SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 143 * Raw log
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• Previous call tries 1 • 62.89 of 350.00 AH used of 24V (82.03% 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: 25 s
• GPS2 time: 11 s • Transponder ping count: 13
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 VBD -0.68 - - 202 - - - 2230 - -116.8 -84.62 - 3031 - - - - - - - - 14.75 - 14.76
110 6.9 -10.2 3 127 roll -0.68 8.98 0.428 1982 198.2 2.55 2.095 906 -519.2 -116.8 -2.88 - 3219 -65.3 - - - - - - - 14.23 13.45 14.59
262 63.3 -25.0 25 268 done -0.50 0.25 0.297 2028 184.0 2.40 0.071 2269 567.9 -116.8 - - 3221 - - - - - - - - 14.38 14.57 14.62
611 112.2 -10.3 37 617 roll -0.40 0.12 0.285 2065 308.3 2.33 0.050 905 -585.4 -116.8 - - 3223 - - - - - - - - 14.51 14.68 14.64
775 124.9 -7.8 60 781 done -0.40 - - 2056 - 2.42 0.065 2297 575.2 -116.8 - - 3223 - - - - - - - - 14.78 14.69 14.80
1115 152.2 -8.0 67 1120 roll -0.40 - - 2055 - 2.40 0.087 3690 580.4 -116.8 - - 3222 - - - - - - - - 14.97 14.70 14.99
1150 154.9 -7.9 72 1155 done -0.40 - - 2052 - 2.28 0.047 2304 -607.9 -116.8 - - 3223 - - - - - - - - 14.84 14.79 14.85
1507 185.4 -8.8 81 1513 roll -0.40 - - 2051 - 2.40 0.058 889 -589.6 -116.8 - - 3222 - - - - - - - - 14.98 14.75 15.01
1619 195.6 -8.9 97 1625 done -0.40 - - 2044 - 2.45 0.067 2295 573.9 -116.8 - - 3221 - - - - - - - - 14.83 14.73 14.85
1956 223.5 -8.2 110 1957 done -0.40 - - 2043 - - - 2295 - -116.8 - - 3219 - - - - - - - - 15.00 15.02 15.01
2291 250.9 -8.2 116 2296 roll -0.40 - - 2037 - 2.45 0.093 3697 572.2 -116.8 - - 3217 - - - - - - - - 15.00 14.73 15.02
2325 253.8 -8.4 121 2332 done -0.40 0.08 0.211 2062 312.5 2.38 0.050 2289 -591.6 -116.8 - - 3217 - - - - - - - - 14.61 14.79 14.73
2684 280.5 -7.5 130 2688 roll -0.40 - - 2062 - 2.40 0.061 884 -585.4 -116.8 - - 3214 - - - - - - - - 15.02 14.76 15.03
2780 288.4 -8.0 144 2786 done -0.40 - - 2056 - 2.50 0.072 2286 560.8 -116.8 - - 3214 - - - - - - - - 14.78 14.73 14.82
3131 316.9 -8.2 152 3136 roll -0.40 - - 2051 - 2.45 0.096 3689 572.7 -116.8 - - 3210 - - - - - - - - 15.01 14.69 15.03
3208 323.2 -8.1 163 3213 done -0.40 - - 2051 - 2.33 0.053 2285 -602.6 -116.8 - - 3210 - - - - - - - - 14.87 14.81 14.88
3523 348.2 -7.9 173 3529 roll -0.40 - - 2051 - 2.40 0.063 883 -584.2 -116.8 - - 3207 - - - - - - - - 15.02 14.76 15.04
3599 354.2 -7.7 184 3605 done -0.40 - - 2044 - 2.50 0.072 2277 557.6 -116.8 - - 3207 - - - - - - - - 14.78 14.71 14.81
3916 378.6 -7.8 194 3917 done -0.40 - - 2044 - - - 2277 - -116.8 - - 3206 - - - - - - - - 15.01 15.06 15.03
4251 405.3 -7.9 200 4256 roll -0.40 - - 2044 - 2.42 0.063 880 -577.3 -116.8 - - 3204 - - - - - - - - 15.02 14.78 15.04
4278 407.6 -8.2 204 4284 done -0.40 - - 2043 - 2.53 0.074 2284 554.9 -116.8 - - 3204 - - - - - - - - 14.78 14.71 14.81
4644 435.8 -7.7 214 4648 roll -0.40 - - 2036 - 2.50 0.097 3703 567.6 -116.8 - - 3202 - - - - - - - - 15.02 14.71 15.03
4705 440.7 -7.8 223 4711 done -0.40 0.10 0.209 2068 320.0 2.40 0.054 2290 -588.8 -116.8 - - 3201 - - - - - - - - 14.57 14.77 14.70
5036 460.7 -6.0 235 5040 roll -0.44 - - 2068 - 2.42 0.067 882 -581.8 -116.8 - - 3199 - - - - - - - - 15.02 14.74 15.04
5092 464.2 -6.3 243 5097 done -0.50 - - 2068 - 2.53 0.077 2296 558.9 -116.8 - - 3199 - - - - - - - - 14.83 14.72 14.87
5428 483.9 -5.9 256 5433 roll -0.55 0.12 0.141 2000 -566.7 2.47 0.098 3695 566.4 -116.8 - - 3197 - - - - - - - - 14.76 14.70 14.81
5511 491.4 -9.8 268 5517 done -0.55 - - 2003 - 2.38 0.057 2279 -595.0 -116.8 - - 3197 - - - - - - - - 14.85 14.78 14.87
5875 529.6 -10.7 278 5880 roll -0.55 - - 2003 - 2.40 0.067 885 -580.8 -116.8 - - 3196 - - - - - - - - 15.01 14.72 15.03
5972 540.6 -11.1 292 5978 done -0.55 - - 1999 - 2.53 0.077 2277 550.2 -116.8 - - 3196 - - - - - - - - 14.74 14.67 14.85
6324 578.4 -10.6 300 6324 done -0.55 - - 1999 - - - 2277 - -116.8 - - 3194 - - - - - - - - 15.00 15.02 15.02
6659 610.2 -9.2 306 6664 roll -0.55 - - 1989 - 2.50 0.101 3692 566.0 -116.8 - - 3192 - - - - - - - - 15.00 14.68 15.02
6686 612.8 -9.4 310 6692 done -0.55 0.10 0.233 2032 430.0 2.42 0.061 2288 -580.2 -116.8 - - 3192 - - - - - - - - 14.52 14.73 14.76
7051 639.5 -7.3 320 7056 roll -0.55 - - 2033 - 2.42 0.066 879 -582.2 -116.8 - - 3191 - - - - - - - - 15.01 14.71 15.02
7142 646.4 -7.5 333 7148 done -0.55 - - 2025 - 2.50 0.080 2280 560.4 -116.8 - - 3191 - - - - - - - - 14.81 14.69 14.83
7499 674.0 -7.8 342 7504 roll -0.55 - - 2016 - 2.53 0.103 3694 558.9 -116.8 - - 3190 - - - - - - - - 15.00 14.64 15.01
7569 679.8 -8.4 352 7574 done -0.55 - - 2016 - 2.42 0.062 2271 -588.0 -116.8 - - 3189 - - - - - - - - 14.82 14.74 14.84
7892 705.0 -7.8 363 7896 roll -0.55 - - 2015 - 2.42 0.073 884 -573.1 -116.8 - - 3188 - - - - - - - - 15.00 14.69 15.02
7995 713.6 -8.1 378 8002 done -0.55 - - 2011 - 2.55 0.081 2279 547.1 -116.8 - - 3188 - - - - - - - - 14.71 14.64 14.76
8340 741.2 -8.1 385 8341 done -0.55 - - 2012 - - - 2279 - -116.8 - - 3186 - - - - - - - - 14.98 15.01 15.00
8675 769.4 -8.4 391 8680 roll -0.55 - - 2002 - 2.53 0.105 3692 558.5 -116.8 - - 3185 - - - - - - - - 14.97 14.64 15.00
8737 774.9 -8.8 400 8743 done -0.55 - - 2002 - 2.45 0.062 2282 -575.5 -116.8 - - 3186 - - - - - - - - 14.75 14.70 14.78
9068 803.1 -8.7 412 9073 roll -0.55 - - 2002 - 2.45 0.071 881 -571.8 -116.8 - - 3185 - - - - - - - - 14.97 14.67 15.00
9150 810.3 -8.5 424 9156 done -0.55 - - 1999 - 2.58 0.084 2276 540.7 -116.8 - - 3184 - - - - - - - - 14.69 14.61 14.73
9516 840.3 -8.2 434 9520 roll -0.55 - - 1999 - 2.47 0.071 874 -567.6 -116.8 - - 3183 - - - - - - - - 14.98 14.66 15.00
9550 843.2 -6.7 439 9555 done -0.55 - - 1998 - 2.55 0.086 2283 552.5 -116.8 - - 3183 - - - - - - - - 14.76 14.63 14.80
9908 870.8 -7.7 448 9913 roll -0.55 - - 1990 - 2.53 0.106 3692 556.9 -116.8 - - 3182 - - - - - - - - 14.97 14.60 14.99
9955 874.5 -7.1 455 9963 done -0.55 0.08 0.241 2012 275.0 2.47 0.065 2281 -571.3 -116.8 - - 3182 - - - - - - - - 14.43 14.67 14.59
10300 898.9 -7.2 462 10305 roll -0.55 - - 2012 - 2.47 0.073 871 -570.9 -116.8 - - 3181 - - - - - - - - 14.97 14.64 14.98
10424 908.3 -7.6 480 10430 done -0.55 - - 2012 - 2.58 0.086 2288 549.2 -116.8 - - 3181 - - - - - - - - 14.75 14.60 14.78
10747 932.4 -7.5 491 10748 done -0.55 - - 2012 - - - 2288 - -116.8 - - 3180 - - - - - - - - 14.98 15.00 15.00
11084 958.5 -7.9 497 11089 roll -0.55 - - 2007 - 2.55 0.111 3694 551.4 -116.8 - - 3183 - - - - - - - - 14.97 14.59 15.01
11124 961.9 -8.1 503 11130 done -0.55 - - 2006 - 2.50 0.065 2261 -573.2 -116.8 - - 3179 - - - - - - - - 14.71 14.66 14.73
11475 987.6 -7.5 511 11480 roll -0.55 - - 2007 - 2.42 0.073 878 -571.5 -116.8 - - 3177 - - - - - - - - 14.97 14.63 14.98
11499 end dive: TARGET_DEPTH_EXCEEDED
11499 begin apogee
11510 990.5 -11.1 515 11658 roll -0.19 0.47 0.236 2129 259.6 - - 2237 - - 140.88 2.533 2740 -3.1 0.231 - - - - 1 - 14.45 13.87 12.90
11659 end apogee: CONTROL_FINISHED_OK
11660 begin climb
11663 994.1 - 517 11828 done 0.68 0.93 0.146 2413 305.4 - - 2236 - 116.8 157.80 1.922 2263 -3.0 0.297 - - - - - - 13.87 14.09 13.09
12179 945.8 11.0 555 12184 roll 0.61 - - 2414 - 2.60 0.113 3638 539.2 116.8 - - 2229 - - - - - - - - 14.62 14.33 14.64
12262 935.3 12.3 567 12268 done 0.51 0.22 0.290 2372 -190.9 2.47 0.078 2242 -565.2 116.8 - - 2228 - - - - 1 - - - 14.25 14.42 14.49
12627 901.4 9.2 577 12632 roll 0.51 - - 2381 - 2.60 0.095 824 -545.4 116.8 - - 2227 - - - - - - - - 14.79 14.50 14.81
12675 896.9 9.1 584 12682 done 0.51 - - 2381 - 2.62 0.087 2229 536.3 116.8 - - 2226 - - - - - - - - 14.57 14.50 14.62
13019 864.7 9.3 591 13023 roll 0.51 - - 2381 - 2.60 0.116 3641 543.1 116.8 - - 2226 - - - - - - - - 14.85 14.54 14.88
13060 860.2 11.2 597 13066 done 0.44 0.17 0.276 2351 -176.5 2.47 0.080 2234 -569.6 116.8 - - 2225 - - - - 1 - - - 14.41 14.59 14.66
13411 832.7 7.7 605 13415 roll 0.44 - - 2360 - 2.58 0.095 812 -551.2 116.8 - - 2225 - - - - - - - - 14.90 14.58 14.91
13445 830.1 8.8 610 13451 done 0.44 - - 2360 - 2.62 0.086 2258 551.9 116.8 - - 2224 - - - - - - - - 14.71 14.59 14.75
13803 804.1 7.3 619 13808 roll 0.45 - - 2361 - 2.53 0.114 3640 546.2 118.7 - - 2220 - - - - - - - - 14.90 14.57 14.92
13851 799.8 9.3 626 13858 done 0.45 - - 2370 - 2.53 0.078 2233 -556.1 118.7 - - 2223 - - - - - - - - 14.66 14.59 14.70
14195 773.8 7.6 633 14199 roll 0.45 - - 2381 - 2.60 0.095 808 -548.1 118.7 - - 2223 - - - - - - - - 14.92 14.60 14.95
14257 769.0 7.7 642 14264 done 0.45 0.15 0.265 2347 -226.7 2.60 0.087 2238 550.0 118.7 - - 2223 - - - - - - - - 14.45 14.60 14.70
14587 747.2 6.5 654 14613 roll 0.46 - - 2347 - 2.58 0.115 3639 543.0 137.5 20.02 1.694 2174 -2.4 0.205 - - - - - - 14.92 14.54 14.02
14684 740.0 7.7 668 14689 done 0.46 - - 2355 - 2.50 0.076 2227 -564.8 137.5 - - 2163 - - - - - - - - 14.65 14.56 14.67
15035 715.4 7.0 676 15042 roll 0.46 - - 2365 - 2.62 0.096 820 -537.0 146.0 3.08 0.992 2142 -6.8 0.935 - - - - - - 14.85 14.61 13.77
15104 710.5 6.7 686 15145 done 0.47 - - 2365 - 2.55 0.083 2233 554.1 162.2 34.28 1.651 2074 -2.0 0.162 - - - - - - 14.69 14.58 13.85
15479 682.2 7.8 704 15484 roll 0.47 - - 2365 - 2.60 0.113 3642 541.9 162.2 - - 2058 - - - - - - - - 14.76 14.49 14.78
15546 676.1 8.8 714 15553 done 0.47 - - 2375 - 2.55 0.078 2234 -552.2 162.2 - - 2057 - - - - - - - - 14.57 14.52 14.61
15870 649.4 8.3 725 15874 roll 0.47 - - 2390 - 2.58 0.090 820 -548.1 162.2 - - 2057 - - - - - - - - 14.83 14.55 14.85
15911 645.9 8.3 731 15916 done 0.47 0.12 0.256 2357 -275.0 2.58 0.082 2242 551.2 162.2 - - 2055 - - - - - - - - 14.45 14.57 14.67
16261 620.2 7.3 739 16266 roll 0.47 - - 2356 - 2.55 0.112 3640 548.2 163.4 - - 2056 - - - - - - - - 14.88 14.57 14.90
16318 615.7 8.2 747 16322 done 0.47 - - 2366 - 2.47 0.075 2235 -568.8 163.4 - - 2055 - - - - - - - - 14.71 14.62 14.74
16653 589.8 7.8 760 16658 roll 0.47 - - 2374 - 2.55 0.090 820 -554.9 163.4 - - 2055 - - - - - - - - 14.92 14.59 14.92
16715 585.1 7.4 769 16721 done 0.47 - - 2374 - 2.55 0.080 2242 557.6 163.4 - - 2054 - - - - - - - - 14.72 14.61 14.76
17046 557.1 8.7 781 17051 roll 0.47 - - 2374 - 2.55 0.109 3644 549.8 163.4 - - 2054 - - - - - - - - 14.90 14.59 14.92
17121 549.4 9.8 792 17127 done 0.47 0.08 0.243 2348 -325.0 2.50 0.074 2246 -559.2 163.4 - - 2054 - - - - - - - - 14.46 14.62 14.71
17437 525.2 7.6 802 17443 roll 0.47 - - 2357 - 2.58 0.090 820 -552.7 163.4 - - 2054 - - - - - - - - 14.91 14.60 14.92
17465 523.2 7.3 806 17471 done 0.53 - - 2356 - 2.58 0.080 2250 554.3 163.9 - - 2054 - - - - - - - - 14.74 14.62 14.78
17829 494.3 7.9 816 17834 roll 0.53 - - 2357 - 2.53 0.111 3641 549.8 163.9 - - 2054 - - - - - - - - 14.92 14.59 14.94
17877 490.1 8.8 823 17884 done 0.53 - - 2366 - 2.50 0.074 2240 -560.4 163.9 - - 2054 - - - - - - - - 14.68 14.62 14.71
18222 464.4 7.3 830 18227 roll 0.53 - - 2375 - 2.55 0.089 822 -556.1 164.1 - - 2054 - - - - - - - - 14.92 14.61 14.94
18255 462.0 6.9 835 18263 done 0.53 - - 2375 - 2.58 0.080 2248 552.7 173.5 4.00 1.147 2030 -6.0 0.460 - - - - - - 14.73 14.62 13.89
18607 436.4 7.4 843 18611 roll 0.53 - - 2375 - 2.53 0.110 3641 550.6 173.5 - - 2037 - - - - - - - - 14.91 14.59 14.93
18711 427.3 8.7 858 18718 done 0.53 - - 2389 - 2.45 0.074 2256 -565.3 173.5 - - 2037 - - - - - - - - 14.74 14.64 14.76
19055 397.6 8.8 865 19059 roll 0.53 - - 2393 - 2.58 0.090 818 -557.4 173.5 - - 2038 - - - - - - - - 14.92 14.60 14.94
19096 393.9 8.7 871 19101 done 0.53 - - 2393 - 2.62 0.081 2253 547.7 173.5 - - 2038 - - - - - - - - 14.67 14.60 14.71
19447 363.0 8.8 879 19452 roll 0.53 - - 2393 - 2.53 0.111 3645 550.2 173.5 - - 2038 - - - - - - - - 14.92 14.59 14.94
19508 356.8 9.9 888 19514 done 0.53 0.08 0.234 2379 -175.0 2.47 0.073 2261 -560.3 173.5 - - 2038 - - - - - - - - 14.45 14.62 14.59
19839 329.9 8.2 900 19844 roll 0.53 - - 2389 - 2.58 0.086 819 -558.9 173.5 - - 2038 - - - - - - - - 14.93 14.61 14.95
19901 324.7 8.2 909 19906 done 0.53 - - 2389 - 2.58 0.080 2256 557.0 173.5 - - 2038 - - - - - - - - 14.73 14.61 14.77
20231 294.8 9.1 921 20235 roll 0.53 - - 2389 - 2.50 0.109 3641 554.0 173.5 - - 2038 - - - - - - - - 14.93 14.62 14.95
20293 288.7 9.6 930 20299 done 0.53 - - 2398 - 2.45 0.072 2239 -572.2 173.5 - - 2039 - - - - - - - - 14.75 14.65 14.77
20623 260.4 8.5 942 20628 roll 0.53 - - 2407 - 2.53 0.086 826 -558.5 173.5 - - 2038 - - - - - - - - 14.93 14.61 14.95
20679 255.8 8.2 950 20685 done 0.53 0.15 0.242 2371 -240.0 2.58 0.081 2252 552.7 173.5 1.55 0.190 2029 -5.8 1.487 - - - - - - 14.50 14.62 14.53
21015 232.2 7.0 963 21041 roll 0.54 - - 2371 - 2.55 0.109 3635 542.4 181.9 18.85 1.210 1995 -1.8 0.066 - - - - - - 14.93 14.59 14.14
21091 225.8 8.5 974 21097 done 0.54 - - 2380 - 2.47 0.070 2242 -564.0 181.9 - - 1988 - - - - - - - - 14.71 14.59 14.73
21407 199.3 8.6 984 21412 roll 0.54 - - 2389 - 2.58 0.085 819 -551.6 181.9 - - 1987 - - - - - - - - 14.89 14.57 14.88
21448 195.8 8.4 990 21455 done 0.59 - - 2389 - 2.60 0.076 2243 547.7 181.9 - - 1986 - - - - - - - - 14.64 14.57 14.69
21799 166.8 8.1 998 21804 roll 0.59 - - 2389 - 2.53 0.106 3639 551.8 181.9 - - 1983 - - - - - - - - 14.90 14.57 14.92
21875 159.8 9.0 1009 21880 done 0.59 - - 2397 - 2.42 0.067 2243 -576.9 181.9 - - 1986 - - - - - - - - 14.73 14.64 14.76
22191 133.6 8.3 1019 22195 roll 0.59 - - 2406 - 2.55 0.085 823 -556.9 181.9 - - 1986 - - - - - - - - 14.90 14.60 14.92
22239 129.4 8.4 1026 22247 done 0.59 - - 2406 - 2.60 0.076 2249 548.5 181.9 - - 1986 - - - - - - - - 14.65 14.59 14.71
22583 105.6 6.4 1033 22602 roll 0.60 - - 2406 - 2.53 0.105 3648 553.0 205.0 13.18 0.395 1904 -6.2 0.316 - - - - - - 14.92 14.62 14.31
22695 97.5 7.1 1049 22707 done 0.60 - - 2415 - 2.47 0.068 2261 -561.5 210.2 6.62 0.308 1880 -3.6 0.218 - - - - - - 14.67 14.62 14.26
23034 78.2 5.2 1064 23071 done 0.70 - - 2415 - - - 2262 - 260.3 35.03 0.367 1678 -5.8 0.234 - - - - - - 14.89 14.64 14.32
23367 63.2 5.0 1079 23413 roll 0.88 0.17 0.109 2506 535.3 2.65 0.076 816 -545.7 314.7 37.80 0.319 1460 -5.8 0.217 - - - - - - 14.65 14.55 14.33
23495 55.5 7.1 1097 23508 done 0.94 - - 2506 - 2.60 0.073 2269 558.8 320.3 6.47 0.237 1435 -3.9 0.172 - - - - - - 14.66 14.56 14.32
23815 37.4 4.8 1110 23862 roll 1.04 - - 2505 - 2.45 0.094 3645 561.6 379.5 41.45 0.240 1193 -5.8 0.173 - - - - - - 14.86 14.54 14.39
23912 31.9 6.3 1124 23939 done 1.17 0.20 0.099 2587 410.0 2.40 0.063 2260 -577.1 404.2 18.60 0.220 1092 -5.4 0.150 - - - - - - 14.62 14.59 14.35
24266 3.5 8.1 1141 24271 1.17 - - 2586 - 1.23 0.082 2928 543.1 404.2 2.80 0.157 1089 -1.1 0.005 - - - - - - 14.86 14.67 14.50
24272 end climb: SURFACE_DEPTH_REACHED
24272 begin surface coast
24317 end surface coast: CONTROL_FINISHED_OK
24317 begin surface
SM 0.91 - - - - -6.13 6.75 0.073 215 31.8 1.12 0.060 2276 -5513.4 500.17 60.72 0.137 698 11.5 -0.008 - - 1 - - -