SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 617 * Raw log
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• Previous call tries 1 • 233.58 of 350.00 AH used of 24V (33.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.62 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 14 s • Transponder ping count: 1
• 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
29 - - - 115 VBD -0.84 - - 156 - - - 1700 - -116.8 -83.62 - 3205 - - - - - - - - 14.58 - 14.61
120 4.8 -6.6 3 143 roll -0.84 12.77 0.386 2642 194.7 2.72 2.033 3146 531.6 -116.8 -0.98 - 3273 -69.4 - - - - - - - 13.91 13.04 14.33
253 43.2 -21.7 22 261 done -0.52 0.47 0.256 2753 236.2 2.33 0.039 1772 -589.7 -116.8 - - 3273 - - - - - - - - 14.00 14.33 14.30
564 82.9 -9.5 34 570 roll -0.52 - - 2747 - 2.35 0.049 3147 585.1 -116.8 - - 3274 - - - - - - - - 14.70 14.30 14.72
801 99.3 -5.6 68 807 done -0.52 - - 2747 - 2.30 0.037 1772 -597.8 -116.8 - - 3274 - - - - - - - - 14.42 14.34 14.44
1152 127.6 -8.9 76 1154 done -0.52 - - 2747 - - - 1772 - -116.8 - - 3274 - - - - - - - - 14.68 14.70 14.70
1488 156.7 -8.3 82 1494 roll -0.52 - - 2747 - 2.47 0.057 370 -567.6 -116.8 - - 3272 - - - - - - - - 14.68 14.12 14.69
1601 166.8 -9.2 98 1608 done -0.52 - - 2738 - 2.33 0.031 1764 598.3 -116.8 - - 3273 - - - - - - - - 14.38 14.34 14.45
1938 195.5 -8.4 111 1944 roll -0.52 - - 2727 - 2.42 0.050 3160 576.9 -116.8 - - 3270 - - - - - - - - 14.66 14.09 14.69
1979 198.9 -8.1 117 1987 done -0.52 0.15 0.223 2759 213.3 2.38 0.036 1774 -582.4 -116.8 - - 3270 - - - - - - - - 13.93 14.26 14.16
2332 225.0 -7.5 125 2340 roll -0.52 - - 2759 - 2.47 0.058 380 -564.4 -116.8 - - 3267 - - - - - - - - 14.64 14.12 14.66
2446 233.9 -7.7 141 2454 done -0.52 - - 2753 - 2.35 0.029 1777 594.5 -116.8 - - 3270 - - - - - - - - 14.35 14.29 14.37
2785 259.0 -7.4 154 2799 roll -0.52 - - 2743 - 2.40 0.050 3160 576.2 -116.8 - - 3263 - - - - - - - - 14.76 14.15 14.76
2869 265.4 -7.6 165 2882 done -0.52 - - 2743 - 2.35 0.036 1776 -588.9 -116.8 - - 3263 - - - - - - - - 14.35 14.26 14.38
3191 291.4 -8.2 175 3204 roll -0.52 - - 2743 - 2.53 0.059 372 -554.9 -116.8 - - 3261 - - - - - - - - 14.83 14.09 14.85
3325 303.5 -9.1 193 3338 done -0.52 - - 2734 - 2.38 0.031 1780 591.6 -116.8 - - 3259 - - - - - - - - 14.34 14.28 14.38
3654 333.4 -9.1 204 3667 roll -0.52 - - 2723 - 2.42 0.053 3164 571.9 -116.8 - - 3257 - - - - - - - - 14.79 14.12 14.81
3711 338.5 -9.3 211 3725 done -0.52 0.15 0.229 2755 213.3 2.38 0.037 1775 -583.6 -116.8 - - 3257 - - - - - - - - 13.81 14.21 14.07
4053 367.5 -8.5 218 4066 roll -0.52 - - 2755 - 2.53 0.060 385 -549.4 -116.8 - - 3255 - - - - - - - - 14.83 14.04 14.85
4192 380.4 -9.1 237 4205 done -0.52 - - 2748 - 2.35 0.031 1776 591.9 -116.8 - - 3254 - - - - - - - - 14.36 14.31 14.38
4516 408.2 -8.7 247 4529 done -0.52 - - 2748 - - - 1776 - -116.8 - - 3252 - - - - - - - - 14.76 14.78 14.78
4851 435.2 -7.9 253 4864 done -0.52 - - 2747 - - - 1776 - -116.8 - - 3251 - - - - - - - - 14.77 14.79 14.79
5187 460.5 -7.5 259 5200 roll -0.52 - - 2748 - 2.53 0.057 379 -552.2 -116.8 - - 3249 - - - - - - - - 14.77 14.02 14.78
5229 463.9 -8.0 264 5242 done -0.52 - - 2739 - 2.38 0.031 1780 588.7 -116.8 - - 3249 - - - - - - - - 14.33 14.27 14.35
5593 493.4 -8.3 273 5607 roll -0.52 - - 2728 - 2.45 0.053 3159 562.9 -116.8 - - 3247 - - - - - - - - 14.81 14.01 14.83
5692 502.4 -9.2 286 5706 done -0.52 0.15 0.226 2759 206.7 2.38 0.036 1775 -581.5 -116.8 - - 3247 - - - - - - - - 13.73 14.15 13.97
6058 532.9 -8.2 295 6071 roll -0.63 - - 2759 - 2.53 0.060 381 -551.0 -116.8 - - 3246 - - - - - - - - 14.80 13.95 14.82
6148 540.6 -8.4 307 6162 done -0.63 - - 2753 - 2.40 0.031 1776 581.2 -116.8 - - 3245 - - - - - - - - 14.27 14.21 14.28
6521 568.5 -7.4 317 6535 roll -0.72 0.15 0.112 2678 -500.0 2.47 0.050 3165 562.3 -116.8 - - 3244 - - - - - - - - 14.27 13.99 14.26
6633 578.9 -9.4 332 6647 done -0.72 - - 2678 - 2.42 0.037 1776 -574.0 -116.8 - - 3243 - - - - - - - - 14.19 14.15 14.22
6979 612.9 -10.0 339 6992 roll -0.72 - - 2678 - 2.55 0.061 376 -549.0 -116.8 - - 3242 - - - - - - - - 14.78 13.92 14.80
7114 627.4 -10.8 357 7128 done -0.63 0.22 0.258 2719 186.4 2.40 0.033 1773 582.1 -116.8 - - 3242 - - - - - - - - 13.57 14.16 13.90
7446 657.0 -8.9 368 7459 roll -0.63 - - 2711 - 2.47 0.052 3167 564.4 -116.8 - - 3241 - - - - - - - - 14.73 13.95 14.75
7536 665.4 -9.1 380 7549 done -0.63 - - 2711 - 2.45 0.037 1770 -570.2 -116.8 - - 3240 - - - - - - - - 14.16 14.07 14.20
7907 699.6 -9.2 390 7920 roll -0.63 - - 2711 - 2.58 0.061 375 -540.7 -116.8 - - 3238 - - - - - - - - 14.72 13.90 14.74
8041 712.1 -9.1 408 8054 done -0.63 - - 2701 - 2.42 0.032 1773 577.7 -116.8 - - 3235 - - - - - - - - 14.19 14.12 14.21
8370 740.6 -8.6 419 8383 roll -0.63 - - 2690 - 2.50 0.053 3172 559.6 -116.8 - - 3237 - - - - - - - - 14.72 13.93 14.74
8454 747.5 -8.1 430 8468 done -0.63 0.15 0.245 2717 180.0 2.45 0.038 1776 -569.8 -116.8 - - 3237 - - - - - - - - 13.59 13.97 13.89
8777 770.2 -6.9 440 8790 roll -0.63 - - 2720 - 2.58 0.063 373 -543.8 -116.8 - - 3234 - - - - - - - - 14.71 13.90 14.72
8890 778.8 -7.7 455 8904 done -0.63 - - 2714 - 2.45 0.034 1774 571.8 -116.8 - - 3236 - - - - - - - - 14.17 14.11 14.19
9233 804.4 -7.6 462 9246 roll -0.63 - - 2702 - 2.50 0.054 3170 558.4 -116.8 - - 3235 - - - - - - - - 14.71 13.90 14.73
9338 813.0 -8.2 476 9352 done -0.63 - - 2703 - 2.45 0.039 1776 -569.0 -116.8 - - 3235 - - - - - - - - 14.14 14.04 14.17
9695 844.7 -8.9 484 9709 roll -0.63 - - 2703 - 2.58 0.063 377 -542.2 -116.8 - - 3233 - - - - - - - - 14.76 13.89 14.78
9765 852.1 -10.1 493 9778 done -0.63 0.15 0.262 2722 126.7 2.45 0.034 1785 574.7 -116.8 - - 3233 - - - - - - - - 13.54 14.01 13.84
10103 880.0 -8.4 505 10116 roll -0.63 - - 2714 - 2.47 0.054 3164 558.3 -116.8 - - 3232 - - - - - - - - 14.69 13.91 14.71
10232 890.1 -7.7 522 10245 done -0.63 - - 2714 - 2.45 0.038 1769 -569.4 -116.8 - - 3233 - - - - - - - - 14.09 14.00 14.12
10569 915.9 -7.5 534 10583 roll -0.63 - - 2710 - 2.58 0.063 373 -541.1 -116.8 - - 3231 - - - - - - - - 14.67 13.88 14.69
10667 923.6 -7.6 547 10680 done -0.63 - - 2705 - 2.45 0.034 1774 571.8 -116.8 - - 3231 - - - - - - - - 14.15 14.08 14.17
11033 949.1 -6.9 556 11046 roll -0.63 - - 2694 - 2.53 0.055 3172 552.6 -116.8 - - 3231 - - - - - - - - 14.66 13.91 14.68
11123 955.7 -7.1 568 11137 done -0.63 0.12 0.247 2719 208.3 2.45 0.039 1775 -570.2 -116.8 - - 3230 - - - - - - - - 13.60 14.00 13.87
11495 979.9 -6.5 578 11508 roll -0.63 - - 2719 - 2.58 0.063 378 -541.5 -116.8 - - 3230 - - - - - - - - 14.66 13.89 14.69
11566 985.0 -7.3 587 11579 done -0.63 - - 2710 - 2.42 0.034 1776 577.7 -116.8 - - 3229 - - - - - - - - 14.17 14.11 14.20
11673 end dive: TARGET_DEPTH_EXCEEDED
11673 begin apogee
11683 992.9 -7.1 595 11814 done -0.21 0.60 0.230 2857 245.0 - - 1649 - - 121.03 2.254 2797 -3.6 0.301 - - - - - - 13.71 13.86 12.87
11817 end apogee: CONTROL_FINISHED_OK
11817 begin climb
11822 997.4 - 597 11970 roll 0.84 1.17 0.153 3201 294.0 2.45 0.064 354 -528.6 116.8 126.72 2.195 2310 -3.8 0.334 - - - - - - 13.78 13.82 12.82
12020 987.4 8.3 629 12033 done 0.84 - - 3202 - 2.28 0.029 1705 592.5 116.8 - - 2300 - - - - - - - - 14.31 14.26 14.32
12363 960.1 8.1 642 12376 roll 0.84 - - 3201 - 2.35 0.047 3061 577.0 116.8 - - 2296 - - - - - - - - 14.70 14.33 14.72
12508 949.1 7.8 661 12521 done 0.84 - - 3210 - 2.33 0.041 1704 -582.4 118.3 - - 2294 - - - - - - - - 14.43 14.34 14.47
12830 923.4 8.0 671 12843 roll 0.84 - - 3221 - 2.47 0.064 328 -557.1 118.3 - - 2294 - - - - - - - - 14.71 14.23 14.73
12871 919.9 10.8 676 12885 done 0.75 0.22 0.243 3171 -227.3 2.25 0.029 1705 612.0 118.3 - - 2294 - - - - - - - - 13.91 14.42 14.25
13237 895.0 6.8 685 13271 roll 0.77 - - 3171 - 2.33 0.048 3023 565.7 137.1 19.45 2.085 2224 -3.6 0.296 - - - - - - 14.76 14.33 13.33
13334 887.3 8.1 699 13348 done 0.77 - - 3178 - 2.33 0.041 1677 -577.7 137.1 - - 2219 - - - - - - - - 14.48 14.40 14.52
13693 857.5 8.5 707 13706 roll 0.77 - - 3188 - 2.45 0.065 318 -554.7 137.1 - - 2219 - - - - - - - - 14.71 14.27 14.73
13727 854.8 7.7 711 13741 done 0.77 - - 3188 - 2.25 0.031 1668 600.0 140.8 - - 2218 - - - - - - - - 14.49 14.41 14.51
14098 821.2 8.9 721 14112 roll 0.77 - - 3188 - 2.40 0.046 3045 573.8 140.8 - - 2217 - - - - - - - - 14.77 14.26 14.77
14239 807.9 10.0 740 14253 done 0.77 - - 3196 - 2.35 0.040 1680 -580.9 140.8 - - 2217 - - - - - - - - 14.42 14.34 14.46
14562 780.4 8.5 750 14575 roll 0.77 - - 3205 - 2.45 0.064 321 -554.7 140.8 - - 2217 - - - - - - - - 14.73 14.19 14.75
14598 777.3 8.4 754 14611 done 0.77 - - 3205 - 2.28 0.030 1684 597.8 140.8 - - 2217 - - - - - - - - 14.46 14.42 14.49
14969 747.3 7.9 764 14982 roll 0.77 - - 3205 - 2.38 0.047 3044 571.4 140.8 - - 2217 - - - - - - - - 14.77 14.18 14.79
15073 738.8 8.0 778 15087 done 0.77 0.17 0.258 3179 -152.9 2.38 0.041 1670 -577.3 140.8 - - 2217 - - - - - - - - 13.85 14.27 14.15
15432 714.2 6.9 786 15468 roll 0.80 - - 3187 - 2.40 0.064 323 -561.2 158.2 21.90 1.926 2140 -3.5 0.249 - - - - - - 14.74 14.10 13.34
15503 708.7 8.2 796 15516 done 0.80 - - 3187 - 2.25 0.031 1687 606.2 158.2 - - 2133 - - - - - - - - 14.51 14.45 14.57
15833 682.1 8.2 807 15847 roll 0.80 - - 3187 - 2.35 0.047 3045 577.9 158.2 - - 2131 - - - - - - - - 14.69 14.31 14.71
15937 672.9 8.6 821 15951 done 0.80 - - 3196 - 2.35 0.040 1682 -580.0 158.2 - - 2129 - - - - - - - - 14.42 14.33 14.46
16295 641.8 8.8 829 16308 roll 0.80 - - 3206 - 2.45 0.065 321 -555.5 158.2 - - 2129 - - - - - - - - 14.72 14.13 14.74
16330 638.6 9.1 833 16344 done 0.80 - - 3206 - 2.28 0.030 1689 600.0 158.2 - - 2129 - - - - - - - - 14.46 14.41 14.49
16702 603.8 9.4 843 16715 roll 0.80 - - 3206 - 2.38 0.047 3048 571.0 158.2 - - 2129 - - - - - - - - 14.75 14.21 14.78
16822 592.3 9.6 859 16836 done 0.80 - - 3215 - 2.35 0.040 1680 -582.1 158.2 - - 2129 - - - - - - - - 14.40 14.31 14.44
17165 561.1 9.0 872 17179 roll 0.80 - - 3227 - 2.47 0.065 315 -552.6 158.2 - - 2129 - - - - - - - - 14.71 14.14 14.74
17242 553.9 9.5 882 17256 done 0.80 0.17 0.239 3188 -229.4 2.28 0.029 1694 604.8 158.2 - - 2129 - - - - - - - - 13.88 14.35 14.20
17575 529.1 7.4 893 17593 roll 0.81 - - 3189 - 2.38 0.047 3038 564.7 166.4 2.28 0.456 2112 -7.5 1.655 - - - - - - 14.69 14.34 13.22
17655 522.5 8.0 904 17669 done 0.81 - - 3195 - 2.38 0.041 1670 -574.8 166.4 - - 2115 - - - - - - - - 14.40 14.32 14.44
17979 498.3 7.5 914 17993 done 0.81 - - 3195 - - - 1670 - 172.6 4.93 1.343 2091 -4.9 0.346 - - - - - - 14.69 14.38 13.39
18314 474.3 7.1 920 18351 roll 0.83 - - 3194 - 2.42 0.046 3035 564.0 186.9 24.85 1.623 2024 -2.7 0.151 - - - - - - 14.72 14.33 13.41
18387 469.0 7.4 930 18405 done 0.84 - - 3203 - 2.33 0.041 1678 -582.4 194.6 2.33 0.474 1997 -11.6 2.194 - - - - - - 14.48 14.40 13.12
18763 439.1 8.1 941 18776 roll 0.84 - - 3213 - 2.42 0.064 327 -558.3 194.6 - - 2000 - - - - - - - - 14.69 14.17 14.71
18804 435.4 8.6 946 18817 done 0.84 - - 3213 - 2.22 0.030 1668 604.1 194.6 - - 1999 - - - - - - - - 14.42 14.36 14.45
19170 402.2 9.2 955 19183 roll 0.84 - - 3213 - 2.40 0.045 3049 575.4 194.6 - - 2000 - - - - - - - - 14.73 14.19 14.74
19295 389.7 9.7 972 19308 done 0.84 - - 3221 - 2.38 0.040 1678 -576.1 194.6 - - 1999 - - - - - - - - 14.28 14.19 14.31
19632 358.6 9.2 984 19646 roll 0.84 - - 3232 - 2.45 0.064 319 -554.7 194.6 - - 2000 - - - - - - - - 14.73 14.12 14.74
19674 354.5 9.2 989 19687 done 0.84 0.15 0.236 3201 -206.7 2.28 0.029 1696 603.9 194.6 - - 1999 - - - - - - - - 13.89 14.35 14.15
20040 326.7 7.3 998 20068 roll 0.85 - - 3202 - 2.33 0.045 3049 580.7 204.7 15.57 1.446 1952 -3.0 0.130 - - - - - - 14.69 14.16 13.52
20131 319.7 7.7 1011 20144 done 0.86 - - 3208 - 2.35 0.040 1680 -582.6 208.6 - - 1946 - - - - - - - - 14.50 14.43 14.54
20495 292.1 7.6 1020 20512 roll 0.86 - - 3218 - 2.40 0.065 322 -565.8 213.3 3.65 0.936 1921 -6.8 0.409 - - - - - - 14.71 14.37 13.43
20535 289.0 7.8 1025 20548 done 0.87 - - 3217 - 2.22 0.030 1678 610.8 215.1 - - 1923 - - - - - - - - 14.48 14.43 14.50
20899 257.7 8.8 1034 20916 roll 0.87 - - 3218 - 2.40 0.045 3049 571.2 215.1 3.03 0.747 1911 -4.0 0.261 - - - - - - 14.76 14.36 13.45
21002 247.8 9.8 1048 21015 done 0.87 - - 3227 - 2.38 0.041 1673 -578.2 215.1 - - 1917 - - - - - - - - 14.45 14.36 14.48
21359 212.1 10.0 1056 21372 roll 0.87 - - 3237 - 2.45 0.064 322 -551.4 215.1 - - 1918 - - - - - - - - 14.74 14.14 14.78
21422 205.7 10.2 1064 21436 done 0.87 - - 3238 - 2.25 0.028 1681 604.0 215.1 - - 1918 - - - - - - - - 14.42 14.37 14.45
21767 172.1 9.9 1077 21780 roll 0.87 - - 3237 - 2.38 0.044 3052 576.1 215.1 - - 1918 - - - - - - - - 14.69 14.19 14.71
21830 165.9 9.5 1085 21844 done 0.87 0.15 0.250 3221 -106.7 2.40 0.040 1668 -576.7 215.1 - - 1919 - - - - - - - - 13.85 14.24 14.12
22179 139.9 7.5 1098 22201 roll 0.87 - - 3223 - 2.42 0.065 329 -553.3 221.8 7.62 1.152 1890 -3.8 0.088 - - - - - - 14.65 14.35 13.57
22222 135.7 8.6 1104 22235 done 0.87 - - 3223 - 2.20 0.028 1684 615.9 221.8 - - 1891 - - - - - - - - 14.59 14.54 14.61
22580 103.4 8.9 1112 22594 roll 0.87 - - 3233 - 2.45 0.063 321 -556.3 221.8 - - 1891 - - - - - - - - 14.71 14.22 14.77
22622 100.0 7.8 1117 22639 done 0.88 - - 3233 - 2.22 0.028 1684 614.0 223.3 2.92 0.156 1882 -3.1 0.378 - - - - - - 14.47 14.41 13.99
22959 77.1 6.7 1131 22998 roll 0.90 - - 3233 - 2.35 0.044 3045 579.1 245.0 24.15 0.314 1795 -3.6 0.169 - - - - - - 14.67 14.43 14.01
23057 70.7 6.5 1145 23101 done 0.93 - - 3241 - 2.35 0.039 1676 -582.6 269.5 26.55 0.301 1697 -3.7 0.166 - - - - - - 14.44 14.35 14.04
23410 54.9 2.9 1162 23512 roll 1.28 0.28 0.082 3349 385.7 2.40 0.042 3044 570.0 362.3 85.10 0.269 1325 -4.4 0.171 - - - - - - 14.19 14.41 14.07
23625 39.7 9.4 1193 23639 done 1.28 - - 3356 - 2.35 0.041 1688 -577.0 362.3 2.28 0.149 1316 -3.9 0.201 - - - - - - 14.28 14.19 14.06
23942 14.5 6.7 1205 23976 roll 1.30 - - 3367 - 2.50 0.063 315 -549.2 383.4 18.08 0.155 1229 -4.8 0.086 - - - - - - 14.66 14.28 14.09
24011 8.6 8.8 1215 24024 done 1.30 - - 3367 - 2.22 0.026 1668 609.5 383.4 - - 1234 - - - - - - - - 14.44 14.39 14.45
24083 end climb: SURFACE_DEPTH_REACHED
24084 begin surface coast
24112 end surface coast: CONTROL_FINISHED_OK
24112 begin surface
SM 1.03 - - - - -8.61 9.62 0.063 159 16.5 0.10 0.109 1777 7470.0 515.62 80.80 0.121 692 8.6 -0.007 - - - - - -