SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 613 * Raw log
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• Previous call tries 1 • 237.41 of 350.00 AH used of 24V (32.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.5 deg, depth 0.76 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 43 s
• GPS2 time: 20 s • Transponder ping count: 28
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
7 - - - 98 VBD -0.68 - - 193 - - - 2316 - -116.8 -89.80 - 2978 - - - - - - - - 14.66 - 14.68
102 3.3 -4.3 3 128 roll -0.68 9.30 0.410 1970 191.1 2.90 2.049 880 -495.2 -116.8 -4.22 - 3222 -57.8 - - - - - - - 13.76 12.85 14.05
192 34.9 -25.8 16 197 done -0.49 0.32 0.275 2037 209.4 2.45 0.056 2260 563.3 -116.8 - - 3223 - - - - - - - - 13.90 14.32 14.24
525 84.3 -9.2 30 530 roll -0.49 - - 2037 - 2.47 0.047 868 -563.6 -116.8 - - 3224 - - - - - - - - 14.83 14.24 14.85
543 86.0 -7.4 33 556 done -0.49 - - 2037 - 2.55 0.051 2282 554.5 -116.8 - - 3224 - - - - - - - - 14.21 14.15 14.26
893 109.0 -6.7 44 898 roll -0.49 - - 2033 - 2.53 0.073 3699 560.1 -116.8 - - 3225 - - - - - - - - 14.87 14.12 14.88
1083 121.8 -6.4 71 1088 done -0.49 - - 2032 - 2.40 0.036 2258 -600.4 -116.8 - - 3226 - - - - - - - - 14.41 14.34 14.43
1402 144.3 -7.4 81 1408 roll -0.49 - - 2033 - 2.40 0.048 901 -565.4 -116.8 - - 3226 - - - - - - - - 14.90 14.16 14.92
1462 149.1 -7.9 89 1468 done -0.49 - - 2029 - 2.47 0.053 2284 559.9 -116.8 - - 3225 - - - - - - - - 14.30 14.19 14.34
1802 176.0 -8.0 102 1807 roll -0.49 - - 2023 - 2.53 0.076 3693 556.9 -116.8 - - 3224 - - - - - - - - 14.90 14.04 14.92
1862 181.1 -8.9 110 1867 done -0.49 - - 2022 - 2.38 0.037 2287 -590.8 -116.8 - - 3224 - - - - - - - - 14.38 14.32 14.41
2200 211.4 -8.8 123 2205 roll -0.49 - - 2022 - 2.47 0.050 898 -562.3 -116.8 - - 3222 - - - - - - - - 14.91 14.12 14.92
2289 219.7 -8.6 136 2295 done -0.49 - - 2018 - 2.50 0.054 2291 557.2 -116.8 - - 3221 - - - - - - - - 14.23 14.11 14.28
2655 250.8 -8.6 145 2660 roll -0.49 - - 2012 - 2.55 0.080 3699 552.2 -116.8 - - 3219 - - - - - - - - 14.88 13.97 14.90
2744 258.9 -8.0 158 2750 done -0.49 0.12 0.218 2042 250.0 2.40 0.038 2277 -592.5 -116.8 - - 3218 - - - - - - - - 13.86 14.19 14.07
3108 284.4 -7.2 167 3113 roll -0.49 - - 2041 - 2.47 0.050 890 -561.5 -116.8 - - 3217 - - - - - - - - 14.90 14.08 14.91
3197 291.7 -7.4 180 3202 done -0.54 - - 2042 - 2.50 0.054 2278 555.2 -116.8 - - 3216 - - - - - - - - 14.21 14.09 14.26
3560 317.2 -7.1 189 3565 roll -0.54 - - 2036 - 2.58 0.079 3697 550.0 -116.8 - - 3215 - - - - - - - - 14.91 13.95 14.92
3621 321.3 -6.8 197 3627 done -0.61 0.12 0.130 1982 -450.0 2.45 0.040 2277 -579.6 -116.8 - - 3214 - - - - - - - - 14.13 14.26 14.23
3961 354.5 -10.1 210 3966 roll -0.61 - - 1982 - 2.50 0.054 893 -553.6 -116.8 - - 3212 - - - - - - - - 14.92 14.03 14.92
4043 363.1 -9.9 222 4048 done -0.61 - - 1974 - 2.53 0.055 2281 548.6 -116.8 - - 3211 - - - - - - - - 14.15 14.02 14.21
4414 401.5 -10.6 232 4419 roll -0.56 0.12 0.267 1997 191.7 2.58 0.076 3692 546.9 -116.8 - - 3209 - - - - - - - - 13.90 13.90 13.97
4460 406.4 -8.8 239 4472 done -0.56 - - 1997 - 2.50 0.042 2268 -569.6 -116.8 - - 3209 - - - - - - - - 14.07 14.03 14.10
4809 436.2 -8.6 246 4813 roll -0.56 - - 1997 - 2.47 0.054 893 -556.7 -116.8 - - 3207 - - - - - - - - 14.90 14.00 14.92
4869 441.4 -8.7 254 4873 done -0.56 - - 1996 - 2.55 0.057 2284 545.5 -116.8 - - 3206 - - - - - - - - 14.15 14.02 14.20
5207 472.0 -9.2 267 5212 roll -0.56 - - 1988 - 2.60 0.083 3698 543.8 -116.8 - - 3206 - - - - - - - - 14.91 13.89 14.92
5277 479.0 -9.6 277 5283 done -0.56 - - 1988 - 2.45 0.042 2273 -581.6 -116.8 - - 3205 - - - - - - - - 14.26 14.19 14.29
5603 510.9 -10.0 288 5608 roll -0.56 - - 1988 - 2.50 0.055 891 -552.8 -116.8 - - 3204 - - - - - - - - 14.91 13.97 14.92
5685 519.6 -10.0 300 5691 done -0.56 0.12 0.257 2013 208.3 2.55 0.057 2283 545.9 -116.8 - - 3204 - - - - - - - - 13.64 13.95 13.89
6056 550.7 -8.4 310 6061 roll -0.56 - - 2011 - 2.60 0.083 3692 541.9 -116.8 - - 3202 - - - - - - - - 14.89 13.82 14.90
6115 555.6 -8.2 318 6120 done -0.61 - - 2011 - 2.45 0.043 2278 -577.1 -116.8 - - 3202 - - - - - - - - 14.24 14.16 14.28
6454 583.1 -8.2 331 6459 roll -0.61 - - 2011 - 2.50 0.054 895 -553.2 -116.8 - - 3200 - - - - - - - - 14.90 13.93 14.92
6516 588.7 -8.7 340 6520 done -0.61 - - 2011 - 2.55 0.057 2287 545.9 -116.8 - - 3200 - - - - - - - - 14.09 13.96 14.15
6849 616.4 -8.5 352 6854 roll -0.61 - - 2011 - 2.65 0.087 3698 532.5 -116.8 - - 3198 - - - - - - - - 14.91 13.81 14.92
6908 621.2 -8.4 360 6913 done -0.67 - - 2011 - 2.47 0.042 2278 -574.9 -116.8 - - 3198 - - - - - - - - 14.22 14.14 14.25
7248 647.1 -7.5 373 7253 roll -0.67 - - 2011 - 2.50 0.054 892 -554.4 -116.8 - - 3197 - - - - - - - - 14.89 13.91 14.90
7294 651.0 -7.5 380 7306 done -0.67 - - 2011 - 2.60 0.057 2276 532.3 -116.8 - - 3197 - - - - - - - - 13.88 13.81 13.92
7643 677.0 -7.7 387 7648 roll -0.67 - - 2008 - 2.65 0.085 3690 533.6 -116.8 - - 3196 - - - - - - - - 14.90 13.82 14.91
7703 681.7 -8.5 395 7708 done -0.72 0.15 0.119 1951 -380.0 2.47 0.044 2278 -571.7 -116.8 - - 3196 - - - - - - - - 14.00 14.11 14.11
8042 719.6 -11.5 408 8047 roll -0.67 0.12 0.273 1982 258.3 2.58 0.054 884 -540.3 -116.8 - - 3195 - - - - - - - - 13.84 13.85 13.87
8068 722.9 -10.3 412 8073 done -0.67 - - 1973 - 2.58 0.057 2279 540.7 -116.8 - - 3195 - - - - - - - - 14.04 13.90 14.09
8439 760.7 -10.2 422 8443 roll -0.67 - - 1972 - 2.65 0.087 3695 534.3 -116.8 - - 3193 - - - - - - - - 14.88 13.78 14.90
8478 764.9 -9.3 428 8483 done -0.67 - - 1972 - 2.50 0.044 2267 -571.2 -116.8 - - 3193 - - - - - - - - 14.11 14.02 14.15
8833 801.0 -10.1 436 8838 roll -0.67 - - 1971 - 2.53 0.058 891 -543.9 -116.8 - - 3192 - - - - - - - - 14.90 13.81 14.92
8923 810.2 -10.0 449 8928 done -0.67 - - 1972 - 2.58 0.060 2279 538.0 -116.8 - - 3191 - - - - - - - - 14.00 13.86 14.05
9285 846.4 -10.0 458 9289 roll -0.67 - - 1968 - 2.65 0.086 3694 534.0 -116.8 - - 3191 - - - - - - - - 14.89 13.83 14.90
9344 852.2 -11.7 466 9348 done -0.67 - - 1967 - 2.50 0.046 2277 -566.8 -116.8 - - 3190 - - - - - - - - 14.13 14.04 14.16
9683 887.5 -10.6 479 9688 roll -0.67 - - 1967 - 2.55 0.059 887 -545.1 -116.8 - - 3189 - - - - - - - - 14.88 13.78 14.90
9779 897.5 -10.3 493 9785 done -0.67 - - 1962 - 2.58 0.059 2272 536.8 -116.8 - - 3189 - - - - - - - - 14.00 13.85 14.05
10136 936.3 -10.9 501 10142 roll -0.67 - - 1957 - 2.67 0.090 3695 533.0 -116.8 - - 3188 - - - - - - - - 14.88 13.85 14.89
10205 943.5 -7.0 511 10210 done -0.67 - - 1958 - 2.53 0.047 2266 -564.8 -116.8 - - 3187 - - - - - - - - 14.09 14.00 14.13
10532 977.2 -10.1 522 10537 roll -0.67 - - 1958 - 2.55 0.060 884 -542.0 -116.8 - - 3186 - - - - - - - - 14.88 13.76 14.90
10595 983.6 -9.7 531 10599 done -0.67 - - 1955 - 2.60 0.062 2275 535.0 -116.8 - - 3186 - - - - - - - - 14.00 13.85 14.04
10700 end dive: TARGET_DEPTH_EXCEEDED
10700 begin apogee
10708 994.1 -9.8 539 10907 roll -0.19 0.70 0.235 2131 251.4 - - 2183 - - 196.10 1.599 2739 -2.3 0.271 - - - - - - 13.71 13.92 13.10
10907 end apogee: CONTROL_FINISHED_OK
10907 begin climb
10911 999.7 - 542 11073 roll 0.68 0.98 0.151 2415 289.8 2.53 0.060 820 -538.7 116.8 150.77 1.825 2263 -3.2 0.330 - - - - - - 13.79 13.92 12.96
11115 993.2 11.0 577 11122 done 0.68 - - 2415 - 2.55 0.058 2207 543.9 116.8 - - 2240 - - - - - - - - 14.19 14.07 14.23
11486 965.4 7.8 587 11491 roll 0.63 - - 2415 - 2.58 0.087 3611 544.2 116.8 - - 2232 - - - - - - - - 14.75 14.12 14.76
11545 960.3 8.9 595 11550 done 0.54 0.20 0.265 2379 -180.0 2.45 0.057 2214 -570.2 116.8 - - 2230 - - - - - - - - 13.82 14.26 14.17
11884 938.6 6.2 608 11920 roll 0.56 - - 2390 - 2.58 0.070 796 -549.6 143.5 29.95 1.859 2146 -2.8 0.270 - - - - - - 14.83 14.23 13.26
11985 931.0 6.6 623 12010 done 0.57 - - 2390 - 2.58 0.057 2194 541.9 160.1 19.20 1.882 2083 -3.3 0.310 - - - - - - 14.27 14.23 13.16
12333 907.2 7.3 637 12338 roll 0.57 - - 2390 - 2.60 0.090 3613 545.8 162.0 - - 2065 - - - - - - - - 14.76 14.15 14.78
12381 902.8 8.7 644 12392 done 0.57 - - 2399 - 2.53 0.057 2209 -554.9 162.0 - - 2064 - - - - - - - - 14.25 14.19 14.28
12728 875.9 7.9 651 12733 roll 0.57 - - 2409 - 2.60 0.069 786 -547.3 162.0 - - 2063 - - - - - - - - 14.83 14.14 14.85
12817 867.9 8.2 664 12824 done 0.57 - - 2409 - 2.58 0.057 2200 548.1 162.0 - - 2062 - - - - - - - - 14.33 14.21 14.35
13180 839.0 8.4 673 13186 roll 0.57 - - 2409 - 2.60 0.090 3609 541.9 162.0 - - 2062 - - - - - - - - 14.85 14.05 14.86
13249 831.4 8.8 683 13255 done 0.57 0.15 0.265 2386 -153.3 2.50 0.056 2191 -567.2 162.0 - - 2062 - - - - - - - - 13.83 14.21 14.16
13577 809.0 7.1 694 13583 roll 0.57 - - 2396 - 2.55 0.068 795 -547.5 168.7 1.73 0.186 2050 -6.9 5.759 - - - - - - 14.86 14.04 13.90
13654 802.7 7.7 705 13660 done 0.57 - - 2396 - 2.55 0.057 2197 549.8 168.7 - - 2052 - - - - - - - - 14.29 14.16 14.34
13973 780.0 7.4 715 13978 roll 0.57 - - 2396 - 2.62 0.088 3616 541.6 168.7 - - 2053 - - - - - - - - 14.87 13.99 14.88
14013 775.8 10.0 721 14019 done 0.57 - - 2406 - 2.53 0.056 2188 -564.4 168.7 - - 2053 - - - - - - - - 14.28 14.17 14.33
14370 747.4 8.2 729 14375 roll 0.57 - - 2417 - 2.55 0.069 798 -545.1 168.7 - - 2053 - - - - - - - - 14.85 13.98 14.87
14459 739.4 7.9 742 14465 done 0.57 0.12 0.252 2390 -225.0 2.55 0.056 2195 547.8 168.7 - - 2053 - - - - - - - - 13.78 14.09 14.03
14824 713.8 7.3 751 14828 roll 0.57 - - 2390 - 2.62 0.086 3612 540.8 169.4 - - 2053 - - - - - - - - 14.85 13.92 14.88
14920 705.2 8.1 765 14926 done 0.57 - - 2399 - 2.53 0.055 2188 -562.8 169.4 - - 2054 - - - - - - - - 14.22 14.10 14.26
15276 679.8 7.3 773 15282 roll 0.57 - - 2407 - 2.62 0.070 796 -531.3 171.0 1.92 0.182 2041 -6.8 4.828 - - - - - - 14.87 14.05 13.88
15393 671.5 6.2 789 15453 done 0.59 - - 2408 - 2.58 0.056 2204 545.7 196.9 51.20 1.545 1931 -2.1 0.178 - - - - - - 14.23 14.10 13.33
15790 641.3 7.7 810 15796 roll 0.59 - - 2407 - 2.55 0.085 3609 551.0 196.9 - - 1915 - - - - - - - - 14.73 14.06 14.75
15851 636.1 8.2 818 15855 done 0.59 - - 2416 - 2.50 0.053 2186 -569.2 196.9 - - 1914 - - - - - - - - 14.35 14.26 14.40
16189 607.8 8.4 831 16194 roll 0.59 - - 2428 - 2.55 0.068 793 -546.3 196.9 - - 1914 - - - - - - - - 14.83 14.10 14.84
16272 600.1 8.6 843 16278 done 0.59 0.15 0.242 2394 -226.7 2.53 0.056 2186 550.6 196.9 - - 1913 - - - - - - - - 13.84 14.18 14.15
16643 571.7 7.9 853 16649 roll 0.59 - - 2394 - 2.62 0.083 3613 544.7 196.9 - - 1913 - - - - - - - - 14.83 14.03 14.85
16732 563.0 9.1 866 16738 done 0.59 - - 2403 - 2.50 0.053 2192 -568.4 196.9 - - 1913 - - - - - - - - 14.31 14.21 14.35
17096 532.8 8.5 875 17101 roll 0.59 - - 2411 - 2.58 0.070 797 -540.7 196.9 - - 1913 - - - - - - - - 14.84 14.03 14.86
17185 524.8 8.1 888 17190 done 0.59 - - 2411 - 2.55 0.054 2200 550.2 196.9 - - 1912 - - - - - - - - 14.26 14.13 14.31
17548 493.6 8.9 897 17553 roll 0.59 - - 2412 - 2.60 0.083 3606 540.8 196.9 - - 1912 - - - - - - - - 14.86 13.97 14.88
17609 487.9 9.3 905 17615 done 0.59 0.12 0.248 2393 -158.3 2.50 0.051 2188 -567.2 196.9 - - 1912 - - - - - - - - 13.85 14.18 14.12
17949 462.7 7.2 918 17954 roll 0.59 - - 2402 - 2.55 0.066 801 -543.9 201.2 - - 1912 - - - - - - - - 14.86 13.99 14.88
18046 455.5 7.0 932 18064 done 0.60 - - 2402 - 2.53 0.054 2188 548.2 208.2 3.40 0.964 1894 -5.3 0.478 - - - - - - 14.22 14.09 13.37
18400 430.2 7.3 940 18410 roll 0.60 - - 2402 - 2.60 0.083 3611 547.3 210.0 3.10 0.850 1883 -3.5 0.343 - - - - - - 14.85 14.25 13.37
18488 422.3 8.7 953 18494 done 0.60 - - 2410 - 2.47 0.052 2189 -575.7 210.0 - - 1889 - - - - - - - - 14.42 14.32 14.45
18851 392.8 8.4 962 18856 roll 0.60 - - 2410 - 2.58 0.069 796 -539.9 210.0 - - 1892 - - - - - - - - 14.85 14.02 14.86
18933 385.5 8.1 974 18939 done 0.60 - - 2410 - 2.53 0.053 2189 550.6 210.0 1.88 0.181 1881 -5.9 2.379 - - - - - - 14.23 14.12 13.95
19304 355.8 8.1 984 19308 roll 0.60 - - 2410 - 2.62 0.081 3616 544.7 210.0 - - 1892 - - - - - - - - 14.85 13.93 14.87
19378 348.5 9.2 995 19384 done 0.60 - - 2420 - 2.58 0.050 2185 -554.7 210.0 1.75 0.168 1882 -5.7 2.263 - - - - - - 14.10 14.04 13.90
19699 322.8 8.1 1005 19704 roll 0.60 - - 2429 - 2.55 0.064 795 -545.1 210.0 - - 1892 - - - - - - - - 14.85 13.94 14.88
19775 316.4 8.0 1016 19781 done 0.60 0.15 0.233 2394 -233.3 2.58 0.054 2199 544.2 210.0 - - 1892 - - - - - - - - 13.73 14.06 13.99
20095 293.9 7.2 1026 20104 roll 0.60 - - 2395 - 2.55 0.080 3623 558.4 213.8 4.22 1.029 1868 -5.7 0.310 - - - - - - 14.86 14.14 13.43
20152 288.7 8.5 1035 20158 done 0.60 - - 2403 - 2.53 0.049 2186 -568.0 213.8 - - 1873 - - - - - - - - 14.38 14.32 14.41
20489 263.2 7.8 1047 20498 roll 0.60 - - 2407 - 2.55 0.066 795 -545.5 213.8 2.53 0.554 1868 -2.0 0.179 - - - - - - 14.85 14.19 13.38
20554 258.1 7.0 1057 20576 done 0.65 - - 2407 - 2.53 0.053 2205 557.3 220.6 17.65 1.199 1841 -1.5 0.063 - - - - - - 14.38 14.26 13.58
20932 233.4 6.5 1068 20967 roll 0.67 - - 2407 - 2.53 0.081 3612 556.1 240.7 27.88 1.167 1751 -3.2 0.123 - - - - - - 14.81 14.31 13.49
21030 225.3 8.3 1083 21043 done 0.67 - - 2416 - 2.53 0.050 2186 -563.6 240.7 - - 1741 - - - - - - - - 14.31 14.26 14.35
21380 196.0 8.9 1090 21385 roll 0.67 - - 2418 - 2.55 0.066 798 -544.3 240.7 - - 1739 - - - - - - - - 14.79 14.11 14.81
21455 188.7 8.6 1101 21462 done 0.72 - - 2419 - 2.55 0.052 2184 543.5 240.7 - - 1739 - - - - - - - - 14.17 14.12 14.23
21775 162.1 8.4 1111 21780 roll 0.72 - - 2418 - 2.60 0.077 3609 548.1 240.7 - - 1739 - - - - - - - - 14.85 14.04 14.86
21845 155.5 8.9 1121 21851 done 0.72 - - 2426 - 2.53 0.049 2184 -563.2 240.7 - - 1739 - - - - - - - - 14.31 14.22 14.36
22171 127.3 8.9 1132 22176 roll 0.72 - - 2434 - 2.55 0.063 796 -544.3 240.7 - - 1738 - - - - - - - - 14.86 14.02 14.88
22211 123.3 8.8 1138 22216 done 0.77 - - 2434 - 2.53 0.051 2198 554.2 240.7 - - 1738 - - - - - - - - 14.26 14.14 14.31
22567 98.5 6.5 1146 22582 roll 0.78 - - 2434 - 2.58 0.079 3605 545.3 261.1 10.82 0.360 1675 -5.8 0.304 - - - - - - 14.85 14.29 13.78
22659 91.0 7.9 1160 22672 done 0.78 - - 2442 - 2.50 0.047 2187 -567.2 261.1 2.55 0.171 1675 - - - - - - - - 14.24 14.20 13.93
22981 75.5 4.0 1172 23042 roll 0.91 0.15 0.112 2503 406.7 2.65 0.074 3614 538.5 339.5 55.90 0.357 1354 -5.7 0.232 - - - - - - 14.38 14.38 13.95
23141 64.0 6.1 1192 23168 done 1.00 - - 2506 - 2.53 0.048 2197 -560.1 369.7 22.50 0.311 1232 -5.4 0.213 - - - - - - 14.22 14.18 13.93
23494 46.1 6.0 1208 23524 roll 1.11 0.12 0.123 2581 625.0 2.50 0.060 796 -560.4 402.1 24.33 0.254 1098 -5.5 0.191 - - - - - - 14.35 14.17 13.96
23625 33.1 10.0 1227 23637 done 1.11 - - 2581 - 2.53 0.050 2185 549.0 402.1 - - 1103 - - - - - - - - 14.14 14.11 14.21
23911 end climb: SURFACE_DEPTH_REACHED
23911 begin surface coast
23939 end surface coast: CONTROL_FINISHED_OK
23939 begin surface
SM 0.89 - - - - -6.13 6.75 0.046 206 30.5 0.17 0.102 2315 7558.8 500.17 63.42 0.132 698 11.0 -0.008 - - - - - -