SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 670 * Raw log
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• Previous call tries 2 • 257.61 of 350.00 AH used of 24V (26.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -58.3 deg, depth 0.72 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 26 s • Transponder ping count: 39
• 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 - - 190 - - - 2312 - -116.8 -89.30 - 2631 - - - - - - - - 14.59 - 14.61
103 2.3 -2.6 3 128 roll -0.68 9.12 0.403 1962 194.3 2.78 2.068 3693 496.8 -116.8 -11.73 - 3220 -50.2 - - - - - - - 13.83 12.78 14.25
161 20.8 -30.7 11 167 done -0.44 0.35 0.250 2051 254.3 2.42 0.043 2260 -592.1 -116.8 - - 3220 - - - - - - - - 13.90 14.32 14.20
501 74.8 -8.1 26 505 roll -0.44 - - 2043 - 2.60 0.074 3695 551.9 -116.8 - - 3219 - - - - - - - - 14.79 14.04 14.81
548 79.3 -9.2 33 559 done -0.44 - - 2043 - 2.45 0.038 2279 -578.0 -116.8 - - 3219 - - - - - - - - 14.15 14.11 14.18
896 106.6 -8.0 45 900 roll -0.44 - - 2043 - 2.50 0.050 881 -559.2 -116.8 - - 3219 - - - - - - - - 14.83 13.97 14.85
935 110.1 -8.0 51 940 done -0.44 - - 2042 - 2.55 0.054 2295 554.5 -116.8 - - 3219 - - - - - - - - 14.14 14.02 14.19
1291 136.3 -7.5 59 1296 roll -0.44 - - 2039 - 2.58 0.076 3699 544.2 -116.8 - - 3218 - - - - - - - - 14.84 13.88 14.86
1338 139.9 -6.8 66 1350 done -0.50 - - 2039 - 2.47 0.037 2281 -574.1 -116.8 - - 3218 - - - - - - - - 14.01 13.97 14.04
1687 164.8 -7.5 73 1691 roll -0.50 - - 2039 - 2.50 0.050 896 -554.0 -116.8 - - 3217 - - - - - - - - 14.85 13.88 14.89
1756 170.8 -8.2 83 1760 done -0.50 - - 2039 - 2.55 0.053 2297 549.4 -116.8 - - 3216 - - - - - - - - 14.09 13.97 14.14
2082 197.9 -8.4 94 2087 roll -0.50 - - 2035 - 2.58 0.076 3698 543.0 -116.8 - - 3215 - - - - - - - - 14.85 13.88 14.88
2178 206.2 -8.1 108 2184 done -0.56 - - 2035 - 2.42 0.037 2290 -581.8 -116.8 - - 3214 - - - - - - - - 14.16 14.09 14.19
2534 235.5 -8.2 116 2540 roll -0.56 - - 2035 - 2.55 0.052 894 -547.5 -116.8 - - 3212 - - - - - - - - 14.85 13.83 14.88
2617 242.7 -8.0 128 2623 done -0.56 - - 2029 - 2.58 0.055 2296 543.4 -116.8 - - 3211 - - - - - - - - 14.08 13.95 14.12
2987 273.2 -8.5 138 2991 roll -0.56 - - 2026 - 2.60 0.078 3697 538.8 -116.8 - - 3209 - - - - - - - - 14.86 13.82 14.88
3084 281.7 -8.3 152 3090 done -0.61 - - 2025 - 2.42 0.038 2292 -580.6 -116.8 - - 3208 - - - - - - - - 14.14 14.07 14.16
3438 313.1 -9.0 160 3444 roll -0.61 - - 2025 - 2.58 0.054 890 -543.4 -116.8 - - 3206 - - - - - - - - 14.86 13.80 14.88
3501 319.0 -8.8 169 3506 done -0.61 - - 2025 - 2.58 0.055 2290 542.6 -116.8 - - 3205 - - - - - - - - 14.07 13.94 14.12
3834 346.8 -8.4 181 3839 roll -0.61 - - 2016 - 2.60 0.080 3697 541.2 -116.8 - - 3204 - - - - - - - - 14.86 13.88 14.88
3909 353.2 -7.7 192 3915 done -0.61 - - 2016 - 2.42 0.039 2291 -581.0 -116.8 - - 3203 - - - - - - - - 14.10 14.03 14.14
4231 380.0 -8.6 202 4236 roll -0.61 - - 2016 - 2.55 0.054 893 -548.2 -116.8 - - 3201 - - - - - - - - 14.85 13.80 14.86
4306 387.3 -8.9 213 4311 done -0.61 - - 2016 - 2.60 0.055 2295 539.2 -116.8 - - 3201 - - - - - - - - 14.07 13.92 14.12
4626 415.7 -9.1 223 4631 roll -0.61 - - 2011 - 2.60 0.080 3698 539.6 -116.8 - - 3199 - - - - - - - - 14.86 13.87 14.88
4709 423.2 -8.6 235 4714 done -0.61 - - 2011 - 2.45 0.041 2291 -574.3 -116.8 - - 3199 - - - - - - - - 14.12 14.05 14.15
5077 454.7 -8.6 245 5082 roll -0.61 - - 2011 - 2.58 0.055 890 -543.0 -116.8 - - 3197 - - - - - - - - 14.86 13.78 14.88
5167 462.7 -8.1 258 5173 done -0.61 - - 2011 - 2.58 0.055 2282 539.5 -116.8 - - 3196 - - - - - - - - 14.08 13.95 14.13
5531 494.8 -9.2 267 5536 roll -0.61 - - 2011 - 2.62 0.085 3689 537.0 -116.8 - - 3195 - - - - - - - - 14.84 13.89 14.85
5620 503.4 -9.0 280 5626 done -0.61 - - 2011 - 2.45 0.042 2284 -573.5 -116.8 - - 3194 - - - - - - - - 14.09 14.01 14.13
5983 538.5 -10.0 289 5989 roll -0.61 - - 2011 - 2.55 0.052 886 -548.2 -116.8 - - 3193 - - - - - - - - 14.85 13.81 14.87
6017 542.6 -10.5 294 6022 done -0.61 - - 2011 - 2.60 0.055 2288 539.2 -116.8 - - 3192 - - - - - - - - 14.08 13.95 14.13
6379 577.6 -9.8 303 6384 roll -0.61 - - 2010 - 2.62 0.086 3694 536.6 -116.8 - - 3191 - - - - - - - - 14.85 13.89 14.88
6454 585.2 -9.4 314 6460 done -0.66 - - 2010 - 2.53 0.044 2269 -563.2 -116.8 - - 3192 - - - - - - - - 14.09 13.98 14.12
6776 615.7 -9.6 324 6781 roll -0.66 - - 2010 - 2.53 0.057 891 -544.7 -116.8 - - 3190 - - - - - - - - 14.84 13.81 14.86
6835 621.4 -9.5 332 6841 done -0.66 - - 2009 - 2.62 0.057 2298 537.0 -116.8 - - 3190 - - - - - - - - 14.08 13.95 14.12
7175 651.0 -8.6 345 7179 roll -0.66 - - 2009 - 2.60 0.084 3693 536.5 -116.8 - - 3189 - - - - - - - - 14.85 13.90 14.87
7215 654.4 -8.0 351 7220 done -0.66 - - 2009 - 2.47 0.044 2281 -571.7 -116.8 - - 3188 - - - - - - - - 14.09 14.00 14.12
7569 682.1 -7.8 359 7574 roll -0.66 - - 2009 - 2.55 0.054 891 -545.1 -116.8 - - 3187 - - - - - - - - 14.85 13.85 14.87
7616 685.9 -7.7 366 7628 done -0.66 - - 2009 - 2.62 0.057 2284 531.7 -116.8 - - 3186 - - - - - - - - 14.02 13.96 14.08
7966 712.8 -7.9 373 7970 roll -0.66 - - 2006 - 2.62 0.086 3696 538.9 -116.8 - - 3186 - - - - - - - - 14.84 13.95 14.85
8033 718.4 -7.6 383 8039 done -0.71 0.12 0.132 1954 -433.3 2.53 0.044 2285 -557.7 -116.8 - - 3186 - - - - - - - - 13.93 13.93 14.04
8361 755.8 -12.0 394 8366 roll -0.65 0.12 0.259 1994 333.3 2.58 0.054 896 -538.4 -116.8 - - 3184 - - - - - - - - 13.70 13.77 13.71
8437 763.7 -9.1 405 8442 done -0.65 - - 1988 - 2.60 0.058 2290 536.2 -116.8 - - 3184 - - - - - - - - 14.11 13.97 14.15
8756 796.3 -10.4 415 8761 roll -0.65 - - 1984 - 2.62 0.088 3688 533.6 -116.8 - - 3183 - - - - - - - - 14.84 13.93 14.85
8815 802.4 -11.7 423 8820 done -0.65 - - 1984 - 2.47 0.047 2298 -562.8 -116.8 - - 3183 - - - - - - - - 14.09 14.02 14.13
9155 838.4 -10.7 436 9161 roll -0.65 - - 1984 - 2.62 0.057 870 -545.0 -116.8 - - 3182 - - - - - - - - 14.83 13.89 14.84
9223 845.8 -10.4 446 9229 done -0.65 - - 1984 - 2.70 0.059 2311 533.7 -116.8 - - 3181 - - - - - - - - 14.11 13.95 14.16
9552 879.5 -10.3 457 9557 roll -0.65 - - 1981 - 2.60 0.090 3699 533.8 -116.8 - - 3181 - - - - - - - - 14.82 13.94 14.85
9584 882.7 -8.8 462 9590 done -0.65 - - 1981 - 2.53 0.045 2267 -566.0 -116.8 - - 3180 - - - - - - - - 14.11 14.02 14.12
9947 918.4 -9.7 471 9952 roll -0.65 - - 1980 - 2.55 0.060 893 -538.8 -116.8 - - 3180 - - - - - - - - 14.83 13.91 14.85
10006 923.9 -11.3 479 10011 done -0.65 - - 1974 - 2.62 0.059 2292 534.0 -116.8 - - 3180 - - - - - - - - 14.09 13.96 14.14
10346 954.8 -9.1 492 10352 roll -0.65 - - 1972 - 2.62 0.089 3692 534.4 -116.8 - - 3180 - - - - - - - - 14.81 13.94 14.83
10415 960.5 -9.6 502 10420 done -0.65 - - 1972 - 2.50 0.047 2289 -561.2 -116.8 - - 3178 - - - - - - - - 14.12 14.02 14.14
10741 end dive: TARGET_DEPTH_EXCEEDED
10741 begin apogee
10751 990.6 -9.2 513 10893 roll -0.19 0.62 0.213 2134 261.3 - - 2192 - - 134.43 2.540 2740 -3.3 0.258 - - - - 1 - 13.72 13.59 12.45
10893 end apogee: CONTROL_FINISHED_OK
10893 begin climb
10897 994.6 - 515 11069 roll 0.68 0.98 0.128 2417 288.8 2.78 0.084 3605 508.3 116.8 152.15 2.691 2267 -3.1 0.233 - - - - 1 - 13.37 13.40 12.09
11104 996.7 9.6 551 11110 done 0.56 0.20 0.252 2384 -165.0 2.60 0.051 2206 -538.1 116.8 - - 2272 - - - - - - - - 13.13 13.49 13.40
11474 976.9 5.7 561 11539 roll 0.59 - - 2384 - 2.65 0.082 3607 528.7 154.7 57.72 1.811 2101 -3.0 0.324 - - - - - - 14.71 14.03 13.21
11613 966.0 11.9 581 11618 done 0.59 - - 2393 - 2.53 0.054 2190 -560.1 154.7 - - 2090 - - - - - - - - 14.21 14.12 14.26
11980 938.2 7.9 591 11985 roll 0.59 - - 2405 - 2.58 0.069 792 -541.9 154.7 - - 2087 - - - - - - - - 14.76 14.16 14.77
12099 928.1 5.9 608 12152 done 0.61 - - 2405 - 2.55 0.057 2192 549.0 189.3 43.88 1.778 1958 -2.9 0.311 - - - - - - 14.33 14.22 13.30
12488 893.3 9.3 621 12489 done 0.61 - - 2404 - - - 2192 - 189.3 - - 1943 - - - - - - - - 14.73 14.76 14.75
12824 863.5 8.8 627 12825 done 0.61 - - 2405 - - - 2191 - 189.3 - - 1942 - - - - - - - - 14.78 14.81 14.81
13161 834.7 8.6 633 13166 roll 0.61 - - 2408 - 2.62 0.070 798 -531.7 189.3 - - 1941 - - - - - - - - 14.79 14.04 14.81
13187 831.5 9.8 637 13192 done 0.61 - - 2407 - 2.55 0.057 2191 546.3 189.3 - - 1940 - - - - - - - - 14.27 14.14 14.33
13556 799.3 9.1 647 13561 roll 0.61 - - 2407 - 2.62 0.087 3606 540.1 189.3 - - 1940 - - - - - - - - 14.81 13.97 14.83
13617 792.2 9.5 656 13623 done 0.61 - - 2418 - 2.50 0.054 2187 -567.6 189.3 - - 1939 - - - - - - - - 14.28 14.21 14.33
13951 761.3 9.5 668 13957 roll 0.61 - - 2428 - 2.58 0.068 802 -536.8 189.3 - - 1939 - - - - - - - - 14.82 13.97 14.83
14076 748.8 8.9 686 14081 done 0.61 0.12 0.251 2401 -225.0 2.55 0.056 2191 544.7 189.3 - - 1938 - - - - - - - - 13.81 14.09 14.11
14405 723.3 7.9 697 14410 roll 0.61 - - 2401 - 2.65 0.085 3612 536.2 189.3 - - 1939 - - - - - - - - 14.80 13.94 14.82
14464 718.1 8.0 705 14468 done 0.61 - - 2410 - 2.53 0.053 2188 -562.8 189.3 - - 1938 - - - - - - - - 14.23 14.13 14.28
14802 690.9 8.0 718 14807 roll 0.61 - - 2411 - 2.60 0.071 803 -532.7 189.3 - - 1938 - - - - - - - - 14.81 13.93 14.83
14919 682.4 6.5 734 14946 done 0.62 - - 2411 - 2.58 0.056 2186 536.0 208.0 19.55 1.626 1888 -2.6 0.218 - - - - - - 14.17 14.05 13.49
15310 650.0 8.5 748 15315 roll 0.62 - - 2411 - 2.60 0.083 3608 546.9 208.0 - - 1871 - - - - - - - - 14.77 14.11 14.78
15386 642.1 9.9 759 15391 done 0.62 - - 2421 - 2.53 0.051 2180 -564.4 208.0 - - 1871 - - - - - - - - 14.31 14.22 14.36
15706 614.7 8.7 769 15710 roll 0.62 - - 2432 - 2.55 0.067 797 -542.4 208.0 - - 1871 - - - - - - - - 14.79 14.02 14.81
15808 605.6 8.1 784 15821 done 0.62 0.10 0.222 2403 -290.0 2.58 0.054 2179 535.7 208.0 - - 1870 - - - - - - - - 13.76 14.02 13.93
16158 579.4 7.8 791 16163 roll 0.62 - - 2403 - 2.65 0.083 3605 538.1 208.0 - - 1870 - - - - - - - - 14.79 13.95 14.81
16190 575.9 9.1 796 16196 done 0.62 - - 2412 - 2.53 0.050 2173 -566.0 208.0 - - 1870 - - - - - - - - 14.24 14.14 14.28
16553 543.9 9.1 805 16558 roll 0.62 - - 2421 - 2.53 0.067 792 -545.8 208.0 - - 1870 - - - - - - - - 14.80 13.91 14.82
16658 533.7 9.0 820 16670 done 0.62 - - 2421 - 2.60 0.055 2179 533.5 208.0 - - 1870 - - - - - - - - 14.03 13.97 14.08
17005 502.3 9.1 827 17010 roll 0.62 - - 2421 - 2.67 0.081 3614 537.5 208.0 - - 1869 - - - - - - - - 14.81 13.92 14.83
17067 495.9 9.7 836 17073 done 0.62 0.12 0.243 2401 -166.7 2.55 0.052 2181 -562.0 208.0 - - 1870 - - - - - - - - 13.76 14.08 14.04
17401 471.4 7.2 848 17407 roll 0.62 - - 2409 - 2.62 0.066 797 -528.2 210.1 - - 1870 - - - - - - - - 14.81 13.91 14.82
17483 465.2 6.9 860 17496 done 0.63 - - 2409 - 2.55 0.053 2182 543.1 220.9 5.85 1.299 1839 -5.3 0.385 - - - - - - 14.13 14.01 13.50
17854 438.5 7.3 870 17863 roll 0.63 - - 2409 - 2.62 0.081 3602 542.0 221.7 1.98 0.177 1834 -2.5 1.269 - - - - - - 14.78 14.07 13.98
17947 430.5 8.1 884 17953 done 0.63 - - 2418 - 2.53 0.049 2168 -566.8 221.7 - - 1841 - - - - - - - - 14.26 14.16 14.30
18304 403.0 8.0 892 18310 roll 0.63 - - 2428 - 2.55 0.065 792 -539.6 221.7 - - 1844 - - - - - - - - 14.79 13.93 14.81
18386 395.7 8.3 904 18393 done 0.63 - - 2427 - 2.55 0.054 2179 543.9 221.7 - - 1844 - - - - - - - - 14.15 14.02 14.19
18756 364.0 8.8 914 18761 roll 0.63 - - 2428 - 2.67 0.080 3612 536.7 221.7 - - 1844 - - - - - - - - 14.80 13.93 14.81
18832 356.1 10.1 925 18838 done 0.63 0.15 0.237 2402 -173.3 2.58 0.050 2170 -558.9 221.7 1.65 0.178 1836 -4.8 1.968 - - - - - - 13.70 14.03 13.93
19200 329.5 7.1 935 19210 roll 0.63 - - 2409 - 2.53 0.065 791 -545.1 226.6 5.00 1.126 1814 -4.4 0.261 - - - - - - 14.81 14.12 13.49
19315 321.4 7.0 951 19350 done 0.63 - - 2410 - 2.50 0.054 2174 553.2 235.4 26.33 1.202 1777 -1.4 0.076 - - - - - - 14.23 14.16 13.60
19706 291.2 7.7 965 19711 roll 0.63 - - 2410 - 2.65 0.081 3610 541.9 235.4 - - 1766 - - - - - - - - 14.75 14.03 14.77
19773 284.9 8.6 975 19779 done 0.63 - - 2417 - 2.58 0.049 2178 -555.0 235.4 - - 1767 - - - - - - - - 14.17 14.13 14.21
20102 259.1 8.1 986 20107 roll 0.63 - - 2419 - 2.58 0.067 795 -536.0 235.4 - - 1766 - - - - - - - - 14.77 13.97 14.79
20177 252.8 7.8 997 20182 done 0.63 - - 2419 - 2.58 0.053 2176 535.3 235.4 - - 1766 - - - - - - - - 14.21 14.02 14.26
20498 229.0 7.5 1007 20503 roll 0.63 - - 2418 - 2.65 0.080 3606 539.6 235.4 - - 1766 - - - - - - - - 14.79 13.92 14.81
20557 224.1 8.2 1015 20562 done 0.63 - - 2428 - 2.55 0.047 2164 -565.5 235.4 - - 1766 - - - - - - - - 14.20 14.10 14.25
20896 197.6 8.0 1028 20901 roll 0.63 - - 2437 - 2.55 0.064 789 -539.2 235.4 - - 1766 - - - - - - - - 14.81 13.90 14.82
20944 193.1 8.7 1035 20955 done 0.63 0.10 0.194 2408 -290.0 2.60 0.054 2179 534.6 235.4 - - 1766 - - - - - - - - 13.69 13.93 13.84
21291 165.0 8.3 1042 21296 roll 0.63 - - 2407 - 2.67 0.079 3614 537.5 235.4 - - 1766 - - - - - - - - 14.81 13.92 14.83
21350 159.7 9.1 1050 21355 done 0.63 - - 2414 - 2.55 0.048 2181 -562.0 235.4 - - 1766 - - - - - - - - 14.15 14.05 14.20
21690 132.1 8.1 1063 21700 roll 0.63 - - 2420 - 2.58 0.064 784 -541.5 235.4 - - 1766 - - - - - - - - 14.79 13.90 14.81
21848 118.7 7.6 1085 21853 done 0.68 - - 2420 - 2.55 0.052 2173 544.7 235.4 - - 1766 - - - - - - - - 14.09 13.97 14.15
22176 96.3 7.1 1093 22181 roll 0.69 - - 2420 - 2.65 0.079 3607 541.1 240.5 - - 1766 - - - - - - - - 14.79 13.94 14.81
22225 92.4 7.0 1100 22237 done 0.69 - - 2428 - 2.60 0.046 2163 -555.4 247.4 6.05 0.245 1738 -4.6 0.354 - - - - - - 13.99 13.94 13.77
22545 75.2 5.0 1112 22600 done 0.77 - - 2428 - - - 2164 - 303.0 43.67 0.353 1516 -5.1 0.220 - - - - - - 14.80 14.14 13.90
22913 58.3 2.2 1131 23007 roll 1.01 0.25 0.089 2546 472.0 2.50 0.062 802 -544.8 424.7 86.32 0.309 1007 -5.9 0.226 - - - - - - 14.11 14.26 13.93
23026 53.8 5.7 1147 23060 done 1.10 - - 2546 - 2.50 0.050 2187 554.0 462.9 28.20 0.292 852 -5.5 0.205 - - - - - - 14.31 14.21 13.83
23392 26.2 7.5 1166 23401 roll 1.18 - - 2546 - 2.58 0.076 3607 550.4 462.9 3.03 0.151 851 - - - - - - - - 14.71 14.00 13.89
23449 22.6 6.3 1174 23476 done 1.27 0.17 0.110 2618 423.5 2.50 0.044 2174 -573.2 486.7 20.08 0.193 752 -4.9 0.117 - - - - - - 14.07 14.14 13.98
23641 end climb: SURFACE_DEPTH_REACHED
23641 begin surface coast
23674 end surface coast: CONTROL_FINISHED_OK
23674 begin surface
SM 0.71 - - - - -6.14 7.03 0.056 221 31.4 0.22 0.067 2348 -41281.8 500.41 11.35 0.135 697 61.4 -0.033 - - - - - -