SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 124 * Raw log
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• Previous call tries 1 • 55.83 of 350.00 AH used of 24V (84.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.98 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 21 s • Transponder ping count: 7
• 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
13 begin dive
17 - - - 103 VBD -0.68 - - 214 - - - 2274 - -116.8 -84.68 - 2889 - - - - - - - - 14.76 - 14.78
107 4.5 -5.8 3 131 roll -0.68 8.77 0.424 1981 201.5 2.70 2.104 864 -522.2 -116.8 -5.93 - 3220 -55.8 - - - - - - - 14.28 13.47 14.61
246 51.3 -25.3 23 252 done -0.46 0.30 0.293 2044 210.0 2.50 0.072 2284 568.0 -116.8 - - 3221 - - - - - - - - 14.40 14.57 14.62
609 105.8 -9.8 38 614 roll -0.37 0.12 0.272 2068 200.0 2.42 0.081 3693 582.2 -116.8 - - 3223 - - - - - - - - 14.55 14.66 14.67
706 112.9 -7.1 52 712 done -0.37 - - 2068 - 2.38 0.050 2258 -602.9 -116.8 - - 3225 - - - - - - - - 14.81 14.73 14.81
1057 135.5 -6.2 60 1063 roll -0.37 - - 2058 - 2.53 0.089 3693 567.2 -116.8 - - 3225 - - - - - - - - 14.96 14.71 14.98
1175 144.2 -7.8 77 1180 done -0.37 - - 2058 - 2.33 0.048 2280 -606.4 -116.8 - - 3225 - - - - - - - - 14.85 14.78 14.86
1505 169.4 -7.6 89 1509 roll -0.37 - - 2057 - 2.35 0.060 890 -591.5 -116.8 - - 3224 - - - - - - - - 15.00 14.77 15.01
1665 181.6 -7.6 112 1672 done -0.37 - - 2056 - 2.47 0.072 2280 562.8 -116.8 - - 3223 - - - - - - - - 14.80 14.73 14.81
2009 206.1 -7.1 119 2014 roll -0.37 - - 2056 - 2.38 0.060 890 -584.0 -116.8 - - 3220 - - - - - - - - 15.01 14.78 15.03
2043 208.7 -7.6 124 2049 done -0.37 - - 2056 - 2.47 0.073 2275 560.7 -116.8 - - 3220 - - - - - - - - 14.81 14.75 14.84
2401 235.8 -7.7 133 2402 done -0.37 - - 2060 - - - 2275 - -116.8 - - 3218 - - - - - - - - 15.02 15.04 15.04
2737 262.3 -7.9 139 2738 done -0.37 - - 2056 - - - 2274 - -116.8 - - 3216 - - - - - - - - 15.02 15.04 15.04
3073 287.4 -7.3 145 3077 roll -0.37 - - 2056 - 2.40 0.060 881 -580.4 -116.8 - - 3213 - - - - - - - - 15.03 14.79 15.05
3121 291.0 -7.3 152 3128 done -0.37 - - 2056 - 2.50 0.076 2272 556.4 -116.8 - - 3213 - - - - - - - - 14.81 14.75 14.85
3465 313.5 -6.4 159 3470 roll -0.37 - - 2053 - 2.53 0.100 3701 564.8 -116.8 - - 3210 - - - - - - - - 15.02 14.75 15.04
3521 317.1 -6.5 167 3525 done -0.37 - - 2053 - 2.38 0.056 2286 -594.5 -116.8 - - 3210 - - - - - - - - 14.88 14.82 14.90
3857 339.2 -6.7 180 3862 roll -0.37 - - 2053 - 2.40 0.064 884 -584.2 -116.8 - - 3208 - - - - - - - - 15.02 14.78 15.04
3961 346.9 -7.2 195 3968 done -0.37 - - 2053 - 2.50 0.079 2287 561.2 -116.8 - - 3210 - - - - - - - - 14.86 14.76 14.89
4305 370.5 -6.9 202 4310 roll -0.37 - - 2043 - 2.50 0.099 3694 562.8 -116.8 - - 3205 - - - - - - - - 15.02 14.75 15.04
4346 373.6 -7.7 208 4353 done -0.37 0.10 0.203 2075 320.0 2.42 0.057 2279 -584.7 -116.8 - - 3204 - - - - - - - - 14.64 14.81 14.78
4697 395.5 -6.3 216 4703 roll -0.42 - - 2075 - 2.42 0.070 879 -578.5 -116.8 - - 3203 - - - - - - - - 15.02 14.77 15.04
4801 402.5 -6.6 231 4808 done -0.48 - - 2071 - 2.50 0.079 2260 552.4 -116.8 - - 3202 - - - - - - - - 14.80 14.73 14.83
5145 423.9 -6.2 238 5150 roll -0.53 0.12 0.137 2010 -508.3 2.55 0.100 3691 561.2 -116.8 - - 3201 - - - - - - - - 14.79 14.73 14.83
5172 426.0 -7.6 242 5177 done -0.53 - - 2012 - 2.45 0.057 2259 -584.5 -116.8 - - 3203 - - - - - - - - 14.83 14.79 14.85
5537 457.2 -8.6 252 5542 roll -0.53 - - 2011 - 2.38 0.066 877 -580.7 -116.8 - - 3199 - - - - - - - - 15.01 14.76 15.04
5613 463.8 -8.5 263 5618 done -0.53 - - 2005 - 2.47 0.082 2266 562.3 -116.8 - - 3198 - - - - - - - - 14.85 14.73 14.88
5929 489.7 -8.2 273 5933 roll -0.53 - - 1998 - 2.53 0.101 3692 563.6 -116.8 - - 3196 - - - - - - - - 15.02 14.73 15.04
5956 492.1 -8.6 277 5962 done -0.53 0.12 0.262 2027 241.7 2.45 0.054 2228 -597.6 -116.8 - - 3199 - - - - - - - - 14.59 14.80 14.83
6321 519.3 -7.4 287 6326 roll -0.53 - - 2027 - 2.33 0.067 880 -578.5 -116.8 - - 3195 - - - - - - - - 15.02 14.76 15.03
6404 526.0 -7.8 299 6409 done -0.53 - - 2024 - 2.50 0.081 2257 550.8 -116.8 - - 3194 - - - - - - - - 14.78 14.71 14.88
6769 554.5 -7.9 309 6774 roll -0.53 - - 2015 - 2.55 0.103 3690 562.0 -116.8 - - 3193 - - - - - - - - 15.01 14.71 15.03
6796 556.9 -8.6 313 6801 done -0.53 - - 2015 - 2.42 0.058 2260 -590.9 -116.8 - - 3193 - - - - - - - - 14.86 14.79 14.88
7161 586.2 -7.8 323 7165 roll -0.53 - - 2006 - 2.60 0.104 3701 554.2 -116.8 - - 3192 - - - - - - - - 15.01 14.71 15.02
7209 590.1 -8.1 330 7216 done -0.53 - - 2006 - 2.47 0.057 2258 -584.2 -116.8 - - 3191 - - - - - - - - 14.80 14.76 14.83
7553 615.4 -7.3 337 7558 roll -0.53 - - 2006 - 2.38 0.067 884 -577.3 -116.8 - - 3190 - - - - - - - - 15.00 14.74 15.02
7678 625.0 -7.4 355 7684 done -0.53 0.12 0.301 2026 166.7 2.47 0.083 2266 559.5 -116.8 - - 3189 - - - - - - - - 14.53 14.69 14.77
8001 646.0 -6.5 366 8006 roll -0.53 - - 2026 - 2.40 0.063 884 -575.8 -116.8 - - 3188 - - - - - - - - 15.00 14.73 15.01
8035 648.4 -7.0 371 8040 done -0.53 - - 2025 - 2.50 0.082 2258 549.6 -116.8 - - 3188 - - - - - - - - 14.85 14.68 14.86
8393 672.5 -6.8 380 8394 done -0.53 - - 2025 - - - 2258 - -116.8 - - 3188 - - - - - - - - 15.00 15.02 15.02
8729 695.4 -6.8 386 8730 done -0.53 - - 2025 - - - 2258 - -116.8 - - 3186 - - - - - - - - 15.00 15.02 15.02
9065 718.8 -7.0 392 9070 roll -0.53 - - 2014 - 2.60 0.106 3702 555.4 -116.8 - - 3185 - - - - - - - - 15.00 14.68 15.02
9113 722.6 -8.4 399 9120 done -0.53 - - 2015 - 2.47 0.062 2272 -578.9 -116.8 - - 3185 - - - - - - - - 14.78 14.73 14.81
9457 749.6 -8.0 406 9462 roll -0.53 - - 2016 - 2.45 0.074 881 -567.8 -116.8 - - 3185 - - - - - - - - 15.00 14.67 15.02
9603 761.9 -8.4 427 9609 done -0.53 - - 2012 - 2.53 0.086 2254 542.7 -116.8 - - 3183 - - - - - - - - 14.83 14.66 14.85
9961 790.3 -7.7 436 9961 done -0.53 - - 2012 - - - 2254 - -116.8 - - 3182 - - - - - - - - 14.99 15.00 15.01
10297 816.1 -7.6 442 10301 roll -0.53 - - 2006 - 2.60 0.112 3694 553.8 -116.8 - - 3182 - - - - - - - - 14.99 14.65 15.01
10353 820.3 -7.8 450 10357 done -0.53 - - 2006 - 2.47 0.064 2252 -583.8 -116.8 - - 3181 - - - - - - - - 14.81 14.73 14.83
10689 845.1 -7.3 463 10693 roll -0.53 - - 2011 - 2.40 0.073 882 -570.8 -116.8 - - 3181 - - - - - - - - 14.98 14.68 15.00
10745 849.0 -5.8 471 10750 done -0.53 0.12 0.295 2029 150.0 2.50 0.086 2261 551.6 -116.8 - - 3180 - - - - - - - - 14.48 14.66 14.73
11081 871.0 -6.6 484 11087 roll -0.53 - - 2015 - 2.60 0.109 3699 553.1 -116.8 - - 3179 - - - - - - - - 14.98 14.64 15.00
11157 876.5 -7.3 495 11162 done -0.53 - - 2015 - 2.53 0.065 2232 -579.8 -116.8 - - 3179 - - - - - - - - 14.80 14.71 14.83
11473 899.3 -7.3 505 11478 roll -0.53 - - 2015 - 2.38 0.077 879 -568.5 -116.8 - - 3179 - - - - - - - - 14.97 14.66 14.99
11507 902.0 -6.9 510 11512 done -0.53 - - 2015 - 2.50 0.087 2255 550.4 -116.8 - - 3178 - - - - - - - - 14.77 14.63 14.81
11865 928.1 -7.2 519 11870 roll -0.53 - - 2010 - 2.62 0.112 3702 552.3 -116.8 - - 3177 - - - - - - - - 14.96 14.62 14.97
11962 935.4 -7.4 533 11967 done -0.53 - - 2010 - 2.47 0.064 2256 -585.4 -116.8 - - 3177 - - - - - - - - 14.80 14.71 14.82
12313 959.6 -6.8 541 12318 roll -0.53 - - 2009 - 2.42 0.077 883 -567.4 -116.8 - - 3177 - - - - - - - - 14.96 14.65 14.99
12410 966.2 -6.5 555 12415 done -0.53 - - 2009 - 2.50 0.089 2254 548.4 -116.8 - - 3177 - - - - - - - - 14.76 14.62 14.78
12761 986.7 -5.8 563 12766 roll -0.53 - - 2004 - 2.62 0.115 3692 548.9 -116.8 - - 3176 - - - - - - - - 14.96 14.60 14.98
12806 end dive: TARGET_DEPTH_EXCEEDED
12806 begin apogee
12816 990.3 -6.1 570 13006 roll -0.19 0.47 0.239 2131 270.2 - - 2221 - - 188.18 1.714 2740 -2.3 0.249 - - - - - - 14.45 14.01 13.42
13008 end apogee: CONTROL_FINISHED_OK
13008 begin climb
13012 992.2 - 573 13168 roll 0.68 0.95 0.172 2407 290.5 2.78 0.114 3641 510.8 116.8 146.10 1.925 2259 -3.3 0.316 - - - - - - 13.95 14.00 13.19
13245 967.2 13.1 611 13250 done 0.60 - - 2417 - 2.58 0.080 2244 -541.5 116.8 - - 2235 - - - - 1 - - - 14.17 14.09 14.19
13595 922.7 12.7 619 13600 roll 0.53 0.15 0.284 2377 -266.7 2.62 0.111 3640 532.8 116.8 - - 2229 - - - - - - - - 14.28 14.40 14.43
13752 905.6 10.5 641 13756 done 0.53 - - 2387 - 2.53 0.080 2229 -557.7 116.8 - - 2227 - - - - - - - - 14.59 14.49 14.62
14100 871.4 9.7 649 14104 roll 0.53 - - 2397 - 2.58 0.098 822 -545.3 116.8 - - 2226 - - - - - - - - 14.83 14.54 14.85
14140 867.5 9.3 655 14146 done 0.53 - - 2397 - 2.62 0.087 2231 537.8 116.8 - - 2224 - - - - - - - - 14.62 14.54 14.67
14491 833.9 9.5 663 14496 roll 0.48 0.15 0.281 2360 -246.7 2.60 0.116 3649 545.4 116.8 - - 2224 - - - - - - - - 14.44 14.57 14.59
14548 828.6 9.4 671 14552 done 0.48 - - 2367 - 2.53 0.082 2230 -560.9 116.8 - - 2223 - - - - - - - - 14.71 14.61 14.74
14883 801.6 8.1 684 14889 roll 0.48 - - 2378 - 2.58 0.099 821 -546.1 116.8 - - 2223 - - - - - - - - 14.90 14.59 14.92
14946 796.4 8.2 693 14951 done 0.48 - - 2378 - 2.55 0.086 2226 551.0 116.8 - - 2222 - - - - - - - - 14.73 14.62 14.76
15276 767.5 8.8 705 15280 roll 0.48 - - 2378 - 2.60 0.115 3640 543.8 116.8 - - 2221 - - - - - - - - 14.91 14.59 14.93
15351 759.8 10.1 716 15358 done 0.48 - - 2387 - 2.55 0.078 2224 -555.3 116.8 - - 2222 - - - - - - - - 14.71 14.62 14.72
15668 729.2 9.7 726 15673 roll 0.48 0.12 0.290 2366 -175.0 2.55 0.095 815 -552.5 116.8 - - 2221 - - - - - - - - 14.47 14.62 14.62
15729 723.8 8.1 735 15735 done 0.48 - - 2366 - 2.62 0.087 2236 542.4 116.8 - - 2220 - - - - - - - - 14.78 14.61 14.80
16060 695.9 8.5 747 16064 roll 0.48 - - 2365 - 2.58 0.116 3639 543.8 116.8 - - 2220 - - - - - - - - 14.92 14.60 14.95
16136 688.7 9.3 758 16141 done 0.48 - - 2376 - 2.47 0.079 2237 -567.6 116.8 - - 2220 - - - - - - - - 14.76 14.65 14.79
16452 661.6 8.5 768 16457 roll 0.48 - - 2385 - 2.55 0.093 821 -555.3 116.8 - - 2220 - - - - - - - - 14.93 14.62 14.97
16520 656.0 7.9 778 16526 done 0.48 - - 2385 - 2.60 0.084 2234 543.5 116.8 - - 2220 - - - - - - - - 14.78 14.61 14.81
16844 629.0 8.4 789 16849 roll 0.48 - - 2385 - 2.58 0.116 3648 548.1 116.8 - - 2220 - - - - - - - - 14.94 14.60 14.95
16912 622.6 9.2 799 16918 done 0.48 0.10 0.239 2353 -320.0 2.53 0.081 2241 -556.1 116.8 - - 2221 - - - - - - - - 14.48 14.62 14.73
17236 600.8 6.7 810 17247 roll 0.49 - - 2362 - 2.60 0.094 823 -545.4 132.1 4.05 1.248 2199 -5.4 0.486 - - - - - - 14.93 14.69 13.88
17319 595.1 6.8 822 17348 done 0.55 - - 2362 - 2.58 0.085 2246 551.6 144.3 24.88 1.587 2152 -1.9 0.132 - - - - - - 14.75 14.64 13.99
17677 567.5 7.8 838 17682 roll 0.55 - - 2362 - 2.58 0.113 3641 540.7 144.3 - - 2136 - - - - - - - - 14.82 14.53 14.83
17711 564.5 8.9 843 17717 done 0.55 - - 2371 - 2.55 0.076 2232 -552.5 144.3 - - 2135 - - - - - - - - 14.62 14.57 14.65
18069 534.5 8.5 852 18075 roll 0.55 - - 2380 - 2.58 0.095 813 -550.0 144.3 - - 2135 - - - - - - - - 14.87 14.58 14.89
18096 532.1 8.4 856 18103 done 0.55 - - 2379 - 2.62 0.086 2258 551.5 144.3 - - 2134 - - - - - - - - 14.71 14.59 14.74
18461 498.5 9.2 866 18466 roll 0.55 - - 2380 - 2.55 0.115 3650 545.9 144.3 - - 2134 - - - - - - - - 14.90 14.59 14.90
18523 492.3 9.8 875 18529 done 0.55 - - 2390 - 2.55 0.077 2236 -554.5 144.3 - - 2134 - - - - - - - - 14.76 14.61 14.78
18853 462.2 9.1 887 18858 roll 0.55 - - 2396 - 2.58 0.091 815 -550.8 144.3 - - 2134 - - - - - - - - 14.91 14.62 14.93
18910 457.4 8.5 895 18914 done 0.55 - - 2400 - 2.60 0.085 2250 551.9 144.3 - - 2134 - - - - - - - - 14.73 14.62 14.77
19245 426.6 9.2 908 19251 roll 0.55 - - 2399 - 2.55 0.113 3643 546.3 144.3 - - 2133 - - - - - - - - 14.91 14.60 14.93
19328 417.8 10.5 920 19335 done 0.55 0.12 0.267 2381 -150.0 2.47 0.075 2236 -569.6 144.3 - - 2133 - - - - - - - - 14.50 14.65 14.73
19693 388.0 8.0 930 19698 roll 0.55 - - 2390 - 2.55 0.088 819 -555.7 144.3 - - 2133 - - - - - - - - 14.92 14.62 14.95
19762 382.6 7.7 940 19768 done 0.55 - - 2391 - 2.58 0.081 2250 554.7 144.3 - - 2133 - - - - - - - - 14.75 14.62 14.78
20086 355.3 8.5 951 20090 roll 0.55 - - 2391 - 2.53 0.111 3639 549.0 144.3 - - 2134 - - - - - - - - 14.91 14.61 14.93
20154 348.6 9.7 961 20160 done 0.55 - - 2400 - 2.50 0.072 2236 -561.2 144.3 - - 2133 - - - - - - - - 14.69 14.63 14.73
20477 318.3 9.6 972 20483 roll 0.55 - - 2411 - 2.55 0.084 819 -555.7 144.3 - - 2133 - - - - - - - - 14.93 14.63 14.95
20547 311.7 9.3 982 20552 done 0.55 0.12 0.258 2381 -250.0 2.55 0.080 2243 558.4 144.3 - - 2133 - - - - - - - - 14.51 14.63 14.73
20869 284.6 8.4 993 20874 roll 0.55 - - 2381 - 2.55 0.108 3643 549.0 144.3 - - 2133 - - - - - - - - 14.93 14.61 14.95
20953 276.9 9.1 1005 20958 done 0.55 - - 2390 - 2.45 0.070 2243 -571.4 144.3 - - 2133 - - - - - - - - 14.76 14.66 14.80
21317 246.1 8.4 1015 21322 roll 0.55 - - 2400 - 2.55 0.085 823 -556.9 144.3 - - 2133 - - - - - - - - 14.93 14.63 14.95
21393 239.9 8.0 1026 21399 done 0.55 - - 2400 - 2.58 0.079 2230 545.3 144.3 - - 2133 - - - - - - - - 14.78 14.62 14.81
21710 212.0 8.9 1036 21715 roll 0.55 - - 2400 - 2.55 0.108 3644 554.5 144.3 - - 2133 - - - - - - - - 14.92 14.62 14.94
21750 207.8 10.3 1042 21756 done 0.55 0.10 0.218 2379 -210.0 2.50 0.072 2239 -562.0 144.3 - - 2133 - - - - - - - - 14.50 14.64 14.64
22101 180.9 7.6 1050 22106 roll 0.55 - - 2388 - 2.53 0.084 819 -561.3 144.3 - - 2133 - - - - - - - - 14.94 14.63 14.95
22157 176.8 7.4 1058 22162 done 0.55 - - 2388 - 2.55 0.079 2246 559.6 144.3 - - 2133 - - - - - - - - 14.76 14.62 14.79
22493 151.6 7.5 1071 22498 roll 0.55 - - 2388 - 2.53 0.107 3642 551.8 144.3 - - 2137 - - - - - - - - 14.93 14.62 14.95
22527 148.6 8.7 1076 22534 done 0.55 - - 2396 - 2.45 0.070 2234 -574.7 144.3 - - 2136 - - - - - - - - 14.76 14.66 14.78
22885 119.5 8.3 1085 22890 roll 0.55 - - 2406 - 2.53 0.086 824 -557.3 144.3 - - 2133 - - - - - - - - 14.94 14.63 14.96
22941 115.3 7.4 1093 22946 done 0.55 - - 2406 - 2.53 0.079 2243 560.9 144.3 - - 2135 - - - - - - - - 14.76 14.64 14.79
23277 93.2 6.3 1107 23296 roll 0.56 - - 2406 - 2.53 0.105 3640 552.2 167.8 12.85 0.372 2059 -5.9 0.276 - - - - - - 14.93 14.61 14.35
23403 84.0 7.4 1125 23409 done 0.56 0.12 0.249 2385 -175.0 2.42 0.067 2242 -577.7 167.8 2.42 0.177 2053 -2.5 0.219 - - - - - - 14.52 14.66 14.52
23721 73.2 2.7 1137 23794 done 0.74 0.12 0.132 2456 591.7 - - 2234 - 279.2 70.30 0.355 1600 -6.4 0.247 - - - - - - 14.65 14.59 14.31
24086 55.4 4.8 1156 24130 roll 0.92 0.12 0.133 2514 483.3 2.62 0.099 3641 537.0 339.9 39.58 0.295 1353 -6.2 0.218 - - - - - - 14.64 14.55 14.35
24179 49.2 7.0 1167 24195 done 0.93 - - 2520 - 2.50 0.065 2229 -564.8 348.8 7.12 0.255 1319 -4.8 0.171 - - - - - - 14.68 14.55 14.33
24506 31.5 5.0 1180 24549 roll 1.04 - - 2527 - 2.55 0.081 827 -549.8 403.4 36.47 0.220 1093 -6.2 0.165 - - - - - - 14.85 14.54 14.41
24652 23.3 5.8 1201 24682 done 1.19 0.17 0.101 2610 488.2 2.53 0.069 2267 569.2 440.4 24.40 0.194 943 -6.1 0.137 - - - - - - 14.64 14.58 14.45
24834 end climb: SURFACE_DEPTH_REACHED
24834 begin surface coast
24866 end surface coast: CONTROL_FINISHED_OK
24866 begin surface
SM 0.75 - - - - -6.14 6.68 0.052 204 30.5 - - 2286 - 500.17 38.88 0.133 699 18.0 -0.010 - - - - - -