SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 128 * Raw log
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• Previous call tries 1 • 57.35 of 350.00 AH used of 24V (83.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 17 s • Transponder ping count: 10
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 100 VBD -0.68 - - 214 - - - 2297 - -116.8 -84.25 - 2855 - - - - - - - - 14.76 - 14.78
104 4.1 -5.5 3 128 roll -0.68 8.77 0.424 1981 201.5 2.75 2.103 870 -518.9 -116.8 -6.68 - 3221 -54.8 - - - - - - - 14.27 13.45 14.59
156 25.7 -36.2 11 161 done -0.35 0.45 0.299 2080 220.0 2.53 0.074 2290 561.3 -116.8 - - 3222 - - - - - - - - 14.36 14.52 14.57
493 85.8 -12.5 26 497 roll -0.27 0.12 0.273 2117 308.3 2.45 0.053 860 -583.7 -116.8 - - 3224 - - - - - - - - 14.52 14.64 14.63
729 102.9 -6.1 60 735 done -0.27 - - 2112 - 2.53 0.066 2289 564.8 -116.8 - - 3225 - - - - - - - - 14.71 14.67 14.81
1052 122.0 -5.9 71 1057 roll -0.27 - - 2112 - 2.42 0.053 859 -590.9 -116.8 - - 3226 - - - - - - - - 14.97 14.74 14.99
1094 124.4 -5.7 77 1100 done -0.32 - - 2112 - 2.50 0.067 2309 580.0 -116.8 - - 3226 - - - - - - - - 14.83 14.73 14.85
1445 140.5 -4.5 85 1446 done -0.39 0.12 0.134 2053 -491.7 - - 2305 - -116.8 - - 3225 - - - - - - - - 14.80 14.88 14.86
1780 165.5 -7.7 91 1781 done -0.39 - - 2054 - - - 2304 - -116.8 - - 3223 - - - - - - - - 15.00 15.02 15.02
2116 190.6 -7.4 97 2122 roll -0.39 - - 2044 - 2.40 0.090 3686 575.8 -116.8 - - 3221 - - - - - - - - 15.02 14.75 15.03
2143 192.7 -7.4 101 2150 done -0.39 - - 2044 - 2.38 0.048 2264 -597.5 -116.8 - - 3221 - - - - - - - - 14.83 14.79 14.84
2508 220.5 -7.7 111 2513 roll -0.39 0.12 0.246 2076 266.7 2.35 0.061 888 -585.5 -116.8 - - 3219 - - - - - - - - 14.66 14.78 14.84
2578 225.6 -7.1 121 2584 done -0.39 - - 2072 - 2.45 0.073 2285 570.2 -116.8 - - 3218 - - - - - - - - 14.87 14.77 14.90
2900 246.9 -6.5 132 2901 done -0.39 - - 2072 - - - 2285 - -116.8 - - 3216 - - - - - - - - 15.02 15.04 15.03
3236 265.7 -5.5 138 3237 done -0.39 - - 2072 - - - 2285 - -116.8 - - 3214 - - - - - - - - 15.02 15.04 15.04
3573 283.8 -5.4 144 3577 roll -0.39 - - 2066 - 2.47 0.097 3695 570.9 -116.8 - - 3211 - - - - - - - - 15.03 14.73 15.05
3614 286.3 -6.1 150 3619 done -0.43 - - 2066 - 2.33 0.057 2301 -598.3 -116.8 - - 3210 - - - - - - - - 14.88 14.82 14.90
3965 306.7 -5.8 158 3969 roll -0.43 - - 2066 - 2.42 0.067 884 -585.5 -116.8 - - 3209 - - - - - - - - 15.03 14.78 15.05
4062 312.8 -6.2 172 4067 done -0.43 - - 2062 - 2.45 0.074 2284 571.4 -116.8 - - 3206 - - - - - - - - 14.86 14.76 14.91
4413 335.3 -6.6 180 4417 roll -0.43 - - 2062 - 2.42 0.063 878 -581.0 -116.8 - - 3206 - - - - - - - - 15.02 14.74 15.04
4446 337.8 -7.4 185 4453 done -0.43 - - 2060 - 2.53 0.078 2280 554.2 -116.8 - - 3206 - - - - - - - - 14.80 14.73 14.83
4805 362.9 -7.1 194 4809 roll -0.43 - - 2056 - 2.50 0.101 3692 564.8 -116.8 - - 3204 - - - - - - - - 15.02 14.73 15.04
4839 365.4 -7.2 199 4844 done -0.43 - - 2056 - 2.38 0.060 2283 -592.0 -116.8 - - 3203 - - - - - - - - 14.88 14.80 14.90
5196 389.4 -6.6 208 5201 roll -0.43 - - 2056 - 2.42 0.066 870 -583.9 -116.8 - - 3202 - - - - - - - - 15.02 14.76 15.04
5294 396.1 -6.8 222 5299 done -0.43 - - 2061 - 2.50 0.079 2277 562.8 -116.8 - - 3202 - - - - - - - - 14.85 14.74 14.88
5644 419.3 -6.7 230 5645 done -0.43 - - 2057 - - - 2276 - -116.8 - - 3199 - - - - - - - - 15.02 15.04 15.04
5980 442.8 -7.1 236 5981 done -0.43 - - 2056 - - - 2276 - -116.8 - - 3198 - - - - - - - - 15.02 15.04 15.02
6317 465.8 -6.7 242 6321 roll -0.43 - - 2059 - 2.42 0.067 879 -577.3 -116.8 - - 3196 - - - - - - - - 15.02 14.75 15.04
6392 471.1 -6.8 253 6399 done -0.43 - - 2056 - 2.47 0.079 2269 562.8 -116.8 - - 3195 - - - - - - - - 14.84 14.71 14.85
6708 490.5 -6.1 263 6713 roll -0.43 - - 2051 - 2.53 0.105 3692 562.5 -116.8 - - 3194 - - - - - - - - 15.02 14.71 15.03
6743 492.6 -6.4 268 6748 done -0.43 - - 2051 - 2.40 0.059 2263 -595.4 -116.8 - - 3194 - - - - - - - - 14.86 14.78 14.88
7100 515.3 -6.4 277 7106 roll -0.43 - - 2053 - 2.38 0.067 885 -579.0 -116.8 - - 3193 - - - - - - - - 15.02 14.74 15.04
7183 521.1 -6.9 289 7189 done -0.43 - - 2047 - 2.47 0.080 2271 561.1 -116.8 - - 3192 - - - - - - - - 14.83 14.71 14.85
7549 544.7 -6.5 299 7554 roll -0.43 - - 2043 - 2.55 0.104 3701 560.8 -116.8 - - 3192 - - - - - - - - 15.01 14.69 15.02
7652 551.6 -6.6 314 7659 done -0.43 - - 2043 - 2.47 0.059 2256 -585.0 -116.8 - - 3191 - - - - - - - - 14.76 14.74 14.78
7997 572.9 -6.1 321 8003 roll -0.43 - - 2043 - 2.38 0.067 889 -574.4 -116.8 - - 3190 - - - - - - - - 15.00 14.73 15.02
8072 577.9 -6.5 332 8078 done -0.43 - - 2043 - 2.50 0.083 2283 557.6 -116.8 - - 3192 - - - - - - - - 14.78 14.69 14.81
8388 598.1 -6.5 342 8393 roll -0.43 - - 2041 - 2.53 0.108 3692 556.9 -116.8 - - 3192 - - - - - - - - 15.00 14.68 15.02
8451 602.5 -7.1 351 8456 done -0.43 - - 2040 - 2.40 0.061 2276 -590.0 -116.8 - - 3188 - - - - - - - - 14.85 14.77 14.86
8780 627.0 -7.7 363 8785 roll -0.43 - - 2040 - 2.42 0.073 876 -578.5 -116.8 - - 3187 - - - - - - - - 15.00 14.70 15.02
8836 631.7 -8.3 371 8841 done -0.43 - - 2040 - 2.50 0.083 2271 558.0 -116.8 - - 3187 - - - - - - - - 14.81 14.69 14.83
9173 657.9 -7.8 384 9174 done -0.43 - - 2040 - - - 2272 - -116.8 - - 3186 - - - - - - - - 14.99 15.01 15.01
9508 683.5 -7.5 390 9509 done -0.43 - - 2040 - - - 2271 - -116.8 - - 3186 - - - - - - - - 14.98 15.02 15.01
9844 706.7 -6.7 396 9849 roll -0.43 - - 2040 - 2.42 0.067 881 -574.4 -116.8 - - 3185 - - - - - - - - 15.00 14.69 15.02
9872 708.6 -6.8 400 9877 done -0.43 - - 2039 - 2.50 0.086 2267 554.4 -116.8 - - 3184 - - - - - - - - 14.81 14.68 14.83
10236 731.0 -6.0 410 10237 done -0.43 - - 2039 - - - 2266 - -116.8 - - 3183 - - - - - - - - 14.99 15.01 15.00
10573 751.9 -6.3 416 10577 roll -0.43 - - 2037 - 2.58 0.112 3692 552.7 -116.8 - - 3182 - - - - - - - - 14.99 14.65 15.00
10606 754.2 -6.9 421 10613 done -0.43 - - 2037 - 2.47 0.060 2254 -582.2 -116.8 - - 3182 - - - - - - - - 14.76 14.72 14.80
10965 776.9 -6.4 430 10970 roll -0.43 - - 2036 - 2.38 0.070 889 -573.5 -116.8 - - 3183 - - - - - - - - 14.99 14.68 15.00
11047 782.6 -6.7 442 11053 done -0.43 - - 2036 - 2.47 0.084 2264 556.7 -116.8 - - 3181 - - - - - - - - 14.78 14.65 14.81
11413 804.7 -6.0 452 11417 roll -0.43 - - 2032 - 2.58 0.110 3694 554.3 -116.8 - - 3180 - - - - - - - - 14.97 14.63 15.00
11468 808.2 -6.2 460 11473 done -0.43 - - 2032 - 2.42 0.062 2269 -588.8 -116.8 - - 3180 - - - - - - - - 14.81 14.73 14.83
11805 827.3 -5.6 473 11810 roll -0.43 - - 2032 - 2.42 0.072 882 -573.1 -116.8 - - 3180 - - - - - - - - 14.97 14.65 14.99
11909 833.6 -5.9 488 11916 done -0.43 0.12 0.278 2057 208.3 2.50 0.085 2256 549.6 -116.8 - - 3179 - - - - - - - - 14.47 14.64 14.71
12253 850.5 -5.0 495 12257 roll -0.49 - - 2053 - 2.62 0.114 3693 548.5 -116.8 - - 3179 - - - - - - - - 14.97 14.60 14.99
12315 854.1 -5.7 504 12320 done -0.56 0.12 0.147 2005 -400.0 2.47 0.067 2261 -579.8 -116.8 - - 3178 - - - - - - - - 14.67 14.70 14.77
12645 879.5 -7.9 516 12649 roll -0.56 - - 2006 - 2.45 0.074 871 -567.3 -116.8 - - 3178 - - - - - - - - 14.96 14.65 14.98
12734 887.2 -8.6 529 12740 done -0.56 - - 1999 - 2.55 0.086 2275 550.6 -116.8 - - 3177 - - - - - - - - 14.76 14.62 14.79
13093 918.1 -8.7 538 13094 done -0.56 - - 1999 - - - 2275 - -116.8 - - 3177 - - - - - - - - 14.95 14.97 14.97
13428 945.9 -8.1 544 13429 done -0.56 - - 1999 - - - 2275 - -116.8 - - 3176 - - - - - - - - 14.96 14.98 14.98
13764 971.2 -7.4 550 13769 roll -0.56 - - 1999 - 2.50 0.073 869 -562.4 -116.8 - - 3176 - - - - - - - - 14.96 14.63 15.00
13806 974.3 -5.1 556 13811 done -0.56 - - 1999 - 2.53 0.090 2250 545.8 -116.8 - - 3176 - - - - - - - - 14.75 14.61 14.78
14097 end dive: TARGET_DEPTH_EXCEEDED
14097 begin apogee
14104 993.5 -6.5 563 14311 roll -0.19 0.50 0.237 2138 278.0 - - 2250 - - 200.00 1.651 2737 -2.2 0.246 - - - - 1 - 14.41 14.04 13.47
14313 end apogee: CONTROL_FINISHED_OK
14313 begin climb
14317 996.7 - 566 14474 done 0.68 0.90 0.148 2413 305.6 - - 2250 - 116.8 149.52 1.952 2263 -3.2 0.302 - - - - - - 13.98 14.22 13.15
14824 943.7 11.3 603 14829 roll 0.61 - - 2413 - 2.62 0.118 3646 532.8 116.8 - - 2230 - - - - - - - - 14.62 14.34 14.64
14859 940.3 10.3 608 14864 done 0.52 0.22 0.288 2371 -190.9 2.53 0.083 2242 -554.9 116.8 - - 2229 - - - - 1 - - - 14.23 14.40 14.47
15217 908.0 8.6 617 15222 roll 0.52 - - 2381 - 2.62 0.098 819 -543.1 116.8 - - 2227 - - - - - - - - 14.78 14.49 14.80
15272 903.3 8.5 625 15278 done 0.52 - - 2382 - 2.60 0.090 2231 543.1 116.8 - - 2226 - - - - - - - - 14.62 14.51 14.66
15609 873.0 9.0 638 15613 roll 0.52 - - 2382 - 2.60 0.119 3641 542.3 116.8 - - 2225 - - - - - - - - 14.85 14.54 14.89
15677 865.6 11.6 648 15683 done 0.52 - - 2392 - 2.53 0.082 2237 -554.9 116.8 - - 2224 - - - - 1 - - - 14.62 14.56 14.66
16000 834.1 9.9 659 16005 roll 0.52 - - 2402 - 2.58 0.096 821 -548.8 116.8 - - 2224 - - - - - - - - 14.88 14.54 14.90
16042 829.8 10.2 665 16048 done 0.52 0.12 0.273 2375 -225.0 2.60 0.088 2243 546.9 116.8 - - 2226 - - - - - - - - 14.45 14.59 14.69
16392 796.6 9.5 673 16398 roll 0.52 - - 2375 - 2.58 0.116 3639 541.1 116.8 - - 2223 - - - - - - - - 14.90 14.57 14.92
16440 791.2 11.6 680 16447 done 0.52 - - 2384 - 2.55 0.078 2230 -552.5 116.8 - - 2222 - - - - - - - - 14.66 14.62 14.70
16785 756.1 10.3 687 16790 roll 0.52 - - 2394 - 2.58 0.098 816 -548.1 116.8 - - 2222 - - - - - - - - 14.91 14.59 14.93
16840 750.4 10.1 695 16845 done 0.52 - - 2395 - 2.60 0.090 2237 546.5 116.8 - - 2221 - - - - - - - - 14.68 14.57 14.73
17177 715.8 10.3 708 17181 roll 0.52 - - 2394 - 2.58 0.117 3638 543.0 116.8 - - 2222 - - - - - - - - 14.91 14.57 14.93
17239 709.0 10.9 717 17245 done 0.47 0.20 0.258 2357 -185.0 2.47 0.080 2231 -569.6 116.8 - - 2221 - - - - 1 - - - 14.45 14.64 14.71
17569 684.3 7.2 729 17574 roll 0.47 - - 2367 - 2.55 0.098 822 -552.5 121.1 - - 2221 - - - - - - - - 14.92 14.59 14.94
17630 680.1 6.7 738 17650 done 0.48 - - 2367 - 2.58 0.086 2240 549.6 136.1 15.50 1.769 2184 -2.4 0.171 - - - - - - 14.74 14.61 13.95
17961 655.9 7.4 750 17965 roll 0.48 - - 2367 - 2.58 0.116 3649 546.1 136.1 - - 2168 - - - - - - - - 14.85 14.55 14.87
18036 649.4 8.5 761 18043 done 0.48 - - 2377 - 2.53 0.080 2244 -555.3 136.1 - - 2167 - - - - - - - - 14.64 14.57 14.67
18353 622.6 8.7 771 18358 roll 0.48 - - 2387 - 2.58 0.096 821 -551.6 136.1 - - 2166 - - - - - - - - 14.88 14.58 14.90
18393 618.8 9.2 777 18400 done 0.48 0.10 0.236 2358 -290.0 2.62 0.085 2241 542.0 136.1 - - 2166 - - - - - - - - 14.45 14.59 14.59
18744 589.3 8.5 785 18750 roll 0.48 - - 2357 - 2.58 0.115 3648 545.3 136.1 - - 2166 - - - - - - - - 14.92 14.58 14.92
18821 582.0 9.6 796 18826 done 0.48 - - 2367 - 2.50 0.080 2233 -566.0 136.1 - - 2165 - - - - - - - - 14.73 14.63 14.78
19136 553.8 8.9 806 19141 roll 0.48 - - 2376 - 2.58 0.096 814 -550.0 136.1 - - 2165 - - - - - - - - 14.91 14.59 14.93
19233 545.8 8.1 820 19239 done 0.48 - - 2377 - 2.65 0.088 2268 548.7 136.1 - - 2165 - - - - - - - - 14.73 14.60 14.77
19585 517.5 7.9 828 19589 roll 0.48 - - 2377 - 2.53 0.116 3641 542.7 136.1 - - 2165 - - - - - - - - 14.92 14.59 14.95
19640 512.7 8.7 836 19645 done 0.48 0.12 0.272 2358 -158.3 2.47 0.080 2242 -566.4 136.1 - - 2164 - - - - - - - - 14.47 14.64 14.70
19977 491.1 6.3 849 20016 roll 0.49 - - 2368 - 2.65 0.092 819 -537.0 161.6 31.42 1.561 2070 -3.0 0.176 - - - - - - 14.93 14.48 13.93
20074 484.9 6.3 863 20107 done 0.57 - - 2368 - 2.60 0.084 2242 547.3 185.3 27.92 1.512 1982 -3.2 0.189 - - - - - - 14.59 14.50 13.84
20424 459.9 7.3 878 20429 roll 0.57 - - 2368 - 2.58 0.113 3640 541.9 186.3 - - 1962 - - - - - - - - 14.73 14.45 14.76
20472 455.7 8.6 885 20480 done 0.57 - - 2378 - 2.55 0.075 2228 -553.7 186.3 - - 1960 - - - - - - - - 14.54 14.49 14.58
20816 425.8 9.0 892 20821 roll 0.57 - - 2386 - 2.55 0.093 825 -550.2 186.3 - - 1960 - - - - - - - - 14.83 14.54 14.85
20878 420.1 9.1 901 20885 done 0.62 - - 2386 - 2.58 0.085 2245 550.4 186.3 - - 1959 - - - - - - - - 14.67 14.55 14.71
21209 388.0 9.8 913 21214 roll 0.62 - - 2386 - 2.55 0.112 3640 547.1 186.3 - - 1959 - - - - - - - - 14.87 14.56 14.88
21270 381.4 10.3 922 21276 done 0.62 - - 2396 - 2.50 0.075 2217 -569.2 186.3 - - 1960 - - - - - - - - 14.72 14.57 14.73
21601 349.4 9.7 934 21606 roll 0.62 - - 2405 - 2.53 0.091 819 -552.6 186.3 - - 1959 - - - - - - - - 14.90 14.59 14.91
21662 343.6 9.0 943 21668 done 0.62 - - 2405 - 2.62 0.083 2250 546.2 186.3 - - 1958 - - - - - - - - 14.74 14.58 14.77
21993 310.0 10.4 955 21997 roll 0.62 - - 2406 - 2.55 0.113 3646 547.5 186.3 - - 1958 - - - - - - - - 14.90 14.59 14.92
22055 302.9 11.3 964 22060 done 0.62 - - 2415 - 2.45 0.075 2246 -571.4 186.3 - - 1958 - - - - - - - - 14.74 14.64 14.78
22385 266.7 11.0 976 22389 roll 0.62 - - 2424 - 2.58 0.092 820 -552.7 186.3 - - 1959 - - - - - - - - 14.91 14.61 14.93
22425 262.0 11.4 982 22431 done 0.62 - - 2425 - 2.62 0.083 2249 545.4 186.3 - - 1958 - - - - - - - - 14.68 14.60 14.73
22777 220.7 11.9 990 22782 roll 0.62 - - 2424 - 2.55 0.112 3646 547.8 186.3 - - 1958 - - - - - - - - 14.92 14.60 14.95
22852 211.2 12.1 1001 22859 done 0.62 0.10 0.248 2405 -190.0 2.47 0.073 2263 -559.9 186.3 - - 1958 - - - - - - - - 14.45 14.62 14.60
23168 182.5 8.9 1011 23173 roll 0.62 - - 2415 - 2.60 0.088 811 -558.5 186.3 - - 1959 - - - - - - - - 14.93 14.62 14.95
23217 178.2 8.6 1018 23223 done 0.62 - - 2415 - 2.62 0.083 2267 555.7 186.3 - - 1958 - - - - - - - - 14.75 14.62 14.78
23560 146.1 9.5 1025 23566 roll 0.62 - - 2415 - 2.50 0.110 3641 549.6 186.3 - - 1958 - - - - - - - - 14.92 14.59 14.95
23650 136.7 10.0 1038 23656 done 0.62 - - 2424 - 2.45 0.071 2261 -563.3 186.3 - - 1958 - - - - - - - - 14.68 14.62 14.79
24009 104.7 8.4 1047 24013 roll 0.62 - - 2433 - 2.58 0.085 818 -559.3 186.3 - - 1956 - - - - - - - - 14.93 14.64 14.95
24050 101.5 7.2 1053 24057 done 0.63 0.12 0.258 2403 -250.0 2.60 0.079 2270 558.5 188.5 - - 1958 - - - - - - - - 14.49 14.62 14.71
24373 86.3 4.2 1065 24428 roll 0.76 0.12 0.132 2476 608.3 2.67 0.081 821 -542.7 264.2 45.10 0.402 1664 -6.5 0.261 - - - - - - 14.70 14.59 14.35
24631 71.2 5.6 1102 24665 done 0.85 - - 2476 - 2.65 0.076 2302 558.9 306.1 28.23 0.346 1492 -6.1 0.234 - - - - - - 14.69 14.59 14.31
24992 49.5 6.0 1120 25016 done 0.95 - - 2476 - - - 2302 - 338.7 22.08 0.275 1359 -6.0 0.202 - - - - - - 14.85 14.64 14.38
25325 33.1 4.7 1135 25373 roll 1.17 0.28 0.096 2596 428.6 2.67 0.079 820 -555.1 400.6 40.30 0.229 1106 -6.3 0.169 - - - - - - 14.64 14.57 14.43
25453 23.1 9.0 1153 25459 done 1.17 - - 2598 - 2.62 0.073 2289 560.7 400.6 - - 1110 - - - - - - - - 14.69 14.58 14.71
25658 end climb: SURFACE_DEPTH_REACHED
25659 begin surface coast
25687 end surface coast: CONTROL_FINISHED_OK
25687 begin surface
SM 0.95 - - - - -6.14 6.75 0.067 211 31.3 0.03 0.312 2286 41866.7 500.17 60.70 0.135 701 11.5 -0.008 - - - - - -