SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 345 * Raw log
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• Previous call tries 1 • 137.63 of 350.00 AH used of 24V (60.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.8 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 13 s • Transponder ping count: 12
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 VBD -0.68 - - 190 - - - 2320 - -116.8 -84.90 - 2910 - - - - - - - - 14.69 - 14.71
113 5.0 -7.0 3 137 roll -0.68 9.43 0.426 1982 190.0 2.85 2.032 877 -506.3 -116.8 -5.40 - 3221 -57.6 - - - - - - - 13.98 13.09 14.41
245 44.9 -20.4 22 252 done -0.51 0.25 0.311 2027 180.0 2.45 0.051 2266 566.9 -116.8 - - 3223 - - - - - - - - 14.06 14.43 14.37
558 83.7 -9.0 34 563 roll -0.44 0.12 0.272 2063 300.0 2.42 0.045 864 -579.3 -116.8 - - 3224 - - - - - - - - 14.23 14.45 14.37
670 90.3 -5.1 50 675 done -0.44 - - 2056 - 2.47 0.054 2286 575.7 -116.8 - - 3225 - - - - - - - - 14.59 14.49 14.62
1033 111.2 -6.0 63 1038 roll -0.44 - - 2048 - 2.47 0.077 3694 570.0 -116.8 - - 3225 - - - - - - - - 14.88 14.46 14.90
1131 117.7 -6.8 77 1137 done -0.44 - - 2052 - 2.40 0.041 2254 -600.0 -116.8 - - 3225 - - - - - - - - 14.68 14.62 14.69
1481 143.1 -7.6 85 1487 roll -0.44 - - 2051 - 2.33 0.052 895 -583.3 -116.8 - - 3221 - - - - - - - - 14.92 14.49 14.95
1599 152.6 -7.9 102 1605 done -0.44 - - 2044 - 2.47 0.057 2310 572.9 -116.8 - - 3223 - - - - - - - - 14.62 14.50 14.65
1930 178.7 -7.9 114 1935 roll -0.44 - - 2039 - 2.42 0.080 3688 569.4 -116.8 - - 3222 - - - - - - - - 14.91 14.45 14.93
1963 181.5 -8.0 119 1969 done -0.44 - - 2039 - 2.40 0.041 2275 -588.8 -116.8 - - 3221 - - - - - - - - 14.61 14.57 14.63
2321 208.6 -7.5 128 2326 roll -0.44 - - 2039 - 2.40 0.055 889 -577.5 -116.8 - - 3218 - - - - - - - - 14.94 14.54 14.96
2356 211.2 -8.0 133 2362 done -0.44 - - 2039 - 2.45 0.060 2288 571.0 -116.8 - - 3218 - - - - - - - - 14.63 14.52 14.66
2713 236.8 -7.2 142 2718 roll -0.44 - - 2035 - 2.47 0.083 3689 567.2 -116.8 - - 3216 - - - - - - - - 14.93 14.46 14.95
2817 244.1 -7.2 157 2825 done -0.44 - - 2035 - 2.40 0.044 2276 -588.8 -116.8 - - 3216 - - - - - - - - 14.58 14.54 14.61
3162 270.1 -7.8 164 3167 roll -0.44 - - 2040 - 2.40 0.054 897 -574.6 -116.8 - - 3213 - - - - - - - - 14.94 14.52 14.96
3265 278.3 -7.9 179 3272 done -0.44 - - 2029 - 2.47 0.059 2275 557.9 -116.8 - - 3213 - - - - - - - - 14.49 14.42 14.53
3609 307.4 -8.7 186 3614 roll -0.44 - - 2021 - 2.55 0.086 3694 556.5 -116.8 - - 3211 - - - - - - - - 14.92 14.42 14.94
3637 309.9 -8.9 190 3642 done -0.44 0.12 0.232 2052 258.3 2.38 0.047 2287 -591.2 -116.8 - - 3211 - - - - - - - - 14.28 14.59 14.50
4001 336.7 -7.2 200 4006 roll -0.44 - - 2052 - 2.42 0.054 888 -578.1 -116.8 - - 3206 - - - - - - - - 14.92 14.48 14.94
4071 341.7 -7.2 210 4076 done -0.49 - - 2055 - 2.45 0.060 2271 564.5 -116.8 - - 3208 - - - - - - - - 14.58 14.46 14.62
4394 363.5 -6.8 221 4400 roll -0.49 - - 2043 - 2.55 0.086 3700 560.4 -116.8 - - 3207 - - - - - - - - 14.93 14.40 14.95
4463 368.4 -7.0 231 4468 done -0.54 - - 2043 - 2.40 0.045 2269 -596.2 -116.8 - - 3206 - - - - - - - - 14.64 14.57 14.66
4786 391.2 -7.1 242 4791 roll -0.54 - - 2043 - 2.40 0.057 891 -574.2 -116.8 - - 3207 - - - - - - - - 14.92 14.47 14.95
4861 396.7 -7.0 253 4868 done -0.54 - - 2042 - 2.45 0.060 2274 564.5 -116.8 - - 3204 - - - - - - - - 14.59 14.43 14.60
5177 417.5 -6.5 263 5178 done -0.54 - - 2042 - - - 2274 - -116.8 - - 3203 - - - - - - - - 14.94 14.94 14.95
5515 438.0 -6.0 269 5520 roll -0.54 - - 2037 - 2.58 0.089 3700 552.7 -116.8 - - 3200 - - - - - - - - 14.90 14.38 14.92
5562 440.9 -6.0 276 5569 done -0.59 - - 2039 - 2.45 0.047 2268 -584.5 -116.8 - - 3200 - - - - - - - - 14.54 14.50 14.57
5905 462.5 -6.4 283 5910 roll -0.59 0.10 0.163 1999 -400.0 2.42 0.059 900 -565.3 -116.8 - - 3199 - - - - - - - - 14.58 14.43 14.62
5962 467.1 -8.3 291 5967 done -0.59 - - 1999 - 2.47 0.064 2278 557.9 -116.8 - - 3198 - - - - - - - - 14.54 14.42 14.59
6297 495.7 -8.7 304 6298 done -0.59 - - 1998 - - - 2277 - -116.8 - - 3198 - - - - - - - - 14.91 14.93 14.92
6633 526.9 -9.3 310 6634 done -0.59 - - 1999 - - - 2278 - -116.8 - - 3196 - - - - - - - - 14.90 14.92 14.92
6970 558.7 -9.5 316 6971 done -0.59 - - 1998 - - - 2278 - -116.8 - - 3195 - - - - - - - - 14.93 14.95 14.95
7305 590.6 -9.4 322 7310 roll -0.59 - - 1992 - 2.55 0.090 3690 553.7 -116.8 - - 3194 - - - - - - - - 14.91 14.32 14.95
7332 593.2 -9.5 326 7338 done -0.59 - - 1993 - 2.40 0.050 2285 -585.4 -116.8 - - 3193 - - - - - - - - 14.59 14.50 14.62
7697 627.7 -9.4 336 7702 roll -0.59 - - 1992 - 2.47 0.059 878 -569.6 -116.8 - - 3193 - - - - - - - - 14.90 14.38 14.92
7760 633.5 -9.0 345 7766 done -0.59 - - 1986 - 2.53 0.065 2277 553.0 -116.8 - - 3192 - - - - - - - - 14.50 14.36 14.54
8089 663.1 -8.9 357 8095 roll -0.59 - - 1980 - 2.60 0.093 3702 548.1 -116.8 - - 3191 - - - - - - - - 14.92 14.31 14.94
8124 666.2 -9.2 362 8129 done -0.59 - - 1980 - 2.47 0.048 2260 -583.8 -116.8 - - 3191 - - - - - - - - 14.57 14.50 14.61
8482 696.3 -8.4 371 8487 roll -0.59 - - 1980 - 2.42 0.058 884 -568.6 -116.8 - - 3190 - - - - - - - - 14.91 14.28 14.93
8571 704.0 -8.3 384 8577 done -0.59 0.15 0.282 2003 153.3 2.55 0.065 2267 542.4 -116.8 - - 3189 - - - - - - - - 13.96 14.26 14.26
8929 730.7 -7.6 393 8935 roll -0.59 - - 1997 - 2.60 0.089 3695 549.2 -116.8 - - 3192 - - - - - - - - 14.89 14.27 14.90
8992 736.0 -8.2 402 8997 done -0.59 - - 1997 - 2.47 0.050 2266 -578.5 -116.8 - - 3188 - - - - - - - - 14.46 14.38 14.49
9322 764.7 -9.0 414 9326 roll -0.59 - - 1997 - 2.47 0.060 875 -563.2 -116.8 - - 3187 - - - - - - - - 14.90 14.35 14.92
9377 770.0 -9.3 422 9382 done -0.59 - - 1996 - 2.55 0.065 2273 548.2 -116.8 - - 3187 - - - - - - - - 14.43 14.31 14.50
9714 799.2 -8.6 435 9719 roll -0.59 - - 1987 - 2.60 0.092 3690 545.0 -116.8 - - 3185 - - - - - - - - 14.90 14.23 14.92
9789 806.2 -9.0 446 9795 done -0.59 - - 1987 - 2.45 0.051 2267 -580.8 -116.8 - - 3185 - - - - - - - - 14.48 14.40 14.52
10106 833.7 -8.7 456 10111 roll -0.59 - - 1987 - 2.47 0.062 874 -564.0 -116.8 - - 3184 - - - - - - - - 14.87 14.29 14.90
10181 840.5 -8.6 467 10187 done -0.59 - - 1985 - 2.53 0.067 2265 549.8 -116.8 - - 3184 - - - - - - - - 14.40 14.25 14.45
10498 867.3 -8.5 477 10503 roll -0.59 - - 1981 - 2.60 0.093 3693 549.2 -116.8 - - 3183 - - - - - - - - 14.87 14.21 14.89
10546 871.5 -8.8 484 10553 done -0.59 - - 1980 - 2.47 0.051 2261 -579.8 -116.8 - - 3183 - - - - - - - - 14.49 14.42 14.52
10889 901.4 -8.8 491 10894 roll -0.59 - - 1981 - 2.45 0.063 891 -559.2 -116.8 - - 3183 - - - - - - - - 14.87 14.26 14.89
10945 906.2 -8.9 499 10950 done -0.59 0.12 0.282 2003 183.3 2.53 0.066 2278 548.2 -116.8 - - 3182 - - - - - - - - 13.93 14.27 14.21
11282 931.8 -7.6 512 11283 done -0.59 - - 1999 - - - 2278 - -116.8 - - 3181 - - - - - - - - 14.88 14.90 14.90
11617 957.2 -7.6 518 11622 roll -0.59 - - 2000 - 2.50 0.063 891 -554.8 -116.8 - - 3181 - - - - - - - - 14.89 14.26 14.90
11645 959.4 -9.3 522 11650 done -0.59 - - 1999 - 2.53 0.067 2270 545.1 -116.8 - - 3180 - - - - - - - - 14.39 14.25 14.44
12010 987.8 -7.8 532 12015 roll -0.59 - - 1995 - 2.62 0.097 3694 543.5 -116.8 - - 3179 - - - - - - - - 14.85 14.15 14.87
12026 end dive: TARGET_DEPTH_EXCEEDED
12026 begin apogee
12037 990.2 -8.6 535 12232 roll -0.19 0.50 0.217 2129 268.0 - - 2177 - - 192.73 1.628 2740 -2.3 0.265 - - - - - - 13.95 13.93 13.17
12233 end apogee: CONTROL_FINISHED_OK
12233 begin climb
12237 995.5 - 538 12398 roll 0.68 0.95 0.152 2412 297.9 2.60 0.064 778 -538.1 116.8 149.62 1.904 2262 -3.2 0.320 - - - - - - 13.88 13.96 12.81
12482 981.3 8.3 578 12487 done 0.68 - - 2412 - 2.62 0.064 2187 537.8 116.8 - - 2237 - - - - - - - - 14.11 14.01 14.14
12819 950.1 9.4 591 12824 roll 0.63 - - 2422 - 2.55 0.073 781 -551.4 116.8 - - 2231 - - - - - - - - 14.69 14.35 14.71
12971 935.7 9.2 613 12978 done 0.63 - - 2422 - 2.55 0.066 2191 552.9 116.8 - - 2230 - - - - - - - - 14.50 14.38 14.54
13323 899.9 10.4 621 13329 roll 0.57 0.12 0.281 2385 -308.3 2.55 0.090 3594 550.2 116.8 - - 2229 - - - - - - - - 14.10 14.35 14.26
13399 892.3 9.5 632 13404 done 0.57 - - 2394 - 2.47 0.060 2190 -568.4 116.8 - - 2227 - - - - - - - - 14.56 14.45 14.59
13714 864.5 8.8 642 13719 roll 0.57 - - 2405 - 2.58 0.073 762 -553.5 116.8 - - 2227 - - - - - - - - 14.82 14.39 14.84
13749 862.0 7.5 647 13754 done 0.57 - - 2405 - 2.58 0.064 2189 553.1 116.8 - - 2226 - - - - - - - - 14.54 14.42 14.59
14107 829.5 8.9 656 14111 roll 0.57 - - 2405 - 2.55 0.091 3588 548.6 116.8 - - 2226 - - - - - - - - 14.85 14.33 14.87
14204 820.0 9.6 670 14209 done 0.51 0.20 0.262 2368 -185.0 2.45 0.056 2187 -571.8 116.8 - - 2226 - - - - - - - - 14.07 14.44 14.39
14555 796.0 6.7 678 14566 roll 0.52 - - 2379 - 2.58 0.073 774 -547.7 131.7 4.57 1.457 2200 -5.7 0.595 - - - - - - 14.83 14.53 13.28
14610 791.9 8.2 686 14615 done 0.52 - - 2379 - 2.55 0.062 2197 558.0 131.7 - - 2205 - - - - - - - - 14.59 14.47 14.62
14946 768.3 7.0 699 14967 roll 0.52 - - 2378 - 2.58 0.090 3595 541.9 139.1 16.73 1.793 2168 -2.2 0.181 - - - - - - 14.83 14.49 13.59
15052 759.9 8.1 714 15057 done 0.52 - - 2389 - 2.50 0.058 2183 -564.8 139.1 - - 2158 - - - - - - - - 14.52 14.42 14.56
15388 733.3 8.0 727 15392 roll 0.52 - - 2398 - 2.55 0.074 774 -552.5 139.1 - - 2157 - - - - - - - - 14.81 14.36 14.83
15444 729.0 7.3 735 15449 done 0.52 - - 2398 - 2.55 0.060 2193 556.5 139.2 - - 2156 - - - - - - - - 14.52 14.40 14.57
15780 700.3 8.6 748 15784 roll 0.52 - - 2398 - 2.55 0.086 3600 551.8 139.2 - - 2156 - - - - - - - - 14.82 14.33 14.84
15856 692.7 9.8 759 15861 done 0.52 0.15 0.258 2374 -160.0 2.47 0.057 2181 -574.5 139.2 - - 2155 - - - - - - - - 14.11 14.42 14.41
16173 668.0 7.8 769 16178 roll 0.52 - - 2385 - 2.55 0.073 766 -554.9 139.2 - - 2155 - - - - - - - - 14.83 14.33 14.84
16234 663.1 7.6 778 16239 done 0.52 - - 2384 - 2.58 0.060 2199 555.4 139.2 - - 2155 - - - - - - - - 14.50 14.38 14.53
16565 636.4 8.2 790 16570 roll 0.52 - - 2385 - 2.55 0.090 3590 545.5 139.2 - - 2154 - - - - - - - - 14.83 14.30 14.85
16647 628.8 8.9 802 16652 done 0.52 - - 2394 - 2.45 0.056 2190 -571.4 139.2 - - 2154 - - - - - - - - 14.52 14.40 14.56
17012 597.4 8.6 812 17017 roll 0.52 - - 2404 - 2.58 0.070 774 -548.8 139.2 - - 2154 - - - - - - - - 14.86 14.31 14.88
17047 594.4 8.5 817 17053 done 0.52 0.15 0.245 2369 -233.3 2.58 0.060 2212 557.4 139.2 - - 2154 - - - - - - - - 14.07 14.37 14.37
17404 568.7 7.1 826 17409 roll 0.53 - - 2369 - 2.50 0.087 3586 549.6 144.3 - - 2154 - - - - - - - - 14.86 14.26 14.88
17466 563.7 8.3 835 17471 done 0.53 - - 2378 - 2.42 0.054 2194 -575.2 144.3 - - 2154 - - - - - - - - 14.47 14.35 14.51
17797 539.1 7.5 847 17802 roll 0.53 - - 2388 - 2.58 0.070 772 -551.2 144.3 - - 2154 - - - - - - - - 14.85 14.31 14.88
17865 534.0 7.2 857 17872 done 0.53 - - 2388 - 2.55 0.058 2191 556.5 147.9 3.12 0.933 2135 -6.1 0.667 - - - - - - 14.47 14.34 13.25
18188 510.4 7.3 868 18195 roll 0.53 - - 2388 - 2.58 0.086 3588 541.5 149.2 2.58 0.664 2130 -1.9 0.285 - - - - - - 14.85 14.46 13.24
18265 504.2 8.0 879 18270 done 0.53 - - 2396 - 2.42 0.053 2189 -578.1 149.2 - - 2135 - - - - - - - - 14.55 14.45 14.58
18629 477.6 7.4 889 18634 roll 0.53 - - 2406 - 2.53 0.067 778 -557.7 149.2 - - 2140 - - - - - - - - 14.83 14.33 14.85
18692 473.0 7.2 898 18704 done 0.53 0.15 0.237 2371 -233.3 2.55 0.057 2206 560.0 152.9 4.65 1.269 2114 -5.6 0.399 - - - - - - 14.09 14.38 13.39
19021 453.4 5.9 910 19103 roll 0.55 - - 2371 - 2.60 0.088 3589 531.9 187.6 72.90 1.297 1967 -2.0 0.135 - - - - - - 14.83 14.23 13.60
19171 443.5 7.6 931 19176 done 0.55 - - 2379 - 2.45 0.053 2189 -571.4 187.6 - - 1962 - - - - - - - - 14.36 14.28 14.40
19526 417.6 7.3 940 19531 roll 0.55 - - 2388 - 2.58 0.068 771 -549.6 189.5 - - 1957 - - - - - - - - 14.74 14.31 14.74
19582 413.7 7.1 948 19588 done 0.62 - - 2389 - 2.58 0.058 2200 553.9 195.5 2.33 0.480 1942 -6.4 1.062 - - - - - - 14.45 14.35 13.24
19912 389.7 7.2 960 19923 roll 0.62 - - 2388 - 2.55 0.086 3586 543.5 197.6 2.97 0.788 1932 -3.4 0.319 - - - - - - 14.79 14.45 13.33
19980 384.0 8.3 970 19985 done 0.62 - - 2395 - 2.45 0.053 2170 -578.0 197.6 - - 1938 - - - - - - - - 14.52 14.41 14.54
20304 359.4 7.7 981 20309 roll 0.62 - - 2404 - 2.50 0.070 774 -558.4 197.6 - - 1945 - - - - - - - - 14.82 14.35 14.83
20359 355.0 7.9 989 20365 done 0.67 - - 2404 - 2.55 0.056 2202 560.0 197.6 - - 1943 - - - - - - - - 14.50 14.38 14.53
20695 325.6 8.9 1002 20701 roll 0.67 - - 2404 - 2.58 0.085 3590 538.0 197.6 1.67 0.187 1932 -6.6 2.196 - - - - - - 14.84 14.32 14.16
20779 317.2 10.0 1014 20784 done 0.67 - - 2411 - 2.42 0.054 2191 -578.1 197.6 - - 1939 - - - - - - - - 14.52 14.41 14.54
21136 283.9 9.3 1023 21141 roll 0.67 - - 2422 - 2.55 0.070 768 -558.0 197.6 - - 1941 - - - - - - - - 14.83 14.32 14.85
21212 276.8 9.2 1034 21217 done 0.67 - - 2421 - 2.55 0.057 2195 559.6 197.6 - - 1942 - - - - - - - - 14.48 14.37 14.53
21529 244.1 10.5 1044 21534 roll 0.67 - - 2421 - 2.53 0.084 3599 554.9 197.6 - - 1942 - - - - - - - - 14.83 14.31 14.84
21604 235.3 11.2 1055 21610 done 0.67 - - 2431 - 2.47 0.052 2195 -568.4 197.6 1.60 0.168 1932 -6.2 1.676 - - - - - - 14.40 14.35 14.20
21921 204.8 9.4 1065 21927 roll 0.67 - - 2440 - 2.55 0.069 764 -561.2 197.6 - - 1941 - - - - - - - - 14.83 14.34 14.84
21962 201.0 8.6 1071 21968 done 0.67 - - 2440 - 2.62 0.058 2208 551.1 197.6 - - 1941 - - - - - - - - 14.39 14.32 14.44
22313 169.3 9.1 1079 22317 roll 0.67 - - 2440 - 2.53 0.084 3598 549.4 197.6 - - 1939 - - - - - - - - 14.86 14.28 14.88
22411 159.1 10.4 1093 22417 done 0.67 0.15 0.255 2415 -166.7 2.45 0.053 2194 -573.1 197.6 - - 1942 - - - - - - - - 14.00 14.32 14.29
22761 129.6 8.5 1101 22766 roll 0.67 - - 2424 - 2.55 0.067 774 -556.9 197.6 - - 1942 - - - - - - - - 14.86 14.28 14.88
22837 123.0 8.7 1112 22842 done 0.67 - - 2424 - 2.55 0.055 2209 562.7 197.6 - - 1942 - - - - - - - - 14.47 14.35 14.51
23154 94.2 9.0 1123 23159 roll 0.67 - - 2424 - 2.50 0.083 3589 552.0 197.6 - - 1942 - - - - - - - - 14.83 14.28 14.84
23278 82.2 9.4 1141 23284 done 0.67 - - 2432 - 2.42 0.048 2189 -578.5 197.6 - - 1942 - - - - - - - - 14.49 14.35 14.51
23602 59.6 5.9 1154 23633 roll 0.69 - - 2437 - 2.58 0.065 774 -548.4 231.6 23.90 0.301 1795 -6.2 0.233 - - - - - - 14.81 14.47 14.13
23657 56.9 4.8 1159 23704 done 0.79 - - 2437 - 2.55 0.053 2213 564.3 293.1 41.33 0.307 1546 -6.0 0.214 - - - - - - 14.53 14.42 14.13
24025 40.9 4.5 1178 24078 roll 0.96 0.17 0.107 2519 482.4 2.58 0.061 771 -558.9 360.9 45.50 0.251 1265 -6.2 0.193 - - - - - - 14.42 14.32 14.14
24150 31.5 7.4 1196 24155 done 1.05 - - 2521 - 2.55 0.053 2214 565.9 360.9 - - 1274 - - - - - - - - 14.42 14.31 14.45
24471 13.1 5.3 1209 24510 roll 1.19 0.15 0.113 2598 513.3 2.62 0.060 766 -552.7 409.6 31.35 0.165 1068 -6.6 0.100 - - - - - - 14.45 14.35 14.22
24578 4.6 8.5 1224 24584 done 1.24 - - 2598 - 2.55 0.054 2214 567.8 409.6 - - 1072 - - - - - - - - 14.48 14.38 14.52
24607 end climb: SURFACE_DEPTH_REACHED
24607 begin surface coast
24635 end surface coast: CONTROL_FINISHED_OK
24635 begin surface
SM 0.79 - - - - -6.13 6.90 0.070 210 30.4 0.10 0.107 2342 11840.0 500.41 56.67 0.133 700 12.4 -0.007 - - - - - -