SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 180 * Raw log
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• Previous call tries 1 • 76.44 of 350.00 AH used of 24V (78.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.00 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 VBD -0.68 - - 203 - - - 2297 - -116.8 -84.82 - 2936 - - - - - - - - 14.72 - 14.74
113 5.1 -7.1 3 137 roll -0.68 8.75 0.413 1962 201.0 2.72 2.111 3687 511.0 -116.8 -4.93 - 3221 -57.8 - - - - - - - 14.19 13.37 14.54
158 26.4 -41.0 10 165 done -0.27 0.47 0.276 2110 314.9 2.42 0.047 2274 -583.9 -116.8 - - 3222 - - - - - - - - 14.28 14.49 14.51
473 77.4 -10.2 22 478 roll -0.27 - - 2105 - 2.38 0.056 878 -586.6 -116.8 - - 3224 - - - - - - - - 14.82 14.54 14.84
710 92.2 -5.7 56 716 done -0.27 - - 2105 - 2.45 0.062 2259 563.7 -116.8 - - 3225 - - - - - - - - 14.65 14.59 14.69
1061 112.6 -5.4 66 1066 roll -0.27 - - 2100 - 2.47 0.084 3696 581.8 -116.8 - - 3225 - - - - - - - - 14.92 14.60 14.95
1103 114.7 -5.2 72 1108 done -0.33 - - 2100 - 2.38 0.046 2240 -611.8 -116.8 - - 3225 - - - - - - - - 14.78 14.73 14.81
1454 131.2 -4.7 80 1458 roll -0.39 - - 2100 - 2.28 0.056 896 -589.5 -116.8 - - 3224 - - - - - - - - 14.95 14.66 14.97
1544 136.1 -5.5 93 1550 done -0.45 0.12 0.136 2038 -516.7 2.38 0.063 2270 577.3 -116.8 - - 3222 - - - - - - - - 14.67 14.65 14.76
1902 162.9 -7.6 102 1906 roll -0.45 - - 2031 - 2.47 0.089 3699 578.5 -116.8 - - 3222 - - - - - - - - 14.97 14.66 14.99
1984 169.8 -8.4 114 1990 done -0.45 - - 2030 - 2.38 0.047 2283 -595.0 -116.8 - - 3221 - - - - - - - - 14.77 14.73 14.79
2350 203.6 -9.5 124 2354 roll -0.45 - - 2030 - 2.38 0.057 889 -585.7 -116.8 - - 3220 - - - - - - - - 14.96 14.71 15.00
2453 213.7 -9.4 139 2460 done -0.45 - - 2025 - 2.42 0.067 2262 567.4 -116.8 - - 3219 - - - - 1 - - - 14.67 14.62 14.71
2798 245.3 -9.1 146 2798 done -0.45 - - 2025 - - - 2261 - -116.8 - - 3217 - - - - - - - - 14.98 15.00 15.00
3133 274.4 -8.8 152 3138 roll -0.45 - - 2025 - 2.38 0.056 886 -577.7 -116.8 - - 3214 - - - - - - - - 14.99 14.66 15.01
3168 277.6 -9.1 157 3174 done -0.45 0.12 0.271 2047 183.3 2.47 0.069 2265 558.3 -116.8 - - 3214 - - - - - - - - 14.50 14.65 14.73
3525 305.6 -7.8 166 3530 roll -0.45 - - 2040 - 2.50 0.092 3694 571.6 -116.8 - - 3213 - - - - - - - - 15.00 14.65 15.02
3581 310.0 -8.1 174 3586 done -0.45 - - 2039 - 2.40 0.050 2252 -600.8 -116.8 - - 3211 - - - - - - - - 14.82 14.75 14.84
3918 336.6 -7.9 187 3922 roll -0.45 - - 2040 - 2.35 0.063 887 -580.9 -116.8 - - 3209 - - - - - - - - 14.98 14.69 15.00
4000 343.4 -8.0 199 4006 done -0.45 - - 2040 - 2.45 0.070 2252 557.1 -116.8 - - 3208 - - - - - - - - 14.71 14.63 14.83
4366 371.3 -7.6 209 4371 roll -0.45 - - 2032 - 2.55 0.096 3701 568.2 -116.8 - - 3206 - - - - - - - - 15.00 14.64 15.01
4427 376.2 -7.8 218 4433 done -0.45 - - 2032 - 2.45 0.052 2262 -587.3 -116.8 - - 3205 - - - - - - - - 14.75 14.71 14.77
4758 401.1 -7.6 230 4762 roll -0.45 - - 2032 - 2.38 0.061 879 -581.1 -116.8 - - 3204 - - - - - - - - 14.98 14.67 15.00
4820 406.0 -7.8 239 4825 done -0.45 - - 2026 - 2.45 0.073 2264 565.3 -116.8 - - 3200 - - - - - - - - 14.78 14.66 14.79
5149 433.5 -8.5 251 5154 roll -0.45 - - 2019 - 2.50 0.095 3690 570.4 -116.8 - - 3201 - - - - - - - - 14.98 14.62 15.00
5197 437.9 -9.1 258 5204 done -0.45 0.08 0.213 2044 312.5 2.45 0.054 2249 -588.2 -116.8 - - 3201 - - - - - - - - 14.46 14.69 14.59
5542 463.4 -7.2 265 5548 roll -0.45 - - 2044 - 2.35 0.062 891 -577.9 -116.8 - - 3200 - - - - - - - - 14.98 14.66 15.00
5624 469.6 -7.4 277 5630 done -0.45 - - 2043 - 2.45 0.073 2249 554.3 -116.8 - - 3199 - - - - - - - - 14.68 14.61 14.72
5990 494.8 -6.8 287 5991 done -0.45 - - 2043 - - - 2249 - -116.8 - - 3197 - - - - - - - - 14.97 15.00 15.00
6326 517.4 -6.7 293 6327 done -0.45 - - 2043 - - - 2250 - -116.8 - - 3194 - - - - - - - - 14.97 15.00 15.00
6661 539.5 -6.6 299 6662 done -0.45 - - 2043 - - - 2250 - -116.8 - - 3194 - - - - - - - - 14.98 15.00 15.00
6997 561.9 -6.7 305 7003 roll -0.45 - - 2042 - 2.38 0.063 893 -570.2 -116.8 - - 3193 - - - - - - - - 14.98 14.65 15.00
7031 564.5 -7.4 310 7037 done -0.45 - - 2042 - 2.45 0.076 2265 560.0 -116.8 - - 3193 - - - - - - - - 14.75 14.61 14.78
7390 588.9 -6.9 319 7391 done -0.45 - - 2043 - - - 2265 - -116.8 - - 3191 - - - - - - - - 14.98 15.00 15.00
7725 611.9 -6.8 325 7731 roll -0.45 - - 2043 - 2.40 0.061 890 -572.9 -116.8 - - 3192 - - - - - - - - 14.99 14.65 15.01
7752 613.8 -7.0 329 7759 done -0.45 - - 2043 - 2.47 0.076 2249 550.2 -116.8 - - 3189 - - - - - - - - 14.67 14.59 14.70
8118 637.4 -6.4 339 8123 roll -0.45 - - 2040 - 2.60 0.106 3702 558.8 -116.8 - - 3188 - - - - - - - - 14.97 14.57 14.98
8187 642.2 -6.9 349 8193 done -0.50 - - 2040 - 2.42 0.058 2260 -595.9 -116.8 - - 3188 - - - - - - - - 14.77 14.70 14.80
8509 664.1 -6.8 360 8514 roll -0.50 - - 2040 - 2.40 0.069 894 -569.2 -116.8 - - 3187 - - - - - - - - 14.97 14.62 15.00
8593 669.9 -6.9 372 8598 done -0.50 - - 2040 - 2.47 0.080 2267 555.9 -116.8 - - 3187 - - - - - - - - 14.73 14.59 14.76
8957 692.5 -6.1 382 8958 done -0.50 - - 2039 - - - 2267 - -116.8 - - 3186 - - - - - - - - 14.96 14.98 14.97
9294 712.1 -5.9 388 9295 done -0.50 - - 2040 - - - 2267 - -116.8 - - 3185 - - - - - - - - 14.96 14.98 14.97
9629 734.6 -6.9 394 9634 roll -0.50 - - 2037 - 2.60 0.106 3703 552.3 -116.8 - - 3184 - - - - - - - - 14.96 14.54 14.97
9677 738.4 -8.0 401 9685 done -0.50 - - 2037 - 2.50 0.057 2257 -578.4 -116.8 - - 3183 - - - - - - - - 14.68 14.64 14.71
10022 764.2 -7.5 408 10026 roll -0.50 - - 2037 - 2.40 0.069 894 -567.9 -116.8 - - 3183 - - - - - - - - 14.95 14.59 14.97
10091 769.6 -7.7 418 10096 done -0.50 - - 2037 - 2.47 0.081 2263 554.3 -116.8 - - 3182 - - - - - - - - 14.71 14.58 14.74
10413 790.8 -6.4 429 10419 roll -0.50 - - 2037 - 2.60 0.108 3699 552.3 -116.8 - - 3181 - - - - - - - - 14.95 14.52 14.96
10462 793.7 -5.5 436 10468 done -0.54 - - 2036 - 2.47 0.060 2255 -584.6 -116.8 - - 3181 - - - - - - - - 14.74 14.65 14.76
10806 812.9 -5.5 443 10810 roll -0.54 - - 2037 - 2.40 0.069 894 -567.1 -116.8 - - 3180 - - - - - - - - 14.96 14.57 14.96
10868 816.7 -6.0 452 10873 done -0.54 - - 2037 - 2.47 0.080 2260 553.0 -116.8 - - 3181 - - - - - - - - 14.70 14.57 14.73
11198 835.9 -6.0 464 11203 roll -0.54 - - 2036 - 2.60 0.108 3693 551.2 -116.8 - - 3180 - - - - - - - - 14.94 14.52 14.96
11246 838.7 -5.4 471 11252 done -0.59 - - 2036 - 2.47 0.060 2264 -578.5 -116.8 - - 3180 - - - - - - - - 14.71 14.62 14.74
11590 861.6 -6.9 478 11595 roll -0.59 - - 2036 - 2.45 0.072 886 -562.4 -116.8 - - 3179 - - - - - - - - 14.93 14.57 14.95
11708 870.4 -7.4 495 11713 done -0.59 - - 2035 - 2.47 0.082 2260 556.3 -116.8 - - 3178 - - - - 1 - - - 14.68 14.54 14.71
12037 893.7 -7.1 507 12042 roll -0.59 - - 2027 - 2.60 0.106 3693 551.2 -116.8 - - 3178 - - - - - - - - 14.92 14.50 14.95
12093 897.4 -5.8 515 12098 done -0.59 - - 2027 - 2.47 0.063 2261 -579.8 -116.8 - - 3176 - - - - - - - - 14.70 14.62 14.73
12430 919.9 -6.7 528 12435 roll -0.59 - - 2027 - 2.45 0.072 878 -564.5 -116.8 - - 3177 - - - - - - - - 14.94 14.54 14.95
12519 926.1 -5.5 541 12526 done -0.59 - - 2026 - 2.50 0.083 2253 550.0 -116.8 - - 3177 - - - - - - - - 14.67 14.53 14.71
12878 949.1 -6.5 550 12883 roll -0.59 - - 2022 - 2.62 0.111 3690 548.5 -116.8 - - 3176 - - - - - - - - 14.92 14.50 14.93
12918 952.0 -4.8 556 12924 done -0.59 - - 2022 - 2.55 0.065 2240 -568.6 -116.8 - - 3176 - - - - - - - - 14.63 14.57 14.67
13269 976.3 -7.1 564 13274 roll -0.59 - - 2022 - 2.42 0.078 887 -559.1 -116.8 - - 3175 - - - - - - - - 14.92 14.52 14.94
13346 982.0 -4.0 575 13351 done -0.59 - - 2020 - 2.47 0.083 2244 549.4 -116.8 - - 3173 - - - - - - - - 14.67 14.53 14.71
13490 end dive: TARGET_DEPTH_EXCEEDED
13490 begin apogee
13498 992.2 -6.2 582 13688 roll -0.19 0.40 0.225 2130 275.0 - - 2244 - - 188.48 1.660 2741 -2.3 0.257 - - - - - - 14.37 13.98 13.37
13690 end apogee: CONTROL_FINISHED_OK
13690 begin climb
13693 997.8 - 585 13852 roll 0.68 0.93 0.159 2407 297.8 2.65 0.069 829 -534.0 116.8 147.98 1.834 2262 -3.2 0.330 - - - - - - 13.91 13.99 13.09
13928 981.5 9.1 623 13934 done 0.68 - - 2407 - 2.67 0.083 2231 525.1 116.8 - - 2236 - - - - - - - - 14.09 14.02 14.12
14280 945.5 10.4 631 14285 roll 0.62 - - 2416 - 2.60 0.090 839 -535.4 116.8 - - 2230 - - - - - - - - 14.65 14.34 14.66
14404 932.9 9.8 649 14410 done 0.62 - - 2416 - 2.62 0.086 2232 531.7 116.8 - - 2229 - - - - - - - - 14.44 14.36 14.48
14728 897.1 11.3 660 14733 roll 0.55 0.12 0.293 2382 -283.3 2.60 0.113 3638 540.8 116.8 - - 2226 - - - - - - - - 14.24 14.43 14.41
14804 888.8 10.5 671 14809 done 0.50 - - 2391 - 2.42 0.075 2258 -570.2 116.8 - - 2226 - - - - 1 - - - 14.60 14.49 14.64
15119 857.0 10.1 681 15124 roll 0.50 - - 2402 - 2.62 0.091 821 -548.5 116.8 - - 2226 - - - - - - - - 14.83 14.47 14.85
15154 853.5 10.7 686 15160 done 0.50 0.15 0.265 2368 -226.7 2.60 0.083 2243 546.9 116.8 - - 2225 - - - - - - - - 14.31 14.50 14.59
15511 822.0 8.9 695 15516 roll 0.50 - - 2368 - 2.58 0.111 3642 542.2 116.8 - - 2224 - - - - - - - - 14.87 14.46 14.88
15587 814.7 9.4 706 15594 done 0.50 - - 2377 - 2.53 0.074 2239 -554.5 116.8 - - 2223 - - - - - - - - 14.54 14.50 14.59
15904 786.8 8.9 716 15908 roll 0.50 - - 2388 - 2.60 0.090 814 -548.1 116.8 - - 2223 - - - - - - - - 14.87 14.49 14.90
15959 781.9 8.6 724 15964 done 0.50 - - 2388 - 2.62 0.082 2255 550.0 116.8 - - 2223 - - - - - - - - 14.64 14.51 14.68
16295 752.6 8.7 737 16300 roll 0.50 - - 2387 - 2.53 0.111 3634 545.1 116.8 - - 2223 - - - - - - - - 14.90 14.48 14.91
16358 746.4 9.9 746 16364 done 0.44 0.20 0.265 2350 -185.0 2.47 0.073 2236 -566.0 116.8 - - 2225 - - - - - - - - 14.30 14.55 14.59
16688 725.0 6.3 758 16721 roll 0.46 - - 2360 - 2.65 0.089 818 -535.1 141.6 24.23 1.724 2152 -3.0 0.237 - - - - - - 14.88 14.50 13.91
16744 721.4 5.6 766 16817 done 0.48 - - 2360 - 2.60 0.080 2242 547.7 183.6 65.40 1.426 1985 -2.6 0.242 - - - - - - 14.57 14.46 13.64
17138 691.3 8.0 787 17143 roll 0.48 - - 2360 - 2.60 0.109 3642 538.5 183.6 - - 1969 - - - - - - - - 14.66 14.34 14.68
17192 686.0 9.3 795 17197 done 0.48 - - 2368 - 2.50 0.073 2243 -559.6 183.6 - - 1966 - - - - - - - - 14.52 14.42 14.55
17528 654.9 9.4 808 17533 roll 0.48 - - 2378 - 2.60 0.090 826 -545.0 183.6 - - 1967 - - - - - - - - 14.78 14.43 14.79
17604 648.0 8.6 819 17610 done 0.53 - - 2378 - 2.60 0.080 2255 549.6 183.6 - - 1966 - - - - - - - - 14.59 14.47 14.63
17921 618.0 9.5 829 17925 roll 0.53 - - 2378 - 2.55 0.109 3639 542.7 183.6 - - 1965 - - - - - - - - 14.82 14.45 14.83
17989 611.0 9.8 839 17995 done 0.53 - - 2388 - 2.50 0.072 2250 -555.6 183.6 - - 1964 - - - - - - - - 14.54 14.48 14.66
18312 581.1 9.3 850 18318 roll 0.53 - - 2397 - 2.60 0.091 826 -547.7 183.6 - - 1964 - - - - - - - - 14.85 14.48 14.88
18389 574.2 8.9 861 18394 done 0.53 - - 2397 - 2.60 0.080 2255 549.6 183.6 - - 1965 - - - - - - - - 14.63 14.50 14.67
18704 542.6 10.1 871 18709 roll 0.53 - - 2397 - 2.55 0.110 3645 545.1 183.6 - - 1964 - - - - - - - - 14.86 14.47 14.88
18766 535.6 11.2 880 18772 done 0.53 0.08 0.236 2376 -262.5 2.53 0.076 2248 -552.2 183.6 - - 1963 - - - - - - - - 14.33 14.50 14.60
19097 507.3 8.5 892 19102 roll 0.53 - - 2386 - 2.62 0.093 814 -547.3 183.6 - - 1963 - - - - - - - - 14.86 14.45 14.88
19165 501.4 8.2 902 19172 done 0.53 - - 2386 - 2.60 0.083 2242 549.2 183.6 - - 1963 - - - - - - - - 14.64 14.50 14.69
19489 472.9 8.9 913 19493 roll 0.53 - - 2386 - 2.58 0.110 3643 543.0 183.6 - - 1964 - - - - - - - - 14.88 14.48 14.89
19536 468.1 9.9 920 19543 done 0.53 - - 2395 - 2.53 0.075 2239 -554.9 183.6 - - 1963 - - - - - - - - 14.58 14.52 14.63
19880 436.0 9.4 927 19885 roll 0.53 - - 2405 - 2.58 0.089 823 -548.8 183.6 - - 1963 - - - - - - - - 14.88 14.49 14.90
19943 430.2 9.2 936 19948 done 0.53 0.12 0.252 2376 -241.7 2.60 0.081 2251 549.2 183.6 - - 1963 - - - - - - - - 14.36 14.52 14.62
20272 402.9 8.3 948 20277 roll 0.53 - - 2376 - 2.55 0.111 3639 544.3 183.6 - - 1963 - - - - - - - - 14.89 14.47 14.91
20348 396.1 8.9 959 20354 done 0.53 - - 2385 - 2.50 0.072 2250 -555.6 183.6 - - 1963 - - - - - - - - 14.68 14.51 14.71
20665 370.4 8.1 969 20669 roll 0.53 - - 2393 - 2.60 0.090 823 -548.8 183.6 - - 1963 - - - - - - - - 14.88 14.47 14.90
20712 366.7 7.8 976 20719 done 0.53 - - 2393 - 2.62 0.080 2247 543.5 183.6 - - 1963 - - - - - - - - 14.56 14.47 14.62
21056 337.0 8.9 983 21061 roll 0.53 - - 2393 - 2.55 0.109 3640 546.3 183.6 - - 1963 - - - - - - - - 14.89 14.45 14.90
21113 331.1 10.7 991 21117 done 0.53 - - 2402 - 2.45 0.072 2250 -567.3 183.6 - - 1963 - - - - - - - - 14.66 14.55 14.71
21448 295.6 10.7 1004 21453 roll 0.53 - - 2413 - 2.60 0.088 820 -550.0 183.6 - - 1963 - - - - - - - - 14.92 14.50 14.92
21510 289.1 10.1 1013 21516 done 0.53 0.15 0.244 2376 -246.7 2.60 0.078 2255 551.9 183.6 - - 1963 - - - - - - - - 14.35 14.50 14.62
21841 262.0 8.0 1025 21846 roll 0.53 - - 2376 - 2.55 0.109 3649 546.7 183.6 - - 1963 - - - - - - - - 14.89 14.47 14.91
21902 256.3 9.2 1034 21908 done 0.53 - - 2384 - 2.50 0.072 2257 -556.8 183.6 - - 1963 - - - - - - - - 14.58 14.54 14.62
22232 228.9 8.3 1046 22238 roll 0.53 - - 2392 - 2.60 0.086 820 -552.7 183.6 - - 1963 - - - - - - - - 14.88 14.50 14.90
22295 224.3 7.0 1055 22300 done 0.59 - - 2392 - 2.60 0.077 2261 554.2 191.0 - - 1963 - - - - - - - - 14.66 14.53 14.70
22624 198.2 8.1 1067 22629 roll 0.59 - - 2392 - 2.50 0.104 3641 552.0 191.0 - - 1962 - - - - - - - - 14.88 14.49 14.90
22701 191.3 8.8 1078 22707 done 0.59 - - 2401 - 2.42 0.068 2263 -569.4 191.0 - - 1963 - - - - - - - - 14.67 14.57 14.70
23016 163.5 9.1 1088 23021 roll 0.59 - - 2410 - 2.60 0.083 813 -557.7 191.0 - - 1963 - - - - - - - - 14.90 14.44 14.91
23050 160.3 9.1 1093 23056 done 0.59 - - 2410 - 2.62 0.076 2272 556.9 191.0 - - 1961 - - - - - - - - 14.66 14.52 14.69
23409 126.0 9.8 1102 23414 roll 0.59 - - 2410 - 2.47 0.105 3638 553.0 191.0 - - 1963 - - - - - - - - 14.88 14.48 14.90
23449 121.6 10.4 1108 23455 done 0.59 - - 2420 - 2.45 0.067 2262 -561.6 191.0 - - 1963 - - - - - - - - 14.59 14.54 14.64
23772 93.5 8.4 1116 23777 roll 0.59 - - 2429 - 2.58 0.082 823 -557.8 191.0 - - 1963 - - - - - - - - 14.90 14.52 14.92
23905 85.8 5.4 1135 23940 done 0.62 - - 2429 - 2.60 0.075 2260 552.7 237.0 28.83 0.386 1773 -6.6 0.275 - - - - - - 14.66 14.53 14.30
24251 66.8 4.9 1151 24291 done 0.74 - - 2429 - - - 2259 - 295.2 38.78 0.334 1535 -6.1 0.230 - - - - - - 14.84 14.60 14.30
24585 50.7 5.0 1163 24627 roll 0.98 0.22 0.103 2531 463.6 2.65 0.074 821 -542.6 351.3 36.83 0.283 1306 -6.2 0.209 - - - - - - 14.53 14.51 14.30
24738 42.6 4.4 1185 24788 done 1.12 - - 2531 - 2.55 0.067 2229 552.2 420.2 45.25 0.260 1028 -6.1 0.189 - - - - - - 14.53 14.47 14.28
25107 20.5 6.3 1204 25131 roll 1.31 0.22 0.090 2648 531.8 2.50 0.092 3636 562.8 445.5 18.12 0.184 921 -5.9 0.123 - - - - - - 14.57 14.47 14.34
25196 10.5 12.7 1217 25201 done 1.26 0.20 0.273 2611 -185.0 2.33 0.060 2284 -580.3 445.5 - - 927 - - - - - - - - 14.26 14.51 14.51
25268 end climb: SURFACE_DEPTH_REACHED
25268 begin surface coast
25296 end surface coast: CONTROL_FINISHED_OK
25296 begin surface
SM 0.80 - - - - -6.14 6.65 0.048 204 30.7 - - 2275 - 500.17 35.85 0.134 699 19.5 -0.012 - - - - - -