SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 129 * Raw log
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• Previous call tries 1 • 57.71 of 350.00 AH used of 24V (83.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.7 deg, depth 0.99 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: 23 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
16 - - - 101 VBD -0.68 - - 210 - - - 2276 - -116.8 -84.43 - 2882 - - - - - - - - 14.76 - 14.78
105 4.5 -6.0 3 129 roll -0.68 8.88 0.426 1985 199.9 2.70 2.098 860 -524.4 -116.8 -6.12 - 3221 -55.4 - - - - - - - 14.26 13.46 14.59
303 69.9 -21.1 32 309 done -0.47 0.30 0.294 2046 203.3 2.53 0.073 2286 563.6 -116.8 - - 3221 - - - - - - - - 14.41 14.58 14.64
634 106.8 -8.3 45 639 roll -0.38 - - 2036 - 2.42 0.083 3701 584.7 -116.8 - - 3224 - - - - - - - - 14.88 14.66 14.90
870 125.6 -8.3 79 876 done -0.33 0.12 0.216 2090 450.0 2.38 0.045 2271 -600.8 -116.8 - - 3225 - - - - - - - - 14.58 14.76 14.76
1194 145.5 -6.3 90 1195 done -0.33 - - 2087 - - - 2264 - -116.8 - - 3225 - - - - - - - - 14.97 15.00 15.00
1529 166.7 -6.2 96 1534 roll -0.33 - - 2087 - 2.33 0.059 892 -588.8 -116.8 - - 3224 - - - - - - - - 15.00 14.76 15.01
1599 171.3 -6.3 106 1604 done -0.38 - - 2082 - 2.47 0.069 2312 574.9 -116.8 - - 3223 - - - - - - - - 14.85 14.75 14.87
1922 190.5 -5.9 117 1927 roll -0.38 - - 2081 - 2.40 0.092 3693 575.4 -116.8 - - 3221 - - - - - - - - 15.01 14.73 15.02
1977 193.7 -6.0 125 1983 done -0.44 - - 2081 - 2.30 0.051 2296 -607.4 -116.8 - - 3221 - - - - - - - - 14.87 14.81 14.88
2314 215.1 -6.6 138 2319 roll -0.49 0.12 0.135 2018 -525.0 2.40 0.060 892 -585.0 -116.8 - - 3221 - - - - - - - - 14.80 14.78 14.83
2418 225.4 -10.2 153 2425 done -0.49 0.12 0.285 2041 191.7 2.50 0.073 2307 566.0 -116.8 - - 3218 - - - - - - - - 14.62 14.76 14.81
2762 255.9 -8.8 160 2766 roll -0.49 - - 2030 - 2.42 0.091 3702 576.4 -116.8 - - 3215 - - - - - - - - 15.03 14.74 15.03
2788 258.3 -8.7 164 2794 done -0.49 - - 2030 - 2.35 0.051 2308 -593.2 -116.8 - - 3215 - - - - - - - - 14.84 14.81 14.86
3154 287.5 -7.9 174 3158 roll -0.49 - - 2030 - 2.42 0.063 886 -587.6 -116.8 - - 3212 - - - - - - - - 15.02 14.78 15.04
3278 297.5 -7.5 192 3284 done -0.49 - - 2025 - 2.50 0.073 2284 559.2 -116.8 - - 3211 - - - - - - - - 14.80 14.73 14.83
3602 322.3 -7.7 203 3602 done -0.49 - - 2025 - - - 2284 - -116.8 - - 3209 - - - - - - - - 15.02 15.06 15.03
3937 347.1 -7.4 209 3938 done -0.49 - - 2025 - - - 2284 - -116.8 - - 3207 - - - - - - - - 15.02 15.04 15.04
4273 373.5 -7.9 215 4278 roll -0.49 - - 2025 - 2.42 0.063 884 -578.5 -116.8 - - 3205 - - - - - - - - 15.02 14.77 15.04
4349 380.0 -8.4 226 4355 done -0.49 - - 2022 - 2.50 0.078 2292 563.2 -116.8 - - 3204 - - - - - - - - 14.85 14.74 14.88
4666 406.2 -8.4 236 4670 roll -0.49 - - 2025 - 2.42 0.062 885 -581.4 -116.8 - - 3202 - - - - - - - - 15.00 14.77 15.02
4721 411.1 -8.6 244 4726 done -0.49 - - 2020 - 2.47 0.078 2285 566.8 -116.8 - - 3201 - - - - - - - - 14.85 14.73 14.87
5058 438.5 -8.0 257 5063 roll -0.49 - - 2012 - 2.47 0.098 3691 569.2 -116.8 - - 3200 - - - - - - - - 15.01 14.72 15.03
5113 443.1 -8.5 265 5119 done -0.49 0.12 0.256 2041 241.7 2.35 0.057 2285 -598.3 -116.8 - - 3200 - - - - - - - - 14.59 14.81 14.81
5450 466.4 -6.8 278 5454 roll -0.49 - - 2041 - 2.40 0.065 885 -583.3 -116.8 - - 3197 - - - - - - - - 15.03 14.74 15.03
5533 472.7 -7.5 290 5538 done -0.49 - - 2039 - 2.50 0.080 2290 562.0 -116.8 - - 3198 - - - - - - - - 14.83 14.72 14.88
5898 501.2 -8.0 300 5902 roll -0.49 - - 2030 - 2.47 0.100 3693 568.0 -116.8 - - 3196 - - - - - - - - 15.01 14.70 15.02
5931 504.1 -8.3 305 5938 done -0.49 - - 2035 - 2.42 0.057 2272 -587.2 -116.8 - - 3196 - - - - - - - - 14.81 14.77 14.82
6290 531.9 -7.6 314 6294 roll -0.49 - - 2030 - 2.40 0.070 890 -575.8 -116.8 - - 3194 - - - - - - - - 15.01 14.73 15.02
6372 538.3 -7.7 326 6378 done -0.49 - - 2026 - 2.45 0.080 2281 567.8 -116.8 - - 3194 - - - - 1 - - - 14.83 14.71 14.85
6737 565.6 -7.5 336 6742 roll -0.49 - - 2026 - 2.42 0.067 887 -576.0 -116.8 - - 3192 - - - - - - - - 15.01 14.73 15.02
6828 572.6 -7.6 349 6834 done -0.49 - - 2025 - 2.50 0.080 2287 560.0 -116.8 - - 3192 - - - - - - - - 14.83 14.71 14.86
7185 598.7 -7.3 358 7191 roll -0.49 - - 2015 - 2.47 0.103 3683 565.2 -116.8 - - 3191 - - - - - - - - 15.00 14.66 15.02
7282 606.7 -8.4 372 7288 done -0.49 - - 2015 - 2.42 0.059 2281 -579.3 -116.8 - - 3190 - - - - - - - - 14.76 14.71 14.79
7634 634.7 -8.1 380 7638 roll -0.49 - - 2015 - 2.45 0.073 877 -573.1 -116.8 - - 3189 - - - - - - - - 15.00 14.71 15.02
7765 645.5 -8.1 399 7771 done -0.49 - - 2012 - 2.55 0.085 2262 543.1 -116.8 - - 3188 - - - - - - - - 14.74 14.65 14.78
8082 670.1 -7.7 409 8088 roll -0.49 0.12 0.285 2035 191.7 2.58 0.103 3704 558.9 -116.8 - - 3187 - - - - - - - - 14.52 14.66 14.66
8108 672.1 -7.2 413 8115 done -0.49 - - 2036 - 2.47 0.058 2255 -586.6 -116.8 - - 3187 - - - - - - - - 14.85 14.73 14.87
8474 696.5 -6.7 423 8478 roll -0.49 - - 2036 - 2.38 0.070 894 -571.8 -116.8 - - 3187 - - - - - - - - 14.99 14.71 15.01
8543 701.6 -7.3 433 8549 done -0.49 - - 2033 - 2.50 0.083 2282 555.2 -116.8 - - 3186 - - - - - - - - 14.81 14.69 14.83
8865 724.0 -7.0 444 8866 done -0.49 - - 2033 - - - 2286 - -116.8 - - 3185 - - - - - - - - 14.97 15.01 15.01
9202 748.4 -7.3 450 9202 done -0.49 - - 2033 - - - 2285 - -116.8 - - 3184 - - - - - - - - 14.99 15.01 15.01
9538 773.4 -7.4 456 9542 roll -0.49 - - 2033 - 2.45 0.069 889 -569.8 -116.8 - - 3183 - - - - - - - - 15.00 14.70 15.02
9613 779.1 -6.6 467 9619 done -0.49 - - 2029 - 2.47 0.084 2268 558.3 -116.8 - - 3181 - - - - - - - - 14.78 14.65 14.82
9930 802.6 -7.4 477 9935 roll -0.49 - - 2024 - 2.58 0.112 3693 552.3 -116.8 - - 3182 - - - - - - - - 14.98 14.64 15.00
9978 806.4 -7.9 484 9984 done -0.49 - - 2024 - 2.45 0.066 2263 -583.7 -116.8 - - 3185 - - - - - - - - 14.81 14.72 14.85
10321 832.0 -7.4 491 10326 roll -0.49 - - 2024 - 2.40 0.076 891 -571.7 -116.8 - - 3181 - - - - - - - - 14.98 14.66 15.00
10411 838.5 -7.4 504 10417 done -0.49 - - 2023 - 2.50 0.087 2252 544.4 -116.8 - - 3180 - - - - - - - - 14.80 14.61 14.82
10770 862.9 -6.8 513 10775 roll -0.49 - - 2018 - 2.62 0.112 3702 553.4 -116.8 - - 3179 - - - - - - - - 14.97 14.62 15.00
10831 867.4 -7.2 522 10837 done -0.49 - - 2019 - 2.45 0.065 2265 -586.5 -116.8 - - 3180 - - - - - - - - 14.80 14.71 14.82
11162 890.9 -7.2 534 11166 roll -0.49 - - 2018 - 2.42 0.075 884 -570.7 -116.8 - - 3179 - - - - - - - - 14.97 14.65 14.99
11259 897.9 -7.4 548 11264 done -0.49 - - 2015 - 2.47 0.088 2253 554.3 -116.8 - - 3178 - - - - - - - - 14.77 14.64 14.81
11610 923.3 -7.2 556 11610 done -0.49 - - 2015 - - - 2253 - -116.8 - - 3178 - - - - - - - - 14.97 15.00 14.99
11945 947.1 -7.0 562 11950 roll -0.49 - - 2010 - 2.62 0.114 3695 550.4 -116.8 - - 3177 - - - - - - - - 14.96 14.61 14.98
12015 951.9 -7.1 572 12020 done -0.49 0.12 0.263 2038 233.3 2.47 0.067 2259 -581.4 -116.8 - - 3176 - - - - - - - - 14.46 14.69 14.69
12338 969.4 -5.4 583 12342 roll -0.49 - - 2038 - 2.42 0.074 874 -572.3 -116.8 - - 3176 - - - - - - - - 14.96 14.64 14.98
12379 972.5 -5.7 589 12385 done -0.49 - - 2038 - 2.50 0.090 2253 551.6 -116.8 - - 3176 - - - - - - - - 14.75 14.61 14.78
12726 end dive: TARGET_DEPTH_EXCEEDED
12726 begin apogee
12734 990.5 -5.4 597 12882 roll -0.19 0.35 0.223 2135 277.1 - - 2253 - - 141.65 2.535 2739 -3.1 0.228 - - - - 1 - 14.47 13.88 12.95
12884 end apogee: CONTROL_FINISHED_OK
12884 begin climb
12887 994.3 - 599 13053 roll 0.68 0.93 0.158 2411 296.8 2.70 0.076 825 -528.9 116.8 153.30 1.940 2258 -3.1 0.305 - - - - - - 13.88 13.93 13.12
13136 976.6 9.6 641 13143 done 0.68 - - 2411 - 2.67 0.087 2229 525.8 116.8 - - 2241 - - - - - - - - 14.13 14.04 14.16
13460 942.5 10.6 652 13464 roll 0.61 - - 2421 - 2.60 0.096 833 -536.9 116.8 - - 2235 - - - - - - - - 14.64 14.38 14.66
13598 928.0 9.8 672 13604 done 0.61 - - 2421 - 2.60 0.091 2237 540.0 116.8 - - 2234 - - - - - - - - 14.56 14.44 14.58
13963 886.9 11.8 682 13968 roll 0.54 0.15 0.291 2382 -260.0 2.60 0.118 3643 540.8 116.8 - - 2233 - - - - - - - - 14.39 14.51 14.53
14047 877.7 10.2 694 14052 done 0.54 - - 2391 - 2.47 0.082 2244 -566.4 116.8 - - 2231 - - - - 1 - - - 14.66 14.57 14.72
14411 840.8 10.4 704 14416 roll 0.54 - - 2402 - 2.60 0.099 819 -548.1 116.8 - - 2231 - - - - - - - - 14.86 14.56 14.88
14446 837.2 10.8 709 14452 done 0.54 - - 2401 - 2.58 0.090 2240 550.8 116.8 - - 2228 - - - - - - - - 14.70 14.58 14.73
14803 800.1 10.5 718 14808 roll 0.49 0.15 0.276 2360 -273.3 2.58 0.115 3649 546.1 116.8 - - 2230 - - - - - - - - 14.43 14.57 14.59
14872 793.6 8.9 728 14878 done 0.49 - - 2370 - 2.55 0.081 2237 -553.7 116.8 - - 2229 - - - - - - - - 14.66 14.59 14.71
15195 766.9 8.5 739 15200 roll 0.49 - - 2381 - 2.58 0.095 821 -548.8 116.8 - - 2230 - - - - - - - - 14.91 14.59 14.93
15271 760.6 8.3 750 15277 done 0.49 - - 2380 - 2.58 0.086 2241 550.4 116.8 - - 2229 - - - - - - - - 14.73 14.60 14.76
15587 731.3 9.5 760 15592 roll 0.49 - - 2381 - 2.58 0.114 3645 544.2 116.8 - - 2229 - - - - - - - - 14.91 14.59 14.93
15657 723.6 11.1 770 15662 done 0.49 0.12 0.280 2365 -133.3 2.50 0.080 2232 -565.2 116.8 - - 2229 - - - - - - - - 14.46 14.64 14.71
15979 693.3 9.4 781 15985 roll 0.49 - - 2374 - 2.55 0.096 823 -552.5 116.8 - - 2229 - - - - - - - - 14.92 14.60 14.95
16035 688.2 9.0 789 16041 done 0.49 - - 2374 - 2.58 0.085 2243 550.4 116.8 - - 2228 - - - - - - - - 14.74 14.62 14.76
16372 655.2 9.9 802 16377 roll 0.49 - - 2374 - 2.58 0.115 3644 543.0 116.8 - - 2228 - - - - - - - - 14.92 14.59 14.94
16454 646.2 10.6 814 16460 done 0.49 - - 2383 - 2.53 0.078 2243 -553.8 116.8 - - 2231 - - - - - - - - 14.69 14.62 14.78
16820 610.4 9.8 824 16824 roll 0.49 - - 2393 - 2.58 0.094 824 -550.0 116.8 - - 2228 - - - - - - - - 14.92 14.60 14.95
16875 605.0 9.4 832 16880 done 0.49 0.15 0.259 2358 -233.3 2.58 0.086 2250 552.7 116.8 - - 2228 - - - - - - - - 14.46 14.62 14.71
17211 576.8 8.3 845 17217 roll 0.49 - - 2359 - 2.55 0.116 3639 544.7 116.8 - - 2228 - - - - - - - - 14.92 14.58 14.95
17268 571.8 9.2 853 17273 done 0.49 - - 2367 - 2.45 0.078 2250 -566.9 116.8 - - 2227 - - - - - - - - 14.76 14.64 14.79
17603 544.1 8.1 866 17604 done 0.49 - - 2368 - - - 2247 - 116.8 - - 2227 - - - - - - - - 14.92 14.95 14.94
17939 521.0 6.7 872 17953 roll 0.50 - - 2378 - 2.65 0.095 820 -538.5 132.6 10.12 1.587 2199 -2.8 0.172 - - - - - - 14.93 14.65 14.05
18023 515.4 6.4 884 18057 done 0.51 - - 2378 - 2.60 0.085 2259 553.5 154.6 29.55 1.594 2108 -3.1 0.189 - - - - - - 14.72 14.61 13.90
18373 488.4 7.9 899 18378 roll 0.51 - - 2378 - 2.55 0.115 3643 542.7 154.6 - - 2089 - - - - - - - - 14.79 14.50 14.81
18443 482.1 8.9 909 18449 done 0.51 - - 2387 - 2.47 0.078 2246 -565.6 154.6 - - 2088 - - - - - - - - 14.64 14.54 14.68
18766 454.7 8.5 920 18770 roll 0.51 - - 2396 - 2.58 0.094 825 -550.8 154.6 - - 2088 - - - - - - - - 14.85 14.56 14.88
18835 448.9 8.1 930 18841 done 0.51 0.12 0.258 2368 -233.3 2.60 0.086 2255 550.0 154.6 - - 2086 - - - - - - - - 14.46 14.57 14.66
19158 425.8 7.1 941 19164 roll 0.51 - - 2369 - 2.53 0.115 3640 547.4 160.2 - - 2086 - - - - - - - - 14.89 14.57 14.91
19227 420.3 7.9 951 19232 done 0.51 - - 2378 - 2.47 0.076 2261 -558.3 160.2 - - 2085 - - - - - - - - 14.65 14.60 14.70
19550 395.3 7.8 962 19554 roll 0.51 - - 2387 - 2.60 0.091 815 -556.2 160.2 - - 2084 - - - - - - - - 14.90 14.61 14.92
19619 389.8 8.0 972 19624 done 0.51 - - 2387 - 2.60 0.085 2256 554.2 160.2 - - 2085 - - - - - - - - 14.73 14.62 14.76
19942 361.1 9.0 983 19946 roll 0.51 - - 2387 - 2.53 0.113 3644 548.6 160.2 - - 2085 - - - - - - - - 14.91 14.59 14.93
20004 354.6 10.4 992 20009 done 0.51 0.08 0.233 2366 -262.5 2.50 0.076 2250 -557.6 160.2 - - 2082 - - - - - - - - 14.49 14.62 14.70
20334 327.1 8.4 1004 20339 roll 0.51 - - 2375 - 2.58 0.091 814 -556.6 160.2 - - 2085 - - - - - - - - 14.92 14.62 14.94
20396 321.8 8.3 1013 20402 done 0.57 - - 2376 - 2.60 0.084 2259 555.8 160.2 - - 2084 - - - - - - - - 14.74 14.62 14.77
20726 293.9 8.5 1025 20732 roll 0.57 - - 2379 - 2.53 0.111 3648 549.0 160.2 - - 2085 - - - - - - - - 14.93 14.60 14.95
20782 288.8 9.1 1033 20788 done 0.57 - - 2385 - 2.47 0.076 2243 -568.8 160.2 - - 2085 - - - - - - - - 14.77 14.66 14.78
21118 261.5 8.1 1046 21122 roll 0.57 - - 2393 - 2.58 0.090 820 -551.6 160.2 - - 2085 - - - - - - - - 14.93 14.62 14.95
21174 256.9 8.3 1054 21179 done 0.57 - - 2393 - 2.60 0.081 2263 555.0 160.2 - - 2085 - - - - - - - - 14.75 14.63 14.78
21510 227.2 8.9 1067 21514 roll 0.57 - - 2394 - 2.47 0.109 3634 555.1 160.2 - - 2084 - - - - - - - - 14.93 14.60 14.95
21593 219.1 9.6 1079 21598 done 0.57 - - 2403 - 2.45 0.071 2260 -560.8 160.2 - - 2085 - - - - - - - - 14.70 14.64 14.73
21958 187.1 8.7 1089 21964 roll 0.57 - - 2413 - 2.58 0.086 821 -557.8 160.2 - - 2085 - - - - - - - - 14.93 14.62 14.95
22014 182.3 8.6 1097 22019 done 0.57 - - 2413 - 2.60 0.080 2268 556.5 160.2 - - 2085 - - - - - - - - 14.75 14.63 14.78
22350 152.7 8.7 1110 22355 roll 0.57 - - 2413 - 2.47 0.109 3641 555.9 160.2 - - 2085 - - - - - - - - 14.93 14.61 14.95
22447 143.5 9.5 1124 22453 done 0.57 0.15 0.262 2387 -173.3 2.40 0.071 2269 -571.7 160.2 - - 2085 - - - - - - - - 14.50 14.67 14.71
22798 118.4 7.1 1132 22805 roll 0.57 - - 2396 - 2.67 0.086 815 -544.6 165.0 3.10 0.271 2069 -5.2 0.427 - - - - - - 14.95 14.63 14.19
22861 114.0 6.5 1141 22881 done 0.65 - - 2396 - 2.60 0.080 2268 558.8 184.5 15.57 0.463 1984 -5.5 0.255 - - - - - - 14.75 14.64 14.32
23214 93.0 5.5 1154 23251 roll 0.74 0.12 0.133 2456 500.0 2.53 0.106 3635 540.3 229.2 29.27 0.422 1803 -6.2 0.258 - - - - - - 14.68 14.57 14.33
23326 84.7 8.0 1170 23331 done 0.74 - - 2466 - 2.40 0.070 2264 -571.2 229.2 - - 1807 - - - - - - - - 14.70 14.61 14.72
23660 66.6 4.1 1185 23716 roll 0.84 - - 2466 - 2.55 0.099 3647 542.4 305.7 48.45 0.338 1493 -6.5 0.242 - - - - - - 14.88 14.54 14.34
23829 55.9 6.7 1209 23847 done 0.92 - - 2473 - 2.45 0.067 2239 -574.7 321.6 11.00 0.288 1429 -5.8 0.214 - - - - - - 14.68 14.59 14.34
24167 40.0 4.8 1224 24212 roll 1.08 0.20 0.099 2578 525.0 2.50 0.076 826 -565.2 380.9 38.67 0.250 1185 -6.3 0.191 - - - - - - 14.65 14.54 14.39
24262 33.1 7.5 1238 24267 done 1.08 0.12 0.258 2550 -233.3 2.53 0.072 2246 561.3 380.9 - - 1186 - - - - - - - - 14.43 14.57 14.63
24585 12.2 7.2 1251 24591 roll 1.14 - - 2550 - 2.55 0.095 3642 547.5 383.5 2.12 0.176 1175 -5.2 0.068 - - - - - - 14.87 14.59 14.51
24606 10.4 7.7 1254 24610 done 1.20 - - 2558 - 2.42 0.064 2236 -581.0 383.5 - - 1178 - - - - - - - - 14.70 14.61 14.73
24714 end climb: SURFACE_DEPTH_REACHED
24714 begin surface coast
24742 end surface coast: CONTROL_FINISHED_OK
24742 begin surface
SM 0.96 - - - - -6.14 6.65 0.072 216 32.5 0.10 0.155 2287 11290.0 500.17 70.20 0.135 698 9.9 -0.007 - - - - - -