SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 643 * Raw log
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• Previous call tries 1 • 243.61 of 350.00 AH used of 24V (30.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.1 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: 34 s
• GPS2 time: 22 s • Transponder ping count: 3
• 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 - - 146 - - - 1700 - -116.8 -83.40 - 3195 - - - - - - - - 14.54 - 14.56
119 5.0 -6.8 3 136 done -0.84 12.32 0.368 2648 203.1 - - 1699 - -116.8 -1.08 - 3273 -72.2 - - - - - - - 13.90 12.95 14.31
452 78.5 -12.0 18 459 roll -0.57 0.35 0.264 2735 248.6 2.33 0.053 372 -569.5 -116.8 - - 3273 - - - - - - - - 13.71 14.03 13.90
691 102.1 -9.0 52 697 done -0.57 - - 2728 - 2.30 0.030 1752 600.0 -116.8 - - 3275 - - - - - - - - 14.33 14.28 14.35
1013 131.6 -9.7 63 1019 roll -0.57 - - 2717 - 2.45 0.049 3165 576.7 -116.8 - - 3275 - - - - - - - - 14.62 14.12 14.63
1055 135.7 -9.8 69 1062 done -0.57 - - 2717 - 2.38 0.035 1764 -588.7 -116.8 - - 3275 - - - - - - - - 14.29 14.21 14.31
1407 166.5 -8.6 77 1415 roll -0.57 - - 2717 - 2.50 0.057 371 -557.2 -116.8 - - 3274 - - - - - - - - 14.62 14.05 14.64
1527 178.7 -10.0 94 1533 done -0.57 0.15 0.246 2738 140.0 2.38 0.031 1781 592.4 -116.8 - - 3274 - - - - - - - - 13.78 14.24 14.04
1857 205.7 -8.0 106 1863 roll -0.57 - - 2731 - 2.42 0.051 3161 570.2 -116.8 - - 3271 - - - - - - - - 14.59 14.07 14.62
1955 213.5 -7.9 120 1962 done -0.57 - - 2730 - 2.40 0.037 1776 -577.1 -116.8 - - 3270 - - - - - - - - 14.23 14.15 14.26
2306 240.7 -7.5 128 2313 roll -0.57 - - 2730 - 2.53 0.058 375 -553.8 -116.8 - - 3267 - - - - - - - - 14.58 14.02 14.59
2461 253.3 -8.0 150 2474 done -0.57 - - 2721 - 2.40 0.032 1781 585.8 -116.8 - - 3266 - - - - - - - - 14.31 14.25 14.33
2818 283.6 -8.6 158 2832 roll -0.57 0.10 0.273 2730 90.0 2.45 0.050 3169 566.5 -116.8 - - 3262 - - - - - - - - 14.04 14.01 14.13
2860 287.2 -8.4 163 2873 done -0.57 - - 2730 - 2.40 0.037 1782 -577.9 -116.8 - - 3262 - - - - - - - - 14.23 14.14 14.26
3226 321.4 -9.7 172 3239 roll -0.57 - - 2730 - 2.55 0.059 364 -556.1 -116.8 - - 3259 - - - - - - - - 14.77 13.97 14.79
3337 333.4 -10.5 187 3351 done -0.57 - - 2720 - 2.42 0.030 1779 584.7 -116.8 - - 3259 - - - - - - - - 14.26 14.20 14.28
3682 367.2 -9.7 194 3696 roll -0.57 - - 2710 - 2.45 0.052 3160 563.7 -116.8 - - 3257 - - - - - - - - 14.76 13.97 14.77
3746 373.3 -9.4 202 3759 done -0.57 0.15 0.227 2740 200.0 2.42 0.036 1765 -576.4 -116.8 - - 3257 - - - - - - - - 13.69 14.12 13.94
4089 402.8 -8.6 215 4102 roll -0.57 - - 2741 - 2.53 0.060 378 -548.2 -116.8 - - 3254 - - - - - - - - 14.73 13.95 14.76
4139 407.2 -9.3 221 4153 done -0.57 - - 2734 - 2.40 0.031 1774 581.7 -116.8 - - 3254 - - - - - - - - 14.13 14.07 14.15
4497 437.0 -8.1 229 4510 roll -0.57 - - 2723 - 2.47 0.053 3169 564.8 -116.8 - - 3252 - - - - - - - - 14.77 13.94 14.79
4581 443.4 -7.5 240 4594 done -0.57 - - 2723 - 2.42 0.037 1774 -576.4 -116.8 - - 3251 - - - - - - - - 14.18 14.09 14.21
4904 468.7 -7.9 250 4918 roll -0.57 - - 2723 - 2.55 0.059 371 -550.2 -116.8 - - 3250 - - - - - - - - 14.70 13.93 14.71
5002 477.5 -8.8 263 5015 done -0.57 0.12 0.262 2738 125.0 2.42 0.031 1780 582.2 -116.8 - - 3250 - - - - - - - - 13.64 14.14 13.90
5368 505.9 -7.8 272 5381 roll -0.57 - - 2730 - 2.47 0.054 3160 558.7 -116.8 - - 3248 - - - - - - - - 14.71 13.93 14.72
5479 515.0 -7.9 287 5493 done -0.57 - - 2730 - 2.45 0.037 1768 -568.2 -116.8 - - 3247 - - - - - - - - 14.03 13.95 14.06
5825 542.1 -7.8 294 5838 roll -0.57 - - 2730 - 2.55 0.060 373 -547.1 -116.8 - - 3246 - - - - - - - - 14.69 13.90 14.71
5916 549.8 -8.3 306 5929 done -0.57 - - 2721 - 2.45 0.033 1781 574.7 -116.8 - - 3246 - - - - - - - - 14.17 14.10 14.20
6287 579.5 -8.0 316 6300 roll -0.57 - - 2710 - 2.47 0.054 3161 558.7 -116.8 - - 3245 - - - - - - - - 14.69 13.91 14.71
6358 585.5 -8.4 325 6371 done -0.57 0.15 0.232 2740 200.0 2.42 0.037 1769 -575.2 -116.8 - - 3244 - - - - - - - - 13.61 14.07 13.86
6695 611.0 -7.5 337 6708 roll -0.57 - - 2740 - 2.55 0.062 377 -545.9 -116.8 - - 3243 - - - - - - - - 14.74 13.90 14.76
6765 616.9 -8.6 346 6779 done -0.57 - - 2733 - 2.42 0.032 1786 582.2 -116.8 - - 3243 - - - - - - - - 14.16 14.10 14.19
7102 644.7 -8.3 358 7115 roll -0.57 - - 2723 - 2.47 0.055 3161 556.7 -116.8 - - 3241 - - - - - - - - 14.69 13.93 14.71
7178 651.2 -8.5 368 7191 done -0.57 - - 2722 - 2.42 0.038 1778 -571.5 -116.8 - - 3241 - - - - - - - - 14.09 14.01 14.14
7509 678.0 -8.1 379 7522 roll -0.57 - - 2723 - 2.60 0.061 372 -540.8 -116.8 - - 3240 - - - - - - - - 14.72 13.95 14.74
7628 688.0 -8.2 395 7641 done -0.57 0.12 0.261 2734 91.7 2.42 0.033 1771 578.1 -116.8 - - 3239 - - - - - - - - 13.59 14.07 13.85
7973 711.2 -6.6 408 7986 roll -0.57 - - 2729 - 2.50 0.054 3166 558.0 -116.8 - - 3238 - - - - - - - - 14.66 13.94 14.68
8124 720.7 -6.3 428 8137 done -0.67 - - 2730 - 2.45 0.037 1770 -569.8 -116.8 - - 3238 - - - - - - - - 14.09 14.00 14.12
8497 745.3 -6.6 438 8510 roll -0.67 - - 2730 - 2.55 0.061 377 -546.3 -116.8 - - 3237 - - - - - - - - 14.71 13.93 14.72
8587 752.2 -7.5 450 8601 done -0.67 - - 2721 - 2.45 0.033 1781 573.1 -116.8 - - 3234 - - - - - - - - 14.13 14.07 14.16
8960 780.3 -7.7 460 8973 roll -0.67 - - 2710 - 2.50 0.055 3170 555.6 -116.8 - - 3235 - - - - - - - - 14.71 14.00 14.73
9043 787.2 -8.2 471 9057 done -0.67 - - 2710 - 2.45 0.038 1775 -569.4 -116.8 - - 3235 - - - - - - - - 14.08 13.99 14.12
9366 815.2 -8.8 481 9379 roll -0.67 - - 2710 - 2.58 0.062 375 -542.6 -116.8 - - 3234 - - - - - - - - 14.64 13.93 14.66
9422 820.7 -10.0 488 9436 done -0.67 - - 2701 - 2.47 0.034 1783 570.0 -116.8 - - 3234 - - - - - - - - 14.10 14.03 14.13
9765 853.3 -9.5 495 9778 roll -0.67 - - 2691 - 2.50 0.057 3171 555.2 -116.8 - - 3233 - - - - - - - - 14.70 13.95 14.71
9877 863.5 -9.4 510 9891 done -0.67 - - 2690 - 2.47 0.039 1778 -564.0 -116.8 - - 3233 - - - - - - - - 14.08 13.98 14.11
10222 895.6 -9.3 517 10235 roll -0.67 - - 2691 - 2.60 0.063 367 -542.7 -116.8 - - 3232 - - - - - - - - 14.69 13.96 14.71
10285 901.7 -9.6 525 10299 done -0.67 0.15 0.259 2710 126.7 2.47 0.034 1783 573.3 -116.8 - - 3231 - - - - - - - - 13.55 14.03 13.84
10631 928.7 -7.7 538 10644 roll -0.67 - - 2702 - 2.50 0.056 3170 554.8 -116.8 - - 3231 - - - - - - - - 14.62 13.98 14.64
10751 938.1 -5.8 554 10764 done -0.67 - - 2702 - 2.47 0.040 1771 -566.4 -116.8 - - 3231 - - - - - - - - 14.05 13.96 14.09
11096 965.1 -7.8 567 11109 roll -0.67 - - 2700 - 2.58 0.063 375 -541.1 -116.8 - - 3230 - - - - - - - - 14.59 13.96 14.61
11144 969.4 -6.3 573 11158 done -0.67 - - 2693 - 2.45 0.034 1774 571.0 -116.8 - - 3230 - - - - - - - - 14.11 14.04 14.14
11442 end dive: TARGET_DEPTH_EXCEEDED
11442 begin apogee
11453 993.8 -8.1 580 11585 done -0.21 0.68 0.240 2853 235.3 - - 1654 - - 121.07 2.242 2794 -3.6 0.305 - - - - - - 13.77 13.85 12.92
11588 end apogee: CONTROL_FINISHED_OK
11588 begin climb
11592 998.7 - 582 11737 roll 0.84 1.20 0.158 3201 290.0 2.42 0.063 348 -539.7 116.8 126.57 2.191 2309 -3.8 0.334 - - - - - - 13.71 13.59 12.82
11802 987.5 8.6 616 11815 done 0.84 - - 3201 - 2.30 0.029 1702 588.7 116.8 - - 2298 - - - - - - - - 14.26 14.21 14.28
12131 959.6 8.5 627 12144 roll 0.84 - - 3202 - 2.35 0.047 3050 573.6 116.8 - - 2294 - - - - - - - - 14.68 14.33 14.71
12252 949.1 8.8 643 12265 done 0.84 - - 3210 - 2.33 0.040 1698 -580.3 116.8 - - 2293 - - - - - - - - 14.43 14.35 14.47
12595 918.5 8.9 656 12609 roll 0.84 - - 3220 - 2.47 0.064 324 -556.3 116.8 - - 2293 - - - - - - - - 14.69 14.22 14.71
12637 914.6 12.2 661 12651 done 0.75 0.20 0.249 3177 -215.0 2.28 0.030 1709 607.5 116.8 - - 2293 - - - - - - - - 13.93 14.39 14.26
13003 887.3 7.3 670 13020 roll 0.76 - - 3177 - 2.33 0.047 3027 565.7 127.4 2.95 0.978 2271 -7.5 1.295 - - - - - - 14.71 14.29 13.26
13129 878.0 7.3 687 13163 done 0.77 - - 3184 - 2.33 0.039 1680 -578.1 137.9 17.80 2.069 2224 -2.6 0.214 - - - - - - 14.40 14.32 13.35
13515 849.2 7.4 700 13533 roll 0.78 - - 3194 - 2.47 0.065 323 -549.4 145.8 2.65 0.791 2197 -10.2 2.093 - - - - - - 14.70 14.26 13.19
13576 844.8 8.0 708 13589 done 0.78 - - 3193 - 2.22 0.030 1658 601.4 145.8 - - 2199 - - - - - - - - 14.38 14.33 14.40
13921 818.1 7.8 721 13934 roll 0.78 - - 3193 - 2.45 0.046 3061 572.7 147.0 - - 2199 - - - - - - - - 14.67 14.23 14.71
14033 808.6 8.4 736 14046 done 0.78 - - 3203 - 2.42 0.041 1672 -574.0 147.0 - - 2199 - - - - - - - - 14.38 14.29 14.40
14378 779.6 8.5 743 14391 roll 0.78 - - 3202 - 2.42 0.045 3055 571.5 147.0 - - 2199 - - - - - - - - 14.66 14.17 14.68
14426 775.1 9.0 749 14440 done 0.78 - - 3211 - 2.40 0.040 1672 -576.2 147.0 - - 2199 - - - - - - - - 14.35 14.26 14.38
14784 743.4 8.9 757 14797 roll 0.78 - - 3221 - 2.47 0.064 317 -548.6 147.0 - - 2199 - - - - - - - - 14.71 14.08 14.73
14862 736.0 9.8 767 14876 done 0.78 0.17 0.248 3185 -211.8 2.30 0.028 1702 602.2 147.0 - - 2200 - - - - - - - - 13.83 14.31 14.12
15192 709.3 7.9 778 15205 roll 0.78 - - 3185 - 2.35 0.046 3045 571.5 147.0 - - 2199 - - - - - - - - 14.66 14.12 14.68
15284 702.1 7.9 790 15297 done 0.78 - - 3191 - 2.40 0.040 1671 -572.5 147.0 - - 2199 - - - - - - - - 14.30 14.21 14.33
15655 673.5 7.6 800 15673 roll 0.79 - - 3202 - 2.38 0.063 330 -563.4 151.3 4.68 1.440 2175 -5.1 0.459 - - - - - - 14.64 14.20 13.37
15694 670.4 7.5 805 15724 done 0.80 - - 3202 - 2.22 0.030 1680 608.1 157.6 15.38 1.864 2147 -1.8 0.125 - - - - - - 14.52 14.47 13.51
16060 640.8 8.3 821 16073 roll 0.80 - - 3202 - 2.38 0.047 3046 573.9 157.6 - - 2138 - - - - - - - - 14.66 14.27 14.68
16164 631.2 8.7 835 16177 done 0.80 - - 3210 - 2.35 0.040 1685 -579.1 157.6 - - 2137 - - - - - - - - 14.41 14.33 14.45
16523 600.5 8.6 843 16536 roll 0.80 - - 3221 - 2.47 0.064 320 -552.6 157.6 - - 2138 - - - - - - - - 14.71 14.15 14.73
16557 597.3 8.6 847 16571 done 0.80 0.15 0.246 3191 -200.0 2.28 0.029 1694 602.6 157.6 - - 2137 - - - - - - - - 13.90 14.35 14.22
16931 570.7 6.9 857 16965 roll 0.82 - - 3191 - 2.35 0.048 3027 567.2 175.5 20.08 1.730 2068 -3.4 0.217 - - - - - - 14.65 14.30 13.48
17053 562.1 7.3 874 17070 done 0.83 - - 3196 - 2.33 0.040 1680 -578.1 185.0 3.53 1.069 2038 -8.5 0.855 - - - - - - 14.44 14.36 13.28
17390 536.8 7.6 886 17407 roll 0.84 - - 3207 - 2.40 0.063 324 -565.0 190.1 4.97 1.369 2017 -4.2 0.317 - - - - - - 14.65 14.14 13.37
17442 532.3 8.5 893 17456 done 0.84 - - 3207 - 2.25 0.031 1672 599.1 190.1 - - 2022 - - - - - - - - 14.50 14.44 14.52
17786 502.3 8.8 900 17799 roll 0.84 - - 3207 - 2.40 0.047 3057 577.1 190.1 - - 2023 - - - - - - - - 14.71 14.23 14.73
17864 495.1 9.3 910 17878 done 0.84 - - 3216 - 2.38 0.041 1682 -577.7 190.1 - - 2023 - - - - - - - - 14.38 14.29 14.41
18193 464.5 9.3 921 18207 roll 0.84 - - 3225 - 2.45 0.064 321 -555.5 190.1 - - 2023 - - - - - - - - 14.67 14.14 14.69
18242 459.6 9.8 927 18255 done 0.84 - - 3226 - 2.28 0.029 1681 596.5 190.1 - - 2023 - - - - - - - - 14.41 14.35 14.43
18601 427.1 9.0 935 18614 roll 0.84 - - 3227 - 2.40 0.047 3052 571.2 190.1 - - 2023 - - - - - - - - 14.70 14.12 14.72
18726 415.3 9.3 952 18740 done 0.84 0.15 0.248 3205 -146.7 2.40 0.041 1671 -575.4 190.1 - - 2023 - - - - - - - - 13.85 14.19 14.13
19064 388.0 8.2 964 19077 done 0.84 - - 3205 - - - 1671 - 190.1 - - 2023 - - - - - - - - 14.69 14.71 14.70
19399 358.8 8.7 970 19412 roll 0.84 - - 3205 - 2.42 0.044 3050 569.8 190.1 - - 2027 - - - - - - - - 14.70 14.08 14.72
19462 353.1 9.0 978 19476 done 0.84 - - 3211 - 2.38 0.040 1682 -574.8 190.1 - - 2023 - - - - - - - - 14.26 14.18 14.30
19807 324.1 8.3 991 19820 roll 0.84 - - 3222 - 2.47 0.063 323 -550.2 190.1 - - 2023 - - - - - - - - 14.63 14.02 14.64
19848 320.4 8.6 996 19862 done 0.84 - - 3222 - 2.28 0.028 1674 592.5 190.1 - - 2025 - - - - - - - - 14.33 14.28 14.35
20214 289.9 8.4 1005 20228 roll 0.84 - - 3222 - 2.45 0.047 3065 567.8 190.1 - - 2023 - - - - - - - - 14.68 14.02 14.70
20319 280.7 8.7 1019 20332 done 0.84 0.15 0.243 3201 -140.0 2.42 0.040 1679 -572.7 190.1 - - 2023 - - - - - - - - 13.76 14.14 14.04
20676 254.9 7.1 1027 20712 roll 0.85 - - 3209 - 2.45 0.065 330 -550.6 203.5 21.90 1.353 1953 -3.2 0.115 - - - - - - 14.69 14.24 13.59
20796 246.2 8.0 1043 20809 done 0.85 - - 3209 - 2.28 0.029 1695 598.7 203.5 - - 1949 - - - - - - - - 14.42 14.38 14.45
21141 219.6 7.6 1056 21154 roll 0.86 - - 3209 - 2.38 0.046 3061 573.9 209.0 - - 1947 - - - - - - - - 14.65 14.24 14.67
21198 215.0 7.8 1063 21213 done 0.86 - - 3217 - 2.40 0.041 1676 -577.1 209.9 2.10 0.285 1932 -7.1 1.031 - - - - - - 14.33 14.23 13.08
21541 187.9 8.0 1070 21554 done 0.86 - - 3218 - - - 1675 - 209.9 - - 1936 - - - - - - - - 14.71 14.73 14.71
21878 158.3 9.0 1076 21891 roll 0.86 - - 3217 - 2.42 0.044 3057 571.1 209.9 - - 1935 - - - - - - - - 14.71 14.16 14.73
21926 153.5 9.8 1082 21940 done 0.86 - - 3226 - 2.40 0.039 1678 -574.6 209.9 - - 1936 - - - - - - - - 14.33 14.23 14.35
22284 119.5 9.8 1090 22297 roll 0.86 - - 3237 - 2.45 0.063 328 -551.0 209.9 - - 1936 - - - - - - - - 14.66 14.07 14.68
22313 116.6 9.9 1093 22326 done 0.86 - - 3237 - 2.28 0.028 1674 590.4 209.9 - - 1936 - - - - - - - - 14.38 14.33 14.40
22635 90.4 7.1 1105 22659 done 0.88 - - 3237 - - - 1675 - 224.1 14.65 0.321 1879 -3.9 0.210 - - - - - - 14.65 14.31 13.90
22947 70.1 6.4 1116 22985 done 0.91 - - 3237 - - - 1676 - 250.8 29.33 0.299 1769 -3.8 0.168 - - - - - - 14.70 14.33 13.97
23288 55.3 3.1 1131 23384 roll 1.23 0.25 0.089 3339 408.0 2.42 0.044 3061 572.3 340.2 82.75 0.268 1413 -4.3 0.170 - - - - - - 14.15 14.39 14.03
23498 41.7 6.9 1161 23528 done 1.25 - - 3345 - 2.42 0.041 1674 -573.1 357.7 18.15 0.220 1333 -4.4 0.160 - - - - - - 14.29 14.20 13.97
23837 13.9 8.4 1176 23855 roll 1.25 - - 3355 - 2.47 0.063 321 -547.8 357.7 2.65 0.142 1338 1.9 -0.035 - - - - - - 14.61 13.97 13.94
23948 3.5 8.1 1191 23962 done 1.25 - - 3356 - 2.28 0.025 1689 600.0 357.7 2.35 0.142 1334 -1.7 0.008 - - - - - - 14.33 14.28 13.97
23977 end climb: SURFACE_DEPTH_REACHED
23977 begin surface coast
24006 end surface coast: CONTROL_FINISHED_OK
24006 begin surface
SM 0.96 - - - - -8.61 9.48 0.051 155 16.3 - - 1700 - 515.13 96.07 0.120 692 7.2 -0.006 - - - - - -