SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 292 * Raw log
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• Previous call tries 1 • 118.33 of 350.00 AH used of 24V (66.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 19 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 101 VBD -0.68 - - 202 - - - 2291 - -116.8 -84.43 - 2858 - - - - - - - - 14.68 - 14.70
105 4.3 -6.0 3 129 roll -0.68 8.80 0.405 1962 200.0 2.78 2.082 3687 502.2 -116.8 -6.53 - 3220 -55.4 - - - - - - - 14.04 13.21 14.46
217 41.9 -26.7 19 222 done -0.49 0.30 0.253 2038 253.3 2.40 0.043 2269 -590.8 -116.8 - - 3222 - - - - - - - - 14.13 14.46 14.40
551 87.5 -8.5 34 556 roll -0.42 - - 2038 - 2.42 0.053 871 -577.7 -116.8 - - 3223 - - - - - - - - 14.80 14.47 14.82
750 106.3 -8.2 62 755 done -0.37 0.17 0.240 2073 205.9 2.42 0.056 2266 576.4 -116.8 - - 3224 - - - - - - - - 14.25 14.50 14.48
1113 129.5 -6.2 72 1117 roll -0.37 - - 2073 - 2.40 0.049 878 -578.3 -116.8 - - 3225 - - - - - - - - 14.88 14.54 14.89
1169 132.9 -6.2 80 1174 done -0.37 - - 2068 - 2.45 0.056 2267 566.9 -116.8 - - 3224 - - - - - - - - 14.63 14.52 14.65
1504 154.6 -6.6 93 1510 roll -0.37 - - 2059 - 2.50 0.078 3690 569.2 -116.8 - - 3224 - - - - - - - - 14.91 14.48 14.93
1574 159.7 -7.1 103 1579 done -0.37 - - 2059 - 2.40 0.043 2250 -600.0 -116.8 - - 3224 - - - - - - - - 14.67 14.59 14.69
1897 183.2 -7.3 114 1902 roll -0.37 - - 2059 - 2.35 0.056 894 -577.0 -116.8 - - 3219 - - - - - - - - 14.90 14.53 14.94
1937 186.3 -7.7 120 1943 done -0.37 - - 2056 - 2.45 0.057 2266 560.0 -116.8 - - 3221 - - - - - - - - 14.56 14.47 14.58
2288 211.4 -7.1 128 2289 done -0.37 - - 2056 - - - 2266 - -116.8 - - 3219 - - - - - - - - 14.90 14.92 14.92
2625 234.4 -6.8 134 2630 roll -0.37 - - 2056 - 2.40 0.050 886 -575.0 -116.8 - - 3217 - - - - - - - - 14.91 14.54 14.92
2658 236.8 -7.0 139 2664 done -0.37 - - 2056 - 2.42 0.058 2268 571.1 -116.8 - - 3217 - - - - - - - - 14.62 14.50 14.66
3017 261.0 -7.0 148 3021 roll -0.37 - - 2054 - 2.55 0.086 3697 560.4 -116.8 - - 3212 - - - - - - - - 14.92 14.45 14.94
3074 265.0 -7.1 156 3078 done -0.42 - - 2054 - 2.42 0.046 2259 -594.2 -116.8 - - 3214 - - - - - - - - 14.68 14.61 14.70
3408 287.5 -6.6 169 3414 roll -0.42 - - 2054 - 2.38 0.054 892 -574.4 -116.8 - - 3213 - - - - - - - - 14.93 14.52 14.94
3522 294.8 -6.4 185 3527 done -0.42 - - 2054 - 2.42 0.060 2262 566.1 -116.8 - - 3209 - - - - - - - - 14.62 14.50 14.66
3856 316.6 -6.6 198 3861 roll -0.42 - - 2043 - 2.55 0.083 3699 563.5 -116.8 - - 3209 - - - - - - - - 14.91 14.43 14.93
3912 320.6 -7.4 206 3917 done -0.42 - - 2043 - 2.42 0.044 2250 -598.8 -116.8 - - 3206 - - - - - - - - 14.66 14.60 14.69
4249 346.5 -7.8 219 4254 roll -0.42 - - 2043 - 2.38 0.057 893 -570.2 -116.8 - - 3206 - - - - - - - - 14.92 14.50 14.94
4331 353.3 -8.1 231 4337 done -0.42 - - 2043 - 2.45 0.060 2247 552.7 -116.8 - - 3206 - - - - - - - - 14.61 14.42 14.64
4696 381.3 -7.6 241 4702 roll -0.42 - - 2044 - 2.60 0.088 3694 556.5 -116.8 - - 3204 - - - - - - - - 14.91 14.40 14.93
4753 385.4 -7.4 249 4759 done -0.42 - - 2044 - 2.47 0.048 2241 -588.3 -116.8 - - 3203 - - - - - - - - 14.65 14.58 14.68
5089 410.2 -7.4 262 5093 roll -0.42 - - 2038 - 2.38 0.056 884 -570.2 -116.8 - - 3201 - - - - - - - - 14.90 14.47 14.92
5164 416.1 -7.6 273 5171 done -0.42 - - 2038 - 2.47 0.063 2245 551.0 -116.8 - - 3201 - - - - - - - - 14.46 14.40 14.51
5481 440.1 -7.7 283 5486 roll -0.42 - - 2030 - 2.60 0.087 3691 556.2 -116.8 - - 3199 - - - - - - - - 14.92 14.39 14.94
5521 443.6 -8.4 289 5528 done -0.42 0.05 0.213 2060 600.0 2.50 0.049 2244 -578.8 -116.8 - - 3199 - - - - - - - - 14.20 14.50 14.45
5873 469.6 -7.5 297 5879 roll -0.47 - - 2060 - 2.40 0.062 889 -564.6 -116.8 - - 3198 - - - - - - - - 14.90 14.44 14.91
5949 475.6 -7.7 308 5954 done -0.52 - - 2056 - 2.42 0.063 2246 560.7 -116.8 - - 3200 - - - - - - - - 14.57 14.45 14.62
6265 497.0 -6.6 318 6270 roll -0.57 0.12 0.141 1997 -491.7 2.62 0.088 3692 551.9 -116.8 - - 3196 - - - - - - - - 14.53 14.37 14.55
6313 501.0 -8.8 325 6320 done -0.57 - - 1997 - 2.50 0.050 2230 -584.8 -116.8 - - 3195 - - - - - - - - 14.61 14.53 14.64
6657 530.3 -8.5 332 6657 done -0.57 - - 1997 - - - 2230 - -116.8 - - 3194 - - - - - - - - 14.91 14.90 14.91
6992 559.2 -8.5 338 6997 roll -0.57 - - 1997 - 2.38 0.058 886 -564.7 -116.8 - - 3193 - - - - - - - - 14.90 14.42 14.92
7097 568.5 -8.8 353 7104 done -0.57 - - 1995 - 2.42 0.065 2229 555.0 -116.8 - - 3192 - - - - - - - - 14.54 14.41 14.58
7441 599.3 -9.1 360 7445 roll -0.57 - - 1986 - 2.65 0.089 3690 551.3 -116.8 - - 3191 - - - - - - - - 14.89 14.34 14.90
7509 606.0 -9.6 370 7515 done -0.57 - - 1986 - 2.50 0.051 2233 -582.8 -116.8 - - 3191 - - - - - - - - 14.59 14.49 14.62
7833 636.3 -9.4 381 7838 roll -0.57 - - 1986 - 2.40 0.059 874 -566.2 -116.8 - - 3190 - - - - - - - - 14.88 14.42 14.90
7894 642.3 -9.4 390 7900 done -0.57 0.12 0.294 2007 175.0 2.50 0.066 2259 554.0 -116.8 - - 3189 - - - - - - - - 14.08 14.36 14.37
8224 668.7 -8.0 402 8225 done -0.57 - - 2011 - - - 2259 - -116.8 - - 3188 - - - - - - - - 14.91 14.92 14.92
8561 696.9 -8.5 408 8562 done -0.57 - - 2010 - - - 2258 - -116.8 - - 3187 - - - - - - - - 14.90 14.92 14.92
8896 726.5 -8.9 414 8901 roll -0.57 - - 2000 - 2.60 0.088 3694 552.3 -116.8 - - 3186 - - - - - - - - 14.91 14.33 14.92
8937 730.4 -9.4 420 8943 done -0.57 - - 2000 - 2.53 0.051 2229 -579.1 -116.8 - - 3185 - - - - - - - - 14.57 14.47 14.58
9289 761.4 -8.8 428 9293 roll -0.57 - - 2000 - 2.42 0.064 877 -558.7 -116.8 - - 3184 - - - - - - - - 14.90 14.35 14.90
9379 769.3 -8.4 441 9385 done -0.57 - - 1999 - 2.45 0.067 2228 551.4 -116.8 - - 3184 - - - - - - - - 14.50 14.36 14.54
9737 796.3 -7.4 450 9741 roll -0.57 - - 1994 - 2.67 0.094 3686 546.1 -116.8 - - 3183 - - - - - - - - 14.86 14.28 14.89
9770 799.0 -7.4 455 9776 done -0.57 - - 1994 - 2.58 0.054 2202 -575.2 -116.8 - - 3183 - - - - - - - - 14.53 14.42 14.57
10129 826.4 -7.6 464 10134 roll -0.57 - - 1995 - 2.38 0.066 883 -554.2 -116.8 - - 3182 - - - - - - - - 14.89 14.33 14.90
10170 829.8 -6.7 470 10175 done -0.57 - - 1991 - 2.45 0.068 2229 549.4 -116.8 - - 3182 - - - - - - - - 14.52 14.36 14.54
10520 858.2 -8.2 478 10525 roll -0.57 - - 1985 - 2.67 0.095 3690 547.2 -116.8 - - 3181 - - - - - - - - 14.89 14.26 14.91
10590 864.2 -8.6 488 10595 done -0.57 0.12 0.254 2012 225.0 2.55 0.055 2216 -578.0 -116.8 - - 3180 - - - - - - - - 14.07 14.43 14.34
10912 888.5 -7.4 499 10913 done -0.57 - - 2012 - - - 2209 - -116.8 - - 3179 - - - - - - - - 14.89 14.91 14.90
11248 914.3 -7.7 505 11249 done -0.57 - - 2012 - - - 2208 - -116.8 - - 3181 - - - - - - - - 14.88 14.90 14.90
11585 939.2 -7.4 511 11590 roll -0.57 - - 2009 - 2.78 0.098 3691 533.5 -116.8 - - 3178 - - - - - - - - 14.88 14.24 14.90
11632 942.7 -7.5 518 11639 done -0.57 - - 2009 - 2.60 0.054 2213 -568.5 -116.8 - - 3178 - - - - - - - - 14.40 14.35 14.45
11977 967.5 -7.2 525 11982 roll -0.57 - - 2009 - 2.42 0.066 877 -552.1 -116.8 - - 3178 - - - - - - - - 14.85 14.29 14.86
12011 971.0 -10.0 530 12016 done -0.57 - - 2008 - 2.47 0.070 2231 548.2 -116.8 - - 3177 - - - - - - - - 14.47 14.33 14.52
12309 end dive: TARGET_DEPTH_EXCEEDED
12309 begin apogee
12317 991.9 -7.2 538 12511 roll -0.19 0.45 0.226 2129 268.9 - - 2232 - - 191.57 1.623 2739 -2.3 0.265 - - - - - - 14.07 13.93 13.24
12512 end apogee: CONTROL_FINISHED_OK
12512 begin climb
12516 997.2 - 541 12674 roll 0.68 0.95 0.157 2412 297.9 2.70 0.065 799 -530.7 116.8 146.52 1.891 2264 -3.2 0.325 - - - - - - 13.88 13.96 12.92
12820 975.5 8.9 589 12825 done 0.68 - - 2411 - 2.60 0.067 2199 538.5 116.8 - - 2238 - - - - - - - - 14.17 14.06 14.22
13151 942.6 10.1 601 13156 roll 0.62 - - 2422 - 2.60 0.076 801 -537.7 116.8 - - 2235 - - - - - - - - 14.66 14.32 14.68
13262 931.4 9.7 617 13267 done 0.62 - - 2422 - 2.58 0.068 2212 546.9 116.8 - - 2234 - - - - - - - - 14.47 14.35 14.51
13599 896.2 10.6 630 13605 roll 0.55 0.15 0.278 2382 -266.7 2.58 0.094 3611 542.2 116.8 - - 2232 - - - - - - - - 14.07 14.33 14.22
13695 886.7 11.5 644 13701 done 0.55 - - 2391 - 2.50 0.059 2218 -557.2 116.8 - - 2231 - - - - - - - - 14.44 14.38 14.48
14046 856.4 8.7 652 14051 roll 0.55 - - 2406 - 2.60 0.077 795 -547.3 116.8 - - 2231 - - - - - - - - 14.80 14.33 14.82
14103 851.4 9.6 660 14107 done 0.55 - - 2401 - 2.58 0.067 2217 551.2 116.8 - - 2229 - - - - - - - - 14.52 14.39 14.57
14438 821.2 9.0 673 14443 roll 0.50 0.12 0.275 2369 -266.7 2.55 0.091 3608 545.5 116.8 - - 2229 - - - - - - - - 14.09 14.32 14.23
14515 814.6 7.5 684 14520 done 0.50 - - 2378 - 2.45 0.058 2212 -569.8 116.8 - - 2229 - - - - - - - - 14.53 14.42 14.57
14830 790.9 7.5 694 14836 roll 0.50 - - 2388 - 2.62 0.073 782 -545.8 116.8 - - 2229 - - - - - - - - 14.81 14.33 14.84
14878 787.0 8.3 701 14885 done 0.50 - - 2388 - 2.65 0.066 2221 543.0 116.8 - - 2231 - - - - - - - - 14.38 14.33 14.43
15222 760.1 7.9 708 15227 roll 0.50 - - 2388 - 2.55 0.092 3614 546.3 116.8 - - 2228 - - - - - - - - 14.84 14.30 14.86
15306 752.1 9.5 720 15311 done 0.50 0.15 0.265 2370 -120.0 2.45 0.058 2219 -569.4 116.8 - - 2227 - - - - - - - - 14.06 14.40 14.38
15670 724.3 7.7 730 15675 roll 0.50 - - 2375 - 2.60 0.075 796 -547.3 116.8 - - 2227 - - - - - - - - 14.82 14.29 14.84
15740 719.1 7.5 740 15745 done 0.50 - - 2375 - 2.60 0.063 2234 553.1 116.8 - - 2227 - - - - - - - - 14.50 14.39 14.54
16062 694.4 7.7 751 16067 roll 0.50 - - 2375 - 2.53 0.093 3611 544.3 116.8 - - 2227 - - - - - - - - 14.82 14.26 14.84
16124 689.1 8.5 760 16130 done 0.50 - - 2384 - 2.45 0.056 2235 -561.6 116.8 - - 2227 - - - - - - - - 14.40 14.35 14.54
16455 663.7 7.7 772 16459 roll 0.50 - - 2394 - 2.62 0.072 787 -552.7 116.8 - - 2224 - - - - - - - - 14.81 14.29 14.83
16502 660.1 7.3 779 16509 done 0.50 0.12 0.263 2368 -216.7 2.62 0.063 2235 552.7 118.5 - - 2226 - - - - - - - - 14.07 14.33 14.38
16846 637.4 6.6 786 16872 roll 0.51 - - 2369 - 2.50 0.093 3602 546.8 137.1 18.58 1.673 2173 -2.9 0.206 - - - - - - 14.81 14.49 13.72
16943 630.2 7.6 800 16949 done 0.51 - - 2377 - 2.40 0.058 2229 -572.1 137.1 - - 2164 - - - - - - - - 14.47 14.37 14.52
17294 605.5 7.1 808 17299 roll 0.52 - - 2386 - 2.60 0.075 797 -550.8 142.5 - - 2163 - - - - - - - - 14.76 14.27 14.77
17350 601.6 6.8 816 17376 done 0.52 - - 2386 - 2.62 0.063 2246 553.1 155.5 22.00 1.640 2106 -2.6 0.180 - - - - - - 14.45 14.32 13.71
17687 575.1 8.1 829 17691 roll 0.52 - - 2382 - 2.53 0.092 3608 538.3 155.5 - - 2085 - - - - - - - - 14.71 14.26 14.74
17776 566.7 9.1 842 17782 done 0.52 - - 2394 - 2.47 0.057 2236 -555.5 155.5 - - 2085 - - - - - - - - 14.37 14.31 14.40
18135 534.6 9.2 851 18139 roll 0.52 - - 2405 - 2.62 0.071 794 -550.4 155.5 - - 2084 - - - - - - - - 14.76 14.29 14.78
18190 529.4 9.1 859 18195 done 0.52 0.15 0.242 2371 -226.7 2.62 0.062 2247 554.6 155.5 - - 2082 - - - - - - - - 14.08 14.34 14.38
18526 502.9 7.8 872 18536 roll 0.52 - - 2371 - 2.47 0.091 3610 551.8 155.5 - - 2082 - - - - - - - - 14.78 14.27 14.80
18606 495.9 8.6 883 18611 done 0.52 - - 2379 - 2.40 0.056 2240 -570.8 155.5 - - 2082 - - - - - - - - 14.48 14.37 14.52
18922 471.0 7.9 893 18927 roll 0.52 - - 2390 - 2.65 0.071 794 -545.7 155.5 - - 2082 - - - - - - - - 14.79 14.30 14.81
19013 464.3 7.2 906 19018 done 0.53 - - 2389 - 2.62 0.061 2245 553.8 159.3 - - 2081 - - - - - - - - 14.45 14.33 14.51
19370 436.9 7.7 915 19375 roll 0.53 - - 2389 - 2.50 0.091 3608 545.2 159.3 - - 2081 - - - - - - - - 14.80 14.25 14.82
19474 428.0 8.3 930 19481 done 0.53 - - 2398 - 2.42 0.054 2251 -560.7 159.3 - - 2081 - - - - - - - - 14.37 14.32 14.43
19819 399.9 8.3 937 19824 roll 0.53 - - 2407 - 2.67 0.072 797 -544.6 159.3 - - 2083 - - - - - - - - 14.83 14.19 14.84
19901 392.8 8.3 949 19907 done 0.53 0.15 0.234 2370 -246.7 2.62 0.061 2250 554.6 159.3 - - 2081 - - - - - - - - 14.08 14.31 14.36
20266 365.3 7.6 959 20270 roll 0.53 - - 2372 - 2.50 0.091 3609 543.6 159.3 - - 2081 - - - - - - - - 14.81 14.24 14.83
20328 359.9 8.8 968 20333 done 0.53 - - 2379 - 2.38 0.055 2249 -571.4 159.3 - - 2081 - - - - - - - - 14.50 14.40 14.54
20658 334.0 7.8 980 20663 roll 0.53 - - 2384 - 2.65 0.072 797 -547.9 159.3 - - 2081 - - - - - - - - 14.81 14.26 14.83
20706 330.4 7.4 987 20713 done 0.57 - - 2388 - 2.65 0.061 2242 545.3 159.3 - - 2078 - - - - - - - - 14.33 14.26 14.40
21051 305.3 7.2 994 21056 roll 0.57 - - 2388 - 2.50 0.089 3611 547.6 162.6 - - 2081 - - - - - - - - 14.81 14.26 14.82
21133 298.8 7.6 1006 21139 done 0.57 - - 2396 - 2.42 0.054 2253 -561.2 162.6 - - 2081 - - - - - - - - 14.37 14.33 14.42
21499 272.6 7.3 1016 21503 roll 0.57 - - 2405 - 2.65 0.070 796 -549.8 162.6 - - 2081 - - - - - - - - 14.81 14.26 14.83
21574 266.8 7.3 1027 21580 done 0.58 - - 2405 - 2.62 0.060 2258 558.0 164.1 1.90 0.182 2069 -6.3 1.758 - - - - - - 14.47 14.34 14.24
21890 240.8 8.4 1037 21894 roll 0.58 - - 2405 - 2.45 0.089 3608 551.0 164.1 - - 2077 - - - - - - - - 14.81 14.24 14.83
21953 234.7 9.9 1046 21958 done 0.58 - - 2415 - 2.38 0.053 2241 -574.4 164.1 - - 2077 - - - - - - - - 14.49 14.40 14.52
22282 203.8 9.4 1058 22287 roll 0.58 - - 2424 - 2.60 0.070 800 -554.2 164.1 - - 2077 - - - - - - - - 14.83 14.28 14.85
22316 200.6 9.1 1063 22322 done 0.58 0.15 0.240 2388 -240.0 2.62 0.061 2261 557.6 164.1 - - 2078 - - - - - - - - 14.10 14.35 14.35
22675 174.6 6.9 1072 22699 roll 0.58 - - 2388 - 2.47 0.088 3609 545.7 173.6 16.77 1.176 2025 -3.2 0.089 - - - - - - 14.81 14.54 13.91
22757 168.3 7.7 1084 22762 done 0.58 - - 2395 - 2.40 0.052 2257 -563.3 173.6 - - 2018 - - - - - - - - 14.42 14.38 14.45
23123 142.1 7.3 1094 23128 roll 0.58 - - 2404 - 2.65 0.067 797 -550.9 175.1 - - 2015 - - - - - - - - 14.78 14.29 14.79
23163 139.0 7.2 1100 23168 done 0.58 - - 2405 - 2.60 0.058 2254 560.4 177.7 - - 2015 - - - - - - - - 14.47 14.33 14.50
23514 108.8 9.0 1108 23518 roll 0.58 - - 2404 - 2.47 0.086 3614 550.6 177.7 - - 2015 - - - - - - - - 14.80 14.27 14.82
23611 100.0 8.4 1122 23618 done 0.58 - - 2411 - 2.40 0.054 2258 -565.0 177.7 - - 2015 - - - - - - - - 14.50 14.41 14.53
23934 80.0 5.5 1135 23967 roll 0.61 - - 2410 - 2.45 0.080 3612 552.7 220.7 27.73 0.369 1842 -6.2 0.257 - - - - - - 14.80 14.42 14.18
24003 76.1 6.2 1145 24030 done 0.69 - - 2413 - 2.33 0.051 2266 -577.7 248.2 19.80 0.353 1732 -5.6 0.227 - - - - - - 14.53 14.44 14.13
24358 60.5 4.0 1162 24416 roll 0.90 0.20 0.106 2504 455.0 2.45 0.083 3609 548.2 327.0 52.55 0.314 1407 -6.2 0.226 - - - - - - 14.38 14.38 14.19
24455 54.8 6.9 1176 24471 done 0.96 - - 2507 - 2.38 0.052 2239 -575.6 336.1 7.57 0.276 1374 -4.4 0.164 - - - - - - 14.50 14.42 14.11
24805 34.4 5.6 1193 24843 roll 1.07 0.12 0.131 2569 516.7 2.53 0.080 3605 539.9 377.7 28.70 0.228 1203 -6.0 0.171 - - - - - - 14.44 14.38 14.23
24858 30.7 7.2 1201 24871 done 1.07 0.12 0.274 2550 -158.3 2.35 0.050 2247 -577.9 382.1 4.93 0.203 1180 -4.7 0.134 - - - - - - 14.18 14.45 14.17
25197 8.8 6.2 1216 25222 roll 1.15 - - 2558 - 2.60 0.067 795 -558.5 408.9 18.27 0.155 1070 -6.0 0.065 - - - - - - 14.76 14.38 14.26
25257 4.6 7.4 1225 25263 done 1.24 0.12 0.125 2621 525.0 2.55 0.054 2250 570.6 408.9 - - 1071 - - - - - - - - 14.43 14.41 14.52
25275 end climb: SURFACE_DEPTH_REACHED
25275 begin surface coast
25304 end surface coast: CONTROL_FINISHED_OK
25304 begin surface
SM 0.77 - - - - -6.13 6.85 0.061 222 32.4 - - 2252 - 500.17 56.90 0.135 700 12.3 -0.007 - - - - - -