SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 11.70 of 350.00 AH used of 24V (96.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.8 deg, depth 0.99 m • Intended pitch -17.2 deg, speed -9.167 cm/s
• VBD pumped to 627.72 (SM_CC=627.47742)
• GPS1 time: 34 s
• GPS2 time: 17 s • Transponder ping count: 23
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 98 VBD -0.77 - - 196 - - - 2166 - -146.0 -74.88 - 2219 - - - - - - - - 14.72 - 14.74
102 2.2 -1.6 5 151 roll -0.77 9.25 0.440 2009 196.0 2.65 2.148 3598 540.4 -146.0 -30.88 - 3508 -41.7 - - - - - - - 14.40 13.87 14.62
178 19.8 -32.6 19 185 done -0.57 0.32 0.272 2090 253.1 2.38 0.042 2178 -596.6 -146.0 - - 3504 - - - - - - - - 14.44 14.56 14.59
483 84.7 -12.1 40 490 roll -0.57 - - 2081 - 2.50 0.086 3599 568.4 -146.0 - - 3502 - - - - - - - - 14.85 14.66 14.87
547 91.7 -10.7 52 553 done -0.63 - - 2081 - 2.30 0.043 2192 -611.7 -146.0 - - 3504 - - - - - - - - 14.76 14.70 14.77
866 115.3 -7.1 68 872 roll -0.68 - - 2081 - 2.45 0.087 3602 575.5 -146.0 - - 3504 - - - - - - - - 14.92 14.73 14.94
960 122.3 -6.9 86 966 done -0.78 0.15 0.120 2014 -446.7 2.22 0.043 2232 -617.1 -146.0 - - 3504 - - - - - - - - 14.78 14.78 14.83
1294 158.1 -11.3 102 1300 roll -0.78 - - 2014 - 2.42 0.057 775 -602.1 -146.0 - - 3504 - - - - - - - - 14.96 14.79 14.98
1377 167.2 -10.5 118 1383 done -0.78 - - 2011 - 2.50 0.063 2253 591.2 -146.0 - - 3504 - - - - - - - - 14.85 14.79 14.88
1690 200.8 -10.8 130 1696 roll -0.78 - - 2015 - 2.30 0.086 3601 586.1 -146.0 - - 3501 - - - - - - - - 14.99 14.81 15.00
1743 206.4 -10.1 140 1749 done -0.81 - - 2011 - 2.17 0.044 2248 -623.5 -146.0 - - 3500 - - - - - - - - 14.90 14.85 14.91
2056 240.6 -11.1 152 2062 roll -0.81 - - 2011 - 2.45 0.058 776 -600.8 -146.0 - - 3498 - - - - - - - - 15.00 14.83 15.02
2154 251.4 -10.8 171 2160 done -0.81 - - 2011 - 2.50 0.067 2243 586.8 -146.0 - - 3497 - - - - - - - - 14.90 14.82 14.91
2482 286.9 -10.6 186 2488 roll -0.81 - - 2002 - 2.33 0.086 3602 583.3 -146.0 - - 3495 - - - - - - - - 15.01 14.83 15.02
2546 293.6 -10.3 198 2552 done -0.81 - - 2002 - 2.25 0.046 2222 -613.3 -146.0 - - 3494 - - - - - - - - 14.91 14.86 14.92
2880 328.1 -10.2 214 2886 roll -0.81 - - 1998 - 2.42 0.060 771 -599.6 -146.0 - - 3491 - - - - - - - - 15.01 14.83 15.03
2977 337.7 -9.5 233 2984 done -0.81 - - 1999 - 2.47 0.067 2218 585.8 -146.0 - - 3491 - - - - - - - - 14.90 14.82 14.91
3306 371.7 -10.7 248 3313 roll -0.81 - - 1989 - 2.35 0.089 3590 583.8 -146.0 - - 3485 - - - - - - - - 15.01 14.83 15.02
3344 375.9 -10.9 255 3350 done -0.81 - - 1990 - 2.25 0.046 2202 -616.9 -146.0 - - 3487 - - - - - - - - 14.91 14.85 14.92
3672 412.1 -10.9 270 3679 roll -0.81 - - 1990 - 2.38 0.061 772 -600.8 -146.0 - - 3483 - - - - - - - - 15.01 14.84 15.03
3750 420.7 -10.6 285 3757 done -0.81 0.12 0.286 2013 191.7 2.42 0.069 2191 586.4 -146.0 - - 3485 - - - - - - - - 14.76 14.83 14.89
4069 451.5 -9.8 298 4076 roll -0.81 - - 2005 - 2.40 0.090 3590 582.9 -146.0 - - 3480 - - - - - - - - 15.01 14.83 15.03
4172 461.9 -10.1 318 4178 done -0.85 - - 2010 - 2.25 0.047 2199 -618.2 -146.0 - - 3481 - - - - - - - - 14.91 14.85 14.92
4495 496.2 -10.8 332 4502 roll -0.85 - - 2005 - 2.35 0.062 783 -602.6 -146.0 - - 3479 - - - - - - - - 15.01 14.83 15.03
4543 501.5 -10.7 341 4557 done -0.89 - - 1999 - 2.42 0.070 2201 586.0 -146.0 - - 3478 - - - - - - - - 14.90 14.83 14.92
4869 536.9 -10.8 354 4882 roll -0.89 - - 1990 - 2.38 0.090 3590 583.6 -146.0 - - 3478 - - - - - - - - 15.02 14.85 15.04
4934 544.0 -10.8 365 4948 done -0.89 - - 1990 - 2.28 0.048 2200 -609.6 -146.0 - - 3477 - - - - - - - - 14.93 14.88 14.94
5240 576.4 -10.5 376 5252 done -0.89 - - 1990 - - - 2194 - -146.0 - - 3475 - - - - - - - - 15.02 15.05 15.05
5540 607.8 -10.5 386 5553 roll -0.89 - - 1990 - 2.38 0.063 777 -595.4 -146.0 - - 3473 - - - - - - - - 15.04 14.87 15.06
5594 613.7 -10.5 395 5607 done -0.89 - - 1984 - 2.45 0.073 2198 580.0 -146.0 - - 3473 - - - - - - - - 14.93 14.85 14.95
5919 649.1 -11.0 408 5933 roll -0.89 - - 1975 - 2.42 0.095 3596 577.7 -146.0 - - 3471 - - - - - - - - 15.04 14.88 15.07
6004 658.8 -11.2 423 6017 done -0.89 - - 1975 - 2.28 0.051 2201 -611.8 -146.0 - - 3471 - - - - - - - - 14.93 14.88 14.95
6329 695.9 -11.4 436 6342 done -0.89 - - 1975 - - - 2194 - -146.0 - - 3469 - - - - - - - - 15.04 15.07 15.07
6630 728.7 -10.9 446 6643 roll -0.89 - - 1975 - 2.38 0.064 776 -595.8 -146.0 - - 3467 - - - - - - - - 15.03 14.87 15.07
6664 732.7 -11.7 451 6678 done -0.89 - - 1972 - 2.47 0.077 2206 578.9 -146.0 - - 3468 - - - - - - - - 14.94 14.85 14.95
6970 765.1 -10.7 462 6983 roll -0.89 - - 1962 - 2.40 0.097 3592 577.5 -146.0 - - 3466 - - - - - - - - 15.04 14.85 15.06
7010 769.7 -11.0 468 7024 done -0.89 0.12 0.265 1990 233.3 2.28 0.050 2202 -609.6 -146.0 - - 3466 - - - - - - - - 14.78 14.89 14.92
7351 803.3 -10.0 484 7364 roll -0.89 - - 1990 - 2.38 0.063 784 -595.8 -146.0 - - 3464 - - - - - - - - 15.04 14.86 15.06
7411 809.4 -10.0 494 7424 done -0.92 - - 1985 - 2.45 0.076 2201 578.4 -146.0 - - 3464 - - - - - - - - 14.93 14.85 14.95
7731 842.4 -10.4 506 7744 roll -0.92 - - 1975 - 2.40 0.093 3595 580.8 -146.0 - - 3460 - - - - - - - - 15.04 14.85 15.05
7796 849.4 -10.6 517 7810 done -0.92 - - 1975 - 2.30 0.052 2200 -606.5 -146.0 - - 3462 - - - - - - - - 14.94 14.88 14.94
8102 881.6 -10.5 528 8115 roll -0.92 - - 1976 - 2.38 0.063 777 -597.9 -146.0 - - 3462 - - - - - - - - 15.03 14.85 15.05
8156 887.4 -10.3 537 8170 done -0.92 - - 1971 - 2.47 0.076 2206 578.5 -146.0 - - 3461 - - - - - - - - 14.92 14.84 14.94
8482 921.0 -10.3 550 8495 roll -0.92 - - 1959 - 2.40 0.098 3594 578.3 -146.0 - - 3461 - - - - - - - - 15.02 14.84 15.05
8552 928.4 -9.5 562 8566 done -0.92 - - 1962 - 2.30 0.053 2200 -606.1 -146.0 - - 3460 - - - - - - - - 14.93 14.88 14.94
8893 965.6 -10.9 578 8906 roll -0.92 - - 1962 - 2.38 0.063 780 -596.6 -146.0 - - 3459 - - - - - - - - 15.02 14.85 15.04
8947 971.6 -7.9 587 8961 done -0.92 - - 1954 - 2.47 0.077 2206 577.3 -146.0 - - 3459 - - - - - - - - 14.92 14.83 14.95
9119 end dive: TARGET_DEPTH_EXCEEDED
9119 begin apogee
9127 990.8 -11.1 595 9299 roll -0.20 0.93 0.240 2213 278.5 - - 2302 - - 156.05 2.726 2907 -3.5 0.244 - - - - 1 - 14.76 13.59 12.95
9300 end apogee: CONTROL_FINISHED_OK
9300 begin climb
9304 997.8 - 600 9530 roll 0.77 0.93 0.079 2530 340.9 2.60 0.067 882 -546.2 146.0 204.23 1.862 2308 -2.9 0.298 - - - - 1 - 13.96 13.95 13.29
9617 976.2 16.0 662 9630 done 0.60 0.25 0.332 2479 -204.0 2.55 0.086 2271 544.7 146.0 - - 2302 - - - - - - - - 14.12 14.23 14.31
9951 930.6 13.4 676 9964 roll 0.46 0.17 0.343 2437 -247.1 2.58 0.107 3697 552.7 146.0 - - 2297 - - - - - - - - 14.45 14.52 14.55
10038 919.1 12.7 691 10052 done 0.35 0.22 0.329 2396 -186.4 2.42 0.074 2312 -572.3 146.0 - - 2296 - - - - - - - - 14.47 14.58 14.64
10367 888.1 9.1 704 10380 roll 0.31 - - 2408 - 2.53 0.088 870 -570.0 148.7 - - 2295 - - - - - - - - 14.85 14.66 14.87
10422 883.0 7.4 713 10487 done 0.33 - - 2408 - 2.53 0.081 2301 565.6 189.5 47.38 1.809 2136 -3.4 0.310 - - - - 1 - 14.76 14.66 13.52
10804 847.1 9.4 738 10817 done 0.29 0.12 0.308 2382 -216.7 - - 2302 - 189.5 3.08 1.056 2135 - - - - - - - - 14.49 14.58 13.80
11104 823.3 7.9 748 11177 roll 0.31 - - 2385 - 2.58 0.110 3696 540.3 220.2 55.83 1.545 2009 -2.3 0.228 - - - - 1 - 14.83 14.20 13.62
11197 815.9 8.0 765 11253 done 0.33 - - 2391 - 2.50 0.071 2292 -561.6 247.0 35.38 1.703 1898 -3.1 0.285 - - - - 1 - 14.40 14.33 13.47
11570 777.3 10.5 788 11583 roll 0.33 - - 2402 - 2.53 0.087 862 -565.2 247.0 - - 1912 - - - - - - - - 14.71 14.52 14.73
11659 768.3 9.7 804 11672 done 0.33 - - 2402 - 2.53 0.080 2288 563.6 247.0 - - 1909 - - - - - - - - 14.65 14.57 14.66
11980 731.4 11.7 816 11993 roll 0.33 - - 2402 - 2.53 0.109 3701 558.5 247.0 - - 1909 - - - - - - - - 14.84 14.64 14.86
12020 726.3 11.3 822 12033 done 0.33 - - 2412 - 2.47 0.072 2271 -578.9 247.0 - - 1909 - - - - - - - - 14.74 14.67 14.76
12361 685.2 11.9 838 12374 roll 0.33 - - 2426 - 2.45 0.088 867 -573.1 247.0 - - 1909 - - - - - - - - 14.90 14.71 14.91
12431 677.2 11.4 850 12445 done 0.33 0.15 0.288 2389 -246.7 2.47 0.081 2259 563.6 247.0 - - 1909 - - - - - - - - 14.63 14.71 14.78
12775 643.8 9.6 866 12788 roll 0.33 - - 2389 - 2.55 0.109 3694 562.7 247.0 - - 1909 - - - - - - - - 14.91 14.73 14.94
12834 637.3 9.9 876 12853 done 0.33 - - 2398 - 2.45 0.072 2264 -583.7 247.0 1.88 0.198 1897 -6.4 3.892 - - - - - - 14.83 14.75 14.72
13146 606.0 10.1 888 13159 roll 0.33 - - 2408 - 2.42 0.087 868 -576.9 247.0 - - 1906 - - - - - - - - 14.95 14.76 14.96
13210 599.3 10.2 899 13224 done 0.33 - - 2408 - 2.47 0.082 2268 566.8 247.0 - - 1905 - - - - - - - - 14.83 14.75 14.85
13516 564.4 11.8 910 13529 roll 0.33 - - 2408 - 2.53 0.109 3696 564.4 247.0 - - 1906 - - - - - - - - 14.95 14.76 14.97
13566 558.1 12.7 918 13579 done 0.33 0.12 0.289 2388 -166.7 2.42 0.071 2276 -586.8 247.0 - - 1906 - - - - - - - - 14.68 14.78 14.83
13896 523.3 10.5 932 13909 roll 0.33 - - 2400 - 2.45 0.090 868 -574.7 247.0 - - 1907 - - - - - - - - 14.96 14.77 14.98
13961 516.8 9.8 943 13975 done 0.37 - - 2400 - 2.47 0.081 2281 572.1 247.0 - - 1906 - - - - - - - - 14.85 14.77 14.88
14266 485.3 10.2 954 14274 roll 0.37 - - 2400 - 2.50 0.109 3691 564.0 247.0 - - 1906 - - - - - - - - 14.96 14.76 14.97
14320 479.2 11.0 964 14327 done 0.37 - - 2410 - 2.40 0.070 2286 -585.4 247.0 - - 1906 - - - - - - - - 14.85 14.77 14.86
14635 446.9 10.2 976 14641 roll 0.37 - - 2421 - 2.47 0.087 864 -575.7 247.0 - - 1906 - - - - - - - - 14.94 14.73 14.96
14712 439.1 9.3 991 14719 done 0.37 - - 2421 - 2.45 0.081 2265 571.8 247.0 - - 1906 - - - - - - - - 14.83 14.74 14.84
15031 407.0 10.1 1004 15037 roll 0.37 - - 2421 - 2.53 0.109 3690 563.2 247.0 - - 1904 - - - - - - - - 14.93 14.73 14.95
15113 397.8 11.0 1020 15120 done 0.37 0.12 0.291 2404 -141.7 2.40 0.071 2290 -583.3 247.0 - - 1906 - - - - - - - - 14.66 14.75 14.81
15427 369.3 9.2 1032 15434 roll 0.37 - - 2414 - 2.47 0.086 867 -576.1 247.0 - - 1907 - - - - - - - - 14.92 14.73 14.94
15500 362.4 9.3 1046 15508 done 0.40 - - 2414 - 2.47 0.081 2273 569.2 247.0 - - 1906 - - - - - - - - 14.81 14.73 14.83
15825 327.8 11.0 1060 15832 roll 0.40 - - 2414 - 2.53 0.109 3689 559.7 247.0 - - 1906 - - - - - - - - 14.92 14.71 14.94
15884 320.9 11.9 1071 15891 done 0.40 - - 2424 - 2.40 0.068 2290 -582.9 247.0 - - 1906 - - - - - - - - 14.81 14.74 14.83
16189 285.7 11.5 1082 16196 roll 0.40 - - 2434 - 2.50 0.086 865 -570.0 247.0 - - 1907 - - - - - - - - 14.91 14.72 14.93
16233 280.7 11.1 1090 16240 done 0.40 - - 2434 - 2.50 0.081 2288 569.2 247.0 - - 1907 - - - - - - - - 14.81 14.72 14.82
16558 242.9 11.7 1104 16564 roll 0.40 - - 2434 - 2.50 0.107 3691 561.2 247.0 - - 1907 - - - - - - - - 14.91 14.72 14.93
16631 233.3 12.7 1118 16638 done 0.37 0.17 0.277 2407 -158.8 2.38 0.068 2298 -585.3 247.0 - - 1907 - - - - - - - - 14.63 14.73 14.78
16955 201.7 9.6 1132 16962 roll 0.37 - - 2412 - 2.47 0.086 873 -576.9 247.0 - - 1906 - - - - - - - - 14.92 14.73 14.93
17003 197.3 9.2 1141 17009 done 0.42 - - 2413 - 2.50 0.080 2295 568.8 247.0 - - 1907 - - - - - - - - 14.81 14.72 14.82
17322 164.9 10.5 1154 17328 roll 0.42 - - 2412 - 2.47 0.107 3692 565.6 247.0 - - 1908 - - - - - - - - 14.91 14.71 14.93
17370 159.6 11.0 1163 17376 done 0.42 - - 2422 - 2.35 0.066 2311 -587.7 247.0 - - 1908 - - - - - - - - 14.81 14.74 14.82
17688 126.9 10.2 1176 17695 roll 0.42 - - 2433 - 2.50 0.083 867 -577.6 247.0 - - 1908 - - - - - - - - 14.91 14.73 14.93
17746 121.1 9.5 1187 17754 done 0.42 - - 2433 - 2.55 0.080 2322 570.6 247.0 - - 1906 - - - - - - - - 14.80 14.71 14.82
18053 91.8 8.5 1201 18070 roll 0.42 - - 2433 - 2.50 0.107 3691 547.6 262.4 11.73 0.333 1838 -5.8 0.303 - - - - - - 14.90 14.69 14.54
18182 78.5 8.3 1226 18203 done 0.44 - - 2442 - 2.30 0.064 2334 -590.0 281.8 15.73 0.343 1757 -5.1 0.223 - - - - - - 14.76 14.71 14.52
18511 59.9 3.8 1251 18601 roll 0.60 - - 2442 - 2.53 0.068 868 -579.4 407.2 81.47 0.318 1251 -6.2 0.222 - - - - - - 14.87 14.56 14.42
18718 49.7 5.9 1290 18778 done 0.92 0.40 0.111 2579 342.5 2.60 0.071 2344 567.7 483.9 52.35 0.280 934 -6.1 0.204 - - - - - - 14.58 14.59 14.42
19090 21.1 7.6 1323 19124 roll 1.04 0.10 0.156 2630 510.0 2.65 0.078 873 -555.1 519.9 26.90 0.187 787 -5.5 0.117 - - - - - - 14.64 14.57 14.54
19189 9.5 13.1 1341 19200 done 1.04 - - 2629 - 2.47 0.077 2267 564.4 519.9 3.62 0.156 786 - - - - - - - - 14.69 14.61 14.57
19234 end climb: SURFACE_DEPTH_REACHED
19234 begin surface coast
19249 end surface coast: CONTROL_FINISHED_OK
19249 begin surface
SM 0.88 - - - - -6.40 6.82 0.067 212 31.1 0.17 0.089 2158 -41552.9 627.72 69.20 0.138 351 5.1 -0.003 - - - - - -