SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 185 * Raw log
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• Previous call tries 1 • 78.26 of 350.00 AH used of 24V (77.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 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: 30 s
• GPS2 time: 20 s • Transponder ping count: 13
• 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 - - 212 - - - 2265 - -116.8 -84.57 - 2938 - - - - - - - - 14.71 - 14.73
106 5.5 -7.9 3 130 roll -0.68 8.77 0.416 1981 201.7 2.70 2.082 862 -519.6 -116.8 -4.75 - 3222 -59.8 - - - - - - - 14.14 13.36 14.51
186 36.9 -30.1 15 192 done -0.44 0.35 0.312 2052 202.9 2.53 0.065 2294 566.0 -116.8 - - 3222 - - - - - - - - 14.23 14.46 14.50
522 90.5 -11.2 30 527 roll -0.35 0.12 0.276 2076 200.0 2.42 0.080 3701 581.4 -116.8 - - 3223 - - - - - - - - 14.39 14.53 14.52
738 105.2 -6.7 61 746 done -0.35 - - 2074 - 2.38 0.045 2274 -599.6 -116.8 - - 3223 - - - - - - - - 14.66 14.63 14.69
1082 127.3 -6.2 68 1087 roll -0.35 - - 2076 - 2.35 0.055 894 -587.2 -116.8 - - 3226 - - - - - - - - 14.93 14.66 14.95
1159 132.4 -6.6 79 1164 done -0.35 - - 2069 - 2.47 0.063 2317 576.1 -116.8 - - 3227 - - - - - - - - 14.76 14.66 14.78
1474 152.7 -6.5 89 1480 roll -0.35 - - 2069 - 2.42 0.054 898 -586.4 -116.8 - - 3224 - - - - - - - - 14.96 14.69 14.98
1508 155.1 -7.3 94 1514 done -0.35 - - 2069 - 2.53 0.066 2321 562.5 -116.8 - - 3224 - - - - - - - - 14.71 14.65 14.74
1867 180.0 -7.1 103 1868 done -0.35 - - 2069 - - - 2314 - -116.8 - - 3224 - - - - - - - - 14.98 15.00 15.00
2202 205.2 -7.6 109 2208 roll -0.35 - - 2069 - 2.42 0.056 904 -582.6 -116.8 - - 3220 - - - - - - - - 14.97 14.70 15.00
2264 210.2 -8.0 118 2270 done -0.35 - - 2069 - 2.50 0.068 2302 559.2 -116.8 - - 3220 - - - - - - - - 14.71 14.65 14.82
2595 234.6 -7.3 130 2600 roll -0.35 - - 2069 - 2.42 0.057 899 -579.8 -116.8 - - 3216 - - - - - - - - 14.97 14.71 15.00
2635 237.7 -7.6 136 2641 done -0.35 - - 2069 - 2.53 0.068 2312 558.5 -116.8 - - 3218 - - - - - - - - 14.71 14.65 14.76
2986 262.1 -7.0 144 2991 roll -0.35 - - 2067 - 2.42 0.091 3697 572.3 -116.8 - - 3215 - - - - - - - - 15.00 14.65 14.99
3014 264.0 -6.9 148 3019 done -0.39 - - 2066 - 2.30 0.052 2318 -599.6 -116.8 - - 3215 - - - - - - - - 14.82 14.76 14.83
3378 289.0 -6.8 158 3383 roll -0.39 - - 2066 - 2.47 0.063 882 -581.4 -116.8 - - 3212 - - - - - - - - 15.00 14.69 15.02
3475 295.7 -6.8 172 3481 done -0.39 - - 2065 - 2.55 0.070 2300 556.1 -116.8 - - 3211 - - - - - - - - 14.71 14.63 14.76
3827 318.2 -6.5 180 3828 done -0.39 - - 2065 - - - 2300 - -116.8 - - 3209 - - - - - - - - 14.98 15.00 15.00
4162 340.6 -6.7 186 4167 roll -0.39 - - 2064 - 2.47 0.062 884 -573.3 -116.8 - - 3208 - - - - - - - - 14.98 14.68 15.00
4231 345.5 -7.1 196 4237 done -0.39 - - 2065 - 2.50 0.070 2302 567.2 -116.8 - - 3207 - - - - - - - - 14.78 14.66 14.84
4555 366.8 -6.6 207 4556 done -0.39 - - 2065 - - - 2302 - -116.8 - - 3205 - - - - - - - - 14.98 15.00 15.00
4890 388.1 -6.3 213 4896 roll -0.39 - - 2060 - 2.45 0.096 3691 566.9 -116.8 - - 3202 - - - - - - - - 15.00 14.64 15.02
4925 390.4 -6.8 218 4930 done -0.44 - - 2062 - 2.38 0.055 2282 -592.0 -116.8 - - 3203 - - - - - - - - 14.80 14.73 14.83
5283 414.3 -6.7 227 5288 roll -0.44 - - 2060 - 2.42 0.064 880 -579.3 -116.8 - - 3201 - - - - - - - - 14.97 14.66 15.00
5386 421.6 -6.8 242 5394 done -0.44 - - 2057 - 2.55 0.073 2289 552.5 -116.8 - - 3200 - - - - - - - - 14.67 14.59 14.71
5731 443.8 -6.4 249 5732 done -0.44 - - 2056 - - - 2289 - -116.8 - - 3199 - - - - - - - - 14.98 15.01 15.00
6066 465.2 -6.4 255 6067 done -0.44 - - 2056 - - - 2289 - -116.8 - - 3198 - - - - - - - - 15.00 15.01 15.01
6402 487.3 -6.7 261 6408 roll -0.44 - - 2056 - 2.47 0.061 874 -572.9 -116.8 - - 3196 - - - - - - - - 14.97 14.64 15.00
6430 489.3 -7.1 265 6436 done -0.44 - - 2057 - 2.53 0.074 2288 558.9 -116.8 - - 3195 - - - - - - - - 14.76 14.64 14.80
6795 512.4 -6.3 275 6796 done -0.44 - - 2056 - - - 2288 - -116.8 - - 3194 - - - - - - - - 14.98 15.00 15.00
7130 533.8 -6.4 281 7136 roll -0.44 - - 2056 - 2.47 0.062 875 -572.1 -116.8 - - 3193 - - - - - - - - 14.97 14.64 14.99
7213 539.7 -6.8 293 7220 done -0.44 - - 2054 - 2.53 0.075 2288 558.5 -116.8 - - 3193 - - - - - - - - 14.75 14.62 14.78
7579 564.8 -7.0 303 7584 roll -0.44 - - 2051 - 2.50 0.099 3690 560.8 -116.8 - - 3191 - - - - - - - - 14.97 14.60 14.99
7619 567.8 -7.4 309 7626 done -0.49 - - 2051 - 2.42 0.056 2252 -594.2 -116.8 - - 3191 - - - - - - - - 14.75 14.68 14.79
7970 592.2 -6.9 317 7976 roll -0.49 - - 2052 - 2.38 0.066 893 -571.0 -116.8 - - 3190 - - - - - - - - 14.96 14.62 14.98
8047 597.7 -7.1 328 8052 done -0.54 - - 2047 - 2.47 0.075 2279 561.1 -116.8 - - 3189 - - - - - - - - 14.73 14.61 14.77
8362 618.7 -6.6 338 8367 roll -0.54 - - 2042 - 2.53 0.101 3689 557.3 -116.8 - - 3188 - - - - - - - - 14.96 14.55 14.98
8397 621.0 -6.8 343 8402 done -0.54 - - 2043 - 2.40 0.057 2272 -590.4 -116.8 - - 3188 - - - - - - - - 14.77 14.69 14.80
8754 643.9 -6.4 352 8759 roll -0.54 - - 2043 - 2.42 0.070 886 -572.7 -116.8 - - 3187 - - - - - - - - 14.99 14.59 14.99
8837 649.7 -6.7 364 8843 done -0.54 - - 2043 - 2.50 0.076 2279 557.2 -116.8 - - 3187 - - - - - - - - 14.72 14.59 14.76
9203 673.3 -6.6 374 9208 roll -0.54 - - 2038 - 2.55 0.103 3696 555.7 -116.8 - - 3186 - - - - - - - - 14.96 14.54 14.98
9243 676.3 -7.5 380 9249 done -0.54 - - 2039 - 2.47 0.058 2240 -589.5 -116.8 - - 3186 - - - - - - - - 14.74 14.65 14.77
9594 702.0 -7.5 388 9599 roll -0.54 - - 2039 - 2.38 0.068 885 -569.3 -116.8 - - 3185 - - - - - - - - 14.97 14.58 14.98
9636 705.3 -8.1 394 9641 done -0.54 - - 2039 - 2.53 0.078 2284 553.0 -116.8 - - 3184 - - - - - - - - 14.71 14.58 14.75
9987 732.7 -7.9 402 9991 roll -0.54 - - 2029 - 2.53 0.101 3692 556.5 -116.8 - - 3183 - - - - - - - - 14.96 14.54 14.98
10034 736.7 -8.4 409 10042 done -0.54 - - 2029 - 2.47 0.060 2265 -577.7 -116.8 - - 3183 - - - - - - - - 14.66 14.62 14.69
10378 764.0 -7.8 416 10383 roll -0.54 - - 2029 - 2.45 0.073 886 -562.9 -116.8 - - 3182 - - - - - - - - 14.95 14.57 14.97
10455 770.3 -7.8 427 10460 done -0.54 - - 2029 - 2.50 0.078 2271 554.0 -116.8 - - 3182 - - - - - - - - 14.70 14.57 14.74
10770 791.5 -6.6 437 10771 done -0.54 - - 2029 - - - 2272 - -116.8 - - 3181 - - - - - - - - 14.94 14.96 14.96
11107 812.3 -6.2 443 11113 roll -0.54 - - 2029 - 2.42 0.067 893 -569.8 -116.8 - - 3181 - - - - - - - - 14.94 14.52 14.96
11147 814.8 -6.0 449 11154 done -0.54 - - 2029 - 2.50 0.080 2274 552.4 -116.8 - - 3181 - - - - - - - - 14.69 14.55 14.72
11499 836.1 -6.2 457 11500 done -0.54 - - 2028 - - - 2274 - -116.8 - - 3180 - - - - - - - - 14.94 14.96 14.95
11834 857.8 -6.5 463 11835 done -0.54 - - 2029 - - - 2274 - -116.8 - - 3180 - - - - - - - - 14.94 14.95 14.95
12171 880.3 -6.6 469 12177 roll -0.54 - - 2029 - 2.47 0.071 888 -561.1 -116.8 - - 3179 - - - - - - - - 14.92 14.54 14.95
12211 883.3 -4.4 475 12217 done -0.54 - - 2029 - 2.50 0.079 2262 549.6 -116.8 - - 3178 - - - - - - - - 14.69 14.54 14.73
12563 907.4 -6.9 483 12567 roll -0.54 - - 2021 - 2.60 0.105 3702 553.8 -116.8 - - 3178 - - - - - - - - 14.94 14.50 14.96
12597 909.9 -6.4 488 12602 done -0.54 - - 2021 - 2.47 0.063 2275 -577.7 -116.8 - - 3177 - - - - - - - - 14.71 14.63 14.74
12954 935.3 -7.1 497 12960 roll -0.54 - - 2021 - 2.47 0.076 883 -563.6 -116.8 - - 3176 - - - - - - - - 14.92 14.52 14.95
13051 942.6 -7.4 511 13057 done -0.54 - - 2016 - 2.53 0.081 2271 548.6 -116.8 - - 3177 - - - - - - - - 14.66 14.51 14.69
13403 967.5 -7.1 519 13404 done -0.54 - - 2016 - - - 2270 - -116.8 - - 3176 - - - - - - - - 14.93 14.93 14.95
13735 end dive: TARGET_DEPTH_EXCEEDED
13735 begin apogee
13743 990.7 -6.9 525 13931 roll -0.19 0.43 0.236 2130 265.1 - - 2270 - - 186.57 1.681 2740 -2.3 0.259 - - - - - - 14.35 13.96 13.33
13933 end apogee: CONTROL_FINISHED_OK
13933 begin climb
13937 996.0 - 528 14091 done 0.68 0.93 0.151 2411 302.2 - - 2270 - 116.8 146.98 1.916 2264 -3.2 0.317 - - - - - - 13.93 14.17 13.03
14406 953.0 10.6 564 14411 roll 0.61 - - 2411 - 2.58 0.112 3642 531.8 116.8 - - 2236 - - - - - - - - 14.57 14.26 14.57
14455 947.2 14.2 571 14462 done 0.51 0.22 0.276 2369 -190.9 2.55 0.078 2242 -549.0 116.8 - - 2235 - - - - - - - - 14.13 14.33 14.40
14798 918.2 8.4 578 14803 roll 0.51 - - 2379 - 2.62 0.093 821 -542.4 116.8 - - 2233 - - - - - - - - 14.74 14.38 14.76
14846 914.1 11.4 585 14854 done 0.51 - - 2379 - 2.65 0.083 2237 534.3 116.8 - - 2231 - - - - - - - - 14.47 14.40 14.52
15191 883.0 9.1 592 15196 roll 0.51 - - 2378 - 2.58 0.111 3644 545.3 116.8 - - 2231 - - - - - - - - 14.81 14.44 14.82
15246 877.2 10.4 600 15252 done 0.47 0.15 0.273 2355 -153.3 2.53 0.077 2220 -562.8 116.8 - - 2230 - - - - - - - - 14.28 14.50 14.56
15583 849.8 8.1 613 15588 roll 0.47 - - 2365 - 2.58 0.094 817 -543.8 116.8 - - 2230 - - - - - - - - 14.83 14.46 14.85
15631 845.9 7.8 620 15638 done 0.47 - - 2365 - 2.60 0.084 2228 542.7 116.8 - - 2226 - - - - - - - - 14.62 14.48 14.66
15974 818.4 8.1 627 15979 roll 0.47 - - 2365 - 2.60 0.112 3640 543.1 116.8 - - 2227 - - - - - - - - 14.85 14.45 14.88
16030 813.4 9.0 635 16035 done 0.47 - - 2376 - 2.53 0.076 2217 -562.5 116.8 - - 2228 - - - - - - - - 14.64 14.52 14.67
16367 785.9 8.2 648 16371 roll 0.47 - - 2382 - 2.55 0.093 824 -546.3 116.8 - - 2228 - - - - - - - - 14.88 14.47 14.89
16422 781.1 9.0 656 16427 done 0.47 0.15 0.264 2353 -193.3 2.58 0.083 2233 546.1 116.8 - - 2227 - - - - - - - - 14.30 14.50 14.58
16759 757.0 7.2 669 16764 roll 0.47 - - 2353 - 2.58 0.112 3638 544.6 119.0 - - 2227 - - - - - - - - 14.87 14.45 14.88
16855 748.7 8.4 683 16861 done 0.47 - - 2362 - 2.53 0.073 2235 -554.5 119.0 - - 2225 - - - - - - - - 14.57 14.51 14.62
17206 719.4 8.5 691 17211 roll 0.47 - - 2372 - 2.58 0.090 822 -547.7 119.0 - - 2226 - - - - - - - - 14.88 14.48 14.90
17248 715.9 8.4 697 17254 done 0.47 - - 2372 - 2.60 0.080 2239 545.0 119.0 - - 2226 - - - - - - - - 14.65 14.51 14.69
17599 685.3 8.7 705 17604 roll 0.47 - - 2372 - 2.58 0.109 3641 543.4 119.0 - - 2226 - - - - - - - - 14.88 14.45 14.90
17710 674.7 9.3 721 17716 done 0.47 0.12 0.270 2355 -141.7 2.47 0.075 2242 -566.4 119.0 - - 2226 - - - - - - - - 14.31 14.53 14.59
18047 650.5 7.1 734 18052 roll 0.47 - - 2365 - 2.58 0.090 824 -549.6 124.6 - - 2226 - - - - - - - - 14.88 14.47 14.89
18094 647.2 6.7 741 18121 done 0.48 - - 2365 - 2.62 0.080 2242 541.2 138.8 20.83 1.676 2171 -2.6 0.192 - - - - - - 14.56 14.46 13.85
18439 622.5 7.2 755 18443 roll 0.48 - - 2365 - 2.58 0.109 3644 543.4 142.1 - - 2155 - - - - - - - - 14.78 14.41 14.80
18486 618.6 8.2 762 18493 done 0.48 - - 2375 - 2.53 0.073 2247 -552.2 142.1 - - 2155 - - - - - - - - 14.50 14.45 14.55
18830 591.8 7.9 769 18836 roll 0.48 - - 2385 - 2.60 0.091 822 -548.1 142.1 - - 2154 - - - - - - - - 14.83 14.40 14.84
18914 585.3 7.5 781 18920 done 0.48 - - 2384 - 2.60 0.079 2248 548.5 142.1 - - 2152 - - - - - - - - 14.61 14.47 14.66
19278 555.9 8.1 791 19284 roll 0.48 - - 2385 - 2.55 0.109 3639 545.5 142.1 - - 2153 - - - - - - - - 14.85 14.40 14.85
19361 548.0 9.2 803 19367 done 0.48 0.08 0.236 2358 -337.5 2.53 0.073 2239 -553.4 142.1 - - 2152 - - - - - - - - 14.31 14.48 14.54
19727 523.0 6.8 813 19747 roll 0.49 - - 2367 - 2.65 0.089 816 -537.0 153.8 15.68 1.594 2108 -2.8 0.173 - - - - - - 14.86 14.55 13.93
19826 516.2 6.9 827 19837 done 0.55 - - 2367 - 2.62 0.080 2239 543.1 163.9 4.43 1.268 2068 -9.0 0.692 - - - - - - 14.57 14.45 13.71
20168 489.8 7.8 841 20173 roll 0.55 - - 2366 - 2.58 0.109 3640 543.0 163.9 - - 2075 - - - - - - - - 14.79 14.42 14.81
20243 483.0 8.8 852 20249 done 0.55 - - 2376 - 2.53 0.073 2239 -553.8 163.9 - - 2076 - - - - - - - - 14.53 14.47 14.57
20559 456.1 8.6 862 20564 roll 0.55 - - 2386 - 2.58 0.090 828 -546.9 163.9 - - 2074 - - - - - - - - 14.83 14.46 14.85
20622 450.8 8.3 871 20627 done 0.55 - - 2386 - 2.60 0.080 2251 547.3 163.9 - - 2076 - - - - - - - - 14.61 14.48 14.65
20951 421.3 9.0 883 20956 roll 0.55 - - 2386 - 2.55 0.109 3641 545.1 163.9 - - 2076 - - - - - - - - 14.85 14.45 14.87
21035 413.0 9.8 895 21040 done 0.55 - - 2395 - 2.45 0.073 2256 -565.3 163.9 - - 2074 - - - - - - - - 14.64 14.53 14.66
21399 379.6 9.1 905 21405 roll 0.55 - - 2404 - 2.60 0.087 823 -551.2 163.9 - - 2076 - - - - - - - - 14.86 14.48 14.88
21461 374.1 8.4 914 21467 done 0.55 - - 2405 - 2.60 0.079 2249 548.5 163.9 - - 2076 - - - - - - - - 14.62 14.50 14.67
21792 344.3 9.1 926 21797 roll 0.55 - - 2405 - 2.55 0.109 3646 547.8 163.9 - - 2076 - - - - - - - - 14.88 14.47 14.90
21860 337.3 10.0 936 21866 done 0.55 0.10 0.230 2377 -280.0 2.53 0.071 2239 -556.1 163.9 - - 2078 - - - - - - - - 14.29 14.46 14.53
22183 312.8 7.6 947 22188 roll 0.55 - - 2386 - 2.58 0.086 813 -552.7 163.9 - - 2076 - - - - - - - - 14.88 14.48 14.90
22232 309.1 7.7 954 22239 done 0.55 - - 2382 - 2.62 0.080 2258 551.5 163.9 - - 2076 - - - - - - - - 14.62 14.50 14.67
22575 280.4 8.5 961 22581 roll 0.55 - - 2387 - 2.53 0.107 3644 547.8 163.9 - - 2076 - - - - - - - - 14.88 14.47 14.90
22644 273.9 9.2 971 22650 done 0.55 - - 2395 - 2.50 0.071 2253 -556.4 163.9 - - 2076 - - - - - - - - 14.58 14.52 14.62
22968 245.8 8.7 982 22972 roll 0.55 - - 2405 - 2.60 0.086 815 -553.1 163.9 - - 2076 - - - - - - - - 14.88 14.50 14.90
23036 240.1 8.1 992 23042 done 0.55 - - 2405 - 2.60 0.079 2250 551.9 163.9 - - 2078 - - - - - - - - 14.64 14.50 14.68
23359 212.0 8.8 1003 23364 roll 0.55 - - 2405 - 2.53 0.107 3638 548.6 163.9 - - 2076 - - - - - - - - 14.89 14.47 14.91
23436 204.5 9.5 1014 23441 done 0.55 0.15 0.252 2379 -173.3 2.42 0.068 2254 -571.9 163.9 - - 2077 - - - - - - - - 14.35 14.54 14.57
23751 182.3 6.9 1024 23777 roll 0.56 - - 2389 - 2.62 0.085 816 -548.9 173.5 17.52 1.200 2021 -3.2 0.091 - - - - - - 14.88 14.58 14.04
23814 178.0 7.0 1033 23821 done 0.62 - - 2389 - 2.60 0.077 2257 554.2 182.6 3.05 0.729 1994 -8.9 0.407 - - - - - - 14.64 14.50 13.88
24136 153.1 7.7 1044 24141 roll 0.62 - - 2389 - 2.50 0.105 3638 552.4 182.6 - - 1999 - - - - - - - - 14.83 14.45 14.84
24233 144.8 8.4 1058 24239 done 0.62 - - 2397 - 2.45 0.067 2268 -559.2 182.6 - - 2000 - - - - - - - - 14.56 14.50 14.59
24585 116.5 8.1 1066 24589 roll 0.62 - - 2406 - 2.60 0.084 822 -556.2 182.6 - - 2000 - - - - - - - - 14.86 14.49 14.88
24619 114.0 6.9 1071 24631 done 0.63 - - 2406 - 2.60 0.076 2267 555.8 193.4 8.75 0.396 1950 -5.7 0.310 - - - - - - 14.60 14.48 14.18
24948 89.8 7.5 1081 24955 roll 0.63 - - 2406 - 2.55 0.103 3639 538.0 193.4 2.35 0.187 1949 - - - - - - - - 14.85 14.49 14.39
25046 82.9 6.4 1095 25066 done 0.64 - - 2415 - 2.40 0.065 2268 -571.2 215.5 16.70 0.368 1860 -5.3 0.226 - - - - - - 14.66 14.56 14.26
25400 66.4 3.5 1112 25461 done 0.78 0.10 0.151 2464 490.0 - - 2267 - 307.4 58.72 0.337 1484 -6.4 0.238 - - - - - - 14.59 14.57 14.28
25763 45.6 5.1 1131 25803 roll 0.98 0.15 0.120 2531 446.7 2.50 0.095 3638 548.4 359.6 34.03 0.269 1271 -6.3 0.200 - - - - - - 14.56 14.45 14.26
25890 37.0 5.8 1146 25920 done 1.07 - - 2537 - 2.33 0.063 2291 -578.1 396.8 25.00 0.242 1120 -6.0 0.174 - - - - - - 14.57 14.50 14.26
26240 17.1 5.9 1163 26270 roll 1.24 0.15 0.114 2625 586.7 2.62 0.080 829 -558.0 430.6 22.05 0.177 981 -6.3 0.115 - - - - - - 14.58 14.47 14.35
26286 12.7 9.4 1170 26292 done 1.24 - - 2625 - 2.67 0.070 2320 558.4 430.6 - - 983 - - - - - - - - 14.61 14.50 14.64
26374 end climb: SURFACE_DEPTH_REACHED
26374 begin surface coast
26402 end surface coast: CONTROL_FINISHED_OK
26402 begin surface
SM 0.92 - - - - -6.13 6.93 0.075 211 30.4 - - 2320 - 500.17 43.97 0.135 700 15.9 -0.011 - - - - - -