SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 213 * Raw log
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• Previous call tries 1 • 88.89 of 350.00 AH used of 24V (74.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 deg, depth 0.92 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: 21 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 201 - - - 2299 - -116.8 -85.00 - 2895 - - - - - - - - 14.71 - 14.73
106 4.6 -6.4 3 130 roll -0.68 8.90 0.416 1983 200.2 2.75 2.082 867 -520.7 -116.8 -5.65 - 3221 -57.7 - - - - - - - 14.14 13.34 14.50
224 46.6 -30.3 20 229 done -0.43 0.35 0.304 2055 205.7 2.45 0.062 2255 566.5 -116.8 - - 3222 - - - - - - - - 14.20 14.47 14.48
552 98.7 -10.9 34 552 done -0.35 - - 2055 - - - 2258 - -116.8 - - 3223 - - - - - - - - 14.83 14.85 14.84
860 121.6 -7.2 40 865 roll -0.35 0.12 0.260 2082 225.0 2.47 0.076 3703 585.0 -116.8 - - 3225 - - - - - - - - 14.42 14.58 14.54
971 129.1 -7.0 56 976 done -0.35 - - 2081 - 2.38 0.041 2246 -612.2 -116.8 - - 3225 - - - - - - - - 14.74 14.69 14.76
1308 150.2 -6.2 69 1313 roll -0.35 - - 2080 - 2.30 0.056 895 -587.4 -116.8 - - 3225 - - - - - - - - 14.93 14.64 14.95
1364 153.8 -6.4 77 1370 done -0.35 - - 2080 - 2.42 0.060 2282 573.1 -116.8 - - 3228 - - - - - - - - 14.73 14.63 14.76
1700 171.8 -5.2 90 1705 roll -0.35 - - 2082 - 2.45 0.086 3694 576.3 -116.8 - - 3223 - - - - - - - - 14.94 14.60 14.94
1741 174.3 -6.1 96 1746 done -0.41 - - 2081 - 2.38 0.046 2266 -600.0 -116.8 - - 3224 - - - - - - - - 14.77 14.73 14.79
2092 197.3 -6.8 104 2096 roll -0.46 - - 2081 - 2.35 0.057 893 -584.3 -116.8 - - 3220 - - - - - - - - 14.95 14.66 14.95
2168 202.8 -7.4 115 2173 done -0.52 0.15 0.121 2018 -420.0 2.40 0.062 2263 570.8 -116.8 - - 3220 - - - - - - - - 14.67 14.64 14.76
2484 232.2 -9.4 125 2489 roll -0.52 - - 2011 - 2.47 0.086 3691 578.1 -116.8 - - 3219 - - - - - - - - 14.95 14.59 14.97
2510 234.8 -9.1 129 2517 done -0.52 - - 2011 - 2.40 0.044 2257 -597.5 -116.8 - - 3221 - - - - - - - - 14.72 14.69 14.74
2875 268.4 -9.4 139 2880 roll -0.52 - - 2011 - 2.35 0.054 886 -583.4 -116.8 - - 3217 - - - - - - - - 14.95 14.65 14.97
2952 275.8 -9.2 150 2957 done -0.52 - - 2003 - 2.42 0.064 2262 568.6 -116.8 - - 3215 - - - - - - - - 14.75 14.64 14.78
3268 306.3 -9.8 160 3273 roll -0.47 0.12 0.273 2038 291.7 2.38 0.050 890 -576.5 -116.8 - - 3213 - - - - - - - - 14.42 14.64 14.54
3294 308.8 -8.9 164 3300 done -0.47 - - 2031 - 2.45 0.064 2255 557.1 -116.8 - - 3212 - - - - - - - - 14.67 14.61 14.71
3660 339.8 -8.6 174 3661 done -0.47 - - 2031 - - - 2255 - -116.8 - - 3210 - - - - - - - - 14.97 14.97 14.97
3995 368.6 -8.6 180 3996 done -0.47 - - 2031 - - - 2255 - -116.8 - - 3208 - - - - - - - - 14.96 14.98 14.97
4332 397.8 -8.7 186 4332 done -0.47 - - 2031 - - - 2255 - -116.8 - - 3206 - - - - - - - - 14.95 14.98 14.97
4667 426.8 -8.6 192 4668 done -0.47 - - 2031 - - - 2254 - -116.8 - - 3204 - - - - - - - - 14.95 14.97 14.96
5004 456.2 -8.8 198 5009 roll -0.47 - - 2031 - 2.38 0.058 894 -571.4 -116.8 - - 3202 - - - - - - - - 14.97 14.62 14.99
5044 460.1 -9.3 204 5050 done -0.47 - - 2026 - 2.47 0.067 2260 553.0 -116.8 - - 3202 - - - - - - - - 14.64 14.57 14.68
5395 492.3 -9.1 212 5400 roll -0.47 - - 2016 - 2.55 0.093 3703 565.9 -116.8 - - 3200 - - - - - - - - 14.96 14.56 14.97
5479 500.0 -8.9 224 5484 done -0.47 0.12 0.249 2045 241.7 2.40 0.050 2262 -600.4 -116.8 - - 3200 - - - - - - - - 14.40 14.69 14.64
5844 524.7 -6.4 234 5848 roll -0.47 - - 2044 - 2.38 0.062 897 -573.5 -116.8 - - 3199 - - - - - - - - 14.96 14.59 14.97
5913 528.9 -5.9 244 5918 done -0.47 - - 2042 - 2.45 0.071 2263 557.6 -116.8 - - 3198 - - - - - - - - 14.70 14.57 14.73
6237 546.7 -5.5 255 6237 done -0.47 - - 2040 - - - 2262 - -116.8 - - 3196 - - - - - - - - 14.95 14.97 14.97
6571 566.2 -5.9 261 6572 done -0.47 - - 2042 - - - 2263 - -116.8 - - 3195 - - - - - - - - 14.95 14.96 14.97
6908 588.7 -6.9 267 6912 roll -0.47 - - 2035 - 2.58 0.096 3703 558.1 -116.8 - - 3193 - - - - - - - - 14.95 14.56 14.96
6942 591.3 -7.5 272 6947 done -0.47 - - 2035 - 2.42 0.051 2262 -595.5 -116.8 - - 3193 - - - - - - - - 14.74 14.67 14.76
7299 618.9 -7.7 281 7305 roll -0.47 - - 2031 - 2.40 0.063 890 -571.7 -116.8 - - 3192 - - - - - - - - 14.95 14.57 14.96
7390 626.2 -7.9 294 7395 done -0.47 - - 2029 - 2.47 0.071 2267 557.5 -116.8 - - 3192 - - - - - - - - 14.67 14.54 14.71
7748 653.6 -7.6 303 7749 done -0.47 - - 2029 - - - 2268 - -116.8 - - 3190 - - - - - - - - 14.94 14.95 14.95
8083 677.3 -7.0 309 8089 roll -0.47 - - 2022 - 2.58 0.100 3700 555.0 -116.8 - - 3189 - - - - - - - - 14.94 14.50 14.95
8117 679.9 -7.4 314 8123 done -0.47 - - 2022 - 2.47 0.057 2243 -589.9 -116.8 - - 3188 - - - - - - - - 14.72 14.63 14.75
8476 706.7 -7.7 323 8481 roll -0.47 - - 2022 - 2.40 0.068 885 -565.8 -116.8 - - 3187 - - - - - - - - 14.94 14.54 14.96
8523 710.7 -8.1 330 8531 done -0.47 0.08 0.244 2040 225.0 2.53 0.074 2261 543.9 -116.8 - - 3187 - - - - - - - - 14.29 14.50 14.45
8868 734.8 -7.1 337 8869 done -0.47 - - 2040 - - - 2259 - -116.8 - - 3187 - - - - - - - - 14.92 14.95 14.94
9204 757.6 -6.8 343 9209 roll -0.47 - - 2032 - 2.58 0.099 3694 556.2 -116.8 - - 3186 - - - - - - - - 14.94 14.50 14.95
9238 760.0 -6.8 348 9243 done -0.47 - - 2032 - 2.45 0.057 2257 -586.5 -116.8 - - 3185 - - - - - - - - 14.71 14.64 14.74
9596 782.6 -6.2 357 9602 roll -0.47 - - 2032 - 2.40 0.066 889 -570.0 -116.8 - - 3184 - - - - - - - - 14.93 14.47 14.95
9665 787.1 -6.3 367 9670 done -0.47 - - 2028 - 2.47 0.073 2261 555.5 -116.8 - - 3184 - - - - - - - - 14.65 14.52 14.69
9988 806.6 -6.0 378 9988 done -0.47 - - 2028 - - - 2261 - -116.8 - - 3183 - - - - - - - - 14.92 14.94 14.93
10324 826.3 -6.0 384 10324 done -0.47 - - 2028 - - - 2260 - -116.8 - - 3182 - - - - - - - - 14.91 14.94 14.93
10660 848.4 -6.7 390 10665 roll -0.47 - - 2028 - 2.45 0.063 882 -562.4 -116.8 - - 3181 - - - - - - - - 14.90 14.52 14.92
10694 850.6 -6.4 395 10699 done -0.47 - - 2028 - 2.50 0.076 2256 549.6 -116.8 - - 3181 - - - - - - - - 14.64 14.51 14.71
11052 876.6 -7.3 404 11057 roll -0.47 - - 2021 - 2.60 0.100 3698 554.6 -116.8 - - 3181 - - - - - - - - 14.90 14.47 14.92
11099 879.6 -7.7 411 11107 done -0.47 - - 2021 - 2.50 0.059 2254 -577.6 -116.8 - - 3181 - - - - - - - - 14.60 14.55 14.63
11444 906.1 -7.8 418 11449 roll -0.47 - - 2021 - 2.42 0.067 887 -564.9 -116.8 - - 3180 - - - - - - - - 14.90 14.50 14.92
11533 913.7 -8.3 431 11539 done -0.47 0.08 0.241 2047 325.0 2.53 0.076 2247 537.5 -116.8 - - 3179 - - - - - - - - 14.28 14.45 14.54
11892 938.6 -7.0 440 11897 roll -0.52 - - 2041 - 2.65 0.106 3702 549.1 -116.8 - - 3179 - - - - - - - - 14.91 14.39 14.92
11949 941.7 -3.9 448 11953 done -0.58 - - 2041 - 2.50 0.058 2248 -581.6 -116.8 - - 3182 - - - - - - - - 14.66 14.58 14.69
12284 964.2 -6.6 461 12290 roll -0.63 0.12 0.154 1991 -416.7 2.42 0.071 888 -562.0 -116.8 - - 3178 - - - - - - - - 14.49 14.47 14.53
12353 970.1 -8.8 471 12358 done -0.63 - - 1986 - 2.50 0.077 2261 549.2 -116.8 - - 3177 - - - - - - - - 14.62 14.47 14.66
12616 end dive: TARGET_DEPTH_EXCEEDED
12616 begin apogee
12624 993.3 -8.8 481 12761 roll -0.19 0.55 0.235 2134 269.1 - - 2199 - - 129.98 2.783 2741 -3.4 0.230 - - - - 1 - 14.27 13.78 12.77
12763 end apogee: CONTROL_FINISHED_OK
12763 begin climb
12767 997.7 - 483 12936 done 0.68 0.90 0.140 2411 307.8 - - 2198 - 116.8 157.65 1.870 2254 -3.1 0.317 - - - - - - 13.78 14.01 12.94
13294 948.0 11.0 521 13299 roll 0.61 - - 2411 - 2.62 0.102 3610 538.9 116.8 - - 2236 - - - - - - - - 14.57 14.26 14.60
13369 938.3 12.6 532 13375 done 0.52 0.22 0.282 2370 -186.4 2.50 0.068 2213 -558.8 116.8 - - 2235 - - - - - - - - 14.12 14.35 14.41
13685 908.5 9.4 542 13690 roll 0.52 - - 2380 - 2.62 0.086 787 -544.3 116.8 - - 2234 - - - - - - - - 14.73 14.40 14.75
13747 902.7 8.5 551 13752 done 0.52 - - 2379 - 2.60 0.078 2205 545.4 116.8 - - 2232 - - - - - - - - 14.55 14.42 14.59
14077 870.9 9.7 563 14082 roll 0.52 - - 2379 - 2.58 0.105 3613 545.7 116.8 - - 2232 - - - - - - - - 14.79 14.41 14.81
14167 861.4 9.6 576 14172 done 0.52 - - 2389 - 2.53 0.070 2210 -554.5 116.8 - - 2231 - - - - - - - - 14.62 14.46 14.65
14526 826.6 9.8 585 14531 roll 0.52 - - 2400 - 2.60 0.084 783 -548.8 116.8 - - 2232 - - - - - - - - 14.83 14.45 14.85
14573 822.0 9.2 592 14580 done 0.52 0.10 0.236 2372 -280.0 2.65 0.077 2212 539.2 116.8 - - 2230 - - - - - - - - 14.23 14.42 14.40
14917 793.9 8.1 599 14921 roll 0.52 - - 2371 - 2.55 0.103 3610 548.2 116.8 - - 2230 - - - - - - - - 14.85 14.42 14.88
15007 785.7 8.3 612 15012 done 0.52 - - 2381 - 2.45 0.068 2214 -569.8 116.8 - - 2229 - - - - - - - - 14.59 14.50 14.65
15365 755.5 8.6 621 15371 roll 0.52 - - 2393 - 2.58 0.086 794 -550.4 116.8 - - 2229 - - - - - - - - 14.85 14.40 14.88
15441 748.9 8.5 632 15446 done 0.52 - - 2392 - 2.60 0.074 2220 548.5 116.8 - - 2228 - - - - - - - - 14.61 14.48 14.66
15757 718.5 9.8 642 15762 roll 0.52 - - 2391 - 2.55 0.104 3620 549.0 116.8 - - 2226 - - - - - - - - 14.85 14.42 14.88
15833 709.9 11.3 653 15839 done 0.47 0.20 0.252 2354 -185.0 2.47 0.071 2218 -567.6 116.8 - - 2226 - - - - - - - - 14.26 14.50 14.53
16150 681.6 9.0 663 16154 roll 0.47 - - 2364 - 2.62 0.087 785 -546.9 116.8 - - 2228 - - - - - - - - 14.87 14.43 14.88
16205 676.5 9.1 671 16210 done 0.47 - - 2364 - 2.62 0.076 2224 549.2 116.8 - - 2227 - - - - - - - - 14.60 14.47 14.65
16541 645.7 9.1 684 16545 roll 0.47 - - 2364 - 2.55 0.105 3617 546.3 116.8 - - 2227 - - - - - - - - 14.87 14.42 14.90
16617 638.4 9.4 695 16622 done 0.47 - - 2373 - 2.45 0.071 2226 -567.8 116.8 - - 2227 - - - - - - - - 14.61 14.50 14.65
16933 612.0 8.3 705 16938 roll 0.47 - - 2383 - 2.62 0.086 785 -550.0 116.8 - - 2228 - - - - - - - - 14.88 14.43 14.90
16967 609.2 7.9 710 16973 done 0.47 0.12 0.268 2355 -233.3 2.62 0.076 2230 551.5 116.8 - - 2226 - - - - - - - - 14.26 14.47 14.54
17325 585.0 6.6 719 17344 roll 0.48 - - 2356 - 2.50 0.106 3610 552.0 133.2 12.25 1.595 2192 -2.8 0.196 - - - - - - 14.85 14.57 13.88
17401 579.3 7.7 730 17406 done 0.48 - - 2365 - 2.42 0.067 2233 -569.0 133.2 - - 2185 - - - - - - - - 14.57 14.47 14.62
17717 557.8 6.8 740 17734 done 0.48 - - 2365 - - - 2232 - 145.8 15.50 1.630 2146 -2.5 0.165 - - - - - - 14.81 14.56 13.85
18053 534.9 6.8 746 18072 roll 0.49 - - 2374 - 2.67 0.083 794 -538.6 158.8 14.90 1.639 2087 -4.0 0.248 - - - - - - 14.76 14.47 13.83
18129 529.7 6.8 757 18149 done 0.55 - - 2374 - 2.62 0.073 2234 549.6 171.8 15.45 1.605 2037 -3.2 0.205 - - - - - - 14.51 14.40 13.75
18494 500.6 8.2 767 18499 roll 0.55 - - 2375 - 2.53 0.101 3612 544.7 171.8 - - 2019 - - - - - - - - 14.73 14.38 14.75
18577 492.9 9.2 779 18582 done 0.55 - - 2383 - 2.50 0.067 2224 -555.2 171.8 - - 2017 - - - - - - - - 14.47 14.41 14.51
18942 459.5 9.3 789 18948 roll 0.55 - - 2395 - 2.62 0.085 786 -548.9 171.8 - - 2018 - - - - - - - - 14.80 14.42 14.81
18998 454.2 9.4 797 19004 done 0.55 - - 2393 - 2.65 0.075 2240 548.7 171.8 - - 2016 - - - - - - - - 14.58 14.45 14.62
19334 421.0 10.0 810 19339 roll 0.55 - - 2393 - 2.50 0.103 3610 548.0 171.8 - - 2016 - - - - - - - - 14.83 14.43 14.85
19410 412.7 10.6 821 19416 done 0.55 - - 2402 - 2.42 0.067 2233 -569.0 171.8 - - 2016 - - - - - - - - 14.61 14.50 14.65
19726 381.2 10.0 831 19730 roll 0.55 - - 2415 - 2.62 0.082 782 -553.8 171.8 - - 2015 - - - - - - - - 14.85 14.45 14.87
19782 375.8 9.8 839 19787 done 0.55 0.15 0.243 2377 -253.3 2.65 0.075 2237 549.1 171.8 - - 2016 - - - - - - - - 14.31 14.47 14.56
20118 349.0 7.8 852 20123 roll 0.55 - - 2377 - 2.50 0.102 3611 549.6 171.8 - - 2016 - - - - - - - - 14.85 14.43 14.86
20208 341.4 8.1 865 20214 done 0.55 - - 2385 - 2.45 0.065 2236 -561.2 171.8 - - 2016 - - - - - - - - 14.54 14.49 14.59
20566 313.4 7.9 874 20571 roll 0.55 - - 2395 - 2.62 0.082 788 -552.7 171.8 - - 2016 - - - - - - - - 14.86 14.46 14.89
20642 307.4 7.8 885 20648 done 0.55 - - 2391 - 2.65 0.073 2252 552.5 171.8 - - 2015 - - - - - - - - 14.59 14.48 14.66
20958 280.0 8.8 895 20963 roll 0.55 - - 2395 - 2.47 0.100 3616 552.2 171.8 - - 2015 - - - - - - - - 14.88 14.45 14.90
21027 272.8 10.3 905 21033 done 0.55 0.08 0.226 2374 -262.5 2.45 0.066 2237 -562.9 171.8 - - 2015 - - - - - - - - 14.29 14.48 14.56
21351 246.4 8.2 916 21355 roll 0.55 - - 2383 - 2.62 0.081 792 -551.5 171.8 - - 2015 - - - - - - - - 14.88 14.46 14.89
21398 242.5 7.8 923 21405 done 0.60 - - 2383 - 2.67 0.071 2248 545.3 171.8 - - 2015 - - - - - - - - 14.52 14.46 14.58
21742 214.0 8.2 930 21747 roll 0.60 - - 2383 - 2.50 0.101 3622 549.6 171.8 - - 2015 - - - - - - - - 14.88 14.44 14.90
21818 207.6 8.1 941 21824 done 0.60 - - 2391 - 2.42 0.067 2239 -571.5 171.8 - - 2015 - - - - - - - - 14.63 14.52 14.67
22134 183.7 7.6 951 22138 roll 0.60 - - 2400 - 2.62 0.082 788 -553.8 171.8 - - 2015 - - - - - - - - 14.88 14.46 14.90
22211 178.0 7.1 962 22215 done 0.60 - - 2399 - 2.62 0.073 2242 555.0 176.6 - - 2015 - - - - - - - - 14.62 14.48 14.65
22526 155.0 7.2 972 22531 roll 0.61 - - 2400 - 2.47 0.099 3611 554.3 178.9 - - 2016 - - - - - - - - 14.87 14.45 14.88
22595 148.9 8.9 982 22600 done 0.61 - - 2409 - 2.40 0.063 2233 -574.2 178.9 - - 2015 - - - - - - - - 14.64 14.55 14.66
22918 122.4 8.1 993 22924 roll 0.61 - - 2418 - 2.58 0.077 795 -557.4 178.9 - - 2016 - - - - - - - - 14.87 14.45 14.89
22974 118.0 7.9 1001 22979 done 0.61 - - 2418 - 2.62 0.070 2256 557.6 178.9 - - 2018 - - - - - - - - 14.62 14.47 14.66
23310 91.1 6.8 1016 23323 roll 0.61 - - 2418 - 2.50 0.096 3621 546.0 191.1 9.07 0.356 1961 -6.3 0.309 - - - - - - 14.86 14.56 14.23
23459 83.1 5.1 1037 23504 done 0.65 - - 2425 - 2.40 0.063 2236 -577.1 245.2 36.05 0.391 1741 -6.1 0.249 - - - - - - 14.64 14.54 14.26
23818 68.9 3.8 1055 23876 roll 0.79 - - 2425 - 2.65 0.073 796 -543.4 328.7 52.92 0.347 1400 -6.4 0.246 - - - - - - 14.79 14.49 14.24
24107 54.0 5.5 1097 24142 done 1.09 0.38 0.122 2549 326.3 2.62 0.061 2266 561.1 371.5 29.02 0.295 1224 -6.1 0.213 - - - - - - 14.42 14.45 14.23
24455 33.4 7.0 1113 24471 roll 1.21 0.12 0.125 2626 641.7 2.70 0.070 791 -546.3 380.0 7.18 0.210 1188 -5.0 0.153 - - - - - - 14.54 14.45 14.26
24566 23.3 10.3 1129 24572 done 1.21 0.15 0.262 2591 -233.3 2.55 0.066 2211 556.9 380.0 - - 1194 - - - - - - - - 14.27 14.49 14.52
24785 end climb: SURFACE_DEPTH_REACHED
24785 begin surface coast
24814 end surface coast: CONTROL_FINISHED_OK
24814 begin surface
SM 0.92 - - - - -6.13 6.80 0.071 216 31.8 0.12 0.130 2304 -23516.7 500.17 74.40 0.136 698 9.4 -0.006 - - - - - -