SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 500 * Raw log
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• Previous call tries 1 • 196.71 of 350.00 AH used of 24V (43.80% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 deg, depth 0.88 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: 18 s • Transponder ping count: 10
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
21 - - - 107 VBD -0.68 - - 203 - - - 2244 - -116.8 -84.45 - 2764 - - - - - - - - 14.66 - 14.69
110 2.9 -3.3 3 134 roll -0.68 9.23 0.409 1972 191.7 2.72 2.023 906 -491.9 -116.8 -9.30 - 3220 -49.0 - - - - - - - 13.82 12.93 14.29
250 38.5 -22.7 23 255 done -0.49 0.30 0.269 2034 206.7 2.40 0.057 2254 561.7 -116.8 - - 3220 - - - - - - - - 13.91 14.35 14.26
585 76.8 -8.0 38 589 roll -0.49 - - 2023 - 2.50 0.073 3690 574.4 -116.8 - - 3222 - - - - - - - - 14.80 14.30 14.81
690 84.7 -7.6 53 697 done -0.49 - - 2023 - 2.35 0.040 2285 -597.9 -116.8 - - 3223 - - - - - - - - 14.51 14.45 14.54
1005 111.7 -9.0 63 1009 roll -0.49 - - 2014 - 2.53 0.076 3701 559.7 -116.8 - - 3222 - - - - - - - - 14.86 14.32 14.88
1081 118.4 -8.6 74 1086 done -0.49 - - 2015 - 2.40 0.038 2284 -590.4 -116.8 - - 3223 - - - - - - - - 14.52 14.40 14.54
1398 143.9 -7.9 84 1403 roll -0.49 - - 2014 - 2.42 0.050 893 -574.8 -116.8 - - 3222 - - - - - - - - 14.83 14.38 14.85
1459 149.2 -8.3 93 1465 done -0.49 - - 2012 - 2.47 0.054 2293 566.8 -116.8 - - 3222 - - - - - - - - 14.40 14.26 14.44
1789 178.8 -9.2 105 1794 roll -0.49 - - 2011 - 2.50 0.082 3695 560.8 -116.8 - - 3221 - - - - - - - - 14.86 14.22 14.88
1831 182.6 -9.1 111 1836 done -0.49 0.12 0.223 2042 258.3 2.35 0.042 2285 -600.0 -116.8 - - 3221 - - - - - - - - 14.16 14.49 14.38
2181 211.0 -8.1 119 2185 roll -0.49 - - 2042 - 2.42 0.053 893 -575.2 -116.8 - - 3220 - - - - - - - - 14.86 14.35 14.88
2271 218.0 -7.5 132 2276 done -0.49 - - 2042 - 2.50 0.055 2298 562.0 -116.8 - - 3219 - - - - - - - - 14.47 14.32 14.50
2630 244.7 -7.5 141 2635 roll -0.49 - - 2040 - 2.50 0.082 3699 560.4 -116.8 - - 3217 - - - - - - - - 14.88 14.26 14.90
2663 247.4 -7.6 146 2668 done -0.54 - - 2040 - 2.38 0.044 2283 -595.0 -116.8 - - 3217 - - - - - - - - 14.52 14.45 14.55
3021 273.7 -7.3 155 3025 roll -0.54 - - 2040 - 2.45 0.055 891 -568.2 -116.8 - - 3214 - - - - - - - - 14.89 14.35 14.91
3078 277.7 -7.1 163 3082 done -0.54 - - 2039 - 2.50 0.056 2286 558.0 -116.8 - - 3214 - - - - - - - - 14.45 14.33 14.48
3414 300.5 -6.9 176 3419 roll -0.54 - - 2039 - 2.53 0.083 3693 556.1 -116.8 - - 3209 - - - - - - - - 14.87 14.23 14.90
3476 304.9 -7.0 185 3482 done -0.61 0.12 0.133 1984 -458.3 2.40 0.044 2274 -591.2 -116.8 - - 3211 - - - - - - - - 14.35 14.44 14.45
3805 338.4 -10.5 197 3810 roll -0.61 - - 1984 - 2.45 0.058 887 -566.1 -116.8 - - 3209 - - - - - - - - 14.88 14.33 14.89
3917 349.6 -9.7 213 3922 done -0.61 - - 1983 - 2.53 0.060 2284 552.2 -116.8 - - 3208 - - - - - - - - 14.43 14.28 14.45
4254 382.9 -10.0 226 4255 done -0.61 - - 1982 - - - 2283 - -116.8 - - 3207 - - - - - - - - 14.90 14.90 14.89
4589 420.4 -11.4 232 4593 roll -0.61 - - 1974 - 2.55 0.081 3702 556.5 -116.8 - - 3205 - - - - - - - - 14.85 14.21 14.88
4623 424.7 -12.2 237 4629 done -0.61 - - 1974 - 2.42 0.043 2277 -588.8 -116.8 - - 3204 - - - - - - - - 14.48 14.40 14.51
4982 468.6 -12.3 246 4987 roll -0.56 0.12 0.260 2008 283.3 2.47 0.054 881 -565.2 -116.8 - - 3203 - - - - - - - - 14.04 14.26 14.16
5099 480.3 -9.0 263 5104 done -0.56 - - 1999 - 2.53 0.058 2278 552.2 -116.8 - - 3201 - - - - - - - - 14.35 14.20 14.40
5430 509.0 -8.6 275 5435 roll -0.56 - - 1998 - 2.55 0.085 3693 554.9 -116.8 - - 3201 - - - - - - - - 14.84 14.18 14.85
5485 513.5 -7.9 283 5490 done -0.56 - - 1998 - 2.42 0.045 2280 -583.9 -116.8 - - 3200 - - - - - - - - 14.48 14.41 14.51
5821 539.7 -7.8 296 5825 roll -0.56 - - 1999 - 2.47 0.056 877 -568.0 -116.8 - - 3199 - - - - - - - - 14.85 14.24 14.87
5863 543.0 -7.9 302 5868 done -0.56 - - 1998 - 2.53 0.060 2278 553.8 -116.8 - - 3199 - - - - - - - - 14.38 14.26 14.43
6213 571.1 -8.1 310 6218 roll -0.56 - - 1993 - 2.58 0.086 3701 551.6 -116.8 - - 3198 - - - - - - - - 14.84 14.16 14.85
6303 578.7 -8.4 323 6308 done -0.56 - - 1994 - 2.45 0.044 2264 -586.5 -116.8 - - 3197 - - - - - - - - 14.43 14.34 14.47
6662 610.5 -9.1 332 6667 roll -0.56 - - 1994 - 2.45 0.057 887 -562.0 -116.8 - - 3195 - - - - - - - - 14.86 14.22 14.88
6717 615.8 -9.5 340 6722 done -0.56 0.12 0.260 2013 158.3 2.53 0.059 2270 546.6 -116.8 - - 3195 - - - - - - - - 13.91 14.21 14.15
7053 642.8 -8.0 353 7058 roll -0.56 - - 2011 - 2.60 0.088 3694 547.7 -116.8 - - 3194 - - - - - - - - 14.83 14.09 14.85
7129 648.8 -7.7 364 7134 done -0.61 - - 2011 - 2.45 0.047 2268 -582.0 -116.8 - - 3193 - - - - - - - - 14.43 14.35 14.45
7445 672.0 -7.2 374 7450 roll -0.61 - - 2011 - 2.47 0.060 883 -560.7 -116.8 - - 3193 - - - - - - - - 14.83 14.19 14.85
7493 675.7 -7.8 381 7501 done -0.61 - - 2011 - 2.55 0.061 2280 547.8 -116.8 - - 3192 - - - - - - - - 14.29 14.16 14.34
7838 699.7 -7.0 388 7843 roll -0.61 - - 2011 - 2.60 0.087 3702 546.9 -116.8 - - 3191 - - - - - - - - 14.82 14.00 14.85
7871 702.0 -7.0 393 7877 done -0.61 - - 2011 - 2.47 0.045 2263 -582.6 -116.8 - - 3190 - - - - - - - - 14.40 14.33 14.43
8229 726.8 -7.1 402 8234 roll -0.61 - - 2011 - 2.45 0.058 894 -558.8 -116.8 - - 3192 - - - - - - - - 14.85 14.17 14.88
8278 730.6 -7.9 409 8285 done -0.61 - - 2011 - 2.55 0.061 2282 544.3 -116.8 - - 3189 - - - - - - - - 14.27 14.14 14.32
8621 755.6 -7.4 416 8625 roll -0.61 - - 2011 - 2.60 0.088 3700 545.4 -116.8 - - 3188 - - - - - - - - 14.82 14.02 14.84
8655 758.2 -7.3 421 8661 done -0.61 - - 2013 - 2.45 0.047 2277 -580.8 -116.8 - - 3187 - - - - - - - - 14.39 14.33 14.42
9014 785.0 -7.6 430 9019 roll -0.61 - - 2011 - 2.53 0.059 889 -548.6 -116.8 - - 3186 - - - - - - - - 14.85 14.12 14.86
9069 789.6 -8.1 438 9073 done -0.61 - - 2011 - 2.58 0.060 2285 541.1 -116.8 - - 3186 - - - - - - - - 14.20 14.05 14.26
9405 815.3 -7.6 451 9409 roll -0.61 - - 2006 - 2.60 0.087 3697 543.1 -116.8 - - 3185 - - - - - - - - 14.85 14.00 14.87
9447 818.6 -6.6 457 9453 done -0.66 - - 2006 - 2.47 0.047 2273 -576.5 -116.8 - - 3186 - - - - - - - - 14.34 14.26 14.36
9797 845.5 -7.7 465 9802 roll -0.66 - - 2006 - 2.50 0.061 887 -554.4 -116.8 - - 3184 - - - - - - - - 14.82 14.09 14.83
9853 849.9 -7.9 473 9858 done -0.66 - - 2005 - 2.58 0.062 2282 540.7 -116.8 - - 3184 - - - - - - - - 14.22 14.08 14.26
10190 874.9 -7.3 486 10195 roll -0.66 - - 1999 - 2.60 0.088 3691 541.9 -116.8 - - 3186 - - - - - - - - 14.83 13.97 14.84
10245 879.1 -7.5 494 10249 done -0.66 - - 1999 - 2.47 0.048 2276 -572.9 -116.8 - - 3182 - - - - - - - - 14.31 14.23 14.34
10581 904.7 -7.7 507 10586 roll -0.66 - - 1999 - 2.55 0.062 877 -548.6 -116.8 - - 3182 - - - - - - - - 14.83 14.04 14.85
10629 908.6 -5.8 514 10636 done -0.66 - - 2000 - 2.65 0.063 2277 528.3 -116.8 - - 3182 - - - - - - - - 14.19 13.95 14.23
10973 933.7 -7.3 521 10978 roll -0.66 - - 1999 - 2.65 0.093 3701 537.4 -116.8 - - 3181 - - - - - - - - 14.83 13.93 14.85
11021 938.0 -9.5 528 11028 done -0.66 - - 1999 - 2.55 0.048 2265 -563.1 -116.8 - - 3181 - - - - - - - - 14.14 14.10 14.17
11366 960.9 -6.9 535 11371 roll -0.66 - - 1998 - 2.53 0.062 890 -543.5 -116.8 - - 3180 - - - - - - - - 14.78 14.02 14.80
11406 964.0 -5.2 541 11412 done -0.66 - - 1999 - 2.58 0.061 2283 539.9 -116.8 - - 3180 - - - - - - - - 14.16 14.01 14.21
11757 988.6 -7.1 549 11762 roll -0.66 - - 1999 - 2.62 0.092 3685 535.1 -116.8 - - 3180 - - - - - - - - 14.78 13.90 14.81
11766 end dive: TARGET_DEPTH_EXCEEDED
11766 begin apogee
11778 990.3 -7.4 551 11940 roll -0.19 0.50 0.197 2134 270.0 - - 2192 - - 149.52 2.531 2742 -2.9 0.228 - - - - 1 - 13.70 13.40 12.32
11942 end apogee: CONTROL_FINISHED_OK
11942 begin climb
11946 996.1 - 554 12117 roll 0.68 0.90 0.137 2409 305.6 2.62 0.064 796 -532.8 116.8 159.27 1.841 2263 -3.0 0.324 - - - - - - 13.76 13.85 12.88
12273 979.6 7.2 601 12280 done 0.68 - - 2409 - 2.55 0.060 2201 551.0 120.1 - - 2243 - - - - - - - - 14.37 14.26 14.40
12614 952.9 7.7 608 12619 roll 0.68 - - 2418 - 2.55 0.069 806 -547.1 120.1 - - 2237 - - - - - - - - 14.76 14.31 14.78
12806 938.6 7.3 635 12811 done 0.68 - - 2418 - 2.53 0.061 2199 550.6 121.2 - - 2236 - - - - - - - - 14.45 14.33 14.50
13120 914.1 7.8 645 13125 roll 0.63 - - 2418 - 2.60 0.091 3615 544.6 121.2 - - 2235 - - - - - - - - 14.78 14.15 14.80
13183 908.4 9.0 654 13188 done 0.56 0.20 0.265 2382 -180.0 2.47 0.057 2206 -570.4 121.2 - - 2234 - - - - - - - - 13.93 14.35 14.28
13512 887.7 6.2 666 13553 roll 0.57 - - 2392 - 2.62 0.074 798 -537.4 148.2 37.12 1.802 2133 -2.7 0.267 - - - - - - 14.82 14.31 13.32
13627 880.1 6.8 682 13636 done 0.58 - - 2392 - 2.55 0.060 2202 550.6 159.7 4.82 1.545 2087 -9.5 1.082 - - - - - - 14.39 14.28 12.93
13953 855.0 7.8 694 13954 done 0.58 - - 2392 - - - 2201 - 159.7 - - 2094 - - - - - - - - 14.73 14.75 14.75
14289 828.1 8.1 700 14293 roll 0.58 - - 2392 - 2.58 0.092 3612 546.9 159.7 - - 2094 - - - - - - - - 14.78 14.19 14.80
14331 824.4 9.0 706 14335 done 0.58 - - 2401 - 2.50 0.055 2187 -570.0 159.7 - - 2094 - - - - - - - - 14.43 14.33 14.47
14681 795.8 8.1 714 14686 roll 0.58 - - 2412 - 2.55 0.072 788 -548.6 159.7 - - 2094 - - - - - - - - 14.79 14.21 14.81
14793 786.6 7.9 730 14797 done 0.58 - - 2412 - 2.58 0.060 2195 545.3 159.7 - - 2094 - - - - - - - - 14.38 14.25 14.41
15130 759.1 8.3 743 15134 roll 0.58 - - 2412 - 2.60 0.088 3614 545.8 159.7 - - 2094 - - - - - - - - 14.79 14.07 14.81
15177 754.5 9.7 750 15184 done 0.54 0.20 0.249 2376 -180.0 2.53 0.057 2190 -562.8 159.7 - - 2094 - - - - - - - - 13.89 14.28 14.17
15522 730.3 7.1 757 15534 roll 0.54 - - 2385 - 2.58 0.072 789 -543.0 166.1 7.70 1.773 2065 -3.8 0.309 - - - - - - 14.79 14.39 13.28
15604 724.2 7.5 769 15610 done 0.54 - - 2385 - 2.53 0.059 2190 553.8 166.1 - - 2067 - - - - - - - - 14.50 14.39 14.54
15962 696.1 7.9 778 15966 roll 0.54 - - 2385 - 2.58 0.086 3611 550.8 166.1 - - 2068 - - - - - - - - 14.79 14.21 14.81
16039 689.4 8.6 789 16044 done 0.54 - - 2395 - 2.47 0.054 2187 -576.5 166.1 - - 2068 - - - - - - - - 14.45 14.35 14.48
16354 664.8 7.8 799 16359 roll 0.54 - - 2405 - 2.53 0.068 796 -549.8 166.1 - - 2068 - - - - - - - - 14.79 14.21 14.81
16459 656.9 7.3 814 16466 done 0.54 0.12 0.250 2379 -216.7 2.55 0.057 2193 547.8 166.9 1.58 0.209 2057 -7.0 4.357 - - - - - - 13.95 14.25 14.04
16802 634.6 6.5 821 16843 roll 0.55 - - 2379 - 2.62 0.086 3608 540.1 187.8 36.10 1.645 1968 -2.5 0.189 - - - - - - 14.82 14.32 13.38
16892 628.1 7.9 834 16897 done 0.55 - - 2387 - 2.50 0.052 2185 -569.2 187.8 - - 1957 - - - - - - - - 14.41 14.33 14.45
17244 602.2 7.4 842 17249 roll 0.55 - - 2396 - 2.55 0.070 792 -546.3 187.8 - - 1954 - - - - - - - - 14.71 14.22 14.73
17347 594.5 7.3 857 17354 done 0.55 - - 2396 - 2.53 0.056 2189 552.2 189.6 - - 1953 - - - - - - - - 14.37 14.24 14.41
17692 568.7 7.5 864 17697 roll 0.55 - - 2396 - 2.60 0.083 3610 546.5 189.6 - - 1952 - - - - - - - - 14.78 14.15 14.80
17767 562.3 8.2 875 17772 done 0.55 - - 2406 - 2.50 0.051 2187 -569.2 189.6 - - 1952 - - - - - - - - 14.38 14.28 14.42
18083 537.9 7.8 885 18088 roll 0.55 - - 2413 - 2.55 0.068 792 -547.1 189.6 - - 1952 - - - - - - - - 14.78 14.18 14.80
18160 531.8 7.9 896 18165 done 0.55 0.15 0.236 2379 -226.7 2.53 0.056 2188 551.8 189.6 - - 1952 - - - - - - - - 13.92 14.24 14.22
18475 509.6 7.1 906 18480 roll 0.60 - - 2379 - 2.60 0.083 3614 548.5 195.2 - - 1952 - - - - - - - - 14.78 14.13 14.81
18531 505.0 8.6 914 18535 done 0.60 - - 2387 - 2.53 0.052 2181 -566.4 195.2 - - 1952 - - - - - - - - 14.39 14.29 14.42
18868 477.7 8.2 927 18873 roll 0.60 - - 2395 - 2.55 0.069 786 -547.1 195.2 - - 1952 - - - - - - - - 14.78 14.15 14.79
18936 472.0 8.1 937 18942 done 0.65 - - 2394 - 2.53 0.056 2177 549.8 195.2 - - 1952 - - - - - - - - 14.31 14.19 14.36
19260 445.8 8.1 948 19265 roll 0.65 - - 2395 - 2.65 0.084 3612 541.5 195.2 - - 1951 - - - - - - - - 14.81 14.07 14.83
19342 438.7 8.4 960 19348 done 0.65 - - 2405 - 2.55 0.051 2179 -562.0 195.2 1.52 0.194 1941 -6.6 2.962 - - - - - - 14.26 14.16 13.96
19707 412.4 7.1 970 19718 roll 0.66 - - 2410 - 2.53 0.071 792 -548.2 201.8 5.78 1.343 1919 -3.8 0.233 - - - - - - 14.82 14.38 13.35
19784 407.2 6.7 981 19819 done 0.67 - - 2410 - 2.50 0.056 2186 557.6 216.9 29.08 1.442 1850 -2.4 0.133 - - - - - - 14.49 14.38 13.46
20155 380.1 7.4 992 20160 roll 0.67 - - 2410 - 2.60 0.082 3609 547.3 216.9 - - 1832 - - - - - - - - 14.72 14.16 14.73
20224 374.2 8.5 1002 20229 done 0.67 - - 2420 - 2.50 0.050 2183 -570.4 216.9 - - 1831 - - - - - - - - 14.39 14.29 14.43
20548 347.5 8.5 1013 20554 roll 0.67 - - 2429 - 2.55 0.067 792 -545.5 216.9 - - 1832 - - - - - - - - 14.75 14.19 14.76
20637 339.4 8.7 1026 20643 done 0.67 - - 2432 - 2.53 0.055 2186 551.0 216.9 - - 1830 - - - - - - - - 14.35 14.23 14.40
20996 303.4 10.4 1035 21001 roll 0.67 - - 2429 - 2.60 0.081 3610 547.7 216.9 - - 1830 - - - - - - - - 14.77 14.12 14.76
21079 294.0 11.1 1047 21084 done 0.67 - - 2439 - 2.53 0.050 2169 -569.6 216.9 - - 1830 - - - - - - - - 14.39 14.28 14.43
21443 255.2 10.6 1057 21449 roll 0.67 - - 2449 - 2.50 0.067 802 -546.8 216.9 - - 1830 - - - - - - - - 14.81 14.14 14.83
21527 246.4 10.3 1069 21533 done 0.67 0.12 0.248 2421 -233.3 2.50 0.055 2187 554.0 216.9 - - 1830 - - - - - - - - 13.90 14.21 14.19
21891 215.1 8.3 1079 21896 roll 0.67 - - 2420 - 2.60 0.080 3613 548.5 216.9 - - 1830 - - - - - - - - 14.82 14.09 14.83
21954 209.6 8.6 1088 21959 done 0.67 - - 2429 - 2.50 0.050 2186 -570.8 216.9 - - 1828 - - - - - - - - 14.34 14.24 14.38
22285 181.9 8.5 1100 22290 roll 0.67 - - 2438 - 2.55 0.065 786 -549.0 216.9 - - 1830 - - - - - - - - 14.78 14.12 14.79
22353 176.0 8.4 1110 22358 done 0.67 - - 2438 - 2.53 0.054 2185 553.0 216.9 - - 1830 - - - - - - - - 14.32 14.20 14.37
22677 146.7 9.2 1121 22683 roll 0.67 - - 2438 - 2.60 0.080 3607 546.9 216.9 - - 1827 - - - - - - - - 14.81 14.08 14.83
22788 135.1 9.9 1137 22794 done 0.67 0.12 0.251 2420 -150.0 2.50 0.048 2185 -568.8 216.9 - - 1830 - - - - - - - - 13.88 14.26 14.15
23124 107.5 8.0 1150 23129 roll 0.67 - - 2429 - 2.55 0.064 781 -550.6 216.9 - - 1830 - - - - - - - - 14.82 14.12 14.83
23187 103.0 6.9 1159 23194 done 0.67 - - 2429 - 2.55 0.053 2196 554.9 226.9 2.55 0.180 1814 -6.3 0.715 - - - - - - 14.31 14.19 13.81
23512 80.7 6.9 1174 23528 roll 0.68 - - 2429 - 2.58 0.080 3606 546.5 236.5 9.05 0.324 1779 -3.9 0.192 - - - - - - 14.74 14.24 13.76
23586 74.5 8.2 1185 23594 done 0.68 - - 2431 - 2.50 0.050 2181 -570.0 236.5 2.20 0.182 1774 -2.3 0.185 - - - - - - 14.38 14.28 13.96
23901 59.8 3.9 1197 23963 roll 0.80 - - 2431 - 2.47 0.063 789 -563.6 317.2 55.35 0.314 1446 -5.9 0.225 - - - - - - 14.76 14.23 14.00
24059 50.4 6.1 1219 24087 done 1.00 0.22 0.057 2544 513.6 2.47 0.053 2183 564.4 345.5 20.02 0.278 1331 -5.7 0.207 - - - - - - 14.19 14.14 13.96
24408 28.7 6.9 1236 24424 roll 1.00 - - 2546 - 2.60 0.063 791 -535.4 355.5 7.97 0.203 1288 -5.4 0.152 - - - - - - 14.71 14.17 13.83
24468 24.6 6.4 1245 24489 done 1.08 - - 2547 - 2.50 0.053 2188 558.8 377.5 16.52 0.201 1200 -5.3 0.130 - - - - - - 14.35 14.24 14.02
24765 end climb: SURFACE_DEPTH_REACHED
24765 begin surface coast
24797 end surface coast: CONTROL_FINISHED_OK
24797 begin surface
SM 0.71 - - - - -6.13 6.88 0.074 222 32.2 0.15 0.087 2327 -47033.3 500.17 76.62 0.135 699 9.1 -0.005 - - - - - -