SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 1 • 58.78 of 350.00 AH used of 24V (83.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.6 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: 38 s
• GPS2 time: 17 s • Transponder ping count: 4
• 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 - - - 101 VBD -0.68 - - 202 - - - 2301 - -116.8 -85.03 - 2920 - - - - - - - - 14.74 - 14.76
105 4.9 -6.6 3 129 roll -0.68 9.05 0.435 1962 194.5 2.65 2.114 3687 523.0 -116.8 -5.25 - 3221 -57.3 - - - - - - - 14.24 13.45 14.59
142 22.5 -41.4 9 149 done -0.20 0.65 0.287 2130 258.5 2.42 0.049 2276 -583.1 -116.8 - - 3222 - - - - - - - - 14.33 14.51 14.54
465 79.5 -14.9 22 470 roll -0.14 - - 2130 - 2.38 0.057 871 -590.3 -116.8 - - 3223 - - - - - - - - 14.85 14.64 14.88
619 93.0 -7.6 44 624 done -0.14 - - 2126 - 2.42 0.067 2269 577.7 -116.8 - - 3224 - - - - - - - - 14.75 14.65 14.77
970 113.9 -5.8 54 974 roll -0.18 - - 2122 - 2.38 0.053 865 -589.9 -116.8 - - 3229 - - - - - - - - 14.95 14.73 14.97
1025 116.7 -5.0 62 1030 done -0.25 - - 2125 - 2.45 0.067 2284 579.2 -116.8 - - 3226 - - - - - - - - 14.81 14.71 14.83
1362 132.6 -4.7 75 1363 done -0.32 - - 2125 - - - 2284 - -116.8 - - 3226 - - - - - - - - 14.97 15.00 14.99
1697 147.7 -4.2 81 1699 done -0.41 0.17 0.108 2047 -458.8 - - 2284 - -116.8 - - 3225 - - - - - - - - 14.81 14.89 14.87
2033 173.5 -8.0 87 2038 roll -0.41 - - 2039 - 2.42 0.090 3690 581.0 -116.8 - - 3222 - - - - - - - - 15.02 14.74 15.04
2082 177.6 -8.5 94 2088 done -0.41 - - 2039 - 2.38 0.048 2242 -608.4 -116.8 - - 3221 - - - - - - - - 14.88 14.81 14.89
2425 205.1 -8.0 101 2431 roll -0.41 - - 2039 - 2.28 0.059 893 -591.7 -116.8 - - 3222 - - - - - - - - 15.02 14.78 15.04
2473 209.1 -8.3 108 2480 done -0.41 - - 2039 - 2.40 0.074 2259 569.2 -116.8 - - 3220 - - - - 1 - - - 14.81 14.74 14.84
2818 236.6 -8.0 115 2823 roll -0.41 - - 2029 - 2.50 0.094 3698 575.6 -116.8 - - 3221 - - - - - - - - 15.02 14.73 15.02
2873 241.5 -9.0 123 2878 done -0.41 0.15 0.233 2067 253.3 2.38 0.054 2266 -601.7 -116.8 - - 3217 - - - - - - - - 14.64 14.80 14.83
3209 266.1 -7.2 136 3214 roll -0.41 - - 2067 - 2.35 0.063 886 -587.2 -116.8 - - 3214 - - - - - - - - 15.03 14.78 15.04
3335 275.3 -7.0 154 3340 done -0.41 - - 2067 - 2.42 0.076 2265 569.8 -116.8 - - 3216 - - - - - - - - 14.85 14.75 14.88
3657 295.2 -6.0 165 3663 roll -0.41 - - 2067 - 2.38 0.061 881 -581.5 -116.8 - - 3215 - - - - - - - - 15.02 14.78 15.04
3692 297.3 -6.3 170 3697 done -0.41 - - 2067 - 2.42 0.076 2263 571.1 -116.8 - - 3211 - - - - - - - - 14.86 14.75 14.88
4050 318.3 -5.9 179 4054 roll -0.41 - - 2058 - 2.50 0.096 3694 572.4 -116.8 - - 3209 - - - - - - - - 15.02 14.74 15.04
4118 323.0 -6.9 189 4125 done -0.41 - - 2058 - 2.42 0.058 2238 -601.7 -116.8 - - 3208 - - - - - - - - 14.85 14.78 14.87
4442 345.7 -7.1 200 4446 roll -0.41 - - 2058 - 2.33 0.065 881 -582.4 -116.8 - - 3206 - - - - - - - - 15.02 14.77 15.04
4503 350.6 -7.8 209 4510 done -0.41 - - 2056 - 2.47 0.078 2257 557.1 -116.8 - - 3206 - - - - - - - - 14.78 14.71 14.83
4833 375.3 -7.5 221 4839 roll -0.41 - - 2050 - 2.50 0.101 3692 574.0 -116.8 - - 3204 - - - - - - - - 15.02 14.72 15.04
4882 379.0 -7.6 228 4888 done -0.41 - - 2050 - 2.42 0.058 2249 -596.3 -116.8 - - 3203 - - - - - - - - 14.85 14.79 14.87
5225 403.4 -7.0 235 5230 roll -0.41 - - 2050 - 2.35 0.070 886 -580.0 -116.8 - - 3201 - - - - - - - - 15.02 14.75 15.04
5315 409.9 -7.1 248 5321 done -0.41 - - 2046 - 2.42 0.077 2260 567.8 -116.8 - - 3201 - - - - - - - - 14.85 14.74 14.88
5674 435.3 -7.2 257 5679 roll -0.41 - - 2039 - 2.53 0.101 3692 566.0 -116.8 - - 3199 - - - - - - - - 15.02 14.71 15.04
5735 440.3 -8.1 266 5742 done -0.41 - - 2039 - 2.45 0.057 2254 -586.9 -116.8 - - 3199 - - - - - - - - 14.81 14.76 14.83
6066 467.2 -8.2 278 6070 roll -0.41 - - 2039 - 2.35 0.064 889 -580.9 -116.8 - - 3198 - - - - - - - - 15.01 14.74 15.04
6170 476.1 -8.5 293 6177 done -0.41 - - 2039 - 2.40 0.080 2246 565.4 -116.8 - - 3197 - - - - - - - - 14.84 14.72 14.86
6513 502.5 -7.5 300 6514 done -0.41 - - 2039 - - - 2246 - -116.8 - - 3195 - - - - - - - - 15.01 15.03 15.03
6849 525.5 -6.8 306 6854 roll -0.41 - - 2031 - 2.55 0.103 3692 567.1 -116.8 - - 3194 - - - - - - - - 15.02 14.70 15.03
6954 532.8 -6.8 321 6961 done -0.41 - - 2031 - 2.42 0.057 2237 -601.2 -116.8 - - 3194 - - - - - - - - 14.86 14.78 14.88
7298 556.0 -6.9 328 7303 roll -0.41 0.12 0.260 2067 300.0 2.33 0.067 893 -576.8 -116.8 - - 3192 - - - - - - - - 14.56 14.69 14.69
7346 559.1 -6.2 335 7353 done -0.47 - - 2067 - 2.45 0.083 2260 558.0 -116.8 - - 3192 - - - - - - - - 14.83 14.70 14.85
7690 579.4 -6.0 342 7695 roll -0.52 0.12 0.142 2000 -558.3 2.55 0.102 3695 562.7 -116.8 - - 3191 - - - - - - - - 14.75 14.69 14.79
7814 590.6 -9.2 360 7820 done -0.52 - - 2000 - 2.47 0.060 2261 -580.6 -116.8 - - 3190 - - - - - - - - 14.78 14.74 14.82
8138 618.9 -8.7 371 8143 roll -0.52 0.12 0.281 2036 300.0 2.40 0.067 875 -577.5 -116.8 - - 3189 - - - - - - - - 14.50 14.69 14.66
8213 624.7 -7.1 382 8219 done -0.52 - - 2030 - 2.47 0.083 2255 558.7 -116.8 - - 3189 - - - - - - - - 14.81 14.68 14.84
8530 645.6 -6.6 392 8535 roll -0.52 - - 2020 - 2.58 0.106 3695 558.1 -116.8 - - 3188 - - - - - - - - 15.00 14.66 15.02
8591 650.1 -7.1 401 8598 done -0.52 - - 2020 - 2.47 0.062 2231 -592.7 -116.8 - - 3187 - - - - - - - - 14.83 14.73 14.84
8922 672.4 -6.8 413 8923 done -0.52 - - 2020 - - - 2230 - -116.8 - - 3187 - - - - - - - - 15.00 15.02 15.02
9258 696.8 -7.4 419 9262 roll -0.52 - - 2020 - 2.35 0.070 884 -572.8 -116.8 - - 3186 - - - - - - - - 15.00 14.69 15.01
9306 700.8 -8.1 426 9312 done -0.52 - - 2015 - 2.47 0.085 2265 559.1 -116.8 - - 3185 - - - - - - - - 14.81 14.68 14.83
9649 728.9 -8.3 433 9655 roll -0.52 - - 2008 - 2.55 0.108 3692 559.6 -116.8 - - 3184 - - - - - - - - 15.00 14.65 15.01
9683 732.0 -8.9 438 9689 done -0.52 - - 2008 - 2.45 0.060 2270 -580.4 -116.8 - - 3184 - - - - - - - - 14.85 14.74 14.85
10042 762.2 -8.3 447 10047 roll -0.52 - - 2007 - 2.42 0.073 878 -575.2 -116.8 - - 3184 - - - - - - - - 15.00 14.69 15.01
10145 771.1 -8.4 462 10152 done -0.52 - - 1999 - 2.55 0.086 2264 543.5 -116.8 - - 3183 - - - - - - - - 14.70 14.63 14.75
10490 798.0 -7.8 469 10496 roll -0.52 0.12 0.290 2021 183.3 2.58 0.103 3703 557.8 -116.8 - - 3182 - - - - - - - - 14.47 14.64 14.61
10601 806.6 -8.2 485 10607 done -0.52 - - 2021 - 2.45 0.062 2259 -589.4 -116.8 - - 3182 - - - - - - - - 14.81 14.72 14.83
10937 828.6 -6.6 498 10942 roll -0.52 - - 2021 - 2.40 0.072 881 -574.2 -116.8 - - 3180 - - - - - - - - 14.99 14.66 15.00
11056 837.3 -7.4 515 11061 done -0.52 - - 2014 - 2.53 0.086 2270 549.0 -116.8 - - 3179 - - - - - - - - 14.77 14.64 14.81
11385 861.5 -7.4 527 11386 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3180 - - - - - - - - 14.97 15.00 14.99
11722 886.9 -7.5 533 11722 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3179 - - - - - - - - 14.97 15.00 14.99
12058 912.0 -7.4 539 12058 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3178 - - - - - - - - 14.97 15.00 15.00
12393 935.8 -7.0 545 12394 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3177 - - - - - - - - 14.97 15.00 15.00
12729 958.6 -6.8 551 12730 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3177 - - - - - - - - 14.97 14.99 14.98
13066 980.9 -6.7 557 13067 done -0.52 - - 2014 - - - 2270 - -116.8 - - 3177 - - - - - - - - 14.97 14.99 14.99
13230 end dive: TARGET_DEPTH_EXCEEDED
13230 begin apogee
13237 992.5 -6.9 560 13427 roll -0.19 0.43 0.238 2130 269.8 - - 2270 - - 187.90 1.707 2740 -2.3 0.252 - - - - - - 14.45 14.01 13.38
13429 end apogee: CONTROL_FINISHED_OK
13429 begin climb
13433 997.9 - 563 13593 roll 0.68 0.95 0.162 2411 295.8 2.67 0.070 829 -539.7 116.8 146.65 1.935 2254 -3.3 0.319 - - - - - - 13.97 14.02 13.16
13662 981.3 9.3 600 13667 done 0.68 - - 2411 - 2.67 0.090 2234 526.2 116.8 - - 2236 - - - - - - - - 14.14 14.04 14.17
14020 942.4 11.0 609 14026 roll 0.62 - - 2421 - 2.60 0.096 838 -536.9 116.8 - - 2230 - - - - - - - - 14.68 14.40 14.70
14138 929.6 10.4 626 14144 done 0.62 - - 2421 - 2.62 0.093 2233 532.4 116.8 - - 2229 - - - - - - - - 14.50 14.42 14.54
14468 890.6 12.1 638 14473 roll 0.54 0.15 0.288 2381 -266.7 2.60 0.119 3641 541.5 116.8 - - 2227 - - - - - - - - 14.36 14.50 14.52
14558 880.2 11.2 651 14564 done 0.49 0.12 0.295 2365 -133.3 2.42 0.082 2263 -569.4 116.8 - - 2225 - - - - 1 - - - 14.40 14.56 14.64
14916 847.3 9.1 660 14921 roll 0.49 - - 2375 - 2.62 0.097 821 -550.4 116.8 - - 2225 - - - - - - - - 14.86 14.56 14.88
14992 840.5 8.7 671 14998 done 0.49 - - 2375 - 2.58 0.088 2240 550.0 116.8 - - 2224 - - - - - - - - 14.69 14.57 14.73
15308 812.6 8.8 681 15314 roll 0.49 - - 2375 - 2.58 0.116 3644 544.2 116.8 - - 2224 - - - - - - - - 14.91 14.57 14.91
15356 808.0 9.4 688 15363 done 0.49 - - 2385 - 2.53 0.081 2244 -553.4 116.8 - - 2223 - - - - - - - - 14.63 14.57 14.66
15700 780.2 7.9 695 15705 roll 0.49 - - 2395 - 2.58 0.096 820 -551.9 116.8 - - 2223 - - - - - - - - 14.90 14.59 14.93
15741 776.9 6.8 701 15749 done 0.50 0.12 0.269 2368 -225.0 2.58 0.088 2241 550.8 130.3 3.70 1.270 2207 -4.3 0.493 - - - - - - 14.47 14.60 13.78
16085 753.1 7.0 708 16110 roll 0.51 - - 2368 - 2.62 0.117 3638 533.2 139.3 17.45 1.831 2163 -2.5 0.193 - - - - - - 14.91 14.54 13.95
16175 745.5 8.6 721 16181 done 0.51 - - 2377 - 2.47 0.079 2240 -566.0 139.3 - - 2157 - - - - - - - - 14.64 14.55 14.67
16533 714.6 8.8 730 16538 roll 0.51 - - 2388 - 2.58 0.096 822 -549.6 139.3 - - 2155 - - - - - - - - 14.85 14.56 14.87
16609 707.9 8.7 741 16615 done 0.51 - - 2388 - 2.60 0.086 2233 542.7 139.3 - - 2153 - - - - - - - - 14.71 14.55 14.73
16925 676.6 10.0 751 16930 roll 0.51 - - 2388 - 2.58 0.117 3638 544.6 139.3 - - 2153 - - - - - - - - 14.88 14.57 14.90
17001 667.9 11.3 762 17007 done 0.51 0.12 0.270 2370 -150.0 2.50 0.079 2249 -555.6 139.3 - - 2150 - - - - - - - - 14.47 14.59 14.69
17317 639.5 8.9 772 17322 roll 0.51 - - 2380 - 2.60 0.098 822 -548.8 139.3 - - 2152 - - - - - - - - 14.90 14.58 14.92
17393 632.9 8.4 783 17398 done 0.51 - - 2380 - 2.60 0.086 2231 541.9 139.3 - - 2151 - - - - - - - - 14.66 14.58 14.76
17709 605.6 8.6 793 17715 roll 0.51 - - 2380 - 2.60 0.118 3647 544.6 139.3 - - 2151 - - - - - - - - 14.92 14.58 14.93
17792 597.9 9.1 805 17798 done 0.51 - - 2389 - 2.47 0.080 2245 -567.6 139.3 - - 2151 - - - - - - - - 14.74 14.64 14.77
18157 567.9 8.1 815 18162 roll 0.51 - - 2399 - 2.58 0.096 822 -551.6 139.3 - - 2151 - - - - - - - - 14.91 14.59 14.93
18184 565.8 7.7 819 18190 done 0.51 0.10 0.226 2369 -300.0 2.62 0.086 2248 544.3 139.3 - - 2150 - - - - - - - - 14.46 14.61 14.62
18549 539.8 7.2 829 18555 roll 0.51 - - 2370 - 2.55 0.116 3641 546.3 141.4 - - 2150 - - - - - - - - 14.93 14.59 14.95
18618 533.7 8.6 839 18623 done 0.51 - - 2379 - 2.50 0.078 2247 -557.6 141.4 - - 2150 - - - - - - - - 14.66 14.61 14.71
18941 506.7 8.5 850 18946 roll 0.51 - - 2389 - 2.58 0.095 822 -552.3 141.4 - - 2150 - - - - - - - - 14.93 14.60 14.95
18997 502.1 8.1 858 19002 done 0.51 - - 2389 - 2.58 0.085 2247 552.3 141.4 - - 2150 - - - - - - - - 14.73 14.61 14.78
19333 473.2 8.6 871 19338 roll 0.51 - - 2389 - 2.55 0.114 3650 550.2 141.4 - - 2150 - - - - - - - - 14.92 14.58 14.95
19395 467.3 9.5 880 19401 done 0.51 0.10 0.232 2356 -330.0 2.50 0.076 2255 -558.0 141.4 - - 2152 - - - - - - - - 14.47 14.62 14.71
19725 445.8 6.4 892 19758 roll 0.52 - - 2365 - 2.60 0.090 821 -551.5 163.2 27.92 1.516 2068 -3.0 0.165 - - - - - - 14.92 14.47 14.00
19815 439.8 6.7 905 19836 done 0.60 - - 2365 - 2.60 0.083 2252 550.4 177.4 13.98 1.509 2011 -4.1 0.222 - - - - - - 14.62 14.52 13.89
20173 411.6 8.3 914 20178 roll 0.60 - - 2365 - 2.55 0.113 3640 544.3 177.4 - - 1998 - - - - - - - - 14.78 14.49 14.81
20221 406.9 9.7 921 20229 done 0.60 - - 2374 - 2.50 0.074 2250 -556.0 177.4 - - 1997 - - - - - - - - 14.58 14.52 14.62
20565 374.6 9.4 928 20570 roll 0.60 - - 2383 - 2.60 0.093 821 -549.6 177.4 - - 1997 - - - - - - - - 14.85 14.55 14.87
20634 368.4 8.8 938 20640 done 0.66 - - 2382 - 2.58 0.083 2246 552.3 177.4 - - 1996 - - - - - - - - 14.70 14.57 14.72
20957 340.1 8.5 949 20962 roll 0.66 - - 2383 - 2.55 0.112 3644 548.2 177.4 - - 1994 - - - - - - - - 14.88 14.57 14.90
21047 332.0 8.8 962 21052 done 0.66 - - 2392 - 2.50 0.075 2249 -558.0 177.4 - - 1996 - - - - - - - - 14.66 14.58 14.69
21405 300.9 8.9 971 21410 roll 0.66 - - 2403 - 2.58 0.093 820 -553.9 177.4 - - 1996 - - - - - - - - 14.91 14.59 14.93
21446 297.0 9.3 977 21453 done 0.66 - - 2403 - 2.58 0.083 2252 555.0 177.4 - - 1994 - - - - - - - - 14.72 14.59 14.76
21797 261.3 10.2 985 21802 roll 0.66 - - 2402 - 2.53 0.112 3645 550.6 177.4 - - 1996 - - - - - - - - 14.91 14.59 14.93
21824 258.1 11.3 989 21831 done 0.66 - - 2411 - 2.45 0.075 2243 -572.2 177.4 - - 1996 - - - - - - - - 14.75 14.65 14.78
22189 220.0 10.3 999 22194 roll 0.66 - - 2422 - 2.55 0.089 816 -559.6 177.4 - - 1996 - - - - - - - - 14.92 14.61 14.94
22245 214.8 9.3 1007 22250 done 0.66 - - 2423 - 2.58 0.082 2253 557.0 177.4 - - 1996 - - - - - - - - 14.75 14.63 14.78
22581 181.7 9.9 1020 22586 roll 0.66 - - 2422 - 2.53 0.111 3648 551.4 177.4 - - 1996 - - - - - - - - 14.93 14.60 14.95
22622 177.2 11.0 1026 22627 done 0.66 - - 2432 - 2.50 0.073 2245 -561.2 177.4 - - 1996 - - - - - - - - 14.74 14.63 14.73
22973 139.3 11.0 1034 22978 roll 0.66 - - 2442 - 2.55 0.088 819 -559.2 177.4 - - 1996 - - - - - - - - 14.93 14.62 14.95
23021 134.6 9.7 1041 23029 done 0.66 0.08 0.252 2412 -375.0 2.62 0.083 2258 549.2 177.4 - - 1996 - - - - - - - - 14.47 14.61 14.72
23365 105.7 7.9 1048 23370 roll 0.66 - - 2412 - 2.47 0.109 3640 559.5 177.4 - - 1994 - - - - - - - - 14.93 14.59 14.95
23511 95.4 7.5 1069 23517 done 0.66 - - 2420 - 2.40 0.070 2265 -572.9 177.4 - - 1996 - - - - - - - - 14.76 14.66 14.79
23841 79.3 4.8 1083 23881 roll 0.77 - - 2420 - 2.55 0.103 3638 538.4 236.7 33.00 0.374 1776 -6.7 0.263 - - - - - - 14.92 14.58 14.37
23976 73.3 5.5 1102 24014 done 0.88 0.17 0.110 2495 441.2 2.40 0.066 2265 -572.1 280.9 29.40 0.351 1595 -6.2 0.240 - - - - - - 14.69 14.63 14.33
24345 51.0 5.3 1122 24384 roll 0.96 - - 2495 - 2.58 0.098 3642 533.7 329.3 31.12 0.285 1400 -6.3 0.209 - - - - - - 14.86 14.54 14.37
24508 42.7 5.5 1145 24542 done 1.07 0.12 0.134 2555 500.0 2.33 0.065 2297 -577.3 371.9 28.45 0.258 1221 -6.3 0.194 - - - - - - 14.61 14.60 14.38
24852 19.0 7.2 1161 24862 roll 1.12 - - 2555 - 2.42 0.097 3641 555.4 375.8 4.30 0.174 1206 -3.5 0.071 - - 1 - - - 14.85 14.57 14.49
24977 9.3 8.1 1179 24982 done 1.17 - - 2562 - 2.33 0.063 2287 -581.1 375.8 - - 1216 - - - - - - - - 14.73 14.64 14.74
25070 end climb: SURFACE_DEPTH_REACHED
25070 begin surface coast
25098 end surface coast: CONTROL_FINISHED_OK
25098 begin surface
SM 0.93 - - - - -6.15 6.60 0.063 202 30.6 - - 2278 - 500.17 74.15 0.135 701 9.5 -0.007 - - - - - -