SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 60.95 of 350.00 AH used of 24V (82.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 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: 24 s
• GPS2 time: 18 s • Transponder ping count: 9
• 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 - - - 102 VBD -0.68 - - 208 - - - 2278 - -116.8 -84.53 - 2961 - - - - - - - - 14.73 - 14.76
106 5.8 -8.4 3 129 roll -0.68 8.70 0.417 1981 203.8 2.72 2.092 856 -522.8 -116.8 -4.32 - 3217 -59.3 - - - - - - - 14.21 13.42 14.56
290 66.4 -21.3 30 298 done -0.46 0.25 0.304 2042 244.0 2.55 0.069 2278 557.6 -116.8 - - 3222 - - - - - - - - 14.35 14.54 14.59
634 106.0 -8.7 42 639 roll -0.37 0.12 0.282 2076 283.3 2.42 0.053 863 -584.7 -116.8 - - 3223 - - - - - - - - 14.50 14.67 14.63
858 122.8 -6.5 74 863 done -0.37 - - 2069 - 2.53 0.066 2321 576.3 -116.8 - - 3225 - - - - - - - - 14.78 14.69 14.80
1194 144.1 -6.6 87 1195 done -0.37 - - 2069 - - - 2321 - -116.8 - - 3225 - - - - - - - - 14.97 14.99 14.99
1531 168.3 -7.3 93 1536 roll -0.37 - - 2069 - 2.50 0.057 861 -584.0 -116.8 - - 3225 - - - - - - - - 15.00 14.76 15.01
1586 172.6 -7.8 101 1592 done -0.37 - - 2069 - 2.55 0.069 2326 574.5 -116.8 - - 3224 - - - - - - - - 14.83 14.74 14.85
1922 196.1 -6.8 114 1927 roll -0.37 - - 2061 - 2.38 0.090 3695 575.2 -116.8 - - 3222 - - - - - - - - 15.00 14.69 15.02
1964 199.0 -7.1 120 1969 done -0.37 - - 2061 - 2.33 0.053 2294 -601.3 -116.8 - - 3221 - - - - - - - - 14.86 14.80 14.88
2314 223.2 -7.0 128 2319 roll -0.37 - - 2061 - 2.42 0.063 879 -584.7 -116.8 - - 3220 - - - - - - - - 15.01 14.76 15.02
2390 228.9 -7.4 139 2396 done -0.37 - - 2055 - 2.55 0.073 2333 570.2 -116.8 - - 3219 - - - - - - - - 14.84 14.73 14.87
2707 250.9 -7.0 149 2708 done -0.37 - - 2056 - - - 2333 - -116.8 - - 3217 - - - - - - - - 15.01 15.03 15.03
3042 274.0 -6.9 155 3047 roll -0.37 - - 2056 - 2.50 0.060 881 -580.8 -116.8 - - 3214 - - - - - - - - 15.02 14.71 15.04
3147 281.5 -7.1 170 3154 done -0.37 - - 2056 - 2.53 0.075 2308 564.0 -116.8 - - 3213 - - - - - - - - 14.85 14.74 14.88
3491 305.5 -7.1 177 3496 roll -0.37 - - 2052 - 2.42 0.096 3692 571.9 -116.8 - - 3210 - - - - - - - - 15.04 14.71 15.04
3538 309.3 -7.8 184 3545 done -0.37 - - 2051 - 2.35 0.057 2306 -589.8 -116.8 - - 3210 - - - - - - - - 14.83 14.78 14.85
3882 337.2 -8.2 191 3887 roll -0.37 - - 2051 - 2.45 0.066 886 -579.6 -116.8 - - 3208 - - - - - - - - 15.02 14.71 15.04
3995 346.4 -8.0 207 4000 done -0.37 0.12 0.263 2072 175.0 2.50 0.075 2299 565.2 -116.8 - - 3208 - - - - - - - - 14.59 14.73 14.80
4331 368.2 -6.4 220 4335 roll -0.37 - - 2077 - 2.45 0.063 884 -577.6 -116.8 - - 3205 - - - - - - - - 15.02 14.76 15.04
4365 370.4 -6.7 225 4371 done -0.37 - - 2069 - 2.50 0.075 2302 567.2 -116.8 - - 3206 - - - - - - - - 14.84 14.73 14.87
4722 392.8 -6.2 234 4727 roll -0.37 - - 2062 - 2.45 0.100 3690 566.5 -116.8 - - 3203 - - - - - - - - 15.01 14.67 15.03
4764 395.5 -6.6 240 4769 done -0.43 - - 2062 - 2.33 0.060 2310 -592.3 -116.8 - - 3203 - - - - - - - - 14.85 14.78 14.88
5115 418.4 -6.6 248 5119 roll -0.43 - - 2062 - 2.47 0.067 874 -581.4 -116.8 - - 3201 - - - - - - - - 15.02 14.74 15.04
5211 425.1 -6.6 262 5217 done -0.43 - - 2056 - 2.55 0.077 2290 555.3 -116.8 - - 3201 - - - - - - - - 14.77 14.70 14.81
5562 448.2 -6.6 270 5563 done -0.43 - - 2056 - - - 2289 - -116.8 - - 3199 - - - - - - - - 15.01 15.03 15.02
5899 469.1 -6.1 276 5900 done -0.43 - - 2056 - - - 2288 - -116.8 - - 3198 - - - - - - - - 15.01 15.02 15.03
6234 489.6 -6.1 282 6239 roll -0.43 - - 2056 - 2.47 0.063 871 -573.7 -116.8 - - 3196 - - - - - - - - 15.01 14.73 15.03
6303 494.0 -6.2 292 6309 done -0.43 - - 2056 - 2.53 0.077 2286 559.3 -116.8 - - 3195 - - - - - - - - 14.83 14.71 14.85
6627 513.2 -6.0 303 6628 done -0.43 - - 2056 - - - 2286 - -116.8 - - 3194 - - - - - - - - 15.01 15.03 15.02
6962 534.2 -6.4 309 6968 roll -0.43 - - 2056 - 2.50 0.105 3691 562.0 -116.8 - - 3193 - - - - - - - - 15.04 14.68 15.03
7039 539.5 -6.7 320 7044 done -0.48 - - 2058 - 2.38 0.060 2289 -589.1 -116.8 - - 3193 - - - - - - - - 14.84 14.77 14.86
7355 560.7 -6.7 330 7360 roll -0.48 - - 2056 - 2.45 0.068 875 -577.1 -116.8 - - 3192 - - - - - - - - 15.00 14.71 15.02
7466 568.4 -6.8 346 7471 done -0.48 - - 2056 - 2.53 0.080 2284 556.9 -116.8 - - 3193 - - - - - - - - 14.82 14.69 14.87
7802 588.9 -5.9 359 7803 done -0.48 - - 2056 - - - 2284 - -116.8 - - 3190 - - - - - - - - 15.01 15.03 15.02
8138 607.1 -5.3 365 8144 roll -0.48 - - 2056 - 2.47 0.067 874 -570.9 -116.8 - - 3189 - - - - - - - - 14.98 14.71 15.02
8179 609.4 -5.6 371 8185 done -0.48 - - 2056 - 2.53 0.082 2282 556.5 -116.8 - - 3188 - - - - - - - - 14.81 14.69 14.84
8531 627.2 -5.1 379 8532 done -0.48 - - 2056 - - - 2282 - -116.8 - - 3188 - - - - - - - - 15.00 15.02 15.02
8866 645.8 -5.7 385 8872 roll -0.48 - - 2056 - 2.55 0.110 3698 555.3 -116.8 - - 3187 - - - - - - - - 15.00 14.64 15.02
8915 648.8 -6.3 392 8921 done -0.53 - - 2056 - 2.45 0.064 2275 -580.8 -116.8 - - 3186 - - - - - - - - 14.81 14.73 14.83
9259 670.1 -6.3 399 9263 roll -0.53 - - 2056 - 2.45 0.071 882 -568.6 -116.8 - - 3186 - - - - - - - - 15.00 14.69 15.02
9341 675.6 -6.1 411 9347 done -0.53 - - 2056 - 2.53 0.083 2284 554.2 -116.8 - - 3185 - - - - - - - - 14.78 14.66 14.82
9706 698.4 -6.2 421 9707 done -0.53 - - 2056 - - - 2284 - -116.8 - - 3185 - - - - - - - - 15.00 15.02 15.02
10043 719.6 -6.4 427 10048 roll -0.58 0.12 0.142 1998 -483.3 2.45 0.066 887 -570.2 -116.8 - - 3183 - - - - - - - - 14.71 14.68 14.76
10125 726.9 -9.1 439 10131 done -0.58 - - 1992 - 2.55 0.083 2275 544.3 -116.8 - - 3184 - - - - - - - - 14.70 14.62 14.74
10490 759.7 -9.1 449 10491 done -0.58 - - 1991 - - - 2276 - -116.8 - - 3182 - - - - - - - - 14.98 15.01 15.00
10827 788.5 -8.4 455 10827 done -0.58 - - 1991 - - - 2275 - -116.8 - - 3182 - - - - - - - - 14.97 15.00 15.00
11162 815.1 -7.8 461 11168 roll -0.58 - - 1991 - 2.45 0.073 889 -565.7 -116.8 - - 3181 - - - - - - - - 15.00 14.66 15.02
11196 817.8 -7.9 466 11202 done -0.58 - - 1985 - 2.53 0.085 2285 551.8 -116.8 - - 3181 - - - - - - - - 14.77 14.63 14.81
11555 845.0 -7.7 475 11555 done -0.58 - - 1985 - - - 2284 - -116.8 - - 3183 - - - - - - - - 14.97 15.00 15.00
11891 871.7 -8.1 481 11896 roll -0.58 - - 1985 - 2.47 0.070 885 -566.4 -116.8 - - 3179 - - - - - - - - 14.97 14.65 15.00
11932 875.4 -6.1 487 11937 done -0.58 - - 1985 - 2.55 0.089 2285 549.0 -116.8 - - 3177 - - - - - - - - 14.76 14.62 14.80
12282 906.7 -8.9 495 12287 roll -0.58 - - 1985 - 2.47 0.071 889 -565.2 -116.8 - - 3179 - - - - - - - - 14.98 14.61 15.00
12317 909.3 -8.6 500 12322 done -0.58 0.12 0.294 2006 175.0 2.55 0.087 2284 547.1 -116.8 - - 3178 - - - - - - - - 14.42 14.62 14.69
12675 937.8 -7.9 509 12680 roll -0.58 - - 1997 - 2.55 0.110 3692 552.2 -116.8 - - 3176 - - - - - - - - 14.96 14.59 14.98
12778 946.4 -8.3 524 12785 done -0.58 - - 1997 - 2.45 0.067 2297 -569.4 -116.8 - - 3176 - - - - - - - - 14.69 14.65 14.73
13123 973.2 -7.7 531 13128 roll -0.58 - - 1997 - 2.53 0.074 875 -562.1 -116.8 - - 3177 - - - - - - - - 14.95 14.63 14.97
13234 980.8 -7.3 547 13239 done -0.58 - - 1988 - 2.58 0.090 2278 543.8 -116.8 - - 3177 - - - - - - - - 14.73 14.59 14.76
13399 end dive: TARGET_DEPTH_EXCEEDED
13399 begin apogee
13407 993.0 -7.3 557 13600 roll -0.19 0.52 0.246 2129 271.2 - - 2224 - - 190.70 1.711 2741 -2.3 0.248 - - - - - - 14.40 14.00 13.40
13602 end apogee: CONTROL_FINISHED_OK
13602 begin climb
13605 997.1 - 560 13761 done 0.68 0.93 0.156 2410 302.2 - - 2224 - 116.8 147.02 1.956 2264 -3.2 0.309 - - - - - - 13.95 14.19 13.13
14076 948.1 11.7 597 14082 roll 0.62 - - 2410 - 2.67 0.115 3639 530.0 116.8 - - 2231 - - - - - - - - 14.59 14.31 14.60
14111 943.6 13.8 602 14116 done 0.53 0.20 0.282 2374 -180.0 2.53 0.081 2236 -554.5 116.8 - - 2230 - - - - 1 - - - 14.21 14.36 14.44
14468 908.0 9.9 611 14469 done 0.53 - - 2376 - - - 2235 - 116.8 - - 2228 - - - - - - - - 14.76 14.78 14.78
14804 875.0 9.9 617 14810 roll 0.53 - - 2385 - 2.60 0.096 820 -544.2 116.8 - - 2229 - - - - - - - - 14.83 14.53 14.85
14852 870.2 9.8 624 14860 done 0.53 - - 2385 - 2.62 0.088 2225 536.3 116.8 - - 2226 - - - - - - - - 14.60 14.52 14.64
15196 835.0 10.3 631 15201 roll 0.53 - - 2384 - 2.60 0.117 3641 544.6 116.8 - - 2226 - - - - - - - - 14.85 14.54 14.90
15287 824.2 11.4 644 15292 done 0.49 0.15 0.276 2360 -160.0 2.50 0.081 2232 -563.6 116.8 - - 2224 - - - - - - - - 14.42 14.62 14.70
15644 792.7 8.7 653 15649 roll 0.49 - - 2371 - 2.58 0.099 822 -546.5 116.8 - - 2224 - - - - - - - - 14.90 14.57 14.91
15706 787.5 8.2 662 15712 done 0.49 - - 2371 - 2.58 0.086 2236 548.1 116.8 - - 2224 - - - - - - - - 14.71 14.59 14.75
16036 760.0 8.5 674 16041 roll 0.49 - - 2371 - 2.58 0.116 3641 544.6 116.8 - - 2224 - - - - - - - - 14.90 14.56 14.92
16105 753.7 8.9 684 16111 done 0.49 - - 2380 - 2.55 0.080 2197 -566.3 116.8 - - 2223 - - - - - - - - 14.72 14.61 14.76
16429 726.8 8.3 695 16433 roll 0.49 - - 2391 - 2.50 0.096 820 -550.8 116.8 - - 2223 - - - - - - - - 14.91 14.56 14.94
16462 724.0 8.0 700 16468 done 0.49 0.10 0.236 2361 -300.0 2.60 0.086 2227 541.2 116.8 - - 2223 - - - - - - - - 14.42 14.57 14.58
16820 698.5 7.1 709 16826 roll 0.49 - - 2362 - 2.60 0.116 3641 543.8 122.0 - - 2222 - - - - - - - - 14.92 14.56 14.93
16876 694.0 7.9 717 16882 done 0.49 - - 2371 - 2.53 0.080 2217 -562.8 122.0 - - 2221 - - - - - - - - 14.73 14.62 14.76
17212 665.7 8.7 730 17217 roll 0.49 - - 2382 - 2.55 0.095 821 -547.5 122.0 - - 2222 - - - - - - - - 14.92 14.56 14.95
17274 660.0 9.1 739 17280 done 0.49 - - 2382 - 2.58 0.084 2241 550.4 122.0 - - 2222 - - - - - - - - 14.72 14.58 14.76
17604 628.4 9.7 751 17609 roll 0.49 - - 2381 - 2.55 0.113 3637 547.5 122.0 - - 2221 - - - - - - - - 14.91 14.56 14.93
17673 621.1 10.4 761 17680 done 0.49 0.08 0.239 2356 -312.5 2.53 0.076 2234 -554.5 122.0 - - 2221 - - - - - - - - 14.43 14.59 14.69
17996 596.2 7.5 772 18001 roll 0.49 - - 2366 - 2.58 0.093 816 -549.6 122.0 - - 2221 - - - - - - - - 14.92 14.57 14.93
18052 592.3 6.9 780 18065 done 0.49 - - 2366 - 2.58 0.085 2237 550.8 132.2 4.82 1.400 2199 -4.6 0.361 - - - - - - 14.72 14.59 13.84
18388 568.8 6.9 793 18414 roll 0.50 - - 2366 - 2.55 0.114 3638 549.4 142.9 19.88 1.669 2151 -2.4 0.154 - - - - - - 14.90 14.52 13.97
18471 562.4 8.1 805 18477 done 0.50 - - 2375 - 2.47 0.075 2236 -567.6 142.9 - - 2142 - - - - - - - - 14.63 14.54 14.66
18836 534.0 7.9 815 18841 roll 0.50 - - 2384 - 2.58 0.092 822 -548.1 142.9 - - 2139 - - - - - - - - 14.83 14.53 14.85
18905 528.2 8.2 825 18911 done 0.50 - - 2384 - 2.60 0.082 2251 549.6 142.9 - - 2139 - - - - - - - - 14.66 14.54 14.71
19229 498.3 9.4 836 19233 roll 0.50 - - 2384 - 2.55 0.113 3639 544.3 142.9 - - 2140 - - - - - - - - 14.87 14.54 14.89
19325 488.0 10.3 850 19331 done 0.50 0.08 0.233 2357 -337.5 2.50 0.076 2250 -555.6 142.9 - - 2139 - - - - - - - - 14.43 14.57 14.66
19676 460.0 7.8 858 19681 roll 0.50 - - 2366 - 2.60 0.093 821 -549.6 142.9 - - 2139 - - - - - - - - 14.89 14.56 14.91
19766 453.5 7.0 871 19773 done 0.55 - - 2366 - 2.58 0.082 2244 551.6 150.8 2.25 0.454 2124 -6.7 1.244 - - - - - - 14.71 14.59 13.74
20117 428.8 7.0 879 20137 roll 0.56 - - 2366 - 2.62 0.112 3649 536.3 158.5 15.93 1.524 2088 -2.3 0.119 - - - - - - 14.90 14.57 14.02
20193 422.8 7.9 890 20199 done 0.56 - - 2375 - 2.47 0.076 2241 -570.0 158.5 - - 2079 - - - - - - - - 14.67 14.57 14.69
20509 399.4 7.5 900 20514 roll 0.56 - - 2384 - 2.58 0.090 821 -550.4 158.5 - - 2076 - - - - - - - - 14.85 14.54 14.86
20579 394.1 7.5 910 20584 done 0.56 - - 2384 - 2.58 0.081 2239 549.6 158.5 - - 2075 - - - - - - - - 14.64 14.54 14.69
20901 367.0 8.6 921 20907 roll 0.56 - - 2384 - 2.55 0.109 3642 550.2 158.5 - - 2075 - - - - - - - - 14.88 14.55 14.90
20957 361.7 9.6 929 20963 done 0.56 - - 2393 - 2.50 0.074 2234 -563.2 158.5 - - 2075 - - - - - - - - 14.71 14.59 14.73
21294 329.6 9.7 942 21298 roll 0.56 - - 2404 - 2.55 0.086 823 -553.3 158.5 - - 2075 - - - - - - - - 14.89 14.57 14.90
21369 322.3 9.2 953 21375 done 0.56 - - 2403 - 2.60 0.080 2233 542.3 158.5 - - 2075 - - - - - - - - 14.64 14.57 14.76
21685 291.9 9.7 963 21690 roll 0.56 - - 2404 - 2.55 0.109 3638 551.0 158.5 - - 2075 - - - - - - - - 14.90 14.57 14.92
21768 283.0 10.4 975 21774 done 0.56 0.12 0.270 2385 -158.3 2.45 0.070 2237 -571.8 158.5 - - 2075 - - - - - - - - 14.42 14.59 14.66
22133 253.0 8.1 985 22139 roll 0.56 - - 2393 - 2.55 0.086 820 -555.7 158.5 - - 2075 - - - - - - - - 14.91 14.59 14.93
22189 248.7 7.7 993 22195 done 0.56 - - 2393 - 2.55 0.078 2240 556.9 158.5 - - 2074 - - - - - - - - 14.72 14.60 14.76
22526 220.9 8.4 1006 22531 roll 0.56 - - 2393 - 2.55 0.107 3643 550.2 158.5 - - 2074 - - - - - - - - 14.91 14.59 14.93
22594 214.3 9.6 1016 22599 done 0.56 - - 2402 - 2.50 0.070 2241 -560.8 158.5 - - 2075 - - - - - - - - 14.67 14.61 14.71
22917 186.2 8.7 1027 22922 roll 0.56 - - 2411 - 2.55 0.086 824 -555.7 158.5 - - 2075 - - - - - - - - 14.92 14.60 14.94
22986 180.3 8.1 1037 22993 done 0.56 0.12 0.254 2381 -250.0 2.58 0.079 2257 555.4 158.5 - - 2074 - - - - - - - - 14.48 14.59 14.71
23309 156.5 7.4 1048 23314 roll 0.56 - - 2381 - 2.50 0.107 3639 552.8 158.5 - - 2075 - - - - - - - - 14.92 14.58 14.95
23344 153.7 8.1 1053 23350 done 0.56 - - 2390 - 2.45 0.069 2234 -573.5 158.5 - - 2075 - - - - - - - - 14.74 14.64 14.78
23701 126.2 7.7 1062 23706 roll 0.56 - - 2399 - 2.55 0.085 820 -554.5 158.5 - - 2074 - - - - - - - - 14.92 14.61 14.94
23735 123.8 6.9 1067 23743 done 0.56 - - 2398 - 2.55 0.076 2244 558.4 168.9 3.88 0.900 2050 -6.2 0.159 - - - - - - 14.73 14.62 13.97
24087 100.1 6.7 1075 24106 roll 0.57 - - 2398 - 2.55 0.103 3630 543.5 182.8 11.20 0.389 1999 -4.6 0.219 - - - - - - 14.92 14.58 14.31
24260 89.4 5.0 1100 24302 done 0.60 - - 2406 - 2.45 0.064 2240 -567.3 237.3 35.90 0.409 1773 -6.3 0.257 - - - - - - 14.67 14.62 14.31
24622 74.1 3.6 1118 24686 roll 0.82 0.15 0.127 2476 466.7 2.62 0.101 3640 534.4 325.0 55.05 0.360 1417 -6.5 0.249 - - - - - - 14.62 14.50 14.28
24771 65.4 6.3 1140 24793 done 0.92 - - 2481 - 2.47 0.067 2239 -567.2 350.2 17.75 0.317 1311 -6.0 0.230 - - - - - - 14.59 14.52 14.27
25119 46.2 5.3 1156 25157 roll 1.07 0.15 0.124 2569 586.7 2.53 0.076 831 -556.5 397.9 32.08 0.265 1114 -6.1 0.200 - - - - - - 14.60 14.50 14.33
25237 37.7 6.5 1173 25255 done 1.13 - - 2570 - 2.50 0.072 2231 560.0 416.9 13.70 0.236 1039 -5.5 0.163 - - - - - - 14.65 14.55 14.35
25563 10.8 8.5 1187 25568 roll 1.17 - - 2570 - 2.50 0.097 3635 561.6 416.9 - - 1050 - - - - - - - - 14.85 14.52 14.87
25592 8.5 8.5 1191 25598 done 1.22 - - 2579 - 2.42 0.063 2226 -582.2 416.9 1.98 0.168 1039 -5.6 0.053 - - - - - - 14.71 14.62 14.52
25665 end climb: SURFACE_DEPTH_REACHED
25665 begin surface coast
25693 end surface coast: CONTROL_FINISHED_OK
25693 begin surface
SM 0.88 - - - - -6.14 6.72 0.071 217 32.3 0.12 0.130 2290 -58833.3 500.17 52.33 0.136 700 13.4 -0.009 - - - - - -