SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 651 * Raw log
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• Previous call tries 1 • 250.77 of 350.00 AH used of 24V (28.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.8 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: 37 s
• GPS2 time: 15 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
8 - - - 98 VBD -0.68 - - 200 - - - 2313 - -116.8 -89.03 - 2949 - - - - - - - - 14.64 - 14.66
102 3.2 -3.9 3 128 roll -0.68 9.07 0.402 1962 194.3 2.67 2.068 3671 508.6 -116.8 -4.90 - 3219 -55.1 - - - - - - - 13.79 13.27 14.05
171 26.7 -23.2 13 177 done -0.49 0.28 0.246 2032 250.0 2.40 0.041 2259 -588.3 -116.8 - - 3220 - - - - - - - - 13.95 14.35 14.25
497 81.2 -10.9 26 502 roll -0.43 - - 2032 - 2.45 0.049 878 -563.7 -116.8 - - 3220 - - - - - - - - 14.79 14.18 14.81
601 90.7 -8.2 41 614 done -0.43 0.10 0.194 2057 250.0 2.53 0.052 2264 547.8 -116.8 - - 3221 - - - - - - - - 13.82 14.07 13.95
923 112.0 -6.9 50 928 roll -0.43 - - 2051 - 2.60 0.077 3698 551.5 -116.8 - - 3222 - - - - - - - - 14.84 14.00 14.85
1047 122.5 -7.9 68 1053 done -0.49 - - 2051 - 2.45 0.036 2270 -582.9 -116.8 - - 3222 - - - - - - - - 14.19 14.16 14.30
1376 144.7 -6.5 79 1380 roll -0.49 - - 2051 - 2.47 0.051 893 -557.5 -116.8 - - 3222 - - - - - - - - 14.86 14.02 14.88
1457 150.2 -6.1 91 1463 done -0.49 - - 2050 - 2.55 0.051 2286 546.3 -116.8 - - 3222 - - - - - - - - 14.18 14.00 14.22
1827 175.3 -7.2 101 1833 roll -0.49 - - 2043 - 2.58 0.078 3697 546.9 -116.8 - - 3221 - - - - - - - - 14.88 13.90 14.90
1932 182.8 -6.9 116 1943 done -0.55 - - 2043 - 2.45 0.037 2283 -577.1 -116.8 - - 3220 - - - - - - - - 14.07 14.04 14.12
2279 207.7 -7.4 123 2284 roll -0.55 - - 2043 - 2.50 0.050 892 -556.4 -116.8 - - 3218 - - - - - - - - 14.88 13.95 14.90
2376 215.2 -7.3 137 2382 done -0.60 0.12 0.132 1990 -441.7 2.53 0.053 2289 552.2 -116.8 - - 3217 - - - - - - - - 14.00 14.00 14.12
2730 250.5 -10.4 145 2736 roll -0.60 - - 1984 - 2.58 0.080 3689 542.6 -116.8 - - 3216 - - - - - - - - 14.88 13.85 14.90
2777 255.6 -9.7 152 2789 done -0.60 - - 1984 - 2.45 0.041 2293 -569.8 -116.8 - - 3216 - - - - - - - - 14.01 13.97 14.04
3128 290.6 -10.3 159 3133 roll -0.56 0.12 0.246 2022 316.7 2.55 0.052 890 -550.2 -116.8 - - 3213 - - - - - - - - 13.88 13.89 13.92
3231 300.3 -8.3 174 3242 done -0.56 - - 2017 - 2.58 0.054 2276 537.2 -116.8 - - 3213 - - - - - - - - 13.94 13.87 13.99
3579 329.8 -8.7 181 3585 roll -0.56 - - 2012 - 2.62 0.080 3695 541.6 -116.8 - - 3211 - - - - - - - - 14.88 13.87 14.90
3663 337.3 -8.6 193 3669 done -0.56 - - 2012 - 2.45 0.039 2276 -579.2 -116.8 - - 3211 - - - - - - - - 14.20 14.13 14.23
4031 368.6 -8.6 203 4036 roll -0.56 - - 2012 - 2.53 0.052 889 -548.2 -116.8 - - 3208 - - - - - - - - 14.88 13.85 14.90
4063 371.9 -8.9 208 4069 done -0.56 - - 2012 - 2.55 0.054 2281 545.9 -116.8 - - 3207 - - - - - - - - 14.07 13.93 14.11
4427 403.1 -8.8 217 4433 roll -0.56 - - 2012 - 2.60 0.080 3691 542.3 -116.8 - - 3206 - - - - - - - - 14.86 13.85 14.88
4517 410.9 -7.8 230 4522 done -0.56 - - 2012 - 2.45 0.041 2277 -577.1 -116.8 - - 3206 - - - - - - - - 14.14 14.06 14.17
4880 438.7 -7.7 239 4884 roll -0.56 - - 2012 - 2.53 0.052 892 -547.4 -116.8 - - 3204 - - - - - - - - 14.88 13.83 14.89
4963 445.3 -7.1 251 4968 done -0.56 - - 2011 - 2.58 0.054 2294 543.4 -116.8 - - 3203 - - - - - - - - 14.04 13.92 14.09
5331 473.7 -8.1 261 5337 roll -0.56 - - 2011 - 2.62 0.083 3696 535.1 -116.8 - - 3202 - - - - - - - - 14.88 13.85 14.90
5437 483.0 -8.2 276 5448 done -0.56 - - 2011 - 2.53 0.041 2280 -559.7 -116.8 - - 3201 - - - - - - - - 13.97 13.93 14.00
5785 513.1 -8.9 283 5790 roll -0.56 - - 2011 - 2.55 0.053 887 -546.3 -116.8 - - 3199 - - - - - - - - 14.88 13.83 14.89
5859 520.0 -8.1 294 5865 done -0.56 - - 2012 - 2.58 0.055 2281 540.3 -116.8 - - 3199 - - - - - - - - 14.06 13.93 14.11
6181 544.8 -7.8 304 6186 roll -0.56 - - 2011 - 2.62 0.083 3695 539.7 -116.8 - - 3198 - - - - - - - - 14.86 13.88 14.88
6240 549.2 -7.5 312 6244 done -0.60 - - 2010 - 2.47 0.041 2271 -576.5 -116.8 - - 3197 - - - - - - - - 14.14 14.04 14.16
6578 575.2 -7.8 325 6584 roll -0.60 - - 2011 - 2.50 0.054 897 -549.6 -116.8 - - 3197 - - - - - - - - 14.88 13.78 14.89
6626 579.3 -8.0 332 6637 done -0.60 - - 2011 - 2.62 0.057 2280 527.9 -116.8 - - 3196 - - - - - - - - 13.95 13.88 14.01
6974 607.6 -8.4 339 6979 roll -0.60 - - 2011 - 2.62 0.084 3694 539.7 -116.8 - - 3196 - - - - - - - - 14.87 13.91 14.89
7042 613.4 -7.8 349 7048 done -0.66 - - 2011 - 2.45 0.042 2280 -577.1 -116.8 - - 3195 - - - - - - - - 14.11 14.03 14.14
7370 639.6 -8.1 360 7375 roll -0.66 - - 2011 - 2.50 0.052 900 -552.0 -116.8 - - 3193 - - - - - - - - 14.85 13.78 14.87
7428 644.5 -8.6 368 7433 done -0.66 - - 2011 - 2.58 0.057 2285 536.8 -116.8 - - 3193 - - - - - - - - 14.04 13.90 14.09
7767 672.1 -8.3 381 7773 roll -0.66 - - 2011 - 2.62 0.086 3689 535.9 -116.8 - - 3192 - - - - - - - - 14.87 13.89 14.89
7851 679.1 -7.4 393 7857 done -0.72 0.15 0.117 1952 -393.3 2.45 0.044 2285 -573.1 -116.8 - - 3191 - - - - - - - - 13.93 14.01 14.03
8219 721.5 -11.8 403 8225 roll -0.66 0.12 0.262 1982 250.0 2.58 0.052 899 -537.2 -116.8 - - 3191 - - - - - - - - 13.75 13.81 13.77
8279 727.7 -10.7 411 8283 done -0.66 - - 1975 - 2.60 0.057 2292 535.8 -116.8 - - 3190 - - - - - - - - 14.04 13.90 14.09
8618 760.9 -9.8 424 8623 roll -0.66 - - 1970 - 2.65 0.087 3698 530.6 -116.8 - - 3189 - - - - - - - - 14.85 13.90 14.88
8651 764.2 -9.3 429 8657 done -0.66 - - 1970 - 2.47 0.044 2292 -569.2 -116.8 - - 3189 - - - - - - - - 14.07 13.99 14.11
9014 797.9 -9.1 438 9018 roll -0.66 - - 1970 - 2.60 0.058 880 -543.1 -116.8 - - 3187 - - - - - - - - 14.85 13.79 14.88
9083 803.9 -8.3 448 9087 done -0.66 - - 1968 - 2.62 0.060 2287 537.0 -116.8 - - 3187 - - - - - - - - 14.04 13.91 14.10
9409 831.9 -8.6 459 9414 roll -0.66 - - 1959 - 2.62 0.086 3697 538.2 -116.8 - - 3186 - - - - - - - - 14.85 13.90 14.87
9448 835.1 -7.0 465 9455 done -0.66 - - 1959 - 2.55 0.046 2277 -556.9 -116.8 - - 3186 - - - - - - - - 13.95 13.91 14.08
9805 867.4 -9.0 473 9811 roll -0.66 - - 1959 - 2.55 0.055 884 -546.3 -116.8 - - 3185 - - - - - - - - 14.84 13.85 14.86
9881 874.0 -7.3 484 9886 done -0.66 0.12 0.267 1983 200.0 2.62 0.059 2280 532.8 -116.8 - - 3185 - - - - - - - - 13.66 13.95 13.93
10202 898.5 -7.6 494 10207 roll -0.66 - - 1974 - 2.62 0.083 3693 539.3 -116.8 - - 3185 - - - - - - - - 14.84 13.92 14.85
10228 900.2 -5.6 498 10233 done -0.66 - - 1974 - 2.50 0.046 2280 -565.2 -116.8 - - 3184 - - - - - - - - 14.09 14.01 14.12
10597 932.0 -8.6 508 10602 roll -0.66 - - 1974 - 2.58 0.056 881 -542.2 -116.8 - - 3183 - - - - - - - - 14.85 13.87 14.87
10643 935.9 -8.9 515 10655 done -0.66 - - 1973 - 2.65 0.060 2279 527.5 -116.8 - - 3183 - - - - - - - - 14.00 13.93 14.05
10993 967.7 -9.1 522 10994 done -0.66 - - 1973 - - - 2279 - -116.8 - - 3182 - - - - - - - - 14.83 14.85 14.85
11268 end dive: TARGET_DEPTH_EXCEEDED
11268 begin apogee
11277 991.5 -8.4 527 11472 roll -0.19 0.60 0.211 2129 260.0 - - 2184 - - 192.85 1.551 2739 -2.3 0.277 - - - - - - 13.69 13.93 13.16
11472 end apogee: CONTROL_FINISHED_OK
11472 begin climb
11476 995.7 - 530 11640 roll 0.68 0.98 0.138 2417 293.9 2.55 0.060 820 -534.9 116.8 149.38 1.833 2257 -3.2 0.330 - - - - - - 13.74 13.85 13.01
11675 986.9 7.3 564 11681 done 0.68 - - 2416 - 2.58 0.056 2206 537.2 117.7 - - 2243 - - - - - - - - 14.06 13.95 14.10
12005 958.8 9.0 575 12009 roll 0.62 - - 2417 - 2.58 0.086 3612 545.0 117.7 - - 2235 - - - - - - - - 14.71 14.14 14.73
12087 949.2 12.3 587 12092 done 0.54 0.20 0.256 2381 -180.0 2.45 0.055 2228 -564.9 117.7 - - 2233 - - - - - - - - 13.85 14.23 14.18
12457 925.0 6.6 597 12478 roll 0.55 - - 2391 - 2.60 0.068 789 -553.5 134.7 16.60 1.847 2184 -3.0 0.279 - - - - - - 14.81 14.10 13.36
12586 915.4 7.7 616 12591 done 0.55 - - 2391 - 2.58 0.057 2208 550.0 134.7 - - 2175 - - - - - - - - 14.37 14.25 14.41
12905 893.9 7.1 626 12910 roll 0.55 - - 2391 - 2.58 0.086 3613 544.6 139.9 - - 2173 - - - - - - - - 14.79 14.08 14.81
12982 886.5 9.1 637 12987 done 0.55 - - 2400 - 2.53 0.055 2186 -564.0 139.9 - - 2172 - - - - - - - - 14.33 14.23 14.37
13301 862.4 7.9 647 13306 roll 0.55 - - 2411 - 2.58 0.068 798 -538.0 139.9 - - 2172 - - - - - - - - 14.84 14.03 14.83
13416 853.1 5.9 663 13472 done 0.57 - - 2411 - 2.58 0.056 2196 541.9 173.1 51.08 1.729 2032 -2.7 0.255 - - - - - - 14.27 14.14 13.27
13809 817.9 9.1 677 13815 roll 0.57 - - 2411 - 2.62 0.086 3618 542.7 173.1 - - 2010 - - - - - - - - 14.72 14.09 14.74
13850 812.8 11.7 683 13856 done 0.57 0.15 0.252 2386 -166.7 2.53 0.057 2190 -564.4 173.1 - - 2009 - - - - - - - - 13.88 14.21 14.19
14207 786.3 7.5 691 14212 roll 0.57 - - 2396 - 2.58 0.070 801 -538.4 173.1 - - 2008 - - - - - - - - 14.78 14.09 14.80
14303 778.3 7.1 705 14309 done 0.58 - - 2396 - 2.55 0.056 2195 546.7 179.4 - - 2007 - - - - - - - - 14.28 14.16 14.32
14659 754.0 7.0 713 14669 roll 0.58 - - 2396 - 2.58 0.086 3615 550.4 186.2 4.30 1.346 1981 -6.0 0.639 - - - - - - 14.81 14.26 13.31
14733 747.4 8.8 724 14739 done 0.58 - - 2406 - 2.50 0.056 2190 -570.0 186.2 1.85 0.191 1979 - - - - - - - - 14.43 14.33 14.10
15052 722.4 8.2 734 15057 roll 0.58 - - 2416 - 2.58 0.069 798 -539.5 186.2 - - 1988 - - - - - - - - 14.82 14.07 14.83
15169 712.8 7.6 750 15174 done 0.58 - - 2416 - 2.55 0.055 2188 545.1 186.2 - - 1988 - - - - - - - - 14.28 14.16 14.32
15507 681.6 9.3 763 15512 roll 0.58 - - 2416 - 2.65 0.083 3615 538.5 186.2 - - 1988 - - - - - - - - 14.83 13.98 14.84
15566 675.7 9.7 771 15571 done 0.58 0.15 0.247 2392 -160.0 2.55 0.054 2186 -560.4 186.2 - - 1988 - - - - - - - - 13.81 14.16 14.08
15906 648.4 8.0 784 15911 roll 0.58 - - 2402 - 2.58 0.066 798 -538.0 186.2 - - 1988 - - - - - - - - 14.81 13.96 14.83
16002 640.4 7.5 798 16007 done 0.58 - - 2402 - 2.55 0.054 2187 544.7 186.2 - - 1988 - - - - - - - - 14.19 14.06 14.22
16358 613.9 7.5 806 16363 roll 0.58 - - 2402 - 2.65 0.082 3616 539.2 186.2 - - 1988 - - - - - - - - 14.83 13.91 14.84
16427 607.7 8.3 816 16432 done 0.58 - - 2412 - 2.55 0.052 2183 -562.0 186.2 - - 1988 - - - - - - - - 14.21 14.10 14.25
16753 582.7 7.8 827 16758 roll 0.58 - - 2421 - 2.58 0.065 797 -537.2 186.2 - - 1988 - - - - - - - - 14.83 13.90 14.85
16837 575.9 7.6 839 16842 done 0.58 0.15 0.243 2389 -213.3 2.55 0.054 2187 545.1 186.2 - - 1988 - - - - - - - - 13.70 14.03 13.97
17205 552.7 6.2 849 17260 roll 0.60 - - 2389 - 2.62 0.083 3611 543.5 212.8 44.65 1.457 1863 -2.8 0.200 - - - - - - 14.82 14.02 13.43
17321 544.6 7.7 865 17327 done 0.60 - - 2394 - 2.55 0.053 2174 -563.5 212.8 - - 1855 - - - - - - - - 14.31 14.22 14.35
17662 519.8 7.3 878 17667 roll 0.60 - - 2403 - 2.55 0.067 791 -542.4 212.8 - - 1852 - - - - - - - - 14.73 14.09 14.75
17744 513.3 7.5 890 17750 done 0.60 - - 2403 - 2.58 0.054 2180 538.4 212.8 - - 1851 - - - - - - - - 14.16 14.10 14.21
18115 485.0 7.9 900 18120 roll 0.60 - - 2403 - 2.65 0.083 3610 539.6 212.8 - - 1851 - - - - - - - - 14.79 14.02 14.81
18197 477.3 9.1 912 18202 done 0.60 - - 2412 - 2.53 0.051 2179 -565.6 212.8 - - 1850 - - - - - - - - 14.29 14.18 14.33
18566 448.4 7.9 922 18571 roll 0.60 - - 2421 - 2.58 0.067 797 -535.7 212.8 - - 1850 - - - - - - - - 14.82 14.00 14.83
18664 440.3 7.8 936 18668 done 0.60 - - 2421 - 2.53 0.054 2183 547.8 212.8 - - 1850 - - - - - - - - 14.23 14.12 14.29
19018 411.1 8.4 944 19023 roll 0.60 - - 2421 - 2.62 0.081 3614 546.2 212.8 - - 1850 - - - - - - - - 14.81 13.97 14.83
19093 403.5 9.9 955 19099 done 0.60 0.15 0.230 2394 -180.0 2.55 0.052 2174 -564.7 212.8 - - 1850 - - - - - - - - 13.83 14.15 14.12
19415 380.1 7.4 965 19421 roll 0.60 - - 2400 - 2.58 0.067 798 -533.3 212.8 - - 1850 - - - - - - - - 14.81 13.96 14.83
19484 374.5 7.3 975 19489 done 0.65 - - 2401 - 2.53 0.053 2181 546.6 213.5 - - 1850 - - - - - - - - 14.21 14.07 14.27
19811 350.4 7.4 986 19816 roll 0.65 - - 2400 - 2.65 0.080 3606 537.7 213.5 - - 1849 - - - - - - - - 14.82 13.93 14.84
19873 345.0 8.0 995 19878 done 0.65 - - 2407 - 2.53 0.050 2180 -563.6 213.5 - - 1849 - - - - - - - - 14.23 14.13 14.28
20206 320.7 7.4 1007 20211 roll 0.65 - - 2407 - 2.60 0.067 787 -535.8 213.5 - - 1849 - - - - - - - - 14.83 13.90 14.85
20290 314.4 7.3 1019 20294 done 0.71 - - 2407 - 2.55 0.054 2182 547.1 213.7 - - 1849 - - - - - - - - 14.17 14.04 14.22
20657 287.4 7.5 1029 20663 roll 0.71 - - 2406 - 2.65 0.080 3610 538.9 213.7 - - 1849 - - - - - - - - 14.83 13.90 14.85
20740 279.8 8.8 1041 20746 done 0.71 - - 2416 - 2.55 0.049 2175 -562.7 213.7 - - 1849 - - - - - - - - 14.18 14.08 14.23
21111 251.4 7.8 1051 21116 roll 0.71 - - 2424 - 2.62 0.066 789 -529.0 213.7 - - 1849 - - - - - - - - 14.82 13.89 14.86
21193 244.0 8.6 1063 21198 done 0.71 - - 2423 - 2.55 0.053 2180 545.5 213.7 - - 1849 - - - - - - - - 14.13 14.01 14.19
21562 208.0 10.3 1073 21568 roll 0.71 - - 2423 - 2.67 0.080 3612 536.3 213.7 - - 1849 - - - - - - - - 14.83 13.90 14.85
21639 199.2 11.0 1084 21644 done 0.71 - - 2431 - 2.55 0.050 2178 -562.4 213.7 - - 1849 - - - - - - - - 14.15 14.05 14.21
21958 169.8 9.2 1094 21963 roll 0.71 - - 2438 - 2.60 0.066 787 -535.0 213.7 - - 1849 - - - - - - - - 14.83 13.88 14.85
22075 160.7 7.3 1110 22080 done 0.71 - - 2438 - 2.55 0.054 2174 543.9 213.7 - - 1849 - - - - - - - - 14.13 14.01 14.19
22415 134.3 7.7 1123 22420 roll 0.71 - - 2438 - 2.67 0.080 3612 538.6 213.7 - - 1849 - - - - - - - - 14.83 13.89 14.85
22474 129.1 9.3 1131 22479 done 0.71 - - 2448 - 2.58 0.049 2163 -561.6 213.7 - - 1849 - - - - - - - - 14.14 14.04 14.19
22814 100.1 8.3 1144 22819 roll 0.71 - - 2450 - 2.55 0.066 797 -535.7 213.7 - - 1849 - - - - - - - - 14.82 13.89 14.83
22918 92.7 6.9 1159 22929 done 0.71 - - 2450 - 2.58 0.051 2178 535.3 224.5 4.50 0.231 1830 -4.2 0.319 - - - - - - 13.96 13.90 13.68
23239 72.4 6.6 1171 23266 roll 0.72 - - 2451 - 2.60 0.076 3603 548.1 242.2 15.57 0.321 1757 -4.7 0.199 - - - - - - 14.81 14.09 13.83
23500 65.0 -0.2 1208 23638 done 0.92 0.15 0.118 2507 373.3 2.50 0.044 2164 -575.6 422.2 124.20 0.330 1021 -5.9 0.220 - - - - - - 14.13 14.20 13.85
23946 41.9 6.6 1238 23976 roll 1.07 0.12 0.125 2579 600.0 2.67 0.075 3608 540.8 439.6 13.90 0.235 951 -5.0 0.169 - - - - - - 14.29 14.09 13.86
24026 33.5 11.2 1249 24039 done 1.07 0.12 0.207 2552 -225.0 2.60 0.048 2162 -556.2 439.6 2.05 0.153 947 -2.0 0.081 - - - - - - 13.74 14.07 13.87
24349 6.7 8.4 1261 24355 roll 1.12 - - 2552 - 2.65 0.068 3609 546.0 439.6 - - 954 - - - - - - - - 14.77 13.95 14.78
24386 end climb: SURFACE_DEPTH_REACHED
24386 begin surface coast
24414 end surface coast: CONTROL_FINISHED_OK
24414 begin surface
SM 0.84 - - - - -6.13 6.97 0.073 217 31.1 2.42 0.044 2265 775.6 500.17 42.47 0.132 699 16.5 -0.011 - - - - - -