SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 231 * Raw log
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• Previous call tries 1 • 95.59 of 350.00 AH used of 24V (72.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.9 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: 36 s
• GPS2 time: 22 s • Transponder ping count: 14
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 101 VBD -0.68 - - 200 - - - 2273 - -116.8 -84.95 - 2987 - - - - - - - - 14.71 - 14.73
105 6.2 -9.2 3 128 roll -0.68 9.20 0.429 1983 193.8 2.72 2.069 855 -521.3 -116.8 -3.72 - 3219 -62.4 - - - - - - - 14.14 13.35 14.52
143 25.6 -44.2 9 148 done -0.19 0.65 0.292 2134 232.3 2.53 0.063 2282 564.0 -116.8 - - 3222 - - - - - - - - 14.26 14.46 14.49
465 78.2 -8.7 22 470 roll -0.19 - - 2123 - 2.45 0.078 3702 579.6 -116.8 - - 3221 - - - - - - - - 14.81 14.51 14.83
514 81.6 -6.5 29 520 done -0.19 - - 2124 - 2.40 0.040 2247 -606.2 -116.8 - - 3222 - - - - - - - - 14.67 14.62 14.69
857 104.4 -6.1 41 862 roll -0.19 - - 2119 - 2.55 0.083 3694 567.5 -116.8 - - 3223 - - - - - - - - 14.88 14.52 14.90
927 107.8 -4.3 51 933 done -0.28 - - 2120 - 2.35 0.044 2279 -602.1 -116.8 - - 3223 - - - - - - - - 14.68 14.65 14.70
1250 122.2 -4.8 62 1255 roll -0.35 0.10 0.145 2066 -540.0 2.50 0.083 3701 568.8 -116.8 - - 3223 - - - - - - - - 14.64 14.58 14.69
1283 124.7 -7.3 67 1290 done -0.35 - - 2067 - 2.35 0.043 2280 -604.7 -116.8 - - 3224 - - - - - - - - 14.70 14.66 14.72
1641 154.1 -8.3 76 1646 roll -0.35 - - 2066 - 2.35 0.054 906 -584.7 -116.8 - - 3223 - - - - - - - - 14.94 14.64 14.95
1732 161.0 -7.5 89 1737 done -0.35 - - 2061 - 2.42 0.060 2298 575.2 -116.8 - - 3221 - - - - - - - - 14.73 14.64 14.77
2089 188.1 -7.6 98 2094 roll -0.35 - - 2062 - 2.40 0.051 904 -580.8 -116.8 - - 3221 - - - - - - - - 14.96 14.65 14.98
2138 191.9 -7.7 105 2144 done -0.35 - - 2057 - 2.47 0.060 2290 561.1 -116.8 - - 3221 - - - - - - - - 14.71 14.55 14.73
2482 216.3 -7.0 112 2487 roll -0.35 - - 2056 - 2.45 0.087 3690 571.4 -116.8 - - 3218 - - - - - - - - 14.97 14.59 14.98
2557 221.6 -6.6 123 2564 done -0.35 - - 2055 - 2.35 0.044 2289 -596.2 -116.8 - - 3217 - - - - - - - - 14.68 14.67 14.69
2873 243.0 -6.9 133 2878 roll -0.35 - - 2055 - 2.40 0.057 903 -577.5 -116.8 - - 3216 - - - - - - - - 14.96 14.63 14.97
2971 250.4 -7.5 147 2977 done -0.35 - - 2056 - 2.45 0.063 2293 567.3 -116.8 - - 3219 - - - - - - - - 14.73 14.62 14.77
3321 276.8 -7.7 155 3322 done -0.35 - - 2058 - - - 2293 - -116.8 - - 3213 - - - - - - - - 14.95 14.98 14.97
3657 301.8 -7.4 161 3662 roll -0.35 0.12 0.269 2081 191.7 2.45 0.089 3690 570.2 -116.8 - - 3211 - - - - - - - - 14.42 14.57 14.64
3692 304.1 -6.4 166 3697 done -0.42 - - 2081 - 2.33 0.047 2285 -603.0 -116.8 - - 3210 - - - - - - - - 14.78 14.71 14.80
4050 325.4 -6.0 175 4056 roll -0.48 0.12 0.135 2022 -491.7 2.40 0.053 888 -582.1 -116.8 - - 3208 - - - - - - - - 14.64 14.62 14.67
4133 332.8 -9.1 187 4139 done -0.48 - - 2015 - 2.47 0.062 2293 568.8 -116.8 - - 3207 - - - - - - - - 14.71 14.60 14.75
4497 365.6 -8.9 197 4502 roll -0.48 - - 2008 - 2.47 0.087 3694 567.2 -116.8 - - 3205 - - - - - - - - 14.95 14.55 14.97
4553 370.5 -8.8 205 4558 done -0.48 0.12 0.246 2038 250.0 2.35 0.046 2281 -601.3 -116.8 - - 3204 - - - - - - - - 14.38 14.69 14.62
4890 394.6 -7.0 218 4895 roll -0.48 - - 2038 - 2.40 0.054 889 -580.0 -116.8 - - 3202 - - - - - - - - 14.95 14.60 14.96
5007 402.9 -6.8 235 5014 done -0.48 - - 2037 - 2.47 0.063 2288 566.4 -116.8 - - 3201 - - - - - - - - 14.65 14.53 14.69
5338 425.7 -7.1 247 5344 roll -0.48 - - 2026 - 2.47 0.086 3692 568.4 -116.8 - - 3200 - - - - - - - - 14.95 14.54 14.97
5399 430.7 -8.1 256 5405 done -0.48 - - 2027 - 2.40 0.047 2281 -587.9 -116.8 - - 3199 - - - - - - - - 14.66 14.63 14.69
5730 457.5 -8.2 268 5734 roll -0.48 - - 2027 - 2.40 0.055 892 -578.8 -116.8 - - 3199 - - - - - - - - 14.95 14.59 15.00
5813 465.0 -8.9 280 5818 done -0.48 - - 2026 - 2.45 0.063 2273 563.7 -116.8 - - 3197 - - - - - - - - 14.69 14.57 14.72
6178 498.8 -9.4 290 6182 roll -0.48 - - 2018 - 2.53 0.090 3691 560.5 -116.8 - - 3199 - - - - - - - - 14.93 14.52 14.95
6225 503.6 -10.0 297 6233 done -0.48 - - 2017 - 2.42 0.050 2271 -586.8 -116.8 - - 3195 - - - - - - - - 14.65 14.62 14.67
6570 537.7 -9.8 304 6575 roll -0.48 - - 2018 - 2.40 0.059 894 -573.8 -116.8 - - 3194 - - - - - - - - 14.95 14.58 14.97
6625 543.3 -10.0 312 6630 done -0.48 - - 2015 - 2.47 0.066 2281 561.5 -116.8 - - 3194 - - - - - - - - 14.68 14.56 14.71
6962 572.8 -8.5 325 6962 done -0.48 - - 2015 - - - 2281 - -116.8 - - 3193 - - - - - - - - 14.93 14.95 14.95
7298 597.5 -7.2 331 7304 roll -0.48 - - 2009 - 2.53 0.090 3700 560.9 -116.8 - - 3191 - - - - - - - - 14.94 14.49 14.95
7332 600.1 -7.7 336 7337 done -0.48 0.12 0.246 2038 241.7 2.40 0.048 2267 -597.1 -116.8 - - 3191 - - - - - - - - 14.35 14.66 14.59
7690 622.4 -6.3 345 7694 roll -0.48 - - 2038 - 2.40 0.063 902 -568.8 -116.8 - - 3189 - - - - - - - - 14.95 14.53 14.97
7794 629.7 -6.8 360 7801 done -0.48 - - 2038 - 2.47 0.068 2256 548.2 -116.8 - - 3189 - - - - - - - - 14.56 14.48 14.61
8138 653.1 -6.9 367 8143 roll -0.48 - - 2028 - 2.58 0.092 3701 560.1 -116.8 - - 3187 - - - - - - - - 14.92 14.48 14.95
8193 657.2 -7.6 375 8199 done -0.48 - - 2027 - 2.42 0.051 2261 -595.0 -116.8 - - 3187 - - - - - - - - 14.71 14.64 14.73
8530 681.2 -7.1 388 8535 roll -0.48 - - 2028 - 2.40 0.064 901 -566.7 -116.8 - - 3186 - - - - - - - - 14.93 14.52 14.95
8585 685.2 -7.1 396 8590 done -0.48 - - 2028 - 2.47 0.069 2276 556.7 -116.8 - - 3186 - - - - - - - - 14.64 14.52 14.69
8922 708.1 -6.8 409 8926 roll -0.48 - - 2022 - 2.55 0.095 3699 558.0 -116.8 - - 3184 - - - - - - - - 14.94 14.47 14.95
8963 711.1 -7.4 415 8969 done -0.48 - - 2021 - 2.42 0.054 2267 -591.7 -116.8 - - 3184 - - - - - - - - 14.70 14.63 14.73
9313 735.6 -7.1 423 9319 roll -0.48 - - 2022 - 2.42 0.066 896 -566.5 -116.8 - - 3184 - - - - - - - - 14.91 14.51 14.94
9389 741.4 -7.4 434 9395 done -0.48 - - 2018 - 2.50 0.070 2258 544.8 -116.8 - - 3183 - - - - - - - - 14.54 14.47 14.59
9706 764.7 -7.4 444 9711 roll -0.48 - - 2012 - 2.58 0.095 3694 556.6 -116.8 - - 3181 - - - - - - - - 14.93 14.46 14.95
9753 768.6 -8.1 451 9761 done -0.48 0.08 0.223 2040 350.0 2.47 0.053 2264 -578.9 -116.8 - - 3182 - - - - - - - - 14.25 14.54 14.39
10098 791.9 -6.8 458 10102 roll -0.48 - - 2036 - 2.45 0.066 885 -562.9 -116.8 - - 3181 - - - - - - - - 14.91 14.43 14.92
10174 797.5 -7.3 469 10179 done -0.48 - - 2030 - 2.47 0.069 2260 556.7 -116.8 - - 3181 - - - - - - - - 14.62 14.49 14.66
10489 820.6 -7.4 479 10495 roll -0.48 - - 2021 - 2.58 0.096 3692 555.0 -116.8 - - 3179 - - - - - - - - 14.92 14.45 14.95
10516 822.8 -7.8 483 10523 done -0.48 - - 2022 - 2.50 0.054 2248 -577.6 -116.8 - - 3179 - - - - - - - - 14.59 14.56 14.62
10882 851.0 -7.6 493 10887 roll -0.48 - - 2022 - 2.40 0.064 891 -565.4 -116.8 - - 3179 - - - - - - - - 14.92 14.50 14.94
10950 856.5 -7.7 503 10957 done -0.48 - - 2018 - 2.50 0.068 2253 544.8 -116.8 - - 3178 - - - - - - - - 14.50 14.42 14.55
11274 879.3 -7.0 514 11275 done -0.48 - - 2017 - - - 2253 - -116.8 - - 3178 - - - - - - - - 14.91 14.93 14.92
11609 901.1 -6.5 520 11614 roll -0.48 - - 2012 - 2.60 0.098 3690 552.7 -116.8 - - 3177 - - - - - - - - 14.92 14.42 14.93
11658 904.1 -6.4 527 11665 done -0.48 0.08 0.218 2043 387.5 2.50 0.057 2254 -574.4 -116.8 - - 3177 - - - - - - - - 14.21 14.46 14.47
12002 922.9 -5.4 534 12007 roll -0.53 - - 2043 - 2.42 0.063 885 -565.7 -116.8 - - 3177 - - - - - - - - 14.90 14.45 14.92
12071 927.5 -7.4 544 12076 done -0.58 - - 2043 - 2.47 0.071 2247 551.4 -116.8 - - 3176 - - - - - - - - 14.60 14.47 14.64
12393 946.2 -6.0 555 12399 roll -0.58 - - 2039 - 2.62 0.101 3690 550.8 -116.8 - - 3176 - - - - - - - - 14.90 14.40 14.92
12450 949.5 -6.4 563 12456 done -0.64 0.15 0.129 1983 -373.3 2.47 0.056 2249 -583.4 -116.8 - - 3175 - - - - - - - - 14.49 14.56 14.60
12786 979.3 -9.1 576 12791 roll -0.64 - - 1982 - 2.42 0.065 883 -564.5 -116.8 - - 3175 - - - - - - - - 14.90 14.46 14.91
12890 989.1 -9.2 591 12897 done -0.64 - - 1973 - 2.50 0.071 2246 545.2 -116.8 - - 3174 - - - - - - - - 14.58 14.45 14.62
12950 end dive: TARGET_DEPTH_EXCEEDED
12950 begin apogee
12958 994.9 -9.3 593 13110 roll -0.19 0.60 0.246 2132 265.0 - - 2246 - - 144.68 2.570 2741 -3.0 0.223 - - - - 1 - 14.23 13.76 12.73
13112 end apogee: CONTROL_FINISHED_OK
13112 begin climb
13115 999.9 - 595 13279 roll 0.68 0.95 0.158 2410 292.6 2.72 0.065 804 -530.1 116.8 156.23 1.877 2263 -3.1 0.314 - - - - - - 13.75 13.81 12.91
13377 984.6 8.3 639 13382 done 0.68 - - 2410 - 2.70 0.073 2203 518.1 116.8 - - 2241 - - - - - - - - 13.97 13.91 14.02
13742 950.5 9.4 649 13747 roll 0.61 - - 2424 - 2.58 0.082 816 -537.6 116.8 - - 2233 - - - - - - - - 14.64 14.32 14.66
13859 939.6 9.0 666 13865 done 0.61 - - 2420 - 2.58 0.073 2219 543.8 116.8 - - 2234 - - - - - - - - 14.50 14.37 14.53
14190 906.2 10.2 678 14195 roll 0.54 0.15 0.280 2381 -260.0 2.55 0.101 3614 547.1 116.8 - - 2233 - - - - - - - - 14.17 14.39 14.33
14259 899.2 9.7 688 14265 done 0.49 0.12 0.284 2364 -141.7 2.45 0.065 2224 -567.3 116.8 - - 2232 - - - - - - - - 14.21 14.46 14.51
14581 874.7 7.6 699 14586 roll 0.49 - - 2374 - 2.62 0.086 793 -546.2 116.8 - - 2232 - - - - - - - - 14.82 14.42 14.84
14630 871.0 7.5 706 14637 done 0.49 - - 2377 - 2.62 0.074 2221 545.0 116.8 - - 2230 - - - - - - - - 14.57 14.43 14.62
14974 843.8 8.0 713 14978 roll 0.49 - - 2372 - 2.55 0.100 3611 545.1 116.8 - - 2230 - - - - - - - - 14.85 14.40 14.86
15049 836.8 9.0 724 15056 done 0.49 - - 2383 - 2.50 0.065 2214 -558.8 116.8 - - 2230 - - - - - - - - 14.50 14.45 14.54
15366 809.5 8.7 734 15371 roll 0.49 - - 2395 - 2.60 0.083 788 -548.5 116.8 - - 2230 - - - - - - - - 14.88 14.42 14.88
15428 803.8 9.5 743 15433 done 0.49 0.15 0.261 2361 -226.7 2.60 0.073 2215 548.8 116.8 - - 2230 - - - - - - - - 14.21 14.43 14.50
15758 777.1 8.1 755 15762 roll 0.49 - - 2361 - 2.55 0.099 3609 546.7 116.8 - - 2229 - - - - - - - - 14.86 14.38 14.88
15827 770.4 9.6 765 15832 done 0.49 - - 2370 - 2.47 0.065 2208 -567.2 116.8 - - 2229 - - - - - - - - 14.60 14.50 14.64
16149 741.3 9.2 776 16155 roll 0.49 - - 2381 - 2.60 0.080 784 -547.7 116.8 - - 2228 - - - - - - - - 14.87 14.36 14.88
16176 738.8 8.8 780 16183 done 0.49 - - 2380 - 2.60 0.073 2216 550.8 116.8 - - 2228 - - - - - - - - 14.57 14.43 14.63
16542 704.1 9.6 790 16547 roll 0.49 - - 2380 - 2.58 0.099 3618 543.4 116.8 - - 2227 - - - - - - - - 14.87 14.39 14.89
16639 693.9 10.3 804 16645 done 0.44 0.17 0.256 2350 -176.5 2.47 0.066 2216 -567.6 116.8 - - 2228 - - - - - - - - 14.19 14.47 14.50
16990 667.9 7.2 812 16991 done 0.44 - - 2350 - - - 2210 - 119.7 - - 2228 - - - - - - - - 14.85 14.87 14.87
17326 646.9 6.1 818 17367 roll 0.46 - - 2350 - 2.67 0.099 3613 525.5 150.2 37.28 1.613 2121 -2.9 0.222 - - - - - - 14.85 14.39 13.76
17402 642.2 6.5 829 17431 done 0.48 - - 2359 - 2.47 0.064 2223 -562.8 170.1 23.65 1.629 2040 -3.4 0.260 - - - - - - 14.45 14.36 13.62
17767 618.3 6.6 839 17792 roll 0.49 - - 2368 - 2.62 0.085 796 -544.7 188.1 18.73 1.652 1964 -4.1 0.293 - - - - - - 14.69 14.36 13.74
17843 613.3 6.6 850 17870 done 0.56 - - 2368 - 2.60 0.069 2223 548.8 206.0 21.17 1.608 1896 -3.2 0.236 - - - - - - 14.42 14.32 13.63
18215 584.8 7.9 861 18220 roll 0.56 - - 2368 - 2.55 0.099 3610 543.9 206.0 - - 1874 - - - - - - - - 14.69 14.33 14.71
18262 580.3 9.3 868 18270 done 0.56 - - 2378 - 2.50 0.063 2222 -555.2 206.0 - - 1876 - - - - - - - - 14.44 14.38 14.48
18607 549.4 9.1 875 18611 roll 0.56 - - 2386 - 2.62 0.083 792 -545.8 206.0 - - 1875 - - - - - - - - 14.79 14.40 14.81
18676 543.1 9.0 885 18681 done 0.62 - - 2385 - 2.60 0.070 2223 550.4 206.0 - - 1873 - - - - - - - - 14.56 14.43 14.59
18998 512.7 9.5 896 19004 roll 0.62 - - 2386 - 2.55 0.099 3617 546.7 206.0 - - 1873 - - - - - - - - 14.82 14.41 14.84
19061 506.5 9.7 905 19066 done 0.62 - - 2395 - 2.47 0.067 2214 -568.0 206.0 - - 1873 - - - - - - - - 14.59 14.47 14.62
19391 475.4 9.5 917 19396 roll 0.62 - - 2405 - 2.60 0.081 790 -547.7 206.0 - - 1872 - - - - - - - - 14.83 14.43 14.85
19460 468.8 9.3 927 19465 done 0.62 - - 2405 - 2.60 0.070 2225 551.9 206.0 - - 1872 - - - - - - - - 14.54 14.41 14.59
19783 434.9 10.7 938 19787 roll 0.62 - - 2405 - 2.53 0.099 3609 547.0 206.0 - - 1872 - - - - - - - - 14.85 14.42 14.87
19866 425.2 11.3 950 19871 done 0.62 - - 2414 - 2.45 0.063 2214 -569.4 206.0 - - 1872 - - - - - - - - 14.61 14.50 14.64
20230 384.8 11.2 960 20236 roll 0.62 - - 2424 - 2.60 0.080 784 -550.0 206.0 - - 1872 - - - - - - - - 14.85 14.42 14.86
20279 379.6 10.5 967 20285 done 0.62 - - 2423 - 2.65 0.070 2221 542.3 206.0 - - 1872 - - - - - - - - 14.50 14.42 14.55
20623 342.5 10.7 974 20628 roll 0.62 - - 2424 - 2.55 0.099 3616 547.1 206.0 - - 1872 - - - - - - - - 14.85 14.42 14.86
20699 333.8 11.2 985 20704 done 0.62 0.15 0.264 2399 -166.7 2.50 0.065 2201 -566.0 206.0 - - 1872 - - - - - - - - 14.23 14.47 14.52
21014 306.2 8.7 995 21019 roll 0.62 - - 2407 - 2.58 0.081 791 -546.5 206.0 - - 1872 - - - - - - - - 14.87 14.42 14.88
21063 302.0 8.5 1002 21070 done 0.62 - - 2408 - 2.62 0.070 2233 550.4 206.0 - - 1872 - - - - - - - - 14.59 14.46 14.64
21407 269.4 9.7 1009 21411 roll 0.62 - - 2408 - 2.50 0.096 3609 550.4 206.0 - - 1871 - - - - - - - - 14.88 14.42 14.90
21462 263.4 10.5 1017 21467 done 0.62 - - 2416 - 2.42 0.062 2224 -572.3 206.0 - - 1871 - - - - - - - - 14.61 14.51 14.65
21799 231.0 9.5 1030 21804 roll 0.62 - - 2425 - 2.60 0.080 794 -550.0 206.0 - - 1872 - - - - - - - - 14.87 14.39 14.88
21861 225.3 9.0 1039 21866 done 0.62 - - 2425 - 2.60 0.067 2234 553.8 206.0 - - 1872 - - - - - - - - 14.59 14.46 14.64
22191 190.7 10.7 1051 22196 roll 0.62 - - 2425 - 2.50 0.096 3612 551.2 206.0 - - 1872 - - - - - - - - 14.85 14.41 14.87
22267 181.4 12.0 1062 22272 done 0.62 0.08 0.236 2399 -325.0 2.47 0.060 2229 -559.9 206.0 - - 1872 - - - - - - - - 14.23 14.46 14.52
22583 152.5 9.0 1072 22588 roll 0.62 - - 2406 - 2.62 0.077 786 -550.8 206.0 - - 1871 - - - - - - - - 14.85 14.42 14.88
22673 144.3 8.8 1085 22678 done 0.67 - - 2406 - 2.60 0.068 2225 553.5 206.0 - - 1872 - - - - - - - - 14.59 14.46 14.64
23031 113.6 8.5 1094 23035 roll 0.67 - - 2406 - 2.53 0.096 3612 548.2 206.0 - - 1872 - - - - - - - - 14.85 14.41 14.88
23149 104.1 8.3 1111 23154 done 0.67 - - 2413 - 2.45 0.057 2228 -564.9 206.0 - - 1872 - - - - - - - - 14.52 14.47 14.56
23479 85.7 4.6 1127 23525 roll 0.77 0.12 0.134 2479 550.0 2.62 0.073 794 -547.3 270.4 37.10 0.396 1640 -6.3 0.261 - - - - - - 14.52 14.55 14.25
23566 79.6 6.8 1139 23582 done 0.84 - - 2478 - 2.60 0.065 2244 557.7 283.3 10.38 0.354 1583 -5.5 0.238 - - - - - - 14.59 14.48 14.20
23902 62.0 4.2 1154 23959 roll 0.97 - - 2482 - 2.65 0.069 797 -546.0 359.0 50.40 0.323 1280 -6.0 0.222 - - - - - - 14.78 14.47 14.25
24192 45.5 5.8 1196 24226 done 1.26 0.38 0.122 2605 323.7 2.62 0.057 2283 567.2 396.5 27.08 0.265 1122 -5.8 0.193 - - - - - - 14.42 14.45 14.21
24545 16.7 8.8 1213 24550 roll 1.26 - - 2612 - 2.67 0.067 784 -561.4 396.5 - - 1125 - - - - - - - - 14.78 14.45 14.81
24641 8.0 8.9 1227 24647 done 1.26 - - 2612 - 2.65 0.062 2268 560.0 396.5 - - 1126 - - - - - - - - 14.59 14.47 14.62
24708 end climb: SURFACE_DEPTH_REACHED
24708 begin surface coast
24736 end surface coast: CONTROL_FINISHED_OK
24736 begin surface
SM 0.88 - - - - -6.14 6.70 0.051 214 31.9 - - 2268 - 500.17 64.62 0.134 699 10.8 -0.007 - - - - - -