SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 330 * Raw log
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• Previous call tries 2 • 132.15 of 350.00 AH used of 24V (62.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.1 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 16 s • Transponder ping count: 9
• 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 - - - 106 VBD -0.68 - - 191 - - - 2275 - -116.8 -84.72 - 2838 - - - - - - - - 14.69 - 14.71
111 3.9 -5.2 3 134 roll -0.68 8.93 0.405 1980 200.3 2.78 2.038 860 -509.0 -116.8 -6.90 - 3220 -55.4 - - - - - - - 14.01 13.11 14.42
182 31.2 -28.3 14 190 done -0.45 0.32 0.290 2047 209.4 2.55 0.059 2290 560.8 -116.8 - - 3221 - - - - - - - - 14.09 14.39 14.39
499 73.5 -7.3 26 503 roll -0.39 - - 2037 - 2.45 0.076 3700 575.5 -116.8 - - 3222 - - - - - - - - 14.81 14.40 14.83
512 74.4 -6.0 28 518 done -0.34 0.20 0.211 2089 260.0 2.40 0.040 2243 -607.1 -116.8 - - 3224 - - - - - - - - 14.26 14.58 14.49
834 94.9 -6.9 41 835 done -0.34 - - 2089 - - - 2244 - -116.8 - - 3224 - - - - - - - - 14.86 14.88 14.88
1144 114.0 -5.6 48 1148 roll -0.39 - - 2089 - 2.33 0.054 897 -578.1 -116.8 - - 3224 - - - - - - - - 14.90 14.47 14.92
1233 119.6 -6.3 61 1239 done -0.46 0.12 0.137 2033 -466.7 2.42 0.056 2286 574.0 -116.8 - - 3223 - - - - - - - - 14.52 14.52 14.62
1591 149.8 -8.5 70 1591 done -0.46 - - 2034 - - - 2287 - -116.8 - - 3222 - - - - - - - - 14.91 14.93 14.93
1927 178.5 -8.4 76 1928 done -0.46 - - 2034 - - - 2286 - -116.8 - - 3220 - - - - - - - - 14.93 14.95 14.95
2262 208.5 -9.1 82 2263 done -0.46 - - 2033 - - - 2290 - -116.8 - - 3218 - - - - - - - - 14.95 14.97 15.00
2598 237.6 -8.7 88 2599 done -0.46 - - 2034 - - - 2286 - -116.8 - - 3216 - - - - - - - - 14.95 14.97 14.97
2934 267.2 -8.7 94 2939 roll -0.46 - - 2033 - 2.42 0.049 892 -576.0 -116.8 - - 3214 - - - - - - - - 14.95 14.53 14.97
2962 269.6 -8.9 98 2967 done -0.46 - - 2028 - 2.45 0.057 2289 570.2 -116.8 - - 3213 - - - - - - - - 14.62 14.51 14.66
3327 300.3 -8.4 108 3331 roll -0.46 - - 2028 - 2.42 0.048 891 -577.7 -116.8 - - 3210 - - - - - - - - 14.93 14.53 14.95
3353 302.8 -8.9 112 3359 done -0.46 - - 2027 - 2.47 0.057 2275 560.3 -116.8 - - 3210 - - - - - - - - 14.51 14.45 14.55
3719 333.7 -8.5 122 3720 done -0.46 - - 2027 - - - 2275 - -116.8 - - 3208 - - - - - - - - 14.92 14.94 14.94
4054 361.5 -8.1 128 4059 roll -0.46 - - 2020 - 2.53 0.085 3684 556.9 -116.8 - - 3206 - - - - - - - - 14.92 14.42 14.94
4102 365.6 -8.6 135 4109 done -0.46 0.08 0.205 2044 300.0 2.38 0.044 2282 -589.1 -116.8 - - 3206 - - - - - - - - 14.21 14.53 14.34
4447 389.8 -6.9 142 4451 roll -0.46 - - 2045 - 2.40 0.053 897 -577.1 -116.8 - - 3204 - - - - - - - - 14.92 14.50 14.94
4516 394.6 -6.7 152 4521 done -0.46 - - 2047 - 2.45 0.060 2274 562.0 -116.8 - - 3203 - - - - - - - - 14.58 14.46 14.62
4838 416.3 -6.8 163 4843 roll -0.46 - - 2037 - 2.55 0.087 3700 559.2 -116.8 - - 3202 - - - - - - - - 14.94 14.41 14.96
4888 419.7 -6.9 170 4894 done -0.51 - - 2032 - 2.38 0.046 2273 -599.6 -116.8 - - 3201 - - - - - - - - 14.66 14.59 14.68
5230 443.1 -6.8 177 5236 roll -0.51 - - 2038 - 2.40 0.056 901 -571.7 -116.8 - - 3200 - - - - - - - - 14.90 14.46 14.93
5348 451.2 -6.8 194 5354 done -0.51 - - 2037 - 2.45 0.061 2276 561.2 -116.8 - - 3199 - - - - - - - - 14.55 14.43 14.59
5679 474.4 -7.2 206 5684 roll -0.51 - - 2033 - 2.55 0.089 3694 556.1 -116.8 - - 3197 - - - - - - - - 14.92 14.38 14.95
5740 479.1 -7.5 215 5746 done -0.56 - - 2032 - 2.38 0.047 2282 -593.3 -116.8 - - 3197 - - - - - - - - 14.59 14.55 14.64
6071 504.5 -7.8 227 6076 roll -0.56 - - 2033 - 2.45 0.055 880 -572.2 -116.8 - - 3195 - - - - - - - - 14.90 14.45 14.92
6174 512.8 -7.8 242 6181 done -0.56 - - 2029 - 2.53 0.061 2264 547.0 -116.8 - - 3194 - - - - - - - - 14.41 14.34 14.46
6519 539.5 -7.9 249 6524 roll -0.56 - - 2024 - 2.58 0.086 3697 555.4 -116.8 - - 3194 - - - - - - - - 14.92 14.35 14.94
6581 544.6 -8.0 258 6586 done -0.56 - - 2024 - 2.45 0.048 2258 -587.3 -116.8 - - 3194 - - - - - - - - 14.60 14.54 14.63
6910 570.4 -7.9 270 6915 roll -0.56 - - 2024 - 2.40 0.056 887 -571.2 -116.8 - - 3193 - - - - - - - - 14.90 14.42 14.92
6979 576.0 -7.9 280 6985 done -0.56 - - 2024 - 2.47 0.061 2270 559.9 -116.8 - - 3190 - - - - - - - - 14.52 14.39 14.57
7303 600.0 -7.4 291 7308 roll -0.56 - - 2019 - 2.55 0.090 3690 556.9 -116.8 - - 3190 - - - - - - - - 14.90 14.33 14.91
7344 603.1 -7.5 297 7350 done -0.56 - - 2019 - 2.42 0.049 2256 -592.6 -116.8 - - 3190 - - - - - - - - 14.53 14.45 14.55
7694 629.6 -7.6 305 7700 roll -0.56 - - 2019 - 2.40 0.058 891 -568.8 -116.8 - - 3189 - - - - - - - - 14.92 14.40 14.94
7743 633.5 -7.9 312 7749 done -0.56 - - 2015 - 2.47 0.063 2264 555.9 -116.8 - - 3188 - - - - - - - - 14.50 14.37 14.54
8087 660.6 -8.0 319 8091 roll -0.56 - - 2010 - 2.60 0.090 3703 553.5 -116.8 - - 3188 - - - - - - - - 14.89 14.30 14.91
8155 666.4 -8.3 329 8162 done -0.56 - - 2010 - 2.45 0.046 2250 -593.1 -116.8 - - 3187 - - - - - - - - 14.56 14.47 14.59
8479 692.9 -8.2 340 8484 roll -0.56 - - 2010 - 2.38 0.057 898 -568.1 -116.8 - - 3187 - - - - - - - - 14.91 14.38 14.93
8534 697.7 -8.6 348 8539 done -0.56 - - 2009 - 2.47 0.064 2269 555.1 -116.8 - - 3186 - - - - - - - - 14.47 14.35 14.52
8870 725.3 -8.3 361 8876 roll -0.56 - - 2001 - 2.58 0.090 3694 552.3 -116.8 - - 3185 - - - - - - - - 14.91 14.27 14.93
8912 728.9 -8.7 367 8917 done -0.56 - - 2002 - 2.42 0.050 2274 -586.8 -116.8 - - 3185 - - - - - - - - 14.54 14.48 14.58
9262 756.5 -7.7 375 9267 roll -0.56 - - 2001 - 2.45 0.061 884 -567.3 -116.8 - - 3184 - - - - - - - - 14.89 14.34 14.90
9324 761.4 -7.6 384 9330 done -0.56 - - 1999 - 2.53 0.066 2272 548.6 -116.8 - - 3183 - - - - - - - - 14.45 14.31 14.50
9655 785.1 -7.2 396 9660 roll -0.56 - - 1992 - 2.60 0.093 3696 547.7 -116.8 - - 3182 - - - - - - - - 14.88 14.26 14.89
9716 789.7 -7.5 405 9723 done -0.56 - - 1994 - 2.47 0.052 2254 -583.8 -116.8 - - 3182 - - - - - - - - 14.49 14.40 14.52
10047 814.6 -7.6 417 10052 roll -0.56 - - 1995 - 2.42 0.059 889 -564.0 -116.8 - - 3182 - - - - - - - - 14.90 14.33 14.90
10116 820.1 -7.9 427 10121 done -0.56 - - 1991 - 2.50 0.067 2264 550.0 -116.8 - - 3181 - - - - - - - - 14.42 14.28 14.47
10438 845.4 -7.9 438 10443 roll -0.56 - - 1986 - 2.60 0.092 3691 548.8 -116.8 - - 3180 - - - - - - - - 14.90 14.21 14.92
10472 848.1 -8.2 443 10478 done -0.56 0.12 0.250 2013 225.0 2.45 0.050 2261 -583.7 -116.8 - - 3180 - - - - - - - - 14.04 14.41 14.29
10832 871.5 -6.4 452 10836 roll -0.56 - - 2013 - 2.42 0.058 886 -568.2 -116.8 - - 3179 - - - - - - - - 14.88 14.33 14.90
10893 875.7 -6.8 461 10899 done -0.56 - - 2013 - 2.53 0.066 2268 546.2 -116.8 - - 3179 - - - - - - - - 14.41 14.27 14.46
11222 898.2 -7.0 473 11228 roll -0.56 - - 2011 - 2.62 0.096 3696 545.0 -116.8 - - 3179 - - - - - - - - 14.86 14.20 14.88
11285 902.5 -6.1 482 11290 done -0.56 - - 2011 - 2.47 0.052 2257 -582.6 -116.8 - - 3178 - - - - - - - - 14.51 14.41 14.54
11614 926.5 -7.4 494 11619 roll -0.56 - - 2011 - 2.45 0.060 874 -564.5 -116.8 - - 3178 - - - - - - - - 14.85 14.28 14.88
11698 932.9 -7.6 506 11703 done -0.56 - - 2011 - 2.55 0.068 2266 545.9 -116.8 - - 3177 - - - - - - - - 14.40 14.25 14.45
12062 959.8 -7.4 516 12067 roll -0.56 - - 2007 - 2.62 0.095 3699 546.9 -116.8 - - 3177 - - - - - - - - 14.85 14.16 14.88
12124 964.3 -7.4 525 12131 done -0.56 - - 2007 - 2.47 0.050 2250 -586.6 -116.8 - - 3176 - - - - - - - - 14.47 14.38 14.50
12456 988.2 -7.3 537 12461 roll -0.56 - - 2006 - 2.42 0.059 886 -563.6 -116.8 - - 3176 - - - - - - - - 14.83 14.27 14.85
12478 end dive: TARGET_DEPTH_EXCEEDED
12478 begin apogee
12489 990.3 -6.3 541 12683 roll -0.19 0.47 0.217 2131 266.0 - - 2203 - - 191.77 1.639 2741 -2.3 0.262 - - - - - - 14.01 13.93 13.16
12684 end apogee: CONTROL_FINISHED_OK
12684 begin climb
12688 996.0 - 544 12848 done 0.68 0.90 0.139 2411 311.1 - - 2203 - 116.8 150.75 1.881 2256 -3.2 0.325 - - - - - - 13.88 14.15 12.85
13157 960.0 9.2 581 13162 roll 0.62 - - 2411 - 2.58 0.095 3612 546.1 116.8 - - 2231 - - - - - - - - 14.62 14.25 14.63
13234 952.1 10.3 592 13239 done 0.54 0.17 0.278 2381 -176.5 2.42 0.060 2230 -571.1 116.8 - - 2229 - - - - - - - - 14.09 14.36 14.38
13549 928.1 7.6 602 13553 roll 0.54 - - 2391 - 2.60 0.078 795 -551.9 116.8 - - 2228 - - - - - - - - 14.76 14.36 14.78
13590 924.9 10.4 608 13595 done 0.54 - - 2391 - 2.58 0.069 2218 551.6 116.8 - - 2227 - - - - - - - - 14.52 14.40 14.57
13942 897.7 7.8 616 13946 roll 0.54 - - 2391 - 2.53 0.093 3605 548.2 116.8 - - 2226 - - - - - - - - 14.81 14.35 14.83
13989 893.4 9.2 623 13996 done 0.49 0.17 0.265 2361 -176.5 2.47 0.059 2195 -570.9 116.8 - - 2226 - - - - - - - - 14.12 14.39 14.42
14333 870.7 6.6 630 14352 roll 0.50 - - 2370 - 2.58 0.079 797 -541.9 134.3 14.95 1.849 2187 -2.6 0.235 - - - - - - 14.82 14.50 13.63
14389 866.8 8.6 638 14393 done 0.50 - - 2371 - 2.55 0.067 2208 553.3 134.3 - - 2179 - - - - - - - - 14.53 14.42 14.57
14718 842.2 7.6 650 14723 roll 0.50 - - 2371 - 2.58 0.095 3617 546.1 134.3 - - 2175 - - - - - - - - 14.78 14.35 14.80
14802 835.0 8.6 662 14806 done 0.50 - - 2380 - 2.47 0.062 2210 -569.6 134.3 - - 2175 - - - - - - - - 14.52 14.42 14.57
15166 805.6 8.2 672 15171 roll 0.50 - - 2391 - 2.58 0.075 788 -551.2 134.3 - - 2178 - - - - - - - - 14.81 14.35 14.83
15242 799.4 8.0 683 15247 done 0.50 - - 2391 - 2.60 0.067 2215 548.8 134.3 - - 2173 - - - - - - - - 14.46 14.33 14.53
15559 773.7 8.1 693 15564 roll 0.50 - - 2391 - 2.55 0.093 3611 547.5 134.3 - - 2173 - - - - - - - - 14.82 14.33 14.84
15641 765.9 9.3 705 15647 done 0.50 0.15 0.265 2367 -160.0 2.47 0.057 2215 -565.2 134.3 - - 2173 - - - - - - - - 14.09 14.37 14.40
16006 739.5 7.2 715 16010 roll 0.50 - - 2377 - 2.60 0.075 796 -545.8 138.3 - - 2173 - - - - - - - - 14.83 14.31 14.85
16069 734.9 7.9 724 16073 done 0.50 - - 2377 - 2.58 0.064 2216 550.4 138.3 - - 2170 - - - - - - - - 14.50 14.37 14.54
16398 708.6 8.0 736 16402 roll 0.50 - - 2377 - 2.55 0.094 3608 545.9 138.3 - - 2172 - - - - - - - - 14.83 14.27 14.85
16467 702.2 9.2 746 16472 done 0.50 - - 2386 - 2.45 0.057 2210 -570.6 138.3 - - 2172 - - - - - - - - 14.50 14.39 14.54
16791 674.1 8.7 757 16796 roll 0.50 - - 2397 - 2.60 0.074 787 -547.3 138.3 - - 2172 - - - - - - - - 14.83 14.30 14.84
16866 667.5 8.4 768 16872 done 0.50 0.15 0.251 2363 -226.7 2.60 0.065 2217 550.0 138.3 - - 2171 - - - - - - - - 14.04 14.33 14.32
17183 644.6 7.2 778 17189 roll 0.50 - - 2363 - 2.62 0.093 3608 530.9 141.8 1.52 0.194 2161 -6.6 4.173 - - - - - - 14.83 14.28 14.14
17265 637.8 8.1 790 17270 done 0.50 - - 2371 - 2.45 0.057 2214 -569.0 141.8 - - 2164 - - - - - - - - 14.50 14.38 14.53
17630 610.7 7.5 800 17635 roll 0.50 - - 2381 - 2.60 0.074 791 -547.3 141.8 - - 2166 - - - - - - - - 14.83 14.27 14.85
17700 605.3 7.7 810 17705 done 0.50 - - 2381 - 2.60 0.064 2226 551.9 141.8 - - 2166 - - - - - - - - 14.45 14.33 14.50
18022 579.4 8.1 821 18028 roll 0.50 - - 2381 - 2.55 0.093 3613 543.9 141.8 - - 2166 - - - - - - - - 14.83 14.23 14.84
18098 572.5 8.9 832 18103 done 0.50 - - 2388 - 2.47 0.057 2224 -562.3 141.8 - - 2166 - - - - - - - - 14.48 14.31 14.50
18415 549.0 7.3 842 18419 roll 0.50 - - 2400 - 2.60 0.075 793 -550.4 141.8 - - 2165 - - - - - - - - 14.85 14.24 14.86
18476 544.7 6.6 851 18517 done 0.51 0.15 0.243 2365 -233.3 2.60 0.063 2221 549.2 158.5 33.50 1.493 2088 -2.3 0.160 - - - - - - 14.01 14.30 13.66
18866 523.8 5.3 864 18951 roll 0.54 - - 2365 - 2.62 0.095 3611 530.5 206.4 77.88 1.356 1891 -2.5 0.187 - - - - - - 14.71 14.13 13.56
19011 514.6 7.3 885 19018 done 0.59 - - 2372 - 2.45 0.058 2217 -569.0 208.4 - - 1877 - - - - - - - - 14.23 14.19 14.27
19370 488.8 7.4 894 19375 roll 0.64 0.10 0.161 2419 470.0 2.60 0.073 792 -548.1 208.4 - - 1875 - - - - - - - - 14.40 14.28 14.45
19444 481.5 9.7 905 19451 done 0.64 - - 2419 - 2.60 0.065 2219 548.8 208.4 - - 1873 - - - - - - - - 14.45 14.32 14.49
19761 446.3 11.4 915 19765 roll 0.64 - - 2419 - 2.55 0.093 3615 547.5 208.4 - - 1873 - - - - - - - - 14.77 14.23 14.78
19823 438.3 12.7 924 19828 done 0.64 - - 2429 - 2.47 0.059 2211 -568.4 208.4 - - 1872 - - - - - - - - 14.50 14.40 14.54
20152 399.9 11.5 936 20157 roll 0.64 - - 2439 - 2.58 0.073 782 -553.9 208.4 - - 1872 - - - - - - - - 14.80 14.32 14.82
20214 393.1 10.5 945 20221 done 0.64 0.12 0.259 2411 -233.3 2.60 0.065 2213 550.4 208.4 - - 1871 - - - - - - - - 14.09 14.34 14.39
20545 361.9 9.4 957 20551 roll 0.64 - - 2411 - 2.55 0.091 3609 547.5 208.4 - - 1871 - - - - - - - - 14.81 14.29 14.83
20627 353.5 10.0 969 20634 done 0.64 - - 2425 - 2.45 0.056 2211 -570.6 208.4 - - 1871 - - - - - - - - 14.49 14.36 14.53
20993 317.0 10.1 979 20998 roll 0.64 - - 2430 - 2.58 0.070 787 -551.9 208.4 - - 1871 - - - - - - - - 14.82 14.31 14.83
21054 310.7 9.9 988 21060 done 0.64 - - 2430 - 2.60 0.063 2222 551.9 208.4 - - 1871 - - - - - - - - 14.47 14.34 14.56
21385 275.6 10.7 1000 21390 roll 0.64 - - 2431 - 2.55 0.092 3611 544.7 208.4 - - 1871 - - - - - - - - 14.83 14.27 14.84
21461 266.8 11.3 1011 21466 done 0.64 0.12 0.260 2411 -166.7 2.45 0.057 2214 -570.2 208.4 - - 1875 - - - - - - - - 14.02 14.33 14.31
21777 237.7 9.2 1021 21782 roll 0.64 - - 2420 - 2.58 0.073 790 -551.9 208.4 - - 1871 - - - - - - - - 14.85 14.28 14.87
21839 232.2 8.3 1030 21844 done 0.64 - - 2420 - 2.60 0.063 2228 553.1 208.4 - - 1871 - - - - - - - - 14.46 14.33 14.51
22169 202.1 9.2 1042 22174 roll 0.64 - - 2421 - 2.53 0.090 3609 545.8 208.4 - - 1872 - - - - - - - - 14.83 14.26 14.85
22244 194.2 10.1 1053 22251 done 0.64 - - 2429 - 2.45 0.054 2239 -559.2 208.4 - - 1871 - - - - - - - - 14.49 14.31 14.53
22560 163.4 9.8 1063 22565 roll 0.64 - - 2439 - 2.65 0.071 781 -550.2 208.4 - - 1869 - - - - - - - - 14.85 14.28 14.88
22610 159.0 8.8 1070 22616 done 0.64 0.12 0.250 2410 -241.7 2.62 0.063 2237 555.7 208.4 - - 1868 - - - - - - - - 14.07 14.32 14.35
22952 129.0 8.9 1077 22958 roll 0.64 - - 2411 - 2.53 0.088 3616 545.1 208.4 - - 1871 - - - - - - - - 14.83 14.25 14.85
23057 118.4 10.1 1092 23064 done 0.64 - - 2419 - 2.42 0.056 2239 -569.0 208.4 - - 1871 - - - - - - - - 14.45 14.36 14.51
23372 93.4 7.4 1100 23377 roll 0.64 - - 2426 - 2.65 0.071 788 -547.5 208.4 - - 1871 - - - - - - - - 14.85 14.28 14.87
23442 87.9 8.0 1110 23447 done 0.64 - - 2426 - 2.65 0.061 2255 553.6 208.4 - - 1874 - - - - - - - - 14.45 14.33 14.50
23765 66.0 5.9 1123 23792 roll 0.66 - - 2426 - 2.50 0.086 3613 543.2 241.6 18.42 0.306 1758 -6.3 0.259 - - - - - - 14.82 14.42 14.12
23909 58.0 5.3 1143 23952 done 0.74 - - 2431 - 2.38 0.052 2256 -570.2 290.2 34.78 0.301 1556 -5.8 0.214 - - - - - - 14.51 14.42 14.12
24273 39.2 5.4 1162 24310 roll 0.95 0.20 0.106 2527 480.0 2.67 0.065 791 -548.7 337.4 32.08 0.243 1363 -6.0 0.185 - - - - - - 14.38 14.39 14.19
24415 31.3 5.4 1183 24456 done 1.05 - - 2527 - 2.65 0.058 2275 560.0 383.8 32.12 0.220 1173 -5.9 0.161 - - - - - - 14.47 14.35 14.17
24770 10.0 6.2 1200 24794 roll 1.20 0.15 0.114 2606 526.7 2.75 0.066 789 -540.4 411.4 18.83 0.158 1059 -6.1 0.073 - - - - - - 14.44 14.38 14.20
24822 5.2 9.3 1208 24827 done 1.20 - - 2606 - 2.55 0.058 2216 559.6 411.4 - - 1060 - - - - - - - - 14.48 14.37 14.52
24847 end climb: SURFACE_DEPTH_REACHED
24847 begin surface coast
24875 end surface coast: CONTROL_FINISHED_OK
24875 begin surface
SM 0.84 - - - - -6.14 6.97 0.076 215 30.8 0.10 0.107 2331 13010.0 500.17 56.00 0.136 698 12.5 -0.008 - - - - - -