SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 356 * Raw log
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• Previous call tries 2 • 141.66 of 350.00 AH used of 24V (59.52% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.7 deg, depth 0.87 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 18 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 103 VBD -0.68 - - 190 - - - 2239 - -116.8 -84.60 - 2866 - - - - - - - - 14.69 - 14.71
107 4.5 -6.2 3 130 roll -0.68 8.95 0.402 1980 200.0 2.62 2.030 914 -505.7 -116.8 -6.32 - 3219 -55.9 - - - - - - - 13.94 13.05 14.37
186 30.1 -22.0 15 191 done -0.53 0.22 0.281 2023 195.5 2.38 0.056 2261 566.0 -116.8 - - 3221 - - - - - - - - 14.09 14.41 14.39
522 76.3 -9.9 30 527 roll -0.46 - - 2012 - 2.47 0.072 3694 580.2 -116.8 - - 3223 - - - - - - - - 14.82 14.43 14.84
592 83.0 -9.9 40 597 done -0.39 0.22 0.228 2071 268.2 2.33 0.039 2284 -605.2 -116.8 - - 3223 - - - - - - - - 14.21 14.57 14.46
914 103.2 -5.7 52 919 roll -0.39 - - 2070 - 2.38 0.051 897 -582.8 -116.8 - - 3223 - - - - - - - - 14.87 14.51 14.89
991 107.9 -6.1 63 996 done -0.39 - - 2069 - 2.40 0.055 2280 576.2 -116.8 - - 3223 - - - - - - - - 14.61 14.51 14.64
1307 127.8 -6.5 73 1312 roll -0.39 - - 2064 - 2.45 0.078 3686 573.9 -116.8 - - 3223 - - - - - - - - 14.90 14.50 14.91
1355 131.1 -6.8 80 1361 done -0.45 - - 2063 - 2.40 0.041 2259 -594.6 -116.8 - - 3223 - - - - - - - - 14.58 14.54 14.61
1699 154.3 -6.9 87 1704 roll -0.45 - - 2064 - 2.35 0.053 903 -577.0 -116.8 - - 3221 - - - - - - - - 14.90 14.53 14.92
1732 156.8 -7.2 92 1738 done -0.45 - - 2061 - 2.45 0.057 2277 560.8 -116.8 - - 3220 - - - - - - - - 14.53 14.47 14.57
2090 181.3 -6.9 101 2091 done -0.45 - - 2061 - - - 2277 - -116.8 - - 3220 - - - - - - - - 14.94 14.96 14.95
2427 204.2 -6.8 107 2432 roll -0.45 - - 2056 - 2.50 0.082 3696 567.6 -116.8 - - 3217 - - - - - - - - 14.93 14.44 14.95
2483 208.3 -7.3 115 2487 done -0.51 - - 2056 - 2.38 0.046 2286 -592.4 -116.8 - - 3219 - - - - - - - - 14.66 14.60 14.69
2818 233.4 -7.6 128 2823 roll -0.51 - - 2056 - 2.42 0.054 886 -578.5 -116.8 - - 3214 - - - - - - - - 14.95 14.54 14.96
2853 236.2 -8.0 133 2859 done -0.51 - - 2053 - 2.45 0.058 2271 565.3 -116.8 - - 3214 - - - - - - - - 14.54 14.43 14.58
3210 262.1 -7.1 142 3211 done -0.51 - - 2056 - - - 2271 - -116.8 - - 3212 - - - - - - - - 14.92 14.95 14.94
3546 284.3 -6.6 148 3551 roll -0.51 - - 2055 - 2.53 0.086 3690 560.9 -116.8 - - 3210 - - - - - - - - 14.95 14.42 14.97
3603 288.0 -6.8 156 3608 done -0.58 0.15 0.119 1990 -433.3 2.40 0.047 2279 -587.9 -116.8 - - 3209 - - - - - - - - 14.46 14.51 14.58
3938 323.0 -10.7 169 3944 roll -0.53 0.12 0.260 2023 275.0 2.45 0.054 878 -571.8 -116.8 - - 3207 - - - - - - - - 14.21 14.45 14.35
4050 333.4 -8.8 185 4056 done -0.53 - - 2022 - 2.47 0.060 2272 564.4 -116.8 - - 3207 - - - - - - - - 14.59 14.48 14.64
4386 363.4 -9.0 198 4391 roll -0.53 - - 2013 - 2.53 0.084 3694 562.1 -116.8 - - 3205 - - - - - - - - 14.92 14.38 14.94
4427 367.2 -9.0 204 4433 done -0.53 - - 2013 - 2.45 0.047 2271 -580.8 -116.8 - - 3204 - - - - - - - - 14.55 14.52 14.59
4779 397.5 -8.6 212 4784 roll -0.53 - - 2013 - 2.42 0.059 882 -574.0 -116.8 - - 3203 - - - - - - - - 14.93 14.47 14.95
4826 401.7 -8.4 219 4833 done -0.53 - - 2012 - 2.50 0.061 2262 552.0 -116.8 - - 3202 - - - - - - - - 14.47 14.40 14.52
5171 428.8 -7.9 226 5171 done -0.53 - - 2009 - - - 2262 - -116.8 - - 3201 - - - - - - - - 14.92 14.93 14.95
5506 455.2 -7.8 232 5511 roll -0.53 - - 2008 - 2.55 0.085 3700 563.9 -116.8 - - 3199 - - - - - - - - 14.94 14.38 14.95
5555 459.0 -7.8 239 5561 done -0.53 - - 2008 - 2.42 0.044 2263 -593.8 -116.8 - - 3199 - - - - - - - - 14.62 14.56 14.65
5898 486.2 -8.1 246 5903 roll -0.53 - - 2008 - 2.40 0.054 878 -577.1 -116.8 - - 3198 - - - - - - - - 14.91 14.45 14.93
5932 489.3 -8.7 251 5938 done -0.53 - - 2004 - 2.53 0.060 2271 550.6 -116.8 - - 3197 - - - - - - - - 14.56 14.36 14.59
6291 519.9 -8.7 260 6292 done -0.53 - - 2000 - - - 2272 - -116.8 - - 3196 - - - - - - - - 14.90 14.92 14.92
6627 549.6 -8.8 266 6632 roll -0.53 - - 2003 - 2.45 0.057 885 -566.1 -116.8 - - 3194 - - - - - - - - 14.90 14.42 14.92
6660 552.8 -9.2 271 6666 done -0.53 - - 1998 - 2.53 0.063 2265 545.5 -116.8 - - 3194 - - - - - - - - 14.40 14.33 14.46
7019 584.5 -8.9 280 7024 roll -0.53 - - 1995 - 2.58 0.087 3702 557.0 -116.8 - - 3193 - - - - - - - - 14.90 14.35 14.92
7045 587.0 -8.8 284 7051 done -0.53 0.08 0.216 2031 450.0 2.45 0.045 2272 -583.7 -116.8 - - 3193 - - - - - - - - 14.10 14.47 14.37
7411 613.2 -7.1 294 7415 roll -0.53 - - 2032 - 2.42 0.059 888 -571.9 -116.8 - - 3192 - - - - - - - - 14.90 14.39 14.92
7508 620.3 -7.1 308 7513 done -0.53 - - 2029 - 2.50 0.061 2272 553.6 -116.8 - - 3194 - - - - - - - - 14.52 14.40 14.56
7858 644.7 -7.1 316 7863 roll -0.53 - - 2023 - 2.55 0.090 3690 556.1 -116.8 - - 3189 - - - - - - - - 14.92 14.29 14.94
7907 648.2 -7.2 323 7913 done -0.58 - - 2023 - 2.42 0.050 2263 -589.7 -116.8 - - 3189 - - - - - - - - 14.54 14.46 14.58
8251 671.7 -6.8 330 8256 roll -0.58 - - 2023 - 2.45 0.061 885 -562.4 -116.8 - - 3187 - - - - - - - - 14.89 14.35 14.90
8298 675.1 -7.1 337 8306 done -0.58 - - 2023 - 2.53 0.064 2262 544.3 -116.8 - - 3188 - - - - - - - - 14.35 14.28 14.51
8643 697.0 -6.3 344 8648 roll -0.58 - - 2017 - 2.58 0.087 3694 555.0 -116.8 - - 3190 - - - - - - - - 14.91 14.21 14.93
8691 700.3 -6.8 351 8698 done -0.58 - - 2017 - 2.45 0.050 2263 -584.1 -116.8 - - 3186 - - - - - - - - 14.54 14.46 14.57
9035 723.9 -6.9 358 9039 roll -0.58 - - 2017 - 2.45 0.063 890 -560.4 -116.8 - - 3186 - - - - - - - - 14.88 14.33 14.90
9124 730.7 -7.2 371 9130 done -0.58 - - 2015 - 2.47 0.063 2262 555.5 -116.8 - - 3185 - - - - - - - - 14.46 14.33 14.50
9483 756.7 -7.4 380 9488 roll -0.58 - - 2011 - 2.60 0.090 3696 551.5 -116.8 - - 3184 - - - - - - - - 14.88 14.17 14.90
9517 759.4 -7.9 385 9523 done -0.58 - - 2012 - 2.45 0.050 2260 -586.1 -116.8 - - 3184 - - - - - - - - 14.52 14.45 14.55
9874 787.4 -7.8 394 9879 roll -0.58 - - 2012 - 2.45 0.061 895 -557.1 -116.8 - - 3183 - - - - - - - - 14.88 14.31 14.90
9958 794.2 -8.2 406 9963 done -0.58 - - 2012 - 2.50 0.064 2269 549.6 -116.8 - - 3183 - - - - - - - - 14.45 14.31 14.49
10322 822.2 -7.6 416 10323 done -0.58 - - 2012 - - - 2269 - -116.8 - - 3182 - - - - - - - - 14.90 14.92 14.95
10658 847.2 -7.4 422 10663 roll -0.58 - - 2011 - 2.62 0.095 3695 544.3 -116.8 - - 3181 - - - - - - - - 14.90 14.20 14.92
10686 849.2 -7.2 426 10691 done -0.58 - - 2011 - 2.47 0.052 2273 -575.7 -116.8 - - 3181 - - - - - - - - 14.51 14.42 14.54
11050 874.0 -6.8 436 11055 roll -0.58 - - 2017 - 2.53 0.064 878 -551.4 -116.8 - - 3180 - - - - - - - - 14.90 14.26 14.92
11113 878.3 -6.9 445 11119 done -0.58 - - 2011 - 2.53 0.066 2261 546.6 -116.8 - - 3180 - - - - - - - - 14.40 14.26 14.45
11443 899.4 -6.4 457 11449 roll -0.58 - - 2011 - 2.62 0.091 3693 546.6 -116.8 - - 3179 - - - - - - - - 14.85 14.17 14.87
11483 902.0 -3.5 463 11489 done -0.58 - - 2011 - 2.50 0.052 2256 -574.8 -116.8 - - 3178 - - - - - - - - 14.46 14.38 14.50
11835 924.2 -6.3 471 11839 roll -0.58 - - 2011 - 2.47 0.060 872 -560.3 -116.8 - - 3178 - - - - - - - - 14.85 14.26 14.87
11925 930.4 -6.7 484 11930 done -0.58 - - 2011 - 2.53 0.063 2260 548.6 -116.8 - - 3180 - - - - - - - - 14.38 14.25 14.43
12282 954.0 -6.7 493 12288 roll -0.58 - - 2011 - 2.62 0.093 3692 546.6 -116.8 - - 3177 - - - - - - - - 14.85 14.14 14.87
12353 958.8 -6.9 503 12357 done -0.63 - - 2011 - 2.50 0.052 2255 -574.8 -116.8 - - 3176 - - - - - - - - 14.46 14.38 14.50
12675 980.9 -6.9 514 12680 roll -0.63 - - 2009 - 2.47 0.062 871 -560.3 -116.8 - - 3177 - - - - - - - - 14.84 14.24 14.85
12750 986.6 -7.4 525 12757 done -0.63 - - 2011 - 2.55 0.063 2267 547.5 -116.8 - - 3177 - - - - - - - - 14.35 14.20 14.40
12839 end dive: TARGET_DEPTH_EXCEEDED
12839 begin apogee
12848 992.9 -5.9 531 13043 roll -0.19 0.45 0.208 2134 273.3 - - 2166 - - 192.27 1.643 2741 -2.3 0.263 - - - - - - 13.94 13.91 13.12
13044 end apogee: CONTROL_FINISHED_OK
13044 begin climb
13048 998.7 - 534 13210 roll 0.68 0.93 0.150 2410 296.8 2.60 0.063 768 -537.7 116.8 150.93 1.865 2263 -3.2 0.326 - - - - - - 13.87 13.95 12.78
13328 982.8 9.8 579 13333 done 0.68 - - 2410 - 2.60 0.064 2179 542.7 116.8 - - 2235 - - - - - - - - 14.20 14.10 14.23
13686 952.2 8.7 588 13691 roll 0.68 - - 2418 - 2.53 0.075 797 -546.2 116.8 - - 2230 - - - - - - - - 14.71 14.33 14.73
13812 941.0 8.7 606 13817 done 0.68 - - 2420 - 2.53 0.064 2192 551.4 116.8 - - 2230 - - - - - - - - 14.50 14.39 14.54
14134 910.0 9.8 617 14141 roll 0.62 - - 2420 - 2.50 0.090 3590 559.2 116.8 - - 2232 - - - - - - - - 14.80 14.31 14.81
14204 902.3 11.2 627 14209 done 0.54 0.22 0.270 2377 -195.5 2.42 0.058 2194 -576.9 116.8 - - 2227 - - - - - - - - 14.11 14.45 14.42
14526 877.6 7.4 638 14531 roll 0.54 - - 2387 - 2.55 0.075 777 -555.7 116.8 - - 2227 - - - - - - - - 14.82 14.37 14.84
14582 873.1 8.6 646 14587 done 0.54 - - 2387 - 2.55 0.063 2190 554.1 116.8 - - 2226 - - - - - - - - 14.50 14.41 14.56
14919 847.2 7.8 659 14924 roll 0.54 - - 2385 - 2.55 0.089 3593 550.2 116.8 - - 2226 - - - - - - - - 14.83 14.34 14.85
15008 839.3 9.2 672 15014 done 0.54 - - 2397 - 2.50 0.057 2189 -561.6 116.8 - - 2225 - - - - - - - - 14.53 14.37 14.57
15366 809.6 8.4 681 15372 roll 0.54 - - 2407 - 2.58 0.073 774 -548.4 116.8 - - 2225 - - - - - - - - 14.84 14.33 14.85
15401 806.6 8.5 686 15406 done 0.54 0.12 0.253 2380 -225.0 2.55 0.061 2191 555.7 116.8 - - 2225 - - - - - - - - 14.12 14.38 14.40
15758 778.8 7.7 695 15763 roll 0.54 - - 2380 - 2.55 0.087 3599 552.2 116.8 - - 2224 - - - - - - - - 14.84 14.29 14.86
15834 772.5 8.5 706 15840 done 0.54 - - 2390 - 2.47 0.057 2185 -572.5 116.8 - - 2224 - - - - - - - - 14.50 14.38 14.54
16150 747.5 8.0 716 16155 roll 0.54 - - 2399 - 2.58 0.073 759 -552.7 116.8 - - 2224 - - - - - - - - 14.84 14.33 14.85
16198 743.7 7.6 723 16205 done 0.54 - - 2400 - 2.62 0.062 2192 546.9 116.8 - - 2223 - - - - - - - - 14.36 14.30 14.42
16542 715.1 8.3 730 16547 roll 0.54 - - 2400 - 2.55 0.086 3599 551.8 116.8 - - 2223 - - - - - - - - 14.86 14.28 14.88
16661 703.7 9.9 747 16666 done 0.49 0.20 0.249 2362 -190.0 2.47 0.057 2186 -572.1 116.8 - - 2223 - - - - - - - - 13.99 14.38 14.31
16990 681.2 6.9 759 16995 roll 0.50 - - 2373 - 2.58 0.072 762 -551.9 127.0 - - 2223 - - - - - - - - 14.83 14.29 14.85
17047 677.3 6.9 767 17072 done 0.55 - - 2373 - 2.60 0.061 2200 553.1 137.1 17.75 1.679 2177 -2.6 0.201 - - - - - - 14.46 14.34 13.55
17382 652.6 7.3 780 17387 roll 0.55 - - 2373 - 2.53 0.090 3588 548.6 137.3 - - 2165 - - - - - - - - 14.82 14.31 14.81
17472 645.4 7.7 793 17478 done 0.55 - - 2381 - 2.50 0.057 2187 -560.4 137.3 - - 2164 - - - - - - - - 14.50 14.33 14.54
17830 621.5 6.5 802 17863 roll 0.56 - - 2391 - 2.58 0.072 775 -547.3 157.3 26.50 1.593 2091 -2.8 0.206 - - - - - - 14.81 14.40 13.65
17913 616.4 6.2 814 17960 done 0.58 - - 2391 - 2.55 0.058 2195 556.9 185.2 39.15 1.492 1980 -2.8 0.225 - - - - - - 14.46 14.35 13.47
18282 590.7 7.2 831 18287 roll 0.58 - - 2391 - 2.53 0.087 3592 552.2 188.5 - - 1964 - - - - - - - - 14.69 14.28 14.71
18356 584.1 8.4 842 18361 done 0.58 - - 2399 - 2.47 0.056 2182 -570.9 188.5 - - 1963 - - - - - - - - 14.47 14.35 14.51
18673 557.2 8.8 852 18677 roll 0.58 - - 2408 - 2.58 0.073 774 -545.7 188.5 - - 1963 - - - - - - - - 14.76 14.33 14.78
18728 552.1 9.4 860 18733 done 0.58 - - 2408 - 2.58 0.060 2202 553.5 188.5 - - 1961 - - - - - - - - 14.47 14.36 14.52
19064 518.2 10.2 873 19069 roll 0.58 - - 2408 - 2.55 0.090 3597 547.1 188.5 - - 1961 - - - - - - - - 14.82 14.31 14.84
19147 509.0 10.8 885 19153 done 0.58 - - 2417 - 2.47 0.057 2184 -572.1 188.5 - - 1960 - - - - - - - - 14.48 14.37 14.53
19512 473.7 9.4 895 19512 done 0.58 - - 2418 - - - 2184 - 188.5 - - 1960 - - - - - - - - 14.85 14.86 14.86
19848 443.4 8.9 901 19853 roll 0.58 - - 2418 - 2.60 0.083 3594 542.3 188.5 - - 1963 - - - - - - - - 14.85 14.29 14.88
19876 440.6 10.3 905 19882 done 0.58 0.15 0.251 2391 -180.0 2.47 0.057 2188 -569.2 188.5 - - 1961 - - - - - - - - 14.08 14.40 14.38
20240 412.5 7.7 915 20245 roll 0.58 - - 2391 - 2.55 0.071 772 -555.3 188.5 - - 1960 - - - - - - - - 14.83 14.28 14.85
20296 408.3 7.4 923 20301 done 0.64 - - 2391 - 2.60 0.058 2212 553.8 188.5 - - 1959 - - - - - - - - 14.47 14.35 14.52
20632 380.9 8.2 936 20637 roll 0.64 - - 2391 - 2.53 0.084 3601 549.0 188.5 - - 1960 - - - - - - - - 14.85 14.28 14.88
20722 372.4 9.4 949 20728 done 0.64 - - 2398 - 2.47 0.054 2212 -562.3 188.5 - - 1959 - - - - - - - - 14.48 14.31 14.53
21080 340.3 9.0 958 21084 roll 0.64 - - 2406 - 2.60 0.070 767 -555.8 188.5 - - 1960 - - - - - - - - 14.83 14.28 14.85
21137 335.2 8.9 966 21142 done 0.69 - - 2406 - 2.60 0.059 2213 556.2 188.5 - - 1959 - - - - - - - - 14.45 14.33 14.50
21472 304.4 9.1 979 21477 roll 0.69 - - 2406 - 2.50 0.082 3587 549.6 188.5 - - 1959 - - - - - - - - 14.85 14.26 14.88
21542 297.6 9.6 989 21547 done 0.69 - - 2415 - 2.42 0.051 2202 -572.3 188.5 - - 1960 - - - - - - - - 14.48 14.39 14.52
21864 269.2 8.8 1000 21868 roll 0.69 - - 2423 - 2.60 0.070 769 -551.2 188.5 - - 1960 - - - - - - - - 14.83 14.28 14.85
21905 265.7 8.4 1006 21910 done 0.69 - - 2423 - 2.58 0.057 2207 557.4 188.5 - - 1960 - - - - - - - - 14.46 14.33 14.51
22257 234.8 8.8 1014 22262 roll 0.69 - - 2423 - 2.53 0.084 3585 544.7 188.5 - - 1959 - - - - - - - - 14.85 14.26 14.87
22360 224.6 9.6 1029 22368 done 0.69 - - 2432 - 2.45 0.050 2219 -557.6 188.5 - - 1960 - - - - - - - - 14.35 14.29 14.39
22704 193.2 9.2 1036 22709 roll 0.69 - - 2440 - 2.62 0.067 762 -556.1 188.5 - - 1960 - - - - - - - - 14.83 14.28 14.85
22739 190.0 9.4 1041 22745 done 0.69 - - 2443 - 2.60 0.057 2212 557.7 188.5 - - 1959 - - - - - - - - 14.45 14.33 14.50
23096 154.1 10.1 1050 23100 roll 0.69 - - 2442 - 2.53 0.082 3600 548.6 188.5 - - 1960 - - - - - - - - 14.86 14.26 14.88
23186 144.1 10.8 1063 23191 done 0.69 - - 2452 - 2.47 0.051 2211 -562.3 188.5 - - 1960 - - - - - - - - 14.35 14.30 14.50
23544 107.0 10.6 1072 23549 roll 0.69 - - 2461 - 2.60 0.065 766 -555.8 188.5 - - 1959 - - - - - - - - 14.85 14.30 14.88
23600 101.1 10.5 1080 23605 done 0.69 0.15 0.253 2427 -226.7 2.60 0.057 2216 557.7 188.5 - - 1959 - - - - - - - - 14.00 14.34 14.31
23939 72.9 7.6 1098 23944 roll 0.69 - - 2428 - 2.50 0.083 3591 550.0 188.5 - - 1959 - - - - - - - - 14.83 14.25 14.83
23950 72.0 6.8 1100 23965 done 0.70 - - 2436 - 2.40 0.050 2209 -575.8 201.3 6.97 0.266 1923 -5.2 0.268 - - - - - - 14.48 14.38 13.88
24273 55.8 3.5 1113 24341 roll 0.80 - - 2436 - 2.55 0.066 772 -563.5 292.4 61.35 0.300 1547 -6.1 0.219 - - - - - - 14.81 14.45 14.14
24392 49.8 5.4 1127 24432 done 0.97 0.22 0.090 2529 422.7 2.58 0.054 2220 561.2 337.8 31.58 0.279 1360 -5.9 0.203 - - - - - - 14.42 14.37 14.07
24752 24.2 6.6 1145 24766 done 0.98 - - 2529 - - - 2220 - 355.2 12.88 0.194 1290 -5.4 0.130 - - - - - - 14.72 14.34 14.07
25058 6.3 5.9 1156 25090 roll 1.07 - - 2532 - 2.70 0.064 759 -541.1 389.6 23.62 0.146 1147 -6.1 0.050 - - - - - - 14.76 14.35 14.20
25105 3.3 6.0 1160 25120 VBD 1.19 0.15 0.111 2602 466.7 2.58 0.055 2217 565.1 421.6 10.48 0.145 1079 -6.5 0.028 - - - - - - 14.41 14.37 14.50
25121 end climb: SURFACE_DEPTH_REACHED
25121 begin surface coast
25138 end surface coast: CONTROL_FINISHED_OK
25138 begin surface
SM 0.73 - - - - -6.14 6.80 0.057 219 32.2 0.10 0.136 2288 -91380.0 500.17 57.75 0.138 699 12.1 -0.007 - - - - - -