SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 684 * Raw log
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• Previous call tries 1 • 259.48 of 350.00 AH used of 24V (25.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 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: 27 s
• GPS2 time: 19 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
31 - - - 117 VBD -0.84 - - 143 - - - 1699 - -116.8 -83.05 - 3197 - - - - - - - - 14.42 - 14.44
122 4.9 -6.7 3 145 roll -0.84 12.77 0.388 2658 196.9 2.53 2.038 367 -526.5 -116.8 -1.10 - 3273 -69.1 - - - - - - - 13.93 12.79 14.33
242 43.3 -23.2 20 249 done -0.45 0.52 0.272 2775 225.0 2.30 0.031 1743 598.3 -116.8 - - 3276 - - - - - - - - 13.89 14.35 14.19
572 78.1 -6.2 34 578 roll -0.45 - - 2767 - 2.45 0.050 3172 583.3 -116.8 - - 3276 - - - - - - - - 14.56 14.21 14.58
714 87.0 -7.8 54 721 done -0.45 - - 2767 - 2.38 0.036 1770 -589.1 -116.8 - - 3277 - - - - - - - - 14.29 14.22 14.33
1051 113.1 -7.5 66 1057 roll -0.45 - - 2767 - 2.47 0.056 372 -566.0 -116.8 - - 3277 - - - - - - - - 14.54 14.09 14.56
1190 124.7 -8.7 86 1197 done -0.45 - - 2757 - 2.38 0.030 1786 594.1 -116.8 - - 3276 - - - - - - - - 14.28 14.23 14.28
1557 152.3 -7.3 96 1563 roll -0.45 - - 2748 - 2.40 0.051 3162 573.3 -116.8 - - 3275 - - - - - - - - 14.52 14.07 14.54
1605 156.1 -7.4 103 1613 done -0.45 0.15 0.218 2779 206.7 2.40 0.034 1767 -581.2 -116.8 - - 3274 - - - - - - - - 13.81 14.14 14.05
1951 179.2 -6.8 110 1958 roll -0.56 - - 2779 - 2.50 0.057 374 -557.2 -116.8 - - 3271 - - - - - - - - 14.52 14.06 14.53
2049 187.0 -7.9 124 2056 done -0.66 0.17 0.102 2707 -423.5 2.38 0.030 1781 591.2 -116.8 - - 3271 - - - - - - - - 14.10 14.19 14.19
2401 223.6 -10.7 132 2407 roll -0.66 - - 2696 - 2.42 0.051 3162 570.7 -116.8 - - 3268 - - - - - - - - 14.52 14.05 14.54
2486 232.3 -10.3 144 2492 done -0.66 - - 2696 - 2.38 0.035 1775 -582.8 -116.8 - - 3268 - - - - - - - - 14.20 14.13 14.23
2850 270.6 -10.5 154 2863 roll -0.66 - - 2697 - 2.53 0.057 377 -552.6 -116.8 - - 3265 - - - - - - - - 14.71 13.97 14.73
2948 281.7 -11.3 167 2961 done -0.66 - - 2688 - 2.38 0.031 1768 584.5 -116.8 - - 3264 - - - - - - - - 14.21 14.14 14.25
3314 322.4 -11.3 176 3327 roll -0.66 0.12 0.262 2707 158.3 2.47 0.050 3160 563.6 -116.8 - - 3261 - - - - - - - - 13.67 13.81 13.73
3369 328.5 -10.1 183 3384 done -0.66 - - 2708 - 2.42 0.037 1771 -574.0 -116.8 - - 3261 - - - - - - - - 14.16 14.07 14.19
3715 363.1 -10.0 190 3728 roll -0.66 - - 2708 - 2.53 0.058 377 -551.0 -116.8 - - 3260 - - - - - - - - 14.64 14.03 14.66
3806 373.1 -10.8 202 3819 done -0.66 - - 2699 - 2.40 0.031 1771 580.8 -116.8 - - 3257 - - - - - - - - 14.21 14.13 14.21
4177 412.6 -10.7 212 4190 roll -0.66 - - 2689 - 2.47 0.051 3164 564.0 -116.8 - - 3256 - - - - - - - - 14.66 14.01 14.66
4234 418.9 -11.1 219 4248 done -0.66 - - 2689 - 2.42 0.036 1775 -574.0 -116.8 - - 3255 - - - - - - - - 14.06 14.02 14.09
4577 458.8 -11.7 226 4590 roll -0.66 0.12 0.262 2720 258.3 2.55 0.058 370 -551.0 -116.8 - - 3253 - - - - - - - - 13.58 13.71 13.64
4660 468.4 -10.9 237 4674 done -0.66 - - 2714 - 2.45 0.032 1787 578.4 -116.8 - - 3253 - - - - - - - - 14.17 14.12 14.19
4985 502.0 -10.5 247 4998 done -0.66 - - 2714 - - - 1787 - -116.8 - - 3252 - - - - - - - - 14.59 14.62 14.61
5319 534.6 -9.6 253 5333 roll -0.66 - - 2703 - 2.45 0.054 3160 560.4 -116.8 - - 3250 - - - - - - - - 14.64 14.00 14.65
5398 541.8 -9.1 263 5411 done -0.66 - - 2703 - 2.42 0.037 1774 -572.7 -116.8 - - 3250 - - - - - - - - 14.14 14.04 14.16
5729 571.6 -8.9 274 5742 roll -0.66 - - 2703 - 2.55 0.060 373 -549.4 -116.8 - - 3248 - - - - - - - - 14.64 14.04 14.65
5893 586.4 -8.9 296 5906 done -0.66 - - 2694 - 2.42 0.032 1777 580.2 -116.8 - - 3248 - - - - - - - - 14.16 14.11 14.19
6252 618.1 -8.9 304 6266 roll -0.66 - - 2683 - 2.47 0.054 3164 561.5 -116.8 - - 3246 - - - - - - - - 14.60 14.03 14.62
6301 622.6 -8.9 310 6314 done -0.66 0.15 0.238 2712 193.3 2.42 0.037 1773 -574.8 -116.8 - - 3245 - - - - - - - - 13.62 14.03 13.89
6660 651.4 -8.1 318 6674 roll -0.66 - - 2713 - 2.55 0.061 375 -548.2 -116.8 - - 3244 - - - - - - - - 14.67 14.03 14.69
6758 660.5 -9.2 331 6771 done -0.66 - - 2706 - 2.45 0.032 1776 571.8 -116.8 - - 3244 - - - - - - - - 14.16 14.09 14.18
7122 693.3 -9.1 340 7135 roll -0.66 - - 2691 - 2.50 0.054 3172 558.4 -116.8 - - 3243 - - - - - - - - 14.66 14.06 14.69
7207 701.1 -9.2 351 7221 done -0.66 - - 2695 - 2.45 0.039 1777 -569.4 -116.8 - - 3243 - - - - - - - - 14.12 14.03 14.14
7530 730.8 -9.1 361 7543 roll -0.66 - - 2691 - 2.58 0.061 369 -545.7 -116.8 - - 3241 - - - - - - - - 14.60 14.04 14.62
7636 740.8 -9.4 375 7650 done -0.66 0.12 0.259 2709 150.0 2.47 0.034 1782 572.1 -116.8 - - 3240 - - - - - - - - 13.64 14.09 13.90
7994 768.2 -7.4 383 8007 done -0.66 - - 2709 - - - 1783 - -116.8 - - 3239 - - - - - - - - 14.57 14.62 14.61
8330 793.8 -7.6 389 8343 done -0.66 - - 2709 - - - 1783 - -116.8 - - 3241 - - - - - - - - 14.58 14.59 14.60
8667 820.1 -7.9 395 8680 done -0.66 - - 2709 - - - 1782 - -116.8 - - 3237 - - - - - - - - 14.57 14.59 14.59
9002 846.6 -7.9 401 9015 roll -0.66 - - 2701 - 2.50 0.056 3165 553.2 -116.8 - - 3236 - - - - - - - - 14.58 14.03 14.60
9044 850.5 -8.3 406 9057 done -0.66 - - 2701 - 2.45 0.038 1775 -567.3 -116.8 - - 3236 - - - - - - - - 14.09 14.00 14.12
9410 879.9 -8.3 415 9423 roll -0.66 - - 2701 - 2.58 0.063 372 -543.8 -116.8 - - 3235 - - - - - - - - 14.63 14.04 14.65
9514 889.5 -8.1 429 9528 done -0.66 - - 2692 - 2.47 0.034 1778 569.2 -116.8 - - 3234 - - - - - - - - 14.14 14.08 14.16
9872 920.2 -8.6 437 9886 roll -0.66 - - 2681 - 2.50 0.057 3166 555.2 -116.8 - - 3233 - - - - - - - - 14.65 14.04 14.68
9958 927.7 -8.8 448 9972 done -0.66 0.15 0.243 2711 200.0 2.45 0.038 1769 -570.2 -116.8 - - 3232 - - - - - - - - 13.59 14.00 13.88
10281 953.4 -7.9 458 10294 roll -0.66 - - 2710 - 2.55 0.063 381 -544.3 -116.8 - - 3239 - - - - - - - - 14.54 14.04 14.58
10440 966.6 -8.5 479 10453 done -0.66 - - 2704 - 2.42 0.033 1773 575.2 -116.8 - - 3232 - - - - - - - - 14.13 14.07 14.15
10744 end dive: TARGET_DEPTH_EXCEEDED
10744 begin apogee
10755 992.4 -8.4 487 10886 done -0.21 0.62 0.230 2853 240.3 - - 1659 - - 121.28 2.217 2792 -3.6 0.314 - - - - - - 13.76 13.82 12.93
10888 end apogee: CONTROL_FINISHED_OK
10888 begin climb
10894 997.6 - 489 11041 roll 0.84 1.25 0.165 3204 280.8 2.47 0.062 348 -530.8 116.8 127.22 2.158 2307 -3.8 0.341 - - - - - - 13.54 13.40 12.69
11085 989.0 8.2 520 11099 done 0.84 - - 3205 - 2.38 0.028 1700 568.1 116.8 - - 2296 - - - - - - - - 13.92 13.88 13.95
11428 960.3 8.5 527 11441 roll 0.84 - - 3205 - 2.38 0.048 3060 571.4 116.8 - - 2293 - - - - - - - - 14.63 14.22 14.65
11547 949.5 9.0 543 11561 done 0.84 - - 3213 - 2.35 0.040 1701 -578.3 116.8 - - 2291 - - - - - - - - 14.35 14.26 14.39
11894 918.3 9.1 556 11908 roll 0.84 - - 3224 - 2.50 0.064 324 -550.8 116.8 - - 2291 - - - - - - - - 14.61 14.14 14.66
11929 914.8 9.9 560 11942 done 0.84 - - 3224 - 2.30 0.029 1690 593.9 116.8 - - 2291 - - - - - - - - 14.37 14.31 14.39
12302 881.0 9.0 570 12316 roll 0.74 0.20 0.259 3179 -225.0 2.40 0.045 3057 569.6 116.8 - - 2290 - - - - - - - - 13.61 13.96 13.83
12453 869.8 7.1 590 12472 done 0.76 - - 3185 - 2.42 0.040 1669 -573.6 131.1 5.85 1.717 2257 -5.6 0.552 - - - - - - 14.23 14.15 13.38
12825 845.1 6.4 600 12881 roll 0.79 - - 3195 - 2.42 0.067 323 -556.2 157.3 41.10 1.867 2144 -2.7 0.241 - - - - - - 14.59 14.21 13.38
12910 839.5 6.1 612 12962 done 0.83 - - 3195 - 2.30 0.030 1683 591.3 189.4 39.83 1.857 2019 -3.1 0.274 - - - - - - 14.28 14.23 13.26
13284 809.1 8.4 629 13297 roll 0.83 - - 3195 - 2.40 0.048 3059 573.3 189.4 - - 2004 - - - - - - - - 14.59 14.27 14.61
13434 795.5 9.6 649 13448 done 0.83 - - 3202 - 2.40 0.042 1672 -577.9 189.4 - - 2002 - - - - - - - - 14.40 14.31 14.43
13808 762.6 9.0 659 13821 roll 0.83 - - 3212 - 2.45 0.066 317 -553.1 189.4 - - 2002 - - - - - - - - 14.66 14.15 14.68
13871 756.5 9.7 667 13885 done 0.83 - - 3212 - 2.28 0.029 1677 596.5 189.4 - - 2003 - - - - - - - - 14.44 14.39 14.47
14215 724.7 9.1 680 14228 roll 0.83 - - 3212 - 2.42 0.048 3062 572.3 189.4 - - 2001 - - - - - - - - 14.63 14.21 14.65
14342 713.3 8.9 697 14355 done 0.83 - - 3220 - 2.40 0.041 1680 -575.8 189.4 - - 2000 - - - - - - - - 14.35 14.26 14.39
14679 683.5 8.8 709 14692 roll 0.83 - - 3230 - 2.47 0.066 319 -551.0 189.4 - - 2000 - - - - - - - - 14.63 14.12 14.65
14729 678.9 9.7 715 14743 done 0.83 0.15 0.246 3201 -193.3 2.30 0.029 1698 599.6 189.4 - - 2000 - - - - - - - - 13.87 14.33 14.19
15087 649.9 8.0 723 15100 roll 0.83 - - 3201 - 2.38 0.048 3044 565.5 189.4 - - 2000 - - - - - - - - 14.65 14.11 14.67
15199 640.1 8.7 738 15213 done 0.83 - - 3207 - 2.40 0.041 1680 -568.3 189.4 - - 2000 - - - - - - - - 14.28 14.19 14.32
15544 608.7 9.4 745 15558 roll 0.83 - - 3217 - 2.50 0.066 316 -545.6 189.4 - - 2000 - - - - - - - - 14.64 14.03 14.66
15579 605.0 10.0 749 15592 done 0.83 - - 3218 - 2.30 0.029 1676 591.3 189.4 - - 2000 - - - - - - - - 14.33 14.27 14.35
15952 567.6 10.1 759 15966 roll 0.83 - - 3218 - 2.45 0.047 3060 564.9 189.4 - - 2000 - - - - - - - - 14.57 14.06 14.59
16057 556.5 10.1 773 16070 done 0.83 - - 3227 - 2.42 0.042 1677 -571.5 189.4 - - 2000 - - - - - - - - 14.22 14.14 14.27
16414 521.6 9.6 781 16428 roll 0.83 - - 3237 - 2.47 0.065 324 -547.8 189.4 - - 2000 - - - - - - - - 14.58 13.99 14.60
16451 518.2 9.9 785 16464 done 0.83 0.17 0.239 3201 -211.8 2.30 0.030 1688 593.0 189.4 - - 2000 - - - - - - - - 13.74 14.23 14.08
16822 487.5 8.1 795 16836 roll 0.83 - - 3201 - 2.40 0.047 3048 566.7 189.4 - - 2000 - - - - - - - - 14.63 14.02 14.65
16901 481.0 8.3 805 16914 done 0.83 - - 3207 - 2.40 0.041 1678 -570.8 189.4 - - 2000 - - - - - - - - 14.19 14.10 14.23
17230 453.4 8.4 816 17244 roll 0.83 - - 3218 - 2.50 0.064 319 -543.6 189.4 - - 2000 - - - - - - - - 14.57 14.00 14.59
17294 447.7 9.2 824 17307 done 0.83 - - 3218 - 2.30 0.029 1675 589.6 189.4 - - 2000 - - - - - - - - 14.23 14.16 14.25
17639 417.3 8.8 837 17652 roll 0.83 - - 3219 - 2.47 0.048 3060 560.7 189.4 - - 2000 - - - - - - - - 14.54 14.00 14.57
17753 407.2 8.6 852 17767 done 0.83 - - 3227 - 2.45 0.041 1682 -562.4 189.4 - - 2000 - - - - - - - - 14.16 14.07 14.20
18099 378.1 8.5 859 18112 roll 0.83 - - 3237 - 2.50 0.065 317 -546.0 189.4 - - 2000 - - - - - - - - 14.53 14.02 14.56
18162 372.0 9.6 867 18176 done 0.83 0.17 0.230 3201 -211.8 2.33 0.029 1694 591.0 189.4 - - 2000 - - - - - - - - 13.69 14.15 14.02
18510 346.3 7.3 880 18527 roll 0.84 - - 3201 - 2.40 0.047 3044 562.5 200.0 3.42 0.913 1975 -7.3 0.536 - - - - - - 14.58 14.07 13.53
18572 341.6 7.3 888 18601 done 0.86 - - 3206 - 2.38 0.041 1677 -574.4 209.4 16.38 1.421 1940 -2.1 0.099 - - - - - - 14.28 14.19 13.66
18959 311.8 7.9 901 18972 roll 0.86 - - 3217 - 2.45 0.064 315 -555.9 209.4 - - 1927 - - - - - - - - 14.62 14.17 14.64
19002 308.2 8.4 906 19015 done 0.86 - - 3217 - 2.28 0.029 1670 594.3 209.4 - - 1924 - - - - - - - - 14.39 14.34 14.42
19367 276.9 8.4 915 19380 roll 0.86 - - 3217 - 2.45 0.047 3067 570.2 209.4 - - 1927 - - - - - - - - 14.65 14.13 14.67
19473 267.8 8.6 929 19486 done 0.86 - - 3225 - 2.42 0.040 1677 -574.4 209.4 - - 1927 - - - - - - - - 14.30 14.19 14.33
19831 236.0 9.0 937 19844 roll 0.86 - - 3236 - 2.47 0.063 321 -549.0 209.4 - - 1927 - - - - - - - - 14.64 14.05 14.66
19886 230.5 10.1 944 19901 done 0.86 0.15 0.226 3206 -200.0 2.33 0.028 1701 592.3 209.4 - - 1927 - - - - - - - - 13.82 14.21 14.11
20232 201.4 8.4 951 20245 roll 0.86 - - 3206 - 2.38 0.046 3044 564.3 209.4 - - 1927 - - - - - - - - 14.55 14.07 14.58
20287 196.3 9.1 958 20302 done 0.86 - - 3212 - 2.40 0.040 1682 -567.5 209.4 - - 1927 - - - - - - - - 14.12 14.04 14.16
20631 168.2 8.0 965 20645 roll 0.86 - - 3222 - 2.50 0.063 312 -548.0 209.4 - - 1927 - - - - - - - - 14.63 14.00 14.65
20724 160.5 8.7 977 20737 done 0.86 - - 3222 - 2.30 0.028 1674 592.2 209.4 - - 1927 - - - - - - - - 14.23 14.19 14.26
21095 131.9 7.3 987 21112 roll 0.87 - - 3222 - 2.40 0.044 3055 575.4 220.7 5.40 1.033 1893 -6.3 0.155 - - - - - - 14.61 14.16 13.66
21170 126.1 8.2 997 21184 done 0.87 - - 3231 - 2.40 0.041 1669 -577.5 220.7 - - 1894 - - - - - - - - 14.35 14.27 14.38
21500 97.3 8.6 1008 21513 roll 0.87 - - 3241 - 2.47 0.063 325 -544.1 220.7 - - 1896 - - - - - - - - 14.59 14.00 14.61
21606 90.0 6.3 1022 21650 done 0.91 - - 3241 - 2.28 0.028 1676 592.5 250.2 30.08 0.347 1777 -4.0 0.198 - - - - - - 14.28 14.20 14.01
21960 68.2 5.7 1039 22017 roll 0.95 - - 3243 - 2.38 0.044 3061 581.9 289.6 40.40 0.298 1621 -3.9 0.171 - - - - - - 14.60 14.21 14.00
22073 62.3 5.4 1054 22133 done 1.18 0.20 0.093 3324 405.0 2.42 0.041 1676 -572.3 335.8 45.15 0.286 1430 -4.2 0.178 - - - - - - 14.19 14.14 13.98
22438 41.8 4.8 1074 22504 roll 1.25 - - 3332 - 2.45 0.062 327 -550.6 393.3 53.17 0.229 1192 -4.5 0.158 - - - - - - 14.57 14.27 14.07
22645 28.3 6.9 1103 22676 done 1.39 0.15 0.106 3392 400.0 2.28 0.027 1707 605.3 410.2 17.10 0.186 1120 -4.2 0.124 - - - - - - 14.16 14.26 14.00
22916 end climb: SURFACE_DEPTH_REACHED
22916 begin surface coast
22938 end surface coast: CONTROL_FINISHED_OK
22938 begin surface
SM 0.87 - - - - -8.60 9.82 0.064 157 16.0 - - 1709 - 515.13 66.25 0.120 692 10.4 -0.008 - - - - - -