SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 337 * Raw log
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• Previous call tries 2 • 134.75 of 350.00 AH used of 24V (61.50% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 20 s • Transponder ping count: 9
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 201 - - - 2299 - -116.8 -85.05 - 2924 - - - - - - - - 14.69 - 14.71
107 5.3 -7.8 3 123 done -0.68 9.20 0.415 1973 192.6 - - 2299 - -116.8 -4.97 - 3219 -59.4 - - - - - - - 13.95 13.08 14.40
410 73.1 -13.6 14 415 roll -0.52 0.20 0.280 2023 250.0 2.47 0.046 868 -579.4 -116.8 - - 3222 - - - - - - - - 14.02 14.33 14.21
543 84.0 -7.5 33 551 done -0.45 0.12 0.269 2045 183.3 2.42 0.052 2263 576.4 -116.8 - - 3224 - - - - - - - - 14.14 14.41 14.38
859 104.8 -6.8 44 864 roll -0.45 - - 2034 - 2.50 0.075 3693 572.0 -116.8 - - 3227 - - - - - - - - 14.86 14.45 14.88
1063 123.9 -9.4 73 1069 done -0.45 - - 2035 - 2.38 0.040 2256 -603.8 -116.8 - - 3224 - - - - - - - - 14.66 14.63 14.68
1420 155.4 -8.7 82 1421 done -0.45 - - 2035 - - - 2248 - -116.8 - - 3223 - - - - - - - - 14.88 14.90 14.90
1755 183.9 -8.4 88 1760 roll -0.45 - - 2035 - 2.35 0.049 886 -579.6 -116.8 - - 3221 - - - - - - - - 14.92 14.54 14.94
1789 186.9 -8.7 93 1796 done -0.45 - - 2028 - 2.47 0.056 2276 562.8 -116.8 - - 3221 - - - - - - - - 14.63 14.45 14.66
2148 217.7 -8.7 102 2149 done -0.45 - - 2028 - - - 2276 - -116.8 - - 3218 - - - - - - - - 14.90 14.92 14.92
2483 243.7 -7.5 108 2488 roll -0.45 - - 2028 - 2.42 0.050 888 -573.6 -116.8 - - 3217 - - - - - - - - 14.93 14.52 14.95
2524 246.8 -7.4 114 2530 done -0.45 - - 2027 - 2.42 0.058 2272 571.9 -116.8 - - 3217 - - - - - - - - 14.60 14.47 14.64
2875 274.7 -8.4 122 2880 roll -0.45 - - 2020 - 2.50 0.084 3687 566.0 -116.8 - - 3214 - - - - - - - - 14.93 14.45 14.95
2945 281.3 -9.4 132 2950 done -0.45 0.12 0.230 2049 241.7 2.35 0.045 2279 -599.1 -116.8 - - 3214 - - - - - - - - 14.28 14.60 14.50
3267 307.0 -7.8 143 3272 roll -0.45 - - 2050 - 2.42 0.055 879 -578.5 -116.8 - - 3212 - - - - - - - - 14.93 14.51 14.95
3337 312.1 -7.0 153 3343 done -0.45 - - 2050 - 2.47 0.060 2275 565.2 -116.8 - - 3211 - - - - - - - - 14.59 14.47 14.63
3659 332.3 -6.1 164 3660 done -0.45 - - 2050 - - - 2275 - -116.8 - - 3210 - - - - - - - - 14.91 14.93 14.92
3996 352.1 -6.0 170 4000 roll -0.45 - - 2042 - 2.55 0.086 3700 558.8 -116.8 - - 3207 - - - - - - - - 14.93 14.40 14.95
4045 355.4 -6.6 177 4052 done -0.50 - - 2042 - 2.42 0.046 2258 -595.9 -116.8 - - 3206 - - - - - - - - 14.64 14.57 14.66
4387 381.0 -7.7 184 4392 roll -0.50 - - 2043 - 2.40 0.057 896 -567.5 -116.8 - - 3206 - - - - - - - - 14.91 14.47 14.92
4484 389.0 -8.1 198 4490 done -0.50 - - 2043 - 2.45 0.060 2278 564.1 -116.8 - - 3205 - - - - - - - - 14.57 14.42 14.61
4836 416.6 -7.9 206 4841 roll -0.50 - - 2038 - 2.55 0.088 3690 553.7 -116.8 - - 3203 - - - - - - - - 14.92 14.39 14.94
4897 421.5 -7.9 215 4903 done -0.55 - - 2038 - 2.40 0.047 2273 -590.4 -116.8 - - 3203 - - - - - - - - 14.62 14.54 14.64
5227 447.5 -8.0 227 5232 roll -0.55 - - 2038 - 2.45 0.060 882 -567.8 -116.8 - - 3200 - - - - - - - - 14.92 14.39 14.94
5290 452.7 -8.1 236 5295 done -0.55 - - 2037 - 2.47 0.062 2269 561.5 -116.8 - - 3200 - - - - - - - - 14.55 14.42 14.59
5619 476.9 -7.2 248 5624 roll -0.55 - - 2030 - 2.58 0.088 3701 555.0 -116.8 - - 3199 - - - - - - - - 14.90 14.36 14.91
5660 479.9 -7.2 254 5666 done -0.55 - - 2030 - 2.45 0.045 2247 -593.5 -116.8 - - 3199 - - - - - - - - 14.61 14.54 14.63
6012 504.6 -6.9 262 6017 roll -0.55 - - 2030 - 2.38 0.059 900 -566.0 -116.8 - - 3197 - - - - - - - - 14.89 14.43 14.91
6059 508.1 -7.2 269 6067 done -0.55 - - 2029 - 2.47 0.060 2257 549.4 -116.8 - - 3197 - - - - - - - - 14.41 14.35 14.57
6404 530.8 -6.6 276 6408 roll -0.55 - - 2024 - 2.58 0.087 3693 556.6 -116.8 - - 3197 - - - - - - - - 14.91 14.34 14.93
6452 534.2 -6.9 283 6459 done -0.55 - - 2024 - 2.45 0.048 2262 -584.1 -116.8 - - 3196 - - - - - - - - 14.59 14.52 14.62
6795 559.3 -7.5 290 6800 roll -0.55 - - 2024 - 2.42 0.061 895 -564.9 -116.8 - - 3195 - - - - - - - - 14.92 14.42 14.94
6878 565.9 -7.8 302 6884 done -0.55 - - 2024 - 2.45 0.063 2261 557.6 -116.8 - - 3195 - - - - - - - - 14.48 14.33 14.53
7244 594.1 -7.7 312 7245 done -0.55 - - 2024 - - - 2262 - -116.8 - - 3193 - - - - - - - - 14.88 14.90 14.91
7579 618.4 -7.1 318 7584 roll -0.55 - - 2017 - 2.58 0.086 3691 553.9 -116.8 - - 3191 - - - - - - - - 14.91 14.32 14.92
7613 620.8 -7.2 323 7619 done -0.55 - - 2017 - 2.45 0.049 2258 -584.9 -116.8 - - 3192 - - - - - - - - 14.57 14.49 14.59
7972 644.5 -6.5 332 7977 roll -0.55 - - 2017 - 2.40 0.056 887 -571.2 -116.8 - - 3191 - - - - - - - - 14.90 14.39 14.92
8054 650.2 -6.7 344 8060 done -0.55 - - 2015 - 2.47 0.060 2264 557.5 -116.8 - - 3190 - - - - - - - - 14.48 14.35 14.52
8419 675.9 -7.3 354 8424 roll -0.55 - - 2012 - 2.60 0.089 3692 549.2 -116.8 - - 3190 - - - - - - - - 14.88 14.29 14.90
8454 678.6 -7.9 359 8459 done -0.55 - - 2012 - 2.45 0.049 2258 -585.3 -116.8 - - 3189 - - - - - - - - 14.57 14.50 14.60
8811 708.6 -8.6 368 8816 roll -0.55 - - 2012 - 2.42 0.057 880 -569.4 -116.8 - - 3187 - - - - - - - - 14.90 14.38 14.92
8880 714.9 -8.8 378 8886 done -0.55 - - 2012 - 2.50 0.063 2262 552.8 -116.8 - - 3188 - - - - - - - - 14.45 14.31 14.50
9204 741.8 -8.3 389 9210 roll -0.55 - - 2012 - 2.60 0.091 3692 550.0 -116.8 - - 3190 - - - - - - - - 14.87 14.26 14.89
9238 744.7 -8.1 394 9243 done -0.55 - - 2011 - 2.47 0.049 2245 -585.8 -116.8 - - 3186 - - - - - - - - 14.55 14.47 14.58
9595 772.6 -7.8 403 9600 roll -0.55 - - 2012 - 2.40 0.060 890 -564.6 -116.8 - - 3185 - - - - - - - - 14.87 14.33 14.89
9658 777.7 -8.0 412 9663 done -0.55 - - 2012 - 2.47 0.063 2254 552.2 -116.8 - - 3185 - - - - - - - - 14.44 14.31 14.49
9987 803.4 -8.0 424 9988 done -0.55 - - 2012 - - - 2254 - -116.8 - - 3185 - - - - - - - - 14.89 14.91 14.91
10323 830.6 -8.1 430 10324 done -0.55 - - 2012 - - - 2254 - -116.8 - - 3184 - - - - - - - - 14.89 14.91 14.91
10660 857.9 -8.2 436 10665 roll -0.55 - - 2011 - 2.65 0.096 3694 543.4 -116.8 - - 3181 - - - - - - - - 14.89 14.21 14.90
10700 861.4 -6.8 442 10706 done -0.55 - - 2010 - 2.50 0.053 2249 -578.0 -116.8 - - 3181 - - - - - - - - 14.50 14.42 14.54
11052 889.9 -8.1 450 11056 roll -0.55 - - 2011 - 2.45 0.065 883 -557.6 -116.8 - - 3181 - - - - - - - - 14.85 14.28 14.88
11121 895.7 -8.2 460 11126 done -0.55 - - 2011 - 2.50 0.067 2253 548.0 -116.8 - - 3181 - - - - - - - - 14.40 14.27 14.45
11443 919.6 -7.2 471 11448 roll -0.55 - - 2009 - 2.65 0.096 3693 543.4 -116.8 - - 3180 - - - - - - - - 14.88 14.20 14.90
11499 923.6 -6.9 479 11504 done -0.55 - - 2009 - 2.53 0.053 2240 -574.3 -116.8 - - 3180 - - - - - - - - 14.47 14.40 14.51
11836 945.0 -6.3 492 11841 roll -0.55 - - 2009 - 2.42 0.060 879 -562.4 -116.8 - - 3180 - - - - - - - - 14.87 14.26 14.88
11891 948.5 -6.4 500 11896 done -0.55 - - 2009 - 2.53 0.065 2258 545.1 -116.8 - - 3180 - - - - - - - - 14.40 14.26 14.44
12228 968.6 -6.0 513 12233 roll -0.55 - - 2008 - 2.65 0.094 3697 543.0 -116.8 - - 3179 - - - - - - - - 14.83 14.16 14.85
12290 972.6 -6.3 522 12295 done -0.55 - - 2008 - 2.50 0.051 2246 -580.4 -116.8 - - 3179 - - - - - - - - 14.50 14.41 14.51
12559 end dive: TARGET_DEPTH_EXCEEDED
12559 begin apogee
12568 990.3 -6.6 533 12761 roll -0.19 0.45 0.203 2131 273.3 - - 2179 - - 191.35 1.642 2741 -2.3 0.264 - - - - - - 13.95 13.90 13.16
12763 end apogee: CONTROL_FINISHED_OK
12763 begin climb
12767 995.6 - 536 12928 roll 0.68 0.95 0.156 2412 295.8 2.67 0.091 3587 527.3 116.8 149.23 1.882 2260 -3.2 0.327 - - - - - - 13.85 13.93 12.81
13044 975.5 11.3 580 13048 done 0.60 - - 2422 - 2.50 0.058 2192 -558.0 116.8 - - 2239 - - - - - - - - 14.18 14.09 14.21
13406 940.5 9.6 590 13411 roll 0.53 0.17 0.270 2375 -276.5 2.55 0.086 3589 547.8 116.8 - - 2233 - - - - - - - - 14.09 14.32 14.26
13569 927.1 6.8 613 13581 done 0.54 - - 2384 - 2.47 0.057 2170 -574.5 130.4 4.80 1.512 2208 -5.2 0.612 - - - - - - 14.52 14.42 13.27
13910 900.3 7.9 627 13915 roll 0.54 - - 2394 - 2.53 0.075 775 -551.4 130.4 - - 2214 - - - - - - - - 14.78 14.38 14.80
13972 895.3 7.9 636 13978 done 0.54 - - 2394 - 2.55 0.062 2194 556.5 130.4 - - 2213 - - - - - - - - 14.52 14.40 14.55
14303 867.1 8.6 648 14308 roll 0.54 - - 2394 - 2.53 0.090 3589 551.4 130.4 - - 2214 - - - - - - - - 14.83 14.35 14.84
14378 859.2 10.2 659 14384 done 0.49 0.17 0.264 2364 -176.5 2.45 0.056 2184 -573.5 130.4 - - 2214 - - - - - - - - 14.12 14.45 14.40
14695 834.8 7.7 669 14701 roll 0.49 - - 2373 - 2.55 0.074 763 -557.3 130.4 - - 2214 - - - - - - - - 14.83 14.37 14.85
14742 831.1 7.7 676 14750 done 0.49 - - 2374 - 2.60 0.063 2182 545.8 130.4 1.17 0.190 2204 -8.5 7.159 - - - - - - 14.41 14.34 14.25
15086 804.5 7.8 683 15091 roll 0.49 - - 2374 - 2.58 0.091 3596 548.1 130.4 - - 2210 - - - - - - - - 14.85 14.33 14.88
15163 797.8 8.4 694 15168 done 0.49 - - 2384 - 2.50 0.060 2179 -566.8 130.4 - - 2209 - - - - - - - - 14.49 14.38 14.52
15478 773.4 7.9 704 15483 roll 0.49 - - 2395 - 2.55 0.078 764 -554.9 130.4 - - 2209 - - - - - - - - 14.86 14.33 14.88
15540 768.5 7.7 713 15547 done 0.49 0.15 0.252 2361 -226.7 2.58 0.063 2190 552.7 130.4 - - 2209 - - - - - - - - 14.07 14.35 14.35
15871 746.6 6.6 725 15910 roll 0.50 - - 2361 - 2.60 0.090 3592 539.2 147.8 30.60 1.712 2127 -2.7 0.224 - - - - - - 14.84 14.40 13.56
15982 738.2 8.1 741 15988 done 0.50 - - 2369 - 2.47 0.058 2184 -570.0 147.8 - - 2119 - - - - - - - - 14.47 14.38 14.50
16319 712.2 7.9 754 16324 roll 0.50 - - 2379 - 2.58 0.074 764 -550.4 147.8 - - 2116 - - - - - - - - 14.75 14.34 14.77
16387 706.6 8.0 764 16393 done 0.50 - - 2379 - 2.58 0.061 2191 553.1 147.8 - - 2116 - - - - - - - - 14.47 14.35 14.52
16710 678.1 9.0 775 16715 roll 0.50 - - 2379 - 2.55 0.087 3597 551.4 147.8 - - 2115 - - - - - - - - 14.81 14.31 14.83
16787 670.5 9.8 786 16792 done 0.50 - - 2389 - 2.47 0.057 2182 -572.9 147.8 - - 2115 - - - - - - - - 14.51 14.40 14.54
17102 641.2 9.2 796 17107 roll 0.50 - - 2398 - 2.55 0.072 762 -556.9 147.8 - - 2115 - - - - - - - - 14.81 14.33 14.85
17150 636.8 9.1 803 17158 done 0.50 0.10 0.220 2370 -280.0 2.62 0.060 2193 546.2 147.8 - - 2115 - - - - - - - - 14.00 14.31 14.13
17495 610.4 7.6 810 17500 roll 0.50 - - 2370 - 2.55 0.087 3598 551.0 147.8 - - 2114 - - - - - - - - 14.82 14.29 14.85
17563 604.5 8.3 820 17569 done 0.50 - - 2379 - 2.50 0.055 2191 -562.8 147.8 - - 2114 - - - - - - - - 14.42 14.25 14.46
17886 579.8 7.7 831 17891 roll 0.50 - - 2388 - 2.58 0.071 771 -550.4 147.8 - - 2114 - - - - - - - - 14.83 14.31 14.84
17935 576.1 7.7 838 17942 done 0.50 - - 2388 - 2.58 0.059 2201 554.3 147.8 - - 2113 - - - - - - - - 14.47 14.35 14.52
18278 548.6 8.1 845 18284 roll 0.50 - - 2388 - 2.53 0.087 3585 547.0 147.8 - - 2113 - - - - - - - - 14.83 14.26 14.85
18326 544.1 9.8 852 18333 done 0.50 0.10 0.222 2368 -200.0 2.47 0.054 2189 -565.2 147.8 - - 2113 - - - - - - - - 13.98 14.33 14.16
18671 518.3 7.5 859 18676 roll 0.50 - - 2377 - 2.55 0.068 771 -556.1 147.8 - - 2113 - - - - - - - - 14.84 14.30 14.87
18718 514.7 7.4 866 18725 done 0.56 - - 2377 - 2.58 0.058 2182 546.9 147.8 - - 2112 - - - - - - - - 14.35 14.27 14.40
19062 487.6 7.9 873 19068 roll 0.56 - - 2377 - 2.58 0.087 3596 548.1 147.8 - - 2113 - - - - - - - - 14.85 14.25 14.87
19152 479.8 8.5 886 19158 done 0.56 - - 2385 - 2.47 0.056 2187 -570.4 147.8 - - 2112 - - - - - - - - 14.47 14.36 14.52
19510 453.1 7.3 895 19515 roll 0.56 - - 2393 - 2.55 0.070 771 -555.3 147.8 - - 2112 - - - - - - - - 14.83 14.26 14.84
19552 450.1 7.0 901 19558 done 0.56 - - 2393 - 2.55 0.057 2192 557.3 155.1 - - 2112 - - - - - - - - 14.46 14.35 14.50
19903 425.6 6.9 909 19928 roll 0.57 - - 2393 - 2.55 0.086 3621 560.4 165.2 18.73 1.428 2058 -2.9 0.165 - - - - - - 14.81 14.50 13.70
20027 416.0 7.8 927 20033 done 0.57 - - 2403 - 2.55 0.054 2189 -561.6 165.2 - - 2048 - - - - - - - - 14.40 14.35 14.45
20351 389.8 8.4 938 20356 roll 0.57 - - 2410 - 2.58 0.068 764 -552.3 165.2 - - 2045 - - - - - - - - 14.77 14.31 14.79
20398 385.7 8.2 945 20406 done 0.57 - - 2410 - 2.62 0.058 2202 548.9 165.2 - - 2044 - - - - - - - - 14.35 14.28 14.40
20742 354.3 9.2 952 20747 roll 0.57 - - 2410 - 2.53 0.086 3589 548.2 165.2 - - 2042 - - - - - - - - 14.80 14.26 14.82
20804 347.7 10.5 961 20811 done 0.57 0.15 0.248 2384 -173.3 2.47 0.054 2195 -564.4 165.2 - - 2043 - - - - - - - - 14.07 14.32 14.36
21135 321.7 7.8 973 21140 roll 0.57 - - 2392 - 2.58 0.071 774 -550.8 165.2 - - 2042 - - - - - - - - 14.81 14.30 14.83
21169 319.1 7.6 978 21174 done 0.57 - - 2393 - 2.55 0.057 2198 558.4 165.2 - - 2044 - - - - - - - - 14.48 14.36 14.53
21527 291.0 7.8 987 21532 roll 0.57 - - 2392 - 2.55 0.085 3596 548.2 165.2 - - 2044 - - - - - - - - 14.81 14.27 14.83
21609 283.8 8.5 999 21615 done 0.57 - - 2401 - 2.47 0.052 2203 -564.0 165.2 - - 2044 - - - - - - - - 14.36 14.31 14.40
21974 256.3 7.4 1009 21980 roll 0.57 - - 2409 - 2.60 0.070 765 -553.1 165.2 - - 2044 - - - - - - - - 14.83 14.28 14.84
22016 253.5 6.7 1015 22036 done 0.58 - - 2409 - 2.58 0.057 2208 559.3 179.4 13.10 1.240 2004 -3.1 0.120 - - - - - - 14.46 14.35 13.76
22366 229.0 7.1 1030 22372 roll 0.58 - - 2409 - 2.55 0.084 3588 541.2 186.0 1.95 0.180 1978 -13.3 3.248 - - - - - - 14.81 14.34 14.18
22516 216.7 8.6 1051 22521 done 0.58 - - 2418 - 2.40 0.050 2194 -580.8 186.0 - - 1987 - - - - - - - - 14.50 14.40 14.52
22865 188.6 8.0 1059 22869 roll 0.58 0.12 0.263 2384 -283.3 2.55 0.082 3586 545.9 186.0 - - 1987 - - - - - - - - 14.09 14.27 14.21
22905 185.5 7.3 1065 22912 done 0.58 - - 2391 - 2.42 0.050 2212 -567.8 186.3 - - 1987 - - - - - - - - 14.40 14.35 14.45
23257 162.7 6.6 1073 23291 roll 0.59 - - 2391 - 2.62 0.067 774 -548.9 203.9 28.35 1.112 1899 -3.1 0.087 - - - - - - 14.82 14.49 13.83
23319 158.2 7.1 1082 23324 done 0.67 - - 2391 - 2.58 0.054 2221 560.9 210.2 - - 1888 - - - - - - - - 14.51 14.40 14.54
23650 134.3 7.0 1094 23660 roll 0.72 0.12 0.138 2449 483.3 2.45 0.084 3594 560.4 217.0 4.97 0.990 1854 -6.8 0.178 - - - - - - 14.41 14.49 13.56
23724 126.0 11.8 1105 23731 done 0.67 0.17 0.268 2418 -182.4 2.40 0.051 2211 -576.2 217.0 - - 1860 - - - - - - - - 14.11 14.42 14.38
24040 98.2 8.6 1115 24045 roll 0.67 - - 2426 - 2.58 0.064 766 -560.1 217.0 - - 1862 - - - - - - - - 14.80 14.31 14.81
24110 92.6 8.2 1125 24116 done 0.67 - - 2426 - 2.58 0.055 2214 561.2 217.0 - - 1862 - - - - - - - - 14.47 14.39 14.48
24432 66.5 8.4 1138 24437 roll 0.67 - - 2426 - 2.47 0.080 3591 557.5 217.0 - - 1862 - - - - - - - - 14.80 14.32 14.81
24596 56.4 5.4 1161 24633 done 0.75 - - 2433 - 2.38 0.049 2212 -579.4 262.5 30.52 0.297 1669 -6.3 0.230 - - - - - - 14.52 14.42 14.14
24968 40.2 3.5 1181 25032 roll 0.94 0.17 0.109 2527 552.9 2.55 0.063 778 -562.4 354.0 58.17 0.249 1296 -6.4 0.198 - - - - - - 14.38 14.44 14.19
25072 33.5 6.5 1196 25090 done 1.03 - - 2527 - 2.55 0.053 2225 567.5 373.8 13.90 0.230 1216 -5.8 0.161 - - - - - - 14.49 14.39 14.13
25410 15.1 4.3 1211 25461 roll 1.18 0.12 0.132 2590 525.0 2.42 0.077 3589 563.6 445.8 45.70 0.171 919 -6.5 0.110 - - - - - - 14.46 14.32 14.19
25490 8.4 9.4 1223 25494 done 1.18 - - 2598 - 2.35 0.050 2216 -584.3 445.8 - - 920 - - - - - - - - 14.50 14.41 14.53
25571 end climb: SURFACE_DEPTH_REACHED
25571 begin surface coast
25598 end surface coast: CONTROL_FINISHED_OK
25598 begin surface
SM 0.70 - - - - -6.14 6.95 0.076 217 31.2 0.12 0.096 2293 10525.0 500.17 35.92 0.138 700 19.5 -0.010 - - - - - -