SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 135 * Raw log
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• Previous call tries 1 • 59.86 of 350.00 AH used of 24V (82.90% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 14 s • Transponder ping count: 8
• 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 - - 201 - - - 2291 - -116.8 -85.03 - 2944 - - - - - - - - 14.74 - 14.76
107 5.4 -7.6 3 131 roll -0.68 8.80 0.420 1964 200.3 2.72 2.126 3688 513.6 -116.8 -4.60 - 3218 -59.6 - - - - - - - 14.24 13.44 14.57
179 37.6 -36.0 14 187 done -0.38 0.32 0.264 2070 331.2 2.42 0.054 2296 -575.2 -116.8 - - 3220 - - - - - - - - 14.35 14.52 14.57
495 87.2 -8.7 26 500 roll -0.30 - - 2070 - 2.42 0.057 859 -593.8 -116.8 - - 3221 - - - - - - - - 14.87 14.64 14.88
579 93.2 -8.3 38 584 done -0.30 0.15 0.252 2097 180.0 2.55 0.071 2324 574.5 -116.8 - - 3222 - - - - - - - - 14.52 14.64 14.70
915 113.2 -5.4 49 921 roll -0.30 - - 2088 - 2.35 0.089 3690 581.3 -116.8 - - 3224 - - - - - - - - 14.95 14.69 14.97
984 117.6 -6.3 59 990 done -0.30 - - 2088 - 2.33 0.047 2294 -599.1 -116.8 - - 3224 - - - - - - - - 14.78 14.75 14.80
1308 139.3 -6.8 70 1313 roll -0.30 - - 2088 - 2.38 0.058 888 -590.8 -116.8 - - 3224 - - - - - - - - 14.97 14.75 15.00
1363 142.8 -6.3 78 1368 done -0.30 - - 2082 - 2.50 0.070 2321 573.2 -116.8 - - 3223 - - - - - - - - 14.83 14.73 14.85
1700 161.8 -5.7 91 1700 done -0.30 - - 2082 - - - 2320 - -116.8 - - 3221 - - - - - - - - 15.00 15.02 15.02
2035 182.3 -6.1 97 2041 roll -0.30 - - 2082 - 2.45 0.057 886 -585.3 -116.8 - - 3220 - - - - - - - - 15.01 14.78 15.02
2125 187.7 -5.8 110 2131 done -0.30 - - 2082 - 2.50 0.073 2319 573.2 -116.8 - - 3219 - - - - - - - - 14.85 14.76 14.88
2484 209.0 -6.2 119 2485 done -0.34 - - 2082 - - - 2319 - -116.8 - - 3217 - - - - - - - - 15.01 15.04 15.03
2819 231.4 -6.7 125 2820 done -0.39 - - 2082 - - - 2319 - -116.8 - - 3214 - - - - - - - - 15.02 15.04 15.03
3155 253.5 -6.5 131 3160 roll -0.44 - - 2082 - 2.47 0.060 881 -582.2 -116.8 - - 3212 - - - - - - - - 15.06 14.78 15.05
3212 257.1 -6.5 139 3217 done -0.49 0.12 0.142 2029 -441.7 2.53 0.077 2312 565.6 -116.8 - - 3211 - - - - - - - - 14.78 14.75 14.87
3547 283.5 -7.8 152 3548 done -0.49 - - 2027 - - - 2312 - -116.8 - - 3208 - - - - - - - - 15.03 15.04 15.04
3883 309.3 -7.7 158 3888 roll -0.49 - - 2020 - 2.42 0.097 3700 573.6 -116.8 - - 3206 - - - - - - - - 15.03 14.74 15.05
3911 311.7 -8.4 162 3916 done -0.49 - - 2020 - 2.30 0.054 2317 -601.3 -116.8 - - 3206 - - - - - - - - 14.89 14.83 14.90
4275 344.4 -9.1 172 4280 roll -0.49 - - 2020 - 2.45 0.065 885 -584.5 -116.8 - - 3204 - - - - - - - - 15.02 14.76 15.04
4414 358.0 -9.5 192 4420 done -0.49 - - 2015 - 2.55 0.080 2301 555.3 -116.8 - - 3203 - - - - - - - - 14.78 14.71 14.82
4780 391.3 -9.0 202 4780 done -0.49 - - 2015 - - - 2301 - -116.8 - - 3200 - - - - - - - - 15.02 15.04 15.04
5115 419.2 -8.2 208 5120 roll -0.49 - - 2014 - 2.45 0.066 883 -578.8 -116.8 - - 3199 - - - - - - - - 15.02 14.76 15.04
5191 425.5 -8.1 219 5197 done -0.49 - - 2012 - 2.55 0.079 2294 553.3 -116.8 - - 3198 - - - - - - - - 14.78 14.70 14.82
5507 451.0 -8.1 229 5513 roll -0.49 - - 2006 - 2.50 0.103 3704 564.0 -116.8 - - 3197 - - - - - - - - 15.02 14.71 15.03
5583 457.8 -9.0 240 5589 done -0.49 0.08 0.229 2031 312.5 2.40 0.054 2298 -585.8 -116.8 - - 3196 - - - - - - - - 14.56 14.78 14.70
5899 483.0 -8.1 250 5904 roll -0.49 - - 2032 - 2.42 0.067 882 -585.1 -116.8 - - 3194 - - - - - - - - 15.02 14.73 15.04
5976 489.6 -8.5 261 5982 done -0.49 - - 2025 - 2.53 0.080 2304 562.1 -116.8 - - 3194 - - - - - - - - 14.83 14.71 14.85
6291 516.0 -8.4 271 6296 roll -0.49 - - 2017 - 2.45 0.103 3691 566.1 -116.8 - - 3194 - - - - - - - - 15.02 14.69 15.03
6353 521.4 -8.6 280 6359 done -0.49 - - 2017 - 2.40 0.060 2300 -579.6 -116.8 - - 3193 - - - - - - - - 14.79 14.75 14.83
6684 547.5 -7.8 292 6688 roll -0.49 - - 2016 - 2.45 0.070 880 -579.6 -116.8 - - 3192 - - - - - - - - 15.01 14.72 15.02
6801 557.2 -8.1 309 6808 done -0.49 - - 2012 - 2.55 0.083 2279 548.6 -116.8 - - 3191 - - - - - - - - 14.75 14.67 14.79
7132 582.4 -7.6 321 7132 done -0.49 - - 2012 - - - 2280 - -116.8 - - 3190 - - - - - - - - 15.00 15.02 15.02
7467 608.5 -7.8 327 7472 roll -0.49 - - 2006 - 2.53 0.107 3696 559.7 -116.8 - - 3189 - - - - - - - - 15.01 14.67 15.02
7536 614.2 -8.4 337 7543 done -0.49 0.10 0.221 2052 460.0 2.42 0.061 2289 -581.4 -116.8 - - 3188 - - - - - - - - 14.54 14.73 14.76
7860 633.8 -6.0 348 7864 roll -0.49 - - 2048 - 2.45 0.070 877 -576.3 -116.8 - - 3187 - - - - - - - - 15.01 14.71 15.02
7935 638.7 -6.4 359 7942 done -0.49 - - 2051 - 2.55 0.086 2291 554.5 -116.8 - - 3187 - - - - - - - - 14.81 14.67 14.83
8252 656.6 -5.7 369 8252 done -0.49 - - 2051 - - - 2290 - -116.8 - - 3186 - - - - - - - - 15.00 15.02 15.02
8588 677.1 -6.1 375 8593 roll -0.49 - - 2043 - 2.53 0.109 3694 554.9 -116.8 - - 3185 - - - - - - - - 15.00 14.65 15.02
8700 684.5 -6.7 391 8704 done -0.54 - - 2043 - 2.40 0.063 2287 -586.2 -116.8 - - 3184 - - - - - - - - 14.83 14.75 14.85
9035 708.1 -7.1 404 9040 roll -0.54 - - 2042 - 2.45 0.070 876 -575.9 -116.8 - - 3183 - - - - - - - - 15.00 14.69 15.02
9140 716.2 -7.3 419 9146 done -0.54 - - 2042 - 2.58 0.089 2291 548.4 -116.8 - - 3183 - - - - - - - - 14.78 14.66 14.82
9483 740.7 -7.2 426 9488 roll -0.54 - - 2039 - 2.53 0.111 3692 553.8 -116.8 - - 3182 - - - - - - - - 14.99 14.63 15.00
9574 747.4 -7.7 439 9579 done -0.54 - - 2039 - 2.38 0.063 2290 -589.1 -116.8 - - 3181 - - - - - - - - 14.82 14.74 14.84
9931 771.6 -6.7 448 9937 roll -0.54 - - 2039 - 2.42 0.071 888 -579.3 -116.8 - - 3181 - - - - - - - - 15.00 14.64 15.02
10035 778.7 -5.8 463 10042 done -0.54 - - 2039 - 2.58 0.088 2283 540.7 -116.8 - - 3180 - - - - - - - - 14.78 14.60 14.81
10380 800.3 -6.2 470 10381 done -0.54 - - 2039 - - - 2283 - -116.8 - - 3179 - - - - - - - - 14.98 15.00 15.00
10715 820.4 -6.0 476 10716 done -0.54 - - 2039 - - - 2283 - -116.8 - - 3178 - - - - - - - - 14.99 15.01 15.00
11051 840.0 -5.9 482 11052 done -0.54 - - 2039 - - - 2283 - -116.8 - - 3178 - - - - - - - - 14.96 15.01 15.01
11388 860.7 -6.3 488 11388 done -0.54 - - 2039 - - - 2283 - -116.8 - - 3177 - - - - - - - - 14.98 14.99 15.01
11723 882.8 -6.5 494 11728 roll -0.54 - - 2039 - 2.50 0.075 879 -561.6 -116.8 - - 3176 - - - - - - - - 14.99 14.65 15.01
11757 885.3 -6.4 499 11763 done -0.54 - - 2039 - 2.58 0.090 2292 547.7 -116.8 - - 3176 - - - - - - - - 14.76 14.62 14.79
12116 909.3 -6.7 508 12121 roll -0.54 - - 2038 - 2.58 0.117 3703 546.9 -116.8 - - 3175 - - - - - - - - 14.97 14.59 14.99
12185 914.0 -6.8 518 12190 done -0.59 - - 2038 - 2.42 0.067 2289 -584.3 -116.8 - - 3175 - - - - - - - - 14.77 14.70 14.81
12507 934.9 -6.5 529 12513 roll -0.59 - - 2037 - 2.47 0.075 880 -570.4 -116.8 - - 3175 - - - - - - - - 14.97 14.62 14.98
12620 942.4 -7.4 545 12626 done -0.59 - - 2037 - 2.58 0.092 2285 544.6 -116.8 - - 3174 - - - - - - - - 14.73 14.59 14.78
12956 962.9 -6.0 558 12956 done -0.59 - - 2040 - - - 2285 - -116.8 - - 3174 - - - - - - - - 14.95 14.97 14.97
13291 981.8 -5.6 564 13292 done -0.59 - - 2037 - - - 2285 - -116.8 - - 3173 - - - - - - - - 14.96 14.98 14.97
13456 end dive: TARGET_DEPTH_EXCEEDED
13456 begin apogee
13464 990.6 -5.3 567 13654 roll -0.19 0.35 0.227 2137 285.7 - - 2226 - - 188.02 1.675 2740 -2.3 0.254 - - - - - - 14.45 14.01 13.40
13656 end apogee: CONTROL_FINISHED_OK
13656 begin climb
13659 994.3 - 570 13818 roll 0.68 0.93 0.157 2411 294.6 2.62 0.074 822 -535.9 116.8 147.82 1.916 2262 -3.2 0.313 - - - - - - 13.97 14.02 13.16
13887 975.5 10.1 607 13893 done 0.68 - - 2411 - 2.70 0.090 2233 522.6 116.8 - - 2236 - - - - - - - - 14.13 14.03 14.15
14245 934.9 11.4 616 14250 roll 0.61 - - 2421 - 2.62 0.098 835 -533.6 116.8 - - 2229 - - - - - - - - 14.66 14.38 14.68
14349 923.4 10.7 631 14356 done 0.61 - - 2421 - 2.65 0.094 2235 528.3 116.8 - - 2229 - - - - - - - - 14.48 14.42 14.52
14694 884.8 11.3 638 14699 roll 0.54 0.15 0.288 2382 -260.0 2.60 0.119 3638 539.6 116.8 - - 2227 - - - - - - - - 14.35 14.49 14.51
14777 876.3 9.8 650 14782 done 0.49 0.12 0.291 2364 -150.0 2.45 0.083 2256 -564.1 116.8 - - 2225 - - - - 1 - - - 14.39 14.55 14.63
15141 847.1 8.0 660 15146 roll 0.49 - - 2375 - 2.65 0.102 818 -542.6 116.8 - - 2225 - - - - - - - - 14.86 14.54 14.88
15231 840.0 7.5 673 15238 done 0.49 - - 2375 - 2.62 0.093 2244 544.3 116.8 - - 2224 - - - - - - - - 14.69 14.57 14.72
15590 808.9 8.7 682 15594 roll 0.49 - - 2375 - 2.58 0.121 3640 541.1 116.8 - - 2224 - - - - - - - - 14.88 14.54 14.90
15665 801.2 9.9 693 15671 done 0.49 - - 2389 - 2.53 0.083 2244 -551.8 116.8 - - 2225 - - - - - - - - 14.65 14.58 14.69
15981 772.2 9.1 703 15986 roll 0.49 - - 2395 - 2.60 0.100 821 -547.3 116.8 - - 2223 - - - - - - - - 14.90 14.57 14.92
16071 763.8 9.7 716 16077 done 0.49 0.15 0.267 2361 -226.7 2.60 0.091 2244 547.3 116.8 - - 2223 - - - - - - - - 14.43 14.57 14.69
16429 736.1 7.7 725 16435 roll 0.49 - - 2361 - 2.58 0.120 3641 541.5 116.8 - - 2222 - - - - - - - - 14.91 14.56 14.94
16492 730.6 8.9 734 16497 done 0.49 - - 2371 - 2.50 0.082 2232 -563.6 116.8 - - 2222 - - - - - - - - 14.73 14.61 14.76
16821 703.3 8.3 746 16826 roll 0.49 - - 2381 - 2.60 0.100 816 -544.6 116.8 - - 2222 - - - - - - - - 14.91 14.57 14.93
16897 697.1 7.8 757 16904 done 0.49 - - 2381 - 2.62 0.092 2249 546.9 116.8 - - 2221 - - - - - - - - 14.72 14.58 14.76
17214 671.0 8.2 767 17219 roll 0.49 - - 2381 - 2.58 0.121 3640 539.1 116.8 - - 2221 - - - - - - - - 14.91 14.56 14.93
17269 665.8 9.7 775 17274 done 0.49 - - 2391 - 2.50 0.083 2235 -562.0 116.8 - - 2221 - - - - - - - - 14.73 14.62 14.77
17605 636.2 8.8 788 17610 roll 0.49 0.12 0.283 2374 -141.7 2.58 0.096 815 -550.4 116.8 - - 2221 - - - - - - - - 14.43 14.57 14.69
17647 632.9 7.6 794 17652 done 0.49 - - 2374 - 2.60 0.090 2242 548.8 116.8 - - 2221 - - - - - - - - 14.72 14.59 14.76
17997 604.5 8.2 802 18002 roll 0.49 - - 2374 - 2.58 0.116 3641 542.2 116.8 - - 2221 - - - - - - - - 14.92 14.56 14.93
18080 596.6 9.3 814 18086 done 0.49 - - 2384 - 2.53 0.080 2238 -554.5 116.8 - - 2221 - - - - - - - - 14.75 14.58 14.78
18445 561.7 9.9 824 18446 done 0.49 - - 2383 - - - 2237 - 116.8 - - 2220 - - - - - - - - 14.92 14.95 14.95
18781 529.7 9.4 830 18786 roll 0.49 - - 2393 - 2.58 0.093 819 -549.6 116.8 - - 2220 - - - - - - - - 14.93 14.57 14.95
18837 524.5 9.1 838 18842 done 0.49 0.12 0.263 2365 -233.3 2.60 0.087 2247 549.2 116.8 - - 2220 - - - - - - - - 14.43 14.59 14.69
19174 498.5 7.6 851 19178 roll 0.49 - - 2364 - 2.58 0.117 3647 542.6 116.8 - - 2220 - - - - - - - - 14.92 14.56 14.94
19229 493.9 8.4 859 19234 done 0.49 - - 2374 - 2.47 0.079 2244 -568.0 116.8 - - 2220 - - - - - - - - 14.73 14.62 14.76
19565 467.4 7.9 872 19570 roll 0.49 - - 2384 - 2.58 0.093 823 -550.8 116.8 - - 2220 - - - - - - - - 14.92 14.57 14.95
19614 463.5 8.0 879 19620 done 0.49 - - 2384 - 2.62 0.086 2245 542.7 116.8 - - 2223 - - - - - - - - 14.64 14.55 14.69
19958 434.9 8.3 886 19963 roll 0.49 - - 2384 - 2.55 0.115 3646 549.4 116.8 - - 2220 - - - - - - - - 14.92 14.55 14.94
20033 427.7 9.2 897 20040 done 0.49 0.10 0.238 2365 -190.0 2.50 0.077 2259 -554.8 116.8 - - 2220 - - - - - - - - 14.39 14.59 14.73
20350 404.1 7.4 907 20350 done 0.49 - - 2365 - - - 2259 - 116.8 - - 2220 - - - - - - - - 14.91 14.94 14.93
20685 380.8 6.8 913 20692 roll 0.50 - - 2374 - 2.65 0.092 816 -544.5 130.1 2.72 0.706 2208 -4.4 0.444 - - - - - - 14.92 14.66 13.78
20748 376.7 6.6 922 20781 done 0.51 - - 2374 - 2.62 0.089 2262 551.9 147.5 28.83 1.440 2136 -2.5 0.122 - - - - - - 14.72 14.59 13.97
21126 348.6 7.5 934 21131 roll 0.51 - - 2374 - 2.55 0.115 3645 542.4 147.5 - - 2115 - - - - - - - - 14.81 14.49 14.83
21202 341.8 8.7 945 21209 done 0.51 - - 2384 - 2.53 0.078 2252 -550.6 147.5 - - 2114 - - - - - - - - 14.56 14.50 14.58
21519 315.1 8.6 955 21523 roll 0.51 - - 2393 - 2.62 0.095 822 -545.8 147.5 - - 2114 - - - - - - - - 14.85 14.53 14.87
21574 310.4 8.4 963 21579 done 0.51 - - 2393 - 2.62 0.084 2263 550.0 147.5 - - 2113 - - - - - - - - 14.66 14.55 14.71
21910 282.1 8.3 976 21915 roll 0.51 - - 2392 - 2.53 0.112 3645 546.2 147.5 - - 2113 - - - - - - - - 14.88 14.54 14.90
21973 276.5 8.9 985 21979 done 0.51 0.15 0.256 2367 -166.7 2.42 0.076 2266 -569.8 147.5 - - 2113 - - - - - - - - 14.44 14.63 14.67
22302 254.4 6.7 997 22314 roll 0.52 - - 2376 - 2.60 0.090 820 -556.2 162.0 5.80 1.194 2081 -5.5 0.219 - - - - - - 14.90 14.65 14.03
22372 249.7 6.8 1007 22405 done 0.59 - - 2376 - 2.62 0.083 2271 553.8 175.4 26.85 1.267 2019 -2.3 0.085 - - - - - - 14.71 14.59 14.01
22750 221.6 7.5 1019 22755 roll 0.59 - - 2376 - 2.50 0.112 3640 547.6 175.4 - - 2007 - - - - - - - - 14.82 14.51 14.84
22806 216.9 8.5 1027 22811 done 0.59 - - 2384 - 2.42 0.073 2265 -568.2 175.4 - - 2006 - - - - - - - - 14.66 14.57 14.69
23143 190.5 7.8 1040 23148 roll 0.59 - - 2392 - 2.62 0.089 822 -550.8 175.4 - - 2006 - - - - - - - - 14.86 14.55 14.88
23204 186.1 6.9 1049 23212 done 0.65 - - 2393 - 2.60 0.080 2264 554.6 185.0 3.05 0.744 1986 -6.6 0.306 - - - - - - 14.69 14.57 13.91
23534 159.2 8.5 1061 23540 roll 0.65 - - 2393 - 2.50 0.109 3646 552.8 185.0 - - 1992 - - - - - - - - 14.88 14.57 14.90
23610 152.0 9.0 1072 23616 done 0.65 - - 2402 - 2.45 0.071 2272 -560.8 185.0 - - 1992 - - - - - - - - 14.66 14.60 14.69
23926 124.9 8.5 1082 23931 roll 0.65 - - 2410 - 2.62 0.089 813 -556.9 185.0 - - 1992 - - - - - - - - 14.90 14.59 14.92
23989 119.9 8.1 1091 23994 done 0.70 - - 2410 - 2.62 0.082 2274 557.6 185.0 - - 1992 - - - - - - - - 14.73 14.61 14.76
24319 97.6 6.6 1103 24338 roll 0.71 - - 2410 - 2.47 0.109 3637 551.8 202.4 12.93 0.388 1914 -6.0 0.283 - - - - - - 14.91 14.60 14.34
24412 92.1 6.7 1116 24430 done 0.77 - - 2418 - 2.38 0.069 2274 -572.7 218.5 12.38 0.385 1846 -5.5 0.245 - - - - - - 14.73 14.63 14.30
24741 76.4 3.5 1130 24807 roll 0.93 0.20 0.103 2512 470.0 2.65 0.086 819 -549.1 310.4 58.28 0.368 1480 -6.3 0.243 - - - - - - 14.64 14.52 14.30
24919 63.7 6.7 1156 24935 done 0.99 - - 2512 - 2.62 0.077 2281 558.0 324.8 11.10 0.295 1412 -6.1 0.247 - - - - - - 14.64 14.53 14.28
25242 44.2 6.0 1169 25270 roll 1.07 - - 2518 - 2.45 0.099 3641 555.1 357.3 22.27 0.259 1282 -5.8 0.186 - - - - - - 14.84 14.51 14.33
25392 34.9 5.8 1190 25423 done 1.19 0.20 0.099 2603 425.0 2.35 0.065 2283 -577.9 394.9 25.08 0.233 1128 -6.1 0.171 - - - - - - 14.59 14.61 14.38
25746 end climb: SURFACE_DEPTH_REACHED
25746 begin surface coast
25771 end surface coast: CONTROL_FINISHED_OK
25771 begin surface
SM 0.95 - - - - -6.14 6.80 0.075 218 32.0 - - 2275 - 500.17 63.75 0.134 701 11.0 -0.008 - - - - - -