SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 475 * Raw log
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• Previous call tries 1 • 187.21 of 350.00 AH used of 24V (46.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.1 deg, depth 0.77 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 17 s • Transponder ping count: 10
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 VBD -0.68 - - 190 - - - 2315 - -116.8 -84.82 - 2803 - - - - - - - - 14.67 - 14.69
112 3.6 -4.7 3 136 roll -0.68 9.18 0.406 1970 193.9 2.83 2.017 878 -507.8 -116.8 -8.27 - 3219 -50.3 - - - - - - - 13.85 13.14 14.31
234 37.4 -24.8 21 240 done -0.49 0.30 0.266 2034 213.3 2.47 0.057 2272 564.4 -116.8 - - 3220 - - - - - - - - 13.96 14.31 14.28
557 72.7 -8.8 34 561 roll -0.49 - - 2023 - 2.47 0.074 3697 576.9 -116.8 - - 3221 - - - - - - - - 14.81 14.33 14.83
718 87.7 -9.0 57 725 done -0.49 - - 2024 - 2.38 0.039 2259 -604.2 -116.8 - - 3221 - - - - - - - - 14.55 14.49 14.57
1060 116.1 -8.4 67 1065 roll -0.49 - - 2024 - 2.38 0.050 894 -573.5 -116.8 - - 3221 - - - - - - - - 14.85 14.40 14.88
1129 121.9 -8.1 77 1136 done -0.49 - - 2023 - 2.50 0.054 2284 556.0 -116.8 - - 3221 - - - - - - - - 14.39 14.33 14.44
1453 148.5 -8.4 88 1458 roll -0.49 - - 2015 - 2.45 0.076 3690 573.9 -116.8 - - 3221 - - - - - - - - 14.88 14.33 14.91
1486 151.7 -9.3 93 1493 done -0.49 - - 2015 - 2.38 0.040 2283 -591.2 -116.8 - - 3220 - - - - - - - - 14.47 14.44 14.50
1844 185.9 -9.6 102 1849 roll -0.49 - - 2015 - 2.40 0.052 892 -579.6 -116.8 - - 3219 - - - - - - - - 14.88 14.41 14.89
1963 196.7 -8.4 119 1968 done -0.49 - - 2015 - 2.45 0.056 2278 565.7 -116.8 - - 3219 - - - - - - - - 14.50 14.40 14.54
2292 222.9 -7.9 131 2297 roll -0.49 - - 2012 - 2.50 0.080 3700 568.8 -116.8 - - 3217 - - - - - - - - 14.90 14.33 14.92
2363 228.5 -7.9 141 2368 done -0.49 - - 2012 - 2.38 0.040 2275 -598.7 -116.8 - - 3217 - - - - - - - - 14.59 14.53 14.62
2684 255.9 -8.6 152 2689 roll -0.49 - - 2012 - 2.40 0.053 892 -576.2 -116.8 - - 3214 - - - - - - - - 14.89 14.38 14.90
2754 262.2 -8.9 162 2759 done -0.49 - - 2012 - 2.47 0.056 2281 562.3 -116.8 - - 3214 - - - - - - - - 14.47 14.36 14.52
3077 292.0 -9.4 173 3083 roll -0.49 - - 2011 - 2.50 0.080 3695 565.6 -116.8 - - 3212 - - - - - - - - 14.90 14.30 14.91
3138 297.8 -9.1 182 3144 done -0.49 0.12 0.225 2042 258.3 2.42 0.041 2245 -599.2 -116.8 - - 3211 - - - - - - - - 14.15 14.43 14.35
3469 323.1 -7.7 194 3473 roll -0.49 - - 2043 - 2.35 0.054 898 -573.2 -116.8 - - 3210 - - - - - - - - 14.88 14.29 14.90
3553 329.7 -7.9 206 3557 done -0.54 - - 2042 - 2.45 0.058 2273 561.2 -116.8 - - 3209 - - - - - - - - 14.48 14.37 14.52
3917 357.2 -7.5 216 3922 roll -0.54 - - 2041 - 2.53 0.086 3688 559.3 -116.8 - - 3207 - - - - - - - - 14.90 14.26 14.91
3973 361.1 -6.9 224 3978 done -0.62 0.12 0.135 1987 -450.0 2.40 0.044 2269 -591.2 -116.8 - - 3207 - - - - - - - - 14.37 14.47 14.47
4309 393.9 -10.0 237 4315 roll -0.62 - - 1986 - 2.42 0.055 889 -570.2 -116.8 - - 3205 - - - - - - - - 14.86 14.33 14.88
4377 400.8 -9.5 247 4383 done -0.62 - - 1985 - 2.47 0.059 2268 558.3 -116.8 - - 3205 - - - - - - - - 14.44 14.30 14.48
4701 432.5 -10.0 258 4706 roll -0.62 - - 1979 - 2.55 0.085 3690 557.6 -116.8 - - 3203 - - - - - - - - 14.86 14.26 14.88
4742 436.9 -10.6 264 4747 done -0.62 - - 1979 - 2.42 0.045 2260 -590.9 -116.8 - - 3203 - - - - - - - - 14.53 14.45 14.55
5092 475.7 -11.2 272 5097 roll -0.62 - - 1979 - 2.40 0.054 890 -570.8 -116.8 - - 3201 - - - - - - - - 14.87 14.32 14.89
5134 480.4 -11.2 278 5139 done -0.62 - - 1973 - 2.47 0.058 2269 558.3 -116.8 - - 3201 - - - - - - - - 14.42 14.29 14.47
5486 519.8 -11.2 286 5491 roll -0.57 0.12 0.275 1997 200.0 2.55 0.082 3689 556.9 -116.8 - - 3200 - - - - - - - - 14.07 14.23 14.19
5541 525.3 -9.3 294 5545 done -0.57 - - 1996 - 2.42 0.046 2270 -586.4 -116.8 - - 3199 - - - - - - - - 14.52 14.45 14.54
5877 555.3 -8.9 307 5883 roll -0.57 - - 1996 - 2.45 0.058 892 -562.4 -116.8 - - 3198 - - - - - - - - 14.85 14.30 14.87
5932 560.3 -8.8 315 5937 done -0.57 - - 1996 - 2.50 0.060 2269 550.8 -116.8 - - 3196 - - - - - - - - 14.40 14.28 14.42
6268 588.6 -8.4 328 6273 roll -0.57 - - 1992 - 2.58 0.087 3694 552.3 -116.8 - - 3197 - - - - - - - - 14.88 14.19 14.90
6325 593.3 -8.4 336 6330 done -0.57 - - 1992 - 2.45 0.046 2265 -583.3 -116.8 - - 3196 - - - - - - - - 14.48 14.41 14.50
6660 620.5 -8.0 349 6666 roll -0.57 - - 1992 - 2.45 0.057 880 -565.3 -116.8 - - 3194 - - - - - - - - 14.85 14.26 14.87
6764 629.0 -7.8 364 6771 done -0.57 - - 1989 - 2.55 0.061 2260 541.2 -116.8 - - 3194 - - - - - - - - 14.23 14.17 14.33
7110 657.0 -8.2 371 7115 roll -0.57 - - 1986 - 2.60 0.087 3694 551.5 -116.8 - - 3193 - - - - - - - - 14.86 14.14 14.88
7149 660.6 -8.8 377 7156 done -0.57 - - 1986 - 2.50 0.047 2263 -572.4 -116.8 - - 3193 - - - - - - - - 14.34 14.31 14.37
7500 691.8 -9.0 385 7506 roll -0.57 - - 1986 - 2.45 0.057 881 -564.1 -116.8 - - 3192 - - - - - - - - 14.85 14.23 14.86
7613 702.3 -9.1 401 7620 done -0.57 0.12 0.261 2012 216.7 2.55 0.063 2271 545.1 -116.8 - - 3191 - - - - - - - - 13.93 14.22 14.18
7949 729.2 -8.0 414 7954 roll -0.57 - - 2011 - 2.60 0.090 3693 546.9 -116.8 - - 3190 - - - - - - - - 14.83 14.10 14.85
8005 733.8 -8.1 422 8010 done -0.63 - - 2012 - 2.47 0.049 2263 -578.9 -116.8 - - 3189 - - - - - - - - 14.43 14.35 14.45
8342 761.6 -8.3 435 8347 roll -0.63 - - 2012 - 2.47 0.060 885 -557.9 -116.8 - - 3188 - - - - - - - - 14.85 14.19 14.87
8397 766.7 -9.4 443 8401 done -0.63 - - 2011 - 2.53 0.063 2263 544.7 -116.8 - - 3188 - - - - - - - - 14.31 14.19 14.36
8733 792.8 -7.6 456 8738 roll -0.63 - - 2012 - 2.62 0.091 3692 545.4 -116.8 - - 3187 - - - - - - - - 14.83 14.04 14.85
8768 795.4 -7.6 461 8774 done -0.63 - - 2012 - 2.50 0.049 2255 -574.8 -116.8 - - 3187 - - - - - - - - 14.38 14.31 14.41
9125 820.9 -7.1 470 9130 roll -0.63 - - 2011 - 2.45 0.057 886 -558.8 -116.8 - - 3185 - - - - - - - - 14.83 14.20 14.84
9194 825.7 -7.0 480 9199 done -0.63 - - 2013 - 2.53 0.060 2270 547.0 -116.8 - - 3187 - - - - - - - - 14.27 14.14 14.32
9518 847.3 -6.7 491 9523 roll -0.63 - - 2011 - 2.62 0.093 3690 542.0 -116.8 - - 3185 - - - - - - - - 14.85 14.03 14.86
9586 851.9 -6.5 501 9593 done -0.69 0.12 0.136 1963 -400.0 2.47 0.050 2256 -580.6 -116.8 - - 3185 - - - - - - - - 14.19 14.28 14.30
9910 881.1 -9.3 512 9915 roll -0.69 - - 1964 - 2.47 0.060 897 -550.2 -116.8 - - 3184 - - - - - - - - 14.85 14.12 14.86
9971 886.6 -9.1 521 9977 done -0.69 - - 1960 - 2.53 0.064 2265 540.7 -116.8 - - 3183 - - - - - - - - 14.23 14.07 14.28
10301 917.3 -9.5 533 10306 roll -0.69 - - 1953 - 2.65 0.092 3699 541.1 -116.8 - - 3182 - - - - - - - - 14.81 14.01 14.83
10364 923.6 -9.9 542 10369 done -0.69 - - 1953 - 2.50 0.050 2266 -573.2 -116.8 - - 3182 - - - - - - - - 14.36 14.28 14.40
10694 957.7 -10.5 554 10698 roll -0.65 0.12 0.267 1984 258.3 2.50 0.060 887 -551.6 -116.8 - - 3182 - - - - - - - - 13.90 14.10 14.01
10763 964.4 -9.2 564 10768 done -0.65 - - 1984 - 2.55 0.065 2267 541.2 -116.8 - - 3181 - - - - - - - - 14.23 14.09 14.28
11081 end dive: TARGET_DEPTH_EXCEEDED
11081 begin apogee
11090 993.2 -8.9 575 11260 roll -0.19 0.55 0.207 2131 267.3 - - 2188 - - 168.85 1.748 2739 -2.6 0.282 - - - - - - 13.70 13.93 13.02
11262 end apogee: CONTROL_FINISHED_OK
11262 begin climb
11266 999.3 - 578 11431 roll 0.68 0.93 0.142 2414 304.3 2.58 0.063 798 -538.8 116.8 154.02 1.828 2263 -3.1 0.321 - - - - - - 13.92 14.01 12.93
11587 980.6 6.5 625 11612 done 0.69 - - 2413 - 2.55 0.060 2203 551.0 136.8 20.40 1.790 2184 -3.9 0.402 - - - - - - 14.38 14.27 13.35
11922 949.6 9.5 638 11927 roll 0.69 - - 2423 - 2.58 0.070 802 -543.0 136.8 - - 2160 - - - - - - - - 14.72 14.33 14.73
12061 936.6 9.1 658 12066 done 0.69 - - 2423 - 2.53 0.060 2201 553.0 136.8 - - 2159 - - - - - - - - 14.47 14.35 14.51
12426 901.4 9.8 668 12431 roll 0.64 - - 2423 - 2.58 0.092 3608 545.3 136.8 - - 2159 - - - - - - - - 14.78 14.27 14.81
12502 893.3 10.6 679 12507 done 0.56 0.20 0.273 2387 -180.0 2.45 0.056 2209 -571.0 136.8 - - 2157 - - - - - - - - 14.00 14.40 14.33
12818 869.6 7.3 689 12824 roll 0.56 - - 2397 - 2.58 0.071 793 -548.8 137.0 - - 2157 - - - - - - - - 14.80 14.29 14.82
12886 864.6 7.0 699 12892 done 0.57 - - 2397 - 2.55 0.060 2202 552.5 144.5 - - 2155 - - - - - - - - 14.44 14.31 14.47
13209 840.9 7.5 710 13214 roll 0.57 - - 2397 - 2.55 0.090 3606 550.6 144.5 - - 2155 - - - - - - - - 14.84 14.21 14.89
13258 837.3 7.0 717 13284 done 0.57 - - 2407 - 2.50 0.055 2190 -566.4 153.3 18.85 1.801 2111 -2.3 0.206 - - - - - - 14.43 14.33 13.50
13601 807.2 8.7 731 13606 roll 0.57 - - 2418 - 2.55 0.071 785 -551.0 153.3 - - 2096 - - - - - - - - 14.76 14.28 14.78
13670 800.8 9.1 741 13677 done 0.57 0.12 0.256 2391 -225.0 2.55 0.060 2197 553.7 153.3 - - 2094 - - - - - - - - 14.06 14.32 14.35
13995 773.0 8.7 752 13999 roll 0.57 - - 2390 - 2.58 0.089 3610 547.7 153.3 - - 2095 - - - - - - - - 14.78 14.23 14.80
14076 765.0 9.6 764 14082 done 0.57 - - 2400 - 2.50 0.055 2184 -570.4 153.3 - - 2097 - - - - - - - - 14.43 14.32 14.48
14443 733.0 8.7 774 14447 roll 0.57 - - 2410 - 2.55 0.072 784 -549.0 153.3 - - 2093 - - - - - - - - 14.82 14.23 14.84
14517 726.8 7.8 785 14523 done 0.57 - - 2415 - 2.58 0.060 2205 550.8 153.3 - - 2093 - - - - - - - - 14.40 14.27 14.45
14833 701.0 8.1 795 14840 roll 0.57 - - 2410 - 2.55 0.088 3608 550.2 153.3 - - 2093 - - - - - - - - 14.81 14.11 14.83
14882 696.8 9.0 802 14889 done 0.57 0.15 0.264 2386 -160.0 2.50 0.055 2192 -566.4 153.3 - - 2092 - - - - - - - - 13.95 14.31 14.26
15226 674.3 6.5 809 15260 roll 0.59 - - 2395 - 2.60 0.073 788 -540.0 174.0 29.92 1.530 2026 -2.2 0.184 - - - - - - 14.80 14.40 13.51
15323 667.6 7.0 823 15330 done 0.59 - - 2396 - 2.58 0.060 2199 546.9 181.2 1.98 0.184 1999 -13.6 9.386 - - - - - - 14.43 14.32 14.17
15668 641.0 7.8 830 15672 roll 0.59 - - 2392 - 2.58 0.088 3614 548.4 181.2 - - 2003 - - - - - - - - 14.76 14.21 14.78
15728 635.4 9.1 839 15734 done 0.59 - - 2406 - 2.50 0.057 2192 -568.8 181.2 - - 2003 - - - - - - - - 14.40 14.29 14.45
16058 606.5 8.9 851 16063 roll 0.59 - - 2416 - 2.53 0.071 799 -550.6 181.2 - - 2003 - - - - - - - - 14.78 14.22 14.80
16128 600.2 8.8 861 16134 done 0.59 - - 2416 - 2.55 0.058 2213 554.5 181.2 - - 2003 - - - - - - - - 14.41 14.29 14.45
16450 570.3 9.3 872 16455 roll 0.59 - - 2416 - 2.53 0.085 3608 551.4 181.2 - - 2003 - - - - - - - - 14.79 14.18 14.81
16540 561.2 9.8 885 16547 done 0.59 0.12 0.259 2396 -166.7 2.45 0.052 2208 -571.4 181.2 - - 2003 - - - - - - - - 13.97 14.31 14.23
16898 533.2 7.8 894 16903 roll 0.59 - - 2405 - 2.55 0.067 798 -552.9 181.2 - - 2003 - - - - - - - - 14.80 14.19 14.81
16960 528.3 7.7 903 16966 done 0.59 - - 2406 - 2.55 0.056 2209 553.3 181.2 - - 2003 - - - - - - - - 14.38 14.26 14.42
17292 501.0 8.4 915 17296 roll 0.59 - - 2406 - 2.53 0.083 3612 554.5 181.2 - - 2003 - - - - - - - - 14.77 14.14 14.78
17359 494.5 9.3 925 17366 done 0.59 - - 2416 - 2.47 0.050 2190 -575.7 181.2 - - 2003 - - - - - - - - 14.28 14.18 14.33
17682 466.6 8.7 936 17687 roll 0.59 - - 2424 - 2.53 0.068 797 -550.6 181.2 - - 2003 - - - - - - - - 14.80 14.16 14.81
17739 461.8 8.7 944 17744 done 0.59 0.12 0.252 2397 -225.0 2.58 0.055 2216 550.0 181.2 - - 2003 - - - - - - - - 13.86 14.17 14.12
18074 437.3 7.1 957 18086 roll 0.59 - - 2396 - 2.55 0.085 3609 546.3 186.3 4.15 1.120 1978 -6.0 0.446 - - - - - - 14.76 14.38 13.29
18137 432.4 7.9 966 18142 done 0.59 - - 2406 - 2.42 0.051 2205 -580.2 186.3 - - 1984 - - - - - - - - 14.52 14.43 14.55
18467 408.8 7.2 978 18478 roll 0.60 - - 2407 - 2.58 0.070 794 -546.9 189.9 4.15 1.096 1968 -3.9 0.273 - - - - - - 14.82 14.38 13.29
18563 401.9 6.9 992 18605 done 0.60 - - 2407 - 2.55 0.056 2214 556.9 199.7 32.65 1.249 1919 -1.5 0.092 - - - - - - 14.47 14.35 13.58
18915 374.7 7.9 1007 18920 roll 0.60 - - 2407 - 2.55 0.084 3615 549.4 199.7 - - 1913 - - - - - - - - 14.71 14.19 14.73
18990 367.6 9.2 1018 18996 done 0.60 - - 2416 - 2.47 0.053 2200 -572.9 199.7 - - 1912 - - - - - - - - 14.40 14.28 14.44
19308 339.6 9.0 1028 19313 roll 0.60 - - 2424 - 2.58 0.070 788 -547.3 199.7 - - 1912 - - - - - - - - 14.78 14.18 14.80
19382 332.9 8.7 1039 19388 done 0.60 - - 2424 - 2.58 0.056 2214 552.7 199.7 - - 1911 - - - - - - - - 14.35 14.22 14.40
19698 304.6 8.9 1049 19704 roll 0.60 - - 2424 - 2.55 0.083 3615 549.4 199.7 - - 1909 - - - - - - - - 14.78 14.14 14.80
19761 298.5 9.7 1058 19766 done 0.60 0.15 0.244 2398 -173.3 2.47 0.051 2204 -571.3 199.7 - - 1911 - - - - - - - - 13.95 14.31 14.23
20091 274.8 7.2 1070 20095 roll 0.60 - - 2406 - 2.55 0.067 794 -552.9 204.1 - - 1911 - - - - - - - - 14.78 14.17 14.80
20160 269.7 7.2 1080 20166 done 0.66 - - 2406 - 2.58 0.055 2219 552.3 206.5 2.35 0.464 1896 -6.4 0.704 - - - - - - 14.35 14.22 13.25
20477 246.7 7.3 1090 20486 roll 0.66 - - 2406 - 2.60 0.084 3617 537.7 207.8 1.98 0.175 1893 -1.5 0.405 - - - - - - 14.81 14.17 14.02
20544 241.0 8.1 1100 20550 done 0.66 - - 2414 - 2.50 0.053 2190 -570.8 207.8 - - 1901 - - - - - - - - 14.35 14.23 14.40
20868 217.1 7.5 1111 20874 roll 0.66 - - 2423 - 2.60 0.067 798 -535.4 207.8 1.70 0.181 1892 -5.3 1.205 - - - - - - 14.78 14.19 13.98
20936 211.7 7.6 1121 20943 done 0.66 - - 2423 - 2.55 0.054 2218 556.9 207.8 - - 1900 - - - - - - - - 14.35 14.23 14.40
21253 184.9 8.7 1131 21257 roll 0.66 - - 2423 - 2.53 0.080 3607 549.0 207.8 - - 1899 - - - - - - - - 14.83 14.12 14.85
21323 178.2 9.6 1141 21330 done 0.66 - - 2432 - 2.42 0.048 2208 -578.1 207.8 - - 1901 - - - - - - - - 14.23 14.20 14.28
21645 149.9 8.8 1152 21650 roll 0.66 - - 2442 - 2.55 0.063 795 -554.1 207.8 - - 1901 - - - - - - - - 14.83 14.16 14.84
21736 142.3 8.4 1165 21742 done 0.66 - - 2442 - 2.55 0.054 2211 555.3 207.8 - - 1901 - - - - - - - - 14.33 14.22 14.38
22093 110.6 9.0 1174 22098 roll 0.66 - - 2442 - 2.53 0.079 3612 553.8 207.8 - - 1902 - - - - - - - - 14.77 14.12 14.79
22176 101.8 10.3 1186 22182 done 0.66 0.15 0.252 2418 -160.0 2.42 0.048 2210 -579.3 207.8 1.90 0.171 1892 -5.3 0.594 - - - - - - 13.83 14.26 14.00
22517 76.2 6.6 1201 22540 roll 0.67 - - 2424 - 2.60 0.064 789 -546.5 224.3 13.52 0.314 1828 -4.7 0.218 - - - - - - 14.75 14.34 13.86
22603 71.1 5.5 1214 22644 done 0.76 - - 2424 - 2.55 0.054 2214 558.8 267.3 32.85 0.334 1651 -5.4 0.218 - - - - - - 14.40 14.29 13.97
22965 49.7 5.7 1232 23002 roll 0.87 0.15 0.116 2490 440.0 2.50 0.080 3615 560.4 305.9 29.23 0.272 1497 -5.3 0.183 - - - - - - 14.34 14.34 14.02
23234 33.5 4.4 1271 23288 done 0.99 - - 2497 - 2.42 0.047 2210 -580.6 375.5 48.47 0.232 1208 -6.0 0.163 - - - - - - 14.31 14.22 14.06
23608 17.4 4.4 1291 23661 roll 1.16 0.20 0.098 2595 490.0 2.60 0.063 796 -543.8 444.7 46.62 0.176 924 -6.1 0.114 - - - - - - 14.36 14.31 14.10
23742 3.8 11.0 1310 23748 done 1.16 - - 2595 - 2.53 0.051 2211 559.3 444.7 - - 929 - - - - - - - - 14.38 14.28 14.42
23771 end climb: SURFACE_DEPTH_REACHED
23771 begin surface coast
23798 end surface coast: CONTROL_FINISHED_OK
23798 begin surface
SM 0.74 - - - - -6.15 7.03 0.075 209 29.7 0.10 0.109 2337 13070.0 500.17 38.45 0.135 698 18.2 -0.010 - - - - - -