SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 535 * Raw log
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• Previous call tries 1 • 209.97 of 350.00 AH used of 24V (40.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 deg, depth 0.82 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 15 s • Transponder ping count: 7
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
22 - - - 107 VBD -0.68 - - 198 - - - 2315 - -116.8 -84.40 - 2781 - - - - - - - - 14.64 - 14.66
111 3.4 -4.7 3 135 roll -0.68 9.05 0.399 1963 195.0 2.67 2.051 3671 507.9 -116.8 -8.60 - 3218 -50.8 - - - - - - - 13.79 13.18 14.24
205 30.5 -25.0 17 211 done -0.48 0.30 0.258 2040 256.7 2.38 0.041 2261 -592.4 -116.8 - - 3219 - - - - - - - - 13.97 14.38 14.28
527 70.7 -7.2 30 532 roll -0.48 - - 2040 - 2.38 0.047 877 -581.5 -116.8 - - 3222 - - - - - - - - 14.77 14.32 14.79
583 75.3 -8.4 38 588 done -0.48 - - 2039 - 2.45 0.054 2258 563.7 -116.8 - - 3220 - - - - - - - - 14.37 14.26 14.41
921 99.7 -7.3 53 926 roll -0.48 - - 2033 - 2.53 0.073 3700 570.0 -116.8 - - 3221 - - - - - - - - 14.80 14.26 14.82
1076 110.7 -6.9 75 1080 done -0.48 - - 2032 - 2.38 0.036 2260 -605.0 -116.8 - - 3221 - - - - - - - - 14.50 14.45 14.52
1425 137.4 -7.9 83 1425 done -0.48 - - 2041 - - - 2251 - -116.8 - - 3221 - - - - - - - - 14.83 14.85 14.83
1760 162.8 -7.7 89 1760 done -0.48 - - 2033 - - - 2251 - -116.8 - - 3220 - - - - - - - - 14.88 14.89 14.89
2095 190.9 -8.5 95 2100 roll -0.48 - - 2025 - 2.62 0.078 3693 550.4 -116.8 - - 3219 - - - - - - - - 14.87 14.21 14.89
2130 194.1 -9.1 100 2135 done -0.48 - - 2022 - 2.40 0.041 2296 -582.1 -116.8 - - 3218 - - - - - - - - 14.37 14.35 14.40
2489 226.1 -9.0 109 2494 roll -0.48 - - 2026 - 2.47 0.053 891 -568.8 -116.8 - - 3216 - - - - - - - - 14.83 14.28 14.85
2571 233.7 -8.7 121 2577 done -0.48 - - 2025 - 2.50 0.055 2291 560.0 -116.8 - - 3216 - - - - - - - - 14.40 14.27 14.44
2937 264.2 -8.3 131 2941 roll -0.48 - - 2020 - 2.50 0.081 3686 558.0 -116.8 - - 3211 - - - - - - - - 14.83 14.18 14.85
2991 268.8 -8.3 139 2996 done -0.48 - - 2020 - 2.40 0.042 2276 -587.5 -116.8 - - 3213 - - - - - - - - 14.45 14.39 14.48
3328 296.5 -8.3 152 3333 roll -0.48 - - 2020 - 2.45 0.054 889 -566.1 -116.8 - - 3211 - - - - - - - - 14.84 14.27 14.85
3441 306.0 -8.1 168 3445 done -0.48 - - 2016 - 2.50 0.056 2276 554.8 -116.8 - - 3210 - - - - - - - - 14.37 14.25 14.40
3776 335.4 -8.9 181 3781 roll -0.48 - - 2012 - 2.55 0.080 3693 555.7 -116.8 - - 3208 - - - - - - - - 14.85 14.15 14.86
3845 341.7 -9.0 191 3850 done -0.48 0.12 0.222 2042 250.0 2.45 0.042 2264 -583.3 -116.8 - - 3208 - - - - - - - - 14.00 14.31 14.21
4169 366.3 -7.6 202 4173 roll -0.48 - - 2042 - 2.45 0.055 889 -561.2 -116.8 - - 3206 - - - - - - - - 14.86 14.25 14.88
4251 372.8 -7.7 214 4256 done -0.53 - - 2042 - 2.50 0.056 2276 554.8 -116.8 - - 3209 - - - - - - - - 14.36 14.24 14.40
4617 398.3 -6.9 224 4622 roll -0.53 - - 2042 - 2.55 0.082 3689 554.1 -116.8 - - 3204 - - - - - - - - 14.85 14.12 14.86
4685 402.9 -6.6 234 4690 done -0.61 0.12 0.133 1988 -450.0 2.42 0.044 2269 -586.8 -116.8 - - 3203 - - - - - - - - 14.24 14.34 14.35
5008 433.0 -9.6 245 5013 roll -0.61 - - 1988 - 2.45 0.057 892 -562.0 -116.8 - - 3201 - - - - - - - - 14.86 14.20 14.89
5057 437.8 -9.5 252 5063 done -0.61 - - 1986 - 2.53 0.059 2275 546.6 -116.8 - - 3201 - - - - - - - - 14.31 14.18 14.35
5400 469.8 -9.3 259 5404 roll -0.61 - - 1981 - 2.58 0.083 3701 552.7 -116.8 - - 3200 - - - - - - - - 14.83 14.10 14.85
5441 473.8 -9.4 265 5447 done -0.61 - - 1981 - 2.47 0.043 2248 -588.3 -116.8 - - 3200 - - - - - - - - 14.35 14.26 14.39
5793 505.9 -9.1 273 5798 roll -0.61 - - 1981 - 2.45 0.059 888 -555.1 -116.8 - - 3198 - - - - - - - - 14.82 14.16 14.83
5889 514.7 -8.6 287 5894 done -0.61 - - 1977 - 2.53 0.059 2280 550.2 -116.8 - - 3198 - - - - - - - - 14.28 14.14 14.33
6240 546.9 -9.3 295 6244 roll -0.61 - - 1972 - 2.55 0.084 3688 552.2 -116.8 - - 3196 - - - - - - - - 14.85 14.07 14.87
6282 550.9 -9.4 301 6288 done -0.61 0.12 0.237 1999 225.0 2.42 0.044 2265 -588.0 -116.8 - - 3196 - - - - - - - - 13.90 14.29 14.13
6632 580.2 -8.5 309 6638 roll -0.61 - - 1999 - 2.45 0.057 893 -560.0 -116.8 - - 3194 - - - - - - - - 14.81 14.14 14.83
6729 588.7 -8.5 323 6734 done -0.61 - - 1999 - 2.50 0.059 2268 550.0 -116.8 - - 3194 - - - - - - - - 14.27 14.13 14.32
7081 618.9 -8.7 331 7086 roll -0.61 - - 1999 - 2.60 0.089 3688 546.2 -116.8 - - 3193 - - - - - - - - 14.83 14.00 14.85
7121 622.5 -8.9 337 7128 done -0.61 - - 1998 - 2.47 0.047 2278 -570.9 -116.8 - - 3193 - - - - - - - - 14.22 14.18 14.25
7472 653.8 -9.0 345 7477 roll -0.61 - - 1999 - 2.50 0.056 876 -560.8 -116.8 - - 3191 - - - - - - - - 14.84 14.12 14.86
7507 657.0 -9.4 350 7513 done -0.61 - - 1997 - 2.53 0.060 2267 549.8 -116.8 - - 3191 - - - - - - - - 14.08 14.00 14.12
7864 688.4 -8.8 359 7868 roll -0.61 - - 1999 - 2.62 0.090 3695 545.0 -116.8 - - 3189 - - - - - - - - 14.81 13.97 14.82
7920 693.4 -9.1 367 7924 done -0.61 - - 1996 - 2.50 0.047 2260 -574.0 -116.8 - - 3191 - - - - - - - - 14.30 14.22 14.34
8257 721.5 -8.2 380 8262 roll -0.61 - - 1998 - 2.45 0.056 892 -558.4 -116.8 - - 3189 - - - - - - - - 14.79 14.11 14.81
8290 724.5 -8.6 385 8296 done -0.61 - - 1998 - 2.55 0.060 2263 537.6 -116.8 - - 3188 - - - - - - - - 14.09 14.01 14.14
8648 751.9 -7.6 394 8653 roll -0.61 - - 1999 - 2.65 0.090 3696 540.8 -116.8 - - 3187 - - - - - - - - 14.80 13.93 14.81
8717 757.4 -7.6 404 8722 done -0.61 - - 1998 - 2.47 0.047 2272 -576.5 -116.8 - - 3186 - - - - - - - - 14.29 14.21 14.33
9041 782.0 -7.7 415 9046 roll -0.61 - - 1998 - 2.53 0.061 880 -550.2 -116.8 - - 3186 - - - - - - - - 14.78 14.03 14.80
9088 786.0 -8.3 422 9095 done -0.61 - - 1998 - 2.60 0.063 2275 536.5 -116.8 - - 3186 - - - - - - - - 14.17 14.03 14.22
9432 812.7 -7.9 429 9437 roll -0.61 - - 1998 - 2.62 0.090 3693 541.2 -116.8 - - 3185 - - - - - - - - 14.79 13.90 14.81
9495 817.4 -7.5 438 9500 done -0.61 - - 1998 - 2.50 0.047 2257 -574.4 -116.8 - - 3184 - - - - - - - - 14.26 14.19 14.28
9824 842.3 -7.5 450 9828 roll -0.61 - - 1999 - 2.50 0.057 886 -548.4 -116.8 - - 3183 - - - - - - - - 14.82 14.02 14.83
9851 844.5 -7.8 454 9857 done -0.61 - - 1998 - 2.60 0.060 2264 530.0 -116.8 - - 3183 - - - - - - - - 14.01 13.97 14.06
10217 872.5 -7.8 464 10222 roll -0.61 - - 1998 - 2.67 0.092 3699 537.5 -116.8 - - 3182 - - - - - - - - 14.79 13.86 14.83
10264 876.3 -7.7 471 10271 done -0.61 - - 1998 - 2.55 0.047 2263 -563.1 -116.8 - - 3182 - - - - - - - - 14.09 14.04 14.21
10608 902.7 -7.6 478 10613 roll -0.61 - - 1998 - 2.50 0.060 896 -546.8 -116.8 - - 3181 - - - - - - - - 14.81 14.00 14.83
10650 906.1 -6.0 484 10655 done -0.61 - - 2003 - 2.55 0.063 2274 540.4 -116.8 - - 3181 - - - - - - - - 14.15 14.00 14.21
11000 932.0 -7.3 492 11005 roll -0.61 - - 1997 - 2.65 0.091 3695 536.2 -116.8 - - 3181 - - - - - - - - 14.77 13.85 14.78
11056 935.9 -6.9 500 11061 done -0.66 - - 1998 - 2.50 0.047 2265 -572.0 -116.8 - - 3180 - - - - - - - - 14.26 14.17 14.28
11393 958.3 -6.6 513 11399 roll -0.66 - - 1998 - 2.53 0.060 885 -545.5 -116.8 - - 3179 - - - - - - - - 14.75 13.94 14.75
11455 962.6 -6.6 522 11460 done -0.66 - - 1998 - 2.58 0.062 2271 537.2 -116.8 - - 3179 - - - - - - - - 14.11 13.97 14.16
11786 983.6 -6.4 534 11791 roll -0.66 - - 1998 - 2.67 0.093 3690 531.5 -116.8 - - 3179 - - - - - - - - 14.74 13.81 14.76
11841 987.1 -6.2 542 11845 done -0.71 - - 1998 - 2.53 0.050 2269 -561.7 -116.8 - - 3178 - - - - - - - - 14.19 14.11 14.23
11885 end dive: TARGET_DEPTH_EXCEEDED
11885 begin apogee
11893 990.1 -3.5 549 12050 roll -0.19 0.50 0.196 2133 270.0 - - 2178 - - 154.70 1.803 2738 -2.8 0.297 - - - - - - 13.61 13.90 12.89
12052 end apogee: CONTROL_FINISHED_OK
12052 begin climb
12057 993.0 - 551 12221 roll 0.68 0.90 0.145 2408 305.6 2.70 0.088 3615 532.2 116.8 150.35 1.831 2254 -3.2 0.332 - - - - - - 13.92 14.00 12.91
12319 976.1 9.4 596 12325 done 0.61 - - 2417 - 2.47 0.057 2216 -566.4 116.8 - - 2235 - - - - - - - - 14.33 14.25 14.39
12676 944.8 8.7 605 12682 roll 0.55 0.15 0.265 2380 -246.7 2.58 0.083 3619 543.8 116.8 - - 2229 - - - - - - - - 13.95 14.21 14.14
12780 936.6 7.6 620 12787 done 0.55 - - 2389 - 2.55 0.056 2195 -558.4 116.8 - - 2228 - - - - - - - - 14.23 14.18 14.26
13124 913.3 6.8 627 13135 roll 0.55 - - 2399 - 2.58 0.073 789 -545.0 129.6 3.22 1.082 2209 -5.9 0.948 - - - - - - 14.76 14.38 13.19
13259 904.3 6.7 646 13292 done 0.56 - - 2400 - 2.53 0.059 2188 553.0 145.8 28.45 1.856 2149 -2.1 0.196 - - - - - - 14.43 14.31 13.28
13630 874.6 8.3 657 13635 roll 0.56 - - 2400 - 2.58 0.087 3611 551.6 145.8 - - 2129 - - - - - - - - 14.73 14.19 14.75
13677 869.9 9.7 664 13684 done 0.56 - - 2410 - 2.55 0.054 2184 -559.6 145.8 - - 2131 - - - - - - - - 14.30 14.25 14.34
14021 837.7 9.5 671 14025 roll 0.56 - - 2421 - 2.55 0.070 785 -548.6 145.8 - - 2126 - - - - - - - - 14.76 14.19 14.81
14134 827.3 9.0 687 14139 done 0.56 0.15 0.253 2387 -226.7 2.58 0.057 2192 545.3 145.8 - - 2126 - - - - - - - - 13.89 14.24 14.22
14469 801.4 7.6 700 14475 roll 0.56 - - 2388 - 2.60 0.086 3614 546.9 145.8 - - 2126 - - - - - - - - 14.77 14.04 14.80
14553 794.0 8.3 712 14558 done 0.56 - - 2396 - 2.53 0.054 2180 -566.8 145.8 - - 2125 - - - - - - - - 14.37 14.27 14.41
14917 766.7 7.5 722 14921 roll 0.56 - - 2407 - 2.55 0.071 795 -543.1 145.8 - - 2125 - - - - - - - - 14.78 14.12 14.79
15029 758.5 7.3 738 15033 done 0.56 - - 2407 - 2.55 0.057 2194 548.6 146.2 - - 2128 - - - - - - - - 14.31 14.19 14.36
15366 731.6 8.1 751 15371 roll 0.56 - - 2407 - 2.60 0.086 3610 544.6 146.2 - - 2124 - - - - - - - - 14.80 14.06 14.82
15421 726.4 9.5 759 15426 done 0.52 0.20 0.243 2371 -180.0 2.53 0.054 2185 -563.2 146.2 - - 2124 - - - - - - - - 13.79 14.22 14.12
15758 704.0 6.6 772 15790 roll 0.53 - - 2381 - 2.55 0.070 796 -544.7 164.2 24.10 1.638 2063 -2.5 0.207 - - - - - - 14.72 14.33 13.36
15854 697.4 7.0 786 15861 done 0.53 - - 2381 - 2.50 0.056 2187 556.4 171.8 2.78 0.800 2036 -9.7 1.611 - - - - - - 14.42 14.32 12.99
16206 672.3 7.1 794 16216 roll 0.53 - - 2381 - 2.60 0.084 3613 548.5 176.5 4.03 1.259 2019 -4.2 0.429 - - - - - - 14.71 14.33 13.19
16253 668.4 8.4 801 16260 done 0.53 - - 2390 - 2.55 0.054 2178 -562.7 176.5 - - 2024 - - - - - - - - 14.38 14.33 14.41
16597 642.7 7.4 808 16602 roll 0.53 - - 2400 - 2.53 0.072 793 -547.4 176.5 - - 2030 - - - - - - - - 14.76 14.17 14.76
16688 636.1 7.2 821 16700 done 0.54 - - 2401 - 2.50 0.056 2182 555.6 179.7 4.53 1.358 2005 -5.5 0.492 - - - - - - 14.37 14.26 13.22
17045 609.1 7.6 830 17051 roll 0.54 - - 2400 - 2.65 0.084 3609 538.5 179.7 1.65 0.192 2007 - - - - - - - - 14.76 14.21 14.02
17094 604.7 9.3 837 17100 done 0.54 0.15 0.233 2375 -166.7 2.53 0.054 2173 -567.6 179.7 1.73 0.193 2008 - - - - - - - - 14.00 14.29 14.05
17434 581.6 6.9 850 17471 roll 0.54 - - 2384 - 2.53 0.073 796 -544.3 190.8 32.15 1.434 1961 -1.5 0.113 - - - - - - 14.76 14.35 13.50
17544 573.6 7.4 866 17549 done 0.60 - - 2385 - 2.47 0.055 2175 558.3 190.8 - - 1953 - - - - - - - - 14.40 14.30 14.45
17873 548.2 7.8 878 17877 roll 0.60 - - 2385 - 2.62 0.084 3614 549.2 190.8 - - 1953 - - - - - - - - 14.71 14.15 14.72
17947 541.4 9.0 889 17954 done 0.60 - - 2391 - 2.55 0.055 2169 -566.7 190.8 - - 1952 - - - - - - - - 14.36 14.25 14.41
18264 515.8 8.1 899 18269 roll 0.60 - - 2393 - 2.53 0.073 795 -543.1 190.8 - - 1951 - - - - - - - - 14.73 14.14 14.76
18346 509.4 7.7 911 18352 done 0.65 - - 2393 - 2.50 0.055 2178 553.2 190.8 - - 1951 - - - - - - - - 14.32 14.20 14.38
18711 482.1 7.3 921 18717 roll 0.65 - - 2393 - 2.62 0.086 3609 546.2 190.8 - - 1951 - - - - - - - - 14.74 14.06 14.77
18795 475.4 8.0 933 18801 done 0.65 - - 2403 - 2.53 0.053 2167 -570.0 190.8 - - 1951 - - - - - - - - 14.35 14.24 14.40
19159 448.9 7.3 943 19164 roll 0.65 - - 2410 - 2.53 0.070 786 -545.8 192.2 - - 1951 - - - - - - - - 14.79 14.07 14.81
19236 443.2 7.3 954 19241 done 0.65 - - 2410 - 2.55 0.057 2184 548.2 193.2 - - 1951 - - - - - - - - 14.28 14.16 14.33
19553 417.4 8.3 964 19557 roll 0.65 - - 2410 - 2.60 0.083 3606 546.9 193.2 - - 1951 - - - - - - - - 14.74 14.02 14.76
19634 409.4 9.4 976 19640 done 0.65 - - 2420 - 2.53 0.050 2171 -567.2 193.2 - - 1951 - - - - - - - - 14.31 14.20 14.35
20000 376.1 9.2 986 20004 roll 0.65 - - 2424 - 2.53 0.070 798 -542.7 193.2 - - 1950 - - - - - - - - 14.75 13.95 14.77
20084 368.6 8.8 998 20088 done 0.65 - - 2424 - 2.50 0.055 2178 552.0 193.2 - - 1953 - - - - - - - - 14.27 14.14 14.32
20448 335.0 9.3 1008 20452 roll 0.65 - - 2423 - 2.62 0.083 3609 546.2 193.2 - - 1950 - - - - - - - - 14.79 13.98 14.81
20518 328.0 9.9 1018 20522 done 0.65 - - 2434 - 2.53 0.050 2172 -568.0 193.2 - - 1950 - - - - - - - - 14.27 14.17 14.31
20839 298.0 9.4 1029 20845 roll 0.65 - - 2443 - 2.53 0.068 793 -545.1 193.2 - - 1951 - - - - - - - - 14.79 14.02 14.80
20908 291.5 9.1 1039 20914 done 0.65 0.15 0.239 2409 -226.7 2.53 0.055 2181 548.6 193.2 - - 1950 - - - - - - - - 13.76 14.09 14.02
21233 265.7 8.0 1050 21237 roll 0.65 - - 2409 - 2.60 0.082 3606 548.1 193.2 - - 1950 - - - - - - - - 14.77 13.98 14.79
21300 259.4 9.1 1060 21306 done 0.65 - - 2418 - 2.53 0.050 2174 -566.0 193.2 - - 1951 - - - - - - - - 14.19 14.04 14.23
21624 232.5 8.4 1071 21628 roll 0.65 - - 2424 - 2.53 0.069 798 -543.9 193.2 - - 1950 - - - - - - - - 14.78 13.99 14.80
21694 226.9 7.9 1081 21699 done 0.65 - - 2424 - 2.50 0.054 2176 551.2 193.2 - - 1951 - - - - - - - - 14.22 14.10 14.26
22015 200.5 8.1 1092 22020 roll 0.65 - - 2424 - 2.62 0.082 3609 546.9 193.2 - - 1950 - - - - - - - - 14.74 13.95 14.76
22098 193.0 9.2 1104 22104 done 0.65 - - 2433 - 2.53 0.049 2169 -569.2 193.2 - - 1951 - - - - - - - - 14.24 14.15 14.30
22465 162.1 8.5 1114 22469 roll 0.65 - - 2442 - 2.53 0.066 786 -546.6 193.2 - - 1951 - - - - - - - - 14.77 14.00 14.79
22532 156.3 8.2 1124 22538 done 0.65 0.15 0.233 2408 -226.7 2.53 0.054 2168 546.2 193.2 - - 1950 - - - - - - - - 13.75 14.06 14.00
22857 134.1 6.9 1135 22876 roll 0.65 - - 2408 - 2.62 0.080 3608 549.6 203.0 13.88 1.116 1909 -3.0 0.068 - - - - - - 14.73 14.33 13.49
22945 126.7 8.8 1148 22951 done 0.65 - - 2410 - 2.50 0.050 2168 -576.0 203.0 - - 1900 - - - - - - - - 14.39 14.29 14.43
23303 100.2 7.4 1157 23309 roll 0.65 - - 2410 - 2.50 0.067 794 -549.6 203.0 - - 1897 - - - - - - - - 14.78 14.14 14.80
23381 94.8 7.0 1168 23393 done 0.71 - - 2410 - 2.47 0.053 2172 557.9 212.1 3.53 0.183 1878 -5.4 0.531 - - - - - - 14.33 14.22 13.74
23727 72.7 5.6 1184 23764 roll 0.78 0.12 0.136 2465 458.3 2.60 0.080 3630 560.8 253.4 30.10 0.340 1706 -5.7 0.233 - - - - - - 14.29 14.35 13.93
23794 67.7 8.1 1194 23798 done 0.78 - - 2475 - 2.53 0.050 2172 -576.3 253.4 - - 1712 - - - - - - - - 14.43 14.33 14.46
24115 47.1 5.3 1207 24157 roll 0.81 - - 2475 - 2.45 0.069 795 -562.0 302.3 34.08 0.271 1507 -6.0 0.199 - - - - - - 14.73 14.30 14.00
24339 37.2 5.0 1239 24387 done 1.01 0.15 0.110 2550 500.0 2.45 0.051 2158 556.3 358.8 38.03 0.240 1275 -6.1 0.180 - - - - - - 14.16 14.20 14.02
24708 11.5 7.6 1258 24713 roll 1.01 - - 2550 - 2.60 0.076 3610 558.5 358.8 - - 1279 - - - - - - - - 14.69 14.09 14.69
24734 8.7 9.0 1262 24739 done 1.01 0.12 0.252 2530 -166.7 2.55 0.049 2151 -572.2 358.8 - - 1280 - - - - - - - - 13.90 14.22 14.14
24814 end climb: SURFACE_DEPTH_REACHED
24815 begin surface coast
24842 end surface coast: CONTROL_FINISHED_OK
24842 begin surface
SM 0.76 - - - - -6.15 6.82 0.072 217 31.8 0.25 0.087 2293 -11332.0 500.17 86.80 0.136 698 8.0 -0.005 - - - - - -