SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 654 * Raw log
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• Previous call tries 2 • 251.83 of 350.00 AH used of 24V (28.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 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: 36 s
• GPS2 time: 14 s • Transponder ping count: 28
• 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 - - 193 - - - 2315 - -116.8 -89.68 - 3016 - - - - - - - - 14.62 - 14.64
104 3.9 -5.3 3 129 roll -0.68 9.10 0.402 1962 194.4 2.70 2.065 3688 508.5 -116.8 -3.45 - 3222 -59.7 - - - - - - - 13.76 12.78 14.04
142 23.0 -38.8 9 149 done -0.20 0.62 0.236 2128 267.7 2.42 0.043 2274 -584.3 -116.8 - - 3222 - - - - - - - - 13.95 14.33 14.24
471 64.5 -12.3 22 476 roll -0.20 - - 2128 - 2.47 0.053 879 -564.8 -116.8 - - 3222 - - - - - - - - 14.78 14.17 14.79
539 74.4 -12.6 32 544 done -0.25 - - 2128 - 2.50 0.058 2271 556.8 -116.8 - - 3221 - - - - - - - - 14.31 14.20 14.35
867 94.2 -4.4 45 873 roll -0.36 0.12 0.129 2056 -600.0 2.55 0.073 3687 555.3 -116.8 - - 3223 - - - - - - - - 14.39 14.04 14.38
1046 101.6 -4.9 69 1052 done -0.41 - - 2056 - 2.38 0.040 2265 -597.5 -116.8 - - 3224 - - - - - - - - 14.31 14.22 14.34
1386 122.3 -6.3 82 1391 roll -0.41 - - 2056 - 2.47 0.053 889 -557.1 -116.8 - - 3223 - - - - - - - - 14.87 14.02 14.87
1446 126.7 -7.4 90 1451 done -0.46 - - 2057 - 2.50 0.053 2278 555.6 -116.8 - - 3223 - - - - - - - - 14.21 14.10 14.26
1785 148.3 -6.5 103 1790 roll -0.46 - - 2056 - 2.60 0.078 3699 546.5 -116.8 - - 3223 - - - - - - - - 14.88 13.90 14.89
1902 156.2 -7.1 119 1907 done -0.53 - - 2056 - 2.42 0.037 2268 -591.3 -116.8 - - 3223 - - - - - - - - 14.28 14.21 14.30
2241 181.0 -7.4 132 2246 roll -0.58 0.12 0.134 1994 -516.7 2.45 0.050 906 -555.9 -116.8 - - 3221 - - - - - - - - 14.38 13.96 14.37
2308 187.7 -9.7 142 2314 done -0.58 - - 1988 - 2.50 0.054 2288 552.8 -116.8 - - 3220 - - - - - - - - 14.14 14.02 14.19
2637 219.2 -9.7 153 2643 roll -0.58 - - 1985 - 2.58 0.080 3693 544.6 -116.8 - - 3218 - - - - - - - - 14.87 13.87 14.88
2720 227.4 -9.0 165 2726 done -0.58 - - 1984 - 2.40 0.041 2301 -580.0 -116.8 - - 3218 - - - - - - - - 14.17 14.07 14.21
3090 262.4 -9.7 175 3094 roll -0.58 - - 1984 - 2.58 0.052 882 -550.0 -116.8 - - 3216 - - - - - - - - 14.88 13.90 14.90
3166 270.3 -9.9 186 3171 done -0.58 - - 1984 - 2.58 0.057 2290 545.7 -116.8 - - 3215 - - - - - - - - 14.09 13.97 14.14
3485 302.8 -10.5 196 3490 roll -0.58 - - 1974 - 2.60 0.080 3693 539.6 -116.8 - - 3214 - - - - - - - - 14.88 13.88 14.90
3588 314.4 -10.7 211 3600 done -0.58 0.10 0.190 2005 310.0 2.50 0.041 2282 -564.4 -116.8 - - 3213 - - - - - - - - 13.57 13.94 13.71
3938 345.0 -8.7 218 3944 roll -0.58 - - 2004 - 2.53 0.052 888 -551.0 -116.8 - - 3211 - - - - - - - - 14.88 13.85 14.88
4028 353.0 -8.0 231 4034 done -0.58 - - 1999 - 2.55 0.054 2283 547.1 -116.8 - - 3210 - - - - - - - - 14.07 13.93 14.12
4392 383.8 -8.7 240 4397 roll -0.58 - - 1998 - 2.62 0.082 3689 536.6 -116.8 - - 3208 - - - - - - - - 14.87 13.86 14.89
4516 394.9 -8.2 258 4522 done -0.58 - - 1999 - 2.50 0.041 2279 -564.0 -116.8 - - 3207 - - - - - - - - 14.00 13.97 14.04
4843 424.6 -9.4 269 4849 roll -0.58 - - 1999 - 2.53 0.052 894 -547.4 -116.8 - - 3205 - - - - - - - - 14.88 13.83 14.90
4934 433.7 -9.6 282 4939 done -0.58 - - 1999 - 2.58 0.054 2289 540.7 -116.8 - - 3205 - - - - - - - - 14.06 13.93 14.11
5295 469.4 -10.1 291 5300 roll -0.58 - - 1998 - 2.62 0.084 3699 538.2 -116.8 - - 3203 - - - - - - - - 14.88 13.85 14.90
5355 475.2 -9.7 299 5360 done -0.58 - - 1997 - 2.50 0.041 2270 -571.6 -116.8 - - 3202 - - - - - - - - 14.14 14.07 14.17
5695 507.7 -9.6 312 5699 roll -0.58 - - 1997 - 2.53 0.056 889 -545.8 -116.8 - - 3201 - - - - - - - - 14.87 13.80 14.88
5776 516.0 -9.2 324 5782 done -0.58 - - 1997 - 2.58 0.056 2287 541.9 -116.8 - - 3200 - - - - - - - - 14.06 13.93 14.11
6146 550.0 -9.3 334 6151 roll -0.58 - - 1987 - 2.62 0.083 3689 535.1 -116.8 - - 3199 - - - - - - - - 14.88 13.88 14.89
6215 556.5 -8.8 344 6219 done -0.58 - - 1988 - 2.47 0.043 2276 -572.1 -116.8 - - 3198 - - - - - - - - 14.13 14.05 14.16
6541 584.8 -8.8 355 6546 roll -0.58 - - 1988 - 2.53 0.054 887 -549.0 -116.8 - - 3197 - - - - - - - - 14.88 13.78 14.89
6587 589.5 -9.2 362 6599 done -0.58 - - 1986 - 2.62 0.057 2280 531.7 -116.8 - - 3197 - - - - - - - - 13.97 13.92 14.04
6937 622.0 -9.7 369 6942 roll -0.58 - - 1985 - 2.62 0.084 3691 538.5 -116.8 - - 3196 - - - - - - - - 14.86 13.90 14.88
7020 630.3 -8.9 381 7026 done -0.58 - - 1985 - 2.50 0.044 2276 -566.0 -116.8 - - 3195 - - - - - - - - 14.09 14.01 14.13
7389 665.3 -9.7 391 7394 roll -0.58 - - 1985 - 2.55 0.056 892 -542.7 -116.8 - - 3194 - - - - - - - - 14.87 13.77 14.89
7507 677.3 -10.0 408 7512 done -0.58 - - 1985 - 2.60 0.057 2280 533.8 -116.8 - - 3193 - - - - - - - - 14.07 13.94 14.12
7841 712.4 -10.9 420 7846 roll -0.58 - - 1984 - 2.65 0.085 3696 534.3 -116.8 - - 3192 - - - - - - - - 14.86 13.89 14.88
7902 719.3 -11.1 429 7908 done -0.58 - - 1985 - 2.53 0.043 2261 -567.2 -116.8 - - 3192 - - - - - - - - 14.09 14.00 14.12
8236 755.2 -10.7 441 8242 roll -0.58 - - 1985 - 2.50 0.054 894 -546.8 -116.8 - - 3191 - - - - - - - - 14.86 13.80 14.88
8296 761.4 -11.5 449 8301 done -0.58 - - 1984 - 2.58 0.057 2275 535.3 -116.8 - - 3190 - - - - - - - - 14.04 13.92 14.10
8636 793.8 -9.4 462 8641 roll -0.58 - - 1984 - 2.67 0.088 3692 530.7 -116.8 - - 3189 - - - - - - - - 14.85 13.90 14.87
8704 799.8 -8.5 472 8710 done -0.58 - - 1984 - 2.50 0.044 2280 -564.8 -116.8 - - 3189 - - - - - - - - 14.09 14.01 14.12
9032 827.9 -8.6 483 9036 roll -0.58 - - 1984 - 2.58 0.054 887 -539.9 -116.8 - - 3187 - - - - - - - - 14.85 13.83 14.88
9072 831.2 -6.9 489 9078 done -0.58 - - 1984 - 2.60 0.058 2280 535.8 -116.8 - - 3187 - - - - - - - - 14.05 13.92 14.11
9426 860.8 -8.3 497 9432 roll -0.58 - - 1979 - 2.67 0.086 3697 530.7 -116.8 - - 3186 - - - - - - - - 14.86 13.92 14.88
9502 866.9 -7.1 508 9508 done -0.58 0.12 0.224 2007 233.3 2.53 0.044 2272 -563.2 -116.8 - - 3186 - - - - - - - - 13.64 14.03 13.86
9826 890.4 -7.2 518 9831 roll -0.58 - - 2007 - 2.55 0.058 892 -541.2 -116.8 - - 3186 - - - - - - - - 14.83 13.86 14.84
9886 894.9 -8.8 527 9892 done -0.58 - - 2005 - 2.62 0.057 2274 527.5 -116.8 - - 3185 - - - - - - - - 13.92 13.85 13.98
10221 920.2 -7.6 539 10226 roll -0.58 - - 1999 - 2.70 0.088 3701 528.5 -116.8 - - 3184 - - - - - - - - 14.85 13.91 14.88
10304 926.2 -4.9 551 10309 done -0.63 - - 1999 - 2.53 0.045 2275 -563.6 -116.8 - - 3183 - - - - - - - - 14.08 14.00 14.12
10673 956.2 -8.1 561 10678 roll -0.63 - - 1998 - 2.60 0.059 888 -533.5 -116.8 - - 3182 - - - - - - - - 14.85 13.84 14.86
10721 960.5 -8.3 568 10732 done -0.63 - - 1999 - 2.65 0.060 2278 524.5 -116.8 - - 3182 - - - - - - - - 13.97 13.90 14.02
11068 987.4 -7.8 575 11073 roll -0.63 - - 1999 - 2.65 0.089 3684 530.6 -116.8 - - 3181 - - - - - - - - 14.85 13.92 14.87
11097 end dive: TARGET_DEPTH_EXCEEDED
11097 begin apogee
11107 990.2 -10.1 580 11304 roll -0.19 0.50 0.196 2132 266.0 - - 2188 - - 193.98 1.599 2740 -2.3 0.270 - - - - - - 13.65 13.92 13.13
11304 end apogee: CONTROL_FINISHED_OK
11304 begin climb
11309 996.1 - 583 11473 roll 0.68 0.95 0.138 2412 294.7 2.62 0.060 792 -532.8 116.8 151.15 1.812 2256 -3.2 0.338 - - - - - - 13.73 13.84 13.04
11536 987.7 7.5 621 11543 done 0.68 - - 2412 - 2.65 0.057 2196 529.8 116.8 - - 2239 - - - - - - - - 14.13 13.95 14.16
11893 959.8 8.3 629 11899 roll 0.63 - - 2412 - 2.60 0.087 3611 544.2 116.8 - - 2232 - - - - - - - - 14.73 14.12 14.75
11933 955.6 9.1 635 11939 done 0.55 0.17 0.263 2382 -176.5 2.50 0.056 2201 -564.0 116.8 - - 2231 - - - - - - - - 13.84 14.23 14.18
12290 931.1 6.9 643 12295 roll 0.55 - - 2393 - 2.60 0.070 800 -538.8 127.0 - - 2230 - - - - - - - - 14.80 14.07 14.81
12386 923.4 6.7 657 12420 done 0.56 - - 2392 - 2.58 0.057 2203 543.8 142.5 26.95 1.812 2153 -2.9 0.279 - - - - - - 14.25 14.12 13.33
12741 898.9 7.3 672 12746 roll 0.56 - - 2393 - 2.60 0.088 3614 542.7 144.2 - - 2140 - - - - - - - - 14.76 14.10 14.78
12782 894.6 10.4 678 12787 done 0.56 - - 2402 - 2.53 0.057 2191 -562.5 144.2 - - 2139 - - - - - - - - 14.33 14.23 14.38
13136 868.4 7.5 686 13141 roll 0.56 - - 2413 - 2.58 0.069 796 -540.7 144.2 - - 2139 - - - - - - - - 14.81 14.05 14.83
13225 861.4 7.4 699 13230 done 0.56 0.12 0.247 2386 -225.0 2.55 0.056 2192 547.5 144.2 - - 2138 - - - - - - - - 13.85 14.14 14.15
13588 838.5 6.4 708 13624 roll 0.58 - - 2385 - 2.58 0.087 3614 551.2 166.1 29.88 1.757 2055 -2.8 0.254 - - - - - - 14.81 14.06 13.39
13709 829.3 8.0 726 13714 done 0.58 - - 2395 - 2.50 0.054 2191 -569.2 166.1 - - 2043 - - - - - - - - 14.36 14.27 14.40
14038 806.0 7.2 737 14045 roll 0.58 - - 2406 - 2.55 0.069 805 -543.5 168.6 - - 2040 - - - - - - - - 14.76 14.08 14.78
14136 798.4 7.0 751 14143 done 0.58 - - 2406 - 2.55 0.057 2205 549.0 176.5 3.10 0.998 2018 -7.1 1.090 - - - - - - 14.29 14.17 13.24
14485 772.4 7.6 758 14490 roll 0.58 - - 2406 - 2.60 0.086 3611 540.8 176.5 - - 2024 - - - - - - - - 14.79 14.05 14.81
14518 768.8 9.3 763 14523 done 0.58 - - 2415 - 2.50 0.054 2195 -566.4 176.5 - - 2025 - - - - - - - - 14.28 14.21 14.34
14880 738.7 8.7 772 14885 roll 0.58 - - 2426 - 2.60 0.069 795 -538.5 176.5 - - 2025 - - - - - - - - 14.80 13.99 14.83
15005 727.2 8.4 790 15011 done 0.58 0.15 0.239 2392 -226.7 2.55 0.056 2186 545.5 176.5 - - 2025 - - - - - - - - 13.80 14.12 14.07
15332 701.2 8.2 801 15338 roll 0.58 - - 2392 - 2.65 0.083 3611 537.7 176.5 - - 2025 - - - - - - - - 14.82 13.94 14.83
15415 692.7 10.2 813 15421 done 0.58 - - 2402 - 2.53 0.051 2190 -561.7 176.5 - - 2025 - - - - - - - - 14.23 14.13 14.26
15786 661.1 8.7 823 15790 roll 0.58 - - 2412 - 2.60 0.067 793 -537.3 176.5 - - 2025 - - - - - - - - 14.81 13.92 14.83
15889 651.8 8.2 838 15900 done 0.58 - - 2412 - 2.62 0.056 2190 533.2 176.5 - - 2025 - - - - - - - - 14.00 13.94 14.06
16237 624.0 8.0 845 16243 roll 0.58 - - 2413 - 2.67 0.083 3618 534.8 176.5 - - 2025 - - - - - - - - 14.83 13.90 14.85
16285 619.3 8.9 852 16297 done 0.58 0.10 0.213 2393 -200.0 2.60 0.053 2190 -549.2 176.5 - - 2025 - - - - - - - - 13.69 13.97 13.85
16633 595.8 6.9 859 16661 roll 0.59 - - 2403 - 2.55 0.068 783 -551.8 187.8 22.55 1.519 1968 -2.5 0.190 - - - - - - 14.82 14.21 13.52
16747 587.7 7.2 875 16751 done 0.59 - - 2403 - 2.55 0.056 2190 551.8 191.8 - - 1959 - - - - - - - - 14.37 14.24 14.40
17085 561.0 7.9 888 17090 roll 0.59 - - 2403 - 2.62 0.083 3614 543.5 191.8 - - 1958 - - - - - - - - 14.78 14.06 14.80
17144 555.6 9.4 896 17149 done 0.59 - - 2412 - 2.55 0.052 2167 -567.5 191.8 - - 1958 - - - - - - - - 14.31 14.21 14.35
17484 525.3 9.0 909 17490 roll 0.59 - - 2422 - 2.53 0.067 796 -541.9 191.8 - - 1958 - - - - - - - - 14.79 14.02 14.81
17600 514.8 8.8 925 17606 done 0.59 0.12 0.246 2394 -233.3 2.53 0.054 2183 548.2 191.8 - - 1957 - - - - - - - - 13.84 14.12 14.09
17941 488.8 7.4 938 17946 roll 0.59 - - 2394 - 2.62 0.081 3605 542.7 191.8 - - 1957 - - - - - - - - 14.81 13.95 14.83
18016 482.3 7.9 949 18022 done 0.59 - - 2403 - 2.58 0.048 2181 -551.9 191.8 - - 1957 - - - - - - - - 14.12 14.08 14.17
18336 458.9 7.5 959 18341 roll 0.59 - - 2411 - 2.58 0.066 789 -539.5 191.8 - - 1957 - - - - - - - - 14.82 13.93 14.84
18440 450.7 7.5 974 18451 done 0.59 - - 2411 - 2.60 0.054 2181 535.4 191.8 - - 1957 - - - - - - - - 14.03 13.99 14.08
18787 424.0 7.8 981 18793 roll 0.59 - - 2411 - 2.65 0.080 3612 540.0 191.8 - - 1956 - - - - - - - - 14.82 13.90 14.84
18848 418.9 8.7 989 18853 done 0.59 - - 2421 - 2.58 0.050 2165 -560.9 191.8 - - 1957 - - - - - - - - 14.19 14.09 14.23
19188 391.2 8.2 1002 19193 roll 0.59 - - 2430 - 2.55 0.064 797 -536.5 191.8 - - 1957 - - - - - - - - 14.81 13.90 14.83
19284 382.7 8.3 1016 19290 done 0.59 0.15 0.233 2395 -233.3 2.53 0.052 2173 543.9 191.8 - - 1957 - - - - - - - - 13.70 14.00 13.97
19641 358.0 7.0 1024 19652 roll 0.60 - - 2395 - 2.58 0.081 3605 555.0 200.1 5.38 1.196 1924 -6.1 0.352 - - - - - - 14.81 14.16 13.52
19716 351.6 8.0 1035 19722 done 0.60 - - 2405 - 2.53 0.047 2179 -563.6 200.1 - - 1930 - - - - - - - - 14.33 14.28 14.36
20037 329.2 7.1 1045 20047 roll 0.60 - - 2407 - 2.50 0.065 793 -554.4 205.1 5.12 1.144 1906 -4.7 0.259 - - - - - - 14.82 14.16 13.53
20125 322.7 7.1 1058 20150 done 0.60 - - 2407 - 2.50 0.054 2180 554.8 210.0 15.95 1.317 1878 -1.8 0.083 - - - - - - 14.39 14.29 13.57
20486 295.5 7.7 1067 20491 roll 0.60 - - 2407 - 2.62 0.080 3608 545.0 210.0 - - 1871 - - - - - - - - 14.78 14.06 14.80
20547 290.3 9.0 1075 20551 done 0.60 - - 2416 - 2.53 0.048 2166 -570.0 210.0 - - 1870 - - - - - - - - 14.31 14.21 14.35
20885 260.8 8.7 1088 20890 roll 0.60 - - 2424 - 2.53 0.064 801 -539.5 210.0 - - 1870 - - - - - - - - 14.81 13.99 14.83
20981 252.1 8.6 1102 20987 done 0.60 - - 2424 - 2.50 0.053 2173 548.8 210.0 - - 1869 - - - - - - - - 14.21 14.09 14.26
21338 223.4 7.9 1110 21343 roll 0.60 - - 2424 - 2.67 0.080 3614 539.7 210.0 - - 1869 - - - - - - - - 14.81 13.93 14.82
21413 216.3 8.6 1121 21419 done 0.60 0.15 0.224 2396 -186.7 2.55 0.050 2172 -565.5 210.0 - - 1869 - - - - - - - - 13.80 14.12 14.07
21733 194.6 7.0 1131 21743 roll 0.61 - - 2398 - 2.55 0.068 797 -539.2 218.6 3.15 0.739 1847 -7.0 0.353 - - - - - - 14.83 14.09 13.48
21828 187.2 7.6 1145 21834 done 0.68 - - 2398 - 2.47 0.052 2173 557.1 218.6 - - 1856 - - - - - - - - 14.31 14.19 14.35
22183 159.5 7.8 1153 22189 roll 0.68 - - 2398 - 2.65 0.080 3604 540.0 218.6 - - 1856 - - - - - - - - 14.83 13.93 14.84
22253 153.5 8.2 1163 22258 done 0.68 - - 2406 - 2.53 0.046 2167 -568.0 218.6 - - 1856 - - - - - - - - 14.21 14.12 14.24
22580 129.6 7.2 1174 22589 roll 0.68 - - 2406 - 2.53 0.066 799 -540.7 221.2 3.08 0.689 1839 -5.5 0.199 - - - - - - 14.83 14.08 13.50
22659 123.8 6.5 1186 22699 done 0.76 0.12 0.137 2460 450.0 2.47 0.051 2164 552.6 240.0 34.75 1.042 1761 -2.2 0.051 - - - - - - 14.16 14.17 13.59
23033 91.9 8.3 1204 23037 roll 0.76 - - 2464 - 2.50 0.060 798 -546.4 240.0 - - 1744 - - - - - - - - 14.76 14.10 14.78
23190 81.1 6.8 1226 23206 done 0.77 - - 2465 - 2.50 0.051 2184 554.4 252.4 5.28 0.259 1720 -4.5 0.273 - - - - - - 14.26 14.15 13.71
23513 60.0 6.0 1239 23541 done 0.84 - - 2464 - - - 2184 - 284.8 25.70 0.304 1577 -5.6 0.211 - - - - - - 14.80 14.28 13.90
23851 49.2 4.8 1251 23905 roll 1.02 0.17 0.100 2554 529.4 2.58 0.075 3611 553.1 344.1 42.25 0.271 1338 -5.7 0.197 - - - - - - 14.26 14.14 13.92
24010 37.1 8.4 1274 24023 done 1.02 0.10 0.217 2533 -210.0 2.58 0.047 2161 -562.0 344.1 - - 1344 - - - - - - - - 13.78 14.11 13.93
24332 16.4 6.7 1286 24359 roll 1.08 - - 2541 - 2.47 0.060 795 -553.0 360.4 12.23 0.167 1270 -6.1 0.114 - - - - - - 14.78 14.11 13.98
24394 11.9 6.8 1295 24408 done 1.15 - - 2541 - 2.45 0.049 2171 561.6 372.7 9.65 0.161 1219 -5.3 0.075 - - - - - - 14.28 14.16 14.02
24522 end climb: SURFACE_DEPTH_REACHED
24522 begin surface coast
24550 end surface coast: CONTROL_FINISHED_OK
24550 begin surface
SM 0.75 - - - - -6.13 6.85 0.066 222 32.4 0.17 0.109 2290 -41717.6 500.17 79.78 0.131 700 8.8 -0.005 - - - - - -