SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 68.46 of 350.00 AH used of 24V (80.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.8 deg, depth 0.87 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 18 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 198 - - - 2303 - -116.8 -85.15 - 2990 - - - - - - - - 14.73 - 14.75
108 6.2 -9.1 3 125 roll -0.68 8.93 0.423 1962 197.5 2.70 2.123 3679 509.6 -116.8 -3.67 - 3220 -62.7 - - - - - - - 14.21 13.42 14.57
211 53.7 -37.4 18 218 done -0.39 0.40 0.267 2065 257.5 2.38 0.047 2262 -595.4 -116.8 - - 3223 - - - - - - - - 14.34 14.57 14.57
525 97.4 -9.0 30 529 roll -0.32 - - 2056 - 2.50 0.084 3684 568.8 -116.8 - - 3224 - - - - - - - - 14.88 14.60 14.90
688 111.3 -7.2 53 695 done -0.32 0.15 0.243 2092 240.0 2.30 0.042 2280 -610.4 -116.8 - - 3225 - - - - - - - - 14.47 14.69 14.66
1029 132.6 -6.1 60 1033 roll -0.32 - - 2092 - 2.33 0.056 893 -595.3 -116.8 - - 3225 - - - - - - - - 14.95 14.69 14.97
1085 136.0 -5.8 68 1090 done -0.32 - - 2087 - 2.40 0.063 2283 579.2 -116.8 - - 3225 - - - - - - - - 14.78 14.69 14.81
1420 154.9 -5.7 81 1426 roll -0.32 - - 2082 - 2.42 0.086 3691 581.8 -116.8 - - 3224 - - - - - - - - 14.97 14.69 14.99
1469 157.6 -5.5 88 1475 done -0.37 - - 2082 - 2.35 0.049 2284 -598.7 -116.8 - - 3224 - - - - - - - - 14.77 14.73 14.79
1813 178.8 -6.6 95 1817 roll -0.37 - - 2081 - 2.38 0.060 887 -587.0 -116.8 - - 3223 - - - - - - - - 14.99 14.73 15.01
1882 183.8 -7.0 105 1888 done -0.42 - - 2081 - 2.45 0.067 2294 574.3 -116.8 - - 3221 - - - - - - - - 14.81 14.71 14.84
2205 205.0 -6.6 116 2209 roll -0.47 - - 2081 - 2.40 0.057 890 -585.0 -116.8 - - 3219 - - - - - - - - 14.99 14.73 15.01
2253 208.6 -7.4 123 2260 done -0.52 0.15 0.123 2016 -433.3 2.47 0.068 2292 567.6 -116.8 - - 3219 - - - - - - - - 14.75 14.71 14.82
2596 242.4 -10.1 130 2597 done -0.52 - - 2016 - - - 2292 - -116.8 - - 3217 - - - - - - - - 15.00 15.03 15.02
2932 273.4 -9.1 136 2933 done -0.52 - - 2016 - - - 2292 - -116.8 - - 3215 - - - - - - - - 15.02 15.04 15.03
3269 302.7 -8.9 142 3270 done -0.52 - - 2016 - - - 2293 - -116.8 - - 3212 - - - - - - - - 15.00 15.03 15.02
3604 337.1 -10.5 148 3609 roll -0.52 - - 2016 - 2.40 0.060 897 -581.7 -116.8 - - 3210 - - - - - - - - 15.01 14.73 15.02
3680 345.6 -10.7 159 3686 done -0.52 - - 2011 - 2.45 0.073 2273 561.6 -116.8 - - 3210 - - - - 1 - - - 14.76 14.69 14.79
3997 376.2 -9.5 169 4003 roll -0.47 0.12 0.282 2039 233.3 2.50 0.095 3696 569.2 -116.8 - - 3208 - - - - - - - - 14.54 14.69 14.66
4053 380.4 -7.5 177 4059 done -0.47 - - 2035 - 2.38 0.057 2284 -593.3 -116.8 - - 3207 - - - - - - - - 14.84 14.76 14.86
4388 402.5 -6.4 190 4393 roll -0.47 - - 2035 - 2.40 0.064 882 -584.2 -116.8 - - 3206 - - - - - - - - 15.00 14.71 15.02
4514 411.1 -6.9 208 4519 done -0.47 - - 2028 - 2.45 0.073 2273 567.8 -116.8 - - 3204 - - - - - - - - 14.81 14.69 14.83
4836 436.0 -8.0 219 4841 roll -0.47 - - 2028 - 2.42 0.063 874 -578.1 -116.8 - - 3202 - - - - - - - - 15.00 14.71 15.02
4885 440.0 -8.4 226 4891 done -0.47 - - 2024 - 2.50 0.075 2269 558.0 -116.8 - - 3203 - - - - - - - - 14.80 14.69 14.83
5228 467.5 -7.9 233 5234 roll -0.47 - - 2014 - 2.53 0.098 3699 565.2 -116.8 - - 3199 - - - - - - - - 15.00 14.66 15.01
5290 472.8 -8.5 242 5296 done -0.47 0.05 0.228 2044 600.0 2.45 0.058 2270 -583.3 -116.8 - - 3200 - - - - - - - - 14.53 14.71 14.74
5621 497.4 -7.6 254 5626 roll -0.47 - - 2044 - 2.40 0.068 881 -578.8 -116.8 - - 3199 - - - - - - - - 15.00 14.69 15.02
5676 502.3 -8.8 262 5681 done -0.47 - - 2043 - 2.47 0.077 2263 559.5 -116.8 - - 3198 - - - - - - - - 14.79 14.67 14.83
6012 531.5 -8.7 275 6017 roll -0.47 - - 2035 - 2.53 0.100 3693 565.2 -116.8 - - 3197 - - - - - - - - 14.99 14.64 14.99
6061 535.7 -8.7 282 6067 done -0.47 - - 2035 - 2.40 0.057 2255 -599.2 -116.8 - - 3196 - - - - - - - - 14.82 14.74 14.83
6404 561.1 -7.1 289 6410 roll -0.47 - - 2035 - 2.38 0.067 889 -573.9 -116.8 - - 3195 - - - - - - - - 14.99 14.68 15.01
6481 566.4 -6.8 300 6486 done -0.47 - - 2029 - 2.45 0.076 2261 560.0 -116.8 - - 3195 - - - - - - - - 14.79 14.67 14.82
6797 588.3 -7.1 310 6802 roll -0.47 - - 2021 - 2.55 0.100 3700 564.3 -116.8 - - 3193 - - - - - - - - 14.98 14.64 15.00
6852 592.6 -8.0 318 6857 done -0.47 - - 2021 - 2.42 0.060 2262 -594.2 -116.8 - - 3193 - - - - - - - - 14.81 14.73 14.83
7189 620.8 -8.5 331 7193 roll -0.47 - - 2019 - 2.40 0.068 876 -577.5 -116.8 - - 3192 - - - - - - - - 15.00 14.68 15.01
7272 628.2 -8.7 343 7277 done -0.47 0.12 0.275 2044 208.3 2.47 0.078 2260 560.3 -116.8 - - 3191 - - - - - - - - 14.47 14.66 14.72
7637 654.2 -7.0 353 7642 roll -0.47 - - 2035 - 2.55 0.103 3692 561.6 -116.8 - - 3185 - - - - - - - - 14.99 14.62 15.01
7685 657.7 -7.3 360 7691 done -0.47 - - 2035 - 2.42 0.060 2248 -596.7 -116.8 - - 3189 - - - - - - - - 14.79 14.71 14.82
8029 681.3 -6.9 367 8034 roll -0.47 - - 2035 - 2.38 0.071 890 -570.6 -116.8 - - 3188 - - - - - - - - 14.97 14.66 14.99
8111 687.2 -7.0 379 8117 done -0.47 - - 2029 - 2.45 0.078 2256 557.6 -116.8 - - 3187 - - - - - - - - 14.77 14.64 14.81
8477 712.2 -6.8 389 8478 done -0.47 - - 2030 - - - 2256 - -116.8 - - 3187 - - - - - - - - 14.97 15.00 14.99
8812 735.5 -7.0 395 8813 done -0.47 - - 2029 - - - 2256 - -116.8 - - 3186 - - - - - - - - 14.97 15.00 15.00
9148 759.3 -7.1 401 9154 roll -0.47 - - 2029 - 2.40 0.070 891 -568.8 -116.8 - - 3185 - - - - - - - - 14.98 14.64 15.00
9196 763.1 -7.6 408 9203 done -0.47 - - 2026 - 2.50 0.081 2248 542.8 -116.8 - - 3185 - - - - - - - - 14.66 14.59 14.71
9541 789.5 -7.8 415 9546 roll -0.47 - - 2018 - 2.62 0.109 3701 554.6 -116.8 - - 3183 - - - - - - - - 14.97 14.58 14.98
9589 793.4 -8.3 422 9595 done -0.47 - - 2018 - 2.50 0.065 2251 -580.0 -116.8 - - 3183 - - - - - - - - 14.74 14.67 14.79
9932 820.5 -7.8 429 9938 roll -0.47 - - 2018 - 2.40 0.074 887 -568.3 -116.8 - - 3183 - - - - - - - - 14.98 14.62 14.98
10016 827.0 -7.7 441 10022 done -0.47 0.12 0.280 2042 200.0 2.47 0.083 2254 553.4 -116.8 - - 3182 - - - - - - - - 14.41 14.60 14.66
10380 848.5 -5.9 451 10385 roll -0.47 - - 2036 - 2.60 0.111 3687 551.2 -116.8 - - 3180 - - - - - - - - 14.96 14.56 14.97
10450 852.6 -4.7 461 10456 done -0.47 - - 2037 - 2.47 0.064 2236 -587.4 -116.8 - - 3181 - - - - - - - - 14.76 14.68 14.79
10773 872.8 -6.3 472 10778 roll -0.47 - - 2036 - 2.38 0.075 894 -563.9 -116.8 - - 3180 - - - - - - - - 14.95 14.59 14.97
10841 878.4 -9.0 482 10847 done -0.47 - - 2035 - 2.50 0.085 2250 542.4 -116.8 - - 3180 - - - - 1 - - - 14.76 14.56 14.78
11165 900.2 -7.1 493 11166 done -0.47 - - 2035 - - - 2250 - -116.8 - - 3182 - - - - - - - - 14.96 14.98 14.98
11501 923.0 -6.8 499 11505 roll -0.47 - - 2025 - 2.62 0.112 3691 550.0 -116.8 - - 3178 - - - - - - - - 14.95 14.55 14.97
11562 927.6 -5.3 508 11568 done -0.47 - - 2026 - 2.47 0.067 2260 -579.4 -116.8 - - 3178 - - - - - - - - 14.73 14.64 14.78
11893 950.4 -6.8 520 11898 roll -0.47 - - 2026 - 2.45 0.076 873 -566.1 -116.8 - - 3178 - - - - - - - - 14.95 14.59 14.97
11962 955.4 -7.1 530 11967 done -0.47 - - 2026 - 2.53 0.086 2258 547.4 -116.8 - - 3177 - - - - - - - - 14.69 14.57 14.74
12284 976.4 -6.5 541 12290 roll -0.47 - - 2019 - 2.62 0.112 3701 550.8 -116.8 - - 3177 - - - - - - - - 14.95 14.54 14.97
12354 981.1 -3.3 551 12359 done -0.47 - - 2020 - 2.50 0.068 2256 -578.0 -116.8 - - 3176 - - - - - - - - 14.73 14.64 14.76
12505 end dive: TARGET_DEPTH_EXCEEDED
12505 begin apogee
12512 990.9 -5.6 559 12703 roll -0.19 0.40 0.224 2130 275.0 - - 2250 - - 188.82 1.659 2741 -2.3 0.257 - - - - - - 14.40 14.00 13.38
12705 end apogee: CONTROL_FINISHED_OK
12705 begin climb
12709 995.0 - 562 12867 roll 0.68 0.98 0.171 2411 286.7 2.70 0.114 3638 514.1 116.8 148.12 1.898 2264 -3.2 0.316 - - - - - - 13.95 13.98 13.11
12965 970.0 12.4 603 12971 done 0.59 0.12 0.296 2396 -125.0 2.58 0.082 2241 -541.5 116.8 - - 2235 - - - - 1 - - - 13.93 14.07 14.15
13288 935.5 10.6 614 13292 roll 0.54 - - 2396 - 2.65 0.112 3643 529.1 116.8 - - 2229 - - - - - - - - 14.65 14.35 14.68
13427 919.5 11.2 634 13433 done 0.47 0.20 0.262 2359 -185.0 2.53 0.080 2224 -560.9 116.8 - - 2228 - - - - 1 - - - 14.28 14.44 14.52
13792 888.4 8.4 644 13797 roll 0.47 - - 2369 - 2.60 0.099 816 -541.5 116.8 - - 2226 - - - - - - - - 14.81 14.49 14.82
13840 884.4 8.3 651 13847 done 0.47 - - 2368 - 2.62 0.087 2220 535.9 116.8 - - 2225 - - - - - - - - 14.55 14.47 14.60
14184 854.6 8.7 658 14189 roll 0.47 - - 2369 - 2.62 0.114 3645 543.9 116.8 - - 2224 - - - - - - - - 14.85 14.50 14.88
14246 848.2 10.5 667 14251 done 0.47 - - 2379 - 2.55 0.081 2236 -552.5 116.8 - - 2224 - - - - - - - - 14.59 14.53 14.70
14576 817.9 9.2 679 14580 roll 0.47 - - 2389 - 2.58 0.094 820 -548.8 116.8 - - 2224 - - - - - - - - 14.88 14.53 14.87
14638 812.2 8.9 688 14644 done 0.47 0.15 0.262 2356 -220.0 2.58 0.086 2234 548.1 116.8 - - 2223 - - - - - - - - 14.38 14.55 14.64
14968 787.3 7.4 700 14973 roll 0.47 - - 2356 - 2.60 0.116 3643 541.9 116.8 - - 2223 - - - - - - - - 14.88 14.52 14.90
15044 780.7 8.2 711 15049 done 0.47 - - 2365 - 2.50 0.080 2235 -563.2 116.8 - - 2223 - - - - - - - - 14.69 14.58 14.73
15360 757.1 7.6 721 15366 roll 0.47 - - 2376 - 2.58 0.093 818 -549.2 116.8 - - 2223 - - - - - - - - 14.90 14.54 14.92
15416 753.0 7.3 729 15422 done 0.47 - - 2378 - 2.60 0.084 2241 547.3 117.4 - - 2222 - - - - - - - - 14.69 14.54 14.73
15752 726.9 7.8 742 15757 roll 0.47 - - 2375 - 2.55 0.113 3643 549.8 117.4 - - 2222 - - - - - - - - 14.90 14.52 14.92
15821 720.8 8.8 752 15827 done 0.47 0.12 0.269 2358 -141.7 2.47 0.076 2238 -568.8 117.4 - - 2222 - - - - - - - - 14.40 14.59 14.66
16144 698.4 6.9 763 16149 roll 0.48 - - 2368 - 2.58 0.093 820 -549.6 127.9 - - 2222 - - - - - - - - 14.90 14.54 14.95
16220 693.1 6.8 774 16248 done 0.49 - - 2368 - 2.58 0.083 2238 549.6 140.7 23.67 1.704 2166 -2.4 0.180 - - - - - - 14.70 14.57 13.90
16592 665.0 7.6 785 16597 roll 0.49 - - 2368 - 2.58 0.112 3637 542.2 140.7 - - 2143 - - - - - - - - 14.81 14.46 14.83
16654 659.5 8.8 794 16659 done 0.49 - - 2378 - 2.47 0.075 2230 -569.6 140.7 - - 2144 - - - - 1 - - - 14.63 14.52 14.66
16984 630.3 9.1 806 16989 roll 0.49 - - 2387 - 2.58 0.093 821 -546.1 140.7 - - 2141 - - - - - - - - 14.85 14.51 14.87
17031 625.8 9.2 813 17040 done 0.49 - - 2387 - 2.62 0.083 2238 540.8 140.7 - - 2145 - - - - - - - - 14.57 14.50 14.62
17376 593.0 9.5 820 17380 roll 0.49 - - 2387 - 2.58 0.111 3639 543.0 140.7 - - 2142 - - - - - - - - 14.88 14.50 14.89
17445 585.7 10.4 830 17451 done 0.49 0.15 0.256 2361 -173.3 2.47 0.076 2236 -568.0 140.7 - - 2145 - - - - - - - - 14.39 14.58 14.66
17767 561.3 7.4 841 17773 roll 0.49 - - 2371 - 2.60 0.091 815 -546.5 140.7 - - 2142 - - - - - - - - 14.88 14.53 14.90
17816 557.7 7.4 848 17822 done 0.49 - - 2370 - 2.62 0.083 2239 543.5 140.7 - - 2142 - - - - - - - - 14.59 14.52 14.64
18160 530.9 7.9 855 18165 roll 0.49 - - 2370 - 2.58 0.111 3645 545.0 140.7 - - 2142 - - - - - - - - 14.90 14.52 14.92
18236 524.1 8.7 866 18241 done 0.49 - - 2379 - 2.50 0.076 2260 -554.0 140.7 - - 2141 - - - - - - - - 14.61 14.55 14.73
18552 499.3 7.8 876 18556 roll 0.49 - - 2390 - 2.60 0.090 821 -553.5 140.7 - - 2142 - - - - - - - - 14.90 14.54 14.92
18579 497.1 7.7 880 18585 done 0.49 0.12 0.260 2362 -233.3 2.62 0.083 2258 548.5 140.7 - - 2141 - - - - - - - - 14.40 14.55 14.64
18944 473.1 6.5 890 18971 roll 0.50 - - 2362 - 2.53 0.110 3643 547.4 160.4 21.80 1.490 2079 -2.8 0.169 - - - - - - 14.90 14.49 14.00
19034 466.6 7.4 903 19039 done 0.50 - - 2371 - 2.50 0.076 2264 -551.6 160.4 - - 2069 - - - - - - - - 14.57 14.51 14.60
19392 442.2 6.9 912 19404 roll 0.51 - - 2380 - 2.67 0.090 814 -543.1 170.7 3.62 1.045 2042 -7.5 0.591 - - - - - - 14.83 14.58 13.79
19482 435.5 7.3 925 19488 done 0.51 - - 2380 - 2.62 0.082 2258 551.1 171.4 - - 2046 - - - - - - - - 14.64 14.52 14.67
19840 404.3 9.1 934 19846 roll 0.51 - - 2380 - 2.60 0.110 3645 533.5 171.4 1.80 0.195 2039 -3.9 1.509 - - - - - - 14.85 14.47 14.45
19901 397.7 10.6 943 19907 done 0.51 - - 2390 - 2.50 0.075 2252 -557.2 171.4 - - 2043 - - - - - - - - 14.60 14.54 14.64
20225 367.1 9.4 954 20229 roll 0.51 - - 2399 - 2.60 0.090 815 -552.7 171.4 - - 2048 - - - - - - - - 14.88 14.53 14.90
20273 362.8 8.7 961 20281 done 0.51 0.15 0.239 2365 -226.7 2.65 0.083 2262 546.0 171.4 - - 2047 - - - - - - - - 14.41 14.54 14.62
20617 339.4 6.7 968 20664 roll 0.52 - - 2363 - 2.53 0.108 3640 544.7 187.3 42.10 1.219 1974 -1.7 0.090 - - - - - - 14.90 14.40 13.98
20721 331.8 7.8 983 20728 done 0.52 - - 2371 - 2.45 0.072 2261 -562.9 187.3 - - 1966 - - - - - - - - 14.55 14.47 14.57
21065 306.2 7.6 990 21070 roll 0.52 - - 2378 - 2.62 0.087 817 -551.1 187.3 - - 1963 - - - - - - - - 14.78 14.47 14.81
21121 302.0 7.5 998 21126 done 0.58 - - 2380 - 2.62 0.079 2263 551.9 187.3 - - 1961 - - - - - - - - 14.64 14.50 14.64
21457 275.3 8.1 1011 21462 roll 0.58 - - 2380 - 2.53 0.107 3648 547.4 187.3 - - 1962 - - - - - - - - 14.83 14.50 14.85
21526 269.0 9.0 1021 21532 done 0.58 - - 2388 - 2.47 0.072 2269 -558.3 187.3 - - 1961 - - - - - - - - 14.59 14.54 14.64
21849 241.9 8.5 1032 21853 roll 0.58 - - 2397 - 2.62 0.090 821 -552.7 187.3 - - 1961 - - - - - - - - 14.88 14.53 14.90
21925 235.4 8.2 1043 21930 done 0.58 - - 2398 - 2.62 0.079 2272 553.8 187.3 - - 1961 - - - - - - - - 14.67 14.54 14.71
22241 206.8 9.1 1053 22246 roll 0.58 - - 2398 - 2.50 0.109 3641 547.6 187.3 - - 1961 - - - - - - - - 14.92 14.52 14.90
22289 201.7 10.5 1060 22296 done 0.58 - - 2407 - 2.45 0.072 2277 -556.7 187.3 - - 1962 - - - - - - - - 14.62 14.56 14.66
22633 166.8 10.2 1067 22642 roll 0.58 - - 2417 - 2.62 0.088 809 -560.3 187.3 - - 1961 - - - - - - - - 14.90 14.55 14.91
22691 161.1 9.5 1075 22696 done 0.58 - - 2416 - 2.65 0.081 2276 553.6 187.3 - - 1962 - - - - - - - - 14.69 14.56 14.73
23028 129.0 9.5 1088 23032 roll 0.58 - - 2417 - 2.50 0.109 3647 548.4 187.3 - - 1961 - - - - - - - - 14.90 14.53 14.92
23097 121.3 11.2 1098 23103 done 0.58 0.15 0.252 2389 -186.7 2.42 0.073 2262 -572.3 187.3 - - 1961 - - - - - - - - 14.43 14.62 14.68
23420 96.6 7.2 1109 23426 roll 0.58 - - 2393 - 2.58 0.085 822 -558.1 189.7 - - 1964 - - - - - - - - 14.91 14.56 14.92
23556 88.5 4.9 1128 23599 done 0.69 - - 2393 - 2.58 0.076 2262 558.1 247.3 35.45 0.404 1730 -6.6 0.271 - - - - - - 14.70 14.58 14.31
23927 70.2 4.3 1148 23980 roll 0.94 0.30 0.100 2515 406.7 2.67 0.079 818 -540.8 320.7 48.03 0.347 1431 -6.2 0.236 - - - - - - 14.59 14.52 14.29
24126 56.2 7.6 1177 24133 done 1.00 - - 2515 - 2.58 0.073 2260 558.9 320.7 2.33 0.174 1431 - - - - - - - - 14.63 14.52 14.43
24460 37.0 5.0 1191 24504 roll 1.11 0.12 0.132 2583 566.7 2.60 0.076 815 -555.8 376.5 36.58 0.239 1203 -6.2 0.181 - - - - - - 14.60 14.50 14.36
24609 26.3 7.3 1213 24616 done 1.11 - - 2583 - 2.62 0.072 2287 561.8 377.3 2.42 0.167 1199 -1.7 0.049 - - - - - - 14.64 14.54 14.42
24929 end climb: SURFACE_DEPTH_REACHED
24929 begin surface coast
24961 end surface coast: CONTROL_FINISHED_OK
24961 begin surface
SM 0.85 - - - - -6.13 6.60 0.056 220 33.3 - - 2288 - 500.17 74.80 0.135 699 9.3 -0.006 - - - - - -