SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 690 * Raw log
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• Previous call tries 1 • 265.14 of 350.00 AH used of 24V (24.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.4 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: 37 s
• GPS2 time: 15 s • Transponder ping count: 22
• 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
8 - - - 98 VBD -0.68 - - 205 - - - 2296 - -116.8 -89.18 - 2992 - - - - - - - - 14.57 - 14.58
103 3.6 -4.8 3 128 roll -0.68 9.20 0.414 1960 190.8 2.72 2.066 3678 508.1 -116.8 -3.90 - 3221 -58.7 - - - - - - - 13.85 12.68 14.11
162 26.6 -31.4 11 167 done -0.43 0.35 0.246 2052 262.9 2.40 0.041 2270 -586.7 -116.8 - - 3222 - - - - - - - - 13.83 14.26 14.14
501 85.1 -9.9 26 506 roll -0.37 - - 2052 - 2.45 0.052 882 -566.5 -116.8 - - 3222 - - - - - - - - 14.75 14.14 14.76
646 93.8 -5.1 46 651 done -0.37 - - 2052 - 2.50 0.054 2279 558.8 -116.8 - - 3223 - - - - - - - - 14.26 14.15 14.31
1014 115.5 -6.7 58 1019 roll -0.37 - - 2043 - 2.55 0.071 3701 557.6 -116.8 - - 3224 - - - - - - - - 14.80 13.93 14.81
1053 118.8 -7.4 64 1059 done -0.37 0.12 0.203 2073 250.0 2.42 0.036 2259 -595.9 -116.8 - - 3224 - - - - - - - - 13.83 14.14 14.02
1410 139.9 -6.0 72 1411 done -0.43 - - 2074 - - - 2259 - -116.8 - - 3223 - - - - - - - - 14.81 14.83 14.83
1745 157.8 -5.0 78 1750 roll -0.51 0.12 0.135 2011 -525.0 2.45 0.047 905 -552.7 -116.8 - - 3222 - - - - - - - - 14.33 13.92 14.31
1785 160.7 -7.3 84 1790 done -0.51 - - 2010 - 2.50 0.053 2278 549.2 -116.8 - - 3222 - - - - - - - - 14.12 14.00 14.16
2142 189.4 -8.7 92 2146 roll -0.51 - - 2003 - 2.58 0.073 3693 548.4 -116.8 - - 3220 - - - - - - - - 14.83 13.95 14.84
2223 198.2 -9.8 104 2229 done -0.51 0.12 0.216 2033 250.0 2.42 0.039 2282 -583.1 -116.8 - - 3220 - - - - - - - - 13.71 14.04 13.93
2593 230.7 -8.8 114 2598 roll -0.51 - - 2032 - 2.53 0.050 894 -548.6 -116.8 - - 3218 - - - - - - - - 14.83 13.85 14.85
2669 237.4 -7.9 125 2675 done -0.51 - - 2029 - 2.53 0.051 2283 549.0 -116.8 - - 3217 - - - - - - - - 14.11 13.99 14.15
2989 262.0 -7.8 135 2994 roll -0.51 - - 2022 - 2.60 0.077 3689 540.8 -116.8 - - 3216 - - - - - - - - 14.83 13.95 14.85
3105 270.7 -7.4 151 3110 done -0.51 - - 2022 - 2.42 0.039 2284 -580.6 -116.8 - - 3215 - - - - - - - - 14.14 14.07 14.17
3445 298.4 -8.4 164 3450 roll -0.51 - - 2022 - 2.55 0.052 890 -546.7 -116.8 - - 3213 - - - - - - - - 14.83 13.84 14.84
3527 306.0 -8.5 176 3532 done -0.51 - - 2019 - 2.55 0.054 2277 543.9 -116.8 - - 3212 - - - - - - - - 14.13 14.01 14.17
3898 336.8 -8.5 186 3903 roll -0.51 - - 2012 - 2.62 0.078 3692 540.1 -116.8 - - 3211 - - - - - - - - 14.83 13.93 14.85
4013 346.5 -8.2 202 4018 done -0.51 - - 2012 - 2.45 0.041 2281 -575.9 -116.8 - - 3210 - - - - - - - - 14.14 14.07 14.15
4352 375.3 -8.5 215 4356 roll -0.51 - - 2012 - 2.53 0.051 892 -549.0 -116.8 - - 3208 - - - - - - - - 14.83 13.85 14.85
4412 380.6 -7.8 224 4418 done -0.51 - - 2012 - 2.58 0.054 2290 541.9 -116.8 - - 3207 - - - - - - - - 14.11 13.97 14.16
4747 407.1 -8.1 236 4752 roll -0.51 - - 2012 - 2.60 0.083 3689 538.1 -116.8 - - 3206 - - - - - - - - 14.83 13.93 14.85
4822 413.8 -8.6 247 4827 done -0.51 - - 2011 - 2.47 0.041 2276 -572.1 -116.8 - - 3205 - - - - - - - - 14.14 14.06 14.16
5144 444.9 -10.2 257 5149 roll -0.51 - - 2012 - 2.55 0.052 884 -545.9 -116.8 - - 3205 - - - - - - - - 14.82 13.88 14.81
5219 454.1 -10.7 268 5225 done -0.51 - - 2012 - 2.60 0.055 2290 540.8 -116.8 - - 3204 - - - - - - - - 14.14 14.01 14.20
5540 488.2 -10.8 278 5545 roll -0.51 - - 2011 - 2.62 0.084 3696 536.6 -116.8 - - 3203 - - - - - - - - 14.83 13.95 14.85
5623 496.5 -9.2 290 5628 done -0.56 - - 2011 - 2.47 0.040 2273 -576.1 -116.8 - - 3202 - - - - - - - - 14.13 14.06 14.16
5992 525.7 -7.4 300 5996 roll -0.56 - - 2011 - 2.55 0.054 894 -540.8 -116.8 - - 3200 - - - - - - - - 14.83 13.85 14.85
6075 531.9 -6.7 312 6080 done -0.56 - - 2011 - 2.58 0.055 2288 540.3 -116.8 - - 3200 - - - - - - - - 14.12 14.00 14.16
6443 557.5 -7.1 322 6448 roll -0.56 - - 2011 - 2.62 0.084 3694 536.6 -116.8 - - 3199 - - - - - - - - 14.82 13.93 14.83
6512 562.5 -6.6 332 6517 done -0.61 - - 2011 - 2.47 0.042 2277 -573.7 -116.8 - - 3199 - - - - - - - - 14.13 14.04 14.17
6840 587.2 -7.9 343 6845 roll -0.61 - - 2011 - 2.55 0.054 891 -543.5 -116.8 - - 3197 - - - - - - - - 14.82 13.90 14.83
6887 591.4 -8.1 350 6899 done -0.61 - - 2011 - 2.60 0.055 2276 532.7 -116.8 - - 3197 - - - - - - - - 14.09 14.01 14.12
7235 618.9 -8.1 357 7241 roll -0.61 - - 2011 - 2.62 0.083 3688 538.9 -116.8 - - 3197 - - - - - - - - 14.83 13.98 14.84
7319 625.7 -6.9 369 7324 done -0.67 - - 2011 - 2.45 0.043 2281 -574.3 -116.8 - - 3196 - - - - - - - - 14.12 14.04 14.15
7688 656.2 -8.6 379 7689 done -0.67 - - 2011 - - - 2272 - -116.8 - - 3195 - - - - - - - - 14.82 14.84 14.83
8024 685.4 -8.7 385 8029 roll -0.67 - - 2011 - 2.53 0.053 901 -541.9 -116.8 - - 3193 - - - - - - - - 14.82 13.88 14.83
8051 688.0 -8.5 389 8057 done -0.67 - - 2011 - 2.58 0.057 2287 537.2 -116.8 - - 3193 - - - - - - - - 14.12 13.99 14.16
8419 717.3 -7.8 399 8424 roll -0.67 - - 2011 - 2.62 0.086 3693 536.6 -116.8 - - 3192 - - - - - - - - 14.82 13.95 14.84
8478 721.6 -7.9 407 8483 done -0.73 0.15 0.116 1951 -400.0 2.45 0.044 2298 -569.4 -116.8 - - 3192 - - - - - - - - 13.97 14.03 14.08
8819 756.5 -10.5 420 8824 roll -0.67 0.12 0.258 1982 258.3 2.58 0.054 894 -544.2 -116.8 - - 3190 - - - - - - - - 13.66 13.72 13.67
8887 763.0 -8.8 430 8892 done -0.67 - - 1975 - 2.62 0.056 2303 537.8 -116.8 - - 3190 - - - - - - - - 14.13 13.98 14.18
9214 792.6 -9.2 441 9219 roll -0.67 - - 1971 - 2.60 0.086 3696 535.8 -116.8 - - 3189 - - - - - - - - 14.81 13.95 14.83
9255 796.4 -8.0 447 9260 done -0.67 - - 1972 - 2.47 0.044 2289 -569.6 -116.8 - - 3189 - - - - - - - - 14.13 14.05 14.16
9609 831.8 -10.1 455 9615 roll -0.67 - - 1971 - 2.58 0.055 887 -543.4 -116.8 - - 3188 - - - - - - - - 14.81 13.95 14.83
9656 836.6 -10.1 462 9668 done -0.67 - - 1971 - 2.65 0.059 2289 529.1 -116.8 - - 3188 - - - - - - - - 14.07 14.00 14.12
10006 871.6 -10.1 469 10012 roll -0.67 - - 1964 - 2.62 0.087 3698 537.8 -116.8 - - 3187 - - - - - - - - 14.80 14.00 14.81
10053 876.3 -9.9 476 10065 done -0.67 - - 1964 - 2.53 0.044 2278 -561.3 -116.8 - - 3187 - - - - - - - - 14.08 14.04 14.12
10402 911.6 -10.1 483 10403 done -0.67 - - 1964 - - - 2278 - -116.8 - - 3186 - - - - - - - - 14.81 14.83 14.82
10739 944.3 -9.6 489 10744 roll -0.67 - - 1964 - 2.58 0.058 895 -536.0 -116.8 - - 3185 - - - - - - - - 14.79 13.95 14.81
10779 948.0 -7.3 495 10784 done -0.67 - - 1960 - 2.60 0.059 2282 533.5 -116.8 - - 3185 - - - - - - - - 14.13 14.00 14.18
11134 982.8 -9.7 503 11139 roll -0.67 - - 1954 - 2.65 0.090 3693 532.5 -116.8 - - 3183 - - - - - - - - 14.81 13.99 14.82
11204 989.1 -10.7 513 11210 done -0.67 - - 1954 - 2.50 0.047 2290 -561.2 -116.8 - - 3183 - - - - - - - - 14.14 14.07 14.17
11214 end dive: TARGET_DEPTH_EXCEEDED
11214 begin apogee
11223 991.3 -8.7 515 11423 roll -0.19 0.68 0.223 2128 255.9 - - 2184 - - 197.65 1.523 2740 -2.2 0.282 - - - - - - 13.77 13.91 13.18
11423 end apogee: CONTROL_FINISHED_OK
11423 begin climb
11427 996.5 - 518 11592 roll 0.68 0.98 0.135 2417 294.9 2.60 0.061 806 -530.0 116.8 151.95 1.779 2258 -3.2 0.344 - - - - - - 13.69 13.78 12.96
11634 989.8 8.7 553 11640 done 0.68 - - 2417 - 2.65 0.057 2206 528.3 116.8 - - 2236 - - - - - - - - 13.90 13.78 13.95
11955 964.3 8.5 563 11960 roll 0.62 - - 2417 - 2.60 0.087 3619 543.5 116.8 - - 2229 - - - - - - - - 14.69 14.07 14.71
12015 958.7 7.3 571 12021 done 0.53 0.22 0.260 2376 -186.4 2.50 0.055 2207 -564.8 117.7 - - 2228 - - - - - - - - 13.78 14.16 14.12
12355 935.7 6.5 584 12380 roll 0.54 - - 2386 - 2.62 0.067 788 -541.6 136.8 17.58 1.827 2174 -3.1 0.304 - - - - - - 14.77 14.24 13.49
12480 926.5 6.5 602 12512 done 0.56 - - 2386 - 2.58 0.057 2197 546.1 156.1 25.35 1.784 2097 -3.0 0.305 - - - - - - 14.27 14.15 13.38
12862 900.6 7.0 614 12867 roll 0.56 - - 2386 - 2.60 0.086 3617 546.2 163.2 - - 2082 - - - - - - - - 14.71 14.08 14.72
12923 895.9 6.0 622 12986 done 0.58 - - 2395 - 2.53 0.055 2188 -564.8 194.4 58.83 1.489 1947 -2.3 0.267 - - - - - - 14.31 14.21 13.49
13317 863.9 8.3 643 13321 roll 0.58 - - 2406 - 2.55 0.068 802 -543.5 194.4 - - 1928 - - - - - - - - 14.65 14.09 14.67
13463 850.7 8.2 664 13468 done 0.58 - - 2406 - 2.53 0.056 2185 546.6 194.4 - - 1926 - - - - - - - - 14.28 14.16 14.33
13824 820.6 8.7 673 13830 roll 0.58 - - 2406 - 2.65 0.085 3615 539.6 194.4 - - 1926 - - - - - - - - 14.76 14.02 14.77
13872 815.0 9.8 680 13884 done 0.58 - - 2416 - 2.58 0.054 2190 -552.3 194.4 - - 1925 - - - - - - - - 14.14 14.09 14.19
14222 784.0 9.2 687 14226 roll 0.58 - - 2426 - 2.60 0.069 789 -538.8 194.4 - - 1925 - - - - - - - - 14.75 14.00 14.78
14337 773.6 7.5 703 14342 done 0.58 0.15 0.236 2392 -226.7 2.58 0.057 2189 542.6 194.4 - - 1924 - - - - - - - - 13.83 14.11 14.12
14677 747.3 7.6 716 14682 roll 0.58 - - 2392 - 2.65 0.085 3614 537.7 194.4 - - 1924 - - - - - - - - 14.78 13.95 14.78
14744 740.5 8.7 726 14750 done 0.58 - - 2402 - 2.55 0.053 2184 -560.8 194.4 - - 1922 - - - - - - - - 14.21 14.09 14.27
15072 713.7 8.4 737 15077 roll 0.58 - - 2412 - 2.60 0.067 785 -538.1 194.4 - - 1923 - - - - - - - - 14.77 13.95 14.78
15177 704.5 7.9 752 15187 done 0.58 - - 2412 - 2.62 0.057 2183 533.6 194.4 - - 1922 - - - - - - - - 14.04 13.97 14.09
15524 675.2 8.7 759 15529 roll 0.58 - - 2412 - 2.67 0.083 3616 536.7 194.4 - - 1922 - - - - - - - - 14.77 13.93 14.78
15592 668.0 9.7 769 15598 done 0.58 0.15 0.239 2387 -166.7 2.58 0.053 2168 -561.2 194.4 - - 1922 - - - - - - - - 13.75 14.07 14.04
15921 645.9 6.7 780 15931 roll 0.59 - - 2397 - 2.47 0.067 798 -554.7 208.7 5.60 1.454 1890 -5.7 0.491 - - - - - - 14.76 14.12 13.47
16022 638.3 7.0 795 16050 done 0.59 - - 2397 - 2.55 0.054 2179 541.6 217.5 24.05 1.501 1853 -1.5 0.127 - - - - - - 14.16 14.10 13.57
16365 614.0 7.3 808 16370 roll 0.59 - - 2397 - 2.62 0.081 3613 547.3 219.1 - - 1838 - - - - - - - - 14.69 14.07 14.71
16433 607.7 8.4 818 16438 done 0.59 - - 2406 - 2.53 0.051 2182 -565.6 219.1 - - 1837 - - - - - - - - 14.29 14.20 14.34
16761 581.3 8.3 829 16767 roll 0.59 - - 2406 - 2.60 0.070 794 -533.8 219.1 - - 1837 - - - - - - - - 14.74 14.00 14.76
16859 573.1 8.0 843 16863 done 0.59 - - 2406 - 2.53 0.053 2180 547.8 219.1 - - 1837 - - - - - - - - 14.22 14.10 14.28
17213 542.6 8.9 851 17218 roll 0.59 - - 2406 - 2.65 0.080 3612 540.4 219.1 - - 1837 - - - - - - - - 14.76 13.94 14.78
17272 536.7 10.1 859 17277 done 0.59 - - 2416 - 2.58 0.050 2164 -561.2 219.1 - - 1836 - - - - - - - - 14.22 14.12 14.26
17612 504.2 9.5 872 17617 roll 0.59 - - 2425 - 2.58 0.067 789 -532.9 219.1 - - 1836 - - - - - - - - 14.76 13.93 14.77
17701 495.5 9.0 885 17707 done 0.59 0.12 0.242 2396 -241.7 2.55 0.054 2178 544.7 219.1 - - 1837 - - - - - - - - 13.75 14.03 14.04
18065 470.6 6.6 894 18099 roll 0.60 - - 2396 - 2.62 0.082 3603 543.9 236.3 26.55 1.359 1769 -2.6 0.172 - - - - - - 14.76 14.11 13.58
18135 465.3 7.2 905 18141 done 0.60 - - 2405 - 2.53 0.049 2166 -568.0 238.8 - - 1760 - - - - - - - - 14.30 14.20 14.33
18456 445.0 6.4 915 18500 roll 0.62 - - 2405 - 2.58 0.070 788 -534.1 261.3 38.65 1.292 1669 -2.4 0.157 - - - - - - 14.71 14.21 13.52
18589 436.3 6.7 934 18612 done 0.69 - - 2405 - 2.50 0.053 2169 552.4 275.9 17.98 1.349 1613 -3.1 0.195 - - - - - - 14.27 14.16 13.45
18961 407.6 8.2 945 18966 roll 0.69 - - 2405 - 2.65 0.081 3613 544.9 275.9 - - 1597 - - - - - - - - 14.69 14.07 14.70
19022 401.7 10.0 953 19028 done 0.69 - - 2407 - 2.55 0.053 2169 -566.3 275.9 - - 1597 - - - - - - - - 14.30 14.20 14.35
19362 369.7 9.4 966 19367 roll 0.69 - - 2406 - 2.55 0.070 798 -537.6 275.9 - - 1596 - - - - - - - - 14.73 14.02 14.75
19459 360.7 8.7 980 19464 done 0.76 0.12 0.135 2457 425.0 2.50 0.052 2177 551.6 275.9 - - 1596 - - - - - - - - 14.11 14.14 14.23
19813 321.3 11.3 988 19818 roll 0.76 - - 2458 - 2.65 0.080 3614 542.3 275.9 - - 1595 - - - - - - - - 14.75 13.98 14.76
19872 314.3 11.7 996 19877 done 0.76 - - 2467 - 2.58 0.051 2163 -562.4 275.9 - - 1596 - - - - - - - - 14.25 14.15 14.31
20212 274.0 12.0 1009 20218 roll 0.76 - - 2476 - 2.58 0.067 784 -534.5 275.9 - - 1596 - - - - - - - - 14.75 13.96 14.76
20317 261.1 11.5 1024 20328 done 0.76 0.10 0.211 2448 -280.0 2.58 0.054 2160 533.3 275.9 - - 1596 - - - - - - - - 13.73 13.98 13.89
20664 224.8 10.6 1031 20669 roll 0.76 - - 2449 - 2.70 0.079 3618 540.0 275.9 - - 1596 - - - - - - - - 14.77 13.93 14.78
20726 217.5 10.8 1040 20731 done 0.76 - - 2458 - 2.60 0.050 2154 -563.1 275.9 - - 1596 - - - - - - - - 14.19 14.09 14.23
21060 182.3 10.8 1052 21065 roll 0.76 - - 2468 - 2.55 0.065 787 -536.1 275.9 - - 1596 - - - - - - - - 14.77 13.92 14.78
21157 171.8 10.0 1066 21161 done 0.76 - - 2469 - 2.53 0.054 2166 545.1 275.9 - - 1596 - - - - - - - - 14.14 14.02 14.19
21511 132.9 11.3 1074 21516 roll 0.76 - - 2468 - 2.67 0.079 3609 540.4 275.9 - - 1596 - - - - - - - - 14.76 13.93 14.78
21593 122.8 11.3 1086 21599 done 0.76 0.12 0.260 2452 -133.3 2.60 0.049 2144 -563.5 275.9 - - 1596 - - - - - - - - 13.70 14.04 14.00
21936 96.0 7.5 1096 21941 roll 0.76 - - 2452 - 2.72 0.076 3609 538.6 275.9 - - 1595 - - - - - - - - 14.75 13.93 14.78
22052 85.5 8.8 1112 22057 done 0.76 - - 2461 - 2.60 0.047 2138 -565.8 275.9 - - 1596 - - - - - - - - 14.15 14.05 14.21
22394 64.1 4.9 1127 22432 done 0.87 - - 2461 - - - 2138 - 334.1 36.70 0.317 1377 -6.0 0.233 - - - - - - 14.76 13.89 13.98
22728 48.0 4.8 1142 22785 roll 1.09 0.25 0.092 2568 428.0 2.47 0.062 782 -549.0 393.4 42.45 0.269 1135 -5.7 0.197 - - - - - - 14.07 14.24 14.00
22851 40.7 6.7 1158 22876 done 1.15 - - 2568 - 2.47 0.051 2154 555.5 407.4 11.60 0.233 1079 -4.8 0.163 - - - - - - 14.25 14.14 13.84
23182 14.5 8.0 1173 23188 roll 1.15 - - 2568 - 2.62 0.074 3607 554.6 407.4 - - 1087 - - - - - - - - 14.76 13.97 14.76
23252 7.4 9.7 1183 23258 done 1.15 - - 2576 - 2.58 0.047 2139 -569.0 407.4 2.35 0.153 1078 -3.8 0.036 - - - - - - 14.19 14.09 13.95
23316 end climb: SURFACE_DEPTH_REACHED
23316 begin surface coast
23344 end surface coast: CONTROL_FINISHED_OK
23344 begin surface
SM 0.79 - - - - -6.12 7.00 0.068 213 30.4 0.28 0.072 2303 -24710.7 500.17 61.38 0.132 698 11.4 -0.007 - - - - - -