SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 577 * Raw log
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• Previous call tries 2 • 218.16 of 350.00 AH used of 24V (37.67% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 16 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
28 - - - 115 VBD -0.84 - - 146 - - - 1781 - -116.8 -83.72 - 3204 - - - - - - - - 14.64 - 14.66
120 4.8 -6.6 3 144 roll -0.84 12.62 0.380 2661 199.3 2.70 2.025 372 -521.9 -116.8 -0.98 - 3273 -70.4 - - - - - - - 13.93 13.08 14.37
224 40.7 -24.0 18 233 done -0.46 0.52 0.279 2775 219.2 2.30 0.033 1751 599.6 -116.8 - - 3273 - - - - - - - - 14.00 14.45 14.32
536 76.1 -7.9 30 544 roll -0.46 - - 2767 - 2.42 0.050 3172 587.2 -116.8 - - 3274 - - - - - - - - 14.73 14.38 14.75
692 87.5 -7.4 52 698 done -0.46 - - 2767 - 2.35 0.037 1771 -596.2 -116.8 - - 3274 - - - - - - - - 14.48 14.42 14.52
1042 114.8 -8.0 63 1048 roll -0.46 - - 2767 - 2.45 0.058 372 -571.0 -116.8 - - 3274 - - - - - - - - 14.76 14.30 14.78
1076 118.0 -9.4 68 1083 done -0.46 - - 2763 - 2.35 0.031 1791 603.8 -116.8 - - 3273 - - - - - - - - 14.50 14.45 14.53
1435 147.6 -8.0 77 1442 roll -0.46 - - 2758 - 2.47 0.055 376 -572.9 -116.8 - - 3272 - - - - - - - - 14.74 14.30 14.76
1470 150.5 -8.2 82 1478 done -0.46 0.12 0.249 2773 125.0 2.33 0.031 1779 602.1 -116.8 - - 3273 - - - - - - - - 14.06 14.45 14.29
1828 176.7 -7.4 91 1835 roll -0.56 - - 2766 - 2.38 0.051 3158 579.4 -116.8 - - 3270 - - - - - - - - 14.78 14.28 14.79
1871 179.9 -7.7 97 1878 done -0.68 0.17 0.099 2693 -429.4 2.33 0.037 1777 -592.7 -116.8 - - 3270 - - - - - - - - 14.35 14.36 14.42
2222 215.5 -10.1 105 2228 roll -0.68 - - 2691 - 2.47 0.059 373 -568.4 -116.8 - - 3267 - - - - - - - - 14.74 14.23 14.78
2335 228.4 -11.7 121 2342 done -0.57 0.25 0.244 2740 196.0 2.35 0.032 1769 594.0 -116.8 - - 3266 - - - - - - - - 13.86 14.38 14.16
2672 259.1 -9.0 134 2685 roll -0.57 - - 2732 - 2.40 0.052 3168 582.9 -116.8 - - 3264 - - - - - - - - 14.86 14.33 14.88
2769 267.5 -8.3 147 2782 done -0.57 - - 2732 - 2.35 0.038 1775 -592.8 -116.8 - - 3263 - - - - - - - - 14.47 14.39 14.50
3134 300.7 -9.3 156 3148 roll -0.57 - - 2732 - 2.47 0.060 376 -566.4 -116.8 - - 3260 - - - - - - - - 14.87 14.18 14.89
3203 308.0 -10.3 165 3217 done -0.57 - - 2724 - 2.35 0.033 1782 598.3 -116.8 - - 3257 - - - - - - - - 14.51 14.45 14.53
3539 338.0 -8.6 177 3553 roll -0.57 - - 2713 - 2.38 0.053 3161 579.4 -116.8 - - 3257 - - - - - - - - 14.85 14.31 14.87
3651 346.6 -7.5 192 3665 done -0.57 0.12 0.239 2738 208.3 2.38 0.037 1766 -586.1 -116.8 - - 3257 - - - - - - - - 14.00 14.37 14.22
3996 370.6 -7.0 199 4009 roll -0.57 - - 2739 - 2.47 0.061 373 -564.0 -116.8 - - 3255 - - - - - - - - 14.83 14.23 14.85
4079 377.6 -8.2 210 4093 done -0.57 - - 2732 - 2.35 0.034 1772 595.3 -116.8 - - 3254 - - - - - - - - 14.46 14.40 14.49
4401 404.1 -8.3 220 4414 roll -0.57 - - 2721 - 2.40 0.052 3164 580.0 -116.8 - - 3252 - - - - - - - - 14.88 14.27 14.90
4514 413.7 -8.6 235 4528 done -0.57 - - 2721 - 2.38 0.037 1776 -583.2 -116.8 - - 3251 - - - - - - - - 14.33 14.24 14.36
4856 444.0 -8.8 242 4870 roll -0.57 - - 2721 - 2.50 0.062 374 -560.8 -116.8 - - 3250 - - - - - - - - 14.88 14.23 14.90
4962 454.2 -9.6 256 4975 done -0.57 0.12 0.264 2736 125.0 2.40 0.034 1782 586.7 -116.8 - - 3249 - - - - - - - - 13.89 14.35 14.14
5319 483.8 -8.2 264 5334 roll -0.57 - - 2728 - 2.42 0.054 3165 571.5 -116.8 - - 3248 - - - - - - - - 14.88 14.22 14.89
5411 491.1 -7.9 276 5424 done -0.57 - - 2728 - 2.38 0.038 1774 -584.5 -116.8 - - 3247 - - - - - - - - 14.40 14.31 14.43
5783 520.7 -8.0 286 5796 roll -0.57 - - 2728 - 2.50 0.062 375 -559.6 -116.8 - - 3246 - - - - - - - - 14.85 14.16 14.87
5887 529.8 -8.8 300 5900 done -0.57 - - 2719 - 2.40 0.034 1777 584.2 -116.8 - - 3245 - - - - - - - - 14.42 14.36 14.44
6244 560.4 -8.7 308 6257 roll -0.57 - - 2708 - 2.42 0.054 3165 573.6 -116.8 - - 3244 - - - - - - - - 14.86 14.09 14.88
6335 568.5 -9.0 320 6349 done -0.57 0.15 0.238 2739 206.7 2.40 0.038 1774 -579.6 -116.8 - - 3244 - - - - - - - - 13.82 14.26 14.08
6706 597.4 -7.6 330 6720 roll -0.57 - - 2739 - 2.53 0.063 376 -552.6 -116.8 - - 3243 - - - - - - - - 14.85 14.12 14.88
6812 605.9 -8.1 344 6825 done -0.57 - - 2732 - 2.38 0.034 1779 589.5 -116.8 - - 3242 - - - - - - - - 14.39 14.33 14.42
7169 632.3 -7.3 352 7182 roll -0.57 - - 2722 - 2.42 0.054 3160 570.7 -116.8 - - 3240 - - - - - - - - 14.85 14.12 14.87
7289 641.0 -7.2 368 7302 done -0.57 - - 2721 - 2.38 0.038 1775 -581.9 -116.8 - - 3240 - - - - - - - - 14.32 14.23 14.35
7632 667.2 -7.7 381 7645 roll -0.57 - - 2721 - 2.53 0.063 375 -553.4 -116.8 - - 3238 - - - - - - - - 14.81 14.09 14.83
7716 674.5 -8.7 392 7730 done -0.57 0.12 0.262 2736 125.0 2.42 0.035 1778 579.8 -116.8 - - 3238 - - - - - - - - 13.79 14.28 14.04
8039 698.8 -7.5 402 8052 roll -0.57 - - 2728 - 2.45 0.054 3166 566.5 -116.8 - - 3237 - - - - - - - - 14.84 14.09 14.85
8143 706.6 -7.1 416 8156 done -0.67 - - 2728 - 2.40 0.039 1776 -579.2 -116.8 - - 3237 - - - - - - - - 14.29 14.20 14.33
8501 734.8 -7.9 424 8515 roll -0.67 - - 2728 - 2.53 0.063 377 -553.0 -116.8 - - 3236 - - - - - - - - 14.83 14.03 14.85
8564 740.2 -8.5 432 8577 done -0.67 - - 2718 - 2.40 0.035 1779 584.2 -116.8 - - 3236 - - - - - - - - 14.32 14.26 14.34
8909 767.4 -7.9 445 8922 roll -0.67 - - 2708 - 2.45 0.055 3164 565.3 -116.8 - - 3235 - - - - - - - - 14.77 14.05 14.79
8985 773.6 -7.8 455 8998 done -0.67 - - 2708 - 2.40 0.040 1778 -577.5 -116.8 - - 3237 - - - - - - - - 14.26 14.16 14.29
9314 800.1 -8.1 466 9327 roll -0.67 - - 2708 - 2.55 0.063 373 -551.0 -116.8 - - 3233 - - - - - - - - 14.83 14.00 14.85
9405 808.2 -8.8 478 9419 done -0.67 - - 2699 - 2.42 0.035 1771 577.7 -116.8 - - 3233 - - - - - - - - 14.29 14.23 14.32
9777 840.6 -8.8 488 9790 roll -0.67 - - 2688 - 2.47 0.054 3165 564.4 -116.8 - - 3232 - - - - - - - - 14.81 14.02 14.83
9875 849.6 -9.2 501 9888 done -0.67 - - 2688 - 2.45 0.039 1760 -573.5 -116.8 - - 3232 - - - - - - - - 14.21 14.12 14.24
10239 883.7 -9.7 510 10253 roll -0.67 - - 2688 - 2.53 0.063 373 -548.2 -116.8 - - 3231 - - - - - - - - 14.82 13.96 14.84
10309 891.0 -10.8 519 10322 done -0.67 0.15 0.274 2707 126.7 2.42 0.036 1775 579.3 -116.8 - - 3231 - - - - - - - - 13.60 14.20 13.90
10646 921.9 -9.2 531 10660 roll -0.67 - - 2699 - 2.47 0.056 3165 562.8 -116.8 - - 3230 - - - - - - - - 14.76 14.00 14.77
10758 932.4 -9.3 546 10772 done -0.67 - - 2699 - 2.45 0.041 1774 -567.8 -116.8 - - 3230 - - - - - - - - 14.18 14.09 14.22
11103 964.5 -9.3 553 11116 roll -0.67 - - 2697 - 2.58 0.065 377 -541.5 -116.8 - - 3229 - - - - - - - - 14.73 13.92 14.76
11207 974.9 -9.7 567 11220 done -0.67 - - 2689 - 2.42 0.037 1774 577.3 -116.8 - - 3231 - - - - - - - - 14.23 14.16 14.26
11393 end dive: TARGET_DEPTH_EXCEEDED
11393 begin apogee
11404 992.0 -8.5 572 11536 done -0.21 0.70 0.241 2857 240.0 - - 1649 - - 121.93 2.217 2793 -3.6 0.308 - - - - - - 13.64 13.86 12.79
11537 end apogee: CONTROL_FINISHED_OK
11537 begin climb
11541 997.3 - 574 11689 roll 0.84 1.17 0.159 3201 294.0 2.40 0.067 347 -542.5 116.8 127.75 2.167 2306 -3.8 0.336 - - - - - - 13.88 13.90 12.80
11741 987.7 6.6 606 11777 done 0.87 - - 3201 - 2.28 0.031 1700 593.4 140.7 24.55 2.096 2218 -3.6 0.324 - - - - - - 14.35 14.31 12.98
12128 949.1 10.0 619 12141 roll 0.87 - - 3201 - 2.35 0.049 3056 577.0 140.7 - - 2198 - - - - - - - - 14.75 14.34 14.77
12241 937.1 11.3 634 12254 done 0.87 - - 3209 - 2.35 0.042 1701 -576.6 140.7 - - 2200 - - - - - - - - 14.47 14.38 14.50
12583 900.1 10.8 641 12596 roll 0.87 - - 3220 - 2.47 0.067 323 -557.9 140.7 - - 2197 - - - - - - - - 14.78 14.27 14.81
12631 894.6 13.4 647 12645 done 0.87 - - 3220 - 2.28 0.032 1683 596.5 140.7 - - 2196 - - - - - - - - 14.51 14.45 14.53
12990 855.9 10.7 655 13003 roll 0.87 - - 3220 - 2.40 0.049 3063 575.0 140.7 - - 2197 - - - - - - - - 14.78 14.29 14.80
13115 843.1 10.3 672 13128 done 0.87 - - 3229 - 2.40 0.043 1676 -577.9 140.7 - - 2195 - - - - - - - - 14.42 14.33 14.47
13452 810.5 9.7 684 13466 roll 0.78 0.17 0.261 3197 -188.2 2.45 0.064 317 -554.7 140.7 - - 2195 - - - - - - - - 13.80 14.10 13.97
13508 805.4 8.6 691 13522 done 0.78 - - 3198 - 2.30 0.032 1681 593.0 140.7 - - 2194 - - - - - - - - 14.46 14.38 14.49
13853 778.4 7.8 698 13867 roll 0.78 - - 3197 - 2.42 0.048 3062 570.7 142.1 - - 2196 - - - - - - - - 14.80 14.23 14.82
13964 769.4 8.3 713 13979 done 0.78 - - 3205 - 2.40 0.042 1679 -576.2 142.1 - - 2195 - - - - - - - - 14.37 14.28 14.41
14309 741.0 8.5 720 14322 roll 0.78 - - 3216 - 2.47 0.067 316 -551.8 142.1 - - 2194 - - - - - - - - 14.82 14.12 14.84
14365 735.8 9.7 727 14380 done 0.78 0.15 0.245 3186 -200.0 2.33 0.032 1694 591.4 142.1 - - 2194 - - - - - - - - 13.77 14.26 14.10
14708 707.4 8.2 734 14721 roll 0.78 - - 3186 - 2.38 0.049 3054 571.4 142.1 - - 2195 - - - - - - - - 14.77 14.18 14.79
14820 697.9 8.2 749 14834 done 0.78 - - 3192 - 2.40 0.042 1679 -572.9 142.1 - - 2195 - - - - - - - - 14.33 14.22 14.37
15163 670.9 7.7 756 15176 roll 0.78 - - 3203 - 2.45 0.067 324 -553.1 144.9 - - 2194 - - - - - - - - 14.80 14.08 14.82
15197 668.2 7.8 760 15210 done 0.78 - - 3202 - 2.28 0.032 1682 595.6 146.5 - - 2192 - - - - - - - - 14.42 14.33 14.42
15569 639.9 7.6 770 15587 roll 0.79 - - 3203 - 2.40 0.047 3048 569.2 151.0 2.50 0.646 2175 -6.8 1.292 - - - - - - 14.76 14.33 13.26
15709 629.0 7.8 789 15722 done 0.79 - - 3211 - 2.38 0.042 1670 -579.0 152.8 - - 2177 - - - - - - - - 14.40 14.31 14.43
16032 603.9 7.8 799 16046 done 0.79 - - 3211 - - - 1670 - 154.6 3.55 1.120 2159 -5.1 0.524 - - - - - - 14.75 14.39 13.33
16367 576.6 8.1 805 16380 done 0.79 - - 3217 - - - 1669 - 154.6 - - 2166 - - - - - - - - 14.77 14.79 14.79
16703 548.8 8.3 811 16716 roll 0.79 - - 3211 - 2.42 0.047 3051 571.1 154.6 - - 2166 - - - - - - - - 14.77 14.21 14.79
16753 544.5 8.5 817 16766 done 0.79 0.15 0.256 3192 -126.7 2.40 0.041 1671 -575.0 154.6 - - 2163 - - - - - - - - 13.87 14.28 14.13
17110 517.5 7.5 825 17125 done 0.80 - - 3191 - - - 1672 - 160.8 6.28 1.497 2139 -3.8 0.253 - - - - - - 14.79 14.39 13.43
17446 491.2 7.9 831 17459 roll 0.80 - - 3199 - 2.42 0.067 321 -558.3 160.8 - - 2145 - - - - - - - - 14.80 14.23 14.81
17488 487.6 8.6 836 17502 done 0.80 - - 3199 - 2.25 0.031 1684 605.8 160.8 - - 2145 - - - - - - - - 14.50 14.45 14.52
17852 455.6 8.9 845 17866 roll 0.80 - - 3199 - 2.35 0.046 3045 579.1 160.8 - - 2145 - - - - - - - - 14.76 14.26 14.78
17965 445.7 8.7 860 17979 done 0.80 - - 3207 - 2.38 0.041 1679 -573.9 160.8 - - 2144 - - - - - - - - 14.38 14.27 14.40
18308 419.2 7.5 867 18337 roll 0.81 - - 3218 - 2.40 0.065 320 -566.2 167.9 16.38 1.526 2101 -2.6 0.138 - - - - - - 14.76 14.12 13.43
18385 413.1 8.0 878 18400 done 0.81 - - 3218 - 2.22 0.031 1679 612.2 167.9 - - 2096 - - - - - - - - 14.52 14.50 14.53
18710 388.6 7.6 888 18723 roll 0.81 - - 3218 - 2.35 0.046 3049 583.0 171.8 - - 2096 - - - - - - - - 14.73 14.32 14.75
18779 382.8 8.1 897 18793 done 0.81 0.15 0.254 3198 -133.3 2.35 0.041 1678 -583.4 171.8 - - 2095 - - - - - - - - 13.94 14.33 14.21
19117 359.2 7.0 909 19146 done 0.83 - - 3197 - - - 1678 - 186.9 20.50 1.461 2031 -3.1 0.147 - - - - - - 14.78 14.32 13.42
19452 333.7 7.7 915 19465 roll 0.84 - - 3197 - 2.38 0.045 3052 577.3 189.4 - - 2015 - - - - - - - - 14.76 14.31 14.78
19507 329.1 8.2 922 19521 done 0.84 - - 3203 - 2.38 0.041 1682 -575.6 189.4 - - 2015 - - - - - - - - 14.43 14.34 14.46
19852 299.1 8.9 929 19865 done 0.84 - - 3203 - - - 1682 - 189.4 - - 2018 - - - - - - - - 14.73 14.76 14.75
20187 268.7 9.0 935 20200 done 0.84 - - 3203 - - - 1682 - 189.4 - - 2014 - - - - - - - - 14.76 14.78 14.78
20523 241.4 7.9 941 20536 roll 0.84 - - 3203 - 2.38 0.045 3049 574.4 189.4 - - 2015 - - - - - - - - 14.76 14.25 14.78
20565 238.1 7.9 946 20579 done 0.84 - - 3212 - 2.38 0.040 1672 -578.6 189.4 - - 2015 - - - - - - - - 14.41 14.32 14.45
20929 209.9 7.9 955 20942 roll 0.84 - - 3223 - 2.42 0.064 320 -558.7 189.4 - - 2015 - - - - - - - - 14.81 14.14 14.81
20984 205.0 9.1 962 20998 done 0.84 - - 3223 - 2.28 0.029 1685 598.7 189.4 - - 2015 - - - - - - - - 14.40 14.38 14.40
21330 173.9 9.1 969 21343 roll 0.84 - - 3223 - 2.35 0.045 3049 580.4 189.4 - - 2015 - - - - - - - - 14.75 14.21 14.77
21427 164.7 9.0 982 21440 done 0.84 0.15 0.240 3200 -153.3 2.38 0.040 1676 -576.9 189.4 - - 2015 - - - - - - - - 13.88 14.27 14.14
21793 139.5 6.7 991 21828 roll 0.86 - - 3208 - 2.45 0.065 323 -552.2 211.7 23.73 1.181 1924 -3.8 0.087 - - - - - - 14.75 14.39 13.54
21898 131.4 7.9 1006 21912 done 0.86 - - 3209 - 2.25 0.029 1685 605.3 211.7 - - 1916 - - - - - - - - 14.53 14.48 14.55
22244 106.6 7.1 1013 22266 roll 0.88 - - 3208 - 2.33 0.044 3051 586.3 225.1 8.30 0.311 1880 -4.3 0.285 - - - - - - 14.77 14.15 13.83
22307 101.3 8.3 1022 22325 done 0.88 - - 3216 - 2.35 0.041 1679 -583.8 225.1 2.38 0.158 1875 -2.1 0.258 - - - - - - 14.46 14.38 14.09
22645 77.3 6.5 1039 22685 roll 0.91 - - 3226 - 2.45 0.065 323 -553.5 251.3 27.92 0.319 1772 -3.7 0.171 - - - - - - 14.71 14.45 14.04
22737 70.9 7.8 1052 22758 done 1.02 - - 3226 - 2.20 0.029 1677 615.5 252.4 4.05 0.181 1771 - - - - - - - - 14.44 14.43 13.86
23062 52.6 4.4 1065 23136 roll 1.27 0.32 0.078 3363 428.1 2.47 0.063 316 -551.0 316.4 61.28 0.265 1500 -4.4 0.168 - - - - - - 14.24 14.38 14.11
23348 38.1 8.0 1106 23361 done 1.27 - - 3363 - 2.22 0.028 1676 612.6 316.4 - - 1513 - - - - - - - - 14.47 14.42 14.49
23685 12.1 9.1 1120 23698 done 1.27 - - 3363 - - - 1682 - 316.4 - - 1510 - - - - - - - - 14.74 14.76 14.76
23792 end climb: SURFACE_DEPTH_REACHED
23792 begin surface coast
23820 end surface coast: CONTROL_FINISHED_OK
23820 begin surface
SM 1.04 - - - - -8.61 9.73 0.073 164 16.9 0.05 0.194 1782 35520.0 515.38 120.43 0.122 691 5.7 -0.005 - - - - - -