SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 620 * Raw log
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• Previous call tries 1 • 239.88 of 350.00 AH used of 24V (31.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.6 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 17 s • Transponder ping count: 18
• 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 - - 213 - - - 2220 - -116.8 -89.50 - 2964 - - - - - - - - 14.66 - 14.68
102 3.4 -4.3 3 127 roll -0.68 8.85 0.393 1981 199.8 2.62 2.043 871 -514.9 -116.8 -4.57 - 3221 -56.2 - - - - - - - 13.78 12.85 14.06
237 41.2 -22.9 22 249 done -0.51 0.20 0.250 2025 220.0 2.50 0.056 2245 549.6 -116.8 - - 3221 - - - - - - - - 13.84 14.20 14.02
554 87.9 -8.5 34 558 roll -0.46 - - 2014 - 2.58 0.073 3700 564.0 -116.8 - - 3222 - - - - - - - - 14.83 14.14 14.84
643 95.7 -8.8 46 648 done -0.46 0.12 0.227 2044 250.0 2.42 0.037 2249 -599.6 -116.8 - - 3223 - - - - - - - - 13.97 14.34 14.18
981 119.3 -6.4 56 982 done -0.46 - - 2044 - - - 2250 - -116.8 - - 3224 - - - - - - - - 14.88 14.90 14.90
1318 145.3 -7.8 62 1322 roll -0.46 - - 2037 - 2.65 0.075 3699 546.8 -116.8 - - 3224 - - - - - - - - 14.90 14.04 14.91
1365 149.1 -7.5 69 1377 done -0.46 - - 2038 - 2.45 0.039 2284 -577.6 -116.8 - - 3224 - - - - - - - - 14.19 14.16 14.23
1712 175.1 -7.6 76 1717 roll -0.46 - - 2038 - 2.50 0.051 891 -557.2 -116.8 - - 3223 - - - - - - - - 14.91 14.12 14.92
1815 183.1 -7.1 91 1826 done -0.46 - - 2037 - 2.55 0.054 2277 543.5 -116.8 - - 3222 - - - - - - - - 14.06 14.00 14.11
2164 209.0 -7.7 98 2169 roll -0.46 - - 2032 - 2.58 0.077 3701 551.9 -116.8 - - 3221 - - - - - - - - 14.90 13.99 14.92
2239 215.2 -7.3 109 2246 done -0.51 - - 2032 - 2.42 0.038 2276 -588.8 -116.8 - - 3220 - - - - - - - - 14.33 14.26 14.37
2560 239.0 -7.5 119 2564 roll -0.51 - - 2032 - 2.50 0.053 895 -552.4 -116.8 - - 3218 - - - - - - - - 14.90 14.07 14.92
2635 244.9 -7.0 130 2640 done -0.51 - - 2029 - 2.50 0.054 2276 552.4 -116.8 - - 3218 - - - - - - - - 14.22 14.09 14.26
2954 268.4 -7.5 140 2959 roll -0.51 - - 2022 - 2.58 0.078 3691 548.4 -116.8 - - 3217 - - - - - - - - 14.90 13.95 14.92
3029 274.3 -7.4 151 3035 done -0.56 - - 2022 - 2.50 0.041 2271 -568.0 -116.8 - - 3216 - - - - - - - - 14.19 14.15 14.21
3351 300.2 -8.4 161 3356 roll -0.56 - - 2022 - 2.50 0.056 886 -554.0 -116.8 - - 3215 - - - - - - - - 14.90 14.02 14.91
3410 305.5 -8.8 169 3415 done -0.56 - - 2018 - 2.53 0.055 2276 549.4 -116.8 - - 3214 - - - - - - - - 14.19 14.07 14.24
3749 335.6 -9.0 182 3754 roll -0.56 - - 2012 - 2.60 0.080 3696 546.2 -116.8 - - 3212 - - - - - - - - 14.90 13.90 14.92
3846 344.4 -8.6 196 3851 done -0.56 - - 2012 - 2.45 0.040 2273 -580.8 -116.8 - - 3211 - - - - - - - - 14.31 14.23 14.33
4200 376.7 -9.4 204 4205 roll -0.56 - - 2012 - 2.53 0.054 889 -547.0 -116.8 - - 3210 - - - - - - - - 14.91 14.00 14.92
4276 384.3 -9.0 215 4281 done -0.56 - - 2011 - 2.53 0.055 2280 549.8 -116.8 - - 3209 - - - - - - - - 14.16 14.03 14.21
4595 415.2 -9.9 225 4601 roll -0.56 - - 2011 - 2.60 0.082 3686 540.8 -116.8 - - 3208 - - - - - - - - 14.90 13.86 14.92
4657 421.5 -9.4 234 4662 done -0.56 - - 2011 - 2.45 0.041 2267 -579.2 -116.8 - - 3208 - - - - - - - - 14.24 14.16 14.28
4993 451.8 -9.1 246 4997 roll -0.56 - - 2011 - 2.47 0.054 893 -556.3 -116.8 - - 3207 - - - - - - - - 14.90 13.97 14.91
5067 458.6 -7.9 257 5074 done -0.56 - - 2011 - 2.55 0.055 2265 538.0 -116.8 - - 3206 - - - - - - - - 13.96 13.88 14.02
5388 483.3 -7.9 267 5392 roll -0.56 - - 2006 - 2.65 0.084 3699 541.1 -116.8 - - 3205 - - - - - - - - 14.90 13.85 14.92
5471 490.1 -7.5 279 5475 done -0.56 - - 2006 - 2.47 0.041 2263 -581.4 -116.8 - - 3204 - - - - - - - - 14.25 14.17 14.28
5839 521.7 -9.0 289 5844 roll -0.56 - - 2006 - 2.50 0.056 887 -550.4 -116.8 - - 3202 - - - - - - - - 14.90 13.93 14.92
5907 528.6 -8.8 299 5912 done -0.56 - - 2004 - 2.55 0.056 2281 546.7 -116.8 - - 3202 - - - - - - - - 14.09 13.95 14.14
6236 558.4 -9.3 310 6240 roll -0.56 - - 1999 - 2.62 0.083 3694 539.3 -116.8 - - 3201 - - - - - - - - 14.89 13.81 14.90
6282 563.2 -9.0 317 6295 done -0.56 - - 1999 - 2.53 0.042 2262 -566.0 -116.8 - - 3200 - - - - - - - - 14.01 13.97 14.04
6630 594.4 -9.1 324 6635 roll -0.56 - - 1999 - 2.50 0.056 902 -544.0 -116.8 - - 3200 - - - - - - - - 14.90 13.88 14.92
6678 599.0 -9.0 331 6689 done -0.56 - - 1999 - 2.60 0.058 2278 529.2 -116.8 - - 3200 - - - - - - - - 13.88 13.81 13.94
7025 628.3 -8.5 338 7030 roll -0.56 - - 1999 - 2.65 0.085 3694 534.3 -116.8 - - 3199 - - - - - - - - 14.90 13.82 14.92
7093 634.3 -8.0 348 7098 done -0.56 - - 1999 - 2.45 0.043 2280 -577.1 -116.8 - - 3198 - - - - - - - - 14.16 14.07 14.19
7422 662.2 -8.8 359 7426 roll -0.56 - - 1999 - 2.53 0.054 886 -551.0 -116.8 - - 3196 - - - - - - - - 14.88 13.87 14.90
7489 668.8 -8.7 369 7496 done -0.56 - - 1999 - 2.60 0.057 2271 532.7 -116.8 - - 3196 - - - - - - - - 13.90 13.83 13.95
7817 697.6 -9.0 380 7821 roll -0.56 - - 1995 - 2.67 0.085 3700 535.2 -116.8 - - 3194 - - - - - - - - 14.88 13.81 14.91
7885 703.5 -8.3 390 7890 done -0.56 - - 1995 - 2.53 0.044 2262 -568.4 -116.8 - - 3194 - - - - - - - - 14.16 14.09 14.20
8211 730.5 -8.4 401 8217 roll -0.56 - - 1995 - 2.50 0.054 890 -548.8 -116.8 - - 3194 - - - - - - - - 14.89 13.83 14.90
8251 733.9 -7.5 407 8257 done -0.56 - - 1993 - 2.58 0.057 2281 539.1 -116.8 - - 3194 - - - - - - - - 14.03 13.90 14.08
8608 761.3 -7.7 415 8613 roll -0.56 - - 1986 - 2.65 0.084 3692 532.5 -116.8 - - 3193 - - - - - - - - 14.88 13.84 14.90
8648 764.5 -6.7 421 8654 done -0.56 0.12 0.226 2014 233.3 2.50 0.045 2271 -568.4 -116.8 - - 3192 - - - - - - - - 13.64 14.04 13.85
9003 788.0 -6.6 429 9009 roll -0.56 - - 2014 - 2.55 0.057 883 -544.3 -116.8 - - 3192 - - - - - - - - 14.88 13.79 14.90
9044 791.4 -6.1 435 9049 done -0.56 - - 2013 - 2.58 0.058 2271 538.0 -116.8 - - 3191 - - - - - - - - 14.01 13.87 14.06
9399 816.5 -7.2 443 9403 roll -0.56 - - 2011 - 2.67 0.089 3686 530.0 -116.8 - - 3190 - - - - - - - - 14.88 13.83 14.90
9474 822.2 -6.2 454 9479 done -0.63 - - 2012 - 2.50 0.047 2271 -566.0 -116.8 - - 3189 - - - - - - - - 14.10 14.02 14.12
9795 846.4 -7.6 464 9799 roll -0.63 - - 2012 - 2.55 0.058 889 -542.0 -116.8 - - 3189 - - - - - - - - 14.88 13.78 14.89
9834 849.4 -6.4 470 9839 done -0.63 - - 2012 - 2.58 0.058 2273 536.4 -116.8 - - 3189 - - - - - - - - 14.02 13.88 14.07
10189 878.0 -8.1 478 10194 roll -0.63 - - 2011 - 2.67 0.090 3686 529.2 -116.8 - - 3187 - - - - - - - - 14.88 13.87 14.90
10237 881.4 -8.0 485 10250 done -0.70 0.10 0.081 1959 -520.0 2.55 0.047 2270 -555.3 -116.8 - - 3188 - - - - - - - - 13.77 13.88 13.83
10584 919.9 -11.2 492 10589 roll -0.70 - - 1959 - 2.55 0.057 897 -538.4 -116.8 - - 3186 - - - - - - - - 14.88 13.76 14.90
10646 926.9 -10.1 501 10652 done -0.70 - - 1957 - 2.62 0.060 2274 525.6 -116.8 - - 3186 - - - - - - - - 13.84 13.76 13.91
10982 962.8 -10.8 513 10989 roll -0.70 - - 1947 - 2.67 0.089 3699 533.7 -116.8 - - 3185 - - - - - - - - 14.86 13.81 14.88
11031 968.8 -10.7 520 11043 done -0.70 - - 1947 - 2.58 0.048 2267 -555.0 -116.8 - - 3185 - - - - - - - - 13.90 13.85 13.93
11264 end dive: TARGET_DEPTH_EXCEEDED
11264 begin apogee
11272 993.7 -10.8 525 11473 roll -0.19 0.73 0.226 2133 254.8 - - 2198 - - 198.88 1.601 2740 -2.2 0.265 - - - - - - 13.72 13.91 13.12
11474 end apogee: CONTROL_FINISHED_OK
11474 begin climb
11479 999.7 - 528 11642 done 0.68 0.90 0.131 2410 307.8 - - 2198 - 116.8 152.45 1.795 2255 -3.2 0.338 - - - - - - 13.76 14.22 12.97
11999 968.6 8.3 566 12003 roll 0.68 - - 2420 - 2.58 0.067 807 -539.1 116.8 - - 2231 - - - - - - - - 14.73 14.15 14.75
12031 965.4 5.9 571 12079 done 0.70 - - 2420 - 2.58 0.059 2212 544.6 151.6 41.15 1.770 2114 -2.8 0.296 - - - - - - 14.31 14.18 13.16
12394 934.0 8.8 587 12400 roll 0.70 - - 2420 - 2.55 0.089 3605 546.3 151.6 - - 2093 - - - - - - - - 14.74 14.07 14.76
12456 928.0 9.9 595 12460 done 0.63 - - 2430 - 2.45 0.054 2215 -567.3 151.6 - - 2092 - - - - - - - - 14.38 14.28 14.42
12795 897.0 8.8 608 12800 roll 0.57 0.15 0.271 2402 -186.7 2.60 0.067 804 -542.7 151.6 - - 2092 - - - - - - - - 13.77 14.04 13.92
12911 889.8 4.3 624 13037 done 0.62 - - 2402 - 2.58 0.058 2210 545.0 224.7 118.88 1.476 1820 -2.3 0.263 - - - - - - 14.31 14.19 13.19
13358 853.4 8.6 653 13364 roll 0.62 - - 2402 - 2.58 0.087 3610 542.6 224.7 - - 1794 - - - - - - - - 14.73 14.12 14.74
13384 849.7 11.2 657 13390 done 0.62 - - 2411 - 2.50 0.056 2200 -564.0 224.7 - - 1793 - - - - - - - - 14.34 14.24 14.38
13755 813.8 10.3 667 13760 roll 0.62 - - 2423 - 2.60 0.073 798 -539.2 224.7 - - 1792 - - - - - - - - 14.79 14.08 14.81
13858 801.8 10.4 682 13870 done 0.62 - - 2423 - 2.60 0.057 2194 536.9 224.7 - - 1791 - - - - - - - - 14.13 14.05 14.18
14208 763.5 11.4 689 14213 roll 0.62 - - 2423 - 2.62 0.089 3609 540.1 224.7 - - 1790 - - - - - - - - 14.83 14.00 14.85
14268 756.1 11.1 697 14274 done 0.62 0.15 0.262 2399 -160.0 2.53 0.055 2189 -561.3 224.7 - - 1788 - - - - - - - - 13.78 14.19 14.12
14608 722.0 9.9 710 14613 roll 0.62 - - 2409 - 2.60 0.070 788 -538.8 224.7 - - 1788 - - - - - - - - 14.85 14.02 14.87
14705 711.9 9.6 724 14709 done 0.62 - - 2409 - 2.58 0.057 2195 545.3 224.7 - - 1788 - - - - - - - - 14.23 14.10 14.29
15059 677.2 9.9 732 15064 roll 0.62 - - 2409 - 2.65 0.086 3618 537.0 224.7 - - 1788 - - - - - - - - 14.85 13.95 14.88
15127 669.3 10.6 742 15133 done 0.62 - - 2419 - 2.55 0.056 2187 -561.2 224.7 - - 1787 - - - - - - - - 14.26 14.14 14.31
15456 636.6 10.2 753 15462 roll 0.62 - - 2430 - 2.62 0.067 785 -535.1 224.7 - - 1787 - - - - - - - - 14.84 13.97 14.86
15553 626.5 9.4 767 15558 done 0.62 0.12 0.244 2402 -233.3 2.60 0.057 2204 545.8 224.7 - - 1787 - - - - - - - - 13.76 14.06 14.05
15910 598.4 7.9 775 15915 roll 0.62 - - 2402 - 2.62 0.085 3611 537.0 224.7 - - 1787 - - - - - - - - 14.85 13.90 14.86
15969 593.2 8.6 783 15973 done 0.62 - - 2411 - 2.55 0.053 2188 -558.0 224.7 - - 1787 - - - - - - - - 14.23 14.12 14.28
16307 564.2 8.7 796 16312 roll 0.62 - - 2421 - 2.65 0.067 792 -526.8 224.7 - - 1786 - - - - - - - - 14.86 13.91 14.88
16425 554.1 8.5 812 16430 done 0.62 - - 2421 - 2.60 0.056 2189 537.3 224.7 - - 1787 - - - - - - - - 14.17 14.04 14.23
16764 521.8 9.7 825 16770 roll 0.62 - - 2422 - 2.65 0.083 3610 536.2 224.7 - - 1787 - - - - - - - - 14.85 13.87 14.88
16824 515.3 11.0 833 16830 done 0.62 0.12 0.246 2401 -175.0 2.53 0.052 2187 -562.5 224.7 - - 1786 - - - - - - - - 13.76 14.11 14.02
17165 483.9 9.1 846 17169 roll 0.62 - - 2410 - 2.58 0.066 798 -538.4 224.7 - - 1787 - - - - - - - - 14.85 13.88 14.86
17260 474.3 9.4 860 17266 done 0.62 - - 2410 - 2.55 0.054 2193 547.1 224.7 - - 1786 - - - - - - - - 14.14 14.01 14.20
17617 441.3 9.3 868 17622 roll 0.62 - - 2410 - 2.65 0.085 3607 533.6 224.7 - - 1786 - - - - - - - - 14.84 13.85 14.86
17678 434.7 9.8 877 17684 done 0.62 - - 2420 - 2.55 0.050 2179 -560.0 224.7 - - 1786 - - - - - - - - 14.18 14.08 14.23
18012 405.6 8.7 889 18018 roll 0.62 - - 2429 - 2.62 0.067 790 -530.2 224.7 - - 1786 - - - - - - - - 14.85 13.85 14.88
18103 398.0 7.7 902 18108 done 0.62 0.12 0.239 2401 -233.3 2.55 0.055 2185 547.1 224.7 - - 1786 - - - - - - - - 13.68 13.99 13.97
18465 373.1 7.0 911 18470 roll 0.62 - - 2401 - 2.65 0.081 3614 539.2 233.6 - - 1786 - - - - - - - - 14.85 13.83 14.88
18533 367.1 8.4 921 18539 done 0.62 - - 2410 - 2.55 0.051 2187 -559.6 233.6 - - 1786 - - - - - - - - 14.16 14.05 14.20
18862 341.5 8.1 932 18867 roll 0.62 - - 2410 - 2.60 0.067 798 -534.2 233.6 - - 1786 - - - - - - - - 14.85 13.85 14.86
18937 334.9 8.4 943 18942 done 0.67 - - 2410 - 2.55 0.053 2187 544.7 233.6 - - 1787 - - - - - - - - 14.11 13.99 14.16
19258 305.9 9.4 953 19264 roll 0.67 - - 2410 - 2.67 0.080 3615 534.8 233.6 - - 1786 - - - - - - - - 14.85 13.83 14.86
19299 301.0 10.9 959 19304 done 0.67 - - 2416 - 2.58 0.050 2184 -554.7 233.6 - - 1786 - - - - - - - - 14.14 14.04 14.18
19654 265.6 10.2 967 19659 roll 0.67 - - 2424 - 2.62 0.066 792 -531.3 233.6 - - 1786 - - - - - - - - 14.87 13.81 14.88
19722 258.3 9.9 977 19728 done 0.67 - - 2424 - 2.55 0.054 2184 545.9 233.6 - - 1787 - - - - - - - - 14.08 13.95 14.13
20051 227.2 9.6 988 20056 roll 0.67 - - 2424 - 2.67 0.080 3612 534.8 233.6 - - 1786 - - - - - - - - 14.85 13.85 14.86
20097 221.8 10.2 995 20109 done 0.67 - - 2433 - 2.62 0.050 2171 -550.0 233.6 - - 1786 - - - - - - - - 13.94 13.88 13.99
20446 191.1 8.9 1002 20450 roll 0.67 - - 2442 - 2.58 0.067 791 -534.9 233.6 - - 1787 - - - - - - - - 14.85 13.81 14.88
20522 184.1 8.4 1013 20528 done 0.67 - - 2442 - 2.58 0.054 2185 540.3 233.6 - - 1787 - - - - - - - - 14.08 13.95 14.12
20841 156.2 8.8 1023 20846 roll 0.67 - - 2443 - 2.62 0.078 3605 542.0 233.6 - - 1786 - - - - - - - - 14.85 13.81 14.88
20901 149.8 9.8 1032 20908 done 0.67 0.10 0.218 2423 -200.0 2.58 0.047 2185 -550.4 233.6 - - 1787 - - - - - - - - 13.57 13.92 13.72
21236 124.6 7.5 1044 21241 roll 0.67 - - 2431 - 2.58 0.062 790 -540.7 233.6 - - 1786 - - - - - - - - 14.85 13.80 14.88
21332 117.2 7.1 1058 21350 done 0.68 - - 2432 - 2.55 0.052 2182 545.9 240.2 5.43 0.200 1764 -4.1 0.453 - - - - - - 14.07 13.95 13.47
21660 94.4 7.0 1066 21674 roll 0.68 - - 2431 - 2.58 0.076 3617 556.2 247.6 9.62 0.318 1733 -3.2 0.183 - - - - - - 14.83 14.03 13.63
21789 84.0 8.0 1085 21802 done 0.68 - - 2435 - 2.58 0.049 2180 -557.0 247.6 3.85 0.178 1734 - - - - - - - - 14.15 14.09 13.66
22111 67.8 4.3 1097 22171 roll 0.80 - - 2435 - 2.50 0.060 782 -559.2 318.9 54.75 0.334 1441 -5.4 0.207 - - - - - - 14.83 14.13 13.88
22407 54.1 6.0 1139 22439 done 1.07 0.35 0.100 2554 340.0 2.53 0.051 2186 554.9 351.8 25.65 0.281 1304 -5.3 0.196 - - - - - - 14.08 14.12 13.90
22763 26.9 8.0 1156 22770 roll 1.07 - - 2554 - 2.62 0.074 3612 544.3 351.8 2.20 0.155 1303 - - - - - - - - 14.79 14.07 13.89
22814 21.7 9.7 1163 22824 done 1.07 - - 2563 - 2.55 0.047 2179 -562.0 351.8 - - 1309 - - - - - - - - 14.08 14.05 14.14
23073 end climb: SURFACE_DEPTH_REACHED
23073 begin surface coast
23101 end surface coast: CONTROL_FINISHED_OK
23101 begin surface
SM 0.82 - - - - -6.12 7.00 0.073 222 31.7 0.22 0.095 2305 5795.5 500.17 93.55 0.133 699 7.5 -0.005 - - - - - -