SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 701 * Raw log
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• Previous call tries 1 • 266.06 of 350.00 AH used of 24V (23.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 18 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 - - 153 - - - 1790 - -116.8 -82.53 - 3214 - - - - - - - - 14.45 - 14.47
120 5.3 -7.3 3 143 roll -0.84 12.52 0.383 2659 200.2 2.72 2.034 369 -522.4 -116.8 -0.82 - 3274 -73.2 - - - - - - - 14.00 12.73 14.38
166 26.2 -36.8 10 174 done -0.06 1.05 0.270 2898 227.6 2.33 0.032 1744 590.1 -116.8 - - 3274 - - - - - - - - 13.77 14.29 14.08
480 54.9 -7.0 22 483 done -0.26 0.17 0.097 2819 -464.7 - - 1746 - -116.8 - - 3275 - - - - - - - - 14.26 14.34 14.32
790 77.7 -6.4 33 793 done -0.37 - - 2820 - - - 1746 - -116.8 - - 3277 - - - - - - - - 14.54 14.57 14.56
1096 97.1 -6.3 44 1103 roll -0.52 0.15 0.104 2746 -493.3 2.45 0.054 368 -562.4 -116.8 - - 3275 - - - - - - - - 14.21 14.06 14.23
1215 107.9 -9.5 61 1223 done -0.52 - - 2738 - 2.38 0.030 1785 595.4 -116.8 - - 3275 - - - - - - - - 14.31 14.24 14.33
1548 134.3 -7.7 73 1555 roll -0.52 - - 2727 - 2.40 0.050 3165 575.0 -116.8 - - 3275 - - - - - - - - 14.57 14.11 14.59
1590 137.4 -7.2 79 1597 done -0.52 0.15 0.235 2757 200.0 2.38 0.036 1766 -587.8 -116.8 - - 3275 - - - - - - - - 13.80 14.21 14.04
1943 160.8 -7.0 87 1950 roll -0.52 - - 2758 - 2.47 0.057 378 -561.9 -116.8 - - 3272 - - - - - - - - 14.59 14.04 14.61
2027 168.1 -8.5 99 2033 done -0.52 - - 2751 - 2.35 0.031 1774 594.0 -116.8 - - 3272 - - - - - - - - 14.23 14.15 14.27
2392 197.9 -8.1 109 2399 roll -0.52 - - 2741 - 2.42 0.050 3165 574.8 -116.8 - - 3269 - - - - - - - - 14.58 14.08 14.62
2485 204.8 -7.5 122 2491 done -0.52 - - 2741 - 2.38 0.036 1777 -583.2 -116.8 - - 3268 - - - - - - - - 14.24 14.15 14.27
2842 232.1 -7.6 131 2849 roll -0.52 - - 2741 - 2.53 0.058 372 -555.3 -116.8 - - 3266 - - - - - - - - 14.57 14.03 14.59
2912 237.9 -8.4 141 2919 done -0.52 - - 2732 - 2.38 0.031 1772 588.2 -116.8 - - 3265 - - - - - - - - 14.29 14.22 14.31
3237 266.3 -9.0 152 3250 roll -0.52 - - 2721 - 2.45 0.050 3169 570.2 -116.8 - - 3262 - - - - - - - - 14.66 14.05 14.69
3334 275.6 -9.2 165 3348 done -0.52 0.17 0.223 2758 217.6 2.42 0.036 1775 -576.0 -116.8 - - 3262 - - - - - - - - 13.62 14.10 13.89
3701 304.4 -7.8 174 3714 roll -0.52 - - 2759 - 2.55 0.060 375 -549.0 -116.8 - - 3259 - - - - - - - - 14.65 13.94 14.67
3821 314.6 -8.4 190 3834 done -0.52 - - 2752 - 2.40 0.031 1783 586.7 -116.8 - - 3259 - - - - - - - - 14.22 14.16 14.25
4164 343.6 -8.6 203 4177 roll -0.52 - - 2742 - 2.45 0.052 3159 561.6 -116.8 - - 3256 - - - - - - - - 14.66 13.95 14.69
4249 351.1 -9.0 214 4262 done -0.52 - - 2741 - 2.40 0.037 1770 -578.8 -116.8 - - 3256 - - - - - - - - 14.19 14.11 14.22
4572 380.1 -8.9 224 4585 roll -0.52 - - 2741 - 2.53 0.058 377 -550.6 -116.8 - - 3254 - - - - - - - - 14.67 13.93 14.69
4629 385.2 -8.9 231 4643 done -0.52 - - 2734 - 2.40 0.031 1774 582.1 -116.8 - - 3253 - - - - - - - - 14.21 14.15 14.23
4972 413.4 -8.2 238 4985 roll -0.52 - - 2722 - 2.45 0.051 3160 565.7 -116.8 - - 3252 - - - - - - - - 14.71 13.93 14.73
5069 421.2 -7.7 251 5083 done -0.52 0.15 0.226 2753 206.7 2.42 0.037 1768 -575.2 -116.8 - - 3252 - - - - - - - - 13.64 14.07 13.90
5436 446.0 -6.8 260 5449 roll -0.52 - - 2753 - 2.53 0.060 378 -549.4 -116.8 - - 3250 - - - - - - - - 14.69 13.92 14.71
5514 452.1 -7.7 270 5528 done -0.52 - - 2746 - 2.38 0.031 1775 587.0 -116.8 - - 3249 - - - - - - - - 14.21 14.15 14.23
5846 477.7 -7.9 281 5859 roll -0.52 - - 2736 - 2.47 0.052 3164 562.3 -116.8 - - 3248 - - - - - - - - 14.64 13.95 14.66
5901 482.4 -8.0 288 5915 done -0.52 - - 2737 - 2.45 0.037 1767 -570.2 -116.8 - - 3247 - - - - - - - - 14.14 14.05 14.17
6246 510.8 -8.3 295 6259 roll -0.52 - - 2732 - 2.55 0.059 370 -547.8 -116.8 - - 3246 - - - - - - - - 14.70 13.94 14.72
6405 524.3 -8.6 316 6419 done -0.52 0.15 0.248 2756 160.0 2.42 0.032 1780 582.6 -116.8 - - 3246 - - - - - - - - 13.57 14.12 13.85
6770 551.4 -7.2 325 6784 roll -0.63 - - 2749 - 2.47 0.054 3163 559.9 -116.8 - - 3244 - - - - - - - - 14.63 13.92 14.66
6863 557.9 -7.1 337 6877 done -0.75 0.20 0.096 2673 -380.0 2.42 0.036 1776 -573.1 -116.8 - - 3245 - - - - - - - - 14.02 14.04 14.12
7235 595.1 -10.1 347 7248 roll -0.75 - - 2672 - 2.58 0.060 373 -543.8 -116.8 - - 3243 - - - - - - - - 14.65 13.96 14.66
7320 604.3 -10.6 358 7334 done -0.65 0.25 0.255 2715 172.0 2.42 0.032 1777 580.2 -116.8 - - 3243 - - - - - - - - 13.47 14.11 13.84
7643 631.7 -8.4 368 7656 roll -0.65 - - 2708 - 2.47 0.054 3163 561.1 -116.8 - - 3241 - - - - - - - - 14.64 13.94 14.66
7692 635.9 -8.3 374 7705 done -0.65 - - 2708 - 2.42 0.037 1776 -573.1 -116.8 - - 3242 - - - - - - - - 14.12 14.03 14.16
8051 668.5 -9.3 382 8064 roll -0.65 - - 2705 - 2.58 0.061 375 -543.0 -116.8 - - 3243 - - - - - - - - 14.67 13.90 14.69
8115 675.0 -9.8 390 8128 done -0.65 - - 2698 - 2.42 0.032 1774 578.1 -116.8 - - 3239 - - - - - - - - 14.14 14.09 14.19
8458 708.0 -9.6 403 8471 roll -0.65 - - 2687 - 2.50 0.053 3172 559.2 -116.8 - - 3239 - - - - - - - - 14.63 13.90 14.65
8564 717.5 -9.0 417 8579 done -0.65 0.10 0.258 2709 220.0 2.47 0.038 1774 -566.0 -116.8 - - 3238 - - - - - - - - 13.62 14.02 13.85
8923 746.9 -8.1 425 8936 roll -0.65 - - 2710 - 2.60 0.062 374 -538.5 -116.8 - - 3237 - - - - - - - - 14.63 13.93 14.65
9022 755.4 -8.5 438 9036 done -0.65 - - 2703 - 2.45 0.033 1785 575.9 -116.8 - - 3237 - - - - - - - - 14.14 14.08 14.17
9387 786.1 -8.5 447 9400 roll -0.65 - - 2692 - 2.47 0.055 3161 557.1 -116.8 - - 3234 - - - - - - - - 14.62 13.90 14.64
9486 794.5 -8.7 460 9499 done -0.65 - - 2692 - 2.45 0.037 1775 -565.7 -116.8 - - 3236 - - - - - - - - 14.10 14.02 14.14
9851 828.0 -9.3 469 9864 roll -0.65 - - 2692 - 2.58 0.062 379 -541.1 -116.8 - - 3234 - - - - - - - - 14.63 13.93 14.64
9977 840.9 -10.1 486 9990 done -0.65 0.15 0.262 2712 133.3 2.45 0.033 1773 569.0 -116.8 - - 3233 - - - - - - - - 13.51 14.07 13.81
10315 869.9 -8.7 498 10329 roll -0.65 - - 2703 - 2.53 0.055 3171 552.6 -116.8 - - 3233 - - - - - - - - 14.60 13.95 14.62
10420 879.3 -8.1 512 10433 done -0.65 - - 2703 - 2.47 0.039 1771 -566.8 -116.8 - - 3233 - - - - - - - - 14.09 14.00 14.12
10779 910.2 -8.6 520 10793 roll -0.65 - - 2703 - 2.58 0.062 375 -541.1 -116.8 - - 3233 - - - - - - - - 14.60 13.95 14.62
10877 919.2 -9.0 533 10891 done -0.65 - - 2694 - 2.45 0.034 1775 571.4 -116.8 - - 3232 - - - - - - - - 14.11 14.07 14.16
11243 949.8 -8.3 542 11256 roll -0.65 - - 2683 - 2.53 0.055 3169 551.0 -116.8 - - 3231 - - - - - - - - 14.61 13.93 14.62
11342 958.0 -8.2 555 11356 done -0.65 0.15 0.243 2712 193.3 2.45 0.039 1777 -568.2 -116.8 - - 3231 - - - - - - - - 13.53 13.99 13.81
11709 985.4 -7.6 564 11722 roll -0.65 - - 2712 - 2.60 0.063 373 -540.0 -116.8 - - 3230 - - - - - - - - 14.61 13.93 14.62
11760 end dive: TARGET_DEPTH_EXCEEDED
11760 begin apogee
11774 990.1 -8.3 571 11904 done -0.21 0.62 0.233 2855 230.6 - - 1683 - - 120.80 2.201 2794 -3.6 0.321 - - - - - - 13.69 13.76 12.90
11906 end apogee: CONTROL_FINISHED_OK
11906 begin climb
11911 995.3 - 573 12050 done 0.84 1.25 0.165 3194 271.2 - - 1684 - 116.8 128.50 2.157 2317 -3.7 0.339 - - - - - - 13.61 13.21 12.39
12388 966.7 7.3 582 12405 roll 0.85 - - 3194 - 2.47 0.047 3069 560.7 127.8 3.60 1.244 2270 -13.1 2.009 - - - - - - 14.47 14.09 13.16
12434 962.9 10.0 588 12447 done 0.85 - - 3203 - 2.42 0.039 1683 -572.7 127.8 - - 2269 - - - - - - - - 14.22 14.13 14.25
12793 936.8 7.4 596 12821 roll 0.86 - - 3213 - 2.50 0.067 319 -545.6 137.1 15.98 2.069 2227 -2.6 0.236 - - - - - - 14.62 14.28 13.53
12863 930.9 8.7 606 12876 done 0.86 - - 3213 - 2.33 0.030 1697 591.4 137.1 - - 2220 - - - - - - - - 14.33 14.27 14.35
13193 903.5 8.4 617 13206 roll 0.86 - - 3213 - 2.40 0.050 3058 567.1 137.1 - - 2219 - - - - - - - - 14.60 14.14 14.63
13306 893.4 9.1 632 13320 done 0.86 - - 3221 - 2.42 0.041 1679 -569.8 137.1 - - 2218 - - - - - - - - 14.29 14.21 14.33
13649 861.4 9.5 639 13662 done 0.86 - - 3221 - - - 1679 - 137.1 - - 2218 - - - - - - - - 14.59 14.62 14.64
13986 829.8 9.5 645 13999 roll 0.86 - - 3232 - 2.50 0.064 317 -544.8 137.1 - - 2218 - - - - - - - - 14.56 14.00 14.59
14035 824.7 10.0 651 14048 done 0.76 0.25 0.249 3178 -216.0 2.33 0.028 1696 591.8 137.1 - - 2218 - - - - - - - - 13.71 14.21 14.07
14393 796.8 7.6 659 14406 roll 0.76 - - 3178 - 2.40 0.048 3039 559.6 141.7 - - 2218 - - - - - - - - 14.64 14.00 14.65
14478 790.2 7.7 670 14492 done 0.76 - - 3184 - 2.40 0.040 1675 -568.3 144.6 2.20 0.413 2202 -7.3 2.755 - - - - - - 14.17 14.08 13.04
14802 766.3 7.4 680 14831 roll 0.78 - - 3195 - 2.40 0.064 321 -564.2 153.7 16.02 1.946 2160 -2.6 0.204 - - - - - - 14.58 14.23 13.57
14868 761.3 7.5 689 14886 done 0.78 - - 3195 - 2.28 0.029 1671 592.1 160.7 2.28 0.477 2137 -10.1 3.188 - - - - - - 14.33 14.29 13.02
15202 735.0 7.7 701 15220 roll 0.79 - - 3195 - 2.45 0.048 3047 561.6 163.0 2.60 0.728 2128 -3.5 0.692 - - - - - - 14.62 14.11 13.21
15352 724.2 7.3 721 15385 done 0.80 - - 3202 - 2.40 0.040 1674 -572.1 173.6 19.95 1.874 2084 -2.2 0.169 - - - - - - 14.25 14.16 13.55
15719 697.3 7.2 738 15737 roll 0.81 - - 3212 - 2.40 0.064 325 -562.1 185.4 5.50 1.556 2037 -8.5 0.758 - - - - - - 14.58 14.23 13.44
15774 692.9 8.0 745 15788 done 0.81 - - 3212 - 2.30 0.029 1678 588.3 185.4 - - 2042 - - - - - - - - 14.37 14.32 14.38
16117 666.6 7.7 752 16134 roll 0.82 - - 3212 - 2.38 0.046 3057 579.4 188.5 4.05 1.283 2022 -4.9 0.508 - - - - - - 14.57 14.25 13.44
16235 656.8 8.6 768 16249 done 0.82 - - 3220 - 2.40 0.041 1682 -572.9 188.5 - - 2026 - - - - - - - - 14.27 14.18 14.30
16579 625.1 9.3 781 16592 roll 0.82 - - 3231 - 2.50 0.065 317 -546.0 188.5 - - 2027 - - - - - - - - 14.57 14.01 14.59
16634 619.5 10.2 788 16649 done 0.82 0.17 0.243 3196 -205.9 2.35 0.029 1701 588.9 188.5 - - 2027 - - - - - - - - 13.65 14.16 13.95
16981 589.3 8.9 795 16994 roll 0.82 - - 3195 - 2.38 0.047 3041 563.0 188.5 - - 2027 - - - - - - - - 14.59 13.97 14.62
17085 579.1 9.3 809 17099 done 0.82 - - 3202 - 2.42 0.041 1674 -564.9 188.5 - - 2027 - - - - - - - - 14.05 13.96 14.09
17446 546.2 9.3 817 17459 roll 0.82 - - 3212 - 2.50 0.065 324 -540.0 188.5 - - 2027 - - - - - - - - 14.61 14.02 14.63
17495 541.3 9.7 823 17508 done 0.82 - - 3212 - 2.30 0.028 1667 583.9 188.5 - - 2028 - - - - - - - - 14.19 14.14 14.20
17853 510.6 8.4 831 17866 roll 0.82 - - 3212 - 2.47 0.047 3056 562.3 188.5 - - 2027 - - - - - - - - 14.56 13.96 14.58
17952 502.5 8.1 844 17965 done 0.82 - - 3219 - 2.42 0.039 1680 -568.6 188.5 - - 2027 - - - - - - - - 14.10 14.01 14.14
18316 472.5 8.3 853 18330 roll 0.82 - - 3230 - 2.50 0.065 322 -543.2 188.5 - - 2027 - - - - - - - - 14.58 13.95 14.59
18372 467.6 8.8 860 18386 done 0.82 0.17 0.236 3195 -205.9 2.35 0.028 1699 586.0 188.5 - - 2027 - - - - - - - - 13.52 14.09 13.83
18718 444.1 6.7 867 18766 roll 0.85 - - 3194 - 2.38 0.048 3069 575.6 210.3 33.45 1.509 1926 -3.0 0.176 - - - - - - 14.59 14.26 13.59
18808 437.3 7.7 880 18821 done 0.85 - - 3201 - 2.42 0.040 1681 -573.6 213.0 - - 1918 - - - - - - - - 14.25 14.16 14.28
19174 408.7 7.9 889 19188 roll 0.85 - - 3211 - 2.45 0.063 322 -554.7 213.0 - - 1918 - - - - - - - - 14.60 14.09 14.62
19244 402.5 8.8 898 19257 done 0.85 - - 3211 - 2.28 0.030 1667 589.9 213.0 - - 1918 - - - - - - - - 14.33 14.28 14.35
19581 373.5 8.7 910 19594 roll 0.85 - - 3211 - 2.45 0.047 3058 567.8 213.0 - - 1918 - - - - - - - - 14.58 14.09 14.60
19708 361.6 9.6 927 19721 done 0.85 - - 3219 - 2.40 0.039 1680 -574.2 213.0 - - 1918 - - - - - - - - 14.23 14.17 14.29
20045 327.8 10.2 939 20058 roll 0.85 - - 3229 - 2.47 0.064 320 -550.6 213.0 - - 1918 - - - - - - - - 14.57 14.00 14.59
20123 319.4 11.0 949 20136 done 0.85 - - 3229 - 2.33 0.028 1684 585.4 213.0 - - 1918 - - - - - - - - 14.26 14.21 14.28
20453 285.4 10.1 960 20466 roll 0.85 - - 3229 - 2.45 0.046 3063 562.9 213.0 - - 1918 - - - - - - - - 14.57 14.04 14.60
20545 276.5 9.4 972 20559 done 0.85 0.15 0.243 3207 -146.7 2.42 0.039 1678 -572.3 213.0 - - 1918 - - - - - - - - 13.67 14.06 13.96
20917 248.0 7.4 982 20934 roll 0.86 - - 3215 - 2.42 0.065 320 -561.2 220.9 4.38 1.029 1891 -6.2 0.294 - - - - - - 14.57 14.16 13.57
20972 243.8 7.8 989 20986 done 0.86 - - 3215 - 2.30 0.028 1684 593.0 221.4 - - 1895 - - - - - - - - 14.32 14.27 14.34
21314 216.2 8.2 996 21327 roll 0.86 - - 3215 - 2.40 0.044 3053 570.4 221.4 - - 1895 - - - - - - - - 14.64 14.01 14.64
21391 209.6 8.6 1006 21404 done 0.86 - - 3223 - 2.40 0.039 1683 -570.8 221.4 - - 1896 - - - - - - - - 14.15 14.06 14.19
21722 183.8 7.7 1017 21739 roll 0.86 - - 3234 - 2.42 0.062 322 -562.4 224.5 4.07 0.933 1878 -4.4 0.172 - - - - - - 14.56 14.16 13.57
21810 176.5 8.3 1029 21823 done 0.86 - - 3234 - 2.30 0.028 1684 592.2 224.5 - - 1883 - - - - - - - - 14.29 14.24 14.33
22183 146.3 8.3 1039 22196 roll 0.86 - - 3234 - 2.42 0.045 3057 567.4 224.5 - - 1882 - - - - - - - - 14.55 14.00 14.57
22253 140.2 8.1 1048 22267 done 0.86 0.15 0.238 3212 -146.7 2.42 0.040 1674 -571.5 224.5 - - 1883 - - - - - - - - 13.65 14.04 13.93
22590 118.0 6.7 1060 22626 roll 0.89 - - 3220 - 2.45 0.063 327 -549.8 246.3 24.50 0.416 1793 -3.7 0.206 - - - - - - 14.63 14.28 13.99
22704 110.3 7.3 1075 22733 done 0.90 - - 3219 - 2.28 0.028 1679 593.0 257.3 14.80 0.369 1748 -3.0 0.180 - - - - - - 14.35 14.31 13.92
23072 82.5 9.1 1092 23089 roll 1.00 - - 3228 - 2.50 0.063 328 -540.4 257.3 2.88 0.153 1748 - - - - - - - - 14.54 14.08 13.97
23161 74.4 8.6 1104 23179 done 1.12 0.20 0.096 3305 385.0 2.28 0.028 1695 599.6 257.3 2.62 0.153 1745 -1.1 0.110 - - - - - - 14.14 14.23 13.94
23508 53.1 3.7 1119 23594 roll 1.21 - - 3312 - 2.50 0.063 321 -549.6 335.5 73.70 0.263 1425 -4.3 0.174 - - - - - - 14.51 14.39 14.07
23613 48.6 5.4 1134 23669 done 1.40 0.22 0.088 3397 386.4 2.25 0.028 1666 597.8 381.8 43.08 0.247 1234 -4.4 0.173 - - - - - - 14.21 14.31 14.04
23973 10.6 11.5 1153 23987 roll 1.40 - - 3397 - 2.40 0.042 3054 578.3 381.8 - - 1244 - - - - - - - - 14.59 14.12 14.61
24001 7.4 11.2 1156 24015 done 1.40 - - 3405 - 2.40 0.037 1677 -573.8 381.8 - - 1242 - - - - - - - - 14.23 14.14 14.26
24060 end climb: SURFACE_DEPTH_REACHED
24060 begin surface coast
24088 end surface coast: CONTROL_FINISHED_OK
24088 begin surface
SM 1.03 - - - - -8.60 9.90 0.067 158 16.0 0.10 0.106 1800 7700.0 515.38 81.88 0.122 692 8.5 -0.007 - - - - - -