SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 55.48 of 350.00 AH used of 24V (84.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 20 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 103 VBD -0.68 - - 214 - - - 2293 - -116.8 -84.30 - 2871 - - - - - - - - 14.76 - 14.78
107 4.5 -6.2 3 131 roll -0.68 8.88 0.429 1981 199.0 2.75 2.108 869 -517.8 -116.8 -6.20 - 3220 -56.3 - - - - - - - 14.26 13.50 14.60
259 52.0 -22.4 25 265 done -0.47 0.30 0.311 2040 196.7 2.47 0.070 2273 568.4 -116.8 - - 3221 - - - - - - - - 14.38 14.57 14.61
581 97.0 -9.7 38 585 roll -0.38 0.12 0.276 2064 200.0 2.45 0.082 3694 580.0 -116.8 - - 3222 - - - - - - - - 14.52 14.65 14.64
699 105.5 -5.8 55 704 done -0.38 - - 2065 - 2.42 0.047 2251 -596.3 -116.8 - - 3225 - - - - - - - - 14.75 14.71 14.80
1029 127.2 -6.9 67 1033 roll -0.38 - - 2056 - 2.55 0.090 3701 568.6 -116.8 - - 3225 - - - - - - - - 14.95 14.71 14.97
1112 133.3 -7.1 79 1117 done -0.38 - - 2056 - 2.33 0.047 2286 -607.3 -116.8 - - 3225 - - - - - - - - 14.84 14.78 14.85
1476 159.3 -7.2 89 1482 roll -0.38 - - 2056 - 2.38 0.058 885 -588.7 -116.8 - - 3222 - - - - - - - - 14.98 14.76 15.00
1510 161.9 -7.6 94 1516 done -0.38 - - 2055 - 2.50 0.070 2291 562.4 -116.8 - - 3224 - - - - - - - - 14.79 14.73 14.83
1869 187.5 -7.1 103 1874 roll -0.38 - - 2047 - 2.45 0.091 3701 575.5 -116.8 - - 3221 - - - - - - - - 15.00 14.75 15.02
1951 193.9 -7.6 115 1957 done -0.38 - - 2047 - 2.38 0.049 2289 -593.3 -116.8 - - 3220 - - - - - - - - 14.83 14.80 14.85
2316 221.2 -7.4 125 2322 roll -0.38 - - 2047 - 2.40 0.060 879 -587.5 -116.8 - - 3218 - - - - - - - - 15.01 14.78 15.02
2449 230.6 -6.7 144 2455 done -0.38 0.12 0.270 2071 200.0 2.47 0.073 2285 569.2 -116.8 - - 3217 - - - - - - - - 14.64 14.76 14.83
2764 249.2 -5.9 154 2769 roll -0.38 - - 2063 - 2.47 0.094 3695 570.9 -116.8 - - 3215 - - - - - - - - 15.02 14.75 15.04
2806 252.0 -7.0 160 2811 done -0.38 - - 2063 - 2.38 0.056 2277 -595.8 -116.8 - - 3215 - - - - - - - - 14.88 14.81 14.90
3157 277.9 -7.5 168 3161 roll -0.38 - - 2063 - 2.40 0.067 879 -582.5 -116.8 - - 3212 - - - - - - - - 15.02 14.78 15.04
3253 285.8 -8.0 182 3259 done -0.38 - - 2058 - 2.47 0.075 2285 569.2 -116.8 - - 3211 - - - - - - - - 14.85 14.73 14.88
3605 312.8 -7.7 190 3610 roll -0.38 - - 2055 - 2.50 0.099 3701 566.4 -116.8 - - 3210 - - - - - - - - 15.02 14.74 15.04
3652 316.7 -8.0 197 3661 done -0.38 - - 2055 - 2.42 0.056 2272 -590.5 -116.8 - - 3209 - - - - - - - - 14.83 14.79 14.85
3996 343.7 -7.8 204 4001 roll -0.38 - - 2055 - 2.38 0.067 884 -583.2 -116.8 - - 3207 - - - - - - - - 15.02 14.77 15.04
4115 353.2 -7.9 221 4121 done -0.38 - - 2055 - 2.47 0.077 2262 557.9 -116.8 - - 3206 - - - - - - - - 14.80 14.73 14.84
4444 378.5 -7.7 233 4450 roll -0.38 - - 2046 - 2.50 0.098 3693 572.4 -116.8 - - 3204 - - - - - - - - 15.02 14.73 15.03
4500 383.0 -8.1 241 4506 done -0.38 0.12 0.236 2075 241.7 2.40 0.058 2265 -595.0 -116.8 - - 3205 - - - - - - - - 14.64 14.81 14.82
4837 405.0 -6.4 254 4842 roll -0.43 - - 2075 - 2.38 0.067 884 -580.3 -116.8 - - 3201 - - - - - - - - 15.01 14.76 15.03
4934 411.6 -6.7 268 4939 done -0.49 - - 2072 - 2.45 0.079 2264 563.3 -116.8 - - 3201 - - - - - - - - 14.85 14.74 14.88
5285 432.8 -6.0 276 5286 done -0.53 0.15 0.123 2010 -413.3 - - 2264 - -116.8 - - 3200 - - - - - - - - 14.79 14.88 14.87
5620 461.2 -8.7 282 5625 roll -0.53 - - 2009 - 2.40 0.065 884 -575.0 -116.8 - - 3198 - - - - - - - - 15.02 14.76 15.05
5717 470.0 -8.9 296 5723 done -0.53 - - 2006 - 2.47 0.080 2249 552.6 -116.8 - - 3197 - - - - - - - - 14.78 14.73 14.83
6069 500.7 -8.8 304 6073 roll -0.53 - - 2006 - 2.38 0.064 884 -573.5 -116.8 - - 3196 - - - - - - - - 15.00 14.76 15.03
6096 503.3 -9.5 308 6101 done -0.53 - - 2001 - 2.45 0.080 2257 560.4 -116.8 - - 3195 - - - - - - - - 14.84 14.73 14.87
6460 536.7 -9.1 318 6461 done -0.53 - - 1999 - - - 2257 - -116.8 - - 3194 - - - - - - - - 15.01 15.03 15.03
6797 566.2 -8.8 324 6798 done -0.53 - - 1999 - - - 2257 - -116.8 - - 3193 - - - - - - - - 15.01 15.03 15.02
7132 594.6 -8.5 330 7137 roll -0.53 - - 1990 - 2.55 0.103 3692 562.7 -116.8 - - 3193 - - - - - - - - 15.00 14.71 15.03
7201 601.2 -9.6 340 7207 done -0.53 0.08 0.241 2026 450.0 2.47 0.061 2262 -578.9 -116.8 - - 3192 - - - - - - - - 14.57 14.78 14.79
7525 627.8 -8.3 351 7530 roll -0.53 - - 2025 - 2.40 0.068 874 -578.3 -116.8 - - 3191 - - - - - - - - 15.00 14.73 15.02
7593 634.1 -8.9 361 7600 done -0.53 - - 2025 - 2.53 0.084 2252 544.7 -116.8 - - 3190 - - - - - - - - 14.76 14.69 14.80
7917 661.3 -8.4 372 7921 roll -0.53 - - 2025 - 2.40 0.069 879 -572.1 -116.8 - - 3189 - - - - - - - - 15.00 14.73 15.02
7986 667.2 -8.3 382 7991 done -0.53 - - 2016 - 2.47 0.082 2262 559.9 -116.8 - - 3189 - - - - - - - - 14.82 14.70 14.85
8308 692.2 -7.7 393 8314 roll -0.53 - - 2008 - 2.55 0.105 3692 560.8 -116.8 - - 3188 - - - - - - - - 15.00 14.69 15.02
8349 695.4 -7.9 399 8355 done -0.53 - - 2008 - 2.47 0.060 2260 -579.8 -116.8 - - 3188 - - - - - - - - 14.78 14.73 14.81
8701 721.7 -7.5 407 8706 roll -0.53 - - 2008 - 2.40 0.070 881 -574.6 -116.8 - - 3186 - - - - - - - - 15.00 14.71 15.01
8776 727.7 -7.8 418 8782 done -0.53 - - 2001 - 2.53 0.084 2255 543.1 -116.8 - - 3186 - - - - - - - - 14.74 14.66 14.85
9092 753.1 -8.1 428 9097 roll -0.53 - - 1992 - 2.60 0.109 3699 555.4 -116.8 - - 3185 - - - - - - - - 14.97 14.66 15.00
9134 756.9 -9.3 434 9139 done -0.53 0.12 0.265 2019 225.0 2.47 0.064 2252 -585.8 -116.8 - - 3184 - - - - - - - - 14.53 14.76 14.76
9485 782.0 -7.1 442 9490 roll -0.53 - - 2020 - 2.40 0.076 881 -571.2 -116.8 - - 3184 - - - - - - - - 14.99 14.70 15.03
9553 787.3 -7.6 452 9559 done -0.53 - - 2015 - 2.53 0.085 2255 543.1 -116.8 - - 3184 - - - - - - - - 14.82 14.63 14.83
9877 810.9 -7.4 463 9882 roll -0.53 - - 2008 - 2.60 0.109 3695 553.8 -116.8 - - 3182 - - - - - - - - 14.99 14.65 15.00
9939 815.5 -6.3 472 9944 done -0.53 - - 2009 - 2.47 0.065 2252 -584.2 -116.8 - - 3182 - - - - - - - - 14.81 14.73 14.83
10268 839.6 -7.3 484 10273 roll -0.53 - - 2008 - 2.40 0.075 878 -572.5 -116.8 - - 3182 - - - - - - - - 14.98 14.70 15.00
10317 843.5 -8.1 491 10323 done -0.53 - - 2004 - 2.50 0.086 2254 550.4 -116.8 - - 3182 - - - - - - - - 14.78 14.66 14.81
10661 871.6 -8.3 498 10665 roll -0.53 - - 1997 - 2.60 0.111 3692 553.1 -116.8 - - 3181 - - - - - - - - 14.97 14.64 14.99
10722 876.7 -8.9 507 10728 done -0.53 0.12 0.267 2026 241.7 2.50 0.066 2239 -581.2 -116.8 - - 3180 - - - - - - - - 14.46 14.71 14.70
11053 902.2 -7.8 519 11054 done -0.53 - - 2026 - - - 2231 - -116.8 - - 3180 - - - - - - - - 14.97 14.99 14.98
11388 926.6 -7.3 525 11394 roll -0.53 - - 2026 - 2.38 0.070 879 -568.1 -116.8 - - 3179 - - - - - - - - 14.97 14.67 14.97
11444 930.7 -7.3 533 11450 done -0.53 - - 2025 - 2.50 0.087 2252 549.2 -116.8 - - 3176 - - - - - - - - 14.78 14.64 14.81
11781 951.4 -5.8 546 11782 done -0.53 - - 2025 - - - 2252 - -116.8 - - 3178 - - - - - - - - 14.97 14.99 14.99
12116 969.7 -5.2 552 12121 roll -0.53 - - 2025 - 2.45 0.073 873 -562.9 -116.8 - - 3177 - - - - - - - - 14.97 14.66 15.00
12158 972.1 -3.5 558 12163 done -0.53 - - 2024 - 2.53 0.087 2258 547.4 -116.8 - - 3177 - - - - - - - - 14.76 14.64 14.80
12505 end dive: TARGET_DEPTH_EXCEEDED
12505 begin apogee
12513 990.8 -5.4 566 12703 roll -0.19 0.40 0.230 2136 280.0 - - 2259 - - 187.95 1.721 2739 -2.3 0.250 - - - - - - 14.46 14.01 13.43
12705 end apogee: CONTROL_FINISHED_OK
12705 begin climb
12708 994.8 - 569 12867 roll 0.68 0.90 0.156 2408 302.2 2.70 0.075 826 -530.7 116.8 147.15 1.935 2259 -3.3 0.312 - - - - - - 13.98 14.02 13.19
12958 976.0 9.2 609 12963 done 0.68 - - 2408 - 2.67 0.088 2236 528.1 116.8 - - 2235 - - - - - - - - 14.20 14.10 14.23
13295 942.4 9.9 622 13301 roll 0.62 - - 2418 - 2.60 0.094 839 -537.3 116.8 - - 2230 - - - - - - - - 14.66 14.40 14.69
13433 929.2 9.4 642 13440 done 0.62 - - 2418 - 2.62 0.090 2255 540.5 116.8 - - 2229 - - - - - - - - 14.57 14.46 14.61
13799 891.9 10.3 652 13803 roll 0.55 0.15 0.285 2379 -260.0 2.58 0.117 3647 539.5 116.8 - - 2227 - - - - - - - - 14.40 14.53 14.55
13875 884.1 9.9 663 13880 done 0.55 - - 2388 - 2.47 0.080 2259 -561.9 116.8 - - 2227 - - - - - - - - 14.68 14.57 14.71
14190 853.5 9.8 673 14195 roll 0.55 - - 2399 - 2.62 0.097 821 -548.9 116.8 - - 2226 - - - - - - - - 14.88 14.59 14.90
14232 849.3 11.7 679 14237 done 0.55 - - 2399 - 2.60 0.089 2245 547.7 116.8 - - 2225 - - - - - - - - 14.71 14.59 14.75
14583 811.8 10.9 687 14588 roll 0.50 0.12 0.286 2367 -266.7 2.55 0.114 3641 547.5 116.8 - - 2225 - - - - - - - - 14.45 14.59 14.61
14679 801.8 9.9 701 14685 done 0.50 - - 2376 - 2.50 0.080 2255 -554.4 116.8 - - 2224 - - - - - - - - 14.68 14.61 14.71
15030 769.7 9.0 709 15035 roll 0.50 - - 2387 - 2.62 0.098 809 -551.9 116.8 - - 2224 - - - - - - - - 14.91 14.61 14.93
15099 763.6 8.5 719 15105 done 0.50 - - 2387 - 2.62 0.089 2256 552.3 116.8 - - 2224 - - - - - - - - 14.75 14.62 14.78
15422 734.9 8.8 730 15428 roll 0.50 - - 2387 - 2.55 0.118 3639 542.4 116.8 - - 2224 - - - - - - - - 14.92 14.60 14.94
15457 731.5 9.6 735 15463 done 0.45 0.20 0.261 2349 -190.0 2.47 0.080 2241 -566.0 116.8 - - 2223 - - - - - - - - 14.47 14.66 14.72
15814 707.9 6.4 744 15840 roll 0.46 - - 2360 - 2.60 0.094 815 -548.5 138.4 19.92 1.756 2167 -2.8 0.211 - - - - - - 14.92 14.56 14.01
15891 703.0 6.5 755 15919 done 0.52 - - 2359 - 2.62 0.086 2249 547.3 158.1 24.33 1.744 2095 -3.0 0.222 - - - - - - 14.66 14.55 13.82
16263 676.0 7.4 766 16268 roll 0.52 - - 2360 - 2.60 0.117 3652 539.6 158.1 - - 2071 - - - - - - - - 14.77 14.50 14.79
16338 669.5 8.4 777 16344 done 0.52 - - 2365 - 2.53 0.080 2261 -549.8 158.1 - - 2070 - - - - - - - - 14.59 14.53 14.63
16655 643.6 8.3 787 16660 roll 0.52 - - 2378 - 2.62 0.094 820 -550.0 158.1 - - 2070 - - - - - - - - 14.85 14.57 14.86
16737 636.6 8.4 799 16743 done 0.52 - - 2378 - 2.60 0.084 2254 551.5 158.1 - - 2069 - - - - - - - - 14.70 14.59 14.73
17102 602.7 9.5 809 17107 roll 0.52 - - 2378 - 2.55 0.116 3640 543.5 158.1 - - 2068 - - - - - - - - 14.89 14.59 14.91
17159 596.7 10.8 817 17163 done 0.52 - - 2386 - 2.47 0.078 2247 -564.0 158.1 - - 2067 - - - - - - - - 14.74 14.64 14.77
17495 562.7 10.1 830 17500 roll 0.52 - - 2397 - 2.58 0.093 820 -553.1 158.1 - - 2067 - - - - - - - - 14.90 14.62 14.93
17514 560.7 9.9 833 17520 done 0.52 - - 2397 - 2.62 0.085 2266 551.9 158.1 - - 2067 - - - - - - - - 14.74 14.62 14.78
17831 529.3 9.9 843 17836 roll 0.52 - - 2396 - 2.53 0.114 3645 545.1 158.1 - - 2070 - - - - - - - - 14.92 14.62 14.94
17906 521.4 10.0 854 17913 done 0.52 0.10 0.232 2377 -190.0 2.50 0.078 2259 -554.4 158.1 - - 2067 - - - - - - - - 14.49 14.63 14.64
18222 498.6 7.0 864 18227 roll 0.53 - - 2386 - 2.60 0.093 814 -555.8 165.9 - - 2067 - - - - - - - - 14.92 14.63 14.94
18279 494.9 6.7 872 18312 done 0.54 - - 2386 - 2.62 0.087 2261 552.3 180.5 24.67 1.515 1998 -2.8 0.170 - - - - - - 14.76 14.64 14.02
18670 463.5 8.2 886 18676 roll 0.54 - - 2386 - 2.53 0.114 3637 543.9 180.5 - - 1989 - - - - - - - - 14.84 14.56 14.86
18747 456.2 9.4 897 18752 done 0.54 - - 2396 - 2.42 0.076 2261 -568.6 180.5 - - 1984 - - - - - - - - 14.70 14.61 14.73
19063 425.1 10.1 907 19068 roll 0.54 - - 2405 - 2.60 0.090 822 -553.5 180.5 - - 1985 - - - - - - - - 14.88 14.60 14.89
19145 416.6 9.9 919 19151 done 0.54 0.12 0.250 2376 -241.7 2.60 0.083 2261 553.5 180.5 - - 1984 - - - - - - - - 14.52 14.62 14.72
19511 383.7 9.0 929 19515 roll 0.54 - - 2376 - 2.53 0.113 3641 545.5 180.5 - - 1986 - - - - - - - - 14.90 14.61 14.92
19566 378.3 9.7 937 19571 done 0.54 - - 2385 - 2.42 0.076 2259 -571.1 180.5 - - 1983 - - - - - - - - 14.75 14.66 14.78
19903 347.2 9.2 950 19908 roll 0.54 - - 2394 - 2.60 0.089 817 -554.6 180.5 - - 1983 - - - - - - - - 14.92 14.63 14.93
19959 342.2 8.8 958 19965 done 0.54 - - 2394 - 2.62 0.083 2268 553.8 180.5 - - 1983 - - - - - - - - 14.76 14.64 14.79
20295 311.0 9.2 971 20300 roll 0.54 - - 2394 - 2.50 0.112 3647 551.6 180.5 - - 1983 - - - - - - - - 14.93 14.62 14.95
20351 305.4 10.0 979 20355 done 0.54 - - 2400 - 2.45 0.074 2254 -568.6 180.5 - - 1983 - - - - - - - - 14.77 14.67 14.80
20687 272.7 9.8 992 20691 roll 0.54 - - 2414 - 2.58 0.090 822 -555.0 180.5 - - 1983 - - - - - - - - 14.93 14.64 14.95
20742 267.2 9.5 1000 20747 done 0.54 0.15 0.245 2377 -246.7 2.60 0.083 2266 555.4 180.5 - - 1983 - - - - - - - - 14.54 14.64 14.75
21078 240.2 7.9 1013 21083 roll 0.54 - - 2377 - 2.50 0.109 3644 551.2 180.5 - - 1982 - - - - - - - - 14.94 14.63 14.96
21127 236.1 8.5 1020 21133 done 0.54 - - 2385 - 2.45 0.073 2251 -568.6 180.5 - - 1983 - - - - - - - - 14.77 14.69 14.81
21470 208.8 8.0 1027 21475 roll 0.54 - - 2394 - 2.58 0.090 822 -553.9 180.5 - - 1983 - - - - - - - - 14.94 14.64 14.97
21527 204.2 8.1 1035 21531 done 0.59 - - 2394 - 2.60 0.080 2268 556.2 180.5 - - 1981 - - - - - - - - 14.77 14.65 14.81
21863 174.9 8.7 1048 21867 roll 0.59 - - 2394 - 2.50 0.108 3644 550.4 180.5 - - 1983 - - - - - - - - 14.94 14.64 14.96
21910 170.4 9.5 1055 21917 done 0.59 - - 2403 - 2.45 0.071 2267 -562.0 180.5 - - 1982 - - - - - - - - 14.73 14.67 14.76
22254 141.3 8.5 1062 22260 roll 0.59 - - 2411 - 2.60 0.087 824 -555.0 180.5 - - 1983 - - - - - - - - 14.97 14.65 14.96
22303 137.0 8.7 1069 22309 done 0.59 - - 2413 - 2.60 0.080 2258 551.5 180.5 - - 1983 - - - - - - - - 14.77 14.66 14.81
22647 107.0 8.4 1076 22651 roll 0.59 - - 2412 - 2.50 0.107 3639 552.4 180.5 - - 1983 - - - - - - - - 14.95 14.63 14.96
22779 97.3 6.9 1095 22787 done 0.59 0.08 0.223 2388 -300.0 2.42 0.069 2272 -564.9 190.3 3.30 0.185 1962 -6.4 0.622 - - - - - - 14.54 14.67 14.45
23098 83.2 4.0 1107 23156 roll 0.74 0.12 0.135 2457 575.0 2.62 0.085 814 -556.5 268.6 51.12 0.389 1644 -6.2 0.247 - - - - - - 14.71 14.59 14.35
23165 80.1 4.8 1117 23208 done 0.84 - - 2453 - 2.60 0.078 2270 560.0 329.3 38.85 0.386 1398 -6.3 0.244 - - - - - - 14.69 14.59 14.30
23518 59.2 5.4 1134 23555 roll 1.03 0.20 0.102 2559 530.0 2.47 0.101 3639 554.3 375.8 31.73 0.304 1211 -5.9 0.213 - - - - - - 14.64 14.52 14.33
23630 50.0 9.9 1150 23636 done 1.03 0.15 0.268 2533 -173.3 2.30 0.067 2317 -574.8 375.8 2.22 0.169 1206 -2.3 0.124 - - - - - - 14.43 14.60 14.48
23969 27.3 5.6 1165 24005 roll 1.14 - - 2533 - 2.75 0.081 818 -545.1 418.0 28.08 0.207 1033 -6.2 0.151 - - - - - - 14.86 14.58 14.47
24101 18.8 6.6 1184 24119 done 1.28 0.22 0.086 2631 445.5 2.62 0.070 2306 567.9 435.5 12.32 0.180 962 -5.8 0.112 - - - - - - 14.65 14.59 14.49
24242 end climb: SURFACE_DEPTH_REACHED
24242 begin surface coast
24270 end surface coast: CONTROL_FINISHED_OK
24270 begin surface
SM 1.07 - - - - -6.14 6.85 0.068 215 31.4 0.08 0.177 2283 -114337.5 500.17 41.45 0.132 699 16.9 -0.014 - - - - - -