SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 441 * Raw log
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• Previous call tries 1 • 174.04 of 350.00 AH used of 24V (50.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.6 deg, depth 0.82 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 113 VBD -0.68 - - 191 - - - 2301 - -116.8 -85.30 - 2797 - - - - - - - - 14.67 - 14.68
117 3.2 -3.9 3 140 roll -0.68 9.02 0.402 1960 196.1 2.80 2.045 3684 493.9 -116.8 -8.25 - 3221 -51.4 - - - - - - - 13.83 12.95 14.10
249 37.7 -16.3 22 256 done -0.55 0.22 0.252 2015 250.0 2.38 0.040 2265 -596.2 -116.8 - - 3222 - - - - - - - - 14.00 14.38 14.31
561 69.6 -7.8 34 562 done -0.49 - - 2015 - - - 2265 - -116.8 - - 3224 - - - - - - - - 14.82 14.83 14.83
869 93.0 -8.1 45 870 done -0.49 - - 2015 - - - 2265 - -116.8 - - 3225 - - - - - - - - 14.84 14.86 14.85
1176 121.5 -9.3 52 1181 roll -0.49 - - 2015 - 2.40 0.052 875 -579.2 -116.8 - - 3225 - - - - - - - - 14.88 14.42 14.90
1225 125.7 -8.8 59 1231 done -0.49 - - 2014 - 2.50 0.057 2274 559.6 -116.8 - - 3225 - - - - - - - - 14.41 14.35 14.45
1569 155.2 -8.8 66 1574 roll -0.49 - - 2017 - 2.42 0.051 880 -576.0 -116.8 - - 3224 - - - - - - - - 14.89 14.42 14.90
1611 158.9 -8.8 72 1615 done -0.49 - - 2013 - 2.47 0.056 2285 568.8 -116.8 - - 3224 - - - - - - - - 14.54 14.43 14.57
1960 189.1 -8.8 80 1966 roll -0.49 0.10 0.278 2025 120.0 2.45 0.076 3693 574.7 -116.8 - - 3222 - - - - - - - - 14.28 14.37 14.43
2016 193.8 -8.3 88 2021 done -0.49 - - 2025 - 2.38 0.041 2266 -599.6 -116.8 - - 3222 - - - - - - - - 14.59 14.52 14.61
2354 218.5 -7.3 101 2359 roll -0.49 - - 2025 - 2.38 0.052 892 -577.3 -116.8 - - 3220 - - - - - - - - 14.89 14.42 14.90
2443 225.4 -7.6 114 2449 done -0.49 - - 2025 - 2.45 0.057 2280 566.5 -116.8 - - 3219 - - - - - - - - 14.50 14.37 14.53
2802 253.5 -8.1 123 2807 roll -0.49 - - 2017 - 2.47 0.080 3687 569.6 -116.8 - - 3218 - - - - - - - - 14.87 14.33 14.88
2849 257.7 -8.6 130 2857 done -0.49 - - 2016 - 2.40 0.043 2272 -589.6 -116.8 - - 3217 - - - - - - - - 14.48 14.45 14.51
3193 285.8 -8.1 137 3197 roll -0.49 - - 2017 - 2.40 0.051 889 -576.2 -116.8 - - 3215 - - - - - - - - 14.88 14.40 14.90
3248 290.2 -7.6 145 3253 done -0.49 - - 2015 - 2.47 0.057 2283 564.4 -116.8 - - 3215 - - - - - - - - 14.50 14.39 14.54
3586 314.8 -7.4 158 3591 roll -0.49 - - 2011 - 2.50 0.082 3697 565.6 -116.8 - - 3212 - - - - - - - - 14.89 14.31 14.92
3612 316.9 -7.8 162 3618 done -0.49 - - 2011 - 2.42 0.042 2278 -586.4 -116.8 - - 3212 - - - - - - - - 14.47 14.43 14.50
3977 347.1 -8.4 172 3982 roll -0.49 0.12 0.249 2041 250.0 2.42 0.053 890 -573.6 -116.8 - - 3210 - - - - - - - - 14.24 14.38 14.40
4034 351.3 -7.1 180 4038 done -0.54 - - 2040 - 2.47 0.057 2279 562.3 -116.8 - - 3210 - - - - - - - - 14.50 14.38 14.54
4369 373.7 -6.7 193 4374 roll -0.54 - - 2039 - 2.53 0.085 3694 559.3 -116.8 - - 3209 - - - - - - - - 14.86 14.30 14.88
4418 377.0 -6.8 200 4425 done -0.61 0.12 0.133 1984 -458.3 2.40 0.045 2263 -596.2 -116.8 - - 3209 - - - - - - - - 14.32 14.42 14.42
4761 409.9 -9.8 207 4765 roll -0.61 - - 1984 - 2.40 0.057 902 -567.1 -116.8 - - 3206 - - - - - - - - 14.90 14.34 14.91
4844 418.3 -9.9 219 4849 done -0.61 - - 1983 - 2.45 0.062 2265 556.3 -116.8 - - 3207 - - - - - - - - 14.44 14.31 14.49
5209 454.9 -10.1 229 5210 done -0.61 - - 1983 - - - 2265 - -116.8 - - 3204 - - - - - - - - 14.88 14.90 14.90
5545 487.1 -9.4 235 5549 roll -0.61 - - 1983 - 2.42 0.052 900 -564.0 -116.8 - - 3204 - - - - - - - - 14.90 14.35 14.92
5579 490.5 -10.1 240 5584 done -0.61 - - 1983 - 2.47 0.060 2272 555.5 -116.8 - - 3202 - - - - - - - - 14.40 14.25 14.45
5937 523.3 -9.1 249 5942 roll -0.61 - - 1974 - 2.55 0.085 3693 557.3 -116.8 - - 3201 - - - - - - - - 14.86 14.24 14.88
5979 527.1 -9.3 255 5984 done -0.61 0.12 0.238 2001 225.0 2.40 0.046 2283 -587.5 -116.8 - - 3201 - - - - - - - - 14.07 14.45 14.28
6329 554.1 -7.6 263 6333 roll -0.61 - - 2002 - 2.45 0.054 880 -572.7 -116.8 - - 3200 - - - - - - - - 14.85 14.32 14.88
6406 559.8 -7.2 274 6411 done -0.61 - - 1999 - 2.50 0.060 2278 559.2 -116.8 - - 3199 - - - - - - - - 14.44 14.31 14.48
6721 582.2 -7.1 284 6725 roll -0.61 - - 1999 - 2.55 0.089 3688 552.9 -116.8 - - 3199 - - - - - - - - 14.85 14.20 14.88
6755 584.7 -7.4 289 6760 done -0.61 - - 1998 - 2.42 0.045 2263 -588.8 -116.8 - - 3197 - - - - - - - - 14.52 14.45 14.54
7114 612.3 -8.0 298 7119 roll -0.61 - - 1998 - 2.40 0.054 883 -575.0 -116.8 - - 3196 - - - - - - - - 14.88 14.32 14.89
7210 620.7 -8.6 312 7215 done -0.61 - - 1998 - 2.53 0.060 2258 543.5 -116.8 - - 3196 - - - - - - - - 14.26 14.20 14.31
7561 650.5 -8.5 320 7565 roll -0.61 - - 1998 - 2.60 0.086 3701 555.0 -116.8 - - 3194 - - - - - - - - 14.85 14.18 14.87
7624 655.7 -8.5 329 7628 done -0.61 - - 1998 - 2.45 0.044 2257 -589.4 -116.8 - - 3193 - - - - - - - - 14.50 14.43 14.52
7953 681.5 -7.8 341 7957 roll -0.61 - - 1998 - 2.40 0.055 890 -569.6 -116.8 - - 3192 - - - - - - - - 14.84 14.26 14.87
8029 687.7 -7.6 352 8034 done -0.61 - - 1998 - 2.50 0.060 2274 553.6 -116.8 - - 3193 - - - - - - - - 14.35 14.21 14.40
8346 712.1 -7.8 362 8351 roll -0.61 - - 1994 - 2.58 0.089 3690 548.8 -116.8 - - 3192 - - - - - - - - 14.83 14.16 14.85
8379 715.0 -8.4 367 8385 done -0.61 - - 1994 - 2.50 0.047 2261 -571.6 -116.8 - - 3192 - - - - - - - - 14.35 14.31 14.38
8737 743.9 -8.1 376 8741 roll -0.61 - - 1994 - 2.42 0.057 882 -569.8 -116.8 - - 3190 - - - - - - - - 14.87 14.25 14.88
8807 749.6 -8.0 386 8812 done -0.61 - - 1986 - 2.53 0.060 2272 549.4 -116.8 - - 3190 - - - - - - - - 14.35 14.23 14.39
9129 775.5 -8.1 397 9133 roll -0.61 - - 1985 - 2.60 0.093 3691 545.8 -116.8 - - 3189 - - - - - - - - 14.87 14.10 14.88
9185 779.6 -7.2 405 9190 done -0.61 - - 1985 - 2.47 0.048 2262 -578.5 -116.8 - - 3188 - - - - - - - - 14.42 14.34 14.45
9522 806.2 -7.8 418 9528 roll -0.61 - - 1985 - 2.45 0.057 878 -564.9 -116.8 - - 3188 - - - - - - - - 14.85 14.20 14.87
9577 810.8 -8.0 426 9583 done -0.61 - - 1985 - 2.55 0.063 2264 543.5 -116.8 - - 3188 - - - - - - - - 14.31 14.17 14.35
9913 837.4 -8.0 439 9918 roll -0.61 - - 1980 - 2.62 0.090 3697 546.9 -116.8 - - 3187 - - - - - - - - 14.82 14.07 14.84
9982 843.1 -8.3 449 9987 done -0.61 - - 1980 - 2.47 0.048 2263 -580.6 -116.8 - - 3186 - - - - - - - - 14.38 14.28 14.42
10305 870.2 -8.3 460 10310 roll -0.61 - - 1980 - 2.45 0.056 883 -563.3 -116.8 - - 3186 - - - - - - - - 14.82 14.19 14.83
10395 878.2 -8.8 473 10401 done -0.61 0.10 0.289 1997 170.0 2.53 0.061 2270 548.2 -116.8 - - 3186 - - - - - - - - 13.85 14.16 14.10
10754 906.2 -7.9 482 10760 roll -0.61 - - 1987 - 2.62 0.090 3700 545.8 -116.8 - - 3185 - - - - - - - - 14.81 14.07 14.83
10802 910.3 -7.5 489 10809 done -0.61 - - 1987 - 2.53 0.049 2257 -570.4 -116.8 - - 3184 - - - - - - - - 14.25 14.21 14.28
11146 938.6 -8.1 496 11150 roll -0.61 - - 1987 - 2.47 0.060 882 -556.7 -116.8 - - 3184 - - - - - - - - 14.84 14.14 14.85
11209 943.8 -9.3 505 11214 done -0.61 - - 1986 - 2.55 0.063 2270 544.3 -116.8 - - 3183 - - - - - - - - 14.26 14.12 14.31
11538 969.3 -7.7 517 11542 roll -0.61 - - 1984 - 2.65 0.095 3697 538.5 -116.8 - - 3183 - - - - - - - - 14.83 13.93 14.85
11594 973.6 -7.6 525 11599 done -0.61 - - 1985 - 2.50 0.050 2266 -572.4 -116.8 - - 3182 - - - - - - - - 14.35 14.28 14.38
11870 end dive: TARGET_DEPTH_EXCEEDED
11870 begin apogee
11880 994.0 -7.3 537 12023 roll -0.19 0.55 0.214 2131 265.5 - - 2190 - - 136.88 2.765 2742 -3.2 0.230 - - - - 1 - 13.73 13.63 12.31
12025 end apogee: CONTROL_FINISHED_OK
12025 begin climb
12029 997.3 - 539 12198 roll 0.68 0.95 0.145 2404 287.4 2.75 0.091 3609 516.0 116.8 155.02 1.867 2255 -3.1 0.334 - - - - - - 13.65 13.71 12.70
12313 974.8 12.7 585 12318 done 0.62 - - 2417 - 2.47 0.057 2212 -565.6 116.8 - - 2241 - - - - - - - - 14.27 14.19 14.31
12662 938.1 10.5 593 12667 roll 0.57 0.12 0.274 2384 -275.0 2.58 0.082 3615 543.8 116.8 - - 2236 - - - - - - - - 14.09 14.25 14.25
12786 925.3 9.9 611 12791 done 0.57 - - 2393 - 2.47 0.057 2194 -575.3 116.8 - - 2235 - - - - - - - - 14.50 14.40 14.54
13110 895.5 9.3 622 13115 roll 0.57 - - 2404 - 2.53 0.071 797 -552.2 116.8 - - 2233 - - - - - - - - 14.78 14.33 14.80
13185 888.7 8.8 633 13190 done 0.57 - - 2404 - 2.53 0.057 2205 556.5 116.8 - - 2233 - - - - - - - - 14.47 14.34 14.52
13501 860.8 8.8 643 13506 roll 0.57 - - 2404 - 2.55 0.089 3609 550.6 116.8 - - 2231 - - - - - - - - 14.83 14.30 14.85
13571 854.0 9.4 653 13576 done 0.51 0.20 0.262 2368 -180.0 2.45 0.054 2198 -575.9 116.8 - - 2230 - - - - - - - - 14.00 14.40 14.33
13893 833.8 6.0 664 13933 roll 0.53 - - 2378 - 2.60 0.072 792 -540.8 148.6 36.15 1.810 2128 -2.8 0.259 - - - - - - 14.84 14.33 13.37
14015 826.9 6.0 681 14059 done 0.55 - - 2378 - 2.55 0.060 2202 552.9 179.4 38.90 1.793 2007 -3.1 0.286 - - - - - - 14.42 14.31 13.24
14393 804.2 5.9 700 14438 roll 0.57 - - 2378 - 2.65 0.090 3613 532.5 212.6 40.20 1.757 1866 -3.5 0.320 - - - - - - 14.70 14.21 13.31
14480 798.5 7.0 713 14486 done 0.57 - - 2387 - 2.50 0.054 2194 -567.6 219.5 1.85 0.189 1843 -12.4 10.467 - - - - - - 14.35 14.26 14.09
14838 775.7 6.3 722 14884 roll 0.59 - - 2397 - 2.58 0.073 799 -540.7 244.6 37.85 1.722 1738 -2.8 0.249 - - - - - - 14.73 14.25 13.36
14974 766.7 6.9 741 14985 done 0.64 - - 2398 - 2.53 0.058 2197 552.6 253.8 3.40 1.101 1703 -10.3 1.428 - - - - - - 14.39 14.28 12.97
15342 736.6 8.4 752 15347 roll 0.64 - - 2397 - 2.55 0.086 3609 553.7 253.8 - - 1711 - - - - - - - - 14.74 14.31 14.76
15390 731.8 10.0 759 15397 done 0.64 - - 2406 - 2.50 0.054 2197 -564.8 253.8 - - 1711 - - - - - - - - 14.47 14.35 14.50
15735 698.5 9.8 766 15741 roll 0.64 - - 2416 - 2.53 0.072 795 -554.2 253.8 - - 1711 - - - - - - - - 14.78 14.31 14.79
15824 689.5 9.9 779 15830 done 0.64 - - 2417 - 2.50 0.059 2189 557.6 253.8 - - 1710 - - - - - - - - 14.48 14.37 14.52
16182 651.8 10.6 788 16187 roll 0.64 - - 2416 - 2.55 0.086 3608 556.5 253.8 - - 1711 - - - - - - - - 14.83 14.28 14.84
16245 644.7 11.4 797 16250 done 0.64 - - 2426 - 2.47 0.054 2190 -574.1 253.8 - - 1710 - - - - - - - - 14.48 14.38 14.52
16575 607.8 11.2 809 16579 roll 0.64 - - 2437 - 2.50 0.069 796 -557.6 253.8 - - 1710 - - - - - - - - 14.80 14.28 14.82
16643 600.3 10.4 819 16649 done 0.64 - - 2437 - 2.50 0.057 2194 559.2 253.8 - - 1710 - - - - - - - - 14.45 14.34 14.50
16967 563.9 11.3 830 16973 roll 0.64 - - 2437 - 2.58 0.086 3614 550.4 253.8 - - 1710 - - - - - - - - 14.80 14.25 14.82
17028 556.4 11.7 839 17034 done 0.64 0.10 0.233 2418 -190.0 2.53 0.054 2197 -560.1 253.8 - - 1711 - - - - - - - - 13.95 14.28 14.10
17358 523.6 9.9 851 17363 roll 0.64 - - 2422 - 2.53 0.070 787 -557.3 253.8 - - 1711 - - - - - - - - 14.83 14.26 14.85
17435 516.2 9.5 862 17441 done 0.64 - - 2426 - 2.53 0.058 2189 554.2 253.8 - - 1708 - - - - - - - - 14.42 14.30 14.45
17750 483.3 10.6 872 17755 roll 0.64 - - 2426 - 2.55 0.083 3608 556.5 253.8 - - 1710 - - - - - - - - 14.83 14.21 14.85
17813 476.0 11.3 881 17818 done 0.64 - - 2436 - 2.50 0.053 2173 -574.0 253.8 - - 1710 - - - - - - - - 14.43 14.33 14.47
18143 440.1 10.9 893 18147 roll 0.64 - - 2445 - 2.50 0.069 786 -554.8 253.8 - - 1710 - - - - - - - - 14.83 14.21 14.85
18211 432.7 10.4 903 18217 done 0.64 0.15 0.243 2412 -220.0 2.53 0.057 2190 554.9 253.8 - - 1710 - - - - - - - - 13.94 14.26 14.21
18535 404.5 8.6 914 18541 roll 0.64 - - 2411 - 2.58 0.083 3609 550.0 253.8 - - 1710 - - - - - - - - 14.79 14.18 14.81
18611 397.1 9.7 925 18616 done 0.64 - - 2420 - 2.50 0.051 2180 -571.6 253.8 - - 1711 - - - - - - - - 14.42 14.33 14.46
18927 367.8 9.4 935 18931 roll 0.64 - - 2429 - 2.53 0.070 783 -552.2 253.8 - - 1710 - - - - - - - - 14.81 14.21 14.83
18997 361.2 9.3 945 19001 done 0.64 - - 2429 - 2.53 0.057 2189 555.7 253.8 - - 1710 - - - - - - - - 14.40 14.28 14.44
19319 330.2 9.6 956 19323 roll 0.64 - - 2429 - 2.58 0.082 3614 552.3 253.8 - - 1710 - - - - - - - - 14.81 14.16 14.83
19395 322.7 9.5 967 19400 done 0.64 - - 2438 - 2.50 0.053 2188 -570.4 253.8 - - 1710 - - - - - - - - 14.40 14.29 14.44
19712 294.8 8.8 977 19717 roll 0.64 - - 2449 - 2.53 0.067 787 -553.8 253.8 - - 1710 - - - - - - - - 14.80 14.21 14.81
19787 288.0 8.5 988 19792 done 0.64 0.15 0.233 2413 -240.0 2.53 0.057 2188 553.8 253.8 - - 1710 - - - - - - - - 13.93 14.22 14.18
20104 262.7 8.2 998 20109 roll 0.64 - - 2413 - 2.58 0.082 3607 550.0 253.8 - - 1711 - - - - - - - - 14.83 14.17 14.83
20165 256.5 10.0 1007 20171 done 0.64 - - 2419 - 2.55 0.050 2177 -560.8 253.8 - - 1709 - - - - - - - - 14.27 14.22 14.32
20495 224.0 9.9 1019 20499 roll 0.64 - - 2424 - 2.50 0.070 798 -551.6 253.8 - - 1710 - - - - - - - - 14.80 14.16 14.82
20558 218.0 9.3 1028 20563 done 0.70 - - 2424 - 2.50 0.054 2195 558.8 253.8 - - 1710 - - - - - - - - 14.38 14.26 14.42
20887 183.7 10.7 1040 20891 roll 0.70 - - 2424 - 2.55 0.081 3609 554.5 253.8 - - 1710 - - - - - - - - 14.81 14.15 14.82
20956 175.6 11.6 1050 20962 done 0.70 - - 2432 - 2.47 0.048 2189 -574.9 253.8 - - 1711 - - - - - - - - 14.38 14.27 14.41
21280 142.5 10.1 1061 21285 roll 0.70 - - 2442 - 2.50 0.065 794 -558.0 253.8 - - 1711 - - - - - - - - 14.79 14.21 14.81
21355 135.6 8.8 1072 21360 done 0.70 - - 2442 - 2.50 0.054 2188 557.6 253.8 - - 1711 - - - - - - - - 14.36 14.23 14.40
21671 109.5 8.0 1082 21676 roll 0.70 - - 2442 - 2.58 0.080 3615 553.1 253.8 - - 1710 - - - - - - - - 14.80 14.13 14.82
21741 103.1 9.0 1092 21745 done 0.70 - - 2451 - 2.50 0.050 2188 -570.8 253.8 - - 1708 - - - - - - - - 14.40 14.31 14.44
22063 74.8 9.1 1108 22067 roll 0.70 - - 2451 - 2.53 0.067 791 -552.2 253.8 - - 1711 - - - - - - - - 14.78 14.16 14.80
22126 69.8 7.8 1117 22131 done 0.75 - - 2451 - 2.50 0.054 2190 559.6 253.8 - - 1711 - - - - - - - - 14.36 14.25 14.40
22455 46.5 6.3 1131 22483 roll 0.83 - - 2451 - 2.58 0.078 3607 549.2 278.3 18.23 0.263 1606 -5.8 0.203 - - - - - - 14.78 14.28 13.94
22533 41.7 6.6 1142 22552 done 0.90 0.12 0.134 2498 391.7 2.50 0.047 2165 -576.8 296.1 13.45 0.256 1533 -5.4 0.176 - - - - - - 14.28 14.33 13.99
22879 24.9 2.2 1158 22966 roll 1.07 0.12 0.135 2559 508.3 2.60 0.074 3615 557.7 419.3 79.50 0.201 1028 -6.4 0.157 - - - - - - 14.38 14.33 14.13
23035 10.8 10.6 1181 23042 done 1.07 - - 2568 - 2.53 0.049 2189 -563.6 419.3 - - 1030 - - - - - - - - 14.31 14.26 14.35
23123 end climb: SURFACE_DEPTH_REACHED
23123 begin surface coast
23152 end surface coast: CONTROL_FINISHED_OK
23152 begin surface
SM 0.72 - - - - -6.14 6.78 0.059 208 30.7 0.20 0.086 2306 6380.0 500.17 51.45 0.138 698 13.6 -0.007 - - - - - -