SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 29 * Raw log
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• Previous call tries 3 • 16.00 of 350.00 AH used of 24V (95.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.2 deg, depth 1.00 m • Intended pitch -14.9 deg, speed -7.857 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 16 s • Transponder ping count: 24
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
20 - - - 97 VBD -0.66 - - 201 - - - 2260 - -146.0 -74.35 - 2203 - - - - - - - - 14.74 - 14.76
101 2.2 -1.7 5 149 roll -0.66 9.00 0.440 1982 197.9 2.60 2.128 857 -539.6 -146.0 -27.40 - 3336 -41.4 - - - - - - - 14.42 13.88 14.63
290 57.6 -33.0 42 297 done -0.38 0.40 0.303 2069 217.5 2.45 0.066 2261 573.1 -146.0 - - 3337 - - - - - - - - 14.48 14.59 14.64
607 100.1 -7.5 64 614 roll -0.38 - - 2069 - 2.38 0.052 845 -595.0 -146.0 - - 3337 - - - - - - - - 14.88 14.71 14.90
695 106.7 -7.1 81 704 done -0.38 - - 2068 - 2.55 0.064 2325 580.4 -146.0 - - 3338 - - - - - - - - 14.79 14.72 14.80
1001 128.6 -6.9 92 1004 done -0.38 - - 2068 - - - 2324 - -146.0 - - 3337 - - - - - - - - 14.93 14.96 14.96
1301 150.6 -7.6 102 1307 roll -0.38 - - 2065 - 2.30 0.083 3678 588.7 -146.0 - - 3338 - - - - - - - - 14.97 14.78 14.99
1344 153.9 -7.5 110 1350 done -0.38 - - 2065 - 2.25 0.044 2282 -620.4 -146.0 - - 3337 - - - - - - - - 14.88 14.83 14.89
1667 177.2 -7.2 124 1670 done -0.38 - - 2065 - - - 2277 - -146.0 - - 3336 - - - - - - - - 14.98 15.01 15.01
1968 199.9 -7.6 134 1974 roll -0.38 - - 2065 - 2.35 0.056 873 -597.4 -146.0 - - 3333 - - - - - - - - 15.00 14.83 15.02
2045 206.2 -7.8 149 2052 done -0.38 - - 2065 - 2.45 0.067 2298 581.6 -146.0 - - 3333 - - - - - - - - 14.90 14.82 14.91
2365 230.2 -7.5 162 2371 roll -0.38 - - 2056 - 2.38 0.088 3679 580.3 -146.0 - - 3330 - - - - - - - - 15.01 14.82 15.02
2388 232.0 -7.8 166 2394 done -0.38 - - 2056 - 2.25 0.045 2292 -616.4 -146.0 - - 3331 - - - - - - - - 14.91 14.86 14.92
2701 256.9 -7.9 178 2714 roll -0.38 - - 2056 - 2.38 0.057 872 -596.6 -146.0 - - 3328 - - - - - - - - 15.02 14.83 15.04
2771 262.6 -8.1 190 2784 done -0.38 - - 2056 - 2.45 0.070 2288 578.0 -146.0 - - 3327 - - - - - - - - 14.90 14.83 14.92
3111 289.7 -8.0 206 3124 done -0.38 - - 2056 - - - 2288 - -146.0 - - 3325 - - - - - - - - 15.04 15.06 15.05
3411 313.9 -8.0 216 3425 roll -0.38 - - 2050 - 2.40 0.090 3681 580.4 -146.0 - - 3325 - - - - - - - - 15.04 14.85 15.07
3456 317.5 -8.0 223 3469 done -0.38 - - 2050 - 2.28 0.047 2281 -614.0 -146.0 - - 3322 - - - - - - - - 14.95 14.90 14.96
3791 344.1 -7.9 238 3804 roll -0.38 - - 2050 - 2.38 0.060 868 -593.7 -146.0 - - 3320 - - - - - - - - 15.04 14.87 15.07
3845 348.7 -8.1 247 3859 done -0.38 - - 2047 - 2.45 0.070 2290 580.4 -146.0 - - 3320 - - - - - - - - 14.94 14.87 14.95
4171 374.8 -8.1 260 4183 done -0.38 - - 2047 - - - 2290 - -146.0 - - 3317 - - - - - - - - 15.04 15.07 15.07
4471 397.7 -7.4 270 4484 roll -0.38 - - 2048 - 2.40 0.057 871 -591.2 -146.0 - - 3316 - - - - - - - - 15.05 14.86 15.09
4515 401.2 -7.6 277 4529 done -0.38 0.12 0.265 2073 208.3 2.45 0.070 2290 579.2 -146.0 - - 3316 - - - - - - - - 14.81 14.87 14.93
4854 420.2 -5.6 292 4867 roll -0.44 - - 2065 - 2.40 0.094 3673 576.2 -146.0 - - 3315 - - - - - - - - 15.05 14.86 15.07
4895 422.7 -5.8 298 4908 done -0.51 - - 2065 - 2.30 0.053 2283 -604.3 -146.0 - - 3314 - - - - - - - - 14.95 14.90 14.95
5239 443.9 -6.5 314 5252 roll -0.55 0.12 0.143 2007 -483.3 2.40 0.060 859 -593.3 -146.0 - - 3313 - - - - - - - - 14.88 14.88 14.92
5329 452.6 -9.7 330 5342 done -0.55 - - 1999 - 2.45 0.069 2278 579.2 -146.0 - - 3312 - - - - - - - - 14.94 14.86 14.95
5649 486.2 -10.6 342 5662 done -0.55 - - 1999 - - - 2278 - -146.0 - - 3311 - - - - - - - - 15.04 15.07 15.07
5949 516.5 -9.8 352 5962 roll -0.55 - - 1990 - 2.42 0.093 3677 578.1 -146.0 - - 3310 - - - - - - - - 15.04 14.86 15.07
5978 519.6 -9.9 356 5992 done -0.55 - - 1990 - 2.28 0.053 2282 -611.8 -146.0 - - 3310 - - - - - - - - 14.92 14.90 14.92
6299 551.4 -9.9 368 6312 roll -0.50 0.15 0.271 2034 293.3 2.38 0.060 868 -594.1 -146.0 - - 3309 - - - - - - - - 14.77 14.86 14.89
6387 558.3 -7.4 383 6400 done -0.50 - - 2026 - 2.45 0.073 2274 573.9 -146.0 - - 3306 - - - - - - - - 14.94 14.86 14.95
6712 583.5 -7.9 396 6725 roll -0.50 - - 2018 - 2.45 0.096 3682 574.7 -146.0 - - 3307 - - - - - - - - 15.04 14.85 15.06
6792 590.1 -8.2 410 6805 done -0.50 - - 2018 - 2.33 0.052 2267 -607.3 -146.0 - - 3306 - - - - - - - - 14.95 14.89 14.96
7122 617.3 -8.3 424 7136 roll -0.50 - - 2018 - 2.35 0.062 871 -594.0 -146.0 - - 3305 - - - - - - - - 15.04 14.87 15.07
7172 621.7 -8.6 432 7185 done -0.50 - - 2015 - 2.45 0.076 2279 574.7 -146.0 - - 3304 - - - - - - - - 14.94 14.85 14.96
7502 648.9 -8.2 446 7515 roll -0.50 - - 2012 - 2.45 0.097 3682 572.7 -146.0 - - 3304 - - - - - - - - 15.04 14.85 15.06
7556 653.5 -8.3 455 7569 done -0.50 - - 2011 - 2.33 0.051 2269 -606.4 -146.0 - - 3303 - - - - - - - - 14.95 14.89 14.95
7882 679.7 -8.0 468 7895 roll -0.50 - - 2012 - 2.35 0.063 872 -594.5 -146.0 - - 3302 - - - - - - - - 15.04 14.87 15.04
7971 687.1 -8.1 484 7984 done -0.50 - - 2011 - 2.45 0.077 2270 570.6 -146.0 - - 3302 - - - - - - - - 14.92 14.84 14.95
8291 713.2 -8.3 496 8305 roll -0.50 - - 2011 - 2.47 0.099 3679 570.4 -146.0 - - 3301 - - - - - - - - 15.04 14.84 15.07
8336 717.0 -8.4 503 8349 done -0.50 - - 2011 - 2.33 0.051 2266 -606.4 -146.0 - - 3301 - - - - - - - - 14.94 14.89 14.94
8671 745.3 -8.6 518 8684 roll -0.50 - - 2011 - 2.35 0.061 873 -592.8 -146.0 - - 3299 - - - - - - - - 15.04 14.84 15.05
8766 753.9 -8.8 535 8780 done -0.50 - - 2011 - 2.45 0.077 2269 569.8 -146.0 - - 3299 - - - - - - - - 14.92 14.84 14.94
9072 780.2 -8.7 546 9085 roll -0.50 - - 2010 - 2.47 0.099 3678 570.4 -146.0 - - 3298 - - - - - - - - 15.03 14.84 15.05
9121 784.4 -8.9 554 9134 done -0.50 - - 2011 - 2.33 0.053 2269 -604.7 -146.0 - - 3298 - - - - - - - - 14.92 14.88 14.93
9452 814.1 -9.0 568 9465 roll -0.50 - - 2011 - 2.38 0.063 866 -589.5 -146.0 - - 3300 - - - - - - - - 15.02 14.85 15.04
9547 822.6 -9.1 585 9561 done -0.50 - - 2011 - 2.47 0.080 2265 566.4 -146.0 - - 3297 - - - - - - - - 14.92 14.83 14.93
9852 849.6 -8.8 596 9865 roll -0.50 - - 2001 - 2.50 0.100 3681 566.4 -146.0 - - 3295 - - - - - - - - 15.02 14.83 15.04
9902 853.9 -6.8 604 9915 done -0.50 0.12 0.251 2032 258.3 2.38 0.054 2260 -597.1 -146.0 - - 3297 - - - - - - - - 14.77 14.87 14.90
10236 878.0 -6.9 618 10249 roll -0.50 - - 2032 - 2.35 0.063 877 -588.5 -146.0 - - 3296 - - - - - - - - 15.02 14.85 15.04
10295 882.2 -4.4 628 10308 done -0.50 - - 2026 - 2.45 0.080 2268 567.8 -146.0 - - 3296 - - - - - - - - 14.94 14.83 14.92
10616 903.2 -6.4 640 10629 roll -0.50 - - 2018 - 2.50 0.103 3679 564.4 -146.0 - - 3295 - - - - - - - - 15.02 14.82 15.04
10660 906.2 -6.7 647 10674 done -0.50 - - 2018 - 2.38 0.058 2254 -598.7 -146.0 - - 3295 - - - - - - - - 14.92 14.86 14.93
10996 929.0 -7.0 662 11009 roll -0.50 - - 2018 - 2.38 0.070 864 -584.0 -146.0 - - 3295 - - - - - - - - 15.02 14.84 15.04
11066 933.2 -8.3 674 11080 done -0.50 - - 2015 - 2.47 0.079 2258 564.4 -146.0 - - 3295 - - - - - - - - 14.90 14.82 14.93
11410 957.6 -7.4 690 11423 roll -0.50 - - 2012 - 2.53 0.104 3682 562.8 -146.0 - - 3294 - - - - - - - - 15.01 14.81 15.02
11460 961.5 -6.2 698 11473 done -0.50 - - 2012 - 2.38 0.056 2256 -599.2 -146.0 - - 3293 - - - - - - - - 14.91 14.85 14.92
11790 987.5 -8.1 712 11803 roll -0.50 - - 2012 - 2.38 0.071 870 -582.4 -146.0 - - 3293 - - - - - - - - 15.01 14.83 15.04
11816 end dive: TARGET_DEPTH_EXCEEDED
11816 begin apogee
11826 990.1 -7.8 716 12004 roll -0.19 0.40 0.230 2128 290.0 - - 2346 - - 159.00 2.746 2741 -3.5 0.237 - - - - 1 - 14.76 13.67 12.93
12005 end apogee: CONTROL_FINISHED_OK
12005 begin climb
12009 997.8 - 722 12256 roll 0.66 0.98 0.184 2403 280.6 2.70 0.106 3751 520.4 146.0 225.07 1.740 2141 -2.7 0.290 - - - - 1 - 13.90 13.94 13.33
12283 979.2 10.3 776 12296 done 0.58 - - 2413 - 2.53 0.073 2369 -546.2 146.0 - - 2139 - - - - - - - - 14.14 14.07 14.16
12627 943.9 10.6 792 12640 roll 0.50 0.17 0.298 2368 -264.7 2.60 0.112 3757 533.8 146.0 - - 2135 - - - - - - - - 14.39 14.46 14.50
12730 933.9 9.1 810 12743 done 0.50 - - 2378 - 2.55 0.076 2334 -558.0 146.0 - - 2135 - - - - - - - - 14.60 14.52 14.62
13071 903.1 9.1 826 13084 roll 0.50 - - 2388 - 2.50 0.091 933 -560.4 146.0 - - 2133 - - - - - - - - 14.81 14.62 14.83
13188 892.4 10.1 847 13201 done 0.50 - - 2389 - 2.50 0.084 2326 557.2 146.0 - - 2131 - - - - - - - - 14.73 14.64 14.75
13513 860.4 10.0 860 13527 roll 0.50 0.10 0.316 2367 -220.0 2.60 0.114 3760 551.5 146.0 - - 2131 - - - - - - - - 14.62 14.68 14.76
13538 857.6 10.3 863 13551 done 0.50 - - 2378 - 2.50 0.074 2324 -574.4 146.0 - - 2131 - - - - - - - - 14.78 14.70 14.80
13863 827.3 9.3 876 13877 roll 0.50 - - 2388 - 2.47 0.094 935 -562.3 146.0 - - 2130 - - - - - - - - 14.91 14.71 14.93
13959 818.8 8.7 893 13973 done 0.50 - - 2388 - 2.50 0.085 2325 556.0 146.0 - - 2130 - - - - - - - - 14.81 14.72 14.83
14264 790.2 9.5 904 14277 roll 0.50 - - 2387 - 2.60 0.115 3760 551.9 146.0 - - 2129 - - - - - - - - 14.93 14.73 14.95
14293 786.9 11.4 908 14307 done 0.44 0.20 0.271 2350 -185.0 2.50 0.075 2320 -576.0 146.0 - - 2130 - - - - - - - - 14.66 14.76 14.82
14617 762.8 7.3 920 14662 roll 0.45 - - 2360 - 2.53 0.091 943 -544.3 161.0 25.58 1.378 2078 -2.0 0.213 - - - - 1 - 14.96 14.57 14.20
14744 753.2 7.3 944 14789 done 0.46 - - 2360 - 2.47 0.086 2315 555.5 175.5 27.77 1.248 2020 -2.1 0.239 - - - - 1 - 14.69 14.60 13.82
15111 724.4 7.9 966 15124 done 0.46 - - 2360 - - - 2315 - 175.5 - - 2025 - - - - - - - - 14.81 14.82 14.81
15412 700.8 7.8 976 15425 done 0.46 - - 2360 - - - 2315 - 176.3 - - 2025 - - - - - - - - 14.87 14.88 14.89
15712 677.6 7.6 986 15732 roll 0.47 - - 2369 - 2.53 0.085 938 -544.3 182.7 5.60 1.423 1996 -5.2 0.468 - - - - - - 14.90 14.67 14.08
15744 675.3 6.6 991 15808 done 0.49 - - 2365 - 2.50 0.085 2320 552.8 218.4 43.20 1.618 1848 -3.4 0.271 - - - - 1 - 14.76 14.66 13.64
16115 645.9 7.7 1014 16155 done 0.49 - - 2369 - - - 2320 - 222.8 26.27 1.305 1828 -0.8 0.071 - - - - 1 - 14.75 14.43 13.76
16445 620.8 7.6 1030 16461 done 0.49 - - 2369 - - - 2320 - 229.8 7.22 1.574 1804 -3.3 0.249 - - - - - - 14.76 14.56 13.90
16745 597.0 8.1 1040 16758 roll 0.49 - - 2378 - 2.47 0.085 938 -559.5 229.8 - - 1810 - - - - - - - - 14.81 14.62 14.83
16774 594.6 8.2 1044 16788 done 0.49 - - 2379 - 2.47 0.085 2316 557.9 229.8 - - 1810 - - - - - - - - 14.71 14.61 14.73
17095 565.1 9.5 1056 17108 roll 0.49 - - 2378 - 2.60 0.112 3754 553.1 229.8 - - 1810 - - - - - - - - 14.87 14.66 14.88
17135 560.7 10.9 1062 17148 done 0.49 - - 2388 - 2.50 0.071 2312 -576.8 229.8 - - 1811 - - - - - - - - 14.76 14.69 14.78
17476 525.5 10.4 1078 17489 roll 0.49 - - 2398 - 2.45 0.088 934 -562.4 229.8 - - 1810 - - - - - - - - 14.90 14.71 14.92
17576 515.4 9.8 1096 17589 done 0.49 0.15 0.256 2362 -240.0 2.47 0.083 2316 559.5 229.8 - - 1810 - - - - - - - - 14.64 14.71 14.78
17920 486.7 8.2 1112 17933 roll 0.49 - - 2362 - 2.60 0.111 3756 553.8 229.8 - - 1810 - - - - - - - - 14.92 14.71 14.94
17949 483.8 8.9 1116 17962 done 0.49 - - 2372 - 2.50 0.071 2307 -579.6 229.8 - - 1810 - - - - - - - - 14.82 14.75 14.83
18270 456.9 8.3 1128 18283 roll 0.49 - - 2378 - 2.42 0.089 934 -567.4 229.8 - - 1810 - - - - - - - - 14.93 14.73 14.95
18373 449.0 7.7 1146 18390 done 0.54 - - 2383 - 2.42 0.083 2295 562.4 232.8 3.67 1.079 1786 -6.5 0.516 - - - - - - 14.83 14.73 14.05
18715 420.2 8.5 1162 18732 roll 0.54 - - 2379 - 2.67 0.112 3748 544.2 232.8 2.10 0.321 1787 - - - - - - - - 14.92 14.71 13.90
18764 415.4 9.5 1170 18777 done 0.54 - - 2388 - 2.53 0.073 2289 -576.7 232.8 - - 1792 - - - - - - - - 14.82 14.75 14.83
19094 385.8 9.0 1184 19112 roll 0.54 - - 2397 - 2.42 0.088 940 -557.4 232.8 2.00 0.190 1788 -2.0 0.770 - - - - - - 14.93 14.73 13.37
19186 377.9 8.6 1200 19199 done 0.54 - - 2397 - 2.42 0.084 2293 559.1 232.8 - - 1798 - - - - - - - - 14.83 14.73 14.84
19507 347.3 9.5 1212 19525 roll 0.54 - - 2397 - 2.67 0.112 3748 544.9 232.8 1.85 0.192 1788 -5.4 1.855 - - - - - - 14.94 14.73 14.71
19551 342.7 10.7 1219 19564 done 0.54 - - 2406 - 2.50 0.072 2296 -580.8 232.8 - - 1791 - - - - - - - - 14.83 14.76 14.85
19886 308.5 10.1 1234 19904 roll 0.54 0.12 0.288 2382 -200.0 2.45 0.088 935 -555.5 232.8 1.75 0.177 1788 -1.7 0.567 - - - - - - 14.71 14.73 14.73
19973 301.6 7.6 1249 19991 done 0.60 - - 2382 - 2.40 0.081 2290 564.6 239.8 5.75 1.262 1762 -4.5 0.205 - - - - - - 14.83 14.75 14.16
20299 274.1 8.6 1262 20316 roll 0.60 - - 2382 - 2.65 0.110 3757 553.6 239.8 3.67 0.959 1759 -0.8 0.044 - - - - - - 14.92 14.70 14.12
20347 269.4 9.8 1270 20360 done 0.60 - - 2391 - 2.53 0.070 2289 -580.2 239.8 - - 1763 - - - - - - - - 14.81 14.73 14.82
20677 237.8 9.7 1284 20689 roll 0.60 - - 2400 - 2.42 0.086 941 -557.0 239.8 2.15 0.350 1761 - - - - - - - - 14.92 14.71 14.07
20783 228.0 9.2 1304 20795 done 0.60 - - 2402 - 2.40 0.080 2295 564.2 239.8 2.33 0.461 1758 -1.3 0.121 - - - - - - 14.82 14.69 14.08
21107 195.7 9.7 1318 21117 roll 0.60 - - 2400 - 2.67 0.107 3750 544.9 239.8 1.83 0.187 1760 - - - - - - - - 14.90 14.69 14.68
21159 190.3 10.3 1328 21166 done 0.60 - - 2409 - 2.50 0.068 2290 -584.0 239.8 - - 1770 - - - - - - - - 14.76 14.72 14.78
21473 160.4 9.5 1340 21484 roll 0.60 - - 2418 - 2.45 0.084 935 -553.1 239.8 1.75 0.187 1762 -4.6 0.744 - - - - - - 14.90 14.70 14.68
21516 156.3 9.3 1348 21527 done 0.60 - - 2419 - 2.40 0.081 2288 563.8 239.8 1.62 0.196 1760 - - - - - - - - 14.78 14.71 14.67
21839 125.6 9.4 1362 21850 roll 0.60 - - 2418 - 2.67 0.107 3748 546.8 239.8 1.83 0.186 1761 - - - - - - - - 14.90 14.69 14.67
21950 114.1 10.5 1383 21960 done 0.60 0.12 0.275 2399 -158.3 2.50 0.069 2299 -579.6 239.8 1.62 0.187 1761 - - - - - - - - 14.64 14.71 14.66
22270 88.6 6.4 1401 22303 roll 0.63 - - 2407 - 2.47 0.084 938 -551.0 279.1 27.05 0.376 1607 -5.7 0.255 - - - - - - 14.88 14.64 14.48
22384 83.1 5.3 1422 22446 done 0.79 0.15 0.118 2473 440.0 2.40 0.074 2293 564.6 349.1 49.47 0.386 1324 -5.7 0.234 - - - - - - 14.69 14.65 14.38
22742 59.3 5.4 1454 22802 roll 0.91 - - 2472 - 2.70 0.104 3756 541.9 417.2 49.95 0.305 1041 -5.7 0.209 - - - - - - 14.81 14.53 14.42
22862 52.5 6.5 1477 22901 done 1.07 0.20 0.099 2564 460.0 2.58 0.061 2260 -579.8 456.2 30.35 0.280 879 -5.3 0.190 - - - - - - 14.61 14.59 14.42
23195 26.1 7.7 1504 23212 roll 1.07 - - 2564 - 2.70 0.102 3755 553.7 460.9 9.32 0.171 862 -1.8 0.053 - - - - - - 14.80 14.59 14.53
23229 23.4 7.7 1510 23240 done 1.12 - - 2571 - 2.55 0.065 2284 -576.9 464.6 5.25 0.186 847 -2.9 0.068 - - - - - - 14.69 14.62 14.53
23484 end climb: SURFACE_DEPTH_REACHED
23484 begin surface coast
23514 end surface coast: CONTROL_FINISHED_OK
23514 begin surface
SM 0.92 - - - - -6.13 6.65 0.070 217 32.6 - - 2276 - 500.17 29.23 0.136 699 23.9 -0.017 - - - - - -