SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 646 * Raw log
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• Previous call tries 1 • 244.80 of 350.00 AH used of 24V (30.06% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.0 deg, depth 1.01 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 40 s
• GPS2 time: 12 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
28 end surface: CONTROL_FINISHED_OK
28 begin dive
34 - - - 119 VBD -0.84 - - 152 - - - 1710 - -116.8 -82.68 - 3137 - - - - - - - - 14.53 - 14.55
124 4.3 -5.6 3 147 roll -0.84 12.43 0.372 2661 201.9 2.55 2.044 376 -523.1 -116.8 -2.05 - 3273 -66.3 - - - - - - - 13.90 12.96 14.31
244 41.4 -25.0 20 250 done -0.49 0.47 0.265 2765 221.3 2.30 0.031 1758 600.9 -116.8 - - 3274 - - - - - - - - 14.02 14.42 14.30
573 82.3 -8.5 34 579 roll -0.49 - - 2757 - 2.42 0.051 3172 584.3 -116.8 - - 3274 - - - - - - - - 14.66 14.26 14.69
767 98.7 -7.9 61 776 done -0.49 - - 2757 - 2.38 0.037 1769 -589.5 -116.8 - - 3274 - - - - - - - - 14.38 14.30 14.40
1078 122.1 -7.6 68 1080 done -0.49 - - 2757 - - - 1769 - -116.8 - - 3275 - - - - - - - - 14.63 14.65 14.65
1413 150.4 -8.5 74 1420 roll -0.49 - - 2753 - 2.47 0.057 380 -562.3 -116.8 - - 3274 - - - - - - - - 14.62 14.12 14.65
1477 155.6 -8.1 83 1484 done -0.49 - - 2747 - 2.38 0.031 1787 591.2 -116.8 - - 3274 - - - - - - - - 14.36 14.31 14.39
1807 179.2 -6.9 95 1813 roll -0.49 - - 2734 - 2.40 0.051 3166 574.6 -116.8 - - 3272 - - - - - - - - 14.59 14.12 14.62
1912 186.4 -7.0 110 1920 done -0.49 0.12 0.224 2763 241.7 2.40 0.036 1766 -583.3 -116.8 - - 3270 - - - - - - - - 13.88 14.19 14.10
2257 210.3 -7.3 117 2265 roll -0.49 - - 2763 - 2.50 0.059 374 -556.8 -116.8 - - 3268 - - - - - - - - 14.58 14.05 14.59
2371 220.3 -8.5 133 2378 done -0.49 - - 2756 - 2.38 0.031 1776 589.1 -116.8 - - 3267 - - - - - - - - 14.29 14.23 14.31
2710 248.2 -8.2 146 2716 roll -0.49 - - 2746 - 2.42 0.051 3162 572.7 -116.8 - - 3264 - - - - - - - - 14.62 14.06 14.63
2772 253.5 -8.2 155 2785 done -0.49 - - 2746 - 2.38 0.036 1774 -583.2 -116.8 - - 3264 - - - - - - - - 14.28 14.21 14.32
3108 280.6 -8.0 167 3122 roll -0.49 - - 2742 - 2.53 0.059 370 -554.9 -116.8 - - 3261 - - - - - - - - 14.73 14.00 14.75
3187 287.4 -8.9 177 3200 done -0.49 0.15 0.246 2766 160.0 2.42 0.032 1787 585.5 -116.8 - - 3260 - - - - - - - - 13.72 14.21 13.97
3517 313.6 -7.9 188 3530 roll -0.60 - - 2759 - 2.45 0.053 3162 561.2 -116.8 - - 3259 - - - - - - - - 14.73 14.00 14.74
3630 322.9 -8.3 203 3644 done -0.72 0.20 0.093 2681 -390.0 2.42 0.036 1763 -578.1 -116.8 - - 3258 - - - - - - - - 14.09 14.11 14.17
3972 362.7 -11.9 210 3985 roll -0.72 - - 2681 - 2.50 0.059 379 -553.6 -116.8 - - 3255 - - - - - - - - 14.78 13.95 14.80
4049 372.3 -12.4 220 4062 done -0.62 0.25 0.256 2726 180.0 2.38 0.031 1773 585.7 -116.8 - - 3255 - - - - - - - - 13.64 14.19 13.97
4379 401.6 -8.6 231 4393 roll -0.62 - - 2717 - 2.45 0.052 3161 566.5 -116.8 - - 3253 - - - - - - - - 14.70 13.88 14.71
4512 411.9 -7.6 249 4525 done -0.62 - - 2717 - 2.40 0.037 1777 -576.7 -116.8 - - 3252 - - - - - - - - 14.17 14.09 14.21
4843 437.1 -7.7 260 4856 roll -0.62 - - 2717 - 2.55 0.060 376 -549.4 -116.8 - - 3251 - - - - - - - - 14.71 13.93 14.76
4962 447.6 -8.8 276 4975 done -0.62 - - 2708 - 2.42 0.032 1782 581.0 -116.8 - - 3250 - - - - - - - - 14.21 14.15 14.26
5307 480.0 -9.7 289 5320 roll -0.62 - - 2698 - 2.45 0.054 3160 562.4 -116.8 - - 3249 - - - - - - - - 14.70 13.93 14.72
5370 486.6 -10.3 297 5384 done -0.62 0.12 0.243 2721 191.7 2.40 0.037 1772 -578.3 -116.8 - - 3249 - - - - - - - - 13.67 14.06 13.93
5715 519.8 -9.6 310 5728 roll -0.62 - - 2721 - 2.55 0.062 379 -546.3 -116.8 - - 3247 - - - - - - - - 14.70 13.92 14.73
5849 533.2 -9.8 328 5862 done -0.62 - - 2715 - 2.40 0.031 1774 581.2 -116.8 - - 3246 - - - - - - - - 14.18 14.12 14.21
6178 563.8 -9.2 339 6191 roll -0.62 - - 2704 - 2.47 0.053 3164 562.8 -116.8 - - 3245 - - - - - - - - 14.76 13.94 14.78
6256 570.6 -8.7 349 6270 done -0.62 - - 2704 - 2.42 0.037 1774 -574.4 -116.8 - - 3245 - - - - - - - - 14.13 14.04 14.16
6586 599.7 -8.8 360 6599 roll -0.62 - - 2704 - 2.58 0.061 377 -541.5 -116.8 - - 3244 - - - - - - - - 14.69 13.94 14.71
6706 610.8 -9.1 376 6720 done -0.62 0.15 0.261 2723 126.7 2.42 0.032 1777 578.5 -116.8 - - 3244 - - - - - - - - 13.57 14.10 13.87
7050 637.6 -7.8 389 7063 roll -0.62 - - 2715 - 2.47 0.054 3162 560.7 -116.8 - - 3242 - - - - - - - - 14.68 13.94 14.71
7142 644.9 -7.9 401 7155 done -0.62 - - 2715 - 2.42 0.037 1775 -573.1 -116.8 - - 3245 - - - - - - - - 14.12 14.02 14.14
7513 675.6 -8.3 411 7526 roll -0.62 - - 2715 - 2.58 0.062 377 -541.9 -116.8 - - 3241 - - - - - - - - 14.67 13.96 14.69
7624 685.9 -9.2 426 7638 done -0.62 - - 2705 - 2.45 0.033 1780 572.7 -116.8 - - 3240 - - - - - - - - 14.14 14.07 14.16
7970 716.8 -9.1 433 7983 roll -0.62 - - 2695 - 2.50 0.055 3170 556.0 -116.8 - - 3239 - - - - - - - - 14.64 14.00 14.66
8046 724.1 -9.1 443 8060 done -0.62 0.15 0.247 2724 193.3 2.45 0.038 1772 -570.6 -116.8 - - 3238 - - - - - - - - 13.57 14.00 13.86
8376 752.8 -8.8 454 8389 roll -0.62 - - 2725 - 2.58 0.063 373 -542.2 -116.8 - - 3237 - - - - - - - - 14.71 13.95 14.73
8461 760.8 -9.5 465 8474 done -0.62 - - 2722 - 2.45 0.034 1778 573.5 -116.8 - - 3237 - - - - - - - - 14.14 14.07 14.16
8783 791.0 -9.4 475 8796 roll -0.62 - - 2708 - 2.50 0.055 3169 556.4 -116.8 - - 3236 - - - - - - - - 14.65 13.99 14.67
8868 799.0 -9.5 486 8881 done -0.62 - - 2708 - 2.45 0.038 1777 -568.2 -116.8 - - 3236 - - - - - - - - 14.08 13.99 14.12
9190 829.7 -9.4 496 9203 roll -0.62 - - 2707 - 2.58 0.063 376 -543.0 -116.8 - - 3237 - - - - - - - - 14.65 13.97 14.66
9331 843.2 -9.5 515 9344 done -0.62 0.12 0.268 2721 116.7 2.45 0.034 1778 572.2 -116.8 - - 3235 - - - - - - - - 13.59 14.04 13.85
9653 868.3 -7.7 525 9667 roll -0.62 - - 2713 - 2.50 0.055 3167 555.6 -116.8 - - 3235 - - - - - - - - 14.64 13.97 14.65
9723 873.6 -7.5 534 9736 done -0.62 - - 2713 - 2.47 0.038 1766 -567.2 -116.8 - - 3233 - - - - - - - - 14.07 13.98 14.10
10061 897.7 -7.1 546 10074 roll -0.62 - - 2713 - 2.58 0.063 369 -541.5 -116.8 - - 3233 - - - - - - - - 14.68 13.97 14.70
10130 903.1 -7.5 555 10143 done -0.62 - - 2703 - 2.45 0.034 1772 572.7 -116.8 - - 3232 - - - - - - - - 14.13 14.07 14.15
10468 927.8 -7.5 567 10481 roll -0.62 - - 2692 - 2.50 0.055 3169 558.8 -116.8 - - 3231 - - - - - - - - 14.62 13.97 14.64
10544 933.9 -7.8 577 10558 done -0.62 0.15 0.246 2721 193.3 2.47 0.039 1773 -565.2 -116.8 - - 3232 - - - - - - - - 13.56 13.97 13.85
10876 957.9 -7.4 588 10889 roll -0.62 - - 2718 - 2.60 0.064 373 -538.5 -116.8 - - 3231 - - - - - - - - 14.66 13.98 14.70
10980 966.8 -8.3 602 10993 done -0.62 - - 2721 - 2.47 0.034 1792 574.5 -116.8 - - 3231 - - - - - - - - 14.12 14.04 14.14
11277 end dive: TARGET_DEPTH_EXCEEDED
11277 begin apogee
11289 991.6 -8.2 609 11420 done -0.21 0.60 0.233 2858 228.3 - - 1661 - - 121.03 2.245 2793 -3.6 0.305 - - - - - - 13.76 13.87 12.92
11423 end apogee: CONTROL_FINISHED_OK
11423 begin climb
11428 997.5 - 611 11574 roll 0.84 1.17 0.154 3202 294.0 2.45 0.065 344 -537.6 116.8 125.78 2.194 2307 -3.9 0.335 - - - - - - 13.72 13.78 12.85
11617 990.7 7.2 642 11636 done 0.85 - - 3201 - 2.33 0.029 1699 581.5 128.2 5.50 1.670 2267 -7.3 0.824 - - - - - - 14.20 14.15 12.88
11970 965.0 7.4 656 11988 roll 0.86 - - 3201 - 2.40 0.048 3054 564.6 136.4 6.28 1.798 2236 -4.9 0.506 - - - - - - 14.67 14.33 13.27
12089 955.4 8.0 672 12102 done 0.86 - - 3209 - 2.33 0.040 1696 -582.8 136.4 - - 2239 - - - - - - - - 14.45 14.35 14.47
12432 927.0 8.3 685 12445 roll 0.86 - - 3220 - 2.45 0.063 326 -559.2 136.4 - - 2239 - - - - - - - - 14.69 14.22 14.70
12489 922.0 9.2 692 12503 done 0.76 0.20 0.249 3178 -210.0 2.30 0.029 1700 597.4 136.4 - - 2239 - - - - - - - - 13.93 14.40 14.21
12832 896.5 7.3 699 12862 roll 0.78 - - 3179 - 2.40 0.049 3053 563.8 146.3 18.38 2.061 2191 -2.6 0.217 - - - - - - 14.71 14.32 13.39
12972 885.9 8.0 718 12986 done 0.78 - - 3184 - 2.35 0.040 1679 -584.7 146.3 - - 2182 - - - - - - - - 14.45 14.38 14.50
13343 855.9 8.0 728 13357 roll 0.78 - - 3194 - 2.45 0.066 324 -553.1 146.3 - - 2180 - - - - - - - - 14.72 14.21 14.74
13399 851.7 8.8 735 13413 done 0.78 - - 3194 - 2.25 0.031 1677 601.3 146.3 - - 2182 - - - - - - - - 14.43 14.37 14.46
13744 822.6 8.3 742 13758 roll 0.78 - - 3194 - 2.40 0.047 3048 571.2 146.3 - - 2182 - - - - - - - - 14.67 14.21 14.69
13856 812.7 8.5 757 13871 done 0.78 - - 3203 - 2.38 0.041 1681 -574.4 146.3 - - 2181 - - - - - - - - 14.37 14.28 14.40
14200 783.5 8.5 764 14213 roll 0.78 - - 3213 - 2.50 0.065 319 -544.8 146.3 - - 2181 - - - - - - - - 14.68 14.12 14.70
14236 780.4 8.5 768 14249 done 0.78 0.15 0.246 3183 -200.0 2.30 0.030 1693 597.4 146.3 - - 2181 - - - - - - - - 13.90 14.35 14.21
14607 751.7 7.6 778 14621 roll 0.78 - - 3183 - 2.38 0.048 3042 566.8 151.3 - - 2181 - - - - - - - - 14.72 14.11 14.72
14713 743.7 6.8 792 14759 done 0.81 - - 3190 - 2.38 0.041 1676 -573.9 170.6 27.50 1.911 2088 -3.4 0.251 - - - - - - 14.31 14.22 13.40
15068 715.5 8.0 807 15081 roll 0.81 - - 3200 - 2.45 0.066 321 -553.1 170.6 - - 2081 - - - - - - - - 14.69 14.21 14.71
15110 711.9 8.2 812 15124 done 0.81 - - 3200 - 2.25 0.030 1675 601.8 170.6 - - 2081 - - - - - - - - 14.44 14.38 14.47
15475 680.0 8.8 821 15488 roll 0.81 - - 3200 - 2.40 0.048 3048 572.1 170.6 - - 2081 - - - - - - - - 14.68 14.24 14.70
15586 669.8 9.1 836 15600 done 0.81 - - 3213 - 2.38 0.040 1680 -574.8 170.6 - - 2080 - - - - - - - - 14.38 14.30 14.42
15931 638.3 9.3 843 15945 roll 0.81 - - 3219 - 2.47 0.066 321 -550.2 170.6 - - 2080 - - - - - - - - 14.68 14.15 14.69
15966 634.9 9.2 847 15979 done 0.81 - - 3219 - 2.28 0.029 1677 594.7 170.6 - - 2080 - - - - - - - - 14.43 14.38 14.45
16338 600.7 9.1 857 16352 roll 0.81 - - 3219 - 2.42 0.047 3052 568.2 170.6 - - 2080 - - - - - - - - 14.70 14.16 14.72
16450 590.3 8.9 872 16464 done 0.81 0.17 0.255 3192 -158.8 2.40 0.041 1677 -572.9 170.6 - - 2080 - - - - - - - - 13.86 14.25 14.19
16794 564.2 7.6 879 16807 done 0.81 - - 3192 - - - 1677 - 176.1 - - 2080 - - - - - - - - 14.71 14.73 14.73
17130 539.1 7.5 885 17145 done 0.82 - - 3192 - - - 1677 - 183.4 5.82 1.485 2044 -6.2 0.429 - - - - - - 14.71 14.39 13.42
17466 514.7 7.3 891 17501 roll 0.84 - - 3193 - 2.45 0.047 3053 561.6 194.7 19.70 1.633 1993 -2.6 0.156 - - - - - - 14.73 14.34 13.52
17525 510.4 7.6 899 17542 done 0.84 - - 3199 - 2.35 0.041 1683 -583.0 200.0 1.80 0.168 1975 -10.0 5.800 - - - - - - 14.49 14.36 14.19
17864 481.9 8.5 912 17878 roll 0.84 - - 3209 - 2.45 0.067 323 -555.1 200.0 - - 1976 - - - - - - - - 14.67 14.19 14.69
17934 475.5 9.5 921 17947 done 0.84 - - 3209 - 2.28 0.030 1681 595.6 200.0 - - 1976 - - - - - - - - 14.44 14.39 14.46
18271 445.5 8.9 933 18285 roll 0.84 - - 3209 - 2.40 0.047 3062 575.4 200.0 - - 1979 - - - - - - - - 14.66 14.21 14.68
18376 436.2 8.6 947 18389 done 0.84 - - 3218 - 2.40 0.041 1678 -576.7 200.0 - - 1976 - - - - - - - - 14.35 14.26 14.39
18734 405.1 8.8 955 18748 roll 0.84 - - 3228 - 2.47 0.065 319 -550.2 200.0 - - 1976 - - - - - - - - 14.66 14.11 14.67
18798 399.0 9.7 963 18811 done 0.84 - - 3228 - 2.28 0.028 1682 597.8 200.0 - - 1976 - - - - - - - - 14.40 14.33 14.41
19141 367.6 9.1 976 19155 roll 0.84 - - 3228 - 2.40 0.045 3055 572.1 200.0 - - 1976 - - - - - - - - 14.71 14.09 14.73
19240 358.5 9.2 989 19254 done 0.84 0.15 0.247 3207 -140.0 2.40 0.040 1676 -574.6 200.0 - - 1976 - - - - - - - - 13.79 14.22 14.07
19605 331.3 7.2 998 19635 roll 0.86 - - 3215 - 2.47 0.066 325 -547.0 212.4 18.40 1.447 1921 -3.0 0.131 - - - - - - 14.70 14.30 13.59
19665 326.8 8.0 1006 19678 done 0.86 - - 3211 - 2.25 0.029 1681 602.7 212.4 - - 1914 - - - - - - - - 14.51 14.46 14.53
20001 297.4 9.0 1018 20014 roll 0.86 - - 3215 - 2.40 0.044 3063 575.8 212.4 - - 1913 - - - - - - - - 14.68 14.24 14.70
20086 289.0 10.0 1029 20099 done 0.86 - - 3223 - 2.40 0.040 1680 -576.2 212.4 - - 1912 - - - - - - - - 14.38 14.30 14.42
20408 257.1 9.9 1039 20421 roll 0.86 - - 3234 - 2.47 0.065 317 -551.8 212.4 - - 1913 - - - - - - - - 14.72 14.13 14.74
20484 249.6 9.8 1049 20498 done 0.86 - - 3239 - 2.28 0.028 1683 599.1 212.4 - - 1913 - - - - - - - - 14.40 14.35 14.42
20815 220.4 8.7 1060 20828 roll 0.86 - - 3234 - 2.38 0.045 3055 576.5 212.4 - - 1913 - - - - - - - - 14.66 14.19 14.68
20948 207.3 10.0 1078 20961 done 0.86 0.15 0.243 3210 -160.0 2.38 0.041 1682 -576.9 212.4 - - 1913 - - - - - - - - 13.88 14.26 14.19
21279 178.1 8.8 1089 21292 roll 0.86 - - 3220 - 2.47 0.064 320 -551.4 212.4 - - 1913 - - - - - - - - 14.64 14.09 14.66
21348 171.5 9.3 1098 21361 done 0.86 - - 3220 - 2.28 0.028 1684 598.2 212.4 - - 1913 - - - - - - - - 14.37 14.32 14.40
21684 140.4 9.4 1110 21697 roll 0.86 - - 3220 - 2.40 0.044 3063 574.6 212.4 - - 1913 - - - - - - - - 14.71 14.11 14.73
21797 128.9 10.2 1125 21812 done 0.86 - - 3228 - 2.42 0.041 1674 -574.0 212.4 - - 1913 - - - - - - - - 14.28 14.19 14.32
22140 99.3 8.2 1132 22153 done 0.86 - - 3228 - - - 1674 - 212.4 - - 1913 - - - - - - - - 14.70 14.73 14.72
22449 80.9 5.8 1143 22491 done 0.91 - - 3228 - - - 1674 - 251.0 32.88 0.330 1770 -4.3 0.204 - - - - - - 14.62 14.35 13.96
22784 69.7 1.6 1155 22905 roll 1.30 0.35 0.073 3365 391.4 2.45 0.042 3063 566.9 367.7 107.78 0.308 1295 -4.4 0.190 - - - - - - 14.16 14.31 13.95
22945 57.7 10.0 1177 22961 done 1.30 - - 3373 - 2.40 0.040 1674 -578.8 367.7 3.00 0.152 1293 - - - - - - - - 14.28 14.22 14.01
23261 23.1 11.1 1189 23276 roll 1.30 - - 3384 - 2.47 0.063 328 -544.9 367.7 2.40 0.144 1293 - - - - - - - - 14.67 14.12 13.95
23333 14.8 12.0 1198 23347 done 1.30 0.17 0.233 3348 -211.8 2.25 0.025 1728 622.2 367.7 - - 1302 - - - - - - - - 13.80 14.29 14.07
23497 end climb: SURFACE_DEPTH_REACHED
23498 begin surface coast
23526 end surface coast: CONTROL_FINISHED_OK
23526 begin surface
SM 1.07 - - - - -8.61 9.73 0.069 154 15.8 - - 1736 - 515.13 91.10 0.120 691 7.6 -0.007 - - - - - -