SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 521 * Raw log
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• Previous call tries 1 • 196.89 of 350.00 AH used of 24V (43.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.0 deg, depth 1.01 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 15 s • Transponder ping count: 1
• 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
24 - - - 111 VBD -0.84 - - 151 - - - 1675 - -116.8 -83.75 - 3258 - - - - - - - - 14.66 - 14.69
115 5.6 -7.9 3 138 roll -0.84 13.05 0.402 2660 192.3 2.53 2.013 365 -517.8 -116.8 -0.15 - 3270 -80.0 - - - - - - - 13.95 13.09 14.41
363 61.8 -10.9 39 369 done -0.57 0.38 0.268 2737 202.6 2.28 0.031 1745 605.3 -116.8 - - 3272 - - - - - - - - 13.99 14.48 14.29
699 91.0 -7.9 54 701 done -0.57 - - 2740 - - - 1746 - -116.8 - - 3274 - - - - - - - - 14.78 14.81 14.80
1008 117.1 -9.2 62 1014 roll -0.57 - - 2731 - 2.40 0.051 3162 590.0 -116.8 - - 3273 - - - - - - - - 14.79 14.39 14.82
1098 125.8 -9.3 75 1104 done -0.57 - - 2731 - 2.33 0.036 1761 -601.3 -116.8 - - 3273 - - - - - - - - 14.54 14.45 14.55
1455 157.1 -8.8 84 1462 roll -0.57 - - 2731 - 2.42 0.059 370 -574.8 -116.8 - - 3271 - - - - - - - - 14.79 14.38 14.81
1554 166.1 -9.2 98 1560 done -0.57 - - 2722 - 2.33 0.031 1770 600.9 -116.8 - - 3270 - - - - - - - - 14.54 14.47 14.56
1904 198.2 -9.1 106 1910 roll -0.57 - - 2711 - 2.38 0.050 3167 587.0 -116.8 - - 3268 - - - - - - - - 14.79 14.37 14.81
2029 209.7 -9.0 124 2036 done -0.57 0.15 0.236 2743 213.3 2.33 0.037 1773 -598.3 -116.8 - - 3267 - - - - - - - - 14.05 14.42 14.30
2353 237.7 -8.8 135 2359 roll -0.57 - - 2743 - 2.45 0.060 380 -568.6 -116.8 - - 3264 - - - - - - - - 14.80 14.31 14.82
2449 247.1 -9.6 149 2457 done -0.57 - - 2737 - 2.35 0.032 1780 595.7 -116.8 - - 3266 - - - - - - - - 14.51 14.45 14.53
2802 278.3 -8.8 157 2815 roll -0.57 - - 2726 - 2.38 0.052 3167 582.8 -116.8 - - 3260 - - - - - - - - 14.86 14.42 14.88
2871 284.4 -8.6 166 2884 done -0.57 - - 2726 - 2.33 0.038 1778 -596.1 -116.8 - - 3260 - - - - - - - - 14.55 14.47 14.59
3208 313.5 -8.8 178 3221 roll -0.57 - - 2726 - 2.45 0.060 378 -571.4 -116.8 - - 3258 - - - - - - - - 14.90 14.37 14.91
3334 325.8 -9.7 195 3347 done -0.57 - - 2717 - 2.33 0.033 1774 599.1 -116.8 - - 3257 - - - - - - - - 14.58 14.52 14.60
3669 357.6 -9.5 207 3683 roll -0.57 0.12 0.275 2739 183.3 2.38 0.051 3163 583.6 -116.8 - - 3253 - - - - - - - - 14.09 14.32 14.21
3746 364.0 -8.2 217 3759 done -0.57 - - 2739 - 2.35 0.038 1767 -594.0 -116.8 - - 3255 - - - - - - - - 14.53 14.45 14.56
4075 393.3 -9.0 228 4088 roll -0.57 - - 2739 - 2.45 0.060 372 -569.4 -116.8 - - 3253 - - - - - - - - 14.90 14.36 14.90
4137 399.4 -10.0 236 4150 done -0.57 - - 2729 - 2.35 0.033 1772 595.7 -116.8 - - 3252 - - - - - - - - 14.57 14.51 14.59
4481 431.4 -9.3 249 4494 roll -0.57 - - 2719 - 2.40 0.054 3167 581.2 -116.8 - - 3251 - - - - - - - - 14.90 14.37 14.92
4535 436.5 -9.0 256 4549 done -0.57 - - 2718 - 2.38 0.038 1767 -588.2 -116.8 - - 3250 - - - - - - - - 14.52 14.43 14.52
4881 467.5 -9.0 263 4894 roll -0.57 - - 2719 - 2.45 0.060 376 -567.8 -116.8 - - 3249 - - - - - - - - 14.85 14.34 14.88
4935 473.0 -9.6 270 4950 done -0.57 0.15 0.262 2740 140.0 2.38 0.034 1786 592.4 -116.8 - - 3248 - - - - - - - - 13.97 14.48 14.24
5280 501.0 -8.2 277 5293 roll -0.57 - - 2733 - 2.38 0.054 3159 576.9 -116.8 - - 3247 - - - - - - - - 14.90 14.33 14.92
5322 504.5 -8.7 282 5335 done -0.57 - - 2733 - 2.35 0.037 1769 -591.5 -116.8 - - 3246 - - - - - - - - 14.50 14.42 14.53
5687 536.7 -8.8 291 5700 roll -0.57 - - 2733 - 2.47 0.062 372 -565.6 -116.8 - - 3245 - - - - - - - - 14.87 14.31 14.88
5798 547.2 -9.4 306 5812 done -0.57 - - 2724 - 2.38 0.034 1772 588.2 -116.8 - - 3242 - - - - - - - - 14.52 14.45 14.54
6143 577.8 -8.9 313 6156 roll -0.57 - - 2714 - 2.42 0.053 3167 576.4 -116.8 - - 3243 - - - - - - - - 14.85 14.31 14.88
6225 585.1 -8.6 324 6239 done -0.57 0.15 0.240 2746 213.3 2.35 0.037 1773 -593.2 -116.8 - - 3243 - - - - - - - - 13.97 14.40 14.26
6549 609.1 -7.4 334 6562 roll -0.57 - - 2745 - 2.47 0.061 379 -564.4 -116.8 - - 3242 - - - - - - - - 14.88 14.26 14.90
6673 619.3 -8.0 351 6686 done -0.57 - - 2739 - 2.35 0.034 1782 597.0 -116.8 - - 3242 - - - - - - - - 14.52 14.45 14.54
7010 645.4 -7.9 363 7023 roll -0.57 - - 2728 - 2.38 0.054 3156 577.3 -116.8 - - 3240 - - - - - - - - 14.84 14.28 14.86
7093 652.2 -8.0 374 7106 done -0.57 - - 2729 - 2.38 0.038 1770 -582.4 -116.8 - - 3240 - - - - - - - - 14.43 14.35 14.47
7414 678.0 -8.0 384 7427 roll -0.57 - - 2728 - 2.47 0.062 381 -562.3 -116.8 - - 3237 - - - - - - - - 14.88 14.22 14.90
7540 688.6 -8.4 401 7553 done -0.57 - - 2719 - 2.35 0.033 1780 595.3 -116.8 - - 3237 - - - - - - - - 14.50 14.43 14.51
7876 714.8 -7.8 413 7889 roll -0.57 - - 2710 - 2.40 0.055 3157 573.8 -116.8 - - 3236 - - - - - - - - 14.84 14.26 14.85
7960 721.2 -7.5 424 7973 done -0.57 0.15 0.243 2741 206.7 2.38 0.038 1772 -581.9 -116.8 - - 3236 - - - - - - - - 13.88 14.33 14.14
8282 742.3 -6.4 434 8295 roll -0.66 - - 2741 - 2.53 0.062 374 -552.6 -116.8 - - 3232 - - - - - - - - 14.83 14.17 14.84
8380 749.3 -7.9 447 8393 done -0.66 - - 2735 - 2.38 0.034 1778 589.9 -116.8 - - 3235 - - - - - - - - 14.47 14.41 14.50
8744 774.6 -6.9 456 8757 roll -0.66 - - 2724 - 2.42 0.055 3163 572.3 -116.8 - - 3233 - - - - - - - - 14.86 14.20 14.88
8834 781.2 -7.3 468 8847 done -0.75 0.12 0.130 2676 -400.0 2.40 0.037 1767 -581.7 -116.8 - - 3233 - - - - - - - - 14.23 14.30 14.33
9206 816.5 -9.8 478 9219 roll -0.75 - - 2676 - 2.50 0.063 379 -555.2 -116.8 - - 3229 - - - - - - - - 14.85 14.14 14.88
9317 828.5 -10.5 493 9331 done -0.75 - - 2669 - 2.40 0.034 1778 582.9 -116.8 - - 3232 - - - - - - - - 14.40 14.34 14.43
9662 862.5 -9.8 500 9675 roll -0.75 - - 2656 - 2.42 0.056 3160 571.1 -116.8 - - 3231 - - - - - - - - 14.85 14.15 14.87
9731 869.6 -10.0 509 9745 done -0.75 0.12 0.277 2679 191.7 2.38 0.039 1776 -581.5 -116.8 - - 3231 - - - - - - - - 13.78 14.26 14.04
10068 900.0 -9.0 521 10081 roll -0.75 - - 2684 - 2.53 0.063 375 -553.8 -116.8 - - 3230 - - - - - - - - 14.81 14.13 14.82
10131 906.0 -9.5 529 10144 done -0.75 - - 2672 - 2.40 0.035 1777 584.2 -116.8 - - 3231 - - - - - - - - 14.38 14.31 14.41
10474 937.0 -9.1 542 10487 roll -0.75 - - 2662 - 2.45 0.056 3166 566.9 -116.8 - - 3230 - - - - - - - - 14.85 14.13 14.88
10551 944.3 -9.4 552 10564 done -0.75 - - 2662 - 2.42 0.040 1770 -576.9 -116.8 - - 3229 - - - - - - - - 14.32 14.22 14.35
10879 976.8 -10.0 563 10892 roll -0.75 - - 2662 - 2.53 0.063 374 -551.8 -116.8 - - 3229 - - - - - - - - 14.80 14.10 14.81
10970 986.5 -10.7 575 10984 done -0.66 0.28 0.263 2712 178.6 2.42 0.036 1772 577.7 -116.8 - - 3229 - - - - - - - - 13.57 14.28 13.92
11057 end dive: TARGET_DEPTH_EXCEEDED
11057 begin apogee
11066 994.2 -7.2 580 11198 done -0.21 0.57 0.228 2856 252.6 - - 1649 - - 122.70 2.213 2792 -3.6 0.306 - - - - - - 13.69 13.93 12.81
11201 end apogee: CONTROL_FINISHED_OK
11201 begin climb
11205 999.2 - 582 11351 roll 0.84 1.15 0.155 3201 300.0 2.47 0.063 343 -528.7 116.8 126.32 2.178 2308 -3.8 0.337 - - - - - - 13.95 13.87 12.81
11378 991.9 9.2 610 11392 done 0.84 - - 3201 - 2.30 0.030 1706 592.6 116.8 - - 2298 - - - - - - - - 14.25 14.21 14.26
11750 962.8 8.0 620 11763 roll 0.84 - - 3200 - 2.33 0.048 3056 579.4 116.8 - - 2293 - - - - - - - - 14.76 14.40 14.78
11840 955.4 8.2 632 11853 done 0.84 - - 3209 - 2.30 0.038 1699 -590.0 116.8 - - 2291 - - - - - - - - 14.53 14.45 14.56
12210 925.5 8.1 642 12223 roll 0.84 - - 3220 - 2.47 0.064 320 -558.3 116.8 - - 2291 - - - - - - - - 14.83 14.35 14.85
12274 920.0 9.1 650 12288 done 0.74 0.20 0.249 3176 -220.0 2.25 0.031 1702 614.2 116.8 - - 2291 - - - - - - - - 14.00 14.50 14.33
12620 894.5 7.4 663 12634 roll 0.75 - - 3176 - 2.35 0.047 3031 565.5 125.5 1.62 0.170 2276 -9.3 9.329 - - - - - - 14.79 14.39 14.16
12718 886.3 8.3 676 12732 done 0.75 - - 3182 - 2.33 0.041 1679 -580.3 125.5 - - 2277 - - - - - - - - 14.50 14.41 14.53
13082 855.7 8.5 685 13095 roll 0.75 - - 3193 - 2.42 0.064 316 -563.2 125.5 - - 2277 - - - - - - - - 14.82 14.28 14.84
13146 850.5 9.3 693 13160 done 0.75 - - 3193 - 2.22 0.031 1658 604.5 125.5 - - 2277 - - - - - - - - 14.54 14.49 14.59
13489 820.9 8.5 706 13502 roll 0.75 - - 3192 - 2.40 0.047 3054 581.7 125.5 - - 2276 - - - - - - - - 14.82 14.33 14.83
13622 809.4 9.4 724 13635 done 0.75 - - 3202 - 2.35 0.039 1678 -585.5 125.5 - - 2277 - - - - - - - - 14.45 14.36 14.48
13950 783.9 7.8 735 13964 roll 0.76 - - 3212 - 2.42 0.064 320 -561.2 127.3 - - 2277 - - - - - - - - 14.81 14.23 14.83
14026 777.6 8.3 745 14040 done 0.76 0.17 0.252 3175 -217.6 2.28 0.031 1708 608.8 127.3 - - 2276 - - - - - - - - 13.89 14.45 14.18
14356 756.3 6.4 756 14406 roll 0.79 - - 3176 - 2.35 0.048 3034 564.3 155.0 37.90 1.933 2154 -3.2 0.241 - - - - - - 14.80 14.33 13.27
14493 746.6 7.4 775 14510 done 0.80 - - 3182 - 2.33 0.041 1678 -582.0 163.5 2.62 0.734 2123 -11.8 2.305 - - - - - - 14.45 14.38 12.95
14868 717.9 7.7 786 14885 roll 0.81 - - 3192 - 2.40 0.066 320 -565.8 167.2 3.20 1.042 2111 -3.8 0.495 - - - - - - 14.74 14.40 13.17
14927 713.0 8.6 794 14940 done 0.81 - - 3192 - 2.22 0.031 1660 603.6 167.2 - - 2116 - - - - - - - - 14.56 14.50 14.58
15271 684.3 8.3 807 15284 roll 0.81 - - 3192 - 2.40 0.047 3053 580.4 167.2 - - 2116 - - - - - - - - 14.81 14.34 14.82
15361 676.3 8.8 819 15374 done 0.81 - - 3201 - 2.38 0.044 1681 -576.5 167.2 - - 2116 - - - - - - - - 14.47 14.38 14.50
15732 645.4 8.2 829 15746 roll 0.81 - - 3211 - 2.42 0.064 324 -560.7 167.2 - - 2116 - - - - - - - - 14.81 14.29 14.84
15787 640.5 8.9 836 15801 done 0.81 - - 3211 - 2.28 0.031 1686 597.4 167.2 - - 2116 - - - - - - - - 14.50 14.43 14.51
16131 611.8 8.2 843 16144 roll 0.81 - - 3212 - 2.38 0.047 3053 574.4 167.2 - - 2116 - - - - - - - - 14.81 14.29 14.83
16251 601.6 8.6 859 16264 done 0.81 0.15 0.265 3191 -140.0 2.35 0.039 1677 -585.5 167.2 - - 2116 - - - - - - - - 13.89 14.35 14.21
16597 575.2 7.7 872 16614 roll 0.81 - - 3199 - 2.38 0.063 326 -567.6 170.6 4.18 1.269 2096 -4.8 0.415 - - - - - - 14.77 14.16 13.31
16650 570.7 8.3 879 16664 done 0.81 - - 3199 - 2.25 0.031 1686 604.4 170.6 - - 2101 - - - - - - - - 14.61 14.56 14.63
16993 541.0 8.8 886 17006 roll 0.81 - - 3199 - 2.33 0.047 3048 584.5 170.6 - - 2102 - - - - - - - - 14.83 14.34 14.85
17056 535.1 9.3 894 17069 done 0.81 - - 3207 - 2.33 0.038 1685 -585.0 170.6 - - 2102 - - - - - - - - 14.48 14.40 14.51
17399 504.2 9.0 907 17413 roll 0.81 - - 3218 - 2.42 0.063 321 -563.6 170.6 - - 2102 - - - - - - - - 14.80 14.25 14.81
17454 499.0 9.3 914 17468 done 0.81 - - 3218 - 2.28 0.030 1682 596.9 170.6 - - 2102 - - - - - - - - 14.40 14.35 14.43
17798 469.8 8.3 921 17812 roll 0.81 - - 3218 - 2.38 0.047 3054 576.5 170.6 - - 2102 - - - - - - - - 14.83 14.26 14.85
17903 461.1 8.1 935 17917 done 0.81 0.15 0.263 3198 -133.3 2.38 0.040 1672 -580.7 170.6 - - 2102 - - - - - - - - 13.88 14.33 14.16
18260 436.3 6.9 943 18304 roll 0.83 - - 3205 - 2.38 0.063 323 -566.8 188.9 31.33 1.490 2018 -2.7 0.150 - - - - - - 14.83 14.14 13.49
18340 430.8 7.8 954 18353 done 0.83 - - 3205 - 2.25 0.031 1688 606.7 190.9 - - 2011 - - - - - - - - 14.53 14.47 14.54
18661 405.4 8.0 964 18674 roll 0.83 - - 3206 - 2.35 0.047 3057 582.6 190.9 - - 2011 - - - - - - - - 14.74 14.35 14.76
18689 403.1 8.2 967 18702 done 0.83 - - 3214 - 2.35 0.039 1679 -586.4 190.9 - - 2009 - - - - - - - - 14.48 14.40 14.51
19011 376.3 8.3 977 19024 roll 0.83 - - 3215 - 2.38 0.047 3052 576.9 190.9 - - 2009 - - - - - - - - 14.78 14.34 14.80
19051 372.9 8.4 982 19065 done 0.83 - - 3223 - 2.35 0.040 1678 -584.7 190.9 - - 2010 - - - - - - - - 14.47 14.39 14.50
19416 342.3 8.6 991 19429 done 0.83 - - 3223 - - - 1677 - 190.9 - - 2010 - - - - - - - - 14.81 14.83 14.83
19751 313.1 8.7 997 19764 roll 0.83 - - 3223 - 2.38 0.047 3047 575.6 190.9 - - 2010 - - - - - - - - 14.83 14.28 14.85
19855 303.4 9.3 1011 19868 done 0.83 0.15 0.260 3202 -140.0 2.35 0.037 1674 -584.3 190.9 - - 2010 - - - - - - - - 13.91 14.37 14.19
20213 272.0 8.9 1019 20226 roll 0.83 - - 3202 - 2.38 0.046 3044 575.6 190.9 - - 2010 - - - - - - - - 14.83 14.29 14.85
20296 264.7 8.4 1030 20309 done 0.83 - - 3208 - 2.33 0.037 1677 -586.7 190.9 - - 2009 - - - - - - - - 14.43 14.35 14.47
20619 239.4 7.9 1040 20632 done 0.83 - - 3208 - - - 1676 - 190.9 - - 2010 - - - - - - - - 14.79 14.81 14.81
20953 212.1 8.1 1046 20966 roll 0.83 - - 3209 - 2.38 0.044 3047 576.1 190.9 - - 2014 - - - - - - - - 14.81 14.19 14.83
20987 209.1 8.7 1050 21000 done 0.83 - - 3213 - 2.33 0.039 1684 -585.0 190.9 - - 2010 - - - - - - - - 14.45 14.36 14.48
21359 175.1 9.2 1060 21372 done 0.83 - - 3217 - - - 1689 - 190.9 - - 2010 - - - - - - - - 14.83 14.85 14.85
21694 144.9 9.0 1066 21707 roll 0.83 - - 3217 - 2.38 0.044 3057 574.8 190.9 - - 2010 - - - - - - - - 14.81 14.18 14.87
21756 139.2 8.9 1074 21769 done 0.83 - - 3226 - 2.38 0.038 1672 -581.9 190.9 - - 2010 - - - - - - - - 14.40 14.32 14.44
22100 112.4 7.5 1087 22117 roll 0.84 - - 3237 - 2.40 0.061 325 -561.2 197.6 4.25 0.173 1991 -4.5 0.556 - - - - - - 14.79 13.90 13.64
22144 108.5 8.5 1093 22163 done 0.84 0.15 0.233 3205 -213.3 2.22 0.028 1699 618.9 197.6 3.08 0.158 1988 -1.0 0.128 - - - - - - 13.97 14.45 13.93
22472 85.1 7.5 1104 22499 roll 0.85 - - 3204 - 2.30 0.044 3032 579.6 204.8 10.68 0.288 1959 -2.7 0.154 - - - - - - 14.73 14.36 13.89
22557 78.1 7.6 1116 22579 done 0.86 - - 3211 - 2.30 0.039 1678 -588.7 209.2 8.32 0.269 1949 -1.2 0.067 - - - - - - 14.48 14.39 13.92
22899 54.9 5.9 1131 22954 roll 0.99 0.12 0.128 3278 558.3 2.42 0.063 326 -558.7 245.5 37.42 0.261 1797 -4.1 0.164 - - - - - - 14.39 14.42 14.12
22999 45.4 10.4 1145 23012 done 0.99 - - 3278 - 2.20 0.028 1672 611.8 245.5 - - 1801 - - - - - - - - 14.47 14.40 14.49
23329 31.6 0.6 1158 23450 done 1.29 0.17 0.104 3353 441.2 - - 1681 - 380.0 110.50 0.203 1242 -5.1 0.151 - - - - - - 14.35 14.38 14.13
23716 end climb: SURFACE_DEPTH_REACHED
23716 begin surface coast
23744 end surface coast: CONTROL_FINISHED_OK
23744 begin surface
SM 1.03 - - - - -8.61 9.57 0.071 159 16.6 0.08 0.141 1753 -114562.5 515.13 82.40 0.123 692 8.4 -0.007 - - - - - -