SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 551 * Raw log
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• Previous call tries 1 • 215.78 of 350.00 AH used of 24V (38.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.8 deg, depth 0.76 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 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
34 end surface: CONTROL_FINISHED_OK
35 begin dive
39 - - - 124 VBD -0.68 - - 197 - - - 2299 - -116.8 -83.88 - 2726 - - - - - - - - 14.69 - 14.71
128 2.7 -3.1 3 152 roll -0.68 9.30 0.410 1964 190.0 2.78 2.058 3681 497.1 -116.8 -10.07 - 3218 -48.9 - - - - - - - 13.83 12.92 14.30
201 23.5 -24.0 14 208 done -0.50 0.28 0.255 2033 246.4 2.38 0.041 2269 -593.3 -116.8 - - 3219 - - - - - - - - 14.01 14.41 14.31
516 64.3 -8.1 26 521 roll -0.50 - - 2024 - 2.53 0.073 3689 561.3 -116.8 - - 3220 - - - - - - - - 14.79 14.23 14.81
691 79.9 -9.1 51 696 done -0.50 - - 2024 - 2.38 0.038 2285 -589.9 -116.8 - - 3221 - - - - - - - - 14.38 14.34 14.40
1021 105.5 -7.0 64 1026 roll -0.50 - - 2024 - 2.42 0.050 891 -576.0 -116.8 - - 3221 - - - - - - - - 14.88 14.34 14.90
1132 114.0 -7.5 80 1137 done -0.50 - - 2024 - 2.50 0.054 2281 556.0 -116.8 - - 3221 - - - - - - - - 14.31 14.24 14.34
1468 140.4 -8.1 93 1474 roll -0.50 - - 2018 - 2.47 0.075 3692 571.3 -116.8 - - 3221 - - - - - - - - 14.90 14.23 14.92
1525 145.1 -8.5 101 1531 done -0.50 - - 2018 - 2.35 0.039 2287 -597.9 -116.8 - - 3221 - - - - - - - - 14.52 14.45 14.54
1860 176.1 -9.3 114 1865 roll -0.50 - - 2018 - 2.42 0.052 893 -576.0 -116.8 - - 3220 - - - - - - - - 14.91 14.30 14.93
1972 186.6 -9.0 130 1977 done -0.50 - - 2015 - 2.47 0.054 2289 565.2 -116.8 - - 3219 - - - - - - - - 14.42 14.31 14.46
2309 217.5 -9.3 143 2314 roll -0.50 - - 2012 - 2.50 0.080 3693 561.6 -116.8 - - 3218 - - - - - - - - 14.90 14.21 14.92
2427 228.7 -9.1 160 2432 done -0.50 - - 2012 - 2.42 0.042 2290 -579.8 -116.8 - - 3217 - - - - - - - - 14.47 14.33 14.48
2757 258.4 -9.0 172 2762 roll -0.50 - - 2012 - 2.47 0.056 891 -566.4 -116.8 - - 3215 - - - - - - - - 14.94 14.27 14.96
2882 269.4 -8.4 190 2887 done -0.50 - - 2012 - 2.53 0.057 2278 548.2 -116.8 - - 3214 - - - - - - - - 14.25 14.20 14.32
3204 297.5 -8.9 201 3210 roll -0.50 - - 2012 - 2.53 0.081 3690 558.1 -116.8 - - 3212 - - - - - - - - 14.91 14.16 14.92
3254 301.7 -8.6 208 3260 done -0.50 - - 2012 - 2.40 0.043 2279 -587.9 -116.8 - - 3212 - - - - - - - - 14.46 14.40 14.49
3596 332.2 -9.0 215 3601 roll -0.50 - - 2011 - 2.45 0.054 888 -567.8 -116.8 - - 3210 - - - - - - - - 14.91 14.25 14.93
3708 342.3 -8.7 231 3713 done -0.50 - - 2011 - 2.53 0.057 2275 548.2 -116.8 - - 3209 - - - - - - - - 14.25 14.19 14.29
4045 371.0 -8.5 244 4050 roll -0.50 - - 2011 - 2.55 0.083 3692 555.7 -116.8 - - 3207 - - - - - - - - 14.90 14.13 14.92
4086 374.5 -8.3 250 4091 done -0.50 - - 2011 - 2.42 0.044 2267 -588.8 -116.8 - - 3207 - - - - - - - - 14.42 14.34 14.45
4436 404.1 -8.5 258 4441 roll -0.50 - - 2011 - 2.45 0.057 879 -566.5 -116.8 - - 3205 - - - - - - - - 14.95 14.22 14.97
4499 409.4 -8.3 267 4504 done -0.50 - - 2011 - 2.50 0.057 2269 556.0 -116.8 - - 3203 - - - - - - - - 14.32 14.19 14.36
4828 436.9 -8.4 279 4833 roll -0.50 - - 2011 - 2.58 0.085 3692 551.6 -116.8 - - 3203 - - - - - - - - 14.90 14.09 14.92
4856 439.3 -8.5 283 4861 done -0.50 - - 2011 - 2.47 0.044 2273 -574.5 -116.8 - - 3203 - - - - - - - - 14.30 14.26 14.33
5221 469.8 -8.2 293 5226 roll -0.50 - - 2011 - 2.47 0.055 875 -566.0 -116.8 - - 3200 - - - - - - - - 14.90 14.21 14.91
5332 478.8 -7.9 309 5338 done -0.50 - - 2011 - 2.58 0.058 2274 542.2 -116.8 - - 3201 - - - - - - - - 14.16 14.09 14.33
5669 506.1 -8.3 322 5674 roll -0.50 - - 2011 - 2.58 0.085 3689 548.4 -116.8 - - 3199 - - - - - - - - 14.89 14.09 14.90
5717 510.1 -8.1 329 5725 done -0.54 - - 2011 - 2.45 0.045 2255 -585.3 -116.8 - - 3199 - - - - - - - - 14.39 14.31 14.42
6060 539.1 -8.6 336 6065 roll -0.54 - - 2011 - 2.42 0.057 898 -560.7 -116.8 - - 3197 - - - - - - - - 14.89 14.16 14.91
6131 545.3 -8.9 346 6136 done -0.54 - - 2011 - 2.47 0.059 2264 553.0 -116.8 - - 3196 - - - - - - - - 14.31 14.18 14.35
6452 572.5 -8.4 357 6458 roll -0.54 - - 2011 - 2.60 0.088 3690 548.5 -116.8 - - 3196 - - - - - - - - 14.90 14.02 14.91
6508 577.0 -7.9 365 6515 done -0.60 - - 2011 - 2.45 0.047 2272 -578.8 -116.8 - - 3195 - - - - - - - - 14.36 14.29 14.39
6845 602.5 -7.4 378 6850 roll -0.60 - - 2011 - 2.50 0.059 883 -555.6 -116.8 - - 3194 - - - - - - - - 14.88 14.12 14.90
6886 605.6 -7.4 384 6891 done -0.60 - - 2011 - 2.53 0.060 2269 547.8 -116.8 - - 3194 - - - - - - - - 14.23 14.08 14.28
7237 630.8 -7.3 392 7241 roll -0.60 - - 2008 - 2.60 0.089 3689 546.2 -116.8 - - 3192 - - - - - - - - 14.93 14.00 14.95
7278 634.0 -7.7 398 7284 done -0.60 - - 2008 - 2.50 0.047 2267 -568.8 -116.8 - - 3192 - - - - - - - - 14.23 14.19 14.26
7629 663.4 -8.6 406 7634 roll -0.60 - - 2008 - 2.47 0.059 885 -559.5 -116.8 - - 3191 - - - - - - - - 14.92 14.09 14.94
7691 669.1 -8.8 415 7696 done -0.60 - - 2008 - 2.53 0.060 2268 546.6 -116.8 - - 3191 - - - - - - - - 14.21 14.07 14.26
8021 697.0 -8.5 427 8026 roll -0.60 - - 2008 - 2.65 0.091 3693 537.7 -116.8 - - 3189 - - - - - - - - 14.92 13.95 14.93
8083 702.1 -8.0 436 8089 done -0.65 - - 2008 - 2.53 0.048 2269 -562.8 -116.8 - - 3189 - - - - - - - - 14.21 14.14 14.21
8412 727.6 -7.7 448 8417 roll -0.65 - - 2008 - 2.50 0.060 880 -555.6 -116.8 - - 3188 - - - - - - - - 14.88 14.04 14.90
8476 732.6 -7.9 457 8482 done -0.65 - - 2006 - 2.55 0.061 2272 545.9 -116.8 - - 3188 - - - - - - - - 14.21 14.07 14.25
8804 757.9 -7.7 469 8810 roll -0.65 - - 2006 - 2.62 0.090 3695 543.1 -116.8 - - 3184 - - - - - - - - 14.88 13.91 14.90
8860 762.2 -7.7 477 8867 done -0.71 - - 2006 - 2.53 0.050 2256 -568.8 -116.8 - - 3187 - - - - - - - - 14.27 14.19 14.30
9197 788.4 -7.8 490 9198 done -0.71 - - 2006 - - - 2246 - -116.8 - - 3186 - - - - - - - - 14.86 14.88 14.88
9532 814.1 -7.6 496 9538 roll -0.71 - - 2006 - 2.50 0.059 875 -548.4 -116.8 - - 3184 - - - - - - - - 14.92 13.97 14.94
9574 817.4 -6.5 502 9579 done -0.71 - - 2002 - 2.55 0.061 2263 544.3 -116.8 - - 3184 - - - - - - - - 14.16 14.03 14.21
9926 843.0 -7.3 510 9931 roll -0.71 0.12 0.142 1946 -466.7 2.65 0.086 3689 538.1 -116.8 - - 3184 - - - - - - - - 14.31 13.87 14.32
10008 851.2 -10.3 522 10013 done -0.71 - - 1946 - 2.50 0.048 2255 -573.6 -116.8 - - 3182 - - - - - - - - 14.26 14.16 14.29
10372 889.7 -10.6 532 10378 roll -0.65 0.17 0.253 1985 229.4 2.47 0.057 887 -553.8 -116.8 - - 3188 - - - - - - - - 13.78 13.98 14.00
10401 892.4 -9.6 536 10406 done -0.65 - - 1985 - 2.55 0.061 2268 541.6 -116.8 - - 3182 - - - - - - - - 14.12 13.98 14.18
10764 922.5 -8.3 546 10769 roll -0.65 - - 1984 - 2.65 0.093 3689 536.2 -116.8 - - 3181 - - - - - - - - 14.86 13.82 14.88
10799 925.3 -7.5 551 10804 done -0.65 - - 1984 - 2.50 0.050 2263 -570.4 -116.8 - - 3181 - - - - - - - - 14.22 14.14 14.26
11157 954.1 -8.0 560 11162 roll -0.65 - - 1984 - 2.53 0.060 884 -545.1 -116.8 - - 3181 - - - - - - - - 14.84 13.97 14.85
11205 958.1 -8.0 567 11212 done -0.65 - - 1984 - 2.58 0.063 2269 536.8 -116.8 - - 3180 - - - - - - - - 14.12 13.95 14.15
11548 984.2 -7.6 574 11554 roll -0.65 - - 1978 - 2.67 0.092 3700 536.0 -116.8 - - 3180 - - - - - - - - 14.90 13.82 14.92
11591 987.4 -5.4 580 11596 done -0.65 - - 1978 - 2.53 0.049 2256 -570.8 -116.8 - - 3180 - - - - - - - - 14.23 14.14 14.26
11656 end dive: TARGET_DEPTH_EXCEEDED
11656 begin apogee
11665 992.8 -7.6 583 11861 roll -0.19 0.57 0.203 2131 268.4 - - 2246 - - 193.68 1.616 2741 -2.3 0.265 - - - - - - 13.55 13.93 13.03
11862 end apogee: CONTROL_FINISHED_OK
11862 begin climb
11865 997.4 - 586 12029 roll 0.68 0.93 0.140 2411 301.1 2.55 0.087 3610 534.9 116.8 149.77 1.862 2256 -3.2 0.330 - - - - - - 13.93 14.00 12.89
12172 976.2 9.9 634 12177 done 0.61 - - 2421 - 2.45 0.055 2209 -571.8 116.8 - - 2235 - - - - - - - - 14.35 14.26 14.39
12508 945.5 9.1 647 12513 roll 0.54 0.15 0.264 2382 -260.0 2.58 0.080 3614 544.6 116.8 - - 2230 - - - - - - - - 13.92 14.17 14.07
12649 934.2 7.7 667 12653 done 0.54 - - 2391 - 2.47 0.055 2201 -572.1 116.8 - - 2229 - - - - - - - - 14.40 14.31 14.44
13012 907.4 7.3 677 13018 roll 0.54 - - 2402 - 2.60 0.073 796 -540.4 116.8 - - 2227 - - - - - - - - 14.74 14.16 14.76
13123 899.2 7.2 693 13129 done 0.54 - - 2401 - 2.55 0.057 2202 551.4 119.7 - - 2226 - - - - - - - - 14.33 14.21 14.38
13459 873.4 7.7 706 13464 roll 0.54 - - 2401 - 2.60 0.088 3615 543.5 119.7 - - 2226 - - - - - - - - 14.79 14.00 14.81
13529 867.0 8.9 716 13534 done 0.48 0.22 0.256 2360 -186.4 2.50 0.056 2192 -569.2 119.7 - - 2226 - - - - - - - - 13.72 14.22 14.09
13851 847.3 6.0 727 13899 roll 0.50 - - 2370 - 2.60 0.072 795 -537.3 151.1 39.17 1.776 2113 -2.9 0.262 - - - - - - 14.79 14.25 13.22
13964 840.3 6.5 743 13996 done 0.51 - - 2370 - 2.55 0.057 2203 552.2 170.9 24.20 1.800 2040 -3.0 0.268 - - - - - - 14.37 14.26 13.18
14355 814.1 6.6 757 14381 roll 0.52 - - 2370 - 2.58 0.089 3604 543.0 187.2 18.33 1.755 1969 -3.9 0.342 - - - - - - 14.69 14.31 13.33
14418 809.2 8.5 766 14423 done 0.52 - - 2380 - 2.47 0.056 2189 -572.9 187.2 - - 1962 - - - - - - - - 14.42 14.32 14.45
14747 783.9 7.8 778 14752 roll 0.52 - - 2390 - 2.55 0.070 791 -548.2 187.2 - - 1958 - - - - - - - - 14.71 14.20 14.73
14844 776.5 6.3 792 14880 done 0.54 - - 2390 - 2.53 0.057 2191 553.4 211.3 31.65 1.706 1878 -2.5 0.219 - - - - - - 14.38 14.26 13.29
15189 746.1 8.9 806 15194 roll 0.54 - - 2390 - 2.60 0.086 3618 548.8 211.3 - - 1856 - - - - - - - - 14.71 14.18 14.72
15244 740.5 10.2 814 15249 done 0.54 - - 2399 - 2.50 0.056 2190 -571.2 211.3 - - 1854 - - - - - - - - 14.38 14.31 14.42
15582 707.2 10.0 827 15586 roll 0.54 - - 2410 - 2.55 0.071 791 -548.6 211.3 - - 1853 - - - - - - - - 14.72 14.17 14.75
15684 696.7 9.9 842 15691 done 0.54 0.15 0.242 2377 -220.0 2.58 0.057 2206 548.4 211.3 - - 1852 - - - - - - - - 13.90 14.19 14.21
16031 668.1 8.1 849 16036 roll 0.54 - - 2377 - 2.55 0.086 3607 549.4 211.3 - - 1852 - - - - - - - - 14.76 14.12 14.78
16092 662.4 8.9 858 16097 done 0.54 - - 2385 - 2.50 0.053 2184 -569.2 211.3 - - 1851 - - - - - - - - 14.37 14.27 14.42
16422 636.6 7.8 870 16426 roll 0.54 - - 2394 - 2.58 0.069 786 -541.9 211.3 - - 1851 - - - - - - - - 14.76 14.14 14.78
16486 631.9 7.6 879 16490 done 0.58 - - 2399 - 2.55 0.057 2192 551.4 211.3 - - 1850 - - - - - - - - 14.31 14.19 14.35
16814 606.2 7.9 891 16818 roll 0.58 - - 2394 - 2.62 0.086 3618 544.3 211.3 - - 1850 - - - - - - - - 14.79 14.05 14.81
16862 601.9 8.9 898 16869 done 0.58 - - 2404 - 2.55 0.054 2186 -561.6 211.3 - - 1849 - - - - - - - - 14.30 14.18 14.35
17207 572.2 8.8 905 17212 roll 0.58 - - 2413 - 2.58 0.069 787 -542.2 211.3 - - 1850 - - - - - - - - 14.74 14.08 14.76
17303 563.5 8.8 919 17308 done 0.58 - - 2413 - 2.58 0.057 2180 539.9 211.3 - - 1849 - - - - - - - - 14.16 14.09 14.21
17654 529.6 9.8 927 17658 roll 0.58 - - 2413 - 2.65 0.084 3619 543.0 211.3 - - 1849 - - - - - - - - 14.79 14.01 14.81
17731 521.2 10.9 938 17736 done 0.58 0.12 0.249 2394 -158.3 2.55 0.054 2174 -566.7 211.3 - - 1849 - - - - - - - - 13.85 14.17 14.13
18046 494.1 8.5 948 18050 roll 0.58 - - 2401 - 2.55 0.070 796 -540.4 211.3 - - 1849 - - - - - - - - 14.78 14.03 14.81
18129 487.4 7.9 960 18134 done 0.58 - - 2401 - 2.53 0.054 2189 550.6 211.3 - - 1849 - - - - - - - - 14.23 14.11 14.32
18495 457.3 8.3 970 18500 roll 0.58 - - 2401 - 2.62 0.083 3613 543.5 211.3 - - 1849 - - - - - - - - 14.73 13.99 14.76
18584 448.7 9.5 983 18589 done 0.58 - - 2410 - 2.53 0.054 2187 -563.6 211.3 - - 1849 - - - - - - - - 14.24 14.12 14.29
18943 416.3 9.2 992 18948 roll 0.58 - - 2410 - 2.58 0.069 789 -541.9 211.3 - - 1849 - - - - - - - - 14.73 14.01 14.74
19025 409.0 8.7 1004 19030 done 0.58 - - 2410 - 2.55 0.055 2187 548.2 211.3 - - 1849 - - - - - - - - 14.19 14.08 14.26
19390 377.1 8.7 1014 19395 roll 0.58 - - 2410 - 2.62 0.080 3613 544.3 211.3 - - 1849 - - - - - - - - 14.78 13.95 14.80
19474 369.0 9.6 1026 19479 done 0.58 0.12 0.239 2391 -158.3 2.53 0.051 2184 -564.8 211.3 - - 1848 - - - - - - - - 13.82 14.14 14.08
19838 340.4 8.0 1036 19842 roll 0.58 - - 2391 - 2.58 0.070 788 -541.1 211.3 - - 1849 - - - - - - - - 14.78 13.97 14.80
19900 335.4 7.9 1045 19906 done 0.66 - - 2391 - 2.55 0.055 2187 548.6 211.3 - - 1849 - - - - - - - - 14.19 14.07 14.25
20231 308.9 8.0 1057 20237 roll 0.70 0.12 0.138 2448 475.0 2.60 0.079 3613 548.5 211.3 - - 1848 - - - - - - - - 14.23 13.93 14.21
20293 302.1 11.3 1066 20299 done 0.70 0.12 0.272 2431 -141.7 2.53 0.050 2176 -568.0 211.3 - - 1848 - - - - - - - - 13.71 14.12 14.02
20624 272.3 8.9 1078 20629 roll 0.70 - - 2440 - 2.58 0.068 794 -535.7 211.3 - - 1849 - - - - - - - - 14.72 13.97 14.74
20713 264.6 8.2 1091 20718 done 0.70 - - 2440 - 2.53 0.055 2184 549.4 211.3 - - 1849 - - - - - - - - 14.21 14.08 14.26
21071 233.0 9.1 1100 21075 roll 0.70 - - 2440 - 2.62 0.080 3606 542.7 211.3 - - 1851 - - - - - - - - 14.77 13.92 14.78
21141 225.2 11.1 1110 21146 done 0.70 - - 2450 - 2.53 0.050 2180 -563.6 211.3 - - 1849 - - - - - - - - 14.21 14.11 14.26
21463 190.0 11.0 1121 21468 roll 0.70 - - 2460 - 2.55 0.066 792 -544.3 211.3 - - 1849 - - - - - - - - 14.73 13.96 14.75
21497 186.5 10.4 1126 21503 done 0.70 0.10 0.207 2431 -290.0 2.58 0.054 2185 539.9 211.3 - - 1849 - - - - - - - - 13.66 14.00 13.81
21855 153.9 8.9 1135 21860 roll 0.70 - - 2432 - 2.62 0.079 3611 544.3 211.3 - - 1847 - - - - - - - - 14.77 13.92 14.79
21917 147.9 9.6 1144 21922 done 0.70 - - 2441 - 2.53 0.050 2184 -564.0 211.3 - - 1848 - - - - - - - - 14.20 14.09 14.25
22247 118.4 8.8 1156 22251 roll 0.70 - - 2450 - 2.58 0.064 786 -541.9 211.3 - - 1848 - - - - - - - - 14.73 13.97 14.76
22317 112.3 8.6 1166 22322 done 0.70 - - 2450 - 2.55 0.054 2190 550.6 211.3 - - 1849 - - - - - - - - 14.19 14.07 14.25
22639 83.3 8.7 1180 22643 roll 0.70 - - 2450 - 2.62 0.080 3615 543.9 211.3 - - 1849 - - - - - - - - 14.76 13.85 14.78
22758 72.4 8.9 1197 22764 done 0.70 0.15 0.249 2426 -160.0 2.53 0.049 2185 -565.2 211.3 - - 1848 - - - - - - - - 13.69 14.09 14.00
23090 51.7 5.7 1211 23114 done 0.78 - - 2426 - - - 2186 - 250.2 21.62 0.275 1719 -6.0 0.213 - - - - - - 14.69 14.21 13.88
23424 38.3 2.9 1223 23505 roll 0.98 0.25 0.082 2542 464.0 2.65 0.073 3615 539.2 356.0 70.95 0.246 1289 -6.1 0.180 - - - - - - 14.23 14.32 14.03
23583 29.1 7.8 1246 23590 done 0.98 0.10 0.213 2520 -220.0 2.53 0.049 2199 -559.7 356.0 - - 1293 - - - - - - - - 13.85 14.17 13.99
23900 9.8 5.5 1258 23932 roll 1.10 - - 2527 - 2.62 0.066 787 -538.9 398.7 27.85 0.157 1111 -6.5 0.078 - - - - - - 14.73 14.26 14.08
24020 3.3 6.2 1275 24027 VBD 1.22 0.20 0.099 2607 400.0 2.55 0.053 2204 555.7 425.9 1.70 0.179 1107 -2.4 0.008 - - - - - - 14.23 14.20 14.33
24027 end climb: SURFACE_DEPTH_REACHED
24027 begin surface coast
24051 end surface coast: CONTROL_FINISHED_OK
24051 begin surface
SM 0.79 - - - - -6.12 6.95 0.063 224 32.2 0.12 0.138 2285 -76175.0 500.17 63.28 0.136 698 11.0 -0.007 - - - - - -