SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 250 * Raw log
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• Previous call tries 1 • 102.72 of 350.00 AH used of 24V (70.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 13 s • Transponder ping count: 9
• 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 - - 210 - - - 2313 - -116.8 -84.97 - 2941 - - - - - - - - 14.69 - 14.69
106 5.4 -7.7 3 130 roll -0.68 8.62 0.401 1981 205.5 2.88 2.088 872 -500.3 -116.8 -4.78 - 3222 -58.8 - - - - - - - 14.11 13.30 14.50
210 42.4 -29.3 18 217 done -0.45 0.32 0.304 2045 200.0 2.45 0.060 2262 567.3 -116.8 - - 3221 - - - - - - - - 14.14 14.43 14.43
523 93.3 -9.8 30 528 roll -0.38 0.12 0.269 2069 200.0 2.47 0.073 3697 581.0 -116.8 - - 3223 - - - - - - - - 14.29 14.45 14.42
571 96.8 -7.0 37 578 done -0.38 - - 2069 - 2.38 0.044 2267 -600.8 -116.8 - - 3223 - - - - - - - - 14.65 14.59 14.66
915 119.6 -6.8 45 920 roll -0.38 - - 2069 - 2.35 0.056 904 -580.0 -116.8 - - 3225 - - - - - - - - 14.88 14.57 14.89
955 123.0 -8.1 51 961 done -0.38 - - 2068 - 2.47 0.058 2303 566.4 -116.8 - - 3224 - - - - - - - - 14.59 14.52 14.62
1307 145.9 -6.5 59 1312 roll -0.38 - - 2068 - 2.40 0.051 905 -582.5 -116.8 - - 3224 - - - - - - - - 14.90 14.59 14.92
1340 148.3 -7.2 64 1346 done -0.38 - - 2068 - 2.45 0.058 2287 564.1 -116.8 - - 3224 - - - - - - - - 14.62 14.55 14.65
1698 172.3 -6.6 73 1704 roll -0.38 - - 2059 - 2.45 0.080 3689 572.2 -116.8 - - 3223 - - - - - - - - 14.93 14.55 14.95
1733 174.6 -7.0 78 1738 done -0.38 - - 2059 - 2.30 0.043 2289 -608.7 -116.8 - - 3222 - - - - - - - - 14.73 14.69 14.76
2090 198.4 -6.7 87 2095 roll -0.38 - - 2059 - 2.38 0.054 900 -583.6 -116.8 - - 3220 - - - - - - - - 14.92 14.60 14.95
2195 205.2 -6.3 102 2201 done -0.38 - - 2056 - 2.47 0.060 2286 561.1 -116.8 - - 3218 - - - - - - - - 14.58 14.54 14.64
2539 227.5 -6.7 109 2544 roll -0.38 - - 2054 - 2.50 0.084 3700 565.6 -116.8 - - 3217 - - - - - - - - 14.92 14.54 14.95
2579 230.4 -6.9 115 2585 done -0.38 - - 2054 - 2.38 0.043 2283 -595.4 -116.8 - - 3217 - - - - - - - - 14.74 14.64 14.76
2930 255.3 -7.2 123 2935 roll -0.38 - - 2054 - 2.38 0.054 896 -582.8 -116.8 - - 3215 - - - - - - - - 14.95 14.59 14.97
2993 260.1 -7.6 132 2998 done -0.38 - - 2052 - 2.45 0.060 2295 571.0 -116.8 - - 3214 - - - - - - - - 14.69 14.57 14.71
3322 284.0 -7.2 144 3323 done -0.38 - - 2053 - - - 2295 - -116.8 - - 3211 - - - - - - - - 14.93 14.95 14.95
3658 307.9 -7.1 150 3663 roll -0.38 - - 2053 - 2.42 0.054 896 -578.1 -116.8 - - 3209 - - - - - - - - 14.93 14.58 14.95
3700 311.0 -7.2 156 3705 done -0.38 - - 2053 - 2.45 0.063 2284 566.5 -116.8 - - 3208 - - - - - - - - 14.68 14.56 14.71
4050 335.3 -7.0 164 4051 done -0.38 - - 2053 - - - 2284 - -116.8 - - 3208 - - - - - - - - 14.94 14.96 14.95
4387 358.5 -6.9 170 4391 roll -0.38 - - 2053 - 2.42 0.054 896 -573.6 -116.8 - - 3205 - - - - - - - - 14.94 14.55 14.95
4421 361.1 -7.6 175 4426 done -0.38 - - 2053 - 2.47 0.063 2288 563.6 -116.8 - - 3205 - - - - - - - - 14.66 14.54 14.71
4778 386.0 -7.0 184 4783 roll -0.38 - - 2052 - 2.42 0.053 895 -575.6 -116.8 - - 3203 - - - - - - - - 14.93 14.57 14.95
4827 389.5 -7.2 191 4833 done -0.38 - - 2053 - 2.47 0.063 2282 561.5 -116.8 - - 3202 - - - - - - - - 14.66 14.54 14.69
5171 412.5 -6.7 198 5176 roll -0.38 - - 2045 - 2.50 0.086 3692 564.0 -116.8 - - 3201 - - - - - - - - 14.92 14.50 14.95
5218 416.0 -7.2 205 5226 done -0.38 0.08 0.194 2071 325.0 2.42 0.049 2274 -586.0 -116.8 - - 3200 - - - - - - - - 14.31 14.59 14.42
5563 436.1 -5.7 212 5568 roll -0.43 - - 2071 - 2.42 0.057 889 -572.3 -116.8 - - 3200 - - - - - - - - 14.93 14.55 14.94
5646 441.1 -5.9 224 5651 done -0.50 - - 2070 - 2.47 0.063 2284 564.8 -116.8 - - 3199 - - - - - - - - 14.64 14.52 14.69
6011 461.6 -5.7 234 6016 roll -0.56 0.12 0.138 2007 -525.0 2.53 0.086 3694 557.3 -116.8 - - 3197 - - - - - - - - 14.58 14.47 14.62
6067 466.1 -8.8 242 6071 done -0.56 - - 2007 - 2.40 0.049 2278 -590.0 -116.8 - - 3196 - - - - - - - - 14.70 14.64 14.73
6403 497.3 -9.4 255 6408 roll -0.56 - - 2007 - 2.42 0.059 892 -572.7 -116.8 - - 3195 - - - - - - - - 14.92 14.52 14.93
6506 507.5 -9.5 270 6513 done -0.56 - - 1999 - 2.50 0.063 2272 552.0 -116.8 - - 3194 - - - - - - - - 14.52 14.48 14.57
6851 540.3 -9.5 277 6857 roll -0.56 - - 1993 - 2.55 0.092 3694 557.6 -116.8 - - 3190 - - - - - - - - 14.93 14.45 14.95
6926 547.7 -9.5 288 6932 done -0.56 - - 1994 - 2.45 0.050 2278 -578.0 -116.8 - - 3192 - - - - - - - - 14.59 14.54 14.62
7242 577.0 -9.3 298 7247 roll -0.56 - - 1993 - 2.45 0.062 876 -572.2 -116.8 - - 3192 - - - - - - - - 14.91 14.50 14.92
7326 584.8 -9.3 310 7331 done -0.56 0.12 0.292 2011 150.0 2.47 0.067 2265 562.3 -116.8 - - 3191 - - - - - - - - 14.21 14.50 14.50
7690 613.2 -7.7 320 7695 roll -0.56 - - 2006 - 2.55 0.090 3691 559.2 -116.8 - - 3190 - - - - - - - - 14.91 14.44 14.93
7732 616.5 -8.0 326 7737 done -0.56 - - 2005 - 2.42 0.049 2253 -594.2 -116.8 - - 3190 - - - - - - - - 14.69 14.62 14.71
8083 644.1 -7.9 334 8088 roll -0.56 - - 2006 - 2.40 0.062 887 -569.2 -116.8 - - 3188 - - - - - - - - 14.92 14.48 14.94
8179 652.4 -8.4 348 8185 done -0.56 - - 1999 - 2.53 0.065 2269 546.2 -116.8 - - 3188 - - - - - - - - 14.50 14.42 14.54
8530 683.3 -8.9 356 8535 roll -0.56 - - 1995 - 2.58 0.094 3702 555.4 -116.8 - - 3187 - - - - - - - - 14.90 14.42 14.92
8558 685.8 -9.4 360 8563 done -0.56 - - 1995 - 2.45 0.050 2258 -589.4 -116.8 - - 3187 - - - - - - - - 14.66 14.60 14.69
8923 721.1 -9.8 370 8927 roll -0.56 - - 1995 - 2.40 0.060 890 -570.0 -116.8 - - 3185 - - - - - - - - 14.90 14.49 14.92
9005 729.6 -10.0 382 9011 done -0.56 0.12 0.285 2017 183.3 2.47 0.066 2269 558.3 -116.8 - - 3185 - - - - - - - - 14.19 14.46 14.47
9371 760.3 -8.3 392 9376 roll -0.56 - - 2011 - 2.58 0.093 3690 550.8 -116.8 - - 3184 - - - - - - - - 14.90 14.40 14.90
9397 762.7 -8.7 396 9403 done -0.56 - - 2011 - 2.47 0.051 2262 -578.1 -116.8 - - 3185 - - - - - - - - 14.56 14.52 14.59
9762 790.8 -7.6 406 9767 roll -0.56 - - 2011 - 2.42 0.060 884 -569.4 -116.8 - - 3183 - - - - - - - - 14.90 14.44 14.91
9867 798.8 -7.5 421 9874 done -0.56 - - 2011 - 2.53 0.069 2271 548.2 -116.8 - - 3183 - - - - - - - - 14.57 14.43 14.61
10211 823.2 -7.1 428 10216 roll -0.56 - - 2006 - 2.58 0.096 3691 550.4 -116.8 - - 3180 - - - - - - - - 14.89 14.38 14.90
10272 827.3 -7.0 437 10279 done -0.56 - - 2008 - 2.45 0.054 2252 -587.3 -116.8 - - 3181 - - - - - - - - 14.62 14.55 14.66
10604 849.9 -6.8 449 10609 roll -0.56 - - 2008 - 2.40 0.060 890 -567.5 -116.8 - - 3180 - - - - - - - - 14.88 14.45 14.89
10686 856.0 -7.2 461 10692 done -0.56 - - 2003 - 2.47 0.067 2263 555.9 -116.8 - - 3181 - - - - - - - - 14.57 14.43 14.61
11051 881.8 -7.1 471 11052 done -0.56 - - 2003 - - - 2263 - -116.8 - - 3181 - - - - - - - - 14.87 14.90 14.89
11386 905.9 -7.0 477 11387 done -0.56 - - 2004 - - - 2262 - -116.8 - - 3178 - - - - - - - - 14.88 14.90 14.88
11723 929.8 -7.1 483 11727 roll -0.56 - - 2003 - 2.42 0.057 893 -565.7 -116.8 - - 3178 - - - - - - - - 14.90 14.45 14.92
11799 935.4 -7.2 494 11804 done -0.56 - - 1999 - 2.47 0.067 2255 551.4 -116.8 - - 3177 - - - - - - - - 14.55 14.42 14.59
12114 957.7 -7.1 504 12119 roll -0.56 - - 1999 - 2.65 0.099 3700 545.3 -116.8 - - 3177 - - - - - - - - 14.87 14.35 14.89
12141 960.5 -10.7 508 12147 done -0.56 - - 1999 - 2.53 0.054 2257 -570.4 -116.8 - - 3177 - - - - - - - - 14.52 14.47 14.55
12507 986.5 -7.1 518 12512 roll -0.56 - - 1998 - 2.45 0.063 884 -560.4 -116.8 - - 3176 - - - - - - - - 14.88 14.40 14.90
12551 end dive: TARGET_DEPTH_EXCEEDED
12551 begin apogee
12561 990.3 -7.8 525 12713 roll -0.19 0.50 0.232 2132 268.0 - - 2199 - - 144.40 2.553 2740 -3.0 0.227 - - - - 1 - 14.21 13.74 12.71
12714 end apogee: CONTROL_FINISHED_OK
12714 begin climb
12718 994.5 - 527 12879 done 0.68 0.90 0.141 2409 307.8 - - 2199 - 116.8 153.35 1.878 2265 -3.1 0.319 - - - - - - 13.74 13.97 12.88
13230 949.9 10.2 565 13235 roll 0.61 - - 2409 - 2.62 0.097 3615 540.5 116.8 - - 2239 - - - - - - - - 14.57 14.24 14.59
13320 939.5 11.3 578 13326 done 0.52 0.20 0.280 2371 -190.0 2.50 0.063 2216 -559.6 116.8 - - 2238 - - - - - - - - 14.09 14.35 14.39
13678 908.8 8.5 587 13682 roll 0.52 - - 2384 - 2.60 0.080 794 -546.9 116.8 - - 2237 - - - - - - - - 14.74 14.38 14.76
13747 903.1 8.0 597 13753 done 0.52 - - 2384 - 2.58 0.069 2212 549.6 116.8 - - 2237 - - - - - - - - 14.52 14.40 14.57
14071 876.1 8.4 608 14075 roll 0.52 - - 2384 - 2.58 0.097 3617 544.6 116.8 - - 2239 - - - - - - - - 14.81 14.37 14.82
14174 865.9 9.3 623 14181 done 0.47 0.10 0.243 2358 -260.0 2.53 0.063 2213 -554.9 116.8 - - 2235 - - - - - - - - 14.17 14.40 14.47
14519 842.1 6.8 630 14529 roll 0.48 - - 2369 - 2.60 0.078 759 -559.2 129.4 4.62 1.512 2214 -4.5 0.492 - - - - - - 14.81 14.59 13.58
14566 838.7 6.8 637 14593 done 0.49 - - 2369 - 2.67 0.070 2229 550.6 141.3 22.42 1.928 2163 -2.3 0.192 - - - - - - 14.57 14.45 13.74
14910 813.0 7.6 651 14914 roll 0.49 - - 2368 - 2.55 0.098 3615 543.5 141.3 - - 2148 - - - - - - - - 14.74 14.34 14.76
14986 806.2 8.7 662 14991 done 0.49 - - 2378 - 2.47 0.063 2214 -567.2 141.3 - - 2147 - - - - - - - - 14.50 14.39 14.54
15302 779.2 8.7 672 15307 roll 0.49 - - 2388 - 2.60 0.076 785 -549.6 141.3 - - 2146 - - - - - - - - 14.78 14.38 14.81
15350 775.4 7.2 679 15357 done 0.49 0.08 0.233 2367 -262.5 2.65 0.069 2219 541.1 145.2 - - 2142 - - - - - - - - 14.16 14.37 14.32
15694 747.1 8.3 686 15699 roll 0.49 - - 2366 - 2.55 0.096 3618 548.6 145.2 - - 2145 - - - - - - - - 14.81 14.38 14.83
15791 738.3 9.0 700 15796 done 0.49 - - 2376 - 2.50 0.062 2216 -560.8 145.2 - - 2145 - - - - - - - - 14.47 14.41 14.59
16142 707.9 8.7 708 16147 roll 0.49 - - 2386 - 2.58 0.077 796 -550.4 145.2 - - 2145 - - - - - - - - 14.84 14.38 14.86
16197 703.2 8.5 716 16202 done 0.49 - - 2386 - 2.58 0.066 2225 553.9 145.2 - - 2143 - - - - - - - - 14.54 14.42 14.59
16534 673.8 8.7 729 16540 roll 0.49 - - 2386 - 2.53 0.096 3604 545.1 145.2 - - 2144 - - - - - - - - 14.83 14.36 14.85
16617 666.0 9.3 741 16623 done 0.49 0.15 0.260 2361 -166.7 2.42 0.062 2227 -569.0 145.2 - - 2143 - - - - - - - - 14.17 14.47 14.44
16982 639.8 7.2 751 16988 roll 0.49 - - 2368 - 2.67 0.080 784 -540.4 148.7 1.98 0.205 2131 -6.1 3.674 - - - - - - 14.83 14.43 14.17
17044 635.2 7.3 760 17049 done 0.49 - - 2372 - 2.62 0.067 2233 553.1 150.0 - - 2136 - - - - - - - - 14.54 14.42 14.58
17367 609.9 7.9 771 17373 roll 0.49 - - 2371 - 2.58 0.096 3613 534.9 150.0 2.00 0.203 2127 -4.5 2.626 - - - - - - 14.85 14.47 12.63
17472 600.3 9.0 786 17477 done 0.49 - - 2380 - 2.45 0.062 2228 -565.3 150.0 - - 2135 - - - - - - - - 14.57 14.47 14.60
17808 571.8 8.5 799 17814 roll 0.49 - - 2390 - 2.67 0.079 794 -537.1 150.0 1.60 0.207 2129 -3.8 2.012 - - - - - - 14.83 14.42 14.28
17857 567.7 8.4 806 17862 done 0.49 0.12 0.258 2363 -225.0 2.60 0.067 2231 552.7 150.0 - - 2133 - - - - - - - - 14.20 14.42 14.45
18193 543.0 7.3 819 18199 roll 0.50 - - 2363 - 2.55 0.096 3610 540.8 151.3 2.55 0.706 2122 -4.3 0.644 - - - - - - 14.83 14.57 13.51
18269 536.9 7.9 830 18274 done 0.50 - - 2371 - 2.42 0.061 2223 -573.1 151.3 - - 2130 - - - - - - - - 14.59 14.50 14.62
18634 511.3 7.0 840 18659 roll 0.50 - - 2381 - 2.62 0.080 795 -545.0 159.7 19.12 1.655 2081 -2.6 0.154 - - - - - - 14.83 14.53 13.86
18697 506.8 7.2 849 18703 done 0.50 - - 2381 - 2.60 0.067 2236 554.2 162.1 - - 2074 - - - - - - - - 14.52 14.40 14.54
19026 481.4 7.8 861 19032 roll 0.50 - - 2381 - 2.50 0.093 3607 548.4 162.1 - - 2075 - - - - - - - - 14.76 14.33 14.76
19082 476.5 8.9 869 19087 done 0.50 - - 2390 - 2.42 0.058 2229 -569.4 162.1 - - 2072 - - - - - - - - 14.51 14.42 14.54
19418 447.2 8.8 882 19423 roll 0.50 - - 2400 - 2.62 0.076 788 -550.0 162.1 - - 2069 - - - - - - - - 14.81 14.35 14.83
19480 441.5 9.3 891 19486 done 0.50 0.10 0.210 2370 -300.0 2.65 0.067 2228 543.4 162.1 - - 2071 - - - - - - - - 14.14 14.34 14.29
19810 414.0 8.4 903 19820 roll 0.50 - - 2370 - 2.50 0.095 3609 552.4 162.1 - - 2071 - - - - - - - - 14.80 14.33 14.82
19896 406.3 8.8 915 19901 done 0.50 - - 2378 - 2.45 0.059 2237 -560.0 162.1 - - 2071 - - - - - - - - 14.45 14.39 14.59
20261 378.1 7.6 925 20267 roll 0.50 - - 2387 - 2.62 0.075 787 -553.4 162.1 - - 2071 - - - - - - - - 14.83 14.36 14.85
20338 372.4 7.2 936 20343 done 0.50 - - 2388 - 2.62 0.065 2238 553.8 166.1 1.45 0.207 2062 -6.2 2.169 - - - - - - 14.48 14.39 14.28
20653 349.0 7.4 946 20658 roll 0.50 - - 2388 - 2.50 0.093 3610 548.8 166.1 - - 2066 - - - - - - - - 14.84 14.34 14.85
20758 340.5 7.9 961 20765 done 0.50 0.12 0.261 2368 -166.7 2.42 0.057 2236 -567.8 166.1 - - 2070 - - - - - - - - 14.17 14.45 14.42
21102 321.0 5.5 968 21163 roll 0.53 - - 2378 - 2.70 0.073 790 -535.6 208.6 57.20 1.314 1886 -3.2 0.153 - - - - - - 14.82 14.33 13.78
21230 313.8 5.9 986 21274 done 0.62 - - 2378 - 2.65 0.063 2247 549.8 242.2 37.78 1.281 1747 -3.7 0.175 - - - - - - 14.37 14.25 13.66
21601 288.0 7.2 1004 21606 roll 0.68 0.12 0.131 2435 475.0 2.50 0.090 3609 544.8 244.8 - - 1727 - - - - - - - - 14.38 14.29 14.42
21662 281.0 11.9 1013 21668 done 0.68 - - 2445 - 2.45 0.059 2247 -555.9 244.8 - - 1726 - - - - - - - - 14.39 14.34 14.42
21992 240.1 12.7 1025 21998 roll 0.68 - - 2456 - 2.65 0.076 793 -548.7 244.8 - - 1726 - - - - - - - - 14.76 14.35 14.77
22054 232.1 12.4 1034 22060 done 0.68 0.15 0.267 2422 -226.7 2.62 0.066 2243 553.4 244.8 - - 1725 - - - - - - - - 14.14 14.39 14.44
22385 195.6 11.0 1046 22390 roll 0.68 - - 2422 - 2.50 0.093 3613 548.0 244.8 - - 1725 - - - - - - - - 14.78 14.36 14.80
22446 188.5 10.7 1055 22451 done 0.68 - - 2431 - 2.42 0.057 2249 -563.6 244.8 - - 1724 - - - - - - - - 14.55 14.41 14.61
22776 154.9 10.2 1067 22781 roll 0.68 - - 2441 - 2.65 0.075 790 -550.6 244.8 - - 1724 - - - - - - - - 14.81 14.40 14.83
22853 147.2 10.0 1078 22858 done 0.68 - - 2441 - 2.62 0.065 2249 556.9 244.8 - - 1724 - - - - - - - - 14.54 14.42 14.60
23168 111.9 11.3 1088 23173 roll 0.68 - - 2441 - 2.47 0.092 3608 550.2 244.8 - - 1724 - - - - - - - - 14.83 14.38 14.84
23251 102.1 11.5 1100 23257 done 0.68 0.08 0.247 2422 -237.5 2.42 0.057 2241 -564.9 244.8 - - 1724 - - - - - - - - 14.12 14.36 14.42
23592 79.1 4.8 1115 23636 roll 0.79 0.10 0.155 2467 450.0 2.53 0.090 3604 538.7 305.5 36.30 0.373 1496 -6.3 0.259 - - - - - - 14.51 14.50 14.23
23797 64.6 5.8 1145 23831 done 0.89 - - 2474 - 2.45 0.055 2204 -571.4 342.9 25.45 0.327 1340 -6.1 0.235 - - - - - - 14.55 14.45 14.21
24151 46.2 5.9 1162 24182 roll 1.07 0.17 0.109 2568 552.9 2.53 0.067 790 -558.9 377.3 23.90 0.265 1202 -5.8 0.196 - - - - - - 14.48 14.45 14.25
24190 43.9 5.5 1168 24224 done 1.16 - - 2569 - 2.53 0.059 2219 564.8 419.8 29.40 0.265 1027 -6.0 0.192 - - - - - - 14.57 14.47 14.26
24536 15.1 8.7 1184 24541 roll 1.16 - - 2569 - 2.50 0.083 3617 559.2 419.8 - - 1029 - - - - - - - - 14.76 14.35 14.78
24568 11.6 9.7 1189 24574 done 1.16 - - 2576 - 2.50 0.054 2176 -576.4 419.8 - - 1030 - - - - - - - - 14.54 14.45 14.59
24671 end climb: SURFACE_DEPTH_REACHED
24671 begin surface coast
24698 end surface coast: CONTROL_FINISHED_OK
24698 begin surface
SM 0.88 - - - - -6.12 6.75 0.067 220 32.6 0.22 0.090 2306 5800.0 500.17 51.30 0.138 698 13.6 -0.009 - - - - - -