SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 406 * Raw log
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• Previous call tries 1 • 160.67 of 350.00 AH used of 24V (54.09% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.1 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 14 s • Transponder ping count: 5
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 VBD -0.68 - - 189 - - - 2314 - -116.8 -84.75 - 2827 - - - - - - - - 14.69 - 14.71
114 3.9 -5.1 3 138 roll -0.68 9.05 0.403 1963 196.0 2.78 2.045 3679 491.0 -116.8 -7.35 - 3219 -53.3 - - - - - - - 13.91 13.00 14.35
254 40.5 -17.5 23 259 done -0.58 0.20 0.258 2009 230.0 2.40 0.040 2257 -592.5 -116.8 - - 3220 - - - - - - - - 14.07 14.46 14.35
589 78.8 -10.2 38 593 roll -0.50 - - 2009 - 2.38 0.051 887 -575.6 -116.8 - - 3222 - - - - - - - - 14.82 14.47 14.83
714 89.5 -7.9 56 719 done -0.45 0.17 0.244 2046 217.6 2.42 0.054 2278 574.8 -116.8 - - 3220 - - - - - - - - 14.15 14.45 14.40
1064 112.4 -6.9 67 1065 done -0.45 - - 2046 - - - 2279 - -116.8 - - 3223 - - - - - - - - 14.87 14.89 14.89
1401 136.7 -7.3 73 1402 done -0.45 - - 2046 - - - 2279 - -116.8 - - 3223 - - - - - - - - 14.88 14.90 14.90
1736 162.7 -7.7 79 1741 roll -0.45 - - 2046 - 2.45 0.052 882 -570.2 -116.8 - - 3222 - - - - - - - - 14.90 14.49 14.92
1792 167.3 -8.0 87 1797 done -0.45 - - 2042 - 2.45 0.056 2277 569.4 -116.8 - - 3221 - - - - - - - - 14.57 14.47 14.61
2128 192.9 -7.6 100 2133 roll -0.45 - - 2041 - 2.50 0.081 3692 566.0 -116.8 - - 3219 - - - - - - - - 14.90 14.40 14.92
2185 197.2 -7.6 108 2190 done -0.51 - - 2041 - 2.40 0.044 2267 -593.8 -116.8 - - 3219 - - - - - - - - 14.63 14.57 14.65
2521 223.7 -8.0 121 2526 roll -0.51 - - 2041 - 2.40 0.054 887 -575.0 -116.8 - - 3218 - - - - - - - - 14.90 14.47 14.92
2591 229.3 -7.9 131 2595 done -0.51 - - 2041 - 2.45 0.057 2280 568.6 -116.8 - - 3217 - - - - - - - - 14.58 14.47 14.60
2912 253.1 -7.3 142 2917 roll -0.51 - - 2039 - 2.50 0.080 3692 564.8 -116.8 - - 3214 - - - - - - - - 14.90 14.38 14.92
2947 255.5 -7.2 147 2952 done -0.51 - - 2039 - 2.40 0.044 2266 -594.2 -116.8 - - 3215 - - - - - - - - 14.64 14.57 14.66
3305 280.9 -7.1 156 3310 roll -0.51 - - 2039 - 2.42 0.054 884 -571.1 -116.8 - - 3212 - - - - - - - - 14.90 14.46 14.91
3374 285.9 -7.1 166 3379 done -0.51 - - 2039 - 2.53 0.059 2278 551.0 -116.8 - - 3211 - - - - - - - - 14.45 14.38 14.49
3696 307.9 -6.8 177 3702 roll -0.51 - - 2039 - 2.53 0.084 3688 557.3 -116.8 - - 3210 - - - - - - - - 14.90 14.36 14.92
3760 312.0 -6.6 186 3764 done -0.57 - - 2039 - 2.40 0.045 2268 -591.7 -116.8 - - 3209 - - - - - - - - 14.61 14.54 14.63
4089 333.9 -6.7 198 4093 roll -0.57 - - 2039 - 2.42 0.057 892 -568.6 -116.8 - - 3208 - - - - - - - - 14.90 14.44 14.91
4165 339.1 -6.7 209 4171 done -0.57 - - 2039 - 2.45 0.058 2271 562.9 -116.8 - - 3208 - - - - - - - - 14.53 14.41 14.57
4482 360.1 -6.7 219 4486 roll -0.57 - - 2042 - 2.55 0.085 3696 558.8 -116.8 - - 3205 - - - - - - - - 14.93 14.35 14.92
4514 362.5 -6.9 224 4520 done -0.57 - - 2037 - 2.42 0.046 2266 -590.9 -116.8 - - 3204 - - - - - - - - 14.58 14.51 14.61
4873 387.0 -6.9 233 4878 roll -0.57 - - 2037 - 2.42 0.057 881 -572.3 -116.8 - - 3203 - - - - - - - - 14.90 14.35 14.91
4914 390.1 -7.4 239 4919 done -0.57 - - 2037 - 2.50 0.060 2269 555.2 -116.8 - - 3203 - - - - - - - - 14.52 14.40 14.56
5264 415.6 -7.4 247 5269 roll -0.57 - - 2037 - 2.55 0.086 3692 558.0 -116.8 - - 3201 - - - - - - - - 14.89 14.33 14.91
5306 418.6 -7.1 253 5312 done -0.63 0.12 0.134 1981 -466.7 2.45 0.047 2250 -588.6 -116.8 - - 3200 - - - - - - - - 14.43 14.52 14.54
5657 453.1 -10.0 261 5663 roll -0.63 - - 1981 - 2.40 0.054 885 -568.8 -116.8 - - 3199 - - - - - - - - 14.90 14.41 14.92
5725 460.2 -9.9 271 5731 done -0.63 - - 1973 - 2.47 0.060 2276 563.2 -116.8 - - 3199 - - - - - - - - 14.48 14.34 14.52
6049 494.3 -10.8 282 6050 done -0.58 0.15 0.269 2007 226.7 - - 2275 - -116.8 - - 3199 - - - - - - - - 14.16 14.48 14.40
6385 524.8 -9.0 288 6390 roll -0.58 - - 2007 - 2.47 0.058 891 -560.3 -116.8 - - 3198 - - - - - - - - 14.90 14.38 14.92
6418 528.1 -9.8 293 6425 done -0.58 - - 1998 - 2.50 0.060 2281 556.0 -116.8 - - 3197 - - - - - - - - 14.47 14.33 14.52
6777 560.9 -9.1 302 6778 done -0.58 - - 1999 - - - 2281 - -116.8 - - 3196 - - - - - - - - 14.90 14.90 14.90
7113 589.7 -8.4 308 7118 roll -0.58 - - 1999 - 2.47 0.055 895 -561.1 -116.8 - - 3194 - - - - - - - - 14.88 14.35 14.90
7174 594.9 -8.1 317 7181 done -0.58 - - 1999 - 2.53 0.061 2266 541.9 -116.8 - - 3194 - - - - - - - - 14.49 14.28 14.52
7505 619.0 -7.2 329 7510 roll -0.58 - - 1998 - 2.60 0.088 3700 551.5 -116.8 - - 3193 - - - - - - - - 14.88 14.25 14.89
7568 623.4 -7.0 338 7572 done -0.58 - - 1999 - 2.42 0.047 2276 -588.4 -116.8 - - 3192 - - - - - - - - 14.55 14.48 14.57
7896 647.2 -7.3 350 7901 roll -0.58 - - 2001 - 2.47 0.060 879 -565.6 -116.8 - - 3192 - - - - - - - - 14.88 14.34 14.89
7944 651.0 -7.8 357 7952 done -0.58 - - 1999 - 2.55 0.063 2265 543.5 -116.8 - - 3191 - - - - - - - - 14.31 14.24 14.35
8290 677.5 -7.8 364 8290 done -0.58 - - 1999 - - - 2264 - -116.8 - - 3190 - - - - - - - - 14.86 14.88 14.88
8624 704.6 -8.1 370 8629 roll -0.58 - - 1999 - 2.60 0.090 3700 552.3 -116.8 - - 3188 - - - - - - - - 14.87 14.21 14.88
8659 707.5 -8.6 375 8664 done -0.58 - - 1998 - 2.45 0.048 2269 -584.1 -116.8 - - 3188 - - - - - - - - 14.50 14.43 14.53
9017 737.1 -8.3 384 9022 roll -0.58 - - 1999 - 2.45 0.061 889 -563.3 -116.8 - - 3188 - - - - - - - - 14.85 14.30 14.88
9085 743.0 -8.2 394 9091 done -0.58 - - 1999 - 2.50 0.063 2270 552.4 -116.8 - - 3188 - - - - - - - - 14.40 14.26 14.44
9408 768.4 -8.0 405 9414 roll -0.58 - - 1998 - 2.60 0.093 3698 549.2 -116.8 - - 3186 - - - - - - - - 14.88 14.19 14.90
9443 771.1 -8.0 410 9448 done -0.58 - - 1998 - 2.47 0.051 2271 -577.7 -116.8 - - 3186 - - - - - - - - 14.49 14.41 14.52
9801 798.2 -7.6 419 9806 roll -0.58 - - 1998 - 2.47 0.063 884 -561.5 -116.8 - - 3185 - - - - - - - - 14.87 14.24 14.89
9890 805.5 -7.9 432 9896 done -0.58 - - 1998 - 2.53 0.064 2268 547.0 -116.8 - - 3184 - - - - - - - - 14.35 14.21 14.40
10249 833.8 -8.0 441 10255 roll -0.58 - - 1998 - 2.62 0.093 3701 546.9 -116.8 - - 3184 - - - - - - - - 14.84 14.15 14.86
10324 840.0 -8.1 452 10330 done -0.58 - - 1998 - 2.50 0.050 2261 -576.0 -116.8 - - 3184 - - - - - - - - 14.40 14.29 14.43
10641 865.2 -8.0 462 10645 roll -0.58 - - 1998 - 2.47 0.060 876 -560.7 -116.8 - - 3183 - - - - - - - - 14.87 14.23 14.89
10711 870.9 -8.0 472 10715 done -0.58 - - 2002 - 2.53 0.063 2266 549.4 -116.8 - - 3185 - - - - - - - - 14.35 14.21 14.40
11032 895.5 -7.5 483 11037 roll -0.58 - - 1998 - 2.62 0.093 3698 546.6 -116.8 - - 3182 - - - - - - - - 14.84 14.14 14.86
11080 900.0 -9.9 490 11087 done -0.58 - - 1998 - 2.55 0.051 2253 -566.7 -116.8 - - 3179 - - - - - - - - 14.40 14.24 14.43
11426 924.2 -7.2 497 11432 roll -0.58 - - 2002 - 2.47 0.060 888 -552.6 -116.8 - - 3180 - - - - - - - - 14.83 14.23 14.84
11494 929.3 -7.3 507 11499 done -0.58 - - 1998 - 2.55 0.063 2277 544.7 -116.8 - - 3183 - - - - - - - - 14.32 14.18 14.36
11817 951.1 -6.8 518 11822 roll -0.58 - - 1998 - 2.62 0.093 3692 540.1 -116.8 - - 3183 - - - - - - - - 14.85 14.09 14.88
11859 954.0 -3.6 524 11864 done -0.58 - - 1999 - 2.50 0.054 2273 -567.6 -116.8 - - 3177 - - - - - - - - 14.40 14.32 14.44
12209 977.4 -6.7 532 12214 roll -0.58 - - 1998 - 2.47 0.065 884 -562.3 -116.8 - - 3179 - - - - - - - - 14.81 14.13 14.83
12278 982.4 -7.0 542 12283 done -0.58 - - 1998 - 2.55 0.067 2268 542.7 -116.8 - - 3178 - - - - - - - - 14.31 14.18 14.35
12429 end dive: TARGET_DEPTH_EXCEEDED
12429 begin apogee
12439 992.9 -6.9 550 12600 roll -0.19 0.50 0.212 2132 268.0 - - 2183 - - 148.77 2.571 2745 -2.9 0.224 - - - - 1 - 13.81 13.61 12.33
12601 end apogee: CONTROL_FINISHED_OK
12601 begin climb
12605 998.1 - 553 12779 roll 0.68 0.95 0.144 2412 294.7 2.58 0.063 810 -532.2 116.8 161.10 1.943 2259 -3.0 0.308 - - - - - - 13.65 13.74 12.62
12925 978.7 8.0 599 12930 done 0.68 - - 2413 - 2.58 0.063 2204 540.3 116.8 - - 2239 - - - - - - - - 14.25 14.15 14.28
13277 948.0 8.8 607 13282 roll 0.68 - - 2421 - 2.58 0.073 814 -538.8 116.8 - - 2235 - - - - - - - - 14.71 14.34 14.73
13436 933.7 8.6 630 13444 done 0.68 - - 2422 - 2.55 0.065 2205 545.5 116.8 - - 2232 - - - - - - - - 14.49 14.38 14.53
13780 902.0 9.3 637 13785 roll 0.62 - - 2422 - 2.58 0.092 3616 546.9 116.8 - - 2233 - - - - - - - - 14.81 14.32 14.83
13850 894.5 10.5 647 13855 done 0.54 0.22 0.269 2379 -195.5 2.45 0.060 2226 -567.3 116.8 - - 2232 - - - - - - - - 14.05 14.42 14.38
14172 871.0 7.1 658 14177 roll 0.55 - - 2390 - 2.62 0.076 788 -548.9 121.9 - - 2231 - - - - - - - - 14.82 14.33 14.83
14256 865.1 6.8 670 14276 done 0.55 - - 2390 - 2.55 0.064 2201 554.1 134.6 16.05 1.847 2193 -2.4 0.221 - - - - - - 14.50 14.37 13.46
14613 838.5 7.6 679 14618 roll 0.55 - - 2390 - 2.58 0.090 3612 546.9 134.6 - - 2177 - - - - - - - - 14.78 14.31 14.79
14682 832.1 9.6 689 14687 done 0.55 - - 2399 - 2.47 0.058 2197 -572.9 134.6 - - 2177 - - - - - - - - 14.50 14.40 14.54
15006 805.5 8.4 700 15011 roll 0.55 - - 2410 - 2.55 0.076 792 -551.0 134.6 - - 2176 - - - - - - - - 14.80 14.33 14.82
15074 799.6 8.6 710 15081 done 0.55 0.12 0.253 2383 -225.0 2.55 0.063 2201 552.5 134.6 - - 2174 - - - - - - - - 14.09 14.35 14.38
15397 775.2 7.5 721 15402 roll 0.55 - - 2383 - 2.58 0.091 3615 548.1 134.6 - - 2175 - - - - - - - - 14.84 14.27 14.85
15488 767.6 8.6 734 15493 done 0.55 - - 2392 - 2.47 0.060 2201 -572.5 134.6 - - 2177 - - - - - - - - 14.49 14.38 14.53
15845 739.9 7.7 743 15850 roll 0.55 - - 2402 - 2.55 0.076 798 -550.2 134.6 - - 2175 - - - - - - - - 14.83 14.28 14.85
15950 732.2 7.2 758 15957 done 0.56 - - 2403 - 2.55 0.061 2205 551.8 136.8 - - 2175 - - - - - - - - 14.47 14.34 14.50
16293 705.1 8.0 765 16298 roll 0.56 - - 2403 - 2.55 0.090 3610 551.0 136.8 - - 2175 - - - - - - - - 14.82 14.24 14.83
16349 699.9 9.2 773 16354 done 0.56 0.12 0.275 2385 -150.0 2.50 0.058 2189 -568.4 136.8 - - 2174 - - - - - - - - 14.02 14.37 14.32
16686 674.1 7.7 786 16692 roll 0.56 - - 2396 - 2.55 0.072 780 -552.5 136.8 - - 2174 - - - - - - - - 14.83 14.26 14.85
16761 668.5 7.1 797 16767 done 0.56 - - 2395 - 2.55 0.060 2193 554.1 141.7 2.17 0.401 2161 -6.0 1.987 - - - - - - 14.42 14.30 13.00
17077 645.7 7.2 807 17088 roll 0.56 - - 2397 - 2.60 0.088 3608 544.2 145.2 3.60 1.166 2152 -2.5 0.275 - - - - - - 14.82 14.40 13.13
17154 639.7 7.9 818 17160 done 0.56 - - 2405 - 2.47 0.056 2185 -576.1 145.2 2.40 0.591 2148 -1.7 0.359 - - - - - - 14.54 14.44 13.06
17469 616.0 7.6 828 17475 roll 0.56 - - 2415 - 2.60 0.071 780 -540.4 145.2 1.92 0.194 2146 - - - - - - - - 14.81 14.29 14.01
17525 611.8 7.5 836 17530 done 0.56 0.12 0.256 2388 -225.0 2.55 0.060 2194 554.5 145.2 - - 2152 - - - - - - - - 14.04 14.33 14.31
17854 590.0 6.6 848 17894 roll 0.57 - - 2388 - 2.60 0.089 3610 544.6 163.1 32.60 1.623 2066 -2.6 0.191 - - - - - - 14.83 14.35 13.48
17945 583.1 8.1 861 17950 done 0.57 - - 2392 - 2.47 0.057 2192 -574.1 163.1 - - 2061 - - - - - - - - 14.42 14.33 14.46
18302 555.4 7.9 870 18308 roll 0.57 - - 2405 - 2.53 0.071 798 -551.0 163.1 - - 2055 - - - - - - - - 14.74 14.25 14.76
18378 549.2 7.9 881 18383 done 0.57 - - 2405 - 2.53 0.057 2203 555.3 163.1 - - 2054 - - - - - - - - 14.42 14.30 14.46
18695 522.9 8.4 891 18700 roll 0.57 - - 2405 - 2.55 0.087 3605 549.8 163.1 - - 2054 - - - - - - - - 14.77 14.24 14.79
18756 517.0 9.4 900 18762 done 0.57 0.12 0.258 2386 -158.3 2.50 0.054 2205 -560.0 163.1 - - 2054 - - - - - - - - 14.04 14.28 14.31
19086 492.5 7.4 912 19091 roll 0.57 - - 2394 - 2.58 0.072 786 -550.0 163.1 - - 2054 - - - - - - - - 14.82 14.25 14.84
19156 487.3 7.4 922 19162 done 0.57 - - 2395 - 2.55 0.060 2197 553.3 163.1 - - 2053 - - - - - - - - 14.42 14.30 14.47
19478 462.1 7.9 933 19483 roll 0.57 - - 2394 - 2.58 0.086 3613 548.8 163.1 - - 2053 - - - - - - - - 14.83 14.21 14.85
19561 454.8 8.7 945 19567 done 0.57 - - 2404 - 2.47 0.054 2194 -574.5 163.1 - - 2053 - - - - - - - - 14.42 14.32 14.47
19927 424.4 8.4 955 19932 roll 0.57 - - 2410 - 2.55 0.070 796 -548.2 163.1 - - 2053 - - - - - - - - 14.78 14.23 14.82
20002 418.1 8.1 966 20008 done 0.57 - - 2410 - 2.53 0.057 2200 554.9 163.1 - - 2053 - - - - - - - - 14.42 14.30 14.47
20318 391.4 8.5 976 20323 roll 0.57 - - 2410 - 2.55 0.086 3607 551.8 163.1 - - 2050 - - - - - - - - 14.81 14.19 14.83
20375 386.2 9.3 984 20380 done 0.57 0.15 0.248 2385 -166.7 2.47 0.053 2191 -573.3 163.1 - - 2053 - - - - - - - - 14.00 14.35 14.28
20710 363.8 6.5 997 20737 roll 0.58 - - 2394 - 2.55 0.069 791 -549.0 183.0 22.20 1.385 1988 -2.9 0.153 - - - - - - 14.79 14.46 13.58
20780 359.4 6.6 1007 20807 done 0.66 - - 2393 - 2.53 0.057 2201 557.3 200.4 19.80 1.379 1916 -3.6 0.189 - - - - - - 14.48 14.38 13.51
21151 332.1 7.5 1018 21157 roll 0.66 - - 2393 - 2.55 0.085 3607 551.4 200.4 - - 1902 - - - - - - - - 14.75 14.23 14.77
21242 324.3 8.7 1031 21247 done 0.66 - - 2398 - 2.45 0.052 2192 -577.6 200.4 - - 1902 - - - - - - - - 14.45 14.37 14.49
21599 295.5 8.0 1040 21604 roll 0.66 - - 2408 - 2.55 0.069 788 -550.6 200.4 - - 1902 - - - - - - - - 14.78 14.26 14.79
21668 290.2 7.6 1050 21675 done 0.71 - - 2408 - 2.55 0.057 2203 554.9 200.4 - - 1904 - - - - - - - - 14.36 14.24 14.41
21992 265.9 7.5 1061 21997 roll 0.71 - - 2408 - 2.55 0.084 3609 551.4 200.4 - - 1901 - - - - - - - - 14.81 14.25 14.83
22060 260.0 8.5 1071 22066 done 0.71 - - 2415 - 2.45 0.051 2205 -573.1 200.4 - - 1901 - - - - - - - - 14.44 14.36 14.49
22383 233.4 8.5 1082 22389 roll 0.71 - - 2424 - 2.55 0.070 794 -553.3 200.4 - - 1901 - - - - - - - - 14.81 14.26 14.82
22453 227.2 8.8 1092 22458 done 0.71 - - 2424 - 2.53 0.057 2201 556.1 200.4 - - 1900 - - - - - - - - 14.42 14.31 14.48
22775 196.1 9.8 1103 22780 roll 0.71 - - 2424 - 2.58 0.084 3612 546.9 200.4 - - 1901 - - - - - - - - 14.84 14.22 14.85
22858 187.4 10.3 1115 22864 done 0.71 - - 2433 - 2.47 0.052 2202 -570.9 200.4 - - 1901 - - - - - - - - 14.37 14.27 14.40
23224 151.2 10.0 1125 23229 roll 0.71 - - 2443 - 2.58 0.069 792 -546.5 200.4 - - 1901 - - - - - - - - 14.81 14.25 14.83
23314 142.4 9.4 1138 23320 done 0.71 - - 2443 - 2.53 0.057 2201 556.9 200.4 - - 1901 - - - - - - - - 14.43 14.31 14.48
23672 106.3 10.1 1147 23677 roll 0.71 - - 2442 - 2.58 0.083 3616 548.4 200.4 - - 1901 - - - - - - - - 14.83 14.21 14.85
23719 100.9 11.4 1154 23727 done 0.71 - - 2452 - 2.53 0.052 2195 -561.7 200.4 - - 1901 - - - - - - - - 14.32 14.26 14.36
24035 72.8 8.0 1165 24040 roll 0.71 - - 2462 - 2.58 0.067 788 -545.3 200.4 - - 1901 - - - - - - - - 14.81 14.24 14.82
24105 67.4 7.7 1175 24110 done 0.71 0.12 0.243 2433 -241.7 2.55 0.057 2211 558.0 200.4 - - 1901 - - - - - - - - 14.07 14.31 14.31
24427 51.3 4.2 1188 24476 roll 0.82 - - 2435 - 2.60 0.061 798 -543.5 275.5 44.42 0.287 1621 -6.3 0.224 - - - - - - 14.80 14.43 14.09
24564 46.0 4.2 1207 24623 done 1.01 0.28 0.083 2555 428.6 2.53 0.053 2212 558.9 349.5 50.08 0.271 1313 -6.2 0.208 - - - - - - 14.39 14.35 14.06
24932 20.2 7.3 1227 24938 roll 1.01 - - 2555 - 2.58 0.077 3606 540.3 351.5 2.03 0.168 1305 -3.9 0.094 - - - - - - 14.76 14.19 14.07
24981 16.0 8.3 1234 24987 done 1.01 0.15 0.249 2528 -180.0 2.45 0.048 2188 -578.8 351.5 - - 1309 - - - - - - - - 14.03 14.36 14.28
25229 end climb: SURFACE_DEPTH_REACHED
25229 begin surface coast
25257 end surface coast: CONTROL_FINISHED_OK
25257 begin surface
SM 0.88 - - - - -6.15 6.60 0.057 217 32.9 0.20 0.101 2298 -14140.0 500.41 91.70 0.133 699 7.6 -0.005 - - - - - -