SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 383 * Raw log
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• Previous call tries 3 • 151.93 of 350.00 AH used of 24V (56.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.5 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: 40 s
• GPS2 time: 19 s • Transponder ping count: 5
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 200 - - - 2250 - -116.8 -84.60 - 2808 - - - - - - - - 14.71 - 14.73
108 3.3 -4.2 3 132 roll -0.68 8.95 0.402 1982 199.1 2.65 2.015 876 -518.5 -116.8 -7.95 - 3220 -51.8 - - - - - - - 13.95 13.23 14.38
241 40.3 -21.0 22 247 done -0.51 0.25 0.272 2032 200.0 2.45 0.054 2279 572.7 -116.8 - - 3220 - - - - - - - - 14.10 14.43 14.39
553 75.6 -9.0 34 557 roll -0.45 - - 2021 - 2.42 0.071 3703 588.4 -116.8 - - 3222 - - - - - - - - 14.83 14.45 14.85
636 82.7 -8.7 46 641 done -0.41 0.17 0.223 2066 264.7 2.35 0.038 2262 -613.2 -116.8 - - 3222 - - - - - - - - 14.25 14.57 14.47
973 104.9 -6.2 60 978 roll -0.41 - - 2064 - 2.33 0.050 896 -586.3 -116.8 - - 3225 - - - - - - - - 14.88 14.47 14.90
1006 107.3 -7.3 65 1013 done -0.41 - - 2064 - 2.45 0.054 2289 568.6 -116.8 - - 3223 - - - - - - - - 14.53 14.47 14.57
1366 129.7 -6.2 74 1371 roll -0.41 - - 2056 - 2.42 0.076 3702 583.9 -116.8 - - 3222 - - - - - - - - 14.88 14.48 14.90
1434 134.6 -7.1 84 1439 done -0.46 - - 2056 - 2.33 0.038 2275 -612.4 -116.8 - - 3222 - - - - - - - - 14.62 14.54 14.63
1756 158.2 -7.5 95 1761 roll -0.46 - - 2056 - 2.35 0.054 897 -586.4 -116.8 - - 3220 - - - - - - - - 14.93 14.51 14.95
1784 160.4 -7.7 99 1789 done -0.46 - - 2056 - 2.42 0.057 2284 573.1 -116.8 - - 3220 - - - - - - - - 14.62 14.52 14.66
2148 186.1 -7.1 109 2149 done -0.46 - - 2056 - - - 2285 - -116.8 - - 3218 - - - - - - - - 14.92 14.94 14.94
2484 209.5 -7.0 115 2489 roll -0.46 - - 2056 - 2.45 0.080 3697 576.3 -116.8 - - 3216 - - - - - - - - 14.94 14.45 14.95
2526 212.5 -7.1 121 2532 done -0.52 - - 2056 - 2.30 0.043 2282 -615.2 -116.8 - - 3214 - - - - - - - - 14.67 14.60 14.69
2877 237.0 -7.0 129 2883 roll -0.57 0.12 0.135 1997 -491.7 2.35 0.049 906 -585.5 -116.8 - - 3213 - - - - - - - - 14.59 14.51 14.66
2966 245.4 -9.6 142 2972 done -0.57 - - 1996 - 2.45 0.059 2281 561.2 -116.8 - - 3212 - - - - - - - - 14.62 14.47 14.64
3325 281.7 -10.4 151 3326 done -0.57 - - 1996 - - - 2282 - -116.8 - - 3210 - - - - - - - - 14.91 14.93 14.93
3660 317.2 -10.4 157 3661 done -0.57 - - 1996 - - - 2281 - -116.8 - - 3209 - - - - - - - - 14.92 14.94 14.94
3996 350.8 -9.9 163 4001 roll -0.57 - - 1996 - 2.38 0.051 906 -577.7 -116.8 - - 3206 - - - - - - - - 14.92 14.49 14.94
4045 355.7 -9.7 170 4051 done -0.57 - - 1996 - 2.45 0.060 2282 561.6 -116.8 - - 3205 - - - - - - - - 14.59 14.47 14.62
4388 389.8 -10.1 177 4394 roll -0.57 - - 1987 - 2.45 0.080 3691 575.1 -116.8 - - 3203 - - - - - - - - 14.94 14.42 14.95
4422 393.6 -10.9 182 4428 done -0.57 - - 1987 - 2.38 0.044 2292 -587.8 -116.8 - - 3203 - - - - - - - - 14.55 14.52 14.57
4780 432.2 -10.8 191 4785 roll -0.57 - - 1987 - 2.40 0.056 890 -584.2 -116.8 - - 3201 - - - - - - - - 14.93 14.47 14.95
4878 442.4 -9.8 205 4884 done -0.57 - - 1986 - 2.47 0.061 2282 563.6 -116.8 - - 3200 - - - - - - - - 14.57 14.45 14.60
5228 475.0 -9.2 213 5229 done -0.57 - - 1986 - - - 2279 - -116.8 - - 3199 - - - - - - - - 14.92 14.95 14.95
5564 508.2 -10.1 219 5565 done -0.57 - - 1986 - - - 2282 - -116.8 - - 3196 - - - - - - - - 14.91 14.93 14.92
5901 543.2 -10.6 225 5902 done -0.57 - - 1985 - - - 2282 - -116.8 - - 3195 - - - - - - - - 14.90 14.92 14.92
6237 577.7 -10.0 231 6237 done -0.57 - - 1986 - - - 2282 - -116.8 - - 3193 - - - - - - - - 14.90 14.92 14.92
6572 609.6 -9.4 237 6578 roll -0.57 0.12 0.269 2014 233.3 2.45 0.053 881 -571.8 -116.8 - - 3192 - - - - - - - - 14.26 14.43 14.45
6607 612.6 -8.4 242 6612 done -0.57 - - 2014 - 2.50 0.063 2283 560.8 -116.8 - - 3194 - - - - - - - - 14.54 14.42 14.58
6964 639.4 -7.5 251 6969 roll -0.57 - - 2011 - 2.50 0.086 3693 564.0 -116.8 - - 3190 - - - - - - - - 14.92 14.32 14.94
7020 643.6 -7.5 259 7025 done -0.57 - - 2011 - 2.40 0.047 2267 -594.2 -116.8 - - 3190 - - - - - - - - 14.59 14.52 14.61
7357 668.4 -7.4 272 7362 roll -0.57 - - 2011 - 2.40 0.058 888 -574.6 -116.8 - - 3188 - - - - - - - - 14.91 14.31 14.92
7439 674.9 -7.6 284 7445 done -0.57 - - 2011 - 2.50 0.063 2290 560.8 -116.8 - - 3188 - - - - - - - - 14.47 14.33 14.52
7804 702.9 -7.9 294 7809 roll -0.57 - - 2011 - 2.50 0.088 3690 560.0 -116.8 - - 3187 - - - - - - - - 14.91 14.28 14.93
7853 706.9 -8.2 301 7861 done -0.57 - - 2011 - 2.40 0.047 2260 -595.8 -116.8 - - 3187 - - - - - - - - 14.56 14.49 14.59
8196 735.5 -8.4 308 8201 roll -0.57 - - 2011 - 2.38 0.057 901 -571.0 -116.8 - - 3185 - - - - - - - - 14.89 14.35 14.90
8300 744.7 -8.5 323 8308 done -0.57 - - 2010 - 2.50 0.063 2270 547.6 -116.8 - - 3185 - - - - - - - - 14.34 14.26 14.39
8645 772.1 -7.9 330 8650 roll -0.57 - - 2011 - 2.58 0.092 3700 554.3 -116.8 - - 3184 - - - - - - - - 14.88 14.26 14.89
8685 775.3 -7.6 336 8691 done -0.57 - - 2011 - 2.45 0.048 2285 -577.6 -116.8 - - 3183 - - - - - - - - 14.45 14.41 14.47
9036 800.0 -7.1 344 9041 roll -0.57 - - 2011 - 2.45 0.058 882 -572.7 -116.8 - - 3182 - - - - - - - - 14.88 14.33 14.90
9085 803.5 -6.8 351 9091 done -0.57 - - 2011 - 2.53 0.064 2279 552.2 -116.8 - - 3182 - - - - - - - - 14.43 14.31 14.47
9429 827.4 -7.1 358 9433 roll -0.57 - - 2011 - 2.55 0.092 3687 552.2 -116.8 - - 3181 - - - - - - - - 14.90 14.21 14.91
9469 830.4 -5.9 364 9475 done -0.57 - - 2011 - 2.47 0.050 2268 -574.5 -116.8 - - 3181 - - - - - - - - 14.40 14.35 14.43
9820 856.1 -7.4 372 9825 roll -0.57 - - 2011 - 2.42 0.061 888 -570.2 -116.8 - - 3181 - - - - - - - - 14.87 14.28 14.88
9862 859.4 -6.3 378 9867 done -0.57 - - 2011 - 2.50 0.064 2277 555.6 -116.8 - - 3180 - - - - - - - - 14.42 14.29 14.46
10212 885.0 -7.2 386 10217 roll -0.57 - - 2010 - 2.58 0.093 3693 548.8 -116.8 - - 3179 - - - - - - - - 14.86 14.19 14.88
10255 887.4 -5.3 392 10259 done -0.62 - - 2011 - 2.45 0.052 2273 -579.6 -116.8 - - 3179 - - - - - - - - 14.51 14.43 14.54
10605 911.0 -6.6 400 10610 roll -0.62 - - 2010 - 2.47 0.063 881 -563.6 -116.8 - - 3178 - - - - - - - - 14.85 14.25 14.88
10709 918.0 -6.5 415 10715 done -0.62 - - 2010 - 2.55 0.066 2275 546.7 -116.8 - - 3177 - - - - - - - - 14.35 14.22 14.41
11054 939.6 -6.3 422 11058 roll -0.62 - - 2010 - 2.60 0.095 3692 545.0 -116.8 - - 3177 - - - - - - - - 14.83 14.14 14.85
11086 941.3 -5.5 427 11092 done -0.62 - - 2010 - 2.50 0.052 2274 -567.2 -116.8 - - 3177 - - - - - - - - 14.34 14.29 14.38
11445 964.3 -6.4 436 11449 roll -0.62 - - 2015 - 2.50 0.064 875 -559.6 -116.8 - - 3175 - - - - - - - - 14.87 14.23 14.89
11542 971.0 -6.7 450 11547 done -0.62 - - 2012 - 2.55 0.067 2275 549.0 -116.8 - - 3176 - - - - - - - - 14.35 14.22 14.40
11889 end dive: TARGET_DEPTH_EXCEEDED
11889 begin apogee
11897 994.0 -6.7 458 12091 roll -0.19 0.45 0.201 2134 271.1 - - 2157 - - 191.90 1.653 2742 -2.3 0.261 - - - - - - 13.88 13.91 13.08
12093 end apogee: CONTROL_FINISHED_OK
12093 begin climb
12097 998.0 - 461 12258 roll 0.68 0.85 0.137 2411 325.9 2.60 0.063 765 -535.4 116.8 150.90 1.906 2263 -3.2 0.319 - - - - - - 13.89 13.95 12.78
12384 980.4 7.9 507 12389 done 0.68 - - 2411 - 2.55 0.065 2162 547.8 116.8 - - 2235 - - - - - - - - 14.26 14.16 14.28
12734 951.3 8.3 515 12739 roll 0.68 - - 2421 - 2.53 0.074 770 -550.2 116.8 - - 2231 - - - - - - - - 14.73 14.35 14.75
12847 942.3 7.7 531 12852 done 0.68 - - 2421 - 2.53 0.064 2172 554.2 116.8 - - 2230 - - - - - - - - 14.51 14.42 14.55
13184 914.3 8.4 544 13189 roll 0.62 - - 2421 - 2.53 0.091 3572 553.4 116.8 - - 2229 - - - - - - - - 14.80 14.34 14.81
13322 901.0 9.4 564 13327 done 0.54 0.22 0.272 2378 -195.5 2.42 0.059 2178 -576.0 116.8 - - 2227 - - - - - - - - 14.08 14.44 14.41
13687 877.1 6.6 574 13712 roll 0.56 - - 2388 - 2.62 0.079 746 -546.6 135.4 16.75 1.864 2180 -2.8 0.253 - - - - - - 14.83 14.47 13.48
13769 870.9 7.1 586 13776 done 0.56 - - 2388 - 2.55 0.064 2168 557.6 140.4 - - 2172 - - - - - - - - 14.52 14.41 14.54
14134 840.8 8.6 596 14139 roll 0.56 - - 2388 - 2.53 0.090 3574 555.7 140.4 - - 2170 - - - - - - - - 14.80 14.33 14.81
14232 831.0 9.8 610 14238 done 0.56 - - 2398 - 2.45 0.059 2170 -573.1 140.4 - - 2167 - - - - - - - - 14.53 14.43 14.56
14582 797.1 10.0 618 14588 roll 0.56 - - 2409 - 2.55 0.074 743 -559.6 140.4 - - 2169 - - - - - - - - 14.84 14.35 14.86
14630 792.4 9.6 625 14637 done 0.56 - - 2409 - 2.60 0.063 2170 548.8 140.4 - - 2168 - - - - - - - - 14.39 14.33 14.53
14975 759.6 9.4 632 14980 roll 0.56 - - 2409 - 2.53 0.088 3579 556.9 140.4 - - 2168 - - - - - - - - 14.83 14.31 14.84
15087 748.0 10.3 648 15092 done 0.51 0.20 0.262 2369 -200.0 2.45 0.057 2175 -573.1 140.4 - - 2168 - - - - - - - - 14.02 14.41 14.31
15423 723.7 7.0 661 15435 roll 0.51 - - 2375 - 2.53 0.076 752 -562.5 148.4 5.43 1.535 2139 -5.3 0.483 - - - - - - 14.85 14.50 13.32
15492 718.9 6.9 671 15520 done 0.52 - - 2379 - 2.53 0.060 2174 562.1 158.0 23.77 1.706 2096 -1.8 0.146 - - - - - - 14.55 14.45 13.50
15871 690.2 7.7 683 15876 roll 0.52 - - 2379 - 2.50 0.087 3571 558.8 158.0 - - 2076 - - - - - - - - 14.75 14.30 14.77
15946 683.6 8.8 694 15953 done 0.52 - - 2389 - 2.47 0.057 2173 -566.0 158.0 - - 2075 - - - - - - - - 14.40 14.35 14.44
16263 658.5 7.9 704 16267 roll 0.52 - - 2399 - 2.55 0.073 754 -556.5 158.0 - - 2075 - - - - - - - - 14.82 14.34 14.81
16340 652.8 7.2 715 16345 done 0.52 0.12 0.251 2372 -225.0 2.53 0.060 2175 561.7 161.6 - - 2074 - - - - - - - - 14.09 14.36 14.38
16655 632.8 6.2 725 16710 roll 0.53 - - 2372 - 2.58 0.089 3577 543.4 188.6 47.50 1.473 1964 -2.3 0.191 - - - - - - 14.82 14.28 13.53
16780 623.9 7.7 743 16785 done 0.53 - - 2380 - 2.45 0.057 2172 -573.5 188.6 - - 1955 - - - - - - - - 14.35 14.28 14.38
17102 600.4 7.4 754 17108 roll 0.53 - - 2388 - 2.55 0.073 752 -556.9 188.6 - - 1951 - - - - - - - - 14.76 14.31 14.78
17151 596.6 7.8 761 17157 done 0.60 - - 2388 - 2.58 0.058 2187 556.2 188.6 - - 1950 - - - - - - - - 14.44 14.33 14.50
17495 566.1 9.2 768 17500 roll 0.60 - - 2387 - 2.47 0.086 3568 559.1 188.6 - - 1950 - - - - - - - - 14.81 14.28 14.82
17577 557.7 9.9 780 17583 done 0.60 - - 2393 - 2.47 0.055 2173 -564.8 188.6 - - 1950 - - - - - - - - 14.38 14.33 14.52
17942 525.1 8.9 790 17948 roll 0.60 - - 2399 - 2.58 0.072 746 -553.1 188.6 - - 1950 - - - - - - - - 14.82 14.31 14.83
17992 520.9 8.6 797 17998 done 0.65 - - 2399 - 2.58 0.059 2185 557.8 188.6 - - 1949 - - - - - - - - 14.47 14.35 14.52
18334 491.7 8.3 804 18339 roll 0.65 - - 2399 - 2.50 0.086 3566 552.4 188.6 - - 1949 - - - - - - - - 14.84 14.26 14.86
18431 483.3 8.5 818 18438 done 0.65 - - 2406 - 2.45 0.054 2189 -562.0 188.6 - - 1949 - - - - - - - - 14.37 14.31 14.42
18783 454.5 8.3 826 18789 roll 0.65 - - 2406 - 2.60 0.070 748 -554.2 188.6 - - 1949 - - - - - - - - 14.82 14.30 14.84
18838 450.1 7.8 834 18844 done 0.65 - - 2411 - 2.58 0.057 2190 558.9 188.6 - - 1949 - - - - - - - - 14.46 14.34 14.51
19175 421.0 8.8 847 19179 roll 0.65 - - 2406 - 2.50 0.083 3578 555.2 188.6 - - 1949 - - - - - - - - 14.83 14.26 14.85
19258 412.6 10.0 859 19263 done 0.65 - - 2415 - 2.42 0.053 2175 -579.8 188.6 - - 1949 - - - - - - - - 14.47 14.38 14.52
19622 377.8 9.6 869 19627 roll 0.65 - - 2423 - 2.58 0.071 749 -552.7 188.6 - - 1949 - - - - - - - - 14.85 14.27 14.90
19664 373.8 9.6 875 19669 done 0.65 - - 2424 - 2.58 0.058 2195 560.5 188.6 - - 1949 - - - - - - - - 14.45 14.33 14.50
20016 339.1 9.9 883 20020 roll 0.65 - - 2424 - 2.47 0.084 3574 558.3 188.6 - - 1949 - - - - - - - - 14.85 14.23 14.86
20105 329.8 10.0 896 20110 done 0.65 - - 2433 - 2.40 0.053 2189 -577.1 188.6 - - 1949 - - - - - - - - 14.44 14.33 14.50
20462 296.4 9.4 905 20467 roll 0.65 - - 2441 - 2.58 0.067 751 -557.4 188.6 - - 1948 - - - - - - - - 14.85 14.28 14.85
20512 291.8 9.2 912 20518 done 0.65 0.12 0.255 2414 -225.0 2.60 0.057 2202 558.1 188.6 - - 1949 - - - - - - - - 14.02 14.31 14.31
20855 262.6 8.6 919 20859 roll 0.65 - - 2414 - 2.47 0.085 3573 555.1 188.6 - - 1949 - - - - - - - - 14.88 14.23 14.88
20923 256.0 9.4 929 20929 done 0.65 - - 2423 - 2.45 0.053 2168 -573.5 188.6 - - 1951 - - - - - - - - 14.42 14.31 14.48
21247 228.2 8.6 940 21252 roll 0.65 - - 2434 - 2.53 0.067 749 -560.9 188.6 - - 1952 - - - - - - - - 14.82 14.26 14.84
21302 223.6 8.1 948 21307 done 0.65 - - 2433 - 2.60 0.057 2203 559.2 188.6 - - 1949 - - - - - - - - 14.42 14.31 14.47
21640 195.5 8.3 961 21645 roll 0.65 - - 2433 - 2.47 0.084 3575 555.5 188.6 - - 1949 - - - - - - - - 14.84 14.21 14.86
21721 187.7 9.4 973 21727 done 0.65 0.12 0.267 2416 -141.7 2.45 0.053 2191 -564.9 188.6 - - 1949 - - - - - - - - 13.98 14.26 14.28
22087 160.1 7.7 983 22092 roll 0.65 - - 2424 - 2.58 0.068 748 -559.3 188.6 - - 1948 - - - - - - - - 14.83 14.26 14.84
22177 153.0 7.9 996 22182 done 0.65 - - 2424 - 2.60 0.057 2206 560.8 188.6 - - 1949 - - - - - - - - 14.41 14.30 14.47
22535 120.8 9.4 1005 22540 roll 0.65 - - 2424 - 2.45 0.083 3570 556.7 188.6 - - 1948 - - - - - - - - 14.83 14.21 14.84
22618 112.4 9.6 1017 22623 done 0.65 - - 2436 - 2.42 0.051 2171 -578.1 188.6 - - 1948 - - - - - - - - 14.43 14.31 14.48
22956 84.7 7.6 1029 22961 roll 0.65 - - 2438 - 2.53 0.069 753 -560.5 188.6 - - 1949 - - - - - - - - 14.82 14.26 14.83
22996 81.7 7.1 1035 23002 done 0.65 - - 2438 - 2.62 0.056 2205 554.2 194.4 - - 1948 - - - - - - - - 14.29 14.23 14.33
23319 60.2 6.3 1048 23345 roll 0.67 - - 2438 - 2.50 0.081 3580 550.0 219.8 17.17 0.294 1849 -5.8 0.227 - - - - - - 14.83 14.40 14.00
23435 53.8 6.1 1064 23463 done 0.74 - - 2446 - 2.40 0.048 2190 -579.2 248.2 20.70 0.282 1728 -5.8 0.214 - - - - - - 14.47 14.40 14.05
23799 38.8 3.7 1083 23863 roll 0.91 0.12 0.127 2511 541.7 2.50 0.074 3566 550.4 333.6 56.53 0.246 1382 -6.1 0.185 - - - - - - 14.45 14.35 14.13
23882 35.2 5.6 1095 23918 done 1.04 - - 2515 - 2.30 0.047 2212 -588.7 374.4 28.27 0.233 1212 -6.0 0.174 - - - - - - 14.50 14.42 14.07
24247 11.8 7.3 1114 24253 roll 1.19 0.17 0.101 2598 488.2 2.42 0.069 3582 566.1 374.5 - - 1219 - - - - - - - - 14.44 14.31 14.47
24309 5.3 10.1 1123 24314 done 1.19 - - 2606 - 2.33 0.049 2242 -575.1 374.5 - - 1219 - - - - - - - - 14.47 14.32 14.50
24356 end climb: SURFACE_DEPTH_REACHED
24356 begin surface coast
24383 end surface coast: CONTROL_FINISHED_OK
24383 begin surface
SM 0.88 - - - - -6.13 6.95 0.074 219 31.5 0.10 0.136 2283 12530.0 500.17 77.80 0.132 699 9.0 -0.006 - - - - - -