SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 560 * Raw log
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• Previous call tries 4 • 211.69 of 350.00 AH used of 24V (39.52% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 26 s
• GPS2 time: 17 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
31 end surface: CONTROL_FINISHED_OK
32 begin dive
36 - - - 122 VBD -0.84 - - 149 - - - 1788 - -116.8 -82.95 - 3164 - - - - - - - - 14.66 - 14.68
127 4.4 -5.7 3 150 roll -0.84 12.65 0.383 2643 197.2 2.55 2.018 3144 531.8 -116.8 -1.60 - 3271 -66.9 - - - - - - - 13.94 13.06 14.37
165 22.3 -40.5 9 171 done 0.16 1.38 0.284 2971 237.7 2.30 0.041 1771 -597.0 -116.8 - - 3274 - - - - - - - - 14.11 14.48 14.42
487 46.2 -5.6 22 494 roll -0.17 0.28 0.074 2850 -432.1 2.42 0.055 367 -580.2 -116.8 - - 3274 - - - - - - - - 14.43 14.36 14.46
593 54.2 -7.2 37 601 done -0.29 - - 2844 - 2.33 0.031 1770 602.1 -116.8 - - 3275 - - - - - - - - 14.47 14.42 14.49
908 72.8 -5.5 49 915 roll -0.46 0.17 0.106 2761 -488.2 2.42 0.051 369 -578.9 -116.8 - - 3275 - - - - - - - - 14.45 14.30 14.47
970 78.2 -9.0 58 976 done -0.46 - - 2752 - 2.30 0.031 1770 609.1 -116.8 - - 3275 - - - - - - - - 14.56 14.50 14.57
1302 107.1 -8.9 71 1308 roll -0.46 - - 2741 - 2.35 0.048 3162 592.3 -116.8 - - 3278 - - - - - - - - 14.79 14.38 14.81
1335 110.2 -8.6 76 1344 done -0.46 0.15 0.228 2779 253.3 2.33 0.037 1766 -599.1 -116.8 - - 3275 - - - - - - - - 14.09 14.44 14.32
1694 138.5 -8.3 85 1700 roll -0.46 - - 2774 - 2.42 0.058 373 -575.6 -116.8 - - 3275 - - - - - - - - 14.78 14.33 14.79
1786 146.9 -9.1 98 1792 done -0.46 - - 2768 - 2.33 0.031 1775 601.7 -116.8 - - 3273 - - - - - - - - 14.54 14.49 14.56
2143 175.3 -7.7 107 2149 roll -0.46 - - 2757 - 2.38 0.051 3164 583.6 -116.8 - - 3270 - - - - - - - - 14.80 14.35 14.81
2247 183.5 -8.0 122 2255 done -0.56 - - 2757 - 2.35 0.036 1773 -591.9 -116.8 - - 3270 - - - - - - - - 14.47 14.39 14.49
2592 210.1 -7.6 129 2598 roll -0.56 - - 2757 - 2.45 0.060 377 -569.8 -116.8 - - 3266 - - - - - - - - 14.75 14.30 14.77
2682 217.4 -8.0 142 2688 done -0.56 - - 2749 - 2.35 0.032 1774 594.5 -116.8 - - 3266 - - - - - - - - 14.49 14.43 14.51
3040 244.4 -7.6 151 3046 roll -0.56 - - 2739 - 2.40 0.051 3167 580.4 -116.8 - - 3263 - - - - - - - - 14.76 14.30 14.78
3145 252.9 -8.3 166 3159 done -0.56 - - 2740 - 2.35 0.037 1778 -591.1 -116.8 - - 3262 - - - - - - - - 14.43 14.35 14.46
3488 281.5 -8.3 173 3503 roll -0.56 - - 2740 - 2.45 0.060 375 -572.7 -116.8 - - 3260 - - - - - - - - 14.90 14.26 14.92
3623 293.6 -9.0 191 3636 done -0.56 - - 2731 - 2.35 0.034 1781 598.3 -116.8 - - 3259 - - - - - - - - 14.54 14.49 14.57
3951 321.6 -8.4 202 3964 roll -0.56 - - 2720 - 2.38 0.053 3165 581.5 -116.8 - - 3257 - - - - - - - - 14.90 14.36 14.92
4072 331.5 -8.4 218 4085 done -0.56 - - 2720 - 2.35 0.038 1773 -592.3 -116.8 - - 3256 - - - - - - - - 14.42 14.34 14.45
4414 361.4 -8.7 231 4428 roll -0.56 - - 2720 - 2.45 0.061 378 -569.4 -116.8 - - 3254 - - - - - - - - 14.87 14.32 14.89
4534 372.9 -9.7 247 4547 done -0.56 0.15 0.249 2743 153.3 2.35 0.034 1773 593.6 -116.8 - - 3253 - - - - - - - - 13.98 14.45 14.24
4878 401.8 -8.5 260 4891 roll -0.56 - - 2735 - 2.40 0.053 3168 581.2 -116.8 - - 3251 - - - - - - - - 14.84 14.35 14.85
4975 410.3 -8.6 273 4988 done -0.56 - - 2735 - 2.38 0.038 1768 -588.2 -116.8 - - 3251 - - - - - - - - 14.48 14.39 14.51
5340 441.6 -8.5 282 5353 roll -0.56 - - 2735 - 2.47 0.061 376 -563.6 -116.8 - - 3249 - - - - - - - - 14.85 14.25 14.87
5405 447.4 -8.9 290 5418 done -0.56 - - 2726 - 2.38 0.034 1784 591.6 -116.8 - - 3249 - - - - - - - - 14.50 14.43 14.51
5749 475.9 -8.2 303 5762 roll -0.56 - - 2715 - 2.40 0.054 3169 577.1 -116.8 - - 3247 - - - - - - - - 14.87 14.28 14.89
5825 482.1 -7.6 313 5838 done -0.56 0.12 0.237 2741 216.7 2.38 0.039 1770 -587.8 -116.8 - - 3247 - - - - - - - - 13.91 14.28 14.14
6154 504.2 -6.6 324 6167 roll -0.56 - - 2741 - 2.47 0.063 382 -561.9 -116.8 - - 3246 - - - - - - - - 14.85 14.25 14.87
6259 512.0 -7.3 338 6273 done -0.56 - - 2734 - 2.38 0.035 1778 586.6 -116.8 - - 3246 - - - - - - - - 14.47 14.40 14.50
6616 539.7 -8.0 346 6629 roll -0.56 - - 2725 - 2.40 0.054 3160 575.8 -116.8 - - 3244 - - - - - - - - 14.85 14.25 14.90
6722 548.7 -8.6 360 6735 done -0.56 - - 2724 - 2.35 0.038 1776 -588.9 -116.8 - - 3244 - - - - - - - - 14.45 14.37 14.48
7079 580.1 -8.7 368 7092 roll -0.56 - - 2724 - 2.50 0.063 374 -560.8 -116.8 - - 3242 - - - - - - - - 14.88 14.20 14.89
7226 593.4 -8.7 388 7240 done -0.56 0.15 0.243 2746 146.7 2.38 0.035 1775 588.7 -116.8 - - 3241 - - - - - - - - 13.91 14.41 14.16
7597 618.1 -6.4 398 7610 roll -0.56 - - 2739 - 2.42 0.054 3165 574.4 -116.8 - - 3238 - - - - - - - - 14.87 14.21 14.89
7709 625.0 -6.2 413 7723 done -0.67 - - 2738 - 2.40 0.039 1775 -579.2 -116.8 - - 3240 - - - - - - - - 14.40 14.27 14.40
8053 647.3 -6.5 420 8067 roll -0.67 - - 2738 - 2.53 0.063 374 -553.8 -116.8 - - 3239 - - - - - - - - 14.85 14.15 14.88
8172 656.1 -7.6 436 8186 done -0.67 - - 2729 - 2.40 0.035 1774 583.3 -116.8 - - 3238 - - - - - - - - 14.40 14.34 14.43
8517 680.6 -7.2 449 8530 roll -0.67 - - 2719 - 2.45 0.054 3172 570.6 -116.8 - - 3237 - - - - - - - - 14.85 14.17 14.87
8628 688.8 -7.2 464 8642 done -0.67 - - 2719 - 2.42 0.041 1776 -576.9 -116.8 - - 3237 - - - - - - - - 14.33 14.25 14.37
8973 713.2 -7.0 471 8986 roll -0.67 - - 2719 - 2.55 0.063 373 -550.2 -116.8 - - 3237 - - - - - - - - 14.83 14.10 14.85
9077 721.2 -7.5 485 9090 done -0.67 - - 2711 - 2.42 0.037 1786 583.9 -116.8 - - 3235 - - - - - - - - 14.38 14.31 14.40
9434 747.4 -7.5 493 9447 roll -0.67 - - 2700 - 2.42 0.057 3162 568.6 -116.8 - - 3234 - - - - - - - - 14.85 14.16 14.88
9547 756.6 -8.3 508 9561 done -0.67 - - 2701 - 2.42 0.040 1767 -576.4 -116.8 - - 3233 - - - - - - - - 14.31 14.21 14.34
9889 787.7 -9.2 515 9903 roll -0.67 - - 2701 - 2.53 0.064 373 -551.0 -116.8 - - 3233 - - - - - - - - 14.84 14.06 14.86
9981 797.0 -10.3 527 9994 done -0.67 - - 2691 - 2.42 0.037 1773 578.5 -116.8 - - 3233 - - - - - - - - 14.34 14.28 14.38
10351 834.0 -10.1 537 10365 roll -0.67 - - 2680 - 2.47 0.057 3171 566.0 -116.8 - - 3232 - - - - - - - - 14.83 14.07 14.85
10470 846.5 -10.1 553 10484 done -0.67 0.12 0.260 2705 208.3 2.42 0.042 1772 -578.1 -116.8 - - 3232 - - - - - - - - 13.72 14.17 14.02
10815 876.5 -8.7 566 10828 roll -0.67 - - 2706 - 2.55 0.065 370 -549.8 -116.8 - - 3231 - - - - - - - - 14.78 13.95 14.80
10904 884.8 -8.8 578 10918 done -0.67 - - 2699 - 2.45 0.037 1778 574.7 -116.8 - - 3231 - - - - - - - - 14.22 14.21 14.24
11277 914.0 -7.7 588 11290 roll -0.67 - - 2688 - 2.47 0.057 3162 560.3 -116.8 - - 3230 - - - - - - - - 14.78 14.03 14.79
11427 925.3 -7.6 608 11440 done -0.67 - - 2688 - 2.42 0.041 1770 -575.2 -116.8 - - 3229 - - - - - - - - 14.23 14.14 14.27
11801 955.5 -8.3 618 11814 roll -0.67 - - 2688 - 2.58 0.066 372 -541.9 -116.8 - - 3229 - - - - - - - - 14.81 13.97 14.83
11891 963.8 -7.2 630 11904 done -0.67 0.15 0.275 2707 126.7 2.42 0.038 1773 578.9 -116.8 - - 3228 - - - - - - - - 13.61 14.21 13.93
12258 end dive: TARGET_DEPTH_EXCEEDED
12258 begin apogee
12269 993.3 -8.0 640 12400 done -0.21 0.60 0.238 2853 243.3 - - 1648 - - 121.93 2.205 2790 -3.6 0.311 - - - - - - 13.57 13.88 12.76
12402 end apogee: CONTROL_FINISHED_OK
12402 begin climb
12406 998.8 - 642 12555 roll 0.84 1.20 0.164 3205 293.3 2.40 0.067 357 -537.9 116.8 127.32 2.173 2305 -3.8 0.337 - - - - - - 13.92 13.91 12.80
12646 987.0 8.0 680 12660 done 0.84 - - 3205 - 2.25 0.033 1699 596.4 116.8 - - 2296 - - - - - - - - 14.42 14.36 14.43
13004 960.6 7.4 688 13018 roll 0.85 - - 3205 - 2.40 0.050 3055 565.0 125.6 2.17 0.386 2276 -9.2 4.409 - - - - - - 14.77 14.33 13.00
13103 953.1 7.6 701 13121 done 0.85 - - 3213 - 2.33 0.044 1703 -580.3 130.4 3.85 1.358 2259 -4.4 0.596 - - - - - - 14.52 14.40 13.20
13464 925.4 7.7 710 13481 roll 0.86 - - 3225 - 2.42 0.068 320 -571.5 133.4 3.72 1.317 2248 -3.0 0.399 - - - - - - 14.81 14.45 13.24
13517 921.1 10.4 717 13532 done 0.75 0.22 0.248 3175 -227.3 2.28 0.033 1698 604.4 133.4 - - 2251 - - - - - - - - 14.16 14.55 14.43
13860 897.7 6.7 724 13904 roll 0.77 - - 3174 - 2.40 0.051 3045 561.2 154.1 32.00 2.050 2158 -2.9 0.245 - - - - - - 14.80 14.33 13.22
13986 888.1 8.3 741 13999 done 0.77 - - 3181 - 2.38 0.047 1673 -576.5 154.1 - - 2148 - - - - - - - - 14.46 14.37 14.49
14315 859.7 8.7 752 14328 roll 0.77 - - 3191 - 2.42 0.067 323 -557.9 154.1 - - 2148 - - - - - - - - 14.75 14.29 14.77
14364 855.3 11.6 758 14377 done 0.77 - - 3191 - 2.25 0.034 1667 597.3 154.1 - - 2148 - - - - - - - - 14.54 14.45 14.54
14721 824.8 8.4 766 14734 roll 0.77 - - 3191 - 2.42 0.050 3061 576.0 154.1 - - 2148 - - - - - - - - 14.82 14.32 14.84
14825 815.7 8.6 780 14838 done 0.77 - - 3200 - 2.40 0.044 1676 -577.1 154.1 - - 2146 - - - - - - - - 14.46 14.36 14.50
15183 786.1 8.2 788 15197 roll 0.77 - - 3210 - 2.45 0.067 324 -551.8 154.1 - - 2146 - - - - - - - - 14.85 14.23 14.84
15225 782.5 8.6 793 15240 done 0.77 0.12 0.250 3185 -208.3 2.28 0.034 1691 599.6 154.1 - - 2146 - - - - - - - - 14.00 14.43 14.28
15590 756.3 7.0 802 15620 roll 0.79 - - 3186 - 2.35 0.052 3055 580.4 169.5 15.80 1.949 2094 -3.3 0.246 - - - - - - 14.79 14.40 13.33
15801 740.0 7.8 832 15814 done 0.79 - - 3192 - 2.38 0.047 1676 -579.4 170.1 - - 2087 - - - - - - - - 14.51 14.40 14.55
16160 711.5 8.1 840 16173 roll 0.79 - - 3192 - 2.40 0.050 3045 570.4 170.1 - - 2086 - - - - - - - - 14.78 14.32 14.81
16208 707.3 8.2 846 16221 done 0.79 - - 3201 - 2.35 0.043 1679 -581.3 170.1 - - 2086 - - - - - - - - 14.47 14.35 14.51
16565 678.1 8.2 854 16578 roll 0.79 - - 3211 - 2.45 0.067 320 -554.7 170.1 - - 2084 - - - - - - - - 14.76 14.25 14.80
16600 675.2 8.4 858 16613 done 0.79 - - 3211 - 2.25 0.034 1670 600.0 170.1 - - 2086 - - - - - - - - 14.51 14.44 14.54
16971 644.8 8.0 868 16984 roll 0.79 - - 3211 - 2.42 0.050 3056 572.7 170.1 - - 2086 - - - - - - - - 14.83 14.25 14.85
17096 634.3 8.2 885 17109 done 0.79 0.15 0.258 3191 -133.3 2.38 0.044 1678 -579.0 170.1 - - 2086 - - - - - - - - 13.90 14.34 14.23
17433 610.3 7.2 897 17450 roll 0.81 - - 3199 - 2.40 0.066 320 -565.8 181.9 5.28 1.483 2051 -6.6 0.524 - - - - - - 14.78 14.18 13.33
17466 607.6 7.8 901 17482 done 0.81 - - 3199 - 2.25 0.034 1685 606.7 183.1 2.95 0.890 2047 -1.4 0.178 - - - - - - 14.63 14.57 13.21
17834 576.5 8.6 911 17848 roll 0.81 - - 3199 - 2.38 0.049 3058 576.9 183.1 - - 2052 - - - - - - - - 14.79 14.31 14.82
17903 570.1 9.0 920 17917 done 0.81 - - 3208 - 2.38 0.043 1680 -579.0 183.1 - - 2052 - - - - - - - - 14.45 14.37 14.49
18241 540.5 8.8 932 18254 roll 0.81 - - 3218 - 2.45 0.067 316 -556.7 183.1 - - 2052 - - - - - - - - 14.76 14.21 14.78
18324 532.6 9.3 943 18337 done 0.81 - - 3218 - 2.30 0.032 1684 594.8 183.1 - - 2052 - - - - - - - - 14.46 14.40 14.50
18645 505.2 8.5 953 18659 roll 0.81 - - 3218 - 2.38 0.048 3052 574.8 183.1 - - 2052 - - - - - - - - 14.81 14.22 14.83
18758 495.6 8.6 968 18773 done 0.81 0.15 0.255 3197 -140.0 2.38 0.044 1678 -577.3 183.1 - - 2052 - - - - - - - - 13.85 14.28 14.14
19101 469.4 7.7 975 19118 roll 0.81 - - 3205 - 2.40 0.068 315 -567.9 185.4 3.28 0.950 2036 -4.9 0.463 - - - - - - 14.81 14.42 13.35
19175 463.1 8.7 985 19188 done 0.81 - - 3205 - 2.28 0.031 1678 597.8 185.4 - - 2041 - - - - - - - - 14.56 14.50 14.57
19504 434.0 8.9 996 19517 roll 0.81 - - 3205 - 2.40 0.048 3061 576.2 185.4 - - 2046 - - - - - - - - 14.77 14.26 14.79
19602 425.0 9.0 1009 19616 done 0.81 - - 3213 - 2.40 0.044 1681 -575.0 185.4 - - 2041 - - - - - - - - 14.38 14.26 14.41
19966 394.1 8.3 1018 19979 done 0.81 - - 3214 - - - 1680 - 185.4 - - 2042 - - - - - - - - 14.77 14.79 14.79
20303 367.1 8.1 1024 20316 roll 0.81 - - 3224 - 2.45 0.066 322 -554.3 185.4 - - 2042 - - - - - - - - 14.77 14.11 14.81
20338 364.0 8.6 1028 20353 done 0.81 0.15 0.238 3194 -200.0 2.28 0.031 1702 605.3 185.4 - - 2042 - - - - - - - - 13.88 14.38 14.14
20710 337.2 7.1 1038 20747 roll 0.83 - - 3194 - 2.28 0.047 3040 586.8 200.3 24.23 1.427 1968 -3.1 0.139 - - - - - - 14.81 14.09 13.42
20810 329.8 7.7 1052 20823 done 0.83 - - 3200 - 2.35 0.044 1675 -580.9 203.8 - - 1959 - - - - - - - - 14.50 14.40 14.53
21167 302.2 7.9 1060 21180 done 0.83 - - 3200 - - - 1674 - 203.8 - - 1959 - - - - - - - - 14.78 14.80 14.80
21503 274.6 8.2 1066 21516 done 0.83 - - 3200 - - - 1674 - 203.8 - - 1956 - - - - - - - - 14.80 14.82 14.82
21840 248.5 7.7 1072 21853 done 0.84 - - 3200 - - - 1677 - 207.2 1.30 0.177 1952 -3.1 0.830 - - - - - - 14.79 14.28 14.09
22175 224.3 7.3 1078 22204 roll 0.85 - - 3196 - 2.35 0.047 3046 582.6 217.0 16.08 1.287 1900 -3.2 0.108 - - - - - - 14.81 14.37 13.52
22233 219.0 9.3 1086 22246 done 0.85 - - 3208 - 2.33 0.043 1678 -587.1 217.0 - - 1894 - - - - - - - - 14.57 14.47 14.60
22577 187.4 9.0 1099 22590 roll 0.85 - - 3219 - 2.42 0.067 325 -559.1 217.0 - - 1894 - - - - - - - - 14.75 14.27 14.77
22640 181.5 9.4 1107 22653 done 0.85 - - 3225 - 2.22 0.031 1665 603.6 217.0 - - 1894 - - - - - - - - 14.47 14.43 14.50
22984 151.3 8.7 1120 22997 roll 0.85 - - 3219 - 2.42 0.047 3062 577.3 217.0 - - 1893 - - - - - - - - 14.79 14.28 14.82
23067 143.8 8.8 1131 23080 done 0.85 - - 3226 - 2.40 0.043 1675 -577.9 217.0 - - 1894 - - - - - - - - 14.42 14.33 14.47
23389 115.0 9.1 1141 23402 roll 0.85 - - 3237 - 2.45 0.067 320 -553.1 217.0 - - 1894 - - - - - - - - 14.78 14.20 14.81
23455 108.9 9.6 1149 23468 done 0.85 0.15 0.222 3205 -213.3 2.28 0.030 1691 601.3 217.0 - - 1898 - - - - - - - - 13.93 14.35 14.21
23802 84.2 6.3 1166 23841 roll 0.98 0.12 0.128 3262 475.0 2.38 0.047 3053 572.3 246.4 23.90 0.330 1791 -4.5 0.220 - - - - - - 14.37 14.49 14.05
23954 70.1 9.7 1188 23967 done 0.98 - - 3270 - 2.38 0.043 1670 -581.1 246.4 - - 1796 - - - - - - - - 14.45 14.35 14.48
24283 47.9 3.7 1201 24370 roll 1.08 - - 3270 - 2.40 0.064 321 -562.1 323.3 70.15 0.254 1476 -4.6 0.165 - - - - - - 14.81 14.36 14.14
24525 37.6 4.9 1235 24585 done 1.36 0.30 0.076 3390 400.0 2.25 0.030 1676 602.2 377.4 47.65 0.221 1255 -4.6 0.152 - - - - - - 14.38 14.44 14.14
24897 end climb: SURFACE_DEPTH_REACHED
24897 begin surface coast
24925 end surface coast: CONTROL_FINISHED_OK
24925 begin surface
SM 1.03 - - - - -8.60 9.55 0.060 166 17.4 0.10 0.112 1771 -96590.0 515.13 83.97 0.122 692 8.2 -0.007 - - - - - -