SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 427 * Raw log
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• Previous call tries 1 • 168.65 of 350.00 AH used of 24V (51.82% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.8 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: 41 s
• GPS2 time: 16 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
20 - - - 105 VBD -0.68 - - 199 - - - 2314 - -116.8 -84.45 - 2766 - - - - - - - - 14.66 - 14.69
109 3.1 -3.9 3 133 roll -0.68 9.15 0.410 1962 192.7 2.67 2.043 3672 508.6 -116.8 -9.00 - 3219 -50.3 - - - - - - - 13.89 13.14 14.33
175 23.9 -26.4 13 181 done -0.47 0.32 0.256 2045 259.4 2.38 0.044 2263 -592.0 -116.8 - - 3220 - - - - - - - - 14.06 14.42 14.34
497 62.8 -8.5 26 502 roll -0.47 - - 2047 - 2.38 0.050 872 -584.5 -116.8 - - 3220 - - - - - - - - 14.81 14.41 14.83
610 71.8 -7.3 42 615 done -0.47 - - 2043 - 2.45 0.054 2272 571.4 -116.8 - - 3221 - - - - - - - - 14.52 14.42 14.56
946 93.8 -6.7 57 951 roll -0.47 - - 2036 - 2.47 0.076 3696 576.5 -116.8 - - 3220 - - - - - - - - 14.86 14.37 14.88
1008 98.2 -7.2 66 1013 done -0.47 - - 2033 - 2.35 0.041 2272 -606.0 -116.8 - - 3221 - - - - - - - - 14.52 14.50 14.53
1339 123.7 -8.0 75 1343 roll -0.47 - - 2036 - 2.38 0.053 886 -582.4 -116.8 - - 3224 - - - - - - - - 14.86 14.44 14.88
1441 132.4 -8.2 90 1448 done -0.47 - - 2036 - 2.47 0.056 2273 561.5 -116.8 - - 3221 - - - - - - - - 14.43 14.38 14.47
1786 158.7 -7.3 97 1791 roll -0.47 - - 2029 - 2.47 0.080 3689 573.3 -116.8 - - 3220 - - - - - - - - 14.90 14.37 14.91
1849 162.7 -6.6 106 1854 done -0.47 - - 2029 - 2.35 0.043 2273 -602.6 -116.8 - - 3220 - - - - - - - - 14.61 14.54 14.62
2177 186.3 -7.3 118 2182 roll -0.47 - - 2029 - 2.40 0.054 886 -577.9 -116.8 - - 3219 - - - - - - - - 14.88 14.43 14.90
2247 191.8 -7.9 128 2252 done -0.47 - - 2029 - 2.45 0.058 2276 567.3 -116.8 - - 3218 - - - - - - - - 14.54 14.43 14.58
2569 218.1 -8.3 139 2574 roll -0.47 - - 2024 - 2.50 0.082 3695 567.6 -116.8 - - 3217 - - - - - - - - 14.85 14.35 14.87
2617 222.2 -8.4 146 2624 done -0.47 - - 2025 - 2.42 0.043 2263 -591.7 -116.8 - - 3216 - - - - - - - - 14.52 14.48 14.54
2962 249.9 -8.0 153 2968 roll -0.47 - - 2024 - 2.38 0.055 901 -572.3 -116.8 - - 3214 - - - - - - - - 14.88 14.41 14.90
3030 255.7 -8.4 163 3036 done -0.47 - - 2025 - 2.47 0.059 2273 555.5 -116.8 - - 3213 - - - - - - - - 14.54 14.35 14.57
3353 282.6 -8.4 174 3359 roll -0.47 - - 2020 - 2.50 0.083 3693 568.0 -116.8 - - 3213 - - - - - - - - 14.89 14.27 14.90
3395 286.1 -8.4 180 3400 done -0.47 - - 2020 - 2.35 0.044 2286 -598.7 -116.8 - - 3211 - - - - - - - - 14.59 14.53 14.62
3746 316.9 -8.8 188 3751 roll -0.47 - - 2020 - 2.40 0.053 890 -581.7 -116.8 - - 3209 - - - - - - - - 14.90 14.41 14.92
3821 323.7 -8.6 199 3827 done -0.47 0.12 0.244 2045 208.3 2.45 0.057 2276 565.7 -116.8 - - 3209 - - - - - - - - 14.13 14.35 14.36
4138 345.7 -6.9 209 4144 roll -0.47 - - 2040 - 2.53 0.084 3702 563.6 -116.8 - - 3207 - - - - - - - - 14.88 14.31 14.89
4165 347.6 -6.8 213 4171 done -0.52 - - 2040 - 2.45 0.044 2246 -594.3 -116.8 - - 3207 - - - - - - - - 14.54 14.46 14.57
4529 374.2 -7.5 223 4534 roll -0.52 - - 2040 - 2.35 0.055 890 -577.0 -116.8 - - 3205 - - - - - - - - 14.90 14.39 14.92
4586 378.7 -8.0 231 4591 done -0.52 - - 2040 - 2.47 0.057 2283 564.0 -116.8 - - 3205 - - - - - - - - 14.50 14.38 14.53
4921 404.0 -7.6 244 4926 roll -0.52 - - 2039 - 2.50 0.083 3698 566.0 -116.8 - - 3203 - - - - - - - - 14.91 14.29 14.92
4963 407.0 -7.5 250 4968 done -0.58 - - 2039 - 2.40 0.046 2270 -595.0 -116.8 - - 3202 - - - - - - - - 14.56 14.50 14.58
5315 433.6 -7.6 258 5319 roll -0.58 - - 2039 - 2.40 0.056 895 -572.9 -116.8 - - 3202 - - - - - - - - 14.88 14.36 14.88
5397 439.9 -7.3 270 5402 done -0.63 0.15 0.125 1980 -393.3 2.45 0.057 2276 563.7 -116.8 - - 3203 - - - - - - - - 14.38 14.37 14.47
5761 474.7 -9.7 280 5766 roll -0.63 - - 1972 - 2.53 0.086 3691 559.3 -116.8 - - 3200 - - - - - - - - 14.88 14.27 14.90
5880 486.1 -9.5 297 5886 done -0.63 - - 1972 - 2.40 0.049 2280 -587.9 -116.8 - - 3199 - - - - - - - - 14.55 14.47 14.57
6210 516.5 -9.2 309 6215 roll -0.59 0.12 0.260 2008 300.0 2.45 0.054 885 -569.4 -116.8 - - 3198 - - - - - - - - 14.11 14.33 14.23
6294 522.8 -6.9 321 6299 done -0.59 - - 2000 - 2.47 0.060 2274 562.3 -116.8 - - 3198 - - - - - - - - 14.46 14.34 14.50
6658 549.1 -7.3 331 6658 done -0.59 - - 1999 - - - 2274 - -116.8 - - 3196 - - - - - - - - 14.90 14.92 14.91
6993 576.2 -8.2 337 6999 roll -0.59 - - 2003 - 2.58 0.091 3700 552.7 -116.8 - - 3194 - - - - - - - - 14.87 14.21 14.88
7056 581.8 -8.9 346 7061 done -0.59 - - 1999 - 2.42 0.047 2273 -589.7 -116.8 - - 3194 - - - - - - - - 14.51 14.45 14.54
7385 612.0 -9.3 358 7390 roll -0.59 - - 1998 - 2.45 0.060 884 -566.9 -116.8 - - 3193 - - - - - - - - 14.86 14.28 14.88
7461 619.6 -9.6 369 7468 done -0.59 - - 1998 - 2.50 0.063 2275 556.4 -116.8 - - 3193 - - - - - - - - 14.41 14.28 14.46
7779 649.6 -9.6 379 7784 roll -0.59 - - 1998 - 2.55 0.091 3687 553.7 -116.8 - - 3192 - - - - - - - - 14.85 14.20 14.87
7839 655.5 -9.5 388 7845 done -0.59 - - 1998 - 2.47 0.049 2272 -572.9 -116.8 - - 3191 - - - - - - - - 14.36 14.33 14.48
8169 684.6 -8.7 400 8174 roll -0.59 - - 1998 - 2.45 0.060 886 -565.7 -116.8 - - 3190 - - - - - - - - 14.88 14.26 14.90
8239 690.6 -8.2 410 8244 done -0.59 - - 1998 - 2.53 0.063 2282 551.8 -116.8 - - 3190 - - - - - - - - 14.38 14.26 14.43
8561 716.2 -7.9 421 8567 roll -0.59 - - 1996 - 2.58 0.089 3700 549.6 -116.8 - - 3189 - - - - - - - - 14.85 14.16 14.85
8603 719.5 -7.8 427 8608 done -0.59 - - 1996 - 2.45 0.048 2270 -583.7 -116.8 - - 3188 - - - - - - - - 14.39 14.32 14.41
8954 746.2 -7.7 435 8959 roll -0.59 - - 1996 - 2.45 0.061 889 -563.7 -116.8 - - 3188 - - - - - - - - 14.84 14.24 14.85
9009 750.6 -8.0 443 9015 done -0.59 - - 1996 - 2.50 0.063 2271 552.8 -116.8 - - 3187 - - - - - - - - 14.22 14.16 14.28
9345 776.9 -7.9 456 9350 roll -0.59 - - 1998 - 2.60 0.092 3702 550.4 -116.8 - - 3187 - - - - - - - - 14.88 14.16 14.89
9415 782.2 -8.0 466 9420 done -0.59 - - 1993 - 2.45 0.047 2273 -583.3 -116.8 - - 3186 - - - - - - - - 14.44 14.37 14.47
9738 807.8 -7.8 477 9743 roll -0.59 - - 1994 - 2.47 0.062 883 -562.8 -116.8 - - 3186 - - - - - - - - 14.87 14.20 14.89
9793 812.3 -7.9 485 9799 done -0.59 - - 1988 - 2.58 0.064 2282 542.2 -116.8 - - 3185 - - - - - - - - 14.33 14.19 14.37
10130 839.8 -8.2 498 10135 roll -0.59 - - 1985 - 2.58 0.090 3694 547.3 -116.8 - - 3185 - - - - - - - - 14.86 14.10 14.90
10185 844.5 -8.5 506 10190 done -0.59 - - 1985 - 2.47 0.050 2264 -578.9 -116.8 - - 3184 - - - - - - - - 14.40 14.33 14.43
10521 872.6 -8.3 519 10526 roll -0.59 - - 1985 - 2.45 0.058 885 -562.9 -116.8 - - 3181 - - - - - - - - 14.83 14.20 14.85
10556 875.7 -8.1 524 10561 done -0.59 - - 1985 - 2.58 0.064 2271 537.2 -116.8 - - 3183 - - - - - - - - 14.18 14.11 14.23
10913 905.5 -8.3 533 10919 roll -0.59 - - 1985 - 2.62 0.095 3692 542.4 -116.8 - - 3182 - - - - - - - - 14.83 14.07 14.85
10996 912.4 -8.2 545 11003 done -0.59 - - 1985 - 2.45 0.051 2272 -579.6 -116.8 - - 3181 - - - - - - - - 14.38 14.28 14.41
11362 941.4 -7.9 555 11367 roll -0.59 - - 1985 - 2.47 0.060 888 -560.3 -116.8 - - 3181 - - - - - - - - 14.84 14.11 14.86
11437 947.5 -7.9 566 11443 done -0.59 - - 1985 - 2.55 0.063 2281 546.3 -116.8 - - 3181 - - - - - - - - 14.30 14.16 14.35
11754 971.1 -7.5 576 11758 roll -0.59 - - 1985 - 2.60 0.093 3691 542.3 -116.8 - - 3181 - - - - - - - - 14.85 14.05 14.86
11811 975.3 -7.6 584 11815 done -0.59 - - 1985 - 2.47 0.050 2280 -571.3 -116.8 - - 3180 - - - - - - - - 14.38 14.29 14.40
12030 end dive: TARGET_DEPTH_EXCEEDED
12030 begin apogee
12038 992.0 -7.5 595 12234 roll -0.19 0.55 0.208 2132 267.3 - - 2175 - - 193.62 1.638 2740 -2.3 0.264 - - - - - - 13.78 13.91 13.05
12236 end apogee: CONTROL_FINISHED_OK
12236 begin climb
12240 996.7 - 598 12400 roll 0.68 0.93 0.145 2413 302.2 2.72 0.090 3615 529.4 116.8 147.45 1.929 2257 -3.3 0.325 - - - - - - 13.88 13.95 12.78
12491 978.9 9.7 639 12496 done 0.61 - - 2423 - 2.53 0.059 2207 -556.5 116.8 - - 2236 - - - - - - - - 14.24 14.16 14.26
12820 947.7 9.5 651 12825 roll 0.55 0.15 0.265 2383 -266.7 2.55 0.084 3610 550.2 116.8 - - 2232 - - - - - - - - 14.09 14.32 14.26
12953 936.1 8.5 670 12958 done 0.55 - - 2392 - 2.47 0.057 2189 -575.3 116.8 - - 2232 - - - - - - - - 14.50 14.40 14.53
13268 910.8 8.1 680 13273 roll 0.55 - - 2403 - 2.53 0.072 781 -556.5 116.8 - - 2230 - - - - - - - - 14.81 14.35 14.82
13351 903.9 8.2 692 13357 done 0.55 - - 2403 - 2.55 0.060 2205 558.4 116.8 - - 2230 - - - - - - - - 14.48 14.36 14.53
13717 872.4 8.7 702 13722 roll 0.55 - - 2403 - 2.55 0.087 3617 553.7 116.8 - - 2228 - - - - - - - - 14.81 14.29 14.82
13772 866.8 10.7 710 13778 done 0.50 0.15 0.234 2371 -213.3 2.47 0.056 2192 -576.9 116.8 - - 2228 - - - - - - - - 13.97 14.35 14.16
14108 842.0 7.3 723 14113 roll 0.50 - - 2381 - 2.53 0.070 787 -555.3 117.7 - - 2227 - - - - - - - - 14.81 14.30 14.83
14192 836.1 7.0 735 14197 done 0.51 - - 2382 - 2.53 0.060 2198 557.7 126.2 - - 2227 - - - - - - - - 14.46 14.35 14.50
14556 810.8 6.8 745 14582 roll 0.52 - - 2381 - 2.53 0.087 3612 558.9 138.3 20.95 1.812 2170 -2.7 0.234 - - - - - - 14.84 14.17 13.41
14613 806.6 8.3 753 14619 done 0.52 - - 2391 - 2.47 0.055 2191 -575.3 138.3 - - 2161 - - - - - - - - 14.50 14.41 14.53
14948 781.3 7.5 766 14953 roll 0.52 - - 2401 - 2.53 0.070 788 -554.5 138.3 - - 2157 - - - - - - - - 14.76 14.31 14.81
15031 775.6 6.2 778 15072 done 0.53 - - 2401 - 2.53 0.059 2198 557.3 164.8 34.42 1.747 2062 -2.8 0.235 - - - - - - 14.45 14.35 13.37
15397 746.4 8.1 795 15402 roll 0.53 - - 2401 - 2.58 0.087 3617 550.0 164.8 - - 2044 - - - - - - - - 14.71 14.27 14.73
15472 739.6 9.0 806 15478 done 0.53 0.15 0.256 2376 -166.7 2.50 0.057 2194 -569.2 164.8 - - 2043 - - - - - - - - 14.07 14.35 14.35
15789 717.8 6.8 816 15800 roll 0.54 - - 2386 - 2.55 0.072 791 -550.2 177.0 3.85 1.246 2017 -6.8 0.747 - - - - - - 14.82 14.40 13.14
15864 712.6 6.8 827 15899 done 0.60 - - 2386 - 2.53 0.060 2199 556.5 190.5 27.73 1.714 1956 -2.2 0.176 - - - - - - 14.49 14.38 13.43
16236 685.7 7.4 838 16241 roll 0.60 - - 2386 - 2.55 0.087 3606 551.8 190.5 - - 1945 - - - - - - - - 14.73 14.26 14.74
16293 681.1 8.1 846 16298 done 0.60 - - 2394 - 2.47 0.056 2191 -572.9 190.5 - - 1942 - - - - - - - - 14.47 14.35 14.50
16628 655.0 7.7 859 16633 roll 0.60 - - 2400 - 2.53 0.070 790 -553.8 190.5 - - 1941 - - - - - - - - 14.78 14.28 14.80
16719 648.4 7.3 872 16724 done 0.60 - - 2400 - 2.50 0.059 2190 560.0 191.7 - - 1938 - - - - - - - - 14.46 14.35 14.51
17076 620.7 7.8 881 17082 roll 0.60 - - 2400 - 2.58 0.084 3617 553.1 191.7 - - 1940 - - - - - - - - 14.83 14.25 14.84
17145 614.5 8.8 891 17151 done 0.60 - - 2409 - 2.50 0.057 2191 -570.4 191.7 - - 1939 - - - - - - - - 14.45 14.35 14.50
17469 586.6 8.8 902 17474 roll 0.60 - - 2418 - 2.53 0.069 790 -553.8 191.7 - - 1939 - - - - - - - - 14.80 14.26 14.81
17530 580.9 9.1 911 17535 done 0.60 - - 2418 - 2.50 0.058 2188 559.2 191.7 - - 1939 - - - - - - - - 14.42 14.28 14.48
17860 549.0 9.8 923 17865 roll 0.60 - - 2418 - 2.55 0.084 3608 556.9 191.7 - - 1939 - - - - - - - - 14.81 14.22 14.83
17958 538.4 10.7 937 17964 done 0.60 0.15 0.253 2392 -173.3 2.50 0.054 2189 -567.6 191.7 - - 1936 - - - - - - - - 14.02 14.36 14.31
18308 508.1 8.7 945 18314 roll 0.60 - - 2401 - 2.53 0.069 788 -553.8 191.7 - - 1939 - - - - - - - - 14.81 14.23 14.83
18392 500.8 8.6 957 18398 done 0.65 - - 2401 - 2.53 0.058 2198 557.3 191.7 - - 1938 - - - - - - - - 14.42 14.30 14.47
18756 469.7 8.4 967 18761 roll 0.65 - - 2401 - 2.58 0.084 3616 549.6 191.7 - - 1938 - - - - - - - - 14.81 14.17 14.83
18825 463.7 8.6 977 18831 done 0.65 - - 2410 - 2.50 0.054 2190 -570.4 191.7 - - 1939 - - - - - - - - 14.41 14.31 14.45
19149 438.9 7.6 988 19154 roll 0.65 - - 2410 - 2.53 0.070 792 -552.6 191.7 - - 1938 - - - - - - - - 14.83 14.20 14.84
19231 433.0 6.7 1000 19251 done 0.65 - - 2410 - 2.53 0.057 2199 556.1 206.2 14.93 1.432 1899 -2.6 0.152 - - - - - - 14.38 14.26 13.52
19596 403.8 8.3 1010 19601 roll 0.65 - - 2410 - 2.55 0.084 3610 553.3 206.2 - - 1883 - - - - - - - - 14.77 14.25 14.78
19653 398.5 9.5 1018 19658 done 0.65 - - 2419 - 2.50 0.053 2175 -574.0 206.2 - - 1882 - - - - - - - - 14.45 14.35 14.50
19988 367.2 9.4 1031 19993 roll 0.65 - - 2424 - 2.50 0.070 790 -554.0 206.2 - - 1882 - - - - - - - - 14.81 14.23 14.83
20071 359.6 8.8 1043 20077 done 0.65 - - 2420 - 2.50 0.057 2188 559.2 206.2 - - 1882 - - - - - - - - 14.41 14.29 14.47
20437 324.1 9.9 1053 20444 roll 0.65 - - 2422 - 2.55 0.083 3608 556.9 206.2 - - 1882 - - - - - - - - 14.78 14.18 14.81
20520 314.7 10.9 1065 20526 done 0.65 - - 2433 - 2.47 0.051 2186 -575.7 206.2 - - 1887 - - - - - - - - 14.43 14.33 14.49
20886 276.2 10.5 1075 20891 roll 0.65 - - 2442 - 2.53 0.067 781 -555.3 206.2 - - 1882 - - - - - - - - 14.81 14.23 14.84
20961 268.3 10.1 1086 20967 done 0.65 0.12 0.250 2415 -225.0 2.53 0.056 2192 557.7 206.2 - - 1882 - - - - - - - - 14.00 14.27 14.28
21277 239.8 9.0 1096 21282 roll 0.65 - - 2414 - 2.55 0.080 3613 557.3 206.2 - - 1882 - - - - - - - - 14.80 14.19 14.82
21347 233.2 9.4 1106 21352 done 0.65 - - 2423 - 2.50 0.051 2177 -574.4 206.2 - - 1882 - - - - - - - - 14.43 14.35 14.48
21669 205.2 8.7 1117 21675 roll 0.65 - - 2432 - 2.50 0.068 790 -554.8 206.2 - - 1882 - - - - - - - - 14.80 14.20 14.82
21752 197.9 8.6 1129 21759 done 0.65 - - 2432 - 2.53 0.056 2201 557.7 206.2 - - 1882 - - - - - - - - 14.38 14.24 14.43
22119 166.0 8.7 1139 22123 roll 0.65 - - 2432 - 2.55 0.082 3609 552.2 206.2 - - 1882 - - - - - - - - 14.79 14.17 14.81
22173 160.7 9.9 1147 22178 done 0.65 - - 2440 - 2.47 0.050 2189 -574.9 206.2 - - 1882 - - - - - - - - 14.33 14.24 14.38
22510 129.4 9.4 1160 22514 roll 0.65 - - 2450 - 2.53 0.065 787 -554.2 206.2 - - 1882 - - - - - - - - 14.80 14.23 14.82
22586 122.2 9.2 1171 22591 done 0.65 0.15 0.239 2414 -240.0 2.50 0.056 2190 561.2 206.2 - - 1883 - - - - - - - - 13.96 14.28 14.26
22901 98.6 7.4 1181 22907 roll 0.65 - - 2415 - 2.58 0.080 3613 551.6 206.2 - - 1882 - - - - - - - - 14.81 14.18 14.83
22971 92.8 8.5 1191 22976 done 0.65 - - 2422 - 2.47 0.050 2190 -576.1 206.2 - - 1882 - - - - - - - - 14.43 14.33 14.47
23293 67.8 7.3 1204 23298 roll 0.65 - - 2424 - 2.53 0.065 792 -552.6 206.2 - - 1882 - - - - - - - - 14.82 14.14 14.83
23335 65.0 6.7 1210 23348 done 0.74 - - 2424 - 2.50 0.054 2190 559.2 220.2 6.93 0.265 1841 -5.9 0.279 - - - - - - 14.32 14.21 13.84
23659 43.0 6.5 1223 23676 done 0.82 0.12 0.135 2475 425.0 - - 2190 - 241.0 15.57 0.248 1758 -5.3 0.177 - - - - - - 14.42 14.36 14.02
23966 27.6 4.3 1234 24022 roll 0.91 - - 2475 - 2.53 0.060 791 -553.0 312.4 46.67 0.213 1466 -6.3 0.156 - - - - - - 14.78 14.35 14.14
24190 16.9 5.9 1266 24219 done 1.13 0.28 0.099 2578 367.9 2.50 0.052 2194 561.2 347.3 23.15 0.179 1322 -6.2 0.113 - - - - - - 14.31 14.31 14.12
24382 end climb: SURFACE_DEPTH_REACHED
24382 begin surface coast
24415 end surface coast: CONTROL_FINISHED_OK
24415 begin surface
SM 0.74 - - - - -6.12 6.97 0.080 221 31.7 0.15 0.107 2312 -60786.7 500.17 91.62 0.134 698 7.6 -0.004 - - - - - -