SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 602 * Raw log
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• Previous call tries 1 • 227.79 of 350.00 AH used of 24V (34.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.5 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 89 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 - - 145 - - - 1696 - -116.8 -83.03 - 3180 - - - - - - - - 14.61 - 14.63
119 4.6 -6.2 3 142 roll -0.84 12.12 0.362 2641 205.9 2.72 2.029 3131 527.6 -116.8 -1.38 - 3274 -68.1 - - - 1 - - - 13.91 13.06 14.35
200 33.6 -26.1 15 207 done -0.50 0.50 0.255 2761 240.0 2.28 0.040 1774 -595.2 -116.8 - - 3274 - - - - - - - - 14.07 14.42 14.34
536 78.8 -9.8 30 543 roll -0.50 - - 2757 - 2.45 0.058 367 -574.3 -116.8 - - 3277 - - - - - - - - 14.70 14.31 14.72
766 99.1 -8.6 63 772 done -0.50 - - 2756 - 2.30 0.030 1765 607.8 -116.8 - - 3275 - - - - - - - - 14.43 14.39 14.45
1124 129.3 -8.7 72 1131 roll -0.50 - - 2750 - 2.38 0.050 3157 584.9 -116.8 - - 3276 - - - - - - - - 14.71 14.27 14.73
1331 146.8 -8.4 101 1339 done -0.50 - - 2744 - 2.35 0.035 1761 -594.0 -116.8 - - 3275 - - - - - - - - 14.42 14.34 14.45
1690 180.0 -9.5 110 1696 roll -0.50 - - 2744 - 2.42 0.057 378 -571.5 -116.8 - - 3273 - - - - - - - - 14.73 14.19 14.76
1822 192.2 -8.4 129 1829 done -0.50 0.15 0.237 2766 146.7 2.33 0.031 1778 600.9 -116.8 - - 3271 - - - - - - - - 13.90 14.30 14.14
2140 212.7 -6.4 139 2146 roll -0.50 - - 2759 - 2.38 0.050 3156 579.0 -116.8 - - 3270 - - - - - - - - 14.69 14.26 14.71
2223 218.5 -6.8 151 2230 done -0.61 - - 2759 - 2.35 0.037 1774 -588.1 -116.8 - - 3269 - - - - - - - - 14.36 14.28 14.40
2589 245.1 -7.5 161 2596 roll -0.61 - - 2759 - 2.47 0.058 377 -565.6 -116.8 - - 3266 - - - - - - - - 14.68 14.14 14.70
2694 253.9 -8.3 176 2708 done -0.61 - - 2750 - 2.35 0.031 1773 594.0 -116.8 - - 3265 - - - - - - - - 14.44 14.38 14.46
3038 280.4 -7.6 183 3052 roll -0.61 - - 2740 - 2.40 0.050 3170 582.1 -116.8 - - 3262 - - - - - - - - 14.85 14.17 14.87
3103 285.2 -7.7 191 3116 done -0.61 - - 2740 - 2.38 0.036 1767 -589.5 -116.8 - - 3262 - - - - - - - - 14.40 14.32 14.42
3446 314.8 -8.9 204 3459 roll -0.61 - - 2740 - 2.45 0.060 377 -567.3 -116.8 - - 3260 - - - - - - - - 14.81 14.18 14.83
3530 322.9 -9.5 215 3543 done -0.61 - - 2731 - 2.35 0.032 1773 594.0 -116.8 - - 3259 - - - - - - - - 14.42 14.36 14.45
3852 349.5 -8.1 225 3865 roll -0.61 - - 2721 - 2.42 0.050 3168 576.4 -116.8 - - 3257 - - - - - - - - 14.85 14.19 14.88
3971 358.4 -7.4 241 3984 done -0.61 - - 2718 - 2.38 0.037 1769 -587.8 -116.8 - - 3256 - - - - - - - - 14.38 14.30 14.41
4316 385.8 -8.0 254 4329 roll -0.61 - - 2721 - 2.47 0.059 377 -563.6 -116.8 - - 3254 - - - - - - - - 14.78 14.14 14.81
4462 399.0 -9.1 274 4475 done -0.61 - - 2712 - 2.38 0.033 1778 588.7 -116.8 - - 3253 - - - - - - - - 14.38 14.31 14.40
4834 431.8 -8.9 284 4847 roll -0.61 - - 2702 - 2.42 0.052 3169 574.8 -116.8 - - 3251 - - - - - - - - 14.78 14.16 14.81
4924 440.1 -8.7 296 4938 done -0.61 0.12 0.243 2726 200.0 2.40 0.038 1770 -582.9 -116.8 - - 3251 - - - - - - - - 13.83 14.23 14.07
5297 469.4 -7.7 306 5310 roll -0.61 - - 2726 - 2.50 0.060 379 -556.4 -116.8 - - 3249 - - - - - - - - 14.78 14.09 14.80
5380 476.4 -8.2 317 5393 done -0.61 - - 2719 - 2.38 0.031 1775 586.6 -116.8 - - 3249 - - - - - - - - 14.35 14.29 14.38
5702 502.9 -8.3 327 5715 roll -0.61 - - 2709 - 2.42 0.053 3164 574.0 -116.8 - - 3248 - - - - - - - - 14.84 14.10 14.85
5781 509.7 -8.9 337 5794 done -0.61 - - 2708 - 2.38 0.037 1776 -583.2 -116.8 - - 3247 - - - - - - - - 14.28 14.21 14.32
6110 540.7 -9.6 348 6123 roll -0.61 - - 2709 - 2.53 0.061 376 -553.4 -116.8 - - 3249 - - - - - - - - 14.78 14.05 14.81
6188 548.8 -10.4 358 6202 done -0.61 0.15 0.254 2729 133.3 2.40 0.033 1789 588.8 -116.8 - - 3245 - - - - - - - - 13.71 14.25 13.98
6518 578.2 -8.8 369 6531 roll -0.61 - - 2721 - 2.42 0.054 3167 569.4 -116.8 - - 3244 - - - - - - - - 14.78 14.06 14.80
6587 584.3 -8.7 378 6600 done -0.61 - - 2721 - 2.40 0.037 1770 -582.1 -116.8 - - 3245 - - - - - - - - 14.28 14.20 14.32
6924 612.5 -8.3 390 6937 roll -0.61 - - 2721 - 2.53 0.062 372 -552.6 -116.8 - - 3243 - - - - - - - - 14.76 14.00 14.78
7028 621.4 -8.2 404 7041 done -0.61 - - 2712 - 2.40 0.034 1769 582.1 -116.8 - - 3243 - - - - - - - - 14.29 14.22 14.31
7387 650.1 -8.1 412 7400 roll -0.61 - - 2701 - 2.47 0.054 3168 566.4 -116.8 - - 3241 - - - - - - - - 14.76 14.01 14.78
7505 660.4 -8.7 428 7519 done -0.61 0.12 0.248 2725 200.0 2.40 0.038 1775 -580.4 -116.8 - - 3241 - - - - - - - - 13.71 14.13 13.96
7849 689.9 -8.7 441 7862 roll -0.61 - - 2724 - 2.55 0.063 373 -549.8 -116.8 - - 3240 - - - - - - - - 14.74 13.95 14.78
7946 698.9 -9.1 454 7959 done -0.61 - - 2718 - 2.42 0.034 1788 584.7 -116.8 - - 3239 - - - - - - - - 14.29 14.23 14.32
8310 729.2 -8.2 463 8323 roll -0.61 - - 2707 - 2.45 0.056 3161 560.4 -116.8 - - 3238 - - - - - - - - 14.81 13.97 14.83
8409 736.8 -7.6 476 8422 done -0.61 - - 2707 - 2.40 0.037 1777 -576.7 -116.8 - - 3237 - - - - - - - - 14.19 14.11 14.23
8773 764.4 -7.5 485 8786 roll -0.61 - - 2708 - 2.55 0.062 376 -549.4 -116.8 - - 3237 - - - - - - - - 14.80 13.92 14.82
8913 776.6 -8.6 504 8927 done -0.61 0.15 0.256 2728 133.3 2.40 0.034 1772 581.7 -116.8 - - 3236 - - - - - - - - 13.63 14.19 13.90
9236 800.9 -7.5 514 9249 roll -0.61 - - 2720 - 2.47 0.054 3165 564.0 -116.8 - - 3235 - - - - - - - - 14.73 13.97 14.76
9334 808.7 -8.5 527 9347 done -0.61 - - 2720 - 2.42 0.038 1776 -574.0 -116.8 - - 3234 - - - - - - - - 14.17 14.07 14.21
9698 838.7 -8.1 536 9711 roll -0.61 - - 2720 - 2.58 0.063 373 -543.8 -116.8 - - 3233 - - - - - - - - 14.76 13.90 14.76
9781 846.6 -8.9 547 9795 done -0.61 - - 2711 - 2.42 0.035 1774 578.9 -116.8 - - 3233 - - - - - - - - 14.19 14.12 14.22
10105 873.6 -8.5 557 10118 roll -0.61 - - 2700 - 2.47 0.054 3161 561.5 -116.8 - - 3232 - - - - - - - - 14.78 13.90 14.78
10224 883.8 -8.3 573 10238 done -0.61 0.12 0.246 2724 200.0 2.42 0.038 1771 -574.4 -116.8 - - 3232 - - - - - - - - 13.63 14.04 13.88
10569 909.0 -7.3 586 10583 roll -0.61 - - 2724 - 2.58 0.063 371 -542.6 -116.8 - - 3232 - - - - - - - - 14.76 13.88 14.78
10667 916.5 -7.5 599 10680 done -0.61 - - 2718 - 2.45 0.034 1777 573.9 -116.8 - - 3232 - - - - - - - - 14.19 14.12 14.21
11031 942.2 -7.1 608 11044 roll -0.61 - - 2708 - 2.50 0.055 3161 553.6 -116.8 - - 3231 - - - - - - - - 14.75 13.90 14.77
11144 950.2 -7.1 623 11158 done -0.61 - - 2708 - 2.45 0.039 1776 -565.3 -116.8 - - 3230 - - - - - - - - 14.11 14.02 14.14
11487 975.0 -7.3 630 11500 roll -0.61 - - 2708 - 2.58 0.063 378 -541.9 -116.8 - - 3230 - - - - - - - - 14.77 13.85 14.77
11607 984.6 -8.0 646 11621 done -0.61 0.15 0.258 2728 133.3 2.45 0.035 1773 569.4 -116.8 - - 3228 - - - - - - - - 13.58 14.09 13.86
11724 end dive: TARGET_DEPTH_EXCEEDED
11724 begin apogee
11733 993.0 -6.4 655 11865 done -0.21 0.52 0.230 2856 246.2 - - 1649 - - 122.12 2.234 2793 -3.6 0.304 - - - - - - 13.64 13.85 12.84
11867 end apogee: CONTROL_FINISHED_OK
11867 begin climb
11873 997.5 - 657 12020 roll 0.84 1.17 0.159 3199 293.2 2.40 0.064 359 -537.5 116.8 126.75 2.185 2307 -3.8 0.336 - - - - - - 13.79 13.83 12.79
12078 987.3 7.1 690 12101 done 0.85 - - 3199 - 2.25 0.029 1705 598.2 131.3 11.35 2.011 2260 -4.1 0.390 - - - - - - 14.33 14.28 12.96
12410 961.1 7.8 702 12423 roll 0.85 - - 3199 - 2.30 0.047 3049 584.3 131.5 - - 2252 - - - - - - - - 14.70 14.33 14.72
12516 952.7 8.0 716 12529 done 0.85 - - 3212 - 2.30 0.039 1711 -581.7 131.5 - - 2250 - - - - - - - - 14.44 14.36 14.47
12874 925.5 7.5 724 12890 roll 0.86 - - 3218 - 2.50 0.065 313 -559.2 137.6 2.53 0.705 2231 -7.5 1.891 - - - - - - 14.73 14.33 13.20
12918 921.8 10.8 730 12932 done 0.86 - - 3218 - 2.28 0.031 1687 602.6 137.6 - - 2231 - - - - - - - - 14.55 14.50 14.57
13277 893.3 8.0 738 13290 roll 0.86 - - 3217 - 2.35 0.047 3051 580.4 137.6 - - 2231 - - - - - - - - 14.77 14.24 14.79
13397 883.0 7.7 754 13411 done 0.77 0.20 0.254 3185 -160.0 2.38 0.040 1668 -581.1 140.3 2.55 0.731 2222 -3.5 0.818 - - - - - - 13.84 14.30 13.22
13747 857.0 7.6 767 13761 done 0.78 - - 3187 - - - 1671 - 145.6 6.03 1.763 2201 -3.5 0.325 - - - - - - 14.71 14.39 13.33
14078 830.3 8.0 773 14091 roll 0.78 - - 3185 - 2.40 0.046 3057 577.5 145.6 - - 2204 - - - - - - - - 14.78 14.34 14.77
14112 827.3 8.6 777 14125 done 0.78 - - 3191 - 2.35 0.041 1684 -584.3 145.6 - - 2204 - - - - - - - - 14.48 14.40 14.51
14485 795.8 8.5 787 14498 done 0.78 - - 3190 - - - 1684 - 145.6 - - 2205 - - - - - - - - 14.77 14.79 14.79
14820 768.2 8.1 793 14833 done 0.78 - - 3191 - - - 1684 - 145.6 - - 2202 - - - - - - - - 14.78 14.81 14.81
15155 741.3 8.0 799 15168 roll 0.78 - - 3202 - 2.47 0.063 319 -552.6 145.6 - - 2204 - - - - - - - - 14.78 14.12 14.81
15210 736.8 8.4 806 15226 done 0.78 - - 3201 - 2.28 0.031 1685 599.1 145.6 - - 2205 - - - - - - - - 14.39 14.32 14.42
15554 709.8 7.8 813 15572 roll 0.78 - - 3202 - 2.40 0.047 3052 569.6 146.7 2.97 0.941 2193 -4.0 0.585 - - - - - - 14.72 14.35 13.31
15658 701.5 8.0 827 15671 done 0.78 - - 3210 - 2.38 0.039 1675 -578.6 146.7 - - 2198 - - - - - - - - 14.46 14.38 14.47
16015 674.4 7.5 835 16032 done 0.79 - - 3210 - - - 1676 - 152.6 8.62 1.756 2172 -3.0 0.222 - - - - - - 14.77 14.38 13.38
16351 649.5 7.5 841 16380 roll 0.79 - - 3210 - 2.38 0.047 3050 577.3 160.0 15.15 1.821 2134 -2.5 0.172 - - - - - - 14.77 14.36 13.45
16416 644.4 8.2 850 16430 done 0.79 0.15 0.259 3189 -140.0 2.35 0.040 1670 -587.2 160.0 - - 2127 - - - - - - - - 14.14 14.45 14.43
16753 620.0 7.3 862 16770 roll 0.81 - - 3202 - 2.38 0.064 330 -563.0 171.1 5.32 1.487 2094 -6.2 0.496 - - - - - - 14.71 14.13 13.28
16786 617.6 7.3 866 16822 done 0.82 - - 3197 - 2.22 0.031 1688 611.7 181.5 20.27 1.782 2045 -2.4 0.161 - - - - - - 14.59 14.54 13.30
17155 587.6 8.2 883 17168 roll 0.82 - - 3197 - 2.35 0.047 3044 577.0 181.5 - - 2037 - - - - - - - - 14.69 14.28 14.71
17231 580.7 8.8 893 17245 done 0.82 - - 3205 - 2.35 0.042 1686 -577.9 181.5 - - 2037 - - - - - - - - 14.41 14.33 14.45
17560 551.6 8.9 904 17574 roll 0.82 - - 3216 - 2.47 0.065 320 -553.0 181.5 - - 2036 - - - - - - - - 14.72 14.20 14.74
17610 546.9 9.5 910 17624 done 0.82 - - 3216 - 2.28 0.030 1687 599.6 181.5 - - 2037 - - - - - - - - 14.46 14.39 14.49
17970 514.8 8.9 918 17983 roll 0.82 - - 3216 - 2.40 0.047 3051 568.3 181.5 - - 2037 - - - - - - - - 14.76 14.21 14.78
18074 505.3 8.7 932 18087 done 0.82 0.12 0.253 3200 -133.3 2.38 0.039 1672 -579.4 181.5 - - 2037 - - - - - - - - 13.90 14.28 14.20
18433 478.1 7.6 940 18446 roll 0.83 - - 3207 - 2.42 0.064 327 -555.8 185.5 - - 2037 - - - - - - - - 14.74 14.12 14.78
18460 475.7 7.8 943 18473 done 0.83 - - 3208 - 2.25 0.030 1685 603.6 185.8 - - 2037 - - - - - - - - 14.42 14.36 14.45
18783 449.8 8.0 953 18796 roll 0.83 - - 3208 - 2.38 0.046 3051 573.9 185.8 - - 2037 - - - - - - - - 14.72 14.16 14.73
18832 445.9 8.0 959 18846 done 0.83 - - 3216 - 2.38 0.040 1679 -576.5 185.8 - - 2038 - - - - - - - - 14.35 14.26 14.38
19189 417.3 8.1 967 19203 roll 0.83 - - 3227 - 2.45 0.064 323 -553.5 185.8 - - 2037 - - - - - - - - 14.77 14.06 14.78
19259 411.0 9.1 976 19272 done 0.83 0.15 0.233 3197 -200.0 2.25 0.029 1694 609.3 185.8 - - 2037 - - - - - - - - 13.86 14.33 14.12
19596 384.4 8.0 988 19610 roll 0.83 - - 3196 - 2.33 0.046 3032 574.2 185.8 - - 2037 - - - - - - - - 14.71 14.15 14.72
19680 377.3 8.2 999 19693 done 0.83 - - 3202 - 2.35 0.040 1681 -574.9 185.8 - - 2037 - - - - - - - - 14.30 14.21 14.33
20003 352.2 7.8 1009 20017 roll 0.83 - - 3213 - 2.47 0.063 316 -552.6 187.5 1.50 0.171 2028 -6.0 2.370 - - - - - - 14.74 14.02 13.90
20045 348.8 7.9 1014 20058 done 0.83 - - 3213 - 2.25 0.030 1660 597.3 187.5 - - 2028 - - - - - - - - 14.38 14.32 14.40
20409 320.1 7.8 1023 20422 roll 0.83 - - 3213 - 2.42 0.045 3048 573.6 188.3 - - 2029 - - - - - - - - 14.71 14.11 14.73
20487 313.8 8.1 1033 20500 done 0.83 - - 3218 - 2.40 0.038 1669 -574.6 188.3 - - 2028 - - - - - - - - 14.26 14.19 14.31
20816 286.4 8.4 1044 20829 done 0.83 - - 3221 - - - 1672 - 188.3 - - 2028 - - - - - - - - 14.72 14.74 14.77
21154 257.3 8.8 1050 21168 roll 0.83 - - 3221 - 2.42 0.044 3052 570.2 188.3 - - 2029 - - - - - - - - 14.71 14.08 14.75
21217 251.2 9.3 1058 21231 done 0.83 0.15 0.245 3200 -140.0 2.38 0.039 1680 -576.5 188.3 - - 2028 - - - - - - - - 13.77 14.18 14.05
21561 224.1 7.8 1071 21578 roll 0.83 - - 3207 - 2.45 0.064 331 -550.6 189.9 2.85 0.671 2014 -4.9 0.315 - - - - - - 14.75 14.25 13.47
21622 219.2 8.4 1079 21635 done 0.83 - - 3208 - 2.22 0.029 1688 611.3 189.9 - - 2020 - - - - - - - - 14.48 14.42 14.50
21965 192.4 7.6 1092 21982 roll 0.84 - - 3208 - 2.33 0.044 3049 584.1 194.7 4.97 1.056 1997 -4.6 0.162 - - - - - - 14.72 14.17 13.49
22061 185.1 7.8 1105 22074 done 0.84 - - 3216 - 2.35 0.039 1673 -585.5 195.1 - - 2003 - - - - - - - - 14.50 14.42 14.53
22425 157.2 7.7 1114 22442 roll 0.84 - - 3226 - 2.38 0.062 321 -568.1 198.8 5.12 1.036 1981 -4.3 0.125 - - - - - - 14.73 14.16 13.50
22487 152.1 8.7 1122 22500 done 0.84 - - 3227 - 2.22 0.028 1685 614.4 198.8 - - 1987 - - - - - - - - 14.57 14.52 14.58
22830 124.6 8.0 1135 22843 roll 0.84 - - 3231 - 2.33 0.044 3045 583.7 198.8 - - 1988 - - - - - - - - 14.69 14.27 14.71
22885 120.0 8.0 1142 22900 done 0.84 0.15 0.238 3204 -180.0 2.35 0.037 1677 -582.1 198.8 - - 1988 - - - - - - - - 13.94 14.31 14.20
23231 96.8 6.8 1149 23266 roll 0.87 - - 3212 - 2.38 0.063 329 -566.4 218.1 22.08 0.359 1906 -3.7 0.192 - - - - - - 14.76 14.21 13.93
23294 91.9 7.5 1158 23318 done 0.87 - - 3212 - 2.20 0.028 1680 614.1 224.2 9.57 0.307 1879 -2.8 0.162 - - - - - - 14.53 14.48 13.91
23629 70.3 5.2 1172 23695 roll 1.05 0.15 0.111 3278 440.0 2.38 0.044 3046 573.9 274.4 51.05 0.306 1679 -3.9 0.173 - - - - - - 14.25 14.37 14.03
23734 62.8 6.9 1187 23768 done 1.07 - - 3286 - 2.35 0.039 1681 -580.9 291.5 17.88 0.273 1608 -4.0 0.175 - - - - - - 14.43 14.35 13.99
24079 46.8 5.0 1203 24145 roll 1.26 0.12 0.132 3352 550.0 2.42 0.064 334 -556.6 344.9 50.53 0.242 1388 -4.4 0.161 - - - - - - 14.26 14.28 14.07
24195 38.5 8.2 1220 24212 done 1.26 - - 3352 - 2.22 0.028 1686 609.0 344.9 2.42 0.149 1387 - - - - - - - - 14.46 14.41 14.05
24528 10.8 8.3 1234 24541 roll 1.26 - - 3354 - 2.38 0.041 3044 570.6 344.9 2.12 0.144 1388 - - - - - - - - 14.71 14.21 14.00
24597 4.7 9.0 1243 24610 done 1.26 - - 3361 - 2.33 0.036 1683 -584.1 344.9 - - 1395 - - - - - - - - 14.34 14.26 14.37
24649 end climb: SURFACE_DEPTH_REACHED
24649 begin surface coast
24677 end surface coast: CONTROL_FINISHED_OK
24677 begin surface
SM 1.17 - - - - -8.60 9.50 0.058 161 16.9 0.08 0.138 1768 9225.0 515.13 104.10 0.121 691 6.6 -0.007 - - - - - -