SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 503 * Raw log
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• Previous call tries 1 • 190.13 of 350.00 AH used of 24V (45.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 69 s
• GPS2 time: 18 s • Transponder ping count: 5
• 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
27 end surface: CONTROL_FINISHED_OK
27 begin dive
32 - - - 118 VBD -0.84 - - 152 - - - 1781 - -116.8 -83.47 - 3220 - - - - - - - - 14.67 - 14.69
122 5.1 -7.0 3 146 roll -0.84 12.80 0.391 2661 196.0 2.72 2.015 380 -515.1 -116.8 -0.75 - 3272 -69.3 - - - - - - - 13.92 13.08 14.35
175 28.2 -33.6 11 182 done -0.28 0.73 0.269 2830 231.5 2.25 0.032 1738 603.6 -116.8 - - 3272 - - - - - - - - 14.09 14.52 14.38
512 60.1 -5.8 26 518 roll -0.40 - - 2830 - 2.38 0.055 369 -575.2 -116.8 - - 3273 - - - - - - - - 14.76 14.40 14.79
561 63.1 -6.0 33 569 done -0.52 0.20 0.099 2747 -415.0 2.35 0.031 1791 605.1 -116.8 - - 3273 - - - - - - - - 14.45 14.51 14.52
875 88.2 -8.3 45 882 roll -0.52 - - 2737 - 2.30 0.050 3159 594.8 -116.8 - - 3274 - - - - - - - - 14.80 14.43 14.82
1032 101.3 -7.8 67 1038 done -0.52 - - 2733 - 2.30 0.035 1769 -604.3 -116.8 - - 3273 - - - - - - - - 14.55 14.48 14.58
1385 130.7 -8.6 75 1391 roll -0.52 - - 2738 - 2.42 0.058 373 -576.9 -116.8 - - 3273 - - - - - - - - 14.77 14.39 14.80
1503 141.6 -8.9 92 1509 done -0.52 0.15 0.249 2758 133.3 2.30 0.031 1771 607.8 -116.8 - - 3272 - - - - - - - - 14.10 14.50 14.35
1834 166.5 -7.6 104 1840 roll -0.52 - - 2751 - 2.38 0.050 3162 584.5 -116.8 - - 3269 - - - - - - - - 14.81 14.41 14.84
1931 174.1 -7.6 118 1937 done -0.52 - - 2751 - 2.33 0.036 1768 -598.3 -116.8 - - 3267 - - - - - - - - 14.54 14.47 14.57
2282 201.6 -7.8 126 2288 roll -0.52 - - 2751 - 2.45 0.060 373 -569.4 -116.8 - - 3267 - - - - - - - - 14.81 14.38 14.83
2387 210.6 -8.7 141 2395 done -0.52 - - 2742 - 2.35 0.032 1774 596.2 -116.8 - - 3266 - - - - - - - - 14.54 14.49 14.57
2730 240.1 -8.6 148 2736 roll -0.52 - - 2732 - 2.38 0.051 3164 584.0 -116.8 - - 3263 - - - - - - - - 14.80 14.38 14.82
2819 248.0 -8.8 161 2827 done -0.52 0.12 0.237 2758 216.7 2.35 0.037 1766 -594.9 -116.8 - - 3263 - - - - - - - - 14.13 14.46 14.35
3179 277.1 -8.1 170 3192 roll -0.52 - - 2758 - 2.42 0.060 377 -574.0 -116.8 - - 3260 - - - - - - - - 14.90 14.41 14.92
3303 288.0 -8.4 187 3316 done -0.52 - - 2752 - 2.35 0.032 1791 601.7 -116.8 - - 3259 - - - - - - - - 14.62 14.55 14.63
3640 315.1 -8.1 199 3653 roll -0.52 - - 2742 - 2.35 0.053 3164 584.3 -116.8 - - 3257 - - - - - - - - 14.92 14.44 14.94
3702 320.2 -8.2 207 3715 done -0.52 - - 2742 - 2.35 0.037 1772 -592.3 -116.8 - - 3257 - - - - - - - - 14.58 14.50 14.61
4046 347.7 -8.0 220 4059 roll -0.52 - - 2742 - 2.45 0.060 377 -569.4 -116.8 - - 3255 - - - - - - - - 14.89 14.41 14.91
4128 355.2 -9.0 231 4141 done -0.52 - - 2732 - 2.33 0.033 1774 599.6 -116.8 - - 3257 - - - - - - - - 14.61 14.55 14.63
4450 383.8 -9.0 241 4463 roll -0.52 - - 2722 - 2.38 0.053 3161 582.8 -116.8 - - 3253 - - - - - - - - 14.92 14.42 14.94
4526 391.1 -9.5 251 4540 done -0.52 0.15 0.236 2755 220.0 2.35 0.037 1772 -591.1 -116.8 - - 3253 - - - - - - - - 14.09 14.48 14.34
4855 419.3 -8.5 262 4869 roll -0.61 - - 2755 - 2.45 0.060 375 -570.2 -116.8 - - 3250 - - - - - - - - 14.89 14.38 14.90
4939 426.9 -9.0 273 4952 done -0.61 - - 2749 - 2.33 0.032 1778 602.1 -116.8 - - 3250 - - - - - - - - 14.59 14.54 14.62
5260 453.2 -8.1 283 5274 roll -0.61 - - 2739 - 2.38 0.054 3163 581.9 -116.8 - - 3249 - - - - - - - - 14.92 14.40 14.94
5373 461.9 -7.7 298 5387 done -0.70 0.12 0.123 2690 -408.3 2.35 0.038 1774 -591.1 -116.8 - - 3248 - - - - - - - - 14.40 14.45 14.50
5717 495.9 -10.1 305 5731 roll -0.70 - - 2689 - 2.47 0.062 373 -567.2 -116.8 - - 3247 - - - - - - - - 14.90 14.33 14.91
5836 509.1 -11.1 321 5850 done -0.70 - - 2680 - 2.35 0.033 1776 597.0 -116.8 - - 3246 - - - - - - - - 14.57 14.50 14.58
6181 545.6 -10.6 334 6194 roll -0.70 - - 2669 - 2.40 0.054 3170 580.8 -116.8 - - 3244 - - - - - - - - 14.88 14.36 14.90
6270 555.3 -10.4 346 6284 done -0.70 0.15 0.265 2699 200.0 2.38 0.038 1771 -587.8 -116.8 - - 3244 - - - - - - - - 13.95 14.42 14.24
6641 589.4 -9.1 356 6654 roll -0.70 - - 2698 - 2.47 0.061 374 -565.6 -116.8 - - 3243 - - - - - - - - 14.90 14.31 14.92
6731 598.2 -9.9 368 6744 done -0.70 - - 2692 - 2.35 0.033 1777 597.0 -116.8 - - 3240 - - - - - - - - 14.54 14.49 14.57
7101 634.7 -10.1 378 7114 roll -0.70 - - 2681 - 2.40 0.054 3165 578.3 -116.8 - - 3243 - - - - - - - - 14.90 14.33 14.92
7171 641.8 -10.2 387 7184 done -0.70 - - 2681 - 2.35 0.038 1777 -590.6 -116.8 - - 3241 - - - - - - - - 14.48 14.40 14.51
7507 676.4 -10.3 399 7520 roll -0.70 - - 2681 - 2.47 0.062 377 -566.8 -116.8 - - 3240 - - - - - - - - 14.87 14.29 14.89
7632 689.9 -10.6 416 7646 done -0.70 - - 2672 - 2.38 0.034 1787 592.4 -116.8 - - 3240 - - - - - - - - 14.51 14.45 14.53
7968 723.6 -10.0 428 7981 roll -0.70 0.12 0.308 2690 150.0 2.40 0.053 3165 574.2 -116.8 - - 3238 - - - - - - - - 13.89 14.17 14.04
8030 729.4 -8.8 436 8044 done -0.70 - - 2690 - 2.38 0.039 1766 -587.8 -116.8 - - 3237 - - - - - - - - 14.47 14.39 14.49
8374 760.6 -9.1 449 8387 roll -0.70 - - 2690 - 2.47 0.063 376 -562.8 -116.8 - - 3234 - - - - - - - - 14.84 14.25 14.85
8485 771.5 -9.7 464 8499 done -0.70 - - 2681 - 2.40 0.034 1784 586.7 -116.8 - - 3236 - - - - - - - - 14.47 14.40 14.50
8830 803.1 -9.2 471 8843 roll -0.70 - - 2670 - 2.42 0.057 3170 572.7 -116.8 - - 3235 - - - - - - - - 14.84 14.23 14.86
8941 813.8 -9.5 486 8955 done -0.70 0.15 0.265 2699 193.3 2.40 0.040 1774 -581.7 -116.8 - - 3235 - - - - - - - - 13.83 14.33 14.12
9285 843.4 -8.6 493 9298 roll -0.70 - - 2706 - 2.50 0.063 380 -557.6 -116.8 - - 3234 - - - - - - - - 14.88 14.16 14.90
9383 852.3 -9.0 506 9396 done -0.70 - - 2699 - 2.38 0.034 1775 586.1 -116.8 - - 3234 - - - - - - - - 14.45 14.40 14.47
9746 883.3 -8.7 515 9760 roll -0.70 - - 2688 - 2.42 0.055 3164 574.0 -116.8 - - 3232 - - - - - - - - 14.88 14.23 14.93
9837 891.3 -8.8 527 9850 done -0.70 - - 2686 - 2.40 0.039 1771 -580.4 -116.8 - - 3232 - - - - - - - - 14.40 14.32 14.43
10208 924.6 -9.1 537 10221 roll -0.70 - - 2688 - 2.53 0.064 376 -551.4 -116.8 - - 3231 - - - - - - - - 14.87 14.16 14.89
10347 938.4 -9.8 556 10360 done -0.70 - - 2676 - 2.40 0.035 1775 582.9 -116.8 - - 3231 - - - - - - - - 14.45 14.39 14.48
10669 968.9 -9.5 566 10683 roll -0.70 - - 2665 - 2.45 0.055 3168 568.6 -116.8 - - 3230 - - - - - - - - 14.81 14.21 14.83
10752 976.9 -9.4 577 10766 done -0.70 0.15 0.265 2697 213.3 2.40 0.039 1772 -581.7 -116.8 - - 3230 - - - - - - - - 13.76 14.28 14.05
10958 end dive: TARGET_DEPTH_EXCEEDED
10958 begin apogee
10968 995.1 -8.6 585 11100 done -0.21 0.62 0.223 2855 254.8 - - 1660 - - 121.88 2.220 2792 -3.6 0.308 - - - - - - 13.65 13.94 12.83
11103 end apogee: CONTROL_FINISHED_OK
11103 begin climb
11106 999.0 - 587 11254 roll 0.84 1.15 0.151 3189 290.4 2.62 0.047 3078 541.2 116.8 125.22 2.183 2303 -3.9 0.342 - - - - - - 13.97 13.87 12.81
11295 989.5 8.2 618 11309 done 0.84 - - 3198 - 2.42 0.040 1693 -572.3 116.8 - - 2295 - - - - - - - - 14.27 14.20 14.30
11641 961.6 8.1 625 11654 roll 0.84 - - 3208 - 2.42 0.065 330 -563.2 116.8 - - 2291 - - - - - - - - 14.76 14.42 14.78
11717 954.9 8.8 635 11730 done 0.84 - - 3209 - 2.28 0.031 1701 601.3 116.8 - - 2292 - - - - - - - - 14.57 14.53 14.60
12045 927.8 8.2 646 12058 roll 0.84 - - 3209 - 2.33 0.047 3051 579.4 116.8 - - 2291 - - - - - - - - 14.83 14.42 14.85
12136 920.2 8.5 658 12149 done 0.84 - - 3218 - 2.38 0.040 1672 -579.4 116.8 - - 2290 - - - - - - - - 14.54 14.46 14.58
12506 888.7 8.6 668 12519 done 0.84 - - 3218 - - - 1671 - 116.8 - - 2290 - - - - - - - - 14.85 14.87 14.87
12842 859.4 8.7 674 12855 done 0.84 - - 3218 - - - 1670 - 116.8 - - 2290 - - - - - - - - 14.85 14.88 14.88
13179 829.2 9.0 680 13193 roll 0.84 - - 3217 - 2.42 0.047 3056 572.7 116.8 - - 2286 - - - - - - - - 14.85 14.29 14.88
13213 825.7 9.6 684 13227 done 0.75 0.25 0.259 3172 -180.0 2.35 0.040 1676 -587.2 116.8 - - 2289 - - - - - - - - 13.92 14.41 14.26
13585 796.5 7.9 694 13598 roll 0.75 - - 3180 - 2.42 0.065 325 -558.3 116.8 - - 2288 - - - - - - - - 14.82 14.28 14.84
13618 793.6 8.0 698 13632 done 0.75 - - 3180 - 2.25 0.031 1694 608.4 116.8 - - 2288 - - - - - - - - 14.56 14.50 14.59
13989 764.4 7.8 708 14003 roll 0.75 - - 3179 - 2.33 0.048 3045 579.8 118.3 - - 2286 - - - - - - - - 14.86 14.24 14.88
14102 755.8 7.5 723 14116 done 0.76 - - 3189 - 2.35 0.041 1683 -579.6 125.2 - - 2286 - - - - - - - - 14.45 14.36 14.49
14444 731.8 6.8 730 14487 roll 0.78 - - 3199 - 2.47 0.066 323 -550.6 144.8 27.27 1.909 2192 -3.4 0.253 - - - - - - 14.85 14.39 13.35
14515 726.9 6.9 740 14545 done 0.80 - - 3199 - 2.22 0.031 1676 609.5 161.8 17.48 1.883 2130 -3.5 0.262 - - - - - - 14.54 14.49 13.27
14896 697.7 7.6 752 14909 roll 0.81 - - 3199 - 2.35 0.047 3046 583.0 166.1 - - 2118 - - - - - - - - 14.74 14.35 14.76
14992 689.9 8.0 765 15006 done 0.81 - - 3208 - 2.35 0.041 1677 -582.6 166.1 - - 2115 - - - - - - - - 14.49 14.40 14.52
15357 659.5 8.6 774 15370 roll 0.81 - - 3218 - 2.40 0.065 326 -562.9 166.1 - - 2115 - - - - - - - - 14.78 14.31 14.81
15398 655.5 9.1 779 15411 done 0.81 - - 3218 - 2.25 0.030 1679 601.3 166.1 - - 2115 - - - - - - - - 14.54 14.50 14.57
15762 620.6 9.7 788 15775 roll 0.81 - - 3218 - 2.38 0.046 3053 577.3 166.1 - - 2115 - - - - - - - - 14.83 14.34 14.85
15845 612.2 9.9 799 15858 done 0.81 0.17 0.259 3191 -158.8 2.35 0.041 1678 -585.1 166.1 - - 2112 - - - - - - - - 13.95 14.38 14.23
16167 586.1 8.0 809 16180 roll 0.81 - - 3198 - 2.40 0.065 329 -562.1 166.1 - - 2113 - - - - - - - - 14.82 14.28 14.84
16208 582.7 8.3 814 16222 done 0.81 - - 3199 - 2.22 0.031 1682 609.5 166.1 - - 2114 - - - - - - - - 14.54 14.49 14.57
16572 554.0 7.8 823 16585 roll 0.81 - - 3196 - 2.35 0.047 3049 581.7 166.6 - - 2114 - - - - - - - - 14.85 14.33 14.87
16684 544.4 8.7 838 16698 done 0.81 - - 3208 - 2.38 0.041 1676 -576.9 166.6 - - 2114 - - - - - - - - 14.45 14.35 14.47
17027 513.4 9.2 845 17040 roll 0.81 - - 3219 - 2.42 0.065 317 -561.6 166.6 - - 2114 - - - - - - - - 14.85 14.23 14.88
17062 509.9 9.8 849 17075 done 0.81 - - 3218 - 2.25 0.030 1682 606.7 166.6 - - 2114 - - - - - - - - 14.51 14.45 14.53
17434 475.4 9.1 859 17447 roll 0.81 - - 3218 - 2.35 0.045 3050 582.1 166.6 - - 2113 - - - - - - - - 14.80 14.32 14.82
17497 469.6 9.0 867 17510 done 0.81 0.15 0.255 3196 -146.7 2.35 0.042 1677 -584.3 166.6 - - 2114 - - - - - - - - 13.90 14.33 14.18
17844 445.1 7.0 880 17873 done 0.83 - - 3196 - - - 1679 - 183.0 20.75 1.571 2047 -3.2 0.175 - - - - - - 14.81 14.39 13.45
18176 420.2 7.5 886 18193 roll 0.84 - - 3204 - 2.45 0.066 333 -549.4 189.7 1.92 0.163 2012 -18.2 8.999 - - - - - - 14.79 14.28 14.17
18206 417.7 8.0 890 18219 done 0.84 - - 3204 - 2.22 0.030 1686 609.5 189.7 - - 2018 - - - - - - - - 14.54 14.49 14.57
18578 386.3 8.6 900 18591 roll 0.84 - - 3204 - 2.33 0.047 3046 583.7 189.7 - - 2016 - - - - - - - - 14.78 14.35 14.81
18653 379.0 9.5 910 18667 done 0.84 - - 3213 - 2.33 0.038 1682 -585.4 189.7 - - 2017 - - - - - - - - 14.47 14.39 14.51
18982 349.2 9.0 921 18995 roll 0.84 - - 3224 - 2.42 0.063 320 -562.8 189.7 - - 2016 - - - - - - - - 14.84 14.27 14.86
19017 346.0 9.1 925 19030 done 0.84 - - 3223 - 2.25 0.029 1687 607.6 189.7 - - 2018 - - - - - - - - 14.54 14.48 14.55
19387 312.3 9.1 935 19400 roll 0.84 - - 3223 - 2.33 0.046 3046 583.3 189.7 - - 2016 - - - - - - - - 14.83 14.34 14.84
19464 304.9 9.7 945 19478 done 0.84 0.15 0.248 3203 -133.3 2.35 0.040 1676 -583.0 189.7 - - 2016 - - - - - - - - 13.97 14.38 14.23
19793 278.7 7.8 956 19807 roll 0.84 - - 3209 - 2.42 0.065 322 -559.5 190.8 - - 2017 - - - - - - - - 14.81 14.23 14.83
19856 273.8 8.1 964 19869 done 0.84 - - 3209 - 2.22 0.029 1673 608.6 190.8 - - 2016 - - - - - - - - 14.54 14.49 14.56
20200 247.4 7.6 977 20217 roll 0.84 - - 3209 - 2.35 0.045 3057 588.9 195.9 4.85 1.093 1992 -4.9 0.214 - - - - - - 14.81 14.14 13.43
20266 241.8 8.4 986 20279 done 0.84 - - 3218 - 2.35 0.041 1672 -589.4 195.9 - - 1997 - - - - - - - - 14.59 14.50 14.62
20602 212.4 9.0 998 20615 done 0.84 - - 3218 - - - 1672 - 195.9 - - 1998 - - - - - - - - 14.83 14.85 14.85
20938 186.3 7.3 1004 20965 done 0.86 - - 3218 - - - 1672 - 205.8 18.15 1.242 1952 -2.5 0.073 - - - - - - 14.84 14.45 13.61
21274 161.0 7.9 1010 21287 roll 0.86 - - 3229 - 2.40 0.065 324 -561.7 205.8 - - 1940 - - - - - - - - 14.81 14.32 14.83
21329 155.5 10.2 1017 21344 done 0.86 - - 3228 - 2.25 0.029 1688 606.2 205.8 - - 1938 - - - - - - - - 14.47 14.42 14.50
21672 120.3 10.0 1024 21686 roll 0.86 - - 3229 - 2.33 0.046 3043 581.5 205.8 - - 1938 - - - - - - - - 14.81 14.35 14.83
21706 116.7 10.3 1028 21720 done 0.86 0.12 0.252 3212 -141.7 2.33 0.038 1672 -588.4 205.8 - - 1938 - - - - - - - - 14.06 14.41 14.34
22054 89.7 7.3 1040 22071 roll 0.87 - - 3220 - 2.45 0.063 321 -551.4 217.0 5.80 0.233 1911 -4.7 0.343 - - - - - - 14.78 14.33 13.83
22099 85.7 8.1 1046 22117 done 0.87 - - 3220 - 2.22 0.028 1685 614.4 217.0 2.40 0.162 1910 - - - - - - - - 14.57 14.51 14.11
22426 65.6 5.9 1059 22481 roll 1.02 0.12 0.127 3277 475.0 2.35 0.044 3050 580.9 253.6 37.78 0.291 1766 -3.8 0.165 - - - - - - 14.44 14.46 14.14
22544 57.1 6.7 1076 22581 done 1.04 - - 3283 - 2.33 0.038 1674 -590.6 274.4 22.08 0.266 1675 -4.1 0.169 - - - - - - 14.52 14.43 14.10
22909 42.6 4.7 1094 22977 roll 1.29 0.15 0.116 3361 520.0 2.42 0.062 327 -556.6 333.2 55.33 0.231 1432 -4.4 0.155 - - - - - - 14.38 14.42 14.15
23016 34.7 9.3 1109 23031 done 1.29 - - 3361 - 2.22 0.026 1693 615.3 333.2 - - 1441 - - - - - - - - 14.54 14.50 14.56
23327 7.0 8.9 1121 23341 roll 1.29 - - 3361 - 2.25 0.041 3037 597.3 333.2 - - 1441 - - - - - - - - 14.80 14.38 14.82
23378 end climb: SURFACE_DEPTH_REACHED
23378 begin surface coast
23386 end surface coast: CONTROL_FINISHED_OK
23386 begin surface
SM 1.00 - - - - -8.61 9.38 0.054 157 16.7 2.17 0.041 1775 698.2 515.13 110.07 0.121 692 6.3 -0.005 - - - - - -