SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 267 * Raw log
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• Previous call tries 1 • 109.02 of 350.00 AH used of 24V (68.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.0 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 14 s • Transponder ping count: 10
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 107 VBD -0.68 - - 197 - - - 2288 - -116.8 -85.43 - 2964 - - - - - - - - 14.68 - 14.70
111 5.1 -7.1 3 134 roll -0.68 8.88 0.412 1980 200.8 2.75 2.065 871 -515.3 -116.8 -4.32 - 3222 -59.7 - - - - - - - 14.12 13.24 14.33
214 43.9 -30.8 18 221 done -0.44 0.35 0.281 2055 214.3 2.50 0.058 2286 566.0 -116.8 - - 3223 - - - - - - - - 14.12 14.40 14.41
526 89.0 -9.3 30 532 roll -0.36 - - 2044 - 2.45 0.076 3697 575.9 -116.8 - - 3225 - - - - - - - - 14.80 14.46 14.81
756 107.2 -7.6 63 762 done -0.36 0.10 0.210 2075 310.0 2.40 0.040 2256 -600.4 -116.8 - - 3225 - - - - - - - - 14.26 14.55 14.39
1086 129.7 -7.0 75 1091 roll -0.36 - - 2075 - 2.30 0.052 902 -588.7 -116.8 - - 3226 - - - - - - - - 14.89 14.57 14.90
1191 138.1 -7.9 90 1198 done -0.36 - - 2069 - 2.42 0.058 2282 570.2 -116.8 - - 3226 - - - - - - - - 14.65 14.54 14.67
1534 162.6 -6.9 97 1539 roll -0.36 - - 2061 - 2.47 0.080 3696 572.5 -116.8 - - 3224 - - - - - - - - 14.91 14.52 14.93
1610 167.9 -6.8 108 1616 done -0.36 - - 2061 - 2.38 0.043 2285 -592.9 -116.8 - - 3223 - - - - - - - - 14.63 14.59 14.71
1927 188.2 -6.4 118 1932 roll -0.36 - - 2062 - 2.38 0.051 894 -584.5 -116.8 - - 3222 - - - - - - - - 14.91 14.57 14.92
1995 192.8 -6.6 128 2000 done -0.36 - - 2057 - 2.42 0.058 2281 573.1 -116.8 - - 3222 - - - - - - - - 14.66 14.54 14.70
2318 215.2 -7.0 139 2319 done -0.36 - - 2057 - - - 2281 - -116.8 - - 3219 - - - - - - - - 14.92 14.95 14.95
2655 239.5 -7.3 145 2656 done -0.36 - - 2057 - - - 2281 - -116.8 - - 3220 - - - - - - - - 14.93 14.95 14.95
2990 265.4 -7.8 151 2995 roll -0.36 - - 2052 - 2.50 0.085 3694 565.2 -116.8 - - 3215 - - - - - - - - 14.92 14.50 14.97
3024 268.2 -8.0 156 3030 done -0.36 - - 2053 - 2.40 0.046 2283 -587.9 -116.8 - - 3215 - - - - - - - - 14.62 14.58 14.65
3383 295.6 -7.6 165 3388 roll -0.36 0.12 0.243 2089 300.0 2.42 0.053 881 -579.3 -116.8 - - 3212 - - - - - - - - 14.32 14.53 14.44
3479 301.5 -5.8 179 3485 done -0.44 - - 2087 - 2.50 0.061 2271 556.0 -116.8 - - 3211 - - - - - - - - 14.54 14.48 14.59
3830 319.0 -5.0 187 3835 roll -0.51 0.12 0.137 2025 -516.7 2.53 0.084 3691 561.3 -116.8 - - 3209 - - - - - - - - 14.58 14.47 14.62
3865 321.4 -7.4 192 3870 done -0.51 - - 2022 - 2.40 0.047 2262 -595.4 -116.8 - - 3208 - - - - - - - - 14.69 14.63 14.71
4222 350.6 -8.3 201 4227 roll -0.51 - - 2025 - 2.38 0.054 889 -576.9 -116.8 - - 3206 - - - - - - - - 14.92 14.53 14.93
4306 357.7 -8.4 213 4311 done -0.51 - - 2020 - 2.45 0.063 2273 564.9 -116.8 - - 3206 - - - - - - - - 14.64 14.52 14.68
4670 390.4 -9.2 223 4671 done -0.51 - - 2023 - - - 2273 - -116.8 - - 3204 - - - - - - - - 14.91 14.92 14.92
5006 420.4 -8.8 229 5011 roll -0.51 - - 2015 - 2.53 0.087 3689 559.7 -116.8 - - 3202 - - - - - - - - 14.94 14.44 14.95
5040 423.5 -9.1 234 5046 done -0.51 - - 2015 - 2.45 0.047 2256 -584.9 -116.8 - - 3203 - - - - - - - - 14.59 14.56 14.62
5399 455.6 -8.9 243 5403 roll -0.51 - - 2014 - 2.38 0.057 899 -570.2 -116.8 - - 3200 - - - - - - - - 14.92 14.50 14.95
5502 465.2 -8.8 258 5510 done -0.51 - - 2017 - 2.47 0.063 2257 549.8 -116.8 - - 3199 - - - - - - - - 14.50 14.43 14.57
5846 494.4 -8.5 265 5851 roll -0.51 - - 2010 - 2.55 0.089 3691 562.4 -116.8 - - 3198 - - - - - - - - 14.90 14.45 14.92
5895 498.3 -8.2 272 5901 done -0.51 - - 2010 - 2.42 0.048 2254 -593.8 -116.8 - - 3198 - - - - - - - - 14.66 14.59 14.68
6238 525.6 -8.0 279 6243 roll -0.51 - - 2010 - 2.40 0.057 892 -567.5 -116.8 - - 3196 - - - - - - - - 14.90 14.48 14.94
6286 529.7 -8.4 286 6294 done -0.51 - - 2010 - 2.50 0.065 2260 547.2 -116.8 - - 3196 - - - - - - - - 14.49 14.42 14.54
6631 559.3 -8.8 293 6632 done -0.51 - - 2010 - - - 2260 - -116.8 - - 3195 - - - - - - - - 14.91 14.92 14.92
6966 589.4 -8.9 299 6971 roll -0.51 - - 2000 - 2.58 0.087 3700 558.1 -116.8 - - 3193 - - - - - - - - 14.92 14.42 14.94
7028 595.0 -8.9 308 7034 done -0.51 0.08 0.226 2029 362.5 2.47 0.047 2265 -581.0 -116.8 - - 3193 - - - - - - - - 14.19 14.51 14.45
7359 618.9 -7.1 320 7364 roll -0.51 - - 2029 - 2.42 0.060 887 -569.4 -116.8 - - 3192 - - - - - - - - 14.90 14.45 14.92
7414 623.0 -7.3 328 7419 done -0.51 - - 2025 - 2.50 0.066 2269 552.8 -116.8 - - 3191 - - - - - - - - 14.57 14.45 14.62
7750 646.2 -6.8 341 7755 roll -0.51 - - 2017 - 2.58 0.091 3690 550.8 -116.8 - - 3193 - - - - - - - - 14.91 14.38 14.92
7792 649.2 -7.5 347 7797 done -0.51 - - 2018 - 2.45 0.052 2259 -584.1 -116.8 - - 3190 - - - - - - - - 14.63 14.56 14.65
8142 675.3 -7.5 355 8148 roll -0.51 - - 2018 - 2.40 0.060 890 -570.4 -116.8 - - 3189 - - - - - - - - 14.89 14.40 14.92
8211 681.2 -8.1 365 8216 done -0.51 - - 2011 - 2.50 0.065 2255 546.0 -116.8 - - 3189 - - - - - - - - 14.46 14.38 14.62
8535 707.5 -8.3 376 8539 roll -0.51 - - 2011 - 2.60 0.093 3691 552.3 -116.8 - - 3188 - - - - - - - - 14.88 14.35 14.90
8590 712.4 -9.5 384 8595 done -0.51 - - 2011 - 2.47 0.052 2248 -584.2 -116.8 - - 3187 - - - - - - - - 14.60 14.52 14.63
8926 741.6 -8.8 397 8931 roll -0.51 - - 2011 - 2.42 0.063 881 -564.9 -116.8 - - 3186 - - - - - - - - 14.88 14.41 14.90
8996 747.8 -8.8 407 9001 done -0.51 - - 2011 - 2.50 0.068 2262 552.4 -116.8 - - 3184 - - - - - - - - 14.54 14.41 14.59
9318 773.2 -7.8 418 9324 roll -0.51 - - 2006 - 2.60 0.093 3693 550.4 -116.8 - - 3184 - - - - - - - - 14.90 14.36 14.92
9374 777.6 -7.8 426 9380 done -0.51 - - 2006 - 2.47 0.051 2248 -585.0 -116.8 - - 3184 - - - - - - - - 14.59 14.51 14.62
9711 802.0 -7.3 439 9716 roll -0.51 - - 2006 - 2.42 0.063 885 -563.2 -116.8 - - 3183 - - - - - - - - 14.86 14.39 14.88
9779 807.3 -7.4 449 9785 done -0.51 0.15 0.270 2033 180.0 2.50 0.067 2260 550.0 -116.8 - - 3183 - - - - - - - - 14.13 14.38 14.41
10103 827.2 -6.2 460 10108 roll -0.51 - - 2024 - 2.60 0.092 3700 553.8 -116.8 - - 3182 - - - - - - - - 14.86 14.33 14.88
10164 831.4 -6.8 469 10170 done -0.51 - - 2024 - 2.47 0.052 2254 -585.4 -116.8 - - 3180 - - - - - - - - 14.58 14.50 14.61
10494 853.7 -6.7 481 10499 roll -0.51 - - 2024 - 2.42 0.062 889 -564.0 -116.8 - - 3181 - - - - - - - - 14.86 14.39 14.88
10571 859.2 -7.0 492 10576 done -0.51 - - 2024 - 2.50 0.067 2260 548.4 -116.8 - - 3180 - - - - - - - - 14.54 14.40 14.58
10886 880.5 -6.7 502 10887 done -0.51 - - 2023 - - - 2260 - -116.8 - - 3178 - - - - - - - - 14.86 14.88 14.88
11222 903.1 -6.7 508 11223 done -0.51 - - 2024 - - - 2260 - -116.8 - - 3179 - - - - - - - - 14.88 14.90 14.90
11559 924.8 -6.6 514 11564 roll -0.51 - - 2015 - 2.60 0.093 3691 550.4 -116.8 - - 3178 - - - - - - - - 14.88 14.32 14.90
11593 927.2 -6.2 519 11598 done -0.51 - - 2015 - 2.47 0.053 2247 -584.6 -116.8 - - 3178 - - - - - - - - 14.58 14.50 14.61
11950 952.5 -7.2 528 11955 roll -0.51 - - 2015 - 2.42 0.064 890 -560.7 -116.8 - - 3178 - - - - - - - - 14.88 14.37 14.90
12041 960.4 -10.0 541 12046 done -0.51 - - 2014 - 2.50 0.068 2263 549.2 -116.8 - - 3178 - - - - - - - - 14.50 14.37 14.54
12398 985.8 -7.6 550 12399 done -0.51 - - 2010 - - - 2260 - -116.8 - - 3176 - - - - - - - - 14.85 14.87 14.87
12506 end dive: TARGET_DEPTH_EXCEEDED
12506 begin apogee
12514 994.2 -7.3 552 12704 roll -0.19 0.43 0.220 2129 276.7 - - 2192 - - 187.77 1.644 2740 -2.3 0.266 - - - - - - 14.14 13.94 13.29
12706 end apogee: CONTROL_FINISHED_OK
12706 begin climb
12710 1000.1 - 555 12868 roll 0.68 0.95 0.161 2407 292.6 2.60 0.061 799 -535.8 116.8 148.23 1.895 2262 -3.2 0.322 - - - - - - 13.89 13.96 12.96
12966 983.1 8.9 596 12972 done 0.68 - - 2407 - 2.65 0.065 2199 528.3 116.8 - - 2238 - - - - - - - - 14.09 13.97 14.12
13296 949.8 10.3 608 13301 roll 0.62 - - 2417 - 2.58 0.076 810 -538.4 116.8 - - 2232 - - - - - - - - 14.64 14.31 14.66
13409 938.6 9.8 624 13413 done 0.62 - - 2417 - 2.58 0.070 2216 545.0 116.8 - - 2234 - - - - - - - - 14.46 14.34 14.50
13744 902.4 10.9 637 13749 roll 0.55 0.12 0.285 2382 -291.7 2.55 0.093 3609 546.3 116.8 - - 2230 - - - - - - - - 14.11 14.34 14.27
13827 892.9 10.5 649 13832 done 0.50 - - 2391 - 2.45 0.060 2220 -566.9 116.8 - - 2228 - - - - - - - - 14.53 14.42 14.57
14192 856.6 10.0 659 14197 roll 0.50 - - 2401 - 2.62 0.079 794 -544.3 116.8 - - 2231 - - - - - - - - 14.79 14.38 14.81
14261 849.7 9.7 669 14267 done 0.50 0.15 0.257 2368 -220.0 2.60 0.068 2219 548.1 116.8 - - 2227 - - - - - - - - 14.14 14.38 14.44
14585 821.6 8.8 680 14590 roll 0.50 - - 2368 - 2.55 0.095 3610 545.5 116.8 - - 2226 - - - - - - - - 14.82 14.33 14.83
14667 813.2 9.6 692 14672 done 0.50 - - 2377 - 2.47 0.058 2222 -561.9 116.8 - - 2226 - - - - - - - - 14.44 14.38 14.57
15032 780.0 9.1 702 15038 roll 0.50 - - 2388 - 2.60 0.079 795 -548.8 116.8 - - 2226 - - - - - - - - 14.84 14.34 14.86
15094 774.6 8.7 711 15099 done 0.50 - - 2388 - 2.58 0.067 2218 551.6 116.8 - - 2226 - - - - - - - - 14.52 14.39 14.57
15424 745.2 8.8 723 15433 roll 0.50 - - 2388 - 2.55 0.096 3620 549.8 116.8 - - 2227 - - - - - - - - 14.85 14.31 14.86
15495 738.4 9.5 733 15501 done 0.45 0.20 0.257 2351 -185.0 2.47 0.062 2216 -568.4 116.8 - - 2223 - - - - - - - - 14.09 14.42 14.41
15819 717.5 6.3 744 15846 roll 0.46 - - 2360 - 2.62 0.077 795 -542.4 140.4 22.75 1.718 2163 -2.6 0.208 - - - - - - 14.81 14.48 13.75
15888 713.0 6.6 754 15915 done 0.53 - - 2361 - 2.60 0.065 2230 551.9 158.8 23.17 1.705 2093 -3.0 0.239 - - - - - - 14.47 14.34 13.66
16260 686.7 7.1 765 16265 roll 0.53 - - 2361 - 2.53 0.094 3608 544.7 163.9 - - 2070 - - - - - - - - 14.70 14.30 14.70
16328 681.3 7.8 775 16334 done 0.53 - - 2369 - 2.47 0.060 2234 -556.3 163.9 - - 2069 - - - - - - - - 14.50 14.34 14.52
16652 657.8 7.3 786 16658 roll 0.53 - - 2378 - 2.62 0.075 787 -552.3 164.3 - - 2069 - - - - - - - - 14.76 14.33 14.78
16722 652.8 7.1 796 16733 done 0.53 - - 2379 - 2.60 0.065 2226 553.5 170.3 3.72 1.193 2044 -6.7 0.696 - - - - - - 14.49 14.37 13.52
17043 626.3 8.4 807 17048 roll 0.53 - - 2379 - 2.53 0.094 3608 546.2 170.3 - - 2050 - - - - - - - - 14.80 14.33 14.82
17113 619.3 10.0 817 17118 done 0.53 - - 2389 - 2.42 0.059 2225 -571.5 170.3 - - 2051 - - - - - - - - 14.53 14.43 14.56
17436 586.6 10.4 828 17440 roll 0.53 - - 2398 - 2.60 0.076 798 -548.8 170.3 - - 2051 - - - - - - - - 14.81 14.35 14.82
17498 580.2 9.9 837 17503 done 0.53 - - 2398 - 2.58 0.063 2229 554.7 170.3 - - 2051 - - - - - - - - 14.52 14.40 14.56
17828 544.4 10.9 849 17833 roll 0.53 - - 2398 - 2.53 0.093 3612 546.6 170.3 - - 2049 - - - - - - - - 14.81 14.33 14.81
17903 535.8 11.0 860 17909 done 0.53 0.08 0.230 2372 -325.0 2.47 0.059 2238 -556.3 170.3 - - 2051 - - - - - - - - 14.12 14.37 14.39
18219 511.0 7.6 870 18225 roll 0.53 - - 2381 - 2.62 0.074 788 -553.4 170.3 - - 2051 - - - - - - - - 14.84 14.33 14.86
18268 507.6 6.9 877 18294 done 0.54 - - 2382 - 2.65 0.064 2241 548.3 180.2 19.83 1.503 2002 -2.5 0.158 - - - - - - 14.52 14.39 13.85
18611 481.6 7.7 891 18616 roll 0.54 - - 2381 - 2.50 0.092 3612 548.4 180.2 - - 1988 - - - - - - - - 14.74 14.31 14.76
18688 474.8 8.9 902 18694 done 0.54 - - 2390 - 2.42 0.058 2228 -571.9 180.2 - - 1988 - - - - - - - - 14.49 14.40 14.54
19004 446.5 9.1 912 19008 roll 0.54 - - 2399 - 2.62 0.075 796 -546.6 180.2 - - 1988 - - - - - - - - 14.81 14.33 14.82
19072 440.0 9.3 922 19079 done 0.54 - - 2400 - 2.62 0.063 2246 553.4 180.2 - - 1987 - - - - - - - - 14.49 14.36 14.54
19396 408.3 9.9 933 19401 roll 0.54 - - 2400 - 2.50 0.093 3607 544.4 180.2 - - 1987 - - - - - - - - 14.82 14.31 14.83
19471 399.7 11.3 944 19477 done 0.54 0.10 0.217 2366 -340.0 2.42 0.057 2251 -560.3 180.2 - - 1984 - - - - - - - - 14.12 14.36 14.41
19787 373.7 8.1 954 19793 roll 0.54 - - 2374 - 2.67 0.074 782 -550.2 180.2 - - 1986 - - - - - - - - 14.81 14.33 14.83
19857 368.1 8.0 964 19862 done 0.61 - - 2375 - 2.65 0.063 2246 552.5 180.2 - - 1986 - - - - - - - - 14.51 14.38 14.56
20180 341.8 8.1 975 20184 roll 0.61 - - 2374 - 2.50 0.092 3609 545.2 180.2 - - 1986 - - - - - - - - 14.84 14.31 14.86
20248 335.7 8.8 985 20254 done 0.61 - - 2383 - 2.45 0.057 2240 -558.8 180.2 - - 1986 - - - - - - - - 14.42 14.37 14.55
20572 310.9 7.6 996 20577 roll 0.61 - - 2392 - 2.65 0.073 790 -547.2 180.2 - - 1986 - - - - - - - - 14.84 14.33 14.86
20655 304.9 7.0 1008 20661 done 0.67 - - 2392 - 2.62 0.062 2243 554.6 188.8 2.60 0.622 1969 -6.5 0.607 - - - - - - 14.45 14.38 13.61
21013 277.8 7.5 1017 21018 roll 0.67 - - 2392 - 2.47 0.090 3609 553.0 188.8 - - 1976 - - - - - - - - 14.81 14.35 14.83
21081 271.9 8.5 1027 21087 done 0.67 - - 2401 - 2.45 0.054 2234 -561.2 188.8 - - 1977 - - - - - - - - 14.55 14.40 14.58
21405 246.1 8.1 1038 21410 roll 0.67 - - 2410 - 2.60 0.070 794 -553.8 188.8 - - 1979 - - - - - - - - 14.83 14.35 14.85
21432 243.9 7.8 1042 21438 done 0.67 - - 2410 - 2.60 0.061 2242 556.9 188.8 - - 1977 - - - - - - - - 14.53 14.41 14.57
21796 211.8 9.0 1052 21801 roll 0.67 - - 2410 - 2.50 0.089 3617 550.0 188.8 - - 1977 - - - - - - - - 14.83 14.33 14.85
21908 200.1 10.0 1068 21913 done 0.67 - - 2419 - 2.40 0.057 2244 -572.1 188.8 - - 1977 - - - - - - - - 14.54 14.44 14.57
22245 167.9 9.6 1081 22250 roll 0.67 - - 2429 - 2.62 0.072 791 -554.6 188.8 - - 1977 - - - - - - - - 14.85 14.29 14.87
22300 162.5 9.5 1089 22305 done 0.67 - - 2429 - 2.62 0.061 2255 558.8 188.8 - - 1978 - - - - - - - - 14.52 14.40 14.56
22637 129.2 10.0 1102 22642 roll 0.67 - - 2429 - 2.47 0.089 3619 552.2 188.8 - - 1978 - - - - - - - - 14.85 14.33 14.87
22692 123.2 10.8 1110 22698 done 0.67 - - 2438 - 2.42 0.057 2235 -571.9 188.8 1.55 0.193 1970 -5.2 0.624 - - - - - - 14.54 14.44 14.30
23028 94.0 8.0 1124 23033 roll 0.67 - - 2450 - 2.60 0.068 792 -555.0 188.8 - - 1976 - - - - - - - - 14.85 14.36 14.85
23126 87.0 7.9 1138 23132 done 0.67 0.12 0.261 2422 -233.3 2.62 0.062 2255 558.4 188.8 - - 1977 - - - - - - - - 14.14 14.41 14.40
23449 69.4 4.5 1151 23504 roll 0.77 - - 2422 - 2.50 0.085 3616 544.4 257.1 44.75 0.347 1695 -6.3 0.239 - - - - - - 14.83 14.52 14.26
23592 62.7 4.9 1171 23636 done 0.91 0.20 0.098 2503 405.0 2.40 0.054 2248 -570.0 314.2 39.25 0.324 1457 -6.1 0.222 - - - - - - 14.45 14.45 14.20
23946 44.2 5.1 1189 23987 roll 1.02 - - 2503 - 2.55 0.083 3618 537.3 368.1 36.12 0.264 1240 -6.0 0.190 - - - - - - 14.76 14.46 14.24
24067 37.7 5.2 1206 24106 done 1.17 0.20 0.097 2587 420.0 2.33 0.051 2276 -576.0 418.2 34.15 0.244 1033 -6.1 0.177 - - - - - - 14.44 14.44 14.21
24418 7.4 7.8 1223 24423 roll 1.17 - - 2595 - 2.65 0.066 796 -558.5 418.2 - - 1038 - - - - - - - - 14.76 14.37 14.78
24474 end climb: SURFACE_DEPTH_REACHED
24475 begin surface coast
24503 end surface coast: CONTROL_FINISHED_OK
24503 begin surface
SM 0.92 - - - - -6.13 6.78 0.061 223 32.9 2.67 0.051 2290 664.4 500.17 51.90 0.135 699 13.5 -0.009 - - - - - -