SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 342 * Raw log
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• Previous call tries 1 • 136.56 of 350.00 AH used of 24V (60.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth 0.88 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 19 s • Transponder ping count: 5
• 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 VBD -0.68 - - 201 - - - 2300 - -116.8 -84.25 - 2878 - - - - - - - - 14.69 - 14.71
105 4.8 -6.7 3 129 roll -0.68 8.93 0.407 1962 197.2 2.75 2.056 3681 502.2 -116.8 -5.95 - 3221 -57.6 - - - - - - - 13.97 13.07 14.40
217 41.2 -20.9 19 222 done -0.49 0.28 0.258 2030 242.9 2.38 0.039 2262 -596.2 -116.8 - - 3223 - - - - - - - - 14.10 14.48 14.40
552 75.4 -8.2 34 556 roll -0.44 - - 2022 - 2.55 0.074 3686 558.4 -116.8 - - 3225 - - - - - - - - 14.82 14.42 14.83
705 89.5 -9.5 56 710 done -0.44 0.12 0.243 2052 250.0 2.33 0.038 2277 -604.7 -116.8 - - 3228 - - - - - - - - 14.26 14.57 14.48
1027 113.9 -7.7 66 1032 roll -0.44 - - 2052 - 2.38 0.051 897 -579.8 -116.8 - - 3226 - - - - - - - - 14.88 14.51 14.90
1103 119.8 -7.5 77 1110 done -0.44 - - 2045 - 2.45 0.054 2279 564.1 -116.8 - - 3226 - - - - - - - - 14.52 14.47 14.56
1420 142.9 -7.3 87 1425 roll -0.44 - - 2039 - 2.50 0.078 3690 564.4 -116.8 - - 3225 - - - - - - - - 14.89 14.47 14.91
1460 146.0 -7.7 93 1467 done -0.44 - - 2039 - 2.35 0.040 2284 -598.3 -116.8 - - 3225 - - - - - - - - 14.60 14.57 14.62
1812 171.2 -7.2 101 1817 roll -0.44 - - 2039 - 2.38 0.049 898 -582.4 -116.8 - - 3223 - - - - - - - - 14.92 14.54 14.95
1909 178.3 -7.0 115 1914 done -0.44 - - 2039 - 2.45 0.056 2292 569.0 -116.8 - - 3222 - - - - - - - - 14.62 14.51 14.65
2260 203.2 -7.0 123 2264 roll -0.44 - - 2033 - 2.50 0.081 3701 563.6 -116.8 - - 3221 - - - - - - - - 14.92 14.45 14.93
2286 205.3 -7.6 127 2292 done -0.44 - - 2033 - 2.40 0.040 2281 -591.7 -116.8 - - 3220 - - - - - - - - 14.59 14.55 14.62
2652 236.2 -8.7 137 2658 roll -0.44 - - 2033 - 2.40 0.052 894 -577.9 -116.8 - - 3218 - - - - - - - - 14.92 14.50 14.93
2741 244.2 -8.5 150 2747 done -0.44 - - 2029 - 2.45 0.056 2286 568.2 -116.8 - - 3217 - - - - - - - - 14.61 14.49 14.64
3100 276.3 -9.1 159 3101 done -0.44 - - 2029 - - - 2288 - -116.8 - - 3216 - - - - - - - - 14.92 14.95 14.95
3435 306.5 -8.9 165 3441 roll -0.44 - - 2029 - 2.45 0.050 891 -570.2 -116.8 - - 3214 - - - - - - - - 14.95 14.51 14.96
3470 309.7 -9.4 170 3475 done -0.44 0.12 0.262 2054 208.3 2.45 0.057 2281 567.3 -116.8 - - 3213 - - - - - - - - 14.22 14.49 14.47
3827 336.5 -7.4 179 3832 roll -0.44 - - 2054 - 2.42 0.051 895 -572.7 -116.8 - - 3210 - - - - - - - - 14.94 14.51 14.95
3862 339.2 -8.0 184 3867 done -0.48 - - 2054 - 2.45 0.057 2279 564.9 -116.8 - - 3211 - - - - - - - - 14.61 14.50 14.64
4220 364.6 -7.0 193 4225 roll -0.48 - - 2045 - 2.50 0.080 3688 563.6 -116.8 - - 3209 - - - - - - - - 14.94 14.43 14.95
4247 366.5 -6.9 197 4253 done -0.53 - - 2044 - 2.35 0.044 2273 -602.1 -116.8 - - 3208 - - - - - - - - 14.67 14.61 14.69
4612 390.9 -6.6 207 4617 roll -0.53 - - 2045 - 2.40 0.054 906 -569.6 -116.8 - - 3207 - - - - - - - - 14.93 14.41 14.95
4702 396.9 -6.5 220 4707 done -0.57 - - 2043 - 2.42 0.059 2272 564.5 -116.8 - - 3206 - - - - - - - - 14.59 14.47 14.62
5060 421.0 -6.9 229 5066 roll -0.57 - - 2040 - 2.55 0.086 3690 556.1 -116.8 - - 3205 - - - - - - - - 14.93 14.38 14.95
5094 423.5 -7.4 234 5099 done -0.62 0.12 0.137 1986 -450.0 2.38 0.047 2287 -589.5 -116.8 - - 3205 - - - - - - - - 14.47 14.59 14.57
5451 459.1 -10.3 243 5456 roll -0.62 - - 1986 - 2.45 0.055 890 -570.2 -116.8 - - 3203 - - - - - - - - 14.91 14.45 14.92
5606 475.4 -10.3 265 5611 done -0.62 - - 1985 - 2.45 0.061 2264 560.8 -116.8 - - 3202 - - - - - - - - 14.54 14.42 14.59
5955 512.3 -10.7 273 5956 done -0.62 - - 1985 - - - 2265 - -116.8 - - 3201 - - - - - - - - 14.92 14.95 14.95
6291 547.6 -10.4 279 6292 done -0.62 - - 1985 - - - 2265 - -116.8 - - 3199 - - - - - - - - 14.93 14.95 14.95
6628 581.2 -9.9 285 6629 done -0.62 - - 1985 - - - 2264 - -116.8 - - 3198 - - - - - - - - 14.92 14.95 14.94
6964 613.1 -9.3 291 6965 done -0.62 - - 1984 - - - 2264 - -116.8 - - 3197 - - - - - - - - 14.90 14.92 14.92
7299 642.9 -8.9 297 7305 roll -0.62 - - 1985 - 2.45 0.054 889 -561.2 -116.8 - - 3196 - - - - - - - - 14.90 14.40 14.92
7340 646.8 -9.1 303 7346 done -0.62 - - 1984 - 2.53 0.062 2268 545.1 -116.8 - - 3195 - - - - - - - - 14.40 14.33 14.45
7692 676.8 -8.5 311 7697 roll -0.62 - - 1979 - 2.58 0.086 3694 552.7 -116.8 - - 3194 - - - - - - - - 14.91 14.32 14.93
7725 679.9 -9.3 316 7731 done -0.62 - - 1979 - 2.45 0.047 2264 -583.7 -116.8 - - 3194 - - - - - - - - 14.55 14.47 14.57
8083 711.7 -8.9 325 8089 roll -0.62 - - 1979 - 2.45 0.056 877 -566.1 -116.8 - - 3192 - - - - - - - - 14.88 14.36 14.90
8174 719.8 -8.8 338 8179 done -0.62 - - 1972 - 2.50 0.061 2262 554.0 -116.8 - - 3194 - - - - - - - - 14.50 14.38 14.52
8531 753.1 -9.5 347 8532 done -0.62 - - 1972 - - - 2262 - -116.8 - - 3190 - - - - - - - - 14.90 14.93 14.93
8867 785.1 -9.6 353 8873 roll -0.62 - - 1972 - 2.47 0.054 877 -560.7 -116.8 - - 3190 - - - - - - - - 14.91 14.35 14.93
8896 788.0 -10.5 357 8901 done -0.62 - - 1971 - 2.53 0.063 2271 551.0 -116.8 - - 3190 - - - - - - - - 14.45 14.32 14.50
9259 823.8 -9.8 367 9260 done -0.62 - - 1972 - - - 2271 - -116.8 - - 3192 - - - - - - - - 14.91 14.92 14.94
9596 855.5 -9.3 373 9601 roll -0.62 - - 1972 - 2.50 0.060 885 -554.4 -116.8 - - 3188 - - - - - - - - 14.90 14.33 14.92
9643 860.1 -9.4 380 9651 done -0.62 - - 1972 - 2.55 0.067 2258 538.4 -116.8 - - 3187 - - - - - - - - 14.31 14.24 14.37
9988 891.4 -9.2 387 9989 done -0.62 - - 1972 - - - 2258 - -116.8 - - 3186 - - - - - - - - 14.87 14.89 14.88
10323 923.4 -9.6 393 10329 roll -0.62 - - 1972 - 2.50 0.058 878 -552.0 -116.8 - - 3185 - - - - - - - - 14.88 14.28 14.89
10364 927.5 -10.1 399 10370 done -0.62 - - 1975 - 2.55 0.067 2270 545.9 -116.8 - - 3185 - - - - - - - - 14.42 14.28 14.47
10717 962.3 -10.0 407 10717 done -0.62 - - 1971 - - - 2270 - -116.8 - - 3184 - - - - - - - - 14.86 14.88 14.88
11048 end dive: TARGET_DEPTH_EXCEEDED
11048 begin apogee
11056 995.3 -9.8 413 11248 roll -0.19 0.60 0.230 2133 270.0 - - 2177 - - 190.00 1.646 2739 -2.3 0.271 - - - - - - 13.86 13.95 13.22
11250 end apogee: CONTROL_FINISHED_OK
11250 begin climb
11254 1001.9 - 416 11411 roll 0.68 0.95 0.157 2409 290.5 2.72 0.090 3593 520.6 116.8 147.10 1.921 2263 -3.2 0.322 - - - - - - 13.90 13.95 12.84
11502 984.0 10.5 456 11507 done 0.61 - - 2419 - 2.60 0.060 2194 -538.1 116.8 - - 2240 - - - - - - - - 14.10 14.04 14.12
11833 948.7 10.9 468 11838 roll 0.54 0.15 0.265 2381 -253.3 2.60 0.087 3600 540.8 116.8 - - 2234 - - - - - - - - 14.14 14.35 14.30
11999 931.9 9.6 492 12004 done 0.54 - - 2390 - 2.50 0.060 2178 -568.8 116.8 - - 2233 - - - - - - - - 14.52 14.43 14.56
12336 900.2 9.6 505 12341 roll 0.54 - - 2400 - 2.55 0.078 773 -551.0 116.8 - - 2230 - - - - - - - - 14.80 14.40 14.82
12391 894.9 9.4 513 12396 done 0.54 - - 2400 - 2.53 0.064 2182 556.9 116.8 - - 2230 - - - - - - - - 14.54 14.42 14.59
12728 863.2 9.3 526 12733 roll 0.54 - - 2400 - 2.58 0.093 3597 548.4 116.8 - - 2230 - - - - - - - - 14.83 14.36 14.85
12805 855.1 10.2 537 12810 done 0.48 0.22 0.259 2357 -195.5 2.50 0.061 2177 -568.0 116.8 - - 2229 - - - - - - - - 14.10 14.44 14.43
13120 832.3 7.1 547 13125 roll 0.49 - - 2367 - 2.55 0.078 772 -551.0 122.5 - - 2229 - - - - - - - - 14.85 14.37 14.88
13162 829.4 7.0 553 13175 done 0.49 - - 2368 - 2.55 0.064 2186 554.5 131.3 5.30 1.576 2203 -4.9 0.493 - - - - - - 14.53 14.42 13.40
13512 804.4 7.2 561 13524 roll 0.49 - - 2368 - 2.58 0.090 3588 543.4 134.7 3.40 1.161 2191 -3.5 0.467 - - - - - - 14.86 14.53 13.26
13609 796.1 8.2 575 13614 done 0.49 - - 2377 - 2.45 0.055 2171 -578.4 134.7 - - 2198 - - - - - - - - 14.58 14.47 14.62
13960 770.1 7.3 583 13971 roll 0.49 - - 2387 - 2.58 0.073 769 -543.4 136.0 2.88 0.919 2185 -4.5 0.723 - - - - - - 14.85 14.53 13.24
14001 767.0 6.1 589 14055 done 0.51 - - 2387 - 2.55 0.061 2194 558.8 165.0 49.28 1.773 2064 -2.5 0.203 - - - - - - 14.59 14.48 13.47
14408 733.7 8.2 605 14413 roll 0.51 - - 2386 - 2.53 0.088 3591 552.2 165.0 - - 2043 - - - - - - - - 14.72 14.33 14.74
14483 726.8 9.0 616 14489 done 0.51 0.08 0.233 2368 -225.0 2.50 0.056 2189 -560.8 165.0 - - 2043 - - - - - - - - 14.14 14.38 14.42
14800 704.5 7.1 626 14805 roll 0.51 - - 2377 - 2.55 0.070 766 -558.0 171.5 - - 2042 - - - - - - - - 14.78 14.37 14.80
14863 700.0 7.1 635 14874 done 0.57 - - 2377 - 2.55 0.060 2194 560.0 176.8 3.45 1.136 2018 -7.0 0.819 - - - - - - 14.52 14.40 13.26
15192 674.1 8.0 647 15196 roll 0.57 - - 2377 - 2.53 0.087 3600 555.7 176.8 - - 2027 - - - - - - - - 14.83 14.36 14.85
15268 667.0 9.2 658 15274 done 0.57 - - 2386 - 2.47 0.057 2178 -575.7 176.8 - - 2025 - - - - - - - - 14.55 14.45 14.57
15584 638.0 9.3 668 15589 roll 0.57 - - 2397 - 2.53 0.073 772 -555.7 176.8 - - 2027 - - - - - - - - 14.85 14.40 14.85
15625 634.1 9.3 674 15631 done 0.57 - - 2396 - 2.53 0.060 2187 559.3 176.8 - - 2027 - - - - - - - - 14.54 14.42 14.57
15976 601.3 9.3 682 15982 roll 0.57 - - 2401 - 2.53 0.087 3593 555.7 176.8 - - 2028 - - - - - - - - 14.85 14.33 14.88
16073 591.9 9.5 696 16078 done 0.57 - - 2406 - 2.47 0.056 2192 -567.2 176.8 - - 2027 - - - - - - - - 14.42 14.37 14.59
16425 561.6 8.5 704 16429 roll 0.57 - - 2415 - 2.55 0.070 765 -559.6 176.8 - - 2027 - - - - - - - - 14.84 14.36 14.85
16451 559.4 8.0 708 16457 done 0.57 0.12 0.255 2387 -233.3 2.58 0.060 2195 554.3 176.8 - - 2027 - - - - - - - - 14.14 14.40 14.39
16816 532.8 7.3 718 16821 roll 0.57 - - 2387 - 2.50 0.086 3588 557.2 176.8 - - 2027 - - - - - - - - 14.85 14.28 14.87
16913 524.5 8.6 732 16919 done 0.57 - - 2395 - 2.47 0.054 2188 -566.8 176.8 1.35 0.184 2019 -5.9 3.227 - - - - - - 14.43 14.37 14.21
17264 494.5 8.7 740 17265 done 0.57 - - 2395 - - - 2188 - 176.8 - - 2024 - - - - - - - - 14.84 14.88 14.88
17600 465.3 8.6 746 17605 roll 0.57 - - 2408 - 2.55 0.067 761 -559.6 176.8 - - 2025 - - - - - - - - 14.86 14.33 14.88
17627 463.0 8.3 750 17633 done 0.57 - - 2405 - 2.58 0.059 2199 557.4 176.8 - - 2025 - - - - - - - - 14.48 14.35 14.52
17993 432.4 8.3 760 17998 roll 0.57 - - 2405 - 2.53 0.086 3595 551.8 176.8 - - 2028 - - - - - - - - 14.83 14.28 14.85
18082 424.2 8.8 773 18087 done 0.57 0.12 0.256 2386 -158.3 2.45 0.054 2187 -574.7 176.8 - - 2025 - - - - - - - - 14.09 14.39 14.33
18440 399.9 6.7 782 18473 roll 0.58 - - 2393 - 2.58 0.070 772 -548.4 191.1 25.50 1.425 1950 -2.9 0.158 - - - - - - 14.86 14.47 13.71
18502 395.6 6.6 791 18530 done 0.64 - - 2389 - 2.58 0.057 2212 558.1 209.5 20.45 1.411 1880 -3.4 0.183 - - - - - - 14.50 14.40 13.61
18888 366.0 7.9 804 18892 roll 0.64 - - 2393 - 2.47 0.083 3589 557.5 209.5 - - 1864 - - - - - - - - 14.76 14.31 14.78
18964 359.1 8.9 815 18969 done 0.64 - - 2402 - 2.42 0.052 2193 -576.9 209.5 - - 1863 - - - - - - - - 14.50 14.40 14.52
19280 332.1 8.6 825 19285 roll 0.64 - - 2409 - 2.55 0.069 772 -557.3 209.5 - - 1862 - - - - - - - - 14.81 14.35 14.83
19321 328.6 8.4 831 19326 done 0.64 - - 2409 - 2.55 0.057 2208 563.1 209.5 - - 1863 - - - - - - - - 14.50 14.38 14.54
19673 297.9 8.8 839 19677 roll 0.64 - - 2409 - 2.50 0.083 3591 553.2 209.5 - - 1862 - - - - - - - - 14.81 14.32 14.83
19762 289.4 9.1 852 19767 done 0.64 - - 2418 - 2.42 0.052 2215 -568.6 209.5 - - 1862 - - - - - - - - 14.40 14.34 14.45
20120 257.6 9.0 861 20124 roll 0.64 - - 2423 - 2.60 0.069 762 -558.8 209.5 - - 1862 - - - - - - - - 14.85 14.33 14.85
20169 253.2 8.9 868 20175 done 0.64 - - 2424 - 2.60 0.057 2210 556.9 209.5 - - 1862 - - - - - - - - 14.45 14.31 14.51
20513 220.5 9.6 875 20518 roll 0.64 - - 2425 - 2.50 0.084 3595 554.0 209.5 - - 1862 - - - - - - - - 14.83 14.31 14.84
20588 212.5 10.4 886 20594 done 0.64 - - 2433 - 2.45 0.053 2211 -564.9 209.5 - - 1862 - - - - - - - - 14.40 14.34 14.43
20904 182.2 9.5 896 20909 roll 0.64 - - 2442 - 2.58 0.066 774 -557.0 209.5 - - 1862 - - - - - - - - 14.85 14.33 14.85
20959 177.0 9.2 904 20965 done 0.64 0.15 0.249 2407 -233.3 2.58 0.057 2213 557.8 209.5 - - 1862 - - - - - - - - 14.06 14.37 14.36
21296 149.6 8.2 917 21301 roll 0.64 - - 2407 - 2.47 0.081 3592 558.3 209.5 - - 1866 - - - - - - - - 14.84 14.30 14.85
21358 143.6 9.7 926 21364 done 0.64 - - 2414 - 2.40 0.052 2209 -576.2 209.5 - - 1862 - - - - - - - - 14.45 14.36 14.50
21687 115.6 8.3 938 21693 roll 0.64 - - 2422 - 2.58 0.067 771 -557.4 209.5 - - 1862 - - - - - - - - 14.85 14.31 14.86
21736 111.2 8.9 945 21742 done 0.68 - - 2422 - 2.60 0.056 2218 556.5 209.5 - - 1862 - - - - - - - - 14.47 14.35 14.52
22053 84.0 8.0 954 22058 roll 0.68 - - 2436 - 2.60 0.062 771 -556.5 209.5 - - 1862 - - - - - - - - 14.85 14.33 14.86
22192 72.5 7.6 974 22198 done 0.73 - - 2430 - 2.62 0.055 2233 558.0 209.5 - - 1862 - - - - - - - - 14.47 14.36 14.52
22529 53.1 4.7 989 22574 roll 0.84 0.12 0.134 2487 475.0 2.50 0.080 3598 546.0 273.0 36.90 0.288 1626 -6.4 0.225 - - - - - - 14.45 14.47 14.14
22612 47.8 7.1 1001 22624 done 0.84 - - 2496 - 2.38 0.048 2219 -579.4 277.7 4.88 0.230 1607 -3.9 0.155 - - - - - - 14.53 14.45 14.02
22952 31.5 4.3 1016 23004 roll 0.94 - - 2500 - 2.62 0.065 777 -550.4 350.8 47.42 0.224 1309 -6.3 0.169 - - - - - - 14.77 14.44 14.20
23151 20.6 5.7 1045 23184 done 1.11 0.17 0.103 2582 482.4 2.55 0.050 2233 571.0 389.2 25.62 0.190 1151 -6.2 0.128 - - - - - - 14.42 14.38 14.15
23393 end climb: SURFACE_DEPTH_REACHED
23393 begin surface coast
23424 end surface coast: CONTROL_FINISHED_OK
23424 begin surface
SM 0.86 - - - - -6.14 6.95 0.082 213 30.6 0.08 0.145 2322 -113850.0 500.17 68.05 0.132 698 10.3 -0.007 - - - - - -