SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 542 * Raw log
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• Previous call tries 1 • 212.65 of 350.00 AH used of 24V (39.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.5 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 19 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 113 VBD -0.68 - - 213 - - - 2301 - -116.8 -84.15 - 2763 - - - - - - - - 14.69 - 14.71
117 3.2 -4.2 3 141 roll -0.68 8.95 0.398 1963 195.5 2.70 2.062 3680 510.7 -116.8 -9.02 - 3220 -50.7 - - - - - - - 13.84 13.19 14.29
197 26.3 -23.9 15 202 done -0.49 0.28 0.252 2034 253.6 2.35 0.041 2271 -599.6 -116.8 - - 3219 - - - - - - - - 14.00 14.42 14.31
533 71.4 -8.7 30 538 roll -0.49 - - 2034 - 2.40 0.052 883 -578.3 -116.8 - - 3220 - - - - - - - - 14.85 14.32 14.85
745 86.0 -6.5 60 750 done -0.49 - - 2029 - 2.42 0.054 2267 571.9 -116.8 - - 3221 - - - - - - - - 14.45 14.35 14.50
1066 111.3 -8.4 71 1070 roll -0.49 - - 2025 - 2.50 0.077 3689 568.8 -116.8 - - 3221 - - - - - - - - 14.92 14.25 14.94
1190 121.4 -7.9 89 1197 done -0.49 - - 2025 - 2.40 0.040 2276 -588.8 -116.8 - - 3221 - - - - - - - - 14.42 14.40 14.45
1513 148.7 -8.8 100 1518 roll -0.49 - - 2025 - 2.42 0.051 890 -572.7 -116.8 - - 3221 - - - - - - - - 14.95 14.33 14.96
1640 160.0 -8.7 118 1645 done -0.49 - - 2025 - 2.47 0.055 2280 562.8 -116.8 - - 3221 - - - - - - - - 14.46 14.35 14.50
1961 188.5 -9.0 129 1967 roll -0.49 - - 2020 - 2.47 0.076 3695 572.9 -116.8 - - 3220 - - - - - - - - 14.92 14.25 14.95
2044 195.8 -8.6 141 2051 done -0.49 - - 2020 - 2.45 0.041 2260 -585.7 -116.8 - - 3219 - - - - - - - - 14.41 14.38 14.52
2410 224.7 -7.7 151 2415 roll -0.49 - - 2016 - 2.40 0.054 890 -570.8 -116.8 - - 3217 - - - - - - - - 14.95 14.33 14.96
2493 231.0 -7.3 163 2498 done -0.49 - - 2016 - 2.45 0.056 2272 564.1 -116.8 - - 3217 - - - - - - - - 14.43 14.31 14.48
2858 261.3 -8.6 173 2864 roll -0.49 - - 2012 - 2.55 0.081 3696 558.4 -116.8 - - 3215 - - - - - - - - 14.91 14.20 14.92
2947 269.6 -9.0 186 2953 done -0.49 - - 2011 - 2.40 0.043 2278 -590.8 -116.8 - - 3215 - - - - - - - - 14.46 14.39 14.54
3305 302.3 -9.1 195 3310 roll -0.49 - - 2012 - 2.45 0.055 878 -571.4 -116.8 - - 3212 - - - - - - - - 14.92 14.27 14.93
3404 310.6 -8.3 209 3409 done -0.49 - - 2012 - 2.50 0.058 2275 558.8 -116.8 - - 3211 - - - - - - - - 14.42 14.30 14.46
3753 341.4 -9.0 217 3759 roll -0.49 - - 2011 - 2.53 0.082 3699 562.8 -116.8 - - 3209 - - - - - - - - 14.95 14.19 14.97
3850 349.8 -8.5 231 3856 done -0.49 0.12 0.220 2042 258.3 2.45 0.044 2246 -593.1 -116.8 - - 3209 - - - - - - - - 14.06 14.36 14.27
4203 373.5 -6.5 239 4207 roll -0.54 - - 2042 - 2.40 0.058 892 -564.2 -116.8 - - 3207 - - - - - - - - 14.90 14.26 14.92
4285 378.8 -6.2 251 4290 done -0.60 0.12 0.138 1991 -425.0 2.47 0.057 2277 560.7 -116.8 - - 3206 - - - - - - - - 14.26 14.27 14.38
4650 409.8 -8.8 261 4655 roll -0.60 - - 1985 - 2.53 0.082 3687 557.3 -116.8 - - 3204 - - - - - - - - 14.90 14.15 14.92
4705 414.9 -9.1 269 4711 done -0.60 - - 1986 - 2.42 0.045 2265 -587.6 -116.8 - - 3204 - - - - - - - - 14.45 14.36 14.47
5041 447.5 -9.9 282 5046 roll -0.60 - - 1986 - 2.47 0.059 883 -559.5 -116.8 - - 3202 - - - - - - - - 14.90 14.21 14.93
5154 458.7 -9.9 298 5159 done -0.60 - - 1985 - 2.50 0.060 2261 551.2 -116.8 - - 3202 - - - - - - - - 14.35 14.23 14.40
5489 493.4 -10.4 311 5494 roll -0.60 - - 1982 - 2.60 0.084 3701 553.8 -116.8 - - 3201 - - - - - - - - 14.91 14.11 14.92
5565 501.3 -10.1 322 5571 done -0.60 - - 1982 - 2.47 0.044 2255 -585.4 -116.8 - - 3200 - - - - - - - - 14.42 14.30 14.42
5882 533.3 -10.0 332 5887 roll -0.60 - - 1982 - 2.42 0.057 890 -564.0 -116.8 - - 3199 - - - - - - - - 14.90 14.20 14.91
5979 543.0 -9.7 346 5984 done -0.60 0.12 0.256 2004 183.3 2.47 0.057 2261 555.1 -116.8 - - 3198 - - - - - - - - 13.90 14.21 14.15
6329 572.8 -8.5 354 6334 roll -0.60 - - 1998 - 2.60 0.083 3701 553.8 -116.8 - - 3197 - - - - - - - - 14.90 14.07 14.92
6370 576.4 -8.7 360 6376 done -0.60 - - 1996 - 2.47 0.043 2254 -585.8 -116.8 - - 3196 - - - - - - - - 14.38 14.28 14.40
6721 608.2 -9.2 368 6726 roll -0.60 - - 1999 - 2.42 0.054 885 -565.7 -116.8 - - 3195 - - - - - - - - 14.90 14.18 14.92
6763 612.2 -9.5 374 6768 done -0.60 - - 1998 - 2.47 0.057 2260 556.7 -116.8 - - 3196 - - - - - - - - 14.31 14.18 14.35
7114 645.0 -9.5 382 7119 roll -0.60 - - 2000 - 2.60 0.084 3691 550.4 -116.8 - - 3194 - - - - - - - - 14.89 14.04 14.91
7197 652.8 -9.1 394 7202 done -0.60 - - 1998 - 2.45 0.045 2262 -583.3 -116.8 - - 3193 - - - - - - - - 14.39 14.31 14.42
7561 686.5 -9.3 404 7566 roll -0.60 - - 1998 - 2.45 0.057 891 -559.6 -116.8 - - 3192 - - - - - - - - 14.94 14.13 14.96
7604 690.6 -9.6 410 7609 done -0.60 - - 1998 - 2.50 0.060 2265 549.6 -116.8 - - 3192 - - - - - - - - 14.26 14.12 14.31
7953 722.0 -8.9 418 7958 roll -0.60 - - 1998 - 2.62 0.089 3699 547.3 -116.8 - - 3191 - - - - - - - - 14.94 13.98 14.95
8030 728.5 -8.3 429 8036 done -0.60 - - 1998 - 2.47 0.045 2267 -579.8 -116.8 - - 3190 - - - - - - - - 14.33 14.23 14.35
8346 754.4 -8.2 439 8351 roll -0.60 - - 1998 - 2.50 0.058 881 -554.4 -116.8 - - 3189 - - - - - - - - 14.92 14.09 14.94
8387 757.8 -7.2 445 8393 done -0.60 - - 1998 - 2.58 0.060 2260 534.5 -116.8 - - 3189 - - - - - - - - 14.21 14.00 14.25
8737 784.7 -7.7 453 8743 roll -0.60 - - 1998 - 2.65 0.087 3701 543.8 -116.8 - - 3188 - - - - - - - - 14.93 13.96 14.95
8815 790.4 -7.3 464 8820 done -0.60 - - 1998 - 2.50 0.045 2257 -577.6 -116.8 - - 3187 - - - - - - - - 14.32 14.25 14.35
9129 813.3 -7.2 474 9134 roll -0.60 - - 1998 - 2.47 0.057 882 -556.7 -116.8 - - 3187 - - - - - - - - 14.92 14.09 14.94
9157 815.4 -7.5 478 9162 done -0.60 - - 1998 - 2.55 0.060 2276 546.7 -116.8 - - 3186 - - - - - - - - 14.21 14.07 14.26
9522 840.8 -7.0 488 9527 roll -0.60 - - 1998 - 2.62 0.087 3699 543.1 -116.8 - - 3185 - - - - - - - - 14.88 13.93 14.89
9584 845.0 -6.7 497 9590 done -0.64 - - 1998 - 2.50 0.046 2260 -575.6 -116.8 - - 3185 - - - - - - - - 14.33 14.25 14.35
9914 868.0 -7.1 509 9920 roll -0.64 - - 1998 - 2.47 0.057 888 -555.5 -116.8 - - 3184 - - - - - - - - 14.87 14.06 14.88
9955 871.1 -5.7 515 9960 done -0.64 - - 1998 - 2.53 0.060 2266 544.7 -116.8 - - 3184 - - - - - - - - 14.20 14.05 14.25
10305 896.7 -7.4 523 10310 roll -0.64 - - 1998 - 2.65 0.091 3694 538.9 -116.8 - - 3183 - - - - - - - - 14.87 13.88 14.89
10362 900.9 -7.5 531 10367 done -0.69 - - 1998 - 2.50 0.049 2267 -570.8 -116.8 - - 3183 - - - - - - - - 14.30 14.21 14.33
10697 926.4 -7.7 544 10702 roll -0.69 - - 1998 - 2.50 0.062 884 -553.2 -116.8 - - 3182 - - - - - - - - 14.88 13.97 14.89
10746 930.3 -7.9 551 10752 done -0.69 - - 1998 - 2.55 0.063 2266 542.0 -116.8 - - 3182 - - - - - - - - 14.14 14.00 14.20
11090 956.5 -7.6 558 11095 roll -0.69 - - 1997 - 2.67 0.093 3701 537.5 -116.8 - - 3182 - - - - - - - - 14.91 13.87 14.92
11131 959.7 -5.4 564 11136 done -0.69 - - 1998 - 2.53 0.048 2255 -571.5 -116.8 - - 3181 - - - - - - - - 14.25 14.17 14.29
11481 985.7 -7.4 572 11486 roll -0.69 - - 1997 - 2.47 0.060 884 -555.1 -116.8 - - 3181 - - - - - - - - 14.92 13.97 14.93
11537 990.0 -7.6 580 11542 done -0.69 - - 1998 - 2.60 0.062 2259 528.8 -116.8 - - 3180 - - - - - - - - 14.09 13.86 14.14
11547 end dive: TARGET_DEPTH_EXCEEDED
11547 begin apogee
11557 991.8 -10.7 582 11711 roll -0.19 0.50 0.200 2131 266.0 - - 2186 - - 152.23 1.836 2737 -2.9 0.299 - - - - - - 13.61 13.89 12.88
11712 end apogee: CONTROL_FINISHED_OK
11712 begin climb
11716 995.0 - 584 11882 roll 0.68 0.85 0.133 2409 327.1 2.58 0.063 819 -529.8 116.8 151.27 1.838 2253 -3.2 0.330 - - - - - - 13.90 13.98 12.90
12024 978.4 7.8 635 12029 done 0.68 - - 2409 - 2.53 0.058 2212 550.6 116.8 - - 2234 - - - - - - - - 14.35 14.23 14.41
12339 952.1 8.4 645 12345 roll 0.68 - - 2418 - 2.58 0.067 812 -542.6 116.8 - - 2231 - - - - - - - - 14.73 14.23 14.75
12477 940.8 7.7 665 12483 done 0.68 - - 2418 - 2.58 0.060 2205 539.9 116.8 - - 2229 - - - - - - - - 14.28 14.21 14.33
12842 910.2 8.5 675 12847 roll 0.62 - - 2418 - 2.58 0.089 3612 545.3 116.8 - - 2229 - - - - - - - - 14.76 14.15 14.78
12884 906.2 11.6 681 12890 done 0.54 0.22 0.261 2376 -190.9 2.45 0.056 2210 -572.2 116.8 - - 2227 - - - - - - - - 13.84 14.31 14.20
13234 882.3 6.8 689 13245 roll 0.55 - - 2386 - 2.60 0.070 798 -543.1 129.6 3.70 1.251 2208 -5.1 0.690 - - - - - - 14.78 14.40 13.21
13318 876.7 6.6 701 13358 done 0.56 - - 2386 - 2.53 0.058 2208 557.3 148.1 33.22 1.826 2131 -2.3 0.212 - - - - - - 14.49 14.35 13.25
13682 849.5 7.6 718 13687 roll 0.56 - - 2386 - 2.55 0.086 3607 548.6 148.1 - - 2113 - - - - - - - - 14.71 14.19 14.73
13738 844.7 8.7 726 13743 done 0.56 - - 2394 - 2.50 0.054 2188 -567.6 148.1 - - 2112 - - - - - - - - 14.38 14.28 14.42
14075 816.8 8.5 739 14080 roll 0.56 - - 2406 - 2.55 0.070 797 -545.5 148.1 - - 2111 - - - - - - - - 14.77 14.16 14.78
14171 808.6 8.3 753 14177 done 0.56 - - 2407 - 2.55 0.057 2205 552.2 148.1 - - 2110 - - - - - - - - 14.33 14.21 14.38
14523 778.7 8.5 761 14529 roll 0.56 - - 2406 - 2.58 0.087 3610 544.6 148.1 - - 2110 - - - - - - - - 14.76 14.12 14.78
14584 772.8 9.4 770 14590 done 0.56 0.15 0.256 2383 -153.3 2.47 0.054 2196 -572.5 148.1 - - 2110 - - - - - - - - 13.88 14.25 14.19
14914 747.9 7.4 782 14919 roll 0.56 - - 2393 - 2.58 0.073 795 -543.0 148.1 - - 2110 - - - - - - - - 14.77 14.11 14.78
14990 742.1 7.5 793 14997 done 0.56 - - 2393 - 2.55 0.057 2201 551.4 148.1 - - 2109 - - - - - - - - 14.30 14.18 14.36
15306 717.1 8.0 803 15311 roll 0.56 - - 2393 - 2.58 0.086 3612 546.9 148.1 - - 2109 - - - - - - - - 14.80 14.06 14.82
15396 708.9 9.0 816 15402 done 0.56 - - 2402 - 2.50 0.054 2187 -570.0 148.1 - - 2107 - - - - - - - - 14.29 14.17 14.35
15755 677.7 8.8 825 15761 roll 0.56 - - 2413 - 2.58 0.070 792 -540.7 148.1 - - 2109 - - - - - - - - 14.75 14.07 14.76
15830 670.9 8.7 836 15836 done 0.56 0.12 0.252 2379 -283.3 2.55 0.057 2193 549.4 148.1 - - 2108 - - - - - - - - 13.83 14.14 14.12
16148 646.0 7.9 846 16152 roll 0.56 - - 2386 - 2.62 0.086 3615 542.7 148.1 - - 2109 - - - - - - - - 14.75 14.00 14.76
16203 641.1 8.8 854 16208 done 0.56 - - 2395 - 2.53 0.054 2188 -564.0 148.1 - - 2107 - - - - - - - - 14.31 14.20 14.35
16539 614.1 8.0 867 16544 roll 0.56 - - 2406 - 2.58 0.069 791 -541.5 148.1 - - 2108 - - - - - - - - 14.76 14.02 14.78
16622 607.5 7.8 879 16627 done 0.56 - - 2406 - 2.55 0.056 2193 549.8 148.1 - - 2108 - - - - - - - - 14.23 14.11 14.30
16987 578.6 7.9 889 16992 roll 0.56 - - 2405 - 2.60 0.084 3607 543.8 148.1 - - 2108 - - - - - - - - 14.78 13.96 14.78
17084 570.0 8.7 903 17090 done 0.56 0.15 0.239 2381 -160.0 2.50 0.050 2188 -567.6 148.1 - - 2108 - - - - - - - - 13.77 14.12 14.06
17436 546.7 6.6 911 17460 roll 0.57 - - 2391 - 2.58 0.068 791 -541.5 165.3 16.83 1.551 2059 -2.9 0.195 - - - - - - 14.78 14.32 13.36
17518 541.1 6.8 923 17539 done 0.58 - - 2390 - 2.53 0.056 2207 559.7 177.9 14.38 1.537 2010 -3.4 0.228 - - - - - - 14.45 14.33 13.31
17884 514.3 7.4 933 17890 roll 0.58 - - 2390 - 2.55 0.084 3603 547.5 177.9 - - 1996 - - - - - - - - 14.70 14.15 14.72
17945 509.0 8.5 942 17950 done 0.58 - - 2399 - 2.47 0.053 2189 -572.5 177.9 - - 1997 - - - - - - - - 14.35 14.23 14.39
18275 483.6 7.7 954 18280 roll 0.58 - - 2408 - 2.55 0.069 797 -545.9 177.9 - - 1997 - - - - - - - - 14.77 14.12 14.79
18380 475.7 7.4 969 18387 done 0.58 - - 2408 - 2.53 0.055 2189 550.2 177.9 - - 1996 - - - - - - - - 14.31 14.19 14.36
18723 448.9 7.9 976 18728 roll 0.58 - - 2408 - 2.58 0.083 3611 551.2 177.9 - - 1996 - - - - - - - - 14.75 14.06 14.76
18792 442.7 8.8 986 18797 done 0.58 - - 2417 - 2.47 0.050 2198 -572.1 177.9 - - 2000 - - - - - - - - 14.33 14.23 14.38
19116 416.5 8.2 997 19122 roll 0.58 0.12 0.248 2393 -200.0 2.60 0.067 794 -540.0 177.9 - - 1996 - - - - - - - - 13.93 14.08 14.03
19206 410.2 6.6 1010 19234 done 0.63 - - 2393 - 2.55 0.057 2196 549.8 195.9 21.17 1.394 1936 -2.8 0.159 - - - - - - 14.27 14.15 13.40
19565 385.3 7.0 1026 19570 roll 0.64 - - 2393 - 2.55 0.084 3606 552.9 202.7 - - 1921 - - - - - - - - 14.71 14.14 14.73
19647 378.5 8.2 1038 19652 done 0.64 - - 2402 - 2.47 0.050 2188 -574.1 202.7 - - 1918 - - - - - - - - 14.36 14.26 14.40
20011 350.8 7.6 1048 20016 roll 0.64 - - 2410 - 2.53 0.068 801 -548.2 202.7 - - 1920 - - - - - - - - 14.76 14.12 14.77
20103 344.0 7.3 1061 20108 done 0.64 - - 2410 - 2.53 0.055 2204 554.5 202.7 - - 1919 - - - - - - - - 14.31 14.19 14.35
20459 316.5 7.7 1070 20464 roll 0.64 - - 2410 - 2.55 0.082 3607 550.2 202.7 - - 1919 - - - - - - - - 14.76 14.05 14.77
20517 311.7 8.8 1078 20521 done 0.64 - - 2420 - 2.47 0.050 2193 -572.5 202.7 - - 1919 - - - - - - - - 14.33 14.23 14.37
20852 283.7 8.4 1091 20856 roll 0.64 - - 2426 - 2.55 0.069 796 -547.8 202.7 - - 1919 - - - - - - - - 14.76 14.09 14.78
20920 278.0 8.0 1101 20927 done 0.64 - - 2426 - 2.53 0.054 2197 553.8 202.7 - - 1921 - - - - - - - - 14.26 14.14 14.31
21245 251.8 8.1 1112 21250 roll 0.64 - - 2426 - 2.58 0.083 3607 546.5 202.7 - - 1918 - - - - - - - - 14.78 14.01 14.81
21305 246.2 8.9 1121 21312 done 0.64 0.08 0.232 2414 -150.0 2.53 0.050 2197 -557.3 202.7 - - 1922 - - - - - - - - 13.77 14.10 13.92
21635 221.2 7.8 1133 21641 roll 0.64 - - 2423 - 2.58 0.069 786 -546.9 202.7 - - 1919 - - - - - - - - 14.80 14.04 14.81
21693 216.6 8.3 1141 21698 done 0.64 - - 2423 - 2.58 0.055 2203 549.2 202.7 - - 1919 - - - - - - - - 14.25 14.13 14.29
22028 187.0 8.8 1154 22032 roll 0.64 - - 2423 - 2.58 0.082 3610 545.3 202.7 - - 1918 - - - - - - - - 14.79 13.99 14.81
22097 180.6 8.9 1164 22102 done 0.64 - - 2431 - 2.50 0.049 2187 -569.2 202.7 - - 1918 - - - - - - - - 14.26 14.15 14.30
22421 152.9 8.6 1175 22426 roll 0.64 - - 2442 - 2.55 0.065 786 -549.4 202.7 - - 1918 - - - - - - - - 14.77 14.03 14.79
22489 146.9 8.4 1185 22495 done 0.64 0.15 0.235 2408 -226.7 2.58 0.055 2206 550.4 202.7 - - 1918 - - - - - - - - 13.71 14.00 13.97
22813 123.9 7.1 1196 22825 roll 0.64 - - 2407 - 2.50 0.080 3611 562.0 209.3 5.55 1.013 1887 -5.6 0.130 - - - - - - 14.73 14.10 13.52
22868 119.6 7.8 1204 22872 done 0.64 - - 2416 - 2.45 0.049 2187 -581.2 209.3 - - 1892 - - - - - - - - 14.49 14.40 14.52
23204 96.5 6.6 1217 23223 roll 0.65 - - 2424 - 2.47 0.062 800 -561.5 226.0 14.18 0.388 1818 -5.2 0.247 - - - - - - 14.76 14.15 13.84
23295 91.0 6.1 1230 23323 done 0.71 - - 2426 - 2.50 0.053 2200 560.0 256.3 22.90 0.402 1695 -5.4 0.232 - - - - - - 14.38 14.27 13.89
23648 64.1 7.6 1247 23657 roll 0.76 - - 2424 - 2.60 0.080 3606 540.8 256.3 1.75 0.177 1695 - - - - - - - - 14.72 14.07 13.94
23687 60.9 8.0 1253 23693 done 0.76 - - 2431 - 2.45 0.047 2197 -575.1 256.3 - - 1700 - - - - - - - - 14.33 14.24 14.37
24009 41.9 3.8 1266 24071 roll 0.90 0.15 0.115 2503 480.0 2.58 0.068 789 -545.7 340.6 57.22 0.258 1352 -6.1 0.188 - - - - - - 14.31 14.35 14.05
24131 36.4 3.9 1283 24191 done 1.09 0.15 0.111 2569 440.0 2.50 0.053 2189 560.0 421.5 54.40 0.242 1024 -6.0 0.173 - - - - - - 14.28 14.26 14.03
24499 5.3 9.2 1303 24504 roll 1.09 - - 2568 - 2.55 0.076 3607 556.1 421.5 - - 1024 - - - - - - - - 14.71 14.00 14.72
24515 end climb: SURFACE_DEPTH_REACHED
24515 begin surface coast
24524 end surface coast: CONTROL_FINISHED_OK
24524 begin surface
SM 0.87 - - - - -6.14 7.30 0.106 223 30.5 2.38 0.049 2280 848.7 500.17 50.83 0.137 699 13.8 -0.009 - - - - - -