SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 304 * Raw log
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• Previous call tries 1 • 122.72 of 350.00 AH used of 24V (64.94% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 0.92 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: 19 s • Transponder ping count: 10
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 108 VBD -0.68 - - 195 - - - 2273 - -116.8 -84.32 - 2891 - - - - - - - - 14.68 - 14.70
112 4.7 -6.3 3 136 roll -0.68 8.75 0.400 1961 201.8 2.80 2.071 3696 508.2 -116.8 -5.80 - 3220 -56.7 - - - - - - - 14.03 13.17 14.45
296 63.2 -19.6 30 303 done -0.49 0.20 0.273 2032 355.0 2.45 0.041 2259 -586.5 -116.8 - - 3220 - - - - - - - - 14.08 14.44 14.39
613 95.6 -10.3 42 618 roll -0.42 0.12 0.275 2055 191.7 2.58 0.075 3700 558.5 -116.8 - - 3224 - - - - - - - - 14.22 14.44 14.36
709 104.1 -7.9 56 715 done -0.42 - - 2055 - 2.35 0.038 2295 -597.9 -116.8 - - 3224 - - - - - - - - 14.57 14.54 14.61
1061 127.2 -6.8 64 1065 roll -0.42 - - 2055 - 2.42 0.054 887 -581.8 -116.8 - - 3223 - - - - - - - - 14.90 14.51 14.92
1151 134.1 -7.4 77 1157 done -0.42 - - 2055 - 2.45 0.057 2303 578.0 -116.8 - - 3223 - - - - - - - - 14.63 14.52 14.66
1508 159.3 -7.3 86 1509 done -0.42 - - 2055 - - - 2303 - -116.8 - - 3223 - - - - - - - - 14.90 14.92 14.92
1844 182.6 -7.0 92 1849 roll -0.42 - - 2055 - 2.45 0.049 893 -575.5 -116.8 - - 3221 - - - - - - - - 14.90 14.54 14.93
1879 185.4 -8.1 97 1885 done -0.42 - - 2055 - 2.42 0.054 2287 576.0 -116.8 - - 3221 - - - - - - - - 14.66 14.55 14.69
2236 212.7 -7.7 106 2241 roll -0.42 - - 2055 - 2.42 0.047 884 -579.8 -116.8 - - 3218 - - - - - - - - 14.94 14.55 14.95
2270 215.6 -8.7 111 2276 done -0.42 - - 2056 - 2.47 0.057 2304 574.9 -116.8 - - 3218 - - - - - - - - 14.62 14.50 14.66
2629 242.9 -7.7 120 2630 done -0.42 - - 2055 - - - 2304 - -116.8 - - 3217 - - - - - - - - 14.92 14.95 14.93
2964 266.4 -6.9 126 2969 roll -0.42 - - 2055 - 2.47 0.050 889 -572.9 -116.8 - - 3214 - - - - - - - - 14.94 14.53 14.96
3005 269.2 -6.9 132 3011 done -0.42 - - 2055 - 2.50 0.057 2285 558.4 -116.8 - - 3213 - - - - - - - - 14.53 14.45 14.57
3356 291.8 -6.5 140 3361 roll -0.42 - - 2044 - 2.50 0.080 3697 564.8 -116.8 - - 3210 - - - - - - - - 14.92 14.45 14.92
3391 294.2 -7.2 145 3397 done -0.42 - - 2048 - 2.35 0.045 2283 -601.7 -116.8 - - 3209 - - - - - - - - 14.67 14.60 14.69
3748 320.7 -7.6 154 3753 roll -0.42 - - 2048 - 2.40 0.054 903 -575.0 -116.8 - - 3208 - - - - - - - - 14.92 14.50 14.94
3838 328.0 -7.9 167 3844 done -0.42 - - 2043 - 2.47 0.060 2281 557.9 -116.8 - - 3208 - - - - - - - - 14.51 14.44 14.55
4197 357.8 -8.4 176 4202 roll -0.42 - - 2040 - 2.50 0.083 3691 564.0 -116.8 - - 3205 - - - - - - - - 14.92 14.43 14.93
4258 362.9 -8.0 185 4265 done -0.42 - - 2040 - 2.40 0.045 2276 -589.6 -116.8 - - 3205 - - - - - - - - 14.57 14.53 14.66
4589 388.0 -7.6 197 4594 roll -0.42 - - 2044 - 2.40 0.054 901 -572.9 -116.8 - - 3203 - - - - - - - - 14.92 14.48 14.93
4693 396.0 -7.3 212 4699 done -0.42 - - 2037 - 2.47 0.061 2282 559.1 -116.8 - - 3202 - - - - - - - - 14.52 14.40 14.55
5037 419.4 -6.8 219 5041 roll -0.42 - - 2038 - 2.53 0.085 3701 560.9 -116.8 - - 3201 - - - - - - - - 14.94 14.40 14.95
5093 423.3 -7.0 227 5098 done -0.42 - - 2038 - 2.40 0.045 2273 -595.0 -116.8 - - 3200 - - - - - - - - 14.62 14.54 14.64
5428 448.2 -7.5 240 5433 roll -0.42 - - 2037 - 2.42 0.060 893 -570.2 -116.8 - - 3197 - - - - - - - - 14.91 14.45 14.93
5504 454.2 -7.7 251 5510 done -0.42 - - 2038 - 2.45 0.060 2272 562.9 -116.8 - - 3198 - - - - - - - - 14.56 14.42 14.60
5821 477.8 -7.5 261 5827 roll -0.42 - - 2036 - 2.55 0.090 3695 558.0 -116.8 - - 3196 - - - - - - - - 14.90 14.36 14.92
5868 481.4 -7.1 268 5875 done -0.42 - - 2036 - 2.45 0.048 2268 -582.4 -116.8 - - 3196 - - - - - - - - 14.52 14.48 14.54
6213 505.8 -7.2 275 6217 roll -0.42 - - 2036 - 2.42 0.061 895 -567.4 -116.8 - - 3195 - - - - - - - - 14.91 14.37 14.92
6289 511.6 -7.3 286 6294 done -0.42 - - 2036 - 2.45 0.062 2267 560.0 -116.8 - - 3195 - - - - - - - - 14.54 14.42 14.59
6604 534.6 -7.5 296 6609 roll -0.42 - - 2027 - 2.58 0.086 3692 552.3 -116.8 - - 3193 - - - - - - - - 14.93 14.37 14.95
6673 540.2 -8.1 306 6679 done -0.42 0.12 0.227 2057 250.0 2.42 0.050 2268 -588.4 -116.8 - - 3192 - - - - - - - - 14.23 14.51 14.43
6998 561.5 -6.5 317 7003 roll -0.47 - - 2057 - 2.45 0.061 881 -566.1 -116.8 - - 3192 - - - - - - - - 14.89 14.42 14.89
7087 567.6 -6.7 330 7092 done -0.54 - - 2056 - 2.47 0.063 2263 559.5 -116.8 - - 3191 - - - - - - - - 14.53 14.40 14.57
7446 590.1 -6.3 339 7451 roll -0.59 0.12 0.145 1999 -475.0 2.58 0.085 3690 553.1 -116.8 - - 3190 - - - - - - - - 14.49 14.33 14.52
7520 596.7 -9.2 350 7526 done -0.59 - - 1999 - 2.47 0.047 2260 -578.9 -116.8 - - 3189 - - - - - - - - 14.59 14.46 14.62
7836 626.4 -9.5 360 7841 roll -0.59 - - 1999 - 2.42 0.058 882 -569.4 -116.8 - - 3188 - - - - - - - - 14.88 14.39 14.91
7920 634.6 -9.6 372 7925 done -0.59 - - 1998 - 2.50 0.065 2268 554.4 -116.8 - - 3188 - - - - - - - - 14.50 14.39 14.57
8285 667.4 -8.9 382 8285 done -0.59 - - 1999 - - - 2268 - -116.8 - - 3187 - - - - - - - - 14.89 14.91 14.90
8620 695.3 -8.2 388 8625 roll -0.59 - - 1994 - 2.58 0.092 3691 551.6 -116.8 - - 3186 - - - - - - - - 14.89 14.30 14.91
8669 699.3 -8.2 395 8676 done -0.59 - - 1994 - 2.47 0.052 2256 -581.0 -116.8 - - 3186 - - - - - - - - 14.56 14.48 14.59
9012 726.4 -7.9 402 9017 roll -0.59 - - 1994 - 2.42 0.059 892 -563.6 -116.8 - - 3184 - - - - - - - - 14.88 14.35 14.90
9096 733.4 -8.1 414 9101 done -0.59 - - 1986 - 2.47 0.063 2268 557.1 -116.8 - - 3184 - - - - - - - - 14.48 14.35 14.53
9461 764.3 -8.7 424 9466 roll -0.59 - - 1985 - 2.60 0.091 3688 546.2 -116.8 - - 3184 - - - - - - - - 14.88 14.21 14.91
9502 768.0 -8.9 430 9507 done -0.59 - - 1986 - 2.45 0.049 2255 -584.9 -116.8 - - 3183 - - - - - - - - 14.57 14.50 14.60
9852 798.3 -8.6 438 9857 roll -0.59 - - 1985 - 2.45 0.060 883 -560.0 -116.8 - - 3183 - - - - - - - - 14.90 14.33 14.92
9929 805.4 -9.2 449 9935 done -0.59 - - 1984 - 2.50 0.067 2260 550.8 -116.8 - - 3181 - - - - - - - - 14.46 14.33 14.50
10244 834.0 -9.1 459 10245 done -0.59 - - 1985 - - - 2260 - -116.8 - - 3181 - - - - - - - - 14.87 14.89 14.88
10580 864.8 -9.2 465 10586 roll -0.59 - - 1979 - 2.62 0.090 3697 548.5 -116.8 - - 3181 - - - - - - - - 14.87 14.26 14.89
10622 868.7 -6.9 471 10628 done -0.59 0.12 0.252 2005 216.7 2.47 0.051 2258 -582.6 -116.8 - - 3179 - - - - - - - - 14.00 14.38 14.26
10972 896.8 -7.8 479 10977 roll -0.59 - - 2005 - 2.45 0.060 876 -564.1 -116.8 - - 3178 - - - - - - - - 14.87 14.31 14.89
11049 903.1 -5.6 490 11054 done -0.59 - - 1999 - 2.53 0.065 2269 550.6 -116.8 - - 3179 - - - - - - - - 14.45 14.33 14.51
11365 928.2 -8.0 500 11366 done -0.59 - - 1999 - - - 2269 - -116.8 - - 3178 - - - - - - - - 14.88 14.90 14.90
11700 953.8 -7.7 506 11701 done -0.59 - - 2000 - - - 2270 - -116.8 - - 3175 - - - - - - - - 14.89 14.91 14.91
12036 979.2 -7.6 512 12037 done -0.59 - - 1999 - - - 2270 - -116.8 - - 3177 - - - - - - - - 14.90 14.91 14.90
12201 end dive: TARGET_DEPTH_EXCEEDED
12201 begin apogee
12210 992.0 -7.6 515 12401 roll -0.19 0.50 0.217 2134 270.0 - - 2184 - - 188.57 1.641 2742 -2.3 0.265 - - - - - - 14.01 13.94 13.23
12402 end apogee: CONTROL_FINISHED_OK
12402 begin climb
12406 997.6 - 518 12562 done 0.68 0.90 0.138 2412 308.9 - - 2184 - 116.8 148.15 1.863 2260 -3.3 0.331 - - - - - - 13.90 14.16 12.90
12879 959.6 9.5 555 12883 roll 0.62 - - 2412 - 2.67 0.094 3616 536.3 116.8 - - 2233 - - - - - - - - 14.59 14.24 14.62
12961 950.6 10.9 567 12967 done 0.53 0.20 0.275 2377 -175.0 2.47 0.063 2225 -563.2 116.8 - - 2232 - - - - - - - - 14.07 14.34 14.37
13327 921.4 8.0 577 13332 roll 0.53 - - 2387 - 2.62 0.080 791 -547.3 116.8 - - 2230 - - - - - - - - 14.75 14.35 14.77
13395 916.0 7.7 587 13400 done 0.53 - - 2387 - 2.58 0.069 2209 549.6 116.8 - - 2229 - - - - - - - - 14.50 14.38 14.54
13718 889.0 8.4 598 13723 roll 0.53 - - 2387 - 2.58 0.096 3617 545.7 116.8 - - 2228 - - - - - - - - 14.81 14.34 14.83
13809 880.5 9.3 611 13814 done 0.48 0.17 0.265 2357 -176.5 2.47 0.063 2209 -570.0 116.8 - - 2227 - - - - - - - - 14.09 14.42 14.41
14167 855.7 7.0 620 14172 roll 0.49 - - 2367 - 2.60 0.077 787 -546.9 124.5 - - 2227 - - - - - - - - 14.81 14.34 14.83
14235 850.8 7.0 630 14247 done 0.49 - - 2367 - 2.58 0.067 2213 552.7 131.3 4.60 1.487 2201 -5.7 0.615 - - - - - - 14.51 14.38 13.45
14559 826.7 7.5 641 14564 roll 0.49 - - 2367 - 2.55 0.093 3615 549.8 131.3 - - 2208 - - - - - - - - 14.81 14.35 14.83
14620 821.3 8.6 650 14625 done 0.49 - - 2377 - 2.47 0.060 2199 -573.3 131.3 - - 2209 - - - - - - - - 14.53 14.42 14.57
14951 794.3 8.3 662 14956 roll 0.49 - - 2388 - 2.55 0.079 793 -551.4 131.3 - - 2209 - - - - - - - - 14.83 14.33 14.85
15026 788.0 8.1 673 15032 done 0.49 - - 2387 - 2.55 0.065 2208 554.9 131.3 - - 2209 - - - - - - - - 14.50 14.37 14.54
15342 761.6 8.6 683 15346 roll 0.49 - - 2387 - 2.58 0.093 3615 545.3 131.3 - - 2209 - - - - - - - - 14.83 14.30 14.85
15419 753.8 10.6 694 15424 done 0.49 0.15 0.262 2363 -160.0 2.47 0.060 2210 -568.8 131.3 - - 2209 - - - - - - - - 14.09 14.42 14.35
15734 730.0 7.6 704 15738 roll 0.49 - - 2374 - 2.58 0.075 790 -550.4 131.3 - - 2209 - - - - - - - - 14.83 14.31 14.85
15803 724.9 7.1 714 15815 done 0.49 - - 2376 - 2.58 0.064 2216 552.7 137.7 5.32 1.548 2180 -5.5 0.485 - - - - - - 14.50 14.37 13.55
16127 700.6 7.6 725 16137 roll 0.49 - - 2374 - 2.58 0.090 3610 540.3 137.7 2.62 0.756 2177 -1.1 0.202 - - - - - - 14.81 14.49 13.37
16202 694.2 8.3 736 16207 done 0.49 - - 2383 - 2.45 0.057 2205 -573.5 137.7 - - 2184 - - - - - - - - 14.56 14.45 14.59
16519 671.0 7.3 746 16529 roll 0.49 - - 2394 - 2.60 0.075 785 -546.2 138.7 2.50 0.668 2175 -3.6 0.688 - - - - - - 14.82 14.53 13.38
16601 665.3 6.6 758 16642 done 0.51 - - 2393 - 2.55 0.063 2211 559.2 157.3 35.47 1.689 2096 -2.2 0.167 - - - - - - 14.57 14.43 13.65
16970 636.3 8.4 775 16975 roll 0.51 0.12 0.268 2358 -291.7 2.55 0.090 3617 551.4 157.3 - - 2076 - - - - - - - - 14.07 14.28 14.22
17066 628.5 7.3 789 17072 done 0.51 - - 2367 - 2.45 0.057 2212 -573.5 158.3 - - 2076 - - - - - - - - 14.47 14.36 14.51
17417 602.9 7.5 797 17422 roll 0.51 - - 2376 - 2.55 0.072 793 -556.5 158.3 - - 2075 - - - - - - - - 14.78 14.31 14.80
17494 597.0 7.7 808 17498 done 0.55 - - 2377 - 2.58 0.062 2226 555.4 158.3 - - 2074 - - - - - - - - 14.50 14.37 14.53
17809 569.5 8.9 818 17814 roll 0.55 - - 2377 - 2.53 0.091 3607 545.8 158.3 - - 2075 - - - - - - - - 14.80 14.24 14.82
17885 561.6 10.2 829 17891 done 0.55 - - 2385 - 2.47 0.057 2191 -573.3 158.3 - - 2074 - - - - - - - - 14.48 14.36 14.53
18201 531.3 9.6 839 18206 roll 0.55 - - 2394 - 2.55 0.073 789 -549.8 158.3 - - 2074 - - - - - - - - 14.81 14.33 14.83
18270 525.0 8.8 849 18276 done 0.55 - - 2394 - 2.60 0.062 2229 553.8 158.3 - - 2074 - - - - - - - - 14.48 14.35 14.53
18593 497.6 8.4 860 18598 roll 0.55 - - 2390 - 2.55 0.091 3615 543.5 158.3 - - 2074 - - - - - - - - 14.81 14.28 14.83
18662 491.5 8.7 870 18667 done 0.55 - - 2403 - 2.45 0.058 2218 -570.2 158.3 - - 2073 - - - - - - - - 14.48 14.37 14.53
18985 466.0 7.9 881 18991 roll 0.55 - - 2413 - 2.60 0.074 798 -546.2 158.3 - - 2073 - - - - - - - - 14.84 14.28 14.86
19048 461.1 7.7 890 19053 done 0.55 0.15 0.237 2378 -233.3 2.58 0.061 2226 553.5 158.3 - - 2073 - - - - - - - - 14.08 14.33 14.37
19377 439.1 6.6 902 19403 roll 0.56 - - 2378 - 2.55 0.092 3610 542.7 175.2 18.15 1.476 2017 -3.1 0.175 - - - - - - 14.84 14.50 13.81
19453 433.2 8.1 913 19459 done 0.56 - - 2386 - 2.42 0.056 2217 -575.6 175.2 - - 2009 - - - - - - - - 14.50 14.38 14.52
19770 408.8 7.8 923 19775 roll 0.56 - - 2400 - 2.60 0.073 798 -545.8 175.2 - - 2005 - - - - - - - - 14.76 14.29 14.78
19817 405.0 7.8 930 19824 done 0.56 - - 2396 - 2.62 0.060 2232 547.3 175.2 - - 2005 - - - - - - - - 14.35 14.28 14.40
20161 376.1 8.5 937 20166 roll 0.56 - - 2396 - 2.53 0.090 3607 543.5 175.2 - - 2007 - - - - - - - - 14.79 14.26 14.81
20224 370.2 9.5 946 20228 done 0.56 - - 2406 - 2.40 0.055 2236 -571.2 175.2 - - 2006 - - - - - - - - 14.48 14.38 14.53
20553 340.3 9.2 958 20557 roll 0.56 - - 2414 - 2.60 0.071 798 -553.1 175.2 - - 2006 - - - - - - - - 14.83 14.29 14.85
20609 335.1 9.3 966 20614 done 0.56 0.05 0.181 2388 -520.0 2.58 0.060 2238 558.1 175.2 - - 2005 - - - - - - - - 14.04 14.22 14.32
20946 307.1 8.2 979 20951 roll 0.56 - - 2387 - 2.50 0.087 3609 548.4 175.2 - - 2005 - - - - - - - - 14.81 14.26 14.82
21021 300.2 8.9 990 21026 done 0.56 - - 2395 - 2.40 0.053 2224 -577.1 175.2 - - 2005 - - - - - - - - 14.48 14.37 14.53
21337 274.0 8.3 1000 21342 roll 0.56 - - 2405 - 2.58 0.072 797 -553.1 175.2 - - 2005 - - - - - - - - 14.81 14.29 14.83
21385 270.1 8.2 1007 21392 done 0.56 - - 2405 - 2.62 0.060 2236 549.2 175.2 - - 2005 - - - - - - - - 14.34 14.28 14.49
21729 241.2 8.6 1014 21734 roll 0.56 - - 2404 - 2.47 0.086 3607 555.1 175.2 - - 2005 - - - - - - - - 14.84 14.21 14.85
21806 233.8 9.7 1025 21811 done 0.56 0.12 0.252 2385 -158.3 2.35 0.051 2249 -577.9 175.2 - - 2005 - - - - - - - - 14.09 14.40 14.36
22121 210.7 7.2 1035 22126 roll 0.56 - - 2393 - 2.62 0.071 799 -553.4 177.3 - - 2004 - - - - - - - - 14.84 14.27 14.86
22190 205.6 7.4 1045 22196 done 0.62 - - 2393 - 2.60 0.058 2253 559.2 177.3 - - 2005 - - - - - - - - 14.46 14.34 14.51
22513 180.5 7.8 1056 22518 roll 0.62 - - 2393 - 2.50 0.086 3609 542.4 177.3 - - 2004 - - - - - - - - 14.82 14.26 14.84
22603 172.7 8.6 1069 22609 done 0.62 - - 2401 - 2.40 0.051 2253 -565.0 177.3 - - 2005 - - - - - - - - 14.39 14.34 14.53
22961 144.8 7.8 1078 22966 roll 0.62 - - 2409 - 2.65 0.070 788 -552.8 177.3 - - 2005 - - - - - - - - 14.85 14.28 14.87
23038 139.4 6.6 1089 23064 done 0.63 - - 2409 - 2.62 0.060 2258 561.1 195.0 21.08 1.124 1943 -2.9 0.069 - - - - - - 14.45 14.33 13.89
23409 109.6 8.3 1100 23413 roll 0.63 - - 2416 - 2.65 0.065 789 -554.3 195.0 - - 1924 - - - - - - - - 14.78 14.27 14.80
23429 107.9 8.1 1103 23434 done 0.63 - - 2416 - 2.60 0.059 2241 558.5 195.0 - - 1924 - - - - - - - - 14.43 14.31 14.46
23746 81.9 8.4 1116 23750 roll 0.63 - - 2416 - 2.47 0.084 3609 553.8 195.0 - - 1924 - - - - - - - - 14.80 14.28 14.82
23773 79.7 7.8 1120 23777 done 0.63 - - 2424 - 2.38 0.050 2235 -577.3 195.0 - - 1924 - - - - - - - - 14.51 14.42 14.55
24110 59.6 5.1 1135 24148 roll 0.72 - - 2424 - 2.62 0.067 785 -553.4 249.1 30.33 0.308 1727 -6.5 0.239 - - - - - - 14.79 14.52 14.23
24277 52.0 4.0 1159 24338 done 0.91 0.20 0.097 2516 460.0 2.58 0.055 2241 564.3 329.6 53.17 0.290 1395 -6.2 0.213 - - - - - - 14.42 14.38 14.17
24669 29.2 4.9 1182 24710 roll 1.02 - - 2516 - 2.67 0.062 791 -543.1 386.8 36.85 0.217 1161 -6.4 0.162 - - - - - - 14.76 14.44 14.19
24769 24.0 5.7 1196 24801 done 1.17 0.17 0.099 2595 464.7 2.55 0.053 2227 563.1 425.1 25.62 0.200 1005 -6.1 0.139 - - - - - - 14.42 14.33 14.20
24994 end climb: SURFACE_DEPTH_REACHED
24994 begin surface coast
25027 end surface coast: CONTROL_FINISHED_OK
25027 begin surface
SM 0.79 - - - - -6.14 6.90 0.073 216 31.3 0.10 0.154 2289 -91410.0 500.17 48.70 0.137 699 14.4 -0.008 - - - - - -