SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 616 * Raw log
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• Previous call tries 1 • 238.45 of 350.00 AH used of 24V (31.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.0 deg, depth 0.79 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 18 s • Transponder ping count: 77
• 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
7 - - - 99 VBD -0.68 - - 202 - - - 2311 - -116.8 -89.82 - 2979 - - - - - - - - 14.66 - 14.69
102 3.3 -4.4 3 128 roll -0.68 9.18 0.405 1982 193.9 2.88 2.049 879 -497.2 -116.8 -4.20 - 3220 -57.4 - - - - - - - 13.81 12.91 14.27
209 35.1 -21.2 18 220 done -0.50 0.20 0.245 2027 225.0 2.53 0.055 2274 551.4 -116.8 - - 3220 - - - - - - - - 13.89 14.24 14.09
525 81.3 -10.4 30 530 roll -0.46 - - 2016 - 2.53 0.073 3700 563.6 -116.8 - - 3221 - - - - - - - - 14.83 14.16 14.85
658 94.7 -8.7 49 669 done -0.46 0.10 0.195 2046 300.0 2.47 0.037 2250 -587.0 -116.8 - - 3222 - - - - - - - - 13.88 14.21 13.97
978 116.4 -7.3 57 983 roll -0.46 - - 2046 - 2.40 0.051 900 -562.5 -116.8 - - 3223 - - - - - - - - 14.90 14.17 14.90
1037 121.6 -8.9 65 1041 done -0.46 - - 2043 - 2.47 0.054 2287 561.5 -116.8 - - 3223 - - - - - - - - 14.31 14.21 14.35
1376 144.0 -6.1 78 1381 roll -0.46 - - 2040 - 2.55 0.078 3699 553.7 -116.8 - - 3223 - - - - - - - - 14.89 14.04 14.91
1436 147.8 -6.4 86 1440 done -0.51 - - 2039 - 2.40 0.037 2280 -591.2 -116.8 - - 3223 - - - - - - - - 14.40 14.33 14.42
1774 171.3 -7.2 99 1779 roll -0.51 - - 2040 - 2.47 0.051 895 -560.7 -116.8 - - 3221 - - - - - - - - 14.91 14.12 14.92
1871 179.3 -7.9 113 1876 done -0.51 - - 2039 - 2.47 0.054 2278 559.9 -116.8 - - 3221 - - - - - - - - 14.26 14.15 14.31
2225 206.2 -7.7 121 2230 roll -0.51 - - 2037 - 2.58 0.077 3698 550.4 -116.8 - - 3219 - - - - - - - - 14.91 14.00 14.93
2265 209.4 -7.2 127 2270 done -0.57 - - 2037 - 2.42 0.039 2271 -589.7 -116.8 - - 3219 - - - - - - - - 14.35 14.28 14.38
2621 234.0 -7.1 135 2626 roll -0.57 - - 2037 - 2.45 0.054 898 -560.4 -116.8 - - 3217 - - - - - - - - 14.90 14.07 14.92
2724 242.4 -7.7 150 2736 done -0.57 - - 2037 - 2.53 0.055 2267 541.1 -116.8 - - 3217 - - - - - - - - 14.00 13.93 14.05
3074 269.9 -8.2 157 3079 roll -0.57 - - 2033 - 2.60 0.081 3690 547.3 -116.8 - - 3215 - - - - - - - - 14.90 13.95 14.92
3133 274.7 -8.1 165 3138 done -0.63 0.12 0.130 1976 -475.0 2.45 0.042 2270 -579.6 -116.8 - - 3214 - - - - - - - - 14.14 14.26 14.25
3472 310.7 -10.7 178 3477 roll -0.58 0.12 0.256 2009 275.0 2.50 0.054 890 -552.0 -116.8 - - 3213 - - - - - - - - 13.94 14.02 14.00
3569 319.4 -7.8 192 3575 done -0.58 - - 2004 - 2.50 0.055 2275 554.0 -116.8 - - 3212 - - - - - - - - 14.19 14.07 14.23
3924 348.5 -8.4 200 3929 roll -0.58 - - 1998 - 2.60 0.081 3696 546.5 -116.8 - - 3210 - - - - - - - - 14.90 13.90 14.92
3983 353.4 -8.3 208 3989 done -0.58 - - 1998 - 2.47 0.041 2260 -581.4 -116.8 - - 3209 - - - - - - - - 14.29 14.21 14.32
4324 383.8 -9.2 221 4329 roll -0.58 - - 1998 - 2.47 0.054 894 -553.0 -116.8 - - 3208 - - - - - - - - 14.89 14.01 14.91
4406 392.3 -9.1 233 4411 done -0.58 - - 1998 - 2.50 0.056 2268 549.6 -116.8 - - 3206 - - - - - - - - 14.14 14.01 14.20
4777 429.4 -10.5 243 4782 roll -0.58 - - 1988 - 2.62 0.082 3697 545.4 -116.8 - - 3206 - - - - - - - - 14.90 13.87 14.91
4865 439.8 -11.0 256 4872 done -0.58 - - 1988 - 2.47 0.041 2267 -578.9 -116.8 - - 3205 - - - - - - - - 14.21 14.11 14.25
5228 478.2 -10.6 265 5233 roll -0.58 - - 1988 - 2.50 0.057 894 -549.2 -116.8 - - 3203 - - - - - - - - 14.90 13.95 14.92
5312 487.1 -9.5 277 5317 done -0.58 - - 1986 - 2.50 0.058 2260 546.4 -116.8 - - 3203 - - - - - - - - 14.12 13.99 14.17
5681 521.6 -9.4 287 5685 roll -0.58 - - 1981 - 2.65 0.083 3693 540.8 -116.8 - - 3201 - - - - - - - - 14.90 13.84 14.92
5721 525.9 -9.5 293 5727 done -0.58 0.12 0.228 2009 233.3 2.47 0.044 2260 -580.2 -116.8 - - 3201 - - - - - - - - 13.75 14.16 13.96
6077 555.9 -8.6 301 6081 roll -0.58 - - 2009 - 2.45 0.054 897 -556.3 -116.8 - - 3200 - - - - - - - - 14.90 13.95 14.91
6179 565.5 -8.7 316 6192 done -0.58 - - 2009 - 2.55 0.057 2255 532.5 -116.8 - - 3199 - - - - - - - - 13.88 13.82 13.95
6528 595.9 -8.9 323 6533 roll -0.58 - - 2009 - 2.70 0.085 3704 536.7 -116.8 - - 3197 - - - - - - - - 14.90 13.82 14.92
6597 602.2 -8.6 333 6602 done -0.63 - - 2009 - 2.50 0.043 2255 -579.6 -116.8 - - 3197 - - - - - - - - 14.23 14.15 14.26
6923 630.4 -8.8 344 6928 roll -0.63 - - 2009 - 2.47 0.054 891 -552.2 -116.8 - - 3196 - - - - - - - - 14.90 13.91 14.92
6991 636.8 -9.0 354 6997 done -0.63 - - 2009 - 2.53 0.056 2266 543.5 -116.8 - - 3196 - - - - - - - - 14.06 13.92 14.12
7320 663.7 -8.2 365 7325 roll -0.63 - - 2009 - 2.67 0.086 3693 534.5 -116.8 - - 3196 - - - - - - - - 14.88 13.80 14.90
7359 667.1 -7.7 371 7365 done -0.63 - - 2009 - 2.58 0.045 2254 -557.8 -116.8 - - 3195 - - - - - - - - 14.04 14.00 14.08
7715 693.3 -7.4 379 7720 roll -0.63 - - 2009 - 2.50 0.055 882 -548.8 -116.8 - - 3193 - - - - - - - - 14.90 13.87 14.91
7775 697.7 -8.2 387 7779 done -0.63 - - 2009 - 2.55 0.057 2258 539.6 -116.8 - - 3193 - - - - - - - - 14.04 13.92 14.09
8113 722.4 -7.3 400 8119 roll -0.63 - - 2009 - 2.67 0.086 3687 535.2 -116.8 - - 3192 - - - - - - - - 14.90 13.80 14.90
8160 725.8 -7.0 407 8172 done -0.69 - - 2009 - 2.58 0.044 2244 -559.3 -116.8 - - 3191 - - - - - - - - 13.95 13.92 13.99
8510 750.7 -7.2 414 8515 roll -0.69 - - 2009 - 2.47 0.055 899 -544.5 -116.8 - - 3191 - - - - - - - - 14.88 13.83 14.90
8556 754.3 -7.5 421 8568 done -0.69 - - 2009 - 2.58 0.058 2259 527.1 -116.8 - - 3190 - - - - - - - - 13.86 13.79 13.94
8905 780.4 -7.7 428 8911 roll -0.69 - - 2005 - 2.70 0.086 3693 531.1 -116.8 - - 3190 - - - - - - - - 14.88 13.86 14.90
8996 787.4 -7.6 441 9001 done -0.75 0.15 0.119 1949 -373.3 2.50 0.044 2264 -571.6 -116.8 - - 3189 - - - - - - - - 13.95 14.06 14.06
9358 827.1 -11.2 450 9362 roll -0.69 - - 1949 - 2.53 0.057 887 -544.3 -116.8 - - 3188 - - - - - - - - 14.89 13.78 14.90
9434 835.5 -10.0 461 9438 done -0.69 - - 1947 - 2.55 0.059 2258 537.6 -116.8 - - 3187 - - - - - - - - 14.00 13.86 14.06
9753 872.1 -11.5 471 9758 roll -0.64 0.15 0.278 1973 173.3 2.72 0.082 3697 529.0 -116.8 - - 3186 - - - - - - - - 13.55 13.74 13.64
9813 878.3 -12.0 479 9817 done -0.64 - - 1973 - 2.55 0.045 2260 -563.5 -116.8 - - 3187 - - - - - - - - 14.12 14.04 14.16
10153 912.0 -10.0 492 10158 roll -0.64 - - 1973 - 2.55 0.055 889 -537.6 -116.8 - - 3185 - - - - - - - - 14.88 13.79 14.89
10228 919.5 -8.7 503 10234 done -0.64 - - 1973 - 2.58 0.060 2261 531.8 -116.8 - - 3185 - - - - - - - - 14.00 13.86 14.06
10549 950.3 -9.6 513 10554 roll -0.64 - - 1972 - 2.72 0.093 3698 528.3 -116.8 - - 3184 - - - - - - - - 14.88 13.88 14.90
10581 953.7 -11.7 518 10587 done -0.64 - - 1972 - 2.55 0.047 2255 -565.9 -116.8 - - 3185 - - - - - - - - 14.09 14.00 14.13
10944 986.2 -9.1 527 10948 roll -0.64 - - 1972 - 2.53 0.057 892 -538.7 -116.8 - - 3184 - - - - - - - - 14.88 13.76 14.90
10979 end dive: TARGET_DEPTH_EXCEEDED
10979 begin apogee
10991 990.2 -9.1 533 11189 roll -0.19 0.62 0.218 2132 258.1 - - 2201 - - 195.82 1.589 2740 -2.3 0.268 - - - - - - 13.67 13.92 13.09
11190 end apogee: CONTROL_FINISHED_OK
11190 begin climb
11194 995.6 - 536 11356 roll 0.68 0.95 0.140 2416 298.9 2.67 0.088 3616 530.0 116.8 151.62 1.876 2260 -3.2 0.319 - - - - - - 13.81 13.88 12.94
11449 981.7 9.7 578 11454 done 0.59 0.15 0.272 2393 -153.3 2.50 0.057 2211 -562.0 116.8 - - 2233 - - - - - - - - 13.83 14.18 14.14
11776 955.5 8.4 589 11781 roll 0.59 - - 2393 - 2.62 0.083 3623 538.9 116.8 - - 2228 - - - - - - - - 14.76 14.13 14.78
11893 944.6 6.9 605 11899 done 0.55 - - 2402 - 2.55 0.056 2195 -560.0 127.2 - - 2227 - - - - - - - - 14.35 14.26 14.39
12233 914.6 8.8 618 12238 roll 0.55 - - 2413 - 2.58 0.070 798 -541.5 127.2 - - 2226 - - - - - - - - 14.83 14.11 14.85
12322 905.6 10.1 631 12328 done 0.55 0.15 0.259 2382 -206.7 2.55 0.057 2195 547.8 127.2 - - 2224 - - - - - - - - 13.78 14.16 14.08
12686 878.8 7.7 640 12691 roll 0.55 - - 2381 - 2.65 0.087 3615 535.8 127.2 - - 2224 - - - - - - - - 14.85 14.01 14.85
12760 871.3 9.4 651 12766 done 0.55 - - 2391 - 2.53 0.057 2191 -562.8 127.2 - - 2223 - - - - - - - - 14.30 14.19 14.33
13081 847.8 7.7 661 13086 roll 0.55 - - 2401 - 2.58 0.070 799 -539.5 127.2 - - 2223 - - - - - - - - 14.86 14.00 14.88
13156 841.1 8.5 672 13162 done 0.55 - - 2401 - 2.60 0.057 2217 545.4 127.2 - - 2222 - - - - - - - - 14.21 14.06 14.26
13477 817.7 7.6 682 13481 roll 0.55 - - 2401 - 2.60 0.087 3616 538.1 127.2 - - 2222 - - - - - - - - 14.87 13.93 14.88
13537 812.7 7.5 690 13542 done 0.50 0.20 0.265 2367 -170.0 2.55 0.057 2190 -559.2 127.2 - - 2222 - - - - - - - - 13.66 14.14 14.00
13876 790.8 6.3 703 13931 roll 0.51 - - 2376 - 2.58 0.069 798 -539.5 152.0 45.60 1.500 2110 -2.5 0.246 - - - - - - 14.86 13.99 13.39
13993 783.0 5.7 719 14064 done 0.53 - - 2376 - 2.55 0.056 2200 549.8 191.3 63.80 1.519 1958 -2.4 0.233 - - - - - - 14.36 14.25 13.18
14387 753.7 7.5 740 14392 roll 0.53 - - 2376 - 2.58 0.087 3606 545.0 191.3 - - 1937 - - - - - - - - 14.70 14.11 14.72
14434 748.9 8.3 747 14445 done 0.53 - - 2386 - 2.55 0.054 2191 -554.9 191.3 - - 1937 - - - - - - - - 14.21 14.16 14.25
14783 724.4 7.2 754 14789 roll 0.54 - - 2396 - 2.58 0.070 800 -539.1 195.6 - - 1936 - - - - - - - - 14.79 14.11 14.81
14873 717.5 6.8 767 14900 done 0.55 - - 2396 - 2.53 0.056 2184 547.0 209.3 21.05 1.666 1883 -2.5 0.206 - - - - - - 14.30 14.19 13.44
15236 691.4 7.5 776 15241 roll 0.55 - - 2395 - 2.62 0.085 3612 545.0 209.3 - - 1866 - - - - - - - - 14.77 14.14 14.78
15295 686.2 8.1 784 15300 done 0.55 - - 2406 - 2.55 0.055 2181 -561.2 209.3 - - 1864 - - - - - - - - 14.38 14.27 14.42
15634 657.2 8.7 797 15640 roll 0.55 - - 2407 - 2.60 0.073 795 -533.1 209.3 - - 1864 - - - - - - - - 14.83 14.09 14.84
15718 649.6 9.0 809 15724 done 0.55 0.08 0.215 2377 -375.0 2.53 0.056 2186 549.8 209.3 - - 1863 - - - - - - - - 13.82 14.10 14.15
16087 623.7 7.1 819 16091 roll 0.60 - - 2377 - 2.62 0.083 3612 544.3 214.5 - - 1863 - - - - - - - - 14.85 14.02 14.86
16146 619.1 7.8 827 16150 done 0.60 - - 2385 - 2.55 0.053 2178 -562.4 214.5 - - 1862 - - - - - - - - 14.33 14.23 14.36
16487 593.9 7.4 840 16492 roll 0.60 - - 2394 - 2.58 0.070 796 -535.7 214.5 - - 1862 - - - - - - - - 14.85 14.00 14.86
16583 586.4 7.1 854 16591 done 0.65 - - 2394 - 2.53 0.054 2181 547.4 220.0 3.72 1.128 1839 -6.2 0.611 - - - - - - 14.24 14.12 13.34
16932 561.0 7.5 861 16938 roll 0.65 - - 2394 - 2.62 0.083 3612 546.2 220.0 - - 1845 - - - - - - - - 14.85 14.11 14.86
17008 554.2 8.5 872 17014 done 0.65 - - 2404 - 2.55 0.054 2177 -562.7 220.0 - - 1845 - - - - - - - - 14.34 14.23 14.38
17329 530.4 7.6 882 17335 roll 0.65 - - 2412 - 2.55 0.070 795 -542.0 220.0 - - 1846 - - - - - - - - 14.85 13.93 14.87
17406 524.2 7.3 893 17412 done 0.65 - - 2412 - 2.55 0.055 2186 545.5 220.0 - - 1846 - - - - - - - - 14.25 14.12 14.29
17725 499.8 7.8 903 17730 roll 0.65 - - 2412 - 2.65 0.081 3616 539.6 220.0 - - 1846 - - - - - - - - 14.85 13.92 14.88
17814 491.4 8.9 916 17819 done 0.65 - - 2422 - 2.55 0.053 2186 -560.8 220.0 - - 1846 - - - - - - - - 14.23 14.12 14.27
18178 461.1 8.5 925 18184 roll 0.65 - - 2431 - 2.58 0.065 795 -539.1 220.0 - - 1846 - - - - - - - - 14.85 13.92 14.87
18267 452.7 8.7 938 18273 done 0.65 - - 2432 - 2.55 0.054 2190 547.1 220.0 - - 1846 - - - - - - - - 14.17 14.05 14.22
18630 417.6 10.0 947 18635 roll 0.65 - - 2431 - 2.65 0.083 3610 535.8 220.0 - - 1846 - - - - - - - - 14.85 13.88 14.88
18692 410.4 11.1 956 18697 done 0.65 0.12 0.265 2414 -141.7 2.55 0.051 2170 -564.7 220.0 - - 1846 - - - - - - - - 13.72 14.12 13.99
19025 379.3 9.4 968 19030 roll 0.65 - - 2424 - 2.55 0.067 798 -538.0 220.0 - - 1846 - - - - - - - - 14.86 13.88 14.88
19101 371.9 9.0 979 19106 done 0.65 - - 2424 - 2.53 0.054 2181 546.6 220.0 - - 1846 - - - - - - - - 14.14 14.02 14.19
19420 342.3 9.5 989 19426 roll 0.65 - - 2424 - 2.67 0.081 3614 536.7 220.0 - - 1846 - - - - - - - - 14.86 13.86 14.88
19517 331.9 10.0 1003 19523 done 0.65 - - 2434 - 2.55 0.050 2182 -561.6 220.0 - - 1846 - - - - - - - - 14.16 14.06 14.20
19874 299.6 9.2 1011 19879 roll 0.65 - - 2443 - 2.60 0.064 785 -537.3 220.0 - - 1846 - - - - - - - - 14.85 13.86 14.86
19956 291.8 8.8 1023 19961 done 0.65 0.15 0.235 2410 -220.0 2.58 0.054 2186 543.0 220.0 - - 1846 - - - - - - - - 13.65 13.97 13.92
20326 265.6 7.1 1033 20335 roll 0.65 - - 2410 - 2.58 0.082 3607 550.8 224.5 4.00 0.966 1824 -5.5 0.287 - - - - - - 14.54 14.21 13.44
20407 258.3 9.0 1045 20413 done 0.65 - - 2419 - 2.50 0.048 2179 -571.2 224.5 1.88 0.182 1824 - - - - - - - - 14.43 14.34 14.09
20775 225.3 9.4 1055 20785 roll 0.65 - - 2424 - 2.53 0.067 799 -545.5 224.5 2.10 0.298 1823 - - - - - - - - 14.86 14.09 13.10
20864 216.8 9.2 1067 20870 done 0.65 - - 2424 - 2.53 0.054 2190 549.8 224.5 1.85 0.181 1822 - - - - - - - - 14.26 14.15 13.97
21225 185.1 8.8 1076 21235 roll 0.65 - - 2424 - 2.65 0.081 3611 536.2 224.5 1.83 0.178 1825 1.6 -0.324 - - - - - - 14.85 13.96 13.89
21299 177.7 9.7 1087 21304 done 0.65 - - 2433 - 2.53 0.050 2183 -564.4 224.5 - - 1833 - - - - - - - - 14.24 14.14 14.28
21618 150.2 8.7 1097 21624 roll 0.65 - - 2435 - 2.62 0.066 789 -532.1 224.5 1.88 0.175 1823 -5.3 0.867 - - - - - - 14.86 14.02 13.88
21701 143.0 8.0 1109 21708 done 0.65 - - 2435 - 2.55 0.054 2187 548.2 224.5 1.83 0.178 1822 - - - - - - - - 14.19 14.07 13.88
22073 115.1 7.6 1119 22082 roll 0.65 - - 2435 - 2.65 0.080 3609 536.6 224.5 1.83 0.175 1825 1.6 -0.205 - - - - - - 14.85 13.93 13.88
22138 108.8 9.1 1129 22144 done 0.65 0.15 0.236 2410 -166.7 2.50 0.047 2184 -570.0 224.5 - - 1832 - - - - - - - - 13.74 14.10 14.00
22470 86.4 6.1 1143 22500 roll 0.72 - - 2410 - 2.55 0.064 793 -545.5 252.9 21.62 0.369 1716 -5.4 0.239 - - - - - - 14.81 14.21 13.84
22563 80.8 5.1 1157 22610 done 0.85 0.20 0.099 2489 395.0 2.50 0.051 2185 556.8 305.9 40.08 0.371 1495 -5.5 0.228 - - - - - - 14.26 14.23 13.85
22923 57.2 5.2 1174 22975 roll 0.94 - - 2489 - 2.58 0.076 3612 553.1 356.9 36.72 0.298 1284 -5.7 0.210 - - - - - - 14.77 14.26 13.93
23069 48.8 6.8 1194 23094 done 1.05 0.15 0.118 2550 406.7 2.47 0.047 2184 -578.1 370.0 11.02 0.255 1230 -4.9 0.178 - - - - - - 14.19 14.23 13.84
23406 23.1 8.3 1209 23412 roll 1.05 - - 2558 - 2.60 0.062 795 -534.2 370.0 1.95 0.160 1231 - - - - - - - - 14.78 14.07 13.88
23504 14.7 7.2 1223 23522 done 1.11 - - 2558 - 2.50 0.050 2186 556.4 372.6 4.18 0.160 1219 -2.9 0.050 - - - - - - 14.21 14.10 13.86
23632 end climb: SURFACE_DEPTH_REACHED
23632 begin surface coast
23659 end surface coast: CONTROL_FINISHED_OK
23660 begin surface
SM 0.80 - - - - -6.12 6.85 0.060 220 32.1 0.15 0.110 2297 -47233.3 500.17 81.22 0.135 699 8.6 -0.005 - - - - - -