SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 644 * Raw log
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• Previous call tries 1 • 244.00 of 350.00 AH used of 24V (30.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.02 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 33 s
• GPS2 time: 20 s • Transponder ping count: 4
• 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 - - - 115 VBD -0.84 - - 144 - - - 1700 - -116.8 -82.68 - 3152 - - - - - - - - 14.54 - 14.56
120 4.3 -5.3 3 143 roll -0.84 12.52 0.374 2661 201.0 2.55 2.044 367 -522.7 -116.8 -1.80 - 3272 -66.7 - - - - - - - 13.93 12.95 14.32
166 23.6 -36.2 10 174 done -0.10 0.98 0.269 2887 230.6 2.33 0.034 1753 594.8 -116.8 - - 3276 - - - - - - - - 14.03 14.43 14.33
480 55.0 -9.1 22 487 roll -0.24 0.12 0.123 2821 -550.0 2.42 0.049 3171 586.0 -116.8 - - 3273 - - - - - - - - 14.28 14.30 14.33
552 61.8 -8.8 32 558 done -0.35 - - 2821 - 2.35 0.036 1766 -597.9 -116.8 - - 3273 - - - - - - - - 14.42 14.35 14.45
874 83.7 -6.6 45 881 roll -0.47 0.12 0.120 2756 -541.7 2.45 0.054 370 -569.8 -116.8 - - 3274 - - - - - - - - 14.31 14.21 14.33
1007 95.6 -8.5 64 1015 done -0.47 - - 2746 - 2.38 0.030 1788 595.8 -116.8 - - 3274 - - - - - - - - 14.38 14.33 14.40
1353 123.0 -7.9 72 1355 done -0.47 - - 2747 - - - 1788 - -116.8 - - 3274 - - - - - - - - 14.62 14.64 14.63
1687 152.1 -8.8 78 1690 done -0.47 0.12 0.262 2771 200.0 - - 1788 - -116.8 - - 3273 - - - - - - - - 13.88 14.16 14.09
2023 178.2 -7.6 84 2026 done -0.47 - - 2770 - - - 1788 - -116.8 - - 3270 - - - - - - - - 14.62 14.64 14.64
2361 200.6 -6.6 90 2367 roll -0.56 - - 2763 - 2.40 0.052 3161 572.1 -116.8 - - 3266 - - - - - - - - 14.59 14.09 14.61
2418 204.8 -7.4 98 2425 done -0.67 0.17 0.099 2690 -429.4 2.38 0.037 1762 -587.8 -116.8 - - 3268 - - - - - - - - 14.21 14.22 14.28
2755 241.3 -11.1 111 2761 roll -0.67 - - 2689 - 2.47 0.057 379 -559.9 -116.8 - - 3264 - - - - - - - - 14.59 14.07 14.62
2889 256.8 -11.3 130 2902 done -0.58 0.25 0.236 2736 188.0 2.35 0.031 1771 592.3 -116.8 - - 3263 - - - - - - - - 13.72 14.28 14.02
3211 284.4 -8.3 140 3224 roll -0.58 - - 2728 - 2.42 0.050 3160 574.0 -116.8 - - 3263 - - - - - - - - 14.75 14.05 14.77
3247 287.2 -8.1 144 3260 done -0.58 - - 2728 - 2.38 0.037 1773 -582.8 -116.8 - - 3261 - - - - - - - - 14.28 14.19 14.31
3618 318.3 -8.4 154 3631 roll -0.58 - - 2726 - 2.53 0.059 372 -553.8 -116.8 - - 3258 - - - - - - - - 14.79 13.97 14.81
3710 326.8 -9.4 166 3723 done -0.58 - - 2719 - 2.40 0.032 1772 583.3 -116.8 - - 3257 - - - - - - - - 14.26 14.20 14.29
4081 361.6 -9.4 176 4096 roll -0.58 - - 2708 - 2.47 0.051 3170 566.0 -116.8 - - 3255 - - - - - - - - 14.78 14.01 14.80
4146 367.5 -9.1 184 4159 done -0.58 0.15 0.233 2739 206.7 2.40 0.037 1772 -582.5 -116.8 - - 3256 - - - - - - - - 13.71 14.13 13.97
4491 394.3 -7.6 197 4504 roll -0.58 - - 2739 - 2.53 0.060 377 -551.4 -116.8 - - 3252 - - - - - - - - 14.70 13.96 14.74
4574 401.2 -7.9 208 4588 done -0.58 - - 2732 - 2.40 0.031 1782 585.4 -116.8 - - 3252 - - - - - - - - 14.24 14.18 14.26
4898 426.3 -7.9 218 4911 roll -0.58 - - 2720 - 2.45 0.054 3163 563.7 -116.8 - - 3251 - - - - - - - - 14.76 13.95 14.78
4981 433.3 -8.1 229 4995 done -0.58 - - 2721 - 2.42 0.036 1764 -578.1 -116.8 - - 3250 - - - - - - - - 14.16 14.09 14.21
5304 461.8 -9.1 239 5317 roll -0.58 - - 2721 - 2.50 0.059 380 -553.6 -116.8 - - 3249 - - - - - - - - 14.72 13.95 14.74
5395 470.9 -10.0 251 5409 done -0.58 - - 2712 - 2.40 0.031 1772 580.0 -116.8 - - 3248 - - - - - - - - 14.21 14.14 14.23
5768 506.8 -9.6 261 5782 roll -0.58 0.12 0.268 2732 166.7 2.50 0.050 3168 558.4 -116.8 - - 3247 - - - - - - - - 13.69 13.86 13.76
5867 515.4 -8.4 274 5881 done -0.58 - - 2731 - 2.42 0.037 1774 -576.0 -116.8 - - 3246 - - - - - - - - 14.14 14.07 14.17
6232 546.0 -8.3 283 6245 roll -0.58 - - 2731 - 2.55 0.060 376 -548.2 -116.8 - - 3245 - - - - - - - - 14.71 13.93 14.73
6343 555.8 -8.7 298 6357 done -0.58 - - 2723 - 2.42 0.032 1775 578.1 -116.8 - - 3244 - - - - - - - - 14.17 14.11 14.19
6688 584.6 -8.4 305 6702 roll -0.58 - - 2712 - 2.50 0.054 3170 558.0 -116.8 - - 3243 - - - - - - - - 14.69 13.93 14.71
6765 591.1 -8.3 315 6779 done -0.58 - - 2713 - 2.45 0.037 1766 -573.1 -116.8 - - 3243 - - - - - - - - 14.12 14.04 14.16
7095 617.8 -8.0 326 7108 roll -0.58 - - 2712 - 2.55 0.060 372 -546.7 -116.8 - - 3242 - - - - - - - - 14.75 13.90 14.76
7187 625.3 -8.1 338 7200 done -0.58 0.17 0.246 2739 158.8 2.45 0.033 1784 576.3 -116.8 - - 3242 - - - - - - - - 13.56 14.09 13.87
7558 648.0 -5.9 348 7572 roll -0.58 - - 2731 - 2.47 0.055 3168 560.3 -116.8 - - 3240 - - - - - - - - 14.75 13.94 14.78
7665 654.4 -6.1 362 7678 done -0.68 - - 2731 - 2.42 0.038 1777 -574.8 -116.8 - - 3241 - - - - - - - - 14.10 14.02 14.14
8022 678.2 -6.8 370 8035 roll -0.68 - - 2731 - 2.58 0.062 374 -543.8 -116.8 - - 3238 - - - - - - - - 14.73 13.92 14.75
8121 685.9 -7.9 383 8134 done -0.68 - - 2722 - 2.45 0.033 1773 571.0 -116.8 - - 3238 - - - - - - - - 14.17 14.11 14.20
8485 714.6 -7.9 392 8498 roll -0.68 - - 2712 - 2.53 0.054 3172 553.0 -116.8 - - 3237 - - - - - - - - 14.74 13.95 14.76
8548 719.7 -8.1 400 8562 done -0.68 - - 2713 - 2.45 0.039 1775 -570.2 -116.8 - - 3237 - - - - - - - - 14.09 14.00 14.12
8893 747.9 -8.3 413 8906 roll -0.68 - - 2712 - 2.58 0.063 374 -543.0 -116.8 - - 3236 - - - - - - - - 14.65 13.95 14.67
8976 755.4 -8.7 424 8990 done -0.68 - - 2702 - 2.42 0.033 1774 578.5 -116.8 - - 3235 - - - - - - - - 14.14 14.07 14.16
9300 781.7 -8.1 434 9313 roll -0.68 - - 2692 - 2.50 0.055 3165 556.4 -116.8 - - 3234 - - - - - - - - 14.71 13.95 14.73
9363 786.8 -7.9 442 9377 done -0.68 - - 2692 - 2.45 0.039 1772 -568.6 -116.8 - - 3234 - - - - - - - - 14.07 13.99 14.11
9706 814.3 -7.9 455 9720 roll -0.68 - - 2692 - 2.58 0.063 373 -542.2 -116.8 - - 3233 - - - - - - - - 14.65 13.95 14.67
9784 820.9 -8.6 465 9798 done -0.68 - - 2683 - 2.47 0.034 1784 571.3 -116.8 - - 3233 - - - - - - - - 14.11 14.04 14.14
10114 848.0 -8.2 476 10127 roll -0.68 - - 2673 - 2.47 0.057 3162 557.9 -116.8 - - 3232 - - - - - - - - 14.64 13.99 14.66
10179 853.9 -8.6 484 10192 done -0.68 0.15 0.256 2702 193.3 2.45 0.039 1772 -567.3 -116.8 - - 3232 - - - - - - - - 13.54 13.99 13.85
10522 880.3 -7.9 497 10536 roll -0.68 - - 2706 - 2.60 0.063 373 -538.1 -116.8 - - 3231 - - - - - - - - 14.71 13.97 14.73
10642 890.9 -8.8 513 10655 done -0.68 - - 2699 - 2.45 0.034 1780 574.3 -116.8 - - 3231 - - - - - - - - 14.13 14.07 14.16
10987 920.8 -8.8 526 11000 roll -0.68 - - 2688 - 2.50 0.055 3167 554.8 -116.8 - - 3231 - - - - - - - - 14.56 13.97 14.58
11106 931.4 -8.8 542 11120 done -0.68 - - 2689 - 2.47 0.040 1763 -568.4 -116.8 - - 3230 - - - - - - - - 14.06 13.97 14.09
11451 961.9 -8.9 555 11464 roll -0.68 - - 2688 - 2.55 0.063 378 -543.1 -116.8 - - 3227 - - - - - - - - 14.59 13.98 14.62
11550 971.3 -9.2 568 11564 done -0.68 0.12 0.279 2701 108.3 2.45 0.034 1782 573.1 -116.8 - - 3229 - - - - - - - - 13.54 14.04 13.84
11798 end dive: TARGET_DEPTH_EXCEEDED
11798 begin apogee
11810 991.4 -7.9 575 11942 done -0.21 0.62 0.239 2853 245.2 - - 1660 - - 121.75 2.229 2792 -3.6 0.305 - - - - - - 13.75 13.86 12.93
11943 end apogee: CONTROL_FINISHED_OK
11943 begin climb
11948 996.2 - 577 12096 roll 0.84 1.20 0.161 3200 289.2 2.47 0.063 350 -530.4 116.8 126.28 2.179 2309 -3.8 0.334 - - - - - - 13.70 13.80 12.86
12146 986.3 6.6 609 12182 done 0.86 - - 3205 - 2.28 0.030 1696 590.4 139.8 24.70 2.108 2222 -3.5 0.314 - - - - - - 14.23 14.17 12.98
12542 949.4 9.2 623 12562 roll 0.86 - - 3199 - 2.30 0.048 3046 587.0 139.8 - - 2201 - - - - - - - - 14.68 14.26 14.70
12668 937.7 9.1 639 12681 done 0.86 - - 3206 - 2.33 0.039 1691 -581.5 139.8 - - 2200 - - - - - - - - 14.45 14.38 14.49
13013 906.4 9.1 652 13026 roll 0.86 - - 3217 - 2.45 0.064 324 -558.0 139.8 - - 2200 - - - - - - - - 14.69 14.26 14.71
13054 902.4 12.0 657 13067 done 0.86 - - 3217 - 2.25 0.030 1683 604.0 139.8 - - 2200 - - - - - - - - 14.50 14.44 14.51
13418 869.9 8.8 666 13431 roll 0.86 - - 3217 - 2.40 0.048 3057 572.5 139.8 - - 2198 - - - - - - - - 14.74 14.23 14.76
13531 860.1 8.6 681 13545 done 0.86 - - 3232 - 2.40 0.041 1678 -574.6 139.8 - - 2198 - - - - - - - - 14.40 14.31 14.44
13873 832.1 8.2 688 13887 roll 0.86 - - 3237 - 2.47 0.064 317 -551.0 139.8 - - 2198 - - - - - - - - 14.74 14.13 14.76
13943 825.8 9.2 697 13956 done 0.75 0.28 0.249 3176 -217.9 2.28 0.028 1694 603.9 139.8 - - 2197 - - - - - - - - 13.89 14.38 14.23
14281 803.5 6.6 709 14316 roll 0.78 - - 3173 - 2.40 0.050 3039 560.4 163.5 23.00 2.004 2121 -3.3 0.253 - - - - - - 14.66 14.29 13.38
14390 795.5 7.2 724 14408 done 0.79 - - 3182 - 2.38 0.043 1672 -574.4 175.7 5.72 1.662 2073 -8.4 0.766 - - - - - - 14.43 14.35 13.19
14740 767.2 8.2 738 14753 roll 0.79 - - 3192 - 2.40 0.065 326 -560.8 175.7 - - 2075 - - - - - - - - 14.67 14.26 14.69
14774 764.0 8.4 742 14787 done 0.79 - - 3193 - 2.22 0.030 1664 602.7 175.7 - - 2078 - - - - - - - - 14.47 14.42 14.50
15147 732.3 8.5 752 15160 roll 0.79 - - 3192 - 2.42 0.047 3059 576.4 175.7 - - 2075 - - - - - - - - 14.71 14.23 14.73
15244 723.7 8.6 765 15257 done 0.79 - - 3202 - 2.42 0.041 1673 -572.7 175.7 - - 2076 - - - - - - - - 14.39 14.30 14.42
15608 693.0 8.5 774 15622 roll 0.79 - - 3211 - 2.45 0.064 325 -550.2 175.7 - - 2075 - - - - - - - - 14.73 14.13 14.75
15644 689.9 8.9 778 15658 done 0.79 - - 3210 - 2.28 0.029 1686 596.9 175.7 - - 2075 - - - - - - - - 14.42 14.37 14.45
16016 656.7 8.9 788 16029 roll 0.79 - - 3210 - 2.40 0.047 3052 569.2 175.7 - - 2074 - - - - - - - - 14.67 14.16 14.69
16094 649.6 9.2 798 16108 done 0.79 0.15 0.256 3191 -126.7 2.38 0.040 1677 -577.7 175.7 - - 2075 - - - - - - - - 13.85 14.24 14.14
16424 623.4 7.9 809 16437 roll 0.79 - - 3198 - 2.45 0.064 329 -550.2 175.8 - - 2074 - - - - - - - - 14.66 14.06 14.69
16451 621.2 7.8 812 16464 done 0.80 - - 3198 - 2.28 0.030 1681 593.0 177.6 - - 2075 - - - - - - - - 14.28 14.23 14.30
16775 595.5 8.0 822 16788 roll 0.80 - - 3199 - 2.40 0.047 3054 572.1 177.6 - - 2075 - - - - - - - - 14.64 14.12 14.66
16858 588.3 8.3 833 16872 done 0.80 - - 3204 - 2.40 0.040 1676 -574.2 177.6 - - 2075 - - - - - - - - 14.28 14.18 14.31
17184 560.7 8.7 843 17197 done 0.80 - - 3207 - - - 1675 - 177.6 - - 2075 - - - - - - - - 14.64 14.66 14.66
17518 530.3 9.1 849 17532 roll 0.80 - - 3206 - 2.45 0.045 3058 564.5 177.6 - - 2075 - - - - - - - - 14.64 14.04 14.65
17560 526.4 9.3 854 17573 done 0.80 - - 3216 - 2.40 0.041 1683 -572.9 177.6 - - 2075 - - - - - - - - 14.26 14.17 14.29
17926 492.7 9.3 863 17938 done 0.80 - - 3215 - - - 1681 - 177.6 - - 2075 - - - - - - - - 14.68 14.70 14.69
18260 461.6 9.3 869 18273 done 0.80 - - 3216 - - - 1682 - 177.6 - - 2075 - - - - - - - - 14.68 14.70 14.70
18596 432.0 8.7 875 18609 done 0.80 - - 3215 - - - 1682 - 177.6 - - 2075 - - - - - - - - 14.69 14.71 14.71
18932 404.9 8.0 881 18946 roll 0.80 - - 3215 - 2.47 0.046 3058 557.1 177.6 1.58 0.168 2069 -3.8 1.746 - - 1 - - - 14.68 14.09 13.98
18988 400.2 8.4 888 19002 done 0.80 0.15 0.249 3194 -140.0 2.45 0.041 1670 -566.5 177.6 - - 2069 - - - - - - - - 13.78 14.16 14.06
19332 377.1 6.6 895 19381 done 0.83 - - 3194 - - - 1670 - 200.7 36.67 1.438 1967 -2.8 0.139 - - - - - - 14.62 14.22 13.47
19727 349.0 7.3 909 19744 roll 0.84 - - 3194 - 2.40 0.044 3060 579.2 211.8 5.18 1.215 1928 -7.5 0.413 - - - - - - 14.65 14.12 13.40
19779 344.7 7.9 916 19793 done 0.84 - - 3200 - 2.40 0.041 1677 -576.2 211.8 - - 1932 - - - - - - - - 14.45 14.36 14.50
20124 316.8 8.3 923 20137 roll 0.84 - - 3209 - 2.42 0.064 326 -558.3 211.8 - - 1932 - - - - - - - - 14.72 14.20 14.76
20188 311.1 9.2 931 20202 done 0.84 - - 3210 - 2.25 0.028 1681 602.2 211.8 - - 1934 - - - - - - - - 14.46 14.40 14.47
20531 281.4 8.5 944 20545 roll 0.84 - - 3210 - 2.38 0.045 3054 576.9 211.8 - - 1932 - - - - - - - - 14.67 14.21 14.70
20616 274.1 8.7 955 20630 done 0.84 - - 3218 - 2.40 0.039 1674 -575.0 211.8 - - 1932 - - - - - - - - 14.38 14.28 14.39
20939 247.3 8.3 965 20952 roll 0.84 - - 3229 - 2.45 0.064 318 -553.5 211.8 - - 1932 - - - - - - - - 14.71 14.11 14.73
21008 241.3 8.6 974 21021 done 0.84 - - 3229 - 2.28 0.028 1680 597.4 211.8 - - 1932 - - - - - - - - 14.40 14.34 14.42
21346 214.0 8.2 986 21359 roll 0.84 - - 3229 - 2.40 0.045 3064 576.7 211.8 - - 1932 - - - - - - - - 14.65 14.17 14.67
21429 206.6 8.5 997 21442 done 0.84 0.15 0.241 3203 -173.3 2.40 0.040 1680 -576.7 211.8 - - 1932 - - - - - - - - 13.87 14.23 14.13
21753 181.0 8.1 1007 21766 roll 0.84 - - 3215 - 2.47 0.063 325 -548.6 211.8 - - 1932 - - - - - - - - 14.70 14.06 14.71
21787 177.8 8.7 1011 21800 done 0.84 - - 3215 - 2.28 0.028 1681 594.7 211.8 - - 1932 - - - - - - - - 14.37 14.31 14.38
22158 147.2 7.9 1021 22172 roll 0.84 - - 3214 - 2.40 0.044 3061 575.0 211.8 - - 1932 - - - - - - - - 14.66 14.12 14.67
22257 139.2 8.4 1034 22270 done 0.84 - - 3223 - 2.40 0.040 1682 -574.6 211.8 - - 1932 - - - - - - - - 14.28 14.19 14.31
22621 108.2 8.5 1043 22634 done 0.84 - - 3223 - - - 1681 - 211.8 - - 1932 - - - - - - - - 14.66 14.67 14.67
22931 87.2 6.4 1051 22973 roll 0.87 - - 3232 - 2.40 0.062 322 -566.2 239.9 28.83 0.342 1817 -4.0 0.194 - - - - - - 14.63 14.19 13.94
23016 81.8 6.7 1063 23052 done 0.90 - - 3232 - 2.25 0.028 1696 610.7 261.8 24.95 0.327 1725 -3.7 0.176 - - - - - - 14.45 14.40 13.90
23383 60.3 4.5 1081 23456 roll 1.14 0.17 0.107 3316 494.1 2.45 0.061 321 -561.2 324.1 59.95 0.283 1471 -4.2 0.172 - - - - - - 14.17 14.15 13.95
23497 55.5 4.1 1098 23578 done 1.23 - - 3316 - 2.25 0.028 1688 607.6 393.8 64.10 0.274 1187 -4.4 0.171 - - - - - - 14.42 14.37 13.95
23884 31.0 6.9 1120 23914 done 1.38 0.15 0.108 3379 420.0 - - 1694 - 412.5 18.35 0.194 1110 -4.2 0.128 - - - - - - 14.14 14.26 14.00
24159 end climb: SURFACE_DEPTH_REACHED
24159 begin surface coast
24191 end surface coast: CONTROL_FINISHED_OK
24191 begin surface
SM 0.98 - - - - -8.60 9.85 0.070 158 16.0 - - 1696 - 515.13 64.18 0.122 692 10.8 -0.009 - - - - - -