SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 307 * Raw log
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• Previous call tries 1 • 123.80 of 350.00 AH used of 24V (64.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.1 deg, depth 0.92 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 16 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 - - - 105 VBD -0.68 - - 195 - - - 2274 - -116.8 -84.18 - 2835 - - - - - - - - 14.68 - 14.70
109 4.1 -5.4 3 133 roll -0.68 9.00 0.412 1964 196.6 2.75 2.068 3691 515.3 -116.8 -7.03 - 3220 -54.8 - - - - - - - 14.02 13.16 14.45
182 30.8 -28.7 14 189 done -0.47 0.30 0.276 2039 250.0 2.42 0.043 2260 -591.3 -116.8 - - 3221 - - - - - - - - 14.10 14.46 14.40
498 79.3 -11.4 26 499 done -0.38 0.15 0.271 2074 233.3 - - 2250 - -116.8 - - 3223 - - - - - - - - 14.21 14.53 14.45
806 104.3 -6.9 36 807 done -0.38 - - 2073 - - - 2250 - -116.8 - - 3225 - - - - - - - - 14.85 14.87 14.90
1142 124.4 -5.8 42 1142 done -0.38 - - 2074 - - - 2250 - -116.8 - - 3226 - - - - - - - - 14.89 14.91 14.91
1477 144.1 -6.5 48 1478 done -0.38 - - 2074 - - - 2250 - -116.8 - - 3224 - - - - - - - - 14.91 14.93 14.92
1814 165.5 -6.2 54 1819 roll -0.38 - - 2074 - 2.40 0.052 872 -574.2 -116.8 - - 3223 - - - - - - - - 14.93 14.54 14.95
1855 168.4 -6.9 60 1860 done -0.43 - - 2069 - 2.50 0.056 2306 573.6 -116.8 - - 3222 - - - - - - - - 14.64 14.53 14.67
2205 194.0 -7.3 68 2206 done -0.43 - - 2069 - - - 2306 - -116.8 - - 3220 - - - - - - - - 14.92 14.95 14.94
2542 215.5 -6.5 74 2543 done -0.43 - - 2069 - - - 2306 - -116.8 - - 3218 - - - - - - - - 14.92 14.95 14.94
2878 234.3 -5.4 80 2883 roll -0.43 - - 2069 - 2.50 0.050 877 -571.6 -116.8 - - 3215 - - - - - - - - 14.94 14.53 14.96
2912 236.3 -5.6 85 2918 done -0.48 - - 2069 - 2.53 0.058 2305 564.4 -116.8 - - 3215 - - - - - - - - 14.62 14.51 14.66
3270 257.4 -6.3 94 3275 roll -0.52 0.12 0.133 2009 -500.0 2.45 0.079 3688 564.5 -116.8 - - 3212 - - - - - - - - 14.60 14.46 14.63
3297 260.0 -9.5 98 3302 done -0.52 - - 2009 - 2.33 0.043 2281 -603.9 -116.8 - - 3213 - - - - - - - - 14.71 14.62 14.71
3661 300.3 -10.9 108 3666 roll -0.52 - - 2008 - 2.40 0.053 894 -577.9 -116.8 - - 3210 - - - - - - - - 14.95 14.52 14.96
3774 311.5 -9.8 124 3779 done -0.52 0.12 0.259 2022 116.7 2.47 0.058 2295 567.2 -116.8 - - 3209 - - - - - - - - 14.21 14.49 14.47
4110 340.5 -8.5 137 4110 done -0.52 - - 2028 - - - 2296 - -116.8 - - 3207 - - - - - - - - 14.92 14.95 14.94
4445 367.9 -8.0 143 4446 done -0.52 - - 2028 - - - 2295 - -116.8 - - 3206 - - - - - - - - 14.94 14.96 14.96
4781 393.2 -7.5 149 4782 done -0.52 - - 2028 - - - 2297 - -116.8 - - 3204 - - - - - - - - 14.95 14.97 14.96
5118 417.3 -7.2 155 5119 done -0.52 - - 2028 - - - 2297 - -116.8 - - 3203 - - - - - - - - 14.94 14.96 14.95
5453 445.7 -8.7 161 5459 roll -0.52 - - 2028 - 2.47 0.056 902 -564.8 -116.8 - - 3201 - - - - - - - - 14.95 14.47 14.97
5515 451.4 -8.9 170 5521 done -0.52 - - 2027 - 2.47 0.063 2286 560.3 -116.8 - - 3200 - - - - - - - - 14.56 14.43 14.59
5846 478.9 -8.2 182 5847 done -0.52 - - 2027 - - - 2286 - -116.8 - - 3199 - - - - - - - - 14.91 14.93 14.92
6181 505.6 -8.0 188 6186 roll -0.52 - - 2027 - 2.45 0.053 901 -565.3 -116.8 - - 3197 - - - - - - - - 14.91 14.44 14.93
6237 510.3 -8.4 196 6242 done -0.52 - - 2026 - 2.47 0.062 2282 559.1 -116.8 - - 3196 - - - - - - - - 14.55 14.42 14.59
6574 536.4 -7.6 209 6580 roll -0.52 - - 2020 - 2.53 0.085 3691 556.9 -116.8 - - 3195 - - - - - - - - 14.90 14.38 14.92
6650 542.3 -7.6 220 6656 done -0.52 - - 2020 - 2.42 0.048 2281 -582.6 -116.8 - - 3193 - - - - - - - - 14.51 14.47 14.62
6966 565.1 -7.3 230 6971 roll -0.52 - - 2020 - 2.45 0.060 891 -567.3 -116.8 - - 3194 - - - - - - - - 14.90 14.42 14.92
7079 573.7 -7.8 246 7084 done -0.52 - - 2015 - 2.47 0.063 2273 559.5 -116.8 - - 3194 - - - - - - - - 14.52 14.40 14.57
7414 597.8 -7.1 259 7419 roll -0.52 - - 2011 - 2.55 0.090 3695 557.6 -116.8 - - 3193 - - - - - - - - 14.92 14.33 14.93
7483 602.7 -7.0 269 7489 done -0.52 - - 2011 - 2.40 0.050 2275 -591.7 -116.8 - - 3192 - - - - - - - - 14.57 14.48 14.62
7806 625.4 -7.1 280 7811 roll -0.52 - - 2012 - 2.42 0.057 893 -571.1 -116.8 - - 3191 - - - - - - - - 14.91 14.40 14.93
7896 632.3 -7.7 293 7902 done -0.52 - - 2011 - 2.47 0.062 2272 558.3 -116.8 - - 3188 - - - - - - - - 14.48 14.35 14.54
8255 661.3 -8.4 302 8256 done -0.52 - - 2012 - - - 2273 - -116.8 - - 3189 - - - - - - - - 14.86 14.90 14.90
8590 690.9 -8.9 308 8595 roll -0.52 - - 2009 - 2.58 0.093 3690 549.2 -116.8 - - 3188 - - - - - - - - 14.91 14.28 14.92
8646 695.9 -8.8 316 8651 done -0.52 - - 2009 - 2.40 0.050 2282 -586.7 -116.8 - - 3187 - - - - - - - - 14.56 14.51 14.59
8983 723.6 -8.1 329 8988 roll -0.52 - - 2009 - 2.45 0.058 887 -569.4 -116.8 - - 3186 - - - - - - - - 14.88 14.28 14.89
9058 729.9 -7.9 340 9063 done -0.52 - - 2009 - 2.50 0.064 2274 554.8 -116.8 - - 3186 - - - - - - - - 14.47 14.33 14.52
9374 753.1 -7.4 350 9375 done -0.52 - - 2009 - - - 2274 - -116.8 - - 3185 - - - - - - - - 14.87 14.89 14.91
9712 776.3 -6.8 356 9712 done -0.52 - - 2009 - - - 2274 - -116.8 - - 3184 - - - - - - - - 14.86 14.88 14.88
10046 800.2 -7.2 362 10047 done -0.52 - - 2010 - - - 2274 - -116.8 - - 3183 - - - - - - - - 14.87 14.89 14.89
10382 825.3 -7.6 368 10387 roll -0.52 - - 2009 - 2.53 0.061 880 -551.0 -116.8 - - 3183 - - - - - - - - 14.88 14.31 14.89
10416 828.1 -8.1 373 10422 done -0.52 - - 2009 - 2.53 0.067 2266 547.8 -116.8 - - 3181 - - - - - - - - 14.44 14.30 14.49
10775 854.9 -7.6 382 10780 roll -0.52 - - 2004 - 2.60 0.092 3693 548.8 -116.8 - - 3182 - - - - - - - - 14.85 14.23 14.88
10822 858.3 -6.5 389 10830 done -0.52 - - 2004 - 2.50 0.051 2257 -574.4 -116.8 - - 3181 - - - - - - - - 14.40 14.33 14.43
11166 882.2 -7.0 396 11171 roll -0.52 - - 2004 - 2.42 0.061 895 -562.8 -116.8 - - 3180 - - - - - - - - 14.85 14.29 14.88
11243 887.7 -7.0 407 11248 done -0.52 0.12 0.282 2025 175.0 2.50 0.065 2276 552.4 -116.8 - - 3180 - - - - - - - - 13.98 14.29 14.26
11558 906.3 -5.9 417 11564 roll -0.52 - - 2016 - 2.60 0.092 3700 547.7 -116.8 - - 3179 - - - - - - - - 14.88 14.22 14.90
11621 910.3 -6.2 426 11626 done -0.52 - - 2016 - 2.45 0.052 2276 -581.2 -116.8 - - 3178 - - - - - - - - 14.50 14.42 14.53
11951 931.3 -6.5 438 11955 roll -0.52 - - 2016 - 2.50 0.065 874 -560.8 -116.8 - - 3178 - - - - - - - - 14.88 14.27 14.89
12026 936.8 -7.1 449 12032 done -0.52 - - 2015 - 2.53 0.067 2260 547.8 -116.8 - - 3178 - - - - - - - - 14.42 14.28 14.47
12343 958.8 -7.1 459 12348 roll -0.52 - - 2012 - 2.62 0.093 3693 546.9 -116.8 - - 3177 - - - - - - - - 14.84 14.20 14.85
12398 962.9 -7.3 467 12403 done -0.52 - - 2012 - 2.47 0.052 2259 -580.6 -116.8 - - 3177 - - - - - - - - 14.49 14.42 14.52
12735 987.0 -7.2 480 12740 roll -0.52 - - 2012 - 2.45 0.060 883 -561.6 -116.8 - - 3177 - - - - - - - - 14.83 14.26 14.85
12764 end dive: TARGET_DEPTH_EXCEEDED
12764 begin apogee
12774 990.5 -9.8 485 12968 roll -0.19 0.45 0.216 2136 275.6 - - 2200 - - 191.57 1.609 2739 -2.3 0.268 - - - - - - 14.06 13.93 13.21
12970 end apogee: CONTROL_FINISHED_OK
12970 begin climb
12973 995.4 - 488 13130 done 0.68 0.90 0.143 2411 305.6 - - 2200 - 116.8 148.32 1.874 2264 -3.2 0.324 - - - - - - 13.89 14.15 12.89
13438 959.0 9.3 524 13443 roll 0.62 - - 2411 - 2.60 0.093 3615 544.2 116.8 - - 2234 - - - - - - - - 14.59 14.23 14.60
13529 949.8 10.0 537 13535 done 0.53 0.20 0.271 2374 -185.0 2.47 0.061 2212 -568.0 116.8 - - 2231 - - - - - - - - 14.06 14.35 14.39
13886 923.6 7.2 546 13891 roll 0.53 - - 2385 - 2.60 0.074 780 -550.8 118.8 - - 2231 - - - - - - - - 14.76 14.35 14.78
13969 916.9 7.4 558 13974 done 0.53 - - 2385 - 2.58 0.064 2203 551.6 118.8 - - 2229 - - - - - - - - 14.50 14.37 14.54
14335 887.1 8.3 568 14339 roll 0.53 - - 2385 - 2.58 0.094 3617 548.1 118.8 - - 2229 - - - - - - - - 14.79 14.33 14.81
14403 880.4 9.6 578 14409 done 0.53 - - 2395 - 2.50 0.061 2188 -571.6 118.8 - - 2228 - - - - - - - - 14.52 14.41 14.56
14726 850.9 9.4 589 14732 roll 0.53 - - 2406 - 2.53 0.074 790 -552.6 118.8 - - 2228 - - - - - - - - 14.83 14.33 14.85
14783 845.5 9.1 597 14789 done 0.53 0.12 0.262 2379 -225.0 2.55 0.065 2204 554.5 118.8 - - 2224 - - - - - - - - 14.11 14.37 14.40
15119 817.5 8.3 610 15123 roll 0.53 - - 2380 - 2.58 0.093 3615 546.9 118.8 - - 2227 - - - - - - - - 14.83 14.28 14.85
15222 807.8 9.2 625 15230 done 0.53 - - 2388 - 2.50 0.060 2212 -561.2 118.8 - - 2226 - - - - - - - - 14.39 14.33 14.52
15567 778.6 8.5 632 15571 roll 0.53 - - 2399 - 2.58 0.073 784 -553.5 118.8 - - 2226 - - - - - - - - 14.82 14.31 14.84
15629 773.7 8.3 641 15635 done 0.53 - - 2399 - 2.58 0.064 2212 553.5 118.8 - - 2226 - - - - - - - - 14.49 14.37 14.54
15959 745.1 8.7 653 15965 roll 0.53 - - 2399 - 2.55 0.091 3614 549.8 118.8 - - 2225 - - - - - - - - 14.81 14.28 14.83
16041 737.0 9.7 665 16048 done 0.48 0.22 0.254 2356 -195.5 2.45 0.057 2208 -573.9 118.8 - - 2228 - - - - - - - - 14.00 14.39 14.33
16406 711.5 7.0 675 16411 roll 0.48 - - 2366 - 2.55 0.074 796 -553.7 127.8 - - 2225 - - - - - - - - 14.82 14.27 14.84
16463 707.7 7.1 683 16482 done 0.49 - - 2366 - 2.58 0.063 2223 553.1 133.8 12.50 1.720 2192 -2.6 0.207 - - - - - - 14.47 14.35 13.68
16798 682.1 7.7 696 16803 roll 0.49 - - 2366 - 2.53 0.091 3612 549.0 133.8 - - 2181 - - - - - - - - 14.77 14.28 14.79
16868 676.0 8.7 706 16873 done 0.49 - - 2375 - 2.45 0.057 2207 -573.5 133.8 - - 2180 - - - - - - - - 14.50 14.40 14.54
17191 650.3 8.0 717 17196 roll 0.49 - - 2385 - 2.55 0.073 795 -553.7 133.8 - - 2184 - - - - - - - - 14.81 14.30 14.83
17238 646.3 8.0 724 17246 done 0.49 - - 2385 - 2.60 0.062 2215 546.2 133.8 - - 2182 - - - - - - - - 14.35 14.30 14.41
17583 618.6 8.1 731 17588 roll 0.49 - - 2381 - 2.55 0.089 3620 551.0 133.8 - - 2178 - - - - - - - - 14.80 14.26 14.82
17665 611.3 8.6 743 17671 done 0.49 0.15 0.249 2360 -140.0 2.45 0.057 2213 -574.3 133.8 - - 2179 - - - - - - - - 14.07 14.37 14.36
18030 588.8 6.0 753 18077 roll 0.50 - - 2371 - 2.55 0.069 783 -560.8 164.6 41.58 1.546 2062 -2.8 0.204 - - - - - - 14.81 14.36 13.66
18114 583.5 6.5 765 18142 done 0.58 - - 2370 - 2.60 0.061 2230 556.5 184.3 22.83 1.557 1987 -3.3 0.234 - - - - - - 14.39 14.28 13.54
18479 557.1 7.4 775 18483 roll 0.58 - - 2370 - 2.50 0.090 3608 551.2 184.3 - - 1966 - - - - - - - - 14.69 14.26 14.71
18535 552.3 8.7 783 18540 done 0.58 - - 2379 - 2.42 0.055 2217 -574.8 184.3 - - 1964 - - - - - - - - 14.45 14.36 14.49
18870 524.2 8.4 796 18875 roll 0.58 - - 2386 - 2.58 0.073 799 -549.6 184.3 - - 1964 - - - - - - - - 14.77 14.31 14.76
18960 516.3 8.7 809 18967 done 0.62 - - 2386 - 2.53 0.058 2213 558.9 184.3 - - 1963 - - - - - - - - 14.47 14.36 14.52
19319 483.7 9.2 818 19324 roll 0.62 - - 2386 - 2.55 0.086 3615 549.8 184.3 - - 1963 - - - - - - - - 14.80 14.28 14.82
19380 477.3 10.1 827 19386 done 0.62 - - 2394 - 2.45 0.056 2212 -572.7 184.3 - - 1966 - - - - - - - - 14.48 14.37 14.52
19710 447.1 9.1 839 19715 roll 0.62 - - 2405 - 2.58 0.068 784 -553.5 184.3 - - 1962 - - - - - - - - 14.80 14.31 14.82
19773 441.7 8.5 848 19778 done 0.62 - - 2405 - 2.58 0.059 2218 555.8 184.3 - - 1962 - - - - - - - - 14.47 14.35 14.52
20103 413.4 8.6 860 20107 roll 0.62 - - 2405 - 2.53 0.086 3610 550.2 184.3 - - 1962 - - - - - - - - 14.83 14.27 14.85
20164 407.7 8.9 869 20171 done 0.62 - - 2414 - 2.42 0.052 2209 -578.9 184.3 - - 1962 - - - - - - - - 14.47 14.36 14.52
20496 379.3 8.7 881 20502 roll 0.62 - - 2424 - 2.55 0.069 797 -553.7 184.3 - - 1962 - - - - - - - - 14.82 14.28 14.82
20557 373.7 8.6 890 20563 done 0.62 - - 2424 - 2.58 0.058 2208 546.9 184.3 - - 1961 - - - - - - - - 14.36 14.29 14.42
20888 341.5 10.0 902 20893 roll 0.62 - - 2424 - 2.55 0.087 3607 548.6 184.3 - - 1961 - - - - - - - - 14.83 14.26 14.85
20984 330.3 11.1 916 20990 done 0.62 0.10 0.232 2405 -190.0 2.45 0.052 2219 -566.5 184.3 - - 1961 - - - - - - - - 13.97 14.32 14.14
21335 296.6 9.5 924 21340 roll 0.62 - - 2414 - 2.58 0.070 790 -553.9 184.3 - - 1961 - - - - - - - - 14.83 14.28 14.84
21405 290.3 8.5 934 21410 done 0.62 - - 2414 - 2.58 0.059 2227 557.0 184.3 - - 1961 - - - - - - - - 14.47 14.35 14.52
21727 261.1 9.0 945 21732 roll 0.62 - - 2415 - 2.53 0.087 3615 548.6 184.3 - - 1961 - - - - - - - - 14.82 14.25 14.84
21768 257.0 10.2 951 21774 done 0.62 - - 2424 - 2.42 0.054 2216 -578.1 184.3 - - 1961 - - - - - - - - 14.49 14.38 14.53
22120 222.8 10.0 959 22124 roll 0.62 - - 2434 - 2.58 0.067 794 -551.2 184.3 - - 1961 - - - - - - - - 14.81 14.28 14.83
22167 218.0 9.8 966 22174 done 0.62 - - 2434 - 2.58 0.059 2218 551.9 184.3 - - 1961 - - - - - - - - 14.44 14.30 14.50
22511 182.4 10.4 973 22517 roll 0.62 0.12 0.263 2398 -300.0 2.53 0.083 3616 552.6 184.3 - - 1959 - - - - - - - - 14.06 14.26 14.19
22595 174.1 9.4 985 22601 done 0.62 - - 2406 - 2.42 0.053 2220 -576.9 184.3 - - 1961 - - - - - - - - 14.48 14.38 14.52
22959 142.8 8.6 995 22964 roll 0.62 - - 2414 - 2.58 0.068 792 -553.5 184.3 - - 1960 - - - - - - - - 14.82 14.30 14.83
23049 135.8 7.6 1008 23055 done 0.62 - - 2414 - 2.58 0.057 2235 559.3 184.3 - - 1961 - - - - - - - - 14.47 14.34 14.52
23408 106.1 8.4 1017 23414 roll 0.62 - - 2414 - 2.50 0.083 3606 548.4 184.3 - - 1961 - - - - - - - - 14.84 14.27 14.85
23504 97.3 8.8 1031 23510 done 0.62 - - 2425 - 2.42 0.050 2210 -576.9 184.3 - - 1961 - - - - - - - - 14.47 14.35 14.52
23828 76.5 5.3 1044 23860 roll 0.65 - - 2424 - 2.53 0.064 790 -561.3 233.2 27.23 0.353 1788 -6.4 0.262 - - - - - - 14.79 14.42 14.17
23903 72.4 5.3 1055 23944 done 0.77 - - 2424 - 2.58 0.055 2230 558.1 280.9 32.50 0.353 1593 -6.0 0.234 - - - - - - 14.52 14.38 14.13
24279 54.0 4.8 1075 24324 roll 0.92 0.17 0.109 2508 494.1 2.65 0.064 783 -546.0 341.7 40.22 0.292 1345 -6.2 0.217 - - - - - - 14.40 14.47 14.19
24457 40.9 7.4 1101 24465 done 0.99 - - 2508 - 2.62 0.056 2241 556.5 341.7 - - 1354 - - - - - - - - 14.45 14.33 14.48
24774 23.4 4.3 1113 24828 roll 1.13 0.15 0.115 2584 506.7 2.62 0.062 787 -555.0 412.8 45.58 0.197 1054 -6.6 0.149 - - - - - - 14.40 14.40 14.26
24901 13.9 8.5 1131 24906 done 1.13 - - 2584 - 2.53 0.055 2220 566.4 412.8 - - 1056 - - - - - - - - 14.48 14.37 14.50
25021 end climb: SURFACE_DEPTH_REACHED
25021 begin surface coast
25049 end surface coast: CONTROL_FINISHED_OK
25049 begin surface
SM 0.79 - - - - -6.14 6.95 0.080 219 31.5 0.10 0.135 2287 12570.0 500.17 54.55 0.139 701 12.9 -0.007 - - - - - -