SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 485 * Raw log
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• Previous call tries 3 • 191.01 of 350.00 AH used of 24V (45.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 19 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 197 - - - 2296 - -116.8 -84.62 - 2780 - - - - - - - - 14.67 - 14.69
108 3.0 -3.7 3 132 roll -0.68 9.05 0.401 1971 196.0 2.78 2.013 870 -512.9 -116.8 -8.90 - 3216 -49.0 - - - - - - - 13.84 13.15 14.30
212 30.0 -22.4 18 218 done -0.48 0.30 0.263 2035 213.3 2.50 0.058 2273 561.2 -116.8 - - 3218 - - - - - - - - 13.97 14.35 14.29
525 64.6 -7.2 30 529 roll -0.48 - - 2035 - 2.47 0.051 862 -571.3 -116.8 - - 3219 - - - - - - - - 14.80 14.38 14.82
537 65.9 -8.8 32 544 done -0.48 - - 2027 - 2.55 0.054 2283 557.3 -116.8 - - 3219 - - - - - - - - 14.49 14.31 14.52
861 94.7 -9.6 45 862 done -0.48 - - 2027 - - - 2282 - -116.8 - - 3220 - - - - - - - - 14.83 14.85 14.85
1168 116.7 -6.6 52 1174 roll -0.48 - - 2020 - 2.47 0.076 3695 572.1 -116.8 - - 3220 - - - - - - - - 14.85 14.28 14.88
1231 120.8 -6.6 61 1236 done -0.48 - - 2020 - 2.40 0.040 2252 -601.2 -116.8 - - 3219 - - - - - - - - 14.56 14.49 14.57
1561 147.1 -8.4 73 1566 roll -0.48 - - 2020 - 2.35 0.051 895 -577.4 -116.8 - - 3219 - - - - - - - - 14.88 14.40 14.90
1629 153.4 -8.8 83 1635 done -0.48 - - 2016 - 2.47 0.054 2293 566.0 -116.8 - - 3218 - - - - - - - - 14.47 14.33 14.51
1953 181.0 -8.4 94 1953 done -0.48 - - 2015 - - - 2292 - -116.8 - - 3217 - - - - - - - - 14.88 14.89 14.89
2289 209.3 -8.6 100 2290 done -0.48 - - 2015 - - - 2293 - -116.8 - - 3216 - - - - - - - - 14.87 14.88 14.88
2624 240.9 -9.6 106 2629 roll -0.48 - - 2016 - 2.47 0.054 896 -565.6 -116.8 - - 3213 - - - - - - - - 14.88 14.37 14.90
2680 246.6 -10.1 114 2685 done -0.48 - - 2015 - 2.47 0.058 2277 559.1 -116.8 - - 3213 - - - - - - - - 14.46 14.35 14.50
3017 280.5 -10.2 127 3022 roll -0.48 - - 2012 - 2.53 0.081 3699 562.1 -116.8 - - 3211 - - - - - - - - 14.87 14.28 14.88
3051 284.0 -10.0 132 3057 done -0.48 0.12 0.227 2043 258.3 2.40 0.043 2267 -596.7 -116.8 - - 3210 - - - - - - - - 14.16 14.49 14.37
3409 310.8 -7.1 141 3413 roll -0.48 - - 2046 - 2.42 0.057 886 -570.7 -116.8 - - 3208 - - - - - - - - 14.90 14.34 14.91
3522 318.3 -6.4 157 3527 done -0.53 - - 2043 - 2.50 0.059 2277 556.4 -116.8 - - 3207 - - - - - - - - 14.46 14.34 14.50
3856 339.0 -6.2 170 3861 roll -0.53 - - 2042 - 2.53 0.083 3694 560.1 -116.8 - - 3205 - - - - - - - - 14.87 14.25 14.89
3906 342.2 -6.5 177 3913 done -0.60 0.12 0.132 1986 -466.7 2.40 0.045 2264 -595.8 -116.8 - - 3205 - - - - - - - - 14.35 14.43 14.46
4249 375.8 -10.2 184 4254 roll -0.60 - - 1986 - 2.40 0.056 894 -570.8 -116.8 - - 3203 - - - - - - - - 14.90 14.33 14.91
4289 380.1 -10.3 190 4295 done -0.60 - - 1986 - 2.47 0.060 2268 556.3 -116.8 - - 3202 - - - - - - - - 14.41 14.28 14.46
4640 414.2 -9.7 198 4645 roll -0.60 - - 1976 - 2.55 0.086 3690 557.6 -116.8 - - 3201 - - - - - - - - 14.87 14.22 14.88
4710 421.1 -9.8 208 4716 done -0.60 - - 1975 - 2.40 0.047 2274 -590.0 -116.8 - - 3201 - - - - - - - - 14.51 14.43 14.54
5033 452.9 -9.9 219 5038 roll -0.55 0.15 0.256 2015 266.7 2.45 0.056 890 -564.9 -116.8 - - 3199 - - - - - - - - 14.00 14.26 14.14
5123 461.2 -8.7 232 5129 done -0.55 - - 2015 - 2.47 0.060 2265 556.7 -116.8 - - 3199 - - - - - - - - 14.42 14.31 14.47
5481 493.7 -9.2 241 5485 roll -0.55 - - 2012 - 2.60 0.089 3701 552.3 -116.8 - - 3197 - - - - - - - - 14.89 14.17 14.91
5542 499.4 -9.0 250 5548 done -0.55 - - 2011 - 2.50 0.045 2233 -587.2 -116.8 - - 3196 - - - - - - - - 14.44 14.35 14.47
5873 527.8 -8.6 262 5878 roll -0.55 - - 2012 - 2.38 0.055 886 -566.0 -116.8 - - 3195 - - - - - - - - 14.85 14.29 14.87
5906 530.9 -8.9 267 5912 done -0.55 - - 2011 - 2.50 0.060 2272 554.4 -116.8 - - 3194 - - - - - - - - 14.36 14.22 14.41
6265 559.4 -7.9 276 6270 roll -0.55 - - 2007 - 2.58 0.088 3699 553.1 -116.8 - - 3193 - - - - - - - - 14.85 14.18 14.88
6327 564.3 -7.9 285 6332 done -0.55 - - 2007 - 2.45 0.047 2264 -585.7 -116.8 - - 3192 - - - - - - - - 14.48 14.41 14.51
6656 589.5 -7.6 297 6657 done -0.55 - - 2007 - - - 2254 - -116.8 - - 3192 - - - - - - - - 14.88 14.91 14.90
6993 617.8 -8.6 303 6997 roll -0.55 - - 2007 - 2.45 0.058 890 -556.7 -116.8 - - 3190 - - - - - - - - 14.88 14.23 14.90
7019 620.4 -9.3 307 7025 done -0.55 - - 2002 - 2.50 0.060 2264 549.6 -116.8 - - 3190 - - - - - - - - 14.33 14.19 14.38
7385 653.7 -9.1 317 7390 roll -0.55 - - 1999 - 2.62 0.090 3698 547.3 -116.8 - - 3188 - - - - - - - - 14.87 14.02 14.88
7446 659.4 -9.0 326 7452 done -0.55 - - 1998 - 2.50 0.049 2253 -578.0 -116.8 - - 3188 - - - - - - - - 14.38 14.28 14.42
7777 687.7 -8.6 338 7782 roll -0.55 - - 1998 - 2.45 0.058 881 -560.0 -116.8 - - 3187 - - - - - - - - 14.87 14.22 14.89
7826 692.0 -8.5 345 7832 done -0.55 - - 1999 - 2.55 0.062 2272 545.5 -116.8 - - 3187 - - - - - - - - 14.33 14.19 14.37
8168 720.2 -8.2 352 8174 roll -0.55 - - 2002 - 2.60 0.091 3688 544.6 -116.8 - - 3186 - - - - - - - - 14.88 14.07 14.90
8224 724.8 -8.5 360 8230 done -0.55 - - 1999 - 2.47 0.048 2258 -578.9 -116.8 - - 3185 - - - - - - - - 14.40 14.33 14.42
8562 752.1 -8.2 373 8566 roll -0.55 - - 1998 - 2.45 0.058 887 -559.6 -116.8 - - 3184 - - - - - - - - 14.83 14.17 14.84
8616 756.8 -8.5 381 8621 done -0.55 - - 1998 - 2.53 0.061 2262 543.5 -116.8 - - 3184 - - - - - - - - 14.27 14.14 14.32
8953 783.0 -7.7 394 8957 roll -0.55 - - 1997 - 2.62 0.090 3693 546.2 -116.8 - - 3183 - - - - - - - - 14.83 14.05 14.85
9015 787.8 -7.6 403 9020 done -0.55 - - 1997 - 2.47 0.047 2260 -580.2 -116.8 - - 3182 - - - - - - - - 14.37 14.30 14.40
9345 812.3 -7.3 415 9349 roll -0.55 - - 1997 - 2.45 0.057 884 -561.6 -116.8 - - 3182 - - - - - - - - 14.85 14.14 14.88
9392 816.1 -7.7 422 9399 done -0.55 - - 1997 - 2.58 0.061 2260 533.3 -116.8 - - 3181 - - - - - - - - 14.21 14.02 14.27
9738 841.7 -7.5 429 9743 roll -0.55 - - 1990 - 2.62 0.088 3691 546.2 -116.8 - - 3180 - - - - - - - - 14.81 13.93 14.83
9812 847.7 -7.8 440 9819 done -0.55 - - 1991 - 2.47 0.047 2269 -575.7 -116.8 - - 3180 - - - - - - - - 14.33 14.24 14.35
10128 873.2 -8.1 450 10133 roll -0.55 - - 1991 - 2.50 0.059 878 -556.4 -116.8 - - 3180 - - - - - - - - 14.82 14.00 14.83
10178 877.4 -8.5 457 10184 done -0.55 0.12 0.255 2015 200.0 2.58 0.063 2271 539.9 -116.8 - - 3180 - - - - - - - - 13.82 14.12 14.07
10521 901.6 -7.0 464 10527 roll -0.55 - - 2012 - 2.65 0.092 3698 538.5 -116.8 - - 3179 - - - - - - - - 14.81 13.98 14.83
10570 905.0 -7.0 471 10576 done -0.62 - - 2012 - 2.53 0.048 2245 -574.3 -116.8 - - 3178 - - - - - - - - 14.34 14.27 14.40
10913 927.4 -6.4 478 10917 roll -0.62 - - 2012 - 2.45 0.057 890 -553.1 -116.8 - - 3177 - - - - - - - - 14.85 14.09 14.86
10954 930.2 -4.7 484 10960 done -0.62 - - 2012 - 2.55 0.060 2278 544.3 -116.8 - - 3177 - - - - - - - - 14.21 14.07 14.26
11306 951.3 -6.0 492 11311 roll -0.62 - - 2012 - 2.62 0.091 3690 538.9 -116.8 - - 3176 - - - - - - - - 14.83 13.97 14.85
11367 955.1 -6.0 501 11373 done -0.68 - - 2011 - 2.47 0.049 2276 -572.5 -116.8 - - 3176 - - - - - - - - 14.28 14.19 14.31
11697 974.9 -6.1 513 11702 roll -0.68 - - 2011 - 2.53 0.060 881 -551.4 -116.8 - - 3175 - - - - - - - - 14.80 14.06 14.82
11760 979.0 -6.6 522 11765 done -0.68 - - 2012 - 2.58 0.062 2275 540.3 -116.8 - - 3175 - - - - - - - - 14.19 14.04 14.23
11973 end dive: TARGET_DEPTH_EXCEEDED
11973 begin apogee
11981 992.7 -6.1 532 12180 roll -0.19 0.45 0.200 2135 273.3 - - 2184 - - 196.88 1.606 2739 -2.2 0.259 - - - - - - 13.69 13.93 13.04
12182 end apogee: CONTROL_FINISHED_OK
12182 begin climb
12187 998.6 - 535 12350 roll 0.68 0.90 0.145 2408 303.3 2.55 0.062 806 -540.4 116.8 152.93 1.823 2263 -3.1 0.323 - - - - - - 13.92 14.02 12.94
12377 991.3 8.7 568 12384 done 0.68 - - 2404 - 2.60 0.060 2204 537.7 116.8 - - 2239 - - - - - - - - 14.14 14.04 14.17
12702 966.6 7.6 579 12706 roll 0.68 - - 2407 - 2.58 0.090 3617 547.7 116.8 - - 2228 - - - - - - - - 14.73 14.26 14.75
12777 959.9 8.5 590 12782 done 0.62 - - 2418 - 2.47 0.058 2212 -568.8 116.8 - - 2228 - - - - - - - - 14.47 14.37 14.50
13094 936.0 7.5 600 13100 roll 0.56 0.12 0.281 2397 -175.0 2.60 0.069 788 -547.7 116.8 - - 2227 - - - - - - - - 14.04 14.28 14.18
13170 931.1 5.9 611 13225 done 0.58 - - 2397 - 2.55 0.060 2196 552.2 151.2 47.50 1.652 2116 -2.3 0.250 - - - - - - 14.45 14.33 13.35
13544 905.0 7.3 629 13549 roll 0.58 - - 2397 - 2.58 0.091 3611 548.4 152.5 - - 2100 - - - - - - - - 14.71 14.23 14.73
13591 900.4 8.9 636 13598 done 0.58 - - 2405 - 2.47 0.057 2196 -572.9 152.5 - - 2099 - - - - - - - - 14.42 14.35 14.48
13934 871.1 8.6 643 13939 roll 0.58 - - 2414 - 2.55 0.074 798 -548.2 152.5 - - 2098 - - - - - - - - 14.78 14.25 14.79
14017 863.9 8.5 655 14023 done 0.58 - - 2417 - 2.53 0.058 2193 551.4 152.5 - - 2098 - - - - - - - - 14.43 14.31 14.48
14383 830.5 9.2 665 14388 roll 0.58 - - 2417 - 2.58 0.090 3609 548.8 152.5 - - 2098 - - - - - - - - 14.79 14.21 14.81
14438 824.6 11.3 673 14444 done 0.53 0.22 0.253 2378 -177.3 2.47 0.054 2193 -573.3 152.5 - - 2096 - - - - - - - - 13.92 14.33 14.25
14776 800.6 7.0 686 14780 roll 0.53 - - 2384 - 2.53 0.070 800 -550.6 159.3 - - 2097 - - - - - - - - 14.82 14.24 14.83
14850 795.3 6.8 697 14879 done 0.54 - - 2384 - 2.53 0.057 2192 550.2 171.0 22.65 1.740 2041 -2.5 0.214 - - - - - - 14.38 14.23 13.43
15222 769.1 7.0 708 15229 roll 0.55 - - 2384 - 2.65 0.088 3611 535.5 178.9 1.88 0.186 2007 -18.1 14.176 - - - - - - 14.75 14.23 14.09
15279 765.0 7.4 716 15285 done 0.55 - - 2393 - 2.50 0.054 2188 -569.2 178.9 - - 2010 - - - - - - - - 14.45 14.35 14.48
15614 740.6 7.3 729 15621 roll 0.55 - - 2404 - 2.60 0.070 788 -538.5 180.8 2.12 0.348 2000 -4.7 1.903 - - - - - - 14.78 14.32 12.94
15712 733.5 7.1 743 15725 done 0.55 - - 2404 - 2.55 0.058 2194 551.4 186.3 6.90 1.626 1982 -2.6 0.223 - - - - - - 14.41 14.29 13.28
16055 705.4 8.4 757 16061 roll 0.55 - - 2401 - 2.65 0.087 3614 535.8 186.3 1.80 0.189 1977 -2.8 1.965 - - - - - - 14.80 14.25 14.09
16105 700.6 9.9 764 16111 done 0.55 0.15 0.246 2378 -153.3 2.53 0.055 2183 -565.6 186.3 - - 1982 - - - - - - - - 14.03 14.35 14.28
16441 674.8 7.6 777 16446 roll 0.55 - - 2388 - 2.53 0.070 792 -549.8 186.3 - - 1986 - - - - - - - - 14.79 14.21 14.81
16517 668.8 7.7 788 16523 done 0.60 - - 2393 - 2.53 0.057 2189 552.2 186.3 - - 1986 - - - - - - - - 14.40 14.28 14.44
16834 643.4 8.1 798 16839 roll 0.60 - - 2388 - 2.58 0.084 3609 550.4 186.3 - - 1986 - - - - - - - - 14.78 14.16 14.81
16902 637.0 9.3 808 16908 done 0.60 - - 2397 - 2.50 0.052 2184 -570.0 186.3 - - 1986 - - - - - - - - 14.40 14.30 14.43
17225 607.5 9.3 819 17230 roll 0.60 - - 2407 - 2.53 0.069 790 -551.0 186.3 - - 1987 - - - - - - - - 14.83 14.18 14.84
17302 600.5 9.0 830 17307 done 0.60 - - 2407 - 2.53 0.057 2187 552.2 186.3 - - 1987 - - - - - - - - 14.35 14.23 14.39
17617 571.5 9.2 840 17622 roll 0.60 - - 2407 - 2.58 0.083 3608 550.8 186.3 - - 1985 - - - - - - - - 14.83 14.11 14.84
17686 564.8 9.9 850 17691 done 0.60 - - 2417 - 2.53 0.052 2167 -569.6 186.3 - - 1987 - - - - - - - - 14.36 14.26 14.40
18010 537.8 8.1 861 18015 roll 0.60 - - 2425 - 2.50 0.070 797 -548.0 186.3 - - 1987 - - - - - - - - 14.82 14.07 14.83
18065 533.5 7.6 869 18070 done 0.60 0.12 0.248 2397 -233.3 2.53 0.055 2189 550.2 186.3 - - 1987 - - - - - - - - 13.92 14.23 14.16
18401 511.7 6.5 882 18441 roll 0.61 - - 2397 - 2.60 0.083 3608 545.8 206.8 31.08 1.366 1893 -3.0 0.215 - - - - 1 - 14.78 14.36 13.27
18519 502.7 8.1 899 18524 done 0.61 - - 2412 - 2.50 0.051 2181 -570.8 206.8 - - 1897 - - - - - - - - 14.42 14.33 14.45
18842 477.8 7.9 910 18846 roll 0.61 - - 2407 - 2.55 0.071 782 -548.6 206.8 - - 1901 - - - - - - - - 14.74 14.19 14.78
18912 472.4 7.4 920 18918 done 0.66 - - 2407 - 2.55 0.057 2195 554.1 206.8 - - 1901 - - - - - - - - 14.37 14.26 14.41
19234 446.7 8.1 931 19239 roll 0.66 - - 2407 - 2.58 0.084 3609 548.1 206.8 - - 1902 - - - - - - - - 14.76 14.14 14.78
19304 440.2 9.3 941 19309 done 0.66 - - 2415 - 2.50 0.051 2181 -571.2 206.8 - - 1902 - - - - - - - - 14.40 14.31 14.43
19626 411.0 9.2 952 19631 roll 0.66 - - 2424 - 2.53 0.068 794 -548.2 206.8 - - 1902 - - - - - - - - 14.78 14.15 14.80
19695 404.6 9.1 962 19700 done 0.66 - - 2424 - 2.53 0.055 2192 552.6 206.8 - - 1901 - - - - - - - - 14.35 14.22 14.39
20019 373.2 9.9 973 20024 roll 0.66 - - 2424 - 2.58 0.083 3609 549.2 206.8 - - 1902 - - - - - - - - 14.78 14.12 14.79
20087 365.6 10.9 983 20092 done 0.66 - - 2433 - 2.50 0.050 2185 -569.6 206.8 - - 1901 - - - - - - - - 14.35 14.24 14.40
20410 332.5 10.3 994 20415 roll 0.66 - - 2443 - 2.53 0.066 793 -550.2 206.8 - - 1902 - - - - - - - - 14.78 14.13 14.80
20494 324.3 9.6 1006 20499 done 0.66 0.12 0.246 2416 -225.0 2.53 0.055 2190 552.2 206.8 - - 1901 - - - - - - - - 13.90 14.20 14.14
20858 293.0 8.4 1016 20864 roll 0.66 - - 2416 - 2.58 0.083 3607 549.2 206.8 - - 1902 - - - - - - - - 14.79 14.09 14.81
20941 285.2 9.2 1028 20947 done 0.66 - - 2424 - 2.50 0.049 2186 -568.4 206.8 - - 1902 - - - - - - - - 14.35 14.22 14.37
21307 255.7 8.0 1038 21312 roll 0.66 - - 2424 - 2.58 0.068 787 -542.2 206.8 - - 1902 - - - - - - - - 14.81 14.11 14.83
21375 250.3 7.8 1048 21382 done 0.66 - - 2424 - 2.55 0.054 2194 551.8 206.8 - - 1902 - - - - - - - - 14.29 14.16 14.33
21700 223.5 8.5 1059 21705 roll 0.66 - - 2424 - 2.60 0.082 3612 545.4 206.8 - - 1901 - - - - - - - - 14.77 13.97 14.78
21774 216.0 9.3 1070 21780 done 0.66 - - 2434 - 2.50 0.049 2187 -570.0 206.8 - - 1901 - - - - - - - - 14.33 14.23 14.37
22090 188.6 8.7 1080 22096 roll 0.66 - - 2443 - 2.55 0.065 789 -548.2 206.8 - - 1902 - - - - - - - - 14.78 14.10 14.80
22175 181.0 9.0 1092 22181 done 0.66 0.12 0.241 2415 -233.3 2.55 0.055 2204 554.9 206.8 - - 1902 - - - - - - - - 13.90 14.19 14.13
22538 150.1 8.5 1102 22543 roll 0.66 - - 2416 - 2.55 0.082 3606 549.8 206.8 - - 1902 - - - - - - - - 14.82 14.06 14.83
22600 144.1 9.5 1111 22606 done 0.66 - - 2424 - 2.50 0.048 2182 -569.6 206.8 - - 1902 - - - - - - - - 14.31 14.21 14.35
22932 115.1 8.7 1123 22937 roll 0.66 - - 2433 - 2.55 0.064 788 -546.7 206.8 - - 1902 - - - - - - - - 14.81 14.10 14.82
22987 110.5 8.5 1131 22991 done 0.66 - - 2432 - 2.55 0.054 2195 551.8 206.8 - - 1902 - - - - - - - - 14.31 14.18 14.33
23324 83.3 8.4 1147 23328 roll 0.66 - - 2432 - 2.58 0.080 3607 547.3 206.8 - - 1902 - - - - - - - - 14.75 14.06 14.77
23419 74.7 8.3 1161 23425 done 0.66 - - 2442 - 2.47 0.047 2185 -575.7 206.8 - - 1902 - - - - - - - - 14.31 14.22 14.35
23743 55.3 5.7 1174 23775 roll 0.73 - - 2450 - 2.50 0.063 788 -558.8 245.6 27.00 0.287 1738 -6.1 0.222 - - - - - - 14.76 14.33 14.00
23800 52.2 5.2 1182 23840 done 0.84 - - 2450 - 2.53 0.054 2199 557.7 297.0 35.62 0.290 1528 -5.9 0.201 - - - - - - 14.35 14.24 14.03
24159 39.1 3.1 1200 24231 roll 1.07 0.25 0.091 2558 432.0 2.50 0.077 3608 563.6 396.8 66.18 0.244 1120 -6.2 0.187 - - - - - - 14.26 14.23 14.04
24308 26.9 9.5 1222 24314 done 1.07 - - 2567 - 2.50 0.048 2189 -567.6 396.8 - - 1127 - - - - - - - - 14.28 14.23 14.32
24600 end climb: SURFACE_DEPTH_REACHED
24600 begin surface coast
24628 end surface coast: CONTROL_FINISHED_OK
24628 begin surface
SM 0.89 - - - - -6.14 6.78 0.060 214 31.6 0.20 0.099 2304 6370.0 500.17 65.65 0.135 699 10.6 -0.007 - - - - - -