SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 608 * Raw log
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• Previous call tries 1 • 230.11 of 350.00 AH used of 24V (34.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.3 deg, depth 1.03 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 27 s
• GPS2 time: 14 s • Transponder ping count: 6
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 113 VBD -0.84 - - 149 - - - 1779 - -116.8 -83.22 - 3211 - - - - - - - - 14.62 - 14.64
118 5.0 -6.7 3 140 done -0.84 13.00 0.388 2650 192.4 - - 1775 - -116.8 -0.88 - 3273 -70.5 - 1 - - - - - 13.59 13.07 14.35
450 82.1 -13.8 15 456 roll -0.57 0.35 0.252 2739 254.3 2.45 0.055 371 -573.1 -116.8 - - 3274 - - - - - - - - 13.84 14.16 14.02
621 96.9 -7.8 39 628 done -0.46 0.20 0.240 2776 185.0 2.30 0.031 1764 605.7 -116.8 - - 3275 - - - - - - - - 13.95 14.41 14.21
958 117.5 -6.1 49 965 roll -0.46 - - 2771 - 2.40 0.051 3165 583.8 -116.8 - - 3275 - - - - - - - - 14.74 14.24 14.76
1105 127.3 -7.0 70 1112 done -0.46 - - 2768 - 2.35 0.036 1765 -595.7 -116.8 - - 3276 - - - - - - - - 14.40 14.32 14.42
1462 156.0 -8.1 79 1468 roll -0.46 - - 2768 - 2.45 0.058 375 -567.3 -116.8 - - 3274 - - - - - - - - 14.79 14.16 14.81
1589 164.6 -6.5 97 1596 done -0.46 - - 2760 - 2.33 0.031 1772 599.6 -116.8 - - 3273 - - - - - - - - 14.42 14.37 14.45
1911 187.1 -7.2 108 1918 roll -0.46 - - 2750 - 2.40 0.050 3161 578.8 -116.8 - - 3270 - - - - - - - - 14.74 14.20 14.77
2017 195.5 -8.2 123 2025 done -0.46 0.15 0.217 2781 206.7 2.35 0.035 1771 -591.5 -116.8 - - 3273 - - - - - - - - 13.91 14.28 14.12
2360 220.0 -7.1 130 2366 roll -0.59 0.12 0.129 2723 -483.3 2.50 0.057 369 -560.8 -116.8 - - 3267 - - - - - - - - 14.34 14.12 14.34
2501 233.5 -10.0 150 2507 done -0.59 - - 2714 - 2.38 0.031 1775 590.8 -116.8 - - 3266 - - - - - - - - 14.36 14.31 14.38
2864 269.5 -10.0 160 2877 roll -0.59 - - 2703 - 2.42 0.050 3174 578.1 -116.8 - - 3262 - - - - - - - - 14.89 14.21 14.90
2919 274.9 -9.9 167 2933 done -0.59 0.15 0.235 2734 206.7 2.38 0.037 1771 -589.5 -116.8 - - 3262 - - - - - - - - 13.86 14.31 14.10
3264 304.6 -8.4 174 3277 roll -0.59 - - 2734 - 2.47 0.060 382 -562.3 -116.8 - - 3260 - - - - - - - - 14.92 14.14 14.95
3375 313.9 -8.0 189 3390 done -0.59 - - 2728 - 2.35 0.031 1785 597.0 -116.8 - - 3259 - - - - - - - - 14.42 14.35 14.45
3720 340.1 -7.6 196 3733 roll -0.59 - - 2717 - 2.40 0.053 3158 572.1 -116.8 - - 3257 - - - - - - - - 14.93 14.16 14.95
3790 345.8 -8.0 205 3803 done -0.59 - - 2717 - 2.35 0.037 1776 -588.1 -116.8 - - 3257 - - - - - - - - 14.35 14.27 14.38
4125 374.3 -8.7 217 4139 roll -0.59 - - 2717 - 2.50 0.060 373 -561.2 -116.8 - - 3255 - - - - - - - - 14.88 14.13 14.90
4280 389.3 -9.8 238 4294 done -0.59 0.12 0.262 2732 125.0 2.35 0.033 1769 594.0 -116.8 - - 3254 - - - - - - - - 13.81 14.32 14.05
4644 422.3 -9.1 247 4657 roll -0.59 - - 2724 - 2.42 0.052 3161 575.2 -116.8 - - 3251 - - - - - - - - 14.89 14.13 14.90
4721 429.2 -9.0 257 4735 done -0.59 - - 2724 - 2.38 0.037 1777 -581.5 -116.8 - - 3252 - - - - - - - - 14.33 14.24 14.37
5050 459.4 -9.1 268 5063 roll -0.59 - - 2724 - 2.53 0.061 367 -557.3 -116.8 - - 3251 - - - - - - - - 14.88 14.09 14.90
5190 472.7 -9.3 287 5203 done -0.59 - - 2715 - 2.38 0.032 1773 590.8 -116.8 - - 3249 - - - - - - - - 14.35 14.29 14.38
5512 501.1 -8.6 297 5525 roll -0.59 - - 2704 - 2.42 0.052 3164 574.8 -116.8 - - 3248 - - - - - - - - 14.89 14.09 14.90
5574 506.4 -8.5 305 5588 done -0.59 0.15 0.236 2734 200.0 2.38 0.037 1770 -585.7 -116.8 - - 3248 - - - - - - - - 13.76 14.23 14.02
5920 532.3 -7.4 318 5933 roll -0.59 - - 2735 - 2.50 0.061 379 -556.4 -116.8 - - 3246 - - - - - - - - 14.86 14.04 14.88
5996 538.7 -8.4 328 6009 done -0.59 - - 2728 - 2.38 0.033 1773 585.7 -116.8 - - 3246 - - - - - - - - 14.32 14.26 14.35
6326 566.1 -8.4 339 6339 roll -0.59 - - 2717 - 2.45 0.053 3170 570.2 -116.8 - - 3244 - - - - - - - - 14.91 14.05 14.93
6430 575.3 -8.7 353 6444 done -0.59 - - 2717 - 2.42 0.037 1773 -577.3 -116.8 - - 3244 - - - - - - - - 14.25 14.16 14.28
6787 607.0 -9.0 361 6800 roll -0.59 - - 2717 - 2.53 0.062 377 -551.8 -116.8 - - 3244 - - - - - - - - 14.92 13.98 14.95
6920 619.4 -9.2 379 6934 done -0.59 0.12 0.257 2733 133.3 2.40 0.033 1789 588.3 -116.8 - - 3243 - - - - - - - - 13.76 14.26 13.97
7249 644.3 -7.3 390 7262 roll -0.59 - - 2725 - 2.42 0.054 3159 566.1 -116.8 - - 3241 - - - - - - - - 14.86 14.00 14.88
7348 651.3 -7.1 403 7361 done -0.59 - - 2724 - 2.40 0.037 1776 -576.2 -116.8 - - 3241 - - - - - - - - 14.25 14.18 14.28
7711 678.1 -7.4 412 7724 roll -0.59 - - 2724 - 2.55 0.062 373 -550.2 -116.8 - - 3240 - - - - - - - - 14.85 13.95 14.88
7824 687.1 -8.1 427 7838 done -0.59 - - 2715 - 2.40 0.034 1769 581.7 -116.8 - - 3239 - - - - - - - - 14.24 14.18 14.27
8166 713.4 -7.6 434 8179 roll -0.59 - - 2705 - 2.50 0.054 3167 559.2 -116.8 - - 3238 - - - - - - - - 14.91 13.96 14.93
8277 721.9 -7.6 449 8291 done -0.59 0.15 0.234 2735 200.0 2.42 0.038 1776 -574.8 -116.8 - - 3237 - - - - - - - - 13.62 14.09 13.88
8622 745.0 -6.7 456 8635 roll -0.59 - - 2735 - 2.55 0.063 379 -547.8 -116.8 - - 3235 - - - - - - - - 14.89 13.90 14.91
8719 752.3 -7.5 469 8732 done -0.59 - - 2728 - 2.40 0.034 1779 583.3 -116.8 - - 3237 - - - - - - - - 14.23 14.17 14.26
9084 778.3 -7.2 478 9097 roll -0.59 - - 2718 - 2.45 0.054 3159 563.3 -116.8 - - 3236 - - - - - - - - 14.89 13.92 14.91
9196 786.6 -7.3 493 9210 done -0.59 - - 2717 - 2.40 0.038 1780 -574.6 -116.8 - - 3235 - - - - - - - - 14.14 14.06 14.18
9539 811.8 -7.3 500 9552 roll -0.59 - - 2717 - 2.60 0.062 373 -541.2 -116.8 - - 3234 - - - - - - - - 14.90 13.87 14.92
9651 820.5 -7.8 515 9666 done -0.59 0.12 0.256 2732 125.0 2.42 0.034 1778 580.6 -116.8 - - 3233 - - - - - - - - 13.63 14.14 13.86
9993 842.7 -6.4 522 10006 roll -0.59 - - 2724 - 2.50 0.055 3164 554.4 -116.8 - - 3232 - - - - - - - - 14.89 13.89 14.91
10086 848.5 -6.5 534 10099 done -0.68 - - 2724 - 2.42 0.038 1772 -575.2 -116.8 - - 3233 - - - - - - - - 14.13 14.04 14.16
10456 873.8 -6.9 544 10469 roll -0.68 - - 2725 - 2.58 0.063 373 -542.2 -116.8 - - 3231 - - - - - - - - 14.89 13.83 14.91
10576 883.1 -7.9 560 10590 done -0.68 - - 2715 - 2.42 0.034 1774 578.9 -116.8 - - 3232 - - - - - - - - 14.19 14.12 14.22
10919 909.8 -7.8 573 10932 roll -0.68 - - 2705 - 2.47 0.054 3162 561.9 -116.8 - - 3232 - - - - - - - - 14.82 13.89 14.84
11039 919.3 -8.0 589 11052 done -0.68 - - 2705 - 2.42 0.038 1775 -573.1 -116.8 - - 3231 - - - - - - - - 14.09 14.00 14.12
11382 947.7 -8.3 602 11395 roll -0.68 - - 2705 - 2.58 0.063 379 -541.1 -116.8 - - 3230 - - - - - - - - 14.82 13.82 14.84
11540 961.4 -8.8 623 11554 done -0.68 - - 2696 - 2.40 0.034 1772 580.4 -116.8 - - 3229 - - - - - - - - 14.00 13.97 14.02
11900 end dive: TARGET_DEPTH_EXCEEDED
11900 begin apogee
11910 992.4 -8.4 632 12042 done -0.21 0.65 0.234 2853 241.5 - - 1647 - - 122.20 2.241 2794 -3.6 0.302 - - - - - - 13.69 13.85 12.83
12045 end apogee: CONTROL_FINISHED_OK
12045 begin climb
12050 997.6 - 634 12198 roll 0.84 1.20 0.159 3201 290.0 2.40 0.065 353 -539.2 116.8 128.18 2.186 2307 -3.8 0.332 - - - - - - 13.73 13.81 12.80
12268 986.1 8.2 669 12282 done 0.84 - - 3201 - 2.28 0.029 1705 593.0 116.8 - - 2296 - - - - - - - - 14.33 14.28 14.35
12592 959.9 8.4 679 12605 roll 0.84 - - 3201 - 2.35 0.048 3054 574.0 116.8 - - 2292 - - - - - - - - 14.71 14.32 14.73
12711 949.7 8.4 695 12724 done 0.84 - - 3208 - 2.33 0.040 1700 -581.1 116.8 - - 2291 - - - - - - - - 14.43 14.35 14.47
13056 920.4 8.6 708 13069 roll 0.84 - - 3220 - 2.47 0.065 325 -556.7 116.8 - - 2291 - - - - - - - - 14.75 14.20 14.77
13104 915.7 11.5 714 13118 done 0.74 0.22 0.252 3172 -218.2 2.25 0.031 1695 608.9 116.8 - - 2291 - - - - - - - - 13.90 14.41 14.25
13463 889.7 7.1 722 13480 roll 0.75 - - 3172 - 2.38 0.050 3042 566.0 131.2 5.60 1.711 2256 -6.2 0.623 - - - - - - 14.72 14.43 13.28
13575 881.6 7.3 737 13608 done 0.77 - - 3177 - 2.35 0.041 1680 -579.6 140.9 17.77 2.062 2212 -2.5 0.203 - - - - - - 14.52 14.45 13.27
13925 855.5 7.4 751 13942 roll 0.78 - - 3188 - 2.45 0.067 327 -552.2 148.9 2.83 0.903 2183 -10.2 1.861 - - - - - - 14.69 14.34 13.20
13977 851.8 8.2 758 13991 done 0.78 - - 3188 - 2.22 0.031 1673 606.3 148.9 - - 2184 - - - - - - - - 14.51 14.45 14.53
14322 825.5 7.4 765 14345 roll 0.78 - - 3188 - 2.42 0.049 3046 567.4 156.6 11.15 1.975 2157 -2.4 0.194 - - - - - - 14.76 14.38 13.31
14416 817.9 8.1 778 14429 done 0.78 - - 3196 - 2.35 0.041 1673 -584.3 156.6 - - 2154 - - - - - - - - 14.52 14.44 14.54
14773 789.0 8.0 786 14786 roll 0.78 - - 3206 - 2.42 0.066 316 -560.7 156.6 - - 2154 - - - - - - - - 14.76 14.26 14.76
14816 785.5 8.1 791 14829 done 0.78 - - 3207 - 2.28 0.030 1688 601.8 156.6 - - 2152 - - - - - - - - 14.50 14.45 14.52
15180 755.0 8.4 800 15193 roll 0.78 - - 3206 - 2.38 0.047 3053 573.5 156.6 - - 2154 - - - - - - - - 14.78 14.25 14.79
15284 745.8 8.7 814 15298 done 0.78 0.15 0.266 3186 -133.3 2.38 0.041 1675 -579.0 156.6 - - 2154 - - - - - - - - 13.95 14.32 14.20
15643 717.4 8.1 822 15657 roll 0.78 - - 3194 - 2.42 0.065 327 -557.0 156.6 - - 2154 - - - - - - - - 14.76 14.16 14.77
15706 711.7 9.0 830 15720 done 0.78 - - 3194 - 2.25 0.030 1684 603.1 156.6 - - 2154 - - - - - - - - 14.43 14.37 14.45
16051 682.7 8.4 843 16064 roll 0.78 - - 3194 - 2.38 0.046 3052 574.8 156.6 - - 2154 - - - - - - - - 14.71 14.22 14.73
16134 675.5 8.4 854 16148 done 0.78 - - 3203 - 2.38 0.040 1682 -575.6 156.6 - - 2154 - - - - - - - - 14.35 14.27 14.39
16456 648.5 8.4 864 16470 roll 0.78 - - 3213 - 2.47 0.065 320 -551.4 156.6 - - 2154 - - - - - - - - 14.77 14.09 14.78
16492 645.5 8.4 868 16505 done 0.78 - - 3213 - 2.28 0.030 1687 599.6 156.6 - - 2154 - - - - - - - - 14.40 14.35 14.42
16863 613.9 8.5 878 16876 roll 0.78 - - 3213 - 2.38 0.046 3046 571.0 156.6 - - 2154 - - - - - - - - 14.71 14.14 14.73
16984 603.1 9.1 894 16997 done 0.78 0.17 0.254 3187 -152.9 2.38 0.039 1676 -575.6 156.6 - - 2154 - - - - - - - - 13.79 14.21 14.09
17327 576.3 7.6 907 17345 roll 0.79 - - 3195 - 2.45 0.065 327 -550.6 160.5 2.38 0.542 2139 -6.3 1.284 - - - - - - 14.71 14.26 13.24
17374 572.6 8.0 913 17387 done 0.79 - - 3195 - 2.22 0.029 1677 608.1 160.5 - - 2138 - - - - - - - - 14.47 14.42 14.49
17733 544.9 7.5 921 17751 roll 0.80 - - 3201 - 2.40 0.047 3046 570.4 167.0 6.32 1.535 2112 -4.1 0.280 - - - - - - 14.75 14.42 13.43
17854 536.5 7.1 937 17893 done 0.81 - - 3203 - 2.33 0.040 1683 -585.0 180.7 23.88 1.692 2048 -2.7 0.163 - - - - - - 14.52 14.43 13.34
18249 507.6 7.5 951 18262 roll 0.82 - - 3214 - 2.42 0.063 326 -560.7 186.8 1.40 0.181 2028 -14.3 7.678 - - - - - - 14.68 14.15 14.03
18284 504.4 7.6 955 18300 done 0.83 - - 3214 - 2.25 0.030 1684 603.6 191.5 4.07 1.186 2011 -4.2 0.340 - - - - - - 14.45 14.39 13.32
18653 472.9 8.8 965 18667 roll 0.83 - - 3214 - 2.35 0.046 3050 581.3 191.5 - - 2016 - - - - - - - - 14.70 14.26 14.73
18723 466.3 9.3 974 18736 done 0.83 - - 3222 - 2.35 0.040 1681 -582.6 191.5 - - 2012 - - - - - - - - 14.33 14.23 14.35
19060 434.6 9.5 986 19073 roll 0.83 - - 3233 - 2.45 0.064 317 -556.7 191.5 - - 2016 - - - - - - - - 14.73 14.15 14.76
19101 430.3 9.8 991 19115 done 0.83 0.15 0.245 3202 -206.7 2.25 0.029 1690 610.2 191.5 - - 2016 - - - - - - - - 13.90 14.38 14.17
19466 399.1 8.4 1000 19479 roll 0.83 - - 3202 - 2.33 0.045 3036 577.7 191.5 - - 2016 - - - - - - - - 14.70 14.20 14.73
19564 391.1 8.2 1013 19578 done 0.83 - - 3208 - 2.35 0.040 1678 -577.9 191.5 - - 2016 - - - - - - - - 14.34 14.25 14.38
19929 363.1 7.6 1022 19946 roll 0.83 - - 3219 - 2.40 0.063 317 -567.1 195.6 4.62 1.172 1994 -4.8 0.283 - - - - - - 14.71 14.16 13.42
19968 360.0 8.0 1027 19982 done 0.83 - - 3219 - 2.22 0.030 1678 613.1 195.6 - - 1999 - - - - - - - - 14.57 14.52 14.59
20332 329.2 8.6 1036 20346 roll 0.83 - - 3219 - 2.35 0.045 3045 581.7 195.6 - - 2000 - - - - - - - - 14.77 14.24 14.79
20416 321.2 9.6 1047 20429 done 0.83 - - 3228 - 2.35 0.041 1680 -580.9 195.6 - - 2000 - - - - - - - - 14.40 14.31 14.42
20738 290.1 9.8 1057 20751 done 0.83 - - 3228 - - - 1680 - 195.6 - - 2000 - - - - - - - - 14.71 14.73 14.73
21074 259.8 8.8 1063 21087 roll 0.83 - - 3228 - 2.40 0.046 3052 571.7 195.6 - - 2001 - - - - - - - - 14.71 14.16 14.73
21157 252.2 9.1 1074 21171 done 0.83 0.17 0.246 3200 -164.7 2.38 0.040 1678 -577.3 195.6 - - 2000 - - - - - - - - 13.81 14.22 14.10
21481 226.9 7.9 1084 21495 roll 0.83 - - 3208 - 2.45 0.063 325 -552.2 195.6 - - 2002 - - - - - - - - 14.73 14.05 14.76
21516 223.9 8.1 1088 21529 done 0.83 - - 3208 - 2.22 0.029 1682 611.3 195.6 - - 2001 - - - - - - - - 14.37 14.31 14.39
21888 194.9 7.7 1098 21905 roll 0.84 - - 3214 - 2.33 0.042 3052 588.0 198.8 4.55 1.013 1981 -4.4 0.162 - - - - - - 14.69 14.17 13.49
21948 190.0 8.1 1106 21961 done 0.84 - - 3217 - 2.35 0.040 1674 -586.4 198.8 - - 1988 - - - - - - - - 14.53 14.42 14.53
22291 165.2 7.0 1119 22324 done 0.86 - - 3217 - - - 1673 - 214.3 23.90 1.237 1918 -2.9 0.075 - - - - - - 14.77 14.31 13.52
22629 137.8 8.5 1125 22642 roll 0.86 - - 3227 - 2.42 0.064 321 -558.7 214.3 - - 1903 - - - - - - - - 14.73 14.21 14.74
22677 133.3 8.9 1131 22690 done 0.86 - - 3227 - 2.22 0.028 1682 613.1 214.3 - - 1902 - - - - - - - - 14.45 14.40 14.47
23036 102.8 8.4 1139 23049 roll 0.86 - - 3224 - 2.35 0.044 3043 579.1 214.3 - - 1902 - - - - - - - - 14.71 14.25 14.73
23133 95.2 7.1 1152 23157 done 0.87 - - 3235 - 2.38 0.039 1673 -575.6 227.9 8.10 0.286 1869 -4.1 0.260 - - - - - - 14.35 14.26 13.81
23465 75.2 5.6 1166 23522 roll 0.92 - - 3235 - 2.35 0.041 3048 585.1 269.6 42.60 0.320 1699 -4.0 0.180 - - - - - - 14.70 14.26 14.02
23677 61.6 5.9 1196 23728 done 1.14 0.17 0.104 3311 447.1 2.35 0.039 1678 -583.0 306.1 36.83 0.283 1543 -4.2 0.177 - - - - - - 14.27 14.28 14.04
24058 43.1 6.1 1217 24100 done 1.27 - - 3311 - - - 1678 - 339.6 32.90 0.230 1408 -4.1 0.147 - - - - - - 14.69 14.36 14.07
24394 18.1 8.2 1229 24412 roll 1.38 0.17 0.100 3390 464.7 2.45 0.062 330 -550.2 339.6 2.58 0.135 1412 1.6 -0.040 - - - - - - 14.26 14.13 14.00
24428 14.8 10.2 1233 24442 done 1.38 - - 3390 - 2.20 0.027 1678 612.7 339.6 - - 1418 - - - - - - - - 14.41 14.35 14.43
24544 end climb: SURFACE_DEPTH_REACHED
24544 begin surface coast
24572 end surface coast: CONTROL_FINISHED_OK
24572 begin surface
SM 1.00 - - - - -8.61 9.77 0.070 155 15.9 - - 1688 - 515.13 107.22 0.121 691 6.4 -0.005 - - - - - -