SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 576 * Raw log
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• Previous call tries 1 • 217.78 of 350.00 AH used of 24V (37.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 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: 70 s
• GPS2 time: 15 s • Transponder ping count: 2
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 114 VBD -0.84 - - 149 - - - 1779 - -116.8 -82.93 - 3124 - - - - - - - - 14.64 - 14.66
119 4.1 -5.4 3 142 roll -0.84 12.45 0.375 2660 201.7 2.72 2.035 374 -516.5 -116.8 -2.20 - 3271 -66.8 - - - - - - - 13.93 13.05 14.36
238 42.9 -25.4 20 245 done -0.44 0.55 0.285 2778 214.5 2.28 0.033 1742 600.0 -116.8 - - 3272 - - - - - - - - 13.99 14.40 14.29
567 75.4 -6.3 34 573 roll -0.44 - - 2770 - 2.45 0.052 3179 586.5 -116.8 - - 3272 - - - - - - - - 14.74 14.28 14.76
729 86.3 -7.1 57 737 done -0.44 - - 2770 - 2.40 0.037 1760 -591.2 -116.8 - - 3274 - - - - - - - - 14.45 14.38 14.48
1043 111.9 -9.2 67 1049 roll -0.44 - - 2758 - 2.42 0.049 3176 585.1 -116.8 - - 3275 - - - - - - - - 14.74 14.31 14.76
1084 115.9 -9.6 73 1091 done -0.44 - - 2761 - 2.35 0.037 1781 -593.6 -116.8 - - 3274 - - - - - - - - 14.46 14.38 14.49
1437 142.1 -6.4 81 1443 roll -0.44 - - 2760 - 2.47 0.059 369 -571.7 -116.8 - - 3274 - - - - - - - - 14.73 14.28 14.75
1569 152.1 -7.7 100 1576 done -0.44 0.15 0.246 2782 146.7 2.35 0.031 1784 602.1 -116.8 - - 3271 - - - - - - - - 13.97 14.41 14.22
1887 173.3 -6.6 110 1893 roll -0.56 - - 2775 - 2.38 0.053 3162 579.0 -116.8 - - 3270 - - - - - - - - 14.73 14.26 14.74
1943 176.6 -5.7 118 1950 done -0.70 0.22 0.087 2684 -413.6 2.35 0.037 1769 -592.8 -116.8 - - 3269 - - - - - - - - 14.36 14.36 14.44
2280 210.9 -10.7 131 2286 roll -0.70 - - 2682 - 2.45 0.060 379 -567.3 -116.8 - - 3266 - - - - - - - - 14.73 14.23 14.76
2386 223.7 -12.0 146 2394 done -0.58 0.28 0.244 2739 203.6 2.38 0.032 1779 588.2 -116.8 - - 3265 - - - - - - - - 13.85 14.37 14.14
2728 256.8 -9.7 153 2741 roll -0.58 - - 2729 - 2.40 0.053 3170 579.6 -116.8 - - 3263 - - - - - - - - 14.83 14.30 14.85
2783 262.1 -9.4 160 2797 done -0.58 - - 2729 - 2.38 0.038 1779 -584.5 -116.8 - - 3266 - - - - - - - - 14.45 14.37 14.49
3129 292.3 -8.5 167 3142 roll -0.58 - - 2729 - 2.47 0.060 376 -568.0 -116.8 - - 3260 - - - - - - - - 14.86 14.24 14.88
3163 295.5 -8.6 171 3176 done -0.58 - - 2720 - 2.35 0.033 1776 595.7 -116.8 - - 3259 - - - - - - - - 14.50 14.44 14.53
3535 328.2 -9.1 181 3549 roll -0.58 - - 2709 - 2.40 0.054 3170 580.8 -116.8 - - 3257 - - - - - - - - 14.83 14.30 14.85
3632 337.9 -9.5 194 3646 done -0.58 0.15 0.240 2740 206.7 2.38 0.037 1767 -589.5 -116.8 - - 3256 - - - - - - - - 13.94 14.36 14.19
3997 368.4 -8.2 203 4010 roll -0.58 - - 2745 - 2.47 0.062 379 -561.9 -116.8 - - 3255 - - - - - - - - 14.84 14.22 14.86
4061 373.7 -8.2 211 4074 done -0.58 - - 2738 - 2.35 0.033 1778 595.3 -116.8 - - 3255 - - - - - - - - 14.50 14.43 14.52
4404 398.7 -7.1 224 4417 roll -0.58 - - 2727 - 2.40 0.053 3166 578.3 -116.8 - - 3254 - - - - - - - - 14.84 14.28 14.85
4509 406.1 -7.2 238 4523 done -0.58 - - 2727 - 2.38 0.037 1774 -584.9 -116.8 - - 3251 - - - - - - - - 14.33 14.24 14.35
4866 434.0 -8.0 246 4879 roll -0.58 - - 2726 - 2.50 0.063 374 -560.0 -116.8 - - 3250 - - - - - - - - 14.83 14.19 14.85
5014 447.3 -9.2 266 5027 done -0.58 - - 2718 - 2.38 0.034 1774 588.2 -116.8 - - 3253 - - - - - - - - 14.43 14.37 14.46
5386 479.6 -8.7 276 5399 roll -0.58 - - 2709 - 2.42 0.053 3166 575.2 -116.8 - - 3248 - - - - - - - - 14.81 14.21 14.83
5499 489.7 -8.7 291 5513 done -0.58 0.15 0.238 2739 200.0 2.40 0.038 1770 -581.7 -116.8 - - 3247 - - - - - - - - 13.85 14.29 14.11
5845 516.6 -7.8 298 5858 roll -0.58 - - 2739 - 2.50 0.063 376 -557.6 -116.8 - - 3245 - - - - - - - - 14.81 14.14 14.83
5948 525.8 -8.7 312 5962 done -0.58 - - 2732 - 2.40 0.034 1779 584.6 -116.8 - - 3245 - - - - - - - - 14.41 14.35 14.44
6307 555.9 -8.5 320 6320 roll -0.58 - - 2721 - 2.42 0.054 3164 572.3 -116.8 - - 3244 - - - - - - - - 14.81 14.16 14.83
6404 564.4 -8.4 333 6417 done -0.58 - - 2721 - 2.38 0.037 1774 -584.0 -116.8 - - 3244 - - - - - - - - 14.35 14.26 14.39
6768 594.3 -8.1 342 6781 roll -0.58 - - 2722 - 2.50 0.062 380 -557.6 -116.8 - - 3242 - - - - - - - - 14.81 14.11 14.83
6852 601.3 -8.4 353 6866 done -0.58 0.12 0.268 2735 108.3 2.38 0.034 1778 587.4 -116.8 - - 3242 - - - - - - - - 13.83 14.34 14.09
7174 624.1 -7.0 363 7188 roll -0.58 - - 2728 - 2.45 0.054 3171 568.6 -116.8 - - 3240 - - - - - - - - 14.81 14.15 14.83
7273 631.3 -7.3 376 7286 done -0.58 - - 2727 - 2.40 0.040 1780 -579.6 -116.8 - - 3240 - - - - - - - - 14.32 14.23 14.35
7637 658.6 -7.5 385 7650 roll -0.58 - - 2728 - 2.53 0.063 375 -555.3 -116.8 - - 3239 - - - - - - - - 14.80 14.07 14.83
7770 669.4 -8.3 403 7783 done -0.58 - - 2718 - 2.40 0.034 1777 584.2 -116.8 - - 3238 - - - - - - - - 14.33 14.27 14.36
8099 695.3 -8.0 414 8112 roll -0.58 - - 2708 - 2.45 0.055 3164 566.1 -116.8 - - 3237 - - - - - - - - 14.80 14.00 14.82
8175 701.8 -8.4 424 8188 done -0.58 0.15 0.241 2738 200.0 2.40 0.039 1769 -581.2 -116.8 - - 3237 - - - - - - - - 13.76 14.21 14.02
8506 727.1 -7.8 435 8519 roll -0.58 - - 2738 - 2.53 0.063 375 -551.0 -116.8 - - 3236 - - - - - - - - 14.77 14.05 14.79
8589 734.5 -8.6 446 8602 done -0.58 - - 2731 - 2.42 0.036 1775 578.5 -116.8 - - 3236 - - - - - - - - 14.32 14.26 14.35
8912 761.1 -8.4 456 8925 roll -0.58 - - 2721 - 2.45 0.055 3161 565.7 -116.8 - - 3234 - - - - - - - - 14.81 14.04 14.83
8975 766.4 -8.2 464 8988 done -0.58 - - 2721 - 2.42 0.039 1772 -574.0 -116.8 - - 3235 - - - - - - - - 14.25 14.15 14.28
9318 794.2 -8.0 477 9331 roll -0.58 - - 2721 - 2.55 0.063 373 -548.6 -116.8 - - 3233 - - - - - - - - 14.77 14.02 14.79
9409 801.7 -8.2 489 9423 done -0.58 0.12 0.265 2735 116.7 2.42 0.036 1777 580.2 -116.8 - - 3233 - - - - - - - - 13.72 14.23 13.97
9780 827.0 -6.7 499 9793 roll -0.58 - - 2727 - 2.47 0.056 3165 561.9 -116.8 - - 3232 - - - - - - - - 14.73 14.01 14.75
9905 835.2 -6.9 515 9918 done -0.68 - - 2727 - 2.42 0.040 1772 -575.6 -116.8 - - 3232 - - - - - - - - 14.21 14.12 14.25
10248 860.0 -7.2 528 10261 roll -0.68 - - 2727 - 2.55 0.064 377 -547.1 -116.8 - - 3231 - - - - - - - - 14.76 13.95 14.78
10318 865.7 -8.3 537 10331 done -0.68 - - 2717 - 2.42 0.037 1784 581.4 -116.8 - - 3231 - - - - - - - - 14.29 14.23 14.32
10654 893.2 -8.3 549 10667 roll -0.68 - - 2707 - 2.45 0.057 3161 562.0 -116.8 - - 3230 - - - - - - - - 14.77 14.00 14.78
10751 901.5 -6.7 562 10764 done -0.68 - - 2705 - 2.42 0.041 1774 -573.1 -116.8 - - 3230 - - - - - - - - 14.19 14.10 14.23
11116 932.3 -8.4 571 11129 roll -0.68 - - 2707 - 2.58 0.065 375 -542.2 -116.8 - - 3230 - - - - - - - - 14.73 13.92 14.75
11206 940.4 -8.7 583 11219 done -0.68 - - 2698 - 2.42 0.037 1771 576.9 -116.8 - - 3229 - - - - - - - - 14.22 14.16 14.26
11580 970.0 -7.8 593 11593 roll -0.68 - - 2688 - 2.50 0.055 3168 558.8 -116.8 - - 3229 - - - - - - - - 14.72 13.95 14.74
11691 978.7 -7.6 608 11705 done -0.68 - - 2688 - 2.45 0.041 1775 -568.6 -116.8 - - 3228 - - - - - - - - 14.16 14.07 14.19
11863 end dive: TARGET_DEPTH_EXCEEDED
11863 begin apogee
11873 992.4 -7.6 612 12006 done -0.21 0.70 0.236 2856 240.0 - - 1662 - - 122.60 2.213 2792 -3.6 0.306 - - - - - - 13.63 13.85 12.78
12008 end apogee: CONTROL_FINISHED_OK
12008 begin climb
12012 996.7 - 614 12160 roll 0.84 1.17 0.157 3190 285.5 2.60 0.050 3071 541.9 116.8 126.75 2.171 2307 -3.8 0.337 - - - - - - 13.88 13.88 12.77
12195 986.8 8.4 644 12208 done 0.84 - - 3201 - 2.40 0.042 1693 -574.2 116.8 - - 2298 - - - - - - - - 14.23 14.15 14.26
12552 957.8 8.4 652 12565 done 0.84 - - 3201 - - - 1693 - 116.8 - - 2295 - - - - - - - - 14.73 14.76 14.76
12890 932.6 7.4 658 12907 roll 0.85 - - 3211 - 2.50 0.066 327 -546.4 125.1 1.95 0.164 2278 -8.7 9.523 - - - - - - 14.75 14.23 14.12
12934 928.9 9.6 664 12947 done 0.85 - - 3211 - 2.30 0.031 1706 599.6 125.1 - - 2279 - - - - - - - - 14.52 14.47 14.54
13291 901.4 7.7 672 13309 roll 0.85 - - 3211 - 2.35 0.048 3048 571.1 128.3 2.35 0.562 2267 -5.1 1.573 - - - - - - 14.80 14.38 13.14
13419 891.5 8.0 689 13432 done 0.76 0.20 0.262 3178 -165.0 2.35 0.042 1680 -582.1 128.3 - - 2270 - - - - - - - - 13.90 14.39 14.22
13755 868.7 6.7 701 13800 roll 0.79 - - 3187 - 2.50 0.067 319 -544.4 150.4 32.62 2.049 2173 -3.0 0.242 - - - - - - 14.78 14.30 13.19
13822 864.1 8.2 710 13835 done 0.79 - - 3187 - 2.28 0.031 1685 599.1 150.4 - - 2164 - - - - - - - - 14.48 14.43 14.50
14151 839.5 7.3 721 14169 roll 0.80 - - 3187 - 2.40 0.048 3055 570.8 159.9 3.38 1.157 2139 -7.4 1.031 - - - - - - 14.73 14.38 13.20
14264 830.9 7.8 736 14278 done 0.80 - - 3192 - 2.38 0.041 1674 -580.3 160.1 - - 2139 - - - - - - - - 14.50 14.40 14.52
14603 803.9 8.0 743 14617 roll 0.80 - - 3206 - 2.42 0.067 319 -559.9 160.1 - - 2139 - - - - - - - - 14.79 14.27 14.81
14644 800.3 7.8 748 14658 done 0.80 - - 3205 - 2.28 0.031 1685 599.1 160.4 - - 2139 - - - - - - - - 14.52 14.46 14.54
15010 769.6 8.5 757 15023 roll 0.80 - - 3206 - 2.38 0.048 3059 577.3 160.4 - - 2139 - - - - - - - - 14.76 14.30 14.78
15121 759.4 9.0 772 15135 done 0.80 - - 3215 - 2.40 0.042 1681 -574.2 160.4 - - 2139 - - - - - - - - 14.45 14.33 14.45
15466 727.5 9.4 779 15479 roll 0.80 - - 3225 - 2.47 0.066 319 -551.4 160.4 - - 2139 - - - - - - - - 14.76 14.19 14.78
15514 722.5 10.2 785 15528 done 0.80 0.17 0.249 3189 -211.8 2.30 0.031 1697 599.1 160.4 - - 2139 - - - - - - - - 13.89 14.45 14.17
15872 692.6 8.2 793 15885 roll 0.80 - - 3189 - 2.35 0.049 3045 573.6 160.4 - - 2139 - - - - - - - - 14.81 14.22 14.83
15998 682.5 7.9 810 16011 done 0.80 - - 3195 - 2.38 0.042 1673 -576.5 160.4 - - 2139 - - - - - - - - 14.40 14.30 14.42
16334 656.5 7.7 822 16351 roll 0.80 - - 3205 - 2.50 0.067 317 -542.4 162.5 1.77 0.168 2136 -1.7 1.272 - - - - - - 14.78 14.18 14.01
16387 652.2 8.5 829 16401 done 0.80 - - 3205 - 2.30 0.031 1685 594.8 162.5 - - 2135 - - - - - - - - 14.43 14.37 14.45
16730 624.3 8.1 836 16743 roll 0.80 - - 3206 - 2.38 0.047 3048 572.7 162.5 - - 2136 - - - - - - - - 14.86 14.19 14.82
16850 614.1 8.7 852 16863 done 0.80 - - 3214 - 2.40 0.041 1672 -573.3 162.5 - - 2136 - - - - - - - - 14.35 14.26 14.37
17195 583.7 8.9 865 17208 roll 0.80 - - 3225 - 2.45 0.067 317 -553.1 162.5 - - 2135 - - - - - - - - 14.76 14.11 14.77
17229 580.5 9.0 869 17243 done 0.80 0.15 0.246 3195 -200.0 2.28 0.031 1694 603.9 162.5 - - 2136 - - - - - - - - 13.85 14.37 14.12
17602 551.3 7.7 879 17619 roll 0.80 - - 3195 - 2.35 0.049 3033 569.8 164.5 3.03 0.897 2122 -4.6 0.545 - - - - - - 14.78 14.38 13.33
17714 542.5 7.8 894 17733 done 0.81 - - 3201 - 2.35 0.042 1678 -576.6 166.4 3.83 1.158 2116 -1.6 0.141 - - - - - - 14.46 14.37 13.33
18067 516.1 7.5 908 18094 roll 0.81 - - 3211 - 2.40 0.065 317 -567.1 172.2 14.52 1.655 2086 -2.1 0.124 - - - - - - 14.74 14.14 13.43
18135 510.4 8.2 918 18149 done 0.81 - - 3211 - 2.22 0.032 1667 608.1 172.2 - - 2080 - - - - - - - - 14.50 14.45 14.52
18466 483.7 8.2 929 18479 roll 0.81 - - 3211 - 2.40 0.047 3055 578.3 172.2 - - 2077 - - - - - - - - 14.73 14.31 14.75
18591 472.6 8.7 946 18604 done 0.81 - - 3220 - 2.38 0.042 1677 -579.0 172.2 - - 2077 - - - - - - - - 14.41 14.34 14.45
18928 441.8 9.4 958 18942 roll 0.81 - - 3231 - 2.45 0.067 321 -553.5 172.2 - - 2077 - - - - - - - - 14.75 14.19 14.77
18983 436.1 10.4 965 18998 done 0.81 0.17 0.236 3194 -217.6 2.28 0.031 1691 600.9 172.2 - - 2077 - - - - - - - - 13.90 14.40 14.22
19328 407.5 8.2 972 19341 roll 0.81 - - 3193 - 2.35 0.048 3038 573.2 172.2 - - 2077 - - - - - - - - 14.79 14.21 14.81
19392 402.2 8.4 980 19405 done 0.81 - - 3199 - 2.35 0.042 1685 -575.7 172.2 - - 2076 - - - - - - - - 14.38 14.28 14.42
19735 375.0 7.8 993 19748 roll 0.81 - - 3210 - 2.47 0.067 312 -555.9 172.9 - - 2077 - - - - - - - - 14.76 14.14 14.78
19762 372.8 7.7 996 19775 done 0.82 - - 3210 - 2.28 0.031 1678 599.1 175.7 - - 2077 - - - - - - - - 14.45 14.39 14.47
20086 347.1 8.0 1006 20099 roll 0.82 - - 3210 - 2.38 0.047 3049 576.1 175.7 - - 2077 - - - - - - - - 14.74 14.20 14.76
20183 339.0 8.2 1019 20196 done 0.82 - - 3219 - 2.40 0.041 1670 -574.6 175.7 - - 2077 - - - - - - - - 14.35 14.26 14.38
20548 308.1 8.6 1028 20561 done 0.82 - - 3219 - - - 1670 - 175.7 - - 2077 - - - - - - - - 14.74 14.76 14.76
20883 281.1 7.8 1034 20896 roll 0.82 - - 3219 - 2.42 0.045 3056 572.7 176.2 - - 2077 - - - - - - - - 14.74 14.16 14.77
20959 275.1 7.6 1044 20976 done 0.82 - - 3227 - 2.40 0.041 1672 -576.7 180.0 3.12 0.783 2057 -6.4 0.433 - - - - - - 14.33 14.23 13.43
21287 249.4 8.1 1055 21300 done 0.82 0.15 0.252 3197 -200.0 - - 1671 - 180.0 - - 2061 - - - - - - - - 13.93 14.25 14.16
21622 223.6 7.7 1061 21635 done 0.83 - - 3197 - - - 1670 - 182.5 3.28 0.795 2048 -4.0 0.214 - - - - - - 14.79 14.37 13.46
21959 195.6 8.4 1067 21972 roll 0.83 - - 3197 - 2.40 0.045 3056 577.5 182.5 - - 2056 - - - - - - - - 14.79 14.27 14.81
22022 190.4 8.0 1075 22035 done 0.83 - - 3203 - 2.38 0.041 1676 -579.8 182.5 - - 2054 - - - - - - - - 14.40 14.31 14.42
22365 166.4 6.9 1088 22402 roll 0.85 - - 3214 - 2.45 0.066 323 -552.2 199.6 25.50 1.208 1971 -3.3 0.086 - - - - - - 14.76 14.39 13.53
22432 161.1 8.5 1097 22445 done 0.85 - - 3214 - 2.22 0.030 1684 613.1 199.6 - - 1964 - - - - - - - - 14.59 14.51 14.59
22760 131.6 9.1 1108 22774 roll 0.85 - - 3213 - 2.35 0.045 3054 583.0 199.6 - - 1963 - - - - - - - - 14.73 14.30 14.76
22826 125.4 9.5 1116 22839 done 0.85 - - 3222 - 2.38 0.041 1675 -579.4 199.6 - - 1959 - - - - - - - - 14.42 14.33 14.45
23169 98.8 7.3 1129 23187 roll 0.86 - - 3222 - 2.42 0.045 3045 566.1 209.9 4.22 0.190 1944 -3.6 0.355 - - - - - - 14.80 14.21 13.66
23223 95.0 7.5 1136 23247 done 0.87 - - 3229 - 2.38 0.040 1672 -576.9 216.8 10.95 0.320 1910 -3.1 0.177 - - - - - - 14.42 14.33 13.87
23573 70.4 6.2 1152 23620 roll 0.91 - - 3239 - 2.38 0.067 325 -566.0 247.7 33.03 0.304 1784 -3.8 0.170 - - - - - - 14.75 14.44 14.07
23674 64.6 6.1 1166 23720 done 1.06 0.10 0.143 3279 400.0 2.25 0.030 1689 606.2 280.0 33.20 0.288 1650 -4.0 0.174 - - - - - - 14.33 14.45 14.06
24050 45.8 4.5 1187 24122 roll 1.30 0.17 0.104 3364 500.0 2.47 0.067 309 -558.7 341.9 56.78 0.242 1402 -4.4 0.159 - - - - - - 14.31 14.38 14.12
24193 34.5 9.5 1207 24206 done 1.30 - - 3364 - 2.25 0.028 1672 605.8 341.9 - - 1407 - - - - - - - - 14.47 14.42 14.49
24536 2.6 10.0 1222 24549 done 1.30 - - 3364 - - - 1681 - 341.9 - - 1408 - - - - - - - - 14.75 14.77 14.76
24560 end climb: SURFACE_DEPTH_REACHED
24560 begin surface coast
24588 end surface coast: CONTROL_FINISHED_OK
24588 begin surface
SM 1.06 - - - - -8.62 9.45 0.052 157 16.6 0.08 0.140 1770 22050.0 515.13 105.62 0.122 691 6.5 -0.006 - - - - - -