SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 366 * Raw log
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• Previous call tries 3 • 145.48 of 350.00 AH used of 24V (58.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 16 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 103 VBD -0.68 - - 190 - - - 2232 - -116.8 -84.68 - 2935 - - - - - - - - 14.72 - 14.72
106 5.5 -7.9 3 130 roll -0.68 8.93 0.400 1964 198.7 2.95 2.047 3687 493.2 -116.8 -4.78 - 3219 -59.4 - - - - - - - 13.92 13.05 14.36
251 50.4 -21.9 24 256 done -0.47 0.30 0.269 2040 253.3 2.33 0.041 2296 -597.0 -116.8 - - 3219 - - - - - - - - 14.09 14.49 14.38
579 83.8 -8.2 38 584 roll -0.47 - - 2032 - 2.47 0.076 3687 563.2 -116.8 - - 3221 - - - - - - - - 14.83 14.44 14.85
648 90.2 -9.0 48 653 done -0.47 - - 2031 - 2.38 0.040 2273 -594.1 -116.8 - - 3221 - - - - - - - - 14.58 14.55 14.59
999 120.7 -8.9 58 1004 roll -0.47 - - 2031 - 2.38 0.051 887 -582.4 -116.8 - - 3221 - - - - - - - - 14.89 14.52 14.90
1040 124.6 -9.2 64 1045 done -0.47 - - 2027 - 2.42 0.056 2285 577.7 -116.8 - - 3220 - - - - - - - - 14.62 14.54 14.67
1391 158.3 -9.8 72 1395 roll -0.47 - - 2021 - 2.42 0.077 3691 581.0 -116.8 - - 3220 - - - - - - - - 14.91 14.49 14.92
1418 161.2 -10.4 76 1423 done -0.47 - - 2021 - 2.35 0.041 2287 -597.4 -116.8 - - 3220 - - - - - - - - 14.56 14.53 14.58
1783 198.1 -10.0 86 1788 roll -0.47 - - 2021 - 2.38 0.050 886 -588.7 -116.8 - - 3217 - - - - - - - - 14.92 14.56 14.95
1852 205.1 -9.6 96 1857 done -0.47 0.08 0.223 2046 312.5 2.47 0.056 2287 567.2 -116.8 - - 3217 - - - - - - - - 14.24 14.50 14.50
2175 230.4 -7.8 107 2179 roll -0.47 - - 2039 - 2.45 0.078 3700 576.7 -116.8 - - 3216 - - - - - - - - 14.94 14.49 14.95
2232 234.9 -8.2 115 2236 done -0.52 - - 2041 - 2.35 0.041 2272 -607.7 -116.8 - - 3215 - - - - - - - - 14.70 14.64 14.72
2567 263.4 -8.5 128 2572 roll -0.52 - - 2040 - 2.38 0.055 894 -579.0 -116.8 - - 3213 - - - - - - - - 14.92 14.52 14.94
2643 269.7 -8.2 139 2648 done -0.52 - - 2040 - 2.47 0.057 2311 573.7 -116.8 - - 3212 - - - - - - - - 14.59 14.47 14.63
2959 294.9 -8.1 149 2960 done -0.52 - - 2039 - - - 2311 - -116.8 - - 3210 - - - - - - - - 14.93 14.95 14.95
3295 321.7 -8.0 155 3300 roll -0.52 - - 2040 - 2.45 0.050 894 -578.4 -116.8 - - 3208 - - - - - - - - 14.94 14.52 14.96
3329 324.5 -8.1 160 3334 done -0.52 - - 2039 - 2.42 0.056 2283 574.0 -116.8 - - 3207 - - - - - - - - 14.59 14.47 14.63
3688 349.6 -6.9 169 3693 roll -0.52 - - 2037 - 2.50 0.083 3696 565.2 -116.8 - - 3206 - - - - - - - - 14.94 14.39 14.95
3721 352.0 -7.2 174 3726 done -0.52 - - 2037 - 2.35 0.045 2287 -599.6 -116.8 - - 3206 - - - - - - - - 14.67 14.62 14.70
4079 378.9 -7.7 183 4083 roll -0.52 - - 2037 - 2.42 0.054 884 -579.8 -116.8 - - 3203 - - - - - - - - 14.93 14.49 14.94
4163 385.8 -8.1 195 4167 done -0.52 - - 2036 - 2.47 0.059 2284 566.8 -116.8 - - 3203 - - - - - - - - 14.59 14.47 14.63
4527 416.1 -8.3 205 4532 roll -0.52 - - 2036 - 2.53 0.084 3701 560.1 -116.8 - - 3201 - - - - - - - - 14.92 14.40 14.94
4575 420.0 -8.0 212 4582 done -0.57 - - 2036 - 2.42 0.044 2275 -589.3 -116.8 - - 3202 - - - - - - - - 14.58 14.53 14.59
4919 446.5 -7.6 219 4924 roll -0.57 - - 2036 - 2.40 0.055 897 -574.2 -116.8 - - 3199 - - - - - - - - 14.90 14.47 14.92
4988 451.7 -7.4 229 4994 done -0.57 - - 2033 - 2.45 0.057 2286 566.9 -116.8 - - 3199 - - - - - - - - 14.52 14.39 14.55
5311 476.4 -7.8 240 5315 roll -0.57 - - 2027 - 2.50 0.083 3701 566.0 -116.8 - - 3197 - - - - - - - - 14.91 14.39 14.93
5339 478.6 -8.0 244 5344 done -0.57 - - 2026 - 2.38 0.045 2280 -597.1 -116.8 - - 3197 - - - - - - - - 14.64 14.58 14.66
5703 508.9 -8.4 254 5707 roll -0.57 - - 2027 - 2.40 0.058 895 -577.1 -116.8 - - 3196 - - - - - - - - 14.93 14.44 14.95
5772 514.7 -8.1 264 5777 done -0.57 - - 2024 - 2.47 0.060 2288 564.0 -116.8 - - 3196 - - - - - - - - 14.52 14.39 14.57
6096 539.8 -7.8 275 6100 roll -0.57 - - 2025 - 2.50 0.087 3693 562.0 -116.8 - - 3195 - - - - - - - - 14.92 14.38 14.94
6129 542.5 -8.0 280 6134 done -0.57 - - 2025 - 2.40 0.047 2278 -589.6 -116.8 - - 3195 - - - - - - - - 14.60 14.54 14.63
6487 570.1 -7.7 289 6492 roll -0.57 - - 2026 - 2.45 0.060 879 -571.0 -116.8 - - 3193 - - - - - - - - 14.92 14.42 14.95
6564 576.3 -8.0 300 6568 done -0.57 - - 2026 - 2.50 0.062 2281 560.8 -116.8 - - 3193 - - - - - - - - 14.54 14.42 14.59
6879 601.4 -8.1 310 6883 roll -0.57 - - 2016 - 2.53 0.086 3696 559.3 -116.8 - - 3189 - - - - - - - - 14.90 14.35 14.92
6906 603.8 -8.5 314 6912 done -0.57 - - 2015 - 2.45 0.049 2276 -579.6 -116.8 - - 3191 - - - - - - - - 14.50 14.46 14.53
7271 635.5 -8.7 324 7276 roll -0.57 - - 2016 - 2.47 0.063 881 -564.8 -116.8 - - 3190 - - - - - - - - 14.92 14.39 14.96
7347 642.2 -8.4 335 7352 done -0.57 - - 2015 - 2.50 0.063 2275 557.6 -116.8 - - 3190 - - - - - - - - 14.49 14.35 14.54
7663 668.3 -8.3 345 7668 roll -0.57 - - 2015 - 2.58 0.093 3693 549.6 -116.8 - - 3187 - - - - - - - - 14.89 14.28 14.91
7698 671.1 -8.2 350 7703 done -0.57 - - 2015 - 2.45 0.050 2260 -584.9 -116.8 - - 3186 - - - - - - - - 14.57 14.49 14.59
8055 700.0 -8.2 359 8060 roll -0.57 - - 2015 - 2.42 0.059 884 -568.6 -116.8 - - 3188 - - - - - - - - 14.92 14.37 14.93
8138 707.1 -8.3 371 8143 done -0.57 - - 2015 - 2.53 0.063 2264 545.5 -116.8 - - 3187 - - - - - - - - 14.27 14.21 14.34
8504 736.1 -8.0 381 8509 roll -0.57 - - 2015 - 2.58 0.091 3692 553.5 -116.8 - - 3187 - - - - - - - - 14.88 14.27 14.90
8559 740.5 -7.9 389 8565 done -0.63 - - 2015 - 2.45 0.050 2256 -586.1 -116.8 - - 3186 - - - - - - - - 14.55 14.48 14.58
8895 767.6 -8.3 402 8899 roll -0.63 - - 2015 - 2.40 0.059 895 -567.1 -116.8 - - 3185 - - - - - - - - 14.88 14.34 14.90
8951 772.4 -8.4 410 8956 done -0.63 - - 2016 - 2.50 0.062 2281 554.4 -116.8 - - 3184 - - - - - - - - 14.46 14.33 14.51
9287 799.2 -8.1 423 9288 done -0.63 - - 2015 - - - 2281 - -116.8 - - 3184 - - - - - - - - 14.90 14.92 14.92
9623 825.0 -7.5 429 9623 done -0.63 - - 2014 - - - 2281 - -116.8 - - 3184 - - - - - - - - 14.88 14.90 14.90
9959 849.8 -7.4 435 9964 roll -0.63 - - 2014 - 2.58 0.094 3696 548.4 -116.8 - - 3183 - - - - - - - - 14.88 14.21 14.89
9986 851.8 -7.4 439 9991 done -0.63 - - 2014 - 2.47 0.052 2282 -572.5 -116.8 - - 3182 - - - - - - - - 14.38 14.33 14.42
10351 879.2 -7.6 449 10357 roll -0.63 - - 2014 - 2.47 0.062 879 -568.0 -116.8 - - 3181 - - - - - - - - 14.87 14.29 14.88
10427 885.0 -7.7 460 10432 done -0.63 - - 2012 - 2.53 0.065 2271 550.2 -116.8 - - 3181 - - - - - - - - 14.42 14.28 14.46
10744 909.4 -7.8 470 10749 roll -0.63 - - 2012 - 2.60 0.097 3689 545.4 -116.8 - - 3180 - - - - - - - - 14.85 14.18 14.88
10777 912.1 -7.6 475 10783 done -0.63 - - 2012 - 2.45 0.053 2266 -580.8 -116.8 - - 3180 - - - - - - - - 14.47 14.38 14.51
11135 939.1 -7.5 484 11140 roll -0.63 - - 2012 - 2.45 0.063 883 -564.5 -116.8 - - 3178 - - - - - - - - 14.88 14.25 14.90
11198 943.6 -7.3 493 11204 done -0.63 - - 2008 - 2.53 0.066 2272 549.0 -116.8 - - 3179 - - - - - - - - 14.38 14.23 14.42
11527 966.6 -7.2 505 11533 roll -0.63 - - 2012 - 2.62 0.097 3690 541.2 -116.8 - - 3178 - - - - - - - - 14.85 14.07 14.86
11576 969.9 -4.7 512 11583 done -0.69 0.12 0.144 1964 -400.0 2.50 0.054 2254 -574.4 -116.8 - - 3178 - - - - - - - - 14.27 14.36 14.42
11804 end dive: TARGET_DEPTH_EXCEEDED
11804 begin apogee
11812 991.1 -9.3 517 12015 roll -0.19 0.62 0.226 2129 266.1 - - 2172 - - 201.07 1.582 2740 -2.2 0.259 - - - - - - 13.83 13.94 13.17
12017 end apogee: CONTROL_FINISHED_OK
12017 begin climb
12021 996.8 - 520 12194 roll 0.68 0.93 0.147 2409 301.1 2.70 0.093 3590 525.2 116.8 159.38 1.707 2250 -3.1 0.340 - - - - - - 13.90 13.95 12.94
12355 973.2 9.5 574 12360 done 0.60 - - 2419 - 2.45 0.059 2202 -566.5 116.8 - - 2229 - - - - - - - - 14.33 14.22 14.36
12706 941.9 9.0 582 12711 roll 0.53 0.15 0.266 2380 -260.0 2.55 0.087 3599 547.8 116.8 - - 2225 - - - - - - - - 14.14 14.34 14.29
12874 928.9 6.5 606 12908 done 0.55 - - 2389 - 2.47 0.061 2186 -572.1 136.8 24.83 1.411 2180 -1.8 0.226 - - - - 1 - 14.53 14.43 13.70
13259 900.0 7.4 619 13264 roll 0.55 - - 2400 - 2.58 0.078 764 -551.2 136.8 - - 2173 - - - - - - - - 14.78 14.37 14.80
13314 895.5 8.0 627 13319 done 0.55 - - 2400 - 2.58 0.065 2189 552.3 136.8 - - 2173 - - - - - - - - 14.48 14.37 14.52
13652 868.8 8.0 640 13656 roll 0.55 - - 2400 - 2.55 0.092 3598 552.5 136.8 - - 2173 - - - - - - - - 14.83 14.37 14.85
13707 863.7 9.3 648 13712 done 0.49 0.20 0.267 2364 -180.0 2.50 0.062 2174 -569.6 136.8 - - 2172 - - - - - - - - 14.09 14.44 14.41
14043 841.0 6.7 661 14082 roll 0.50 - - 2374 - 2.58 0.076 773 -543.0 152.2 26.23 1.378 2115 -2.2 0.251 - - - - 1 - 14.85 14.43 13.45
14112 836.1 7.0 671 14125 done 0.50 - - 2374 - 2.53 0.063 2183 557.3 161.2 7.20 1.614 2084 -4.3 0.423 - - - - - - 14.50 14.39 13.35
14435 811.9 7.6 682 14441 roll 0.50 - - 2374 - 2.62 0.093 3595 538.9 161.2 1.85 0.187 2080 -2.2 1.780 - - - - - - 14.76 14.33 14.22
14518 804.8 8.5 694 14523 done 0.50 - - 2383 - 2.47 0.062 2181 -572.5 161.2 - - 2089 - - - - - - - - 14.52 14.42 14.55
14876 776.3 8.0 703 14880 roll 0.50 - - 2394 - 2.55 0.079 768 -554.1 161.2 - - 2089 - - - - - - - - 14.83 14.34 14.85
14966 769.2 7.9 716 14971 done 0.50 0.12 0.255 2368 -216.7 2.55 0.063 2187 556.5 161.2 - - 2089 - - - - - - - - 14.12 14.38 14.38
15324 744.1 7.0 725 15359 roll 0.51 - - 2367 - 2.60 0.092 3589 539.2 169.7 24.92 1.380 2046 -1.7 0.176 - - - - 1 - 14.83 14.42 13.85
15452 734.5 7.7 743 15457 done 0.51 - - 2376 - 2.47 0.058 2186 -568.0 169.7 - - 2046 - - - - - - - - 14.50 14.40 14.52
15766 712.2 7.0 753 15777 roll 0.51 - - 2387 - 2.60 0.076 761 -548.1 176.9 4.55 1.372 2015 -6.8 0.670 - - - - - - 14.78 14.47 13.26
15827 707.9 6.9 762 15863 done 0.52 - - 2387 - 2.58 0.063 2195 555.8 187.8 26.27 1.466 1972 -1.6 0.150 - - - - 1 - 14.52 14.41 13.26
16207 679.6 7.5 774 16212 roll 0.52 - - 2386 - 2.55 0.089 3598 550.2 187.8 - - 1971 - - - - - - - - 14.75 14.31 14.77
16289 672.5 8.4 786 16295 done 0.52 - - 2394 - 2.50 0.060 2182 -566.4 187.8 - - 1971 - - - - - - - - 14.50 14.39 14.52
16654 643.3 8.1 796 16660 roll 0.52 - - 2405 - 2.53 0.076 776 -555.7 187.8 - - 1971 - - - - - - - - 14.80 14.28 14.82
16703 639.2 8.4 803 16709 done 0.52 0.15 0.238 2371 -226.7 2.58 0.061 2199 551.6 187.8 - - 1971 - - - - - - - - 14.12 14.38 14.37
17046 614.0 7.4 810 17051 roll 0.52 - - 2371 - 2.53 0.090 3596 552.2 187.8 - - 1971 - - - - - - - - 14.83 14.31 14.85
17108 608.6 8.6 819 17114 done 0.52 - - 2380 - 2.50 0.059 2174 -568.8 187.8 - - 1971 - - - - - - - - 14.50 14.37 14.53
17439 582.4 7.9 831 17444 roll 0.52 - - 2387 - 2.53 0.075 773 -553.8 187.8 - - 1971 - - - - - - - - 14.82 14.32 14.84
17514 576.4 7.7 842 17520 done 0.57 - - 2388 - 2.55 0.060 2193 556.9 187.8 - - 1970 - - - - - - - - 14.44 14.32 14.50
17830 551.6 7.9 852 17835 roll 0.57 - - 2388 - 2.55 0.086 3596 550.2 187.8 - - 1971 - - - - - - - - 14.83 14.30 14.85
17900 545.5 8.7 862 17905 done 0.57 - - 2395 - 2.47 0.060 2191 -568.8 187.8 - - 1971 - - - - - - - - 14.50 14.40 14.53
18222 519.6 8.0 873 18228 roll 0.57 - - 2404 - 2.60 0.072 761 -550.0 187.8 - - 1971 - - - - - - - - 14.85 14.31 14.88
18270 515.7 8.0 880 18277 done 0.57 - - 2404 - 2.62 0.060 2197 548.1 187.8 - - 1971 - - - - - - - - 14.35 14.28 14.39
18615 486.9 8.5 887 18620 roll 0.57 - - 2405 - 2.55 0.087 3599 549.8 187.8 - - 1971 - - - - - - - - 14.83 14.26 14.84
18704 478.1 9.7 900 18710 done 0.57 - - 2414 - 2.50 0.057 2196 -561.2 187.8 - - 1971 - - - - - - - - 14.31 14.26 14.45
19062 443.8 9.8 909 19068 roll 0.57 - - 2424 - 2.58 0.073 773 -551.6 187.8 - - 1971 - - - - - - - - 14.83 14.28 14.85
19132 437.0 9.6 919 19137 done 0.57 0.15 0.240 2388 -240.0 2.58 0.061 2205 555.0 187.8 - - 1969 - - - - - - - - 14.06 14.33 14.29
19454 410.9 7.9 930 19459 roll 0.57 - - 2388 - 2.50 0.088 3586 552.4 187.8 - - 1971 - - - - - - - - 14.85 14.24 14.87
19545 403.0 8.6 943 19550 done 0.57 - - 2396 - 2.42 0.056 2194 -575.2 187.8 - - 1971 - - - - - - - - 14.50 14.37 14.50
19902 373.7 8.3 952 19907 roll 0.57 - - 2404 - 2.60 0.071 772 -546.9 187.8 - - 1971 - - - - - - - - 14.83 14.26 14.85
19958 369.0 8.5 960 19963 done 0.57 - - 2405 - 2.58 0.060 2204 555.0 187.8 - - 1971 - - - - - - - - 14.46 14.33 14.50
20295 339.4 8.9 973 20301 roll 0.57 - - 2405 - 2.53 0.086 3593 549.0 187.8 - - 1971 - - - - - - - - 14.82 14.24 14.83
20370 332.0 9.6 984 20376 done 0.57 - - 2414 - 2.47 0.056 2180 -572.1 187.8 - - 1971 - - - - - - - - 14.41 14.31 14.47
20686 304.2 8.8 994 20691 roll 0.57 - - 2423 - 2.55 0.072 770 -552.9 187.8 - - 1971 - - - - - - - - 14.85 14.26 14.88
20728 300.6 8.6 1000 20733 done 0.57 0.15 0.234 2388 -233.3 2.58 0.060 2200 554.3 187.8 - - 1971 - - - - - - - - 14.04 14.30 14.28
21078 275.6 7.0 1008 21090 roll 0.57 - - 2388 - 2.53 0.089 3586 547.8 194.6 4.55 1.050 1944 -5.9 0.295 - - - - - - 14.85 14.45 13.38
21169 268.6 7.8 1021 21175 done 0.57 - - 2394 - 2.40 0.054 2196 -579.2 194.6 - - 1950 - - - - - - - - 14.55 14.45 14.58
21526 243.8 6.9 1030 21561 roll 0.58 - - 2404 - 2.62 0.070 767 -545.4 204.0 25.25 1.074 1905 -1.8 0.077 - - - - 1 - 14.82 14.44 13.75
21626 236.7 7.2 1044 21633 done 0.63 - - 2404 - 2.58 0.059 2209 558.9 207.1 1.90 0.178 1891 -7.4 1.857 - - - - - - 14.47 14.36 14.21
21968 210.2 7.8 1051 21973 roll 0.63 - - 2404 - 2.50 0.085 3589 552.0 207.1 - - 1901 - - - - - - - - 14.77 14.27 14.78
22036 204.1 8.7 1061 22043 done 0.63 - - 2411 - 2.45 0.053 2212 -562.0 207.1 - - 1901 - - - - - - - - 14.38 14.33 14.42
22360 178.5 8.0 1072 22365 roll 0.63 - - 2420 - 2.58 0.069 772 -558.1 207.1 - - 1901 - - - - - - - - 14.80 14.30 14.82
22407 174.6 8.0 1079 22414 done 0.63 - - 2420 - 2.60 0.058 2204 550.8 207.1 - - 1902 - - - - - - - - 14.34 14.28 14.39
22751 145.9 8.4 1086 22756 roll 0.63 - - 2421 - 2.53 0.085 3594 549.4 207.1 - - 1901 - - - - - - - - 14.82 14.28 14.83
22849 137.1 8.8 1100 22854 done 0.63 - - 2429 - 2.42 0.054 2213 -570.7 207.1 - - 1903 - - - - - - - - 14.48 14.38 14.52
23199 107.5 8.4 1108 23204 roll 0.63 - - 2438 - 2.58 0.067 773 -558.1 207.1 - - 1902 - - - - - - - - 14.85 14.29 14.87
23268 101.5 8.5 1118 23274 done 0.63 0.12 0.246 2409 -241.7 2.58 0.057 2215 558.9 207.1 - - 1901 - - - - - - - - 14.07 14.35 14.31
23595 80.6 5.6 1134 23632 roll 0.66 - - 2409 - 2.47 0.081 3584 554.3 248.1 28.58 0.356 1729 -6.0 0.258 - - - - - - 14.79 14.42 14.07
23719 72.0 7.0 1152 23732 done 0.66 - - 2410 - 2.40 0.050 2203 -575.4 255.2 7.60 0.275 1702 -3.6 0.176 - - - - - - 14.45 14.35 13.95
24043 56.2 4.5 1165 24097 roll 0.85 0.15 0.118 2489 526.7 2.62 0.068 771 -546.6 321.5 48.42 0.295 1428 -5.7 0.204 - - - - - - 14.43 14.42 14.10
24117 52.1 5.2 1173 24158 done 0.97 - - 2488 - 2.53 0.055 2201 565.2 371.6 34.88 0.291 1225 -5.8 0.198 - - - - - - 14.50 14.39 14.07
24493 32.4 4.3 1193 24551 roll 1.16 0.22 0.091 2595 486.4 2.55 0.062 774 -559.6 444.9 51.60 0.220 924 -5.8 0.163 - - - - - - 14.43 14.28 14.10
24604 24.6 7.9 1209 24611 done 1.16 - - 2595 - 2.55 0.055 2210 563.1 444.9 2.85 0.159 926 - - - - - - - - 14.40 14.30 14.18
24852 end climb: SURFACE_DEPTH_REACHED
24852 begin surface coast
24881 end surface coast: CONTROL_FINISHED_OK
24882 begin surface
SM 0.55 - - - - -6.14 6.93 0.073 213 30.7 0.10 0.118 2306 -69160.0 500.17 39.85 0.134 701 17.6 -0.007 - - - - - -