SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 177 * Raw log
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• Previous call tries 5 • 75.38 of 350.00 AH used of 24V (78.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.2 deg, depth 0.92 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 18 s • Transponder ping count: 16
• 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 - - 191 - - - 2301 - -116.8 -84.85 - 2945 - - - - - - - - 14.74 - 14.76
107 5.4 -7.8 3 130 roll -0.68 8.90 0.418 1964 199.2 2.70 2.098 3694 515.9 -116.8 -4.57 - 3220 -60.2 - - - - - - - 14.21 13.39 14.57
150 27.9 -43.8 10 157 done -0.23 0.55 0.301 2118 280.0 2.42 0.048 2280 -584.3 -116.8 - - 3221 - - - - - - - - 14.29 14.50 14.52
466 80.0 -8.1 22 471 roll -0.23 - - 2108 - 2.47 0.083 3690 570.9 -116.8 - - 3221 - - - - - - - - 14.85 14.58 14.87
686 95.5 -5.4 53 693 done -0.30 - - 2108 - 2.35 0.045 2255 -610.6 -116.8 - - 3222 - - - - - - - - 14.76 14.70 14.77
1027 113.8 -5.8 62 1031 roll -0.34 - - 2108 - 2.30 0.057 901 -588.7 -116.8 - - 3223 - - - - - - - - 14.95 14.69 14.97
1159 121.7 -6.4 81 1165 done -0.41 0.12 0.136 2051 -475.0 2.40 0.064 2284 576.2 -116.8 - - 3223 - - - - - - - - 14.71 14.69 14.79
1474 146.1 -7.8 91 1479 roll -0.41 - - 2042 - 2.40 0.083 3690 585.8 -116.8 - - 3222 - - - - - - - - 14.99 14.69 15.00
1565 153.3 -8.0 104 1570 done -0.41 - - 2041 - 2.28 0.044 2291 -613.6 -116.8 - - 3220 - - - - - - - - 14.83 14.78 14.85
1922 181.8 -8.0 113 1928 roll -0.41 - - 2042 - 2.38 0.057 887 -589.9 -116.8 - - 3218 - - - - - - - - 15.00 14.73 15.02
2005 188.9 -8.6 125 2012 done -0.41 - - 2045 - 2.47 0.066 2282 564.8 -116.8 - - 3218 - - - - - - - - 14.75 14.69 14.78
2371 218.4 -8.1 135 2375 roll -0.41 - - 2034 - 2.45 0.086 3700 578.8 -116.8 - - 3216 - - - - - - - - 15.00 14.70 15.02
2426 223.1 -8.5 143 2431 done -0.41 - - 2035 - 2.33 0.048 2287 -606.4 -116.8 - - 3215 - - - - - - - - 14.85 14.78 14.86
2763 251.0 -8.3 156 2767 roll -0.41 0.12 0.252 2073 316.7 2.40 0.057 891 -581.7 -116.8 - - 3213 - - - - - - - - 14.54 14.71 14.67
2884 258.8 -6.2 173 2889 done -0.46 - - 2075 - 2.42 0.067 2284 575.6 -116.8 - - 3212 - - - - - - - - 14.82 14.71 14.85
3212 277.4 -5.6 185 3212 done -0.46 - - 2069 - - - 2282 - -116.8 - - 3209 - - - - - - - - 15.00 15.02 15.02
3548 298.3 -6.4 191 3549 done -0.46 - - 2069 - - - 2282 - -116.8 - - 3207 - - - - - - - - 15.00 15.02 15.02
3884 321.6 -7.0 197 3889 roll -0.46 - - 2069 - 2.40 0.060 892 -579.2 -116.8 - - 3204 - - - - - - - - 15.00 14.72 15.02
3932 325.2 -7.3 204 3939 done -0.46 - - 2069 - 2.47 0.068 2275 559.9 -116.8 - - 3204 - - - - - - - - 14.73 14.66 14.77
4277 348.0 -6.6 211 4281 roll -0.46 - - 2064 - 2.50 0.096 3696 568.4 -116.8 - - 3201 - - - - - - - - 15.00 14.67 15.01
4324 351.3 -6.7 218 4331 done -0.51 - - 2062 - 2.40 0.055 2280 -590.0 -116.8 - - 3201 - - - - - - - - 14.76 14.73 14.80
4668 373.2 -6.4 225 4673 roll -0.51 - - 2063 - 2.40 0.064 893 -577.9 -116.8 - - 3198 - - - - - - - - 15.00 14.70 15.00
4765 379.6 -6.5 239 4770 done -0.51 - - 2060 - 2.42 0.070 2266 567.4 -116.8 - - 3199 - - - - - - - - 14.79 14.68 14.83
5116 401.0 -6.1 247 5120 roll -0.51 - - 2056 - 2.53 0.096 3697 565.6 -116.8 - - 3197 - - - - - - - - 15.00 14.64 15.02
5178 404.8 -6.1 256 5184 done -0.57 0.12 0.135 2001 -458.3 2.40 0.055 2268 -595.4 -116.8 - - 3195 - - - - - - - - 14.70 14.71 14.80
5508 432.6 -8.7 268 5513 roll -0.57 - - 2001 - 2.38 0.066 889 -579.4 -116.8 - - 3194 - - - - - - - - 14.99 14.68 15.00
5605 441.7 -9.2 282 5610 done -0.57 - - 1998 - 2.47 0.074 2282 564.0 -116.8 - - 3194 - - - - - - - - 14.78 14.65 14.81
5956 474.1 -9.2 290 5961 roll -0.57 - - 1988 - 2.47 0.093 3691 570.4 -116.8 - - 3193 - - - - - - - - 15.00 14.64 15.02
6004 478.6 -9.3 297 6012 done -0.52 0.17 0.248 2031 252.9 2.45 0.056 2241 -591.8 -116.8 - - 3192 - - - - - - - - 14.46 14.71 14.70
6348 501.9 -6.6 304 6352 roll -0.52 - - 2031 - 2.35 0.066 893 -573.6 -116.8 - - 3189 - - - - - - - - 14.98 14.66 14.98
6445 508.9 -7.1 318 6450 done -0.52 - - 2025 - 2.42 0.073 2258 564.0 -116.8 - - 3190 - - - - - - - - 14.78 14.66 14.81
6796 536.4 -8.2 326 6800 roll -0.52 - - 2017 - 2.55 0.096 3701 565.9 -116.8 - - 3188 - - - - - - - - 14.98 14.62 15.00
6872 543.3 -9.1 337 6878 done -0.52 - - 2017 - 2.47 0.057 2258 -584.2 -116.8 - - 3188 - - - - - - - - 14.81 14.69 14.83
7188 572.3 -9.3 347 7193 roll -0.52 - - 2017 - 2.40 0.068 884 -572.5 -116.8 - - 3187 - - - - - - - - 14.97 14.65 15.00
7285 581.8 -9.6 361 7291 done -0.52 - - 2015 - 2.50 0.077 2251 546.8 -116.8 - - 3186 - - - - - - - - 14.68 14.59 14.73
7636 613.2 -8.8 369 7641 roll -0.52 - - 2008 - 2.58 0.101 3697 560.5 -116.8 - - 3188 - - - - - - - - 14.99 14.60 15.00
7692 618.0 -8.6 377 7698 done -0.52 - - 2008 - 2.45 0.058 2255 -588.6 -116.8 - - 3185 - - - - - - - - 14.78 14.71 14.81
8028 644.6 -7.8 390 8032 roll -0.52 - - 2008 - 2.40 0.068 877 -574.2 -116.8 - - 3184 - - - - - - - - 14.97 14.64 14.99
8097 650.2 -8.1 400 8102 done -0.52 - - 2003 - 2.53 0.079 2259 546.2 -116.8 - - 3183 - - - - - - - - 14.66 14.59 14.71
8420 675.2 -7.8 411 8421 done -0.52 - - 2004 - - - 2257 - -116.8 - - 3182 - - - - - - - - 14.97 14.99 14.99
8756 704.3 -8.8 417 8756 done -0.52 - - 2003 - - - 2257 - -116.8 - - 3181 - - - - - - - - 14.97 14.99 14.99
9092 733.6 -8.7 423 9096 roll -0.52 - - 2004 - 2.42 0.067 883 -567.8 -116.8 - - 3180 - - - - - - - - 14.97 14.62 14.99
9168 740.5 -8.8 434 9174 done -0.52 0.12 0.290 2026 183.3 2.45 0.080 2245 555.9 -116.8 - - 3180 - - - - - - - - 14.38 14.60 14.66
9484 763.1 -7.0 444 9488 roll -0.52 - - 2016 - 2.62 0.104 3701 555.7 -116.8 - - 3179 - - - - - - - - 14.96 14.56 14.98
9539 767.3 -7.7 452 9544 done -0.52 - - 2016 - 2.50 0.063 2242 -583.6 -116.8 - - 3177 - - - - - - - - 14.76 14.67 14.78
9877 792.1 -7.4 465 9882 roll -0.52 - - 2015 - 2.40 0.073 881 -567.1 -116.8 - - 3177 - - - - - - - - 14.96 14.59 14.98
9945 797.5 -7.9 475 9950 done -0.52 - - 2015 - 2.53 0.082 2246 539.5 -116.8 - - 3177 - - - - - - - - 14.62 14.54 14.66
10268 822.2 -7.7 486 10273 roll -0.52 - - 2010 - 2.62 0.108 3696 553.4 -116.8 - - 3176 - - - - - - - - 14.95 14.54 14.97
10302 825.0 -7.5 491 10308 done -0.52 - - 2012 - 2.50 0.063 2245 -580.4 -116.8 - - 3176 - - - - - - - - 14.74 14.65 14.77
10660 854.8 -8.4 500 10664 roll -0.52 - - 2010 - 2.42 0.074 871 -567.8 -116.8 - - 3175 - - - - - - - - 14.95 14.58 14.97
10764 863.5 -8.5 515 10771 done -0.52 - - 2010 - 2.53 0.083 2237 539.9 -116.8 - - 3175 - - - - - - - - 14.61 14.52 14.65
11108 891.4 -8.1 522 11113 roll -0.52 - - 2000 - 2.62 0.105 3692 555.3 -116.8 - - 3174 - - - - - - - - 14.94 14.52 14.95
11156 895.5 -8.5 529 11164 done -0.52 0.08 0.233 2023 287.5 2.55 0.062 2230 -573.3 -116.8 - - 3173 - - - - - - - - 14.35 14.58 14.50
11500 919.8 -6.9 536 11505 roll -0.52 - - 2023 - 2.38 0.071 882 -566.4 -116.8 - - 3172 - - - - - - - - 14.94 14.57 14.95
11590 926.3 -7.1 549 11596 done -0.52 - - 2023 - 2.45 0.083 2235 552.2 -116.8 - - 3172 - - - - - - - - 14.70 14.57 14.74
11948 949.4 -6.6 558 11953 roll -0.52 - - 2013 - 2.65 0.107 3695 550.9 -116.8 - - 3171 - - - - - - - - 14.95 14.52 14.97
11989 953.0 -7.0 564 11995 done -0.52 - - 2012 - 2.53 0.066 2237 -576.3 -116.8 - - 3171 - - - - - - - - 14.72 14.63 14.75
12340 975.4 -6.6 572 12344 roll -0.52 - - 2013 - 2.40 0.073 876 -567.1 -116.8 - - 3170 - - - - - - - - 14.95 14.57 14.96
12430 982.0 -7.8 585 12436 done -0.52 - - 2013 - 2.50 0.084 2220 537.6 -116.8 - - 3170 - - - - - - - - 14.71 14.50 14.73
12560 end dive: TARGET_DEPTH_EXCEEDED
12560 begin apogee
12568 990.3 -5.8 590 12755 roll -0.19 0.43 0.228 2130 272.1 - - 2220 - - 184.88 1.649 2742 -2.3 0.260 - - - - - - 14.38 14.01 13.40
12757 end apogee: CONTROL_FINISHED_OK
12757 begin climb
12761 995.1 - 593 12918 roll 0.68 0.93 0.158 2408 298.9 2.60 0.070 822 -537.7 116.8 146.52 1.903 2264 -3.3 0.319 - - 1 - - - 13.96 14.02 13.12
12994 978.0 9.3 630 13000 done 0.68 - - 2407 - 2.67 0.083 2228 526.6 116.8 - - 2237 - - - - - - - - 14.13 14.02 14.16
13345 941.9 10.3 638 13351 roll 0.62 - - 2417 - 2.60 0.091 840 -533.8 116.8 - - 2231 - - - - - - - - 14.66 14.36 14.68
13477 929.0 9.4 657 13483 done 0.62 - - 2417 - 2.60 0.086 2236 536.9 116.8 - - 2230 - - - - - - - - 14.54 14.42 14.58
13793 897.1 10.1 667 13798 roll 0.55 0.12 0.292 2384 -275.0 2.58 0.110 3638 543.4 116.8 - - 2228 - - - - - - - - 14.28 14.45 14.42
13842 891.2 12.3 674 13849 done 0.49 0.15 0.278 2360 -160.0 2.47 0.076 2247 -563.2 116.8 - - 2227 - - - - 1 - - - 14.32 14.51 14.57
14185 863.8 8.0 681 14190 roll 0.49 - - 2370 - 2.62 0.096 818 -545.4 116.8 - - 2227 - - - - - - - - 14.85 14.50 14.88
14233 859.6 9.5 688 14240 done 0.49 - - 2370 - 2.65 0.086 2237 535.5 116.8 - - 2227 - - - - - - - - 14.56 14.47 14.61
14577 827.7 9.6 695 14582 roll 0.49 - - 2370 - 2.58 0.111 3639 543.4 116.8 - - 2226 - - - - - - - - 14.88 14.49 14.90
14625 822.7 10.5 702 14633 done 0.49 - - 2380 - 2.50 0.076 2235 -561.6 116.8 - - 2225 - - - - - - - - 14.66 14.55 14.68
14969 789.6 9.6 709 14975 roll 0.49 - - 2391 - 2.55 0.091 821 -554.5 116.8 - - 2224 - - - - - - - - 14.89 14.47 14.91
15017 785.0 9.4 716 15024 done 0.49 0.10 0.233 2362 -290.0 2.62 0.084 2237 540.5 116.8 - - 2224 - - - - - - - - 14.33 14.47 14.49
15362 757.7 7.8 723 15366 roll 0.49 - - 2362 - 2.58 0.110 3642 544.6 116.8 - - 2224 - - - - - - - - 14.89 14.50 14.91
15451 749.7 8.7 736 15456 done 0.49 - - 2370 - 2.50 0.075 2250 -556.8 116.8 - - 2224 - - - - - - - - 14.60 14.54 14.64
15809 719.9 8.4 745 15814 roll 0.49 - - 2381 - 2.60 0.093 821 -549.6 116.8 - - 2223 - - - - - - - - 14.89 14.50 14.91
15836 717.6 8.3 749 15842 done 0.49 - - 2382 - 2.62 0.084 2251 545.8 116.8 - - 2223 - - - - - - - - 14.68 14.54 14.72
16201 684.1 9.3 759 16206 roll 0.49 - - 2382 - 2.55 0.114 3638 543.9 116.8 - - 2223 - - - - - - - - 14.88 14.48 14.90
16263 677.7 10.3 768 16269 done 0.49 0.08 0.247 2362 -250.0 2.50 0.076 2250 -555.2 116.8 - - 2222 - - - - - - - - 14.34 14.52 14.62
16593 649.5 8.6 780 16598 roll 0.49 - - 2372 - 2.62 0.093 815 -547.7 116.8 - - 2223 - - - - - - - - 14.90 14.50 14.91
16620 647.1 8.7 784 16626 done 0.49 - - 2372 - 2.67 0.085 2250 537.5 116.8 - - 2222 - - - - - - - - 14.59 14.50 14.64
16985 616.7 8.1 794 16990 roll 0.49 - - 2372 - 2.58 0.115 3645 540.7 116.8 - - 2222 - - - - - - - - 14.91 14.46 14.93
17041 611.9 8.6 802 17046 done 0.49 - - 2381 - 2.50 0.079 2239 -562.4 116.8 - - 2222 - - - - - - - - 14.67 14.56 14.71
17377 585.9 7.7 815 17378 done 0.49 - - 2381 - - - 2240 - 116.8 - - 2222 - - - - - - - - 14.91 14.93 14.93
17713 561.0 7.4 821 17718 roll 0.49 - - 2391 - 2.60 0.091 819 -546.5 116.8 - - 2222 - - - - - - - - 14.90 14.49 14.92
17748 558.4 7.3 826 17754 done 0.49 0.12 0.259 2363 -233.3 2.60 0.083 2249 550.0 117.1 - - 2222 - - - - - - - - 14.36 14.52 14.63
18105 534.2 6.9 835 18110 roll 0.50 - - 2363 - 2.55 0.112 3637 544.3 128.5 - - 2222 - - - - - - - - 14.90 14.46 14.92
18174 528.5 8.3 845 18179 done 0.50 - - 2372 - 2.50 0.074 2248 -555.6 128.5 - - 2222 - - - - - - - - 14.59 14.52 14.71
18498 502.6 8.2 856 18502 roll 0.50 - - 2382 - 2.60 0.092 820 -549.2 128.5 - - 2222 - - - - - - - - 14.90 14.50 14.91
18566 496.8 8.2 866 18572 done 0.50 - - 2382 - 2.60 0.083 2246 548.5 128.5 - - 2221 - - - - - - - - 14.66 14.52 14.70
18889 469.0 8.7 877 18894 roll 0.50 - - 2382 - 2.55 0.112 3636 545.1 128.5 - - 2221 - - - - - - - - 14.89 14.47 14.90
18945 463.6 9.6 885 18950 done 0.50 - - 2391 - 2.47 0.075 2245 -563.2 128.5 - - 2221 - - - - - - - - 14.66 14.54 14.69
19281 435.0 8.4 898 19282 done 0.50 - - 2391 - - - 2245 - 128.5 - - 2224 - - - - - - - - 14.90 14.92 14.92
19617 409.1 7.5 904 19622 roll 0.50 - - 2401 - 2.58 0.090 824 -550.8 128.5 - - 2221 - - - - - - - - 14.88 14.50 14.91
19651 406.6 7.2 909 19664 done 0.50 0.15 0.243 2366 -233.3 2.60 0.083 2249 548.1 132.5 4.15 1.135 2199 -5.3 0.355 - - - - - - 14.36 14.52 13.80
20009 384.2 6.3 918 20071 roll 0.52 - - 2366 - 2.60 0.112 3649 538.5 156.7 49.35 1.242 2098 -2.0 0.118 - - - - 1 - 14.90 14.38 13.70
20152 373.7 8.0 938 20157 done 0.52 - - 2375 - 2.50 0.074 2256 -557.2 156.7 - - 2101 - - - - - - - - 14.47 14.37 14.50
20514 344.7 8.0 948 20519 roll 0.52 - - 2385 - 2.62 0.089 818 -548.9 156.7 - - 2101 - - - - - - - - 14.78 14.40 14.78
20598 338.2 7.5 960 20603 done 0.52 - - 2384 - 2.62 0.081 2256 548.9 156.7 - - 2101 - - - - - - - - 14.57 14.44 14.60
20963 310.4 7.6 970 20968 roll 0.52 - - 2384 - 2.55 0.109 3645 544.7 156.7 - - 2101 - - - - - - - - 14.83 14.41 14.84
21039 303.9 8.3 981 21044 done 0.52 - - 2393 - 2.50 0.075 2261 -553.6 156.7 - - 2103 - - - - - - - - 14.64 14.46 14.66
21355 277.8 8.4 991 21360 roll 0.52 - - 2402 - 2.60 0.086 821 -553.8 156.7 - - 2099 - - - - - - - - 14.86 14.47 14.88
21416 272.3 8.6 1000 21422 done 0.52 0.15 0.235 2366 -240.0 2.62 0.080 2260 549.2 156.7 - - 2101 - - - - - - - - 14.35 14.48 14.57
21747 247.0 7.7 1012 21752 roll 0.52 - - 2366 - 2.53 0.107 3648 548.6 156.7 - - 2101 - - - - - - - - 14.88 14.46 14.90
21816 241.1 8.4 1022 21822 done 0.52 - - 2376 - 2.47 0.070 2246 -567.6 156.7 - - 2101 - - - - - - - - 14.65 14.54 14.69
22139 217.7 7.2 1033 22146 roll 0.52 - - 2384 - 2.62 0.087 823 -543.1 160.5 2.78 0.662 2083 -6.5 0.398 - - - - - - 14.88 14.61 13.78
22181 214.8 6.6 1039 22216 done 0.53 - - 2384 - 2.62 0.079 2264 550.0 178.2 30.95 1.236 2014 -2.2 0.072 - - - - - - 14.66 14.53 14.00
22574 187.3 7.0 1053 22586 roll 0.54 - - 2384 - 2.58 0.106 3647 536.0 187.2 3.05 0.736 1974 -13.1 0.624 - - - - - - 14.79 14.53 13.81
22635 182.2 8.3 1062 22642 done 0.54 - - 2392 - 2.47 0.070 2269 -557.9 187.2 - - 1980 - - - - - - - - 14.54 14.48 14.58
22966 154.9 8.5 1074 22972 roll 0.54 - - 2403 - 2.60 0.086 825 -555.4 187.2 - - 1981 - - - - - - - - 14.83 14.48 14.83
23077 145.6 8.1 1090 23084 done 0.54 - - 2403 - 2.58 0.077 2252 553.1 187.2 1.20 0.207 1974 -5.8 0.767 - - - - - - 14.63 14.50 14.44
23414 115.2 9.0 1103 23419 roll 0.54 0.12 0.251 2368 -291.7 2.53 0.105 3639 548.2 187.2 - - 1979 - - - - - - - - 14.36 14.48 14.49
23497 109.0 7.0 1115 23510 done 0.59 - - 2377 - 2.42 0.068 2248 -574.8 196.1 6.95 0.340 1941 -5.5 0.328 - - - - - - 14.64 14.56 14.18
23837 88.6 5.9 1127 23867 roll 0.68 0.12 0.138 2441 533.3 2.55 0.081 827 -557.3 229.9 24.80 0.391 1803 -5.6 0.236 - - - - - - 14.58 14.52 14.28
23962 79.5 7.5 1145 23974 done 0.68 - - 2440 - 2.60 0.078 2268 554.2 229.9 1.98 0.186 1800 -1.5 0.121 - - - - - - 14.64 14.52 14.41
24285 63.2 3.9 1158 24344 roll 0.81 - - 2440 - 2.47 0.101 3642 556.3 311.1 51.80 0.326 1475 -6.3 0.227 - - - - - - 14.84 14.48 14.28
24484 51.9 5.3 1187 24524 done 0.97 0.20 0.096 2531 455.0 2.35 0.063 2278 -580.4 359.0 32.12 0.288 1275 -6.2 0.210 - - - - - - 14.53 14.50 14.26
24845 31.0 5.5 1205 24881 roll 1.07 - - 2530 - 2.50 0.096 3632 541.6 402.4 29.05 0.223 1097 -6.1 0.159 - - - - - - 14.81 14.46 14.32
24904 27.7 5.8 1211 24932 done 1.18 0.15 0.116 2593 420.0 2.33 0.062 2294 -574.2 438.3 22.85 0.216 952 -6.3 0.152 - - - - - - 14.52 14.50 14.33
25203 end climb: SURFACE_DEPTH_REACHED
25206 begin surface coast
25230 end surface coast: CONTROL_FINISHED_OK
25230 begin surface
SM 0.85 - - - - -6.13 6.80 0.070 214 31.4 - - 2293 - 500.17 40.92 0.140 698 17.1 -0.011 - - - - - -