SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 384 * Raw log
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• Previous call tries 1 • 152.31 of 350.00 AH used of 24V (56.48% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth 0.88 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 14 s • Transponder ping count: 11
• 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
17 - - - 102 VBD -0.68 - - 190 - - - 2294 - -116.8 -84.20 - 2782 - - - - - - - - 14.70 - 14.71
106 3.3 -4.3 3 130 roll -0.68 9.02 0.404 1981 198.6 2.72 2.021 871 -523.2 -116.8 -8.57 - 3218 -50.9 - - - - - - - 13.90 13.21 14.34
231 38.2 -22.6 21 237 done -0.51 0.25 0.260 2032 204.0 2.47 0.056 2293 575.7 -116.8 - - 3220 - - - - - - - - 14.10 14.42 14.38
553 73.6 -9.0 34 557 roll -0.46 - - 2022 - 2.40 0.073 3694 583.8 -116.8 - - 3222 - - - - - - - - 14.84 14.42 14.85
678 84.8 -9.1 52 683 done -0.46 - - 2022 - 2.35 0.039 2260 -610.2 -116.8 - - 3221 - - - - - - - - 14.58 14.52 14.59
1029 115.5 -8.6 63 1033 roll -0.46 - - 2018 - 2.30 0.049 891 -595.2 -116.8 - - 3221 - - - - - - - - 14.90 14.52 14.91
1069 119.1 -8.8 69 1076 done -0.46 0.08 0.231 2051 412.5 2.47 0.054 2294 568.0 -116.8 - - 3225 - - - - - - - - 14.20 14.45 14.46
1421 143.6 -6.9 77 1422 done -0.46 - - 2051 - - - 2294 - -116.8 - - 3221 - - - - - - - - 14.90 14.90 14.91
1757 168.0 -7.3 83 1761 roll -0.46 - - 2042 - 2.42 0.079 3694 578.5 -116.8 - - 3223 - - - - - - - - 14.90 14.45 14.92
1812 172.4 -7.8 91 1817 done -0.46 - - 2043 - 2.30 0.041 2281 -614.3 -116.8 - - 3220 - - - - - - - - 14.65 14.59 14.68
2149 197.5 -7.3 104 2154 roll -0.46 - - 2043 - 2.35 0.050 899 -588.1 -116.8 - - 3218 - - - - - - - - 14.90 14.50 14.92
2211 202.3 -7.6 113 2217 done -0.46 - - 2042 - 2.45 0.057 2304 573.5 -116.8 - - 3218 - - - - - - - - 14.63 14.50 14.64
2540 226.0 -7.4 125 2546 roll -0.46 - - 2042 - 2.42 0.081 3693 574.0 -116.8 - - 3216 - - - - - - - - 14.90 14.42 14.92
2590 229.6 -7.2 132 2596 done -0.50 - - 2042 - 2.33 0.043 2289 -602.6 -116.8 - - 3216 - - - - - - - - 14.66 14.59 14.68
2932 255.3 -7.5 139 2937 roll -0.50 - - 2042 - 2.35 0.051 904 -589.4 -116.8 - - 3213 - - - - - - - - 14.91 14.48 14.93
2994 260.0 -7.3 148 3000 done -0.50 - - 2042 - 2.50 0.059 2298 557.6 -116.8 - - 3213 - - - - - - - - 14.47 14.41 14.61
3325 282.9 -7.0 160 3330 roll -0.50 - - 2039 - 2.45 0.083 3685 566.1 -116.8 - - 3211 - - - - - - - - 14.92 14.41 14.94
3366 285.8 -7.0 166 3371 done -0.55 - - 2040 - 2.30 0.044 2299 -602.6 -116.8 - - 3211 - - - - - - - - 14.64 14.57 14.66
3717 310.9 -7.2 174 3722 roll -0.55 - - 2039 - 2.40 0.054 896 -584.6 -116.8 - - 3208 - - - - - - - - 14.91 14.41 14.92
3801 317.0 -7.1 186 3805 done -0.55 - - 2039 - 2.45 0.059 2294 570.6 -116.8 - - 3208 - - - - - - - - 14.62 14.48 14.62
4164 342.3 -6.9 196 4169 roll -0.55 - - 2038 - 2.47 0.084 3701 569.6 -116.8 - - 3205 - - - - - - - - 14.90 14.38 14.92
4198 344.7 -6.9 201 4205 done -0.55 - - 2038 - 2.38 0.044 2280 -597.1 -116.8 - - 3205 - - - - - - - - 14.54 14.50 14.57
4557 368.9 -6.8 210 4562 roll -0.55 - - 2038 - 2.38 0.053 906 -577.3 -116.8 - - 3203 - - - - - - - - 14.92 14.46 14.93
4626 373.9 -6.8 220 4631 done -0.55 - - 2038 - 2.45 0.060 2295 566.9 -116.8 - - 3203 - - - - - - - - 14.54 14.42 14.59
4950 395.5 -6.7 231 4954 roll -0.55 - - 2036 - 2.47 0.085 3692 565.6 -116.8 - - 3201 - - - - - - - - 14.92 14.37 14.93
4990 398.3 -6.8 237 4997 done -0.60 - - 2036 - 2.38 0.046 2297 -586.1 -116.8 - - 3201 - - - - - - - - 14.51 14.47 14.54
5341 421.4 -6.6 245 5346 roll -0.60 - - 2036 - 2.42 0.055 910 -573.1 -116.8 - - 3200 - - - - - - - - 14.90 14.44 14.92
5425 427.2 -6.8 257 5430 done -0.60 - - 2036 - 2.45 0.060 2299 566.9 -116.8 - - 3199 - - - - - - - - 14.56 14.44 14.59
5789 452.2 -7.0 267 5790 done -0.60 - - 2036 - - - 2298 - -116.8 - - 3198 - - - - - - - - 14.92 14.94 14.93
6125 476.9 -7.3 273 6126 done -0.60 - - 2035 - - - 2297 - -116.8 - - 3196 - - - - - - - - 14.90 14.93 14.93
6462 501.9 -7.4 279 6466 roll -0.60 - - 2036 - 2.45 0.057 907 -567.3 -116.8 - - 3195 - - - - - - - - 14.93 14.42 14.93
6502 505.1 -7.7 285 6508 done -0.60 - - 2036 - 2.47 0.062 2298 563.2 -116.8 - - 3194 - - - - - - - - 14.52 14.38 14.56
6853 531.5 -7.7 293 6858 roll -0.60 - - 2027 - 2.47 0.087 3684 561.1 -116.8 - - 3193 - - - - - - - - 14.91 14.32 14.91
6923 537.0 -7.8 303 6928 done -0.65 0.12 0.136 1973 -450.0 2.33 0.047 2305 -591.8 -116.8 - - 3193 - - - - - - - - 14.36 14.45 14.47
7245 570.4 -10.4 314 7249 roll -0.65 - - 1973 - 2.47 0.058 883 -575.7 -116.8 - - 3192 - - - - - - - - 14.89 14.38 14.90
7314 577.5 -10.0 324 7319 done -0.65 - - 1972 - 2.53 0.064 2288 555.3 -116.8 - - 3191 - - - - - - - - 14.46 14.33 14.51
7638 609.1 -9.9 335 7638 done -0.65 - - 1972 - - - 2289 - -116.8 - - 3190 - - - - - - - - 14.88 14.89 14.89
7973 640.9 -9.5 341 7978 roll -0.65 - - 1972 - 2.47 0.054 881 -570.0 -116.8 - - 3189 - - - - - - - - 14.90 14.31 14.90
8021 645.6 -9.4 348 8028 done -0.65 - - 1971 - 2.58 0.063 2287 545.0 -116.8 - - 3189 - - - - - - - - 14.34 14.27 14.50
8365 676.4 -9.0 355 8371 roll -0.65 - - 1970 - 2.50 0.088 3694 562.8 -116.8 - - 3188 - - - - - - - - 14.90 14.22 14.92
8392 679.0 -9.2 359 8397 done -0.65 - - 1970 - 2.38 0.047 2286 -591.6 -116.8 - - 3188 - - - - - - - - 14.54 14.45 14.57
8757 713.1 -9.4 369 8762 roll -0.65 - - 1970 - 2.42 0.055 890 -576.9 -116.8 - - 3187 - - - - - - - - 14.90 14.35 14.92
8847 721.8 -9.5 382 8852 done -0.65 - - 1967 - 2.53 0.062 2298 556.5 -116.8 - - 3187 - - - - - - - - 14.44 14.31 14.48
9206 757.1 -10.0 391 9206 done -0.65 - - 1967 - - - 2297 - -116.8 - - 3185 - - - - - - - - 14.86 14.88 14.88
9541 790.3 -9.8 397 9546 roll -0.65 - - 1960 - 2.53 0.090 3700 554.5 -116.8 - - 3184 - - - - - - - - 14.88 14.21 14.89
9582 794.5 -10.2 403 9587 done -0.65 - - 1960 - 2.40 0.049 2292 -586.7 -116.8 - - 3183 - - - - - - - - 14.47 14.38 14.51
9934 829.2 -9.8 411 9939 roll -0.61 0.15 0.260 2000 266.7 2.50 0.058 886 -562.4 -116.8 - - 3183 - - - - - - - - 13.99 14.25 14.13
10023 836.1 -7.4 424 10028 done -0.61 - - 1999 - 2.53 0.065 2284 552.6 -116.8 - - 3182 - - - - - - - - 14.40 14.27 14.45
10381 859.7 -6.3 433 10387 roll -0.61 - - 1999 - 2.58 0.091 3702 549.6 -116.8 - - 3182 - - - - - - - - 14.88 14.19 14.90
10444 863.5 -6.0 442 10449 done -0.61 - - 1998 - 2.42 0.047 2282 -586.8 -116.8 - - 3181 - - - - - - - - 14.48 14.40 14.51
10773 882.8 -5.8 454 10778 roll -0.61 - - 1999 - 2.45 0.058 889 -568.6 -116.8 - - 3181 - - - - - - - - 14.88 14.26 14.90
10815 885.1 -5.4 460 10820 done -0.61 - - 1999 - 2.53 0.063 2287 552.6 -116.8 - - 3181 - - - - - - - - 14.39 14.26 14.43
11165 905.8 -6.0 468 11166 done -0.61 - - 1999 - - - 2286 - -116.8 - - 3180 - - - - - - - - 14.87 14.89 14.89
11501 927.3 -6.6 474 11502 done -0.61 - - 1998 - - - 2286 - -116.8 - - 3179 - - - - - - - - 14.88 14.90 14.90
11837 951.3 -7.2 480 11842 roll -0.61 - - 1998 - 2.58 0.091 3700 548.1 -116.8 - - 3178 - - - - - - - - 14.87 14.14 14.87
11872 953.9 -6.5 485 11878 done -0.61 - - 1999 - 2.45 0.050 2269 -584.1 -116.8 - - 3178 - - - - - - - - 14.45 14.38 14.48
12229 980.2 -7.3 494 12233 roll -0.61 - - 1999 - 2.45 0.063 898 -559.6 -116.8 - - 3177 - - - - - - - - 14.83 14.21 14.85
12334 988.3 -6.5 509 12341 done -0.61 - - 1998 - 2.55 0.067 2291 546.3 -116.8 - - 3177 - - - - - - - - 14.35 14.21 14.40
12393 end dive: TARGET_DEPTH_EXCEEDED
12393 begin apogee
12401 992.8 -7.3 511 12596 roll -0.19 0.50 0.207 2134 272.0 - - 2160 - - 192.45 1.629 2741 -2.3 0.265 - - - - - - 13.86 13.90 13.10
12597 end apogee: CONTROL_FINISHED_OK
12597 begin climb
12601 998.4 - 514 12764 roll 0.68 0.90 0.144 2409 305.6 2.58 0.060 761 -542.2 116.8 150.32 1.901 2261 -3.2 0.322 - - - - - - 13.89 13.96 12.78
12882 982.3 7.5 559 12888 done 0.68 - - 2408 - 2.58 0.063 2167 545.0 116.8 - - 2239 - - - - - - - - 14.23 14.16 14.27
13241 952.7 8.3 568 13246 roll 0.68 - - 2418 - 2.53 0.070 772 -551.4 116.8 - - 2234 - - - - - - - - 14.74 14.36 14.73
13330 945.2 8.2 581 13337 done 0.68 - - 2418 - 2.53 0.062 2186 558.9 116.8 - - 2237 - - - - - - - - 14.50 14.38 14.54
13689 914.6 8.7 590 13693 roll 0.63 - - 2418 - 2.50 0.090 3575 555.6 116.8 - - 2232 - - - - - - - - 14.81 14.35 14.83
13839 900.0 10.5 611 13844 done 0.55 0.20 0.279 2382 -180.0 2.40 0.057 2190 -577.1 116.8 - - 2230 - - - - - - - - 14.07 14.44 14.40
14194 874.1 7.1 620 14199 roll 0.56 - - 2392 - 2.60 0.073 747 -555.0 121.6 - - 2230 - - - - - - - - 14.83 14.40 14.84
14278 867.8 7.2 632 14283 done 0.56 - - 2392 - 2.55 0.061 2176 560.4 125.6 - - 2229 - - - - - - - - 14.51 14.40 14.54
14642 840.2 7.7 642 14647 roll 0.56 - - 2392 - 2.53 0.088 3579 554.5 125.6 - - 2229 - - - - - - - - 14.83 14.31 14.85
14754 830.5 8.6 658 14759 done 0.56 - - 2402 - 2.47 0.056 2167 -571.7 125.6 - - 2228 - - - - - - - - 14.51 14.41 14.54
15091 803.4 8.1 671 15096 roll 0.56 - - 2413 - 2.55 0.071 742 -558.8 125.6 - - 2228 - - - - - - - - 14.83 14.34 14.84
15166 796.9 8.1 682 15172 done 0.56 0.12 0.258 2386 -225.0 2.58 0.061 2175 555.4 125.6 - - 2228 - - - - - - - - 14.07 14.34 14.32
15483 773.9 7.2 692 15494 roll 0.56 - - 2385 - 2.58 0.087 3580 544.6 127.9 2.45 0.633 2217 -4.5 1.054 - - - - - - 14.85 14.40 13.02
15600 764.1 8.3 709 15606 done 0.56 - - 2395 - 2.47 0.057 2168 -571.7 127.9 - - 2220 - - - - - - - - 14.52 14.41 14.54
15931 737.7 8.1 721 15936 roll 0.56 - - 2406 - 2.58 0.070 739 -553.9 127.9 - - 2220 - - - - - - - - 14.83 14.32 14.84
15986 733.3 7.9 729 15992 done 0.56 - - 2406 - 2.58 0.060 2173 555.8 127.9 - - 2220 - - - - - - - - 14.46 14.34 14.50
16322 703.6 8.9 742 16327 roll 0.56 - - 2406 - 2.53 0.085 3571 552.6 127.9 - - 2220 - - - - - - - - 14.83 14.26 14.84
16413 694.7 9.6 755 16418 done 0.51 0.20 0.259 2366 -200.0 2.45 0.055 2170 -571.8 127.9 - - 2218 - - - - - - - - 13.97 14.38 14.26
16770 670.1 6.7 764 16803 roll 0.51 - - 2376 - 2.55 0.071 744 -559.2 141.8 27.58 1.577 2157 -2.2 0.180 - - - - - - 14.83 14.43 13.54
16832 666.0 6.3 773 16872 done 0.53 - - 2379 - 2.58 0.059 2188 559.7 165.8 32.58 1.615 2057 -3.1 0.243 - - - - - - 14.48 14.38 13.38
17219 638.1 7.2 786 17224 roll 0.53 - - 2379 - 2.50 0.085 3577 555.6 169.3 - - 2040 - - - - - - - - 14.72 14.26 14.73
17294 632.1 7.9 797 17300 done 0.53 - - 2389 - 2.50 0.054 2171 -562.4 169.3 - - 2039 - - - - - - - - 14.45 14.33 14.53
17611 608.2 7.6 807 17616 roll 0.53 - - 2398 - 2.58 0.071 744 -553.1 169.3 - - 2039 - - - - - - - - 14.78 14.31 14.81
17679 602.9 7.6 817 17685 done 0.53 - - 2398 - 2.58 0.059 2183 557.8 169.3 - - 2038 - - - - - - - - 14.45 14.33 14.50
18002 576.9 8.1 828 18007 roll 0.53 - - 2398 - 2.53 0.086 3576 550.6 169.3 - - 2037 - - - - - - - - 14.82 14.26 14.84
18093 568.6 9.0 841 18099 done 0.53 0.15 0.244 2372 -173.3 2.45 0.057 2178 -570.6 169.3 - - 2037 - - - - - - - - 14.07 14.37 14.35
18450 544.3 6.7 850 18477 roll 0.54 - - 2382 - 2.55 0.073 751 -559.6 184.1 20.05 1.488 1983 -2.7 0.189 - - - - - - 14.83 14.47 13.63
18520 539.7 6.8 860 18539 done 0.61 - - 2382 - 2.55 0.059 2185 562.4 196.8 15.05 1.514 1938 -3.0 0.205 - - - - - - 14.49 14.38 13.57
18898 513.2 7.0 872 18908 roll 0.62 - - 2382 - 2.50 0.086 3566 552.4 204.1 1.92 0.183 1905 -17.2 9.252 - - - - - - 14.74 14.23 14.14
18991 505.6 8.1 885 18998 done 0.62 - - 2391 - 2.45 0.053 2185 -563.7 204.1 - - 1910 - - - - - - - - 14.37 14.33 14.41
19349 479.2 7.4 894 19354 roll 0.62 - - 2391 - 2.58 0.073 751 -555.8 204.1 - - 1911 - - - - - - - - 14.80 14.30 14.81
19412 474.7 7.1 903 19424 done 0.68 - - 2391 - 2.58 0.058 2190 557.8 210.3 4.88 1.265 1882 -5.9 0.428 - - - - - - 14.47 14.36 13.30
19742 450.0 7.7 915 19748 roll 0.68 - - 2391 - 2.55 0.085 3583 546.3 210.3 2.22 0.418 1881 - - - - - - - - 14.79 14.34 13.19
19832 442.1 8.7 928 19838 done 0.68 - - 2398 - 2.47 0.053 2186 -565.6 210.3 2.10 0.300 1881 - - - - - - - - 14.42 14.38 13.09
20184 413.7 8.2 936 20189 roll 0.68 - - 2407 - 2.67 0.069 742 -540.8 210.3 1.80 0.187 1881 - - - - - - - - 14.83 14.33 14.14
20238 409.1 8.2 944 20244 done 0.73 - - 2406 - 2.60 0.058 2199 560.4 210.3 1.83 0.190 1881 - - - - - - - - 14.47 14.35 14.18
20568 381.2 8.4 956 20572 roll 0.73 - - 2407 - 2.47 0.084 3576 557.5 210.3 - - 1890 - - - - - - - - 14.82 14.28 14.83
20645 374.3 8.9 967 20650 done 0.73 - - 2415 - 2.42 0.053 2188 -573.6 210.3 1.88 0.186 1880 -5.3 2.055 - - - - - - 14.42 14.33 14.14
21009 343.5 8.5 977 21014 roll 0.73 - - 2424 - 2.58 0.068 747 -558.5 210.3 - - 1889 - - - - - - - - 14.85 14.30 14.86
21093 336.5 8.2 989 21099 done 0.73 - - 2423 - 2.58 0.057 2191 559.7 210.3 1.77 0.187 1880 -5.1 1.756 - - - - - - 14.46 14.35 14.13
21457 302.5 9.5 999 21461 roll 0.73 - - 2422 - 2.47 0.083 3573 559.5 210.3 - - 1889 - - - - - - - - 14.82 14.25 14.84
21540 293.9 10.2 1011 21545 done 0.73 - - 2433 - 2.45 0.052 2190 -564.5 210.3 - - 1890 - - - - - - - - 14.35 14.31 14.40
21906 260.9 8.8 1021 21912 roll 0.73 - - 2443 - 2.65 0.067 744 -545.7 210.3 1.85 0.185 1880 -5.4 1.463 - - - - - - 14.85 14.31 14.07
21988 253.5 8.8 1033 21995 done 0.73 - - 2444 - 2.58 0.057 2188 559.7 210.3 - - 1888 - - - - - - - - 14.44 14.32 14.48
22353 214.9 11.1 1043 22358 roll 0.73 - - 2442 - 2.47 0.082 3569 559.1 210.3 - - 1889 - - - - - - - - 14.82 14.23 14.83
22437 204.7 11.9 1055 22442 done 0.73 - - 2453 - 2.40 0.051 2188 -575.4 210.3 - - 1890 - - - - - - - - 14.47 14.38 14.50
22801 164.7 10.7 1065 22807 roll 0.73 - - 2464 - 2.55 0.066 754 -562.4 210.3 - - 1890 - - - - - - - - 14.82 14.28 14.84
22892 155.8 9.6 1078 22898 done 0.73 - - 2463 - 2.58 0.057 2195 558.5 210.3 1.88 0.182 1881 -4.8 0.787 - - - - - - 14.45 14.33 14.07
23242 118.9 10.9 1086 23249 roll 0.69 0.15 0.272 2425 -253.3 2.53 0.081 3568 542.7 210.3 1.77 0.165 1881 - - - - - - - - 13.97 14.22 14.12
23351 109.2 8.7 1101 23357 done 0.69 - - 2433 - 2.40 0.050 2188 -575.0 210.3 - - 1891 - - - - - - - - 14.47 14.38 14.50
23686 81.6 7.9 1118 23692 roll 0.69 - - 2437 - 2.62 0.066 752 -548.1 210.3 1.83 0.174 1879 -6.6 0.590 - - - - - - 14.79 14.31 14.07
23748 76.6 8.0 1127 23754 done 0.74 - - 2437 - 2.58 0.054 2202 562.0 210.3 - - 1887 - - - - - - - - 14.45 14.34 14.49
24080 58.5 3.8 1141 24141 roll 0.85 0.12 0.135 2492 458.3 2.50 0.081 3577 550.0 295.0 56.67 0.306 1541 -6.1 0.224 - - - - - - 14.42 14.42 14.07
24261 47.2 6.6 1167 24280 done 0.91 - - 2499 - 2.40 0.050 2188 -578.8 312.7 14.02 0.255 1464 -5.5 0.195 - - - - - - 14.50 14.35 14.02
24607 30.6 5.0 1183 24652 roll 1.04 0.10 0.148 2558 590.0 2.55 0.063 754 -562.4 369.2 38.08 0.216 1234 -6.0 0.164 - - - - - - 14.42 14.40 14.14
24681 25.7 6.9 1194 24693 done 1.10 - - 2558 - 2.55 0.051 2195 565.1 378.6 7.70 0.199 1196 -4.9 0.122 - - - - - - 14.47 14.35 14.10
24964 end climb: SURFACE_DEPTH_REACHED
24964 begin surface coast
24995 end surface coast: CONTROL_FINISHED_OK
24995 begin surface
SM 0.76 - - - - -6.15 6.82 0.072 216 31.6 0.15 0.102 2342 -46933.3 500.17 75.57 0.133 700 9.3 -0.005 - - - - - -