SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 525 * Raw log
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• Previous call tries 1 • 198.41 of 350.00 AH used of 24V (43.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth 1.12 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 12 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 done -0.84 - - 154 - - - 1806 - -116.8 -83.55 - 3270 - - - - - - - - 14.66 12.74 14.65
123 6.0 -8.6 3 146 roll -0.84 12.77 0.392 2661 196.3 2.50 0.048 363 -577.2 -116.8 - - 3272 - - - - - - - - 13.97 14.46 14.36
311 56.7 -15.6 30 319 done -0.54 0.40 0.264 2747 215.0 2.28 0.031 1740 603.9 -116.8 - - 3272 - - - - - - - - 13.93 14.44 14.23
623 82.5 -7.8 42 629 roll -0.54 - - 2739 - 2.42 0.050 3162 587.6 -116.8 - - 3274 - - - - - - - - 14.76 14.31 14.78
736 90.9 -7.3 58 742 done -0.54 - - 2739 - 2.33 0.035 1762 -600.9 -116.8 - - 3275 - - - - - - - - 14.50 14.42 14.52
1071 120.1 -8.9 69 1079 roll -0.54 - - 2738 - 2.42 0.057 372 -574.4 -116.8 - - 3274 - - - - - - - - 14.78 14.26 14.80
1169 129.7 -9.8 83 1176 done -0.54 - - 2730 - 2.35 0.031 1774 596.6 -116.8 - - 3274 - - - - - - - - 14.53 14.49 14.57
1521 162.0 -8.8 91 1527 roll -0.54 - - 2719 - 2.38 0.051 3170 586.6 -116.8 - - 3271 - - - - - - - - 14.80 14.36 14.82
1639 171.5 -7.7 108 1645 done -0.54 0.15 0.232 2751 213.3 2.33 0.037 1775 -598.7 -116.8 - - 3270 - - - - - - - - 14.07 14.43 14.31
1970 195.3 -7.3 120 1977 roll -0.54 - - 2751 - 2.45 0.059 377 -570.6 -116.8 - - 3268 - - - - - - - - 14.77 14.33 14.79
2088 205.5 -8.6 137 2095 done -0.54 - - 2747 - 2.35 0.032 1784 598.7 -116.8 - - 3267 - - - - - - - - 14.51 14.45 14.53
2418 233.7 -8.6 149 2425 roll -0.54 - - 2734 - 2.38 0.053 3165 580.3 -116.8 - - 3265 - - - - - - - - 14.78 14.33 14.79
2532 243.8 -8.9 165 2539 done -0.54 - - 2734 - 2.35 0.037 1769 -594.0 -116.8 - - 3264 - - - - - - - - 14.47 14.38 14.48
2868 274.7 -9.1 178 2882 roll -0.54 - - 2734 - 2.42 0.060 379 -574.4 -116.8 - - 3261 - - - - - - - - 14.89 14.29 14.91
2953 282.5 -9.0 189 2966 done -0.54 - - 2725 - 2.35 0.034 1779 595.7 -116.8 - - 3260 - - - - - - - - 14.57 14.51 14.59
3274 309.2 -8.2 199 3287 roll -0.54 - - 2714 - 2.38 0.053 3168 583.6 -116.8 - - 3259 - - - - - - - - 14.85 14.40 14.89
3385 318.3 -8.2 214 3399 done -0.54 0.17 0.232 2753 229.4 2.38 0.037 1762 -590.8 -116.8 - - 3258 - - - - - - - - 14.04 14.45 14.29
3730 342.7 -7.1 221 3744 roll -0.54 - - 2753 - 2.42 0.060 379 -571.5 -116.8 - - 3256 - - - - - - - - 14.87 14.35 14.88
3827 350.5 -7.9 234 3840 done -0.54 - - 2747 - 2.33 0.031 1778 600.4 -116.8 - - 3255 - - - - - - - - 14.57 14.52 14.59
4192 378.5 -7.8 243 4205 roll -0.54 - - 2737 - 2.38 0.054 3161 581.1 -116.8 - - 3253 - - - - - - - - 14.87 14.36 14.89
4317 388.3 -7.6 260 4330 done -0.54 - - 2736 - 2.33 0.036 1773 -595.7 -116.8 - - 3252 - - - - - - - - 14.55 14.45 14.55
4652 415.3 -8.1 272 4665 roll -0.54 - - 2736 - 2.45 0.060 382 -567.8 -116.8 - - 3251 - - - - - - - - 14.87 14.32 14.89
4750 423.7 -8.7 285 4763 done -0.54 - - 2727 - 2.35 0.033 1778 594.0 -116.8 - - 3250 - - - - - - - - 14.57 14.52 14.59
5114 453.9 -8.4 294 5127 roll -0.54 - - 2716 - 2.38 0.053 3161 581.1 -116.8 - - 3249 - - - - - - - - 14.90 14.35 14.92
5197 461.0 -8.4 305 5211 done -0.54 0.15 0.234 2749 220.0 2.35 0.036 1772 -591.1 -116.8 - - 3252 - - - - - - - - 14.01 14.42 14.26
5520 485.8 -7.7 315 5533 roll -0.54 - - 2749 - 2.47 0.062 376 -565.2 -116.8 - - 3247 - - - - - - - - 14.90 14.29 14.89
5619 494.1 -8.2 328 5632 done -0.54 - - 2742 - 2.38 0.034 1775 587.8 -116.8 - - 3246 - - - - - - - - 14.45 14.43 14.47
5982 521.8 -7.5 337 5996 roll -0.54 - - 2731 - 2.40 0.053 3167 580.0 -116.8 - - 3244 - - - - - - - - 14.86 14.31 14.88
6065 528.1 -7.5 348 6078 done -0.54 - - 2731 - 2.35 0.037 1776 -591.9 -116.8 - - 3244 - - - - - - - - 14.49 14.41 14.52
6388 553.4 -7.9 358 6403 roll -0.54 - - 2731 - 2.50 0.062 373 -561.2 -116.8 - - 3243 - - - - - - - - 14.85 14.27 14.87
6472 561.0 -8.9 369 6485 done -0.54 0.12 0.259 2746 125.0 2.38 0.034 1783 592.4 -116.8 - - 3243 - - - - - - - - 13.98 14.45 14.22
6795 585.5 -7.6 379 6808 roll -0.54 - - 2739 - 2.40 0.055 3161 574.2 -116.8 - - 3242 - - - - - - - - 14.87 14.28 14.89
6850 589.7 -7.4 386 6864 done -0.65 - - 2738 - 2.38 0.037 1770 -584.5 -116.8 - - 3244 - - - - - - - - 14.44 14.35 14.47
7194 614.1 -7.0 393 7207 roll -0.65 - - 2739 - 2.47 0.063 379 -563.2 -116.8 - - 3241 - - - - - - - - 14.85 14.24 14.87
7285 621.0 -7.7 405 7298 done -0.65 - - 2729 - 2.38 0.034 1780 588.7 -116.8 - - 3240 - - - - - - - - 14.46 14.41 14.50
7656 648.8 -7.6 415 7669 roll -0.65 - - 2718 - 2.42 0.054 3173 575.6 -116.8 - - 3239 - - - - - - - - 14.85 14.23 14.87
7789 658.9 -7.6 433 7802 done -0.65 - - 2719 - 2.40 0.038 1776 -582.1 -116.8 - - 3238 - - - - - - - - 14.41 14.32 14.45
8118 684.7 -7.9 444 8131 roll -0.65 - - 2717 - 2.50 0.063 376 -560.0 -116.8 - - 3237 - - - - - - - - 14.88 14.19 14.89
8223 693.7 -8.6 458 8236 done -0.65 - - 2710 - 2.38 0.034 1780 589.9 -116.8 - - 3237 - - - - - - - - 14.45 14.38 14.46
8580 725.3 -8.9 466 8593 roll -0.65 - - 2705 - 2.42 0.054 3164 571.9 -116.8 - - 3235 - - - - - - - - 14.88 14.19 14.89
8677 734.4 -9.4 479 8690 done -0.65 - - 2699 - 2.40 0.038 1766 -582.5 -116.8 - - 3235 - - - - - - - - 14.38 14.30 14.42
9041 770.2 -10.0 488 9055 roll -0.65 - - 2695 - 2.50 0.063 374 -556.8 -116.8 - - 3233 - - - - - - - - 14.85 14.15 14.87
9138 780.6 -10.0 501 9152 done -0.65 0.12 0.280 2713 150.0 2.38 0.034 1774 588.2 -116.8 - - 3234 - - - - - - - - 13.83 14.35 14.07
9503 813.5 -8.9 510 9517 roll -0.65 - - 2705 - 2.42 0.055 3159 572.3 -116.8 - - 3233 - - - - - - - - 14.85 14.17 14.87
9622 823.8 -8.6 526 9636 done -0.65 - - 2705 - 2.38 0.038 1773 -582.4 -116.8 - - 3233 - - - - - - - - 14.35 14.26 14.38
9965 853.3 -8.5 539 9978 roll -0.65 - - 2705 - 2.53 0.063 374 -553.0 -116.8 - - 3232 - - - - - - - - 14.85 14.10 14.88
10042 860.5 -9.3 549 10056 done -0.65 - - 2697 - 2.40 0.036 1776 584.2 -116.8 - - 3232 - - - - - - - - 14.38 14.32 14.40
10372 890.5 -9.1 560 10385 roll -0.65 - - 2685 - 2.42 0.054 3161 572.3 -116.8 - - 3231 - - - - - - - - 14.81 14.16 14.83
10435 896.2 -9.0 568 10449 done -0.65 0.15 0.250 2717 213.3 2.38 0.038 1774 -582.8 -116.8 - - 3231 - - - - - - - - 13.75 14.23 14.02
10778 924.0 -8.0 581 10792 roll -0.65 - - 2716 - 2.53 0.063 377 -552.2 -116.8 - - 3231 - - - - - - - - 14.81 14.08 14.83
10877 932.4 -8.6 594 10890 done -0.65 - - 2709 - 2.40 0.036 1776 582.9 -116.8 - - 3230 - - - - - - - - 14.38 14.32 14.41
11240 962.8 -8.4 603 11254 roll -0.65 - - 2698 - 2.45 0.055 3164 566.5 -116.8 - - 3229 - - - - - - - - 14.83 14.10 14.85
11330 970.6 -8.7 615 11343 done -0.65 - - 2699 - 2.40 0.039 1775 -578.8 -116.8 - - 3227 - - - - - - - - 14.30 14.21 14.33
11586 end dive: TARGET_DEPTH_EXCEEDED
11586 begin apogee
11596 994.2 -9.2 623 11728 done -0.21 0.65 0.232 2857 243.1 - - 1661 - - 122.20 2.216 2794 -3.5 0.306 - - - - - - 13.64 13.92 12.80
11730 end apogee: CONTROL_FINISHED_OK
11730 begin climb
11734 1000.4 - 625 11881 roll 0.84 1.15 0.155 3191 290.4 2.60 0.047 3068 541.2 116.8 125.97 2.188 2307 -3.9 0.340 - - - - - - 13.94 13.85 12.77
11930 994.2 4.7 657 12003 done 0.91 - - 3201 - 2.38 0.038 1692 -578.2 174.9 60.42 2.110 2080 -3.8 0.341 - - - - - - 14.30 14.23 12.94
12318 961.3 8.6 677 12332 roll 0.91 - - 3211 - 2.42 0.065 326 -564.5 174.9 - - 2057 - - - - - - - - 14.73 14.38 14.74
12373 956.0 10.1 684 12388 done 0.91 - - 3211 - 2.30 0.031 1701 597.8 174.9 - - 2057 - - - - - - - - 14.56 14.51 14.57
12717 920.9 10.4 691 12730 roll 0.91 - - 3211 - 2.33 0.047 3053 580.3 174.9 - - 2056 - - - - - - - - 14.81 14.41 14.83
12829 908.6 11.0 706 12843 done 0.91 - - 3220 - 2.35 0.041 1681 -583.8 174.9 - - 2055 - - - - - - - - 14.53 14.44 14.56
13172 869.3 11.6 713 13185 roll 0.91 - - 3231 - 2.40 0.065 323 -565.8 174.9 - - 2055 - - - - - - - - 14.84 14.34 14.86
13234 861.7 12.4 721 13248 done 0.91 - - 3230 - 2.25 0.031 1685 605.3 174.9 - - 2055 - - - - - - - - 14.56 14.51 14.59
13577 822.7 11.1 734 13590 roll 0.91 - - 3230 - 2.35 0.047 3050 580.9 174.9 - - 2055 - - - - - - - - 14.84 14.38 14.84
13709 808.1 10.8 752 13722 done 0.91 - - 3240 - 2.35 0.040 1676 -584.7 174.9 - - 2053 - - - - - - - - 14.49 14.40 14.53
14039 772.7 10.9 763 14052 done 0.81 0.20 0.265 3197 -215.0 - - 1675 - 174.9 - - 2054 - - - - - - - - 13.93 14.36 14.27
14373 742.0 9.1 769 14386 done 0.81 - - 3197 - - - 1675 - 174.9 - - 2054 - - - - - - - - 14.82 14.84 14.83
14710 710.7 9.3 775 14724 roll 0.81 - - 3197 - 2.40 0.047 3050 572.9 174.9 - - 2054 - - - - - - - - 14.81 14.31 14.83
14758 706.0 9.7 781 14771 done 0.81 - - 3203 - 2.38 0.041 1681 -575.2 174.9 - - 2054 - - - - - - - - 14.45 14.35 14.48
15115 672.2 9.5 789 15128 roll 0.81 - - 3214 - 2.42 0.065 323 -561.2 174.9 - - 2054 - - - - - - - - 14.85 14.21 14.86
15150 668.9 9.7 793 15163 done 0.81 - - 3214 - 2.25 0.031 1681 603.6 174.9 - - 2054 - - - - - - - - 14.49 14.43 14.52
15520 634.7 9.0 803 15534 roll 0.81 - - 3214 - 2.38 0.047 3056 577.7 174.9 - - 2054 - - - - - - - - 14.81 14.28 14.83
15603 627.2 8.8 814 15616 done 0.81 0.15 0.261 3193 -140.0 2.38 0.041 1675 -580.3 174.9 - - 2054 - - - - - - - - 13.85 14.31 14.17
15926 603.2 7.4 824 15939 roll 0.82 - - 3202 - 2.45 0.065 321 -552.7 182.6 - - 2054 - - - - - - - - 14.83 14.17 14.85
15974 599.2 8.0 830 15987 done 0.82 - - 3202 - 2.28 0.030 1686 598.7 182.6 - - 2054 - - - - - - - - 14.45 14.39 14.47
16331 569.7 8.5 838 16345 roll 0.82 - - 3201 - 2.35 0.047 3046 578.7 182.6 - - 2054 - - - - - - - - 14.79 14.26 14.81
16400 563.1 9.4 847 16414 done 0.82 - - 3210 - 2.35 0.040 1680 -581.3 182.6 - - 2054 - - - - - - - - 14.38 14.29 14.41
16736 532.0 9.4 859 16749 done 0.82 - - 3210 - - - 1680 - 182.6 - - 2054 - - - - - - - - 14.83 14.85 14.85
17073 501.6 8.9 865 17087 roll 0.82 - - 3221 - 2.42 0.063 327 -559.1 182.6 - - 2054 - - - - - - - - 14.83 14.14 14.84
17108 498.2 9.4 869 17121 done 0.82 - - 3221 - 2.25 0.030 1680 601.3 182.6 - - 2054 - - - - - - - - 14.34 14.28 14.36
17479 465.2 8.8 879 17492 roll 0.82 - - 3221 - 2.38 0.047 3049 575.2 182.6 - - 2054 - - - - - - - - 14.79 14.23 14.81
17605 453.5 9.2 896 17619 done 0.82 0.15 0.256 3200 -140.0 2.35 0.041 1681 -582.1 182.6 - - 2054 - - - - - - - - 13.78 14.26 14.06
17941 426.5 8.0 908 17954 roll 0.82 - - 3208 - 2.45 0.064 320 -555.5 182.6 - - 2053 - - - - - - - - 14.78 14.14 14.81
17983 423.1 8.2 913 17996 done 0.82 - - 3208 - 2.25 0.029 1674 601.8 182.6 - - 2054 - - - - - - - - 14.45 14.39 14.47
18347 393.8 7.9 922 18360 roll 0.82 - - 3208 - 2.47 0.047 3056 559.5 182.6 1.45 0.168 2039 -10.3 4.669 - - - - - - 14.83 14.19 13.90
18410 388.5 8.4 930 18423 done 0.82 - - 3217 - 2.38 0.040 1681 -577.7 182.6 - - 2040 - - - - - - - - 14.34 14.26 14.39
18753 360.2 8.3 943 18767 roll 0.82 - - 3228 - 2.42 0.063 323 -561.2 182.6 - - 2040 - - - - - - - - 14.77 14.13 14.79
18808 355.2 9.0 950 18822 done 0.82 0.17 0.233 3190 -223.5 2.30 0.030 1706 601.3 182.6 - - 2040 - - - - - - - - 13.78 14.34 14.09
19154 331.9 6.6 957 19198 roll 0.85 - - 3190 - 2.33 0.047 3036 570.8 205.3 31.92 1.368 1951 -2.8 0.130 - - - - - - 14.81 14.39 13.45
19249 325.2 7.4 970 19268 done 0.86 - - 3194 - 2.33 0.039 1672 -585.4 212.9 2.83 0.686 1922 -10.2 0.935 - - - - - - 14.49 14.41 13.16
19599 297.4 8.2 978 19612 roll 0.86 - - 3206 - 2.40 0.063 323 -562.1 212.9 - - 1923 - - - - - - - - 14.73 14.26 14.76
19633 294.3 8.7 982 19646 done 0.86 - - 3206 - 2.22 0.030 1675 609.0 212.9 - - 1923 - - - - - - - - 14.50 14.45 14.52
20003 261.3 8.9 992 20016 roll 0.86 - - 3206 - 2.35 0.045 3042 581.7 212.9 - - 1923 - - - - - - - - 14.81 14.31 14.83
20073 254.9 9.2 1001 20086 done 0.86 - - 3215 - 2.35 0.040 1673 -582.6 212.9 - - 1923 - - - - - - - - 14.43 14.38 14.47
20409 225.1 8.9 1013 20422 roll 0.86 - - 3225 - 2.40 0.063 326 -561.2 212.9 - - 1923 - - - - - - - - 14.80 14.23 14.82
20465 219.7 9.8 1020 20479 done 0.86 - - 3226 - 2.25 0.029 1679 601.3 212.9 - - 1924 - - - - - - - - 14.47 14.42 14.50
20808 186.6 9.7 1027 20821 roll 0.86 - - 3226 - 2.35 0.045 3050 583.4 212.9 - - 1923 - - - - - - - - 14.83 14.20 14.85
20904 177.1 9.5 1040 20918 done 0.86 - - 3234 - 2.35 0.040 1676 -584.7 212.9 - - 1923 - - - - - - - - 14.42 14.33 14.45
21269 142.1 9.9 1049 21283 roll 0.86 - - 3245 - 2.42 0.063 319 -560.7 212.9 - - 1923 - - - - - - - - 14.83 14.20 14.84
21310 137.6 10.9 1054 21324 done 0.86 0.17 0.233 3206 -229.4 2.25 0.029 1702 614.7 212.9 - - 1923 - - - - - - - - 13.92 14.43 14.19
21674 106.5 8.4 1063 21687 roll 0.86 - - 3206 - 2.28 0.044 3034 584.2 212.9 - - 1923 - - - - - - - - 14.80 14.31 14.82
21779 97.7 8.2 1077 21792 done 0.86 - - 3211 - 2.35 0.040 1676 -577.9 212.9 - - 1925 - - - - - - - - 14.40 14.32 14.44
22108 73.0 7.3 1090 22131 roll 0.87 - - 3222 - 2.40 0.062 322 -564.2 223.3 10.48 0.263 1884 -3.9 0.209 - - - - - - 14.79 14.14 13.89
22247 62.8 7.3 1109 22274 done 0.88 - - 3222 - 2.22 0.028 1669 606.8 233.0 13.23 0.260 1846 -2.9 0.134 - - - - - - 14.48 14.42 14.02
22594 44.5 4.4 1125 22668 roll 1.09 0.15 0.119 3288 440.0 2.33 0.044 3044 590.1 297.4 59.95 0.238 1580 -4.4 0.160 - - - - - - 14.29 14.46 14.12
22692 37.6 7.5 1139 22711 done 1.09 - - 3296 - 2.33 0.041 1679 -585.8 303.6 7.88 0.199 1555 -3.2 0.115 - - - - - - 14.43 14.35 14.06
23017 24.7 4.7 1152 23078 roll 1.30 0.12 0.131 3354 483.3 2.40 0.043 3050 571.2 362.4 48.88 0.186 1313 -5.0 0.127 - - - - - - 14.38 14.44 14.16
23109 18.5 8.2 1165 23122 done 1.30 - - 3363 - 2.35 0.039 1670 -587.2 362.4 - - 1321 - - - - - - - - 14.47 14.38 14.50
23301 end climb: SURFACE_DEPTH_REACHED
23301 begin surface coast
23329 end surface coast: CONTROL_FINISHED_OK
23329 begin surface
SM 1.06 - - - - -8.61 9.73 0.078 162 16.6 0.10 0.109 1786 7560.0 515.13 93.28 0.123 691 7.4 -0.007 - - - - - -