SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 675 * Raw log
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• Previous call tries 1 • 255.96 of 350.00 AH used of 24V (26.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.03 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 15 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 114 VBD -0.84 - - 141 - - - 1694 - -116.8 -83.15 - 3207 - - - - - - - - 14.45 - 14.47
119 5.0 -6.7 3 142 roll -0.84 12.57 0.379 2645 199.2 2.67 2.036 3130 537.8 -116.8 -0.93 - 3273 -71.0 - - - 1 - - - 13.93 12.85 14.34
297 57.2 -22.9 29 305 done -0.53 0.45 0.259 2749 231.1 2.30 0.039 1773 -590.0 -116.8 - - 3274 - - - - - - - - 13.98 14.32 14.24
621 86.1 -6.4 42 627 roll -0.53 - - 2750 - 2.45 0.056 373 -571.4 -116.8 - - 3275 - - - - - - - - 14.58 14.21 14.60
678 90.5 -8.3 50 684 done -0.53 - - 2743 - 2.30 0.030 1750 598.7 -116.8 - - 3275 - - - - - - - - 14.31 14.26 14.33
1044 119.4 -8.0 62 1051 roll -0.53 - - 2732 - 2.45 0.049 3164 577.1 -116.8 - - 3275 - - - - - - - - 14.58 14.13 14.63
1114 125.3 -8.2 72 1120 done -0.53 - - 2732 - 2.38 0.034 1768 -586.6 -116.8 - - 3275 - - - - - - - - 14.28 14.21 14.31
1438 154.2 -9.2 83 1445 roll -0.53 - - 2732 - 2.47 0.055 374 -564.4 -116.8 - - 3274 - - - - - - - - 14.54 14.07 14.54
1495 160.0 -10.1 91 1501 done -0.53 0.15 0.238 2754 146.7 2.35 0.031 1773 595.3 -116.8 - - 3273 - - - - - - - - 13.84 14.24 14.09
1832 188.0 -8.2 104 1838 roll -0.53 - - 2747 - 2.42 0.050 3160 573.1 -116.8 - - 3271 - - - - - - - - 14.54 14.07 14.59
1882 192.0 -8.0 111 1890 done -0.53 - - 2747 - 2.40 0.035 1770 -579.2 -116.8 - - 3271 - - - - - - - - 14.18 14.16 14.19
2224 220.1 -8.2 118 2231 roll -0.53 - - 2746 - 2.50 0.057 376 -557.6 -116.8 - - 3267 - - - - - - - - 14.57 14.08 14.59
2322 228.5 -8.5 132 2329 done -0.53 - - 2738 - 2.40 0.031 1781 585.4 -116.8 - - 3267 - - - - - - - - 14.23 14.19 14.23
2675 255.5 -7.7 140 2688 roll -0.53 - - 2727 - 2.42 0.051 3163 571.1 -116.8 - - 3264 - - - - - - - - 14.66 14.03 14.67
2717 259.0 -8.0 145 2730 done -0.53 0.12 0.228 2752 208.3 2.38 0.036 1773 -584.0 -116.8 - - 3263 - - - - - - - - 13.79 14.15 14.02
3081 286.2 -7.6 154 3095 roll -0.53 - - 2752 - 2.53 0.058 380 -550.6 -116.8 - - 3260 - - - - - - - - 14.74 13.95 14.74
3187 294.8 -8.2 168 3201 done -0.53 - - 2745 - 2.40 0.030 1778 582.5 -116.8 - - 3261 - - - - - - - - 14.21 14.15 14.23
3545 323.8 -8.3 176 3559 roll -0.53 - - 2735 - 2.45 0.051 3159 563.7 -116.8 - - 3260 - - - - - - - - 14.72 13.97 14.74
3617 329.9 -8.5 185 3631 done -0.53 - - 2735 - 2.40 0.036 1772 -577.9 -116.8 - - 3257 - - - - - - - - 14.16 14.08 14.19
3954 359.6 -8.8 197 3967 roll -0.53 - - 2735 - 2.53 0.058 376 -551.8 -116.8 - - 3255 - - - - - - - - 14.66 14.01 14.69
4086 371.8 -9.0 215 4100 done -0.53 0.12 0.254 2751 133.3 2.40 0.031 1776 583.3 -116.8 - - 3253 - - - - - - - - 13.68 14.12 13.93
4417 396.3 -7.4 226 4431 roll -0.53 - - 2743 - 2.47 0.052 3169 564.0 -116.8 - - 3252 - - - - - - - - 14.64 14.00 14.66
4473 400.5 -7.5 233 4488 done -0.63 - - 2743 - 2.45 0.037 1770 -571.0 -116.8 - - 3252 - - - - - - - - 14.14 14.05 14.16
4819 426.6 -7.6 240 4832 roll -0.63 - - 2743 - 2.53 0.059 377 -550.6 -116.8 - - 3251 - - - - - - - - 14.69 14.01 14.71
4938 436.4 -8.0 256 4952 done -0.63 - - 2734 - 2.40 0.031 1776 582.9 -116.8 - - 3249 - - - - - - - - 14.16 14.11 14.19
5282 462.8 -7.7 269 5295 roll -0.63 - - 2723 - 2.47 0.052 3165 562.3 -116.8 - - 3248 - - - - - - - - 14.64 14.02 14.66
5388 471.2 -7.9 283 5401 done -0.63 - - 2723 - 2.42 0.036 1771 -576.0 -116.8 - - 3247 - - - - - - - - 14.14 14.07 14.18
5746 501.0 -8.4 291 5759 roll -0.63 - - 2723 - 2.55 0.059 378 -546.3 -116.8 - - 3246 - - - - - - - - 14.64 14.03 14.65
5845 509.7 -8.8 304 5858 done -0.63 - - 2714 - 2.40 0.032 1776 582.5 -116.8 - - 3246 - - - - - - - - 14.16 14.10 14.19
6209 541.7 -8.9 313 6222 roll -0.63 - - 2704 - 2.47 0.053 3164 561.9 -116.8 - - 3245 - - - - - - - - 14.71 14.00 14.71
6308 550.7 -9.1 326 6321 done -0.63 - - 2704 - 2.45 0.037 1771 -568.6 -116.8 - - 3244 - - - - - - - - 14.14 14.05 14.17
6672 584.3 -9.2 335 6686 roll -0.63 - - 2704 - 2.55 0.060 376 -547.1 -116.8 - - 3242 - - - - - - - - 14.69 14.04 14.71
6763 593.3 -9.8 347 6777 done -0.63 0.12 0.261 2719 125.0 2.42 0.033 1780 580.2 -116.8 - - 3242 - - - - - - - - 13.62 14.08 13.89
7137 623.2 -7.9 357 7150 roll -0.63 - - 2709 - 2.47 0.054 3163 559.9 -116.8 - - 3241 - - - - - - - - 14.66 14.04 14.69
7172 626.0 -7.4 361 7185 done -0.63 - - 2711 - 2.42 0.037 1777 -572.7 -116.8 - - 3241 - - - - - - - - 14.09 14.01 14.13
7545 652.0 -6.9 371 7558 roll -0.63 - - 2711 - 2.55 0.060 376 -549.4 -116.8 - - 3239 - - - - - - - - 14.59 14.04 14.62
7614 657.4 -7.5 380 7628 done -0.63 - - 2701 - 2.42 0.032 1774 577.7 -116.8 - - 3239 - - - - - - - - 14.13 14.07 14.16
7951 682.8 -7.6 392 7964 roll -0.63 - - 2690 - 2.47 0.053 3161 561.5 -116.8 - - 3238 - - - - - - - - 14.68 14.04 14.70
8016 688.1 -8.5 400 8029 done -0.63 0.15 0.242 2720 200.0 2.42 0.037 1770 -574.8 -116.8 - - 3238 - - - - - - - - 13.60 14.01 13.89
8360 715.6 -8.0 413 8373 roll -0.63 - - 2720 - 2.55 0.062 379 -545.5 -116.8 - - 3237 - - - - - - - - 14.60 14.06 14.62
8494 727.4 -9.0 431 8507 done -0.63 - - 2713 - 2.42 0.032 1773 576.0 -116.8 - - 3236 - - - - - - - - 14.14 14.07 14.16
8823 756.0 -8.7 442 8836 roll -0.63 - - 2703 - 2.50 0.054 3171 559.2 -116.8 - - 3236 - - - - - - - - 14.59 14.05 14.62
8874 760.2 -8.7 448 8887 done -0.63 - - 2702 - 2.45 0.038 1778 -568.6 -116.8 - - 3236 - - - - - - - - 14.09 14.00 14.12
9231 790.4 -8.3 456 9244 roll -0.63 - - 2702 - 2.55 0.061 374 -550.6 -116.8 - - 3234 - - - - - - - - 14.66 14.05 14.68
9343 799.8 -7.6 471 9357 done -0.63 0.15 0.258 2722 133.3 2.45 0.033 1773 571.0 -116.8 - - 3234 - - - - - - - - 13.59 14.07 13.88
9689 824.4 -6.8 478 9702 roll -0.63 - - 2714 - 2.50 0.054 3169 558.4 -116.8 - - 3233 - - - - - - - - 14.64 14.04 14.66
9758 829.3 -6.9 487 9772 done -0.63 - - 2713 - 2.45 0.039 1775 -569.0 -116.8 - - 3233 - - - - - - - - 14.09 14.00 14.12
10097 853.3 -7.4 499 10110 roll -0.63 - - 2714 - 2.58 0.062 370 -544.6 -116.8 - - 3232 - - - - - - - - 14.55 14.04 14.57
10180 860.3 -8.3 510 10193 done -0.63 - - 2705 - 2.45 0.033 1779 575.1 -116.8 - - 3232 - - - - - - - - 14.13 14.06 14.15
10502 886.6 -8.2 520 10516 roll -0.63 - - 2694 - 2.50 0.056 3167 555.2 -116.8 - - 3231 - - - - - - - - 14.65 14.04 14.66
10648 898.1 -8.2 539 10661 done -0.63 0.15 0.243 2723 193.3 2.47 0.038 1765 -567.6 -116.8 - - 3231 - - - - - - - - 13.61 14.01 13.90
10970 922.2 -7.3 549 10984 roll -0.63 - - 2729 - 2.55 0.063 380 -543.1 -116.8 - - 3230 - - - - - - - - 14.57 14.06 14.58
11084 931.5 -9.2 564 11098 done -0.63 - - 2717 - 2.45 0.033 1774 569.0 -116.8 - - 3230 - - - - - - - - 14.12 14.07 14.14
11426 958.6 -8.2 571 11440 roll -0.63 - - 2706 - 2.50 0.055 3166 556.8 -116.8 - - 3229 - - - - - - - - 14.55 14.04 14.57
11540 968.0 -8.3 586 11554 done -0.63 - - 2705 - 2.47 0.038 1769 -565.6 -116.8 - - 3229 - - - - - - - - 14.14 14.04 14.16
11821 end dive: TARGET_DEPTH_EXCEEDED
11821 begin apogee
11832 992.7 -8.6 592 11963 done -0.21 0.62 0.239 2855 241.9 - - 1653 - - 121.55 2.216 2792 -3.6 0.310 - - - - - - 13.77 13.83 12.92
11965 end apogee: CONTROL_FINISHED_OK
11965 begin climb
11971 998.4 - 594 12118 roll 0.84 1.20 0.174 3181 271.7 2.60 0.046 3068 544.2 116.8 127.65 2.170 2307 -3.8 0.337 - - - - - - 13.54 13.46 12.74
12174 990.4 5.8 627 12228 done 0.88 - - 3189 - 2.45 0.038 1693 -561.2 155.1 40.35 2.109 2154 -3.8 0.343 - - - - - - 14.04 13.96 12.96
12562 960.2 8.2 640 12575 roll 0.88 - - 3199 - 2.45 0.063 325 -558.4 155.1 - - 2136 - - - - - - - - 14.63 14.26 14.64
12611 955.7 12.0 646 12624 done 0.88 - - 3199 - 2.30 0.029 1700 597.8 155.1 - - 2136 - - - - - - - - 14.45 14.40 14.47
12970 923.3 9.2 654 12983 roll 0.88 - - 3200 - 2.35 0.049 3057 577.4 155.1 - - 2136 - - - - - - - - 14.68 14.29 14.70
13060 914.3 9.7 666 13073 done 0.88 - - 3206 - 2.40 0.041 1671 -577.5 155.1 - - 2134 - - - - - - - - 14.42 14.33 14.45
13432 879.0 9.5 676 13445 done 0.88 - - 3205 - - - 1671 - 155.1 - - 2134 - - - - - - - - 14.69 14.71 14.71
13769 849.9 8.5 682 13783 roll 0.88 - - 3205 - 2.45 0.047 3057 565.7 155.1 - - 2134 - - - - - - - - 14.67 14.16 14.69
13804 847.1 7.7 686 13817 done 0.89 - - 3214 - 2.40 0.040 1673 -576.7 158.5 - - 2134 - - - - - - - - 14.27 14.19 14.31
14176 814.3 9.0 696 14189 roll 0.89 - - 3224 - 2.45 0.064 326 -549.8 158.5 - - 2134 - - - - - - - - 14.63 14.08 14.65
14219 810.2 9.8 701 14232 done 0.89 - - 3224 - 2.28 0.029 1681 594.3 158.5 - - 2134 - - - - - - - - 14.35 14.31 14.38
14585 775.3 9.4 710 14598 roll 0.89 - - 3224 - 2.42 0.048 3056 568.2 158.5 - - 2134 - - - - - - - - 14.65 14.05 14.67
14712 763.0 9.5 727 14726 done 0.89 - - 3233 - 2.42 0.042 1673 -571.5 158.5 - - 2133 - - - - - - - - 14.24 14.17 14.28
15049 731.4 9.2 739 15062 roll 0.89 - - 3243 - 2.47 0.064 318 -548.6 158.5 - - 2133 - - - - - - - - 14.59 14.00 14.62
15132 723.2 10.1 750 15146 done 0.77 0.28 0.249 3186 -203.6 2.33 0.029 1698 592.3 158.5 - - 2132 - - - - - - - - 13.74 14.22 14.09
15457 699.5 7.2 760 15475 roll 0.79 - - 3183 - 2.40 0.049 3039 558.8 170.7 6.03 1.637 2095 -6.1 0.505 - - - - - - 14.62 14.21 13.45
15518 694.6 8.2 768 15531 done 0.79 - - 3189 - 2.35 0.041 1680 -578.3 170.7 - - 2098 - - - - - - - - 14.38 14.30 14.42
15863 665.8 8.5 781 15876 roll 0.79 - - 3200 - 2.45 0.064 323 -553.9 170.7 - - 2097 - - - - - - - - 14.59 14.10 14.61
15911 661.1 9.4 787 15924 done 0.79 - - 3200 - 2.28 0.030 1680 595.2 170.7 - - 2097 - - - - - - - - 14.32 14.26 14.34
16270 628.3 9.3 795 16283 roll 0.79 - - 3200 - 2.42 0.048 3047 564.9 170.7 - - 2097 - - - - - - - - 14.62 14.01 14.64
16382 617.2 9.8 810 16396 done 0.79 - - 3208 - 2.42 0.039 1673 -567.8 170.7 - - 2100 - - - - - - - - 14.17 14.09 14.21
16725 585.3 9.2 817 16739 roll 0.79 - - 3218 - 2.47 0.063 323 -546.6 170.7 - - 2097 - - - - - - - - 14.62 14.00 14.64
16804 577.9 9.6 827 16818 done 0.79 0.15 0.241 3189 -193.3 2.30 0.029 1687 593.0 170.7 - - 2097 - - - - - - - - 13.64 14.14 13.93
17135 551.7 7.8 838 17149 roll 0.79 - - 3189 - 2.40 0.047 3039 563.3 172.0 - - 2097 - - - - - - - - 14.55 14.03 14.57
17228 544.4 7.9 850 17241 done 0.79 - - 3195 - 2.42 0.041 1671 -565.3 172.0 - - 2097 - - - - - - - - 14.12 14.04 14.16
17599 516.4 7.4 860 17628 roll 0.80 - - 3206 - 2.50 0.065 322 -539.6 180.5 17.33 1.633 2051 -2.7 0.162 - - - - - - 14.54 14.15 13.60
17658 511.9 7.9 868 17671 done 0.80 - - 3206 - 2.28 0.029 1671 591.7 180.5 - - 2045 - - - - - - - - 14.39 14.34 14.41
18003 483.8 8.2 881 18016 roll 0.80 - - 3206 - 2.42 0.047 3056 572.3 180.5 - - 2044 - - - - - - - - 14.64 14.21 14.66
18107 474.4 8.7 895 18121 done 0.80 - - 3215 - 2.40 0.041 1675 -575.4 180.5 - - 2043 - - - - - - - - 14.33 14.26 14.38
18467 443.4 8.8 903 18480 roll 0.80 - - 3225 - 2.47 0.065 317 -549.8 180.5 - - 2044 - - - - - - - - 14.64 14.09 14.65
18508 439.2 9.5 908 18522 done 0.80 0.15 0.235 3194 -206.7 2.30 0.029 1699 600.9 180.5 - - 2043 - - - - - - - - 13.85 14.29 14.16
18873 408.1 8.5 917 18886 roll 0.80 - - 3194 - 2.38 0.047 3043 564.7 180.5 - - 2043 - - - - - - - - 14.59 14.08 14.61
18944 402.2 8.2 926 18958 done 0.80 - - 3201 - 2.40 0.041 1678 -568.8 180.5 - - 2043 - - - - - - - - 14.16 14.08 14.21
19281 375.8 7.8 938 19294 roll 0.80 - - 3211 - 2.47 0.065 324 -548.2 181.0 - - 2043 - - - - - - - - 14.57 14.00 14.58
19338 370.9 9.1 945 19353 done 0.80 - - 3211 - 2.28 0.029 1668 589.5 181.0 - - 2043 - - - - - - - - 14.25 14.19 14.28
19680 339.6 9.1 952 19694 roll 0.80 - - 3210 - 2.45 0.047 3051 564.5 181.0 - - 2043 - - - - - - - - 14.62 13.99 14.64
19771 331.4 8.8 964 19784 done 0.80 0.15 0.246 3190 -133.3 2.42 0.040 1677 -567.8 181.0 - - 2043 - - - - - - - - 13.71 14.09 14.03
20144 304.6 7.2 974 20172 roll 0.82 - - 3198 - 2.42 0.063 320 -560.7 194.1 14.30 1.395 1992 -3.6 0.150 - - - - - - 14.60 14.19 13.65
20207 299.5 7.9 983 20221 done 0.82 - - 3198 - 2.28 0.028 1685 598.7 194.1 - - 1990 - - - - - - - - 14.47 14.39 14.46
20546 273.8 7.6 995 20559 roll 0.82 - - 3197 - 2.38 0.045 3053 574.8 198.9 - - 1989 - - - - - - - - 14.62 14.21 14.63
20601 269.2 8.1 1002 20615 done 0.82 - - 3205 - 2.40 0.040 1682 -571.2 198.9 - - 1988 - - - - - - - - 14.32 14.22 14.35
20946 242.8 7.7 1009 20963 roll 0.83 - - 3215 - 2.47 0.065 325 -549.4 202.6 3.40 0.839 1964 -7.1 0.393 - - - - - - 14.64 14.10 13.54
21035 235.7 7.9 1021 21048 done 0.83 - - 3215 - 2.28 0.028 1687 597.4 202.6 - - 1969 - - - - - - - - 14.39 14.34 14.41
21407 210.1 6.6 1031 21450 roll 0.86 - - 3215 - 2.35 0.044 3054 581.7 226.5 31.05 1.275 1862 -3.4 0.109 - - - - - - 14.62 14.15 13.61
21519 202.7 7.3 1046 21534 done 0.87 - - 3221 - 2.38 0.040 1678 -578.2 236.0 3.40 0.795 1829 -9.7 0.476 - - - - - - 14.33 14.25 13.43
21857 175.3 8.4 1053 21870 roll 0.87 - - 3232 - 2.42 0.063 327 -558.3 236.0 - - 1829 - - - - - - - - 14.65 14.12 14.66
21957 165.4 10.4 1066 21970 done 0.87 - - 3232 - 2.28 0.028 1675 591.2 236.0 - - 1829 - - - - - - - - 14.37 14.32 14.38
22321 128.0 10.3 1075 22334 roll 0.87 - - 3232 - 2.42 0.046 3061 572.7 236.0 - - 1828 - - - - - - - - 14.65 14.12 14.67
22363 123.9 9.5 1080 22376 done 0.87 0.12 0.241 3215 -141.7 2.40 0.040 1680 -575.4 236.0 - - 1829 - - - - - - - - 13.88 14.21 14.13
22731 102.8 4.8 1089 22800 roll 0.94 - - 3222 - 2.42 0.064 318 -562.8 292.3 55.60 0.401 1602 -4.1 0.202 - - - - - - 14.59 14.35 13.93
22847 97.0 6.2 1105 22893 done 1.10 0.20 0.094 3301 395.0 2.28 0.028 1688 600.9 322.3 32.12 0.376 1481 -3.8 0.187 - - - - - - 14.25 14.33 13.86
23209 65.0 6.2 1124 23253 roll 1.14 - - 3301 - 2.33 0.041 3050 584.5 352.3 30.20 0.288 1359 -4.0 0.176 - - - - - - 14.63 14.17 13.95
23374 55.4 6.0 1147 23420 done 1.31 0.15 0.109 3368 446.7 2.40 0.039 1677 -572.1 386.3 33.92 0.263 1217 -4.2 0.170 - - - - - - 14.09 14.11 13.96
23743 24.7 8.9 1166 23761 roll 1.31 - - 3377 - 2.45 0.061 327 -551.0 386.3 2.85 0.143 1219 - - - - - - - - 14.60 14.06 13.93
23826 16.7 11.2 1177 23842 done 1.31 - - 3377 - 2.25 0.025 1685 603.6 386.3 2.78 0.142 1217 - - - - - - - - 14.31 14.26 13.95
23967 end climb: SURFACE_DEPTH_REACHED
23967 begin surface coast
23995 end surface coast: CONTROL_FINISHED_OK
23995 begin surface
SM 0.98 - - - - -8.61 9.68 0.056 151 15.6 - - 1695 - 515.13 79.80 0.119 692 8.7 -0.007 - - - - - -