SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 415 * Raw log
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• Previous call tries 1 • 164.10 of 350.00 AH used of 24V (53.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.6 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 19 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 VBD -0.68 - - 190 - - - 2293 - -116.8 -84.30 - 2789 - - - - - - - - 14.68 - 14.70
107 3.5 -4.5 3 131 roll -0.68 9.10 0.405 1964 194.9 2.78 2.043 3689 502.2 -116.8 -8.40 - 3219 -51.2 - - - - - - - 13.90 13.16 14.35
211 35.5 -31.1 18 218 done -0.42 0.38 0.249 2059 250.0 2.40 0.042 2269 -591.7 -116.8 - - 3220 - - - - - - - - 14.04 14.44 14.33
524 65.3 -6.8 30 528 roll -0.42 - - 2059 - 2.40 0.052 883 -577.5 -116.8 - - 3221 - - - - - - - - 14.81 14.42 14.82
586 69.8 -7.3 39 591 done -0.42 - - 2056 - 2.45 0.056 2284 571.8 -116.8 - - 3221 - - - - - - - - 14.54 14.43 14.57
915 91.3 -6.5 53 916 done -0.42 - - 2056 - - - 2284 - -116.8 - - 3222 - - - - - - - - 14.87 14.88 14.88
1223 112.4 -7.0 61 1224 done -0.42 - - 2056 - - - 2284 - -116.8 - - 3222 - - - - - - - - 14.89 14.91 14.90
1560 136.7 -7.4 67 1565 roll -0.42 - - 2056 - 2.47 0.077 3700 573.3 -116.8 - - 3221 - - - - - - - - 14.88 14.40 14.90
1593 139.2 -7.4 72 1599 done -0.47 - - 2056 - 2.40 0.039 2258 -600.8 -116.8 - - 3221 - - - - - - - - 14.61 14.54 14.64
1951 164.0 -6.8 81 1952 done -0.47 - - 2056 - - - 2250 - -116.8 - - 3218 - - - - - - - - 14.89 14.92 14.91
2288 185.2 -6.3 87 2293 roll -0.47 - - 2056 - 2.38 0.050 886 -573.1 -116.8 - - 3218 - - - - - - - - 14.89 14.49 14.90
2350 189.3 -6.3 96 2355 done -0.52 - - 2056 - 2.45 0.056 2281 569.4 -116.8 - - 3217 - - - - - - - - 14.56 14.45 14.59
2680 209.3 -6.1 108 2685 roll -0.52 - - 2057 - 2.50 0.079 3692 564.4 -116.8 - - 3216 - - - - - - - - 14.91 14.38 14.92
2737 212.7 -6.1 116 2742 done -0.60 0.15 0.118 1990 -446.7 2.40 0.042 2265 -594.6 -116.8 - - 3216 - - - - - - - - 14.48 14.56 14.57
3071 244.5 -9.8 129 3077 roll -0.60 - - 1990 - 2.40 0.052 889 -573.3 -116.8 - - 3214 - - - - - - - - 14.92 14.45 14.93
3140 251.5 -9.9 139 3146 done -0.60 - - 1986 - 2.45 0.058 2273 564.9 -116.8 - - 3213 - - - - - - - - 14.52 14.40 14.56
3464 283.8 -10.1 150 3469 roll -0.55 0.12 0.265 2011 208.3 2.55 0.080 3700 559.6 -116.8 - - 3211 - - - - - - - - 14.21 14.35 14.33
3511 288.2 -8.5 157 3519 done -0.55 - - 2012 - 2.45 0.041 2258 -588.6 -116.8 - - 3210 - - - - - - - - 14.51 14.47 14.54
3855 317.4 -8.5 164 3860 roll -0.55 - - 2012 - 2.38 0.052 901 -570.2 -116.8 - - 3209 - - - - - - - - 14.90 14.42 14.91
3932 324.2 -8.8 175 3938 done -0.55 - - 2011 - 2.42 0.059 2272 566.5 -116.8 - - 3208 - - - - - - - - 14.42 14.36 14.46
4247 351.1 -8.5 185 4253 roll -0.55 - - 2011 - 2.55 0.086 3696 558.4 -116.8 - - 3207 - - - - - - - - 14.90 14.33 14.91
4289 354.6 -8.3 191 4294 done -0.55 - - 2011 - 2.38 0.044 2280 -595.0 -116.8 - - 3207 - - - - - - - - 14.61 14.54 14.63
4640 382.7 -8.0 199 4645 roll -0.55 - - 2011 - 2.42 0.054 892 -573.6 -116.8 - - 3204 - - - - - - - - 14.91 14.41 14.92
4708 388.5 -8.2 209 4715 done -0.55 - - 2011 - 2.50 0.059 2296 561.6 -116.8 - - 3204 - - - - - - - - 14.48 14.35 14.52
5031 415.3 -8.5 220 5036 roll -0.55 - - 2011 - 2.50 0.086 3686 556.0 -116.8 - - 3203 - - - - - - - - 14.89 14.31 14.91
5066 418.4 -9.2 225 5072 done -0.55 - - 2011 - 2.40 0.045 2272 -589.2 -116.8 - - 3202 - - - - - - - - 14.58 14.52 14.60
5424 450.8 -9.1 234 5428 roll -0.55 - - 2011 - 2.45 0.057 882 -567.3 -116.8 - - 3201 - - - - - - - - 14.91 14.38 14.94
5500 457.8 -8.9 245 5506 done -0.55 - - 2011 - 2.50 0.061 2278 558.4 -116.8 - - 3201 - - - - - - - - 14.48 14.35 14.52
5816 484.8 -8.5 255 5821 roll -0.55 - - 2011 - 2.55 0.086 3695 555.7 -116.8 - - 3199 - - - - - - - - 14.88 14.35 14.88
5850 487.7 -8.3 260 5855 done -0.55 - - 2008 - 2.42 0.046 2264 -591.3 -116.8 - - 3199 - - - - - - - - 14.56 14.50 14.59
6207 516.6 -8.1 269 6213 roll -0.55 - - 2011 - 2.40 0.054 891 -572.1 -116.8 - - 3198 - - - - - - - - 14.88 14.37 14.90
6264 521.3 -8.4 277 6270 done -0.55 - - 2011 - 2.47 0.061 2268 557.5 -116.8 - - 3197 - - - - - - - - 14.47 14.35 14.51
6599 547.8 -7.9 290 6604 roll -0.55 - - 2008 - 2.58 0.088 3697 553.9 -116.8 - - 3196 - - - - - - - - 14.90 14.27 14.92
6633 550.5 -7.7 295 6639 done -0.55 - - 2005 - 2.47 0.046 2271 -577.3 -116.8 - - 3195 - - - - - - - - 14.45 14.41 14.47
6992 578.2 -7.8 304 6997 roll -0.55 - - 2008 - 2.45 0.059 888 -564.5 -116.8 - - 3194 - - - - - - - - 14.87 14.33 14.88
7061 583.8 -7.9 314 7066 done -0.55 - - 2002 - 2.50 0.061 2279 556.4 -116.8 - - 3194 - - - - - - - - 14.45 14.31 14.50
7384 609.2 -7.9 325 7389 roll -0.55 - - 1999 - 2.55 0.087 3688 552.5 -116.8 - - 3193 - - - - - - - - 14.90 14.24 14.91
7411 611.4 -7.8 329 7417 done -0.55 - - 1999 - 2.45 0.047 2263 -581.6 -116.8 - - 3193 - - - - - - - - 14.52 14.45 14.55
7775 640.3 -8.0 339 7780 roll -0.55 - - 1999 - 2.42 0.056 884 -569.8 -116.8 - - 3190 - - - - - - - - 14.87 14.33 14.88
7832 644.9 -8.1 347 7836 done -0.55 - - 1999 - 2.53 0.063 2281 552.2 -116.8 - - 3191 - - - - - - - - 14.44 14.31 14.48
8168 671.5 -7.9 360 8169 done -0.55 - - 1999 - - - 2279 - -116.8 - - 3190 - - - - - - - - 14.85 14.88 14.88
8504 698.8 -8.2 366 8505 done -0.55 - - 1999 - - - 2279 - -116.8 - - 3188 - - - - - - - - 14.87 14.88 14.88
8839 727.7 -8.7 372 8840 done -0.55 - - 1999 - - - 2279 - -116.8 - - 3188 - - - - - - - - 14.86 14.88 14.88
9176 756.7 -8.6 378 9180 roll -0.55 - - 1999 - 2.58 0.093 3688 546.1 -116.8 - - 3186 - - - - - - - - 14.85 14.17 14.88
9210 759.7 -8.5 383 9215 done -0.55 - - 2000 - 2.45 0.050 2267 -580.0 -116.8 - - 3186 - - - - - - - - 14.51 14.42 14.53
9567 789.1 -8.2 392 9572 roll -0.55 - - 1999 - 2.47 0.060 879 -561.9 -116.8 - - 3185 - - - - - - - - 14.85 14.26 14.87
9665 797.6 -8.4 406 9670 done -0.55 - - 1999 - 2.58 0.066 2264 536.8 -116.8 - - 3185 - - - - - - - - 14.23 14.15 14.29
10016 825.6 -7.9 414 10021 roll -0.55 - - 1999 - 2.62 0.091 3697 546.9 -116.8 - - 3184 - - - - - - - - 14.84 14.13 14.85
10064 829.3 -7.8 421 10072 done -0.55 - - 1999 - 2.53 0.048 2256 -569.6 -116.8 - - 3184 - - - - - - - - 14.31 14.27 14.34
10408 855.4 -7.6 428 10412 roll -0.55 - - 1999 - 2.45 0.057 887 -558.8 -116.8 - - 3183 - - - - - - - - 14.84 14.23 14.86
10456 859.2 -7.7 435 10463 done -0.55 - - 1999 - 2.55 0.063 2274 543.9 -116.8 - - 3183 - - - - - - - - 14.35 14.21 14.39
10800 885.1 -7.6 442 10805 roll -0.55 - - 1999 - 2.60 0.093 3687 543.5 -116.8 - - 3182 - - - - - - - - 14.87 14.09 14.88
10862 889.5 -6.7 451 10867 done -0.55 - - 1999 - 2.45 0.050 2270 -578.4 -116.8 - - 3182 - - - - - - - - 14.41 14.33 14.44
11193 913.4 -7.3 463 11198 roll -0.55 - - 1999 - 2.50 0.062 878 -556.8 -116.8 - - 3181 - - - - - - - - 14.83 14.19 14.84
11240 917.1 -7.5 470 11246 done -0.55 - - 1999 - 2.58 0.065 2271 539.9 -116.8 - - 3181 - - - - - - - - 14.28 14.12 14.33
11584 940.5 -6.7 477 11590 roll -0.55 - - 1999 - 2.62 0.094 3694 543.1 -116.8 - - 3180 - - - - - - - - 14.83 14.07 14.84
11626 943.0 -6.4 483 11631 done -0.55 - - 2002 - 2.47 0.052 2270 -576.5 -116.8 - - 3179 - - - - - - - - 14.40 14.32 14.43
11976 963.3 -5.7 491 11980 roll -0.55 - - 1999 - 2.50 0.063 875 -558.0 -116.8 - - 3179 - - - - - - - - 14.83 14.16 14.85
12017 965.7 -5.7 497 12023 done -0.55 - - 1999 - 2.55 0.066 2263 544.3 -116.8 - - 3179 - - - - - - - - 14.32 14.18 14.37
12369 984.1 -5.3 505 12374 roll -0.55 - - 1999 - 2.67 0.094 3698 537.5 -116.8 - - 3178 - - - - - - - - 14.81 14.07 14.83
12402 986.0 -4.1 510 12407 done -0.55 - - 1999 - 2.50 0.050 2261 -574.8 -116.8 - - 3178 - - - - - - - - 14.31 14.23 14.35
12476 end dive: TARGET_DEPTH_EXCEEDED
12476 begin apogee
12485 990.2 -5.2 514 12640 roll -0.19 0.50 0.206 2134 270.0 - - 2191 - - 148.62 2.559 2740 -2.9 0.227 - - - - 1 - 13.81 13.62 12.32
12642 end apogee: CONTROL_FINISHED_OK
12642 begin climb
12647 992.8 - 516 12815 roll 0.68 0.93 0.142 2411 297.8 2.78 0.092 3612 511.2 116.8 157.15 1.922 2256 -3.1 0.317 - - - - - - 13.66 13.69 12.61
12903 975.7 7.6 560 12908 done 0.61 - - 2421 - 2.53 0.058 2224 -548.6 116.8 - - 2244 - - - - - - - - 14.12 14.04 14.14
13265 941.8 9.0 570 13270 roll 0.56 0.12 0.273 2384 -308.3 2.58 0.086 3625 543.0 116.8 - - 2236 - - - - - - - - 14.10 14.31 14.26
13415 930.2 7.6 591 13420 done 0.56 - - 2393 - 2.50 0.060 2199 -570.4 116.8 - - 2235 - - - - - - - - 14.50 14.40 14.54
13770 905.4 6.9 600 13777 roll 0.56 - - 2405 - 2.60 0.076 783 -544.6 127.5 2.65 0.791 2220 -5.7 1.290 - - - - - - 14.81 14.40 13.04
13854 899.8 6.6 612 13896 done 0.57 - - 2405 - 2.55 0.063 2202 556.5 145.9 31.50 1.908 2139 -2.6 0.241 - - - - - - 14.51 14.39 13.35
14211 872.5 7.8 628 14216 roll 0.57 - - 2405 - 2.58 0.090 3612 546.5 145.9 - - 2127 - - - - - - - - 14.73 14.30 14.76
14267 867.5 9.0 636 14272 done 0.57 - - 2414 - 2.47 0.057 2194 -574.1 145.9 - - 2127 - - - - - - - - 14.49 14.39 14.52
14604 838.2 8.8 649 14610 roll 0.57 - - 2426 - 2.55 0.075 790 -550.6 145.9 - - 2126 - - - - - - - - 14.78 14.33 14.80
14665 832.4 8.6 658 14671 done 0.57 0.15 0.243 2391 -233.3 2.53 0.061 2195 555.3 145.9 - - 2125 - - - - - - - - 14.09 14.35 14.38
14995 806.8 7.8 670 15000 roll 0.57 - - 2391 - 2.58 0.089 3612 549.2 145.9 - - 2125 - - - - - - - - 14.83 14.30 14.84
15065 800.5 9.0 680 15070 done 0.57 - - 2400 - 2.47 0.057 2194 -574.1 145.9 - - 2125 - - - - - - - - 14.50 14.40 14.54
15387 774.0 8.1 691 15392 roll 0.57 - - 2410 - 2.53 0.073 799 -551.4 145.9 - - 2125 - - - - - - - - 14.82 14.30 14.83
15457 768.4 8.1 701 15463 done 0.57 - - 2410 - 2.53 0.060 2204 555.3 145.9 - - 2123 - - - - - - - - 14.48 14.35 14.51
15779 740.7 8.6 712 15784 roll 0.57 - - 2410 - 2.55 0.088 3610 551.4 145.9 - - 2123 - - - - - - - - 14.82 14.26 14.84
15835 735.1 9.8 720 15840 done 0.53 0.20 0.248 2372 -190.0 2.47 0.057 2196 -572.5 145.9 - - 2123 - - - - - - - - 14.01 14.38 14.33
16172 711.7 6.9 733 16183 roll 0.53 - - 2383 - 2.58 0.074 790 -545.0 157.4 4.28 1.390 2100 -5.4 0.548 - - - - - - 14.81 14.42 13.16
16247 706.3 7.1 744 16267 done 0.54 - - 2382 - 2.53 0.061 2201 557.7 163.5 16.38 1.831 2074 -1.6 0.122 - - - - - - 14.54 14.43 13.47
16620 678.1 7.6 755 16625 roll 0.54 - - 2383 - 2.58 0.089 3613 547.3 163.5 - - 2058 - - - - - - - - 14.77 14.26 14.79
16675 673.3 8.6 763 16680 done 0.54 - - 2391 - 2.47 0.058 2202 -571.3 163.5 - - 2058 - - - - - - - - 14.45 14.35 14.50
17011 646.8 7.9 776 17016 roll 0.54 - - 2399 - 2.58 0.076 789 -547.7 163.5 - - 2058 - - - - - - - - 14.79 14.25 14.80
17102 639.9 7.5 789 17108 done 0.54 - - 2400 - 2.55 0.061 2207 556.1 163.5 - - 2056 - - - - - - - - 14.45 14.33 14.50
17460 610.9 8.2 798 17464 roll 0.54 - - 2399 - 2.55 0.088 3609 549.8 163.5 - - 2056 - - - - - - - - 14.81 14.24 14.82
17528 604.5 9.1 808 17534 done 0.54 0.15 0.246 2373 -173.3 2.47 0.057 2194 -572.9 163.5 - - 2055 - - - - - - - - 14.03 14.32 14.32
17852 583.3 6.4 819 17884 roll 0.55 - - 2383 - 2.53 0.071 784 -557.3 185.8 28.08 1.626 1977 -2.8 0.198 - - - - - - 14.82 14.16 13.49
17948 576.9 6.8 833 17968 done 0.62 - - 2383 - 2.55 0.060 2199 554.9 199.2 14.88 1.633 1926 -3.4 0.241 - - - - - - 14.43 14.32 13.45
18300 551.4 7.4 848 18309 roll 0.62 - - 2383 - 2.55 0.086 3609 552.9 199.2 - - 1910 - - - - - - - - 14.72 14.24 14.73
18365 545.6 8.6 857 18371 done 0.62 - - 2391 - 2.50 0.054 2179 -572.0 199.2 - - 1910 - - - - - - - - 14.44 14.32 14.48
18696 518.0 8.6 869 18701 roll 0.62 - - 2391 - 2.53 0.076 793 -547.8 199.2 - - 1909 - - - - - - - - 14.77 14.26 14.78
18778 510.8 8.5 881 18784 done 0.68 - - 2390 - 2.55 0.059 2207 554.5 199.2 - - 1907 - - - - - - - - 14.45 14.33 14.50
19143 479.2 8.6 891 19147 roll 0.68 - - 2391 - 2.58 0.086 3618 546.9 199.2 - - 1907 - - - - - - - - 14.80 14.23 14.82
19192 474.7 9.3 898 19198 done 0.68 - - 2397 - 2.53 0.056 2190 -564.4 199.2 - - 1907 - - - - - - - - 14.45 14.35 14.50
19535 445.9 8.3 905 19540 roll 0.68 - - 2405 - 2.55 0.070 796 -546.7 199.2 - - 1907 - - - - - - - - 14.81 14.25 14.83
19604 440.4 7.8 915 19609 done 0.68 - - 2406 - 2.55 0.058 2206 552.9 199.2 - - 1906 - - - - - - - - 14.42 14.31 14.48
19928 413.9 8.2 926 19932 roll 0.68 - - 2406 - 2.58 0.085 3609 543.8 199.2 - - 1907 - - - - - - - - 14.81 14.23 14.83
19983 408.9 9.0 934 19987 done 0.68 - - 2414 - 2.47 0.052 2192 -573.7 199.2 - - 1907 - - - - - - - - 14.46 14.36 14.50
20319 381.9 8.0 947 20324 roll 0.68 - - 2424 - 2.55 0.069 790 -549.8 199.2 - - 1907 - - - - - - - - 14.81 14.26 14.83
20375 377.5 7.9 955 20380 done 0.68 - - 2424 - 2.55 0.057 2204 554.5 199.2 - - 1907 - - - - - - - - 14.41 14.28 14.46
20711 349.1 8.5 968 20715 roll 0.68 - - 2424 - 2.60 0.085 3613 541.9 199.2 - - 1905 - - - - - - - - 14.83 14.19 14.85
20773 343.1 9.6 977 20779 done 0.68 - - 2433 - 2.50 0.054 2191 -568.8 199.2 - - 1906 - - - - - - - - 14.41 14.31 14.46
21104 312.4 9.5 989 21109 roll 0.68 - - 2443 - 2.55 0.067 796 -547.1 199.2 - - 1906 - - - - - - - - 14.83 14.23 14.85
21179 305.1 9.5 1000 21184 done 0.68 - - 2443 - 2.53 0.057 2199 554.5 199.2 - - 1907 - - - - - - - - 14.38 14.26 14.44
21495 273.2 10.1 1010 21500 roll 0.68 - - 2443 - 2.58 0.085 3608 546.1 199.2 - - 1907 - - - - - - - - 14.81 14.18 14.83
21572 265.0 10.6 1021 21578 done 0.68 0.15 0.264 2420 -153.3 2.47 0.052 2192 -573.3 199.2 - - 1907 - - - - - - - - 13.93 14.33 14.25
21887 238.9 8.2 1031 21892 roll 0.68 - - 2429 - 2.55 0.067 789 -550.2 199.2 - - 1906 - - - - - - - - 14.81 14.22 14.83
21950 233.9 8.0 1040 21955 done 0.68 - - 2429 - 2.53 0.057 2195 555.7 199.2 - - 1906 - - - - - - - - 14.32 14.20 14.37
22279 205.7 8.7 1052 22284 roll 0.68 - - 2429 - 2.60 0.083 3617 546.9 199.2 - - 1906 - - - - - - - - 14.78 14.18 14.81
22341 199.4 9.9 1061 22347 done 0.68 - - 2438 - 2.53 0.051 2209 -556.5 199.2 - - 1906 - - - - - - - - 14.27 14.21 14.32
22671 169.9 8.8 1073 22677 roll 0.68 - - 2447 - 2.60 0.065 780 -549.6 199.2 - - 1907 - - - - - - - - 14.83 14.21 14.84
22754 162.4 8.9 1085 22760 done 0.68 - - 2448 - 2.55 0.055 2203 558.0 199.2 - - 1907 - - - - - - - - 14.38 14.26 14.42
23119 125.9 10.2 1095 23123 roll 0.68 - - 2447 - 2.58 0.083 3615 547.3 199.2 - - 1907 - - - - - - - - 14.81 14.16 14.83
23210 115.7 11.2 1108 23215 done 0.68 0.15 0.256 2418 -193.3 2.50 0.051 2182 -573.2 199.2 - - 1907 - - - - - - - - 13.86 14.33 14.17
23539 87.7 8.0 1119 23543 roll 0.68 - - 2431 - 2.53 0.066 789 -550.6 199.2 - - 1907 - - - - - - - - 14.81 14.22 14.82
23602 83.0 7.5 1128 23606 done 0.73 - - 2431 - 2.53 0.056 2197 556.5 199.2 - - 1907 - - - - - - - - 14.40 14.28 14.45
23931 60.7 5.8 1142 23959 roll 0.80 - - 2431 - 2.55 0.080 3618 557.3 236.3 20.55 0.305 1780 -6.2 0.245 - - - - - - 14.78 14.21 13.96
24017 56.1 5.8 1154 24049 done 0.88 0.15 0.129 2489 386.7 2.47 0.050 2194 -576.5 272.7 25.83 0.296 1629 -5.8 0.221 - - - - - - 14.31 14.35 14.03
24383 37.7 3.1 1173 24455 roll 1.02 0.12 0.131 2555 550.0 2.47 0.060 797 -565.6 374.4 65.47 0.244 1212 -6.4 0.196 - - - - - - 14.40 14.32 14.10
24488 31.6 6.9 1188 24500 done 1.12 - - 2555 - 2.53 0.052 2213 559.7 383.6 7.25 0.213 1176 -5.0 0.147 - - - - - - 14.44 14.34 13.98
24829 3.9 8.5 1204 24834 roll 1.12 - - 2556 - 2.50 0.074 3610 558.8 383.6 - - 1179 - - - - - - - - 14.76 14.23 14.78
24839 end climb: SURFACE_DEPTH_REACHED
24839 begin surface coast
24867 end surface coast: CONTROL_FINISHED_OK
24867 begin surface
SM 0.72 - - - - -6.15 6.68 0.054 208 31.1 2.35 0.043 2271 855.7 500.17 73.40 0.138 699 9.5 -0.005 - - - - - -