SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 624 * Raw log
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• Previous call tries 1 • 241.32 of 350.00 AH used of 24V (31.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.1 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: 34 s
• GPS2 time: 21 s • Transponder ping count: 24
• 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 - - 208 - - - 2313 - -116.8 -89.88 - 2958 - - - - - - - - 14.66 - 14.68
102 3.2 -4.1 3 127 roll -0.68 9.20 0.410 1980 192.6 2.85 2.046 881 -502.5 -116.8 -4.55 - 3219 -57.4 - - - - - - - 13.79 13.24 14.07
237 42.4 -21.3 22 249 done -0.51 0.20 0.242 2026 230.0 2.50 0.057 2251 548.0 -116.8 - - 3220 - - - - - - - - 13.86 14.20 14.04
553 81.8 -10.4 34 558 roll -0.51 - - 2015 - 2.58 0.072 3701 562.0 -116.8 - - 3221 - - - - - - - - 14.83 14.14 14.85
699 97.0 -8.7 54 704 done -0.51 - - 2015 - 2.40 0.036 2266 -597.9 -116.8 - - 3223 - - - - - - - - 14.41 14.35 14.44
1038 123.0 -8.0 64 1042 roll -0.51 - - 2015 - 2.42 0.050 895 -566.5 -116.8 - - 3223 - - - - - - - - 14.88 14.16 14.89
1126 130.6 -8.3 77 1132 done -0.51 - - 2015 - 2.50 0.053 2294 559.6 -116.8 - - 3223 - - - - - - - - 14.28 14.16 14.33
1490 162.5 -9.3 86 1495 roll -0.51 - - 2012 - 2.55 0.078 3690 547.5 -116.8 - - 3223 - - - - - - - - 14.89 14.01 14.90
1572 170.7 -8.8 98 1577 done -0.51 - - 2012 - 2.38 0.040 2291 -587.8 -116.8 - - 3222 - - - - - - - - 14.33 14.24 14.36
1941 204.5 -9.3 108 1946 roll -0.51 - - 2011 - 2.53 0.052 894 -552.2 -116.8 - - 3220 - - - - - - - - 14.90 14.09 14.92
2066 216.5 -8.9 126 2071 done -0.51 - - 2011 - 2.53 0.054 2289 551.4 -116.8 - - 3220 - - - - - - - - 14.23 14.11 14.27
2393 243.8 -8.4 137 2398 roll -0.51 - - 2011 - 2.58 0.082 3696 545.3 -116.8 - - 3218 - - - - - - - - 14.90 13.96 14.92
2462 249.9 -7.8 147 2468 done -0.51 - - 2011 - 2.47 0.039 2280 -573.3 -116.8 - - 3218 - - - - - - - - 14.19 14.16 14.21
2791 277.3 -8.6 158 2796 roll -0.51 - - 2011 - 2.50 0.050 887 -557.2 -116.8 - - 3216 - - - - - - - - 14.90 14.06 14.91
2887 286.3 -8.7 172 2892 done -0.51 - - 2010 - 2.53 0.054 2276 549.0 -116.8 - - 3216 - - - - - - - - 14.19 14.07 14.23
3243 317.8 -9.0 180 3248 roll -0.51 - - 2011 - 2.60 0.080 3687 542.7 -116.8 - - 3214 - - - - - - - - 14.92 13.88 14.92
3302 323.0 -8.6 188 3307 done -0.51 - - 2011 - 2.45 0.041 2264 -580.8 -116.8 - - 3213 - - - - - - - - 14.30 14.23 14.33
3641 353.4 -9.2 201 3646 roll -0.51 - - 2011 - 2.50 0.054 887 -550.8 -116.8 - - 3211 - - - - - - - - 14.90 14.01 14.92
3710 360.6 -9.5 211 3715 done -0.51 - - 2011 - 2.53 0.056 2275 548.6 -116.8 - - 3210 - - - - - - - - 14.16 14.04 14.21
4037 392.5 -10.0 222 4041 roll -0.51 - - 2010 - 2.60 0.082 3686 542.7 -116.8 - - 3209 - - - - - - - - 14.90 13.87 14.92
4119 400.8 -9.3 234 4124 done -0.51 - - 2009 - 2.45 0.043 2268 -578.8 -116.8 - - 3209 - - - - - - - - 14.23 14.14 14.26
4490 433.7 -8.9 244 4494 roll -0.51 - - 2010 - 2.50 0.056 890 -551.2 -116.8 - - 3207 - - - - - - - - 14.89 13.96 14.91
4557 440.5 -9.1 254 4563 done -0.51 - - 2009 - 2.53 0.055 2276 547.8 -116.8 - - 3206 - - - - - - - - 14.11 13.97 14.16
4885 470.0 -9.3 265 4890 roll -0.51 - - 2009 - 2.62 0.083 3691 540.1 -116.8 - - 3205 - - - - - - - - 14.90 13.84 14.91
4947 476.0 -9.0 274 4952 done -0.51 - - 2009 - 2.45 0.043 2275 -578.0 -116.8 - - 3204 - - - - - - - - 14.24 14.17 14.27
5281 506.5 -9.3 286 5285 roll -0.51 - - 2009 - 2.50 0.056 890 -554.0 -116.8 - - 3203 - - - - - - - - 14.90 13.93 14.93
5307 509.4 -9.2 290 5312 done -0.51 - - 2009 - 2.53 0.057 2273 546.6 -116.8 - - 3203 - - - - - - - - 14.09 13.95 14.14
5678 539.0 -7.9 300 5683 roll -0.51 - - 2009 - 2.65 0.085 3698 537.7 -116.8 - - 3201 - - - - - - - - 14.89 13.82 14.90
5737 543.5 -7.4 308 5741 done -0.51 - - 2009 - 2.50 0.043 2263 -574.0 -116.8 - - 3201 - - - - - - - - 14.21 14.14 14.25
6075 568.9 -7.6 321 6081 roll -0.51 - - 2010 - 2.53 0.056 885 -544.7 -116.8 - - 3199 - - - - - - - - 14.90 13.89 14.91
6145 574.6 -7.6 331 6150 done -0.51 - - 2009 - 2.55 0.057 2272 543.9 -116.8 - - 3199 - - - - - - - - 14.07 13.94 14.12
6471 600.4 -8.1 342 6476 roll -0.51 - - 2005 - 2.65 0.086 3690 535.1 -116.8 - - 3198 - - - - - - - - 14.90 13.83 14.91
6511 604.1 -8.3 348 6517 done -0.51 0.12 0.213 2034 241.7 2.47 0.046 2272 -574.1 -116.8 - - 3197 - - - - - - - - 13.73 14.07 13.93
6868 631.4 -7.9 356 6873 roll -0.56 - - 2035 - 2.53 0.057 887 -547.4 -116.8 - - 3197 - - - - - - - - 14.88 13.85 14.90
6966 639.9 -8.3 370 6970 done -0.62 - - 2032 - 2.55 0.057 2274 543.9 -116.8 - - 3195 - - - - - - - - 14.04 13.91 14.09
7320 667.8 -7.8 378 7325 roll -0.67 0.12 0.142 1972 -500.0 2.65 0.083 3688 533.6 -116.8 - - 3195 - - - - - - - - 14.32 13.78 14.31
7397 675.4 -9.7 389 7402 done -0.67 - - 1972 - 2.50 0.046 2259 -571.6 -116.8 - - 3195 - - - - - - - - 14.14 14.05 14.16
7716 707.9 -10.3 399 7721 roll -0.67 - - 1971 - 2.53 0.056 889 -541.5 -116.8 - - 3193 - - - - - - - - 14.89 13.81 14.90
7806 717.1 -9.0 412 7811 done -0.67 - - 1972 - 2.55 0.060 2260 537.6 -116.8 - - 3193 - - - - - - - - 14.01 13.87 14.06
8167 751.5 -9.6 421 8173 roll -0.67 - - 1969 - 2.70 0.087 3697 532.2 -116.8 - - 3192 - - - - - - - - 14.89 13.82 14.90
8243 758.7 -8.5 432 8248 done -0.67 - - 1969 - 2.53 0.044 2261 -567.6 -116.8 - - 3191 - - - - - - - - 14.10 14.01 14.14
8565 787.4 -8.9 442 8570 roll -0.67 - - 1969 - 2.53 0.056 887 -543.1 -116.8 - - 3190 - - - - - - - - 14.88 13.79 14.89
8647 795.5 -8.6 454 8652 done -0.67 - - 1968 - 2.55 0.058 2259 538.0 -116.8 - - 3190 - - - - - - - - 14.00 13.86 14.05
9016 828.6 -9.1 464 9021 roll -0.67 - - 1960 - 2.70 0.085 3696 532.2 -116.8 - - 3189 - - - - - - - - 14.88 13.85 14.90
9077 834.2 -9.5 472 9082 done -0.67 - - 1960 - 2.55 0.044 2254 -565.5 -116.8 - - 3188 - - - - - - - - 14.11 14.02 14.14
9416 867.0 -9.7 485 9421 roll -0.67 - - 1960 - 2.53 0.056 887 -540.3 -116.8 - - 3187 - - - - - - - - 14.88 13.78 14.90
9498 875.5 -9.5 497 9504 done -0.67 - - 1960 - 2.55 0.058 2255 536.5 -116.8 - - 3187 - - - - - - - - 14.00 13.88 14.07
9869 911.4 -10.1 507 9874 roll -0.67 - - 1957 - 2.70 0.086 3692 532.2 -116.8 - - 3187 - - - - - - - - 14.86 13.85 14.88
9944 919.6 -9.8 518 9952 done -0.67 - - 1957 - 2.55 0.048 2254 -563.9 -116.8 - - 3186 - - - - - - - - 14.07 13.97 14.11
10265 952.6 -10.6 528 10270 roll -0.67 - - 1957 - 2.53 0.058 886 -540.7 -116.8 - - 3186 - - - - - - - - 14.90 13.77 14.89
10348 961.8 -8.3 540 10353 done -0.67 0.12 0.272 1977 166.7 2.55 0.060 2253 536.1 -116.8 - - 3185 - - - - - - - - 13.50 13.86 13.79
10656 end dive: TARGET_DEPTH_EXCEEDED
10656 begin apogee
10665 991.7 -9.9 549 10862 roll -0.19 0.60 0.219 2133 260.0 - - 2177 - - 194.85 1.633 2740 -2.3 0.263 - - - - - - 13.66 13.92 13.12
10862 end apogee: CONTROL_FINISHED_OK
10862 begin climb
10867 998.3 - 552 11029 roll 0.68 0.88 0.138 2411 315.9 2.55 0.056 820 -532.2 116.8 151.65 1.891 2265 -3.1 0.313 - - - - - - 13.76 13.87 12.95
11150 987.4 7.3 598 11162 done 0.68 - - 2411 - 2.58 0.057 2203 536.0 117.6 - - 2238 - - - - - - - - 14.14 14.07 14.19
11499 961.3 7.9 605 11504 roll 0.63 - - 2411 - 2.62 0.090 3620 540.8 117.6 - - 2233 - - - - - - - - 14.76 14.13 14.79
11546 956.4 9.6 612 11558 done 0.56 0.12 0.243 2387 -200.0 2.53 0.057 2224 -551.8 117.6 - - 2232 - - - - - - - - 13.78 14.15 13.96
11896 930.5 7.2 619 11900 roll 0.56 - - 2397 - 2.65 0.070 793 -540.0 120.0 - - 2231 - - - - - - - - 14.82 14.07 14.83
11978 924.1 9.2 631 11983 done 0.56 - - 2397 - 2.58 0.057 2206 547.7 120.0 - - 2230 - - - - - - - - 14.28 14.15 14.34
12347 897.5 7.3 641 12353 roll 0.56 - - 2397 - 2.62 0.090 3612 536.6 120.0 - - 2229 - - - - - - - - 14.85 13.99 14.87
12408 892.7 8.2 649 12414 done 0.50 0.17 0.263 2369 -164.7 2.53 0.056 2190 -562.1 120.0 - - 2229 - - - - - - - - 13.75 14.19 14.10
12748 872.8 5.6 662 12810 roll 0.53 - - 2379 - 2.55 0.070 796 -546.7 161.3 55.80 1.775 2072 -2.8 0.262 - - - - - - 14.86 14.12 13.21
12920 862.8 5.9 686 12977 done 0.55 - - 2379 - 2.55 0.056 2198 549.8 195.6 43.25 1.754 1928 -3.3 0.310 - - - - - - 14.33 14.21 13.11
13312 838.5 6.1 700 13354 roll 0.56 - - 2379 - 2.58 0.087 3611 547.7 224.2 37.67 1.657 1822 -2.8 0.270 - - - - - - 14.74 13.93 13.27
13392 833.1 8.6 712 13397 done 0.56 - - 2388 - 2.50 0.057 2190 -568.4 224.2 - - 1809 - - - - - - - - 14.36 14.27 14.39
13761 808.3 6.9 722 13770 roll 0.57 - - 2398 - 2.53 0.070 792 -552.6 234.9 3.47 1.144 1778 -8.9 1.196 - - - - - - 14.76 14.32 13.24
13893 798.5 7.4 741 13898 done 0.57 - - 2398 - 2.53 0.057 2187 551.4 234.9 - - 1784 - - - - - - - - 14.40 14.30 14.43
14212 772.0 8.5 751 14216 roll 0.57 - - 2398 - 2.60 0.086 3610 547.3 234.9 - - 1785 - - - - - - - - 14.81 14.09 14.83
14258 766.4 10.3 758 14270 done 0.57 - - 2408 - 2.58 0.054 2186 -551.9 234.9 - - 1786 - - - - - - - - 14.21 14.15 14.25
14608 731.1 10.6 765 14613 roll 0.57 - - 2418 - 2.58 0.067 794 -539.5 234.9 - - 1786 - - - - - - - - 14.83 14.07 14.85
14704 720.0 10.4 779 14710 done 0.57 0.12 0.239 2391 -225.0 2.55 0.056 2187 546.3 234.9 - - 1786 - - - - - - - - 13.86 14.17 14.10
15060 688.5 8.9 787 15065 roll 0.57 - - 2390 - 2.65 0.085 3613 538.1 234.9 - - 1786 - - - - - - - - 14.85 13.99 14.86
15129 681.5 9.2 797 15134 done 0.57 - - 2398 - 2.55 0.054 2169 -566.3 234.9 - - 1786 - - - - - - - - 14.31 14.20 14.33
15455 655.3 8.1 808 15460 roll 0.57 - - 2408 - 2.55 0.069 792 -540.0 234.9 - - 1785 - - - - - - - - 14.85 13.98 14.86
15558 646.7 7.7 823 15569 done 0.57 - - 2408 - 2.58 0.056 2175 536.0 234.9 - - 1785 - - - - - - - - 14.05 13.98 14.11
15908 618.4 8.4 830 15913 roll 0.57 - - 2407 - 2.67 0.086 3616 539.7 234.9 - - 1786 - - - - - - - - 14.85 13.93 14.86
15940 614.6 9.6 835 15946 done 0.57 0.15 0.234 2383 -160.0 2.55 0.054 2186 -560.8 234.9 - - 1785 - - - - - - - - 13.80 14.14 14.05
16302 587.1 7.7 844 16307 roll 0.57 - - 2392 - 2.58 0.067 787 -542.2 234.9 - - 1786 - - - - - - - - 14.85 13.92 14.88
16428 577.0 7.9 862 16433 done 0.62 - - 2393 - 2.55 0.056 2182 547.1 234.9 - - 1785 - - - - - - - - 14.19 14.06 14.23
16754 550.8 8.1 873 16760 roll 0.62 - - 2393 - 2.65 0.083 3614 540.4 234.9 - - 1785 - - - - - - - - 14.85 13.90 14.86
16804 546.0 9.1 880 16815 done 0.62 - - 2402 - 2.62 0.054 2167 -552.3 234.9 - - 1785 - - - - - - - - 14.07 14.00 14.11
17151 517.3 8.4 887 17156 roll 0.62 - - 2410 - 2.55 0.067 794 -538.4 234.9 - - 1786 - - - - - - - - 14.85 13.88 14.86
17240 509.5 8.0 900 17245 done 0.62 - - 2410 - 2.53 0.054 2172 544.7 234.9 - - 1785 - - - - - - - - 14.15 14.02 14.19
17604 479.2 8.5 909 17609 roll 0.62 - - 2410 - 2.67 0.083 3611 539.0 234.9 - - 1785 - - - - - - - - 14.84 13.86 14.86
17672 471.8 10.0 919 17678 done 0.62 - - 2420 - 2.58 0.052 2164 -560.9 234.9 - - 1786 - - - - - - - - 14.19 14.08 14.22
18000 441.7 9.4 930 18005 roll 0.62 - - 2423 - 2.58 0.067 788 -533.3 234.9 - - 1785 - - - - - - - - 14.85 13.88 14.87
18069 435.1 9.0 940 18074 done 0.62 - - 2423 - 2.55 0.055 2175 543.9 234.9 - - 1785 - - - - - - - - 14.14 14.02 14.19
18395 406.4 8.9 951 18400 roll 0.62 - - 2423 - 2.67 0.083 3606 536.0 234.9 - - 1785 - - - - - - - - 14.85 13.84 14.87
18462 399.4 9.6 961 18469 done 0.62 0.10 0.212 2403 -200.0 2.60 0.050 2175 -550.4 234.9 - - 1786 - - - - - - - - 13.64 14.00 13.80
18791 375.6 7.3 972 18796 roll 0.62 - - 2407 - 2.58 0.069 796 -534.5 235.7 - - 1785 - - - - - - - - 14.84 13.84 14.85
18880 368.9 6.8 985 18911 done 0.68 - - 2407 - 2.53 0.052 2179 546.6 247.2 25.17 1.284 1730 -2.2 0.119 - - - - - - 14.12 14.01 13.51
19246 342.6 7.4 1001 19251 roll 0.68 - - 2407 - 2.62 0.081 3612 546.9 247.2 - - 1715 - - - - - - - - 14.78 14.10 14.80
19328 335.1 8.8 1013 19335 done 0.68 - - 2416 - 2.55 0.051 2168 -566.3 247.2 - - 1715 - - - - - - - - 14.33 14.23 14.38
19699 305.2 8.3 1023 19704 roll 0.68 - - 2419 - 2.58 0.068 794 -532.6 247.2 - - 1715 - - - - - - - - 14.82 14.02 14.84
19795 296.7 8.3 1037 19801 done 0.73 - - 2419 - 2.53 0.054 2179 547.4 247.2 - - 1714 - - - - - - - - 14.25 14.12 14.31
20151 267.1 8.5 1045 20156 roll 0.73 - - 2419 - 2.65 0.080 3610 540.0 247.2 - - 1714 - - - - - - - - 14.85 13.96 14.87
20221 260.1 9.5 1055 20225 done 0.73 - - 2428 - 2.55 0.050 2165 -566.7 247.2 - - 1714 - - - - - - - - 14.27 14.17 14.32
20547 229.4 9.7 1066 20552 roll 0.73 - - 2437 - 2.55 0.064 791 -538.8 247.2 - - 1714 - - - - - - - - 14.85 13.97 14.87
20622 221.8 9.1 1077 20628 done 0.73 - - 2437 - 2.50 0.053 2169 551.2 247.2 - - 1714 - - - - - - - - 14.21 14.08 14.28
20943 192.2 9.3 1087 20948 roll 0.73 - - 2437 - 2.67 0.081 3606 538.2 247.2 - - 1714 - - - - - - - - 14.59 13.92 14.61
21003 186.3 9.9 1095 21007 done 0.73 - - 2447 - 2.55 0.048 2164 -565.5 247.2 - - 1714 - - - - - - - - 14.25 14.15 14.29
21341 155.2 9.1 1108 21346 roll 0.73 - - 2450 - 2.55 0.065 794 -537.3 247.2 - - 1714 - - - - - - - - 14.85 13.93 14.88
21425 147.2 9.3 1120 21429 done 0.73 - - 2450 - 2.50 0.053 2169 550.0 247.2 - - 1713 - - - - - - - - 14.18 14.05 14.23
21793 114.1 8.8 1130 21798 roll 0.73 - - 2450 - 2.67 0.080 3609 539.3 247.2 - - 1713 - - - - - - - - 14.85 13.88 14.87
21876 105.6 10.0 1142 21881 done 0.73 - - 2459 - 2.55 0.047 2165 -566.3 247.2 - - 1713 - - - - - - - - 14.21 14.11 14.26
22217 77.8 6.8 1156 22227 roll 0.74 - - 2459 - 2.55 0.064 788 -540.0 260.6 6.47 0.262 1684 -4.5 0.252 - - - - - - 14.85 14.18 13.78
22248 76.2 5.2 1160 22302 done 0.77 - - 2459 - 2.53 0.054 2185 552.2 311.9 40.40 0.360 1475 -5.2 0.207 - - - - - - 14.33 14.21 13.90
22616 55.8 4.3 1179 22676 roll 0.96 0.12 0.135 2527 566.7 2.58 0.077 3607 551.2 384.5 52.35 0.298 1171 -5.8 0.206 - - - - - - 14.29 14.29 13.97
22782 46.3 5.9 1203 22813 done 1.04 - - 2532 - 2.47 0.047 2179 -578.1 419.1 25.27 0.263 1030 -5.6 0.186 - - - - - - 14.34 14.26 13.97
23117 29.4 5.5 1218 23155 roll 1.14 0.10 0.147 2584 520.0 2.47 0.063 795 -560.3 462.7 31.60 0.209 852 -5.6 0.150 - - - - - - 14.42 14.31 14.03
23219 19.3 10.3 1233 23231 done 1.14 - - 2584 - 2.53 0.050 2185 549.4 462.7 - - 859 - - - - - - - - 14.16 14.10 14.21
23367 end climb: SURFACE_DEPTH_REACHED
23367 begin surface coast
23395 end surface coast: CONTROL_FINISHED_OK
23395 begin surface
SM 0.89 - - - - -6.13 6.85 0.054 214 31.2 0.17 0.105 2307 7511.8 500.17 27.50 0.131 697 25.3 -0.018 - - - - - -