SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 2 • 96.35 of 350.00 AH used of 24V (72.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.8 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 19 s • Transponder ping count: 14
• 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
17 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 107 VBD -0.68 - - 199 - - - 2303 - -116.8 -84.28 - 2962 - - - - - - - - 14.70 - 14.72
112 6.0 -8.7 3 135 roll -0.68 8.90 0.415 1982 200.3 2.80 2.072 859 -515.7 -116.8 -4.15 - 3221 -62.4 - - - - - - - 14.12 13.31 14.51
197 40.6 -25.9 16 203 done -0.45 0.32 0.302 2047 203.1 2.53 0.063 2281 562.1 -116.8 - - 3222 - - - - - - - - 14.14 14.40 14.42
528 93.0 -10.4 30 533 roll -0.36 0.12 0.284 2079 266.7 2.45 0.045 855 -582.0 -116.8 - - 3223 - - - - - - - - 14.30 14.54 14.45
764 111.8 -6.4 64 770 done -0.36 - - 2073 - 2.53 0.057 2314 576.7 -116.8 - - 3224 - - - - - - - - 14.67 14.57 14.70
1088 135.9 -7.7 75 1093 roll -0.36 - - 2073 - 2.50 0.047 850 -585.6 -116.8 - - 3224 - - - - - - - - 14.90 14.61 14.92
1143 139.9 -7.3 83 1148 done -0.36 - - 2069 - 2.55 0.057 2309 572.2 -116.8 - - 3225 - - - - - - - - 14.71 14.61 14.73
1479 160.6 -5.9 96 1480 done -0.36 - - 2069 - - - 2309 - -116.8 - - 3224 - - - - - - - - 14.93 14.95 14.95
1816 182.1 -6.6 102 1817 done -0.36 - - 2069 - - - 2309 - -116.8 - - 3222 - - - - - - - - 14.94 14.96 14.96
2152 205.8 -7.1 108 2152 done -0.36 - - 2069 - - - 2310 - -116.8 - - 3220 - - - - - - - - 14.95 14.98 14.97
2487 231.2 -7.7 114 2492 roll -0.36 - - 2069 - 2.50 0.050 853 -582.8 -116.8 - - 3217 - - - - - - - - 14.97 14.62 14.98
2521 234.0 -8.0 119 2527 done -0.36 - - 2069 - 2.58 0.059 2302 561.6 -116.8 - - 3217 - - - - - - - - 14.64 14.58 14.71
2880 261.0 -7.6 128 2884 roll -0.36 - - 2069 - 2.50 0.052 855 -578.8 -116.8 - - 3215 - - - - - - - - 14.95 14.63 14.97
2920 264.3 -7.9 134 2926 done -0.36 - - 2069 - 2.55 0.060 2308 569.8 -116.8 - - 3214 - - - - - - - - 14.71 14.59 14.75
3271 289.1 -7.1 142 3276 roll -0.36 - - 2065 - 2.42 0.085 3697 574.0 -116.8 - - 3212 - - - - - - - - 14.95 14.57 14.97
3306 291.6 -7.3 147 3311 done -0.40 - - 2064 - 2.38 0.047 2267 -600.8 -116.8 - - 3210 - - - - - - - - 14.78 14.71 14.79
3663 318.0 -7.5 156 3668 roll -0.40 - - 2064 - 2.35 0.057 891 -585.5 -116.8 - - 3209 - - - - - - - - 14.97 14.63 14.99
3711 321.7 -7.6 163 3718 done -0.40 - - 2058 - 2.53 0.063 2297 555.7 -116.8 - - 3209 - - - - - - - - 14.62 14.55 14.66
4056 347.0 -7.5 170 4061 roll -0.40 - - 2056 - 2.47 0.091 3699 567.6 -116.8 - - 3207 - - - - - - - - 14.99 14.54 14.98
4198 357.1 -7.0 190 4203 done -0.45 - - 2056 - 2.35 0.049 2296 -597.0 -116.8 - - 3205 - - - - - - - - 14.76 14.69 14.78
4560 380.6 -6.3 200 4565 roll -0.45 - - 2056 - 2.45 0.061 886 -575.5 -116.8 - - 3203 - - - - - - - - 14.94 14.59 14.95
4650 386.1 -5.9 213 4656 done -0.45 - - 2056 - 2.53 0.064 2310 562.8 -116.8 - - 3202 - - - - - - - - 14.69 14.57 14.73
5008 406.4 -5.7 222 5012 roll -0.45 - - 2056 - 2.47 0.053 890 -574.9 -116.8 - - 3201 - - - - - - - - 14.95 14.55 14.96
5042 408.6 -6.5 227 5048 done -0.45 - - 2056 - 2.53 0.063 2306 559.7 -116.8 - - 3201 - - - - - - - - 14.69 14.57 14.72
5400 432.7 -7.0 236 5404 roll -0.45 - - 2051 - 2.45 0.090 3689 564.5 -116.8 - - 3199 - - - - - - - - 14.94 14.52 14.96
5441 435.9 -7.6 242 5446 done -0.45 - - 2051 - 2.38 0.049 2265 -598.3 -116.8 - - 3199 - - - - - - - - 14.73 14.66 14.76
5792 463.1 -7.8 250 5797 roll -0.45 - - 2051 - 2.40 0.063 897 -570.0 -116.8 - - 3197 - - - - - - - - 14.93 14.57 14.95
5868 469.2 -7.9 261 5874 done -0.45 - - 2048 - 2.53 0.067 2290 550.6 -116.8 - - 3197 - - - - - - - - 14.65 14.47 14.68
6184 492.9 -7.5 271 6188 roll -0.45 - - 2042 - 2.50 0.092 3694 561.6 -116.8 - - 3195 - - - - - - - - 14.95 14.50 14.97
6211 495.0 -7.6 275 6217 done -0.45 - - 2043 - 2.38 0.049 2294 -588.2 -116.8 - - 3195 - - - - - - - - 14.65 14.60 14.68
6576 522.7 -7.6 285 6582 roll -0.45 - - 2043 - 2.45 0.059 894 -571.4 -116.8 - - 3194 - - - - - - - - 14.93 14.55 14.95
6666 529.6 -7.6 298 6671 done -0.45 - - 2042 - 2.53 0.066 2315 561.7 -116.8 - - 3193 - - - - - - - - 14.66 14.53 14.70
7024 555.1 -7.1 307 7025 done -0.45 - - 2042 - - - 2314 - -116.8 - - 3194 - - - - - - - - 14.94 14.96 14.96
7360 577.9 -6.8 313 7360 done -0.45 - - 2042 - - - 2314 - -116.8 - - 3191 - - - - - - - - 14.93 14.95 14.95
7696 599.9 -6.6 319 7700 roll -0.45 - - 2042 - 2.50 0.057 900 -565.6 -116.8 - - 3189 - - - - - - - - 14.92 14.54 14.97
7752 603.8 -7.0 327 7756 done -0.45 - - 2042 - 2.53 0.068 2304 554.9 -116.8 - - 3189 - - - - - - - - 14.65 14.52 14.69
8088 626.2 -6.7 340 8089 done -0.45 - - 2048 - - - 2304 - -116.8 - - 3189 - - - - - - - - 14.93 14.95 14.95
8424 650.0 -7.2 346 8429 roll -0.45 - - 2042 - 2.50 0.058 892 -564.8 -116.8 - - 3187 - - - - - - - - 14.94 14.53 14.96
8480 654.4 -7.9 354 8484 done -0.45 - - 2042 - 2.53 0.067 2298 555.7 -116.8 - - 3187 - - - - - - - - 14.64 14.52 14.68
8816 680.5 -7.8 367 8821 roll -0.45 - - 2038 - 2.53 0.096 3701 554.5 -116.8 - - 3186 - - - - - - - - 14.93 14.46 14.95
8850 683.3 -8.1 372 8855 done -0.45 - - 2037 - 2.38 0.051 2290 -592.9 -116.8 - - 3185 - - - - - - - - 14.69 14.62 14.71
9208 711.1 -7.7 381 9213 roll -0.45 - - 2038 - 2.47 0.064 897 -564.0 -116.8 - - 3184 - - - - - - - - 14.92 14.49 14.93
9312 719.2 -7.5 396 9319 done -0.45 - - 2037 - 2.53 0.070 2297 553.4 -116.8 - - 3184 - - - - - - - - 14.62 14.48 14.64
9656 742.8 -6.9 403 9660 roll -0.45 - - 2037 - 2.53 0.099 3691 551.0 -116.8 - - 3183 - - - - - - - - 14.91 14.42 14.93
9690 745.2 -6.7 408 9695 done -0.45 - - 2034 - 2.38 0.054 2286 -590.3 -116.8 - - 3183 - - - - - - - - 14.66 14.59 14.69
10048 768.2 -6.3 417 10054 roll -0.45 - - 2033 - 2.47 0.064 891 -564.8 -116.8 - - 3183 - - - - - - - - 14.90 14.48 14.92
10160 775.7 -6.5 433 10166 done -0.45 - - 2037 - 2.50 0.070 2280 555.6 -116.8 - - 3181 - - - - - - - - 14.62 14.48 14.65
10497 795.8 -6.0 446 10501 roll -0.45 - - 2037 - 2.55 0.099 3690 552.9 -116.8 - - 3180 - - - - - - - - 14.91 14.42 14.93
10537 798.4 -5.1 452 10542 done -0.50 - - 2036 - 2.38 0.054 2278 -593.3 -116.8 - - 3180 - - - - - - - - 14.67 14.60 14.70
10888 820.1 -6.2 460 10893 roll -0.50 - - 2037 - 2.42 0.062 903 -568.2 -116.8 - - 3179 - - - - - - - - 14.90 14.48 14.91
10979 826.2 -6.9 473 10984 done -0.50 - - 2037 - 2.47 0.072 2275 555.5 -116.8 - - 3179 - - - - - - - - 14.59 14.46 14.64
11336 850.2 -6.7 482 11341 roll -0.50 - - 2035 - 2.58 0.101 3692 549.2 -116.8 - - 3178 - - - - - - - - 14.89 14.41 14.91
11370 852.6 -6.1 487 11376 done -0.50 - - 2037 - 2.45 0.056 2285 -574.3 -116.8 - - 3178 - - - - - - - - 14.57 14.52 14.60
11728 877.4 -7.0 496 11733 roll -0.50 - - 2035 - 2.47 0.066 891 -564.4 -116.8 - - 3177 - - - - - - - - 14.88 14.46 14.90
11804 882.7 -7.3 507 11809 done -0.50 - - 2034 - 2.50 0.070 2276 554.0 -116.8 - - 3177 - - - - - - - - 14.60 14.46 14.64
12121 903.7 -6.5 517 12126 roll -0.50 - - 2026 - 2.58 0.099 3700 551.9 -116.8 - - 3177 - - - - - - - - 14.88 14.40 14.90
12196 909.0 -6.9 528 12201 done -0.55 - - 2026 - 2.42 0.057 2278 -587.6 -116.8 - - 3176 - - - - - - - - 14.64 14.57 14.66
12513 930.4 -6.8 538 12517 roll -0.55 - - 2026 - 2.47 0.064 883 -564.8 -116.8 - - 3176 - - - - - - - - 14.88 14.45 14.89
12596 936.0 -6.9 550 12600 done -0.55 - - 2026 - 2.55 0.073 2287 550.6 -116.8 - - 3175 - - - - - - - - 14.59 14.45 14.62
12960 959.4 -6.3 560 12961 done -0.55 - - 2027 - - - 2287 - -116.8 - - 3175 - - - - - - - - 14.89 14.91 14.91
13296 979.6 -6.0 566 13301 roll -0.55 - - 2026 - 2.50 0.060 881 -562.4 -116.8 - - 3175 - - - - - - - - 14.90 14.44 14.91
13330 982.6 -8.3 571 13336 done -0.55 - - 2026 - 2.58 0.073 2289 545.7 -116.8 - - 3174 - - - - - - - - 14.58 14.45 14.62
13516 end dive: TARGET_DEPTH_EXCEEDED
13516 begin apogee
13525 992.2 -5.1 577 13675 roll -0.19 0.40 0.222 2135 272.5 - - 2195 - - 142.77 2.556 2741 -3.0 0.227 - - - - 1 - 14.26 13.76 12.73
13676 end apogee: CONTROL_FINISHED_OK
13676 begin climb
13681 995.1 - 579 13851 roll 0.68 0.93 0.149 2408 293.5 2.62 0.063 804 -530.9 116.8 157.75 1.886 2253 -3.1 0.315 - - - - - - 13.76 13.81 12.89
13963 971.8 10.1 626 13970 done 0.68 - - 2408 - 2.65 0.072 2197 525.7 116.8 - - 2240 - - - - - - - - 14.07 13.96 14.09
14306 935.2 10.6 633 14312 roll 0.62 - - 2418 - 2.58 0.079 804 -539.9 116.8 - - 2235 - - - - - - - - 14.63 14.31 14.65
14424 923.4 9.7 650 14430 done 0.62 - - 2418 - 2.60 0.074 2218 543.8 116.8 - - 2234 - - - - - - - - 14.47 14.35 14.52
14756 888.8 10.5 662 14761 roll 0.55 0.15 0.272 2380 -253.3 2.55 0.099 3615 547.8 116.8 - - 2233 - - - - - - - - 14.15 14.37 14.32
14845 880.0 9.4 675 14850 done 0.50 - - 2389 - 2.45 0.064 2215 -571.4 116.8 - - 2231 - - - - - - - - 14.56 14.45 14.59
15203 848.2 9.1 684 15208 roll 0.50 - - 2400 - 2.60 0.081 795 -546.2 116.8 - - 2231 - - - - - - - - 14.80 14.42 14.82
15243 844.5 10.4 690 15249 done 0.50 0.12 0.234 2365 -291.7 2.62 0.070 2218 543.1 116.8 - - 2230 - - - - - - - - 14.15 14.42 14.50
15594 818.3 7.4 698 15599 roll 0.50 - - 2365 - 2.55 0.099 3615 547.8 116.8 - - 2230 - - - - - - - - 14.87 14.38 14.86
15684 810.6 8.3 711 15690 done 0.50 - - 2374 - 2.47 0.063 2208 -569.6 116.8 - - 2229 - - - - - - - - 14.57 14.45 14.62
16042 782.3 8.1 720 16047 roll 0.50 - - 2384 - 2.60 0.080 789 -545.8 116.8 - - 2229 - - - - - - - - 14.84 14.40 14.86
16098 777.9 7.8 728 16103 done 0.50 - - 2385 - 2.62 0.070 2233 551.1 116.8 - - 2229 - - - - - - - - 14.57 14.44 14.61
16435 750.3 8.4 741 16441 roll 0.50 - - 2384 - 2.53 0.097 3612 545.1 116.8 - - 2229 - - - - - - - - 14.85 14.39 14.88
16491 745.1 9.5 749 16497 done 0.45 0.20 0.252 2347 -185.0 2.47 0.063 2209 -568.0 116.8 - - 2228 - - - - - - - - 14.19 14.48 14.47
16827 721.7 6.9 762 16828 done 0.46 - - 2347 - - - 2209 - 126.8 - - 2228 - - - - - - - - 14.84 14.86 14.86
17163 698.2 7.1 768 17181 roll 0.46 - - 2347 - 2.58 0.095 3621 547.3 133.5 13.75 1.717 2190 -2.8 0.217 - - - - - - 14.86 14.45 13.81
17224 693.2 8.3 777 17231 done 0.46 - - 2354 - 2.53 0.064 2217 -554.9 133.5 - - 2183 - - - - - - - - 14.45 14.39 14.48
17554 668.3 7.7 789 17560 roll 0.46 - - 2364 - 2.62 0.080 787 -545.8 133.5 - - 2180 - - - - - - - - 14.80 14.37 14.81
17611 664.1 7.3 797 17617 done 0.46 - - 2365 - 2.62 0.069 2235 552.7 133.8 - - 2179 - - - - - - - - 14.54 14.42 14.59
17947 637.4 8.0 810 17951 roll 0.46 - - 2365 - 2.53 0.096 3612 544.3 133.8 - - 2179 - - - - - - - - 14.83 14.37 14.85
18016 631.3 8.7 820 18021 done 0.46 - - 2374 - 2.45 0.061 2213 -571.0 133.8 - - 2178 - - - - - - - - 14.57 14.46 14.61
18338 605.5 8.0 831 18348 roll 0.46 - - 2384 - 2.58 0.078 785 -553.5 133.8 - - 2179 - - - - - - - - 14.85 14.38 14.87
18389 601.5 7.7 838 18396 done 0.46 0.15 0.257 2350 -226.7 2.62 0.068 2229 551.1 133.8 - - 2179 - - - - - - - - 14.19 14.41 14.48
18734 579.7 6.3 845 18773 roll 0.48 - - 2350 - 2.53 0.099 3609 545.5 159.5 33.08 1.582 2080 -3.0 0.211 - - - - - - 14.84 14.41 13.78
18845 571.9 7.3 861 18851 done 0.48 - - 2358 - 2.45 0.060 2225 -564.9 159.6 - - 2070 - - - - - - - - 14.42 14.35 14.47
19182 549.7 6.6 874 19208 roll 0.49 - - 2367 - 2.65 0.080 798 -538.5 176.6 17.95 1.590 2011 -3.3 0.219 - - - - - - 14.73 14.42 13.78
19251 544.9 7.1 884 19256 done 0.55 - - 2364 - 2.60 0.067 2235 552.7 181.5 - - 2004 - - - - - - - - 14.46 14.35 14.49
19573 519.4 8.1 895 19578 roll 0.55 - - 2367 - 2.50 0.094 3609 549.6 181.5 - - 2002 - - - - - - - - 14.73 14.33 14.76
19657 511.6 9.4 907 19662 done 0.55 - - 2376 - 2.42 0.060 2233 -568.6 181.5 - - 2001 - - - - - - - - 14.52 14.42 14.55
20021 478.6 9.1 917 20027 roll 0.55 - - 2385 - 2.62 0.075 781 -554.2 181.5 - - 2001 - - - - - - - - 14.78 14.42 14.80
20098 471.8 8.6 928 20103 done 0.61 - - 2385 - 2.62 0.066 2235 555.0 181.5 - - 1999 - - - - - - - - 14.53 14.41 14.57
20413 440.3 10.2 938 20418 roll 0.61 - - 2385 - 2.50 0.093 3612 550.8 181.5 - - 1999 - - - - - - - - 14.82 14.37 14.84
20503 430.1 11.2 951 20509 done 0.61 - - 2394 - 2.47 0.060 2230 -559.5 181.5 - - 1999 - - - - - - - - 14.58 14.42 14.61
20862 391.5 10.8 960 20866 roll 0.61 - - 2405 - 2.60 0.075 791 -553.5 181.5 - - 1999 - - - - - - - - 14.83 14.40 14.85
20917 385.6 10.4 968 20922 done 0.61 - - 2405 - 2.62 0.066 2245 555.0 181.5 - - 1998 - - - - - - - - 14.56 14.45 14.59
21253 351.1 10.1 981 21259 roll 0.61 - - 2405 - 2.47 0.095 3611 553.0 181.5 - - 1999 - - - - - - - - 14.84 14.38 14.86
21358 340.2 10.0 996 21364 done 0.61 - - 2414 - 2.40 0.059 2247 -568.3 181.5 - - 1998 - - - - - - - - 14.57 14.47 14.60
21701 307.0 9.7 1003 21706 roll 0.61 - - 2424 - 2.62 0.077 797 -553.4 181.5 - - 1998 - - - - - - - - 14.83 14.38 14.85
21757 301.6 9.5 1011 21762 done 0.61 - - 2423 - 2.62 0.066 2254 556.1 181.5 - - 1996 - - - - - - - - 14.57 14.45 14.61
22094 266.6 10.6 1024 22098 roll 0.61 - - 2423 - 2.47 0.095 3615 551.0 181.5 - - 1998 - - - - - - - - 14.83 14.37 14.85
22190 255.3 11.5 1038 22196 done 0.55 0.17 0.220 2383 -235.3 2.45 0.061 2246 -558.8 181.5 - - 1998 - - - - - - - - 14.16 14.43 14.33
22542 228.4 7.4 1046 22546 roll 0.55 - - 2392 - 2.62 0.078 798 -552.7 181.5 - - 1998 - - - - - - - - 14.84 14.39 14.85
22611 223.4 7.1 1056 22623 done 0.61 - - 2392 - 2.62 0.067 2257 556.9 186.3 3.20 0.808 1978 -6.2 0.333 - - - - - - 14.57 14.45 13.72
22933 198.7 7.7 1067 22938 roll 0.61 - - 2392 - 2.45 0.094 3613 553.5 186.3 - - 1987 - - - - - - - - 14.83 14.40 14.85
22996 193.6 8.0 1076 23001 done 0.61 - - 2401 - 2.38 0.059 2254 -571.0 186.3 - - 1989 - - - - - - - - 14.60 14.51 14.63
23325 168.3 7.7 1088 23330 roll 0.61 - - 2409 - 2.65 0.076 782 -555.5 186.3 - - 1987 - - - - - - - - 14.85 14.42 14.87
23373 164.4 8.0 1095 23380 done 0.61 - - 2410 - 2.70 0.067 2259 547.0 186.3 - - 1987 - - - - - - - - 14.47 14.40 14.52
23718 133.1 9.3 1102 23722 roll 0.61 - - 2410 - 2.42 0.093 3609 557.9 186.3 - - 1988 - - - - - - - - 14.84 14.40 14.85
23800 125.0 9.6 1114 23805 done 0.61 - - 2418 - 2.40 0.056 2256 -563.8 186.3 - - 1987 - - - - - - - - 14.52 14.46 14.55
24137 97.5 7.7 1124 24142 roll 0.61 - - 2426 - 2.62 0.071 788 -560.3 186.3 - - 1988 - - - - - - - - 14.86 14.44 14.88
24214 92.6 6.2 1135 24240 done 0.67 - - 2426 - 2.65 0.064 2255 553.6 213.9 20.05 0.402 1868 -6.0 0.266 - - - - - - 14.58 14.45 14.25
24560 73.4 4.5 1151 24612 done 0.79 - - 2426 - - - 2255 - 281.7 45.33 0.360 1591 -6.1 0.240 - - - - - - 14.81 14.54 14.25
24922 58.3 4.0 1167 24982 roll 1.03 0.28 0.103 2540 407.1 2.67 0.067 783 -551.3 361.4 52.45 0.308 1265 -6.2 0.227 - - - - - - 14.38 14.46 14.25
25068 49.1 6.4 1188 25089 done 1.14 - - 2540 - 2.62 0.060 2248 559.2 384.4 16.92 0.271 1170 -5.6 0.196 - - - - - - 14.52 14.41 14.19
25422 29.8 5.3 1205 25459 roll 1.25 0.15 0.115 2611 473.3 2.42 0.083 3617 565.7 432.2 32.20 0.215 976 -6.0 0.161 - - - - - - 14.48 14.43 14.28
25558 16.3 10.6 1225 25565 done 1.25 - - 2617 - 2.35 0.056 2245 -583.8 432.2 - - 978 - - - - - - - - 14.43 14.39 14.47
25695 end climb: SURFACE_DEPTH_REACHED
25695 begin surface coast
25723 end surface coast: CONTROL_FINISHED_OK
25723 begin surface
SM 1.01 - - - - -6.14 6.85 0.066 218 31.8 0.08 0.142 2305 15937.5 500.17 43.78 0.135 699 16.0 -0.012 - - - - - -