SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 720 * Raw log
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• Previous call tries 1 • 275.75 of 350.00 AH used of 24V (21.21% 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 500.17 (SM_CC=500)
• GPS1 time: 51 s
• GPS2 time: 19 s • Transponder ping count: 21
• 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 - - 190 - - - 2314 - -116.8 -89.35 - 3078 - - - - - - - - 14.55 - 14.57
103 4.7 -6.7 3 128 roll -0.68 8.98 0.399 1980 199.3 2.83 2.054 862 -513.1 -116.8 -2.25 - 3222 -64.0 - - - - - - - 13.92 12.60 14.16
171 33.0 -24.8 13 177 done -0.49 0.28 0.265 2035 196.4 2.55 0.056 2272 552.9 -116.8 - - 3223 - - - - - - - - 13.71 14.11 14.04
497 74.7 -8.9 26 502 roll -0.49 - - 2024 - 2.55 0.074 3700 560.0 -116.8 - - 3224 - - - - - - - - 14.73 14.05 14.76
672 89.1 -6.9 50 677 done -0.49 - - 2024 - 2.45 0.035 2245 -593.9 -116.8 - - 3225 - - - - - - - - 14.27 14.20 14.29
1039 119.9 -8.8 62 1044 roll -0.49 - - 2024 - 2.42 0.051 895 -557.9 -116.8 - - 3226 - - - - - - - - 14.76 13.93 14.78
1085 124.4 -8.6 69 1098 done -0.49 - - 2024 - 2.55 0.053 2275 541.2 -116.8 - - 3226 - - - - - - - - 14.02 13.95 14.07
1435 153.8 -8.7 76 1440 roll -0.49 - - 2015 - 2.58 0.074 3693 549.6 -116.8 - - 3225 - - - - - - - - 14.76 13.95 14.78
1538 164.2 -9.3 91 1550 done -0.49 - - 2015 - 2.47 0.037 2272 -575.3 -116.8 - - 3224 - - - - - - - - 14.02 13.99 14.06
1887 195.8 -9.0 98 1892 roll -0.49 - - 2015 - 2.50 0.052 892 -552.0 -116.8 - - 3222 - - - - - - - - 14.78 13.88 14.78
1947 201.0 -8.5 106 1952 done -0.49 - - 2015 - 2.55 0.054 2280 544.3 -116.8 - - 3222 - - - - - - - - 14.11 13.99 14.15
2286 229.1 -8.4 119 2291 roll -0.49 - - 2012 - 2.60 0.078 3692 543.1 -116.8 - - 3221 - - - - - - - - 14.78 13.91 14.79
2375 237.0 -8.1 132 2380 done -0.49 - - 2012 - 2.45 0.039 2279 -576.7 -116.8 - - 3220 - - - - - - - - 14.13 14.05 14.16
2739 267.7 -8.8 141 2744 roll -0.49 - - 2012 - 2.55 0.051 881 -548.2 -116.8 - - 3218 - - - - - - - - 14.78 13.83 14.79
2821 275.6 -8.2 153 2827 done -0.49 - - 2012 - 2.58 0.055 2274 539.9 -116.8 - - 3217 - - - - - - - - 14.09 13.97 14.14
3191 308.7 -9.3 163 3196 roll -0.49 - - 2011 - 2.65 0.080 3699 537.7 -116.8 - - 3216 - - - - - - - - 14.78 13.87 14.80
3295 319.0 -9.4 178 3306 done -0.49 - - 2011 - 2.53 0.039 2282 -560.1 -116.8 - - 3215 - - - - - - - - 14.02 13.98 14.04
3642 351.6 -9.5 185 3648 roll -0.49 - - 2011 - 2.58 0.051 879 -543.8 -116.8 - - 3214 - - - - - - - - 14.78 13.87 14.81
3711 358.5 -8.8 195 3716 done -0.49 - - 2011 - 2.60 0.056 2280 538.8 -116.8 - - 3213 - - - - - - - - 14.12 13.99 14.16
4040 387.6 -9.1 206 4045 roll -0.49 - - 2011 - 2.62 0.080 3689 537.8 -116.8 - - 3211 - - - - - - - - 14.77 13.88 14.79
4143 397.1 -8.4 221 4155 done -0.49 - - 2011 - 2.53 0.041 2271 -560.5 -116.8 - - 3211 - - - - - - - - 14.09 14.04 14.12
4491 428.4 -9.2 228 4496 roll -0.49 - - 2011 - 2.55 0.053 884 -543.9 -116.8 - - 3209 - - - - - - - - 14.79 13.87 14.81
4539 433.2 -9.3 235 4550 done -0.49 - - 2011 - 2.62 0.057 2278 532.1 -116.8 - - 3208 - - - - - - - - 14.05 13.98 14.09
4886 464.9 -9.3 242 4891 roll -0.49 - - 2011 - 2.62 0.081 3690 538.9 -116.8 - - 3207 - - - - - - - - 14.79 13.92 14.81
4945 470.3 -9.2 250 4950 done -0.49 - - 2011 - 2.47 0.041 2273 -573.7 -116.8 - - 3206 - - - - - - - - 14.14 14.05 14.16
5285 502.5 -9.6 263 5290 roll -0.49 - - 2011 - 2.55 0.054 893 -541.2 -116.8 - - 3205 - - - - - - - - 14.77 13.82 14.79
5319 506.4 -10.0 268 5324 done -0.49 - - 2011 - 2.58 0.056 2278 536.8 -116.8 - - 3205 - - - - - - - - 14.10 13.97 14.14
5681 541.1 -9.7 277 5687 roll -0.49 - - 2008 - 2.67 0.083 3700 532.6 -116.8 - - 3203 - - - - - - - - 14.78 13.88 14.81
5773 549.9 -9.1 290 5777 done -0.54 - - 2008 - 2.47 0.041 2276 -576.5 -116.8 - - 3202 - - - - - - - - 14.10 14.02 14.14
6134 584.0 -9.6 299 6138 roll -0.54 - - 2009 - 2.55 0.053 894 -542.0 -116.8 - - 3201 - - - - - - - - 14.78 13.79 14.80
6159 586.8 -9.0 303 6164 done -0.54 - - 2009 - 2.58 0.056 2277 536.0 -116.8 - - 3201 - - - - - - - - 14.09 13.96 14.14
6530 619.6 -8.9 313 6535 roll -0.54 - - 2009 - 2.65 0.083 3689 532.8 -116.8 - - 3200 - - - - - - - - 14.77 13.85 14.79
6589 624.7 -8.7 321 6595 done -0.54 - - 2008 - 2.50 0.043 2269 -568.0 -116.8 - - 3199 - - - - - - - - 14.12 14.04 14.15
6929 653.0 -8.3 334 6934 roll -0.54 - - 2008 - 2.55 0.055 894 -539.2 -116.8 - - 3198 - - - - - - - - 14.78 13.82 14.79
6977 657.2 -8.3 341 6989 done -0.54 - - 2008 - 2.60 0.057 2270 529.2 -116.8 - - 3198 - - - - - - - - 14.02 13.95 14.07
7324 684.7 -7.9 348 7329 roll -0.54 - - 2004 - 2.67 0.087 3696 534.1 -116.8 - - 3197 - - - - - - - - 14.78 13.93 14.79
7427 692.7 -7.3 363 7439 done -0.59 - - 2004 - 2.53 0.044 2273 -562.5 -116.8 - - 3196 - - - - - - - - 14.05 14.01 14.09
7777 717.9 -7.2 370 7782 roll -0.59 - - 2004 - 2.55 0.054 901 -538.0 -116.8 - - 3195 - - - - - - - - 14.76 13.89 14.78
7824 721.4 -6.9 377 7836 done -0.59 - - 2001 - 2.60 0.057 2275 528.5 -116.8 - - 3194 - - - - - - - - 14.04 13.97 14.09
8172 745.9 -7.2 384 8177 roll -0.59 - - 1999 - 2.67 0.086 3700 533.7 -116.8 - - 3194 - - - - - - - - 14.77 13.91 14.78
8249 751.4 -6.5 395 8254 done -0.64 - - 1999 - 2.47 0.043 2279 -575.3 -116.8 - - 3194 - - - - - - - - 14.11 14.02 14.14
8568 777.1 -8.2 405 8573 roll -0.64 - - 1999 - 2.55 0.054 897 -542.0 -116.8 - - 3193 - - - - - - - - 14.78 13.85 14.79
8608 780.6 -7.3 411 8613 done -0.64 - - 1999 - 2.58 0.056 2279 535.7 -116.8 - - 3193 - - - - - - - - 14.09 13.96 14.14
8965 811.1 -8.7 419 8970 roll -0.64 - - 1999 - 2.65 0.086 3689 532.1 -116.8 - - 3191 - - - - - - - - 14.76 13.88 14.78
9062 819.5 -8.3 433 9068 done -0.69 - - 1999 - 2.47 0.045 2283 -569.2 -116.8 - - 3191 - - - - - - - - 14.09 14.01 14.13
9419 850.3 -8.8 441 9425 roll -0.69 - - 1999 - 2.55 0.054 896 -543.9 -116.8 - - 3190 - - - - - - - - 14.75 13.85 14.77
9466 854.5 -8.8 448 9478 done -0.69 - - 1999 - 2.62 0.057 2279 527.9 -116.8 - - 3189 - - - - - - - - 14.04 13.97 14.09
9815 884.9 -8.7 455 9819 roll -0.69 - - 1999 - 2.65 0.088 3691 532.8 -116.8 - - 3188 - - - - - - - - 14.77 13.93 14.78
9883 890.2 -8.2 465 9889 done -0.74 0.12 0.132 1948 -425.0 2.50 0.046 2281 -564.0 -116.8 - - 3188 - - - - - - - - 13.97 14.03 14.08
10211 926.8 -11.3 476 10216 roll -0.69 - - 1948 - 2.58 0.054 894 -537.6 -116.8 - - 3188 - - - - - - - - 14.76 13.86 14.77
10244 930.6 -10.7 481 10250 done -0.65 0.17 0.262 1985 217.6 2.62 0.060 2288 532.1 -116.8 - - 3187 - - - - - - - - 13.62 13.96 13.93
10608 964.7 -9.2 490 10613 roll -0.65 - - 1975 - 2.65 0.088 3692 529.8 -116.8 - - 3187 - - - - - - - - 14.76 13.90 14.77
10704 973.6 -9.5 504 10709 done -0.65 - - 1975 - 2.50 0.047 2292 -560.0 -116.8 - - 3187 - - - - - - - - 14.11 14.02 14.14
10888 end dive: TARGET_DEPTH_EXCEEDED
10888 begin apogee
10897 992.3 -10.0 509 11101 roll -0.19 0.60 0.205 2132 261.7 - - 2186 - - 201.60 1.558 2740 -2.2 0.278 - - - - - - 13.64 13.78 13.10
11101 end apogee: CONTROL_FINISHED_OK
11101 begin climb
11107 999.8 - 512 11274 roll 0.68 0.95 0.131 2412 294.7 2.62 0.060 807 -526.3 116.8 156.70 1.789 2262 -3.1 0.335 - - - - - - 13.66 13.74 12.47
11296 998.0 8.5 546 11301 done 0.62 - - 2413 - 2.78 0.057 2202 501.8 116.8 - - 2239 - - - - - - - - 13.24 13.12 13.28
11615 976.8 7.1 556 11620 roll 0.57 - - 2413 - 2.65 0.088 3613 532.5 121.8 - - 2228 - - - - - - - - 14.58 13.90 14.60
11641 973.5 10.5 560 11647 done 0.51 0.25 0.252 2365 -192.0 2.53 0.055 2208 -555.3 121.8 - - 2227 - - - - - - - - 13.62 14.00 13.97
12012 953.0 5.9 570 12072 roll 0.53 - - 2376 - 2.65 0.067 792 -534.3 157.0 55.72 1.494 2096 -2.4 0.295 - - - - - - 14.71 14.21 13.57
12186 941.6 4.6 594 12303 done 0.57 - - 2376 - 2.60 0.057 2197 540.4 222.4 109.68 1.403 1830 -2.4 0.320 - - - - - - 14.18 14.05 13.38
12630 905.7 8.3 623 12635 roll 0.57 - - 2376 - 2.62 0.089 3617 542.0 222.4 - - 1809 - - - - - - - - 14.67 14.11 14.69
12656 902.2 11.0 627 12661 done 0.57 - - 2385 - 2.53 0.057 2191 -563.6 222.4 - - 1808 - - - - - - - - 14.33 14.23 14.37
13026 870.2 9.0 637 13032 roll 0.57 - - 2394 - 2.60 0.071 791 -538.5 222.4 - - 1805 - - - - - - - - 14.71 14.09 14.73
13143 859.6 7.0 653 13148 done 0.57 - - 2393 - 2.58 0.057 2190 542.2 230.7 - - 1805 - - - - - - - - 14.27 14.15 14.31
13482 827.5 9.6 666 13483 done 0.57 - - 2393 - - - 2190 - 230.7 - - 1805 - - - - - - - - 14.74 14.76 14.76
13819 795.5 9.5 672 13824 roll 0.57 - - 2393 - 2.65 0.086 3616 538.1 230.7 - - 1803 - - - - - - - - 14.73 13.99 14.75
13845 791.8 11.3 676 13850 done 0.57 - - 2403 - 2.55 0.054 2186 -560.8 230.7 - - 1802 - - - - - - - - 14.22 14.12 14.26
14214 758.1 9.1 686 14219 roll 0.57 - - 2413 - 2.60 0.068 790 -536.9 230.7 - - 1802 - - - - - - - - 14.74 13.96 14.76
14331 748.6 7.0 702 14352 done 0.58 - - 2413 - 2.60 0.057 2188 537.7 239.0 15.75 1.727 1763 -2.5 0.211 - - - - - - 14.17 14.06 13.57
14666 719.2 8.8 715 14671 roll 0.58 - - 2413 - 2.65 0.085 3612 537.4 239.0 - - 1748 - - - - - - - - 14.71 13.99 14.73
14725 713.4 9.3 723 14730 done 0.58 0.15 0.238 2388 -166.7 2.58 0.054 2184 -553.5 239.0 - - 1747 - - - - - - - - 13.81 14.12 14.09
15065 685.7 8.2 736 15072 roll 0.58 - - 2397 - 2.62 0.068 792 -531.3 239.0 - - 1746 - - - - - - - - 14.71 13.88 14.71
15170 675.6 8.9 751 15182 done 0.62 - - 2397 - 2.62 0.055 2182 530.5 239.0 - - 1746 - - - - - - - - 14.01 13.95 14.06
15520 643.1 9.6 758 15525 roll 0.62 - - 2397 - 2.70 0.083 3613 530.0 239.0 - - 1745 - - - - - - - - 14.72 13.93 14.73
15579 636.8 10.1 766 15584 done 0.62 - - 2406 - 2.60 0.052 2171 -554.6 239.0 - - 1745 - - - - - - - - 14.12 14.01 14.16
15918 606.2 8.7 779 15923 roll 0.62 - - 2407 - 2.62 0.072 798 -524.0 239.0 - - 1745 - - - - - - - - 14.73 13.90 14.75
16022 598.0 7.2 794 16033 done 0.62 - - 2406 - 2.60 0.053 2175 529.6 242.2 - - 1744 - - - - - - - - 13.97 13.91 14.02
16369 573.5 7.1 801 16376 roll 0.63 - - 2407 - 2.67 0.084 3609 537.1 247.1 2.30 0.483 1729 -6.5 1.523 - - - - - - 14.73 14.09 13.06
16431 568.7 8.2 809 16437 done 0.63 - - 2416 - 2.53 0.050 2175 -566.8 247.1 - - 1737 - - - - - - - - 14.10 14.00 14.14
16773 540.9 8.3 822 16777 roll 0.63 - - 2425 - 2.60 0.070 798 -529.6 247.1 - - 1737 - - - - - - - - 14.73 13.88 14.75
16868 532.2 8.5 836 16874 done 0.63 - - 2425 - 2.55 0.053 2172 538.8 247.1 - - 1738 - - - - - - - - 14.06 13.93 14.10
17225 499.7 9.4 844 17230 roll 0.63 - - 2425 - 2.72 0.083 3616 530.9 247.1 - - 1738 - - - - - - - - 14.72 13.93 14.73
17286 492.8 10.1 853 17293 done 0.63 0.12 0.244 2406 -158.3 2.62 0.053 2169 -552.3 247.1 - - 1738 - - - - - - - - 13.67 13.97 13.92
17621 466.7 7.8 865 17626 roll 0.63 - - 2414 - 2.60 0.067 789 -530.8 247.1 - - 1738 - - - - - - - - 14.73 13.90 14.76
17712 458.9 8.1 878 17716 done 0.63 - - 2414 - 2.58 0.054 2174 536.8 247.1 - - 1739 - - - - - - - - 14.05 13.93 14.10
18073 426.6 9.2 887 18078 roll 0.63 - - 2414 - 2.70 0.083 3615 533.7 247.1 - - 1738 - - - - - - - - 14.73 13.90 14.75
18132 420.5 10.3 895 18137 done 0.63 - - 2424 - 2.62 0.053 2169 -551.9 247.1 - - 1738 - - - - - - - - 14.07 13.97 14.12
18472 385.8 10.3 908 18477 roll 0.63 - - 2431 - 2.60 0.068 788 -531.2 247.1 - - 1738 - - - - - - - - 14.72 13.88 14.74
18575 375.0 9.5 923 18587 done 0.63 - - 2431 - 2.62 0.056 2170 527.5 247.1 - - 1738 - - - - - - - - 13.98 13.92 14.03
18925 341.3 9.9 930 18930 roll 0.63 - - 2431 - 2.72 0.083 3617 532.0 247.1 - - 1738 - - - - - - - - 14.73 13.93 14.75
18984 335.0 10.5 938 18989 done 0.63 0.15 0.233 2405 -173.3 2.62 0.052 2167 -553.4 247.1 - - 1738 - - - - - - - - 13.64 13.96 13.89
19323 309.1 7.3 951 19328 roll 0.63 - - 2410 - 2.58 0.066 798 -530.6 247.1 - - 1738 - - - - - - - - 14.74 13.87 14.76
19428 301.6 6.8 966 19460 done 0.68 - - 2410 - 2.58 0.052 2163 529.1 260.1 27.12 1.196 1681 -2.1 0.104 - - - - - - 14.00 13.91 13.66
19775 277.0 7.2 980 19780 roll 0.69 - - 2410 - 2.67 0.080 3617 544.6 263.5 - - 1664 - - - - - - - - 14.71 13.95 14.73
19845 271.1 8.1 990 19849 done 0.69 - - 2417 - 2.58 0.050 2166 -562.4 263.5 - - 1663 - - - - - - - - 14.19 14.08 14.22
20171 246.2 7.9 1001 20176 roll 0.69 - - 2424 - 2.58 0.065 798 -530.2 263.5 - - 1663 - - - - - - - - 14.73 13.90 14.75
20287 236.1 8.7 1017 20293 done 0.73 - - 2424 - 2.53 0.051 2170 542.3 263.5 - - 1663 - - - - - - - - 14.11 14.00 14.15
20627 203.6 9.8 1030 20632 roll 0.73 - - 2424 - 2.67 0.080 3606 537.8 263.5 - - 1663 - - - - - - - - 14.73 13.91 14.75
20673 197.9 11.2 1037 20686 done 0.73 - - 2432 - 2.65 0.047 2162 -544.9 263.5 - - 1663 - - - - - - - - 13.97 13.92 14.01
21022 162.7 10.2 1044 21027 roll 0.73 - - 2437 - 2.58 0.065 789 -532.2 263.5 - - 1662 - - - - - - - - 14.73 13.90 14.76
21119 153.8 8.3 1058 21124 done 0.73 - - 2437 - 2.53 0.053 2158 541.1 263.5 - - 1663 - - - - - - - - 14.05 13.93 14.10
21473 123.9 8.8 1066 21478 roll 0.73 - - 2437 - 2.70 0.078 3612 538.5 263.5 - - 1663 - - - - - - - - 14.73 13.92 14.75
21564 113.8 10.6 1079 21569 done 0.73 - - 2447 - 2.62 0.048 2148 -558.8 263.5 - - 1663 - - - - - - - - 14.07 13.97 14.11
21897 84.2 9.9 1090 21902 roll 0.73 - - 2450 - 2.55 0.067 785 -534.5 263.5 - - 1663 - - - - - - - - 14.73 13.95 14.74
21985 76.3 8.7 1102 21990 done 0.73 - - 2450 - 2.55 0.050 2166 541.6 263.5 - - 1663 - - - - - - - - 14.06 13.95 14.10
22327 57.2 3.3 1117 22409 roll 0.86 - - 2450 - 2.62 0.076 3609 550.8 360.6 65.97 0.305 1270 -6.0 0.220 - - - - - - 14.71 14.32 14.03
22430 52.6 6.1 1129 22457 done 1.03 0.20 0.064 2536 430.0 2.65 0.043 2135 -556.2 389.5 22.02 0.285 1150 -5.4 0.198 - - - - - - 13.95 13.97 13.93
22783 33.2 6.7 1145 22808 roll 1.12 - - 2536 - 2.72 0.073 3612 543.0 403.7 11.75 0.210 1095 -4.7 0.146 - - - - - - 14.68 14.09 14.00
22911 21.9 9.5 1163 22927 done 1.18 0.12 0.128 2592 466.7 2.58 0.046 2142 -569.8 403.7 2.42 0.154 1093 - - - - - - - - 14.04 14.08 13.91
23118 end climb: SURFACE_DEPTH_REACHED
23118 begin surface coast
23147 end surface coast: CONTROL_FINISHED_OK
23152 begin surface
SM 0.77 - - - - -6.13 7.22 0.086 219 30.3 0.28 0.078 2293 -32517.9 500.17 63.60 0.135 701 11.0 -0.006 - - - - - -