SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 724 * Raw log
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• Previous call tries 2 • 277.24 of 350.00 AH used of 24V (20.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 20 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 - - - 98 VBD -0.68 - - 191 - - - 2307 - -116.8 -89.35 - 3024 - - - - - - - - 14.58 - 14.60
103 4.1 -5.7 3 128 roll -0.68 8.95 0.398 1980 199.9 2.85 2.054 863 -506.7 -116.8 -3.20 - 3222 -61.9 - - - - - - - 13.90 12.58 14.17
162 29.9 -35.4 11 167 done -0.43 0.35 0.281 2052 205.7 2.55 0.059 2270 551.8 -116.8 - - 3223 - - - - - - - - 13.66 14.09 14.02
502 72.2 -6.9 26 506 roll -0.43 - - 2052 - 2.53 0.048 856 -558.9 -116.8 - - 3224 - - - - - - - - 14.75 14.09 14.76
562 75.2 -4.8 34 567 done -0.43 - - 2045 - 2.58 0.053 2291 556.2 -116.8 - - 3225 - - - - - - - - 14.22 14.11 14.26
901 96.6 -6.9 49 907 roll -0.43 - - 2040 - 2.53 0.076 3683 550.2 -116.8 - - 3226 - - - - - - - - 14.76 13.95 14.77
933 98.8 -7.0 53 939 done -0.43 - - 2040 - 2.45 0.038 2245 -586.9 -116.8 - - 3226 - - - - - - - - 14.23 14.16 14.25
1302 126.8 -7.7 63 1307 roll -0.43 - - 2040 - 2.50 0.052 889 -542.4 -116.8 - - 3225 - - - - - - - - 14.76 13.89 14.78
1349 130.8 -7.4 70 1360 done -0.43 - - 2039 - 2.58 0.054 2273 536.4 -116.8 - - 3225 - - - - - - - - 14.03 13.97 14.09
1697 156.7 -7.7 77 1703 roll -0.43 - - 2035 - 2.60 0.076 3688 544.2 -116.8 - - 3224 - - - - - - - - 14.78 13.93 14.80
1796 164.9 -8.2 91 1800 done -0.48 - - 2035 - 2.42 0.039 2279 -582.2 -116.8 - - 3223 - - - - - - - - 14.14 14.07 14.17
2149 195.8 -8.9 99 2154 roll -0.48 - - 2035 - 2.53 0.050 893 -547.8 -116.8 - - 3222 - - - - - - - - 14.79 13.85 14.80
2224 202.8 -8.3 110 2230 done -0.48 - - 2031 - 2.55 0.052 2284 545.5 -116.8 - - 3221 - - - - - - - - 14.08 13.96 14.12
2546 229.0 -8.3 120 2551 roll -0.48 - - 2026 - 2.60 0.079 3691 541.2 -116.8 - - 3219 - - - - - - - - 14.77 13.86 14.79
2635 236.7 -8.0 133 2641 done -0.53 - - 2026 - 2.47 0.040 2276 -572.9 -116.8 - - 3218 - - - - - - - - 14.14 14.07 14.16
2999 266.4 -8.4 142 3004 roll -0.53 - - 2026 - 2.55 0.051 888 -544.3 -116.8 - - 3216 - - - - - - - - 14.77 13.81 14.79
3059 271.6 -8.4 150 3064 done -0.53 - - 2026 - 2.58 0.054 2279 539.1 -116.8 - - 3216 - - - - - - - - 14.07 13.95 14.12
3398 298.4 -7.8 163 3403 roll -0.53 - - 2022 - 2.62 0.080 3694 540.1 -116.8 - - 3215 - - - - - - - - 14.79 13.85 14.81
3489 305.4 -7.3 176 3493 done -0.57 - - 2022 - 2.45 0.039 2281 -576.7 -116.8 - - 3214 - - - - - - - - 14.12 14.05 14.15
3849 334.0 -8.1 185 3855 roll -0.57 - - 2022 - 2.58 0.051 885 -541.1 -116.8 - - 3213 - - - - - - - - 14.78 13.81 14.81
3909 339.0 -8.1 193 3915 done -0.57 - - 2020 - 2.60 0.055 2288 539.6 -116.8 - - 3212 - - - - - - - - 14.06 13.93 14.10
4250 367.2 -8.5 206 4256 roll -0.57 - - 2013 - 2.60 0.083 3688 538.5 -116.8 - - 3210 - - - - - - - - 14.78 13.84 14.80
4310 372.4 -8.8 214 4315 done -0.57 - - 2013 - 2.42 0.041 2280 -581.8 -116.8 - - 3210 - - - - - - - - 14.13 14.06 14.16
4649 403.6 -9.3 227 4654 roll -0.57 - - 2014 - 2.50 0.052 889 -556.4 -116.8 - - 3209 - - - - - - - - 14.78 13.81 14.80
4718 410.7 -9.6 237 4723 done -0.57 - - 2013 - 2.58 0.056 2292 543.8 -116.8 - - 3208 - - - - - - - - 14.06 13.93 14.11
5044 441.1 -9.4 248 5049 roll -0.57 - - 2012 - 2.60 0.085 3694 539.2 -116.8 - - 3206 - - - - - - - - 14.78 13.83 14.80
5112 447.4 -8.5 258 5117 done -0.62 - - 2012 - 2.45 0.042 2273 -580.0 -116.8 - - 3206 - - - - - - - - 14.12 14.04 14.15
5441 475.7 -8.8 269 5446 roll -0.62 - - 2012 - 2.53 0.054 888 -547.4 -116.8 - - 3204 - - - - - - - - 14.78 13.78 14.79
5501 481.1 -8.8 277 5506 done -0.62 - - 2012 - 2.58 0.057 2280 539.5 -116.8 - - 3204 - - - - - - - - 14.04 13.93 14.11
5841 511.0 -8.9 290 5846 roll -0.62 - - 2012 - 2.62 0.084 3699 541.6 -116.8 - - 3202 - - - - - - - - 14.78 13.81 14.80
5931 518.9 -8.2 303 5936 done -0.67 - - 2011 - 2.45 0.041 2274 -581.6 -116.8 - - 3203 - - - - - - - - 14.10 14.02 14.13
6292 549.0 -8.4 312 6297 roll -0.67 - - 2011 - 2.53 0.054 893 -545.8 -116.8 - - 3202 - - - - - - - - 14.78 13.79 14.80
6351 554.0 -8.6 320 6356 done -0.67 - - 2012 - 2.58 0.056 2281 538.0 -116.8 - - 3201 - - - - - - - - 14.05 13.92 14.10
6691 581.6 -8.1 333 6697 roll -0.67 - - 2012 - 2.65 0.086 3692 532.5 -116.8 - - 3200 - - - - - - - - 14.78 13.81 14.79
6768 587.7 -7.0 344 6773 done -0.73 0.15 0.116 1949 -420.0 2.45 0.043 2280 -576.3 -116.8 - - 3200 - - - - - - - - 13.93 14.01 14.04
7089 622.5 -11.3 354 7094 roll -0.66 0.12 0.253 1982 275.0 2.55 0.051 893 -543.9 -116.8 - - 3198 - - - - - - - - 13.70 13.79 13.73
7157 629.8 -9.1 364 7163 done -0.66 - - 1973 - 2.60 0.056 2284 535.0 -116.8 - - 3198 - - - - - - - - 14.03 13.88 14.09
7485 661.4 -9.9 375 7490 roll -0.66 - - 1970 - 2.62 0.087 3690 536.6 -116.8 - - 3196 - - - - - - - - 14.78 13.82 14.80
7533 666.3 -9.8 382 7543 done -0.66 - - 1970 - 2.47 0.044 2300 -562.8 -116.8 - - 3196 - - - - - - - - 14.03 14.00 14.07
7880 701.6 -10.3 389 7885 roll -0.66 - - 1970 - 2.62 0.056 873 -544.7 -116.8 - - 3195 - - - - - - - - 14.78 13.83 14.80
7955 709.6 -9.2 400 7961 done -0.66 - - 1968 - 2.62 0.059 2278 536.3 -116.8 - - 3195 - - - - - - - - 14.07 13.94 14.13
8277 742.5 -10.5 410 8282 roll -0.66 - - 1958 - 2.65 0.085 3694 534.3 -116.8 - - 3194 - - - - - - - - 14.76 13.85 14.76
8352 751.1 -10.2 421 8358 done -0.66 - - 1958 - 2.47 0.044 2277 -573.7 -116.8 - - 3193 - - - - - - - - 14.09 14.00 14.12
8673 787.6 -11.6 431 8678 roll -0.61 0.12 0.253 1994 300.0 2.58 0.053 879 -541.9 -116.8 - - 3193 - - - - - - - - 13.67 13.76 13.70
8749 795.1 -8.6 442 8755 done -0.61 - - 1993 - 2.60 0.060 2277 537.7 -116.8 - - 3192 - - - - - - - - 13.93 13.87 14.02
9068 824.1 -9.0 452 9073 roll -0.61 - - 1986 - 2.65 0.086 3694 534.7 -116.8 - - 3191 - - - - - - - - 14.80 13.83 14.79
9159 831.7 -7.2 465 9164 done -0.61 - - 1986 - 2.47 0.044 2277 -573.7 -116.8 - - 3191 - - - - - - - - 14.09 14.00 14.13
9520 863.0 -8.6 474 9525 roll -0.61 - - 1986 - 2.55 0.056 895 -542.0 -116.8 - - 3190 - - - - - - - - 14.77 13.80 14.79
9595 869.2 -7.5 485 9601 done -0.61 - - 1986 - 2.60 0.058 2281 533.1 -116.8 - - 3190 - - - - - - - - 14.06 13.95 14.11
9917 897.3 -8.9 495 9922 roll -0.61 - - 1985 - 2.67 0.090 3701 531.8 -116.8 - - 3189 - - - - - - - - 14.76 13.84 14.78
9985 903.2 -9.3 505 9991 done -0.61 - - 1985 - 2.50 0.044 2268 -573.2 -116.8 - - 3189 - - - - - - - - 14.10 14.01 14.13
10312 934.6 -9.7 516 10317 roll -0.61 - - 1985 - 2.53 0.058 897 -541.9 -116.8 - - 3188 - - - - - - - - 14.76 13.79 14.78
10353 938.3 -7.6 522 10358 done -0.61 - - 1984 - 2.60 0.060 2282 532.7 -116.8 - - 3188 - - - - - - - - 14.05 13.91 14.11
10707 972.5 -9.5 530 10712 roll -0.61 - - 1984 - 2.67 0.092 3693 528.5 -116.8 - - 3186 - - - - - - - - 14.76 13.83 14.78
10775 978.2 -10.1 540 10780 done -0.61 - - 1984 - 2.47 0.047 2283 -570.9 -116.8 - - 3186 - - - - - - - - 14.09 14.01 14.13
10930 end dive: TARGET_DEPTH_EXCEEDED
10930 begin apogee
10941 992.8 -9.0 548 11140 roll -0.19 0.55 0.198 2129 263.6 - - 2186 - - 197.50 1.586 2742 -2.2 0.279 - - - - - - 13.56 13.75 13.05
11141 end apogee: CONTROL_FINISHED_OK
11141 begin climb
11145 999.8 - 551 11312 roll 0.68 0.98 0.134 2417 293.9 2.58 0.060 818 -530.2 116.8 155.85 1.751 2263 -3.1 0.348 - - - - - - 13.68 13.75 12.38
11341 996.6 9.0 585 11347 done 0.63 - - 2416 - 2.75 0.055 2200 502.5 116.8 - - 2239 - - - - - - - - 13.19 13.08 13.23
11661 973.8 7.6 595 11667 roll 0.57 0.12 0.265 2383 -275.0 2.65 0.085 3615 534.0 116.8 - - 2230 - - - - - - - - 13.65 13.87 13.77
11710 968.9 7.7 602 11721 done 0.57 - - 2392 - 2.55 0.056 2227 -544.3 116.8 - - 2228 - - - - - - - - 14.02 13.95 14.04
12057 946.8 6.7 609 12067 roll 0.58 - - 2402 - 2.60 0.067 782 -555.8 132.9 5.75 1.604 2199 -5.0 0.590 - - - - - - 14.72 14.21 13.44
12204 936.3 7.8 630 12209 done 0.58 - - 2402 - 2.62 0.057 2196 539.7 132.9 - - 2205 - - - - - - - - 14.17 14.05 14.22
12565 913.1 6.7 639 12599 roll 0.59 - - 2402 - 2.55 0.090 3610 554.5 147.0 27.55 1.750 2133 -2.6 0.270 - - - - - - 14.72 14.28 13.62
12636 906.4 11.9 650 12641 done 0.54 0.15 0.252 2379 -153.3 2.53 0.054 2187 -562.5 147.0 - - 2125 - - - - - - - - 13.69 14.05 14.00
12958 886.4 6.5 660 12985 roll 0.55 - - 2389 - 2.50 0.068 793 -557.6 165.7 22.10 1.746 2059 -3.0 0.300 - - - - - - 14.71 14.21 13.63
13088 876.4 8.2 679 13093 done 0.55 - - 2389 - 2.58 0.057 2200 545.3 165.7 - - 2047 - - - - - - - - 14.23 14.10 14.28
13407 853.2 7.6 689 13413 roll 0.55 - - 2389 - 2.60 0.088 3607 541.2 165.7 - - 2044 - - - - - - - - 14.71 13.95 14.72
13448 848.6 10.6 695 13453 done 0.55 - - 2398 - 2.53 0.053 2183 -562.8 165.7 - - 2044 - - - - - - - - 14.21 14.11 14.26
13804 821.5 7.9 703 13808 roll 0.55 - - 2409 - 2.58 0.067 799 -536.4 165.7 - - 2043 - - - - - - - - 14.73 13.91 14.75
13920 812.1 7.6 719 13926 done 0.55 0.12 0.247 2383 -216.7 2.58 0.056 2190 539.1 165.7 - - 2042 - - - - - - - - 13.71 14.01 14.02
14260 789.7 6.7 732 14282 roll 0.56 - - 2383 - 2.62 0.088 3619 545.4 181.9 18.30 1.760 1993 -2.7 0.238 - - - - - - 14.73 14.35 13.66
14332 783.5 9.5 743 14337 done 0.56 - - 2393 - 2.53 0.054 2189 -565.2 181.9 - - 1982 - - - - - - - - 14.22 14.12 14.26
14702 756.2 7.7 753 14708 roll 0.56 - - 2403 - 2.58 0.069 801 -538.0 181.9 - - 1978 - - - - - - - - 14.71 13.95 14.72
14827 745.9 6.9 771 14839 done 0.57 - - 2403 - 2.55 0.056 2186 543.1 192.7 3.95 1.258 1951 -6.8 0.803 - - - - - - 14.14 14.02 13.36
15157 721.5 7.6 782 15161 roll 0.57 - - 2403 - 2.65 0.083 3616 539.6 192.7 - - 1961 - - - - - - - - 14.71 13.90 14.72
15217 715.5 8.3 791 15223 done 0.57 - - 2412 - 2.55 0.053 2186 -560.8 192.7 - - 1961 - - - - - - - - 14.09 13.97 14.14
15552 689.8 7.8 803 15557 roll 0.57 - - 2423 - 2.60 0.066 798 -533.8 192.7 - - 1961 - - - - - - - - 14.73 13.89 14.74
15669 680.7 7.1 819 15684 done 0.57 0.15 0.239 2389 -226.7 2.58 0.054 2183 536.8 198.8 6.07 1.521 1932 -4.8 0.424 - - - - - - 13.62 13.95 13.45
16004 657.4 6.9 832 16045 roll 0.57 - - 2389 - 2.62 0.085 3608 543.9 209.0 32.83 1.432 1884 -1.5 0.133 - - - - - - 14.71 14.24 13.64
16092 650.2 8.5 845 16097 done 0.57 - - 2397 - 2.53 0.051 2179 -564.8 209.0 - - 1877 - - - - - - - - 14.20 14.10 14.24
16453 621.2 8.3 854 16458 roll 0.57 - - 2408 - 2.58 0.067 790 -538.4 209.0 - - 1875 - - - - - - - - 14.70 13.95 14.72
16570 611.5 8.0 870 16575 done 0.57 - - 2408 - 2.58 0.055 2177 537.6 209.0 - - 1874 - - - - - - - - 14.16 14.04 14.22
16909 582.5 8.5 883 16914 roll 0.57 - - 2408 - 2.67 0.082 3617 539.3 209.0 - - 1874 - - - - - - - - 14.71 13.90 14.73
16984 575.2 9.2 894 16990 done 0.57 0.12 0.236 2390 -150.0 2.58 0.053 2179 -557.4 209.0 - - 1873 - - - - - - - - 13.74 14.02 14.00
17306 553.6 6.8 904 17332 roll 0.58 - - 2398 - 2.55 0.068 792 -543.9 222.8 18.65 1.470 1826 -2.5 0.188 - - - - - - 14.71 14.31 13.65
17430 545.2 6.7 922 17454 done 0.64 - - 2397 - 2.53 0.054 2180 548.6 237.2 18.52 1.491 1769 -3.1 0.223 - - - - - - 14.23 14.11 13.62
17811 519.3 6.8 934 17820 roll 0.65 - - 2398 - 2.55 0.080 3617 563.5 249.0 4.70 1.238 1722 -10.0 0.831 - - - - - - 14.69 14.20 13.46
17876 513.8 7.8 944 17881 done 0.65 - - 2405 - 2.55 0.052 2174 -565.9 249.0 - - 1729 - - - - - - - - 14.24 14.14 14.28
18204 491.5 6.9 955 18241 roll 0.65 - - 2405 - 2.50 0.070 791 -553.2 259.6 29.77 1.310 1678 -1.7 0.127 - - - - - - 14.70 14.17 13.69
18331 482.8 6.9 973 18341 done 0.72 - - 2405 - 2.53 0.054 2179 548.6 270.4 5.85 1.302 1639 -6.7 0.490 - - - - - - 14.23 14.12 13.49
18655 459.2 7.5 984 18664 roll 0.72 - - 2405 - 2.65 0.082 3611 540.4 270.4 1.98 0.178 1636 -1.5 0.774 - - - - - - 14.69 14.07 14.02
18714 453.5 9.0 993 18720 done 0.72 - - 2407 - 2.55 0.052 2169 -565.5 270.4 - - 1644 - - - - - - - - 14.20 14.09 14.23
19048 423.8 9.3 1005 19054 roll 0.72 - - 2407 - 2.55 0.070 797 -538.0 270.4 - - 1644 - - - - - - - - 14.70 13.88 14.71
19140 414.0 10.4 1018 19145 done 0.78 0.15 0.119 2465 386.7 2.53 0.053 2176 545.1 270.4 - - 1644 - - - - - - - - 13.99 13.99 14.10
19501 364.0 14.1 1027 19506 roll 0.73 0.12 0.262 2434 -258.3 2.65 0.080 3605 539.2 270.4 - - 1644 - - - - - - - - 13.64 13.76 13.68
19550 357.3 12.4 1034 19561 done 0.73 - - 2443 - 2.60 0.049 2169 -552.3 270.4 - - 1645 - - - - - - - - 13.97 13.92 14.01
19897 321.9 9.9 1041 19903 roll 0.73 - - 2453 - 2.60 0.067 783 -533.1 270.4 - - 1644 - - - - - - - - 14.69 13.90 14.71
20001 312.1 8.7 1056 20013 done 0.73 - - 2453 - 2.60 0.054 2158 528.8 270.4 - - 1645 - - - - - - - - 13.95 13.88 14.00
20350 274.3 11.6 1063 20355 roll 0.73 - - 2453 - 2.70 0.080 3608 537.0 270.4 - - 1644 - - - - - - - - 14.71 13.91 14.73
20411 266.7 12.8 1071 20415 done 0.73 - - 2462 - 2.60 0.049 2161 -556.5 270.4 - - 1644 - - - - - - - - 14.07 13.97 14.11
20749 226.0 11.7 1084 20754 roll 0.73 - - 2472 - 2.55 0.063 791 -537.3 270.4 - - 1644 - - - - - - - - 14.72 13.87 14.74
20854 213.3 11.5 1099 20865 done 0.73 0.12 0.197 2437 -291.7 2.60 0.054 2165 528.5 270.4 - - 1644 - - - - - - - - 13.65 13.88 13.78
21201 178.7 9.9 1106 21206 roll 0.73 - - 2436 - 2.67 0.079 3611 541.6 270.4 - - 1645 - - - - - - - - 14.72 13.90 14.73
21262 172.1 9.9 1115 21268 done 0.73 - - 2446 - 2.60 0.048 2158 -558.8 270.4 - - 1644 - - - - - - - - 14.06 13.95 14.10
21598 139.4 10.2 1127 21603 roll 0.73 - - 2455 - 2.58 0.063 784 -532.6 270.4 - - 1645 - - - - - - - - 14.71 13.87 14.73
21689 129.3 10.1 1140 21694 done 0.73 - - 2455 - 2.55 0.053 2161 540.0 270.4 - - 1644 - - - - - - - - 14.04 13.92 14.09
22051 96.1 8.7 1149 22058 roll 0.73 - - 2456 - 2.70 0.077 3612 537.4 270.4 - - 1644 - - - - - - - - 14.73 13.88 14.76
22101 91.2 9.6 1156 22113 done 0.73 0.08 0.216 2441 -187.5 2.65 0.049 2161 -547.5 270.4 - - 1645 - - - - - - - - 13.64 13.93 13.78
22420 69.1 6.4 1168 22448 done 0.80 - - 2442 - - - 2160 - 292.8 17.80 0.316 1551 -5.3 0.229 - - - - - - 14.71 14.16 13.93
22758 50.6 5.7 1180 22794 roll 0.96 0.17 0.102 2532 529.4 2.45 0.059 774 -565.7 332.0 29.27 0.277 1387 -5.6 0.203 - - - - - - 14.14 14.31 14.05
23012 39.1 7.0 1216 23026 done 1.05 - - 2532 - 2.53 0.050 2172 552.6 339.5 7.47 0.208 1354 -4.4 0.165 - - - - - - 14.15 14.04 13.91
23353 22.6 3.9 1231 23412 roll 1.17 0.12 0.126 2590 483.3 2.53 0.073 3617 571.1 420.2 54.42 0.184 1023 -6.1 0.148 - - - - - - 14.21 14.28 14.14
23465 10.6 11.6 1247 23470 done 1.17 - - 2599 - 2.55 0.047 2159 -571.8 420.2 - - 1027 - - - - - - - - 14.21 14.11 14.24
23548 end climb: SURFACE_DEPTH_REACHED
23548 begin surface coast
23576 end surface coast: CONTROL_FINISHED_OK
23576 begin surface
SM 0.72 - - - - -6.13 7.15 0.076 217 30.3 0.25 0.082 2301 5084.0 500.17 51.53 0.136 698 13.5 -0.007 - - - - - -