SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 298 * Raw log
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• Previous call tries 1 • 120.56 of 350.00 AH used of 24V (65.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 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: 30 s
• GPS2 time: 14 s • Transponder ping count: 7
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 VBD -0.68 - - 204 - - - 2295 - -116.8 -85.03 - 2872 - - - - - - - - 14.67 - 14.69
114 4.3 -5.9 3 138 roll -0.68 8.88 0.409 1962 198.0 2.78 2.080 3687 500.7 -116.8 -6.30 - 3220 -55.2 - - - - - - - 14.05 13.19 14.46
298 61.6 -23.8 30 305 done -0.44 0.30 0.244 2052 300.0 2.42 0.041 2265 -587.6 -116.8 - - 3221 - - - - - - - - 14.12 14.40 14.40
615 91.1 -7.3 42 619 roll -0.39 - - 2052 - 2.40 0.050 865 -583.3 -116.8 - - 3221 - - - - - - - - 14.83 14.49 14.85
705 98.2 -7.9 55 710 done -0.39 - - 2044 - 2.47 0.057 2283 574.1 -116.8 - - 3223 - - - - - - - - 14.59 14.49 14.62
1034 125.3 -8.4 64 1035 done -0.39 - - 2044 - - - 2284 - -116.8 - - 3224 - - - - - - - - 14.88 14.90 14.90
1370 152.3 -7.9 70 1371 done -0.39 - - 2044 - - - 2282 - -116.8 - - 3223 - - - - - - - - 14.91 14.94 14.93
1707 178.7 -7.8 76 1712 roll -0.39 - - 2044 - 2.45 0.048 875 -574.3 -116.8 - - 3222 - - - - - - - - 14.92 14.54 14.94
1747 182.0 -8.0 82 1753 done -0.39 - - 2043 - 2.45 0.056 2276 571.8 -116.8 - - 3221 - - - - - - - - 14.62 14.50 14.66
2099 207.4 -7.3 90 2103 roll -0.39 - - 2037 - 2.50 0.083 3691 566.0 -116.8 - - 3219 - - - - - - - - 14.92 14.46 14.95
2147 211.3 -7.7 97 2155 done -0.39 0.12 0.228 2067 250.0 2.40 0.044 2258 -597.1 -116.8 - - 3219 - - - - - - - - 14.31 14.60 14.52
2490 234.8 -6.9 104 2495 roll -0.39 - - 2068 - 2.38 0.056 894 -573.1 -116.8 - - 3219 - - - - - - - - 14.92 14.52 14.93
2539 238.4 -7.3 111 2545 done -0.44 - - 2068 - 2.47 0.060 2273 558.3 -116.8 - - 3216 - - - - - - - - 14.60 14.43 14.64
2883 260.3 -6.2 118 2888 roll -0.49 - - 2063 - 2.55 0.086 3697 558.4 -116.8 - - 3214 - - - - - - - - 14.91 14.45 14.93
2939 263.6 -5.9 126 2944 done -0.56 0.15 0.119 1998 -433.3 2.42 0.048 2270 -589.7 -116.8 - - 3214 - - - - - - - - 14.54 14.61 14.64
3275 294.4 -9.5 139 3279 roll -0.51 0.12 0.263 2034 300.0 2.45 0.058 875 -569.4 -116.8 - - 3213 - - - - - - - - 14.23 14.46 14.35
3331 299.2 -8.1 147 3336 done -0.51 - - 2029 - 2.47 0.062 2267 563.6 -116.8 - - 3211 - - - - - - - - 14.62 14.50 14.65
3666 327.9 -8.7 160 3671 roll -0.51 - - 2021 - 2.55 0.084 3701 562.4 -116.8 - - 3208 - - - - - - - - 14.92 14.43 14.94
3729 333.6 -9.2 169 3735 done -0.51 - - 2021 - 2.42 0.046 2263 -594.2 -116.8 - - 3208 - - - - - - - - 14.67 14.60 14.69
4058 363.5 -9.0 181 4064 roll -0.51 - - 2021 - 2.40 0.055 882 -575.4 -116.8 - - 3206 - - - - - - - - 14.91 14.49 14.93
4127 369.7 -8.7 191 4133 done -0.51 - - 2016 - 2.47 0.062 2281 566.4 -116.8 - - 3206 - - - - - - - - 14.58 14.45 14.62
4451 397.5 -8.6 202 4456 roll -0.51 - - 2016 - 2.47 0.054 875 -569.2 -116.8 - - 3204 - - - - - - - - 14.91 14.48 14.92
4477 399.8 -8.4 206 4483 done -0.51 - - 2014 - 2.50 0.062 2255 552.0 -116.8 - - 3204 - - - - - - - - 14.48 14.41 14.53
4842 429.2 -8.2 216 4847 roll -0.51 - - 2012 - 2.60 0.088 3697 554.6 -116.8 - - 3202 - - - - - - - - 14.90 14.38 14.93
4905 434.4 -8.3 225 4911 done -0.51 - - 2012 - 2.45 0.048 2253 -589.4 -116.8 - - 3202 - - - - - - - - 14.65 14.59 14.67
5234 462.7 -8.6 237 5240 roll -0.51 - - 2010 - 2.40 0.060 889 -568.3 -116.8 - - 3200 - - - - - - - - 14.91 14.45 14.93
5310 469.7 -8.9 248 5316 done -0.51 - - 2009 - 2.50 0.063 2260 548.4 -116.8 - - 3198 - - - - - - - - 14.45 14.42 14.51
5627 496.4 -8.4 258 5632 roll -0.51 - - 2006 - 2.58 0.086 3692 555.0 -116.8 - - 3198 - - - - - - - - 14.90 14.33 14.92
5683 501.3 -8.9 266 5688 done -0.51 0.10 0.256 2028 220.0 2.45 0.049 2261 -584.1 -116.8 - - 3197 - - - - - - - - 14.23 14.55 14.45
6018 529.0 -8.3 279 6023 roll -0.51 - - 2029 - 2.42 0.058 885 -568.6 -116.8 - - 3196 - - - - - - - - 14.90 14.40 14.92
6075 533.9 -8.5 287 6080 done -0.51 - - 2029 - 2.47 0.064 2261 557.1 -116.8 - - 3194 - - - - - - - - 14.54 14.42 14.59
6410 561.2 -8.1 300 6415 roll -0.51 - - 2022 - 2.60 0.089 3702 554.2 -116.8 - - 3194 - - - - - - - - 14.90 14.35 14.92
6452 564.6 -8.0 306 6457 done -0.51 - - 2022 - 2.47 0.047 2246 -589.5 -116.8 - - 3193 - - - - - - - - 14.62 14.55 14.65
6803 591.5 -7.5 314 6808 roll -0.51 - - 2022 - 2.40 0.063 892 -564.2 -116.8 - - 3193 - - - - - - - - 14.92 14.40 14.94
6871 596.8 -7.5 324 6877 done -0.51 - - 2019 - 2.50 0.063 2259 546.8 -116.8 - - 3192 - - - - - - - - 14.54 14.34 14.59
7194 620.7 -7.5 335 7199 roll -0.51 - - 2012 - 2.60 0.089 3697 553.1 -116.8 - - 3190 - - - - - - - - 14.90 14.33 14.92
7251 625.2 -8.0 343 7256 done -0.51 - - 2011 - 2.45 0.050 2267 -583.7 -116.8 - - 3190 - - - - - - - - 14.61 14.53 14.63
7588 651.2 -7.7 356 7592 roll -0.51 - - 2012 - 2.45 0.062 887 -563.3 -116.8 - - 3189 - - - - - - - - 14.88 14.40 14.90
7642 655.5 -7.8 364 7647 done -0.51 - - 2011 - 2.50 0.066 2264 550.8 -116.8 - - 3189 - - - - - - - - 14.52 14.39 14.56
7979 680.7 -7.6 377 7980 done -0.51 - - 2011 - - - 2263 - -116.8 - - 3188 - - - - - - - - 14.88 14.90 14.90
8314 707.1 -7.9 383 8319 roll -0.51 - - 2011 - 2.60 0.093 3696 551.2 -116.8 - - 3187 - - - - - - - - 14.89 14.30 14.91
8370 711.9 -8.8 391 8375 done -0.51 - - 2011 - 2.47 0.052 2263 -580.2 -116.8 - - 3187 - - - - - - - - 14.57 14.49 14.59
8707 740.6 -8.6 404 8712 roll -0.51 - - 2011 - 2.45 0.060 882 -563.7 -116.8 - - 3185 - - - - - - - - 14.90 14.36 14.92
8818 750.4 -8.5 420 8823 done -0.51 - - 2011 - 2.50 0.067 2258 550.4 -116.8 - - 3184 - - - - - - - - 14.48 14.35 14.52
9154 778.0 -8.2 433 9160 roll -0.51 - - 2009 - 2.60 0.093 3690 550.8 -116.8 - - 3184 - - - - - - - - 14.88 14.28 14.90
9203 781.9 -7.6 440 9209 done -0.51 - - 2009 - 2.50 0.051 2240 -580.0 -116.8 - - 3183 - - - - - - - - 14.54 14.46 14.57
9546 809.5 -8.0 447 9551 roll -0.51 - - 2010 - 2.42 0.063 896 -555.4 -116.8 - - 3182 - - - - - - - - 14.90 14.34 14.92
9587 813.0 -8.2 453 9593 done -0.51 - - 2009 - 2.47 0.067 2257 551.0 -116.8 - - 3185 - - - - - - - - 14.41 14.33 14.45
9939 839.3 -7.4 461 9944 roll -0.51 - - 2009 - 2.62 0.096 3689 546.6 -116.8 - - 3182 - - - - - - - - 14.89 14.25 14.91
10007 844.0 -7.1 471 10013 done -0.51 - - 2009 - 2.45 0.052 2266 -580.8 -116.8 - - 3182 - - - - - - - - 14.44 14.36 14.47
10331 866.7 -7.0 482 10335 roll -0.51 - - 2009 - 2.45 0.062 886 -563.3 -116.8 - - 3180 - - - - - - - - 14.87 14.32 14.88
10401 871.7 -7.1 492 10405 done -0.51 - - 2009 - 2.50 0.068 2262 550.4 -116.8 - - 3180 - - - - - - - - 14.47 14.34 14.52
10722 893.8 -6.9 503 10727 roll -0.51 - - 2009 - 2.62 0.093 3696 547.3 -116.8 - - 3179 - - - - - - - - 14.86 14.26 14.88
10749 895.7 -7.0 507 10755 done -0.51 - - 2009 - 2.47 0.052 2260 -581.4 -116.8 - - 3179 - - - - - - - - 14.55 14.47 14.58
11116 920.4 -6.6 517 11121 roll -0.51 - - 2009 - 2.45 0.061 888 -560.0 -116.8 - - 3178 - - - - - - - - 14.88 14.31 14.90
11191 925.8 -6.8 528 11196 done -0.51 - - 2009 - 2.50 0.067 2261 549.2 -116.8 - - 3178 - - - - - - - - 14.45 14.32 14.50
11507 946.3 -6.6 538 11508 done -0.51 - - 2009 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.88 14.90 14.90
11843 969.1 -6.9 544 11844 done -0.51 - - 2009 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.88 14.90 14.90
12119 end dive: TARGET_DEPTH_EXCEEDED
12119 begin apogee
12127 990.5 -7.7 549 12280 roll -0.19 0.45 0.216 2128 264.4 - - 2191 - - 145.25 2.541 2740 -3.0 0.229 - - - - 1 - 14.08 13.69 12.59
12281 end apogee: CONTROL_FINISHED_OK
12282 begin climb
12286 995.8 - 551 12454 roll 0.68 0.95 0.148 2412 298.9 2.65 0.064 806 -522.6 116.8 157.65 1.877 2255 -3.1 0.318 - - - - - - 13.68 13.75 12.79
12559 982.8 8.5 597 12565 done 0.68 - - 2412 - 2.65 0.069 2206 528.3 116.8 - - 2240 - - - - - - - - 14.02 13.91 14.04
12910 953.3 8.5 605 12915 roll 0.62 - - 2422 - 2.60 0.079 809 -537.3 116.8 - - 2235 - - - - - - - - 14.66 14.29 14.68
13028 943.2 8.4 622 13033 done 0.62 - - 2422 - 2.55 0.070 2208 548.6 116.8 - - 2234 - - - - - - - - 14.47 14.35 14.52
13359 910.9 10.0 634 13364 roll 0.55 0.15 0.273 2382 -266.7 2.60 0.096 3619 542.7 116.8 - - 2233 - - - - - - - - 14.09 14.34 14.26
13420 904.7 9.7 643 13425 done 0.50 - - 2391 - 2.47 0.065 2230 -562.3 116.8 - - 2231 - - - - - - - - 14.51 14.40 14.55
13750 874.0 9.6 655 13755 roll 0.50 - - 2401 - 2.65 0.082 786 -544.9 116.8 - - 2231 - - - - - - - - 14.81 14.35 14.83
13819 867.4 9.9 665 13825 done 0.50 0.15 0.253 2368 -220.0 2.60 0.070 2213 548.8 116.8 - - 2230 - - - - - - - - 14.13 14.37 14.42
14142 840.1 8.4 676 14147 roll 0.50 - - 2368 - 2.58 0.096 3610 541.5 116.8 - - 2229 - - - - - - - - 14.83 14.31 14.85
14232 831.6 9.1 689 14238 done 0.50 - - 2377 - 2.47 0.060 2204 -569.2 116.8 - - 2228 - - - - - - - - 14.52 14.41 14.56
14590 801.8 8.4 698 14595 roll 0.50 - - 2388 - 2.60 0.080 794 -542.3 116.8 - - 2229 - - - - - - - - 14.83 14.31 14.85
14631 798.4 9.3 704 14636 done 0.50 - - 2387 - 2.62 0.068 2217 543.1 116.8 - - 2228 - - - - - - - - 14.39 14.31 14.45
14982 769.8 8.0 712 14987 roll 0.50 - - 2388 - 2.58 0.096 3608 539.1 116.8 - - 2228 - - - - - - - - 14.83 14.30 14.85
15094 759.9 8.7 728 15099 done 0.45 0.20 0.254 2351 -185.0 2.47 0.061 2216 -563.6 116.8 - - 2231 - - - - - - - - 14.04 14.40 14.37
15430 740.0 5.7 741 15484 roll 0.47 - - 2361 - 2.67 0.080 798 -531.1 155.4 44.15 1.694 2095 -3.1 0.262 - - - - - - 14.83 14.32 13.61
15537 733.8 6.2 756 15576 done 0.55 - - 2361 - 2.60 0.067 2212 543.8 183.6 34.65 1.678 1989 -3.1 0.261 - - - - - - 14.37 14.26 13.47
15934 706.6 6.9 771 15941 roll 0.56 - - 2361 - 2.65 0.096 3619 530.9 193.0 2.00 0.188 1953 -18.0 13.181 - - - - - - 14.66 14.33 12.59
15996 701.5 8.1 780 16001 done 0.56 - - 2370 - 2.53 0.063 2196 -562.5 193.0 - - 1959 - - - - - - - - 14.47 14.35 14.50
16319 677.1 7.6 791 16323 roll 0.56 - - 2380 - 2.58 0.080 794 -543.4 193.0 - - 1959 - - - - - - - - 14.75 14.30 14.77
16376 673.1 7.4 799 16380 done 0.61 - - 2380 - 2.60 0.067 2221 548.8 193.0 - - 1959 - - - - - - - - 14.47 14.35 14.51
16711 645.4 8.3 812 16716 roll 0.61 - - 2381 - 2.55 0.094 3615 546.7 193.0 - - 1956 - - - - - - - - 14.78 14.30 14.81
16773 639.5 9.3 821 16779 done 0.61 - - 2389 - 2.50 0.060 2218 -558.8 193.0 - - 1959 - - - - - - - - 14.42 14.35 14.53
17103 607.9 9.8 833 17109 roll 0.61 - - 2399 - 2.60 0.076 785 -551.2 193.0 - - 1959 - - - - - - - - 14.83 14.33 14.84
17165 601.8 9.7 842 17170 done 0.61 - - 2398 - 2.60 0.065 2222 552.7 193.0 - - 1959 - - - - - - - - 14.48 14.35 14.52
17496 568.5 10.1 854 17500 roll 0.61 - - 2399 - 2.55 0.094 3614 545.9 193.0 - - 1959 - - - - - - - - 14.83 14.28 14.85
17557 561.9 10.4 863 17562 done 0.61 - - 2409 - 2.50 0.062 2222 -556.8 193.0 - - 1959 - - - - - - - - 14.38 14.33 14.52
17887 530.1 9.6 875 17892 roll 0.61 - - 2419 - 2.60 0.078 795 -548.8 193.0 - - 1959 - - - - - - - - 14.82 14.28 14.84
17945 525.0 9.0 883 17949 done 0.61 - - 2424 - 2.60 0.066 2224 549.6 193.0 - - 1959 - - - - - - - - 14.48 14.35 14.52
18279 492.0 10.0 896 18283 roll 0.61 - - 2418 - 2.55 0.095 3612 544.3 193.0 - - 1959 - - - - - - - - 14.82 14.25 14.84
18341 485.1 10.9 905 18347 done 0.61 0.08 0.246 2398 -250.0 2.50 0.060 2222 -556.0 193.0 - - 1959 - - - - - - - - 14.01 14.31 14.32
18671 455.8 8.8 917 18677 roll 0.61 - - 2408 - 2.62 0.077 782 -549.6 193.0 - - 1959 - - - - - - - - 14.84 14.28 14.85
18719 451.5 8.7 924 18726 done 0.61 - - 2408 - 2.65 0.066 2219 542.3 193.0 - - 1959 - - - - - - - - 14.34 14.26 14.39
19063 418.3 9.8 931 19068 roll 0.61 - - 2408 - 2.58 0.093 3618 542.2 193.0 - - 1959 - - - - - - - - 14.85 14.25 14.86
19146 409.1 11.0 943 19151 done 0.61 - - 2418 - 2.47 0.060 2229 -562.3 193.0 - - 1959 - - - - - - - - 14.48 14.37 14.52
19511 371.1 10.4 953 19516 roll 0.61 - - 2426 - 2.65 0.076 784 -545.3 193.0 - - 1959 - - - - - - - - 14.83 14.28 14.87
19587 363.7 9.4 964 19592 done 0.61 - - 2427 - 2.62 0.066 2232 552.7 193.0 - - 1958 - - - - - - - - 14.45 14.32 14.50
19904 331.1 10.4 974 19909 roll 0.61 0.12 0.261 2393 -283.3 2.55 0.092 3615 542.4 193.0 - - 1958 - - - - - - - - 14.07 14.25 14.19
19972 324.2 9.4 984 19977 done 0.61 - - 2403 - 2.47 0.059 2215 -566.8 193.0 - - 1959 - - - - - - - - 14.46 14.34 14.50
20295 296.5 8.6 995 20300 roll 0.61 - - 2417 - 2.60 0.073 788 -548.8 193.0 - - 1959 - - - - - - - - 14.84 14.27 14.86
20357 291.2 8.2 1004 20362 done 0.61 - - 2412 - 2.60 0.063 2228 553.8 193.0 - - 1959 - - - - - - - - 14.45 14.31 14.49
20687 261.2 9.3 1016 20692 roll 0.61 - - 2413 - 2.55 0.091 3611 542.4 193.0 - - 1959 - - - - - - - - 14.85 14.23 14.87
20770 252.6 10.2 1028 20775 done 0.61 - - 2422 - 2.42 0.057 2239 -566.9 193.0 - - 1959 - - - - - - - - 14.48 14.38 14.52
21135 215.5 10.4 1038 21140 roll 0.61 - - 2431 - 2.65 0.073 788 -547.5 193.0 - - 1959 - - - - - - - - 14.82 14.26 14.84
21197 209.1 9.9 1047 21203 done 0.61 0.15 0.239 2395 -240.0 2.62 0.064 2238 553.4 193.0 - - 1959 - - - - - - - - 14.07 14.32 14.33
21528 182.4 7.9 1059 21533 roll 0.61 - - 2396 - 2.53 0.089 3616 544.7 193.0 - - 1959 - - - - - - - - 14.84 14.24 14.86
21596 176.2 8.9 1069 21602 done 0.61 - - 2404 - 2.47 0.057 2215 -567.2 193.0 - - 1958 - - - - - - - - 14.46 14.34 14.50
21919 149.7 8.2 1080 21924 roll 0.61 - - 2413 - 2.60 0.071 785 -550.0 193.0 - - 1959 - - - - - - - - 14.82 14.24 14.83
21975 145.5 7.5 1088 21980 done 0.61 - - 2413 - 2.62 0.062 2241 555.7 193.0 - - 1959 - - - - - - - - 14.45 14.33 14.50
22311 118.1 8.3 1101 22316 roll 0.61 - - 2413 - 2.53 0.087 3615 543.1 193.0 - - 1959 - - - - - - - - 14.82 14.24 14.84
22360 113.6 9.5 1108 22366 done 0.61 - - 2423 - 2.42 0.056 2239 -568.6 193.0 - - 1959 - - - - - - - - 14.43 14.33 14.47
22675 87.0 8.4 1117 22676 done 0.61 - - 2423 - - - 2239 - 193.0 - - 1959 - - - - - - - - 14.81 14.83 14.83
22983 66.2 6.0 1128 23010 roll 0.63 - - 2431 - 2.58 0.067 793 -560.5 223.9 21.08 0.320 1826 -6.3 0.254 - - - - - - 14.82 14.43 14.20
23068 62.3 4.1 1140 23123 done 0.77 - - 2431 - 2.62 0.060 2258 559.2 302.0 50.72 0.327 1507 -6.3 0.233 - - - - - - 14.50 14.38 14.18
23455 46.7 4.4 1162 23509 roll 0.98 0.22 0.112 2516 386.4 2.45 0.086 3615 553.9 370.8 44.85 0.272 1230 -6.2 0.207 - - - - - - 14.32 14.44 14.22
23569 38.7 7.7 1178 23574 done 1.04 - - 2520 - 2.40 0.054 2246 -570.4 370.8 - - 1231 - - - - - - - - 14.42 14.33 14.45
23903 19.9 4.8 1193 23950 roll 1.17 0.12 0.126 2589 575.0 2.62 0.070 793 -554.6 431.3 38.78 0.185 980 -6.5 0.136 - - - - - - 14.45 14.40 14.28
24032 9.2 9.1 1211 24037 done 1.23 - - 2589 - 2.58 0.061 2231 557.4 431.3 - - 987 - - - - - - - - 14.49 14.37 14.52
24096 end climb: SURFACE_DEPTH_REACHED
24096 begin surface coast
24125 end surface coast: CONTROL_FINISHED_OK
24125 begin surface
SM 0.92 - - - - -6.14 6.85 0.069 215 31.4 0.10 0.145 2298 11400.0 500.17 44.70 0.137 699 15.6 -0.011 - - - - - -