SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 504 * Raw log
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• Previous call tries 1 • 198.22 of 350.00 AH used of 24V (43.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.4 deg, depth 0.78 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.66 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 16 s • Transponder ping count: 12
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 112 VBD -0.68 - - 199 - - - 2318 - -116.8 -85.03 - 2783 - - - - - - - - 14.66 - 14.68
116 3.2 -3.9 3 140 roll -0.68 9.12 0.404 1972 194.4 2.85 2.021 867 -509.1 -116.8 -8.88 - 3218 -49.0 - - - - - - - 13.81 13.16 14.26
256 37.8 -23.3 23 261 done -0.47 0.32 0.275 2040 212.5 2.45 0.053 2260 568.6 -116.8 - - 3218 - - - - - - - - 13.90 14.35 14.25
591 77.5 -9.9 38 595 roll -0.47 - - 2039 - 2.45 0.047 855 -573.5 -116.8 - - 3220 - - - - - - - - 14.80 14.37 14.83
620 79.5 -7.4 42 625 done -0.47 - - 2039 - 2.53 0.052 2280 563.2 -116.8 - - 3220 - - - - - - - - 14.48 14.38 14.51
983 105.3 -7.2 57 989 roll -0.47 - - 2036 - 2.47 0.075 3695 572.9 -116.8 - - 3221 - - - - - - - - 14.86 14.23 14.87
1137 117.3 -7.6 79 1141 done -0.47 - - 2036 - 2.40 0.040 2248 -602.9 -116.8 - - 3220 - - - - - - - - 14.56 14.49 14.58
1487 144.0 -7.6 87 1492 roll -0.47 - - 2036 - 2.35 0.054 896 -575.3 -116.8 - - 3221 - - - - - - - - 14.88 14.37 14.90
1599 152.1 -7.3 103 1603 done -0.47 - - 2030 - 2.45 0.054 2279 564.5 -116.8 - - 3221 - - - - - - - - 14.47 14.36 14.51
1936 177.0 -7.6 116 1940 roll -0.47 - - 2025 - 2.50 0.077 3700 568.4 -116.8 - - 3219 - - - - - - - - 14.85 14.29 14.87
2011 183.0 -7.9 127 2016 done -0.47 - - 2025 - 2.42 0.040 2273 -589.7 -116.8 - - 3220 - - - - - - - - 14.43 14.41 14.45
2327 207.1 -7.6 137 2332 roll -0.47 - - 2025 - 2.42 0.054 891 -571.1 -116.8 - - 3217 - - - - - - - - 14.86 14.35 14.88
2432 215.2 -7.7 152 2438 done -0.47 - - 2025 - 2.47 0.055 2274 559.9 -116.8 - - 3217 - - - - - - - - 14.45 14.34 14.49
2775 241.8 -7.9 159 2780 roll -0.47 - - 2021 - 2.53 0.080 3691 560.1 -116.8 - - 3215 - - - - - - - - 14.85 14.26 14.88
2831 246.4 -8.2 167 2836 done -0.47 - - 2021 - 2.42 0.044 2261 -590.9 -116.8 - - 3215 - - - - - - - - 14.52 14.46 14.54
3167 274.3 -8.4 180 3172 roll -0.47 - - 2021 - 2.42 0.055 888 -567.4 -116.8 - - 3211 - - - - - - - - 14.86 14.31 14.88
3236 280.2 -8.3 190 3242 done -0.47 0.08 0.211 2040 237.5 2.50 0.057 2260 548.8 -116.8 - - 3211 - - - - - - - - 13.98 14.25 14.12
3560 303.3 -7.1 201 3565 roll -0.47 - - 2036 - 2.58 0.082 3701 558.5 -116.8 - - 3210 - - - - - - - - 14.88 14.24 14.90
3628 308.2 -7.0 211 3633 done -0.53 - - 2039 - 2.45 0.042 2252 -591.4 -116.8 - - 3209 - - - - - - - - 14.50 14.44 14.53
3951 332.2 -7.5 222 3955 roll -0.53 - - 2036 - 2.40 0.056 893 -566.2 -116.8 - - 3207 - - - - - - - - 14.89 14.31 14.90
3986 334.9 -7.9 227 3991 done -0.53 - - 2031 - 2.47 0.057 2278 560.7 -116.8 - - 3207 - - - - - - - - 14.42 14.30 14.46
4342 362.0 -7.5 236 4347 roll -0.53 - - 2026 - 2.53 0.082 3686 556.5 -116.8 - - 3205 - - - - - - - - 14.89 14.13 14.90
4405 366.5 -7.0 245 4411 done -0.59 - - 2026 - 2.42 0.044 2263 -588.0 -116.8 - - 3204 - - - - - - - - 14.48 14.41 14.51
4736 390.3 -7.3 257 4741 roll -0.59 - - 2026 - 2.42 0.054 891 -566.9 -116.8 - - 3202 - - - - - - - - 14.87 14.28 14.89
4769 393.1 -7.9 262 4774 done -0.59 - - 2026 - 2.53 0.058 2264 542.7 -116.8 - - 3202 - - - - - - - - 14.24 14.19 14.31
5127 422.2 -8.3 271 5131 roll -0.59 - - 2021 - 2.60 0.086 3700 552.3 -116.8 - - 3201 - - - - - - - - 14.84 14.17 14.87
5176 426.3 -8.5 278 5182 done -0.64 - - 2023 - 2.45 0.044 2257 -589.0 -116.8 - - 3201 - - - - - - - - 14.47 14.40 14.48
5519 454.7 -8.2 285 5525 roll -0.64 - - 2023 - 2.40 0.054 893 -568.3 -116.8 - - 3200 - - - - - - - - 14.85 14.28 14.86
5553 457.6 -8.1 290 5558 done -0.64 - - 2023 - 2.47 0.056 2270 557.5 -116.8 - - 3199 - - - - - - - - 14.37 14.23 14.41
5912 483.5 -7.1 299 5917 roll -0.64 - - 2020 - 2.58 0.086 3688 549.6 -116.8 - - 3198 - - - - - - - - 14.84 14.14 14.85
5994 489.3 -6.9 311 5999 done -0.64 - - 2020 - 2.45 0.046 2258 -583.7 -116.8 - - 3197 - - - - - - - - 14.46 14.39 14.49
6359 514.9 -7.1 321 6364 roll -0.64 - - 2020 - 2.42 0.055 888 -566.1 -116.8 - - 3195 - - - - - - - - 14.90 14.25 14.90
6443 521.3 -7.6 333 6448 done -0.64 - - 2017 - 2.50 0.058 2272 553.6 -116.8 - - 3195 - - - - - - - - 14.27 14.14 14.31
6807 548.2 -7.3 343 6811 roll -0.64 - - 2013 - 2.58 0.087 3687 548.4 -116.8 - - 3194 - - - - - - - - 14.84 14.12 14.86
6869 552.9 -7.3 352 6874 done -0.64 - - 2013 - 2.45 0.047 2260 -582.4 -116.8 - - 3193 - - - - - - - - 14.44 14.37 14.47
7200 576.4 -7.1 364 7205 roll -0.64 - - 2013 - 2.42 0.055 889 -566.5 -116.8 - - 3192 - - - - - - - - 14.83 14.23 14.84
7255 580.5 -7.2 372 7260 done -0.64 - - 2012 - 2.53 0.058 2271 546.2 -116.8 - - 3192 - - - - - - - - 14.31 14.19 14.36
7591 603.1 -6.8 385 7596 roll -0.64 - - 2012 - 2.60 0.088 3699 549.2 -116.8 - - 3191 - - - - - - - - 14.87 14.12 14.88
7682 609.2 -6.6 398 7687 done -0.69 - - 2012 - 2.47 0.046 2256 -584.2 -116.8 - - 3190 - - - - - - - - 14.41 14.34 14.44
8039 633.6 -7.0 407 8043 roll -0.69 - - 2012 - 2.42 0.055 888 -565.3 -116.8 - - 3189 - - - - - - - - 14.86 14.22 14.88
8074 636.3 -7.8 412 8079 done -0.69 - - 2012 - 2.53 0.059 2276 548.6 -116.8 - - 3187 - - - - - - - - 14.32 14.19 14.36
8431 664.5 -8.0 421 8436 roll -0.69 - - 2011 - 2.58 0.088 3686 546.5 -116.8 - - 3188 - - - - - - - - 14.86 14.07 14.88
8493 669.6 -8.2 430 8498 done -0.74 0.15 0.122 1953 -386.7 2.45 0.047 2266 -579.6 -116.8 - - 3187 - - - - - - - - 14.21 14.30 14.32
8824 706.2 -11.2 442 8829 roll -0.68 - - 1953 - 2.45 0.057 890 -561.6 -116.8 - - 3187 - - - - - - - - 14.84 14.14 14.86
8879 712.7 -11.6 450 8884 done -0.63 0.20 0.266 1991 190.0 2.53 0.060 2266 543.9 -116.8 - - 3186 - - - - - - - - 13.66 14.12 13.98
9215 740.8 -8.1 463 9220 roll -0.63 - - 1983 - 2.62 0.089 3694 545.0 -116.8 - - 3186 - - - - - - - - 14.81 14.00 14.82
9257 744.3 -8.4 469 9263 done -0.63 - - 1984 - 2.47 0.048 2272 -575.7 -116.8 - - 3186 - - - - - - - - 14.35 14.28 14.39
9607 773.4 -8.3 477 9612 roll -0.63 - - 1983 - 2.53 0.060 870 -554.2 -116.8 - - 3184 - - - - - - - - 14.81 14.09 14.83
9655 777.8 -9.3 484 9661 done -0.63 - - 1983 - 2.62 0.062 2272 535.1 -116.8 - - 3184 - - - - - - - - 14.21 14.01 14.26
10000 806.4 -8.6 491 10005 roll -0.63 - - 1978 - 2.65 0.091 3701 539.2 -116.8 - - 3184 - - - - - - - - 14.81 13.97 14.82
10075 813.0 -8.5 502 10080 done -0.63 - - 1978 - 2.50 0.047 2260 -576.4 -116.8 - - 3181 - - - - - - - - 14.33 14.26 14.39
10391 840.6 -8.8 512 10395 roll -0.63 - - 1978 - 2.47 0.057 881 -558.3 -116.8 - - 3181 - - - - - - - - 14.81 14.07 14.83
10454 846.3 -8.9 521 10459 done -0.63 - - 1972 - 2.55 0.062 2269 544.3 -116.8 - - 3181 - - - - - - - - 14.22 14.08 14.30
10783 876.4 -9.1 533 10788 roll -0.63 - - 1969 - 2.65 0.093 3694 537.7 -116.8 - - 3180 - - - - - - - - 14.80 13.95 14.81
10839 881.5 -9.1 541 10844 done -0.63 - - 1969 - 2.50 0.049 2268 -570.4 -116.8 - - 3181 - - - - - - - - 14.31 14.23 14.33
11176 911.4 -8.8 554 11177 done -0.63 - - 1969 - - - 2259 - -116.8 - - 3180 - - - - - - - - 14.82 14.84 14.84
11511 939.4 -8.2 560 11511 done -0.63 - - 1969 - - - 2259 - -116.8 - - 3179 - - - - - - - - 14.83 14.85 14.85
11847 966.3 -8.0 566 11852 roll -0.63 - - 1969 - 2.53 0.063 886 -542.7 -116.8 - - 3178 - - - - - - - - 14.83 14.01 14.85
11882 969.2 -7.6 571 11887 done -0.63 - - 1968 - 2.58 0.065 2268 535.7 -116.8 - - 3178 - - - - - - - - 14.16 14.01 14.21
12179 end dive: TARGET_DEPTH_EXCEEDED
12179 begin apogee
12187 994.6 -8.5 579 12330 roll -0.19 0.62 0.222 2129 259.7 - - 2184 - - 135.57 2.764 2742 -3.2 0.231 - - - - 1 - 13.57 13.69 12.31
12332 end apogee: CONTROL_FINISHED_OK
12332 begin climb
12336 998.9 - 581 12508 roll 0.68 0.93 0.143 2408 300.0 2.60 0.063 807 -529.6 116.8 157.82 1.853 2251 -3.1 0.334 - - - - - - 13.74 13.81 12.86
12638 983.1 7.5 629 12643 done 0.68 - - 2407 - 2.58 0.062 2212 544.6 116.8 - - 2239 - - - - - - - - 14.35 14.26 14.39
12973 955.8 8.2 642 12983 roll 0.68 - - 2418 - 2.53 0.066 817 -551.4 116.8 - - 2235 - - - - - - - - 14.75 14.32 14.77
13123 943.7 7.8 663 13128 done 0.68 - - 2418 - 2.50 0.060 2201 553.6 116.8 - - 2234 - - - - - - - - 14.44 14.32 14.49
13482 913.3 8.6 672 13487 roll 0.63 - - 2418 - 2.58 0.090 3607 545.0 116.8 - - 2233 - - - - - - - - 14.78 14.23 14.80
13543 907.2 9.7 681 13549 done 0.55 0.20 0.262 2381 -185.0 2.42 0.056 2219 -573.6 116.8 - - 2232 - - - - - - - - 13.95 14.35 14.28
13874 883.8 7.0 693 13879 roll 0.56 - - 2391 - 2.60 0.072 793 -548.5 124.6 - - 2232 - - - - - - - - 14.79 14.23 14.81
13956 877.6 7.0 705 13976 done 0.56 - - 2391 - 2.55 0.060 2200 551.8 132.9 14.05 1.847 2194 -2.7 0.256 - - - - - - 14.40 14.28 13.32
14321 850.2 7.6 715 14325 roll 0.56 - - 2391 - 2.58 0.091 3609 546.1 132.9 - - 2184 - - - - - - - - 14.80 14.22 14.81
14349 847.9 8.3 719 14354 done 0.56 - - 2401 - 2.47 0.055 2193 -573.3 132.9 - - 2183 - - - - - - - - 14.38 14.31 14.42
14713 820.8 7.3 729 14718 roll 0.57 - - 2408 - 2.55 0.072 801 -545.9 134.8 - - 2182 - - - - - - - - 14.79 14.23 14.81
14825 812.8 6.8 745 14851 done 0.57 - - 2411 - 2.55 0.059 2205 550.6 148.0 19.50 1.847 2132 -2.6 0.225 - - - - - - 14.39 14.27 13.36
15162 787.3 7.7 758 15167 roll 0.57 - - 2411 - 2.58 0.089 3611 545.0 148.0 - - 2120 - - - - - - - - 14.76 14.22 14.81
15209 783.0 9.1 765 15216 done 0.53 0.20 0.248 2374 -185.0 2.50 0.055 2190 -568.4 148.0 - - 2119 - - - - - - - - 13.99 14.31 14.29
15554 761.5 6.4 772 15586 roll 0.54 - - 2384 - 2.58 0.070 799 -539.1 170.5 27.90 1.786 2039 -2.9 0.244 - - - - - - 14.80 14.35 13.37
15665 753.9 7.2 788 15670 done 0.54 - - 2389 - 2.53 0.057 2193 551.0 174.3 - - 2027 - - - - - - - - 14.41 14.31 14.45
16002 727.5 8.0 801 16007 roll 0.54 - - 2384 - 2.58 0.086 3611 549.6 174.3 - - 2025 - - - - - - - - 14.73 14.21 14.76
16063 721.7 9.3 810 16069 done 0.54 - - 2393 - 2.47 0.054 2195 -573.3 174.3 - - 2024 - - - - - - - - 14.40 14.30 14.44
16393 692.2 9.0 822 16398 roll 0.54 - - 2403 - 2.53 0.070 798 -552.2 174.3 - - 2024 - - - - - - - - 14.78 14.23 14.80
16491 683.6 8.7 836 16496 done 0.54 - - 2403 - 2.53 0.057 2201 554.5 174.3 - - 2022 - - - - - - - - 14.40 14.28 14.45
16841 652.7 8.7 844 16846 roll 0.54 - - 2403 - 2.58 0.086 3613 547.3 174.3 - - 2022 - - - - - - - - 14.79 14.14 14.81
16903 646.9 9.4 853 16909 done 0.54 0.15 0.239 2378 -166.7 2.50 0.054 2186 -570.8 174.3 - - 2019 - - - - - - - - 14.00 14.31 14.23
17235 624.8 6.6 865 17266 roll 0.55 - - 2386 - 2.50 0.069 797 -555.6 192.4 25.33 1.661 1948 -2.8 0.210 - - - - - - 14.78 14.39 13.42
17340 617.9 6.7 880 17364 done 0.62 - - 2386 - 2.53 0.056 2191 551.0 206.8 16.98 1.647 1890 -3.4 0.255 - - - - - - 14.42 14.32 13.36
17682 592.8 7.4 894 17688 roll 0.62 - - 2388 - 2.60 0.085 3616 548.1 206.8 - - 1877 - - - - - - - - 14.73 14.19 14.74
17729 588.7 8.6 901 17736 done 0.62 - - 2396 - 2.55 0.055 2189 -559.6 206.8 - - 1876 - - - - - - - - 14.29 14.25 14.33
18073 561.6 8.0 908 18078 roll 0.62 - - 2406 - 2.55 0.070 789 -549.0 206.8 - - 1875 - - - - - - - - 14.76 14.19 14.78
18150 555.2 8.3 919 18155 done 0.62 - - 2406 - 2.53 0.057 2190 553.8 206.8 - - 1875 - - - - - - - - 14.39 14.28 14.44
18465 526.1 9.5 929 18470 roll 0.62 - - 2406 - 2.58 0.083 3608 549.6 206.8 - - 1875 - - - - - - - - 14.83 14.15 14.83
18534 518.6 10.6 939 18540 done 0.62 - - 2415 - 2.47 0.051 2188 -574.9 206.8 - - 1874 - - - - - - - - 14.38 14.28 14.43
18858 484.9 10.6 950 18864 roll 0.62 - - 2424 - 2.55 0.067 788 -549.0 206.8 - - 1871 - - - - - - - - 14.81 14.16 14.82
18947 475.4 10.4 963 18953 done 0.62 - - 2424 - 2.53 0.056 2186 552.6 206.8 - - 1874 - - - - - - - - 14.35 14.21 14.40
19306 438.5 10.1 972 19311 roll 0.62 - - 2424 - 2.60 0.083 3615 549.6 206.8 - - 1876 - - - - - - - - 14.79 14.12 14.81
19397 428.9 10.3 985 19402 done 0.62 0.12 0.259 2404 -166.7 2.50 0.053 2187 -571.2 206.8 - - 1874 - - - - - - - - 13.93 14.28 14.22
19753 400.5 7.8 994 19759 roll 0.62 - - 2412 - 2.55 0.067 787 -549.0 206.8 - - 1874 - - - - - - - - 14.83 14.14 14.85
19845 393.6 7.4 1007 19849 done 0.62 - - 2412 - 2.53 0.057 2187 553.4 206.8 - - 1874 - - - - - - - - 14.33 14.20 14.38
20201 365.9 7.7 1016 20206 roll 0.62 - - 2412 - 2.60 0.082 3610 547.3 206.8 - - 1874 - - - - - - - - 14.79 14.08 14.81
20271 359.8 8.6 1026 20277 done 0.62 - - 2422 - 2.50 0.050 2186 -569.6 206.8 - - 1874 - - - - - - - - 14.35 14.24 14.40
20595 333.2 8.3 1037 20600 roll 0.62 - - 2431 - 2.55 0.067 787 -548.6 206.8 - - 1874 - - - - - - - - 14.78 14.12 14.79
20663 327.2 8.6 1047 20668 done 0.62 0.15 0.227 2395 -240.0 2.55 0.056 2194 551.8 206.8 - - 1874 - - - - - - - - 13.88 14.19 14.16
20985 303.1 7.4 1058 20991 roll 0.62 - - 2395 - 2.58 0.083 3606 547.3 206.8 - - 1874 - - - - - - - - 14.79 14.07 14.81
21042 298.4 8.6 1066 21049 done 0.62 - - 2404 - 2.50 0.049 2188 -567.2 206.8 - - 1874 - - - - - - - - 14.33 14.23 14.38
21378 271.6 8.0 1079 21383 roll 0.62 - - 2407 - 2.55 0.067 793 -547.1 206.8 - - 1872 - - - - - - - - 14.82 14.09 14.83
21455 265.4 7.9 1090 21461 done 0.67 - - 2407 - 2.53 0.054 2189 551.8 206.8 - - 1874 - - - - - - - - 14.29 14.16 14.34
21770 240.0 8.0 1100 21775 roll 0.67 - - 2407 - 2.60 0.080 3610 546.5 206.8 - - 1874 - - - - - - - - 14.78 14.04 14.79
21846 233.4 8.7 1111 21851 done 0.67 - - 2416 - 2.50 0.048 2185 -570.0 206.8 - - 1873 - - - - - - - - 14.31 14.21 14.35
22164 207.9 8.2 1121 22168 roll 0.67 - - 2424 - 2.55 0.065 787 -548.2 206.8 - - 1874 - - - - - - - - 14.80 14.08 14.82
22231 202.1 8.3 1131 22236 done 0.67 - - 2424 - 2.55 0.054 2189 549.8 206.8 - - 1874 - - - - - - - - 14.27 14.15 14.32
22554 174.3 8.6 1142 22560 roll 0.67 - - 2424 - 2.60 0.080 3611 546.9 206.8 - - 1874 - - - - - - - - 14.81 14.04 14.83
22611 168.9 10.0 1150 22617 done 0.67 - - 2433 - 2.53 0.048 2186 -563.2 206.8 - - 1874 - - - - - - - - 14.31 14.21 14.35
22946 136.9 9.5 1163 22951 roll 0.67 - - 2443 - 2.53 0.064 793 -550.6 206.8 - - 1874 - - - - - - - - 14.78 14.09 14.79
23008 130.9 9.4 1172 23014 done 0.67 - - 2443 - 2.53 0.053 2192 553.0 206.8 - - 1874 - - - - - - - - 14.28 14.16 14.33
23340 98.2 9.9 1184 23345 roll 0.67 - - 2443 - 2.60 0.080 3616 547.7 206.8 - - 1874 - - - - - - - - 14.77 14.04 14.78
23400 91.9 10.0 1193 23406 done 0.67 0.15 0.249 2419 -160.0 2.50 0.049 2190 -570.4 206.8 - - 1874 - - - - - - - - 13.79 14.19 14.09
23735 69.5 6.0 1207 23759 roll 0.74 - - 2419 - 2.50 0.064 798 -556.8 238.4 17.62 0.324 1768 -6.0 0.257 - - - - - - 14.71 14.11 13.85
23913 59.9 4.7 1233 23962 done 0.90 0.20 0.098 2498 395.0 2.50 0.050 2197 559.6 301.6 44.28 0.313 1508 -5.9 0.224 - - - - - - 14.27 14.23 13.99
24285 40.9 4.4 1253 24340 roll 1.02 - - 2500 - 2.58 0.063 800 -541.5 372.1 46.78 0.254 1220 -6.2 0.198 - - - - - - 14.73 14.31 14.04
24375 35.3 6.8 1266 24389 done 1.16 0.22 0.089 2590 409.1 2.47 0.050 2187 561.5 383.7 9.12 0.227 1175 -4.9 0.153 - - - - - - 14.33 14.27 13.95
24698 end climb: SURFACE_DEPTH_REACHED
24699 begin surface coast
24722 end surface coast: CONTROL_FINISHED_OK
24722 begin surface
SM 0.77 - - - - -6.13 6.90 0.063 226 32.7 0.15 0.106 2308 -60813.3 500.66 73.22 0.136 699 9.5 -0.006 - - - - - -