SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 514 * Raw log
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• Previous call tries 3 • 201.96 of 350.00 AH used of 24V (42.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.8 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 15 s • Transponder ping count: 5
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
19 - - - 105 VBD -0.68 - - 202 - - - 2307 - -116.8 -84.32 - 2775 - - - - - - - - 14.69 - 14.71
109 3.1 -3.9 3 132 roll -0.68 9.15 0.405 1963 192.5 2.70 2.044 3682 509.3 -116.8 -8.93 - 3219 -49.7 - - - - - - - 13.84 13.19 14.29
174 22.3 -24.6 13 180 done -0.47 0.30 0.252 2040 256.7 2.38 0.039 2265 -595.4 -116.8 - - 3219 - - - - - - - - 14.05 14.44 14.29
497 69.7 -8.1 26 502 roll -0.47 - - 2040 - 2.40 0.050 880 -577.1 -116.8 - - 3222 - - - - - - - - 14.76 14.35 14.78
671 82.9 -7.4 51 676 done -0.47 - - 2040 - 2.47 0.054 2280 566.8 -116.8 - - 3221 - - - - - - - - 14.45 14.33 14.48
1001 106.1 -7.5 64 1006 roll -0.47 - - 2034 - 2.47 0.073 3695 572.9 -116.8 - - 3221 - - - - - - - - 14.83 14.32 14.85
1056 110.4 -7.4 72 1061 done -0.47 - - 2035 - 2.38 0.037 2260 -602.9 -116.8 - - 3221 - - - - - - - - 14.53 14.47 14.56
1394 135.2 -7.4 85 1399 roll -0.47 - - 2025 - 2.60 0.074 3700 553.8 -116.8 - - 3221 - - - - - - - - 14.85 14.29 14.88
1428 138.2 -8.7 90 1433 done -0.47 - - 2025 - 2.38 0.038 2271 -600.4 -116.8 - - 3221 - - - - - - - - 14.54 14.47 14.57
1785 167.7 -8.2 99 1789 roll -0.47 - - 2025 - 2.40 0.053 898 -572.1 -116.8 - - 3220 - - - - - - - - 14.85 14.35 14.88
1882 176.0 -8.2 113 1888 done -0.47 - - 2025 - 2.45 0.055 2281 564.5 -116.8 - - 3220 - - - - - - - - 14.45 14.32 14.49
2234 206.4 -8.9 121 2240 roll -0.47 - - 2020 - 2.50 0.079 3700 567.6 -116.8 - - 3217 - - - - - - - - 14.88 14.28 14.89
2330 215.1 -8.6 135 2335 done -0.47 - - 2021 - 2.42 0.039 2253 -597.9 -116.8 - - 3217 - - - - - - - - 14.49 14.40 14.52
2681 244.8 -8.4 143 2686 roll -0.47 - - 2020 - 2.38 0.051 896 -570.2 -116.8 - - 3215 - - - - - - - - 14.85 14.33 14.86
2779 252.9 -7.8 157 2785 done -0.47 0.12 0.239 2045 208.3 2.45 0.056 2276 563.3 -116.8 - - 3214 - - - - - - - - 14.01 14.26 14.23
3129 276.6 -6.8 165 3135 roll -0.47 - - 2038 - 2.53 0.080 3690 558.9 -116.8 - - 3211 - - - - - - - - 14.85 14.17 14.88
3187 280.5 -7.1 173 3192 done -0.54 - - 2038 - 2.40 0.043 2268 -592.5 -116.8 - - 3211 - - - - - - - - 14.50 14.44 14.53
3522 304.5 -7.2 186 3527 roll -0.54 - - 2038 - 2.40 0.055 898 -570.8 -116.8 - - 3209 - - - - - - - - 14.88 14.31 14.90
3570 308.2 -7.5 193 3578 done -0.54 - - 2037 - 2.50 0.057 2274 550.4 -116.8 - - 3211 - - - - - - - - 14.21 14.14 14.28
3915 332.9 -7.2 200 3919 roll -0.54 - - 2036 - 2.53 0.083 3687 558.5 -116.8 - - 3206 - - - - - - - - 14.90 14.21 14.90
4004 339.2 -6.9 213 4010 done -0.61 - - 2036 - 2.38 0.044 2279 -591.6 -116.8 - - 3206 - - - - - - - - 14.48 14.40 14.50
4362 363.0 -6.5 222 4363 done -0.61 - - 2036 - - - 2268 - -116.8 - - 3204 - - - - - - - - 14.85 14.87 14.89
4699 385.3 -6.7 228 4703 roll -0.61 - - 2036 - 2.45 0.054 892 -561.6 -116.8 - - 3202 - - - - - - - - 14.84 14.27 14.86
4746 388.7 -7.1 235 4753 done -0.65 0.15 0.125 1974 -413.3 2.50 0.056 2285 557.2 -116.8 - - 3201 - - - - - - - - 14.29 14.25 14.37
5090 423.9 -10.6 242 5095 roll -0.60 0.12 0.249 1999 208.3 2.55 0.079 3700 554.9 -116.8 - - 3200 - - - - - - - - 14.07 14.16 14.17
5139 428.5 -9.0 249 5146 done -0.60 - - 1998 - 2.42 0.044 2283 -585.5 -116.8 - - 3200 - - - - - - - - 14.45 14.38 14.48
5482 459.0 -8.8 256 5487 roll -0.60 - - 1998 - 2.47 0.054 884 -566.4 -116.8 - - 3198 - - - - - - - - 14.84 14.25 14.85
5523 462.9 -9.2 262 5530 done -0.60 - - 1998 - 2.53 0.058 2278 551.0 -116.8 - - 3198 - - - - - - - - 14.35 14.23 14.40
5875 493.5 -8.8 270 5876 done -0.60 - - 1999 - - - 2279 - -116.8 - - 3195 - - - - - - - - 14.83 14.85 14.83
6210 521.6 -8.3 276 6214 roll -0.60 - - 1994 - 2.55 0.082 3693 554.5 -116.8 - - 3194 - - - - - - - - 14.87 14.14 14.88
6279 527.4 -8.4 286 6284 done -0.60 - - 1994 - 2.42 0.045 2284 -582.2 -116.8 - - 3194 - - - - - - - - 14.40 14.32 14.43
6603 553.7 -8.1 297 6608 roll -0.60 - - 1994 - 2.47 0.054 887 -565.6 -116.8 - - 3193 - - - - - - - - 14.85 14.22 14.88
6664 558.7 -8.0 306 6669 done -0.60 - - 1989 - 2.53 0.057 2283 551.8 -116.8 - - 3193 - - - - - - - - 14.31 14.19 14.35
6994 585.8 -8.4 318 6999 roll -0.60 - - 1984 - 2.55 0.085 3689 551.4 -116.8 - - 3191 - - - - - - - - 14.86 14.09 14.90
7051 590.6 -8.8 326 7056 done -0.60 - - 1984 - 2.45 0.045 2271 -578.8 -116.8 - - 3191 - - - - - - - - 14.40 14.34 14.43
7385 620.7 -9.1 339 7390 roll -0.60 - - 1985 - 2.47 0.057 888 -559.9 -116.8 - - 3190 - - - - - - - - 14.87 14.07 14.89
7427 624.6 -9.3 345 7433 done -0.60 - - 1985 - 2.55 0.060 2285 547.8 -116.8 - - 3189 - - - - - - - - 14.28 14.14 14.33
7779 657.0 -9.3 353 7784 roll -0.60 - - 1979 - 2.58 0.085 3699 548.1 -116.8 - - 3188 - - - - - - - - 14.82 14.07 14.83
7812 660.6 -10.1 358 7818 done -0.60 - - 1980 - 2.50 0.044 2274 -570.0 -116.8 - - 3188 - - - - - - - - 14.26 14.23 14.30
8170 695.0 -9.5 367 8175 roll -0.60 - - 1980 - 2.50 0.059 886 -555.2 -116.8 - - 3187 - - - - - - - - 14.82 14.14 14.84
8218 699.6 -9.2 374 8225 done -0.60 - - 1976 - 2.55 0.060 2287 549.4 -116.8 - - 3186 - - - - - - - - 14.21 14.07 14.28
8563 731.3 -9.3 381 8569 roll -0.60 - - 1970 - 2.60 0.087 3691 540.0 -116.8 - - 3185 - - - - - - - - 14.84 14.04 14.86
8610 736.0 -9.6 388 8617 done -0.60 0.08 0.213 2000 375.0 2.50 0.047 2279 -564.8 -116.8 - - 3185 - - - - - - - - 13.78 14.18 14.04
8954 764.4 -8.3 395 8959 roll -0.60 - - 2000 - 2.53 0.057 880 -553.0 -116.8 - - 3184 - - - - - - - - 14.81 14.14 14.83
8996 768.4 -8.7 401 9002 done -0.60 - - 1999 - 2.58 0.060 2281 543.0 -116.8 - - 3184 - - - - - - - - 14.26 14.12 14.31
9346 797.7 -8.4 409 9351 roll -0.60 - - 1999 - 2.62 0.088 3701 542.0 -116.8 - - 3183 - - - - - - - - 14.84 13.97 14.86
9408 803.0 -8.1 418 9414 done -0.60 - - 1998 - 2.50 0.044 2258 -577.2 -116.8 - - 3183 - - - - - - - - 14.31 14.23 14.34
9740 828.3 -7.5 430 9744 roll -0.60 - - 1998 - 2.45 0.055 894 -556.7 -116.8 - - 3181 - - - - - - - - 14.83 14.09 14.84
9779 831.6 -6.4 436 9785 done -0.60 - - 1999 - 2.55 0.060 2283 544.7 -116.8 - - 3181 - - - - - - - - 14.21 14.07 14.26
10130 856.5 -7.0 444 10135 roll -0.60 - - 1999 - 2.62 0.088 3700 540.8 -116.8 - - 3181 - - - - - - - - 14.80 13.96 14.81
10221 862.7 -6.7 457 10227 done -0.60 - - 1999 - 2.45 0.045 2281 -579.2 -116.8 - - 3180 - - - - - - - - 14.31 14.22 14.33
10578 887.3 -6.8 466 10583 roll -0.60 - - 1999 - 2.50 0.056 894 -554.8 -116.8 - - 3179 - - - - - - - - 14.79 14.05 14.81
10648 892.5 -7.4 476 10653 done -0.60 - - 1998 - 2.55 0.059 2282 544.3 -116.8 - - 3177 - - - - - - - - 14.19 14.06 14.24
10970 916.0 -7.4 487 10975 roll -0.60 - - 1999 - 2.62 0.089 3692 538.2 -116.8 - - 3178 - - - - - - - - 14.78 13.91 14.81
11018 919.7 -7.6 494 11025 done -0.60 - - 1999 - 2.50 0.047 2278 -565.6 -116.8 - - 3177 - - - - - - - - 14.13 14.09 14.16
11362 945.7 -7.6 501 11368 roll -0.60 - - 1999 - 2.53 0.057 891 -548.2 -116.8 - - 3177 - - - - - - - - 14.78 14.02 14.80
11419 950.2 -8.0 509 11425 done -0.60 - - 1998 - 2.58 0.060 2278 537.6 -116.8 - - 3178 - - - - - - - - 14.05 13.92 14.11
11754 976.3 -7.8 522 11759 roll -0.60 - - 1998 - 2.62 0.090 3693 540.1 -116.8 - - 3176 - - - - - - - - 14.81 13.90 14.83
11825 981.8 -7.9 532 11829 done -0.65 - - 1998 - 2.47 0.049 2278 -572.9 -116.8 - - 3177 - - - - - - - - 14.25 14.19 14.30
11974 end dive: TARGET_DEPTH_EXCEEDED
11975 begin apogee
11983 993.9 -7.9 540 12177 roll -0.19 0.50 0.197 2134 272.0 - - 2179 - - 191.60 1.621 2741 -2.3 0.266 - - - - - - 13.66 13.95 13.01
12178 end apogee: CONTROL_FINISHED_OK
12178 begin climb
12182 1001.3 - 543 12343 done 0.68 0.88 0.125 2411 314.8 - - 2179 - 116.8 150.35 1.833 2258 -3.2 0.335 - - - - - - 13.96 14.26 12.93
12651 973.1 8.0 580 12656 roll 0.68 - - 2420 - 2.50 0.068 813 -546.4 116.8 - - 2235 - - - - - - - - 14.70 14.27 14.71
12685 970.2 9.3 585 12691 done 0.68 - - 2421 - 2.58 0.059 2209 541.1 116.8 - - 2233 - - - - - - - - 14.33 14.27 14.38
13044 940.0 8.6 594 13050 roll 0.62 - - 2421 - 2.53 0.085 3609 553.4 116.8 - - 2235 - - - - - - - - 14.76 14.22 14.77
13099 934.4 10.1 602 13105 done 0.54 0.25 0.261 2372 -196.0 2.42 0.054 2227 -571.1 116.8 - - 2231 - - - - - - - - 13.90 14.34 14.26
13437 911.4 6.8 615 13448 roll 0.54 - - 2382 - 2.60 0.073 788 -553.5 130.5 4.30 1.418 2205 -6.0 0.741 - - - - - - 14.76 14.40 13.21
13532 904.6 7.0 629 13559 done 0.55 - - 2382 - 2.55 0.058 2206 556.1 139.6 20.17 1.882 2166 -1.9 0.177 - - - - - - 14.50 14.38 13.33
13884 878.1 7.8 644 13885 done 0.55 - - 2382 - - - 2206 - 139.6 - - 2152 - - - - - - - - 14.75 14.77 14.77
14219 852.4 7.8 650 14225 roll 0.55 - - 2382 - 2.55 0.087 3607 549.4 139.6 - - 2151 - - - - - - - - 14.80 14.19 14.82
14246 850.2 8.2 654 14253 done 0.55 - - 2392 - 2.47 0.054 2190 -573.7 139.6 - - 2151 - - - - - - - - 14.40 14.29 14.45
14613 822.7 7.4 664 14617 roll 0.55 - - 2402 - 2.55 0.070 793 -547.8 139.6 - - 2151 - - - - - - - - 14.78 14.19 14.80
14701 815.9 7.1 677 14707 done 0.55 - - 2401 - 2.53 0.057 2188 551.4 144.7 - - 2149 - - - - - - - - 14.38 14.25 14.41
15059 789.0 7.6 686 15065 roll 0.55 - - 2402 - 2.60 0.085 3619 550.4 144.7 - - 2149 - - - - - - - - 14.82 14.13 14.83
15095 786.0 9.5 691 15100 done 0.55 0.15 0.254 2379 -153.3 2.53 0.056 2186 -566.4 144.7 - - 2149 - - - - - - - - 13.90 14.28 14.17
15451 762.5 6.7 700 15484 roll 0.56 - - 2389 - 2.55 0.070 797 -544.7 160.1 25.40 1.746 2078 -2.8 0.233 - - - - - - 14.78 14.37 13.36
15579 753.8 7.1 718 15585 done 0.56 - - 2389 - 2.53 0.057 2190 550.6 164.7 - - 2068 - - - - - - - - 14.41 14.31 14.45
15902 728.8 7.9 729 15906 roll 0.56 - - 2389 - 2.58 0.085 3610 550.4 164.7 - - 2067 - - - - - - - - 14.76 14.18 14.78
15942 725.2 9.1 735 15947 done 0.56 - - 2398 - 2.50 0.053 2184 -570.4 164.7 - - 2066 - - - - - - - - 14.40 14.31 14.44
16293 695.3 8.6 743 16297 roll 0.56 - - 2409 - 2.53 0.070 794 -549.4 164.7 - - 2066 - - - - - - - - 14.81 14.18 14.82
16391 687.0 8.5 757 16396 done 0.56 - - 2409 - 2.53 0.057 2185 549.8 164.7 - - 2065 - - - - - - - - 14.36 14.24 14.40
16741 656.3 8.8 765 16745 roll 0.56 - - 2409 - 2.60 0.084 3614 549.6 164.7 - - 2065 - - - - - - - - 14.78 14.12 14.81
16789 651.5 9.9 772 16796 done 0.56 0.15 0.245 2384 -166.7 2.58 0.054 2169 -560.1 164.7 - - 2065 - - - - - - - - 13.90 14.19 14.16
17134 626.3 7.2 779 17139 roll 0.57 - - 2394 - 2.53 0.070 787 -546.2 167.5 - - 2065 - - - - - - - - 14.78 14.14 14.79
17216 620.6 6.8 791 17245 done 0.57 - - 2394 - 2.53 0.057 2179 550.2 181.2 25.30 1.599 2001 -2.5 0.187 - - - - - - 14.32 14.20 13.42
17582 594.5 7.2 801 17587 roll 0.58 - - 2394 - 2.60 0.085 3605 548.5 184.3 - - 1979 - - - - - - - - 14.72 14.16 14.74
17637 590.0 8.4 809 17642 done 0.58 - - 2404 - 2.53 0.054 2168 -568.0 184.3 - - 1979 - - - - - - - - 14.40 14.31 14.44
17973 562.6 8.3 822 17978 roll 0.58 - - 2411 - 2.50 0.070 795 -549.2 184.3 - - 1979 - - - - - - - - 14.76 14.15 14.78
18071 553.8 9.0 836 18076 done 0.58 - - 2411 - 2.50 0.056 2178 553.2 184.3 - - 1976 - - - - - - - - 14.35 14.24 14.42
18421 518.2 10.4 844 18425 roll 0.58 - - 2410 - 2.62 0.085 3611 546.9 184.3 - - 1978 - - - - - - - - 14.78 14.12 14.79
18483 511.1 11.3 853 18488 done 0.58 0.15 0.241 2385 -166.7 2.53 0.053 2178 -566.4 184.3 - - 1977 - - - - - - - - 13.91 14.24 14.20
18814 482.3 8.6 865 18818 roll 0.58 - - 2394 - 2.55 0.073 796 -542.0 184.3 - - 1977 - - - - - - - - 14.77 14.11 14.79
18882 476.8 7.9 875 18887 done 0.62 - - 2394 - 2.50 0.055 2177 552.4 184.3 - - 1977 - - - - - - - - 14.33 14.21 14.38
19206 454.0 6.9 886 19217 roll 0.63 - - 2393 - 2.55 0.083 3607 560.8 195.0 5.82 1.337 1947 -5.2 0.334 - - - - - - 14.76 14.10 13.38
19260 450.0 7.5 894 19267 done 0.63 - - 2404 - 2.50 0.053 2171 -574.4 195.0 2.08 0.288 1943 -1.9 0.573 - - - - - - 14.52 14.42 12.86
19597 427.3 6.8 907 19629 roll 0.64 - - 2407 - 2.47 0.073 788 -559.9 207.7 27.02 1.364 1887 -2.1 0.124 - - - - - - 14.80 14.38 13.50
19695 420.2 7.2 921 19700 done 0.69 - - 2407 - 2.50 0.057 2176 555.2 211.1 - - 1879 - - - - - - - - 14.41 14.31 14.45
20045 391.6 8.4 929 20049 roll 0.69 - - 2407 - 2.60 0.083 3608 550.8 211.1 - - 1877 - - - - - - - - 14.77 14.14 14.78
20143 382.1 9.9 943 20148 done 0.69 - - 2416 - 2.50 0.052 2182 -570.4 211.1 - - 1876 - - - - - - - - 14.35 14.28 14.41
20493 348.8 9.6 951 20497 roll 0.69 - - 2424 - 2.55 0.070 787 -547.1 211.1 - - 1876 - - - - - - - - 14.77 14.14 14.78
20576 340.8 9.5 963 20581 done 0.69 - - 2424 - 2.53 0.057 2181 551.0 211.1 - - 1876 - - - - - - - - 14.34 14.21 14.38
20942 305.7 9.6 973 20946 roll 0.69 - - 2424 - 2.60 0.083 3607 548.5 211.1 - - 1876 - - - - - - - - 14.78 14.09 14.81
21031 296.3 10.1 986 21037 done 0.69 - - 2434 - 2.53 0.050 2171 -567.6 211.1 - - 1876 - - - - - - - - 14.33 14.22 14.37
21389 262.6 9.4 995 21393 roll 0.69 - - 2444 - 2.53 0.070 796 -543.5 211.1 - - 1876 - - - - - - - - 14.78 14.12 14.80
21459 256.1 9.1 1005 21463 done 0.69 - - 2444 - 2.50 0.055 2177 552.4 211.1 - - 1876 - - - - - - - - 14.30 14.18 14.35
21781 223.9 10.2 1016 21786 roll 0.69 - - 2442 - 2.62 0.083 3613 548.1 211.1 - - 1876 - - - - - - - - 14.81 14.04 14.83
21851 216.2 10.9 1026 21857 done 0.69 0.12 0.266 2428 -116.7 2.55 0.053 2165 -567.8 211.1 - - 1875 - - - - - - - - 13.84 14.22 14.09
22173 187.3 9.1 1037 22178 roll 0.69 - - 2434 - 2.50 0.067 796 -547.6 211.1 - - 1876 - - - - - - - - 14.81 14.08 14.83
22221 182.6 9.6 1044 22228 done 0.69 - - 2435 - 2.55 0.054 2181 543.1 211.1 - - 1876 - - - - - - - - 14.14 14.08 14.20
22566 149.1 9.5 1051 22570 roll 0.69 - - 2434 - 2.60 0.080 3612 550.4 211.1 - - 1876 - - - - - - - - 14.81 14.04 14.84
22641 141.8 9.4 1062 22647 done 0.69 - - 2445 - 2.53 0.048 2173 -568.8 211.1 - - 1876 - - - - - - - - 14.28 14.18 14.33
22957 114.3 8.7 1072 22961 roll 0.69 - - 2445 - 2.65 0.078 3607 541.1 211.1 - - 1876 - - - - - - - - 14.81 14.03 14.83
22999 110.1 10.2 1078 23005 done 0.69 0.15 0.251 2421 -160.0 2.50 0.049 2182 -570.0 211.1 - - 1876 - - - - - - - - 13.81 14.22 14.07
23321 84.6 7.8 1088 23326 roll 0.69 - - 2421 - 2.55 0.067 791 -545.5 211.1 - - 1876 - - - - - - - - 14.76 13.98 14.77
23439 75.9 7.5 1105 23444 done 0.75 - - 2421 - 2.53 0.053 2187 551.8 211.1 - - 1875 - - - - - - - - 14.26 14.15 14.31
23770 58.1 3.4 1119 23837 roll 0.88 0.15 0.122 2489 453.3 2.53 0.060 789 -552.6 305.4 61.35 0.306 1495 -6.2 0.224 - - - - - - 14.28 14.23 14.02
23972 46.7 6.0 1148 23999 done 1.01 0.12 0.125 2548 491.7 2.50 0.052 2185 558.4 336.2 22.10 0.266 1367 -5.8 0.194 - - - - - - 14.24 14.23 13.99
24325 25.2 6.4 1165 24349 roll 1.03 - - 2548 - 2.58 0.073 3612 553.1 357.3 15.52 0.198 1281 -5.5 0.135 - - - - - - 14.73 14.15 13.97
24407 18.0 9.3 1177 24411 done 1.03 - - 2556 - 2.53 0.047 2164 -572.3 357.3 - - 1290 - - - - - - - - 14.36 14.26 14.39
24598 end climb: SURFACE_DEPTH_REACHED
24598 begin surface coast
24626 end surface coast: CONTROL_FINISHED_OK
24626 begin surface
SM 0.83 - - - - -6.14 6.78 0.062 207 30.5 0.25 0.087 2294 5056.0 500.17 88.68 0.135 700 7.9 -0.005 - - - - - -