SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 658 * Raw log
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• Previous call tries 1 • 249.37 of 350.00 AH used of 24V (28.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 0.99 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 63 s
• GPS2 time: 11 s • Transponder ping count: 7
• 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
33 - - - 119 VBD -0.84 - - 144 - - - 1772 - -116.8 -83.07 - 3190 - - - - - - - - 14.49 - 14.51
124 4.9 -6.8 3 146 done -0.84 12.30 0.360 2652 203.9 - - 1769 - -116.8 -1.17 - 3271 -69.2 - 1 - - - - - 13.54 12.90 14.31
457 81.9 -15.5 15 464 roll -0.55 0.35 0.259 2745 265.7 2.45 0.054 367 -572.2 -116.8 - - 3272 - - - - - - - - 13.91 14.19 14.07
654 96.9 -8.6 43 660 done -0.55 - - 2739 - 2.30 0.030 1752 602.2 -116.8 - - 3273 - - - - - - - - 14.41 14.36 14.42
992 122.9 -7.2 53 999 roll -0.55 - - 2728 - 2.45 0.050 3168 578.0 -116.8 - - 3276 - - - - - - - - 14.63 14.18 14.62
1192 140.5 -8.8 81 1199 done -0.55 - - 2727 - 2.38 0.037 1770 -587.4 -116.8 - - 3272 - - - - - - - - 14.32 14.24 14.35
1557 176.0 -9.5 91 1563 roll -0.55 - - 2728 - 2.47 0.057 376 -564.4 -116.8 - - 3271 - - - - - - - - 14.62 14.08 14.64
1684 187.7 -9.0 109 1692 done -0.55 0.12 0.254 2741 108.3 2.35 0.031 1778 596.6 -116.8 - - 3270 - - - - - - - - 13.84 14.25 14.08
2008 212.0 -7.4 120 2014 roll -0.55 - - 2733 - 2.42 0.050 3161 571.5 -116.8 - - 3268 - - - - - - - - 14.59 14.09 14.59
2107 219.5 -7.6 134 2113 done -0.55 - - 2733 - 2.38 0.036 1776 -581.9 -116.8 - - 3268 - - - - - - - - 14.24 14.16 14.27
2457 247.5 -7.9 142 2464 roll -0.55 - - 2733 - 2.53 0.058 372 -554.9 -116.8 - - 3264 - - - - - - - - 14.57 14.04 14.59
2570 257.2 -8.8 158 2583 done -0.55 - - 2725 - 2.38 0.031 1769 587.0 -116.8 - - 3263 - - - - - - - - 14.18 14.12 14.21
2915 288.4 -9.3 171 2928 roll -0.55 - - 2714 - 2.47 0.051 3170 567.2 -116.8 - - 3263 - - - - - - - - 14.74 13.99 14.76
2984 295.5 -10.0 180 2998 done -0.55 0.15 0.223 2745 206.7 2.40 0.037 1774 -581.7 -116.8 - - 3260 - - - - - - - - 13.73 14.13 13.97
3322 326.4 -9.1 192 3335 roll -0.55 - - 2745 - 2.53 0.060 378 -551.8 -116.8 - - 3257 - - - - - - - - 14.69 13.97 14.71
3442 337.5 -9.0 208 3455 done -0.55 - - 2738 - 2.38 0.031 1776 587.4 -116.8 - - 3257 - - - - - - - - 14.22 14.16 14.24
3786 365.9 -8.2 221 3800 roll -0.55 - - 2728 - 2.47 0.052 3175 566.4 -116.8 - - 3255 - - - - - - - - 14.68 13.97 14.71
3863 372.3 -8.1 231 3876 done -0.55 - - 2728 - 2.42 0.037 1777 -577.7 -116.8 - - 3254 - - - - - - - - 14.16 14.08 14.22
4192 400.2 -8.6 242 4205 roll -0.55 - - 2728 - 2.58 0.059 373 -544.2 -116.8 - - 3252 - - - - - - - - 14.75 13.99 14.77
4313 411.3 -9.2 258 4326 done -0.55 0.12 0.249 2742 116.7 2.42 0.032 1790 585.5 -116.8 - - 3251 - - - - - - - - 13.68 14.13 13.93
4657 438.4 -7.8 271 4670 roll -0.55 - - 2734 - 2.45 0.054 3166 561.6 -116.8 - - 3249 - - - - - - - - 14.75 13.94 14.77
4714 442.7 -7.6 278 4727 done -0.55 - - 2735 - 2.45 0.037 1771 -569.4 -116.8 - - 3249 - - - - - - - - 14.14 14.06 14.17
5056 468.5 -7.4 285 5069 roll -0.55 - - 2735 - 2.55 0.060 373 -548.2 -116.8 - - 3247 - - - - - - - - 14.68 13.95 14.69
5161 476.6 -7.6 299 5174 done -0.55 - - 2726 - 2.42 0.032 1770 577.3 -116.8 - - 3247 - - - - - - - - 14.17 14.11 14.20
5519 504.6 -8.1 307 5533 roll -0.55 - - 2715 - 2.47 0.053 3162 563.6 -116.8 - - 3246 - - - - - - - - 14.66 13.95 14.69
5589 510.9 -9.0 316 5603 done -0.55 0.15 0.227 2745 200.0 2.42 0.036 1767 -576.4 -116.8 - - 3245 - - - - - - - - 13.64 14.03 13.90
5929 539.4 -8.5 328 5942 roll -0.55 - - 2746 - 2.53 0.060 380 -548.2 -116.8 - - 3244 - - - - - - - - 14.66 13.88 14.69
6019 547.8 -9.0 340 6033 done -0.55 - - 2739 - 2.42 0.031 1778 577.7 -116.8 - - 3244 - - - - - - - - 14.07 14.01 14.09
6392 577.6 -7.7 350 6406 roll -0.55 - - 2728 - 2.50 0.054 3170 556.8 -116.8 - - 3242 - - - - - - - - 14.65 13.97 14.67
6469 583.3 -7.1 360 6482 done -0.55 - - 2728 - 2.42 0.037 1780 -574.4 -116.8 - - 3242 - - - - - - - - 14.03 14.00 14.05
6798 606.5 -7.1 371 6812 roll -0.55 - - 2728 - 2.58 0.060 373 -545.3 -116.8 - - 3241 - - - - - - - - 14.72 13.97 14.74
6951 617.3 -7.3 391 6964 done -0.55 0.12 0.250 2742 116.7 2.42 0.032 1775 579.3 -116.8 - - 3240 - - - - - - - - 13.66 14.12 13.91
7322 641.1 -6.3 401 7336 roll -0.55 - - 2734 - 2.47 0.054 3162 561.5 -116.8 - - 3238 - - - - - - - - 14.72 13.98 14.74
7422 647.5 -6.4 414 7435 done -0.65 - - 2734 - 2.45 0.037 1767 -569.4 -116.8 - - 3238 - - - - - - - - 14.11 14.02 14.14
7786 673.6 -7.3 423 7799 roll -0.65 - - 2734 - 2.58 0.060 371 -541.1 -116.8 - - 3237 - - - - - - - - 14.71 14.00 14.73
7927 684.7 -7.9 442 7941 done -0.65 - - 2725 - 2.45 0.034 1775 573.1 -116.8 - - 3237 - - - - - - - - 14.14 14.08 14.16
8250 709.2 -7.6 452 8263 roll -0.65 - - 2714 - 2.50 0.054 3167 556.8 -116.8 - - 3236 - - - - - - - - 14.64 14.01 14.66
8342 716.1 -7.3 464 8355 done -0.65 - - 2715 - 2.45 0.037 1774 -568.6 -116.8 - - 3236 - - - - - - - - 14.08 14.00 14.12
8714 743.7 -7.4 474 8727 roll -0.65 - - 2714 - 2.58 0.061 372 -543.4 -116.8 - - 3234 - - - - - - - - 14.63 14.00 14.65
8811 752.1 -8.5 487 8824 done -0.65 - - 2706 - 2.45 0.033 1779 574.3 -116.8 - - 3233 - - - - - - - - 14.20 14.12 14.21
9177 782.6 -8.5 496 9190 roll -0.65 - - 2695 - 2.50 0.055 3164 554.0 -116.8 - - 3233 - - - - - - - - 14.60 14.03 14.64
9267 790.6 -8.6 508 9281 done -0.65 - - 2695 - 2.45 0.037 1773 -567.8 -116.8 - - 3232 - - - - - - - - 14.07 13.99 14.13
9640 823.1 -8.7 518 9654 roll -0.65 - - 2695 - 2.58 0.062 372 -543.0 -116.8 - - 3232 - - - - - - - - 14.59 14.00 14.62
9773 835.2 -8.8 536 9786 done -0.65 0.10 0.240 2717 220.0 2.42 0.034 1770 577.7 -116.8 - - 3231 - - - - - - - - 13.55 13.94 13.88
10104 859.3 -7.5 547 10117 roll -0.65 - - 2709 - 2.50 0.054 3167 558.8 -116.8 - - 3233 - - - - - - - - 14.59 14.01 14.62
10195 866.5 -7.7 559 10208 done -0.65 - - 2709 - 2.45 0.038 1775 -568.2 -116.8 - - 3230 - - - - - - - - 14.08 14.00 14.12
10566 897.4 -8.5 569 10580 roll -0.65 - - 2708 - 2.60 0.063 370 -540.4 -116.8 - - 3230 - - - - - - - - 14.61 14.02 14.60
10687 908.7 -9.4 585 10701 done -0.65 - - 2699 - 2.47 0.034 1781 571.3 -116.8 - - 3231 - - - - - - - - 14.09 14.02 14.12
11031 940.1 -9.1 598 11044 roll -0.65 - - 2687 - 2.50 0.057 3170 555.6 -116.8 - - 3228 - - - - - - - - 14.60 14.02 14.62
11109 947.2 -9.0 608 11123 done -0.65 - - 2688 - 2.47 0.039 1777 -564.0 -116.8 - - 3228 - - - - - - - - 14.07 13.98 14.11
11439 976.3 -8.8 619 11452 roll -0.65 0.12 0.264 2721 275.0 2.60 0.062 373 -540.0 -116.8 - - 3231 - - - - - - - - 13.56 13.72 13.64
11563 986.0 -7.8 635 11576 done -0.65 - - 2714 - 2.47 0.034 1780 569.6 -116.8 - - 3227 - - - - - - - - 14.12 14.05 14.14
11614 end dive: TARGET_DEPTH_EXCEEDED
11614 begin apogee
11624 990.5 -7.3 642 11755 done -0.21 0.60 0.229 2858 240.0 - - 1648 - - 121.62 2.222 2790 -3.6 0.306 - - - - - - 13.74 13.85 12.92
11759 end apogee: CONTROL_FINISHED_OK
11759 begin climb
11764 995.1 - 644 11911 roll 0.84 1.15 0.157 3193 291.3 2.45 0.064 347 -531.0 116.8 126.72 2.181 2306 -3.8 0.333 - - - - - - 13.67 13.75 12.83
11932 987.6 9.6 672 11945 done 0.84 - - 3193 - 2.33 0.029 1697 579.4 116.8 - - 2297 - - - - - - - - 14.08 14.03 14.09
12305 958.1 7.9 682 12318 roll 0.84 - - 3193 - 2.38 0.049 3063 573.9 116.8 - - 2292 - - - - - - - - 14.68 14.31 14.70
12437 947.2 8.0 700 12451 done 0.84 - - 3201 - 2.35 0.041 1696 -581.7 116.8 - - 2290 - - - - - - - - 14.41 14.33 14.45
12768 921.2 8.0 711 12781 roll 0.84 - - 3211 - 2.47 0.063 327 -554.3 116.8 - - 2290 - - - - - - - - 14.70 14.21 14.72
12809 917.6 11.3 716 12823 done 0.84 - - 3211 - 2.28 0.029 1685 595.6 116.8 - - 2290 - - - - - - - - 14.43 14.39 14.46
13174 887.4 8.3 725 13187 roll 0.84 - - 3211 - 2.40 0.047 3056 571.2 116.8 - - 2289 - - - - - - - - 14.66 14.18 14.69
13287 877.6 8.7 740 13301 done 0.84 - - 3220 - 2.40 0.040 1679 -573.8 116.8 - - 2289 - - - - - - - - 14.32 14.23 14.36
13629 848.0 8.6 747 13643 roll 0.74 0.20 0.257 3182 -190.0 2.47 0.061 320 -550.2 116.8 - - 2289 - - - - - - - - 13.59 13.92 13.79
13672 845.0 7.9 752 13686 done 0.74 - - 3183 - 2.30 0.028 1690 595.7 116.8 - - 2289 - - - - - - - - 14.34 14.29 14.37
14037 818.7 7.1 761 14054 roll 0.76 - - 3182 - 2.35 0.047 3052 579.6 130.9 4.85 1.560 2258 -6.4 0.641 - - - - - - 14.69 14.21 13.35
14172 809.4 7.0 779 14212 done 0.78 - - 3191 - 2.38 0.039 1670 -580.7 147.5 26.73 1.991 2186 -2.7 0.209 - - - - - - 14.43 14.35 13.35
14546 781.1 7.6 791 14559 roll 0.79 - - 3202 - 2.42 0.064 321 -557.4 152.3 - - 2172 - - - - - - - - 14.67 14.20 14.69
14587 777.7 7.7 796 14605 done 0.79 - - 3202 - 2.28 0.029 1684 597.8 154.6 2.00 0.167 2156 -8.0 7.123 - - - - - - 14.35 14.30 13.64
14951 749.2 7.8 805 14964 roll 0.79 - - 3202 - 2.38 0.047 3051 574.4 155.4 - - 2158 - - - - - - - - 14.65 14.22 14.67
15055 740.6 7.9 819 15069 done 0.79 - - 3210 - 2.38 0.039 1684 -574.4 155.4 - - 2158 - - - - - - - - 14.37 14.28 14.40
15414 713.3 7.6 827 15431 roll 0.80 - - 3220 - 2.42 0.064 317 -564.9 159.9 3.67 1.221 2140 -4.9 0.548 - - - - - - 14.64 14.26 13.36
15446 710.8 7.4 831 15477 done 0.81 - - 3220 - 2.28 0.029 1677 596.5 168.6 18.65 1.867 2104 -1.9 0.141 - - - - - - 14.47 14.43 13.49
15811 680.0 8.5 841 15824 roll 0.81 - - 3220 - 2.42 0.048 3059 571.1 168.6 - - 2093 - - - - - - - - 14.66 14.28 14.69
15917 670.8 8.6 855 15930 done 0.81 0.17 0.252 3193 -158.8 2.42 0.041 1668 -574.8 168.6 - - 2092 - - - - - - - - 13.93 14.32 14.26
16275 645.2 7.1 863 16299 done 0.82 - - 3193 - - - 1668 - 182.9 15.50 1.822 2046 -3.0 0.201 - - - - - - 14.66 14.33 13.45
16612 620.7 7.3 869 16630 roll 0.84 - - 3192 - 2.45 0.047 3050 564.1 192.5 3.45 1.087 2008 -11.0 1.203 - - - - - - 14.65 14.31 13.33
16651 617.5 7.6 874 16669 done 0.84 - - 3199 - 2.35 0.041 1684 -581.3 197.7 6.03 1.577 1985 -3.8 0.286 - - - - - - 14.45 14.36 13.38
17002 589.5 8.0 882 17015 done 0.84 - - 3198 - - - 1683 - 197.7 - - 1992 - - - - - - - - 14.66 14.67 14.67
17338 560.1 8.9 888 17351 roll 0.84 - - 3209 - 2.47 0.065 319 -552.2 197.7 - - 1991 - - - - - - - - 14.65 14.16 14.66
17365 557.4 9.1 891 17379 done 0.84 - - 3209 - 2.30 0.030 1691 596.5 197.7 - - 1991 - - - - - - - - 14.42 14.38 14.45
17691 526.8 9.5 901 17704 roll 0.84 - - 3209 - 2.38 0.047 3052 571.8 197.7 - - 1992 - - - - - - - - 14.63 14.15 14.65
17811 514.6 10.0 917 17824 done 0.84 - - 3220 - 2.40 0.040 1671 -575.4 197.7 - - 1992 - - - - - - - - 14.31 14.21 14.33
18154 480.0 10.1 930 18168 roll 0.84 - - 3228 - 2.45 0.064 323 -550.2 197.7 - - 1992 - - - - - - - - 14.63 14.05 14.64
18197 475.6 10.5 935 18211 done 0.84 - - 3228 - 2.28 0.029 1675 593.0 197.7 - - 1992 - - - - - - - - 14.29 14.22 14.33
18562 439.6 9.7 944 18575 roll 0.84 - - 3228 - 2.45 0.047 3066 567.8 197.7 - - 1995 - - - - - - - - 14.67 14.04 14.69
18668 429.5 9.4 958 18681 done 0.84 0.15 0.250 3207 -140.0 2.42 0.040 1681 -572.3 197.7 - - 1992 - - - - - - - - 13.80 14.15 14.07
19025 402.4 7.3 966 19056 roll 0.85 - - 3215 - 2.50 0.065 320 -544.4 207.6 18.40 1.502 1941 -2.8 0.142 - - - - - - 14.67 14.24 13.61
19091 397.5 7.8 975 19104 done 0.86 - - 3215 - 2.28 0.029 1680 596.5 208.1 - - 1933 - - - - - - - - 14.47 14.42 14.49
19429 371.9 7.6 987 19442 roll 0.86 - - 3215 - 2.40 0.046 3065 577.1 212.0 - - 1936 - - - - - - - - 14.64 14.24 14.66
19506 365.4 8.2 997 19519 done 0.86 - - 3229 - 2.42 0.039 1675 -574.4 212.0 - - 1934 - - - - - - - - 14.35 14.27 14.39
19837 336.8 8.8 1008 19850 roll 0.86 - - 3235 - 2.45 0.064 324 -551.4 212.0 - - 1934 - - - - - - - - 14.67 14.05 14.69
19892 331.3 9.9 1015 19906 done 0.86 - - 3235 - 2.30 0.028 1690 593.9 212.0 - - 1934 - - - - - - - - 14.37 14.31 14.39
20236 298.9 9.3 1022 20249 roll 0.86 - - 3235 - 2.38 0.045 3054 573.1 212.0 - - 1934 - - - - - - - - 14.64 14.14 14.66
20321 291.0 9.2 1033 20335 done 0.86 0.15 0.245 3213 -146.7 2.40 0.040 1679 -572.9 212.0 - - 1934 - - - - - - - - 13.85 14.21 14.12
20644 263.4 8.6 1043 20657 roll 0.86 - - 3221 - 2.47 0.063 317 -551.4 212.0 - - 1934 - - - - - - - - 14.63 14.05 14.65
20687 259.5 9.6 1048 20700 done 0.86 - - 3221 - 2.30 0.028 1680 592.6 212.0 - - 1934 - - - - - - - - 14.35 14.30 14.38
21052 226.3 8.9 1057 21065 roll 0.86 - - 3221 - 2.42 0.045 3063 571.5 212.0 - - 1934 - - - - - - - - 14.68 14.07 14.69
21121 219.9 9.1 1066 21135 done 0.86 - - 3228 - 2.40 0.040 1681 -575.8 212.0 - - 1934 - - - - - - - - 14.26 14.17 14.29
21459 189.5 9.1 1078 21473 roll 0.86 - - 3239 - 2.45 0.063 326 -553.1 212.0 - - 1934 - - - - - - - - 14.61 14.03 14.62
21494 186.1 9.1 1082 21507 done 0.86 0.12 0.232 3213 -216.7 2.28 0.028 1695 600.4 212.0 - - 1934 - - - - - - - - 13.83 14.26 14.07
21867 157.3 7.7 1092 21885 roll 0.86 - - 3213 - 2.33 0.046 3044 579.0 215.5 3.45 0.806 1912 -6.4 0.238 - - - - - - 14.66 14.26 13.57
21920 152.5 8.6 1099 21934 done 0.86 - - 3219 - 2.38 0.040 1674 -575.6 215.5 - - 1915 - - - - - - - - 14.39 14.31 14.42
22265 121.2 9.3 1106 22278 roll 0.86 - - 3230 - 2.45 0.063 319 -553.1 215.5 - - 1916 - - - - - - - - 14.62 14.05 14.64
22336 114.7 9.0 1115 22349 done 0.86 - - 3230 - 2.25 0.028 1674 602.2 215.5 - - 1916 - - - - - - - - 14.33 14.27 14.35
22672 90.3 6.3 1129 22715 roll 0.90 - - 3230 - 2.35 0.043 3054 587.2 244.6 30.20 0.351 1801 -3.8 0.187 - - - - - - 14.55 14.21 13.96
22796 80.7 8.8 1146 22813 done 0.90 - - 3237 - 2.40 0.039 1675 -574.6 244.6 2.75 0.154 1795 -2.2 0.219 - - - - - - 14.27 14.21 13.95
23135 59.8 4.0 1160 23218 roll 1.14 0.15 0.115 3316 526.7 2.42 0.062 324 -558.3 316.7 69.28 0.285 1501 -4.2 0.170 - - - - - - 14.14 14.35 14.00
23353 50.8 5.5 1191 23411 done 1.19 - - 3316 - 2.28 0.028 1698 602.6 360.7 42.58 0.252 1322 -4.2 0.162 - - - - - - 14.32 14.26 13.95
23729 26.6 6.7 1211 23760 done 1.33 0.12 0.118 3367 425.0 - - 1702 - 382.5 21.15 0.184 1232 -4.3 0.118 - - - - - - 14.19 14.28 14.03
24003 end climb: SURFACE_DEPTH_REACHED
24003 begin surface coast
24035 end surface coast: CONTROL_FINISHED_OK
24035 begin surface
SM 0.94 - - - - -8.63 9.82 0.070 152 15.5 - - 1706 - 515.13 82.43 0.120 692 8.4 -0.007 - - - - - -