SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 191 * Raw log
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• Previous call tries 1 • 80.57 of 350.00 AH used of 24V (76.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.9 deg, depth 0.94 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: 18 s • Transponder ping count: 7
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 204 - - - 2279 - -116.8 -84.90 - 3026 - - - - - - - - 14.72 - 14.74
107 6.7 -10.0 3 124 roll -0.68 9.20 0.435 1962 191.1 2.75 2.097 3703 517.8 -116.8 -3.00 - 3221 -65.0 - - - - - - - 14.16 13.38 14.53
224 50.1 -27.2 20 230 done -0.45 0.35 0.298 2050 251.4 2.42 0.049 2275 -590.1 -116.8 - - 3221 - - - - - - - - 14.26 14.54 14.53
552 97.2 -10.5 34 557 roll -0.37 - - 2050 - 2.42 0.057 861 -584.3 -116.8 - - 3223 - - - - - - - - 14.86 14.60 14.88
698 109.6 -7.4 55 704 done -0.37 0.15 0.256 2078 186.7 2.47 0.062 2287 577.3 -116.8 - - 3223 - - - - - - - - 14.43 14.61 14.64
1056 133.7 -7.0 64 1060 roll -0.37 - - 2069 - 2.42 0.082 3701 584.3 -116.8 - - 3223 - - - - - - - - 14.92 14.62 14.95
1104 137.3 -7.6 71 1111 done -0.37 - - 2069 - 2.40 0.044 2266 -597.9 -116.8 - - 3223 - - - - - - - - 14.72 14.68 14.74
1448 163.0 -7.5 78 1453 roll -0.37 - - 2069 - 2.35 0.057 886 -587.2 -116.8 - - 3222 - - - - - - - - 14.95 14.68 14.97
1552 171.0 -7.4 93 1560 done -0.37 - - 2069 - 2.45 0.064 2265 562.9 -116.8 - - 3221 - - - - - - - - 14.69 14.63 14.73
1896 194.8 -6.9 100 1901 roll -0.37 - - 2061 - 2.47 0.086 3689 576.5 -116.8 - - 3219 - - - - - - - - 14.96 14.65 14.98
1944 198.4 -7.3 107 1951 done -0.37 - - 2061 - 2.38 0.047 2271 -595.8 -116.8 - - 3218 - - - - - - - - 14.74 14.71 14.77
2288 223.8 -7.5 114 2292 roll -0.37 - - 2061 - 2.38 0.058 891 -579.8 -116.8 - - 3217 - - - - - - - - 14.97 14.69 15.00
2406 232.5 -7.1 131 2411 done -0.37 - - 2057 - 2.40 0.064 2265 572.5 -116.8 - - 3215 - - - - - - - - 14.81 14.67 14.81
2736 257.5 -7.7 143 2740 roll -0.37 - - 2050 - 2.50 0.090 3705 576.0 -116.8 - - 3214 - - - - - - - - 14.97 14.63 14.99
2805 263.1 -8.2 153 2811 done -0.37 - - 2050 - 2.40 0.049 2271 -597.5 -116.8 - - 3214 - - - - - - - - 14.75 14.71 14.77
3128 290.2 -8.5 164 3133 roll -0.37 - - 2050 - 2.38 0.060 897 -577.3 -116.8 - - 3210 - - - - - - - - 14.97 14.69 15.00
3218 298.2 -8.6 177 3224 done -0.37 0.08 0.232 2070 250.0 2.45 0.066 2262 557.1 -116.8 - - 3211 - - - - - - - - 14.45 14.64 14.59
3576 324.5 -7.3 186 3581 roll -0.37 - - 2062 - 2.50 0.090 3694 572.8 -116.8 - - 3208 - - - - - - - - 14.97 14.63 14.99
3633 328.5 -7.2 194 3637 done -0.44 - - 2061 - 2.40 0.054 2265 -595.4 -116.8 - - 3208 - - - - - - - - 14.76 14.72 14.77
3968 353.0 -7.3 207 3973 roll -0.44 - - 2062 - 2.40 0.063 878 -577.9 -116.8 - - 3206 - - - - - - - - 14.98 14.66 15.00
4045 358.8 -7.3 218 4049 done -0.48 - - 2058 - 2.45 0.070 2265 566.1 -116.8 - - 3205 - - - - - - - - 14.76 14.64 14.79
4360 381.7 -7.3 228 4365 roll -0.48 - - 2051 - 2.50 0.093 3690 570.0 -116.8 - - 3204 - - - - - - - - 14.99 14.62 15.00
4401 384.8 -7.6 234 4406 done -0.48 - - 2050 - 2.45 0.050 2253 -586.5 -116.8 - - 3203 - - - - - - - - 14.73 14.69 14.76
4752 410.7 -7.3 242 4757 roll -0.48 - - 2052 - 2.38 0.063 881 -576.5 -116.8 - - 3201 - - - - - - - - 14.97 14.66 14.99
4821 416.2 -7.8 252 4826 done -0.48 - - 2049 - 2.47 0.070 2255 556.3 -116.8 - - 3201 - - - - - - - - 14.69 14.62 14.73
5144 440.5 -7.6 263 5148 roll -0.48 - - 2047 - 2.53 0.095 3688 566.4 -116.8 - - 3198 - - - - - - - - 14.97 14.59 14.99
5171 442.6 -7.8 267 5177 done -0.48 - - 2042 - 2.45 0.051 2255 -584.9 -116.8 - - 3197 - - - - - - - - 14.73 14.69 14.76
5536 473.0 -8.5 277 5541 roll -0.48 - - 2043 - 2.38 0.063 882 -576.9 -116.8 - - 3198 - - - - - - - - 14.97 14.66 14.99
5619 480.4 -8.7 289 5625 done -0.48 - - 2043 - 2.47 0.072 2248 553.0 -116.8 - - 3198 - - - - - - - - 14.67 14.59 14.71
5984 512.2 -8.8 299 5989 roll -0.48 - - 2037 - 2.58 0.099 3696 561.2 -116.8 - - 3196 - - - - - - - - 14.97 14.59 14.99
6040 517.2 -9.0 307 6045 done -0.48 - - 2034 - 2.45 0.056 2247 -591.4 -116.8 - - 3195 - - - - - - - - 14.77 14.69 14.80
6376 546.1 -8.4 320 6381 roll -0.48 - - 2037 - 2.38 0.066 881 -573.9 -116.8 - - 3195 - - - - - - - - 14.97 14.62 14.98
6452 552.5 -8.1 331 6458 done -0.48 - - 2037 - 2.47 0.073 2267 561.1 -116.8 - - 3195 - - - - - - - - 14.74 14.62 14.78
6768 576.7 -7.6 341 6773 roll -0.48 - - 2032 - 2.55 0.099 3702 562.7 -116.8 - - 3194 - - - - - - - - 14.96 14.57 14.98
6816 580.4 -7.6 348 6823 done -0.48 - - 2032 - 2.50 0.053 2235 -586.8 -116.8 - - 3193 - - - - - - - - 14.69 14.65 14.73
7161 606.2 -7.6 355 7165 roll -0.48 - - 2032 - 2.35 0.067 894 -570.6 -116.8 - - 3192 - - - - - - - - 14.97 14.62 14.98
7257 614.0 -7.8 369 7263 done -0.48 - - 2027 - 2.47 0.073 2252 549.8 -116.8 - - 3192 - - - - - - - - 14.64 14.56 14.69
7608 640.8 -7.6 377 7609 done -0.48 - - 2027 - - - 2253 - -116.8 - - 3189 - - - - - - - - 14.95 14.97 14.97
7944 666.8 -7.8 383 7945 done -0.48 - - 2027 - - - 2258 - -116.8 - - 3189 - - - - - - - - 14.95 14.97 14.95
8280 693.8 -8.1 389 8280 done -0.48 - - 2027 - - - 2253 - -116.8 - - 3188 - - - - - - - - 14.95 14.97 14.98
8616 720.5 -7.9 395 8620 roll -0.48 - - 2027 - 2.40 0.067 897 -565.0 -116.8 - - 3187 - - - - - - - - 14.95 14.59 14.97
8643 722.8 -8.3 399 8648 done -0.48 - - 2026 - 2.47 0.076 2245 545.7 -116.8 - - 3187 - - - - - - - - 14.62 14.54 14.66
9009 751.1 -7.6 409 9014 roll -0.48 - - 2020 - 2.60 0.104 3690 555.8 -116.8 - - 3184 - - - - - - - - 14.95 14.54 14.96
9064 755.4 -7.7 417 9070 done -0.48 - - 2020 - 2.45 0.060 2260 -583.7 -116.8 - - 3185 - - - - - - - - 14.73 14.65 14.76
9400 779.8 -7.1 430 9405 roll -0.48 - - 2020 - 2.42 0.069 879 -570.7 -116.8 - - 3184 - - - - - - - - 14.96 14.58 14.97
9477 785.1 -6.9 441 9482 done -0.48 - - 2019 - 2.50 0.078 2262 553.2 -116.8 - - 3184 - - - - - - - - 14.70 14.57 14.73
9792 805.6 -6.4 451 9793 done -0.48 - - 2019 - - - 2262 - -116.8 - - 3184 - - - - - - - - 14.94 14.96 14.95
10128 827.2 -6.3 457 10134 roll -0.48 - - 2019 - 2.45 0.065 878 -564.9 -116.8 - - 3183 - - - - - - - - 14.94 14.57 14.95
10163 829.5 -6.1 462 10167 done -0.48 - - 2019 - 2.47 0.078 2248 554.7 -116.8 - - 3184 - - - - - - - - 14.65 14.52 14.69
10520 853.0 -6.5 471 10525 roll -0.48 - - 2012 - 2.62 0.106 3699 553.8 -116.8 - - 3182 - - - - - - - - 14.93 14.50 14.97
10561 856.0 -5.5 477 10568 done -0.48 0.12 0.246 2040 233.3 2.50 0.060 2238 -584.4 -116.8 - - 3181 - - - - - - - - 14.38 14.63 14.62
10913 876.7 -5.9 485 10919 roll -0.48 - - 2041 - 2.38 0.068 887 -567.6 -116.8 - - 3181 - - - - - - - - 14.94 14.52 14.96
10953 879.4 -3.8 491 10959 done -0.53 - - 2040 - 2.50 0.079 2245 543.2 -116.8 - - 3181 - - - - - - - - 14.59 14.52 14.65
11304 902.0 -6.5 499 11309 roll -0.53 - - 2035 - 2.65 0.108 3702 549.8 -116.8 - - 3181 - - - - - - - - 14.92 14.50 14.94
11346 904.9 -4.2 505 11352 done -0.58 - - 2035 - 2.47 0.059 2242 -591.1 -116.8 - - 3180 - - - - - - - - 14.72 14.64 14.75
11696 930.2 -7.2 513 11702 roll -0.58 - - 2035 - 2.40 0.074 892 -562.5 -116.8 - - 3179 - - - - - - - - 14.92 14.54 14.94
11744 933.9 -7.7 520 11751 done -0.58 - - 2033 - 2.50 0.080 2246 541.6 -116.8 - - 3179 - - - - - - - - 14.58 14.50 14.63
12088 959.1 -7.4 527 12089 done -0.58 - - 2033 - - - 2245 - -116.8 - - 3179 - - - - - - - - 14.92 14.94 14.93
12424 983.9 -7.4 533 12429 roll -0.58 - - 2033 - 2.42 0.067 885 -562.0 -116.8 - - 3178 - - - - - - - - 14.93 14.53 14.95
12451 986.1 -7.8 537 12457 done -0.58 - - 2032 - 2.50 0.080 2261 550.4 -116.8 - - 3178 - - - - - - - - 14.66 14.52 14.70
12533 end dive: TARGET_DEPTH_EXCEEDED
12533 begin apogee
12541 992.2 -6.1 542 12686 roll -0.19 0.38 0.223 2135 271.1 - - 2262 - - 137.75 2.536 2740 -3.2 0.238 - - - - 1 - 14.36 13.83 12.81
12687 end apogee: CONTROL_FINISHED_OK
12688 begin climb
12691 997.1 - 544 12866 roll 0.68 0.93 0.148 2413 298.9 2.70 0.067 834 -528.9 116.8 160.60 1.903 2251 -3.0 0.306 - - - - - - 13.82 13.87 12.97
12988 979.3 9.0 592 12993 done 0.68 - - 2413 - 2.65 0.080 2236 529.1 116.8 - - 2236 - - - - - - - - 14.13 14.02 14.16
13323 945.1 10.3 605 13328 roll 0.60 - - 2423 - 2.58 0.084 849 -537.6 116.8 - - 2232 - - - - - - - - 14.65 14.35 14.67
13461 930.9 9.9 625 13468 done 0.54 0.15 0.257 2369 -360.0 2.60 0.080 2237 533.8 116.8 - - 2232 - - - - - - - - 14.20 14.38 14.48
13826 900.8 8.2 635 13830 roll 0.54 - - 2370 - 2.58 0.108 3648 546.9 116.8 - - 2229 - - - - - - - - 14.79 14.43 14.81
13930 891.3 11.2 650 13937 done 0.54 - - 2378 - 2.45 0.073 2268 -563.3 116.8 - - 2228 - - - - - - - - 14.60 14.49 14.64
14274 863.0 8.4 657 14279 roll 0.54 - - 2389 - 2.65 0.090 817 -547.5 116.8 - - 2228 - - - - - - - - 14.83 14.47 14.85
14330 858.5 7.1 665 14335 done 0.55 - - 2388 - 2.62 0.081 2256 549.2 123.3 - - 2227 - - - - - - - - 14.62 14.47 14.66
14666 830.3 8.4 678 14671 roll 0.50 - - 2389 - 2.55 0.109 3647 545.5 123.3 - - 2226 - - - - - - - - 14.85 14.47 14.87
14742 823.6 8.0 689 14749 done 0.43 0.22 0.268 2345 -200.0 2.47 0.073 2241 -569.2 123.3 - - 2226 - - - - - - - - 14.27 14.55 14.60
15058 802.1 6.6 699 15093 roll 0.44 - - 2356 - 2.65 0.090 820 -536.2 140.8 30.20 1.663 2161 -2.2 0.199 - - - - - - 14.86 14.45 13.85
15148 795.8 7.0 712 15156 done 0.49 - - 2356 - 2.60 0.079 2242 546.9 148.9 3.35 1.118 2131 -9.0 1.221 - - - - - - 14.52 14.40 13.57
15493 770.0 7.5 719 15498 roll 0.49 - - 2356 - 2.58 0.107 3650 545.7 148.9 - - 2132 - - - - - - - - 14.76 14.42 14.78
15575 763.0 8.5 731 15581 done 0.49 - - 2365 - 2.53 0.072 2254 -551.8 148.9 - - 2133 - - - - - - - - 14.52 14.47 14.56
15940 733.1 8.3 741 15946 roll 0.49 - - 2376 - 2.60 0.087 821 -551.2 148.9 - - 2133 - - - - - - - - 14.83 14.47 14.85
16010 727.3 8.2 751 16015 done 0.49 - - 2376 - 2.60 0.077 2253 550.8 148.9 - - 2133 - - - - - - - - 14.62 14.50 14.66
16332 698.8 8.8 762 16337 roll 0.49 - - 2376 - 2.53 0.108 3639 547.8 148.9 - - 2133 - - - - - - - - 14.85 14.49 14.87
16401 692.0 9.8 772 16407 done 0.49 - - 2385 - 2.50 0.070 2241 -559.2 148.9 - - 2133 - - - - - - - - 14.57 14.52 14.62
16725 662.7 9.1 783 16730 roll 0.49 - - 2397 - 2.58 0.087 825 -548.8 148.9 - - 2133 - - - - - - - - 14.86 14.50 14.88
16780 657.7 8.9 791 16786 done 0.49 0.10 0.239 2367 -300.0 2.58 0.079 2250 552.3 148.9 - - 2133 - - - - - - - - 14.30 14.47 14.45
17117 631.1 7.8 804 17121 roll 0.49 - - 2367 - 2.55 0.109 3646 547.5 148.9 - - 2133 - - - - - - - - 14.88 14.47 14.90
17193 624.2 9.2 815 17198 done 0.49 - - 2377 - 2.47 0.073 2244 -567.6 148.9 - - 2133 - - - - - - - - 14.65 14.54 14.69
17508 597.1 8.6 825 17514 roll 0.49 - - 2388 - 2.58 0.090 826 -549.6 148.9 - - 2133 - - - - - - - - 14.88 14.49 14.90
17565 592.3 8.6 833 17570 done 0.49 - - 2387 - 2.62 0.080 2266 549.6 148.9 - - 2133 - - - - - - - - 14.64 14.51 14.68
17900 561.2 9.3 846 17905 roll 0.49 - - 2387 - 2.50 0.108 3640 549.6 148.9 - - 2133 - - - - - - - - 14.88 14.46 14.89
17969 554.0 10.4 856 17975 done 0.49 0.10 0.232 2360 -270.0 2.47 0.070 2262 -557.9 148.9 - - 2131 - - - - - - - - 14.32 14.52 14.57
18293 528.1 8.0 867 18297 roll 0.49 - - 2369 - 2.60 0.083 822 -553.8 148.9 - - 2132 - - - - - - - - 14.88 14.49 14.90
18326 525.4 7.9 872 18332 done 0.49 - - 2369 - 2.62 0.076 2273 553.8 148.9 - - 2133 - - - - - - - - 14.65 14.53 14.69
18684 495.9 8.2 881 18690 roll 0.49 - - 2369 - 2.50 0.109 3640 546.8 148.9 - - 2133 - - - - - - - - 14.87 14.46 14.89
18761 489.0 9.1 892 18766 done 0.49 - - 2379 - 2.42 0.072 2261 -569.8 148.9 - - 2133 - - - - - - - - 14.66 14.54 14.69
19076 462.9 8.3 902 19081 roll 0.49 - - 2387 - 2.60 0.086 827 -551.5 148.9 - - 2133 - - - - - - - - 14.89 14.50 14.93
19110 460.1 7.8 907 19116 done 0.49 0.08 0.233 2366 -262.5 2.67 0.079 2280 544.2 148.9 - - 2133 - - - - - - - - 14.31 14.47 14.48
19469 434.0 7.2 916 19475 roll 0.50 - - 2366 - 2.53 0.107 3640 537.5 151.6 2.47 0.591 2119 -5.7 0.797 - - - - - - 14.89 14.59 13.64
19537 428.3 8.1 926 19543 done 0.50 - - 2374 - 2.42 0.070 2286 -559.5 151.6 - - 2129 - - - - - - - - 14.59 14.53 14.63
19853 405.3 7.3 936 19858 roll 0.50 - - 2384 - 2.62 0.083 823 -558.4 151.8 - - 2129 - - - - - - - - 14.88 14.50 14.90
19896 402.3 7.1 942 19916 done 0.50 - - 2384 - 2.65 0.077 2291 554.0 158.4 16.20 1.421 2094 -2.2 0.117 - - - - - - 14.64 14.51 14.00
20238 375.5 7.8 956 20243 roll 0.50 - - 2384 - 2.47 0.106 3645 548.2 158.4 - - 2079 - - - - - - - - 14.82 14.43 14.84
20308 369.4 8.8 966 20314 done 0.50 0.15 0.249 2356 -186.7 2.40 0.070 2280 -568.8 158.4 - - 2078 - - - - - - - - 14.30 14.54 14.56
20631 348.8 6.3 977 20672 roll 0.51 - - 2366 - 2.70 0.082 823 -539.6 183.0 36.55 1.310 1989 -2.4 0.124 - - - - - - 14.85 14.42 13.93
20714 343.4 6.6 989 20741 done 0.60 - - 2366 - 2.65 0.075 2282 550.6 200.3 22.05 1.299 1922 -3.0 0.154 - - - - - - 14.49 14.39 13.81
21071 318.1 7.2 1005 21077 roll 0.60 - - 2366 - 2.50 0.104 3645 545.2 203.7 - - 1902 - - - - - - - - 14.72 14.38 14.73
21119 314.0 8.4 1012 21126 done 0.60 - - 2372 - 2.45 0.068 2284 -555.5 203.7 - - 1900 - - - - - - - - 14.48 14.42 14.52
21464 287.3 7.9 1019 21469 roll 0.60 - - 2380 - 2.65 0.082 820 -552.5 203.7 - - 1900 - - - - - - - - 14.81 14.45 14.82
21526 282.4 7.7 1028 21531 done 0.67 0.12 0.140 2431 425.0 2.65 0.074 2283 552.1 203.7 - - 1899 - - - - - - - - 14.51 14.46 14.62
21856 244.6 11.9 1040 21860 roll 0.67 - - 2431 - 2.47 0.103 3642 550.2 203.7 - - 1898 - - - - - - - - 14.83 14.45 14.85
21897 239.0 13.5 1046 21903 done 0.60 0.17 0.274 2399 -188.2 2.42 0.067 2268 -567.8 203.7 - - 1900 - - - - - - - - 14.29 14.54 14.57
22247 203.2 10.0 1054 22252 roll 0.60 - - 2409 - 2.62 0.084 816 -554.2 203.7 - - 1900 - - - - - - - - 14.85 14.49 14.88
22323 195.7 9.7 1065 22330 done 0.60 - - 2409 - 2.65 0.076 2285 554.3 203.7 - - 1899 - - - - - - - - 14.64 14.51 14.69
22640 163.6 10.2 1075 22645 roll 0.60 - - 2409 - 2.47 0.103 3649 552.2 203.7 - - 1900 - - - - - - - - 14.86 14.48 14.89
22722 154.4 10.8 1087 22728 done 0.60 - - 2419 - 2.45 0.067 2279 -559.2 203.7 - - 1899 - - - - - - - - 14.59 14.53 14.63
23088 120.5 9.2 1097 23093 roll 0.60 - - 2428 - 2.62 0.081 822 -556.1 203.7 - - 1899 - - - - - - - - 14.90 14.52 14.91
23178 113.1 7.9 1110 23183 done 0.60 0.12 0.258 2399 -241.7 2.62 0.075 2284 558.0 203.7 - - 1900 - - - - - - - - 14.35 14.52 14.62
23508 90.8 6.7 1120 23521 roll 0.61 - - 2398 - 2.50 0.099 3640 542.4 219.7 9.30 0.316 1843 -6.1 0.337 - - - - - - 14.86 14.56 14.23
23636 81.8 7.1 1138 23648 done 0.62 - - 2406 - 2.33 0.063 2291 -579.0 226.2 7.47 0.298 1816 -3.6 0.190 - - - - - - 14.59 14.54 14.23
23956 65.5 3.7 1151 24023 roll 0.77 0.12 0.133 2475 575.0 2.67 0.078 823 -549.8 311.9 58.47 0.332 1472 -5.9 0.222 - - - - - - 14.60 14.52 14.30
24200 53.0 4.6 1186 24249 done 0.92 - - 2475 - 2.65 0.069 2277 548.7 376.4 45.10 0.293 1204 -5.9 0.206 - - - - - - 14.53 14.47 14.26
24568 34.5 5.2 1205 24613 roll 1.21 0.30 0.112 2589 380.0 2.65 0.073 822 -549.1 426.6 35.50 0.230 1000 -5.7 0.165 - - - - - - 14.47 14.47 14.31
24686 26.6 7.6 1222 24690 done 1.27 - - 2589 - 2.58 0.067 2270 561.2 426.6 - - 1008 - - - - - - - - 14.59 14.48 14.62
24981 end climb: SURFACE_DEPTH_REACHED
24981 begin surface coast
25009 end surface coast: CONTROL_FINISHED_OK
25009 begin surface
SM 1.06 - - - - -6.13 6.78 0.070 217 32.0 - - 2270 - 500.17 49.85 0.135 698 14.0 -0.011 - - - - - -