SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 290 * Raw log
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• Previous call tries 1 • 117.60 of 350.00 AH used of 24V (66.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.6 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 28 s • Transponder ping count: 11
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 VBD -0.68 - - 201 - - - 2263 - -116.8 -84.78 - 2876 - - - - - - - - 14.69 - 14.73
110 4.5 -6.1 3 134 roll -0.68 9.25 0.428 1962 190.4 2.83 2.081 3691 504.6 -116.8 -6.05 - 3220 -56.9 - - - - - - - 14.04 13.22 14.47
204 39.3 -27.9 17 210 done -0.47 0.30 0.273 2039 256.7 2.42 0.046 2269 -587.6 -116.8 - - 3221 - - - - - - - - 14.11 14.46 14.40
527 89.8 -9.7 30 531 roll -0.39 0.12 0.272 2075 300.0 2.40 0.051 876 -580.4 -116.8 - - 3223 - - - - - - - - 14.22 14.45 14.36
589 93.4 -5.5 39 594 done -0.39 - - 2068 - 2.45 0.056 2286 575.5 -116.8 - - 3223 - - - - - - - - 14.59 14.48 14.60
918 117.6 -7.7 49 924 roll -0.39 - - 2059 - 2.42 0.077 3691 580.6 -116.8 - - 3222 - - - - - - - - 14.86 14.47 14.88
952 120.0 -7.0 54 958 done -0.39 - - 2059 - 2.38 0.041 2250 -605.5 -116.8 - - 3224 - - - - - - - - 14.67 14.60 14.69
1311 147.3 -7.9 63 1312 done -0.39 - - 2058 - - - 2242 - -116.8 - - 3223 - - - - - - - - 14.90 14.92 14.92
1646 172.3 -7.3 69 1652 roll -0.39 - - 2059 - 2.35 0.055 888 -576.2 -116.8 - - 3222 - - - - - - - - 14.92 14.54 14.95
1694 175.9 -7.3 76 1701 done -0.39 - - 2056 - 2.47 0.058 2280 563.6 -116.8 - - 3222 - - - - - - - - 14.54 14.47 14.57
2039 199.3 -6.8 83 2044 roll -0.39 - - 2056 - 2.50 0.084 3693 565.2 -116.8 - - 3219 - - - - - - - - 14.91 14.47 14.92
2094 203.1 -6.6 91 2099 done -0.44 - - 2056 - 2.38 0.045 2271 -597.5 -116.8 - - 3219 - - - - - - - - 14.68 14.62 14.69
2430 226.7 -7.1 104 2435 roll -0.44 - - 2056 - 2.40 0.057 889 -575.8 -116.8 - - 3217 - - - - - - - - 14.91 14.52 14.92
2514 233.2 -7.5 116 2519 done -0.44 - - 2056 - 2.42 0.060 2275 572.7 -116.8 - - 3216 - - - - - - - - 14.64 14.52 14.68
2878 260.8 -7.7 126 2879 done -0.44 - - 2056 - - - 2276 - -116.8 - - 3214 - - - - - - - - 14.92 14.94 14.93
3214 286.5 -7.6 132 3215 done -0.44 - - 2055 - - - 2276 - -116.8 - - 3212 - - - - - - - - 14.92 14.94 14.94
3551 312.1 -7.6 138 3552 done -0.44 - - 2053 - - - 2276 - -116.8 - - 3209 - - - - - - - - 14.92 14.94 14.93
3886 337.3 -7.5 144 3891 roll -0.44 - - 2056 - 2.45 0.056 885 -567.8 -116.8 - - 3208 - - - - - - - - 14.92 14.50 14.94
3927 340.5 -7.5 150 3933 done -0.44 - - 2056 - 2.45 0.061 2273 566.5 -116.8 - - 3207 - - - - - - - - 14.55 14.48 14.58
4279 364.8 -6.9 158 4284 roll -0.44 - - 2055 - 2.53 0.090 3690 560.1 -116.8 - - 3205 - - - - - - - - 14.91 14.42 14.92
4348 369.6 -6.8 168 4353 done -0.51 - - 2056 - 2.40 0.049 2281 -587.1 -116.8 - - 3204 - - - - - - - - 14.64 14.56 14.66
4670 391.0 -6.6 179 4675 roll -0.51 - - 2056 - 2.45 0.057 874 -574.3 -116.8 - - 3203 - - - - - - - - 14.90 14.48 14.92
4747 396.2 -6.6 190 4752 done -0.55 0.12 0.141 2006 -416.7 2.50 0.062 2285 564.4 -116.8 - - 3202 - - - - - - - - 14.40 14.40 14.52
5062 422.5 -8.5 200 5067 roll -0.55 - - 1999 - 2.53 0.086 3699 558.9 -116.8 - - 3200 - - - - - - - - 14.93 14.40 14.95
5096 425.4 -8.4 205 5103 done -0.55 - - 1999 - 2.45 0.046 2275 -581.2 -116.8 - - 3200 - - - - - - - - 14.55 14.52 14.56
5455 457.5 -9.1 214 5460 roll -0.55 - - 1998 - 2.45 0.062 888 -566.1 -116.8 - - 3198 - - - - - - - - 14.92 14.46 14.94
5593 471.0 -9.6 234 5599 done -0.55 - - 1998 - 2.50 0.064 2288 560.0 -116.8 - - 3197 - - - - - - - - 14.54 14.40 14.59
5958 506.9 -9.9 244 5959 done -0.55 - - 1998 - - - 2288 - -116.8 - - 3196 - - - - - - - - 14.92 14.95 14.94
6295 540.7 -10.0 250 6296 done -0.55 - - 1998 - - - 2288 - -116.8 - - 3195 - - - - - - - - 14.92 14.94 14.93
6630 572.4 -9.3 256 6635 roll -0.55 - - 1999 - 2.47 0.054 887 -567.2 -116.8 - - 3192 - - - - - - - - 14.90 14.43 14.92
6664 575.8 -9.7 261 6671 done -0.55 - - 1998 - 2.53 0.064 2268 545.8 -116.8 - - 3190 - - - - - - - - 14.44 14.37 14.50
7023 606.4 -8.5 270 7028 roll -0.55 - - 1988 - 2.58 0.089 3695 553.1 -116.8 - - 3191 - - - - - - - - 14.92 14.35 14.93
7070 610.6 -8.8 277 7078 done -0.55 0.10 0.223 2017 290.0 2.47 0.050 2278 -573.7 -116.8 - - 3191 - - - - - - - - 14.09 14.46 14.24
7415 635.6 -7.3 284 7420 roll -0.55 - - 2017 - 2.47 0.062 879 -566.4 -116.8 - - 3190 - - - - - - - - 14.89 14.40 14.91
7485 641.0 -7.6 294 7489 done -0.55 - - 2015 - 2.47 0.066 2258 558.3 -116.8 - - 3189 - - - - - - - - 14.54 14.41 14.59
7806 666.2 -8.0 305 7812 roll -0.55 - - 2011 - 2.60 0.091 3696 553.1 -116.8 - - 3188 - - - - - - - - 14.89 14.32 14.91
7840 669.1 -8.5 310 7846 done -0.55 - - 2007 - 2.47 0.050 2245 -587.4 -116.8 - - 3188 - - - - - - - - 14.59 14.51 14.62
8199 699.0 -8.4 319 8204 roll -0.55 - - 2010 - 2.42 0.064 882 -563.2 -116.8 - - 3187 - - - - - - - - 14.90 14.37 14.92
8246 703.4 -8.8 326 8253 done -0.55 - - 2011 - 2.53 0.067 2255 542.7 -116.8 - - 3186 - - - - - - - - 14.40 14.33 14.45
8591 732.1 -8.3 333 8591 done -0.55 - - 2011 - - - 2255 - -116.8 - - 3180 - - - - - - - - 14.90 14.92 14.92
8926 759.0 -8.0 339 8931 roll -0.55 - - 2009 - 2.62 0.094 3693 548.9 -116.8 - - 3183 - - - - - - - - 14.92 14.31 14.92
8961 761.7 -8.0 344 8966 done -0.55 - - 2008 - 2.45 0.052 2263 -583.7 -116.8 - - 3184 - - - - - - - - 14.59 14.51 14.62
9318 788.2 -7.3 353 9325 roll -0.55 - - 2008 - 2.42 0.060 888 -568.2 -116.8 - - 3183 - - - - - - - - 14.90 14.28 14.92
9408 795.2 -7.6 366 9414 done -0.55 - - 2001 - 2.47 0.065 2261 555.9 -116.8 - - 3182 - - - - - - - - 14.47 14.31 14.52
9767 824.4 -8.3 375 9772 roll -0.55 - - 1999 - 2.62 0.094 3700 549.2 -116.8 - - 3181 - - - - - - - - 14.85 14.28 14.88
9807 828.1 -7.5 381 9814 done -0.55 - - 1999 - 2.50 0.049 2259 -576.4 -116.8 - - 3181 - - - - - - - - 14.40 14.38 14.50
10158 859.6 -9.1 389 10164 roll -0.55 - - 1999 - 2.45 0.063 888 -559.6 -116.8 - - 3179 - - - - - - - - 14.89 14.35 14.91
10242 867.9 -10.3 401 10248 done -0.55 - - 1999 - 2.50 0.068 2260 548.8 -116.8 - - 3179 - - - - - - - - 14.48 14.34 14.52
10606 900.1 -8.7 411 10607 done -0.55 - - 1999 - - - 2259 - -116.8 - - 3180 - - - - - - - - 14.89 14.91 14.91
10942 928.9 -8.5 417 10943 done -0.55 - - 1995 - - - 2260 - -116.8 - - 3181 - - - - - - - - 14.85 14.88 14.88
11279 956.6 -8.2 423 11280 done -0.55 - - 1999 - - - 2260 - -116.8 - - 3178 - - - - - - - - 14.85 14.87 14.87
11614 983.4 -7.9 429 11620 roll -0.55 - - 1999 - 2.47 0.059 887 -555.9 -116.8 - - 3176 - - - - - - - - 14.88 14.31 14.90
11655 986.9 -8.2 435 11661 done -0.55 - - 1999 - 2.50 0.067 2259 548.8 -116.8 - - 3176 - - - - - - - - 14.45 14.30 14.52
11723 end dive: TARGET_DEPTH_EXCEEDED
11723 begin apogee
11732 992.3 -7.5 438 11872 roll -0.19 0.50 0.217 2134 270.0 - - 2202 - - 133.00 2.796 2739 -3.3 0.227 - - - - 1 - 14.10 13.70 12.62
11874 end apogee: CONTROL_FINISHED_OK
11874 begin climb
11877 996.6 - 440 12043 roll 0.68 0.93 0.152 2407 293.5 2.65 0.060 804 -527.5 116.8 153.40 1.903 2254 -3.2 0.322 - - - - - - 13.68 13.76 12.81
12155 978.6 8.8 485 12161 done 0.68 - - 2408 - 2.62 0.067 2201 533.2 116.8 - - 2242 - - - - - - - - 14.07 13.97 14.10
12512 943.8 9.8 494 12517 roll 0.62 - - 2416 - 2.58 0.076 814 -537.6 116.8 - - 2238 - - - - - - - - 14.66 14.30 14.68
12625 933.2 8.9 510 12630 done 0.62 - - 2416 - 2.55 0.068 2210 547.5 116.8 - - 2237 - - - - - - - - 14.47 14.35 14.51
12960 900.1 10.0 523 12965 roll 0.56 0.12 0.279 2382 -283.3 2.58 0.096 3617 545.3 116.8 - - 2236 - - - - - - - - 14.08 14.29 14.27
13051 891.3 10.0 536 13056 done 0.56 - - 2391 - 2.45 0.063 2223 -569.0 116.8 - - 2235 - - - - - - - - 14.47 14.36 14.51
13408 860.6 8.6 545 13414 roll 0.56 - - 2401 - 2.60 0.080 795 -549.2 116.8 - - 2235 - - - - - - - - 14.80 14.33 14.81
13456 856.1 9.1 552 13463 done 0.56 - - 2401 - 2.60 0.069 2209 543.8 116.8 - - 2233 - - - - - - - - 14.41 14.33 14.46
13801 824.3 9.2 559 13806 roll 0.51 0.12 0.275 2368 -275.0 2.58 0.095 3619 546.5 116.8 - - 2233 - - - - - - - - 14.13 14.27 14.26
13876 817.4 8.8 570 13882 done 0.51 - - 2378 - 2.50 0.063 2194 -570.0 116.8 - - 2233 - - - - - - - - 14.50 14.38 14.55
14192 792.5 7.8 580 14197 roll 0.51 - - 2388 - 2.55 0.077 786 -552.2 116.8 - - 2234 - - - - - - - - 14.84 14.33 14.85
14220 790.3 7.6 584 14225 done 0.51 - - 2389 - 2.60 0.068 2224 553.1 116.8 - - 2232 - - - - - - - - 14.50 14.37 14.56
14584 761.2 7.9 594 14589 roll 0.51 - - 2388 - 2.53 0.096 3605 545.8 116.8 - - 2232 - - - - - - - - 14.82 14.29 14.84
14653 754.9 9.1 604 14659 done 0.46 0.20 0.253 2351 -185.0 2.42 0.060 2215 -574.4 116.8 - - 2231 - - - - - - - - 14.06 14.41 14.38
14976 734.0 6.4 615 15003 roll 0.48 - - 2361 - 2.60 0.077 798 -545.0 139.3 22.58 1.759 2167 -2.8 0.230 - - - - - - 14.82 14.47 13.72
15053 729.1 6.8 626 15072 done 0.54 - - 2361 - 2.58 0.064 2221 551.6 152.2 15.20 1.831 2120 -3.1 0.239 - - - - - - 14.46 14.35 13.63
15418 701.3 7.8 636 15423 roll 0.54 - - 2361 - 2.55 0.093 3612 545.5 152.2 - - 2106 - - - - - - - - 14.70 14.28 14.72
15493 694.4 9.0 647 15499 done 0.54 - - 2370 - 2.50 0.059 2213 -559.6 152.2 - - 2105 - - - - - - - - 14.39 14.33 14.42
15809 667.9 8.4 657 15815 roll 0.54 - - 2381 - 2.55 0.075 798 -554.9 152.2 - - 2105 - - - - - - - - 14.78 14.31 14.80
15879 662.4 7.6 667 15884 done 0.54 - - 2380 - 2.58 0.063 2227 553.9 152.2 - - 2103 - - - - - - - - 14.47 14.35 14.52
16201 636.3 8.1 678 16206 roll 0.54 - - 2381 - 2.53 0.094 3608 545.8 152.2 - - 2103 - - - - - - - - 14.81 14.28 14.83
16277 629.5 8.6 689 16284 done 0.54 - - 2390 - 2.47 0.058 2218 -562.8 152.2 - - 2102 - - - - - - - - 14.40 14.34 14.54
16594 603.4 8.3 699 16599 roll 0.54 - - 2399 - 2.58 0.076 796 -551.2 152.2 - - 2102 - - - - - - - - 14.80 14.25 14.81
16634 599.9 8.3 705 16641 done 0.54 - - 2400 - 2.58 0.063 2226 554.3 152.2 - - 2101 - - - - - - - - 14.49 14.35 14.54
16985 568.8 8.9 713 16991 roll 0.54 - - 2399 - 2.55 0.094 3611 543.1 152.2 - - 2101 - - - - - - - - 14.81 14.27 14.83
17083 558.9 9.8 727 17089 done 0.54 0.15 0.252 2374 -166.7 2.42 0.059 2235 -568.6 152.2 - - 2099 - - - - - - - - 14.09 14.41 14.39
17433 530.7 8.1 735 17438 roll 0.54 - - 2384 - 2.62 0.074 795 -549.6 152.2 - - 2102 - - - - - - - - 14.83 14.29 14.85
17481 526.5 8.5 742 17488 done 0.54 - - 2384 - 2.65 0.064 2236 543.8 152.2 - - 2101 - - - - - - - - 14.35 14.28 14.51
17826 495.0 9.3 749 17832 roll 0.54 - - 2384 - 2.53 0.093 3609 542.7 152.2 - - 2101 - - - - - - - - 14.78 14.26 14.79
17922 485.4 9.8 763 17928 done 0.54 - - 2392 - 2.45 0.058 2238 -559.6 152.2 - - 2099 - - - - - - - - 14.38 14.33 14.43
18273 454.7 8.6 771 18278 roll 0.54 - - 2403 - 2.62 0.073 795 -550.8 152.2 - - 2101 - - - - - - - - 14.81 14.26 14.83
18350 448.7 7.7 782 18355 done 0.54 - - 2403 - 2.62 0.063 2250 555.3 152.2 - - 2101 - - - - - - - - 14.46 14.33 14.51
18665 423.3 8.0 792 18670 roll 0.54 - - 2403 - 2.50 0.093 3608 543.2 152.2 - - 2102 - - - - - - - - 14.83 14.24 14.85
18756 415.2 8.6 805 18762 done 0.54 0.15 0.250 2376 -180.0 2.40 0.057 2242 -569.2 152.2 - - 2101 - - - - - - - - 14.07 14.38 14.35
19113 389.4 7.5 814 19118 roll 0.54 - - 2385 - 2.65 0.074 793 -546.8 152.2 - - 2101 - - - - - - - - 14.81 14.27 14.83
19169 385.0 7.7 822 19174 done 0.54 - - 2386 - 2.65 0.063 2258 552.8 152.2 - - 2101 - - - - - - - - 14.46 14.32 14.51
19506 357.3 8.2 835 19511 roll 0.54 - - 2386 - 2.47 0.093 3605 545.3 152.2 - - 2101 - - - - - - - - 14.81 14.24 14.82
19546 353.6 9.0 841 19553 done 0.54 - - 2394 - 2.42 0.057 2246 -561.6 152.2 - - 2101 - - - - - - - - 14.38 14.33 14.42
19897 325.2 8.1 849 19903 roll 0.54 - - 2405 - 2.65 0.073 788 -550.2 152.2 - - 2101 - - - - - - - - 14.81 14.26 14.83
19967 319.7 7.8 859 19972 done 0.54 0.12 0.243 2376 -241.7 2.65 0.064 2259 555.1 152.2 - - 2101 - - - - - - - - 14.10 14.33 14.38
20289 298.7 6.4 870 20322 roll 0.55 - - 2376 - 2.47 0.092 3608 546.2 175.1 25.35 1.382 2017 -3.3 0.139 - - - - - - 14.81 14.47 13.84
20380 292.2 7.4 883 20385 done 0.55 - - 2384 - 2.38 0.057 2258 -567.2 175.1 - - 2011 - - - - - - - - 14.46 14.37 14.50
20737 266.3 7.5 892 20742 roll 0.55 - - 2393 - 2.67 0.073 797 -547.2 175.1 - - 2008 - - - - - - - - 14.74 14.26 14.76
20799 261.3 7.9 901 20806 done 0.61 - - 2393 - 2.62 0.062 2256 556.9 175.1 - - 2007 - - - - - - - - 14.45 14.32 14.50
21130 233.5 8.4 913 21136 roll 0.61 - - 2393 - 2.50 0.091 3611 542.0 175.1 - - 2007 - - - - - - - - 14.77 14.18 14.78
21205 226.7 8.5 924 21211 done 0.61 - - 2401 - 2.42 0.055 2258 -559.1 175.1 - - 2007 - - - - - - - - 14.37 14.31 14.41
21521 201.7 7.9 934 21526 roll 0.61 - - 2411 - 2.65 0.071 798 -550.9 175.1 - - 2007 - - - - - - - - 14.81 14.29 14.83
21591 196.4 7.4 944 21596 done 0.61 - - 2411 - 2.65 0.061 2270 555.5 175.1 - - 2007 - - - - - - - - 14.45 14.32 14.50
21913 167.0 9.5 955 21918 roll 0.61 - - 2411 - 2.47 0.090 3615 544.5 175.1 - - 2007 - - - - - - - - 14.82 14.26 14.84
21989 158.5 11.1 966 21995 done 0.61 - - 2420 - 2.38 0.056 2260 -569.3 175.1 - - 2007 - - - - - - - - 14.47 14.35 14.52
22306 127.1 9.9 976 22311 roll 0.61 - - 2429 - 2.65 0.070 792 -554.0 175.1 - - 2007 - - - - - - - - 14.80 14.29 14.82
22339 123.8 9.5 981 22346 done 0.61 0.12 0.250 2400 -241.7 2.65 0.061 2271 558.1 175.1 - - 2007 - - - - - - - - 14.11 14.34 14.39
22697 97.8 6.4 990 22711 done 0.62 - - 2400 - - - 2271 - 197.3 12.12 0.399 1934 -6.0 0.287 - - - - - - 14.81 14.55 14.14
23006 80.8 5.3 1001 23045 roll 0.72 - - 2400 - 2.45 0.087 3607 545.3 245.5 32.30 0.381 1737 -6.1 0.251 - - - - - - 14.81 14.47 14.21
23230 70.9 5.0 1033 23276 done 0.88 0.22 0.090 2497 440.9 2.33 0.050 2270 -573.8 301.5 37.47 0.348 1509 -6.1 0.241 - - - - - - 14.43 14.42 14.17
23596 51.1 4.5 1052 23648 roll 0.99 - - 2500 - 2.65 0.068 797 -555.8 370.1 44.47 0.288 1231 -6.3 0.216 - - - - - - 14.73 14.45 14.21
23715 46.1 4.6 1069 23767 done 1.18 0.22 0.085 2598 445.5 2.60 0.057 2272 567.3 434.1 43.22 0.270 968 -6.1 0.202 - - - - - - 14.40 14.32 14.14
24097 8.9 10.4 1091 24098 done 1.18 - - 2597 - - - 2269 - 434.1 - - 969 - - - - - - - - 14.74 14.77 14.77
24150 end climb: SURFACE_DEPTH_REACHED
24150 begin surface coast
24178 end surface coast: CONTROL_FINISHED_OK
24178 begin surface
SM 0.90 - - - - -6.14 6.93 0.076 218 31.5 - - 2269 - 500.17 42.55 0.132 698 16.4 -0.011 - - - - - -