SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 695 * Raw log
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• Previous call tries 1 • 266.71 of 350.00 AH used of 24V (23.80% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 deg, depth 0.82 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 15 s • Transponder ping count: 32
• 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 - - 202 - - - 2303 - -116.8 -89.25 - 3021 - - - - - - - - 14.54 - 14.57
103 4.0 -5.6 3 128 roll -0.68 8.98 0.402 1980 198.0 2.85 2.060 875 -501.1 -116.8 -3.30 - 3221 -60.6 - - - - - - - 13.85 12.66 14.10
190 34.1 -23.8 15 196 done -0.49 0.28 0.249 2038 207.1 2.53 0.057 2281 555.7 -116.8 - - 3222 - - - - - - - - 13.82 14.19 14.13
530 86.1 -8.9 30 534 roll -0.49 - - 2027 - 2.50 0.072 3697 566.4 -116.8 - - 3223 - - - - - - - - 14.75 14.08 14.76
740 103.0 -8.4 60 745 done -0.49 - - 2027 - 2.40 0.035 2258 -599.6 -116.8 - - 3224 - - - - - - - - 14.29 14.21 14.32
1096 136.5 -9.5 68 1100 roll -0.49 - - 2027 - 2.42 0.048 894 -563.6 -116.8 - - 3224 - - - - - - - - 14.81 13.95 14.82
1128 139.8 -9.2 73 1134 done -0.49 - - 2026 - 2.53 0.052 2294 553.4 -116.8 - - 3225 - - - - - - - - 14.15 14.03 14.19
1492 171.1 -8.9 82 1496 roll -0.49 - - 2020 - 2.55 0.076 3697 550.2 -116.8 - - 3224 - - - - - - - - 14.81 13.97 14.82
1574 179.0 -8.5 94 1579 done -0.49 - - 2020 - 2.40 0.037 2293 -585.0 -116.8 - - 3223 - - - - - - - - 14.19 14.12 14.21
1943 208.1 -7.5 104 1948 roll -0.49 - - 2020 - 2.55 0.052 894 -548.6 -116.8 - - 3222 - - - - - - - - 14.82 13.92 14.83
2033 214.8 -7.1 117 2038 done -0.49 - - 2015 - 2.55 0.053 2294 549.0 -116.8 - - 3221 - - - - - - - - 14.11 14.00 14.15
2394 245.2 -9.0 126 2399 roll -0.49 - - 2012 - 2.55 0.076 3690 547.5 -116.8 - - 3219 - - - - - - - - 14.83 13.95 14.84
2469 252.7 -9.0 137 2476 done -0.49 - - 2012 - 2.42 0.038 2280 -582.6 -116.8 - - 3219 - - - - - - - - 14.14 14.07 14.17
2791 283.1 -9.7 147 2796 roll -0.49 - - 2012 - 2.53 0.050 882 -552.6 -116.8 - - 3217 - - - - - - - - 14.81 13.90 14.83
2874 291.8 -9.5 159 2879 done -0.49 - - 2012 - 2.58 0.055 2281 542.2 -116.8 - - 3216 - - - - - - - - 14.14 14.02 14.19
3243 327.9 -10.0 169 3249 roll -0.49 - - 2012 - 2.60 0.080 3693 543.1 -116.8 - - 3215 - - - - - - - - 14.82 13.95 14.83
3304 333.9 -10.0 177 3310 done -0.49 - - 2012 - 2.45 0.039 2279 -577.1 -116.8 - - 3215 - - - - - - - - 14.14 14.08 14.18
3644 369.7 -10.6 190 3649 roll -0.49 - - 2012 - 2.53 0.050 892 -548.2 -116.8 - - 3213 - - - - - - - - 14.82 13.90 14.83
3703 375.8 -10.1 198 3708 done -0.49 - - 2011 - 2.58 0.054 2293 543.0 -116.8 - - 3212 - - - - - - - - 14.13 14.00 14.17
4043 406.8 -8.9 211 4048 roll -0.49 - - 2011 - 2.60 0.083 3696 539.6 -116.8 - - 3210 - - - - - - - - 14.81 13.96 14.83
4132 414.2 -7.3 224 4138 done -0.49 0.12 0.213 2042 258.3 2.45 0.039 2273 -580.8 -116.8 - - 3210 - - - - - - - - 13.72 14.07 13.93
4497 435.8 -6.0 233 4502 roll -0.54 - - 2042 - 2.50 0.053 901 -548.8 -116.8 - - 3208 - - - - - - - - 14.81 13.88 14.82
4573 440.9 -6.1 244 4578 done -0.60 0.12 0.135 1993 -408.3 2.55 0.055 2279 540.4 -116.8 - - 3207 - - - - - - - - 14.01 14.02 14.14
4893 469.0 -9.3 254 4898 roll -0.60 - - 1985 - 2.62 0.081 3694 540.1 -116.8 - - 3205 - - - - - - - - 14.82 13.96 14.83
5010 480.4 -9.8 270 5015 done -0.60 - - 1985 - 2.47 0.041 2292 -567.6 -116.8 - - 3205 - - - - - - - - 14.16 14.09 14.19
5349 516.7 -10.8 283 5354 roll -0.60 - - 1985 - 2.60 0.055 890 -539.2 -116.8 - - 3204 - - - - - - - - 14.81 13.91 14.83
5440 527.0 -10.7 296 5445 done -0.60 - - 1985 - 2.58 0.057 2281 539.1 -116.8 - - 3204 - - - - - - - - 14.13 14.00 14.17
5801 565.9 -10.9 305 5807 roll -0.60 - - 1980 - 2.65 0.082 3702 536.2 -116.8 - - 3202 - - - - - - - - 14.82 13.96 14.84
5898 576.4 -10.0 319 5903 done -0.60 - - 1980 - 2.47 0.041 2284 -574.1 -116.8 - - 3201 - - - - - - - - 14.14 14.06 14.16
6255 613.1 -10.5 327 6260 roll -0.60 - - 1980 - 2.58 0.055 892 -539.5 -116.8 - - 3200 - - - - - - - - 14.81 13.93 14.82
6344 622.7 -9.7 340 6350 done -0.60 0.12 0.250 2000 166.7 2.60 0.056 2292 538.5 -116.8 - - 3200 - - - - - - - - 13.75 14.01 14.00
6707 653.9 -8.6 349 6712 roll -0.60 - - 1999 - 2.62 0.086 3696 535.9 -116.8 - - 3198 - - - - - - - - 14.81 13.95 14.83
6777 660.0 -8.2 359 6782 done -0.60 - - 1999 - 2.47 0.042 2280 -573.3 -116.8 - - 3197 - - - - - - - - 14.14 14.06 14.16
7103 687.5 -8.5 370 7108 roll -0.60 - - 1999 - 2.55 0.054 895 -543.1 -116.8 - - 3197 - - - - - - - - 14.81 13.93 14.82
7162 692.4 -8.6 378 7167 done -0.60 - - 1998 - 2.58 0.056 2280 536.8 -116.8 - - 3196 - - - - - - - - 14.12 14.00 14.17
7502 720.5 -8.4 391 7507 roll -0.60 - - 1996 - 2.65 0.085 3694 533.6 -116.8 - - 3196 - - - - - - - - 14.81 13.97 14.82
7591 728.2 -7.6 404 7597 done -0.60 - - 1996 - 2.47 0.043 2281 -572.1 -116.8 - - 3194 - - - - - - - - 14.14 14.06 14.17
7955 758.0 -8.3 413 7961 roll -0.60 - - 1996 - 2.58 0.055 893 -538.0 -116.8 - - 3193 - - - - - - - - 14.79 13.95 14.81
8031 764.6 -8.5 424 8036 done -0.60 - - 1996 - 2.60 0.056 2289 536.9 -116.8 - - 3193 - - - - - - - - 14.14 14.01 14.18
8351 792.0 -8.8 434 8356 roll -0.60 - - 1994 - 2.65 0.089 3695 530.6 -116.8 - - 3192 - - - - - - - - 14.81 13.97 14.83
8421 798.6 -8.6 444 8425 done -0.60 - - 1994 - 2.47 0.044 2279 -573.3 -116.8 - - 3192 - - - - - - - - 14.13 14.05 14.16
8747 829.5 -9.5 455 8752 roll -0.60 - - 1994 - 2.55 0.054 886 -546.3 -116.8 - - 3190 - - - - - - - - 14.80 13.96 14.82
8806 835.2 -11.3 463 8811 done -0.60 - - 1991 - 2.60 0.057 2279 535.8 -116.8 - - 3190 - - - - - - - - 14.13 14.00 14.17
9146 867.2 -9.4 476 9151 roll -0.60 - - 1986 - 2.62 0.086 3692 539.3 -116.8 - - 3190 - - - - - - - - 14.78 13.97 14.81
9221 873.9 -8.1 487 9226 done -0.60 - - 1986 - 2.50 0.045 2275 -566.8 -116.8 - - 3189 - - - - - - - - 14.14 14.07 14.18
9541 902.3 -8.7 497 9547 roll -0.60 - - 1986 - 2.55 0.057 886 -544.7 -116.8 - - 3188 - - - - - - - - 14.80 13.95 14.81
9569 904.3 -6.4 501 9574 done -0.60 - - 1986 - 2.60 0.059 2280 536.2 -116.8 - - 3188 - - - - - - - - 14.13 14.00 14.17
9937 934.8 -8.2 511 9942 roll -0.60 - - 1984 - 2.65 0.089 3701 536.2 -116.8 - - 3187 - - - - - - - - 14.79 13.98 14.81
10026 941.4 -6.2 524 10031 done -0.60 - - 1984 - 2.50 0.044 2281 -568.0 -116.8 - - 3186 - - - - - - - - 14.14 14.06 14.17
10390 970.0 -7.8 533 10396 roll -0.60 - - 1984 - 2.55 0.054 888 -546.3 -116.8 - - 3186 - - - - - - - - 14.78 13.95 14.80
10437 973.5 -8.0 540 10449 done -0.60 - - 1984 - 2.65 0.059 2289 528.7 -116.8 - - 3186 - - - - - - - - 14.07 14.00 14.12
10670 end dive: TARGET_DEPTH_EXCEEDED
10670 begin apogee
10679 992.9 -8.2 545 10841 roll -0.19 0.55 0.200 2129 263.6 - - 2190 - - 147.75 2.433 2742 -3.0 0.243 - - - - 1 - 13.70 13.26 12.39
10843 end apogee: CONTROL_FINISHED_OK
10843 begin climb
10847 998.5 - 548 11021 roll 0.68 1.00 0.129 2412 283.0 2.70 0.058 811 -510.7 116.8 162.73 1.824 2260 -3.0 0.321 - - - - - - 13.13 13.25 12.57
11126 989.3 6.8 588 11142 done 0.69 - - 2412 - 2.62 0.057 2203 531.3 130.6 5.60 1.551 2211 -8.8 1.106 - - - - - - 13.92 13.80 12.90
11462 965.2 7.5 601 11463 done 0.63 - - 2412 - - - 2203 - 130.6 - - 2213 - - - - - - - - 14.69 14.71 14.71
11798 940.3 7.3 607 11799 done 0.59 - - 2412 - - - 2203 - 130.6 - - 2213 - - - - - - - - 14.76 14.78 14.78
12136 916.4 7.1 613 12146 roll 0.54 0.12 0.264 2391 -175.0 2.58 0.067 807 -541.1 136.4 4.22 1.398 2184 -6.9 0.893 - - - - - - 13.74 14.14 13.31
12174 912.6 9.4 619 12179 done 0.54 - - 2391 - 2.58 0.057 2206 542.2 136.4 - - 2191 - - - - - - - - 14.20 14.07 14.24
12529 890.1 6.8 627 12564 roll 0.55 - - 2391 - 2.60 0.088 3616 542.3 149.3 27.50 1.828 2122 -2.5 0.242 - - - - - - 14.76 14.23 13.45
12602 883.3 11.2 638 12608 done 0.55 - - 2400 - 2.47 0.054 2213 -568.0 149.3 - - 2116 - - - - - - - - 14.23 14.14 14.28
12922 858.3 8.2 648 12927 roll 0.55 - - 2411 - 2.60 0.067 801 -543.1 149.3 - - 2113 - - - - - - - - 14.71 14.02 14.73
13049 847.3 7.6 666 13055 done 0.55 0.12 0.254 2383 -233.3 2.55 0.056 2193 545.9 149.3 - - 2111 - - - - - - - - 13.81 14.10 14.10
13375 825.9 6.8 677 13386 roll 0.56 - - 2383 - 2.58 0.086 3616 551.6 161.7 5.03 1.538 2081 -6.0 0.635 - - - - - - 14.76 14.17 13.38
13448 819.4 8.6 688 13455 done 0.56 - - 2392 - 2.55 0.054 2206 -552.9 161.7 1.90 0.157 2077 -2.1 2.177 - - - - - - 14.21 14.16 13.96
13770 796.9 7.4 698 13776 roll 0.56 - - 2404 - 2.67 0.067 794 -528.8 161.7 1.55 0.193 2078 - - - - - - - - 14.73 14.04 13.97
13887 787.6 7.3 714 13893 done 0.56 - - 2404 - 2.58 0.054 2190 541.1 162.7 - - 2085 - - - - - - - - 14.16 14.04 14.21
14228 762.0 7.6 727 14237 roll 0.56 - - 2404 - 2.70 0.085 3616 528.1 162.7 1.83 0.190 2075 -5.5 4.342 - - - - - - 14.75 14.00 13.99
14284 757.2 7.6 735 14289 done 0.51 0.20 0.239 2367 -185.0 2.58 0.053 2185 -554.7 162.7 - - 2080 - - - - - - - - 13.69 14.07 13.99
14625 736.4 6.0 748 14687 roll 0.53 - - 2377 - 2.55 0.067 796 -544.7 194.4 56.62 1.581 1940 -2.5 0.228 - - - - - - 14.76 14.14 13.43
14783 725.7 6.7 771 14803 done 0.59 - - 2377 - 2.62 0.054 2194 533.6 208.4 15.62 1.685 1889 -3.3 0.279 - - - - - - 14.07 14.01 13.33
15131 701.0 7.3 785 15136 roll 0.59 - - 2377 - 2.62 0.085 3616 542.7 208.8 - - 1873 - - - - - - - - 14.66 14.08 14.68
15171 696.9 8.8 791 15176 done 0.59 - - 2386 - 2.58 0.053 2165 -562.4 208.8 - - 1872 - - - - - - - - 14.28 14.16 14.33
15526 668.7 8.2 799 15531 roll 0.59 - - 2396 - 2.53 0.068 795 -541.5 208.8 - - 1872 - - - - - - - - 14.72 14.06 14.74
15643 659.0 8.1 815 15647 done 0.59 - - 2396 - 2.55 0.054 2192 547.8 208.8 - - 1871 - - - - - - - - 14.26 14.14 14.31
15981 630.9 8.3 828 15991 roll 0.59 - - 2396 - 2.62 0.084 3619 544.7 208.8 - - 1870 - - - - - - - - 14.76 14.02 14.77
16046 625.2 8.9 836 16051 done 0.59 - - 2406 - 2.55 0.053 2185 -562.4 208.8 - - 1869 - - - - - - - - 14.29 14.16 14.31
16385 596.3 8.4 849 16389 roll 0.59 - - 2409 - 2.58 0.067 794 -539.1 208.8 - - 1869 - - - - - - - - 14.76 13.97 14.77
16487 587.5 8.0 864 16499 done 0.59 - - 2410 - 2.60 0.054 2184 534.6 208.8 - - 1869 - - - - - - - - 14.06 14.00 14.12
16837 558.7 8.5 871 16842 roll 0.59 - - 2410 - 2.67 0.082 3613 535.2 208.8 - - 1869 - - - - - - - - 14.74 13.93 14.77
16885 553.5 9.8 878 16898 done 0.59 - - 2419 - 2.60 0.051 2185 -549.2 208.8 - - 1869 - - - - - - - - 14.03 13.98 14.08
17235 521.2 9.6 885 17240 roll 0.59 - - 2429 - 2.60 0.065 790 -536.5 208.8 - - 1869 - - - - - - - - 14.74 13.92 14.76
17318 512.6 9.6 897 17323 done 0.59 0.15 0.240 2395 -226.7 2.58 0.054 2188 541.9 208.8 - - 1869 - - - - - - - - 13.69 14.00 14.02
17686 481.5 8.6 907 17691 roll 0.59 - - 2395 - 2.67 0.083 3614 534.1 208.8 - - 1869 - - - - - - - - 14.76 13.94 14.78
17733 476.6 9.7 914 17746 done 0.59 - - 2403 - 2.62 0.051 2173 -550.0 208.8 - - 1869 - - - - - - - - 13.99 13.94 14.03
18082 447.2 8.5 921 18087 roll 0.59 - - 2410 - 2.58 0.068 796 -533.7 208.8 - - 1869 - - - - - - - - 14.76 13.90 14.77
18150 441.2 7.9 931 18156 done 0.59 - - 2410 - 2.60 0.052 2183 533.5 208.8 - - 1869 - - - - - - - - 14.10 13.92 14.15
18478 414.6 8.3 942 18483 roll 0.59 - - 2410 - 2.65 0.080 3610 538.5 208.8 - - 1869 - - - - - - - - 14.76 13.94 14.78
18561 406.7 8.9 954 18567 done 0.59 - - 2420 - 2.58 0.049 2169 -558.5 208.8 - - 1869 - - - - - - - - 14.10 14.00 14.14
18929 375.2 8.7 964 18934 roll 0.59 - - 2428 - 2.58 0.067 794 -532.9 208.8 - - 1869 - - - - - - - - 14.76 13.94 14.78
19027 366.3 8.6 978 19033 done 0.59 0.15 0.227 2393 -233.3 2.55 0.053 2181 543.9 208.8 - - 1869 - - - - - - - - 13.66 13.94 13.97
19381 340.7 7.2 986 19387 roll 0.59 - - 2393 - 2.65 0.080 3608 538.5 211.4 - - 1869 - - - - - - - - 14.76 13.96 14.78
19450 334.6 8.2 996 19455 done 0.59 - - 2402 - 2.55 0.047 2176 -561.6 211.4 - - 1869 - - - - - - - - 14.09 14.00 14.14
19779 310.8 7.4 1007 19784 roll 0.59 - - 2407 - 2.58 0.067 798 -534.1 211.4 - - 1869 - - - - - - - - 14.75 13.95 14.77
19882 302.5 7.6 1022 19894 done 0.64 - - 2406 - 2.58 0.052 2174 533.3 211.4 - - 1869 - - - - - - - - 13.99 13.90 14.01
20230 275.3 8.0 1029 20235 roll 0.64 - - 2406 - 2.67 0.081 3612 538.6 211.4 - - 1869 - - - - - - - - 14.77 13.97 14.78
20321 266.9 8.7 1042 20326 done 0.64 - - 2416 - 2.55 0.048 2180 -561.6 211.4 - - 1869 - - - - - - - - 14.08 13.98 14.12
20682 237.8 8.2 1051 20687 roll 0.64 - - 2424 - 2.60 0.063 791 -534.2 211.4 - - 1869 - - - - - - - - 14.76 13.95 14.78
20773 230.1 7.8 1064 20777 done 0.64 - - 2424 - 2.55 0.052 2178 543.9 211.4 - - 1869 - - - - - - - - 14.06 13.94 14.12
21134 201.7 7.8 1073 21139 roll 0.64 - - 2424 - 2.65 0.079 3605 538.5 211.4 - - 1869 - - - - - - - - 14.76 13.97 14.78
21193 196.9 8.3 1081 21198 done 0.64 - - 2433 - 2.55 0.046 2175 -560.8 211.4 - - 1869 - - - - - - - - 14.07 13.97 14.12
21533 173.1 6.9 1094 21544 roll 0.64 - - 2440 - 2.53 0.064 786 -549.0 221.8 5.55 1.035 1836 -5.9 0.197 - - - - - - 14.75 14.02 13.63
21635 164.0 8.5 1109 21646 done 0.64 0.10 0.192 2410 -300.0 2.58 0.053 2171 536.8 221.8 - - 1844 - - - - - - - - 13.77 14.00 13.92
21983 136.2 8.2 1116 21988 roll 0.64 - - 2409 - 2.70 0.080 3614 534.4 221.8 - - 1844 - - - - - - - - 14.77 13.95 14.78
22024 132.3 8.9 1122 22030 done 0.64 - - 2410 - 2.60 0.050 2169 -555.8 221.8 2.05 0.243 1834 -4.9 0.526 - - - - - - 14.08 13.98 12.38
22379 108.0 6.8 1130 22393 roll 0.65 - - 2410 - 2.50 0.064 796 -549.2 234.7 10.57 0.393 1786 -4.5 0.247 - - - - - - 14.76 14.07 13.85
22484 101.2 6.5 1145 22509 done 0.74 - - 2410 - 2.55 0.051 2169 538.4 255.7 17.88 0.410 1699 -4.9 0.238 - - - - - - 14.03 13.97 13.87
22832 78.3 6.5 1164 22858 roll 0.84 0.15 0.117 2476 440.0 2.62 0.077 3605 548.1 276.0 16.83 0.343 1619 -4.8 0.215 - - - - - - 14.19 14.14 13.89
22924 70.7 7.2 1177 22936 done 0.84 - - 2486 - 2.53 0.046 2160 -571.1 278.6 4.07 0.235 1611 -2.0 0.117 - - - - - - 14.27 14.18 13.70
23257 56.5 3.1 1191 23342 roll 0.99 - - 2486 - 2.47 0.060 790 -554.7 379.4 69.65 0.304 1192 -6.0 0.222 - - - - - - 14.75 14.27 14.00
23545 40.7 6.3 1231 23573 done 1.26 0.35 0.094 2609 351.4 2.50 0.049 2173 553.2 404.9 19.08 0.240 1087 -5.5 0.185 - - - - - - 14.04 14.06 13.87
23886 11.6 8.9 1246 23891 roll 1.26 - - 2609 - 2.60 0.073 3611 553.1 404.9 - - 1094 - - - - - - - - 14.68 13.95 14.72
23943 end climb: SURFACE_DEPTH_REACHED
23943 begin surface coast
23951 end surface coast: CONTROL_FINISHED_OK
23951 begin surface
SM 0.70 - - - - -6.14 7.55 0.113 217 28.7 2.40 0.047 2280 841.7 500.41 62.40 0.134 699 11.2 -0.006 - - - - - -