SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 1 • 73.57 of 350.00 AH used of 24V (78.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 15 s • Transponder ping count: 5
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 216 - - - 2290 - -116.8 -84.82 - 2966 - - - - - - - - 14.72 - 14.73
106 5.9 -8.8 3 130 roll -0.68 9.07 0.432 1982 194.7 2.72 2.091 877 -519.5 -116.8 -4.12 - 3222 -62.1 - - - - - - - 14.16 13.38 14.52
192 40.8 -28.2 16 198 done -0.43 0.35 0.302 2054 205.7 2.50 0.068 2284 562.8 -116.8 - - 3223 - - - - - - - - 14.24 14.45 14.50
522 87.5 -8.5 30 527 roll -0.36 - - 2055 - 2.42 0.052 865 -586.4 -116.8 - - 3224 - - - - - - - - 14.85 14.58 14.86
635 95.1 -6.5 46 640 done -0.30 0.20 0.243 2095 200.0 2.53 0.063 2314 572.7 -116.8 - - 3225 - - - - - - - - 14.43 14.61 14.65
970 114.5 -5.9 57 976 roll -0.30 - - 2092 - 2.38 0.087 3690 578.2 -116.8 - - 3226 - - - - - - - - 14.93 14.64 14.95
1110 122.6 -6.1 77 1116 done -0.36 - - 2092 - 2.30 0.047 2287 -610.0 -116.8 - - 3226 - - - - - - - - 14.80 14.74 14.81
1475 146.2 -6.5 87 1479 roll -0.41 - - 2092 - 2.38 0.056 884 -589.5 -116.8 - - 3224 - - - - - - - - 14.97 14.71 14.98
1593 153.8 -6.2 104 1598 done -0.46 0.12 0.138 2033 -491.7 2.47 0.066 2305 575.3 -116.8 - - 3224 - - - - - - - - 14.71 14.69 14.80
1922 178.7 -7.7 116 1927 roll -0.46 - - 2025 - 2.40 0.086 3692 577.9 -116.8 - - 3218 - - - - - - - - 14.97 14.67 15.00
1949 181.0 -8.2 120 1955 done -0.46 - - 2025 - 2.33 0.047 2307 -594.4 -116.8 - - 3221 - - - - - - - - 14.78 14.75 14.81
2315 211.4 -8.4 130 2319 roll -0.46 - - 2025 - 2.42 0.058 881 -589.3 -116.8 - - 3220 - - - - - - - - 14.99 14.72 15.01
2411 220.0 -8.6 144 2417 done -0.46 0.08 0.236 2041 200.0 2.53 0.067 2292 557.7 -116.8 - - 3221 - - - - - - - - 14.50 14.67 14.64
2762 247.6 -8.0 152 2767 roll -0.46 - - 2032 - 2.45 0.092 3696 573.1 -116.8 - - 3217 - - - - - - - - 14.99 14.67 15.01
2790 249.9 -8.2 156 2795 done -0.46 - - 2032 - 2.33 0.049 2290 -603.4 -116.8 - - 3217 - - - - - - - - 14.83 14.76 14.85
3154 281.9 -8.9 166 3159 roll -0.46 - - 2032 - 2.38 0.058 892 -587.4 -116.8 - - 3214 - - - - - - - - 15.00 14.71 15.01
3272 292.9 -9.2 183 3278 done -0.46 - - 2025 - 2.50 0.069 2286 557.6 -116.8 - - 3213 - - - - - - - - 14.78 14.61 14.80
3603 323.6 -9.3 195 3603 done -0.46 - - 2025 - - - 2286 - -116.8 - - 3210 - - - - - - - - 14.99 15.01 15.01
3938 352.9 -8.7 201 3944 roll -0.46 - - 2024 - 2.40 0.058 892 -580.8 -116.8 - - 3209 - - - - - - - - 15.00 14.70 15.00
3986 357.1 -8.7 208 3993 done -0.46 - - 2024 - 2.53 0.072 2296 554.9 -116.8 - - 3208 - - - - - - - - 14.72 14.65 14.76
4331 384.5 -8.0 215 4332 done -0.46 - - 2024 - - - 2295 - -116.8 - - 3207 - - - - - - - - 15.00 15.01 15.01
4666 412.2 -8.3 221 4672 roll -0.46 - - 2024 - 2.42 0.060 892 -579.8 -116.8 - - 3205 - - - - - - - - 15.00 14.69 15.02
4728 417.8 -8.7 230 4734 done -0.46 - - 2024 - 2.50 0.073 2278 554.4 -116.8 - - 3206 - - - - - - - - 14.82 14.66 14.84
5059 444.7 -8.1 242 5060 done -0.46 - - 2024 - - - 2278 - -116.8 - - 3202 - - - - - - - - 14.99 15.00 15.01
5394 469.9 -7.4 248 5395 done -0.46 - - 2024 - - - 2278 - -116.8 - - 3200 - - - - - - - - 15.00 15.01 15.01
5730 495.0 -7.5 254 5731 done -0.46 - - 2024 - - - 2278 - -116.8 - - 3200 - - - - - - - - 15.00 15.01 15.00
6066 520.1 -7.5 260 6071 roll -0.46 - - 2024 - 2.42 0.063 892 -572.7 -116.8 - - 3198 - - - - - - - - 15.02 14.67 15.00
6108 523.3 -7.9 266 6114 done -0.46 0.12 0.263 2051 225.0 2.47 0.073 2282 562.8 -116.8 - - 3197 - - - - - - - - 14.47 14.66 14.61
6459 545.5 -6.3 274 6460 done -0.46 - - 2051 - - - 2282 - -116.8 - - 3195 - - - - - - - - 14.98 15.00 15.00
6794 567.3 -6.5 280 6799 roll -0.46 - - 2051 - 2.42 0.063 894 -573.6 -116.8 - - 3194 - - - - - - - - 14.98 14.66 15.00
6843 570.6 -6.7 287 6849 done -0.46 - - 2051 - 2.50 0.076 2282 555.2 -116.8 - - 3194 - - - - - - - - 14.76 14.64 14.79
7186 591.2 -5.9 294 7191 roll -0.46 - - 2043 - 2.50 0.099 3690 563.2 -116.8 - - 3193 - - - - - - - - 14.99 14.60 15.01
7234 594.2 -6.3 301 7242 done -0.46 - - 2041 - 2.40 0.057 2289 -583.8 -116.8 - - 3192 - - - - - - - - 14.72 14.69 14.75
7579 614.8 -6.0 308 7584 roll -0.46 - - 2042 - 2.45 0.070 892 -570.2 -116.8 - - 3191 - - - - - - - - 14.97 14.63 15.00
7661 620.1 -6.4 320 7667 done -0.46 - - 2042 - 2.50 0.077 2288 558.4 -116.8 - - 3190 - - - - - - - - 14.76 14.63 14.80
8027 643.9 -6.7 330 8032 roll -0.46 - - 2043 - 2.45 0.063 888 -571.4 -116.8 - - 3189 - - - - - - - - 14.97 14.66 14.99
8068 647.1 -7.5 336 8073 done -0.46 - - 2042 - 2.50 0.078 2282 557.6 -116.8 - - 3191 - - - - - - - - 14.74 14.62 14.79
8418 672.1 -7.2 344 8423 roll -0.46 - - 2037 - 2.53 0.105 3690 556.5 -116.8 - - 3187 - - - - - - - - 14.98 14.59 15.00
8474 676.2 -7.4 352 8479 done -0.46 - - 2036 - 2.38 0.059 2289 -588.7 -116.8 - - 3187 - - - - - - - - 14.78 14.71 14.80
8811 699.4 -6.9 365 8817 roll -0.46 - - 2037 - 2.45 0.068 882 -574.3 -116.8 - - 3186 - - - - - - - - 14.97 14.62 14.98
8893 705.3 -7.0 377 8899 done -0.46 - - 2037 - 2.53 0.080 2281 553.0 -116.8 - - 3187 - - - - - - - - 14.73 14.59 14.76
9258 729.1 -6.6 387 9263 roll -0.46 - - 2037 - 2.55 0.107 3692 553.3 -116.8 - - 3185 - - - - - - - - 14.96 14.55 14.97
9307 732.4 -6.8 394 9313 done -0.46 - - 2037 - 2.42 0.061 2272 -586.8 -116.8 - - 3184 - - - - - - - - 14.77 14.69 14.79
9650 755.4 -6.8 401 9656 roll -0.46 - - 2036 - 2.42 0.070 894 -569.4 -116.8 - - 3184 - - - - - - - - 14.96 14.60 14.97
9741 761.8 -7.0 414 9746 done -0.46 - - 2037 - 2.53 0.082 2287 550.6 -116.8 - - 3183 - - - - - - - - 14.73 14.59 14.76
10098 784.6 -6.2 423 10099 done -0.46 - - 2037 - - - 2287 - -116.8 - - 3182 - - - - - - - - 14.95 14.97 14.97
10434 805.8 -6.2 429 10435 done -0.46 - - 2037 - - - 2287 - -116.8 - - 3183 - - - - - - - - 14.95 14.97 14.97
10770 827.0 -6.3 435 10771 done -0.46 - - 2037 - - - 2287 - -116.8 - - 3181 - - - - - - - - 14.95 14.97 14.97
11107 849.7 -6.9 441 11113 roll -0.46 - - 2037 - 2.47 0.067 885 -567.6 -116.8 - - 3180 - - - - - - - - 14.95 14.59 14.97
11147 852.5 -5.8 447 11153 done -0.46 - - 2037 - 2.55 0.082 2288 550.2 -116.8 - - 3180 - - - - - - - - 14.71 14.57 14.75
11499 875.9 -6.7 455 11503 roll -0.46 - - 2036 - 2.58 0.111 3698 546.5 -116.8 - - 3179 - - - - - - - - 14.96 14.52 14.97
11540 878.7 -5.0 461 11546 done -0.46 - - 2036 - 2.42 0.063 2283 -584.7 -116.8 - - 3179 - - - - - - - - 14.74 14.66 14.76
11890 900.6 -6.2 469 11896 roll -0.46 - - 2036 - 2.47 0.073 889 -564.4 -116.8 - - 3178 - - - - - - - - 14.94 14.57 14.96
11988 906.9 -6.8 483 11993 done -0.46 - - 2036 - 2.53 0.083 2274 547.4 -116.8 - - 3178 - - - - - - - - 14.70 14.54 14.73
12338 927.6 -6.0 491 12343 roll -0.46 - - 2036 - 2.60 0.113 3694 546.2 -116.8 - - 3177 - - - - - - - - 14.95 14.50 14.97
12401 931.9 -5.5 500 12406 done -0.51 - - 2036 - 2.42 0.063 2275 -586.4 -116.8 - - 3177 - - - - - - - - 14.72 14.64 14.75
12731 951.2 -6.0 512 12736 roll -0.51 - - 2036 - 2.45 0.072 893 -564.1 -116.8 - - 3177 - - - - - - - - 14.92 14.56 14.94
12792 955.4 -6.7 521 12799 done -0.51 - - 2036 - 2.50 0.084 2277 553.6 -116.8 - - 3176 - - - - 1 - - - 14.69 14.54 14.72
13123 976.7 -6.5 533 13128 roll -0.51 - - 2031 - 2.60 0.113 3698 546.5 -116.8 - - 3175 - - - - - - - - 14.92 14.50 14.94
13179 980.4 -6.8 541 13185 done -0.51 - - 2031 - 2.45 0.066 2276 -580.4 -116.8 - - 3175 - - - - - - - - 14.71 14.62 14.74
13343 end dive: TARGET_DEPTH_EXCEEDED
13343 begin apogee
13350 990.7 -5.8 551 13542 roll -0.19 0.38 0.210 2135 273.7 - - 2276 - - 189.20 1.667 2740 -2.3 0.257 - - - - - - 14.40 13.97 13.35
13543 end apogee: CONTROL_FINISHED_OK
13543 begin climb
13548 996.2 - 554 13706 roll 0.68 0.93 0.164 2410 295.7 2.67 0.114 3646 513.1 116.8 148.60 1.913 2262 -3.2 0.315 - - - - - - 13.93 13.96 13.05
13797 975.2 11.5 594 13802 done 0.59 - - 2420 - 2.58 0.080 2253 -539.9 116.8 - - 2236 - - - - 1 - - - 14.12 14.02 14.15
14127 938.9 11.0 606 14132 roll 0.51 0.20 0.270 2368 -260.0 2.62 0.110 3644 530.9 116.8 - - 2230 - - - - - - - - 14.16 14.33 14.32
14258 926.3 9.0 625 14265 done 0.51 - - 2378 - 2.55 0.080 2215 -560.4 116.8 - - 2228 - - - - 1 - - - 14.52 14.41 14.55
14575 897.6 9.2 635 14580 roll 0.51 - - 2388 - 2.58 0.097 816 -542.2 116.8 - - 2227 - - - - - - - - 14.78 14.45 14.80
14631 892.4 9.2 643 14635 done 0.51 - - 2388 - 2.60 0.086 2226 542.3 116.8 - - 2226 - - - - - - - - 14.62 14.47 14.64
14967 859.7 9.8 656 14972 roll 0.51 - - 2388 - 2.60 0.115 3639 543.5 116.8 - - 2226 - - - - - - - - 14.83 14.46 14.85
15043 851.0 11.0 667 15048 done 0.45 0.20 0.263 2351 -185.0 2.50 0.080 2220 -567.6 116.8 - - 2224 - - - - 1 - - - 14.31 14.52 14.60
15359 826.5 7.6 677 15364 roll 0.45 - - 2361 - 2.55 0.097 828 -545.9 116.8 - - 2225 - - - - - - - - 14.85 14.49 14.88
15435 820.9 7.0 688 15440 done 0.45 - - 2358 - 2.58 0.086 2228 542.6 124.0 - - 2224 - - - - - - - - 14.64 14.51 14.69
15751 798.1 7.2 698 15756 roll 0.45 - - 2361 - 2.60 0.116 3644 544.6 126.0 - - 2224 - - - - - - - - 14.88 14.48 14.90
15826 791.6 8.1 709 15833 done 0.45 - - 2371 - 2.53 0.077 2216 -564.4 126.0 - - 2223 - - - - - - - - 14.66 14.53 14.69
16143 767.7 7.6 719 16148 roll 0.45 - - 2378 - 2.55 0.095 821 -547.1 126.0 - - 2224 - - - - - - - - 14.88 14.50 14.89
16218 761.7 7.7 730 16224 done 0.45 0.15 0.265 2348 -200.0 2.58 0.083 2231 546.5 126.0 - - 2222 - - - - - - - - 14.33 14.53 14.59
16535 740.4 6.7 740 16562 roll 0.46 - - 2349 - 2.65 0.115 3634 529.4 140.3 21.92 1.781 2164 -2.6 0.207 - - - - - - 14.88 14.50 13.85
16610 734.7 7.8 751 16616 done 0.46 - - 2356 - 2.53 0.075 2215 -560.9 140.3 - - 2152 - - - - - - - - 14.58 14.48 14.61
16976 709.4 6.9 761 16987 roll 0.47 - - 2366 - 2.58 0.093 826 -538.4 151.0 4.47 1.420 2122 -6.7 0.630 - - - - - - 14.80 14.55 13.69
17032 705.6 6.8 769 17064 done 0.48 - - 2366 - 2.58 0.082 2229 543.8 162.6 23.73 1.756 2069 -2.2 0.169 - - - - - - 14.62 14.50 13.78
17423 675.0 8.0 783 17428 roll 0.48 - - 2366 - 2.60 0.112 3637 541.5 162.6 - - 2056 - - - - - - - - 14.76 14.42 14.77
17500 668.1 9.1 794 17505 done 0.48 - - 2376 - 2.50 0.076 2231 -562.4 162.6 - - 2055 - - - - - - - - 14.60 14.50 14.64
17816 639.7 9.1 804 17820 roll 0.48 - - 2385 - 2.58 0.093 821 -546.5 162.6 - - 2054 - - - - - - - - 14.82 14.48 14.83
17885 633.4 8.9 814 17890 done 0.48 0.12 0.256 2357 -233.3 2.58 0.080 2231 546.5 162.6 - - 2054 - - - - - - - - 14.35 14.51 14.60
18208 606.5 8.3 825 18214 roll 0.48 - - 2357 - 2.60 0.112 3643 543.1 162.6 - - 2053 - - - - - - - - 14.85 14.50 14.87
18283 599.3 9.3 836 18289 done 0.48 - - 2367 - 2.55 0.077 2238 -551.0 162.6 - - 2053 - - - - - - - - 14.59 14.52 14.62
18600 572.8 8.4 846 18605 roll 0.48 - - 2376 - 2.58 0.093 821 -549.2 162.6 - - 2054 - - - - - - - - 14.87 14.52 14.88
18662 567.6 7.9 855 18667 done 0.48 - - 2376 - 2.58 0.080 2236 548.4 162.6 - - 2053 - - - - - - - - 14.66 14.53 14.70
18992 540.3 8.3 867 18996 roll 0.48 - - 2376 - 2.55 0.109 3641 551.0 162.6 - - 2053 - - - - - - - - 14.88 14.50 14.90
19060 533.9 9.1 877 19067 done 0.48 0.12 0.256 2357 -158.3 2.53 0.075 2239 -554.2 162.6 - - 2053 - - - - - - - - 14.40 14.53 14.64
19384 511.4 6.9 888 19396 roll 0.48 - - 2365 - 2.60 0.090 821 -545.4 173.5 3.42 1.050 2028 -7.3 0.669 - - - - - - 14.85 14.62 13.75
19460 506.2 6.8 899 19495 done 0.55 - - 2366 - 2.58 0.080 2245 551.9 186.8 26.67 1.546 1971 -2.1 0.132 - - - - - - 14.68 14.56 13.92
19832 478.1 7.7 910 19837 roll 0.55 - - 2365 - 2.58 0.109 3641 541.1 186.8 - - 1959 - - - - - - - - 14.78 14.44 14.80
19914 470.7 8.9 922 19920 done 0.55 - - 2375 - 2.50 0.074 2231 -564.0 186.8 - - 1959 - - - - - - - - 14.62 14.50 14.65
20280 439.2 8.8 932 20284 roll 0.55 - - 2383 - 2.55 0.090 824 -551.8 186.8 - - 1957 - - - - - - - - 14.85 14.49 14.86
20336 434.3 8.4 940 20341 done 0.60 - - 2383 - 2.60 0.080 2250 548.5 186.8 - - 1957 - - - - - - - - 14.64 14.51 14.68
20672 403.7 9.2 953 20677 roll 0.60 - - 2383 - 2.55 0.109 3639 544.7 186.8 - - 1957 - - - - - - - - 14.87 14.50 14.91
20741 396.6 9.9 963 20746 done 0.60 - - 2392 - 2.45 0.073 2250 -566.9 186.8 - - 1956 - - - - - - - - 14.67 14.57 14.71
21064 367.2 9.1 974 21069 roll 0.60 - - 2401 - 2.60 0.090 821 -549.6 186.8 - - 1957 - - - - - - - - 14.88 14.51 14.88
21132 361.2 8.4 984 21138 done 0.60 - - 2401 - 2.60 0.079 2257 552.3 186.8 - - 1956 - - - - - - - - 14.67 14.54 14.71
21456 331.1 9.5 995 21461 roll 0.60 - - 2401 - 2.53 0.108 3639 546.2 186.8 - - 1956 - - - - - - - - 14.88 14.51 14.90
21512 325.1 10.9 1003 21516 done 0.60 - - 2410 - 2.45 0.073 2257 -564.1 186.8 - - 1956 - - - - - - - - 14.68 14.57 14.72
21847 289.5 10.7 1016 21852 roll 0.60 - - 2421 - 2.60 0.087 821 -552.3 186.8 - - 1957 - - - - - - - - 14.90 14.52 14.92
21889 285.1 10.5 1022 21894 done 0.60 - - 2421 - 2.60 0.079 2258 552.7 186.8 - - 1956 - - - - - - - - 14.67 14.54 14.73
22240 246.6 11.0 1030 22244 roll 0.60 - - 2420 - 2.50 0.106 3639 552.4 186.8 - - 1956 - - - - - - - - 14.90 14.51 14.92
22301 239.2 11.6 1039 22307 done 0.60 0.08 0.243 2393 -337.5 2.47 0.070 2256 -559.9 186.8 - - 1956 - - - - - - - - 14.36 14.54 14.63
22632 210.1 8.8 1051 22637 roll 0.60 - - 2403 - 2.60 0.086 818 -553.1 186.8 - - 1956 - - - - - - - - 14.90 14.54 14.91
22693 204.5 8.7 1060 22699 done 0.60 - - 2403 - 2.60 0.077 2262 555.4 186.8 - - 1956 - - - - - - - - 14.69 14.56 14.73
23024 175.1 8.8 1072 23029 roll 0.60 - - 2403 - 2.50 0.105 3645 553.2 186.8 - - 1957 - - - - - - - - 14.88 14.52 14.91
23107 167.1 9.7 1084 23112 done 0.60 - - 2411 - 2.45 0.070 2246 -571.0 186.8 - - 1957 - - - - - - - - 14.72 14.59 14.73
23472 133.2 9.5 1094 23476 roll 0.60 - - 2422 - 2.58 0.086 822 -551.9 186.8 - - 1956 - - - - - - - - 14.90 14.53 14.92
23540 126.2 9.8 1104 23546 done 0.60 - - 2422 - 2.60 0.076 2271 557.3 186.8 - - 1958 - - - - - - - - 14.62 14.51 14.67
23864 95.0 9.3 1115 23870 roll 0.60 - - 2422 - 2.47 0.104 3636 552.6 186.8 - - 1956 - - - - - - - - 14.91 14.52 14.93
23939 88.9 8.1 1126 23947 done 0.60 0.10 0.223 2400 -220.0 2.42 0.066 2273 -563.2 186.8 - - 1956 - - - - - - - - 14.35 14.56 14.51
24256 71.7 4.2 1138 24304 roll 0.73 0.10 0.155 2449 490.0 2.60 0.080 816 -560.4 262.2 42.75 0.352 1670 -6.7 0.256 - - - - - - 14.62 14.53 14.31
24514 59.0 5.0 1175 24556 done 0.92 0.15 0.116 2515 440.0 2.60 0.073 2265 557.3 318.5 36.65 0.311 1441 -6.2 0.223 - - - - - - 14.59 14.52 14.31
24868 36.3 5.9 1192 24897 roll 1.03 - - 2519 - 2.65 0.076 822 -544.5 352.4 22.42 0.237 1302 -6.2 0.178 - - - - - - 14.82 14.46 14.33
25067 28.1 4.5 1221 25116 done 1.21 0.20 0.093 2607 440.0 2.62 0.068 2300 564.1 419.6 43.40 0.213 1027 -6.3 0.157 - - - - - - 14.60 14.53 14.33
25337 end climb: SURFACE_DEPTH_REACHED
25337 begin surface coast
25365 end surface coast: CONTROL_FINISHED_OK
25365 begin surface
SM 1.01 - - - - -6.13 6.85 0.072 217 31.6 0.05 0.206 2278 -183040.0 500.17 50.45 0.136 698 13.8 -0.011 - - - - - -