SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 145 * Raw log
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• Previous call tries 1 • 63.66 of 350.00 AH used of 24V (81.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 0.97 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 16 s • Transponder ping count: 11
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 VBD -0.68 - - 208 - - - 2285 - -116.8 -84.40 - 3010 - - - - - - - - 14.74 - 14.76
106 6.6 -9.7 3 123 roll -0.68 8.93 0.426 1967 197.0 2.78 2.124 3689 505.0 -116.8 -3.33 - 3220 -63.1 - - - - - - - 14.21 13.42 14.56
245 61.6 -37.6 23 250 done -0.33 0.47 0.275 2086 253.2 2.38 0.050 2278 -592.9 -116.8 - - 3222 - - - - - - - - 14.38 14.59 14.61
579 101.6 -8.8 38 584 roll -0.33 - - 2086 - 2.40 0.060 867 -587.9 -116.8 - - 3223 - - - - - - - - 14.89 14.66 14.91
607 103.6 -7.2 42 612 done -0.33 - - 2081 - 2.50 0.065 2305 575.2 -116.8 - - 3223 - - - - - - - - 14.75 14.66 14.77
971 127.8 -6.5 52 976 roll -0.33 - - 2076 - 2.40 0.088 3696 579.6 -116.8 - - 3223 - - - - - - - - 14.95 14.69 14.97
1013 130.5 -7.1 58 1018 done -0.33 - - 2076 - 2.33 0.048 2276 -609.4 -116.8 - - 3223 - - - - - - - - 14.83 14.76 14.84
1364 154.1 -6.4 66 1369 roll -0.33 - - 2076 - 2.35 0.060 888 -590.6 -116.8 - - 3223 - - - - - - - - 14.98 14.74 15.00
1476 161.4 -6.2 82 1480 done -0.33 - - 2070 - 2.42 0.066 2288 578.5 -116.8 - - 3222 - - - - - - - - 14.83 14.73 14.85
1812 182.8 -6.6 95 1813 done -0.33 - - 2071 - - - 2289 - -116.8 - - 3221 - - - - - - - - 14.99 15.02 15.02
2147 207.1 -7.4 101 2153 roll -0.33 - - 2063 - 2.42 0.090 3693 580.2 -116.8 - - 3218 - - - - - - - - 15.00 14.73 15.03
2174 209.2 -7.5 105 2181 done -0.33 - - 2063 - 2.35 0.050 2291 -596.6 -116.8 - - 3218 - - - - - - - - 14.82 14.78 14.84
2539 234.8 -6.9 115 2544 roll -0.33 - - 2063 - 2.40 0.063 892 -582.9 -116.8 - - 3216 - - - - - - - - 15.02 14.76 15.03
2623 240.9 -7.2 127 2628 done -0.33 0.12 0.264 2089 216.7 2.42 0.068 2283 574.8 -116.8 - - 3215 - - - - - - - - 14.59 14.73 14.78
2988 263.5 -6.3 137 2988 done -0.40 - - 2089 - - - 2284 - -116.8 - - 3213 - - - - - - - - 15.01 15.03 15.03
3324 286.1 -6.7 143 3329 roll -0.46 0.12 0.138 2024 -541.7 2.45 0.091 3690 573.9 -116.8 - - 3210 - - - - - - - - 14.78 14.73 14.83
3364 289.6 -9.2 149 3371 done -0.46 - - 2023 - 2.38 0.053 2277 -593.7 -116.8 - - 3210 - - - - - - - - 14.82 14.78 14.84
3715 320.5 -8.7 157 3721 roll -0.46 - - 2020 - 2.38 0.063 892 -581.9 -116.8 - - 3208 - - - - - - - - 15.01 14.76 15.04
3813 329.3 -9.0 171 3819 done -0.46 0.12 0.269 2045 208.3 2.45 0.071 2280 566.5 -116.8 - - 3207 - - - - - - - - 14.57 14.71 14.78
4163 359.5 -8.8 179 4164 done -0.46 - - 2045 - - - 2280 - -116.8 - - 3205 - - - - - - - - 15.02 15.03 15.04
4499 388.8 -8.6 185 4500 done -0.46 - - 2042 - - - 2280 - -116.8 - - 3204 - - - - - - - - 15.02 15.04 15.03
4836 414.0 -7.3 191 4837 done -0.46 - - 2047 - - - 2281 - -116.8 - - 3201 - - - - - - - - 15.00 15.04 15.03
5172 437.8 -7.1 197 5177 roll -0.46 - - 2033 - 2.50 0.099 3703 568.8 -116.8 - - 3200 - - - - - - - - 15.02 14.71 15.03
5198 440.0 -7.9 201 5205 done -0.46 - - 2035 - 2.42 0.056 2275 -590.1 -116.8 - - 3197 - - - - - - - - 14.81 14.76 14.83
5563 472.0 -9.0 211 5568 roll -0.46 - - 2035 - 2.40 0.067 888 -577.9 -116.8 - - 3198 - - - - - - - - 15.04 14.73 15.03
5661 480.9 -9.1 225 5667 done -0.46 - - 2028 - 2.42 0.074 2267 569.8 -116.8 - - 3197 - - - - - - - - 14.84 14.72 14.86
6011 511.3 -8.6 233 6017 roll -0.46 - - 2020 - 2.50 0.100 3692 570.0 -116.8 - - 3196 - - - - - - - - 15.01 14.69 15.02
6060 515.4 -8.5 240 6067 done -0.46 0.12 0.248 2050 250.0 2.42 0.057 2260 -591.7 -116.8 - - 3197 - - - - - - - - 14.56 14.77 14.77
6403 537.2 -6.1 247 6408 roll -0.46 - - 2050 - 2.38 0.066 879 -580.3 -116.8 - - 3195 - - - - - - - - 15.00 14.72 15.02
6487 542.4 -6.2 259 6492 done -0.46 - - 2044 - 2.45 0.076 2264 565.3 -116.8 - - 3195 - - - - - - - - 14.83 14.70 14.85
6852 566.4 -6.8 269 6858 roll -0.46 - - 2043 - 2.53 0.102 3691 564.0 -116.8 - - 3193 - - - - - - - - 15.01 14.67 15.02
6899 570.0 -7.6 276 6906 done -0.46 - - 2038 - 2.42 0.057 2259 -591.7 -116.8 - - 3192 - - - - - - - - 14.78 14.73 14.81
7243 595.6 -7.5 283 7248 roll -0.46 - - 2038 - 2.38 0.067 886 -576.9 -116.8 - - 3191 - - - - - - - - 15.02 14.71 15.02
7278 598.3 -8.1 288 7283 done -0.46 - - 2038 - 2.45 0.078 2266 563.3 -116.8 - - 3191 - - - - - - - - 14.81 14.69 14.83
7636 624.4 -7.3 297 7637 done -0.46 - - 2038 - - - 2266 - -116.8 - - 3190 - - - - - - - - 15.00 15.02 15.01
7971 649.1 -7.3 303 7972 done -0.46 - - 2037 - - - 2265 - -116.8 - - 3189 - - - - - - - - 15.00 15.02 15.02
8307 673.7 -7.3 309 8313 roll -0.46 - - 2042 - 2.40 0.064 887 -574.2 -116.8 - - 3188 - - - - - - - - 15.00 14.68 15.01
8342 676.3 -7.7 314 8347 done -0.46 - - 2037 - 2.45 0.079 2264 562.0 -116.8 - - 3188 - - - - - - - - 14.81 14.68 14.83
8699 699.4 -6.3 323 8704 roll -0.46 - - 2033 - 2.55 0.103 3701 563.5 -116.8 - - 3186 - - - - - - - - 15.00 14.64 15.02
8734 701.6 -6.8 328 8739 done -0.46 - - 2028 - 2.45 0.060 2248 -593.1 -116.8 - - 3186 - - - - - - - - 14.81 14.72 14.83
9092 725.1 -6.6 337 9093 done -0.46 - - 2028 - - - 2242 - -116.8 - - 3185 - - - - - - - - 14.98 15.00 15.00
9427 749.1 -7.2 343 9432 roll -0.46 - - 2028 - 2.38 0.073 885 -570.2 -116.8 - - 3185 - - - - - - - - 14.98 14.64 15.00
9517 756.5 -7.9 356 9523 done -0.46 - - 2026 - 2.50 0.080 2260 550.0 -116.8 - - 3184 - - - - - - - - 14.70 14.62 14.74
9876 782.7 -7.2 365 9881 roll -0.46 - - 2016 - 2.55 0.104 3690 560.8 -116.8 - - 3183 - - - - - - - - 14.99 14.62 15.00
9910 785.3 -6.8 370 9915 done -0.46 0.12 0.247 2045 241.7 2.42 0.062 2262 -590.1 -116.8 - - 3183 - - - - - - - - 14.49 14.71 14.71
10267 806.8 -5.9 379 10272 roll -0.46 - - 2045 - 2.40 0.070 880 -575.8 -116.8 - - 3182 - - - - - - - - 14.99 14.64 15.00
10324 810.0 -5.3 387 10329 done -0.46 - - 2043 - 2.50 0.083 2266 554.4 -116.8 - - 3182 - - - - - - - - 14.76 14.62 14.79
10659 830.0 -6.0 400 10660 done -0.46 - - 2043 - - - 2265 - -116.8 - - 3182 - - - - - - - - 14.98 15.00 15.00
10996 851.7 -6.6 406 10996 done -0.46 - - 2043 - - - 2265 - -116.8 - - 3180 - - - - - - - - 14.97 15.00 14.99
11332 874.5 -6.7 412 11337 roll -0.46 - - 2043 - 2.42 0.067 881 -571.9 -116.8 - - 3179 - - - - - - - - 14.99 14.66 15.00
11365 877.0 -6.5 417 11372 done -0.46 - - 2042 - 2.50 0.083 2269 555.2 -116.8 - - 3179 - - - - - - - - 14.76 14.62 14.79
11724 901.1 -6.7 426 11725 done -0.46 - - 2042 - - - 2269 - -116.8 - - 3178 - - - - - - - - 14.96 14.97 14.98
12060 923.2 -6.5 432 12061 done -0.46 - - 2043 - - - 2268 - -116.8 - - 3178 - - - - - - - - 14.96 14.99 14.98
12396 944.4 -6.2 438 12400 roll -0.46 - - 2037 - 2.58 0.111 3695 553.1 -116.8 - - 3177 - - - - - - - - 14.96 14.59 14.98
12453 947.9 -6.4 446 12457 done -0.51 - - 2037 - 2.45 0.065 2265 -583.7 -116.8 - - 3177 - - - - - - - - 14.77 14.67 14.79
12788 968.5 -6.2 459 12793 roll -0.51 - - 2039 - 2.42 0.074 880 -572.3 -116.8 - - 3177 - - - - - - - - 14.95 14.62 14.97
12864 973.6 -6.6 470 12869 done -0.51 - - 2037 - 2.50 0.085 2264 553.6 -116.8 - - 3177 - - - - - - - - 14.73 14.59 14.77
13120 end dive: TARGET_DEPTH_EXCEEDED
13120 begin apogee
13128 990.2 -6.4 479 13271 roll -0.19 0.35 0.225 2132 271.4 - - 2265 - - 135.98 2.531 2740 -3.2 0.239 - - - - 1 - 14.43 13.88 12.90
13273 end apogee: CONTROL_FINISHED_OK
13273 begin climb
13276 994.7 - 481 13448 roll 0.68 0.93 0.154 2410 298.9 2.70 0.070 824 -533.7 116.8 159.65 1.892 2257 -3.0 0.302 - - - - - - 13.88 13.92 13.09
13560 976.1 9.1 527 13565 done 0.68 - - 2410 - 2.62 0.083 2229 536.3 116.8 - - 2235 - - - - - - - - 14.18 14.07 14.20
13910 941.0 10.0 535 13915 roll 0.61 - - 2421 - 2.58 0.092 839 -538.8 116.8 - - 2230 - - - - - - - - 14.67 14.39 14.69
14063 925.4 9.9 557 14069 done 0.61 - - 2420 - 2.55 0.086 2238 548.6 116.8 - - 2229 - - - - - - - - 14.57 14.45 14.59
14414 887.2 11.2 565 14419 roll 0.53 0.17 0.285 2373 -276.5 2.55 0.112 3640 549.8 116.8 - - 2228 - - - - - - - - 14.34 14.50 14.50
14470 881.4 10.1 573 14475 done 0.53 - - 2382 - 2.42 0.079 2243 -577.3 116.8 - - 2226 - - - - 1 - - - 14.66 14.57 14.69
14806 850.7 9.0 586 14812 roll 0.53 - - 2393 - 2.58 0.095 822 -550.8 116.8 - - 2226 - - - - - - - - 14.85 14.54 14.88
14854 846.0 8.9 593 14861 done 0.53 - - 2393 - 2.58 0.084 2225 543.8 116.8 - - 2226 - - - - - - - - 14.60 14.53 14.65
15198 815.0 9.1 600 15203 roll 0.53 - - 2393 - 2.58 0.115 3644 550.0 116.8 - - 2226 - - - - - - - - 14.88 14.54 14.90
15282 806.6 10.0 612 15287 done 0.46 0.20 0.275 2356 -185.0 2.47 0.080 2234 -570.9 116.8 - - 2225 - - - - - - - - 14.40 14.59 14.66
15646 780.8 7.0 622 15652 roll 0.47 - - 2366 - 2.53 0.093 822 -558.1 124.8 - - 2225 - - - - - - - - 14.90 14.57 14.91
15688 778.0 6.7 628 15715 done 0.47 - - 2366 - 2.55 0.084 2244 557.6 139.1 23.25 1.743 2173 -2.2 0.190 - - - - - - 14.71 14.59 13.90
16031 750.0 8.3 642 16036 roll 0.47 - - 2366 - 2.53 0.113 3639 551.4 139.1 - - 2151 - - - - - - - - 14.81 14.49 14.83
16093 744.3 9.1 651 16099 done 0.47 - - 2376 - 2.50 0.076 2235 -561.6 139.1 - - 2151 - - - - - - - - 14.59 14.54 14.64
16424 716.9 8.3 663 16428 roll 0.47 - - 2386 - 2.55 0.092 816 -556.5 139.1 - - 2150 - - - - - - - - 14.85 14.56 14.87
16492 711.4 7.6 673 16498 done 0.47 0.12 0.272 2359 -225.0 2.60 0.083 2240 547.7 139.1 - - 2149 - - - - - - - - 14.42 14.54 14.66
16816 688.9 6.9 684 16826 roll 0.48 - - 2355 - 2.58 0.112 3639 542.2 148.4 3.05 0.981 2133 -5.2 0.701 - - - - - - 14.88 14.63 13.76
16891 682.6 8.3 695 16897 done 0.48 - - 2367 - 2.50 0.076 2227 -564.8 148.4 - - 2138 - - - - - - - - 14.64 14.59 14.69
17207 655.3 8.9 705 17213 roll 0.48 - - 2376 - 2.50 0.094 821 -562.4 148.4 - - 2141 - - - - - - - - 14.89 14.55 14.90
17256 650.6 9.6 712 17262 done 0.48 - - 2377 - 2.55 0.082 2238 555.7 148.4 - - 2137 - - - - - - - - 14.71 14.59 14.73
17599 615.6 10.3 719 17604 roll 0.48 - - 2377 - 2.50 0.111 3635 558.8 148.4 - - 2139 - - - - - - - - 14.90 14.56 14.92
17661 608.8 10.7 728 17667 done 0.48 0.08 0.246 2364 -162.5 2.47 0.075 2240 -564.8 148.4 - - 2139 - - - - - - - - 14.42 14.60 14.57
17992 583.6 7.2 740 18002 roll 0.48 - - 2374 - 2.60 0.091 813 -548.8 151.4 3.45 1.093 2119 -5.8 0.589 - - - - - - 14.90 14.66 13.81
18047 580.2 6.0 748 18108 done 0.50 - - 2374 - 2.55 0.082 2241 560.0 183.8 55.12 1.559 1989 -2.4 0.167 - - - - - - 14.73 14.60 13.80
18443 554.1 6.8 769 18453 roll 0.51 - - 2374 - 2.53 0.110 3638 552.2 196.1 4.88 1.346 1937 -10.7 0.834 - - - - - - 14.72 14.39 13.72
18536 546.2 8.1 783 18542 done 0.51 - - 2383 - 2.47 0.074 2251 -561.5 196.1 - - 1941 - - - - - - - - 14.54 14.48 14.62
18887 515.1 9.2 791 18892 roll 0.51 - - 2392 - 2.58 0.093 817 -555.8 196.1 - - 1945 - - - - - - - - 14.81 14.52 14.83
18950 509.1 9.5 800 18955 done 0.51 - - 2392 - 2.58 0.083 2253 556.6 196.1 - - 1945 - - - - - - - - 14.64 14.52 14.66
19279 475.9 10.1 812 19284 roll 0.51 - - 2392 - 2.50 0.112 3641 555.2 196.1 - - 1945 - - - - - - - - 14.85 14.54 14.88
19341 469.3 10.3 821 19347 done 0.51 0.10 0.225 2358 -340.0 2.47 0.076 2250 -563.2 196.1 - - 1945 - - - - - - - - 14.44 14.57 14.64
19672 445.8 7.0 833 19697 roll 0.51 - - 2367 - 2.62 0.093 820 -545.8 204.5 17.85 1.482 1899 -2.6 0.147 - - - - - - 14.88 14.54 14.03
19747 440.3 7.3 844 19753 done 0.59 - - 2368 - 2.58 0.081 2256 556.6 206.2 - - 1890 - - - - - - - - 14.63 14.53 14.66
20064 414.1 8.6 854 20069 roll 0.59 - - 2367 - 2.50 0.112 3638 552.8 206.2 - - 1889 - - - - - - - - 14.83 14.52 14.85
20119 408.5 10.3 862 20125 done 0.59 - - 2377 - 2.42 0.075 2246 -575.2 206.2 - - 1888 - - - - - - - - 14.68 14.58 14.70
20455 376.3 9.5 875 20460 roll 0.59 - - 2383 - 2.55 0.093 824 -557.6 206.2 - - 1888 - - - - - - - - 14.86 14.55 14.88
20511 371.2 8.9 883 20516 done 0.65 - - 2385 - 2.55 0.082 2247 558.0 206.2 - - 1887 - - - - - - - - 14.70 14.59 14.73
20847 341.0 8.9 896 20852 roll 0.65 - - 2385 - 2.53 0.111 3646 553.0 206.2 - - 1887 - - - - - - - - 14.88 14.57 14.90
20924 333.7 9.4 907 20929 done 0.65 - - 2394 - 2.42 0.076 2253 -575.6 206.2 - - 1887 - - - - - - - - 14.73 14.62 14.76
21239 305.6 8.9 917 21244 roll 0.65 - - 2404 - 2.55 0.091 823 -560.8 206.2 - - 1887 - - - - - - - - 14.90 14.59 14.92
21295 300.5 9.0 925 21300 done 0.65 - - 2404 - 2.58 0.082 2267 559.7 206.2 - - 1887 - - - - - - - - 14.72 14.60 14.76
21632 265.7 10.6 938 21637 roll 0.65 - - 2404 - 2.47 0.110 3641 556.3 206.2 - - 1887 - - - - - - - - 14.91 14.58 14.92
21687 259.3 11.3 946 21693 done 0.65 - - 2413 - 2.40 0.073 2260 -575.4 206.2 - - 1887 - - - - - - - - 14.73 14.63 14.77
22023 221.9 11.1 959 22028 roll 0.65 - - 2424 - 2.58 0.087 814 -560.5 206.2 - - 1887 - - - - - - - - 14.91 14.60 14.93
22093 214.7 10.2 969 22098 done 0.65 - - 2424 - 2.58 0.081 2258 559.7 206.2 - - 1887 - - - - - - - - 14.76 14.62 14.77
22415 180.4 10.6 980 22420 roll 0.65 - - 2424 - 2.47 0.108 3639 559.1 206.2 - - 1887 - - - - - - - - 14.94 14.59 14.93
22491 171.7 11.3 991 22497 done 0.65 - - 2436 - 2.42 0.072 2264 -568.2 206.2 - - 1887 - - - - - - - - 14.77 14.62 14.79
22808 136.2 11.3 1001 22813 roll 0.65 - - 2444 - 2.58 0.086 814 -562.0 206.2 - - 1887 - - - - - - - - 14.92 14.61 14.93
22855 130.7 11.2 1008 22863 done 0.65 0.10 0.243 2415 -290.0 2.62 0.081 2265 553.8 206.2 - - 1887 - - - - - - - - 14.43 14.58 14.59
23199 99.8 8.5 1015 23204 roll 0.65 - - 2415 - 2.45 0.105 3642 562.0 206.2 - - 1886 - - - - - - - - 14.92 14.54 14.94
23262 94.4 8.5 1024 23267 done 0.65 - - 2423 - 2.38 0.070 2265 -578.6 206.2 - - 1887 - - - - - - - - 14.75 14.66 14.78
23591 77.2 2.7 1038 23666 roll 0.80 0.10 0.150 2475 520.0 2.62 0.081 816 -553.1 316.7 65.93 0.377 1452 -6.6 0.257 - - - - - - 14.69 14.54 14.31
23759 68.3 5.5 1062 23794 done 0.93 - - 2475 - 2.58 0.075 2265 561.6 360.6 30.30 0.337 1267 -6.1 0.235 - - - - - - 14.65 14.52 14.28
24119 47.4 5.8 1080 24150 roll 1.13 0.22 0.099 2585 500.0 2.55 0.075 823 -565.5 396.9 25.70 0.267 1120 -5.7 0.193 - - - - - - 14.63 14.50 14.33
24201 40.5 8.2 1092 24205 done 1.13 - - 2585 - 2.60 0.074 2284 561.9 396.9 - - 1131 - - - - - - - - 14.62 14.52 14.68
24536 12.4 7.6 1107 24543 roll 1.13 - - 2585 - 2.45 0.097 3638 552.7 396.9 2.42 0.164 1119 -5.0 0.071 - - - - - - 14.85 14.56 14.50
24627 4.3 9.4 1120 24633 done 1.13 0.10 0.230 2566 -190.0 2.33 0.062 2291 -578.1 396.9 2.00 0.128 1121 - - - - - - - - 14.43 14.61 14.56
24638 end climb: SURFACE_DEPTH_REACHED
24638 begin surface coast
24666 end surface coast: CONTROL_FINISHED_OK
24666 begin surface
SM 0.96 - - - - -6.14 6.68 0.070 214 32.0 - - 2284 - 500.17 65.03 0.138 699 10.7 -0.008 - - - - - -