SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 481 * Raw log
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• Previous call tries 1 • 189.51 of 350.00 AH used of 24V (45.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.6 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: 41 s
• GPS2 time: 17 s • Transponder ping count: 7
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 111 VBD -0.68 - - 192 - - - 2300 - -116.8 -86.15 - 2843 - - - - - - - - 14.66 - 14.68
115 3.4 -4.4 3 138 roll -0.68 9.30 0.412 1971 191.3 2.80 2.020 874 -509.3 -116.8 -7.12 - 3219 -52.8 - - - - - - - 13.82 13.13 14.10
180 25.8 -27.4 13 185 done -0.47 0.32 0.267 2041 218.8 2.50 0.057 2279 562.0 -116.8 - - 3220 - - - - - - - - 14.00 14.36 14.31
502 70.0 -8.6 26 508 roll -0.47 - - 2029 - 2.47 0.073 3702 576.1 -116.8 - - 3221 - - - - - - - - 14.79 14.31 14.81
543 73.5 -8.4 32 549 done -0.47 - - 2030 - 2.40 0.037 2246 -606.7 -116.8 - - 3221 - - - - - - - - 14.50 14.38 14.51
868 97.9 -6.6 45 869 done -0.47 - - 2030 - - - 2247 - -116.8 - - 3222 - - - - - - - - 14.82 14.84 14.84
1202 123.7 -8.2 52 1203 done -0.47 - - 2030 - - - 2247 - -116.8 - - 3222 - - - - - - - - 14.86 14.88 14.88
1538 152.1 -8.2 58 1544 roll -0.47 - - 2030 - 2.35 0.054 902 -572.3 -116.8 - - 3222 - - - - - - - - 14.87 14.33 14.87
1615 158.3 -7.9 69 1620 done -0.47 - - 2026 - 2.45 0.057 2287 565.3 -116.8 - - 3222 - - - - - - - - 14.50 14.39 14.54
1930 183.7 -8.1 79 1935 roll -0.47 - - 2018 - 2.50 0.080 3696 563.6 -116.8 - - 3220 - - - - - - - - 14.87 14.31 14.89
1992 189.1 -8.9 88 1998 done -0.47 - - 2016 - 2.40 0.041 2289 -586.2 -116.8 - - 3219 - - - - - - - - 14.54 14.42 14.57
2324 219.1 -9.2 100 2328 roll -0.47 - - 2020 - 2.45 0.054 885 -573.1 -116.8 - - 3218 - - - - - - - - 14.85 14.40 14.88
2356 222.4 -9.7 105 2362 done -0.47 0.12 0.246 2044 200.0 2.50 0.059 2291 562.4 -116.8 - - 3218 - - - - - - - - 14.12 14.38 14.35
2714 249.3 -7.4 114 2720 roll -0.47 - - 2039 - 2.50 0.083 3692 560.4 -116.8 - - 3217 - - - - - - - - 14.90 14.27 14.90
2764 253.0 -7.7 121 2770 done -0.53 - - 2039 - 2.40 0.044 2282 -587.5 -116.8 - - 3216 - - - - - - - - 14.54 14.47 14.56
3106 278.7 -7.5 128 3111 roll -0.53 - - 2039 - 2.45 0.053 880 -572.2 -116.8 - - 3213 - - - - - - - - 14.88 14.36 14.89
3169 283.4 -7.4 137 3174 done -0.58 - - 2039 - 2.53 0.058 2288 556.5 -116.8 - - 3213 - - - - - - - - 14.46 14.33 14.50
3500 305.9 -6.8 149 3504 roll -0.58 - - 2038 - 2.53 0.086 3695 556.1 -116.8 - - 3211 - - - - - - - - 14.86 14.26 14.88
3533 308.1 -6.5 154 3540 done -0.62 0.12 0.134 1983 -458.3 2.40 0.044 2280 -589.6 -116.8 - - 3211 - - - - - - - - 14.38 14.47 14.47
3892 341.2 -9.5 163 3897 roll -0.62 - - 1983 - 2.45 0.053 884 -569.8 -116.8 - - 3209 - - - - - - - - 14.88 14.36 14.88
3968 348.7 -9.4 174 3973 done -0.62 - - 1981 - 2.53 0.060 2286 554.2 -116.8 - - 3208 - - - - - - - - 14.36 14.23 14.40
4283 380.2 -10.2 184 4288 roll -0.58 0.12 0.269 2005 200.0 2.53 0.080 3700 558.9 -116.8 - - 3207 - - - - - - - - 14.10 14.24 14.21
4332 384.8 -9.0 191 4338 done -0.58 - - 2005 - 2.40 0.044 2281 -591.2 -116.8 - - 3206 - - - - - - - - 14.51 14.44 14.56
4674 416.4 -9.3 198 4680 roll -0.58 - - 2005 - 2.45 0.053 880 -571.8 -116.8 - - 3204 - - - - - - - - 14.90 14.33 14.91
4743 423.2 -9.2 208 4749 done -0.58 - - 1999 - 2.53 0.058 2282 554.2 -116.8 - - 3204 - - - - - - - - 14.40 14.28 14.45
5067 453.9 -9.6 219 5072 roll -0.58 - - 1998 - 2.53 0.084 3690 556.5 -116.8 - - 3203 - - - - - - - - 14.85 14.21 14.90
5150 461.5 -9.0 231 5155 done -0.58 - - 1998 - 2.42 0.044 2264 -589.3 -116.8 - - 3202 - - - - - - - - 14.48 14.39 14.51
5514 494.3 -9.1 241 5519 roll -0.58 - - 1998 - 2.42 0.055 888 -568.6 -116.8 - - 3201 - - - - - - - - 14.84 14.28 14.88
5585 500.7 -8.8 251 5589 done -0.58 - - 1996 - 2.50 0.060 2281 557.2 -116.8 - - 3200 - - - - - - - - 14.41 14.29 14.46
5907 528.3 -8.5 262 5912 roll -0.58 - - 1991 - 2.55 0.083 3701 556.9 -116.8 - - 3199 - - - - - - - - 14.85 14.21 14.88
5963 533.0 -8.6 270 5969 done -0.58 - - 1992 - 2.45 0.044 2270 -584.1 -116.8 - - 3199 - - - - - - - - 14.50 14.42 14.52
6300 561.9 -8.6 283 6305 roll -0.58 - - 1991 - 2.47 0.057 890 -558.7 -116.8 - - 3197 - - - - - - - - 14.84 14.27 14.85
6382 569.3 -8.8 295 6387 done -0.58 - - 1986 - 2.55 0.060 2274 542.7 -116.8 - - 3196 - - - - - - - - 14.28 14.19 14.31
6747 602.4 -9.2 305 6751 roll -0.58 - - 1980 - 2.60 0.090 3698 547.7 -116.8 - - 3195 - - - - - - - - 14.88 14.13 14.90
6796 606.9 -9.5 312 6802 done -0.58 - - 1984 - 2.45 0.047 2273 -581.6 -116.8 - - 3195 - - - - - - - - 14.43 14.35 14.46
7139 640.0 -9.7 319 7144 roll -0.58 - - 1984 - 2.47 0.060 891 -559.5 -116.8 - - 3194 - - - - - - - - 14.84 14.22 14.86
7222 648.2 -9.5 331 7227 done -0.58 - - 1984 - 2.53 0.062 2277 547.8 -116.8 - - 3194 - - - - - - - - 14.35 14.22 14.40
7588 683.0 -9.5 341 7593 roll -0.58 0.12 0.264 2010 216.7 2.60 0.086 3701 547.7 -116.8 - - 3192 - - - - - - - - 14.04 14.11 14.14
7635 687.1 -8.1 348 7641 done -0.62 - - 2011 - 2.47 0.047 2264 -581.8 -116.8 - - 3192 - - - - - - - - 14.43 14.36 14.47
7979 713.3 -7.5 355 7983 roll -0.62 - - 2015 - 2.45 0.059 889 -561.2 -116.8 - - 3190 - - - - - - - - 14.88 14.22 14.88
8021 716.6 -8.2 361 8025 done -0.62 - - 2011 - 2.53 0.063 2276 548.2 -116.8 - - 3191 - - - - - - - - 14.35 14.21 14.39
8371 743.4 -7.7 369 8376 roll -0.62 - - 2002 - 2.60 0.088 3701 548.1 -116.8 - - 3189 - - - - - - - - 14.86 14.08 14.88
8440 749.1 -8.4 379 8445 done -0.62 - - 2002 - 2.47 0.047 2265 -581.4 -116.8 - - 3189 - - - - - - - - 14.39 14.31 14.42
8764 775.0 -8.1 390 8769 roll -0.62 - - 2002 - 2.47 0.060 887 -557.9 -116.8 - - 3188 - - - - - - - - 14.82 14.15 14.84
8839 780.9 -6.8 401 8845 done -0.62 - - 2000 - 2.60 0.063 2277 534.6 -116.8 - - 3187 - - - - - - - - 14.13 14.07 14.19
9155 804.7 -7.6 411 9159 roll -0.62 - - 1999 - 2.60 0.091 3689 543.1 -116.8 - - 3190 - - - - - - - - 14.85 14.02 14.84
9212 808.7 -7.1 419 9217 done -0.62 - - 1999 - 2.47 0.049 2272 -573.7 -116.8 - - 3186 - - - - - - - - 14.38 14.30 14.40
9547 833.4 -7.3 432 9551 roll -0.62 - - 1999 - 2.50 0.063 887 -554.0 -116.8 - - 3185 - - - - - - - - 14.81 14.10 14.84
9595 837.2 -7.7 439 9602 done -0.62 - - 1999 - 2.58 0.063 2275 538.0 -116.8 - - 3185 - - - - - - - - 14.23 14.09 14.28
9940 863.5 -7.7 446 9945 roll -0.62 - - 1999 - 2.62 0.093 3693 541.2 -116.8 - - 3184 - - - - - - - - 14.81 14.03 14.83
10008 868.5 -7.3 456 10013 done -0.62 - - 1998 - 2.50 0.052 2275 -567.2 -116.8 - - 3184 - - - - - - - - 14.21 14.12 14.28
10331 891.9 -7.2 467 10336 roll -0.62 - - 1999 - 2.55 0.063 867 -552.2 -116.8 - - 3183 - - - - - - - - 14.84 14.08 14.86
10388 896.1 -7.5 475 10393 done -0.62 - - 1998 - 2.60 0.063 2282 544.2 -116.8 - - 3183 - - - - - - - - 14.23 14.09 14.28
10724 919.4 -6.9 488 10728 roll -0.62 - - 1998 - 2.62 0.093 3687 536.3 -116.8 - - 3184 - - - - - - - - 14.83 13.96 14.85
10750 922.1 -8.9 492 10756 done -0.62 - - 1999 - 2.50 0.050 2259 -571.2 -116.8 - - 3182 - - - - - - - - 14.30 14.21 14.33
11116 945.5 -6.6 502 11122 roll -0.62 - - 1999 - 2.47 0.060 888 -555.1 -116.8 - - 3181 - - - - - - - - 14.78 14.07 14.81
11171 950.3 -9.4 510 11177 done -0.62 - - 1998 - 2.58 0.063 2276 538.0 -116.8 - - 3179 - - - - - - - - 14.21 14.07 14.25
11509 972.8 -7.0 523 11514 roll -0.62 - - 1998 - 2.65 0.093 3691 534.0 -116.8 - - 3180 - - - - - - - - 14.78 13.93 14.80
11556 976.3 -7.3 530 11563 done -0.67 - - 1998 - 2.53 0.051 2268 -562.5 -116.8 - - 3180 - - - - - - - - 14.28 14.21 14.32
11783 end dive: TARGET_DEPTH_EXCEEDED
11783 begin apogee
11792 993.3 -7.4 535 11992 roll -0.19 0.50 0.202 2134 272.0 - - 2180 - - 198.27 1.587 2739 -2.2 0.264 - - - - - - 13.70 13.95 13.08
11994 end apogee: CONTROL_FINISHED_OK
11994 begin climb
11999 999.5 - 538 12160 roll 0.68 0.90 0.140 2408 304.4 2.67 0.089 3608 534.8 116.8 152.15 1.753 2262 -3.1 0.339 - - - - - - 13.93 14.00 12.93
12255 986.4 6.4 580 12286 done 0.63 - - 2417 - 2.47 0.056 2216 -563.6 140.0 26.77 1.681 2172 -3.4 0.374 - - - - - - 14.31 14.23 13.28
12623 951.5 9.3 591 12629 roll 0.59 0.12 0.267 2384 -275.0 2.55 0.083 3612 547.5 140.0 - - 2145 - - - - - - - - 14.08 14.28 14.22
12721 943.0 8.3 605 12725 done 0.59 - - 2393 - 2.47 0.056 2198 -572.5 140.0 - - 2144 - - - - - - - - 14.48 14.39 14.52
13071 915.0 8.1 613 13076 roll 0.59 - - 2403 - 2.55 0.074 797 -549.4 140.0 - - 2142 - - - - - - - - 14.78 14.28 14.81
13168 906.8 8.2 627 13174 done 0.59 - - 2404 - 2.53 0.057 2199 554.2 140.0 - - 2141 - - - - - - - - 14.45 14.33 14.50
13520 875.8 9.1 635 13525 roll 0.59 - - 2404 - 2.55 0.089 3605 551.4 140.0 - - 2141 - - - - - - - - 14.84 14.23 14.84
13560 871.6 11.9 641 13566 done 0.54 0.08 0.245 2380 -300.0 2.53 0.056 2190 -559.3 140.0 - - 2140 - - - - - - - - 13.96 14.31 14.29
13911 843.6 7.9 649 13915 roll 0.54 - - 2390 - 2.53 0.072 797 -550.6 140.0 - - 2143 - - - - - - - - 14.81 14.21 14.83
13988 837.5 7.9 660 13992 done 0.54 - - 2390 - 2.53 0.057 2193 551.8 140.0 - - 2139 - - - - - - - - 14.39 14.27 14.44
14302 811.5 8.4 670 14307 roll 0.54 - - 2390 - 2.58 0.087 3608 548.4 140.0 - - 2139 - - - - - - - - 14.84 14.16 14.85
14359 806.3 9.0 678 14363 done 0.54 - - 2400 - 2.50 0.054 2185 -569.2 140.0 - - 2139 - - - - - - - - 14.40 14.31 14.45
14696 777.9 8.4 691 14701 roll 0.54 - - 2410 - 2.55 0.069 791 -546.7 140.0 - - 2137 - - - - - - - - 14.80 14.19 14.82
14764 772.2 8.1 701 14769 done 0.54 0.15 0.241 2373 -246.7 2.55 0.057 2199 552.2 140.0 - - 2139 - - - - - - - - 13.91 14.22 14.21
15088 750.7 6.5 712 15118 roll 0.55 - - 2377 - 2.60 0.089 3609 542.3 159.4 22.77 1.658 2084 -2.4 0.207 - - - - - - 14.83 14.38 13.43
15156 745.9 7.4 722 15161 done 0.55 - - 2385 - 2.50 0.054 2183 -570.4 159.4 - - 2077 - - - - - - - - 14.47 14.38 14.50
15479 723.1 7.1 733 15484 roll 0.56 - - 2396 - 2.53 0.072 788 -551.4 165.4 - - 2073 - - - - - - - - 14.76 14.22 14.77
15549 718.1 7.1 743 15560 done 0.56 - - 2396 - 2.55 0.060 2195 551.8 169.9 4.20 1.314 2044 -6.9 0.716 - - - - - - 14.41 14.29 13.13
15871 693.5 7.7 754 15875 roll 0.56 - - 2396 - 2.58 0.087 3614 550.0 169.9 - - 2056 - - - - - - - - 14.78 14.21 14.79
15926 688.7 8.3 762 15932 done 0.56 - - 2406 - 2.53 0.057 2184 -565.2 169.9 1.60 0.197 2048 -5.0 3.316 - - - - - - 14.42 14.33 14.09
16257 663.5 7.5 774 16261 roll 0.56 - - 2416 - 2.55 0.071 780 -550.6 169.9 - - 2053 - - - - - - - - 14.81 14.20 14.83
16325 658.3 7.5 784 16330 done 0.56 0.15 0.241 2382 -226.7 2.58 0.058 2199 550.0 169.9 - - 2055 - - - - - - - - 13.94 14.25 14.20
16649 637.9 6.3 795 16710 roll 0.57 - - 2382 - 2.62 0.087 3614 540.1 194.4 50.83 1.369 1946 -2.1 0.190 - - - - 1 - 14.78 14.26 13.12
16766 629.5 7.9 812 16771 done 0.57 - - 2391 - 2.53 0.056 2184 -565.2 194.4 - - 1951 - - - - - - - - 14.37 14.27 14.40
17097 605.9 7.1 824 17107 roll 0.58 - - 2400 - 2.55 0.071 790 -546.7 199.0 3.70 1.121 1929 -5.9 0.610 - - - - - - 14.71 14.33 13.12
17193 599.1 6.9 838 17227 done 0.58 - - 2400 - 2.53 0.057 2188 552.6 208.8 29.88 1.369 1891 -1.3 0.106 - - - - - - 14.40 14.30 13.53
17545 572.7 7.6 853 17549 roll 0.58 - - 2397 - 2.60 0.084 3618 550.0 208.8 - - 1880 - - - - - - - - 14.71 14.19 14.72
17620 565.8 9.1 864 17625 done 0.58 - - 2407 - 2.53 0.057 2186 -566.0 208.8 - - 1877 - - - - - - - - 14.40 14.28 14.44
17936 537.5 9.2 874 17941 roll 0.58 - - 2416 - 2.55 0.070 786 -549.0 208.8 - - 1877 - - - - - - - - 14.76 14.20 14.78
18020 529.8 9.0 886 18024 done 0.58 - - 2416 - 2.55 0.058 2197 553.3 208.8 - - 1875 - - - - - - - - 14.39 14.27 14.44
18384 495.3 9.5 896 18389 roll 0.58 - - 2416 - 2.58 0.086 3608 546.9 208.8 - - 1875 - - - - - - - - 14.81 14.14 14.83
18446 489.0 10.0 905 18451 done 0.58 0.15 0.238 2390 -173.3 2.50 0.054 2185 -569.2 208.8 - - 1875 - - - - - - - - 13.96 14.27 14.24
18777 464.3 7.4 917 18782 roll 0.58 - - 2398 - 2.58 0.070 791 -540.3 208.8 - - 1874 - - - - - - - - 14.78 14.16 14.81
18838 459.6 7.5 926 18843 done 0.64 - - 2397 - 2.60 0.057 2196 540.4 208.8 - - 1874 - - - - - - - - 14.24 14.18 14.29
19168 434.0 7.8 938 19172 roll 0.64 - - 2398 - 2.58 0.085 3608 547.3 208.8 - - 1874 - - - - - - - - 14.78 14.11 14.81
19231 428.5 8.7 947 19236 done 0.64 - - 2406 - 2.50 0.053 2186 -568.8 208.8 - - 1874 - - - - - - - - 14.37 14.26 14.41
19560 403.2 7.6 959 19565 roll 0.64 - - 2403 - 2.58 0.070 784 -543.4 208.8 - - 1874 - - - - - - - - 14.83 14.16 14.85
19623 398.8 6.8 968 19649 done 0.71 - - 2407 - 2.55 0.057 2191 551.8 221.9 18.25 1.316 1830 -2.4 0.139 - - - - - - 14.32 14.20 13.56
20008 371.0 7.2 981 20012 roll 0.71 - - 2407 - 2.58 0.083 3613 551.2 224.0 - - 1821 - - - - - - - - 14.76 14.19 14.78
20091 364.2 8.1 993 20096 done 0.71 - - 2416 - 2.50 0.052 2184 -571.6 224.0 - - 1820 - - - - - - - - 14.42 14.31 14.45
20457 337.0 7.5 1003 20462 roll 0.71 - - 2424 - 2.53 0.067 793 -549.8 224.0 - - 1820 - - - - - - - - 14.78 14.20 14.79
20532 330.9 8.2 1014 20537 done 0.71 - - 2424 - 2.55 0.055 2205 553.7 224.0 - - 1820 - - - - - - - - 14.38 14.25 14.41
20848 301.7 9.5 1024 20853 roll 0.71 - - 2423 - 2.55 0.082 3612 551.8 224.0 - - 1820 - - - - - - - - 14.78 14.15 14.80
20911 295.2 10.2 1033 20915 done 0.71 - - 2433 - 2.47 0.051 2189 -576.1 224.0 - - 1820 - - - - - - - - 14.40 14.30 14.45
21240 263.3 9.7 1045 21244 roll 0.71 - - 2444 - 2.53 0.067 797 -550.2 224.0 - - 1820 - - - - - - - - 14.83 14.17 14.85
21316 256.3 8.8 1056 21321 done 0.71 - - 2442 - 2.53 0.054 2192 551.4 224.0 - - 1820 - - - - - - - - 14.27 14.15 14.31
21632 227.6 9.0 1066 21636 roll 0.71 - - 2443 - 2.58 0.082 3612 550.4 224.0 - - 1820 - - - - - - - - 14.80 14.12 14.81
21708 220.2 9.5 1077 21713 done 0.71 - - 2452 - 2.47 0.051 2199 -572.1 224.0 - - 1821 - - - - - - - - 14.37 14.26 14.40
22025 190.6 9.5 1087 22031 roll 0.71 - - 2461 - 2.55 0.067 790 -552.5 224.0 - - 1819 - - - - - - - - 14.78 14.14 14.80
22080 184.9 10.3 1095 22086 done 0.71 0.12 0.242 2434 -225.0 2.55 0.057 2197 551.8 224.0 - - 1820 - - - - - - - - 13.94 14.23 14.18
22416 153.5 9.2 1108 22421 roll 0.71 - - 2433 - 2.58 0.082 3615 549.6 224.0 - - 1820 - - - - - - - - 14.79 14.09 14.80
22486 146.5 9.7 1118 22491 done 0.71 - - 2445 - 2.47 0.052 2204 -571.3 224.0 - - 1820 - - - - - - - - 14.33 14.22 14.35
22808 115.1 10.1 1129 22813 roll 0.71 - - 2451 - 2.58 0.067 790 -548.1 224.0 - - 1820 - - - - - - - - 14.79 14.12 14.83
22877 108.6 9.0 1139 22883 done 0.71 - - 2450 - 2.58 0.056 2209 550.0 224.0 - - 1820 - - - - - - - - 14.31 14.18 14.35
23201 80.1 7.8 1154 23206 roll 0.71 - - 2451 - 2.53 0.080 3607 552.6 224.0 - - 1819 - - - - - - - - 14.75 14.09 14.76
23262 74.2 9.3 1163 23269 done 0.71 0.12 0.259 2432 -158.3 2.47 0.048 2187 -574.9 224.0 - - 1820 - - - - - - - - 13.90 14.21 14.15
23593 58.7 3.4 1177 23660 roll 0.86 0.12 0.130 2492 500.0 2.60 0.079 3606 545.8 318.6 59.78 0.307 1444 -6.3 0.228 - - - - - - 14.33 14.35 14.04
23773 50.2 5.8 1203 23808 done 0.96 - - 2499 - 2.45 0.047 2185 -580.0 354.5 25.62 0.275 1293 -5.9 0.204 - - - - - - 14.40 14.31 14.00
24129 30.9 4.8 1220 24180 roll 1.10 0.15 0.116 2583 560.0 2.53 0.063 798 -548.2 413.9 40.35 0.215 1052 -6.0 0.163 - - - - - - 14.35 14.35 14.08
24253 21.4 7.0 1238 24266 done 1.11 - - 2583 - 2.47 0.050 2197 566.4 422.2 7.90 0.177 1015 -4.7 0.107 - - - - - - 14.38 14.28 14.00
24428 end climb: SURFACE_DEPTH_REACHED
24428 begin surface coast
24456 end surface coast: CONTROL_FINISHED_OK
24456 begin surface
SM 0.73 - - - - -6.13 6.82 0.061 220 32.2 0.12 0.096 2305 -57908.3 500.17 51.83 0.135 698 13.5 -0.007 - - - - - -