SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 184 * Raw log
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• Previous call tries 2 • 77.90 of 350.00 AH used of 24V (77.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 19 s • Transponder ping count: 11
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 VBD -0.68 - - 214 - - - 2301 - -116.8 -85.10 - 2929 - - - - - - - - 14.72 - 14.74
110 5.1 -7.2 3 134 roll -0.68 8.75 0.415 1962 199.8 2.70 2.101 3691 514.8 -116.8 -5.03 - 3226 -59.0 - - - - - - - 14.19 13.38 14.55
214 43.6 -31.3 18 220 done -0.44 0.35 0.263 2052 257.1 2.40 0.045 2255 -598.3 -116.8 - - 3223 - - - - - - - - 14.28 14.52 14.52
526 89.7 -9.1 30 531 roll -0.36 0.12 0.277 2075 191.7 2.53 0.083 3684 564.8 -116.8 - - 3224 - - - - - - - - 14.38 14.55 14.52
575 94.2 -9.2 37 582 done -0.36 - - 2075 - 2.35 0.044 2267 -603.0 -116.8 - - 3225 - - - - - - - - 14.71 14.64 14.72
890 113.9 -5.6 45 896 roll -0.36 - - 2066 - 2.50 0.086 3684 566.8 -116.8 - - 3226 - - - - - - - - 14.91 14.61 14.93
967 118.8 -6.7 56 972 done -0.36 - - 2067 - 2.30 0.044 2281 -610.0 -116.8 - - 3226 - - - - - - - - 14.77 14.71 14.78
1282 142.0 -7.5 66 1283 done -0.36 - - 2067 - - - 2274 - -116.8 - - 3225 - - - - - - - - 14.95 14.97 14.97
1618 164.8 -6.6 72 1623 roll -0.36 - - 2066 - 2.38 0.056 887 -582.8 -116.8 - - 3223 - - - - - - - - 14.97 14.69 14.98
1737 172.6 -6.8 89 1743 done -0.36 - - 2065 - 2.42 0.065 2277 574.4 -116.8 - - 3223 - - - - - - - - 14.78 14.67 14.81
2066 194.4 -6.7 101 2067 done -0.36 - - 2064 - - - 2276 - -116.8 - - 3217 - - - - - - - - 14.97 15.00 14.99
2403 216.0 -6.4 107 2403 done -0.36 - - 2065 - - - 2277 - -116.8 - - 3219 - - - - - - - - 14.98 15.00 15.00
2739 238.5 -6.8 113 2744 roll -0.36 - - 2056 - 2.47 0.090 3695 574.1 -116.8 - - 3216 - - - - - - - - 14.99 14.65 15.01
2794 242.4 -7.2 121 2800 done -0.36 - - 2056 - 2.38 0.053 2272 -597.9 -116.8 - - 3216 - - - - - - - - 14.81 14.74 14.83
3131 266.6 -7.2 134 3135 roll -0.36 - - 2056 - 2.40 0.061 883 -578.8 -116.8 - - 3213 - - - - - - - - 14.99 14.69 15.00
3221 273.2 -7.2 147 3226 done -0.36 - - 2056 - 2.45 0.069 2282 571.0 -116.8 - - 3212 - - - - - - - - 14.79 14.68 14.82
3578 298.9 -7.4 156 3579 done -0.36 - - 2056 - - - 2281 - -116.8 - - 3210 - - - - - - - - 15.00 15.02 15.02
3914 324.8 -7.8 162 3915 done -0.36 - - 2056 - - - 2281 - -116.8 - - 3208 - - - - - - - - 14.99 15.01 15.01
4251 351.0 -7.8 168 4255 roll -0.36 - - 2056 - 2.42 0.060 885 -576.9 -116.8 - - 3208 - - - - - - - - 14.99 14.68 15.00
4284 353.7 -8.1 173 4291 done -0.36 - - 2056 - 2.47 0.071 2258 555.9 -116.8 - - 3205 - - - - - - - - 14.71 14.64 14.75
4642 379.4 -7.1 182 4643 done -0.36 - - 2056 - - - 2258 - -116.8 - - 3203 - - - - - - - - 15.00 15.02 15.02
4979 402.2 -6.7 188 4979 done -0.36 - - 2056 - - - 2258 - -116.8 - - 3201 - - - - - - - - 15.00 15.02 15.02
5315 423.2 -6.1 194 5320 roll -0.36 - - 2054 - 2.55 0.098 3696 563.9 -116.8 - - 3200 - - - - - - - - 14.99 14.61 15.01
5356 425.7 -6.2 200 5361 done -0.36 - - 2054 - 2.40 0.055 2273 -592.9 -116.8 - - 3197 - - - - - - - - 14.80 14.72 14.82
5706 448.2 -6.5 208 5711 roll -0.36 - - 2054 - 2.42 0.069 881 -575.2 -116.8 - - 3198 - - - - - - - - 14.97 14.64 15.00
5769 452.7 -7.1 217 5775 done -0.36 - - 2054 - 2.47 0.074 2273 563.6 -116.8 - - 3198 - - - - - - - - 14.76 14.64 14.80
6098 475.0 -6.8 229 6100 done -0.36 0.12 0.269 2083 241.7 - - 2273 - -116.8 - - 3196 - - - - - - - - 14.46 14.74 14.68
6435 492.6 -5.1 235 6436 done -0.43 - - 2083 - - - 2273 - -116.8 - - 3194 - - - - - - - - 14.98 15.00 15.00
6770 510.1 -5.3 241 6772 done -0.51 0.15 0.127 2021 -413.3 - - 2278 - -116.8 - - 3194 - - - - - - - - 14.68 14.80 14.77
7107 536.5 -7.8 247 7107 done -0.51 - - 2020 - - - 2273 - -116.8 - - 3192 - - - - - - - - 14.99 15.01 15.01
7442 562.6 -7.8 253 7443 done -0.51 - - 2020 - - - 2273 - -116.8 - - 3190 - - - - - - - - 15.00 15.01 15.01
7779 587.8 -7.4 259 7783 roll -0.51 - - 2020 - 2.45 0.068 885 -566.5 -116.8 - - 3189 - - - - - - - - 14.97 14.62 14.99
7819 591.1 -8.0 265 7826 done -0.51 - - 2015 - 2.53 0.076 2267 546.2 -116.8 - - 3188 - - - - - - - - 14.64 14.56 14.78
8170 618.5 -7.9 273 8176 roll -0.51 - - 2009 - 2.55 0.100 3694 559.6 -116.8 - - 3186 - - - - - - - - 14.97 14.56 14.98
8198 620.8 -8.3 277 8204 done -0.51 - - 2004 - 2.42 0.057 2259 -593.0 -116.8 - - 3188 - - - - - - - - 14.80 14.70 14.80
8563 651.9 -8.6 287 8567 roll -0.51 - - 2008 - 2.40 0.069 892 -569.6 -116.8 - - 3187 - - - - - - - - 14.97 14.61 14.99
8652 660.0 -8.8 300 8658 done -0.51 0.15 0.267 2035 180.0 2.50 0.077 2287 558.0 -116.8 - - 3186 - - - - - - - - 14.38 14.57 14.64
9011 685.4 -7.0 309 9017 roll -0.51 - - 2035 - 2.47 0.067 880 -569.6 -116.8 - - 3185 - - - - - - - - 14.97 14.60 14.99
9037 687.4 -7.3 313 9044 done -0.51 - - 2029 - 2.47 0.076 2260 558.7 -116.8 - - 3185 - - - - - - - - 14.72 14.59 14.76
9402 712.7 -7.0 323 9407 roll -0.51 - - 2020 - 2.58 0.102 3694 555.8 -116.8 - - 3184 - - - - - - - - 14.95 14.54 14.97
9515 721.1 -7.8 339 9520 done -0.51 - - 2019 - 2.45 0.062 2272 -580.4 -116.8 - - 3183 - - - - - - - - 14.73 14.65 14.76
9850 745.8 -7.5 352 9855 roll -0.51 - - 2020 - 2.45 0.074 884 -566.5 -116.8 - - 3182 - - - - - - - - 14.95 14.56 14.97
9983 756.1 -7.6 371 9988 done -0.51 - - 2015 - 2.50 0.080 2266 552.8 -116.8 - - 3182 - - - - - - - - 14.69 14.55 14.73
10298 779.9 -7.6 381 10299 done -0.51 - - 2015 - - - 2266 - -116.8 - - 3181 - - - - - - - - 14.95 14.98 14.97
10635 805.2 -7.5 387 10639 roll -0.51 - - 2010 - 2.60 0.106 3704 553.1 -116.8 - - 3181 - - - - - - - - 14.95 14.51 14.97
10676 808.5 -6.9 393 10682 done -0.51 - - 2014 - 2.47 0.062 2256 -586.2 -116.8 - - 3180 - - - - - - - - 14.72 14.63 14.75
11026 835.6 -7.8 401 11032 roll -0.51 - - 2010 - 2.42 0.070 880 -568.6 -116.8 - - 3179 - - - - - - - - 14.94 14.56 14.95
11102 842.0 -8.2 412 11108 done -0.51 0.12 0.283 2031 175.0 2.50 0.080 2257 550.8 -116.8 - - 3179 - - - - - - - - 14.31 14.48 14.56
11419 864.0 -6.8 422 11424 roll -0.51 - - 2021 - 2.60 0.106 3692 551.9 -116.8 - - 3178 - - - - - - - - 14.95 14.51 14.96
11466 867.4 -7.2 429 11474 done -0.51 - - 2021 - 2.53 0.065 2251 -569.6 -116.8 - - 3178 - - - - - - - - 14.62 14.57 14.66
11810 890.8 -6.7 436 11815 roll -0.51 - - 2021 - 2.42 0.073 883 -565.3 -116.8 - - 3177 - - - - - - - - 14.95 14.55 14.97
11873 895.2 -7.0 445 11880 done -0.51 - - 2018 - 2.47 0.080 2251 553.8 -116.8 - - 3177 - - - - - - - - 14.59 14.51 14.64
12202 917.6 -6.7 457 12208 roll -0.51 - - 2008 - 2.62 0.109 3693 550.4 -116.8 - - 3177 - - - - - - - - 14.95 14.50 14.97
12250 922.0 -7.7 464 12257 done -0.51 - - 2009 - 2.53 0.064 2250 -570.4 -116.8 - - 3176 - - - - - - - - 14.62 14.57 14.66
12595 946.4 -7.4 471 12600 roll -0.51 - - 2009 - 2.45 0.073 879 -559.6 -116.8 - - 3176 - - - - - - - - 14.92 14.54 14.95
12656 951.4 -7.9 480 12662 done -0.51 0.12 0.286 2030 175.0 2.53 0.083 2261 546.2 -116.8 - - 3176 - - - - - - - - 14.33 14.52 14.59
12986 973.2 -6.6 492 12991 roll -0.51 - - 2023 - 2.62 0.109 3702 550.0 -116.8 - - 3178 - - - - - - - - 14.95 14.50 14.94
13043 977.1 -3.8 500 13048 done -0.51 - - 2023 - 2.53 0.065 2245 -575.9 -116.8 - - 3174 - - - - - - - - 14.70 14.61 14.72
13263 end dive: TARGET_DEPTH_EXCEEDED
13263 begin apogee
13271 992.5 -6.6 511 13421 roll -0.19 0.40 0.223 2132 272.5 - - 2238 - - 143.98 2.582 2741 -3.0 0.222 - - - - 1 - 14.35 13.81 12.78
13423 end apogee: CONTROL_FINISHED_OK
13423 begin climb
13427 996.9 - 513 13591 roll 0.68 0.95 0.164 2406 288.4 2.78 0.113 3644 505.8 116.8 154.32 1.916 2257 -3.1 0.313 - - - - - - 13.80 13.83 12.95
13692 975.4 11.4 557 13697 done 0.59 - - 2416 - 2.62 0.079 2242 -535.1 116.8 - - 2241 - - - - - - - - 14.08 13.98 14.11
14054 934.1 11.3 567 14059 roll 0.52 0.17 0.268 2370 -270.6 2.62 0.109 3639 533.2 116.8 - - 2234 - - - - - - - - 14.16 14.33 14.32
14179 921.4 10.7 585 14185 done 0.52 - - 2380 - 2.58 0.076 2229 -546.5 116.8 - - 2235 - - - - - - - - 14.54 14.38 14.57
14503 891.2 9.4 596 14507 roll 0.52 - - 2390 - 2.60 0.095 817 -543.1 116.8 - - 2231 - - - - - - - - 14.78 14.43 14.79
14571 884.8 9.0 606 14577 done 0.52 - - 2390 - 2.60 0.085 2238 546.5 116.8 - - 2231 - - - - - - - - 14.58 14.42 14.63
14895 854.0 9.6 617 14900 roll 0.52 - - 2390 - 2.58 0.110 3639 543.0 116.8 - - 2230 - - - - - - - - 14.85 14.45 14.84
14956 847.3 10.8 626 14963 done 0.45 0.22 0.265 2347 -195.5 2.53 0.075 2216 -562.5 116.8 - - 2229 - - - - - - - - 14.29 14.52 14.58
15286 823.2 7.1 638 15292 roll 0.45 - - 2358 - 2.55 0.093 823 -546.3 121.2 - - 2229 - - - - - - - - 14.85 14.48 14.87
15349 818.9 6.8 647 15368 done 0.46 - - 2356 - 2.55 0.082 2221 548.2 134.2 14.77 1.854 2192 -2.5 0.212 - - - - - - 14.63 14.50 13.85
15678 794.6 7.4 659 15683 roll 0.46 - - 2357 - 2.62 0.109 3651 545.8 134.2 - - 2179 - - - - - - - - 14.81 14.45 14.82
15747 788.5 8.5 669 15753 done 0.46 - - 2366 - 2.58 0.074 2227 -551.9 134.2 - - 2178 - - - - - - - - 14.54 14.47 14.66
16071 762.1 8.3 680 16076 roll 0.46 - - 2377 - 2.58 0.092 814 -547.7 134.2 - - 2177 - - - - - - - - 14.83 14.45 14.85
16139 755.8 9.4 690 16145 done 0.46 - - 2377 - 2.60 0.083 2236 546.9 134.2 - - 2176 - - - - - - - - 14.63 14.50 14.68
16463 725.9 9.5 701 16468 roll 0.46 - - 2377 - 2.58 0.109 3642 545.0 134.2 - - 2177 - - - - - - - - 14.85 14.48 14.88
16503 721.6 10.4 707 16510 done 0.46 0.10 0.236 2357 -200.0 2.58 0.075 2214 -553.5 134.2 - - 2176 - - - - - - - - 14.32 14.52 14.48
16854 691.8 8.5 715 16859 roll 0.46 - - 2365 - 2.55 0.090 814 -549.0 134.2 - - 2176 - - - - - - - - 14.86 14.49 14.88
16881 689.5 7.9 719 16887 done 0.46 - - 2367 - 2.55 0.080 2222 552.2 134.2 - - 2174 - - - - - - - - 14.65 14.52 14.67
17247 659.7 8.1 729 17252 roll 0.46 - - 2367 - 2.60 0.109 3646 547.7 134.2 - - 2175 - - - - - - - - 14.88 14.47 14.89
17315 653.5 8.9 739 17321 done 0.46 - - 2377 - 2.53 0.073 2217 -564.8 134.2 - - 2175 - - - - - - - - 14.66 14.54 14.71
17639 626.9 8.3 750 17644 roll 0.46 - - 2386 - 2.53 0.090 825 -550.2 134.2 - - 2175 - - - - - - - - 14.88 14.50 14.90
17714 620.6 8.1 761 17720 done 0.46 0.15 0.261 2352 -226.7 2.60 0.079 2231 540.8 134.2 - - 2175 - - - - - - - - 14.33 14.48 14.60
18031 598.5 6.9 771 18042 roll 0.46 - - 2352 - 2.62 0.109 3645 539.7 143.5 3.80 1.239 2156 -5.0 0.464 - - - - - - 14.88 14.64 13.72
18114 592.0 7.9 783 18119 done 0.46 - - 2361 - 2.50 0.075 2233 -564.8 143.5 - - 2161 - - - - - - - - 14.67 14.56 14.69
18478 565.4 7.4 793 18483 roll 0.46 - - 2369 - 2.58 0.089 820 -547.7 143.5 - - 2163 - - - - - - - - 14.88 14.49 14.89
18534 561.4 7.1 801 18553 done 0.47 - - 2370 - 2.58 0.080 2234 548.1 149.3 14.70 1.720 2130 -2.2 0.141 - - - - - - 14.64 14.50 13.92
18871 536.4 7.5 814 18876 roll 0.47 - - 2370 - 2.58 0.109 3642 545.7 149.3 - - 2116 - - - - - - - - 14.81 14.44 14.83
18967 528.2 8.3 828 18973 done 0.47 - - 2380 - 2.55 0.076 2212 -560.8 149.3 - - 2115 - - - - - - - - 14.62 14.49 14.66
19319 498.7 8.6 836 19323 roll 0.47 - - 2389 - 2.55 0.090 816 -547.5 149.3 - - 2115 - - - - - - - - 14.85 14.47 14.87
19352 495.6 8.9 841 19358 done 0.47 0.15 0.246 2355 -226.7 2.60 0.081 2239 547.3 149.3 - - 2115 - - - - - - - - 14.33 14.50 14.59
19710 467.1 8.0 850 19716 roll 0.47 - - 2354 - 2.58 0.109 3641 543.4 149.3 - - 2115 - - - - - - - - 14.86 14.46 14.88
19759 462.8 8.8 857 19765 done 0.47 - - 2363 - 2.53 0.073 2225 -559.7 149.3 - - 2115 - - - - - - - - 14.64 14.53 14.68
20102 436.4 7.5 864 20107 roll 0.47 - - 2372 - 2.58 0.090 818 -545.3 149.3 - - 2115 - - - - - - - - 14.87 14.48 14.89
20164 432.0 7.0 873 20171 done 0.52 - - 2372 - 2.60 0.081 2245 548.8 156.7 2.17 0.405 2101 -6.5 1.321 - - - - - - 14.64 14.50 13.62
20488 408.6 7.3 884 20494 roll 0.52 - - 2372 - 2.60 0.109 3641 536.9 158.0 2.10 0.333 2097 -1.9 0.449 - - - - - - 14.88 14.57 13.63
20556 402.9 8.5 894 20563 done 0.52 - - 2381 - 2.53 0.073 2236 -555.3 158.0 1.90 0.219 2096 - - - - - - - - 14.59 14.52 14.38
20873 378.1 8.0 904 20879 roll 0.52 - - 2390 - 2.62 0.085 819 -540.8 158.0 1.88 0.204 2096 - - - - - - - - 14.88 14.52 14.36
20921 374.4 7.6 911 20927 done 0.52 - - 2391 - 2.60 0.078 2253 551.5 158.0 1.88 0.207 2096 - - - - - - - - 14.65 14.52 14.40
21250 346.4 8.7 923 21256 roll 0.52 - - 2390 - 2.60 0.107 3641 533.8 158.0 1.98 0.204 2095 - - - - - - - - 14.89 14.49 14.35
21292 342.3 10.2 929 21299 done 0.52 0.12 0.259 2372 -150.0 2.47 0.071 2243 -566.0 158.0 - - 2100 - - - - - - - - 14.35 14.55 14.58
21635 315.9 7.6 936 21641 roll 0.52 - - 2380 - 2.65 0.086 816 -538.5 158.0 1.90 0.202 2097 -1.6 0.474 - - - - - - 14.86 14.51 14.35
21697 311.4 7.1 945 21717 done 0.53 - - 2380 - 2.60 0.079 2251 551.9 163.4 14.23 1.493 2069 -2.0 0.079 - - - - - - 14.66 14.52 13.98
22077 280.7 8.4 957 22081 roll 0.53 - - 2380 - 2.55 0.107 3641 545.1 163.4 - - 2058 - - - - - - - - 14.83 14.45 14.84
22132 275.4 9.6 965 22137 done 0.53 - - 2389 - 2.45 0.071 2255 -565.7 163.4 - - 2059 - - - - - - - - 14.63 14.52 14.66
22469 244.9 9.2 978 22474 roll 0.53 - - 2398 - 2.60 0.086 822 -551.2 163.4 - - 2059 - - - - - - - - 14.85 14.48 14.88
22537 238.8 8.6 988 22543 done 0.53 - - 2398 - 2.62 0.078 2268 551.9 163.4 - - 2058 - - - - - - - - 14.62 14.49 14.67
22861 210.0 8.9 999 22865 roll 0.53 - - 2398 - 2.50 0.106 3642 549.6 163.4 - - 2058 - - - - - - - - 14.87 14.43 14.89
22923 203.7 10.0 1008 22928 done 0.53 0.15 0.246 2372 -173.3 2.45 0.070 2247 -569.4 163.4 - - 2058 - - - - - - - - 14.35 14.54 14.60
23253 179.2 7.4 1020 23257 roll 0.53 - - 2380 - 2.60 0.086 815 -550.8 163.4 - - 2058 - - - - - - - - 14.88 14.49 14.90
23322 174.5 6.5 1030 23348 done 0.60 - - 2380 - 2.60 0.076 2252 552.7 183.3 21.73 1.286 1992 -3.0 0.079 - - - - - - 14.64 14.52 14.02
23700 147.1 7.6 1042 23706 roll 0.60 - - 2380 - 2.55 0.106 3650 548.2 183.3 - - 1974 - - - - - - - - 14.81 14.41 14.83
23735 144.1 8.7 1047 23740 done 0.60 - - 2388 - 2.47 0.069 2243 -569.6 183.3 - - 1974 - - - - - - - - 14.62 14.52 14.66
24092 116.0 7.7 1056 24097 roll 0.60 - - 2396 - 2.58 0.085 824 -550.0 183.3 - - 1975 - - - - - - - - 14.83 14.49 14.86
24140 112.3 7.7 1063 24147 done 0.67 - - 2396 - 2.58 0.074 2249 552.3 183.3 - - 1973 - - - - - - - - 14.59 14.47 14.64
24457 91.6 5.3 1072 24487 done 0.75 0.15 0.118 2458 413.3 - - 2249 - 232.2 28.25 0.415 1792 -6.4 0.271 - - - - - - 14.59 14.62 14.26
24793 69.1 5.8 1084 24824 roll 0.77 - - 2462 - 2.67 0.080 813 -537.8 269.4 24.08 0.340 1641 -6.3 0.245 - - - - - - 14.83 14.52 14.28
24920 62.8 4.8 1102 24965 done 0.90 - - 2462 - 2.58 0.073 2245 555.0 328.8 38.72 0.325 1398 -6.3 0.233 - - - - - - 14.58 14.45 14.26
25300 44.3 2.7 1123 25380 roll 1.17 0.32 0.101 2591 403.1 2.65 0.074 811 -541.1 438.3 68.78 0.265 951 -6.5 0.209 - - - - - - 14.50 14.47 14.28
25493 29.9 8.9 1151 25498 done 1.23 - - 2591 - 2.60 0.071 2264 558.8 438.3 - - 953 - - - - - - - - 14.57 14.46 14.60
25825 end climb: SURFACE_DEPTH_REACHED
25825 begin surface coast
25856 end surface coast: CONTROL_FINISHED_OK
25856 begin surface
SM 0.90 - - - - -6.13 6.78 0.071 213 31.4 - - 2265 - 500.17 39.92 0.134 697 17.5 -0.012 - - - - - -