SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 315 * Raw log
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• Previous call tries 1 • 126.72 of 350.00 AH used of 24V (63.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 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: 39 s
• GPS2 time: 18 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 197 - - - 2296 - -116.8 -84.95 - 2902 - - - - - - - - 14.68 - 14.71
107 4.9 -6.7 3 131 roll -0.68 8.95 0.409 1964 197.4 2.78 2.072 3684 499.3 -116.8 -5.57 - 3220 -57.1 - - - - - - - 14.02 13.15 14.43
239 45.8 -22.0 22 246 done -0.46 0.32 0.258 2044 250.0 2.40 0.039 2257 -594.6 -116.8 - - 3222 - - - - - - - - 14.10 14.47 14.39
552 80.7 -8.9 34 556 roll -0.40 - - 2036 - 2.58 0.076 3697 558.1 -116.8 - - 3224 - - - - - - - - 14.82 14.43 14.84
751 98.6 -9.1 62 756 done -0.40 0.12 0.225 2066 250.0 2.35 0.040 2280 -603.0 -116.8 - - 3224 - - - - - - - - 14.28 14.58 14.50
1113 119.8 -5.5 72 1118 roll -0.40 - - 2066 - 2.40 0.052 887 -580.4 -116.8 - - 3224 - - - - - - - - 14.88 14.47 14.89
1197 125.4 -6.6 84 1202 done -0.40 - - 2060 - 2.47 0.057 2306 574.5 -116.8 - - 3224 - - - - - - - - 14.63 14.52 14.66
1561 151.3 -7.5 94 1566 roll -0.40 - - 2056 - 2.42 0.080 3692 572.7 -116.8 - - 3223 - - - - - - - - 14.90 14.47 14.91
1665 158.6 -6.8 109 1673 done -0.46 - - 2056 - 2.35 0.043 2299 -592.8 -116.8 - - 3225 - - - - - - - - 14.59 14.56 14.62
2010 182.1 -6.8 116 2015 roll -0.46 - - 2056 - 2.42 0.051 897 -579.3 -116.8 - - 3220 - - - - - - - - 14.90 14.54 14.91
2106 189.1 -7.1 130 2112 done -0.46 - - 2056 - 2.45 0.057 2295 570.6 -116.8 - - 3219 - - - - - - - - 14.62 14.51 14.65
2457 214.6 -7.5 138 2462 roll -0.46 - - 2055 - 2.47 0.084 3685 562.8 -116.8 - - 3218 - - - - - - - - 14.90 14.44 14.92
2499 217.6 -6.8 144 2504 done -0.51 - - 2055 - 2.33 0.042 2286 -600.4 -116.8 - - 3218 - - - - - - - - 14.67 14.60 14.69
2849 242.1 -7.1 152 2854 roll -0.51 - - 2055 - 2.40 0.051 894 -580.0 -116.8 - - 3215 - - - - - - - - 14.91 14.51 14.93
2919 247.5 -7.4 162 2924 done -0.51 - - 2055 - 2.47 0.058 2297 568.0 -116.8 - - 3215 - - - - - - - - 14.60 14.49 14.64
3241 272.3 -7.8 173 3242 done -0.51 - - 2055 - - - 2297 - -116.8 - - 3213 - - - - - - - - 14.93 14.95 14.95
3577 297.3 -7.4 179 3578 done -0.51 - - 2055 - - - 2297 - -116.8 - - 3210 - - - - - - - - 14.91 14.93 14.93
3913 320.6 -6.8 185 3919 roll -0.51 - - 2055 - 2.47 0.054 898 -566.4 -116.8 - - 3208 - - - - - - - - 14.90 14.50 14.92
3955 323.6 -7.2 191 3960 done -0.51 - - 2055 - 2.47 0.061 2289 563.2 -116.8 - - 3208 - - - - - - - - 14.62 14.48 14.64
4305 347.8 -7.0 199 4310 roll -0.51 - - 2047 - 2.53 0.085 3697 556.5 -116.8 - - 3206 - - - - - - - - 14.93 14.41 14.95
4339 350.4 -7.2 204 4345 done -0.55 - - 2047 - 2.38 0.046 2288 -592.0 -116.8 - - 3205 - - - - - - - - 14.64 14.57 14.67
4698 376.1 -7.1 213 4704 roll -0.55 - - 2047 - 2.42 0.055 894 -576.0 -116.8 - - 3204 - - - - - - - - 14.92 14.47 14.94
4773 381.7 -7.1 224 4779 done -0.55 - - 2043 - 2.50 0.060 2300 562.4 -116.8 - - 3203 - - - - - - - - 14.56 14.44 14.60
5090 404.0 -7.1 234 5095 roll -0.55 - - 2040 - 2.50 0.087 3697 558.8 -116.8 - - 3202 - - - - - - - - 14.90 14.38 14.91
5124 406.5 -7.1 239 5129 done -0.55 - - 2040 - 2.38 0.047 2288 -592.0 -116.8 - - 3202 - - - - - - - - 14.63 14.56 14.65
5481 432.1 -7.2 248 5486 roll -0.55 - - 2043 - 2.42 0.055 892 -576.9 -116.8 - - 3200 - - - - - - - - 14.90 14.45 14.92
5551 437.6 -8.0 258 5556 done -0.55 - - 2040 - 2.47 0.060 2283 563.2 -116.8 - - 3199 - - - - - - - - 14.55 14.43 14.59
5873 462.0 -7.6 269 5879 roll -0.55 - - 2032 - 2.53 0.086 3702 560.9 -116.8 - - 3198 - - - - - - - - 14.92 14.37 14.93
5908 464.7 -7.9 274 5913 done -0.55 - - 2036 - 2.40 0.045 2272 -595.8 -116.8 - - 3198 - - - - - - - - 14.62 14.56 14.64
6265 494.7 -8.6 283 6270 roll -0.55 - - 2036 - 2.42 0.059 890 -571.1 -116.8 - - 3197 - - - - - - - - 14.90 14.42 14.91
6356 502.9 -9.0 296 6361 done -0.55 - - 2031 - 2.47 0.060 2280 562.8 -116.8 - - 3196 - - - - - - - - 14.55 14.45 14.59
6713 533.4 -8.4 305 6719 roll -0.55 - - 2025 - 2.53 0.086 3693 558.5 -116.8 - - 3194 - - - - - - - - 14.92 14.32 14.94
6740 535.6 -7.7 309 6747 done -0.55 - - 2025 - 2.42 0.049 2282 -583.1 -116.8 - - 3194 - - - - - - - - 14.51 14.46 14.53
7106 560.3 -6.5 319 7111 roll -0.55 - - 2025 - 2.45 0.060 895 -566.1 -116.8 - - 3192 - - - - - - - - 14.89 14.40 14.90
7181 565.2 -6.1 330 7187 done -0.55 - - 2025 - 2.47 0.063 2280 560.7 -116.8 - - 3193 - - - - - - - - 14.53 14.40 14.57
7498 584.2 -6.1 340 7499 done -0.55 - - 2025 - - - 2280 - -116.8 - - 3192 - - - - - - - - 14.90 14.92 14.92
7833 608.0 -7.3 346 7834 done -0.55 - - 2025 - - - 2280 - -116.8 - - 3191 - - - - - - - - 14.91 14.93 14.92
8169 634.5 -8.0 352 8174 roll -0.55 - - 2025 - 2.47 0.057 887 -564.0 -116.8 - - 3190 - - - - - - - - 14.92 14.40 14.93
8203 637.5 -8.7 357 8209 done -0.55 - - 2025 - 2.50 0.063 2280 557.2 -116.8 - - 3189 - - - - - - - - 14.50 14.36 14.54
8562 667.1 -8.4 366 8563 done -0.55 - - 2025 - - - 2279 - -116.8 - - 3188 - - - - - - - - 14.90 14.92 14.91
8897 694.7 -8.1 372 8902 roll -0.55 - - 2015 - 2.55 0.088 3690 553.3 -116.8 - - 3185 - - - - - - - - 14.91 14.29 14.92
8931 697.5 -8.1 377 8938 done -0.55 - - 2016 - 2.45 0.051 2278 -576.3 -116.8 - - 3186 - - - - - - - - 14.46 14.42 14.48
9290 725.0 -7.6 386 9295 roll -0.55 - - 2015 - 2.45 0.060 891 -566.1 -116.8 - - 3186 - - - - - - - - 14.90 14.35 14.91
9372 731.4 -7.5 398 9378 done -0.55 - - 2015 - 2.50 0.065 2273 552.8 -116.8 - - 3185 - - - - - - - - 14.45 14.29 14.50
9737 757.3 -7.1 408 9742 roll -0.55 - - 2012 - 2.60 0.092 3690 545.0 -116.8 - - 3184 - - - - - - - - 14.87 14.25 14.89
9765 759.2 -6.9 412 9770 done -0.55 - - 2012 - 2.45 0.051 2282 -574.7 -116.8 - - 3183 - - - - - - - - 14.55 14.47 14.58
10129 784.3 -6.8 422 10134 roll -0.55 - - 2012 - 2.50 0.060 886 -558.4 -116.8 - - 3183 - - - - - - - - 14.89 14.31 14.91
10191 788.9 -7.1 431 10197 done -0.55 - - 2012 - 2.55 0.066 2280 546.7 -116.8 - - 3183 - - - - - - - - 14.45 14.31 14.49
10522 810.6 -6.6 443 10523 done -0.55 - - 2012 - - - 2280 - -116.8 - - 3182 - - - - - - - - 14.85 14.88 14.88
10857 831.5 -6.1 449 10863 roll -0.55 - - 2012 - 2.60 0.093 3696 544.6 -116.8 - - 3181 - - - - - - - - 14.88 14.21 14.91
10891 833.3 -5.3 454 10897 done -0.55 - - 2012 - 2.47 0.052 2264 -579.8 -116.8 - - 3181 - - - - - - - - 14.48 14.42 14.53
11250 855.3 -6.1 463 11255 roll -0.55 - - 2012 - 2.47 0.061 876 -561.9 -116.8 - - 3180 - - - - - - - - 14.88 14.31 14.90
11339 861.8 -7.1 476 11345 done -0.55 - - 2011 - 2.55 0.067 2273 547.8 -116.8 - - 3180 - - - - - - - - 14.42 14.28 14.47
11697 887.7 -7.5 485 11703 roll -0.55 - - 2012 - 2.62 0.096 3691 541.2 -116.8 - - 3178 - - - - - - - - 14.85 14.20 14.87
11746 891.4 -7.7 492 11752 done -0.55 - - 2012 - 2.47 0.054 2270 -575.3 -116.8 - - 3180 - - - - - - - - 14.48 14.40 14.51
12089 917.3 -7.4 499 12094 roll -0.55 - - 2012 - 2.50 0.063 885 -554.0 -116.8 - - 3178 - - - - - - - - 14.85 14.26 14.87
12172 923.8 -7.7 511 12178 done -0.55 - - 2012 - 2.53 0.067 2268 546.6 -116.8 - - 3178 - - - - - - - - 14.32 14.21 14.37
12538 949.5 -7.0 521 12539 done -0.55 - - 2012 - - - 2267 - -116.8 - - 3177 - - - - - - - - 14.83 14.85 14.85
12873 972.3 -6.7 527 12874 done -0.55 - - 2012 - - - 2267 - -116.8 - - 3177 - - - - - - - - 14.84 14.85 14.84
13149 end dive: TARGET_DEPTH_EXCEEDED
13149 begin apogee
13158 990.4 -6.4 532 13352 roll -0.19 0.45 0.218 2132 266.7 - - 2201 - - 192.25 1.623 2739 -2.3 0.265 - - - - - - 13.96 13.91 13.22
13354 end apogee: CONTROL_FINISHED_OK
13354 begin climb
13358 994.5 - 535 13518 roll 0.68 0.93 0.150 2410 298.9 2.62 0.060 800 -534.7 116.8 149.80 1.872 2261 -3.2 0.323 - - - - - - 13.87 13.95 12.86
13616 976.1 9.1 577 13622 done 0.68 - - 2411 - 2.62 0.067 2199 534.0 116.8 - - 2237 - - - - - - - - 14.08 13.97 14.12
13939 943.8 10.1 588 13944 roll 0.62 - - 2421 - 2.58 0.074 809 -538.8 116.8 - - 2232 - - - - - - - - 14.68 14.30 14.69
14058 932.4 9.4 605 14063 done 0.62 - - 2421 - 2.58 0.069 2214 544.6 116.8 - - 2230 - - - - - - - - 14.47 14.34 14.51
14388 899.6 9.9 617 14393 roll 0.56 0.12 0.280 2385 -300.0 2.55 0.093 3610 547.5 116.8 - - 2229 - - - - - - - - 14.12 14.32 14.27
14449 893.6 9.2 626 14454 done 0.56 - - 2394 - 2.47 0.060 2227 -559.9 116.8 - - 2227 - - - - - - - - 14.54 14.37 14.57
14779 866.1 8.3 638 14784 roll 0.56 - - 2404 - 2.65 0.079 786 -543.8 116.8 - - 2227 - - - - - - - - 14.80 14.35 14.81
14820 862.7 9.7 644 14825 done 0.56 - - 2405 - 2.60 0.070 2215 549.6 116.8 - - 2227 - - - - - - - - 14.51 14.38 14.56
15171 834.0 8.3 652 15176 roll 0.56 - - 2405 - 2.58 0.095 3615 542.6 116.8 - - 2227 - - - - - - - - 14.83 14.31 14.85
15241 827.4 9.2 662 15246 done 0.49 0.22 0.264 2362 -195.5 2.47 0.062 2212 -568.0 116.8 - - 2227 - - - - - - - - 14.04 14.41 14.38
15563 807.1 6.2 673 15597 roll 0.51 - - 2373 - 2.60 0.077 790 -546.9 142.6 27.27 1.772 2151 -2.8 0.242 - - - - - - 14.84 14.42 13.63
15619 803.4 7.5 681 15625 done 0.51 - - 2373 - 2.60 0.067 2218 549.2 142.6 - - 2143 - - - - - - - - 14.47 14.34 14.49
15955 777.9 7.8 694 15960 roll 0.51 - - 2373 - 2.55 0.094 3615 547.8 142.6 - - 2138 - - - - - - - - 14.76 14.29 14.77
16038 770.6 8.4 706 16043 done 0.51 - - 2382 - 2.47 0.061 2205 -570.9 142.6 - - 2137 - - - - - - - - 14.49 14.38 14.53
16404 737.7 9.2 716 16408 roll 0.51 - - 2392 - 2.55 0.076 795 -552.9 142.6 - - 2137 - - - - - - - - 14.79 14.33 14.80
16472 731.5 8.6 726 16477 done 0.51 - - 2392 - 2.60 0.064 2234 553.5 142.6 - - 2138 - - - - - - - - 14.48 14.35 14.53
16795 702.0 9.1 737 16800 roll 0.51 - - 2393 - 2.53 0.093 3615 545.8 142.6 - - 2136 - - - - - - - - 14.78 14.29 14.80
16858 695.9 10.0 746 16863 done 0.51 0.15 0.259 2370 -153.3 2.45 0.060 2216 -571.0 142.6 - - 2135 - - - - - - - - 14.09 14.41 14.39
17187 672.8 6.8 758 17198 roll 0.51 - - 2379 - 2.60 0.075 789 -548.8 154.3 4.07 1.294 2109 -6.4 0.634 - - - - - - 14.82 14.55 13.40
17235 669.4 7.0 765 17262 done 0.52 - - 2379 - 2.60 0.065 2222 551.2 163.1 20.20 1.737 2070 -1.9 0.142 - - - - - - 14.54 14.42 13.69
17580 642.6 8.0 779 17584 roll 0.52 - - 2379 - 2.53 0.093 3609 548.2 163.1 - - 2057 - - - - - - - - 14.76 14.30 14.77
17683 633.3 8.9 794 17690 done 0.52 - - 2388 - 2.45 0.057 2235 -560.8 163.1 - - 2056 - - - - - - - - 14.38 14.34 14.44
18028 603.6 8.8 801 18033 roll 0.52 - - 2398 - 2.62 0.073 784 -553.8 163.1 - - 2056 - - - - - - - - 14.80 14.31 14.82
18083 598.7 8.8 809 18089 done 0.52 0.12 0.247 2370 -233.3 2.65 0.064 2245 551.3 163.1 - - 2054 - - - - - - - - 14.12 14.33 14.40
18419 572.1 7.9 822 18424 roll 0.52 - - 2370 - 2.50 0.093 3618 549.2 163.1 - - 2054 - - - - - - - - 14.81 14.28 14.82
18496 565.4 8.7 833 18501 done 0.52 - - 2379 - 2.42 0.060 2235 -571.5 163.1 - - 2054 - - - - - - - - 14.51 14.40 14.55
18811 540.3 7.9 843 18815 roll 0.52 - - 2389 - 2.62 0.073 784 -553.8 163.1 - - 2054 - - - - - - - - 14.82 14.29 14.83
18867 536.2 7.3 851 18872 done 0.52 - - 2389 - 2.65 0.064 2244 550.9 165.0 - - 2053 - - - - - - - - 14.47 14.34 14.53
19204 510.8 7.6 864 19208 roll 0.52 - - 2389 - 2.53 0.093 3613 541.1 165.0 - - 2053 - - - - - - - - 14.83 14.26 14.85
19265 505.4 8.5 873 19271 done 0.52 - - 2396 - 2.45 0.057 2242 -559.6 165.0 - - 2053 - - - - - - - - 14.39 14.33 14.42
19596 477.9 8.5 885 19606 roll 0.52 - - 2406 - 2.62 0.074 789 -554.6 165.0 - - 2051 - - - - - - - - 14.81 14.28 14.83
19641 474.0 8.7 891 19646 done 0.52 0.15 0.234 2371 -233.3 2.65 0.065 2249 550.9 165.0 - - 2053 - - - - - - - - 14.08 14.33 14.39
19991 446.5 7.9 899 19996 roll 0.52 - - 2371 - 2.50 0.093 3613 545.6 165.0 - - 2053 - - - - - - - - 14.82 14.16 14.84
20068 439.7 9.1 910 20073 done 0.52 - - 2379 - 2.40 0.058 2243 -570.8 165.0 - - 2052 - - - - - - - - 14.49 14.38 14.53
20383 414.8 7.8 920 20388 roll 0.52 - - 2389 - 2.65 0.073 792 -547.5 165.0 - - 2050 - - - - - - - - 14.81 14.19 14.83
20459 409.3 6.9 931 20471 done 0.57 - - 2388 - 2.65 0.064 2250 550.2 175.3 4.40 1.178 2025 -5.7 0.377 - - - - - - 14.44 14.30 13.49
20832 383.0 6.9 942 20858 roll 0.58 - - 2389 - 2.55 0.093 3618 536.5 185.9 21.75 1.399 1979 -2.1 0.110 - - - - - - 14.83 14.48 13.79
20921 376.2 7.7 955 20927 done 0.58 - - 2396 - 2.47 0.059 2215 -568.0 185.9 - - 1969 - - - - - - - - 14.46 14.36 14.50
21280 351.1 7.1 964 21285 roll 0.58 - - 2406 - 2.58 0.074 798 -549.2 191.5 - - 1964 - - - - - - - - 14.76 14.28 14.77
21355 345.5 7.2 975 21362 done 0.58 - - 2406 - 2.62 0.063 2244 551.9 194.3 2.45 0.548 1947 -6.9 0.834 - - - - - - 14.46 14.33 13.38
21720 314.8 8.7 985 21726 roll 0.58 - - 2406 - 2.50 0.093 3615 548.4 194.3 - - 1953 - - - - - - - - 14.79 14.26 14.81
21790 307.7 10.0 995 21795 done 0.58 - - 2415 - 2.42 0.058 2233 -571.1 194.3 - - 1953 - - - - - - - - 14.49 14.39 14.52
22112 277.1 9.6 1006 22117 roll 0.58 - - 2424 - 2.60 0.071 789 -555.4 194.3 - - 1953 - - - - - - - - 14.83 14.27 14.84
22181 270.9 8.6 1016 22187 done 0.58 0.15 0.236 2388 -240.0 2.65 0.063 2255 553.2 194.3 - - 1952 - - - - - - - - 14.09 14.31 14.33
22505 249.2 6.6 1027 22537 roll 0.59 - - 2388 - 2.47 0.089 3625 554.7 211.4 27.62 1.237 1874 -2.8 0.109 - - - - - - 14.81 14.35 13.83
22580 243.6 8.0 1038 22586 done 0.59 - - 2395 - 2.42 0.057 2241 -571.9 211.4 - - 1860 - - - - - - - - 14.49 14.39 14.50
22897 220.6 7.4 1048 22903 roll 0.59 - - 2404 - 2.62 0.071 795 -551.9 211.4 - - 1857 - - - - - - - - 14.73 14.25 14.76
22966 215.1 7.7 1058 22971 done 0.65 - - 2404 - 2.62 0.062 2253 556.5 211.4 - - 1854 - - - - - - - - 14.45 14.33 14.50
23288 188.6 8.2 1069 23294 roll 0.65 - - 2404 - 2.50 0.089 3620 546.8 211.4 - - 1857 - - - - - - - - 14.79 14.27 14.81
23358 182.2 9.2 1079 23363 done 0.65 - - 2410 - 2.42 0.058 2240 -570.2 211.4 - - 1856 - - - - - - - - 14.50 14.38 14.54
23680 153.4 9.1 1090 23685 roll 0.65 - - 2418 - 2.62 0.071 790 -553.4 211.4 - - 1856 - - - - - - - - 14.81 14.28 14.83
23757 146.0 9.8 1101 23763 done 0.65 - - 2418 - 2.65 0.062 2264 556.2 211.4 - - 1856 - - - - - - - - 14.46 14.33 14.51
24074 116.9 9.1 1111 24078 roll 0.65 - - 2418 - 2.47 0.087 3624 550.6 211.4 - - 1856 - - - - - - - - 14.83 14.28 14.85
24149 109.6 9.3 1122 24154 done 0.65 - - 2426 - 2.42 0.054 2259 -564.0 211.4 - - 1856 - - - - - - - - 14.40 14.34 14.53
24466 83.9 7.3 1135 24470 roll 0.65 - - 2434 - 2.65 0.069 784 -556.6 213.2 - - 1856 - - - - - - - - 14.81 14.23 14.83
24541 78.2 6.7 1146 24553 done 0.66 - - 2434 - 2.65 0.060 2266 559.2 229.0 8.15 0.306 1806 -6.1 0.299 - - - - - - 14.38 14.28 14.05
24889 57.1 4.9 1162 24932 roll 0.76 - - 2434 - 2.40 0.082 3619 563.8 285.8 38.72 0.301 1574 -6.0 0.217 - - - - - - 14.78 14.40 14.20
25020 49.4 6.2 1181 25045 done 0.88 0.15 0.118 2498 426.7 2.38 0.052 2257 -572.3 313.9 20.58 0.272 1458 -5.6 0.195 - - - - - - 14.41 14.42 14.14
25358 31.0 5.6 1196 25394 roll 0.97 - - 2502 - 2.65 0.066 782 -556.6 354.7 27.50 0.220 1292 -6.0 0.162 - - - - - - 14.76 14.44 14.22
25517 24.1 3.3 1219 25583 done 1.18 0.22 0.089 2601 450.0 2.62 0.056 2257 563.0 450.3 60.25 0.199 904 -6.4 0.149 - - - - - - 14.44 14.36 14.23
25774 end climb: SURFACE_DEPTH_REACHED
25774 begin surface coast
25798 end surface coast: CONTROL_FINISHED_OK
25798 begin surface
SM 0.78 - - - - -6.13 6.70 0.048 214 31.9 - - 2257 - 500.17 33.42 0.132 699 20.9 -0.013 - - - - - -