SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 121 * Raw log
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• Previous call tries 3 • 54.73 of 350.00 AH used of 24V (84.36% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.1 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: 42 s
• GPS2 time: 19 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 VBD -0.68 - - 211 - - - 2273 - -116.8 -84.43 - 2895 - - - - - - - - 14.77 - 14.79
107 4.6 -6.1 3 131 roll -0.68 8.70 0.420 1982 203.6 2.70 2.100 869 -520.0 -116.8 -5.80 - 3221 -56.2 - - - - - - - 14.29 13.49 14.62
327 74.5 -20.8 35 333 done -0.46 0.30 0.306 2043 203.3 2.50 0.068 2283 565.6 -116.8 - - 3223 - - - - - - - - 14.43 14.61 14.62
691 109.9 -8.2 49 692 done -0.38 0.12 0.270 2067 200.0 - - 2283 - -116.8 - - 3226 - - - - - - - - 14.57 14.79 14.76
1028 129.5 -5.8 55 1033 roll -0.38 - - 2062 - 2.42 0.085 3692 582.2 -116.8 - - 3226 - - - - - - - - 14.97 14.73 14.99
1054 131.3 -6.5 59 1060 done -0.38 - - 2062 - 2.40 0.048 2261 -596.2 -116.8 - - 3226 - - - - - - - - 14.80 14.77 14.85
1419 158.6 -7.7 69 1425 roll -0.38 - - 2053 - 2.53 0.093 3693 566.0 -116.8 - - 3225 - - - - - - - - 15.00 14.74 15.00
1489 163.7 -7.1 79 1494 done -0.38 - - 2053 - 2.33 0.049 2274 -609.0 -116.8 - - 3224 - - - - - - - - 14.87 14.81 14.88
1812 186.4 -7.2 90 1816 roll -0.38 - - 2053 - 2.35 0.062 891 -588.5 -116.8 - - 3221 - - - - - - - - 15.01 14.78 15.03
1880 191.8 -8.0 100 1886 done -0.38 - - 2045 - 2.42 0.071 2285 576.0 -116.8 - - 3221 - - - - - - - - 14.87 14.77 14.89
2204 216.9 -7.9 111 2204 done -0.38 - - 2045 - - - 2285 - -116.8 - - 3218 - - - - - - - - 15.02 15.04 15.03
2539 243.0 -7.7 117 2545 roll -0.38 - - 2044 - 2.40 0.060 891 -580.8 -116.8 - - 3216 - - - - - - - - 15.02 14.80 15.04
2587 246.8 -7.9 124 2595 done -0.38 0.08 0.243 2067 287.5 2.47 0.074 2275 560.3 -116.8 - - 3216 - - - - - - - - 14.64 14.76 14.76
2932 269.7 -6.7 131 2932 done -0.38 - - 2067 - - - 2275 - -116.8 - - 3213 - - - - - - - - 15.02 15.04 15.04
3267 292.8 -6.9 137 3268 done -0.38 - - 2067 - - - 2274 - -116.8 - - 3211 - - - - - - - - 15.03 15.05 15.04
3603 315.7 -6.7 143 3608 roll -0.38 - - 2067 - 2.40 0.063 892 -575.8 -116.8 - - 3208 - - - - - - - - 15.03 14.79 15.04
3651 319.1 -6.9 150 3658 done -0.38 - - 2067 - 2.50 0.076 2281 555.6 -116.8 - - 3208 - - - - - - - - 14.82 14.75 14.86
3996 340.1 -6.0 157 4002 roll -0.38 - - 2057 - 2.50 0.099 3701 568.0 -116.8 - - 3206 - - - - - - - - 15.03 14.75 15.04
4036 342.6 -6.3 163 4042 done -0.38 - - 2057 - 2.42 0.058 2281 -586.8 -116.8 - - 3205 - - - - - - - - 14.85 14.81 14.87
4387 362.7 -5.6 171 4392 roll -0.38 - - 2057 - 2.42 0.068 874 -581.4 -116.8 - - 3203 - - - - - - - - 15.04 14.78 15.05
4456 366.8 -5.9 181 4463 done -0.38 - - 2056 - 2.50 0.082 2280 562.4 -116.8 - - 3202 - - - - - - - - 14.87 14.76 14.89
4779 385.6 -6.0 192 4784 roll -0.38 - - 2052 - 2.50 0.103 3692 564.8 -116.8 - - 3201 - - - - - - - - 15.03 14.74 15.05
4821 388.5 -7.1 198 4826 done -0.38 - - 2052 - 2.40 0.058 2264 -595.0 -116.8 - - 3200 - - - - - - - - 14.89 14.81 14.90
5171 413.4 -7.2 206 5176 roll -0.38 - - 2052 - 2.38 0.067 884 -579.8 -116.8 - - 3199 - - - - - - - - 15.03 14.77 15.04
5296 423.2 -7.8 224 5302 done -0.38 - - 2045 - 2.50 0.081 2262 551.2 -116.8 - - 3198 - - - - - - - - 14.88 14.73 14.90
5620 448.4 -7.8 235 5620 done -0.38 - - 2045 - - - 2264 - -116.8 - - 3194 - - - - - - - - 15.02 15.04 15.03
5956 474.2 -7.6 241 5956 done -0.38 - - 2045 - - - 2264 - -116.8 - - 3194 - - - - - - - - 15.02 15.04 15.01
6291 498.0 -6.9 247 6296 roll -0.38 - - 2045 - 2.40 0.064 883 -575.4 -116.8 - - 3193 - - - - - - - - 15.02 14.76 15.04
6340 501.5 -7.3 254 6347 done -0.38 0.12 0.271 2071 216.7 2.47 0.082 2267 560.3 -116.8 - - 3194 - - - - - - - - 14.61 14.73 14.81
6684 519.9 -5.2 261 6684 done -0.44 - - 2071 - - - 2267 - -116.8 - - 3192 - - - - - - - - 15.05 15.04 15.04
7020 537.5 -5.3 267 7025 roll -0.49 - - 2065 - 2.55 0.106 3696 560.4 -116.8 - - 3191 - - - - - - - - 15.02 14.71 15.03
7076 540.8 -6.0 275 7081 done -0.55 0.15 0.126 2004 -406.7 2.42 0.064 2266 -590.9 -116.8 - - 3190 - - - - - - - - 14.78 14.79 14.86
7411 569.4 -8.8 288 7416 roll -0.55 - - 2004 - 2.40 0.071 884 -575.8 -116.8 - - 3189 - - - - - - - - 15.01 14.73 15.03
7524 579.6 -8.9 304 7528 done -0.55 - - 1998 - 2.47 0.084 2262 557.9 -116.8 - - 3188 - - - - - - - - 14.83 14.71 14.86
7859 610.2 -9.2 317 7865 roll -0.55 - - 1985 - 2.53 0.103 3692 565.2 -116.8 - - 3188 - - - - - - - - 15.02 14.70 15.03
7922 616.0 -9.2 326 7927 done -0.51 0.17 0.258 2032 276.5 2.42 0.062 2259 -592.1 -116.8 - - 3187 - - - - - - - - 14.55 14.77 14.78
8252 638.6 -6.6 338 8257 roll -0.51 - - 2031 - 2.38 0.068 880 -579.4 -116.8 - - 3186 - - - - - - - - 15.00 14.73 15.02
8369 646.4 -6.4 355 8375 done -0.51 - - 2025 - 2.47 0.083 2254 556.3 -116.8 - - 3186 - - - - - - - - 14.82 14.69 14.85
8700 666.8 -6.2 367 8704 roll -0.51 - - 2025 - 2.42 0.071 880 -567.8 -116.8 - - 3185 - - - - - - - - 15.00 14.72 15.02
8741 669.6 -6.7 373 8747 done -0.51 - - 2024 - 2.47 0.086 2253 555.9 -116.8 - - 3185 - - - - - - - - 14.83 14.70 14.85
9091 691.6 -6.3 381 9092 done -0.51 - - 2024 - - - 2254 - -116.8 - - 3184 - - - - - - - - 15.00 15.02 15.02
9428 714.5 -6.9 387 9432 roll -0.51 - - 2013 - 2.60 0.108 3696 554.6 -116.8 - - 3182 - - - - - - - - 15.00 14.67 15.03
9504 720.4 -7.7 398 9509 done -0.51 - - 2013 - 2.47 0.065 2252 -584.6 -116.8 - - 3182 - - - - - - - - 14.84 14.76 14.86
9819 744.0 -7.5 408 9824 roll -0.51 - - 2013 - 2.40 0.076 883 -570.4 -116.8 - - 3181 - - - - - - - - 15.00 14.69 15.01
9881 748.9 -7.6 417 9888 done -0.51 - - 2012 - 2.53 0.086 2258 543.5 -116.8 - - 3181 - - - - - - - - 14.73 14.65 14.84
10212 772.8 -7.3 429 10217 roll -0.51 - - 2011 - 2.42 0.073 882 -568.6 -116.8 - - 3181 - - - - - - - - 14.99 14.69 15.01
10238 774.8 -7.2 433 10245 done -0.51 - - 2012 - 2.50 0.086 2242 544.0 -116.8 - - 3180 - - - - - - - - 14.72 14.64 14.78
10604 799.5 -6.9 443 10605 done -0.51 - - 2011 - - - 2240 - -116.8 - - 3179 - - - - - - - - 14.98 15.00 15.00
10939 823.4 -7.1 449 10940 done -0.51 - - 2011 - - - 2240 - -116.8 - - 3179 - - - - - - - - 14.98 15.02 15.01
11276 848.2 -7.2 455 11276 done -0.51 - - 2012 - - - 2240 - -116.8 - - 3178 - - - - - - - - 14.99 15.02 15.02
11611 872.8 -7.3 461 11612 done -0.51 - - 2012 - - - 2240 - -116.8 - - 3177 - - - - - - - - 14.99 15.01 15.00
11948 896.4 -7.2 467 11953 roll -0.51 - - 2002 - 2.62 0.110 3694 555.0 -116.8 - - 3176 - - - - - - - - 14.98 14.64 15.00
12003 900.6 -7.9 475 12008 done -0.51 0.12 0.256 2031 241.7 2.50 0.065 2236 -583.2 -116.8 - - 3176 - - - - - - - - 14.50 14.72 14.73
12339 922.6 -6.5 488 12344 roll -0.51 - - 2031 - 2.38 0.074 883 -568.5 -116.8 - - 3176 - - - - - - - - 14.98 14.66 15.00
12416 927.9 -6.9 499 12421 done -0.51 - - 2025 - 2.47 0.088 2245 551.4 -116.8 - - 3175 - - - - - - - - 14.77 14.64 14.81
12732 949.3 -6.8 509 12732 done -0.51 - - 2026 - - - 2245 - -116.8 - - 3177 - - - - - - - - 14.97 14.99 14.99
13068 969.2 -6.1 515 13069 done -0.51 - - 2025 - - - 2245 - -116.8 - - 3173 - - - - - - - - 14.96 14.98 14.97
13403 988.6 -5.7 521 13404 done -0.51 - - 2026 - - - 2245 - -116.8 - - 3173 - - - - - - - - 14.97 15.00 15.00
13456 end dive: TARGET_DEPTH_EXCEEDED
13456 begin apogee
13463 991.8 -5.7 522 13613 roll -0.19 0.40 0.227 2135 272.5 - - 2245 - - 142.27 2.564 2742 -3.0 0.222 - - - - 1 - 14.48 13.88 12.95
13614 end apogee: CONTROL_FINISHED_OK
13614 begin climb
13618 995.1 - 524 13784 done 0.68 0.90 0.147 2410 305.6 - - 2244 - 116.8 156.35 1.946 2258 -3.1 0.300 - - - - - - 13.87 14.09 13.13
14134 943.7 11.2 562 14139 roll 0.61 - - 2412 - 2.62 0.117 3647 535.5 116.8 - - 2232 - - - - - - - - 14.59 14.33 14.62
14203 934.8 12.5 572 14209 done 0.53 0.20 0.285 2374 -190.0 2.50 0.085 2252 -558.0 116.8 - - 2231 - - - - 1 - - - 14.26 14.40 14.49
14526 904.8 9.1 583 14530 roll 0.53 - - 2385 - 2.65 0.102 820 -540.4 116.8 - - 2230 - - - - - - - - 14.77 14.49 14.78
14595 898.6 8.8 593 14601 done 0.53 - - 2384 - 2.62 0.091 2242 542.7 116.8 - - 2230 - - - - - - - - 14.64 14.51 14.66
14918 868.6 9.3 604 14923 roll 0.53 - - 2385 - 2.58 0.118 3638 541.1 116.8 - - 2229 - - - - - - - - 14.84 14.54 14.86
15022 857.5 10.1 619 15029 done 0.48 0.10 0.250 2358 -270.0 2.50 0.081 2244 -557.6 116.8 - - 2228 - - - - 1 - - - 14.47 14.58 14.67
15367 832.3 7.0 626 15371 roll 0.49 - - 2369 - 2.58 0.097 821 -551.6 123.9 - - 2227 - - - - - - - - 14.88 14.59 14.90
15428 827.9 6.8 635 15449 done 0.49 - - 2369 - 2.58 0.088 2237 548.8 136.3 17.35 1.854 2185 -2.4 0.205 - - - - - - 14.71 14.60 13.90
15758 802.8 7.8 647 15763 roll 0.49 - - 2369 - 2.60 0.119 3643 540.8 136.3 - - 2169 - - - - - - - - 14.82 14.55 14.84
15827 796.3 9.2 657 15833 done 0.49 - - 2378 - 2.50 0.083 2242 -560.4 136.3 - - 2168 - - - - - - - - 14.69 14.59 14.72
16150 768.1 8.9 668 16155 roll 0.49 - - 2388 - 2.58 0.096 822 -550.4 136.3 - - 2167 - - - - - - - - 14.87 14.59 14.89
16226 761.0 9.0 679 16231 done 0.49 - - 2388 - 2.62 0.088 2266 551.1 136.3 - - 2166 - - - - - - - - 14.73 14.61 14.77
16542 729.5 10.0 689 16548 roll 0.49 - - 2389 - 2.53 0.117 3641 543.5 136.3 - - 2166 - - - - - - - - 14.90 14.61 14.91
16604 722.7 11.0 698 16610 done 0.49 0.10 0.242 2361 -280.0 2.50 0.080 2251 -556.0 136.3 - - 2165 - - - - - - - - 14.50 14.62 14.72
16934 695.0 8.2 710 16939 roll 0.49 - - 2372 - 2.60 0.098 822 -549.6 136.3 - - 2165 - - - - - - - - 14.91 14.62 14.92
16975 691.6 8.0 716 16981 done 0.49 - - 2372 - 2.62 0.087 2243 542.4 136.3 - - 2164 - - - - - - - - 14.69 14.60 14.72
17326 663.2 8.1 724 17330 roll 0.49 - - 2372 - 2.55 0.116 3642 548.6 136.3 - - 2164 - - - - - - - - 14.92 14.61 14.94
17382 658.2 8.9 732 17387 done 0.49 - - 2381 - 2.47 0.079 2237 -568.8 136.3 - - 2164 - - - - - - - - 14.76 14.66 14.79
17718 631.3 8.0 745 17723 roll 0.49 - - 2391 - 2.55 0.093 824 -554.1 136.3 - - 2164 - - - - - - - - 14.94 14.64 14.95
17766 627.4 7.9 752 17773 done 0.49 0.08 0.236 2373 -225.0 2.62 0.086 2243 541.6 136.3 - - 2164 - - - - - - - - 14.49 14.62 14.77
18110 602.2 7.3 759 18115 roll 0.49 - - 2368 - 2.55 0.116 3642 548.6 136.3 - - 2164 - - - - - - - - 14.94 14.62 14.95
18193 595.4 8.1 771 18198 done 0.49 - - 2377 - 2.50 0.079 2257 -554.0 136.3 - - 2163 - - - - - - - - 14.71 14.64 14.74
18558 567.6 7.6 781 18563 roll 0.49 - - 2387 - 2.62 0.094 816 -550.0 136.3 - - 2164 - - - - - - - - 14.90 14.63 14.95
18648 560.7 7.4 794 18654 done 0.49 - - 2387 - 2.62 0.089 2258 550.4 136.3 - - 2163 - - - - - - - - 14.76 14.62 14.79
19006 530.3 8.7 803 19010 roll 0.49 - - 2387 - 2.55 0.117 3644 543.5 136.3 - - 2163 - - - - - - - - 14.93 14.61 14.95
19075 523.4 9.9 813 19081 done 0.49 0.10 0.233 2359 -280.0 2.53 0.080 2247 -552.2 136.3 - - 2163 - - - - - - - - 14.51 14.64 14.74
19398 499.2 7.5 824 19403 roll 0.49 - - 2368 - 2.60 0.096 821 -548.5 136.3 - - 2163 - - - - - - - - 14.92 14.62 14.95
19467 494.2 7.1 834 19472 done 0.55 - - 2364 - 2.60 0.086 2252 550.4 141.8 - - 2162 - - - - - - - - 14.76 14.64 14.78
19791 472.4 6.6 845 19823 roll 0.56 - - 2368 - 2.60 0.117 3634 531.5 158.3 25.88 1.537 2084 -3.0 0.175 - - - - - - 14.92 14.52 14.00
19866 467.1 7.2 856 19871 done 0.56 - - 2378 - 2.50 0.076 2220 -565.6 161.9 - - 2076 - - - - - - - - 14.64 14.55 14.66
20182 446.5 6.6 866 20214 roll 0.57 - - 2386 - 2.62 0.093 823 -533.2 179.9 23.62 1.493 1995 -3.4 0.194 - - - - - - 14.83 14.45 13.93
20258 441.2 6.9 877 20270 done 0.63 - - 2386 - 2.60 0.086 2243 546.2 190.3 3.90 1.089 1963 -8.2 0.630 - - - - - - 14.57 14.47 13.76
20630 411.3 8.4 888 20634 roll 0.63 - - 2387 - 2.55 0.112 3640 547.8 190.3 - - 1970 - - - - - - - - 14.81 14.52 14.81
20678 406.6 9.7 895 20685 done 0.63 - - 2395 - 2.47 0.075 2245 -564.8 190.3 - - 1970 - - - - - - - - 14.66 14.57 14.69
21022 373.4 9.8 902 21027 roll 0.63 - - 2405 - 2.58 0.091 820 -552.3 190.3 - - 1969 - - - - - - - - 14.86 14.58 14.88
21084 367.3 9.5 911 21089 done 0.63 - - 2401 - 2.58 0.084 2243 551.6 190.3 - - 1969 - - - - - - - - 14.69 14.60 14.73
21414 333.8 10.3 923 21419 roll 0.63 - - 2405 - 2.55 0.112 3642 548.6 190.3 - - 1972 - - - - - - - - 14.90 14.60 14.91
21470 327.6 11.1 931 21474 done 0.63 - - 2415 - 2.47 0.075 2237 -568.8 190.3 - - 1969 - - - - - - - - 14.73 14.64 14.76
21806 293.2 10.2 944 21811 roll 0.63 - - 2423 - 2.55 0.089 822 -554.9 190.3 - - 1970 - - - - - - - - 14.91 14.62 14.92
21854 288.3 10.0 951 21861 done 0.63 - - 2424 - 2.60 0.084 2236 543.8 190.3 - - 1969 - - - - - - - - 14.69 14.62 14.73
22198 250.4 11.2 958 22203 roll 0.63 - - 2424 - 2.55 0.112 3639 550.2 190.3 - - 1969 - - - - - - - - 14.92 14.62 14.94
22295 238.7 11.5 972 22301 done 0.58 0.15 0.236 2389 -233.3 2.47 0.073 2257 -559.5 190.3 - - 1969 - - - - - - - - 14.51 14.66 14.64
22646 206.5 9.3 980 22651 roll 0.58 - - 2398 - 2.58 0.088 819 -557.4 190.3 - - 1969 - - - - - - - - 14.92 14.65 14.95
22708 200.6 9.2 989 22714 done 0.63 - - 2399 - 2.58 0.083 2248 553.9 190.3 - - 1969 - - - - - - - - 14.76 14.64 14.79
23038 169.8 9.3 1001 23043 roll 0.63 - - 2399 - 2.53 0.112 3648 553.4 190.3 - - 1969 - - - - - - - - 14.94 14.63 14.96
23128 160.6 9.9 1014 23133 done 0.63 - - 2407 - 2.42 0.073 2257 -574.8 190.3 - - 1969 - - - - - - - - 14.77 14.67 14.80
23486 127.9 9.1 1023 23490 roll 0.63 - - 2407 - 2.53 0.108 3639 546.2 190.3 - - 1970 - - - - - - - - 14.93 14.63 14.98
23527 123.8 10.3 1029 23533 done 0.63 - - 2418 - 2.40 0.072 2262 -573.8 190.3 - - 1969 - - - - - - - - 14.81 14.69 14.81
23850 96.8 7.8 1037 23855 roll 0.63 - - 2424 - 2.58 0.086 817 -560.1 190.3 - - 1970 - - - - - - - - 14.95 14.65 14.96
23934 91.8 5.8 1049 23967 done 0.70 - - 2424 - 2.58 0.080 2254 557.0 227.1 24.62 0.404 1816 -6.3 0.269 - - - - - - 14.77 14.66 14.37
24301 72.2 4.5 1068 24354 roll 0.82 0.12 0.131 2485 508.3 2.55 0.108 3634 541.2 294.3 43.47 0.350 1541 -6.3 0.247 - - - - - - 14.69 14.54 14.36
24433 63.0 6.6 1087 24451 done 0.83 - - 2495 - 2.45 0.068 2233 -571.8 311.5 12.98 0.304 1468 -5.6 0.221 - - - - - - 14.69 14.60 14.33
24777 43.3 5.1 1103 24821 roll 0.93 - - 2500 - 2.60 0.083 823 -542.3 364.8 34.50 0.261 1251 -6.3 0.198 - - - - - - 14.86 14.57 14.40
24931 35.8 5.7 1125 24962 done 1.17 0.22 0.133 2577 350.0 2.50 0.072 2235 564.8 403.7 26.38 0.235 1092 -6.0 0.174 - - - - - - 14.57 14.57 14.41
25274 10.6 8.2 1141 25278 roll 1.17 - - 2584 - 2.53 0.079 826 -556.9 403.7 - - 1095 - - - - - - - - 14.86 14.61 14.88
25365 end climb: SURFACE_DEPTH_REACHED
25365 begin surface coast
25397 end surface coast: CONTROL_FINISHED_OK
25397 begin surface
SM 0.87 - - - - -6.12 6.62 0.060 218 32.9 2.65 0.074 2288 668.7 500.17 59.08 0.132 698 11.8 -0.008 - - - - - -