SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 470 * Raw log
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• Previous call tries 1 • 185.23 of 350.00 AH used of 24V (47.08% 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: 37 s
• GPS2 time: 17 s • Transponder ping count: 9
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 VBD -0.68 - - 201 - - - 2314 - -116.8 -84.90 - 2842 - - - - - - - - 14.68 - 14.69
110 4.1 -5.7 3 134 roll -0.68 9.23 0.411 1971 191.8 2.85 2.017 873 -505.6 -116.8 -6.97 - 3220 -54.2 - - - - - - - 13.86 12.96 14.31
235 39.2 -24.5 21 241 done -0.48 0.30 0.260 2035 213.3 2.47 0.055 2259 561.1 -116.8 - - 3221 - - - - - - - - 13.98 14.37 14.30
556 78.4 -9.7 34 561 roll -0.48 - - 2025 - 2.50 0.076 3699 576.0 -116.8 - - 3222 - - - - - - - - 14.81 14.33 14.83
683 88.8 -7.1 52 687 done -0.48 - - 2025 - 2.38 0.038 2252 -608.0 -116.8 - - 3221 - - - - - - - - 14.54 14.50 14.54
1033 114.6 -7.7 63 1037 roll -0.48 - - 2025 - 2.33 0.050 895 -582.4 -116.8 - - 3222 - - - - - - - - 14.85 14.43 14.88
1165 125.8 -8.0 82 1170 done -0.48 - - 2025 - 2.45 0.054 2285 567.3 -116.8 - - 3222 - - - - - - - - 14.51 14.39 14.54
1481 150.8 -8.1 92 1486 roll -0.48 - - 2018 - 2.47 0.080 3700 572.9 -116.8 - - 3221 - - - - - - - - 14.87 14.37 14.88
1507 153.1 -8.3 96 1513 done -0.48 - - 2018 - 2.40 0.038 2270 -595.8 -116.8 - - 3221 - - - - - - - - 14.51 14.47 14.54
1873 183.9 -8.5 106 1877 roll -0.48 - - 2019 - 2.38 0.053 898 -576.5 -116.8 - - 3219 - - - - - - - - 14.88 14.42 14.90
1991 194.3 -8.4 123 1996 done -0.48 - - 2015 - 2.47 0.057 2278 558.7 -116.8 - - 3218 - - - - - - - - 14.52 14.40 14.55
2320 224.3 -9.2 135 2325 roll -0.48 - - 2012 - 2.50 0.080 3698 568.0 -116.8 - - 3217 - - - - - - - - 14.88 14.33 14.90
2370 228.6 -8.9 142 2376 done -0.48 0.12 0.223 2043 258.3 2.40 0.040 2264 -597.5 -116.8 - - 3217 - - - - - - - - 14.20 14.52 14.40
2713 253.9 -7.3 149 2719 roll -0.48 - - 2043 - 2.40 0.054 894 -570.8 -116.8 - - 3214 - - - - - - - - 14.88 14.40 14.90
2796 260.1 -7.3 161 2802 done -0.54 - - 2043 - 2.45 0.056 2271 562.0 -116.8 - - 3214 - - - - - - - - 14.52 14.40 14.56
3162 284.8 -6.7 171 3167 roll -0.54 - - 2040 - 2.53 0.084 3691 561.3 -116.8 - - 3212 - - - - - - - - 14.87 14.32 14.89
3223 289.0 -6.8 180 3228 done -0.61 0.12 0.133 1984 -466.7 2.40 0.044 2261 -595.8 -116.8 - - 3211 - - - - - - - - 14.41 14.50 14.51
3553 323.6 -10.9 192 3558 roll -0.61 - - 1984 - 2.40 0.054 889 -571.7 -116.8 - - 3209 - - - - - - - - 14.88 14.38 14.89
3600 329.0 -11.0 199 3607 done -0.61 - - 1976 - 2.50 0.057 2263 549.6 -116.8 - - 3209 - - - - - - - - 14.35 14.29 14.40
3945 368.6 -11.6 206 3950 roll -0.56 0.12 0.274 1997 175.0 2.55 0.078 3692 560.4 -116.8 - - 3208 - - - - - - - - 14.12 14.31 14.24
3986 372.9 -10.1 212 3991 done -0.56 - - 1999 - 2.42 0.044 2270 -587.6 -116.8 - - 3208 - - - - - - - - 14.57 14.50 14.59
4337 406.6 -9.4 220 4341 roll -0.56 - - 1999 - 2.42 0.056 892 -569.4 -116.8 - - 3206 - - - - - - - - 14.88 14.35 14.90
4462 417.2 -7.8 238 4467 done -0.56 - - 1999 - 2.45 0.057 2260 558.4 -116.8 - - 3204 - - - - - - - - 14.47 14.34 14.50
4785 443.3 -8.2 249 4791 roll -0.56 - - 1997 - 2.58 0.083 3700 558.1 -116.8 - - 3203 - - - - - - - - 14.86 14.26 14.88
4853 448.9 -7.9 259 4859 done -0.56 - - 1997 - 2.47 0.044 2265 -581.0 -116.8 - - 3203 - - - - - - - - 14.51 14.40 14.55
5176 476.5 -8.7 270 5181 roll -0.56 - - 1997 - 2.42 0.056 885 -570.2 -116.8 - - 3201 - - - - - - - - 14.90 14.35 14.92
5247 482.6 -8.5 280 5251 done -0.56 - - 1996 - 2.47 0.060 2260 556.7 -116.8 - - 3202 - - - - - - - - 14.44 14.32 14.48
5569 510.9 -8.9 291 5573 roll -0.56 - - 1986 - 2.58 0.083 3700 558.1 -116.8 - - 3200 - - - - - - - - 14.89 14.23 14.92
5638 517.3 -8.9 301 5644 done -0.56 0.12 0.230 2014 233.3 2.47 0.045 2242 -590.3 -116.8 - - 3200 - - - - - - - - 14.05 14.42 14.30
5962 542.4 -7.8 312 5967 roll -0.56 - - 2015 - 2.42 0.058 886 -560.3 -116.8 - - 3199 - - - - - - - - 14.85 14.29 14.87
6030 548.0 -7.9 322 6035 done -0.56 - - 2015 - 2.53 0.060 2261 543.5 -116.8 - - 3198 - - - - - - - - 14.30 14.23 14.35
6352 573.4 -8.0 333 6358 roll -0.56 - - 2012 - 2.60 0.086 3699 553.1 -116.8 - - 3197 - - - - - - - - 14.86 14.20 14.88
6416 578.4 -7.9 342 6421 done -0.61 - - 2012 - 2.45 0.044 2258 -588.2 -116.8 - - 3198 - - - - - - - - 14.50 14.43 14.52
6744 603.4 -7.5 354 6751 roll -0.61 - - 2012 - 2.38 0.054 897 -571.8 -116.8 - - 3195 - - - - - - - - 14.89 14.23 14.90
6801 607.7 -7.5 362 6805 done -0.61 - - 2012 - 2.47 0.059 2261 552.2 -116.8 - - 3194 - - - - - - - - 14.39 14.27 14.44
7138 631.6 -7.1 375 7143 roll -0.61 - - 2011 - 2.60 0.086 3696 551.9 -116.8 - - 3193 - - - - - - - - 14.85 14.16 14.86
7185 635.0 -7.0 382 7192 done -0.66 - - 2011 - 2.50 0.045 2250 -578.4 -116.8 - - 3193 - - - - - - - - 14.36 14.33 14.38
7530 659.9 -7.4 389 7535 roll -0.66 - - 2011 - 2.40 0.054 902 -561.7 -116.8 - - 3193 - - - - - - - - 14.84 14.28 14.86
7625 667.8 -7.8 403 7631 done -0.66 - - 2012 - 2.47 0.059 2258 549.0 -116.8 - - 3191 - - - - - - - - 14.33 14.19 14.38
7976 696.3 -8.3 411 7981 roll -0.66 - - 2011 - 2.60 0.087 3692 551.5 -116.8 - - 3191 - - - - - - - - 14.85 14.13 14.87
8040 701.5 -8.3 420 8045 done -0.73 0.15 0.121 1954 -380.0 2.45 0.047 2264 -582.9 -116.8 - - 3190 - - - - - - - - 14.31 14.40 14.40
8369 739.3 -11.7 432 8374 roll -0.67 - - 1954 - 2.47 0.058 883 -559.1 -116.8 - - 3189 - - - - - - - - 14.84 14.21 14.85
8424 746.0 -12.1 440 8430 done -0.67 0.15 0.276 1979 166.7 2.55 0.062 2265 542.0 -116.8 - - 3189 - - - - - - - - 13.81 14.18 14.11
8761 778.9 -9.7 453 8767 roll -0.67 - - 1972 - 2.62 0.090 3699 547.3 -116.8 - - 3188 - - - - - - - - 14.86 14.10 14.88
8816 784.0 -9.8 461 8822 done -0.67 - - 1971 - 2.50 0.047 2256 -577.2 -116.8 - - 3188 - - - - - - - - 14.41 14.34 14.46
9153 816.9 -9.8 474 9157 roll -0.67 - - 1971 - 2.42 0.057 889 -564.9 -116.8 - - 3187 - - - - - - - - 14.87 14.21 14.88
9237 824.9 -9.5 486 9241 done -0.67 - - 1971 - 2.50 0.061 2256 546.8 -116.8 - - 3187 - - - - - - - - 14.30 14.17 14.37
9600 860.0 -9.7 496 9605 roll -0.67 - - 1965 - 2.62 0.087 3693 548.5 -116.8 - - 3186 - - - - - - - - 14.86 14.08 14.88
9671 866.8 -9.7 506 9675 done -0.67 - - 1965 - 2.50 0.047 2247 -578.4 -116.8 - - 3186 - - - - - - - - 14.38 14.30 14.41
9993 899.7 -10.3 517 9998 roll -0.67 - - 1968 - 2.45 0.059 890 -553.9 -116.8 - - 3184 - - - - - - - - 14.86 14.16 14.88
10040 904.7 -10.7 524 10048 done -0.67 - - 1960 - 2.55 0.062 2255 535.3 -116.8 - - 3184 - - - - - - - - 14.12 14.05 14.17
10384 941.0 -10.5 531 10389 roll -0.67 - - 1954 - 2.65 0.088 3693 542.6 -116.8 - - 3184 - - - - - - - - 14.86 14.04 14.88
10413 944.0 -10.9 535 10418 done -0.67 - - 1954 - 2.50 0.047 2253 -576.0 -116.8 - - 3184 - - - - - - - - 14.37 14.28 14.40
10776 982.0 -10.3 545 10782 roll -0.67 - - 1953 - 2.45 0.057 887 -557.6 -116.8 - - 3183 - - - - - - - - 14.82 14.14 14.85
10856 end dive: TARGET_DEPTH_EXCEEDED
10856 begin apogee
10868 990.5 -9.9 557 11075 roll -0.19 0.70 0.230 2128 250.0 - - 2208 - - 204.90 1.563 2740 -2.2 0.259 - - - - - - 13.66 13.97 13.11
11077 end apogee: CONTROL_FINISHED_OK
11077 begin climb
11080 997.1 - 560 11252 roll 0.68 0.93 0.145 2409 302.2 2.60 0.058 802 -540.8 116.8 161.15 1.653 2255 -3.0 0.344 - - - - - - 13.93 14.04 13.12
11267 990.9 10.2 594 11271 done 0.68 - - 2410 - 2.60 0.059 2208 540.8 116.8 - - 2244 - - - - - - - - 14.12 14.03 14.15
11589 963.0 8.8 605 11594 roll 0.68 - - 2410 - 2.53 0.088 3608 553.4 116.8 - - 2230 - - - - - - - - 14.74 14.29 14.76
11638 958.2 12.2 612 11644 done 0.60 - - 2420 - 2.47 0.054 2192 -573.3 116.8 - - 2229 - - - - - - - - 14.49 14.40 14.52
11981 927.2 9.1 619 11987 roll 0.54 0.15 0.282 2391 -193.3 2.50 0.069 799 -557.2 116.8 - - 2227 - - - - - - - - 14.01 14.27 14.19
12043 922.3 7.5 628 12048 done 0.54 - - 2392 - 2.53 0.058 2201 554.2 116.8 - - 2227 - - - - - - - - 14.47 14.35 14.52
12374 898.4 7.2 640 12379 roll 0.54 - - 2392 - 2.58 0.090 3614 547.7 120.3 - - 2226 - - - - - - - - 14.81 14.20 14.83
12421 894.2 9.4 647 12428 done 0.50 0.17 0.269 2363 -170.6 2.50 0.054 2189 -570.0 120.3 - - 2225 - - - - - - - - 13.97 14.35 14.31
12765 873.6 6.0 654 12827 roll 0.52 - - 2374 - 2.60 0.070 794 -536.5 153.2 57.60 1.436 2111 -2.0 0.228 - - - - - - 14.84 14.26 13.44
12908 864.7 6.6 674 12937 done 0.53 - - 2374 - 2.58 0.058 2206 547.3 170.3 22.90 1.561 2042 -3.0 0.316 - - - - - - 14.40 14.31 13.41
13262 838.8 7.5 690 13266 roll 0.53 - - 2374 - 2.55 0.089 3608 549.8 170.3 - - 2023 - - - - - - - - 14.73 14.23 14.74
13325 833.4 8.7 699 13329 done 0.53 - - 2384 - 2.47 0.054 2187 -575.3 170.3 - - 2022 - - - - - - - - 14.45 14.35 14.49
13654 806.9 8.1 711 13659 roll 0.53 - - 2393 - 2.53 0.070 799 -548.6 170.3 - - 2021 - - - - - - - - 14.78 14.28 14.81
13737 800.2 7.9 723 13742 done 0.53 - - 2393 - 2.53 0.057 2203 554.9 170.3 - - 2020 - - - - - - - - 14.44 14.32 14.49
14103 770.6 8.1 733 14108 roll 0.53 - - 2393 - 2.58 0.090 3614 546.9 170.3 - - 2020 - - - - - - - - 14.83 14.22 14.85
14158 765.5 9.1 741 14164 done 0.53 0.12 0.264 2376 -141.7 2.50 0.055 2188 -570.4 170.3 - - 2020 - - - - - - - - 14.03 14.36 14.31
14495 742.7 6.6 754 14521 roll 0.54 - - 2386 - 2.50 0.070 787 -560.4 187.1 20.88 1.589 1972 -2.3 0.203 - - - - - - 14.81 14.18 13.59
14570 737.8 6.6 765 14605 done 0.60 - - 2386 - 2.55 0.059 2204 555.7 203.8 25.12 1.414 1905 -2.7 0.263 - - - - - - 14.49 14.38 13.57
14943 712.6 6.7 776 14969 roll 0.61 - - 2386 - 2.60 0.089 3609 540.4 218.8 21.35 1.428 1846 -2.8 0.261 - - - - - - 14.76 14.36 13.59
15018 706.9 7.9 787 15023 done 0.61 - - 2395 - 2.47 0.054 2195 -572.5 218.8 - - 1836 - - - - - - - - 14.43 14.35 14.47
15383 679.0 7.8 797 15388 roll 0.61 - - 2406 - 2.55 0.073 796 -548.6 218.8 - - 1833 - - - - - - - - 14.76 14.25 14.78
15467 672.5 7.8 809 15473 done 0.61 - - 2406 - 2.53 0.057 2198 554.2 218.8 - - 1832 - - - - - - - - 14.42 14.31 14.47
15831 641.2 8.7 819 15836 roll 0.61 - - 2412 - 2.58 0.087 3612 548.1 218.8 - - 1832 - - - - - - - - 14.79 14.22 14.81
15887 635.7 9.9 827 15892 done 0.61 - - 2415 - 2.47 0.055 2195 -573.7 218.8 - - 1831 - - - - - - - - 14.44 14.35 14.49
16224 604.4 9.3 840 16229 roll 0.61 - - 2425 - 2.55 0.074 799 -547.5 218.8 - - 1830 - - - - - - - - 14.79 14.24 14.81
16299 597.4 9.0 851 16304 done 0.61 - - 2425 - 2.53 0.058 2197 552.6 218.8 - - 1829 - - - - - - - - 14.41 14.28 14.47
16615 567.4 9.6 861 16620 roll 0.61 - - 2425 - 2.58 0.088 3612 548.4 218.8 - - 1830 - - - - - - - - 14.80 14.18 14.82
16685 560.0 10.4 871 16690 done 0.61 0.15 0.254 2400 -166.7 2.47 0.056 2196 -573.3 218.8 - - 1830 - - - - - - - - 13.97 14.33 14.27
17007 532.7 8.4 882 17012 roll 0.61 - - 2409 - 2.58 0.074 792 -544.2 218.8 - - 1830 - - - - - - - - 14.81 14.20 14.83
17077 526.8 8.4 892 17082 done 0.61 - - 2409 - 2.55 0.059 2199 551.8 218.8 - - 1829 - - - - - - - - 14.37 14.25 14.43
17399 498.5 8.8 903 17404 roll 0.61 - - 2409 - 2.58 0.087 3613 548.1 218.8 - - 1829 - - - - - - - - 14.83 14.14 14.85
17461 492.5 9.6 912 17466 done 0.61 - - 2419 - 2.50 0.055 2189 -569.6 218.8 - - 1828 - - - - - - - - 14.38 14.26 14.42
17792 463.2 8.9 924 17797 roll 0.61 - - 2428 - 2.58 0.071 788 -543.0 218.8 - - 1829 - - - - - - - - 14.83 14.16 14.84
17839 459.0 8.8 931 17846 done 0.61 0.08 0.223 2397 -387.5 2.60 0.059 2195 541.2 218.8 - - 1829 - - - - - - - - 13.87 14.14 14.19
18183 432.4 7.7 938 18188 roll 0.61 - - 2397 - 2.60 0.087 3615 546.2 218.8 - - 1829 - - - - - - - - 14.83 14.12 14.85
18281 423.9 8.6 952 18286 done 0.61 - - 2406 - 2.50 0.056 2200 -566.0 218.8 - - 1829 - - - - - - - - 14.37 14.27 14.42
18631 395.4 8.1 960 18636 roll 0.61 - - 2408 - 2.60 0.074 790 -542.3 218.8 - - 1829 - - - - - - - - 14.80 14.12 14.81
18707 389.4 7.8 971 18712 done 0.65 - - 2408 - 2.58 0.058 2207 549.2 218.8 - - 1829 - - - - - - - - 14.33 14.20 14.38
19024 363.1 8.4 981 19030 roll 0.65 - - 2408 - 2.58 0.086 3608 543.0 218.8 - - 1829 - - - - - - - - 14.79 14.11 14.81
19092 356.4 9.7 991 19098 done 0.65 - - 2418 - 2.53 0.051 2194 -558.9 218.8 - - 1829 - - - - - - - - 14.23 14.19 14.27
19416 327.0 9.2 1002 19421 roll 0.65 - - 2424 - 2.58 0.071 790 -544.2 218.8 - - 1829 - - - - - - - - 14.82 14.12 14.83
19498 319.7 8.4 1014 19504 done 0.65 - - 2424 - 2.58 0.056 2209 550.0 218.8 - - 1829 - - - - - - - - 14.31 14.18 14.37
19863 287.9 8.7 1024 19868 roll 0.65 - - 2424 - 2.55 0.082 3609 549.0 218.8 - - 1829 - - - - - - - - 14.80 14.09 14.81
19954 279.3 9.3 1037 19960 done 0.65 - - 2433 - 2.45 0.049 2205 -573.1 218.8 - - 1829 - - - - - - - - 14.35 14.26 14.40
20311 247.3 9.1 1046 20316 roll 0.65 - - 2443 - 2.55 0.067 797 -552.2 218.8 - - 1829 - - - - - - - - 14.79 14.14 14.81
20394 239.7 8.9 1058 20400 done 0.65 0.12 0.247 2411 -266.7 2.55 0.055 2204 551.8 218.8 - - 1828 - - - - - - - - 13.90 14.21 14.18
20760 210.6 7.9 1068 20765 roll 0.65 - - 2415 - 2.55 0.083 3606 549.8 218.8 - - 1829 - - - - - - - - 14.81 14.08 14.83
20842 203.7 8.2 1080 20848 done 0.65 - - 2424 - 2.45 0.049 2202 -573.1 218.8 - - 1833 - - - - - - - - 14.31 14.21 14.38
21207 176.3 7.6 1090 21212 roll 0.65 - - 2424 - 2.58 0.070 788 -548.1 218.8 - - 1829 - - - - - - - - 14.79 14.11 14.81
21277 170.9 7.7 1100 21282 done 0.65 - - 2424 - 2.55 0.056 2202 554.5 218.8 - - 1829 - - - - - - - - 14.33 14.21 14.38
21600 144.6 8.2 1111 21604 roll 0.65 - - 2424 - 2.58 0.083 3615 547.7 218.8 - - 1829 - - - - - - - - 14.79 14.07 14.81
21676 137.8 8.8 1122 21681 done 0.65 - - 2432 - 2.47 0.050 2193 -575.7 218.8 - - 1829 - - - - - - - - 14.35 14.26 14.40
21991 108.9 9.5 1132 21996 roll 0.65 - - 2438 - 2.55 0.069 802 -545.5 218.8 - - 1829 - - - - - - - - 14.79 14.12 14.83
22067 102.9 7.1 1143 22073 done 0.65 - - 2438 - 2.55 0.054 2212 552.9 224.8 - - 1829 - - - - - - - - 14.33 14.21 14.37
22384 81.3 7.6 1157 22390 roll 0.65 - - 2437 - 2.55 0.080 3614 549.8 224.8 - - 1829 - - - - - - - - 14.81 14.09 14.82
22452 75.4 8.4 1167 22458 done 0.65 0.15 0.238 2411 -173.3 2.45 0.048 2208 -573.9 224.8 - - 1830 - - - - - - - - 13.85 14.23 14.12
22777 60.9 3.3 1180 22850 roll 0.80 0.12 0.133 2470 491.7 2.60 0.078 3611 539.6 320.7 65.15 0.311 1434 -6.1 0.225 - - - - - - 14.36 14.36 14.02
22887 54.2 6.9 1193 22900 done 0.80 - - 2480 - 2.42 0.047 2208 -579.8 330.3 8.40 0.270 1392 -5.0 0.190 - - - - - - 14.43 14.35 13.90
23221 33.8 5.9 1207 23255 roll 0.95 - - 2480 - 2.58 0.061 797 -546.9 365.5 26.77 0.223 1245 -5.5 0.158 - - - - - - 14.73 14.28 14.02
23425 19.9 6.3 1237 23452 done 1.19 0.25 0.084 2589 436.0 2.55 0.048 2206 552.5 389.3 18.77 0.184 1150 -5.1 0.104 - - - - - - 14.21 14.19 14.03
23604 end climb: SURFACE_DEPTH_REACHED
23604 begin surface coast
23637 end surface coast: CONTROL_FINISHED_OK
23637 begin surface
SM 0.85 - - - - -6.13 7.00 0.076 220 31.4 0.12 0.121 2309 -76008.3 500.17 72.32 0.134 701 9.7 -0.006 - - - - - -