SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 296 * Raw log
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• Previous call tries 1 • 119.81 of 350.00 AH used of 24V (65.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.1 deg, depth 0.88 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 20 s • Transponder ping count: 6
• 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
17 begin dive
21 - - - 107 VBD -0.68 - - 201 - - - 2272 - -116.8 -84.97 - 2882 - - - - - - - - 14.68 - 14.70
111 4.4 -6.1 3 135 roll -0.68 8.93 0.411 1962 197.2 2.80 2.074 3694 507.9 -116.8 -6.03 - 3221 -56.2 - - - - - - - 14.02 13.20 14.43
236 45.6 -26.2 21 242 done -0.47 0.30 0.281 2038 253.3 2.42 0.044 2261 -592.1 -116.8 - - 3222 - - - - - - - - 14.09 14.46 14.40
558 87.8 -9.1 34 559 done -0.40 0.12 0.266 2067 241.7 - - 2252 - -116.8 - - 3224 - - - - - - - - 14.27 14.56 14.50
894 114.0 -8.0 43 899 roll -0.40 - - 2067 - 2.38 0.052 877 -577.7 -116.8 - - 3225 - - - - - - - - 14.88 14.53 14.90
976 120.3 -7.4 55 982 done -0.40 - - 2063 - 2.50 0.058 2288 564.4 -116.8 - - 3225 - - - - - - - - 14.53 14.48 14.57
1341 145.3 -6.6 65 1347 roll -0.40 - - 2066 - 2.45 0.049 868 -579.6 -116.8 - - 3224 - - - - - - - - 14.92 14.56 14.94
1369 147.1 -6.7 69 1375 done -0.40 - - 2065 - 2.47 0.057 2285 573.7 -116.8 - - 3224 - - - - - - - - 14.64 14.54 14.68
1733 169.7 -6.2 79 1738 roll -0.40 - - 2056 - 2.47 0.078 3696 571.3 -116.8 - - 3222 - - - - - - - - 14.91 14.50 14.93
1767 172.1 -7.4 84 1773 done -0.40 - - 2056 - 2.42 0.043 2264 -591.7 -116.8 - - 3222 - - - - - - - - 14.62 14.58 14.64
2126 198.9 -7.6 93 2132 roll -0.40 - - 2056 - 2.38 0.053 888 -578.2 -116.8 - - 3217 - - - - - - - - 14.92 14.56 14.93
2222 206.6 -7.6 107 2228 done -0.40 - - 2056 - 2.47 0.058 2272 560.3 -116.8 - - 3219 - - - - - - - - 14.53 14.47 14.58
2573 232.7 -7.6 115 2574 done -0.40 - - 2056 - - - 2272 - -116.8 - - 3217 - - - - - - - - 14.92 14.94 14.94
2910 258.0 -7.5 121 2915 roll -0.40 - - 2053 - 2.55 0.087 3700 560.0 -116.8 - - 3215 - - - - - - - - 14.92 14.45 14.95
2936 260.1 -7.5 125 2943 done -0.40 - - 2053 - 2.42 0.045 2271 -590.5 -116.8 - - 3215 - - - - - - - - 14.60 14.57 14.63
3302 289.5 -8.2 135 3306 roll -0.40 - - 2053 - 2.40 0.056 899 -571.7 -116.8 - - 3212 - - - - - - - - 14.92 14.51 14.95
3371 295.6 -8.8 145 3377 done -0.40 - - 2053 - 2.42 0.060 2276 569.0 -116.8 - - 3210 - - - - - - - - 14.62 14.50 14.66
3693 321.4 -7.9 156 3694 done -0.40 - - 2053 - - - 2278 - -116.8 - - 3209 - - - - - - - - 14.95 14.95 14.96
4030 344.8 -6.9 162 4031 done -0.40 - - 2053 - - - 2277 - -116.8 - - 3208 - - - - - - - - 14.95 14.96 14.96
4366 367.4 -6.8 168 4367 done -0.40 - - 2053 - - - 2279 - -116.8 - - 3205 - - - - - - - - 14.94 14.96 14.95
4701 390.5 -6.8 174 4706 roll -0.40 - - 2052 - 2.45 0.057 900 -562.9 -116.8 - - 3203 - - - - - - - - 14.95 14.48 14.96
4735 392.9 -7.2 179 4741 done -0.40 - - 2052 - 2.45 0.061 2274 560.8 -116.8 - - 3205 - - - - - - - - 14.58 14.45 14.63
5093 415.7 -6.4 188 5098 roll -0.40 - - 2043 - 2.58 0.087 3699 552.3 -116.8 - - 3199 - - - - - - - - 14.92 14.40 14.92
5135 418.5 -6.8 194 5140 done -0.45 - - 2043 - 2.40 0.048 2282 -590.4 -116.8 - - 3201 - - - - - - - - 14.66 14.58 14.67
5486 441.6 -6.5 202 5491 roll -0.45 - - 2044 - 2.45 0.059 888 -569.0 -116.8 - - 3199 - - - - - - - - 14.91 14.47 14.92
5590 448.8 -6.8 217 5597 done -0.45 - - 2043 - 2.50 0.062 2268 552.0 -116.8 - - 3199 - - - - - - - - 14.57 14.44 14.61
5934 473.2 -7.3 224 5938 roll -0.45 - - 2044 - 2.58 0.090 3694 552.7 -116.8 - - 3198 - - - - - - - - 14.91 14.38 14.93
5990 477.5 -7.5 232 5994 done -0.49 - - 2039 - 2.45 0.049 2258 -586.1 -116.8 - - 3197 - - - - - - - - 14.62 14.54 14.64
6326 502.5 -7.4 245 6332 roll -0.49 - - 2039 - 2.40 0.057 886 -571.7 -116.8 - - 3193 - - - - - - - - 14.90 14.45 14.92
6422 509.9 -7.4 259 6428 done -0.49 - - 2037 - 2.50 0.062 2259 549.2 -116.8 - - 3194 - - - - - - - - 14.38 14.31 14.42
6773 534.0 -6.9 267 6778 roll -0.49 - - 2033 - 2.58 0.089 3693 555.8 -116.8 - - 3194 - - - - - - - - 14.93 14.36 14.95
6801 535.9 -6.8 271 6806 done -0.49 - - 2033 - 2.45 0.050 2255 -586.9 -116.8 - - 3193 - - - - - - - - 14.62 14.54 14.64
7165 560.9 -6.9 281 7171 roll -0.49 - - 2033 - 2.42 0.061 885 -566.1 -116.8 - - 3192 - - - - - - - - 14.90 14.41 14.92
7213 564.5 -7.4 288 7220 done -0.49 - - 2027 - 2.53 0.064 2267 546.2 -116.8 - - 3192 - - - - - - - - 14.42 14.35 14.47
7558 589.7 -7.4 295 7559 done -0.49 - - 2029 - - - 2267 - -116.8 - - 3190 - - - - - - - - 14.89 14.91 14.91
7893 615.0 -7.5 301 7899 roll -0.49 - - 2030 - 2.47 0.057 876 -563.2 -116.8 - - 3188 - - - - - - - - 14.90 14.38 14.92
7934 618.3 -7.8 307 7940 done -0.49 - - 2026 - 2.55 0.064 2268 545.9 -116.8 - - 3188 - - - - - - - - 14.40 14.34 14.47
8285 644.1 -7.4 315 8290 roll -0.49 - - 2022 - 2.60 0.091 3700 550.8 -116.8 - - 3186 - - - - - - - - 14.90 14.32 14.94
8342 648.3 -7.6 323 8347 done -0.49 - - 2022 - 2.47 0.050 2256 -584.6 -116.8 - - 3187 - - - - - - - - 14.58 14.50 14.61
8677 673.1 -7.5 336 8682 roll -0.49 - - 2021 - 2.42 0.060 887 -565.7 -116.8 - - 3186 - - - - - - - - 14.92 14.38 14.93
8768 680.3 -7.7 349 8774 done -0.49 - - 2017 - 2.47 0.064 2259 555.5 -116.8 - - 3186 - - - - - - - - 14.51 14.38 14.55
9125 706.7 -7.4 358 9130 roll -0.49 - - 2012 - 2.60 0.091 3696 552.7 -116.8 - - 3184 - - - - - - - - 14.92 14.28 14.93
9167 710.0 -8.1 364 9172 done -0.49 - - 2012 - 2.47 0.050 2254 -583.8 -116.8 - - 3184 - - - - - - - - 14.57 14.49 14.59
9517 736.4 -7.5 372 9522 roll -0.49 - - 2012 - 2.45 0.062 878 -561.6 -116.8 - - 3184 - - - - - - - - 14.91 14.35 14.92
9608 743.4 -7.6 385 9614 done -0.49 - - 2012 - 2.50 0.067 2258 552.0 -116.8 - - 3184 - - - - - - - - 14.49 14.36 14.54
9965 770.3 -7.5 394 9970 roll -0.49 - - 2012 - 2.62 0.093 3693 547.7 -116.8 - - 3182 - - - - - - - - 14.88 14.27 14.90
10000 773.0 -7.9 399 10005 done -0.49 - - 2012 - 2.50 0.053 2240 -581.2 -116.8 - - 3182 - - - - - - - - 14.55 14.47 14.58
10358 798.9 -7.3 408 10363 roll -0.49 - - 2011 - 2.42 0.060 875 -564.0 -116.8 - - 3181 - - - - - - - - 14.87 14.35 14.89
10413 803.0 -7.2 416 10418 done -0.49 - - 2011 - 2.50 0.065 2251 550.4 -116.8 - - 3184 - - - - - - - - 14.49 14.35 14.53
10750 825.5 -6.7 429 10756 roll -0.49 - - 2012 - 2.65 0.096 3689 542.6 -116.8 - - 3180 - - - - - - - - 14.86 14.26 14.88
10797 828.4 -6.6 436 10804 done -0.49 - - 2011 - 2.55 0.054 2237 -569.4 -116.8 - - 3180 - - - - - - - - 14.40 14.35 14.52
11141 851.0 -6.6 443 11146 roll -0.49 - - 2011 - 2.42 0.064 889 -557.0 -116.8 - - 3179 - - - - - - - - 14.90 14.31 14.91
11218 856.5 -7.1 454 11223 done -0.49 - - 2013 - 2.47 0.066 2254 552.6 -116.8 - - 3179 - - - - - - - - 14.47 14.33 14.51
11533 878.7 -7.2 464 11538 roll -0.49 - - 2011 - 2.65 0.096 3700 545.7 -116.8 - - 3178 - - - - - - - - 14.86 14.25 14.89
11560 881.4 -9.4 468 11566 done -0.49 - - 2011 - 2.53 0.051 2254 -571.5 -116.8 - - 3178 - - - - - - - - 14.43 14.38 14.47
11926 910.2 -8.0 478 11931 roll -0.49 - - 2011 - 2.45 0.063 882 -560.0 -116.8 - - 3178 - - - - - - - - 14.85 14.32 14.86
12029 919.0 -8.3 493 12038 done -0.49 - - 2011 - 2.53 0.066 2243 537.9 -116.8 - - 3178 - - - - - - - - 14.32 14.24 14.37
12373 946.0 -7.8 500 12378 roll -0.49 - - 2011 - 2.65 0.094 3691 546.4 -116.8 - - 3177 - - - - - - - - 14.88 14.23 14.90
12422 949.8 -4.7 507 12428 done -0.49 - - 2011 - 2.50 0.054 2237 -581.6 -116.8 - - 3177 - - - - - - - - 14.44 14.35 14.47
12765 975.0 -7.2 514 12770 roll -0.49 - - 2012 - 2.45 0.065 889 -550.2 -116.8 - - 3174 - - - - - - - - 14.85 14.28 14.87
12841 980.6 -3.9 525 12848 done -0.49 - - 2011 - 2.47 0.066 2247 549.8 -116.8 - - 3174 - - - - - - - - 14.45 14.31 14.50
12986 end dive: TARGET_DEPTH_EXCEEDED
12986 begin apogee
12994 990.5 -6.0 532 13187 roll -0.19 0.45 0.220 2132 268.9 - - 2247 - - 190.18 1.629 2741 -2.3 0.263 - - - - - - 14.04 13.93 13.24
13188 end apogee: CONTROL_FINISHED_OK
13189 begin climb
13192 995.0 - 535 13355 roll 0.68 0.93 0.155 2408 296.8 2.72 0.063 802 -531.2 116.8 149.90 1.871 2256 -3.2 0.327 - - - - - - 13.87 13.95 12.89
13453 976.3 9.2 577 13459 done 0.68 - - 2408 - 2.65 0.064 2196 526.0 116.8 - - 2236 - - - - - - - - 14.02 13.96 14.07
13776 943.2 10.4 588 13781 roll 0.62 - - 2418 - 2.58 0.073 805 -539.1 116.8 - - 2232 - - - - - - - - 14.66 14.30 14.66
13888 932.2 9.5 604 13892 done 0.62 - - 2418 - 2.58 0.067 2213 545.7 116.8 - - 2230 - - - - - - - - 14.45 14.35 14.50
14224 897.3 10.5 617 14230 roll 0.56 0.12 0.280 2384 -283.3 2.55 0.090 3610 547.8 116.8 - - 2229 - - - - - - - - 14.09 14.33 14.25
14300 889.5 9.8 628 14305 done 0.56 - - 2394 - 2.45 0.057 2238 -560.0 116.8 - - 2227 - - - - - - - - 14.54 14.38 14.57
14616 860.9 9.1 638 14620 roll 0.56 - - 2404 - 2.62 0.075 793 -551.5 116.8 - - 2231 - - - - - - - - 14.79 14.33 14.81
14664 856.5 9.1 645 14671 done 0.56 - - 2404 - 2.60 0.066 2218 548.1 116.8 - - 2227 - - - - - - - - 14.51 14.38 14.56
15008 825.5 9.1 652 15013 roll 0.51 0.12 0.272 2370 -283.3 2.55 0.090 3618 549.0 116.8 - - 2227 - - - - - - - - 14.10 14.31 14.23
15091 818.3 8.2 664 15096 done 0.51 - - 2380 - 2.47 0.060 2209 -570.4 116.8 - - 2225 - - - - - - - - 14.50 14.38 14.55
15456 790.3 7.8 674 15461 roll 0.51 - - 2390 - 2.58 0.075 794 -548.4 116.8 - - 2226 - - - - - - - - 14.84 14.31 14.85
15511 785.9 7.8 682 15516 done 0.51 - - 2390 - 2.60 0.064 2230 552.3 116.8 - - 2225 - - - - - - - - 14.48 14.35 14.53
15848 759.5 7.9 695 15853 roll 0.51 - - 2390 - 2.55 0.093 3614 542.7 116.8 - - 2228 - - - - - - - - 14.82 14.31 14.85
15925 752.7 8.7 706 15930 done 0.47 0.20 0.254 2353 -185.0 2.45 0.058 2213 -571.8 116.8 - - 2224 - - - - - - - - 14.07 14.42 14.37
16240 733.8 5.9 716 16294 roll 0.49 - - 2363 - 2.65 0.073 792 -536.2 151.4 44.92 1.583 2113 -2.5 0.218 - - - - - - 14.83 14.33 13.66
16338 727.9 6.4 730 16371 done 0.56 - - 2363 - 2.60 0.063 2225 551.2 173.9 28.62 1.660 2031 -2.9 0.239 - - - - - - 14.37 14.26 13.53
16688 703.7 6.9 745 16694 roll 0.56 - - 2363 - 2.58 0.092 3606 535.3 183.8 2.65 0.748 1987 -16.6 2.973 - - - - - - 14.68 14.39 13.31
16757 698.1 8.0 755 16763 done 0.56 - - 2371 - 2.47 0.057 2221 -560.7 183.8 - - 1991 - - - - - - - - 14.38 14.33 14.42
17074 673.5 7.9 765 17080 roll 0.56 - - 2382 - 2.60 0.074 784 -552.7 183.8 - - 1992 - - - - - - - - 14.77 14.32 14.78
17129 669.0 7.9 773 17135 done 0.61 - - 2382 - 2.60 0.063 2223 553.5 183.8 - - 1993 - - - - - - - - 14.47 14.36 14.51
17466 640.3 8.6 786 17471 roll 0.61 - - 2382 - 2.53 0.091 3612 549.0 183.8 - - 1993 - - - - - - - - 14.80 14.29 14.82
17527 634.4 9.4 795 17533 done 0.61 - - 2391 - 2.47 0.057 2220 -563.6 183.8 - - 1994 - - - - - - - - 14.40 14.33 14.44
17857 606.4 8.4 807 17862 roll 0.61 - - 2400 - 2.60 0.075 796 -547.7 183.8 - - 1994 - - - - - - - - 14.81 14.31 14.83
17906 602.4 8.1 814 17912 done 0.61 - - 2400 - 2.60 0.062 2222 548.5 183.8 - - 1993 - - - - - - - - 14.48 14.35 14.54
18250 572.5 8.7 821 18255 roll 0.61 - - 2400 - 2.55 0.091 3615 546.3 183.8 - - 1993 - - - - - - - - 14.82 14.29 14.83
18311 566.3 9.8 830 18317 done 0.61 - - 2409 - 2.42 0.057 2230 -572.3 183.8 - - 1994 - - - - - - - - 14.49 14.38 14.53
18642 534.6 9.8 842 18647 roll 0.61 - - 2419 - 2.60 0.073 796 -551.5 183.8 - - 1994 - - - - - - - - 14.85 14.29 14.85
18682 530.6 9.5 848 18688 done 0.61 - - 2420 - 2.60 0.063 2238 554.6 183.8 - - 1994 - - - - - - - - 14.47 14.33 14.52
19034 494.9 10.2 856 19038 roll 0.61 - - 2420 - 2.50 0.090 3612 549.6 183.8 - - 1994 - - - - - - - - 14.83 14.28 14.84
19110 485.9 11.7 867 19115 done 0.55 0.20 0.246 2381 -195.0 2.42 0.056 2227 -572.3 183.8 - - 1994 - - - - - - - - 14.04 14.40 14.32
19425 458.9 8.5 877 19431 roll 0.55 - - 2390 - 2.62 0.071 786 -550.0 183.8 - - 1994 - - - - - - - - 14.83 14.23 14.85
19466 455.3 8.6 883 19472 done 0.55 - - 2390 - 2.65 0.061 2231 545.3 183.8 - - 1993 - - - - - - - - 14.37 14.30 14.42
19818 423.9 8.9 891 19823 roll 0.55 - - 2390 - 2.53 0.090 3610 545.1 183.8 - - 1994 - - - - - - - - 14.82 14.26 14.84
19886 417.3 9.2 901 19893 done 0.55 - - 2399 - 2.47 0.054 2235 -556.7 183.8 - - 1994 - - - - - - - - 14.38 14.33 14.40
20209 389.4 8.7 912 20214 roll 0.55 - - 2408 - 2.65 0.072 777 -550.2 183.8 - - 1993 - - - - - - - - 14.85 14.28 14.88
20272 384.1 8.4 921 20278 done 0.55 - - 2408 - 2.62 0.061 2234 556.1 183.8 - - 1994 - - - - - - - - 14.46 14.33 14.50
20601 354.3 9.1 933 20607 roll 0.55 - - 2408 - 2.53 0.090 3611 544.3 183.8 - - 1994 - - - - - - - - 14.83 14.24 14.85
20649 349.0 10.9 940 20657 done 0.55 0.10 0.219 2387 -210.0 2.47 0.054 2228 -559.9 183.8 - - 1994 - - - - - - - - 14.02 14.32 14.16
20994 319.2 8.7 947 20999 roll 0.55 - - 2396 - 2.62 0.071 780 -552.7 183.8 - - 1994 - - - - - - - - 14.82 14.30 14.84
21042 315.1 8.6 954 21048 done 0.60 - - 2396 - 2.65 0.060 2240 550.9 183.8 - - 1994 - - - - - - - - 14.45 14.33 14.50
21385 285.4 8.7 961 21391 roll 0.60 - - 2396 - 2.50 0.086 3607 546.8 183.8 - - 1994 - - - - - - - - 14.85 14.18 14.88
21462 278.0 9.7 972 21467 done 0.60 - - 2406 - 2.40 0.052 2236 -571.2 183.8 - - 1992 - - - - - - - - 14.48 14.39 14.52
21777 250.5 8.7 982 21782 roll 0.60 - - 2414 - 2.60 0.067 795 -554.2 183.8 - - 1994 - - - - - - - - 14.85 14.28 14.87
21833 245.9 8.0 990 21838 done 0.60 - - 2414 - 2.60 0.058 2240 555.8 183.8 - - 1994 - - - - - - - - 14.46 14.34 14.50
22170 217.8 8.3 1003 22175 roll 0.60 - - 2414 - 2.50 0.086 3616 550.4 183.8 - - 1994 - - - - - - - - 14.85 14.26 14.86
22252 209.9 9.4 1015 22258 done 0.60 - - 2424 - 2.45 0.054 2241 -561.2 183.8 - - 1994 - - - - - - - - 14.49 14.31 14.52
22618 176.1 9.5 1025 22624 roll 0.60 - - 2434 - 2.62 0.068 796 -551.5 183.8 - - 1994 - - - - - - - - 14.82 14.26 14.83
22693 169.3 8.5 1036 22699 done 0.60 0.15 0.241 2397 -246.7 2.60 0.058 2247 558.1 183.8 - - 1994 - - - - - - - - 14.07 14.33 14.32
23010 142.9 8.5 1046 23015 roll 0.60 - - 2397 - 2.47 0.086 3607 550.6 183.8 - - 1994 - - - - - - - - 14.83 14.24 14.84
23072 136.9 9.7 1055 23077 done 0.60 - - 2406 - 2.40 0.052 2230 -573.8 183.8 - - 1994 - - - - - - - - 14.49 14.39 14.52
23401 111.0 7.6 1067 23406 roll 0.60 - - 2415 - 2.60 0.069 792 -553.1 183.8 - - 1993 - - - - - - - - 14.86 14.28 14.88
23498 103.9 7.1 1081 23506 done 0.61 - - 2414 - 2.62 0.060 2232 549.6 188.2 3.67 0.165 1971 -6.0 0.718 - - - - - - 14.35 14.28 14.05
23815 83.8 6.1 1092 23846 roll 0.62 - - 2414 - 2.53 0.086 3610 544.7 218.2 23.30 0.369 1852 -5.1 0.221 - - - - - - 14.81 14.52 14.21
23870 80.5 6.6 1100 23889 done 0.63 - - 2421 - 2.40 0.052 2225 -577.1 235.6 12.32 0.359 1779 -5.9 0.253 - - - - - - 14.50 14.42 14.12
24210 63.3 4.5 1115 24261 done 0.76 - - 2420 - - - 2230 - 303.0 45.80 0.321 1503 -6.0 0.226 - - - - - - 14.76 14.40 14.19
24571 45.5 5.3 1131 24612 roll 1.02 0.30 0.096 2544 413.3 2.62 0.067 792 -548.9 351.8 32.65 0.263 1312 -5.8 0.193 - - - - - - 14.36 14.42 14.21
24633 41.7 6.8 1140 24654 done 1.09 - - 2544 - 2.58 0.057 2243 562.4 365.6 11.98 0.239 1247 -5.4 0.180 - - - - - - 14.51 14.41 14.14
24966 21.6 6.0 1154 24995 roll 1.17 - - 2544 - 2.47 0.082 3603 550.6 397.5 22.25 0.189 1118 -5.8 0.126 - - - - - - 14.76 14.38 14.23
25039 15.7 8.4 1165 25046 done 1.23 0.12 0.135 2598 450.0 2.38 0.050 2230 -576.9 397.5 - - 1125 - - - - - - - - 14.39 14.44 14.50
25183 end climb: SURFACE_DEPTH_REACHED
25183 begin surface coast
25211 end surface coast: CONTROL_FINISHED_OK
25211 begin surface
SM 0.95 - - - - -6.13 6.70 0.050 216 32.2 0.12 0.132 2288 -7650.0 500.17 63.88 0.136 699 10.9 -0.008 - - - - - -