SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 364 * Raw log
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• Previous call tries 4 • 144.71 of 350.00 AH used of 24V (58.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.1 deg, depth 0.90 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 20 s • Transponder ping count: 10
• 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
17 - - - 102 VBD -0.68 - - 188 - - - 2301 - -116.8 -84.45 - 2890 - - - - - - - - 14.74 - 14.76
106 4.9 -7.1 3 130 roll -0.68 9.05 0.409 1980 198.0 2.83 2.025 875 -503.9 -116.8 -5.62 - 3219 -58.5 - - - - - - - 13.94 13.04 14.38
193 36.3 -24.7 16 198 done -0.49 0.25 0.268 2032 208.0 2.45 0.060 2272 570.2 -116.8 - - 3220 - - - - - - - - 14.12 14.40 14.42
522 79.9 -10.7 30 527 roll -0.43 - - 2021 - 2.47 0.074 3704 579.8 -116.8 - - 3221 - - - - - - - - 14.84 14.46 14.85
620 87.9 -9.0 44 626 done -0.38 0.20 0.222 2074 265.0 2.40 0.037 2257 -602.9 -116.8 - - 3221 - - - - - - - - 14.26 14.59 14.50
970 114.4 -7.8 55 975 roll -0.38 - - 2077 - 2.33 0.051 896 -584.1 -116.8 - - 3224 - - - - - - - - 14.89 14.54 14.92
1047 119.1 -5.8 66 1052 done -0.43 - - 2069 - 2.40 0.054 2282 577.5 -116.8 - - 3221 - - - - - - - - 14.64 14.54 14.68
1364 137.6 -6.1 76 1369 roll -0.43 - - 2067 - 2.45 0.079 3686 573.1 -116.8 - - 3219 - - - - - - - - 14.90 14.50 14.91
1419 141.1 -6.3 84 1423 done -0.51 - - 2067 - 2.33 0.039 2274 -606.0 -116.8 - - 3219 - - - - - - - - 14.58 14.55 14.64
1756 163.6 -6.8 97 1762 roll -0.56 0.12 0.127 2002 -541.7 2.38 0.050 891 -581.1 -116.8 - - 3217 - - - - - - - - 14.62 14.55 14.65
1867 175.1 -10.5 113 1872 done -0.56 - - 1998 - 2.40 0.057 2265 572.5 -116.8 - - 3219 - - - - - - - - 14.64 14.54 14.67
2203 209.8 -10.4 126 2207 roll -0.56 - - 1991 - 2.50 0.078 3700 574.0 -116.8 - - 3215 - - - - - - - - 14.92 14.49 14.94
2245 214.2 -10.3 132 2250 done -0.56 - - 1991 - 2.38 0.041 2263 -603.8 -116.8 - - 3215 - - - - - - - - 14.69 14.62 14.71
2595 253.5 -11.4 140 2600 roll -0.51 0.12 0.266 2025 283.3 2.38 0.050 892 -576.1 -116.8 - - 3214 - - - - - - - - 14.26 14.50 14.40
2678 261.8 -9.4 152 2683 done -0.51 - - 2018 - 2.45 0.056 2268 561.6 -116.8 - - 3213 - - - - - - - - 14.53 14.47 14.57
3044 297.2 -9.7 162 3048 roll -0.51 - - 2012 - 2.50 0.082 3688 568.0 -116.8 - - 3210 - - - - - - - - 14.92 14.45 14.94
3091 301.9 -9.5 169 3099 done -0.51 - - 2011 - 2.42 0.043 2258 -590.9 -116.8 - - 3209 - - - - - - - - 14.59 14.56 14.62
3435 335.3 -9.8 176 3439 roll -0.51 - - 2011 - 2.38 0.054 890 -574.8 -116.8 - - 3208 - - - - - - - - 14.95 14.52 14.96
3484 340.1 -9.8 183 3490 done -0.51 - - 2011 - 2.42 0.060 2265 568.2 -116.8 - - 3207 - - - - - - - - 14.61 14.50 14.64
3827 372.6 -9.5 190 3832 roll -0.51 - - 2011 - 2.53 0.082 3694 564.8 -116.8 - - 3205 - - - - - - - - 14.92 14.45 14.94
3868 376.5 -9.3 196 3874 done -0.51 - - 2006 - 2.45 0.044 2267 -582.4 -116.8 - - 3205 - - - - - - - - 14.58 14.55 14.61
4220 410.6 -10.0 204 4224 roll -0.51 - - 2006 - 2.40 0.055 882 -577.1 -116.8 - - 3203 - - - - - - - - 14.91 14.50 14.93
4309 420.1 -10.4 217 4315 done -0.51 0.12 0.257 2028 183.3 2.45 0.060 2264 564.1 -116.8 - - 3202 - - - - - - - - 14.23 14.45 14.48
4667 453.4 -9.2 226 4672 roll -0.51 - - 2019 - 2.55 0.082 3699 562.7 -116.8 - - 3202 - - - - - - - - 14.92 14.42 14.94
4709 457.2 -9.0 232 4714 done -0.51 - - 2019 - 2.42 0.045 2262 -593.8 -116.8 - - 3201 - - - - - - - - 14.66 14.60 14.69
5059 488.5 -8.9 240 5063 roll -0.51 - - 2019 - 2.40 0.056 884 -574.2 -116.8 - - 3199 - - - - - - - - 14.91 14.47 14.92
5121 494.1 -8.8 249 5127 done -0.51 - - 2016 - 2.50 0.060 2264 552.0 -116.8 - - 3199 - - - - - - - - 14.46 14.40 14.51
5452 523.0 -8.9 261 5457 roll -0.51 - - 2011 - 2.55 0.086 3693 560.4 -116.8 - - 3197 - - - - - - - - 14.92 14.40 14.94
5485 526.1 -9.1 266 5490 done -0.51 - - 2011 - 2.42 0.047 2262 -591.3 -116.8 - - 3196 - - - - - - - - 14.64 14.57 14.66
5843 558.1 -8.9 275 5847 roll -0.51 - - 2012 - 2.42 0.057 878 -571.9 -116.8 - - 3195 - - - - - - - - 14.91 14.45 14.93
5892 562.4 -8.8 282 5898 done -0.51 - - 2011 - 2.50 0.063 2265 554.8 -116.8 - - 3195 - - - - - - - - 14.55 14.42 14.59
6235 591.2 -8.4 289 6241 roll -0.51 - - 2011 - 2.58 0.088 3699 555.8 -116.8 - - 3194 - - - - - - - - 14.90 14.35 14.93
6291 595.6 -7.8 297 6297 done -0.56 - - 2011 - 2.45 0.046 2258 -588.2 -116.8 - - 3193 - - - - - - - - 14.63 14.56 14.65
6628 623.1 -8.2 310 6632 roll -0.56 - - 2011 - 2.40 0.056 884 -572.5 -116.8 - - 3192 - - - - - - - - 14.90 14.42 14.92
6703 629.5 -8.3 321 6709 done -0.56 - - 2011 - 2.47 0.061 2269 560.7 -116.8 - - 3192 - - - - - - - - 14.51 14.38 14.54
7019 656.0 -8.5 331 7023 roll -0.56 - - 2008 - 2.58 0.090 3702 555.4 -116.8 - - 3191 - - - - - - - - 14.92 14.33 14.94
7075 660.7 -8.4 339 7080 done -0.56 - - 2008 - 2.45 0.046 2260 -588.6 -116.8 - - 3191 - - - - - - - - 14.59 14.53 14.62
7411 688.9 -8.4 352 7417 roll -0.56 - - 2008 - 2.38 0.057 897 -572.7 -116.8 - - 3189 - - - - - - - - 14.89 14.33 14.92
7501 696.7 -8.2 365 7507 done -0.56 - - 2008 - 2.47 0.061 2255 549.8 -116.8 - - 3189 - - - - - - - - 14.40 14.33 14.56
7860 725.8 -8.1 374 7865 roll -0.56 - - 1999 - 2.60 0.088 3699 555.4 -116.8 - - 3186 - - - - - - - - 14.90 14.30 14.92
7921 731.0 -8.3 383 7926 done -0.56 - - 1999 - 2.53 0.049 2257 -570.0 -116.8 - - 3187 - - - - - - - - 14.54 14.40 14.58
8251 758.2 -8.2 395 8256 roll -0.56 - - 1999 - 2.45 0.062 878 -562.9 -116.8 - - 3186 - - - - - - - - 14.91 14.35 14.92
8349 766.5 -8.1 409 8355 done -0.56 - - 2000 - 2.50 0.066 2254 550.4 -116.8 - - 3186 - - - - - - - - 14.47 14.33 14.52
8699 794.5 -8.0 417 8704 roll -0.56 - - 1999 - 2.62 0.095 3690 548.1 -116.8 - - 3185 - - - - - - - - 14.88 14.23 14.90
8726 796.8 -8.5 421 8732 done -0.56 - - 1999 - 2.47 0.051 2239 -587.4 -116.8 - - 3185 - - - - - - - - 14.52 14.42 14.55
9092 827.1 -8.4 431 9096 roll -0.56 - - 1999 - 2.40 0.061 895 -560.0 -116.8 - - 3186 - - - - - - - - 14.90 14.33 14.92
9139 831.1 -7.9 438 9146 done -0.56 - - 2000 - 2.50 0.066 2247 540.8 -116.8 - - 3183 - - - - - - - - 14.31 14.23 14.35
9483 860.0 -8.5 445 9489 roll -0.56 - - 1998 - 2.67 0.095 3695 542.3 -116.8 - - 3183 - - - - - - - - 14.88 14.21 14.89
9540 864.7 -8.1 453 9546 done -0.56 - - 1998 - 2.50 0.050 2256 -575.6 -116.8 - - 3182 - - - - - - - - 14.53 14.45 14.56
9875 891.7 -8.0 466 9880 roll -0.56 - - 1999 - 2.47 0.063 880 -557.1 -116.8 - - 3180 - - - - - - - - 14.87 14.28 14.89
9931 895.9 -6.8 474 9936 done -0.56 - - 1998 - 2.50 0.066 2253 549.2 -116.8 - - 3182 - - - - - - - - 14.44 14.31 14.49
10268 921.2 -7.5 487 10272 roll -0.56 - - 1999 - 2.65 0.096 3687 541.1 -116.8 - - 3181 - - - - - - - - 14.89 14.12 14.90
10323 925.3 -7.3 495 10328 done -0.56 - - 1998 - 2.50 0.053 2250 -574.8 -116.8 - - 3181 - - - - - - - - 14.47 14.38 14.52
10659 950.7 -7.7 508 10664 roll -0.56 - - 1999 - 2.45 0.063 883 -558.0 -116.8 - - 3180 - - - - - - - - 14.85 14.26 14.88
10701 954.2 -5.0 514 10706 done -0.56 - - 1998 - 2.50 0.067 2258 550.0 -116.8 - - 3180 - - - - - - - - 14.41 14.27 14.45
11051 982.7 -8.3 522 11056 roll -0.56 - - 1998 - 2.65 0.097 3694 541.9 -116.8 - - 3180 - - - - - - - - 14.85 14.16 14.88
11093 986.2 -4.9 528 11098 done -0.56 - - 1998 - 2.50 0.054 2253 -576.4 -116.8 - - 3180 - - - - - - - - 14.48 14.40 14.52
11159 end dive: TARGET_DEPTH_EXCEEDED
11159 begin apogee
11168 991.9 -8.2 531 11372 roll -0.19 0.50 0.213 2134 272.0 - - 2165 - - 200.95 1.617 2740 -2.2 0.255 - - - - - - 13.94 13.94 13.14
11373 end apogee: CONTROL_FINISHED_OK
11373 begin climb
11377 999.0 - 534 11544 done 0.68 0.88 0.125 2411 314.8 - - 2165 - 116.8 162.43 1.799 2262 -2.9 0.311 - - - - - - 13.93 14.18 12.91
11891 967.6 8.3 572 11896 roll 0.62 - - 2422 - 2.50 0.076 794 -548.4 116.8 - - 2228 - - - - - - - - 14.68 14.33 14.69
11918 965.2 8.9 576 11924 done 0.57 0.10 0.239 2393 -290.0 2.55 0.065 2185 545.5 116.8 - - 2227 - - - - - - - - 14.12 14.35 14.28
12284 937.4 7.6 586 12289 roll 0.57 - - 2393 - 2.53 0.094 3586 553.8 116.8 - - 2225 - - - - - - - - 14.78 14.37 14.80
12395 927.8 8.5 602 12401 done 0.52 0.15 0.282 2370 -153.3 2.42 0.059 2196 -574.4 116.8 - - 2222 - - - - - - - - 14.14 14.46 14.45
12732 905.4 6.6 615 12756 roll 0.53 - - 2380 - 2.60 0.076 777 -545.8 135.0 16.48 1.711 2186 -2.2 0.220 - - - - - - 14.81 14.48 13.81
12793 901.0 7.4 624 12798 done 0.53 - - 2380 - 2.53 0.064 2186 556.9 135.0 - - 2180 - - - - - - - - 14.54 14.43 14.57
13123 877.7 7.1 636 13128 roll 0.53 - - 2380 - 2.55 0.092 3598 553.7 140.1 - - 2176 - - - - - - - - 14.79 14.36 14.81
13207 871.0 8.1 648 13212 done 0.53 - - 2390 - 2.47 0.060 2192 -569.2 140.1 - - 2175 - - - - - - - - 14.57 14.46 14.59
13571 843.5 7.6 658 13576 roll 0.53 - - 2400 - 2.58 0.074 762 -554.3 140.1 - - 2175 - - - - - - - - 14.82 14.40 14.84
13640 837.8 7.8 668 13645 done 0.53 - - 2400 - 2.58 0.064 2189 553.1 140.1 - - 2174 - - - - - - - - 14.52 14.40 14.56
13964 811.2 8.3 679 13969 roll 0.53 - - 2400 - 2.55 0.091 3589 549.0 140.1 - - 2172 - - - - - - - - 14.85 14.33 14.87
14060 802.1 9.3 693 14067 done 0.48 0.17 0.246 2362 -223.5 2.50 0.058 2194 -558.0 140.1 - - 2171 - - - - - - - - 14.00 14.39 14.19
14412 778.9 6.4 701 14459 roll 0.49 - - 2373 - 2.65 0.075 754 -543.4 161.5 32.75 1.536 2078 -2.8 0.274 - - - - 1 - 14.83 14.43 13.38
14526 771.8 6.6 717 14569 done 0.55 - - 2374 - 2.60 0.062 2197 555.0 178.1 29.83 1.535 2010 -2.3 0.218 - - - - 1 - 14.47 14.36 13.24
14916 744.7 6.8 731 14955 roll 0.56 - - 2376 - 2.58 0.090 3589 539.5 189.7 26.50 1.339 1961 -1.8 0.195 - - - - 1 - 14.75 14.33 13.24
15019 737.0 7.8 746 15026 done 0.56 - - 2381 - 2.53 0.058 2185 -554.9 189.7 - - 1968 - - - - - - - - 14.38 14.33 14.42
15364 712.6 7.1 753 15375 roll 0.56 - - 2392 - 2.60 0.075 765 -546.2 194.8 4.12 1.170 1943 -6.1 0.702 - - - - - - 14.75 14.44 13.23
15432 707.6 7.1 763 15459 done 0.56 - - 2392 - 2.58 0.062 2197 555.0 200.3 20.17 1.541 1924 -0.9 0.082 - - - - - - 14.52 14.41 13.76
15811 676.9 8.3 775 15816 roll 0.56 - - 2392 - 2.53 0.089 3598 553.8 200.3 - - 1912 - - - - - - - - 14.76 14.33 14.78
15874 671.0 9.3 784 15879 done 0.56 - - 2402 - 2.45 0.057 2191 -574.3 200.3 - - 1911 - - - - - - - - 14.52 14.42 14.56
16203 642.3 8.8 796 16208 roll 0.56 - - 2414 - 2.58 0.072 774 -549.2 200.3 - - 1914 - - - - - - - - 14.82 14.37 14.84
16265 637.1 8.1 805 16272 done 0.56 0.12 0.253 2384 -250.0 2.55 0.060 2202 560.0 200.3 - - 1911 - - - - - - - - 14.15 14.40 14.42
16596 612.7 7.4 817 16601 roll 0.56 - - 2384 - 2.53 0.090 3595 550.6 200.3 - - 1911 - - - - - - - - 14.84 14.33 14.85
16657 607.4 8.5 826 16662 done 0.56 - - 2392 - 2.47 0.059 2185 -570.9 200.3 - - 1910 - - - - - - - - 14.52 14.40 14.56
16988 581.2 8.0 838 16993 roll 0.56 - - 2401 - 2.55 0.073 769 -555.3 200.3 - - 1911 - - - - - - - - 14.81 14.38 14.84
17056 575.8 7.8 848 17061 done 0.56 - - 2401 - 2.55 0.060 2193 558.4 200.3 - - 1911 - - - - - - - - 14.50 14.37 14.55
17379 549.1 8.4 859 17384 roll 0.56 - - 2401 - 2.53 0.086 3592 553.0 200.3 - - 1911 - - - - - - - - 14.83 14.31 14.85
17470 540.5 9.3 872 17475 done 0.56 - - 2410 - 2.45 0.056 2192 -571.4 200.3 - - 1911 - - - - - - - - 14.54 14.44 14.58
17827 509.1 8.8 881 17833 roll 0.56 - - 2418 - 2.58 0.072 773 -550.0 200.3 - - 1911 - - - - - - - - 14.86 14.33 14.88
17875 504.6 9.0 888 17882 done 0.56 0.10 0.218 2388 -300.0 2.60 0.059 2196 547.3 200.3 - - 1911 - - - - - - - - 14.02 14.31 14.18
18220 476.0 8.4 895 18225 roll 0.56 - - 2388 - 2.53 0.086 3589 550.6 200.3 - - 1911 - - - - - - - - 14.83 14.21 14.85
18295 468.7 9.6 906 18300 done 0.56 - - 2395 - 2.47 0.054 2170 -574.5 200.3 - - 1908 - - - - - - - - 14.50 14.38 14.54
18611 439.7 9.3 916 18616 roll 0.56 - - 2404 - 2.53 0.070 771 -553.0 200.3 - - 1911 - - - - - - - - 14.83 14.30 14.85
18660 435.2 9.1 923 18666 done 0.56 - - 2405 - 2.60 0.059 2215 555.4 200.3 - - 1910 - - - - - - - - 14.40 14.28 14.45
19003 403.9 9.0 930 19008 roll 0.56 - - 2404 - 2.47 0.084 3585 554.7 200.3 - - 1908 - - - - - - - - 14.86 14.27 14.88
19072 397.1 9.6 940 19077 done 0.56 - - 2411 - 2.45 0.053 2202 -564.5 200.3 - - 1912 - - - - - - - - 14.49 14.31 14.53
19396 369.6 8.5 951 19401 roll 0.56 - - 2420 - 2.58 0.071 775 -553.1 200.3 - - 1911 - - - - - - - - 14.85 14.29 14.88
19451 365.1 8.0 959 19456 done 0.56 0.15 0.236 2384 -240.0 2.58 0.057 2215 558.1 200.3 - - 1911 - - - - - - - - 14.05 14.34 14.34
19787 343.6 6.3 972 19848 roll 0.58 - - 2384 - 2.53 0.084 3592 544.3 224.7 48.75 1.131 1821 -1.8 0.107 - - - - 1 - 14.83 14.34 13.42
19900 336.0 7.5 988 19904 done 0.58 - - 2392 - 2.42 0.054 2211 -570.7 224.7 - - 1821 - - - - - - - - 14.44 14.35 14.47
20235 312.2 7.1 1001 20246 roll 0.58 - - 2400 - 2.65 0.070 762 -546.8 229.3 3.22 0.811 1804 -5.3 0.386 - - - - - - 14.75 14.41 13.33
20298 307.6 7.3 1010 20305 done 0.64 - - 2400 - 2.58 0.059 2207 560.1 230.3 2.33 0.454 1800 -1.7 0.221 - - - - - - 14.50 14.38 13.29
20620 282.3 7.9 1021 20625 roll 0.64 - - 2400 - 2.50 0.086 3592 554.0 230.3 - - 1808 - - - - - - - - 14.79 14.24 14.81
20697 275.4 9.3 1032 20702 done 0.64 - - 2409 - 2.42 0.055 2204 -573.6 230.3 - - 1811 - - - - - - - - 14.51 14.42 14.54
21012 248.0 8.8 1042 21017 roll 0.64 - - 2418 - 2.58 0.072 773 -554.7 230.3 - - 1808 - - - - - - - - 14.81 14.31 14.83
21068 243.1 8.8 1050 21073 done 0.64 - - 2418 - 2.60 0.060 2215 554.6 230.3 - - 1809 - - - - - - - - 14.49 14.38 14.52
21405 211.0 9.6 1063 21410 roll 0.64 - - 2418 - 2.47 0.083 3597 559.5 230.3 - - 1809 - - - - - - - - 14.84 14.31 14.85
21473 203.8 10.2 1073 21479 done 0.64 - - 2426 - 2.45 0.054 2195 -572.2 230.3 - - 1809 - - - - - - - - 14.48 14.36 14.52
21796 173.0 9.5 1084 21801 roll 0.64 - - 2436 - 2.55 0.070 777 -556.1 230.3 - - 1809 - - - - - - - - 14.85 14.33 14.88
21845 168.6 8.9 1091 21851 done 0.64 - - 2436 - 2.58 0.058 2222 560.1 230.3 - - 1809 - - - - - - - - 14.47 14.36 14.52
22188 136.8 9.3 1098 22193 roll 0.64 - - 2437 - 2.47 0.085 3597 556.7 230.3 - - 1809 - - - - - - - - 14.86 14.29 14.88
22222 133.3 10.3 1103 22228 done 0.64 0.15 0.253 2411 -173.3 2.42 0.054 2203 -576.0 230.3 - - 1809 - - - - - - - - 14.06 14.35 14.33
22581 105.9 7.6 1112 22586 roll 0.64 - - 2418 - 2.58 0.070 771 -555.0 230.3 - - 1809 - - - - - - - - 14.83 14.31 14.85
22642 101.3 7.2 1121 22649 done 0.69 - - 2418 - 2.58 0.058 2214 559.3 232.5 3.03 0.164 1792 -5.6 0.658 - - - - - - 14.50 14.38 14.15
22977 76.7 7.4 1138 22986 roll 0.69 - - 2418 - 2.50 0.082 3584 548.0 232.5 2.80 0.163 1790 - - - - - - - - 14.80 14.26 14.14
23056 70.0 8.5 1150 23061 done 0.69 - - 2423 - 2.40 0.050 2198 -577.5 232.5 - - 1798 - - - - - - - - 14.50 14.40 14.53
23393 51.7 4.5 1165 23448 roll 0.81 0.12 0.129 2490 558.3 2.55 0.068 776 -557.6 300.3 47.83 0.282 1518 -5.9 0.204 - - - - - - 14.45 14.45 14.15
23560 42.3 6.0 1189 23594 done 0.88 - - 2490 - 2.55 0.054 2211 562.7 332.6 24.95 0.247 1383 -5.4 0.176 - - - - - - 14.47 14.37 14.12
23929 24.8 3.2 1208 24001 roll 1.06 0.12 0.133 2557 558.3 2.53 0.080 3591 545.5 431.8 67.30 0.200 978 -6.0 0.142 - - - - - - 14.46 14.38 14.19
24119 11.8 7.4 1236 24127 done 1.12 - - 2565 - 2.38 0.050 2213 -579.0 431.8 3.35 0.148 978 - - - - - - - - 14.48 14.38 14.19
24243 end climb: SURFACE_DEPTH_REACHED
24243 begin surface coast
24271 end surface coast: CONTROL_FINISHED_OK
24271 begin surface
SM 1.06 - - - - -6.13 6.78 0.068 220 32.4 0.15 0.110 2296 -47026.7 500.17 46.92 0.134 700 14.9 -0.012 - - - - - -