SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 261 * Raw log
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• Previous call tries 1 • 106.79 of 350.00 AH used of 24V (69.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.2 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: 36 s
• GPS2 time: 18 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 VBD -0.68 - - 203 - - - 2308 - -116.8 -84.45 - 2909 - - - - - - - - 14.69 - 14.70
107 5.1 -7.1 3 131 roll -0.68 8.95 0.416 1982 198.8 2.78 2.072 873 -516.2 -116.8 -5.35 - 3221 -58.3 - - - - - - - 14.10 13.28 14.49
211 42.5 -28.0 18 218 done -0.45 0.32 0.310 2042 187.5 2.47 0.060 2276 568.0 -116.8 - - 3223 - - - - - - - - 14.11 14.42 14.42
523 90.4 -9.0 30 528 roll -0.37 0.12 0.274 2069 225.0 2.47 0.075 3690 572.5 -116.8 - - 3223 - - - - - - - - 14.26 14.46 14.40
621 98.3 -7.7 44 626 done -0.37 - - 2073 - 2.40 0.044 2258 -596.7 -116.8 - - 3224 - - - - - - - - 14.64 14.56 14.66
943 119.3 -6.8 52 944 done -0.37 - - 2069 - - - 2251 - -116.8 - - 3226 - - - - - - - - 14.89 14.90 14.90
1279 141.1 -6.6 58 1280 done -0.37 - - 2069 - - - 2246 - -116.8 - - 3226 - - - - - - - - 14.90 14.92 14.92
1616 163.0 -6.8 64 1621 roll -0.37 - - 2069 - 2.35 0.052 886 -578.7 -116.8 - - 3225 - - - - - - - - 14.91 14.58 14.93
1684 168.4 -7.6 74 1690 done -0.37 - - 2068 - 2.47 0.058 2304 574.1 -116.8 - - 3224 - - - - - - - - 14.67 14.54 14.73
2007 193.9 -8.1 85 2013 roll -0.37 - - 2069 - 2.47 0.052 876 -578.1 -116.8 - - 3222 - - - - - - - - 14.92 14.57 14.94
2049 197.5 -8.6 91 2054 done -0.37 - - 2069 - 2.45 0.058 2267 567.8 -116.8 - - 3225 - - - - - - - - 14.68 14.57 14.71
2399 224.1 -7.4 99 2404 roll -0.37 - - 2068 - 2.53 0.087 3691 562.8 -116.8 - - 3219 - - - - - - - - 14.94 14.50 14.95
2462 228.5 -7.0 108 2467 done -0.43 - - 2068 - 2.38 0.044 2261 -600.8 -116.8 - - 3219 - - - - - - - - 14.69 14.65 14.73
2792 250.2 -6.4 120 2797 roll -0.43 - - 2068 - 2.38 0.054 884 -578.6 -116.8 - - 3217 - - - - - - - - 14.92 14.57 14.93
2861 254.8 -6.5 130 2866 done -0.48 - - 2068 - 2.42 0.060 2267 571.5 -116.8 - - 3215 - - - - - - - - 14.66 14.56 14.70
3184 274.7 -6.3 141 3189 roll -0.48 - - 2062 - 2.53 0.084 3694 564.0 -116.8 - - 3214 - - - - - - - - 14.92 14.50 14.94
3232 277.8 -6.6 148 3239 done -0.54 0.12 0.132 2006 -466.7 2.42 0.047 2255 -594.6 -116.8 - - 3214 - - - - - - - - 14.57 14.61 14.66
3575 309.1 -9.4 155 3580 roll -0.54 - - 2007 - 2.38 0.054 884 -576.1 -116.8 - - 3211 - - - - - - - - 14.93 14.55 14.95
3658 317.3 -9.7 167 3664 done -0.54 - - 1999 - 2.50 0.061 2272 555.2 -116.8 - - 3210 - - - - - - - - 14.54 14.48 14.60
4024 355.4 -10.7 177 4030 roll -0.48 0.15 0.278 2028 193.3 2.53 0.082 3701 564.8 -116.8 - - 3208 - - - - - - - - 14.21 14.48 14.37
4058 358.8 -9.5 182 4063 done -0.48 - - 2027 - 2.40 0.045 2263 -599.2 -116.8 - - 3208 - - - - - - - - 14.70 14.64 14.72
4415 390.7 -8.8 191 4420 roll -0.48 - - 2028 - 2.38 0.055 893 -575.6 -116.8 - - 3206 - - - - - - - - 14.92 14.53 14.95
4472 395.6 -8.7 199 4477 done -0.48 - - 2026 - 2.45 0.061 2274 563.7 -116.8 - - 3205 - - - - - - - - 14.65 14.53 14.69
4807 424.0 -8.4 212 4808 done -0.48 - - 2025 - - - 2274 - -116.8 - - 3203 - - - - - - - - 14.94 14.97 14.96
5143 451.6 -8.1 218 5144 done -0.48 - - 2026 - - - 2274 - -116.8 - - 3201 - - - - - - - - 14.94 14.96 14.96
5480 479.4 -8.2 224 5485 roll -0.48 - - 2025 - 2.45 0.058 896 -562.4 -116.8 - - 3199 - - - - - - - - 14.93 14.50 14.94
5527 483.6 -8.4 231 5534 done -0.48 - - 2025 - 2.50 0.063 2267 548.4 -116.8 - - 3200 - - - - - - - - 14.52 14.45 14.57
5872 509.6 -7.4 238 5876 roll -0.48 - - 2017 - 2.58 0.089 3700 555.4 -116.8 - - 3199 - - - - - - - - 14.91 14.44 14.92
5928 513.7 -7.4 246 5933 done -0.48 - - 2018 - 2.42 0.047 2271 -590.5 -116.8 - - 3198 - - - - - - - - 14.67 14.60 14.70
6264 537.3 -7.0 259 6268 roll -0.48 - - 2018 - 2.45 0.063 882 -566.9 -116.8 - - 3197 - - - - - - - - 14.93 14.49 14.95
6353 543.9 -7.3 272 6359 done -0.48 - - 2015 - 2.47 0.064 2262 558.7 -116.8 - - 3195 - - - - - - - - 14.60 14.47 14.64
6712 571.4 -7.9 281 6713 done -0.48 - - 2015 - - - 2263 - -116.8 - - 3194 - - - - - - - - 14.92 14.94 14.94
7047 600.6 -8.8 287 7048 done -0.48 - - 2014 - - - 2263 - -116.8 - - 3195 - - - - - - - - 14.93 14.95 14.95
7383 631.4 -9.3 293 7389 roll -0.48 - - 2011 - 2.58 0.090 3693 554.3 -116.8 - - 3192 - - - - - - - - 14.91 14.40 14.92
7425 635.4 -9.5 299 7430 done -0.48 0.12 0.246 2041 250.0 2.45 0.050 2256 -586.5 -116.8 - - 3191 - - - - - - - - 14.25 14.57 14.49
7775 662.1 -7.4 307 7780 roll -0.48 - - 2041 - 2.42 0.061 881 -568.2 -116.8 - - 3190 - - - - - - - - 14.90 14.45 14.92
7880 669.8 -7.1 322 7887 done -0.48 - - 2041 - 2.53 0.065 2259 544.7 -116.8 - - 3189 - - - - - - - - 14.47 14.39 14.52
8224 691.3 -6.1 329 8230 roll -0.48 - - 2035 - 2.60 0.092 3697 553.1 -116.8 - - 3188 - - - - - - - - 14.90 14.39 14.91
8271 694.3 -6.3 336 8278 done -0.48 - - 2033 - 2.53 0.052 2242 -575.1 -116.8 - - 3188 - - - - - - - - 14.53 14.48 14.56
8616 715.5 -6.2 343 8621 roll -0.48 - - 2034 - 2.40 0.065 894 -561.7 -116.8 - - 3186 - - - - - - - - 14.91 14.42 14.93
8672 719.4 -7.3 351 8677 done -0.48 - - 2033 - 2.47 0.066 2260 553.0 -116.8 - - 3187 - - - - - - - - 14.57 14.45 14.62
9007 742.1 -6.9 364 9012 roll -0.48 - - 2025 - 2.58 0.090 3690 554.3 -116.8 - - 3186 - - - - - - - - 14.91 14.31 14.93
9055 745.7 -7.6 371 9062 done -0.48 - - 2025 - 2.50 0.053 2251 -575.6 -116.8 - - 3185 - - - - - - - - 14.51 14.47 14.54
9400 771.9 -7.7 378 9405 roll -0.48 - - 2025 - 2.40 0.061 890 -567.1 -116.8 - - 3187 - - - - - - - - 14.90 14.42 14.92
9469 777.7 -8.1 388 9474 done -0.48 - - 2025 - 2.45 0.064 2256 557.6 -116.8 - - 3184 - - - - - - - - 14.55 14.43 14.62
9791 802.3 -7.7 399 9796 roll -0.48 - - 2020 - 2.60 0.095 3693 552.7 -116.8 - - 3183 - - - - - - - - 14.88 14.36 14.90
9833 805.1 -6.8 405 9839 done -0.48 - - 2020 - 2.50 0.054 2235 -583.2 -116.8 - - 3183 - - - - - - - - 14.59 14.51 14.62
10184 831.3 -7.4 413 10189 roll -0.48 - - 2020 - 2.40 0.063 893 -559.2 -116.8 - - 3182 - - - - - - - - 14.90 14.40 14.92
10232 835.0 -6.8 420 10239 done -0.48 - - 2027 - 2.50 0.067 2249 542.4 -116.8 - - 3182 - - - - - - - - 14.43 14.36 14.49
10576 858.9 -6.8 427 10577 done -0.48 - - 2020 - - - 2248 - -116.8 - - 3181 - - - - - - - - 14.87 14.89 14.89
10911 880.7 -6.4 433 10912 done -0.48 - - 2020 - - - 2248 - -116.8 - - 3178 - - - - - - - - 14.87 14.90 14.90
11247 901.5 -6.2 439 11248 done -0.48 - - 2020 - - - 2249 - -116.8 - - 3180 - - - - - - - - 14.90 14.92 14.91
11585 922.4 -6.3 445 11586 done -0.48 - - 2020 - - - 2248 - -116.8 - - 3178 - - - - - - - - 14.86 14.88 14.88
11919 943.7 -6.4 451 11924 roll -0.48 - - 2020 - 2.47 0.065 887 -551.0 -116.8 - - 3178 - - - - - - - - 14.86 14.38 14.88
11961 946.6 -3.6 457 11967 done -0.48 - - 2020 - 2.50 0.068 2256 547.6 -116.8 - - 3178 - - - - - - - - 14.52 14.40 14.57
12312 970.0 -6.8 465 12318 roll -0.48 - - 2013 - 2.62 0.096 3691 547.7 -116.8 - - 3178 - - - - - - - - 14.85 14.33 14.87
12360 973.4 -7.2 472 12367 done -0.48 0.12 0.239 2043 250.0 2.53 0.057 2227 -578.7 -116.8 - - 3177 - - - - - - - - 14.16 14.43 14.41
12700 end dive: TARGET_DEPTH_EXCEEDED
12700 begin apogee
12708 993.2 -6.0 479 12899 roll -0.19 0.32 0.207 2132 278.1 - - 2228 - - 188.60 1.656 2741 -2.3 0.263 - - - - - - 14.19 13.93 13.26
12900 end apogee: CONTROL_FINISHED_OK
12900 begin climb
12905 999.2 - 482 13064 roll 0.68 0.95 0.163 2407 289.5 2.67 0.093 3617 520.2 116.8 149.07 1.892 2263 -3.2 0.321 - - - - - - 13.88 13.93 12.95
13155 981.1 10.2 522 13160 done 0.60 - - 2418 - 2.58 0.063 2222 -540.7 116.8 - - 2238 - - - - - - - - 14.05 13.96 14.09
13484 947.7 10.2 534 13489 roll 0.52 0.17 0.267 2371 -276.5 2.58 0.093 3606 536.4 116.8 - - 2231 - - - - - - - - 14.07 14.28 14.22
13634 934.5 8.5 555 13638 done 0.52 - - 2380 - 2.50 0.061 2193 -565.2 116.8 - - 2230 - - - - - - - - 14.47 14.38 14.51
13988 904.4 8.5 564 13993 roll 0.52 - - 2391 - 2.55 0.079 794 -548.6 116.8 - - 2228 - - - - - - - - 14.76 14.31 14.78
14072 897.3 8.4 576 14077 done 0.52 - - 2391 - 2.55 0.067 2206 553.7 116.8 - - 2227 - - - - - - - - 14.52 14.39 14.56
14437 864.6 9.0 586 14442 roll 0.52 - - 2395 - 2.58 0.096 3608 543.4 116.8 - - 2227 - - - - - - - - 14.79 14.35 14.81
14513 856.6 10.0 597 14519 done 0.46 0.20 0.262 2354 -205.0 2.47 0.062 2197 -571.3 116.8 - - 2226 - - - - - - - - 14.13 14.45 14.45
14829 833.4 7.3 607 14834 roll 0.46 - - 2365 - 2.58 0.080 786 -546.9 118.5 - - 2226 - - - - - - - - 14.81 14.36 14.83
14898 828.4 7.0 617 14905 done 0.47 - - 2364 - 2.55 0.068 2199 554.1 125.4 - - 2225 - - - - - - - - 14.42 14.37 14.47
15221 804.6 7.4 628 15226 roll 0.47 - - 2364 - 2.58 0.096 3611 547.3 125.4 - - 2225 - - - - - - - - 14.84 14.33 14.85
15283 799.2 8.9 637 15289 done 0.47 - - 2374 - 2.47 0.060 2195 -573.3 125.4 - - 2225 - - - - - - - - 14.54 14.42 14.57
15612 773.6 7.7 649 15618 roll 0.47 - - 2384 - 2.53 0.079 797 -552.6 125.4 - - 2225 - - - - - - - - 14.85 14.34 14.86
15668 769.2 7.7 657 15675 done 0.47 0.12 0.262 2357 -225.0 2.55 0.065 2207 552.9 125.4 - - 2226 - - - - - - - - 14.14 14.35 14.40
16005 746.1 6.9 670 16025 roll 0.47 - - 2357 - 2.60 0.097 3612 540.4 136.1 15.70 1.769 2182 -2.8 0.224 - - - - - - 14.82 14.52 13.76
16116 737.6 7.9 686 16121 done 0.47 - - 2366 - 2.53 0.061 2206 -555.7 136.1 - - 2173 - - - - - - - - 14.41 14.35 14.46
16446 713.3 7.4 698 16451 roll 0.47 - - 2377 - 2.58 0.079 794 -547.3 136.1 - - 2171 - - - - - - - - 14.76 14.35 14.78
16515 708.4 6.9 708 16527 done 0.48 - - 2377 - 2.58 0.067 2214 550.4 145.6 4.35 1.392 2141 -6.9 0.665 - - - - - - 14.49 14.36 13.54
16838 684.3 7.5 719 16842 roll 0.48 - - 2377 - 2.55 0.093 3617 550.2 145.6 - - 2153 - - - - - - - - 14.80 14.32 14.82
16914 677.8 8.4 730 16919 done 0.48 0.12 0.265 2359 -150.0 2.47 0.062 2209 -570.0 145.6 - - 2153 - - - - - - - - 14.14 14.42 14.40
17230 656.2 6.9 740 17256 roll 0.49 - - 2370 - 2.62 0.079 791 -541.2 156.1 22.12 1.668 2097 -2.5 0.189 - - - - - - 14.82 14.47 13.80
17313 650.3 7.1 752 17318 done 0.54 - - 2369 - 2.58 0.065 2214 551.6 160.8 - - 2085 - - - - - - - - 14.45 14.34 14.49
17671 622.1 8.0 761 17676 roll 0.54 - - 2369 - 2.55 0.093 3611 547.8 160.8 - - 2084 - - - - - - - - 14.74 14.31 14.76
17739 615.9 8.9 771 17745 done 0.54 - - 2379 - 2.50 0.059 2214 -558.8 160.8 - - 2083 - - - - - - - - 14.40 14.35 14.44
18063 589.7 8.1 782 18068 roll 0.54 - - 2388 - 2.58 0.076 796 -549.6 160.8 - - 2083 - - - - - - - - 14.79 14.33 14.81
18110 585.9 7.6 789 18119 done 0.54 - - 2388 - 2.60 0.063 2212 544.6 160.8 - - 2080 - - - - - - - - 14.40 14.33 14.45
18455 558.7 7.9 796 18459 roll 0.54 - - 2388 - 2.55 0.093 3611 548.6 160.8 - - 2082 - - - - - - - - 14.82 14.31 14.84
18517 553.1 9.0 805 18523 done 0.54 - - 2396 - 2.45 0.060 2215 -569.8 160.8 - - 2082 - - - - - - - - 14.52 14.42 14.55
18846 526.2 8.2 817 18852 roll 0.54 - - 2406 - 2.60 0.076 787 -549.2 160.8 - - 2081 - - - - - - - - 14.81 14.36 14.83
18888 522.8 8.2 823 18894 done 0.54 0.12 0.252 2379 -225.0 2.60 0.064 2224 552.7 160.8 - - 2081 - - - - - - - - 14.15 14.38 14.40
19239 496.2 7.7 831 19244 roll 0.54 - - 2379 - 2.55 0.093 3612 544.3 160.8 - - 2081 - - - - - - - - 14.81 14.33 14.83
19336 487.5 8.8 845 19342 done 0.54 - - 2388 - 2.47 0.059 2227 -560.7 160.8 - - 2081 - - - - - - - - 14.40 14.36 14.46
19686 456.3 9.1 853 19692 roll 0.54 - - 2397 - 2.60 0.076 797 -550.0 160.8 - - 2081 - - - - - - - - 14.81 14.33 14.84
19728 452.4 9.2 859 19733 done 0.54 - - 2397 - 2.60 0.063 2240 555.0 160.8 - - 2081 - - - - - - - - 14.51 14.38 14.54
20079 419.1 9.5 867 20083 roll 0.54 - - 2397 - 2.50 0.091 3608 547.2 160.8 - - 2081 - - - - - - - - 14.83 14.31 14.84
20134 413.4 10.4 875 20140 done 0.54 0.12 0.267 2379 -150.0 2.40 0.057 2233 -572.9 160.8 - - 2080 - - - - - - - - 14.13 14.42 14.38
20471 388.0 7.4 888 20476 roll 0.54 - - 2389 - 2.58 0.072 797 -556.6 160.8 - - 2081 - - - - - - - - 14.82 14.34 14.83
20527 384.1 7.0 896 20539 done 0.54 - - 2389 - 2.60 0.061 2243 556.2 169.6 5.75 1.312 2049 -5.6 0.309 - - - - - - 14.51 14.38 13.78
20863 357.8 7.9 909 20869 roll 0.54 - - 2389 - 2.55 0.091 3617 538.8 169.6 1.95 0.190 2046 -1.5 0.549 - - - - - - 14.81 14.39 14.25
20932 351.6 8.9 919 20937 done 0.54 - - 2397 - 2.45 0.058 2238 -562.9 169.6 - - 2052 - - - - - - - - 14.44 14.38 14.47
21255 323.9 8.7 930 21261 roll 0.54 - - 2406 - 2.65 0.072 794 -544.9 169.6 1.75 0.195 2046 -3.4 1.079 - - - - - - 14.79 14.40 14.26
21304 319.6 8.7 937 21310 done 0.54 0.12 0.246 2378 -233.3 2.62 0.062 2255 557.6 169.6 - - 2056 - - - - - - - - 14.19 14.40 14.42
21640 294.1 7.4 950 21645 roll 0.54 - - 2378 - 2.53 0.091 3615 537.5 169.6 1.70 0.194 2046 -5.9 1.689 - - - - - - 14.82 14.39 14.28
21709 288.7 7.9 960 21714 done 0.54 - - 2385 - 2.38 0.055 2242 -576.9 169.6 - - 2056 - - - - - - - - 14.54 14.45 14.57
22025 264.8 7.7 970 22031 roll 0.54 - - 2393 - 2.67 0.071 799 -540.4 169.6 1.73 0.194 2045 -6.4 1.644 - - - - - - 14.83 14.40 14.26
22101 259.0 7.4 981 22107 done 0.54 - - 2394 - 2.60 0.060 2250 558.1 169.6 - - 2055 - - - - - - - - 14.52 14.40 14.57
22466 229.8 8.1 991 22472 roll 0.54 - - 2393 - 2.55 0.090 3617 536.1 169.6 1.48 0.196 2047 -5.4 1.200 - - - - - - 14.83 14.34 14.27
22528 224.0 9.3 1000 22533 done 0.54 - - 2402 - 2.42 0.057 2258 -561.6 169.6 - - 2055 - - - - - - - - 14.40 14.35 14.50
22858 195.1 8.9 1012 22864 roll 0.54 - - 2410 - 2.70 0.070 793 -542.6 169.6 1.70 0.192 2045 -5.9 1.132 - - - - - - 14.85 14.40 14.27
22907 191.1 8.2 1019 22912 done 0.54 0.15 0.233 2374 -240.0 2.62 0.062 2256 558.4 169.6 - - 2052 - - - - - - - - 14.14 14.41 14.38
23243 168.4 6.6 1032 23276 roll 0.55 - - 2376 - 2.42 0.089 3609 559.1 187.7 28.40 1.115 1967 -3.0 0.086 - - - - - - 14.83 14.40 13.93
23312 163.4 7.8 1042 23317 done 0.55 - - 2381 - 2.38 0.055 2248 -571.8 187.7 - - 1957 - - - - - - - - 14.52 14.43 14.55
23635 141.1 6.8 1053 23646 roll 0.56 - - 2391 - 2.62 0.073 798 -553.4 200.7 4.88 1.011 1927 -6.1 0.163 - - - - - - 14.76 14.50 13.73
23726 135.6 6.0 1066 23775 done 0.65 - - 2390 - 2.58 0.060 2244 560.5 232.6 44.62 1.060 1789 -3.1 0.075 - - - - - - 14.50 14.39 13.85
24135 105.5 7.2 1082 24140 roll 0.71 0.12 0.132 2450 500.0 2.47 0.085 3610 553.0 235.9 - - 1764 - - - - - - - - 14.44 14.31 14.45
24224 95.9 11.5 1095 24229 done 0.71 - - 2459 - 2.40 0.054 2237 -572.1 235.9 - - 1763 - - - - - - - - 14.50 14.41 14.54
24554 71.7 5.6 1109 24583 roll 0.74 - - 2459 - 2.58 0.083 3618 535.3 277.9 24.67 0.344 1607 -6.3 0.250 - - - - - - 14.77 14.46 14.17
24660 65.6 5.8 1121 24696 done 0.82 - - 2466 - 2.40 0.054 2244 -572.5 315.4 26.27 0.332 1452 -5.9 0.221 - - - - - - 14.53 14.42 14.17
25007 50.5 3.8 1137 25067 roll 1.05 0.17 0.112 2556 529.4 2.62 0.067 793 -553.8 399.1 55.00 0.285 1111 -6.2 0.208 - - - - - - 14.43 14.40 14.22
25200 38.4 6.4 1165 25221 done 1.14 - - 2556 - 2.58 0.056 2246 563.2 422.4 16.95 0.240 1016 -5.6 0.170 - - - - - - 14.50 14.39 14.17
25553 12.7 7.5 1182 25558 roll 1.21 - - 2556 - 2.42 0.076 3612 564.5 422.4 - - 1021 - - - - - - - - 14.81 14.40 14.79
25586 9.9 8.6 1187 25591 done 1.29 0.17 0.107 2635 464.7 2.38 0.051 2235 -578.6 422.4 - - 1021 - - - - - - - - 14.47 14.47 14.55
25660 end climb: SURFACE_DEPTH_REACHED
25660 begin surface coast
25688 end surface coast: CONTROL_FINISHED_OK
25688 begin surface
SM 0.92 - - - - -6.14 6.97 0.072 215 30.8 0.12 0.111 2319 -7391.7 500.17 49.47 0.132 699 14.1 -0.010 - - - - - -