SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 151 * Raw log
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• Previous call tries 1 • 65.88 of 350.00 AH used of 24V (81.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.7 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 14 s • Transponder ping count: 12
• 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 - - - 108 VBD -0.68 - - 204 - - - 2273 - -116.8 -85.93 - 2984 - - - - - - - - 14.73 - 14.76
111 5.4 -7.6 3 135 roll -0.68 8.85 0.421 1964 198.9 2.72 2.113 3692 521.7 -116.8 -3.83 - 3221 -61.9 - - - - - - - 14.22 13.40 14.57
222 50.7 -31.0 19 227 done -0.47 0.30 0.290 2038 246.7 2.35 0.047 2263 -608.1 -116.8 - - 3223 - - - - - - - - 14.32 14.56 14.56
556 104.5 -8.3 33 562 roll -0.39 0.12 0.281 2062 200.0 2.50 0.086 3693 572.0 -116.8 - - 3224 - - - - - - - - 14.47 14.62 14.60
689 113.8 -7.2 52 694 done -0.39 - - 2061 - 2.33 0.044 2256 -616.7 -116.8 - - 3225 - - - - - - - - 14.76 14.71 14.78
1004 137.7 -7.8 62 1010 roll -0.39 - - 2053 - 2.50 0.090 3692 574.4 -116.8 - - 3225 - - - - - - - - 14.95 14.66 14.97
1046 140.9 -7.7 68 1051 done -0.39 - - 2053 - 2.33 0.046 2260 -614.6 -116.8 - - 3225 - - - - - - - - 14.81 14.74 14.83
1397 168.0 -8.0 76 1401 roll -0.39 - - 2053 - 2.30 0.057 886 -597.4 -116.8 - - 3224 - - - - - - - - 14.98 14.73 14.99
1514 178.6 -8.9 93 1520 done -0.39 - - 2052 - 2.42 0.068 2260 567.8 -116.8 - - 3223 - - - - - - - - 14.75 14.70 14.79
1845 206.6 -8.4 105 1849 roll -0.39 - - 2043 - 2.45 0.088 3692 584.5 -116.8 - - 3221 - - - - - - - - 14.99 14.71 15.01
1878 209.4 -8.2 110 1885 done -0.39 - - 2043 - 2.38 0.047 2258 -602.5 -116.8 - - 3221 - - - - - - - - 14.80 14.77 14.82
2236 238.3 -8.0 119 2241 roll -0.39 - - 2043 - 2.30 0.059 890 -594.8 -116.8 - - 3219 - - - - - - - - 15.00 14.75 15.01
2397 252.0 -8.3 142 2404 done -0.39 0.12 0.264 2071 233.3 2.38 0.070 2252 572.3 -116.8 - - 3217 - - - - - - - - 14.58 14.72 14.78
2741 275.0 -6.6 149 2745 roll -0.39 - - 2064 - 2.50 0.094 3695 577.2 -116.8 - - 3215 - - - - - - - - 15.03 14.71 15.02
2767 276.9 -6.9 153 2773 done -0.39 - - 2064 - 2.42 0.055 2228 -606.2 -116.8 - - 3215 - - - - - - - - 14.85 14.77 14.87
3133 304.9 -7.8 163 3137 roll -0.39 - - 2064 - 2.28 0.065 890 -586.8 -116.8 - - 3212 - - - - - - - - 15.00 14.74 15.02
3208 311.1 -8.0 174 3216 done -0.39 - - 2060 - 2.40 0.072 2239 562.1 -116.8 - - 3211 - - - - - - - - 14.76 14.70 14.81
3525 334.1 -7.2 184 3525 done -0.39 - - 2061 - - - 2240 - -116.8 - - 3210 - - - - - - - - 15.02 15.04 15.04
3861 356.0 -6.4 190 3866 roll -0.39 - - 2060 - 2.33 0.060 882 -582.8 -116.8 - - 3207 - - - - - - - - 15.02 14.74 15.03
3894 358.3 -6.5 195 3900 done -0.39 - - 2057 - 2.45 0.073 2251 558.8 -116.8 - - 3207 - - - - - - - - 14.76 14.70 14.81
4252 379.0 -5.7 204 4257 roll -0.39 - - 2053 - 2.53 0.100 3693 570.0 -116.8 - - 3205 - - - - - - - - 15.01 14.69 15.02
4322 383.1 -6.0 214 4328 done -0.39 - - 2052 - 2.40 0.057 2242 -604.6 -116.8 - - 3205 - - - - - - - - 14.85 14.78 14.88
4644 403.8 -6.6 225 4649 roll -0.39 - - 2053 - 2.33 0.068 890 -580.3 -116.8 - - 3204 - - - - - - - - 14.99 14.72 15.02
4727 410.1 -7.5 237 4733 done -0.39 - - 2048 - 2.40 0.073 2232 559.2 -116.8 - - 3203 - - - - - - - - 14.76 14.69 14.80
5093 439.0 -8.1 247 5097 roll -0.39 - - 2043 - 2.58 0.099 3698 568.2 -116.8 - - 3201 - - - - - - - - 15.00 14.68 15.02
5148 443.6 -8.4 255 5153 done -0.39 - - 2043 - 2.42 0.056 2240 -602.5 -116.8 - - 3200 - - - - - - - - 14.85 14.77 14.87
5485 468.7 -7.2 268 5489 roll -0.39 - - 2043 - 2.30 0.064 890 -587.0 -116.8 - - 3199 - - - - - - - - 15.00 14.71 15.02
5533 472.1 -6.9 275 5540 done -0.39 - - 2043 - 2.42 0.078 2236 556.2 -116.8 - - 3199 - - - - - - - - 14.73 14.66 14.77
5877 494.1 -6.3 282 5882 roll -0.39 - - 2037 - 2.55 0.101 3690 570.2 -116.8 - - 3197 - - - - - - - - 15.00 14.67 15.02
5946 498.9 -7.1 292 5951 done -0.39 0.12 0.243 2066 241.7 2.40 0.055 2241 -603.8 -116.8 - - 3200 - - - - - - - - 14.54 14.76 14.76
6269 519.3 -6.4 303 6273 roll -0.44 - - 2068 - 2.33 0.070 890 -579.8 -116.8 - - 3194 - - - - - - - - 15.00 14.70 15.02
6352 525.1 -7.0 315 6357 done -0.50 - - 2067 - 2.40 0.080 2238 561.7 -116.8 - - 3195 - - - - - - - - 14.81 14.68 14.83
6717 546.6 -5.7 325 6722 roll -0.55 0.12 0.142 2006 -508.3 2.58 0.100 3696 565.1 -116.8 - - 3194 - - - - - - - - 14.72 14.66 14.76
6757 549.6 -7.7 331 6763 done -0.55 - - 2007 - 2.47 0.058 2243 -588.3 -116.8 - - 3194 - - - - - - - - 14.76 14.71 14.87
7108 576.8 -7.8 339 7113 roll -0.55 - - 2006 - 2.35 0.068 878 -580.9 -116.8 - - 3192 - - - - - - - - 14.99 14.69 15.01
7185 583.2 -8.2 350 7191 done -0.55 - - 2004 - 2.42 0.080 2240 562.8 -116.8 - - 3191 - - - - - - - - 14.80 14.66 14.83
7500 611.7 -9.4 360 7501 done -0.55 - - 1999 - - - 2240 - -116.8 - - 3191 - - - - - - - - 14.99 15.01 15.01
7836 646.1 -10.3 366 7842 roll -0.55 - - 1990 - 2.58 0.103 3692 562.8 -116.8 - - 3189 - - - - - - - - 14.99 14.63 15.01
7871 649.9 -10.9 371 7876 done -0.55 0.12 0.265 2017 225.0 2.45 0.059 2233 -595.5 -116.8 - - 3189 - - - - - - - - 14.49 14.73 14.73
8229 682.0 -8.8 380 8233 roll -0.55 - - 2017 - 2.33 0.067 884 -579.0 -116.8 - - 3188 - - - - - - - - 15.00 14.68 15.02
8269 685.6 -8.6 386 8276 done -0.55 - - 2012 - 2.47 0.080 2242 549.8 -116.8 - - 3188 - - - - - - - - 14.71 14.62 14.74
8621 711.9 -7.2 394 8626 roll -0.55 - - 2004 - 2.60 0.106 3702 561.5 -116.8 - - 3187 - - - - - - - - 14.98 14.62 15.00
8655 714.5 -7.3 399 8660 done -0.55 - - 2004 - 2.47 0.058 2229 -596.4 -116.8 - - 3184 - - - - - - - - 14.80 14.72 14.83
9012 739.9 -7.2 408 9017 roll -0.55 - - 2005 - 2.33 0.072 886 -576.4 -116.8 - - 3187 - - - - - - - - 15.01 14.66 15.01
9075 745.2 -8.0 417 9080 done -0.55 - - 1999 - 2.42 0.081 2239 559.1 -116.8 - - 3185 - - - - - - - - 14.76 14.63 14.80
9404 774.0 -9.0 429 9409 roll -0.55 - - 1990 - 2.60 0.106 3699 561.5 -116.8 - - 3185 - - - - - - - - 14.97 14.61 15.00
9431 776.3 -8.7 433 9438 done -0.55 0.08 0.245 2012 275.0 2.53 0.062 2234 -579.1 -116.8 - - 3186 - - - - - - - - 14.42 14.67 14.58
9797 807.8 -8.4 443 9802 roll -0.55 - - 2012 - 2.35 0.071 881 -575.7 -116.8 - - 3183 - - - - - - - - 14.97 14.64 14.98
9852 812.9 -9.5 451 9857 done -0.55 - - 2012 - 2.45 0.085 2241 555.1 -116.8 - - 3183 - - - - - - - - 14.76 14.62 14.78
10188 839.2 -7.8 464 10193 roll -0.55 - - 2006 - 2.60 0.110 3692 558.1 -116.8 - - 3183 - - - - - - - - 14.97 14.59 14.98
10245 843.6 -8.1 472 10249 done -0.55 - - 2007 - 2.47 0.061 2235 -589.9 -116.8 - - 3183 - - - - - - - - 14.78 14.69 14.80
10581 869.7 -7.6 485 10585 roll -0.55 - - 2007 - 2.35 0.070 880 -576.6 -116.8 - - 3182 - - - - - - - - 14.96 14.63 14.98
10684 878.1 -7.9 500 10691 done -0.55 - - 1999 - 2.47 0.084 2228 545.7 -116.8 - - 3181 - - - - - - - - 14.64 14.57 14.69
11029 905.6 -8.1 507 11034 roll -0.55 - - 1994 - 2.65 0.112 3692 552.5 -116.8 - - 3179 - - - - - - - - 14.96 14.58 14.98
11085 910.3 -8.6 515 11089 done -0.55 - - 1994 - 2.50 0.066 2235 -582.8 -116.8 - - 3180 - - - - - - - - 14.76 14.67 14.78
11420 938.0 -8.1 528 11425 roll -0.55 - - 1994 - 2.35 0.071 880 -576.6 -116.8 - - 3179 - - - - - - - - 14.96 14.63 14.99
11483 943.3 -5.2 537 11488 done -0.55 0.12 0.296 2015 175.0 2.45 0.086 2235 553.1 -116.8 - - 3179 - - - - - - - - 14.38 14.57 14.65
11812 965.9 -6.7 549 11813 done -0.55 - - 2015 - - - 2236 - -116.8 - - 3178 - - - - - - - - 14.96 14.98 14.98
12149 987.2 -6.3 555 12150 done -0.55 - - 2015 - - - 2236 - -116.8 - - 3178 - - - - - - - - 14.95 14.97 14.97
12201 end dive: TARGET_DEPTH_EXCEEDED
12201 begin apogee
12208 990.7 -6.3 556 12406 roll -0.19 0.43 0.230 2132 272.1 - - 2236 - - 196.05 1.651 2741 -2.2 0.250 - - - - - - 14.43 14.00 13.42
12408 end apogee: CONTROL_FINISHED_OK
12408 begin climb
12412 994.9 - 559 12571 done 0.68 0.93 0.153 2413 302.2 - - 2237 - 116.8 148.88 1.877 2257 -3.3 0.322 - - - - - - 13.96 14.19 13.14
12879 948.1 11.2 596 12884 roll 0.61 - - 2413 - 2.62 0.114 3646 537.8 116.8 - - 2229 - - - - - - - - 14.59 14.31 14.61
12927 942.2 14.5 603 12934 done 0.51 0.22 0.283 2371 -190.9 2.53 0.081 2242 -554.9 116.8 - - 2228 - - - - 1 - - - 14.20 14.37 14.45
13271 913.4 8.2 610 13277 roll 0.51 - - 2384 - 2.60 0.097 823 -545.8 116.8 - - 2226 - - - - - - - - 14.76 14.47 14.78
13319 909.5 10.8 617 13326 done 0.51 - - 2382 - 2.62 0.089 2231 537.4 116.8 - - 2225 - - - - - - - - 14.53 14.46 14.58
13663 881.6 8.1 624 13668 roll 0.51 - - 2382 - 2.60 0.119 3641 542.3 116.8 - - 2224 - - - - - - - - 14.83 14.51 14.85
13733 875.1 9.1 634 13739 done 0.46 0.17 0.265 2351 -182.4 2.47 0.082 2236 -568.8 116.8 - - 2223 - - - - 1 - - - 14.38 14.56 14.63
14055 853.4 6.8 645 14067 roll 0.47 - - 2357 - 2.62 0.094 815 -542.4 129.2 3.33 1.144 2208 -4.5 0.627 - - - - - - 14.88 14.63 13.72
14131 848.2 7.2 656 14138 done 0.47 - - 2361 - 2.58 0.087 2237 551.2 133.0 2.80 0.906 2198 -3.6 0.624 - - - - - - 14.69 14.57 13.69
14496 822.2 7.2 666 14507 roll 0.48 - - 2361 - 2.62 0.116 3647 538.2 135.9 3.50 1.227 2185 -3.7 0.465 - - - - - - 14.88 14.63 13.74
14572 815.9 8.2 677 14577 done 0.48 - - 2371 - 2.53 0.079 2239 -556.5 135.9 - - 2190 - - - - - - - - 14.64 14.58 14.66
14888 790.7 8.2 687 14895 roll 0.48 - - 2382 - 2.62 0.093 819 -542.0 135.9 2.35 0.583 2183 -3.0 0.754 - - - - - - 14.88 14.63 13.65
14915 788.4 8.2 691 14920 done 0.48 - - 2382 - 2.55 0.085 2237 556.1 135.9 - - 2189 - - - - - - - - 14.71 14.59 14.77
15273 757.4 8.9 700 15279 roll 0.48 - - 2382 - 2.62 0.113 3644 537.0 135.9 1.98 0.201 2183 -3.0 2.132 - - - - - - 14.90 14.57 14.49
15363 748.2 10.7 713 15369 done 0.48 0.10 0.243 2356 -260.0 2.50 0.078 2245 -559.6 135.9 - - 2188 - - - - - - - - 14.43 14.59 14.66
15714 721.0 7.8 721 15719 roll 0.48 - - 2366 - 2.58 0.095 818 -553.1 135.9 - - 2194 - - - - - - - - 14.88 14.57 14.93
15783 715.3 8.4 731 15789 done 0.48 - - 2365 - 2.58 0.084 2247 553.9 135.9 1.85 0.203 2185 -4.9 3.200 - - - - - - 14.71 14.59 14.50
16106 687.7 8.7 742 16111 roll 0.48 - - 2366 - 2.55 0.115 3648 549.4 135.9 - - 2194 - - - - - - - - 14.90 14.55 14.92
16175 681.0 9.7 752 16181 done 0.48 - - 2375 - 2.53 0.077 2238 -557.3 135.9 - - 2194 - - - - - - - - 14.74 14.59 14.77
16499 652.2 9.0 763 16503 roll 0.48 - - 2385 - 2.55 0.092 821 -555.7 135.9 - - 2194 - - - - - - - - 14.90 14.57 14.94
16546 647.9 8.8 770 16555 done 0.48 0.08 0.240 2362 -287.5 2.60 0.082 2244 547.3 135.9 1.73 0.190 2181 -7.5 4.784 - - - - - - 14.40 14.55 14.50
16890 621.5 7.6 777 16895 roll 0.48 - - 2362 - 2.55 0.112 3649 551.0 135.9 - - 2193 - - - - - - - - 14.92 14.54 14.93
16973 614.7 8.0 789 16978 done 0.48 - - 2372 - 2.50 0.075 2249 -560.0 135.9 - - 2194 - - - - - - - - 14.65 14.59 14.69
17338 589.0 6.9 799 17371 roll 0.48 - - 2381 - 2.65 0.093 821 -538.9 145.2 24.60 1.534 2145 -2.0 0.143 - - - - - - 14.91 14.52 14.01
17443 581.6 7.1 814 17450 done 0.48 - - 2381 - 2.60 0.083 2242 546.5 150.6 2.15 0.380 2124 -9.8 2.791 - - - - - - 14.60 14.49 13.64
17786 553.2 8.5 821 17791 roll 0.48 - - 2381 - 2.55 0.111 3640 548.2 150.6 - - 2129 - - - - - - - - 14.83 14.47 14.85
17862 545.8 9.7 832 17868 done 0.48 0.08 0.233 2355 -325.0 2.50 0.073 2244 -558.4 150.6 - - 2128 - - - - - - - - 14.39 14.53 14.60
18179 524.4 6.6 842 18239 roll 0.50 - - 2364 - 2.67 0.090 823 -532.2 168.9 46.47 1.353 2046 -1.8 0.128 - - - - 1 - 14.85 14.36 13.90
18293 517.4 6.2 858 18352 done 0.58 - - 2364 - 2.60 0.082 2245 546.9 196.0 48.80 1.297 1938 -2.2 0.165 - - - - 1 - 14.50 14.40 13.52
18685 489.8 7.3 879 18690 roll 0.58 - - 2365 - 2.58 0.112 3648 543.8 197.2 - - 1939 - - - - - - - - 14.69 14.40 14.71
18745 484.4 8.7 888 18751 done 0.58 - - 2372 - 2.53 0.074 2252 -551.8 197.2 - - 1939 - - - - - - - - 14.50 14.44 14.54
19076 454.9 9.2 900 19080 roll 0.58 - - 2380 - 2.60 0.091 815 -552.7 197.2 - - 1939 - - - - - - - - 14.79 14.50 14.81
19137 449.1 9.2 909 19143 done 0.64 - - 2381 - 2.60 0.082 2254 553.5 197.2 - - 1938 - - - - - - - - 14.64 14.52 14.67
19468 418.5 9.2 921 19472 roll 0.64 - - 2380 - 2.53 0.112 3642 548.6 197.2 - - 1939 - - - - - - - - 14.85 14.52 14.86
19544 410.9 9.8 932 19549 done 0.64 - - 2390 - 2.45 0.075 2245 -570.2 197.2 - - 1939 - - - - - - - - 14.68 14.58 14.71
19860 381.8 9.3 942 19865 roll 0.64 - - 2400 - 2.55 0.090 825 -556.9 197.2 - - 1939 - - - - - - - - 14.88 14.57 14.90
19928 375.5 8.9 952 19934 done 0.64 - - 2400 - 2.58 0.082 2252 553.1 197.2 - - 1938 - - - - - - - - 14.69 14.57 14.72
20252 343.6 10.0 963 20257 roll 0.64 - - 2400 - 2.53 0.111 3647 551.4 197.2 - - 1938 - - - - - - - - 14.89 14.55 14.90
20308 337.5 10.8 971 20312 done 0.64 - - 2410 - 2.45 0.073 2252 -569.4 197.2 - - 1938 - - - - - - - - 14.71 14.62 14.74
20644 304.4 9.8 984 20649 roll 0.64 - - 2421 - 2.58 0.090 818 -555.8 197.2 - - 1938 - - - - - - - - 14.89 14.57 14.91
20712 297.7 9.4 994 20719 done 0.64 - - 2420 - 2.62 0.082 2278 557.3 197.2 - - 1938 - - - - - - - - 14.71 14.58 14.77
21035 262.4 11.1 1005 21040 roll 0.64 - - 2420 - 2.47 0.111 3647 554.3 197.2 - - 1938 - - - - - - - - 14.91 14.55 14.92
21092 255.5 12.4 1013 21096 done 0.64 - - 2430 - 2.45 0.073 2248 -571.0 197.2 - - 1938 - - - - - - - - 14.73 14.66 14.76
21428 217.5 10.9 1026 21433 roll 0.64 - - 2440 - 2.55 0.088 821 -559.6 197.2 - - 1938 - - - - - - - - 14.90 14.58 14.93
21531 207.6 9.2 1041 21539 done 0.64 0.10 0.241 2411 -290.0 2.60 0.080 2248 548.8 197.2 - - 1938 - - - - - - - - 14.40 14.56 14.55
21876 177.6 8.8 1048 21877 done 0.64 - - 2412 - - - 2248 - 197.2 - - 1938 - - - - - - - - 14.92 14.94 14.95
22211 148.2 8.7 1054 22217 roll 0.64 - - 2421 - 2.55 0.081 821 -559.6 197.2 - - 1938 - - - - - - - - 14.94 14.60 14.95
22238 145.7 8.8 1058 22245 done 0.64 - - 2421 - 2.58 0.079 2238 549.2 197.2 - - 1938 - - - - - - - - 14.65 14.58 14.70
22604 111.5 9.2 1068 22609 roll 0.64 - - 2421 - 2.53 0.106 3647 556.9 197.2 - - 1939 - - - - - - - - 14.94 14.58 14.97
22644 107.5 9.6 1074 22651 done 0.64 - - 2430 - 2.47 0.067 2241 -569.2 197.2 - - 1938 - - - - - - - - 14.64 14.62 14.67
22967 83.1 6.6 1085 22986 roll 0.65 - - 2439 - 2.58 0.083 821 -550.4 215.3 12.18 0.334 1869 -5.7 0.263 - - - - - - 14.92 14.58 14.33
23177 73.5 3.8 1115 23238 done 0.77 - - 2439 - 2.53 0.073 2222 553.8 298.7 54.75 0.357 1521 -6.4 0.244 - - - - - - 14.64 14.58 14.31
23559 56.8 4.4 1136 23611 roll 1.00 0.22 0.103 2542 468.2 2.60 0.100 3638 544.6 369.5 46.50 0.301 1234 -6.2 0.217 - - - - - - 14.61 14.50 14.35
23632 51.6 8.0 1147 23639 done 1.05 - - 2550 - 2.55 0.063 2173 -574.5 369.5 - - 1239 - - - - - - - - 14.63 14.54 14.64
23949 32.3 5.6 1159 23982 roll 1.12 - - 2557 - 2.47 0.080 815 -549.8 410.8 28.58 0.223 1063 -6.2 0.167 - - - - - - 14.83 14.54 14.39
24084 23.4 6.7 1178 24100 done 1.23 0.10 0.155 2609 520.0 2.40 0.069 2171 565.0 425.5 12.02 0.190 1003 -5.0 0.115 - - - - - - 14.58 14.56 14.41
24301 end climb: SURFACE_DEPTH_REACHED
24301 begin surface coast
24333 end surface coast: CONTROL_FINISHED_OK
24333 begin surface
SM 0.99 - - - - -6.13 6.80 0.071 219 32.2 0.20 0.109 2298 -45660.0 500.17 48.15 0.136 700 14.5 -0.011 - - - - - -