SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 616 * Raw log
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• Previous call tries 1 • 233.19 of 350.00 AH used of 24V (33.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 17 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
21 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 112 VBD -0.84 - - 148 - - - 1786 - -116.8 -82.68 - 3159 - - - - - - - - 14.58 - 14.60
117 4.4 -5.6 3 140 roll -0.84 12.48 0.373 2642 199.8 2.55 2.033 3143 532.2 -116.8 -1.67 - 3271 -67.1 - - - - - - - 13.88 13.02 14.28
235 38.9 -22.3 20 241 done -0.52 0.47 0.254 2754 238.3 2.30 0.039 1773 -595.7 -116.8 - - 3272 - - - - - - - - 14.02 14.39 14.31
566 81.8 -9.4 34 572 roll -0.52 - - 2747 - 2.35 0.048 3145 583.8 -116.8 - - 3271 - - - - - - - - 14.69 14.30 14.70
622 85.4 -6.0 42 628 done -0.52 - - 2748 - 2.30 0.035 1767 -599.1 -116.8 - - 3272 - - - - - - - - 14.43 14.36 14.44
959 111.2 -8.4 55 962 done -0.52 - - 2748 - - - 1767 - -116.8 - - 3274 - - - - - - - - 14.67 14.69 14.69
1294 139.4 -8.6 61 1301 roll -0.52 - - 2748 - 2.45 0.057 374 -568.6 -116.8 - - 3273 - - - - - - - - 14.68 14.19 14.69
1352 144.7 -9.3 69 1359 done -0.52 - - 2739 - 2.30 0.031 1755 600.4 -116.8 - - 3273 - - - - - - - - 14.40 14.34 14.42
1690 175.0 -9.2 82 1697 roll -0.52 - - 2729 - 2.42 0.050 3162 581.4 -116.8 - - 3271 - - - - - - - - 14.69 14.17 14.71
1747 180.1 -8.8 90 1753 done -0.52 0.12 0.228 2753 200.0 2.35 0.035 1769 -592.8 -116.8 - - 3272 - - - - - - - - 13.95 14.28 14.17
2083 207.1 -8.1 103 2090 roll -0.52 - - 2753 - 2.47 0.058 375 -564.4 -116.8 - - 3268 - - - - - - - - 14.65 14.12 14.68
2203 217.8 -9.2 120 2210 done -0.52 - - 2747 - 2.35 0.031 1781 598.3 -116.8 - - 3271 - - - - - - - - 14.35 14.30 14.38
2532 246.7 -8.7 132 2538 roll -0.52 - - 2733 - 2.40 0.050 3160 574.6 -116.8 - - 3264 - - - - - - - - 14.69 14.13 14.71
2601 252.3 -8.0 142 2615 done -0.52 - - 2737 - 2.35 0.036 1774 -589.8 -116.8 - - 3264 - - - - - - - - 14.37 14.28 14.40
2932 279.5 -8.3 153 2945 roll -0.52 - - 2737 - 2.50 0.058 371 -561.2 -116.8 - - 3261 - - - - - - - - 14.78 14.10 14.80
3057 290.5 -8.5 170 3071 done -0.52 0.15 0.244 2758 140.0 2.38 0.032 1777 590.8 -116.8 - - 3261 - - - - - - - - 13.81 14.31 14.06
3395 315.0 -7.4 182 3408 roll -0.52 - - 2751 - 2.42 0.052 3167 574.4 -116.8 - - 3259 - - - - - - - - 14.77 14.12 14.80
3478 321.7 -7.8 193 3492 done -0.62 - - 2751 - 2.38 0.037 1778 -583.6 -116.8 - - 3258 - - - - - - - - 14.31 14.23 14.34
3802 347.0 -7.8 203 3815 roll -0.62 - - 2751 - 2.53 0.059 376 -554.2 -116.8 - - 3256 - - - - - - - - 14.80 14.06 14.82
3927 357.5 -8.3 220 3941 done -0.62 - - 2742 - 2.38 0.031 1773 587.0 -116.8 - - 3255 - - - - - - - - 14.34 14.28 14.35
4265 384.9 -8.3 232 4278 roll -0.62 - - 2731 - 2.45 0.051 3164 567.8 -116.8 - - 3253 - - - - - - - - 14.81 14.06 14.83
4348 392.2 -8.6 243 4361 done -0.62 - - 2731 - 2.40 0.037 1763 -583.8 -116.8 - - 3252 - - - - - - - - 14.28 14.21 14.32
4670 420.3 -8.8 253 4683 roll -0.62 - - 2731 - 2.47 0.059 379 -560.3 -116.8 - - 3251 - - - - - - - - 14.78 14.04 14.79
4776 430.1 -9.2 267 4789 done -0.62 - - 2722 - 2.40 0.031 1783 585.0 -116.8 - - 3250 - - - - - - - - 14.31 14.25 14.33
5133 461.4 -8.8 275 5146 roll -0.62 - - 2711 - 2.42 0.053 3159 568.6 -116.8 - - 3248 - - - - - - - - 14.77 14.05 14.78
5181 465.7 -8.8 281 5194 done -0.62 - - 2712 - 2.40 0.038 1776 -576.2 -116.8 - - 3248 - - - - - - - - 14.27 14.19 14.31
5541 497.9 -9.0 289 5554 roll -0.62 - - 2710 - 2.55 0.061 373 -550.2 -116.8 - - 3247 - - - - - - - - 14.79 13.97 14.81
5645 508.2 -9.5 303 5658 done -0.62 - - 2702 - 2.40 0.033 1779 585.8 -116.8 - - 3244 - - - - - - - - 14.28 14.21 14.31
6004 540.3 -9.0 311 6017 roll -0.62 - - 2693 - 2.45 0.053 3163 564.9 -116.8 - - 3244 - - - - - - - - 14.80 14.00 14.82
6080 547.3 -8.7 321 6094 done -0.62 0.15 0.243 2723 200.0 2.42 0.037 1764 -578.1 -116.8 - - 3245 - - - - - - - - 13.66 14.11 13.93
6410 574.0 -8.2 332 6423 roll -0.62 - - 2723 - 2.55 0.062 372 -545.9 -116.8 - - 3243 - - - - - - - - 14.75 13.95 14.77
6481 580.6 -9.6 341 6494 done -0.62 - - 2717 - 2.40 0.033 1771 582.9 -116.8 - - 3243 - - - - - - - - 14.26 14.19 14.28
6817 612.6 -9.6 353 6830 done -0.62 - - 2716 - - - 1771 - -116.8 - - 3242 - - - - - - - - 14.74 14.77 14.76
7155 643.3 -9.0 359 7169 roll -0.62 - - 2706 - 2.45 0.054 3155 564.9 -116.8 - - 3241 - - - - - - - - 14.72 13.88 14.73
7219 649.0 -8.6 367 7232 done -0.62 - - 2706 - 2.40 0.038 1779 -573.3 -116.8 - - 3240 - - - - - - - - 14.20 14.09 14.21
7562 678.7 -8.6 380 7575 roll -0.62 - - 2706 - 2.58 0.062 369 -546.5 -116.8 - - 3239 - - - - - - - - 14.79 13.90 14.81
7710 691.9 -8.8 400 7723 done -0.62 0.12 0.262 2720 116.7 2.42 0.034 1776 581.4 -116.8 - - 3238 - - - - - - - - 13.66 14.15 13.90
8081 718.7 -7.0 410 8095 roll -0.62 - - 2712 - 2.47 0.054 3162 561.1 -116.8 - - 3237 - - - - - - - - 14.78 13.91 14.79
8159 724.1 -6.8 420 8172 done -0.62 - - 2713 - 2.45 0.037 1765 -570.2 -116.8 - - 3237 - - - - - - - - 14.14 14.04 14.17
8488 747.9 -7.3 431 8502 roll -0.62 - - 2712 - 2.55 0.062 376 -544.7 -116.8 - - 3236 - - - - - - - - 14.73 13.90 14.75
8565 754.0 -7.9 441 8578 done -0.62 - - 2703 - 2.45 0.034 1785 575.1 -116.8 - - 3236 - - - - - - - - 14.17 14.10 14.20
8894 778.7 -7.5 452 8907 roll -0.62 - - 2693 - 2.47 0.056 3163 557.9 -116.8 - - 3235 - - - - - - - - 14.76 13.93 14.78
8942 782.4 -7.8 458 8956 done -0.62 0.15 0.243 2722 193.3 2.42 0.037 1773 -574.4 -116.8 - - 3235 - - - - - - - - 13.60 14.04 13.88
9301 806.0 -6.6 466 9314 roll -0.62 - - 2722 - 2.58 0.063 373 -542.6 -116.8 - - 3233 - - - - - - - - 14.69 13.88 14.71
9413 814.5 -7.5 481 9427 done -0.62 - - 2715 - 2.45 0.034 1773 571.4 -116.8 - - 3233 - - - - - - - - 14.14 14.08 14.16
9758 840.0 -7.5 488 9771 roll -0.62 - - 2704 - 2.50 0.054 3163 556.0 -116.8 - - 3232 - - - - - - - - 14.69 13.90 14.71
9827 845.7 -8.0 497 9841 done -0.62 - - 2705 - 2.42 0.037 1777 -572.7 -116.8 - - 3232 - - - - - - - - 14.11 14.02 14.18
10164 873.5 -8.5 509 10177 roll -0.62 - - 2704 - 2.60 0.063 370 -541.2 -116.8 - - 3231 - - - - - - - - 14.75 13.80 14.77
10297 886.3 -9.6 527 10311 done -0.62 0.15 0.262 2724 133.3 2.45 0.034 1781 575.9 -116.8 - - 3231 - - - - - - - - 13.57 14.11 13.86
10627 913.0 -8.0 538 10640 roll -0.62 - - 2716 - 2.50 0.054 3169 555.2 -116.8 - - 3230 - - - - - - - - 14.69 13.89 14.71
10719 920.6 -8.4 550 10732 done -0.62 - - 2716 - 2.47 0.039 1769 -566.8 -116.8 - - 3231 - - - - - - - - 14.07 14.00 14.12
11090 952.0 -8.4 560 11103 roll -0.62 - - 2716 - 2.58 0.063 376 -539.9 -116.8 - - 3229 - - - - - - - - 14.66 13.90 14.69
11202 961.7 -8.6 575 11217 done -0.62 - - 2708 - 2.45 0.034 1780 573.1 -116.8 - - 3230 - - - - - - - - 14.13 14.06 14.15
11545 988.8 -7.8 582 11558 roll -0.62 - - 2697 - 2.53 0.055 3167 548.2 -116.8 - - 3229 - - - - - - - - 14.66 13.96 14.67
11561 end dive: TARGET_DEPTH_EXCEEDED
11561 begin apogee
11573 991.1 -8.3 584 11704 done -0.21 0.65 0.234 2853 240.0 - - 1684 - - 121.80 2.240 2793 -3.6 0.303 - - - - - - 13.69 13.85 12.88
11706 end apogee: CONTROL_FINISHED_OK
11706 begin climb
11712 995.2 - 586 11859 roll 0.84 1.20 0.155 3204 292.5 2.53 0.063 319 -539.5 116.8 127.50 2.202 2306 -3.8 0.331 - - - - - - 13.78 13.60 12.81
11881 987.2 9.9 614 11895 done 0.74 0.15 0.252 3175 -193.3 2.35 0.030 1711 592.3 116.8 - - 2297 - - - - - - - - 13.78 14.16 14.07
12253 959.6 7.5 624 12266 roll 0.75 - - 3175 - 2.30 0.047 3046 580.4 122.8 - - 2292 - - - - - - - - 14.72 14.31 14.74
12397 949.4 7.1 643 12430 done 0.77 - - 3181 - 2.38 0.041 1666 -579.8 136.5 17.95 2.095 2231 -3.4 0.295 - - - - - - 14.44 14.36 13.24
12764 922.6 7.2 654 12786 roll 0.78 - - 3192 - 2.45 0.065 317 -550.6 149.4 6.38 1.815 2186 -7.1 0.687 - - - - - - 14.72 14.38 13.27
12823 918.4 9.8 662 12837 done 0.78 - - 3191 - 2.25 0.031 1675 603.6 149.4 - - 2188 - - - - - - - - 14.55 14.50 14.57
13166 892.4 7.6 675 13184 roll 0.79 - - 3192 - 2.35 0.047 3050 585.1 154.4 5.28 1.678 2162 -4.9 0.501 - - - - - - 14.73 14.15 13.24
13315 880.5 8.8 695 13328 done 0.79 - - 3200 - 2.35 0.040 1677 -584.3 154.4 - - 2167 - - - - - - - - 14.51 14.43 14.54
13686 847.6 9.0 705 13699 roll 0.79 - - 3210 - 2.42 0.064 322 -559.9 154.4 - - 2167 - - - - - - - - 14.76 14.23 14.78
13755 841.1 10.3 714 13768 done 0.79 - - 3207 - 2.25 0.030 1681 604.0 154.4 - - 2171 - - - - - - - - 14.42 14.41 14.42
14093 808.2 9.8 726 14106 roll 0.79 - - 3211 - 2.38 0.047 3050 575.2 154.4 - - 2167 - - - - - - - - 14.71 14.23 14.72
14218 795.6 9.6 743 14231 done 0.79 0.15 0.262 3191 -133.3 2.38 0.040 1671 -579.4 154.4 - - 2167 - - - - - - - - 13.88 14.30 14.18
14556 767.4 8.3 755 14569 done 0.79 - - 3191 - - - 1671 - 154.4 - - 2167 - - - - - - - - 14.70 14.73 14.72
14891 740.5 7.9 761 14904 done 0.79 - - 3190 - - - 1671 - 154.4 - - 2168 - - - - - - - - 14.71 14.73 14.73
15226 715.9 7.2 767 15262 roll 0.80 - - 3190 - 2.45 0.047 3053 564.1 167.0 21.90 1.923 2103 -3.0 0.212 - - - - - - 14.71 14.33 13.35
15299 710.6 7.7 777 15312 done 0.81 - - 3197 - 2.35 0.040 1681 -583.8 169.6 - - 2097 - - - - - - - - 14.50 14.42 14.52
15628 685.1 7.7 788 15641 roll 0.81 - - 3207 - 2.42 0.064 323 -561.2 171.8 - - 2096 - - - - - - - - 14.71 14.25 14.73
15664 682.2 8.2 792 15677 done 0.81 - - 3207 - 2.25 0.031 1680 603.1 171.8 - - 2096 - - - - - - - - 14.47 14.42 14.50
16035 650.9 8.5 802 16049 roll 0.81 - - 3213 - 2.35 0.047 3048 582.1 171.8 - - 2097 - - - - - - - - 14.76 14.09 14.76
16126 642.9 8.5 814 16140 done 0.81 - - 3216 - 2.38 0.043 1680 -574.8 171.8 - - 2096 - - - - - - - - 14.39 14.31 14.43
16499 610.7 8.8 824 16512 roll 0.81 - - 3227 - 2.45 0.063 323 -553.9 171.8 - - 2096 - - - - - - - - 14.74 14.15 14.76
16547 606.0 9.6 830 16561 done 0.81 0.15 0.240 3196 -206.7 2.28 0.030 1692 600.4 171.8 - - 2096 - - - - - - - - 13.93 14.37 14.19
16905 577.6 7.9 838 16918 roll 0.81 - - 3192 - 2.35 0.047 3041 574.0 171.8 - - 2096 - - - - - - - - 14.71 14.11 14.73
16948 574.2 8.0 843 16961 done 0.81 - - 3202 - 2.38 0.041 1674 -574.4 171.8 - - 2096 - - - - - - - - 14.38 14.28 14.40
17313 546.9 7.3 852 17342 roll 0.82 - - 3202 - 2.40 0.047 3032 565.8 181.8 14.70 1.727 2045 -3.5 0.210 - - - - - - 14.75 14.38 13.48
17379 542.1 7.7 861 17392 done 0.83 - - 3211 - 2.33 0.040 1670 -584.5 185.6 - - 2041 - - - - - - - - 14.52 14.45 14.55
17715 516.0 7.8 873 17728 roll 0.83 - - 3221 - 2.40 0.064 327 -559.6 186.6 - - 2040 - - - - - - - - 14.72 14.18 14.73
17756 512.5 8.4 878 17770 done 0.83 - - 3221 - 2.22 0.030 1674 606.8 186.6 - - 2039 - - - - - - - - 14.47 14.42 14.50
18122 482.0 8.5 887 18135 roll 0.83 - - 3221 - 2.38 0.047 3044 575.6 186.6 - - 2040 - - - - - - - - 14.73 14.23 14.76
18261 468.7 9.6 906 18275 done 0.83 0.15 0.252 3200 -140.0 2.38 0.042 1671 -576.9 186.6 - - 2040 - - - - - - - - 13.93 14.30 14.20
18585 440.7 8.7 916 18598 roll 0.83 - - 3207 - 2.42 0.065 325 -556.2 186.6 - - 2040 - - - - - - - - 14.73 14.12 14.75
18648 434.8 9.2 924 18661 done 0.83 - - 3207 - 2.25 0.030 1678 601.3 186.6 - - 2039 - - - - - - - - 14.40 14.36 14.44
18993 405.0 8.6 937 19006 roll 0.83 - - 3207 - 2.38 0.046 3048 575.6 186.6 - - 2039 - - - - - - - - 14.69 14.19 14.71
19076 397.4 9.0 948 19089 done 0.83 - - 3216 - 2.40 0.041 1679 -570.4 186.6 - - 2039 - - - - - - - - 14.34 14.26 14.38
19398 368.7 9.0 958 19411 roll 0.83 - - 3227 - 2.45 0.065 323 -553.5 186.6 - - 2039 - - - - - - - - 14.75 14.08 14.77
19448 364.0 9.9 964 19461 done 0.83 0.12 0.242 3203 -200.0 2.28 0.028 1693 600.9 186.6 - - 2039 - - - - - - - - 13.90 14.35 14.16
19805 334.9 8.0 972 19818 roll 0.83 - - 3203 - 2.38 0.047 3044 567.6 186.6 - - 2039 - - - - - - - - 14.70 14.14 14.71
19848 331.5 8.2 977 19862 done 0.83 - - 3209 - 2.38 0.039 1674 -575.6 186.6 - - 2039 - - - - - - - - 14.33 14.23 14.36
20212 302.0 8.1 986 20226 roll 0.83 - - 3219 - 2.45 0.063 324 -551.0 186.6 - - 2039 - - - - - - - - 14.73 14.03 14.76
20240 299.6 8.2 989 20253 done 0.83 - - 3219 - 2.25 0.029 1669 597.8 186.6 - - 2039 - - - - - - - - 14.38 14.33 14.40
20563 271.9 8.6 999 20577 roll 0.83 - - 3219 - 2.42 0.045 3057 573.6 186.6 - - 2039 - - - - - - - - 14.67 14.09 14.69
20626 265.9 9.3 1007 20640 done 0.83 0.15 0.240 3198 -140.0 2.40 0.041 1673 -576.7 186.6 - - 2039 - - - - - - - - 13.82 14.20 14.09
20970 237.9 8.1 1020 20983 done 0.83 - - 3198 - - - 1673 - 186.6 - - 2039 - - - - - - - - 14.73 14.76 14.75
21308 213.9 7.0 1026 21339 done 0.85 - - 3198 - - - 1673 - 202.9 22.38 1.311 1964 -3.4 0.105 - - - - - - 14.71 14.33 13.54
21642 187.9 7.9 1032 21655 roll 0.85 - - 3205 - 2.42 0.066 326 -556.6 202.9 - - 1946 - - - - - - - - 14.73 14.21 14.75
21683 184.2 8.9 1037 21696 done 0.85 - - 3206 - 2.25 0.029 1684 603.6 202.9 - - 1948 - - - - - - - - 14.46 14.41 14.48
22049 152.8 8.5 1046 22062 roll 0.85 - - 3206 - 2.38 0.045 3056 576.5 202.9 - - 1948 - - - - - - - - 14.70 14.24 14.72
22104 148.0 8.3 1053 22118 done 0.85 - - 3215 - 2.40 0.039 1676 -575.0 202.9 - - 1948 - - - - - - - - 14.35 14.27 14.40
22450 122.5 7.3 1060 22467 roll 0.86 - - 3225 - 2.38 0.063 326 -567.2 213.7 4.35 0.929 1920 -6.4 0.163 - - - - - - 14.74 14.16 13.52
22510 118.3 6.8 1068 22546 done 0.88 - - 3225 - 2.22 0.028 1678 609.0 232.5 20.73 0.422 1845 -3.6 0.194 - - - - - - 14.55 14.51 13.92
22883 89.6 9.7 1083 22896 roll 0.88 - - 3225 - 2.40 0.044 3060 575.8 232.5 - - 1854 - - - - - - - - 14.69 14.27 14.71
22959 82.0 8.3 1093 22973 done 0.88 - - 3233 - 2.38 0.040 1682 -579.0 232.5 2.22 0.158 1846 -3.6 0.358 - - - - - - 14.36 14.28 14.05
23292 65.9 3.1 1106 23389 roll 1.09 0.12 0.131 3289 466.7 2.42 0.044 3060 569.4 321.2 83.72 0.300 1487 -4.3 0.180 - - - - - - 14.23 14.38 14.02
23415 59.6 5.4 1123 23473 done 1.15 - - 3295 - 2.38 0.039 1671 -583.6 366.7 42.58 0.283 1299 -4.4 0.178 - - - - - - 14.41 14.32 14.02
23802 36.5 6.6 1144 23841 roll 1.34 0.17 0.107 3379 494.1 2.40 0.063 309 -567.5 390.8 23.52 0.209 1203 -4.1 0.136 - - - - - - 14.23 14.31 14.04
23974 19.1 10.2 1169 23987 done 1.34 - - 3380 - 2.28 0.026 1690 605.7 390.8 1.90 0.151 1200 -1.6 0.038 - - - - - - 14.41 14.37 14.05
24166 end climb: SURFACE_DEPTH_REACHED
24166 begin surface coast
24194 end surface coast: CONTROL_FINISHED_OK
24199 begin surface
SM 1.00 - - - - -8.61 9.77 0.069 158 16.2 - - 1699 - 515.13 76.50 0.121 691 9.0 -0.008 - - - - - -