SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 502 * Raw log
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• Previous call tries 2 • 189.75 of 350.00 AH used of 24V (45.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.6 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: 46 s
• GPS2 time: 16 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
25 - - - 111 VBD -0.84 - - 151 - - - 1747 - -116.8 -83.40 - 3214 - - - - - - - - 14.68 - 14.71
116 5.0 -6.8 3 139 roll -0.84 12.55 0.382 2659 199.8 2.65 2.015 373 -518.5 -116.8 -0.82 - 3273 -72.0 - - - - - - - 13.95 13.07 14.38
187 33.6 -25.5 14 195 done -0.44 0.55 0.277 2779 218.2 2.35 0.034 1777 597.4 -116.8 - - 3274 - - - - - - - - 14.04 14.44 14.35
503 70.6 -8.1 26 509 roll -0.44 - - 2779 - 2.45 0.055 364 -576.7 -116.8 - - 3273 - - - - - - - - 14.78 14.40 14.80
594 77.8 -7.7 39 601 done -0.44 - - 2772 - 2.38 0.031 1794 600.8 -116.8 - - 3275 - - - - - - - - 14.58 14.52 14.59
951 105.1 -8.1 53 958 roll -0.44 - - 2762 - 2.33 0.051 3169 590.1 -116.8 - - 3275 - - - - - - - - 14.81 14.45 14.83
1121 119.6 -9.1 77 1128 done -0.44 - - 2762 - 2.33 0.037 1772 -599.6 -116.8 - - 3275 - - - - - - - - 14.57 14.50 14.60
1457 148.2 -8.2 90 1463 roll -0.44 - - 2762 - 2.40 0.058 376 -581.7 -116.8 - - 3274 - - - - - - - - 14.82 14.38 14.84
1571 157.0 -7.8 106 1577 done -0.44 0.15 0.239 2786 160.0 2.33 0.031 1778 601.7 -116.8 - - 3273 - - - - - - - - 14.15 14.53 14.39
1907 179.2 -6.7 119 1914 roll -0.56 0.10 0.150 2727 -590.0 2.35 0.049 3164 589.8 -116.8 - - 3270 - - - - - - - - 14.52 14.36 14.57
2004 187.5 -8.6 133 2011 done -0.56 - - 2728 - 2.33 0.037 1773 -597.0 -116.8 - - 3270 - - - - - - - - 14.57 14.50 14.59
2356 217.5 -8.3 141 2363 roll -0.56 - - 2728 - 2.42 0.059 379 -576.0 -116.8 - - 3269 - - - - - - - - 14.82 14.38 14.83
2412 222.6 -9.0 149 2420 done -0.56 0.12 0.262 2743 125.0 2.33 0.032 1779 600.9 -116.8 - - 3267 - - - - - - - - 14.11 14.51 14.38
2753 250.6 -8.5 162 2766 roll -0.56 - - 2734 - 2.38 0.053 3168 583.6 -116.8 - - 3264 - - - - - - - - 14.82 14.45 14.85
2816 256.3 -8.6 170 2829 done -0.56 - - 2734 - 2.33 0.037 1775 -597.9 -116.8 - - 3263 - - - - - - - - 14.59 14.52 14.62
3158 285.3 -8.3 183 3171 roll -0.56 - - 2734 - 2.45 0.060 369 -573.9 -116.8 - - 3261 - - - - - - - - 14.92 14.43 14.94
3242 292.6 -8.9 194 3255 done -0.56 - - 2726 - 2.35 0.033 1783 601.7 -116.8 - - 3260 - - - - - - - - 14.63 14.56 14.65
3563 320.2 -8.6 204 3577 roll -0.56 - - 2716 - 2.35 0.054 3162 586.8 -116.8 - - 3259 - - - - - - - - 14.90 14.47 14.92
3661 328.9 -8.9 217 3675 done -0.56 0.12 0.243 2741 208.3 2.33 0.037 1768 -598.3 -116.8 - - 3258 - - - - - - - - 14.17 14.52 14.40
4025 359.2 -8.4 226 4038 roll -0.56 - - 2742 - 2.42 0.060 383 -572.3 -116.8 - - 3256 - - - - - - - - 14.89 14.42 14.92
4136 369.0 -8.8 241 4151 done -0.56 - - 2735 - 2.33 0.031 1778 598.7 -116.8 - - 3255 - - - - - - - - 14.62 14.56 14.64
4481 397.8 -8.4 248 4494 roll -0.56 - - 2725 - 2.38 0.054 3162 581.5 -116.8 - - 3253 - - - - - - - - 14.89 14.42 14.92
4557 404.4 -8.5 258 4570 done -0.56 - - 2724 - 2.33 0.037 1772 -596.6 -116.8 - - 3252 - - - - - - - - 14.58 14.50 14.61
4886 432.7 -8.7 269 4900 roll -0.56 - - 2724 - 2.45 0.061 376 -569.8 -116.8 - - 3251 - - - - - - - - 14.90 14.38 14.93
4955 439.2 -9.1 278 4968 done -0.56 0.12 0.265 2740 133.3 2.33 0.033 1774 600.0 -116.8 - - 3251 - - - - - - - - 14.09 14.54 14.35
5291 465.0 -7.7 290 5304 roll -0.56 - - 2732 - 2.38 0.054 3162 583.2 -116.8 - - 3249 - - - - - - - - 14.89 14.43 14.91
5376 471.5 -7.7 301 5389 done -0.56 - - 2732 - 2.33 0.036 1775 -595.3 -116.8 - - 3248 - - - - - - - - 14.56 14.48 14.59
5698 496.6 -7.8 311 5711 roll -0.56 - - 2732 - 2.45 0.061 379 -569.8 -116.8 - - 3247 - - - - - - - - 14.92 14.37 14.94
5775 503.1 -8.7 321 5788 done -0.56 - - 2724 - 2.33 0.032 1777 600.0 -116.8 - - 3247 - - - - - - - - 14.57 14.52 14.60
6103 530.1 -8.2 332 6116 roll -0.56 - - 2713 - 2.38 0.053 3161 581.5 -116.8 - - 3245 - - - - - - - - 14.88 14.40 14.90
6214 539.6 -8.5 347 6228 done -0.56 0.15 0.236 2745 213.3 2.35 0.038 1776 -589.4 -116.8 - - 3245 - - - - - - - - 13.97 14.40 14.23
6559 566.3 -7.8 354 6572 roll -0.56 - - 2741 - 2.47 0.062 379 -565.6 -116.8 - - 3245 - - - - - - - - 14.87 14.32 14.89
6649 574.4 -8.9 366 6662 done -0.56 - - 2739 - 2.33 0.033 1772 597.9 -116.8 - - 3243 - - - - - - - - 14.57 14.50 14.57
7020 605.8 -8.5 376 7034 roll -0.56 - - 2729 - 2.40 0.054 3165 580.4 -116.8 - - 3243 - - - - - - - - 14.87 14.35 14.88
7124 614.8 -8.3 390 7137 done -0.56 - - 2729 - 2.35 0.036 1771 -593.2 -116.8 - - 3242 - - - - - - - - 14.51 14.43 14.54
7480 643.8 -8.0 398 7494 roll -0.56 - - 2728 - 2.47 0.061 373 -566.0 -116.8 - - 3241 - - - - - - - - 14.88 14.30 14.90
7578 652.0 -8.3 411 7591 done -0.56 - - 2719 - 2.38 0.034 1789 595.0 -116.8 - - 3240 - - - - - - - - 14.55 14.50 14.57
7942 679.7 -7.6 420 7955 roll -0.56 - - 2709 - 2.38 0.055 3162 576.9 -116.8 - - 3239 - - - - - - - - 14.90 14.31 14.92
8054 687.9 -7.1 435 8068 done -0.56 0.15 0.239 2741 213.3 2.38 0.037 1772 -584.0 -116.8 - - 3238 - - - - - - - - 13.97 14.39 14.22
8397 710.5 -6.5 442 8410 roll -0.56 - - 2741 - 2.47 0.062 381 -563.2 -116.8 - - 3237 - - - - - - - - 14.88 14.26 14.90
8488 717.1 -7.3 454 8501 done -0.56 - - 2735 - 2.35 0.034 1779 594.9 -116.8 - - 3237 - - - - - - - - 14.50 14.45 14.52
8858 743.4 -7.1 464 8872 roll -0.56 - - 2724 - 2.40 0.055 3156 573.8 -116.8 - - 3236 - - - - - - - - 14.88 14.27 14.90
8941 749.5 -7.2 475 8955 done -0.65 - - 2729 - 2.35 0.038 1775 -587.7 -116.8 - - 3236 - - - - - - - - 14.42 14.35 14.47
9264 774.0 -7.7 485 9277 roll -0.65 - - 2724 - 2.50 0.062 373 -560.8 -116.8 - - 3235 - - - - - - - - 14.83 14.25 14.85
9368 782.7 -8.3 499 9381 done -0.65 - - 2715 - 2.38 0.035 1772 587.8 -116.8 - - 3234 - - - - - - - - 14.47 14.40 14.49
9726 811.1 -8.0 507 9739 roll -0.65 - - 2705 - 2.42 0.054 3160 573.6 -116.8 - - 3233 - - - - - - - - 14.83 14.23 14.85
9836 820.4 -8.3 522 9850 done -0.65 - - 2705 - 2.38 0.038 1776 -581.5 -116.8 - - 3234 - - - - - - - - 14.41 14.31 14.44
10180 848.8 -8.1 529 10194 roll -0.65 - - 2705 - 2.50 0.063 379 -558.8 -116.8 - - 3233 - - - - - - - - 14.84 14.19 14.85
10279 857.6 -7.3 542 10292 done -0.65 - - 2696 - 2.38 0.034 1772 585.3 -116.8 - - 3232 - - - - - - - - 14.47 14.40 14.50
10642 890.0 -8.9 551 10655 roll -0.65 - - 2685 - 2.42 0.054 3162 574.4 -116.8 - - 3232 - - - - - - - - 14.85 14.21 14.88
10762 900.6 -9.6 567 10776 done -0.65 0.15 0.250 2715 200.0 2.38 0.038 1770 -584.9 -116.8 - - 3231 - - - - - - - - 13.84 14.33 14.10
11105 929.0 -8.2 580 11118 roll -0.65 - - 2715 - 2.50 0.063 380 -556.0 -116.8 - - 3231 - - - - - - - - 14.83 14.16 14.85
11210 938.3 -8.9 594 11223 done -0.65 - - 2709 - 2.38 0.034 1776 586.6 -116.8 - - 3236 - - - - - - - - 14.42 14.34 14.44
11568 969.3 -8.7 602 11581 roll -0.65 - - 2698 - 2.42 0.056 3162 572.7 -116.8 - - 3230 - - - - - - - - 14.82 14.19 14.84
11672 978.3 -7.2 616 11685 done -0.65 - - 2698 - 2.40 0.039 1775 -577.9 -116.8 - - 3230 - - - - - - - - 14.36 14.27 14.39
11857 end dive: TARGET_DEPTH_EXCEEDED
11857 begin apogee
11867 994.4 -8.1 621 11999 done -0.21 0.62 0.223 2854 251.6 - - 1659 - - 122.60 2.230 2792 -3.6 0.309 - - - - - - 13.69 13.93 12.81
12001 end apogee: CONTROL_FINISHED_OK
12001 begin climb
12005 999.6 - 623 12152 roll 0.84 1.15 0.146 3190 292.2 2.60 0.047 3069 542.3 116.8 126.82 2.166 2304 -3.8 0.344 - - - - - - 13.95 13.85 12.81
12207 988.8 7.4 656 12226 done 0.85 - - 3199 - 2.38 0.039 1694 -577.7 125.5 2.22 0.436 2281 -10.4 4.553 - - - - - - 14.31 14.23 12.69
12542 959.2 9.1 668 12555 roll 0.85 - - 3210 - 2.42 0.064 324 -566.1 125.5 - - 2281 - - - - - - - - 14.76 14.39 14.77
12590 954.4 11.7 674 12603 done 0.85 - - 3210 - 2.28 0.031 1703 604.8 125.5 - - 2281 - - - - - - - - 14.60 14.54 14.62
12946 920.2 9.6 682 12959 roll 0.85 - - 3210 - 2.30 0.047 3051 586.1 125.5 - - 2281 - - - - - - - - 14.83 14.42 14.85
13023 912.6 9.9 692 13036 done 0.85 - - 3219 - 2.33 0.040 1679 -588.8 125.5 - - 2281 - - - - - - - - 14.54 14.46 14.57
13351 881.7 9.3 703 13364 roll 0.85 - - 3229 - 2.40 0.065 325 -564.2 125.5 - - 2281 - - - - - - - - 14.82 14.36 14.84
13386 878.6 9.9 707 13400 done 0.74 0.25 0.243 3173 -224.0 2.22 0.031 1698 618.5 125.5 - - 2281 - - - - - - - - 14.01 14.54 14.32
13757 852.8 6.6 717 13801 roll 0.77 - - 3173 - 2.28 0.048 3026 582.5 149.0 31.40 2.023 2178 -3.3 0.268 - - - - - - 14.86 14.13 13.35
13867 845.4 7.7 732 13881 done 0.78 - - 3178 - 2.33 0.041 1681 -577.3 151.9 - - 2167 - - - - - - - - 14.49 14.41 14.51
14207 819.5 7.4 739 14224 roll 0.79 - - 3189 - 2.40 0.065 316 -568.8 159.7 4.12 1.390 2139 -6.8 0.776 - - - - - - 14.78 14.12 13.19
14251 815.8 8.1 745 14264 done 0.79 - - 3189 - 2.22 0.031 1671 610.4 159.7 - - 2142 - - - - - - - - 14.61 14.55 14.63
14609 786.1 8.5 753 14622 roll 0.79 - - 3189 - 2.35 0.047 3043 583.8 159.7 - - 2141 - - - - - - - - 14.80 14.42 14.83
14705 777.3 8.8 766 14718 done 0.79 - - 3198 - 2.35 0.043 1679 -580.4 159.7 - - 2142 - - - - - - - - 14.53 14.45 14.56
15069 745.2 8.9 775 15082 roll 0.79 - - 3208 - 2.40 0.066 326 -563.8 159.7 - - 2142 - - - - - - - - 14.81 14.32 14.84
15103 742.1 9.1 779 15117 done 0.79 - - 3208 - 2.22 0.031 1677 608.6 159.7 - - 2142 - - - - - - - - 14.57 14.51 14.59
15474 709.6 8.7 789 15487 roll 0.79 - - 3208 - 2.35 0.047 3043 581.3 159.7 - - 2142 - - - - - - - - 14.85 14.35 14.88
15579 700.5 8.5 803 15592 done 0.79 0.15 0.265 3188 -133.3 2.35 0.042 1679 -580.4 159.7 - - 2142 - - - - - - - - 13.92 14.33 14.20
15936 673.6 7.5 811 15953 roll 0.79 - - 3195 - 2.45 0.067 324 -553.1 166.7 5.75 1.595 2116 -4.5 0.370 - - - - - - 14.85 14.47 13.31
15990 669.4 8.3 818 16003 done 0.79 - - 3195 - 2.22 0.031 1674 608.1 166.7 - - 2123 - - - - - - - - 14.66 14.60 14.67
16332 641.7 8.1 831 16345 roll 0.79 - - 3195 - 2.38 0.049 3056 580.7 166.7 - - 2119 - - - - - - - - 14.81 14.38 14.83
16415 634.5 8.7 842 16428 done 0.79 - - 3204 - 2.35 0.042 1681 -585.1 166.7 - - 2119 - - - - - - - - 14.54 14.45 14.56
16737 606.3 8.9 852 16750 roll 0.79 - - 3215 - 2.42 0.065 326 -559.9 166.7 - - 2119 - - - - - - - - 14.81 14.30 14.83
16801 600.0 9.9 860 16814 done 0.79 - - 3215 - 2.25 0.031 1688 605.3 166.7 - - 2119 - - - - - - - - 14.54 14.49 14.56
17145 568.2 9.2 873 17159 roll 0.79 - - 3211 - 2.42 0.047 3054 564.5 166.7 1.92 0.167 2112 -3.6 2.404 - - - - - - 14.84 14.35 14.09
17228 560.4 8.9 884 17242 done 0.79 0.17 0.254 3188 -135.3 2.40 0.042 1668 -577.5 166.7 - - 2118 - - - - - - - - 13.95 14.36 14.23
17551 538.0 6.7 894 17601 roll 0.82 - - 3195 - 2.38 0.067 330 -562.2 187.5 36.38 1.586 2023 -2.6 0.172 - - - - - - 14.81 14.40 13.47
17628 532.5 7.3 905 17646 done 0.83 - - 3195 - 2.25 0.031 1684 601.8 198.5 5.80 1.424 1983 -6.9 0.500 - - - - - - 14.47 14.42 13.19
18003 504.2 7.7 916 18021 roll 0.84 - - 3195 - 2.35 0.048 3059 585.1 202.3 3.85 1.118 1967 -4.2 0.363 - - - - - - 14.74 14.40 13.23
18042 501.0 8.4 921 18055 done 0.84 - - 3203 - 2.35 0.041 1684 -585.1 202.3 - - 1970 - - - - - - - - 14.54 14.46 14.57
18406 468.4 9.1 930 18419 roll 0.84 - - 3215 - 2.42 0.065 316 -565.3 202.3 - - 1973 - - - - - - - - 14.81 14.30 14.82
18454 463.6 10.3 936 18468 done 0.84 - - 3214 - 2.28 0.031 1694 604.4 202.3 - - 1974 - - - - - - - - 14.54 14.49 14.58
18811 428.1 9.9 944 18824 roll 0.84 - - 3214 - 2.35 0.048 3060 581.3 202.3 - - 1974 - - - - - - - - 14.81 14.35 14.83
18873 421.7 10.1 952 18886 done 0.84 - - 3223 - 2.38 0.041 1674 -582.4 202.3 - - 1973 - - - - - - - - 14.48 14.39 14.50
19217 387.4 10.1 965 19230 roll 0.84 - - 3233 - 2.42 0.067 316 -561.2 202.3 - - 1973 - - - - - - - - 14.83 14.26 14.85
19243 384.4 10.0 968 19257 done 0.84 0.15 0.237 3202 -206.7 2.25 0.030 1684 608.0 202.3 - - 1973 - - - - - - - - 14.00 14.47 14.26
19565 355.8 8.9 978 19578 roll 0.84 - - 3202 - 2.35 0.047 3050 581.3 202.3 - - 1974 - - - - - - - - 14.82 14.31 14.83
19649 348.2 9.0 989 19662 done 0.84 - - 3208 - 2.35 0.041 1677 -584.3 202.3 - - 1971 - - - - - - - - 14.49 14.38 14.50
19970 320.0 8.8 999 19983 roll 0.84 - - 3218 - 2.42 0.066 318 -561.6 202.3 - - 1973 - - - - - - - - 14.81 14.26 14.83
20047 312.8 9.3 1009 20061 done 0.84 - - 3218 - 2.25 0.030 1671 601.3 202.3 - - 1974 - - - - - - - - 14.50 14.45 14.52
20376 283.2 8.9 1020 20389 roll 0.84 - - 3218 - 2.40 0.046 3062 579.6 202.3 - - 1974 - - - - - - - - 14.84 14.20 14.86
20431 278.1 9.3 1027 20445 done 0.84 0.12 0.256 3203 -125.0 2.40 0.040 1673 -578.8 202.3 - - 1974 - - - - - - - - 13.96 14.35 14.21
20776 251.1 7.8 1034 20793 roll 0.84 - - 3211 - 2.45 0.065 321 -551.8 203.1 2.35 0.457 1965 -3.8 0.408 - - - - - - 14.81 14.33 13.34
20820 247.4 8.2 1040 20834 done 0.84 - - 3211 - 2.25 0.029 1692 609.3 203.1 - - 1968 - - - - - - - - 14.57 14.51 14.59
21178 219.9 7.6 1048 21196 roll 0.84 - - 3211 - 2.38 0.047 3055 572.7 207.5 5.47 1.135 1945 -4.2 0.158 - - - - - - 14.87 14.45 13.45
21259 213.2 8.0 1059 21272 done 0.84 - - 3220 - 2.35 0.040 1676 -586.8 207.5 - - 1952 - - - - - - - - 14.53 14.45 14.57
21580 185.8 8.7 1069 21594 roll 0.84 - - 3230 - 2.45 0.065 325 -551.4 207.5 2.05 0.231 1945 -3.4 0.532 - - - - - - 14.81 14.35 12.66
21622 182.0 9.0 1074 21636 done 0.84 - - 3230 - 2.22 0.031 1681 610.8 207.5 - - 1948 - - - - - - - - 14.59 14.53 14.61
21986 146.7 10.0 1083 21999 roll 0.84 - - 3230 - 2.33 0.045 3048 586.7 207.5 - - 1951 - - - - - - - - 14.85 14.33 14.87
22071 138.0 10.1 1094 22084 done 0.84 0.15 0.246 3208 -146.7 2.35 0.039 1676 -583.8 207.5 - - 1952 - - - - - - - - 13.99 14.38 14.25
22393 111.3 8.2 1104 22406 roll 0.84 - - 3217 - 2.40 0.064 325 -562.9 207.5 - - 1952 - - - - - - - - 14.81 14.26 14.83
22440 107.0 9.0 1110 22453 done 0.84 - - 3215 - 2.22 0.029 1687 613.5 207.5 - - 1952 - - - - - - - - 14.54 14.48 14.56
22770 79.5 7.9 1121 22783 done 0.84 - - 3215 - - - 1688 - 207.5 - - 1955 - - - - - - - - 14.79 14.82 14.81
23077 61.6 5.0 1132 23142 roll 0.91 - - 3215 - 2.28 0.041 3044 594.7 260.5 52.08 0.287 1731 -4.3 0.179 - - - - - - 14.81 14.34 14.13
23223 52.7 7.1 1152 23255 done 1.06 0.15 0.109 3281 440.0 2.30 0.037 1679 -593.5 275.5 16.70 0.249 1670 -3.7 0.150 - - - - - - 14.33 14.35 14.08
23586 36.8 3.6 1171 23672 roll 1.30 0.17 0.103 3355 435.3 2.38 0.043 3047 574.8 354.0 69.05 0.219 1348 -4.7 0.152 - - - - - - 14.38 14.42 14.14
23804 20.9 8.3 1202 23818 done 1.30 - - 3364 - 2.33 0.037 1680 -586.7 354.0 - - 1357 - - - - - - - - 14.44 14.38 14.49
24033 end climb: SURFACE_DEPTH_REACHED
24033 begin surface coast
24060 end surface coast: CONTROL_FINISHED_OK
24060 begin surface
SM 1.14 - - - - -8.61 9.60 0.067 157 16.4 0.08 0.139 1779 9362.5 515.13 97.57 0.122 691 7.1 -0.007 - - - - - -