SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 584 * Raw log
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• Previous call tries 1 • 227.13 of 350.00 AH used of 24V (35.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.1 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: 41 s
• GPS2 time: 16 s • Transponder ping count: 26
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
7 - - - 98 VBD -0.68 - - 208 - - - 2313 - -116.8 -89.82 - 2953 - - - - - - - - 14.68 - 14.70
102 3.1 -3.9 3 128 roll -0.68 8.75 0.390 1979 202.4 2.83 2.039 879 -506.7 -116.8 -4.88 - 3219 -54.5 - - - - - - - 13.82 13.20 14.09
220 34.8 -21.6 19 225 done -0.51 0.25 0.259 2031 208.0 2.45 0.056 2261 564.1 -116.8 - - 3220 - - - - - - - - 13.97 14.32 14.26
559 79.6 -10.2 34 564 roll -0.51 - - 2031 - 2.45 0.047 862 -571.0 -116.8 - - 3221 - - - - - - - - 14.85 14.30 14.87
664 89.4 -8.6 49 675 done -0.51 - - 2025 - 2.55 0.054 2275 554.1 -116.8 - - 3221 - - - - - - - - 14.24 14.19 14.28
983 115.4 -8.0 58 988 roll -0.51 - - 2019 - 2.50 0.073 3693 567.2 -116.8 - - 3222 - - - - - - - - 14.90 14.21 14.92
1098 124.3 -7.7 74 1103 done -0.51 - - 2019 - 2.42 0.038 2246 -597.9 -116.8 - - 3222 - - - - - - - - 14.47 14.40 14.50
1438 149.5 -7.4 87 1442 roll -0.51 - - 2019 - 2.38 0.053 891 -569.3 -116.8 - - 3222 - - - - - - - - 14.91 14.26 14.93
1512 156.5 -8.9 98 1518 done -0.51 - - 2015 - 2.47 0.054 2282 563.2 -116.8 - - 3222 - - - - - - - - 14.36 14.21 14.40
1834 186.5 -9.6 108 1839 roll -0.51 - - 2011 - 2.53 0.076 3692 557.3 -116.8 - - 3221 - - - - - - - - 14.92 14.15 14.94
1916 194.2 -8.3 120 1921 done -0.51 - - 2010 - 2.42 0.040 2277 -584.7 -116.8 - - 3221 - - - - - - - - 14.32 14.29 14.45
2285 226.5 -9.0 130 2290 roll -0.51 - - 2011 - 2.45 0.052 891 -565.7 -116.8 - - 3218 - - - - - - - - 14.93 14.23 14.95
2389 236.5 -9.1 145 2401 done -0.51 - - 2011 - 2.53 0.054 2275 547.0 -116.8 - - 3217 - - - - - - - - 14.16 14.10 14.21
2736 269.4 -9.6 152 2741 roll -0.51 - - 2011 - 2.58 0.079 3701 552.7 -116.8 - - 3217 - - - - - - - - 14.93 14.10 14.95
2818 277.1 -8.8 164 2823 done -0.51 - - 2011 - 2.45 0.040 2254 -590.6 -116.8 - - 3216 - - - - - - - - 14.39 14.29 14.42
3189 309.4 -8.9 174 3194 roll -0.51 - - 2011 - 2.42 0.051 894 -562.0 -116.8 - - 3214 - - - - - - - - 14.92 14.20 14.93
3270 317.6 -9.2 186 3276 done -0.51 - - 2011 - 2.47 0.054 2271 557.5 -116.8 - - 3213 - - - - - - - - 14.30 14.16 14.35
3640 352.5 -9.7 196 3645 roll -0.51 - - 2004 - 2.60 0.080 3699 549.2 -116.8 - - 3211 - - - - - - - - 14.94 14.08 14.95
3700 358.3 -9.9 204 3705 done -0.51 0.12 0.214 2034 250.0 2.45 0.041 2260 -587.3 -116.8 - - 3211 - - - - - - - - 13.97 14.33 14.17
4039 386.8 -8.2 217 4044 roll -0.51 - - 2035 - 2.45 0.053 892 -558.4 -116.8 - - 3208 - - - - - - - - 14.93 14.16 14.95
4115 393.4 -8.2 228 4120 done -0.56 - - 2030 - 2.47 0.054 2273 559.1 -116.8 - - 3208 - - - - - - - - 14.30 14.18 14.35
4435 418.6 -8.0 238 4440 roll -0.56 - - 2022 - 2.60 0.082 3695 546.9 -116.8 - - 3207 - - - - - - - - 14.93 14.04 14.95
4503 424.1 -7.6 248 4508 done -0.62 - - 2022 - 2.45 0.043 2267 -582.9 -116.8 - - 3206 - - - - - - - - 14.39 14.31 14.42
4831 447.6 -7.2 259 4836 roll -0.62 - - 2022 - 2.47 0.057 886 -559.1 -116.8 - - 3204 - - - - - - - - 14.91 14.12 14.93
4890 451.8 -7.1 267 4894 done -0.62 - - 2022 - 2.50 0.057 2259 549.2 -116.8 - - 3204 - - - - - - - - 14.26 14.14 14.31
5228 474.4 -6.7 280 5233 roll -0.62 - - 2017 - 2.62 0.081 3700 550.0 -116.8 - - 3203 - - - - - - - - 14.92 14.01 14.95
5298 479.6 -7.0 290 5304 done -0.68 0.12 0.132 1962 -458.3 2.47 0.042 2262 -582.2 -116.8 - - 3202 - - - - - - - - 14.18 14.31 14.29
5624 514.7 -11.3 301 5630 roll -0.63 0.12 0.251 1994 266.7 2.45 0.054 896 -557.6 -116.8 - - 3201 - - - - - - - - 14.02 14.09 14.07
5722 525.3 -10.0 315 5727 done -0.63 - - 1986 - 2.50 0.057 2273 550.8 -116.8 - - 3200 - - - - - - - - 14.23 14.09 14.28
6076 563.0 -10.8 323 6081 roll -0.63 - - 1981 - 2.62 0.085 3698 543.9 -116.8 - - 3198 - - - - - - - - 14.92 13.97 14.94
6172 573.5 -10.3 337 6178 done -0.63 - - 1981 - 2.47 0.044 2260 -582.2 -116.8 - - 3198 - - - - - - - - 14.28 14.19 14.32
6529 608.1 -9.7 345 6535 roll -0.63 - - 1981 - 2.47 0.055 887 -555.9 -116.8 - - 3197 - - - - - - - - 14.92 14.06 14.92
6597 615.2 -9.5 355 6603 done -0.63 - - 1973 - 2.53 0.057 2273 547.8 -116.8 - - 3197 - - - - - - - - 14.16 14.02 14.23
6925 645.9 -9.6 366 6930 roll -0.63 - - 1972 - 2.62 0.086 3692 541.6 -116.8 - - 3196 - - - - - - - - 14.92 13.90 14.93
6964 650.1 -9.4 372 6969 done -0.63 - - 1971 - 2.47 0.046 2268 -576.5 -116.8 - - 3195 - - - - - - - - 14.26 14.16 14.30
7319 684.8 -10.0 380 7324 roll -0.63 - - 1972 - 2.50 0.058 886 -552.8 -116.8 - - 3194 - - - - - - - - 14.92 14.00 14.94
7435 696.4 -10.0 396 7439 done -0.63 - - 1972 - 2.53 0.060 2258 542.3 -116.8 - - 3192 - - - - - - - - 14.15 14.01 14.21
7774 730.6 -10.1 409 7780 roll -0.63 - - 1969 - 2.65 0.085 3692 541.1 -116.8 - - 3192 - - - - - - - - 14.91 13.89 14.92
7833 736.7 -10.0 417 7839 done -0.63 - - 1969 - 2.50 0.046 2260 -572.8 -116.8 - - 3191 - - - - - - - - 14.26 14.18 14.29
8173 770.4 -10.0 430 8178 roll -0.63 - - 1969 - 2.47 0.057 887 -555.9 -116.8 - - 3190 - - - - - - - - 14.92 13.97 14.94
8298 783.3 -9.3 448 8303 done -0.63 - - 1968 - 2.53 0.060 2258 541.9 -116.8 - - 3190 - - - - - - - - 14.12 13.97 14.16
8625 815.0 -9.9 459 8629 roll -0.63 - - 1960 - 2.65 0.084 3691 540.8 -116.8 - - 3189 - - - - - - - - 14.91 13.84 14.93
8685 821.4 -10.0 467 8690 done -0.63 0.15 0.222 1994 226.7 2.53 0.046 2248 -570.4 -116.8 - - 3188 - - - - - - - - 13.68 14.14 13.92
9023 849.2 -8.2 480 9028 roll -0.63 - - 1993 - 2.47 0.059 891 -549.4 -116.8 - - 3187 - - - - - - - - 14.91 13.94 14.92
9112 857.1 -6.7 493 9119 done -0.63 - - 1990 - 2.53 0.060 2258 540.3 -116.8 - - 3187 - - - - - - - - 14.09 13.95 14.14
9476 886.6 -8.3 502 9481 roll -0.63 - - 1985 - 2.67 0.086 3695 538.2 -116.8 - - 3186 - - - - - - - - 14.90 13.80 14.91
9535 892.4 -8.4 510 9539 done -0.63 - - 1985 - 2.53 0.045 2255 -569.2 -116.8 - - 3185 - - - - - - - - 14.23 14.14 14.26
9873 919.6 -8.2 523 9878 roll -0.63 - - 1985 - 2.47 0.057 891 -552.2 -116.8 - - 3185 - - - - - - - - 14.91 13.90 14.92
9921 924.6 -8.3 530 9932 done -0.63 - - 1985 - 2.58 0.060 2251 527.1 -116.8 - - 3184 - - - - - - - - 13.85 13.78 13.91
10268 950.9 -7.9 537 10274 roll -0.63 - - 1980 - 2.72 0.088 3703 533.8 -116.8 - - 3184 - - - - - - - - 14.91 13.81 14.92
10328 956.3 -7.7 545 10333 done -0.63 - - 1980 - 2.55 0.047 2254 -568.2 -116.8 - - 3184 - - - - - - - - 14.19 14.10 14.22
10668 981.9 -7.8 558 10673 roll -0.63 - - 1980 - 2.50 0.057 889 -546.0 -116.8 - - 3182 - - - - - - - - 14.92 13.88 14.91
10728 987.6 -8.0 566 10732 done -0.63 - - 1977 - 2.55 0.060 2259 537.3 -116.8 - - 3182 - - - - - - - - 14.04 13.90 14.10
10750 end dive: TARGET_DEPTH_EXCEEDED
10750 begin apogee
10759 990.1 -8.6 570 10955 roll -0.19 0.57 0.203 2130 268.4 - - 2180 - - 193.88 1.652 2739 -2.3 0.261 - - - - - - 13.61 13.90 13.03
10955 end apogee: CONTROL_FINISHED_OK
10955 begin climb
10960 994.9 - 573 11120 roll 0.68 0.95 0.141 2413 297.9 2.55 0.057 819 -533.7 116.8 148.82 1.902 2260 -3.2 0.321 - - - - - - 13.88 13.96 12.89
11163 987.0 10.3 607 11168 done 0.68 - - 2413 - 2.55 0.057 2211 545.9 116.8 - - 2239 - - - - - - - - 14.23 14.14 14.27
11490 960.1 8.4 618 11496 roll 0.63 - - 2413 - 2.58 0.088 3618 545.3 116.8 - - 2233 - - - - - - - - 14.75 14.18 14.77
11537 956.1 9.7 625 11555 done 0.55 0.15 0.233 2382 -206.7 2.53 0.056 2213 -555.3 116.8 - - 2231 - - - - - - - - 13.82 14.20 14.00
11887 931.0 7.0 632 11892 roll 0.56 - - 2392 - 2.60 0.068 789 -547.7 124.9 - - 2230 - - - - - - - - 14.83 14.16 14.84
11982 924.1 6.6 646 12017 done 0.57 - - 2392 - 2.58 0.058 2206 549.2 143.0 28.67 1.888 2152 -2.7 0.254 - - - - - - 14.35 14.22 13.21
12339 898.1 7.6 661 12344 roll 0.57 - - 2392 - 2.58 0.088 3610 544.2 143.0 - - 2135 - - - - - - - - 14.77 14.19 14.79
12386 894.4 8.6 668 12397 done 0.57 - - 2402 - 2.55 0.054 2189 -557.3 143.0 - - 2134 - - - - - - - - 14.28 14.23 14.33
12734 866.1 8.0 675 12739 roll 0.57 - - 2412 - 2.55 0.070 798 -545.5 143.0 - - 2133 - - - - - - - - 14.85 14.19 14.87
12838 857.3 8.1 690 12850 done 0.57 0.08 0.226 2391 -262.5 2.58 0.057 2188 538.8 143.0 - - 2132 - - - - - - - - 13.83 14.13 14.00
13185 831.2 7.6 697 13190 roll 0.57 - - 2391 - 2.62 0.086 3613 543.9 143.0 - - 2132 - - - - - - - - 14.88 14.09 14.89
13260 824.4 10.8 708 13266 done 0.57 - - 2400 - 2.50 0.054 2191 -568.8 143.0 - - 2131 - - - - - - - - 14.35 14.26 14.40
13582 798.9 8.2 718 13587 roll 0.57 - - 2410 - 2.55 0.070 796 -547.1 143.0 - - 2131 - - - - - - - - 14.87 14.09 14.88
13672 790.9 9.4 731 13677 done 0.57 - - 2410 - 2.55 0.057 2198 549.8 143.0 - - 2130 - - - - - - - - 14.31 14.18 14.36
14034 759.8 8.7 740 14039 roll 0.57 - - 2410 - 2.60 0.087 3611 543.5 143.0 - - 2130 - - - - - - - - 14.88 14.02 14.90
14075 755.6 9.9 746 14081 done 0.51 0.22 0.239 2367 -195.5 2.53 0.055 2190 -561.7 143.0 - - 2129 - - - - - - - - 13.76 14.22 14.10
14429 733.1 6.1 754 14471 roll 0.53 - - 2377 - 2.55 0.070 790 -549.0 172.0 36.08 1.701 2030 -2.7 0.225 - - - - - - 14.88 14.27 13.28
14546 726.3 6.3 770 14584 done 0.59 - - 2377 - 2.55 0.057 2198 552.2 197.4 32.12 1.688 1932 -3.1 0.250 - - - - - - 14.41 14.31 13.26
14934 699.6 7.0 784 14943 roll 0.60 - - 2377 - 2.62 0.087 3606 537.4 206.0 2.10 0.321 1897 -16.7 6.918 - - - - - - 14.76 14.18 12.88
14990 695.2 8.4 792 14994 done 0.60 - - 2386 - 2.50 0.054 2190 -566.4 206.0 - - 1902 - - - - - - - - 14.41 14.31 14.45
15330 666.7 8.6 805 15334 roll 0.60 - - 2395 - 2.55 0.070 795 -547.1 206.0 - - 1903 - - - - - - - - 14.82 14.15 14.84
15432 656.8 8.9 820 15444 done 0.60 - - 2394 - 2.58 0.057 2185 538.8 206.0 - - 1903 - - - - - - - - 14.17 14.10 14.22
15782 625.4 9.2 827 15787 roll 0.60 - - 2394 - 2.62 0.085 3615 545.8 206.0 - - 1903 - - - - - - - - 14.85 14.08 14.87
15829 620.1 10.1 834 15842 done 0.60 - - 2404 - 2.58 0.054 2189 -552.7 206.0 - - 1903 - - - - - - - - 14.19 14.13 14.23
16177 589.0 9.0 841 16182 roll 0.60 - - 2414 - 2.55 0.067 796 -546.3 206.0 - - 1903 - - - - - - - - 14.88 14.09 14.90
16247 582.4 8.6 851 16252 done 0.60 - - 2414 - 2.53 0.056 2187 549.8 206.0 - - 1903 - - - - - - - - 14.31 14.19 14.35
16573 552.4 9.3 862 16579 roll 0.60 - - 2414 - 2.62 0.083 3615 545.0 206.0 - - 1903 - - - - - - - - 14.88 14.02 14.90
16649 544.2 10.3 873 16655 done 0.60 0.08 0.225 2401 -162.5 2.60 0.054 2186 -549.6 206.0 - - 1903 - - - - - - - - 13.79 14.12 13.93
16970 518.2 8.2 883 16975 roll 0.60 - - 2410 - 2.55 0.067 791 -547.1 206.0 - - 1903 - - - - - - - - 14.88 14.04 14.89
17038 512.3 7.6 893 17044 done 0.60 - - 2410 - 2.60 0.055 2195 540.0 206.0 - - 1903 - - - - - - - - 14.12 14.04 14.18
17365 486.7 8.0 904 17370 roll 0.60 - - 2410 - 2.60 0.083 3610 544.2 206.0 - - 1903 - - - - - - - - 14.88 13.97 14.90
17425 481.5 8.9 912 17430 done 0.60 - - 2419 - 2.53 0.052 2186 -562.8 206.0 - - 1903 - - - - - - - - 14.30 14.19 14.33
17764 452.6 8.6 925 17768 roll 0.60 - - 2429 - 2.55 0.065 784 -549.8 206.0 - - 1903 - - - - - - - - 14.88 14.00 14.90
17839 445.8 8.5 936 17845 done 0.60 0.15 0.243 2395 -226.7 2.58 0.057 2191 545.3 206.0 - - 1903 - - - - - - - - 13.74 14.10 14.00
18159 423.3 7.1 946 18169 roll 0.60 - - 2395 - 2.53 0.082 3608 560.1 212.7 5.15 1.288 1872 -6.0 0.377 - - - - - - 14.88 14.13 13.42
18225 417.7 8.1 956 18230 done 0.60 - - 2405 - 2.47 0.050 2185 -576.1 212.7 - - 1878 - - - - - - - - 14.52 14.42 14.54
18554 393.7 7.6 967 18563 roll 0.60 - - 2408 - 2.55 0.068 793 -545.9 212.7 2.20 0.394 1870 -3.6 0.692 - - - - - - 14.85 14.22 13.15
18640 386.6 7.6 980 18645 done 0.60 - - 2408 - 2.53 0.055 2191 552.6 212.7 - - 1875 - - - - - - - - 14.37 14.25 14.41
19002 356.2 8.7 989 19007 roll 0.60 - - 2408 - 2.62 0.083 3613 542.7 212.7 - - 1879 - - - - - - - - 14.88 14.00 14.90
19063 350.3 10.0 997 19067 done 0.60 - - 2416 - 2.53 0.050 2185 -564.4 212.7 - - 1880 - - - - - - - - 14.32 14.21 14.35
19401 319.5 8.9 1010 19407 roll 0.60 - - 2424 - 2.55 0.066 794 -545.5 212.7 - - 1880 - - - - - - - - 14.88 13.99 14.90
19471 313.5 8.0 1020 19476 done 0.60 - - 2424 - 2.55 0.055 2194 549.0 212.7 - - 1880 - - - - - - - - 14.24 14.12 14.28
19797 288.1 7.8 1031 19802 roll 0.60 - - 2423 - 2.62 0.082 3611 540.8 212.7 - - 1880 - - - - - - - - 14.89 13.93 14.90
19858 282.6 8.4 1040 19864 done 0.60 0.15 0.235 2397 -173.3 2.53 0.051 2185 -563.6 212.7 - - 1880 - - - - - - - - 13.77 14.11 14.02
20194 261.2 6.6 1052 20236 roll 0.61 - - 2405 - 2.50 0.066 795 -556.0 231.0 35.47 1.194 1791 -2.5 0.105 - - - - - - 14.87 14.31 13.46
20279 254.9 7.0 1065 20287 done 0.69 - - 2405 - 2.50 0.054 2192 558.8 239.5 3.30 0.816 1761 -9.1 0.541 - - - - - - 14.45 14.34 13.24
20636 228.3 7.6 1073 20641 roll 0.69 - - 2405 - 2.58 0.080 3611 550.0 239.5 - - 1768 - - - - - - - - 14.80 14.10 14.81
20704 221.9 8.8 1083 20709 done 0.69 - - 2412 - 2.47 0.050 2190 -575.3 239.5 - - 1768 - - - - - - - - 14.35 14.24 14.38
21031 195.6 8.3 1094 21037 roll 0.69 - - 2419 - 2.58 0.066 795 -540.7 239.5 - - 1768 - - - - - - - - 14.85 14.08 14.88
21123 187.5 8.7 1107 21128 done 0.74 - - 2419 - 2.53 0.054 2198 554.5 239.5 - - 1768 - - - - - - - - 14.28 14.16 14.33
21484 156.2 8.5 1116 21489 roll 0.74 - - 2419 - 2.60 0.081 3614 544.6 239.5 - - 1768 - - - - - - - - 14.88 14.01 14.89
21544 151.0 8.7 1124 21549 done 0.74 - - 2428 - 2.53 0.050 2188 -563.6 239.5 - - 1769 - - - - - - - - 14.31 14.21 14.35
21884 122.3 8.7 1137 21889 roll 0.74 - - 2435 - 2.55 0.066 798 -545.1 239.5 - - 1769 - - - - - - - - 14.87 14.03 14.89
21966 114.8 8.3 1149 21971 done 0.74 - - 2435 - 2.53 0.053 2195 552.2 239.5 - - 1769 - - - - - - - - 14.24 14.12 14.29
22309 89.3 7.8 1160 22313 roll 0.74 - - 2435 - 2.60 0.080 3610 544.2 239.5 - - 1768 - - - - - - - - 14.88 13.98 14.89
22348 84.5 10.5 1166 22354 done 0.74 - - 2437 - 2.50 0.049 2189 -568.4 239.5 - - 1769 - - - - - - - - 14.28 14.16 14.32
22676 63.0 4.9 1179 22732 roll 0.83 - - 2437 - 2.53 0.065 800 -549.0 298.4 41.70 0.318 1526 -5.8 0.220 - - - - - - 14.88 14.33 13.99
22767 58.7 5.1 1191 22809 done 0.98 0.25 0.089 2534 388.0 2.47 0.050 2189 562.3 350.9 37.20 0.307 1308 -5.9 0.213 - - - - - - 14.37 14.34 14.01
23122 34.8 5.6 1209 23160 roll 1.05 - - 2534 - 2.58 0.076 3608 550.0 392.0 28.83 0.229 1142 -5.8 0.167 - - - - - - 14.83 14.29 14.04
23256 23.4 7.9 1228 23267 done 1.11 - - 2544 - 2.53 0.047 2188 -561.3 392.0 - - 1146 - - - - - - - - 14.21 14.16 14.24
23540 end climb: SURFACE_DEPTH_REACHED
23540 begin surface coast
23568 end surface coast: CONTROL_FINISHED_OK
23568 begin surface
SM 0.82 - - - - -6.13 6.90 0.073 224 32.5 0.20 0.096 2306 5740.0 500.17 68.40 0.132 700 10.2 -0.006 - - - - - -