SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 254 * Raw log
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• Previous call tries 3 • 104.20 of 350.00 AH used of 24V (70.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 deg, depth 0.90 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 22 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 101 VBD -0.68 - - 207 - - - 2255 - -116.8 -83.88 - 2865 - - - - - - - - 14.69 - 14.71
105 4.4 -6.1 3 129 roll -0.68 8.90 0.414 1982 199.4 2.65 2.062 878 -519.6 -116.8 -6.38 - 3220 -55.6 - - - - - - - 14.12 13.31 14.50
270 56.1 -23.3 27 275 done -0.46 0.30 0.286 2042 200.0 2.47 0.060 2284 569.2 -116.8 - - 3222 - - - - - - - - 14.16 14.45 14.45
606 96.7 -8.6 42 606 done -0.40 - - 2043 - - - 2286 - -116.8 - - 3223 - - - - - - - - 14.85 14.87 14.86
942 124.8 -8.8 49 947 roll -0.40 - - 2043 - 2.42 0.046 868 -586.0 -116.8 - - 3225 - - - - - - - - 14.88 14.60 14.90
983 128.4 -8.8 55 988 done -0.40 - - 2042 - 2.42 0.055 2267 578.1 -116.8 - - 3224 - - - - - - - - 14.69 14.59 14.71
1333 158.0 -8.3 63 1338 roll -0.40 - - 2034 - 2.45 0.079 3689 580.4 -116.8 - - 3224 - - - - - - - - 14.92 14.55 14.95
1375 161.4 -8.4 69 1381 done -0.40 0.12 0.232 2064 250.0 2.38 0.041 2238 -609.7 -116.8 - - 3224 - - - - - - - - 14.38 14.67 14.60
1726 185.1 -6.7 77 1732 roll -0.40 - - 2064 - 2.30 0.052 891 -585.7 -116.8 - - 3222 - - - - - - - - 14.92 14.60 14.94
1794 190.0 -7.1 87 1800 done -0.40 - - 2058 - 2.40 0.058 2271 575.0 -116.8 - - 3221 - - - - - - - - 14.69 14.57 14.72
2117 212.1 -6.9 98 2122 roll -0.40 - - 2056 - 2.50 0.086 3692 568.4 -116.8 - - 3220 - - - - - - - - 14.93 14.53 14.95
2152 214.5 -7.1 103 2157 done -0.40 - - 2056 - 2.38 0.045 2261 -601.3 -116.8 - - 3219 - - - - - - - - 14.74 14.67 14.75
2509 240.1 -7.2 112 2514 roll -0.40 - - 2056 - 2.35 0.053 892 -582.6 -116.8 - - 3218 - - - - - - - - 14.93 14.59 14.94
2565 244.3 -7.5 120 2570 done -0.40 - - 2055 - 2.40 0.059 2263 571.2 -116.8 - - 3214 - - - - - - - - 14.69 14.57 14.72
2902 268.9 -7.4 133 2908 roll -0.40 - - 2052 - 2.53 0.084 3694 565.6 -116.8 - - 3213 - - - - - - - - 14.93 14.54 14.95
2958 273.1 -7.6 141 2963 done -0.40 - - 2054 - 2.40 0.045 2258 -598.3 -116.8 - - 3212 - - - - - - - - 14.74 14.68 14.76
3293 299.6 -8.0 154 3298 roll -0.40 - - 2052 - 2.35 0.054 893 -580.9 -116.8 - - 3210 - - - - - - - - 14.94 14.57 14.95
3356 304.8 -8.2 163 3361 done -0.40 - - 2046 - 2.40 0.059 2263 570.8 -116.8 - - 3210 - - - - - - - - 14.68 14.57 14.71
3685 331.1 -8.0 175 3690 roll -0.40 - - 2043 - 2.53 0.085 3696 566.4 -116.8 - - 3208 - - - - - - - - 14.95 14.50 14.97
3727 334.5 -8.0 181 3733 done -0.40 - - 2042 - 2.40 0.045 2246 -604.2 -116.8 - - 3207 - - - - - - - - 14.72 14.66 14.74
4078 361.9 -7.8 189 4083 roll -0.40 - - 2042 - 2.35 0.054 901 -572.3 -116.8 - - 3205 - - - - - - - - 14.93 14.51 14.95
4133 366.4 -8.2 197 4139 done -0.40 - - 2043 - 2.40 0.062 2256 564.6 -116.8 - - 3204 - - - - - - - - 14.66 14.55 14.71
4469 391.5 -7.4 210 4474 roll -0.40 - - 2039 - 2.55 0.088 3692 563.1 -116.8 - - 3202 - - - - - - - - 14.93 14.50 14.95
4511 394.6 -7.5 216 4516 done -0.40 0.12 0.235 2069 250.0 2.40 0.047 2261 -596.2 -116.8 - - 3202 - - - - - - - - 14.35 14.66 14.57
4862 415.6 -5.9 224 4866 roll -0.46 - - 2070 - 2.38 0.056 890 -576.1 -116.8 - - 3200 - - - - - - - - 14.95 14.54 14.96
4924 419.4 -6.1 233 4930 done -0.52 0.12 0.141 2017 -441.7 2.42 0.061 2259 565.7 -116.8 - - 3200 - - - - - - - - 14.57 14.54 14.65
5254 445.8 -8.2 245 5259 roll -0.52 - - 2012 - 2.55 0.086 3702 565.9 -116.8 - - 3198 - - - - - - - - 14.92 14.47 14.94
5288 448.7 -8.5 250 5293 done -0.52 - - 2012 - 2.45 0.044 2240 -596.7 -116.8 - - 3197 - - - - - - - - 14.70 14.64 14.72
5645 480.0 -8.8 259 5650 roll -0.52 - - 2011 - 2.35 0.057 893 -573.2 -116.8 - - 3195 - - - - - - - - 14.92 14.52 14.94
5714 486.6 -9.3 269 5721 done -0.52 - - 2011 - 2.47 0.064 2280 561.5 -116.8 - - 3195 - - - - - - - - 14.62 14.49 14.66
6037 515.8 -9.2 280 6042 roll -0.52 - - 2003 - 2.50 0.086 3693 565.2 -116.8 - - 3194 - - - - - - - - 14.92 14.46 14.93
6093 521.3 -9.9 288 6098 done -0.52 0.12 0.246 2032 241.7 2.42 0.047 2259 -592.6 -116.8 - - 3193 - - - - - - - - 14.28 14.62 14.52
6430 549.8 -8.4 301 6436 roll -0.52 - - 2032 - 2.40 0.057 882 -573.8 -116.8 - - 3192 - - - - - - - - 14.91 14.52 14.92
6533 558.5 -8.1 316 6540 done -0.52 - - 2026 - 2.47 0.063 2248 553.0 -116.8 - - 3190 - - - - - - - - 14.50 14.45 14.57
6878 586.1 -8.1 323 6883 roll -0.52 - - 2018 - 2.60 0.090 3692 555.4 -116.8 - - 3190 - - - - - - - - 14.92 14.45 14.95
6918 589.5 -8.2 329 6925 done -0.52 - - 2018 - 2.50 0.050 2247 -578.0 -116.8 - - 3189 - - - - - - - - 14.59 14.55 14.62
7269 616.4 -7.6 337 7275 roll -0.52 - - 2018 - 2.40 0.061 890 -565.4 -116.8 - - 3188 - - - - - - - - 14.91 14.49 14.93
7353 622.9 -7.6 349 7359 done -0.52 - - 2015 - 2.45 0.065 2254 556.7 -116.8 - - 3187 - - - - - - - - 14.62 14.49 14.65
7717 649.4 -7.3 359 7722 roll -0.52 - - 2012 - 2.60 0.093 3688 551.5 -116.8 - - 3186 - - - - - - - - 14.92 14.41 14.95
7793 655.4 -7.7 370 7799 done -0.52 - - 2012 - 2.47 0.052 2245 -584.2 -116.8 - - 3186 - - - - - - - - 14.64 14.56 14.69
8110 680.4 -8.1 380 8115 roll -0.52 - - 2011 - 2.42 0.065 879 -564.5 -116.8 - - 3185 - - - - - - - - 14.90 14.47 14.91
8150 684.1 -8.7 386 8156 done -0.52 - - 2011 - 2.47 0.067 2257 557.9 -116.8 - - 3184 - - - - - - - - 14.60 14.47 14.64
8501 713.7 -8.5 394 8506 roll -0.52 - - 2011 - 2.45 0.059 877 -563.3 -116.8 - - 3183 - - - - - - - - 14.90 14.46 14.92
8536 716.8 -9.2 399 8541 done -0.52 - - 2011 - 2.47 0.067 2245 553.8 -116.8 - - 3183 - - - - - - - - 14.61 14.48 14.65
8893 746.4 -8.3 408 8898 roll -0.52 - - 2008 - 2.62 0.095 3694 553.1 -116.8 - - 3182 - - - - - - - - 14.92 14.41 14.94
8955 751.6 -8.2 417 8962 done -0.52 - - 2008 - 2.50 0.054 2236 -583.2 -116.8 - - 3181 - - - - - - - - 14.62 14.53 14.66
9286 777.9 -8.0 429 9291 roll -0.52 - - 2008 - 2.38 0.059 892 -564.7 -116.8 - - 3181 - - - - - - - - 14.89 14.46 14.90
9341 782.1 -6.9 437 9347 done -0.52 - - 2005 - 2.45 0.066 2249 553.9 -116.8 - - 3181 - - - - - - - - 14.57 14.45 14.62
9678 809.0 -8.0 450 9682 roll -0.52 - - 2005 - 2.45 0.062 882 -558.0 -116.8 - - 3180 - - - - - - - - 14.88 14.45 14.90
9712 812.0 -8.7 455 9717 done -0.52 - - 2003 - 2.47 0.068 2250 553.8 -116.8 - - 3179 - - - - - - - - 14.59 14.45 14.63
10069 841.9 -8.5 464 10074 roll -0.52 - - 1999 - 2.62 0.097 3691 550.0 -116.8 - - 3178 - - - - - - - - 14.91 14.38 14.92
10117 846.2 -8.8 471 10124 done -0.52 0.10 0.220 2029 300.0 2.55 0.054 2229 -573.3 -116.8 - - 3176 - - - - - - - - 14.16 14.50 14.48
10462 872.0 -7.4 478 10467 roll -0.52 - - 2029 - 2.40 0.060 880 -562.1 -116.8 - - 3178 - - - - - - - - 14.88 14.43 14.90
10517 876.4 -7.9 486 10522 done -0.52 - - 2029 - 2.47 0.069 2243 551.8 -116.8 - - 3177 - - - - - - - - 14.56 14.42 14.59
10853 901.3 -7.4 499 10858 roll -0.52 - - 2023 - 2.65 0.096 3699 549.4 -116.8 - - 3176 - - - - - - - - 14.88 14.37 14.90
10902 905.0 -7.7 506 10908 done -0.52 - - 2023 - 2.53 0.054 2233 -579.4 -116.8 - - 3176 - - - - - - - - 14.60 14.52 14.64
11245 930.0 -7.2 513 11251 roll -0.52 - - 2024 - 2.40 0.063 887 -560.8 -116.8 - - 3176 - - - - - - - - 14.88 14.42 14.90
11314 935.2 -7.3 523 11320 done -0.52 - - 2023 - 2.45 0.067 2244 553.9 -116.8 - - 3175 - - - - - - - - 14.56 14.41 14.60
11638 957.3 -6.9 534 11643 roll -0.52 - - 2019 - 2.65 0.097 3692 546.4 -116.8 - - 3174 - - - - - - - - 14.86 14.38 14.88
11693 961.2 -7.1 542 11698 done -0.52 - - 2019 - 2.50 0.056 2254 -575.2 -116.8 - - 3177 - - - - - - - - 14.59 14.50 14.62
12030 984.1 -6.8 555 12034 roll -0.52 - - 2019 - 2.47 0.066 871 -559.9 -116.8 - - 3173 - - - - - - - - 14.88 14.40 14.90
12106 989.4 -6.9 566 12111 done -0.52 - - 2019 - 2.50 0.068 2245 549.6 -116.8 - - 3173 - - - - - - - - 14.57 14.40 14.58
12116 end dive: TARGET_DEPTH_EXCEEDED
12116 begin apogee
12124 991.1 -9.1 568 12318 roll -0.19 0.43 0.223 2133 265.1 - - 2193 - - 192.18 1.611 2740 -2.3 0.262 - - - - - - 14.23 13.97 13.39
12320 end apogee: CONTROL_FINISHED_OK
12320 begin climb
12324 994.8 - 571 12485 roll 0.68 0.93 0.156 2409 296.8 2.60 0.063 803 -534.6 116.8 147.45 1.885 2252 -3.3 0.330 - - - - - - 13.89 13.98 13.00
12590 974.5 9.8 614 12595 done 0.68 - - 2410 - 2.62 0.068 2205 535.1 116.8 - - 2237 - - - - - - - - 14.13 14.02 14.16
12906 940.1 11.1 624 12911 roll 0.62 - - 2421 - 2.62 0.079 798 -537.0 116.8 - - 2233 - - - - - - - - 14.65 14.31 14.66
13052 924.3 10.6 645 13058 done 0.62 - - 2419 - 2.55 0.068 2205 551.8 116.8 - - 2231 - - - - - - - - 14.49 14.36 14.53
13411 884.1 11.2 654 13416 roll 0.55 0.15 0.279 2382 -246.7 2.58 0.099 3606 543.0 116.8 - - 2230 - - - - - - - - 14.12 14.37 14.31
13493 875.3 10.0 666 13498 done 0.50 - - 2391 - 2.45 0.063 2215 -567.8 116.8 - - 2229 - - - - - - - - 14.55 14.45 14.59
13858 842.7 8.8 676 13863 roll 0.50 - - 2401 - 2.60 0.080 790 -548.1 116.8 - - 2228 - - - - - - - - 14.82 14.39 14.86
13892 839.7 8.7 681 13899 done 0.50 0.15 0.259 2367 -226.7 2.55 0.070 2198 552.2 116.8 - - 2228 - - - - - - - - 14.18 14.41 14.48
14250 814.1 7.0 690 14255 roll 0.51 - - 2367 - 2.58 0.096 3615 549.2 125.3 - - 2227 - - - - - - - - 14.83 14.36 14.84
14347 806.3 7.9 704 14352 done 0.51 - - 2377 - 2.47 0.061 2200 -572.9 125.3 - - 2226 - - - - - - - - 14.57 14.47 14.60
14698 780.3 7.5 712 14702 roll 0.51 - - 2387 - 2.55 0.080 797 -550.2 125.3 - - 2225 - - - - - - - - 14.83 14.37 14.85
14746 776.7 6.9 719 14768 done 0.51 - - 2387 - 2.60 0.067 2228 550.4 136.3 17.38 1.788 2184 -2.4 0.193 - - - - - - 14.54 14.42 13.77
15084 746.7 9.1 732 15088 roll 0.51 - - 2387 - 2.53 0.096 3614 547.8 136.3 - - 2167 - - - - - - - - 14.77 14.34 14.79
15166 738.0 10.4 744 15172 done 0.51 0.08 0.244 2368 -237.5 2.50 0.060 2217 -558.8 136.3 - - 2166 - - - - - - - - 14.16 14.39 14.45
15532 706.5 8.6 754 15536 roll 0.51 - - 2378 - 2.60 0.077 783 -551.5 136.3 - - 2165 - - - - - - - - 14.79 14.38 14.81
15614 699.6 8.0 766 15620 done 0.51 - - 2378 - 2.58 0.067 2211 553.5 136.3 - - 2169 - - - - - - - - 14.52 14.40 14.57
15979 668.8 8.4 776 15984 roll 0.51 - - 2378 - 2.55 0.095 3609 548.2 136.3 - - 2165 - - - - - - - - 14.83 14.34 14.83
16063 661.1 9.0 788 16068 done 0.51 - - 2388 - 2.42 0.059 2215 -576.0 136.3 - - 2163 - - - - - - - - 14.56 14.46 14.60
16427 630.6 8.4 798 16432 roll 0.51 - - 2398 - 2.58 0.076 795 -550.4 136.3 - - 2164 - - - - - - - - 14.83 14.36 14.86
16447 628.9 8.2 801 16454 done 0.51 0.10 0.230 2370 -280.0 2.60 0.065 2214 545.8 136.3 - - 2163 - - - - - - - - 14.14 14.37 14.31
16764 606.3 7.0 811 16768 roll 0.52 - - 2370 - 2.55 0.093 3621 551.8 143.2 - - 2163 - - - - - - - - 14.84 14.34 14.85
16846 599.7 7.8 823 16852 done 0.52 - - 2377 - 2.50 0.060 2220 -560.4 143.2 - - 2163 - - - - - - - - 14.44 14.38 14.48
17211 572.5 7.5 833 17217 roll 0.52 - - 2389 - 2.60 0.075 789 -550.4 143.2 - - 2163 - - - - - - - - 14.83 14.35 14.85
17274 567.8 7.4 842 17279 done 0.52 - - 2390 - 2.60 0.065 2229 553.8 143.2 - - 2163 - - - - - - - - 14.52 14.40 14.56
17603 541.1 8.3 854 17608 roll 0.52 - - 2389 - 2.53 0.094 3610 545.8 143.2 - - 2161 - - - - - - - - 14.85 14.32 14.87
17672 534.5 9.5 864 17678 done 0.52 0.08 0.233 2370 -237.5 2.47 0.058 2225 -560.7 143.2 - - 2162 - - - - - - - - 14.13 14.39 14.40
17996 510.9 7.3 875 18002 roll 0.52 - - 2379 - 2.65 0.075 794 -540.0 144.6 1.88 0.194 2150 -6.4 3.172 - - - - - - 14.83 14.40 14.28
18037 507.8 7.4 881 18044 done 0.52 - - 2379 - 2.60 0.065 2229 551.9 144.6 - - 2154 - - - - - - - - 14.54 14.41 14.57
18380 481.8 7.6 888 18385 roll 0.52 - - 2379 - 2.53 0.094 3611 546.2 144.6 - - 2157 - - - - - - - - 14.83 14.33 14.85
18457 475.3 8.4 899 18462 done 0.52 - - 2388 - 2.45 0.057 2213 -570.6 144.6 - - 2158 - - - - - - - - 14.55 14.45 14.59
18772 449.6 8.2 909 18773 done 0.52 - - 2389 - - - 2213 - 144.6 - - 2157 - - - - - - - - 14.83 14.85 14.84
19108 422.9 7.8 915 19113 roll 0.52 - - 2398 - 2.58 0.072 787 -552.7 144.6 - - 2157 - - - - - - - - 14.83 14.35 14.84
19150 419.8 7.5 921 19156 done 0.52 0.12 0.246 2370 -233.3 2.60 0.064 2221 551.5 144.6 - - 2158 - - - - - - - - 14.18 14.40 14.41
19500 398.1 6.1 929 19555 roll 0.53 - - 2370 - 2.58 0.093 3609 538.0 174.7 46.33 1.382 2015 -3.1 0.168 - - - - - - 14.83 14.35 13.77
19643 388.4 7.5 949 19649 done 0.53 - - 2379 - 2.47 0.057 2217 -563.6 174.7 - - 2006 - - - - - - - - 14.40 14.30 14.43
20006 361.2 7.7 959 20010 roll 0.53 - - 2388 - 2.60 0.073 798 -545.8 174.7 - - 2003 - - - - - - - - 14.71 14.28 14.73
20062 356.6 8.3 967 20067 done 0.59 - - 2388 - 2.60 0.062 2237 553.5 174.7 - - 2001 - - - - - - - - 14.45 14.32 14.50
20398 325.9 9.3 980 20403 roll 0.59 - - 2388 - 2.53 0.090 3614 544.3 174.7 - - 2001 - - - - - - - - 14.76 14.28 14.78
20481 317.4 10.0 992 20486 done 0.59 - - 2396 - 2.47 0.057 2239 -556.7 174.7 - - 2002 - - - - - - - - 14.40 14.35 14.54
20846 282.7 9.4 1002 20851 roll 0.59 - - 2406 - 2.65 0.073 787 -547.9 174.7 - - 2001 - - - - - - - - 14.81 14.32 14.83
20908 277.1 8.7 1011 20913 done 0.59 - - 2406 - 2.60 0.063 2234 556.5 174.7 - - 2001 - - - - - - - - 14.50 14.38 14.55
21238 246.8 9.3 1023 21243 roll 0.59 - - 2406 - 2.53 0.090 3616 546.2 174.7 - - 2001 - - - - - - - - 14.81 14.32 14.83
21300 240.6 9.8 1032 21305 done 0.59 - - 2416 - 2.42 0.057 2234 -571.1 174.7 - - 2001 - - - - - - - - 14.54 14.44 14.59
21630 209.8 9.5 1044 21635 roll 0.59 - - 2426 - 2.62 0.072 784 -553.4 174.7 - - 2001 - - - - - - - - 14.84 14.35 14.83
21686 204.9 8.6 1052 21692 done 0.59 0.10 0.212 2395 -310.0 2.60 0.063 2236 558.5 174.7 - - 2001 - - - - - - - - 14.12 14.34 14.27
22022 178.8 7.7 1065 22028 roll 0.59 - - 2395 - 2.50 0.089 3613 550.8 174.7 - - 2001 - - - - - - - - 14.81 14.33 14.83
22112 170.8 8.4 1078 22117 done 0.59 - - 2404 - 2.45 0.054 2237 -561.6 174.7 - - 2001 - - - - - - - - 14.43 14.38 14.57
22470 142.1 8.1 1087 22475 roll 0.59 - - 2413 - 2.62 0.071 788 -553.1 174.7 - - 2001 - - - - - - - - 14.85 14.35 14.87
22560 134.4 8.3 1100 22565 done 0.59 - - 2411 - 2.60 0.062 2239 558.1 174.7 - - 2001 - - - - - - - - 14.52 14.40 14.57
22918 103.4 8.7 1109 22924 roll 0.59 - - 2414 - 2.50 0.089 3613 549.6 174.7 - - 2001 - - - - - - - - 14.83 14.33 14.84
23050 92.1 7.9 1128 23057 done 0.59 0.12 0.250 2393 -175.0 2.42 0.055 2229 -571.9 174.7 - - 2001 - - - - - - - - 14.16 14.42 14.44
23366 75.9 4.0 1140 23415 roll 0.71 0.10 0.159 2443 500.0 2.60 0.069 790 -553.5 253.2 44.22 0.364 1708 -6.6 0.261 - - - - - - 14.49 14.54 14.28
23555 65.0 4.8 1167 23603 done 0.86 - - 2442 - 2.60 0.060 2244 559.2 314.2 40.70 0.331 1457 -6.2 0.229 - - - - - - 14.51 14.39 14.20
23923 46.1 4.6 1186 23976 roll 1.12 0.35 0.106 2562 342.9 2.50 0.084 3607 545.2 378.5 42.12 0.270 1195 -6.2 0.200 - - - - - - 14.35 14.46 14.26
24032 37.2 8.9 1199 24037 done 1.12 - - 2570 - 2.38 0.053 2234 -576.9 378.5 - - 1201 - - - - - - - - 14.52 14.42 14.54
24368 10.3 8.2 1214 24373 roll 1.12 - - 2578 - 2.58 0.067 791 -559.3 378.5 - - 1201 - - - - - - - - 14.78 14.39 14.79
24452 3.6 8.3 1226 24457 done 1.12 - - 2579 - 2.55 0.056 2241 568.6 378.5 - - 1202 - - - - - - - - 14.49 14.38 14.52
24462 end climb: SURFACE_DEPTH_REACHED
24462 begin surface coast
24505 end surface coast: CONTROL_FINISHED_OK
24505 begin surface
SM 0.83 - - - - -6.13 6.78 0.068 218 32.2 - - 2252 - 500.41 74.35 0.141 699 9.4 -0.006 - - - - - -