SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 354 * Raw log
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• Previous call tries 1 • 140.94 of 350.00 AH used of 24V (59.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.8 deg, depth 0.87 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 15 s • Transponder ping count: 2
• 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
19 - - - 104 VBD -0.68 - - 194 - - - 2300 - -116.8 -84.22 - 2825 - - - - - - - - 14.69 - 14.71
108 4.0 -5.3 3 132 roll -0.68 9.05 0.409 1981 197.5 2.80 2.036 873 -509.6 -116.8 -7.28 - 3220 -54.3 - - - - - - - 13.95 13.05 14.39
220 36.0 -21.0 19 225 done -0.53 0.22 0.281 2023 190.9 2.50 0.057 2288 566.0 -116.8 - - 3222 - - - - - - - - 14.09 14.41 14.38
554 74.2 -7.6 34 559 roll -0.46 - - 2013 - 2.45 0.074 3693 573.5 -116.8 - - 3223 - - - - - - - - 14.82 14.43 14.83
659 83.5 -9.5 49 666 done -0.40 0.20 0.235 2067 270.0 2.38 0.039 2261 -601.7 -116.8 - - 3223 - - - - - - - - 14.21 14.54 14.45
1003 108.0 -6.3 60 1007 roll -0.40 - - 2063 - 2.35 0.051 888 -584.3 -116.8 - - 3224 - - - - - - - - 14.85 14.52 14.89
1100 114.8 -6.8 74 1105 done -0.40 - - 2057 - 2.45 0.054 2296 574.7 -116.8 - - 3224 - - - - - - - - 14.62 14.52 14.66
1451 137.2 -6.5 82 1455 roll -0.40 - - 2056 - 2.45 0.082 3683 566.1 -116.8 - - 3223 - - - - - - - - 14.91 14.45 14.93
1507 141.0 -6.8 90 1511 done -0.45 - - 2061 - 2.33 0.040 2275 -604.3 -116.8 - - 3223 - - - - - - - - 14.68 14.62 14.69
1843 164.6 -7.1 103 1848 roll -0.45 - - 2056 - 2.38 0.055 899 -578.2 -116.8 - - 3221 - - - - - - - - 14.92 14.47 14.94
1898 168.8 -7.5 111 1903 done -0.45 - - 2056 - 2.42 0.058 2280 570.7 -116.8 - - 3221 - - - - - - - - 14.62 14.51 14.65
2234 191.9 -6.8 124 2235 done -0.45 - - 2056 - - - 2279 - -116.8 - - 3218 - - - - - - - - 14.90 14.92 14.92
2571 213.3 -6.3 130 2572 done -0.45 - - 2056 - - - 2279 - -116.8 - - 3217 - - - - - - - - 14.90 14.92 14.90
2906 235.2 -6.6 136 2911 roll -0.45 - - 2054 - 2.50 0.083 3700 568.4 -116.8 - - 3215 - - - - - - - - 14.93 14.47 14.95
2948 238.0 -6.7 142 2953 done -0.50 - - 2054 - 2.38 0.044 2272 -600.0 -116.8 - - 3215 - - - - - - - - 14.69 14.62 14.71
3299 262.6 -7.1 150 3304 roll -0.50 - - 2054 - 2.40 0.057 892 -575.0 -116.8 - - 3212 - - - - - - - - 14.92 14.50 14.95
3381 268.9 -7.4 162 3387 done -0.55 - - 2053 - 2.45 0.057 2281 566.9 -116.8 - - 3212 - - - - - - - - 14.60 14.48 14.63
3746 295.1 -7.2 172 3751 roll -0.55 0.10 0.158 1999 -540.0 2.47 0.079 3688 569.6 -116.8 - - 3210 - - - - - - - - 14.59 14.42 14.64
3816 301.6 -9.7 182 3821 done -0.55 - - 1999 - 2.38 0.044 2272 -595.0 -116.8 - - 3209 - - - - - - - - 14.66 14.60 14.69
4138 332.9 -9.7 193 4144 roll -0.55 - - 1999 - 2.40 0.057 891 -575.4 -116.8 - - 3207 - - - - - - - - 14.91 14.47 14.92
4243 343.2 -9.5 208 4249 done -0.55 - - 2001 - 2.47 0.060 2271 558.7 -116.8 - - 3207 - - - - - - - - 14.51 14.39 14.54
4586 376.2 -9.7 215 4587 done -0.55 - - 1999 - - - 2271 - -116.8 - - 3203 - - - - - - - - 14.90 14.93 14.92
4922 409.5 -10.0 221 4923 done -0.55 - - 1999 - - - 2271 - -116.8 - - 3203 - - - - - - - - 14.91 14.93 14.93
5258 442.6 -9.7 227 5263 roll -0.55 - - 1999 - 2.47 0.057 883 -561.9 -116.8 - - 3201 - - - - - - - - 14.91 14.45 14.92
5315 448.0 -9.4 235 5320 done -0.55 - - 1999 - 2.50 0.063 2276 557.2 -116.8 - - 3198 - - - - - - - - 14.57 14.44 14.61
5650 477.9 -8.9 248 5655 roll -0.55 - - 1989 - 2.55 0.086 3694 556.1 -116.8 - - 3200 - - - - - - - - 14.90 14.38 14.90
5691 481.7 -9.0 254 5697 done -0.55 0.08 0.220 2014 312.5 2.47 0.048 2276 -574.1 -116.8 - - 3199 - - - - - - - - 14.15 14.49 14.28
6043 509.7 -7.9 262 6048 roll -0.55 - - 2013 - 2.47 0.060 871 -568.8 -116.8 - - 3199 - - - - - - - - 14.92 14.36 14.93
6118 515.9 -7.9 273 6124 done -0.55 - - 2012 - 2.53 0.063 2281 557.3 -116.8 - - 3199 - - - - - - - - 14.52 14.37 14.55
6434 540.8 -8.0 283 6439 roll -0.55 - - 2008 - 2.55 0.087 3700 556.5 -116.8 - - 3197 - - - - - - - - 14.92 14.35 14.94
6469 543.7 -8.3 288 6474 done -0.55 - - 2008 - 2.45 0.046 2261 -587.3 -116.8 - - 3196 - - - - - - - - 14.60 14.54 14.62
6826 575.4 -9.1 297 6832 roll -0.55 - - 2008 - 2.40 0.056 887 -572.5 -116.8 - - 3195 - - - - - - - - 14.92 14.43 14.94
6888 581.4 -9.3 306 6894 done -0.55 - - 2008 - 2.47 0.061 2268 559.1 -116.8 - - 3194 - - - - - - - - 14.50 14.38 14.54
7219 613.0 -9.7 318 7224 roll -0.55 - - 2000 - 2.58 0.087 3702 555.8 -116.8 - - 3193 - - - - - - - - 14.90 14.32 14.92
7266 617.8 -9.9 325 7274 done -0.55 - - 1999 - 2.47 0.047 2264 -582.2 -116.8 - - 3190 - - - - - - - - 14.47 14.44 14.50
7610 650.2 -9.3 332 7615 roll -0.55 - - 1999 - 2.45 0.061 882 -564.1 -116.8 - - 3192 - - - - - - - - 14.89 14.38 14.89
7687 657.3 -8.9 343 7692 done -0.55 - - 1999 - 2.50 0.064 2269 554.8 -116.8 - - 3192 - - - - - - - - 14.50 14.38 14.54
8002 683.0 -8.1 353 8003 done -0.55 - - 1999 - - - 2268 - -116.8 - - 3191 - - - - - - - - 14.88 14.90 14.90
8338 707.2 -7.1 359 8339 done -0.55 - - 1998 - - - 2268 - -116.8 - - 3190 - - - - - - - - 14.88 14.90 14.90
8675 729.5 -6.6 365 8676 done -0.55 - - 1999 - - - 2268 - -116.8 - - 3188 - - - - - - - - 14.88 14.90 14.90
9010 754.1 -7.5 371 9015 roll -0.55 - - 1999 - 2.50 0.060 881 -554.8 -116.8 - - 3187 - - - - - - - - 14.91 14.35 14.92
9058 758.0 -7.9 378 9065 done -0.55 - - 1999 - 2.58 0.067 2272 539.1 -116.8 - - 3187 - - - - - - - - 14.31 14.23 14.40
9402 785.5 -8.1 385 9408 roll -0.55 - - 2003 - 2.62 0.095 3699 544.7 -116.8 - - 3186 - - - - - - - - 14.90 14.22 14.92
9437 788.5 -8.1 390 9442 done -0.55 - - 1999 - 2.47 0.050 2268 -579.4 -116.8 - - 3186 - - - - - - - - 14.52 14.44 14.54
9794 819.6 -8.7 399 9799 roll -0.55 - - 1998 - 2.47 0.063 874 -564.4 -116.8 - - 3185 - - - - - - - - 14.87 14.29 14.89
9856 825.5 -9.2 408 9862 done -0.55 - - 1998 - 2.55 0.066 2272 548.2 -116.8 - - 3184 - - - - - - - - 14.42 14.28 14.47
10187 855.1 -9.0 420 10188 done -0.55 - - 1998 - - - 2272 - -116.8 - - 3185 - - - - - - - - 14.85 14.88 14.88
10522 885.2 -8.8 426 10527 roll -0.55 - - 1998 - 2.62 0.096 3700 545.0 -116.8 - - 3181 - - - - - - - - 14.90 14.19 14.91
10549 887.6 -8.7 430 10555 done -0.55 - - 1998 - 2.50 0.052 2256 -577.6 -116.8 - - 3182 - - - - - - - - 14.47 14.38 14.51
10915 917.5 -8.0 440 10920 roll -0.55 - - 1998 - 2.45 0.061 881 -561.2 -116.8 - - 3182 - - - - - - - - 14.85 14.28 14.89
10971 922.0 -7.9 448 10976 done -0.55 - - 1998 - 2.55 0.066 2273 545.9 -116.8 - - 3181 - - - - - - - - 14.41 14.27 14.46
11306 946.5 -7.2 461 11307 done -0.55 - - 1998 - - - 2273 - -116.8 - - 3181 - - - - - - - - 14.85 14.87 14.87
11643 970.2 -7.1 467 11644 done -0.55 - - 1998 - - - 2273 - -116.8 - - 3181 - - - - - - - - 14.85 14.86 14.86
11918 end dive: TARGET_DEPTH_EXCEEDED
11918 begin apogee
11927 990.3 -7.2 472 12122 roll -0.19 0.50 0.211 2133 270.0 - - 2164 - - 193.23 1.643 2741 -2.3 0.263 - - - - - - 13.88 13.93 13.17
12124 end apogee: CONTROL_FINISHED_OK
12124 begin climb
12128 995.3 - 475 12289 roll 0.68 0.93 0.146 2411 298.9 2.60 0.067 786 -530.0 116.8 150.70 1.884 2265 -3.2 0.319 - - - - - - 13.89 13.95 12.82
12401 978.7 9.0 519 12406 done 0.68 - - 2411 - 2.60 0.067 2187 538.8 116.8 - - 2237 - - - - - - - - 14.16 14.05 14.20
12760 947.3 8.8 528 12764 roll 0.63 - - 2421 - 2.58 0.073 780 -545.3 116.8 - - 2231 - - - - - - - - 14.72 14.36 14.74
12876 937.1 8.4 545 12883 done 0.63 - - 2421 - 2.55 0.065 2190 552.9 116.8 - - 2232 - - - - - - - - 14.51 14.39 14.55
13208 906.1 9.5 557 13213 roll 0.58 0.12 0.279 2384 -308.3 2.53 0.090 3589 553.0 116.8 - - 2231 - - - - - - - - 14.15 14.36 14.31
13304 897.0 9.0 571 13309 done 0.58 - - 2393 - 2.45 0.058 2211 -562.4 116.8 - - 2229 - - - - - - - - 14.47 14.40 14.50
13655 867.0 8.6 579 13659 roll 0.58 - - 2404 - 2.62 0.073 761 -553.4 116.8 - - 2229 - - - - - - - - 14.83 14.39 14.85
13711 862.2 8.6 587 13716 done 0.58 - - 2404 - 2.60 0.065 2195 551.5 116.8 - - 2224 - - - - - - - - 14.54 14.42 14.59
14047 832.5 8.9 600 14051 roll 0.58 - - 2404 - 2.55 0.092 3589 546.7 116.8 - - 2228 - - - - - - - - 14.84 14.33 14.86
14130 824.2 9.7 612 14136 done 0.52 0.20 0.261 2368 -180.0 2.47 0.057 2175 -572.5 116.8 - - 2227 - - - - - - - - 14.06 14.42 14.40
14496 799.2 6.7 622 14501 done 0.53 - - 2368 - - - 2175 - 130.9 4.80 1.492 2205 -4.6 0.470 - - - - - - 14.84 14.47 13.24
14831 776.8 6.6 628 14865 done 0.54 - - 2368 - - - 2175 - 149.0 32.70 1.757 2132 -2.2 0.189 - - - - - - 14.83 14.37 13.50
15216 749.5 7.1 641 15222 roll 0.54 - - 2377 - 2.58 0.079 773 -543.4 154.4 - - 2109 - - - - - - - - 14.74 14.33 14.76
15243 747.7 6.4 645 15283 done 0.55 - - 2377 - 2.60 0.063 2185 543.1 176.4 34.38 1.704 2015 -2.7 0.230 - - - - - - 14.40 14.33 13.48
15611 719.5 7.9 662 15615 roll 0.55 - - 2377 - 2.58 0.091 3594 546.1 176.4 - - 1996 - - - - - - - - 14.71 14.26 14.73
15685 712.8 8.5 673 15691 done 0.55 - - 2386 - 2.47 0.060 2189 -568.8 176.4 - - 1995 - - - - - - - - 14.50 14.40 14.53
16001 687.4 8.1 683 16005 roll 0.55 - - 2396 - 2.60 0.075 764 -548.1 176.4 - - 1994 - - - - - - - - 14.81 14.31 14.83
16063 682.6 7.5 692 16068 done 0.55 - - 2396 - 2.60 0.063 2202 553.1 176.4 - - 1993 - - - - - - - - 14.50 14.38 14.54
16394 655.5 8.3 704 16399 roll 0.55 - - 2396 - 2.55 0.091 3596 546.7 176.4 - - 1994 - - - - - - - - 14.83 14.32 14.85
16462 649.0 9.2 714 16467 done 0.55 - - 2406 - 2.47 0.060 2189 -569.6 176.4 - - 1993 - - - - - - - - 14.50 14.38 14.55
16786 620.9 8.8 725 16791 roll 0.55 - - 2415 - 2.60 0.074 764 -548.1 176.4 - - 1993 - - - - - - - - 14.83 14.34 14.84
16826 617.3 8.1 731 16832 done 0.55 0.15 0.240 2380 -233.3 2.60 0.063 2208 555.4 176.4 - - 1993 - - - - - - - - 14.12 14.37 14.40
17177 592.1 7.2 739 17182 roll 0.56 - - 2380 - 2.53 0.090 3588 545.5 179.6 - - 1993 - - - - - - - - 14.83 14.30 14.85
17234 587.4 8.4 747 17239 done 0.56 - - 2388 - 2.45 0.058 2191 -570.2 179.6 - - 1992 - - - - - - - - 14.52 14.42 14.57
17569 558.7 8.7 760 17573 roll 0.56 - - 2397 - 2.58 0.073 773 -549.6 179.6 - - 1992 - - - - - - - - 14.84 14.31 14.85
17617 554.3 9.2 767 17624 done 0.56 - - 2397 - 2.60 0.060 2193 546.2 179.6 - - 1992 - - - - - - - - 14.35 14.29 14.51
17962 521.1 9.7 774 17967 roll 0.56 - - 2399 - 2.55 0.088 3597 550.6 179.6 - - 1992 - - - - - - - - 14.85 14.28 14.87
18023 514.5 10.4 783 18028 done 0.56 - - 2407 - 2.47 0.057 2210 -561.5 179.6 - - 1993 - - - - - - - - 14.49 14.32 14.54
18353 484.3 9.0 795 18359 roll 0.56 - - 2415 - 2.60 0.070 760 -557.7 179.6 - - 1992 - - - - - - - - 14.84 14.24 14.85
18410 479.7 8.2 803 18415 done 0.56 0.15 0.235 2379 -240.0 2.60 0.061 2200 553.8 179.6 - - 1991 - - - - - - - - 14.09 14.35 14.36
18745 457.7 6.4 816 18785 roll 0.57 - - 2379 - 2.53 0.090 3581 545.8 202.2 32.22 1.385 1909 -2.5 0.161 - - - - - - 14.83 14.40 13.66
18881 448.2 7.5 835 18886 done 0.57 - - 2388 - 2.42 0.055 2189 -575.2 202.2 - - 1900 - - - - - - - - 14.44 14.36 14.49
19194 423.9 7.9 845 19200 roll 0.57 - - 2394 - 2.55 0.072 774 -554.9 202.2 - - 1897 - - - - - - - - 14.76 14.30 14.78
19256 418.6 8.4 854 19262 done 0.63 - - 2394 - 2.58 0.059 2211 557.0 202.2 - - 1899 - - - - - - - - 14.46 14.35 14.51
19587 388.0 9.5 866 19592 roll 0.63 - - 2395 - 2.50 0.086 3588 550.8 202.2 - - 1895 - - - - - - - - 14.81 14.28 14.83
19669 379.2 10.5 878 19675 done 0.63 - - 2403 - 2.45 0.054 2181 -574.3 202.2 - - 1895 - - - - - - - - 14.47 14.35 14.52
20034 344.3 9.4 888 20039 roll 0.63 - - 2410 - 2.55 0.071 761 -556.9 202.2 - - 1895 - - - - - - - - 14.82 14.31 14.83
20097 338.9 8.4 897 20103 done 0.67 - - 2410 - 2.60 0.060 2209 556.9 202.2 - - 1895 - - - - - - - - 14.47 14.35 14.52
20426 310.8 8.5 909 20432 roll 0.67 - - 2410 - 2.50 0.086 3589 552.0 202.2 - - 1894 - - - - - - - - 14.84 14.28 14.86
20495 304.3 9.1 919 20501 done 0.67 - - 2418 - 2.42 0.053 2195 -576.0 202.2 - - 1895 - - - - - - - - 14.46 14.34 14.52
20819 276.5 8.7 930 20824 roll 0.67 - - 2424 - 2.58 0.073 774 -550.8 202.2 - - 1895 - - - - - - - - 14.85 14.28 14.86
20866 272.3 8.8 937 20874 done 0.67 - - 2424 - 2.60 0.059 2204 550.0 202.2 - - 1894 - - - - - - - - 14.34 14.27 14.39
21210 240.3 9.5 944 21215 roll 0.67 - - 2424 - 2.53 0.086 3593 549.0 202.2 - - 1894 - - - - - - - - 14.83 14.20 14.83
21287 232.0 11.0 955 21292 done 0.67 - - 2433 - 2.40 0.054 2213 -575.0 202.2 - - 1895 - - - - - - - - 14.50 14.39 14.54
21602 199.6 10.3 965 21608 roll 0.67 - - 2442 - 2.60 0.069 774 -553.5 202.2 - - 1894 - - - - - - - - 14.85 14.29 14.85
21650 194.9 9.6 972 21657 done 0.67 - - 2442 - 2.62 0.058 2213 549.2 202.2 - - 1894 - - - - - - - - 14.34 14.28 14.38
21995 161.2 9.7 979 22000 roll 0.67 - - 2442 - 2.50 0.083 3597 553.6 202.2 - - 1895 - - - - - - - - 14.85 14.26 14.87
22091 150.4 11.0 993 22098 done 0.67 0.05 0.257 2422 -400.0 2.45 0.054 2216 -563.7 202.2 - - 1894 - - - - - - - - 13.93 14.23 14.29
22443 118.0 9.1 1001 22449 roll 0.67 - - 2431 - 2.60 0.069 768 -556.9 202.2 - - 1895 - - - - - - - - 14.82 14.31 14.84
22490 113.8 8.6 1008 22498 done 0.67 - - 2431 - 2.62 0.057 2212 551.1 202.2 - - 1894 - - - - - - - - 14.26 14.20 14.33
22806 86.5 8.0 1017 22812 roll 0.67 - - 2431 - 2.47 0.081 3592 558.7 202.2 - - 1894 - - - - - - - - 14.83 14.26 14.85
22848 82.8 9.1 1023 22853 done 0.67 - - 2441 - 2.40 0.053 2209 -576.2 202.2 - - 1895 - - - - - - - - 14.48 14.38 14.52
23170 62.3 4.9 1036 23211 roll 0.71 - - 2437 - 2.47 0.079 3594 560.7 260.9 34.05 0.314 1676 -6.4 0.244 - - - - - - 14.83 14.46 14.13
23268 57.1 5.5 1050 23302 done 0.80 - - 2438 - 2.38 0.051 2213 -580.3 303.4 29.48 0.304 1502 -5.9 0.212 - - - - - - 14.52 14.43 14.10
23622 42.9 4.2 1067 23680 roll 1.01 0.22 0.101 2532 427.3 2.58 0.064 777 -556.6 379.2 50.15 0.256 1194 -6.1 0.197 - - - - - - 14.37 14.39 14.12
23741 34.8 6.9 1084 23758 done 1.10 - - 2532 - 2.55 0.054 2223 567.1 390.5 8.70 0.224 1147 -5.4 0.161 - - - - - - 14.41 14.31 14.03
24070 14.6 6.0 1098 24096 roll 1.21 0.15 0.113 2600 453.3 2.50 0.079 3589 546.4 422.0 21.98 0.168 1017 -5.9 0.098 - - - - - - 14.43 14.35 14.18
24174 3.4 11.7 1113 24181 done 1.21 - - 2608 - 2.35 0.050 2228 -579.1 422.0 - - 1023 - - - - - - - - 14.49 14.40 14.52
24205 end climb: SURFACE_DEPTH_REACHED
24205 begin surface coast
24233 end surface coast: CONTROL_FINISHED_OK
24233 begin surface
SM 0.85 - - - - -6.14 6.95 0.074 220 31.7 0.12 0.121 2292 10516.7 500.17 50.25 0.135 700 13.9 -0.009 - - - - - -