SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 643 * Raw log
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• Previous call tries 1 • 247.96 of 350.00 AH used of 24V (29.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.8 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: 37 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
8 - - - 99 VBD -0.68 - - 199 - - - 2235 - -116.8 -89.78 - 2947 - - - - - - - - 14.64 - 14.66
103 3.2 -4.3 3 129 roll -0.68 8.88 0.392 1960 198.3 2.90 2.070 3695 503.4 -116.8 -4.95 - 3219 -54.9 - - - - - - - 13.76 13.27 14.04
163 23.7 -30.0 11 168 done -0.44 0.35 0.237 2051 260.0 2.40 0.043 2298 -582.1 -116.8 - - 3220 - - - - - - - - 13.98 14.35 14.26
502 76.1 -8.3 26 506 roll -0.44 - - 2051 - 2.53 0.051 873 -563.2 -116.8 - - 3220 - - - - - - - - 14.80 14.18 14.81
577 82.1 -7.4 37 589 done -0.44 - - 2050 - 2.55 0.053 2278 551.0 -116.8 - - 3221 - - - - - - - - 14.14 14.07 14.18
927 108.9 -7.8 48 931 roll -0.44 - - 2043 - 2.55 0.073 3692 554.5 -116.8 - - 3222 - - - - - - - - 14.85 14.02 14.86
1002 115.2 -7.9 59 1007 done -0.49 - - 2043 - 2.42 0.037 2260 -591.7 -116.8 - - 3222 - - - - - - - - 14.33 14.26 14.35
1322 139.9 -7.9 69 1328 roll -0.49 - - 2043 - 2.42 0.049 899 -562.4 -116.8 - - 3223 - - - - - - - - 14.87 14.05 14.88
1363 143.4 -8.0 75 1368 done -0.49 - - 2042 - 2.50 0.052 2295 558.4 -116.8 - - 3222 - - - - - - - - 14.22 14.09 14.26
1718 166.7 -6.6 83 1723 roll -0.49 - - 2043 - 2.55 0.078 3693 548.2 -116.8 - - 3222 - - - - - - - - 14.88 13.90 14.90
1777 170.8 -7.0 91 1782 done -0.56 - - 2042 - 2.40 0.039 2291 -584.2 -116.8 - - 3222 - - - - - - - - 14.30 14.23 14.33
2117 195.9 -7.5 104 2122 roll -0.56 - - 2042 - 2.55 0.053 885 -551.4 -116.8 - - 3219 - - - - - - - - 14.87 13.97 14.89
2206 203.4 -7.7 117 2212 done -0.61 0.12 0.133 1989 -441.7 2.53 0.054 2280 551.4 -116.8 - - 3219 - - - - - - - - 14.02 14.02 14.14
2570 240.6 -10.5 126 2574 roll -0.61 - - 1981 - 2.58 0.077 3694 548.1 -116.8 - - 3217 - - - - - - - - 14.87 13.87 14.89
2645 248.8 -9.8 137 2651 done -0.61 - - 1982 - 2.42 0.040 2280 -584.3 -116.8 - - 3217 - - - - - - - - 14.17 14.07 14.21
2965 282.3 -10.8 147 2971 roll -0.56 0.12 0.250 2018 300.0 2.53 0.048 893 -548.2 -116.8 - - 3215 - - - - - - - - 13.88 13.93 13.93
3049 290.3 -8.6 159 3053 done -0.56 - - 2015 - 2.53 0.054 2284 549.8 -116.8 - - 3215 - - - - - - - - 14.12 13.99 14.16
3417 321.3 -8.5 169 3423 roll -0.56 - - 2012 - 2.60 0.080 3694 542.3 -116.8 - - 3213 - - - - - - - - 14.88 13.85 14.90
3493 328.0 -7.9 180 3498 done -0.56 - - 2012 - 2.45 0.040 2274 -579.6 -116.8 - - 3212 - - - - - - - - 14.18 14.10 14.21
3814 356.6 -9.3 190 3819 roll -0.56 - - 2012 - 2.50 0.054 894 -552.0 -116.8 - - 3210 - - - - - - - - 14.88 13.88 14.90
3840 359.7 -9.7 194 3845 done -0.56 - - 2012 - 2.55 0.056 2288 546.7 -116.8 - - 3210 - - - - - - - - 14.08 13.95 14.13
4209 393.3 -9.1 204 4214 roll -0.56 - - 2011 - 2.60 0.084 3688 538.5 -116.8 - - 3208 - - - - - - - - 14.88 13.83 14.90
4269 398.1 -8.1 212 4274 done -0.56 - - 2012 - 2.47 0.043 2277 -571.3 -116.8 - - 3207 - - - - - - - - 14.18 14.11 14.21
4608 423.1 -7.2 225 4614 roll -0.56 - - 2012 - 2.55 0.056 887 -545.1 -116.8 - - 3206 - - - - - - - - 14.89 13.83 14.90
4648 426.4 -7.4 231 4654 done -0.56 - - 2011 - 2.55 0.056 2278 545.5 -116.8 - - 3206 - - - - - - - - 14.06 13.92 14.11
5005 453.1 -8.0 239 5010 roll -0.56 - - 2011 - 2.62 0.082 3693 540.1 -116.8 - - 3205 - - - - - - - - 14.87 13.84 14.89
5131 464.5 -8.5 257 5137 done -0.56 - - 2011 - 2.47 0.042 2274 -574.5 -116.8 - - 3204 - - - - - - - - 14.15 14.07 14.18
5458 495.4 -9.7 268 5463 roll -0.56 - - 2012 - 2.50 0.054 895 -551.6 -116.8 - - 3202 - - - - - - - - 14.88 13.82 14.90
5518 501.2 -9.9 276 5523 done -0.56 - - 2011 - 2.58 0.056 2290 540.7 -116.8 - - 3202 - - - - - - - - 14.04 13.91 14.09
5856 532.5 -9.1 289 5862 roll -0.56 - - 2011 - 2.62 0.086 3688 533.6 -116.8 - - 3201 - - - - - - - - 14.88 13.86 14.90
5954 540.9 -8.0 303 5959 done -0.62 - - 2011 - 2.45 0.044 2283 -573.5 -116.8 - - 3200 - - - - - - - - 14.13 14.04 14.16
6308 569.1 -7.9 311 6313 roll -0.62 - - 2011 - 2.55 0.054 888 -547.1 -116.8 - - 3198 - - - - - - - - 14.88 13.81 14.90
6367 573.9 -8.3 319 6372 done -0.62 - - 2011 - 2.60 0.056 2293 540.4 -116.8 - - 3198 - - - - - - - - 14.03 13.89 14.08
6707 601.0 -8.0 332 6712 roll -0.62 - - 2009 - 2.65 0.086 3698 530.2 -116.8 - - 3197 - - - - - - - - 14.87 13.89 14.88
6766 605.7 -8.4 340 6771 done -0.66 - - 2009 - 2.47 0.042 2281 -573.7 -116.8 - - 3197 - - - - - - - - 14.12 14.02 14.15
7104 633.6 -8.3 353 7110 roll -0.66 - - 2009 - 2.53 0.054 893 -548.6 -116.8 - - 3196 - - - - - - - - 14.88 13.78 14.90
7174 639.7 -8.2 363 7179 done -0.66 - - 2009 - 2.58 0.057 2287 540.3 -116.8 - - 3196 - - - - - - - - 14.02 13.89 14.07
7500 667.2 -8.6 374 7505 roll -0.66 - - 2007 - 2.62 0.087 3691 535.9 -116.8 - - 3195 - - - - - - - - 14.88 13.89 14.89
7569 673.3 -8.7 384 7574 done -0.72 0.12 0.132 1955 -433.3 2.47 0.045 2279 -571.7 -116.8 - - 3194 - - - - - - - - 13.91 14.02 14.02
7897 711.2 -11.9 395 7902 roll -0.67 - - 1955 - 2.58 0.055 884 -540.7 -116.8 - - 3193 - - - - - - - - 14.85 13.79 14.87
7944 717.0 -11.2 402 7956 done -0.62 0.17 0.236 1992 217.6 2.65 0.058 2284 528.3 -116.8 - - 3192 - - - - - - - - 13.57 13.88 13.76
8292 747.5 -8.6 409 8298 roll -0.62 - - 1984 - 2.65 0.086 3694 532.1 -116.8 - - 3191 - - - - - - - - 14.88 13.91 14.89
8341 751.6 -8.6 416 8352 done -0.62 - - 1984 - 2.55 0.045 2273 -557.3 -116.8 - - 3190 - - - - - - - - 13.95 13.92 13.99
8688 783.1 -9.2 423 8692 roll -0.62 - - 1984 - 2.53 0.054 897 -543.9 -116.8 - - 3190 - - - - - - - - 14.86 13.79 14.88
8713 785.6 -8.3 427 8718 done -0.62 - - 1985 - 2.60 0.060 2293 536.9 -116.8 - - 3190 - - - - - - - - 14.04 13.90 14.09
9084 820.5 -9.5 437 9089 roll -0.62 - - 1980 - 2.65 0.090 3691 527.5 -116.8 - - 3189 - - - - - - - - 14.85 13.90 14.88
9130 825.0 -9.1 444 9143 done -0.62 - - 1980 - 2.53 0.046 2282 -556.9 -116.8 - - 3189 - - - - - - - - 13.96 13.92 14.00
9479 857.5 -9.4 451 9484 roll -0.62 - - 1980 - 2.58 0.059 894 -538.0 -116.8 - - 3188 - - - - - - - - 14.87 13.83 14.88
9548 863.8 -9.1 461 9553 done -0.62 - - 1974 - 2.60 0.060 2289 536.5 -116.8 - - 3187 - - - - - - - - 14.04 13.90 14.09
9874 896.3 -10.0 472 9879 roll -0.62 - - 1972 - 2.65 0.091 3689 528.3 -116.8 - - 3187 - - - - - - - - 14.86 13.89 14.88
9942 902.8 -9.7 482 9947 done -0.62 - - 1972 - 2.50 0.047 2283 -562.4 -116.8 - - 3186 - - - - - - - - 14.08 13.99 14.12
10271 936.8 -10.4 493 10276 roll -0.62 - - 1972 - 2.58 0.056 883 -542.6 -116.8 - - 3185 - - - - - - - - 14.85 13.83 14.87
10311 940.9 -8.1 499 10316 done -0.62 - - 1972 - 2.62 0.061 2284 534.7 -116.8 - - 3185 - - - - - - - - 14.05 13.90 14.10
10666 976.2 -9.7 507 10671 roll -0.62 - - 1968 - 2.65 0.089 3692 531.3 -116.8 - - 3185 - - - - - - - - 14.85 13.90 14.88
10707 980.3 -9.1 513 10714 done -0.62 - - 1968 - 2.53 0.048 2281 -557.7 -116.8 - - 3184 - - - - - - - - 14.03 13.99 14.05
10835 end dive: TARGET_DEPTH_EXCEEDED
10835 begin apogee
10843 992.0 -9.2 517 11006 roll -0.19 0.62 0.213 2131 262.9 - - 2181 - - 150.43 1.845 2729 -3.0 0.307 - - - - - - 13.74 13.88 13.01
11007 end apogee: CONTROL_FINISHED_OK
11007 begin climb
11010 996.4 - 520 11178 roll 0.68 0.98 0.137 2419 293.9 2.72 0.086 3610 525.4 116.8 149.95 1.846 2249 -3.2 0.326 - - - - - - 13.78 13.83 13.01
11305 975.3 9.9 562 11311 done 0.59 0.15 0.265 2395 -160.0 2.47 0.055 2214 -565.2 116.8 - - 2235 - - - - - - - - 13.85 14.19 14.16
11634 948.8 8.2 573 11638 roll 0.59 - - 2395 - 2.62 0.083 3625 538.5 116.8 - - 2230 - - - - - - - - 14.74 14.16 14.76
11730 939.7 8.7 587 11737 done 0.54 - - 2405 - 2.53 0.055 2198 -564.0 116.8 - - 2230 - - - - - - - - 14.35 14.25 14.39
12086 912.1 7.9 595 12091 roll 0.50 0.15 0.264 2378 -180.0 2.58 0.068 801 -541.5 116.8 - - 2228 - - - - - - - - 13.74 14.00 13.88
12203 904.5 6.0 611 12244 done 0.52 - - 2378 - 2.58 0.057 2199 541.9 148.6 35.65 1.795 2131 -2.7 0.259 - - - - - - 14.28 14.16 13.29
12594 876.9 7.2 625 12598 roll 0.52 - - 2378 - 2.60 0.087 3609 542.3 152.0 - - 2112 - - - - - - - - 14.76 14.09 14.78
12641 872.7 8.5 632 12652 done 0.52 - - 2387 - 2.55 0.055 2193 -555.3 152.0 - - 2111 - - - - - - - - 14.21 14.16 14.25
12988 845.2 8.1 639 12993 roll 0.52 - - 2397 - 2.58 0.069 796 -541.5 152.0 - - 2110 - - - - - - - - 14.81 14.07 14.83
13104 836.0 7.8 655 13108 done 0.52 - - 2397 - 2.55 0.056 2195 548.6 152.0 - - 2108 - - - - - - - - 14.28 14.16 14.34
13443 808.0 8.3 668 13448 roll 0.52 - - 2397 - 2.65 0.087 3618 537.0 152.0 - - 2108 - - - - - - - - 14.83 14.00 14.84
13502 802.6 8.9 676 13507 done 0.52 0.17 0.248 2368 -170.6 2.55 0.056 2191 -559.6 152.0 - - 2108 - - - - - - - - 13.81 14.18 14.13
13842 779.6 6.7 689 13869 roll 0.53 - - 2378 - 2.53 0.069 795 -551.8 167.7 21.62 1.745 2049 -2.7 0.230 - - - - - - 14.82 14.26 13.42
13979 770.3 7.5 709 13984 done 0.53 - - 2378 - 2.50 0.056 2186 556.4 167.7 - - 2037 - - - - - - - - 14.40 14.29 14.45
14347 745.9 6.7 719 14368 roll 0.53 - - 2378 - 2.58 0.086 3610 551.9 181.7 14.68 1.741 1993 -3.0 0.242 - - - - - - 14.79 14.28 13.43
14419 739.9 8.8 730 14425 done 0.53 - - 2388 - 2.50 0.054 2179 -572.4 181.7 - - 1986 - - - - - - - - 14.46 14.36 14.50
14739 716.2 7.6 740 14744 roll 0.53 - - 2398 - 2.55 0.070 791 -544.3 181.7 - - 1984 - - - - - - - - 14.78 14.14 14.80
14865 705.7 8.0 758 14870 done 0.53 - - 2397 - 2.50 0.056 2173 552.8 181.7 - - 1981 - - - - - - - - 14.33 14.21 14.38
15191 679.1 8.4 769 15195 roll 0.53 - - 2397 - 2.65 0.084 3607 541.1 181.7 - - 1982 - - - - - - - - 14.82 14.05 14.83
15249 673.7 8.9 777 15254 done 0.53 0.15 0.234 2373 -160.0 2.55 0.053 2168 -564.3 181.7 - - 1981 - - - - - - - - 13.91 14.23 14.19
15589 649.1 7.1 790 15595 roll 0.54 - - 2383 - 2.53 0.067 789 -545.1 186.9 - - 1980 - - - - - - - - 14.82 14.03 14.83
15693 641.2 7.0 805 15705 done 0.54 - - 2383 - 2.58 0.055 2174 536.8 194.1 5.32 1.428 1948 -6.0 0.509 - - - - - - 14.09 14.03 13.41
16043 616.5 7.3 812 16052 roll 0.54 - - 2383 - 2.65 0.086 3612 542.6 195.9 3.20 0.973 1941 -2.2 0.261 - - - - - - 14.81 14.22 13.32
16088 612.2 8.2 819 16099 done 0.54 - - 2391 - 2.58 0.054 2170 -558.9 195.9 - - 1947 - - - - - - - - 14.30 14.24 14.33
16436 585.7 7.8 826 16443 roll 0.54 - - 2394 - 2.58 0.071 796 -532.6 195.9 2.12 0.343 1939 -3.8 1.215 - - - - - - 14.83 14.14 13.04
16535 577.6 7.6 840 16540 done 0.54 - - 2394 - 2.50 0.054 2175 551.6 195.9 - - 1946 - - - - - - - - 14.27 14.14 14.31
16889 550.0 7.9 848 16894 roll 0.54 - - 2394 - 2.67 0.083 3613 538.6 195.9 - - 1949 - - - - - - - - 14.83 13.92 14.85
16957 543.6 9.0 858 16963 done 0.54 - - 2404 - 2.60 0.053 2160 -558.8 195.9 - - 1949 - - - - - - - - 14.21 14.12 14.26
17286 517.8 8.0 869 17291 roll 0.54 - - 2412 - 2.53 0.067 794 -539.9 195.9 - - 1949 - - - - - - - - 14.82 13.90 14.83
17375 510.1 7.8 882 17381 done 0.54 0.15 0.234 2379 -220.0 2.53 0.054 2172 544.7 195.9 - - 1949 - - - - - - - - 13.69 14.01 13.97
17739 486.0 6.6 891 17781 roll 0.55 - - 2378 - 2.67 0.084 3612 539.3 212.4 38.10 1.338 1868 -2.1 0.146 - - - - - - 14.82 14.21 13.46
17842 478.6 7.6 906 17848 done 0.55 - - 2388 - 2.58 0.051 2157 -564.0 212.4 - - 1858 - - - - - - - - 14.36 14.28 14.40
18182 455.6 6.7 919 18204 roll 0.56 - - 2391 - 2.53 0.070 795 -538.3 226.4 14.00 1.431 1811 -3.4 0.202 - - - - - - 14.76 14.23 13.43
18287 448.1 7.2 934 18299 done 0.63 - - 2391 - 2.53 0.054 2172 544.3 229.9 - - 1803 - - - - - - - - 14.28 14.21 14.31
18630 422.1 7.7 941 18635 roll 0.63 - - 2391 - 2.62 0.083 3605 546.9 229.9 - - 1801 - - - - - - - - 14.78 14.08 14.80
18692 416.2 9.0 950 18698 done 0.63 - - 2399 - 2.55 0.049 2155 -568.6 229.9 - - 1800 - - - - - - - - 14.34 14.25 14.36
19026 388.5 8.5 962 19031 roll 0.63 - - 2405 - 2.53 0.069 798 -536.4 229.9 - - 1800 - - - - - - - - 14.81 14.04 14.83
19101 381.8 8.3 973 19107 done 0.68 - - 2405 - 2.47 0.053 2161 551.8 229.9 - - 1800 - - - - - - - - 14.28 14.15 14.31
19423 357.3 7.7 983 19428 roll 0.68 - - 2405 - 2.67 0.080 3615 544.6 229.9 - - 1800 - - - - - - - - 14.81 14.00 14.83
19498 351.0 7.7 994 19504 done 0.68 - - 2415 - 2.62 0.050 2162 -554.6 229.9 - - 1800 - - - - - - - - 14.16 14.12 14.20
19820 328.7 7.1 1004 19829 roll 0.69 - - 2421 - 2.47 0.067 792 -554.7 236.0 3.55 0.911 1776 -6.8 0.460 - - - - - - 14.82 14.25 13.43
19932 320.0 7.7 1020 19936 done 0.69 - - 2421 - 2.47 0.054 2165 555.9 236.0 - - 1783 - - - - - - - - 14.38 14.26 14.42
20271 290.9 8.7 1033 20275 roll 0.69 - - 2421 - 2.65 0.079 3609 544.9 236.0 - - 1784 - - - - - - - - 14.83 14.00 14.85
20331 285.5 9.4 1041 20336 done 0.69 - - 2430 - 2.58 0.049 2152 -564.7 236.0 - - 1785 - - - - - - - - 14.28 14.19 14.31
20669 254.8 9.1 1054 20675 roll 0.69 - - 2436 - 2.53 0.067 796 -536.0 236.0 - - 1785 - - - - - - - - 14.83 13.94 14.85
20787 244.6 8.5 1070 20793 done 0.69 - - 2437 - 2.50 0.052 2160 545.6 236.0 - - 1786 - - - - - - - - 14.20 14.09 14.24
21127 212.6 9.6 1083 21132 roll 0.69 - - 2437 - 2.67 0.078 3605 541.2 236.0 - - 1786 - - - - - - - - 14.83 13.90 14.85
21194 204.5 11.5 1093 21200 done 0.69 - - 2447 - 2.62 0.047 2146 -556.9 236.0 - - 1786 - - - - - - - - 14.09 14.04 14.12
21523 167.2 11.7 1104 21528 roll 0.69 - - 2457 - 2.53 0.065 786 -537.5 236.0 - - 1786 - - - - - - - - 14.82 13.90 14.83
21620 156.4 9.9 1118 21627 done 0.69 0.15 0.224 2421 -240.0 2.50 0.053 2152 546.4 236.0 - - 1786 - - - - - - - - 13.72 14.00 13.97
21976 131.9 6.5 1126 22018 roll 0.70 - - 2421 - 2.62 0.079 3612 557.3 255.2 36.83 1.037 1693 -2.5 0.061 - - - - - - 14.83 14.25 13.57
22090 123.5 8.1 1142 22096 done 0.70 - - 2429 - 2.60 0.050 2157 -559.6 255.2 - - 1684 - - - - - - - - 14.38 14.30 14.42
22430 96.4 7.9 1155 22435 roll 0.70 - - 2434 - 2.53 0.065 793 -539.1 255.2 - - 1681 - - - - - - - - 14.79 14.05 14.80
22519 90.6 6.8 1167 22532 done 0.78 - - 2434 - 2.47 0.050 2163 554.7 267.5 5.85 0.281 1652 -5.0 0.301 - - - - - - 14.28 14.16 13.69
22857 69.7 4.5 1182 22915 roll 0.92 0.15 0.115 2502 453.3 2.58 0.077 3607 559.7 334.9 50.22 0.340 1377 -5.5 0.212 - - - - - - 14.27 14.32 13.92
22997 62.2 5.1 1202 23041 done 1.02 - - 2511 - 2.53 0.044 2146 -577.5 388.7 39.47 0.317 1154 -5.6 0.209 - - - - - - 14.38 14.30 13.89
23358 39.1 7.1 1220 23373 roll 1.15 0.15 0.110 2595 560.0 2.47 0.060 792 -548.2 395.3 6.00 0.200 1128 -4.3 0.160 - - - - - - 14.28 14.14 13.81
23474 28.4 9.7 1236 23479 done 1.15 - - 2595 - 2.42 0.051 2139 556.6 395.3 - - 1136 - - - - - - - - 14.24 14.13 14.28
23725 end climb: SURFACE_DEPTH_REACHED
23725 begin surface coast
23753 end surface coast: CONTROL_FINISHED_OK
23753 begin surface
SM 0.87 - - - - -6.15 7.07 0.068 210 29.7 0.25 0.090 2284 5016.0 500.17 68.38 0.133 699 10.2 -0.007 - - - - - -