SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 476 * Raw log
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• Previous call tries 1 • 187.61 of 350.00 AH used of 24V (46.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.1 deg, depth 0.80 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: 20 s • Transponder ping count: 8
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 190 - - - 2251 - -116.8 -84.95 - 2805 - - - - - - - - 14.67 - 14.69
108 3.4 -4.4 3 132 roll -0.68 9.10 0.402 1972 195.8 2.62 2.020 911 -511.5 -116.8 -8.05 - 3219 -51.4 - - - - - - - 13.86 13.14 14.31
240 38.2 -21.2 22 247 done -0.51 0.25 0.245 2028 224.0 2.45 0.058 2282 559.6 -116.8 - - 3219 - - - - - - - - 14.03 14.37 14.31
553 68.8 -8.2 34 554 done -0.47 - - 2029 - - - 2282 - -116.8 - - 3219 - - - - - - - - 14.80 14.82 14.81
861 90.9 -6.9 45 867 roll -0.47 - - 2018 - 2.45 0.074 3694 576.3 -116.8 - - 3220 - - - - - - - - 14.83 14.35 14.85
936 96.7 -7.6 56 943 done -0.47 - - 2018 - 2.38 0.039 2287 -591.2 -116.8 - - 3220 - - - - - - - - 14.48 14.44 14.51
1281 126.1 -9.0 64 1286 roll -0.47 0.10 0.255 2042 240.0 2.40 0.047 889 -582.5 -116.8 - - 3220 - - - - - - - - 14.35 14.42 14.45
1351 132.1 -8.3 74 1355 done -0.47 - - 2042 - 2.45 0.055 2281 568.2 -116.8 - - 3220 - - - - - - - - 14.52 14.41 14.55
1672 159.8 -8.8 85 1678 roll -0.47 - - 2039 - 2.42 0.078 3699 586.0 -116.8 - - 3219 - - - - - - - - 14.88 14.33 14.90
1728 164.6 -8.7 93 1734 done -0.52 - - 2039 - 2.38 0.039 2268 -601.3 -116.8 - - 3219 - - - - - - - - 14.58 14.52 14.59
2065 192.3 -8.2 106 2070 roll -0.52 - - 2039 - 2.40 0.053 890 -574.2 -116.8 - - 3217 - - - - - - - - 14.88 14.41 14.89
2154 199.7 -7.9 119 2160 done -0.52 - - 2039 - 2.47 0.056 2285 564.8 -116.8 - - 3217 - - - - - - - - 14.47 14.35 14.52
2513 226.4 -7.4 128 2518 roll -0.52 - - 2037 - 2.50 0.081 3700 566.0 -116.8 - - 3215 - - - - - - - - 14.88 14.25 14.89
2569 230.3 -7.1 136 2573 done -0.58 - - 2037 - 2.40 0.041 2261 -599.6 -116.8 - - 3215 - - - - - - - - 14.59 14.50 14.59
2905 254.7 -7.4 149 2910 roll -0.58 - - 2037 - 2.38 0.051 893 -574.8 -116.8 - - 3212 - - - - - - - - 14.88 14.38 14.90
2953 258.6 -7.9 156 2960 done -0.58 - - 2037 - 2.45 0.055 2277 564.9 -116.8 - - 3212 - - - - - - - - 14.50 14.39 14.54
3296 285.3 -7.9 163 3301 roll -0.58 - - 2035 - 2.50 0.081 3693 566.4 -116.8 - - 3210 - - - - - - - - 14.88 14.30 14.90
3359 290.5 -7.9 172 3364 done -0.64 0.12 0.135 1979 -466.7 2.38 0.044 2277 -595.0 -116.8 - - 3209 - - - - - - - - 14.40 14.50 14.50
3690 328.1 -11.7 184 3695 roll -0.58 0.12 0.254 2014 291.7 2.40 0.050 895 -575.8 -116.8 - - 3208 - - - - - - - - 14.14 14.36 14.26
3785 337.4 -8.9 198 3791 done -0.58 - - 2013 - 2.45 0.055 2268 560.4 -116.8 - - 3208 - - - - - - - - 14.45 14.33 14.50
4136 367.2 -8.4 206 4141 roll -0.58 - - 2011 - 2.55 0.085 3699 561.2 -116.8 - - 3206 - - - - - - - - 14.87 14.24 14.90
4213 373.4 -7.8 217 4219 done -0.58 - - 2011 - 2.40 0.044 2269 -595.8 -116.8 - - 3204 - - - - - - - - 14.56 14.49 14.58
4529 399.1 -8.3 227 4533 roll -0.58 - - 2011 - 2.42 0.056 886 -571.5 -116.8 - - 3203 - - - - - - - - 14.86 14.33 14.89
4562 402.1 -8.9 232 4568 done -0.58 - - 2011 - 2.50 0.059 2281 558.0 -116.8 - - 3203 - - - - - - - - 14.42 14.28 14.47
4921 432.3 -8.6 241 4927 roll -0.58 - - 2009 - 2.53 0.083 3700 560.9 -116.8 - - 3201 - - - - - - - - 14.85 14.26 14.90
4947 434.8 -8.7 245 4954 done -0.58 - - 2009 - 2.47 0.044 2262 -582.2 -116.8 - - 3201 - - - - - - - - 14.42 14.38 14.46
5313 465.9 -8.5 255 5317 roll -0.58 - - 2009 - 2.40 0.055 891 -571.2 -116.8 - - 3199 - - - - - - - - 14.90 14.32 14.91
5376 471.3 -8.2 264 5381 done -0.58 - - 2005 - 2.47 0.058 2271 558.7 -116.8 - - 3199 - - - - - - - - 14.42 14.31 14.47
5705 498.6 -8.4 276 5709 roll -0.58 - - 2009 - 2.58 0.086 3701 554.3 -116.8 - - 3198 - - - - - - - - 14.87 14.20 14.88
5774 504.3 -8.2 286 5779 done -0.58 - - 2009 - 2.45 0.044 2260 -588.2 -116.8 - - 3198 - - - - - - - - 14.50 14.43 14.53
6098 530.3 -8.0 297 6104 roll -0.58 - - 2009 - 2.42 0.054 883 -569.0 -116.8 - - 3196 - - - - - - - - 14.85 14.31 14.87
6145 534.4 -8.4 304 6152 done -0.58 - - 2009 - 2.55 0.060 2270 543.9 -116.8 - - 3196 - - - - - - - - 14.25 14.19 14.31
6489 562.8 -8.3 311 6494 roll -0.58 - - 2009 - 2.58 0.089 3690 550.4 -116.8 - - 3192 - - - - - - - - 14.88 14.17 14.90
6566 569.1 -8.2 322 6571 done -0.58 - - 2009 - 2.45 0.047 2260 -583.7 -116.8 - - 3197 - - - - - - - - 14.47 14.40 14.50
6881 595.1 -8.3 332 6882 done -0.58 - - 2009 - - - 2252 - -116.8 - - 3193 - - - - - - - - 14.85 14.88 14.87
7217 623.0 -8.3 338 7222 roll -0.58 - - 2009 - 2.42 0.056 886 -564.5 -116.8 - - 3192 - - - - - - - - 14.85 14.26 14.87
7266 627.1 -8.4 345 7273 done -0.58 - - 2009 - 2.50 0.060 2267 552.4 -116.8 - - 3192 - - - - - - - - 14.36 14.23 14.40
7609 652.9 -7.4 352 7614 roll -0.58 - - 2006 - 2.60 0.090 3697 550.0 -116.8 - - 3191 - - - - - - - - 14.85 14.14 14.86
7685 658.2 -6.6 363 7690 done -0.63 - - 2006 - 2.47 0.048 2262 -581.0 -116.8 - - 3190 - - - - - - - - 14.45 14.38 14.48
8002 678.9 -6.6 373 8007 roll -0.63 - - 2006 - 2.45 0.057 883 -562.9 -116.8 - - 3189 - - - - - - - - 14.83 14.24 14.85
8084 684.5 -6.6 385 8090 done -0.63 - - 2004 - 2.53 0.061 2270 548.2 -116.8 - - 3188 - - - - - - - - 14.33 14.20 14.38
8449 711.0 -7.6 395 8454 roll -0.63 - - 1998 - 2.60 0.090 3692 546.9 -116.8 - - 3187 - - - - - - - - 14.84 14.09 14.85
8512 716.3 -8.4 404 8517 done -0.63 - - 1999 - 2.45 0.048 2269 -580.8 -116.8 - - 3187 - - - - - - - - 14.43 14.36 14.46
8841 745.5 -9.1 416 8846 roll -0.63 - - 1999 - 2.47 0.059 884 -560.7 -116.8 - - 3186 - - - - - - - - 14.83 14.18 14.85
8889 750.0 -9.2 423 8896 done -0.63 - - 1999 - 2.58 0.063 2267 536.0 -116.8 - - 3186 - - - - - - - - 14.14 14.07 14.21
9234 780.2 -8.7 430 9239 roll -0.63 - - 1998 - 2.62 0.092 3695 545.0 -116.8 - - 3185 - - - - - - - - 14.85 14.04 14.87
9281 783.9 -8.4 437 9289 done -0.63 - - 1999 - 2.53 0.049 2259 -567.6 -116.8 - - 3184 - - - - - - - - 14.24 14.21 14.28
9625 812.5 -8.4 444 9630 roll -0.63 - - 1999 - 2.47 0.061 891 -553.8 -116.8 - - 3183 - - - - - - - - 14.83 14.13 14.84
9696 818.4 -8.4 454 9700 done -0.63 - - 1998 - 2.53 0.063 2271 545.5 -116.8 - - 3183 - - - - - - - - 14.28 14.15 14.33
10017 843.0 -7.6 465 10022 roll -0.63 - - 1998 - 2.62 0.093 3695 543.5 -116.8 - - 3183 - - - - - - - - 14.82 14.02 14.84
10086 847.9 -6.9 475 10091 done -0.63 - - 1998 - 2.47 0.050 2273 -575.7 -116.8 - - 3182 - - - - - - - - 14.36 14.28 14.39
10410 869.7 -6.7 486 10415 roll -0.63 - - 1999 - 2.53 0.063 876 -552.2 -116.8 - - 3181 - - - - - - - - 14.82 14.13 14.82
10478 874.3 -6.7 496 10483 done -0.63 - - 1998 - 2.58 0.064 2269 539.9 -116.8 - - 3181 - - - - - - - - 14.23 14.09 14.28
10802 895.3 -6.6 507 10807 roll -0.63 - - 1999 - 2.65 0.094 3695 538.1 -116.8 - - 3181 - - - - - - - - 14.83 13.88 14.85
10863 899.7 -7.0 516 10868 done -0.63 - - 1998 - 2.53 0.050 2254 -569.6 -116.8 - - 3180 - - - - - - - - 14.24 14.12 14.29
11193 924.1 -7.6 528 11198 roll -0.63 - - 1998 - 2.47 0.059 882 -555.5 -116.8 - - 3180 - - - - - - - - 14.81 14.00 14.83
11228 927.0 -8.6 533 11234 done -0.63 - - 1998 - 2.53 0.063 2261 545.1 -116.8 - - 3180 - - - - - - - - 14.07 13.99 14.13
11585 956.5 -8.5 542 11590 roll -0.63 - - 1994 - 2.67 0.092 3700 539.0 -116.8 - - 3179 - - - - - - - - 14.81 13.98 14.81
11661 963.2 -8.7 553 11667 done -0.63 - - 1994 - 2.53 0.049 2259 -569.6 -116.8 - - 3178 - - - - - - - - 14.30 14.21 14.33
11973 end dive: TARGET_DEPTH_EXCEEDED
11973 begin apogee
11983 990.2 -8.5 563 12133 roll -0.19 0.50 0.200 2130 272.0 - - 2249 - - 143.80 2.498 2739 -3.1 0.240 - - - - 1 - 13.69 13.69 12.36
12135 end apogee: CONTROL_FINISHED_OK
12135 begin climb
12139 995.4 - 565 12309 roll 0.68 0.95 0.143 2413 297.9 2.65 0.090 3624 518.9 116.8 161.38 1.898 2260 -3.0 0.309 - - - - - - 13.72 13.78 12.78
12462 977.3 9.0 618 12468 done 0.61 - - 2423 - 2.53 0.059 2209 -559.3 116.8 - - 2236 - - - - - - - - 14.36 14.28 14.40
12821 944.8 9.3 627 12826 roll 0.54 0.15 0.270 2383 -266.7 2.58 0.083 3618 546.1 116.8 - - 2233 - - - - - - - - 14.04 14.29 14.21
12903 937.6 8.2 639 12909 done 0.54 - - 2392 - 2.53 0.058 2185 -566.4 116.8 - - 2230 - - - - - - - - 14.49 14.39 14.53
13268 909.3 7.8 649 13273 roll 0.54 - - 2402 - 2.55 0.072 780 -551.0 116.8 - - 2229 - - - - - - - - 14.81 14.31 14.83
13352 903.2 6.1 661 13393 done 0.56 - - 2402 - 2.58 0.059 2208 553.5 145.6 34.00 1.788 2141 -2.6 0.259 - - - - - - 14.45 14.33 13.39
13716 871.1 8.9 678 13722 roll 0.56 - - 2407 - 2.55 0.089 3611 550.2 145.6 - - 2122 - - - - - - - - 14.75 14.26 14.77
13765 866.4 9.8 685 13771 done 0.56 0.12 0.274 2385 -183.3 2.50 0.056 2182 -571.6 145.6 - - 2122 - - - - - - - - 14.05 14.37 14.34
14108 840.2 7.5 692 14113 roll 0.56 - - 2395 - 2.55 0.073 787 -547.1 145.6 - - 2120 - - - - - - - - 14.78 14.28 14.81
14206 833.0 7.3 706 14212 done 0.56 - - 2395 - 2.55 0.060 2188 549.4 146.7 - - 2119 - - - - - - - - 14.45 14.33 14.50
14557 806.5 7.7 714 14563 roll 0.56 - - 2391 - 2.60 0.087 3616 549.2 146.7 - - 2120 - - - - - - - - 14.82 14.23 14.84
14597 802.7 10.1 720 14602 done 0.56 - - 2405 - 2.50 0.055 2186 -572.0 146.7 - - 2119 - - - - - - - - 14.43 14.32 14.48
14948 772.9 8.5 728 14953 roll 0.56 - - 2414 - 2.55 0.070 784 -549.8 146.7 - - 2119 - - - - - - - - 14.85 14.25 14.85
15046 764.5 8.5 742 15052 done 0.56 0.15 0.245 2381 -220.0 2.53 0.058 2185 553.8 146.7 - - 2119 - - - - - - - - 13.97 14.30 14.27
15396 738.2 7.4 750 15402 roll 0.56 - - 2381 - 2.60 0.086 3609 547.7 146.7 - - 2119 - - - - - - - - 14.81 14.19 14.83
15452 733.3 9.0 758 15458 done 0.56 - - 2392 - 2.53 0.054 2169 -569.2 146.7 - - 2117 - - - - - - - - 14.42 14.33 14.47
15789 708.3 7.4 771 15794 roll 0.56 - - 2400 - 2.53 0.071 799 -541.5 146.7 - - 2118 - - - - - - - - 14.83 14.19 14.84
15857 703.2 7.2 781 15863 done 0.56 - - 2400 - 2.55 0.057 2185 543.5 150.5 - - 2118 - - - - - - - - 14.28 14.19 14.30
16181 678.9 7.6 792 16186 roll 0.56 - - 2400 - 2.60 0.085 3608 547.3 150.5 - - 2118 - - - - - - - - 14.82 14.14 14.84
16237 674.1 8.7 800 16242 done 0.56 - - 2410 - 2.53 0.053 2179 -564.8 150.5 - - 2118 - - - - - - - - 14.39 14.29 14.44
16572 647.2 8.1 813 16577 roll 0.56 - - 2421 - 2.55 0.070 791 -544.3 150.5 - - 2118 - - - - - - - - 14.80 14.15 14.82
16663 639.8 8.0 826 16669 done 0.56 0.15 0.249 2387 -226.7 2.53 0.058 2185 551.0 150.5 - - 2117 - - - - - - - - 13.88 14.24 14.19
17020 614.3 7.1 835 17031 roll 0.56 - - 2387 - 2.58 0.086 3606 550.8 155.7 2.42 0.587 2103 -5.8 1.202 - - - - - - 14.83 14.23 13.12
17087 609.0 8.1 844 17092 done 0.56 - - 2395 - 2.50 0.054 2182 -569.6 155.7 - - 2106 - - - - - - - - 14.43 14.33 14.46
17416 584.5 7.5 856 17421 roll 0.56 - - 2405 - 2.55 0.069 785 -547.8 155.7 - - 2109 - - - - - - - - 14.80 14.14 14.81
17472 580.3 7.4 864 17477 done 0.56 - - 2405 - 2.55 0.057 2184 548.6 155.7 - - 2110 - - - - - - - - 14.34 14.22 14.38
17809 555.3 7.5 877 17814 roll 0.56 - - 2405 - 2.60 0.083 3615 550.4 155.7 - - 2109 - - - - - - - - 14.81 14.09 14.83
17891 548.5 8.0 889 17897 done 0.56 0.12 0.250 2387 -150.0 2.55 0.054 2171 -566.3 155.7 - - 2110 - - - - - - - - 13.91 14.24 14.16
18256 524.7 6.6 899 18296 roll 0.57 - - 2394 - 2.55 0.073 797 -538.8 172.4 31.20 1.453 2029 -2.6 0.186 - - - - - - 14.79 14.35 13.44
18361 517.3 7.2 914 18368 done 0.58 - - 2394 - 2.50 0.056 2188 556.4 174.4 - - 2020 - - - - - - - - 14.40 14.31 14.44
18704 489.4 8.3 921 18709 roll 0.58 - - 2394 - 2.58 0.082 3614 552.7 174.4 - - 2019 - - - - - - - - 14.73 14.18 14.75
18774 482.9 9.2 931 18779 done 0.58 - - 2404 - 2.53 0.053 2172 -570.0 174.4 - - 2018 - - - - - - - - 14.40 14.31 14.44
19096 456.1 8.3 942 19101 roll 0.58 - - 2407 - 2.53 0.072 797 -543.5 174.4 - - 2021 - - - - - - - - 14.79 14.17 14.82
19130 453.4 7.6 947 19136 done 0.58 - - 2406 - 2.50 0.055 2186 555.6 174.4 - - 2017 - - - - - - - - 14.38 14.26 14.42
19489 426.1 7.6 956 19494 roll 0.58 - - 2407 - 2.58 0.082 3606 550.4 174.4 - - 2017 - - - - - - - - 14.78 14.15 14.79
19557 420.2 8.5 966 19563 done 0.58 - - 2417 - 2.50 0.050 2174 -572.8 174.4 - - 2017 - - - - - - - - 14.40 14.31 14.45
19880 394.9 7.8 977 19885 roll 0.58 - - 2424 - 2.55 0.070 787 -543.9 174.4 - - 2017 - - - - - - - - 14.79 14.15 14.81
19957 389.2 7.4 988 19962 done 0.58 0.15 0.232 2389 -233.3 2.53 0.056 2185 552.6 174.4 - - 2017 - - - - - - - - 13.93 14.26 14.21
20272 369.7 6.1 998 20320 roll 0.59 - - 2388 - 2.62 0.083 3613 545.0 203.8 43.20 1.274 1907 -2.5 0.147 - - - - - - 14.82 14.34 13.52
20401 360.8 7.7 1016 20406 done 0.59 - - 2393 - 2.50 0.054 2186 -570.8 203.8 - - 1895 - - - - - - - - 14.40 14.31 14.45
20715 338.4 7.2 1026 20720 roll 0.60 - - 2399 - 2.53 0.067 792 -551.0 207.9 - - 1889 - - - - - - - - 14.73 14.20 14.75
20777 333.7 7.4 1035 20782 done 0.66 - - 2400 - 2.53 0.054 2188 551.8 207.9 - - 1888 - - - - - - - - 14.37 14.26 14.41
21108 307.6 8.0 1047 21113 roll 0.66 - - 2400 - 2.58 0.080 3616 553.5 207.9 - - 1888 - - - - - - - - 14.79 14.17 14.81
21189 299.9 9.2 1059 21195 done 0.66 - - 2407 - 2.50 0.053 2188 -571.2 207.9 - - 1887 - - - - - - - - 14.38 14.25 14.41
21555 269.9 8.2 1069 21560 roll 0.66 - - 2407 - 2.53 0.069 796 -550.2 207.9 - - 1887 - - - - - - - - 14.79 14.18 14.81
21618 265.2 7.4 1078 21623 done 0.72 - - 2407 - 2.50 0.054 2188 556.8 207.9 - - 1887 - - - - - - - - 14.39 14.27 14.42
21947 240.8 7.4 1090 21952 roll 0.72 - - 2406 - 2.55 0.080 3607 556.5 207.9 - - 1887 - - - - - - - - 14.83 14.14 14.85
22031 233.7 8.4 1102 22036 done 0.72 - - 2410 - 2.47 0.050 2185 -575.7 207.9 - - 1887 - - - - - - - - 14.38 14.28 14.42
22394 203.9 8.4 1112 22399 roll 0.72 - - 2410 - 2.53 0.067 790 -551.4 207.9 - - 1887 - - - - - - - - 14.80 14.16 14.82
22457 198.7 8.3 1121 22462 done 0.78 0.12 0.135 2461 425.0 2.53 0.054 2196 555.7 207.9 - - 1887 - - - - - - - - 14.21 14.23 14.33
22788 160.2 12.0 1133 22793 roll 0.74 - - 2461 - 2.55 0.080 3609 554.1 207.9 - - 1890 - - - - - - - - 14.79 14.12 14.81
22912 144.7 11.6 1151 22917 done 0.68 0.20 0.252 2423 -190.0 2.47 0.049 2195 -572.5 207.9 - - 1887 - - - - - - - - 13.71 14.18 14.01
23235 118.6 7.8 1162 23241 roll 0.68 - - 2431 - 2.55 0.067 789 -551.4 207.9 - - 1887 - - - - - - - - 14.83 14.14 14.84
23290 114.4 7.4 1170 23296 done 0.68 - - 2432 - 2.58 0.054 2212 551.6 207.9 - - 1887 - - - - - - - - 14.34 14.23 14.38
23626 87.9 8.0 1185 23631 roll 0.68 - - 2432 - 2.53 0.080 3612 553.4 207.9 - - 1887 - - - - - - - - 14.79 14.02 14.81
23739 78.1 8.6 1201 23744 done 0.68 - - 2440 - 2.45 0.048 2200 -576.3 207.9 - - 1887 - - - - - - - - 14.38 14.28 14.40
24075 56.5 5.5 1216 24107 roll 0.70 - - 2448 - 2.50 0.062 787 -565.2 251.5 28.15 0.294 1713 -6.2 0.236 - - - - - - 14.78 14.23 13.99
24239 49.4 4.3 1239 24298 done 0.85 - - 2448 - 2.55 0.053 2211 558.4 323.6 49.80 0.282 1421 -5.9 0.204 - - - - - - 14.37 14.26 14.02
24610 33.1 4.9 1259 24655 roll 1.11 0.30 0.101 2568 400.0 2.60 0.059 798 -543.5 381.8 40.00 0.226 1182 -6.0 0.174 - - - - - - 14.22 14.36 14.07
24716 25.7 8.4 1274 24720 done 1.11 - - 2568 - 2.50 0.053 2191 557.2 381.8 - - 1183 - - - - - - - - 14.39 14.28 14.42
24990 end climb: SURFACE_DEPTH_REACHED
24990 begin surface coast
25018 end surface coast: CONTROL_FINISHED_OK
25018 begin surface
SM 0.66 - - - - -6.14 6.90 0.071 213 30.9 0.15 0.084 2329 8660.0 500.17 76.03 0.134 699 9.2 -0.005 - - - - - -