SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 502 * Raw log
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• Previous call tries 1 • 197.46 of 350.00 AH used of 24V (43.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 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: 37 s
• GPS2 time: 13 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 202 - - - 2245 - -116.8 -84.65 - 2772 - - - - - - - - 14.66 - 14.69
107 3.1 -3.8 3 131 roll -0.68 9.07 0.403 1971 195.0 2.62 2.024 910 -509.5 -116.8 -8.95 - 3218 -49.8 - - - - - - - 13.83 13.15 14.30
239 37.1 -22.6 22 246 done -0.49 0.30 0.263 2034 210.0 2.42 0.057 2261 558.3 -116.8 - - 3219 - - - - - - - - 13.93 14.34 14.26
552 71.4 -8.1 34 556 roll -0.49 - - 2034 - 2.40 0.053 899 -567.5 -116.8 - - 3218 - - - - - - - - 14.79 14.36 14.80
615 75.6 -6.7 43 620 done -0.49 - - 2028 - 2.45 0.054 2286 566.1 -116.8 - - 3221 - - - - - - - - 14.45 14.35 14.49
944 102.0 -8.2 57 950 roll -0.49 - - 2020 - 2.47 0.076 3701 572.9 -116.8 - - 3221 - - - - - - - - 14.85 14.29 14.86
1068 112.5 -8.1 75 1074 done -0.49 - - 2019 - 2.35 0.038 2293 -599.1 -116.8 - - 3221 - - - - - - - - 14.42 14.40 14.42
1393 138.5 -8.0 86 1398 roll -0.49 - - 2020 - 2.35 0.053 892 -596.2 -116.8 - - 3221 - - - - - - - - 14.83 14.33 14.84
1481 145.9 -8.0 99 1487 done -0.49 - - 2015 - 2.47 0.054 2277 560.7 -116.8 - - 3221 - - - - - - - - 14.48 14.30 14.52
1840 177.8 -9.2 108 1845 roll -0.49 - - 2012 - 2.47 0.078 3695 574.1 -116.8 - - 3220 - - - - - - - - 14.85 14.28 14.87
1929 186.2 -9.1 121 1936 done -0.49 - - 2012 - 2.38 0.042 2294 -588.7 -116.8 - - 3219 - - - - - - - - 14.40 14.37 14.44
2288 219.3 -9.3 130 2292 roll -0.49 - - 2012 - 2.45 0.057 881 -576.7 -116.8 - - 3218 - - - - - - - - 14.86 14.33 14.88
2401 229.4 -8.9 146 2405 done -0.49 - - 2012 - 2.47 0.057 2278 565.6 -116.8 - - 3217 - - - - - - - - 14.45 14.34 14.50
2735 259.2 -8.8 159 2740 roll -0.49 0.12 0.254 2037 208.3 2.50 0.076 3700 568.8 -116.8 - - 3216 - - - - - - - - 14.13 14.25 14.23
2805 264.3 -7.0 169 2811 done -0.55 - - 2037 - 2.38 0.042 2262 -604.2 -116.8 - - 3215 - - - - - - - - 14.53 14.46 14.55
3129 287.3 -7.2 180 3129 done -0.55 - - 2036 - - - 2253 - -116.8 - - 3212 - - - - - - - - 14.85 14.88 14.87
3463 312.4 -7.6 186 3464 done -0.55 - - 2037 - - - 2253 - -116.8 - - 3210 - - - - - - - - 14.86 14.88 14.88
3799 338.3 -7.7 192 3800 done -0.55 - - 2037 - - - 2253 - -116.8 - - 3209 - - - - - - - - 14.85 14.86 14.86
4137 363.4 -7.4 198 4138 done -0.55 - - 2037 - - - 2253 - -116.8 - - 3204 - - - - - - - - 14.85 14.87 14.85
4471 386.8 -6.9 204 4472 done -0.55 - - 2036 - - - 2253 - -116.8 - - 3205 - - - - - - - - 14.85 14.88 14.88
4808 409.6 -6.8 210 4808 done -0.55 - - 2037 - - - 2253 - -116.8 - - 3203 - - - - - - - - 14.89 14.90 14.90
5144 433.5 -7.2 216 5144 done -0.55 - - 2037 - - - 2253 - -116.8 - - 3202 - - - - - - - - 14.85 14.88 14.87
5481 457.3 -7.1 222 5486 roll -0.55 - - 2037 - 2.40 0.056 897 -565.0 -116.8 - - 3200 - - - - - - - - 14.84 14.24 14.86
5513 459.9 -7.4 227 5519 done -0.55 - - 2035 - 2.47 0.058 2282 560.7 -116.8 - - 3200 - - - - - - - - 14.35 14.21 14.39
5871 484.7 -6.9 236 5876 roll -0.55 - - 2032 - 2.53 0.083 3686 554.9 -116.8 - - 3198 - - - - - - - - 14.84 14.15 14.86
5914 487.6 -6.9 242 5919 done -0.62 - - 2032 - 2.38 0.045 2279 -591.2 -116.8 - - 3198 - - - - - - - - 14.44 14.36 14.47
6264 512.1 -7.1 250 6268 roll -0.62 - - 2032 - 2.42 0.055 895 -571.9 -116.8 - - 3196 - - - - - - - - 14.85 14.23 14.85
6320 516.4 -7.6 258 6325 done -0.67 0.15 0.128 1971 -406.7 2.47 0.057 2278 559.9 -116.8 - - 3196 - - - - - - - - 14.23 14.23 14.35
6657 551.9 -10.9 271 6661 roll -0.67 - - 1967 - 2.55 0.084 3696 556.1 -116.8 - - 3195 - - - - - - - - 14.83 14.12 14.85
6745 561.8 -10.8 284 6751 done -0.67 - - 1966 - 2.42 0.047 2275 -587.2 -116.8 - - 3195 - - - - - - - - 14.40 14.30 14.43
7105 601.8 -11.2 293 7110 roll -0.67 - - 1967 - 2.47 0.060 881 -564.4 -116.8 - - 3194 - - - - - - - - 14.87 14.18 14.88
7151 607.1 -10.7 300 7158 done -0.67 - - 1960 - 2.58 0.061 2275 540.3 -116.8 - - 3194 - - - - - - - - 14.15 14.08 14.20
7496 644.0 -10.6 307 7501 roll -0.61 0.12 0.282 1982 183.3 2.58 0.085 3697 551.2 -116.8 - - 3192 - - - - - - - - 13.98 14.10 14.09
7559 650.0 -9.3 316 7563 done -0.61 - - 1982 - 2.42 0.048 2281 -585.1 -116.8 - - 3192 - - - - - - - - 14.42 14.34 14.45
7887 678.7 -8.6 328 7892 roll -0.61 - - 1982 - 2.47 0.057 879 -567.6 -116.8 - - 3191 - - - - - - - - 14.83 14.16 14.85
7950 684.0 -8.2 337 7956 done -0.61 - - 1973 - 2.58 0.060 2294 548.4 -116.8 - - 3191 - - - - - - - - 14.27 14.14 14.32
8281 710.8 -8.1 349 8287 roll -0.61 - - 1972 - 2.58 0.091 3701 545.3 -116.8 - - 3188 - - - - - - - - 14.82 14.02 14.83
8328 715.0 -8.6 356 8336 done -0.61 - - 1972 - 2.45 0.046 2267 -585.3 -116.8 - - 3189 - - - - - - - - 14.35 14.26 14.38
8672 744.2 -8.5 363 8677 roll -0.61 - - 1972 - 2.45 0.057 899 -558.4 -116.8 - - 3188 - - - - - - - - 14.82 14.13 14.83
8729 749.0 -8.6 371 8734 done -0.61 - - 1971 - 2.55 0.063 2287 544.3 -116.8 - - 3188 - - - - - - - - 14.25 14.11 14.30
9064 777.7 -8.5 384 9069 roll -0.61 - - 1968 - 2.58 0.090 3692 544.6 -116.8 - - 3187 - - - - - - - - 14.81 14.02 14.83
9126 783.1 -8.4 393 9133 done -0.61 0.12 0.240 1996 233.3 2.42 0.047 2288 -580.2 -116.8 - - 3187 - - - - - - - - 13.83 14.20 14.07
9457 808.9 -7.9 405 9463 roll -0.61 - - 1996 - 2.50 0.059 890 -559.2 -116.8 - - 3186 - - - - - - - - 14.83 14.09 14.85
9532 815.5 -8.2 416 9538 done -0.61 - - 1996 - 2.55 0.061 2284 546.7 -116.8 - - 3185 - - - - - - - - 14.19 14.04 14.24
9848 842.3 -8.7 426 9853 roll -0.61 - - 1996 - 2.60 0.089 3694 542.3 -116.8 - - 3184 - - - - - - - - 14.84 13.88 14.85
9883 845.2 -8.2 431 9888 done -0.61 - - 1995 - 2.45 0.047 2271 -580.8 -116.8 - - 3184 - - - - - - - - 14.32 14.23 14.35
10241 876.2 -8.7 440 10245 roll -0.61 - - 1996 - 2.50 0.060 891 -552.0 -116.8 - - 3183 - - - - - - - - 14.80 14.06 14.81
10274 879.3 -8.0 445 10280 done -0.61 - - 1993 - 2.58 0.062 2290 542.2 -116.8 - - 3183 - - - - - - - - 14.19 14.05 14.24
10633 908.4 -8.0 454 10638 roll -0.61 - - 1993 - 2.60 0.091 3694 540.0 -116.8 - - 3182 - - - - - - - - 14.78 13.97 14.80
10680 912.3 -7.9 461 10688 done -0.61 - - 1993 - 2.50 0.048 2274 -568.0 -116.8 - - 3182 - - - - - - - - 14.15 14.12 14.19
11024 938.4 -7.5 468 11025 done -0.61 - - 1994 - - - 2274 - -116.8 - - 3182 - - - - - - - - 14.82 14.84 14.84
11361 964.1 -7.7 474 11361 done -0.61 - - 1993 - - - 2274 - -116.8 - - 3180 - - - - - - - - 14.78 14.80 14.80
11693 end dive: TARGET_DEPTH_EXCEEDED
11693 begin apogee
11702 990.2 -7.7 480 11864 roll -0.19 0.52 0.201 2134 271.2 - - 2181 - - 149.02 2.542 2741 -2.9 0.228 - - - - 1 - 13.62 13.69 12.33
11866 end apogee: CONTROL_FINISHED_OK
11866 begin climb
11870 996.4 - 483 12041 roll 0.68 0.90 0.138 2413 310.0 2.72 0.087 3612 526.1 116.8 156.43 1.835 2256 -3.1 0.335 - - - - - - 13.78 13.83 12.89
12153 978.8 9.1 524 12158 done 0.62 - - 2419 - 2.42 0.054 2230 -571.1 116.8 - - 2242 - - - - - - - - 14.36 14.28 14.39
12484 949.9 8.8 536 12489 roll 0.56 0.12 0.275 2384 -291.7 2.53 0.081 3610 545.5 116.8 - - 2237 - - - - - - - - 14.05 14.28 14.20
12587 939.8 8.4 551 12593 done 0.56 - - 2393 - 2.53 0.055 2190 -561.3 116.8 - - 2236 - - - - - - - - 14.37 14.31 14.40
12931 911.5 8.4 558 12935 roll 0.56 - - 2404 - 2.53 0.070 796 -551.0 116.8 - - 2236 - - - - - - - - 14.79 14.28 14.81
13015 904.3 8.4 570 13019 done 0.56 - - 2404 - 2.53 0.057 2199 554.5 116.8 - - 2233 - - - - - - - - 14.44 14.33 14.48
13378 871.6 8.9 580 13383 roll 0.56 - - 2404 - 2.58 0.089 3612 547.7 116.8 - - 2232 - - - - - - - - 14.81 14.20 14.83
13435 866.0 10.2 588 13440 done 0.50 0.20 0.256 2368 -180.0 2.50 0.055 2187 -570.0 116.8 - - 2232 - - - - - - - - 13.89 14.33 14.23
13772 841.1 7.2 601 13777 roll 0.50 - - 2378 - 2.55 0.070 796 -545.5 118.8 - - 2231 - - - - - - - - 14.82 14.20 14.84
13883 833.1 7.0 617 13888 done 0.51 - - 2378 - 2.53 0.057 2188 550.2 126.6 - - 2231 - - - - - - - - 14.38 14.26 14.42
14220 810.0 6.8 630 14246 done 0.51 - - 2378 - - - 2188 - 138.6 22.62 1.797 2171 -2.7 0.238 - - - - - - 14.79 14.33 13.33
14555 786.4 7.0 643 14561 roll 0.52 - - 2378 - 2.62 0.086 3609 542.4 145.7 2.17 0.409 2143 -12.9 4.936 - - - - - - 14.77 14.29 12.92
14583 784.4 7.0 647 14604 done 0.52 - - 2388 - 2.47 0.053 2186 -576.1 153.0 16.73 1.939 2115 -1.7 0.135 - - - - - - 14.47 14.38 13.32
14940 758.1 7.5 656 14945 roll 0.52 - - 2398 - 2.53 0.070 795 -549.8 153.0 - - 2102 - - - - - - - - 14.73 14.25 14.76
15037 751.0 7.0 670 15043 done 0.53 - - 2398 - 2.50 0.057 2186 556.4 160.0 2.17 0.412 2087 -6.9 2.507 - - - - - - 14.42 14.30 12.93
15389 724.9 7.5 678 15393 roll 0.53 - - 2398 - 2.58 0.085 3607 550.8 160.0 - - 2095 - - - - - - - - 14.80 14.19 14.82
15444 720.2 8.5 686 15450 done 0.53 0.15 0.249 2374 -160.0 2.50 0.054 2185 -568.8 160.0 1.65 0.215 2086 -5.5 3.635 - - - - - - 13.92 14.26 14.01
15777 698.4 6.6 698 15812 roll 0.54 - - 2384 - 2.53 0.072 786 -553.0 176.6 29.62 1.738 2010 -2.6 0.205 - - - - - - 14.76 14.35 13.38
15908 688.9 7.4 717 15914 done 0.59 - - 2385 - 2.55 0.059 2188 549.8 176.6 - - 2002 - - - - - - - - 14.41 14.33 14.45
16223 663.2 8.2 727 16228 roll 0.59 - - 2385 - 2.60 0.085 3616 549.2 176.6 - - 2001 - - - - - - - - 14.73 14.14 14.75
16278 658.1 9.1 735 16283 done 0.59 - - 2393 - 2.55 0.057 2171 -566.7 176.6 - - 1999 - - - - - - - - 14.41 14.31 14.45
16614 629.5 8.5 748 16619 roll 0.59 - - 2396 - 2.53 0.074 795 -543.9 176.6 - - 2001 - - - - - - - - 14.80 14.19 14.81
16691 623.5 7.7 759 16696 done 0.59 - - 2397 - 2.50 0.057 2181 554.4 176.6 - - 1999 - - - - - - - - 14.38 14.26 14.42
17006 599.4 7.6 769 17012 roll 0.59 - - 2397 - 2.60 0.086 3607 548.5 176.6 - - 2001 - - - - - - - - 14.78 14.14 14.80
17082 592.8 8.6 780 17088 done 0.59 - - 2407 - 2.50 0.053 2180 -570.8 176.6 - - 1999 - - - - - - - - 14.40 14.28 14.44
17399 566.5 8.5 790 17404 roll 0.59 - - 2415 - 2.55 0.072 783 -547.8 176.6 - - 1999 - - - - - - - - 14.77 14.18 14.80
17468 560.5 8.5 800 17473 done 0.59 - - 2415 - 2.58 0.058 2180 541.5 176.6 - - 1998 - - - - - - - - 14.24 14.17 14.29
17791 529.1 10.1 811 17795 roll 0.59 - - 2415 - 2.62 0.086 3611 546.2 176.6 - - 1998 - - - - - - - - 14.83 14.10 14.85
17882 518.9 11.1 824 17887 done 0.59 0.15 0.242 2390 -166.7 2.53 0.054 2173 -568.4 176.6 - - 1999 - - - - - - - - 13.91 14.26 14.20
18238 489.0 8.1 833 18244 roll 0.59 - - 2395 - 2.53 0.071 799 -543.1 176.6 - - 1998 - - - - - - - - 14.79 14.11 14.81
18287 485.2 7.7 840 18293 done 0.63 - - 2397 - 2.53 0.056 2190 549.8 176.6 - - 1998 - - - - - - - - 14.31 14.19 14.37
18632 459.7 7.4 847 18636 roll 0.63 - - 2397 - 2.60 0.083 3613 547.3 176.6 - - 1998 - - - - - - - - 14.81 14.09 14.83
18714 452.9 8.2 859 18719 done 0.63 - - 2407 - 2.53 0.051 2176 -568.0 176.6 - - 1998 - - - - - - - - 14.32 14.21 14.37
19080 424.3 7.9 869 19085 roll 0.63 - - 2417 - 2.55 0.071 787 -544.7 176.6 - - 1998 - - - - - - - - 14.78 14.09 14.79
19175 416.5 7.8 883 19181 done 0.63 - - 2417 - 2.53 0.057 2183 551.8 176.6 - - 1997 - - - - - - - - 14.28 14.15 14.35
19527 386.8 8.5 891 19531 roll 0.63 - - 2420 - 2.60 0.083 3610 548.8 176.6 - - 1997 - - - - - - - - 14.82 14.04 14.84
19583 381.5 9.5 899 19588 done 0.63 - - 2426 - 2.53 0.051 2177 -566.4 176.6 - - 1997 - - - - - - - - 14.23 14.14 14.28
19919 352.1 8.7 912 19924 roll 0.63 - - 2435 - 2.55 0.069 793 -542.7 176.6 - - 1998 - - - - - - - - 14.82 14.07 14.83
19981 346.7 8.7 921 19987 done 0.63 0.12 0.249 2408 -225.0 2.53 0.057 2185 550.2 176.6 - - 1997 - - - - - - - - 13.83 14.15 14.12
20312 321.6 7.6 933 20317 roll 0.63 - - 2408 - 2.62 0.083 3612 544.7 176.6 - - 1997 - - - - - - - - 14.78 14.02 14.81
20373 316.0 8.9 942 20379 done 0.63 - - 2416 - 2.58 0.051 2173 -557.8 176.6 - - 1997 - - - - - - - - 14.18 14.15 14.21
20703 288.7 8.3 954 20708 roll 0.63 - - 2424 - 2.55 0.070 789 -542.7 176.6 - - 1998 - - - - - - - - 14.82 13.97 14.83
20766 283.5 8.2 963 20771 done 0.63 - - 2424 - 2.53 0.056 2182 550.6 176.6 - - 1997 - - - - - - - - 14.26 14.14 14.32
21095 254.0 9.1 975 21100 roll 0.63 - - 2424 - 2.60 0.083 3607 548.1 176.6 - - 1998 - - - - - - - - 14.78 14.02 14.79
21178 245.6 9.9 987 21183 done 0.63 - - 2434 - 2.50 0.050 2182 -570.0 176.6 - - 1997 - - - - - - - - 14.31 14.21 14.35
21544 210.6 9.7 997 21549 roll 0.63 - - 2443 - 2.55 0.066 790 -545.9 176.6 - - 1997 - - - - - - - - 14.77 14.07 14.79
21633 201.6 9.8 1010 21639 done 0.63 0.15 0.238 2409 -226.7 2.53 0.055 2183 550.6 176.6 - - 1997 - - - - - - - - 13.71 14.09 14.00
21992 173.1 7.6 1019 21997 roll 0.63 - - 2409 - 2.62 0.082 3615 546.6 176.6 - - 1997 - - - - - - - - 14.77 14.00 14.78
22060 167.4 8.2 1029 22066 done 0.63 - - 2418 - 2.50 0.050 2186 -571.6 176.6 - - 1997 - - - - - - - - 14.28 14.16 14.33
22383 142.2 7.9 1040 22388 roll 0.63 - - 2424 - 2.55 0.065 792 -546.7 176.6 - - 1997 - - - - - - - - 14.78 13.97 14.79
22453 136.9 7.5 1050 22458 done 0.63 - - 2425 - 2.53 0.054 2190 552.6 176.6 - - 1997 - - - - - - - - 14.19 14.07 14.24
22775 113.5 7.2 1061 22780 roll 0.63 - - 2424 - 2.58 0.079 3608 549.6 179.1 - - 1997 - - - - - - - - 14.77 14.02 14.79
22809 110.7 8.3 1066 22814 done 0.63 - - 2433 - 2.50 0.047 2173 -574.0 179.1 - - 1997 - - - - - - - - 14.31 14.21 14.35
23140 90.8 6.1 1077 23166 done 0.65 - - 2433 - - - 2173 - 209.1 18.58 0.394 1888 -5.9 0.269 - - - - - - 14.78 14.28 13.83
23475 68.2 5.9 1089 23503 roll 0.67 - - 2434 - 2.53 0.068 802 -541.9 242.1 23.27 0.331 1754 -5.8 0.236 - - - - - - 14.76 14.34 13.95
23584 63.0 5.2 1104 23626 done 0.79 - - 2433 - 2.50 0.053 2190 555.2 292.5 34.90 0.322 1548 -5.9 0.230 - - - - - - 14.33 14.21 13.98
23955 47.5 4.4 1124 24007 roll 1.05 0.28 0.096 2542 389.3 2.50 0.075 3608 567.2 363.0 46.17 0.274 1259 -6.3 0.216 - - - - - - 14.20 14.19 13.99
24032 42.7 6.8 1135 24049 done 1.11 - - 2550 - 2.47 0.046 2180 -578.1 375.8 10.30 0.250 1206 -5.1 0.175 - - - - - - 14.42 14.34 13.95
24371 16.2 8.3 1151 24376 roll 1.11 - - 2557 - 2.50 0.064 788 -556.8 375.8 - - 1206 - - - - - - - - 14.73 14.16 14.75
24477 7.5 7.4 1166 24483 done 1.18 - - 2556 - 2.47 0.053 2179 563.2 375.8 - - 1208 - - - - - - - - 14.33 14.22 14.37
24536 end climb: SURFACE_DEPTH_REACHED
24536 begin surface coast
24564 end surface coast: CONTROL_FINISHED_OK
24564 begin surface
SM 0.79 - - - - -6.15 6.88 0.070 218 31.7 0.17 0.104 2308 6764.7 500.17 77.32 0.135 701 9.1 -0.005 - - - - - -