SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 344 * Raw log
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• Previous call tries 1 • 137.26 of 350.00 AH used of 24V (60.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.0 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 66 s
• GPS2 time: 20 s • Transponder ping count: 4
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 VBD -0.68 - - 189 - - - 2310 - -116.8 -84.47 - 2840 - - - - - - - - 14.69 - 14.71
106 4.2 -5.7 3 130 roll -0.68 9.27 0.420 1986 193.9 2.85 2.043 871 -504.9 -116.8 -6.90 - 3220 -55.1 - - - - - - - 13.95 13.07 14.38
218 37.2 -19.0 19 223 done -0.53 0.22 0.281 2024 172.7 2.47 0.060 2270 566.4 -116.8 - - 3221 - - - - - - - - 14.07 14.37 14.36
553 81.4 -9.6 34 558 roll -0.46 - - 2013 - 2.53 0.076 3701 565.6 -116.8 - - 3223 - - - - - - - - 14.83 14.38 14.84
789 100.8 -7.9 68 795 done -0.46 0.10 0.223 2043 300.0 2.45 0.037 2237 -597.6 -116.8 - - 3223 - - - - - - - - 14.21 14.54 14.35
1140 129.6 -8.7 76 1141 done -0.46 - - 2044 - - - 2237 - -116.8 - - 3220 - - - - - - - - 14.91 14.93 14.92
1477 156.3 -7.8 82 1482 roll -0.46 - - 2044 - 2.30 0.051 901 -580.9 -116.8 - - 3223 - - - - - - - - 14.90 14.54 14.92
1602 166.7 -8.3 100 1607 done -0.46 - - 2042 - 2.40 0.057 2270 570.4 -116.8 - - 3222 - - - - - - - - 14.63 14.52 14.66
1924 192.8 -8.0 111 1925 done -0.46 - - 2042 - - - 2270 - -116.8 - - 3220 - - - - - - - - 14.92 14.94 14.94
2261 219.0 -7.8 117 2267 roll -0.46 - - 2036 - 2.53 0.083 3691 561.7 -116.8 - - 3218 - - - - - - - - 14.91 14.46 14.93
2294 221.8 -8.2 122 2300 done -0.46 - - 2036 - 2.40 0.043 2275 -590.0 -116.8 - - 3218 - - - - - - - - 14.59 14.57 14.61
2652 251.0 -8.2 131 2657 roll -0.46 - - 2036 - 2.40 0.055 892 -576.2 -116.8 - - 3216 - - - - - - - - 14.92 14.52 14.94
2715 256.0 -7.8 140 2720 done -0.46 - - 2029 - 2.42 0.056 2270 569.4 -116.8 - - 3215 - - - - - - - - 14.63 14.51 14.66
3044 281.8 -7.9 152 3045 done -0.46 - - 2029 - - - 2271 - -116.8 - - 3214 - - - - - - - - 14.92 14.94 14.94
3380 307.8 -7.6 158 3381 done -0.46 - - 2029 - - - 2271 - -116.8 - - 3209 - - - - - - - - 14.92 14.95 14.95
3716 333.7 -7.8 164 3721 roll -0.46 - - 2029 - 2.42 0.054 892 -569.8 -116.8 - - 3209 - - - - - - - - 14.92 14.50 14.95
3751 336.6 -8.4 169 3757 done -0.46 - - 2026 - 2.42 0.060 2260 565.3 -116.8 - - 3209 - - - - - - - - 14.62 14.50 14.64
4110 366.6 -8.6 178 4114 roll -0.46 - - 2020 - 2.58 0.083 3702 558.9 -116.8 - - 3206 - - - - - - - - 14.93 14.42 14.95
4170 372.2 -8.8 187 4176 done -0.46 0.12 0.232 2050 250.0 2.45 0.043 2244 -595.1 -116.8 - - 3206 - - - - - - - - 14.26 14.54 14.47
4501 396.6 -7.4 199 4506 roll -0.46 - - 2050 - 2.38 0.056 886 -570.6 -116.8 - - 3204 - - - - - - - - 14.91 14.47 14.93
4556 400.9 -7.7 207 4561 done -0.50 - - 2044 - 2.45 0.060 2261 561.2 -116.8 - - 3204 - - - - - - - - 14.57 14.45 14.61
4892 425.3 -7.2 220 4897 roll -0.50 - - 2041 - 2.55 0.085 3690 560.4 -116.8 - - 3203 - - - - - - - - 14.92 14.38 14.93
4942 428.8 -7.1 227 4948 done -0.56 - - 2040 - 2.42 0.046 2262 -590.1 -116.8 - - 3202 - - - - - - - - 14.63 14.57 14.66
5284 452.9 -7.1 234 5289 roll -0.56 - - 2041 - 2.40 0.054 885 -573.8 -116.8 - - 3201 - - - - - - - - 14.91 14.46 14.92
5332 456.5 -7.5 241 5340 done -0.56 - - 2041 - 2.50 0.061 2260 550.0 -116.8 - - 3200 - - - - - - - - 14.44 14.37 14.48
5678 480.5 -7.0 248 5682 roll -0.56 - - 2038 - 2.58 0.087 3698 557.4 -116.8 - - 3198 - - - - - - - - 14.90 14.38 14.92
5739 484.8 -6.8 257 5745 done -0.62 0.12 0.135 1984 -450.0 2.45 0.047 2243 -593.9 -116.8 - - 3199 - - - - - - - - 14.47 14.57 14.58
6069 516.6 -9.9 269 6074 roll -0.62 - - 1984 - 2.40 0.061 898 -560.4 -116.8 - - 3199 - - - - - - - - 14.90 14.42 14.92
6152 525.1 -9.9 281 6158 done -0.62 - - 1984 - 2.45 0.065 2260 555.9 -116.8 - - 3196 - - - - - - - - 14.53 14.40 14.57
6516 561.0 -9.9 291 6517 done -0.62 - - 1984 - - - 2259 - -116.8 - - 3198 - - - - - - - - 14.90 14.92 14.92
6854 593.8 -9.7 297 6859 roll -0.62 - - 1974 - 2.58 0.085 3698 557.8 -116.8 - - 3194 - - - - - - - - 14.92 14.34 14.93
6901 598.7 -10.2 304 6908 done -0.62 - - 1974 - 2.47 0.047 2263 -581.0 -116.8 - - 3193 - - - - - - - - 14.49 14.45 14.52
7245 633.9 -10.3 311 7250 roll -0.57 0.12 0.279 2008 283.3 2.45 0.060 889 -560.8 -116.8 - - 3192 - - - - - - - - 14.10 14.35 14.23
7301 639.2 -9.0 319 7306 done -0.57 - - 1999 - 2.47 0.062 2263 556.3 -116.8 - - 3191 - - - - - - - - 14.52 14.40 14.56
7636 669.8 -9.2 332 7641 roll -0.57 - - 1995 - 2.58 0.090 3691 553.5 -116.8 - - 3191 - - - - - - - - 14.90 14.30 14.92
7664 672.4 -9.5 336 7669 done -0.57 - - 1995 - 2.47 0.048 2272 -574.5 -116.8 - - 3190 - - - - - - - - 14.47 14.43 14.50
8030 706.6 -9.4 346 8034 roll -0.57 - - 1995 - 2.50 0.062 871 -560.4 -116.8 - - 3189 - - - - - - - - 14.88 14.38 14.90
8119 715.1 -9.2 359 8124 done -0.57 - - 1993 - 2.53 0.064 2265 551.0 -116.8 - - 3189 - - - - - - - - 14.46 14.33 14.50
8476 745.2 -8.3 368 8481 roll -0.57 - - 1985 - 2.60 0.089 3697 550.8 -116.8 - - 3188 - - - - - - - - 14.89 14.28 14.90
8504 747.5 -8.1 372 8510 done -0.57 0.08 0.230 2006 262.5 2.53 0.049 2257 -569.2 -116.8 - - 3187 - - - - - - - - 14.04 14.41 14.19
8870 774.1 -7.3 382 8874 roll -0.57 - - 2007 - 2.45 0.060 876 -563.7 -116.8 - - 3186 - - - - - - - - 14.88 14.35 14.90
8952 780.0 -6.1 394 8957 done -0.57 - - 1999 - 2.50 0.063 2260 553.6 -116.8 - - 3186 - - - - - - - - 14.47 14.34 14.51
9317 808.1 -7.9 404 9322 roll -0.57 - - 1997 - 2.62 0.092 3692 546.6 -116.8 - - 3185 - - - - - - - - 14.90 14.23 14.92
9386 813.8 -8.2 414 9391 done -0.57 - - 1999 - 2.50 0.050 2243 -579.6 -116.8 - - 3184 - - - - - - - - 14.49 14.39 14.52
9709 840.6 -8.3 425 9714 roll -0.57 - - 1999 - 2.42 0.062 888 -559.9 -116.8 - - 3184 - - - - - - - - 14.87 14.29 14.89
9779 846.7 -8.6 435 9784 done -0.57 - - 1998 - 2.50 0.066 2263 550.0 -116.8 - - 3184 - - - - - - - - 14.43 14.29 14.48
10101 872.8 -8.0 446 10105 roll -0.57 - - 1996 - 2.62 0.091 3702 549.2 -116.8 - - 3183 - - - - - - - - 14.87 14.22 14.88
10149 876.6 -6.1 453 10156 done -0.57 - - 1994 - 2.50 0.049 2251 -580.4 -116.8 - - 3182 - - - - - - - - 14.47 14.38 14.51
10494 902.9 -7.4 460 10499 roll -0.57 - - 1993 - 2.42 0.060 895 -560.3 -116.8 - - 3181 - - - - - - - - 14.88 14.30 14.90
10562 908.4 -6.7 470 10567 done -0.57 0.12 0.278 2012 158.3 2.47 0.063 2258 551.8 -116.8 - - 3181 - - - - - - - - 13.97 14.28 14.23
10885 929.4 -6.5 481 10890 roll -0.57 - - 2010 - 2.62 0.093 3690 546.6 -116.8 - - 3180 - - - - - - - - 14.86 14.20 14.88
10920 931.7 -6.2 486 10924 done -0.57 - - 2010 - 2.47 0.051 2261 -578.5 -116.8 - - 3179 - - - - - - - - 14.49 14.40 14.52
11277 956.3 -6.9 495 11282 roll -0.57 - - 2010 - 2.45 0.061 884 -562.0 -116.8 - - 3179 - - - - - - - - 14.85 14.26 14.88
11375 963.5 -7.1 509 11380 done -0.57 - - 2009 - 2.50 0.066 2259 550.0 -116.8 - - 3178 - - - - - - - - 14.41 14.28 14.46
11725 988.5 -7.2 517 11731 roll -0.57 - - 2000 - 2.62 0.090 3700 550.0 -116.8 - - 3178 - - - - - - - - 14.85 14.17 14.86
11734 end dive: TARGET_DEPTH_EXCEEDED
11734 begin apogee
11745 990.2 -7.4 519 11938 roll -0.19 0.50 0.216 2136 272.0 - - 2172 - - 191.82 1.645 2740 -2.3 0.263 - - - - - - 13.95 13.93 13.14
11940 end apogee: CONTROL_FINISHED_OK
11940 begin climb
11945 995.0 - 522 12105 roll 0.68 0.93 0.150 2413 297.8 2.60 0.063 777 -536.5 116.8 148.48 1.890 2256 -3.3 0.328 - - - - - - 13.88 13.97 12.83
12190 980.0 8.5 562 12195 done 0.68 - - 2414 - 2.60 0.062 2185 541.5 116.8 - - 2237 - - - - - - - - 14.12 14.02 14.15
12525 947.9 9.6 575 12530 roll 0.62 - - 2424 - 2.58 0.072 778 -545.3 116.8 - - 2232 - - - - - - - - 14.69 14.35 14.71
12650 936.0 9.3 593 12657 done 0.62 - - 2424 - 2.55 0.062 2192 554.5 116.8 - - 2230 - - - - - - - - 14.51 14.40 14.55
12974 903.0 10.3 604 12979 roll 0.56 0.15 0.271 2382 -280.0 2.53 0.088 3594 554.2 116.8 - - 2229 - - - - - - - - 14.12 14.36 14.29
13077 893.0 9.1 619 13084 done 0.56 - - 2390 - 2.47 0.057 2200 -564.4 116.8 - - 2227 - - - - - - - - 14.45 14.40 14.50
13422 864.1 8.4 626 13427 roll 0.56 - - 2401 - 2.58 0.076 768 -555.0 116.8 - - 2230 - - - - - - - - 14.83 14.38 14.86
13462 860.4 9.0 632 13468 done 0.56 - - 2401 - 2.58 0.063 2198 554.3 116.8 - - 2226 - - - - - - - - 14.53 14.40 14.58
13813 830.2 8.7 640 13818 roll 0.56 - - 2401 - 2.53 0.091 3589 549.8 116.8 - - 2226 - - - - - - - - 14.85 14.33 14.88
13904 821.4 9.5 653 13910 done 0.50 0.20 0.263 2364 -185.0 2.45 0.056 2189 -571.4 116.8 - - 2226 - - - - - - - - 14.07 14.44 14.40
14261 796.6 6.9 662 14266 roll 0.51 - - 2374 - 2.58 0.070 761 -553.5 127.5 - - 2225 - - - - - - - - 14.84 14.36 14.85
14309 792.9 7.8 669 14317 done 0.51 - - 2374 - 2.60 0.061 2197 552.3 127.5 - - 2225 - - - - - - - - 14.50 14.37 14.54
14654 768.3 7.1 676 14666 roll 0.51 - - 2374 - 2.55 0.090 3593 547.5 132.3 4.65 1.457 2199 -5.6 0.564 - - - - - - 14.83 14.52 13.27
14771 758.8 7.9 693 14777 done 0.51 - - 2383 - 2.45 0.056 2184 -575.1 132.3 - - 2206 - - - - - - - - 14.57 14.48 14.60
15102 734.4 7.4 705 15107 roll 0.51 - - 2394 - 2.55 0.073 771 -554.1 132.3 - - 2207 - - - - - - - - 14.85 14.35 14.86
15157 730.6 6.6 713 15197 done 0.52 - - 2393 - 2.58 0.061 2203 555.0 149.7 32.12 1.730 2122 -2.6 0.214 - - - - - - 14.52 14.40 13.54
15549 699.3 8.1 727 15554 roll 0.52 - - 2394 - 2.55 0.090 3597 546.7 149.7 - - 2108 - - - - - - - - 14.74 14.31 14.76
15647 690.5 8.9 741 15653 done 0.52 0.15 0.253 2369 -166.7 2.45 0.058 2198 -571.0 149.7 - - 2107 - - - - - - - - 14.11 14.40 14.40
15997 665.1 7.3 749 16003 roll 0.52 - - 2379 - 2.58 0.076 777 -550.8 151.0 - - 2107 - - - - - - - - 14.79 14.35 14.82
16053 661.0 7.2 757 16059 done 0.57 - - 2379 - 2.58 0.060 2208 554.7 154.4 - - 2105 - - - - - - - - 14.50 14.38 14.54
16390 634.7 7.8 770 16395 roll 0.57 - - 2380 - 2.53 0.088 3590 546.2 154.4 - - 2105 - - - - - - - - 14.81 14.31 14.82
16486 626.6 8.1 784 16492 done 0.57 - - 2389 - 2.47 0.055 2204 -561.1 154.4 - - 2104 - - - - - - - - 14.40 14.35 14.45
16838 600.3 7.5 792 16843 roll 0.57 - - 2398 - 2.60 0.073 777 -548.8 154.4 - - 2105 - - - - - - - - 14.82 14.30 14.84
16885 596.7 7.3 799 16892 done 0.57 - - 2398 - 2.62 0.060 2208 546.2 156.2 - - 2104 - - - - - - - - 14.37 14.30 14.42
17229 568.8 8.3 806 17234 roll 0.57 - - 2398 - 2.53 0.088 3593 547.4 156.2 - - 2104 - - - - - - - - 14.85 14.29 14.87
17320 560.0 9.7 819 17325 done 0.57 - - 2408 - 2.42 0.057 2212 -570.7 156.2 - - 2104 - - - - - - - - 14.51 14.39 14.54
17677 524.9 10.0 828 17682 roll 0.57 - - 2417 - 2.60 0.067 766 -556.2 156.2 - - 2104 - - - - - - - - 14.83 14.31 14.85
17733 519.4 9.9 836 17738 done 0.57 0.12 0.256 2390 -225.0 2.60 0.060 2213 556.5 156.2 - - 2104 - - - - - - - - 14.07 14.35 14.33
18070 489.7 8.7 849 18076 roll 0.57 - - 2390 - 2.50 0.086 3596 553.2 156.2 - - 2103 - - - - - - - - 14.82 14.28 14.83
18159 481.4 9.0 862 18165 done 0.57 - - 2398 - 2.42 0.054 2206 -574.4 156.2 - - 2104 - - - - - - - - 14.47 14.36 14.50
18517 453.4 7.7 871 18518 done 0.57 - - 2398 - - - 2207 - 156.2 - - 2103 - - - - - - - - 14.83 14.85 14.86
18854 427.4 7.8 877 18859 roll 0.57 - - 2405 - 2.60 0.070 764 -555.0 156.2 - - 2103 - - - - - - - - 14.82 14.28 14.84
18880 425.2 7.9 881 18887 done 0.57 - - 2407 - 2.67 0.060 2219 544.9 156.2 - - 2103 - - - - - - - - 14.35 14.28 14.40
19245 393.3 8.9 891 19250 roll 0.57 - - 2406 - 2.50 0.086 3597 551.2 156.2 - - 2103 - - - - - - - - 14.86 14.26 14.88
19329 385.0 10.0 903 19334 done 0.57 0.12 0.263 2388 -150.0 2.42 0.054 2216 -570.7 156.2 - - 2103 - - - - - - - - 14.03 14.37 14.29
19693 357.3 7.4 913 19699 roll 0.57 - - 2397 - 2.62 0.069 770 -551.9 156.2 - - 2104 - - - - - - - - 14.85 14.28 14.87
19762 352.3 6.8 923 19789 done 0.58 - - 2397 - 2.62 0.057 2233 558.4 168.0 18.62 1.353 2049 -3.0 0.147 - - - - - - 14.44 14.32 13.71
20142 325.2 7.1 935 20147 roll 0.58 - - 2392 - 2.47 0.085 3596 551.8 172.7 - - 2036 - - - - - - - - 14.77 14.30 14.79
20224 318.6 7.7 947 20230 done 0.58 - - 2405 - 2.45 0.053 2192 -573.1 172.7 - - 2035 - - - - - - - - 14.45 14.33 14.48
20590 291.5 7.6 957 20595 roll 0.58 - - 2413 - 2.55 0.068 771 -557.3 172.7 - - 2035 - - - - - - - - 14.82 14.31 14.84
20658 286.0 7.8 967 20664 done 0.58 - - 2414 - 2.60 0.057 2226 559.6 172.7 - - 2034 - - - - - - - - 14.45 14.31 14.49
20982 256.8 9.2 978 20986 roll 0.58 - - 2414 - 2.47 0.085 3593 553.4 172.7 - - 2032 - - - - - - - - 14.84 14.26 14.85
21051 249.5 10.3 988 21056 done 0.58 0.15 0.247 2388 -173.3 2.40 0.053 2216 -573.8 172.7 - - 2034 - - - - - - - - 14.06 14.39 14.31
21373 223.9 7.9 999 21378 roll 0.58 - - 2396 - 2.58 0.067 776 -558.1 172.7 - - 2035 - - - - - - - - 14.83 14.30 14.84
21414 220.4 8.5 1005 21421 done 0.64 - - 2396 - 2.60 0.055 2231 559.6 172.7 - - 2035 - - - - - - - - 14.47 14.35 14.50
21766 189.1 8.9 1013 21772 roll 0.64 - - 2396 - 2.47 0.083 3593 551.4 172.7 - - 2035 - - - - - - - - 14.82 14.28 14.83
21862 179.9 9.1 1027 21868 done 0.64 - - 2404 - 2.42 0.051 2234 -561.6 172.7 - - 2035 - - - - - - - - 14.37 14.32 14.40
22214 152.2 7.6 1035 22218 roll 0.64 - - 2410 - 2.62 0.066 771 -558.4 172.7 - - 2034 - - - - - - - - 14.83 14.31 14.85
22297 146.6 6.8 1047 22325 done 0.64 - - 2410 - 2.60 0.056 2233 562.3 186.4 20.02 1.105 1976 -2.9 0.073 - - - - - - 14.45 14.34 13.81
22662 119.9 7.5 1057 22667 roll 0.64 - - 2410 - 2.47 0.084 3587 548.2 186.4 - - 1964 - - - - - - - - 14.78 14.30 14.80
22718 115.5 8.1 1065 22724 done 0.64 - - 2418 - 2.40 0.050 2212 -572.9 186.4 - - 1963 - - - - - - - - 14.48 14.36 14.53
23053 88.1 9.3 1080 23058 roll 0.64 - - 2424 - 2.60 0.066 776 -552.3 186.4 - - 1963 - - - - - - - - 14.81 14.31 14.82
23157 79.9 7.1 1095 23164 done 0.65 - - 2424 - 2.58 0.054 2228 562.8 192.7 - - 1962 - - - - - - - - 14.40 14.28 14.44
23474 60.1 6.1 1107 23501 roll 0.67 - - 2424 - 2.42 0.081 3586 561.2 222.3 20.27 0.298 1833 -6.4 0.245 - - - - - - 14.80 14.30 14.08
23588 54.1 4.9 1123 23634 done 0.76 - - 2424 - 2.38 0.049 2210 -578.2 280.6 38.90 0.294 1595 -6.1 0.215 - - - - - - 14.51 14.40 14.12
23953 36.2 5.6 1142 23989 roll 0.97 0.22 0.098 2527 468.2 2.55 0.078 3591 541.6 322.8 28.80 0.234 1423 -6.0 0.177 - - - - - - 14.40 14.33 14.15
24025 31.2 7.0 1153 24038 done 0.98 - - 2536 - 2.42 0.050 2223 -565.3 330.9 6.45 0.210 1391 -5.0 0.141 - - - - - - 14.41 14.37 14.07
24373 13.0 4.0 1169 24431 roll 1.09 - - 2543 - 2.62 0.067 783 -549.6 409.2 49.67 0.165 1068 -6.5 0.098 - - - - - - 14.78 14.33 14.23
24498 6.9 5.2 1187 24537 done 1.22 0.15 0.119 2606 420.0 2.53 0.053 2218 567.2 459.0 30.45 0.148 864 -6.7 0.060 - - - - - - 14.40 14.39 14.22
24562 end climb: SURFACE_DEPTH_REACHED
24562 begin surface coast
24590 end surface coast: CONTROL_FINISHED_OK
24590 begin surface
SM 1.01 - - - - -6.15 6.95 0.071 210 30.2 0.10 0.109 2311 -91190.0 500.17 27.77 0.136 700 25.2 -0.019 - - - - - -