SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 257 * Raw log
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• Previous call tries 1 • 105.32 of 350.00 AH used of 24V (69.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 deg, depth 0.93 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 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
17 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 109 VBD -0.68 - - 199 - - - 2295 - -116.8 -85.57 - 2946 - - - - - - - - 14.71 - 14.72
113 4.7 -6.5 3 136 roll -0.68 8.93 0.416 1980 199.4 2.75 2.063 860 -521.8 -116.8 -4.72 - 3221 -58.3 - - - - - - - 14.12 13.27 14.35
230 43.1 -27.0 20 235 done -0.45 0.32 0.307 2045 203.1 2.50 0.056 2284 569.6 -116.8 - - 3222 - - - - - - - - 14.12 14.44 14.42
557 95.2 -8.3 34 563 roll -0.38 0.12 0.270 2068 191.7 2.45 0.072 3693 575.1 -116.8 - - 3223 - - - - - - - - 14.28 14.48 14.41
655 100.8 -5.4 48 660 done -0.38 - - 2069 - 2.40 0.041 2242 -604.6 -116.8 - - 3224 - - - - - - - - 14.65 14.60 14.68
1005 124.4 -7.1 56 1010 roll -0.38 - - 2068 - 2.30 0.052 894 -586.1 -116.8 - - 3224 - - - - - - - - 14.88 14.57 14.90
1117 132.6 -7.2 72 1122 done -0.38 - - 2068 - 2.42 0.058 2286 575.2 -116.8 - - 3225 - - - - - - - - 14.66 14.56 14.67
1454 155.4 -7.0 85 1455 done -0.38 - - 2068 - - - 2286 - -116.8 - - 3224 - - - - - - - - 14.91 14.93 14.93
1790 179.4 -7.2 91 1790 done -0.38 - - 2068 - - - 2286 - -116.8 - - 3222 - - - - - - - - 14.93 14.93 14.93
2125 203.2 -7.1 97 2130 roll -0.38 - - 2064 - 2.40 0.050 894 -580.0 -116.8 - - 3219 - - - - - - - - 14.92 14.59 14.94
2188 207.9 -7.2 106 2194 done -0.38 - - 2068 - 2.42 0.057 2283 574.0 -116.8 - - 3218 - - - - - - - - 14.69 14.58 14.72
2517 232.2 -7.5 118 2523 roll -0.38 - - 2063 - 2.47 0.083 3694 571.3 -116.8 - - 3216 - - - - - - - - 14.92 14.52 14.95
2552 234.8 -7.7 123 2557 done -0.42 - - 2063 - 2.35 0.044 2282 -600.9 -116.8 - - 3216 - - - - - - - - 14.73 14.67 14.75
2910 262.1 -7.6 132 2914 roll -0.42 - - 2063 - 2.40 0.054 887 -581.2 -116.8 - - 3214 - - - - - - - - 14.93 14.58 14.95
2965 266.7 -8.1 140 2970 done -0.42 - - 2061 - 2.45 0.060 2286 571.0 -116.8 - - 3213 - - - - - - - - 14.66 14.56 14.71
3301 292.3 -7.6 153 3306 roll -0.42 - - 2056 - 2.50 0.084 3700 565.6 -116.8 - - 3211 - - - - - - - - 14.94 14.50 14.95
3343 295.5 -7.8 159 3348 done -0.42 - - 2056 - 2.38 0.044 2263 -603.8 -116.8 - - 3211 - - - - - - - - 14.72 14.66 14.74
3693 321.0 -7.2 167 3698 roll -0.42 - - 2056 - 2.35 0.053 895 -582.1 -116.8 - - 3208 - - - - - - - - 14.91 14.55 14.97
3749 325.1 -7.3 175 3754 done -0.42 - - 2056 - 2.45 0.061 2285 567.3 -116.8 - - 3208 - - - - - - - - 14.65 14.54 14.69
4086 347.3 -6.5 188 4091 roll -0.42 - - 2056 - 2.50 0.086 3689 561.6 -116.8 - - 3205 - - - - - - - - 14.92 14.49 14.93
4147 351.2 -6.1 197 4153 done -0.49 - - 2056 - 2.35 0.045 2282 -598.7 -116.8 - - 3205 - - - - - - - - 14.71 14.64 14.73
4478 371.5 -6.2 209 4483 roll -0.49 - - 2056 - 2.42 0.055 887 -576.4 -116.8 - - 3203 - - - - - - - - 14.91 14.50 14.93
4567 377.4 -6.4 222 4573 done -0.49 - - 2052 - 2.47 0.060 2285 566.0 -116.8 - - 3202 - - - - - - - - 14.64 14.51 14.69
4926 399.8 -6.4 231 4930 roll -0.49 - - 2052 - 2.50 0.086 3694 563.6 -116.8 - - 3200 - - - - - - - - 14.92 14.47 14.92
4967 402.6 -7.0 237 4972 done -0.53 - - 2052 - 2.40 0.047 2265 -595.4 -116.8 - - 3200 - - - - - - - - 14.71 14.64 14.73
5317 428.0 -7.5 245 5322 roll -0.53 - - 2047 - 2.40 0.057 888 -573.8 -116.8 - - 3200 - - - - - - - - 14.92 14.52 14.93
5379 433.1 -8.0 254 5386 done -0.53 - - 2052 - 2.50 0.063 2268 552.0 -116.8 - - 3199 - - - - - - - - 14.53 14.47 14.58
5710 458.0 -7.6 266 5717 roll -0.53 - - 2043 - 2.53 0.086 3693 563.2 -116.8 - - 3197 - - - - - - - - 14.90 14.41 14.92
5751 461.2 -7.8 272 5756 done -0.53 - - 2043 - 2.42 0.047 2280 -583.9 -116.8 - - 3196 - - - - - - - - 14.61 14.58 14.72
6102 486.4 -7.0 280 6107 roll -0.53 - - 2043 - 2.42 0.058 890 -574.4 -116.8 - - 3194 - - - - - - - - 14.93 14.51 14.95
6200 493.2 -6.8 294 6206 done -0.53 - - 2043 - 2.50 0.063 2287 558.8 -116.8 - - 3194 - - - - - - - - 14.62 14.50 14.66
6550 516.7 -6.8 302 6555 roll -0.53 - - 2040 - 2.53 0.088 3700 558.5 -116.8 - - 3193 - - - - - - - - 14.91 14.45 14.92
6577 518.6 -6.8 306 6583 done -0.53 - - 2040 - 2.40 0.046 2255 -602.1 -116.8 - - 3193 - - - - - - - - 14.68 14.62 14.70
6943 544.4 -7.2 316 6947 roll -0.53 - - 2039 - 2.35 0.054 907 -573.6 -116.8 - - 3192 - - - - - - - - 14.90 14.51 14.92
7025 550.5 -7.3 328 7030 done -0.53 - - 2040 - 2.42 0.062 2272 564.0 -116.8 - - 3191 - - - - - - - - 14.61 14.47 14.64
7390 576.4 -7.1 338 7395 roll -0.53 - - 2036 - 2.58 0.091 3693 550.8 -116.8 - - 3189 - - - - - - - - 14.90 14.42 14.92
7439 579.9 -7.3 345 7445 done -0.53 - - 2036 - 2.40 0.050 2273 -591.7 -116.8 - - 3189 - - - - - - - - 14.63 14.59 14.69
7782 604.2 -7.1 352 7787 roll -0.53 - - 2036 - 2.45 0.058 884 -566.9 -116.8 - - 3188 - - - - - - - - 14.90 14.47 14.92
7872 611.0 -7.4 365 7877 done -0.53 - - 2036 - 2.53 0.065 2294 557.3 -116.8 - - 3188 - - - - - - - - 14.58 14.44 14.62
8231 636.2 -7.1 374 8231 done -0.53 - - 2036 - - - 2294 - -116.8 - - 3187 - - - - - - - - 14.89 14.91 14.91
8566 659.5 -6.9 380 8567 done -0.53 - - 2036 - - - 2294 - -116.8 - - 3186 - - - - - - - - 14.92 14.94 14.94
8902 682.0 -6.6 386 8907 roll -0.53 - - 2037 - 2.50 0.057 893 -560.4 -116.8 - - 3184 - - - - - - - - 14.88 14.46 14.92
8937 684.5 -7.4 391 8941 done -0.53 - - 2036 - 2.47 0.066 2265 555.5 -116.8 - - 3187 - - - - - - - - 14.59 14.46 14.63
9294 707.3 -6.4 400 9299 roll -0.53 - - 2026 - 2.58 0.089 3694 553.9 -116.8 - - 3183 - - - - - - - - 14.89 14.39 14.91
9342 710.6 -6.7 407 9349 done -0.53 - - 2029 - 2.47 0.051 2271 -576.1 -116.8 - - 3185 - - - - - - - - 14.53 14.48 14.57
9687 733.4 -6.7 414 9692 roll -0.53 - - 2026 - 2.45 0.061 890 -563.7 -116.8 - - 3182 - - - - - - - - 14.90 14.44 14.92
9783 740.4 -7.2 428 9788 done -0.53 - - 2026 - 2.47 0.065 2266 557.1 -116.8 - - 3182 - - - - - - - - 14.56 14.43 14.60
10134 764.0 -6.8 436 10135 done -0.53 - - 2026 - - - 2267 - -116.8 - - 3181 - - - - - - - - 14.88 14.90 14.90
10471 786.2 -6.5 442 10471 done -0.53 - - 2029 - - - 2266 - -116.8 - - 3180 - - - - - - - - 14.88 14.89 14.89
10806 808.5 -6.7 448 10811 roll -0.53 - - 2026 - 2.47 0.058 883 -559.9 -116.8 - - 3179 - - - - - - - - 14.90 14.40 14.92
10854 811.9 -6.5 455 10861 done -0.53 - - 2026 - 2.55 0.067 2283 549.0 -116.8 - - 3179 - - - - - - - - 14.54 14.40 14.58
11199 834.9 -6.9 462 11205 roll -0.53 - - 2022 - 2.58 0.092 3701 549.6 -116.8 - - 3178 - - - - - - - - 14.87 14.35 14.88
11225 836.8 -6.9 466 11231 done -0.53 - - 2022 - 2.47 0.050 2245 -589.5 -116.8 - - 3178 - - - - - - - - 14.60 14.52 14.62
11590 862.2 -7.0 476 11595 roll -0.53 - - 2022 - 2.40 0.063 899 -560.8 -116.8 - - 3177 - - - - - - - - 14.87 14.40 14.89
11660 867.3 -7.1 486 11665 done -0.53 - - 2021 - 2.47 0.068 2262 551.8 -116.8 - - 3177 - - - - - - - - 14.55 14.42 14.59
11982 890.3 -7.2 497 11983 done -0.53 - - 2020 - - - 2263 - -116.8 - - 3177 - - - - - - - - 14.86 14.88 14.88
12318 913.2 -7.1 503 12319 done -0.53 - - 2021 - - - 2263 - -116.8 - - 3176 - - - - - - - - 14.86 14.88 14.88
12654 938.1 -7.4 509 12659 roll -0.53 - - 2014 - 2.60 0.093 3700 552.7 -116.8 - - 3175 - - - - - - - - 14.88 14.34 14.90
12695 941.4 -4.9 515 12700 done -0.53 - - 2014 - 2.45 0.050 2266 -585.3 -116.8 - - 3175 - - - - - - - - 14.58 14.50 14.61
13046 969.7 -7.8 523 13051 roll -0.53 - - 2014 - 2.45 0.063 889 -562.0 -116.8 - - 3174 - - - - - - - - 14.86 14.37 14.88
13116 975.7 -8.5 533 13121 done -0.53 - - 2014 - 2.50 0.067 2265 550.4 -116.8 - - 3174 - - - - - - - - 14.52 14.38 14.57
13322 end dive: TARGET_DEPTH_EXCEEDED
13322 begin apogee
13330 992.5 -8.0 542 13467 roll -0.19 0.45 0.222 2135 268.9 - - 2195 - - 129.43 2.769 2739 -3.4 0.233 - - - - 1 - 14.16 13.74 12.70
13469 end apogee: CONTROL_FINISHED_OK
13469 begin climb
13472 997.6 - 544 13637 roll 0.68 0.93 0.149 2410 295.7 2.62 0.062 802 -531.7 116.8 155.85 1.897 2261 -3.1 0.312 - - - - - - 13.73 13.79 12.84
13765 979.5 8.8 590 13770 done 0.68 - - 2410 - 2.62 0.068 2203 534.7 116.8 - - 2242 - - - - - - - - 14.08 13.97 14.12
14115 943.7 10.4 598 14120 roll 0.62 - - 2420 - 2.58 0.077 811 -539.5 116.8 - - 2239 - - - - - - - - 14.63 14.31 14.65
14246 929.9 10.0 617 14251 done 0.62 - - 2420 - 2.55 0.070 2209 548.2 116.8 - - 2237 - - - - - - - - 14.46 14.33 14.50
14563 895.4 10.9 627 14568 roll 0.55 0.15 0.275 2382 -253.3 2.58 0.096 3613 544.2 116.8 - - 2234 - - - - - - - - 14.11 14.35 14.27
14652 885.6 12.2 640 14657 done 0.55 - - 2391 - 2.42 0.061 2233 -570.2 116.8 - - 2235 - - - - - - - - 14.53 14.42 14.57
15010 851.9 9.4 649 15014 roll 0.55 - - 2401 - 2.62 0.076 783 -553.4 116.8 - - 2235 - - - - - - - - 14.81 14.37 14.83
15052 847.8 9.5 655 15057 done 0.55 - - 2402 - 2.60 0.069 2220 552.7 116.8 - - 2233 - - - - - - - - 14.53 14.40 14.58
15402 815.3 9.2 663 15407 roll 0.49 0.15 0.271 2360 -280.0 2.53 0.092 3609 549.0 116.8 - - 2234 - - - - - - - - 14.09 14.34 14.26
15492 807.6 8.8 676 15497 done 0.49 - - 2369 - 2.42 0.059 2216 -575.6 116.8 - - 2232 - - - - - - - - 14.54 14.43 14.59
15850 781.4 7.3 685 15855 roll 0.49 - - 2380 - 2.58 0.076 796 -550.4 118.1 - - 2232 - - - - - - - - 14.83 14.35 14.85
15898 777.6 8.2 692 15905 done 0.49 - - 2380 - 2.60 0.066 2215 545.8 118.1 - - 2231 - - - - - - - - 14.42 14.35 14.47
16242 750.6 8.1 699 16247 roll 0.49 - - 2379 - 2.55 0.093 3615 549.0 118.1 - - 2232 - - - - - - - - 14.84 14.34 14.86
16332 742.2 9.3 712 16337 done 0.49 - - 2389 - 2.42 0.060 2220 -576.4 118.1 - - 2231 - - - - - - - - 14.54 14.42 14.59
16690 710.9 8.8 721 16694 roll 0.49 - - 2402 - 2.60 0.078 790 -550.0 118.1 - - 2232 - - - - - - - - 14.85 14.34 14.87
16752 705.6 8.7 730 16759 done 0.49 0.15 0.256 2366 -240.0 2.60 0.067 2226 552.3 118.1 - - 2231 - - - - - - - - 14.12 14.39 14.42
17082 680.4 7.7 742 17088 roll 0.49 - - 2366 - 2.55 0.096 3613 543.9 118.1 - - 2231 - - - - - - - - 14.83 14.31 14.85
17179 672.0 8.5 756 17184 done 0.49 - - 2376 - 2.47 0.059 2225 -561.9 118.1 - - 2231 - - - - - - - - 14.55 14.38 14.59
17531 644.5 7.8 764 17535 roll 0.49 - - 2386 - 2.62 0.076 782 -550.8 118.1 - - 2231 - - - - - - - - 14.84 14.34 14.86
17586 640.2 7.6 772 17591 done 0.49 - - 2386 - 2.62 0.066 2230 552.7 118.1 - - 2230 - - - - - - - - 14.47 14.34 14.54
17922 613.7 7.9 785 17926 roll 0.49 - - 2386 - 2.53 0.095 3609 545.1 118.1 - - 2229 - - - - - - - - 14.85 14.31 14.87
18012 605.6 8.9 798 18018 done 0.49 0.15 0.259 2361 -166.7 2.42 0.059 2221 -573.6 118.1 - - 2229 - - - - - - - - 14.11 14.39 14.41
18370 581.5 6.8 807 18381 roll 0.50 - - 2372 - 2.58 0.077 799 -551.2 131.4 5.20 1.434 2203 -5.0 0.392 - - - - - - 14.85 14.59 13.69
18412 578.6 6.7 813 18445 done 0.51 - - 2372 - 2.60 0.066 2241 554.6 147.1 28.10 1.679 2137 -2.3 0.156 - - - - - - 14.55 14.43 13.74
18762 551.9 7.6 828 18766 roll 0.51 - - 2370 - 2.53 0.093 3614 542.7 147.1 - - 2122 - - - - - - - - 14.70 14.26 14.72
18838 545.6 8.0 839 18843 done 0.51 - - 2381 - 2.42 0.059 2236 -569.4 147.1 - - 2121 - - - - - - - - 14.46 14.35 14.50
19155 521.4 7.8 849 19159 roll 0.51 - - 2391 - 2.62 0.073 793 -550.8 147.1 - - 2121 - - - - - - - - 14.75 14.31 14.79
19237 515.1 7.4 861 19242 done 0.51 - - 2390 - 2.60 0.063 2237 555.4 147.1 - - 2120 - - - - - - - - 14.47 14.34 14.52
19602 484.7 8.6 871 19607 roll 0.51 - - 2390 - 2.53 0.091 3607 541.5 147.1 - - 2120 - - - - - - - - 14.81 14.30 14.82
19659 479.2 10.1 879 19664 done 0.51 0.15 0.250 2364 -173.3 2.42 0.057 2235 -566.9 147.1 - - 2120 - - - - - - - - 14.12 14.41 14.40
19994 452.7 7.8 892 19999 roll 0.51 - - 2374 - 2.62 0.073 791 -551.1 147.1 - - 2119 - - - - - - - - 14.82 14.32 14.84
20078 446.3 7.7 904 20082 done 0.56 - - 2374 - 2.60 0.064 2231 553.8 147.1 - - 2119 - - - - - - - - 14.50 14.37 14.54
20442 417.3 7.9 914 20448 roll 0.56 - - 2374 - 2.53 0.093 3613 546.2 147.1 - - 2118 - - - - - - - - 14.83 14.30 14.85
20532 409.5 8.3 927 20537 done 0.56 - - 2383 - 2.42 0.057 2235 -569.4 147.1 - - 2118 - - - - - - - - 14.51 14.40 14.55
20891 381.9 7.7 936 20895 roll 0.56 - - 2392 - 2.62 0.072 791 -551.1 147.1 - - 2118 - - - - - - - - 14.81 14.33 14.83
20938 378.4 7.2 943 20945 done 0.56 - - 2393 - 2.65 0.063 2237 545.7 149.9 - - 2118 - - - - - - - - 14.41 14.32 14.45
21282 352.2 7.6 950 21287 roll 0.56 - - 2392 - 2.53 0.091 3615 544.7 149.9 - - 2118 - - - - - - - - 14.82 14.29 14.84
21365 345.0 8.6 962 21371 done 0.56 - - 2402 - 2.42 0.057 2233 -571.1 149.9 - - 2118 - - - - - - - - 14.46 14.37 14.50
21730 315.3 8.2 972 21734 roll 0.56 - - 2411 - 2.60 0.071 792 -554.2 149.9 - - 2121 - - - - - - - - 14.82 14.31 14.84
21771 312.0 8.1 978 21777 done 0.56 - - 2411 - 2.62 0.063 2255 558.4 149.9 - - 2118 - - - - - - - - 14.52 14.40 14.57
22122 281.7 8.8 986 22128 roll 0.56 - - 2411 - 2.47 0.092 3609 548.2 149.9 - - 2119 - - - - - - - - 14.84 14.31 14.86
22178 276.0 10.3 994 22184 done 0.51 0.22 0.236 2365 -209.1 2.40 0.056 2242 -569.6 149.9 - - 2118 - - - - - - - - 14.11 14.43 14.42
22514 253.1 6.7 1007 22540 roll 0.52 - - 2374 - 2.65 0.073 787 -549.1 164.8 18.42 1.333 2057 -3.3 0.121 - - - - - - 14.83 14.53 13.93
22598 247.3 6.9 1019 22609 done 0.60 - - 2374 - 2.62 0.063 2248 557.6 174.7 3.90 0.999 2028 -7.4 0.356 - - - - - - 14.50 14.38 13.64
22962 221.0 7.2 1029 22969 roll 0.60 - - 2374 - 2.53 0.091 3616 540.7 176.9 2.88 0.721 2017 -3.8 0.226 - - - - - - 14.78 14.50 13.63
23038 214.8 8.0 1040 23043 done 0.60 - - 2382 - 2.40 0.057 2241 -572.9 176.9 - - 2025 - - - - - - - - 14.54 14.45 14.57
23403 187.7 7.6 1050 23409 roll 0.60 - - 2394 - 2.67 0.070 788 -544.2 176.9 1.80 0.194 2019 -3.3 0.623 - - - - - - 14.80 14.40 14.23
23486 181.3 7.4 1062 23492 done 0.66 - - 2390 - 2.60 0.062 2240 558.5 176.9 - - 2026 - - - - - - - - 14.52 14.40 14.56
23851 152.6 8.0 1072 23856 roll 0.66 - - 2391 - 2.55 0.088 3610 537.3 176.9 1.65 0.195 2016 -6.1 0.916 - - - - - - 14.81 14.39 14.26
23934 145.3 8.9 1084 23939 done 0.66 - - 2398 - 2.42 0.053 2240 -566.1 176.9 - - 2026 - - - - - - - - 14.57 14.41 14.60
24292 117.8 7.6 1093 24296 roll 0.66 - - 2406 - 2.60 0.070 797 -555.0 176.9 - - 2027 - - - - - - - - 14.84 14.36 14.86
24382 110.6 7.9 1106 24388 done 0.66 - - 2406 - 2.58 0.060 2237 558.1 176.9 - - 2027 - - - - - - - - 14.53 14.40 14.57
24713 88.7 5.4 1117 24753 roll 0.68 - - 2406 - 2.53 0.086 3615 544.7 223.5 31.90 0.408 1832 -6.1 0.257 - - - - - - 14.83 14.51 14.23
24788 84.8 5.6 1128 24823 done 0.71 - - 2410 - 2.45 0.053 2235 -563.3 264.6 27.00 0.395 1660 -6.4 0.264 - - - - - - 14.49 14.44 14.17
25136 70.8 2.9 1144 25209 roll 0.90 0.20 0.099 2502 460.0 2.62 0.068 792 -550.8 370.2 67.72 0.353 1230 -6.3 0.246 - - - - - - 14.44 14.43 14.19
25278 61.0 7.3 1165 25284 done 1.00 - - 2502 - 2.60 0.058 2246 559.2 370.2 - - 1232 - - - - - - - - 14.47 14.36 14.50
25609 40.6 5.6 1179 25642 roll 1.18 0.20 0.098 2602 500.0 2.42 0.081 3609 563.2 411.7 27.58 0.252 1059 -6.3 0.195 - - - - - - 14.43 14.40 14.21
25737 27.9 11.6 1197 25741 done 1.18 0.15 0.262 2577 -166.7 2.28 0.052 2295 -576.3 411.7 - - 1061 - - - - - - - - 14.15 14.44 14.40
26025 end climb: SURFACE_DEPTH_REACHED
26025 begin surface coast
26053 end surface coast: CONTROL_FINISHED_OK
26053 begin surface
SM 0.86 - - - - -6.14 6.80 0.070 214 31.5 - - 2283 - 500.17 55.67 0.138 698 12.5 -0.008 - - - - - -