SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 591 * Raw log
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• Previous call tries 1 • 223.61 of 350.00 AH used of 24V (36.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 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: 54 s
• GPS2 time: 19 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
31 - - - 117 VBD -0.84 - - 151 - - - 1781 - -116.8 -83.20 - 3230 - - - - - - - - 14.62 - 14.64
122 5.3 -7.2 3 145 roll -0.84 12.52 0.377 2659 200.3 2.75 2.030 367 -514.2 -116.8 -0.60 - 3272 -70.0 - - - - - - - 13.91 13.07 14.35
168 26.9 -38.3 10 177 done -0.10 0.98 0.269 2892 237.8 2.30 0.032 1743 598.3 -116.8 - - 3273 - - - - - - - - 14.09 14.45 14.39
482 58.9 -8.7 22 489 roll -0.24 0.12 0.122 2822 -583.3 2.42 0.046 3171 590.1 -116.8 - - 3272 - - - - - - - - 14.40 14.27 14.42
679 73.5 -7.7 50 687 done -0.38 - - 2822 - 2.35 0.036 1762 -599.6 -116.8 - - 3273 - - - - - - - - 14.48 14.41 14.50
1017 101.0 -7.4 65 1024 roll -0.52 0.20 0.090 2729 -465.0 2.40 0.047 3168 585.8 -116.8 - - 3272 - - - - - - - - 14.42 14.31 14.47
1081 106.1 -8.1 74 1089 done -0.52 0.12 0.244 2753 200.0 2.33 0.037 1778 -596.6 -116.8 - - 3273 - - - - - - - - 14.04 14.37 14.27
1412 131.7 -7.7 86 1419 roll -0.52 - - 2756 - 2.40 0.057 377 -583.8 -116.8 - - 3273 - - - - - - - - 14.73 14.26 14.76
1475 136.9 -8.0 95 1481 done -0.52 - - 2749 - 2.35 0.031 1794 603.0 -116.8 - - 3273 - - - - - - - - 14.47 14.41 14.49
1806 161.1 -7.3 107 1813 roll -0.52 - - 2739 - 2.35 0.050 3165 583.4 -116.8 - - 3272 - - - - - - - - 14.73 14.26 14.76
1882 167.3 -7.8 118 1889 done -0.52 - - 2739 - 2.35 0.037 1774 -591.9 -116.8 - - 3271 - - - - - - - - 14.34 14.26 14.37
2200 193.7 -8.5 128 2206 roll -0.52 - - 2739 - 2.47 0.058 372 -567.6 -116.8 - - 3269 - - - - - - - - 14.71 14.21 14.73
2318 204.3 -8.6 145 2324 done -0.52 0.12 0.256 2754 125.0 2.35 0.032 1773 596.2 -116.8 - - 3268 - - - - - - - - 13.95 14.36 14.19
2648 228.4 -7.3 157 2654 roll -0.52 - - 2746 - 2.40 0.050 3162 578.8 -116.8 - - 3266 - - - - - - - - 14.74 14.22 14.75
2725 234.3 -7.8 168 2731 done -0.52 - - 2746 - 2.35 0.037 1775 -590.2 -116.8 - - 3265 - - - - - - - - 14.38 14.31 14.41
3040 260.8 -8.5 178 3053 roll -0.52 - - 2746 - 2.47 0.060 375 -566.8 -116.8 - - 3263 - - - - - - - - 14.83 14.22 14.84
3153 271.0 -9.1 193 3166 done -0.52 - - 2738 - 2.38 0.031 1782 591.2 -116.8 - - 3261 - - - - - - - - 14.47 14.41 14.50
3495 300.5 -8.7 200 3508 roll -0.52 - - 2728 - 2.40 0.053 3168 577.5 -116.8 - - 3261 - - - - - - - - 14.87 14.28 14.88
3550 305.4 -8.8 207 3564 done -0.52 0.15 0.233 2758 200.0 2.38 0.037 1771 -587.0 -116.8 - - 3259 - - - - - - - - 13.92 14.33 14.16
3895 331.7 -7.6 214 3908 roll -0.52 - - 2758 - 2.47 0.060 379 -563.6 -116.8 - - 3256 - - - - - - - - 14.82 14.19 14.84
3985 338.9 -7.8 226 3999 done -0.52 - - 2752 - 2.35 0.031 1780 596.2 -116.8 - - 3256 - - - - - - - - 14.46 14.40 14.48
4356 365.7 -7.2 236 4370 roll -0.52 - - 2742 - 2.40 0.053 3162 575.8 -116.8 - - 3255 - - - - - - - - 14.82 14.22 14.85
4434 371.4 -7.3 246 4447 done -0.52 - - 2742 - 2.35 0.037 1776 -589.8 -116.8 - - 3254 - - - - - - - - 14.42 14.33 14.45
4763 397.7 -8.1 257 4776 roll -0.52 - - 2742 - 2.50 0.060 373 -561.2 -116.8 - - 3251 - - - - - - - - 14.82 14.18 14.84
4875 407.5 -8.7 272 4889 done -0.52 - - 2729 - 2.40 0.033 1780 586.2 -116.8 - - 3251 - - - - - - - - 14.41 14.35 14.43
5218 435.8 -8.2 279 5231 roll -0.52 - - 2722 - 2.40 0.053 3159 574.6 -116.8 - - 3249 - - - - - - - - 14.81 14.18 14.83
5295 441.9 -7.7 289 5309 done -0.52 0.15 0.235 2753 206.7 2.35 0.038 1777 -588.1 -116.8 - - 3249 - - - - - - - - 13.85 14.30 14.11
5630 463.7 -6.6 300 5643 roll -0.61 - - 2754 - 2.50 0.061 379 -559.2 -116.8 - - 3248 - - - - - - - - 14.76 14.14 14.78
5720 470.7 -7.5 312 5733 done -0.61 - - 2748 - 2.38 0.032 1779 588.2 -116.8 - - 3247 - - - - - - - - 14.34 14.26 14.37
6092 498.1 -7.6 322 6105 roll -0.61 - - 2737 - 2.42 0.054 3161 571.1 -116.8 - - 3245 - - - - - - - - 14.80 14.14 14.81
6169 504.1 -7.8 332 6182 done -0.70 0.12 0.121 2688 -408.3 2.38 0.037 1774 -582.8 -116.8 - - 3246 - - - - - - - - 14.11 14.15 14.21
6499 537.1 -10.2 343 6512 roll -0.70 - - 2688 - 2.50 0.062 380 -557.6 -116.8 - - 3244 - - - - - - - - 14.82 14.07 14.85
6645 553.0 -10.6 363 6658 done -0.70 - - 2678 - 2.38 0.033 1773 585.3 -116.8 - - 3244 - - - - - - - - 14.35 14.29 14.38
7018 591.3 -10.4 373 7031 roll -0.70 - - 2668 - 2.45 0.053 3171 570.6 -116.8 - - 3243 - - - - - - - - 14.78 14.11 14.81
7108 600.9 -10.3 385 7121 done -0.70 0.15 0.262 2696 186.7 2.42 0.039 1772 -578.1 -116.8 - - 3242 - - - - - - - - 13.68 14.20 13.97
7480 635.9 -9.5 395 7493 roll -0.70 - - 2696 - 2.55 0.063 376 -547.5 -116.8 - - 3241 - - - - - - - - 14.78 14.02 14.80
7591 647.5 -10.3 410 7606 done -0.70 - - 2689 - 2.42 0.034 1781 580.6 -116.8 - - 3240 - - - - - - - - 14.31 14.25 14.33
7935 682.3 -10.2 417 7949 roll -0.70 - - 2679 - 2.45 0.054 3168 566.1 -116.8 - - 3239 - - - - - - - - 14.78 14.06 14.81
8020 691.1 -10.4 428 8033 done -0.70 - - 2679 - 2.40 0.039 1781 -577.9 -116.8 - - 3239 - - - - - - - - 14.25 14.16 14.28
8342 724.6 -10.4 438 8355 roll -0.70 - - 2679 - 2.55 0.063 376 -551.0 -116.8 - - 3238 - - - - - - - - 14.82 13.99 14.84
8448 736.2 -10.9 452 8461 done -0.70 0.15 0.277 2697 120.0 2.40 0.034 1772 581.7 -116.8 - - 3237 - - - - - - - - 13.62 14.22 13.90
8805 769.4 -9.2 460 8818 roll -0.70 - - 2689 - 2.47 0.054 3170 566.0 -116.8 - - 3236 - - - - - - - - 14.82 14.02 14.84
8874 775.7 -9.0 469 8887 done -0.70 - - 2689 - 2.42 0.039 1776 -576.0 -116.8 - - 3236 - - - - - - - - 14.22 14.13 14.26
9211 804.9 -8.6 481 9225 roll -0.70 - - 2689 - 2.55 0.064 377 -548.6 -116.8 - - 3235 - - - - - - - - 14.76 13.97 14.78
9301 813.1 -8.8 493 9315 done -0.70 - - 2680 - 2.42 0.034 1781 580.2 -116.8 - - 3235 - - - - - - - - 14.25 14.19 14.28
9674 844.3 -8.4 503 9687 roll -0.70 - - 2670 - 2.47 0.056 3162 559.1 -116.8 - - 3233 - - - - - - - - 14.75 13.97 14.77
9793 854.8 -7.2 519 9806 done -0.70 0.15 0.261 2698 186.7 2.42 0.039 1766 -576.9 -116.8 - - 3233 - - - - - - - - 13.57 14.09 13.87
10138 881.9 -7.7 532 10151 roll -0.70 - - 2698 - 2.55 0.065 379 -543.9 -116.8 - - 3232 - - - - - - - - 14.76 13.90 14.75
10228 890.0 -8.8 544 10241 done -0.70 - - 2691 - 2.45 0.035 1778 571.0 -116.8 - - 3235 - - - - - - - - 14.23 14.16 14.26
10599 922.1 -8.7 554 10612 roll -0.70 - - 2680 - 2.50 0.057 3171 557.2 -116.8 - - 3232 - - - - - - - - 14.74 13.83 14.77
10711 932.4 -9.0 569 10725 done -0.70 - - 2680 - 2.45 0.041 1779 -568.2 -116.8 - - 3231 - - - - - - - - 14.14 14.05 14.18
11054 964.3 -9.3 576 11067 roll -0.70 - - 2680 - 2.58 0.063 377 -543.4 -116.8 - - 3231 - - - - - - - - 14.78 13.88 14.80
11146 973.6 -10.0 588 11159 done -0.70 0.12 0.282 2693 108.3 2.45 0.035 1776 571.0 -116.8 - - 3230 - - - - - - - - 13.57 14.13 13.86
11346 end dive: TARGET_DEPTH_EXCEEDED
11346 begin apogee
11355 991.7 -8.8 595 11501 done -0.21 0.68 0.243 2857 241.2 - - 1649 - - 135.93 2.092 2792 -3.2 0.293 - - - - - - 13.66 13.86 12.83
11503 end apogee: CONTROL_FINISHED_OK
11503 begin climb
11507 997.4 - 597 11652 roll 0.84 1.17 0.158 3203 295.7 2.40 0.067 356 -538.8 116.8 125.82 2.183 2307 -3.9 0.338 - - - - - - 13.85 13.88 12.80
11729 987.0 7.9 633 11742 done 0.84 - - 3203 - 2.28 0.031 1704 591.2 116.8 - - 2295 - - - - - - - - 14.39 14.34 14.40
12102 958.2 7.8 643 12115 roll 0.84 - - 3203 - 2.35 0.048 3052 573.6 117.7 - - 2292 - - - - - - - - 14.75 14.33 14.77
12241 946.4 8.4 662 12255 done 0.84 - - 3211 - 2.33 0.041 1696 -582.0 117.7 - - 2290 - - - - - - - - 14.45 14.36 14.48
12565 919.6 8.4 672 12578 roll 0.84 - - 3223 - 2.50 0.066 318 -551.2 117.7 - - 2289 - - - - - - - - 14.78 14.24 14.80
12620 914.5 9.2 679 12634 done 0.74 0.22 0.246 3173 -227.3 2.28 0.031 1698 605.3 117.7 - - 2290 - - - - - - - - 13.90 14.42 14.23
12965 891.9 6.3 686 13007 roll 0.77 - - 3173 - 2.33 0.048 3047 579.0 146.4 29.30 2.059 2188 -3.5 0.289 - - - - - - 14.76 14.07 13.24
13108 881.0 8.0 706 13122 done 0.77 - - 3179 - 2.35 0.042 1676 -583.4 146.4 - - 2177 - - - - - - - - 14.47 14.40 14.51
13481 853.3 7.5 716 13498 roll 0.78 - - 3190 - 2.47 0.067 324 -547.4 154.0 2.00 0.167 2159 -9.0 8.813 - - - - - - 14.76 14.14 13.29
13532 849.5 7.8 723 13546 done 0.78 - - 3189 - 2.25 0.031 1670 598.2 154.4 - - 2161 - - - - - - - - 14.50 14.44 14.52
13877 820.9 8.2 730 13890 roll 0.78 - - 3189 - 2.38 0.048 3043 576.9 154.4 - - 2162 - - - - - - - - 14.76 14.29 14.81
13997 810.4 8.9 746 14010 done 0.78 - - 3198 - 2.38 0.041 1676 -574.4 154.4 - - 2162 - - - - - - - - 14.42 14.34 14.46
14340 779.6 9.0 759 14353 roll 0.78 - - 3208 - 2.45 0.067 314 -555.9 154.4 - - 2162 - - - - - - - - 14.78 14.21 14.79
14411 773.1 9.6 768 14424 done 0.78 - - 3208 - 2.28 0.031 1686 601.8 154.4 - - 2161 - - - - - - - - 14.49 14.42 14.51
14747 742.9 8.9 780 14760 roll 0.78 - - 3208 - 2.38 0.047 3049 572.7 154.4 - - 2162 - - - - - - - - 14.77 14.26 14.78
14837 734.6 8.9 792 14850 done 0.78 0.15 0.261 3188 -133.3 2.40 0.041 1668 -575.4 154.4 - - 2162 - - - - - - - - 13.88 14.31 14.17
15209 707.2 7.3 802 15237 roll 0.80 - - 3195 - 2.45 0.067 324 -548.6 165.0 16.67 1.854 2116 -2.8 0.202 - - - - - - 14.75 14.38 13.44
15266 702.8 7.3 810 15284 done 0.81 - - 3202 - 2.22 0.031 1680 610.8 175.3 5.18 1.505 2076 -7.7 0.691 - - - - - - 14.59 14.53 13.21
15608 675.6 8.0 823 15621 roll 0.81 - - 3195 - 2.35 0.047 3045 580.9 175.3 - - 2080 - - - - - - - - 14.72 14.34 14.74
15712 666.5 8.5 837 15725 done 0.81 - - 3204 - 2.38 0.041 1679 -573.9 175.3 - - 2080 - - - - - - - - 14.45 14.36 14.48
16070 636.6 8.4 845 16083 roll 0.81 - - 3214 - 2.45 0.067 323 -553.5 175.3 - - 2080 - - - - - - - - 14.74 14.21 14.76
16146 629.3 9.6 855 16159 done 0.81 - - 3214 - 2.25 0.031 1678 602.2 175.3 - - 2080 - - - - - - - - 14.47 14.40 14.49
16475 599.8 8.9 866 16488 roll 0.81 - - 3214 - 2.40 0.047 3053 572.9 175.3 - - 2080 - - - - - - - - 14.79 14.23 14.81
16573 591.1 8.7 879 16587 done 0.81 0.15 0.256 3194 -133.3 2.40 0.042 1673 -575.0 175.3 - - 2080 - - - - - - - - 13.90 14.30 14.19
16938 563.1 7.6 888 16954 done 0.82 - - 3193 - - - 1673 - 180.3 4.70 1.344 2056 -5.1 0.410 - - - - - - 14.79 14.15 13.36
17280 538.2 7.3 901 17314 roll 0.83 - - 3194 - 2.40 0.047 3038 568.8 190.2 19.60 1.666 2007 -2.5 0.155 - - - - - - 14.78 14.38 13.40
17336 533.8 7.5 909 17353 done 0.84 - - 3202 - 2.33 0.042 1683 -581.5 197.2 2.20 0.387 1986 -9.5 2.523 - - - - - - 14.54 14.46 13.08
17678 507.5 7.8 922 17691 roll 0.84 - - 3210 - 2.42 0.066 319 -563.6 198.8 - - 1988 - - - - - - - - 14.71 14.22 14.73
17733 502.7 8.5 929 17746 done 0.84 - - 3210 - 2.28 0.031 1679 596.5 198.8 - - 1988 - - - - - - - - 14.45 14.40 14.48
18077 474.7 8.1 936 18090 roll 0.84 - - 3210 - 2.38 0.047 3049 575.6 198.8 - - 1988 - - - - - - - - 14.78 14.23 14.80
18182 465.9 8.3 950 18195 done 0.84 - - 3220 - 2.40 0.042 1669 -575.0 198.8 - - 1988 - - - - - - - - 14.40 14.30 14.42
18539 435.7 8.6 958 18553 roll 0.84 - - 3219 - 2.40 0.044 3047 574.2 198.8 - - 1988 - - - - - - - - 14.78 14.21 14.81
18581 431.8 9.2 963 18594 done 0.84 - - 3227 - 2.35 0.041 1682 -580.9 198.8 - - 1988 - - - - - - - - 14.38 14.28 14.41
18946 397.7 9.4 972 18959 roll 0.84 - - 3238 - 2.45 0.065 323 -554.7 198.8 - - 1988 - - - - - - - - 14.73 14.13 14.76
18987 393.5 9.9 977 19000 done 0.84 0.15 0.241 3206 -213.3 2.25 0.029 1689 607.1 198.8 - - 1988 - - - - - - - - 13.88 14.39 14.15
19353 364.6 7.8 986 19370 roll 0.84 - - 3206 - 2.35 0.047 3034 572.3 200.4 3.17 0.847 1975 -4.1 0.338 - - - - - - 14.78 14.39 13.43
19433 358.0 7.9 997 19446 done 0.84 - - 3211 - 2.33 0.041 1676 -582.8 200.4 - - 1979 - - - - - - - - 14.49 14.40 14.52
19755 332.8 7.9 1007 19768 roll 0.84 - - 3223 - 2.42 0.065 327 -557.4 200.4 - - 1980 - - - - - - - - 14.75 14.18 14.76
19797 329.3 8.3 1012 19810 done 0.84 - - 3223 - 2.22 0.030 1673 606.3 200.4 - - 1981 - - - - - - - - 14.45 14.40 14.47
20161 299.5 8.1 1021 20174 roll 0.84 - - 3223 - 2.40 0.046 3053 575.0 200.4 - - 1980 - - - - - - - - 14.79 14.16 14.82
20281 289.3 8.4 1037 20295 done 0.84 0.15 0.247 3198 -166.7 2.38 0.041 1675 -579.0 200.4 - - 1981 - - - - - - - - 13.85 14.26 14.12
20628 263.7 7.3 1050 20661 roll 0.85 - - 3210 - 2.42 0.066 330 -555.8 210.0 18.42 1.317 1929 -2.8 0.108 - - - - - - 14.71 14.40 13.54
20683 259.4 7.6 1058 20696 done 0.86 - - 3209 - 2.20 0.031 1679 613.2 214.4 - - 1926 - - - - - - - - 14.58 14.53 14.59
21026 230.8 8.4 1071 21039 roll 0.86 - - 3209 - 2.35 0.044 3049 583.0 214.4 - - 1926 - - - - - - - - 14.78 14.30 14.79
21081 225.6 9.5 1078 21095 done 0.86 - - 3218 - 2.38 0.041 1680 -575.2 214.4 - - 1925 - - - - - - - - 14.40 14.31 14.44
21426 191.6 10.0 1085 21440 roll 0.86 - - 3228 - 2.42 0.065 330 -557.9 214.4 - - 1925 - - - - - - - - 14.73 14.18 14.76
21481 185.9 10.1 1092 21495 done 0.86 - - 3229 - 2.25 0.029 1674 597.3 214.4 - - 1925 - - - - - - - - 14.45 14.40 14.47
21826 155.4 8.6 1099 21839 roll 0.86 - - 3228 - 2.38 0.046 3051 578.6 214.4 - - 1926 - - - - - - - - 14.78 14.21 14.81
21931 146.5 8.5 1113 21944 done 0.86 - - 3237 - 2.38 0.041 1686 -573.5 214.4 - - 1926 - - - - - - - - 14.37 14.28 14.40
22288 115.7 8.8 1121 22301 roll 0.86 0.12 0.259 3215 -183.3 2.47 0.063 323 -551.8 214.4 - - 1926 - - - - - - - - 13.89 14.07 13.98
22359 110.1 7.7 1130 22376 done 0.86 - - 3215 - 2.25 0.029 1686 605.8 216.6 2.80 0.153 1907 -6.8 0.936 - - - - - - 14.42 14.35 13.99
22697 87.6 7.2 1145 22724 roll 0.87 - - 3216 - 2.30 0.042 3046 591.3 228.0 13.70 0.313 1862 -3.3 0.176 - - - - - - 14.75 14.18 13.91
22774 81.5 7.2 1156 22803 done 0.89 - - 3223 - 2.35 0.037 1676 -583.0 240.2 15.30 0.313 1815 -3.1 0.153 - - - - - - 14.45 14.38 14.00
23122 62.2 3.8 1172 23211 roll 1.15 0.20 0.097 3315 460.0 2.42 0.063 326 -557.9 315.5 73.05 0.293 1506 -4.2 0.172 - - - - - - 14.16 14.39 14.08
23238 59.2 3.5 1188 23325 done 1.36 0.17 0.106 3380 382.4 2.22 0.027 1700 618.9 396.6 72.72 0.282 1175 -4.6 0.183 - - - - - - 14.39 14.50 14.02
23656 17.8 11.3 1215 23670 roll 1.36 - - 3390 - 2.47 0.063 326 -556.3 396.6 - - 1183 - - - - - - - - 14.69 14.16 14.71
23697 12.9 11.4 1220 23711 done 1.36 - - 3390 - 2.22 0.027 1676 608.1 396.6 - - 1184 - - - - - - - - 14.42 14.37 14.45
23807 end climb: SURFACE_DEPTH_REACHED
23807 begin surface coast
23833 end surface coast: CONTROL_FINISHED_OK
23833 begin surface
SM 1.16 - - - - -8.60 9.75 0.069 165 16.9 - - 1685 - 515.13 72.50 0.122 691 9.5 -0.009 - - - - - -