SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 629 * Raw log
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• Previous call tries 1 • 238.28 of 350.00 AH used of 24V (31.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 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: 37 s
• GPS2 time: 23 s • Transponder ping count: 0
• 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 116 VBD -0.84 - - 143 - - - 1775 - -116.8 -83.55 - 3204 - - - - - - - - 14.57 - 14.59
121 4.8 -6.5 3 144 roll -0.84 12.38 0.368 2661 203.4 2.70 2.036 376 -518.1 -116.8 -1.02 - 3273 -67.6 - - - - - - - 13.89 13.00 14.31
254 43.0 -21.6 22 262 done -0.47 0.50 0.267 2770 218.0 2.35 0.033 1770 593.2 -116.8 - - 3272 - - - - - - - - 13.98 14.42 14.29
565 81.8 -9.5 34 571 roll -0.47 - - 2771 - 2.45 0.054 372 -570.6 -116.8 - - 3274 - - - - - - - - 14.69 14.27 14.70
744 95.6 -7.2 59 751 done -0.47 - - 2763 - 2.35 0.030 1789 603.0 -116.8 - - 3275 - - - - - - - - 14.45 14.39 14.46
1102 119.6 -6.8 69 1109 roll -0.47 - - 2753 - 2.35 0.050 3160 583.4 -116.8 - - 3275 - - - - - - - - 14.66 14.21 14.68
1165 124.9 -8.2 78 1172 done -0.47 - - 2753 - 2.35 0.035 1763 -594.5 -116.8 - - 3275 - - - - - - - - 14.41 14.31 14.41
1497 152.5 -8.3 90 1503 roll -0.47 - - 2753 - 2.45 0.057 374 -566.9 -116.8 - - 3274 - - - - - - - - 14.65 14.16 14.67
1580 159.8 -8.7 102 1587 done -0.47 0.12 0.243 2768 125.0 2.35 0.031 1773 595.3 -116.8 - - 3274 - - - - - - - - 13.93 14.32 14.16
1946 186.7 -7.3 112 1953 roll -0.47 - - 2760 - 2.40 0.050 3161 578.3 -116.8 - - 3270 - - - - - - - - 14.63 14.14 14.65
2051 194.1 -7.1 127 2059 done -0.58 - - 2766 - 2.38 0.035 1773 -583.2 -116.8 - - 3273 - - - - - - - - 14.30 14.23 14.33
2395 219.9 -7.6 134 2401 roll -0.58 - - 2760 - 2.50 0.058 374 -559.6 -116.8 - - 3267 - - - - - - - - 14.66 14.08 14.69
2515 229.6 -8.2 151 2521 done -0.58 - - 2752 - 2.38 0.031 1789 594.5 -116.8 - - 3266 - - - - - - - - 14.33 14.28 14.36
2844 255.8 -8.0 163 2857 done -0.58 - - 2751 - - - 1784 - -116.8 - - 3265 - - - - - - - - 14.75 14.77 14.77
3180 283.8 -8.3 169 3193 roll -0.58 - - 2741 - 2.40 0.052 3155 571.2 -116.8 - - 3261 - - - - - - - - 14.76 14.09 14.78
3223 287.3 -8.4 174 3236 done -0.58 - - 2744 - 2.38 0.037 1774 -580.3 -116.8 - - 3261 - - - - - - - - 14.31 14.23 14.35
3587 319.1 -8.8 183 3600 roll -0.58 - - 2741 - 2.53 0.060 373 -553.8 -116.8 - - 3259 - - - - - - - - 14.81 14.02 14.83
3714 331.4 -9.7 200 3727 done -0.58 - - 2733 - 2.38 0.032 1769 586.6 -116.8 - - 3257 - - - - - - - - 14.33 14.26 14.35
4050 362.4 -9.1 212 4063 roll -0.58 - - 2722 - 2.45 0.052 3159 567.3 -116.8 - - 3255 - - - - - - - - 14.76 14.05 14.78
4105 367.3 -8.8 219 4119 done -0.58 - - 2722 - 2.42 0.037 1764 -576.4 -116.8 - - 3255 - - - - - - - - 14.23 14.15 14.26
4450 398.0 -8.9 226 4464 roll -0.58 - - 2722 - 2.50 0.059 379 -554.0 -116.8 - - 3253 - - - - - - - - 14.78 13.99 14.81
4562 408.7 -9.3 241 4577 done -0.58 - - 2714 - 2.40 0.032 1772 580.4 -116.8 - - 3252 - - - - - - - - 14.27 14.21 14.29
4906 440.7 -9.4 248 4919 roll -0.58 - - 2703 - 2.45 0.051 3163 567.8 -116.8 - - 3251 - - - - - - - - 14.79 14.00 14.81
5026 452.2 -9.7 264 5040 done -0.58 0.15 0.238 2733 200.0 2.40 0.035 1766 -582.1 -116.8 - - 3250 - - - - - - - - 13.70 14.16 13.96
5370 484.3 -9.4 277 5383 roll -0.58 - - 2734 - 2.53 0.060 380 -547.8 -116.8 - - 3248 - - - - - - - - 14.73 13.96 14.76
5497 496.8 -9.8 294 5510 done -0.58 - - 2727 - 2.40 0.032 1775 581.2 -116.8 - - 3248 - - - - - - - - 14.25 14.18 14.27
5834 527.7 -9.1 306 5848 roll -0.58 - - 2716 - 2.45 0.052 3163 566.5 -116.8 - - 3246 - - - - - - - - 14.74 14.00 14.76
5905 533.9 -8.9 315 5918 done -0.58 - - 2716 - 2.40 0.035 1774 -578.8 -116.8 - - 3246 - - - - - - - - 14.19 14.10 14.22
6241 565.2 -9.4 327 6254 roll -0.58 - - 2716 - 2.55 0.060 373 -549.4 -116.8 - - 3245 - - - - - - - - 14.73 13.93 14.77
6389 580.5 -10.4 347 6403 done -0.58 0.15 0.257 2737 140.0 2.42 0.031 1784 583.1 -116.8 - - 3245 - - - - - - - - 13.57 14.12 13.87
6760 614.8 -9.2 357 6774 roll -0.58 - - 2727 - 2.45 0.053 3163 562.9 -116.8 - - 3243 - - - - - - - - 14.70 13.95 14.73
6858 623.7 -9.1 370 6871 done -0.58 - - 2728 - 2.42 0.037 1777 -572.7 -116.8 - - 3243 - - - - - - - - 14.15 14.07 14.19
7223 655.3 -8.5 379 7237 roll -0.58 - - 2728 - 2.58 0.061 378 -542.2 -116.8 - - 3241 - - - - - - - - 14.70 13.90 14.72
7328 664.3 -8.3 393 7341 done -0.58 - - 2725 - 2.40 0.033 1774 581.7 -116.8 - - 3241 - - - - - - - - 14.20 14.13 14.22
7686 690.1 -6.9 401 7700 roll -0.58 - - 2709 - 2.47 0.053 3164 562.8 -116.8 - - 3239 - - - - - - - - 14.70 13.92 14.72
7791 697.2 -6.5 415 7804 done -0.58 0.15 0.239 2738 193.3 2.45 0.037 1765 -571.0 -116.8 - - 3239 - - - - - - - - 13.59 14.03 13.88
8150 717.2 -5.6 423 8163 roll -0.58 - - 2738 - 2.55 0.062 379 -543.5 -116.8 - - 3238 - - - - - - - - 14.69 13.91 14.71
8234 722.7 -6.5 434 8247 done -0.58 - - 2731 - 2.42 0.032 1787 581.8 -116.8 - - 3238 - - - - - - - - 14.18 14.12 14.21
8556 743.6 -6.7 444 8569 roll -0.58 - - 2720 - 2.45 0.054 3159 560.0 -116.8 - - 3237 - - - - - - - - 14.76 13.90 14.78
8625 748.6 -7.3 453 8639 done -0.58 - - 2721 - 2.42 0.038 1780 -569.8 -116.8 - - 3236 - - - - - - - - 14.12 14.02 14.15
8962 775.3 -8.1 465 8975 roll -0.58 - - 2721 - 2.58 0.062 374 -545.0 -116.8 - - 3236 - - - - - - - - 14.69 13.91 14.71
9040 782.2 -9.1 475 9053 done -0.58 - - 2713 - 2.42 0.034 1772 577.7 -116.8 - - 3236 - - - - - - - - 14.17 14.09 14.18
9369 810.9 -8.7 486 9382 roll -0.58 - - 2702 - 2.50 0.052 3168 558.4 -116.8 - - 3235 - - - - - - - - 14.68 13.93 14.70
9452 818.0 -8.4 497 9466 done -0.58 0.15 0.239 2733 206.7 2.45 0.037 1772 -569.8 -116.8 - - 3234 - - - - - - - - 13.58 14.02 13.87
9776 841.2 -7.1 507 9790 roll -0.58 - - 2733 - 2.58 0.063 379 -539.9 -116.8 - - 3233 - - - - - - - - 14.66 13.95 14.68
9926 852.5 -7.5 527 9940 done -0.58 - - 2732 - 2.45 0.033 1785 573.9 -116.8 - - 3232 - - - - - - - - 14.14 14.08 14.16
10299 879.1 -7.3 537 10313 roll -0.58 - - 2716 - 2.50 0.054 3170 554.0 -116.8 - - 3232 - - - - - - - - 14.71 13.93 14.73
10376 885.0 -7.5 547 10389 done -0.58 - - 2716 - 2.45 0.038 1778 -568.2 -116.8 - - 3232 - - - - - - - - 14.09 14.01 14.13
10707 910.6 -7.9 558 10720 roll -0.58 - - 2715 - 2.58 0.062 376 -543.4 -116.8 - - 3233 - - - - - - - - 14.65 13.93 14.66
10832 921.7 -8.7 575 10845 done -0.58 0.15 0.258 2735 133.3 2.45 0.033 1785 575.1 -116.8 - - 3231 - - - - - - - - 13.54 14.05 13.85
11174 946.9 -7.5 587 11187 roll -0.68 - - 2727 - 2.47 0.055 3161 557.1 -116.8 - - 3231 - - - - - - - - 14.58 13.93 14.62
11271 955.0 -7.9 600 11285 done -0.79 0.17 0.104 2665 -364.7 2.45 0.038 1771 -567.3 -116.8 - - 3231 - - - - - - - - 13.95 13.99 14.05
11631 end dive: TARGET_DEPTH_EXCEEDED
11631 begin apogee
11643 992.7 -10.5 609 11774 done -0.21 0.80 0.249 2854 236.2 - - 1653 - - 121.38 2.247 2795 -3.6 0.303 - - - - - - 13.78 13.86 12.90
11778 end apogee: CONTROL_FINISHED_OK
11778 begin climb
11782 999.1 - 611 11929 roll 0.84 1.20 0.158 3193 282.5 2.55 0.045 3067 554.5 116.8 126.35 2.205 2309 -3.8 0.333 - - - - - - 13.76 13.60 12.83
11999 989.5 8.8 646 12012 done 0.84 - - 3202 - 2.40 0.038 1698 -570.4 116.8 - - 2297 - - - - - - - - 14.28 14.20 14.31
12321 964.0 8.1 656 12334 roll 0.84 - - 3212 - 2.47 0.063 321 -557.5 116.8 - - 2295 - - - - - - - - 14.69 14.29 14.71
12356 961.0 9.4 660 12370 done 0.84 - - 3212 - 2.30 0.029 1704 601.3 116.8 - - 2295 - - - - - - - - 14.48 14.42 14.49
12728 927.1 9.3 670 12741 roll 0.84 - - 3212 - 2.35 0.047 3045 570.6 116.8 - - 2294 - - - - - - - - 14.73 14.27 14.76
12848 915.5 12.0 686 12862 done 0.84 - - 3220 - 2.35 0.040 1679 -581.3 116.8 - - 2293 - - - - - - - - 14.42 14.33 14.46
13192 881.6 9.9 699 13205 done 0.74 0.22 0.256 3173 -213.6 - - 1677 - 116.8 - - 2293 - - - - - - - - 13.78 14.23 14.13
13528 854.6 7.9 705 13541 done 0.74 - - 3173 - - - 1677 - 116.8 - - 2292 - - - - - - - - 14.70 14.72 14.72
13865 829.6 7.3 711 13882 roll 0.76 - - 3172 - 2.42 0.046 3049 566.9 127.1 2.92 0.949 2270 -7.5 1.259 - - - - - - 14.69 14.32 13.28
13938 823.7 7.8 721 13952 done 0.76 - - 3178 - 2.35 0.040 1680 -582.6 128.4 - - 2272 - - - - - - - - 14.42 14.34 14.45
14269 799.0 7.6 732 14286 roll 0.76 - - 3188 - 2.40 0.063 322 -565.8 133.2 4.90 1.563 2248 -4.9 0.479 - - - - - - 14.73 14.19 13.33
14349 792.4 8.1 743 14363 done 0.76 - - 3189 - 2.25 0.030 1676 601.8 133.2 - - 2253 - - - - - - - - 14.54 14.50 14.57
14672 768.3 7.5 753 14701 roll 0.77 - - 3189 - 2.38 0.048 3055 579.4 140.1 16.00 1.954 2215 -2.4 0.179 - - - - - - 14.71 14.35 13.45
14797 758.9 7.8 770 14810 done 0.77 - - 3197 - 2.35 0.040 1680 -585.1 141.3 - - 2208 - - - - - - - - 14.48 14.40 14.51
15133 733.3 7.5 782 15147 done 0.78 - - 3198 - - - 1680 - 148.4 2.75 0.822 2188 -7.3 1.240 - - - - - - 14.70 14.35 13.26
15471 709.1 7.2 788 15508 roll 0.80 - - 3198 - 2.45 0.047 3053 560.4 161.5 24.50 1.807 2130 -2.4 0.178 - - - - - - 14.69 14.31 13.38
15536 704.0 7.8 797 15549 done 0.80 - - 3205 - 2.35 0.040 1681 -583.8 163.1 - - 2122 - - - - - - - - 14.46 14.38 14.48
15867 677.2 8.3 808 15880 roll 0.80 - - 3216 - 2.42 0.064 326 -559.9 163.1 - - 2122 - - - - - - - - 14.70 14.22 14.72
15936 670.6 9.4 817 15949 done 0.80 - - 3216 - 2.25 0.030 1685 604.0 163.1 - - 2122 - - - - - - - - 14.45 14.38 14.47
16272 638.0 9.9 829 16286 roll 0.80 - - 3216 - 2.35 0.046 3045 578.7 163.1 - - 2122 - - - - - - - - 14.71 14.25 14.73
16413 623.2 10.6 848 16427 done 0.80 0.15 0.257 3195 -140.0 2.35 0.040 1677 -582.1 163.1 - - 2121 - - - - - - - - 13.91 14.29 14.19
16736 592.8 9.3 858 16749 done 0.80 - - 3195 - - - 1676 - 163.1 - - 2121 - - - - - - - - 14.70 14.72 14.72
17073 564.5 8.2 864 17087 roll 0.80 - - 3195 - 2.40 0.045 3051 572.9 163.1 - - 2121 - - - - - - - - 14.69 14.21 14.70
17122 560.5 8.1 870 17135 done 0.80 - - 3199 - 2.38 0.040 1678 -576.9 163.1 - - 2121 - - - - - - - - 14.37 14.26 14.40
17479 534.0 7.3 878 17494 done 0.81 - - 3201 - - - 1683 - 173.6 6.03 1.495 2084 -6.1 0.419 - - - - - - 14.74 14.39 13.43
17816 507.1 8.2 884 17830 roll 0.81 - - 3201 - 2.38 0.044 3043 571.4 173.6 - - 2089 - - - - - - - - 14.74 14.26 14.76
17852 503.8 8.7 888 17865 done 0.81 - - 3209 - 2.35 0.040 1678 -580.9 173.6 - - 2089 - - - - - - - - 14.45 14.35 14.47
18225 471.8 8.6 898 18238 roll 0.81 - - 3220 - 2.42 0.063 326 -558.7 173.6 - - 2089 - - - - - - - - 14.69 14.16 14.71
18273 467.3 9.2 904 18286 done 0.81 - - 3220 - 2.25 0.029 1684 603.6 173.6 - - 2089 - - - - - - - - 14.42 14.36 14.45
18630 437.2 8.3 912 18643 roll 0.81 - - 3220 - 2.38 0.044 3050 573.9 173.6 - - 2089 - - - - - - - - 14.73 14.14 14.73
18751 427.3 8.2 928 18765 done 0.81 0.15 0.250 3199 -140.0 2.38 0.039 1683 -574.4 173.6 - - 2089 - - - - - - - - 13.83 14.17 14.12
19098 402.8 7.0 941 19133 done 0.83 - - 3199 - - - 1682 - 189.7 25.10 1.525 2019 -2.8 0.141 - - - - - - 14.64 14.31 13.47
19433 377.8 7.6 947 19445 done 0.84 - - 3199 - - - 1683 - 195.4 - - 2002 - - - - - - - - 14.66 14.69 14.69
19767 352.5 7.5 953 19785 roll 0.85 - - 3199 - 2.35 0.042 3052 582.6 201.6 5.30 1.241 1969 -6.2 0.338 - - - - - - 14.69 14.16 13.43
19827 347.7 7.9 961 19841 done 0.85 - - 3204 - 2.35 0.039 1677 -585.1 201.6 - - 1974 - - - - - - - - 14.50 14.42 14.53
20172 321.7 7.6 974 20187 done 0.86 - - 3204 - - - 1677 - 206.9 5.60 1.241 1948 -4.6 0.230 - - - - - - 14.73 14.37 13.45
20507 295.5 7.8 980 20520 done 0.86 - - 3204 - - - 1677 - 207.6 - - 1953 - - - - - - - - 14.74 14.76 14.78
20843 268.1 8.3 986 20856 done 0.86 - - 3204 - - - 1677 - 207.6 - - 1954 - - - - - - - - 14.75 14.77 14.76
21180 240.1 8.3 992 21194 roll 0.86 - - 3215 - 2.42 0.063 327 -557.9 207.6 - - 1954 - - - - - - - - 14.72 14.11 14.74
21229 235.9 8.7 998 21242 done 0.86 - - 3215 - 2.25 0.028 1687 604.4 207.6 - - 1953 - - - - - - - - 14.42 14.37 14.45
21586 207.5 7.9 1006 21599 roll 0.86 - - 3215 - 2.35 0.044 3046 578.3 207.6 - - 1954 - - - - - - - - 14.69 14.19 14.70
21651 202.4 7.9 1014 21664 done 0.86 - - 3223 - 2.35 0.037 1682 -580.4 207.6 - - 1954 - - - - - - - - 14.25 14.17 14.28
21994 174.3 8.3 1027 22007 roll 0.86 - - 3233 - 2.45 0.063 323 -554.7 207.6 - - 1954 - - - - - - - - 14.69 14.07 14.69
22043 169.6 9.5 1033 22057 done 0.86 - - 3233 - 2.25 0.028 1667 597.3 207.6 - - 1955 - - - - - - - - 14.38 14.33 14.43
22401 136.2 9.3 1041 22414 roll 0.86 - - 3233 - 2.42 0.044 3058 574.8 207.6 - - 1954 - - - - - - - - 14.71 14.01 14.74
22560 121.7 9.2 1062 22575 done 0.86 0.10 0.218 3212 -210.0 2.38 0.038 1681 -578.6 207.6 - - 1954 - - - - - - - - 13.76 14.12 13.91
22898 97.2 6.6 1071 22940 roll 0.89 - - 3223 - 2.47 0.063 316 -552.6 231.2 26.67 0.366 1856 -3.7 0.187 - - - - - - 14.71 14.38 13.94
22997 91.2 6.6 1085 23041 done 0.91 - - 3223 - 2.30 0.028 1703 603.0 254.4 26.77 0.353 1757 -3.7 0.183 - - - - - - 14.46 14.41 13.95
23351 65.8 6.4 1102 23391 roll 1.05 0.12 0.122 3290 558.3 2.53 0.063 320 -546.6 280.7 28.20 0.287 1649 -3.8 0.168 - - - - - - 14.23 14.36 13.98
23484 57.3 4.7 1121 23556 done 1.13 - - 3290 - 2.25 0.026 1700 613.3 339.3 56.40 0.277 1409 -4.3 0.168 - - - - - - 14.42 14.38 13.99
23879 36.5 5.8 1144 23929 roll 1.34 0.20 0.096 3382 460.0 2.50 0.063 318 -552.8 377.5 34.62 0.212 1256 -4.4 0.145 - - - - - - 14.19 14.28 14.06
23959 29.4 9.8 1155 23973 done 1.34 - - 3382 - 2.22 0.026 1654 601.8 377.5 2.92 0.148 1254 - - - - - - - - 14.44 14.39 14.04
24241 end climb: SURFACE_DEPTH_REACHED
24241 begin surface coast
24273 end surface coast: CONTROL_FINISHED_OK
24273 begin surface
SM 0.98 - - - - -8.60 9.73 0.063 160 16.4 0.12 0.094 1797 -61875.0 515.13 85.45 0.122 691 8.1 -0.007 - - - - - -