SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 687 * Raw log
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• Previous call tries 5 • 264.05 of 350.00 AH used of 24V (24.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.6 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 17 s • Transponder ping count: 34
• 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 - - 206 - - - 2313 - -116.8 -89.60 - 3053 - - - - - - - - 14.59 - 14.61
103 4.1 -5.7 3 125 done -0.68 8.88 0.392 1971 198.8 - - 2314 - -116.8 -2.83 - 3220 -59.0 - - - - - - - 13.86 12.73 14.28
435 86.1 -12.8 15 437 done -0.53 0.22 0.262 2024 240.9 - - 2314 - -116.8 - - 3221 - - - - - - - - 13.70 14.13 14.01
742 108.5 -6.8 24 743 done -0.53 - - 2024 - - - 2314 - -116.8 - - 3222 - - - - - - - - 14.81 14.83 14.82
1078 134.0 -8.0 30 1079 done -0.53 - - 2024 - - - 2314 - -116.8 - - 3222 - - - - - - - - 14.83 14.85 14.85
1415 159.5 -7.7 36 1420 roll -0.53 - - 2015 - 2.50 0.074 3680 546.4 -116.8 - - 3221 - - - - - - - - 14.83 13.95 14.85
1461 163.7 -8.3 43 1473 done -0.53 - - 2015 - 2.47 0.039 2263 -573.7 -116.8 - - 3221 - - - - - - - - 14.04 14.02 14.08
1810 196.2 -9.8 50 1815 roll -0.53 - - 2015 - 2.50 0.052 889 -549.6 -116.8 - - 3219 - - - - - - - - 14.83 13.90 14.85
1869 201.8 -9.4 58 1874 done -0.53 - - 2015 - 2.53 0.054 2276 548.2 -116.8 - - 3218 - - - - - - - - 14.13 14.01 14.17
2209 231.2 -8.5 71 2214 roll -0.53 - - 2012 - 2.60 0.077 3686 542.3 -116.8 - - 3216 - - - - - - - - 14.83 13.95 14.84
2324 240.8 -8.2 87 2329 done -0.53 - - 2012 - 2.42 0.040 2285 -578.9 -116.8 - - 3215 - - - - - - - - 14.16 14.10 14.20
2664 271.2 -9.2 100 2669 roll -0.53 - - 2012 - 2.53 0.053 891 -551.0 -116.8 - - 3213 - - - - - - - - 14.83 13.85 14.85
2760 280.8 -9.1 114 2765 done -0.53 - - 2011 - 2.55 0.055 2282 545.5 -116.8 - - 3212 - - - - - - - - 14.11 13.99 14.15
3115 312.5 -9.0 122 3120 roll -0.53 - - 2011 - 2.62 0.080 3696 539.7 -116.8 - - 3210 - - - - - - - - 14.84 13.93 14.86
3212 321.2 -8.4 136 3217 done -0.53 - - 2011 - 2.45 0.038 2281 -577.6 -116.8 - - 3210 - - - - - - - - 14.14 14.08 14.17
3567 353.3 -9.3 144 3571 roll -0.53 - - 2011 - 2.53 0.052 894 -548.2 -116.8 - - 3208 - - - - - - - - 14.84 13.82 14.85
3625 358.6 -9.0 152 3630 done -0.53 - - 2011 - 2.58 0.054 2294 542.6 -116.8 - - 3206 - - - - - - - - 14.11 13.99 14.15
3965 388.1 -8.7 165 3971 roll -0.53 - - 2011 - 2.60 0.083 3685 535.0 -116.8 - - 3205 - - - - - - - - 14.83 13.93 14.85
4025 393.3 -8.4 173 4031 done -0.53 - - 2011 - 2.45 0.041 2284 -571.8 -116.8 - - 3204 - - - - - - - - 14.14 14.07 14.17
4365 422.3 -8.7 186 4366 done -0.53 - - 2012 - - - 2285 - -116.8 - - 3202 - - - - - - - - 14.83 14.87 14.85
4702 452.1 -8.9 192 4707 roll -0.53 - - 2011 - 2.58 0.053 883 -543.4 -116.8 - - 3200 - - - - - - - - 14.83 13.85 14.84
4791 461.1 -9.1 205 4797 done -0.53 - - 2011 - 2.58 0.056 2277 540.3 -116.8 - - 3200 - - - - - - - - 14.13 14.00 14.18
5154 494.6 -9.5 214 5158 roll -0.53 - - 2011 - 2.65 0.081 3696 535.5 -116.8 - - 3198 - - - - - - - - 14.83 13.91 14.85
5251 503.7 -8.9 228 5256 done -0.53 - - 2011 - 2.47 0.041 2277 -574.5 -116.8 - - 3198 - - - - - - - - 14.15 14.05 14.14
5606 534.6 -8.6 236 5610 roll -0.53 - - 2011 - 2.53 0.054 896 -545.8 -116.8 - - 3196 - - - - - - - - 14.83 13.84 14.85
5696 542.4 -7.9 249 5701 done -0.53 - - 2011 - 2.55 0.056 2277 541.6 -116.8 - - 3195 - - - - - - - - 14.12 13.99 14.16
6058 569.6 -7.6 258 6062 roll -0.53 - - 2011 - 2.65 0.082 3700 537.0 -116.8 - - 3194 - - - - - - - - 14.83 13.92 14.85
6097 572.8 -7.1 264 6102 done -0.53 - - 2011 - 2.53 0.041 2279 -561.7 -116.8 - - 3194 - - - - - - - - 14.09 13.97 14.12
6452 599.8 -7.9 272 6457 roll -0.53 - - 2011 - 2.53 0.052 895 -547.0 -116.8 - - 3193 - - - - - - - - 14.83 13.87 14.85
6512 604.7 -8.5 280 6517 done -0.53 - - 2011 - 2.58 0.055 2284 538.4 -116.8 - - 3192 - - - - - - - - 14.12 13.99 14.16
6851 633.3 -8.6 293 6856 roll -0.53 - - 2007 - 2.62 0.083 3691 537.0 -116.8 - - 3190 - - - - - - - - 14.83 13.95 14.84
6928 640.2 -8.1 304 6933 done -0.59 - - 2007 - 2.50 0.043 2265 -570.4 -116.8 - - 3190 - - - - - - - - 14.14 14.07 14.18
7247 668.7 -9.1 314 7247 done -0.59 - - 2007 - - - 2256 - -116.8 - - 3189 - - - - - - - - 14.83 14.85 14.84
7583 699.0 -8.9 320 7587 roll -0.59 - - 1999 - 2.72 0.086 3690 527.2 -116.8 - - 3188 - - - - - - - - 14.83 13.91 14.85
7622 702.7 -9.1 326 7627 done -0.59 - - 1999 - 2.50 0.044 2275 -566.0 -116.8 - - 3188 - - - - - - - - 14.14 14.06 14.17
7978 733.3 -8.6 334 7983 roll -0.59 - - 1999 - 2.58 0.056 881 -540.3 -116.8 - - 3186 - - - - - - - - 14.82 13.92 14.83
8004 735.8 -7.6 338 8009 done -0.59 - - 1999 - 2.60 0.059 2276 536.5 -116.8 - - 3186 - - - - - - - - 14.14 14.01 14.19
8374 766.6 -8.4 348 8378 roll -0.59 - - 1999 - 2.65 0.085 3697 536.2 -116.8 - - 3185 - - - - - - - - 14.82 13.95 14.83
8434 771.4 -9.4 356 8439 done -0.59 - - 1999 - 2.53 0.043 2264 -566.4 -116.8 - - 3184 - - - - - - - - 14.13 14.05 14.16
8772 799.8 -8.4 369 8778 roll -0.59 - - 1999 - 2.50 0.054 893 -548.4 -116.8 - - 3183 - - - - - - - - 14.82 13.93 14.83
8813 803.2 -7.4 375 8818 done -0.59 - - 1999 - 2.58 0.057 2277 536.4 -116.8 - - 3183 - - - - - - - - 14.13 14.00 14.17
9170 833.6 -8.7 383 9175 roll -0.59 - - 1999 - 2.62 0.086 3686 537.8 -116.8 - - 3182 - - - - - - - - 14.81 13.96 14.82
9229 838.8 -10.2 391 9234 done -0.59 - - 1999 - 2.50 0.044 2267 -567.6 -116.8 - - 3182 - - - - - - - - 14.14 14.07 14.16
9567 867.8 -8.6 404 9572 roll -0.59 - - 1999 - 2.53 0.056 892 -543.5 -116.8 - - 3181 - - - - - - - - 14.81 13.95 14.82
9601 870.5 -7.9 409 9607 done -0.59 - - 1999 - 2.58 0.057 2276 536.4 -116.8 - - 3180 - - - - - - - - 14.12 13.99 14.16
9962 900.9 -8.3 418 9967 roll -0.59 - - 1999 - 2.65 0.087 3695 535.5 -116.8 - - 3180 - - - - - - - - 14.81 13.96 14.83
10052 907.6 -6.0 431 10056 done -0.64 - - 1999 - 2.50 0.044 2275 -568.0 -116.8 - - 3179 - - - - - - - - 14.13 14.04 14.16
10415 936.5 -7.9 440 10420 roll -0.64 - - 1999 - 2.55 0.058 893 -542.0 -116.8 - - 3178 - - - - - - - - 14.79 13.95 14.81
10448 938.8 -7.2 445 10454 done -0.64 - - 1999 - 2.60 0.059 2283 534.6 -116.8 - - 3178 - - - - - - - - 14.12 14.00 14.17
10810 968.0 -8.0 454 10815 roll -0.64 - - 1999 - 2.65 0.090 3700 534.7 -116.8 - - 3177 - - - - - - - - 14.80 13.96 14.82
10886 973.4 -6.6 465 10892 done -0.69 - - 1999 - 2.50 0.046 2281 -567.6 -116.8 - - 3178 - - - - - - - - 14.13 14.04 14.14
11089 end dive: TARGET_DEPTH_EXCEEDED
11089 begin apogee
11098 990.5 -8.2 473 11298 roll -0.19 0.50 0.191 2132 266.0 - - 2198 - - 197.70 1.541 2741 -2.2 0.274 - - - - - - 13.69 13.91 13.19
11300 end apogee: CONTROL_FINISHED_OK
11300 begin climb
11304 997.2 - 476 11468 roll 0.68 0.95 0.131 2413 295.8 2.58 0.056 814 -536.4 116.8 154.25 1.786 2263 -3.1 0.333 - - - - - - 13.66 13.77 12.97
11497 994.0 9.0 510 11504 done 0.63 - - 2414 - 2.62 0.056 2208 532.1 116.8 - - 2237 - - - - - - - - 13.84 13.74 13.86
11819 971.0 7.7 520 11824 roll 0.58 - - 2414 - 2.60 0.086 3620 543.1 116.8 - - 2229 - - - - - - - - 14.68 14.09 14.69
11851 966.7 10.2 525 11857 done 0.50 0.25 0.252 2365 -196.0 2.47 0.056 2217 -568.0 116.8 - - 2228 - - - - - - - - 13.78 14.17 14.12
12214 945.0 6.3 534 12244 roll 0.52 - - 2376 - 2.62 0.070 798 -541.6 140.7 24.73 1.766 2159 -2.8 0.288 - - - - - - 14.76 14.25 13.52
12340 935.6 6.9 552 12349 done 0.53 - - 2376 - 2.55 0.057 2196 548.2 150.8 3.45 1.148 2122 -10.7 1.684 - - - - - - 14.25 14.14 13.16
12663 912.7 7.4 563 12668 roll 0.53 - - 2376 - 2.60 0.086 3611 544.2 150.8 - - 2128 - - - - - - - - 14.74 14.02 14.75
12724 907.8 6.2 571 12783 done 0.54 - - 2385 - 2.50 0.054 2196 -566.0 176.9 53.80 1.583 2016 -2.1 0.230 - - - - - - 14.28 14.17 13.40
13120 874.7 8.4 592 13125 roll 0.54 - - 2395 - 2.58 0.071 802 -540.3 176.9 - - 1999 - - - - - - - - 14.66 14.08 14.68
13245 863.4 7.7 610 13251 done 0.54 - - 2396 - 2.55 0.057 2198 547.5 176.9 - - 1997 - - - - - - - - 14.26 14.14 14.31
13572 838.2 8.0 621 13576 roll 0.54 - - 2396 - 2.62 0.086 3608 538.2 176.9 - - 1997 - - - - - - - - 14.76 14.00 14.77
13611 833.8 10.1 627 13617 done 0.54 - - 2405 - 2.53 0.053 2187 -561.7 176.9 - - 1997 - - - - - - - - 14.25 14.13 14.31
13968 806.5 7.9 635 13973 roll 0.54 0.12 0.255 2384 -175.0 2.58 0.064 792 -540.7 176.9 - - 1996 - - - - - - - - 13.78 13.95 13.85
14103 797.1 6.7 654 14126 done 0.55 - - 2384 - 2.58 0.056 2188 541.1 192.5 16.92 1.692 1953 -2.5 0.231 - - - - - - 14.21 14.09 13.57
14477 772.7 6.8 665 14488 roll 0.56 - - 2384 - 2.65 0.086 3615 538.5 204.5 5.65 1.537 1906 -8.3 0.806 - - - - - - 14.72 14.19 13.40
14522 768.2 9.7 672 14534 done 0.56 - - 2393 - 2.58 0.054 2184 -554.7 204.5 - - 1910 - - - - - - - - 14.26 14.20 14.29
14871 741.2 8.1 679 14876 roll 0.56 - - 2396 - 2.55 0.069 793 -545.5 204.5 1.58 0.193 1906 -2.5 1.873 - - - - - - 14.74 14.06 13.93
15001 730.7 7.3 697 15011 done 0.56 - - 2397 - 2.55 0.055 2187 546.7 205.1 1.98 0.187 1901 -2.5 1.901 - - - - - - 14.23 14.12 13.93
15324 706.0 7.7 708 15333 roll 0.56 - - 2397 - 2.65 0.082 3608 536.2 205.1 1.83 0.190 1903 - - - - - - - - 14.76 13.98 13.98
15398 699.0 8.8 719 15403 done 0.56 - - 2406 - 2.55 0.051 2173 -562.7 205.1 1.67 0.194 1902 - - - - - - - - 14.22 14.13 13.93
15717 673.7 8.2 729 15721 roll 0.56 - - 2407 - 2.58 0.072 797 -533.3 205.1 - - 1911 - - - - - - - - 14.78 13.90 14.78
15805 666.2 8.1 742 15812 done 0.56 - - 2406 - 2.55 0.054 2185 544.3 205.1 1.52 0.195 1901 -6.6 4.331 - - - - - - 14.13 14.01 13.95
16169 636.7 8.4 751 16175 roll 0.56 - - 2407 - 2.60 0.080 3610 548.1 205.1 1.42 0.199 1902 - - - - - - - - 14.76 14.00 13.96
16238 629.5 9.6 761 16243 done 0.56 0.15 0.223 2381 -173.3 2.55 0.050 2173 -563.5 205.1 - - 1912 - - - - - - - - 13.77 14.07 14.01
16567 606.8 7.0 772 16594 roll 0.56 - - 2391 - 2.50 0.067 789 -553.6 212.8 21.98 1.449 1870 -1.9 0.154 - - - - - - 14.76 14.12 13.59
16681 599.0 6.7 788 16714 done 0.62 - - 2390 - 2.53 0.054 2181 550.2 228.9 28.30 1.392 1806 -2.3 0.188 - - - - - - 14.31 14.20 13.49
17065 572.2 6.9 801 17074 roll 0.63 - - 2390 - 2.58 0.080 3609 553.5 239.4 4.32 1.211 1764 -9.7 0.885 - - - - - - 14.68 14.12 13.35
17153 564.4 8.5 814 17159 done 0.63 - - 2399 - 2.53 0.050 2165 -570.8 239.4 1.83 0.187 1761 -1.6 0.953 - - - - - - 14.34 14.24 14.02
17516 535.2 8.3 823 17520 roll 0.63 - - 2407 - 2.50 0.066 800 -546.0 239.4 - - 1772 - - - - - - - - 14.73 14.03 14.75
17620 525.9 8.3 838 17632 done 0.63 - - 2407 - 2.55 0.053 2169 536.9 239.4 1.73 0.171 1762 -5.8 3.426 - - - - - - 14.07 14.02 13.91
17967 495.2 9.1 845 17972 roll 0.63 - - 2407 - 2.67 0.082 3609 539.3 239.4 - - 1770 - - - - - - - - 14.76 13.93 14.78
18037 487.9 9.8 855 18041 done 0.63 - - 2416 - 2.53 0.049 2177 -566.0 239.4 - - 1770 - - - - - - - - 14.21 14.12 14.25
18363 458.4 9.1 866 18368 roll 0.63 - - 2424 - 2.58 0.067 792 -536.8 239.4 - - 1771 - - - - - - - - 14.76 13.91 14.78
18453 450.1 8.6 879 18458 done 0.63 - - 2424 - 2.55 0.053 2183 545.5 239.4 - - 1771 - - - - - - - - 14.15 14.03 14.20
18817 418.6 8.7 888 18821 roll 0.63 - - 2424 - 2.65 0.080 3612 539.2 239.4 - - 1771 - - - - - - - - 14.75 13.92 14.76
18877 412.1 9.7 897 18883 done 0.63 0.12 0.244 2405 -158.3 2.58 0.050 2168 -559.7 239.4 - - 1771 - - - - - - - - 13.75 14.01 13.99
19212 386.0 8.0 909 19217 roll 0.63 - - 2410 - 2.58 0.067 791 -533.7 239.4 - - 1771 - - - - - - - - 14.77 13.90 14.78
19303 378.1 8.4 922 19308 done 0.68 - - 2410 - 2.53 0.053 2165 543.1 239.4 - - 1771 - - - - - - - - 14.09 13.98 14.14
19664 345.1 9.5 931 19669 roll 0.68 - - 2410 - 2.67 0.078 3606 539.7 239.4 - - 1771 - - - - - - - - 14.76 13.93 14.78
19755 335.4 9.9 944 19759 done 0.68 - - 2419 - 2.58 0.047 2162 -559.7 239.4 - - 1771 - - - - - - - - 14.10 14.00 14.14
20116 304.5 8.3 953 20121 roll 0.68 - - 2424 - 2.55 0.064 787 -539.2 239.4 - - 1771 - - - - - - - - 14.77 13.91 14.78
20219 296.2 7.5 968 20231 done 0.68 - - 2424 - 2.58 0.054 2160 532.2 239.4 - - 1771 - - - - - - - - 13.97 13.90 14.02
20569 270.4 7.5 975 20574 roll 0.68 - - 2424 - 2.67 0.079 3607 541.9 239.4 - - 1771 - - - - - - - - 14.76 13.96 14.78
20637 263.7 9.1 985 20642 done 0.68 - - 2433 - 2.58 0.047 2164 -559.3 239.4 - - 1771 - - - - - - - - 14.09 14.00 14.13
20964 233.6 9.5 996 20969 roll 0.68 - - 2435 - 2.55 0.064 784 -541.2 239.4 - - 1771 - - - - - - - - 14.78 13.93 14.79
21068 224.1 8.6 1011 21079 done 0.68 - - 2435 - 2.60 0.054 2165 531.2 239.4 - - 1771 - - - - - - - - 13.98 13.92 14.03
21415 193.0 9.1 1018 21421 roll 0.68 - - 2435 - 2.67 0.078 3618 544.2 239.4 - - 1771 - - - - - - - - 14.78 13.97 14.79
21484 185.8 9.8 1028 21490 done 0.68 - - 2445 - 2.60 0.047 2157 -561.9 239.4 - - 1771 - - - - - - - - 14.08 13.98 14.12
21813 157.9 8.5 1039 21818 roll 0.68 - - 2454 - 2.53 0.062 787 -541.5 239.4 - - 1771 - - - - - - - - 14.76 13.95 14.78
21902 150.0 8.2 1052 21908 done 0.68 0.15 0.221 2419 -233.3 2.55 0.054 2169 542.0 239.4 - - 1771 - - - - - - - - 13.67 13.95 13.93
22266 122.8 7.6 1061 22271 roll 0.68 - - 2419 - 2.67 0.079 3610 539.7 239.4 - - 1771 - - - - - - - - 14.77 13.98 14.78
22348 114.7 9.1 1073 22353 done 0.68 - - 2428 - 2.60 0.047 2160 -557.7 239.4 - - 1771 - - - - - - - - 14.08 13.98 14.11
22690 92.4 6.0 1084 22722 roll 0.70 - - 2431 - 2.53 0.063 791 -541.1 272.1 25.30 0.392 1639 -5.2 0.237 - - - - - - 14.77 14.19 13.93
22857 82.9 5.4 1107 22897 done 0.81 - - 2431 - 2.53 0.050 2158 540.3 318.6 36.20 0.373 1440 -5.5 0.235 - - - - - - 14.07 14.01 13.88
23237 64.5 4.4 1127 23293 roll 1.01 0.25 0.100 2529 392.0 2.58 0.074 3606 561.2 388.6 51.38 0.320 1157 -5.5 0.214 - - - - - - 14.02 14.16 13.92
23307 59.4 7.0 1138 23323 done 1.07 - - 2533 - 2.60 0.046 2149 -560.4 397.2 9.50 0.262 1118 -4.1 0.179 - - - - - - 14.14 14.09 13.69
23663 40.2 7.3 1154 23673 roll 1.15 0.12 0.126 2597 533.3 2.50 0.063 797 -540.8 398.4 2.95 0.147 1113 -1.7 0.089 - - - - - - 14.23 14.00 13.91
23752 30.1 10.3 1167 23758 done 1.15 - - 2597 - 2.47 0.049 2142 544.5 398.4 - - 1121 - - - - - - - - 14.06 14.00 14.10
24027 end climb: SURFACE_DEPTH_REACHED
24027 begin surface coast
24055 end surface coast: CONTROL_FINISHED_OK
24055 begin surface
SM 0.93 - - - - -6.14 7.15 0.073 214 29.9 0.25 0.092 2294 5056.0 500.17 67.12 0.133 699 10.4 -0.007 - - - - - -