SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 1 • 67.71 of 350.00 AH used of 24V (80.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 0.93 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: 13 s • Transponder ping count: 10
• 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
17 - - - 102 VBD -0.68 - - 205 - - - 2279 - -116.8 -84.47 - 2936 - - - - - - - - 14.73 - 14.74
106 5.6 -8.3 3 130 roll -0.68 8.73 0.413 1963 201.4 2.78 2.125 3691 507.9 -116.8 -4.72 - 3218 -59.7 - - - - - - - 14.21 13.40 14.57
298 75.5 -25.4 31 303 done -0.47 0.30 0.278 2040 256.7 2.38 0.044 2253 -604.2 -116.8 - - 3219 - - - - - - - - 14.34 14.57 14.58
662 110.3 -8.2 45 668 roll -0.40 0.12 0.281 2074 283.3 2.30 0.055 887 -593.9 -116.8 - - 3223 - - - - - - - - 14.47 14.65 14.61
899 126.9 -6.8 79 905 done -0.40 - - 2069 - 2.50 0.064 2302 566.0 -116.8 - - 3221 - - - - - - - - 14.78 14.64 14.81
1223 149.3 -7.1 90 1227 roll -0.40 - - 2069 - 2.42 0.056 879 -588.0 -116.8 - - 3223 - - - - - - - - 14.95 14.68 14.97
1257 152.1 -7.9 95 1262 done -0.40 - - 2069 - 2.47 0.068 2304 576.9 -116.8 - - 3222 - - - - - - - - 14.80 14.70 14.82
1614 175.5 -6.3 104 1615 done -0.40 - - 2069 - - - 2304 - -116.8 - - 3220 - - - - - - - - 14.99 15.01 15.00
1950 197.8 -6.8 110 1955 roll -0.40 - - 2074 - 2.42 0.058 886 -586.0 -116.8 - - 3218 - - - - - - - - 14.99 14.73 15.03
2013 202.1 -6.8 119 2018 done -0.40 - - 2068 - 2.45 0.070 2293 574.3 -116.8 - - 3218 - - - - - - - - 14.79 14.69 14.82
2342 223.7 -6.7 131 2347 roll -0.40 - - 2062 - 2.45 0.095 3700 574.3 -116.8 - - 3216 - - - - - - - - 14.99 14.69 15.01
2377 226.2 -7.3 136 2382 done -0.40 - - 2062 - 2.33 0.054 2300 -600.9 -116.8 - - 3216 - - - - - - - - 14.85 14.78 14.87
2735 252.8 -7.5 145 2740 roll -0.40 - - 2062 - 2.42 0.065 880 -586.8 -116.8 - - 3214 - - - - - - - - 15.00 14.72 15.01
2817 259.2 -7.4 157 2824 done -0.40 - - 2057 - 2.53 0.071 2289 556.9 -116.8 - - 3213 - - - - - - - - 14.75 14.69 14.85
3182 284.8 -7.0 167 3187 roll -0.40 - - 2056 - 2.45 0.096 3690 571.8 -116.8 - - 3210 - - - - - - - - 15.00 14.69 15.02
3210 286.8 -7.1 171 3215 done -0.40 - - 2056 - 2.33 0.051 2291 -600.4 -116.8 - - 3209 - - - - - - - - 14.85 14.78 14.86
3574 313.7 -7.5 181 3580 roll -0.40 - - 2056 - 2.40 0.063 884 -586.2 -116.8 - - 3208 - - - - - - - - 15.00 14.71 15.02
3700 323.7 -7.8 199 3705 done -0.40 - - 2056 - 2.47 0.074 2287 568.0 -116.8 - - 3207 - - - - - - - - 14.81 14.70 14.84
4022 347.2 -7.3 210 4027 roll -0.40 - - 2055 - 2.40 0.059 888 -582.9 -116.8 - - 3204 - - - - - - - - 15.00 14.73 15.02
4084 351.8 -7.1 219 4090 done -0.40 - - 2056 - 2.45 0.073 2279 567.8 -116.8 - - 3204 - - - - - - - - 14.82 14.71 14.85
4415 372.9 -6.4 231 4420 roll -0.40 - - 2056 - 2.50 0.101 3693 565.6 -116.8 - - 3202 - - - - - - - - 15.00 14.67 15.02
4490 377.8 -6.3 242 4496 done -0.40 - - 2056 - 2.38 0.059 2283 -592.4 -116.8 - - 3202 - - - - - - - - 14.83 14.74 14.85
4807 397.6 -6.3 252 4811 roll -0.40 - - 2055 - 2.40 0.065 877 -585.8 -116.8 - - 3200 - - - - - - - - 15.00 14.71 15.01
4910 404.9 -7.0 267 4917 done -0.40 - - 2056 - 2.53 0.076 2276 553.0 -116.8 - - 3200 - - - - - - - - 14.83 14.64 14.83
5255 429.4 -7.3 274 5259 roll -0.40 - - 2053 - 2.53 0.103 3700 562.8 -116.8 - - 3198 - - - - - - - - 15.00 14.66 15.02
5281 431.6 -7.7 278 5287 done -0.40 - - 2052 - 2.45 0.059 2272 -582.9 -116.8 - - 3198 - - - - - - - - 14.77 14.73 14.85
5647 459.0 -7.4 288 5651 roll -0.40 - - 2052 - 2.40 0.069 882 -579.2 -116.8 - - 3196 - - - - - - - - 15.00 14.69 15.02
5715 464.1 -7.3 298 5721 done -0.40 - - 2048 - 2.47 0.076 2273 563.2 -116.8 - - 3195 - - - - - - - - 14.80 14.67 14.83
6039 485.1 -6.4 309 6040 done -0.40 - - 2048 - - - 2273 - -116.8 - - 3194 - - - - - - - - 14.98 15.01 15.00
6374 506.3 -6.3 315 6379 roll -0.40 - - 2048 - 2.42 0.065 881 -575.2 -116.8 - - 3193 - - - - - - - - 15.00 14.70 15.01
6423 509.7 -7.0 322 6429 done -0.40 - - 2043 - 2.50 0.078 2275 557.6 -116.8 - - 3193 - - - - - - - - 14.79 14.66 14.82
6766 533.9 -7.1 329 6767 done -0.40 - - 2043 - - - 2275 - -116.8 - - 3192 - - - - - - - - 15.00 15.02 15.02
7103 556.9 -6.8 335 7107 roll -0.40 - - 2039 - 2.53 0.105 3691 559.7 -116.8 - - 3191 - - - - - - - - 14.99 14.64 15.00
7143 559.8 -7.2 341 7150 done -0.40 0.08 0.200 2072 412.5 2.42 0.060 2274 -585.5 -116.8 - - 3190 - - - - - - - - 14.53 14.71 14.72
7495 579.7 -5.6 349 7501 roll -0.46 - - 2072 - 2.42 0.068 879 -576.4 -116.8 - - 3189 - - - - - - - - 14.98 14.68 15.00
7571 584.5 -6.2 360 7576 done -0.52 0.12 0.145 2019 -441.7 2.50 0.080 2274 558.0 -116.8 - - 3188 - - - - - - - - 14.68 14.65 14.78
7887 609.3 -8.1 370 7891 roll -0.52 - - 2011 - 2.53 0.104 3690 559.7 -116.8 - - 3187 - - - - - - - - 14.98 14.63 15.00
7928 612.8 -8.5 376 7933 done -0.52 - - 2012 - 2.42 0.060 2267 -588.0 -116.8 - - 3187 - - - - - - - - 14.81 14.72 14.83
8278 640.8 -7.9 384 8283 roll -0.52 - - 2011 - 2.40 0.071 884 -576.2 -116.8 - - 3186 - - - - - - - - 14.98 14.65 15.00
8334 645.4 -8.2 392 8339 done -0.52 - - 2010 - 2.50 0.083 2271 554.8 -116.8 - - 3186 - - - - - - - - 14.76 14.64 14.80
8671 671.3 -7.8 405 8676 roll -0.52 - - 2011 - 2.45 0.068 875 -569.8 -116.8 - - 3185 - - - - - - - - 14.97 14.66 15.00
8704 674.3 -8.7 410 8710 done -0.52 - - 2011 - 2.55 0.082 2268 546.3 -116.8 - - 3184 - - - - - - - - 14.67 14.60 14.72
9062 704.8 -8.8 419 9063 done -0.52 - - 2011 - - - 2263 - -116.8 - - 3184 - - - - - - - - 14.97 15.00 15.00
9398 734.6 -8.8 425 9399 done -0.52 - - 2011 - - - 2263 - -116.8 - - 3180 - - - - - - - - 14.98 15.00 15.00
9735 761.4 -7.8 431 9736 done -0.52 - - 2011 - - - 2263 - -116.8 - - 3182 - - - - - - - - 14.97 14.99 14.99
10070 784.9 -6.9 437 10076 roll -0.52 - - 2011 - 2.42 0.067 882 -570.7 -116.8 - - 3181 - - - - - - - - 14.97 14.64 14.99
10112 787.9 -6.2 443 10118 done -0.52 - - 2011 - 2.50 0.083 2265 553.2 -116.8 - - 3181 - - - - - - - - 14.75 14.62 14.79
10463 813.8 -7.6 451 10464 done -0.52 - - 2011 - - - 2265 - -116.8 - - 3180 - - - - - - - - 14.96 14.98 14.98
10799 841.9 -8.5 457 10799 done -0.52 - - 2011 - - - 2265 - -116.8 - - 3179 - - - - - - - - 14.97 14.99 14.98
11134 869.8 -8.4 463 11139 roll -0.52 - - 2011 - 2.42 0.068 884 -570.7 -116.8 - - 3177 - - - - - - - - 14.97 14.62 14.98
11183 874.0 -8.6 470 11189 done -0.52 - - 2011 - 2.53 0.085 2277 550.6 -116.8 - - 3178 - - - - 1 - - - 14.73 14.59 14.77
11527 901.2 -7.9 477 11532 roll -0.52 - - 2007 - 2.58 0.111 3695 549.6 -116.8 - - 3177 - - - - - - - - 14.97 14.57 14.97
11595 906.4 -7.7 487 11601 done -0.52 - - 2007 - 2.50 0.065 2265 -572.0 -116.8 - - 3177 - - - - - - - - 14.69 14.64 14.71
11918 929.0 -7.0 498 11923 roll -0.52 - - 2004 - 2.45 0.076 874 -567.8 -116.8 - - 3177 - - - - - - - - 14.95 14.60 14.97
11995 934.4 -6.8 509 12001 done -0.52 0.12 0.288 2029 208.3 2.55 0.087 2274 549.0 -116.8 - - 3175 - - - - - - - - 14.39 14.57 14.64
12311 951.4 -5.3 519 12315 roll -0.52 - - 2020 - 2.58 0.112 3692 549.6 -116.8 - - 3175 - - - - - - - - 14.95 14.54 14.97
12359 954.1 -2.6 526 12366 done -0.52 - - 2020 - 2.47 0.068 2257 -581.0 -116.8 - - 3175 - - - - - - - - 14.73 14.64 14.76
12703 975.2 -6.3 533 12708 roll -0.52 - - 2021 - 2.42 0.076 889 -565.3 -116.8 - - 3177 - - - - - - - - 14.94 14.54 14.96
12793 980.5 -6.6 546 12798 done -0.52 - - 2018 - 2.50 0.086 2260 548.4 -116.8 - - 3175 - - - - - - - - 14.67 14.53 14.71
12979 end dive: TARGET_DEPTH_EXCEEDED
12979 begin apogee
12987 993.0 -6.2 552 13185 roll -0.19 0.43 0.222 2136 274.4 - - 2260 - - 195.85 1.644 2742 -2.2 0.250 - - - - - - 14.41 13.99 13.37
13187 end apogee: CONTROL_FINISHED_OK
13187 begin climb
13190 998.4 - 555 13348 done 0.68 0.90 0.147 2414 308.9 - - 2260 - 116.8 149.07 1.876 2260 -3.2 0.322 - - - - - - 13.95 14.19 13.11
13656 956.0 10.6 592 13657 done 0.61 - - 2414 - - - 2260 - 116.8 - - 2228 - - - - - - - - 14.57 14.59 14.59
13992 920.1 10.8 598 13997 roll 0.55 0.12 0.282 2382 -266.7 2.55 0.113 3639 540.8 116.8 - - 2225 - - - - - - - - 14.28 14.42 14.43
14069 911.9 10.2 609 14075 done 0.50 - - 2391 - 2.45 0.079 2256 -564.5 116.8 - - 2225 - - - - 1 - - - 14.59 14.49 14.63
14384 882.1 9.4 619 14389 roll 0.50 - - 2401 - 2.62 0.096 823 -546.9 116.8 - - 2224 - - - - - - - - 14.82 14.50 14.83
14440 877.0 9.1 627 14445 done 0.50 0.15 0.265 2364 -246.7 2.60 0.090 2238 544.2 116.8 - - 2222 - - - - - - - - 14.35 14.51 14.61
14777 849.7 8.2 640 14781 roll 0.50 - - 2368 - 2.60 0.116 3642 540.0 116.8 - - 2222 - - - - - - - - 14.86 14.51 14.88
14859 842.0 9.1 652 14865 done 0.50 - - 2377 - 2.55 0.081 2240 -549.8 116.8 - - 2221 - - - - - - - - 14.59 14.53 14.71
15225 809.8 9.0 662 15229 roll 0.50 - - 2387 - 2.60 0.096 822 -545.4 116.8 - - 2221 - - - - - - - - 14.88 14.53 14.90
15286 804.0 9.1 671 15292 done 0.50 - - 2393 - 2.60 0.086 2246 547.7 116.8 - - 2221 - - - - - - - - 14.67 14.54 14.71
15616 773.4 9.3 683 15621 roll 0.50 - - 2387 - 2.55 0.115 3639 546.3 116.8 - - 2220 - - - - - - - - 14.89 14.52 14.90
15686 766.2 10.2 693 15692 done 0.45 0.20 0.265 2351 -180.0 2.45 0.077 2252 -566.1 116.8 - - 2219 - - - - - - - - 14.37 14.59 14.65
16009 743.1 7.1 704 16013 roll 0.45 - - 2360 - 2.60 0.096 826 -548.5 122.8 - - 2220 - - - - - - - - 14.90 14.54 14.91
16084 737.8 6.7 715 16111 done 0.46 - - 2360 - 2.60 0.085 2249 547.3 137.6 19.38 1.701 2171 -2.5 0.205 - - - - - - 14.69 14.55 14.05
16457 709.7 7.7 726 16461 roll 0.46 - - 2360 - 2.58 0.116 3641 539.5 137.6 - - 2158 - - - - - - - - 14.81 14.48 14.83
16525 703.7 8.7 736 16531 done 0.46 - - 2369 - 2.53 0.079 2246 -551.4 137.6 - - 2157 - - - - - - - - 14.58 14.52 14.62
16849 677.9 8.0 747 16853 roll 0.46 - - 2379 - 2.60 0.096 822 -547.7 137.6 - - 2157 - - - - - - - - 14.85 14.52 14.87
16904 673.6 7.7 755 16909 done 0.46 - - 2379 - 2.62 0.086 2258 548.1 137.6 - - 2156 - - - - - - - - 14.66 14.54 14.70
17240 645.4 8.5 768 17245 roll 0.46 - - 2379 - 2.55 0.116 3639 541.6 137.6 - - 2156 - - - - - - - - 14.88 14.51 14.90
17289 640.9 9.3 775 17295 done 0.46 0.15 0.259 2354 -166.7 2.47 0.077 2251 -561.9 137.6 - - 2156 - - - - - - - - 14.38 14.58 14.64
17632 616.8 6.9 782 17644 roll 0.47 - - 2364 - 2.65 0.096 821 -539.6 148.5 4.05 1.218 2132 -5.9 0.561 - - - - - - 14.88 14.64 13.81
17694 612.5 6.9 791 17728 done 0.52 - - 2364 - 2.60 0.084 2251 550.0 159.5 27.33 1.500 2087 -1.6 0.126 - - - - - - 14.70 14.57 13.97
18080 583.9 7.5 804 18085 roll 0.52 - - 2365 - 2.58 0.116 3642 539.1 159.5 - - 2074 - - - - - - - - 14.79 14.47 14.81
18156 577.2 8.6 815 18162 done 0.52 - - 2374 - 2.53 0.078 2248 -551.0 159.5 - - 2074 - - - - - - - - 14.55 14.50 14.67
18472 551.4 8.3 825 18478 roll 0.52 - - 2384 - 2.60 0.094 822 -548.5 159.5 - - 2074 - - - - - - - - 14.85 14.51 14.86
18514 547.7 8.7 831 18519 done 0.52 - - 2383 - 2.62 0.086 2258 548.1 159.5 - - 2076 - - - - - - - - 14.66 14.53 14.69
18864 513.9 9.9 839 18869 roll 0.52 - - 2383 - 2.55 0.115 3643 543.1 159.5 - - 2072 - - - - - - - - 14.85 14.52 14.90
18933 506.4 10.8 849 18940 done 0.52 - - 2392 - 2.50 0.078 2256 -554.8 159.5 - - 2072 - - - - - - - - 14.71 14.54 14.73
19257 476.1 9.1 860 19261 roll 0.52 - - 2402 - 2.60 0.092 821 -551.9 159.5 - - 2072 - - - - - - - - 14.88 14.54 14.90
19312 471.5 8.0 868 19317 done 0.52 0.12 0.256 2373 -241.7 2.60 0.085 2248 548.8 159.5 - - 2072 - - - - - - - - 14.42 14.55 14.66
19650 448.9 6.5 881 19688 roll 0.53 - - 2378 - 2.60 0.116 3636 533.8 178.7 30.90 1.338 2008 -2.1 0.130 - - - - - - 14.88 14.47 14.01
19738 442.0 8.1 894 19744 done 0.53 - - 2383 - 2.53 0.076 2212 -562.8 178.7 - - 2002 - - - - - - - - 14.59 14.48 14.62
20096 411.3 9.0 903 20101 roll 0.53 - - 2391 - 2.53 0.089 822 -549.4 178.7 - - 1998 - - - - - - - - 14.81 14.49 14.83
20145 406.8 9.1 910 20151 done 0.53 - - 2391 - 2.60 0.081 2253 550.4 178.7 - - 1999 - - - - - - - - 14.63 14.50 14.66
20488 374.0 9.5 917 20494 roll 0.53 - - 2396 - 2.55 0.113 3641 544.3 178.7 - - 1997 - - - - - - - - 14.85 14.50 14.86
20544 368.4 10.1 925 20550 done 0.53 - - 2400 - 2.45 0.076 2252 -566.9 178.7 - - 1996 - - - - - - - - 14.67 14.56 14.71
20880 337.2 9.2 938 20885 roll 0.53 - - 2409 - 2.60 0.091 820 -550.8 178.7 - - 1996 - - - - - - - - 14.87 14.54 14.89
20942 331.7 8.6 947 20948 done 0.53 0.15 0.243 2368 -273.3 2.60 0.083 2253 551.2 178.7 - - 1996 - - - - - - - - 14.43 14.56 14.66
21272 305.9 8.0 959 21277 roll 0.53 - - 2372 - 2.55 0.112 3644 545.5 178.7 - - 1996 - - - - - - - - 14.88 14.53 14.90
21334 299.9 9.5 968 21340 done 0.53 - - 2379 - 2.45 0.075 2255 -566.9 178.7 - - 1996 - - - - - - - - 14.70 14.59 14.73
21664 270.5 8.9 980 21669 roll 0.53 - - 2390 - 2.60 0.088 815 -553.8 178.7 - - 1996 - - - - - - - - 14.90 14.55 14.92
21733 264.9 7.8 990 21739 done 0.59 - - 2390 - 2.62 0.081 2266 553.8 178.7 - - 1995 - - - - - - - - 14.69 14.56 14.76
22057 238.9 8.1 1001 22062 roll 0.59 - - 2390 - 2.50 0.109 3644 551.2 178.7 - - 1995 - - - - - - - - 14.90 14.54 14.91
22125 232.6 9.0 1011 22131 done 0.59 - - 2398 - 2.45 0.071 2263 -563.7 178.7 - - 1994 - - - - - - - - 14.64 14.58 14.68
22449 203.9 9.1 1022 22453 roll 0.59 - - 2406 - 2.60 0.086 817 -556.2 178.7 - - 1996 - - - - - - - - 14.90 14.56 14.92
22504 199.1 8.4 1030 22509 done 0.59 - - 2406 - 2.60 0.079 2264 556.5 178.7 - - 1996 - - - - - - - - 14.70 14.57 14.73
22840 169.9 8.8 1043 22845 roll 0.59 - - 2406 - 2.50 0.107 3642 551.2 178.7 - - 1998 - - - - - - - - 14.91 14.54 14.93
22917 162.8 9.1 1054 22922 done 0.59 - - 2416 - 2.40 0.070 2262 -575.0 178.7 - - 1996 - - - - - - - - 14.71 14.62 14.75
23232 133.7 9.6 1064 23237 roll 0.59 - - 2425 - 2.58 0.083 821 -558.5 178.7 - - 1996 - - - - - - - - 14.91 14.57 14.92
23315 126.1 8.6 1076 23321 done 0.59 0.15 0.247 2387 -253.3 2.60 0.076 2274 558.8 178.7 - - 1996 - - - - - - - - 14.44 14.57 14.69
23681 102.7 5.7 1086 23708 roll 0.66 - - 2391 - 2.67 0.082 824 -543.1 216.5 22.10 0.428 1855 -6.4 0.286 - - - - - - 14.92 14.59 14.30
23742 99.8 4.9 1095 23785 done 0.79 0.20 0.106 2469 390.0 2.58 0.076 2263 557.8 274.7 38.42 0.452 1619 -6.1 0.254 - - - - - - 14.64 14.58 14.26
24097 72.8 5.2 1112 24135 roll 0.82 - - 2470 - 2.55 0.103 3639 539.6 324.4 34.25 0.350 1419 -5.8 0.227 - - - - - - 14.82 14.50 14.27
24283 60.6 7.1 1139 24294 done 0.89 - - 2475 - 2.38 0.066 2258 -580.3 329.3 5.65 0.224 1397 -3.9 0.197 - - - - - - 14.54 14.48 14.26
24622 43.5 5.3 1154 24661 roll 1.05 0.15 0.121 2570 633.3 2.60 0.077 830 -549.2 378.7 34.40 0.257 1198 -5.8 0.183 - - - - - - 14.61 14.53 14.34
24681 39.5 6.4 1163 24703 done 1.06 - - 2571 - 2.58 0.071 2277 560.9 401.7 17.02 0.248 1102 -5.6 0.168 - - - - - - 14.64 14.53 14.31
25036 16.5 6.9 1180 25051 roll 1.13 - - 2578 - 2.60 0.077 832 -555.8 413.1 9.88 0.171 1053 -5.0 0.090 - - - - - - 14.85 14.55 14.42
25145 7.5 7.6 1196 25150 done 1.20 - - 2578 - 2.60 0.071 2290 560.8 413.1 - - 1063 - - - - - - - - 14.67 14.56 14.70
25224 end climb: SURFACE_DEPTH_REACHED
25224 begin surface coast
25252 end surface coast: CONTROL_FINISHED_OK
25252 begin surface
SM 0.96 - - - - -6.13 6.75 0.076 222 32.9 - - 2290 - 500.17 54.75 0.135 700 12.8 -0.009 - - - - - -