SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 416 * Raw log
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• Previous call tries 1 • 164.49 of 350.00 AH used of 24V (53.00% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.6 deg, depth 0.81 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: 18 s • Transponder ping count: 4
• 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 - - - 2271 - -116.8 -84.32 - 2817 - - - - - - - - 14.68 - 14.70
107 3.9 -5.1 3 131 roll -0.68 8.98 0.399 1958 196.9 2.92 2.044 3695 487.7 -116.8 -7.78 - 3219 -51.7 - - - - - - - 13.90 12.97 14.34
201 31.7 -25.4 17 207 done -0.47 0.32 0.269 2040 256.2 2.42 0.042 2276 -586.4 -116.8 - - 3220 - - - - - - - - 14.02 14.43 14.33
523 72.0 -8.9 30 528 roll -0.47 - - 2041 - 2.45 0.052 874 -572.2 -116.8 - - 3221 - - - - - - - - 14.80 14.37 14.82
670 83.3 -7.5 51 675 done -0.47 - - 2040 - 2.47 0.054 2285 571.3 -116.8 - - 3222 - - - - - - - - 14.54 14.43 14.57
1027 108.8 -7.0 64 1032 roll -0.47 - - 2037 - 2.45 0.076 3688 572.7 -116.8 - - 3222 - - - - - - - - 14.86 14.40 14.88
1139 117.2 -7.2 80 1144 done -0.47 - - 2037 - 2.38 0.039 2266 -597.5 -116.8 - - 3221 - - - - - - - - 14.62 14.57 14.64
1476 144.1 -8.3 93 1482 roll -0.47 - - 2033 - 2.58 0.078 3694 553.5 -116.8 - - 3222 - - - - - - - - 14.90 14.41 14.92
1558 151.4 -8.7 105 1564 done -0.47 - - 2033 - 2.38 0.041 2295 -587.8 -116.8 - - 3222 - - - - - - - - 14.47 14.45 14.50
1924 182.0 -8.2 115 1929 roll -0.47 - - 2033 - 2.45 0.054 883 -576.3 -116.8 - - 3221 - - - - - - - - 14.88 14.46 14.90
1979 186.5 -7.8 123 1984 done -0.47 - - 2029 - 2.47 0.057 2287 568.4 -116.8 - - 3220 - - - - - - - - 14.56 14.45 14.59
2316 212.4 -7.8 136 2320 roll -0.47 - - 2026 - 2.47 0.078 3690 568.0 -116.8 - - 3219 - - - - - - - - 14.90 14.39 14.92
2420 221.0 -8.1 151 2426 done -0.47 - - 2026 - 2.38 0.041 2285 -590.3 -116.8 - - 3219 - - - - - - - - 14.62 14.55 14.64
2764 247.9 -7.8 158 2768 roll -0.47 - - 2026 - 2.42 0.050 885 -578.5 -116.8 - - 3216 - - - - - - - - 14.91 14.46 14.91
2819 252.3 -7.6 166 2824 done -0.47 - - 2024 - 2.50 0.057 2297 564.8 -116.8 - - 3215 - - - - - - - - 14.53 14.43 14.58
3155 276.6 -7.3 179 3156 done -0.47 - - 2026 - - - 2297 - -116.8 - - 3213 - - - - - - - - 14.92 14.94 14.93
3492 301.3 -7.4 185 3492 done -0.47 - - 2026 - - - 2297 - -116.8 - - 3211 - - - - - - - - 14.92 14.94 14.93
3827 327.9 -8.0 191 3832 roll -0.47 - - 2026 - 2.50 0.054 890 -562.8 -116.8 - - 3209 - - - - - - - - 14.92 14.45 14.93
3861 330.8 -8.3 196 3867 done -0.47 - - 2026 - 2.53 0.059 2289 553.0 -116.8 - - 3209 - - - - - - - - 14.42 14.36 14.47
4220 358.4 -7.7 205 4226 roll -0.47 - - 2025 - 2.53 0.083 3700 557.7 -116.8 - - 3207 - - - - - - - - 14.91 14.35 14.92
4275 362.8 -7.9 213 4281 done -0.47 - - 2025 - 2.38 0.043 2284 -595.0 -116.8 - - 3207 - - - - - - - - 14.59 14.53 14.62
4612 390.6 -8.4 226 4617 roll -0.47 - - 2025 - 2.42 0.053 894 -574.4 -116.8 - - 3206 - - - - - - - - 14.91 14.42 14.92
4680 396.8 -8.6 236 4686 done -0.47 - - 2025 - 2.50 0.057 2304 564.0 -116.8 - - 3205 - - - - - - - - 14.50 14.37 14.54
5004 424.0 -8.5 247 5008 roll -0.47 - - 2025 - 2.47 0.083 3686 559.5 -116.8 - - 3203 - - - - - - - - 14.89 14.32 14.90
5061 428.6 -8.1 255 5065 done -0.52 - - 2025 - 2.35 0.044 2290 -594.0 -116.8 - - 3203 - - - - - - - - 14.59 14.53 14.62
5397 454.7 -7.7 268 5401 roll -0.52 - - 2025 - 2.47 0.055 893 -565.6 -116.8 - - 3201 - - - - - - - - 14.88 14.40 14.90
5472 460.6 -7.5 279 5477 done -0.52 - - 2025 - 2.53 0.058 2284 549.8 -116.8 - - 3201 - - - - - - - - 14.37 14.31 14.42
5789 483.5 -7.3 289 5794 roll -0.52 - - 2025 - 2.53 0.083 3691 556.1 -116.8 - - 3200 - - - - - - - - 14.89 14.30 14.91
5815 485.6 -7.4 293 5821 done -0.52 - - 2025 - 2.40 0.046 2291 -583.3 -116.8 - - 3200 - - - - - - - - 14.45 14.41 14.48
6180 512.3 -7.4 303 6184 roll -0.52 - - 2025 - 2.45 0.057 902 -566.9 -116.8 - - 3199 - - - - - - - - 14.90 14.36 14.91
6250 517.6 -7.4 313 6255 done -0.52 - - 2024 - 2.50 0.060 2296 557.6 -116.8 - - 3198 - - - - - - - - 14.47 14.35 14.50
6572 540.0 -7.0 324 6572 done -0.52 - - 2025 - - - 2296 - -116.8 - - 3197 - - - - - - - - 14.90 14.92 14.91
6908 562.9 -6.8 330 6912 roll -0.52 - - 2020 - 2.53 0.087 3693 552.2 -116.8 - - 3195 - - - - - - - - 14.90 14.26 14.92
6943 565.3 -7.1 335 6947 done -0.52 - - 2020 - 2.38 0.047 2294 -587.8 -116.8 - - 3194 - - - - - - - - 14.54 14.47 14.56
7300 589.8 -6.8 344 7304 roll -0.52 - - 2020 - 2.50 0.059 887 -562.8 -116.8 - - 3194 - - - - - - - - 14.90 14.33 14.92
7391 596.1 -6.7 357 7397 done -0.52 - - 2020 - 2.53 0.062 2288 553.8 -116.8 - - 3193 - - - - - - - - 14.44 14.32 14.49
7749 619.4 -6.6 366 7753 roll -0.52 - - 2015 - 2.55 0.086 3696 552.2 -116.8 - - 3192 - - - - - - - - 14.85 14.25 14.88
7804 623.2 -7.1 374 7809 done -0.56 - - 2015 - 2.42 0.048 2286 -582.6 -116.8 - - 3189 - - - - - - - - 14.51 14.45 14.54
8140 647.8 -7.4 387 8145 roll -0.56 - - 2015 - 2.47 0.056 882 -568.4 -116.8 - - 3191 - - - - - - - - 14.88 14.31 14.88
8217 654.1 -8.3 398 8221 done -0.56 - - 2014 - 2.53 0.062 2286 554.9 -116.8 - - 3191 - - - - - - - - 14.43 14.31 14.47
8532 679.5 -8.1 408 8536 roll -0.56 - - 2013 - 2.55 0.086 3702 555.3 -116.8 - - 3190 - - - - - - - - 14.86 14.20 14.88
8580 683.4 -8.0 415 8587 done -0.61 - - 2013 - 2.45 0.045 2264 -586.9 -116.8 - - 3190 - - - - - - - - 14.49 14.40 14.52
8925 709.0 -7.3 422 8930 roll -0.61 - - 2013 - 2.45 0.059 897 -558.0 -116.8 - - 3188 - - - - - - - - 14.84 14.28 14.87
8986 713.6 -7.1 431 8991 done -0.61 - - 2012 - 2.53 0.060 2293 551.8 -116.8 - - 3188 - - - - - - - - 14.39 14.26 14.43
9316 736.1 -7.0 443 9320 roll -0.61 - - 2012 - 2.58 0.090 3697 544.2 -116.8 - - 3187 - - - - - - - - 14.85 14.17 14.87
9379 740.6 -7.1 452 9384 done -0.66 - - 2013 - 2.42 0.047 2288 -582.2 -116.8 - - 3187 - - - - - - - - 14.47 14.40 14.50
9708 765.1 -7.6 464 9713 roll -0.66 - - 2012 - 2.47 0.056 895 -564.0 -116.8 - - 3186 - - - - - - - - 14.88 14.21 14.89
9750 768.5 -8.2 470 9754 done -0.66 - - 2012 - 2.53 0.060 2295 553.4 -116.8 - - 3186 - - - - - - - - 14.40 14.27 14.45
10100 795.8 -7.9 478 10104 roll -0.66 - - 2012 - 2.58 0.090 3689 540.3 -116.8 - - 3185 - - - - - - - - 14.85 14.12 14.86
10141 799.1 -6.8 484 10147 done -0.71 0.12 0.142 1962 -416.7 2.45 0.050 2283 -573.9 -116.8 - - 3183 - - - - - - - - 14.28 14.39 14.40
10493 833.4 -9.8 492 10497 roll -0.71 - - 1962 - 2.50 0.057 882 -560.4 -116.8 - - 3183 - - - - - - - - 14.83 14.23 14.85
10589 843.1 -9.6 506 10595 done -0.71 - - 1960 - 2.60 0.063 2281 538.1 -116.8 - - 3183 - - - - - - - - 14.21 14.14 14.27
10940 875.7 -9.2 514 10944 roll -0.71 - - 1952 - 2.60 0.086 3702 546.5 -116.8 - - 3182 - - - - - - - - 14.83 14.15 14.85
10997 880.9 -9.4 522 11001 done -0.71 - - 1952 - 2.47 0.047 2276 -577.3 -116.8 - - 3182 - - - - - - - - 14.43 14.35 14.46
11332 912.2 -9.3 535 11337 roll -0.66 0.12 0.270 1983 258.3 2.50 0.059 889 -554.8 -116.8 - - 3181 - - - - - - - - 13.97 14.18 14.09
11380 916.4 -6.9 542 11387 done -0.66 - - 1983 - 2.58 0.063 2284 540.7 -116.8 - - 3181 - - - - - - - - 14.31 14.18 14.36
11725 944.1 -8.1 549 11725 done -0.66 - - 1983 - - - 2284 - -116.8 - - 3181 - - - - - - - - 14.86 14.88 14.87
12060 971.9 -8.1 555 12061 done -0.66 - - 1983 - - - 2284 - -116.8 - - 3180 - - - - - - - - 14.85 14.87 14.87
12280 end dive: TARGET_DEPTH_EXCEEDED
12280 begin apogee
12288 990.3 -8.2 559 12482 roll -0.19 0.55 0.216 2135 276.4 - - 2179 - - 191.77 1.662 2745 -2.3 0.260 - - - - - - 13.75 13.91 13.07
12484 end apogee: CONTROL_FINISHED_OK
12484 begin climb
12489 995.9 - 562 12650 roll 0.68 0.93 0.146 2409 294.6 2.50 0.058 817 -544.8 116.8 150.57 1.912 2263 -3.2 0.320 - - - - - - 13.88 13.97 12.77
12776 978.0 8.2 608 12781 done 0.68 - - 2409 - 2.55 0.061 2207 545.1 116.8 - - 2237 - - - - - - - - 14.28 14.19 14.32
13126 946.5 9.1 616 13131 roll 0.68 - - 2419 - 2.55 0.071 816 -545.5 116.8 - - 2233 - - - - - - - - 14.73 14.33 14.76
13273 933.2 8.7 637 13279 done 0.68 - - 2419 - 2.50 0.063 2202 554.4 116.8 - - 2232 - - - - - - - - 14.50 14.38 14.54
13631 899.8 9.5 646 13636 roll 0.63 - - 2419 - 2.58 0.089 3614 547.3 116.8 - - 2230 - - - - - - - - 14.79 14.33 14.81
13678 894.6 10.7 653 13687 done 0.55 0.15 0.254 2387 -213.3 2.50 0.057 2218 -558.4 116.8 - - 2229 - - - - - - - - 14.00 14.35 14.19
14023 868.2 7.5 660 14028 roll 0.55 - - 2398 - 2.60 0.073 791 -548.8 116.8 - - 2229 - - - - - - - - 14.83 14.32 14.85
14084 863.5 7.7 669 14091 done 0.55 - - 2398 - 2.55 0.061 2202 553.3 116.8 - - 2228 - - - - - - - - 14.47 14.35 14.52
14414 838.8 7.5 681 14420 roll 0.55 - - 2398 - 2.58 0.088 3609 545.3 116.8 - - 2228 - - - - - - - - 14.82 14.28 14.83
14463 834.7 8.7 688 14470 done 0.50 0.17 0.267 2367 -182.4 2.50 0.057 2194 -566.0 116.8 - - 2227 - - - - - - - - 14.00 14.38 14.33
14806 812.4 6.5 695 14832 roll 0.51 - - 2378 - 2.55 0.073 792 -549.8 137.3 19.10 1.828 2174 -2.8 0.237 - - - - - - 14.82 14.42 13.42
14889 806.4 7.1 707 14895 done 0.51 - - 2377 - 2.53 0.060 2195 554.5 143.6 1.70 0.192 2153 -12.4 9.966 - - - - - - 14.49 14.38 14.24
15255 779.5 7.4 717 15261 roll 0.51 - - 2378 - 2.58 0.086 3613 549.6 143.6 - - 2156 - - - - - - - - 14.78 14.29 14.81
15316 774.2 8.5 726 15322 done 0.51 - - 2387 - 2.50 0.055 2189 -569.6 143.6 - - 2156 - - - - - - - - 14.50 14.40 14.53
15647 748.1 8.0 738 15652 roll 0.51 - - 2398 - 2.53 0.070 791 -552.6 143.6 - - 2157 - - - - - - - - 14.79 14.31 14.81
15750 740.4 7.3 753 15759 done 0.52 0.12 0.249 2371 -225.0 2.55 0.060 2198 551.8 145.2 1.67 0.191 2146 -6.6 4.905 - - - - - - 14.07 14.31 14.14
16095 719.9 5.7 760 16164 roll 0.54 - - 2371 - 2.58 0.086 3608 546.5 183.3 62.58 1.646 1983 -2.6 0.219 - - - - - - 14.81 14.00 13.38
16231 711.8 6.8 779 16240 done 0.55 - - 2380 - 2.50 0.054 2190 -567.2 195.2 4.55 1.362 1942 -9.0 0.905 - - - - - - 14.35 14.26 13.02
16598 688.1 6.5 790 16645 roll 0.56 - - 2390 - 2.60 0.070 784 -540.8 215.0 39.45 1.564 1856 -2.2 0.184 - - - - - - 14.73 14.23 13.43
16728 679.3 7.2 808 16733 done 0.61 - - 2390 - 2.55 0.059 2192 552.2 217.5 - - 1845 - - - - - - - - 14.38 14.28 14.41
17049 653.6 8.1 819 17054 roll 0.61 - - 2389 - 2.58 0.083 3613 550.8 217.5 - - 1847 - - - - - - - - 14.73 14.27 14.74
17119 647.1 9.6 829 17125 done 0.61 - - 2398 - 2.50 0.055 2187 -570.4 217.5 - - 1843 - - - - - - - - 14.47 14.37 14.50
17441 617.9 9.1 840 17446 roll 0.61 - - 2408 - 2.55 0.071 776 -553.3 217.5 - - 1842 - - - - - - - - 14.78 14.30 14.80
17524 610.2 9.1 852 17529 done 0.61 - - 2408 - 2.55 0.057 2201 558.8 217.5 - - 1841 - - - - - - - - 14.45 14.34 14.50
17890 573.9 10.1 862 17895 roll 0.61 - - 2408 - 2.58 0.085 3615 548.1 217.5 - - 1843 - - - - - - - - 14.82 14.26 14.83
17951 566.8 11.4 871 17956 done 0.61 - - 2418 - 2.53 0.055 2173 -570.0 217.5 - - 1841 - - - - - - - - 14.45 14.33 14.50
18281 530.6 11.0 883 18286 roll 0.61 - - 2427 - 2.50 0.071 793 -552.0 217.5 - - 1841 - - - - - - - - 14.81 14.28 14.83
18351 523.3 10.3 893 18357 done 0.61 - - 2426 - 2.50 0.058 2189 558.4 217.5 - - 1842 - - - - - - - - 14.45 14.34 14.51
18673 488.9 10.6 904 18678 roll 0.61 - - 2426 - 2.60 0.085 3617 549.2 217.5 - - 1841 - - - - - - - - 14.83 14.23 14.85
18764 478.8 10.8 917 18770 done 0.61 0.15 0.252 2401 -166.7 2.53 0.057 2182 -567.2 217.5 - - 1841 - - - - - - - - 14.02 14.34 14.31
19121 449.5 8.1 926 19126 roll 0.61 - - 2410 - 2.53 0.071 791 -549.8 217.5 - - 1841 - - - - - - - - 14.82 14.25 14.83
19190 443.8 8.1 936 19196 done 0.67 - - 2409 - 2.53 0.058 2197 555.7 217.5 - - 1840 - - - - - - - - 14.42 14.32 14.48
19514 415.9 8.8 947 19519 roll 0.67 - - 2409 - 2.58 0.085 3609 547.3 217.5 - - 1843 - - - - - - - - 14.80 14.22 14.82
19582 409.1 9.6 957 19588 done 0.67 - - 2419 - 2.47 0.051 2191 -574.1 217.5 - - 1840 - - - - - - - - 14.41 14.30 14.47
19905 380.0 9.1 968 19910 roll 0.67 - - 2428 - 2.55 0.068 792 -548.6 217.5 - - 1840 - - - - - - - - 14.83 14.23 14.85
19975 373.8 8.8 978 19980 done 0.67 - - 2428 - 2.53 0.057 2197 555.3 217.5 - - 1840 - - - - - - - - 14.40 14.28 14.45
20297 342.7 9.8 989 20302 roll 0.67 - - 2428 - 2.58 0.084 3609 547.3 217.5 - - 1840 - - - - - - - - 14.81 14.19 14.83
20381 333.8 10.3 1001 20387 done 0.67 - - 2438 - 2.47 0.052 2190 -574.5 217.5 - - 1840 - - - - - - - - 14.45 14.34 14.49
20745 296.8 10.2 1011 20750 roll 0.67 - - 2447 - 2.55 0.067 783 -551.8 217.5 - - 1840 - - - - - - - - 14.81 14.23 14.83
20821 289.0 10.1 1022 20827 done 0.67 0.12 0.250 2419 -233.3 2.55 0.057 2200 555.7 217.5 - - 1840 - - - - - - - - 13.97 14.26 14.25
21138 260.5 9.0 1032 21143 roll 0.67 - - 2419 - 2.58 0.084 3618 549.6 217.5 - - 1840 - - - - - - - - 14.83 14.19 14.85
21227 251.7 9.5 1045 21233 done 0.67 - - 2429 - 2.50 0.053 2193 -570.0 217.5 - - 1840 - - - - - - - - 14.39 14.26 14.44
21585 218.5 9.4 1054 21590 roll 0.67 - - 2438 - 2.55 0.067 788 -551.0 217.5 - - 1841 - - - - - - - - 14.80 14.22 14.83
21662 211.3 9.2 1065 21667 done 0.67 - - 2438 - 2.53 0.057 2196 556.5 217.5 - - 1840 - - - - - - - - 14.33 14.21 14.39
21977 181.0 9.6 1075 21982 roll 0.67 - - 2440 - 2.58 0.082 3609 547.7 217.5 - - 1839 - - - - - - - - 14.81 14.16 14.83
22025 176.0 10.4 1082 22032 done 0.67 0.12 0.259 2418 -183.3 2.53 0.050 2170 -568.8 217.5 - - 1840 - - - - - - - - 13.93 14.24 14.22
22370 147.9 8.0 1089 22376 roll 0.67 - - 2428 - 2.50 0.065 795 -550.0 217.5 - - 1840 - - - - - - - - 14.80 14.23 14.82
22410 144.5 8.2 1095 22416 done 0.67 - - 2428 - 2.55 0.055 2198 550.2 217.5 - - 1840 - - - - - - - - 14.28 14.22 14.35
22761 113.0 9.2 1103 22766 roll 0.67 - - 2428 - 2.55 0.081 3609 553.3 217.5 - - 1841 - - - - - - - - 14.83 14.09 14.85
22824 106.8 9.8 1112 22829 done 0.67 - - 2436 - 2.47 0.050 2191 -574.1 217.5 - - 1840 - - - - - - - - 14.41 14.31 14.45
23153 79.2 8.6 1128 23158 roll 0.67 - - 2438 - 2.55 0.067 791 -549.0 217.5 - - 1840 - - - - - - - - 14.79 14.20 14.81
23238 72.4 7.8 1140 23242 done 0.72 - - 2437 - 2.55 0.054 2211 556.9 217.5 - - 1841 - - - - - - - - 14.38 14.26 14.42
23574 49.7 6.0 1155 23600 roll 0.79 - - 2438 - 2.55 0.078 3606 547.1 248.3 18.02 0.269 1727 -6.3 0.225 - - - - - - 14.78 14.26 13.97
23650 44.7 6.5 1166 23670 done 0.86 0.12 0.142 2485 391.7 2.42 0.047 2201 -580.6 268.7 14.90 0.262 1643 -5.6 0.185 - - - - - - 14.28 14.36 14.01
23998 27.0 3.6 1182 24062 roll 1.00 0.12 0.137 2537 433.3 2.58 0.076 3611 546.5 358.0 57.60 0.212 1279 -6.3 0.155 - - - - - - 14.40 14.35 14.13
24095 22.0 6.2 1193 24118 done 1.06 - - 2545 - 2.42 0.049 2206 -580.6 385.1 18.62 0.198 1167 -6.0 0.128 - - - - - - 14.47 14.38 14.09
24326 end climb: SURFACE_DEPTH_REACHED
24326 begin surface coast
24357 end surface coast: CONTROL_FINISHED_OK
24357 begin surface
SM 0.71 - - - - -6.15 6.88 0.079 219 31.8 0.17 0.110 2307 -41617.6 500.17 71.47 0.138 700 9.8 -0.005 - - - - - -