SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 253 * Raw log
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• Previous call tries 1 • 103.84 of 350.00 AH used of 24V (70.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 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: 42 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 201 - - - 2295 - -116.8 -85.00 - 2907 - - - - - - - - 14.69 - 14.71
107 4.8 -6.6 3 131 roll -0.68 8.77 0.407 1982 203.1 2.72 2.066 866 -525.4 -116.8 -5.47 - 3221 -57.4 - - - - - - - 14.11 13.31 14.50
277 60.6 -25.3 28 283 done -0.45 0.32 0.285 2050 212.5 2.47 0.055 2280 572.5 -116.8 - - 3222 - - - - - - - - 14.14 14.44 14.44
636 105.9 -9.9 42 637 done -0.38 - - 2050 - - - 2281 - -116.8 - - 3224 - - - - - - - - 14.83 14.85 14.85
971 131.6 -7.5 48 976 roll -0.38 - - 2050 - 2.45 0.047 853 -582.9 -116.8 - - 3225 - - - - - - - - 14.88 14.58 14.90
1005 134.1 -7.6 53 1012 done -0.38 0.08 0.231 2063 162.5 2.47 0.054 2258 568.8 -116.8 - - 3225 - - - - - - - - 14.31 14.53 14.63
1363 157.6 -6.8 62 1368 roll -0.38 - - 2056 - 2.47 0.074 3690 579.8 -116.8 - - 3225 - - - - - - - - 14.90 14.50 14.92
1433 162.9 -7.5 72 1438 done -0.38 - - 2056 - 2.40 0.043 2238 -605.0 -116.8 - - 3225 - - - - - - - - 14.66 14.62 14.69
1755 188.0 -7.9 83 1760 roll -0.38 - - 2055 - 2.30 0.050 892 -585.2 -116.8 - - 3223 - - - - - - - - 14.93 14.60 14.95
1811 192.6 -8.0 91 1816 done -0.38 - - 2056 - 2.42 0.057 2270 569.4 -116.8 - - 3223 - - - - - - - - 14.69 14.58 14.71
2148 218.6 -7.8 104 2149 done -0.38 - - 2056 - - - 2270 - -116.8 - - 3221 - - - - - - - - 14.92 14.95 14.94
2483 242.1 -7.0 110 2488 roll -0.38 - - 2056 - 2.40 0.052 892 -574.2 -116.8 - - 3218 - - - - - - - - 14.95 14.54 14.96
2531 245.8 -7.6 117 2539 done -0.38 - - 2056 - 2.45 0.058 2261 558.8 -116.8 - - 3218 - - - - - - - - 14.59 14.53 14.64
2876 271.7 -7.6 124 2881 roll -0.38 - - 2054 - 2.53 0.083 3700 568.8 -116.8 - - 3216 - - - - - - - - 14.92 14.52 14.95
2902 273.9 -7.5 128 2908 done -0.38 - - 2054 - 2.45 0.043 2252 -591.0 -116.8 - - 3215 - - - - - - - - 14.65 14.62 14.68
3267 302.3 -7.9 138 3272 roll -0.38 - - 2053 - 2.35 0.057 892 -578.7 -116.8 - - 3213 - - - - - - - - 14.93 14.57 14.95
3316 306.3 -8.3 145 3323 done -0.38 - - 2053 - 2.42 0.060 2258 564.5 -116.8 - - 3212 - - - - - - - - 14.67 14.57 14.71
3659 334.1 -8.1 152 3660 done -0.38 - - 2053 - - - 2258 - -116.8 - - 3209 - - - - - - - - 14.93 14.95 14.95
3995 359.8 -7.6 158 4000 roll -0.38 - - 2045 - 2.53 0.084 3694 567.6 -116.8 - - 3208 - - - - - - - - 14.95 14.51 14.97
4051 364.1 -7.7 166 4056 done -0.38 - - 2047 - 2.42 0.047 2251 -596.3 -116.8 - - 3207 - - - - - - - - 14.71 14.64 14.76
4388 389.5 -7.6 179 4393 roll -0.38 - - 2045 - 2.38 0.060 892 -571.0 -116.8 - - 3206 - - - - - - - - 14.95 14.54 14.96
4429 392.8 -7.7 185 4435 done -0.38 0.12 0.257 2071 216.7 2.40 0.060 2255 567.9 -116.8 - - 3205 - - - - - - - - 14.31 14.54 14.56
4780 413.2 -5.6 193 4786 roll -0.44 - - 2063 - 2.55 0.087 3694 564.3 -116.8 - - 3203 - - - - - - - - 14.94 14.49 14.96
4849 417.1 -5.5 203 4854 done -0.50 - - 2063 - 2.45 0.050 2252 -588.6 -116.8 - - 3203 - - - - - - - - 14.69 14.61 14.71
5172 435.1 -5.6 214 5177 roll -0.55 0.12 0.142 2008 -458.3 2.40 0.059 879 -572.1 -116.8 - - 3201 - - - - - - - - 14.57 14.54 14.59
5241 440.5 -8.2 224 5246 done -0.55 - - 2000 - 2.45 0.063 2257 562.4 -116.8 - - 3201 - - - - - - - - 14.64 14.52 14.68
5564 468.5 -8.9 235 5564 done -0.55 - - 2000 - - - 2261 - -116.8 - - 3199 - - - - - - - - 14.93 14.95 14.95
5899 501.0 -9.9 241 5905 roll -0.55 - - 1993 - 2.55 0.087 3694 562.0 -116.8 - - 3197 - - - - - - - - 14.94 14.47 14.96
5934 504.7 -10.7 246 5939 done -0.55 - - 1993 - 2.45 0.050 2245 -591.4 -116.8 - - 3197 - - - - - - - - 14.69 14.61 14.73
6291 542.7 -10.7 255 6296 roll -0.55 - - 1992 - 2.40 0.063 888 -565.4 -116.8 - - 3195 - - - - - - - - 14.92 14.50 14.94
6339 548.0 -11.0 262 6347 done -0.55 0.08 0.258 2021 362.5 2.47 0.064 2249 551.0 -116.8 - - 3194 - - - - - - - - 14.21 14.45 14.50
6684 577.8 -8.4 269 6690 roll -0.55 - - 2011 - 2.60 0.090 3701 558.5 -116.8 - - 3194 - - - - - - - - 14.91 14.44 14.93
6745 582.9 -8.2 278 6751 done -0.55 - - 2011 - 2.50 0.049 2254 -578.8 -116.8 - - 3194 - - - - - - - - 14.68 14.55 14.71
7075 610.0 -8.3 290 7080 roll -0.55 - - 2012 - 2.40 0.060 889 -568.8 -116.8 - - 3193 - - - - - - - - 14.91 14.50 14.93
7166 617.6 -8.4 303 7171 done -0.55 - - 2012 - 2.42 0.065 2247 561.2 -116.8 - - 3192 - - - - - - - - 14.62 14.50 14.66
7523 646.3 -8.0 312 7528 roll -0.55 - - 2006 - 2.60 0.093 3695 556.9 -116.8 - - 3191 - - - - - - - - 14.92 14.42 14.95
7579 650.8 -8.0 320 7584 done -0.55 - - 2006 - 2.47 0.051 2241 -588.7 -116.8 - - 3190 - - - - - - - - 14.66 14.58 14.68
7916 676.2 -7.4 333 7922 roll -0.55 - - 2006 - 2.38 0.061 889 -568.1 -116.8 - - 3189 - - - - - - - - 14.90 14.47 14.91
7949 678.8 -7.9 338 7955 done -0.55 - - 1999 - 2.42 0.065 2244 559.9 -116.8 - - 3189 - - - - - - - - 14.60 14.47 14.64
8307 704.7 -7.2 347 8312 roll -0.55 - - 1997 - 2.60 0.095 3691 556.5 -116.8 - - 3188 - - - - - - - - 14.90 14.40 14.90
8363 708.7 -7.2 355 8368 done -0.55 - - 1997 - 2.47 0.051 2241 -587.0 -116.8 - - 3187 - - - - - - - - 14.64 14.54 14.67
8700 733.8 -7.6 368 8704 roll -0.55 - - 1997 - 2.40 0.062 885 -565.0 -116.8 - - 3186 - - - - - - - - 14.92 14.45 14.93
8832 745.1 -8.3 387 8837 done -0.55 - - 1993 - 2.42 0.067 2237 558.7 -116.8 - - 3186 - - - - - - - - 14.59 14.47 14.63
9147 772.4 -8.8 397 9153 roll -0.55 - - 1985 - 2.62 0.090 3700 558.4 -116.8 - - 3185 - - - - - - - - 14.89 14.40 14.91
9195 776.9 -9.4 404 9202 done -0.55 0.10 0.229 2014 290.0 2.55 0.050 2228 -577.3 -116.8 - - 3184 - - - - - - - - 14.14 14.50 14.31
9539 802.3 -7.3 411 9540 done -0.55 - - 2014 - - - 2226 - -116.8 - - 3184 - - - - - - - - 14.89 14.91 14.90
9876 824.9 -6.6 417 9881 roll -0.55 - - 2020 - 2.38 0.060 889 -561.8 -116.8 - - 3185 - - - - - - - - 14.88 14.45 14.90
9923 828.3 -7.0 424 9930 done -0.55 - - 2010 - 2.47 0.066 2240 547.0 -116.8 - - 3183 - - - - - - - - 14.45 14.39 14.51
10268 850.6 -6.5 431 10273 roll -0.55 - - 2011 - 2.62 0.093 3693 554.6 -116.8 - - 3182 - - - - - - - - 14.90 14.38 14.92
10309 853.2 -5.6 437 10315 done -0.55 - - 2012 - 2.53 0.053 2227 -579.4 -116.8 - - 3182 - - - - - - - - 14.63 14.54 14.66
10659 876.0 -6.5 445 10665 roll -0.55 - - 2011 - 2.38 0.059 889 -562.2 -116.8 - - 3180 - - - - - - - - 14.90 14.45 14.92
10735 881.2 -6.7 456 10741 done -0.55 - - 2011 - 2.45 0.067 2240 551.4 -116.8 - - 3180 - - - - - - - - 14.55 14.42 14.59
11052 901.7 -6.6 466 11057 roll -0.55 - - 2011 - 2.62 0.096 3690 553.4 -116.8 - - 3179 - - - - - - - - 14.90 14.36 14.91
11093 904.5 -4.9 472 11098 done -0.55 - - 2011 - 2.50 0.052 2226 -585.6 -116.8 - - 3179 - - - - - - - - 14.60 14.52 14.62
11444 927.9 -6.6 480 11449 roll -0.55 - - 2012 - 2.38 0.064 890 -561.3 -116.8 - - 3178 - - - - - - - - 14.87 14.42 14.89
11526 933.9 -7.1 492 11532 done -0.55 - - 2012 - 2.45 0.068 2244 552.7 -116.8 - - 3181 - - - - - - - - 14.56 14.42 14.59
11891 959.2 -7.0 502 11896 roll -0.55 - - 2008 - 2.65 0.098 3701 549.8 -116.8 - - 3178 - - - - - - - - 14.89 14.35 14.90
11940 962.8 -4.2 509 11947 done -0.55 - - 2008 - 2.55 0.054 2220 -580.8 -116.8 - - 3176 - - - - - - - - 14.59 14.51 14.62
12283 988.2 -7.5 516 12288 roll -0.55 - - 2007 - 2.40 0.065 881 -557.9 -116.8 - - 3177 - - - - - - - - 14.86 14.38 14.88
12293 end dive: TARGET_DEPTH_EXCEEDED
12293 begin apogee
12303 990.0 -7.7 518 12453 roll -0.19 0.45 0.226 2129 271.1 - - 2204 - - 142.98 2.547 2741 -3.0 0.229 - - - - 1 - 14.23 13.74 12.70
12455 end apogee: CONTROL_FINISHED_OK
12455 begin climb
12459 993.9 - 520 12622 done 0.68 0.93 0.142 2411 303.2 - - 2203 - 116.8 155.18 1.906 2255 -3.1 0.315 - - - - - - 13.74 13.98 12.86
12966 951.4 10.0 557 12972 roll 0.61 - - 2411 - 2.60 0.099 3609 540.8 116.8 - - 2237 - - - - - - - - 14.57 14.23 14.59
13070 939.8 10.9 572 13077 done 0.52 0.15 0.242 2373 -253.3 2.53 0.064 2223 -547.8 116.8 - - 2236 - - - - - - - - 14.09 14.31 14.38
13414 911.5 8.2 579 13419 roll 0.52 - - 2382 - 2.65 0.086 784 -543.0 116.8 - - 2235 - - - - - - - - 14.73 14.37 14.76
13518 902.9 8.0 594 13525 done 0.52 - - 2383 - 2.62 0.073 2210 544.3 116.8 - - 2233 - - - - - - - - 14.52 14.40 14.57
13862 873.8 8.7 601 13868 roll 0.52 - - 2383 - 2.58 0.099 3613 543.8 116.8 - - 2232 - - - - - - - - 14.81 14.37 14.83
13938 866.4 9.5 612 13943 done 0.47 0.17 0.268 2353 -176.5 2.50 0.064 2193 -568.0 116.8 - - 2232 - - - - - - - - 14.16 14.44 14.46
14255 844.0 7.0 622 14259 roll 0.48 - - 2364 - 2.55 0.080 793 -549.0 124.2 - - 2231 - - - - - - - - 14.82 14.38 14.83
14344 837.8 6.8 635 14371 done 0.49 - - 2364 - 2.55 0.070 2198 551.0 137.0 19.60 1.825 2178 -2.7 0.240 - - - - - - 14.54 14.40 13.74
14702 811.2 7.6 651 14707 roll 0.49 - - 2363 - 2.60 0.098 3613 544.2 137.0 - - 2164 - - - - - - - - 14.74 14.35 14.76
14750 807.0 8.8 658 14756 done 0.49 - - 2373 - 2.55 0.063 2191 -557.6 137.0 - - 2164 - - - - - - - - 14.44 14.38 14.48
15094 778.8 8.3 665 15099 roll 0.49 - - 2384 - 2.55 0.081 795 -547.5 137.0 - - 2163 - - - - - - - - 14.81 14.36 14.83
15156 773.3 8.6 674 15161 done 0.49 - - 2384 - 2.55 0.068 2201 551.4 137.0 - - 2162 - - - - - - - - 14.53 14.40 14.58
15486 743.1 9.2 686 15490 roll 0.49 - - 2384 - 2.58 0.097 3611 546.5 137.0 - - 2162 - - - - - - - - 14.81 14.35 14.83
15547 736.7 10.3 695 15553 done 0.49 0.15 0.263 2360 -160.0 2.53 0.063 2200 -557.7 137.0 - - 2161 - - - - - - - - 14.16 14.40 14.47
15878 710.4 7.9 707 15883 roll 0.49 - - 2370 - 2.58 0.083 792 -545.7 137.0 - - 2160 - - - - - - - - 14.84 14.37 14.85
15954 704.5 7.7 718 15959 done 0.49 - - 2370 - 2.55 0.069 2198 551.4 137.0 - - 2161 - - - - - - - - 14.53 14.40 14.58
16270 679.2 8.0 728 16275 roll 0.49 - - 2370 - 2.60 0.098 3615 545.0 137.0 - - 2160 - - - - - - - - 14.83 14.35 14.86
16332 674.0 8.4 737 16338 done 0.49 - - 2380 - 2.50 0.063 2191 -569.6 137.0 - - 2160 - - - - - - - - 14.54 14.42 14.59
16662 647.9 8.0 749 16667 roll 0.49 - - 2390 - 2.55 0.079 791 -549.0 137.0 - - 2160 - - - - - - - - 14.85 14.37 14.87
16731 642.4 7.7 759 16736 done 0.49 0.12 0.261 2363 -225.0 2.55 0.068 2199 552.2 137.0 - - 2160 - - - - - - - - 14.16 14.40 14.45
17054 620.0 7.0 770 17065 roll 0.49 - - 2363 - 2.60 0.098 3610 542.7 146.0 3.08 0.975 2144 -5.2 0.638 - - - - - - 14.83 14.58 13.54
17143 612.7 8.0 783 17149 done 0.49 - - 2371 - 2.53 0.060 2194 -559.7 146.0 - - 2150 - - - - - - - - 14.61 14.44 14.63
17502 586.7 7.3 792 17508 roll 0.49 - - 2381 - 2.55 0.080 797 -547.8 147.7 2.38 0.575 2138 -5.0 0.994 - - - - - - 14.85 14.56 13.52
17585 580.7 7.1 804 17606 done 0.50 - - 2381 - 2.55 0.067 2210 554.1 154.2 16.73 1.699 2109 -1.7 0.114 - - - - - - 14.57 14.45 13.83
17944 553.6 7.5 813 17949 roll 0.50 - - 2381 - 2.55 0.096 3607 547.8 154.2 - - 2095 - - - - - - - - 14.76 14.34 14.78
18005 548.3 8.3 822 18010 done 0.50 - - 2390 - 2.47 0.060 2200 -569.6 154.2 - - 2095 - - - - - - - - 14.51 14.40 14.55
18335 521.9 8.2 834 18339 roll 0.50 - - 2400 - 2.58 0.080 795 -544.6 154.2 - - 2095 - - - - - - - - 14.79 14.35 14.81
18418 514.8 8.3 846 18424 done 0.50 0.15 0.244 2366 -226.7 2.55 0.066 2202 551.8 154.2 - - 2094 - - - - - - - - 14.15 14.38 14.44
18783 488.6 7.1 856 18787 roll 0.50 - - 2366 - 2.58 0.097 3611 546.1 160.4 - - 2094 - - - - - - - - 14.81 14.32 14.83
18866 481.9 7.9 868 18871 done 0.50 - - 2375 - 2.50 0.062 2191 -568.0 160.4 - - 2094 - - - - - - - - 14.54 14.43 14.58
19231 457.1 6.7 878 19264 roll 0.51 - - 2385 - 2.58 0.079 792 -542.2 176.4 26.67 1.538 2011 -3.1 0.179 - - - - - - 14.82 14.46 13.82
19338 450.2 6.6 893 19362 done 0.57 - - 2385 - 2.58 0.067 2200 545.7 193.5 18.33 1.519 1949 -3.4 0.194 - - - - - - 14.44 14.33 13.75
19679 424.7 7.6 907 19684 roll 0.57 - - 2384 - 2.60 0.096 3621 546.5 193.5 - - 1932 - - - - - - - - 14.71 14.30 14.73
19727 420.5 8.9 914 19734 done 0.57 - - 2394 - 2.58 0.064 2197 -551.9 193.5 - - 1932 - - - - - - - - 14.40 14.33 14.44
20071 389.2 9.4 921 20077 roll 0.57 - - 2404 - 2.58 0.079 795 -543.4 193.5 - - 1931 - - - - - - - - 14.76 14.33 14.78
20133 383.0 9.9 930 20138 done 0.57 - - 2404 - 2.55 0.067 2202 551.8 193.5 - - 1930 - - - - - - - - 14.46 14.33 14.50
20463 347.8 10.8 942 20467 roll 0.57 - - 2404 - 2.58 0.096 3612 546.5 193.5 - - 1930 - - - - - - - - 14.81 14.33 14.83
20539 338.9 11.4 953 20545 done 0.57 0.12 0.262 2386 -150.0 2.50 0.060 2190 -568.8 193.5 - - 1930 - - - - - - - - 14.17 14.43 14.45
20855 308.5 9.6 963 20860 roll 0.57 - - 2393 - 2.53 0.076 795 -551.4 193.5 - - 1930 - - - - - - - - 14.81 14.31 14.83
20911 303.5 8.8 971 20916 done 0.62 - - 2393 - 2.53 0.065 2195 553.4 193.5 - - 1930 - - - - - - - - 14.52 14.42 14.57
21247 272.7 9.2 984 21252 roll 0.62 - - 2393 - 2.58 0.094 3609 548.1 193.5 - - 1930 - - - - - - - - 14.84 14.34 14.85
21337 264.1 9.3 997 21343 done 0.62 - - 2401 - 2.47 0.059 2190 -574.5 193.5 - - 1930 - - - - - - - - 14.54 14.42 14.59
21695 233.7 8.4 1006 21699 roll 0.62 - - 2411 - 2.53 0.076 795 -551.4 193.5 - - 1930 - - - - - - - - 14.85 14.37 14.87
21744 229.8 8.0 1013 21751 done 0.62 - - 2411 - 2.55 0.065 2214 556.5 193.5 - - 1929 - - - - - - - - 14.54 14.41 14.59
22087 200.4 8.5 1020 22091 roll 0.62 - - 2411 - 2.53 0.090 3612 552.6 193.5 - - 1929 - - - - - - - - 14.84 14.35 14.85
22170 192.4 9.2 1032 22175 done 0.62 - - 2420 - 2.47 0.057 2214 -566.0 193.5 - - 1929 - - - - - - - - 14.47 14.41 14.62
22535 159.5 9.1 1042 22540 roll 0.62 - - 2430 - 2.58 0.073 786 -553.5 193.5 - - 1930 - - - - - - - - 14.83 14.39 14.85
22592 154.3 9.1 1050 22597 done 0.62 0.12 0.256 2401 -241.7 2.58 0.064 2217 554.7 193.5 - - 1929 - - - - - - - - 14.19 14.42 14.47
22928 125.3 8.6 1063 22932 roll 0.62 - - 2401 - 2.53 0.090 3613 551.8 193.5 - - 1929 - - - - - - - - 14.85 14.36 14.87
23003 117.9 9.7 1074 23008 done 0.62 - - 2410 - 2.42 0.055 2216 -577.3 193.5 - - 1930 - - - - - - - - 14.50 14.40 14.54
23319 91.7 7.9 1085 23325 roll 0.62 - - 2418 - 2.58 0.071 795 -550.8 193.5 - - 1929 - - - - - - - - 14.83 14.38 14.87
23417 85.6 6.2 1099 23437 done 0.69 - - 2416 - 2.55 0.060 2226 561.2 219.4 13.68 0.369 1846 -6.1 0.272 - - - - - - 14.54 14.42 14.23
23770 69.1 2.8 1116 23844 roll 0.86 0.17 0.111 2491 441.2 2.55 0.088 3611 543.1 328.5 69.10 0.352 1399 -6.5 0.245 - - - - - - 14.45 14.48 14.23
23882 64.4 6.4 1129 23905 done 0.94 - - 2498 - 2.42 0.054 2211 -578.5 350.9 15.43 0.327 1307 -6.0 0.227 - - - - - - 14.50 14.42 14.19
24239 45.4 5.3 1147 24277 roll 1.07 0.12 0.135 2570 600.0 2.53 0.066 793 -560.5 398.9 32.10 0.266 1112 -6.1 0.200 - - - - - - 14.41 14.42 14.23
24352 36.9 7.4 1163 24356 done 1.07 - - 2570 - 2.53 0.059 2213 561.3 398.9 - - 1116 - - - - - - - - 14.52 14.41 14.55
24686 7.3 9.0 1178 24691 roll 1.07 - - 2570 - 2.47 0.079 3615 567.6 398.9 - - 1116 - - - - - - - - 14.78 14.40 14.80
24730 end climb: SURFACE_DEPTH_REACHED
24730 begin surface coast
24738 end surface coast: CONTROL_FINISHED_OK
24738 begin surface
SM 1.00 - - - - -6.15 7.20 0.114 218 30.3 2.35 0.048 2263 852.3 500.17 63.03 0.138 699 11.1 -0.008 - - - - - -