SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 159 * Raw log
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• Previous call tries 1 • 68.83 of 350.00 AH used of 24V (80.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 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: 14 s • Transponder ping count: 14
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 VBD -0.68 - - 198 - - - 2299 - -116.8 -85.00 - 2961 - - - - - - - - 14.73 - 14.76
111 5.7 -8.3 3 129 roll -0.68 8.82 0.418 1962 200.0 2.75 2.124 3694 507.3 -116.8 -4.22 - 3220 -61.4 - - - - - - - 14.21 13.40 14.57
359 84.8 -14.9 39 365 done -0.47 0.25 0.278 2041 316.0 2.40 0.045 2250 -601.7 -116.8 - - 3222 - - - - - - - - 14.35 14.61 14.61
690 109.4 -7.4 51 694 roll -0.41 - - 2042 - 2.30 0.056 894 -589.6 -116.8 - - 3225 - - - - - - - - 14.90 14.65 14.92
751 114.5 -8.3 60 757 done -0.35 0.20 0.247 2084 210.0 2.50 0.067 2329 574.0 -116.8 - - 3224 - - - - - - - - 14.47 14.64 14.69
1081 133.1 -5.3 72 1082 done -0.35 - - 2084 - - - 2329 - -116.8 - - 3224 - - - - - - - - 14.94 14.96 14.96
1418 155.3 -6.6 78 1422 roll -0.35 - - 2084 - 2.45 0.056 897 -584.5 -116.8 - - 3224 - - - - - - - - 14.96 14.71 14.98
1493 160.4 -6.5 89 1499 done -0.35 - - 2081 - 2.45 0.069 2297 571.4 -116.8 - - 3222 - - - - - - - - 14.77 14.65 14.80
1809 180.2 -6.4 99 1814 roll -0.35 - - 2078 - 2.42 0.094 3691 576.0 -116.8 - - 3221 - - - - - - - - 14.98 14.68 15.00
1837 182.0 -6.6 103 1842 done -0.40 - - 2077 - 2.28 0.050 2307 -607.0 -116.8 - - 3221 - - - - - - - - 14.83 14.78 14.85
2201 205.9 -6.6 113 2207 roll -0.40 - - 2077 - 2.40 0.059 888 -591.2 -116.8 - - 3219 - - - - - - - - 14.99 14.73 15.00
2285 211.7 -6.7 125 2291 done -0.45 - - 2074 - 2.47 0.070 2298 570.9 -116.8 - - 3218 - - - - - - - - 14.80 14.71 14.84
2649 234.3 -6.2 135 2650 done -0.45 - - 2070 - - - 2298 - -116.8 - - 3214 - - - - - - - - 14.99 15.01 15.00
2985 253.5 -5.5 141 2986 done -0.45 - - 2080 - - - 2298 - -116.8 - - 3213 - - - - - - - - 15.00 15.02 15.02
3321 272.4 -5.7 147 3326 roll -0.45 - - 2074 - 2.42 0.060 887 -583.1 -116.8 - - 3211 - - - - - - - - 15.00 14.73 15.02
3356 274.7 -6.7 152 3361 done -0.45 - - 2069 - 2.47 0.072 2291 568.4 -116.8 - - 3211 - - - - - - - - 14.83 14.71 14.85
3713 297.9 -6.6 161 3719 roll -0.45 - - 2069 - 2.47 0.099 3695 568.4 -116.8 - - 3209 - - - - - - - - 15.00 14.66 15.02
3748 300.2 -6.8 166 3753 done -0.50 - - 2066 - 2.38 0.057 2305 -584.0 -116.8 - - 3208 - - - - - - - - 14.79 14.75 14.86
4106 323.5 -6.4 175 4111 roll -0.50 - - 2068 - 2.45 0.064 873 -584.5 -116.8 - - 3206 - - - - - - - - 15.00 14.71 15.02
4223 331.2 -6.3 192 4229 done -0.55 0.10 0.089 2013 -550.0 2.55 0.076 2284 553.3 -116.8 - - 3205 - - - - - - - - 14.66 14.64 14.81
4553 358.7 -8.6 204 4554 done -0.55 - - 2013 - - - 2284 - -116.8 - - 3203 - - - - - - - - 14.99 15.02 15.01
4889 389.4 -9.2 210 4894 roll -0.55 - - 2013 - 2.42 0.063 881 -579.8 -116.8 - - 3202 - - - - - - - - 15.00 14.71 15.01
4937 394.2 -9.8 217 4945 done -0.55 - - 2012 - 2.55 0.077 2285 550.6 -116.8 - - 3201 - - - - - - - - 14.71 14.64 14.76
5282 426.1 -9.3 224 5286 roll -0.55 - - 2011 - 2.42 0.062 880 -580.6 -116.8 - - 3200 - - - - - - - - 14.99 14.69 15.01
5308 428.8 -9.5 228 5314 done -0.55 - - 2011 - 2.55 0.078 2288 552.2 -116.8 - - 3199 - - - - - - - - 14.73 14.64 14.77
5673 459.4 -8.1 238 5678 roll -0.55 - - 2002 - 2.47 0.097 3690 567.6 -116.8 - - 3198 - - - - - - - - 15.00 14.65 15.02
5707 462.3 -8.5 243 5713 done -0.55 - - 2001 - 2.38 0.057 2280 -592.4 -116.8 - - 3198 - - - - - - - - 14.82 14.75 14.84
6066 493.2 -8.8 252 6070 roll -0.55 - - 2001 - 2.45 0.069 872 -574.7 -116.8 - - 3196 - - - - - - - - 14.99 14.68 15.00
6149 500.9 -8.8 264 6154 done -0.55 - - 1998 - 2.53 0.080 2281 556.9 -116.8 - - 3196 - - - - - - - - 14.79 14.66 14.82
6513 531.7 -8.3 274 6518 roll -0.50 0.12 0.297 2021 191.7 2.50 0.096 3691 564.0 -116.8 - - 3194 - - - - - - - - 14.45 14.61 14.61
6548 534.5 -8.0 279 6553 done -0.50 - - 2017 - 2.40 0.060 2278 -588.8 -116.8 - - 3194 - - - - - - - - 14.81 14.73 14.83
6905 562.2 -7.7 288 6910 roll -0.50 - - 2021 - 2.42 0.070 882 -576.9 -116.8 - - 3193 - - - - - - - - 14.98 14.66 15.00
7018 571.1 -7.8 304 7022 done -0.50 - - 2015 - 2.50 0.080 2272 556.0 -116.8 - - 3190 - - - - - - - - 14.77 14.64 14.81
7353 597.7 -8.0 317 7354 done -0.50 - - 2015 - - - 2272 - -116.8 - - 3191 - - - - - - - - 14.95 15.00 15.00
7689 624.6 -8.0 323 7694 roll -0.50 - - 2015 - 2.45 0.069 879 -568.6 -116.8 - - 3190 - - - - - - - - 14.99 14.66 15.01
7723 627.4 -8.4 328 7729 done -0.50 - - 2015 - 2.55 0.081 2267 544.3 -116.8 - - 3189 - - - - - - - - 14.69 14.61 14.73
8082 653.5 -7.2 337 8087 roll -0.50 - - 2008 - 2.55 0.105 3693 559.2 -116.8 - - 3188 - - - - - - - - 14.97 14.61 14.99
8143 658.0 -7.2 346 8149 done -0.50 - - 2008 - 2.42 0.060 2261 -591.7 -116.8 - - 3188 - - - - - - - - 14.79 14.71 14.82
8474 681.8 -7.3 358 8478 roll -0.50 - - 2008 - 2.40 0.070 883 -574.2 -116.8 - - 3187 - - - - - - - - 14.97 14.64 14.98
8570 689.7 -8.1 372 8575 done -0.50 - - 2008 - 2.55 0.083 2264 541.6 -116.8 - - 3187 - - - - - - - - 14.66 14.59 14.71
8921 718.1 -8.2 380 8922 done -0.50 - - 2008 - - - 2264 - -116.8 - - 3185 - - - - - - - - 14.97 14.99 14.98
9257 745.6 -8.1 386 9262 roll -0.50 - - 2008 - 2.42 0.066 883 -570.7 -116.8 - - 3185 - - - - - - - - 14.96 14.65 14.99
9292 748.5 -8.6 391 9297 done -0.50 0.12 0.289 2032 200.0 2.50 0.083 2265 552.8 -116.8 - - 3183 - - - - - - - - 14.42 14.61 14.68
9649 771.3 -6.2 400 9650 done -0.50 - - 2030 - - - 2265 - -116.8 - - 3184 - - - - - - - - 14.97 15.00 15.00
9986 792.0 -6.3 406 9986 done -0.50 - - 2031 - - - 2265 - -116.8 - - 3182 - - - - - - - - 14.97 15.00 14.99
10322 814.9 -6.9 412 10322 done -0.50 - - 2028 - - - 2265 - -116.8 - - 3182 - - - - - - - - 14.97 14.99 14.99
10657 839.5 -7.5 418 10662 roll -0.50 - - 2023 - 2.60 0.109 3701 552.3 -116.8 - - 3181 - - - - - - - - 14.98 14.57 14.99
10684 841.6 -7.8 422 10690 done -0.50 - - 2023 - 2.50 0.064 2241 -584.0 -116.8 - - 3180 - - - - - - - - 14.76 14.66 14.79
11050 867.6 -7.1 432 11055 roll -0.50 - - 2023 - 2.40 0.076 877 -568.3 -116.8 - - 3180 - - - - - - - - 14.95 14.61 14.97
11133 873.3 -6.4 444 11142 done -0.50 - - 2023 - 2.53 0.086 2273 551.8 -116.8 - - 3179 - - - - - - - - 14.69 14.55 14.72
11500 896.0 -6.1 454 11501 done -0.50 - - 2023 - - - 2272 - -116.8 - - 3179 - - - - - - - - 14.96 14.98 14.97
11836 916.7 -6.1 460 11840 roll -0.50 - - 2023 - 2.47 0.073 882 -562.8 -116.8 - - 3179 - - - - - - - - 14.95 14.59 14.97
11884 920.0 -4.1 467 11891 done -0.50 - - 2023 - 2.58 0.086 2263 535.3 -116.8 - - 3180 - - - - - - - - 14.62 14.53 14.74
12228 944.2 -7.2 474 12232 roll -0.50 - - 2015 - 2.60 0.110 3694 550.4 -116.8 - - 3177 - - - - - - - - 14.95 14.54 14.96
12297 949.8 -8.0 484 12302 done -0.50 - - 2015 - 2.47 0.067 2262 -579.8 -116.8 - - 3177 - - - - - - - - 14.73 14.64 14.76
12620 974.7 -7.6 495 12624 roll -0.50 - - 2015 - 2.45 0.076 876 -565.7 -116.8 - - 3177 - - - - - - - - 14.95 14.57 14.97
12710 981.9 -7.8 508 12715 done -0.50 - - 2014 - 2.55 0.088 2265 544.7 -116.8 - - 3176 - - - - - - - - 14.69 14.55 14.73
12840 end dive: TARGET_DEPTH_EXCEEDED
12840 begin apogee
12848 991.6 -6.8 513 12997 roll -0.19 0.43 0.233 2130 269.8 - - 2265 - - 142.35 2.564 2741 -3.1 0.226 - - - - 1 - 14.40 13.82 12.82
12999 end apogee: CONTROL_FINISHED_OK
12999 begin climb
13003 996.1 - 515 13168 done 0.68 0.93 0.147 2412 303.2 - - 2265 - 116.8 157.15 1.926 2262 -3.0 0.302 - - - - - - 13.83 14.05 13.01
13518 947.0 11.1 553 13523 roll 0.61 - - 2412 - 2.58 0.115 3642 533.7 116.8 - - 2235 - - - - - - - - 14.58 14.28 14.60
13566 940.9 12.4 560 13573 done 0.52 0.15 0.252 2374 -253.3 2.55 0.081 2246 -547.5 116.8 - - 2233 - - - - 1 - - - 14.18 14.33 14.42
13910 910.5 8.7 567 13915 roll 0.52 - - 2384 - 2.65 0.099 815 -540.0 116.8 - - 2232 - - - - - - - - 14.76 14.45 14.77
13951 907.0 8.4 573 13957 done 0.52 - - 2384 - 2.62 0.090 2236 542.4 116.8 - - 2231 - - - - - - - - 14.59 14.46 14.63
14302 877.2 8.5 581 14307 roll 0.52 - - 2384 - 2.60 0.118 3639 539.6 116.8 - - 2230 - - - - - - - - 14.83 14.48 14.85
14351 872.2 9.7 588 14357 done 0.47 0.17 0.274 2352 -188.2 2.50 0.081 2234 -562.0 116.8 - - 2229 - - - - 1 - - - 14.35 14.53 14.61
14694 846.9 7.4 595 14698 roll 0.47 - - 2364 - 2.60 0.096 816 -545.4 116.8 - - 2228 - - - - - - - - 14.86 14.52 14.88
14770 841.1 7.4 606 14775 done 0.47 - - 2364 - 2.60 0.090 2228 543.1 116.8 - - 2228 - - - - - - - - 14.67 14.54 14.71
15086 815.8 8.1 616 15090 roll 0.47 - - 2364 - 2.62 0.119 3645 540.8 116.8 - - 2228 - - - - - - - - 14.88 14.50 14.90
15169 808.1 9.1 628 15174 done 0.47 - - 2373 - 2.58 0.083 2226 -550.0 116.8 - - 2227 - - - - - - - - 14.62 14.54 14.73
15534 777.0 8.6 638 15539 roll 0.47 - - 2384 - 2.58 0.099 823 -543.8 116.8 - - 2226 - - - - - - - - 14.90 14.52 14.92
15582 773.3 8.3 645 15590 done 0.47 0.10 0.236 2356 -280.0 2.65 0.090 2238 534.0 116.8 - - 2226 - - - - - - - - 14.35 14.52 14.52
15926 747.7 7.5 652 15930 roll 0.47 - - 2356 - 2.60 0.117 3642 540.0 116.8 - - 2226 - - - - - - - - 14.90 14.52 14.92
16002 741.2 8.6 663 16007 done 0.47 - - 2365 - 2.50 0.081 2236 -562.4 116.8 - - 2226 - - - - - - - - 14.69 14.57 14.75
16318 714.6 8.5 673 16323 roll 0.47 - - 2376 - 2.60 0.094 811 -548.1 116.8 - - 2226 - - - - - - - - 14.90 14.54 14.92
16380 709.5 8.0 682 16385 done 0.47 - - 2376 - 2.62 0.087 2249 548.9 116.8 - - 2225 - - - - - - - - 14.69 14.55 14.73
16710 682.3 8.2 694 16715 roll 0.47 - - 2376 - 2.58 0.118 3638 538.4 116.8 - - 2225 - - - - - - - - 14.88 14.50 14.92
16793 675.0 8.6 706 16799 done 0.47 0.08 0.242 2356 -250.0 2.53 0.078 2241 -552.2 116.8 - - 2225 - - - - - - - - 14.37 14.55 14.64
17158 650.4 6.8 716 17170 roll 0.48 - - 2366 - 2.62 0.095 821 -542.0 130.3 4.60 1.398 2206 -4.1 0.368 - - - - - - 14.91 14.67 13.78
17227 645.4 7.3 726 17232 done 0.48 - - 2366 - 2.60 0.085 2248 548.8 132.2 - - 2208 - - - - - - - - 14.69 14.56 14.71
17550 619.8 8.0 737 17555 roll 0.48 - - 2366 - 2.55 0.116 3639 545.5 132.2 - - 2208 - - - - - - - - 14.89 14.50 14.90
17626 612.9 9.0 748 17631 done 0.48 - - 2375 - 2.47 0.078 2240 -566.4 132.2 - - 2208 - - - - - - - - 14.69 14.55 14.72
17942 587.0 8.1 758 17947 roll 0.48 - - 2385 - 2.58 0.094 824 -548.8 132.2 - - 2208 - - - - - - - - 14.89 14.53 14.91
18004 582.0 7.7 767 18010 done 0.48 0.12 0.268 2359 -216.7 2.60 0.085 2249 548.1 132.2 - - 2209 - - - - - - - - 14.37 14.53 14.62
18335 559.1 7.0 779 18360 roll 0.48 - - 2357 - 2.58 0.116 3647 541.9 141.2 19.17 1.623 2157 -2.7 0.179 - - - - - - 14.90 14.54 13.95
18425 551.9 8.4 792 18430 done 0.48 - - 2367 - 2.47 0.080 2261 -561.1 141.2 - - 2150 - - - - - - - - 14.61 14.51 14.63
18782 523.8 7.9 801 18787 roll 0.48 - - 2378 - 2.62 0.092 820 -550.0 141.2 - - 2148 - - - - - - - - 14.81 14.49 14.85
18838 519.2 8.2 809 18844 done 0.48 - - 2378 - 2.62 0.083 2254 547.3 141.2 - - 2148 - - - - - - - - 14.63 14.50 14.66
19174 489.5 8.9 822 19179 roll 0.48 - - 2378 - 2.55 0.114 3639 543.1 141.2 - - 2147 - - - - - - - - 14.85 14.49 14.85
19257 481.3 9.8 834 19263 done 0.48 0.12 0.265 2360 -150.0 2.45 0.076 2257 -564.1 141.2 - - 2146 - - - - - - - - 14.37 14.55 14.62
19622 452.3 7.8 844 19627 roll 0.48 - - 2369 - 2.60 0.090 821 -552.3 141.2 - - 2146 - - - - - - - - 14.88 14.52 14.90
19691 447.3 7.0 854 19697 done 0.53 - - 2369 - 2.62 0.083 2262 550.0 148.8 2.25 0.459 2132 -6.2 1.160 - - - - - - 14.67 14.54 13.67
20007 425.6 6.8 864 20039 roll 0.54 - - 2368 - 2.60 0.112 3644 531.5 162.3 24.02 1.489 2069 -2.6 0.143 - - - - - - 14.88 14.51 13.95
20111 417.9 7.7 879 20118 done 0.54 - - 2378 - 2.50 0.076 2266 -551.2 162.3 - - 2061 - - - - - - - - 14.53 14.47 14.56
20456 393.2 7.2 886 20460 roll 0.54 - - 2388 - 2.65 0.092 816 -547.2 164.9 - - 2059 - - - - - - - - 14.81 14.47 14.83
20531 387.4 7.5 897 20537 done 0.54 - - 2388 - 2.65 0.083 2263 546.0 164.9 - - 2058 - - - - - - - - 14.62 14.49 14.66
20847 361.0 8.5 907 20852 roll 0.54 - - 2388 - 2.55 0.112 3648 543.1 164.9 - - 2056 - - - - - - - - 14.84 14.48 14.87
20904 355.4 10.1 915 20908 done 0.54 - - 2396 - 2.47 0.076 2254 -564.4 164.9 - - 2062 - - - - - - - - 14.66 14.56 14.70
21239 323.7 9.5 928 21244 roll 0.54 - - 2406 - 2.60 0.090 823 -550.4 164.9 - - 2058 - - - - - - - - 14.87 14.52 14.88
21280 319.8 9.5 934 21286 done 0.54 0.08 0.220 2382 -300.0 2.67 0.084 2265 540.1 164.9 - - 2057 - - - - - - - - 14.38 14.51 14.52
21631 291.1 8.0 942 21636 roll 0.54 - - 2383 - 2.53 0.112 3640 543.5 164.9 - - 2058 - - - - - - - - 14.90 14.51 14.91
21714 284.1 8.3 954 21719 done 0.54 - - 2390 - 2.47 0.073 2263 -557.5 164.9 - - 2058 - - - - - - - - 14.60 14.54 14.73
22079 255.4 7.9 964 22084 roll 0.54 - - 2401 - 2.60 0.088 823 -553.8 164.9 - - 2060 - - - - - - - - 14.90 14.54 14.92
22121 252.0 8.1 970 22125 done 0.54 - - 2401 - 2.62 0.083 2271 552.7 164.9 - - 2057 - - - - - - - - 14.69 14.55 14.73
22471 221.8 8.7 978 22475 roll 0.54 - - 2401 - 2.53 0.112 3649 544.7 164.9 - - 2058 - - - - - - - - 14.90 14.51 14.91
22519 216.9 10.2 985 22527 done 0.54 0.10 0.223 2380 -210.0 2.45 0.073 2280 -558.8 164.9 - - 2058 - - - - - - - - 14.38 14.56 14.52
22863 190.1 7.7 992 22868 roll 0.54 - - 2390 - 2.62 0.086 820 -557.3 164.9 - - 2058 - - - - - - - - 14.90 14.55 14.92
22911 186.4 7.7 999 22918 done 0.59 - - 2390 - 2.67 0.080 2275 544.9 164.9 - - 2058 - - - - - - - - 14.61 14.52 14.66
23255 159.7 7.7 1006 23259 roll 0.59 - - 2390 - 2.50 0.109 3646 548.4 164.9 - - 2059 - - - - - - - - 14.92 14.54 14.93
23296 156.0 9.2 1012 23301 done 0.59 - - 2398 - 2.42 0.073 2265 -570.7 164.9 - - 2058 - - - - - - - - 14.71 14.60 14.74
23647 128.9 7.5 1020 23651 roll 0.59 - - 2406 - 2.60 0.088 824 -554.2 164.9 - - 2058 - - - - - - - - 14.91 14.55 14.92
23709 124.1 8.0 1029 23715 done 0.59 - - 2406 - 2.65 0.081 2284 550.9 164.9 - - 2058 - - - - - - - - 14.70 14.57 14.74
24039 96.4 8.4 1041 24045 roll 0.59 - - 2406 - 2.45 0.105 3642 554.3 164.9 - - 2058 - - - - - - - - 14.90 14.54 14.92
24157 86.2 8.0 1058 24163 done 0.59 - - 2415 - 2.42 0.067 2276 -564.5 164.9 - - 2058 - - - - - - - - 14.64 14.58 14.67
24488 76.1 2.5 1072 24562 roll 0.74 - - 2415 - 2.60 0.078 814 -562.3 279.3 69.12 0.376 1602 -6.6 0.255 - - - - - - 14.90 14.50 14.29
24795 61.2 4.9 1116 24841 done 1.04 0.38 0.106 2540 328.9 2.62 0.073 2276 558.0 336.1 37.53 0.317 1371 -6.2 0.227 - - - - - - 14.51 14.49 14.27
25159 33.4 5.5 1135 25193 roll 1.12 - - 2546 - 2.67 0.079 824 -543.8 380.1 29.12 0.232 1189 -6.2 0.172 - - - - - - 14.82 14.51 14.35
25288 25.9 5.9 1153 25318 done 1.23 0.15 0.117 2610 426.7 2.55 0.071 2252 560.0 413.9 22.80 0.208 1051 -6.1 0.144 - - - - - - 14.57 14.52 14.33
25547 end climb: SURFACE_DEPTH_REACHED
25547 begin surface coast
25575 end surface coast: CONTROL_FINISHED_OK
25575 begin surface
SM 0.98 - - - - -6.13 6.70 0.055 215 32.1 - - 2253 - 500.17 53.83 0.138 700 13.0 -0.009 - - - - - -