SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 477 * Raw log
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• Previous call tries 1 • 188.01 of 350.00 AH used of 24V (46.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.3 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: 50 s
• GPS2 time: 23 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
19 - - - 105 VBD -0.68 - - 190 - - - 2318 - -116.8 -85.05 - 2825 - - - - - - - - 14.67 - 14.69
109 3.7 -5.1 3 133 roll -0.68 9.05 0.399 1971 196.8 2.88 2.017 875 -501.0 -116.8 -7.50 - 3218 -52.4 - - - - - - - 13.85 12.95 14.31
255 43.0 -21.9 24 260 done -0.51 0.25 0.237 2034 252.0 2.42 0.060 2233 561.2 -116.8 - - 3220 - - - - - - - - 14.05 14.35 14.32
582 77.9 -8.2 38 587 roll -0.51 - - 2023 - 2.53 0.073 3698 579.1 -116.8 - - 3221 - - - - - - - - 14.81 14.33 14.82
708 87.3 -8.0 56 713 done -0.51 - - 2024 - 2.38 0.037 2252 -607.6 -116.8 - - 3221 - - - - - - - - 14.52 14.43 14.57
1030 114.6 -8.3 66 1031 done -0.51 - - 2024 - - - 2244 - -116.8 - - 3221 - - - - - - - - 14.85 14.87 14.86
1367 140.0 -7.6 72 1371 roll -0.51 - - 2015 - 2.58 0.074 3701 564.7 -116.8 - - 3221 - - - - - - - - 14.88 14.36 14.89
1415 143.9 -8.4 79 1421 done -0.51 - - 2014 - 2.35 0.037 2283 -603.4 -116.8 - - 3221 - - - - - - - - 14.58 14.52 14.61
1758 175.1 -9.3 86 1763 roll -0.51 - - 2015 - 2.40 0.050 893 -579.2 -116.8 - - 3219 - - - - - - - - 14.90 14.42 14.90
1862 185.2 -9.4 101 1870 done -0.51 - - 2015 - 2.50 0.054 2283 556.0 -116.8 - - 3218 - - - - - - - - 14.39 14.33 14.42
2207 216.0 -8.9 108 2212 roll -0.51 - - 2011 - 2.47 0.078 3691 570.0 -116.8 - - 3217 - - - - - - - - 14.89 14.32 14.90
2262 220.6 -8.3 116 2267 done -0.51 - - 2012 - 2.38 0.039 2267 -598.3 -116.8 - - 3217 - - - - - - - - 14.57 14.52 14.59
2599 248.9 -8.4 129 2604 roll -0.51 - - 2012 - 2.40 0.052 888 -574.6 -116.8 - - 3215 - - - - - - - - 14.86 14.38 14.88
2662 254.5 -8.7 138 2666 done -0.51 - - 2012 - 2.45 0.056 2274 565.7 -116.8 - - 3214 - - - - - - - - 14.50 14.39 14.54
2990 285.1 -9.6 150 2995 roll -0.51 - - 2011 - 2.50 0.082 3688 565.6 -116.8 - - 3212 - - - - - - - - 14.88 14.29 14.89
3038 289.8 -9.6 157 3046 done -0.51 - - 2012 - 2.40 0.041 2273 -589.6 -116.8 - - 3212 - - - - - - - - 14.45 14.42 14.47
3383 322.9 -9.6 164 3388 roll -0.51 - - 2011 - 2.40 0.050 894 -574.6 -116.8 - - 3210 - - - - - - - - 14.86 14.36 14.88
3458 330.2 -9.2 175 3465 done -0.51 - - 2011 - 2.47 0.057 2287 564.0 -116.8 - - 3209 - - - - - - - - 14.43 14.31 14.48
3774 359.0 -9.2 185 3780 roll -0.51 - - 2008 - 2.50 0.084 3699 564.8 -116.8 - - 3207 - - - - - - - - 14.88 14.27 14.89
3844 365.5 -9.0 195 3849 done -0.51 - - 2004 - 2.38 0.043 2279 -596.6 -116.8 - - 3207 - - - - - - - - 14.54 14.47 14.56
4167 394.5 -8.9 206 4171 roll -0.51 - - 2008 - 2.40 0.052 892 -577.9 -116.8 - - 3205 - - - - - - - - 14.88 14.35 14.90
4228 399.9 -8.3 215 4234 done -0.51 0.08 0.216 2028 250.0 2.53 0.057 2280 548.6 -116.8 - - 3205 - - - - - - - - 13.99 14.24 14.13
4559 422.9 -6.9 227 4564 roll -0.51 - - 2019 - 2.50 0.080 3693 565.2 -116.8 - - 3202 - - - - - - - - 14.85 14.26 14.87
4592 425.4 -7.5 232 4598 done -0.51 - - 2019 - 2.40 0.043 2260 -597.1 -116.8 - - 3203 - - - - - - - - 14.50 14.41 14.50
4950 454.4 -8.3 241 4956 roll -0.51 - - 2019 - 2.38 0.052 895 -573.5 -116.8 - - 3201 - - - - - - - - 14.86 14.33 14.88
5013 460.0 -8.9 250 5018 done -0.51 - - 2016 - 2.47 0.057 2283 561.9 -116.8 - - 3201 - - - - - - - - 14.45 14.33 14.49
5342 489.7 -9.1 262 5347 roll -0.51 - - 2012 - 2.53 0.083 3699 559.7 -116.8 - - 3199 - - - - - - - - 14.88 14.19 14.87
5426 497.3 -8.9 274 5431 done -0.56 - - 2012 - 2.40 0.043 2266 -597.1 -116.8 - - 3199 - - - - - - - - 14.52 14.45 14.54
5791 527.3 -8.0 284 5796 roll -0.56 - - 2011 - 2.40 0.056 901 -568.8 -116.8 - - 3198 - - - - - - - - 14.87 14.29 14.89
5866 533.2 -7.2 295 5872 done -0.56 - - 2012 - 2.50 0.060 2284 553.2 -116.8 - - 3197 - - - - - - - - 14.38 14.26 14.43
6184 555.5 -7.1 305 6189 roll -0.56 - - 2012 - 2.55 0.086 3701 555.7 -116.8 - - 3195 - - - - - - - - 14.83 14.18 14.85
6259 561.0 -7.1 316 6264 done -0.56 - - 2012 - 2.42 0.044 2271 -590.9 -116.8 - - 3195 - - - - - - - - 14.48 14.40 14.50
6575 583.8 -7.3 326 6579 roll -0.56 - - 2012 - 2.45 0.059 888 -564.5 -116.8 - - 3194 - - - - - - - - 14.85 14.26 14.87
6632 588.0 -7.6 334 6636 done -0.56 - - 2011 - 2.53 0.059 2282 551.0 -116.8 - - 3194 - - - - - - - - 14.40 14.27 14.44
6967 611.8 -7.0 347 6971 roll -0.56 - - 2011 - 2.55 0.086 3697 554.9 -116.8 - - 3192 - - - - - - - - 14.85 14.16 14.88
7036 616.6 -6.7 357 7042 done -0.61 - - 2011 - 2.42 0.045 2270 -589.7 -116.8 - - 3192 - - - - - - - - 14.45 14.39 14.47
7360 638.4 -6.8 368 7365 roll -0.61 - - 2012 - 2.45 0.057 895 -561.2 -116.8 - - 3191 - - - - - - - - 14.87 14.15 14.88
7414 642.7 -7.6 376 7420 done -0.61 - - 2010 - 2.53 0.059 2280 547.4 -116.8 - - 3191 - - - - - - - - 14.35 14.23 14.40
7751 669.5 -8.2 389 7756 roll -0.61 - - 2012 - 2.55 0.087 3690 552.9 -116.8 - - 3192 - - - - - - - - 14.85 14.12 14.89
7793 673.1 -8.7 395 7798 done -0.65 - - 2014 - 2.42 0.046 2272 -586.0 -116.8 - - 3189 - - - - - - - - 14.44 14.37 14.47
8143 704.8 -9.2 403 8148 roll -0.65 - - 2012 - 2.47 0.059 886 -561.1 -116.8 - - 3188 - - - - - - - - 14.84 14.21 14.85
8205 710.8 -9.4 412 8210 done -0.65 - - 2012 - 2.53 0.060 2279 550.6 -116.8 - - 3185 - - - - - - - - 14.33 14.20 14.37
8536 739.3 -8.6 424 8540 roll -0.65 - - 2011 - 2.58 0.087 3694 548.4 -116.8 - - 3190 - - - - - - - - 14.86 14.09 14.88
8591 743.8 -7.9 432 8596 done -0.71 0.12 0.135 1961 -416.7 2.45 0.047 2276 -578.8 -116.8 - - 3187 - - - - - - - - 14.23 14.34 14.34
8928 776.6 -9.8 445 8934 roll -0.71 - - 1961 - 2.45 0.058 895 -563.7 -116.8 - - 3185 - - - - - - - - 14.83 14.01 14.84
8997 783.0 -9.3 455 9002 done -0.71 - - 1960 - 2.53 0.062 2274 545.1 -116.8 - - 3185 - - - - - - - - 14.28 14.13 14.33
9320 812.8 -9.2 466 9325 roll -0.71 - - 1951 - 2.60 0.089 3698 547.7 -116.8 - - 3184 - - - - - - - - 14.83 14.05 14.84
9369 817.5 -9.8 473 9376 done -0.71 - - 1951 - 2.45 0.047 2270 -582.9 -116.8 - - 3184 - - - - - - - - 14.35 14.26 14.39
9712 850.7 -9.7 480 9717 roll -0.65 0.12 0.264 1983 266.7 2.47 0.055 896 -556.3 -116.8 - - 3183 - - - - - - - - 13.95 14.15 14.05
9795 857.7 -7.8 492 9800 done -0.65 - - 1981 - 2.53 0.062 2279 546.6 -116.8 - - 3183 - - - - - - - - 14.29 14.15 14.33
10161 885.6 -7.6 502 10166 roll -0.65 - - 1972 - 2.58 0.087 3690 546.9 -116.8 - - 3182 - - - - - - - - 14.85 14.02 14.86
10201 889.0 -6.3 508 10206 done -0.65 - - 1972 - 2.45 0.047 2281 -575.1 -116.8 - - 3181 - - - - - - - - 14.36 14.29 14.39
10552 918.4 -8.5 516 10557 roll -0.65 - - 1972 - 2.50 0.057 884 -558.8 -116.8 - - 3181 - - - - - - - - 14.82 14.14 14.83
10615 923.9 -8.7 525 10621 done -0.65 - - 1972 - 2.55 0.063 2274 545.1 -116.8 - - 3181 - - - - - - - - 14.26 14.13 14.31
10944 953.1 -9.0 537 10949 roll -0.65 - - 1972 - 2.62 0.093 3689 540.1 -116.8 - - 3180 - - - - - - - - 14.81 13.97 14.83
11006 958.9 -9.1 546 11011 done -0.65 - - 1971 - 2.47 0.050 2276 -572.1 -116.8 - - 3180 - - - - - - - - 14.33 14.25 14.37
11337 989.5 -9.1 558 11342 roll -0.65 - - 1971 - 2.55 0.060 871 -551.0 -116.8 - - 3179 - - - - - - - - 14.79 14.09 14.81
11345 end dive: TARGET_DEPTH_EXCEEDED
11345 begin apogee
11356 991.6 -9.6 560 11517 roll -0.19 0.60 0.217 2129 263.3 - - 2210 - - 149.10 2.540 2739 -3.0 0.229 - - - - 1 - 13.69 13.67 12.35
11519 end apogee: CONTROL_FINISHED_OK
11519 begin climb
11523 997.8 - 563 11695 roll 0.68 0.95 0.142 2411 296.8 2.65 0.086 3609 527.9 116.8 160.48 1.891 2261 -3.0 0.312 - - - - - - 13.73 13.79 12.80
11821 980.4 8.8 606 11826 done 0.61 - - 2421 - 2.47 0.054 2208 -567.2 116.8 - - 2239 - - - - - - - - 14.35 14.26 14.38
12138 953.2 8.7 616 12143 roll 0.54 0.15 0.265 2382 -260.0 2.58 0.081 3612 544.2 116.8 - - 2233 - - - - - - - - 14.06 14.29 14.22
12272 942.9 7.3 635 12277 done 0.55 - - 2391 - 2.47 0.054 2190 -575.7 117.8 - - 2233 - - - - - - - - 14.50 14.40 14.54
12586 921.7 6.8 645 12604 roll 0.55 - - 2402 - 2.50 0.072 799 -556.4 131.4 11.88 1.852 2200 -2.8 0.275 - - - - - - 14.78 14.42 13.31
12697 914.1 7.0 661 12704 done 0.56 - - 2401 - 2.55 0.058 2207 552.2 138.7 3.05 1.003 2173 -8.9 1.602 - - - - - - 14.49 14.38 12.97
13027 889.9 7.4 673 13033 roll 0.56 - - 2402 - 2.55 0.088 3612 551.0 138.7 - - 2179 - - - - - - - - 14.80 14.28 14.81
13067 886.3 8.9 679 13073 done 0.51 0.17 0.260 2370 -188.2 2.47 0.054 2193 -574.5 138.7 - - 2180 - - - - - - - - 14.04 14.40 14.33
13418 862.9 6.7 687 13453 roll 0.52 - - 2381 - 2.60 0.071 793 -538.5 154.7 30.52 1.829 2103 -2.5 0.236 - - - - - - 14.83 14.35 13.35
13548 853.4 7.6 705 13554 done 0.52 - - 2385 - 2.55 0.059 2194 549.4 154.7 - - 2088 - - - - - - - - 14.43 14.33 14.47
13862 828.4 7.9 715 13867 roll 0.52 - - 2381 - 2.58 0.088 3609 548.4 154.7 - - 2086 - - - - - - - - 14.78 14.26 14.80
13911 824.1 9.0 722 13917 done 0.52 - - 2390 - 2.53 0.054 2177 -566.0 154.7 - - 2086 - - - - - - - - 14.45 14.36 14.50
14254 795.8 8.3 729 14260 roll 0.52 - - 2400 - 2.53 0.073 796 -545.8 154.7 - - 2086 - - - - - - - - 14.79 14.27 14.81
14351 787.5 8.1 743 14357 done 0.52 0.12 0.248 2373 -225.0 2.53 0.057 2192 551.8 154.7 - - 2084 - - - - - - - - 14.02 14.31 14.31
14703 762.7 7.0 751 14708 roll 0.52 - - 2375 - 2.58 0.086 3613 550.8 162.4 - - 2084 - - - - - - - - 14.80 14.21 14.81
14764 757.6 8.1 760 14770 done 0.52 - - 2386 - 2.50 0.054 2180 -573.2 162.4 - - 2084 - - - - - - - - 14.46 14.35 14.49
15094 733.3 7.4 772 15099 roll 0.52 - - 2393 - 2.53 0.070 790 -549.4 162.4 1.15 0.209 2075 -7.8 5.454 - - - - - - 14.81 14.12 13.98
15199 725.9 7.0 787 15211 done 0.53 - - 2393 - 2.55 0.058 2191 549.4 169.7 5.95 1.579 2050 -4.2 0.384 - - - - - - 14.39 14.27 13.28
15542 700.8 7.3 801 15548 roll 0.53 - - 2393 - 2.62 0.086 3617 544.3 169.7 2.22 0.446 2047 -1.4 0.422 - - - - - - 14.82 14.35 13.00
15612 695.0 8.3 811 15617 done 0.53 0.12 0.256 2375 -150.0 2.50 0.056 2184 -573.2 169.7 - - 2058 - - - - - - - - 14.11 14.40 14.35
15934 672.9 6.9 822 15961 roll 0.53 - - 2386 - 2.58 0.071 783 -543.0 179.5 22.15 1.671 2003 -2.5 0.199 - - - - - - 14.83 14.41 13.42
16048 664.7 7.4 838 16053 done 0.58 - - 2385 - 2.55 0.058 2189 551.4 179.5 - - 1992 - - - - - - - - 14.45 14.34 14.52
16383 639.3 7.6 851 16388 roll 0.58 - - 2385 - 2.58 0.084 3612 551.6 179.5 - - 1991 - - - - - - - - 14.76 14.22 14.78
16452 633.5 8.4 861 16458 done 0.58 - - 2394 - 2.50 0.054 2183 -571.6 179.5 - - 1989 - - - - - - - - 14.42 14.32 14.46
16776 610.1 7.1 872 16781 roll 0.58 - - 2404 - 2.53 0.069 785 -552.6 184.0 - - 1990 - - - - - - - - 14.81 14.16 14.82
16858 604.2 6.9 884 16885 done 0.59 - - 2404 - 2.53 0.057 2188 554.5 194.6 18.23 1.613 1938 -2.9 0.212 - - - - - - 14.40 14.27 13.46
17224 575.7 8.0 894 17229 roll 0.59 - - 2404 - 2.58 0.083 3608 550.4 194.6 - - 1926 - - - - - - - - 14.74 14.23 14.76
17285 569.8 9.4 903 17290 done 0.59 - - 2411 - 2.50 0.053 2178 -572.0 194.6 - - 1924 - - - - - - - - 14.41 14.31 14.46
17615 539.2 9.4 915 17620 roll 0.59 - - 2421 - 2.53 0.071 794 -547.0 194.6 - - 1924 - - - - - - - - 14.81 14.23 14.83
17678 533.3 9.2 924 17683 done 0.59 0.12 0.249 2393 -233.3 2.53 0.057 2192 552.6 194.6 - - 1923 - - - - - - - - 14.00 14.27 14.28
18007 507.0 7.8 936 18012 roll 0.59 - - 2389 - 2.60 0.084 3616 547.7 194.6 - - 1923 - - - - - - - - 14.83 14.18 14.84
18076 500.9 8.6 946 18081 done 0.59 - - 2402 - 2.53 0.054 2179 -568.0 194.6 - - 1923 - - - - - - - - 14.40 14.31 14.45
18400 476.2 7.7 957 18406 roll 0.59 - - 2411 - 2.55 0.071 791 -544.3 194.6 - - 1923 - - - - - - - - 14.81 14.17 14.83
18475 470.4 7.3 968 18481 done 0.59 - - 2410 - 2.53 0.057 2186 551.4 194.6 - - 1923 - - - - - - - - 14.37 14.25 14.42
18792 444.9 8.2 978 18798 roll 0.59 - - 2410 - 2.60 0.084 3608 546.9 194.6 - - 1921 - - - - - - - - 14.81 14.14 14.83
18875 436.9 9.8 990 18880 done 0.59 - - 2420 - 2.50 0.050 2183 -570.0 194.6 - - 1923 - - - - - - - - 14.38 14.28 14.43
19239 403.3 9.3 1000 19244 roll 0.59 - - 2431 - 2.55 0.068 791 -545.9 194.6 - - 1923 - - - - - - - - 14.82 14.16 14.84
19323 395.8 8.8 1012 19328 done 0.59 0.15 0.233 2394 -246.7 2.53 0.056 2188 552.2 194.6 - - 1922 - - - - - - - - 13.91 14.23 14.20
19687 369.4 7.1 1022 19692 roll 0.59 - - 2393 - 2.60 0.081 3617 549.6 199.5 - - 1922 - - - - - - - - 14.79 14.10 14.81
19763 363.2 8.0 1033 19770 done 0.59 - - 2403 - 2.50 0.053 2188 -571.6 199.5 - - 1923 - - - - - - - - 14.37 14.26 14.40
20081 340.5 7.2 1043 20090 roll 0.59 - - 2407 - 2.60 0.070 790 -537.7 202.9 2.08 0.279 1910 -6.2 1.515 - - - - - - 14.77 14.25 12.78
20157 335.1 6.9 1054 20183 done 0.65 - - 2407 - 2.55 0.056 2203 554.1 212.2 19.33 1.302 1868 -2.2 0.111 - - - - - - 14.35 14.24 13.53
20528 306.7 7.7 1065 20534 roll 0.65 - - 2407 - 2.55 0.083 3612 552.5 212.2 - - 1855 - - - - - - - - 14.78 14.19 14.79
20583 301.9 8.9 1073 20589 done 0.65 - - 2415 - 2.47 0.051 2189 -576.1 212.2 - - 1854 - - - - - - - - 14.41 14.32 14.45
20920 273.5 8.6 1086 20924 roll 0.65 - - 2424 - 2.53 0.067 792 -552.2 212.2 - - 1854 - - - - - - - - 14.80 14.19 14.82
20989 267.5 8.6 1096 20994 done 0.65 - - 2423 - 2.53 0.055 2198 555.7 212.2 - - 1853 - - - - - - - - 14.38 14.26 14.42
21311 238.9 8.9 1107 21316 roll 0.65 - - 2423 - 2.55 0.083 3606 552.2 212.2 - - 1853 - - - - - - - - 14.79 14.06 14.81
21394 230.8 9.7 1119 21400 done 0.65 - - 2433 - 2.45 0.050 2192 -577.1 212.2 - - 1853 - - - - - - - - 14.40 14.29 14.44
21760 198.4 8.8 1129 21766 roll 0.65 - - 2443 - 2.55 0.068 787 -551.0 212.2 - - 1853 - - - - - - - - 14.81 14.17 14.83
21849 190.8 8.2 1142 21855 done 0.65 0.12 0.245 2415 -233.3 2.53 0.055 2192 555.3 212.2 - - 1853 - - - - - - - - 13.94 14.22 14.22
22208 161.8 8.4 1151 22213 roll 0.65 - - 2415 - 2.58 0.081 3606 548.1 212.2 - - 1853 - - - - - - - - 14.78 14.14 14.79
22297 153.2 9.4 1164 22303 done 0.65 - - 2423 - 2.47 0.048 2187 -574.5 212.2 - - 1853 - - - - - - - - 14.37 14.26 14.42
22655 123.0 8.4 1173 22661 roll 0.65 - - 2425 - 2.53 0.067 799 -548.6 212.2 - - 1853 - - - - - - - - 14.80 14.07 14.81
22719 117.8 8.2 1182 22723 done 0.70 - - 2425 - 2.50 0.054 2191 556.8 212.2 - - 1853 - - - - - - - - 14.36 14.25 14.41
23047 89.8 8.1 1196 23052 roll 0.70 - - 2425 - 2.58 0.080 3612 550.8 212.2 - - 1855 - - - - - - - - 14.78 14.11 14.80
23138 82.6 7.6 1209 23144 done 0.70 - - 2433 - 2.47 0.048 2186 -577.3 212.2 - - 1853 - - - - - - - - 14.38 14.27 14.41
23468 64.4 5.1 1223 23507 roll 0.78 - - 2433 - 2.53 0.065 797 -549.0 265.7 32.25 0.320 1659 -6.0 0.240 - - - - - - 14.77 14.38 14.03
23590 57.0 6.1 1240 23619 done 0.91 0.20 0.098 2514 405.0 2.50 0.051 2195 559.2 295.5 23.05 0.294 1537 -5.3 0.204 - - - - - - 14.34 14.32 14.02
23947 36.6 5.0 1258 23990 roll 1.00 - - 2514 - 2.50 0.076 3609 565.6 351.6 38.88 0.239 1304 -6.0 0.182 - - - - - - 14.72 14.23 14.04
24062 29.4 6.5 1275 24085 done 1.09 - - 2518 - 2.47 0.047 2208 -567.2 370.4 13.98 0.208 1230 -5.3 0.149 - - - - - - 14.31 14.26 14.02
24396 11.3 6.0 1289 24426 roll 1.20 0.17 0.106 2603 500.0 2.58 0.063 796 -547.3 403.4 22.85 0.158 1094 -6.0 0.085 - - - - - - 14.33 14.23 14.09
24479 end climb: SURFACE_DEPTH_REACHED
24479 begin surface coast
24490 end surface coast: CONTROL_FINISHED_OK
24490 begin surface
SM 0.80 - - - - -6.15 6.97 0.070 212 30.4 2.67 0.050 2274 -3236.7 500.17 61.78 0.134 698 11.3 -0.007 - - - - - -