SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 389 * Raw log
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• Previous call tries 1 • 154.19 of 350.00 AH used of 24V (55.94% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.1 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 15 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
20 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 110 VBD -0.68 - - 191 - - - 2318 - -116.8 -84.25 - 2769 - - - - - - - - 14.70 - 14.71
114 3.2 -4.1 3 138 roll -0.68 9.00 0.404 1962 196.8 2.67 2.043 3666 504.9 -116.8 -8.98 - 3218 -50.0 - - - - - - - 13.93 13.20 14.37
299 56.9 -20.4 30 306 done -0.52 0.20 0.230 2028 330.0 2.38 0.043 2275 -584.5 -116.8 - - 3219 - - - - - - - - 14.09 14.41 14.37
614 83.7 -8.1 42 615 done -0.46 - - 2028 - - - 2275 - -116.8 - - 3221 - - - - - - - - 14.83 14.85 14.83
923 111.3 -8.6 51 924 done -0.46 - - 2028 - - - 2275 - -116.8 - - 3220 - - - - - - - - 14.88 14.90 14.90
1259 138.6 -8.2 57 1259 done -0.46 - - 2028 - - - 2275 - -116.8 - - 3222 - - - - - - - - 14.91 14.93 14.92
1594 167.2 -8.5 63 1599 roll -0.46 - - 2028 - 2.42 0.055 878 -577.3 -116.8 - - 3220 - - - - - - - - 14.92 14.50 14.94
1663 173.3 -8.7 73 1670 done -0.46 - - 2026 - 2.45 0.057 2278 571.4 -116.8 - - 3220 - - - - - - - - 14.57 14.44 14.62
1987 202.1 -9.1 84 1988 done -0.46 - - 2026 - - - 2278 - -116.8 - - 3220 - - - - - - - - 14.90 14.92 14.92
2323 230.8 -8.3 90 2327 roll -0.46 - - 2016 - 2.50 0.080 3696 567.2 -116.8 - - 3218 - - - - - - - - 14.91 14.38 14.92
2378 235.2 -8.0 98 2384 done -0.46 0.12 0.226 2047 258.3 2.40 0.044 2265 -596.2 -116.8 - - 3217 - - - - - - - - 14.28 14.60 14.49
2715 257.3 -6.5 111 2720 roll -0.46 - - 2045 - 2.38 0.053 890 -577.7 -116.8 - - 3215 - - - - - - - - 14.94 14.50 14.92
2798 263.1 -6.9 123 2803 done -0.51 - - 2043 - 2.42 0.057 2278 573.6 -116.8 - - 3214 - - - - - - - - 14.59 14.49 14.64
3163 288.2 -6.9 133 3169 roll -0.51 - - 2039 - 2.50 0.083 3689 564.4 -116.8 - - 3212 - - - - - - - - 14.92 14.41 14.92
3189 290.2 -6.9 137 3196 done -0.51 - - 2039 - 2.42 0.044 2270 -586.4 -116.8 - - 3211 - - - - - - - - 14.55 14.52 14.58
3554 315.7 -7.0 147 3559 roll -0.51 - - 2037 - 2.40 0.055 892 -574.2 -116.8 - - 3209 - - - - - - - - 14.91 14.47 14.92
3638 321.9 -7.3 159 3643 done -0.51 - - 2039 - 2.45 0.058 2284 568.2 -116.8 - - 3208 - - - - - - - - 14.59 14.47 14.63
4002 349.1 -7.6 169 4008 roll -0.51 - - 2036 - 2.50 0.083 3699 566.0 -116.8 - - 3207 - - - - - - - - 14.92 14.40 14.95
4052 352.8 -7.6 176 4058 done -0.57 - - 2036 - 2.38 0.045 2272 -599.6 -116.8 - - 3206 - - - - - - - - 14.63 14.56 14.65
4395 378.2 -7.4 183 4400 roll -0.57 - - 2036 - 2.40 0.057 895 -573.8 -116.8 - - 3204 - - - - - - - - 14.92 14.45 14.94
4491 385.4 -7.2 197 4498 done -0.57 - - 2036 - 2.47 0.059 2268 555.9 -116.8 - - 3204 - - - - - - - - 14.45 14.39 14.50
4842 409.8 -7.0 205 4848 roll -0.57 - - 2030 - 2.53 0.083 3692 562.8 -116.8 - - 3202 - - - - - - - - 14.90 14.38 14.92
4877 412.3 -7.4 210 4882 done -0.57 - - 2030 - 2.38 0.044 2275 -595.4 -116.8 - - 3201 - - - - - - - - 14.64 14.56 14.65
5234 438.8 -7.4 219 5239 roll -0.57 - - 2030 - 2.42 0.057 888 -573.1 -116.8 - - 3200 - - - - - - - - 14.90 14.42 14.94
5290 443.1 -7.5 227 5295 done -0.57 - - 2029 - 2.47 0.059 2283 564.8 -116.8 - - 3200 - - - - - - - - 14.54 14.42 14.58
5627 467.3 -7.2 240 5632 roll -0.57 - - 2021 - 2.50 0.083 3689 562.4 -116.8 - - 3198 - - - - - - - - 14.91 14.37 14.93
5674 470.8 -7.4 247 5681 done -0.57 - - 2021 - 2.45 0.045 2260 -583.3 -116.8 - - 3197 - - - - - - - - 14.50 14.48 14.54
6018 498.4 -8.2 254 6023 roll -0.57 - - 2022 - 2.38 0.056 900 -571.4 -116.8 - - 3196 - - - - - - - - 14.90 14.41 14.90
6103 505.6 -8.3 266 6107 done -0.57 - - 2015 - 2.45 0.060 2279 562.9 -116.8 - - 3195 - - - - - - - - 14.47 14.35 14.51
6466 536.1 -8.4 276 6467 done -0.57 - - 2015 - - - 2278 - -116.8 - - 3194 - - - - - - - - 14.94 14.94 14.94
6802 562.2 -7.7 282 6807 roll -0.57 - - 2011 - 2.55 0.089 3690 553.7 -116.8 - - 3193 - - - - - - - - 14.92 14.31 14.93
6844 565.4 -7.7 288 6849 done -0.57 - - 2011 - 2.42 0.047 2275 -584.7 -116.8 - - 3193 - - - - - - - - 14.58 14.51 14.60
7194 591.0 -7.2 296 7199 roll -0.57 - - 2012 - 2.45 0.060 888 -566.1 -116.8 - - 3192 - - - - - - - - 14.91 14.38 14.92
7277 596.9 -7.0 308 7283 done -0.57 - - 2012 - 2.47 0.062 2266 557.9 -116.8 - - 3191 - - - - - - - - 14.47 14.35 14.52
7643 622.2 -7.0 318 7648 roll -0.57 - - 2011 - 2.58 0.089 3696 554.3 -116.8 - - 3189 - - - - - - - - 14.89 14.29 14.92
7698 626.1 -7.1 326 7703 done -0.57 - - 2013 - 2.45 0.047 2266 -583.7 -116.8 - - 3190 - - - - - - - - 14.56 14.49 14.58
8035 651.3 -7.7 339 8039 roll -0.57 - - 2010 - 2.42 0.056 887 -569.8 -116.8 - - 3189 - - - - - - - - 14.90 14.37 14.92
8091 655.8 -8.0 347 8096 done -0.57 - - 2009 - 2.50 0.061 2276 555.6 -116.8 - - 3189 - - - - - - - - 14.47 14.34 14.51
8426 681.9 -7.8 360 8431 roll -0.57 - - 2006 - 2.58 0.090 3699 551.6 -116.8 - - 3188 - - - - - - - - 14.90 14.28 14.92
8482 686.2 -7.7 368 8487 done -0.57 - - 2006 - 2.47 0.048 2261 -582.2 -116.8 - - 3187 - - - - - - - - 14.53 14.47 14.57
8819 711.4 -7.4 381 8825 roll -0.57 - - 2006 - 2.42 0.057 887 -567.8 -116.8 - - 3186 - - - - - - - - 14.87 14.34 14.88
8894 717.3 -7.5 392 8900 done -0.57 - - 2001 - 2.47 0.062 2262 556.7 -116.8 - - 3187 - - - - - - - - 14.43 14.29 14.48
9211 741.2 -7.7 402 9215 roll -0.57 - - 1999 - 2.60 0.089 3694 550.8 -116.8 - - 3185 - - - - - - - - 14.87 14.24 14.89
9280 746.7 -7.9 412 9285 done -0.57 - - 1999 - 2.47 0.048 2261 -580.2 -116.8 - - 3185 - - - - - - - - 14.53 14.45 14.56
9602 771.5 -7.6 423 9607 roll -0.57 - - 1999 - 2.42 0.057 884 -569.0 -116.8 - - 3184 - - - - - - - - 14.87 14.31 14.89
9664 776.8 -8.6 432 9670 done -0.57 - - 1999 - 2.50 0.063 2266 552.8 -116.8 - - 3183 - - - - - - - - 14.40 14.25 14.45
9995 801.6 -7.6 444 10000 roll -0.57 - - 1998 - 2.60 0.090 3693 548.8 -116.8 - - 3182 - - - - - - - - 14.85 14.19 14.88
10050 805.8 -7.4 452 10055 done -0.57 - - 1999 - 2.50 0.049 2251 -576.8 -116.8 - - 3180 - - - - - - - - 14.47 14.41 14.50
10388 829.8 -7.1 465 10393 roll -0.57 - - 1999 - 2.42 0.060 885 -564.5 -116.8 - - 3181 - - - - - - - - 14.85 14.28 14.86
10449 834.1 -5.5 474 10454 done -0.57 - - 1999 - 2.50 0.064 2262 550.8 -116.8 - - 3181 - - - - - - - - 14.37 14.25 14.42
10779 857.1 -7.1 486 10783 roll -0.57 - - 1999 - 2.62 0.090 3702 549.6 -116.8 - - 3181 - - - - - - - - 14.88 14.19 14.90
10848 862.2 -8.1 496 10853 done -0.57 - - 1999 - 2.50 0.049 2255 -578.8 -116.8 - - 3181 - - - - - - - - 14.46 14.39 14.48
11170 886.1 -7.5 507 11175 roll -0.57 - - 1998 - 2.45 0.062 879 -561.6 -116.8 - - 3179 - - - - - - - - 14.85 14.23 14.87
11239 891.7 -7.9 517 11246 done -0.57 - - 1998 - 2.53 0.065 2270 549.8 -116.8 - - 3179 - - - - - - - - 14.36 14.21 14.41
11564 916.7 -7.7 528 11568 roll -0.57 - - 1998 - 2.62 0.093 3699 545.4 -116.8 - - 3178 - - - - - - - - 14.83 14.14 14.85
11632 921.8 -7.6 538 11637 done -0.57 - - 1998 - 2.50 0.050 2261 -575.2 -116.8 - - 3178 - - - - - - - - 14.42 14.34 14.45
11955 945.4 -7.3 549 11960 roll -0.57 - - 1999 - 2.45 0.059 881 -563.3 -116.8 - - 3178 - - - - - - - - 14.86 14.23 14.88
12039 951.6 -7.3 561 12044 done -0.57 - - 2001 - 2.53 0.065 2267 547.8 -116.8 - - 3178 - - - - - - - - 14.34 14.21 14.39
12403 977.2 -7.0 571 12407 roll -0.57 - - 1998 - 2.62 0.092 3692 543.9 -116.8 - - 3177 - - - - - - - - 14.83 14.04 14.85
12445 979.3 -3.5 577 12451 done -0.57 - - 1999 - 2.47 0.050 2260 -579.8 -116.8 - - 3177 - - - - - - - - 14.45 14.37 14.47
12623 end dive: TARGET_DEPTH_EXCEEDED
12623 begin apogee
12632 991.6 -6.6 582 12797 roll -0.19 0.50 0.212 2133 268.0 - - 2137 - - 163.12 1.756 2741 -2.7 0.289 - - - - - - 13.85 13.92 13.09
12799 end apogee: CONTROL_FINISHED_OK
12799 begin climb
12802 995.6 - 585 12965 done 0.68 0.88 0.131 2409 313.6 - - 2137 - 116.8 150.45 1.876 2252 -3.3 0.331 - - - - - - 13.92 14.19 12.79
13299 953.9 9.7 615 13304 roll 0.68 - - 2409 - 2.62 0.086 3575 548.9 116.8 - - 2233 - - - - - - - - 14.69 14.30 14.69
13438 939.3 10.9 635 13443 done 0.62 - - 2419 - 2.45 0.057 2191 -564.9 116.8 - - 2231 - - - - - - - - 14.49 14.40 14.53
13803 904.5 9.5 645 13808 roll 0.57 0.12 0.285 2397 -183.3 2.60 0.070 745 -556.2 116.8 - - 2230 - - - - - - - - 14.12 14.38 14.28
13858 900.0 7.6 653 13863 done 0.57 - - 2397 - 2.55 0.062 2167 557.6 116.8 - - 2229 - - - - - - - - 14.52 14.40 14.56
14195 875.4 7.3 666 14201 roll 0.57 - - 2397 - 2.55 0.087 3572 551.0 116.8 - - 2228 - - - - - - - - 14.81 14.33 14.83
14270 868.4 8.2 677 14276 done 0.57 - - 2407 - 2.50 0.058 2147 -570.0 116.8 - - 2227 - - - - - - - - 14.52 14.39 14.57
14587 845.0 7.4 687 14588 done 0.57 - - 2407 - - - 2147 - 116.8 - - 2227 - - - - - - - - 14.82 14.85 14.84
14923 820.9 7.2 693 14924 done 0.57 - - 2407 - - - 2147 - 120.0 - - 2225 - - - - - - - - 14.83 14.85 14.85
15259 796.5 7.5 699 15263 roll 0.57 - - 2419 - 2.53 0.073 748 -553.0 120.0 - - 2227 - - - - - - - - 14.84 14.32 14.86
15286 794.4 7.5 703 15291 done 0.57 0.15 0.257 2385 -226.7 2.55 0.061 2171 558.0 120.0 - - 2226 - - - - - - - - 14.03 14.36 14.35
15651 769.2 7.2 713 15656 roll 0.57 - - 2385 - 2.55 0.087 3570 548.6 123.9 - - 2226 - - - - - - - - 14.84 14.27 14.85
15748 760.7 8.7 727 15753 done 0.57 - - 2393 - 2.47 0.057 2168 -567.6 123.9 - - 2225 - - - - - - - - 14.47 14.36 14.52
16099 731.0 8.6 735 16103 roll 0.57 - - 2404 - 2.58 0.072 746 -551.2 123.9 - - 2226 - - - - - - - - 14.83 14.29 14.85
16147 726.9 8.5 742 16155 done 0.57 - - 2404 - 2.60 0.060 2181 551.9 123.9 - - 2225 - - - - - - - - 14.45 14.33 14.50
16491 697.5 8.5 749 16496 roll 0.57 - - 2404 - 2.55 0.087 3574 546.3 123.9 - - 2223 - - - - - - - - 14.85 14.22 14.88
16567 690.7 8.7 760 16572 done 0.53 0.17 0.260 2374 -176.5 2.47 0.057 2171 -568.0 123.9 - - 2224 - - - - - - - - 13.94 14.35 14.28
16884 671.4 6.0 770 16938 roll 0.55 - - 2384 - 2.62 0.073 748 -543.1 155.8 45.88 1.623 2096 -2.8 0.221 - - - - - - 14.84 14.29 13.40
16980 665.5 6.4 784 17014 done 0.61 - - 2384 - 2.58 0.060 2176 553.5 177.9 26.38 1.623 2008 -3.3 0.262 - - - - - - 14.39 14.29 13.38
17331 641.3 7.0 799 17337 roll 0.62 - - 2384 - 2.60 0.086 3576 538.5 186.8 2.17 0.390 1975 -15.2 4.796 - - - - - - 14.71 14.31 13.00
17428 633.4 8.3 813 17435 done 0.62 - - 2392 - 2.53 0.057 2173 -554.5 186.8 - - 1982 - - - - - - - - 14.37 14.31 14.40
17773 605.2 8.4 820 17777 roll 0.62 - - 2394 - 2.58 0.075 749 -551.9 186.8 - - 1982 - - - - - - - - 14.75 14.31 14.78
17834 599.9 8.4 829 17839 done 0.67 - - 2394 - 2.58 0.060 2182 555.4 186.8 - - 1981 - - - - - - - - 14.47 14.35 14.51
18164 569.8 9.3 841 18169 roll 0.67 - - 2394 - 2.50 0.086 3566 553.6 186.8 - - 1981 - - - - - - - - 14.80 14.28 14.82
18241 561.8 10.2 852 18246 done 0.67 - - 2404 - 2.42 0.055 2177 -574.0 186.8 - - 1982 - - - - - - - - 14.48 14.38 14.52
18556 531.7 9.6 862 18562 roll 0.67 - - 2411 - 2.58 0.074 748 -553.9 186.8 - - 1982 - - - - - - - - 14.83 14.30 14.84
18612 526.6 9.1 870 18618 done 0.67 - - 2411 - 2.58 0.060 2183 556.2 186.8 - - 1981 - - - - - - - - 14.46 14.34 14.50
18949 496.2 9.0 883 18955 roll 0.67 - - 2413 - 2.53 0.088 3568 547.4 186.8 - - 1984 - - - - - - - - 14.81 14.24 14.83
19031 487.9 9.9 895 19037 done 0.67 - - 2421 - 2.45 0.056 2169 -571.0 186.8 - - 1980 - - - - - - - - 14.46 14.34 14.50
19396 455.1 8.9 905 19401 roll 0.67 - - 2426 - 2.55 0.071 751 -556.1 186.8 - - 1981 - - - - - - - - 14.83 14.28 14.84
19431 452.0 8.8 910 19437 done 0.67 - - 2426 - 2.58 0.058 2186 556.2 186.8 - - 1981 - - - - - - - - 14.46 14.35 14.50
19789 419.1 9.3 919 19793 roll 0.67 - - 2426 - 2.50 0.084 3575 555.6 186.8 - - 1981 - - - - - - - - 14.85 14.24 14.86
19885 408.9 10.4 933 19891 done 0.67 - - 2432 - 2.42 0.055 2190 -572.3 186.8 - - 1981 - - - - - - - - 14.42 14.29 14.47
20238 374.5 9.8 941 20242 roll 0.67 - - 2446 - 2.58 0.067 748 -558.9 186.8 - - 1981 - - - - - - - - 14.82 14.27 14.83
20284 369.8 9.6 948 20292 done 0.67 0.08 0.233 2424 -275.0 2.65 0.058 2196 546.4 186.8 - - 1981 - - - - - - - - 13.95 14.23 14.09
20629 340.0 8.6 955 20633 roll 0.67 - - 2424 - 2.50 0.083 3581 554.0 186.8 - - 1981 - - - - - - - - 14.83 14.23 14.84
20705 332.9 9.1 966 20711 done 0.67 - - 2433 - 2.42 0.050 2190 -574.8 186.8 - - 1981 - - - - - - - - 14.45 14.36 14.48
21020 305.9 8.7 976 21025 roll 0.67 - - 2443 - 2.58 0.065 747 -559.3 186.8 - - 1981 - - - - - - - - 14.85 14.27 14.87
21097 299.2 8.6 987 21102 done 0.67 - - 2444 - 2.60 0.057 2198 558.1 186.8 - - 1981 - - - - - - - - 14.43 14.30 14.45
21413 270.3 9.2 997 21418 roll 0.67 - - 2444 - 2.47 0.083 3571 555.9 186.8 - - 1981 - - - - - - - - 14.82 14.21 14.84
21503 261.0 10.4 1010 21509 done 0.61 0.22 0.244 2398 -209.1 2.40 0.051 2193 -574.2 186.8 - - 1981 - - - - - - - - 13.94 14.35 14.22
21862 236.0 6.9 1019 21887 roll 0.62 - - 2406 - 2.60 0.067 754 -553.5 197.0 18.50 1.188 1929 -2.8 0.107 - - - - - - 14.84 14.47 13.67
21937 230.7 6.9 1030 21945 done 0.69 - - 2406 - 2.58 0.055 2200 560.5 206.7 3.72 0.886 1896 -8.9 0.443 - - - - - - 14.50 14.40 13.33
22303 202.0 8.2 1040 22307 roll 0.69 - - 2410 - 2.47 0.081 3569 554.3 206.7 - - 1904 - - - - - - - - 14.80 14.26 14.83
22364 195.9 9.9 1049 22369 done 0.69 - - 2410 - 2.40 0.050 2195 -572.5 206.7 - - 1904 - - - - - - - - 14.45 14.34 14.49
22694 166.9 8.7 1061 22699 roll 0.69 - - 2410 - 2.60 0.068 747 -556.9 206.7 - - 1904 - - - - - - - - 14.83 14.29 14.84
22778 159.9 8.2 1073 22783 done 0.74 - - 2410 - 2.58 0.055 2194 560.9 206.7 - - 1905 - - - - - - - - 14.45 14.34 14.49
23142 131.7 7.6 1083 23147 roll 0.74 - - 2410 - 2.47 0.079 3576 559.5 206.7 - - 1905 - - - - - - - - 14.81 14.26 14.83
23246 123.2 8.1 1098 23254 done 0.74 - - 2418 - 2.42 0.049 2199 -569.0 206.7 - - 1904 - - - - - - - - 14.31 14.24 14.36
23591 98.3 7.2 1105 23603 roll 0.74 - - 2419 - 2.65 0.069 751 -546.4 210.2 3.72 0.194 1892 -3.2 0.313 - - - - - - 14.83 14.21 13.68
23666 92.9 7.3 1116 23674 done 0.81 0.12 0.136 2469 416.7 2.58 0.054 2204 563.2 210.2 3.12 0.173 1883 -2.9 0.297 - - - - - - 14.32 14.33 14.02
23986 67.0 6.7 1128 24009 roll 0.81 - - 2469 - 2.50 0.080 3575 548.4 225.2 13.68 0.302 1826 -4.2 0.177 - - - - - - 14.78 14.44 14.01
24110 59.1 6.2 1146 24134 done 0.83 - - 2476 - 2.38 0.051 2203 -576.5 251.6 19.05 0.294 1713 -5.9 0.229 - - - - - - 14.40 14.31 14.07
24462 45.8 3.4 1163 24533 roll 0.97 0.10 0.153 2527 510.0 2.60 0.063 754 -557.3 346.2 62.38 0.265 1331 -6.1 0.203 - - - - - - 14.45 14.35 14.12
24594 39.5 5.8 1182 24626 done 1.07 - - 2527 - 2.55 0.050 2197 565.9 382.1 25.50 0.242 1181 -5.9 0.184 - - - - - - 14.47 14.38 14.05
24937 17.2 6.8 1198 24953 roll 1.16 0.12 0.132 2586 491.7 2.45 0.075 3576 562.9 394.2 9.38 0.168 1131 -5.3 0.105 - - - - - - 14.44 14.28 14.08
25018 9.1 11.1 1210 25023 done 1.16 - - 2595 - 2.40 0.051 2193 -576.2 394.2 - - 1135 - - - - - - - - 14.47 14.38 14.50
25098 end climb: SURFACE_DEPTH_REACHED
25098 begin surface coast
25126 end surface coast: CONTROL_FINISHED_OK
25126 begin surface
SM 0.86 - - - - -6.14 6.80 0.061 216 31.8 0.17 0.099 2298 7458.8 500.17 66.50 0.129 699 10.5 -0.007 - - - - - -