SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 630 * Raw log
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• Previous call tries 1 • 243.36 of 350.00 AH used of 24V (30.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.8 deg, depth 0.80 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 18 s • Transponder ping count: 24
• 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 - - 205 - - - 2316 - -116.8 -89.70 - 2940 - - - - - - - - 14.65 - 14.67
102 3.1 -4.1 3 127 roll -0.68 9.00 0.401 1960 195.0 2.65 2.071 3659 506.8 -116.8 -5.05 - 3219 -55.2 - - - - - - - 13.76 13.24 14.04
142 20.5 -36.9 9 148 done -0.20 0.62 0.259 2124 264.5 2.35 0.041 2268 -591.9 -116.8 - - 3220 - - - - - - - - 14.00 14.38 14.30
468 63.1 -12.3 22 473 roll -0.20 - - 2124 - 2.45 0.050 876 -568.2 -116.8 - - 3221 - - - - - - - - 14.81 14.20 14.83
572 71.1 -6.5 37 584 done -0.30 - - 2124 - 2.53 0.052 2264 548.6 -116.8 - - 3221 - - - - - - - - 14.16 14.09 14.20
894 88.2 -5.0 49 900 roll -0.41 0.15 0.115 2043 -540.0 2.58 0.073 3697 555.4 -116.8 - - 3223 - - - - - - - - 14.38 14.07 14.38
982 95.3 -8.2 61 988 done -0.41 - - 2043 - 2.42 0.037 2261 -593.4 -116.8 - - 3223 - - - - - - - - 14.39 14.33 14.42
1323 119.1 -6.5 71 1328 roll -0.41 - - 2043 - 2.40 0.047 897 -568.3 -116.8 - - 3223 - - - - - - - - 14.88 14.13 14.89
1369 123.4 -8.4 78 1381 done -0.41 - - 2043 - 2.53 0.052 2280 546.6 -116.8 - - 3223 - - - - - - - - 14.07 14.01 14.12
1718 148.8 -7.2 85 1723 roll -0.41 - - 2040 - 2.55 0.076 3694 554.5 -116.8 - - 3223 - - - - - - - - 14.90 13.99 14.91
1809 155.9 -7.7 98 1813 done -0.47 - - 2040 - 2.40 0.037 2274 -591.7 -116.8 - - 3223 - - - - - - - - 14.35 14.29 14.38
2170 182.9 -7.5 107 2175 roll -0.47 - - 2040 - 2.47 0.052 893 -559.1 -116.8 - - 3222 - - - - - - - - 14.90 14.06 14.91
2272 191.3 -7.9 122 2284 done -0.47 - - 2040 - 2.53 0.051 2273 545.5 -116.8 - - 3221 - - - - - - - - 14.00 13.94 14.05
2622 216.6 -7.3 129 2628 roll -0.47 - - 2038 - 2.60 0.079 3691 545.4 -116.8 - - 3219 - - - - - - - - 14.89 13.93 14.90
2705 222.7 -6.7 141 2711 done -0.54 - - 2037 - 2.42 0.041 2278 -583.9 -116.8 - - 3219 - - - - - - - - 14.31 14.23 14.33
3075 249.1 -7.4 151 3080 roll -0.54 - - 2038 - 2.50 0.052 892 -554.4 -116.8 - - 3217 - - - - - - - - 14.88 14.02 14.90
3157 256.0 -7.7 163 3163 done -0.59 - - 2037 - 2.50 0.052 2278 554.4 -116.8 - - 3217 - - - - - - - - 14.17 14.04 14.21
3527 286.1 -8.5 173 3532 roll -0.59 - - 2037 - 2.60 0.080 3694 544.6 -116.8 - - 3215 - - - - - - - - 14.90 13.88 14.92
3611 293.4 -8.2 185 3617 done -0.67 0.17 0.105 1963 -435.3 2.42 0.039 2278 -585.1 -116.8 - - 3215 - - - - - - - - 14.11 14.21 14.21
3979 337.3 -12.2 195 3984 roll -0.60 0.12 0.260 1995 266.7 2.50 0.051 893 -554.0 -116.8 - - 3212 - - - - - - - - 13.88 13.97 13.94
4068 347.3 -10.1 208 4074 done -0.60 - - 1995 - 2.53 0.054 2284 549.8 -116.8 - - 3211 - - - - - - - - 14.11 13.97 14.16
4432 383.0 -9.9 217 4438 roll -0.60 - - 1987 - 2.58 0.078 3695 546.9 -116.8 - - 3209 - - - - - - - - 14.88 13.85 14.90
4501 390.4 -9.8 227 4506 done -0.60 - - 1986 - 2.45 0.041 2267 -582.9 -116.8 - - 3209 - - - - - - - - 14.19 14.09 14.22
4829 422.9 -10.1 238 4834 roll -0.60 - - 1986 - 2.50 0.055 894 -549.2 -116.8 - - 3208 - - - - - - - - 14.89 13.93 14.91
4904 431.1 -10.0 249 4910 done -0.60 - - 1986 - 2.53 0.057 2275 545.8 -116.8 - - 3208 - - - - - - - - 14.09 13.94 14.14
5225 462.9 -10.2 259 5230 roll -0.60 - - 1983 - 2.62 0.082 3691 540.5 -116.8 - - 3207 - - - - - - - - 14.90 13.85 14.91
5287 469.1 -10.3 267 5291 done -0.60 - - 1983 - 2.47 0.042 2264 -577.7 -116.8 - - 3206 - - - - - - - - 14.21 14.13 14.25
5625 504.3 -10.4 280 5630 roll -0.60 - - 1983 - 2.50 0.055 888 -550.4 -116.8 - - 3205 - - - - - - - - 14.90 13.90 14.92
5721 514.5 -9.9 294 5726 done -0.60 - - 1983 - 2.55 0.057 2276 544.3 -116.8 - - 3204 - - - - - - - - 14.07 13.93 14.12
6078 548.3 -9.5 302 6083 roll -0.60 - - 1976 - 2.62 0.080 3696 542.0 -116.8 - - 3202 - - - - - - - - 14.88 13.81 14.90
6153 555.9 -9.2 313 6159 done -0.60 - - 1975 - 2.47 0.042 2270 -577.3 -116.8 - - 3202 - - - - - - - - 14.16 14.07 14.20
6474 587.3 -10.1 323 6479 roll -0.60 0.12 0.251 2009 283.3 2.55 0.054 887 -542.4 -116.8 - - 3201 - - - - - - - - 13.88 13.85 13.92
6557 594.8 -7.5 335 6562 done -0.60 - - 2009 - 2.55 0.056 2277 545.1 -116.8 - - 3200 - - - - - - - - 14.06 13.93 14.11
6926 624.4 -8.2 345 6931 roll -0.60 - - 2002 - 2.62 0.080 3693 540.5 -116.8 - - 3199 - - - - - - - - 14.89 13.80 14.90
7043 633.7 -8.1 361 7049 done -0.65 - - 2002 - 2.53 0.044 2263 -565.2 -116.8 - - 3198 - - - - - - - - 14.16 14.08 14.19
7383 660.5 -7.9 374 7387 roll -0.65 - - 2002 - 2.53 0.055 886 -544.3 -116.8 - - 3197 - - - - - - - - 14.89 13.83 14.92
7465 667.2 -7.1 386 7470 done -0.65 - - 2001 - 2.58 0.057 2276 538.8 -116.8 - - 3197 - - - - - - - - 14.02 13.87 14.07
7835 696.8 -8.2 396 7840 roll -0.65 - - 1999 - 2.65 0.086 3688 532.8 -116.8 - - 3196 - - - - - - - - 14.88 13.84 14.89
7924 704.3 -8.0 409 7930 done -0.65 - - 1999 - 2.50 0.044 2268 -568.0 -116.8 - - 3195 - - - - - - - - 14.10 14.02 14.14
8286 734.1 -8.3 418 8291 roll -0.65 - - 1999 - 2.55 0.055 888 -541.2 -116.8 - - 3194 - - - - - - - - 14.89 13.79 14.90
8320 737.0 -8.5 423 8325 done -0.65 - - 1999 - 2.58 0.058 2281 539.9 -116.8 - - 3194 - - - - - - - - 14.00 13.87 14.05
8681 767.0 -8.3 432 8686 roll -0.65 - - 1999 - 2.65 0.087 3691 532.1 -116.8 - - 3193 - - - - - - - - 14.89 13.84 14.90
8770 774.2 -7.6 445 8776 done -0.70 - - 1998 - 2.50 0.045 2269 -568.8 -116.8 - - 3192 - - - - - - - - 14.11 14.02 14.14
9133 804.3 -8.4 454 9138 roll -0.70 - - 1998 - 2.58 0.057 888 -535.3 -116.8 - - 3191 - - - - - - - - 14.88 13.76 14.89
9180 808.5 -8.7 461 9193 done -0.70 - - 1998 - 2.60 0.058 2267 530.4 -116.8 - - 3191 - - - - - - - - 13.92 13.85 13.99
9528 837.0 -8.2 468 9533 roll -0.70 - - 1998 - 2.70 0.090 3692 527.8 -116.8 - - 3190 - - - - - - - - 14.88 13.90 14.90
9598 842.2 -8.1 478 9603 done -0.76 0.15 0.121 1944 -360.0 2.50 0.046 2275 -566.8 -116.8 - - 3189 - - - - - - - - 13.93 14.03 14.04
9924 877.9 -11.2 489 9930 roll -0.70 - - 1944 - 2.55 0.059 891 -542.7 -116.8 - - 3188 - - - - - - - - 14.88 13.79 14.89
9984 884.7 -13.2 497 9990 done -0.65 0.20 0.262 1983 195.0 2.60 0.060 2282 535.0 -116.8 - - 3189 - - - - - - - - 13.50 13.88 13.84
10325 915.0 -8.8 510 10330 roll -0.65 - - 1975 - 2.65 0.087 3697 534.0 -116.8 - - 3187 - - - - - - - - 14.86 13.89 14.88
10384 920.3 -11.1 518 10389 done -0.65 - - 1975 - 2.53 0.044 2272 -563.2 -116.8 - - 3187 - - - - - - - - 14.10 14.02 14.13
10724 950.9 -9.0 531 10729 roll -0.65 - - 1975 - 2.60 0.059 887 -532.7 -116.8 - - 3186 - - - - - - - - 14.85 13.78 14.88
10749 953.7 -9.8 535 10755 done -0.65 - - 1972 - 2.60 0.060 2277 534.6 -116.8 - - 3186 - - - - - - - - 14.02 13.86 14.07
11119 986.7 -9.1 545 11124 roll -0.65 - - 1968 - 2.67 0.089 3692 530.0 -116.8 - - 3185 - - - - - - - - 14.88 13.88 14.90
11148 end dive: TARGET_DEPTH_EXCEEDED
11148 begin apogee
11160 990.1 -11.3 550 11313 roll -0.19 0.62 0.218 2131 262.9 - - 2196 - - 150.12 1.851 2740 -3.0 0.300 - - - - - - 13.69 13.88 13.00
11313 end apogee: CONTROL_FINISHED_OK
11313 begin climb
11317 993.7 - 552 11478 roll 0.68 0.95 0.141 2411 294.7 2.62 0.059 800 -532.8 116.8 150.55 1.849 2262 -3.2 0.323 - - - - - - 13.74 13.85 12.97
11663 976.3 5.1 607 11730 done 0.71 - - 2411 - 2.58 0.057 2210 546.5 169.1 62.22 1.818 2051 -3.4 0.344 - - - - - - 14.31 14.19 13.05
12048 939.6 9.9 627 12053 roll 0.71 - - 2419 - 2.60 0.064 803 -541.2 169.1 - - 2023 - - - - - - - - 14.69 14.20 14.71
12166 927.1 6.6 644 12187 done 0.72 - - 2418 - 2.58 0.057 2198 540.7 185.6 15.12 1.863 1981 -2.8 0.261 - - - - - - 14.24 14.18 13.32
12500 893.0 10.5 656 12505 roll 0.72 - - 2419 - 2.60 0.087 3615 545.0 185.6 - - 1967 - - - - - - - - 14.77 14.16 14.79
12561 886.4 9.3 664 12565 done 0.67 - - 2428 - 2.50 0.056 2191 -569.6 185.6 - - 1966 - - - - - - - - 14.39 14.29 14.43
12899 849.7 10.8 677 12904 roll 0.62 - - 2439 - 2.58 0.070 795 -541.1 185.6 - - 1965 - - - - - - - - 14.83 14.12 14.84
13003 838.0 9.9 692 13014 done 0.62 0.12 0.225 2404 -291.7 2.60 0.057 2196 538.8 185.6 - - 1964 - - - - - - - - 13.78 14.09 13.97
13351 808.7 8.6 699 13356 roll 0.62 - - 2404 - 2.65 0.088 3618 536.6 185.6 - - 1964 - - - - - - - - 14.84 14.02 14.86
13418 801.3 9.6 709 13424 done 0.62 - - 2414 - 2.53 0.055 2208 -557.3 185.6 - - 1963 - - - - - - - - 14.31 14.21 14.36
13747 772.3 9.2 720 13752 roll 0.62 - - 2425 - 2.62 0.069 796 -538.9 185.6 - - 1963 - - - - - - - - 14.83 14.02 14.85
13871 760.1 8.5 738 13877 done 0.62 - - 2425 - 2.58 0.056 2202 545.0 185.6 - - 1962 - - - - - - - - 14.25 14.12 14.31
14199 728.2 10.2 749 14203 roll 0.62 - - 2425 - 2.62 0.086 3608 536.6 185.6 - - 1962 - - - - - - - - 14.83 13.96 14.87
14259 721.5 10.8 757 14264 done 0.57 0.20 0.244 2387 -190.0 2.53 0.052 2187 -561.7 185.6 - - 1962 - - - - - - - - 13.80 14.18 14.12
14598 692.0 8.5 770 14604 roll 0.57 - - 2397 - 2.60 0.068 792 -536.5 185.6 - - 1962 - - - - - - - - 14.85 13.97 14.87
14682 684.3 9.3 782 14687 done 0.57 - - 2397 - 2.55 0.057 2190 548.2 185.6 - - 1961 - - - - - - - - 14.22 14.09 14.28
15050 653.6 8.4 792 15055 roll 0.57 - - 2397 - 2.65 0.084 3608 535.1 185.6 - - 1961 - - - - - - - - 14.85 13.91 14.86
15096 648.8 9.2 799 15108 done 0.57 - - 2407 - 2.58 0.050 2187 -550.8 185.6 - - 1961 - - - - - - - - 14.07 14.02 14.12
15446 619.3 8.7 806 15452 roll 0.57 - - 2418 - 2.55 0.066 793 -546.7 185.6 - - 1961 - - - - - - - - 14.84 13.91 14.85
15536 611.0 8.7 819 15541 done 0.57 0.12 0.241 2391 -225.0 2.58 0.055 2199 545.0 185.6 - - 1961 - - - - - - - - 13.76 14.04 14.04
15898 583.6 7.7 828 15903 roll 0.57 - - 2390 - 2.65 0.085 3615 534.3 185.6 - - 1961 - - - - - - - - 14.85 13.88 14.88
15995 575.2 8.2 842 16000 done 0.57 - - 2398 - 2.53 0.052 2191 -562.8 185.6 - - 1960 - - - - - - - - 14.19 14.09 14.24
16350 550.2 7.0 850 16355 roll 0.58 - - 2409 - 2.58 0.067 803 -538.0 192.8 - - 1960 - - - - - - - - 14.85 13.88 14.87
16425 544.6 6.7 861 16466 done 0.58 - - 2408 - 2.55 0.054 2198 547.1 208.6 29.10 1.477 1882 -2.7 0.187 - - - - - - 14.14 14.01 13.43
16803 516.8 7.7 872 16808 roll 0.58 - - 2409 - 2.60 0.084 3609 542.7 208.6 - - 1872 - - - - - - - - 14.77 14.09 14.78
16863 511.6 8.9 880 16868 done 0.58 - - 2419 - 2.50 0.050 2189 -568.0 208.6 - - 1871 - - - - - - - - 14.35 14.25 14.39
17203 481.3 9.0 893 17208 roll 0.58 - - 2427 - 2.55 0.067 803 -543.5 208.6 - - 1870 - - - - - - - - 14.80 14.07 14.83
17292 472.4 9.3 906 17299 done 0.58 0.15 0.236 2393 -226.7 2.53 0.054 2189 547.8 208.6 - - 1870 - - - - - - - - 13.81 14.12 14.12
17655 443.7 8.0 915 17660 roll 0.58 - - 2393 - 2.62 0.081 3608 541.6 208.6 - - 1870 - - - - - - - - 14.84 13.98 14.85
17715 438.5 8.9 923 17720 done 0.58 - - 2402 - 2.50 0.049 2188 -568.0 208.6 - - 1869 - - - - - - - - 14.30 14.19 14.33
18053 410.9 8.1 936 18058 roll 0.58 - - 2408 - 2.58 0.065 799 -538.4 208.6 - - 1869 - - - - - - - - 14.85 13.98 14.87
18135 404.2 7.8 948 18141 done 0.58 - - 2407 - 2.55 0.053 2203 550.6 208.6 - - 1869 - - - - - - - - 14.22 14.09 14.28
18506 376.2 7.6 958 18512 roll 0.58 - - 2407 - 2.65 0.082 3613 532.1 208.6 - - 1869 - - - - - - - - 14.83 13.94 14.85
18582 369.4 8.5 969 18587 done 0.58 - - 2416 - 2.53 0.050 2189 -562.8 208.6 - - 1869 - - - - - - - - 14.23 14.13 14.28
18903 345.1 7.8 979 18908 roll 0.58 - - 2424 - 2.60 0.066 796 -535.8 208.6 - - 1869 - - - - - - - - 14.85 13.92 14.86
18999 336.8 8.1 993 19005 done 0.58 0.15 0.220 2388 -240.0 2.55 0.052 2196 549.0 208.6 - - 1869 - - - - - - - - 13.76 14.04 14.04
19355 311.7 7.2 1001 19360 roll 0.63 - - 2388 - 2.62 0.082 3605 537.8 211.3 - - 1869 - - - - - - - - 14.85 13.89 14.87
19424 305.6 8.7 1011 19429 done 0.63 - - 2393 - 2.50 0.048 2187 -567.2 211.3 - - 1869 - - - - - - - - 14.22 14.12 14.25
19750 281.9 7.2 1022 19756 roll 0.63 - - 2393 - 2.58 0.065 802 -536.8 213.8 - - 1869 - - - - - - - - 14.85 13.90 14.87
19826 276.6 6.8 1033 19853 done 0.71 0.12 0.135 2443 416.7 2.53 0.052 2189 548.2 227.3 22.33 1.217 1813 -2.5 0.108 - - - - - - 14.02 14.05 13.57
20204 240.8 10.0 1044 20208 roll 0.71 - - 2443 - 2.58 0.080 3607 549.6 227.3 - - 1792 - - - - - - - - 14.79 14.09 14.81
20279 232.0 11.0 1055 20284 done 0.71 - - 2453 - 2.47 0.048 2190 -573.7 227.3 - - 1791 - - - - - - - - 14.32 14.23 14.37
20600 200.2 10.1 1065 20605 roll 0.71 - - 2462 - 2.60 0.063 790 -538.5 227.3 - - 1791 - - - - - - - - 14.83 14.04 14.85
20689 190.6 9.9 1078 20696 done 0.71 0.15 0.233 2428 -226.7 2.55 0.053 2196 551.4 227.3 - - 1791 - - - - - - - - 13.82 14.12 14.12
21052 159.7 8.7 1087 21057 roll 0.71 - - 2428 - 2.62 0.081 3613 540.8 227.3 - - 1791 - - - - - - - - 14.83 13.97 14.86
21112 154.1 9.6 1095 21117 done 0.71 - - 2437 - 2.53 0.049 2186 -564.0 227.3 - - 1791 - - - - - - - - 14.28 14.18 14.33
21451 122.8 9.3 1108 21456 roll 0.71 - - 2444 - 2.60 0.063 787 -538.1 227.3 - - 1791 - - - - - - - - 14.85 13.97 14.87
21541 115.0 8.2 1121 21545 done 0.71 - - 2444 - 2.55 0.054 2193 551.4 227.3 - - 1791 - - - - - - - - 14.21 14.09 14.26
21874 89.5 7.3 1132 21879 roll 0.71 - - 2444 - 2.62 0.080 3611 541.2 227.3 - - 1791 - - - - - - - - 14.85 13.97 14.86
21921 85.9 6.9 1139 21933 done 0.71 - - 2453 - 2.58 0.048 2185 -552.7 236.5 2.65 0.157 1772 -7.2 0.742 - - - - - - 14.11 14.06 13.87
22242 67.2 5.9 1151 22274 roll 0.74 - - 2459 - 2.50 0.063 791 -557.6 271.6 26.42 0.321 1632 -5.3 0.210 - - - - - - 14.84 14.34 13.92
22329 62.3 6.1 1163 22358 done 0.83 - - 2459 - 2.47 0.050 2180 562.3 302.1 23.50 0.308 1511 -5.1 0.197 - - - - - - 14.39 14.28 13.94
22669 47.8 3.4 1178 22748 roll 1.05 0.20 0.098 2558 495.0 2.58 0.077 3605 552.3 395.2 64.65 0.272 1132 -5.9 0.195 - - - - - - 14.23 14.26 14.01
22784 40.0 8.6 1194 22790 done 1.05 - - 2568 - 2.50 0.046 2163 -576.8 395.2 - - 1134 - - - - - - - - 14.40 14.31 14.43
23125 9.7 9.3 1209 23130 roll 1.05 - - 2571 - 2.47 0.062 797 -553.0 395.2 - - 1134 - - - - - - - - 14.79 14.02 14.81
23189 end climb: SURFACE_DEPTH_REACHED
23189 begin surface coast
23218 end surface coast: CONTROL_FINISHED_OK
23218 begin surface
SM 0.77 - - - - -6.14 6.88 0.060 215 31.2 2.72 0.056 2276 647.1 500.17 67.47 0.134 698 10.3 -0.006 - - - - - -