SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 469 * Raw log
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• Previous call tries 1 • 184.85 of 350.00 AH used of 24V (47.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.8 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.66 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 17 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 109 VBD -0.68 - - 201 - - - 2305 - -116.8 -84.07 - 2780 - - - - - - - - 14.67 - 14.69
113 3.2 -4.1 3 137 roll -0.68 9.40 0.421 1970 188.2 2.85 2.021 870 -503.5 -116.8 -8.43 - 3217 -51.8 - - - - - - - 13.83 13.14 14.31
207 32.0 -25.0 17 213 done -0.48 0.30 0.263 2034 213.3 2.50 0.060 2273 561.2 -116.8 - - 3218 - - - - - - - - 13.99 14.35 14.30
529 72.6 -9.1 30 534 roll -0.48 - - 2029 - 2.50 0.076 3702 571.6 -116.8 - - 3219 - - - - - - - - 14.80 14.33 14.82
586 77.9 -9.4 38 591 done -0.48 - - 2023 - 2.40 0.038 2253 -603.8 -116.8 - - 3219 - - - - - - - - 14.55 14.49 14.57
921 106.7 -8.2 52 926 roll -0.48 - - 2023 - 2.35 0.050 891 -579.6 -116.8 - - 3219 - - - - - - - - 14.87 14.42 14.89
1081 119.3 -7.6 75 1088 done -0.48 - - 2023 - 2.47 0.056 2269 557.9 -116.8 - - 3220 - - - - - - - - 14.40 14.35 14.45
1426 146.2 -7.9 82 1431 roll -0.48 - - 2016 - 2.53 0.080 3701 566.0 -116.8 - - 3219 - - - - - - - - 14.89 14.35 14.90
1460 149.0 -8.4 87 1465 done -0.48 - - 2016 - 2.38 0.039 2268 -602.1 -116.8 - - 3219 - - - - - - - - 14.57 14.51 14.59
1817 180.5 -8.9 96 1822 roll -0.48 - - 2015 - 2.40 0.054 893 -572.9 -116.8 - - 3217 - - - - - - - - 14.90 14.42 14.92
1943 191.9 -8.9 114 1948 done -0.48 - - 2015 - 2.42 0.057 2264 566.5 -116.8 - - 3217 - - - - - - - - 14.53 14.42 14.57
2265 223.4 -10.0 125 2271 roll -0.48 - - 2012 - 2.55 0.083 3701 563.5 -116.8 - - 3215 - - - - - - - - 14.90 14.33 14.92
2300 226.8 -10.2 130 2305 done -0.48 0.08 0.198 2036 300.0 2.45 0.041 2260 -588.2 -116.8 - - 3215 - - - - - - - - 14.16 14.46 14.27
2658 256.6 -8.2 139 2663 roll -0.48 - - 2036 - 2.38 0.053 896 -573.1 -116.8 - - 3213 - - - - - - - - 14.88 14.35 14.90
2734 262.6 -7.5 150 2739 done -0.53 - - 2036 - 2.42 0.057 2262 564.5 -116.8 - - 3213 - - - - - - - - 14.50 14.41 14.54
3051 285.6 -7.3 160 3055 roll -0.53 - - 2032 - 2.55 0.083 3700 563.9 -116.8 - - 3210 - - - - - - - - 14.89 14.33 14.91
3091 288.7 -7.4 166 3096 done -0.59 - - 2032 - 2.45 0.043 2260 -587.8 -116.8 - - 3210 - - - - - - - - 14.50 14.47 14.52
3441 316.1 -8.0 174 3447 roll -0.59 - - 2032 - 2.35 0.054 901 -578.3 -116.8 - - 3209 - - - - - - - - 14.90 14.34 14.92
3532 323.6 -8.1 187 3537 done -0.59 - - 2029 - 2.42 0.058 2260 561.6 -116.8 - - 3208 - - - - - - - - 14.49 14.38 14.53
3889 353.5 -8.4 196 3894 roll -0.59 - - 2025 - 2.55 0.083 3691 561.2 -116.8 - - 3207 - - - - - - - - 14.88 14.28 14.90
3938 357.5 -8.3 203 3944 done -0.64 - - 2025 - 2.45 0.044 2265 -582.0 -116.8 - - 3204 - - - - - - - - 14.44 14.41 14.54
4282 385.4 -8.1 210 4287 roll -0.64 - - 2025 - 2.40 0.055 891 -572.5 -116.8 - - 3204 - - - - - - - - 14.87 14.38 14.89
4315 388.3 -8.6 215 4321 done -0.64 - - 2025 - 2.50 0.058 2286 558.0 -116.8 - - 3204 - - - - - - - - 14.46 14.32 14.51
4674 417.6 -8.3 224 4678 roll -0.64 - - 2018 - 2.53 0.085 3701 559.3 -116.8 - - 3200 - - - - - - - - 14.90 14.26 14.92
4722 421.7 -8.5 231 4729 done -0.68 0.08 0.092 1971 -587.5 2.50 0.043 2250 -580.4 -116.8 - - 3202 - - - - - - - - 14.27 14.40 14.34
5067 461.2 -11.8 238 5071 roll -0.63 - - 1970 - 2.40 0.057 888 -567.5 -116.8 - - 3203 - - - - - - - - 14.87 14.33 14.88
5149 471.1 -11.7 250 5154 done -0.63 0.12 0.276 1988 150.0 2.47 0.060 2265 557.5 -116.8 - - 3200 - - - - - - - - 14.02 14.33 14.28
5515 509.7 -10.5 260 5519 roll -0.63 - - 1979 - 2.58 0.086 3698 555.4 -116.8 - - 3199 - - - - - - - - 14.89 14.23 14.90
5562 514.9 -10.9 267 5568 done -0.63 - - 1979 - 2.50 0.047 2252 -578.4 -116.8 - - 3198 - - - - - - - - 14.38 14.34 14.39
5906 551.9 -10.6 274 5910 roll -0.63 - - 1979 - 2.42 0.058 879 -567.4 -116.8 - - 3197 - - - - - - - - 14.87 14.31 14.89
5997 561.1 -9.8 287 6001 done -0.63 - - 1972 - 2.47 0.062 2250 555.1 -116.8 - - 3197 - - - - - - - - 14.43 14.31 14.48
6354 596.1 -9.8 296 6358 roll -0.63 - - 1970 - 2.62 0.090 3692 550.4 -116.8 - - 3195 - - - - - - - - 14.86 14.19 14.88
6402 600.7 -9.3 303 6408 done -0.63 - - 1970 - 2.53 0.048 2246 -571.5 -116.8 - - 3194 - - - - - - - - 14.35 14.31 14.38
6747 632.7 -9.4 310 6751 roll -0.63 - - 1970 - 2.42 0.060 882 -563.6 -116.8 - - 3193 - - - - - - - - 14.88 14.28 14.87
6829 640.8 -9.4 322 6834 done -0.63 0.15 0.266 1993 153.3 2.50 0.062 2257 550.0 -116.8 - - 3193 - - - - - - - - 13.90 14.23 14.18
7194 671.2 -8.5 332 7198 roll -0.63 - - 1986 - 2.60 0.087 3692 551.9 -116.8 - - 3192 - - - - - - - - 14.86 14.16 14.88
7236 674.9 -8.9 338 7241 done -0.63 - - 1985 - 2.47 0.047 2246 -585.4 -116.8 - - 3192 - - - - - - - - 14.46 14.40 14.50
7586 707.0 -9.2 346 7590 roll -0.63 - - 1985 - 2.42 0.060 890 -560.3 -116.8 - - 3191 - - - - - - - - 14.85 14.24 14.90
7662 714.2 -9.3 357 7668 done -0.63 - - 1986 - 2.50 0.062 2260 548.0 -116.8 - - 3190 - - - - - - - - 14.35 14.19 14.40
7979 743.2 -9.2 367 7983 roll -0.63 - - 1980 - 2.62 0.090 3700 549.6 -116.8 - - 3189 - - - - - - - - 14.84 14.15 14.85
8012 746.3 -9.1 372 8017 done -0.63 - - 1980 - 2.50 0.047 2237 -585.2 -116.8 - - 3189 - - - - - - - - 14.45 14.38 14.48
8370 778.7 -9.0 381 8375 roll -0.63 - - 1980 - 2.40 0.058 895 -559.2 -116.8 - - 3189 - - - - - - - - 14.88 14.21 14.89
8439 784.8 -7.5 391 8444 done -0.63 - - 1973 - 2.50 0.062 2259 545.6 -116.8 - - 3188 - - - - - - - - 14.30 14.16 14.35
8763 814.2 -9.2 402 8763 done -0.63 - - 1973 - - - 2259 - -116.8 - - 3187 - - - - - - - - 14.83 14.85 14.85
9098 844.3 -9.0 408 9102 roll -0.63 - - 1973 - 2.45 0.055 894 -557.1 -116.8 - - 3186 - - - - - - - - 14.83 14.20 14.85
9132 847.2 -8.6 413 9138 done -0.63 - - 1973 - 2.47 0.062 2248 548.2 -116.8 - - 3186 - - - - - - - - 14.31 14.16 14.36
9491 878.7 -8.9 422 9496 roll -0.63 - - 1972 - 2.67 0.093 3701 544.2 -116.8 - - 3184 - - - - - - - - 14.83 14.06 14.87
9538 883.1 -9.1 429 9546 done -0.63 - - 1971 - 2.55 0.048 2246 -570.6 -116.8 - - 3184 - - - - - - - - 14.16 14.12 14.19
9882 915.0 -9.4 436 9886 roll -0.63 - - 1971 - 2.45 0.057 891 -553.1 -116.8 - - 3184 - - - - - - - - 14.83 14.17 14.87
9972 923.9 -10.2 449 9978 done -0.63 - - 1971 - 2.50 0.063 2252 544.4 -116.8 - - 3184 - - - - - - - - 14.30 14.16 14.35
10330 955.0 -8.8 458 10330 done -0.63 - - 1968 - - - 2251 - -116.8 - - 3183 - - - - - - - - 14.85 14.87 14.87
10666 984.0 -8.6 464 10666 done -0.63 - - 1971 - - - 2251 - -116.8 - - 3182 - - - - - - - - 14.85 14.88 14.88
10774 end dive: TARGET_DEPTH_EXCEEDED
10774 begin apogee
10783 993.6 -8.6 466 10988 roll -0.19 0.62 0.226 2134 262.9 - - 2251 - - 203.12 1.555 2741 -2.2 0.260 - - - - - - 13.66 13.97 13.14
10991 end apogee: CONTROL_FINISHED_OK
10991 begin climb
10995 999.6 - 469 11175 roll 0.68 0.93 0.145 2412 298.9 2.70 0.063 813 -532.6 116.8 173.05 1.556 2264 -2.8 0.332 - - - - - - 13.93 14.04 13.13
11220 992.0 7.2 508 11224 done 0.68 - - 2412 - 2.58 0.064 2206 539.9 121.0 - - 2240 - - - - - - - - 14.23 14.13 14.25
11555 966.5 7.6 521 11559 roll 0.68 - - 2412 - 2.58 0.093 3611 544.6 121.0 - - 2231 - - - - - - - - 14.75 14.24 14.76
11632 959.9 8.6 532 11637 done 0.61 - - 2422 - 2.45 0.058 2210 -571.8 121.0 - - 2227 - - - - - - - - 14.50 14.40 14.54
11947 935.1 7.8 542 11953 roll 0.55 0.15 0.288 2394 -186.7 2.58 0.070 790 -550.4 121.0 - - 2229 - - - - - - - - 14.01 14.28 14.19
12030 929.6 6.2 554 12085 done 0.56 - - 2394 - 2.55 0.061 2200 552.9 147.0 46.00 1.434 2135 -2.0 0.249 - - - - 1 - 14.46 14.34 13.37
12448 900.3 7.2 571 12452 roll 0.57 - - 2394 - 2.58 0.093 3607 545.3 150.6 - - 2118 - - - - - - - - 14.74 14.27 14.76
12487 896.6 10.4 577 12492 done 0.57 - - 2404 - 2.47 0.057 2191 -573.3 150.6 - - 2116 - - - - - - - - 14.47 14.37 14.52
12839 868.8 8.0 585 12843 roll 0.57 - - 2414 - 2.55 0.073 792 -548.6 150.6 - - 2115 - - - - - - - - 14.79 14.30 14.81
12914 862.6 7.8 596 12920 done 0.57 0.12 0.253 2388 -216.7 2.55 0.060 2197 551.0 150.6 - - 2114 - - - - - - - - 14.05 14.31 14.34
13230 840.1 7.2 606 13235 roll 0.57 - - 2388 - 2.58 0.092 3611 548.1 153.3 - - 2114 - - - - - - - - 14.83 14.23 14.85
13300 834.5 7.9 616 13305 done 0.57 - - 2397 - 2.47 0.057 2189 -575.7 153.3 - - 2114 - - - - - - - - 14.47 14.38 14.50
13622 811.0 7.3 627 13627 roll 0.57 - - 2408 - 2.53 0.073 797 -550.2 154.0 - - 2114 - - - - - - - - 14.81 14.23 14.83
13713 804.4 7.0 640 13734 done 0.57 - - 2407 - 2.53 0.059 2196 553.0 161.3 12.98 1.782 2081 -2.5 0.215 - - - - - - 14.42 14.31 13.42
14070 777.2 7.8 649 14075 roll 0.57 - - 2407 - 2.58 0.091 3611 548.4 161.3 - - 2071 - - - - - - - - 14.80 14.25 14.82
14132 771.8 8.8 658 14138 done 0.57 0.12 0.275 2390 -141.7 2.47 0.056 2197 -572.5 161.3 - - 2068 - - - - - - - - 14.04 14.35 14.34
14463 748.1 7.2 670 14469 roll 0.57 - - 2401 - 2.55 0.074 796 -549.4 163.8 - - 2068 - - - - - - - - 14.82 14.26 14.84
14538 742.4 7.4 681 14544 done 0.57 - - 2401 - 2.55 0.061 2200 550.6 163.8 - - 2067 - - - - - - - - 14.41 14.28 14.45
14854 716.6 8.2 691 14859 roll 0.57 - - 2400 - 2.58 0.090 3613 547.7 163.8 - - 2067 - - - - - - - - 14.83 14.19 14.85
14924 710.2 9.2 701 14930 done 0.57 - - 2410 - 2.45 0.056 2204 -575.1 163.8 - - 2067 - - - - - - - - 14.33 14.28 14.38
15246 682.7 8.5 712 15251 roll 0.57 - - 2411 - 2.60 0.077 782 -546.9 163.8 - - 2067 - - - - - - - - 14.84 14.21 14.85
15315 677.4 7.4 722 15321 done 0.57 - - 2412 - 2.58 0.060 2201 550.0 163.8 - - 2066 - - - - - - - - 14.38 14.26 14.42
15639 653.9 7.2 733 15644 roll 0.58 - - 2411 - 2.58 0.089 3611 546.5 166.3 - - 2067 - - - - - - - - 14.80 14.16 14.82
15700 648.8 8.1 742 15707 done 0.58 0.15 0.262 2387 -160.0 2.50 0.055 2187 -569.6 166.3 - - 2067 - - - - - - - - 13.93 14.28 14.20
16032 629.2 5.9 754 16085 roll 0.60 - - 2397 - 2.58 0.073 789 -541.9 200.0 40.75 1.541 1926 -3.5 0.265 - - - - 1 - 14.84 14.31 13.07
16142 621.8 7.0 770 16177 done 0.60 - - 2397 - 2.55 0.060 2191 549.8 207.6 25.88 1.366 1893 -1.3 0.109 - - - - 1 - 14.39 14.31 13.53
16530 590.1 8.5 783 16534 roll 0.60 - - 2397 - 2.58 0.088 3611 550.4 207.6 - - 1891 - - - - - - - - 14.71 14.21 14.72
16578 585.3 10.1 790 16585 done 0.60 - - 2407 - 2.50 0.055 2191 -568.0 207.6 - - 1890 - - - - - - - - 14.41 14.32 14.45
16921 552.3 9.7 797 16925 roll 0.60 - - 2409 - 2.55 0.074 786 -551.0 207.6 - - 1890 - - - - - - - - 14.81 14.23 14.82
16998 545.3 8.9 808 17002 done 0.60 - - 2409 - 2.55 0.059 2196 552.9 207.6 - - 1890 - - - - - - - - 14.40 14.27 14.42
17313 517.8 8.6 818 17318 roll 0.60 - - 2409 - 2.58 0.087 3615 550.0 207.6 - - 1890 - - - - - - - - 14.76 14.18 14.81
17354 513.9 9.4 824 17359 done 0.60 - - 2418 - 2.50 0.056 2189 -570.4 207.6 - - 1890 - - - - - - - - 14.42 14.31 14.45
17706 483.9 8.6 832 17710 roll 0.60 - - 2428 - 2.53 0.071 798 -549.8 207.6 - - 1892 - - - - - - - - 14.79 14.20 14.81
17760 479.2 8.4 840 17766 done 0.60 0.15 0.246 2393 -233.3 2.55 0.057 2208 552.9 207.6 - - 1890 - - - - - - - - 13.92 14.28 14.20
18097 456.0 6.8 853 18131 roll 0.61 - - 2393 - 2.58 0.087 3611 543.8 219.5 24.65 1.283 1840 -2.0 0.135 - - - - 1 - 14.81 14.41 13.59
18174 450.3 8.0 864 18178 done 0.61 - - 2402 - 2.47 0.053 2185 -577.3 219.5 - - 1838 - - - - - - - - 14.48 14.39 14.51
18538 423.8 7.3 874 18543 roll 0.61 - - 2409 - 2.53 0.069 788 -552.2 221.0 - - 1835 - - - - - - - - 14.79 14.24 14.81
18621 417.6 7.4 886 18627 done 0.61 - - 2409 - 2.53 0.057 2189 553.8 221.0 - - 1835 - - - - - - - - 14.39 14.26 14.43
18987 387.7 8.4 896 18991 roll 0.61 - - 2409 - 2.58 0.083 3613 551.9 221.0 - - 1835 - - - - - - - - 14.78 14.18 14.79
19062 380.2 9.8 907 19067 done 0.61 - - 2419 - 2.47 0.051 2189 -576.5 221.0 - - 1834 - - - - - - - - 14.42 14.31 14.46
19379 350.1 9.7 917 19384 roll 0.61 - - 2424 - 2.53 0.069 802 -548.2 221.0 - - 1834 - - - - - - - - 14.79 14.21 14.81
19447 343.5 9.1 927 19452 done 0.61 - - 2424 - 2.53 0.054 2199 552.2 221.0 - - 1834 - - - - - - - - 14.38 14.26 14.42
19770 312.6 9.6 938 19775 roll 0.61 - - 2424 - 2.55 0.084 3607 552.2 221.0 - - 1834 - - - - - - - - 14.83 14.16 14.85
19854 303.8 10.4 950 19860 done 0.61 0.15 0.252 2398 -173.3 2.45 0.050 2199 -574.7 221.0 - - 1834 - - - - - - - - 13.93 14.32 14.20
20218 275.1 7.7 960 20222 roll 0.61 - - 2406 - 2.55 0.070 796 -550.2 221.0 - - 1834 - - - - - - - - 14.81 14.16 14.81
20294 269.3 7.6 971 20299 done 0.66 - - 2406 - 2.53 0.054 2202 555.7 221.0 - - 1834 - - - - - - - - 14.38 14.26 14.42
20611 244.9 7.7 981 20616 roll 0.66 - - 2406 - 2.55 0.083 3607 551.0 221.0 - - 1834 - - - - - - - - 14.80 14.14 14.82
20693 238.0 8.2 993 20698 done 0.66 - - 2414 - 2.47 0.049 2184 -576.1 221.0 - - 1834 - - - - - - - - 14.39 14.27 14.43
21059 210.9 7.3 1003 21064 roll 0.66 - - 2422 - 2.53 0.066 787 -552.2 221.1 - - 1834 - - - - - - - - 14.82 14.17 14.83
21127 206.0 6.9 1013 21154 done 0.67 - - 2421 - 2.55 0.054 2200 554.1 232.2 21.67 1.105 1792 -1.9 0.068 - - - - - - 14.35 14.22 13.64
21506 175.5 8.4 1025 21510 roll 0.67 - - 2422 - 2.55 0.082 3615 554.9 232.2 - - 1779 - - - - - - - - 14.77 14.21 14.79
21569 169.6 9.4 1034 21574 done 0.67 - - 2429 - 2.47 0.052 2189 -577.3 232.2 - - 1778 - - - - - - - - 14.45 14.33 14.47
21898 139.9 9.2 1046 21904 roll 0.67 - - 2437 - 2.53 0.067 788 -553.8 232.2 - - 1776 - - - - - - - - 14.79 14.21 14.82
21967 132.8 10.3 1056 21972 done 0.67 - - 2437 - 2.58 0.055 2211 551.6 232.2 - - 1781 - - - - - - - - 14.38 14.27 14.44
22291 101.9 9.1 1067 22296 roll 0.67 - - 2437 - 2.55 0.081 3610 548.6 232.2 - - 1778 - - - - - - - - 14.79 14.19 14.81
22324 99.0 8.2 1072 22329 done 0.67 0.12 0.258 2419 -150.0 2.50 0.048 2170 -576.0 232.2 - - 1778 - - - - - - - - 13.99 14.30 14.28
22658 79.8 5.5 1086 22693 roll 0.74 - - 2425 - 2.50 0.068 799 -548.4 276.6 27.98 0.352 1612 -5.9 0.252 - - - - - - 14.76 14.40 14.00
22738 74.7 6.3 1098 22765 done 0.85 0.15 0.115 2486 406.7 2.50 0.052 2198 559.6 300.2 19.50 0.342 1514 -5.0 0.206 - - - - - - 14.38 14.35 13.95
23078 49.5 6.7 1113 23101 roll 0.86 - - 2486 - 2.60 0.081 3614 544.6 314.1 13.32 0.245 1461 -4.0 0.151 - - - - - - 14.75 14.30 13.93
23158 42.7 7.9 1125 23164 done 0.86 - - 2489 - 2.47 0.050 2187 -577.7 314.1 2.65 0.175 1457 -1.5 0.069 - - - - - - 14.42 14.33 14.02
23491 27.8 4.4 1139 23548 roll 1.00 - - 2489 - 2.53 0.064 799 -548.6 382.9 48.75 0.207 1181 -5.7 0.143 - - - - - - 14.77 14.35 14.10
23644 19.5 5.6 1161 23684 done 1.18 0.28 0.081 2610 432.1 2.47 0.050 2201 567.6 423.6 30.00 0.181 1012 -5.6 0.114 - - - - - - 14.37 14.31 14.07
23819 end climb: SURFACE_DEPTH_REACHED
23819 begin surface coast
23851 end surface coast: CONTROL_FINISHED_OK
23851 begin surface
SM 0.79 - - - - -6.13 7.05 0.075 217 30.8 0.12 0.116 2304 -76050.0 500.66 52.12 0.134 700 13.4 -0.008 - - - - - -