SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 377 * Raw log
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• Previous call tries 1 • 149.67 of 350.00 AH used of 24V (57.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 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: 38 s
• GPS2 time: 12 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 199 - - - 2314 - -116.8 -84.55 - 2818 - - - - - - - - 14.69 - 14.71
106 3.7 -4.9 3 130 roll -0.68 9.00 0.406 1963 196.0 2.72 2.049 3674 500.0 -116.8 -7.57 - 3219 -53.0 - - - - - - - 13.92 13.02 14.37
298 55.0 -16.7 31 303 done -0.51 0.25 0.257 2026 252.0 2.35 0.041 2265 -599.6 -116.8 - - 3221 - - - - - - - - 14.04 14.44 14.33
634 87.7 -9.0 46 639 roll -0.45 - - 2028 - 2.38 0.051 882 -581.1 -116.8 - - 3222 - - - - - - - - 14.83 14.47 14.85
676 91.8 -9.6 52 681 done -0.41 0.15 0.246 2061 220.0 2.42 0.057 2267 572.3 -116.8 - - 3222 - - - - - - - - 14.23 14.48 14.47
1027 115.9 -6.7 62 1031 roll -0.41 - - 2056 - 2.47 0.078 3689 575.7 -116.8 - - 3222 - - - - - - - - 14.90 14.44 14.92
1084 119.7 -6.7 70 1088 done -0.45 - - 2056 - 2.35 0.041 2264 -606.4 -116.8 - - 3223 - - - - - - - - 14.67 14.58 14.67
1419 140.1 -6.0 83 1423 roll -0.45 - - 2056 - 2.35 0.052 893 -583.4 -116.8 - - 3222 - - - - - - - - 14.91 14.47 14.93
1495 145.7 -7.2 94 1500 done -0.45 - - 2056 - 2.42 0.057 2282 574.0 -116.8 - - 3222 - - - - - - - - 14.61 14.50 14.63
1811 169.7 -7.7 104 1816 roll -0.45 - - 2051 - 2.47 0.077 3700 574.1 -116.8 - - 3220 - - - - - - - - 14.90 14.46 14.92
1852 172.9 -7.7 110 1857 done -0.51 - - 2051 - 2.35 0.041 2272 -607.7 -116.8 - - 3220 - - - - - - - - 14.66 14.60 14.69
2202 196.7 -6.6 118 2207 roll -0.51 - - 2051 - 2.38 0.054 896 -578.2 -116.8 - - 3219 - - - - - - - - 14.91 14.50 14.92
2251 200.0 -6.9 125 2258 done -0.51 - - 2051 - 2.45 0.058 2279 564.5 -116.8 - - 3221 - - - - - - - - 14.61 14.50 14.64
2595 224.7 -7.4 132 2599 roll -0.51 - - 2043 - 2.47 0.080 3689 570.9 -116.8 - - 3215 - - - - - - - - 14.93 14.44 14.95
2636 228.1 -8.1 138 2641 done -0.55 - - 2043 - 2.38 0.044 2282 -591.2 -116.8 - - 3216 - - - - - - - - 14.58 14.54 14.61
2987 256.3 -8.0 146 2992 roll -0.55 - - 2043 - 2.40 0.053 893 -578.8 -116.8 - - 3214 - - - - - - - - 14.91 14.50 14.92
3062 262.4 -7.7 157 3069 done -0.55 - - 2042 - 2.47 0.057 2278 560.7 -116.8 - - 3213 - - - - - - - - 14.50 14.44 14.64
3379 286.2 -7.6 167 3383 roll -0.55 - - 2041 - 2.53 0.083 3701 562.5 -116.8 - - 3212 - - - - - - - - 14.91 14.42 14.93
3427 289.9 -7.4 174 3435 done -0.61 0.12 0.135 1985 -466.7 2.40 0.044 2263 -599.2 -116.8 - - 3209 - - - - - - - - 14.50 14.59 14.59
3771 325.9 -10.8 181 3777 roll -0.56 0.12 0.262 2021 300.0 2.40 0.055 901 -567.5 -116.8 - - 3209 - - - - - - - - 14.17 14.40 14.33
3853 333.7 -8.6 193 3860 done -0.56 - - 2015 - 2.47 0.060 2267 553.0 -116.8 - - 3208 - - - - - - - - 14.59 14.40 14.62
4219 365.6 -8.8 203 4224 roll -0.56 - - 2011 - 2.55 0.085 3700 562.0 -116.8 - - 3207 - - - - - - - - 14.90 14.40 14.92
4245 368.0 -8.6 207 4251 done -0.56 - - 2012 - 2.42 0.044 2283 -585.5 -116.8 - - 3205 - - - - - - - - 14.56 14.53 14.58
4610 399.1 -8.5 217 4616 roll -0.56 - - 2012 - 2.42 0.054 890 -575.6 -116.8 - - 3204 - - - - - - - - 14.92 14.46 14.93
4673 404.4 -8.4 226 4678 done -0.56 - - 2011 - 2.47 0.059 2282 563.6 -116.8 - - 3202 - - - - - - - - 14.59 14.45 14.61
5002 431.8 -8.4 238 5007 roll -0.56 - - 2010 - 2.50 0.083 3691 563.6 -116.8 - - 3202 - - - - - - - - 14.93 14.38 14.95
5050 435.8 -8.3 245 5058 done -0.56 - - 2010 - 2.45 0.044 2261 -583.7 -116.8 - - 3201 - - - - - - - - 14.52 14.49 14.55
5395 464.9 -8.5 252 5400 roll -0.56 - - 2010 - 2.40 0.057 899 -567.5 -116.8 - - 3200 - - - - - - - - 14.90 14.44 14.92
5450 469.8 -8.8 260 5455 done -0.56 - - 2010 - 2.47 0.062 2282 559.9 -116.8 - - 3200 - - - - - - - - 14.54 14.42 14.57
5786 499.5 -9.0 273 5792 roll -0.56 - - 2000 - 2.50 0.083 3690 563.2 -116.8 - - 3199 - - - - - - - - 14.93 14.37 14.95
5829 503.5 -9.5 279 5833 done -0.56 - - 2000 - 2.40 0.046 2271 -591.2 -116.8 - - 3198 - - - - - - - - 14.54 14.48 14.57
6178 537.1 -9.6 287 6183 roll -0.56 - - 2000 - 2.42 0.059 890 -570.7 -116.8 - - 3196 - - - - - - - - 14.90 14.35 14.92
6261 545.1 -9.4 299 6267 done -0.56 - - 1999 - 2.50 0.062 2292 560.8 -116.8 - - 3196 - - - - - - - - 14.52 14.38 14.57
6627 577.4 -8.8 309 6628 done -0.56 - - 1999 - - - 2292 - -116.8 - - 3195 - - - - - - - - 14.92 14.94 14.94
6962 604.7 -8.1 315 6963 done -0.56 - - 1999 - - - 2292 - -116.8 - - 3193 - - - - - - - - 14.91 14.92 14.92
7298 632.1 -8.1 321 7304 roll -0.56 - - 1999 - 2.50 0.057 884 -563.2 -116.8 - - 3193 - - - - - - - - 14.90 14.39 14.92
7325 634.5 -8.7 325 7332 done -0.56 - - 1999 - 2.50 0.063 2271 554.8 -116.8 - - 3193 - - - - - - - - 14.49 14.34 14.54
7691 663.9 -8.0 335 7696 roll -0.56 - - 1994 - 2.58 0.090 3700 553.9 -116.8 - - 3191 - - - - - - - - 14.91 14.30 14.92
7717 666.2 -8.4 339 7723 done -0.56 - - 1994 - 2.47 0.048 2247 -588.3 -116.8 - - 3190 - - - - - - - - 14.51 14.43 14.57
8082 696.6 -8.3 349 8088 roll -0.56 - - 1994 - 2.40 0.062 891 -565.0 -116.8 - - 3189 - - - - - - - - 14.89 14.35 14.90
8152 702.7 -8.4 359 8157 done -0.56 0.12 0.272 2014 166.7 2.50 0.063 2280 555.6 -116.8 - - 3188 - - - - - - - - 14.07 14.37 14.33
8475 725.9 -7.1 370 8479 roll -0.56 - - 2011 - 2.55 0.090 3690 552.9 -116.8 - - 3188 - - - - - - - - 14.88 14.26 14.90
8515 728.9 -7.2 376 8521 done -0.56 - - 2011 - 2.47 0.050 2276 -572.5 -116.8 - - 3188 - - - - - - - - 14.43 14.39 14.47
8867 753.9 -7.2 384 8872 roll -0.56 - - 2012 - 2.47 0.063 878 -566.0 -116.8 - - 3187 - - - - - - - - 14.88 14.34 14.89
8942 759.6 -7.8 395 8948 done -0.56 - - 2011 - 2.53 0.065 2268 549.4 -116.8 - - 3186 - - - - - - - - 14.42 14.28 14.47
9259 781.8 -7.0 405 9265 roll -0.56 - - 2010 - 2.60 0.093 3700 550.8 -116.8 - - 3186 - - - - - - - - 14.90 14.21 14.92
9285 783.7 -7.0 409 9292 done -0.56 - - 2010 - 2.50 0.050 2262 -575.2 -116.8 - - 3186 - - - - - - - - 14.42 14.38 14.45
9650 809.4 -6.9 419 9655 roll -0.56 - - 2010 - 2.45 0.063 889 -560.4 -116.8 - - 3184 - - - - - - - - 14.88 14.29 14.90
9755 816.8 -6.9 434 9762 done -0.56 - - 2010 - 2.55 0.066 2285 547.5 -116.8 - - 3184 - - - - - - - - 14.31 14.19 14.35
10098 839.5 -6.6 441 10104 roll -0.56 - - 2000 - 2.55 0.089 3691 551.4 -116.8 - - 3183 - - - - - - - - 14.90 14.21 14.91
10139 842.5 -5.6 447 10145 done -0.56 - - 2000 - 2.45 0.050 2271 -579.6 -116.8 - - 3183 - - - - - - - - 14.47 14.38 14.50
10491 868.0 -7.2 455 10496 roll -0.56 - - 2000 - 2.45 0.062 884 -566.1 -116.8 - - 3182 - - - - - - - - 14.89 14.27 14.91
10566 873.7 -7.4 466 10572 done -0.56 - - 1999 - 2.53 0.065 2272 548.6 -116.8 - - 3182 - - - - - - - - 14.38 14.24 14.43
10882 896.9 -7.4 476 10887 roll -0.56 - - 1998 - 2.60 0.096 3693 546.5 -116.8 - - 3181 - - - - - - - - 14.90 14.16 14.91
10939 901.1 -7.4 484 10944 done -0.56 - - 1996 - 2.47 0.051 2270 -576.1 -116.8 - - 3181 - - - - - - - - 14.47 14.40 14.50
11275 925.3 -7.2 497 11280 roll -0.56 - - 1998 - 2.47 0.063 880 -562.8 -116.8 - - 3180 - - - - - - - - 14.85 14.24 14.88
11350 931.0 -7.3 508 11356 done -0.56 - - 1997 - 2.55 0.067 2273 546.3 -116.8 - - 3179 - - - - - - - - 14.38 14.24 14.42
11667 953.0 -6.9 518 11668 done -0.56 - - 1997 - - - 2272 - -116.8 - - 3179 - - - - - - - - 14.85 14.87 14.87
12003 977.1 -7.2 524 12003 done -0.56 - - 1997 - - - 2273 - -116.8 - - 3179 - - - - - - - - 14.85 14.88 14.87
12223 end dive: TARGET_DEPTH_EXCEEDED
12223 begin apogee
12232 993.7 -7.4 528 12428 roll -0.19 0.50 0.213 2131 268.0 - - 2150 - - 194.20 1.633 2740 -2.3 0.264 - - - - - - 13.85 13.91 13.08
12430 end apogee: CONTROL_FINISHED_OK
12430 begin climb
12434 999.5 - 531 12599 roll 0.68 0.93 0.146 2410 300.0 2.58 0.063 767 -536.0 116.8 152.62 1.872 2256 -3.2 0.325 - - - - - - 13.88 13.96 12.78
12733 982.9 7.6 579 12738 done 0.68 - - 2410 - 2.58 0.065 2161 540.3 116.8 - - 2233 - - - - - - - - 14.26 14.16 14.29
13068 955.0 8.3 592 13073 roll 0.68 - - 2420 - 2.58 0.075 761 -542.6 116.8 - - 2229 - - - - - - - - 14.73 14.35 14.75
13215 942.7 8.1 613 13221 done 0.68 - - 2420 - 2.58 0.066 2169 545.7 116.8 - - 2228 - - - - - - - - 14.51 14.39 14.55
13572 909.8 9.3 622 13577 roll 0.62 - - 2420 - 2.55 0.091 3569 549.0 116.8 - - 2227 - - - - - - - - 14.82 14.35 14.84
13685 897.8 10.7 638 13690 done 0.54 0.22 0.281 2378 -190.9 2.42 0.059 2192 -569.0 116.8 - - 2225 - - - - - - - - 14.07 14.46 14.41
14020 871.3 7.8 651 14025 roll 0.54 - - 2388 - 2.62 0.075 742 -553.4 116.8 - - 2225 - - - - - - - - 14.83 14.38 14.85
14047 869.2 7.5 655 14052 done 0.54 - - 2388 - 2.58 0.064 2172 554.3 116.8 - - 2224 - - - - - - - - 14.51 14.38 14.57
14413 840.3 7.9 665 14418 roll 0.54 - - 2388 - 2.53 0.090 3569 552.2 116.8 - - 2224 - - - - - - - - 14.83 14.31 14.85
14516 831.3 8.4 680 14523 done 0.54 - - 2398 - 2.53 0.058 2160 -556.9 116.8 - - 2224 - - - - - - - - 14.40 14.35 14.45
14860 804.7 7.7 687 14865 roll 0.54 - - 2409 - 2.55 0.075 747 -554.1 116.8 - - 2223 - - - - - - - - 14.84 14.34 14.88
14881 803.2 7.5 690 14886 done 0.54 0.12 0.264 2382 -225.0 2.58 0.063 2171 551.9 116.8 - - 2224 - - - - - - - - 14.02 14.31 14.32
15196 782.4 6.6 700 15216 roll 0.55 - - 2381 - 2.58 0.090 3574 543.8 135.1 15.77 1.763 2184 -2.5 0.216 - - - - - - 14.84 14.49 13.51
15286 776.0 6.7 713 15313 done 0.56 - - 2390 - 2.45 0.058 2168 -573.9 150.3 20.15 1.753 2124 -3.0 0.253 - - - - - - 14.55 14.44 13.52
15637 748.7 7.9 728 15642 roll 0.56 - - 2401 - 2.58 0.074 743 -552.3 150.3 - - 2107 - - - - - - - - 14.76 14.34 14.77
15699 743.7 7.8 737 15705 done 0.56 - - 2400 - 2.58 0.062 2173 554.3 150.3 - - 2106 - - - - - - - - 14.47 14.35 14.51
16030 715.6 8.6 749 16036 roll 0.56 - - 2401 - 2.50 0.089 3568 558.0 150.3 - - 2106 - - - - - - - - 14.81 14.31 14.83
16119 706.9 9.4 762 16125 done 0.56 - - 2410 - 2.45 0.057 2168 -571.4 150.3 - - 2105 - - - - - - - - 14.49 14.38 14.54
16477 676.0 8.6 771 16482 roll 0.56 - - 2421 - 2.55 0.073 749 -556.5 150.3 - - 2105 - - - - - - - - 14.81 14.32 14.83
16511 673.1 8.2 776 16517 done 0.56 0.15 0.259 2387 -226.7 2.58 0.060 2186 557.0 150.3 - - 2104 - - - - - - - - 14.07 14.38 14.37
16869 646.3 7.6 785 16875 roll 0.56 - - 2387 - 2.50 0.088 3569 553.2 150.3 - - 2103 - - - - - - - - 14.83 14.27 14.85
16973 637.1 8.7 800 16980 done 0.56 - - 2395 - 2.47 0.056 2170 -566.4 150.3 - - 2104 - - - - - - - - 14.38 14.33 14.42
17317 607.4 8.8 807 17322 roll 0.56 - - 2405 - 2.58 0.072 751 -550.0 150.3 - - 2104 - - - - - - - - 14.85 14.31 14.87
17351 604.3 8.7 812 17356 done 0.56 - - 2405 - 2.58 0.059 2187 556.6 150.3 - - 2103 - - - - - - - - 14.46 14.33 14.51
17709 571.8 9.0 821 17715 roll 0.56 - - 2405 - 2.50 0.086 3574 554.8 150.3 - - 2103 - - - - - - - - 14.83 14.25 14.85
17822 560.9 9.7 837 17828 done 0.56 0.12 0.268 2387 -150.0 2.45 0.056 2183 -567.8 150.3 - - 2103 - - - - - - - - 14.04 14.41 14.34
18157 535.5 7.5 850 18162 roll 0.56 - - 2396 - 2.60 0.072 752 -550.4 150.3 - - 2103 - - - - - - - - 14.83 14.27 14.85
18214 531.5 7.1 858 18219 done 0.57 - - 2396 - 2.60 0.059 2193 554.2 155.9 - - 2102 - - - - - - - - 14.46 14.34 14.50
18549 505.8 7.7 871 18554 roll 0.57 - - 2396 - 2.50 0.086 3569 550.4 155.9 - - 2103 - - - - - - - - 14.83 14.21 14.85
18611 500.2 9.1 880 18618 done 0.57 - - 2406 - 2.47 0.054 2187 -559.5 155.9 - - 2102 - - - - - - - - 14.47 14.33 14.51
18942 471.4 8.8 892 18947 roll 0.57 - - 2412 - 2.60 0.068 746 -554.2 155.9 - - 2102 - - - - - - - - 14.81 14.27 14.84
18989 467.1 8.7 899 18996 done 0.57 0.10 0.219 2386 -260.0 2.65 0.058 2190 544.9 155.9 - - 2102 - - - - - - - - 13.94 14.24 14.09
19333 441.7 7.2 906 19338 roll 0.57 - - 2386 - 2.60 0.084 3577 533.5 158.4 1.55 0.189 2091 -7.1 3.183 - - - - - - 14.83 14.23 14.06
19424 434.9 7.4 919 19429 done 0.57 - - 2394 - 2.45 0.054 2188 -566.9 158.4 - - 2095 - - - - - - - - 14.47 14.38 14.50
19781 411.5 6.6 928 19837 roll 0.58 - - 2404 - 2.65 0.067 751 -542.3 176.7 46.00 1.234 2014 -1.8 0.113 - - - - 1 - 14.85 14.35 13.42
19886 404.2 7.2 943 19892 done 0.58 - - 2404 - 2.60 0.057 2189 553.1 179.4 - - 2009 - - - - - - - - 14.41 14.31 14.45
20230 376.6 8.3 950 20234 roll 0.58 - - 2404 - 2.50 0.083 3569 552.0 179.4 - - 2009 - - - - - - - - 14.73 14.25 14.76
20312 368.4 9.8 962 20318 done 0.58 - - 2413 - 2.42 0.053 2180 -574.0 179.4 - - 2007 - - - - - - - - 14.46 14.35 14.50
20678 334.0 9.5 972 20683 roll 0.58 - - 2421 - 2.58 0.070 749 -554.7 179.4 - - 2008 - - - - - - - - 14.81 14.28 14.82
20718 330.2 9.1 978 20724 done 0.58 0.10 0.207 2390 -310.0 2.62 0.057 2190 550.0 179.4 - - 2007 - - - - - - - - 14.01 14.29 14.33
21069 303.4 7.5 986 21074 roll 0.58 - - 2391 - 2.50 0.083 3578 555.2 179.4 - - 2008 - - - - - - - - 14.83 14.26 14.85
21153 296.5 8.2 998 21158 done 0.58 - - 2397 - 2.40 0.053 2191 -577.9 179.4 - - 2007 - - - - - - - - 14.47 14.38 14.51
21517 269.1 7.6 1008 21522 roll 0.58 - - 2406 - 2.58 0.068 755 -556.6 179.4 - - 2007 - - - - - - - - 14.83 14.29 14.84
21579 264.4 7.4 1017 21585 done 0.63 - - 2406 - 2.58 0.056 2197 558.9 179.4 - - 2007 - - - - - - - - 14.47 14.35 14.50
21910 239.5 7.6 1029 21916 roll 0.63 - - 2407 - 2.50 0.082 3573 550.4 179.4 - - 2007 - - - - - - - - 14.81 14.26 14.83
21986 233.1 8.3 1040 21991 done 0.63 - - 2415 - 2.45 0.051 2193 -563.3 179.4 - - 2007 - - - - - - - - 14.35 14.30 14.48
22303 208.7 7.7 1050 22308 roll 0.63 - - 2424 - 2.60 0.067 748 -555.8 179.4 - - 2007 - - - - - - - - 14.84 14.30 14.86
22358 204.3 8.0 1058 22363 done 0.63 - - 2424 - 2.60 0.056 2201 558.8 179.4 - - 2007 - - - - - - - - 14.46 14.35 14.50
22694 175.9 8.5 1071 22699 roll 0.63 - - 2424 - 2.47 0.082 3568 553.4 179.4 - - 2007 - - - - - - - - 14.85 14.19 14.87
22820 164.3 9.3 1089 22826 done 0.63 0.12 0.269 2406 -150.0 2.38 0.051 2206 -572.3 179.4 - - 2007 - - - - - - - - 14.01 14.37 14.26
23142 139.4 7.9 1100 23147 roll 0.63 - - 2414 - 2.62 0.068 746 -557.3 179.4 - - 2007 - - - - - - - - 14.85 14.29 14.88
23205 134.4 7.8 1109 23211 done 0.67 - - 2414 - 2.62 0.056 2213 559.9 179.4 - - 2007 - - - - - - - - 14.44 14.33 14.47
23534 111.2 6.9 1121 23546 roll 0.68 - - 2414 - 2.45 0.080 3576 556.3 189.3 6.40 0.297 1970 -5.8 0.415 - - - - - - 14.85 14.32 13.72
23659 101.7 7.4 1139 23667 done 0.68 - - 2423 - 2.40 0.050 2194 -575.8 189.3 3.25 0.175 1967 -0.9 0.103 - - - - - - 14.49 14.38 14.05
23979 80.4 6.6 1154 24003 roll 0.69 - - 2424 - 2.62 0.068 752 -550.4 206.6 15.23 0.334 1901 -4.3 0.200 - - - - - - 14.78 14.41 14.00
24045 76.1 6.2 1164 24071 done 0.77 - - 2424 - 2.60 0.054 2219 564.2 233.1 19.77 0.347 1792 -5.5 0.232 - - - - - - 14.49 14.38 14.01
24399 60.2 3.6 1181 24465 roll 0.92 0.20 0.101 2509 425.0 2.47 0.080 3566 545.3 323.0 61.08 0.311 1425 -6.0 0.223 - - - - - - 14.38 14.40 14.07
24606 44.5 7.6 1211 24612 done 0.92 - - 2515 - 2.35 0.048 2213 -575.7 323.0 2.15 0.168 1421 -1.9 0.095 - - - - - - 14.47 14.39 14.15
24921 28.2 5.3 1223 24961 roll 1.06 - - 2515 - 2.50 0.074 3566 541.2 372.0 32.95 0.210 1222 -6.0 0.156 - - - - - - 14.80 14.33 14.14
24970 25.2 6.4 1230 24990 done 1.21 0.22 0.096 2601 390.9 2.35 0.046 2185 -587.7 393.3 14.75 0.207 1133 -6.0 0.141 - - - - - - 14.42 14.43 14.13
25218 end climb: SURFACE_DEPTH_REACHED
25218 begin surface coast
25249 end surface coast: CONTROL_FINISHED_OK
25249 begin surface
SM 0.90 - - - - -6.13 6.85 0.064 222 32.4 0.20 0.103 2298 -45660.0 500.17 67.65 0.133 699 10.3 -0.007 - - - - - -