SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 529 * Raw log
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• Previous call tries 1 • 207.69 of 350.00 AH used of 24V (40.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 18 s • Transponder ping count: 13
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 111 VBD -0.68 - - 190 - - - 2258 - -116.8 -84.62 - 2781 - - - - - - - - 14.66 - 14.67
114 3.1 -3.8 3 138 roll -0.68 9.18 0.402 1981 195.1 2.67 2.028 892 -511.6 -116.8 -8.85 - 3215 -49.0 - - - - - - - 13.81 13.17 14.27
226 32.1 -23.5 19 232 done -0.50 0.28 0.279 2035 192.9 2.45 0.057 2265 560.4 -116.8 - - 3216 - - - - - - - - 13.93 14.33 14.26
561 74.3 -7.9 34 566 roll -0.50 - - 2035 - 2.42 0.048 889 -568.6 -116.8 - - 3217 - - - - - - - - 14.78 14.34 14.80
659 81.5 -6.7 48 664 done -0.50 - - 2028 - 2.47 0.053 2294 568.8 -116.8 - - 3217 - - - - - - - - 14.44 14.33 14.47
981 106.2 -8.2 60 986 roll -0.50 - - 2020 - 2.45 0.075 3686 568.2 -116.8 - - 3218 - - - - - - - - 14.82 14.28 14.83
1029 110.5 -9.0 67 1036 done -0.50 - - 2020 - 2.40 0.039 2278 -586.7 -116.8 - - 3217 - - - - - - - - 14.35 14.31 14.40
1374 140.2 -8.8 74 1375 done -0.50 - - 2020 - - - 2278 - -116.8 - - 3217 - - - - - - - - 14.83 14.85 14.85
1709 169.5 -8.8 80 1714 roll -0.50 - - 2020 - 2.42 0.051 892 -572.7 -116.8 - - 3218 - - - - - - - - 14.85 14.33 14.86
1792 177.2 -9.1 92 1798 done -0.50 - - 2016 - 2.47 0.055 2288 565.2 -116.8 - - 3217 - - - - - - - - 14.42 14.30 14.47
2158 210.5 -9.1 102 2163 roll -0.50 - - 2012 - 2.50 0.082 3693 562.0 -116.8 - - 3215 - - - - - - - - 14.87 14.16 14.88
2261 219.5 -8.5 117 2269 done -0.50 - - 2012 - 2.42 0.041 2282 -583.1 -116.8 - - 3214 - - - - - - - - 14.39 14.35 14.42
2605 249.7 -8.9 124 2610 roll -0.50 - - 2012 - 2.45 0.053 884 -570.6 -116.8 - - 3213 - - - - - - - - 14.80 14.30 14.81
2710 259.1 -8.6 139 2716 done -0.50 - - 2012 - 2.47 0.057 2275 563.2 -116.8 - - 3211 - - - - - - - - 14.40 14.28 14.48
3053 288.5 -8.6 146 3058 roll -0.50 - - 2011 - 2.53 0.082 3687 558.1 -116.8 - - 3209 - - - - - - - - 14.84 14.20 14.85
3109 293.3 -8.7 154 3114 done -0.50 - - 2011 - 2.40 0.043 2273 -589.2 -116.8 - - 3211 - - - - - - - - 14.48 14.42 14.51
3446 324.3 -9.3 167 3451 roll -0.50 - - 2011 - 2.45 0.054 889 -564.9 -116.8 - - 3207 - - - - - - - - 14.84 14.28 14.85
3542 333.4 -9.0 181 3548 done -0.50 - - 2011 - 2.53 0.057 2271 546.2 -116.8 - - 3206 - - - - - - - - 14.27 14.20 14.32
3893 364.9 -8.9 189 3899 roll -0.50 - - 2006 - 2.55 0.083 3691 556.9 -116.8 - - 3204 - - - - - - - - 14.87 14.19 14.88
3963 370.7 -8.2 199 3968 done -0.50 0.12 0.219 2036 250.0 2.42 0.044 2260 -591.3 -116.8 - - 3204 - - - - - - - - 14.04 14.39 14.24
4285 392.4 -6.7 210 4290 roll -0.50 - - 2037 - 2.42 0.055 884 -568.6 -116.8 - - 3202 - - - - - - - - 14.87 14.28 14.88
4377 398.6 -6.7 223 4381 done -0.55 - - 2037 - 2.50 0.058 2274 556.0 -116.8 - - 3202 - - - - - - - - 14.37 14.25 14.40
4733 424.7 -7.6 232 4738 roll -0.55 - - 2031 - 2.55 0.083 3693 556.5 -116.8 - - 3200 - - - - - - - - 14.83 14.16 14.85
4767 427.4 -7.9 237 4774 done -0.61 - - 2034 - 2.47 0.044 2260 -580.2 -116.8 - - 3199 - - - - - - - - 14.35 14.31 14.37
5126 454.6 -7.5 246 5131 roll -0.61 - - 2034 - 2.42 0.054 888 -566.9 -116.8 - - 3198 - - - - - - - - 14.83 14.26 14.84
5181 458.8 -7.5 254 5186 done -0.66 0.15 0.126 1972 -413.3 2.50 0.056 2270 552.8 -116.8 - - 3198 - - - - - - - - 14.22 14.22 14.34
5517 492.9 -10.3 267 5522 roll -0.61 0.12 0.252 1995 191.7 2.58 0.080 3687 549.2 -116.8 - - 3195 - - - - - - - - 14.02 14.12 14.12
5560 496.7 -8.8 273 5565 done -0.61 - - 1995 - 2.42 0.046 2278 -582.2 -116.8 - - 3195 - - - - - - - - 14.41 14.36 14.45
5909 528.1 -9.1 281 5915 roll -0.61 - - 1995 - 2.50 0.057 875 -561.2 -116.8 - - 3194 - - - - - - - - 14.86 14.21 14.88
6013 538.0 -9.2 296 6020 done -0.61 - - 1988 - 2.58 0.060 2265 538.8 -116.8 - - 3193 - - - - - - - - 14.16 14.09 14.21
6358 571.9 -10.1 303 6359 done -0.61 - - 1988 - - - 2264 - -116.8 - - 3192 - - - - - - - - 14.82 14.83 14.83
6693 605.5 -9.9 309 6699 roll -0.61 - - 1988 - 2.50 0.055 880 -553.6 -116.8 - - 3191 - - - - - - - - 14.83 14.16 14.84
6720 608.4 -10.3 313 6726 done -0.61 - - 1986 - 2.55 0.061 2269 544.7 -116.8 - - 3191 - - - - - - - - 14.29 14.14 14.34
7086 643.1 -9.4 323 7087 done -0.61 - - 1986 - - - 2269 - -116.8 - - 3189 - - - - - - - - 14.84 14.86 14.85
7421 673.2 -8.9 329 7426 roll -0.61 - - 1980 - 2.62 0.090 3701 546.6 -116.8 - - 3188 - - - - - - - - 14.81 14.02 14.83
7448 675.7 -9.1 333 7455 done -0.61 - - 1980 - 2.50 0.047 2247 -581.6 -116.8 - - 3187 - - - - - - - - 14.36 14.28 14.40
7813 708.0 -8.9 343 7818 roll -0.61 - - 1980 - 2.45 0.060 888 -554.7 -116.8 - - 3187 - - - - - - - - 14.85 14.12 14.86
7862 712.7 -9.1 350 7868 done -0.61 - - 1973 - 2.55 0.060 2268 541.2 -116.8 - - 3186 - - - - - - - - 14.23 14.10 14.28
8205 744.6 -9.4 357 8211 roll -0.61 - - 1972 - 2.62 0.092 3692 543.5 -116.8 - - 3185 - - - - - - - - 14.84 13.98 14.86
8246 748.6 -9.6 363 8252 done -0.61 0.08 0.210 1994 275.0 2.53 0.048 2266 -563.6 -116.8 - - 3185 - - - - - - - - 13.78 14.15 13.90
8598 777.5 -8.3 371 8603 roll -0.61 - - 1993 - 2.50 0.062 879 -554.8 -116.8 - - 3184 - - - - - - - - 14.83 14.09 14.84
8694 785.3 -8.2 385 8700 done -0.61 - - 1986 - 2.55 0.062 2263 542.7 -116.8 - - 3183 - - - - - - - - 14.19 14.05 14.24
9045 814.4 -8.3 393 9051 roll -0.61 - - 1983 - 2.65 0.093 3699 541.9 -116.8 - - 3182 - - - - - - - - 14.80 13.93 14.81
9102 818.9 -7.0 401 9108 done -0.61 - - 1984 - 2.53 0.047 2252 -571.9 -116.8 - - 3181 - - - - - - - - 14.31 14.21 14.34
9438 846.3 -8.0 414 9442 roll -0.61 - - 1983 - 2.47 0.059 881 -555.1 -116.8 - - 3182 - - - - - - - - 14.79 14.04 14.81
9493 850.9 -8.2 422 9498 done -0.61 - - 1983 - 2.58 0.063 2261 534.9 -116.8 - - 3181 - - - - - - - - 14.19 14.05 14.25
9831 877.7 -8.0 435 9835 roll -0.61 - - 1979 - 2.65 0.090 3692 540.0 -116.8 - - 3184 - - - - - - - - 14.81 13.95 14.80
9891 882.9 -8.3 444 9897 done -0.61 - - 1979 - 2.50 0.047 2260 -572.8 -116.8 - - 3180 - - - - - - - - 14.23 14.13 14.27
10221 911.0 -8.4 456 10226 roll -0.61 - - 1979 - 2.50 0.057 877 -553.2 -116.8 - - 3178 - - - - - - - - 14.83 14.03 14.85
10264 914.8 -6.9 462 10269 done -0.61 - - 1973 - 2.58 0.062 2265 538.0 -116.8 - - 3178 - - - - - - - - 14.15 14.01 14.20
10613 946.0 -9.0 470 10618 roll -0.61 - - 1972 - 2.67 0.093 3695 535.6 -116.8 - - 3178 - - - - - - - - 14.79 13.87 14.81
10675 951.6 -8.9 479 10681 done -0.61 0.12 0.236 1999 225.0 2.53 0.049 2253 -570.0 -116.8 - - 3178 - - - - - - - - 13.77 14.16 14.00
11006 977.3 -7.8 491 11011 roll -0.61 - - 1999 - 2.47 0.057 884 -554.3 -116.8 - - 3177 - - - - - - - - 14.77 14.00 14.78
11054 981.3 -8.0 498 11060 done -0.61 - - 2000 - 2.60 0.061 2290 540.8 -116.8 - - 3177 - - - - - - - - 14.08 13.91 14.14
11170 end dive: TARGET_DEPTH_EXCEEDED
11170 begin apogee
11179 990.5 -7.7 501 11334 roll -0.19 0.50 0.203 2133 266.0 - - 2191 - - 152.82 1.807 2739 -2.9 0.298 - - - - - - 13.62 13.92 12.96
11336 end apogee: CONTROL_FINISHED_OK
11336 begin climb
11340 995.1 - 503 11499 roll 0.68 0.90 0.142 2408 305.6 2.55 0.061 812 -540.8 116.8 149.85 1.842 2257 -3.2 0.330 - - - - - - 13.93 14.02 12.92
11646 980.9 6.7 554 11659 done 0.69 - - 2408 - 2.55 0.060 2208 547.5 131.0 7.70 1.733 2208 -6.4 0.684 - - - - - - 14.35 14.25 13.06
12018 953.7 7.4 565 12023 roll 0.69 - - 2418 - 2.55 0.066 809 -548.6 131.0 - - 2207 - - - - - - - - 14.74 14.28 14.75
12158 943.9 6.7 585 12191 done 0.69 - - 2418 - 2.55 0.060 2207 548.2 145.8 24.75 1.883 2138 -2.8 0.265 - - - - - - 14.41 14.30 13.29
12525 915.5 8.0 602 12530 roll 0.65 - - 2418 - 2.53 0.086 3612 555.3 145.8 - - 2125 - - - - - - - - 14.71 14.23 14.73
12572 910.7 9.8 609 12580 done 0.58 0.17 0.269 2388 -176.5 2.45 0.054 2210 -572.2 145.8 - - 2123 - - - - - - - - 13.97 14.34 14.30
12917 884.0 8.0 616 12921 roll 0.58 - - 2394 - 2.58 0.070 798 -547.3 145.8 - - 2123 - - - - - - - - 14.76 14.25 14.78
13020 875.3 8.3 631 13026 done 0.58 - - 2398 - 2.55 0.057 2198 549.0 145.8 - - 2122 - - - - - - - - 14.39 14.27 14.45
13363 843.5 9.5 638 13368 roll 0.58 - - 2397 - 2.60 0.088 3615 545.0 145.8 - - 2121 - - - - - - - - 14.78 14.15 14.81
13419 837.6 10.6 646 13424 done 0.58 - - 2408 - 2.50 0.057 2204 -564.4 145.8 - - 2121 - - - - - - - - 14.40 14.30 14.45
13756 804.4 10.0 659 13761 roll 0.58 - - 2418 - 2.60 0.072 788 -544.6 145.8 - - 2121 - - - - - - - - 14.81 14.16 14.82
13859 794.3 9.5 674 13866 done 0.58 0.08 0.211 2389 -362.5 2.60 0.060 2192 540.0 145.8 - - 2120 - - - - - - - - 13.85 14.13 14.17
14203 766.1 8.1 681 14209 roll 0.58 - - 2389 - 2.60 0.087 3608 544.6 145.8 - - 2117 - - - - - - - - 14.78 14.09 14.81
14280 759.0 9.2 692 14285 done 0.58 - - 2397 - 2.47 0.054 2192 -573.3 145.8 - - 2120 - - - - - - - - 14.35 14.25 14.40
14595 732.2 8.4 702 14600 roll 0.58 - - 2405 - 2.58 0.071 791 -543.0 145.8 - - 2120 - - - - - - - - 14.81 14.12 14.83
14699 723.7 7.8 717 14707 done 0.58 - - 2400 - 2.60 0.058 2192 538.8 145.8 - - 2119 - - - - - - - - 14.15 14.08 14.21
15045 695.8 8.2 724 15049 roll 0.58 - - 2405 - 2.62 0.086 3627 547.7 145.8 - - 2119 - - - - - - - - 14.78 14.06 14.78
15105 690.0 9.2 733 15111 done 0.58 - - 2414 - 2.53 0.053 2188 -568.8 145.8 - - 2118 - - - - - - - - 14.32 14.20 14.37
15436 663.0 8.2 745 15442 roll 0.58 - - 2425 - 2.58 0.070 794 -540.3 145.8 - - 2119 - - - - - - - - 14.75 14.09 14.78
15525 655.8 7.8 758 15531 done 0.58 0.15 0.249 2393 -213.3 2.58 0.057 2207 547.7 145.8 - - 2118 - - - - - - - - 13.76 14.13 14.10
15883 631.6 6.7 767 15895 roll 0.59 - - 2392 - 2.53 0.086 3608 553.8 160.5 6.12 1.518 2089 -4.7 0.374 - - - - - - 14.77 14.37 13.32
15960 625.6 8.0 778 15967 done 0.59 - - 2401 - 2.45 0.052 2186 -580.4 160.5 2.20 0.422 2084 -2.3 0.640 - - - - - - 14.51 14.41 12.98
16324 597.3 7.9 788 16329 roll 0.59 - - 2411 - 2.53 0.068 798 -548.6 160.5 - - 2092 - - - - - - - - 14.79 14.16 14.81
16415 590.1 7.9 801 16421 done 0.59 - - 2416 - 2.53 0.055 2191 550.6 160.5 - - 2092 - - - - - - - - 14.35 14.23 14.38
16773 559.5 8.7 810 16777 roll 0.59 - - 2411 - 2.60 0.084 3613 546.9 160.5 - - 2092 - - - - - - - - 14.77 14.06 14.80
16849 551.9 9.9 821 16855 done 0.59 0.12 0.256 2392 -158.3 2.50 0.054 2189 -569.6 160.5 - - 2092 - - - - - - - - 13.88 14.19 14.12
17166 526.0 8.2 831 17171 roll 0.59 - - 2402 - 2.55 0.067 794 -547.1 160.5 - - 2092 - - - - - - - - 14.76 14.09 14.78
17248 519.1 8.1 843 17253 done 0.59 - - 2402 - 2.55 0.055 2198 550.6 160.5 - - 2093 - - - - - - - - 14.26 14.14 14.31
17613 490.8 7.7 853 17618 roll 0.59 - - 2402 - 2.60 0.084 3616 545.4 160.5 - - 2092 - - - - - - - - 14.75 13.90 14.78
17683 485.0 8.4 863 17688 done 0.59 - - 2412 - 2.50 0.054 2193 -569.2 160.5 - - 2092 - - - - - - - - 14.28 14.19 14.32
18005 461.3 7.3 874 18011 roll 0.59 - - 2420 - 2.60 0.068 787 -540.8 161.7 2.35 0.511 2079 -5.5 0.948 - - - - - - 14.80 14.25 13.16
18082 455.8 7.0 885 18109 done 0.59 - - 2420 - 2.55 0.056 2195 552.2 169.4 19.08 1.467 2044 -1.8 0.108 - - - - - - 14.33 14.21 13.40
18446 425.5 8.5 895 18451 roll 0.59 - - 2419 - 2.58 0.085 3614 550.0 169.4 - - 2034 - - - - - - - - 14.73 14.16 14.75
18550 415.8 9.2 910 18557 done 0.59 0.15 0.245 2394 -166.7 2.53 0.052 2184 -565.2 169.4 - - 2033 - - - - - - - - 13.91 14.22 14.21
18895 391.5 7.1 917 18901 roll 0.60 - - 2404 - 2.60 0.065 785 -538.1 175.5 1.50 0.190 2021 -8.0 3.130 - - - - - - 14.74 14.19 13.95
18985 385.0 7.2 930 18992 done 0.60 - - 2404 - 2.55 0.056 2192 551.8 178.7 2.88 0.759 2010 -3.8 0.368 - - - - - - 14.32 14.20 13.26
19337 358.5 7.7 938 19343 roll 0.60 - - 2404 - 2.65 0.083 3611 535.5 178.7 1.60 0.189 2011 - - - - - - - - 14.76 14.17 14.00
19405 352.1 9.1 948 19411 done 0.60 - - 2413 - 2.50 0.050 2185 -570.4 178.7 - - 2018 - - - - - - - - 14.35 14.23 14.38
19722 326.5 8.1 958 19726 roll 0.60 - - 2420 - 2.55 0.065 795 -545.1 178.7 - - 2019 - - - - - - - - 14.76 14.11 14.78
19798 320.6 7.5 969 19804 done 0.60 - - 2420 - 2.53 0.054 2191 551.8 178.7 1.83 0.185 2009 -5.5 1.798 - - - - - - 14.28 14.16 13.96
20113 297.3 7.3 979 20118 roll 0.60 - - 2420 - 2.60 0.081 3613 546.9 178.7 - - 2019 - - - - - - - - 14.79 13.95 14.81
20175 292.3 8.1 988 20182 done 0.60 0.15 0.239 2394 -173.3 2.50 0.049 2189 -569.6 178.7 1.83 0.181 2009 -5.5 1.675 - - - - - - 13.83 14.18 13.93
20509 272.7 6.0 1000 20575 roll 0.62 - - 2403 - 2.58 0.066 800 -538.4 210.5 60.60 1.166 1876 -2.2 0.097 - - - - - - 14.76 14.27 13.47
20649 263.1 7.3 1020 20653 done 0.67 - - 2403 - 2.50 0.054 2189 555.6 211.1 - - 1865 - - - - - - - - 14.35 14.25 14.39
21011 236.2 7.3 1030 21016 roll 0.67 - - 2403 - 2.58 0.080 3609 550.4 211.8 - - 1863 - - - - - - - - 14.74 14.12 14.76
21073 231.0 8.3 1039 21078 done 0.67 - - 2410 - 2.47 0.049 2190 -574.5 211.8 - - 1860 - - - - - - - - 14.25 14.14 14.28
21404 204.8 8.1 1051 21409 roll 0.67 - - 2410 - 2.55 0.068 797 -546.3 211.8 - - 1862 - - - - - - - - 14.76 14.14 14.78
21479 198.7 8.1 1062 21484 done 0.73 - - 2410 - 2.53 0.053 2195 552.6 211.8 - - 1862 - - - - - - - - 14.31 14.19 14.36
21795 174.6 7.6 1072 21800 roll 0.73 - - 2410 - 2.58 0.080 3609 548.1 211.8 - - 1861 - - - - - - - - 14.76 14.07 14.78
21879 167.3 8.7 1084 21884 done 0.73 - - 2419 - 2.47 0.049 2187 -575.7 211.8 - - 1862 - - - - - - - - 14.35 14.25 14.39
22243 137.5 8.2 1094 22248 roll 0.73 - - 2419 - 2.55 0.068 794 -546.3 211.8 - - 1861 - - - - - - - - 14.81 14.01 14.83
22327 131.0 7.6 1106 22332 done 0.77 - - 2419 - 2.53 0.054 2195 553.8 211.8 - - 1861 - - - - - - - - 14.30 14.18 14.35
22691 100.2 8.6 1116 22695 roll 0.77 - - 2419 - 2.58 0.080 3616 550.8 211.8 - - 1861 - - - - - - - - 14.78 14.04 14.78
22795 91.8 7.6 1131 22802 done 0.77 - - 2428 - 2.55 0.051 2188 -560.0 211.8 - - 1861 - - - - - - - - 14.16 14.10 14.32
23112 73.0 5.1 1143 23151 roll 0.80 - - 2431 - 2.50 0.067 797 -556.4 265.6 32.97 0.347 1662 -6.0 0.241 - - - - - - 14.74 14.37 13.94
23226 65.9 6.9 1159 23243 done 0.90 0.17 0.107 2500 405.9 2.50 0.052 2189 556.8 276.2 9.57 0.288 1615 -4.9 0.213 - - - - - - 14.28 14.28 13.88
23563 45.5 3.5 1174 23633 roll 1.00 - - 2500 - 2.55 0.060 787 -549.8 367.3 62.03 0.271 1242 -6.0 0.192 - - - - - - 14.67 14.33 14.02
23727 37.7 6.0 1198 23756 done 1.15 0.22 0.091 2589 404.5 2.50 0.050 2180 557.2 399.2 23.38 0.239 1112 -5.6 0.167 - - - - - - 14.28 14.23 13.98
24062 end climb: SURFACE_DEPTH_REACHED
24062 begin surface coast
24087 end surface coast: CONTROL_FINISHED_OK
24087 begin surface
SM 0.74 - - - - -6.14 7.05 0.076 220 31.2 0.17 0.095 2306 -53670.6 500.41 64.80 0.136 698 10.8 -0.006 - - - - - -