SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 642 * Raw log
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• Previous call tries 1 • 247.62 of 350.00 AH used of 24V (29.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.9 deg, depth 0.78 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 67 s
• GPS2 time: 18 s • Transponder ping count: 27
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
8 - - - 99 VBD -0.68 - - 211 - - - 2304 - -116.8 -89.75 - 2957 - - - - - - - - 14.64 - 14.66
103 3.2 -4.1 3 128 roll -0.68 8.95 0.399 1960 195.4 2.70 2.072 3671 506.3 -116.8 -4.75 - 3219 -55.2 - - - - - - - 13.78 13.28 14.05
150 22.2 -33.3 10 161 done -0.34 0.45 0.239 2081 268.9 2.47 0.047 2262 -570.4 -116.8 - - 3221 - - - - - - - - 13.94 14.28 14.12
469 74.0 -13.3 22 474 roll -0.34 - - 2081 - 2.45 0.050 876 -565.7 -116.8 - - 3221 - - - - - - - - 14.80 14.19 14.81
530 79.4 -7.7 31 536 done -0.34 - - 2081 - 2.50 0.052 2259 553.2 -116.8 - - 3221 - - - - - - - - 14.19 14.14 14.24
867 100.5 -6.9 45 873 roll -0.39 - - 2081 - 2.58 0.076 3695 556.6 -116.8 - - 3222 - - - - - - - - 14.83 14.04 14.85
943 106.7 -7.4 56 949 done -0.48 0.12 0.121 2024 -475.0 2.42 0.037 2256 -594.6 -116.8 - - 3222 - - - - - - - - 14.19 14.28 14.29
1265 131.8 -7.3 66 1270 roll -0.48 - - 2025 - 2.40 0.049 901 -564.6 -116.8 - - 3223 - - - - - - - - 14.86 14.05 14.88
1324 135.9 -7.0 74 1329 done -0.48 - - 2023 - 2.50 0.054 2286 554.0 -116.8 - - 3223 - - - - - - - - 14.23 14.12 14.28
1663 161.4 -7.9 87 1667 roll -0.48 - - 2016 - 2.58 0.076 3697 546.9 -116.8 - - 3222 - - - - - - - - 14.88 13.93 14.90
1795 173.0 -8.5 106 1800 done -0.48 - - 2016 - 2.40 0.037 2291 -585.8 -116.8 - - 3222 - - - - - - - - 14.30 14.24 14.33
2114 201.0 -9.0 116 2119 roll -0.48 - - 2016 - 2.53 0.052 890 -553.8 -116.8 - - 3221 - - - - - - - - 14.89 14.00 14.90
2203 209.5 -8.8 129 2209 done -0.48 - - 2015 - 2.53 0.054 2289 553.0 -116.8 - - 3220 - - - - - - - - 14.16 14.04 14.21
2567 241.6 -9.0 138 2572 roll -0.48 - - 2012 - 2.58 0.080 3689 542.6 -116.8 - - 3218 - - - - - - - - 14.88 13.84 14.88
2683 251.7 -8.6 154 2688 done -0.48 0.12 0.210 2042 250.0 2.42 0.041 2288 -578.9 -116.8 - - 3217 - - - - - - - - 13.81 14.18 14.00
3023 276.8 -7.5 167 3028 roll -0.48 - - 2043 - 2.53 0.053 892 -551.8 -116.8 - - 3216 - - - - - - - - 14.88 13.95 14.90
3090 282.6 -7.5 177 3096 done -0.54 - - 2043 - 2.53 0.054 2284 550.2 -116.8 - - 3215 - - - - - - - - 14.13 14.00 14.17
3418 304.6 -6.8 188 3423 roll -0.54 - - 2042 - 2.60 0.081 3697 543.5 -116.8 - - 3214 - - - - - - - - 14.88 13.85 14.90
3523 311.9 -6.8 203 3534 done -0.61 0.10 0.076 1984 -580.0 2.47 0.041 2286 -571.3 -116.8 - - 3213 - - - - - - - - 13.86 13.96 13.92
3870 345.1 -9.8 210 3875 roll -0.61 - - 1984 - 2.53 0.052 887 -553.0 -116.8 - - 3211 - - - - - - - - 14.89 13.90 14.90
3960 354.2 -9.2 223 3964 done -0.61 - - 1984 - 2.55 0.056 2287 549.0 -116.8 - - 3210 - - - - - - - - 14.08 13.95 14.13
4321 388.9 -9.8 232 4326 roll -0.61 - - 1977 - 2.62 0.082 3703 540.5 -116.8 - - 3208 - - - - - - - - 14.88 13.83 14.88
4389 396.1 -10.1 242 4394 done -0.61 - - 1977 - 2.45 0.042 2289 -577.1 -116.8 - - 3208 - - - - - - - - 14.16 14.07 14.20
4718 429.2 -10.3 253 4724 roll -0.57 0.12 0.248 2010 275.0 2.55 0.052 892 -547.8 -116.8 - - 3207 - - - - - - - - 13.87 13.87 13.91
4765 434.4 -9.0 260 4777 done -0.57 - - 2009 - 2.62 0.057 2294 535.1 -116.8 - - 3206 - - - - - - - - 13.95 13.87 13.99
5114 465.9 -9.3 267 5118 roll -0.57 - - 2009 - 2.60 0.084 3694 538.5 -116.8 - - 3205 - - - - - - - - 14.88 13.85 14.90
5219 475.6 -8.6 282 5230 done -0.57 - - 2009 - 2.50 0.043 2288 -562.4 -116.8 - - 3204 - - - - - - - - 13.96 13.92 14.00
5566 506.1 -8.9 289 5574 roll -0.57 - - 2009 - 2.55 0.055 885 -550.2 -116.8 - - 3203 - - - - - - - - 14.89 13.83 14.90
5658 514.4 -8.4 302 5663 done -0.57 - - 2009 - 2.58 0.056 2288 543.8 -116.8 - - 3202 - - - - - - - - 14.04 13.91 14.09
6021 542.8 -7.9 311 6027 roll -0.57 - - 2009 - 2.62 0.086 3688 534.4 -116.8 - - 3201 - - - - - - - - 14.88 13.86 14.89
6089 548.5 -7.4 321 6095 done -0.57 - - 2009 - 2.45 0.043 2287 -571.8 -116.8 - - 3200 - - - - - - - - 14.12 14.03 14.16
6417 572.6 -7.4 332 6422 roll -0.57 - - 2008 - 2.53 0.054 892 -551.4 -116.8 - - 3199 - - - - - - - - 14.88 13.81 14.90
6493 578.5 -7.0 343 6498 done -0.57 - - 2009 - 2.58 0.057 2287 540.7 -116.8 - - 3198 - - - - - - - - 14.04 13.91 14.09
6812 601.9 -7.5 353 6817 roll -0.57 - - 2009 - 2.62 0.086 3694 537.0 -116.8 - - 3197 - - - - - - - - 14.88 13.87 14.89
6838 604.2 -7.3 357 6844 done -0.57 - - 2009 - 2.47 0.043 2277 -573.7 -116.8 - - 3197 - - - - - - - - 14.13 14.05 14.16
7209 632.8 -8.0 367 7214 roll -0.57 - - 2009 - 2.55 0.055 890 -543.9 -116.8 - - 3196 - - - - - - - - 14.87 13.79 14.88
7297 640.5 -7.5 380 7303 done -0.57 - - 2009 - 2.58 0.056 2281 539.1 -116.8 - - 3196 - - - - - - - - 14.04 13.90 14.09
7660 668.5 -7.8 389 7666 roll -0.57 - - 2008 - 2.65 0.085 3690 531.7 -116.8 - - 3194 - - - - - - - - 14.87 13.89 14.89
7722 673.1 -8.1 397 7727 done -0.62 - - 2008 - 2.50 0.044 2272 -567.2 -116.8 - - 3194 - - - - - - - - 14.12 14.03 14.14
8061 698.6 -7.5 410 8066 roll -0.62 - - 2008 - 2.58 0.057 884 -538.0 -116.8 - - 3193 - - - - - - - - 14.88 13.78 14.89
8121 703.1 -8.3 418 8125 done -0.62 - - 2008 - 2.60 0.057 2281 537.3 -116.8 - - 3192 - - - - - - - - 14.02 13.88 14.07
8461 729.0 -7.8 431 8466 roll -0.62 - - 2003 - 2.65 0.085 3699 535.1 -116.8 - - 3191 - - - - - - - - 14.86 13.90 14.88
8536 735.3 -7.3 442 8541 done -0.67 - - 2003 - 2.50 0.043 2272 -570.8 -116.8 - - 3191 - - - - - - - - 14.09 14.02 14.12
8857 763.1 -8.9 452 8862 roll -0.67 - - 2003 - 2.55 0.057 890 -542.0 -116.8 - - 3190 - - - - - - - - 14.86 13.78 14.88
8889 766.2 -8.7 457 8896 done -0.67 - - 1999 - 2.60 0.057 2290 538.5 -116.8 - - 3190 - - - - - - - - 14.04 13.90 14.09
9252 798.1 -8.8 466 9257 roll -0.67 - - 1999 - 2.67 0.090 3696 526.6 -116.8 - - 3189 - - - - - - - - 14.88 13.88 14.89
9312 803.1 -9.7 474 9316 done -0.72 - - 1999 - 2.50 0.044 2281 -566.0 -116.8 - - 3188 - - - - - - - - 14.07 13.99 14.11
9651 831.5 -8.4 487 9656 roll -0.72 - - 1999 - 2.55 0.054 895 -543.5 -116.8 - - 3187 - - - - - - - - 14.85 13.83 14.88
9711 836.7 -10.2 495 9715 done -0.72 - - 1999 - 2.60 0.058 2283 533.8 -116.8 - - 3187 - - - - - - - - 14.03 13.90 14.08
10051 864.2 -8.1 508 10056 roll -0.72 - - 1998 - 2.65 0.088 3691 531.3 -116.8 - - 3186 - - - - - - - - 14.85 13.90 14.87
10140 870.8 -6.8 521 10146 done -0.78 0.17 0.110 1939 -347.1 2.47 0.046 2286 -568.8 -116.8 - - 3186 - - - - - - - - 13.93 14.00 14.03
10503 909.8 -10.9 530 10508 roll -0.71 0.12 0.273 1969 250.0 2.58 0.054 891 -540.7 -116.8 - - 3185 - - - - - - - - 13.67 13.76 13.70
10563 915.5 -11.2 538 10568 done -0.71 - - 1968 - 2.62 0.060 2291 534.4 -116.8 - - 3185 - - - - - - - - 14.03 13.89 14.08
10903 946.2 -9.1 551 10908 roll -0.71 - - 1960 - 2.65 0.089 3694 529.4 -116.8 - - 3184 - - - - - - - - 14.89 13.90 14.88
10980 952.8 -6.0 562 10984 done -0.71 - - 1960 - 2.47 0.047 2303 -563.2 -116.8 - - 3183 - - - - - - - - 14.07 13.99 14.11
11298 984.4 -9.8 572 11304 roll -0.71 - - 1959 - 2.62 0.057 879 -543.5 -116.8 - - 3183 - - - - - - - - 14.85 13.85 14.87
11354 end dive: TARGET_DEPTH_EXCEEDED
11354 begin apogee
11365 990.3 -10.0 580 11525 roll -0.19 0.68 0.220 2134 257.4 - - 2206 - - 145.90 2.502 2741 -3.0 0.235 - - - - 1 - 13.74 13.42 12.53
11526 end apogee: CONTROL_FINISHED_OK
11526 begin climb
11531 996.6 - 583 11701 roll 0.68 0.95 0.133 2413 293.7 2.67 0.057 793 -529.2 116.8 157.23 1.854 2258 -3.1 0.323 - - - - - - 13.59 13.70 12.95
11755 990.8 4.4 615 11846 done 0.72 - - 2413 - 2.62 0.058 2211 541.2 187.8 84.10 1.819 1969 -3.4 0.366 - - - - - - 14.13 14.02 12.99
12207 950.3 9.3 637 12213 roll 0.72 - - 2413 - 2.55 0.087 3610 548.6 187.8 - - 1951 - - - - - - - - 14.70 14.19 14.71
12247 945.3 10.2 643 12253 done 0.72 - - 2423 - 2.47 0.054 2191 -574.5 187.8 - - 1950 - - - - - - - - 14.40 14.30 14.44
12604 910.9 9.8 651 12609 roll 0.72 - - 2434 - 2.53 0.068 804 -548.2 187.8 - - 1949 - - - - - - - - 14.78 14.19 14.81
12700 900.4 9.3 665 12706 done 0.72 - - 2433 - 2.53 0.058 2194 549.4 187.8 - - 1948 - - - - - - - - 14.34 14.21 14.40
13055 865.7 10.2 673 13061 roll 0.67 - - 2433 - 2.62 0.089 3618 543.5 187.8 - - 1948 - - - - - - - - 14.83 14.09 14.85
13117 859.2 9.2 681 13123 done 0.60 0.20 0.259 2397 -180.0 2.53 0.057 2189 -564.8 187.8 - - 1946 - - - - - - - - 13.85 14.25 14.19
13456 830.2 8.4 694 13461 roll 0.60 - - 2407 - 2.58 0.069 792 -541.5 187.8 - - 1946 - - - - - - - - 14.84 14.04 14.85
13547 822.0 7.8 707 13551 done 0.60 - - 2407 - 2.55 0.057 2196 550.6 187.8 - - 1946 - - - - - - - - 14.26 14.14 14.33
13908 792.0 8.5 716 13913 roll 0.60 - - 2407 - 2.62 0.087 3607 538.5 187.8 - - 1946 - - - - - - - - 14.84 13.98 14.85
13967 786.6 8.1 724 13971 done 0.60 - - 2417 - 2.53 0.053 2186 -561.7 187.8 - - 1945 - - - - - - - - 14.30 14.20 14.34
14307 756.0 9.1 737 14312 roll 0.60 - - 2428 - 2.58 0.067 798 -538.0 187.8 - - 1945 - - - - - - - - 14.83 13.98 14.85
14425 744.6 8.2 754 14431 done 0.60 0.10 0.209 2399 -290.0 2.58 0.055 2183 536.8 187.8 - - 1945 - - - - - - - - 13.74 14.01 13.90
14759 716.7 8.5 766 14764 roll 0.60 - - 2399 - 2.67 0.084 3615 536.3 187.8 - - 1945 - - - - - - - - 14.85 13.93 14.86
14821 710.0 9.7 775 14826 done 0.60 - - 2409 - 2.55 0.054 2186 -560.4 187.8 - - 1944 - - - - - - - - 14.24 14.14 14.29
15155 678.7 9.7 787 15160 roll 0.60 - - 2420 - 2.58 0.067 796 -538.8 187.8 - - 1945 - - - - - - - - 14.84 13.93 14.86
15259 668.1 9.4 802 15270 done 0.60 - - 2420 - 2.60 0.054 2187 535.0 187.8 - - 1945 - - - - - - - - 14.02 13.95 14.07
15607 635.7 9.4 809 15612 roll 0.60 - - 2420 - 2.65 0.082 3610 537.0 187.8 - - 1944 - - - - - - - - 14.84 13.89 14.86
15654 630.3 10.2 816 15666 done 0.60 0.10 0.216 2400 -200.0 2.60 0.052 2182 -549.2 187.8 - - 1944 - - - - - - - - 13.66 13.97 13.83
16003 602.6 8.1 823 16008 roll 0.60 - - 2410 - 2.58 0.067 795 -537.6 187.8 - - 1944 - - - - - - - - 14.83 13.88 14.85
16092 594.8 8.3 836 16097 done 0.60 - - 2410 - 2.55 0.054 2187 545.9 187.8 - - 1944 - - - - - - - - 14.13 14.00 14.19
16454 564.1 8.7 845 16460 roll 0.60 - - 2410 - 2.67 0.082 3614 534.5 187.8 - - 1944 - - - - - - - - 14.84 13.89 14.86
16516 558.3 9.7 853 16521 done 0.60 - - 2420 - 2.58 0.052 2170 -559.7 187.8 - - 1944 - - - - - - - - 14.16 14.05 14.21
16855 527.3 9.0 866 16860 roll 0.60 - - 2429 - 2.58 0.067 792 -534.1 187.8 - - 1944 - - - - - - - - 14.84 13.87 14.86
16930 520.0 9.2 877 16937 done 0.60 0.15 0.232 2395 -226.7 2.55 0.053 2182 545.1 187.8 - - 1943 - - - - - - - - 13.66 13.98 13.97
17252 495.2 7.8 887 17257 roll 0.60 - - 2395 - 2.67 0.082 3606 533.3 187.8 - - 1944 - - - - - - - - 14.83 13.88 14.85
17291 491.2 9.0 893 17297 done 0.60 - - 2404 - 2.55 0.049 2172 -562.4 187.8 - - 1944 - - - - - - - - 14.14 14.04 14.19
17647 463.8 7.7 901 17652 roll 0.60 - - 2407 - 2.58 0.069 791 -535.3 187.8 - - 1943 - - - - - - - - 14.83 13.85 14.85
17708 459.4 7.3 909 17714 done 0.60 - - 2407 - 2.55 0.054 2178 543.9 188.6 - - 1943 - - - - - - - - 14.09 13.97 14.16
18048 432.7 8.0 922 18053 roll 0.60 - - 2407 - 2.67 0.082 3605 534.5 188.6 - - 1944 - - - - - - - - 14.83 13.88 14.85
18122 425.3 9.2 933 18129 done 0.60 - - 2416 - 2.53 0.047 2182 -562.5 188.6 - - 1943 - - - - - - - - 14.13 14.03 14.18
18444 397.1 9.0 943 18449 roll 0.60 - - 2424 - 2.58 0.064 799 -536.0 188.6 - - 1943 - - - - - - - - 14.82 13.84 14.84
18540 388.3 8.4 957 18546 done 0.60 - - 2424 - 2.55 0.053 2186 543.9 188.6 - - 1943 - - - - - - - - 14.07 13.95 14.13
18895 357.8 8.8 965 18901 roll 0.60 - - 2424 - 2.67 0.080 3610 533.3 188.6 - - 1944 - - - - - - - - 14.84 13.88 14.85
18956 351.8 10.2 973 18962 done 0.60 0.15 0.235 2398 -173.3 2.58 0.050 2177 -555.4 188.6 - - 1944 - - - - - - - - 13.65 14.02 13.95
19296 325.6 7.4 986 19301 roll 0.60 - - 2404 - 2.60 0.067 798 -530.4 188.6 - - 1944 - - - - - - - - 14.84 13.85 14.85
19413 317.5 6.9 1002 19422 done 0.61 - - 2404 - 2.55 0.053 2183 543.1 198.7 2.60 0.597 1929 -5.8 0.601 - - - - - - 14.07 13.94 13.37
19749 293.9 6.9 1015 19773 roll 0.62 - - 2405 - 2.62 0.080 3606 543.1 209.0 19.08 1.229 1883 -2.4 0.113 - - - - - - 14.84 14.23 13.57
19823 288.0 8.1 1026 19828 done 0.62 - - 2410 - 2.50 0.048 2167 -575.6 209.0 - - 1875 - - - - - - - - 14.43 14.34 14.47
20191 261.1 7.5 1036 20196 roll 0.62 - - 2410 - 2.53 0.065 791 -543.9 209.0 - - 1872 - - - - - - - - 14.81 14.06 14.83
20315 252.1 7.0 1054 20322 done 0.67 - - 2410 - 2.50 0.053 2168 550.8 216.4 2.42 0.502 1856 -6.6 0.650 - - - - - - 14.25 14.14 13.33
20637 228.0 7.8 1064 20642 roll 0.67 - - 2410 - 2.65 0.079 3614 545.7 216.4 - - 1862 - - - - - - - - 14.81 13.98 14.83
20676 223.8 9.5 1070 20682 done 0.67 - - 2419 - 2.62 0.050 2164 -553.4 216.4 - - 1862 - - - - - - - - 14.12 14.07 14.16
21032 193.0 8.8 1078 21036 roll 0.67 - - 2419 - 2.55 0.064 776 -544.3 216.4 - - 1863 - - - - - - - - 14.83 13.93 14.85
21122 185.3 8.0 1091 21126 done 0.67 - - 2419 - 2.53 0.051 2167 549.8 216.4 - - 1863 - - - - - - - - 14.16 14.04 14.21
21483 154.5 8.8 1100 21490 roll 0.67 - - 2419 - 2.65 0.078 3605 542.6 216.4 - - 1863 - - - - - - - - 14.83 13.86 14.85
21561 146.2 9.9 1111 21566 done 0.67 - - 2429 - 2.55 0.046 2159 -567.1 216.4 - - 1863 - - - - - - - - 14.20 14.10 14.23
21880 119.0 8.4 1121 21886 roll 0.67 - - 2436 - 2.53 0.063 792 -540.3 216.4 - - 1863 - - - - - - - - 14.83 13.90 14.85
21970 112.3 6.8 1134 21995 done 0.68 - - 2435 - 2.53 0.051 2177 547.4 229.7 11.20 0.415 1811 -4.6 0.246 - - - - - - 14.12 14.00 13.78
22305 89.7 6.5 1145 22332 roll 0.69 - - 2435 - 2.60 0.077 3601 547.7 248.9 16.42 0.383 1733 -4.8 0.218 - - - - - - 14.83 14.09 13.80
22365 84.6 8.8 1153 22371 done 0.69 - - 2443 - 2.53 0.047 2156 -571.1 248.9 2.12 0.178 1724 -4.2 0.395 - - - - - - 14.39 14.31 13.98
22710 62.8 4.6 1168 22765 roll 0.79 - - 2446 - 2.47 0.065 801 -548.6 315.0 48.35 0.321 1455 -5.6 0.213 - - - - - - 14.77 14.28 13.92
23001 53.7 3.9 1210 23062 done 1.07 0.30 0.096 2554 360.0 2.45 0.049 2166 557.1 395.7 56.83 0.294 1124 -5.8 0.208 - - - - - - 14.11 14.12 13.93
23375 24.9 9.4 1230 23380 roll 1.07 - - 2554 - 2.62 0.074 3614 552.7 395.7 - - 1126 - - - - - - - - 14.78 13.96 14.81
23406 21.9 9.5 1234 23411 done 1.07 - - 2563 - 2.55 0.047 2161 -569.8 395.7 - - 1126 - - - - - - - - 14.23 14.14 14.26
23602 end climb: SURFACE_DEPTH_REACHED
23602 begin surface coast
23629 end surface coast: CONTROL_FINISHED_OK
23629 begin surface
SM 0.64 - - - - -6.14 7.03 0.071 221 31.4 0.25 0.069 2344 5256.0 500.17 66.62 0.136 701 10.5 -0.005 - - - - - -