SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 378 * Raw log
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• Previous call tries 1 • 150.04 of 350.00 AH used of 24V (57.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.1 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 16 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 200 - - - 2312 - -116.8 -85.03 - 2843 - - - - - - - - 14.69 - 14.71
106 4.1 -5.6 3 130 roll -0.68 9.07 0.410 1981 196.4 2.80 2.026 886 -509.3 -116.8 -7.00 - 3220 -53.9 - - - - - - - 13.90 13.02 14.35
270 52.0 -24.7 27 275 done -0.48 0.28 0.260 2039 207.1 2.45 0.058 2280 569.0 -116.8 - - 3221 - - - - - - - - 14.08 14.41 14.38
606 85.1 -8.3 42 611 roll -0.48 - - 2032 - 2.45 0.072 3702 580.4 -116.8 - - 3222 - - - - - - - - 14.83 14.42 14.85
711 94.3 -8.3 57 719 done -0.48 - - 2028 - 2.38 0.037 2255 -608.0 -116.8 - - 3223 - - - - - - - - 14.62 14.57 14.64
1026 119.0 -8.0 65 1032 roll -0.48 - - 2018 - 2.53 0.074 3691 567.6 -116.8 - - 3223 - - - - - - - - 14.89 14.45 14.93
1096 125.3 -9.3 75 1101 done -0.48 - - 2018 - 2.30 0.040 2293 -607.8 -116.8 - - 3223 - - - - - - - - 14.66 14.61 14.69
1419 152.8 -8.4 86 1424 roll -0.48 - - 2020 - 2.42 0.053 892 -578.9 -116.8 - - 3223 - - - - - - - - 14.90 14.51 14.93
1522 162.0 -8.9 101 1530 done -0.48 - - 2015 - 2.47 0.057 2278 561.1 -116.8 - - 3222 - - - - - - - - 14.50 14.45 14.54
1867 191.3 -8.6 108 1872 roll -0.48 - - 2015 - 2.47 0.080 3689 571.3 -116.8 - - 3221 - - - - - - - - 14.90 14.40 14.92
1893 193.6 -8.3 112 1899 done -0.48 0.08 0.217 2033 225.0 2.40 0.041 2263 -594.2 -116.8 - - 3220 - - - - - - - - 14.23 14.54 14.35
2258 221.2 -7.5 122 2263 roll -0.48 - - 2034 - 2.35 0.051 901 -579.6 -116.8 - - 3218 - - - - - - - - 14.91 14.50 14.92
2342 227.7 -7.7 134 2347 done -0.48 - - 2029 - 2.42 0.057 2281 570.2 -116.8 - - 3217 - - - - - - - - 14.62 14.51 14.66
2707 257.1 -8.1 144 2711 roll -0.48 - - 2021 - 2.47 0.079 3693 571.7 -116.8 - - 3215 - - - - - - - - 14.91 14.45 14.93
2740 260.0 -8.8 149 2747 done -0.48 - - 2021 - 2.38 0.042 2282 -592.9 -116.8 - - 3215 - - - - - - - - 14.58 14.54 14.61
3099 290.8 -8.6 158 3104 roll -0.48 - - 2021 - 2.38 0.050 901 -580.3 -116.8 - - 3213 - - - - - - - - 14.91 14.51 14.92
3167 297.0 -8.8 168 3173 done -0.48 - - 2016 - 2.47 0.058 2282 559.1 -116.8 - - 3212 - - - - - - - - 14.48 14.41 14.62
3490 325.5 -8.9 179 3495 roll -0.48 - - 2012 - 2.50 0.083 3693 564.4 -116.8 - - 3211 - - - - - - - - 14.92 14.42 14.92
3518 328.1 -9.1 183 3523 done -0.48 0.12 0.237 2041 241.7 2.38 0.044 2272 -597.1 -116.8 - - 3210 - - - - - - - - 14.26 14.59 14.47
3882 356.4 -7.7 193 3888 roll -0.48 - - 2041 - 2.38 0.054 900 -576.5 -116.8 - - 3208 - - - - - - - - 14.92 14.47 14.93
3959 362.4 -7.6 204 3964 done -0.53 - - 2040 - 2.45 0.060 2281 563.7 -116.8 - - 3207 - - - - - - - - 14.57 14.45 14.61
4275 385.9 -7.5 214 4280 roll -0.53 - - 2035 - 2.50 0.083 3691 564.0 -116.8 - - 3206 - - - - - - - - 14.90 14.41 14.92
4315 389.1 -7.8 220 4321 done -0.58 - - 2035 - 2.42 0.045 2270 -587.2 -116.8 - - 3205 - - - - - - - - 14.57 14.52 14.59
4666 416.0 -7.7 228 4671 roll -0.58 - - 2035 - 2.40 0.056 886 -576.7 -116.8 - - 3204 - - - - - - - - 14.93 14.45 14.95
4750 422.6 -7.7 240 4755 done -0.58 - - 2029 - 2.45 0.060 2270 564.9 -116.8 - - 3203 - - - - - - - - 14.56 14.45 14.59
5114 451.2 -8.0 250 5119 roll -0.58 - - 2023 - 2.53 0.087 3692 562.1 -116.8 - - 3201 - - - - - - - - 14.91 14.37 14.91
5197 457.9 -7.9 262 5203 done -0.58 - - 2023 - 2.42 0.046 2266 -589.3 -116.8 - - 3201 - - - - - - - - 14.62 14.50 14.64
5563 486.3 -7.8 272 5568 roll -0.58 - - 2023 - 2.38 0.056 892 -577.3 -116.8 - - 3200 - - - - - - - - 14.92 14.43 14.94
5631 492.0 -8.0 282 5637 done -0.58 - - 2022 - 2.45 0.061 2281 566.9 -116.8 - - 3199 - - - - - - - - 14.52 14.38 14.58
5955 517.4 -8.0 293 5960 roll -0.58 - - 2018 - 2.50 0.086 3697 566.4 -116.8 - - 3198 - - - - - - - - 14.90 14.36 14.92
5982 519.8 -8.5 297 5988 done -0.58 - - 2018 - 2.38 0.047 2268 -600.4 -116.8 - - 3197 - - - - - - - - 14.62 14.56 14.64
6346 551.1 -8.6 307 6351 roll -0.58 - - 2018 - 2.38 0.058 896 -576.5 -116.8 - - 3196 - - - - - - - - 14.92 14.41 14.94
6422 557.6 -8.2 318 6428 done -0.58 - - 2015 - 2.45 0.062 2278 564.1 -116.8 - - 3195 - - - - - - - - 14.50 14.37 14.54
6739 582.3 -7.8 328 6744 roll -0.58 - - 2013 - 2.53 0.090 3697 560.9 -116.8 - - 3194 - - - - - - - - 14.92 14.32 14.93
6779 585.4 -7.5 334 6785 done -0.58 - - 2014 - 2.40 0.047 2267 -595.8 -116.8 - - 3194 - - - - - - - - 14.57 14.50 14.60
7130 611.5 -7.5 342 7135 roll -0.58 - - 2013 - 2.40 0.058 880 -577.9 -116.8 - - 3193 - - - - - - - - 14.92 14.39 14.94
7179 615.3 -8.0 349 7186 done -0.58 - - 2012 - 2.50 0.064 2273 557.2 -116.8 - - 3193 - - - - - - - - 14.49 14.36 14.53
7523 643.0 -8.2 356 7527 roll -0.58 - - 2012 - 2.55 0.092 3696 558.0 -116.8 - - 3192 - - - - - - - - 14.90 14.28 14.91
7570 647.1 -8.4 363 7578 done -0.58 - - 2012 - 2.45 0.048 2262 -585.3 -116.8 - - 3191 - - - - - - - - 14.45 14.41 14.48
7915 677.2 -8.8 370 7920 roll -0.58 - - 2010 - 2.40 0.061 893 -570.4 -116.8 - - 3190 - - - - - - - - 14.88 14.36 14.90
8004 685.3 -8.8 383 8010 done -0.58 - - 2012 - 2.50 0.063 2276 553.2 -116.8 - - 3189 - - - - - - - - 14.48 14.27 14.52
8362 714.4 -8.1 392 8367 roll -0.58 - - 2011 - 2.53 0.093 3684 556.5 -116.8 - - 3188 - - - - - - - - 14.91 14.25 14.93
8405 717.7 -7.7 398 8409 done -0.58 - - 2010 - 2.38 0.048 2269 -594.5 -116.8 - - 3188 - - - - - - - - 14.54 14.47 14.57
8754 744.0 -7.5 406 8759 roll -0.58 - - 2010 - 2.40 0.060 894 -572.9 -116.8 - - 3187 - - - - - - - - 14.88 14.33 14.90
8823 749.3 -7.3 416 8829 done -0.58 - - 2011 - 2.45 0.064 2267 560.4 -116.8 - - 3187 - - - - - - - - 14.44 14.30 14.49
9147 774.2 -8.0 427 9152 roll -0.58 - - 2000 - 2.58 0.089 3702 556.2 -116.8 - - 3186 - - - - - - - - 14.88 14.16 14.89
9202 778.5 -7.4 435 9207 done -0.58 - - 2001 - 2.42 0.047 2270 -591.7 -116.8 - - 3188 - - - - - - - - 14.51 14.44 14.53
9539 808.4 -9.0 448 9543 roll -0.58 - - 2001 - 2.42 0.061 888 -571.1 -116.8 - - 3184 - - - - - - - - 14.88 14.31 14.89
9664 819.6 -8.6 466 9669 done -0.58 - - 1999 - 2.45 0.063 2265 562.0 -116.8 - - 3184 - - - - - - - - 14.41 14.28 14.45
9986 846.7 -8.2 477 9992 roll -0.58 - - 1998 - 2.58 0.093 3693 553.5 -116.8 - - 3183 - - - - - - - - 14.90 14.21 14.90
10042 851.1 -8.1 485 10048 done -0.58 - - 1998 - 2.42 0.050 2270 -588.0 -116.8 - - 3183 - - - - - - - - 14.50 14.41 14.52
10379 876.9 -7.6 498 10384 roll -0.58 - - 1999 - 2.45 0.061 878 -568.2 -116.8 - - 3183 - - - - - - - - 14.90 14.26 14.90
10447 882.0 -7.4 508 10453 done -0.58 - - 1999 - 2.50 0.067 2266 555.2 -116.8 - - 3183 - - - - - - - - 14.37 14.23 14.42
10770 904.8 -7.1 519 10775 roll -0.58 - - 1997 - 2.60 0.093 3702 552.3 -116.8 - - 3182 - - - - - - - - 14.86 14.16 14.88
10820 908.3 -7.2 526 10826 done -0.58 - - 1997 - 2.47 0.049 2251 -587.4 -116.8 - - 3181 - - - - - - - - 14.47 14.39 14.50
11163 932.2 -6.9 533 11168 roll -0.58 - - 1997 - 2.40 0.059 886 -568.8 -116.8 - - 3180 - - - - - - - - 14.88 14.27 14.90
11218 936.0 -7.0 541 11225 done -0.58 - - 1995 - 2.50 0.064 2273 554.8 -116.8 - - 3180 - - - - - - - - 14.38 14.23 14.42
11555 958.2 -6.6 554 11560 roll -0.58 - - 1986 - 2.58 0.093 3689 548.8 -116.8 - - 3180 - - - - - - - - 14.85 14.14 14.87
11588 960.6 -5.1 559 11594 done -0.58 - - 1986 - 2.42 0.052 2273 -585.1 -116.8 - - 3179 - - - - - - - - 14.47 14.38 14.50
11948 985.9 -7.2 568 11952 roll -0.58 - - 1986 - 2.47 0.063 873 -566.8 -116.8 - - 3178 - - - - - - - - 14.85 14.21 14.86
11999 end dive: TARGET_DEPTH_EXCEEDED
11999 begin apogee
12009 990.1 -4.0 576 12208 roll -0.19 0.55 0.223 2132 265.5 - - 2159 - - 197.32 1.613 2740 -2.2 0.261 - - - - - - 13.86 13.92 13.11
12210 end apogee: CONTROL_FINISHED_OK
12210 begin climb
12214 994.5 - 579 12376 roll 0.68 0.93 0.148 2411 300.0 2.60 0.064 752 -541.2 116.8 151.57 1.853 2262 -3.2 0.324 - - - - - - 13.88 13.97 12.82
12488 976.7 8.5 624 12493 done 0.68 - - 2411 - 2.58 0.062 2170 549.6 116.8 - - 2233 - - - - - - - - 14.22 14.12 14.26
12839 945.0 9.0 632 12844 roll 0.68 - - 2421 - 2.55 0.070 751 -556.5 116.8 - - 2229 - - - - - - - - 14.73 14.37 14.75
12984 932.4 8.3 653 12991 done 0.68 - - 2422 - 2.53 0.062 2176 563.2 116.8 - - 2228 - - - - - - - - 14.51 14.39 14.56
13344 900.5 9.0 662 13348 roll 0.63 - - 2421 - 2.50 0.091 3574 559.2 116.8 - - 2227 - - - - - - - - 14.81 14.35 14.82
13433 891.3 9.5 675 13438 done 0.54 0.22 0.282 2380 -186.4 2.42 0.058 2171 -579.8 116.8 - - 2225 - - - - - - - - 14.07 14.45 14.42
13790 864.0 7.8 684 13795 roll 0.54 - - 2390 - 2.55 0.075 753 -556.1 116.8 - - 2225 - - - - - - - - 14.85 14.36 14.87
13833 860.7 9.6 690 13837 done 0.54 - - 2390 - 2.50 0.062 2164 564.4 116.8 - - 2224 - - - - - - - - 14.53 14.41 14.57
14182 831.5 8.4 698 14187 roll 0.54 - - 2390 - 2.53 0.090 3569 555.3 116.8 - - 2224 - - - - - - - - 14.87 14.31 14.88
14279 822.3 9.3 712 14285 done 0.54 - - 2399 - 2.47 0.056 2168 -567.2 116.8 - - 2223 - - - - - - - - 14.42 14.37 14.46
14631 791.5 8.9 720 14636 roll 0.54 - - 2410 - 2.55 0.073 752 -555.3 116.8 - - 2223 - - - - - - - - 14.83 14.35 14.85
14678 787.2 8.8 727 14686 done 0.54 0.10 0.233 2382 -280.0 2.58 0.060 2171 550.0 116.8 - - 2223 - - - - - - - - 14.00 14.31 14.17
15022 760.1 8.0 734 15027 roll 0.54 - - 2382 - 2.53 0.087 3576 555.3 116.8 - - 2223 - - - - - - - - 14.85 14.28 14.87
15099 753.3 8.8 745 15105 done 0.54 - - 2392 - 2.45 0.056 2169 -574.3 116.8 - - 2222 - - - - - - - - 14.52 14.41 14.56
15414 727.3 8.1 755 15419 roll 0.54 - - 2402 - 2.55 0.072 746 -558.0 116.8 - - 2222 - - - - - - - - 14.85 14.31 14.86
15470 722.8 8.1 763 15475 done 0.54 - - 2402 - 2.55 0.060 2176 560.8 116.8 - - 2221 - - - - - - - - 14.47 14.35 14.52
15808 695.8 8.0 776 15812 roll 0.54 - - 2402 - 2.50 0.088 3569 557.2 116.8 - - 2225 - - - - - - - - 14.82 14.24 14.84
15924 685.6 8.3 793 15931 done 0.54 0.15 0.272 2379 -153.3 2.47 0.054 2168 -567.2 116.8 - - 2221 - - - - - - - - 14.01 14.31 14.31
16255 664.9 6.1 805 16294 roll 0.56 - - 2389 - 2.60 0.070 740 -549.2 145.0 31.17 1.610 2138 -2.7 0.210 - - - - - - 14.82 14.42 13.50
16317 661.0 6.3 814 16357 done 0.58 - - 2389 - 2.58 0.060 2186 560.5 170.0 34.70 1.527 2043 -2.7 0.227 - - - - - - 14.46 14.36 13.43
16703 632.9 7.4 827 16708 roll 0.58 - - 2389 - 2.50 0.087 3572 554.4 170.0 - - 2022 - - - - - - - - 14.71 14.26 14.73
16785 625.9 8.4 839 16791 done 0.58 - - 2397 - 2.47 0.056 2146 -577.3 170.0 - - 2021 - - - - - - - - 14.46 14.35 14.50
17151 595.9 8.4 849 17156 roll 0.58 - - 2406 - 2.50 0.072 754 -556.8 170.0 - - 2019 - - - - - - - - 14.78 14.33 14.81
17199 591.7 8.6 856 17206 done 0.58 - - 2406 - 2.55 0.058 2177 558.0 170.0 - - 2020 - - - - - - - - 14.47 14.35 14.52
17542 559.7 9.4 863 17547 roll 0.58 - - 2407 - 2.50 0.088 3569 556.8 170.0 - - 2019 - - - - - - - - 14.84 14.26 14.83
17632 550.0 10.6 876 17638 done 0.58 - - 2416 - 2.45 0.054 2173 -569.8 170.0 - - 2018 - - - - - - - - 14.38 14.31 14.42
17991 514.3 9.9 885 17997 roll 0.58 - - 2425 - 2.55 0.073 751 -557.6 170.0 - - 2018 - - - - - - - - 14.82 14.31 14.83
18053 508.3 9.4 894 18058 done 0.58 0.15 0.249 2390 -233.3 2.55 0.059 2187 563.1 170.0 - - 2018 - - - - - - - - 14.04 14.35 14.35
18383 482.1 7.8 906 18388 roll 0.58 - - 2390 - 2.50 0.086 3577 556.0 170.0 - - 2018 - - - - - - - - 14.83 14.26 14.83
18452 476.4 8.1 916 18457 done 0.58 - - 2398 - 2.42 0.055 2176 -578.9 170.0 - - 2018 - - - - - - - - 14.49 14.39 14.54
18774 453.0 7.2 927 18779 roll 0.58 - - 2406 - 2.55 0.074 755 -557.3 173.8 - - 2018 - - - - - - - - 14.83 14.28 14.85
18837 448.7 6.8 936 18857 done 0.59 - - 2406 - 2.55 0.059 2191 563.1 186.7 16.58 1.435 1978 -2.4 0.144 - - - - - - 14.39 14.27 13.65
19216 419.6 7.9 948 19221 roll 0.59 - - 2406 - 2.45 0.084 3566 561.2 186.7 - - 1959 - - - - - - - - 14.81 14.29 14.81
19313 410.3 9.7 962 19318 done 0.59 - - 2415 - 2.40 0.051 2169 -582.1 186.7 - - 1958 - - - - - - - - 14.49 14.38 14.53
19664 376.2 10.0 970 19669 roll 0.59 - - 2424 - 2.53 0.070 748 -561.7 186.7 - - 1958 - - - - - - - - 14.81 14.32 14.83
19719 370.6 10.0 978 19724 done 0.59 0.15 0.238 2388 -240.0 2.55 0.057 2186 563.9 186.7 - - 1957 - - - - - - - - 14.09 14.36 14.37
20056 343.2 7.9 991 20060 roll 0.59 - - 2389 - 2.47 0.083 3566 558.7 186.7 - - 1957 - - - - - - - - 14.83 14.27 14.84
20139 336.1 8.3 1003 20144 done 0.59 - - 2395 - 2.38 0.053 2187 -579.4 186.7 - - 1958 - - - - - - - - 14.50 14.40 14.57
20504 308.3 7.7 1013 20509 roll 0.59 - - 2406 - 2.55 0.067 754 -562.0 186.7 - - 1957 - - - - - - - - 14.86 14.29 14.88
20566 303.4 7.9 1022 20571 done 0.64 - - 2404 - 2.55 0.057 2193 564.3 186.7 - - 1957 - - - - - - - - 14.46 14.35 14.51
20897 275.6 8.6 1034 20902 roll 0.64 - - 2404 - 2.47 0.082 3569 557.1 186.7 - - 1957 - - - - - - - - 14.85 14.20 14.87
20985 266.8 9.7 1047 20991 done 0.64 - - 2410 - 2.40 0.051 2194 -572.9 186.7 - - 1957 - - - - - - - - 14.36 14.33 14.41
21343 235.1 8.9 1056 21348 roll 0.64 - - 2419 - 2.58 0.068 752 -558.9 186.7 - - 1957 - - - - - - - - 14.83 14.28 14.85
21426 227.8 8.6 1068 21432 done 0.64 - - 2418 - 2.55 0.055 2195 565.9 186.7 - - 1957 - - - - - - - - 14.36 14.24 14.41
21791 196.0 8.6 1078 21796 roll 0.64 - - 2418 - 2.45 0.080 3566 559.6 186.7 - - 1957 - - - - - - - - 14.86 14.22 14.88
21882 187.4 9.3 1091 21887 done 0.64 - - 2426 - 2.38 0.050 2186 -579.8 186.7 - - 1957 - - - - - - - - 14.47 14.39 14.52
22239 156.6 8.6 1100 22244 roll 0.64 - - 2436 - 2.58 0.067 752 -555.8 186.7 - - 1958 - - - - - - - - 14.83 14.27 14.85
22295 152.0 8.1 1108 22300 done 0.64 0.12 0.252 2408 -233.3 2.55 0.055 2193 565.1 186.7 - - 1958 - - - - - - - - 14.03 14.33 14.31
22633 127.3 7.2 1121 22638 roll 0.64 - - 2408 - 2.45 0.080 3567 560.8 189.1 - - 1957 - - - - - - - - 14.85 14.26 14.87
22721 120.3 7.6 1134 22727 done 0.64 - - 2412 - 2.40 0.050 2193 -572.5 189.1 - - 1957 - - - - - - - - 14.35 14.29 14.39
23081 96.8 6.5 1143 23099 roll 0.65 - - 2414 - 2.47 0.075 3579 561.1 210.1 12.90 0.364 1883 -5.7 0.292 - - - - - - 14.83 14.24 13.93
23163 90.3 7.6 1155 23169 done 0.65 - - 2422 - 2.38 0.049 2192 -582.8 210.1 1.80 0.187 1883 - - - - - - - - 14.52 14.42 14.17
23497 68.9 6.6 1169 23520 roll 0.71 - - 2424 - 2.60 0.067 765 -548.8 228.1 14.70 0.306 1810 -5.0 0.214 - - - - - - 14.78 14.36 14.02
23577 64.0 5.4 1181 23616 done 0.84 0.15 0.114 2484 400.0 2.53 0.055 2204 568.8 274.2 32.78 0.320 1621 -5.8 0.221 - - - - - - 14.35 14.33 14.06
23941 41.6 4.8 1200 23987 roll 0.93 - - 2488 - 2.60 0.064 758 -556.2 334.3 41.03 0.253 1379 -5.9 0.186 - - - - - - 14.79 14.40 14.12
24010 38.2 5.3 1210 24052 done 1.05 0.15 0.112 2557 460.0 2.55 0.054 2208 568.6 382.5 34.03 0.244 1179 -5.9 0.176 - - - - - - 14.41 14.39 14.08
24364 12.4 7.8 1227 24369 roll 1.05 - - 2561 - 2.60 0.062 755 -558.8 382.5 - - 1187 - - - - - - - - 14.76 14.31 14.78
24410 8.4 7.7 1234 24417 done 1.12 - - 2561 - 2.55 0.052 2211 571.0 382.5 - - 1187 - - - - - - - - 14.45 14.35 14.49
24499 end climb: SURFACE_DEPTH_REACHED
24499 begin surface coast
24527 end surface coast: CONTROL_FINISHED_OK
24527 begin surface
SM 0.74 - - - - -6.14 6.82 0.073 215 31.5 0.12 0.123 2320 9683.3 500.41 73.75 0.133 699 9.5 -0.005 - - - - - -