SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 176 * Raw log
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• Previous call tries 1 • 75.01 of 350.00 AH used of 24V (78.57% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.7 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 15 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 101 VBD -0.68 - - 198 - - - 2316 - -116.8 -84.97 - 2967 - - - - - - - - 14.73 - 14.76
105 5.6 -8.1 3 128 roll -0.68 8.95 0.422 1961 197.0 2.67 2.105 3694 516.1 -116.8 -4.15 - 3220 -61.0 - - - - - - - 14.19 13.38 14.55
185 41.8 -39.6 15 191 done -0.32 0.50 0.298 2087 252.0 2.38 0.045 2273 -597.1 -116.8 - - 3222 - - - - - - - - 14.26 14.52 14.51
521 91.1 -9.8 30 526 roll -0.28 - - 2077 - 2.50 0.085 3694 568.4 -116.8 - - 3222 - - - - - - - - 14.85 14.57 14.87
662 101.4 -7.4 50 667 done -0.28 0.12 0.233 2108 258.3 2.30 0.045 2297 -607.4 -116.8 - - 3224 - - - - - - - - 14.48 14.69 14.66
1026 120.3 -5.2 60 1031 roll -0.33 - - 2108 - 2.38 0.057 886 -592.9 -116.8 - - 3225 - - - - - - - - 14.93 14.68 14.95
1165 127.0 -4.6 80 1170 done -0.38 - - 2108 - 2.47 0.063 2315 578.5 -116.8 - - 3225 - - - - - - - - 14.77 14.68 14.80
1530 143.7 -4.9 90 1534 roll -0.45 0.15 0.116 2029 -526.7 2.38 0.083 3690 577.7 -116.8 - - 3224 - - - - - - - - 14.73 14.66 14.77
1605 150.1 -9.0 101 1611 done -0.45 - - 2029 - 2.33 0.046 2293 -599.6 -116.8 - - 3223 - - - - - - - - 14.77 14.73 14.78
1922 177.6 -8.7 111 1927 roll -0.45 - - 2029 - 2.38 0.058 898 -586.1 -116.8 - - 3221 - - - - - - - - 14.98 14.71 15.00
2025 186.8 -8.8 126 2032 done -0.45 - - 2025 - 2.50 0.066 2303 562.0 -116.8 - - 3221 - - - - - - - - 14.73 14.66 14.76
2370 216.9 -9.1 133 2375 roll -0.45 - - 2015 - 2.42 0.087 3701 577.7 -116.8 - - 3221 - - - - - - - - 14.98 14.67 15.00
2396 219.6 -9.6 137 2403 done -0.45 0.10 0.213 2047 320.0 2.35 0.050 2309 -592.3 -116.8 - - 3219 - - - - - - - - 14.51 14.75 14.65
2761 249.7 -7.9 147 2766 roll -0.45 - - 2047 - 2.42 0.059 884 -588.8 -116.8 - - 3218 - - - - - - - - 14.99 14.71 15.01
2852 256.3 -7.1 160 2857 done -0.45 - - 2043 - 2.47 0.068 2295 571.3 -116.8 - - 3215 - - - - - - - - 14.81 14.70 14.83
3209 282.8 -7.6 169 3215 roll -0.45 - - 2033 - 2.45 0.093 3700 573.5 -116.8 - - 3213 - - - - - - - - 15.00 14.66 15.01
3236 285.0 -8.0 173 3243 done -0.45 - - 2036 - 2.38 0.051 2292 -591.6 -116.8 - - 3213 - - - - - - - - 14.78 14.74 14.80
3602 314.3 -8.0 183 3606 roll -0.45 - - 2036 - 2.42 0.063 885 -581.4 -116.8 - - 3210 - - - - - - - - 15.00 14.71 15.02
3698 322.2 -7.7 197 3705 done -0.45 - - 2029 - 2.53 0.069 2290 555.3 -116.8 - - 3209 - - - - - - - - 14.67 14.62 14.73
4049 349.5 -7.9 205 4050 done -0.45 - - 2029 - - - 2293 - -116.8 - - 3207 - - - - - - - - 15.00 15.02 15.02
4386 376.7 -8.2 211 4386 done -0.45 - - 2029 - - - 2296 - -116.8 - - 3205 - - - - - - - - 15.00 15.02 15.02
4721 404.5 -8.3 217 4727 roll -0.45 - - 2029 - 2.45 0.060 886 -575.5 -116.8 - - 3203 - - - - - - - - 15.00 14.70 15.02
4797 411.1 -8.4 228 4803 done -0.45 - - 2025 - 2.50 0.070 2296 564.0 -116.8 - - 3203 - - - - - - - - 14.78 14.65 14.81
5113 436.0 -7.9 238 5114 done -0.45 - - 2025 - - - 2296 - -116.8 - - 3201 - - - - - - - - 15.00 15.02 15.02
5450 461.4 -7.7 244 5454 roll -0.45 - - 2016 - 2.47 0.096 3695 566.4 -116.8 - - 3196 - - - - - - - - 15.00 14.63 15.01
5483 464.3 -8.6 249 5490 done -0.45 0.10 0.205 2048 320.0 2.40 0.056 2296 -582.9 -116.8 - - 3199 - - - - - - - - 14.47 14.70 14.62
5841 489.8 -7.1 258 5846 roll -0.45 - - 2048 - 2.45 0.066 882 -577.1 -116.8 - - 3198 - - - - - - - - 15.00 14.66 15.02
5954 497.8 -7.1 274 5959 done -0.45 - - 2043 - 2.50 0.073 2284 560.8 -116.8 - - 3197 - - - - - - - - 14.77 14.65 14.81
6289 520.0 -6.5 287 6294 roll -0.45 - - 2038 - 2.50 0.099 3695 564.4 -116.8 - - 3195 - - - - - - - - 15.00 14.61 15.02
6366 525.2 -6.8 298 6371 done -0.45 - - 2038 - 2.40 0.057 2278 -590.4 -116.8 - - 3195 - - - - - - - - 14.79 14.71 14.81
6681 547.1 -7.0 308 6686 roll -0.45 - - 2038 - 2.42 0.068 884 -576.0 -116.8 - - 3193 - - - - - - - - 14.98 14.64 15.00
6771 554.0 -7.7 321 6778 done -0.45 - - 2037 - 2.53 0.074 2300 559.7 -116.8 - - 3193 - - - - - - - - 14.78 14.63 14.80
7130 581.8 -7.9 330 7131 done -0.45 - - 2037 - - - 2300 - -116.8 - - 3191 - - - - - - - - 14.97 15.00 14.99
7465 607.9 -7.6 336 7470 roll -0.45 - - 2037 - 2.50 0.066 878 -568.8 -116.8 - - 3189 - - - - - - - - 14.97 14.64 15.00
7499 610.6 -7.7 341 7506 done -0.45 - - 2037 - 2.53 0.076 2289 557.7 -116.8 - - 3189 - - - - - - - - 14.76 14.62 14.79
7858 635.2 -6.8 350 7859 done -0.45 - - 2037 - - - 2287 - -116.8 - - 3188 - - - - - - - - 14.97 15.00 15.00
8195 657.5 -6.7 356 8199 roll -0.45 - - 2037 - 2.47 0.063 881 -569.2 -116.8 - - 3188 - - - - - - - - 14.97 14.64 15.00
8241 661.2 -7.8 363 8249 done -0.45 - - 2037 - 2.53 0.076 2264 546.6 -116.8 - - 3187 - - - - - - - - 14.65 14.58 14.70
8585 687.0 -7.6 370 8590 roll -0.45 - - 2031 - 2.55 0.101 3697 562.0 -116.8 - - 3186 - - - - - - - - 14.97 14.57 14.99
8642 691.5 -8.1 378 8647 done -0.45 - - 2032 - 2.45 0.060 2264 -584.9 -116.8 - - 3185 - - - - - - - - 14.77 14.70 14.80
8977 717.8 -7.9 391 8982 roll -0.45 - - 2032 - 2.40 0.069 877 -577.9 -116.8 - - 3185 - - - - - - - - 14.97 14.61 14.98
9075 725.8 -7.8 405 9081 done -0.45 - - 2028 - 2.50 0.079 2268 556.4 -116.8 - - 3184 - - - - - - - - 14.73 14.60 14.77
9425 751.0 -7.1 413 9431 roll -0.45 - - 2025 - 2.55 0.105 3692 558.4 -116.8 - - 3183 - - - - - - - - 14.97 14.54 14.99
9460 753.5 -7.1 418 9465 done -0.45 - - 2025 - 2.45 0.062 2259 -584.9 -116.8 - - 3183 - - - - - - - - 14.75 14.66 14.78
9818 778.1 -6.9 427 9823 roll -0.45 - - 2025 - 2.42 0.070 872 -573.1 -116.8 - - 3182 - - - - - - - - 14.95 14.59 14.97
9907 784.6 -7.4 440 9913 done -0.45 - - 2025 - 2.53 0.079 2250 544.7 -116.8 - - 3182 - - - - - - - - 14.62 14.54 14.67
10265 809.7 -7.1 449 10266 done -0.45 - - 2025 - - - 2249 - -116.8 - - 3181 - - - - - - - - 14.95 14.97 14.97
10602 832.1 -6.6 455 10603 done -0.45 - - 2025 - - - 2249 - -116.8 - - 3180 - - - - - - - - 14.95 14.97 14.97
10937 852.5 -5.9 461 10943 roll -0.45 - - 2025 - 2.45 0.072 872 -562.0 -116.8 - - 3179 - - - - - - - - 14.95 14.52 14.97
10971 854.7 -5.6 466 10977 done -0.45 - - 2025 - 2.50 0.080 2255 553.2 -116.8 - - 3179 - - - - - - - - 14.71 14.58 14.76
11330 876.1 -6.0 475 11331 done -0.45 - - 2026 - - - 2254 - -116.8 - - 3178 - - - - - - - - 14.94 14.95 14.96
11665 898.4 -6.7 481 11666 done -0.45 - - 2025 - - - 2255 - -116.8 - - 3181 - - - - - - - - 14.95 14.97 14.96
12001 921.8 -6.9 487 12006 roll -0.45 - - 2025 - 2.45 0.073 880 -561.2 -116.8 - - 3177 - - - - - - - - 14.96 14.57 14.97
12049 925.3 -7.1 494 12056 done -0.45 - - 2025 - 2.55 0.082 2285 551.0 -116.8 - - 3177 - - - - - - - - 14.69 14.54 14.73
12394 947.7 -6.5 501 12395 done -0.45 - - 2025 - - - 2285 - -116.8 - - 3176 - - - - - - - - 14.95 14.97 14.97
12730 968.7 -6.3 507 12735 roll -0.45 - - 2019 - 2.55 0.109 3692 551.8 -116.8 - - 3175 - - - - - - - - 14.94 14.51 14.95
12791 973.6 -6.6 516 12797 done -0.45 0.12 0.239 2049 250.0 2.47 0.067 2257 -581.0 -116.8 - - 3175 - - - - - - - - 14.40 14.62 14.63
13118 end dive: TARGET_DEPTH_EXCEEDED
13118 begin apogee
13127 990.9 -5.5 528 13270 roll -0.19 0.30 0.203 2133 280.0 - - 2251 - - 136.77 2.544 2740 -3.2 0.237 - - - - 1 - 14.41 13.83 12.82
13272 end apogee: CONTROL_FINISHED_OK
13272 begin climb
13276 995.0 - 530 13445 roll 0.68 0.95 0.158 2411 292.6 2.70 0.109 3638 513.7 116.8 154.82 1.917 2257 -3.1 0.310 - - - - - - 13.83 13.86 13.00
13566 970.0 11.6 577 13574 done 0.58 0.15 0.285 2390 -140.0 2.58 0.075 2238 -542.6 116.8 - - 2243 - - - - - - - - 13.88 14.05 14.12
13908 936.3 9.7 584 13913 roll 0.53 - - 2390 - 2.65 0.107 3648 532.1 116.8 - - 2235 - - - - - - - - 14.64 14.34 14.67
14026 923.5 10.6 601 14032 done 0.47 0.17 0.267 2360 -176.5 2.58 0.076 2214 -555.8 116.8 - - 2235 - - - - - - - - 14.24 14.42 14.49
14356 895.5 8.5 613 14362 roll 0.47 - - 2369 - 2.55 0.092 821 -546.3 116.8 - - 2233 - - - - - - - - 14.78 14.45 14.80
14431 889.0 8.3 624 14437 done 0.47 - - 2369 - 2.60 0.081 2217 536.9 116.8 - - 2231 - - - - - - - - 14.63 14.45 14.66
14748 860.9 8.9 634 14752 roll 0.47 - - 2369 - 2.60 0.109 3641 547.7 116.8 - - 2231 - - - - - - - - 14.85 14.47 14.84
14810 854.3 11.3 643 14815 done 0.47 - - 2380 - 2.50 0.075 2216 -570.0 116.8 - - 2231 - - - - 1 - - - 14.63 14.53 14.68
15140 823.9 9.2 655 15144 roll 0.47 - - 2390 - 2.55 0.091 820 -547.5 116.8 - - 2230 - - - - - - - - 14.86 14.46 14.88
15195 818.9 8.8 663 15201 done 0.47 0.15 0.260 2356 -226.7 2.55 0.080 2221 549.4 116.8 - - 2230 - - - - - - - - 14.33 14.50 14.61
15532 794.3 7.1 676 15537 roll 0.48 - - 2356 - 2.58 0.107 3639 549.6 122.2 - - 2230 - - - - - - - - 14.87 14.48 14.89
15621 787.0 7.7 689 15628 done 0.48 - - 2366 - 2.55 0.072 2193 -567.1 122.2 - - 2229 - - - - - - - - 14.67 14.55 14.71
15980 762.6 6.8 698 16000 roll 0.49 - - 2376 - 2.55 0.090 822 -537.6 135.0 16.30 1.803 2186 -2.6 0.213 - - - - - - 14.89 14.55 13.88
16042 758.3 6.9 707 16055 done 0.49 - - 2376 - 2.55 0.078 2226 550.6 145.0 4.90 1.529 2147 -8.0 0.755 - - - - - - 14.60 14.50 13.67
16365 733.8 7.7 718 16369 roll 0.49 - - 2376 - 2.60 0.109 3647 546.5 145.0 - - 2155 - - - - - - - - 14.81 14.46 14.82
16455 726.1 8.4 731 16460 done 0.49 - - 2386 - 2.53 0.076 2228 -560.9 145.0 - - 2155 - - - - - - - - 14.64 14.52 14.66
16812 697.4 8.0 740 16817 roll 0.49 - - 2396 - 2.55 0.092 824 -550.6 145.0 - - 2155 - - - - - - - - 14.86 14.50 14.88
16854 693.9 8.2 746 16859 done 0.49 0.15 0.261 2362 -226.7 2.58 0.080 2238 548.1 145.0 - - 2156 - - - - - - - - 14.33 14.52 14.58
17205 667.8 7.6 754 17210 roll 0.49 - - 2363 - 2.55 0.109 3639 549.4 145.0 - - 2154 - - - - - - - - 14.87 14.49 14.88
17267 662.1 9.0 763 17272 done 0.49 - - 2372 - 2.50 0.073 2245 -557.6 145.0 - - 2155 - - - - - - - - 14.60 14.54 14.64
17596 633.0 8.9 775 17601 roll 0.49 - - 2378 - 2.58 0.091 824 -550.8 145.0 - - 2155 - - - - - - - - 14.88 14.51 14.90
17666 627.0 8.4 785 17672 done 0.49 - - 2381 - 2.58 0.079 2243 550.0 145.0 - - 2155 - - - - - - - - 14.66 14.53 14.69
17990 598.6 8.8 796 17994 roll 0.49 - - 2381 - 2.55 0.109 3642 548.6 145.0 - - 2154 - - - - - - - - 14.88 14.50 14.90
18058 592.2 9.0 806 18064 done 0.49 0.12 0.268 2363 -150.0 2.47 0.074 2242 -566.8 145.0 - - 2155 - - - - - - - - 14.36 14.57 14.59
18381 569.8 6.8 817 18408 roll 0.50 - - 2372 - 2.65 0.090 821 -536.2 157.6 23.30 1.633 2092 -2.7 0.181 - - - - - - 14.90 14.51 13.91
18457 564.6 7.0 828 18464 done 0.50 - - 2372 - 2.60 0.078 2250 549.6 166.7 3.33 1.031 2059 -9.9 1.038 - - - - - - 14.58 14.47 13.69
18815 537.2 7.8 837 18821 roll 0.50 - - 2372 - 2.55 0.109 3645 547.1 166.7 - - 2064 - - - - - - - - 14.79 14.45 14.81
18871 532.2 8.9 845 18876 done 0.50 - - 2382 - 2.50 0.075 2239 -562.4 166.7 - - 2064 - - - - - - - - 14.62 14.51 14.64
19208 503.3 8.6 858 19212 roll 0.50 - - 2391 - 2.58 0.088 821 -549.6 166.7 - - 2065 - - - - - - - - 14.83 14.49 14.85
19248 499.8 8.4 864 19254 done 0.50 - - 2391 - 2.65 0.079 2252 540.0 166.7 - - 2065 - - - - - - - - 14.57 14.49 14.61
19599 469.4 8.7 872 19603 roll 0.50 - - 2390 - 2.53 0.109 3640 548.6 166.7 - - 2065 - - - - - - - - 14.88 14.44 14.89
19647 464.7 9.8 879 19654 done 0.50 0.10 0.224 2371 -190.0 2.50 0.072 2248 -556.8 166.7 - - 2065 - - - - - - - - 14.33 14.52 14.47
19992 436.9 8.2 886 19996 roll 0.50 - - 2381 - 2.58 0.089 823 -552.3 166.7 - - 2065 - - - - - - - - 14.88 14.51 14.90
20039 432.9 8.4 893 20047 done 0.50 - - 2380 - 2.62 0.079 2243 542.0 166.7 - - 2065 - - - - - - - - 14.54 14.48 14.57
20383 402.4 9.0 900 20387 roll 0.50 - - 2380 - 2.55 0.108 3645 549.8 166.7 - - 2065 - - - - - - - - 14.88 14.50 14.90
20452 395.5 9.8 910 20457 done 0.50 - - 2390 - 2.45 0.072 2248 -570.2 166.7 - - 2065 - - - - - - - - 14.69 14.57 14.71
20775 365.6 9.3 921 20780 roll 0.50 - - 2399 - 2.58 0.087 816 -555.0 166.7 - - 2065 - - - - - - - - 14.90 14.52 14.92
20823 361.1 9.2 928 20830 done 0.50 0.08 0.217 2362 -462.5 2.62 0.079 2242 544.3 166.7 - - 2065 - - - - - - - - 14.40 14.50 14.60
21167 336.3 7.0 935 21187 roll 0.51 - - 2362 - 2.53 0.106 3642 553.4 173.9 14.38 1.411 2025 -2.8 0.127 - - - - - - 14.89 14.52 14.00
21250 329.9 7.8 947 21255 done 0.51 - - 2371 - 2.47 0.070 2262 -558.7 173.9 - - 2016 - - - - - - - - 14.59 14.53 14.62
21615 304.0 7.2 957 21621 roll 0.51 - - 2379 - 2.60 0.085 818 -555.4 176.7 - - 2015 - - - - - - - - 14.85 14.50 14.88
21684 298.9 7.3 967 21689 done 0.57 - - 2379 - 2.60 0.076 2260 554.6 176.7 - - 2014 - - - - - - - - 14.62 14.52 14.68
22007 272.0 8.5 978 22012 roll 0.57 - - 2379 - 2.50 0.103 3644 553.6 176.7 - - 2011 - - - - - - - - 14.88 14.50 14.89
22083 264.7 9.3 989 22089 done 0.57 - - 2389 - 2.42 0.069 2256 -573.6 176.7 - - 2014 - - - - - - - - 14.67 14.57 14.70
22399 238.1 8.4 999 22404 roll 0.57 - - 2398 - 2.58 0.083 822 -555.8 176.7 - - 2014 - - - - - - - - 14.88 14.48 14.90
22455 233.5 8.1 1007 22460 done 0.57 - - 2398 - 2.60 0.076 2263 554.2 176.7 - - 2014 - - - - - - - - 14.67 14.54 14.71
22791 203.0 9.3 1020 22796 roll 0.57 - - 2398 - 2.47 0.103 3637 556.3 176.7 - - 2013 - - - - - - - - 14.90 14.51 14.91
22825 199.3 10.7 1025 22831 done 0.57 - - 2408 - 2.45 0.067 2257 -563.3 176.7 - - 2014 - - - - - - - - 14.62 14.55 14.66
23183 164.9 9.4 1034 23188 roll 0.57 - - 2418 - 2.58 0.081 819 -557.4 176.7 - - 2014 - - - - - - - - 14.90 14.54 14.92
23240 160.0 8.9 1042 23245 done 0.57 0.15 0.242 2381 -246.7 2.58 0.076 2249 554.3 176.7 - - 2014 - - - - - - - - 14.40 14.56 14.62
23575 138.1 6.3 1055 23614 roll 0.58 - - 2381 - 2.58 0.103 3640 539.1 201.8 31.15 1.157 1908 -3.4 0.078 - - - - - - 14.91 14.52 14.04
23658 131.5 8.8 1067 23663 done 0.58 - - 2390 - 2.45 0.067 2241 -571.0 201.8 - - 1897 - - - - - - - - 14.59 14.50 14.64
24023 101.7 8.0 1077 24028 roll 0.58 - - 2398 - 2.55 0.083 826 -554.9 201.8 - - 1893 - - - - - - - - 14.82 14.49 14.83
24079 97.7 7.4 1085 24085 done 0.66 - - 2399 - 2.58 0.073 2260 555.8 201.8 - - 1894 - - - - - - - - 14.59 14.47 14.62
24416 78.2 4.6 1100 24453 done 0.77 0.15 0.119 2459 400.0 - - 2256 - 265.8 35.92 0.370 1656 -6.6 0.268 - - - - - - 14.61 14.59 14.26
24751 58.5 4.4 1112 24806 roll 0.89 - - 2459 - 2.55 0.096 3643 543.9 336.2 45.50 0.314 1372 -6.2 0.223 - - - - - - 14.83 14.49 14.28
24880 51.6 6.9 1130 24896 done 1.00 0.20 0.106 2538 395.0 2.42 0.062 2243 -578.5 347.1 8.98 0.264 1324 -5.3 0.200 - - - - - - 14.54 14.52 14.22
25230 30.5 5.7 1147 25260 roll 1.08 - - 2538 - 2.53 0.092 3642 553.0 385.2 25.83 0.220 1169 -6.0 0.159 - - - - - - 14.82 14.48 14.33
25311 26.1 6.2 1159 25338 done 1.15 - - 2545 - 2.38 0.060 2262 -579.8 412.8 19.38 0.207 1055 -5.9 0.142 - - - - - - 14.64 14.55 14.35
25650 6.5 5.2 1174 25687 roll 1.27 0.15 0.113 2627 546.7 2.53 0.076 834 -564.4 463.6 31.90 0.148 847 -6.5 0.055 - - - - - - 14.60 14.53 14.43
25692 end climb: SURFACE_DEPTH_REACHED
25692 begin surface coast
25723 end surface coast: CONTROL_FINISHED_OK
25723 begin surface
SM 1.12 - - - - -6.13 6.78 0.059 213 31.4 2.60 0.060 2290 -3317.7 500.17 25.05 0.140 699 27.9 -0.023 - - - - - -