SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 504 * Raw log
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• Previous call tries 1 • 190.51 of 350.00 AH used of 24V (45.57% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.02 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 20 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
29 end surface: CONTROL_FINISHED_OK
29 begin dive
33 - - - 120 VBD -0.84 - - 148 - - - 1774 - -116.8 -83.88 - 3254 - - - - - - - - 14.68 - 14.70
124 5.5 -7.6 3 147 roll -0.84 12.23 0.367 2661 205.5 2.72 2.016 379 -512.9 -116.8 -0.22 - 3272 -81.8 - - - - - - - 13.95 13.07 14.38
211 37.0 -26.4 16 218 done -0.44 0.55 0.274 2783 221.8 2.25 0.032 1739 604.4 -116.8 - - 3273 - - - - - - - - 14.05 14.47 14.35
540 73.0 -8.1 30 546 roll -0.44 - - 2775 - 2.42 0.051 3171 591.7 -116.8 - - 3274 - - - - - - - - 14.77 14.43 14.79
638 81.1 -8.8 44 645 done -0.44 - - 2775 - 2.33 0.036 1768 -602.1 -116.8 - - 3275 - - - - - - - - 14.50 14.43 14.52
988 109.0 -7.9 56 994 roll -0.44 - - 2775 - 2.40 0.057 379 -578.8 -116.8 - - 3274 - - - - - - - - 14.83 14.35 14.85
1180 123.2 -7.5 83 1187 done -0.44 - - 2766 - 2.33 0.031 1791 606.0 -116.8 - - 3274 - - - - - - - - 14.59 14.53 14.58
1495 146.3 -7.2 93 1502 roll -0.44 - - 2756 - 2.33 0.050 3168 591.0 -116.8 - - 3273 - - - - - - - - 14.83 14.43 14.85
1551 150.3 -7.3 101 1559 done -0.44 0.12 0.235 2782 216.7 2.33 0.037 1766 -601.7 -116.8 - - 3272 - - - - - - - - 14.19 14.48 14.40
1889 172.5 -6.6 114 1896 roll -0.55 - - 2782 - 2.42 0.059 375 -574.8 -116.8 - - 3270 - - - - - - - - 14.81 14.38 14.83
1986 180.1 -7.8 128 1993 done -0.66 0.20 0.102 2704 -390.0 2.33 0.031 1790 607.3 -116.8 - - 3269 - - - - - - - - 14.45 14.54 14.54
2338 217.0 -10.7 136 2344 roll -0.66 - - 2693 - 2.35 0.052 3159 582.6 -116.8 - - 3266 - - - - - - - - 14.82 14.33 14.84
2407 224.5 -10.6 146 2413 done -0.66 - - 2694 - 2.33 0.037 1769 -596.6 -116.8 - - 3266 - - - - - - - - 14.53 14.45 14.56
2730 258.4 -10.5 157 2743 roll -0.66 - - 2694 - 2.42 0.060 375 -576.0 -116.8 - - 3263 - - - - - - - - 14.88 14.40 14.90
2807 267.0 -11.2 167 2820 done -0.57 0.25 0.241 2743 196.0 2.30 0.033 1767 605.2 -116.8 - - 3262 - - - - - - - - 14.10 14.57 14.36
3135 294.9 -8.4 178 3149 roll -0.57 - - 2735 - 2.38 0.054 3164 587.0 -116.8 - - 3260 - - - - - - - - 14.89 14.47 14.91
3211 301.6 -8.7 188 3224 done -0.57 - - 2735 - 2.33 0.036 1769 -598.7 -116.8 - - 3259 - - - - - - - - 14.59 14.52 14.62
3540 331.2 -9.1 199 3554 roll -0.57 - - 2735 - 2.42 0.060 378 -574.8 -116.8 - - 3257 - - - - - - - - 14.91 14.42 14.95
3595 336.8 -10.1 206 3609 done -0.57 - - 2725 - 2.35 0.033 1777 595.3 -116.8 - - 3257 - - - - - - - - 14.61 14.55 14.64
3941 370.1 -9.7 213 3954 roll -0.57 - - 2715 - 2.38 0.052 3170 585.3 -116.8 - - 3255 - - - - - - - - 14.88 14.47 14.90
4023 378.1 -9.4 224 4037 done -0.57 0.12 0.243 2740 208.3 2.33 0.037 1776 -598.3 -116.8 - - 3254 - - - - - - - - 14.17 14.52 14.40
4345 403.9 -7.8 234 4358 roll -0.57 - - 2740 - 2.45 0.061 376 -571.4 -116.8 - - 3252 - - - - - - - - 14.90 14.33 14.91
4401 408.5 -8.4 241 4415 done -0.57 - - 2734 - 2.35 0.033 1776 595.7 -116.8 - - 3252 - - - - - - - - 14.60 14.54 14.62
4744 436.1 -8.1 248 4757 roll -0.57 - - 2723 - 2.38 0.053 3164 583.2 -116.8 - - 3251 - - - - - - - - 14.92 14.42 14.94
4855 445.5 -8.4 263 4869 done -0.57 - - 2723 - 2.35 0.037 1773 -591.9 -116.8 - - 3250 - - - - - - - - 14.54 14.47 14.57
5198 475.6 -8.8 270 5211 roll -0.57 - - 2723 - 2.45 0.062 376 -570.2 -116.8 - - 3249 - - - - - - - - 14.91 14.37 14.93
5331 487.8 -8.9 288 5344 done -0.57 0.12 0.268 2738 125.0 2.35 0.033 1787 600.4 -116.8 - - 3248 - - - - - - - - 14.09 14.54 14.34
5661 511.9 -7.2 299 5674 roll -0.57 - - 2730 - 2.35 0.054 3159 583.8 -116.8 - - 3245 - - - - - - - - 14.88 14.40 14.90
5724 516.3 -6.9 307 5737 done -0.57 - - 2730 - 2.33 0.037 1775 -594.0 -116.8 - - 3246 - - - - - - - - 14.54 14.46 14.57
6067 540.7 -7.2 320 6081 roll -0.57 - - 2731 - 2.47 0.061 371 -568.4 -116.8 - - 3245 - - - - - - - - 14.90 14.34 14.92
6164 548.7 -8.0 333 6177 done -0.57 - - 2721 - 2.35 0.034 1775 597.4 -116.8 - - 3244 - - - - - - - - 14.57 14.50 14.59
6527 577.3 -8.0 342 6541 roll -0.57 - - 2710 - 2.38 0.053 3159 581.5 -116.8 - - 3243 - - - - - - - - 14.91 14.36 14.93
6653 588.0 -8.5 359 6667 done -0.57 0.15 0.233 2743 220.0 2.35 0.038 1766 -592.8 -116.8 - - 3243 - - - - - - - - 14.04 14.45 14.29
6989 614.5 -7.9 371 7002 roll -0.57 - - 2743 - 2.45 0.062 380 -565.7 -116.8 - - 3242 - - - - - - - - 14.88 14.31 14.89
7109 624.5 -8.4 387 7122 done -0.57 - - 2736 - 2.35 0.033 1780 595.7 -116.8 - - 3241 - - - - - - - - 14.53 14.47 14.55
7451 651.8 -7.9 400 7465 roll -0.57 - - 2726 - 2.40 0.056 3167 577.9 -116.8 - - 3239 - - - - - - - - 14.87 14.33 14.89
7486 654.6 -8.3 404 7500 done -0.57 - - 2726 - 2.35 0.039 1778 -591.1 -116.8 - - 3239 - - - - - - - - 14.50 14.42 14.54
7857 685.3 -8.3 414 7870 roll -0.57 - - 2729 - 2.50 0.062 373 -562.0 -116.8 - - 3238 - - - - - - - - 14.90 14.27 14.92
7968 695.0 -8.7 429 7982 done -0.57 - - 2717 - 2.40 0.034 1785 588.3 -116.8 - - 3238 - - - - - - - - 14.50 14.44 14.52
8312 723.1 -8.2 436 8326 roll -0.57 - - 2707 - 2.42 0.056 3165 570.2 -116.8 - - 3240 - - - - - - - - 14.88 14.27 14.90
8402 730.6 -8.0 448 8415 done -0.57 0.15 0.243 2738 206.7 2.38 0.038 1768 -587.0 -116.8 - - 3237 - - - - - - - - 13.92 14.37 14.19
8774 756.8 -7.1 458 8787 roll -0.57 - - 2738 - 2.47 0.063 378 -562.8 -116.8 - - 3236 - - - - - - - - 14.88 14.23 14.89
8878 764.8 -7.6 472 8891 done -0.57 - - 2731 - 2.38 0.034 1779 588.7 -116.8 - - 3235 - - - - - - - - 14.47 14.41 14.50
9236 789.6 -6.9 480 9249 roll -0.57 - - 2721 - 2.45 0.057 3164 565.3 -116.8 - - 3234 - - - - - - - - 14.87 14.23 14.89
9354 797.4 -6.4 496 9367 done -0.57 - - 2722 - 2.38 0.039 1771 -585.3 -116.8 - - 3233 - - - - - - - - 14.42 14.34 14.45
9697 819.5 -6.4 509 9710 roll -0.57 - - 2721 - 2.50 0.063 375 -558.4 -116.8 - - 3233 - - - - - - - - 14.88 14.19 14.90
9840 829.6 -7.3 528 9853 done -0.57 0.15 0.258 2743 146.7 2.38 0.034 1775 588.2 -116.8 - - 3232 - - - - - - - - 13.87 14.40 14.14
10162 848.9 -6.1 538 10175 roll -0.67 - - 2732 - 2.42 0.056 3162 573.1 -116.8 - - 3235 - - - - - - - - 14.83 14.23 14.85
10226 853.4 -6.5 546 10240 done -0.79 0.20 0.102 2664 -340.0 2.38 0.037 1773 -583.6 -116.8 - - 3232 - - - - - - - - 14.25 14.31 14.35
10569 885.2 -9.7 559 10582 roll -0.79 - - 2664 - 2.50 0.064 381 -556.8 -116.8 - - 3232 - - - - - - - - 14.83 14.15 14.85
10653 893.8 -10.2 570 10667 done -0.69 0.22 0.269 2701 168.2 2.40 0.034 1785 585.0 -116.8 - - 3231 - - - - - - - - 13.66 14.36 14.01
10975 919.9 -8.0 580 10988 roll -0.69 - - 2693 - 2.42 0.057 3161 568.6 -116.8 - - 3230 - - - - - - - - 14.83 14.10 14.85
11073 927.7 -7.9 593 11086 done -0.69 - - 2693 - 2.38 0.039 1778 -581.1 -116.8 - - 3230 - - - - - - - - 14.35 14.26 14.38
11438 956.7 -8.0 602 11451 roll -0.69 - - 2693 - 2.53 0.063 376 -554.2 -116.8 - - 3229 - - - - - - - - 14.82 14.14 14.84
11513 963.4 -8.7 612 11527 done -0.69 - - 2682 - 2.40 0.035 1779 584.6 -116.8 - - 3229 - - - - - - - - 14.40 14.33 14.42
11838 end dive: TARGET_DEPTH_EXCEEDED
11838 begin apogee
11848 991.1 -8.5 623 11981 done -0.21 0.73 0.243 2858 241.1 - - 1655 - - 122.38 2.224 2792 -3.6 0.305 - - - - - - 13.64 13.93 12.82
11982 end apogee: CONTROL_FINISHED_OK
11982 begin climb
11986 996.1 - 625 12135 roll 0.84 1.12 0.148 3198 303.6 2.47 0.064 351 -527.9 116.8 126.40 2.173 2305 -3.9 0.339 - - - - - - 13.95 13.85 12.78
12197 985.2 8.1 659 12210 done 0.84 - - 3202 - 2.28 0.031 1703 593.0 116.8 - - 2295 - - - - - - - - 14.34 14.29 14.36
12527 959.5 8.1 670 12540 roll 0.84 - - 3205 - 2.35 0.048 3060 577.4 116.8 - - 2292 - - - - - - - - 14.75 14.42 14.78
12630 950.8 9.8 684 12644 done 0.84 - - 3207 - 2.33 0.041 1700 -583.7 116.8 - - 2291 - - - - - - - - 14.54 14.46 14.57
12988 921.8 8.2 692 13001 roll 0.84 - - 3218 - 2.47 0.066 322 -557.9 116.8 - - 2291 - - - - - - - - 14.80 14.37 14.82
13036 917.4 10.7 698 13049 done 0.84 - - 3218 - 2.25 0.031 1692 608.9 116.8 - - 2291 - - - - - - - - 14.60 14.52 14.60
13393 886.9 8.6 706 13406 roll 0.84 - - 3217 - 2.33 0.049 3048 582.0 116.8 - - 2290 - - - - - - - - 14.85 14.41 14.88
13455 881.1 9.4 714 13469 done 0.74 0.25 0.259 3173 -176.0 2.33 0.041 1681 -586.7 116.8 - - 2290 - - - - - - - - 13.94 14.44 14.29
13798 854.9 7.5 727 13811 done 0.75 - - 3172 - - - 1681 - 123.9 - - 2289 - - - - - - - - 14.83 14.85 14.84
14134 829.4 7.6 733 14148 done 0.75 - - 3172 - - - 1680 - 129.3 4.12 1.405 2263 -6.3 0.715 - - - - - - 14.82 14.41 13.26
14472 804.5 7.3 739 14498 done 0.77 - - 3172 - - - 1681 - 139.2 17.27 1.989 2226 -2.1 0.166 - - - - - - 14.81 14.41 13.35
14807 780.5 7.1 745 14836 roll 0.78 - - 3180 - 2.40 0.068 326 -564.6 154.0 16.12 1.951 2159 -4.2 0.319 - - - - - - 14.77 14.44 13.37
14858 776.8 6.2 752 14909 done 0.82 - - 3180 - 2.25 0.032 1674 599.1 185.5 37.00 1.886 2030 -3.5 0.276 - - - - - - 14.54 14.49 13.21
15262 742.9 8.5 767 15276 roll 0.82 - - 3180 - 2.38 0.049 3049 577.7 185.5 - - 2017 - - - - - - - - 14.71 14.35 14.73
15326 737.0 9.1 775 15339 done 0.82 - - 3189 - 2.35 0.042 1678 -583.4 185.5 - - 2015 - - - - - - - - 14.49 14.40 14.52
15669 707.0 8.7 788 15682 roll 0.82 - - 3199 - 2.42 0.067 322 -560.3 185.5 - - 2015 - - - - - - - - 14.82 14.30 14.83
15709 703.2 9.1 793 15722 done 0.82 - - 3199 - 2.25 0.031 1680 603.6 185.5 - - 2015 - - - - - - - - 14.54 14.49 14.57
16074 671.3 8.7 802 16087 roll 0.82 - - 3199 - 2.35 0.047 3051 583.4 185.5 - - 2015 - - - - - - - - 14.78 14.38 14.83
16142 665.0 9.0 811 16155 done 0.82 - - 3208 - 2.35 0.041 1678 -584.3 185.5 - - 2014 - - - - - - - - 14.49 14.40 14.53
16478 634.0 9.4 823 16491 roll 0.82 - - 3218 - 2.42 0.067 324 -559.5 185.5 - - 2014 - - - - - - - - 14.85 14.28 14.87
16533 628.2 10.7 830 16548 done 0.82 - - 3218 - 2.28 0.031 1685 596.9 185.5 - - 2015 - - - - - - - - 14.52 14.47 14.55
16876 592.0 10.6 837 16890 roll 0.82 - - 3218 - 2.38 0.047 3058 576.9 185.5 - - 2014 - - - - - - - - 14.81 14.25 14.83
16967 582.3 10.7 849 16981 done 0.82 0.15 0.258 3197 -140.0 2.38 0.044 1678 -579.8 185.5 - - 2014 - - - - - - - - 13.98 14.38 14.28
17339 549.6 8.5 859 17352 roll 0.82 - - 3205 - 2.45 0.067 318 -555.1 185.5 - - 2014 - - - - - - - - 14.85 14.25 14.87
17422 542.3 8.9 870 17435 done 0.82 - - 3205 - 2.28 0.031 1685 599.6 185.5 - - 2014 - - - - - - - - 14.50 14.45 14.53
17744 515.3 8.4 880 17757 roll 0.82 - - 3204 - 2.38 0.047 3057 576.5 185.5 - - 2014 - - - - - - - - 14.81 14.31 14.83
17807 509.5 9.1 888 17820 done 0.82 - - 3214 - 2.38 0.040 1673 -581.5 185.5 - - 2014 - - - - - - - - 14.43 14.35 14.48
18151 477.3 9.6 901 18164 roll 0.82 - - 3224 - 2.42 0.065 323 -557.9 185.5 - - 2014 - - - - - - - - 14.84 14.21 14.86
18226 469.1 10.7 911 18240 done 0.82 - - 3225 - 2.25 0.030 1682 604.0 185.5 - - 2014 - - - - - - - - 14.48 14.42 14.51
18555 435.8 10.1 922 18568 roll 0.82 - - 3225 - 2.35 0.047 3049 581.7 185.5 - - 2014 - - - - - - - - 14.81 14.30 14.83
18590 432.3 9.9 926 18603 done 0.82 0.17 0.244 3196 -170.6 2.35 0.041 1676 -584.3 185.5 - - 2014 - - - - - - - - 13.86 14.25 14.19
18960 402.1 7.9 936 18974 roll 0.82 - - 3205 - 2.42 0.067 328 -557.0 185.5 - - 2013 - - - - - - - - 14.85 14.20 14.90
19008 398.2 8.5 942 19021 done 0.82 - - 3205 - 2.25 0.030 1688 604.4 185.5 - - 2015 - - - - - - - - 14.48 14.44 14.51
19366 370.0 7.8 950 19379 roll 0.82 - - 3205 - 2.35 0.047 3051 580.0 185.7 - - 2014 - - - - - - - - 14.80 14.28 14.82
19428 364.7 8.3 958 19442 done 0.82 - - 3213 - 2.35 0.039 1681 -583.0 185.7 - - 2014 - - - - - - - - 14.42 14.32 14.45
19772 334.6 8.9 971 19785 roll 0.82 - - 3223 - 2.45 0.064 318 -556.3 185.7 - - 2014 - - - - - - - - 14.83 14.19 14.85
19841 327.9 9.5 980 19854 done 0.82 - - 3223 - 2.25 0.029 1671 601.3 185.7 - - 2014 - - - - - - - - 14.46 14.41 14.49
20177 297.7 8.9 992 20191 roll 0.82 - - 3224 - 2.40 0.047 3057 577.5 185.7 - - 2014 - - - - - - - - 14.80 14.28 14.82
20246 291.5 8.6 1001 20260 done 0.82 0.15 0.243 3202 -146.7 2.38 0.040 1674 -581.1 185.7 - - 2014 - - - - - - - - 13.88 14.31 14.18
20582 267.8 7.1 1013 20607 roll 0.84 - - 3209 - 2.45 0.067 320 -552.7 200.7 12.73 1.338 1968 -3.6 0.139 - - - - - - 14.87 14.42 13.46
20641 263.0 8.4 1020 20655 done 0.84 - - 3206 - 2.25 0.030 1685 606.7 200.7 - - 1963 - - - - - - - - 14.61 14.56 14.63
20985 232.1 9.2 1027 20999 roll 0.84 - - 3210 - 2.35 0.046 3058 584.3 200.7 - - 1962 - - - - - - - - 14.78 14.38 14.81
21041 226.6 9.8 1034 21056 done 0.84 - - 3217 - 2.38 0.039 1675 -581.1 200.7 - - 1962 - - - - - - - - 14.48 14.40 14.52
21384 193.7 9.5 1041 21397 roll 0.84 - - 3228 - 2.40 0.064 328 -561.2 200.7 - - 1961 - - - - - - - - 14.83 14.26 14.85
21439 188.4 9.9 1048 21453 done 0.84 - - 3228 - 2.25 0.028 1689 604.9 200.7 - - 1961 - - - - - - - - 14.52 14.47 14.55
21784 158.6 8.5 1055 21799 roll 0.84 - - 3228 - 2.30 0.045 3039 587.0 200.7 - - 1962 - - - - - - - - 14.80 14.26 14.82
21826 154.8 8.6 1060 21839 done 0.84 0.15 0.246 3206 -146.7 2.33 0.039 1673 -586.3 200.7 - - 1961 - - - - - - - - 13.99 14.38 14.29
22190 128.0 7.5 1069 22207 roll 0.85 - - 3213 - 2.42 0.063 325 -557.0 207.8 2.47 0.485 1944 -6.9 0.349 - - - - - - 14.85 14.35 13.40
22250 123.2 8.5 1077 22264 done 0.85 - - 3213 - 2.22 0.028 1690 614.9 207.8 - - 1944 - - - - - - - - 14.57 14.51 14.59
22594 94.1 8.6 1091 22607 roll 0.85 - - 3213 - 2.30 0.044 3041 587.4 207.8 - - 1947 - - - - - - - - 14.80 14.28 14.82
22686 86.1 9.1 1103 22699 done 0.85 - - 3222 - 2.33 0.038 1683 -582.8 207.8 - - 1946 - - - - - - - - 14.46 14.37 14.49
23029 59.4 7.7 1118 23046 roll 0.85 - - 3232 - 2.45 0.063 328 -553.1 210.0 2.88 0.150 1934 -4.2 0.317 - - - - - - 14.81 14.23 13.97
23068 56.5 7.6 1123 23091 done 0.86 - - 3233 - 2.20 0.028 1673 611.4 215.4 7.22 0.233 1918 -2.2 0.103 - - - - - - 14.52 14.47 13.99
23399 42.0 2.6 1137 23503 roll 1.10 0.12 0.132 3292 491.7 2.38 0.044 3051 579.0 312.4 88.03 0.237 1523 -4.5 0.153 - - - - - - 14.40 14.45 14.19
23685 29.9 6.2 1178 23724 done 1.28 0.12 0.127 3348 466.7 2.35 0.039 1669 -588.1 342.6 27.20 0.198 1396 -4.7 0.135 - - - - - - 14.33 14.38 14.14
24040 3.9 7.3 1195 24062 roll 1.29 - - 3358 - 2.42 0.063 323 -556.2 352.2 8.70 0.131 1355 -4.7 0.027 - - - - - - 14.81 14.23 14.14
24066 end climb: SURFACE_DEPTH_REACHED
24066 begin surface coast
24072 end surface coast: CONTROL_FINISHED_OK
24072 begin surface
SM 1.23 - - - - -8.61 9.52 0.063 157 16.5 2.42 0.029 1739 -2893.0 515.13 103.47 0.122 692 6.7 -0.007 - - - - - -