SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 520 * Raw log
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• Previous call tries 1 • 196.51 of 350.00 AH used of 24V (43.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.06 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: 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
28 end surface: CONTROL_FINISHED_OK
28 begin dive
32 - - - 119 VBD -0.84 - - 151 - - - 1798 - -116.8 -83.80 - 3226 - - - - - - - - 14.66 - 14.69
123 5.0 -6.8 3 146 roll -0.84 13.20 0.405 2660 190.1 2.80 2.021 370 -510.0 -116.8 -0.62 - 3272 -74.2 - - - - - - - 13.96 13.09 14.39
276 52.1 -23.1 25 284 done -0.48 0.47 0.269 2765 223.4 2.25 0.034 1730 604.4 -116.8 - - 3272 - - - - - - - - 14.00 14.47 14.30
599 78.9 -8.2 38 605 roll -0.48 - - 2764 - 2.38 0.056 366 -573.1 -116.8 - - 3273 - - - - - - - - 14.76 14.38 14.81
675 86.2 -9.7 49 684 done -0.48 - - 2758 - 2.38 0.030 1788 597.5 -116.8 - - 3273 - - - - - - - - 14.54 14.48 14.56
1020 114.4 -8.3 59 1026 roll -0.48 - - 2747 - 2.33 0.053 3162 589.7 -116.8 - - 3273 - - - - - - - - 14.80 14.40 14.81
1132 123.1 -8.1 75 1138 done -0.48 - - 2747 - 2.33 0.037 1762 -600.9 -116.8 - - 3272 - - - - - - - - 14.54 14.47 14.57
1469 153.1 -8.9 88 1476 roll -0.48 - - 2747 - 2.40 0.057 379 -576.2 -116.8 - - 3272 - - - - - - - - 14.78 14.38 14.81
1531 159.2 -9.6 97 1539 done -0.48 0.15 0.245 2770 153.3 2.33 0.031 1779 600.9 -116.8 - - 3272 - - - - - - - - 14.09 14.49 14.33
1862 185.2 -7.8 109 1868 roll -0.58 - - 2768 - 2.35 0.052 3158 586.8 -116.8 - - 3270 - - - - - - - - 14.81 14.37 14.83
1904 188.2 -6.9 115 1911 done -0.69 0.17 0.104 2690 -458.8 2.33 0.037 1776 -593.1 -116.8 - - 3268 - - - - - - - - 14.40 14.44 14.50
2254 221.5 -9.5 123 2261 roll -0.69 - - 2690 - 2.45 0.059 378 -570.6 -116.8 - - 3266 - - - - - - - - 14.80 14.32 14.82
2331 229.8 -10.9 134 2337 done -0.59 0.25 0.249 2738 192.0 2.33 0.032 1774 599.1 -116.8 - - 3265 - - - - - - - - 13.97 14.48 14.26
2648 257.6 -8.9 144 2661 roll -0.59 - - 2730 - 2.38 0.052 3167 585.3 -116.8 - - 3263 - - - - - - - - 14.85 14.43 14.88
2723 264.6 -8.6 154 2737 done -0.59 - - 2730 - 2.33 0.037 1777 -596.6 -116.8 - - 3263 - - - - - - - - 14.56 14.48 14.59
3053 292.8 -8.6 165 3066 roll -0.59 - - 2730 - 2.45 0.060 376 -571.8 -116.8 - - 3260 - - - - - - - - 14.90 14.39 14.92
3164 303.2 -9.1 180 3178 done -0.59 - - 2721 - 2.35 0.032 1776 595.7 -116.8 - - 3259 - - - - - - - - 14.52 14.45 14.54
3508 332.1 -8.4 187 3521 roll -0.59 - - 2710 - 2.38 0.054 3161 581.9 -116.8 - - 3257 - - - - - - - - 14.92 14.41 14.94
3605 340.6 -8.8 200 3619 done -0.59 0.12 0.246 2736 216.7 2.35 0.037 1762 -595.3 -116.8 - - 3257 - - - - - - - - 14.11 14.47 14.35
3969 371.8 -8.7 209 3983 roll -0.59 - - 2736 - 2.42 0.060 380 -571.1 -116.8 - - 3255 - - - - - - - - 14.91 14.36 14.93
4039 378.5 -9.7 218 4052 done -0.59 - - 2729 - 2.33 0.033 1774 598.3 -116.8 - - 3254 - - - - - - - - 14.58 14.52 14.60
4375 410.3 -9.5 230 4388 roll -0.59 - - 2718 - 2.38 0.054 3161 582.8 -116.8 - - 3252 - - - - - - - - 14.88 14.40 14.90
4466 418.2 -8.6 242 4479 done -0.59 - - 2717 - 2.35 0.038 1778 -588.5 -116.8 - - 3248 - - - - - - - - 14.53 14.45 14.56
4836 448.9 -8.1 252 4849 roll -0.59 - - 2718 - 2.50 0.061 372 -562.4 -116.8 - - 3249 - - - - - - - - 14.88 14.33 14.90
4926 456.2 -8.1 264 4939 done -0.59 0.12 0.268 2733 125.0 2.35 0.034 1772 595.7 -116.8 - - 3249 - - - - - - - - 14.06 14.52 14.31
5298 482.5 -7.3 274 5311 roll -0.59 - - 2725 - 2.40 0.054 3165 580.4 -116.8 - - 3248 - - - - - - - - 14.89 14.35 14.90
5396 490.5 -8.0 287 5409 done -0.59 - - 2725 - 2.35 0.038 1776 -591.1 -116.8 - - 3248 - - - - - - - - 14.50 14.43 14.54
5760 521.2 -8.6 296 5774 roll -0.59 - - 2725 - 2.47 0.062 378 -566.0 -116.8 - - 3246 - - - - - - - - 14.89 14.33 14.91
5879 531.9 -8.9 312 5892 done -0.59 - - 2716 - 2.35 0.034 1775 594.5 -116.8 - - 3245 - - - - - - - - 14.52 14.47 14.55
6221 559.8 -8.1 325 6234 roll -0.59 - - 2705 - 2.40 0.054 3165 579.2 -116.8 - - 3243 - - - - - - - - 14.90 14.32 14.91
6298 565.8 -7.9 335 6311 done -0.59 0.15 0.243 2736 206.7 2.38 0.037 1771 -585.7 -116.8 - - 3244 - - - - - - - - 13.96 14.40 14.21
6627 589.2 -7.1 346 6640 roll -0.59 - - 2737 - 2.47 0.061 376 -564.8 -116.8 - - 3242 - - - - - - - - 14.86 14.28 14.88
6725 596.8 -7.8 359 6739 done -0.59 - - 2730 - 2.35 0.034 1781 597.9 -116.8 - - 3243 - - - - - - - - 14.38 14.36 14.42
7089 624.4 -7.6 368 7103 roll -0.59 - - 2719 - 2.40 0.054 3165 576.7 -116.8 - - 3241 - - - - - - - - 14.85 14.31 14.88
7153 629.3 -7.8 376 7167 done -0.59 - - 2720 - 2.35 0.037 1778 -590.2 -116.8 - - 3240 - - - - - - - - 14.45 14.37 14.48
7496 657.4 -8.3 389 7509 roll -0.59 - - 2718 - 2.50 0.062 375 -561.2 -116.8 - - 3239 - - - - - - - - 14.88 14.23 14.90
7571 664.1 -8.9 399 7584 done -0.59 - - 2711 - 2.38 0.034 1778 589.5 -116.8 - - 3238 - - - - - - - - 14.47 14.41 14.50
7901 692.4 -8.6 410 7914 roll -0.59 - - 2700 - 2.40 0.054 3161 576.2 -116.8 - - 3237 - - - - - - - - 14.83 14.27 14.85
7991 700.2 -8.4 422 8004 done -0.59 0.15 0.243 2733 220.0 2.38 0.038 1770 -584.5 -116.8 - - 3237 - - - - - - - - 13.89 14.34 14.15
8363 727.1 -7.1 432 8376 roll -0.59 - - 2733 - 2.50 0.062 379 -556.4 -116.8 - - 3236 - - - - - - - - 14.83 14.19 14.85
8506 737.5 -7.3 451 8519 done -0.59 - - 2727 - 2.38 0.034 1778 587.8 -116.8 - - 3235 - - - - - - - - 14.45 14.39 14.47
8829 759.6 -6.8 461 8842 roll -0.59 - - 2717 - 2.42 0.055 3158 570.2 -116.8 - - 3234 - - - - - - - - 14.83 14.21 14.85
8912 765.4 -6.9 472 8925 done -0.59 - - 2717 - 2.38 0.038 1767 -584.5 -116.8 - - 3234 - - - - - - - - 14.39 14.31 14.42
9234 788.6 -7.3 482 9247 roll -0.59 - - 2717 - 2.50 0.062 373 -557.6 -116.8 - - 3233 - - - - - - - - 14.85 14.18 14.88
9318 795.3 -7.9 493 9331 done -0.59 0.10 0.288 2731 140.0 2.38 0.034 1773 588.2 -116.8 - - 3233 - - - - - - - - 13.87 14.36 14.12
9640 817.9 -7.1 503 9653 roll -0.59 - - 2723 - 2.42 0.054 3161 573.6 -116.8 - - 3232 - - - - - - - - 14.83 14.21 14.85
9724 824.1 -8.0 514 9737 done -0.68 - - 2723 - 2.40 0.038 1769 -580.0 -116.8 - - 3232 - - - - - - - - 14.26 14.18 14.30
10045 848.7 -7.6 524 10059 roll -0.68 - - 2723 - 2.50 0.063 375 -557.6 -116.8 - - 3232 - - - - - - - - 14.85 14.13 14.88
10100 853.9 -8.7 531 10114 done -0.68 - - 2714 - 2.40 0.035 1775 583.3 -116.8 - - 3231 - - - - - - - - 14.39 14.33 14.42
10446 881.4 -8.1 538 10459 roll -0.68 - - 2703 - 2.45 0.055 3165 567.3 -116.8 - - 3231 - - - - - - - - 14.79 14.15 14.81
10528 888.3 -8.0 549 10541 done -0.68 - - 2703 - 2.40 0.039 1772 -580.4 -116.8 - - 3231 - - - - - - - - 14.33 14.26 14.35
10851 914.2 -8.1 559 10864 roll -0.68 - - 2703 - 2.53 0.063 374 -552.6 -116.8 - - 3230 - - - - - - - - 14.83 14.10 14.85
10920 920.3 -8.6 568 10933 done -0.68 - - 2694 - 2.40 0.034 1779 585.4 -116.8 - - 3230 - - - - - - - - 14.38 14.31 14.40
11256 948.1 -8.3 580 11270 roll -0.68 - - 2683 - 2.42 0.056 3159 570.2 -116.8 - - 3229 - - - - - - - - 14.79 14.13 14.83
11347 955.5 -8.1 592 11361 done -0.68 - - 2683 - 2.40 0.039 1772 -577.9 -116.8 - - 3229 - - - - - - - - 14.31 14.22 14.34
11718 985.2 -8.0 602 11731 roll -0.68 - - 2683 - 2.55 0.063 372 -549.0 -116.8 - - 3228 - - - - - - - - 14.79 14.06 14.83
11769 end dive: TARGET_DEPTH_EXCEEDED
11769 begin apogee
11781 990.0 -8.8 609 11914 done -0.21 0.75 0.245 2856 230.7 - - 1685 - - 123.25 2.196 2792 -3.5 0.306 - - - - - - 13.63 13.93 12.81
11916 end apogee: CONTROL_FINISHED_OK
11916 begin climb
11919 994.3 - 611 12067 roll 0.84 1.15 0.157 3201 300.0 2.58 0.063 324 -527.5 116.8 125.93 2.161 2307 -3.9 0.340 - - - - - - 13.95 13.86 12.79
12073 986.6 10.1 637 12087 done 0.71 0.17 0.244 3163 -223.5 2.35 0.030 1713 591.1 116.8 - - 2301 - - - - - - - - 13.85 14.09 14.08
12403 963.6 6.9 648 12433 roll 0.73 - - 3162 - 2.35 0.050 3040 564.7 134.9 18.02 2.062 2237 -3.6 0.318 - - - - - - 14.73 14.38 13.26
12514 955.8 7.3 663 12532 done 0.74 - - 3170 - 2.35 0.041 1678 -579.6 145.0 4.15 1.412 2199 -9.2 1.189 - - - - - - 14.49 14.42 13.05
12862 930.6 7.2 677 12891 done 0.76 - - 3170 - - - 1677 - 157.6 20.67 2.051 2149 -2.4 0.211 - - - - - - 14.77 14.36 13.31
13199 905.3 7.6 683 13212 done 0.76 - - 3169 - - - 1677 - 162.4 - - 2135 - - - - - - - - 14.75 14.76 14.77
13534 879.2 7.8 689 13547 roll 0.76 - - 3170 - 2.35 0.047 3041 580.4 163.0 - - 2134 - - - - - - - - 14.78 14.42 14.82
13574 875.7 10.7 694 13587 done 0.76 - - 3177 - 2.33 0.041 1682 -583.3 163.0 - - 2133 - - - - - - - - 14.54 14.46 14.57
13939 847.3 7.7 703 13957 roll 0.77 - - 3188 - 2.45 0.066 312 -559.2 165.1 1.95 0.165 2116 -8.7 8.586 - - - - - - 14.83 14.29 14.15
13978 843.9 8.2 707 13991 done 0.77 - - 3188 - 2.25 0.031 1673 604.9 165.1 - - 2118 - - - - - - - - 14.57 14.50 14.58
14349 813.2 8.3 717 14362 roll 0.77 - - 3188 - 2.38 0.049 3052 579.4 165.1 - - 2119 - - - - - - - - 14.81 14.37 14.83
14460 803.5 8.6 732 14474 done 0.77 - - 3196 - 2.38 0.041 1676 -578.2 165.1 - - 2119 - - - - - - - - 14.48 14.39 14.51
14805 774.6 8.4 739 14818 roll 0.77 - - 3207 - 2.42 0.066 326 -557.9 165.1 - - 2119 - - - - - - - - 14.81 14.26 14.83
14860 769.5 9.2 746 14874 done 0.77 - - 3207 - 2.25 0.031 1678 600.9 165.1 - - 2119 - - - - - - - - 14.50 14.45 14.53
15204 738.8 9.0 753 15217 roll 0.77 - - 3211 - 2.38 0.047 3049 576.1 165.1 - - 2119 - - - - - - - - 14.85 14.31 14.88
15324 728.1 8.9 769 15337 done 0.77 0.17 0.265 3180 -182.4 2.35 0.040 1675 -584.7 165.1 - - 2119 - - - - - - - - 13.89 14.38 14.19
15667 702.5 7.4 782 15697 roll 0.78 - - 3188 - 2.40 0.067 319 -565.0 174.0 16.27 1.852 2076 -2.6 0.192 - - - - - - 14.81 14.45 13.43
15747 696.1 8.4 793 15760 done 0.78 - - 3188 - 2.25 0.031 1685 607.1 174.0 - - 2070 - - - - - - - - 14.57 14.52 14.61
16068 669.7 8.2 803 16081 roll 0.78 - - 3188 - 2.35 0.047 3047 579.6 174.0 - - 2069 - - - - - - - - 14.80 14.36 14.82
16158 661.8 8.8 815 16171 done 0.78 - - 3196 - 2.35 0.040 1675 -583.8 174.0 - - 2068 - - - - - - - - 14.48 14.40 14.53
16529 629.2 8.8 825 16543 roll 0.78 - - 3207 - 2.45 0.066 321 -552.7 174.0 - - 2068 - - - - - - - - 14.81 14.28 14.83
16556 626.6 8.8 828 16569 done 0.78 - - 3207 - 2.25 0.030 1684 605.8 174.0 - - 2068 - - - - - - - - 14.53 14.47 14.56
16880 597.3 9.1 838 16893 roll 0.78 - - 3207 - 2.35 0.046 3046 579.6 174.0 - - 2068 - - - - - - - - 14.80 14.33 14.82
16970 588.6 9.4 850 16983 done 0.78 0.15 0.257 3186 -140.0 2.35 0.041 1676 -583.0 174.0 - - 2068 - - - - - - - - 13.96 14.38 14.28
17340 558.2 8.1 860 17354 roll 0.78 - - 3193 - 2.45 0.066 326 -551.0 174.0 - - 2068 - - - - - - - - 14.84 14.22 14.86
17410 552.4 8.4 869 17423 done 0.78 - - 3194 - 2.25 0.031 1685 604.0 174.0 - - 2068 - - - - - - - - 14.50 14.44 14.52
17746 526.6 7.5 881 17759 roll 0.79 - - 3194 - 2.40 0.047 3047 567.5 179.9 1.83 0.165 2053 -8.2 5.017 - - - - - - 14.81 14.32 14.08
17815 521.2 7.7 890 17832 done 0.79 - - 3203 - 2.33 0.040 1684 -585.0 183.3 2.90 0.837 2044 -3.1 0.371 - - - - - - 14.43 14.35 13.26
18147 498.0 6.8 902 18191 roll 0.81 - - 3213 - 2.45 0.066 326 -554.3 202.1 29.05 1.626 1960 -2.9 0.170 - - - - - - 14.83 14.41 13.43
18234 491.6 8.2 914 18247 done 0.81 - - 3213 - 2.22 0.031 1677 608.6 202.1 - - 1954 - - - - - - - - 14.52 14.47 14.57
18604 460.0 8.8 924 18617 roll 0.81 - - 3213 - 2.38 0.048 3053 578.2 202.1 - - 1952 - - - - - - - - 14.78 14.33 14.80
18680 452.4 10.2 934 18693 done 0.81 0.12 0.260 3197 -133.3 2.35 0.041 1678 -585.1 202.1 - - 1952 - - - - - - - - 14.00 14.37 14.30
19010 421.7 9.4 945 19023 roll 0.81 - - 3205 - 2.42 0.066 327 -558.3 202.1 - - 1952 - - - - - - - - 14.77 14.26 14.79
19036 418.9 9.4 948 19049 done 0.81 - - 3205 - 2.25 0.030 1688 604.9 202.1 - - 1952 - - - - - - - - 14.52 14.50 14.55
19359 388.6 9.4 958 19372 done 0.81 - - 3205 - - - 1690 - 202.1 - - 1951 - - - - - - - - 14.78 14.80 14.80
19694 358.0 9.1 964 19707 roll 0.81 - - 3205 - 2.38 0.047 3048 570.6 202.1 - - 1950 - - - - - - - - 14.81 14.31 14.82
19748 352.9 9.4 971 19762 done 0.81 - - 3213 - 2.35 0.040 1681 -581.7 202.1 - - 1951 - - - - - - - - 14.43 14.34 14.47
20093 322.4 8.8 978 20107 roll 0.81 - - 3225 - 2.42 0.065 324 -560.7 202.1 - - 1952 - - - - - - - - 14.83 14.21 14.85
20141 318.0 9.2 984 20155 done 0.81 0.15 0.236 3193 -213.3 2.25 0.030 1698 610.7 202.1 - - 1952 - - - - - - - - 13.96 14.43 14.25
20498 292.3 7.1 992 20526 roll 0.83 - - 3193 - 2.33 0.049 3041 576.4 216.9 14.48 1.385 1901 -3.5 0.143 - - - - - - 14.80 14.47 13.52
20582 285.8 7.9 1003 20595 done 0.83 - - 3199 - 2.33 0.041 1675 -586.3 217.0 - - 1895 - - - - - - - - 14.55 14.47 14.59
20903 258.1 8.9 1013 20916 roll 0.83 - - 3209 - 2.42 0.065 321 -559.5 217.0 - - 1895 - - - - - - - - 14.81 14.26 14.83
20945 254.2 9.2 1018 20958 done 0.83 - - 3209 - 2.22 0.030 1674 609.5 217.0 - - 1895 - - - - - - - - 14.52 14.47 14.55
21308 223.1 8.1 1027 21322 roll 0.83 - - 3209 - 2.38 0.047 3050 578.2 217.0 - - 1895 - - - - - - - - 14.80 14.34 14.82
21405 215.6 7.7 1040 21418 done 0.84 - - 3217 - 2.35 0.041 1679 -583.4 220.5 - - 1895 - - - - - - - - 14.45 14.37 14.49
21770 187.7 7.9 1049 21783 roll 0.84 - - 3228 - 2.45 0.064 318 -555.5 220.5 - - 1895 - - - - - - - - 14.79 14.23 14.81
21796 185.1 8.6 1052 21810 done 0.84 - - 3228 - 2.25 0.031 1680 605.3 220.5 - - 1894 - - - - - - - - 14.52 14.45 14.54
22118 155.8 9.1 1062 22131 roll 0.84 - - 3228 - 2.35 0.045 3054 584.7 220.5 - - 1895 - - - - - - - - 14.80 14.32 14.82
22216 146.8 9.0 1075 22229 done 0.84 0.17 0.240 3199 -170.6 2.38 0.040 1678 -578.2 220.5 - - 1895 - - - - - - - - 13.92 14.35 14.19
22580 119.1 7.5 1084 22598 roll 0.84 - - 3206 - 2.40 0.062 324 -564.2 227.0 5.15 0.230 1867 -5.4 0.540 - - - - - - 14.81 13.95 13.62
22619 116.1 7.5 1089 22643 done 0.85 - - 3206 - 2.22 0.030 1685 613.1 234.5 10.68 0.379 1838 -2.7 0.160 - - - - - - 14.54 14.48 13.91
22952 90.8 6.8 1099 22987 roll 0.97 0.10 0.147 3252 460.0 2.38 0.044 3053 574.8 254.4 23.58 0.347 1756 -3.5 0.175 - - - - - - 14.43 14.50 14.04
23062 82.6 7.5 1114 23089 done 0.98 - - 3260 - 2.38 0.040 1674 -579.4 261.9 10.15 0.290 1730 -2.6 0.140 - - - - - - 14.49 14.40 13.93
23394 52.7 9.0 1129 23411 roll 0.98 - - 3270 - 2.45 0.063 323 -551.4 261.9 2.90 0.151 1729 - - - - - - - - 14.78 14.21 14.00
23565 40.0 5.2 1153 23625 done 1.04 - - 3269 - 2.25 0.028 1695 609.8 311.6 46.78 0.230 1520 -4.5 0.149 - - - - - - 14.51 14.46 14.09
23934 24.2 4.0 1172 24008 roll 1.33 0.25 0.088 3373 416.0 2.33 0.042 3034 574.7 382.8 57.70 0.184 1232 -5.0 0.126 - - - - - - 14.34 14.40 14.19
24056 15.0 8.6 1190 24069 done 1.33 - - 3382 - 2.30 0.040 1679 -589.1 382.8 - - 1236 - - - - - - - - 14.47 14.38 14.50
24213 end climb: SURFACE_DEPTH_REACHED
24213 begin surface coast
24241 end surface coast: CONTROL_FINISHED_OK
24241 begin surface
SM 1.08 - - - - -8.59 9.48 0.061 167 17.6 - - 1675 - 515.13 81.05 0.123 690 8.5 -0.008 - - - - - -