SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 556 * Raw log
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• Previous call tries 1 • 210.13 of 350.00 AH used of 24V (39.96% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth 1.08 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 23 s
• GPS2 time: 20 s • Transponder ping count: 3
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 113 VBD -0.84 - - 157 - - - 1784 - -116.8 -83.07 - 3170 - - - - - - - - 14.64 - 14.66
117 4.6 -6.0 3 141 roll -0.84 12.38 0.372 2645 201.0 2.62 2.027 3135 515.6 -116.8 -1.50 - 3272 -68.0 - - - - - - - 13.94 13.05 14.36
205 33.9 -22.8 16 211 done -0.51 0.47 0.267 2755 234.0 2.28 0.038 1772 -597.8 -116.8 - - 3273 - - - - - - - - 14.04 14.43 14.34
534 72.4 -8.1 30 540 roll -0.51 - - 2749 - 2.35 0.050 3148 585.5 -116.8 - - 3274 - - - - - - - - 14.74 14.38 14.76
716 89.0 -9.6 56 723 done -0.51 - - 2749 - 2.33 0.037 1763 -594.4 -116.8 - - 3274 - - - - - - - - 14.49 14.41 14.51
1066 118.4 -8.0 66 1073 roll -0.51 - - 2749 - 2.42 0.058 376 -573.1 -116.8 - - 3275 - - - - - - - - 14.75 14.25 14.78
1179 127.8 -8.4 82 1185 done -0.51 - - 2740 - 2.30 0.031 1764 603.5 -116.8 - - 3274 - - - - - - - - 14.52 14.46 14.53
1516 156.5 -8.7 95 1522 roll -0.51 - - 2730 - 2.38 0.050 3162 587.4 -116.8 - - 3273 - - - - - - - - 14.77 14.33 14.79
1627 166.6 -8.8 111 1634 done -0.51 0.15 0.227 2762 213.3 2.33 0.037 1772 -596.6 -116.8 - - 3272 - - - - - - - - 14.05 14.38 14.28
1965 192.5 -7.6 124 1971 roll -0.51 - - 2762 - 2.45 0.060 379 -568.6 -116.8 - - 3269 - - - - - - - - 14.74 14.29 14.76
2055 199.9 -7.9 137 2063 done -0.51 - - 2756 - 2.35 0.032 1772 592.8 -116.8 - - 3269 - - - - - - - - 14.48 14.42 14.51
2413 228.0 -8.0 146 2419 roll -0.51 - - 2745 - 2.40 0.051 3168 581.7 -116.8 - - 3266 - - - - - - - - 14.76 14.30 14.81
2491 234.3 -8.2 157 2498 done -0.51 - - 2745 - 2.35 0.038 1774 -593.2 -116.8 - - 3266 - - - - - - - - 14.45 14.38 14.48
2806 260.3 -8.2 167 2819 roll -0.51 - - 2745 - 2.45 0.060 379 -569.4 -116.8 - - 3263 - - - - - - - - 14.85 14.33 14.87
2917 269.6 -8.3 182 2931 done -0.51 - - 2737 - 2.35 0.033 1773 593.2 -116.8 - - 3263 - - - - - - - - 14.53 14.50 14.55
3262 296.4 -7.8 189 3276 roll -0.51 - - 2726 - 2.40 0.052 3171 582.5 -116.8 - - 3259 - - - - - - - - 14.85 14.35 14.87
3331 302.1 -8.0 198 3345 done -0.51 0.15 0.226 2759 220.0 2.35 0.039 1775 -594.0 -116.8 - - 3259 - - - - - - - - 14.04 14.41 14.27
3669 328.5 -8.1 210 3682 roll -0.60 - - 2759 - 2.47 0.061 373 -567.6 -116.8 - - 3257 - - - - - - - - 14.86 14.29 14.90
3766 337.4 -9.0 223 3779 done -0.60 - - 2753 - 2.40 0.034 1780 586.2 -116.8 - - 3257 - - - - - - - - 14.50 14.44 14.53
4129 367.9 -8.3 232 4143 roll -0.60 - - 2746 - 2.38 0.054 3163 581.1 -116.8 - - 3254 - - - - - - - - 14.89 14.32 14.91
4235 375.7 -7.2 246 4248 done -0.69 0.12 0.121 2690 -466.7 2.35 0.037 1775 -590.6 -116.8 - - 3254 - - - - - - - - 14.34 14.40 14.45
4592 407.9 -9.1 254 4605 roll -0.69 - - 2690 - 2.47 0.062 378 -565.6 -116.8 - - 3251 - - - - - - - - 14.89 14.26 14.91
4704 419.5 -10.6 269 4719 done -0.69 - - 2680 - 2.38 0.034 1776 587.4 -116.8 - - 3251 - - - - - - - - 14.45 14.38 14.48
5047 456.8 -11.1 276 5060 roll -0.69 - - 2670 - 2.40 0.052 3165 578.8 -116.8 - - 3248 - - - - - - - - 14.88 14.29 14.90
5123 465.5 -11.3 286 5136 done -0.69 0.15 0.254 2699 193.3 2.38 0.041 1770 -586.1 -116.8 - - 3249 - - - - - - - - 13.88 14.34 14.14
5453 499.3 -10.2 297 5466 roll -0.69 - - 2700 - 2.47 0.063 378 -563.6 -116.8 - - 3248 - - - - - - - - 14.83 14.24 14.85
5573 511.8 -10.0 313 5586 done -0.69 - - 2693 - 2.35 0.034 1774 594.0 -116.8 - - 3250 - - - - - - - - 14.47 14.40 14.50
5917 543.6 -9.2 326 5930 roll -0.69 - - 2683 - 2.42 0.055 3168 576.0 -116.8 - - 3246 - - - - - - - - 14.83 14.25 14.85
5951 546.9 -9.0 330 5964 done -0.69 - - 2682 - 2.38 0.039 1775 -585.3 -116.8 - - 3245 - - - - - - - - 14.42 14.33 14.45
6323 582.4 -9.8 340 6336 roll -0.69 - - 2683 - 2.50 0.063 375 -560.0 -116.8 - - 3244 - - - - - - - - 14.87 14.19 14.88
6448 596.0 -11.0 357 6461 done -0.69 0.12 0.277 2697 116.7 2.38 0.035 1774 587.8 -116.8 - - 3244 - - - - - - - - 13.88 14.40 14.14
6783 629.1 -9.9 369 6797 roll -0.69 - - 2689 - 2.42 0.054 3167 575.6 -116.8 - - 3243 - - - - - - - - 14.83 14.14 14.85
6875 638.2 -10.0 381 6888 done -0.69 - - 2689 - 2.40 0.040 1776 -579.6 -116.8 - - 3243 - - - - - - - - 14.37 14.28 14.40
7245 675.4 -9.8 391 7259 roll -0.69 - - 2689 - 2.53 0.063 376 -553.4 -116.8 - - 3241 - - - - - - - - 14.83 14.16 14.84
7365 687.1 -9.6 407 7379 done -0.69 - - 2679 - 2.45 0.036 1786 575.5 -116.8 - - 3240 - - - - - - - - 14.37 14.31 14.40
7708 719.1 -9.2 420 7721 roll -0.69 - - 2670 - 2.42 0.057 3162 568.6 -116.8 - - 3237 - - - - - - - - 14.82 14.18 14.84
7813 728.8 -9.2 434 7827 done -0.69 0.15 0.256 2699 193.3 2.38 0.041 1775 -582.8 -116.8 - - 3238 - - - - - - - - 13.76 14.26 14.03
8170 759.6 -8.6 442 8183 roll -0.69 - - 2699 - 2.53 0.064 374 -553.8 -116.8 - - 3237 - - - - - - - - 14.82 14.13 14.83
8281 770.0 -9.3 457 8296 done -0.69 - - 2692 - 2.42 0.036 1776 579.3 -116.8 - - 3237 - - - - - - - - 14.35 14.28 14.38
8626 801.1 -9.2 464 8640 roll -0.69 - - 2681 - 2.45 0.056 3161 565.3 -116.8 - - 3234 - - - - - - - - 14.80 14.12 14.82
8674 805.8 -10.6 470 8687 done -0.69 - - 2681 - 2.42 0.041 1772 -574.0 -116.8 - - 3236 - - - - - - - - 14.30 14.20 14.33
9031 839.3 -9.4 478 9044 roll -0.69 - - 2681 - 2.53 0.065 377 -551.4 -116.8 - - 3235 - - - - - - - - 14.85 14.07 14.87
9129 848.9 -9.8 491 9143 done -0.69 0.15 0.268 2701 133.3 2.42 0.037 1774 577.3 -116.8 - - 3235 - - - - - - - - 13.69 14.27 13.97
9493 879.4 -8.5 500 9506 roll -0.69 - - 2693 - 2.47 0.056 3170 565.2 -116.8 - - 3233 - - - - - - - - 14.83 14.09 14.85
9584 887.1 -8.6 512 9597 done -0.69 - - 2692 - 2.42 0.042 1772 -577.7 -116.8 - - 3233 - - - - - - - - 14.28 14.18 14.32
9955 919.8 -8.8 522 9968 roll -0.69 - - 2693 - 2.55 0.066 372 -549.0 -116.8 - - 3232 - - - - - - - - 14.83 14.02 14.85
10066 930.6 -9.7 537 10081 done -0.69 - - 2685 - 2.45 0.038 1773 571.8 -116.8 - - 3231 - - - - - - - - 14.29 14.22 14.33
10411 961.9 -9.1 544 10424 roll -0.69 - - 2673 - 2.47 0.057 3167 564.4 -116.8 - - 3230 - - - - - - - - 14.82 14.04 14.84
10508 970.7 -8.7 557 10522 done -0.69 0.12 0.259 2696 191.7 2.42 0.042 1775 -575.2 -116.8 - - 3231 - - - - - - - - 13.71 14.14 13.96
10757 end dive: TARGET_DEPTH_EXCEEDED
10757 begin apogee
10767 990.7 -7.9 564 10899 done -0.21 0.65 0.236 2856 246.2 - - 1669 - - 122.22 2.211 2792 -3.6 0.309 - - - - - - 13.59 13.90 12.78
10901 end apogee: CONTROL_FINISHED_OK
10901 begin climb
10905 995.1 - 566 11050 roll 0.84 1.15 0.163 3188 288.7 2.60 0.050 3073 540.0 116.8 125.05 2.177 2308 -3.9 0.340 - - - - - - 13.94 13.91 12.81
11113 982.6 8.8 599 11126 done 0.84 - - 3197 - 2.40 0.042 1688 -577.1 116.8 - - 2299 - - - - - - - - 14.35 14.28 14.38
11451 952.5 9.1 611 11465 roll 0.84 - - 3207 - 2.45 0.067 319 -558.8 116.8 - - 2300 - - - - - - - - 14.74 14.33 14.76
11534 944.5 9.4 622 11548 done 0.84 - - 3207 - 2.33 0.033 1706 595.3 116.8 - - 2296 - - - - - - - - 14.53 14.50 14.57
11856 916.1 8.8 632 11869 roll 0.84 - - 3207 - 2.33 0.050 3054 578.5 116.8 - - 2294 - - - - - - - - 14.81 14.35 14.83
11969 906.5 8.4 647 11983 done 0.84 - - 3216 - 2.38 0.043 1678 -578.2 116.8 - - 2294 - - - - - - - - 14.47 14.38 14.51
12311 878.4 8.2 654 12324 roll 0.84 - - 3224 - 2.42 0.067 326 -558.7 116.8 - - 2294 - - - - - - - - 14.83 14.26 14.85
12346 875.5 8.8 658 12359 done 0.74 0.25 0.249 3172 -208.0 2.25 0.032 1697 609.3 116.8 - - 2293 - - - - - - - - 13.87 14.45 14.23
12718 852.8 5.8 668 12775 roll 0.78 - - 3171 - 2.40 0.051 3042 560.4 155.3 40.33 2.010 2146 -3.6 0.297 - - - - - - 14.80 14.30 13.22
12835 845.7 7.1 684 12862 done 0.80 - - 3178 - 2.35 0.046 1683 -578.3 170.0 13.75 1.984 2099 -3.4 0.280 - - - - - - 14.44 14.35 13.15
13172 821.7 7.0 697 13201 roll 0.82 - - 3188 - 2.47 0.069 318 -552.6 185.9 17.08 1.984 2030 -4.0 0.321 - - - - - - 14.71 14.37 13.25
13222 817.8 7.1 704 13252 done 0.84 - - 3188 - 2.25 0.034 1672 601.8 199.3 14.32 1.958 1973 -4.0 0.319 - - - - - - 14.51 14.45 13.21
13562 789.8 8.4 717 13575 roll 0.84 - - 3188 - 2.40 0.051 3053 575.4 199.3 - - 1964 - - - - - - - - 14.71 14.35 14.73
13659 780.9 9.0 730 13672 done 0.84 - - 3197 - 2.40 0.045 1674 -574.6 199.3 - - 1960 - - - - - - - - 14.47 14.37 14.51
14024 746.9 9.6 739 14037 roll 0.84 - - 3207 - 2.45 0.069 319 -553.1 199.3 - - 1963 - - - - - - - - 14.78 14.28 14.80
14051 744.0 9.7 742 14064 done 0.84 - - 3207 - 2.28 0.034 1680 596.9 199.3 - - 1963 - - - - - - - - 14.53 14.47 14.55
14373 711.2 10.2 752 14386 roll 0.84 - - 3207 - 2.40 0.050 3059 574.6 199.3 - - 1965 - - - - - - - - 14.79 14.33 14.81
14485 699.7 10.3 767 14499 done 0.84 - - 3216 - 2.42 0.045 1671 -573.6 199.3 - - 1962 - - - - - - - - 14.45 14.35 14.50
14828 665.1 10.0 774 14841 roll 0.84 - - 3226 - 2.42 0.068 322 -557.4 199.3 - - 1962 - - - - - - - - 14.79 14.23 14.81
14884 659.2 11.0 781 14899 done 0.84 - - 3226 - 2.30 0.033 1683 591.7 199.3 - - 1962 - - - - - - - - 14.49 14.43 14.52
15227 623.4 10.4 788 15240 roll 0.84 - - 3226 - 2.40 0.050 3055 571.7 199.3 - - 1962 - - - - - - - - 14.83 14.26 14.85
15346 611.2 10.0 804 15359 done 0.84 0.15 0.259 3205 -140.0 2.40 0.044 1677 -574.2 199.3 - - 1962 - - - - - - - - 13.88 14.33 14.21
15690 581.1 8.7 817 15703 roll 0.84 - - 3213 - 2.45 0.069 327 -551.0 199.3 - - 1962 - - - - - - - - 14.78 14.19 14.80
15738 576.5 9.5 823 15751 done 0.84 - - 3213 - 2.30 0.034 1683 589.6 199.3 - - 1962 - - - - - - - - 14.48 14.42 14.52
16096 543.6 9.3 831 16109 roll 0.84 - - 3213 - 2.42 0.050 3072 574.0 199.3 - - 1962 - - - - - - - - 14.81 14.23 14.84
16151 538.1 9.8 838 16165 done 0.84 - - 3222 - 2.40 0.043 1683 -578.8 199.3 - - 1962 - - - - - - - - 14.38 14.27 14.42
16495 504.4 9.9 845 16508 roll 0.84 - - 3233 - 2.47 0.067 315 -553.8 199.3 - - 1959 - - - - - - - - 14.78 14.16 14.81
16544 499.2 11.0 851 16557 done 0.84 0.15 0.241 3203 -200.0 2.30 0.031 1696 600.4 199.3 - - 1962 - - - - - - - - 13.90 14.40 14.20
16901 466.9 8.9 859 16914 roll 0.84 - - 3203 - 2.38 0.050 3052 569.7 199.3 - - 1961 - - - - - - - - 14.81 14.21 14.83
16943 463.0 9.1 864 16956 done 0.84 - - 3209 - 2.38 0.043 1677 -577.7 199.3 - - 1961 - - - - - - - - 14.36 14.26 14.41
17308 430.4 8.9 873 17321 done 0.84 - - 3208 - - - 1677 - 199.3 - - 1962 - - - - - - - - 14.78 14.80 14.80
17643 401.3 8.6 879 17656 done 0.84 - - 3209 - - - 1677 - 199.3 - - 1961 - - - - - - - - 14.78 14.81 14.81
17979 373.0 8.4 885 17992 roll 0.84 - - 3208 - 2.42 0.047 3047 566.1 199.3 - - 1961 - - - - - - - - 14.79 14.20 14.81
18021 369.4 8.4 890 18034 done 0.84 - - 3217 - 2.40 0.044 1674 -572.1 199.3 - - 1962 - - - - - - - - 14.35 14.26 14.40
18385 336.1 9.3 899 18398 roll 0.84 - - 3228 - 2.45 0.068 329 -549.0 199.3 - - 1962 - - - - - - - - 14.83 14.09 14.85
18412 333.5 9.5 902 18425 done 0.84 - - 3228 - 2.28 0.031 1669 587.7 199.3 - - 1962 - - - - - - - - 14.40 14.35 14.44
18735 302.8 9.4 912 18749 roll 0.84 - - 3228 - 2.45 0.048 3072 572.7 199.3 - - 1962 - - - - - - - - 14.76 14.16 14.77
18818 294.7 9.4 923 18832 done 0.84 0.17 0.245 3201 -158.8 2.42 0.044 1676 -576.9 199.3 - - 1962 - - - - - - - - 13.71 14.13 14.07
19142 268.9 8.0 933 19155 roll 0.84 - - 3209 - 2.47 0.067 319 -549.4 199.3 - - 1962 - - - - - - - - 14.81 14.07 14.83
19175 265.8 8.6 937 19189 done 0.84 - - 3209 - 2.30 0.031 1683 593.0 199.3 - - 1962 - - - - - - - - 14.40 14.35 14.43
19546 233.5 8.7 947 19559 roll 0.84 - - 3209 - 2.40 0.047 3065 575.8 199.3 - - 1962 - - - - - - - - 14.81 14.18 14.80
19595 229.2 8.7 953 19609 done 0.84 - - 3217 - 2.40 0.043 1676 -578.8 199.3 - - 1962 - - - - - - - - 14.34 14.24 14.38
19952 198.1 8.8 961 19965 roll 0.84 - - 3228 - 2.42 0.067 316 -562.0 199.3 - - 1962 - - - - - - - - 14.81 14.01 14.83
20007 192.8 9.7 968 20021 done 0.84 - - 3228 - 2.33 0.031 1687 588.4 199.3 - - 1962 - - - - - - - - 14.39 14.33 14.42
20353 160.7 9.4 975 20366 roll 0.84 - - 3228 - 2.38 0.047 3056 575.2 199.3 - - 1962 - - - - - - - - 14.77 14.16 14.82
20442 151.7 9.6 987 20456 done 0.84 0.15 0.241 3206 -146.7 2.40 0.043 1671 -577.1 199.3 - - 1961 - - - - - - - - 13.78 14.21 14.13
20815 121.2 8.2 997 20828 roll 0.84 - - 3214 - 2.45 0.067 322 -550.6 199.3 - - 1962 - - - - - - - - 14.76 14.06 14.78
20855 117.6 8.6 1002 20869 done 0.84 - - 3214 - 2.28 0.031 1682 596.5 199.3 - - 1962 - - - - - - - - 14.40 14.35 14.43
21191 91.7 7.5 1012 21205 done 0.85 - - 3214 - - - 1686 - 206.6 2.55 0.150 1945 -6.7 0.782 - - - - - - 14.80 14.13 13.90
21539 70.1 4.9 1027 21606 roll 1.01 0.12 0.124 3280 550.0 2.40 0.066 320 -569.2 261.1 52.35 0.307 1731 -4.1 0.179 - - - - - - 14.32 14.43 14.04
21706 60.0 5.6 1051 21763 done 1.06 - - 3280 - 2.28 0.029 1693 602.2 302.5 41.08 0.281 1567 -4.0 0.164 - - - - - - 14.47 14.42 14.02
22072 41.8 4.6 1070 22136 done 1.31 0.22 0.090 3369 404.5 - - 1697 - 362.4 54.00 0.229 1315 -4.7 0.163 - - - - - - 14.35 14.39 14.12
22437 7.2 9.1 1086 22454 roll 1.31 - - 3379 - 2.47 0.062 326 -555.1 362.4 2.42 0.145 1316 - - - - - - - - 14.71 14.16 14.05
22478 end climb: SURFACE_DEPTH_REACHED
22478 begin surface coast
22485 end surface coast: CONTROL_FINISHED_OK
22485 begin surface
SM 1.10 - - - - -8.61 9.65 0.069 158 16.4 2.47 0.037 1751 -2816.6 515.13 92.90 0.122 692 7.4 -0.007 - - - - - -