SPURS2 Aug16 * SG219 * Dive index * Mission links * Dive 6 * Raw log
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• Previous call tries 1 • 4.43 of 350.00 AH used of 24V (98.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 1.38 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 2 s
• GPS2 time: 4 s • Transponder ping count: 17
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 89 VBD -1.06 - - 193 - - - 2658 - -146.0 -70.82 - 2742 - - - - - - - - 14.87 - 14.88
90 3.1 -5.0 12 123 roll -1.06 10.23 0.363 2535 228.9 2.55 2.118 1245 -554.1 -146.0 -15.05 - 3550 -53.7 - - - - - - - 14.53 13.88 14.75
183 28.1 -26.4 29 191 done -0.92 0.20 0.255 2580 225.0 2.45 0.079 2653 574.7 -146.0 - - 3551 - - - - - - - - 14.60 14.70 14.76
250 45.6 -22.8 42 259 roll -0.80 0.12 0.275 2612 266.7 2.10 0.111 3821 556.2 -146.0 - - 3551 - - - - - - - - 14.63 14.69 14.73
274 50.6 -21.9 46 283 done -0.70 0.12 0.234 2648 300.0 1.98 0.050 2636 -598.5 -146.0 - - 3551 - - - - - - - - 14.66 14.78 14.76
402 69.5 -14.1 71 410 roll -0.70 - - 2648 - 2.33 0.057 1240 -599.1 -146.0 - - 3551 - - - - - - - - 15.00 14.81 15.01
444 74.7 -11.6 79 452 done -0.76 - - 2638 - 2.42 0.074 2656 585.1 -146.0 - - 3552 - - - - - - - - 14.88 14.79 14.90
572 86.0 -8.3 104 579 roll -0.80 - - 2633 - 2.08 0.112 3813 556.2 -146.0 - - 3552 - - - - - - - - 15.04 14.79 15.05
744 101.3 -7.4 138 752 done -0.86 - - 2633 - 1.90 0.050 2638 -618.4 -146.0 - - 3553 - - - - - - - - 14.97 14.91 14.97
873 110.9 -6.8 163 880 done -0.93 0.08 0.174 2584 -612.5 - - 2637 - -146.0 - - 3553 - - - - - - - - 14.89 14.95 14.93
1000 121.6 -7.7 188 1008 roll -0.95 - - 2575 - 2.12 0.110 3820 558.0 -146.0 - - 3553 - - - - - - - - 15.10 14.84 15.11
1053 125.5 -7.3 198 1061 done -0.97 - - 2573 - 1.92 0.050 2651 -608.9 -146.0 - - 3551 - - - - - - - - 14.95 14.92 14.97
1181 134.3 -7.3 223 1189 roll -0.99 - - 2573 - 2.30 0.055 1250 -609.1 -146.0 - - 3549 - - - - - - - - 15.11 14.92 15.10
1204 136.0 -7.5 227 1212 done -1.03 - - 2565 - 2.40 0.074 2658 586.7 -146.0 - - 3551 - - - - - - - - 14.98 14.90 15.03
1332 145.6 -7.4 252 1339 roll -1.04 - - 2555 - 2.08 0.112 3824 560.6 -146.0 - - 3553 - - - - - - - - 15.11 14.85 15.11
1439 154.5 -8.7 273 1446 done -1.04 - - 2554 - 1.90 0.049 2645 -620.5 -146.0 - - 3553 - - - - - - - - 15.01 14.95 15.02
1566 165.9 -9.2 298 1574 done -1.06 - - 2555 - - - 2645 - -146.0 - - 3553 - - - - - - - - 15.11 15.13 15.13
1694 177.6 -8.9 323 1702 roll -1.08 - - 2549 - 2.12 0.113 3818 553.3 -146.0 - - 3552 - - - - - - - - 15.12 14.88 15.13
1761 184.0 -9.3 336 1769 done -1.08 - - 2549 - 1.92 0.050 2650 -608.3 -146.0 - - 3551 - - - - - - - - 14.97 14.95 14.99
1889 195.8 -9.2 361 1896 roll -1.08 - - 2548 - 2.33 0.056 1244 -603.4 -146.0 - - 3551 - - - - - - - - 15.11 14.92 15.12
1936 200.2 -9.3 370 1944 done -1.10 - - 2539 - 2.42 0.076 2663 586.4 -146.0 - - 3550 - - - - - - - - 15.00 14.90 15.02
2064 212.4 -9.9 395 2072 roll -1.10 - - 2529 - 2.08 0.116 3819 555.8 -146.0 - - 3549 - - - - - - - - 15.11 14.88 15.13
2111 217.3 -10.4 404 2119 done -1.10 - - 2531 - 1.92 0.051 2639 -614.6 -146.0 - - 3549 - - - - - - - - 15.02 14.96 15.02
2238 230.8 -10.8 429 2246 roll -1.10 - - 2522 - 2.12 0.113 3813 553.8 -146.0 - - 3548 - - - - - - - - 15.12 14.88 15.13
2290 236.6 -11.3 439 2298 done -1.10 - - 2521 - 1.92 0.052 2655 -603.1 -146.0 - - 3547 - - - - - - - - 14.99 14.92 15.00
2417 250.5 -10.8 464 2425 roll -1.10 - - 2521 - 2.33 0.056 1251 -602.6 -146.0 - - 3546 - - - - - - - - 15.13 14.92 15.13
2444 253.5 -11.0 469 2452 done -1.10 - - 2512 - 2.40 0.077 2651 583.3 -146.0 - - 3546 - - - - - - - - 15.00 14.90 15.02
2572 267.3 -10.6 494 2580 roll -1.08 - - 2504 - 2.10 0.116 3820 556.7 -146.0 - - 3545 - - - - - - - - 15.12 14.86 15.13
2660 277.2 -11.1 511 2668 done -1.05 0.15 0.241 2546 280.0 1.92 0.052 2648 -610.4 -146.0 - - 3545 - - - - - - - - 14.85 14.96 14.96
2787 288.4 -8.3 536 2795 roll -1.07 - - 2546 - 2.33 0.060 1242 -603.4 -146.0 - - 3544 - - - - - - - - 15.12 14.92 15.13
2815 290.8 -8.9 541 2822 done -1.10 - - 2538 - 2.42 0.079 2664 587.6 -146.0 - - 3543 - - - - - - - - 14.99 14.89 15.00
2942 302.2 -8.9 566 2951 roll -1.10 - - 2528 - 2.08 0.119 3807 549.5 -146.0 - - 3542 - - - - - - - - 15.11 14.88 15.13
3005 308.2 -9.6 578 3013 done -1.10 - - 2527 - 1.92 0.053 2648 -603.6 -146.0 - - 3539 - - - - - - - - 14.97 14.95 14.99
3133 320.4 -9.5 603 3141 roll -1.10 - - 2521 - 2.12 0.118 3810 548.1 -146.0 - - 3541 - - - - - - - - 15.11 14.89 15.13
3180 325.2 -10.1 612 3188 done -1.10 - - 2521 - 1.92 0.054 2642 -608.3 -146.0 - - 3540 - - - - - - - - 15.01 14.95 15.06
3307 337.6 -9.8 637 3315 roll -1.10 - - 2520 - 2.33 0.060 1250 -597.4 -146.0 - - 3539 - - - - - - - - 15.11 14.92 15.13
3349 341.7 -9.6 645 3357 done -1.10 - - 2509 - 2.42 0.080 2654 580.2 -146.0 - - 3539 - - - - - - - - 15.00 14.90 15.02
3477 354.5 -10.1 670 3485 roll -1.10 - - 2501 - 2.10 0.120 3811 551.0 -146.0 - - 3538 - - - - - - - - 15.11 14.86 15.13
3545 361.9 -10.8 683 3553 done -1.07 0.12 0.254 2536 291.7 1.90 0.054 2654 -608.9 -146.0 - - 3538 - - - - - - - - 14.81 14.95 14.96
3672 373.4 -8.9 708 3680 done -1.07 - - 2535 - - - 2653 - -146.0 - - 3537 - - - - - - - - 15.11 15.16 15.14
3799 384.7 -9.0 733 3807 roll -1.09 - - 2528 - 2.12 0.120 3811 546.2 -146.0 - - 3536 - - - - - - - - 15.11 14.86 15.12
3846 389.2 -9.7 742 3855 done -1.09 - - 2527 - 1.92 0.055 2642 -608.9 -146.0 - - 3536 - - - - - - - - 15.01 14.95 15.02
3975 401.1 -9.3 767 3983 roll -1.09 - - 2520 - 2.15 0.120 3814 545.1 -146.0 - - 3534 - - - - - - - - 15.11 14.85 15.12
4012 404.8 -10.0 774 4020 done -1.09 - - 2520 - 1.95 0.057 2639 -602.6 -146.0 - - 3534 - - - - - - - - 15.00 14.95 15.01
4140 417.5 -10.0 799 4148 roll -1.09 - - 2510 - 2.15 0.120 3811 545.1 -146.0 - - 3534 - - - - - - - - 15.11 14.84 15.12
4172 420.8 -10.3 805 4180 done -1.07 0.10 0.265 2538 280.0 1.92 0.055 2645 -607.3 -146.0 - - 3533 - - - - - - - - 14.80 14.94 14.95
4300 432.7 -9.1 830 4308 roll -1.09 - - 2530 - 2.15 0.123 3811 542.3 -146.0 - - 3533 - - - - - - - - 15.11 14.85 15.11
4343 436.8 -9.7 838 4351 done -1.09 - - 2531 - 1.95 0.056 2637 -602.1 -146.0 - - 3532 - - - - - - - - 15.00 14.94 15.01
4471 448.9 -9.5 863 4478 done -1.09 - - 2531 - - - 2645 - -146.0 - - 3532 - - - - - - - - 15.09 15.11 15.11
4597 461.0 -9.6 888 4605 roll -1.09 - - 2522 - 2.17 0.122 3820 541.5 -146.0 - - 3531 - - - - - - - - 15.10 14.83 15.11
4624 463.8 -10.1 893 4632 done -1.09 - - 2521 - 1.95 0.057 2638 -606.2 -146.0 - - 3531 - - - - - - - - 14.99 14.93 15.00
4752 476.4 -10.2 918 4760 done -1.09 - - 2521 - - - 2638 - -146.0 - - 3530 - - - - - - - - 15.09 15.11 15.11
4879 489.2 -9.9 943 4887 roll -1.09 - - 2513 - 2.17 0.122 3818 543.8 -146.0 - - 3530 - - - - - - - - 15.09 14.83 15.11
4916 493.1 -10.5 950 4925 done -1.09 - - 2514 - 1.95 0.057 2645 -601.5 -146.0 - - 3530 - - - - - - - - 14.99 14.93 15.00
5044 506.4 -10.3 975 5057 done -1.09 - - 2513 - - - 2645 - -146.0 - - 3529 - - - - - - - - 15.10 15.11 15.11
5177 520.0 -10.2 1000 5190 roll -1.09 - - 2505 - 2.15 0.121 3814 543.7 -146.0 - - 3528 - - - - - - - - 15.11 14.85 15.11
5245 527.2 -10.7 1012 5259 done -1.09 0.10 0.268 2532 270.0 1.92 0.056 2649 -606.8 -146.0 - - 3527 - - - - - - - - 14.79 14.95 14.95
5379 539.8 -9.2 1037 5392 done -1.11 - - 2532 - - - 2649 - -146.0 - - 3527 - - - - - - - - 15.11 15.12 15.11
5395 end dive: TARGET_DEPTH_EXCEEDED
5395 begin apogee
5398 541.4 -9.3 1039 5552 done -0.25 0.85 0.195 2794 308.2 - - 2445 - - 134.32 1.611 2971 -4.1 0.266 - - - - 1 - 14.80 14.03 13.24
5553 end apogee: CONTROL_FINISHED_OK
5554 begin climb
5554 545.5 - 1064 5702 roll 1.06 1.30 0.090 3235 339.2 2.55 0.067 1048 -547.8 146.0 122.30 2.577 2391 -4.7 0.192 - - - - 1 - 14.31 14.05 13.16
5737 534.0 15.6 1093 5751 done 0.86 0.28 0.266 3166 -246.4 2.50 0.076 2450 560.8 146.0 1.45 0.262 2385 -4.1 1.610 - - - - - - 14.26 14.36 14.27
5871 514.3 14.5 1118 5886 done 0.72 0.15 0.277 3122 -293.3 - - 2450 - 146.0 1.40 0.227 2386 - - - - - - - - 14.50 14.59 14.51
6008 496.5 12.5 1143 6016 done 0.62 0.10 0.264 3089 -330.0 - - 2450 - 146.0 1.02 0.236 2387 - - - - - - - - 14.61 14.71 14.62
6135 482.1 11.3 1168 6143 roll 0.55 - - 3099 - 2.42 0.069 1040 -582.6 146.0 - - 2393 - - - - - - - - 14.93 14.74 14.95
6183 476.7 11.2 1177 6191 done 0.48 0.20 0.233 3043 -280.0 2.45 0.077 2452 576.3 146.0 - - 2394 - - - - - - - - 14.67 14.74 14.81
6310 464.6 9.6 1202 6336 done 0.46 - - 3043 - - - 2454 - 154.3 13.00 1.619 2344 -3.8 0.211 - - - - 1 - 14.97 14.58 14.03
6456 450.2 9.7 1230 6465 roll 0.45 - - 3053 - 2.40 0.066 1041 -588.8 159.9 1.42 0.265 2331 -9.2 2.969 - - - - - - 14.93 14.74 14.64
6505 445.3 10.2 1239 6512 done 0.44 - - 3053 - 2.45 0.080 2450 575.1 159.9 - - 2339 - - - - - - - - 14.84 14.75 14.85
6632 432.1 10.4 1264 6640 done 0.41 0.10 0.255 3020 -330.0 - - 2450 - 159.9 1.02 0.242 2331 -7.8 2.673 - - - - - - 14.70 14.80 14.70
6759 420.3 9.0 1289 6790 done 0.43 - - 3019 - - - 2450 - 180.5 19.00 1.585 2252 -4.2 0.210 - - - - 1 - 15.00 14.49 13.76
6910 406.5 9.1 1318 6942 done 0.46 - - 3020 - - - 2450 - 200.8 20.10 1.616 2169 -4.1 0.198 - - - - 1 - 14.92 14.41 13.69
7061 392.6 9.0 1347 7094 roll 0.50 - - 3029 - 2.50 0.070 1048 -560.8 222.1 20.60 1.604 2085 -4.1 0.191 - - - - 1 - 14.88 14.54 13.66
7113 388.0 8.7 1356 7152 done 0.56 0.05 0.220 3062 660.0 2.47 0.079 2452 568.4 249.6 26.88 1.892 1972 -4.2 0.165 - - - - 1 - 14.56 14.57 13.49
7271 370.7 11.1 1386 7279 done 0.56 - - 3062 - - - 2452 - 249.6 - - 1982 - - - - - - - - 14.78 14.80 14.79
7398 356.8 10.7 1411 7406 roll 0.56 - - 3073 - 2.45 0.070 1038 -577.1 249.6 - - 1982 - - - - - - - - 14.88 14.69 14.88
7431 353.3 11.2 1417 7439 done 0.56 - - 3073 - 2.47 0.080 2454 573.3 249.6 - - 1982 - - - - - - - - 14.81 14.69 14.79
7558 339.2 11.3 1442 7566 done 0.54 - - 3073 - - - 2454 - 249.6 - - 1985 - - - - - - - - 14.94 14.95 14.95
7686 325.2 11.0 1467 7694 roll 0.52 - - 3085 - 2.42 0.070 1041 -583.9 249.6 - - 1981 - - - - - - - - 14.97 14.77 14.98
7728 320.5 11.0 1475 7736 done 0.51 0.12 0.230 3048 -308.3 2.45 0.079 2451 575.5 249.6 - - 1981 - - - - - - - - 14.71 14.77 14.84
7856 307.9 9.9 1500 7864 roll 0.51 - - 3049 - 2.55 0.124 3815 534.9 250.8 1.75 0.269 1969 -6.9 1.498 - - - - - - 15.00 14.74 14.66
7879 305.4 10.9 1504 7886 done 0.51 - - 3058 - 2.30 0.056 2443 -596.5 250.8 - - 1974 - - - - - - - - 14.89 14.82 14.90
8006 291.6 11.1 1529 8014 roll 0.51 - - 3069 - 2.38 0.070 1052 -584.5 250.8 - - 1978 - - - - - - - - 15.01 14.81 15.02
8073 284.0 11.3 1542 8082 done 0.51 - - 3069 - 2.42 0.081 2451 578.1 250.8 1.58 0.260 1967 -7.0 1.452 - - - - - - 14.90 14.80 14.70
8202 268.8 12.0 1567 8210 roll 0.49 - - 3069 - 2.47 0.122 3819 553.8 250.8 1.05 0.291 1970 2.9 -0.504 - - - - - - 15.02 14.76 14.73
8229 265.1 13.7 1572 8237 done 0.46 0.15 0.243 3038 -206.7 2.28 0.054 2448 -601.3 250.8 - - 1975 - - - - - - - - 14.73 14.85 14.88
8357 251.3 10.4 1597 8365 roll 0.47 - - 3048 - 2.35 0.067 1049 -595.3 250.8 1.45 0.265 1968 -4.8 0.874 - - - - - - 15.03 14.83 14.73
8420 244.8 10.4 1609 8428 done 0.50 - - 3048 - 2.42 0.080 2451 579.3 250.8 - - 1977 - - - - - - - - 14.92 14.82 14.93
8547 230.9 10.8 1634 8556 roll 0.50 - - 3049 - 2.47 0.122 3814 551.8 250.8 1.48 0.269 1968 -6.1 0.996 - - - - - - 15.03 14.78 14.72
8576 227.6 12.1 1639 8583 done 0.50 - - 3058 - 2.28 0.055 2449 -598.7 250.8 - - 1974 - - - - - - - - 14.92 14.85 14.94
8703 212.8 11.7 1664 8711 roll 0.50 - - 3069 - 2.35 0.069 1051 -594.9 250.8 1.10 0.282 1969 -4.5 0.655 - - - - - - 15.04 14.83 14.75
8755 206.7 11.4 1674 8764 done 0.50 - - 3069 - 2.45 0.081 2459 574.7 250.8 - - 1976 - - - - - - - - 14.92 14.80 14.93
8884 191.5 11.9 1699 8891 done 0.50 - - 3070 - - - 2459 - 250.8 0.77 0.322 1971 -6.5 0.737 - - - - - - 15.02 14.85 14.75
9011 176.9 11.5 1724 9018 roll 0.50 - - 3080 - 2.42 0.069 1042 -585.5 250.8 - - 1978 - - - - - - - - 15.03 14.83 15.05
9043 173.2 11.7 1730 9052 done 0.50 0.12 0.234 3045 -291.7 2.45 0.079 2455 576.7 250.8 1.02 0.295 1968 -9.8 1.099 - - - - - - 14.76 14.83 14.74
9171 160.3 9.7 1755 9185 done 0.50 - - 3045 - - - 2454 - 257.5 7.18 1.467 1947 -2.9 0.061 - - - - - - 15.04 14.67 14.25
9304 147.1 10.3 1781 9312 done 0.52 - - 3045 - - - 2455 - 257.5 - - 1948 - - - - - - - - 15.00 15.01 15.00
9432 134.1 10.1 1806 9440 roll 0.54 - - 3045 - 2.47 0.122 3813 549.8 257.5 - - 1949 - - - - - - - - 15.00 14.76 15.02
9495 126.9 11.6 1818 9504 done 0.54 - - 3055 - 2.28 0.054 2448 -598.7 257.5 0.93 0.295 1941 -8.6 0.706 - - - - - - 14.91 14.84 14.71
9624 114.4 9.0 1843 9661 roll 0.59 - - 3066 - 2.40 0.070 1052 -581.7 278.4 24.05 1.200 1856 -3.5 0.064 - - - - 1 - 15.02 14.68 14.23
9716 105.6 9.5 1860 9729 done 0.64 - - 3066 - 2.45 0.077 2457 573.5 288.5 4.75 1.116 1824 -6.7 0.122 - - - - - - 14.79 14.70 14.00
9849 93.8 8.0 1886 9883 roll 0.72 0.08 0.178 3117 637.5 2.50 0.068 1041 -566.4 330.5 26.42 0.451 1652 -6.5 0.258 - - - - - - 14.73 14.67 14.46
9938 85.8 9.2 1902 9958 done 0.76 - - 3117 - 2.45 0.076 2452 575.9 348.0 11.27 0.415 1576 -6.7 0.266 - - - - - - 14.83 14.70 14.46
10078 75.2 7.1 1929 10123 roll 0.86 0.08 0.168 3168 637.5 2.50 0.118 3818 546.4 409.3 36.42 0.400 1340 -6.5 0.233 - - - - - - 14.75 14.61 14.47
10227 58.9 11.1 1957 10236 done 0.84 - - 3179 - 2.30 0.053 2443 -597.8 409.3 1.48 0.247 1336 -2.7 0.123 - - - - - - 14.81 14.74 14.62
10355 46.3 8.5 1982 10381 roll 0.88 - - 3189 - 2.38 0.065 1048 -586.1 441.4 19.02 0.313 1212 -6.5 0.184 - - - - - - 14.94 14.70 14.54
10441 38.5 9.4 1998 10456 done 0.93 - - 3191 - 2.42 0.075 2449 578.9 455.0 9.10 0.284 1154 -6.4 0.165 - - - - - - 14.83 14.73 14.59
10516 32.1 8.2 2012 10547 roll 1.01 - - 3199 - 2.42 0.067 1059 -574.4 493.2 22.70 0.271 1005 -6.6 0.148 - - - - - - 14.93 14.70 14.56
10587 25.5 10.0 2025 10594 done 1.06 - - 3199 - 2.42 0.076 2458 578.1 493.2 - - 1011 - - - - - - - - 14.81 14.72 14.83
10654 18.8 10.0 2038 10663 roll 1.10 0.05 0.230 3233 680.0 2.53 0.116 3818 537.5 493.9 1.73 0.207 1001 -5.8 0.100 - - - - - - 14.72 14.68 14.64
10683 15.2 13.2 2043 10691 done 1.10 - - 3243 - 2.28 0.052 2454 -598.2 493.9 - - 1008 - - - - - - - - 14.84 14.78 14.85
10750 6.7 12.8 2056 10758 roll 1.07 - - 3254 - 2.38 0.065 1053 -588.7 493.9 1.35 0.242 1001 -5.2 0.027 - - - - - - 14.95 14.74 14.69
10787 end climb: SURFACE_DEPTH_REACHED
10787 begin surface coast
10802 end surface coast: CONTROL_FINISHED_OK
10802 begin surface
SM 1.40 - - - - -8.33 8.82 0.074 207 23.4 2.80 0.076 2647 -2210.4 610.16 60.15 0.175 538 8.9 -0.007 - - - - - -