SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 629 * Raw log
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• Previous call tries 1 • 243.03 of 350.00 AH used of 24V (30.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.6 deg, depth 0.78 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 21 s • Transponder ping count: 35
• 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 - - 205 - - - 2304 - -116.8 -89.82 - 2929 - - - - - - - - 14.65 - 14.67
102 2.8 -3.5 3 125 done -0.68 9.43 0.415 1971 187.3 - - 2304 - -116.8 -5.30 - 3218 -54.5 - - - - - - - 13.78 13.35 14.25
435 89.0 -18.4 15 440 roll -0.51 0.20 0.252 2024 265.0 2.53 0.048 870 -566.8 -116.8 - - 3220 - - - - - - - - 13.74 14.04 13.91
454 91.8 -12.3 18 466 done -0.44 0.12 0.194 2053 241.7 2.53 0.052 2262 550.2 -116.8 - - 3220 - - - - - - - - 13.85 14.12 14.00
802 115.5 -6.7 27 807 roll -0.44 - - 2053 - 2.47 0.047 864 -566.0 -116.8 - - 3222 - - - - - - - - 14.87 14.14 14.89
822 116.9 -6.3 30 826 done -0.44 - - 2053 - 2.53 0.053 2281 560.1 -116.8 - - 3222 - - - - - - - - 14.28 14.17 14.33
1141 136.9 -6.6 40 1145 roll -0.44 - - 2045 - 2.53 0.073 3699 560.5 -116.8 - - 3222 - - - - - - - - 14.88 14.01 14.90
1208 142.0 -7.3 50 1214 done -0.49 - - 2045 - 2.45 0.037 2262 -586.5 -116.8 - - 3222 - - - - - - - - 14.22 14.19 14.26
1537 167.7 -8.1 61 1542 roll -0.49 - - 2045 - 2.42 0.050 891 -566.5 -116.8 - - 3222 - - - - - - - - 14.88 14.08 14.90
1612 173.8 -7.2 72 1618 done -0.54 - - 2043 - 2.53 0.051 2291 553.4 -116.8 - - 3221 - - - - - - - - 14.21 14.08 14.25
1934 195.1 -6.8 82 1939 roll -0.54 - - 2040 - 2.53 0.078 3682 549.8 -116.8 - - 3220 - - - - - - - - 14.88 13.93 14.90
2009 200.9 -7.2 93 2016 done -0.61 0.12 0.129 1983 -475.0 2.40 0.041 2283 -582.9 -116.8 - - 3219 - - - - - - - - 14.11 14.20 14.22
2329 234.4 -10.9 103 2334 roll -0.61 - - 1983 - 2.50 0.053 881 -560.8 -116.8 - - 3217 - - - - - - - - 14.90 14.02 14.92
2419 244.5 -10.7 116 2424 done -0.61 - - 1983 - 2.55 0.057 2280 548.6 -116.8 - - 3217 - - - - - - - - 14.16 14.04 14.21
2780 282.5 -10.6 125 2785 roll -0.61 - - 1973 - 2.55 0.076 3691 553.3 -116.8 - - 3215 - - - - - - - - 14.90 13.89 14.92
2839 288.9 -10.8 133 2845 done -0.61 - - 1973 - 2.45 0.041 2269 -580.4 -116.8 - - 3215 - - - - - - - - 14.26 14.19 14.29
3180 325.1 -10.6 146 3185 roll -0.56 0.12 0.253 2008 291.7 2.50 0.051 884 -554.0 -116.8 - - 3213 - - - - - - - - 13.89 13.97 13.95
3283 334.6 -8.2 161 3295 done -0.56 - - 2001 - 2.58 0.054 2275 539.1 -116.8 - - 3212 - - - - - - - - 13.93 13.86 13.98
3632 364.8 -8.9 168 3637 roll -0.56 - - 1997 - 2.60 0.080 3692 545.0 -116.8 - - 3210 - - - - - - - - 14.89 13.85 14.91
3714 372.5 -8.5 180 3719 done -0.56 - - 1997 - 2.45 0.042 2278 -577.1 -116.8 - - 3210 - - - - - - - - 14.19 14.10 14.23
4083 406.1 -9.5 190 4088 roll -0.56 - - 1997 - 2.55 0.054 886 -545.9 -116.8 - - 3208 - - - - - - - - 14.90 13.93 14.92
4153 413.4 -10.0 200 4157 done -0.56 - - 1997 - 2.55 0.056 2280 546.7 -116.8 - - 3207 - - - - - - - - 14.10 13.97 14.15
4479 446.2 -10.3 211 4484 roll -0.56 - - 1991 - 2.62 0.080 3700 542.0 -116.8 - - 3206 - - - - - - - - 14.89 13.84 14.91
4539 452.3 -10.4 219 4544 done -0.56 - - 1991 - 2.47 0.041 2270 -578.9 -116.8 - - 3205 - - - - - - - - 14.21 14.14 14.25
4879 487.5 -10.3 232 4884 roll -0.56 - - 1991 - 2.53 0.054 888 -546.2 -116.8 - - 3204 - - - - - - - - 14.88 13.90 14.90
4974 497.8 -9.8 246 4980 done -0.56 0.12 0.247 2013 183.3 2.55 0.056 2276 544.3 -116.8 - - 3203 - - - - - - - - 13.63 13.93 13.87
5330 527.7 -8.4 254 5335 roll -0.56 - - 2011 - 2.65 0.083 3698 536.6 -116.8 - - 3202 - - - - - - - - 14.89 13.83 14.90
5406 534.2 -7.6 265 5412 done -0.62 - - 2012 - 2.47 0.041 2271 -577.7 -116.8 - - 3201 - - - - - - - - 14.21 14.13 14.23
5725 560.3 -8.4 275 5730 roll -0.62 - - 2012 - 2.50 0.056 897 -549.6 -116.8 - - 3200 - - - - - - - - 14.90 13.86 14.91
5793 566.5 -8.4 285 5799 done -0.62 - - 2011 - 2.55 0.057 2280 542.4 -116.8 - - 3199 - - - - - - - - 14.06 13.93 14.11
6122 595.0 -9.0 296 6126 roll -0.62 - - 2011 - 2.62 0.083 3688 537.4 -116.8 - - 3198 - - - - - - - - 14.88 13.81 14.90
6204 602.5 -8.1 308 6209 done -0.68 - - 2011 - 2.47 0.043 2271 -573.7 -116.8 - - 3197 - - - - - - - - 14.16 14.08 14.19
6575 632.7 -8.1 318 6579 roll -0.68 - - 2011 - 2.53 0.057 885 -547.8 -116.8 - - 3196 - - - - - - - - 14.88 13.82 14.90
6650 638.9 -7.5 329 6656 done -0.68 - - 2011 - 2.58 0.057 2278 539.9 -116.8 - - 3196 - - - - - - - - 14.02 13.89 14.08
6970 661.2 -7.0 339 6975 roll -0.68 - - 2007 - 2.65 0.083 3694 534.3 -116.8 - - 3195 - - - - - - - - 14.89 13.85 14.90
7031 665.2 -7.2 347 7036 done -0.73 0.15 0.118 1947 -400.0 2.50 0.043 2270 -569.6 -116.8 - - 3195 - - - - - - - - 13.96 14.07 14.07
7370 698.7 -10.2 360 7375 roll -0.67 0.12 0.264 1981 283.3 2.55 0.056 891 -540.8 -116.8 - - 3193 - - - - - - - - 13.79 13.80 13.84
7445 705.8 -8.1 371 7450 done -0.67 - - 1976 - 2.58 0.057 2280 538.4 -116.8 - - 3193 - - - - - - - - 14.02 13.88 14.07
7767 733.7 -8.9 381 7773 roll -0.67 - - 1971 - 2.65 0.086 3694 533.6 -116.8 - - 3192 - - - - - - - - 14.87 13.86 14.89
7800 737.0 -8.4 386 7806 done -0.67 - - 1971 - 2.50 0.044 2271 -569.2 -116.8 - - 3191 - - - - - - - - 14.09 14.00 14.13
8163 771.9 -9.9 395 8167 roll -0.67 - - 1972 - 2.55 0.059 885 -543.5 -116.8 - - 3191 - - - - - - - - 14.88 13.76 14.90
8231 779.0 -10.3 405 8237 done -0.67 - - 1971 - 2.58 0.059 2268 536.0 -116.8 - - 3190 - - - - - - - - 14.00 13.85 14.03
8558 813.2 -10.7 416 8563 roll -0.67 - - 1971 - 2.67 0.090 3690 532.6 -116.8 - - 3189 - - - - - - - - 14.88 13.86 14.90
8576 815.2 -10.0 419 8581 done -0.67 - - 1972 - 2.50 0.045 2269 -568.4 -116.8 - - 3189 - - - - - - - - 14.04 13.93 14.08
8898 848.7 -10.4 429 8904 roll -0.67 - - 1972 - 2.55 0.059 889 -541.2 -116.8 - - 3188 - - - - - - - - 14.87 13.77 14.88
8988 857.9 -8.2 442 8994 done -0.67 - - 1971 - 2.58 0.059 2262 532.2 -116.8 - - 3188 - - - - - - - - 14.03 13.91 14.08
9350 894.7 -10.2 451 9355 roll -0.67 - - 1967 - 2.70 0.090 3695 530.7 -116.8 - - 3187 - - - - - - - - 14.88 13.86 14.90
9398 899.2 -10.1 458 9409 done -0.67 - - 1967 - 2.60 0.047 2257 -553.1 -116.8 - - 3186 - - - - - - - - 13.91 13.86 13.95
9745 934.2 -9.9 465 9751 roll -0.67 - - 1967 - 2.53 0.057 882 -543.5 -116.8 - - 3185 - - - - - - - - 14.88 13.77 14.90
9828 942.2 -6.7 477 9834 done -0.67 - - 1960 - 2.60 0.059 2266 532.3 -116.8 - - 3185 - - - - - - - - 14.02 13.86 14.07
10198 979.1 -9.9 487 10203 roll -0.67 - - 1952 - 2.72 0.090 3699 526.8 -116.8 - - 3184 - - - - - - - - 14.85 13.88 14.87
10301 988.9 -9.6 502 10313 done -0.67 0.10 0.214 1978 260.0 2.60 0.047 2262 -552.7 -116.8 - - 3183 - - - - - - - - 13.50 13.89 13.68
10366 end dive: TARGET_DEPTH_EXCEEDED
10366 begin apogee
10376 995.2 -9.8 504 10537 roll -0.19 0.57 0.204 2131 268.4 - - 2198 - - 147.40 2.444 2740 -3.0 0.240 - - - - 1 - 13.66 13.44 12.52
10539 end apogee: CONTROL_FINISHED_OK
10539 begin climb
10543 1000.4 - 507 10713 roll 0.68 0.95 0.133 2412 295.8 2.60 0.058 801 -537.3 116.8 159.88 1.860 2261 -3.0 0.316 - - - - - - 13.70 13.80 12.95
10897 980.4 9.5 558 10902 done 0.68 - - 2411 - 2.55 0.057 2205 550.6 116.8 - - 2237 - - - - - - - - 14.34 14.23 14.38
11217 953.6 8.8 568 11222 roll 0.63 - - 2419 - 2.60 0.065 811 -536.2 116.8 - - 2233 - - - - - - - - 14.78 14.20 14.79
11349 941.4 9.1 587 11354 done 0.63 - - 2419 - 2.55 0.058 2207 547.5 116.8 - - 2232 - - - - - - - - 14.35 14.23 14.40
11668 916.1 8.2 597 11674 roll 0.57 0.12 0.267 2384 -291.7 2.58 0.083 3608 543.0 116.8 - - 2232 - - - - - - - - 13.89 14.07 13.99
11729 911.2 6.0 605 11770 done 0.59 - - 2393 - 2.47 0.053 2209 -566.4 148.7 36.28 1.823 2131 -2.8 0.273 - - - - - - 14.35 14.26 13.27
12120 881.9 7.4 619 12125 roll 0.59 - - 2403 - 2.60 0.067 796 -543.5 148.7 - - 2111 - - - - - - - - 14.77 14.16 14.78
12252 871.3 8.2 638 12257 done 0.59 - - 2403 - 2.55 0.055 2197 549.4 148.7 - - 2110 - - - - - - - - 14.33 14.20 14.38
12573 847.8 7.7 648 12578 roll 0.59 - - 2403 - 2.62 0.086 3618 542.4 148.7 - - 2109 - - - - - - - - 14.81 14.07 14.83
12632 842.5 7.3 656 12637 done 0.55 0.15 0.255 2380 -153.3 2.53 0.054 2189 -564.8 150.1 - - 2108 - - - - - - - - 13.88 14.25 14.18
12972 818.7 7.0 669 12982 roll 0.55 - - 2390 - 2.55 0.067 796 -546.3 158.9 2.85 0.898 2091 -6.0 1.065 - - - - - - 14.83 14.26 13.25
13073 810.6 7.1 684 13095 done 0.56 - - 2390 - 2.58 0.055 2191 540.7 165.3 14.57 1.815 2063 -1.9 0.168 - - - - - - 14.23 14.17 13.40
13423 784.4 7.9 698 13428 roll 0.56 - - 2390 - 2.60 0.086 3609 545.4 165.3 - - 2053 - - - - - - - - 14.78 14.14 14.81
13462 779.9 10.4 704 13468 done 0.56 - - 2399 - 2.53 0.051 2193 -559.7 165.3 - - 2052 - - - - - - - - 14.28 14.23 14.32
13817 750.9 8.5 712 13822 roll 0.56 - - 2410 - 2.55 0.069 803 -545.1 165.3 - - 2051 - - - - - - - - 14.83 14.09 14.85
13921 741.6 8.1 727 13932 done 0.56 0.08 0.220 2388 -275.0 2.58 0.057 2187 536.4 165.3 - - 2050 - - - - - - - - 13.83 14.08 13.97
14268 715.5 7.7 734 14273 roll 0.56 - - 2388 - 2.65 0.084 3613 538.1 165.3 - - 2050 - - - - - - - - 14.85 14.02 14.87
14343 708.3 9.2 745 14350 done 0.56 - - 2397 - 2.50 0.053 2190 -569.2 165.3 - - 2049 - - - - - - - - 14.29 14.19 14.35
14665 682.5 8.3 755 14670 roll 0.56 - - 2407 - 2.58 0.068 803 -537.6 165.3 - - 2050 - - - - - - - - 14.83 14.00 14.85
14760 673.8 8.2 769 14767 done 0.56 - - 2407 - 2.55 0.055 2199 547.5 165.3 - - 2049 - - - - - - - - 14.23 14.09 14.28
15116 644.1 8.6 777 15122 roll 0.56 - - 2407 - 2.62 0.085 3608 537.8 165.3 - - 2048 - - - - - - - - 14.85 13.94 14.88
15177 638.6 8.9 785 15183 done 0.56 0.15 0.237 2382 -166.7 2.53 0.050 2183 -563.2 165.3 - - 2048 - - - - - - - - 13.82 14.19 14.12
15517 615.0 6.7 798 15540 roll 0.57 - - 2392 - 2.55 0.067 791 -545.9 180.5 18.20 1.607 1999 -2.7 0.202 - - - - - - 14.85 14.30 13.47
15619 607.9 6.5 813 15651 done 0.58 - - 2392 - 2.55 0.056 2184 546.3 199.2 23.90 1.584 1918 -3.4 0.255 - - - - - - 14.33 14.25 13.31
15966 584.7 6.8 827 15975 roll 0.58 - - 2392 - 2.55 0.082 3610 559.2 212.6 5.38 1.407 1876 -7.8 0.636 - - - - - - 14.74 14.07 13.33
16031 579.2 7.7 837 16038 done 0.58 - - 2402 - 2.50 0.050 2174 -574.4 212.6 2.15 0.371 1871 -2.3 0.711 - - - - - - 14.45 14.36 13.01
16361 554.9 7.6 848 16365 roll 0.58 - - 2408 - 2.53 0.070 797 -544.3 212.6 - - 1877 - - - - - - - - 14.78 14.12 14.79
16421 549.5 7.9 857 16428 done 0.58 - - 2407 - 2.55 0.054 2184 543.9 212.6 - - 1878 - - - - - - - - 14.20 14.13 14.24
16757 520.3 9.1 869 16763 roll 0.58 - - 2408 - 2.62 0.082 3607 543.1 212.6 - - 1878 - - - - - - - - 14.81 14.03 14.83
16826 512.3 10.4 879 16831 done 0.58 - - 2418 - 2.50 0.050 2187 -568.0 212.6 - - 1878 - - - - - - - - 14.30 14.20 14.34
17153 479.7 10.1 890 17158 roll 0.58 - - 2428 - 2.55 0.063 791 -547.5 212.6 - - 1878 - - - - - - - - 14.84 14.01 14.88
17244 470.5 9.6 903 17249 done 0.58 0.15 0.233 2393 -233.3 2.55 0.054 2193 549.8 212.6 - - 1878 - - - - - - - - 13.78 14.11 14.05
17605 443.3 7.3 912 17615 roll 0.59 - - 2393 - 2.62 0.083 3611 541.2 214.0 2.20 0.398 1867 -5.0 1.091 - - - - - - 14.85 14.11 13.19
17671 437.7 7.9 922 17676 done 0.59 - - 2402 - 2.50 0.050 2185 -570.4 214.0 - - 1872 - - - - - - - - 14.34 14.24 14.38
18000 413.9 7.4 933 18005 roll 0.59 - - 2407 - 2.55 0.065 797 -544.3 214.0 - - 1874 - - - - - - - - 14.83 13.95 14.85
18075 407.7 7.4 944 18081 done 0.59 - - 2407 - 2.53 0.052 2185 548.6 214.0 - - 1874 - - - - - - - - 14.19 14.07 14.24
18397 382.9 7.9 954 18402 roll 0.59 - - 2408 - 2.65 0.080 3611 538.1 214.0 - - 1874 - - - - - - - - 14.81 13.90 14.85
18486 374.1 9.2 967 18491 done 0.59 - - 2416 - 2.53 0.050 2187 -562.8 214.0 - - 1875 - - - - - - - - 14.19 14.09 14.23
18848 342.1 9.1 976 18853 roll 0.59 - - 2424 - 2.58 0.064 802 -536.8 214.0 - - 1875 - - - - - - - - 14.85 13.88 14.87
18925 335.0 9.0 987 18930 done 0.59 0.15 0.218 2388 -240.0 2.55 0.054 2198 547.5 214.0 - - 1875 - - - - - - - - 13.74 14.02 13.99
19244 312.0 7.2 997 19254 roll 0.59 - - 2388 - 2.60 0.081 3608 542.3 217.6 4.00 1.017 1853 -5.5 0.331 - - - - - - 14.85 14.18 13.43
19325 305.0 8.4 1009 19332 done 0.59 - - 2393 - 2.47 0.049 2188 -574.9 217.6 1.90 0.194 1851 - - - - - - - - 14.41 14.33 14.02
19694 278.1 7.4 1019 19703 roll 0.59 - - 2393 - 2.58 0.067 800 -538.0 217.6 2.12 0.329 1853 - - - - - - - - 14.84 14.14 13.20
19781 271.5 7.1 1032 19794 done 0.65 - - 2393 - 2.53 0.052 2194 551.0 222.0 6.15 1.221 1836 -2.8 0.120 - - - - - - 14.27 14.16 13.50
20144 246.8 6.8 1041 20173 roll 0.66 - - 2393 - 2.60 0.082 3606 543.1 235.2 24.42 1.239 1775 -2.5 0.097 - - - - - - 14.82 14.28 13.53
20248 239.2 7.5 1056 20253 done 0.66 - - 2402 - 2.47 0.048 2182 -576.5 235.2 - - 1763 - - - - - - - - 14.44 14.35 14.47
20588 215.2 7.2 1069 20594 roll 0.66 - - 2407 - 2.55 0.065 797 -543.1 238.9 - - 1760 - - - - - - - - 14.79 14.08 14.81
20678 208.2 7.2 1082 20684 done 0.73 - - 2406 - 2.53 0.051 2194 552.2 242.7 1.67 0.181 1749 -6.6 1.484 - - - - - - 14.26 14.15 13.95
21042 182.2 7.4 1091 21047 roll 0.73 - - 2406 - 2.60 0.080 3614 546.2 242.7 - - 1754 - - - - - - - - 14.82 13.97 14.84
21100 177.1 8.7 1099 21105 done 0.73 - - 2415 - 2.53 0.049 2186 -564.4 242.7 - - 1754 - - - - - - - - 14.27 14.17 14.31
21439 149.8 8.1 1112 21444 roll 0.73 - - 2424 - 2.55 0.063 797 -544.7 242.7 - - 1754 - - - - - - - - 14.84 13.96 14.85
21522 143.2 7.7 1124 21527 done 0.77 - - 2424 - 2.53 0.051 2191 551.0 242.7 - - 1755 - - - - - - - - 14.21 14.09 14.23
21890 114.0 8.2 1134 21895 roll 0.77 - - 2423 - 2.62 0.078 3610 541.6 242.7 - - 1755 - - - - - - - - 14.85 13.90 14.88
21972 105.9 9.0 1146 21977 done 0.77 - - 2432 - 2.50 0.047 2186 -569.6 242.7 - - 1755 - - - - - - - - 14.20 14.10 14.23
22315 83.5 5.9 1160 22346 roll 0.79 - - 2432 - 2.50 0.063 790 -558.4 276.3 25.15 0.373 1618 -5.4 0.239 - - - - - - 14.83 14.12 13.85
22432 76.6 5.7 1176 22467 done 0.93 0.20 0.099 2512 400.0 2.53 0.051 2196 555.7 315.0 29.75 0.356 1454 -5.5 0.232 - - - - - - 14.28 14.23 13.88
22799 55.3 4.9 1195 22849 roll 1.03 - - 2513 - 2.60 0.063 793 -539.6 373.2 41.38 0.294 1216 -5.8 0.212 - - - - - - 14.76 14.14 13.93
22870 50.6 5.7 1206 22910 done 1.16 0.15 0.070 2585 480.0 2.53 0.050 2182 549.0 411.8 27.25 0.280 1063 -5.6 0.199 - - - - - - 14.23 14.21 13.93
23223 16.2 10.4 1222 23227 roll 1.16 - - 2585 - 2.58 0.074 3605 551.6 411.8 - - 1066 - - - - - - - - 14.76 14.00 14.78
23269 9.8 11.6 1229 23282 done 1.16 - - 2595 - 2.53 0.046 2185 -561.3 411.8 - - 1066 - - - - - - - - 14.07 14.02 14.11
23334 end climb: SURFACE_DEPTH_REACHED
23334 begin surface coast
23362 end surface coast: CONTROL_FINISHED_OK
23362 begin surface
SM 0.67 - - - - -6.14 6.93 0.056 212 30.6 0.20 0.093 2303 6365.0 500.17 57.65 0.135 699 12.1 -0.006 - - - - - -