SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 301 * Raw log
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• Previous call tries 1 • 121.64 of 350.00 AH used of 24V (65.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.3 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 14 s • Transponder ping count: 13
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 204 - - - 2288 - -116.8 -84.72 - 2929 - - - - - - - - 14.69 - 14.70
106 5.2 -7.3 3 130 roll -0.68 8.85 0.407 1964 198.9 2.75 2.068 3682 506.9 -116.8 -5.03 - 3221 -58.1 - - - - - - - 14.05 13.19 14.45
179 32.3 -27.5 14 186 done -0.45 0.35 0.292 2048 240.0 2.38 0.041 2284 -587.4 -116.8 - - 3222 - - - - - - - - 14.09 14.45 14.39
494 84.6 -12.7 26 499 roll -0.36 0.12 0.267 2081 275.0 2.42 0.049 874 -582.6 -116.8 - - 3225 - - - - - - - - 14.21 14.45 14.35
607 92.3 -6.7 42 612 done -0.36 - - 2081 - 2.45 0.056 2282 574.7 -116.8 - - 3223 - - - - - - - - 14.58 14.48 14.62
970 115.7 -6.4 54 975 roll -0.36 - - 2079 - 2.47 0.080 3693 571.3 -116.8 - - 3225 - - - - - - - - 14.90 14.48 14.91
998 117.3 -5.7 58 1003 done -0.41 - - 2079 - 2.35 0.043 2275 -603.4 -116.8 - - 3224 - - - - - - - - 14.69 14.62 14.70
1364 138.0 -6.0 68 1369 roll -0.41 - - 2069 - 2.58 0.081 3702 553.1 -116.8 - - 3224 - - - - - - - - 14.89 14.48 14.90
1397 140.2 -6.4 73 1403 done -0.46 - - 2070 - 2.38 0.042 2260 -605.9 -116.8 - - 3224 - - - - - - - - 14.70 14.64 14.72
1755 161.1 -5.9 82 1760 roll -0.46 - - 2070 - 2.38 0.052 886 -577.3 -116.8 - - 3222 - - - - - - - - 14.92 14.55 14.94
1795 163.9 -6.7 88 1801 done -0.46 - - 2069 - 2.47 0.057 2277 563.2 -116.8 - - 3222 - - - - - - - - 14.54 14.48 14.59
2146 186.2 -6.4 96 2151 roll -0.46 - - 2066 - 2.50 0.083 3691 565.6 -116.8 - - 3219 - - - - - - - - 14.94 14.48 14.96
2188 189.1 -7.1 102 2193 done -0.52 0.12 0.129 2010 -466.7 2.35 0.044 2287 -597.4 -116.8 - - 3220 - - - - - - - - 14.56 14.62 14.65
2539 225.2 -10.5 110 2544 roll -0.52 - - 2009 - 2.42 0.053 879 -581.8 -116.8 - - 3217 - - - - - - - - 14.92 14.54 14.94
2642 235.3 -9.3 125 2650 done -0.52 - - 2004 - 2.50 0.059 2277 559.2 -116.8 - - 3216 - - - - - - - - 14.52 14.46 14.57
2987 266.7 -9.2 132 2988 done -0.52 - - 2004 - - - 2278 - -116.8 - - 3214 - - - - - - - - 14.94 14.96 14.96
3322 298.8 -9.7 138 3327 roll -0.52 - - 2004 - 2.45 0.054 878 -571.4 -116.8 - - 3212 - - - - - - - - 14.93 14.52 14.95
3356 302.4 -10.1 143 3362 done -0.52 0.12 0.275 2026 183.3 2.50 0.060 2266 555.2 -116.8 - - 3212 - - - - - - - - 14.23 14.45 14.48
3715 333.6 -8.9 152 3716 done -0.52 - - 2026 - - - 2265 - -116.8 - - 3209 - - - - - - - - 14.92 14.95 14.94
4050 362.6 -8.5 158 4055 roll -0.52 - - 2026 - 2.42 0.052 884 -570.7 -116.8 - - 3206 - - - - - - - - 14.92 14.50 14.95
4077 364.9 -8.3 162 4083 done -0.52 - - 2025 - 2.50 0.061 2289 562.0 -116.8 - - 3204 - - - - - - - - 14.60 14.47 14.64
4442 392.5 -7.6 172 4443 done -0.52 - - 2028 - - - 2289 - -116.8 - - 3205 - - - - - - - - 14.95 14.97 14.96
4779 420.2 -8.4 178 4780 done -0.52 - - 2026 - - - 2290 - -116.8 - - 3203 - - - - - - - - 14.94 14.96 14.96
5114 450.1 -9.0 184 5119 roll -0.52 - - 2025 - 2.47 0.053 888 -567.6 -116.8 - - 3200 - - - - - - - - 14.92 14.47 14.95
5162 454.6 -9.2 191 5169 done -0.52 - - 2025 - 2.50 0.060 2266 551.2 -116.8 - - 3201 - - - - - - - - 14.47 14.40 14.51
5507 485.1 -8.9 198 5507 done -0.52 - - 2025 - - - 2269 - -116.8 - - 3198 - - - - - - - - 14.94 14.96 14.96
5843 512.9 -8.2 204 5844 done -0.52 - - 2025 - - - 2267 - -116.8 - - 3197 - - - - - - - - 14.91 14.93 14.93
6178 539.6 -7.9 210 6183 roll -0.52 - - 2026 - 2.45 0.054 881 -565.7 -116.8 - - 3196 - - - - - - - - 14.92 14.45 14.93
6205 542.0 -8.6 214 6211 done -0.52 - - 2030 - 2.50 0.062 2282 560.4 -116.8 - - 3196 - - - - - - - - 14.55 14.41 14.62
6571 574.0 -9.1 224 6576 roll -0.52 - - 2020 - 2.55 0.086 3700 556.1 -116.8 - - 3194 - - - - - - - - 14.90 14.38 14.92
6626 579.3 -9.5 232 6631 done -0.52 - - 2020 - 2.42 0.047 2267 -592.1 -116.8 - - 3193 - - - - - - - - 14.62 14.55 14.64
6962 609.8 -9.0 245 6968 roll -0.52 - - 2019 - 2.42 0.058 887 -570.2 -116.8 - - 3191 - - - - - - - - 14.93 14.42 14.95
7032 616.1 -8.8 255 7037 done -0.52 - - 2019 - 2.47 0.062 2267 558.7 -116.8 - - 3191 - - - - - - - - 14.53 14.40 14.57
7354 641.2 -7.7 266 7359 roll -0.52 - - 2014 - 2.58 0.089 3690 551.6 -116.8 - - 3190 - - - - - - - - 14.90 14.31 14.92
7396 644.4 -7.8 272 7401 done -0.52 - - 2014 - 2.42 0.047 2261 -590.5 -116.8 - - 3190 - - - - - - - - 14.59 14.52 14.62
7747 670.1 -7.4 280 7752 roll -0.52 - - 2014 - 2.42 0.057 882 -569.8 -116.8 - - 3188 - - - - - - - - 14.90 14.40 14.91
7850 678.0 -7.4 295 7858 done -0.52 - - 2013 - 2.53 0.063 2262 545.5 -116.8 - - 3188 - - - - - - - - 14.38 14.31 14.43
8194 703.5 -7.6 302 8195 done -0.52 - - 2013 - - - 2259 - -116.8 - - 3187 - - - - - - - - 14.92 14.94 14.94
8531 729.2 -7.6 308 8536 roll -0.52 - - 2011 - 2.60 0.090 3689 550.0 -116.8 - - 3186 - - - - - - - - 14.91 14.31 14.93
8586 733.5 -7.7 316 8591 done -0.52 - - 2012 - 2.45 0.048 2252 -586.5 -116.8 - - 3185 - - - - - - - - 14.57 14.50 14.60
8922 758.4 -7.5 329 8928 roll -0.52 - - 2012 - 2.40 0.060 893 -566.2 -116.8 - - 3184 - - - - - - - - 14.91 14.38 14.93
8985 763.6 -7.7 338 8990 done -0.52 - - 2013 - 2.47 0.063 2263 554.7 -116.8 - - 3184 - - - - - - - - 14.50 14.36 14.53
9315 787.6 -7.2 350 9319 roll -0.52 - - 2011 - 2.60 0.090 3694 550.4 -116.8 - - 3183 - - - - - - - - 14.90 14.27 14.92
9362 791.5 -7.8 357 9371 done -0.52 - - 2011 - 2.47 0.048 2260 -580.6 -116.8 - - 3183 - - - - - - - - 14.44 14.40 14.47
9707 819.0 -8.1 364 9712 roll -0.52 - - 2011 - 2.42 0.059 896 -563.6 -116.8 - - 3182 - - - - - - - - 14.88 14.33 14.89
9782 825.5 -7.9 375 9788 done -0.52 - - 2011 - 2.53 0.064 2266 541.5 -116.8 - - 3181 - - - - - - - - 14.49 14.28 14.52
10098 851.4 -8.3 385 10104 roll -0.52 - - 2011 - 2.60 0.091 3693 548.8 -116.8 - - 3180 - - - - - - - - 14.90 14.26 14.92
10133 854.4 -7.7 390 10138 done -0.52 - - 2011 - 2.42 0.049 2272 -587.2 -116.8 - - 3180 - - - - - - - - 14.55 14.48 14.58
10490 882.8 -7.7 399 10495 roll -0.52 - - 2011 - 2.47 0.060 883 -562.3 -116.8 - - 3179 - - - - - - - - 14.88 14.33 14.89
10546 887.3 -8.0 407 10551 done -0.52 - - 2011 - 2.53 0.065 2272 549.0 -116.8 - - 3179 - - - - - - - - 14.46 14.33 14.50
10883 911.4 -7.1 420 10888 roll -0.52 - - 2008 - 2.60 0.093 3693 546.5 -116.8 - - 3180 - - - - - - - - 14.89 14.27 14.90
10938 915.3 -7.1 428 10943 done -0.52 - - 2008 - 2.47 0.052 2262 -579.4 -116.8 - - 3178 - - - - - - - - 14.52 14.43 14.54
11275 936.9 -6.3 441 11280 roll -0.52 - - 2006 - 2.45 0.059 882 -563.3 -116.8 - - 3177 - - - - - - - - 14.86 14.32 14.88
11372 943.2 -6.4 455 11377 done -0.52 - - 2007 - 2.53 0.065 2266 547.0 -116.8 - - 3177 - - - - - - - - 14.45 14.31 14.49
11723 964.1 -6.0 463 11727 roll -0.52 - - 1999 - 2.62 0.090 3697 546.2 -116.8 - - 3177 - - - - - - - - 14.85 14.23 14.88
11785 968.1 -6.5 472 11790 done -0.52 0.12 0.242 2028 241.7 2.50 0.050 2247 -580.0 -116.8 - - 3176 - - - - - - - - 14.08 14.45 14.35
12114 985.2 -5.2 484 12119 roll -0.52 - - 2028 - 2.45 0.062 885 -555.9 -116.8 - - 3176 - - - - - - - - 14.85 14.29 14.87
12156 988.3 -5.6 490 12161 done -0.52 - - 2028 - 2.50 0.066 2259 549.6 -116.8 - - 3175 - - - - - - - - 14.46 14.33 14.52
12223 end dive: TARGET_DEPTH_EXCEEDED
12223 begin apogee
12232 991.1 -4.1 493 12424 roll -0.19 0.38 0.208 2130 268.4 - - 2200 - - 189.73 1.625 2743 -2.3 0.264 - - - - - - 14.09 13.93 13.24
12425 end apogee: CONTROL_FINISHED_OK
12425 begin climb
12429 994.5 - 496 12592 roll 0.68 0.93 0.153 2408 298.9 2.60 0.058 799 -538.8 116.8 149.98 1.867 2257 -3.2 0.328 - - - - - - 13.88 13.96 12.90
12697 974.8 9.0 539 12702 done 0.68 - - 2408 - 2.60 0.063 2199 538.5 116.8 - - 2234 - - - - - - - - 14.12 14.01 14.14
13013 944.2 9.7 549 13018 roll 0.63 - - 2417 - 2.58 0.072 805 -540.3 116.8 - - 2232 - - - - - - - - 14.66 14.31 14.66
13152 931.6 8.7 569 13158 done 0.63 - - 2417 - 2.55 0.066 2206 549.4 116.8 - - 2230 - - - - - - - - 14.41 14.29 14.45
13517 897.7 9.3 579 13522 roll 0.56 0.12 0.277 2382 -291.7 2.60 0.093 3617 542.7 116.8 - - 2229 - - - - - - - - 14.12 14.33 14.26
13600 890.3 8.3 591 13605 done 0.56 - - 2391 - 2.45 0.060 2224 -568.6 116.8 - - 2227 - - - - - - - - 14.53 14.42 14.57
13964 861.3 8.0 601 13970 roll 0.56 - - 2405 - 2.62 0.078 794 -545.8 116.8 - - 2227 - - - - - - - - 14.81 14.32 14.83
14006 857.5 9.1 607 14011 done 0.56 - - 2401 - 2.58 0.067 2216 551.2 116.8 - - 2226 - - - - - - - - 14.52 14.40 14.57
14358 825.4 9.3 615 14363 roll 0.52 0.12 0.274 2369 -266.7 2.55 0.088 3610 546.7 116.8 - - 2226 - - - - - - - - 14.09 14.31 14.23
14425 818.9 9.1 625 14432 done 0.52 - - 2378 - 2.50 0.057 2214 -558.4 116.8 - - 2225 - - - - - - - - 14.41 14.35 14.53
14748 791.1 8.7 636 14753 roll 0.52 - - 2388 - 2.58 0.072 789 -552.3 116.8 - - 2225 - - - - - - - - 14.85 14.33 14.87
14805 786.0 9.5 644 14810 done 0.52 - - 2389 - 2.58 0.064 2213 551.9 116.8 - - 2225 - - - - - - - - 14.49 14.36 14.54
15141 754.8 9.5 657 15146 roll 0.52 - - 2388 - 2.55 0.090 3614 549.4 116.8 - - 2225 - - - - - - - - 14.83 14.28 14.85
15238 744.3 10.5 671 15243 done 0.52 - - 2397 - 2.45 0.057 2214 -571.4 116.8 - - 2224 - - - - - - - - 14.52 14.41 14.57
15589 711.4 9.2 679 15594 roll 0.52 0.12 0.279 2377 -166.7 2.58 0.070 787 -553.1 116.8 - - 2225 - - - - - - - - 14.04 14.29 14.18
15672 705.3 7.0 691 15677 done 0.52 - - 2376 - 2.58 0.063 2219 555.0 123.8 - - 2224 - - - - - - - - 14.48 14.35 14.53
16038 680.7 6.7 701 16065 roll 0.53 - - 2376 - 2.58 0.091 3616 541.5 140.0 22.58 1.675 2164 -2.7 0.205 - - - - - - 14.83 14.48 13.72
16142 672.8 7.8 716 16147 done 0.53 - - 2385 - 2.47 0.058 2199 -573.7 140.0 - - 2152 - - - - - - - - 14.47 14.37 14.50
16479 647.1 7.8 729 16484 roll 0.53 - - 2396 - 2.55 0.076 793 -551.4 140.0 - - 2150 - - - - - - - - 14.75 14.28 14.77
16534 642.4 8.4 737 16540 done 0.53 - - 2396 - 2.58 0.063 2221 553.5 140.0 - - 2149 - - - - - - - - 14.44 14.32 14.50
16870 610.4 9.7 750 16875 roll 0.53 - - 2396 - 2.55 0.090 3613 545.9 140.0 - - 2149 - - - - - - - - 14.79 14.26 14.81
16954 601.3 10.7 762 16959 done 0.53 0.12 0.260 2375 -175.0 2.42 0.057 2216 -577.3 140.0 - - 2148 - - - - - - - - 14.08 14.39 14.37
17318 569.4 8.7 772 17323 roll 0.53 - - 2386 - 2.58 0.073 803 -547.7 140.0 - - 2148 - - - - - - - - 14.83 14.31 14.85
17380 564.3 7.9 781 17386 done 0.53 - - 2386 - 2.55 0.061 2217 554.5 140.0 - - 2145 - - - - - - - - 14.45 14.33 14.50
17711 538.9 7.5 793 17717 roll 0.53 - - 2382 - 2.55 0.088 3611 546.7 140.0 - - 2147 - - - - - - - - 14.81 14.25 14.82
17786 532.8 7.8 804 17791 done 0.53 - - 2395 - 2.45 0.055 2229 -564.1 140.0 - - 2147 - - - - - - - - 14.50 14.33 14.54
18102 510.1 7.3 814 18107 roll 0.53 - - 2405 - 2.60 0.072 798 -550.4 141.5 - - 2147 - - - - - - - - 14.81 14.21 14.83
18159 505.9 7.6 822 18164 done 0.53 0.12 0.251 2377 -233.3 2.58 0.060 2226 553.5 141.5 - - 2146 - - - - - - - - 14.08 14.33 14.35
18494 480.5 7.8 835 18499 roll 0.53 - - 2377 - 2.55 0.090 3618 545.9 141.5 - - 2146 - - - - - - - - 14.84 14.24 14.85
18578 472.7 9.2 847 18583 done 0.53 - - 2385 - 2.42 0.057 2235 -571.5 141.5 - - 2146 - - - - - - - - 14.49 14.38 14.53
18942 440.0 9.1 857 18947 roll 0.53 - - 2395 - 2.62 0.070 787 -552.7 141.5 - - 2146 - - - - - - - - 14.85 14.18 14.86
19011 434.1 8.3 867 19017 done 0.53 - - 2395 - 2.60 0.061 2235 556.9 141.5 - - 2146 - - - - - - - - 14.44 14.31 14.50
19335 408.7 7.7 878 19340 roll 0.53 - - 2395 - 2.53 0.089 3610 543.5 141.5 - - 2146 - - - - - - - - 14.83 14.24 14.85
19403 402.9 8.3 888 19409 done 0.53 0.12 0.258 2377 -150.0 2.42 0.054 2223 -573.1 141.5 - - 2146 - - - - - - - - 14.05 14.32 14.34
19726 382.8 6.1 899 19767 roll 0.55 - - 2387 - 2.65 0.073 790 -540.8 169.9 36.47 1.357 2041 -2.9 0.154 - - - - - - 14.84 14.43 13.78
19803 378.0 6.5 910 19836 done 0.61 - - 2387 - 2.60 0.061 2231 554.2 190.8 25.75 1.308 1959 -3.2 0.175 - - - - - - 14.42 14.30 13.67
20170 351.8 7.3 927 20175 roll 0.61 - - 2387 - 2.53 0.089 3608 544.3 191.8 - - 1945 - - - - - - - - 14.67 14.26 14.69
20252 344.5 8.7 939 20257 done 0.61 - - 2395 - 2.40 0.055 2238 -570.8 191.8 - - 1943 - - - - - - - - 14.46 14.37 14.50
20616 314.0 8.4 949 20622 roll 0.61 - - 2404 - 2.62 0.070 793 -551.5 191.8 - - 1942 - - - - - - - - 14.78 14.28 14.80
20693 307.9 7.8 960 20698 done 0.61 - - 2404 - 2.60 0.060 2239 556.2 191.8 - - 1942 - - - - - - - - 14.45 14.34 14.50
21009 281.3 8.5 970 21013 roll 0.61 - - 2404 - 2.50 0.086 3609 548.0 191.8 - - 1941 - - - - - - - - 14.81 14.28 14.83
21084 274.0 9.3 981 21091 done 0.61 - - 2412 - 2.45 0.053 2234 -561.2 191.8 - - 1941 - - - - - - - - 14.38 14.33 14.52
21401 246.8 8.7 991 21406 roll 0.61 - - 2423 - 2.60 0.068 793 -554.2 191.8 - - 1941 - - - - - - - - 14.83 14.31 14.84
21462 241.3 8.7 1000 21468 done 0.61 - - 2421 - 2.60 0.058 2242 557.3 191.8 - - 1941 - - - - - - - - 14.37 14.26 14.44
21792 210.8 9.3 1012 21797 roll 0.61 - - 2423 - 2.50 0.086 3609 546.8 191.8 - - 1941 - - - - - - - - 14.81 14.20 14.83
21834 206.6 10.2 1018 21839 done 0.61 0.15 0.256 2396 -180.0 2.40 0.053 2231 -574.2 191.8 - - 1941 - - - - - - - - 14.07 14.40 14.37
22184 180.8 7.3 1026 22189 roll 0.61 - - 2405 - 2.60 0.069 796 -551.9 192.2 - - 1941 - - - - - - - - 14.83 14.28 14.85
22246 176.0 7.6 1035 22252 done 0.66 - - 2405 - 2.58 0.059 2239 559.3 192.2 - - 1942 - - - - - - - - 14.47 14.35 14.51
22577 147.4 8.9 1047 22582 roll 0.66 - - 2405 - 2.50 0.085 3611 548.8 192.2 - - 1941 - - - - - - - - 14.81 14.27 14.83
22645 140.8 9.3 1057 22651 done 0.66 - - 2415 - 2.42 0.051 2241 -566.1 192.2 - - 1941 - - - - - - - - 14.51 14.35 14.55
22969 114.5 8.0 1068 22973 roll 0.66 - - 2413 - 2.53 0.083 3609 540.7 192.2 - - 1941 - - - - - - - - 14.82 14.29 14.83
23025 109.7 8.9 1076 23030 done 0.66 - - 2422 - 2.38 0.051 2242 -574.4 192.2 - - 1941 - - - - - - - - 14.50 14.41 14.54
23361 83.1 7.0 1092 23372 roll 0.66 - - 2428 - 2.65 0.068 800 -544.2 200.7 3.30 0.173 1920 -6.4 0.581 - - - - - - 14.81 14.39 14.12
23389 81.1 6.9 1096 23402 done 0.67 - - 2428 - 2.60 0.057 2259 561.2 211.1 8.60 0.343 1877 -5.0 0.225 - - - - - - 14.50 14.39 14.10
23727 63.3 3.2 1111 23793 done 0.78 - - 2428 - - - 2259 - 310.1 64.50 0.325 1476 -6.2 0.230 - - - - - - 14.77 14.52 14.21
24089 46.2 4.7 1124 24136 roll 1.03 0.30 0.112 2537 363.3 2.62 0.061 785 -562.6 372.6 41.70 0.267 1218 -6.2 0.204 - - - - - - 14.22 14.38 14.19
24217 38.0 7.1 1142 24227 done 1.11 - - 2537 - 2.62 0.056 2261 563.4 377.8 5.18 0.209 1199 -3.7 0.127 - - - - - - 14.47 14.35 14.06
24537 18.4 5.5 1155 24571 roll 1.21 0.12 0.128 2595 483.3 2.50 0.080 3618 542.8 422.1 29.67 0.179 1017 -6.1 0.120 - - - - - - 14.45 14.38 14.28
24627 8.9 11.8 1168 24632 done 1.21 - - 2605 - 2.40 0.050 2260 -565.8 422.1 - - 1022 - - - - - - - - 14.41 14.37 14.45
24694 end climb: SURFACE_DEPTH_REACHED
24694 begin surface coast
24722 end surface coast: CONTROL_FINISHED_OK
24722 begin surface
SM 0.93 - - - - -6.14 6.80 0.057 207 30.4 - - 2249 - 500.17 50.08 0.135 700 14.0 -0.010 - - - - - -