SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 697 * Raw log
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• Previous call tries 1 • 264.49 of 350.00 AH used of 24V (24.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.9 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: 24 s
• GPS2 time: 26 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 - - 152 - - - 1795 - -116.8 -83.05 - 3243 - - - - - - - - 14.45 - 14.47
122 5.5 -7.7 3 144 roll -0.84 12.70 0.389 2660 197.5 2.72 2.033 370 -523.9 -116.8 -0.43 - 3272 -67.4 - - - - - - - 13.99 12.86 14.38
182 30.4 -27.6 12 188 done -0.41 0.60 0.274 2789 215.0 2.33 0.034 1746 590.6 -116.8 - - 3272 - - - - - - - - 13.80 14.26 14.12
511 71.1 -7.6 26 517 roll -0.41 - - 2789 - 2.42 0.055 374 -566.9 -116.8 - - 3273 - - - - - - - - 14.62 14.16 14.63
560 75.5 -9.4 33 568 done -0.41 - - 2782 - 2.38 0.030 1793 596.2 -116.8 - - 3273 - - - - - - - - 14.31 14.26 14.33
877 98.8 -6.8 45 883 roll -0.41 - - 2772 - 2.38 0.050 3166 576.9 -116.8 - - 3273 - - - - - - - - 14.59 14.11 14.61
989 105.8 -6.1 61 996 done -0.41 - - 2772 - 2.38 0.034 1773 -585.3 -116.8 - - 3274 - - - - - - - - 14.23 14.17 14.27
1328 129.3 -7.2 74 1334 roll -0.41 - - 2772 - 2.47 0.056 377 -565.2 -116.8 - - 3274 - - - - - - - - 14.64 14.04 14.66
1474 140.8 -7.9 95 1481 done -0.41 0.12 0.236 2790 150.0 2.35 0.030 1779 596.6 -116.8 - - 3270 - - - - - - - - 13.78 14.22 14.02
1832 162.4 -6.0 104 1838 roll -0.54 - - 2782 - 2.42 0.050 3162 571.5 -116.8 - - 3271 - - - - - - - - 14.64 14.02 14.68
1925 167.8 -5.9 117 1932 done -0.70 0.25 0.080 2681 -404.0 2.40 0.034 1758 -585.0 -116.8 - - 3269 - - - - - - - - 14.14 14.13 14.21
2283 202.6 -9.9 126 2289 roll -0.60 0.20 0.237 2731 250.0 2.47 0.055 374 -560.3 -116.8 - - 3267 - - - - - - - - 13.50 13.79 13.66
2397 212.8 -8.8 142 2404 done -0.60 - - 2725 - 2.38 0.030 1769 586.1 -116.8 - - 3266 - - - - - - - - 14.22 14.16 14.24
2733 241.7 -8.6 155 2739 roll -0.60 - - 2714 - 2.45 0.051 3164 569.4 -116.8 - - 3263 - - - - - - - - 14.60 14.02 14.62
2782 246.1 -9.0 162 2789 done -0.60 - - 2715 - 2.40 0.036 1773 -579.6 -116.8 - - 3263 - - - - - - - - 14.18 14.09 14.21
3127 277.4 -9.0 169 3141 roll -0.60 - - 2714 - 2.53 0.057 376 -552.2 -116.8 - - 3260 - - - - - - - - 14.76 13.91 14.77
3239 287.9 -9.2 184 3253 done -0.60 0.12 0.259 2728 116.7 2.40 0.031 1781 585.4 -116.8 - - 3259 - - - - - - - - 13.60 14.13 13.84
3584 315.8 -8.2 191 3597 roll -0.60 - - 2720 - 2.45 0.052 3158 562.0 -116.8 - - 3257 - - - - - - - - 14.76 13.90 14.78
3654 321.7 -8.3 200 3667 done -0.60 - - 2720 - 2.40 0.037 1767 -579.6 -116.8 - - 3256 - - - - - - - - 14.16 14.07 14.21
3990 350.7 -8.7 212 4003 roll -0.60 - - 2720 - 2.53 0.057 373 -551.0 -116.8 - - 3255 - - - - - - - - 14.77 13.88 14.78
4118 362.8 -9.5 229 4131 done -0.60 - - 2711 - 2.40 0.031 1771 582.5 -116.8 - - 3254 - - - - - - - - 14.16 14.11 14.19
4454 394.4 -9.4 241 4467 roll -0.60 - - 2701 - 2.47 0.050 3161 562.8 -116.8 - - 3252 - - - - - - - - 14.77 13.88 14.79
4518 400.3 -9.4 249 4532 done -0.60 0.15 0.229 2731 200.0 2.40 0.035 1772 -578.8 -116.8 - - 3251 - - - - - - - - 13.60 14.07 13.85
4862 428.9 -8.2 262 4875 roll -0.60 - - 2732 - 2.55 0.059 373 -548.6 -116.8 - - 3250 - - - - - - - - 14.76 13.85 14.78
5021 442.4 -8.8 283 5034 done -0.60 - - 2724 - 2.42 0.031 1776 579.8 -116.8 - - 3249 - - - - - - - - 14.16 14.10 14.19
5385 474.4 -8.8 292 5398 roll -0.60 - - 2714 - 2.47 0.052 3163 561.5 -116.8 - - 3247 - - - - - - - - 14.83 13.84 14.85
5463 481.1 -8.4 302 5476 done -0.60 - - 2714 - 2.40 0.036 1777 -577.5 -116.8 - - 3247 - - - - - - - - 14.12 14.03 14.15
5794 508.8 -8.4 313 5807 roll -0.60 - - 2714 - 2.55 0.059 375 -549.8 -116.8 - - 3246 - - - - - - - - 14.74 13.87 14.76
5898 518.3 -8.8 327 5912 done -0.60 0.12 0.252 2729 125.0 2.40 0.031 1772 582.1 -116.8 - - 3244 - - - - - - - - 13.59 14.10 13.86
6257 545.6 -7.7 335 6270 roll -0.60 - - 2720 - 2.50 0.051 3166 557.6 -116.8 - - 3243 - - - - - - - - 14.71 13.88 14.76
6292 548.4 -7.6 339 6305 done -0.60 - - 2720 - 2.45 0.037 1769 -570.2 -116.8 - - 3243 - - - - - - - - 14.12 14.04 14.16
6663 579.3 -8.4 349 6676 roll -0.60 - - 2720 - 2.55 0.060 376 -546.3 -116.8 - - 3242 - - - - - - - - 14.82 13.83 14.84
6753 587.8 -9.5 361 6767 done -0.60 - - 2711 - 2.45 0.032 1782 573.9 -116.8 - - 3242 - - - - - - - - 14.16 14.09 14.19
7124 622.0 -9.3 371 7138 roll -0.60 - - 2700 - 2.47 0.054 3160 557.9 -116.8 - - 3241 - - - - - - - - 14.81 13.84 14.86
7201 629.0 -9.0 381 7215 done -0.60 0.15 0.231 2731 206.7 2.45 0.037 1760 -571.4 -116.8 - - 3240 - - - - - - - - 13.57 14.02 13.85
7532 654.9 -7.7 392 7545 roll -0.60 - - 2732 - 2.53 0.060 380 -545.5 -116.8 - - 3239 - - - - - - - - 14.72 13.89 14.74
7651 664.8 -8.1 408 7664 done -0.60 - - 2725 - 2.40 0.031 1771 579.6 -116.8 - - 3238 - - - - - - - - 14.14 14.08 14.16
7995 692.1 -8.0 421 8009 roll -0.60 - - 2714 - 2.50 0.052 3167 558.4 -116.8 - - 3237 - - - - - - - - 14.72 13.88 14.74
8115 702.1 -8.3 437 8128 done -0.60 - - 2714 - 2.42 0.037 1777 -574.4 -116.8 - - 3236 - - - - - - - - 14.10 14.01 14.14
8459 731.3 -8.5 450 8472 roll -0.60 - - 2714 - 2.58 0.060 377 -542.6 -116.8 - - 3236 - - - - - - - - 14.78 13.93 14.81
8550 739.5 -8.9 462 8563 done -0.60 0.12 0.254 2728 116.7 2.42 0.032 1776 578.1 -116.8 - - 3236 - - - - - - - - 13.60 14.10 13.86
8923 767.6 -7.5 472 8936 roll -0.60 - - 2720 - 2.53 0.054 3167 549.8 -116.8 - - 3235 - - - - - - - - 14.78 13.88 14.81
9014 774.6 -7.5 484 9027 done -0.60 - - 2720 - 2.45 0.038 1774 -568.6 -116.8 - - 3234 - - - - - - - - 14.10 14.00 14.14
9385 803.0 -7.7 494 9398 roll -0.60 - - 2720 - 2.58 0.062 379 -540.7 -116.8 - - 3233 - - - - - - - - 14.79 13.88 14.81
9477 810.8 -8.6 506 9490 done -0.60 - - 2711 - 2.45 0.033 1776 570.2 -116.8 - - 3233 - - - - - - - - 14.15 14.09 14.18
9848 842.1 -8.5 516 9861 roll -0.60 - - 2700 - 2.50 0.054 3162 554.4 -116.8 - - 3231 - - - - - - - - 14.80 13.89 14.81
9926 848.8 -8.7 526 9940 done -0.60 0.15 0.233 2731 206.7 2.47 0.037 1762 -566.8 -116.8 - - 3231 - - - - - - - - 13.59 14.01 13.86
10256 874.3 -7.6 537 10269 roll -0.60 - - 2730 - 2.55 0.062 379 -542.4 -116.8 - - 3231 - - - - - - - - 14.71 13.93 14.73
10353 882.2 -8.0 550 10367 done -0.60 - - 2724 - 2.45 0.033 1785 573.9 -116.8 - - 3230 - - - - - - - - 14.14 14.07 14.17
10719 909.2 -7.4 559 10732 roll -0.60 - - 2713 - 2.53 0.056 3170 547.4 -116.8 - - 3230 - - - - - - - - 14.69 13.92 14.71
10824 917.0 -7.1 573 10837 done -0.60 - - 2713 - 2.45 0.039 1782 -566.5 -116.8 - - 3230 - - - - - - - - 14.08 13.99 14.12
11183 942.2 -7.0 581 11196 roll -0.60 - - 2713 - 2.60 0.062 373 -541.9 -116.8 - - 3229 - - - - - - - - 14.76 13.92 14.78
11320 952.2 -7.3 599 11333 done -0.60 0.15 0.254 2734 140.0 2.45 0.033 1773 571.4 -116.8 - - 3229 - - - - - - - - 13.54 14.06 13.83
11657 972.4 -6.0 610 11670 roll -0.69 - - 2725 - 2.53 0.054 3173 553.4 -116.8 - - 3228 - - - - - - - - 14.65 13.95 14.66
11762 979.4 -6.3 624 11776 done -0.80 0.17 0.106 2662 -370.6 2.47 0.039 1770 -568.0 -116.8 - - 3228 - - - - - - - - 13.97 14.00 14.08
11891 end dive: TARGET_DEPTH_EXCEEDED
11891 begin apogee
11903 990.8 -8.3 628 12035 done -0.21 0.80 0.243 2853 238.8 - - 1655 - - 121.43 2.204 2793 -3.6 0.318 - - - - - - 13.76 13.77 12.90
12036 end apogee: CONTROL_FINISHED_OK
12036 begin climb
12041 995.9 - 630 12191 roll 0.84 1.23 0.162 3188 272.4 2.67 0.046 3074 531.5 116.8 128.70 2.170 2307 -3.8 0.342 - - - - - - 13.48 13.11 12.42
12233 986.6 7.7 661 12248 done 0.84 - - 3197 - 2.55 0.037 1697 -540.0 120.1 - - 2295 - - - - - - - - 13.54 13.46 13.57
12577 960.7 7.5 668 12595 roll 0.85 - - 3207 - 2.53 0.065 329 -540.7 127.2 2.85 0.910 2273 -7.7 1.610 - - - - - - 14.55 14.05 13.10
12611 958.2 8.3 672 12624 done 0.85 - - 3207 - 2.33 0.029 1700 588.4 127.2 - - 2272 - - - - - - - - 14.29 14.23 14.31
12983 929.5 7.7 682 12996 roll 0.85 - - 3207 - 2.38 0.048 3053 568.5 129.3 - - 2272 - - - - - - - - 14.64 14.10 14.64
13082 921.6 7.9 695 13095 done 0.85 - - 3215 - 2.42 0.041 1677 -568.6 129.3 - - 2272 - - - - - - - - 14.26 14.17 14.29
13446 893.0 7.9 704 13460 roll 0.85 - - 3226 - 2.47 0.064 326 -547.0 129.3 - - 2272 - - - - - - - - 14.63 14.00 14.65
13488 889.4 10.9 709 13502 done 0.75 0.22 0.252 3179 -213.6 2.30 0.029 1696 595.7 129.3 - - 2272 - - - - - - - - 13.70 14.19 14.03
13855 865.2 6.5 718 13903 roll 0.78 - - 3179 - 2.35 0.048 3047 574.9 154.1 35.25 2.026 2157 -3.3 0.275 - - - - - - 14.56 14.09 13.42
13992 855.5 7.7 737 14005 done 0.79 - - 3185 - 2.40 0.041 1678 -570.4 157.1 - - 2147 - - - - - - - - 14.26 14.18 14.29
14316 831.1 7.5 747 14333 roll 0.79 - - 3195 - 2.42 0.066 323 -559.9 164.6 3.53 1.212 2123 -6.8 0.921 - - - - - - 14.57 14.19 13.32
14361 827.2 8.3 753 14375 done 0.79 - - 3195 - 2.28 0.030 1672 591.7 164.6 - - 2124 - - - - - - - - 14.37 14.31 14.38
14721 796.3 8.7 761 14734 roll 0.79 - - 3195 - 2.45 0.049 3061 566.9 164.6 - - 2125 - - - - - - - - 14.62 14.08 14.65
14826 786.2 9.4 775 14839 done 0.79 - - 3206 - 2.45 0.042 1674 -566.1 164.6 - - 2129 - - - - - - - - 14.26 14.19 14.28
15183 752.5 9.5 783 15196 roll 0.79 - - 3214 - 2.47 0.065 320 -548.2 164.6 - - 2125 - - - - - - - - 14.63 13.99 14.65
15226 748.3 9.5 788 15240 done 0.79 - - 3214 - 2.33 0.030 1679 583.3 164.6 - - 2125 - - - - - - - - 14.27 14.22 14.29
15591 714.0 9.3 797 15604 roll 0.79 - - 3214 - 2.47 0.049 3063 560.3 164.6 - - 2125 - - - - - - - - 14.59 14.00 14.60
15725 701.8 8.9 815 15739 done 0.79 0.17 0.260 3195 -111.8 2.45 0.041 1680 -564.5 164.6 - - 2125 - - - - - - - - 13.65 14.09 13.98
16055 677.5 7.2 826 16091 roll 0.81 - - 3197 - 2.47 0.067 327 -547.8 177.2 21.00 1.844 2061 -3.0 0.221 - - - - - - 14.57 14.20 13.53
16126 672.2 8.0 836 16139 done 0.81 - - 3197 - 2.30 0.030 1678 587.4 177.2 - - 2055 - - - - - - - - 14.31 14.26 14.34
16457 647.4 7.5 847 16471 roll 0.82 - - 3197 - 2.50 0.047 3066 555.2 183.5 1.52 0.171 2039 -10.5 7.871 - - - - - - 14.64 14.17 14.00
16574 638.4 7.8 862 16588 done 0.82 - - 3205 - 2.45 0.041 1677 -566.9 184.7 - - 2041 - - - - - - - - 14.21 14.12 14.25
16915 611.1 8.0 869 16928 roll 0.82 - - 3215 - 2.47 0.065 320 -549.4 184.7 - - 2041 - - - - - - - - 14.61 14.01 14.63
16972 605.9 8.8 876 16986 done 0.82 - - 3215 - 2.35 0.029 1695 585.1 184.7 - - 2041 - - - - - - - - 14.29 14.23 14.33
17317 576.4 8.7 883 17330 roll 0.82 - - 3215 - 2.40 0.049 3054 566.2 184.7 - - 2041 - - - - - - - - 14.57 14.02 14.59
17423 566.6 9.3 897 17436 done 0.82 - - 3223 - 2.42 0.040 1678 -568.6 184.7 - - 2041 - - - - - - - - 14.20 14.12 14.23
17781 532.6 9.6 905 17794 roll 0.82 - - 3234 - 2.50 0.064 315 -545.2 184.7 - - 2041 - - - - - - - - 14.57 13.97 14.59
17866 523.7 10.8 916 17880 done 0.82 0.17 0.246 3199 -205.9 2.33 0.028 1697 593.1 184.7 - - 2041 - - - - - - - - 13.62 14.16 13.94
18189 495.4 8.6 926 18202 roll 0.82 - - 3198 - 2.38 0.048 3038 563.4 184.7 - - 2041 - - - - - - - - 14.62 13.99 14.64
18288 487.1 8.2 939 18302 done 0.82 - - 3205 - 2.42 0.041 1671 -564.9 184.7 - - 2041 - - - - - - - - 14.13 14.03 14.16
18653 458.5 7.7 948 18671 roll 0.82 - - 3215 - 2.42 0.065 322 -557.4 188.3 3.58 1.035 2023 -5.0 0.440 - - - - - - 14.61 14.14 13.43
18741 451.5 7.9 960 18754 done 0.82 - - 3214 - 2.28 0.029 1663 588.2 188.3 - - 2030 - - - - - - - - 14.26 14.21 14.28
19114 423.0 7.8 970 19132 roll 0.83 - - 3215 - 2.47 0.047 3054 563.2 189.6 2.85 0.760 2021 -3.2 0.347 - - - - - - 14.60 14.04 13.36
19272 409.3 8.6 992 19285 done 0.83 - - 3222 - 2.40 0.039 1681 -572.1 189.6 - - 2025 - - - - - - - - 14.18 14.09 14.21
19631 379.4 8.4 1000 19644 roll 0.83 - - 3233 - 2.50 0.063 320 -544.4 189.6 - - 2025 - - - - - - - - 14.61 13.96 14.63
19687 374.2 9.3 1007 19701 done 0.83 0.15 0.238 3203 -200.0 2.35 0.028 1696 585.5 189.6 - - 2029 - - - - - - - - 13.58 14.09 13.86
20033 346.7 8.0 1014 20046 roll 0.83 - - 3203 - 2.40 0.047 3047 562.9 189.6 - - 2025 - - - - - - - - 14.54 13.96 14.56
20109 339.9 8.7 1024 20122 done 0.83 - - 3209 - 2.42 0.039 1675 -566.9 189.6 - - 2025 - - - - - - - - 14.07 13.98 14.11
20439 311.6 8.6 1035 20452 roll 0.83 - - 3219 - 2.50 0.064 316 -543.6 189.6 - - 2025 - - - - - - - - 14.62 13.96 14.65
20496 306.7 8.9 1042 20510 done 0.83 - - 3219 - 2.35 0.028 1675 578.3 189.6 - - 2025 - - - - - - - - 14.13 14.08 14.15
20839 279.0 7.9 1049 20852 roll 0.83 - - 3220 - 2.47 0.047 3065 562.8 189.6 - - 2025 - - - - - - - - 14.56 13.95 14.58
20952 270.0 7.9 1064 20967 done 0.83 0.15 0.248 3199 -140.0 2.47 0.040 1670 -564.8 189.6 - - 2025 - - - - - - - - 13.57 13.99 13.87
21294 247.0 6.7 1071 21333 done 0.85 - - 3199 - - - 1670 - 210.6 29.58 1.314 1935 -3.0 0.113 - - - - - - 14.63 14.34 13.67
21631 223.7 7.0 1077 21655 done 0.87 - - 3199 - - - 1670 - 226.4 15.35 1.278 1869 -4.3 0.149 - - - - - - 14.62 14.35 13.68
21968 198.0 7.8 1083 21982 roll 0.87 - - 3207 - 2.42 0.065 327 -555.0 227.4 - - 1856 - - - - - - - - 14.62 14.14 14.64
22010 194.3 8.4 1088 22023 done 0.87 - - 3208 - 2.28 0.029 1685 595.6 227.4 - - 1856 - - - - - - - - 14.38 14.33 14.39
22374 163.0 8.7 1097 22388 roll 0.87 - - 3206 - 2.40 0.045 3057 571.7 227.4 - - 1855 - - - - - - - - 14.59 14.13 14.60
22460 155.6 8.7 1108 22473 done 0.87 - - 3214 - 2.40 0.040 1681 -573.3 227.4 - - 1854 - - - - - - - - 14.27 14.18 14.31
22782 129.1 8.2 1118 22796 roll 0.87 - - 3224 - 2.47 0.063 322 -550.2 227.4 - - 1856 - - - - - - - - 14.62 14.01 14.64
22840 124.6 8.0 1125 22854 done 0.87 - - 3224 - 2.30 0.028 1686 593.0 227.4 - - 1856 - - - - - - - - 14.27 14.22 14.29
23184 100.5 6.8 1132 23212 roll 0.90 - - 3233 - 2.45 0.062 323 -556.3 246.7 14.80 0.343 1793 -4.3 0.246 - - - - - - 14.57 14.20 14.00
23294 91.7 9.1 1147 23308 done 0.90 - - 3233 - 2.30 0.028 1682 590.9 246.7 2.97 0.155 1787 -2.0 0.236 - - - - - - 14.33 14.28 13.94
23608 67.2 6.4 1159 23649 roll 1.03 - - 3233 - 2.42 0.044 3066 571.9 274.3 29.17 0.291 1674 -3.9 0.177 - - - - - - 14.55 14.34 14.07
23791 58.8 4.7 1185 23863 done 1.30 0.35 0.071 3367 382.9 2.42 0.040 1677 -574.0 333.8 56.92 0.278 1432 -4.3 0.178 - - - - - - 14.23 14.19 14.04
24168 34.0 8.3 1206 24181 done 1.30 - - 3368 - - - 1678 - 333.8 - - 1443 - - - - - - - - 14.58 14.59 14.59
24478 5.1 9.1 1217 24491 done 1.30 - - 3367 - - - 1676 - 333.8 2.15 0.144 1432 -5.1 0.036 - - - - - - 14.58 14.21 14.04
24527 end climb: SURFACE_DEPTH_REACHED
24528 begin surface coast
24556 end surface coast: CONTROL_FINISHED_OK
24556 begin surface
SM 0.97 - - - - -8.62 9.75 0.063 156 16.0 0.12 0.088 1792 -53383.3 515.13 111.07 0.121 692 6.2 -0.005 - - - - - -