SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 732 * Raw log
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• Previous call tries 1 • 280.19 of 350.00 AH used of 24V (19.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.8 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 19 s • Transponder ping count: 30
• 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 - - 193 - - - 2253 - -116.8 -88.95 - 2985 - - - - - - - - 14.59 - 14.62
103 3.8 -5.1 3 128 roll -0.68 8.88 0.394 1979 201.1 2.67 2.039 906 -504.5 -116.8 -4.03 - 3221 -58.6 - - - - - - - 13.90 12.55 14.17
191 32.4 -21.9 15 196 done -0.50 0.28 0.267 2034 196.4 2.45 0.058 2254 550.2 -116.8 - - 3222 - - - - - - - - 13.63 14.09 13.98
530 79.8 -7.3 30 535 roll -0.50 - - 2024 - 2.58 0.072 3702 561.2 -116.8 - - 3223 - - - - - - - - 14.76 14.02 14.77
635 88.3 -8.4 45 647 done -0.50 - - 2024 - 2.45 0.037 2298 -573.1 -116.8 - - 3224 - - - - - - - - 14.09 14.02 14.09
982 116.5 -8.6 55 987 roll -0.50 - - 2024 - 2.53 0.050 889 -556.9 -116.8 - - 3225 - - - - - - - - 14.77 13.98 14.78
1064 123.8 -8.1 67 1069 done -0.50 - - 2024 - 2.55 0.053 2291 549.8 -116.8 - - 3225 - - - - - - - - 14.10 13.98 14.15
1435 154.1 -8.4 77 1441 roll -0.50 - - 2015 - 2.55 0.077 3686 547.1 -116.8 - - 3225 - - - - - - - - 14.76 13.88 14.78
1539 163.4 -8.6 92 1550 done -0.50 - - 2014 - 2.47 0.039 2285 -567.2 -116.8 - - 3225 - - - - - - - - 13.99 13.95 14.01
1887 196.9 -10.1 99 1892 roll -0.50 - - 2015 - 2.55 0.052 881 -550.6 -116.8 - - 3223 - - - - - - - - 14.78 13.92 14.80
1935 202.5 -10.8 106 1946 done -0.50 - - 2015 - 2.62 0.056 2278 533.2 -116.8 - - 3222 - - - - - - - - 13.90 13.85 13.96
2282 237.4 -9.9 113 2288 roll -0.50 - - 2011 - 2.60 0.078 3693 544.2 -116.8 - - 3221 - - - - - - - - 14.78 13.85 14.80
2365 245.2 -9.0 125 2371 done -0.50 - - 2011 - 2.42 0.039 2277 -585.1 -116.8 - - 3220 - - - - - - - - 14.17 14.09 14.21
2736 280.5 -9.9 135 2741 roll -0.50 - - 2011 - 2.50 0.050 892 -554.0 -116.8 - - 3218 - - - - - - - - 14.77 13.92 14.78
2805 287.9 -9.3 145 2811 done -0.50 - - 2011 - 2.55 0.054 2285 546.3 -116.8 - - 3218 - - - - - - - - 14.07 13.95 14.12
3133 316.1 -8.6 156 3138 roll -0.50 - - 2011 - 2.60 0.082 3691 540.8 -116.8 - - 3217 - - - - - - - - 14.79 13.81 14.80
3223 324.5 -8.9 169 3228 done -0.50 - - 2011 - 2.42 0.041 2280 -583.1 -116.8 - - 3216 - - - - - - - - 14.17 14.10 14.20
3584 359.7 -9.9 178 3589 roll -0.50 - - 2011 - 2.53 0.050 886 -551.0 -116.8 - - 3214 - - - - - - - - 14.78 13.90 14.79
3624 364.1 -9.6 184 3629 done -0.50 - - 2011 - 2.55 0.054 2278 545.9 -116.8 - - 3214 - - - - - - - - 14.07 13.94 14.12
3980 395.0 -8.6 192 3985 roll -0.50 - - 2009 - 2.62 0.080 3702 543.5 -116.8 - - 3212 - - - - - - - - 14.76 13.82 14.78
4055 401.5 -7.7 203 4061 done -0.50 - - 2009 - 2.45 0.040 2284 -578.8 -116.8 - - 3211 - - - - - - - - 14.16 14.09 14.19
4376 427.8 -8.4 213 4382 roll -0.50 - - 2009 - 2.53 0.053 892 -550.2 -116.8 - - 3210 - - - - - - - - 14.76 13.89 14.80
4437 433.0 -8.7 221 4443 done -0.50 0.12 0.230 2038 241.7 2.58 0.055 2283 539.1 -116.8 - - 3209 - - - - - - - - 13.65 13.93 13.87
4777 458.3 -7.4 234 4782 roll -0.50 - - 2033 - 2.62 0.083 3701 541.2 -116.8 - - 3207 - - - - - - - - 14.78 13.81 14.80
4853 464.1 -7.1 245 4859 done -0.57 - - 2033 - 2.47 0.041 2276 -576.9 -116.8 - - 3207 - - - - - - - - 14.16 14.08 14.19
5174 487.9 -7.6 255 5175 done -0.57 - - 2033 - - - 2266 - -116.8 - - 3205 - - - - - - - - 14.77 14.79 14.78
5509 514.7 -8.0 261 5510 done -0.57 - - 2033 - - - 2266 - -116.8 - - 3204 - - - - - - - - 14.78 14.80 14.80
5845 540.5 -7.6 267 5850 roll -0.57 - - 2033 - 2.53 0.054 895 -541.9 -116.8 - - 3203 - - - - - - - - 14.78 13.85 14.80
5865 542.2 -7.3 270 5870 done -0.62 - - 2030 - 2.58 0.056 2290 540.7 -116.8 - - 3202 - - - - - - - - 14.05 13.92 14.10
6184 564.3 -7.0 280 6189 roll -0.62 - - 2025 - 2.62 0.086 3694 535.9 -116.8 - - 3201 - - - - - - - - 14.78 13.76 14.79
6231 567.9 -7.0 287 6243 done -0.69 0.12 0.072 1960 -541.7 2.53 0.044 2282 -558.1 -116.8 - - 3201 - - - - - - - - 13.82 13.91 13.88
6581 606.1 -11.5 294 6586 roll -0.63 0.12 0.251 1994 283.3 2.55 0.052 889 -546.3 -116.8 - - 3200 - - - - - - - - 13.78 13.85 13.83
6684 617.0 -9.5 309 6696 done -0.63 - - 1990 - 2.65 0.057 2285 526.8 -116.8 - - 3199 - - - - - - - - 13.83 13.74 13.88
7034 652.0 -10.3 316 7039 roll -0.63 - - 1985 - 2.65 0.086 3689 529.8 -116.8 - - 3198 - - - - - - - - 14.77 13.77 14.79
7080 657.2 -10.1 323 7092 done -0.63 - - 1985 - 2.53 0.044 2279 -557.3 -116.8 - - 3198 - - - - - - - - 13.93 13.90 13.98
7429 690.9 -9.6 330 7434 roll -0.63 - - 1985 - 2.55 0.055 883 -547.5 -116.8 - - 3196 - - - - - - - - 14.78 13.83 14.79
7488 696.5 -10.0 338 7492 done -0.63 - - 1984 - 2.62 0.059 2285 535.1 -116.8 - - 3196 - - - - - - - - 14.02 13.88 14.07
7828 728.4 -9.5 351 7832 roll -0.63 - - 1981 - 2.65 0.087 3696 532.5 -116.8 - - 3194 - - - - - - - - 14.77 13.76 14.78
7886 734.0 -10.2 359 7891 done -0.63 - - 1981 - 2.50 0.043 2275 -568.4 -116.8 - - 3194 - - - - - - - - 14.13 14.05 14.16
8226 765.7 -9.5 372 8231 roll -0.63 - - 1981 - 2.55 0.056 882 -546.3 -116.8 - - 3194 - - - - - - - - 14.77 13.80 14.79
8301 772.9 -8.6 383 8307 done -0.63 - - 1977 - 2.62 0.060 2281 534.0 -116.8 - - 3193 - - - - - - - - 13.97 13.81 14.02
8622 802.9 -9.4 393 8627 roll -0.63 - - 1972 - 2.65 0.086 3691 532.1 -116.8 - - 3193 - - - - - - - - 14.78 13.72 14.80
8669 807.4 -9.6 400 8680 done -0.63 - - 1972 - 2.55 0.044 2272 -556.5 -116.8 - - 3192 - - - - - - - - 13.93 13.89 13.96
9018 841.0 -9.7 407 9023 roll -0.63 - - 1972 - 2.58 0.057 882 -538.8 -116.8 - - 3191 - - - - - - - - 14.76 13.81 14.78
9087 847.6 -9.5 417 9093 done -0.63 - - 1971 - 2.62 0.060 2279 533.2 -116.8 - - 3190 - - - - - - - - 14.01 13.87 14.07
9414 878.9 -9.6 428 9419 roll -0.63 - - 1967 - 2.67 0.087 3690 528.5 -116.8 - - 3189 - - - - - - - - 14.78 13.76 14.79
9504 887.1 -8.0 441 9510 done -0.63 - - 1967 - 2.50 0.045 2274 -566.4 -116.8 - - 3189 - - - - - - - - 14.10 14.02 14.12
9866 921.9 -9.6 450 9870 roll -0.63 - - 1967 - 2.60 0.059 885 -534.2 -116.8 - - 3188 - - - - - - - - 14.78 13.76 14.79
9942 928.8 -8.0 461 9948 done -0.63 0.12 0.265 1988 175.0 2.60 0.060 2270 532.7 -116.8 - - 3188 - - - - - - - - 13.47 13.85 13.74
10261 955.5 -8.3 471 10266 roll -0.63 - - 1984 - 2.72 0.090 3692 522.8 -116.8 - - 3187 - - - - - - - - 14.77 13.73 14.79
10337 961.4 -7.2 482 10342 done -0.63 - - 1984 - 2.53 0.047 2269 -562.5 -116.8 - - 3187 - - - - - - - - 14.10 14.02 14.14
10658 989.8 -8.8 492 10663 roll -0.63 - - 1984 - 2.58 0.059 885 -536.4 -116.8 - - 3186 - - - - - - - - 14.76 13.76 14.78
10666 end dive: TARGET_DEPTH_EXCEEDED
10666 begin apogee
10677 991.3 -8.6 494 10877 roll -0.19 0.55 0.203 2129 263.6 - - 2203 - - 197.60 1.589 2739 -2.3 0.285 - - - - - - 13.50 13.62 12.96
10879 end apogee: CONTROL_FINISHED_OK
10879 begin climb
10883 998.3 - 497 11051 roll 0.68 0.98 0.138 2413 289.8 2.70 0.058 804 -518.1 116.8 155.48 1.782 2260 -3.1 0.349 - - - - - - 13.56 13.63 12.13
11100 993.3 8.8 534 11105 done 0.68 - - 2413 - 2.83 0.055 2202 494.0 116.8 - - 2237 - - - - - - - - 13.03 12.93 13.07
11464 967.3 7.7 543 11470 roll 0.63 - - 2412 - 2.67 0.087 3615 529.2 116.8 - - 2230 - - - - - - - - 14.44 13.78 14.46
11540 959.2 9.9 554 11546 done 0.55 0.17 0.257 2384 -164.7 2.55 0.055 2208 -551.8 116.8 - - 2228 - - - - - - - - 13.57 13.94 13.90
11860 938.4 6.8 564 11869 roll 0.56 - - 2394 - 2.55 0.067 799 -552.5 130.1 3.53 1.177 2205 -6.5 1.051 - - - - - - 14.69 14.25 13.24
11962 930.5 6.7 579 11995 done 0.57 - - 2394 - 2.65 0.057 2205 530.6 145.5 28.33 1.834 2144 -2.2 0.221 - - - - - - 14.02 13.95 13.42
12309 906.2 7.4 593 12314 roll 0.57 - - 2394 - 2.60 0.086 3611 540.8 145.5 - - 2125 - - - - - - - - 14.70 14.01 14.71
12343 902.4 9.4 598 12348 done 0.57 - - 2403 - 2.53 0.054 2186 -563.2 145.5 - - 2125 - - - - - - - - 14.26 14.16 14.30
12704 876.6 7.3 607 12710 roll 0.57 - - 2414 - 2.58 0.067 802 -536.4 145.5 - - 2124 - - - - - - - - 14.72 13.95 14.74
12820 868.5 5.0 623 12918 done 0.60 - - 2414 - 2.60 0.056 2203 538.8 200.4 89.65 1.528 1918 -2.3 0.264 - - - - - - 14.13 14.01 13.39
13273 832.4 8.2 645 13278 roll 0.60 - - 2414 - 2.60 0.086 3613 542.3 200.4 - - 1900 - - - - - - - - 14.65 14.04 14.67
13313 827.5 10.7 651 13319 done 0.60 - - 2423 - 2.50 0.055 2201 -564.8 200.4 - - 1899 - - - - - - - - 14.26 14.16 14.30
13669 797.1 8.9 659 13675 roll 0.60 0.12 0.267 2402 -175.0 2.62 0.068 787 -539.7 200.4 - - 1897 - - - - - - - - 13.75 13.91 13.84
13786 787.9 6.2 675 13823 done 0.62 - - 2402 - 2.60 0.057 2191 540.0 226.6 32.88 1.635 1816 -2.5 0.240 - - - - - - 14.17 14.04 13.61
14173 754.3 9.0 688 14178 roll 0.62 - - 2402 - 2.65 0.086 3622 540.0 226.6 - - 1793 - - - - - - - - 14.69 14.00 14.71
14198 750.7 11.4 692 14203 done 0.62 - - 2412 - 2.55 0.055 2185 -563.5 226.6 - - 1792 - - - - - - - - 14.23 14.12 14.28
14568 713.5 10.4 702 14572 roll 0.62 - - 2422 - 2.58 0.067 797 -538.0 226.6 - - 1791 - - - - - - - - 14.72 13.92 14.74
14684 701.5 9.6 718 14689 done 0.62 - - 2422 - 2.58 0.054 2195 541.9 226.6 - - 1790 - - - - - - - - 14.14 14.01 14.19
15023 664.3 10.9 731 15028 roll 0.62 - - 2422 - 2.65 0.084 3614 535.5 226.6 - - 1789 - - - - - - - - 14.71 13.90 14.73
15082 657.5 11.2 739 15088 done 0.62 0.15 0.238 2397 -166.7 2.58 0.054 2183 -554.7 226.6 - - 1788 - - - - - - - - 13.65 14.04 13.95
15424 626.8 8.8 752 15429 roll 0.62 - - 2407 - 2.60 0.066 796 -533.5 226.6 - - 1787 - - - - - - - - 14.71 13.83 14.73
15527 617.7 8.0 767 15539 done 0.62 - - 2408 - 2.62 0.054 2185 530.2 226.6 - - 1787 - - - - - - - - 13.93 13.85 13.97
15875 590.5 7.8 774 15880 roll 0.62 - - 2407 - 2.67 0.083 3616 536.0 226.6 - - 1787 - - - - - - - - 14.72 13.88 14.74
15916 586.7 8.4 780 15921 done 0.62 - - 2417 - 2.60 0.053 2167 -557.3 226.6 - - 1786 - - - - - - - - 14.08 13.97 14.14
16270 559.7 7.6 788 16275 roll 0.62 - - 2426 - 2.58 0.068 796 -531.4 226.6 - - 1786 - - - - - - - - 14.72 13.83 14.75
16360 552.6 7.1 801 16365 done 0.62 - - 2426 - 2.58 0.054 2185 538.4 231.7 - - 1786 - - - - - - - - 14.04 13.90 14.09
16724 524.0 8.1 810 16729 roll 0.62 - - 2426 - 2.67 0.081 3610 533.7 231.7 - - 1786 - - - - - - - - 14.71 13.83 14.73
16792 517.1 9.1 820 16797 done 0.62 0.15 0.236 2401 -166.7 2.58 0.050 2178 -555.0 231.7 - - 1786 - - - - - - - - 13.59 13.95 13.87
17121 493.0 7.6 831 17127 roll 0.62 - - 2406 - 2.62 0.068 789 -530.2 231.7 - - 1785 - - - - - - - - 14.72 13.81 14.74
17204 485.8 8.3 843 17210 done 0.62 - - 2407 - 2.58 0.054 2176 537.6 231.7 - - 1786 - - - - - - - - 14.02 13.89 14.09
17574 453.9 9.0 853 17579 roll 0.62 - - 2407 - 2.70 0.083 3608 530.4 231.7 - - 1785 - - - - - - - - 14.73 13.79 14.75
17657 444.8 10.4 865 17662 done 0.62 - - 2416 - 2.58 0.049 2167 -558.5 231.7 - - 1785 - - - - - - - - 14.04 13.95 14.09
18026 409.7 9.6 875 18031 roll 0.62 - - 2424 - 2.58 0.066 797 -531.0 231.7 - - 1785 - - - - - - - - 14.73 13.76 14.76
18130 399.5 9.1 890 18141 done 0.62 - - 2424 - 2.60 0.054 2171 528.5 231.7 - - 1785 - - - - - - - - 13.84 13.77 13.90
18480 368.9 8.7 897 18485 roll 0.62 - - 2424 - 2.72 0.083 3616 531.2 231.7 - - 1786 - - - - - - - - 14.73 13.81 14.75
18539 363.5 9.1 905 18544 done 0.62 0.15 0.226 2397 -180.0 2.60 0.051 2175 -554.2 231.7 - - 1785 - - - - - - - - 13.57 13.93 13.85
18880 339.8 7.0 918 18890 roll 0.62 - - 2404 - 2.47 0.067 787 -561.9 240.7 4.93 1.119 1757 -5.7 0.349 - - - - - - 14.73 14.08 13.32
18960 333.1 7.8 930 18966 done 0.68 - - 2404 - 2.58 0.054 2182 540.7 240.7 - - 1766 - - - - - - - - 14.10 13.97 14.15
19330 302.3 8.7 940 19339 roll 0.68 - - 2405 - 2.67 0.080 3619 538.2 240.7 1.98 0.173 1757 -4.5 1.606 - - - - - - 14.74 14.08 13.95
19389 296.1 9.9 949 19394 done 0.68 - - 2412 - 2.58 0.050 2171 -561.2 240.7 - - 1764 - - - - - - - - 14.08 13.98 14.12
19723 266.9 8.8 961 19728 roll 0.68 - - 2419 - 2.58 0.067 796 -532.9 240.7 - - 1766 - - - - - - - - 14.74 13.76 14.75
19819 258.5 8.1 975 19825 done 0.68 - - 2419 - 2.55 0.052 2174 540.4 240.7 1.62 0.181 1756 -6.2 1.783 - - - - - - 14.00 13.88 13.95
20176 231.5 7.5 983 20181 roll 0.68 - - 2419 - 2.67 0.080 3611 538.2 240.7 - - 1766 - - - - - - - - 14.72 13.81 14.73
20236 226.3 8.7 991 20241 done 0.68 - - 2429 - 2.58 0.049 2171 -558.1 240.7 - - 1766 - - - - - - - - 14.05 13.95 14.09
20577 196.6 9.0 1004 20582 roll 0.68 - - 2437 - 2.60 0.066 790 -531.2 240.7 - - 1766 - - - - - - - - 14.73 13.77 14.74
20716 183.4 9.0 1024 20721 done 0.68 - - 2437 - 2.55 0.053 2166 539.6 240.7 - - 1766 - - - - - - - - 13.99 13.86 14.03
21085 150.4 9.2 1034 21090 roll 0.68 - - 2438 - 2.70 0.079 3607 533.7 240.7 - - 1766 - - - - - - - - 14.74 13.76 14.76
21168 141.3 10.6 1046 21174 done 0.68 - - 2448 - 2.58 0.046 2163 -559.7 240.7 1.55 0.181 1757 -5.8 0.917 - - - - - - 14.02 13.93 13.94
21529 105.1 10.5 1055 21535 roll 0.68 - - 2456 - 2.55 0.063 792 -537.6 240.7 - - 1766 - - - - - - - - 14.75 13.77 14.76
21649 92.4 9.5 1072 21654 done 0.68 0.15 0.221 2421 -233.3 2.55 0.051 2176 542.7 240.7 - - 1766 - - - - - - - - 13.54 13.88 13.79
21987 70.8 5.4 1086 22025 roll 0.76 - - 2421 - 2.55 0.077 3609 562.0 285.8 33.72 0.337 1574 -5.7 0.242 - - - - - - 14.69 14.18 13.93
22101 65.7 4.3 1102 22161 done 0.87 0.20 0.102 2495 370.0 2.58 0.047 2156 -563.2 358.8 52.28 0.332 1275 -5.7 0.229 - - - - - - 14.04 14.08 14.00
22490 43.6 5.0 1125 22534 roll 1.04 0.12 0.126 2570 625.0 2.53 0.059 791 -539.5 413.9 38.28 0.257 1050 -5.9 0.202 - - - - - - 14.26 14.35 14.09
22668 30.6 7.1 1151 22687 done 1.04 0.12 0.210 2539 -258.3 2.50 0.051 2164 549.2 418.9 4.90 0.183 1040 -2.0 0.069 - - - - - - 13.83 14.07 13.90
23001 6.7 6.2 1164 23028 roll 1.14 - - 2539 - 2.55 0.071 3611 567.5 444.7 19.17 0.146 925 -6.0 0.056 - - - - - - 14.68 14.26 14.15
23037 end climb: SURFACE_DEPTH_REACHED
23037 begin surface coast
23044 end surface coast: CONTROL_FINISHED_OK
23044 begin surface
SM 0.57 - - - - -6.13 7.00 0.080 221 31.6 2.42 0.051 2279 -2616.9 500.41 38.10 0.136 699 18.3 -0.008 - - - - - -