SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 650 * Raw log
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• Previous call tries 1 • 246.36 of 350.00 AH used of 24V (29.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth 1.02 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 36 s
• GPS2 time: 18 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 - - - 115 VBD -0.84 - - 150 - - - 1686 - -116.8 -82.57 - 3140 - - - - - - - - 14.52 - 14.54
120 4.3 -5.6 3 143 roll -0.84 12.55 0.377 2661 200.1 2.50 2.044 372 -525.6 -116.8 -1.92 - 3271 -68.2 - - - - - - - 13.90 13.32 14.31
202 33.8 -24.7 15 208 done -0.46 0.52 0.282 2773 215.4 2.28 0.033 1744 601.8 -116.8 - - 3273 - - - - - - - - 14.00 14.42 14.30
538 80.3 -9.1 30 544 roll -0.46 - - 2775 - 2.42 0.055 363 -570.7 -116.8 - - 3272 - - - - - - - - 14.64 14.27 14.66
636 87.7 -7.0 44 642 done -0.46 - - 2768 - 2.35 0.028 1786 605.5 -116.8 - - 3273 - - - - - - - - 14.42 14.37 14.44
989 112.0 -6.9 55 995 roll -0.46 - - 2757 - 2.38 0.050 3167 580.3 -116.8 - - 3273 - - - - - - - - 14.61 14.19 14.63
1051 117.3 -8.1 64 1057 done -0.46 - - 2757 - 2.35 0.036 1770 -594.5 -116.8 - - 3274 - - - - - - - - 14.33 14.26 14.36
1383 141.9 -7.5 76 1389 roll -0.46 - - 2757 - 2.47 0.057 380 -562.8 -116.8 - - 3273 - - - - - - - - 14.59 14.09 14.61
1445 147.1 -8.0 85 1452 done -0.46 0.12 0.252 2772 125.0 2.35 0.030 1776 594.0 -116.8 - - 3273 - - - - - - - - 13.86 14.28 14.12
1776 168.5 -6.5 97 1783 roll -0.56 - - 2765 - 2.42 0.050 3167 574.8 -116.8 - - 3270 - - - - - - - - 14.59 14.09 14.61
1883 175.3 -6.4 112 1891 done -0.68 0.17 0.097 2695 -411.8 2.40 0.036 1774 -580.4 -116.8 - - 3270 - - - - - - - - 14.11 14.11 14.21
2225 208.2 -10.0 119 2231 roll -0.68 - - 2695 - 2.50 0.057 376 -559.2 -116.8 - - 3267 - - - - - - - - 14.62 14.04 14.62
2288 215.4 -11.5 128 2294 done -0.59 0.22 0.248 2734 177.3 2.38 0.031 1775 587.8 -116.8 - - 3267 - - - - - - - - 13.76 14.22 14.04
2619 245.9 -9.2 140 2625 roll -0.59 - - 2725 - 2.45 0.051 3171 569.8 -116.8 - - 3264 - - - - - - - - 14.57 14.05 14.59
2731 256.2 -8.9 156 2745 done -0.59 - - 2726 - 2.42 0.037 1774 -577.3 -116.8 - - 3263 - - - - - - - - 14.25 14.16 14.28
3076 287.6 -9.2 169 3089 roll -0.59 - - 2725 - 2.53 0.058 377 -552.2 -116.8 - - 3260 - - - - - - - - 14.76 13.97 14.78
3152 295.2 -9.8 179 3166 done -0.59 - - 2717 - 2.40 0.031 1791 589.2 -116.8 - - 3260 - - - - - - - - 14.26 14.21 14.29
3483 325.2 -9.1 190 3496 done -0.59 - - 2718 - - - 1791 - -116.8 - - 3258 - - - - - - - - 14.71 14.73 14.73
3818 353.3 -8.3 196 3831 roll -0.59 - - 2717 - 2.58 0.057 370 -550.8 -116.8 - - 3255 - - - - - - - - 14.72 13.97 14.74
3881 358.6 -8.4 204 3895 done -0.59 0.15 0.256 2736 126.7 2.40 0.032 1773 584.6 -116.8 - - 3254 - - - - - - - - 13.64 14.16 13.92
4226 382.7 -7.0 217 4240 roll -0.59 - - 2728 - 2.45 0.050 3163 567.3 -116.8 - - 3253 - - - - - - - - 14.69 13.97 14.71
4338 391.0 -7.4 232 4352 done -0.59 - - 2728 - 2.42 0.037 1775 -573.6 -116.8 - - 3250 - - - - - - - - 14.17 14.09 14.20
4683 420.1 -8.8 239 4696 roll -0.59 - - 2728 - 2.58 0.060 369 -545.0 -116.8 - - 3249 - - - - - - - - 14.71 13.95 14.71
4787 430.4 -9.7 253 4801 done -0.59 - - 2718 - 2.42 0.032 1781 583.5 -116.8 - - 3250 - - - - - - - - 14.21 14.14 14.23
5145 464.0 -9.4 261 5158 roll -0.59 - - 2708 - 2.45 0.053 3162 563.7 -116.8 - - 3248 - - - - - - - - 14.70 13.94 14.72
5208 469.9 -9.3 269 5222 done -0.59 0.15 0.237 2738 200.0 2.40 0.037 1772 -579.2 -116.8 - - 3248 - - - - - - - - 13.64 14.09 13.90
5554 497.1 -7.7 282 5567 roll -0.59 - - 2739 - 2.55 0.060 375 -547.8 -116.8 - - 3247 - - - - - - - - 14.69 13.93 14.72
5646 504.6 -8.2 294 5659 done -0.59 - - 2732 - 2.42 0.032 1775 578.5 -116.8 - - 3246 - - - - - - - - 14.18 14.12 14.20
6017 534.7 -8.2 304 6030 roll -0.59 - - 2721 - 2.50 0.054 3172 558.8 -116.8 - - 3245 - - - - - - - - 14.69 13.95 14.70
6107 542.3 -8.4 316 6120 done -0.59 - - 2721 - 2.45 0.038 1774 -570.6 -116.8 - - 3244 - - - - - - - - 14.12 14.03 14.15
6480 574.5 -8.7 326 6493 roll -0.59 - - 2721 - 2.58 0.060 369 -544.6 -116.8 - - 3243 - - - - - - - - 14.67 13.98 14.69
6584 584.3 -9.1 340 6598 done -0.59 - - 2712 - 2.45 0.033 1784 577.6 -116.8 - - 3243 - - - - - - - - 14.15 14.09 14.19
6943 614.6 -8.4 348 6957 roll -0.59 0.12 0.275 2730 150.0 2.47 0.053 3163 558.3 -116.8 - - 3241 - - - - - - - - 13.59 13.76 13.66
7020 620.4 -7.0 358 7033 done -0.59 - - 2730 - 2.42 0.037 1774 -574.0 -116.8 - - 3241 - - - - - - - - 14.14 14.04 14.16
7350 643.6 -7.0 369 7363 roll -0.59 - - 2730 - 2.58 0.061 372 -543.4 -116.8 - - 3240 - - - - - - - - 14.73 14.00 14.76
7435 650.2 -7.8 380 7448 done -0.59 - - 2721 - 2.45 0.032 1780 574.7 -116.8 - - 3242 - - - - - - - - 14.16 14.09 14.18
7757 674.8 -7.7 390 7770 roll -0.59 - - 2710 - 2.47 0.054 3166 561.1 -116.8 - - 3238 - - - - - - - - 14.65 13.98 14.67
7800 678.3 -8.5 395 7814 done -0.59 0.12 0.240 2734 200.0 2.45 0.037 1773 -568.6 -116.8 - - 3238 - - - - - - - - 13.66 14.04 13.92
8164 706.9 -7.9 404 8178 roll -0.59 - - 2734 - 2.58 0.062 377 -541.1 -116.8 - - 3237 - - - - - - - - 14.73 13.99 14.74
8255 714.7 -8.6 416 8268 done -0.59 - - 2727 - 2.42 0.033 1778 578.9 -116.8 - - 3237 - - - - - - - - 14.13 14.07 14.15
8628 743.9 -7.9 426 8641 roll -0.59 - - 2716 - 2.50 0.054 3169 556.4 -116.8 - - 3236 - - - - - - - - 14.69 13.97 14.71
8785 756.1 -7.8 447 8798 done -0.59 - - 2716 - 2.45 0.037 1777 -568.2 -116.8 - - 3236 - - - - - - - - 14.09 14.00 14.14
9151 785.1 -7.9 456 9164 roll -0.59 - - 2716 - 2.58 0.061 372 -544.6 -116.8 - - 3237 - - - - - - - - 14.63 14.00 14.65
9248 793.8 -8.8 469 9262 done -0.59 0.15 0.256 2736 133.3 2.47 0.033 1782 570.9 -116.8 - - 3233 - - - - - - - - 13.54 14.06 13.85
9615 821.7 -7.7 478 9628 roll -0.59 - - 2727 - 2.47 0.054 3161 558.3 -116.8 - - 3232 - - - - - - - - 14.62 14.00 14.64
9699 828.6 -8.1 489 9712 done -0.69 - - 2727 - 2.45 0.037 1770 -567.8 -116.8 - - 3231 - - - - - - - - 14.07 13.99 14.09
10021 855.2 -8.5 499 10034 roll -0.69 - - 2727 - 2.58 0.063 369 -543.0 -116.8 - - 3233 - - - - - - - - 14.69 14.01 14.71
10134 864.7 -8.9 514 10148 done -0.69 - - 2718 - 2.47 0.034 1772 568.0 -116.8 - - 3232 - - - - - - - - 14.10 14.04 14.13
10476 892.8 -8.1 521 10490 roll -0.69 - - 2708 - 2.50 0.054 3167 558.0 -116.8 - - 3231 - - - - - - - - 14.73 13.98 14.71
10583 900.7 -7.4 535 10596 done -0.69 - - 2708 - 2.47 0.037 1774 -564.0 -116.8 - - 3230 - - - - - - - - 14.08 13.98 14.12
10940 926.3 -7.0 543 10954 roll -0.69 - - 2708 - 2.58 0.063 375 -542.2 -116.8 - - 3230 - - - - - - - - 14.69 13.99 14.71
11054 934.3 -7.1 558 11067 done -0.69 - - 2699 - 2.47 0.034 1774 566.4 -116.8 - - 3230 - - - - - - - - 14.10 14.02 14.12
11396 957.3 -6.7 565 11409 roll -0.69 - - 2689 - 2.50 0.055 3169 558.0 -116.8 - - 3229 - - - - - - - - 14.67 13.98 14.71
11488 963.7 -6.8 577 11502 done -0.69 - - 2689 - 2.47 0.038 1772 -565.6 -116.8 - - 3232 - - - - - - - - 14.07 13.98 14.11
11855 end dive: TARGET_DEPTH_EXCEEDED
11855 begin apogee
11867 991.4 -7.6 587 11999 done -0.21 0.70 0.239 2856 238.6 - - 1662 - - 121.80 2.219 2794 -3.6 0.310 - - - - - - 13.79 13.86 12.92
12001 end apogee: CONTROL_FINISHED_OK
12001 begin climb
12005 996.0 - 589 12154 roll 0.84 1.20 0.156 3190 278.3 2.58 0.046 3082 550.4 116.8 127.70 2.184 2306 -3.8 0.336 - - - - - - 13.69 13.57 12.83
12212 985.9 7.8 622 12226 done 0.84 - - 3204 - 2.45 0.040 1691 -567.8 118.0 - - 2294 - - - - - - - - 14.16 14.09 14.22
12550 961.2 7.2 634 12569 roll 0.85 - - 3212 - 2.45 0.065 323 -558.4 129.6 5.05 1.614 2261 -6.5 0.751 - - - - - - 14.66 14.29 13.22
12604 957.0 9.6 641 12618 done 0.85 - - 3213 - 2.33 0.029 1703 592.3 129.6 - - 2262 - - - - - - - - 14.45 14.40 14.46
12948 931.4 7.5 648 12965 roll 0.86 - - 3213 - 2.40 0.048 3056 563.8 136.7 5.70 1.738 2234 -4.9 0.508 - - - - - - 14.71 14.33 13.28
13066 922.1 8.1 664 13079 done 0.86 - - 3222 - 2.38 0.041 1679 -578.6 136.7 - - 2239 - - - - - - - - 14.46 14.38 14.49
13410 893.5 8.4 677 13423 done 0.77 0.20 0.265 3181 -205.0 - - 1677 - 136.7 - - 2239 - - - - - - - - 13.78 14.21 14.10
13747 869.7 7.3 683 13777 done 0.78 - - 3181 - - - 1678 - 147.5 20.83 2.045 2190 -2.4 0.193 - - - - - - 14.64 14.29 13.38
14082 845.0 7.3 689 14099 roll 0.80 - - 3186 - 2.40 0.048 3057 574.6 157.2 3.62 1.261 2150 -11.0 1.429 - - - - - - 14.66 14.35 13.26
14136 840.6 8.0 696 14150 done 0.80 - - 3187 - 2.40 0.040 1677 -575.0 157.2 - - 2151 - - - - - - - - 14.42 14.35 14.47
14479 812.2 8.4 703 14492 roll 0.80 - - 3198 - 2.45 0.063 317 -555.1 157.2 - - 2152 - - - - - - - - 14.71 14.19 14.76
14522 808.3 8.7 708 14535 done 0.80 - - 3197 - 2.30 0.029 1695 599.1 157.2 - - 2152 - - - - - - - - 14.42 14.38 14.45
14888 774.9 9.1 717 14901 roll 0.80 - - 3196 - 2.35 0.047 3046 574.9 157.2 - - 2152 - - - - - - - - 14.66 14.19 14.68
15027 761.6 9.3 736 15040 done 0.80 - - 3206 - 2.38 0.040 1677 -575.2 157.2 - - 2152 - - - - - - - - 14.33 14.26 14.38
15349 732.0 9.2 746 15363 roll 0.80 - - 3217 - 2.45 0.064 324 -552.2 157.2 - - 2150 - - - - - - - - 14.66 14.07 14.68
15414 726.0 9.7 754 15428 done 0.80 0.15 0.250 3187 -200.0 2.28 0.029 1698 602.6 157.2 - - 2152 - - - - - - - - 13.84 14.31 14.12
15758 698.9 7.7 767 15775 roll 0.80 - - 3187 - 2.38 0.048 3038 563.0 159.7 2.85 0.880 2138 -4.9 0.753 - - - - - - 14.63 14.23 13.31
15840 692.4 7.9 778 15853 done 0.80 - - 3193 - 2.35 0.041 1681 -577.4 159.7 - - 2143 - - - - - - - - 14.38 14.30 14.42
16162 667.0 7.9 788 16175 roll 0.80 - - 3204 - 2.50 0.064 317 -545.6 159.7 - - 2144 - - - - - - - - 14.64 14.06 14.66
16220 662.5 8.5 795 16234 done 0.80 - - 3204 - 2.28 0.029 1671 593.9 159.7 - - 2147 - - - - - - - - 14.29 14.23 14.31
16561 634.9 8.0 802 16575 roll 0.80 - - 3208 - 2.42 0.046 3046 568.2 159.7 - - 2147 - - - - - - - - 14.69 14.02 14.70
16659 626.7 8.4 815 16672 done 0.80 - - 3213 - 2.40 0.040 1678 -570.0 159.7 - - 2147 - - - - - - - - 14.21 14.12 14.26
17025 596.6 8.3 824 17038 roll 0.80 - - 3223 - 2.47 0.064 329 -546.2 159.7 - - 2144 - - - - - - - - 14.66 13.97 14.69
17101 589.7 9.0 834 17115 done 0.80 0.15 0.245 3194 -193.3 2.28 0.029 1690 596.9 159.7 - - 2145 - - - - - - - - 13.72 14.19 14.01
17434 565.5 7.1 845 17475 roll 0.82 - - 3193 - 2.40 0.047 3038 561.7 173.4 25.35 1.657 2079 -2.6 0.171 - - - - - - 14.59 14.28 13.50
17578 554.9 7.5 865 17595 done 0.82 - - 3200 - 2.35 0.041 1678 -578.7 179.5 2.08 0.272 2057 -10.6 4.164 - - - - - - 14.40 14.33 12.71
17948 526.4 7.7 875 17961 roll 0.83 - - 3210 - 2.45 0.064 319 -554.7 181.7 - - 2060 - - - - - - - - 14.67 14.14 14.69
17998 522.2 8.3 881 18011 done 0.83 - - 3210 - 2.25 0.029 1673 601.8 181.7 - - 2060 - - - - - - - - 14.40 14.33 14.42
18355 493.1 8.1 889 18368 roll 0.83 - - 3210 - 2.40 0.047 3050 573.8 181.7 - - 2063 - - - - - - - - 14.66 14.19 14.68
18482 482.7 8.2 906 18496 done 0.83 - - 3218 - 2.38 0.039 1678 -576.5 181.7 - - 2064 - - - - - - - - 14.33 14.25 14.36
18818 453.5 8.7 918 18831 done 0.83 - - 3218 - - - 1678 - 181.7 - - 2060 - - - - - - - - 14.66 14.68 14.67
19156 424.1 8.7 924 19170 roll 0.83 - - 3218 - 2.40 0.045 3045 569.6 181.7 - - 2061 - - - - - - - - 14.63 14.15 14.65
19205 419.6 9.1 930 19218 done 0.83 - - 3227 - 2.38 0.040 1680 -573.5 181.7 - - 2060 - - - - - - - - 14.31 14.23 14.35
19562 389.3 8.4 938 19576 roll 0.83 - - 3237 - 2.47 0.064 317 -551.8 181.7 - - 2060 - - - - - - - - 14.69 14.04 14.71
19612 385.0 9.2 944 19626 done 0.83 0.17 0.236 3200 -217.6 2.28 0.028 1695 604.4 181.7 - - 2060 - - - - - - - - 13.81 14.32 14.09
19970 356.5 8.1 952 19983 roll 0.83 - - 3200 - 2.35 0.046 3035 570.2 181.7 - - 2060 - - - - - - - - 14.63 14.09 14.65
20046 349.8 8.6 962 20060 done 0.83 - - 3205 - 2.38 0.040 1678 -570.2 181.7 - - 2060 - - - - - - - - 14.24 14.16 14.28
20377 323.8 7.8 973 20395 roll 0.83 - - 3216 - 2.47 0.064 326 -547.4 183.2 3.08 0.799 2046 -4.5 0.356 - - - - - - 14.67 14.16 13.49
20458 317.5 7.5 984 20488 done 0.84 - - 3216 - 2.22 0.028 1659 600.5 189.3 14.10 1.417 2013 -2.3 0.101 - - - - - - 14.42 14.37 13.57
20833 289.7 7.6 995 20850 roll 0.84 - - 3216 - 2.45 0.044 3054 569.4 194.9 1.90 0.162 1994 -10.0 3.451 - - - - - - 14.66 14.24 14.08
20927 281.8 8.1 1008 20941 done 0.84 - - 3224 - 2.40 0.039 1675 -574.6 194.9 - - 1995 - - - - - - - - 14.36 14.27 14.38
21293 251.7 8.4 1017 21306 roll 0.84 - - 3235 - 2.45 0.063 325 -551.0 194.9 - - 1996 - - - - - - - - 14.64 14.12 14.66
21334 247.7 9.2 1022 21349 done 0.84 0.15 0.231 3204 -206.7 2.30 0.028 1707 600.9 194.9 - - 1996 - - - - - - - - 13.90 14.33 14.16
21700 216.6 8.8 1031 21713 roll 0.84 - - 3204 - 2.33 0.044 3039 571.7 194.9 - - 1996 - - - - - - - - 14.70 14.14 14.71
21813 206.9 8.4 1046 21828 done 0.84 - - 3210 - 2.38 0.040 1681 -570.6 194.9 - - 1996 - - - - - - - - 14.30 14.21 14.33
22158 181.3 7.4 1053 22185 roll 0.85 - - 3221 - 2.40 0.062 324 -565.4 203.6 14.40 1.248 1955 -2.8 0.080 - - - - - - 14.67 14.21 13.64
22228 175.0 9.4 1063 22242 done 0.85 - - 3220 - 2.22 0.028 1668 605.4 203.6 - - 1951 - - - - - - - - 14.46 14.41 14.47
22558 145.1 8.9 1074 22571 roll 0.85 - - 3220 - 2.40 0.044 3056 578.3 203.6 - - 1950 - - - - - - - - 14.67 14.19 14.69
22627 138.4 9.5 1083 22640 done 0.85 - - 3228 - 2.38 0.038 1680 -578.2 203.6 - - 1950 - - - - - - - - 14.37 14.28 14.41
22965 109.2 8.2 1095 22978 roll 0.85 - - 3239 - 2.45 0.063 324 -553.5 203.6 - - 1949 - - - - - - - - 14.65 14.12 14.67
23022 104.1 8.9 1102 23037 done 0.85 0.15 0.219 3206 -220.0 2.30 0.028 1704 600.0 203.6 - - 1950 - - - - - - - - 13.93 14.34 14.21
23344 84.8 4.8 1113 23409 roll 1.03 0.15 0.115 3269 420.0 2.33 0.044 3042 574.2 260.9 50.78 0.347 1733 -4.3 0.202 - - - - - - 14.22 14.36 13.95
23480 75.5 7.0 1133 23511 done 1.05 - - 3277 - 2.35 0.037 1677 -580.9 277.7 19.02 0.304 1661 -3.8 0.181 - - - - - - 14.39 14.31 13.92
23822 61.3 3.9 1148 23909 roll 1.32 0.22 0.092 3368 413.6 2.40 0.041 3043 569.2 351.2 70.45 0.284 1359 -4.3 0.179 - - - - - - 14.12 14.35 14.00
23923 54.5 7.5 1157 23944 done 1.33 - - 3376 - 2.35 0.039 1683 -578.7 358.2 8.75 0.240 1332 -3.1 0.135 - - - - - - 14.32 14.23 13.91
24279 19.5 10.2 1173 24297 roll 1.33 - - 3386 - 2.47 0.061 327 -549.0 358.2 2.70 0.142 1332 - - - - - - - - 14.57 14.04 13.94
24406 5.2 11.6 1190 24421 done 1.33 - - 3386 - 2.22 0.024 1685 611.7 358.2 2.83 0.141 1331 - - - - - - - - 14.33 14.28 13.98
24431 end climb: SURFACE_DEPTH_REACHED
24431 begin surface coast
24459 end surface coast: CONTROL_FINISHED_OK
24459 begin surface
SM 1.12 - - - - -8.59 9.73 0.060 164 16.8 - - 1695 - 515.38 95.78 0.120 690 7.2 -0.007 - - - - - -