SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 418 * Raw log
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• Previous call tries 1 • 165.24 of 350.00 AH used of 24V (52.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.8 deg, depth 0.82 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 16 s • Transponder ping count: 10
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 VBD -0.68 - - 199 - - - 2224 - -116.8 -84.72 - 2804 - - - - - - - - 14.68 - 14.69
110 3.8 -5.2 3 134 roll -0.68 9.07 0.405 1963 194.5 2.80 2.039 3677 518.9 -116.8 -7.93 - 3217 -52.1 - - - - - - - 13.88 13.14 14.33
169 24.0 -29.5 12 174 done -0.44 0.35 0.255 2050 248.6 2.28 0.042 2300 -603.9 -116.8 - - 3219 - - - - - - - - 14.05 14.38 14.35
498 63.0 -8.2 26 503 roll -0.44 - - 2050 - 2.40 0.051 879 -592.1 -116.8 - - 3220 - - - - - - - - 14.81 14.35 14.83
652 74.3 -7.9 48 657 done -0.44 - - 2044 - 2.40 0.054 2262 576.2 -116.8 - - 3221 - - - - - - - - 14.52 14.42 14.55
975 97.5 -7.3 61 980 roll -0.44 - - 2042 - 2.45 0.075 3691 583.3 -116.8 - - 3221 - - - - - - - - 14.84 14.38 14.86
1036 102.4 -8.0 70 1042 done -0.44 - - 2042 - 2.35 0.039 2267 -606.0 -116.8 - - 3221 - - - - - - - - 14.52 14.48 14.59
1368 129.0 -7.9 82 1373 roll -0.44 - - 2042 - 2.30 0.050 894 -597.0 -116.8 - - 3221 - - - - - - - - 14.85 14.47 14.87
1414 132.9 -8.0 89 1422 done -0.44 - - 2042 - 2.42 0.054 2274 570.2 -116.8 - - 3221 - - - - - - - - 14.45 14.39 14.49
1759 157.8 -7.3 96 1763 roll -0.44 - - 2038 - 2.45 0.080 3691 578.4 -116.8 - - 3220 - - - - - - - - 14.88 14.38 14.90
1835 163.5 -7.3 107 1840 done -0.49 - - 2038 - 2.33 0.041 2265 -612.0 -116.8 - - 3220 - - - - - - - - 14.62 14.56 14.64
2150 187.4 -7.6 117 2156 roll -0.49 - - 2039 - 2.33 0.052 886 -591.8 -116.8 - - 3219 - - - - - - - - 14.91 14.45 14.92
2233 194.0 -7.8 129 2240 done -0.49 - - 2037 - 2.45 0.057 2266 563.3 -116.8 - - 3218 - - - - - - - - 14.38 14.32 14.51
2599 222.4 -7.9 139 2604 roll -0.49 - - 2034 - 2.47 0.081 3694 578.1 -116.8 - - 3216 - - - - - - - - 14.88 14.39 14.90
2647 226.2 -7.9 146 2653 done -0.53 - - 2034 - 2.38 0.043 2261 -602.1 -116.8 - - 3216 - - - - - - - - 14.58 14.48 14.61
2990 252.9 -7.7 153 2996 roll -0.53 - - 2034 - 2.33 0.054 899 -584.5 -116.8 - - 3213 - - - - - - - - 14.91 14.43 14.93
3032 256.1 -7.9 159 3037 done -0.53 - - 2030 - 2.42 0.058 2284 572.3 -116.8 - - 3213 - - - - - - - - 14.56 14.42 14.57
3383 281.7 -7.3 167 3387 roll -0.53 - - 2026 - 2.45 0.081 3693 575.1 -116.8 - - 3211 - - - - - - - - 14.89 14.35 14.90
3451 287.0 -7.6 177 3458 done -0.53 - - 2026 - 2.38 0.044 2273 -596.6 -116.8 - - 3210 - - - - - - - - 14.51 14.48 14.54
3775 311.7 -7.7 188 3780 roll -0.53 - - 2026 - 2.35 0.052 896 -586.0 -116.8 - - 3209 - - - - - - - - 14.86 14.43 14.88
3830 316.1 -7.6 196 3835 done -0.53 - - 2026 - 2.42 0.058 2283 573.1 -116.8 - - 3208 - - - - - - - - 14.54 14.42 14.57
4166 341.3 -7.5 209 4172 roll -0.53 - - 2024 - 2.47 0.083 3701 574.1 -116.8 - - 3207 - - - - - - - - 14.89 14.33 14.90
4223 345.4 -7.4 217 4229 done -0.53 - - 2024 - 2.35 0.042 2277 -606.0 -116.8 - - 3206 - - - - - - - - 14.52 14.48 14.54
4559 370.5 -7.5 230 4563 roll -0.53 - - 2024 - 2.38 0.055 888 -583.6 -116.8 - - 3205 - - - - - - - - 14.88 14.40 14.90
4614 374.9 -7.8 238 4619 done -0.53 - - 2024 - 2.47 0.060 2283 564.8 -116.8 - - 3204 - - - - - - - - 14.49 14.38 14.53
4951 400.7 -7.8 251 4956 roll -0.53 - - 2020 - 2.47 0.083 3701 574.1 -116.8 - - 3203 - - - - - - - - 14.90 14.32 14.94
4991 404.1 -8.1 257 4998 done -0.53 - - 2020 - 2.40 0.044 2248 -605.4 -116.8 - - 3202 - - - - - - - - 14.54 14.46 14.57
5342 431.9 -8.0 265 5348 roll -0.53 - - 2020 - 2.33 0.054 897 -579.8 -116.8 - - 3201 - - - - - - - - 14.91 14.39 14.92
5411 437.5 -7.9 275 5417 done -0.53 - - 2016 - 2.45 0.058 2286 566.9 -116.8 - - 3203 - - - - - - - - 14.45 14.35 14.51
5734 461.7 -7.4 286 5735 done -0.53 - - 2015 - - - 2286 - -116.8 - - 3199 - - - - - - - - 14.90 14.92 14.92
6070 485.4 -6.9 292 6071 done -0.53 - - 2016 - - - 2286 - -116.8 - - 3197 - - - - - - - - 14.90 14.92 14.92
6407 510.3 -7.5 298 6408 done -0.53 - - 2016 - - - 2291 - -116.8 - - 3196 - - - - - - - - 14.90 14.91 14.91
6743 536.9 -8.0 304 6743 done -0.53 - - 2016 - - - 2286 - -116.8 - - 3195 - - - - - - - - 14.90 14.92 14.92
7078 563.2 -7.7 310 7083 roll -0.53 - - 2016 - 2.42 0.054 894 -575.2 -116.8 - - 3194 - - - - - - - - 14.88 14.35 14.90
7112 565.9 -7.8 315 7118 done -0.53 - - 2015 - 2.50 0.060 2281 554.8 -116.8 - - 3194 - - - - - - - - 14.32 14.26 14.37
7471 591.0 -6.9 324 7472 done -0.53 - - 2015 - - - 2281 - -116.8 - - 3193 - - - - - - - - 14.87 14.89 14.88
7806 614.0 -6.8 330 7807 done -0.53 - - 2012 - - - 2281 - -116.8 - - 3191 - - - - - - - - 14.90 14.92 14.92
8143 638.4 -7.4 336 8147 roll -0.53 - - 2012 - 2.50 0.087 3689 563.2 -116.8 - - 3190 - - - - - - - - 14.90 14.21 14.91
8163 640.0 -7.5 339 8168 done -0.53 - - 2012 - 2.38 0.048 2282 -591.2 -116.8 - - 3190 - - - - - - - - 14.40 14.34 14.43
8478 665.3 -8.1 349 8484 roll -0.53 - - 2012 - 2.42 0.058 881 -578.9 -116.8 - - 3191 - - - - - - - - 14.89 14.29 14.91
8561 672.3 -8.2 361 8568 done -0.53 - - 2012 - 2.50 0.063 2276 558.0 -116.8 - - 3189 - - - - - - - - 14.29 14.15 14.34
8927 700.8 -7.8 371 8932 roll -0.53 - - 2012 - 2.55 0.091 3700 558.4 -116.8 - - 3187 - - - - - - - - 14.85 14.19 14.87
8982 705.1 -7.6 379 8987 done -0.58 - - 2012 - 2.42 0.049 2267 -592.1 -116.8 - - 3187 - - - - - - - - 14.48 14.40 14.50
9319 729.7 -7.4 392 9323 roll -0.58 - - 2012 - 2.40 0.060 891 -573.3 -116.8 - - 3186 - - - - - - - - 14.88 14.26 14.90
9395 735.4 -7.3 403 9400 done -0.58 - - 2012 - 2.47 0.063 2275 560.3 -116.8 - - 3186 - - - - - - - - 14.38 14.24 14.42
9710 756.7 -6.8 413 9716 roll -0.58 - - 2012 - 2.55 0.092 3691 555.3 -116.8 - - 3185 - - - - - - - - 14.90 14.14 14.90
9752 759.6 -6.8 419 9757 done -0.63 - - 2012 - 2.42 0.050 2265 -589.3 -116.8 - - 3185 - - - - - - - - 14.45 14.37 14.47
10104 783.2 -6.8 427 10108 roll -0.63 - - 2012 - 2.42 0.060 879 -572.7 -116.8 - - 3185 - - - - - - - - 14.83 14.22 14.85
10165 787.7 -7.3 436 10170 done -0.63 - - 2012 - 2.50 0.063 2271 556.8 -116.8 - - 3184 - - - - - - - - 14.35 14.22 14.40
10494 810.1 -6.8 448 10499 roll -0.63 - - 2012 - 2.58 0.093 3690 550.0 -116.8 - - 3185 - - - - - - - - 14.84 14.09 14.85
10552 813.9 -6.7 456 10557 done -0.68 - - 2012 - 2.45 0.051 2265 -581.6 -116.8 - - 3183 - - - - - - - - 14.41 14.33 14.44
10886 836.0 -6.6 469 10892 roll -0.68 - - 2012 - 2.42 0.061 885 -570.2 -116.8 - - 3182 - - - - - - - - 14.84 14.19 14.85
10957 840.9 -6.9 479 10961 done -0.68 - - 2012 - 2.50 0.064 2272 554.8 -116.8 - - 3182 - - - - - - - - 14.28 14.15 14.33
11278 862.2 -6.7 490 11283 roll -0.68 - - 2012 - 2.58 0.094 3690 549.6 -116.8 - - 3181 - - - - - - - - 14.83 14.09 14.85
11341 866.5 -6.8 499 11346 done -0.74 0.17 0.118 1949 -370.6 2.45 0.052 2262 -582.9 -116.8 - - 3181 - - - - - - - - 14.26 14.34 14.37
11672 898.5 -10.0 511 11677 roll -0.69 - - 1949 - 2.42 0.060 885 -569.0 -116.8 - - 3180 - - - - - - - - 14.82 14.16 14.83
11747 906.0 -9.9 522 11752 done -0.65 0.17 0.278 1983 200.0 2.50 0.067 2268 553.2 -116.8 - - 3180 - - - - - - - - 13.73 14.16 14.05
12063 930.5 -7.6 532 12068 roll -0.65 - - 1974 - 2.60 0.092 3692 547.7 -116.8 - - 3180 - - - - - - - - 14.82 14.05 14.84
12103 933.8 -8.2 538 12109 done -0.65 - - 1974 - 2.45 0.052 2263 -583.3 -116.8 - - 3179 - - - - - - - - 14.38 14.27 14.41
12454 962.7 -8.2 546 12459 roll -0.65 - - 1977 - 2.45 0.060 878 -565.3 -116.8 - - 3179 - - - - - - - - 14.84 14.16 14.86
12524 968.6 -8.6 556 12529 done -0.65 - - 1972 - 2.53 0.067 2269 549.8 -116.8 - - 3179 - - - - - - - - 14.28 14.14 14.32
12787 end dive: TARGET_DEPTH_EXCEEDED
12787 begin apogee
12795 991.0 -8.5 566 12989 roll -0.19 0.60 0.221 2130 263.3 - - 2181 - - 192.18 1.624 2741 -2.3 0.267 - - - - - - 13.74 13.90 13.07
12991 end apogee: CONTROL_FINISHED_OK
12991 begin climb
12995 996.5 - 569 13157 roll 0.68 0.95 0.145 2416 301.1 2.50 0.060 805 -550.4 116.8 150.95 1.880 2264 -3.2 0.321 - - - - - - 13.88 13.96 12.78
13282 979.2 7.9 615 13288 done 0.68 - - 2416 - 2.53 0.064 2199 551.0 116.8 - - 2239 - - - - - - - - 14.28 14.17 14.31
13633 949.4 8.5 623 13638 roll 0.68 - - 2425 - 2.53 0.072 808 -549.8 116.8 - - 2234 - - - - - - - - 14.73 14.33 14.75
13751 939.4 8.0 640 13757 done 0.68 - - 2425 - 2.50 0.064 2207 559.6 116.8 - - 2233 - - - - - - - - 14.48 14.37 14.52
14083 910.5 8.9 652 14087 roll 0.62 - - 2426 - 2.50 0.091 3609 560.8 116.8 - - 2232 - - - - - - - - 14.78 14.31 14.79
14164 902.1 10.0 664 14170 done 0.54 0.25 0.265 2375 -204.0 2.40 0.058 2213 -581.7 116.8 - - 2230 - - - - - - - - 14.03 14.40 14.37
14529 877.6 6.6 674 14554 roll 0.55 - - 2386 - 2.58 0.074 798 -548.4 135.3 17.35 1.864 2180 -2.9 0.260 - - - - - - 14.81 14.46 13.43
14627 871.4 4.8 688 14716 done 0.59 - - 2386 - 2.50 0.061 2206 563.2 194.8 80.47 1.740 1939 -3.0 0.288 - - - - - - 14.49 14.38 13.18
15036 838.3 8.2 711 15041 roll 0.59 - - 2387 - 2.53 0.090 3611 555.3 194.8 - - 1919 - - - - - - - - 14.67 14.27 14.69
15076 834.4 9.6 717 15081 done 0.59 - - 2395 - 2.45 0.057 2193 -578.8 194.8 - - 1918 - - - - - - - - 14.45 14.38 14.50
15426 803.4 8.9 725 15431 roll 0.59 - - 2406 - 2.50 0.074 800 -557.2 194.8 - - 1916 - - - - - - - - 14.77 14.32 14.79
15516 795.3 8.7 738 15523 done 0.59 - - 2406 - 2.50 0.060 2207 562.8 194.8 - - 1913 - - - - - - - - 14.47 14.36 14.53
15875 762.5 9.1 747 15880 roll 0.59 - - 2406 - 2.50 0.089 3609 560.8 194.8 - - 1915 - - - - - - - - 14.81 14.30 14.83
15936 756.1 10.2 756 15942 done 0.59 - - 2416 - 2.42 0.056 2207 -579.3 194.8 - - 1915 - - - - - - - - 14.47 14.38 14.52
16268 723.8 9.9 768 16272 roll 0.59 - - 2426 - 2.55 0.074 786 -557.3 194.8 - - 1914 - - - - - - - - 14.82 14.30 14.84
16349 716.1 9.1 780 16355 done 0.59 0.15 0.243 2392 -226.7 2.53 0.061 2199 558.5 194.8 - - 1913 - - - - - - - - 14.04 14.31 14.34
16714 687.6 7.7 790 16720 roll 0.59 - - 2392 - 2.53 0.090 3611 558.1 194.8 - - 1913 - - - - - - - - 14.83 14.24 14.85
16776 682.2 8.6 799 16782 done 0.59 - - 2399 - 2.45 0.057 2189 -580.4 194.8 - - 1913 - - - - - - - - 14.46 14.36 14.51
17107 654.8 8.4 811 17111 roll 0.59 - - 2409 - 2.50 0.072 791 -559.2 194.8 - - 1914 - - - - - - - - 14.81 14.27 14.83
17182 648.4 8.2 822 17188 done 0.59 - - 2409 - 2.50 0.060 2197 562.4 194.8 - - 1913 - - - - - - - - 14.43 14.31 14.49
17499 619.7 9.2 832 17504 roll 0.59 - - 2409 - 2.58 0.088 3618 550.8 194.8 - - 1912 - - - - - - - - 14.81 14.22 14.83
17560 613.3 10.2 841 17566 done 0.59 0.08 0.224 2396 -162.5 2.53 0.057 2192 -563.6 194.8 - - 1913 - - - - - - - - 13.95 14.25 14.11
17890 584.8 8.7 853 17895 roll 0.59 - - 2405 - 2.53 0.071 781 -557.7 194.8 - - 1913 - - - - - - - - 14.81 14.23 14.83
17967 578.2 8.6 864 17972 done 0.59 - - 2402 - 2.53 0.059 2196 559.3 194.8 - - 1913 - - - - - - - - 14.40 14.29 14.45
18282 549.2 9.2 874 18288 roll 0.59 - - 2405 - 2.55 0.086 3617 557.3 194.8 - - 1913 - - - - - - - - 14.83 14.19 14.85
18351 542.2 10.0 884 18357 done 0.59 - - 2415 - 2.47 0.055 2189 -578.1 194.8 - - 1913 - - - - - - - - 14.41 14.30 14.45
18675 511.7 9.5 895 18679 roll 0.59 - - 2424 - 2.50 0.068 784 -562.0 194.8 - - 1913 - - - - - - - - 14.83 14.23 14.85
18737 505.8 9.3 904 18742 done 0.59 0.15 0.236 2389 -233.3 2.53 0.058 2201 560.1 194.8 - - 1913 - - - - - - - - 13.96 14.26 14.25
19067 479.8 7.8 916 19072 roll 0.59 - - 2389 - 2.53 0.086 3611 557.3 194.8 - - 1912 - - - - - - - - 14.80 14.17 14.81
19122 475.1 8.6 924 19127 done 0.59 - - 2393 - 2.45 0.056 2193 -578.8 194.8 - - 1912 - - - - - - - - 14.40 14.29 14.45
19458 449.4 7.6 937 19463 roll 0.59 - - 2402 - 2.50 0.070 792 -560.4 194.8 - - 1913 - - - - - - - - 14.83 14.19 14.84
19535 443.5 7.7 948 19540 done 0.64 - - 2402 - 2.50 0.058 2201 563.6 194.8 - - 1912 - - - - - - - - 14.37 14.24 14.42
19851 417.0 8.6 958 19856 roll 0.64 - - 2402 - 2.53 0.085 3603 554.2 194.8 - - 1912 - - - - - - - - 14.79 14.14 14.81
19919 410.1 9.8 968 19925 done 0.64 - - 2407 - 2.45 0.054 2188 -577.6 194.8 - - 1912 - - - - - - - - 14.38 14.26 14.43
20243 382.5 8.5 979 20248 roll 0.64 - - 2412 - 2.50 0.069 789 -559.6 194.8 - - 1914 - - - - - - - - 14.79 14.20 14.81
20318 376.6 7.4 990 20325 done 0.69 - - 2412 - 2.53 0.058 2207 560.5 194.8 - - 1913 - - - - - - - - 14.35 14.22 14.40
20635 353.4 7.3 1000 20640 roll 0.69 - - 2412 - 2.53 0.086 3610 554.5 195.2 - - 1912 - - - - - - - - 14.80 14.14 14.81
20696 348.1 8.3 1009 20702 done 0.69 - - 2420 - 2.47 0.054 2170 -583.0 195.2 - - 1912 - - - - - - - - 14.37 14.25 14.42
21027 320.9 8.4 1021 21031 roll 0.69 - - 2424 - 2.47 0.070 790 -558.7 195.2 - - 1912 - - - - - - - - 14.79 14.19 14.79
21083 316.2 8.2 1029 21088 done 0.69 - - 2424 - 2.53 0.057 2204 558.9 195.2 - - 1912 - - - - - - - - 14.35 14.23 14.40
21418 288.5 8.1 1042 21424 roll 0.69 - - 2424 - 2.53 0.085 3611 556.1 195.2 - - 1912 - - - - - - - - 14.83 14.14 14.84
21487 282.3 8.9 1052 21494 done 0.69 - - 2432 - 2.45 0.052 2190 -580.0 195.2 - - 1912 - - - - - - - - 14.35 14.23 14.40
21811 253.7 9.1 1063 21816 roll 0.69 - - 2440 - 2.50 0.067 789 -560.4 195.2 - - 1912 - - - - - - - - 14.78 14.20 14.81
21858 249.1 9.4 1070 21866 done 0.69 - - 2444 - 2.55 0.057 2196 551.8 195.2 - - 1915 - - - - - - - - 14.21 14.14 14.26
22202 213.5 10.5 1077 22207 roll 0.69 - - 2440 - 2.53 0.083 3612 559.7 195.2 - - 1912 - - - - - - - - 14.83 14.13 14.84
22307 201.8 10.9 1092 22314 done 0.69 - - 2450 - 2.45 0.052 2195 -578.4 195.2 - - 1912 - - - - - - - - 14.37 14.26 14.39
22650 167.7 9.8 1099 22655 roll 0.69 - - 2458 - 2.50 0.067 794 -560.4 195.2 - - 1913 - - - - - - - - 14.79 14.18 14.81
22719 161.0 9.5 1109 22725 done 0.69 0.15 0.246 2424 -226.7 2.53 0.057 2214 561.3 195.2 - - 1912 - - - - - - - - 13.88 14.21 14.19
23043 132.1 9.0 1120 23048 roll 0.69 - - 2424 - 2.50 0.080 3615 560.4 195.2 - - 1912 - - - - - - - - 14.82 14.14 14.83
23104 126.0 9.7 1129 23110 done 0.69 - - 2432 - 2.45 0.050 2211 -573.1 195.2 - - 1916 - - - - - - - - 14.35 14.20 14.42
23436 96.5 8.9 1141 23441 roll 0.69 - - 2438 - 2.53 0.065 790 -561.7 195.2 - - 1912 - - - - - - - - 14.78 14.17 14.81
23503 90.8 8.3 1151 23509 done 0.69 - - 2438 - 2.53 0.055 2217 564.0 195.2 - - 1913 - - - - - - - - 14.31 14.16 14.38
23827 65.8 7.3 1164 23831 roll 0.69 - - 2439 - 2.55 0.062 782 -562.7 196.5 - - 1912 - - - - - - - - 14.78 14.21 14.80
23876 62.2 7.3 1171 23882 done 0.74 - - 2439 - 2.50 0.054 2195 565.2 196.8 - - 1912 - - - - - - - - 14.35 14.25 14.41
24191 45.1 4.2 1183 24239 roll 0.85 0.10 0.158 2479 400.0 2.55 0.079 3614 556.5 271.3 43.95 0.264 1632 -6.4 0.209 - - - - - - 14.39 14.37 14.02
24320 36.0 8.0 1201 24326 done 0.85 - - 2487 - 2.42 0.049 2192 -587.6 271.3 - - 1643 - - - - - - - - 14.42 14.33 14.45
24632 22.8 3.9 1213 24693 roll 1.02 0.12 0.135 2553 550.0 2.58 0.075 3609 549.2 353.2 51.92 0.197 1300 -6.6 0.147 - - - - - - 14.40 14.35 14.14
24709 18.2 6.4 1221 24728 done 1.08 - - 2560 - 2.38 0.047 2206 -589.5 375.2 14.55 0.189 1209 -6.3 0.116 - - - - - - 14.46 14.38 14.10
24908 end climb: SURFACE_DEPTH_REACHED
24908 begin surface coast
24936 end surface coast: CONTROL_FINISHED_OK
24936 begin surface
SM 0.70 - - - - -6.13 6.85 0.073 215 31.4 0.17 0.101 2320 -41541.2 500.41 76.68 0.137 700 9.1 -0.005 - - - - - -