SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 343 * Raw log
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• Previous call tries 1 • 136.91 of 350.00 AH used of 24V (60.88% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.3 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: 43 s
• GPS2 time: 20 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 193 - - - 2316 - -116.8 -85.05 - 2928 - - - - - - - - 14.69 - 14.71
107 5.1 -7.1 3 131 roll -0.68 9.23 0.418 1987 194.4 2.83 2.032 875 -509.2 -116.8 -5.05 - 3222 -58.2 - - - - - - - 13.97 13.10 14.41
211 36.4 -20.0 18 218 done -0.47 0.28 0.276 2038 182.1 2.42 0.058 2246 566.5 -116.8 - - 3222 - - - - - - - - 14.10 14.41 14.39
524 71.4 -5.9 30 529 roll -0.42 - - 2027 - 2.55 0.075 3701 570.6 -116.8 - - 3224 - - - - - - - - 14.81 14.43 14.83
677 82.9 -8.7 52 682 done -0.42 0.12 0.240 2057 250.0 2.38 0.037 2263 -604.2 -116.8 - - 3224 - - - - - - - - 14.27 14.57 14.50
999 105.9 -7.3 64 1004 roll -0.42 - - 2057 - 2.35 0.051 898 -580.9 -116.8 - - 3224 - - - - - - - - 14.88 14.52 14.90
1069 111.2 -7.3 74 1074 done -0.42 - - 2056 - 2.45 0.057 2296 570.6 -116.8 - - 3225 - - - - - - - - 14.62 14.52 14.66
1392 133.4 -7.0 85 1397 roll -0.42 - - 2054 - 2.47 0.082 3693 565.6 -116.8 - - 3224 - - - - - - - - 14.90 14.47 14.92
1432 136.2 -6.8 91 1438 done -0.42 - - 2055 - 2.38 0.041 2283 -592.4 -116.8 - - 3224 - - - - - - - - 14.60 14.57 14.64
1784 160.0 -6.9 99 1789 roll -0.42 - - 2054 - 2.40 0.051 892 -579.6 -116.8 - - 3222 - - - - - - - - 14.92 14.57 14.94
1852 165.3 -7.7 109 1859 done -0.42 - - 2053 - 2.47 0.055 2306 572.5 -116.8 - - 3222 - - - - - - - - 14.62 14.50 14.65
2176 189.5 -7.6 120 2180 roll -0.42 - - 2053 - 2.45 0.047 893 -576.7 -116.8 - - 3219 - - - - - - - - 14.94 14.54 14.95
2210 192.3 -8.3 125 2216 done -0.42 - - 2053 - 2.45 0.057 2289 569.8 -116.8 - - 3219 - - - - - - - - 14.64 14.54 14.67
2567 219.7 -7.7 134 2572 roll -0.42 - - 2044 - 2.47 0.080 3694 568.8 -116.8 - - 3220 - - - - - - - - 14.92 14.47 14.93
2629 224.6 -8.0 143 2635 done -0.42 - - 2044 - 2.38 0.044 2293 -588.7 -116.8 - - 3217 - - - - - - - - 14.59 14.55 14.61
2960 251.0 -8.0 155 2965 roll -0.42 - - 2044 - 2.42 0.054 893 -578.5 -116.8 - - 3214 - - - - - - - - 14.91 14.52 14.93
3056 259.0 -8.0 169 3063 done -0.42 - - 2043 - 2.47 0.057 2279 561.1 -116.8 - - 3214 - - - - - - - - 14.64 14.46 14.67
3409 286.5 -7.8 177 3414 roll -0.42 - - 2037 - 2.50 0.083 3691 564.8 -116.8 - - 3211 - - - - - - - - 14.93 14.44 14.95
3477 291.7 -7.4 187 3482 done -0.42 - - 2039 - 2.38 0.045 2280 -592.9 -116.8 - - 3211 - - - - - - - - 14.66 14.60 14.68
3799 315.6 -7.4 198 3804 roll -0.42 - - 2039 - 2.42 0.054 889 -574.8 -116.8 - - 3209 - - - - - - - - 14.95 14.50 14.96
3855 320.1 -7.9 206 3860 done -0.42 - - 2039 - 2.47 0.059 2286 565.6 -116.8 - - 3209 - - - - - - - - 14.59 14.49 14.63
4192 344.4 -7.2 219 4193 done -0.42 - - 2044 - - - 2284 - -116.8 - - 3207 - - - - - - - - 14.92 14.93 14.92
4527 366.1 -6.4 225 4528 done -0.42 - - 2039 - - - 2284 - -116.8 - - 3205 - - - - - - - - 14.92 14.94 14.94
4864 387.4 -6.3 231 4868 roll -0.42 - - 2039 - 2.45 0.050 888 -569.8 -116.8 - - 3203 - - - - - - - - 14.92 14.49 14.94
4933 392.1 -6.7 241 4939 done -0.42 - - 2039 - 2.47 0.059 2281 564.0 -116.8 - - 3203 - - - - - - - - 14.59 14.47 14.63
5255 413.2 -6.7 252 5260 roll -0.42 - - 2029 - 2.50 0.082 3687 562.4 -116.8 - - 3202 - - - - - - - - 14.94 14.40 14.95
5311 417.2 -7.2 260 5316 done -0.42 0.12 0.226 2065 300.0 2.40 0.045 2266 -592.1 -116.8 - - 3201 - - - - - - - - 14.26 14.57 14.47
5649 437.9 -6.2 273 5655 roll -0.48 - - 2060 - 2.40 0.057 895 -571.2 -116.8 - - 3200 - - - - - - - - 14.92 14.45 14.94
5711 442.2 -6.8 282 5716 done -0.54 - - 2056 - 2.47 0.060 2286 563.2 -116.8 - - 3199 - - - - - - - - 14.56 14.44 14.59
6041 464.2 -6.8 294 6042 done -0.59 0.15 0.128 1997 -393.3 - - 2286 - -116.8 - - 3198 - - - - - - - - 14.54 14.65 14.62
6376 495.6 -9.4 300 6381 roll -0.59 - - 1997 - 2.45 0.052 894 -568.2 -116.8 - - 3197 - - - - - - - - 14.92 14.45 14.94
6403 498.3 -9.4 304 6408 done -0.59 - - 1995 - 2.47 0.060 2279 560.7 -116.8 - - 3194 - - - - - - - - 14.53 14.40 14.59
6769 530.5 -8.9 314 6773 roll -0.59 - - 1986 - 2.53 0.084 3693 558.9 -116.8 - - 3195 - - - - - - - - 14.92 14.35 14.94
6795 533.0 -9.1 318 6801 done -0.59 - - 1986 - 2.42 0.047 2287 -581.0 -116.8 - - 3195 - - - - - - - - 14.52 14.47 14.54
7160 567.4 -9.5 328 7165 roll -0.59 - - 1987 - 2.47 0.057 876 -571.3 -116.8 - - 3193 - - - - - - - - 14.90 14.41 14.92
7217 573.0 -9.9 336 7221 done -0.59 - - 1984 - 2.53 0.063 2280 554.9 -116.8 - - 3193 - - - - - - - - 14.54 14.41 14.58
7552 605.8 -9.8 349 7557 roll -0.59 - - 1975 - 2.55 0.084 3697 555.7 -116.8 - - 3192 - - - - - - - - 14.90 14.33 14.91
7586 609.4 -10.4 354 7592 done -0.59 0.10 0.229 2003 280.0 2.47 0.046 2275 -575.7 -116.8 - - 3191 - - - - - - - - 14.04 14.47 14.20
7945 640.8 -8.7 363 7949 roll -0.59 - - 2003 - 2.47 0.060 879 -565.2 -116.8 - - 3191 - - - - - - - - 14.88 14.40 14.90
8006 646.5 -8.9 372 8011 done -0.59 - - 1999 - 2.53 0.063 2282 554.5 -116.8 - - 3190 - - - - - - - - 14.48 14.34 14.52
8336 676.1 -9.1 384 8341 roll -0.59 - - 1992 - 2.58 0.087 3701 550.0 -116.8 - - 3189 - - - - - - - - 14.91 14.33 14.93
8399 682.0 -9.5 393 8404 done -0.59 - - 1993 - 2.42 0.046 2275 -589.3 -116.8 - - 3189 - - - - - - - - 14.57 14.53 14.59
8728 712.9 -9.3 405 8734 roll -0.59 - - 1993 - 2.47 0.061 886 -562.3 -116.8 - - 3188 - - - - - - - - 14.88 14.36 14.90
8811 720.8 -9.2 417 8817 done -0.59 - - 1986 - 2.50 0.062 2274 555.2 -116.8 - - 3188 - - - - - - - - 14.47 14.33 14.52
9177 752.7 -8.7 427 9178 done -0.59 - - 1986 - - - 2274 - -116.8 - - 3187 - - - - - - - - 14.90 14.92 14.91
9512 779.7 -7.8 433 9513 done -0.59 - - 1986 - - - 2274 - -116.8 - - 3185 - - - - - - - - 14.90 14.92 14.92
9848 803.2 -7.1 439 9849 done -0.59 - - 1986 - - - 2275 - -116.8 - - 3184 - - - - - - - - 14.90 14.92 14.92
10184 827.6 -7.4 445 10185 done -0.59 - - 1986 - - - 2274 - -116.8 - - 3184 - - - - - - - - 14.90 14.95 14.92
10520 854.8 -8.2 451 10521 done -0.59 - - 1986 - - - 2274 - -116.8 - - 3183 - - - - - - - - 14.92 14.92 14.92
10856 884.4 -8.9 457 10862 roll -0.59 - - 1986 - 2.53 0.063 890 -547.0 -116.8 - - 3182 - - - - - - - - 14.90 14.29 14.92
10883 887.0 -9.3 461 10889 done -0.59 - - 1986 - 2.55 0.067 2282 545.9 -116.8 - - 3181 - - - - - - - - 14.40 14.25 14.45
11249 919.1 -8.8 471 11249 done -0.59 - - 1986 - - - 2282 - -116.8 - - 3180 - - - - - - - - 14.85 14.88 14.88
11584 947.4 -8.4 477 11585 done -0.59 - - 1986 - - - 2282 - -116.8 - - 3179 - - - - - - - - 14.86 14.88 14.88
11920 974.8 -8.2 483 11925 roll -0.59 - - 1986 - 2.55 0.059 878 -550.6 -116.8 - - 3179 - - - - - - - - 14.86 14.27 14.88
11954 978.5 -10.8 488 11959 done -0.59 - - 1986 - 2.58 0.067 2280 543.4 -116.8 - - 3178 - - - - - - - - 14.38 14.23 14.43
12140 end dive: TARGET_DEPTH_EXCEEDED
12140 begin apogee
12149 993.3 -7.8 494 12342 roll -0.19 0.55 0.223 2131 263.6 - - 2171 - - 190.57 1.639 2740 -2.3 0.266 - - - - - - 13.88 13.93 13.18
12344 end apogee: CONTROL_FINISHED_OK
12344 begin climb
12347 999.0 - 497 12510 roll 0.68 0.93 0.156 2407 296.8 2.62 0.063 778 -531.7 116.8 148.70 1.883 2254 -3.3 0.331 - - - - - - 13.88 13.95 12.84
12622 981.9 8.3 541 12627 done 0.68 - - 2408 - 2.60 0.063 2183 540.4 116.8 - - 2236 - - - - - - - - 14.20 14.09 14.21
12987 948.1 9.4 551 12991 roll 0.68 - - 2417 - 2.58 0.073 780 -543.8 116.8 - - 2232 - - - - - - - - 14.73 14.37 14.75
13112 936.4 9.1 569 13117 done 0.68 - - 2417 - 2.55 0.064 2190 552.9 116.8 - - 2230 - - - - - - - - 14.52 14.40 14.56
13435 903.6 10.4 580 13439 roll 0.62 - - 2417 - 2.55 0.090 3587 547.8 116.8 - - 2229 - - - - - - - - 14.80 14.38 14.82
13504 895.5 11.8 590 13511 done 0.54 0.20 0.272 2380 -185.0 2.45 0.057 2190 -570.2 116.8 - - 2228 - - - - - - - - 14.13 14.47 14.45
13827 867.3 8.6 601 13831 roll 0.54 - - 2390 - 2.58 0.073 769 -550.8 116.8 - - 2228 - - - - - - - - 14.83 14.39 14.85
13868 863.5 8.5 607 13873 done 0.54 - - 2390 - 2.55 0.063 2189 556.9 116.8 - - 2227 - - - - - - - - 14.55 14.44 14.60
14219 833.4 8.7 615 14224 roll 0.54 - - 2390 - 2.55 0.089 3594 551.0 116.8 - - 2226 - - - - - - - - 14.83 14.35 14.85
14323 823.8 9.0 630 14331 done 0.54 - - 2400 - 2.50 0.058 2190 -561.6 116.8 - - 2225 - - - - - - - - 14.43 14.38 14.48
14666 795.3 8.3 637 14671 roll 0.54 - - 2410 - 2.60 0.074 763 -548.8 116.8 - - 2225 - - - - - - - - 14.85 14.35 14.87
14701 792.2 8.8 642 14708 done 0.54 0.15 0.252 2377 -220.0 2.58 0.063 2189 552.7 116.8 - - 2225 - - - - - - - - 14.11 14.40 14.41
15059 767.1 6.9 651 15063 roll 0.55 - - 2376 - 2.55 0.088 3591 549.8 126.4 - - 2225 - - - - - - - - 14.85 14.33 14.87
15177 757.4 8.4 668 15182 done 0.55 - - 2385 - 2.45 0.057 2190 -571.8 126.4 - - 2224 - - - - - - - - 14.52 14.42 14.56
15506 731.2 8.1 680 15511 roll 0.55 - - 2395 - 2.58 0.073 771 -550.0 126.4 - - 2224 - - - - - - - - 14.85 14.33 14.86
15563 726.8 7.7 688 15567 done 0.55 - - 2395 - 2.58 0.060 2194 551.6 126.4 - - 2224 - - - - - - - - 14.48 14.36 14.52
15899 699.0 8.2 701 15904 roll 0.55 - - 2395 - 2.53 0.087 3587 550.6 126.4 - - 2223 - - - - - - - - 14.81 14.29 14.85
16024 687.9 8.6 719 16029 done 0.55 - - 2405 - 2.47 0.054 2206 -559.1 126.4 - - 2224 - - - - - - - - 14.38 14.33 14.42
16346 662.4 7.8 730 16352 roll 0.55 - - 2416 - 2.62 0.071 759 -552.3 126.4 - - 2223 - - - - - - - - 14.85 14.30 14.86
16403 658.3 7.3 738 16410 done 0.55 0.15 0.253 2383 -220.0 2.62 0.061 2208 553.1 128.2 - - 2223 - - - - - - - - 14.02 14.34 14.30
16739 637.2 6.2 751 16787 roll 0.57 - - 2378 - 2.58 0.089 3586 534.1 155.2 43.80 1.618 2102 -2.8 0.208 - - - - - - 14.87 14.33 13.52
16867 628.4 7.5 769 16872 done 0.57 - - 2391 - 2.42 0.054 2199 -573.1 155.2 - - 2087 - - - - - - - - 14.42 14.33 14.46
17181 606.1 7.1 779 17185 roll 0.57 - - 2400 - 2.60 0.073 774 -548.1 161.6 - - 2084 - - - - - - - - 14.73 14.26 14.75
17237 602.2 6.9 787 17262 done 0.58 - - 2400 - 2.58 0.060 2202 553.5 171.5 17.33 1.620 2032 -3.0 0.213 - - - - - - 14.46 14.35 13.57
17573 575.1 8.3 800 17578 roll 0.58 - - 2400 - 2.53 0.090 3594 550.2 171.5 - - 2019 - - - - - - - - 14.76 14.30 14.77
17655 567.2 9.3 812 17661 done 0.58 - - 2410 - 2.47 0.058 2211 -559.9 171.5 - - 2018 - - - - - - - - 14.40 14.34 14.52
18021 533.0 9.6 822 18027 roll 0.58 - - 2420 - 2.60 0.070 765 -556.2 171.5 - - 2017 - - - - - - - - 14.79 14.36 14.81
18068 528.2 9.7 829 18076 done 0.58 0.08 0.228 2384 -450.0 2.65 0.060 2211 545.7 171.5 - - 2016 - - - - - - - - 14.08 14.33 14.39
18413 498.5 8.7 836 18417 roll 0.58 - - 2384 - 2.53 0.088 3587 543.9 171.5 - - 2019 - - - - - - - - 14.82 14.31 14.84
18469 493.0 10.0 844 18474 done 0.58 - - 2392 - 2.45 0.054 2190 -570.2 171.5 - - 2014 - - - - - - - - 14.51 14.42 14.55
18804 461.4 9.4 857 18809 roll 0.58 - - 2401 - 2.58 0.070 777 -547.7 171.5 - - 2016 - - - - - - - - 14.85 14.33 14.87
18860 456.3 9.3 865 18865 done 0.58 - - 2402 - 2.58 0.058 2212 556.2 171.5 - - 2015 - - - - - - - - 14.47 14.36 14.52
19198 424.3 9.5 878 19203 roll 0.58 - - 2401 - 2.53 0.085 3594 546.2 171.5 - - 2015 - - - - - - - - 14.83 14.29 14.85
19300 413.5 10.1 893 19307 done 0.58 - - 2409 - 2.47 0.054 2210 -560.3 171.5 - - 2015 - - - - - - - - 14.40 14.35 14.44
19645 381.8 9.1 900 19649 roll 0.58 - - 2417 - 2.60 0.068 769 -554.2 171.5 - - 2015 - - - - - - - - 14.82 14.31 14.85
19701 377.0 8.5 908 19707 done 0.58 0.12 0.242 2390 -225.0 2.62 0.058 2220 553.8 171.5 - - 2015 - - - - - - - - 14.11 14.36 14.38
20036 351.7 7.5 921 20041 roll 0.58 - - 2389 - 2.50 0.086 3590 548.0 171.5 - - 2015 - - - - - - - - 14.86 14.26 14.85
20084 347.5 8.7 928 20091 done 0.58 - - 2398 - 2.45 0.052 2210 -563.3 171.5 - - 2015 - - - - - - - - 14.38 14.33 14.42
20430 319.0 8.4 935 20434 roll 0.58 - - 2405 - 2.60 0.067 770 -553.8 171.5 - - 2016 - - - - - - - - 14.83 14.31 14.85
20477 315.0 8.3 942 20485 done 0.58 - - 2404 - 2.62 0.057 2212 550.4 171.5 - - 2015 - - - - - - - - 14.34 14.28 14.40
20820 285.4 8.6 949 20825 roll 0.58 - - 2405 - 2.50 0.083 3590 551.2 171.5 - - 2015 - - - - - - - - 14.86 14.26 14.88
20918 276.3 9.2 963 20923 done 0.58 - - 2414 - 2.40 0.050 2208 -575.8 171.5 - - 2016 - - - - - - - - 14.49 14.40 14.53
21268 243.6 9.6 971 21273 roll 0.58 - - 2420 - 2.60 0.066 762 -556.2 171.5 - - 2015 - - - - - - - - 14.84 14.31 14.86
21310 239.7 9.6 977 21315 done 0.58 0.15 0.236 2387 -220.0 2.62 0.057 2226 558.8 171.5 - - 2015 - - - - - - - - 14.00 14.35 14.29
21661 213.4 7.2 985 21666 roll 0.58 - - 2387 - 2.47 0.085 3585 550.2 173.5 - - 2015 - - - - - - - - 14.85 14.25 14.88
21723 208.6 7.7 994 21729 done 0.58 - - 2393 - 2.42 0.050 2213 -566.9 173.5 - - 2015 - - - - - - - - 14.48 14.31 14.52
22053 186.1 6.9 1006 22064 roll 0.58 - - 2401 - 2.58 0.066 779 -555.8 183.7 4.20 0.949 1992 -5.5 0.205 - - - - - - 14.85 14.49 13.44
22115 181.3 7.8 1015 22120 done 0.64 - - 2401 - 2.58 0.056 2232 563.2 183.7 - - 1999 - - - - - - - - 14.54 14.43 14.58
22444 155.5 7.7 1027 22450 roll 0.64 - - 2401 - 2.45 0.081 3597 557.1 183.7 1.33 0.193 1992 -5.3 0.810 - - - - - - 14.86 14.28 14.16
22501 150.9 8.3 1035 22506 done 0.64 - - 2409 - 2.40 0.051 2212 -577.1 183.7 - - 1998 - - - - - - - - 14.52 14.42 14.57
22836 125.6 7.6 1048 22841 roll 0.64 - - 2418 - 2.55 0.063 777 -562.7 183.7 - - 1999 - - - - - - - - 14.84 14.32 14.85
22863 123.5 7.6 1052 22870 done 0.64 - - 2418 - 2.62 0.054 2223 551.9 183.7 1.70 0.168 1989 -5.9 0.826 - - - - - - 14.38 14.31 14.21
23201 96.4 8.0 1062 23207 roll 0.64 - - 2418 - 2.45 0.082 3586 556.3 183.7 - - 1998 - - - - - - - - 14.83 14.28 14.83
23298 88.4 8.0 1076 23303 done 0.64 - - 2425 - 2.40 0.048 2220 -569.2 183.7 - - 1999 - - - - - - - - 14.40 14.35 14.43
23621 68.8 5.8 1089 23653 roll 0.66 - - 2431 - 2.60 0.068 778 -554.6 219.1 24.98 0.327 1845 -6.2 0.248 - - - - - - 14.82 14.45 14.13
23669 66.2 5.3 1096 23709 done 0.75 - - 2431 - 2.60 0.055 2234 560.0 267.3 32.12 0.337 1653 -6.0 0.224 - - - - - - 14.54 14.43 14.12
24045 48.4 4.7 1116 24096 roll 0.90 0.15 0.120 2507 506.7 2.65 0.061 774 -550.9 329.1 41.62 0.274 1400 -6.1 0.205 - - - - - - 14.44 14.41 14.14
24194 37.3 6.6 1138 24215 done 0.99 - - 2506 - 2.55 0.052 2215 565.1 347.4 13.80 0.233 1323 -5.6 0.171 - - - - - - 14.48 14.38 14.09
24549 20.4 4.2 1155 24602 roll 1.14 0.15 0.115 2577 473.3 2.53 0.076 3597 546.2 422.4 48.10 0.184 1016 -6.4 0.135 - - - - - - 14.45 14.40 14.22
24727 3.1 8.9 1181 24733 done 1.14 - - 2583 - 2.42 0.051 2229 -565.3 422.4 - - 1020 - - - - - - - - 14.40 14.34 14.42
24738 end climb: SURFACE_DEPTH_REACHED
24738 begin surface coast
24766 end surface coast: CONTROL_FINISHED_OK
24767 begin surface
SM 0.80 - - - - -6.15 6.88 0.071 214 31.1 0.12 0.122 2297 10558.3 500.17 50.08 0.135 702 14.0 -0.008 - - - - - -