SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 413 * Raw log
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• Previous call tries 1 • 163.33 of 350.00 AH used of 24V (53.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 0.84 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: 18 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 VBD -0.68 - - 190 - - - 2301 - -116.8 -84.32 - 2769 - - - - - - - - 14.68 - 14.70
107 3.1 -3.8 3 131 roll -0.68 8.98 0.400 1962 197.3 2.78 2.040 3688 498.9 -116.8 -9.00 - 3217 -49.8 - - - - - - - 13.89 13.16 14.34
194 29.3 -26.8 16 199 done -0.46 0.35 0.283 2047 242.9 2.42 0.042 2258 -590.9 -116.8 - - 3219 - - - - - - - - 13.99 14.43 14.32
523 64.2 -7.4 30 528 roll -0.46 - - 2047 - 2.40 0.050 871 -577.9 -116.8 - - 3220 - - - - - - - - 14.81 14.42 14.82
656 74.3 -7.8 49 663 done -0.46 - - 2042 - 2.47 0.054 2276 568.8 -116.8 - - 3221 - - - - - - - - 14.53 14.42 14.57
972 97.2 -7.4 61 977 roll -0.46 - - 2042 - 2.45 0.050 874 -572.2 -116.8 - - 3222 - - - - - - - - 14.85 14.46 14.87
1054 104.2 -8.1 73 1061 done -0.46 - - 2047 - 2.50 0.055 2275 560.4 -116.8 - - 3221 - - - - - - - - 14.57 14.40 14.61
1421 130.6 -7.1 83 1425 roll -0.46 - - 2037 - 2.47 0.080 3689 572.5 -116.8 - - 3221 - - - - - - - - 14.89 14.40 14.91
1467 134.1 -7.5 90 1475 done -0.46 - - 2037 - 2.42 0.042 2263 -589.3 -116.8 - - 3221 - - - - - - - - 14.52 14.49 14.54
1811 158.9 -7.2 97 1817 roll -0.46 - - 2038 - 2.38 0.050 884 -579.4 -116.8 - - 3219 - - - - - - - - 14.89 14.47 14.91
1868 163.0 -7.4 105 1874 done -0.46 - - 2037 - 2.45 0.056 2275 567.8 -116.8 - - 3219 - - - - - - - - 14.57 14.45 14.60
2204 186.7 -7.0 118 2204 done -0.46 - - 2037 - - - 2276 - -116.8 - - 3218 - - - - - - - - 14.89 14.91 14.91
2539 212.2 -7.7 124 2540 done -0.46 - - 2037 - - - 2276 - -116.8 - - 3215 - - - - - - - - 14.92 14.94 14.94
2876 240.1 -8.4 130 2881 roll -0.46 - - 2033 - 2.53 0.082 3691 559.3 -116.8 - - 3213 - - - - - - - - 14.89 14.39 14.90
2902 242.5 -8.7 134 2908 done -0.46 - - 2033 - 2.45 0.044 2235 -594.3 -116.8 - - 3213 - - - - - - - - 14.60 14.52 14.61
3267 274.5 -8.7 144 3272 roll -0.46 - - 2033 - 2.35 0.053 885 -574.5 -116.8 - - 3210 - - - - - - - - 14.92 14.45 14.93
3295 277.0 -9.1 148 3300 done -0.46 - - 2029 - 2.47 0.058 2282 565.6 -116.8 - - 3210 - - - - - - - - 14.54 14.43 14.59
3660 307.4 -8.2 158 3661 done -0.46 - - 2029 - - - 2281 - -116.8 - - 3208 - - - - - - - - 14.90 14.91 14.91
3995 335.0 -8.2 164 4000 roll -0.46 - - 2026 - 2.50 0.082 3690 563.6 -116.8 - - 3206 - - - - - - - - 14.90 14.35 14.91
4029 337.8 -8.2 169 4036 done -0.46 - - 2026 - 2.45 0.044 2256 -585.3 -116.8 - - 3206 - - - - - - - - 14.50 14.47 14.53
4387 366.7 -8.1 178 4392 roll -0.46 - - 2026 - 2.38 0.054 899 -570.2 -116.8 - - 3204 - - - - - - - - 14.90 14.42 14.91
4471 373.5 -8.0 190 4476 done -0.46 - - 2025 - 2.45 0.060 2276 562.0 -116.8 - - 3203 - - - - - - - - 14.52 14.40 14.57
4835 402.3 -8.1 200 4840 roll -0.46 - - 2024 - 2.55 0.086 3700 558.4 -116.8 - - 3201 - - - - - - - - 14.92 14.34 14.93
4884 406.3 -8.1 207 4890 done -0.46 - - 2023 - 2.45 0.045 2270 -583.7 -116.8 - - 3201 - - - - - - - - 14.59 14.52 14.60
5227 433.3 -7.8 214 5232 roll -0.46 - - 2023 - 2.42 0.057 882 -573.6 -116.8 - - 3200 - - - - - - - - 14.91 14.40 14.93
5303 439.5 -7.8 225 5310 done -0.46 - - 2023 - 2.47 0.060 2264 559.5 -116.8 - - 3199 - - - - - - - - 14.46 14.34 14.52
5620 462.3 -7.2 235 5625 roll -0.46 - - 2019 - 2.55 0.084 3692 560.0 -116.8 - - 3198 - - - - - - - - 14.88 14.32 14.90
5675 466.3 -7.1 243 5681 done -0.46 0.12 0.229 2049 250.0 2.42 0.046 2263 -590.5 -116.8 - - 3197 - - - - - - - - 14.19 14.52 14.40
6013 486.1 -5.9 256 6018 roll -0.52 - - 2049 - 2.40 0.055 887 -573.3 -116.8 - - 3196 - - - - - - - - 14.87 14.38 14.89
6068 489.6 -6.4 264 6073 done -0.58 0.12 0.138 1998 -425.0 2.50 0.059 2280 557.2 -116.8 - - 3196 - - - - - - - - 14.35 14.36 14.47
6403 518.3 -8.8 277 6409 roll -0.58 - - 1995 - 2.55 0.086 3694 554.5 -116.8 - - 3194 - - - - - - - - 14.88 14.28 14.90
6431 520.9 -9.4 281 6437 done -0.58 - - 1996 - 2.42 0.046 2270 -588.4 -116.8 - - 3194 - - - - - - - - 14.57 14.51 14.59
6796 554.2 -9.1 291 6800 roll -0.58 - - 1995 - 2.47 0.059 876 -564.4 -116.8 - - 3193 - - - - - - - - 14.88 14.35 14.89
6851 559.4 -9.4 299 6856 done -0.58 - - 1995 - 2.53 0.063 2265 549.0 -116.8 - - 3193 - - - - - - - - 14.45 14.33 14.50
7188 588.1 -8.5 312 7193 roll -0.58 - - 1995 - 2.58 0.086 3694 553.9 -116.8 - - 3192 - - - - - - - - 14.87 14.28 14.88
7243 592.8 -8.4 320 7248 done -0.58 - - 1991 - 2.45 0.047 2264 -583.7 -116.8 - - 3192 - - - - - - - - 14.53 14.46 14.56
7579 620.5 -8.3 333 7585 roll -0.58 - - 1991 - 2.42 0.055 882 -571.1 -116.8 - - 3190 - - - - - - - - 14.90 14.34 14.91
7677 628.9 -8.5 347 7682 done -0.58 - - 1991 - 2.50 0.062 2269 554.8 -116.8 - - 3190 - - - - - - - - 14.44 14.31 14.48
8027 659.4 -8.8 355 8033 roll -0.58 - - 1985 - 2.58 0.090 3693 551.9 -116.8 - - 3188 - - - - - - - - 14.87 14.15 14.89
8062 662.6 -9.4 360 8067 done -0.58 - - 1985 - 2.45 0.048 2260 -584.9 -116.8 - - 3189 - - - - - - - - 14.51 14.43 14.53
8420 695.8 -9.4 369 8426 roll -0.58 - - 1985 - 2.42 0.057 887 -567.4 -116.8 - - 3188 - - - - - - - - 14.85 14.32 14.88
8467 700.5 -9.6 376 8474 done -0.58 - - 1985 - 2.53 0.062 2260 542.7 -116.8 - - 3187 - - - - - - - - 14.28 14.21 14.33
8812 732.4 -9.3 383 8817 roll -0.58 - - 1987 - 2.62 0.087 3703 550.8 -116.8 - - 3186 - - - - - - - - 14.85 14.21 14.88
8869 737.5 -9.3 391 8873 done -0.58 - - 1981 - 2.47 0.047 2264 -582.6 -116.8 - - 3185 - - - - - - - - 14.50 14.42 14.52
9203 768.6 -9.3 404 9208 roll -0.58 - - 1981 - 2.42 0.056 886 -569.4 -116.8 - - 3185 - - - - - - - - 14.88 14.29 14.90
9301 777.8 -9.3 418 9307 done -0.58 0.10 0.231 2003 220.0 2.55 0.062 2268 542.0 -116.8 - - 3184 - - - - - - - - 13.85 14.18 14.00
9652 805.6 -8.0 426 9657 roll -0.58 - - 1999 - 2.60 0.090 3694 548.5 -116.8 - - 3183 - - - - - - - - 14.88 14.17 14.89
9685 808.4 -8.1 431 9691 done -0.58 - - 1998 - 2.47 0.049 2260 -580.6 -116.8 - - 3183 - - - - - - - - 14.45 14.35 14.48
10043 837.2 -8.0 440 10048 roll -0.58 - - 1999 - 2.42 0.058 885 -568.2 -116.8 - - 3182 - - - - - - - - 14.85 14.25 14.87
10079 840.2 -7.8 445 10084 done -0.58 - - 1999 - 2.50 0.063 2266 552.4 -116.8 - - 3185 - - - - - - - - 14.36 14.23 14.40
10436 868.4 -7.6 454 10441 roll -0.58 - - 1999 - 2.62 0.091 3702 548.1 -116.8 - - 3181 - - - - - - - - 14.84 14.13 14.86
10497 873.3 -7.7 463 10503 done -0.58 - - 1999 - 2.47 0.048 2258 -584.6 -116.8 - - 3181 - - - - - - - - 14.44 14.35 14.47
10828 898.7 -7.8 475 10833 roll -0.58 - - 1999 - 2.45 0.057 881 -562.0 -116.8 - - 3180 - - - - - - - - 14.83 14.24 14.85
10896 904.5 -8.1 485 10903 done -0.58 - - 1998 - 2.55 0.063 2279 548.2 -116.8 - - 3180 - - - - - - - - 14.33 14.19 14.38
11219 929.7 -7.7 496 11224 roll -0.58 - - 2001 - 2.60 0.090 3697 545.4 -116.8 - - 3179 - - - - - - - - 14.86 14.12 14.88
11247 931.9 -7.9 500 11252 done -0.58 - - 1998 - 2.50 0.049 2261 -574.4 -116.8 - - 3179 - - - - - - - - 14.42 14.34 14.45
11611 960.2 -7.8 510 11616 roll -0.58 - - 1998 - 2.45 0.057 888 -560.4 -116.8 - - 3178 - - - - - - - - 14.83 14.19 14.84
11659 963.9 -8.0 517 11667 done -0.58 - - 1999 - 2.58 0.062 2269 535.3 -116.8 - - 3178 - - - - - - - - 14.17 14.10 14.22
12005 988.5 -7.1 524 12010 roll -0.58 - - 1999 - 2.62 0.093 3691 542.7 -116.8 - - 3177 - - - - - - - - 14.81 14.09 14.83
12027 end dive: TARGET_DEPTH_EXCEEDED
12027 begin apogee
12038 990.5 -5.7 528 12231 roll -0.19 0.50 0.205 2134 270.0 - - 2186 - - 191.55 1.632 2739 -2.3 0.299 - - - - - - 13.85 13.91 13.07
12233 end apogee: CONTROL_FINISHED_OK
12233 begin climb
12237 995.2 - 531 12398 roll 0.68 0.90 0.143 2411 307.8 2.60 0.063 786 -538.5 116.8 149.68 1.886 2262 -3.2 0.362 - - - - - - 13.89 13.97 12.79
12495 978.4 7.5 573 12502 done 0.68 - - 2408 - 2.65 0.062 2197 532.5 116.8 - - 2237 - - - - - - - - 14.16 14.10 14.20
12819 948.1 9.5 584 12824 roll 0.68 - - 2418 - 2.55 0.069 803 -546.7 116.8 - - 2232 - - - - - - - - 14.71 14.36 14.73
12978 933.2 9.0 607 12985 done 0.68 - - 2418 - 2.55 0.062 2211 552.2 116.8 - - 2231 - - - - - - - - 14.48 14.36 14.52
13324 900.7 9.5 614 13328 roll 0.68 - - 2418 - 2.55 0.089 3609 548.2 116.8 - - 2230 - - - - - - - - 14.78 14.33 14.80
13363 896.3 10.8 620 13369 done 0.60 0.10 0.256 2400 -180.0 2.50 0.056 2205 -561.6 116.8 - - 2229 - - - - - - - - 14.04 14.37 14.45
13714 867.6 8.0 628 13719 roll 0.60 - - 2410 - 2.58 0.073 791 -548.1 116.8 - - 2228 - - - - - - - - 14.83 14.33 14.88
13784 861.9 7.7 638 13789 done 0.60 - - 2410 - 2.53 0.062 2194 554.5 116.8 - - 2228 - - - - - - - - 14.49 14.37 14.54
14106 837.2 7.6 649 14112 roll 0.60 - - 2410 - 2.60 0.089 3618 547.7 116.8 - - 2227 - - - - - - - - 14.82 14.28 14.84
14183 830.7 8.4 660 14188 done 0.54 0.17 0.265 2380 -176.5 2.50 0.057 2193 -570.0 116.8 - - 2226 - - - - - - - - 14.03 14.40 14.35
14500 811.7 5.9 670 14545 roll 0.56 - - 2392 - 2.58 0.073 788 -544.6 150.4 38.80 1.765 2117 -2.8 0.278 - - - - - - 14.81 14.31 13.38
14595 805.4 6.8 684 14610 done 0.57 - - 2390 - 2.58 0.060 2211 551.6 162.7 4.88 1.487 2075 -8.6 1.005 - - - - - - 14.40 14.30 13.08
14948 779.2 7.7 692 14952 roll 0.57 - - 2390 - 2.53 0.087 3608 552.2 162.7 - - 2082 - - - - - - - - 14.73 14.28 14.73
14987 775.9 7.5 698 14993 done 0.57 - - 2400 - 2.53 0.055 2191 -560.1 162.7 - - 2082 - - - - - - - - 14.40 14.34 14.43
15338 745.5 8.8 706 15343 roll 0.57 - - 2410 - 2.53 0.070 797 -551.0 162.7 - - 2082 - - - - - - - - 14.78 14.33 14.81
15429 737.1 9.8 719 15434 done 0.57 - - 2410 - 2.50 0.058 2192 558.0 162.7 - - 2082 - - - - - - - - 14.48 14.37 14.52
15786 703.1 9.6 728 15791 roll 0.57 - - 2406 - 2.55 0.086 3612 556.9 162.7 - - 2082 - - - - - - - - 14.80 14.31 14.81
15834 697.9 10.7 735 15841 done 0.57 0.08 0.238 2389 -212.5 2.53 0.054 2190 -562.1 162.7 - - 2082 - - - - - - - - 14.02 14.32 14.30
16179 669.0 8.3 742 16184 roll 0.57 - - 2398 - 2.53 0.070 787 -554.5 162.7 - - 2082 - - - - - - - - 14.83 14.29 14.85
16247 663.3 8.1 752 16253 done 0.57 - - 2399 - 2.55 0.059 2201 554.5 162.7 - - 2082 - - - - - - - - 14.44 14.31 14.47
16570 635.4 8.7 763 16575 roll 0.57 - - 2398 - 2.58 0.086 3614 547.7 162.7 - - 2082 - - - - - - - - 14.81 14.23 14.83
16647 627.8 9.8 774 16652 done 0.57 - - 2409 - 2.50 0.057 2189 -570.0 162.7 - - 2082 - - - - - - - - 14.47 14.37 14.50
16963 599.4 9.0 784 16967 roll 0.57 - - 2417 - 2.55 0.069 786 -550.2 162.7 - - 2082 - - - - - - - - 14.81 14.27 14.83
17038 592.9 8.2 795 17044 done 0.57 0.12 0.249 2390 -225.0 2.55 0.059 2199 554.1 162.7 - - 2082 - - - - - - - - 14.02 14.30 14.28
17356 569.9 7.3 805 17362 roll 0.57 - - 2389 - 2.65 0.087 3617 535.1 164.0 2.00 0.184 2069 -6.5 4.340 - - - - - - 14.83 14.24 11.38
17424 564.0 8.3 815 17430 done 0.57 - - 2397 - 2.50 0.057 2198 -567.6 164.0 - - 2073 - - - - - - - - 14.43 14.33 14.47
17748 539.0 7.8 826 17753 roll 0.57 - - 2407 - 2.55 0.073 799 -548.6 164.0 - - 2077 - - - - - - - - 14.84 14.23 14.85
17809 534.1 7.7 835 17815 done 0.57 - - 2406 - 2.55 0.059 2213 554.5 164.0 - - 2077 - - - - - - - - 14.40 14.27 14.44
18140 507.5 8.1 847 18144 roll 0.57 - - 2406 - 2.55 0.085 3611 548.2 164.0 - - 2077 - - - - - - - - 14.81 14.19 14.84
18223 499.9 8.9 859 18228 done 0.57 - - 2415 - 2.47 0.053 2193 -574.1 164.0 - - 2077 - - - - - - - - 14.45 14.35 14.48
18588 469.7 8.3 869 18593 roll 0.57 - - 2423 - 2.53 0.070 798 -551.4 164.0 - - 2077 - - - - - - - - 14.84 14.21 14.86
18650 464.6 8.2 878 18655 done 0.57 0.15 0.239 2389 -226.7 2.53 0.057 2199 553.8 164.0 - - 2077 - - - - - - - - 13.90 14.20 14.15
18981 441.1 7.1 890 18991 roll 0.58 - - 2389 - 2.55 0.086 3618 556.5 168.7 4.60 1.222 2052 -5.4 0.423 - - - - - - 14.81 14.40 13.26
19055 434.8 8.2 901 19063 done 0.58 - - 2396 - 2.45 0.054 2204 -577.1 168.7 2.50 0.600 2050 - - - - - - - - 14.54 14.44 13.12
19372 411.4 7.4 911 19378 roll 0.58 - - 2405 - 2.58 0.069 798 -545.0 168.7 1.98 0.186 2050 - - - - - - - - 14.80 14.28 14.11
19434 406.8 7.2 920 19441 done 0.58 - - 2405 - 2.53 0.056 2206 556.5 172.3 3.45 1.012 2038 -3.5 0.301 - - - - - - 14.45 14.33 13.12
19751 383.8 7.3 930 19761 roll 0.58 - - 2405 - 2.55 0.086 3608 549.8 173.8 4.38 1.125 2034 -0.9 0.067 - - - - - - 14.79 14.42 13.26
19812 378.7 8.3 939 19818 done 0.58 - - 2415 - 2.45 0.050 2189 -579.2 173.8 2.42 0.536 2030 -1.7 0.252 - - - - - - 14.50 14.40 13.19
20135 353.5 7.9 950 20141 roll 0.58 - - 2424 - 2.55 0.067 796 -546.3 173.8 2.20 0.386 2026 -1.8 0.359 - - - - - - 14.83 14.38 13.18
20219 347.0 7.6 962 20224 done 0.58 0.08 0.212 2388 -450.0 2.50 0.057 2206 564.0 173.8 - - 2037 - - - - - - - - 14.04 14.30 14.30
20576 322.1 7.0 971 20602 roll 0.58 - - 2388 - 2.50 0.083 3609 561.2 182.5 20.80 1.244 1990 -2.3 0.126 - - - - - - 14.81 14.24 13.67
20667 314.8 8.8 984 20672 done 0.58 - - 2394 - 2.45 0.052 2191 -578.8 182.5 - - 1983 - - - - - - - - 14.49 14.40 14.53
21024 287.4 7.6 993 21029 roll 0.58 - - 2403 - 2.53 0.066 790 -553.8 182.5 - - 1982 - - - - - - - - 14.77 14.27 14.79
21093 282.5 7.0 1003 21099 done 0.64 - - 2402 - 2.53 0.057 2200 557.3 189.5 1.85 0.181 1967 -8.1 2.728 - - - - - - 14.42 14.31 14.11
21417 260.7 6.6 1014 21449 roll 0.65 - - 2403 - 2.53 0.082 3609 556.9 205.8 27.05 1.202 1894 -2.7 0.126 - - - - - - 14.79 14.21 13.65
21513 253.4 7.9 1028 21518 done 0.65 - - 2409 - 2.45 0.050 2194 -577.6 205.8 - - 1882 - - - - - - - - 14.45 14.37 14.49
21865 226.8 7.8 1036 21869 roll 0.65 - - 2418 - 2.53 0.067 804 -549.4 205.8 - - 1878 - - - - - - - - 14.77 14.27 14.79
21933 221.1 8.1 1046 21938 done 0.70 - - 2418 - 2.53 0.055 2210 555.7 205.8 - - 1877 - - - - - - - - 14.43 14.31 14.47
22256 194.6 8.1 1057 22262 roll 0.70 - - 2418 - 2.53 0.082 3606 551.8 205.8 - - 1876 - - - - - - - - 14.79 14.24 14.81
22333 187.9 8.7 1068 22337 done 0.70 - - 2425 - 2.42 0.050 2210 -576.9 205.8 - - 1878 - - - - - - - - 14.47 14.38 14.50
22648 163.0 7.9 1078 22653 roll 0.70 - - 2434 - 2.55 0.065 795 -554.9 205.8 - - 1878 - - - - - - - - 14.81 14.27 14.83
22732 156.7 7.4 1090 22736 done 0.70 - - 2434 - 2.53 0.055 2208 558.5 205.8 - - 1878 - - - - - - - - 14.45 14.33 14.50
23096 124.3 9.3 1100 23100 roll 0.70 - - 2434 - 2.55 0.082 3609 549.4 205.8 - - 1878 - - - - - - - - 14.84 14.24 14.86
23172 116.1 10.7 1111 23177 done 0.70 - - 2442 - 2.45 0.048 2195 -577.1 205.8 - - 1878 - - - - - - - - 14.42 14.32 14.47
23489 87.7 8.4 1123 23493 roll 0.70 - - 2452 - 2.53 0.066 799 -551.8 205.8 - - 1878 - - - - - - - - 14.80 14.26 14.82
23585 79.7 7.9 1137 23591 done 0.70 - - 2452 - 2.50 0.054 2204 562.0 205.8 - - 1878 - - - - - - - - 14.35 14.23 14.40
23908 58.6 5.8 1150 23936 done 0.72 - - 2452 - - - 2201 - 243.1 19.95 0.297 1753 -6.3 0.266 - - - - - - 14.81 14.40 14.03
24245 43.1 4.5 1165 24298 roll 0.85 - - 2453 - 2.58 0.063 791 -546.5 310.1 44.15 0.260 1475 -6.3 0.225 - - - - - - 14.81 14.38 14.11
24372 38.6 3.7 1183 24432 done 1.07 0.28 0.084 2577 442.9 2.50 0.056 2196 562.0 396.6 55.17 0.249 1122 -6.4 0.214 - - - - - - 14.42 14.35 14.07
24741 8.2 10.4 1203 24742 done 1.07 0.12 0.243 2548 -241.7 - - 2196 - 396.6 - - 1124 - - - - - - - - 14.19 14.42 14.35
24821 end climb: SURFACE_DEPTH_REACHED
24821 begin surface coast
24850 end surface coast: CONTROL_FINISHED_OK
24850 begin surface
SM 0.80 - - - - -6.14 6.82 0.075 215 31.5 0.15 0.115 2305 -11980.0 500.17 64.30 0.136 700 10.9 -0.007 - - - - - -