SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 509 * Raw log
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• Previous call tries 1 • 192.32 of 350.00 AH used of 24V (45.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 13 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 116 VBD -0.84 - - 144 - - - 1775 - -116.8 -83.62 - 3261 - - - - - - - - 14.67 - 14.69
120 5.7 -8.1 3 143 roll -0.84 12.55 0.382 2642 199.0 2.35 0.049 3135 578.7 -116.8 - - 3263 - - - - - - - - 13.95 14.42 14.35
229 42.6 -26.2 19 236 done -0.46 0.55 0.258 2773 238.2 2.30 0.039 1771 -593.0 -116.8 - - 3263 - - - - - - - - 13.94 14.41 14.26
566 73.4 -7.4 34 572 roll -0.46 - - 2771 - 2.42 0.059 375 -576.9 -116.8 - - 3265 - - - - - - - - 14.78 14.36 14.81
758 87.3 -7.5 61 766 done -0.46 - - 2767 - 2.28 0.031 1751 603.5 -116.8 - - 3265 - - - - - - - - 14.47 14.41 14.48
1097 114.4 -7.9 71 1104 roll -0.46 - - 2759 - 2.40 0.050 3173 592.5 -116.8 - - 3264 - - - - - - - - 14.80 14.42 14.82
1237 124.3 -6.8 91 1243 done -0.46 - - 2757 - 2.33 0.035 1771 -601.7 -116.8 - - 3265 - - - - - - - - 14.53 14.46 14.55
1603 153.9 -8.7 101 1609 roll -0.46 - - 2756 - 2.42 0.059 382 -574.0 -116.8 - - 3262 - - - - - - - - 14.81 14.31 14.82
1707 164.4 -9.9 116 1715 done -0.46 0.15 0.240 2778 146.7 2.33 0.031 1779 599.6 -116.8 - - 3259 - - - - - - - - 14.08 14.45 14.32
2052 190.4 -7.2 123 2058 roll -0.57 - - 2771 - 2.35 0.051 3161 588.1 -116.8 - - 3259 - - - - - - - - 14.79 14.38 14.81
2164 198.0 -6.6 139 2171 done -0.70 0.22 0.088 2683 -400.0 2.33 0.035 1766 -598.7 -116.8 - - 3257 - - - - - - - - 14.42 14.45 14.50
2502 232.5 -10.5 152 2509 roll -0.60 0.17 0.253 2725 247.1 2.45 0.058 375 -567.8 -116.8 - - 3255 - - - - - - - - 14.00 14.25 14.14
2592 241.6 -9.4 165 2599 done -0.60 - - 2718 - 2.33 0.032 1771 599.1 -116.8 - - 3254 - - - - - - - - 14.53 14.47 14.55
2950 275.2 -9.6 174 2963 roll -0.60 - - 2707 - 2.38 0.051 3173 589.1 -116.8 - - 3252 - - - - - - - - 14.88 14.45 14.90
3056 285.4 -9.9 188 3069 done -0.60 - - 2707 - 2.33 0.038 1781 -597.4 -116.8 - - 3254 - - - - - - - - 14.57 14.49 14.60
3412 321.1 -10.0 196 3425 roll -0.60 - - 2708 - 2.45 0.059 376 -573.5 -116.8 - - 3249 - - - - - - - - 14.89 14.40 14.91
3496 329.9 -10.5 207 3510 done -0.60 0.15 0.270 2730 146.7 2.33 0.033 1781 603.0 -116.8 - - 3249 - - - - - - - - 14.05 14.56 14.35
3818 358.1 -8.6 217 3831 roll -0.60 - - 2720 - 2.35 0.054 3160 586.8 -116.8 - - 3246 - - - - - - - - 14.89 14.43 14.91
3900 365.2 -8.5 228 3914 done -0.60 - - 2720 - 2.33 0.037 1775 -594.4 -116.8 - - 3245 - - - - - - - - 14.54 14.46 14.57
4223 393.2 -8.8 238 4236 roll -0.60 - - 2720 - 2.47 0.060 370 -568.8 -116.8 - - 3244 - - - - - - - - 14.90 14.37 14.92
4299 400.8 -9.7 248 4312 done -0.60 - - 2711 - 2.35 0.033 1779 599.6 -116.8 - - 3243 - - - - - - - - 14.58 14.52 14.60
4628 432.2 -9.7 259 4642 roll -0.60 - - 2700 - 2.38 0.054 3167 583.2 -116.8 - - 3241 - - - - - - - - 14.90 14.40 14.90
4697 439.3 -10.0 268 4710 done -0.60 0.15 0.241 2729 193.3 2.35 0.038 1768 -595.3 -116.8 - - 3241 - - - - - - - - 14.05 14.46 14.31
5032 470.0 -9.2 280 5046 roll -0.60 - - 2733 - 2.45 0.062 375 -568.6 -116.8 - - 3239 - - - - - - - - 14.92 14.35 14.94
5145 480.6 -9.5 295 5158 done -0.60 - - 2731 - 2.38 0.033 1781 590.8 -116.8 - - 3241 - - - - - - - - 14.55 14.49 14.57
5487 510.4 -8.6 302 5500 roll -0.60 - - 2716 - 2.40 0.054 3174 580.4 -116.8 - - 3238 - - - - - - - - 14.90 14.36 14.92
5558 516.4 -8.4 311 5571 done -0.60 - - 2715 - 2.35 0.037 1775 -595.3 -116.8 - - 3237 - - - - - - - - 14.52 14.44 14.55
5893 545.3 -8.7 323 5907 roll -0.60 - - 2715 - 2.47 0.060 370 -568.8 -116.8 - - 3237 - - - - - - - - 14.91 14.36 14.90
5976 553.0 -9.2 334 5989 done -0.60 - - 2706 - 2.38 0.034 1788 595.8 -116.8 - - 3236 - - - - - - - - 14.54 14.51 14.57
6299 581.6 -8.9 344 6312 roll -0.60 - - 2695 - 2.40 0.055 3168 575.0 -116.8 - - 3234 - - - - - - - - 14.90 14.33 14.91
6332 584.7 -9.1 348 6346 done -0.60 0.15 0.243 2727 213.3 2.35 0.039 1778 -591.5 -116.8 - - 3235 - - - - - - - - 13.98 14.41 14.24
6703 614.1 -8.0 358 6716 roll -0.60 - - 2727 - 2.47 0.061 374 -568.4 -116.8 - - 3232 - - - - - - - - 14.86 14.31 14.89
6787 621.4 -8.7 369 6800 done -0.60 - - 2721 - 2.38 0.034 1780 590.8 -116.8 - - 3232 - - - - - - - - 14.52 14.46 14.54
7108 649.1 -8.7 379 7122 roll -0.60 - - 2711 - 2.38 0.055 3156 578.2 -116.8 - - 3231 - - - - - - - - 14.90 14.29 14.92
7206 657.7 -8.8 392 7219 done -0.60 - - 2711 - 2.38 0.039 1763 -585.3 -116.8 - - 3231 - - - - - - - - 14.47 14.38 14.50
7570 690.7 -9.1 401 7583 roll -0.60 - - 2710 - 2.45 0.061 383 -563.3 -116.8 - - 3233 - - - - - - - - 14.90 14.17 14.91
7638 697.5 -9.7 410 7652 done -0.60 0.12 0.271 2725 125.0 2.33 0.033 1773 596.6 -116.8 - - 3231 - - - - - - - - 13.94 14.43 14.20
7975 724.9 -8.1 422 7989 roll -0.60 - - 2717 - 2.40 0.054 3159 577.5 -116.8 - - 3227 - - - - - - - - 14.83 14.29 14.85
8058 731.8 -8.1 433 8071 done -0.60 - - 2718 - 2.38 0.038 1772 -582.8 -116.8 - - 3227 - - - - - - - - 14.44 14.35 14.47
8381 758.4 -8.3 443 8394 roll -0.60 - - 2718 - 2.50 0.062 380 -556.8 -116.8 - - 3226 - - - - - - - - 14.88 14.21 14.89
8505 769.5 -8.6 460 8518 done -0.60 - - 2708 - 2.38 0.033 1781 588.7 -116.8 - - 3227 - - - - - - - - 14.49 14.42 14.51
8842 796.6 -8.1 472 8855 roll -0.60 - - 2697 - 2.40 0.056 3158 573.8 -116.8 - - 3225 - - - - - - - - 14.83 14.25 14.85
8931 804.0 -8.0 484 8945 done -0.60 0.15 0.242 2729 213.3 2.38 0.038 1765 -585.3 -116.8 - - 3225 - - - - - - - - 13.88 14.33 14.14
9302 829.6 -6.8 494 9316 roll -0.60 - - 2728 - 2.47 0.063 379 -561.1 -116.8 - - 3224 - - - - - - - - 14.83 14.21 14.85
9393 836.2 -7.4 506 9407 done -0.60 - - 2722 - 2.38 0.034 1780 588.7 -116.8 - - 3224 - - - - - - - - 14.46 14.40 14.48
9764 860.7 -6.3 516 9777 roll -0.60 - - 2712 - 2.42 0.057 3158 569.4 -116.8 - - 3223 - - - - - - - - 14.87 14.16 14.88
9876 867.9 -6.4 531 9890 done -0.60 - - 2712 - 2.40 0.038 1770 -578.3 -116.8 - - 3223 - - - - - - - - 14.36 14.30 14.40
10219 890.4 -6.6 538 10232 roll -0.60 - - 2711 - 2.50 0.063 378 -556.8 -116.8 - - 3222 - - - - - - - - 14.88 14.14 14.88
10324 898.2 -6.9 552 10337 done -0.60 0.12 0.267 2726 125.0 2.38 0.035 1771 585.3 -116.8 - - 3222 - - - - - - - - 13.84 14.34 14.09
10681 921.2 -6.5 560 10694 roll -0.60 - - 2718 - 2.42 0.055 3159 573.6 -116.8 - - 3221 - - - - - - - - 14.86 14.17 14.88
10778 927.7 -6.7 573 10791 done -0.60 - - 2718 - 2.40 0.039 1768 -579.6 -116.8 - - 3221 - - - - - - - - 14.35 14.26 14.39
11143 953.6 -7.2 582 11156 roll -0.60 - - 2718 - 2.53 0.063 379 -549.0 -116.8 - - 3220 - - - - - - - - 14.84 14.10 14.86
11212 959.3 -8.1 591 11225 done -0.60 - - 2709 - 2.38 0.035 1772 585.3 -116.8 - - 3218 - - - - - - - - 14.38 14.31 14.40
11550 985.2 -7.7 603 11563 roll -0.60 - - 2698 - 2.45 0.055 3168 569.8 -116.8 - - 3220 - - - - - - - - 14.80 14.14 14.82
11609 end dive: TARGET_DEPTH_EXCEEDED
11609 begin apogee
11619 990.2 -7.9 611 11750 done -0.21 0.65 0.229 2858 246.2 - - 1681 - - 120.15 2.212 2792 -3.6 0.306 - - - - - - 13.66 13.93 12.81
11751 end apogee: CONTROL_FINISHED_OK
11751 begin climb
11756 995.0 - 613 11903 roll 0.84 1.17 0.147 3207 298.3 2.55 0.064 322 -532.9 116.8 127.80 2.173 2304 -3.8 0.335 - - - - - - 13.98 13.85 12.80
11920 987.4 9.9 626 11934 done 0.71 0.20 0.243 3165 -210.0 2.33 0.031 1711 596.1 116.8 - - 2298 - - - - - - - - 13.87 14.14 14.11
12244 964.2 7.2 636 12261 roll 0.72 - - 3164 - 2.28 0.047 3046 585.5 129.4 4.70 1.548 2264 -7.2 0.864 - - - - - - 14.72 14.08 13.13
12323 958.2 7.4 647 12354 done 0.73 - - 3171 - 2.33 0.042 1678 -587.1 137.1 15.38 2.078 2226 -2.5 0.218 - - - - - - 14.57 14.49 13.26
12699 930.6 7.4 658 12716 roll 0.74 - - 3181 - 2.40 0.065 328 -562.5 146.0 3.03 1.017 2198 -9.2 1.620 - - - - - - 14.77 14.42 13.15
12736 927.7 10.6 663 12749 done 0.74 - - 3181 - 2.20 0.031 1674 611.8 146.0 - - 2198 - - - - - - - - 14.60 14.54 14.62
13100 900.7 7.4 672 13130 roll 0.75 - - 3181 - 2.38 0.050 3049 577.7 154.4 16.20 2.069 2156 -2.6 0.216 - - - - - - 14.81 14.47 13.33
13200 892.7 8.2 686 13214 done 0.75 - - 3190 - 2.35 0.041 1678 -583.4 154.4 - - 2149 - - - - - - - - 14.54 14.47 14.57
13557 862.6 8.6 694 13570 roll 0.75 - - 3200 - 2.40 0.066 325 -563.8 154.4 - - 2149 - - - - - - - - 14.79 14.36 14.81
13621 856.7 9.4 702 13634 done 0.75 - - 3200 - 2.22 0.031 1679 609.9 154.4 - - 2149 - - - - - - - - 14.59 14.53 14.64
13964 823.9 9.5 715 13977 roll 0.75 - - 3200 - 2.35 0.047 3043 580.4 154.4 - - 2149 - - - - - - - - 14.82 14.34 14.84
14060 814.0 10.2 728 14074 done 0.75 0.15 0.269 3181 -126.7 2.33 0.041 1678 -585.8 154.4 - - 2146 - - - - - - - - 14.02 14.43 14.34
14425 782.0 8.7 737 14438 roll 0.75 - - 3187 - 2.42 0.066 324 -559.5 154.4 - - 2148 - - - - - - - - 14.81 14.31 14.83
14488 776.4 9.0 745 14501 done 0.75 - - 3187 - 2.25 0.032 1677 601.3 154.4 - - 2148 - - - - - - - - 14.54 14.50 14.57
14831 747.4 8.4 758 14844 roll 0.75 - - 3188 - 2.38 0.049 3050 576.9 154.4 - - 2148 - - - - - - - - 14.84 14.35 14.86
14935 738.7 8.2 772 14948 done 0.75 - - 3196 - 2.35 0.041 1677 -584.3 154.4 - - 2148 - - - - - - - - 14.49 14.40 14.53
15292 710.5 8.0 780 15306 roll 0.75 - - 3206 - 2.42 0.067 325 -558.7 154.4 - - 2148 - - - - - - - - 14.84 14.32 14.86
15333 707.0 8.3 785 15346 done 0.75 0.15 0.248 3176 -200.0 2.25 0.031 1699 610.7 154.4 - - 2148 - - - - - - - - 13.99 14.47 14.30
15697 681.6 7.0 794 15727 roll 0.77 - - 3176 - 2.33 0.050 3033 572.5 170.1 16.12 1.864 2094 -3.3 0.235 - - - - - - 14.83 14.46 13.36
15797 673.9 8.0 808 15810 done 0.77 - - 3182 - 2.33 0.042 1681 -580.3 170.1 - - 2087 - - - - - - - - 14.55 14.47 14.58
16154 644.8 8.3 816 16167 roll 0.77 - - 3192 - 2.42 0.067 327 -559.5 170.1 - - 2086 - - - - - - - - 14.79 14.23 14.81
16195 641.2 8.8 821 16209 done 0.77 - - 3192 - 2.22 0.032 1671 605.4 170.1 - - 2086 - - - - - - - - 14.54 14.48 14.57
16559 609.9 8.6 830 16572 roll 0.77 - - 3198 - 2.38 0.047 3044 576.9 170.1 - - 2087 - - - - - - - - 14.83 14.33 14.85
16635 603.2 8.7 840 16648 done 0.77 - - 3197 - 2.35 0.043 1683 -579.1 170.1 - - 2086 - - - - - - - - 14.47 14.38 14.51
16966 576.0 8.2 851 16979 roll 0.77 - - 3211 - 2.45 0.067 319 -556.7 170.1 - - 2089 - - - - - - - - 14.80 14.28 14.81
17048 568.7 8.8 862 17063 done 0.77 0.15 0.239 3180 -206.7 2.25 0.031 1692 610.2 170.1 - - 2087 - - - - - - - - 14.00 14.46 14.30
17372 545.5 7.2 872 17400 roll 0.79 - - 3180 - 2.33 0.050 3034 576.0 183.2 13.62 1.699 2038 -3.6 0.221 - - - - - - 14.83 14.44 13.41
17421 541.6 7.6 879 17435 done 0.79 - - 3186 - 2.33 0.043 1675 -583.3 187.7 - - 2034 - - - - - - - - 14.59 14.51 14.62
17765 513.8 8.2 886 17778 roll 0.79 - - 3196 - 2.40 0.066 324 -562.9 187.7 - - 2033 - - - - - - - - 14.78 14.31 14.81
17807 510.3 8.1 891 17820 done 0.79 - - 3196 - 2.22 0.031 1676 609.0 187.7 - - 2034 - - - - - - - - 14.54 14.48 14.56
18171 480.6 8.1 900 18184 roll 0.79 - - 3197 - 2.35 0.048 3047 583.4 187.7 - - 2033 - - - - - - - - 14.83 14.34 14.85
18233 475.5 8.2 908 18246 done 0.79 - - 3204 - 2.35 0.041 1671 -585.5 187.7 - - 2033 - - - - - - - - 14.48 14.39 14.51
18577 447.9 8.1 921 18590 roll 0.79 - - 3215 - 2.40 0.066 323 -561.7 187.7 - - 2033 - - - - - - - - 14.80 14.26 14.82
18617 444.2 8.8 926 18631 done 0.79 - - 3215 - 2.22 0.031 1682 612.2 187.7 - - 2033 - - - - - - - - 14.54 14.48 14.56
18982 411.7 9.1 935 18995 done 0.79 - - 3214 - - - 1683 - 187.7 - - 2033 - - - - - - - - 14.83 14.85 14.85
19317 380.6 9.2 941 19330 roll 0.79 - - 3215 - 2.35 0.047 3050 581.7 187.7 - - 2033 - - - - - - - - 14.85 14.30 14.86
19372 375.4 9.3 948 19386 done 0.79 0.17 0.246 3187 -164.7 2.38 0.041 1672 -579.0 187.7 - - 2033 - - - - - - - - 13.92 14.35 14.20
19717 349.0 7.6 955 19734 roll 0.80 - - 3195 - 2.35 0.066 325 -573.2 192.5 3.92 1.042 2007 -6.6 0.426 - - - - - - 14.81 14.45 13.38
19777 344.1 8.3 963 19790 done 0.80 - - 3195 - 2.22 0.031 1689 614.4 192.5 - - 2011 - - - - - - - - 14.62 14.57 14.64
20119 316.8 8.0 976 20132 roll 0.80 - - 3195 - 2.33 0.047 3050 584.1 192.5 - - 2011 - - - - - - - - 14.81 14.36 14.83
20203 309.8 8.5 987 20216 done 0.80 - - 3203 - 2.35 0.040 1682 -582.1 192.5 - - 2009 - - - - - - - - 14.47 14.38 14.51
20524 283.8 8.0 997 20538 roll 0.80 - - 3213 - 2.42 0.066 322 -562.0 192.5 - - 2012 - - - - - - - - 14.85 14.22 14.90
20594 278.1 8.5 1006 20608 done 0.80 - - 3213 - 2.25 0.030 1687 606.7 192.5 - - 2012 - - - - - - - - 14.49 14.43 14.51
20930 250.5 8.2 1018 20943 roll 0.80 - - 3212 - 2.33 0.045 3045 582.8 192.5 - - 2011 - - - - - - - - 14.81 14.31 14.83
21014 243.8 7.8 1029 21027 done 0.80 0.15 0.241 3191 -140.0 2.38 0.039 1669 -578.2 192.7 - - 2011 - - - - - - - - 13.90 14.25 14.19
21336 222.0 6.8 1039 21374 roll 0.82 - - 3198 - 2.40 0.065 324 -560.4 211.5 26.60 1.285 1924 -3.3 0.108 - - - - - - 14.85 14.47 13.61
21401 216.8 8.0 1048 21415 done 0.82 - - 3200 - 2.20 0.031 1678 615.5 211.5 - - 1917 - - - - - - - - 14.58 14.52 14.60
21731 189.9 8.2 1059 21745 roll 0.82 - - 3198 - 2.33 0.044 3047 587.6 211.5 - - 1915 - - - - - - - - 14.76 14.36 14.78
21765 186.8 8.7 1063 21778 done 0.82 - - 3206 - 2.33 0.039 1682 -585.8 211.5 - - 1915 - - - - - - - - 14.48 14.40 14.52
22137 155.3 8.3 1073 22150 roll 0.82 - - 3217 - 2.42 0.065 322 -562.0 211.5 - - 1915 - - - - - - - - 14.83 14.27 14.84
22200 149.8 8.7 1081 22214 done 0.82 - - 3217 - 2.22 0.029 1683 613.1 211.5 - - 1915 - - - - - - - - 14.52 14.47 14.57
22543 120.8 8.3 1094 22556 roll 0.82 - - 3217 - 2.33 0.044 3051 587.1 211.5 - - 1915 - - - - - - - - 14.81 14.35 14.83
22620 115.2 7.2 1104 22643 done 0.84 - - 3224 - 2.35 0.038 1677 -584.7 224.5 8.32 0.320 1877 -4.6 0.315 - - - - - - 14.46 14.38 13.83
22975 87.5 8.7 1118 22993 roll 0.84 - - 3235 - 2.42 0.063 325 -558.7 224.5 2.72 0.155 1877 - - - - - - - - 14.78 14.24 14.05
23049 80.0 9.7 1128 23063 done 0.84 0.15 0.226 3202 -220.0 2.22 0.028 1694 616.7 224.5 - - 1884 - - - - - - - - 14.02 14.46 14.26
23381 58.9 4.8 1141 23447 done 1.07 0.20 0.096 3283 405.0 - - 1700 - 281.8 55.62 0.278 1647 -4.3 0.173 - - - - - - 14.36 14.47 14.14
23747 45.6 1.8 1160 23858 roll 1.34 0.20 0.096 3375 460.0 2.47 0.064 323 -557.5 394.1 98.15 0.243 1189 -4.7 0.168 - - - - - - 14.38 14.41 14.12
23919 34.6 8.5 1184 23936 done 1.34 - - 3374 - 2.20 0.029 1670 612.3 394.1 2.42 0.150 1186 -1.2 0.055 - - - - - - 14.45 14.40 14.13
24261 2.1 9.9 1199 24274 roll 1.34 - - 3375 - 2.33 0.043 3048 591.4 394.1 - - 1193 - - - - - - - - 14.74 14.35 14.77
24277 end climb: SURFACE_DEPTH_REACHED
24277 begin surface coast
24284 end surface coast: CONTROL_FINISHED_OK
24284 begin surface
SM 1.08 - - - - -8.61 9.50 0.060 162 17.1 2.20 0.037 1770 686.4 515.13 74.00 0.122 693 9.4 -0.008 - - - - - -