2 - - 2294 - - - - - - - - 14.54 14.46 14.57
13457 850.8 7.6 700 13470 done 0.76 - - 3180 - - - 1673 - 126.7 3.00 0.995 2274 -6.7 1.091 - - - - - - 14.83 14.42 13.24
13792 825.4 7.4 706 13811 done 0.77 - - 3180 - - - 1674 - 134.6 9.27 1.917 2245 -3.1 0.258 - - - - - - 14.83 14.42 13.31
14129 799.9 7.6 712 14146 roll 0.78 - - 3180 - 2.35 0.045 3056 588.1 140.3 5.15 1.603 2219 -5.0 0.482 - - - - - - 14.80 14.16 13.24
14167 796.9 7.6 717 14185 done 0.78 - - 3189 - 2.33 0.041 1677 -591.8 144.5 4.90 1.569 2203 -3.3 0.317 - - - - - - 14.64 14.55 13.16
14528 768.8 7.8 726 14546 roll 0.78 - - 3199 - 2.42 0.064 328 -557.4 146.1 3.33 1.118 2197 -1.8 0.237 - - - - - - 14.83 14.42 13.19
14575 765.1 7.1 732 14613 done 0.80 - - 3199 - 2.22 0.031 1688 612.6 159.7 26.17 1.886 2141 -2.1 0.166 - - - - - - 14.62 14.57 13.37
14921 735.1 8.7 746 14934 roll 0.80 - - 3199 - 2.35 0.047 3048 578.7 159.7 - - 2124 - - - - - - - - 14.74 14.37 14.77
14985 729.5 9.2 754 14998 done 0.80 - - 3208 - 2.33 0.039 1681 -586.7 159.7 - - 2124 - - - - - - - - 14.52 14.42 14.55
15327 697.4 9.4 767 15341 roll 0.80 - - 3218 - 2.40 0.064 326 -564.6 159.7 - - 2124 - - - - - - - - 14.79 14.34 14.83
15382 691.8 10.3 774 15397 done 0.80 0.15 0.249 3187 -206.7 2.25 0.030 1695 608.4 159.7 - - 2124 - - - - - - - - 14.02 14.49 14.33
15727 662.1 8.6 781 15741 roll 0.80 - - 3187 - 2.33 0.048 3040 577.3 159.7 - - 2124 - - - - - - - - 14.83 14.37 14.85
15790 656.5 8.8 789 15803 done 0.80 - - 3194 - 2.35 0.040 1674 -581.3 159.7 - - 2123 - - - - - - - - 14.40 14.32 14.45
16133 627.6 8.4 802 16147 roll 0.80 - - 3204 - 2.42 0.065 316 -561.2 159.7 - - 2123 - - - - - - - - 14.81 14.30 14.83
16202 621.5 8.8 811 16215 done 0.80 - - 3204 - 2.22 0.030 1665 607.7 159.7 - - 2122 - - - - - - - - 14.53 14.47 14.56
16537 593.7 8.2 823 16551 roll 0.80 - - 3204 - 2.40 0.047 3053 578.3 159.7 - - 2123 - - - - - - - - 14.85 14.33 14.88
16607 587.8 8.4 832 16621 done 0.80 - - 3212 - 2.38 0.042 1672 -580.3 159.7 - - 2122 - - - - - - - - 14.46 14.37 14.50
16944 560.0 8.3 844 16957 roll 0.80 - - 3223 - 2.42 0.064 316 -560.3 159.7 - - 2122 - - - - - - - - 14.81 14.27 14.83
16993 555.7 9.2 850 17006 done 0.80 0.15 0.246 3192 -206.7 2.25 0.030 1695 612.9 159.7 - - 2123 - - - - - - - - 13.97 14.45 14.27
17350 528.4 7.7 858 17363 roll 0.80 - - 3192 - 2.33 0.048 3036 575.5 162.5 - - 2123 - - - - - - - - 14.85 14.21 14.88
17397 524.2 8.5 864 17410 done 0.80 - - 3198 - 2.33 0.041 1678 -582.8 162.5 - - 2123 - - - - - - - - 14.47 14.36 14.48
17755 492.4 9.1 872 17768 roll 0.80 - - 3209 - 2.42 0.065 324 -559.5 162.5 - - 2123 - - - - - - - - 14.81 14.23 14.83
17817 486.3 9.7 880 17831 done 0.80 - - 3209 - 2.22 0.030 1670 606.3 162.5 - - 2123 - - - - - - - - 14.49 14.43 14.51
18160 457.0 8.3 893 18173 roll 0.80 - - 3209 - 2.38 0.047 3046 578.2 162.5 - - 2123 - - - - - - - - 14.85 14.26 14.88
18237 450.8 8.0 903 18250 done 0.80 - - 3218 - 2.35 0.041 1680 -581.3 162.5 - - 2122 - - - - - - - - 14.41 14.32 14.44
18565 424.8 7.9 914 18578 roll 0.80 - - 3228 - 2.42 0.063 322 -561.2 162.5 - - 2123 - - - - - - - - 14.81 14.22 14.83
18635 418.8 8.9 923 18649 done 0.80 0.17 0.235 3190 -223.5 2.25 0.029 1697 611.1 162.5 - - 2122 - - - - - - - - 13.89 14.43 14.15
18971 394.8 7.1 935 19001 roll 0.82 - - 3191 - 2.28 0.047 3035 586.8 177.3 17.38 1.514 2061 -3.5 0.175 - - - - - - 14.84 14.14 13.43
19072 387.2 7.6 949 19085 done 0.83 - - 3196 - 2.33 0.040 1675 -583.7 182.2 - - 2054 - - - - - - - - 14.54 14.46 14.57
19429 360.2 7.6 957 19446 roll 0.83 - - 3207 - 2.40 0.065 322 -563.8 187.0 3.85 1.019 2029 -6.5 0.439 - - - - - - 14.82 14.41 13.31
19495 354.8 8.3 966 19508 done 0.83 - - 3207 - 2.20 0.030 1665 610.5 187.0 - - 2032 - - - - - - - - 14.57 14.52 14.59
19831 328.2 7.9 978 19845 roll 0.83 - - 3207 - 2.38 0.045 3050 581.9 187.0 - - 2032 - - - - - - - - 14.79 14.37 14.81
19894 323.2 8.0 986 19907 done 0.83 - - 3215 - 2.35 0.041 1676 -584.7 187.0 - - 2032 - - - - - - - - 14.48 14.39 14.51
20238 296.3 7.9 999 20251 roll 0.83 - - 3226 - 2.40 0.064 326 -562.5 187.0 - - 2032 - - - - - - - - 14.83 14.26 14.85
20271 293.2 8.5 1003 20285 done 0.83 - - 3226 - 2.22 0.029 1670 605.4 187.0 - - 2032 - - - - - - - - 14.54 14.49 14.56
20642 259.4 9.3 1013 20655 roll 0.83 - - 3226 - 2.40 0.047 3067 582.1 187.0 - - 2032 - - - - - - - - 14.81 14.33 14.84
20712 252.5 10.0 1022 20725 done 0.83 0.15 0.257 3205 -140.0 2.38 0.039 1676 -584.5 187.0 - - 2032 - - - - - - - - 13.95 14.38 14.22
21048 222.6 8.8 1034 21061 roll 0.83 - - 3212 - 2.40 0.063 323 -563.8 187.0 - - 2032 - - - - - - - - 14.85 14.23 14.87
21089 218.8 9.0 1039 21103 done 0.83 - - 3212 - 2.25 0.029 1695 609.8 187.0 - - 2032 - - - - - - - - 14.43 14.38 14.45
21453 187.8 8.2 1048 21466 roll 0.83 - - 3212 - 2.33 0.047 3053 582.8 187.0 - - 2032 - - - - - - - - 14.82 14.32 14.83
21528 181.3 8.5 1058 21542 done 0.83 - - 3222 - 2.35 0.038 1680 -584.3 187.0 - - 2032 - - - - - - - - 14.44 14.34 14.47
21858 155.2 7.9 1069 21871 done 0.83 - - 3221 - - - 1680 - 187.0 - - 2031 - - - - - - - - 14.83 14.85 14.85
22194 129.2 7.8 1075 22207 roll 0.83 - - 3221 - 2.35 0.044 3045 580.9 188.0 - - 2032 - - - - - - - - 14.85 14.31 14.87
22257 123.3 9.3 1083 22271 done 0.83 0.15 0.245 3199 -146.7 2.33 0.038 1679 -586.3 188.0 - - 2032 - - - - - - - - 13.94 14.35 14.19
22602 99.3 6.7 1096 22637 roll 0.86 - - 3207 - 2.45 0.062 317 -555.9 210.2 24.02 0.368 1940 -3.8 0.198 - - - - - - 14.81 14.50 14.04
22672 94.1 7.7 1106 22691 done 0.87 - - 3207 - 2.22 0.028 1683 615.3 213.9 7.72 0.286 1921 -2.5 0.155 - - - - - - 14.57 14.52 13.93
22996 70.3 7.6 1119 23018 roll 0.87 - - 3207 - 2.33 0.042 3049 586.3 219.2 8.52 0.253 1903 -2.1 0.112 - - - - - - 14.77 14.28 13.93
23105 62.7 6.7 1134 23145 done 1.01 0.12 0.126 3264 475.0 2.35 0.039 1679 -583.0 241.6 25.12 0.280 1809 -3.7 0.160 - - - - - - 14.31 14.30 14.09
23475 41.2 5.1 1154 23535 roll 1.17 0.12 0.125 3332 566.7 2.45 0.062 320 -554.7 292.6 47.42 0.232 1601 -4.4 0.149 - - - - - - 14.46 14.45 14.15
23738 27.9 6.4 1191 23775 done 1.20 - - 3332 - 2.22 0.027 1699 621.2 319.0 24.75 0.192 1490 -4.5 0.125 - - - - - - 14.53 14.48 14.11
24095 6.6 5.6 1208 24137 roll 1.25 - - 3337 - 2.33 0.041 3041 576.0 360.3 29.67 0.132 1321 -5.7 0.054 - - - - - - 14.76 14.42 14.21
24146 end climb: SURFACE_DEPTH_REACHED
24147 begin surface coast
24154 end surface coast: CONTROL_FINISHED_OK
24157 begin surface
SM 1.00 - - - - -8.61 9.45 0.064 159 16.8 2.17 0.036 1776 -3091.2 515.38 92.90 0.123 693 7.5 -0.006 - - - - - -