SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 66.23 of 350.00 AH used of 24V (81.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.6 deg, depth 0.92 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 13 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 VBD -0.68 - - 209 - - - 2308 - -116.8 -84.35 - 2957 - - - - - - - - 14.73 - 14.76
107 5.9 -8.6 3 130 roll -0.68 8.93 0.426 1963 196.4 2.67 2.122 3680 513.9 -116.8 -4.32 - 3222 -61.3 - - - - - - - 14.21 13.42 14.55
231 51.8 -26.4 21 237 done -0.46 0.35 0.314 2047 240.0 2.35 0.046 2260 -604.3 -116.8 - - 3223 - - - - - - - - 14.32 14.57 14.57
553 98.2 -8.4 34 558 roll -0.38 0.12 0.272 2080 275.0 2.33 0.054 876 -594.0 -116.8 - - 3225 - - - - - - - - 14.47 14.64 14.60
581 100.3 -7.5 38 586 done -0.38 - - 2081 - 2.45 0.067 2284 574.7 -116.8 - - 3224 - - - - - - - - 14.73 14.64 14.75
945 126.1 -7.2 48 950 roll -0.38 - - 2073 - 2.42 0.086 3701 585.5 -116.8 - - 3225 - - - - - - - - 14.94 14.68 14.96
1105 137.6 -6.5 71 1112 done -0.38 - - 2073 - 2.33 0.046 2275 -612.0 -116.8 - - 3225 - - - - - - - - 14.82 14.76 14.83
1449 159.7 -6.5 78 1453 roll -0.38 - - 2073 - 2.33 0.059 892 -593.6 -116.8 - - 3224 - - - - - - - - 14.97 14.73 15.00
1532 165.7 -7.2 90 1537 done -0.38 - - 2069 - 2.42 0.066 2296 580.2 -116.8 - - 3224 - - - - - - - - 14.82 14.71 14.84
1897 193.0 -7.5 100 1898 done -0.38 - - 2069 - - - 2296 - -116.8 - - 3222 - - - - - - - - 14.98 15.01 15.00
2233 215.8 -6.7 106 2237 roll -0.38 - - 2069 - 2.40 0.059 888 -586.7 -116.8 - - 3219 - - - - - - - - 15.00 14.75 15.02
2309 221.4 -6.9 117 2315 done -0.38 - - 2069 - 2.42 0.068 2286 577.7 -116.8 - - 3219 - - - - - - - - 14.83 14.73 14.85
2625 242.6 -6.8 127 2630 roll -0.38 - - 2064 - 2.42 0.092 3692 581.0 -116.8 - - 3217 - - - - - - - - 15.00 14.72 15.02
2666 245.4 -6.7 133 2673 done -0.38 - - 2064 - 2.33 0.053 2298 -598.3 -116.8 - - 3217 - - - - - - - - 14.81 14.78 14.83
3017 268.2 -6.6 141 3022 roll -0.38 - - 2064 - 2.40 0.062 888 -587.5 -116.8 - - 3214 - - - - - - - - 15.01 14.75 15.03
3129 276.4 -7.5 157 3135 done -0.38 - - 2061 - 2.45 0.070 2283 569.4 -116.8 - - 3214 - - - - - - - - 14.84 14.73 14.86
3465 302.2 -7.8 170 3466 done -0.38 - - 2061 - - - 2283 - -116.8 - - 3211 - - - - - - - - 15.00 15.02 15.02
3801 328.5 -7.8 176 3806 roll -0.38 - - 2061 - 2.40 0.060 883 -583.3 -116.8 - - 3209 - - - - - - - - 15.01 14.75 15.02
3863 333.4 -7.7 185 3869 done -0.38 - - 2057 - 2.45 0.073 2284 571.8 -116.8 - - 3209 - - - - - - - - 14.83 14.72 14.85
4193 356.3 -6.8 197 4198 roll -0.38 - - 2056 - 2.47 0.099 3695 571.3 -116.8 - - 3206 - - - - - - - - 15.02 14.70 15.03
4227 358.5 -6.2 202 4232 done -0.38 - - 2056 - 2.35 0.057 2286 -599.6 -116.8 - - 3207 - - - - - - - - 14.85 14.79 14.88
4585 377.4 -5.0 211 4590 roll -0.38 - - 2056 - 2.40 0.064 877 -587.1 -116.8 - - 3204 - - - - - - - - 15.02 14.74 15.04
4689 382.9 -4.9 226 4696 done -0.38 - - 2056 - 2.50 0.076 2270 557.2 -116.8 - - 3204 - - - - - - - - 14.75 14.68 14.79
5033 401.5 -5.7 233 5034 done -0.38 - - 2056 - - - 2270 - -116.8 - - 3202 - - - - - - - - 15.00 15.02 15.02
5368 425.3 -7.4 239 5373 roll -0.38 - - 2050 - 2.50 0.102 3692 568.8 -116.8 - - 3203 - - - - - - - - 15.00 14.68 15.02
5403 428.1 -8.0 244 5408 done -0.38 - - 2050 - 2.42 0.057 2265 -589.7 -116.8 - - 3200 - - - - - - - - 14.78 14.74 14.81
5761 456.7 -7.9 253 5766 roll -0.38 - - 2050 - 2.38 0.068 882 -581.1 -116.8 - - 3199 - - - - - - - - 15.00 14.71 15.02
5852 463.7 -7.6 266 5856 done -0.38 - - 2049 - 2.45 0.078 2267 565.3 -116.8 - - 3198 - - - - - - - - 14.81 14.69 14.84
6209 487.8 -6.6 275 6214 roll -0.38 - - 2043 - 2.53 0.100 3700 566.4 -116.8 - - 3196 - - - - - - - - 15.00 14.66 15.01
6236 489.7 -6.5 279 6242 done -0.38 0.12 0.236 2073 250.0 2.42 0.057 2273 -589.7 -116.8 - - 3196 - - - - - - - - 14.56 14.72 14.76
6601 508.9 -5.2 289 6607 roll -0.44 - - 2073 - 2.40 0.070 881 -580.0 -116.8 - - 3195 - - - - - - - - 15.00 14.70 15.01
6691 514.3 -5.8 302 6696 done -0.50 - - 2069 - 2.45 0.077 2262 563.7 -116.8 - - 3194 - - - - - - - - 14.81 14.68 14.83
7049 534.8 -5.8 311 7054 roll -0.55 0.12 0.142 2008 -508.3 2.53 0.099 3692 565.2 -116.8 - - 3193 - - - - - - - - 14.73 14.65 14.76
7090 538.2 -8.6 317 7096 done -0.55 - - 2008 - 2.45 0.056 2248 -589.4 -116.8 - - 3193 - - - - - - - - 14.76 14.71 14.79
7441 569.4 -9.0 325 7446 roll -0.55 - - 2007 - 2.35 0.067 890 -577.9 -116.8 - - 3192 - - - - - - - - 14.99 14.69 15.04
7531 577.6 -8.9 338 7536 done -0.55 - - 1999 - 2.42 0.076 2256 564.5 -116.8 - - 3191 - - - - - - - - 14.80 14.67 14.83
7888 608.8 -8.6 347 7889 done -0.55 - - 1999 - - - 2256 - -116.8 - - 3191 - - - - - - - - 15.00 15.02 15.01
8225 638.0 -8.8 353 8225 done -0.55 - - 1999 - - - 2255 - -116.8 - - 3189 - - - - - - - - 15.00 15.02 15.02
8561 669.7 -9.5 359 8562 done -0.55 - - 1999 - - - 2256 - -116.8 - - 3188 - - - - - - - - 14.99 15.02 15.01
8896 702.2 -9.7 365 8897 done -0.55 - - 1999 - - - 2256 - -116.8 - - 3187 - - - - - - - - 15.00 15.02 15.01
9233 732.7 -9.0 371 9234 done -0.55 - - 1999 - - - 2255 - -116.8 - - 3186 - - - - - - - - 14.99 15.01 15.01
9569 760.6 -8.2 377 9574 roll -0.55 - - 2000 - 2.40 0.070 891 -568.3 -116.8 - - 3185 - - - - - - - - 14.96 14.66 15.00
9617 764.8 -8.6 384 9624 done -0.55 - - 1999 - 2.47 0.082 2258 553.4 -116.8 - - 3184 - - - - - - - - 14.76 14.63 14.80
9960 793.4 -8.3 391 9965 roll -0.55 - - 1990 - 2.58 0.108 3693 556.2 -116.8 - - 3184 - - - - - - - - 14.97 14.59 15.00
9988 795.9 -8.9 395 9993 done -0.55 0.08 0.236 2021 387.5 2.47 0.067 2276 -573.7 -116.8 - - 3183 - - - - - - - - 14.43 14.66 14.69
10354 822.1 -7.1 405 10359 roll -0.55 - - 2026 - 2.45 0.075 874 -572.2 -116.8 - - 3183 - - - - - - - - 14.97 14.64 14.98
10464 830.5 -7.5 421 10470 done -0.55 - - 2025 - 2.50 0.085 2259 554.0 -116.8 - - 3181 - - - - - - - - 14.73 14.60 14.77
10801 854.4 -7.2 434 10805 roll -0.55 - - 2016 - 2.58 0.108 3689 554.3 -116.8 - - 3179 - - - - - - - - 14.96 14.57 14.98
10849 857.9 -6.9 441 10856 done -0.55 - - 2015 - 2.50 0.066 2235 -581.6 -116.8 - - 3181 - - - - - - - - 14.76 14.67 14.79
11193 882.5 -7.1 448 11198 roll -0.55 - - 2013 - 2.38 0.073 885 -567.2 -116.8 - - 3180 - - - - - - - - 14.96 14.62 14.97
11290 889.8 -6.9 462 11295 done -0.55 - - 2015 - 2.47 0.085 2251 553.0 -116.8 - - 3180 - - - - - - - - 14.73 14.59 14.76
11642 914.6 -7.2 470 11646 roll -0.55 - - 2009 - 2.60 0.112 3691 553.8 -116.8 - - 3179 - - - - - - - - 14.95 14.56 14.97
11697 918.7 -7.7 478 11702 done -0.55 - - 2009 - 2.47 0.065 2249 -583.8 -116.8 - - 3178 - - - - - - - - 14.76 14.66 14.78
12033 944.2 -7.7 491 12038 roll -0.55 - - 2009 - 2.42 0.078 874 -568.2 -116.8 - - 3178 - - - - - - - - 14.95 14.59 14.97
12130 952.2 -6.3 505 12136 done -0.55 - - 2009 - 2.53 0.087 2239 539.5 -116.8 - - 3178 - - - - - - - - 14.63 14.54 14.68
12481 979.1 -7.7 513 12486 roll -0.55 - - 2001 - 2.62 0.110 3693 555.0 -116.8 - - 3177 - - - - - - - - 14.96 14.55 14.97
12522 983.0 -7.8 519 12527 done -0.55 - - 2001 - 2.50 0.064 2234 -583.6 -116.8 - - 3177 - - - - - - - - 14.76 14.66 14.78
12645 end dive: TARGET_DEPTH_EXCEEDED
12645 begin apogee
12653 991.8 -7.1 523 12853 roll -0.19 0.47 0.233 2130 274.5 - - 2226 - - 198.68 1.646 2741 -2.2 0.247 - - - - - - 14.38 14.00 13.38
12855 end apogee: CONTROL_FINISHED_OK
12855 begin climb
12859 996.6 - 526 13021 roll 0.68 0.98 0.171 2412 287.8 2.72 0.111 3638 519.1 116.8 147.80 1.890 2253 -3.3 0.325 - - - - - - 13.95 13.98 13.14
13104 973.2 12.6 567 13110 done 0.59 0.15 0.291 2390 -146.7 2.55 0.077 2241 -547.8 116.8 - - 2230 - - - - 1 - - - 13.93 14.07 14.14
13434 938.8 10.3 579 13439 roll 0.59 - - 2390 - 2.62 0.109 3638 533.2 116.8 - - 2224 - - - - - - - - 14.66 14.38 14.68
13590 921.5 10.8 601 13595 done 0.53 - - 2400 - 2.50 0.076 2230 -563.2 116.8 - - 2223 - - - - - - - - 14.57 14.46 14.59
13939 885.8 10.2 609 13945 roll 0.47 0.15 0.278 2371 -193.3 2.58 0.093 816 -548.1 116.8 - - 2224 - - - - - - - - 14.34 14.51 14.50
14001 880.7 7.7 618 14006 done 0.47 - - 2371 - 2.58 0.086 2230 548.1 116.8 - - 2220 - - - - - - - - 14.64 14.52 14.68
14331 854.6 8.0 630 14336 roll 0.47 - - 2371 - 2.60 0.115 3648 545.4 116.8 - - 2220 - - - - - - - - 14.86 14.52 14.88
14387 849.3 10.1 638 14392 done 0.47 - - 2381 - 2.53 0.080 2222 -563.6 116.8 - - 2219 - - - - - - - - 14.68 14.57 14.71
14723 820.7 8.5 651 14727 roll 0.47 - - 2391 - 2.55 0.097 821 -549.4 116.8 - - 2219 - - - - - - - - 14.88 14.54 14.90
14756 817.7 8.1 656 14767 done 0.47 0.10 0.233 2355 -360.0 2.58 0.084 2229 545.7 116.8 - - 2218 - - - - - - - - 14.40 14.53 14.66
15118 791.1 7.3 665 15123 roll 0.47 - - 2355 - 2.60 0.116 3654 548.1 116.8 - - 2217 - - - - - - - - 14.90 14.54 14.92
15186 785.1 8.4 675 15192 done 0.47 - - 2364 - 2.55 0.078 2235 -556.5 116.8 - - 2217 - - - - - - - - 14.64 14.57 14.67
15509 760.5 7.6 686 15514 roll 0.47 - - 2375 - 2.58 0.093 814 -550.8 116.8 - - 2217 - - - - - - - - 14.90 14.56 14.92
15579 755.2 7.5 696 15584 done 0.47 - - 2375 - 2.58 0.084 2242 553.5 116.8 - - 2216 - - - - - - - - 14.71 14.58 14.74
15902 729.8 7.9 707 15907 roll 0.47 - - 2375 - 2.55 0.113 3636 546.7 116.8 - - 2216 - - - - - - - - 14.91 14.54 14.92
15985 722.5 8.7 719 15990 done 0.47 0.12 0.275 2357 -150.0 2.47 0.076 2230 -569.2 116.8 - - 2219 - - - - - - - - 14.44 14.61 14.67
16349 698.1 6.5 729 16368 roll 0.49 - - 2367 - 2.55 0.096 820 -552.9 135.7 13.73 1.757 2181 -2.8 0.205 - - - - - - 14.90 14.60 13.96
16411 694.1 6.5 738 16445 done 0.50 - - 2368 - 2.55 0.082 2238 556.1 155.2 28.80 1.599 2105 -2.6 0.214 - - - - - - 14.66 14.56 13.85
16797 665.7 7.5 751 16802 roll 0.50 - - 2367 - 2.55 0.112 3636 548.2 155.2 - - 2087 - - - - - - - - 14.76 14.45 14.78
16873 659.1 8.6 762 16879 done 0.50 - - 2378 - 2.50 0.075 2218 -567.2 155.2 - - 2086 - - - - - - - - 14.62 14.52 14.65
17189 632.1 8.7 772 17194 roll 0.50 - - 2387 - 2.55 0.092 816 -549.8 155.2 - - 2086 - - - - - - - - 14.83 14.52 14.85
17223 629.0 8.7 777 17230 done 0.50 - - 2387 - 2.58 0.082 2243 553.1 155.2 - - 2085 - - - - - - - - 14.66 14.54 14.70
17581 593.4 10.2 786 17586 roll 0.50 - - 2387 - 2.55 0.112 3639 547.5 155.2 - - 2085 - - - - - - - - 14.87 14.52 14.89
17664 584.0 11.1 798 17670 done 0.50 0.08 0.237 2366 -262.5 2.50 0.075 2250 -555.6 155.2 - - 2085 - - - - - - - - 14.41 14.56 14.66
18029 553.0 8.2 808 18034 roll 0.50 - - 2376 - 2.60 0.093 816 -551.5 155.2 - - 2083 - - - - - - - - 14.88 14.55 14.90
18098 547.8 7.2 818 18104 done 0.50 - - 2376 - 2.60 0.083 2258 554.6 158.5 - - 2086 - - - - - - - - 14.70 14.57 14.74
18422 523.7 7.5 829 18427 roll 0.50 - - 2376 - 2.53 0.112 3640 546.2 158.5 - - 2084 - - - - - - - - 14.89 14.55 14.91
18477 519.0 8.3 837 18483 done 0.50 - - 2384 - 2.45 0.076 2247 -568.6 158.5 - - 2084 - - - - - - - - 14.71 14.60 14.74
18813 492.0 8.1 850 18818 roll 0.50 - - 2393 - 2.58 0.093 825 -551.2 158.5 - - 2084 - - - - - - - - 14.90 14.55 14.92
18882 486.3 8.0 860 18888 done 0.50 0.12 0.252 2364 -241.7 2.58 0.083 2252 553.1 158.5 - - 2084 - - - - - - - - 14.43 14.57 14.67
19205 463.8 6.9 871 19217 roll 0.51 - - 2364 - 2.55 0.114 3634 542.0 168.4 5.15 1.334 2056 -5.4 0.353 - - - - - - 14.91 14.64 13.94
19274 458.4 7.8 881 19281 done 0.51 - - 2374 - 2.47 0.073 2250 -560.3 168.4 - - 2059 - - - - - - - - 14.65 14.59 14.69
19597 434.3 7.6 892 19603 roll 0.51 - - 2382 - 2.65 0.092 820 -539.6 168.4 1.83 0.194 2053 -3.3 1.370 - - - - - - 14.89 14.57 14.50
19652 430.1 7.4 900 19658 done 0.55 - - 2383 - 2.58 0.081 2249 553.9 168.4 - - 2059 - - - - - - - - 14.67 14.54 14.70
19982 403.8 8.1 912 19987 roll 0.55 - - 2383 - 2.53 0.112 3640 549.8 168.4 - - 2062 - - - - - - - - 14.88 14.55 14.91
20051 397.4 9.1 922 20057 done 0.55 - - 2392 - 2.47 0.075 2258 -559.5 168.4 1.88 0.178 2051 -5.9 2.439 - - - - - - 14.64 14.59 14.50
20374 369.8 8.6 933 20380 roll 0.55 - - 2401 - 2.58 0.088 819 -557.8 168.4 - - 2062 - - - - - - - - 14.90 14.57 14.92
20430 365.3 8.0 941 20436 done 0.55 - - 2402 - 2.60 0.081 2262 555.0 168.4 - - 2062 - - - - - - - - 14.71 14.58 14.74
20766 337.1 8.4 954 20772 roll 0.55 - - 2407 - 2.58 0.108 3646 536.4 168.4 1.73 0.195 2051 -6.4 2.052 - - - - - - 14.90 14.56 14.49
20821 331.8 9.8 962 20827 done 0.55 0.08 0.232 2374 -412.5 2.47 0.072 2257 -562.3 168.4 - - 2055 - - - - - - - - 14.43 14.58 14.65
21152 306.6 7.8 974 21156 roll 0.55 - - 2383 - 2.58 0.086 814 -559.3 168.4 - - 2061 - - - - - - - - 14.91 14.53 14.92
21220 300.8 8.3 984 21226 done 0.60 - - 2384 - 2.60 0.079 2262 556.9 168.4 - - 2061 - - - - - - - - 14.71 14.58 14.73
21544 271.5 9.2 995 21548 roll 0.60 - - 2383 - 2.47 0.107 3639 557.5 168.4 - - 2061 - - - - - - - - 14.91 14.55 14.93
21599 266.0 10.0 1003 21605 done 0.60 - - 2393 - 2.42 0.071 2249 -574.4 168.4 1.67 0.194 2052 -5.4 1.379 - - - - - - 14.72 14.62 14.50
21928 237.5 8.5 1015 21933 roll 0.60 - - 2401 - 2.55 0.086 824 -558.8 168.4 - - 2061 - - - - - - - - 14.89 14.57 14.92
21977 233.6 7.9 1022 21983 done 0.60 - - 2401 - 2.60 0.080 2269 555.8 168.4 - - 2062 - - - - - - - - 14.70 14.57 14.73
22320 206.0 7.9 1029 22326 roll 0.60 - - 2401 - 2.55 0.108 3642 538.4 168.4 1.73 0.191 2050 -6.9 1.397 - - - - - - 14.91 14.53 14.50
22389 199.7 8.8 1039 22395 done 0.60 - - 2410 - 2.45 0.070 2261 -563.7 168.4 - - 2058 - - - - - - - - 14.65 14.59 14.69
22713 169.6 9.5 1050 22717 roll 0.60 - - 2421 - 2.58 0.083 816 -560.1 168.4 - - 2061 - - - - - - - - 14.91 14.57 14.92
22760 165.3 8.9 1057 22769 done 0.60 - - 2420 - 2.62 0.080 2256 549.6 168.4 1.33 0.182 2054 -5.3 0.892 - - - - - - 14.63 14.56 14.48
23104 132.9 9.5 1064 23110 roll 0.60 - - 2420 - 2.58 0.107 3645 538.4 168.4 1.73 0.191 2050 -2.3 0.300 - - - - - - 14.92 14.57 14.50
23181 124.7 10.9 1075 23186 done 0.60 0.15 0.264 2394 -173.3 2.40 0.070 2264 -575.4 168.4 - - 2059 - - - - - - - - 14.42 14.62 14.65
23545 98.4 7.3 1085 23552 roll 0.60 - - 2404 - 2.62 0.083 824 -549.6 170.0 2.58 0.180 2045 -5.4 0.554 - - - - - - 14.92 14.59 14.47
23587 96.1 5.3 1091 23629 done 0.69 - - 2404 - 2.58 0.078 2266 558.9 219.0 32.53 0.434 1847 -6.1 0.252 - - - - - - 14.71 14.57 14.31
23941 79.5 4.4 1108 23993 roll 0.82 0.15 0.120 2481 513.3 2.60 0.080 820 -556.2 289.3 46.05 0.373 1560 -6.2 0.248 - - - - - - 14.63 14.50 14.28
24134 69.5 5.8 1136 24166 done 0.91 - - 2481 - 2.60 0.073 2284 563.1 325.1 24.95 0.330 1417 -5.7 0.225 - - - - - - 14.64 14.52 14.26
24501 48.8 5.4 1155 24538 roll 1.10 0.17 0.107 2573 541.2 2.42 0.097 3646 562.8 370.3 31.55 0.272 1230 -5.9 0.199 - - - - - - 14.62 14.50 14.31
24581 41.9 10.3 1167 24587 done 1.10 - - 2582 - 2.30 0.066 2313 -579.6 370.3 1.98 0.180 1229 - - - - - - - - 14.64 14.55 14.43
24911 15.5 7.9 1181 24917 roll 1.10 - - 2590 - 2.67 0.074 822 -558.4 370.3 2.00 0.166 1228 - - - - - - - - 14.85 14.57 14.50
25001 7.9 8.9 1194 25006 done 1.10 0.15 0.240 2554 -240.0 2.65 0.070 2330 569.1 370.3 - - 1239 - - - - - - - - 14.44 14.58 14.64
25075 end climb: SURFACE_DEPTH_REACHED
25075 begin surface coast
25103 end surface coast: CONTROL_FINISHED_OK
25103 begin surface
SM 0.83 - - - - -6.13 6.47 0.051 211 32.6 0.10 0.125 2258 -28680.0 500.17 78.80 0.138 700 8.9 -0.005 - - - - - -