SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 122 * Raw log
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• Previous call tries 1 • 55.11 of 350.00 AH used of 24V (84.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 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: 38 s
• GPS2 time: 21 s • Transponder ping count: 6
• 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 100 VBD -0.68 - - 218 - - - 2299 - -116.8 -84.28 - 2917 - - - - - - - - 14.74 - 14.78
104 5.1 -7.0 3 128 roll -0.68 8.77 0.426 1977 200.6 2.75 2.101 872 -518.9 -116.8 -5.18 - 3219 -58.3 - - - - - - - 14.28 13.47 14.60
331 77.6 -22.9 36 336 done -0.45 0.32 0.295 2046 215.6 2.47 0.070 2284 571.7 -116.8 - - 3221 - - - - - - - - 14.42 14.60 14.65
661 111.0 -8.7 48 666 roll -0.38 0.12 0.272 2070 200.0 2.42 0.081 3693 582.2 -116.8 - - 3224 - - - - - - - - 14.56 14.68 14.68
897 128.1 -6.8 82 903 done -0.38 - - 2070 - 2.35 0.047 2279 -601.7 -116.8 - - 3225 - - - - - - - - 14.79 14.76 14.81
1221 148.7 -6.5 93 1226 roll -0.38 - - 2061 - 2.47 0.090 3691 571.7 -116.8 - - 3225 - - - - - - - - 14.97 14.74 14.99
1324 156.5 -7.6 108 1331 done -0.38 - - 2062 - 2.30 0.049 2316 -597.8 -116.8 - - 3224 - - - - - - - - 14.82 14.79 14.83
1668 182.5 -7.5 115 1673 roll -0.38 - - 2062 - 2.42 0.062 895 -587.2 -116.8 - - 3222 - - - - - - - - 15.00 14.77 15.02
1724 186.8 -7.7 123 1729 done -0.38 - - 2056 - 2.47 0.073 2305 570.9 -116.8 - - 3221 - - - - - - - - 14.85 14.76 14.88
2060 211.4 -7.2 136 2065 roll -0.38 - - 2049 - 2.42 0.094 3695 574.4 -116.8 - - 3220 - - - - - - - - 15.03 14.76 15.03
2102 214.4 -7.2 142 2107 done -0.38 - - 2049 - 2.30 0.050 2299 -607.0 -116.8 - - 3219 - - - - - - - - 14.89 14.85 14.90
2453 239.7 -7.3 150 2457 roll -0.38 - - 2049 - 2.40 0.061 889 -587.5 -116.8 - - 3217 - - - - - - - - 15.02 14.77 15.03
2612 251.7 -7.4 173 2620 done -0.38 0.10 0.226 2074 250.0 2.50 0.072 2291 560.8 -116.8 - - 3216 - - - - - - - - 14.64 14.75 14.76
2957 272.8 -6.2 180 2957 done -0.38 - - 2073 - - - 2291 - -116.8 - - 3213 - - - - - - - - 15.02 15.04 15.04
3293 293.6 -6.2 186 3294 done -0.38 - - 2074 - - - 2291 - -116.8 - - 3210 - - - - - - - - 15.02 15.04 15.04
3628 314.0 -6.0 192 3629 done -0.38 - - 2074 - - - 2291 - -116.8 - - 3208 - - - - - - - - 15.03 15.04 15.04
3964 334.3 -6.0 198 3969 roll -0.38 - - 2074 - 2.42 0.060 886 -580.6 -116.8 - - 3206 - - - - - - - - 15.04 14.79 15.05
4027 338.3 -6.4 207 4032 done -0.43 - - 2069 - 2.47 0.075 2295 570.4 -116.8 - - 3206 - - - - - - - - 14.88 14.76 14.90
4356 357.8 -5.9 219 4357 done -0.43 - - 2068 - - - 2295 - -116.8 - - 3207 - - - - - - - - 15.03 15.05 15.04
4692 376.0 -5.4 225 4698 roll -0.43 - - 2063 - 2.47 0.101 3692 565.6 -116.8 - - 3201 - - - - - - - - 15.04 14.72 15.04
4720 377.6 -5.6 229 4726 done -0.43 - - 2063 - 2.35 0.057 2292 -595.7 -116.8 - - 3201 - - - - - - - - 14.88 14.82 14.90
5084 399.5 -6.2 239 5089 roll -0.43 - - 2063 - 2.42 0.068 888 -580.2 -116.8 - - 3199 - - - - - - - - 15.02 14.77 15.04
5188 406.6 -6.5 254 5195 done -0.43 - - 2058 - 2.53 0.078 2291 554.5 -116.8 - - 3199 - - - - - - - - 14.80 14.73 14.83
5533 429.4 -6.7 261 5538 roll -0.43 - - 2058 - 2.42 0.062 889 -579.3 -116.8 - - 3197 - - - - - - - - 15.02 14.75 15.04
5588 433.4 -7.1 269 5594 done -0.43 - - 2056 - 2.47 0.079 2285 565.2 -116.8 - - 3197 - - - - - - - - 14.85 14.74 14.88
5924 454.6 -6.2 282 5925 done -0.43 - - 2056 - - - 2285 - -116.8 - - 3195 - - - - - - - - 15.02 15.04 15.03
6261 475.0 -6.1 288 6266 roll -0.43 - - 2056 - 2.42 0.063 889 -576.9 -116.8 - - 3197 - - - - - - - - 15.01 14.76 15.04
6316 478.7 -6.8 296 6321 done -0.43 - - 2056 - 2.47 0.080 2281 563.6 -116.8 - - 3194 - - - - - - - - 14.85 14.73 14.88
6652 502.1 -7.1 309 6658 roll -0.43 - - 2051 - 2.53 0.104 3701 561.3 -116.8 - - 3193 - - - - - - - - 15.01 14.68 15.03
6709 506.5 -8.0 317 6714 done -0.43 - - 2051 - 2.40 0.061 2285 -590.0 -116.8 - - 3193 - - - - - - - - 14.86 14.79 14.88
7045 532.0 -7.5 330 7049 roll -0.43 - - 2051 - 2.42 0.069 881 -580.2 -116.8 - - 3192 - - - - - - - - 15.02 14.74 15.03
7157 540.5 -7.4 346 7161 done -0.43 - - 2047 - 2.50 0.080 2278 558.8 -116.8 - - 3191 - - - - - - - - 14.83 14.72 14.86
7493 562.5 -6.4 359 7498 roll -0.43 - - 2041 - 2.53 0.105 3693 559.3 -116.8 - - 3190 - - - - - - - - 15.00 14.71 15.02
7548 565.9 -6.3 367 7553 done -0.43 - - 2041 - 2.40 0.059 2271 -592.5 -116.8 - - 3189 - - - - - - - - 14.85 14.76 14.88
7885 585.3 -5.7 380 7890 roll -0.43 - - 2041 - 2.40 0.070 884 -577.9 -116.8 - - 3188 - - - - - - - - 15.01 14.71 15.02
7925 587.9 -6.3 386 7931 done -0.43 - - 2040 - 2.50 0.083 2279 558.0 -116.8 - - 3188 - - - - - - - - 14.83 14.71 14.85
8276 608.2 -5.7 394 8281 roll -0.43 - - 2030 - 2.53 0.106 3692 558.5 -116.8 - - 3187 - - - - - - - - 15.00 14.69 15.02
8318 610.7 -6.4 400 8323 done -0.43 0.12 0.245 2060 250.0 2.40 0.060 2274 -590.8 -116.8 - - 3187 - - - - - - - - 14.59 14.77 14.78
8669 628.5 -5.1 408 8673 roll -0.47 - - 2060 - 2.42 0.072 880 -576.0 -116.8 - - 3185 - - - - - - - - 15.00 14.72 15.00
8766 634.2 -5.9 422 8771 done -0.52 - - 2056 - 2.53 0.084 2274 551.0 -116.8 - - 3185 - - - - - - - - 14.83 14.70 14.85
9116 655.0 -6.1 430 9121 roll -0.52 - - 2049 - 2.55 0.109 3694 556.9 -116.8 - - 3185 - - - - - - - - 15.00 14.69 15.02
9151 657.3 -6.8 435 9156 done -0.57 - - 2050 - 2.42 0.060 2262 -591.7 -116.8 - - 3184 - - - - - - - - 14.84 14.77 14.86
9509 680.9 -6.7 444 9514 roll -0.57 0.12 0.147 1997 -441.7 2.40 0.068 878 -576.7 -116.8 - - 3183 - - - - - - - - 14.72 14.71 14.76
9598 688.9 -8.8 457 9605 done -0.57 - - 1995 - 2.53 0.086 2256 544.7 -116.8 - - 3183 - - - - - - - - 14.74 14.67 14.78
9956 719.6 -8.6 466 9961 roll -0.57 - - 1982 - 2.58 0.106 3693 557.0 -116.8 - - 3182 - - - - - - - - 14.99 14.66 15.02
9998 723.3 -9.1 472 10003 done -0.57 0.12 0.272 2012 250.0 2.45 0.063 2260 -584.9 -116.8 - - 3181 - - - - - - - - 14.52 14.74 14.75
10348 749.6 -7.4 480 10353 roll -0.57 - - 2013 - 2.40 0.070 878 -575.8 -116.8 - - 3182 - - - - - - - - 14.99 14.70 15.00
10396 753.6 -8.2 487 10403 done -0.57 - - 2011 - 2.55 0.087 2261 542.4 -116.8 - - 3181 - - - - - - - - 14.72 14.64 14.76
10741 778.7 -7.2 494 10746 roll -0.57 - - 2012 - 2.42 0.069 877 -571.9 -116.8 - - 3181 - - - - - - - - 14.98 14.69 15.00
10774 780.9 -7.7 499 10780 done -0.57 - - 2011 - 2.53 0.087 2269 550.2 -116.8 - - 3180 - - - - - - - - 14.78 14.65 14.82
11132 806.7 -7.3 508 11133 done -0.57 - - 2011 - - - 2272 - -116.8 - - 3179 - - - - - - - - 14.99 15.00 15.00
11469 830.9 -7.4 514 11470 done -0.57 - - 2011 - - - 2272 - -116.8 - - 3179 - - - - - - - - 14.98 15.00 15.00
11804 856.5 -7.7 520 11805 done -0.57 - - 2011 - - - 2272 - -116.8 - - 3178 - - - - - - - - 14.98 15.01 15.00
12140 881.7 -7.3 526 12145 roll -0.57 - - 2011 - 2.47 0.071 876 -565.2 -116.8 - - 3177 - - - - - - - - 14.98 14.68 15.00
12181 884.8 -4.7 532 12187 done -0.57 - - 2011 - 2.55 0.090 2274 548.2 -116.8 - - 3177 - - - - - - - - 14.78 14.65 14.81
12533 909.0 -6.8 540 12538 roll -0.57 - - 2001 - 2.58 0.110 3693 550.0 -116.8 - - 3176 - - - - - - - - 14.97 14.64 15.00
12581 912.4 -6.2 547 12587 done -0.57 - - 2001 - 2.47 0.064 2254 -582.6 -116.8 - - 3176 - - - - - - - - 14.81 14.72 14.83
12924 935.8 -6.7 554 12929 roll -0.57 - - 2001 - 2.42 0.073 884 -566.1 -116.8 - - 3175 - - - - - - - - 14.97 14.66 14.99
12981 939.8 -5.2 562 12986 done -0.57 - - 1999 - 2.53 0.088 2270 547.8 -116.8 - - 3175 - - - - - - - - 14.76 14.63 14.80
13316 964.5 -7.2 575 13321 roll -0.57 - - 1999 - 2.45 0.067 880 -567.3 -116.8 - - 3174 - - - - - - - - 14.97 14.66 14.99
13358 967.8 -5.9 581 13364 done -0.57 - - 1999 - 2.53 0.090 2260 545.5 -116.8 - - 3175 - - - - - - - - 14.76 14.62 14.79
13649 end dive: TARGET_DEPTH_EXCEEDED
13649 begin apogee
13656 991.3 -8.1 588 13807 roll -0.19 0.50 0.243 2133 268.0 - - 2260 - - 143.88 2.568 2739 -3.0 0.222 - - - - 1 - 14.45 13.87 12.94
13809 end apogee: CONTROL_FINISHED_OK
13809 begin climb
13813 996.5 - 590 13976 done 0.68 0.90 0.153 2408 305.6 - - 2264 - 116.8 154.15 1.956 2253 -3.2 0.304 - - - - - - 13.86 14.09 13.12
14327 953.2 10.1 628 14331 roll 0.62 - - 2405 - 2.60 0.117 3647 531.9 116.8 - - 2235 - - - - - - - - 14.60 14.33 14.62
14347 951.4 9.6 631 14353 done 0.55 0.12 0.269 2385 -166.7 2.55 0.083 2260 -543.9 116.8 - - 2234 - - - - 1 - - - 14.23 14.36 14.47
14663 920.5 9.5 641 14669 roll 0.55 - - 2395 - 2.65 0.097 819 -543.8 116.8 - - 2233 - - - - - - - - 14.75 14.48 14.77
14718 915.1 11.6 649 14724 done 0.55 - - 2395 - 2.60 0.091 2228 541.9 116.8 - - 2232 - - - - - - - - 14.62 14.50 14.64
15055 879.5 10.7 662 15060 roll 0.55 - - 2401 - 2.60 0.119 3640 543.1 116.8 - - 2231 - - - - - - - - 14.84 14.52 14.85
15152 867.7 11.3 676 15158 done 0.49 0.15 0.253 2363 -253.3 2.53 0.081 2242 -552.6 116.8 - - 2230 - - - - 1 - - - 14.42 14.57 14.57
15502 834.8 9.2 684 15507 roll 0.49 - - 2373 - 2.60 0.096 817 -548.1 116.8 - - 2230 - - - - - - - - 14.88 14.59 14.90
15544 831.0 10.7 690 15549 done 0.49 - - 2373 - 2.60 0.090 2239 546.9 116.8 - - 2230 - - - - - - - - 14.71 14.59 14.75
15895 798.3 9.2 698 15900 roll 0.49 - - 2374 - 2.58 0.116 3647 545.7 116.8 - - 2229 - - - - - - - - 14.90 14.59 14.92
15978 789.9 9.5 710 15984 done 0.49 - - 2383 - 2.53 0.081 2222 -563.2 116.8 - - 2228 - - - - - - - - 14.76 14.64 14.78
16343 759.0 8.3 720 16348 roll 0.49 - - 2394 - 2.55 0.099 825 -547.8 116.8 - - 2228 - - - - - - - - 14.91 14.62 14.93
16405 753.6 9.0 729 16411 done 0.49 0.15 0.267 2360 -226.7 2.60 0.090 2252 548.8 116.8 - - 2228 - - - - - - - - 14.48 14.62 14.72
16735 731.0 6.9 741 16741 roll 0.49 - - 2360 - 2.55 0.119 3641 544.7 126.1 - - 2228 - - - - - - - - 14.92 14.59 14.95
16762 728.7 8.1 745 16768 done 0.49 - - 2368 - 2.47 0.080 2241 -566.8 126.1 - - 2227 - - - - - - - - 14.76 14.65 14.78
17127 699.3 8.2 755 17131 roll 0.49 - - 2378 - 2.58 0.096 815 -552.7 126.1 - - 2226 - - - - - - - - 14.92 14.62 14.94
17175 695.1 8.7 762 17181 done 0.49 - - 2378 - 2.62 0.088 2236 542.4 126.1 - - 2227 - - - - - - - - 14.68 14.60 14.78
17519 663.0 9.5 769 17525 roll 0.49 - - 2379 - 2.58 0.118 3641 544.6 126.1 - - 2227 - - - - - - - - 14.93 14.61 14.95
17616 652.9 10.0 783 17621 done 0.49 - - 2388 - 2.50 0.080 2256 -554.0 126.1 - - 2227 - - - - - - - - 14.78 14.63 14.81
17966 620.6 9.1 791 17971 roll 0.49 - - 2397 - 2.60 0.097 820 -552.3 126.1 - - 2227 - - - - - - - - 14.93 14.62 14.95
18036 614.7 8.3 801 18042 done 0.49 0.15 0.260 2363 -226.7 2.60 0.089 2252 550.8 126.1 - - 2226 - - - - - - - - 14.49 14.62 14.71
18359 592.2 6.9 812 18384 roll 0.50 - - 2363 - 2.62 0.120 3638 529.0 136.7 17.98 1.658 2172 -3.0 0.203 - - - - - - 14.93 14.58 14.00
18442 585.9 7.9 824 18447 done 0.50 - - 2372 - 2.42 0.078 2258 -570.2 136.7 - - 2167 - - - - 1 - - - 14.69 14.59 14.71
18806 558.7 7.7 834 18811 roll 0.50 - - 2381 - 2.62 0.095 817 -550.0 136.7 - - 2162 - - - - - - - - 14.86 14.57 14.88
18882 552.8 7.5 845 18889 done 0.50 - - 2382 - 2.62 0.089 2259 550.4 136.7 - - 2163 - - - - - - - - 14.71 14.59 14.74
19199 526.9 8.3 855 19204 roll 0.50 - - 2381 - 2.55 0.117 3649 545.1 136.7 - - 2163 - - - - - - - - 14.89 14.59 14.90
19260 521.0 9.3 864 19266 done 0.50 - - 2391 - 2.50 0.081 2265 -553.6 136.7 - - 2162 - - - - - - - - 14.67 14.61 14.71
19591 491.4 9.1 876 19596 roll 0.50 - - 2400 - 2.62 0.094 816 -553.1 136.7 - - 2162 - - - - - - - - 14.91 14.60 14.92
19667 484.6 8.8 887 19672 done 0.50 0.15 0.250 2365 -233.3 2.62 0.088 2259 550.8 136.7 - - 2162 - - - - - - - - 14.50 14.62 14.72
19983 459.1 8.1 897 19988 roll 0.50 - - 2365 - 2.53 0.116 3639 545.5 136.7 - - 2162 - - - - - - - - 14.92 14.59 14.94
20023 455.3 9.4 903 20029 done 0.50 - - 2374 - 2.47 0.076 2259 -558.7 136.7 - - 2162 - - - - - - - - 14.69 14.63 14.73
20375 425.5 8.5 911 20380 roll 0.50 - - 2384 - 2.60 0.093 820 -553.5 136.7 - - 2162 - - - - - - - - 14.92 14.62 14.94
20436 420.3 8.1 920 20442 done 0.50 - - 2384 - 2.62 0.087 2265 551.5 136.7 - - 2162 - - - - - - - - 14.75 14.62 14.78
20766 393.0 8.2 932 20771 roll 0.50 - - 2384 - 2.53 0.113 3644 545.1 136.7 - - 2162 - - - - - - - - 14.92 14.60 14.95
20808 389.3 9.1 938 20813 done 0.50 0.12 0.269 2365 -158.3 2.45 0.076 2258 -565.7 136.7 - - 2162 - - - - - - - - 14.50 14.65 14.73
21159 365.8 6.6 946 21185 roll 0.51 - - 2376 - 2.67 0.091 818 -539.3 153.1 17.77 1.407 2105 -3.2 0.158 - - - - - - 14.92 14.60 14.09
21228 361.1 6.7 956 21248 done 0.57 - - 2376 - 2.62 0.086 2264 551.9 167.3 14.88 1.427 2058 -3.2 0.152 - - - - - - 14.69 14.58 13.98
21607 333.7 7.2 968 21611 roll 0.57 - - 2376 - 2.53 0.110 3640 543.9 169.5 - - 2040 - - - - - - - - 14.83 14.54 14.85
21676 327.9 8.2 978 21681 done 0.57 - - 2385 - 2.47 0.073 2236 -568.4 169.5 - - 2039 - - - - - - - - 14.68 14.58 14.71
21999 303.0 7.8 989 22005 roll 0.57 - - 2395 - 2.55 0.086 822 -554.5 169.5 - - 2039 - - - - - - - - 14.88 14.59 14.89
22061 298.2 7.4 998 22066 done 0.57 - - 2394 - 2.58 0.079 2251 553.9 169.5 - - 2038 - - - - - - - - 14.71 14.60 14.74
22391 269.9 8.8 1010 22396 roll 0.57 - - 2394 - 2.55 0.111 3647 547.5 169.5 - - 2038 - - - - - - - - 14.90 14.59 14.91
22439 265.1 10.0 1017 22446 done 0.57 - - 2403 - 2.47 0.073 2259 -561.9 169.5 - - 2037 - - - - - - - - 14.73 14.62 14.77
22783 230.5 10.3 1024 22787 roll 0.57 - - 2413 - 2.58 0.086 822 -557.0 169.5 - - 2038 - - - - - - - - 14.91 14.63 14.93
22838 224.9 9.7 1032 22843 done 0.57 - - 2413 - 2.58 0.081 2254 555.0 169.5 - - 2038 - - - - - - - - 14.74 14.63 14.78
23175 191.0 10.0 1045 23180 roll 0.57 - - 2413 - 2.53 0.111 3641 548.2 169.5 - - 2037 - - - - - - - - 14.93 14.62 14.95
23243 183.5 10.5 1055 23249 done 0.57 0.10 0.236 2392 -210.0 2.47 0.072 2255 -561.1 169.5 - - 2038 - - - - - - - - 14.50 14.65 14.64
23567 156.4 8.3 1066 23572 roll 0.57 - - 2401 - 2.58 0.088 822 -555.4 169.5 - - 2038 - - - - - - - - 14.93 14.64 14.95
23608 152.9 8.3 1072 23613 done 0.57 - - 2401 - 2.58 0.080 2257 556.2 169.5 - - 2037 - - - - - - - - 14.76 14.65 14.80
23958 123.1 8.6 1080 23963 roll 0.57 - - 2401 - 2.50 0.109 3638 552.4 169.5 - - 2041 - - - - - - - - 14.95 14.63 14.96
24021 117.4 9.0 1089 24027 done 0.57 - - 2410 - 2.40 0.069 2256 -575.8 169.5 - - 2037 - - - - - - - - 14.78 14.68 14.81
24351 92.4 6.3 1103 24370 roll 0.59 - - 2419 - 2.58 0.084 813 -559.3 194.2 14.12 0.389 1955 -5.8 0.261 - - - - - - 14.93 14.59 14.36
24435 87.9 5.2 1115 24474 done 0.67 - - 2419 - 2.58 0.080 2246 555.4 246.0 33.88 0.405 1737 -6.4 0.265 - - - - - - 14.74 14.66 14.34
24802 67.6 4.9 1134 24846 roll 0.80 0.12 0.134 2478 491.7 2.53 0.104 3641 551.4 304.3 38.30 0.337 1500 -6.2 0.235 - - - - - - 14.66 14.54 14.34
24952 56.7 7.0 1156 24967 done 0.86 - - 2487 - 2.45 0.068 2236 -573.5 312.8 7.12 0.269 1465 -4.9 0.196 - - - - - - 14.68 14.59 14.34
25275 37.9 5.7 1169 25308 roll 0.96 - - 2487 - 2.58 0.080 819 -549.2 350.9 25.33 0.243 1308 -6.2 0.183 - - - - - - 14.84 14.54 14.42
25396 31.3 6.1 1186 25421 done 1.18 0.28 0.097 2596 389.3 2.50 0.066 2236 566.8 379.3 19.42 0.222 1192 -6.0 0.160 - - - - - - 14.63 14.60 14.43
25750 end climb: SURFACE_DEPTH_REACHED
25750 begin surface coast
25775 end surface coast: CONTROL_FINISHED_OK
25775 begin surface
SM 0.86 - - - - -6.14 6.80 0.076 219 32.2 - - 2246 - 500.17 72.70 0.134 701 9.6 -0.006 - - - - - -