SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 66.61 of 350.00 AH used of 24V (80.97% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.0 deg, depth 0.89 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 16 s • Transponder ping count: 8
• 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 - - 196 - - - 2261 - -116.8 -85.10 - 2960 - - - - - - - - 14.74 - 14.77
105 5.5 -7.9 3 129 roll -0.68 9.02 0.427 1963 195.9 2.80 2.114 3703 515.0 -116.8 -4.25 - 3219 -60.9 - - - - - - - 14.22 13.41 14.57
229 51.2 -26.1 21 235 done -0.46 0.35 0.301 2049 245.7 2.35 0.047 2288 -602.1 -116.8 - - 3221 - - - - - - - - 14.32 14.56 14.56
551 99.7 -8.9 34 552 done -0.37 - - 2049 - - - 2288 - -116.8 - - 3222 - - - - - - - - 14.87 14.89 14.89
859 123.3 -8.2 40 861 done -0.32 0.17 0.243 2093 258.8 - - 2280 - -116.8 - - 3223 - - - - - - - - 14.54 14.77 14.73
1195 146.2 -6.7 46 1199 roll -0.32 - - 2085 - 2.45 0.087 3702 580.4 -116.8 - - 3222 - - - - - - - - 14.97 14.69 14.99
1236 148.9 -6.5 52 1241 done -0.32 - - 2086 - 2.35 0.045 2279 -605.5 -116.8 - - 3223 - - - - - - - - 14.78 14.75 14.81
1587 169.7 -6.0 60 1592 roll -0.32 - - 2085 - 2.33 0.058 895 -594.0 -116.8 - - 3221 - - - - - - - - 14.98 14.74 15.00
1691 176.9 -7.0 75 1698 done -0.37 - - 2082 - 2.45 0.065 2303 574.7 -116.8 - - 3221 - - - - 1 - - - 14.76 14.71 14.83
2035 198.1 -6.1 82 2035 done -0.37 - - 2082 - - - 2303 - -116.8 - - 3218 - - - - - - - - 15.00 15.02 15.02
2371 218.2 -6.0 88 2376 roll -0.41 - - 2082 - 2.40 0.059 896 -586.2 -116.8 - - 3216 - - - - - - - - 15.00 14.74 15.02
2427 221.9 -6.7 96 2432 done -0.47 - - 2082 - 2.42 0.070 2283 573.1 -116.8 - - 3216 - - - - - - - - 14.83 14.73 14.85
2763 241.7 -5.8 109 2765 done -0.51 0.15 0.123 2019 -420.0 - - 2284 - -116.8 - - 3214 - - - - - - - - 14.78 14.88 14.85
3098 270.9 -8.9 115 3099 done -0.51 - - 2019 - - - 2283 - -116.8 - - 3211 - - - - - - - - 15.02 15.04 15.03
3435 301.7 -9.3 121 3440 roll -0.51 - - 2022 - 2.38 0.061 897 -582.4 -116.8 - - 3208 - - - - - - - - 15.02 14.74 15.04
3490 307.3 -10.0 129 3496 done -0.51 - - 2015 - 2.42 0.073 2278 570.7 -116.8 - - 3209 - - - - - - - - 14.83 14.73 14.86
3827 340.1 -9.7 142 3832 roll -0.51 - - 2015 - 2.38 0.061 897 -580.3 -116.8 - - 3206 - - - - - - - - 15.02 14.74 15.03
3868 344.2 -9.9 148 3873 done -0.51 - - 2011 - 2.45 0.075 2275 562.4 -116.8 - - 3205 - - - - 1 - - - 14.76 14.70 14.79
4219 376.0 -8.9 156 4224 roll -0.47 0.12 0.286 2048 308.3 2.38 0.061 897 -579.0 -116.8 - - 3204 - - - - - - - - 14.54 14.73 14.67
4253 378.8 -7.7 161 4259 done -0.47 - - 2043 - 2.42 0.074 2278 570.7 -116.8 - - 3203 - - - - - - - - 14.83 14.71 14.85
4611 404.9 -7.5 170 4615 roll -0.47 - - 2035 - 2.47 0.099 3690 571.7 -116.8 - - 3199 - - - - - - - - 15.02 14.69 15.03
4638 407.1 -7.9 174 4644 done -0.47 - - 2035 - 2.38 0.057 2283 -591.2 -116.8 - - 3202 - - - - - - - - 14.79 14.75 14.81
5003 436.8 -8.2 184 5008 roll -0.47 - - 2035 - 2.40 0.067 890 -580.4 -116.8 - - 3199 - - - - - - - - 15.00 14.71 15.02
5072 442.6 -8.2 194 5077 done -0.47 - - 2028 - 2.45 0.076 2278 566.5 -116.8 - - 3199 - - - - - - - - 14.81 14.69 14.84
5395 469.0 -8.2 205 5400 roll -0.47 - - 2020 - 2.50 0.100 3697 567.6 -116.8 - - 3197 - - - - - - - - 15.00 14.67 15.02
5429 471.9 -8.4 210 5434 done -0.47 - - 2020 - 2.38 0.059 2279 -595.8 -116.8 - - 3197 - - - - - - - - 14.84 14.76 14.85
5787 501.3 -8.2 219 5792 roll -0.47 - - 2020 - 2.40 0.068 884 -581.2 -116.8 - - 3196 - - - - - - - - 15.00 14.71 15.02
5856 506.9 -7.9 229 5862 done -0.47 0.12 0.279 2043 191.7 2.47 0.078 2278 564.4 -116.8 - - 3195 - - - - - - - - 14.49 14.66 14.71
6179 528.1 -6.5 240 6180 done -0.47 - - 2043 - - - 2278 - -116.8 - - 3192 - - - - - - - - 15.00 15.02 15.01
6515 548.6 -6.0 246 6520 roll -0.47 - - 2043 - 2.42 0.067 883 -576.4 -116.8 - - 3193 - - - - - - - - 15.00 14.69 15.01
6556 551.2 -6.3 252 6561 done -0.47 - - 2042 - 2.47 0.079 2273 562.8 -116.8 - - 3192 - - - - - - - - 14.80 14.66 14.83
6907 573.8 -6.7 260 6908 done -0.47 - - 2047 - - - 2276 - -116.8 - - 3190 - - - - - - - - 14.99 15.01 15.00
7243 599.6 -7.8 266 7247 roll -0.47 - - 2043 - 2.42 0.070 883 -575.6 -116.8 - - 3189 - - - - - - - - 15.00 14.69 15.01
7291 603.6 -8.3 273 7298 done -0.47 - - 2042 - 2.53 0.080 2276 550.6 -116.8 - - 3189 - - - - - - - - 14.71 14.64 14.75
7635 629.2 -7.3 280 7640 roll -0.47 - - 2038 - 2.53 0.108 3690 558.9 -116.8 - - 3188 - - - - - - - - 14.99 14.63 15.00
7690 633.3 -7.4 288 7695 done -0.47 - - 2038 - 2.40 0.063 2271 -591.2 -116.8 - - 3187 - - - - - - - - 14.81 14.73 14.83
8027 656.9 -7.0 301 8032 roll -0.47 - - 2038 - 2.40 0.071 884 -577.9 -116.8 - - 3190 - - - - - - - - 14.97 14.66 15.00
8117 663.5 -7.2 314 8122 done -0.47 - - 2037 - 2.47 0.083 2266 559.5 -116.8 - - 3185 - - - - - - - - 14.78 14.64 14.81
8475 688.1 -6.9 323 8479 roll -0.47 - - 2031 - 2.55 0.107 3693 559.6 -116.8 - - 3185 - - - - - - - - 14.98 14.62 15.01
8502 690.0 -6.8 327 8508 done -0.47 - - 2030 - 2.45 0.061 2264 -583.3 -116.8 - - 3185 - - - - - - - - 14.73 14.69 14.76
8867 715.2 -6.7 337 8873 roll -0.47 - - 2030 - 2.40 0.073 891 -572.1 -116.8 - - 3184 - - - - - - - - 14.98 14.65 15.00
8979 722.7 -6.6 353 8984 done -0.47 - - 2026 - 2.47 0.082 2268 557.5 -116.8 - - 3183 - - - - - - - - 14.76 14.64 14.80
9315 743.0 -6.0 366 9320 roll -0.47 - - 2020 - 2.55 0.108 3693 558.8 -116.8 - - 3182 - - - - - - - - 14.97 14.61 14.99
9349 745.2 -6.0 371 9354 done -0.47 - - 2020 - 2.47 0.063 2257 -581.4 -116.8 - - 3182 - - - - - - - - 14.72 14.67 14.76
9707 768.7 -6.8 380 9711 roll -0.47 - - 2020 - 2.40 0.073 886 -571.2 -116.8 - - 3181 - - - - - - - - 14.97 14.64 15.00
9790 775.0 -8.5 392 9796 done -0.47 0.12 0.280 2044 200.0 2.47 0.083 2264 557.9 -116.8 - - 3180 - - - - - - - - 14.43 14.62 14.69
10155 798.1 -6.5 402 10156 done -0.47 - - 2044 - - - 2264 - -116.8 - - 3180 - - - - - - - - 14.97 14.98 14.98
10491 819.8 -6.4 408 10491 done -0.47 - - 2044 - - - 2264 - -116.8 - - 3179 - - - - - - - - 14.97 14.99 14.99
10827 840.3 -5.8 414 10832 roll -0.47 - - 2036 - 2.58 0.109 3693 553.9 -116.8 - - 3178 - - - - - - - - 14.97 14.57 14.99
10861 842.4 -4.8 419 10866 done -0.47 - - 2036 - 2.47 0.063 2259 -580.6 -116.8 - - 3178 - - - - - - - - 14.78 14.66 14.81
11219 863.1 -5.8 428 11224 roll -0.47 - - 2036 - 2.40 0.074 892 -569.6 -116.8 - - 3176 - - - - - - - - 14.96 14.61 14.98
11295 867.3 -5.8 439 11300 done -0.47 - - 2036 - 2.45 0.085 2260 558.4 -116.8 - - 3177 - - - - 1 - - - 14.73 14.60 14.78
11611 885.0 -5.6 449 11616 roll -0.47 - - 2026 - 2.60 0.111 3702 554.6 -116.8 - - 3177 - - - - - - - - 14.95 14.57 14.97
11645 887.2 -6.3 454 11650 done -0.47 - - 2027 - 2.45 0.066 2263 -587.3 -116.8 - - 3176 - - - - - - - - 14.76 14.68 14.78
12003 910.9 -6.8 463 12008 roll -0.47 - - 2026 - 2.42 0.077 885 -569.4 -116.8 - - 3176 - - - - - - - - 14.95 14.60 14.97
12065 915.1 -6.6 472 12070 done -0.47 - - 2026 - 2.50 0.086 2263 551.2 -116.8 - - 3176 - - - - - - - - 14.71 14.57 14.76
12395 937.2 -6.7 484 12396 done -0.47 - - 2026 - - - 2262 - -116.8 - - 3175 - - - - - - - - 14.95 14.97 14.97
12731 960.0 -6.8 490 12732 done -0.47 - - 2026 - - - 2262 - -116.8 - - 3174 - - - - - - - - 14.95 14.97 14.97
13067 983.2 -6.9 496 13067 done -0.47 - - 2028 - - - 2262 - -116.8 - - 3174 - - - - - - - - 14.93 14.95 14.95
13175 end dive: TARGET_DEPTH_EXCEEDED
13175 begin apogee
13183 991.3 -7.3 498 13384 roll -0.19 0.40 0.228 2136 270.0 - - 2263 - - 199.15 1.611 2743 -2.2 0.249 - - - - - - 14.42 14.00 13.40
13386 end apogee: CONTROL_FINISHED_OK
13386 begin climb
13390 997.7 - 501 13551 roll 0.68 0.93 0.166 2408 292.5 2.65 0.112 3639 519.2 116.8 148.48 1.825 2256 -3.3 0.335 - - - - - - 13.95 13.99 13.14
13620 980.2 11.0 540 13627 done 0.59 - - 2419 - 2.58 0.080 2242 -541.5 116.8 - - 2233 - - - - 1 - - - 14.12 14.03 14.14
13964 942.5 11.1 547 13969 roll 0.51 0.17 0.273 2372 -276.5 2.62 0.112 3638 532.8 116.8 - - 2225 - - - - - - - - 14.21 14.35 14.36
14106 928.4 9.6 567 14111 done 0.51 - - 2381 - 2.53 0.080 2228 -557.3 116.8 - - 2224 - - - - - - - - 14.55 14.45 14.58
14468 893.7 9.7 577 14473 roll 0.51 - - 2391 - 2.58 0.099 823 -544.6 116.8 - - 2222 - - - - - - - - 14.81 14.49 14.83
14537 887.0 9.5 587 14543 done 0.51 - - 2391 - 2.58 0.088 2235 547.3 116.8 - - 2221 - - - - - - - - 14.63 14.50 14.66
14860 854.2 10.3 598 14866 roll 0.51 - - 2391 - 2.58 0.116 3634 542.2 116.8 - - 2221 - - - - - - - - 14.85 14.50 14.88
14923 846.6 13.1 607 14928 done 0.45 0.22 0.268 2348 -195.5 2.47 0.080 2227 -569.6 116.8 - - 2221 - - - - 1 - - - 14.33 14.56 14.60
15252 820.7 7.6 619 15257 roll 0.45 - - 2358 - 2.55 0.099 824 -550.2 116.8 - - 2220 - - - - - - - - 14.88 14.50 14.89
15309 816.9 6.9 627 15313 done 0.46 - - 2358 - 2.58 0.087 2238 548.1 127.5 - - 2219 - - - - - - - - 14.66 14.54 14.71
15644 793.6 6.9 640 15670 roll 0.46 - - 2358 - 2.58 0.113 3647 546.1 138.6 20.95 1.677 2172 -2.2 0.198 - - - - - - 14.88 14.47 14.00
15734 786.5 7.9 653 15740 done 0.46 - - 2367 - 2.53 0.080 2228 -560.9 138.6 - - 2162 - - - - - - - - 14.61 14.51 14.63
16092 759.8 7.7 662 16098 roll 0.46 - - 2377 - 2.58 0.098 822 -545.0 138.6 - - 2157 - - - - - - - - 14.83 14.51 14.84
16154 754.8 8.0 671 16160 done 0.46 - - 2378 - 2.58 0.086 2238 548.8 138.6 - - 2157 - - - - - - - - 14.65 14.53 14.69
16484 725.5 9.0 683 16489 roll 0.46 - - 2378 - 2.55 0.114 3638 549.0 138.6 - - 2157 - - - - - - - - 14.86 14.52 14.88
16560 717.9 10.0 694 16567 done 0.46 0.15 0.260 2353 -166.7 2.47 0.077 2236 -567.6 138.6 - - 2156 - - - - - - - - 14.41 14.58 14.65
16876 693.5 7.7 704 16881 roll 0.46 - - 2363 - 2.55 0.093 821 -554.9 138.6 - - 2156 - - - - - - - - 14.88 14.54 14.89
16960 687.4 7.0 716 16967 done 0.47 - - 2363 - 2.58 0.083 2244 551.6 147.1 3.28 1.076 2139 -5.2 0.618 - - - - - - 14.67 14.56 13.74
17317 661.0 7.4 725 17322 roll 0.47 - - 2363 - 2.55 0.115 3644 549.0 147.1 - - 2145 - - - - - - - - 14.90 14.54 14.91
17400 654.1 8.2 737 17406 done 0.47 - - 2373 - 2.50 0.079 2228 -566.4 147.1 - - 2145 - - - - - - - - 14.70 14.58 14.73
17766 626.0 7.8 747 17770 roll 0.47 - - 2382 - 2.55 0.096 821 -551.8 147.1 - - 2148 - - - - - - - - 14.89 14.55 14.91
17821 621.7 7.7 755 17826 done 0.47 0.12 0.259 2356 -216.7 2.58 0.085 2245 551.9 147.1 - - 2145 - - - - - - - - 14.42 14.57 14.64
18158 598.6 6.9 768 18191 roll 0.47 - - 2355 - 2.62 0.114 3639 532.1 158.6 29.10 1.432 2093 -1.8 0.139 - - - - - - 14.90 14.49 14.02
18248 591.6 8.2 781 18253 done 0.47 - - 2364 - 2.47 0.076 2242 -565.6 158.6 - - 2084 - - - - - - - - 14.59 14.50 14.62
18598 563.8 8.1 789 18603 roll 0.47 - - 2373 - 2.60 0.095 819 -547.3 158.6 - - 2081 - - - - - - - - 14.82 14.49 14.83
18675 557.7 7.7 800 18680 done 0.47 - - 2373 - 2.60 0.083 2250 550.4 158.6 - - 2077 - - - - - - - - 14.64 14.52 14.68
18990 532.0 8.1 810 18996 roll 0.47 - - 2373 - 2.55 0.115 3644 546.7 158.6 - - 2080 - - - - - - - - 14.85 14.53 14.88
19059 525.8 8.8 820 19065 done 0.47 - - 2383 - 2.50 0.080 2234 -564.0 158.6 - - 2079 - - - - - - - - 14.66 14.54 14.70
19383 499.8 8.0 831 19388 roll 0.47 - - 2392 - 2.58 0.091 814 -550.4 158.6 - - 2079 - - - - - - - - 14.87 14.54 14.89
19444 494.9 7.6 840 19450 done 0.47 0.15 0.242 2356 -240.0 2.60 0.083 2255 554.2 158.6 - - 2079 - - - - - - - - 14.42 14.54 14.66
19775 473.5 6.5 852 19816 roll 0.49 - - 2356 - 2.62 0.113 3647 531.3 177.5 36.58 1.310 2015 -1.7 0.118 - - - - - - 14.88 14.45 14.00
19872 466.1 8.2 866 19879 done 0.49 - - 2365 - 2.50 0.079 2250 -558.8 177.5 - - 2005 - - - - - - - - 14.56 14.47 14.59
20215 438.0 8.4 873 20220 roll 0.49 - - 2374 - 2.60 0.093 823 -548.8 177.5 - - 2002 - - - - - - - - 14.78 14.47 14.81
20291 431.2 8.7 884 20297 done 0.54 - - 2375 - 2.60 0.083 2255 550.8 177.5 - - 2001 - - - - - - - - 14.63 14.50 14.66
20607 402.1 9.3 894 20613 roll 0.54 - - 2375 - 2.55 0.113 3646 545.5 177.5 - - 2001 - - - - - - - - 14.85 14.50 14.86
20676 395.2 9.8 904 20682 done 0.54 - - 2384 - 2.47 0.076 2267 -558.3 177.5 - - 2001 - - - - - - - - 14.61 14.54 14.71
21000 367.2 8.5 915 21005 roll 0.54 - - 2393 - 2.62 0.092 816 -553.8 177.5 - - 1999 - - - - - - - - 14.86 14.53 14.86
21089 360.2 7.3 928 21095 done 0.54 - - 2393 - 2.60 0.082 2259 555.0 177.7 - - 2000 - - - - - - - - 14.69 14.56 14.73
21447 331.5 8.2 937 21452 roll 0.54 - - 2393 - 2.53 0.112 3642 546.6 177.7 - - 2000 - - - - - - - - 14.89 14.53 14.91
21510 325.4 9.6 946 21516 done 0.54 - - 2403 - 2.42 0.075 2259 -571.5 177.7 - - 2000 - - - - - - - - 14.70 14.59 14.73
21839 293.3 10.0 958 21845 roll 0.54 - - 2412 - 2.60 0.088 816 -555.0 177.7 - - 2000 - - - - - - - - 14.89 14.56 14.91
21923 284.9 9.9 970 21929 done 0.54 0.15 0.243 2376 -240.0 2.60 0.083 2260 555.4 177.7 - - 2000 - - - - - - - - 14.45 14.57 14.68
22287 254.1 8.3 980 22292 roll 0.54 - - 2378 - 2.50 0.110 3636 550.4 177.7 - - 2000 - - - - - - - - 14.91 14.54 14.93
22343 249.0 9.1 988 22348 done 0.54 - - 2385 - 2.42 0.073 2249 -573.1 177.7 - - 2000 - - - - - - - - 14.71 14.61 14.74
22680 222.2 7.9 1001 22685 roll 0.54 - - 2392 - 2.58 0.090 823 -552.7 177.7 - - 2000 - - - - - - - - 14.91 14.56 14.92
22713 219.6 7.5 1006 22720 done 0.54 - - 2393 - 2.62 0.081 2254 546.2 177.7 - - 2000 - - - - - - - - 14.60 14.52 14.64
23071 191.5 7.8 1015 23076 roll 0.54 - - 2393 - 2.53 0.109 3644 549.4 177.7 - - 2000 - - - - - - - - 14.92 14.55 14.93
23155 184.0 8.8 1027 23160 done 0.54 - - 2403 - 2.42 0.073 2259 -572.3 177.7 - - 2000 - - - - - - - - 14.71 14.62 14.76
23519 153.2 8.4 1037 23524 roll 0.54 - - 2411 - 2.58 0.086 820 -557.8 177.7 - - 2000 - - - - - - - - 14.94 14.57 14.92
23575 148.9 7.7 1045 23580 done 0.54 0.15 0.234 2374 -246.7 2.60 0.080 2269 557.3 177.7 - - 2000 - - - - - - - - 14.45 14.58 14.69
23912 127.3 6.3 1058 23966 roll 0.56 - - 2374 - 2.53 0.109 3631 538.3 202.5 45.97 1.079 1915 -1.8 0.041 - - - - - - 14.92 14.45 14.04
23987 121.9 7.2 1069 23993 done 0.62 - - 2382 - 2.40 0.069 2263 -570.0 204.8 - - 1905 - - - - - - - - 14.57 14.50 14.59
24304 100.9 6.5 1079 24322 roll 0.69 0.12 0.139 2448 550.0 2.62 0.083 826 -548.5 223.6 11.55 0.365 1828 -6.7 0.344 - - - - - - 14.54 14.49 14.19
24344 97.5 8.5 1085 24350 done 0.69 - - 2448 - 2.60 0.079 2266 553.8 223.6 1.70 0.204 1825 -1.8 0.157 - - - - - - 14.62 14.50 14.40
24667 73.9 5.5 1098 24702 roll 0.71 - - 2450 - 2.67 0.079 819 -541.9 267.2 30.17 0.350 1651 -5.8 0.227 - - - - - - 14.83 14.51 14.27
24863 64.9 5.2 1126 24903 done 0.87 - - 2450 - 2.60 0.074 2282 562.7 317.4 34.20 0.324 1446 -6.0 0.224 - - - - - - 14.64 14.53 14.25
25231 45.6 4.2 1145 25289 roll 1.11 0.30 0.096 2574 413.3 2.67 0.079 823 -546.4 392.3 49.33 0.265 1138 -6.2 0.201 - - - - - - 14.56 14.48 14.31
25401 32.9 8.2 1170 25408 done 1.18 - - 2574 - 2.62 0.075 2301 564.1 392.3 - - 1147 - - - - - - - - 14.62 14.51 14.64
25732 7.7 7.4 1184 25736 roll 1.18 - - 2583 - 2.62 0.074 816 -566.8 392.3 - - 1147 - - - - - - - - 14.85 14.56 14.88
25759 5.5 7.9 1188 25764 done 1.23 - - 2583 - 2.65 0.071 2310 563.8 392.3 - - 1147 - - - - - - - - 14.68 14.57 14.71
25811 end climb: SURFACE_DEPTH_REACHED
25811 begin surface coast
25840 end surface coast: CONTROL_FINISHED_OK
25840 begin surface
SM 0.99 - - - - -6.14 6.78 0.075 213 31.4 - - 2311 - 500.17 66.70 0.138 699 10.5 -0.008 - - - - - -