SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 681 * Raw log
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• Previous call tries 1 • 261.84 of 350.00 AH used of 24V (25.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.5 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 19 s • Transponder ping count: 26
• 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 - - 199 - - - 2307 - -116.8 -89.62 - 3101 - - - - - - - - 14.60 - 14.62
103 4.9 -7.0 3 128 roll -0.68 9.05 0.404 1961 194.7 2.72 2.071 3695 510.3 -116.8 -1.85 - 3222 -65.4 - - - - - - - 13.79 12.76 14.07
135 24.8 -49.6 8 141 done -0.04 0.85 0.259 2179 256.5 2.47 0.044 2265 -578.9 -116.8 - - 3223 - - - - - - - - 13.83 14.25 14.16
469 58.5 -7.7 22 474 roll -0.11 - - 2179 - 2.50 0.054 869 -558.4 -116.8 - - 3223 - - - - - - - - 14.75 14.14 14.80
557 64.2 -6.6 34 562 done -0.27 0.20 0.093 2094 -425.0 2.53 0.048 2291 562.1 -116.8 - - 3223 - - - - - - - - 14.23 14.19 14.30
898 86.7 -6.9 49 904 roll -0.41 - - 2094 - 2.53 0.075 3693 554.2 -116.8 - - 3224 - - - - - - - - 14.79 14.03 14.81
958 90.1 -5.7 57 965 done -0.56 0.22 0.083 1998 -436.4 2.40 0.038 2272 -592.1 -116.8 - - 3225 - - - - - - - - 14.23 14.25 14.31
1328 124.7 -9.8 69 1333 roll -0.56 - - 1998 - 2.45 0.053 911 -555.5 -116.8 - - 3224 - - - - - - - - 14.82 13.95 14.83
1347 127.1 -9.5 72 1352 done -0.56 - - 1998 - 2.50 0.053 2300 555.6 -116.8 - - 3224 - - - - - - - - 14.17 14.05 14.21
1667 158.2 -9.9 82 1672 roll -0.56 - - 1988 - 2.53 0.073 3690 549.4 -116.8 - - 3224 - - - - - - - - 14.84 13.93 14.85
1764 168.8 -10.9 96 1769 done -0.56 0.12 0.223 2017 241.7 2.35 0.040 2316 -584.7 -116.8 - - 3223 - - - - - - - - 13.74 14.13 13.96
2118 203.7 -9.9 104 2123 roll -0.56 - - 2017 - 2.60 0.054 891 -548.1 -116.8 - - 3221 - - - - - - - - 14.87 13.89 14.86
2243 215.4 -8.5 122 2248 done -0.56 - - 2016 - 2.62 0.054 2320 545.4 -116.8 - - 3221 - - - - - - - - 14.09 13.95 14.15
2571 242.6 -8.4 133 2576 roll -0.56 - - 2012 - 2.53 0.079 3698 544.7 -116.8 - - 3219 - - - - - - - - 14.83 13.93 14.84
2641 248.7 -8.3 143 2646 done -0.56 - - 2012 - 2.45 0.038 2299 -571.0 -116.8 - - 3218 - - - - - - - - 14.07 14.02 14.09
2970 278.1 -9.4 154 2974 roll -0.56 - - 2011 - 2.58 0.052 891 -545.7 -116.8 - - 3217 - - - - - - - - 14.83 13.85 14.85
3030 284.7 -9.5 163 3036 done -0.56 - - 2012 - 2.60 0.054 2311 546.2 -116.8 - - 3217 - - - - - - - - 14.09 13.94 14.14
3365 316.5 -9.7 175 3370 roll -0.56 - - 2011 - 2.58 0.083 3693 535.7 -116.8 - - 3215 - - - - - - - - 14.84 13.93 14.85
3425 321.8 -8.9 183 3430 done -0.56 - - 2011 - 2.45 0.041 2290 -572.7 -116.8 - - 3214 - - - - - - - - 14.15 14.08 14.18
3764 351.1 -8.5 196 3768 roll -0.56 - - 2011 - 2.58 0.056 890 -542.6 -116.8 - - 3213 - - - - - - - - 14.84 13.87 14.85
3810 355.3 -8.2 203 3822 done -0.56 - - 2011 - 2.62 0.056 2294 535.9 -116.8 - - 3212 - - - - - - - - 14.03 13.96 14.08
4160 382.7 -8.0 210 4165 roll -0.56 - - 2011 - 2.60 0.082 3698 540.0 -116.8 - - 3211 - - - - - - - - 14.83 13.96 14.85
4199 386.2 -7.5 216 4204 done -0.56 - - 2011 - 2.42 0.041 2292 -581.0 -116.8 - - 3211 - - - - - - - - 14.12 14.03 14.14
4555 414.4 -8.2 224 4559 roll -0.56 - - 2011 - 2.55 0.055 895 -547.8 -116.8 - - 3208 - - - - - - - - 14.84 13.85 14.84
4587 417.6 -8.6 229 4593 done -0.56 - - 2011 - 2.58 0.055 2296 543.0 -116.8 - - 3208 - - - - - - - - 14.12 13.98 14.15
4951 447.2 -8.3 238 4956 roll -0.56 - - 2011 - 2.60 0.081 3699 539.6 -116.8 - - 3206 - - - - - - - - 14.83 13.93 14.85
5034 454.6 -8.1 250 5039 done -0.60 - - 2011 - 2.45 0.041 2286 -576.7 -116.8 - - 3206 - - - - - - - - 14.13 14.04 14.15
5403 485.1 -8.5 260 5408 roll -0.60 - - 2010 - 2.55 0.054 897 -544.7 -116.8 - - 3205 - - - - - - - - 14.84 13.85 14.86
5472 491.5 -8.4 270 5477 done -0.60 - - 2011 - 2.60 0.057 2303 540.8 -116.8 - - 3204 - - - - - - - - 14.10 13.97 14.15
5798 519.0 -8.7 281 5804 roll -0.60 - - 2007 - 2.58 0.082 3690 537.6 -116.8 - - 3203 - - - - - - - - 14.84 13.95 14.85
5860 524.1 -8.6 289 5866 done -0.65 - - 2007 - 2.45 0.043 2285 -573.5 -116.8 - - 3203 - - - - - - - - 14.12 14.03 14.14
6201 555.0 -9.1 302 6206 roll -0.65 - - 2007 - 2.55 0.054 896 -544.7 -116.8 - - 3202 - - - - - - - - 14.82 13.89 14.83
6276 562.6 -8.9 313 6282 done -0.65 - - 2001 - 2.60 0.057 2301 540.4 -116.8 - - 3200 - - - - - - - - 14.13 14.00 14.18
6598 594.0 -10.1 323 6603 roll -0.65 - - 1999 - 2.60 0.083 3700 538.1 -116.8 - - 3199 - - - - - - - - 14.82 13.95 14.84
6637 598.6 -10.2 329 6644 done -0.65 - - 1999 - 2.45 0.042 2297 -572.7 -116.8 - - 3199 - - - - - - - - 14.09 14.00 14.13
6993 633.4 -9.9 337 6999 roll -0.65 - - 1999 - 2.58 0.056 892 -544.6 -116.8 - - 3198 - - - - - - - - 14.81 13.88 14.85
7056 639.4 -9.2 346 7061 done -0.65 - - 1999 - 2.60 0.057 2297 540.4 -116.8 - - 3198 - - - - - - - - 14.11 13.98 14.15
7389 667.4 -8.3 358 7394 roll -0.65 - - 1999 - 2.62 0.084 3699 535.1 -116.8 - - 3197 - - - - - - - - 14.83 13.95 14.85
7430 670.7 -7.5 364 7435 done -0.65 - - 1999 - 2.45 0.043 2290 -575.1 -116.8 - - 3197 - - - - - - - - 14.09 14.01 14.13
7785 698.7 -8.0 372 7789 roll -0.65 - - 1999 - 2.55 0.057 901 -544.7 -116.8 - - 3196 - - - - - - - - 14.83 13.90 14.85
7845 703.8 -9.2 380 7850 done -0.65 - - 1998 - 2.60 0.058 2295 536.2 -116.8 - - 3195 - - - - - - - - 14.12 13.98 14.16
8183 733.5 -9.0 393 8189 roll -0.65 - - 1998 - 2.62 0.086 3696 534.7 -116.8 - - 3194 - - - - - - - - 14.83 13.96 14.85
8268 740.9 -7.0 405 8273 done -0.70 - - 1998 - 2.45 0.044 2291 -573.5 -116.8 - - 3194 - - - - - - - - 14.10 14.01 14.14
8636 774.3 -9.1 415 8640 roll -0.70 - - 1998 - 2.55 0.057 902 -544.7 -116.8 - - 3193 - - - - - - - - 14.82 13.89 14.84
8695 779.5 -10.0 423 8699 done -0.70 - - 1998 - 2.60 0.060 2296 536.2 -116.8 - - 3193 - - - - - - - - 14.11 13.98 14.16
9035 808.6 -8.6 436 9040 roll -0.70 - - 1998 - 2.60 0.087 3689 535.8 -116.8 - - 3191 - - - - - - - - 14.81 13.97 14.83
9094 813.5 -9.4 444 9098 done -0.70 - - 1998 - 2.45 0.046 2303 -565.7 -116.8 - - 3191 - - - - - - - - 14.10 14.04 14.14
9432 841.8 -8.4 457 9438 roll -0.70 - - 1998 - 2.60 0.056 885 -545.4 -116.8 - - 3190 - - - - - - - - 14.82 13.95 14.84
9481 845.8 -8.7 464 9492 done -0.70 - - 1998 - 2.67 0.058 2300 530.0 -116.8 - - 3190 - - - - - - - - 14.02 13.96 14.08
9828 875.8 -8.6 471 9833 roll -0.70 - - 1998 - 2.60 0.088 3695 536.5 -116.8 - - 3189 - - - - - - - - 14.82 13.98 14.83
9860 878.2 -7.4 476 9866 done -0.70 - - 1998 - 2.47 0.046 2289 -569.2 -116.8 - - 3188 - - - - - - - - 14.10 14.01 14.14
10223 910.5 -8.9 485 10224 done -0.70 - - 1998 - - - 2279 - -116.8 - - 3188 - - - - - - - - 14.81 14.83 14.83
10560 939.4 -8.6 491 10561 done -0.70 - - 1998 - - - 2279 - -116.8 - - 3187 - - - - - - - - 14.80 14.82 14.82
10895 966.4 -8.0 497 10901 roll -0.70 - - 1998 - 2.60 0.060 898 -531.2 -116.8 - - 3186 - - - - - - - - 14.81 13.94 14.83
10921 968.1 -5.8 501 10927 done -0.70 - - 1998 - 2.62 0.061 2292 532.1 -116.8 - - 3186 - - - - - - - - 14.12 13.99 14.17
11233 end dive: TARGET_DEPTH_EXCEEDED
11233 begin apogee
11242 992.7 -7.7 510 11446 roll -0.19 0.50 0.197 2131 266.0 - - 2196 - - 201.65 1.558 2742 -2.2 0.270 - - - - - - 13.69 13.91 13.21
11446 end apogee: CONTROL_FINISHED_OK
11446 begin climb
11450 998.4 - 513 11620 roll 0.68 0.98 0.138 2417 291.8 2.62 0.057 809 -529.4 116.8 157.68 1.751 2264 -3.0 0.332 - - - - - - 13.69 13.82 13.02
11760 984.9 11.2 564 11765 done 0.68 - - 2417 - 2.62 0.059 2219 538.2 116.8 - - 2232 - - - - - - - - 14.16 14.02 14.21
12131 955.9 8.2 574 12136 roll 0.62 - - 2417 - 2.60 0.092 3610 535.0 116.8 - - 2228 - - - - - - - - 14.73 14.09 14.75
12171 950.8 11.3 580 12177 done 0.53 0.22 0.255 2375 -190.9 2.50 0.057 2207 -561.2 116.8 - - 2227 - - - - - - - - 13.81 14.19 14.15
12527 929.3 6.2 588 12562 roll 0.54 - - 2385 - 2.58 0.067 787 -550.4 143.0 30.80 1.676 2154 -2.4 0.253 - - - - - - 14.78 14.09 13.47
12688 918.1 6.4 611 12726 done 0.56 - - 2386 - 2.62 0.059 2191 535.9 165.0 33.70 1.635 2067 -2.6 0.279 - - - - - - 14.14 14.07 13.37
13081 891.6 7.0 625 13085 roll 0.56 - - 2386 - 2.62 0.088 3619 545.0 172.0 - - 2045 - - - - - - - - 14.71 14.10 14.73
13141 887.0 6.0 633 13211 done 0.58 - - 2395 - 2.55 0.056 2184 -562.7 203.9 66.25 1.510 1908 -2.1 0.234 - - - - - - 14.33 14.23 13.37
13528 856.1 8.1 653 13533 roll 0.58 - - 2406 - 2.55 0.069 798 -543.5 203.9 - - 1886 - - - - - - - - 14.65 14.10 14.67
13674 843.2 7.7 674 13680 done 0.58 - - 2406 - 2.55 0.055 2199 549.4 203.9 - - 1885 - - - - - - - - 14.28 14.16 14.34
14036 813.6 8.5 683 14041 roll 0.58 - - 2406 - 2.60 0.085 3613 543.8 203.9 - - 1884 - - - - - - - - 14.76 14.03 14.77
14082 808.2 9.7 690 14095 done 0.58 - - 2416 - 2.58 0.056 2188 -552.3 203.9 - - 1883 - - - - - - - - 14.15 14.09 14.19
14432 776.9 9.3 697 14437 roll 0.58 - - 2426 - 2.58 0.069 798 -538.8 203.9 - - 1883 - - - - - - - - 14.77 14.01 14.78
14563 763.6 9.4 716 14568 done 0.58 0.15 0.238 2392 -226.7 2.53 0.054 2181 546.6 203.9 - - 1882 - - - - - - - - 13.83 14.12 14.12
14885 738.6 8.0 726 14890 roll 0.58 - - 2392 - 2.65 0.083 3607 538.1 203.9 - - 1882 - - - - - - - - 14.77 13.96 14.79
14926 734.2 9.5 732 14931 done 0.58 - - 2401 - 2.55 0.052 2177 -560.8 203.9 - - 1880 - - - - - - - - 14.23 14.14 14.28
15280 705.6 8.2 740 15285 roll 0.58 - - 2412 - 2.58 0.070 798 -534.5 203.9 - - 1880 - - - - - - - - 14.79 13.94 14.81
15406 695.2 7.8 758 15411 done 0.58 - - 2412 - 2.53 0.054 2180 546.2 203.9 - - 1881 - - - - - - - - 14.19 14.07 14.24
15732 669.2 8.2 769 15737 roll 0.58 - - 2412 - 2.65 0.082 3607 538.5 203.9 - - 1880 - - - - - - - - 14.78 13.92 14.80
15793 663.0 8.9 778 15799 done 0.58 0.15 0.239 2387 -166.7 2.58 0.051 2182 -552.3 203.9 - - 1880 - - - - - - - - 13.78 14.03 14.07
16129 640.6 6.8 790 16139 roll 0.59 - - 2397 - 2.58 0.067 793 -538.4 216.1 3.90 1.175 1854 -6.7 0.699 - - - - - - 14.78 14.09 13.39
16230 633.0 6.9 805 16258 done 0.59 - - 2396 - 2.55 0.055 2166 538.4 225.7 23.67 1.475 1819 -1.5 0.122 - - - - - - 14.16 14.10 13.57
16573 607.7 7.7 818 16579 roll 0.59 - - 2397 - 2.65 0.083 3610 544.9 225.7 - - 1805 - - - - - - - - 14.71 14.06 14.73
16650 600.4 9.0 829 16655 done 0.59 - - 2406 - 2.55 0.052 2163 -567.5 225.7 - - 1804 - - - - - - - - 14.31 14.20 14.35
16971 574.7 8.2 839 16975 roll 0.59 - - 2407 - 2.53 0.070 796 -540.3 225.7 - - 1804 - - - - - - - - 14.76 14.01 14.78
17068 566.6 7.8 853 17073 done 0.59 - - 2407 - 2.50 0.054 2169 549.2 225.7 - - 1803 - - - - - - - - 14.21 14.10 14.28
17422 537.4 8.5 861 17427 roll 0.59 - - 2407 - 2.67 0.083 3611 540.1 225.7 - - 1803 - - - - - - - - 14.76 13.95 14.80
17483 531.0 9.6 870 17489 done 0.59 - - 2416 - 2.60 0.052 2170 -554.2 225.7 - - 1802 - - - - - - - - 14.12 14.06 14.28
17819 499.8 9.5 882 17825 roll 0.59 - - 2424 - 2.58 0.070 799 -531.4 225.7 - - 1802 - - - - - - - - 14.77 13.93 14.78
17895 491.8 9.8 893 17900 done 0.59 0.12 0.236 2396 -233.3 2.53 0.054 2179 545.5 225.7 - - 1802 - - - - - - - - 13.79 14.05 14.07
18216 464.8 8.5 903 18221 roll 0.59 - - 2396 - 2.67 0.082 3614 537.5 225.7 - - 1802 - - - - - - - - 14.78 13.93 14.79
18276 459.4 9.1 911 18280 done 0.59 - - 2405 - 2.58 0.052 2168 -560.5 225.7 - - 1802 - - - - - - - - 14.17 14.07 14.23
18614 431.9 8.1 924 18619 roll 0.59 - - 2406 - 2.58 0.070 797 -531.4 225.7 - - 1802 - - - - - - - - 14.78 13.90 14.81
18697 425.1 7.5 936 18702 done 0.59 - - 2407 - 2.50 0.054 2163 546.4 225.7 - - 1802 - - - - - - - - 14.13 14.01 14.19
19066 396.7 7.8 946 19071 roll 0.59 - - 2407 - 2.70 0.080 3616 538.1 225.7 - - 1802 - - - - - - - - 14.78 13.92 14.80
19126 391.7 8.6 954 19131 done 0.59 - - 2414 - 2.60 0.050 2162 -559.2 225.7 - - 1802 - - - - - - - - 14.14 14.04 14.19
19467 364.7 8.0 967 19472 roll 0.59 - - 2424 - 2.58 0.064 786 -533.3 225.7 - - 1802 - - - - - - - - 14.77 13.91 14.79
19582 355.2 8.1 983 19587 done 0.59 0.12 0.228 2395 -241.7 2.55 0.054 2166 541.2 225.7 - - 1802 - - - - - - - - 13.71 13.97 13.99
19922 329.4 7.6 996 19927 roll 0.59 - - 2395 - 2.70 0.080 3613 535.9 225.7 - - 1802 - - - - - - - - 14.78 13.93 14.80
19990 323.0 8.7 1006 19996 done 0.59 - - 2401 - 2.62 0.051 2144 -560.7 225.7 - - 1802 - - - - - - - - 14.09 13.96 14.14
20317 298.2 7.6 1017 20322 roll 0.59 - - 2406 - 2.53 0.067 796 -532.8 225.7 - - 1802 - - - - - - - - 14.78 13.90 14.81
20408 291.2 7.3 1030 20414 done 0.65 - - 2406 - 2.50 0.052 2159 545.2 226.3 - - 1802 - - - - - - - - 14.07 13.95 14.12
20769 262.8 8.1 1039 20774 roll 0.65 - - 2407 - 2.70 0.079 3608 536.7 226.3 - - 1802 - - - - - - - - 14.79 13.95 14.81
20843 255.7 9.2 1050 20850 done 0.65 - - 2415 - 2.60 0.047 2148 -561.5 226.3 - - 1802 - - - - - - - - 14.09 14.00 14.14
21165 230.8 7.9 1060 21170 roll 0.65 - - 2424 - 2.55 0.067 784 -534.9 226.3 - - 1802 - - - - - - - - 14.78 13.92 14.79
21261 223.0 7.6 1074 21267 done 0.65 - - 2424 - 2.53 0.052 2157 542.7 226.3 - - 1802 - - - - - - - - 14.07 13.95 14.12
21618 194.7 8.2 1082 21623 roll 0.65 - - 2424 - 2.72 0.077 3612 534.9 226.3 - - 1802 - - - - - - - - 14.78 13.95 14.80
21665 189.5 9.8 1089 21677 done 0.65 - - 2433 - 2.67 0.049 2148 -548.3 226.3 - - 1802 - - - - - - - - 13.97 13.92 14.02
22015 157.0 9.7 1096 22020 roll 0.65 - - 2438 - 2.55 0.067 787 -533.7 226.3 - - 1803 - - - - - - - - 14.78 13.93 14.80
22105 148.3 8.8 1109 22110 done 0.65 - - 2438 - 2.53 0.053 2158 541.9 226.3 - - 1802 - - - - - - - - 14.05 13.93 14.11
22466 117.6 8.6 1118 22472 roll 0.65 - - 2438 - 2.70 0.077 3613 538.9 226.3 - - 1802 - - - - - - - - 14.79 13.96 14.81
22570 108.6 8.1 1133 22582 done 0.65 0.12 0.195 2411 -225.0 2.65 0.049 2160 -548.3 226.3 - - 1803 - - - - - - - - 13.67 13.94 13.83
22893 93.3 5.0 1141 22933 roll 0.74 - - 2410 - 2.47 0.062 779 -559.1 281.7 35.80 0.405 1595 -5.8 0.257 - - - - - - 14.77 14.19 13.89
23045 83.0 7.3 1163 23061 done 0.85 0.20 0.096 2490 400.0 2.50 0.049 2163 553.6 282.0 3.42 0.161 1596 - - - - - - - - 14.14 14.12 13.82
23373 59.3 5.4 1176 23412 done 0.88 - - 2490 - - - 2163 - 327.9 34.60 0.301 1407 -5.5 0.207 - - - - - - 14.73 14.30 13.95
23736 44.2 4.8 1195 23789 roll 1.06 0.12 0.126 2558 566.7 2.58 0.073 3618 564.0 388.8 44.45 0.254 1152 -5.7 0.192 - - - - - - 14.26 14.15 13.95
23881 31.8 9.7 1216 23886 done 1.06 - - 2569 - 2.65 0.048 2134 -560.0 388.8 - - 1160 - - - - - - - - 14.26 14.08 14.28
24216 5.3 7.6 1230 24221 roll 1.06 - - 2571 - 2.45 0.063 788 -549.4 388.8 - - 1160 - - - - - - - - 14.78 13.97 14.79
24243 end climb: SURFACE_DEPTH_REACHED
24244 begin surface coast
24272 end surface coast: CONTROL_FINISHED_OK
24272 begin surface
SM 0.85 - - - - -6.13 6.97 0.066 210 30.1 2.78 0.056 2276 633.1 500.17 72.28 0.132 699 9.7 -0.006 - - - - - -