SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 367 * Raw log
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• Previous call tries 1 • 145.87 of 350.00 AH used of 24V (58.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.8 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 14 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
16 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 106 VBD -0.68 - - 194 - - - 2262 - -116.8 -84.18 - 2851 - - - - - - - - 14.69 - 14.71
110 4.4 -6.1 3 134 roll -0.68 9.07 0.409 1981 197.0 2.75 2.032 880 -502.5 -116.8 -6.47 - 3219 -56.9 - - - - - - - 13.93 13.03 14.38
222 38.0 -20.5 19 227 done -0.54 0.20 0.281 2017 180.0 2.45 0.056 2266 565.7 -116.8 - - 3220 - - - - - - - - 14.09 14.42 14.38
557 82.9 -9.7 34 562 roll -0.48 - - 2007 - 2.50 0.075 3702 574.4 -116.8 - - 3221 - - - - - - - - 14.82 14.42 14.84
682 94.9 -9.7 52 687 done -0.42 0.20 0.223 2059 260.0 2.38 0.037 2251 -609.7 -116.8 - - 3221 - - - - - - - - 14.23 14.57 14.47
1005 117.2 -7.1 61 1010 roll -0.42 - - 2059 - 2.33 0.053 894 -582.4 -116.8 - - 3222 - - - - - - - - 14.90 14.52 14.92
1046 120.3 -7.3 67 1051 done -0.42 - - 2056 - 2.42 0.056 2287 575.6 -116.8 - - 3221 - - - - - - - - 14.62 14.52 14.66
1396 146.0 -7.5 75 1401 roll -0.42 - - 2053 - 2.45 0.080 3691 573.1 -116.8 - - 3220 - - - - - - - - 14.90 14.46 14.92
1453 150.1 -7.2 83 1457 done -0.47 - - 2053 - 2.35 0.041 2275 -602.6 -116.8 - - 3219 - - - - - - - - 14.66 14.61 14.69
1789 174.9 -7.4 96 1794 roll -0.47 - - 2053 - 2.40 0.055 888 -577.9 -116.8 - - 3218 - - - - - - - - 14.90 14.51 14.92
1844 179.3 -7.9 104 1849 done -0.52 - - 2053 - 2.45 0.057 2282 569.0 -116.8 - - 3217 - - - - - - - - 14.62 14.51 14.65
2180 205.0 -7.6 117 2186 roll -0.52 - - 2045 - 2.47 0.080 3692 570.9 -116.8 - - 3216 - - - - - - - - 14.92 14.46 14.93
2257 210.8 -7.5 128 2262 done -0.58 - - 2045 - 2.38 0.044 2273 -596.2 -116.8 - - 3216 - - - - - - - - 14.66 14.60 14.69
2573 234.7 -7.6 138 2577 roll -0.58 - - 2045 - 2.40 0.057 892 -575.4 -116.8 - - 3212 - - - - - - - - 14.91 14.45 14.93
2648 240.7 -7.4 149 2655 done -0.58 - - 2043 - 2.47 0.057 2305 572.1 -116.8 - - 3213 - - - - - - - - 14.60 14.47 14.64
2965 265.4 -7.9 159 2970 roll -0.58 - - 2039 - 2.45 0.082 3686 563.7 -116.8 - - 3211 - - - - - - - - 14.91 14.43 14.93
3006 268.7 -8.1 165 3012 done -0.63 0.15 0.121 1973 -440.0 2.38 0.043 2258 -600.0 -116.8 - - 3211 - - - - - - - - 14.52 14.59 14.62
3357 311.7 -12.5 173 3363 roll -0.56 0.15 0.262 2014 273.3 2.38 0.053 896 -572.3 -116.8 - - 3209 - - - - - - - - 14.19 14.44 14.32
3426 319.0 -9.7 183 3431 done -0.56 - - 2012 - 2.45 0.060 2279 564.5 -116.8 - - 3208 - - - - - - - - 14.59 14.47 14.63
3748 348.8 -9.2 194 3753 roll -0.56 - - 2007 - 2.50 0.083 3693 565.6 -116.8 - - 3207 - - - - - - - - 14.94 14.42 14.95
3775 351.3 -8.9 198 3781 done -0.56 - - 2007 - 2.42 0.045 2281 -583.5 -116.8 - - 3207 - - - - - - - - 14.64 14.52 14.66
4141 384.0 -9.0 208 4146 roll -0.56 - - 2007 - 2.42 0.057 884 -577.3 -116.8 - - 3204 - - - - - - - - 14.91 14.47 14.93
4237 393.1 -8.8 222 4243 done -0.56 - - 1999 - 2.50 0.060 2265 552.4 -116.8 - - 3204 - - - - - - - - 14.48 14.42 14.53
4589 427.1 -9.8 230 4594 roll -0.56 - - 1995 - 2.55 0.085 3701 563.1 -116.8 - - 3202 - - - - - - - - 14.93 14.41 14.93
4644 432.6 -9.7 238 4649 done -0.56 - - 1996 - 2.42 0.044 2269 -591.7 -116.8 - - 3202 - - - - - - - - 14.65 14.59 14.67
4981 464.6 -9.5 251 4985 roll -0.56 - - 1996 - 2.42 0.057 884 -572.3 -116.8 - - 3200 - - - - - - - - 14.91 14.45 14.93
5057 471.8 -9.2 262 5062 done -0.56 - - 1995 - 2.47 0.063 2269 560.7 -116.8 - - 3200 - - - - - - - - 14.57 14.45 14.62
5372 501.7 -9.6 272 5377 roll -0.56 - - 1995 - 2.55 0.089 3692 558.0 -116.8 - - 3199 - - - - - - - - 14.91 14.36 14.92
5420 506.3 -9.4 279 5427 done -0.56 - - 1995 - 2.45 0.047 2262 -583.7 -116.8 - - 3199 - - - - - - - - 14.52 14.48 14.54
5765 538.9 -9.4 286 5770 roll -0.56 - - 1995 - 2.40 0.058 894 -570.0 -116.8 - - 3197 - - - - - - - - 14.90 14.44 14.92
5854 547.7 -9.4 299 5860 done -0.56 - - 1994 - 2.47 0.062 2277 559.9 -116.8 - - 3197 - - - - - - - - 14.52 14.38 14.57
6212 581.1 -9.4 308 6217 roll -0.56 - - 1986 - 2.55 0.088 3692 554.9 -116.8 - - 3195 - - - - - - - - 14.90 14.30 14.92
6247 584.5 -9.7 313 6254 done -0.56 0.12 0.243 2014 233.3 2.45 0.050 2269 -580.8 -116.8 - - 3195 - - - - - - - - 14.16 14.52 14.40
6604 613.9 -8.2 322 6609 roll -0.56 - - 2014 - 2.45 0.060 886 -564.5 -116.8 - - 3193 - - - - - - - - 14.90 14.39 14.92
6687 621.0 -8.1 334 6693 done -0.56 - - 2014 - 2.47 0.063 2266 558.7 -116.8 - - 3193 - - - - - - - - 14.51 14.38 14.55
7053 651.5 -8.5 344 7058 roll -0.56 - - 2012 - 2.58 0.089 3693 553.1 -116.8 - - 3192 - - - - - - - - 14.89 14.30 14.91
7108 656.2 -8.4 352 7113 done -0.56 - - 2012 - 2.45 0.049 2260 -584.9 -116.8 - - 3192 - - - - - - - - 14.57 14.49 14.59
7445 683.4 -8.0 365 7450 roll -0.56 - - 2011 - 2.42 0.057 878 -571.1 -116.8 - - 3191 - - - - - - - - 14.89 14.38 14.91
7508 688.6 -8.1 374 7512 done -0.56 - - 2011 - 2.47 0.063 2260 559.5 -116.8 - - 3191 - - - - - - - - 14.50 14.37 14.53
7836 712.7 -7.3 386 7841 roll -0.56 - - 2011 - 2.60 0.090 3702 554.6 -116.8 - - 3190 - - - - - - - - 14.89 14.28 14.91
7884 716.2 -7.1 393 7892 done -0.56 - - 2011 - 2.50 0.047 2251 -580.4 -116.8 - - 3189 - - - - - - - - 14.45 14.41 14.47
8230 740.4 -7.1 400 8234 roll -0.56 - - 2011 - 2.40 0.057 888 -567.9 -116.8 - - 3188 - - - - - - - - 14.90 14.38 14.92
8304 746.3 -7.3 411 8310 done -0.56 - - 2011 - 2.47 0.062 2261 555.9 -116.8 - - 3188 - - - - - - - - 14.45 14.31 14.49
8620 769.7 -7.6 421 8626 roll -0.56 - - 2011 - 2.58 0.090 3690 553.9 -116.8 - - 3187 - - - - - - - - 14.91 14.26 14.92
8684 774.1 -6.4 430 8688 done -0.61 - - 2011 - 2.45 0.050 2263 -582.4 -116.8 - - 3186 - - - - - - - - 14.54 14.46 14.56
9012 799.2 -7.7 442 9017 roll -0.61 - - 2012 - 2.45 0.059 886 -562.0 -116.8 - - 3186 - - - - - - - - 14.90 14.33 14.92
9081 804.9 -8.0 452 9087 done -0.61 - - 2011 - 2.53 0.063 2255 541.1 -116.8 - - 3185 - - - - - - - - 14.44 14.23 14.48
9406 830.0 -7.8 463 9410 roll -0.61 - - 2011 - 2.65 0.092 3701 545.7 -116.8 - - 3184 - - - - - - - - 14.86 14.21 14.88
9467 835.0 -7.9 472 9472 done -0.66 - - 2007 - 2.50 0.049 2244 -582.8 -116.8 - - 3185 - - - - - - - - 14.50 14.42 14.53
9797 860.8 -7.9 484 9802 roll -0.66 - - 2011 - 2.42 0.062 890 -559.5 -116.8 - - 3183 - - - - - - - - 14.88 14.31 14.88
9858 865.8 -7.8 493 9865 done -0.66 - - 2011 - 2.47 0.063 2258 553.8 -116.8 - - 3184 - - - - - - - - 14.40 14.26 14.45
10189 889.7 -7.1 505 10194 roll -0.66 - - 2011 - 2.62 0.092 3693 547.7 -116.8 - - 3183 - - - - - - - - 14.89 14.19 14.91
10246 893.6 -7.0 513 10252 done -0.72 0.15 0.125 1956 -366.7 2.50 0.051 2245 -579.2 -116.8 - - 3182 - - - - - - - - 14.33 14.40 14.44
10583 926.0 -9.8 526 10587 roll -0.67 - - 1956 - 2.45 0.064 893 -551.8 -116.8 - - 3181 - - - - - - - - 14.85 14.26 14.87
10666 934.1 -9.5 538 10671 done -0.67 - - 1953 - 2.47 0.067 2250 549.4 -116.8 - - 3181 - - - - - - - - 14.41 14.28 14.46
11031 969.7 -9.7 548 11036 roll -0.62 0.15 0.280 1981 186.7 2.65 0.092 3690 543.4 -116.8 - - 3181 - - - - - - - - 13.92 14.18 14.07
11064 972.7 -7.4 553 11071 done -0.62 - - 1979 - 2.55 0.054 2248 -565.5 -116.8 - - 3181 - - - - - - - - 14.35 14.30 14.39
11306 end dive: TARGET_DEPTH_EXCEEDED
11306 begin apogee
11316 992.4 -7.9 560 11464 roll -0.19 0.57 0.220 2134 271.9 - - 2165 - - 140.88 2.537 2743 -3.1 0.240 - - - - 1 - 13.88 13.68 12.43
11465 end apogee: CONTROL_FINISHED_OK
11466 begin climb
11469 995.9 - 562 11639 roll 0.68 0.93 0.144 2412 298.9 2.75 0.094 3586 516.7 116.8 162.05 1.917 2263 -3.0 0.304 - - - - - - 13.69 13.73 12.66
11796 971.9 10.4 615 11802 done 0.60 0.10 0.307 2400 -120.0 2.47 0.058 2197 -562.3 116.8 - - 2235 - - - - - - - - 13.93 14.16 14.20
12148 940.2 9.1 623 12153 roll 0.60 - - 2400 - 2.55 0.090 3594 547.8 116.8 - - 2231 - - - - - - - - 14.71 14.35 14.73
12331 922.8 8.7 649 12337 done 0.53 0.15 0.275 2376 -160.0 2.47 0.061 2178 -573.3 116.8 - - 2231 - - - - - - - - 14.16 14.45 14.45
12653 898.6 7.3 660 12658 roll 0.53 - - 2386 - 2.55 0.078 769 -552.5 116.9 - - 2229 - - - - - - - - 14.80 14.40 14.82
12708 894.7 7.0 668 12713 done 0.54 - - 2390 - 2.53 0.065 2181 558.1 125.8 - - 2228 - - - - - - - - 14.54 14.42 14.57
13044 871.3 7.0 681 13069 roll 0.55 - - 2386 - 2.60 0.093 3591 542.3 133.8 17.17 1.783 2185 -2.5 0.242 - - - - - - 14.85 14.47 13.52
13135 864.4 7.9 694 13140 done 0.55 - - 2396 - 2.47 0.059 2174 -573.7 133.8 - - 2176 - - - - - - - - 14.54 14.45 14.57
13492 838.1 7.4 703 13497 roll 0.55 - - 2406 - 2.55 0.076 769 -551.0 133.8 - - 2174 - - - - - - - - 14.81 14.38 14.83
13526 835.5 8.4 708 13532 done 0.55 0.08 0.226 2384 -275.0 2.58 0.064 2180 546.9 133.8 - - 2174 - - - - - - - - 14.15 14.37 14.30
13885 809.9 7.3 717 13891 roll 0.55 - - 2384 - 2.55 0.092 3592 553.7 134.5 - - 2173 - - - - - - - - 14.83 14.34 14.85
13981 801.7 8.3 731 13987 done 0.55 - - 2393 - 2.50 0.060 2186 -562.4 134.5 - - 2173 - - - - - - - - 14.44 14.38 14.48
14333 774.0 7.9 739 14338 roll 0.55 - - 2405 - 2.55 0.075 771 -554.9 134.5 - - 2175 - - - - - - - - 14.83 14.38 14.85
14401 768.4 8.0 749 14408 done 0.55 - - 2404 - 2.58 0.063 2204 555.4 134.5 - - 2171 - - - - - - - - 14.51 14.38 14.56
14724 740.9 8.5 760 14729 roll 0.55 - - 2403 - 2.53 0.092 3595 549.8 134.5 - - 2171 - - - - - - - - 14.85 14.31 14.88
14808 732.8 9.7 772 14813 done 0.49 0.22 0.249 2359 -200.0 2.47 0.060 2175 -574.9 134.5 - - 2171 - - - - - - - - 14.04 14.42 14.37
15172 707.6 6.8 782 15184 roll 0.50 - - 2370 - 2.53 0.078 774 -553.8 146.7 6.20 1.584 2143 -4.5 0.398 - - - - - - 14.84 14.52 13.37
15256 701.7 7.1 794 15275 done 0.55 - - 2369 - 2.53 0.063 2187 558.5 152.6 12.27 1.740 2121 -1.8 0.143 - - - - - - 14.57 14.48 13.51
15620 674.7 7.4 804 15625 roll 0.55 - - 2369 - 2.55 0.090 3588 549.4 152.6 - - 2112 - - - - - - - - 14.81 14.31 14.81
15717 667.0 7.6 818 15723 done 0.55 - - 2378 - 2.47 0.057 2175 -572.1 152.6 - - 2111 - - - - - - - - 14.49 14.38 14.53
16069 643.2 6.7 826 16101 roll 0.56 - - 2386 - 2.55 0.077 768 -551.8 167.8 26.10 1.555 2051 -2.3 0.188 - - - - - - 14.81 14.42 13.61
16137 638.7 6.4 836 16180 done 0.57 - - 2386 - 2.55 0.061 2187 556.5 189.9 34.38 1.509 1959 -2.7 0.224 - - - - - - 14.47 14.36 13.47
16517 609.8 8.0 848 16522 roll 0.57 - - 2386 - 2.55 0.090 3586 548.6 189.9 - - 1945 - - - - - - - - 14.72 14.30 14.74
16599 602.1 9.2 860 16605 done 0.57 - - 2395 - 2.50 0.055 2188 -559.2 189.9 - - 1942 - - - - - - - - 14.40 14.35 14.52
16964 570.5 8.7 870 16969 roll 0.57 - - 2405 - 2.55 0.072 771 -555.7 189.9 - - 1942 - - - - - - - - 14.78 14.33 14.81
17034 564.6 8.2 880 17039 done 0.57 - - 2404 - 2.55 0.060 2195 558.4 189.9 - - 1941 - - - - - - - - 14.50 14.39 14.54
17356 537.5 8.4 891 17361 roll 0.57 - - 2404 - 2.55 0.086 3599 550.6 189.9 - - 1941 - - - - - - - - 14.81 14.31 14.83
17439 529.9 8.8 903 17445 done 0.57 - - 2414 - 2.50 0.056 2171 -571.2 189.9 - - 1940 - - - - - - - - 14.51 14.39 14.54
17805 497.9 9.0 913 17810 roll 0.57 - - 2424 - 2.55 0.072 765 -551.4 189.9 - - 1940 - - - - - - - - 14.84 14.33 14.85
17838 494.6 9.3 918 17844 done 0.57 0.12 0.218 2387 -308.3 2.60 0.060 2190 548.1 189.9 - - 1940 - - - - - - - - 14.03 14.31 14.19
18196 465.8 8.0 927 18201 roll 0.57 - - 2388 - 2.55 0.086 3596 551.4 189.9 - - 1940 - - - - - - - - 14.85 14.30 14.87
18280 458.5 8.6 939 18285 done 0.57 - - 2395 - 2.45 0.057 2193 -572.7 189.9 - - 1938 - - - - - - - - 14.50 14.40 14.54
18644 430.3 7.6 949 18650 roll 0.57 - - 2405 - 2.55 0.070 776 -555.7 189.9 - - 1942 - - - - - - - - 14.86 14.31 14.88
18714 425.1 7.4 959 18719 done 0.57 - - 2405 - 2.55 0.057 2203 559.6 189.9 - - 1939 - - - - - - - - 14.47 14.35 14.52
19037 398.5 8.4 970 19041 roll 0.57 - - 2405 - 2.53 0.087 3598 551.4 189.9 - - 1939 - - - - - - - - 14.85 14.28 14.87
19119 390.2 9.9 982 19125 done 0.57 - - 2414 - 2.45 0.055 2192 -573.9 189.9 - - 1939 - - - - - - - - 14.47 14.37 14.52
19485 355.1 9.7 992 19490 roll 0.57 - - 2424 - 2.55 0.070 773 -556.5 189.9 - - 1939 - - - - - - - - 14.85 14.29 14.87
19546 349.2 9.3 1001 19553 done 0.57 0.15 0.236 2385 -260.0 2.55 0.058 2202 560.4 189.9 - - 1939 - - - - - - - - 14.04 14.31 14.32
19877 323.9 7.5 1013 19882 roll 0.57 - - 2387 - 2.50 0.086 3587 554.0 189.9 - - 1939 - - - - - - - - 14.85 14.25 14.87
19939 318.9 8.2 1022 19944 done 0.57 - - 2395 - 2.42 0.054 2193 -576.0 189.9 - - 1939 - - - - - - - - 14.47 14.38 14.52
20268 295.3 7.2 1034 20273 roll 0.57 - - 2404 - 2.55 0.070 773 -556.9 193.4 - - 1939 - - - - - - - - 14.85 14.28 14.88
20331 290.8 7.0 1043 20343 done 0.62 - - 2404 - 2.55 0.057 2205 561.6 201.8 3.92 0.969 1915 -6.1 0.363 - - - - - - 14.45 14.33 13.35
20661 265.4 7.8 1055 20666 roll 0.62 - - 2404 - 2.50 0.085 3593 555.2 201.8 - - 1924 - - - - - - - - 14.82 14.31 14.83
20750 257.2 8.9 1068 20756 done 0.62 - - 2412 - 2.42 0.054 2194 -578.1 201.8 - - 1925 - - - - - - - - 14.50 14.40 14.52
21109 227.1 8.4 1077 21114 roll 0.62 - - 2420 - 2.55 0.070 774 -556.9 201.8 - - 1925 - - - - - - - - 14.85 14.31 14.86
21170 222.1 7.8 1086 21176 done 0.62 - - 2420 - 2.55 0.056 2206 561.6 201.8 - - 1925 - - - - - - - - 14.46 14.35 14.51
21501 195.3 8.1 1098 21505 roll 0.62 - - 2420 - 2.50 0.084 3593 554.8 201.8 - - 1925 - - - - - - - - 14.85 14.27 14.87
21563 189.5 9.1 1107 21568 done 0.62 - - 2429 - 2.42 0.053 2200 -575.6 201.8 - - 1925 - - - - - - - - 14.48 14.38 14.52
21892 160.8 8.8 1119 21898 roll 0.62 - - 2438 - 2.65 0.071 773 -538.5 201.8 1.75 0.174 1915 -5.7 1.042 - - - - - - 14.83 14.30 14.15
21955 155.3 8.6 1128 21960 done 0.62 0.15 0.239 2402 -240.0 2.55 0.058 2206 562.0 201.8 - - 1920 - - - - - - - - 14.06 14.35 14.34
22277 131.4 7.4 1139 22282 roll 0.62 - - 2402 - 2.50 0.084 3594 555.2 201.8 - - 1923 - - - - - - - - 14.85 14.28 14.88
22360 124.4 8.3 1151 22366 done 0.62 - - 2409 - 2.45 0.054 2211 -564.5 201.8 - - 1924 - - - - - - - - 14.47 14.31 14.51
22726 96.7 7.6 1161 22732 roll 0.62 - - 2410 - 2.58 0.067 773 -557.4 201.8 - - 1924 - - - - - - - - 14.85 14.29 14.87
22823 90.8 5.7 1175 22856 done 0.71 - - 2410 - 2.58 0.057 2214 558.5 239.8 27.25 0.390 1766 -5.8 0.266 - - - - - - 14.47 14.33 14.03
23178 71.6 5.4 1192 23220 roll 0.80 0.12 0.135 2466 466.7 2.47 0.082 3584 554.7 285.5 35.17 0.339 1580 -5.3 0.220 - - - - - - 14.43 14.40 14.07
23288 63.1 7.9 1208 23298 done 0.80 - - 2475 - 2.38 0.049 2200 -581.5 285.5 2.90 0.170 1577 -1.0 0.076 - - - - - - 14.51 14.42 14.12
23626 43.3 5.1 1223 23670 roll 0.90 - - 2475 - 2.53 0.077 3591 549.8 338.7 38.12 0.256 1360 -5.7 0.190 - - - - - - 14.78 14.26 14.09
23737 37.5 5.8 1239 23768 done 1.01 0.15 0.123 2534 393.3 2.40 0.051 2212 -574.6 374.4 26.55 0.238 1217 -5.4 0.167 - - - - - - 14.38 14.41 14.11
24091 18.2 5.6 1257 24125 roll 1.11 - - 2542 - 2.62 0.066 773 -549.2 416.4 30.02 0.179 1042 -5.8 0.117 - - - - - - 14.78 14.35 14.14
24212 11.6 6.7 1274 24229 done 1.22 0.15 0.114 2608 440.0 2.55 0.053 2214 565.1 431.1 12.32 0.158 982 -4.9 0.071 - - - - - - 14.34 14.32 14.16
24304 end climb: SURFACE_DEPTH_REACHED
24304 begin surface coast
24332 end surface coast: CONTROL_FINISHED_OK
24332 begin surface
SM 0.83 - - - - -6.13 6.88 0.065 219 31.8 0.10 0.128 2307 -91230.0 500.17 47.47 0.133 700 14.7 -0.009 - - - - - -