SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 652 * Raw log
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• Previous call tries 1 • 251.12 of 350.00 AH used of 24V (28.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.7 deg, depth 0.74 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 14 s • Transponder ping count: 30
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
8 - - - 99 VBD -0.68 - - 196 - - - 2244 - -116.8 -88.95 - 2927 - - - - - - - - 14.63 - 14.64
103 3.1 -3.9 3 128 roll -0.68 9.10 0.403 1959 193.7 2.85 2.062 3690 507.4 -116.8 -5.32 - 3220 -55.1 - - - - - - - 13.76 13.28 14.04
191 29.6 -23.4 15 196 done -0.49 0.30 0.247 2033 246.7 2.45 0.041 2260 -583.7 -116.8 - - 3221 - - - - - - - - 13.93 14.35 14.22
529 83.4 -9.1 30 534 roll -0.49 - - 2033 - 2.45 0.048 873 -566.1 -116.8 - - 3222 - - - - - - - - 14.81 14.18 14.82
589 88.3 -8.0 38 593 done -0.49 - - 2029 - 2.53 0.052 2296 562.5 -116.8 - - 3222 - - - - - - - - 14.31 14.20 14.35
957 113.0 -7.0 51 961 roll -0.49 - - 2021 - 2.53 0.074 3694 552.6 -116.8 - - 3223 - - - - - - - - 14.84 14.00 14.86
1081 121.8 -7.2 69 1087 done -0.49 - - 2021 - 2.40 0.037 2280 -589.2 -116.8 - - 3223 - - - - - - - - 14.31 14.23 14.33
1410 148.6 -8.5 80 1414 roll -0.49 - - 2021 - 2.47 0.049 897 -559.9 -116.8 - - 3222 - - - - - - - - 14.86 14.03 14.88
1484 156.0 -8.7 91 1490 done -0.49 - - 2016 - 2.53 0.053 2297 553.4 -116.8 - - 3222 - - - - - - - - 14.18 14.06 14.23
1805 183.3 -8.6 101 1810 roll -0.49 - - 2012 - 2.58 0.078 3699 543.4 -116.8 - - 3221 - - - - - - - - 14.88 13.91 14.89
1881 189.8 -8.1 112 1886 done -0.49 - - 2012 - 2.40 0.037 2293 -585.8 -116.8 - - 3221 - - - - - - - - 14.26 14.21 14.31
2201 215.8 -8.3 122 2205 roll -0.49 - - 2012 - 2.53 0.050 892 -553.8 -116.8 - - 3218 - - - - - - - - 14.88 13.95 14.90
2233 219.0 -8.7 127 2238 done -0.49 - - 2012 - 2.55 0.053 2295 550.2 -116.8 - - 3218 - - - - - - - - 14.13 14.00 14.18
2596 250.4 -9.0 136 2601 roll -0.49 - - 2011 - 2.60 0.080 3699 540.0 -116.8 - - 3217 - - - - - - - - 14.88 13.88 14.89
2680 258.6 -8.7 148 2685 done -0.49 - - 2011 - 2.40 0.037 2295 -585.0 -116.8 - - 3216 - - - - - - - - 14.19 14.11 14.21
3049 293.9 -10.0 158 3054 roll -0.49 - - 2011 - 2.58 0.053 894 -543.0 -116.8 - - 3214 - - - - - - - - 14.87 13.88 14.90
3118 301.1 -9.6 168 3123 done -0.49 - - 2011 - 2.58 0.054 2304 546.5 -116.8 - - 3213 - - - - - - - - 14.12 13.97 14.14
3444 331.6 -9.5 179 3449 roll -0.49 - - 2010 - 2.58 0.080 3692 538.0 -116.8 - - 3211 - - - - - - - - 14.88 13.88 14.90
3519 338.8 -8.9 190 3525 done -0.49 0.12 0.216 2040 250.0 2.42 0.041 2284 -581.8 -116.8 - - 3211 - - - - - - - - 13.72 14.09 13.93
3841 364.4 -8.2 200 3845 roll -0.49 - - 2040 - 2.53 0.052 890 -551.0 -116.8 - - 3209 - - - - - - - - 14.86 13.86 14.88
3899 369.7 -8.8 208 3904 done -0.55 - - 2039 - 2.60 0.054 2305 544.2 -116.8 - - 3209 - - - - - - - - 14.07 13.95 14.12
4238 397.8 -8.3 221 4243 roll -0.55 - - 2039 - 2.58 0.082 3691 537.2 -116.8 - - 3207 - - - - - - - - 14.88 13.87 14.89
4314 404.1 -7.8 232 4320 done -0.62 0.12 0.129 1983 -466.7 2.42 0.042 2285 -581.0 -116.8 - - 3207 - - - - - - - - 13.97 14.07 14.08
4633 436.8 -10.5 242 4638 roll -0.62 - - 1983 - 2.53 0.053 904 -545.8 -116.8 - - 3205 - - - - - - - - 14.88 13.83 14.90
4731 446.8 -9.4 256 4735 done -0.62 - - 1976 - 2.58 0.056 2299 540.7 -116.8 - - 3204 - - - - - - - - 14.04 13.91 14.09
5085 481.3 -9.9 264 5089 roll -0.62 - - 1972 - 2.62 0.081 3700 534.7 -116.8 - - 3203 - - - - - - - - 14.88 13.89 14.89
5118 485.1 -10.0 269 5125 done -0.62 - - 1971 - 2.45 0.041 2295 -573.5 -116.8 - - 3202 - - - - - - - - 14.11 14.02 14.14
5482 521.3 -10.1 278 5487 roll -0.58 0.12 0.247 2008 308.3 2.60 0.053 891 -540.0 -116.8 - - 3201 - - - - - - - - 13.80 13.81 13.83
5571 529.4 -8.0 291 5576 done -0.58 - - 2001 - 2.58 0.054 2288 541.5 -116.8 - - 3200 - - - - - - - - 14.05 13.92 14.10
5933 558.1 -8.0 300 5938 roll -0.58 - - 1999 - 2.65 0.086 3698 532.1 -116.8 - - 3198 - - - - - - - - 14.88 13.89 14.89
5994 562.6 -7.7 308 5999 done -0.58 - - 1999 - 2.47 0.041 2281 -573.7 -116.8 - - 3198 - - - - - - - - 14.13 14.05 14.16
6333 591.5 -8.8 321 6338 roll -0.58 - - 1999 - 2.55 0.054 888 -546.3 -116.8 - - 3197 - - - - - - - - 14.87 13.81 14.89
6394 598.0 -10.1 330 6399 done -0.58 - - 1999 - 2.58 0.056 2285 541.5 -116.8 - - 3197 - - - - - - - - 14.07 13.93 14.12
6730 633.0 -10.8 342 6735 roll -0.58 - - 1999 - 2.62 0.086 3691 536.6 -116.8 - - 3196 - - - - - - - - 14.85 13.89 14.88
6788 639.4 -11.0 350 6793 done -0.58 - - 1998 - 2.47 0.044 2288 -568.0 -116.8 - - 3195 - - - - - - - - 14.09 14.02 14.14
7127 672.5 -9.5 363 7132 roll -0.58 - - 1999 - 2.60 0.056 893 -536.5 -116.8 - - 3194 - - - - - - - - 14.86 13.80 14.88
7209 679.8 -7.8 375 7214 done -0.58 - - 1998 - 2.62 0.057 2279 529.0 -116.8 - - 3193 - - - - - - - - 13.93 13.87 14.13
7578 708.9 -7.8 385 7584 roll -0.58 - - 1999 - 2.67 0.086 3696 530.7 -116.8 - - 3192 - - - - - - - - 14.87 13.89 14.89
7647 714.3 -7.5 395 7652 done -0.63 - - 1999 - 2.50 0.043 2276 -568.0 -116.8 - - 3191 - - - - - - - - 14.09 14.02 14.13
7975 740.6 -8.2 406 7980 roll -0.63 - - 1998 - 2.58 0.054 889 -537.6 -116.8 - - 3190 - - - - - - - - 14.85 13.79 14.88
8021 744.8 -8.7 413 8034 done -0.63 - - 1998 - 2.62 0.057 2280 530.9 -116.8 - - 3190 - - - - - - - - 14.00 13.93 14.05
8370 774.0 -8.4 420 8375 roll -0.63 - - 1998 - 2.67 0.086 3701 532.2 -116.8 - - 3189 - - - - - - - - 14.85 13.93 14.88
8404 776.7 -7.6 425 8409 done -0.63 - - 1998 - 2.50 0.044 2282 -567.6 -116.8 - - 3189 - - - - - - - - 14.09 14.01 14.12
8765 807.8 -8.7 434 8769 roll -0.63 - - 1998 - 2.58 0.054 883 -542.2 -116.8 - - 3187 - - - - - - - - 14.85 13.82 14.88
8797 810.7 -8.8 439 8802 done -0.63 - - 1998 - 2.62 0.058 2293 538.2 -116.8 - - 3187 - - - - - - - - 14.07 13.93 14.12
9161 841.8 -8.5 448 9166 roll -0.63 - - 1996 - 2.65 0.088 3701 531.3 -116.8 - - 3186 - - - - - - - - 14.85 13.93 14.87
9220 846.8 -10.0 456 9225 done -0.67 - - 1996 - 2.50 0.044 2281 -568.0 -116.8 - - 3186 - - - - - - - - 14.08 14.00 14.12
9559 873.9 -8.0 469 9564 roll -0.67 - - 1996 - 2.55 0.055 891 -545.1 -116.8 - - 3185 - - - - - - - - 14.85 13.87 14.87
9620 878.5 -9.6 477 9625 done -0.67 - - 1996 - 2.62 0.057 2295 535.9 -116.8 - - 3185 - - - - - - - - 14.05 13.92 14.10
9959 903.0 -7.2 490 9964 roll -0.67 - - 1996 - 2.62 0.088 3691 532.8 -116.8 - - 3183 - - - - - - - - 14.85 13.92 14.87
10019 907.2 -9.3 498 10023 done -0.67 - - 1996 - 2.50 0.046 2280 -564.4 -116.8 - - 3184 - - - - - - - - 14.08 14.00 14.12
10358 931.9 -7.4 511 10363 roll -0.67 - - 1996 - 2.58 0.056 888 -539.5 -116.8 - - 3183 - - - - - - - - 14.84 13.86 14.86
10398 934.8 -5.9 517 10404 done -0.67 - - 1996 - 2.62 0.057 2294 536.6 -116.8 - - 3183 - - - - - - - - 14.06 13.93 14.11
10754 963.5 -8.1 525 10759 roll -0.67 - - 1996 - 2.62 0.090 3690 532.8 -116.8 - - 3182 - - - - - - - - 14.85 13.90 14.86
10795 967.2 -8.3 531 10800 done -0.67 - - 1996 - 2.50 0.047 2285 -562.0 -116.8 - - 3182 - - - - - - - - 14.07 13.98 14.10
11090 end dive: TARGET_DEPTH_EXCEEDED
11090 begin apogee
11098 991.3 -8.2 538 11294 roll -0.19 0.50 0.194 2129 266.0 - - 2186 - - 193.90 1.587 2740 -2.3 0.269 - - - - - - 13.66 13.91 13.12
11295 end apogee: CONTROL_FINISHED_OK
11295 begin climb
11299 997.7 - 541 11462 roll 0.68 0.98 0.140 2416 292.9 2.58 0.061 820 -529.5 116.8 150.27 1.825 2260 -3.2 0.330 - - - - - - 13.71 13.85 13.00
11476 994.1 8.9 572 11487 done 0.61 - - 2416 - 2.62 0.057 2195 524.8 116.8 - - 2243 - - - - - - - - 13.84 13.78 13.88
11825 967.5 8.2 579 11831 roll 0.55 0.12 0.270 2383 -275.0 2.60 0.086 3611 544.6 116.8 - - 2234 - - - - - - - - 13.88 14.12 14.01
11908 959.2 11.4 591 11914 done 0.55 - - 2392 - 2.47 0.055 2210 -567.2 116.8 - - 2232 - - - - - - - - 14.32 14.22 14.37
12278 931.2 8.0 601 12283 roll 0.55 - - 2402 - 2.60 0.068 797 -543.5 116.8 - - 2231 - - - - - - - - 14.80 14.09 14.81
12417 918.8 10.7 621 12422 done 0.55 - - 2402 - 2.58 0.057 2206 546.1 116.8 - - 2229 - - - - - - - - 14.26 14.14 14.32
12786 890.3 8.0 631 12791 roll 0.55 - - 2402 - 2.62 0.086 3616 538.2 116.8 - - 2229 - - - - - - - - 14.83 13.97 14.85
12846 885.2 6.6 639 12867 done 0.50 0.20 0.255 2368 -170.0 2.53 0.055 2202 -558.9 134.9 15.98 1.827 2188 -2.6 0.235 - - - - - - 13.73 14.16 13.41
13186 864.1 6.1 652 13238 roll 0.52 - - 2377 - 2.65 0.070 792 -532.1 163.9 38.85 1.760 2057 -3.4 0.312 - - - - - - 14.74 14.12 13.32
13326 854.3 8.4 672 13331 done 0.52 - - 2377 - 2.55 0.057 2192 549.0 163.9 - - 2050 - - - - - - - - 14.31 14.20 14.36
13693 830.9 6.6 682 13716 roll 0.53 - - 2377 - 2.65 0.088 3614 536.6 181.2 18.73 1.769 1995 -2.9 0.260 - - - - - - 14.76 14.23 13.39
13758 825.3 8.5 692 13763 done 0.53 - - 2387 - 2.50 0.054 2188 -570.4 181.2 - - 1986 - - - - - - - - 14.40 14.31 14.43
14079 801.9 7.6 702 14084 roll 0.53 - - 2397 - 2.55 0.069 798 -545.1 181.2 - - 1983 - - - - - - - - 14.74 14.14 14.76
14175 793.6 7.6 716 14181 done 0.53 - - 2397 - 2.53 0.055 2186 548.6 181.2 - - 1981 - - - - - - - - 14.31 14.19 14.36
14531 766.6 7.9 724 14536 roll 0.53 - - 2397 - 2.62 0.084 3610 543.5 181.2 - - 1981 - - - - - - - - 14.80 14.04 14.81
14578 761.5 9.3 731 14591 done 0.53 0.10 0.214 2378 -190.0 2.58 0.053 2187 -551.6 181.2 - - 1980 - - - - - - - - 13.82 14.12 13.98
14926 737.0 7.2 738 14930 roll 0.53 - - 2388 - 2.58 0.067 788 -542.2 184.8 - - 1980 - - - - - - - - 14.82 14.03 14.83
15051 727.8 6.8 756 15076 done 0.53 - - 2388 - 2.55 0.056 2184 547.5 196.3 16.70 1.687 1934 -2.8 0.224 - - - - - - 14.26 14.14 13.52
15433 699.7 7.7 768 15438 roll 0.53 - - 2388 - 2.62 0.083 3619 547.7 196.3 - - 1924 - - - - - - - - 14.78 14.12 14.80
15492 694.5 8.4 776 15496 done 0.53 - - 2397 - 2.55 0.054 2183 -563.1 196.3 - - 1921 - - - - - - - - 14.35 14.26 14.40
15832 665.6 8.6 789 15836 roll 0.53 - - 2408 - 2.58 0.067 786 -541.5 196.3 - - 1922 - - - - - - - - 14.80 14.05 14.82
15927 656.8 8.4 803 15934 done 0.53 0.15 0.243 2375 -220.0 2.55 0.055 2183 547.8 196.3 - - 1920 - - - - - - - - 13.81 14.14 14.14
16283 631.6 7.3 811 16288 roll 0.54 - - 2375 - 2.65 0.083 3615 540.4 198.3 - - 1921 - - - - - - - - 14.82 13.99 14.83
16345 626.6 8.0 819 16351 done 0.54 - - 2383 - 2.58 0.052 2164 -562.4 198.3 - - 1920 - - - - - - - - 14.28 14.19 14.33
16685 600.2 7.7 832 16690 roll 0.54 - - 2393 - 2.55 0.066 796 -536.5 198.3 - - 1920 - - - - - - - - 14.82 13.97 14.84
16761 594.0 7.6 843 16766 done 0.54 - - 2393 - 2.53 0.054 2183 548.2 198.3 - - 1920 - - - - - - - - 14.22 14.10 14.28
17080 570.1 7.6 853 17085 roll 0.54 - - 2393 - 2.65 0.082 3613 539.6 198.3 - - 1920 - - - - - - - - 14.83 13.93 14.85
17148 564.0 8.6 863 17154 done 0.54 - - 2403 - 2.55 0.052 2177 -563.1 198.3 - - 1920 - - - - - - - - 14.23 14.13 14.28
17477 539.0 7.8 874 17481 roll 0.54 - - 2412 - 2.58 0.068 796 -535.3 198.3 - - 1919 - - - - - - - - 14.81 13.91 14.83
17565 531.7 7.4 887 17572 done 0.54 0.15 0.236 2379 -220.0 2.53 0.053 2180 547.0 198.3 - - 1919 - - - - - - - - 13.73 14.04 14.02
17928 508.0 6.7 896 17951 roll 0.54 - - 2379 - 2.65 0.083 3615 541.5 212.4 18.45 1.463 1870 -2.7 0.174 - - - - - - 14.82 14.21 13.56
18022 500.2 8.3 910 18033 done 0.54 - - 2387 - 2.58 0.052 2169 -560.5 212.4 - - 1859 - - - - - - - - 14.29 14.24 14.33
18369 473.6 7.8 917 18374 roll 0.54 - - 2394 - 2.53 0.068 796 -542.7 212.4 - - 1857 - - - - - - - - 14.78 14.07 14.81
18459 466.3 7.8 930 18464 done 0.60 - - 2394 - 2.50 0.054 2178 552.8 212.4 - - 1856 - - - - - - - - 14.28 14.16 14.33
18820 438.8 7.6 939 18826 roll 0.60 - - 2394 - 2.65 0.081 3608 539.6 212.4 - - 1856 - - - - - - - - 14.81 13.99 14.83
18880 433.8 8.5 947 18886 done 0.60 - - 2404 - 2.55 0.049 2163 -566.7 212.4 - - 1855 - - - - - - - - 14.28 14.18 14.32
19221 406.1 8.2 960 19226 roll 0.60 - - 2406 - 2.55 0.067 795 -536.5 212.4 - - 1856 - - - - - - - - 14.80 13.97 14.81
19303 398.9 8.2 972 19309 done 0.64 - - 2406 - 2.53 0.052 2178 546.6 212.4 - - 1856 - - - - - - - - 14.21 14.09 14.26
19673 370.3 7.8 982 19678 roll 0.64 - - 2406 - 2.65 0.081 3608 539.6 212.4 - - 1856 - - - - - - - - 14.82 13.91 14.83
19756 363.0 8.2 994 19760 done 0.64 - - 2416 - 2.53 0.048 2175 -566.4 212.4 - - 1856 - - - - - - - - 14.21 14.12 14.26
20124 334.7 7.9 1004 20129 roll 0.64 - - 2424 - 2.58 0.067 798 -533.7 212.4 - - 1856 - - - - - - - - 14.82 13.88 14.84
20207 327.3 8.3 1016 20212 done 0.64 - - 2424 - 2.53 0.053 2179 545.8 212.4 - - 1856 - - - - - - - - 14.15 14.02 14.21
20578 295.1 8.9 1026 20583 roll 0.64 - - 2423 - 2.65 0.080 3605 538.1 212.4 - - 1855 - - - - - - - - 14.81 13.89 14.82
20660 286.8 9.6 1038 20665 done 0.64 - - 2434 - 2.53 0.047 2179 -563.6 212.4 - - 1856 - - - - - - - - 14.16 14.07 14.22
21031 255.4 8.6 1048 21036 roll 0.64 - - 2444 - 2.62 0.064 789 -530.5 212.4 - - 1856 - - - - - - - - 14.81 13.87 14.83
21127 246.5 8.5 1062 21133 done 0.64 0.15 0.229 2409 -233.3 2.55 0.054 2173 542.7 212.4 - - 1856 - - - - - - - - 13.69 13.98 13.98
21483 221.3 7.0 1070 21493 roll 0.65 - - 2409 - 2.67 0.081 3603 535.6 220.3 2.40 0.480 1839 -7.1 0.616 - - - - - - 14.82 14.00 13.35
21578 213.9 7.5 1084 21583 done 0.65 - - 2418 - 2.53 0.046 2165 -568.4 220.3 - - 1844 - - - - - - - - 14.26 14.17 14.29
21932 189.7 7.0 1092 21954 roll 0.65 - - 2419 - 2.50 0.067 796 -547.6 228.0 15.90 1.112 1803 -2.6 0.083 - - - - - - 14.83 14.23 13.65
22047 181.0 7.8 1108 22051 done 0.71 - - 2419 - 2.50 0.051 2184 555.2 228.0 - - 1795 - - - - - - - - 14.40 14.29 14.44
22386 148.7 9.8 1121 22390 roll 0.71 - - 2419 - 2.62 0.077 3615 546.2 228.0 - - 1795 - - - - - - - - 14.80 14.04 14.82
22475 138.7 10.4 1134 22480 done 0.71 - - 2428 - 2.55 0.047 2166 -568.2 228.0 - - 1794 - - - - - - - - 14.26 14.16 14.31
22839 109.1 8.0 1143 22844 roll 0.71 - - 2436 - 2.55 0.064 790 -539.6 228.0 - - 1794 - - - - - - - - 14.81 13.97 14.83
22955 101.2 6.8 1159 22966 done 0.71 - - 2436 - 2.53 0.052 2173 546.6 241.8 6.88 0.325 1754 -5.8 0.342 - - - - - - 14.20 14.09 13.77
23298 76.8 7.3 1177 23301 done 0.71 - - 2436 - - - 2173 - 241.8 2.60 0.174 1753 - - - - - - - - 14.78 14.13 13.87
23602 62.1 3.0 1188 23686 roll 0.86 0.12 0.130 2493 475.0 2.58 0.078 3613 558.1 345.9 74.90 0.320 1331 -5.6 0.206 - - - - - - 14.32 14.14 13.90
23820 50.4 4.9 1219 23866 done 0.98 - - 2499 - 2.58 0.048 2173 -558.1 403.0 40.92 0.281 1096 -5.7 0.194 - - - - - - 14.12 14.07 13.90
24205 29.2 6.3 1239 24230 roll 1.16 0.20 0.093 2595 480.0 2.58 0.073 3608 556.2 427.7 18.15 0.203 995 -5.6 0.151 - - - - - - 14.19 14.08 13.91
24279 20.5 13.1 1250 24291 done 1.16 0.10 0.210 2576 -190.0 2.60 0.050 2159 -557.3 427.7 - - 999 - - - - - - - - 13.76 14.07 13.90
24456 end climb: SURFACE_DEPTH_REACHED
24456 begin surface coast
24483 end surface coast: CONTROL_FINISHED_OK
24483 begin surface
SM 0.72 - - - - -6.15 7.00 0.066 215 30.7 0.25 0.089 2298 -11312.0 500.17 48.80 0.131 698 14.3 -0.008 - - - - - -