SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 205 * Raw log
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• Previous call tries 1 • 85.93 of 350.00 AH used of 24V (75.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth 0.99 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 17 s • Transponder ping count: 12
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 107 VBD -0.68 - - 216 - - - 2291 - -116.8 -84.22 - 2935 - - - - - - - - 14.71 - 14.73
112 5.6 -8.2 3 135 roll -0.68 8.88 0.418 1984 199.1 2.78 2.082 862 -514.0 -116.8 -4.68 - 3221 -61.1 - - - - - - - 14.16 13.34 14.52
222 49.2 -33.3 19 227 done -0.40 0.35 0.267 2061 220.0 2.55 0.067 2292 560.8 -116.8 - - 3223 - - - - - - - - 14.23 14.47 14.48
558 94.6 -8.9 34 563 roll -0.34 0.12 0.262 2095 283.3 2.47 0.050 859 -580.2 -116.8 - - 3223 - - - - - - - - 14.38 14.56 14.52
577 96.2 -8.6 37 585 done -0.34 - - 2093 - 2.50 0.063 2255 558.4 -116.8 - - 3223 - - - - - - - - 14.61 14.54 14.63
921 117.9 -6.1 45 927 roll -0.34 - - 2093 - 2.50 0.084 3701 578.4 -116.8 - - 3224 - - - - - - - - 14.91 14.60 14.93
1092 127.9 -5.9 69 1098 done -0.40 - - 2094 - 2.42 0.044 2230 -607.9 -116.8 - - 3224 - - - - - - - - 14.76 14.71 14.78
1428 146.6 -5.3 82 1433 roll -0.45 0.12 0.134 2026 -566.7 2.30 0.051 881 -586.5 -116.8 - - 3223 - - - - - - - - 14.69 14.65 14.72
1490 151.1 -8.0 91 1495 done -0.45 - - 2024 - 2.42 0.063 2263 571.1 -116.8 - - 3223 - - - - - - - - 14.76 14.66 14.79
1819 178.3 -8.4 103 1820 done -0.45 - - 2025 - - - 2264 - -116.8 - - 3221 - - - - - - - - 14.95 14.98 14.97
2156 209.5 -9.2 109 2156 done -0.45 - - 2025 - - - 2263 - -116.8 - - 3220 - - - - - - - - 15.00 15.00 15.00
2491 241.7 -9.7 115 2492 done -0.45 - - 2025 - - - 2264 - -116.8 - - 3217 - - - - - - - - 14.97 15.00 14.99
2828 274.1 -9.7 121 2833 roll -0.45 - - 2025 - 2.40 0.055 881 -576.2 -116.8 - - 3216 - - - - - - - - 14.99 14.68 15.00
2868 278.2 -9.7 127 2874 done -0.45 0.08 0.228 2046 262.5 2.47 0.066 2260 558.3 -116.8 - - 3215 - - - - - - - - 14.45 14.63 14.58
3219 306.1 -7.9 135 3224 roll -0.45 - - 2038 - 2.53 0.090 3702 570.0 -116.8 - - 3212 - - - - - - - - 14.99 14.62 15.01
3247 308.4 -8.1 139 3252 done -0.45 - - 2038 - 2.38 0.047 2262 -605.0 -116.8 - - 3212 - - - - - - - - 14.81 14.74 14.83
3611 336.8 -7.7 149 3612 done -0.45 - - 2038 - - - 2255 - -116.8 - - 3210 - - - - - - - - 14.97 15.00 15.00
3948 361.8 -7.5 155 3952 roll -0.45 - - 2038 - 2.38 0.059 888 -574.4 -116.8 - - 3208 - - - - - - - - 14.98 14.66 14.99
4031 368.5 -7.8 167 4036 done -0.45 - - 2037 - 2.42 0.068 2257 565.7 -116.8 - - 3207 - - - - - - - - 14.76 14.64 14.78
4396 398.3 -8.4 177 4401 roll -0.45 - - 2027 - 2.53 0.091 3691 566.8 -116.8 - - 3205 - - - - - - - - 14.97 14.61 14.99
4443 402.6 -8.9 184 4450 done -0.45 - - 2027 - 2.45 0.051 2253 -586.9 -116.8 - - 3204 - - - - - - - - 14.70 14.68 14.76
4787 434.6 -9.5 191 4792 roll -0.45 - - 2027 - 2.38 0.060 886 -574.4 -116.8 - - 3203 - - - - - - - - 15.00 14.64 15.00
4836 439.3 -9.4 198 4842 done -0.45 - - 2026 - 2.47 0.070 2264 557.9 -116.8 - - 3201 - - - - - - - - 14.73 14.62 14.77
5179 470.2 -8.8 205 5185 roll -0.45 - - 2020 - 2.55 0.095 3703 564.3 -116.8 - - 3201 - - - - - - - - 14.98 14.59 15.00
5213 473.2 -8.9 210 5219 done -0.45 0.05 0.189 2051 620.0 2.45 0.050 2261 -588.6 -116.8 - - 3200 - - - - - - - - 14.44 14.67 14.66
5572 498.2 -6.9 219 5577 roll -0.45 - - 2051 - 2.38 0.060 887 -577.3 -116.8 - - 3200 - - - - - - - - 14.97 14.63 14.99
5697 506.8 -6.6 237 5703 done -0.45 - - 2050 - 2.45 0.072 2259 560.0 -116.8 - - 3197 - - - - - - - - 14.73 14.62 14.77
6020 527.6 -6.5 248 6025 roll -0.45 - - 2043 - 2.55 0.096 3691 561.6 -116.8 - - 3197 - - - - - - - - 14.95 14.56 14.97
6081 531.9 -6.8 257 6088 done -0.45 - - 2043 - 2.45 0.054 2234 -594.7 -116.8 - - 3196 - - - - - - - - 14.75 14.66 14.78
6412 553.8 -6.6 269 6417 roll -0.45 - - 2043 - 2.35 0.065 893 -570.6 -116.8 - - 3194 - - - - - - - - 14.97 14.60 14.99
6475 558.2 -7.0 278 6479 done -0.45 - - 2042 - 2.42 0.073 2258 564.0 -116.8 - - 3194 - - - - - - - - 14.71 14.59 14.75
6803 580.2 -6.8 290 6808 roll -0.45 - - 2040 - 2.55 0.099 3682 558.4 -116.8 - - 3193 - - - - - - - - 14.95 14.54 14.97
6845 583.2 -7.2 296 6850 done -0.45 - - 2040 - 2.40 0.053 2255 -594.6 -116.8 - - 3193 - - - - - - - - 14.75 14.67 14.77
7196 608.3 -7.2 304 7201 roll -0.45 - - 2040 - 2.38 0.063 887 -574.8 -116.8 - - 3192 - - - - - - - - 14.95 14.59 14.97
7278 614.6 -7.4 316 7284 done -0.45 - - 2040 - 2.47 0.073 2241 548.2 -116.8 - - 3190 - - - - - - - - 14.62 14.54 14.65
7644 640.6 -7.2 326 7649 roll -0.45 - - 2039 - 2.62 0.101 3702 557.6 -116.8 - - 3189 - - - - - - - - 14.95 14.52 14.97
7692 644.1 -7.4 333 7700 done -0.45 - - 2039 - 2.47 0.054 2230 -596.0 -116.8 - - 3190 - - - - - - - - 14.73 14.64 14.76
8035 668.2 -7.0 340 8040 roll -0.45 - - 2039 - 2.35 0.063 890 -570.2 -116.8 - - 3189 - - - - - - - - 14.95 14.58 14.97
8112 673.8 -7.3 351 8117 done -0.45 - - 2039 - 2.45 0.074 2251 555.5 -116.8 - - 3188 - - - - - - - - 14.71 14.57 14.74
8428 695.0 -6.7 361 8434 roll -0.45 - - 2036 - 2.60 0.103 3695 555.4 -116.8 - - 3187 - - - - - - - - 14.93 14.52 14.95
8462 697.4 -7.1 366 8467 done -0.45 - - 2035 - 2.45 0.057 2255 -587.8 -116.8 - - 3187 - - - - - - - - 14.77 14.66 14.76
8820 721.8 -6.8 375 8825 roll -0.45 - - 2035 - 2.42 0.066 872 -571.5 -116.8 - - 3186 - - - - - - - - 14.95 14.57 14.97
8924 729.3 -7.1 390 8931 done -0.45 - - 2033 - 2.50 0.075 2232 544.0 -116.8 - - 3185 - - - - - - - - 14.58 14.51 14.64
9267 752.9 -6.9 397 9273 roll -0.45 - - 2026 - 2.65 0.103 3700 554.0 -116.8 - - 3184 - - - - - - - - 14.94 14.45 14.95
9344 758.6 -7.4 408 9349 done -0.45 - - 2026 - 2.53 0.059 2231 -580.6 -116.8 - - 3184 - - - - - - - - 14.71 14.63 14.75
9660 781.0 -7.0 418 9664 roll -0.45 - - 2026 - 2.40 0.067 872 -566.2 -116.8 - - 3183 - - - - - - - - 14.93 14.54 14.95
9708 784.2 -7.4 425 9715 done -0.45 - - 2026 - 2.50 0.076 2238 546.4 -116.8 - - 3184 - - - - - - - - 14.66 14.53 14.71
10052 808.6 -7.2 432 10057 roll -0.45 - - 2022 - 2.65 0.103 3701 552.1 -116.8 - - 3182 - - - - - - - - 14.92 14.49 14.94
10107 812.6 -6.9 440 10112 done -0.45 0.12 0.243 2052 250.0 2.53 0.058 2230 -581.4 -116.8 - - 3182 - - - - - - - - 14.33 14.57 14.56
10444 833.2 -6.1 453 10449 roll -0.50 - - 2052 - 2.38 0.067 879 -567.6 -116.8 - - 3181 - - - - - - - - 14.92 14.54 14.94
10485 836.0 -6.7 459 10490 done -0.55 - - 2052 - 2.47 0.078 2236 549.4 -116.8 - - 3182 - - - - - - - - 14.66 14.52 14.70
10836 858.2 -6.4 467 10841 roll -0.61 0.12 0.144 1994 -483.3 2.65 0.101 3700 552.5 -116.8 - - 3181 - - - - - - - - 14.57 14.49 14.60
10892 862.7 -8.2 475 10897 done -0.61 - - 1994 - 2.53 0.057 2222 -584.2 -116.8 - - 3180 - - - - - - - - 14.70 14.61 14.72
11227 892.2 -8.9 488 11232 roll -0.61 - - 1994 - 2.40 0.073 872 -562.5 -116.8 - - 3179 - - - - - - - - 14.93 14.52 14.95
11283 897.2 -8.8 496 11288 done -0.61 - - 1988 - 2.47 0.077 2228 549.0 -116.8 - - 3179 - - - - - - - - 14.64 14.51 14.69
11620 925.8 -8.5 509 11626 roll -0.61 - - 1983 - 2.67 0.106 3695 549.4 -116.8 - - 3181 - - - - - - - - 14.90 14.47 14.92
11668 930.1 -6.0 516 11674 done -0.61 - - 1983 - 2.58 0.061 2208 -576.4 -116.8 - - 3178 - - - - - - - - 14.67 14.58 14.70
12011 960.3 -8.8 523 12016 roll -0.61 - - 1983 - 2.38 0.069 877 -559.2 -116.8 - - 3178 - - - - - - - - 14.91 14.50 14.92
12088 966.2 -5.2 534 12093 done -0.61 - - 1974 - 2.47 0.079 2227 546.6 -116.8 - - 3178 - - - - - - - - 14.65 14.50 14.69
12400 end dive: TARGET_DEPTH_EXCEEDED
12400 begin apogee
12408 993.7 -8.8 544 12610 roll -0.19 0.60 0.247 2133 265.0 - - 2227 - - 199.73 1.591 2741 -2.2 0.257 - - - - - - 14.28 13.97 13.33
12611 end apogee: CONTROL_FINISHED_OK
12611 begin climb
12615 999.0 - 547 12776 roll 0.68 0.93 0.158 2410 297.8 2.65 0.071 821 -530.6 116.8 150.50 1.842 2262 -3.2 0.324 - - - - - - 13.92 13.98 13.06
12902 978.5 9.1 594 12909 done 0.68 - - 2410 - 2.67 0.078 2238 530.7 116.8 - - 2231 - - - - - - - - 14.17 14.07 14.21
13246 943.8 10.1 601 13251 roll 0.61 - - 2420 - 2.62 0.084 824 -539.7 116.8 - - 2226 - - - - - - - - 14.66 14.35 14.69
13371 931.5 9.5 619 13376 done 0.61 - - 2420 - 2.62 0.080 2243 541.6 116.8 - - 2225 - - - - - - - - 14.52 14.39 14.56
13695 897.3 10.7 630 13700 roll 0.53 0.15 0.291 2382 -253.3 2.58 0.107 3640 541.5 116.8 - - 2224 - - - - - - - - 14.20 14.41 14.37
13770 889.3 10.1 641 13776 done 0.48 0.15 0.278 2358 -160.0 2.47 0.073 2250 -562.8 116.8 - - 2222 - - - - - - - - 14.25 14.47 14.53
14086 865.0 7.6 651 14091 roll 0.48 - - 2368 - 2.62 0.092 821 -545.4 116.8 - - 2222 - - - - - - - - 14.83 14.45 14.85
14148 859.8 9.1 660 14153 done 0.48 - - 2366 - 2.62 0.080 2256 547.7 116.8 - - 2221 - - - - - - - - 14.60 14.45 14.64
14478 832.4 8.4 672 14483 roll 0.48 - - 2368 - 2.55 0.109 3642 543.5 116.8 - - 2221 - - - - - - - - 14.85 14.43 14.86
14534 827.1 9.6 680 14539 done 0.48 - - 2378 - 2.47 0.073 2245 -565.6 116.8 - - 2221 - - - - - - - - 14.63 14.52 14.66
14869 797.0 9.0 693 14875 roll 0.48 - - 2388 - 2.62 0.092 820 -543.9 116.8 - - 2220 - - - - - - - - 14.85 14.45 14.88
14911 793.1 9.4 699 14916 done 0.48 0.12 0.272 2361 -225.0 2.62 0.080 2253 546.9 116.8 - - 2220 - - - - - - - - 14.28 14.49 14.57
15262 764.6 8.1 707 15268 roll 0.48 - - 2361 - 2.55 0.110 3645 545.9 116.8 - - 2220 - - - - - - - - 14.86 14.40 14.88
15345 756.8 9.3 719 15350 done 0.48 - - 2371 - 2.55 0.073 2233 -553.7 116.8 - - 2217 - - - - - - - - 14.65 14.47 14.69
15710 725.7 8.5 729 15715 roll 0.48 - - 2381 - 2.58 0.087 822 -546.9 116.8 - - 2218 - - - - - - - - 14.88 14.45 14.92
15751 722.3 8.0 735 15757 done 0.48 - - 2381 - 2.62 0.079 2259 548.5 116.8 - - 2219 - - - - - - - - 14.62 14.49 14.67
16101 691.9 8.7 743 16106 roll 0.48 - - 2381 - 2.53 0.107 3638 545.1 116.8 - - 2218 - - - - - - - - 14.85 14.42 14.88
16164 685.7 9.9 752 16170 done 0.43 0.20 0.259 2344 -185.0 2.45 0.071 2248 -567.3 116.8 - - 2219 - - - - - - - - 14.24 14.51 14.56
16494 663.5 6.6 764 16512 roll 0.44 - - 2354 - 2.60 0.090 815 -551.2 134.8 12.23 1.668 2187 -2.6 0.195 - - - - - - 14.89 14.58 13.89
16556 659.4 6.7 773 16591 done 0.50 - - 2354 - 2.62 0.078 2250 547.7 150.9 29.25 1.455 2126 -2.1 0.178 - - - - - - 14.59 14.46 13.87
16942 632.1 7.1 786 16948 roll 0.51 - - 2354 - 2.62 0.108 3641 530.9 157.1 1.92 0.192 2097 -15.1 9.340 - - - - - - 14.76 14.38 14.32
16997 627.7 8.0 794 17003 done 0.51 - - 2363 - 2.53 0.073 2246 -551.4 157.1 - - 2099 - - - - - - - - 14.57 14.40 14.59
17327 603.4 7.4 806 17331 roll 0.51 - - 2373 - 2.60 0.089 825 -546.5 157.1 - - 2103 - - - - - - - - 14.80 14.41 14.82
17396 598.3 7.1 816 17409 done 0.51 - - 2372 - 2.60 0.078 2244 545.8 162.7 4.90 1.394 2074 -5.9 0.477 - - - - - - 14.57 14.44 13.69
17719 573.6 7.7 827 17725 roll 0.51 - - 2372 - 2.60 0.108 3637 535.8 162.7 2.30 0.507 2074 - - - - - - - - 14.84 14.52 13.57
17781 568.1 8.9 836 17786 done 0.51 - - 2382 - 2.47 0.071 2235 -567.6 162.7 - - 2082 - - - - - - - - 14.64 14.51 14.64
18104 542.2 8.0 847 18108 roll 0.51 - - 2391 - 2.58 0.086 822 -547.7 162.7 - - 2085 - - - - - - - - 14.83 14.45 14.85
18159 537.9 7.6 855 18165 done 0.51 - - 2391 - 2.60 0.076 2250 549.2 162.7 1.88 0.197 2075 -5.3 2.728 - - - - - - 14.60 14.47 14.38
18489 510.2 8.5 867 18494 roll 0.51 - - 2392 - 2.55 0.107 3643 546.3 162.7 - - 2083 - - - - - - - - 14.86 14.42 14.88
18565 502.7 9.7 878 18570 done 0.51 0.15 0.259 2366 -173.3 2.50 0.073 2234 -563.6 162.7 - - 2084 - - - - - - - - 14.29 14.49 14.54
18881 478.4 7.7 888 18886 roll 0.51 - - 2375 - 2.58 0.084 811 -551.6 162.7 - - 2084 - - - - - - - - 14.85 14.46 14.88
18957 472.6 7.5 899 18962 done 0.56 - - 2375 - 2.60 0.077 2241 550.0 162.7 - - 2085 - - - - - - - - 14.62 14.48 14.66
19273 447.0 8.2 909 19279 roll 0.56 - - 2373 - 2.62 0.106 3643 535.1 162.7 1.65 0.197 2075 -6.1 2.583 - - - - - - 14.86 14.47 14.38
19363 439.0 8.6 922 19368 done 0.56 - - 2384 - 2.47 0.071 2237 -569.2 162.7 - - 2083 - - - - - - - - 14.63 14.52 14.66
19720 411.1 7.8 931 19725 roll 0.56 - - 2391 - 2.58 0.085 820 -549.2 162.7 - - 2084 - - - - - - - - 14.88 14.45 14.90
19790 406.0 7.1 941 19810 done 0.56 - - 2393 - 2.60 0.075 2251 550.4 168.9 15.48 1.402 2051 -2.1 0.116 - - - - - - 14.62 14.49 14.02
20169 378.0 7.2 953 20175 roll 0.57 - - 2393 - 2.55 0.105 3650 548.6 171.1 - - 2039 - - - - - - - - 14.81 14.41 14.83
20238 372.6 7.8 963 20243 done 0.57 - - 2403 - 2.53 0.069 2243 -556.1 171.1 - - 2038 - - - - - - - - 14.52 14.45 14.57
20561 348.4 7.6 974 20566 roll 0.57 - - 2413 - 2.58 0.086 824 -550.0 171.1 - - 2038 - - - - - - - - 14.85 14.44 14.86
20623 343.6 7.5 983 20628 done 0.57 - - 2413 - 2.60 0.077 2248 547.7 171.1 - - 2037 - - - - - - - - 14.59 14.45 14.63
20953 314.6 9.0 995 20958 roll 0.57 0.12 0.270 2380 -275.0 2.55 0.104 3641 546.3 171.1 - - 2038 - - - - - - - - 14.26 14.42 14.40
21015 309.0 8.7 1004 21020 done 0.57 - - 2389 - 2.45 0.070 2251 -567.3 171.1 - - 2038 - - - - - - - - 14.63 14.52 14.66
21345 280.8 8.7 1016 21349 roll 0.57 - - 2399 - 2.60 0.085 813 -553.1 171.1 - - 2038 - - - - - - - - 14.86 14.45 14.88
21414 274.7 8.9 1026 21419 done 0.57 - - 2398 - 2.62 0.076 2258 551.5 171.1 - - 2038 - - - - - - - - 14.62 14.49 14.65
21737 244.5 9.5 1037 21743 roll 0.57 - - 2399 - 2.53 0.103 3646 548.6 171.1 - - 2037 - - - - - - - - 14.88 14.44 14.88
21827 234.8 10.5 1050 21832 done 0.57 - - 2408 - 2.47 0.067 2263 -559.9 171.1 - - 2037 - - - - - - - - 14.66 14.49 14.68
22184 201.1 9.4 1059 22189 roll 0.57 - - 2418 - 2.60 0.083 824 -553.5 171.1 - - 2037 - - - - - - - - 14.88 14.45 14.89
22241 196.0 8.9 1067 22246 done 0.57 0.15 0.249 2382 -240.0 2.62 0.076 2270 551.9 171.1 - - 2038 - - - - - - - - 14.31 14.49 14.54
22577 172.2 6.9 1080 22598 roll 0.57 - - 2382 - 2.53 0.104 3643 542.7 181.7 14.98 1.127 1996 -2.8 0.080 - - - - - - 14.89 14.57 14.08
22661 165.4 8.2 1092 22666 done 0.57 - - 2391 - 2.42 0.067 2262 -570.7 181.7 - - 1990 - - - - - - - - 14.62 14.51 14.65
23026 136.1 8.2 1102 23030 roll 0.57 - - 2399 - 2.62 0.083 822 -549.6 181.7 - - 1988 - - - - - - - - 14.83 14.45 14.85
23095 130.6 7.7 1112 23100 done 0.57 - - 2399 - 2.62 0.071 2279 556.1 181.7 - - 1987 - - - - - - - - 14.60 14.47 14.66
23418 103.6 8.4 1123 23419 done 0.57 - - 2399 - - - 2279 - 181.7 - - 1987 - - - - - - - - 14.86 14.88 14.88
23726 84.5 6.1 1133 23752 roll 0.63 - - 2399 - 2.53 0.098 3644 539.5 211.5 17.15 0.357 1884 -6.0 0.267 - - - - - - 14.88 14.52 14.26
23847 77.1 6.4 1150 23871 done 0.71 - - 2405 - 2.42 0.063 2254 -574.4 234.5 17.55 0.337 1785 -5.6 0.242 - - - - - - 14.64 14.54 14.23
24205 61.8 3.7 1168 24271 roll 0.91 0.22 0.093 2511 481.8 2.58 0.097 3634 534.9 321.3 57.28 0.318 1435 -6.1 0.223 - - - - - - 14.56 14.43 14.28
24404 49.0 6.3 1197 24426 done 0.93 - - 2518 - 2.42 0.058 2260 -567.8 345.0 18.10 0.263 1332 -5.7 0.199 - - - - - - 14.50 14.45 14.23
24759 32.5 4.3 1214 24812 roll 1.05 - - 2518 - 2.58 0.090 3644 536.4 416.1 47.17 0.225 1042 -6.1 0.167 - - - - - - 14.79 14.47 14.31
24920 23.4 6.9 1237 24937 done 1.17 0.17 0.106 2591 429.4 2.38 0.058 2273 -576.1 426.6 8.82 0.185 1000 -4.8 0.113 - - - - - - 14.53 14.51 14.30
25173 end climb: SURFACE_DEPTH_REACHED
25173 begin surface coast
25204 end surface coast: CONTROL_FINISHED_OK
25205 begin surface
SM 0.91 - - - - -6.13 6.78 0.070 216 31.8 - - 2273 - 500.17 48.50 0.135 699 14.4 -0.010 - - - - - -