SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 155 * Raw log
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• Previous call tries 1 • 67.34 of 350.00 AH used of 24V (80.76% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.66 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 19 s • Transponder ping count: 9
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 191 - - - 2272 - -116.8 -85.12 - 2989 - - - - - - - - 14.73 - 14.78
108 6.1 -8.8 3 125 roll -0.68 8.95 0.423 1962 197.9 2.80 2.124 3695 508.2 -116.8 -3.70 - 3220 -62.4 - - - - - - - 14.21 13.39 14.56
251 63.2 -32.5 24 257 done -0.41 0.30 0.246 2057 316.7 2.42 0.052 2276 -586.4 -116.8 - - 3222 - - - - - - - - 14.37 14.54 14.59
574 98.0 -8.0 37 579 roll -0.35 - - 2051 - 2.50 0.086 3701 570.0 -116.8 - - 3223 - - - - - - - - 14.88 14.60 14.90
810 117.7 -8.1 71 817 done -0.35 0.10 0.216 2081 300.0 2.38 0.045 2276 -598.7 -116.8 - - 3224 - - - - - - - - 14.49 14.69 14.62
1134 139.8 -6.9 82 1138 roll -0.35 - - 2081 - 2.35 0.059 885 -591.9 -116.8 - - 3224 - - - - - - - - 14.95 14.69 14.96
1217 146.1 -7.3 94 1222 done -0.35 - - 2081 - 2.45 0.066 2293 574.7 -116.8 - - 3224 - - - - - - - - 14.79 14.69 14.82
1582 169.7 -6.5 104 1586 roll -0.35 - - 2082 - 2.40 0.054 880 -588.8 -116.8 - - 3223 - - - - - - - - 14.98 14.73 15.00
1630 173.2 -7.0 111 1637 done -0.35 - - 2081 - 2.45 0.067 2281 571.8 -116.8 - - 3223 - - - - - - - - 14.81 14.71 14.83
1974 193.4 -5.7 118 1978 roll -0.35 - - 2081 - 2.45 0.093 3693 576.3 -116.8 - - 3220 - - - - - - - - 15.00 14.69 15.01
2022 196.0 -5.3 125 2030 done -0.41 - - 2081 - 2.38 0.051 2272 -597.1 -116.8 - - 3220 - - - - - - - - 14.78 14.75 14.81
2367 215.2 -5.8 132 2371 roll -0.46 - - 2081 - 2.35 0.060 890 -588.1 -116.8 - - 3218 - - - - - - - - 14.99 14.73 15.01
2442 220.6 -7.1 143 2448 done -0.51 0.15 0.123 2018 -420.0 2.42 0.067 2286 576.9 -116.8 - - 3218 - - - - - - - - 14.76 14.72 14.84
2758 251.4 -10.0 153 2758 done -0.51 - - 2018 - - - 2286 - -116.8 - - 3216 - - - - - - - - 15.00 15.02 15.01
3094 283.0 -9.3 159 3095 done -0.51 - - 2018 - - - 2286 - -116.8 - - 3213 - - - - - - - - 15.00 15.02 15.02
3430 317.0 -10.3 165 3435 roll -0.51 - - 2018 - 2.38 0.060 895 -584.5 -116.8 - - 3211 - - - - - - - - 15.02 14.74 15.04
3506 325.1 -10.5 176 3512 done -0.51 - - 2015 - 2.45 0.070 2264 558.8 -116.8 - - 3210 - - - - - - - - 14.75 14.69 14.80
3822 356.5 -9.9 186 3827 roll -0.51 - - 2015 - 2.35 0.059 893 -583.4 -116.8 - - 3209 - - - - - - - - 15.01 14.73 15.02
3863 360.6 -9.9 192 3868 done -0.51 - - 2012 - 2.45 0.071 2264 559.6 -116.8 - - 3208 - - - - - - - - 14.75 14.69 14.79
4214 393.8 -9.4 200 4218 roll -0.51 - - 2005 - 2.50 0.095 3694 572.0 -116.8 - - 3206 - - - - - - - - 15.02 14.69 15.03
4276 399.8 -9.6 209 4282 done -0.51 - - 2005 - 2.38 0.054 2266 -600.0 -116.8 - - 3206 - - - - - - - - 14.84 14.77 14.86
4606 429.6 -9.0 221 4611 roll -0.51 - - 2005 - 2.35 0.063 889 -586.0 -116.8 - - 3204 - - - - - - - - 15.00 14.71 15.02
4689 436.8 -8.2 233 4695 done -0.51 0.10 0.247 2028 230.0 2.45 0.072 2248 554.7 -116.8 - - 3203 - - - - - - - - 14.49 14.67 14.64
5054 460.1 -6.3 243 5059 roll -0.51 - - 2019 - 2.55 0.096 3702 570.2 -116.8 - - 3202 - - - - - - - - 15.00 14.66 15.02
5102 463.7 -7.4 250 5109 done -0.51 - - 2019 - 2.45 0.054 2259 -589.0 -116.8 - - 3198 - - - - - - - - 14.77 14.73 14.80
5446 491.6 -8.4 257 5451 roll -0.51 - - 2019 - 2.35 0.066 892 -581.7 -116.8 - - 3199 - - - - - - - - 15.00 14.70 15.02
5529 499.5 -9.4 269 5535 done -0.51 - - 2014 - 2.47 0.074 2262 554.7 -116.8 - - 3198 - - - - - - - - 14.71 14.66 14.83
5893 535.3 -10.0 279 5898 roll -0.51 - - 2014 - 2.38 0.061 890 -576.5 -116.8 - - 3198 - - - - - - - - 14.99 14.70 15.01
5942 540.2 -10.1 286 5949 done -0.51 - - 2012 - 2.47 0.074 2275 560.7 -116.8 - - 3197 - - - - - - - - 14.79 14.66 14.82
6286 570.5 -8.6 293 6292 roll -0.51 - - 2008 - 2.53 0.103 3697 562.1 -116.8 - - 3196 - - - - - - - - 15.00 14.65 15.02
6341 575.1 -8.2 301 6347 done -0.51 - - 2012 - 2.40 0.059 2270 -594.6 -116.8 - - 3195 - - - - - - - - 14.81 14.73 14.83
6678 601.2 -7.7 314 6682 roll -0.51 - - 2008 - 2.40 0.069 880 -579.2 -116.8 - - 3194 - - - - - - - - 15.02 14.67 15.00
6754 607.4 -8.0 325 6760 done -0.51 0.12 0.269 2031 191.7 2.45 0.076 2260 563.3 -116.8 - - 3193 - - - - - - - - 14.50 14.66 14.73
7070 629.3 -7.0 335 7075 roll -0.51 - - 2023 - 2.53 0.099 3692 566.0 -116.8 - - 3192 - - - - - - - - 14.98 14.64 15.00
7126 633.6 -8.0 343 7131 done -0.51 - - 2023 - 2.42 0.060 2258 -592.6 -116.8 - - 3191 - - - - - - - - 14.80 14.72 14.82
7462 660.9 -8.2 356 7467 roll -0.51 - - 2023 - 2.35 0.067 886 -583.8 -116.8 - - 3190 - - - - - - - - 14.99 14.64 15.00
7538 667.5 -8.4 367 7543 done -0.51 - - 2023 - 2.50 0.076 2263 550.8 -116.8 - - 3189 - - - - - - - - 14.66 14.58 14.70
7854 691.9 -7.7 377 7859 roll -0.51 - - 2014 - 2.55 0.100 3695 561.6 -116.8 - - 3189 - - - - - - - - 14.97 14.62 15.00
7889 694.5 -7.8 382 7893 done -0.51 - - 2015 - 2.45 0.060 2251 -589.4 -116.8 - - 3189 - - - - - - - - 14.80 14.71 14.82
8246 720.7 -7.3 391 8250 roll -0.51 - - 2015 - 2.40 0.073 874 -573.8 -116.8 - - 3188 - - - - - - - - 14.97 14.65 14.99
8322 726.2 -6.5 402 8327 done -0.51 - - 2015 - 2.47 0.080 2260 561.1 -116.8 - - 3188 - - - - - - - - 14.76 14.63 14.79
8638 748.1 -6.9 412 8643 roll -0.51 - - 2011 - 2.55 0.103 3691 561.2 -116.8 - - 3186 - - - - - - - - 14.97 14.60 15.00
8694 752.3 -7.8 420 8698 done -0.51 - - 2011 - 2.42 0.060 2258 -592.1 -116.8 - - 3186 - - - - - - - - 14.78 14.71 14.81
9030 776.8 -7.4 433 9035 roll -0.51 - - 2012 - 2.38 0.069 885 -576.9 -116.8 - - 3185 - - - - - - - - 14.98 14.65 15.00
9127 784.2 -7.9 447 9133 done -0.51 - - 2012 - 2.47 0.080 2262 557.5 -116.8 - - 3184 - - - - - - - - 14.74 14.62 14.78
9478 812.0 -8.0 455 9483 roll -0.51 - - 2006 - 2.55 0.104 3693 561.2 -116.8 - - 3184 - - - - - - - - 14.96 14.59 14.98
9534 816.7 -8.0 463 9539 done -0.51 - - 2006 - 2.45 0.060 2249 -589.4 -116.8 - - 3183 - - - - - - - - 14.77 14.69 14.81
9870 847.3 -9.2 476 9875 roll -0.51 - - 2006 - 2.40 0.073 877 -571.7 -116.8 - - 3183 - - - - - - - - 14.96 14.62 14.97
9925 852.7 -9.7 484 9931 done -0.51 0.12 0.275 2032 216.7 2.47 0.080 2256 558.3 -116.8 - - 3180 - - - - - - - - 14.42 14.62 14.69
10262 880.1 -8.0 497 10263 done -0.51 - - 2031 - - - 2256 - -116.8 - - 3182 - - - - - - - - 14.95 14.97 14.97
10598 902.0 -6.4 503 10602 roll -0.51 - - 2022 - 2.60 0.109 3694 553.1 -116.8 - - 3182 - - - - - - - - 14.94 14.54 14.97
10654 905.6 -6.5 511 10659 done -0.51 - - 2022 - 2.47 0.065 2258 -581.4 -116.8 - - 3180 - - - - - - - - 14.76 14.66 14.78
10990 925.2 -5.8 524 10995 roll -0.51 - - 2022 - 2.42 0.073 870 -573.6 -116.8 - - 3180 - - - - - - - - 14.96 14.61 14.97
11059 929.5 -6.1 534 11064 done -0.51 - - 2016 - 2.50 0.081 2256 554.4 -116.8 - - 3179 - - - - - - - - 14.72 14.59 14.76
11382 949.6 -6.4 545 11388 roll -0.51 - - 2013 - 2.60 0.109 3693 552.7 -116.8 - - 3179 - - - - - - - - 14.94 14.55 14.96
11439 953.4 -6.7 553 11444 done -0.51 - - 2009 - 2.50 0.065 2239 -581.6 -116.8 - - 3179 - - - - - - - - 14.75 14.66 14.78
11774 974.6 -6.5 566 11778 roll -0.51 - - 2012 - 2.38 0.073 882 -570.2 -116.8 - - 3178 - - - - - - - - 14.94 14.58 14.96
11836 979.0 -6.9 575 11841 done -0.51 - - 2012 - 2.50 0.085 2259 550.8 -116.8 - - 3176 - - - - - - - - 14.71 14.57 14.74
12050 end dive: TARGET_DEPTH_EXCEEDED
12050 begin apogee
12058 993.1 -6.5 585 12257 roll -0.19 0.43 0.229 2129 272.1 - - 2259 - - 196.80 1.633 2740 -2.2 0.252 - - - - - - 14.41 14.00 13.42
12258 end apogee: CONTROL_FINISHED_OK
12258 begin climb
12262 997.4 - 588 12419 done 0.68 0.93 0.155 2411 303.2 - - 2259 - 116.8 147.98 1.852 2258 -3.3 0.328 - - - - - - 13.95 14.19 13.13
12727 951.3 11.1 625 12733 roll 0.61 - - 2411 - 2.58 0.113 3637 534.1 116.8 - - 2229 - - - - - - - - 14.59 14.29 14.61
12768 946.3 15.5 631 12774 done 0.52 0.22 0.282 2369 -190.9 2.47 0.077 2250 -561.5 116.8 - - 2228 - - - - 1 - - - 14.19 14.36 14.43
13120 917.2 8.0 639 13124 roll 0.52 - - 2379 - 2.62 0.096 821 -545.4 116.8 - - 2226 - - - - - - - - 14.77 14.45 14.78
13209 910.1 7.7 652 13215 done 0.52 - - 2380 - 2.60 0.085 2215 536.2 116.8 - - 2224 - - - - - - - - 14.63 14.46 14.66
13568 879.3 8.8 661 13573 roll 0.52 - - 2380 - 2.60 0.112 3641 548.5 116.8 - - 2224 - - - - - - - - 14.83 14.50 14.85
13650 870.6 10.3 673 13657 done 0.52 - - 2389 - 2.50 0.076 2235 -562.4 116.8 - - 2223 - - - - 1 - - - 14.69 14.53 14.71
14015 833.4 10.5 683 14020 roll 0.52 - - 2400 - 2.58 0.091 814 -550.8 116.8 - - 2221 - - - - - - - - 14.87 14.54 14.89
14064 828.0 10.3 690 14071 done 0.52 0.12 0.273 2373 -225.0 2.60 0.083 2238 547.7 116.8 - - 2222 - - - - - - - - 14.38 14.54 14.62
14407 795.1 9.6 697 14413 roll 0.52 - - 2373 - 2.55 0.110 3637 548.6 116.8 - - 2222 - - - - - - - - 14.89 14.53 14.91
14490 786.5 10.0 709 14497 done 0.52 - - 2383 - 2.53 0.074 2202 -567.2 116.8 - - 2222 - - - - - - - - 14.69 14.58 14.73
14856 754.5 8.7 719 14860 roll 0.52 - - 2393 - 2.50 0.094 825 -550.8 116.8 - - 2222 - - - - - - - - 14.90 14.54 14.92
14903 750.2 8.7 726 14910 done 0.52 - - 2389 - 2.60 0.083 2230 540.4 116.8 - - 2221 - - - - - - - - 14.61 14.53 14.66
15247 717.8 9.6 733 15253 roll 0.52 - - 2393 - 2.58 0.112 3645 548.4 116.8 - - 2221 - - - - - - - - 14.90 14.53 14.92
15331 708.9 10.6 745 15337 done 0.46 0.20 0.255 2355 -190.0 2.47 0.076 2232 -572.1 116.8 - - 2221 - - - - - - - - 14.39 14.60 14.66
15695 682.2 7.0 755 15700 roll 0.47 - - 2364 - 2.55 0.091 823 -552.5 123.8 - - 2220 - - - - - - - - 14.92 14.55 14.93
15743 678.9 6.8 762 15763 done 0.47 - - 2365 - 2.60 0.081 2232 541.9 135.8 15.43 1.730 2184 -2.3 0.171 - - - - - - 14.61 14.53 13.93
16088 653.9 7.3 776 16092 roll 0.47 - - 2370 - 2.58 0.112 3635 543.8 135.8 - - 2168 - - - - - - - - 14.83 14.50 14.85
16143 649.1 8.6 784 16148 done 0.47 - - 2375 - 2.47 0.074 2229 -569.2 135.8 - - 2167 - - - - - - - - 14.66 14.55 14.69
16480 622.1 8.0 797 16485 roll 0.47 - - 2384 - 2.55 0.092 821 -552.2 135.8 - - 2167 - - - - - - - - 14.87 14.53 14.89
16520 618.8 8.0 803 16526 done 0.47 0.08 0.236 2361 -287.5 2.60 0.081 2233 543.1 135.8 - - 2166 - - - - - - - - 14.36 14.52 14.52
16871 593.6 7.2 811 16876 roll 0.47 - - 2361 - 2.58 0.112 3640 545.3 138.6 - - 2166 - - - - - - - - 14.89 14.52 14.91
16941 587.8 8.3 821 16947 done 0.47 - - 2371 - 2.47 0.075 2235 -568.8 138.6 - - 2165 - - - - - - - - 14.66 14.56 14.69
17263 562.2 8.0 832 17268 roll 0.47 - - 2380 - 2.55 0.089 822 -554.1 138.6 - - 2166 - - - - - - - - 14.89 14.54 14.91
17332 556.4 8.2 842 17338 done 0.47 - - 2380 - 2.58 0.080 2246 551.9 138.6 - - 2166 - - - - - - - - 14.69 14.56 14.73
17656 527.5 9.1 853 17662 roll 0.47 - - 2379 - 2.55 0.112 3643 547.8 138.6 - - 2163 - - - - - - - - 14.90 14.53 14.91
17759 517.0 10.0 868 17766 done 0.47 0.10 0.230 2360 -190.0 2.50 0.075 2255 -555.2 138.6 - - 2165 - - - - - - - - 14.36 14.55 14.51
18104 488.5 8.3 875 18108 roll 0.47 - - 2370 - 2.60 0.088 816 -553.5 138.6 - - 2165 - - - - - - - - 14.91 14.55 14.92
18173 482.9 7.9 885 18179 done 0.52 - - 2370 - 2.60 0.081 2256 553.8 138.6 - - 2165 - - - - - - - - 14.69 14.56 14.73
18495 457.7 7.7 896 18500 roll 0.52 - - 2370 - 2.55 0.112 3645 544.7 138.6 - - 2165 - - - - - - - - 14.91 14.51 14.92
18558 452.7 7.8 905 18564 done 0.52 - - 2379 - 2.47 0.075 2240 -568.8 138.6 - - 2165 - - - - - - - - 14.70 14.59 14.73
18888 432.5 5.8 917 18955 roll 0.55 - - 2388 - 2.65 0.090 824 -534.3 174.0 60.28 1.327 2022 -2.4 0.144 - - - - - - 14.90 14.32 13.88
19002 426.1 5.9 933 19060 done 0.61 - - 2388 - 2.62 0.080 2251 544.7 207.4 48.95 1.190 1885 -2.8 0.187 - - - - - - 14.47 14.36 13.74
19395 396.7 7.9 954 19400 roll 0.61 - - 2388 - 2.58 0.110 3641 538.8 207.4 - - 1870 - - - - - - - - 14.69 14.35 14.71
19462 390.0 9.3 964 19467 done 0.61 - - 2396 - 2.50 0.073 2261 -552.0 207.4 - - 1869 - - - - - - - - 14.49 14.42 14.52
19786 358.5 10.1 975 19790 roll 0.61 - - 2406 - 2.60 0.087 821 -553.8 207.4 - - 1868 - - - - - - - - 14.80 14.47 14.81
19841 352.7 10.2 983 19846 done 0.61 - - 2406 - 2.60 0.080 2260 553.5 207.4 - - 1867 - - - - - - - - 14.62 14.52 14.65
20177 314.0 11.8 996 20182 roll 0.61 - - 2406 - 2.53 0.108 3642 546.2 207.4 - - 1867 - - - - - - - - 14.84 14.50 14.86
20225 307.8 12.6 1003 20232 done 0.61 - - 2416 - 2.47 0.072 2260 -559.5 207.4 - - 1868 - - - - - - - - 14.59 14.54 14.64
20569 269.0 11.1 1010 20574 roll 0.61 - - 2426 - 2.60 0.086 823 -552.7 207.4 - - 1867 - - - - - - - - 14.87 14.54 14.88
20645 261.0 10.0 1021 20651 done 0.61 - - 2426 - 2.60 0.080 2260 552.7 207.4 - - 1869 - - - - - - - - 14.68 14.55 14.72
20961 226.6 10.9 1031 20966 roll 0.61 - - 2426 - 2.53 0.108 3645 547.4 207.4 - - 1867 - - - - - - - - 14.88 14.52 14.90
21051 216.3 11.2 1044 21057 done 0.61 0.08 0.249 2400 -325.0 2.45 0.071 2271 -560.8 207.4 - - 1867 - - - - - - - - 14.38 14.57 14.65
21409 185.8 8.5 1053 21415 roll 0.61 - - 2409 - 2.60 0.088 821 -557.7 207.4 - - 1867 - - - - - - - - 14.93 14.56 14.92
21457 181.6 8.8 1060 21465 done 0.61 - - 2409 - 2.62 0.078 2259 548.9 207.4 - - 1866 - - - - - - - - 14.61 14.54 14.66
21801 146.2 10.5 1067 21805 roll 0.61 - - 2409 - 2.50 0.106 3639 552.0 207.4 - - 1866 - - - - - - - - 14.91 14.54 14.93
21877 137.9 10.4 1078 21882 done 0.61 - - 2418 - 2.40 0.068 2263 -573.3 207.4 - - 1866 - - - - - - - - 14.71 14.62 14.74
22193 108.6 9.3 1088 22197 roll 0.61 - - 2428 - 2.58 0.084 823 -558.1 207.4 - - 1866 - - - - - - - - 14.90 14.57 14.92
22255 104.1 7.0 1097 22261 done 0.62 - - 2427 - 2.60 0.076 2273 557.7 215.6 - - 1866 - - - - - - - - 14.66 14.54 14.70
22585 81.1 5.9 1113 22613 roll 0.64 - - 2428 - 2.53 0.103 3642 541.1 249.7 22.23 0.364 1720 -6.6 0.273 - - - - - - 14.90 14.59 14.31
22707 73.8 6.3 1130 22731 done 0.72 - - 2434 - 2.38 0.070 2283 -571.0 274.7 18.30 0.341 1621 -5.4 0.219 - - - - - - 14.69 14.59 14.30
23065 59.7 4.2 1148 23123 roll 0.92 0.15 0.121 2515 540.0 2.62 0.077 828 -555.3 349.5 49.92 0.313 1316 -6.1 0.218 - - - - - - 14.62 14.50 14.32
23154 55.1 6.3 1161 23178 done 1.04 - - 2515 - 2.60 0.073 2292 563.1 374.4 18.35 0.290 1215 -5.5 0.195 - - - - - - 14.62 14.52 14.29
23513 36.0 4.0 1179 23571 roll 1.19 0.20 0.099 2596 405.0 2.40 0.096 3639 561.2 453.9 53.22 0.235 888 -6.1 0.176 - - - - - - 14.62 14.48 14.33
23621 25.5 11.2 1192 23626 done 1.19 - - 2605 - 2.33 0.063 2288 -579.8 453.9 - - 895 - - - - - - - - 14.63 14.54 14.65
23841 end climb: SURFACE_DEPTH_REACHED
23842 begin surface coast
23870 end surface coast: CONTROL_FINISHED_OK
23870 begin surface
SM 0.92 - - - - -6.15 6.70 0.057 212 31.6 - - 2280 - 500.66 31.58 0.136 699 22.1 -0.015 - - - - - -