SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 387 * Raw log
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• Previous call tries 1 • 153.48 of 350.00 AH used of 24V (56.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 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: 37 s
• GPS2 time: 13 s • Transponder ping count: 7
• 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 - - 195 - - - 2230 - -116.8 -84.85 - 2808 - - - - - - - - 14.69 - 14.69
106 3.6 -4.7 3 130 roll -0.68 9.10 0.409 1963 194.3 2.88 2.044 3692 507.6 -116.8 -7.85 - 3218 -52.2 - - - - - - - 13.90 13.21 14.34
210 35.0 -26.8 18 217 done -0.47 0.30 0.261 2039 253.3 2.35 0.044 2309 -588.5 -116.8 - - 3220 - - - - - - - - 14.07 14.45 14.37
523 78.9 -7.0 30 527 roll -0.47 - - 2038 - 2.45 0.050 875 -585.3 -116.8 - - 3220 - - - - - - - - 14.82 14.43 14.83
607 85.8 -8.2 42 612 done -0.47 - - 2037 - 2.47 0.055 2301 577.3 -116.8 - - 3221 - - - - - - - - 14.57 14.47 14.61
942 115.2 -8.9 54 947 roll -0.47 - - 2027 - 2.40 0.074 3692 579.6 -116.8 - - 3221 - - - - - - - - 14.88 14.45 14.89
1004 120.5 -8.4 63 1010 done -0.47 - - 2027 - 2.40 0.041 2274 -590.8 -116.8 - - 3221 - - - - - - - - 14.57 14.53 14.59
1335 146.3 -7.6 75 1340 roll -0.47 - - 2027 - 2.40 0.053 884 -579.2 -116.8 - - 3221 - - - - - - - - 14.90 14.52 14.92
1368 148.9 -7.7 80 1374 done -0.47 - - 2026 - 2.47 0.057 2281 565.6 -116.8 - - 3221 - - - - - - - - 14.46 14.40 14.61
1726 176.6 -8.1 89 1732 roll -0.47 - - 2018 - 2.45 0.076 3693 576.3 -116.8 - - 3220 - - - - - - - - 14.91 14.47 14.92
1775 181.0 -9.2 96 1781 done -0.47 - - 2018 - 2.38 0.041 2279 -594.1 -116.8 - - 3220 - - - - - - - - 14.66 14.61 14.69
2118 211.9 -8.9 103 2119 done -0.47 - - 2018 - - - 2270 - -116.8 - - 3218 - - - - - - - - 14.91 14.93 14.93
2454 240.8 -8.5 109 2460 roll -0.47 - - 2018 - 2.40 0.054 892 -574.2 -116.8 - - 3215 - - - - - - - - 14.92 14.53 14.93
2495 244.7 -9.4 115 2501 done -0.47 0.08 0.223 2046 350.0 2.47 0.057 2275 559.9 -116.8 - - 3216 - - - - - - - - 14.22 14.47 14.47
2847 273.8 -8.5 123 2852 roll -0.47 - - 2039 - 2.53 0.081 3694 560.9 -116.8 - - 3214 - - - - - - - - 14.91 14.36 14.92
2887 277.5 -9.0 129 2894 done -0.47 - - 2039 - 2.42 0.044 2265 -590.5 -116.8 - - 3213 - - - - - - - - 14.57 14.54 14.59
3238 307.8 -8.5 137 3244 roll -0.47 - - 2039 - 2.38 0.056 904 -571.8 -116.8 - - 3210 - - - - - - - - 14.91 14.47 14.93
3280 311.2 -8.2 143 3285 done -0.47 - - 2039 - 2.42 0.060 2279 568.2 -116.8 - - 3210 - - - - - - - - 14.61 14.50 14.64
3630 338.4 -7.8 151 3635 roll -0.47 - - 2035 - 2.50 0.083 3688 563.6 -116.8 - - 3207 - - - - - - - - 14.94 14.42 14.95
3679 342.2 -7.9 158 3685 done -0.52 - - 2035 - 2.40 0.045 2276 -588.3 -116.8 - - 3208 - - - - - - - - 14.62 14.50 14.64
4023 369.6 -8.0 165 4029 roll -0.52 - - 2035 - 2.40 0.054 904 -571.7 -116.8 - - 3206 - - - - - - - - 14.90 14.47 14.92
4105 376.5 -8.1 177 4112 done -0.52 - - 2031 - 2.45 0.058 2266 555.9 -116.8 - - 3205 - - - - - - - - 14.47 14.42 14.62
4470 405.1 -7.8 187 4475 roll -0.52 - - 2025 - 2.55 0.083 3701 562.7 -116.8 - - 3203 - - - - - - - - 14.92 14.38 14.92
4512 408.3 -7.9 193 4518 done -0.52 - - 2025 - 2.38 0.044 2280 -597.1 -116.8 - - 3203 - - - - - - - - 14.65 14.58 14.67
4862 433.9 -7.1 201 4868 roll -0.52 - - 2025 - 2.42 0.056 892 -573.6 -116.8 - - 3201 - - - - - - - - 14.92 14.45 14.93
4925 438.3 -6.8 210 4930 done -0.52 - - 2024 - 2.47 0.060 2284 563.6 -116.8 - - 3201 - - - - - - - - 14.55 14.44 14.59
5255 459.6 -6.4 222 5260 roll -0.52 - - 2020 - 2.50 0.083 3691 562.8 -116.8 - - 3199 - - - - - - - - 14.92 14.38 14.93
5289 461.9 -6.7 227 5294 done -0.52 - - 2020 - 2.38 0.046 2279 -593.3 -116.8 - - 3199 - - - - - - - - 14.62 14.54 14.64
5646 486.5 -7.0 236 5651 roll -0.52 - - 2020 - 2.42 0.057 892 -573.1 -116.8 - - 3198 - - - - - - - - 14.92 14.43 14.94
5695 490.2 -7.6 243 5701 done -0.52 - - 2018 - 2.47 0.060 2276 560.3 -116.8 - - 3194 - - - - - - - - 14.54 14.42 14.58
6039 515.9 -7.6 250 6043 roll -0.52 - - 2013 - 2.53 0.086 3690 558.9 -116.8 - - 3195 - - - - - - - - 14.90 14.35 14.92
6079 519.2 -7.9 256 6085 done -0.52 - - 2013 - 2.45 0.047 2273 -578.4 -116.8 - - 3195 - - - - - - - - 14.50 14.46 14.52
6430 546.0 -7.6 264 6435 roll -0.52 - - 2013 - 2.42 0.059 892 -570.7 -116.8 - - 3194 - - - - - - - - 14.90 14.40 14.92
6513 552.5 -7.5 276 6519 done -0.52 - - 2013 - 2.47 0.061 2276 560.3 -116.8 - - 3193 - - - - - - - - 14.50 14.38 14.54
6878 579.5 -7.5 286 6883 roll -0.52 - - 2012 - 2.55 0.089 3691 554.9 -116.8 - - 3193 - - - - - - - - 14.90 14.31 14.91
6969 586.4 -7.5 299 6974 done -0.52 - - 2012 - 2.42 0.047 2266 -588.8 -116.8 - - 3192 - - - - - - - - 14.60 14.56 14.64
7326 613.9 -7.9 308 7331 roll -0.52 - - 2012 - 2.42 0.057 880 -572.7 -116.8 - - 3190 - - - - - - - - 14.92 14.40 14.93
7409 620.8 -8.1 320 7415 done -0.52 - - 2011 - 2.53 0.062 2285 555.3 -116.8 - - 3191 - - - - - - - - 14.47 14.33 14.51
7775 648.7 -7.6 330 7776 done -0.52 - - 2012 - - - 2284 - -116.8 - - 3189 - - - - - - - - 14.88 14.90 14.90
8110 673.8 -7.5 336 8111 done -0.52 - - 2012 - - - 2285 - -116.8 - - 3188 - - - - - - - - 14.89 14.91 14.90
8446 699.5 -7.7 342 8447 done -0.52 - - 2011 - - - 2284 - -116.8 - - 3185 - - - - - - - - 14.91 14.93 14.93
8783 725.6 -7.8 348 8784 done -0.52 - - 2011 - - - 2284 - -116.8 - - 3185 - - - - - - - - 14.88 14.90 14.90
9120 751.0 -7.5 354 9125 roll -0.52 - - 2012 - 2.55 0.089 3697 554.1 -116.8 - - 3185 - - - - - - - - 14.85 14.26 14.88
9152 753.7 -8.2 359 9158 done -0.52 - - 2011 - 2.47 0.049 2279 -574.1 -116.8 - - 3184 - - - - - - - - 14.43 14.40 14.47
9511 779.9 -7.2 368 9515 roll -0.52 - - 2012 - 2.50 0.061 877 -560.8 -116.8 - - 3183 - - - - - - - - 14.90 14.31 14.91
9587 785.4 -7.4 379 9592 done -0.52 - - 2011 - 2.55 0.064 2279 549.8 -116.8 - - 3183 - - - - - - - - 14.33 14.22 14.38
9902 807.5 -7.0 389 9908 roll -0.52 - - 2011 - 2.58 0.092 3689 546.5 -116.8 - - 3182 - - - - - - - - 14.89 14.19 14.91
9944 810.4 -7.0 395 9949 done -0.52 - - 2008 - 2.45 0.051 2269 -579.6 -116.8 - - 3182 - - - - - - - - 14.49 14.41 14.52
10295 834.1 -6.8 403 10300 roll -0.52 - - 2011 - 2.45 0.062 885 -564.9 -116.8 - - 3181 - - - - - - - - 14.84 14.27 14.88
10364 838.8 -6.9 413 10370 done -0.52 - - 2011 - 2.53 0.066 2272 548.2 -116.8 - - 3181 - - - - - - - - 14.40 14.26 14.44
10687 859.6 -6.5 424 10692 roll -0.52 - - 2012 - 2.62 0.094 3701 545.4 -116.8 - - 3180 - - - - - - - - 14.85 14.19 14.87
10743 863.3 -6.5 432 10747 done -0.57 - - 2011 - 2.47 0.049 2266 -581.0 -116.8 - - 3179 - - - - - - - - 14.47 14.40 14.49
11079 886.2 -6.9 445 11084 roll -0.57 - - 2011 - 2.45 0.060 881 -565.3 -116.8 - - 3179 - - - - - - - - 14.85 14.26 14.87
11127 889.5 -7.4 452 11134 done -0.57 - - 2011 - 2.58 0.066 2271 538.8 -116.8 - - 3179 - - - - - - - - 14.26 14.22 14.32
11471 914.1 -7.2 459 11475 roll -0.57 - - 2007 - 2.62 0.093 3701 545.8 -116.8 - - 3178 - - - - - - - - 14.85 14.16 14.87
11512 917.1 -5.5 465 11518 done -0.62 - - 2008 - 2.47 0.050 2257 -584.6 -116.8 - - 3178 - - - - - - - - 14.46 14.38 14.49
11864 942.1 -7.1 473 11870 roll -0.62 - - 2007 - 2.42 0.059 894 -563.2 -116.8 - - 3177 - - - - - - - - 14.81 14.25 14.83
11926 946.8 -7.3 482 11931 done -0.62 - - 2007 - 2.53 0.064 2290 551.8 -116.8 - - 3177 - - - - - - - - 14.37 14.23 14.42
12256 969.3 -6.8 494 12260 roll -0.62 - - 1999 - 2.58 0.090 3693 543.8 -116.8 - - 3177 - - - - - - - - 14.83 14.14 14.85
12305 972.6 -4.8 501 12312 done -0.62 - - 1999 - 2.47 0.051 2266 -577.7 -116.8 - - 3176 - - - - - - - - 14.47 14.38 14.48
12588 end dive: TARGET_DEPTH_EXCEEDED
12588 begin apogee
12596 992.1 -6.8 507 12791 roll -0.19 0.50 0.203 2136 274.0 - - 2158 - - 193.20 1.631 2739 -2.3 0.264 - - - - - - 13.88 13.92 13.14
12793 end apogee: CONTROL_FINISHED_OK
12793 begin climb
12798 996.3 - 510 12958 roll 0.68 0.90 0.145 2409 303.3 2.67 0.090 3571 529.2 116.8 150.02 1.905 2262 -3.2 0.319 - - - - - - 13.88 13.95 12.78
13049 976.7 10.7 551 13054 done 0.62 - - 2420 - 2.53 0.060 2180 -549.8 116.8 - - 2239 - - - - - - - - 14.17 14.08 14.20
13379 943.1 10.2 563 13383 roll 0.56 0.12 0.279 2385 -291.7 2.55 0.085 3571 545.5 116.8 - - 2232 - - - - - - - - 14.13 14.33 14.28
13542 928.5 8.7 586 13548 done 0.56 - - 2394 - 2.53 0.061 2149 -562.1 116.8 - - 2231 - - - - - - - - 14.51 14.40 14.54
13883 901.0 7.9 593 13888 roll 0.56 - - 2405 - 2.55 0.076 751 -548.2 116.8 - - 2229 - - - - - - - - 14.80 14.37 14.82
13944 896.2 7.6 602 13950 done 0.56 - - 2405 - 2.53 0.062 2160 556.9 116.8 - - 2228 - - - - - - - - 14.52 14.40 14.57
14275 870.1 8.0 614 14280 roll 0.56 - - 2405 - 2.58 0.090 3574 548.1 116.8 - - 2228 - - - - - - - - 14.82 14.33 14.84
14365 861.6 9.1 627 14370 done 0.50 0.20 0.271 2369 -180.0 2.50 0.060 2157 -566.8 116.8 - - 2228 - - - - - - - - 14.04 14.41 14.38
14723 837.5 6.7 636 14735 roll 0.51 - - 2379 - 2.53 0.078 748 -556.9 131.9 5.28 1.568 2198 -5.7 0.582 - - - - - - 14.83 14.49 13.28
14784 833.2 6.9 645 14812 done 0.52 - - 2379 - 2.53 0.062 2162 558.9 142.2 21.75 1.821 2158 -1.8 0.162 - - - - - - 14.57 14.46 13.45
15170 803.8 7.8 658 15175 roll 0.52 - - 2380 - 2.58 0.090 3572 546.5 142.2 - - 2142 - - - - - - - - 14.78 14.31 14.80
15261 795.4 9.0 671 15266 done 0.52 - - 2389 - 2.50 0.060 2157 -566.0 142.2 - - 2139 - - - - - - - - 14.44 14.34 14.48
15618 764.8 8.5 680 15623 roll 0.52 - - 2399 - 2.55 0.078 751 -551.4 142.2 - - 2141 - - - - - - - - 14.81 14.33 14.83
15667 760.5 8.8 687 15674 done 0.52 0.12 0.255 2372 -225.0 2.55 0.061 2166 554.9 142.2 - - 2140 - - - - - - - - 14.11 14.38 14.40
16011 733.6 7.8 694 16016 roll 0.52 - - 2372 - 2.55 0.090 3565 548.6 142.2 - - 2139 - - - - - - - - 14.82 14.23 14.84
16093 726.7 8.3 706 16099 done 0.52 - - 2381 - 2.47 0.057 2153 -571.7 142.2 - - 2139 - - - - - - - - 14.50 14.38 14.55
16458 700.1 7.1 716 16463 roll 0.52 - - 2391 - 2.55 0.076 745 -552.2 148.1 - - 2139 - - - - - - - - 14.83 14.31 14.85
16508 696.8 6.8 723 16536 done 0.53 - - 2391 - 2.58 0.063 2173 553.5 161.7 23.65 1.690 2082 -2.4 0.191 - - - - - - 14.49 14.37 13.54
16845 672.6 7.3 736 16849 roll 0.53 - - 2391 - 2.53 0.087 3570 552.2 162.9 - - 2061 - - - - - - - - 14.76 14.29 14.77
16908 667.5 8.0 745 16913 done 0.53 - - 2399 - 2.47 0.058 2167 -568.0 162.9 - - 2060 - - - - - - - - 14.48 14.39 14.52
17237 641.1 8.1 757 17243 roll 0.53 - - 2409 - 2.58 0.073 740 -553.1 162.9 - - 2061 - - - - - - - - 14.80 14.34 14.82
17306 635.4 8.1 767 17311 done 0.53 0.15 0.246 2375 -226.7 2.55 0.060 2166 559.2 162.9 - - 2058 - - - - - - - - 14.06 14.34 14.35
17630 612.4 7.1 778 17635 roll 0.53 - - 2379 - 2.55 0.088 3574 552.2 168.4 - - 2058 - - - - - - - - 14.83 14.26 14.84
17719 605.1 8.1 791 17724 done 0.53 - - 2385 - 2.53 0.058 2139 -567.2 168.4 - - 2057 - - - - - - - - 14.45 14.33 14.50
18077 577.5 7.8 800 18082 roll 0.53 - - 2393 - 2.50 0.073 753 -554.4 168.4 - - 2058 - - - - - - - - 14.82 14.28 14.84
18133 573.1 7.8 808 18138 done 0.53 - - 2393 - 2.58 0.060 2175 551.2 168.4 - - 2057 - - - - - - - - 14.45 14.34 14.50
18469 546.5 8.0 821 18474 roll 0.53 - - 2393 - 2.55 0.086 3575 549.0 168.4 - - 2057 - - - - - - - - 14.83 14.23 14.84
18582 536.7 8.6 837 18588 done 0.53 0.12 0.254 2375 -150.0 2.47 0.056 2172 -568.0 168.4 - - 2057 - - - - - - - - 14.06 14.36 14.30
18917 513.4 6.9 850 18943 roll 0.54 - - 2384 - 2.55 0.073 742 -560.8 179.0 20.15 1.472 2003 -2.7 0.179 - - - - - - 14.84 14.48 13.61
19001 507.5 7.3 862 19006 done 0.60 - - 2384 - 2.55 0.060 2172 560.8 180.0 - - 1994 - - - - - - - - 14.49 14.38 14.53
19365 478.6 8.2 872 19369 roll 0.60 - - 2384 - 2.53 0.085 3566 551.0 180.0 - - 1993 - - - - - - - - 14.78 14.26 14.79
19455 470.3 9.2 885 19461 done 0.60 - - 2393 - 2.45 0.054 2164 -572.2 180.0 - - 1992 - - - - - - - - 14.45 14.37 14.50
19814 440.2 8.4 894 19818 roll 0.60 - - 2393 - 2.58 0.072 749 -548.4 180.0 - - 1991 - - - - - - - - 14.79 14.28 14.81
19869 435.8 7.7 902 19874 done 0.66 - - 2393 - 2.58 0.058 2185 556.6 180.0 - - 1991 - - - - - - - - 14.46 14.35 14.50
20205 410.1 7.6 915 20210 roll 0.66 - - 2393 - 2.53 0.085 3570 547.4 180.0 - - 1991 - - - - - - - - 14.81 14.25 14.83
20282 404.0 8.0 926 20287 done 0.66 - - 2402 - 2.45 0.055 2172 -570.6 180.0 - - 1991 - - - - - - - - 14.46 14.37 14.50
20597 381.0 7.3 936 20602 roll 0.66 - - 2406 - 2.58 0.071 751 -550.8 181.4 - - 1989 - - - - - - - - 14.84 14.28 14.85
20659 376.6 7.0 945 20667 done 0.66 - - 2406 - 2.55 0.057 2179 560.0 189.0 3.70 0.992 1967 -5.9 0.433 - - - - - - 14.45 14.33 13.28
20983 352.0 7.7 956 20987 roll 0.66 - - 2406 - 2.53 0.083 3574 551.4 189.0 - - 1976 - - - - - - - - 14.83 14.28 14.83
21065 344.6 8.9 968 21070 done 0.66 - - 2415 - 2.47 0.053 2180 -564.4 189.0 - - 1977 - - - - - - - - 14.38 14.33 14.52
21431 314.2 8.4 978 21435 roll 0.66 - - 2424 - 2.58 0.070 748 -555.0 189.0 - - 1977 - - - - - - - - 14.83 14.28 14.85
21499 308.3 8.3 988 21505 done 0.66 - - 2424 - 2.58 0.057 2188 558.1 189.0 1.73 0.184 1967 -5.8 1.859 - - - - - - 14.43 14.31 14.09
21822 278.8 9.3 999 21827 roll 0.66 - - 2427 - 2.50 0.083 3575 554.8 189.0 - - 1976 - - - - - - - - 14.82 14.24 14.84
21892 271.7 10.2 1009 21897 done 0.66 - - 2433 - 2.45 0.053 2170 -573.5 189.0 - - 1977 - - - - - - - - 14.47 14.38 14.51
22214 240.2 9.8 1020 22219 roll 0.66 - - 2444 - 2.62 0.067 739 -546.2 189.0 1.48 0.190 1967 -6.8 1.640 - - - - - - 14.82 14.31 14.06
22262 235.5 9.5 1027 22269 done 0.66 - - 2444 - 2.60 0.058 2193 559.2 189.0 - - 1971 - - - - - - - - 14.42 14.28 14.46
22607 202.6 9.4 1034 22612 roll 0.66 - - 2444 - 2.50 0.082 3576 553.2 189.0 - - 1976 - - - - - - - - 14.81 14.23 14.83
22703 192.5 10.2 1048 22710 done 0.61 0.22 0.252 2399 -204.5 2.42 0.051 2183 -575.6 189.0 - - 1977 - - - - - - - - 13.94 14.37 14.23
23055 167.7 6.9 1056 23080 roll 0.62 - - 2406 - 2.55 0.067 744 -564.3 198.8 20.45 1.110 1924 -2.6 0.075 - - - - - - 14.81 14.27 13.74
23144 161.0 7.3 1069 23150 done 0.68 - - 2406 - 2.58 0.057 2190 560.5 198.8 - - 1916 - - - - - - - - 14.50 14.39 14.54
23502 134.6 7.3 1078 23507 roll 0.68 - - 2406 - 2.50 0.081 3572 552.8 200.0 - - 1914 - - - - - - - - 14.78 14.27 14.80
23615 125.3 8.1 1094 23619 done 0.68 - - 2415 - 2.42 0.050 2178 -576.0 200.0 - - 1914 - - - - - - - - 14.47 14.38 14.52
23950 101.1 6.9 1107 23962 roll 0.69 - - 2422 - 2.60 0.069 751 -548.8 210.9 5.65 0.302 1882 -5.7 0.364 - - - - - - 14.83 14.35 13.79
24007 96.9 7.6 1115 24013 done 0.76 - - 2422 - 2.55 0.055 2192 565.1 210.9 2.22 0.181 1879 -1.4 0.139 - - - - - - 14.48 14.38 14.14
24338 74.8 6.0 1129 24370 roll 0.77 - - 2422 - 2.47 0.080 3562 554.7 242.6 23.42 0.346 1760 -5.1 0.211 - - - - - - 14.78 14.40 14.05
24532 61.2 6.0 1157 24565 done 0.85 0.15 0.122 2483 406.7 2.38 0.047 2187 -577.7 275.4 24.15 0.306 1621 -5.8 0.221 - - - - - - 14.35 14.40 14.04
24899 41.8 4.3 1176 24952 roll 0.96 - - 2487 - 2.62 0.065 748 -549.2 346.9 47.97 0.256 1328 -6.1 0.191 - - - - - - 14.76 14.39 14.12
25004 36.7 5.6 1191 25041 done 1.11 0.20 0.093 2577 450.0 2.58 0.052 2199 562.4 389.3 29.70 0.237 1152 -5.9 0.176 - - - - - - 14.42 14.38 14.05
25376 4.4 10.8 1211 25380 roll 1.11 - - 2577 - 2.42 0.076 3566 564.9 389.3 - - 1157 - - - - - - - - 14.74 14.23 14.76
25383 end climb: SURFACE_DEPTH_REACHED
25383 begin surface coast
25390 end surface coast: CONTROL_FINISHED_OK
25390 begin surface
SM 0.87 - - - - -6.15 6.82 0.066 218 32.0 2.28 0.047 2269 881.1 500.17 69.40 0.135 699 10.1 -0.007 - - - - - -