SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 461 * Raw log
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• Previous call tries 1 • 181.61 of 350.00 AH used of 24V (48.11% 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: 36 s
• GPS2 time: 15 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 110 VBD -0.68 - - 186 - - - 2314 - -116.8 -84.10 - 2774 - - - - - - - - 14.66 - 14.69
114 3.4 -4.3 3 138 roll -0.68 9.12 0.404 1981 196.8 2.85 2.021 865 -508.4 -116.8 -8.77 - 3219 -50.7 - - - - - - - 13.88 13.14 14.32
195 25.7 -20.2 15 200 done -0.50 0.25 0.267 2032 204.0 2.47 0.057 2261 565.2 -116.8 - - 3219 - - - - - - - - 14.02 14.38 14.32
531 67.8 -8.5 30 535 roll -0.44 - - 2020 - 2.50 0.073 3701 576.0 -116.8 - - 3222 - - - - - - - - 14.79 14.33 14.81
678 81.1 -7.6 51 683 done -0.40 0.17 0.213 2065 264.7 2.40 0.037 2240 -608.8 -116.8 - - 3222 - - - - - - - - 14.07 14.49 14.32
1006 98.7 -5.9 65 1012 roll -0.40 - - 2065 - 2.33 0.052 893 -578.1 -116.8 - - 3222 - - - - - - - - 14.84 14.41 14.85
1083 104.1 -7.6 76 1088 done -0.40 - - 2066 - 2.47 0.054 2299 569.2 -116.8 - - 3222 - - - - - - - - 14.52 14.42 14.61
1399 128.5 -7.9 86 1404 roll -0.40 - - 2058 - 2.40 0.077 3700 583.8 -116.8 - - 3222 - - - - - - - - 14.85 14.34 14.88
1468 134.2 -8.2 96 1473 done -0.46 - - 2058 - 2.35 0.041 2287 -601.3 -116.8 - - 3222 - - - - - - - - 14.57 14.51 14.59
1792 158.4 -7.3 107 1796 roll -0.46 - - 2058 - 2.42 0.053 885 -579.3 -116.8 - - 3220 - - - - - - - - 14.88 14.42 14.90
1874 164.5 -6.9 119 1879 done -0.52 - - 2056 - 2.47 0.056 2284 566.4 -116.8 - - 3221 - - - - - - - - 14.52 14.40 14.55
2239 186.8 -6.0 129 2244 roll -0.52 - - 2056 - 2.50 0.080 3695 564.4 -116.8 - - 3219 - - - - - - - - 14.87 14.32 14.89
2309 191.0 -5.9 139 2314 done -0.60 0.15 0.116 1988 -453.3 2.38 0.042 2270 -598.7 -116.8 - - 3219 - - - - - - - - 14.44 14.51 14.53
2631 221.9 -10.0 150 2636 roll -0.55 0.12 0.262 2022 283.3 2.40 0.053 894 -573.3 -116.8 - - 3217 - - - - - - - - 14.16 14.38 14.28
2721 230.4 -8.9 163 2726 done -0.55 - - 2015 - 2.47 0.056 2285 563.2 -116.8 - - 3217 - - - - - - - - 14.50 14.39 14.54
3079 263.9 -9.4 172 3083 roll -0.55 - - 2011 - 2.50 0.081 3692 562.8 -116.8 - - 3214 - - - - - - - - 14.90 14.31 14.91
3135 269.0 -9.2 180 3139 done -0.55 - - 2011 - 2.38 0.042 2281 -592.9 -116.8 - - 3214 - - - - - - - - 14.57 14.51 14.59
3471 299.6 -9.0 193 3477 roll -0.55 - - 2013 - 2.42 0.054 890 -574.8 -116.8 - - 3212 - - - - - - - - 14.87 14.38 14.89
3553 307.4 -8.9 205 3560 done -0.55 - - 2011 - 2.47 0.057 2280 562.8 -116.8 - - 3212 - - - - - - - - 14.48 14.35 14.52
3918 337.9 -8.1 215 3923 roll -0.55 - - 2008 - 2.53 0.081 3700 561.3 -116.8 - - 3210 - - - - - - - - 14.87 14.30 14.89
4032 345.6 -6.7 231 4036 done -0.55 - - 2008 - 2.40 0.042 2277 -592.9 -116.8 - - 3208 - - - - - - - - 14.55 14.49 14.57
4366 370.3 -7.6 244 4371 roll -0.55 - - 2008 - 2.42 0.055 893 -571.9 -116.8 - - 3206 - - - - - - - - 14.90 14.35 14.91
4423 375.0 -8.5 252 4428 done -0.55 - - 2008 - 2.50 0.059 2283 556.0 -116.8 - - 3207 - - - - - - - - 14.46 14.34 14.50
4759 404.7 -9.0 265 4766 roll -0.55 - - 2001 - 2.50 0.080 3695 564.8 -116.8 - - 3205 - - - - - - - - 14.89 14.21 14.90
4807 409.4 -9.6 272 4814 done -0.55 - - 2001 - 2.45 0.044 2278 -578.4 -116.8 - - 3204 - - - - - - - - 14.42 14.40 14.45
5152 443.2 -9.9 279 5157 roll -0.55 - - 2000 - 2.45 0.056 888 -567.3 -116.8 - - 3202 - - - - - - - - 14.89 14.33 14.90
5207 448.8 -9.9 287 5212 done -0.55 - - 1999 - 2.53 0.060 2286 552.6 -116.8 - - 3202 - - - - - - - - 14.43 14.32 14.47
5543 481.4 -9.7 300 5548 roll -0.55 - - 1997 - 2.55 0.086 3701 554.9 -116.8 - - 3201 - - - - - - - - 14.85 14.23 14.88
5585 485.4 -9.4 306 5590 done -0.55 - - 1997 - 2.42 0.044 2274 -589.7 -116.8 - - 3199 - - - - - - - - 14.52 14.45 14.54
5935 516.3 -8.6 314 5936 done -0.55 - - 1997 - - - 2264 - -116.8 - - 3200 - - - - - - - - 14.86 14.88 14.88
6271 543.5 -8.0 320 6276 roll -0.55 - - 1997 - 2.45 0.058 889 -561.2 -116.8 - - 3198 - - - - - - - - 14.85 14.29 14.88
6327 548.3 -8.7 328 6332 done -0.55 - - 1996 - 2.53 0.061 2280 549.8 -116.8 - - 3198 - - - - - - - - 14.39 14.28 14.45
6664 577.2 -8.7 341 6670 roll -0.55 - - 1988 - 2.55 0.085 3694 554.5 -116.8 - - 3196 - - - - - - - - 14.85 14.20 14.86
6697 580.3 -8.5 346 6703 done -0.55 0.12 0.233 2017 241.7 2.42 0.047 2281 -583.9 -116.8 - - 3196 - - - - - - - - 14.04 14.41 14.26
7055 605.8 -7.0 355 7061 roll -0.55 - - 2016 - 2.47 0.057 880 -567.2 -116.8 - - 3194 - - - - - - - - 14.85 14.19 14.87
7118 610.3 -7.0 364 7123 done -0.55 - - 2015 - 2.55 0.060 2289 552.5 -116.8 - - 3194 - - - - - - - - 14.32 14.17 14.38
7447 632.0 -6.6 376 7452 roll -0.55 - - 2015 - 2.55 0.087 3688 548.6 -116.8 - - 3193 - - - - - - - - 14.84 14.18 14.86
7490 634.8 -6.7 382 7494 done -0.55 - - 2013 - 2.42 0.047 2266 -587.6 -116.8 - - 3193 - - - - - - - - 14.49 14.42 14.52
7839 657.6 -6.5 390 7840 done -0.55 - - 2013 - - - 2258 - -116.8 - - 3191 - - - - - - - - 14.88 14.89 14.89
8175 680.0 -6.7 396 8180 roll -0.55 - - 2013 - 2.47 0.059 885 -555.9 -116.8 - - 3190 - - - - - - - - 14.87 14.23 14.88
8216 683.0 -7.3 402 8221 done -0.55 - - 2012 - 2.55 0.063 2282 547.8 -116.8 - - 3193 - - - - - - - - 14.34 14.21 14.39
8568 707.1 -6.9 410 8573 roll -0.55 - - 2011 - 2.60 0.089 3701 545.8 -116.8 - - 3187 - - - - - - - - 14.82 14.10 14.84
8601 709.6 -7.6 415 8607 done -0.55 - - 2011 - 2.50 0.047 2277 -569.6 -116.8 - - 3188 - - - - - - - - 14.32 14.28 14.35
8959 736.3 -7.7 424 8964 roll -0.55 - - 2013 - 2.50 0.060 885 -556.8 -116.8 - - 3187 - - - - - - - - 14.83 14.19 14.84
9001 739.7 -8.2 430 9006 done -0.55 - - 2012 - 2.55 0.063 2283 548.2 -116.8 - - 3186 - - - - - - - - 14.34 14.21 14.39
9351 766.6 -7.6 438 9356 roll -0.55 - - 2012 - 2.60 0.090 3701 545.4 -116.8 - - 3186 - - - - - - - - 14.83 14.09 14.84
9420 771.7 -7.2 448 9425 done -0.60 - - 2011 - 2.47 0.048 2269 -579.8 -116.8 - - 3186 - - - - - - - - 14.40 14.33 14.43
9744 792.8 -6.5 459 9749 roll -0.60 - - 2011 - 2.47 0.061 891 -557.9 -116.8 - - 3185 - - - - - - - - 14.84 14.15 14.86
9799 796.7 -6.8 467 9804 done -0.60 - - 2012 - 2.55 0.062 2279 544.3 -116.8 - - 3186 - - - - - - - - 14.28 14.14 14.33
10136 817.4 -6.2 480 10141 roll -0.60 - - 2011 - 2.60 0.090 3693 543.8 -116.8 - - 3184 - - - - - - - - 14.84 14.06 14.85
10197 821.3 -6.2 489 10203 done -0.66 - - 2011 - 2.47 0.050 2266 -577.7 -116.8 - - 3183 - - - - - - - - 14.38 14.29 14.41
10527 842.4 -6.5 501 10533 roll -0.66 - - 2011 - 2.50 0.063 892 -549.6 -116.8 - - 3182 - - - - - - - - 14.81 14.13 14.83
10576 845.5 -7.1 508 10582 done -0.66 - - 2011 - 2.58 0.063 2284 539.5 -116.8 - - 3183 - - - - - - - - 14.26 14.12 14.31
10919 869.2 -7.0 515 10924 roll -0.66 - - 2011 - 2.60 0.091 3694 542.3 -116.8 - - 3182 - - - - - - - - 14.84 14.04 14.85
10988 874.2 -7.1 525 10995 done -0.71 0.15 0.122 1956 -366.7 2.45 0.050 2277 -578.4 -116.8 - - 3181 - - - - - - - - 14.19 14.25 14.30
11313 906.0 -10.1 536 11318 roll -0.67 - - 1955 - 2.50 0.059 898 -551.6 -116.8 - - 3181 - - - - - - - - 14.79 14.12 14.81
11387 913.5 -9.8 547 11393 done -0.67 0.10 0.251 1973 180.0 2.58 0.062 2274 533.3 -116.8 - - 3181 - - - - - - - - 13.64 14.02 13.81
11704 940.6 -8.5 557 11709 roll -0.67 - - 1970 - 2.65 0.093 3703 539.2 -116.8 - - 3181 - - - - - - - - 14.79 13.98 14.81
11765 946.0 -8.5 566 11770 done -0.67 - - 1970 - 2.47 0.049 2282 -575.3 -116.8 - - 3180 - - - - - - - - 14.33 14.23 14.36
12095 974.1 -8.6 578 12100 roll -0.67 - - 1970 - 2.53 0.060 885 -552.2 -116.8 - - 3180 - - - - - - - - 14.80 14.08 14.82
12158 979.6 -8.7 587 12163 done -0.67 - - 1968 - 2.60 0.064 2289 540.0 -116.8 - - 3180 - - - - - - - - 14.19 14.07 14.25
12315 end dive: TARGET_DEPTH_EXCEEDED
12315 begin apogee
12324 993.3 -8.6 596 12479 roll -0.19 0.62 0.223 2130 261.3 - - 2185 - - 148.73 2.532 2742 -2.9 0.230 - - - - 1 - 13.64 13.65 12.33
12481 end apogee: CONTROL_FINISHED_OK
12481 begin climb
12486 997.9 - 598 12656 roll 0.68 0.93 0.141 2408 298.9 2.62 0.061 803 -527.5 116.8 158.02 1.881 2255 -3.1 0.325 - - - - - - 13.69 13.76 12.74
12764 985.9 7.0 645 12772 done 0.68 - - 2408 - 2.60 0.059 2210 541.2 125.7 3.03 0.979 2225 -9.9 1.984 - - - - - - 14.27 14.16 12.74
13104 960.3 7.6 652 13109 roll 0.68 - - 2418 - 2.53 0.067 821 -549.0 125.7 - - 2228 - - - - - - - - 14.73 14.36 14.76
13250 949.4 7.3 673 13256 done 0.68 - - 2418 - 2.50 0.059 2203 552.8 126.7 - - 2228 - - - - - - - - 14.46 14.35 14.50
13609 921.0 8.1 682 13614 roll 0.63 - - 2418 - 2.55 0.088 3616 554.1 126.7 - - 2228 - - - - - - - - 14.78 14.29 14.79
13670 915.0 9.7 691 13676 done 0.56 0.17 0.277 2387 -182.4 2.42 0.057 2221 -576.4 126.7 - - 2227 - - - - - - - - 13.97 14.38 14.29
14001 890.1 7.6 703 14006 roll 0.56 - - 2397 - 2.58 0.073 801 -550.4 126.7 - - 2227 - - - - - - - - 14.81 14.28 14.83
14097 882.7 7.5 717 14103 done 0.56 - - 2397 - 2.53 0.059 2197 551.8 126.7 - - 2226 - - - - - - - - 14.42 14.31 14.47
14448 855.1 8.0 725 14454 roll 0.56 - - 2397 - 2.58 0.089 3612 548.4 126.7 - - 2226 - - - - - - - - 14.81 14.21 14.83
14511 849.4 9.1 734 14516 done 0.56 - - 2407 - 2.47 0.056 2197 -572.9 126.7 - - 2226 - - - - - - - - 14.45 14.35 14.48
14840 821.5 8.5 746 14845 roll 0.56 - - 2418 - 2.55 0.073 794 -550.2 126.7 - - 2223 - - - - - - - - 14.81 14.22 14.82
14909 815.7 8.2 756 14915 done 0.56 0.15 0.256 2385 -220.0 2.55 0.060 2204 552.9 126.7 - - 2226 - - - - - - - - 13.93 14.26 14.21
15233 792.4 7.2 767 15243 roll 0.56 - - 2385 - 2.60 0.089 3605 538.8 129.2 2.28 0.508 2209 -7.5 2.314 - - - - - - 14.79 14.31 12.98
15294 787.2 8.3 776 15300 done 0.56 - - 2393 - 2.50 0.056 2188 -566.8 129.2 - - 2215 - - - - - - - - 14.44 14.32 14.48
15625 761.4 7.9 788 15630 roll 0.56 - - 2404 - 2.53 0.070 798 -549.4 129.2 - - 2217 - - - - - - - - 14.79 14.21 14.81
15681 756.7 8.5 796 15686 done 0.56 - - 2403 - 2.55 0.059 2200 549.8 129.2 - - 2218 - - - - - - - - 14.37 14.26 14.42
16016 727.2 8.8 809 16022 roll 0.56 - - 2403 - 2.58 0.088 3611 546.9 129.2 - - 2218 - - - - - - - - 14.83 14.13 14.84
16093 719.8 9.6 820 16098 done 0.52 0.17 0.254 2373 -176.5 2.50 0.055 2187 -569.6 129.2 - - 2218 - - - - - - - - 13.88 14.31 14.16
16409 697.0 7.1 830 16420 roll 0.52 - - 2383 - 2.53 0.071 783 -554.9 134.4 5.88 1.725 2194 -4.1 0.328 - - - - - - 14.79 14.39 13.26
16513 689.3 7.4 845 16520 done 0.52 - - 2383 - 2.55 0.060 2199 555.3 134.4 - - 2199 - - - - - - - - 14.50 14.38 14.53
16856 662.8 7.8 852 16861 roll 0.52 - - 2383 - 2.58 0.088 3614 548.4 134.4 - - 2200 - - - - - - - - 14.81 14.22 14.83
16918 657.4 8.8 861 16925 done 0.52 - - 2392 - 2.50 0.057 2193 -568.4 134.4 - - 2200 - - - - - - - - 14.41 14.29 14.45
17249 631.1 7.9 873 17255 roll 0.52 - - 2401 - 2.55 0.072 788 -551.0 134.4 - - 2200 - - - - - - - - 14.81 14.19 14.83
17304 626.8 7.7 881 17311 done 0.52 0.15 0.249 2369 -213.3 2.55 0.058 2194 551.4 134.4 1.77 0.209 2190 -5.6 3.371 - - - - - - 13.94 14.27 14.03
17643 605.2 6.3 894 17689 roll 0.53 - - 2368 - 2.62 0.088 3607 539.3 158.6 41.10 1.640 2087 -2.5 0.184 - - - - - - 14.79 14.29 13.35
17762 597.1 7.3 911 17767 done 0.53 - - 2377 - 2.47 0.054 2189 -574.1 159.1 - - 2075 - - - - - - - - 14.40 14.31 14.42
18083 576.7 6.2 922 18122 roll 0.55 - - 2380 - 2.60 0.073 795 -536.2 185.3 31.35 1.610 1973 -3.3 0.232 - - - - - - 14.74 14.29 13.38
18191 570.2 6.3 937 18227 done 0.63 - - 2380 - 2.58 0.058 2207 547.3 209.7 29.90 1.567 1879 -3.1 0.228 - - - - - - 14.36 14.26 13.31
18590 543.5 6.8 952 18600 roll 0.68 0.12 0.137 2437 475.0 2.50 0.083 3607 560.0 222.0 4.80 1.336 1835 -9.2 0.742 - - - - - - 14.33 13.99 13.09
18649 537.0 11.1 961 18655 done 0.68 - - 2447 - 2.45 0.053 2200 -574.3 222.0 - - 1841 - - - - - - - - 14.47 14.38 14.50
18978 500.6 11.2 973 18984 roll 0.68 - - 2457 - 2.55 0.072 798 -549.8 222.0 - - 1844 - - - - - - - - 14.76 14.24 14.77
19076 489.7 10.8 987 19082 done 0.68 0.15 0.265 2425 -213.3 2.53 0.057 2196 552.6 222.0 - - 1841 - - - - - - - - 13.95 14.30 14.23
19426 454.9 9.9 995 19431 roll 0.68 - - 2424 - 2.58 0.085 3613 549.2 222.0 - - 1841 - - - - - - - - 14.79 14.20 14.81
19475 449.6 11.2 1002 19481 done 0.68 - - 2434 - 2.53 0.053 2185 -564.4 222.0 - - 1841 - - - - - - - - 14.40 14.28 14.44
19819 414.4 10.2 1009 19825 roll 0.68 - - 2444 - 2.53 0.069 788 -552.2 222.0 - - 1841 - - - - - - - - 14.81 14.22 14.83
19901 406.0 9.8 1021 19908 done 0.68 - - 2444 - 2.55 0.057 2196 552.2 222.0 - - 1840 - - - - - - - - 14.38 14.24 14.42
20266 366.6 11.0 1031 20271 roll 0.68 - - 2444 - 2.58 0.084 3612 548.8 222.0 - - 1841 - - - - - - - - 14.80 14.16 14.82
20336 358.3 11.7 1041 20342 done 0.68 0.15 0.265 2420 -160.0 2.50 0.053 2181 -572.4 222.0 - - 1841 - - - - - - - - 13.92 14.32 14.20
20659 329.0 8.9 1052 20664 roll 0.68 - - 2430 - 2.53 0.067 786 -551.4 222.0 1.20 0.203 1833 -6.7 2.150 - - - - - - 14.80 14.07 13.93
20748 321.2 8.4 1065 20755 done 0.68 - - 2430 - 2.55 0.057 2196 552.9 222.0 - - 1837 - - - - - - - - 14.37 14.23 14.41
21107 288.0 9.4 1074 21112 roll 0.68 - - 2435 - 2.58 0.084 3616 550.4 222.0 - - 1837 - - - - - - - - 14.82 14.15 14.83
21162 282.3 10.2 1082 21167 done 0.68 - - 2438 - 2.53 0.055 2186 -565.2 222.0 - - 1836 - - - - - - - - 14.37 14.26 14.41
21500 249.9 9.7 1095 21505 roll 0.68 - - 2447 - 2.53 0.068 788 -552.6 222.0 - - 1837 - - - - - - - - 14.82 14.16 14.83
21568 242.9 9.9 1105 21574 done 0.68 - - 2447 - 2.55 0.057 2192 550.6 222.0 - - 1837 - - - - - - - - 14.33 14.19 14.38
21891 208.8 10.6 1116 21895 roll 0.68 - - 2447 - 2.58 0.083 3613 550.8 222.0 - - 1837 - - - - - - - - 14.79 14.12 14.81
21968 200.0 11.2 1127 21973 done 0.68 0.15 0.259 2423 -160.0 2.50 0.050 2175 -575.2 222.0 - - 1837 - - - - - - - - 13.88 14.29 14.15
22283 172.8 8.4 1137 22288 roll 0.68 - - 2432 - 2.53 0.069 787 -548.6 222.0 - - 1837 - - - - - - - - 14.79 14.12 14.81
22352 167.2 7.7 1147 22357 done 0.68 - - 2431 - 2.55 0.056 2194 551.8 222.0 - - 1837 - - - - - - - - 14.32 14.19 14.35
22676 137.7 9.5 1158 22681 roll 0.68 - - 2430 - 2.58 0.082 3613 550.0 222.0 - - 1837 - - - - - - - - 14.81 14.11 14.83
22731 131.6 10.9 1166 22736 done 0.68 - - 2440 - 2.53 0.050 2179 -566.8 222.0 - - 1837 - - - - - - - - 14.36 14.28 14.40
23067 101.3 8.6 1179 23072 roll 0.68 - - 2449 - 2.53 0.067 788 -549.8 222.0 - - 1837 - - - - - - - - 14.79 14.15 14.81
23144 94.9 8.4 1190 23150 done 0.68 - - 2450 - 2.55 0.055 2187 548.6 222.0 - - 1837 - - - - - - - - 14.26 14.14 14.29
23459 65.6 9.4 1202 23464 roll 0.68 - - 2450 - 2.58 0.079 3614 553.1 222.0 - - 1837 - - - - - - - - 14.81 14.07 14.83
23522 59.3 9.7 1211 23527 done 0.68 0.15 0.245 2425 -166.7 2.50 0.048 2181 -573.2 222.0 - - 1837 - - - - - - - - 13.88 14.28 14.14
23854 41.1 4.3 1225 23907 roll 0.81 0.12 0.130 2480 458.3 2.65 0.078 3611 539.6 293.8 46.90 0.256 1541 -6.3 0.202 - - - - - - 14.37 14.35 14.02
24131 27.9 4.4 1265 24180 done 0.94 - - 2487 - 2.47 0.047 2186 -576.9 363.2 44.55 0.216 1258 -6.4 0.163 - - - - - - 14.38 14.29 14.09
24493 9.8 5.9 1283 24521 roll 1.12 0.20 0.093 2598 555.0 2.50 0.061 784 -560.8 398.2 22.70 0.156 1114 -6.3 0.079 - - - - - - 14.38 14.28 14.09
24568 end climb: SURFACE_DEPTH_REACHED
24568 begin surface coast
24597 end surface coast: CONTROL_FINISHED_OK
24597 begin surface
SM 0.77 - - - - -6.14 6.90 0.063 214 31.0 2.72 0.056 2278 -3175.7 500.17 63.55 0.138 699 11.0 -0.006 - - - - - -