SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 270 * Raw log
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• Previous call tries 1 • 103.83 of 350.00 AH used of 24V (70.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 deg, depth 1.13 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.62 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 14 s • Transponder ping count: 3
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
24 - - - 110 done -0.84 - - 150 - - - 1819 - -116.8 -80.95 - 3271 - - - - - - - - 14.69 13.11 14.71
114 8.3 -12.7 3 132 roll -0.84 11.75 0.373 2660 213.6 2.40 0.047 424 -581.2 -116.8 - - 3272 - - - - - - - - 14.23 14.54 14.54
302 64.4 -18.3 30 310 done -0.45 0.52 0.253 2782 234.6 2.33 0.032 1827 602.1 -116.8 - - 3273 - - - - - - - - 14.23 14.52 14.50
615 93.3 -7.8 42 621 roll -0.45 - - 2773 - 2.33 0.051 3222 598.7 -116.8 - - 3275 - - - - - - - - 14.83 14.57 14.85
705 100.3 -8.1 55 712 done -0.45 - - 2773 - 2.30 0.037 1825 -607.4 -116.8 - - 3275 - - - - - - - - 14.68 14.61 14.70
1063 127.9 -7.6 64 1069 roll -0.45 - - 2766 - 2.35 0.051 3222 594.5 -116.8 - - 3275 - - - - - - - - 14.87 14.56 14.89
1286 146.6 -8.6 96 1293 done -0.45 - - 2765 - 2.30 0.037 1825 -607.4 -116.8 - - 3273 - - - - - - - - 14.71 14.64 14.73
1623 174.3 -8.1 109 1631 roll -0.45 - - 2766 - 2.38 0.057 430 -586.1 -116.8 - - 3271 - - - - - - - - 14.88 14.60 14.90
1792 188.8 -8.6 133 1799 done -0.45 - - 2757 - 2.30 0.032 1838 612.2 -116.8 - - 3268 - - - - - - - - 14.73 14.67 14.75
2129 216.0 -8.1 146 2131 done -0.45 - - 2757 - - - 1838 - -116.8 - - 3268 - - - - - - - - 14.88 14.90 14.90
2464 243.9 -8.3 152 2466 done -0.45 - - 2757 - - - 1838 - -116.8 - - 3265 - - - - - - - - 14.88 14.91 14.94
2800 272.8 -8.8 158 2813 roll -0.45 - - 2758 - 2.42 0.057 425 -583.9 -116.8 - - 3262 - - - - - - - - 14.94 14.64 14.96
2834 276.1 -9.6 162 2847 done -0.45 0.15 0.238 2780 146.7 2.30 0.033 1829 610.4 -116.8 - - 3262 - - - - - - - - 14.42 14.73 14.64
3204 304.8 -7.6 172 3217 roll -0.45 - - 2773 - 2.35 0.057 3222 592.8 -116.8 - - 3259 - - - - - - - - 14.96 14.65 14.97
3252 308.4 -7.8 178 3265 done -0.56 - - 2773 - 2.28 0.037 1829 -611.0 -116.8 - - 3259 - - - - - - - - 14.71 14.66 14.73
3609 335.5 -7.6 186 3622 roll -0.56 - - 2773 - 2.40 0.058 426 -584.6 -116.8 - - 3256 - - - - - - - - 14.94 14.66 14.98
3771 348.5 -7.9 208 3784 done -0.56 - - 2769 - 2.30 0.032 1834 612.2 -116.8 - - 3255 - - - - - - - - 14.78 14.73 14.81
4128 376.0 -7.7 216 4141 roll -0.56 - - 2756 - 2.35 0.054 3225 591.9 -116.8 - - 3253 - - - - - - - - 14.97 14.64 14.99
4161 378.8 -7.9 220 4174 done -0.56 - - 2756 - 2.30 0.037 1826 -608.3 -116.8 - - 3253 - - - - - - - - 14.78 14.69 14.82
4531 408.5 -8.1 230 4544 roll -0.56 - - 2756 - 2.40 0.058 427 -582.9 -116.8 - - 3250 - - - - - - - - 14.96 14.62 14.98
4693 422.4 -8.7 252 4707 done -0.56 - - 2747 - 2.30 0.032 1832 610.9 -116.8 - - 3250 - - - - - - - - 14.78 14.73 14.80
5050 451.9 -8.2 260 5063 roll -0.56 - - 2737 - 2.35 0.055 3219 590.2 -116.8 - - 3248 - - - - - - - - 14.97 14.62 15.00
5091 455.1 -7.9 265 5104 done -0.56 - - 2737 - 2.30 0.037 1828 -604.8 -116.8 - - 3248 - - - - - - - - 14.76 14.69 14.79
5454 484.5 -8.1 274 5467 roll -0.56 - - 2737 - 2.40 0.059 431 -582.1 -116.8 - - 3246 - - - - - - - - 14.95 14.62 14.97
5593 496.8 -8.7 293 5606 done -0.56 - - 2727 - 2.30 0.033 1829 607.8 -116.8 - - 3245 - - - - - - - - 14.77 14.71 14.78
5914 524.6 -8.8 303 5927 roll -0.56 - - 2728 - 2.42 0.058 430 -578.1 -116.8 - - 3244 - - - - - - - - 14.97 14.59 14.97
5955 528.7 -9.9 308 5968 done -0.56 0.12 0.255 2744 133.3 2.33 0.035 1832 601.7 -116.8 - - 3244 - - - - - - - - 14.36 14.70 14.59
6319 561.1 -9.0 317 6332 done -0.56 - - 2744 - - - 1833 - -116.8 - - 3242 - - - - - - - - 14.95 14.98 14.97
6654 591.9 -9.2 323 6667 roll -0.56 - - 2745 - 2.42 0.058 434 -578.1 -116.8 - - 3241 - - - - - - - - 14.96 14.59 14.98
6701 596.4 -9.6 329 6715 done -0.56 - - 2738 - 2.33 0.035 1837 602.1 -116.8 - - 3242 - - - - - - - - 14.76 14.69 14.78
7059 627.2 -8.6 337 7072 roll -0.56 - - 2727 - 2.35 0.055 3220 588.5 -116.8 - - 3240 - - - - - - - - 14.93 14.63 14.95
7113 631.9 -8.4 344 7127 done -0.56 - - 2728 - 2.33 0.038 1831 -596.1 -116.8 - - 3240 - - - - - - - - 14.73 14.65 14.75
7457 658.3 -7.5 351 7471 roll -0.56 - - 2727 - 2.42 0.060 431 -578.5 -116.8 - - 3238 - - - - - - - - 14.95 14.57 14.97
7635 671.7 -7.5 375 7649 done -0.56 0.12 0.254 2744 141.7 2.35 0.034 1832 596.2 -116.8 - - 3237 - - - - - - - - 14.31 14.67 14.58
7978 693.1 -6.1 388 7991 roll -0.56 - - 2736 - 2.38 0.057 3222 584.0 -116.8 - - 3236 - - - - - - - - 14.93 14.57 14.95
8026 696.1 -6.5 394 8039 done -0.56 - - 2736 - 2.35 0.039 1825 -594.5 -116.8 - - 3234 - - - - - - - - 14.71 14.64 14.73
8382 720.5 -7.0 402 8395 roll -0.56 - - 2736 - 2.42 0.060 428 -577.3 -116.8 - - 3235 - - - - - - - - 14.94 14.54 14.96
8577 736.3 -8.1 429 8590 done -0.56 - - 2727 - 2.35 0.035 1836 599.1 -116.8 - - 3234 - - - - - - - - 14.71 14.66 14.73
8898 763.2 -8.6 439 8911 roll -0.56 - - 2718 - 2.38 0.057 3224 583.2 -116.8 - - 3233 - - - - - - - - 14.94 14.54 14.96
8953 768.2 -9.1 446 8968 done -0.56 0.12 0.249 2742 200.0 2.35 0.039 1827 -594.5 -116.8 - - 3233 - - - - - - - - 14.29 14.62 14.54
9296 797.4 -8.7 453 9310 roll -0.56 - - 2742 - 2.42 0.061 431 -576.9 -116.8 - - 3232 - - - - - - - - 14.92 14.53 14.93
9428 809.8 -9.5 471 9441 done -0.56 - - 2736 - 2.35 0.035 1838 598.7 -116.8 - - 3232 - - - - - - - - 14.68 14.62 14.69
9757 839.2 -8.9 482 9770 done -0.56 - - 2736 - - - 1837 - -116.8 - - 3231 - - - - - - - - 14.92 14.95 14.95
10092 868.8 -8.5 488 10105 done -0.56 - - 2736 - - - 1837 - -116.8 - - 3230 - - - - - - - - 14.93 14.95 14.95
10429 895.8 -7.9 494 10442 roll -0.56 - - 2736 - 2.47 0.061 428 -570.4 -116.8 - - 3230 - - - - - - - - 14.93 14.44 14.95
10477 899.8 -6.5 500 10490 done -0.56 - - 2727 - 2.35 0.036 1829 596.2 -116.8 - - 3230 - - - - - - - - 14.69 14.62 14.71
10833 926.5 -7.4 508 10846 roll -0.56 - - 2717 - 2.40 0.060 3219 579.2 -116.8 - - 3229 - - - - - - - - 14.89 14.52 14.92
10867 929.0 -6.7 512 10881 done -0.56 0.12 0.245 2742 208.3 2.33 0.041 1829 -596.6 -116.8 - - 3226 - - - - - - - - 14.28 14.59 14.52
11238 953.0 -6.5 522 11251 roll -0.56 - - 2745 - 2.45 0.063 430 -571.0 -116.8 - - 3228 - - - - - - - - 14.92 14.49 14.94
11380 962.9 -7.2 541 11393 done -0.56 - - 2736 - 2.35 0.036 1835 597.9 -116.8 - - 3228 - - - - - - - - 14.68 14.62 14.70
11701 986.3 -7.2 551 11714 roll -0.56 - - 2725 - 2.40 0.059 3225 579.2 -116.8 - - 3227 - - - - - - - - 14.89 14.50 14.91
11745 end dive: TARGET_DEPTH_EXCEEDED
11745 begin apogee
11755 990.0 -7.9 557 11885 done -0.21 0.50 0.222 2855 260.0 - - 1733 - - 119.93 2.210 2793 -3.6 0.307 - - - - - - 14.26 13.98 13.15
11888 end apogee: CONTROL_FINISHED_OK
11888 begin climb
11891 995.3 - 559 12036 roll 0.84 1.17 0.157 3194 289.7 2.55 0.048 3129 547.5 116.8 124.78 2.189 2306 -3.9 0.336 - - - - - - 13.96 13.67 12.94
12050 987.9 10.1 585 12064 done 0.70 0.20 0.263 3163 -155.0 2.50 0.039 1724 -562.0 116.8 - - 2296 - - - - - - - - 13.71 13.88 13.91
12379 963.2 7.5 596 12392 roll 0.71 - - 3171 - 2.50 0.066 323 -560.4 123.7 - - 2293 - - - - - - - - 14.62 14.35 14.64
12434 958.8 8.3 603 12447 done 0.71 - - 3172 - 2.40 0.031 1748 593.8 123.7 - - 2293 - - - - - - - - 14.52 14.47 14.54
12777 930.7 8.2 610 12790 roll 0.71 - - 3172 - 2.33 0.050 3108 583.7 123.7 - - 2292 - - - - - - - - 14.76 14.47 14.78
12852 924.0 8.7 620 12866 done 0.71 - - 3180 - 2.35 0.041 1722 -589.8 123.7 - - 2291 - - - - - - - - 14.59 14.52 14.62
13181 896.2 8.5 631 13195 roll 0.71 - - 3191 - 2.45 0.066 329 -568.6 123.7 - - 2291 - - - - - - - - 14.83 14.48 14.83
13236 891.3 9.0 638 13250 done 0.71 0.15 0.252 3160 -206.7 2.35 0.031 1746 603.0 123.7 - - 2291 - - - - - - - - 14.23 14.60 14.48
13580 866.0 7.3 645 13609 roll 0.72 - - 3159 - 2.35 0.053 3095 574.0 134.3 15.48 2.046 2237 -3.5 0.280 - - - - - - 14.85 14.57 13.76
13666 859.7 7.4 657 13683 done 0.74 - - 3167 - 2.33 0.041 1726 -587.6 143.0 3.22 1.103 2208 -9.0 1.331 - - - - - - 14.58 14.50 13.52
14033 833.4 7.1 667 14070 roll 0.75 - - 3177 - 2.50 0.068 336 -556.0 157.1 22.33 2.001 2143 -2.9 0.230 - - - - - - 14.79 14.46 13.74
14112 827.1 8.5 678 14125 done 0.75 - - 3177 - 2.33 0.033 1724 595.7 157.1 - - 2134 - - - - - - - - 14.52 14.47 14.54
14433 800.4 8.3 688 14446 roll 0.75 - - 3177 - 2.40 0.050 3118 580.8 157.1 - - 2135 - - - - - - - - 14.76 14.47 14.78
14502 794.3 8.9 697 14516 done 0.75 - - 3186 - 2.35 0.041 1731 -590.2 157.1 - - 2137 - - - - - - - - 14.59 14.51 14.62
14837 764.1 9.1 709 14852 roll 0.75 - - 3196 - 2.47 0.067 332 -566.4 157.1 - - 2135 - - - - - - - - 14.81 14.43 14.83
14907 757.1 10.3 718 14920 done 0.75 - - 3196 - 2.33 0.032 1732 600.9 157.1 - - 2134 - - - - - - - - 14.65 14.62 14.67
15243 724.1 9.8 730 15256 roll 0.75 - - 3196 - 2.38 0.051 3118 582.4 157.1 - - 2133 - - - - - - - - 14.85 14.51 14.87
15283 719.8 10.5 735 15297 done 0.75 0.15 0.272 3176 -133.3 2.35 0.041 1726 -592.3 157.1 - - 2134 - - - - - - - - 14.21 14.56 14.52
15648 686.3 9.1 744 15661 roll 0.75 - - 3183 - 2.47 0.067 330 -565.2 157.1 - - 2134 - - - - - - - - 14.85 14.48 14.87
15710 680.2 9.9 752 15723 done 0.75 - - 3183 - 2.33 0.032 1733 602.1 157.1 - - 2134 - - - - - - - - 14.67 14.62 14.69
16052 648.4 9.2 765 16065 roll 0.75 - - 3183 - 2.35 0.051 3111 586.4 157.1 - - 2134 - - - - - - - - 14.87 14.51 14.89
16135 640.8 8.8 776 16148 done 0.75 - - 3192 - 2.35 0.043 1727 -588.9 157.1 - - 2134 - - - - - - - - 14.64 14.54 14.67
16456 613.0 8.6 786 16470 roll 0.75 - - 3203 - 2.47 0.067 333 -564.4 157.1 - - 2134 - - - - - - - - 14.86 14.48 14.88
16526 606.7 9.3 795 16539 done 0.75 0.12 0.257 3178 -208.3 2.33 0.032 1742 604.7 157.1 - - 2133 - - - - - - - - 14.23 14.62 14.52
16861 580.6 7.6 807 16874 roll 0.76 - - 3178 - 2.33 0.051 3104 584.5 161.0 - - 2134 - - - - - - - - 14.88 14.50 14.89
16937 574.6 7.8 817 16950 done 0.76 - - 3184 - 2.33 0.043 1733 -588.4 161.4 - - 2131 - - - - - - - - 14.63 14.54 14.66
17265 549.0 7.9 828 17279 roll 0.76 - - 3195 - 2.47 0.067 331 -567.6 161.4 - - 2133 - - - - - - - - 14.85 14.47 14.88
17342 542.4 8.6 838 17355 done 0.76 - - 3195 - 2.33 0.032 1731 600.9 161.4 - - 2134 - - - - - - - - 14.66 14.61 14.68
17671 514.1 8.8 849 17684 done 0.76 - - 3195 - - - 1731 - 161.4 - - 2132 - - - - - - - - 14.87 14.89 14.89
18006 484.0 9.0 855 18019 roll 0.76 - - 3195 - 2.35 0.050 3110 586.8 161.4 - - 2134 - - - - - - - - 14.88 14.50 14.90
18068 478.0 9.6 863 18082 done 0.76 - - 3204 - 2.35 0.041 1720 -591.5 161.4 - - 2134 - - - - - - - - 14.62 14.54 14.66
18411 446.4 9.2 876 18425 roll 0.76 0.12 0.273 3184 -166.7 2.45 0.063 333 -566.1 161.4 - - 2134 - - - - - - - - 14.16 14.42 14.31
18459 442.1 8.8 882 18472 done 0.76 - - 3184 - 2.33 0.031 1740 603.9 161.4 - - 2133 - - - - - - - - 14.67 14.62 14.72
18816 412.9 8.2 890 18829 roll 0.76 - - 3184 - 2.33 0.049 3108 587.1 161.4 - - 2133 - - - - - - - - 14.88 14.50 14.90
18863 408.5 9.1 896 18876 done 0.76 - - 3193 - 2.33 0.040 1729 -591.8 161.4 - - 2134 - - - - - - - - 14.63 14.54 14.66
19219 376.1 9.2 904 19233 roll 0.76 - - 3204 - 2.47 0.066 326 -568.0 161.4 - - 2134 - - - - - - - - 14.87 14.46 14.89
19268 371.4 10.0 910 19281 done 0.76 - - 3204 - 2.33 0.031 1733 603.9 161.4 - - 2134 - - - - - - - - 14.68 14.63 14.70
19624 337.1 9.6 918 19637 roll 0.76 - - 3203 - 2.35 0.049 3117 588.9 161.4 - - 2134 - - - - - - - - 14.88 14.50 14.90
19678 331.7 10.0 925 19693 done 0.76 0.17 0.259 3176 -158.8 2.35 0.039 1730 -590.2 161.4 - - 2134 - - - - - - - - 14.17 14.54 14.45
20023 303.6 8.0 932 20036 roll 0.76 - - 3184 - 2.47 0.065 327 -568.0 161.4 - - 2134 - - - - - - - - 14.85 14.45 14.88
20085 298.3 8.7 940 20099 done 0.76 - - 3184 - 2.33 0.031 1737 605.2 161.4 - - 2133 - - - - - - - - 14.66 14.61 14.68
20428 270.1 8.2 953 20441 roll 0.76 - - 3184 - 2.33 0.049 3109 588.8 161.4 - - 2134 - - - - - - - - 14.88 14.50 14.90
20490 264.9 8.5 961 20504 done 0.76 - - 3193 - 2.33 0.039 1729 -592.3 161.4 - - 2134 - - - - - - - - 14.63 14.54 14.66
20833 236.6 8.2 974 20846 roll 0.76 - - 3203 - 2.47 0.065 325 -568.4 161.4 - - 2134 - - - - - - - - 14.87 14.47 14.88
20874 233.0 8.7 979 20887 done 0.76 - - 3203 - 2.33 0.031 1736 605.6 161.4 - - 2134 - - - - - - - - 14.74 14.63 14.69
21237 202.8 8.3 988 21250 roll 0.76 - - 3203 - 2.33 0.048 3109 589.3 161.4 - - 2134 - - - - - - - - 14.88 14.51 14.91
21340 193.7 8.8 1002 21354 done 0.76 0.15 0.257 3180 -153.3 2.33 0.038 1729 -592.3 161.4 - - 2134 - - - - - - - - 14.20 14.55 14.47
21698 168.0 7.0 1010 21728 roll 0.78 - - 3188 - 2.47 0.064 330 -566.4 176.7 19.00 1.236 2066 -3.6 0.092 - - - - - - 14.88 14.63 14.00
21822 158.8 7.7 1027 21835 done 0.78 - - 3188 - 2.33 0.031 1740 605.2 178.7 - - 2058 - - - - - - - - 14.63 14.59 14.68
22151 133.0 7.9 1038 22164 roll 0.78 - - 3188 - 2.33 0.047 3117 591.0 178.7 - - 2058 - - - - - - - - 14.81 14.50 14.83
22241 124.8 8.9 1050 22254 done 0.78 - - 3197 - 2.35 0.038 1720 -594.5 178.7 - - 2056 - - - - - - - - 14.61 14.53 14.64
22612 96.6 7.3 1060 22634 roll 0.79 - - 3197 - 2.40 0.044 3111 579.6 189.6 7.07 0.269 2026 -4.2 0.289 - - - - - - 14.83 14.54 14.19
22669 92.9 6.6 1068 22707 done 0.82 - - 3205 - 2.33 0.038 1724 -595.3 213.4 25.85 0.359 1925 -3.9 0.192 - - - - - - 14.60 14.53 14.27
23034 72.0 5.1 1086 23096 roll 0.98 0.12 0.127 3262 475.0 2.42 0.045 3120 576.9 264.6 50.12 0.315 1715 -4.2 0.182 - - - - - - 14.52 14.57 14.31
23158 62.6 8.7 1104 23173 done 0.98 - - 3271 - 2.35 0.038 1728 -592.3 264.6 2.33 0.155 1715 - - - - - - - - 14.59 14.51 14.39
23478 45.7 3.9 1116 23562 roll 1.17 0.12 0.127 3335 533.3 2.47 0.061 331 -565.6 338.3 66.03 0.244 1416 -4.5 0.161 - - - - - - 14.52 14.53 14.33
23792 27.6 5.7 1161 23839 done 1.22 - - 3335 - 2.30 0.028 1750 617.0 378.0 34.55 0.193 1251 -4.8 0.129 - - - - - - 14.66 14.62 14.34
24146 5.4 6.2 1178 24180 roll 1.36 - - 3339 - 2.53 0.062 331 -560.9 409.1 22.67 0.132 1123 -5.6 0.044 - - - - - - 14.81 14.49 14.42
24197 end climb: SURFACE_DEPTH_REACHED
24197 begin surface coast
24229 end surface coast: CONTROL_FINISHED_OK
24229 begin surface
SM 1.24 - - - - -8.60 9.45 0.073 163 17.2 2.50 0.028 1817 -2820.4 515.62 64.15 0.122 692 10.8 -0.011 - - - - - -