SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 653 * Raw log
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• Previous call tries 1 • 247.52 of 350.00 AH used of 24V (29.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 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: 32 s
• GPS2 time: 12 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 113 VBD -0.84 - - 147 - - - 1802 - -116.8 -82.97 - 3195 - - - - - - - - 14.51 - 14.54
118 4.9 -6.9 3 141 roll -0.84 12.65 0.379 2662 198.8 2.72 2.038 369 -526.8 -116.8 -1.12 - 3273 -69.6 - - - - - - - 13.91 12.93 14.32
177 28.1 -26.7 12 184 done -0.39 0.60 0.268 2796 223.3 2.30 0.032 1751 600.9 -116.8 - - 3273 - - - - - - - - 13.97 14.42 14.27
507 69.7 -9.5 26 513 roll -0.39 - - 2796 - 2.42 0.055 368 -571.5 -116.8 - - 3273 - - - - - - - - 14.64 14.27 14.65
619 79.5 -7.6 42 626 done -0.39 - - 2789 - 2.35 0.030 1785 603.0 -116.8 - - 3277 - - - - - - - - 14.42 14.36 14.43
985 104.3 -6.5 57 992 roll -0.39 - - 2779 - 2.35 0.051 3159 584.7 -116.8 - - 3274 - - - - - - - - 14.64 14.19 14.66
1225 122.6 -7.8 91 1232 done -0.49 - - 2778 - 2.35 0.036 1773 -589.8 -116.8 - - 3274 - - - - - - - - 14.31 14.24 14.34
1548 146.3 -7.2 102 1554 roll -0.58 0.12 0.119 2718 -500.0 2.47 0.055 376 -565.6 -116.8 - - 3273 - - - - - - - - 14.25 14.09 14.26
1618 153.3 -10.3 112 1624 done -0.58 0.15 0.245 2739 140.0 2.35 0.031 1777 596.2 -116.8 - - 3273 - - - - - - - - 13.85 14.27 14.10
1942 181.1 -8.5 123 1948 roll -0.58 - - 2731 - 2.40 0.050 3161 576.7 -116.8 - - 3270 - - - - - - - - 14.57 14.10 14.61
1983 184.6 -8.0 129 1990 done -0.58 - - 2731 - 2.38 0.036 1773 -583.2 -116.8 - - 3270 - - - - - - - - 14.27 14.19 14.29
2334 213.4 -8.5 137 2341 roll -0.58 - - 2731 - 2.53 0.058 376 -552.2 -116.8 - - 3268 - - - - - - - - 14.64 14.06 14.64
2427 222.2 -9.7 150 2433 done -0.58 - - 2719 - 2.38 0.031 1778 589.1 -116.8 - - 3267 - - - - - - - - 14.27 14.23 14.31
2787 254.8 -9.0 159 2800 roll -0.58 - - 2712 - 2.42 0.051 3168 574.4 -116.8 - - 3264 - - - - - - - - 14.57 14.12 14.59
2835 259.3 -8.8 165 2849 done -0.58 - - 2712 - 2.38 0.035 1776 -584.9 -116.8 - - 3264 - - - - - - - - 14.32 14.21 14.32
3194 291.3 -9.2 173 3208 roll -0.58 0.12 0.251 2745 275.0 2.53 0.057 379 -552.2 -116.8 - - 3259 - - - - - - - - 13.79 13.95 13.87
3292 300.2 -8.8 186 3305 done -0.58 - - 2738 - 2.40 0.031 1782 584.6 -116.8 - - 3260 - - - - - - - - 14.26 14.20 14.28
3658 328.8 -7.7 195 3671 done -0.58 - - 2739 - - - 1783 - -116.8 - - 3261 - - - - - - - - 14.76 14.78 14.77
3992 355.5 -8.0 201 4005 done -0.58 - - 2739 - - - 1783 - -116.8 - - 3256 - - - - - - - - 14.77 14.80 14.79
4328 383.9 -8.6 207 4341 roll -0.58 - - 2728 - 2.47 0.053 3167 560.3 -116.8 - - 3258 - - - - - - - - 14.77 13.97 14.79
4393 389.4 -8.7 215 4406 done -0.58 - - 2728 - 2.45 0.037 1772 -569.4 -116.8 - - 3253 - - - - - - - - 14.16 14.09 14.20
4736 421.4 -9.4 228 4749 roll -0.58 - - 2728 - 2.53 0.059 378 -551.0 -116.8 - - 3252 - - - - - - - - 14.70 13.95 14.72
4855 433.4 -9.9 244 4868 done -0.58 - - 2719 - 2.40 0.031 1778 583.3 -116.8 - - 3251 - - - - - - - - 14.19 14.14 14.22
5200 465.8 -9.4 257 5213 roll -0.58 - - 2708 - 2.45 0.053 3160 564.1 -116.8 - - 3249 - - - - - - - - 14.67 13.98 14.70
5312 476.2 -9.1 272 5326 done -0.58 0.15 0.228 2738 200.0 2.42 0.036 1772 -573.6 -116.8 - - 3249 - - - - - - - - 13.64 14.04 13.90
5657 502.2 -7.4 279 5670 roll -0.58 - - 2738 - 2.55 0.060 378 -546.7 -116.8 - - 3246 - - - - - - - - 14.67 13.93 14.69
5763 510.2 -7.2 293 5777 done -0.58 - - 2732 - 2.40 0.031 1776 582.5 -116.8 - - 3247 - - - - - - - - 14.19 14.12 14.21
6123 534.8 -7.0 301 6136 roll -0.58 - - 2721 - 2.50 0.053 3164 555.2 -116.8 - - 3245 - - - - - - - - 14.67 13.96 14.69
6186 539.6 -7.5 309 6200 done -0.58 - - 2721 - 2.45 0.037 1774 -567.3 -116.8 - - 3245 - - - - - - - - 14.12 14.03 14.15
6530 568.7 -8.7 322 6543 roll -0.58 - - 2721 - 2.58 0.060 369 -544.6 -116.8 - - 3241 - - - - - - - - 14.67 14.02 14.69
6643 579.9 -10.1 337 6658 done -0.58 - - 2713 - 2.45 0.032 1773 573.1 -116.8 - - 3243 - - - - - - - - 14.14 14.08 14.17
6986 613.2 -9.7 344 6999 roll -0.58 - - 2702 - 2.47 0.052 3164 563.2 -116.8 - - 3242 - - - - - - - - 14.73 13.95 14.76
7078 621.8 -9.2 356 7092 done -0.58 0.17 0.231 2738 211.8 2.45 0.037 1770 -569.0 -116.8 - - 3242 - - - - - - - - 13.59 14.02 13.88
7450 650.5 -7.5 366 7463 roll -0.58 - - 2739 - 2.55 0.061 379 -545.5 -116.8 - - 3240 - - - - - - - - 14.72 13.97 14.74
7584 661.1 -8.0 384 7597 done -0.58 - - 2732 - 2.42 0.032 1779 578.5 -116.8 - - 3240 - - - - - - - - 14.14 14.08 14.16
7913 686.5 -7.8 395 7926 roll -0.58 - - 2721 - 2.50 0.054 3165 554.4 -116.8 - - 3238 - - - - - - - - 14.72 13.99 14.73
8010 694.3 -8.0 408 8024 done -0.58 - - 2721 - 2.45 0.037 1768 -570.2 -116.8 - - 3238 - - - - - - - - 14.09 14.01 14.13
8376 723.9 -8.1 417 8389 roll -0.58 - - 2721 - 2.55 0.060 375 -546.3 -116.8 - - 3237 - - - - - - - - 14.69 13.97 14.72
8480 733.0 -8.4 431 8494 done -0.58 - - 2713 - 2.45 0.033 1779 573.1 -116.8 - - 3237 - - - - - - - - 14.16 14.10 14.19
8839 761.6 -8.0 439 8852 roll -0.58 - - 2702 - 2.50 0.055 3167 555.2 -116.8 - - 3236 - - - - - - - - 14.69 13.95 14.71
8915 767.9 -8.0 449 8929 done -0.58 0.17 0.233 2738 211.8 2.45 0.037 1772 -569.4 -116.8 - - 3235 - - - - - - - - 13.57 13.99 13.87
9245 789.9 -6.5 460 9259 roll -0.67 - - 2738 - 2.58 0.063 372 -542.6 -116.8 - - 3235 - - - - - - - - 14.62 13.99 14.64
9359 798.0 -7.2 475 9373 done -0.67 - - 2732 - 2.47 0.033 1779 569.6 -116.8 - - 3236 - - - - - - - - 14.11 14.04 14.14
9701 821.7 -7.0 482 9714 roll -0.67 - - 2717 - 2.50 0.055 3170 556.4 -116.8 - - 3233 - - - - - - - - 14.62 13.99 14.63
9800 828.6 -7.0 495 9814 done -0.76 0.12 0.125 2675 -350.0 2.47 0.039 1773 -565.6 -116.8 - - 3233 - - - - - - - - 13.99 14.04 14.09
10165 860.1 -8.8 504 10178 roll -0.76 - - 2674 - 2.58 0.063 376 -541.5 -116.8 - - 3232 - - - - - - - - 14.69 14.00 14.71
10338 876.1 -9.5 527 10352 done -0.76 - - 2665 - 2.47 0.034 1779 568.0 -116.8 - - 3232 - - - - - - - - 14.10 14.03 14.13
10677 908.5 -9.5 534 10690 roll -0.76 - - 2655 - 2.50 0.056 3165 554.4 -116.8 - - 3231 - - - - - - - - 14.61 14.00 14.63
10762 916.9 -9.9 545 10775 done -0.76 - - 2654 - 2.45 0.039 1779 -565.7 -116.8 - - 3230 - - - - - - - - 14.06 13.97 14.09
11085 949.8 -10.2 555 11098 roll -0.76 - - 2654 - 2.58 0.063 375 -544.2 -116.8 - - 3230 - - - - - - - - 14.67 13.98 14.69
11214 963.5 -11.8 572 11227 done -0.66 0.30 0.265 2709 183.3 2.45 0.035 1771 569.8 -116.8 - - 3230 - - - - - - - - 13.61 14.03 13.95
11546 end dive: TARGET_DEPTH_EXCEEDED
11546 begin apogee
11558 990.9 -7.7 584 11689 done -0.21 0.60 0.233 2855 243.3 - - 1650 - - 121.93 2.222 2792 -3.6 0.306 - - - - - - 13.76 13.86 12.92
11693 end apogee: CONTROL_FINISHED_OK
11693 begin climb
11697 995.9 - 586 11844 roll 0.84 1.17 0.157 3198 293.2 2.40 0.063 354 -540.0 116.8 126.22 2.195 2308 -3.8 0.332 - - - - - - 13.69 13.59 12.85
11915 984.8 9.1 621 11930 done 0.84 - - 3198 - 2.30 0.029 1704 587.0 116.8 - - 2296 - - - - - - - - 14.26 14.21 14.27
12241 959.4 7.8 631 12254 roll 0.84 - - 3198 - 2.38 0.047 3061 570.2 117.5 - - 2293 - - - - - - - - 14.66 14.26 14.69
12360 949.7 8.0 647 12374 done 0.84 - - 3206 - 2.35 0.041 1697 -580.4 117.5 - - 2291 - - - - - - - - 14.38 14.34 14.39
12705 923.1 7.7 660 12718 roll 0.84 - - 3216 - 2.47 0.064 323 -556.3 120.5 - - 2295 - - - - - - - - 14.67 14.21 14.69
12754 919.0 11.6 666 12767 done 0.84 - - 3216 - 2.28 0.029 1687 598.2 120.5 - - 2291 - - - - - - - - 14.42 14.38 14.45
13111 891.4 7.6 674 13124 roll 0.85 - - 3216 - 2.40 0.047 3059 571.7 124.7 - - 2290 - - - - - - - - 14.71 14.15 14.73
13232 881.9 8.0 690 13246 done 0.75 0.22 0.262 3179 -168.2 2.40 0.039 1682 -573.8 124.7 - - 2290 - - - - - - - - 13.81 14.24 14.13
13580 860.1 6.2 703 13633 done 0.79 - - 3178 - - - 1678 - 155.0 39.22 2.053 2150 -3.6 0.285 - - - - - - 14.62 14.17 13.25
13970 831.9 7.3 710 13987 roll 0.80 - - 3186 - 2.47 0.065 321 -549.4 164.6 2.58 0.728 2120 -11.6 2.537 - - - - - - 14.64 14.23 13.15
14001 829.3 8.2 714 14014 done 0.80 - - 3186 - 2.28 0.030 1690 600.4 164.6 - - 2120 - - - - - - - - 14.47 14.42 14.49
14374 799.0 8.2 724 14387 roll 0.80 - - 3187 - 2.38 0.048 3057 574.4 164.6 - - 2120 - - - - - - - - 14.70 14.23 14.72
14506 787.5 8.5 742 14519 done 0.80 - - 3195 - 2.40 0.040 1668 -578.8 164.6 - - 2121 - - - - - - - - 14.40 14.31 14.42
14835 759.7 8.5 753 14848 done 0.80 - - 3195 - - - 1669 - 164.6 - - 2119 - - - - - - - - 14.71 14.73 14.73
15173 731.4 8.4 759 15186 done 0.80 - - 3194 - - - 1673 - 164.6 - - 2120 - - - - - - - - 14.70 14.72 14.72
15507 704.0 8.1 765 15521 roll 0.80 - - 3195 - 2.45 0.046 3053 563.3 164.6 - - 2120 - - - - - - - - 14.71 14.16 14.73
15556 699.9 8.6 771 15569 done 0.80 - - 3204 - 2.38 0.040 1679 -577.3 164.6 - - 2120 - - - - - - - - 14.35 14.26 14.38
15915 669.3 8.7 779 15928 roll 0.80 - - 3214 - 2.47 0.064 323 -549.0 164.6 - - 2120 - - - - - - - - 14.64 14.11 14.66
15949 665.9 9.1 783 15962 done 0.80 - - 3214 - 2.30 0.029 1681 590.4 164.6 - - 2120 - - - - - - - - 14.39 14.34 14.41
16320 631.0 9.3 793 16334 roll 0.80 - - 3214 - 2.42 0.047 3060 569.8 164.6 - - 2121 - - - - - - - - 14.70 14.00 14.73
16398 623.7 9.4 803 16412 done 0.80 0.15 0.249 3194 -133.3 2.40 0.040 1678 -575.8 164.6 - - 2120 - - - - - - - - 13.84 14.20 14.12
16728 598.5 7.4 814 16747 roll 0.81 - - 3194 - 2.40 0.046 3062 576.7 172.6 6.75 1.604 2089 -4.6 0.327 - - - - - - 14.63 14.21 13.46
16776 595.0 7.4 819 16807 done 0.82 - - 3200 - 2.38 0.040 1678 -581.5 181.3 18.73 1.720 2053 -1.9 0.127 - - - - - - 14.49 14.40 13.50
17134 568.4 7.6 834 17148 roll 0.83 - - 3212 - 2.42 0.063 322 -560.3 186.6 1.42 0.177 2026 -19.0 11.656 - - - - - - 14.65 14.16 14.06
17233 560.0 8.5 847 17246 done 0.83 - - 3210 - 2.30 0.030 1687 593.5 186.6 - - 2027 - - - - - - - - 14.43 14.38 14.45
17598 529.4 8.5 856 17611 roll 0.83 - - 3210 - 2.38 0.046 3052 573.5 186.6 - - 2025 - - - - - - - - 14.70 14.19 14.71
17697 520.5 8.9 869 17710 done 0.83 - - 3219 - 2.38 0.039 1679 -576.9 186.6 - - 2027 - - - - - - - - 14.36 14.28 14.40
18062 487.5 9.1 878 18076 roll 0.83 - - 3230 - 2.45 0.063 326 -552.2 186.6 - - 2027 - - - - - - - - 14.71 14.10 14.74
18126 481.3 10.0 886 18139 done 0.83 0.15 0.239 3200 -200.0 2.28 0.029 1695 600.4 186.6 - - 2029 - - - - - - - - 13.88 14.33 14.15
18471 452.8 8.2 899 18484 roll 0.83 - - 3199 - 2.35 0.047 3042 573.2 186.6 - - 2027 - - - - - - - - 14.64 14.14 14.66
18534 447.1 8.9 907 18547 done 0.83 - - 3205 - 2.38 0.040 1674 -574.8 186.6 - - 2027 - - - - - - - - 14.28 14.21 14.32
18879 417.7 8.6 920 18892 done 0.83 - - 3205 - - - 1674 - 186.6 - - 2025 - - - - - - - - 14.67 14.69 14.69
19214 390.0 8.2 926 19227 roll 0.83 - - 3205 - 2.42 0.045 3047 567.4 186.6 - - 2027 - - - - - - - - 14.69 14.07 14.71
19249 386.8 8.8 930 19262 done 0.83 - - 3214 - 2.38 0.039 1681 -573.9 186.6 - - 2027 - - - - - - - - 14.27 14.19 14.30
19621 353.2 9.3 940 19635 roll 0.83 - - 3228 - 2.47 0.064 324 -549.4 186.6 - - 2027 - - - - - - - - 14.61 14.04 14.62
19663 348.8 10.3 945 19677 done 0.83 - - 3224 - 2.28 0.029 1675 592.5 186.6 - - 2026 - - - - - - - - 14.32 14.27 14.33
20028 312.6 9.8 954 20041 roll 0.83 0.12 0.242 3197 -225.0 2.45 0.044 3065 567.3 186.6 - - 2027 - - - - - - - - 13.74 13.90 13.82
20166 301.4 8.1 972 20179 done 0.83 - - 3200 - 2.42 0.041 1681 -571.9 186.6 - - 2027 - - - - - - - - 14.22 14.13 14.26
20495 276.8 7.2 983 20525 roll 0.84 - - 3210 - 2.42 0.063 319 -562.8 199.1 17.70 1.368 1978 -2.8 0.107 - - - - - - 14.62 14.21 13.64
20583 270.2 8.0 995 20596 done 0.84 - - 3210 - 2.28 0.029 1693 602.6 199.1 - - 1968 - - - - - - - - 14.48 14.43 14.51
20954 241.6 7.8 1005 20967 roll 0.84 - - 3210 - 2.35 0.045 3049 577.0 200.2 - - 1967 - - - - - - - - 14.66 14.23 14.69
21046 234.7 7.4 1017 21064 done 0.85 - - 3219 - 2.38 0.039 1676 -576.9 209.0 4.32 1.011 1939 -6.5 0.287 - - - - - - 14.37 14.28 13.51
21415 207.4 7.5 1027 21444 roll 0.86 - - 3229 - 2.45 0.065 324 -551.8 216.6 14.07 1.281 1902 -2.6 0.081 - - - - - - 14.66 14.27 13.65
21502 200.0 9.1 1039 21515 done 0.86 - - 3229 - 2.25 0.028 1680 602.7 216.6 - - 1899 - - - - - - - - 14.51 14.46 14.54
21873 165.5 9.4 1049 21887 roll 0.86 - - 3229 - 2.40 0.045 3061 575.4 216.6 - - 1898 - - - - - - - - 14.71 14.21 14.73
21978 155.2 9.6 1063 21992 done 0.86 - - 3236 - 2.40 0.041 1675 -577.5 216.6 - - 1898 - - - - - - - - 14.36 14.27 14.40
22338 121.9 9.4 1071 22351 done 0.86 - - 3236 - - - 1674 - 216.6 - - 1898 - - - - - - - - 14.69 14.71 14.71
22644 94.4 8.6 1077 22657 done 0.86 - - 3236 - - - 1674 - 216.6 - - 1898 - - - - - - - - 14.69 14.71 14.71
22953 73.1 6.8 1088 22982 roll 0.89 - - 3236 - 2.40 0.042 3067 580.4 236.0 14.70 0.284 1834 -4.4 0.214 - - - - - - 14.63 14.16 13.93
23115 64.7 2.9 1111 23216 done 1.12 0.15 0.114 3303 446.7 2.42 0.040 1675 -575.2 328.7 88.07 0.300 1451 -4.3 0.179 - - - - - - 14.17 14.18 13.99
23545 45.4 6.4 1138 23584 roll 1.28 0.12 0.122 3372 575.0 2.45 0.062 327 -550.2 355.3 25.90 0.232 1343 -4.2 0.156 - - - - - - 14.21 14.29 14.03
23645 37.3 9.8 1151 23664 done 1.28 0.15 0.235 3342 -200.0 2.25 0.026 1702 611.1 355.3 2.75 0.146 1344 - - - - - - - - 13.82 14.28 13.93
23967 12.9 8.1 1164 23980 done 1.28 - - 3343 - - - 1703 - 355.3 2.72 0.140 1347 1.1 -0.019 - - - - - - 14.60 14.14 13.95
24099 end climb: SURFACE_DEPTH_REACHED
24099 begin surface coast
24127 end surface coast: CONTROL_FINISHED_OK
24127 begin surface
SM 1.01 - - - - -8.61 9.73 0.070 158 16.2 - - 1711 - 515.13 99.20 0.120 692 7.0 -0.006 - - - - - -