SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 619 * Raw log
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• Previous call tries 1 • 239.53 of 350.00 AH used of 24V (31.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.8 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 17 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
7 - - - 98 VBD -0.68 - - 202 - - - 2300 - -116.8 -89.55 - 2969 - - - - - - - - 14.66 - 14.68
102 3.3 -4.1 3 127 roll -0.68 9.05 0.402 1970 195.4 2.80 2.046 873 -509.6 -116.8 -4.47 - 3220 -56.2 - - - - - - - 13.77 13.24 14.05
221 37.4 -23.1 19 226 done -0.50 0.30 0.267 2031 203.3 2.50 0.057 2280 562.8 -116.8 - - 3221 - - - - - - - - 13.88 14.29 14.21
560 91.6 -9.2 34 565 roll -0.50 - - 2020 - 2.50 0.072 3701 568.4 -116.8 - - 3222 - - - - - - - - 14.83 14.15 14.85
693 104.1 -8.3 53 699 done -0.50 - - 2020 - 2.42 0.036 2243 -602.5 -116.8 - - 3223 - - - - - - - - 14.41 14.35 14.44
1013 130.9 -8.6 63 1018 roll -0.50 - - 2020 - 2.38 0.051 900 -564.3 -116.8 - - 3223 - - - - - - - - 14.88 14.16 14.90
1038 133.7 -9.0 67 1043 done -0.50 - - 2015 - 2.50 0.054 2298 559.2 -116.8 - - 3224 - - - - - - - - 14.27 14.13 14.32
1407 163.4 -8.0 77 1413 roll -0.50 - - 2012 - 2.50 0.076 3689 556.4 -116.8 - - 3223 - - - - - - - - 14.90 14.03 14.92
1455 167.7 -8.3 84 1466 done -0.50 - - 2012 - 2.42 0.040 2290 -578.1 -116.8 - - 3223 - - - - - - - - 14.18 14.14 14.21
1803 197.8 -9.1 91 1808 roll -0.50 - - 2012 - 2.53 0.053 890 -553.4 -116.8 - - 3222 - - - - - - - - 14.90 14.09 14.92
1898 206.7 -8.4 105 1905 done -0.50 - - 2011 - 2.50 0.054 2276 554.4 -116.8 - - 3222 - - - - - - - - 14.21 14.08 14.26
2255 236.9 -8.7 113 2261 roll -0.50 - - 2011 - 2.58 0.078 3699 551.6 -116.8 - - 3220 - - - - - - - - 14.90 13.97 14.92
2317 242.9 -8.7 122 2322 done -0.50 - - 2011 - 2.47 0.038 2265 -580.6 -116.8 - - 3219 - - - - - - - - 14.19 14.16 14.23
2653 273.5 -9.2 134 2658 roll -0.50 - - 2011 - 2.47 0.053 889 -557.1 -116.8 - - 3218 - - - - - - - - 14.90 14.06 14.91
2742 281.8 -8.5 147 2747 done -0.50 - - 2011 - 2.50 0.054 2271 552.8 -116.8 - - 3217 - - - - - - - - 14.18 14.04 14.23
3104 310.4 -8.0 156 3109 roll -0.50 - - 2008 - 2.60 0.081 3695 547.7 -116.8 - - 3215 - - - - - - - - 14.90 13.93 14.92
3180 316.9 -8.1 167 3185 done -0.50 0.12 0.220 2038 250.0 2.45 0.041 2258 -586.5 -116.8 - - 3215 - - - - - - - - 13.84 14.23 14.04
3500 341.0 -7.7 177 3505 roll -0.50 - - 2039 - 2.45 0.053 898 -555.1 -116.8 - - 3213 - - - - - - - - 14.90 14.02 14.92
3575 347.5 -7.7 188 3580 done -0.55 - - 2037 - 2.50 0.055 2273 550.0 -116.8 - - 3212 - - - - - - - - 14.17 14.04 14.22
3897 371.8 -7.7 198 3901 roll -0.55 - - 2033 - 2.60 0.081 3688 544.2 -116.8 - - 3211 - - - - - - - - 14.89 13.90 14.91
3955 376.1 -7.2 206 3960 done -0.61 - - 2033 - 2.45 0.042 2270 -578.8 -116.8 - - 3210 - - - - - - - - 14.29 14.22 14.32
4296 398.0 -6.2 219 4301 roll -0.61 - - 2033 - 2.50 0.056 887 -553.2 -116.8 - - 3208 - - - - - - - - 14.90 13.98 14.91
4365 402.4 -5.8 229 4371 done -0.66 0.15 0.128 1972 -406.7 2.53 0.056 2272 547.4 -116.8 - - 3208 - - - - - - - - 14.02 14.02 14.14
4691 432.2 -9.6 240 4696 roll -0.61 0.12 0.256 1994 183.3 2.62 0.079 3697 543.9 -116.8 - - 3206 - - - - - - - - 13.90 13.87 13.96
4751 437.5 -8.6 248 4756 done -0.61 - - 1994 - 2.47 0.041 2260 -581.8 -116.8 - - 3206 - - - - - - - - 14.26 14.18 14.28
5090 468.9 -9.5 261 5095 roll -0.61 - - 1994 - 2.47 0.053 891 -554.3 -116.8 - - 3204 - - - - - - - - 14.90 13.97 14.92
5166 477.1 -9.5 272 5172 done -0.61 - - 1986 - 2.55 0.055 2257 535.7 -116.8 - - 3204 - - - - - - - - 13.96 13.89 14.02
5488 510.8 -10.9 282 5493 roll -0.61 - - 1983 - 2.67 0.083 3699 540.1 -116.8 - - 3203 - - - - - - - - 14.89 13.83 14.90
5555 518.8 -10.8 292 5561 done -0.61 - - 1984 - 2.53 0.041 2260 -568.8 -116.8 - - 3203 - - - - - - - - 14.07 14.02 14.10
5883 553.3 -10.7 303 5888 roll -0.61 - - 1983 - 2.45 0.052 896 -556.7 -116.8 - - 3201 - - - - - - - - 14.90 13.94 14.92
5952 560.6 -10.2 313 5957 done -0.61 - - 1976 - 2.50 0.055 2259 545.2 -116.8 - - 3201 - - - - - - - - 14.10 13.97 14.15
6278 594.5 -10.7 324 6283 roll -0.61 - - 1970 - 2.67 0.084 3696 538.2 -116.8 - - 3200 - - - - - - - - 14.90 13.81 14.91
6381 605.4 -9.8 339 6393 done -0.61 0.08 0.207 1993 287.5 2.55 0.042 2260 -563.1 -116.8 - - 3198 - - - - - - - - 13.55 13.93 13.68
6731 635.8 -8.7 346 6736 roll -0.61 - - 1992 - 2.47 0.054 897 -551.8 -116.8 - - 3198 - - - - - - - - 14.88 13.88 14.90
6855 647.2 -8.6 364 6861 done -0.61 - - 1986 - 2.55 0.057 2251 531.0 -116.8 - - 3197 - - - - - - - - 13.90 13.82 13.95
7184 677.1 -9.3 375 7189 roll -0.61 - - 1984 - 2.70 0.084 3699 536.3 -116.8 - - 3197 - - - - - - - - 14.88 13.80 14.90
7266 685.1 -8.6 387 7271 done -0.61 - - 1984 - 2.53 0.044 2251 -572.3 -116.8 - - 3196 - - - - - - - - 14.16 14.08 14.20
7635 718.9 -9.2 397 7641 roll -0.61 - - 1984 - 2.50 0.055 890 -544.4 -116.8 - - 3195 - - - - - - - - 14.89 13.84 14.90
7726 727.4 -8.9 410 7730 done -0.61 - - 1984 - 2.53 0.059 2252 538.3 -116.8 - - 3194 - - - - - - - - 14.02 13.89 14.07
8087 761.2 -9.6 419 8092 roll -0.61 - - 1979 - 2.70 0.085 3694 534.1 -116.8 - - 3193 - - - - - - - - 14.88 13.82 14.90
8176 769.7 -8.8 432 8181 done -0.61 - - 1979 - 2.55 0.044 2241 -569.8 -116.8 - - 3192 - - - - - - - - 14.11 14.02 14.14
8540 804.6 -9.6 441 8546 roll -0.61 - - 1979 - 2.45 0.057 894 -549.8 -116.8 - - 3191 - - - - - - - - 14.88 13.68 14.89
8609 811.6 -9.4 451 8615 done -0.61 0.12 0.265 1999 166.7 2.53 0.057 2250 536.0 -116.8 - - 3191 - - - - - - - - 13.54 13.85 13.82
8936 838.9 -8.3 462 8942 roll -0.61 - - 1998 - 2.75 0.089 3696 525.8 -116.8 - - 3190 - - - - - - - - 14.89 13.88 14.90
8999 843.5 -8.8 471 9004 done -0.66 - - 1998 - 2.55 0.044 2247 -568.2 -116.8 - - 3189 - - - - - - - - 14.14 14.07 14.18
9332 870.3 -8.0 483 9336 roll -0.66 - - 1998 - 2.50 0.058 894 -541.2 -116.8 - - 3189 - - - - - - - - 14.88 13.79 14.90
9379 873.9 -8.1 490 9390 done -0.66 - - 1998 - 2.58 0.059 2245 523.6 -116.8 - - 3189 - - - - - - - - 13.88 13.81 13.92
9726 901.6 -7.9 497 9732 roll -0.66 - - 1998 - 2.75 0.091 3696 527.6 -116.8 - - 3188 - - - - - - - - 14.88 13.88 14.90
9809 907.5 -4.3 509 9816 done -0.71 - - 1998 - 2.55 0.046 2250 -567.1 -116.8 - - 3187 - - - - - - - - 14.12 14.04 14.16
10180 935.7 -7.5 519 10185 roll -0.71 - - 1998 - 2.50 0.058 895 -542.0 -116.8 - - 3186 - - - - - - - - 14.87 13.77 14.88
10226 939.8 -7.7 526 10238 done -0.71 - - 1998 - 2.58 0.059 2247 524.0 -116.8 - - 3186 - - - - - - - - 13.89 13.81 13.95
10575 965.8 -7.7 533 10580 roll -0.71 - - 1994 - 2.75 0.091 3698 527.6 -116.8 - - 3185 - - - - - - - - 14.88 13.89 14.89
10645 970.5 -5.0 543 10650 done -0.77 0.15 0.119 1943 -340.0 2.55 0.045 2254 -566.3 -116.8 - - 3184 - - - - - - - - 13.93 14.04 14.04
10856 end dive: TARGET_DEPTH_EXCEEDED
10856 begin apogee
10864 993.4 -10.8 552 11006 roll -0.19 0.73 0.227 2129 254.8 - - 2243 - - 134.85 2.758 2740 -3.3 0.234 - - - - 1 - 13.72 13.62 12.43
11007 end apogee: CONTROL_FINISHED_OK
11007 begin climb
11010 997.8 - 554 11180 roll 0.68 1.00 0.139 2416 287.0 2.65 0.087 3608 515.1 116.8 157.98 1.898 2264 -3.0 0.313 - - - - - - 13.57 13.63 12.91
11367 976.6 9.0 610 11372 done 0.59 0.15 0.265 2393 -153.3 2.47 0.055 2205 -568.0 116.8 - - 2239 - - - - - - - - 13.92 14.27 14.23
11699 953.6 7.1 622 11704 roll 0.59 - - 2393 - 2.60 0.084 3614 541.9 122.2 - - 2234 - - - - - - - - 14.78 14.15 14.79
11824 942.3 7.3 640 11829 done 0.54 - - 2402 - 2.53 0.056 2184 -565.2 124.1 - - 2234 - - - - - - - - 14.38 14.28 14.40
12152 918.2 7.8 651 12157 roll 0.50 0.12 0.268 2381 -175.0 2.55 0.065 791 -546.3 124.1 - - 2233 - - - - - - - - 13.85 14.07 13.96
12257 909.6 6.9 666 12277 done 0.50 - - 2381 - 2.60 0.057 2189 537.7 134.0 16.30 1.872 2193 -2.5 0.235 - - - - - - 14.13 14.07 13.35
12598 884.5 7.8 679 12603 roll 0.50 - - 2380 - 2.60 0.087 3610 546.5 134.0 - - 2177 - - - - - - - - 14.79 14.14 14.81
12657 879.2 7.1 687 12666 done 0.51 - - 2390 - 2.50 0.054 2187 -569.2 140.4 1.65 0.193 2166 -6.7 5.993 - - - - - - 14.40 14.30 14.01
12994 850.9 8.4 700 12999 roll 0.51 - - 2400 - 2.55 0.067 796 -545.5 140.4 - - 2172 - - - - - - - - 14.83 14.10 14.85
13110 841.2 6.3 716 13165 done 0.52 0.12 0.251 2375 -208.3 2.55 0.056 2191 547.1 164.8 40.28 1.805 2055 -2.9 0.267 - - - - - - 13.86 14.18 13.24
13506 811.6 7.4 730 13511 roll 0.52 - - 2375 - 2.62 0.087 3614 543.1 164.8 - - 2046 - - - - - - - - 14.72 14.14 14.74
13565 806.5 6.9 738 13576 done 0.53 - - 2384 - 2.53 0.054 2185 -564.8 175.4 3.75 1.269 2024 -5.9 0.736 - - - - - - 14.38 14.28 13.20
13903 781.0 7.5 751 13908 roll 0.53 - - 2394 - 2.53 0.067 796 -549.0 175.4 - - 2031 - - - - - - - - 14.81 14.16 14.83
14000 773.0 7.5 765 14005 done 0.53 - - 2394 - 2.53 0.055 2190 551.0 175.4 - - 2031 - - - - - - - - 14.33 14.21 14.38
14355 744.7 8.4 773 14360 roll 0.53 - - 2394 - 2.62 0.086 3619 545.4 175.4 - - 2031 - - - - - - - - 14.85 14.05 14.85
14414 738.9 9.0 781 14420 done 0.53 0.15 0.247 2371 -153.3 2.55 0.054 2175 -566.3 175.4 - - 2031 - - - - - - - - 13.87 14.24 14.14
14755 711.7 7.9 794 14760 roll 0.53 - - 2381 - 2.55 0.069 791 -542.7 175.4 - - 2031 - - - - - - - - 14.84 14.02 14.85
14851 703.2 8.1 808 14856 done 0.53 - - 2381 - 2.55 0.056 2184 546.3 175.4 - - 2031 - - - - - - - - 14.25 14.11 14.30
15207 675.4 7.9 816 15212 roll 0.53 - - 2381 - 2.65 0.084 3616 540.4 175.4 - - 2031 - - - - - - - - 14.85 13.97 14.85
15296 667.5 8.1 829 15302 done 0.53 - - 2391 - 2.55 0.053 2184 -561.6 175.4 - - 2031 - - - - - - - - 14.26 14.15 14.30
15659 643.3 6.7 838 15694 roll 0.54 - - 2401 - 2.58 0.067 789 -540.7 190.4 27.25 1.631 1953 -2.9 0.223 - - - - - - 14.85 14.29 13.37
15773 636.2 6.0 854 15828 done 0.56 - - 2401 - 2.55 0.056 2199 552.9 223.2 43.33 1.573 1816 -3.2 0.252 - - - - - - 14.42 14.31 13.19
16163 608.4 7.3 868 16168 roll 0.56 - - 2401 - 2.58 0.085 3605 545.0 224.7 - - 1802 - - - - - - - - 14.74 14.12 14.76
16223 603.5 8.3 876 16228 done 0.56 - - 2410 - 2.50 0.050 2185 -568.0 224.7 - - 1801 - - - - - - - - 14.36 14.26 14.40
16562 574.1 8.8 889 16568 roll 0.56 - - 2410 - 2.55 0.069 797 -544.3 224.7 - - 1801 - - - - - - - - 14.81 14.09 14.82
16660 565.0 8.8 903 16666 done 0.56 - - 2410 - 2.53 0.054 2190 550.6 224.7 - - 1799 - - - - - - - - 14.28 14.14 14.34
17017 531.0 9.9 911 17022 roll 0.56 - - 2410 - 2.62 0.083 3617 544.7 224.7 - - 1800 - - - - - - - - 14.83 14.04 14.84
17106 520.4 10.8 924 17112 done 0.56 0.15 0.230 2384 -173.3 2.53 0.052 2186 -565.6 224.7 - - 1798 - - - - - - - - 13.86 14.18 14.14
17469 489.2 8.7 933 17474 roll 0.56 - - 2391 - 2.58 0.067 792 -540.3 224.7 - - 1798 - - - - - - - - 14.85 14.02 14.87
17566 480.7 8.2 947 17571 done 0.62 - - 2391 - 2.53 0.054 2184 550.2 224.7 - - 1798 - - - - - - - - 14.25 14.12 14.31
17921 453.2 7.7 955 17926 roll 0.62 - - 2391 - 2.62 0.081 3607 543.1 224.7 - - 1798 - - - - - - - - 14.85 13.97 14.87
17981 448.2 8.7 963 17985 done 0.62 - - 2398 - 2.53 0.050 2177 -565.2 224.7 - - 1798 - - - - - - - - 14.29 14.19 14.33
18319 420.6 8.1 976 18324 roll 0.62 - - 2405 - 2.58 0.069 796 -535.3 224.7 - - 1798 - - - - - - - - 14.86 13.96 14.88
18394 414.2 7.8 987 18400 done 0.67 - - 2405 - 2.53 0.053 2184 548.6 224.7 - - 1798 - - - - - - - - 14.22 14.10 14.28
18716 387.6 8.5 997 18721 roll 0.67 - - 2405 - 2.62 0.080 3605 542.4 224.7 - - 1797 - - - - - - - - 14.85 13.94 14.87
18762 382.6 9.6 1004 18774 done 0.67 - - 2415 - 2.58 0.048 2174 -554.7 224.7 - - 1797 - - - - - - - - 14.07 14.02 14.11
19111 352.4 8.7 1011 19116 roll 0.67 - - 2421 - 2.58 0.067 792 -535.7 224.7 - - 1798 - - - - - - - - 14.86 13.92 14.88
19187 345.9 7.8 1022 19192 done 0.67 - - 2421 - 2.55 0.054 2185 546.3 224.7 - - 1797 - - - - - - - - 14.19 14.06 14.26
19508 320.6 8.0 1032 19513 roll 0.67 - - 2421 - 2.62 0.079 3607 542.7 224.7 - - 1797 - - - - - - - - 14.85 13.90 14.87
19590 313.0 8.9 1044 19595 done 0.67 - - 2431 - 2.53 0.047 2168 -568.8 224.7 - - 1797 - - - - - - - - 14.19 14.09 14.25
19961 282.4 8.6 1054 19965 roll 0.67 - - 2438 - 2.55 0.066 802 -535.7 224.7 - - 1797 - - - - - - - - 14.85 13.90 14.87
20028 275.8 8.6 1064 20034 done 0.67 - - 2438 - 2.53 0.054 2182 545.5 224.7 - - 1797 - - - - - - - - 14.15 14.02 14.21
20356 243.6 10.2 1075 20361 roll 0.67 - - 2438 - 2.67 0.080 3609 534.5 224.7 - - 1797 - - - - - - - - 14.85 13.88 14.88
20416 237.2 11.0 1083 20421 done 0.67 0.12 0.257 2421 -141.7 2.55 0.049 2181 -560.0 224.7 - - 1797 - - - - - - - - 13.73 14.12 14.02
20755 207.0 8.7 1096 20760 roll 0.67 - - 2431 - 2.62 0.064 786 -532.4 224.7 - - 1798 - - - - - - - - 14.86 13.89 14.88
20844 198.7 8.5 1109 20850 done 0.67 - - 2431 - 2.55 0.053 2180 546.7 224.7 - - 1797 - - - - - - - - 14.13 14.01 14.19
21207 167.8 8.4 1118 21211 roll 0.67 - - 2431 - 2.65 0.079 3606 538.1 224.7 - - 1797 - - - - - - - - 14.86 13.85 14.88
21302 158.4 9.2 1132 21308 done 0.67 - - 2440 - 2.55 0.047 2168 -563.9 224.7 - - 1797 - - - - - - - - 14.14 14.04 14.20
21659 129.6 8.1 1140 21664 roll 0.67 - - 2450 - 2.55 0.063 801 -536.1 224.7 - - 1797 - - - - - - - - 14.85 13.87 14.88
21755 120.0 9.3 1154 21761 done 0.67 0.12 0.230 2421 -241.7 2.53 0.053 2182 545.8 224.7 - - 1798 - - - - - - - - 13.70 13.99 13.97
22084 96.5 6.8 1162 22093 roll 0.68 - - 2421 - 2.60 0.076 3606 547.7 236.7 4.10 0.212 1779 -4.6 0.416 - - - - - - 14.84 13.89 13.55
22170 90.4 7.1 1174 22186 done 0.68 - - 2424 - 2.50 0.047 2187 -567.6 242.0 7.10 0.311 1755 -3.4 0.194 - - - - - - 14.27 14.18 13.74
22510 72.1 4.4 1189 22568 roll 0.80 - - 2423 - 2.47 0.057 789 -566.0 311.5 52.22 0.350 1469 -5.5 0.223 - - - - - - 14.82 14.15 13.89
22655 66.5 3.6 1209 22723 done 1.03 0.32 0.077 2559 425.0 2.53 0.050 2198 556.9 401.6 63.17 0.336 1103 -5.8 0.226 - - - - - - 14.29 14.23 13.92
23035 39.3 8.2 1231 23040 roll 1.03 - - 2558 - 2.55 0.077 3603 551.0 401.6 - - 1107 - - - - - - - - 14.79 14.00 14.80
23066 36.5 9.3 1235 23071 done 1.03 0.15 0.230 2533 -166.7 2.50 0.046 2179 -569.6 401.6 - - 1107 - - - - - - - - 13.81 14.19 14.05
23408 10.9 7.0 1250 23418 roll 1.11 - - 2533 - 2.58 0.064 791 -538.0 408.7 5.85 0.158 1072 -6.0 0.081 - - - - - - 14.80 14.14 13.92
23483 7.0 4.6 1261 23528 VBD 1.26 0.17 0.067 2612 464.7 2.55 0.050 2186 547.1 473.7 40.17 0.144 828 -6.1 0.058 - - - - - - 14.05 14.04 14.12
23528 end climb: SURFACE_DEPTH_REACHED
23528 begin surface coast
23531 end surface coast: CONTROL_FINISHED_OK
23531 begin surface
SM 0.89 - - - - -6.13 6.90 0.057 218 31.6 0.17 0.091 2329 -53511.8 500.17 22.15 0.135 700 31.6 -0.021 - - - - - -