SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 339 * Raw log
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• Previous call tries 1 • 135.46 of 350.00 AH used of 24V (61.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 20 s • Transponder ping count: 3
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 201 - - - 2316 - -116.8 -84.53 - 2936 - - - - - - - - 14.68 - 14.71
108 5.4 -7.7 3 132 roll -0.68 9.10 0.414 1964 193.7 2.72 2.056 3667 496.7 -116.8 -4.75 - 3220 -59.8 - - - - - - - 13.96 13.09 14.40
212 40.8 -21.9 18 219 done -0.49 0.30 0.284 2037 243.3 2.38 0.043 2266 -588.7 -116.8 - - 3222 - - - - - - - - 14.06 14.47 14.38
525 71.7 -6.5 30 529 roll -0.43 - - 2036 - 2.38 0.050 887 -579.4 -116.8 - - 3224 - - - - - - - - 14.81 14.48 14.81
622 79.3 -7.9 44 627 done -0.43 - - 2037 - 2.42 0.057 2262 568.2 -116.8 - - 3224 - - - - - - - - 14.57 14.47 14.61
972 105.8 -8.5 57 978 roll -0.43 - - 2028 - 2.53 0.076 3699 568.0 -116.8 - - 3223 - - - - - - - - 14.87 14.46 14.89
1209 127.2 -8.8 91 1215 done -0.43 0.08 0.214 2052 300.0 2.40 0.039 2263 -598.3 -116.8 - - 3224 - - - - - - - - 14.26 14.57 14.39
1532 152.4 -7.6 102 1537 roll -0.43 - - 2043 - 2.58 0.080 3692 553.9 -116.8 - - 3223 - - - - - - - - 14.92 14.46 14.95
1574 155.4 -7.4 108 1579 done -0.43 - - 2043 - 2.33 0.041 2282 -605.2 -116.8 - - 3223 - - - - - - - - 14.67 14.60 14.69
1925 181.1 -7.4 116 1930 roll -0.43 - - 2043 - 2.38 0.050 902 -579.8 -116.8 - - 3221 - - - - - - - - 14.92 14.53 14.94
1980 185.9 -8.6 124 1985 done -0.43 - - 2042 - 2.42 0.057 2280 569.4 -116.8 - - 3221 - - - - - - - - 14.62 14.51 14.68
2316 214.5 -8.6 137 2317 done -0.43 - - 2048 - - - 2280 - -116.8 - - 3219 - - - - - - - - 14.94 14.95 14.95
2653 240.5 -7.7 143 2658 roll -0.43 - - 2038 - 2.53 0.081 3690 557.3 -116.8 - - 3217 - - - - - - - - 14.91 14.40 14.93
2700 244.2 -7.8 150 2707 done -0.43 - - 2038 - 2.40 0.043 2272 -590.8 -116.8 - - 3217 - - - - - - - - 14.60 14.54 14.61
3044 269.3 -7.3 157 3050 roll -0.43 - - 2038 - 2.40 0.052 894 -574.2 -116.8 - - 3215 - - - - - - - - 14.94 14.50 14.95
3135 276.1 -7.2 170 3140 done -0.43 - - 2038 - 2.45 0.058 2285 567.8 -116.8 - - 3214 - - - - - - - - 14.60 14.50 14.64
3492 300.3 -6.8 179 3497 roll -0.43 - - 2031 - 2.50 0.082 3691 562.4 -116.8 - - 3212 - - - - - - - - 14.92 14.36 14.94
3534 303.3 -7.3 185 3540 done -0.43 0.12 0.228 2061 250.0 2.35 0.044 2283 -599.1 -116.8 - - 3213 - - - - - - - - 14.29 14.61 14.51
3885 325.3 -6.4 193 3891 roll -0.48 - - 2061 - 2.42 0.054 883 -578.5 -116.8 - - 3209 - - - - - - - - 14.92 14.50 14.95
3961 330.6 -7.0 204 3966 done -0.53 - - 2058 - 2.47 0.060 2276 564.0 -116.8 - - 3208 - - - - - - - - 14.58 14.47 14.62
4277 352.5 -7.1 214 4282 roll -0.53 - - 2056 - 2.55 0.088 3700 558.4 -116.8 - - 3207 - - - - - - - - 14.91 14.39 14.92
4346 357.6 -7.2 224 4351 done -0.61 0.15 0.121 1993 -420.0 2.42 0.046 2262 -594.2 -116.8 - - 3206 - - - - - - - - 14.51 14.58 14.61
4669 390.2 -10.3 235 4673 roll -0.61 - - 1992 - 2.40 0.054 883 -574.6 -116.8 - - 3205 - - - - - - - - 14.91 14.47 14.93
4759 399.3 -9.7 248 4764 done -0.61 - - 1986 - 2.47 0.062 2272 562.3 -116.8 - - 3204 - - - - - - - - 14.56 14.44 14.61
5117 434.7 -9.9 257 5123 roll -0.56 0.12 0.288 2009 191.7 2.55 0.083 3700 560.0 -116.8 - - 3202 - - - - - - - - 14.16 14.38 14.31
5199 442.2 -8.5 269 5206 done -0.56 - - 2009 - 2.42 0.044 2260 -595.0 -116.8 - - 3202 - - - - - - - - 14.64 14.57 14.66
5564 472.7 -8.4 279 5569 roll -0.56 - - 2009 - 2.38 0.054 888 -576.5 -116.8 - - 3200 - - - - - - - - 14.91 14.45 14.90
5647 479.5 -7.9 291 5653 done -0.56 - - 2007 - 2.47 0.060 2282 564.4 -116.8 - - 3200 - - - - - - - - 14.55 14.42 14.59
6013 507.0 -7.5 301 6019 roll -0.56 - - 2000 - 2.53 0.083 3702 561.3 -116.8 - - 3198 - - - - - - - - 14.92 14.35 14.94
6046 509.7 -7.9 306 6052 done -0.56 - - 1999 - 2.45 0.044 2270 -584.5 -116.8 - - 3197 - - - - - - - - 14.52 14.49 14.62
6404 538.6 -8.2 315 6409 roll -0.56 - - 1999 - 2.42 0.059 889 -570.7 -116.8 - - 3197 - - - - - - - - 14.92 14.42 14.95
6523 549.1 -8.7 332 6528 done -0.56 - - 1999 - 2.47 0.063 2269 558.7 -116.8 - - 3197 - - - - - - - - 14.51 14.36 14.56
6852 578.3 -9.0 344 6853 done -0.56 - - 1999 - - - 2268 - -116.8 - - 3196 - - - - - - - - 14.92 14.95 14.95
7188 609.3 -9.3 350 7189 done -0.56 - - 1999 - - - 2269 - -116.8 - - 3194 - - - - - - - - 14.90 14.92 14.94
7525 640.5 -9.3 356 7530 roll -0.56 - - 1999 - 2.47 0.056 879 -562.8 -116.8 - - 3193 - - - - - - - - 14.89 14.41 14.90
7566 644.6 -9.5 362 7571 done -0.56 - - 1998 - 2.50 0.064 2267 555.2 -116.8 - - 3193 - - - - - - - - 14.52 14.38 14.56
7917 675.8 -8.8 370 7921 roll -0.56 - - 1994 - 2.60 0.090 3702 551.9 -116.8 - - 3191 - - - - - - - - 14.92 14.31 14.94
7973 680.8 -9.0 378 7977 done -0.56 - - 1994 - 2.45 0.047 2265 -586.5 -116.8 - - 3191 - - - - - - - - 14.57 14.50 14.60
8309 707.8 -7.8 391 8314 roll -0.56 - - 1994 - 2.45 0.059 879 -565.7 -116.8 - - 3190 - - - - - - - - 14.91 14.37 14.92
8356 711.6 -7.7 398 8363 done -0.56 0.08 0.245 2022 350.0 2.55 0.065 2263 542.7 -116.8 - - 3190 - - - - - - - - 13.98 14.27 14.28
8701 730.8 -5.4 405 8706 roll -0.56 - - 2013 - 2.60 0.087 3703 553.8 -116.8 - - 3189 - - - - - - - - 14.91 14.28 14.92
8742 733.3 -6.2 411 8747 done -0.56 - - 2012 - 2.47 0.047 2262 -583.4 -116.8 - - 3189 - - - - - - - - 14.48 14.45 14.50
9092 754.3 -6.0 419 9097 roll -0.56 - - 2013 - 2.42 0.057 885 -569.0 -116.8 - - 3187 - - - - - - - - 14.88 14.34 14.90
9197 761.0 -6.4 434 9204 done -0.56 - - 2012 - 2.55 0.063 2266 541.6 -116.8 - - 3187 - - - - - - - - 14.31 14.24 14.36
9541 782.8 -6.4 441 9547 roll -0.56 - - 2011 - 2.60 0.091 3691 548.1 -116.8 - - 3186 - - - - - - - - 14.88 14.23 14.93
9581 785.4 -5.9 447 9587 done -0.56 - - 2011 - 2.45 0.049 2261 -583.7 -116.8 - - 3186 - - - - - - - - 14.51 14.43 14.54
9933 809.3 -6.9 455 9937 roll -0.56 - - 2011 - 2.42 0.059 888 -567.4 -116.8 - - 3185 - - - - - - - - 14.90 14.31 14.92
10009 815.0 -7.6 466 10014 done -0.56 - - 2011 - 2.50 0.063 2264 550.4 -116.8 - - 3185 - - - - - - - - 14.42 14.29 14.47
10324 838.7 -7.7 476 10329 roll -0.56 - - 2009 - 2.60 0.092 3696 550.8 -116.8 - - 3184 - - - - - - - - 14.90 14.21 14.92
10351 840.9 -7.9 480 10357 done -0.56 - - 2010 - 2.45 0.048 2262 -585.3 -116.8 - - 3184 - - - - - - - - 14.49 14.39 14.54
10717 871.1 -8.5 490 10722 roll -0.56 - - 2009 - 2.42 0.057 886 -568.6 -116.8 - - 3182 - - - - - - - - 14.89 14.30 14.90
10772 876.1 -9.0 498 10777 done -0.56 - - 2009 - 2.50 0.063 2264 551.2 -116.8 - - 3185 - - - - - - - - 14.41 14.28 14.46
11108 905.1 -8.6 511 11109 done -0.56 - - 2009 - - - 2264 - -116.8 - - 3182 - - - - - - - - 14.86 14.89 14.88
11445 932.7 -8.0 517 11451 roll -0.56 - - 2000 - 2.62 0.090 3702 548.9 -116.8 - - 3180 - - - - - - - - 14.85 14.19 14.88
11506 937.9 -8.4 526 11512 done -0.56 - - 2000 - 2.47 0.047 2257 -585.0 -116.8 - - 3181 - - - - - - - - 14.48 14.40 14.52
11836 964.4 -8.0 538 11841 roll -0.56 - - 2000 - 2.42 0.057 889 -565.3 -116.8 - - 3180 - - - - - - - - 14.85 14.27 14.88
11899 969.6 -8.1 547 11904 done -0.56 - - 1999 - 2.50 0.063 2264 550.0 -116.8 - - 3180 - - - - - - - - 14.40 14.28 14.45
12169 end dive: TARGET_DEPTH_EXCEEDED
12169 begin apogee
12177 990.5 -7.7 558 12371 roll -0.19 0.50 0.216 2133 268.0 - - 2173 - - 191.73 1.576 2742 -2.3 0.274 - - - - - - 13.92 13.95 13.23
12372 end apogee: CONTROL_FINISHED_OK
12372 begin climb
12377 995.8 - 561 12538 roll 0.68 0.93 0.151 2413 301.1 2.55 0.057 792 -541.6 116.8 149.98 1.856 2261 -3.2 0.328 - - - - - - 13.90 13.98 12.86
12657 976.8 11.6 606 12662 done 0.68 - - 2413 - 2.58 0.063 2186 540.3 116.8 - - 2236 - - - - - - - - 14.20 14.10 14.23
13014 942.4 9.6 615 13019 roll 0.63 - - 2423 - 2.58 0.071 788 -541.9 116.8 - - 2234 - - - - - - - - 14.70 14.34 14.73
13146 929.9 9.1 634 13152 done 0.63 - - 2423 - 2.55 0.065 2193 551.0 116.8 - - 2230 - - - - - - - - 14.50 14.38 14.54
13463 898.5 10.0 644 13468 roll 0.57 0.12 0.285 2388 -291.7 2.55 0.090 3597 550.6 116.8 - - 2229 - - - - - - - - 14.10 14.35 14.26
13559 889.0 9.3 658 13566 done 0.57 - - 2397 - 2.47 0.057 2205 -563.6 116.8 - - 2227 - - - - - - - - 14.45 14.40 14.49
13911 858.9 8.5 666 13916 roll 0.57 - - 2408 - 2.60 0.076 774 -550.4 116.8 - - 2228 - - - - - - - - 14.82 14.31 14.83
13951 855.2 9.1 672 13956 done 0.57 - - 2408 - 2.58 0.063 2196 551.2 116.8 - - 2227 - - - - - - - - 14.52 14.38 14.57
14302 824.9 8.6 680 14307 roll 0.57 - - 2408 - 2.55 0.092 3601 551.0 116.8 - - 2227 - - - - - - - - 14.83 14.33 14.85
14372 818.1 9.7 690 14378 done 0.50 0.22 0.272 2366 -190.9 2.50 0.057 2178 -569.2 116.8 - - 2223 - - - - - - - - 14.02 14.42 14.38
14694 796.6 6.5 701 14719 roll 0.51 - - 2375 - 2.60 0.077 765 -543.5 136.2 17.67 1.792 2180 -2.4 0.206 - - - - - - 14.86 14.50 13.62
14742 793.2 7.0 708 14750 done 0.52 - - 2375 - 2.60 0.063 2187 546.9 143.7 3.00 0.961 2151 -9.7 1.522 - - - - - - 14.45 14.39 13.22
15087 768.4 7.2 715 15097 roll 0.52 - - 2375 - 2.53 0.091 3587 553.4 147.2 3.00 0.972 2142 -3.0 0.452 - - - - - - 14.79 14.45 13.21
15166 761.7 8.1 726 15173 done 0.52 - - 2384 - 2.47 0.054 2190 -565.6 147.2 2.12 0.366 2136 -2.8 1.124 - - - - - - 14.47 14.41 13.10
15483 738.2 7.4 736 15487 roll 0.52 - - 2394 - 2.55 0.070 773 -555.7 147.2 - - 2147 - - - - - - - - 14.81 14.37 14.83
15551 733.3 6.9 746 15579 done 0.52 - - 2394 - 2.55 0.059 2191 556.1 158.4 23.70 1.740 2093 -2.3 0.183 - - - - - - 14.52 14.40 13.59
15923 704.1 8.0 757 15928 roll 0.52 - - 2394 - 2.55 0.087 3593 549.8 158.4 - - 2074 - - - - - - - - 14.76 14.33 14.78
16000 697.2 9.0 768 16005 done 0.52 0.12 0.278 2376 -150.0 2.45 0.057 2194 -571.0 158.4 - - 2070 - - - - - - - - 14.11 14.41 14.40
16315 673.4 7.6 778 16321 roll 0.52 - - 2385 - 2.58 0.071 764 -554.3 158.4 - - 2072 - - - - - - - - 14.79 14.35 14.81
16364 669.7 7.6 785 16370 done 0.52 - - 2385 - 2.58 0.060 2188 551.9 158.4 - - 2071 - - - - - - - - 14.50 14.39 14.54
16708 639.9 8.8 792 16713 roll 0.52 - - 2385 - 2.55 0.086 3598 552.9 158.4 - - 2073 - - - - - - - - 14.81 14.35 14.83
16797 630.9 9.6 805 16803 done 0.52 - - 2394 - 2.50 0.055 2191 -562.8 158.4 - - 2071 - - - - - - - - 14.54 14.37 14.58
17156 596.7 9.6 814 17162 roll 0.52 - - 2405 - 2.58 0.070 766 -552.3 158.4 - - 2071 - - - - - - - - 14.84 14.33 14.90
17224 590.0 9.5 824 17230 done 0.52 0.15 0.252 2371 -226.7 2.58 0.060 2204 557.4 158.4 - - 2070 - - - - - - - - 14.07 14.35 14.38
17547 562.8 8.4 835 17552 roll 0.52 - - 2371 - 2.53 0.088 3587 546.6 158.4 - - 2070 - - - - - - - - 14.85 14.28 14.87
17638 554.3 9.3 848 17643 done 0.52 - - 2379 - 2.45 0.053 2189 -570.6 158.4 - - 2070 - - - - - - - - 14.51 14.42 14.55
17995 524.7 8.2 857 18000 roll 0.52 - - 2388 - 2.55 0.069 776 -554.1 158.4 - - 2070 - - - - - - - - 14.85 14.32 14.85
18064 519.3 7.6 867 18070 done 0.52 - - 2388 - 2.55 0.057 2198 557.6 158.4 - - 2070 - - - - - - - - 14.47 14.34 14.52
18388 494.0 7.9 878 18394 roll 0.52 - - 2388 - 2.55 0.088 3592 546.7 158.4 - - 2070 - - - - - - - - 14.82 14.26 14.84
18456 487.8 8.7 888 18462 done 0.52 - - 2393 - 2.50 0.055 2194 -559.2 158.4 - - 2069 - - - - - - - - 14.39 14.33 14.42
18780 462.1 8.0 899 18785 roll 0.52 0.10 0.282 2384 -90.0 2.58 0.067 775 -550.0 158.4 - - 2069 - - - - - - - - 14.22 14.30 14.36
18821 459.0 7.0 905 18826 done 0.58 - - 2385 - 2.58 0.057 2211 556.6 165.6 - - 2069 - - - - - - - - 14.47 14.35 14.50
19171 433.0 7.5 913 19176 roll 0.58 - - 2384 - 2.50 0.086 3585 549.6 165.6 - - 2068 - - - - - - - - 14.84 14.26 14.85
19248 426.3 8.7 924 19253 done 0.58 - - 2392 - 2.42 0.052 2190 -576.4 165.6 - - 2070 - - - - - - - - 14.50 14.40 14.53
19563 399.8 8.5 934 19569 roll 0.58 - - 2402 - 2.55 0.067 777 -554.1 165.6 - - 2070 - - - - - - - - 14.83 14.29 14.85
19583 397.9 8.7 937 19589 done 0.58 - - 2402 - 2.55 0.057 2198 557.3 165.6 - - 2070 - - - - - - - - 14.46 14.33 14.53
19900 368.8 9.2 947 19905 roll 0.58 - - 2402 - 2.55 0.086 3597 548.6 165.6 - - 2069 - - - - - - - - 14.83 14.26 14.84
19947 364.0 10.2 954 19955 done 0.58 - - 2411 - 2.50 0.054 2191 -562.4 165.6 - - 2069 - - - - - - - - 14.35 14.30 14.40
20291 333.7 8.7 961 20292 done 0.58 - - 2411 - - - 2192 - 165.6 - - 2070 - - - - - - - - 14.86 14.88 14.88
20627 305.2 8.5 967 20628 done 0.58 - - 2412 - - - 2191 - 165.6 - - 2069 - - - - - - - - 14.84 14.86 14.85
20964 276.7 8.4 973 20969 roll 0.58 - - 2411 - 2.60 0.081 3592 538.8 165.6 - - 2070 - - - - - - - - 14.83 14.25 14.85
20997 273.6 9.2 978 21004 done 0.58 0.05 0.247 2391 -400.0 2.47 0.052 2209 -559.9 165.6 - - 2070 - - - - - - - - 14.00 14.32 14.28
21356 247.9 7.1 987 21367 roll 0.58 - - 2400 - 2.62 0.067 761 -552.7 171.4 4.90 1.095 2040 -6.1 0.264 - - - - - - 14.84 14.52 13.45
21432 242.4 7.1 998 21452 done 0.58 - - 2400 - 2.58 0.057 2202 558.5 177.4 15.23 1.269 2016 -1.6 0.057 - - - - - - 14.54 14.43 13.78
21803 213.2 8.0 1009 21808 roll 0.58 - - 2400 - 2.53 0.085 3590 548.6 177.4 - - 2001 - - - - - - - - 14.79 14.30 14.81
21901 204.4 9.0 1023 21906 done 0.58 - - 2408 - 2.45 0.053 2188 -572.2 177.4 - - 1999 - - - - - - - - 14.51 14.41 14.55
22251 175.4 8.3 1031 22256 roll 0.58 - - 2417 - 2.55 0.066 771 -555.7 177.4 - - 2000 - - - - - - - - 14.84 14.33 14.85
22320 169.7 8.0 1041 22326 done 0.58 0.12 0.243 2388 -241.7 2.58 0.056 2206 556.2 177.4 - - 1999 - - - - - - - - 14.09 14.28 14.37
22645 146.6 7.2 1052 22649 roll 0.59 - - 2388 - 2.50 0.083 3590 553.6 180.3 - - 1996 - - - - - - - - 14.82 14.28 14.83
22726 139.5 8.5 1064 22732 done 0.59 - - 2394 - 2.45 0.050 2198 -568.2 180.3 - - 1999 - - - - - - - - 14.38 14.34 14.44
23093 113.0 7.1 1074 23099 roll 0.59 - - 2404 - 2.62 0.069 776 -542.7 184.7 2.10 0.176 1983 -7.6 0.933 - - - - - - 14.85 14.33 14.14
23127 110.4 7.4 1079 23132 done 0.64 - - 2404 - 2.55 0.055 2211 562.7 184.7 - - 1987 - - - - - - - - 14.49 14.38 14.52
23456 86.1 6.7 1090 23469 done 0.64 - - 2404 - - - 2212 - 199.5 11.77 0.346 1925 -5.3 0.250 - - - - - - 14.84 14.46 14.00
23786 66.3 5.1 1104 23827 roll 0.73 - - 2405 - 2.53 0.081 3598 547.8 253.1 36.22 0.329 1708 -6.0 0.230 - - - - - - 14.83 14.46 14.13
23959 56.5 6.2 1129 23987 done 0.85 0.20 0.106 2482 385.0 2.42 0.050 2202 -576.9 279.9 19.80 0.291 1599 -5.5 0.204 - - - - - - 14.34 14.35 14.07
24314 37.0 5.0 1146 24352 done 0.95 - - 2482 - - - 2202 - 335.5 36.90 0.239 1370 -6.2 0.183 - - - - - - 14.76 14.45 14.16
24646 20.8 4.3 1158 24702 roll 1.12 0.20 0.096 2584 510.0 2.60 0.066 773 -549.6 407.2 45.83 0.189 1076 -6.4 0.135 - - - - - - 14.44 14.37 14.18
24782 12.3 7.2 1177 24789 done 1.19 - - 2584 - 2.55 0.053 2217 566.3 410.7 2.95 0.171 1066 -3.4 0.047 - - - - - - 14.47 14.37 14.12
24923 end climb: SURFACE_DEPTH_REACHED
24923 begin surface coast
24951 end surface coast: CONTROL_FINISHED_OK
24951 begin surface
SM 0.85 - - - - -6.14 6.75 0.060 217 32.1 0.12 0.124 2309 -58941.7 500.17 57.22 0.137 698 12.2 -0.008 - - - - - -