SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 376 * Raw log
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• Previous call tries 3 • 149.31 of 350.00 AH used of 24V (57.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.1 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 25 s • Transponder ping count: 6
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
19 - - - 104 VBD -0.68 - - 200 - - - 2301 - -116.8 -84.00 - 2828 - - - - - - - - 14.70 - 14.72
108 3.9 -5.2 3 132 roll -0.68 9.12 0.412 1981 195.3 2.78 2.019 881 -510.8 -116.8 -7.30 - 3221 -53.8 - - - - - - - 13.95 13.02 14.38
253 46.0 -26.0 24 259 done -0.50 0.25 0.262 2032 204.0 2.47 0.059 2286 568.8 -116.8 - - 3222 - - - - - - - - 14.10 14.42 14.39
582 86.6 -7.7 38 582 done -0.44 - - 2032 - - - 2287 - -116.8 - - 3223 - - - - - - - - 14.83 14.85 14.85
889 109.8 -7.5 47 890 done -0.44 - - 2032 - - - 2287 - -116.8 - - 3224 - - - - - - - - 14.90 14.91 14.91
1225 135.8 -8.0 53 1226 done -0.44 - - 2032 - - - 2287 - -116.8 - - 3223 - - - - - - - - 14.90 14.92 14.92
1561 162.5 -8.0 59 1566 roll -0.44 - - 2032 - 2.42 0.047 875 -583.5 -116.8 - - 3223 - - - - - - - - 14.91 14.54 14.93
1602 166.3 -9.0 65 1608 done -0.44 - - 2027 - 2.47 0.052 2279 568.4 -116.8 - - 3223 - - - - - - - - 14.55 14.50 14.59
1953 196.9 -8.7 73 1958 roll -0.44 - - 2018 - 2.45 0.075 3691 576.3 -116.8 - - 3221 - - - - - - - - 14.93 14.42 14.95
1981 199.3 -8.7 77 1987 done -0.44 0.15 0.224 2057 260.0 2.35 0.041 2262 -608.1 -116.8 - - 3220 - - - - - - - - 14.30 14.63 14.52
2345 225.4 -7.1 87 2349 roll -0.44 - - 2057 - 2.35 0.050 891 -583.4 -116.8 - - 3218 - - - - - - - - 14.92 14.53 14.94
2407 230.0 -7.2 96 2412 done -0.50 - - 2056 - 2.42 0.056 2282 574.8 -116.8 - - 3217 - - - - - - - - 14.63 14.52 14.66
2738 251.9 -6.6 108 2742 roll -0.50 - - 2056 - 2.47 0.080 3694 571.7 -116.8 - - 3216 - - - - - - - - 14.91 14.45 14.92
2793 255.5 -6.5 116 2798 done -0.58 0.15 0.117 1989 -446.7 2.38 0.043 2268 -599.2 -116.8 - - 3215 - - - - - - - - 14.49 14.57 14.61
3130 289.7 -10.6 129 3136 roll -0.53 0.12 0.261 2022 275.0 2.40 0.051 883 -577.1 -116.8 - - 3213 - - - - - - - - 14.24 14.47 14.37
3185 295.0 -9.0 137 3191 done -0.53 - - 2015 - 2.45 0.058 2273 567.3 -116.8 - - 3212 - - - - - - - - 14.62 14.50 14.64
3521 325.7 -9.1 150 3526 roll -0.53 - - 2011 - 2.50 0.083 3687 565.6 -116.8 - - 3212 - - - - - - - - 14.92 14.41 14.93
3578 330.6 -8.9 158 3583 done -0.53 - - 2011 - 2.38 0.044 2272 -594.5 -116.8 - - 3209 - - - - - - - - 14.66 14.59 14.66
3913 360.6 -8.9 171 3918 roll -0.53 - - 2011 - 2.40 0.055 893 -574.6 -116.8 - - 3208 - - - - - - - - 14.93 14.47 14.95
4010 369.3 -8.6 185 4016 done -0.53 - - 2010 - 2.47 0.059 2296 568.0 -116.8 - - 3208 - - - - - - - - 14.56 14.43 14.60
4362 399.2 -8.6 193 4367 roll -0.53 - - 2008 - 2.47 0.085 3689 564.0 -116.8 - - 3205 - - - - - - - - 14.92 14.40 14.95
4396 402.1 -8.8 198 4401 done -0.53 - - 2006 - 2.38 0.044 2273 -595.0 -116.8 - - 3205 - - - - - - - - 14.64 14.58 14.66
4753 433.6 -8.8 207 4758 roll -0.53 - - 2009 - 2.40 0.056 893 -575.0 -116.8 - - 3200 - - - - - - - - 14.92 14.45 14.95
4830 440.4 -8.6 218 4835 done -0.53 - - 2008 - 2.45 0.060 2273 563.3 -116.8 - - 3202 - - - - - - - - 14.57 14.45 14.60
5145 467.4 -8.6 228 5146 done -0.53 - - 2008 - - - 2273 - -116.8 - - 3200 - - - - - - - - 14.90 14.92 14.95
5481 496.2 -8.6 234 5486 roll -0.53 - - 2001 - 2.53 0.085 3694 561.7 -116.8 - - 3200 - - - - - - - - 14.92 14.38 14.95
5530 500.2 -8.5 241 5537 done -0.53 - - 2001 - 2.42 0.046 2258 -593.4 -116.8 - - 3199 - - - - - - - - 14.62 14.55 14.64
5873 528.5 -8.2 248 5878 roll -0.53 - - 2001 - 2.38 0.057 898 -571.4 -116.8 - - 3196 - - - - - - - - 14.88 14.43 14.90
5921 532.7 -8.3 255 5928 done -0.53 - - 2001 - 2.50 0.063 2272 549.6 -116.8 - - 3197 - - - - - - - - 14.41 14.34 14.46
6266 562.2 -8.7 262 6270 roll -0.53 - - 1996 - 2.55 0.089 3696 558.4 -116.8 - - 3196 - - - - - - - - 14.90 14.35 14.91
6292 564.7 -9.1 266 6298 done -0.53 0.12 0.244 2025 241.7 2.40 0.047 2279 -590.4 -116.8 - - 3196 - - - - - - - - 14.17 14.52 14.41
6657 593.3 -7.8 276 6662 roll -0.53 - - 2025 - 2.42 0.059 889 -574.4 -116.8 - - 3194 - - - - - - - - 14.90 14.41 14.91
6740 599.9 -7.8 288 6746 done -0.53 - - 2025 - 2.47 0.062 2276 561.5 -116.8 - - 3194 - - - - - - - - 14.50 14.38 14.54
7106 625.4 -6.9 298 7111 roll -0.53 - - 2021 - 2.55 0.089 3700 558.4 -116.8 - - 3192 - - - - - - - - 14.88 14.32 14.90
7153 628.7 -6.7 305 7161 done -0.58 - - 2021 - 2.47 0.048 2252 -586.2 -116.8 - - 3192 - - - - - - - - 14.55 14.47 14.58
7498 650.7 -6.3 312 7503 roll -0.58 - - 2021 - 2.38 0.057 895 -570.2 -116.8 - - 3190 - - - - - - - - 14.90 14.39 14.92
7538 653.4 -6.6 318 7544 done -0.58 - - 2017 - 2.45 0.060 2269 560.8 -116.8 - - 3191 - - - - - - - - 14.50 14.37 14.53
7890 676.4 -6.6 326 7894 roll -0.58 - - 2014 - 2.58 0.091 3690 550.8 -116.8 - - 3190 - - - - - - - - 14.90 14.28 14.92
7923 678.8 -6.9 331 7929 done -0.58 - - 2014 - 2.42 0.047 2268 -587.6 -116.8 - - 3189 - - - - - - - - 14.55 14.48 14.58
8282 702.7 -6.7 340 8287 roll -0.58 - - 2015 - 2.42 0.059 888 -570.2 -116.8 - - 3188 - - - - - - - - 14.87 14.35 14.89
8330 706.2 -7.4 347 8336 done -0.58 - - 2014 - 2.50 0.063 2271 553.2 -116.8 - - 3187 - - - - - - - - 14.45 14.33 14.50
8675 729.0 -6.7 354 8679 roll -0.58 - - 2012 - 2.58 0.091 3689 549.6 -116.8 - - 3187 - - - - - - - - 14.87 14.24 14.88
8715 731.9 -7.1 360 8720 done -0.58 - - 2011 - 2.42 0.049 2265 -588.4 -116.8 - - 3186 - - - - - - - - 14.54 14.47 14.57
9066 757.9 -7.6 368 9070 roll -0.58 - - 2011 - 2.42 0.059 886 -569.8 -116.8 - - 3185 - - - - - - - - 14.88 14.33 14.89
9162 766.2 -8.3 382 9168 done -0.58 - - 2011 - 2.50 0.064 2273 554.8 -116.8 - - 3185 - - - - - - - - 14.41 14.24 14.45
9514 793.9 -7.9 390 9519 roll -0.58 - - 2011 - 2.60 0.093 3701 549.2 -116.8 - - 3184 - - - - - - - - 14.88 14.21 14.90
9569 798.4 -8.1 398 9574 done -0.58 - - 2011 - 2.47 0.049 2258 -584.2 -116.8 - - 3181 - - - - - - - - 14.50 14.43 14.53
9905 824.3 -7.6 411 9910 roll -0.58 - - 2011 - 2.42 0.058 880 -569.4 -116.8 - - 3182 - - - - - - - - 14.86 14.31 14.86
9962 828.3 -6.5 419 9967 done -0.58 - - 2011 - 2.53 0.063 2268 548.6 -116.8 - - 3182 - - - - - - - - 14.42 14.28 14.47
10297 851.7 -7.1 432 10302 roll -0.58 - - 2011 - 2.60 0.093 3694 548.5 -116.8 - - 3182 - - - - - - - - 14.86 14.21 14.88
10340 854.6 -5.2 438 10344 done -0.58 - - 2011 - 2.45 0.050 2264 -583.7 -116.8 - - 3181 - - - - - - - - 14.49 14.41 14.52
10689 878.4 -6.8 446 10694 roll -0.58 - - 2011 - 2.42 0.059 886 -569.4 -116.8 - - 3180 - - - - - - - - 14.85 14.28 14.87
10758 883.3 -6.9 456 10764 done -0.58 - - 2011 - 2.53 0.064 2275 549.0 -116.8 - - 3181 - - - - - - - - 14.41 14.27 14.45
11082 905.6 -6.9 467 11087 roll -0.58 - - 2011 - 2.60 0.093 3692 545.0 -116.8 - - 3180 - - - - - - - - 14.87 14.09 14.89
11116 907.2 -5.8 472 11121 done -0.58 - - 2011 - 2.45 0.052 2271 -580.0 -116.8 - - 3180 - - - - - - - - 14.47 14.40 14.50
11473 930.5 -6.4 481 11479 roll -0.58 - - 2011 - 2.47 0.063 885 -561.1 -116.8 - - 3179 - - - - - - - - 14.85 14.23 14.87
11550 935.5 -6.6 492 11555 done -0.58 - - 2011 - 2.53 0.066 2270 547.4 -116.8 - - 3178 - - - - - - - - 14.39 14.26 14.43
11865 955.5 -6.3 502 11870 roll -0.58 - - 2010 - 2.62 0.095 3697 544.7 -116.8 - - 3178 - - - - - - - - 14.83 14.14 14.85
11900 957.7 -5.6 507 11905 done -0.58 - - 2010 - 2.50 0.054 2260 -574.8 -116.8 - - 3178 - - - - - - - - 14.45 14.36 14.47
12258 980.6 -6.5 516 12263 roll -0.58 - - 2010 - 2.45 0.060 879 -563.7 -116.8 - - 3177 - - - - - - - - 14.83 14.24 14.85
12305 984.0 -4.8 523 12312 done -0.58 - - 2010 - 2.55 0.066 2266 543.9 -116.8 - - 3177 - - - - - - - - 14.32 14.16 14.37
12421 end dive: TARGET_DEPTH_EXCEEDED
12422 begin apogee
12430 991.8 -6.5 526 12630 roll -0.19 0.45 0.207 2133 273.3 - - 2136 - - 197.57 1.636 2740 -2.2 0.254 - - - - - - 13.94 13.91 13.09
12631 end apogee: CONTROL_FINISHED_OK
12631 begin climb
12636 996.6 - 529 12805 roll 0.68 0.93 0.146 2407 294.6 2.55 0.060 768 -536.5 116.8 153.98 1.746 2256 -3.1 0.340 - - - - - - 13.88 13.96 12.95
12962 976.0 8.1 581 12966 done 0.68 - - 2410 - 2.55 0.063 2166 548.2 116.8 - - 2237 - - - - - - - - 14.33 14.23 14.35
13324 944.4 8.6 591 13328 roll 0.68 - - 2420 - 2.53 0.072 777 -549.0 116.8 - - 2233 - - - - - - - - 14.73 14.37 14.76
13456 933.2 9.8 610 13462 done 0.68 - - 2420 - 2.53 0.063 2173 551.8 116.8 - - 2232 - - - - - - - - 14.52 14.40 14.56
13772 905.0 9.3 620 13776 roll 0.62 - - 2420 - 2.55 0.090 3574 549.4 116.8 - - 2232 - - - - - - - - 14.83 14.35 14.85
13834 898.5 10.4 629 13840 done 0.54 0.22 0.272 2377 -195.5 2.42 0.058 2189 -572.3 116.8 - - 2230 - - - - - - - - 14.08 14.45 14.41
14165 874.9 7.0 641 14169 roll 0.54 - - 2388 - 2.60 0.073 746 -555.0 125.3 - - 2230 - - - - - - - - 14.82 14.38 14.84
14212 871.2 7.1 648 14225 done 0.55 - - 2388 - 2.58 0.062 2156 546.5 131.6 7.88 1.773 2204 -3.3 0.307 - - - - - - 14.40 14.34 13.39
14556 845.3 7.7 662 14562 roll 0.55 - - 2387 - 2.58 0.090 3573 549.2 131.6 - - 2204 - - - - - - - - 14.81 14.35 14.82
14646 837.6 8.5 675 14651 done 0.55 - - 2397 - 2.47 0.060 2163 -570.9 131.6 - - 2203 - - - - - - - - 14.54 14.44 14.57
15004 809.4 7.9 684 15008 roll 0.55 - - 2408 - 2.55 0.073 746 -555.7 131.6 - - 2204 - - - - - - - - 14.83 14.35 14.85
15060 804.8 8.5 692 15065 done 0.55 0.12 0.257 2380 -233.3 2.55 0.062 2165 556.5 131.6 - - 2202 - - - - - - - - 14.13 14.40 14.38
15396 781.8 6.8 705 15424 roll 0.55 - - 2381 - 2.60 0.090 3575 542.3 143.8 23.50 1.688 2151 -2.2 0.190 - - - - - - 14.83 14.44 13.59
15532 771.7 8.8 724 15537 done 0.55 - - 2390 - 2.45 0.057 2168 -574.3 143.8 - - 2140 - - - - - - - - 14.50 14.40 14.53
15894 745.0 7.4 734 15899 roll 0.55 - - 2401 - 2.55 0.072 748 -556.9 143.8 - - 2138 - - - - - - - - 14.78 14.34 14.80
15942 741.3 7.6 741 15949 done 0.55 - - 2401 - 2.60 0.060 2172 547.7 143.8 - - 2137 - - - - - - - - 14.38 14.31 14.41
16287 713.1 8.3 748 16292 roll 0.55 - - 2401 - 2.53 0.087 3567 551.4 143.8 - - 2137 - - - - - - - - 14.81 14.30 14.83
16383 704.1 9.3 762 16390 done 0.55 0.08 0.239 2381 -250.0 2.47 0.054 2175 -563.6 143.8 - - 2136 - - - - - - - - 14.06 14.35 14.37
16734 678.0 7.4 770 16740 roll 0.55 - - 2391 - 2.60 0.074 747 -549.2 143.8 - - 2136 - - - - - - - - 14.82 14.31 14.84
16776 674.8 7.6 776 16781 done 0.55 - - 2391 - 2.58 0.060 2173 552.7 143.8 - - 2135 - - - - - - - - 14.48 14.37 14.53
17126 647.4 7.8 784 17131 roll 0.55 - - 2392 - 2.53 0.087 3571 552.6 143.8 - - 2135 - - - - - - - - 14.83 14.26 14.85
17244 637.1 8.6 801 17250 done 0.55 - - 2401 - 2.45 0.056 2169 -572.2 143.8 - - 2133 - - - - - - - - 14.49 14.38 14.52
17575 610.6 8.0 813 17579 roll 0.55 - - 2411 - 2.55 0.071 753 -555.3 143.8 - - 2135 - - - - - - - - 14.83 14.31 14.84
17601 608.5 7.5 817 17607 done 0.55 0.12 0.257 2384 -225.0 2.55 0.058 2178 558.8 143.8 - - 2134 - - - - - - - - 14.06 14.33 14.36
17967 584.5 6.5 827 18000 roll 0.56 - - 2384 - 2.58 0.089 3577 542.2 164.2 28.73 1.499 2068 -2.3 0.170 - - - - - - 14.85 14.42 13.62
18063 577.5 7.5 841 18070 done 0.56 - - 2391 - 2.50 0.057 2176 -560.4 164.2 - - 2055 - - - - - - - - 14.38 14.33 14.42
18407 552.9 7.3 848 18412 roll 0.57 - - 2400 - 2.58 0.074 747 -553.9 165.6 - - 2052 - - - - - - - - 14.76 14.31 14.78
18470 548.2 7.4 857 18475 done 0.57 - - 2400 - 2.58 0.060 2185 557.4 165.6 - - 2050 - - - - - - - - 14.45 14.34 14.50
18799 520.5 8.6 869 18804 roll 0.57 - - 2400 - 2.53 0.086 3578 550.6 165.6 - - 2050 - - - - - - - - 14.82 14.26 14.84
18875 512.9 10.0 880 18880 done 0.57 - - 2409 - 2.47 0.055 2189 -562.3 165.6 - - 2050 - - - - - - - - 14.37 14.32 14.51
19192 483.3 9.4 890 19197 roll 0.57 - - 2416 - 2.60 0.069 742 -556.5 165.6 - - 2046 - - - - - - - - 14.80 14.30 14.83
19247 478.1 9.1 898 19253 done 0.57 0.15 0.239 2383 -220.0 2.60 0.060 2189 556.5 165.6 - - 2049 - - - - - - - - 14.05 14.34 14.34
19584 453.5 7.1 911 19589 roll 0.57 - - 2383 - 2.50 0.085 3576 554.8 171.0 - - 2047 - - - - - - - - 14.81 14.26 14.83
19659 447.7 7.5 922 19665 done 0.57 - - 2391 - 2.47 0.054 2185 -563.2 171.0 - - 2049 - - - - - - - - 14.34 14.28 14.47
19975 426.3 6.8 932 20015 roll 0.58 - - 2391 - 2.62 0.073 752 -546.9 184.3 33.03 1.284 1986 -1.9 0.120 - - - - - - 14.84 14.41 13.69
20059 420.6 6.9 944 20079 done 0.64 - - 2391 - 2.58 0.057 2194 558.9 195.8 14.12 1.375 1940 -3.3 0.189 - - - - - - 14.46 14.35 13.62
20423 393.7 7.6 954 20433 roll 0.64 - - 2391 - 2.47 0.084 3570 557.1 195.8 - - 1925 - - - - - - - - 14.73 14.27 14.75
20524 384.7 8.8 968 20529 done 0.64 - - 2398 - 2.42 0.054 2179 -574.8 195.8 - - 1925 - - - - - - - - 14.50 14.39 14.52
20874 356.2 8.2 976 20879 roll 0.64 - - 2406 - 2.58 0.072 747 -555.0 195.8 - - 1924 - - - - - - - - 14.82 14.32 14.83
20937 351.2 7.8 985 20942 done 0.69 - - 2405 - 2.60 0.057 2199 558.5 195.8 - - 1924 - - - - - - - - 14.46 14.35 14.51
21267 323.7 8.3 997 21272 roll 0.69 - - 2407 - 2.47 0.085 3573 556.3 195.8 - - 1924 - - - - - - - - 14.81 14.28 14.83
21342 316.5 9.4 1008 21348 done 0.69 - - 2415 - 2.45 0.054 2193 -563.3 195.8 - - 1924 - - - - - - - - 14.48 14.31 14.52
21658 287.8 9.3 1018 21664 roll 0.69 - - 2424 - 2.62 0.070 752 -550.0 195.8 - - 1924 - - - - - - - - 14.85 14.30 14.87
21707 283.2 9.3 1025 21713 done 0.69 - - 2423 - 2.62 0.057 2205 554.6 195.8 - - 1924 - - - - - - - - 14.46 14.35 14.51
22051 250.7 9.4 1032 22055 roll 0.69 - - 2423 - 2.47 0.083 3569 552.2 195.8 - - 1924 - - - - - - - - 14.86 14.28 14.88
22147 240.7 10.1 1046 22154 done 0.69 - - 2433 - 2.42 0.052 2202 -564.9 195.8 - - 1922 - - - - - - - - 14.38 14.33 14.42
22500 207.7 9.4 1054 22505 roll 0.69 - - 2443 - 2.62 0.070 753 -553.1 195.8 - - 1924 - - - - - - - - 14.85 14.28 14.87
22555 202.4 9.3 1062 22560 done 0.69 - - 2443 - 2.60 0.057 2206 558.8 195.8 - - 1924 - - - - - - - - 14.45 14.34 14.50
22891 168.5 10.2 1075 22895 roll 0.69 - - 2443 - 2.47 0.083 3576 554.7 195.8 - - 1924 - - - - - - - - 14.83 14.26 14.85
23003 156.3 10.7 1091 23009 done 0.69 0.12 0.278 2425 -150.0 2.40 0.052 2198 -574.2 195.8 - - 1924 - - - - - - - - 14.01 14.38 14.32
23338 127.4 8.5 1104 23343 roll 0.69 - - 2431 - 2.60 0.069 755 -555.0 195.8 - - 1925 - - - - - - - - 14.86 14.23 14.88
23387 123.8 7.4 1111 23393 done 0.69 - - 2435 - 2.62 0.057 2221 559.5 195.8 - - 1924 - - - - - - - - 14.45 14.33 14.50
23731 97.2 7.8 1118 23737 roll 0.69 - - 2435 - 2.45 0.082 3578 553.9 195.8 - - 1924 - - - - - - - - 14.86 14.25 14.88
23876 85.7 7.3 1139 23882 done 0.69 - - 2443 - 2.40 0.049 2214 -568.3 195.8 - - 1924 - - - - - - - - 14.35 14.31 14.40
24207 63.5 6.4 1153 24225 roll 0.71 - - 2443 - 2.45 0.077 3573 554.7 218.0 11.95 0.281 1850 -6.2 0.265 - - - - - - 14.82 14.38 13.96
24296 57.8 6.2 1166 24323 done 0.72 - - 2450 - 2.38 0.050 2226 -566.0 246.0 20.50 0.298 1734 -5.7 0.208 - - - - - - 14.38 14.33 14.04
24659 41.5 4.2 1184 24715 roll 0.86 - - 2450 - 2.65 0.067 761 -552.8 320.7 49.72 0.253 1434 -6.0 0.187 - - - - - - 14.78 14.35 14.13
24885 32.3 4.4 1217 24940 done 1.13 0.35 0.103 2570 342.9 2.58 0.050 2229 569.0 391.0 47.33 0.223 1143 -6.1 0.169 - - - - - - 14.34 14.38 14.10
25267 end climb: SURFACE_DEPTH_REACHED
25267 begin surface coast
25295 end surface coast: CONTROL_FINISHED_OK
25295 begin surface
SM 0.70 - - - - -6.14 6.68 0.054 217 32.5 0.10 0.146 2304 -91260.0 500.17 68.93 0.137 700 10.2 -0.005 - - - - - -