SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 407 * Raw log
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• Previous call tries 1 • 161.05 of 350.00 AH used of 24V (53.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.8 deg, depth 0.89 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 10 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 195 - - - 2312 - -116.8 -84.68 - 2801 - - - - - - - - 14.69 - 14.70
107 3.4 -4.2 3 131 roll -0.68 9.18 0.411 1963 192.6 2.78 2.047 3680 492.1 -116.8 -8.05 - 3219 -51.9 - - - - - - - 13.90 13.17 14.35
231 41.3 -20.9 21 238 done -0.53 0.25 0.246 2025 248.0 2.40 0.041 2263 -590.4 -116.8 - - 3220 - - - - - - - - 14.08 14.45 14.35
553 75.2 -7.9 34 558 roll -0.48 - - 2025 - 2.40 0.050 878 -577.1 -116.8 - - 3222 - - - - - - - - 14.81 14.39 14.83
694 86.8 -7.8 54 699 done -0.48 - - 2017 - 2.45 0.054 2279 571.8 -116.8 - - 3223 - - - - - - - - 14.54 14.47 14.58
1029 114.8 -8.5 66 1034 roll -0.48 - - 2011 - 2.47 0.075 3698 574.5 -116.8 - - 3222 - - - - - - - - 14.86 14.42 14.88
1105 122.1 -9.4 77 1112 done -0.48 0.08 0.210 2035 300.0 2.40 0.040 2276 -592.5 -116.8 - - 3223 - - - - - - - - 14.21 14.51 14.33
1422 146.9 -7.8 87 1427 roll -0.48 - - 2035 - 2.42 0.053 888 -573.6 -116.8 - - 3222 - - - - - - - - 14.87 14.47 14.89
1525 154.8 -7.3 102 1532 done -0.48 - - 2029 - 2.45 0.054 2282 569.0 -116.8 - - 3222 - - - - - - - - 14.57 14.45 14.59
1870 180.0 -7.5 109 1876 roll -0.48 - - 2021 - 2.47 0.076 3694 571.7 -116.8 - - 3220 - - - - - - - - 14.90 14.42 14.91
1917 183.9 -8.2 116 1924 done -0.48 - - 2021 - 2.42 0.041 2270 -588.4 -116.8 - - 3220 - - - - - - - - 14.54 14.51 14.57
2261 212.0 -8.2 123 2266 roll -0.48 - - 2021 - 2.40 0.054 891 -574.6 -116.8 - - 3218 - - - - - - - - 14.89 14.47 14.90
2330 217.8 -8.2 133 2336 done -0.48 - - 2016 - 2.42 0.056 2273 571.1 -116.8 - - 3219 - - - - - - - - 14.56 14.44 14.60
2654 244.7 -8.4 144 2659 roll -0.48 - - 2012 - 2.53 0.082 3700 564.0 -116.8 - - 3215 - - - - - - - - 14.88 14.40 14.90
2715 250.0 -8.5 153 2722 done -0.48 0.12 0.229 2042 250.0 2.45 0.043 2236 -597.6 -116.8 - - 3215 - - - - - - - - 14.24 14.52 14.46
3046 272.0 -6.7 165 3052 roll -0.48 - - 2042 - 2.35 0.054 893 -571.5 -116.8 - - 3213 - - - - - - - - 14.87 14.47 14.90
3142 278.9 -6.9 179 3148 done -0.53 - - 2042 - 2.45 0.056 2278 565.3 -116.8 - - 3212 - - - - - - - - 14.57 14.45 14.60
3494 303.4 -7.1 187 3498 roll -0.53 - - 2042 - 2.53 0.083 3689 557.7 -116.8 - - 3210 - - - - - - - - 14.90 14.37 14.92
3535 306.4 -7.3 193 3542 done -0.58 - - 2042 - 2.42 0.044 2263 -589.3 -116.8 - - 3210 - - - - - - - - 14.61 14.54 14.63
3885 332.8 -7.7 201 3891 roll -0.58 - - 2042 - 2.40 0.054 890 -572.1 -116.8 - - 3208 - - - - - - - - 14.89 14.44 14.90
3968 339.5 -7.8 213 3975 done -0.63 0.15 0.127 1983 -393.3 2.45 0.057 2273 564.5 -116.8 - - 3207 - - - - - - - - 14.45 14.42 14.55
4334 378.7 -11.0 223 4339 roll -0.63 - - 1973 - 2.55 0.083 3698 558.8 -116.8 - - 3205 - - - - - - - - 14.88 14.35 14.90
4389 384.8 -10.9 231 4394 done -0.63 - - 1973 - 2.42 0.046 2269 -590.5 -116.8 - - 3205 - - - - - - - - 14.58 14.50 14.60
4726 420.7 -10.5 244 4731 roll -0.58 0.12 0.263 2008 291.7 2.42 0.055 892 -569.0 -116.8 - - 3203 - - - - - - - - 14.16 14.39 14.28
4829 429.7 -7.9 259 4836 done -0.58 - - 2000 - 2.47 0.058 2259 553.4 -116.8 - - 3203 - - - - - - - - 14.40 14.34 14.45
5173 458.1 -8.3 266 5178 roll -0.58 - - 1999 - 2.58 0.084 3689 554.3 -116.8 - - 3201 - - - - - - - - 14.90 14.32 14.92
5236 463.2 -8.1 275 5241 done -0.58 - - 1999 - 2.42 0.045 2264 -588.8 -116.8 - - 3200 - - - - - - - - 14.57 14.51 14.60
5565 489.9 -8.3 287 5570 roll -0.58 - - 1998 - 2.42 0.055 876 -573.6 -116.8 - - 3199 - - - - - - - - 14.88 14.40 14.90
5641 496.4 -8.4 298 5647 done -0.58 - - 1998 - 2.47 0.061 2262 561.1 -116.8 - - 3199 - - - - - - - - 14.50 14.37 14.54
5958 523.1 -8.5 308 5959 done -0.58 - - 1998 - - - 2262 - -116.8 - - 3199 - - - - - - - - 14.87 14.89 14.88
6293 552.2 -8.6 314 6298 roll -0.58 - - 1996 - 2.58 0.086 3694 555.0 -116.8 - - 3196 - - - - - - - - 14.90 14.30 14.92
6327 555.2 -8.8 319 6333 done -0.58 - - 1993 - 2.45 0.047 2258 -586.1 -116.8 - - 3196 - - - - - - - - 14.53 14.44 14.56
6686 587.8 -9.1 328 6691 roll -0.58 - - 1996 - 2.42 0.055 878 -570.2 -116.8 - - 3194 - - - - - - - - 14.87 14.37 14.88
6775 596.3 -9.3 341 6781 done -0.58 - - 1996 - 2.47 0.062 2259 559.1 -116.8 - - 3194 - - - - - - - - 14.45 14.32 14.50
7133 628.4 -8.9 350 7138 roll -0.58 - - 1995 - 2.60 0.086 3697 553.1 -116.8 - - 3193 - - - - - - - - 14.89 14.26 14.91
7182 632.6 -8.4 357 7189 done -0.58 - - 1995 - 2.47 0.047 2250 -585.8 -116.8 - - 3193 - - - - - - - - 14.53 14.46 14.56
7525 661.8 -8.4 364 7530 roll -0.58 - - 1996 - 2.40 0.056 898 -563.3 -116.8 - - 3191 - - - - - - - - 14.87 14.34 14.88
7594 667.9 -8.6 374 7600 done -0.58 - - 1995 - 2.45 0.061 2258 555.1 -116.8 - - 3191 - - - - - - - - 14.44 14.31 14.48
7918 694.7 -8.3 385 7919 done -0.58 - - 1996 - - - 2257 - -116.8 - - 3190 - - - - - - - - 14.85 14.88 14.87
8253 723.4 -8.6 391 8258 roll -0.58 - - 1995 - 2.60 0.088 3693 552.3 -116.8 - - 3188 - - - - - - - - 14.86 14.22 14.88
8294 727.1 -8.7 397 8301 done -0.58 - - 1995 - 2.45 0.049 2256 -586.5 -116.8 - - 3189 - - - - - - - - 14.50 14.40 14.53
8645 758.0 -8.9 405 8651 roll -0.58 - - 1996 - 2.42 0.059 894 -562.8 -116.8 - - 3188 - - - - - - - - 14.85 14.31 14.88
8687 762.1 -9.7 411 8692 done -0.58 - - 1995 - 2.47 0.063 2261 553.4 -116.8 - - 3187 - - - - - - - - 14.43 14.31 14.47
9037 792.0 -8.5 419 9042 roll -0.58 - - 1995 - 2.60 0.090 3692 550.4 -116.8 - - 3186 - - - - - - - - 14.88 14.18 14.90
9079 795.6 -7.3 425 9085 done -0.58 - - 1995 - 2.45 0.050 2270 -580.4 -116.8 - - 3186 - - - - - - - - 14.47 14.40 14.50
9430 824.0 -8.0 433 9436 roll -0.58 - - 1995 - 2.47 0.061 881 -562.3 -116.8 - - 3185 - - - - - - - - 14.87 14.26 14.89
9505 829.9 -7.9 444 9511 done -0.58 - - 1995 - 2.50 0.064 2254 549.2 -116.8 - - 3184 - - - - - - - - 14.35 14.22 14.40
9821 854.3 -7.6 454 9826 roll -0.58 - - 1995 - 2.65 0.093 3694 543.4 -116.8 - - 3184 - - - - - - - - 14.84 14.14 14.86
9857 856.2 -6.9 459 9861 done -0.58 - - 1995 - 2.50 0.052 2257 -574.8 -116.8 - - 3181 - - - - - - - - 14.45 14.35 14.47
10213 882.0 -7.2 468 10218 roll -0.58 - - 1995 - 2.45 0.060 880 -562.0 -116.8 - - 3183 - - - - - - - - 14.84 14.22 14.85
10275 886.9 -7.7 477 10282 done -0.58 - - 1994 - 2.53 0.064 2260 545.5 -116.8 - - 3182 - - - - - - - - 14.35 14.22 14.41
10606 911.9 -7.7 489 10607 done -0.58 - - 1995 - - - 2260 - -116.8 - - 3182 - - - - - - - - 14.82 14.85 14.84
10941 938.3 -7.8 495 10946 roll -0.58 - - 1992 - 2.62 0.092 3691 546.2 -116.8 - - 3181 - - - - - - - - 14.86 14.12 14.90
10997 942.6 -7.8 503 11002 done -0.58 - - 1995 - 2.50 0.051 2255 -574.4 -116.8 - - 3181 - - - - - - - - 14.41 14.33 14.45
11334 967.9 -7.5 516 11339 roll -0.58 - - 1995 - 2.47 0.061 872 -559.9 -116.8 - - 3179 - - - - - - - - 14.84 14.21 14.86
11395 972.8 -7.7 525 11402 done -0.58 - - 1995 - 2.53 0.063 2255 546.6 -116.8 - - 3179 - - - - - - - - 14.31 14.16 14.36
11665 end dive: TARGET_DEPTH_EXCEEDED
11665 begin apogee
11675 992.7 -7.1 536 11866 roll -0.19 0.50 0.213 2129 268.0 - - 2183 - - 189.15 1.684 2739 -2.3 0.264 - - - - - - 13.82 13.90 13.05
11868 end apogee: CONTROL_FINISHED_OK
11868 begin climb
11871 998.0 - 539 12035 roll 0.68 0.95 0.151 2415 301.1 2.58 0.061 802 -535.3 116.8 150.95 1.899 2256 -3.2 0.323 - - - - - - 13.87 13.96 12.76
12147 982.0 7.8 583 12152 done 0.68 - - 2411 - 2.58 0.063 2203 543.0 116.8 - - 2236 - - - - - - - - 14.26 14.15 14.28
12511 951.5 8.4 593 12516 roll 0.68 - - 2421 - 2.55 0.073 815 -544.3 116.8 - - 2231 - - - - - - - - 14.74 14.35 14.76
12637 941.2 8.1 611 12642 done 0.68 - - 2421 - 2.53 0.064 2211 551.8 116.8 - - 2230 - - - - - - - - 14.50 14.38 14.54
12959 913.7 8.5 622 12964 roll 0.63 - - 2421 - 2.55 0.089 3616 551.0 116.8 - - 2229 - - - - - - - - 14.79 14.34 14.81
13021 907.6 9.9 631 13027 done 0.55 0.22 0.271 2378 -195.5 2.45 0.059 2216 -571.4 116.8 - - 2228 - - - - - - - - 14.07 14.43 14.40
13352 884.7 6.8 643 13363 roll 0.56 - - 2388 - 2.62 0.073 787 -545.4 128.5 3.00 0.988 2215 -4.3 0.746 - - - - - - 14.81 14.41 13.09
13441 878.4 6.8 656 13468 done 0.56 - - 2389 - 2.55 0.063 2207 556.9 141.0 23.20 1.854 2165 -2.2 0.196 - - - - - - 14.52 14.42 13.43
13793 852.2 7.6 671 13798 roll 0.56 - - 2389 - 2.55 0.090 3614 551.8 141.0 - - 2147 - - - - - - - - 14.74 14.31 14.76
13848 847.5 8.5 679 13853 done 0.56 - - 2398 - 2.47 0.058 2202 -571.7 141.0 - - 2146 - - - - - - - - 14.48 14.38 14.52
14184 821.5 7.7 692 14189 roll 0.56 - - 2409 - 2.58 0.077 789 -547.7 141.0 - - 2144 - - - - - - - - 14.81 14.26 14.83
14261 815.6 7.3 703 14267 done 0.56 - - 2409 - 2.53 0.063 2193 554.9 142.5 - - 2144 - - - - - - - - 14.37 14.30 14.41
14576 790.5 8.1 713 14582 roll 0.56 - - 2409 - 2.60 0.089 3623 550.0 142.5 - - 2144 - - - - - - - - 14.81 14.28 14.83
14639 784.6 9.5 722 14644 done 0.51 0.20 0.256 2373 -180.0 2.50 0.059 2192 -572.4 142.5 - - 2144 - - - - - - - - 14.02 14.39 14.35
14968 762.2 6.9 734 14980 roll 0.52 - - 2382 - 2.53 0.073 793 -553.0 153.3 4.70 1.473 2116 -6.0 0.593 - - - - - - 14.82 14.45 13.19
15044 757.0 7.0 745 15071 done 0.52 - - 2382 - 2.55 0.061 2216 558.0 160.3 19.08 1.756 2081 -1.8 0.152 - - - - - - 14.53 14.42 13.47
15417 728.3 7.8 756 15421 roll 0.52 - - 2382 - 2.55 0.088 3613 547.8 160.3 - - 2068 - - - - - - - - 14.75 14.28 14.77
15472 723.5 8.7 764 15477 done 0.52 - - 2398 - 2.50 0.056 2188 -570.0 160.3 - - 2067 - - - - - - - - 14.48 14.38 14.52
15809 696.7 8.0 777 15814 roll 0.52 - - 2401 - 2.53 0.072 796 -550.2 160.3 - - 2067 - - - - - - - - 14.83 14.30 14.83
15877 691.5 7.4 787 15883 done 0.52 0.12 0.246 2373 -233.3 2.53 0.059 2197 553.8 160.3 - - 2066 - - - - - - - - 14.08 14.32 14.35
16200 670.7 6.4 798 16239 roll 0.54 - - 2374 - 2.62 0.090 3609 538.9 182.2 30.67 1.573 1990 -2.5 0.203 - - - - - - 14.81 14.38 13.52
16291 664.2 8.0 811 16296 done 0.54 - - 2382 - 2.47 0.057 2197 -571.7 182.2 - - 1982 - - - - - - - - 14.45 14.35 14.49
16648 637.8 7.6 820 16653 roll 0.54 - - 2392 - 2.58 0.076 790 -545.3 182.2 - - 1978 - - - - - - - - 14.77 14.27 14.78
16725 631.8 7.8 831 16730 done 0.58 - - 2392 - 2.55 0.062 2202 553.7 182.2 - - 1978 - - - - - - - - 14.44 14.32 14.49
17040 605.4 8.5 841 17046 roll 0.58 - - 2392 - 2.58 0.089 3610 545.7 182.2 - - 1978 - - - - - - - - 14.81 14.26 14.83
17102 599.4 9.3 850 17108 done 0.58 - - 2402 - 2.47 0.055 2202 -570.0 182.2 - - 1977 - - - - - - - - 14.46 14.36 14.50
17433 568.2 9.7 862 17438 roll 0.58 - - 2410 - 2.58 0.075 795 -545.3 182.2 - - 1977 - - - - - - - - 14.81 14.26 14.83
17522 559.7 9.0 875 17529 done 0.58 - - 2410 - 2.55 0.060 2207 553.7 182.2 - - 1976 - - - - - - - - 14.42 14.29 14.48
17880 526.0 9.4 884 17885 roll 0.58 - - 2410 - 2.55 0.088 3607 549.0 182.2 - - 1976 - - - - - - - - 14.81 14.23 14.83
17971 516.9 10.1 897 17977 done 0.58 0.12 0.257 2397 -108.3 2.47 0.055 2191 -573.3 182.2 - - 1976 - - - - - - - - 14.06 14.36 14.34
18328 490.4 7.1 906 18333 roll 0.59 - - 2399 - 2.55 0.071 789 -549.8 187.2 - - 1976 - - - - - - - - 14.83 14.25 14.85
18412 484.7 6.8 918 18441 done 0.60 - - 2399 - 2.55 0.060 2202 554.1 200.8 23.48 1.422 1920 -2.4 0.156 - - - - - - 14.42 14.30 13.61
18776 457.9 7.5 928 18781 roll 0.60 - - 2399 - 2.58 0.087 3610 545.7 200.8 - - 1907 - - - - - - - - 14.75 14.26 14.77
18845 452.0 8.5 938 18850 done 0.60 - - 2409 - 2.47 0.054 2197 -572.1 200.8 - - 1906 - - - - - - - - 14.45 14.35 14.51
19169 424.7 8.6 949 19174 roll 0.60 - - 2410 - 2.58 0.075 792 -544.6 200.8 - - 1906 - - - - - - - - 14.80 14.26 14.82
19244 418.0 8.5 960 19250 done 0.60 - - 2410 - 2.55 0.060 2203 553.3 200.8 - - 1905 - - - - - - - - 14.42 14.29 14.47
19560 389.3 9.2 970 19565 roll 0.60 - - 2410 - 2.55 0.086 3609 551.4 200.8 - - 1905 - - - - - - - - 14.83 14.23 14.85
19623 382.8 10.1 979 19628 done 0.60 - - 2419 - 2.47 0.054 2194 -572.9 200.8 - - 1905 - - - - - - - - 14.45 14.35 14.49
19952 351.3 9.6 991 19957 roll 0.60 - - 2429 - 2.55 0.073 795 -548.6 200.8 - - 1905 - - - - - - - - 14.83 14.24 14.85
20008 346.0 9.3 999 20013 done 0.60 0.12 0.233 2394 -291.7 2.55 0.059 2202 551.8 200.8 - - 1905 - - - - - - - - 14.06 14.30 14.32
20345 317.8 8.4 1012 20350 roll 0.60 - - 2394 - 2.60 0.087 3618 544.6 200.8 - - 1905 - - - - - - - - 14.83 14.21 14.85
20400 312.7 9.5 1020 20405 done 0.60 - - 2402 - 2.50 0.056 2200 -567.2 200.8 - - 1905 - - - - - - - - 14.44 14.34 14.49
20736 284.1 8.4 1033 20741 roll 0.60 - - 2407 - 2.55 0.072 803 -547.8 200.8 - - 1903 - - - - - - - - 14.81 14.23 14.83
20806 278.6 7.7 1043 20811 done 0.65 - - 2412 - 2.53 0.057 2205 554.2 200.8 - - 1905 - - - - - - - - 14.45 14.31 14.48
21128 253.7 7.7 1054 21133 roll 0.65 - - 2407 - 2.58 0.085 3613 545.7 200.8 - - 1905 - - - - - - - - 14.81 14.20 14.83
21198 247.6 8.7 1064 21203 done 0.65 - - 2413 - 2.47 0.054 2198 -572.9 200.8 - - 1905 - - - - - - - - 14.45 14.35 14.50
21520 222.0 8.0 1075 21525 roll 0.65 - - 2419 - 2.55 0.070 800 -548.2 200.8 - - 1904 - - - - - - - - 14.81 14.23 14.83
21582 217.0 7.7 1084 21587 done 0.65 - - 2419 - 2.55 0.057 2208 552.2 200.8 - - 1905 - - - - - - - - 14.32 14.22 14.38
21913 189.2 8.5 1096 21918 roll 0.65 - - 2421 - 2.58 0.084 3616 545.7 200.8 - - 1905 - - - - - - - - 14.83 14.19 14.85
21960 184.6 9.8 1103 21967 done 0.65 - - 2428 - 2.53 0.054 2201 -559.3 200.8 - - 1905 - - - - - - - - 14.30 14.25 14.35
22304 155.6 8.4 1110 22309 roll 0.65 - - 2437 - 2.58 0.070 785 -548.8 200.8 - - 1903 - - - - - - - - 14.81 14.14 14.83
22388 149.1 7.8 1122 22393 done 0.65 - - 2437 - 2.55 0.058 2204 556.5 200.8 - - 1904 - - - - - - - - 14.41 14.29 14.47
22752 117.4 8.8 1132 22758 roll 0.65 - - 2437 - 2.55 0.085 3609 551.0 200.8 - - 1905 - - - - - - - - 14.84 14.12 14.86
22793 113.5 9.8 1138 22799 done 0.65 0.15 0.249 2408 -193.3 2.47 0.051 2188 -575.3 200.8 - - 1905 - - - - - - - - 13.96 14.33 14.26
23117 89.6 7.4 1148 23122 roll 0.65 - - 2419 - 2.55 0.066 783 -551.0 200.8 - - 1905 - - - - - - - - 14.79 14.23 14.81
23192 84.1 6.8 1159 23205 done 0.73 - - 2418 - 2.58 0.057 2192 546.1 213.8 6.12 0.269 1873 -5.2 0.314 - - - - - - 14.28 14.21 13.71
23540 64.6 5.0 1175 23591 roll 0.82 0.12 0.139 2480 516.7 2.58 0.063 785 -545.3 270.4 41.10 0.321 1638 -5.7 0.221 - - - - - - 14.38 14.42 14.03
23640 57.0 7.5 1190 23647 done 0.82 - - 2480 - 2.53 0.056 2194 556.9 270.4 - - 1644 - - - - - - - - 14.44 14.33 14.48
23957 39.3 3.6 1202 24024 roll 0.96 - - 2480 - 2.58 0.080 3606 547.3 358.7 58.75 0.251 1281 -6.2 0.186 - - - - - - 14.76 14.33 14.08
24120 31.3 5.9 1225 24153 done 1.12 0.22 0.093 2573 422.7 2.47 0.047 2177 -578.5 392.6 23.92 0.221 1138 -6.0 0.163 - - - - - - 14.37 14.35 14.03
24464 6.1 7.6 1241 24470 roll 1.18 - - 2573 - 2.60 0.076 3613 552.3 392.6 - - 1142 - - - - - - - - 14.73 14.19 14.75
24494 end climb: SURFACE_DEPTH_REACHED
24494 begin surface coast
24522 end surface coast: CONTROL_FINISHED_OK
24522 begin surface
SM 0.80 - - - - -6.13 6.90 0.076 216 31.3 2.33 0.046 2272 808.6 500.17 67.82 0.133 700 10.3 -0.006 - - - - - -