SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 698 * Raw log
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• Previous call tries 2 • 264.86 of 350.00 AH used of 24V (24.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 41 s
• GPS2 time: 15 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 115 VBD -0.84 - - 151 - - - 1801 - -116.8 -82.25 - 3198 - - - - - - - - 14.50 - 14.52
120 5.3 -7.5 3 142 roll -0.84 12.57 0.384 2660 199.6 2.75 2.034 369 -520.7 -116.8 -1.08 - 3275 -71.3 - - - - - - - 14.00 12.71 14.38
193 33.1 -24.6 14 201 done -0.45 0.55 0.273 2777 212.7 2.33 0.032 1754 594.4 -116.8 - - 3274 - - - - - - - - 13.84 14.31 14.15
507 74.4 -8.2 26 513 roll -0.45 - - 2778 - 2.45 0.054 371 -564.5 -116.8 - - 3275 - - - - - - - - 14.61 14.14 14.62
543 77.7 -9.4 31 550 done -0.45 - - 2770 - 2.38 0.031 1788 595.4 -116.8 - - 3275 - - - - - - - - 14.33 14.28 14.35
900 105.1 -7.6 45 907 roll -0.45 - - 2760 - 2.40 0.051 3172 576.7 -116.8 - - 3276 - - - - - - - - 14.61 14.08 14.63
943 108.3 -7.5 51 949 done -0.45 - - 2760 - 2.38 0.036 1775 -587.0 -116.8 - - 3276 - - - - - - - - 14.25 14.16 14.28
1295 134.0 -7.5 59 1301 roll -0.45 - - 2760 - 2.53 0.056 366 -556.9 -116.8 - - 3276 - - - - - - - - 14.59 14.06 14.62
1428 145.4 -8.7 78 1434 done -0.45 0.15 0.234 2782 146.7 2.38 0.029 1781 594.5 -116.8 - - 3276 - - - - - - - - 13.74 14.19 13.99
1745 169.2 -7.5 88 1751 roll -0.56 - - 2775 - 2.42 0.051 3164 571.5 -116.8 - - 3273 - - - - - - - - 14.59 14.04 14.62
1836 175.3 -6.4 101 1843 done -0.69 0.20 0.090 2686 -445.0 2.38 0.036 1770 -585.7 -116.8 - - 3270 - - - - - - - - 14.13 14.14 14.21
2193 209.4 -9.8 110 2200 roll -0.69 - - 2688 - 2.50 0.057 379 -556.4 -116.8 - - 3270 - - - - - - - - 14.64 14.00 14.66
2307 221.6 -11.2 126 2314 done -0.58 0.25 0.233 2734 184.0 2.38 0.031 1781 589.1 -116.8 - - 3269 - - - - - - - - 13.69 14.18 13.97
2645 252.0 -9.0 139 2658 roll -0.58 - - 2726 - 2.40 0.051 3158 573.8 -116.8 - - 3266 - - - - - - - - 14.59 14.06 14.60
2730 259.9 -9.2 150 2743 done -0.58 - - 2726 - 2.38 0.037 1778 -579.8 -116.8 - - 3266 - - - - - - - - 14.19 14.11 14.22
3052 289.2 -9.0 160 3065 roll -0.58 - - 2726 - 2.55 0.059 369 -552.5 -116.8 - - 3263 - - - - - - - - 14.78 13.90 14.80
3150 297.9 -8.8 173 3163 done -0.58 - - 2718 - 2.40 0.031 1773 585.0 -116.8 - - 3262 - - - - - - - - 14.24 14.18 14.27
3516 328.6 -8.4 182 3529 roll -0.58 - - 2707 - 2.45 0.052 3163 567.3 -116.8 - - 3260 - - - - - - - - 14.82 13.94 14.88
3641 339.6 -8.7 199 3655 done -0.58 0.15 0.230 2737 200.0 2.40 0.036 1772 -579.6 -116.8 - - 3259 - - - - - - - - 13.58 14.04 13.83
3979 367.4 -8.3 211 3992 roll -0.58 - - 2738 - 2.55 0.060 373 -548.6 -116.8 - - 3257 - - - - - - - - 14.76 13.87 14.78
4091 377.6 -8.9 226 4104 done -0.58 - - 2730 - 2.40 0.031 1774 583.8 -116.8 - - 3256 - - - - - - - - 14.18 14.12 14.21
4435 406.8 -8.5 233 4449 roll -0.58 - - 2720 - 2.50 0.052 3170 558.4 -116.8 - - 3255 - - - - - - - - 14.82 13.90 14.84
4526 414.4 -8.2 245 4539 done -0.58 - - 2720 - 2.42 0.037 1774 -576.9 -116.8 - - 3253 - - - - - - - - 14.14 14.05 14.17
4897 445.0 -8.2 255 4910 roll -0.58 - - 2720 - 2.55 0.059 376 -548.2 -116.8 - - 3252 - - - - - - - - 14.83 13.84 14.85
5045 458.2 -9.0 275 5059 done -0.58 0.12 0.255 2735 125.0 2.40 0.031 1778 584.2 -116.8 - - 3251 - - - - - - - - 13.59 14.12 13.84
5416 488.6 -8.3 285 5430 roll -0.58 - - 2727 - 2.47 0.051 3166 561.9 -116.8 - - 3249 - - - - - - - - 14.83 13.85 14.84
5517 496.8 -8.2 298 5531 done -0.58 - - 2726 - 2.45 0.036 1771 -569.4 -116.8 - - 3249 - - - - - - - - 14.12 14.04 14.16
5881 526.2 -8.0 307 5894 roll -0.58 - - 2726 - 2.55 0.060 378 -546.3 -116.8 - - 3248 - - - - - - - - 14.83 13.83 14.85
5979 534.4 -8.3 320 5992 done -0.58 - - 2717 - 2.40 0.031 1773 581.2 -116.8 - - 3246 - - - - - - - - 14.16 14.10 14.19
6344 563.3 -8.0 329 6357 roll -0.58 - - 2707 - 2.47 0.051 3161 561.9 -116.8 - - 3245 - - - - - - - - 14.81 13.86 14.82
6393 567.4 -8.3 335 6406 done -0.58 0.15 0.230 2737 200.0 2.40 0.036 1774 -577.9 -116.8 - - 3245 - - - - - - - - 13.59 14.04 13.85
6751 595.3 -7.8 343 6765 roll -0.58 - - 2737 - 2.58 0.061 377 -541.5 -116.8 - - 3244 - - - - - - - - 14.74 13.86 14.76
6863 604.9 -8.5 358 6877 done -0.58 - - 2730 - 2.42 0.031 1785 581.8 -116.8 - - 3243 - - - - - - - - 14.16 14.09 14.18
7206 632.5 -8.1 365 7220 roll -0.58 - - 2720 - 2.47 0.054 3161 557.1 -116.8 - - 3242 - - - - - - - - 14.74 13.88 14.76
7341 643.5 -8.2 383 7354 done -0.58 - - 2720 - 2.45 0.037 1774 -566.1 -116.8 - - 3241 - - - - - - - - 14.12 14.03 14.15
7669 671.3 -8.4 394 7683 roll -0.58 - - 2719 - 2.58 0.060 375 -542.2 -116.8 - - 3240 - - - - - - - - 14.74 13.88 14.78
7783 681.4 -8.9 409 7797 done -0.58 0.12 0.261 2734 125.0 2.42 0.033 1775 578.5 -116.8 - - 3240 - - - - - - - - 13.56 14.07 13.81
8124 707.5 -7.5 416 8137 roll -0.58 - - 2726 - 2.50 0.053 3162 554.8 -116.8 - - 3238 - - - - - - - - 14.79 13.88 14.83
8231 715.4 -7.4 430 8244 done -0.67 - - 2726 - 2.42 0.037 1777 -572.3 -116.8 - - 3242 - - - - - - - - 14.11 14.02 14.14
8588 741.8 -7.3 438 8602 roll -0.67 - - 2727 - 2.60 0.061 370 -541.2 -116.8 - - 3237 - - - - - - - - 14.79 13.87 14.81
8644 746.1 -7.8 445 8658 done -0.67 - - 2717 - 2.45 0.033 1779 575.1 -116.8 - - 3237 - - - - - - - - 14.15 14.08 14.17
8989 771.8 -7.5 452 9002 roll -0.67 - - 2706 - 2.53 0.055 3164 547.4 -116.8 - - 3237 - - - - - - - - 14.71 13.90 14.73
9059 777.4 -7.7 461 9072 done -0.67 - - 2707 - 2.45 0.037 1767 -570.2 -116.8 - - 3236 - - - - - - - - 14.09 14.00 14.13
9397 805.9 -8.7 473 9410 roll -0.67 - - 2706 - 2.58 0.061 372 -540.7 -116.8 - - 3235 - - - - - - - - 14.71 13.88 14.73
9494 815.5 -9.7 486 9508 done -0.67 - - 2698 - 2.47 0.034 1777 568.8 -116.8 - - 3235 - - - - - - - - 14.15 14.08 14.17
9858 850.3 -9.6 495 9872 roll -0.67 - - 2687 - 2.50 0.055 3166 555.6 -116.8 - - 3233 - - - - - - - - 14.72 13.89 14.73
9929 857.1 -9.8 504 9943 done -0.67 - - 2687 - 2.45 0.039 1774 -568.2 -116.8 - - 3233 - - - - - - - - 14.09 14.00 14.13
10265 890.1 -9.7 516 10278 roll -0.67 - - 2687 - 2.60 0.062 370 -540.0 -116.8 - - 3233 - - - - - - - - 14.71 13.89 14.73
10392 902.5 -9.7 533 10406 done -0.67 0.15 0.263 2706 126.7 2.45 0.034 1776 573.9 -116.8 - - 3232 - - - - - - - - 13.50 14.06 13.81
10729 930.8 -8.3 545 10742 roll -0.67 - - 2698 - 2.53 0.056 3170 551.0 -116.8 - - 3232 - - - - - - - - 14.71 13.91 14.73
10819 938.3 -8.1 557 10833 done -0.67 - - 2698 - 2.47 0.039 1776 -564.4 -116.8 - - 3231 - - - - - - - - 14.11 14.01 14.14
11192 968.2 -8.0 567 11205 roll -0.67 - - 2698 - 2.60 0.063 375 -538.8 -116.8 - - 3231 - - - - - - - - 14.77 13.90 14.79
11304 977.8 -8.4 582 11317 done -0.67 - - 2689 - 2.45 0.034 1776 571.8 -116.8 - - 3230 - - - - - - - - 14.13 14.06 14.16
11474 end dive: TARGET_DEPTH_EXCEEDED
11474 begin apogee
11486 992.1 -8.0 586 11618 done -0.21 0.70 0.243 2853 234.3 - - 1649 - - 121.47 2.199 2793 -3.6 0.320 - - - - - - 13.72 13.78 12.90
11619 end apogee: CONTROL_FINISHED_OK
11619 begin climb
11624 997.2 - 588 11774 roll 0.84 1.23 0.161 3199 281.3 2.50 0.064 358 -516.4 116.8 127.97 2.160 2307 -3.8 0.345 - - - - - - 13.50 13.31 12.45
11824 987.2 8.1 620 11837 done 0.84 - - 3199 - 2.38 0.027 1696 562.2 116.8 - - 2298 - - - - - - - - 13.65 13.60 13.66
12167 960.0 7.9 633 12181 roll 0.84 - - 3199 - 2.40 0.049 3058 567.5 116.8 - - 2294 - - - - - - - - 14.56 14.10 14.58
12334 947.0 9.4 655 12347 done 0.84 - - 3206 - 2.38 0.041 1702 -569.7 116.8 - - 2292 - - - - - - - - 14.31 14.23 14.35
12692 919.4 7.6 663 12705 roll 0.84 - - 3217 - 2.50 0.063 325 -550.8 121.9 - - 2293 - - - - - - - - 14.65 14.08 14.67
12749 914.8 9.6 670 12764 done 0.75 0.20 0.253 3176 -205.0 2.30 0.029 1696 596.1 121.9 - - 2293 - - - - - - - - 13.76 14.26 14.08
13091 891.7 6.7 677 13133 roll 0.78 - - 3176 - 2.40 0.050 3044 561.7 144.0 26.55 2.044 2196 -3.7 0.314 - - - - - - 14.59 14.34 13.49
13247 880.2 7.6 699 13260 done 0.78 - - 3182 - 2.38 0.042 1681 -572.7 148.3 - - 2189 - - - - - - - - 14.21 14.13 14.24
13605 853.6 7.7 707 13621 roll 0.78 - - 3192 - 2.50 0.063 323 -543.2 150.5 1.83 0.165 2172 -9.3 9.469 - - - - - - 14.64 14.02 14.00
13666 849.2 8.4 715 13680 done 0.78 - - 3192 - 2.28 0.031 1671 591.2 150.5 - - 2175 - - - - - - - - 14.34 14.29 14.36
14010 820.9 8.1 728 14023 roll 0.78 - - 3192 - 2.45 0.049 3059 566.5 150.5 - - 2175 - - - - - - - - 14.60 14.07 14.62
14130 810.5 7.4 744 14148 done 0.79 - - 3201 - 2.40 0.041 1683 -573.3 158.3 5.65 1.684 2146 -5.1 0.487 - - - - - - 14.23 14.15 13.43
14473 780.4 8.9 757 14487 roll 0.79 - - 3211 - 2.47 0.063 321 -551.4 158.3 - - 2152 - - - - - - - - 14.57 14.04 14.59
14529 774.9 9.8 764 14543 done 0.79 - - 3211 - 2.33 0.029 1680 583.3 158.3 - - 2152 - - - - - - - - 14.27 14.21 14.28
14875 743.2 9.3 771 14888 roll 0.79 - - 3211 - 2.45 0.048 3054 560.8 158.3 - - 2152 - - - - - - - - 14.61 13.97 14.63
15000 731.0 9.6 788 15014 done 0.79 0.15 0.256 3192 -126.7 2.42 0.040 1678 -568.6 158.3 - - 2152 - - - - - - - - 13.64 14.07 13.95
15339 703.2 8.2 800 15352 done 0.79 - - 3189 - - - 1678 - 158.3 - - 2152 - - - - - - - - 14.60 14.63 14.62
15674 677.0 7.7 806 15691 roll 0.80 - - 3192 - 2.42 0.048 3057 569.8 160.5 3.25 1.053 2137 -4.6 0.585 - - - - - - 14.64 14.12 13.31
15719 673.3 7.8 812 15738 done 0.80 - - 3198 - 2.42 0.039 1674 -571.5 162.0 2.72 0.801 2131 -2.2 0.365 - - - - - - 14.19 14.10 13.28
16072 646.2 7.7 820 16090 roll 0.80 - - 3208 - 2.42 0.063 314 -562.0 164.9 4.95 1.460 2118 -2.6 0.229 - - - - - - 14.54 14.14 13.43
16160 638.8 8.4 832 16173 done 0.80 - - 3208 - 2.33 0.029 1684 588.0 164.9 - - 2124 - - - - - - - - 14.31 14.26 14.33
16533 609.6 7.9 842 16547 roll 0.80 - - 3208 - 2.42 0.047 3051 564.9 164.9 - - 2125 - - - - - - - - 14.60 13.97 14.62
16653 599.6 8.3 858 16666 done 0.80 - - 3217 - 2.42 0.040 1678 -567.4 164.9 - - 2124 - - - - - - - - 14.11 14.02 14.14
16998 571.2 8.3 871 17011 roll 0.80 - - 3228 - 2.50 0.064 321 -542.8 164.9 - - 2125 - - - - - - - - 14.53 14.02 14.55
17062 565.2 9.5 879 17077 done 0.80 0.12 0.223 3198 -250.0 2.30 0.028 1686 593.5 164.9 - - 2125 - - - - - - - - 13.52 14.02 13.70
17408 537.7 7.9 892 17421 roll 0.80 - - 3198 - 2.42 0.046 3048 562.8 164.9 - - 2125 - - - - - - - - 14.55 13.97 14.57
17507 529.6 8.1 905 17520 done 0.80 - - 3204 - 2.45 0.039 1672 -561.6 164.9 - - 2125 - - - - - - - - 14.02 13.93 14.06
17872 500.8 7.8 914 17885 done 0.80 - - 3204 - - - 1672 - 165.2 - - 2125 - - - - - - - - 14.62 14.67 14.64
18208 473.5 8.2 920 18221 roll 0.80 - - 3204 - 2.47 0.045 3054 559.5 165.2 - - 2125 - - - - - - - - 14.62 14.02 14.64
18230 471.6 8.2 922 18243 done 0.80 - - 3214 - 2.45 0.039 1677 -562.0 165.2 - - 2126 - - - - - - - - 14.09 14.00 14.13
18560 443.3 8.6 933 18573 roll 0.80 - - 3213 - 2.45 0.044 3047 559.2 165.2 - - 2125 - - - - - - - - 14.56 13.99 14.58
18610 438.8 8.8 939 18624 done 0.80 0.15 0.257 3193 -133.3 2.42 0.039 1678 -565.7 165.2 - - 2125 - - - - - - - - 13.54 13.97 13.84
18968 411.7 7.4 947 18998 roll 0.81 - - 3201 - 2.47 0.064 327 -547.0 173.9 17.77 1.516 2077 -2.7 0.145 - - - - - - 14.62 14.19 13.64
19034 406.7 8.1 956 19047 done 0.81 - - 3201 - 2.28 0.029 1676 591.7 173.9 - - 2070 - - - - - - - - 14.31 14.26 14.33
19365 381.2 7.7 967 19378 roll 0.82 - - 3201 - 2.40 0.046 3054 574.2 176.0 - - 2069 - - - - - - - - 14.56 14.13 14.59
19421 376.4 8.2 974 19435 done 0.82 - - 3210 - 2.42 0.041 1676 -569.4 176.0 - - 2069 - - - - - - - - 14.24 14.15 14.27
19767 347.5 8.6 981 19780 roll 0.82 - - 3220 - 2.47 0.065 322 -548.2 176.0 - - 2069 - - - - - - - - 14.60 13.93 14.62
19822 342.0 9.7 988 19836 done 0.82 - - 3220 - 2.33 0.028 1684 584.5 176.0 - - 2069 - - - - - - - - 14.23 14.17 14.24
20167 309.8 9.3 995 20180 roll 0.82 - - 3220 - 2.42 0.046 3054 566.1 176.0 - - 2069 - - - - - - - - 14.54 13.91 14.56
20308 297.3 8.5 1014 20322 done 0.82 0.15 0.243 3199 -140.0 2.42 0.039 1679 -568.2 176.0 - - 2069 - - - - - - - - 13.65 14.05 13.94
20631 274.9 6.7 1024 20667 roll 0.84 - - 3207 - 2.42 0.063 322 -560.7 196.8 23.92 1.356 1983 -3.6 0.144 - - - - - - 14.55 14.20 13.67
20691 271.1 6.8 1032 20725 done 0.87 - - 3206 - 2.28 0.028 1681 596.1 217.0 19.83 1.333 1902 -4.1 0.164 - - - - - - 14.31 14.27 13.57
21084 241.1 7.8 1046 21097 roll 0.87 - - 3207 - 2.40 0.044 3060 574.6 217.6 - - 1891 - - - - - - - - 14.59 14.21 14.61
21139 236.2 8.8 1053 21154 done 0.87 - - 3213 - 2.42 0.041 1676 -571.9 217.6 - - 1891 - - - - - - - - 14.34 14.26 14.38
21485 203.5 9.7 1060 21499 roll 0.87 - - 3224 - 2.45 0.064 320 -553.5 217.6 - - 1891 - - - - - - - - 14.61 14.09 14.62
21569 195.3 9.3 1071 21582 done 0.87 - - 3224 - 2.30 0.028 1681 591.7 217.6 - - 1890 - - - - - - - - 14.35 14.30 14.37
21893 167.2 8.7 1081 21907 roll 0.87 - - 3224 - 2.42 0.045 3062 570.7 217.6 - - 1890 - - - - - - - - 14.57 14.09 14.58
21970 159.8 9.4 1091 21984 done 0.87 - - 3232 - 2.42 0.041 1673 -574.0 217.6 - - 1890 - - - - - - - - 14.23 14.14 14.26
22300 130.7 8.8 1102 22313 done 0.87 - - 3232 - - - 1673 - 217.6 - - 1890 - - - - - - - - 14.62 14.64 14.64
22638 101.0 8.6 1108 22651 roll 0.87 - - 3241 - 2.47 0.063 320 -547.8 217.6 - - 1890 - - - - - - - - 14.60 14.02 14.62
22715 93.9 8.9 1118 22728 done 0.87 0.15 0.220 3211 -200.0 2.30 0.027 1700 600.0 217.6 - - 1890 - - - - - - - - 13.72 14.19 14.02
23053 74.9 5.4 1131 23105 roll 1.04 0.15 0.110 3275 426.7 2.30 0.044 3049 586.5 263.6 37.55 0.314 1721 -4.5 0.212 - - - - - - 14.09 14.28 14.06
23135 67.9 8.5 1143 23148 done 1.04 - - 3282 - 2.38 0.041 1679 -575.6 263.6 - - 1725 - - - - - - - - 14.26 14.17 14.29
23480 46.9 2.5 1158 23584 roll 1.29 0.15 0.113 3361 526.7 2.42 0.063 336 -555.0 363.0 88.70 0.248 1314 -4.6 0.173 - - - - - - 14.14 14.32 14.12
23669 36.1 7.8 1185 23684 done 1.29 - - 3361 - 2.25 0.026 1677 596.0 363.3 - - 1320 - - - - - - - - 14.29 14.26 14.32
23986 11.4 8.1 1197 24000 roll 1.29 - - 3361 - 2.42 0.043 3052 568.2 363.3 2.15 0.145 1312 -3.7 0.058 - - - - - - 14.57 14.16 13.97
24029 7.5 8.7 1202 24042 done 1.29 - - 3368 - 2.38 0.039 1680 -576.5 363.3 - - 1317 - - - - - - - - 14.23 14.15 14.27
24108 end climb: SURFACE_DEPTH_REACHED
24108 begin surface coast
24137 end surface coast: CONTROL_FINISHED_OK
24137 begin surface
SM 1.03 - - - - -8.60 9.57 0.050 162 16.9 0.10 0.106 1791 7610.0 515.13 93.15 0.120 692 7.4 -0.007 - - - - - -