SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 593 * Raw log
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• Previous call tries 1 • 224.39 of 350.00 AH used of 24V (35.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 16 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
30 end surface: CONTROL_FINISHED_OK
30 begin dive
35 - - - 121 VBD -0.84 - - 150 - - - 1765 - -116.8 -83.28 - 3197 - - - - - - - - 14.62 - 14.65
126 4.7 -6.4 3 149 roll -0.84 12.52 0.377 2652 199.8 2.70 2.034 373 -515.6 -116.8 -1.12 - 3274 -68.8 - - - - - - - 13.93 13.08 14.36
179 26.2 -29.3 11 185 done -0.30 0.75 0.278 2822 226.7 2.38 0.034 1795 597.5 -116.8 - - 3273 - - - - - - - - 14.07 14.48 14.38
515 72.0 -12.3 26 521 roll -0.30 - - 2815 - 2.35 0.050 3175 587.2 -116.8 - - 3273 - - - - - - - - 14.71 14.34 14.73
716 85.4 -6.6 54 723 done -0.46 - - 2814 - 2.35 0.035 1766 -599.6 -116.8 - - 3274 - - - - - - - - 14.48 14.38 14.47
1053 106.4 -5.3 67 1059 roll -0.59 0.20 0.096 2726 -440.0 2.42 0.054 377 -574.0 -116.8 - - 3274 - - - - - - - - 14.35 14.19 14.38
1080 108.3 -7.0 71 1087 done -0.59 - - 2716 - 2.33 0.030 1787 605.2 -116.8 - - 3275 - - - - - - - - 14.49 14.43 14.50
1446 142.7 -9.7 81 1454 roll -0.59 - - 2706 - 2.35 0.050 3165 586.4 -116.8 - - 3274 - - - - - - - - 14.71 14.29 14.73
1509 149.3 -9.5 90 1516 done -0.59 0.12 0.245 2731 208.3 2.33 0.035 1774 -597.0 -116.8 - - 3274 - - - - - - - - 13.99 14.34 14.23
1841 174.3 -7.2 102 1847 roll -0.59 - - 2732 - 2.45 0.057 380 -569.0 -116.8 - - 3271 - - - - - - - - 14.73 14.21 14.76
1917 180.6 -8.1 113 1924 done -0.59 - - 2725 - 2.33 0.030 1773 597.9 -116.8 - - 3271 - - - - - - - - 14.44 14.38 14.46
2233 207.4 -8.7 123 2239 roll -0.59 - - 2714 - 2.40 0.050 3165 580.0 -116.8 - - 3268 - - - - - - - - 14.71 14.16 14.73
2310 214.4 -9.2 134 2317 done -0.59 - - 2715 - 2.35 0.036 1775 -591.5 -116.8 - - 3269 - - - - - - - - 14.42 14.33 14.43
2625 244.4 -9.5 144 2631 roll -0.59 - - 2715 - 2.47 0.058 378 -565.6 -116.8 - - 3266 - - - - - - - - 14.71 14.19 14.73
2737 255.2 -9.4 160 2751 done -0.59 0.15 0.254 2736 140.0 2.35 0.031 1785 598.7 -116.8 - - 3264 - - - - - - - - 13.91 14.41 14.20
3082 282.0 -7.7 173 3095 done -0.59 - - 2736 - - - 1786 - -116.8 - - 3262 - - - - - - - - 14.81 14.84 14.83
3417 309.7 -8.4 179 3430 roll -0.59 - - 2733 - 2.38 0.053 3161 577.7 -116.8 - - 3259 - - - - - - - - 14.83 14.23 14.85
3501 317.1 -8.9 190 3514 done -0.59 - - 2728 - 2.35 0.037 1772 -591.1 -116.8 - - 3259 - - - - - - - - 14.44 14.36 14.47
3823 346.1 -9.0 200 3836 roll -0.59 - - 2728 - 2.47 0.060 376 -565.2 -116.8 - - 3257 - - - - - - - - 14.83 14.20 14.85
3934 356.5 -9.2 215 3948 done -0.59 - - 2718 - 2.38 0.032 1773 587.0 -116.8 - - 3256 - - - - - - - - 14.42 14.36 14.45
4279 387.3 -9.0 222 4292 roll -0.59 - - 2709 - 2.42 0.051 3168 576.4 -116.8 - - 3254 - - - - - - - - 14.81 14.21 14.86
4349 393.8 -9.1 231 4362 done -0.59 - - 2708 - 2.38 0.037 1775 -585.3 -116.8 - - 3254 - - - - - - - - 14.38 14.29 14.40
4685 425.1 -9.3 243 4698 roll -0.59 0.12 0.265 2739 258.3 2.53 0.060 369 -555.7 -116.8 - - 3249 - - - - - - - - 13.94 14.13 14.03
4822 436.4 -8.2 261 4835 done -0.59 - - 2732 - 2.38 0.033 1776 591.2 -116.8 - - 3251 - - - - - - - - 14.43 14.36 14.45
5151 461.9 -7.7 272 5164 roll -0.59 - - 2721 - 2.42 0.052 3165 574.0 -116.8 - - 3252 - - - - - - - - 14.81 14.19 14.82
5256 470.1 -7.8 286 5270 done -0.59 - - 2721 - 2.40 0.037 1772 -580.4 -116.8 - - 3249 - - - - - - - - 14.34 14.26 14.38
5615 501.2 -8.8 294 5628 roll -0.59 - - 2721 - 2.50 0.061 378 -557.6 -116.8 - - 3247 - - - - - - - - 14.80 14.11 14.82
5727 512.3 -10.0 309 5742 done -0.59 - - 2712 - 2.40 0.033 1775 582.1 -116.8 - - 3246 - - - - - - - - 14.35 14.29 14.38
6070 547.1 -10.3 316 6083 roll -0.59 - - 2701 - 2.45 0.053 3173 570.6 -116.8 - - 3244 - - - - - - - - 14.81 14.12 14.83
6153 555.5 -9.9 327 6167 done -0.59 0.15 0.241 2732 206.7 2.40 0.039 1775 -582.5 -116.8 - - 3245 - - - - - - - - 13.78 14.25 14.04
6477 583.1 -8.4 337 6490 roll -0.59 - - 2733 - 2.53 0.062 375 -553.4 -116.8 - - 3244 - - - - - - - - 14.78 14.07 14.80
6581 592.5 -8.7 351 6594 done -0.59 - - 2726 - 2.40 0.034 1774 582.9 -116.8 - - 3244 - - - - - - - - 14.33 14.27 14.36
6940 620.4 -7.9 359 6953 roll -0.59 - - 2716 - 2.47 0.053 3174 566.8 -116.8 - - 3242 - - - - - - - - 14.78 14.07 14.81
7072 630.9 -7.7 377 7085 done -0.59 - - 2716 - 2.42 0.038 1776 -577.7 -116.8 - - 3242 - - - - - - - - 14.26 14.17 14.28
7403 657.1 -8.1 388 7416 roll -0.59 - - 2715 - 2.55 0.062 379 -547.8 -116.8 - - 3240 - - - - - - - - 14.77 14.00 14.79
7514 667.2 -8.8 403 7528 done -0.59 0.15 0.258 2736 140.0 2.42 0.033 1786 581.4 -116.8 - - 3239 - - - - - - - - 13.67 14.24 13.93
7858 692.4 -7.3 410 7871 roll -0.59 - - 2728 - 2.42 0.054 3160 567.8 -116.8 - - 3238 - - - - - - - - 14.77 14.03 14.78
7929 697.7 -7.5 419 7942 done -0.68 - - 2728 - 2.40 0.038 1776 -576.7 -116.8 - - 3238 - - - - - - - - 14.24 14.15 14.29
8265 722.8 -7.4 431 8278 roll -0.68 - - 2728 - 2.55 0.062 375 -549.4 -116.8 - - 3237 - - - - - - - - 14.82 13.97 14.83
8364 730.7 -7.9 444 8377 done -0.68 - - 2719 - 2.40 0.034 1774 582.9 -116.8 - - 3237 - - - - - - - - 14.28 14.21 14.31
8728 757.8 -7.4 453 8742 roll -0.68 - - 2709 - 2.47 0.054 3165 563.2 -116.8 - - 3235 - - - - - - - - 14.81 13.99 14.83
8805 763.5 -7.4 463 8818 done -0.68 - - 2710 - 2.42 0.039 1769 -576.9 -116.8 - - 3236 - - - - - - - - 14.23 14.12 14.24
9136 789.1 -7.8 474 9149 roll -0.68 - - 2709 - 2.55 0.063 373 -547.5 -116.8 - - 3235 - - - - - - - - 14.72 13.95 14.76
9233 797.9 -8.9 487 9246 done -0.68 - - 2700 - 2.42 0.034 1772 578.1 -116.8 - - 3233 - - - - - - - - 14.24 14.17 14.27
9598 830.1 -9.1 496 9612 roll -0.68 - - 2690 - 2.50 0.054 3167 558.0 -116.8 - - 3232 - - - - - - - - 14.74 13.96 14.76
9737 843.5 -9.5 515 9751 done -0.68 - - 2690 - 2.45 0.039 1772 -569.4 -116.8 - - 3233 - - - - - - - - 14.17 14.07 14.21
10061 874.5 -9.7 525 10075 roll -0.68 - - 2690 - 2.58 0.063 378 -540.3 -116.8 - - 3232 - - - - - - - - 14.73 13.90 14.75
10159 885.0 -10.4 538 10172 done -0.68 - - 2680 - 2.42 0.035 1775 577.3 -116.8 - - 3232 - - - - - - - - 14.23 14.16 14.25
10523 920.1 -9.5 547 10536 roll -0.68 - - 2670 - 2.50 0.055 3170 558.0 -116.8 - - 3230 - - - - - - - - 14.73 13.92 14.76
10656 932.5 -9.2 565 10670 done -0.68 0.17 0.258 2704 200.0 2.45 0.041 1776 -569.0 -116.8 - - 3231 - - - - - - - - 13.52 14.04 13.85
10986 958.8 -7.8 576 10999 roll -0.68 - - 2705 - 2.58 0.064 377 -542.2 -116.8 - - 3230 - - - - - - - - 14.69 13.88 14.71
11091 967.5 -9.3 590 11105 done -0.68 - - 2698 - 2.45 0.034 1779 572.2 -116.8 - - 3230 - - - - - - - - 14.22 14.15 14.24
11388 end dive: TARGET_DEPTH_EXCEEDED
11388 begin apogee
11398 991.2 -7.9 597 11529 done -0.21 0.65 0.242 2853 238.5 - - 1656 - - 121.82 2.228 2792 -3.6 0.307 - - - - - - 13.67 13.85 12.82
11532 end apogee: CONTROL_FINISHED_OK
11532 begin climb
11537 995.9 - 599 11684 roll 0.84 1.20 0.161 3202 290.8 2.47 0.066 347 -530.0 116.8 126.95 2.176 2307 -3.8 0.335 - - - - - - 13.82 13.86 12.80
11734 986.5 6.4 631 11777 done 0.87 - - 3202 - 2.28 0.031 1698 592.5 144.2 27.90 2.111 2198 -3.9 0.350 - - - - - - 14.33 14.29 12.93
12129 951.6 8.7 645 12143 roll 0.87 - - 3202 - 2.35 0.049 3052 576.2 144.2 - - 2186 - - - - - - - - 14.71 14.33 14.73
12226 942.8 8.8 658 12240 done 0.87 - - 3210 - 2.33 0.041 1699 -580.7 144.2 - - 2183 - - - - - - - - 14.45 14.36 14.49
12592 910.8 8.8 667 12605 roll 0.87 - - 3221 - 2.50 0.066 325 -549.6 144.2 - - 2183 - - - - - - - - 14.74 14.24 14.76
12626 907.5 9.5 671 12639 done 0.87 - - 3221 - 2.28 0.031 1683 595.6 144.2 - - 2183 - - - - - - - - 14.49 14.44 14.52
12998 874.2 9.0 681 13012 roll 0.87 - - 3222 - 2.42 0.048 3061 569.4 144.2 - - 2180 - - - - - - - - 14.78 14.26 14.81
13110 863.7 9.2 696 13123 done 0.87 - - 3230 - 2.40 0.042 1685 -573.3 144.2 - - 2182 - - - - - - - - 14.40 14.31 14.47
13454 831.9 9.3 703 13467 roll 0.87 - - 3241 - 2.47 0.065 317 -553.8 144.2 - - 2182 - - - - - - - - 14.80 14.16 14.82
13497 827.6 10.1 708 13510 done 0.76 0.28 0.246 3180 -217.9 2.30 0.031 1701 601.7 144.2 - - 2182 - - - - - - - - 13.83 14.40 14.19
13861 798.8 7.8 717 13874 roll 0.76 - - 3180 - 2.35 0.047 3043 571.1 145.3 - - 2182 - - - - - - - - 14.77 14.22 14.79
13953 791.3 8.2 729 13966 done 0.76 - - 3186 - 2.38 0.041 1681 -572.3 145.3 - - 2182 - - - - - - - - 14.37 14.28 14.41
14324 760.7 8.2 739 14337 roll 0.76 - - 3196 - 2.47 0.066 319 -551.4 145.3 - - 2181 - - - - - - - - 14.76 14.12 14.78
14351 758.4 8.2 742 14364 done 0.76 - - 3196 - 2.25 0.031 1676 603.1 145.3 - - 2181 - - - - - - - - 14.43 14.37 14.47
14674 731.5 8.3 752 14687 roll 0.76 - - 3196 - 2.42 0.048 3057 570.7 145.3 - - 2182 - - - - - - - - 14.74 14.17 14.76
14793 721.6 7.8 768 14807 done 0.76 - - 3204 - 2.40 0.042 1679 -574.2 145.7 - - 2181 - - - - - - - - 14.32 14.21 14.36
15138 693.6 8.1 781 15151 roll 0.76 - - 3214 - 2.45 0.066 324 -553.1 145.7 - - 2181 - - - - - - - - 14.73 14.09 14.76
15201 688.1 8.8 789 15215 done 0.76 0.17 0.246 3179 -205.9 2.30 0.031 1705 600.4 145.7 - - 2181 - - - - - - - - 13.77 14.30 14.11
15544 664.3 6.8 802 15580 roll 0.79 - - 3179 - 2.35 0.048 3034 565.5 165.4 20.23 1.837 2109 -3.6 0.247 - - - - - - 14.74 14.34 13.35
15655 656.6 7.5 817 15670 done 0.79 - - 3185 - 2.35 0.042 1678 -577.0 171.9 1.92 0.168 2087 -11.5 8.582 - - - - - - 14.49 14.40 14.23
15994 630.9 7.6 824 16011 roll 0.80 - - 3195 - 2.42 0.067 316 -562.8 177.2 4.15 1.289 2069 -4.3 0.407 - - - - - - 14.76 14.40 13.28
16069 624.8 8.4 834 16082 done 0.80 - - 3195 - 2.22 0.031 1667 608.6 177.2 - - 2074 - - - - - - - - 14.54 14.49 14.57
16398 597.8 8.3 845 16411 roll 0.80 - - 3195 - 2.40 0.047 3054 577.9 177.2 - - 2074 - - - - - - - - 14.75 14.31 14.76
16496 589.0 9.0 858 16509 done 0.80 - - 3204 - 2.38 0.041 1682 -576.5 177.2 - - 2074 - - - - - - - - 14.44 14.35 14.47
16860 556.7 8.8 867 16873 roll 0.80 - - 3214 - 2.47 0.066 323 -550.2 177.2 - - 2074 - - - - - - - - 14.76 14.17 14.77
16887 554.2 8.7 870 16900 done 0.80 - - 3214 - 2.25 0.031 1677 601.8 177.2 - - 2074 - - - - - - - - 14.47 14.40 14.49
17212 525.5 8.8 880 17226 roll 0.80 - - 3214 - 2.38 0.047 3048 576.1 177.2 - - 2074 - - - - - - - - 14.76 14.14 14.75
17282 519.1 8.8 889 17296 done 0.80 0.15 0.259 3194 -133.3 2.38 0.041 1675 -576.9 177.2 - - 2074 - - - - - - - - 13.86 14.28 14.15
17620 493.4 7.6 901 17638 roll 0.81 - - 3202 - 2.40 0.064 317 -565.8 181.8 4.85 1.317 2051 -4.7 0.340 - - - - - - 14.76 14.17 13.38
17680 488.6 8.1 909 17694 done 0.81 - - 3197 - 2.25 0.031 1685 608.0 181.8 - - 2055 - - - - - - - - 14.58 14.53 14.60
18023 463.2 7.3 922 18059 roll 0.82 - - 3202 - 2.38 0.047 3072 582.8 192.4 22.25 1.535 2002 -2.4 0.138 - - - - - - 14.76 14.37 13.43
18142 454.5 7.7 938 18156 done 0.82 - - 3210 - 2.40 0.041 1684 -578.3 194.6 - - 1996 - - - - - - - - 14.49 14.40 14.52
18485 428.2 7.6 951 18502 roll 0.83 - - 3221 - 2.47 0.065 318 -553.0 198.7 2.35 0.484 1979 -7.2 1.227 - - - - - - 14.72 14.31 13.24
18518 425.6 8.2 955 18531 done 0.83 - - 3222 - 2.25 0.031 1678 604.4 198.7 - - 1982 - - - - - - - - 14.53 14.47 14.55
18888 392.3 9.1 965 18902 roll 0.83 - - 3221 - 2.38 0.047 3049 576.1 198.7 - - 1982 - - - - - - - - 14.77 14.23 14.79
18987 383.2 9.3 978 19000 done 0.83 0.15 0.249 3200 -140.0 2.38 0.041 1674 -577.7 198.7 - - 1983 - - - - - - - - 13.90 14.29 14.20
19351 354.7 7.7 987 19368 roll 0.83 - - 3208 - 2.45 0.067 326 -550.2 201.8 2.85 0.728 1970 -4.6 0.426 - - - - - - 14.78 14.31 13.43
19403 350.5 8.3 994 19417 done 0.83 - - 3208 - 2.28 0.030 1691 598.7 201.8 - - 1975 - - - - - - - - 14.52 14.47 14.54
19749 324.1 7.7 1001 19766 roll 0.83 - - 3207 - 2.33 0.047 3053 584.5 205.2 4.28 1.076 1956 -4.4 0.256 - - - - - - 14.73 14.42 13.44
19822 318.0 8.1 1011 19835 done 0.83 - - 3216 - 2.35 0.041 1679 -584.7 205.2 - - 1963 - - - - - - - - 14.53 14.45 14.56
20152 289.8 8.8 1022 20166 roll 0.83 - - 3227 - 2.42 0.064 324 -559.9 205.2 - - 1964 - - - - - - - - 14.74 14.22 14.76
20215 283.6 10.0 1030 20229 done 0.83 - - 3227 - 2.25 0.031 1678 601.8 205.2 - - 1963 - - - - - - - - 14.45 14.40 14.47
20558 249.2 10.2 1043 20572 roll 0.83 - - 3227 - 2.38 0.045 3050 576.5 205.2 - - 1964 - - - - - - - - 14.78 14.19 14.80
20657 238.9 10.4 1056 20671 done 0.83 0.15 0.247 3204 -153.3 2.38 0.041 1677 -576.9 205.2 - - 1964 - - - - - - - - 13.86 14.27 14.14
21021 207.9 8.3 1065 21035 roll 0.83 - - 3212 - 2.47 0.065 317 -550.6 205.2 - - 1963 - - - - - - - - 14.78 14.08 14.80
21071 203.6 8.7 1071 21084 done 0.83 - - 3212 - 2.30 0.029 1689 596.5 205.2 - - 1964 - - - - - - - - 14.39 14.33 14.42
21428 174.3 8.1 1079 21441 done 0.83 - - 3212 - - - 1691 - 205.2 - - 1962 - - - - - - - - 14.73 14.76 14.76
21764 146.3 8.4 1085 21777 roll 0.83 - - 3212 - 2.35 0.045 3046 576.6 205.2 - - 1964 - - - - - - - - 14.73 14.14 14.76
21842 140.2 7.7 1095 21859 done 0.84 - - 3220 - 2.38 0.039 1674 -576.5 207.7 4.45 0.952 1944 -4.5 0.127 - - - - - - 14.30 14.21 13.50
22167 116.6 7.4 1106 22190 roll 0.85 - - 3220 - 2.35 0.041 3047 584.3 215.3 10.32 0.350 1919 -2.4 0.155 - - - - - - 14.79 14.18 13.83
22261 108.9 8.3 1119 22278 done 0.85 - - 3228 - 2.35 0.039 1678 -582.6 215.3 3.12 0.158 1917 - - - - - - - - 14.45 14.36 14.03
22597 82.6 7.7 1131 22615 roll 0.85 - - 3228 - 2.42 0.044 3049 566.5 217.4 6.07 0.236 1907 -1.6 0.111 - - - - - - 14.70 14.28 13.82
22646 78.3 8.6 1137 22665 done 0.85 0.15 0.234 3203 -166.7 2.35 0.039 1680 -582.6 217.4 2.78 0.161 1908 - - - - - - - - 13.98 14.33 13.97
22971 60.6 4.4 1150 23047 roll 1.13 0.25 0.087 3302 396.0 2.40 0.044 3047 569.6 281.8 63.88 0.282 1644 -4.1 0.170 - - - - - - 14.19 14.45 14.08
23202 49.5 3.7 1183 23288 done 1.23 - - 3309 - 2.35 0.038 1677 -583.0 358.9 70.35 0.254 1331 -4.4 0.166 - - - - - - 14.39 14.29 14.07
23613 24.9 7.4 1208 23635 roll 1.37 0.17 0.109 3390 476.5 2.38 0.059 328 -566.8 367.7 9.65 0.171 1295 -3.7 0.104 - - - - - - 14.26 14.11 13.95
23699 16.7 11.4 1220 23717 done 1.37 - - 3390 - 2.22 0.027 1693 614.9 367.7 2.90 0.147 1299 1.4 -0.030 - - - - - - 14.42 14.37 13.94
23839 end climb: SURFACE_DEPTH_REACHED
23839 begin surface coast
23868 end surface coast: CONTROL_FINISHED_OK
23868 begin surface
SM 1.08 - - - - -8.61 9.75 0.067 161 16.5 - - 1702 - 515.38 90.80 0.121 693 7.6 -0.007 - - - - - -