SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 472 * Raw log
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• Previous call tries 2 • 186.05 of 350.00 AH used of 24V (46.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.6 deg, depth 0.79 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 46 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 103 VBD -0.68 - - 192 - - - 2315 - -116.8 -83.78 - 2807 - - - - - - - - 14.68 - 14.70
107 3.9 -5.1 3 131 roll -0.68 9.18 0.405 1971 193.8 2.83 2.012 870 -510.6 -116.8 -7.62 - 3218 -53.9 - - - - - - - 13.85 13.15 14.31
218 36.0 -23.1 19 224 done -0.49 0.30 0.273 2033 206.7 2.45 0.048 2264 569.0 -116.8 - - 3219 - - - - - - - - 13.97 14.35 14.30
554 73.2 -8.9 34 559 roll -0.49 - - 2022 - 2.50 0.076 3699 574.0 -116.8 - - 3220 - - - - - - - - 14.80 14.33 14.81
721 87.8 -8.1 58 726 done -0.49 - - 2022 - 2.38 0.038 2271 -600.0 -116.8 - - 3220 - - - - - - - - 14.55 14.50 14.58
1058 116.6 -9.2 70 1063 roll -0.49 - - 2022 - 2.40 0.052 885 -577.5 -116.8 - - 3220 - - - - - - - - 14.85 14.38 14.87
1154 125.2 -8.3 84 1160 done -0.49 - - 2015 - 2.50 0.055 2279 557.6 -116.8 - - 3220 - - - - - - - - 14.42 14.35 14.47
1505 155.6 -9.0 92 1510 roll -0.49 - - 2011 - 2.47 0.078 3691 571.7 -116.8 - - 3219 - - - - - - - - 14.87 14.35 14.88
1575 162.1 -9.1 102 1580 done -0.49 - - 2012 - 2.35 0.041 2274 -603.0 -116.8 - - 3218 - - - - - - - - 14.60 14.53 14.62
1897 192.9 -9.7 113 1903 roll -0.49 - - 2012 - 2.40 0.053 896 -574.2 -116.8 - - 3217 - - - - - - - - 14.88 14.42 14.90
1994 202.7 -9.8 127 1999 done -0.49 - - 2012 - 2.47 0.057 2288 563.6 -116.8 - - 3217 - - - - - - - - 14.50 14.38 14.54
2346 236.2 -9.5 135 2351 roll -0.49 - - 2011 - 2.50 0.084 3697 563.6 -116.8 - - 3215 - - - - - - - - 14.88 14.33 14.88
2386 240.4 -9.9 141 2393 done -0.49 - - 2011 - 2.40 0.041 2281 -590.0 -116.8 - - 3214 - - - - - - - - 14.50 14.46 14.52
2737 274.4 -9.6 149 2743 roll -0.49 0.12 0.249 2042 258.3 2.42 0.050 888 -575.6 -116.8 - - 3213 - - - - - - - - 14.26 14.40 14.41
2842 282.5 -7.3 164 2849 done -0.54 - - 2040 - 2.50 0.057 2287 559.6 -116.8 - - 3212 - - - - - - - - 14.50 14.38 14.53
3185 303.4 -5.9 171 3190 roll -0.54 - - 2039 - 2.50 0.084 3693 562.4 -116.8 - - 3208 - - - - - - - - 14.90 14.30 14.91
3241 306.5 -5.5 179 3246 done -0.61 0.12 0.134 1984 -458.3 2.38 0.043 2273 -596.6 -116.8 - - 3207 - - - - - - - - 14.40 14.50 14.51
3577 337.7 -9.7 192 3582 roll -0.61 - - 1983 - 2.40 0.055 895 -574.2 -116.8 - - 3208 - - - - - - - - 14.88 14.38 14.90
3625 342.8 -10.3 199 3632 done -0.61 - - 1975 - 2.47 0.057 2277 559.5 -116.8 - - 3207 - - - - - - - - 14.47 14.35 14.51
3970 382.7 -12.1 206 3972 done -0.56 0.17 0.257 2016 241.2 - - 2278 - -116.8 - - 3206 - - - - - - - - 14.09 14.44 14.35
4305 412.9 -8.7 212 4306 done -0.56 - - 2016 - - - 2277 - -116.8 - - 3203 - - - - - - - - 14.90 14.92 14.91
4641 438.5 -7.4 218 4642 done -0.56 - - 2016 - - - 2278 - -116.8 - - 3201 - - - - - - - - 14.88 14.90 14.89
4977 463.5 -7.5 224 4978 done -0.56 - - 2016 - - - 2278 - -116.8 - - 3200 - - - - - - - - 14.87 14.89 14.89
5314 490.8 -8.3 230 5319 roll -0.56 - - 2011 - 2.55 0.084 3700 557.6 -116.8 - - 3198 - - - - - - - - 14.86 14.25 14.88
5347 493.7 -8.4 235 5352 done -0.56 - - 2011 - 2.42 0.044 2282 -586.0 -116.8 - - 3198 - - - - - - - - 14.42 14.39 14.52
5705 522.9 -8.0 244 5710 roll -0.56 - - 2011 - 2.45 0.054 887 -569.4 -116.8 - - 3196 - - - - - - - - 14.90 14.32 14.91
5762 527.3 -7.9 252 5766 done -0.56 - - 2011 - 2.50 0.058 2275 555.2 -116.8 - - 3196 - - - - - - - - 14.42 14.30 14.47
6097 552.1 -7.4 265 6104 roll -0.56 - - 2011 - 2.53 0.088 3683 556.5 -116.8 - - 3194 - - - - - - - - 14.86 14.12 14.88
6153 556.1 -7.1 273 6159 done -0.56 - - 2011 - 2.40 0.044 2272 -587.9 -116.8 - - 3194 - - - - - - - - 14.38 14.30 14.40
6490 580.8 -7.4 286 6495 roll -0.56 - - 2011 - 2.45 0.059 893 -562.9 -116.8 - - 3193 - - - - - - - - 14.85 14.29 14.86
6565 586.7 -7.5 297 6571 done -0.56 - - 2011 - 2.50 0.060 2272 551.6 -116.8 - - 3193 - - - - - - - - 14.37 14.23 14.42
6881 610.4 -7.6 307 6886 roll -0.56 - - 2011 - 2.58 0.090 3691 550.0 -116.8 - - 3192 - - - - - - - - 14.88 14.16 14.90
6931 614.0 -7.3 314 6937 done -0.61 - - 2011 - 2.42 0.048 2272 -586.4 -116.8 - - 3192 - - - - - - - - 14.46 14.39 14.49
7273 638.3 -7.0 321 7279 roll -0.61 - - 2011 - 2.45 0.060 890 -564.1 -116.8 - - 3190 - - - - - - - - 14.84 14.24 14.85
7329 642.4 -7.2 329 7335 done -0.61 - - 2011 - 2.55 0.061 2281 545.5 -116.8 - - 3190 - - - - - - - - 14.37 14.23 14.41
7666 667.0 -7.5 342 7671 roll -0.61 - - 2011 - 2.55 0.089 3690 552.5 -116.8 - - 3188 - - - - - - - - 14.86 14.14 14.88
7713 670.7 -7.6 349 7721 done -0.66 - - 2011 - 2.47 0.047 2235 -589.1 -116.8 - - 3189 - - - - - - - - 14.37 14.26 14.41
8059 697.8 -8.0 356 8064 roll -0.66 - - 2011 - 2.40 0.060 898 -557.1 -116.8 - - 3188 - - - - - - - - 14.83 14.21 14.84
8114 702.5 -8.3 364 8119 done -0.66 - - 2011 - 2.53 0.063 2274 543.9 -116.8 - - 3186 - - - - - - - - 14.35 14.22 14.40
8449 730.2 -8.4 377 8455 roll -0.66 - - 2007 - 2.58 0.090 3690 548.8 -116.8 - - 3186 - - - - - - - - 14.83 14.10 14.85
8511 735.4 -8.3 386 8517 done -0.71 0.12 0.138 1957 -416.7 2.42 0.050 2279 -583.1 -116.8 - - 3186 - - - - - - - - 14.24 14.34 14.35
8842 771.4 -11.1 398 8847 roll -0.66 - - 1958 - 2.50 0.059 882 -558.8 -116.8 - - 3185 - - - - - - - - 14.85 14.19 14.87
8924 780.2 -9.2 410 8930 done -0.66 - - 1955 - 2.55 0.064 2270 544.3 -116.8 - - 3185 - - - - - - - - 14.29 14.15 14.33
9290 818.3 -10.3 420 9295 roll -0.61 0.15 0.278 1984 193.3 2.60 0.089 3687 545.0 -116.8 - - 3184 - - - - - - - - 13.85 14.06 14.00
9330 822.0 -7.3 426 9336 done -0.61 - - 1984 - 2.45 0.050 2276 -575.9 -116.8 - - 3184 - - - - - - - - 14.40 14.32 14.42
9681 850.4 -8.1 434 9686 roll -0.61 - - 1984 - 2.50 0.060 878 -559.2 -116.8 - - 3182 - - - - - - - - 14.85 14.15 14.88
9758 856.7 -7.9 445 9765 done -0.61 - - 1984 - 2.55 0.065 2260 542.0 -116.8 - - 3181 - - - - - - - - 14.02 13.96 14.08
10073 880.9 -7.7 455 10078 roll -0.61 - - 1979 - 2.65 0.091 3702 544.2 -116.8 - - 3182 - - - - - - - - 14.82 14.03 14.83
10135 885.9 -7.8 464 10141 done -0.61 - - 1979 - 2.47 0.048 2259 -584.2 -116.8 - - 3181 - - - - - - - - 14.37 14.28 14.40
10466 911.9 -7.7 476 10471 roll -0.61 - - 1979 - 2.45 0.058 889 -559.2 -116.8 - - 3180 - - - - - - - - 14.81 14.16 14.82
10506 915.4 -6.6 482 10512 done -0.61 - - 1976 - 2.55 0.063 2278 544.7 -116.8 - - 3180 - - - - - - - - 14.28 14.14 14.33
10857 944.7 -8.5 490 10862 roll -0.61 - - 1972 - 2.60 0.090 3689 542.7 -116.8 - - 3179 - - - - - - - - 14.85 14.01 14.86
10906 949.0 -8.6 497 10913 done -0.61 - - 1972 - 2.50 0.049 2253 -574.4 -116.8 - - 3179 - - - - - - - - 14.34 14.26 14.37
11249 979.4 -8.8 504 11254 roll -0.61 - - 1972 - 2.47 0.060 892 -551.0 -116.8 - - 3179 - - - - - - - - 14.85 14.13 14.86
11305 984.6 -9.2 512 11310 done -0.61 - - 1972 - 2.55 0.064 2266 538.8 -116.8 - - 3178 - - - - - - - - 14.23 14.09 14.28
11413 end dive: TARGET_DEPTH_EXCEEDED
11413 begin apogee
11423 994.6 -9.1 521 11574 roll -0.19 0.60 0.219 2129 261.7 - - 2195 - - 143.70 2.527 2739 -3.1 0.239 - - - - 1 - 13.67 13.69 12.36
11575 end apogee: CONTROL_FINISHED_OK
11576 begin climb
11579 999.7 - 523 11750 roll 0.68 0.93 0.137 2410 302.2 2.62 0.060 809 -529.0 116.8 162.77 1.878 2259 -2.9 0.312 - - - - - - 13.72 13.80 12.80
11921 985.3 7.1 579 11926 done 0.68 - - 2410 - 2.55 0.062 2209 549.0 123.1 - - 2236 - - - - - - - - 14.38 14.27 14.40
12258 959.1 8.0 592 12263 roll 0.68 - - 2420 - 2.55 0.067 808 -549.4 123.1 - - 2232 - - - - - - - - 14.76 14.34 14.78
12428 945.8 7.9 616 12433 done 0.68 - - 2416 - 2.53 0.061 2208 553.4 123.1 - - 2231 - - - - - - - - 14.48 14.37 14.52
12763 917.2 8.6 629 12768 roll 0.63 - - 2419 - 2.53 0.088 3609 553.8 123.1 - - 2230 - - - - - - - - 14.79 14.28 14.81
12845 909.0 9.7 641 12851 done 0.54 0.20 0.269 2384 -175.0 2.42 0.055 2210 -578.1 123.1 - - 2229 - - - - - - - - 14.00 14.40 14.35
13210 882.8 7.1 651 13222 roll 0.55 - - 2393 - 2.58 0.071 801 -546.1 129.6 4.80 1.509 2209 -4.2 0.484 - - - - - - 14.83 14.41 13.19
13301 876.5 6.8 664 13333 done 0.55 - - 2390 - 2.53 0.059 2208 556.1 143.0 24.27 1.842 2153 -2.3 0.218 - - - - - - 14.53 14.42 13.37
13658 850.5 7.3 680 13663 roll 0.55 - - 2393 - 2.55 0.087 3614 551.4 143.0 - - 2139 - - - - - - - - 14.74 14.25 14.76
13707 846.2 9.8 687 13713 done 0.55 - - 2403 - 2.47 0.054 2200 -572.5 143.0 - - 2138 - - - - - - - - 14.47 14.38 14.51
14050 820.6 7.6 694 14056 roll 0.55 - - 2413 - 2.55 0.073 789 -553.3 143.0 - - 2138 - - - - - - - - 14.79 14.26 14.81
14133 814.6 6.9 706 14140 done 0.56 0.12 0.258 2385 -233.3 2.55 0.059 2204 554.9 152.3 3.22 1.087 2119 -5.9 0.878 - - - - - - 14.04 14.31 13.14
14499 791.9 6.2 716 14561 roll 0.58 - - 2386 - 2.62 0.089 3611 537.0 180.1 57.67 1.587 2001 -2.0 0.203 - - - - - - 14.79 14.21 13.35
14617 783.3 7.9 733 14622 done 0.58 - - 2395 - 2.47 0.054 2196 -572.9 180.1 - - 1989 - - - - - - - - 14.35 14.26 14.38
14941 759.1 7.8 744 14945 roll 0.58 - - 2406 - 2.55 0.073 798 -548.2 180.1 - - 1984 - - - - - - - - 14.72 14.24 14.73
15023 752.3 7.9 756 15028 done 0.58 - - 2406 - 2.53 0.057 2197 553.0 180.1 - - 1984 - - - - - - - - 14.42 14.30 14.47
15388 719.5 9.1 766 15393 roll 0.58 - - 2406 - 2.58 0.088 3615 549.6 180.1 - - 1984 - - - - - - - - 14.78 14.21 14.81
15451 713.3 9.5 775 15455 done 0.58 - - 2416 - 2.47 0.055 2193 -575.7 180.1 - - 1982 - - - - - - - - 14.45 14.35 14.50
15780 682.5 9.4 787 15785 roll 0.58 - - 2426 - 2.55 0.073 798 -547.1 180.1 - - 1982 - - - - - - - - 14.80 14.24 14.82
15843 676.8 9.1 796 15848 done 0.58 0.15 0.247 2392 -226.7 2.53 0.058 2196 552.6 180.1 - - 1981 - - - - - - - - 13.97 14.31 14.28
16173 650.9 7.8 808 16177 roll 0.58 - - 2392 - 2.58 0.088 3607 546.9 180.1 - - 1981 - - - - - - - - 14.80 14.19 14.82
16227 646.1 8.7 816 16232 done 0.58 - - 2402 - 2.47 0.055 2193 -572.5 180.1 - - 1981 - - - - - - - - 14.42 14.32 14.47
16565 618.6 8.1 829 16569 roll 0.58 - - 2410 - 2.55 0.073 799 -546.7 180.1 - - 1981 - - - - - - - - 14.83 14.19 14.85
16654 611.2 8.1 842 16660 done 0.58 - - 2410 - 2.53 0.057 2193 551.0 180.1 - - 1981 - - - - - - - - 14.36 14.23 14.42
17012 578.5 9.4 851 17016 roll 0.58 - - 2410 - 2.58 0.086 3608 548.4 180.1 - - 1981 - - - - - - - - 14.81 14.15 14.83
17096 569.8 10.3 863 17101 done 0.58 0.12 0.253 2391 -158.3 2.47 0.053 2191 -573.7 180.1 - - 1981 - - - - - - - - 13.97 14.30 14.25
17460 539.8 8.1 873 17464 roll 0.58 - - 2396 - 2.55 0.070 799 -545.9 180.1 - - 1981 - - - - - - - - 14.81 14.17 14.82
17522 534.9 7.7 882 17529 done 0.58 - - 2400 - 2.53 0.056 2196 552.2 180.1 - - 1981 - - - - - - - - 14.35 14.23 14.42
17853 508.4 8.1 894 17859 roll 0.58 - - 2400 - 2.60 0.086 3615 545.8 180.1 - - 1981 - - - - - - - - 14.79 14.12 14.81
17921 502.0 9.1 904 17926 done 0.58 - - 2410 - 2.50 0.055 2195 -568.0 180.1 - - 1980 - - - - - - - - 14.34 14.21 14.40
18244 474.0 8.7 915 18249 roll 0.58 - - 2410 - 2.60 0.075 789 -540.8 180.1 - - 1981 - - - - - - - - 14.83 14.12 14.85
18286 470.6 8.2 921 18291 done 0.58 - - 2410 - 2.58 0.059 2202 547.7 180.1 - - 1980 - - - - - - - - 14.33 14.20 14.39
18636 442.5 7.9 929 18641 roll 0.58 - - 2410 - 2.58 0.086 3609 545.3 180.1 - - 1980 - - - - - - - - 14.79 14.08 14.81
18712 436.0 8.5 940 18718 done 0.58 0.12 0.255 2391 -158.3 2.47 0.053 2195 -572.5 180.1 - - 1981 - - - - - - - - 13.90 14.21 14.19
19029 414.1 7.0 950 19034 roll 0.58 - - 2400 - 2.55 0.070 798 -547.8 187.3 - - 1981 - - - - - - - - 14.79 14.13 14.81
19097 409.0 7.1 960 19109 done 0.58 - - 2399 - 2.55 0.057 2205 551.8 191.9 4.38 1.141 1955 -5.9 0.422 - - - - - - 14.32 14.19 13.29
19421 384.7 7.6 971 19426 roll 0.58 - - 2400 - 2.55 0.086 3614 552.5 191.9 - - 1964 - - - - - - - - 14.78 14.21 14.81
19503 377.4 8.7 983 19508 done 0.58 - - 2409 - 2.47 0.054 2197 -573.7 191.9 - - 1964 - - - - - - - - 14.41 14.31 14.45
19868 346.7 8.6 993 19873 roll 0.58 - - 2418 - 2.55 0.071 796 -549.4 191.9 - - 1964 - - - - - - - - 14.83 14.14 14.85
19966 338.2 8.6 1007 19971 done 0.58 0.12 0.239 2390 -233.3 2.55 0.057 2206 552.9 191.9 - - 1964 - - - - - - - - 13.96 14.23 14.20
20316 311.3 7.6 1015 20321 roll 0.58 - - 2389 - 2.55 0.086 3603 547.8 191.9 - - 1962 - - - - - - - - 14.83 14.09 14.84
20407 303.9 8.1 1028 20412 done 0.58 - - 2398 - 2.47 0.052 2198 -568.8 191.9 - - 1965 - - - - - - - - 14.37 14.27 14.40
20764 277.8 7.3 1037 20771 roll 0.58 - - 2406 - 2.60 0.070 792 -540.8 193.3 2.60 0.592 1950 -5.8 0.537 - - - - - - 14.80 14.34 13.30
20833 272.9 7.0 1047 20855 done 0.59 - - 2406 - 2.55 0.058 2205 554.1 201.0 17.50 1.248 1921 -1.7 0.072 - - - - - - 14.42 14.31 13.51
21199 244.8 7.8 1057 21204 roll 0.59 - - 2406 - 2.55 0.085 3609 550.6 201.0 - - 1903 - - - - - - - - 14.78 14.18 14.80
21281 237.3 8.9 1069 21286 done 0.59 - - 2414 - 2.45 0.051 2201 -574.7 201.0 - - 1903 - - - - - - - - 14.40 14.28 14.45
21646 208.5 7.8 1079 21651 roll 0.59 - - 2422 - 2.58 0.070 787 -548.1 201.0 - - 1902 - - - - - - - - 14.78 14.18 14.79
21730 202.2 7.5 1091 21735 done 0.59 0.12 0.237 2393 -241.7 2.58 0.058 2213 552.7 201.0 - - 1902 - - - - - - - - 14.00 14.26 14.27
22094 178.0 6.6 1101 22120 roll 0.65 - - 2393 - 2.47 0.083 3612 566.4 218.3 21.00 1.107 1844 -2.8 0.088 - - - - - - 14.82 14.19 13.64
22171 172.2 8.1 1112 22176 done 0.65 - - 2400 - 2.42 0.049 2207 -580.6 218.3 - - 1835 - - - - - - - - 14.49 14.40 14.52
22486 148.3 7.6 1122 22492 roll 0.65 - - 2406 - 2.55 0.066 795 -553.7 218.3 - - 1832 - - - - - - - - 14.76 14.22 14.77
22555 142.9 7.7 1132 22561 done 0.71 - - 2407 - 2.55 0.054 2211 555.3 218.3 - - 1832 - - - - - - - - 14.38 14.23 14.43
22878 119.2 7.2 1143 22883 roll 0.72 - - 2407 - 2.53 0.080 3616 555.3 221.2 - - 1832 - - - - - - - - 14.78 14.19 14.80
22947 113.8 7.7 1153 22953 done 0.72 - - 2410 - 2.47 0.050 2210 -569.2 221.2 - - 1832 - - - - - - - - 14.28 14.25 14.33
23271 91.2 7.1 1166 23282 roll 0.72 - - 2410 - 2.58 0.065 799 -546.9 227.4 3.28 0.171 1811 -6.4 0.678 - - - - - - 14.78 14.14 13.90
23377 84.5 6.6 1181 23400 done 0.80 0.15 0.119 2472 413.3 2.53 0.053 2210 557.7 245.1 14.65 0.351 1744 -4.6 0.219 - - - - - - 14.28 14.28 13.93
23722 55.8 6.5 1197 23745 roll 0.82 - - 2472 - 2.47 0.077 3618 570.0 265.7 17.38 0.280 1655 -5.1 0.203 - - - - - - 14.77 14.19 13.96
23780 51.9 6.5 1206 23801 done 0.83 - - 2482 - 2.45 0.047 2188 -583.7 285.0 15.25 0.284 1577 -5.1 0.186 - - - - - - 14.38 14.29 14.01
24114 38.7 3.6 1220 24180 roll 0.96 - - 2482 - 2.62 0.076 3620 546.6 372.8 61.08 0.245 1219 -5.9 0.184 - - - - - - 14.73 14.36 14.08
24313 24.9 7.2 1249 24327 done 1.09 0.20 0.097 2570 440.0 2.45 0.047 2191 -583.3 376.3 4.35 0.171 1207 -2.8 0.080 - - - - - - 14.34 14.34 13.93
24604 end climb: SURFACE_DEPTH_REACHED
24604 begin surface coast
24636 end surface coast: CONTROL_FINISHED_OK
24636 begin surface
SM 0.72 - - - - -6.12 6.82 0.068 223 32.7 0.20 0.095 2307 -45615.0 500.17 81.28 0.137 701 8.6 -0.005 - - - - - -