SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 719 * Raw log
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• Previous call tries 1 • 275.39 of 350.00 AH used of 24V (21.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.5 deg, depth 0.88 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 21 s • Transponder ping count: 29
• 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 - - - 99 VBD -0.68 - - 193 - - - 2300 - -116.8 -89.32 - 3122 - - - - - - - - 14.57 - 14.59
103 5.5 -8.1 3 118 roll -0.68 8.75 0.389 1972 203.3 2.83 2.055 868 -506.0 -116.8 -1.50 - 3220 -65.3 - - - - - - - 13.93 12.63 14.18
228 48.1 -23.3 21 234 done -0.53 0.25 0.250 2022 200.0 2.53 0.054 2274 555.7 -116.8 - - 3223 - - - - - - - - 13.74 14.12 14.05
554 84.4 -8.5 34 559 roll -0.53 - - 2012 - 2.58 0.073 3697 551.6 -116.8 - - 3224 - - - - - - - - 14.76 13.97 14.78
741 102.6 -9.0 60 746 done -0.53 - - 2012 - 2.47 0.036 2251 -585.4 -116.8 - - 3225 - - - - - - - - 14.17 14.10 14.20
1066 132.0 -9.0 71 1071 roll -0.53 - - 2011 - 2.47 0.049 894 -549.4 -116.8 - - 3225 - - - - - - - - 14.79 13.89 14.81
1125 136.7 -7.8 79 1130 done -0.53 - - 2011 - 2.55 0.053 2286 545.9 -116.8 - - 3226 - - - - - - - - 14.12 14.00 14.16
1465 167.3 -9.6 92 1470 roll -0.53 - - 2011 - 2.60 0.079 3699 543.5 -116.8 - - 3225 - - - - - - - - 14.78 13.91 14.79
1547 175.8 -9.6 104 1552 done -0.53 - - 2011 - 2.42 0.037 2281 -586.0 -116.8 - - 3225 - - - - - - - - 14.12 14.04 14.15
1916 211.8 -9.9 114 1921 roll -0.53 - - 2011 - 2.53 0.049 897 -547.0 -116.8 - - 3222 - - - - - - - - 14.79 13.84 14.81
1976 217.3 -9.3 122 1981 done -0.53 - - 2011 - 2.58 0.054 2285 538.0 -116.8 - - 3222 - - - - - - - - 14.11 13.99 14.15
2315 246.5 -8.5 135 2320 roll -0.53 - - 2009 - 2.60 0.079 3694 541.9 -116.8 - - 3221 - - - - - - - - 14.79 13.88 14.81
2411 255.4 -8.7 149 2417 done -0.53 - - 2009 - 2.45 0.038 2283 -575.9 -116.8 - - 3220 - - - - - - - - 14.11 14.03 14.14
2768 288.4 -9.6 157 2774 roll -0.53 - - 2009 - 2.55 0.050 886 -547.8 -116.8 - - 3218 - - - - - - - - 14.78 13.82 14.80
2830 295.1 -9.5 166 2835 done -0.53 - - 2009 - 2.58 0.055 2285 542.2 -116.8 - - 3217 - - - - - - - - 14.11 13.98 14.15
3164 326.1 -9.4 178 3169 roll -0.53 - - 1999 - 2.60 0.079 3691 540.8 -116.8 - - 3216 - - - - - - - - 14.79 13.88 14.81
3261 335.5 -9.1 192 3266 done -0.53 - - 1999 - 2.45 0.041 2284 -574.3 -116.8 - - 3216 - - - - - - - - 14.11 14.03 14.14
3615 369.2 -9.7 200 3620 roll -0.53 - - 2000 - 2.58 0.052 891 -539.9 -116.8 - - 3214 - - - - - - - - 14.80 13.81 14.81
3691 377.1 -9.3 211 3696 done -0.53 - - 1999 - 2.58 0.057 2283 539.5 -116.8 - - 3213 - - - - - - - - 14.09 13.97 14.14
4011 408.5 -10.1 221 4017 roll -0.53 - - 1999 - 2.62 0.081 3693 538.2 -116.8 - - 3211 - - - - - - - - 14.79 13.87 14.81
4094 417.0 -9.5 233 4100 done -0.53 - - 1998 - 2.47 0.041 2281 -571.7 -116.8 - - 3211 - - - - - - - - 14.12 14.04 14.14
4465 453.4 -10.0 243 4470 roll -0.53 - - 1999 - 2.55 0.052 886 -547.1 -116.8 - - 3209 - - - - - - - - 14.78 13.78 14.80
4533 460.8 -9.8 253 4539 done -0.53 - - 1999 - 2.60 0.056 2291 540.4 -116.8 - - 3209 - - - - - - - - 14.10 13.97 14.14
4860 492.1 -9.8 264 4865 roll -0.53 - - 1999 - 2.65 0.084 3698 530.9 -116.8 - - 3208 - - - - - - - - 14.79 13.87 14.81
4922 498.2 -9.1 273 4928 done -0.53 - - 1998 - 2.47 0.041 2283 -572.9 -116.8 - - 3207 - - - - - - - - 14.14 14.06 14.16
5256 528.3 -9.1 285 5261 roll -0.53 - - 1998 - 2.58 0.052 881 -543.4 -116.8 - - 3205 - - - - - - - - 14.79 13.81 14.81
5304 533.2 -9.0 292 5316 done -0.53 - - 1998 - 2.65 0.057 2287 530.6 -116.8 - - 3205 - - - - - - - - 14.06 13.99 14.11
5654 562.5 -8.5 299 5659 roll -0.53 - - 1998 - 2.62 0.085 3693 536.6 -116.8 - - 3203 - - - - - - - - 14.78 13.93 14.79
5743 570.1 -7.7 312 5748 done -0.53 0.12 0.212 2028 250.0 2.47 0.043 2280 -572.1 -116.8 - - 3202 - - - - - - - - 13.71 14.04 13.92
6105 594.4 -6.8 321 6111 roll -0.53 - - 2028 - 2.55 0.053 894 -543.5 -116.8 - - 3201 - - - - - - - - 14.79 13.82 14.81
6154 598.1 -7.0 328 6165 done -0.59 - - 2028 - 2.65 0.057 2298 529.8 -116.8 - - 3201 - - - - - - - - 14.02 13.95 14.07
6501 622.2 -7.1 335 6506 roll -0.59 - - 2026 - 2.60 0.083 3693 536.5 -116.8 - - 3200 - - - - - - - - 14.79 13.91 14.81
6560 626.3 -7.2 343 6565 done -0.68 0.15 0.119 1962 -426.7 2.47 0.044 2278 -572.9 -116.8 - - 3200 - - - - - - - - 13.97 14.04 14.08
6901 661.5 -10.7 356 6906 roll -0.63 0.12 0.248 1995 275.0 2.55 0.053 899 -540.8 -116.8 - - 3199 - - - - - - - - 13.70 13.77 13.72
6969 668.2 -8.5 366 6974 done -0.63 - - 1991 - 2.62 0.058 2299 534.4 -116.8 - - 3198 - - - - - - - - 14.12 13.97 14.16
7297 696.4 -8.7 377 7303 roll -0.63 - - 1986 - 2.62 0.086 3693 532.1 -116.8 - - 3197 - - - - - - - - 14.78 13.87 14.80
7387 704.5 -8.6 390 7392 done -0.63 - - 1986 - 2.45 0.044 2298 -569.4 -116.8 - - 3196 - - - - - - - - 14.11 14.03 14.14
7749 736.7 -9.1 399 7754 roll -0.63 - - 1985 - 2.60 0.055 895 -539.6 -116.8 - - 3195 - - - - - - - - 14.78 13.82 14.81
7797 741.2 -9.2 406 7808 done -0.63 - - 1986 - 2.65 0.060 2292 527.2 -116.8 - - 3195 - - - - - - - - 14.03 13.96 14.08
8144 773.3 -9.3 413 8150 roll -0.63 - - 1984 - 2.62 0.090 3690 533.6 -116.8 - - 3194 - - - - - - - - 14.78 13.92 14.83
8204 778.8 -10.6 421 8209 done -0.63 - - 1985 - 2.47 0.045 2289 -567.2 -116.8 - - 3194 - - - - - - - - 14.12 14.04 14.16
8545 810.8 -9.4 434 8550 roll -0.63 - - 1985 - 2.58 0.057 892 -541.5 -116.8 - - 3193 - - - - - - - - 14.76 13.85 14.78
8577 814.0 -8.9 439 8582 done -0.63 - - 1984 - 2.65 0.060 2302 532.1 -116.8 - - 3193 - - - - - - - - 14.12 13.97 14.16
8940 846.6 -9.0 448 8945 roll -0.63 - - 1984 - 2.62 0.090 3692 530.5 -116.8 - - 3192 - - - - - - - - 14.78 13.90 14.80
9009 852.2 -8.7 458 9014 done -0.63 - - 1984 - 2.47 0.045 2286 -569.2 -116.8 - - 3191 - - - - - - - - 14.13 14.05 14.16
9335 880.2 -8.5 469 9341 roll -0.63 - - 1984 - 2.58 0.056 894 -539.5 -116.8 - - 3190 - - - - - - - - 14.77 13.88 14.79
9395 885.3 -10.5 477 9401 done -0.63 - - 1984 - 2.62 0.059 2293 534.0 -116.8 - - 3189 - - - - - - - - 14.10 13.96 14.15
9736 913.1 -8.2 490 9741 roll -0.63 - - 1981 - 2.65 0.092 3689 526.8 -116.8 - - 3189 - - - - - - - - 14.76 13.91 14.78
9825 919.8 -6.0 503 9830 done -0.63 - - 1982 - 2.47 0.047 2286 -568.0 -116.8 - - 3188 - - - - - - - - 14.12 14.02 14.15
10188 948.8 -8.0 512 10193 roll -0.63 - - 1981 - 2.58 0.057 891 -540.7 -116.8 - - 3188 - - - - - - - - 14.77 13.85 14.78
10229 951.6 -5.7 518 10234 done -0.63 - - 1980 - 2.65 0.060 2303 532.8 -116.8 - - 3188 - - - - - - - - 14.09 13.96 14.14
10583 979.9 -7.9 526 10588 roll -0.63 - - 1973 - 2.62 0.089 3699 532.8 -116.8 - - 3187 - - - - - - - - 14.77 13.88 14.78
10672 986.7 -8.1 539 10677 done -0.63 - - 1973 - 2.47 0.046 2296 -568.0 -116.8 - - 3187 - - - - - - - - 14.09 14.01 14.13
10750 end dive: TARGET_DEPTH_EXCEEDED
10750 begin apogee
10761 994.0 -9.3 543 10963 roll -0.19 0.60 0.204 2130 261.7 - - 2190 - - 199.73 1.579 2740 -2.2 0.276 - - - - - - 13.66 13.81 13.14
10963 end apogee: CONTROL_FINISHED_OK
10963 begin climb
10967 999.6 - 546 11137 roll 0.68 0.98 0.137 2417 292.9 2.62 0.060 800 -530.5 116.8 155.68 1.786 2255 -3.1 0.342 - - - - - - 13.70 13.79 12.52
11165 994.9 9.6 581 11172 done 0.68 - - 2417 - 2.78 0.054 2204 505.0 116.8 - - 2237 - - - - - - - - 13.30 13.19 13.35
11488 972.5 7.4 591 11489 done 0.62 - - 2417 - - - 2204 - 116.8 - - 2229 - - - - - - - - 14.60 14.62 14.62
11824 948.5 7.1 597 11830 roll 0.57 0.12 0.271 2384 -275.0 2.60 0.086 3607 539.6 121.6 - - 2227 - - - - - - - - 13.72 13.93 13.83
11872 943.7 7.3 604 11883 done 0.57 - - 2393 - 2.55 0.054 2208 -548.6 121.6 - - 2226 - - - - - - - - 14.07 14.02 14.11
12220 921.3 6.9 611 12229 roll 0.57 - - 2404 - 2.53 0.065 798 -557.3 132.1 4.82 1.496 2198 -5.8 0.701 - - - - - - 14.75 14.23 13.40
12360 910.3 10.4 631 12365 done 0.57 - - 2404 - 2.60 0.055 2206 541.5 132.1 - - 2206 - - - - - - - - 14.15 14.02 14.19
12727 882.3 8.1 641 12733 roll 0.57 - - 2404 - 2.65 0.086 3617 532.5 132.1 - - 2206 - - - - - - - - 14.76 13.95 14.78
12787 876.9 7.3 649 12793 done 0.51 0.20 0.249 2369 -175.0 2.58 0.054 2187 -554.3 132.1 - - 2206 - - - - - - - - 13.59 14.02 13.91
13129 852.8 7.0 662 13144 roll 0.52 - - 2380 - 2.47 0.066 795 -563.6 139.4 8.77 1.767 2175 -3.5 0.334 - - - - - - 14.74 14.24 13.50
13267 841.6 7.4 682 13271 done 0.52 - - 2379 - 2.58 0.056 2192 541.5 139.4 - - 2177 - - - - - - - - 14.15 14.02 14.19
13635 814.2 7.5 692 13639 roll 0.52 - - 2379 - 2.65 0.086 3607 534.0 139.4 - - 2176 - - - - - - - - 14.73 13.92 14.76
13674 810.4 9.8 698 13679 done 0.52 - - 2389 - 2.55 0.051 2189 -556.1 139.4 - - 2177 - - - - - - - - 14.09 14.00 14.13
14030 785.8 6.8 706 14058 roll 0.52 - - 2399 - 2.53 0.067 798 -549.8 150.9 23.58 1.681 2120 -2.4 0.221 - - - - - - 14.75 14.19 13.62
14184 776.0 6.0 728 14240 done 0.54 - - 2400 - 2.55 0.054 2188 545.1 182.3 48.08 1.559 1989 -2.7 0.266 - - - - - - 14.19 14.07 13.51
14591 750.5 6.3 744 14633 roll 0.56 - - 2400 - 2.65 0.086 3614 538.1 206.9 33.67 1.558 1889 -3.0 0.280 - - - - - - 14.68 14.27 13.61
14678 744.0 8.4 757 14684 done 0.56 - - 2409 - 2.55 0.054 2184 -560.8 206.9 - - 1881 - - - - - - - - 14.21 14.12 14.25
15040 718.6 7.3 766 15044 roll 0.56 - - 2420 - 2.58 0.067 792 -539.5 206.9 - - 1875 - - - - - - - - 14.70 14.03 14.72
15166 708.0 7.9 784 15171 done 0.56 0.15 0.236 2386 -226.7 2.55 0.055 2185 546.3 206.9 - - 1874 - - - - - - - - 13.81 14.12 14.11
15491 683.2 7.9 795 15496 roll 0.56 - - 2386 - 2.65 0.083 3613 538.9 206.9 - - 1874 - - - - - - - - 14.72 13.97 14.74
15538 678.3 9.5 802 15549 done 0.56 - - 2394 - 2.60 0.054 2184 -549.6 206.9 - - 1873 - - - - - - - - 14.12 14.04 14.12
15888 647.1 9.2 809 15893 roll 0.56 - - 2404 - 2.60 0.067 794 -534.6 206.9 - - 1872 - - - - - - - - 14.71 13.95 14.73
15984 637.6 9.1 823 15990 done 0.56 - - 2403 - 2.55 0.054 2181 543.9 206.9 - - 1872 - - - - - - - - 14.18 14.05 14.23
16340 604.4 9.5 831 16345 roll 0.56 - - 2403 - 2.67 0.083 3608 534.5 206.9 - - 1871 - - - - - - - - 14.72 13.93 14.74
16388 599.0 10.5 838 16399 done 0.56 0.08 0.210 2386 -212.5 2.60 0.051 2179 -549.6 206.9 - - 1871 - - - - - - - - 13.72 14.00 13.86
16735 571.7 7.7 845 16741 roll 0.56 - - 2395 - 2.60 0.068 788 -535.0 206.9 - - 1871 - - - - - - - - 14.72 13.91 14.74
16840 563.8 7.1 860 16851 done 0.56 - - 2395 - 2.62 0.055 2178 530.5 211.4 - - 1870 - - - - - - - - 14.00 13.93 14.07
17187 538.9 7.3 867 17192 roll 0.56 - - 2395 - 2.67 0.083 3607 535.2 212.9 - - 1870 - - - - - - - - 14.73 13.92 14.75
17246 534.0 8.6 875 17251 done 0.56 - - 2405 - 2.58 0.050 2168 -557.8 212.9 - - 1870 - - - - - - - - 14.11 14.01 14.14
17586 506.1 8.3 888 17591 roll 0.56 - - 2410 - 2.58 0.068 797 -531.4 212.9 - - 1870 - - - - - - - - 14.72 13.90 14.73
17675 498.1 8.4 901 17681 done 0.56 - - 2410 - 2.55 0.053 2177 541.2 212.9 - - 1869 - - - - - - - - 14.09 13.96 14.13
18038 468.0 8.3 910 18043 roll 0.56 - - 2410 - 2.67 0.083 3611 537.1 212.9 - - 1870 - - - - - - - - 14.73 13.93 14.74
18100 462.1 9.0 919 18105 done 0.56 0.15 0.226 2384 -173.3 2.58 0.051 2171 -558.1 212.9 - - 1870 - - - - - - - - 13.67 13.98 13.93
18434 440.6 6.4 931 18477 roll 0.57 - - 2391 - 2.50 0.070 794 -550.8 234.0 36.33 1.303 1778 -2.5 0.168 - - - - - - 14.73 14.21 13.64
18560 431.6 7.1 949 18566 done 0.64 - - 2391 - 2.53 0.054 2172 544.7 238.9 - - 1768 - - - - - - - - 14.21 14.09 14.25
18886 408.6 7.0 960 18896 roll 0.65 - - 2391 - 2.65 0.083 3605 540.8 247.4 5.75 1.230 1734 -5.9 0.385 - - - - - - 14.71 14.19 13.59
18966 402.1 7.7 972 18972 done 0.65 - - 2398 - 2.55 0.048 2167 -563.9 247.4 2.28 0.435 1730 -1.8 0.318 - - - - - - 14.23 14.12 13.19
19337 375.4 7.4 982 19342 roll 0.65 - - 2405 - 2.55 0.066 794 -538.4 247.4 - - 1738 - - - - - - - - 14.70 13.90 14.72
19426 368.7 7.0 995 19453 done 0.71 - - 2405 - 2.53 0.053 2168 543.1 256.3 20.40 1.276 1692 -2.3 0.128 - - - - - - 14.11 14.00 13.69
19790 343.6 7.1 1004 19800 roll 0.72 - - 2404 - 2.70 0.081 3612 534.8 262.7 1.83 0.179 1668 -13.1 4.932 - - - - - - 14.69 14.08 13.96
19847 338.7 8.6 1012 19852 done 0.72 - - 2406 - 2.55 0.051 2175 -563.5 262.7 - - 1673 - - - - - - - - 14.23 14.13 14.26
20187 309.1 9.1 1025 20193 roll 0.72 - - 2407 - 2.58 0.069 789 -537.2 262.7 - - 1674 - - - - - - - - 14.70 13.91 14.71
20277 300.1 9.4 1038 20282 done 0.78 0.15 0.120 2465 386.7 2.55 0.053 2177 544.3 262.7 - - 1674 - - - - - - - - 14.01 14.01 14.13
20640 255.7 12.4 1047 20644 roll 0.78 - - 2465 - 2.65 0.081 3604 538.5 262.7 - - 1674 - - - - - - - - 14.72 13.91 14.73
20700 248.1 12.8 1055 20705 done 0.78 - - 2474 - 2.58 0.050 2168 -556.6 262.7 - - 1674 - - - - - - - - 14.11 14.00 14.14
21039 205.7 12.5 1068 21044 roll 0.73 0.12 0.265 2453 -175.0 2.58 0.062 788 -534.9 262.7 - - 1674 - - - - - - - - 13.62 13.74 13.66
21155 194.1 9.3 1084 21160 done 0.73 - - 2453 - 2.58 0.054 2171 536.0 262.7 - - 1674 - - - - - - - - 14.08 13.95 14.12
21494 159.3 10.4 1097 21500 roll 0.73 - - 2453 - 2.67 0.080 3610 539.0 262.7 - - 1674 - - - - - - - - 14.73 13.93 14.75
21577 149.3 11.5 1109 21583 done 0.73 - - 2463 - 2.58 0.048 2168 -558.9 262.7 - - 1674 - - - - - - - - 14.08 13.97 14.12
21948 110.6 10.5 1119 21953 roll 0.73 - - 2472 - 2.55 0.063 794 -538.8 262.7 - - 1674 - - - - - - - - 14.72 13.90 14.73
22072 97.2 10.2 1137 22079 done 0.73 0.15 0.220 2437 -233.3 2.55 0.053 2167 538.4 262.7 - - 1674 - - - - - - - - 13.69 13.92 13.94
22402 72.5 6.2 1150 22429 roll 0.75 - - 2437 - 2.58 0.076 3609 558.9 289.6 20.75 0.331 1565 -5.3 0.225 - - - - - - 14.71 14.19 13.95
22462 69.0 6.0 1158 22495 done 0.83 - - 2438 - 2.58 0.048 2162 -560.9 321.4 25.40 0.327 1433 -5.2 0.215 - - - - - - 14.17 14.07 13.95
22834 49.9 5.3 1177 22885 roll 0.97 0.20 0.094 2528 450.0 2.65 0.073 3605 544.5 370.4 36.60 0.275 1229 -5.6 0.198 - - - - - - 14.12 14.23 14.06
22958 43.2 3.9 1195 23030 done 1.08 - - 2535 - 2.58 0.044 2134 -570.2 453.0 57.00 0.262 899 -5.8 0.187 - - - - - - 14.23 14.14 14.04
23343 20.7 6.0 1216 23373 roll 1.21 0.12 0.120 2605 583.3 2.47 0.063 784 -546.6 484.7 25.73 0.185 761 -5.4 0.118 - - - - - - 14.23 14.29 14.12
23485 6.3 9.3 1236 23489 done 1.26 - - 2605 - 2.47 0.050 2157 555.9 484.7 - - 769 - - - - - - - - 14.18 14.07 14.25
23540 end climb: SURFACE_DEPTH_REACHED
23540 begin surface coast
23568 end surface coast: CONTROL_FINISHED_OK
23568 begin surface
SM 0.75 - - - - -6.14 7.07 0.066 201 28.4 0.22 0.097 2299 5186.4 500.41 12.27 0.136 701 57.1 -0.032 - - - - - -