SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 3 • 56.97 of 350.00 AH used of 24V (83.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 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: 41 s
• GPS2 time: 18 s • Transponder ping count: 12
• 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
14 - - - 100 VBD -0.68 - - 215 - - - 2273 - -116.8 -84.53 - 2876 - - - - - - - - 14.75 - 14.76
104 4.3 -5.7 3 128 roll -0.68 8.70 0.420 1982 203.1 2.70 2.092 869 -520.0 -116.8 -6.25 - 3220 -55.0 - - - - - - - 14.26 13.47 14.59
184 34.2 -28.3 15 189 done -0.45 0.30 0.296 2040 193.3 2.47 0.069 2283 572.5 -116.8 - - 3222 - - - - - - - - 14.37 14.54 14.59
520 93.8 -11.8 30 525 roll -0.35 0.12 0.274 2068 233.3 2.45 0.082 3702 579.2 -116.8 - - 3223 - - - - - - - - 14.52 14.64 14.64
744 111.3 -8.4 62 749 done -0.35 - - 2068 - 2.40 0.049 2253 -603.8 -116.8 - - 3225 - - - - - - - - 14.80 14.73 14.81
1081 133.6 -6.4 75 1085 roll -0.35 - - 2067 - 2.33 0.061 889 -585.4 -116.8 - - 3225 - - - - - - - - 14.97 14.75 14.98
1114 136.2 -7.9 80 1120 done -0.35 - - 2068 - 2.45 0.069 2274 565.3 -116.8 - - 3225 - - - - - - - - 14.78 14.73 14.81
1473 160.9 -6.9 89 1478 roll -0.35 - - 2059 - 2.47 0.089 3701 577.7 -116.8 - - 3224 - - - - - - - - 15.00 14.74 15.02
1514 163.8 -6.9 95 1519 done -0.35 - - 2059 - 2.35 0.050 2278 -605.5 -116.8 - - 3224 - - - - - - - - 14.87 14.81 14.88
1864 187.9 -6.9 103 1869 roll -0.35 - - 2059 - 2.38 0.063 885 -585.3 -116.8 - - 3221 - - - - - - - - 15.01 14.78 15.02
1941 193.6 -7.3 114 1946 done -0.35 0.12 0.263 2085 216.7 2.42 0.070 2279 576.0 -116.8 - - 3220 - - - - - - - - 14.65 14.77 14.83
2256 212.3 -5.9 124 2257 done -0.40 - - 2086 - - - 2280 - -116.8 - - 3219 - - - - - - - - 15.02 15.04 15.04
2593 232.3 -5.9 130 2597 roll -0.45 - - 2085 - 2.42 0.061 877 -579.8 -116.8 - - 3216 - - - - - - - - 15.02 14.78 15.04
2627 234.5 -6.4 135 2632 done -0.51 0.15 0.124 2018 -446.7 2.45 0.070 2279 572.2 -116.8 - - 3218 - - - - - - - - 14.81 14.77 14.88
2984 266.3 -9.3 144 2985 done -0.51 - - 2018 - - - 2280 - -116.8 - - 3212 - - - - - - - - 15.02 15.04 15.02
3321 297.8 -9.3 150 3325 roll -0.51 - - 2010 - 2.47 0.094 3690 570.9 -116.8 - - 3209 - - - - - - - - 15.02 14.76 15.07
3377 303.2 -9.7 158 3381 done -0.51 - - 2010 - 2.35 0.053 2283 -598.7 -116.8 - - 3207 - - - - - - - - 14.89 14.81 14.93
3712 334.4 -9.3 171 3717 roll -0.51 - - 2010 - 2.40 0.063 878 -585.4 -116.8 - - 3207 - - - - - - - - 15.03 14.78 15.05
3809 343.6 -9.3 185 3816 done -0.51 0.08 0.249 2026 200.0 2.47 0.076 2267 562.3 -116.8 - - 3206 - - - - 1 - - - 14.59 14.73 14.73
4160 373.6 -8.6 193 4161 done -0.51 - - 2025 - - - 2268 - -116.8 - - 3204 - - - - - - - - 15.03 15.05 15.05
4496 402.5 -8.7 199 4501 roll -0.51 - - 2026 - 2.38 0.060 887 -580.3 -116.8 - - 3200 - - - - - - - - 15.02 14.78 15.04
4530 405.7 -9.4 204 4536 done -0.51 - - 2026 - 2.50 0.076 2278 556.4 -116.8 - - 3201 - - - - - - - - 14.89 14.73 14.90
4889 435.0 -8.0 213 4890 done -0.51 - - 2025 - - - 2278 - -116.8 - - 3200 - - - - - - - - 15.02 15.04 15.04
5224 459.5 -7.1 219 5229 roll -0.51 - - 2025 - 2.42 0.065 885 -575.6 -116.8 - - 3198 - - - - - - - - 15.04 14.75 15.04
5293 464.5 -6.9 229 5299 done -0.51 - - 2017 - 2.45 0.074 2272 566.1 -116.8 - - 3196 - - - - - - - - 14.85 14.74 14.88
5617 487.1 -7.0 240 5622 roll -0.51 - - 2010 - 2.53 0.101 3699 564.0 -116.8 - - 3195 - - - - - - - - 15.02 14.69 15.04
5685 492.3 -7.6 250 5691 done -0.51 - - 2010 - 2.42 0.057 2282 -585.5 -116.8 - - 3194 - - - - - - - - 14.88 14.78 14.89
6009 515.5 -7.2 261 6014 roll -0.51 - - 2010 - 2.42 0.067 874 -581.8 -116.8 - - 3191 - - - - - - - - 15.01 14.76 15.04
6133 524.7 -7.1 279 6139 done -0.51 0.12 0.287 2033 191.7 2.50 0.081 2268 557.6 -116.8 - - 3193 - - - - - - - - 14.57 14.71 14.79
6457 545.4 -6.6 290 6461 roll -0.51 - - 2023 - 2.53 0.102 3692 562.8 -116.8 - - 3192 - - - - - - - - 15.01 14.71 15.03
6561 553.3 -7.7 305 6568 done -0.51 - - 2023 - 2.42 0.060 2256 -593.4 -116.8 - - 3191 - - - - - - - - 14.85 14.77 14.87
6904 579.6 -7.7 312 6909 roll -0.51 - - 2023 - 2.38 0.069 889 -574.4 -116.8 - - 3190 - - - - - - - - 15.02 14.73 15.03
6980 586.1 -8.4 323 6986 done -0.51 - - 2019 - 2.47 0.080 2254 552.6 -116.8 - - 3188 - - - - - - - - 14.76 14.69 14.81
7297 612.8 -8.6 333 7302 roll -0.51 - - 2019 - 2.38 0.067 894 -571.4 -116.8 - - 3188 - - - - - - - - 15.01 14.73 15.03
7337 616.6 -9.3 339 7343 done -0.51 - - 2015 - 2.47 0.080 2250 549.0 -116.8 - - 3188 - - - - - - - - 14.71 14.64 14.76
7688 645.7 -8.1 347 7693 roll -0.51 - - 2010 - 2.60 0.106 3699 557.3 -116.8 - - 3186 - - - - - - - - 15.00 14.68 15.02
7800 654.8 -8.1 363 7805 done -0.51 - - 2010 - 2.42 0.061 2265 -592.6 -116.8 - - 3186 - - - - - - - - 14.85 14.77 14.87
8136 680.3 -7.5 376 8141 roll -0.51 - - 2010 - 2.42 0.070 877 -573.6 -116.8 - - 3184 - - - - - - - - 15.00 14.71 15.02
8241 688.5 -7.7 391 8247 done -0.51 - - 2009 - 2.53 0.086 2255 544.7 -116.8 - - 3184 - - - - - - - - 14.74 14.66 14.79
8584 714.9 -7.8 398 8589 roll -0.51 - - 1999 - 2.60 0.107 3697 554.6 -116.8 - - 3183 - - - - - - - - 15.00 14.66 15.02
8674 723.1 -9.3 411 8680 done -0.51 0.05 0.244 2031 640.0 2.50 0.061 2258 -575.6 -116.8 - - 3182 - - - - - - - - 14.52 14.72 14.75
9033 752.2 -8.2 420 9037 roll -0.51 - - 2029 - 2.40 0.070 877 -575.4 -116.8 - - 3181 - - - - - - - - 14.99 14.70 15.02
9129 760.7 -8.6 434 9135 done -0.51 - - 2026 - 2.50 0.084 2242 546.0 -116.8 - - 3185 - - - - - - - - 14.73 14.65 14.84
9480 789.2 -8.0 442 9485 roll -0.51 - - 2017 - 2.60 0.106 3693 558.1 -116.8 - - 3181 - - - - - - - - 14.99 14.65 15.01
9556 795.3 -8.1 453 9563 done -0.51 - - 2017 - 2.47 0.064 2237 -589.5 -116.8 - - 3179 - - - - - - - - 14.81 14.73 14.83
9873 819.3 -7.5 463 9877 roll -0.51 - - 2017 - 2.38 0.074 886 -567.6 -116.8 - - 3179 - - - - - - - - 14.98 14.69 15.00
9928 823.6 -7.9 471 9933 done -0.51 - - 2015 - 2.47 0.085 2254 553.8 -116.8 - - 3179 - - - - - - - - 14.79 14.66 14.82
10265 849.1 -7.6 484 10269 roll -0.51 - - 2010 - 2.60 0.111 3692 553.1 -116.8 - - 3178 - - - - - - - - 14.98 14.63 15.00
10305 852.1 -7.3 490 10311 done -0.51 - - 2010 - 2.47 0.064 2245 -585.8 -116.8 - - 3178 - - - - - - - - 14.81 14.71 14.83
10657 877.6 -7.2 498 10662 roll -0.51 - - 2010 - 2.40 0.075 877 -570.0 -116.8 - - 3176 - - - - - - - - 14.97 14.66 14.99
10733 883.3 -7.4 509 10739 done -0.51 - - 2006 - 2.50 0.087 2253 550.4 -116.8 - - 3177 - - - - - - - - 14.78 14.64 14.81
11048 905.6 -7.1 519 11053 roll -0.51 - - 1999 - 2.62 0.112 3697 551.1 -116.8 - - 3176 - - - - - - - - 14.98 14.62 15.00
11105 909.5 -6.4 527 11110 done -0.51 0.15 0.253 2035 240.0 2.47 0.064 2255 -583.8 -116.8 - - 3175 - - - - - - - - 14.46 14.71 14.71
11440 928.9 -5.7 540 11445 roll -0.51 - - 2035 - 2.42 0.077 875 -570.2 -116.8 - - 3175 - - - - - - - - 14.97 14.65 14.98
11510 933.3 -3.3 550 11515 done -0.51 - - 2029 - 2.50 0.086 2250 550.0 -116.8 - - 3175 - - - - - - - - 14.78 14.64 14.81
11833 953.4 -6.3 561 11838 roll -0.51 - - 2020 - 2.62 0.114 3692 550.4 -116.8 - - 3177 - - - - - - - - 14.96 14.61 14.98
11880 956.8 -3.8 568 11887 done -0.51 - - 2021 - 2.53 0.067 2247 -571.1 -116.8 - - 3174 - - - - - - - - 14.72 14.67 14.75
12224 981.0 -7.1 575 12229 roll -0.51 - - 2021 - 2.42 0.080 880 -564.9 -116.8 - - 3173 - - - - - - - - 14.96 14.64 14.97
12287 985.9 -5.4 584 12292 done -0.51 - - 2015 - 2.50 0.089 2251 548.4 -116.8 - - 3172 - - - - - - - - 14.71 14.58 14.75
12333 end dive: TARGET_DEPTH_EXCEEDED
12333 begin apogee
12340 990.3 -7.4 591 12488 roll -0.19 0.43 0.232 2131 269.8 - - 2251 - - 140.40 2.535 2741 -3.1 0.227 - - - - 1 - 14.46 13.89 12.97
12490 end apogee: CONTROL_FINISHED_OK
12490 begin climb
12493 994.5 - 593 12654 done 0.68 0.93 0.151 2413 303.2 - - 2250 - 116.8 152.57 1.952 2264 -3.1 0.301 - - - - - - 13.88 14.10 13.14
13004 950.0 10.2 630 13009 roll 0.61 - - 2413 - 2.62 0.119 3646 532.8 116.8 - - 2238 - - - - - - - - 14.62 14.34 14.64
13032 947.6 8.1 634 13038 done 0.53 0.20 0.298 2377 -180.0 2.55 0.084 2239 -551.8 116.8 - - 2236 - - - - - - - - 14.23 14.39 14.47
13396 915.7 8.4 644 13401 roll 0.53 - - 2388 - 2.62 0.097 814 -543.9 116.8 - - 2235 - - - - - - - - 14.78 14.47 14.80
13444 911.6 8.3 651 13451 done 0.53 - - 2388 - 2.65 0.091 2224 532.1 116.8 - - 2233 - - - - - - - - 14.57 14.50 14.62
13788 881.6 8.7 658 13794 roll 0.53 - - 2388 - 2.62 0.119 3644 542.0 116.8 - - 2232 - - - - - - - - 14.85 14.55 14.88
13857 874.2 10.3 668 13863 done 0.48 0.17 0.275 2358 -176.5 2.50 0.083 2229 -566.0 116.8 - - 2232 - - - - 1 - - - 14.44 14.59 14.67
14180 848.5 7.9 679 14184 roll 0.48 - - 2369 - 2.58 0.099 821 -545.7 116.8 - - 2232 - - - - - - - - 14.88 14.59 14.91
14256 842.4 7.7 690 14262 done 0.48 - - 2366 - 2.58 0.089 2236 548.4 116.8 - - 2230 - - - - - - - - 14.71 14.59 14.75
14572 815.2 8.8 700 14577 roll 0.48 - - 2368 - 2.60 0.118 3647 542.7 116.8 - - 2230 - - - - - - - - 14.90 14.61 14.92
14634 808.6 11.3 709 14639 done 0.48 - - 2378 - 2.50 0.082 2234 -565.2 116.8 - - 2230 - - - - - - - - 14.74 14.64 14.77
14964 775.7 10.0 721 14969 roll 0.48 - - 2389 - 2.58 0.097 820 -548.1 116.8 - - 2230 - - - - - - - - 14.91 14.60 14.93
15005 771.5 10.1 727 15011 done 0.48 0.10 0.239 2360 -290.0 2.62 0.089 2234 539.7 116.8 - - 2229 - - - - - - - - 14.46 14.59 14.61
15356 740.2 8.8 735 15361 roll 0.48 - - 2360 - 2.58 0.119 3641 545.3 116.8 - - 2229 - - - - - - - - 14.92 14.59 14.94
15468 729.9 9.1 751 15473 done 0.48 - - 2367 - 2.50 0.081 2232 -563.6 116.8 - - 2229 - - - - - - - - 14.75 14.64 14.78
15804 703.0 7.9 764 15805 done 0.48 - - 2370 - - - 2232 - 116.8 - - 2228 - - - - - - - - 14.94 14.95 14.95
16141 677.9 7.5 770 16146 roll 0.48 - - 2378 - 2.58 0.098 817 -548.4 116.8 - - 2229 - - - - - - - - 14.93 14.61 14.95
16196 673.7 7.4 778 16201 done 0.48 - - 2378 - 2.62 0.089 2253 548.1 116.8 - - 2228 - - - - - - - - 14.75 14.62 14.78
16532 646.3 8.3 791 16537 roll 0.48 - - 2378 - 2.55 0.119 3643 545.1 116.8 - - 2228 - - - - - - - - 14.93 14.59 14.95
16608 639.2 9.1 802 16615 done 0.48 0.15 0.265 2354 -160.0 2.47 0.080 2248 -564.8 116.8 - - 2228 - - - - - - - - 14.47 14.64 14.71
16924 617.4 6.8 812 16935 roll 0.48 - - 2364 - 2.65 0.097 820 -538.9 128.6 3.20 1.014 2215 -4.1 0.468 - - - - - - 14.94 14.68 13.82
17001 612.2 6.6 823 17035 done 0.54 - - 2364 - 2.60 0.086 2251 550.4 146.0 28.88 1.662 2140 -2.6 0.181 - - - - - - 14.75 14.62 13.93
17372 584.4 7.6 834 17378 roll 0.54 - - 2364 - 2.58 0.117 3650 542.2 146.0 - - 2128 - - - - - - - - 14.81 14.52 14.83
17484 574.9 8.5 850 17489 done 0.54 - - 2373 - 2.47 0.080 2256 -564.4 146.0 - - 2124 - - - - - - - - 14.66 14.57 14.70
17820 547.6 8.2 863 17825 roll 0.54 - - 2382 - 2.62 0.094 820 -548.1 146.0 - - 2124 - - - - - - - - 14.86 14.57 14.88
17868 543.5 8.3 870 17876 done 0.54 - - 2382 - 2.65 0.086 2251 540.0 146.0 - - 2123 - - - - - - - - 14.64 14.56 14.66
18212 512.3 9.3 877 18217 roll 0.54 - - 2382 - 2.55 0.117 3645 546.7 146.0 - - 2123 - - - - - - - - 14.90 14.57 14.91
18275 505.8 10.4 886 18280 done 0.54 - - 2392 - 2.45 0.080 2259 -565.7 146.0 - - 2123 - - - - - - - - 14.73 14.62 14.76
18604 474.2 9.5 898 18610 roll 0.54 - - 2401 - 2.60 0.093 820 -553.5 146.0 - - 2123 - - - - - - - - 14.90 14.59 14.92
18652 469.7 9.2 905 18659 done 0.54 - - 2402 - 2.65 0.087 2256 541.9 146.0 - - 2122 - - - - - - - - 14.66 14.58 14.71
18996 438.0 9.2 912 19001 roll 0.54 - - 2401 - 2.53 0.116 3639 546.6 146.0 - - 2122 - - - - - - - - 14.92 14.57 14.93
19058 431.4 10.5 921 19063 done 0.54 0.08 0.249 2376 -312.5 2.47 0.076 2260 -558.3 146.0 - - 2122 - - - - - - - - 14.48 14.62 14.71
19388 404.6 8.2 933 19393 roll 0.54 - - 2385 - 2.60 0.091 814 -556.2 146.0 - - 2122 - - - - - - - - 14.91 14.62 14.93
19444 399.9 8.2 941 19448 done 0.54 - - 2385 - 2.62 0.086 2261 552.3 146.0 - - 2122 - - - - - - - - 14.74 14.62 14.78
19780 370.3 8.8 954 19786 roll 0.54 - - 2386 - 2.53 0.113 3640 545.1 146.0 - - 2122 - - - - - - - - 14.93 14.59 14.95
19821 366.3 9.5 960 19827 done 0.54 - - 2395 - 2.50 0.075 2220 -568.0 146.0 - - 2122 - - - - - - - - 14.76 14.64 14.78
20172 337.7 8.0 968 20176 roll 0.54 - - 2405 - 2.53 0.090 823 -552.2 146.0 - - 2122 - - - - - - - - 14.93 14.62 14.95
20220 334.2 7.2 975 20227 done 0.54 - - 2405 - 2.62 0.085 2262 549.2 149.4 - - 2122 - - - - - - - - 14.74 14.62 14.78
20564 307.1 8.0 982 20570 roll 0.54 - - 2405 - 2.50 0.112 3640 551.2 149.4 - - 2122 - - - - - - - - 14.93 14.60 14.95
20640 299.9 9.2 993 20646 done 0.54 0.15 0.263 2379 -173.3 2.42 0.072 2257 -571.5 149.4 - - 2122 - - - - - - - - 14.49 14.66 14.72
20956 275.9 7.8 1003 20961 roll 0.54 - - 2388 - 2.60 0.090 824 -551.2 149.4 - - 2122 - - - - - - - - 14.94 14.59 14.95
20990 273.0 8.0 1008 20995 done 0.54 - - 2387 - 2.62 0.084 2272 552.7 149.4 - - 2122 - - - - - - - - 14.75 14.62 14.78
21348 240.3 9.4 1017 21353 roll 0.54 - - 2388 - 2.50 0.112 3647 550.0 149.4 - - 2122 - - - - - - - - 14.94 14.59 14.96
21410 233.7 10.4 1026 21416 done 0.54 - - 2396 - 2.47 0.074 2259 -561.9 149.4 - - 2122 - - - - - - - - 14.69 14.63 14.73
21741 203.0 9.2 1038 21746 roll 0.54 - - 2405 - 2.60 0.086 820 -553.5 149.4 - - 2122 - - - - - - - - 14.93 14.62 14.95
21809 196.7 8.9 1048 21815 done 0.54 0.12 0.252 2377 -233.3 2.60 0.080 2265 555.8 149.4 - - 2122 - - - - - - - - 14.50 14.63 14.71
22132 173.1 7.1 1059 22143 roll 0.55 - - 2377 - 2.50 0.107 3647 552.8 155.4 2.88 0.701 2106 -5.6 0.259 - - - - - - 14.93 14.57 13.92
22230 166.2 6.8 1073 22256 done 0.55 - - 2385 - 2.40 0.071 2267 -575.0 168.2 21.55 1.249 2052 -2.5 0.063 - - - - - - 14.77 14.67 14.10
22580 141.4 7.6 1088 22585 roll 0.55 - - 2392 - 2.60 0.086 824 -555.0 168.2 - - 2035 - - - - - - - - 14.86 14.58 14.88
22678 134.2 6.9 1102 22691 done 0.62 - - 2392 - 2.60 0.079 2269 555.8 179.5 4.47 1.030 2009 -5.8 0.143 - - - - - - 14.71 14.59 13.92
23028 110.0 6.9 1110 23041 roll 0.63 - - 2392 - 2.55 0.106 3638 536.9 189.4 8.20 0.407 1969 -4.9 0.249 - - - - - - 14.90 14.59 14.28
23136 102.5 7.6 1125 23142 done 0.67 - - 2399 - 2.40 0.067 2270 -570.0 189.4 1.90 0.197 1968 - - - - - - - - 14.70 14.62 14.50
23475 82.5 5.1 1143 23518 roll 0.78 0.12 0.131 2462 525.0 2.58 0.104 3641 531.4 242.7 35.55 0.394 1752 -6.1 0.241 - - - - - - 14.66 14.54 14.33
23667 69.6 6.5 1171 23687 done 0.79 - - 2470 - 2.33 0.066 2310 -571.2 263.2 14.38 0.337 1666 -6.0 0.234 - - - - - - 14.70 14.62 14.33
24007 51.6 5.0 1186 24050 roll 0.90 - - 2475 - 2.65 0.079 825 -560.4 319.8 37.33 0.293 1436 -6.2 0.205 - - - - - - 14.87 14.56 14.37
24125 46.0 4.9 1203 24171 done 1.07 0.20 0.098 2569 470.0 2.62 0.070 2313 567.9 377.1 37.42 0.275 1204 -6.2 0.196 - - - - - - 14.63 14.57 14.33
24483 17.3 8.2 1221 24487 roll 1.07 - - 2570 - 2.38 0.099 3642 558.4 377.1 - - 1210 - - - - - - - - 14.85 14.57 14.86
24550 10.5 10.2 1231 24555 done 1.07 0.08 0.242 2543 -337.5 2.35 0.063 2307 -568.1 377.1 - - 1208 - - - - - - - - 14.46 14.60 14.66
24673 end climb: SURFACE_DEPTH_REACHED
24673 begin surface coast
24701 end surface coast: CONTROL_FINISHED_OK
24701 begin surface
SM 0.85 - - - - -6.14 6.62 0.074 215 32.5 - - 2299 - 500.17 74.15 0.139 700 9.4 -0.006 - - - - - -