SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 299 * Raw log
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• Previous call tries 1 • 120.94 of 350.00 AH used of 24V (65.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 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: 33 s
• GPS2 time: 16 s • Transponder ping count: 5
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 103 VBD -0.68 - - 204 - - - 2309 - -116.8 -85.35 - 2873 - - - - - - - - 14.67 - 14.69
107 4.3 -5.9 3 130 roll -0.68 8.82 0.407 1962 199.3 2.75 2.080 3687 501.1 -116.8 -6.18 - 3219 -56.0 - - - - - - - 14.03 13.19 14.45
238 47.1 -25.6 22 245 done -0.46 0.32 0.254 2045 259.4 2.42 0.044 2259 -590.1 -116.8 - - 3220 - - - - - - - - 14.12 14.42 14.40
551 84.1 -8.4 34 555 roll -0.40 - - 2045 - 2.38 0.051 881 -579.0 -116.8 - - 3220 - - - - - - - - 14.81 14.47 14.83
669 93.0 -7.3 51 674 done -0.40 - - 2042 - 2.42 0.058 2267 572.7 -116.8 - - 3223 - - - - - - - - 14.59 14.48 14.62
998 119.4 -8.3 61 1004 roll -0.40 - - 2032 - 2.50 0.078 3700 573.2 -116.8 - - 3223 - - - - - - - - 14.89 14.46 14.90
1095 127.5 -8.5 75 1101 done -0.40 0.08 0.210 2070 475.0 2.42 0.040 2256 -596.7 -116.8 - - 3223 - - - - - - - - 14.26 14.57 14.51
1447 150.3 -6.6 83 1452 roll -0.40 - - 2070 - 2.35 0.053 893 -580.0 -116.8 - - 3223 - - - - - - - - 14.91 14.52 14.93
1544 157.0 -6.5 97 1550 done -0.45 - - 2068 - 2.40 0.057 2265 571.7 -116.8 - - 3221 - - - - - - - - 14.62 14.52 14.67
1895 179.6 -6.5 105 1901 roll -0.45 - - 2063 - 2.53 0.082 3700 567.2 -116.8 - - 3220 - - - - - - - - 14.90 14.46 14.92
1957 183.7 -6.5 114 1962 done -0.50 - - 2063 - 2.40 0.044 2262 -599.2 -116.8 - - 3219 - - - - - - - - 14.67 14.62 14.70
2287 205.4 -6.6 126 2291 roll -0.50 - - 2063 - 2.38 0.054 889 -576.9 -116.8 - - 3217 - - - - - - - - 14.91 14.53 14.93
2349 209.8 -7.0 135 2355 done -0.55 0.12 0.139 2008 -458.3 2.42 0.058 2270 570.7 -116.8 - - 3217 - - - - - - - - 14.52 14.52 14.63
2678 242.2 -10.2 147 2683 roll -0.55 - - 1999 - 2.55 0.083 3698 560.0 -116.8 - - 3215 - - - - - - - - 14.92 14.45 14.93
2741 248.7 -10.4 156 2746 done -0.55 - - 1999 - 2.42 0.044 2253 -597.1 -116.8 - - 3215 - - - - - - - - 14.68 14.61 14.70
3070 281.1 -9.8 168 3072 done -0.50 0.15 0.252 2032 220.0 - - 2245 - -116.8 - - 3213 - - - - - - - - 14.21 14.52 14.44
3406 307.7 -7.8 174 3412 roll -0.50 - - 2033 - 2.38 0.058 887 -570.6 -116.8 - - 3210 - - - - - - - - 14.94 14.44 14.96
3469 312.7 -7.9 183 3474 done -0.50 - - 2029 - 2.42 0.060 2259 566.9 -116.8 - - 3209 - - - - - - - - 14.60 14.48 14.64
3798 339.3 -8.1 195 3803 roll -0.50 - - 2022 - 2.55 0.083 3686 559.6 -116.8 - - 3207 - - - - - - - - 14.94 14.42 14.95
3867 345.2 -8.5 205 3874 done -0.50 - - 2022 - 2.47 0.047 2229 -589.9 -116.8 - - 3206 - - - - - - - - 14.56 14.52 14.58
4191 374.0 -9.0 216 4196 roll -0.50 - - 2022 - 2.35 0.059 890 -569.8 -116.8 - - 3206 - - - - - - - - 14.93 14.47 14.97
4231 377.9 -9.4 222 4237 done -0.50 - - 2017 - 2.42 0.060 2262 566.9 -116.8 - - 3205 - - - - - - - - 14.58 14.45 14.62
4582 409.6 -9.0 230 4587 roll -0.50 - - 2011 - 2.55 0.085 3693 561.2 -116.8 - - 3203 - - - - - - - - 14.92 14.40 14.93
4609 412.1 -9.0 234 4615 done -0.50 - - 2011 - 2.50 0.047 2251 -576.8 -116.8 - - 3203 - - - - - - - - 14.55 14.51 14.58
4975 443.6 -8.5 244 4980 roll -0.50 - - 2011 - 2.40 0.060 885 -569.2 -116.8 - - 3201 - - - - - - - - 14.91 14.45 14.92
5030 448.4 -8.3 252 5035 done -0.50 - - 2011 - 2.42 0.063 2249 563.6 -116.8 - - 3197 - - - - - - - - 14.57 14.45 14.61
5366 476.8 -8.6 265 5372 roll -0.50 - - 2006 - 2.60 0.088 3688 553.5 -116.8 - - 3199 - - - - - - - - 14.91 14.39 14.92
5428 482.6 -9.3 274 5434 done -0.50 0.12 0.242 2035 241.7 2.47 0.049 2240 -586.2 -116.8 - - 3198 - - - - - - - - 14.20 14.52 14.44
5759 510.4 -8.5 286 5763 roll -0.50 - - 2035 - 2.38 0.058 889 -567.6 -116.8 - - 3197 - - - - - - - - 14.93 14.44 14.95
5828 516.8 -9.1 296 5833 done -0.50 - - 2029 - 2.42 0.062 2249 562.0 -116.8 - - 3196 - - - - - - - - 14.55 14.42 14.62
6150 544.9 -8.6 307 6155 roll -0.50 - - 2021 - 2.60 0.090 3690 554.2 -116.8 - - 3196 - - - - - - - - 14.90 14.36 14.92
6198 549.1 -8.7 314 6205 done -0.50 - - 2020 - 2.50 0.050 2254 -574.4 -116.8 - - 3196 - - - - - - - - 14.50 14.46 14.53
6543 577.1 -8.0 321 6549 roll -0.50 - - 2021 - 2.42 0.060 885 -565.7 -116.8 - - 3194 - - - - - - - - 14.92 14.42 14.94
6618 583.1 -7.7 332 6624 done -0.50 - - 2016 - 2.47 0.063 2244 550.2 -116.8 - - 3193 - - - - - - - - 14.42 14.35 14.57
6934 607.4 -7.7 342 6939 roll -0.50 - - 2012 - 2.62 0.090 3690 551.9 -116.8 - - 3191 - - - - - - - - 14.90 14.33 14.92
7004 613.0 -7.9 352 7009 done -0.50 - - 2010 - 2.47 0.050 2242 -586.2 -116.8 - - 3191 - - - - - - - - 14.60 14.52 14.63
7326 638.8 -8.0 363 7331 roll -0.50 - - 2013 - 2.40 0.061 889 -563.8 -116.8 - - 3188 - - - - - - - - 14.90 14.38 14.91
7382 643.5 -8.4 371 7387 done -0.50 - - 2011 - 2.45 0.064 2247 554.3 -116.8 - - 3190 - - - - - - - - 14.52 14.39 14.56
7719 670.1 -7.9 384 7724 roll -0.50 - - 2011 - 2.65 0.092 3691 544.9 -116.8 - - 3189 - - - - - - - - 14.90 14.31 14.92
7759 673.5 -8.3 390 7765 done -0.50 - - 2011 - 2.53 0.050 2251 -569.2 -116.8 - - 3188 - - - - - - - - 14.48 14.43 14.52
8110 702.0 -8.3 398 8115 roll -0.50 - - 2011 - 2.45 0.064 880 -559.6 -116.8 - - 3187 - - - - - - - - 14.91 14.36 14.93
8194 709.2 -8.4 410 8199 done -0.50 - - 2011 - 2.47 0.065 2247 553.4 -116.8 - - 3186 - - - - - - - - 14.49 14.38 14.55
8558 739.5 -8.4 420 8559 done -0.50 - - 2011 - - - 2247 - -116.8 - - 3188 - - - - - - - - 14.89 14.91 14.91
8894 766.6 -8.0 426 8895 done -0.50 - - 2011 - - - 2247 - -116.8 - - 3184 - - - - - - - - 14.89 14.90 14.90
9231 791.2 -7.1 432 9232 done -0.50 - - 2011 - - - 2247 - -116.8 - - 3184 - - - - - - - - 14.88 14.89 14.90
9567 815.3 -7.2 438 9571 roll -0.50 - - 2006 - 2.65 0.093 3691 544.9 -116.8 - - 3182 - - - - - - - - 14.90 14.27 14.92
9622 819.5 -7.6 446 9627 done -0.50 0.12 0.237 2035 241.7 2.55 0.054 2223 -575.7 -116.8 - - 3182 - - - - - - - - 14.11 14.44 14.35
9959 841.7 -6.7 459 9960 done -0.50 - - 2035 - - - 2215 - -116.8 - - 3181 - - - - - - - - 14.87 14.89 14.88
10294 864.8 -6.9 465 10300 roll -0.50 - - 2035 - 2.45 0.066 869 -549.4 -116.8 - - 3180 - - - - - - - - 14.90 14.31 14.92
10343 868.1 -6.3 472 10349 done -0.55 - - 2030 - 2.47 0.064 2235 553.0 -116.8 - - 3179 - - - - - - - - 14.45 14.33 14.51
10687 890.8 -6.6 479 10692 roll -0.55 - - 2023 - 2.70 0.093 3693 540.0 -116.8 - - 3179 - - - - - - - - 14.86 14.21 14.88
10743 894.5 -6.8 487 10747 done -0.60 - - 2023 - 2.58 0.055 2220 -570.9 -116.8 - - 3180 - - - - - - - - 14.50 14.42 14.54
11078 917.0 -6.7 500 11083 roll -0.60 - - 2023 - 2.42 0.067 881 -553.3 -116.8 - - 3178 - - - - - - - - 14.89 14.29 14.91
11128 920.4 -5.1 507 11134 done -0.60 - - 2023 - 2.47 0.068 2230 546.2 -116.8 - - 3177 - - - - - - - - 14.47 14.32 14.50
11471 942.4 -6.4 514 11475 roll -0.60 - - 2018 - 2.70 0.096 3694 542.2 -116.8 - - 3177 - - - - - - - - 14.89 14.25 14.90
11533 946.5 -6.6 523 11538 done -0.65 - - 2018 - 2.55 0.055 2233 -572.9 -116.8 - - 3177 - - - - - - - - 14.50 14.41 14.54
11863 968.4 -6.7 535 11868 roll -0.65 - - 2018 - 2.42 0.063 880 -559.1 -116.8 - - 3177 - - - - - - - - 14.86 14.31 14.88
11925 972.8 -7.1 544 11930 done -0.65 - - 2016 - 2.47 0.067 2238 549.8 -116.8 - - 3176 - - - - - - - - 14.44 14.31 14.49
12195 end dive: TARGET_DEPTH_EXCEEDED
12195 begin apogee
12203 991.7 -7.0 555 12357 roll -0.19 0.43 0.217 2130 265.1 - - 2238 - - 146.30 2.569 2740 -3.0 0.225 - - - - 1 - 14.07 13.67 12.57
12358 end apogee: CONTROL_FINISHED_OK
12358 begin climb
12362 996.1 - 557 12529 roll 0.68 0.95 0.150 2409 293.7 2.75 0.061 796 -524.4 116.8 156.75 1.893 2256 -3.1 0.317 - - - - - - 13.66 13.73 12.76
12652 979.0 8.3 605 12657 done 0.68 - - 2408 - 2.62 0.065 2198 535.1 116.8 - - 2240 - - - - - - - - 14.08 13.98 14.12
12986 947.5 9.5 618 12993 roll 0.63 - - 2420 - 2.58 0.075 796 -543.4 116.8 - - 2236 - - - - - - - - 14.64 14.26 14.66
13112 935.8 9.1 636 13117 done 0.63 - - 2418 - 2.58 0.067 2215 550.0 116.8 - - 2235 - - - - - - - - 14.46 14.35 14.51
13435 904.1 10.0 647 13440 roll 0.56 0.12 0.278 2384 -283.3 2.55 0.093 3612 547.8 116.8 - - 2234 - - - - - - - - 14.12 14.33 14.28
13518 895.8 9.6 659 13523 done 0.56 - - 2393 - 2.47 0.060 2212 -566.8 116.8 - - 2232 - - - - - - - - 14.53 14.42 14.57
13882 862.7 9.2 669 13887 roll 0.56 - - 2404 - 2.60 0.076 790 -546.9 116.8 - - 2235 - - - - - - - - 14.81 14.35 14.82
13930 858.3 9.0 676 13937 done 0.56 - - 2404 - 2.62 0.068 2214 543.5 116.8 - - 2231 - - - - - - - - 14.40 14.33 14.45
14275 826.5 9.2 683 14280 roll 0.51 0.12 0.272 2369 -291.7 2.55 0.092 3609 547.1 116.8 - - 2233 - - - - - - - - 14.11 14.31 14.26
14357 819.3 8.2 695 14363 done 0.51 - - 2378 - 2.47 0.059 2205 -568.4 116.8 - - 2230 - - - - - - - - 14.51 14.40 14.56
14722 792.1 7.5 705 14728 roll 0.51 - - 2389 - 2.58 0.079 794 -546.9 116.8 - - 2230 - - - - - - - - 14.83 14.26 14.85
14771 788.5 7.2 712 14777 done 0.51 - - 2389 - 2.60 0.067 2217 547.3 118.9 - - 2229 - - - - - - - - 14.49 14.36 14.54
15114 762.8 7.6 719 15119 roll 0.51 - - 2389 - 2.58 0.094 3615 541.9 118.9 - - 2231 - - - - - - - - 14.85 14.29 14.88
15198 755.3 8.9 731 15203 done 0.47 0.20 0.252 2352 -185.0 2.47 0.060 2217 -566.0 118.9 - - 2229 - - - - - - - - 14.04 14.41 14.37
15563 732.0 6.2 741 15602 roll 0.48 - - 2362 - 2.62 0.076 797 -542.0 144.8 30.02 1.719 2140 -3.0 0.246 - - - - - - 14.83 14.42 13.67
15670 724.8 7.0 756 15677 done 0.54 - - 2362 - 2.60 0.065 2220 547.3 153.2 2.65 0.762 2114 -9.8 1.821 - - - - - - 14.42 14.31 13.28
16012 699.4 7.5 763 16016 roll 0.54 - - 2362 - 2.58 0.093 3619 542.2 153.2 - - 2120 - - - - - - - - 14.75 14.28 14.76
16086 693.2 8.1 774 16093 done 0.54 - - 2372 - 2.47 0.060 2217 -567.6 153.2 - - 2121 - - - - - - - - 14.46 14.35 14.50
16402 669.7 7.4 784 16407 roll 0.54 - - 2382 - 2.60 0.076 788 -549.6 153.2 - - 2121 - - - - - - - - 14.81 14.31 14.83
16465 665.3 7.0 793 16485 done 0.55 - - 2382 - 2.60 0.065 2225 552.7 160.9 16.50 1.711 2083 -2.3 0.175 - - - - - - 14.47 14.34 13.73
16843 636.9 7.5 805 16848 roll 0.55 - - 2382 - 2.58 0.094 3619 540.3 160.9 - - 2066 - - - - - - - - 14.76 14.29 14.78
16920 630.5 8.3 816 16925 done 0.55 - - 2391 - 2.47 0.061 2218 -567.2 160.9 - - 2065 - - - - - - - - 14.50 14.38 14.54
17236 604.6 8.4 826 17241 roll 0.55 - - 2400 - 2.62 0.076 795 -543.1 160.9 - - 2065 - - - - - - - - 14.78 14.31 14.81
17292 599.9 8.3 834 17297 done 0.55 - - 2401 - 2.60 0.064 2227 550.8 160.9 - - 2067 - - - - - - - - 14.47 14.35 14.53
17628 570.1 8.9 847 17633 roll 0.55 - - 2401 - 2.55 0.093 3608 541.6 160.9 - - 2065 - - - - - - - - 14.82 14.28 14.84
17689 564.0 9.8 856 17695 done 0.55 0.08 0.230 2380 -262.5 2.50 0.058 2219 -555.6 160.9 - - 2064 - - - - - - - - 14.09 14.35 14.38
18019 539.0 7.5 868 18024 roll 0.55 - - 2390 - 2.62 0.074 787 -546.6 160.9 - - 2064 - - - - - - - - 14.84 14.30 14.86
18062 535.8 7.7 874 18067 done 0.55 - - 2390 - 2.60 0.065 2226 553.5 160.9 - - 2064 - - - - - - - - 14.47 14.35 14.53
18411 506.0 8.7 882 18417 roll 0.55 - - 2390 - 2.55 0.094 3608 542.0 160.9 - - 2064 - - - - - - - - 14.85 14.26 14.86
18487 498.5 9.6 893 18493 done 0.55 - - 2398 - 2.45 0.058 2224 -564.9 160.9 - - 2064 - - - - - - - - 14.47 14.35 14.52
18804 469.4 9.3 903 18809 roll 0.55 - - 2406 - 2.62 0.077 797 -544.7 160.9 - - 2064 - - - - - - - - 14.82 14.28 14.83
18865 463.8 8.8 912 18871 done 0.55 0.12 0.247 2379 -225.0 2.60 0.064 2233 552.3 160.9 - - 2063 - - - - - - - - 14.06 14.28 14.34
19197 439.2 7.3 924 19201 roll 0.55 - - 2379 - 2.55 0.095 3612 540.8 162.0 - - 2063 - - - - - - - - 14.81 14.24 14.83
19278 432.7 7.7 936 19284 done 0.55 - - 2388 - 2.47 0.058 2233 -558.3 162.0 - - 2063 - - - - - - - - 14.38 14.33 14.42
19644 405.8 7.6 946 19649 roll 0.55 - - 2398 - 2.65 0.073 784 -546.8 162.0 - - 2063 - - - - - - - - 14.85 14.27 14.88
19706 401.0 7.5 955 19711 done 0.55 - - 2398 - 2.62 0.064 2231 552.3 162.0 - - 2063 - - - - - - - - 14.45 14.32 14.50
20035 374.0 8.3 967 20040 roll 0.55 - - 2398 - 2.58 0.093 3615 536.4 162.0 - - 2063 - - - - - - - - 14.82 14.23 14.84
20091 368.7 9.7 975 20097 done 0.55 0.12 0.255 2379 -158.3 2.47 0.060 2219 -565.2 162.0 - - 2063 - - - - - - - - 14.09 14.36 14.37
20428 343.1 7.5 988 20433 roll 0.55 - - 2388 - 2.62 0.075 789 -545.8 162.0 - - 2063 - - - - - - - - 14.83 14.27 14.84
20469 340.0 7.5 994 20475 done 0.55 - - 2388 - 2.62 0.064 2239 553.4 162.0 - - 2063 - - - - - - - - 14.46 14.33 14.52
20819 312.3 8.0 1002 20825 roll 0.55 - - 2388 - 2.53 0.090 3613 543.1 162.0 - - 2063 - - - - - - - - 14.83 14.23 14.84
20876 307.1 9.3 1010 20882 done 0.55 - - 2395 - 2.45 0.057 2222 -567.8 162.0 - - 2063 - - - - - - - - 14.48 14.38 14.52
21211 279.3 8.3 1023 21216 roll 0.55 - - 2405 - 2.62 0.074 786 -548.1 162.0 - - 2063 - - - - - - - - 14.85 14.26 14.88
21267 274.7 8.3 1031 21272 done 0.55 - - 2405 - 2.62 0.063 2236 553.4 162.0 - - 2063 - - - - - - - - 14.45 14.33 14.51
21605 244.6 9.0 1044 21609 roll 0.55 - - 2404 - 2.53 0.090 3608 542.3 162.0 - - 2062 - - - - - - - - 14.82 14.24 14.84
21693 235.5 9.7 1057 21699 done 0.55 0.08 0.228 2385 -237.5 2.45 0.056 2241 -558.0 162.0 - - 2064 - - - - - - - - 14.04 14.33 14.35
22052 210.2 6.9 1066 22059 done 0.55 - - 2381 - - - 2240 - 173.3 5.25 1.117 2034 -5.7 0.210 - - - - - - 14.85 14.57 13.74
22388 188.3 6.5 1072 22422 roll 0.56 - - 2381 - 2.58 0.088 3608 530.2 192.5 29.75 1.157 1951 -2.8 0.089 - - - - - - 14.82 14.47 13.88
22477 181.7 7.9 1085 22483 done 0.56 - - 2388 - 2.45 0.054 2214 -569.0 192.5 - - 1938 - - - - - - - - 14.47 14.36 14.50
22829 155.6 7.6 1093 22834 roll 0.56 - - 2396 - 2.58 0.072 797 -549.2 192.5 - - 1936 - - - - - - - - 14.76 14.29 14.77
22863 152.9 7.4 1098 22869 done 0.62 - - 2394 - 2.65 0.060 2246 546.8 192.5 - - 1936 - - - - - - - - 14.46 14.28 14.51
23220 126.0 7.4 1107 23225 roll 0.62 - - 2396 - 2.53 0.089 3610 539.1 192.5 - - 1936 - - - - - - - - 14.79 14.26 14.81
23290 120.2 8.2 1117 23295 done 0.62 - - 2404 - 2.40 0.054 2242 -570.0 192.5 - - 1935 - - - - - - - - 14.49 14.38 14.53
23612 95.2 7.7 1129 23617 roll 0.62 - - 2409 - 2.65 0.072 793 -546.8 192.5 - - 1935 - - - - - - - - 14.83 14.31 14.85
23661 91.5 7.9 1136 23667 done 0.68 - - 2409 - 2.62 0.060 2244 553.8 192.5 - - 1934 - - - - - - - - 14.47 14.35 14.52
23978 70.2 5.3 1148 24007 done 0.77 0.12 0.129 2462 441.7 - - 2244 - 241.2 27.85 0.338 1755 -6.4 0.261 - - - - - - 14.43 14.52 14.21
24313 50.7 5.1 1160 24349 done 0.85 - - 2462 - - - 2244 - 294.3 35.38 0.285 1537 -6.2 0.214 - - - - - - 14.79 14.54 14.23
24649 36.9 3.7 1172 24710 roll 1.01 0.15 0.118 2546 560.0 2.62 0.065 784 -557.3 380.2 55.33 0.240 1187 -6.3 0.190 - - - - - - 14.43 14.41 14.23
24749 30.8 6.5 1186 24766 done 1.09 - - 2546 - 2.58 0.057 2238 563.6 399.5 13.15 0.220 1112 -5.7 0.156 - - - - - - 14.49 14.38 14.19
25094 8.1 6.7 1202 25108 roll 1.18 - - 2546 - 2.45 0.078 3608 559.2 413.8 10.43 0.153 1049 -6.0 0.062 - - - - - - 14.76 14.34 14.22
25155 end climb: SURFACE_DEPTH_REACHED
25155 begin surface coast
25186 end surface coast: CONTROL_FINISHED_OK
25186 begin surface
SM 0.80 - - - - -6.12 6.75 0.072 213 31.5 2.33 0.044 2271 -2721.5 500.17 54.50 0.135 699 12.8 -0.008 - - - - - -