SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 524 * Raw log
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• Previous call tries 1 • 205.76 of 350.00 AH used of 24V (41.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 14 s • Transponder ping count: 8
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
21 - - - 106 VBD -0.68 - - 189 - - - 2312 - -116.8 -84.28 - 2766 - - - - - - - - 14.65 - 14.67
111 3.0 -3.6 3 134 roll -0.68 9.27 0.407 1963 191.4 2.75 2.047 3671 494.2 -116.8 -9.20 - 3220 -49.3 - - - - - - - 13.81 12.92 14.31
243 37.2 -23.1 22 249 done -0.50 0.28 0.256 2033 250.0 2.40 0.044 2267 -585.0 -116.8 - - 3221 - - - - - - - - 13.95 14.38 14.26
555 75.0 -8.4 34 560 roll -0.50 - - 2033 - 2.42 0.053 878 -574.0 -116.8 - - 3222 - - - - - - - - 14.78 14.31 14.80
696 84.7 -6.9 54 705 done -0.50 - - 2029 - 2.42 0.054 2257 569.8 -116.8 - - 3222 - - - - - - - - 14.43 14.33 14.49
1035 109.9 -7.3 67 1039 roll -0.50 - - 2021 - 2.53 0.073 3699 570.0 -116.8 - - 3223 - - - - - - - - 14.86 14.29 14.88
1126 117.1 -8.2 80 1130 done -0.50 - - 2021 - 2.40 0.037 2251 -603.3 -116.8 - - 3223 - - - - - - - - 14.51 14.45 14.54
1482 150.7 -10.0 89 1488 roll -0.50 - - 2020 - 2.38 0.052 889 -572.3 -116.8 - - 3221 - - - - - - - - 14.85 14.33 14.86
1573 159.8 -9.6 102 1578 done -0.50 - - 2015 - 2.45 0.054 2275 565.7 -116.8 - - 3225 - - - - - - - - 14.44 14.32 14.48
1932 190.2 -8.1 111 1936 roll -0.50 - - 2012 - 2.50 0.077 3692 566.8 -116.8 - - 3222 - - - - - - - - 14.84 14.23 14.85
1986 194.5 -7.6 119 1991 done -0.50 - - 2011 - 2.40 0.041 2266 -594.2 -116.8 - - 3222 - - - - - - - - 14.50 14.42 14.52
2323 221.2 -8.0 132 2328 roll -0.50 - - 2012 - 2.40 0.054 897 -570.4 -116.8 - - 3220 - - - - - - - - 14.85 14.30 14.87
2400 227.5 -8.1 143 2404 done -0.50 - - 2012 - 2.47 0.057 2282 560.7 -116.8 - - 3219 - - - - - - - - 14.42 14.31 14.47
2715 257.2 -9.8 153 2720 roll -0.50 - - 2010 - 2.53 0.080 3701 560.9 -116.8 - - 3217 - - - - - - - - 14.85 14.21 14.87
2770 262.9 -10.1 161 2776 done -0.50 - - 2010 - 2.40 0.039 2273 -595.0 -116.8 - - 3217 - - - - - - - - 14.50 14.44 14.52
3108 298.3 -10.7 174 3114 roll -0.50 - - 2010 - 2.40 0.054 900 -572.1 -116.8 - - 3214 - - - - - - - - 14.84 14.22 14.85
3183 306.2 -9.8 185 3189 done -0.50 - - 2010 - 2.47 0.057 2280 558.7 -116.8 - - 3216 - - - - - - - - 14.36 14.23 14.40
3499 334.6 -8.8 195 3504 roll -0.50 - - 2003 - 2.53 0.079 3696 559.7 -116.8 - - 3212 - - - - - - - - 14.87 14.21 14.89
3534 337.6 -8.6 200 3539 done -0.50 0.12 0.227 2032 241.7 2.40 0.041 2266 -595.8 -116.8 - - 3212 - - - - - - - - 14.07 14.42 14.28
3891 362.4 -6.8 209 3897 roll -0.50 - - 2032 - 2.40 0.054 900 -569.2 -116.8 - - 3210 - - - - - - - - 14.86 14.26 14.88
3967 367.8 -6.7 220 3973 done -0.50 - - 2032 - 2.47 0.057 2276 557.1 -116.8 - - 3210 - - - - - - - - 14.36 14.23 14.40
4285 389.3 -6.9 230 4289 roll -0.50 - - 2025 - 2.55 0.083 3689 554.1 -116.8 - - 3208 - - - - - - - - 14.85 14.14 14.88
4340 393.1 -6.8 238 4345 done -0.55 - - 2025 - 2.42 0.044 2273 -585.1 -116.8 - - 3209 - - - - - - - - 14.44 14.37 14.47
4676 416.5 -7.0 251 4681 roll -0.55 - - 2025 - 2.45 0.056 894 -562.9 -116.8 - - 3203 - - - - - - - - 14.85 14.23 14.84
4716 419.5 -7.3 257 4723 done -0.55 - - 2025 - 2.50 0.057 2278 553.6 -116.8 - - 3206 - - - - - - - - 14.35 14.22 14.39
5067 444.6 -7.3 265 5073 roll -0.55 - - 2018 - 2.55 0.081 3690 553.7 -116.8 - - 3203 - - - - - - - - 14.83 14.14 14.87
5137 449.7 -7.5 275 5142 done -0.60 - - 2023 - 2.42 0.044 2268 -587.6 -116.8 - - 3203 - - - - - - - - 14.43 14.36 14.45
5459 474.3 -7.7 286 5464 roll -0.60 - - 2018 - 2.45 0.056 887 -563.7 -116.8 - - 3201 - - - - - - - - 14.86 14.21 14.88
5507 478.2 -7.9 293 5515 done -0.60 - - 2016 - 2.55 0.058 2271 542.7 -116.8 - - 3201 - - - - - - - - 14.17 14.13 14.23
5852 505.1 -7.9 300 5857 roll -0.60 - - 2012 - 2.58 0.086 3686 548.4 -116.8 - - 3201 - - - - - - - - 14.82 14.09 14.83
5920 510.8 -8.2 310 5926 done -0.60 - - 2012 - 2.42 0.045 2267 -586.4 -116.8 - - 3200 - - - - - - - - 14.39 14.31 14.42
6243 537.3 -8.2 321 6249 roll -0.60 - - 2012 - 2.47 0.057 890 -557.5 -116.8 - - 3197 - - - - - - - - 14.83 14.19 14.84
6320 543.7 -8.1 332 6325 done -0.60 - - 2012 - 2.53 0.058 2285 551.4 -116.8 - - 3198 - - - - - - - - 14.30 14.18 14.35
6635 567.8 -7.6 342 6640 roll -0.60 - - 2012 - 2.58 0.085 3690 544.6 -116.8 - - 3197 - - - - - - - - 14.85 14.07 14.87
6683 571.4 -7.4 349 6691 done -0.65 - - 2012 - 2.47 0.046 2268 -575.7 -116.8 - - 3196 - - - - - - - - 14.25 14.21 14.29
7028 596.1 -7.2 356 7033 roll -0.65 - - 2012 - 2.45 0.055 904 -556.7 -116.8 - - 3195 - - - - - - - - 14.81 14.07 14.83
7096 601.3 -7.3 366 7102 done -0.65 - - 2012 - 2.50 0.059 2276 548.8 -116.8 - - 3195 - - - - - - - - 14.29 14.16 14.33
7420 623.5 -7.0 377 7425 roll -0.65 - - 2011 - 2.60 0.086 3693 545.0 -116.8 - - 3193 - - - - - - - - 14.81 14.04 14.83
7447 625.5 -7.1 381 7453 done -0.65 - - 2012 - 2.42 0.045 2279 -584.3 -116.8 - - 3195 - - - - - - - - 14.39 14.31 14.42
7811 651.7 -7.2 391 7816 roll -0.65 - - 2012 - 2.47 0.055 887 -563.6 -116.8 - - 3193 - - - - - - - - 14.85 14.16 14.86
7880 657.1 -7.7 401 7886 done -0.65 - - 2011 - 2.53 0.057 2276 549.0 -116.8 - - 3192 - - - - - - - - 14.24 14.11 14.29
8205 680.2 -7.2 412 8210 roll -0.65 - - 2011 - 2.60 0.087 3691 544.2 -116.8 - - 3191 - - - - - - - - 14.83 14.00 14.85
8265 684.8 -7.0 421 8272 done -0.71 0.12 0.133 1958 -441.7 2.45 0.046 2277 -577.1 -116.8 - - 3191 - - - - - - - - 14.16 14.26 14.26
8597 715.7 -9.5 433 8603 roll -0.66 - - 1958 - 2.53 0.057 883 -551.0 -116.8 - - 3190 - - - - - - - - 14.78 14.09 14.80
8637 719.9 -10.2 439 8643 done -0.66 0.12 0.265 1978 166.7 2.55 0.060 2276 546.3 -116.8 - - 3189 - - - - - - - - 13.75 14.07 14.00
8988 750.5 -8.9 447 8993 roll -0.66 - - 1971 - 2.60 0.086 3693 545.0 -116.8 - - 3191 - - - - - - - - 14.80 13.99 14.82
9023 753.8 -9.3 452 9028 done -0.66 - - 1971 - 2.45 0.047 2275 -578.8 -116.8 - - 3191 - - - - - - - - 14.35 14.26 14.38
9380 787.8 -9.5 461 9385 roll -0.66 - - 1971 - 2.50 0.057 886 -555.6 -116.8 - - 3187 - - - - - - - - 14.79 14.05 14.81
9449 794.8 -9.9 471 9454 done -0.66 - - 1968 - 2.55 0.060 2274 544.3 -116.8 - - 3187 - - - - - - - - 14.17 14.04 14.22
9773 827.3 -10.1 482 9778 roll -0.66 - - 1960 - 2.62 0.086 3699 543.9 -116.8 - - 3185 - - - - - - - - 14.82 13.93 14.83
9813 831.7 -9.0 488 9818 done -0.66 - - 1960 - 2.47 0.045 2274 -576.9 -116.8 - - 3186 - - - - - - - - 14.24 14.14 14.28
10164 868.3 -10.4 496 10169 roll -0.66 - - 1960 - 2.53 0.060 880 -551.0 -116.8 - - 3185 - - - - - - - - 14.83 14.02 14.84
10233 875.6 -10.3 506 10238 done -0.66 - - 1959 - 2.58 0.063 2268 538.0 -116.8 - - 3184 - - - - - - - - 14.12 13.98 14.18
10557 907.3 -9.8 517 10558 done -0.66 - - 1959 - - - 2268 - -116.8 - - 3184 - - - - - - - - 14.78 14.80 14.79
10892 938.2 -9.1 523 10893 done -0.66 - - 1959 - - - 2268 - -116.8 - - 3183 - - - - - - - - 14.83 14.85 14.83
11228 966.9 -8.5 529 11233 roll -0.66 - - 1953 - 2.67 0.093 3689 532.2 -116.8 - - 3182 - - - - - - - - 14.78 13.79 14.80
11285 971.6 -7.4 537 11291 done -0.66 - - 1955 - 2.50 0.050 2278 -564.4 -116.8 - - 3182 - - - - - - - - 14.26 14.19 14.30
11504 end dive: TARGET_DEPTH_EXCEEDED
11504 begin apogee
11513 990.3 -8.3 548 11709 roll -0.19 0.68 0.222 2130 257.4 - - 2181 - - 193.85 1.612 2740 -2.3 0.266 - - - - - - 13.57 13.95 13.05
11710 end apogee: CONTROL_FINISHED_OK
11710 begin climb
11715 994.8 - 551 11874 roll 0.68 0.93 0.145 2408 298.9 2.70 0.088 3621 533.3 116.8 148.73 1.839 2262 -3.2 0.330 - - - - - - 13.95 14.02 12.94
11973 976.8 10.3 593 11979 done 0.61 - - 2419 - 2.50 0.060 2222 -559.6 116.8 - - 2237 - - - - - - - - 14.34 14.25 14.37
12288 946.2 9.6 603 12293 roll 0.55 0.15 0.269 2381 -253.3 2.58 0.084 3612 538.8 116.8 - - 2231 - - - - - - - - 14.00 14.24 14.16
12420 934.4 8.5 622 12425 done 0.55 - - 2390 - 2.50 0.057 2194 -567.2 116.8 - - 2231 - - - - - - - - 14.43 14.34 14.47
12737 909.4 8.1 632 12741 roll 0.55 - - 2401 - 2.58 0.073 790 -544.2 116.8 - - 2229 - - - - - - - - 14.81 14.22 14.83
12848 900.7 7.6 648 12852 done 0.55 - - 2400 - 2.55 0.059 2194 550.6 116.8 - - 2228 - - - - - - - - 14.40 14.28 14.45
13184 873.9 8.0 661 13190 roll 0.55 - - 2401 - 2.60 0.088 3613 545.8 116.8 - - 2227 - - - - - - - - 14.79 14.15 14.81
13218 870.6 9.9 666 13223 done 0.49 0.20 0.259 2365 -180.0 2.50 0.057 2193 -568.0 116.8 - - 2227 - - - - - - - - 13.84 14.29 14.19
13576 848.1 6.2 675 13608 roll 0.51 - - 2375 - 2.53 0.073 792 -553.8 142.9 27.17 1.806 2152 -2.8 0.246 - - - - - - 14.80 14.37 13.31
13681 841.8 6.1 690 13727 done 0.53 - - 2375 - 2.55 0.058 2195 550.2 172.7 39.97 1.733 2029 -3.1 0.284 - - - - - - 14.42 14.31 13.21
14081 816.0 6.5 705 14106 roll 0.54 - - 2375 - 2.62 0.089 3609 539.7 191.9 20.88 1.759 1953 -3.6 0.321 - - - - - - 14.71 14.31 13.31
14150 811.1 7.9 715 14154 done 0.54 - - 2385 - 2.50 0.054 2184 -570.0 191.9 - - 1942 - - - - - - - - 14.42 14.33 14.45
14472 787.2 7.7 726 14476 roll 0.54 - - 2395 - 2.53 0.071 795 -549.0 191.9 - - 1935 - - - - - - - - 14.76 14.24 14.78
14576 778.8 8.1 741 14583 done 0.54 - - 2395 - 2.55 0.057 2183 544.3 191.9 - - 1936 - - - - - - - - 14.28 14.21 14.33
14921 748.8 9.0 748 14925 roll 0.54 - - 2395 - 2.60 0.086 3614 550.4 191.9 - - 1936 - - - - - - - - 14.80 14.18 14.81
14981 742.4 10.4 757 14988 done 0.54 - - 2405 - 2.53 0.055 2178 -567.6 191.9 - - 1935 - - - - - - - - 14.38 14.28 14.44
15312 709.3 10.2 769 15317 roll 0.54 0.12 0.261 2382 -191.7 2.53 0.071 796 -546.2 191.9 - - 1934 - - - - - - - - 13.99 14.18 14.11
15403 701.3 8.5 782 15408 done 0.59 - - 2383 - 2.50 0.057 2184 555.2 191.9 - - 1933 - - - - - - - - 14.35 14.25 14.41
15759 671.2 8.4 791 15764 roll 0.59 - - 2382 - 2.60 0.085 3606 546.9 191.9 - - 1934 - - - - - - - - 14.79 14.12 14.81
15830 664.8 8.9 801 15835 done 0.59 - - 2391 - 2.53 0.054 2171 -567.2 191.9 - - 1933 - - - - - - - - 14.36 14.26 14.41
16152 637.7 8.5 812 16157 roll 0.59 - - 2401 - 2.53 0.072 791 -545.5 191.9 - - 1933 - - - - - - - - 14.82 14.14 14.84
16234 630.8 8.0 824 16240 done 0.59 - - 2401 - 2.53 0.057 2184 550.6 191.9 - - 1933 - - - - - - - - 14.33 14.16 14.37
16601 600.7 8.2 834 16610 roll 0.59 - - 2401 - 2.60 0.085 3614 550.0 191.9 - - 1932 - - - - - - - - 14.81 14.06 14.83
16660 595.0 9.5 842 16664 done 0.59 - - 2410 - 2.55 0.055 2173 -565.1 191.9 - - 1932 - - - - - - - - 14.33 14.23 14.38
16997 564.6 9.1 855 17002 roll 0.59 - - 2420 - 2.55 0.071 784 -544.7 191.9 - - 1932 - - - - - - - - 14.81 14.08 14.82
17079 557.1 8.7 867 17084 done 0.59 - - 2419 - 2.53 0.057 2174 549.4 191.9 - - 1934 - - - - - - - - 14.27 14.14 14.33
17444 522.3 9.7 877 17450 roll 0.59 - - 2420 - 2.62 0.085 3607 546.9 191.9 - - 1932 - - - - - - - - 14.81 14.02 14.83
17528 513.6 10.4 889 17534 done 0.59 0.15 0.243 2394 -173.3 2.53 0.053 2171 -567.6 191.9 - - 1930 - - - - - - - - 13.83 14.20 14.12
17892 484.6 7.9 899 17897 roll 0.59 - - 2404 - 2.55 0.070 791 -541.2 191.9 - - 1932 - - - - - - - - 14.77 14.07 14.78
17948 480.3 7.6 907 17953 done 0.59 - - 2404 - 2.55 0.056 2182 545.5 191.9 - - 1932 - - - - - - - - 14.27 14.17 14.33
18285 453.9 7.8 920 18290 roll 0.59 - - 2404 - 2.65 0.084 3614 540.4 191.9 - - 1932 - - - - - - - - 14.76 14.01 14.76
18340 448.9 9.0 928 18344 done 0.59 - - 2412 - 2.58 0.054 2169 -560.1 191.9 - - 1932 - - - - - - - - 14.28 14.17 14.33
18676 421.0 8.3 941 18681 roll 0.59 - - 2421 - 2.55 0.068 786 -542.4 191.9 - - 1932 - - - - - - - - 14.81 14.03 14.82
18733 416.3 8.3 949 18739 done 0.59 0.12 0.246 2394 -225.0 2.55 0.056 2180 546.7 191.9 - - 1931 - - - - - - - - 13.81 14.12 14.09
19068 391.0 7.5 962 19073 roll 0.59 - - 2394 - 2.65 0.083 3614 541.1 191.9 - - 1931 - - - - - - - - 14.76 13.94 14.78
19145 384.3 8.8 973 19151 done 0.59 - - 2402 - 2.53 0.053 2185 -564.8 191.9 - - 1932 - - - - - - - - 14.28 14.18 14.33
19460 359.6 7.8 983 19465 roll 0.59 - - 2410 - 2.58 0.067 791 -540.3 191.9 - - 1932 - - - - - - - - 14.76 14.01 14.78
19543 353.0 7.8 995 19549 done 0.59 - - 2410 - 2.53 0.055 2178 548.2 191.9 - - 1931 - - - - - - - - 14.19 14.06 14.26
19909 321.9 8.8 1005 19915 roll 0.59 - - 2410 - 2.65 0.083 3611 540.8 191.9 - - 1931 - - - - - - - - 14.76 13.95 14.77
19991 313.8 9.6 1017 19997 done 0.59 - - 2420 - 2.53 0.051 2180 -565.6 191.9 - - 1932 - - - - - - - - 14.26 14.14 14.31
20356 281.8 8.7 1027 20361 roll 0.59 - - 2430 - 2.58 0.068 782 -541.9 191.9 - - 1932 - - - - - - - - 14.76 14.02 14.78
20426 275.9 8.3 1037 20432 done 0.59 0.15 0.233 2394 -240.0 2.55 0.057 2182 549.0 191.9 - - 1931 - - - - - - - - 13.76 14.09 14.05
20748 254.8 6.4 1048 20781 roll 0.60 - - 2395 - 2.58 0.083 3617 556.2 214.7 27.02 1.164 1858 -2.7 0.112 - - - - - - 14.76 14.33 13.47
20853 247.1 7.9 1063 20859 done 0.60 - - 2403 - 2.55 0.052 2167 -568.6 214.7 - - 1849 - - - - - - - - 14.42 14.33 14.45
21196 221.1 7.7 1070 21201 roll 0.60 - - 2404 - 2.53 0.069 788 -545.1 214.7 - - 1847 - - - - - - - - 14.73 14.15 14.76
21279 214.8 7.5 1082 21285 done 0.66 - - 2405 - 2.53 0.054 2186 552.6 214.7 - - 1846 - - - - - - - - 14.35 14.23 14.40
21645 188.3 7.1 1092 21650 roll 0.66 - - 2405 - 2.58 0.079 3609 551.6 219.7 - - 1846 - - - - - - - - 14.78 14.09 14.80
21701 183.7 8.4 1100 21705 done 0.66 - - 2412 - 2.53 0.049 2169 -569.2 219.7 - - 1846 - - - - - - - - 14.35 14.26 14.38
22038 158.3 7.5 1113 22043 roll 0.66 - - 2420 - 2.50 0.067 798 -548.4 219.7 - - 1846 - - - - - - - - 14.80 14.12 14.81
22106 153.2 7.4 1123 22111 done 0.71 - - 2421 - 2.53 0.054 2180 546.2 219.7 - - 1849 - - - - - - - - 14.19 14.13 14.23
22429 126.9 8.2 1134 22433 roll 0.71 - - 2421 - 2.60 0.080 3605 548.1 219.7 - - 1847 - - - - - - - - 14.77 14.03 14.81
22492 120.9 9.5 1143 22497 done 0.71 - - 2429 - 2.50 0.049 2174 -572.4 219.7 - - 1846 - - - - - - - - 14.34 14.25 14.38
22821 94.8 7.6 1156 22825 roll 0.71 - - 2436 - 2.53 0.067 794 -545.5 219.7 - - 1847 - - - - - - - - 14.76 14.07 14.78
22869 91.7 6.4 1163 22890 done 0.73 - - 2436 - 2.55 0.054 2191 547.8 242.9 16.17 0.376 1750 -6.0 0.278 - - - - - - 14.19 14.05 13.85
23214 69.2 6.5 1179 23233 done 0.74 - - 2437 - - - 2191 - 263.6 16.27 0.318 1668 -5.0 0.208 - - - - - - 14.78 14.31 13.93
23549 50.5 4.6 1194 23605 roll 0.88 0.12 0.131 2500 525.0 2.58 0.062 786 -544.6 327.8 45.05 0.282 1403 -5.9 0.200 - - - - - - 14.35 14.37 14.03
23709 43.3 4.6 1217 23759 done 1.03 - - 2500 - 2.47 0.050 2171 560.7 394.1 44.95 0.261 1133 -6.0 0.189 - - - - - - 14.33 14.22 14.05
24078 20.8 6.8 1236 24094 roll 1.20 0.22 0.099 2605 477.3 2.50 0.059 785 -554.4 407.7 10.48 0.182 1075 -5.5 0.120 - - - - - - 14.26 14.07 13.90
24171 12.2 9.3 1250 24177 done 1.20 - - 2605 - 2.53 0.054 2190 555.3 407.7 - - 1081 - - - - - - - - 14.31 14.19 14.35
24266 end climb: SURFACE_DEPTH_REACHED
24266 begin surface coast
24294 end surface coast: CONTROL_FINISHED_OK
24294 begin surface
SM 0.85 - - - - -6.15 6.95 0.060 208 29.9 0.17 0.106 2309 7523.5 500.17 59.90 0.136 700 11.7 -0.007 - - - - - -