SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 435 * Raw log
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• Previous call tries 2 • 171.70 of 350.00 AH used of 24V (50.94% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.6 deg, depth 0.79 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 14 s • Transponder ping count: 12
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 VBD -0.68 - - 192 - - - 2299 - -116.8 -84.85 - 2849 - - - - - - - - 14.68 - 14.70
111 4.2 -5.8 3 135 roll -0.68 9.00 0.401 1961 196.6 2.78 2.039 3690 500.4 -116.8 -6.88 - 3220 -53.9 - - - - - - - 13.88 12.97 14.33
295 50.5 -14.3 30 302 done -0.54 0.15 0.225 2017 373.3 2.42 0.041 2262 -590.1 -116.8 - - 3222 - - - - - - - - 14.04 14.39 14.33
612 79.5 -8.4 42 616 roll -0.49 - - 2018 - 2.35 0.050 886 -585.5 -116.8 - - 3223 - - - - - - - - 14.83 14.42 14.85
688 86.4 -8.8 53 695 done -0.49 - - 2014 - 2.47 0.056 2284 566.0 -116.8 - - 3223 - - - - - - - - 14.52 14.42 14.55
1031 115.8 -8.5 63 1036 roll -0.49 - - 2010 - 2.45 0.076 3698 577.1 -116.8 - - 3223 - - - - - - - - 14.86 14.38 14.88
1122 123.2 -8.0 76 1127 done -0.49 0.12 0.238 2040 250.0 2.35 0.040 2271 -607.2 -116.8 - - 3223 - - - - - - - - 14.21 14.54 14.44
1479 148.4 -7.3 85 1485 roll -0.49 - - 2041 - 2.35 0.054 898 -584.3 -116.8 - - 3223 - - - - - - - - 14.89 14.38 14.91
1583 156.9 -8.2 100 1590 done -0.49 - - 2039 - 2.47 0.056 2280 559.5 -116.8 - - 3222 - - - - - - - - 14.44 14.38 14.47
1929 184.8 -8.2 107 1929 done -0.49 - - 2039 - - - 2280 - -116.8 - - 3220 - - - - - - - - 14.88 14.90 14.90
2263 208.9 -7.0 113 2269 roll -0.49 - - 2036 - 2.47 0.081 3689 570.4 -116.8 - - 3218 - - - - - - - - 14.89 14.35 14.90
2298 211.5 -7.1 118 2303 done -0.49 - - 2036 - 2.40 0.044 2279 -587.5 -116.8 - - 3216 - - - - - - - - 14.53 14.50 14.56
2656 239.3 -7.9 127 2661 roll -0.49 - - 2035 - 2.40 0.054 888 -579.6 -116.8 - - 3216 - - - - - - - - 14.90 14.42 14.92
2724 245.3 -8.2 137 2731 done -0.49 - - 2036 - 2.47 0.057 2290 567.6 -116.8 - - 3215 - - - - - - - - 14.49 14.38 14.54
3048 272.3 -8.5 148 3052 roll -0.49 - - 2029 - 2.47 0.083 3698 570.0 -116.8 - - 3213 - - - - - - - - 14.90 14.35 14.92
3082 275.2 -8.6 153 3088 done -0.49 - - 2029 - 2.38 0.044 2272 -599.2 -116.8 - - 3213 - - - - - - - - 14.62 14.54 14.63
3439 306.7 -8.8 162 3444 roll -0.49 - - 2029 - 2.40 0.057 892 -575.0 -116.8 - - 3210 - - - - - - - - 14.89 14.39 14.90
3522 313.8 -8.1 174 3529 done -0.49 - - 2024 - 2.45 0.058 2279 566.1 -116.8 - - 3210 - - - - - - - - 14.52 14.40 14.56
3888 340.2 -7.1 184 3893 roll -0.49 - - 2026 - 2.50 0.085 3690 564.4 -116.8 - - 3208 - - - - - - - - 14.90 14.33 14.92
3943 343.9 -6.7 192 3948 done -0.49 - - 2025 - 2.40 0.045 2267 -592.9 -116.8 - - 3208 - - - - - - - - 14.57 14.51 14.59
4280 367.2 -7.1 205 4285 roll -0.49 - - 2025 - 2.40 0.055 882 -577.1 -116.8 - - 3206 - - - - - - - - 14.91 14.40 14.92
4336 371.6 -7.6 213 4342 done -0.49 - - 2025 - 2.50 0.060 2279 558.8 -116.8 - - 3205 - - - - - - - - 14.49 14.37 14.52
4672 399.1 -8.4 226 4676 roll -0.49 - - 2020 - 2.53 0.086 3696 560.1 -116.8 - - 3204 - - - - - - - - 14.90 14.30 14.92
4719 403.4 -8.7 233 4727 done -0.49 - - 2020 - 2.45 0.046 2268 -582.9 -116.8 - - 3203 - - - - - - - - 14.44 14.40 14.47
5065 432.6 -8.5 240 5069 roll -0.49 - - 2020 - 2.42 0.058 889 -569.8 -116.8 - - 3201 - - - - - - - - 14.87 14.35 14.88
5111 436.8 -8.7 247 5119 done -0.49 - - 2015 - 2.53 0.060 2278 549.0 -116.8 - - 3201 - - - - - - - - 14.35 14.28 14.40
5456 465.8 -8.4 254 5460 roll -0.49 - - 2011 - 2.53 0.087 3694 559.7 -116.8 - - 3200 - - - - - - - - 14.90 14.28 14.92
5505 469.7 -8.1 261 5512 done -0.49 - - 2012 - 2.40 0.047 2275 -591.2 -116.8 - - 3200 - - - - - - - - 14.54 14.47 14.57
5847 496.0 -7.5 268 5852 roll -0.49 - - 2012 - 2.42 0.055 896 -569.8 -116.8 - - 3199 - - - - - - - - 14.90 14.38 14.92
5917 501.1 -7.2 278 5922 done -0.49 - - 2012 - 2.53 0.060 2279 546.6 -116.8 - - 3198 - - - - - - - - 14.33 14.26 14.39
6241 524.0 -7.1 289 6246 roll -0.49 - - 2012 - 2.55 0.090 3694 554.9 -116.8 - - 3197 - - - - - - - - 14.88 14.24 14.90
6316 529.4 -6.9 300 6321 done -0.49 - - 2012 - 2.40 0.047 2285 -587.1 -116.8 - - 3196 - - - - - - - - 14.50 14.42 14.53
6632 551.3 -7.0 310 6636 roll -0.49 - - 2012 - 2.45 0.055 885 -571.4 -116.8 - - 3195 - - - - - - - - 14.86 14.33 14.88
6681 554.8 -7.1 317 6688 done -0.49 0.12 0.259 2039 225.0 2.53 0.061 2288 554.5 -116.8 - - 3194 - - - - - - - - 14.02 14.30 14.27
7024 574.3 -5.7 324 7028 roll -0.54 - - 2039 - 2.53 0.087 3692 554.9 -116.8 - - 3194 - - - - - - - - 14.89 14.24 14.90
7058 576.4 -5.9 329 7065 done -0.61 0.12 0.132 1985 -450.0 2.40 0.047 2274 -590.8 -116.8 - - 3193 - - - - - - - - 14.35 14.45 14.47
7417 608.1 -9.2 338 7422 roll -0.61 - - 1985 - 2.42 0.055 896 -569.4 -116.8 - - 3192 - - - - - - - - 14.85 14.32 14.87
7484 614.9 -9.7 348 7490 done -0.61 - - 1985 - 2.50 0.061 2281 554.0 -116.8 - - 3192 - - - - - - - - 14.38 14.23 14.42
7807 645.8 -9.6 359 7812 roll -0.61 - - 1984 - 2.55 0.090 3691 552.9 -116.8 - - 3191 - - - - - - - - 14.88 14.19 14.90
7857 650.5 -9.7 366 7863 done -0.61 - - 1984 - 2.40 0.048 2286 -585.4 -116.8 - - 3190 - - - - - - - - 14.48 14.41 14.51
8200 682.7 -9.4 373 8205 roll -0.61 - - 1984 - 2.47 0.056 882 -568.4 -116.8 - - 3189 - - - - - - - - 14.85 14.28 14.87
8262 688.9 -9.6 382 8267 done -0.61 - - 1984 - 2.53 0.063 2281 553.0 -116.8 - - 3189 - - - - - - - - 14.40 14.26 14.44
8592 719.6 -9.4 394 8593 done -0.61 - - 1984 - - - 2276 - -116.8 - - 3188 - - - - - - - - 14.84 14.86 14.85
8928 749.9 -9.0 400 8929 done -0.61 - - 1984 - - - 2276 - -116.8 - - 3188 - - - - - - - - 14.88 14.90 14.90
9263 777.0 -7.9 406 9264 done -0.61 - - 1984 - - - 2277 - -116.8 - - 3186 - - - - - - - - 14.88 14.90 14.90
9600 802.1 -7.5 412 9601 done -0.61 - - 1990 - - - 2276 - -116.8 - - 3185 - - - - - - - - 14.83 14.85 14.85
9935 827.5 -7.7 418 9940 roll -0.61 - - 1980 - 2.60 0.094 3691 544.2 -116.8 - - 3184 - - - - - - - - 14.85 14.10 14.86
9969 830.2 -7.8 423 9975 done -0.61 - - 1981 - 2.45 0.052 2281 -575.5 -116.8 - - 3183 - - - - - - - - 14.38 14.28 14.41
10328 858.9 -8.1 432 10333 roll -0.61 - - 1980 - 2.50 0.061 879 -560.8 -116.8 - - 3182 - - - - - - - - 14.83 14.20 14.85
10376 862.8 -7.4 439 10383 done -0.61 0.12 0.275 1999 158.3 2.58 0.066 2282 543.8 -116.8 - - 3186 - - - - - - - - 13.85 14.16 14.12
10720 887.0 -7.1 446 10720 done -0.61 - - 1999 - - - 2282 - -116.8 - - 3182 - - - - - - - - 14.86 14.88 14.88
11056 910.1 -6.9 452 11056 done -0.61 - - 1998 - - - 2282 - -116.8 - - 3181 - - - - - - - - 14.82 14.85 14.84
11393 934.3 -7.2 458 11393 done -0.61 - - 1999 - - - 2282 - -116.8 - - 3180 - - - - - - - - 14.81 14.83 14.83
11728 961.0 -7.8 464 11729 done -0.61 - - 1999 - - - 2282 - -116.8 - - 3180 - - - - - - - - 14.82 14.83 14.83
12063 989.6 -8.6 470 12064 done -0.61 - - 1998 - - - 2282 - -116.8 - - 3179 - - - - - - - - 14.81 14.83 14.83
12116 end dive: TARGET_DEPTH_EXCEEDED
12116 begin apogee
12125 994.5 -8.6 471 12275 roll -0.19 0.50 0.208 2133 270.0 - - 2183 - - 148.27 1.896 2739 -3.0 0.299 - - - - - - 13.74 13.90 12.95
12277 end apogee: CONTROL_FINISHED_OK
12277 begin climb
12281 1000.1 - 473 12436 roll 0.68 0.93 0.140 2414 302.2 2.55 0.061 796 -543.9 116.8 149.00 1.893 2257 -3.2 0.328 - - - - - - 13.89 13.97 12.78
12553 988.7 6.7 519 12573 done 0.69 - - 2413 - 2.58 0.063 2200 544.2 132.9 15.75 1.918 2198 -3.7 0.371 - - - - - - 14.28 14.18 13.11
12904 962.0 7.8 534 12909 roll 0.69 - - 2423 - 2.53 0.072 815 -547.4 132.9 - - 2179 - - - - - - - - 14.73 14.33 14.74
13044 951.0 7.7 554 13049 done 0.69 - - 2423 - 2.53 0.065 2213 552.6 132.9 - - 2178 - - - - - - - - 14.48 14.36 14.52
13408 919.6 8.7 564 13413 roll 0.64 - - 2423 - 2.55 0.090 3620 551.8 132.9 - - 2177 - - - - - - - - 14.81 14.31 14.83
13465 913.6 10.5 572 13470 done 0.57 0.20 0.269 2386 -185.0 2.47 0.060 2214 -569.2 132.9 - - 2176 - - - - - - - - 14.04 14.40 14.36
13800 886.2 8.2 585 13805 roll 0.57 - - 2396 - 2.58 0.073 791 -551.6 132.9 - - 2175 - - - - - - - - 14.81 14.32 14.83
13897 877.8 8.8 599 13902 done 0.57 - - 2396 - 2.55 0.062 2203 553.7 132.9 - - 2175 - - - - - - - - 14.48 14.35 14.53
14249 844.6 9.6 607 14254 roll 0.57 - - 2396 - 2.58 0.091 3613 546.5 132.9 - - 2175 - - - - - - - - 14.82 14.25 14.83
14288 839.8 11.0 613 14294 done 0.57 - - 2406 - 2.53 0.057 2196 -560.1 132.9 - - 2174 - - - - - - - - 14.35 14.29 14.40
14639 805.3 9.6 621 14644 roll 0.57 - - 2417 - 2.55 0.073 795 -549.4 132.9 - - 2174 - - - - - - - - 14.83 14.26 14.84
14696 800.2 9.1 629 14701 done 0.57 0.12 0.253 2387 -250.0 2.55 0.061 2204 552.5 132.9 - - 2174 - - - - - - - - 14.02 14.28 14.31
15032 775.5 7.0 642 15037 roll 0.58 - - 2390 - 2.58 0.090 3615 546.9 140.2 - - 2173 - - - - - - - - 14.85 14.20 14.87
15066 772.8 7.7 647 15071 done 0.58 - - 2399 - 2.50 0.057 2192 -569.2 140.2 - - 2172 - - - - - - - - 14.45 14.35 14.48
15425 747.8 7.0 656 15444 roll 0.58 - - 2409 - 2.58 0.073 786 -545.0 147.3 15.00 1.791 2135 -2.5 0.198 - - - - - - 14.84 14.43 13.34
15521 740.7 7.2 670 15527 done 0.58 - - 2409 - 2.55 0.060 2203 555.7 150.1 - - 2126 - - - - - - - - 14.49 14.38 14.52
15873 711.6 8.6 678 15878 roll 0.58 - - 2410 - 2.55 0.089 3609 551.4 150.1 - - 2124 - - - - - - - - 14.78 14.26 14.79
15927 706.3 9.4 686 15933 done 0.58 0.12 0.272 2392 -150.0 2.50 0.056 2190 -567.6 150.1 - - 2123 - - - - - - - - 14.04 14.36 14.31
16264 678.8 8.2 699 16269 roll 0.58 - - 2403 - 2.53 0.071 789 -553.8 150.1 - - 2123 - - - - - - - - 14.82 14.26 14.84
16362 670.6 8.3 713 16366 done 0.58 - - 2402 - 2.53 0.061 2191 554.2 150.1 - - 2122 - - - - - - - - 14.42 14.31 14.47
16712 639.9 8.8 721 16717 roll 0.58 - - 2403 - 2.60 0.087 3617 548.5 150.1 - - 2122 - - - - - - - - 14.81 14.21 14.83
16788 632.4 9.7 732 16793 done 0.58 - - 2410 - 2.53 0.057 2185 -566.0 150.1 - - 2121 - - - - - - - - 14.44 14.33 14.47
17105 603.4 9.2 742 17110 roll 0.58 - - 2422 - 2.55 0.072 781 -550.6 150.1 - - 2121 - - - - - - - - 14.83 14.23 14.85
17188 595.8 8.8 754 17195 done 0.58 0.15 0.249 2388 -226.7 2.55 0.060 2192 553.3 150.1 - - 2121 - - - - - - - - 13.95 14.28 14.23
17554 570.3 6.8 764 17579 roll 0.59 - - 2388 - 2.53 0.088 3609 560.1 163.5 18.58 1.587 2068 -2.9 0.197 - - - - - - 14.83 14.44 13.46
17650 563.1 7.7 778 17656 done 0.59 - - 2395 - 2.47 0.054 2191 -574.1 163.5 - - 2060 - - - - - - - - 14.48 14.39 14.52
18001 538.3 7.1 786 18007 roll 0.59 - - 2404 - 2.53 0.069 788 -554.5 168.6 - - 2057 - - - - - - - - 14.77 14.23 14.78
18092 531.7 7.2 799 18099 done 0.59 - - 2405 - 2.53 0.059 2192 554.9 171.7 2.60 0.679 2039 -6.9 1.041 - - - - - - 14.43 14.32 13.07
18442 503.4 8.2 807 18447 roll 0.59 - - 2405 - 2.58 0.085 3614 551.2 171.7 - - 2049 - - - - - - - - 14.81 14.22 14.81
18504 497.5 9.4 816 18509 done 0.59 - - 2414 - 2.50 0.054 2184 -572.0 171.7 - - 2047 - - - - - - - - 14.43 14.34 14.47
18835 468.1 8.9 828 18840 roll 0.59 - - 2424 - 2.50 0.069 797 -554.8 171.7 - - 2046 - - - - - - - - 14.83 14.22 14.83
18890 463.3 8.6 836 18895 done 0.59 0.12 0.252 2395 -241.7 2.53 0.057 2195 552.6 171.7 - - 2046 - - - - - - - - 13.93 14.21 14.19
19227 438.0 7.5 849 19232 roll 0.59 - - 2396 - 2.60 0.086 3615 546.2 171.7 - - 2046 - - - - - - - - 14.78 14.17 14.81
19295 432.0 8.6 859 19301 done 0.59 - - 2405 - 2.53 0.053 2194 -561.7 171.7 - - 2042 - - - - - - - - 14.29 14.24 14.36
19618 406.1 8.1 870 19624 roll 0.59 - - 2410 - 2.53 0.069 796 -552.6 171.7 - - 2048 - - - - - - - - 14.81 14.19 14.82
19708 398.9 7.7 883 19714 done 0.59 - - 2410 - 2.53 0.057 2198 554.2 171.7 - - 2046 - - - - - - - - 14.38 14.26 14.42
20066 370.8 7.9 892 20071 roll 0.59 - - 2410 - 2.58 0.084 3620 551.2 171.7 - - 2046 - - - - - - - - 14.80 14.14 14.82
20122 365.7 9.2 900 20127 done 0.59 - - 2420 - 2.50 0.052 2190 -572.0 171.7 - - 2046 - - - - - - - - 14.40 14.31 14.43
20459 337.4 8.4 913 20464 roll 0.59 - - 2425 - 2.53 0.065 788 -554.2 171.7 - - 2046 - - - - - - - - 14.79 14.21 14.81
20520 332.2 8.2 922 20527 done 0.59 0.15 0.236 2394 -206.7 2.53 0.057 2188 553.4 171.7 - - 2046 - - - - - - - - 13.93 14.23 14.19
20852 309.6 6.8 934 20884 roll 0.60 - - 2393 - 2.58 0.084 3611 551.6 183.9 23.73 1.263 1983 -2.7 0.125 - - - - - - 14.81 14.43 13.62
20947 302.1 8.2 948 20953 done 0.60 - - 2402 - 2.47 0.050 2178 -580.2 183.9 - - 1976 - - - - - - - - 14.48 14.40 14.50
21298 276.2 7.3 956 21303 roll 0.60 - - 2406 - 2.50 0.070 794 -553.6 183.9 - - 1975 - - - - - - - - 14.78 14.23 14.81
21361 271.8 6.9 965 21374 done 0.66 - - 2407 - 2.50 0.056 2198 561.6 195.2 4.97 1.115 1944 -6.2 0.292 - - - - - - 14.41 14.29 13.29
21690 248.7 7.0 977 21715 roll 0.66 - - 2406 - 2.58 0.084 3612 548.1 203.0 17.50 1.216 1903 -2.3 0.092 - - - - - - 14.78 14.45 13.65
21774 241.9 8.5 989 21779 done 0.66 - - 2415 - 2.47 0.050 2176 -581.4 203.0 - - 1895 - - - - - - - - 14.49 14.40 14.52
22138 212.7 8.1 999 22143 roll 0.66 - - 2424 - 2.50 0.068 789 -554.8 203.0 - - 1894 - - - - - - - - 14.76 14.25 14.78
22214 206.7 7.8 1010 22220 done 0.66 - - 2424 - 2.50 0.056 2190 560.4 203.0 - - 1893 - - - - - - - - 14.42 14.30 14.47
22532 180.7 8.3 1020 22536 roll 0.66 - - 2424 - 2.55 0.080 3613 558.0 203.0 - - 1894 - - - - - - - - 14.78 14.23 14.79
22600 174.2 9.3 1030 22606 done 0.66 - - 2433 - 2.47 0.050 2187 -577.3 203.0 - - 1895 - - - - - - - - 14.42 14.33 14.47
22923 146.1 8.7 1041 22927 roll 0.66 - - 2442 - 2.50 0.065 792 -558.0 203.0 - - 1893 - - - - - - - - 14.83 14.24 14.84
23020 137.8 8.2 1055 23026 done 0.66 0.08 0.213 2408 -425.0 2.53 0.055 2186 551.0 203.0 - - 1892 - - - - - - - - 13.88 14.21 14.17
23371 114.2 6.6 1063 23383 roll 0.67 - - 2408 - 2.53 0.079 3614 564.4 219.3 7.75 0.374 1845 -6.1 0.355 - - - - - - 14.81 14.09 13.74
23455 107.0 8.9 1075 23461 done 0.67 - - 2409 - 2.47 0.050 2181 -580.2 219.3 2.38 0.181 1844 - - - - - - - - 14.47 14.38 14.07
23784 80.0 8.2 1087 23790 roll 0.67 - - 2418 - 2.55 0.067 785 -547.5 219.3 2.12 0.174 1846 - - - - - - - - 14.82 14.23 14.01
23861 73.8 8.0 1098 23867 done 0.73 - - 2418 - 2.53 0.055 2194 556.9 219.3 1.60 0.184 1846 - - - - - - - - 14.35 14.25 14.08
24201 51.5 5.4 1113 24238 roll 0.82 0.12 0.136 2474 466.7 2.53 0.078 3617 562.5 264.9 31.38 0.282 1660 -5.9 0.208 - - - - - - 14.39 14.23 14.02
24319 42.5 8.3 1130 24325 done 0.82 - - 2483 - 2.47 0.051 2189 -578.1 264.9 - - 1669 - - - - - - - - 14.45 14.36 14.49
24648 28.2 3.7 1144 24708 roll 0.96 - - 2483 - 2.53 0.062 788 -553.8 351.2 53.95 0.214 1307 -6.7 0.170 - - - - - - 14.78 14.33 14.13
24850 15.5 6.3 1173 24873 done 1.21 0.32 0.119 2589 331.2 2.47 0.051 2190 567.6 376.5 17.50 0.176 1203 -5.9 0.100 - - - - - - 14.16 14.30 14.09
25008 end climb: SURFACE_DEPTH_REACHED
25008 begin surface coast
25036 end surface coast: CONTROL_FINISHED_OK
25039 begin surface
SM 0.73 - - - - -6.15 7.00 0.076 209 29.8 0.15 0.117 2289 -60940.0 500.17 75.12 0.138 699 9.3 -0.005 - - - - - -