SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 150 * Raw log
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• Previous call tries 1 • 65.50 of 350.00 AH used of 24V (81.29% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.7 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 13 s • Transponder ping count: 10
• 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 - - 205 - - - 2299 - -116.8 -85.03 - 2997 - - - - - - - - 14.73 - 14.75
107 6.2 -9.0 3 124 roll -0.68 8.80 0.418 1964 199.9 2.67 2.111 3696 523.2 -116.8 -3.53 - 3220 -63.2 - - - - - - - 14.21 13.40 14.57
224 56.4 -29.5 20 230 done -0.48 0.32 0.268 2045 253.1 2.38 0.048 2262 -602.5 -116.8 - - 3222 - - - - - - - - 14.36 14.58 14.59
552 101.1 -8.3 34 557 roll -0.39 - - 2044 - 2.35 0.054 882 -587.2 -116.8 - - 3223 - - - - - - - - 14.88 14.63 14.90
698 112.7 -7.7 55 704 done -0.34 0.17 0.259 2081 217.6 2.50 0.066 2326 577.6 -116.8 - - 3224 - - - - - - - - 14.50 14.66 14.69
1056 134.6 -6.5 64 1061 roll -0.34 - - 2077 - 2.35 0.088 3700 584.7 -116.8 - - 3224 - - - - - - - - 14.95 14.68 14.97
1105 137.7 -6.5 71 1111 done -0.34 - - 2077 - 2.30 0.047 2289 -613.5 -116.8 - - 3224 - - - - - - - - 14.81 14.76 14.83
1448 161.8 -7.3 78 1449 done -0.34 - - 2077 - - - 2284 - -116.8 - - 3223 - - - - - - - - 14.97 15.00 15.00
1784 183.9 -6.4 84 1789 roll -0.34 - - 2077 - 2.33 0.060 904 -592.3 -116.8 - - 3221 - - - - - - - - 15.00 14.73 15.01
1840 187.7 -6.8 92 1845 done -0.34 - - 2073 - 2.45 0.069 2316 576.3 -116.8 - - 3221 - - - - - - - - 14.82 14.72 14.85
2176 209.8 -6.6 105 2182 roll -0.34 - - 2073 - 2.40 0.057 896 -591.7 -116.8 - - 3218 - - - - - - - - 15.00 14.74 15.01
2259 215.7 -7.1 117 2265 done -0.34 - - 2069 - 2.45 0.070 2311 577.6 -116.8 - - 3218 - - - - - - - - 14.83 14.72 14.85
2624 241.9 -7.4 127 2625 done -0.34 - - 2069 - - - 2311 - -116.8 - - 3216 - - - - - - - - 15.00 15.02 15.02
2960 266.1 -7.2 133 2965 roll -0.34 - - 2069 - 2.40 0.058 897 -589.2 -116.8 - - 3214 - - - - - - - - 15.00 14.74 15.02
3043 272.3 -7.3 145 3049 done -0.34 - - 2069 - 2.42 0.071 2298 578.9 -116.8 - - 3212 - - - - - - - - 14.83 14.73 14.86
3408 297.7 -7.0 155 3409 done -0.34 - - 2069 - - - 2295 - -116.8 - - 3211 - - - - - - - - 15.00 15.02 15.02
3744 320.6 -6.8 161 3749 roll -0.34 - - 2069 - 2.38 0.060 900 -586.1 -116.8 - - 3208 - - - - - - - - 15.02 14.75 15.04
3806 325.1 -7.1 170 3812 done -0.34 - - 2069 - 2.42 0.073 2288 573.6 -116.8 - - 3208 - - - - - - - - 14.83 14.71 14.85
4136 346.8 -6.6 182 4137 done -0.34 - - 2069 - - - 2288 - -116.8 - - 3206 - - - - - - - - 15.02 15.04 15.03
4472 366.7 -5.7 188 4477 roll -0.34 - - 2065 - 2.45 0.096 3694 573.9 -116.8 - - 3205 - - - - - - - - 15.01 14.69 15.03
4528 369.7 -5.6 196 4533 done -0.40 - - 2065 - 2.30 0.057 2311 -601.3 -116.8 - - 3201 - - - - - - - - 14.85 14.78 14.87
4864 388.2 -5.5 209 4870 roll -0.40 - - 2065 - 2.42 0.065 885 -589.3 -116.8 - - 3202 - - - - - - - - 15.00 14.72 15.02
4982 395.4 -6.1 226 4988 done -0.40 - - 2065 - 2.45 0.074 2282 570.2 -116.8 - - 3202 - - - - - - - - 14.81 14.70 14.84
5313 416.1 -6.5 238 5313 done -0.40 - - 2065 - - - 2284 - -116.8 - - 3200 - - - - - - - - 15.00 15.02 15.02
5648 440.8 -7.4 244 5649 done -0.40 - - 2065 - - - 2284 - -116.8 - - 3198 - - - - - - - - 15.00 15.02 15.02
5984 465.1 -7.1 250 5989 roll -0.40 - - 2065 - 2.42 0.064 876 -581.8 -116.8 - - 3197 - - - - - - - - 15.00 14.71 15.02
6040 469.0 -6.9 258 6045 done -0.45 - - 2065 - 2.50 0.077 2290 565.6 -116.8 - - 3199 - - - - - - - - 14.81 14.69 14.83
6377 487.8 -5.4 271 6377 done -0.45 - - 2065 - - - 2289 - -116.8 - - 3196 - - - - - - - - 15.00 15.02 15.02
6712 505.1 -5.2 277 6713 done -0.50 - - 2065 - - - 2290 - -116.8 - - 3195 - - - - - - - - 15.00 15.02 15.01
7048 525.2 -6.2 283 7049 done -0.50 - - 2065 - - - 2290 - -116.8 - - 3193 - - - - - - - - 15.00 15.02 15.03
7385 548.0 -6.9 289 7386 done -0.55 0.12 0.141 2012 -441.7 - - 2290 - -116.8 - - 3191 - - - - - - - - 14.73 14.83 14.81
7720 577.6 -8.9 295 7725 roll -0.55 - - 2012 - 2.42 0.064 885 -580.6 -116.8 - - 3190 - - - - - - - - 14.99 14.69 15.01
7803 585.1 -8.6 307 7808 done -0.55 - - 2012 - 2.53 0.079 2284 553.0 -116.8 - - 3190 - - - - - - - - 14.70 14.63 14.76
8169 615.3 -8.3 317 8174 roll -0.55 - - 2006 - 2.47 0.099 3693 570.4 -116.8 - - 3189 - - - - - - - - 14.98 14.64 15.00
8202 618.3 -8.7 322 8208 done -0.55 - - 2005 - 2.40 0.058 2279 -589.2 -116.8 - - 3189 - - - - - - - - 14.74 14.71 14.78
8560 649.0 -8.7 331 8565 roll -0.55 - - 2005 - 2.40 0.067 887 -580.0 -116.8 - - 3187 - - - - - - - - 14.97 14.67 15.01
8693 660.8 -8.7 350 8698 done -0.55 - - 1999 - 2.45 0.080 2271 564.9 -116.8 - - 3187 - - - - - - - - 14.77 14.64 14.81
9008 688.2 -8.7 360 9013 roll -0.55 - - 1989 - 2.53 0.105 3694 562.5 -116.8 - - 3186 - - - - - - - - 14.99 14.62 15.00
9049 691.8 -9.0 366 9055 done -0.55 0.08 0.239 2013 300.0 2.42 0.060 2279 -584.7 -116.8 - - 3189 - - - - - - - - 14.43 14.69 14.58
9401 719.5 -7.9 374 9406 roll -0.55 - - 2012 - 2.42 0.071 875 -580.2 -116.8 - - 3185 - - - - - - - - 14.97 14.64 15.00
9525 730.0 -8.1 392 9530 done -0.55 - - 2012 - 2.53 0.083 2263 548.6 -116.8 - - 3185 - - - - - - - - 14.66 14.59 14.71
9848 755.9 -8.0 403 9849 done -0.55 - - 2012 - - - 2263 - -116.8 - - 3184 - - - - - - - - 14.97 15.00 15.00
10184 782.8 -8.1 409 10185 done -0.55 - - 2012 - - - 2263 - -116.8 - - 3183 - - - - - - - - 14.96 14.99 14.99
10520 810.2 -8.0 415 10521 done -0.55 - - 2012 - - - 2263 - -116.8 - - 3182 - - - - - - - - 14.97 14.99 14.99
10856 835.1 -7.2 421 10861 roll -0.55 - - 2012 - 2.42 0.068 877 -572.7 -116.8 - - 3182 - - - - - - - - 14.97 14.62 14.99
10891 837.6 -6.5 426 10896 done -0.55 - - 2011 - 2.50 0.085 2267 556.0 -116.8 - - 3181 - - - - - - - - 14.75 14.62 14.78
11248 861.4 -6.6 435 11253 roll -0.55 - - 2003 - 2.55 0.106 3693 559.2 -116.8 - - 3180 - - - - - - - - 14.97 14.58 14.99
11289 864.1 -7.3 441 11296 done -0.55 - - 2003 - 2.47 0.060 2252 -583.4 -116.8 - - 3180 - - - - - - - - 14.70 14.65 14.73
11640 890.2 -7.6 449 11645 roll -0.55 - - 2003 - 2.38 0.072 888 -573.1 -116.8 - - 3179 - - - - - - - - 14.95 14.62 14.97
11723 897.2 -8.4 461 11729 done -0.55 - - 1998 - 2.50 0.083 2256 547.2 -116.8 - - 3179 - - - - - - - - 14.64 14.57 14.78
12088 928.6 -8.8 471 12089 done -0.55 - - 1999 - - - 2257 - -116.8 - - 3178 - - - - - - - - 14.96 14.98 14.98
12424 957.5 -8.5 477 12430 roll -0.55 - - 1989 - 2.60 0.111 3697 553.8 -116.8 - - 3175 - - - - - - - - 14.96 14.56 14.98
12458 960.6 -9.2 482 12464 done -0.55 0.08 0.240 2018 362.5 2.50 0.067 2263 -573.6 -116.8 - - 3177 - - - - - - - - 14.39 14.62 14.65
12816 987.0 -7.3 491 12821 roll -0.55 - - 2020 - 2.42 0.075 877 -572.7 -116.8 - - 3177 - - - - - - - - 14.95 14.59 14.96
12846 end dive: TARGET_DEPTH_EXCEEDED
12846 begin apogee
12857 990.5 -10.4 496 12999 roll -0.19 0.43 0.229 2132 260.5 - - 2233 - - 134.43 2.494 2738 -3.3 0.246 - - - - 1 - 14.42 13.88 12.93
13000 end apogee: CONTROL_FINISHED_OK
13000 begin climb
13004 994.3 - 498 13170 roll 0.68 0.95 0.166 2408 290.5 2.72 0.114 3640 517.3 116.8 155.25 1.928 2263 -3.1 0.299 - - - - - - 13.88 13.90 13.09
13275 972.9 11.0 542 13280 done 0.60 - - 2418 - 2.55 0.081 2240 -549.0 116.8 - - 2238 - - - - 1 - - - 14.15 14.07 14.19
13633 934.1 10.9 551 13638 roll 0.52 0.17 0.277 2372 -270.6 2.62 0.113 3642 535.1 116.8 - - 2231 - - - - - - - - 14.23 14.38 14.38
13781 920.8 8.6 572 13786 done 0.52 - - 2381 - 2.53 0.081 2222 -561.3 116.8 - - 2230 - - - - - - - - 14.57 14.46 14.60
14136 891.7 8.1 581 14142 roll 0.52 - - 2391 - 2.55 0.099 825 -547.8 116.8 - - 2229 - - - - - - - - 14.81 14.50 14.83
14213 885.5 8.0 592 14218 done 0.52 - - 2391 - 2.55 0.089 2229 550.6 116.8 - - 2228 - - - - - - - - 14.64 14.52 14.69
14528 857.5 9.1 602 14533 roll 0.52 - - 2391 - 2.58 0.119 3635 545.0 116.8 - - 2228 - - - - - - - - 14.85 14.52 14.88
14585 851.7 9.8 610 14590 done 0.46 0.20 0.269 2354 -185.0 2.47 0.079 2225 -570.9 116.8 - - 2227 - - - - - - - - 14.39 14.58 14.65
14920 825.3 7.8 623 14925 roll 0.46 - - 2365 - 2.55 0.099 824 -549.4 116.8 - - 2227 - - - - - - - - 14.88 14.54 14.90
14976 821.0 7.6 631 14981 done 0.46 - - 2364 - 2.55 0.089 2236 553.7 116.8 - - 2227 - - - - - - - - 14.69 14.56 14.73
15313 794.9 7.7 644 15318 roll 0.46 - - 2364 - 2.58 0.116 3648 547.3 116.8 - - 2226 - - - - - - - - 14.90 14.54 14.92
15388 788.2 8.3 655 15394 done 0.46 - - 2374 - 2.53 0.081 2220 -564.4 116.8 - - 2226 - - - - - - - - 14.70 14.58 14.73
15704 764.7 7.4 665 15710 roll 0.46 - - 2383 - 2.55 0.098 820 -549.0 116.8 - - 2226 - - - - - - - - 14.91 14.54 14.92
15761 760.6 7.4 673 15767 done 0.46 0.15 0.262 2351 -213.3 2.58 0.087 2241 550.8 116.8 - - 2225 - - - - - - - - 14.40 14.57 14.67
16097 738.2 6.8 686 16108 roll 0.47 - - 2351 - 2.58 0.116 3635 540.3 130.6 4.95 1.509 2206 -3.8 0.356 - - - - - - 14.90 14.64 13.83
16166 732.8 8.1 696 16171 done 0.47 - - 2359 - 2.45 0.076 2237 -570.6 130.6 - - 2205 - - - - - - - - 14.72 14.62 14.75
16488 706.5 8.3 707 16493 roll 0.47 - - 2370 - 2.55 0.092 818 -556.5 130.6 - - 2207 - - - - - - - - 14.88 14.56 14.90
16536 702.5 8.3 714 16543 done 0.47 - - 2370 - 2.60 0.085 2239 546.5 130.6 - - 2207 - - - - - - - - 14.62 14.56 14.66
16880 673.9 8.3 721 16886 roll 0.47 - - 2369 - 2.55 0.112 3645 551.4 130.6 - - 2207 - - - - - - - - 14.91 14.55 14.92
16971 665.9 8.7 734 16976 done 0.47 - - 2379 - 2.45 0.077 2249 -569.8 130.6 - - 2208 - - - - - - - - 14.71 14.61 14.74
17328 637.8 7.8 743 17333 roll 0.47 - - 2390 - 2.58 0.095 819 -554.3 130.6 - - 2207 - - - - - - - - 14.92 14.56 14.94
17398 632.6 7.4 753 17404 done 0.47 0.15 0.260 2356 -226.7 2.58 0.083 2252 555.4 130.6 - - 2207 - - - - - - - - 14.41 14.57 14.65
17721 610.7 6.9 764 17746 roll 0.47 - - 2356 - 2.58 0.115 3637 536.8 141.2 18.67 1.696 2155 -2.8 0.190 - - - - - - 14.91 14.54 13.95
17796 604.6 8.4 775 17802 done 0.47 - - 2365 - 2.47 0.076 2233 -568.4 141.2 - - 2148 - - - - - - - - 14.64 14.54 14.66
18113 579.0 8.2 785 18119 roll 0.47 - - 2375 - 2.58 0.093 815 -549.6 141.2 - - 2145 - - - - - - - - 14.83 14.52 14.85
18168 574.3 8.3 793 18174 done 0.47 - - 2375 - 2.60 0.084 2250 551.9 141.2 - - 2143 - - - - - - - - 14.65 14.53 14.69
18505 544.1 9.1 806 18509 roll 0.47 - - 2375 - 2.53 0.114 3638 548.6 141.2 - - 2145 - - - - - - - - 14.86 14.52 14.88
18561 538.5 10.0 814 18566 done 0.47 0.12 0.268 2360 -125.0 2.45 0.076 2244 -569.0 141.2 - - 2145 - - - - - - - - 14.40 14.57 14.65
18896 512.9 7.4 827 18901 roll 0.47 - - 2366 - 2.58 0.093 823 -550.8 141.2 - - 2145 - - - - - - - - 14.88 14.54 14.90
18966 508.1 6.7 837 18986 done 0.53 - - 2366 - 2.58 0.083 2257 555.8 156.2 16.05 1.604 2104 -2.6 0.154 - - - - - - 14.69 14.57 13.96
19337 483.1 6.7 848 19363 roll 0.54 - - 2366 - 2.58 0.114 3635 534.1 172.2 18.80 1.565 2027 -4.1 0.240 - - - - - - 14.83 14.47 13.92
19420 476.6 8.0 860 19426 done 0.54 - - 2372 - 2.47 0.074 2260 -556.7 172.2 - - 2019 - - - - - - - - 14.53 14.51 14.62
19786 447.4 8.3 870 19790 roll 0.54 - - 2381 - 2.60 0.091 822 -553.1 172.2 - - 2018 - - - - - - - - 14.81 14.51 14.83
19882 439.4 8.0 884 19888 done 0.60 - - 2381 - 2.58 0.081 2253 554.7 172.2 - - 2014 - - - - - - - - 14.65 14.53 14.69
20234 409.6 8.4 892 20238 roll 0.60 - - 2381 - 2.53 0.112 3638 547.4 172.2 - - 2014 - - - - - - - - 14.87 14.53 14.88
20302 403.4 8.9 902 20308 done 0.60 - - 2390 - 2.47 0.074 2254 -560.3 172.2 - - 2014 - - - - - - - - 14.62 14.56 14.66
20626 377.9 7.9 913 20631 roll 0.60 - - 2399 - 2.60 0.093 816 -553.1 172.2 - - 2014 - - - - - - - - 14.88 14.56 14.90
20695 372.7 7.3 923 20700 done 0.60 - - 2400 - 2.58 0.083 2253 557.0 173.2 - - 2013 - - - - - - - - 14.69 14.57 14.73
21017 345.9 8.4 934 21022 roll 0.60 - - 2400 - 2.53 0.112 3639 547.8 173.2 - - 2016 - - - - - - - - 14.89 14.55 14.91
21086 339.0 9.9 944 21092 done 0.60 - - 2405 - 2.47 0.075 2253 -561.1 173.2 - - 2013 - - - - - - - - 14.65 14.59 14.69
21410 307.2 10.0 955 21414 roll 0.60 - - 2419 - 2.58 0.091 819 -555.8 173.2 - - 2014 - - - - - - - - 14.90 14.57 14.91
21465 301.4 10.3 963 21470 done 0.60 - - 2419 - 2.58 0.082 2258 557.8 173.2 - - 2013 - - - - - - - - 14.71 14.59 14.75
21801 264.8 11.0 976 21806 roll 0.60 - - 2419 - 2.50 0.111 3642 553.6 173.2 - - 2013 - - - - - - - - 14.90 14.55 14.92
21878 255.6 11.7 987 21883 done 0.60 0.15 0.267 2393 -173.3 2.42 0.072 2247 -576.4 173.2 - - 2013 - - - - - - - - 14.42 14.62 14.68
22193 228.3 8.4 997 22199 roll 0.60 - - 2403 - 2.55 0.089 823 -558.4 173.2 - - 2013 - - - - - - - - 14.95 14.58 14.94
22235 225.1 7.7 1003 22240 done 0.60 - - 2403 - 2.55 0.081 2255 561.6 173.2 - - 2013 - - - - - - - - 14.72 14.59 14.76
22586 195.6 8.3 1011 22590 roll 0.60 - - 2403 - 2.50 0.109 3638 553.2 173.2 - - 2013 - - - - - - - - 14.92 14.56 14.94
22626 191.5 9.9 1017 22633 done 0.60 - - 2411 - 2.45 0.071 2255 -564.5 173.2 - - 2013 - - - - - - - - 14.65 14.59 14.70
22978 158.2 9.8 1025 22983 roll 0.60 - - 2422 - 2.58 0.088 815 -558.1 173.2 - - 2013 - - - - - - - - 14.91 14.58 14.93
23019 154.1 9.8 1031 23024 done 0.60 - - 2422 - 2.60 0.080 2261 556.2 173.2 - - 2011 - - - - - - - - 14.72 14.60 14.76
23369 120.3 9.5 1039 23374 roll 0.60 - - 2422 - 2.47 0.107 3637 557.1 173.2 - - 2011 - - - - - - - - 14.92 14.57 14.94
23482 110.2 8.8 1055 23487 done 0.60 0.15 0.259 2395 -180.0 2.38 0.068 2264 -576.9 173.2 - - 2014 - - - - - - - - 14.47 14.64 14.69
23821 91.3 5.5 1070 23851 roll 0.67 - - 2404 - 2.55 0.080 822 -565.5 216.5 24.58 0.405 1860 -6.3 0.268 - - - - - - 14.90 14.56 14.31
23961 84.9 3.5 1090 24025 done 0.83 0.20 0.102 2484 400.0 2.55 0.073 2260 563.9 308.3 58.50 0.403 1483 -6.4 0.258 - - - - - - 14.62 14.59 14.26
24349 62.1 5.6 1113 24383 roll 0.93 - - 2484 - 2.47 0.100 3638 557.9 349.8 27.52 0.318 1314 -6.1 0.228 - - - - - - 14.82 14.48 14.29
24440 55.9 6.5 1126 24461 done 1.02 0.12 0.136 2542 483.3 2.40 0.065 2250 -578.3 369.7 14.50 0.295 1233 -5.6 0.201 - - - - - - 14.55 14.54 14.28
24773 33.8 5.9 1140 24802 roll 1.09 - - 2549 - 2.53 0.080 823 -564.0 404.1 24.50 0.229 1091 -5.8 0.162 - - - - - - 14.83 14.52 14.35
24885 27.4 5.2 1156 24923 done 1.22 0.12 0.129 2603 450.0 2.55 0.070 2264 565.1 454.1 33.60 0.210 887 -6.1 0.150 - - - - - - 14.59 14.55 14.38
25154 end climb: SURFACE_DEPTH_REACHED
25154 begin surface coast
25179 end surface coast: CONTROL_FINISHED_OK
25179 begin surface
SM 0.97 - - - - -6.13 6.75 0.065 210 31.1 - - 2264 - 500.17 31.55 0.138 700 22.2 -0.016 - - - - - -