SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 189 * Raw log
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• Previous call tries 1 • 79.80 of 350.00 AH used of 24V (77.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 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: 24 s
• GPS2 time: 16 s • Transponder ping count: 20
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 VBD -0.68 - - 209 - - - 2259 - -116.8 -85.10 - 3018 - - - - - - - - 14.72 - 14.74
111 6.8 -10.2 3 128 roll -0.68 8.98 0.425 1962 195.2 2.78 2.098 3700 518.3 -116.8 -3.08 - 3219 -65.3 - - - - - - - 14.15 13.38 14.52
204 43.3 -23.7 17 211 done -0.50 0.30 0.314 2034 240.0 2.40 0.047 2258 -600.8 -116.8 - - 3221 - - - - - - - - 14.24 14.55 14.52
527 96.9 -9.1 30 528 done -0.42 - - 2034 - - - 2251 - -116.8 - - 3221 - - - - - - - - 14.85 14.88 14.88
864 125.2 -8.6 37 870 roll -0.36 0.15 0.254 2077 286.7 2.35 0.053 877 -584.7 -116.8 - - 3222 - - - - - - - - 14.45 14.65 14.59
946 131.9 -7.5 49 953 done -0.36 - - 2072 - 2.47 0.066 2265 561.9 -116.8 - - 3222 - - - - - - - - 14.67 14.61 14.71
1311 156.2 -6.4 59 1316 roll -0.36 - - 2072 - 2.38 0.054 883 -580.7 -116.8 - - 3221 - - - - - - - - 14.95 14.69 14.97
1374 160.4 -6.6 68 1379 done -0.36 - - 2069 - 2.42 0.066 2264 570.7 -116.8 - - 3219 - - - - - - - - 14.77 14.66 14.80
1703 182.5 -6.8 80 1708 roll -0.36 - - 2061 - 2.50 0.090 3702 575.2 -116.8 - - 3218 - - - - - - - - 14.96 14.64 14.98
1730 184.4 -6.9 84 1736 done -0.36 - - 2057 - 2.42 0.047 2261 -595.5 -116.8 - - 3218 - - - - - - - - 14.74 14.71 14.82
2096 210.7 -7.3 94 2100 roll -0.36 - - 2061 - 2.35 0.058 889 -583.8 -116.8 - - 3215 - - - - - - - - 14.98 14.70 15.00
2136 214.0 -7.8 100 2142 done -0.36 - - 2059 - 2.47 0.067 2268 558.3 -116.8 - - 3216 - - - - - - - - 14.81 14.65 14.83
2488 241.4 -7.9 108 2492 roll -0.36 - - 2056 - 2.50 0.095 3691 569.2 -116.8 - - 3214 - - - - - - - - 14.98 14.63 15.00
2550 246.4 -7.9 117 2556 done -0.36 - - 2056 - 2.40 0.050 2254 -598.8 -116.8 - - 3214 - - - - - - - - 14.81 14.73 14.83
2879 272.3 -7.8 129 2885 roll -0.36 - - 2056 - 2.35 0.061 889 -580.9 -116.8 - - 3211 - - - - - - - - 14.97 14.69 15.00
2955 278.3 -7.4 140 2961 done -0.36 - - 2056 - 2.45 0.070 2250 555.5 -116.8 - - 3210 - - - - - - - - 14.71 14.64 14.75
3272 300.4 -7.0 150 3273 done -0.36 - - 2056 - - - 2251 - -116.8 - - 3209 - - - - - - - - 14.97 15.00 15.00
3607 324.0 -7.0 156 3612 roll -0.36 - - 2052 - 2.55 0.096 3702 569.0 -116.8 - - 3207 - - - - - - - - 14.98 14.63 14.99
3655 327.6 -7.4 163 3662 done -0.41 - - 2052 - 2.47 0.051 2250 -587.9 -116.8 - - 3206 - - - - - - - - 14.74 14.70 14.76
4000 353.9 -7.9 170 4004 roll -0.41 - - 2052 - 2.35 0.061 892 -577.9 -116.8 - - 3204 - - - - - - - - 14.98 14.68 15.00
4068 359.8 -8.4 180 4074 done -0.41 - - 2047 - 2.47 0.070 2263 555.1 -116.8 - - 3204 - - - - - - - - 14.66 14.62 14.73
4391 387.6 -8.7 191 4396 roll -0.41 - - 2041 - 2.53 0.096 3694 565.6 -116.8 - - 3202 - - - - - - - - 14.99 14.62 15.01
4419 390.0 -8.7 195 4424 done -0.41 - - 2041 - 2.45 0.052 2262 -584.5 -116.8 - - 3202 - - - - - - - - 14.80 14.69 14.82
4783 422.1 -8.9 205 4789 roll -0.41 0.10 0.262 2064 230.0 2.40 0.063 877 -577.1 -116.8 - - 3201 - - - - - - - - 14.53 14.66 14.71
4887 430.3 -7.5 220 4894 done -0.46 - - 2061 - 2.50 0.072 2259 552.8 -116.8 - - 3200 - - - - - - - - 14.67 14.60 14.72
5232 454.0 -6.8 227 5237 roll -0.46 - - 2056 - 2.55 0.096 3700 565.1 -116.8 - - 3198 - - - - - - - - 14.97 14.61 14.99
5273 456.8 -6.9 233 5279 done -0.52 - - 2055 - 2.45 0.054 2236 -597.6 -116.8 - - 3199 - - - - - - - - 14.80 14.73 14.82
5624 481.1 -7.0 241 5630 roll -0.52 - - 2056 - 2.35 0.065 893 -571.5 -116.8 - - 3196 - - - - - - - - 14.97 14.65 14.98
5692 486.3 -7.5 251 5698 done -0.58 0.15 0.135 1997 -393.3 2.42 0.072 2251 561.2 -116.8 - - 3197 - - - - - - - - 14.65 14.62 14.75
6015 519.5 -10.6 262 6020 roll -0.58 - - 1986 - 2.58 0.098 3700 561.6 -116.8 - - 3195 - - - - - - - - 14.98 14.59 15.00
6056 524.1 -11.2 268 6062 done -0.58 - - 1986 - 2.45 0.055 2252 -591.0 -116.8 - - 3195 - - - - - - - - 14.81 14.70 14.81
6408 562.9 -11.1 276 6413 roll -0.53 0.12 0.279 2022 300.0 2.38 0.067 885 -574.4 -116.8 - - 3194 - - - - - - - - 14.38 14.62 14.53
6490 570.9 -9.0 288 6496 done -0.53 - - 2019 - 2.47 0.073 2246 551.0 -116.8 - - 3193 - - - - - - - - 14.65 14.58 14.78
6856 602.6 -8.6 298 6861 roll -0.53 - - 2009 - 2.58 0.101 3691 560.1 -116.8 - - 3192 - - - - - - - - 14.96 14.58 14.98
6889 605.7 -8.8 303 6895 done -0.53 - - 2010 - 2.50 0.056 2237 -581.6 -116.8 - - 3195 - - - - - - - - 14.70 14.66 14.73
7247 636.3 -8.6 312 7252 roll -0.53 - - 2010 - 2.38 0.066 875 -572.3 -116.8 - - 3191 - - - - - - - - 14.96 14.62 14.98
7338 644.2 -8.6 325 7344 done -0.53 - - 2009 - 2.45 0.076 2247 560.0 -116.8 - - 3188 - - - - - - - - 14.73 14.60 14.76
7695 675.1 -8.7 334 7696 done -0.53 - - 2009 - - - 2247 - -116.8 - - 3189 - - - - - - - - 14.97 15.00 14.99
8031 703.7 -8.5 340 8036 roll -0.53 - - 1998 - 2.58 0.099 3700 563.2 -116.8 - - 3188 - - - - - - - - 14.96 14.55 14.98
8066 706.8 -8.8 345 8072 done -0.53 - - 1999 - 2.47 0.057 2234 -593.5 -116.8 - - 3188 - - - - - - - - 14.77 14.69 14.79
8423 738.3 -8.8 354 8428 roll -0.53 - - 1998 - 2.35 0.065 882 -575.3 -116.8 - - 3185 - - - - - - - - 14.96 14.60 14.96
8492 744.7 -9.1 364 8498 done -0.53 - - 1998 - 2.47 0.077 2240 549.8 -116.8 - - 3186 - - - - - - - - 14.62 14.55 14.68
8816 773.5 -9.0 375 8820 roll -0.53 - - 1988 - 2.60 0.100 3693 558.8 -116.8 - - 3188 - - - - - - - - 14.95 14.54 14.97
8856 777.4 -9.4 381 8863 done -0.53 0.10 0.217 2029 410.0 2.53 0.060 2234 -576.7 -116.8 - - 3185 - - - - - - - - 14.39 14.61 14.62
9207 803.7 -7.5 389 9213 roll -0.53 - - 2028 - 2.35 0.067 884 -574.5 -116.8 - - 3185 - - - - - - - - 14.95 14.58 14.97
9284 809.8 -7.7 400 9289 done -0.53 - - 2027 - 2.42 0.076 2240 560.3 -116.8 - - 3184 - - - - - - - - 14.70 14.57 14.73
9599 835.4 -8.2 410 9600 done -0.53 - - 2027 - - - 2240 - -116.8 - - 3183 - - - - - - - - 14.96 14.98 14.97
9935 863.3 -8.4 416 9936 done -0.53 - - 2027 - - - 2240 - -116.8 - - 3182 - - - - - - - - 14.95 14.97 14.96
10271 890.7 -8.1 422 10276 roll -0.53 - - 2018 - 2.62 0.103 3695 555.3 -116.8 - - 3182 - - - - - - - - 14.95 14.52 14.96
10328 895.3 -8.2 430 10333 done -0.53 - - 2018 - 2.50 0.061 2238 -582.8 -116.8 - - 3181 - - - - - - - - 14.68 14.59 14.69
10663 922.2 -7.9 443 10668 roll -0.53 - - 2018 - 2.38 0.069 883 -569.3 -116.8 - - 3181 - - - - - - - - 14.95 14.57 14.97
10732 927.8 -7.9 453 10739 done -0.53 - - 2017 - 2.50 0.078 2241 543.2 -116.8 - - 3181 - - - - - - - - 14.58 14.50 14.73
11056 952.5 -7.7 464 11057 done -0.53 - - 2016 - - - 2241 - -116.8 - - 3181 - - - - - - - - 14.94 14.96 14.96
11391 977.4 -7.3 470 11392 done -0.53 - - 2017 - - - 2241 - -116.8 - - 3180 - - - - - - - - 14.93 14.95 14.95
11612 end dive: TARGET_DEPTH_EXCEEDED
11612 begin apogee
11620 993.4 -7.1 474 11825 roll -0.19 0.43 0.223 2133 269.8 - - 2241 - - 203.00 1.615 2740 -2.2 0.252 - - - - - - 14.35 13.98 13.37
11826 end apogee: CONTROL_FINISHED_OK
11826 begin climb
11831 998.4 - 477 11998 done 0.68 0.90 0.141 2413 311.1 - - 2241 - 116.8 162.80 1.717 2262 -2.9 0.323 - - - - - - 13.95 14.18 13.21
12344 954.6 9.9 515 12349 roll 0.60 - - 2413 - 2.60 0.106 3648 541.2 116.8 - - 2231 - - - - - - - - 14.62 14.28 14.64
12399 948.4 14.3 523 12404 done 0.49 0.25 0.282 2365 -192.0 2.50 0.074 2250 -559.2 116.8 - - 2232 - - - - - - - - 14.17 14.38 14.44
12736 923.4 7.3 536 12745 roll 0.49 - - 2374 - 2.60 0.091 821 -549.6 118.3 - - 2228 - - - - - - - - 14.77 14.44 14.78
12800 918.6 7.3 545 12806 done 0.49 - - 2375 - 2.58 0.080 2237 548.8 120.0 - - 2227 - - - - - - - - 14.58 14.47 14.62
13130 893.6 7.6 557 13135 roll 0.49 - - 2375 - 2.58 0.108 3643 545.0 120.0 - - 2227 - - - - - - - - 14.82 14.46 14.84
13193 887.6 9.1 566 13199 done 0.44 0.17 0.273 2345 -176.5 2.50 0.073 2224 -567.6 120.0 - - 2226 - - - - - - - - 14.30 14.53 14.57
13522 866.0 6.5 578 13556 done 0.45 - - 2346 - - - 2225 - 140.8 27.38 1.418 2164 -2.3 0.262 - - - - 1 - 14.85 14.52 13.69
13859 842.1 6.9 584 13893 roll 0.46 - - 2355 - 2.65 0.091 818 -530.9 151.1 25.00 1.350 2121 -1.7 0.203 - - - - 1 - 14.76 14.41 14.02
13928 837.4 8.2 594 13934 done 0.46 - - 2355 - 2.60 0.080 2236 545.4 151.1 - - 2119 - - - - - - - - 14.52 14.40 14.53
14244 815.7 7.0 604 14255 roll 0.46 - - 2355 - 2.58 0.109 3651 548.4 160.1 6.38 1.565 2088 -4.9 0.479 - - - - - - 14.78 14.51 13.76
14313 810.0 7.9 614 14319 done 0.46 - - 2365 - 2.53 0.073 2219 -566.0 160.1 - - 2090 - - - - - - - - 14.59 14.49 14.61
14636 786.7 7.2 625 14648 roll 0.47 - - 2375 - 2.58 0.091 818 -543.0 164.1 4.40 1.333 2068 -5.0 0.558 - - - - - - 14.81 14.55 13.71
14712 781.5 6.7 636 14752 done 0.48 - - 2375 - 2.55 0.080 2220 549.8 179.7 28.62 1.545 2003 -2.3 0.217 - - - - 1 - 14.62 14.50 13.62
15087 752.4 8.1 654 15092 roll 0.48 - - 2374 - 2.60 0.108 3643 547.3 179.7 - - 2007 - - - - - - - - 14.74 14.43 14.76
15176 744.1 9.2 667 15181 done 0.48 - - 2383 - 2.55 0.075 2205 -563.9 179.7 - - 2007 - - - - - - - - 14.60 14.49 14.63
15534 712.2 9.0 676 15539 roll 0.48 - - 2394 - 2.53 0.091 817 -548.6 179.7 - - 2007 - - - - - - - - 14.83 14.50 14.85
15582 707.9 8.6 683 15589 done 0.48 0.12 0.223 2358 -300.0 2.60 0.080 2225 541.5 179.7 - - 2007 - - - - - - - - 14.33 14.48 14.60
15926 682.9 7.2 690 15933 roll 0.48 - - 2358 - 2.62 0.111 3639 539.7 184.0 3.12 1.008 1988 -6.1 0.780 - - - - - - 14.86 14.62 13.69
16003 676.8 8.1 701 16008 done 0.48 - - 2366 - 2.47 0.072 2231 -570.0 184.0 - - 1998 - - - - - - - - 14.66 14.57 14.70
16367 649.5 7.5 711 16373 roll 0.48 - - 2376 - 2.62 0.088 815 -540.5 184.0 2.00 0.193 1987 -5.5 3.501 - - - - - - 14.86 14.57 12.97
16430 644.8 7.7 720 16435 done 0.48 - - 2376 - 2.58 0.079 2239 551.9 184.0 - - 1996 - - - - - - - - 14.67 14.55 14.71
16752 618.3 8.3 731 16757 roll 0.48 - - 2372 - 2.55 0.107 3642 550.2 184.0 - - 1997 - - - - - - - - 14.87 14.51 14.89
16821 611.9 9.1 741 16827 done 0.48 0.12 0.261 2358 -116.7 2.47 0.073 2237 -568.8 184.0 - - 1998 - - - - - - - - 14.39 14.56 14.61
17145 588.3 7.3 752 17155 roll 0.48 - - 2365 - 2.62 0.088 816 -542.4 185.8 3.03 0.927 1979 -6.3 0.753 - - - - - - 14.88 14.62 13.70
17193 584.8 7.2 759 17200 done 0.53 - - 2368 - 2.60 0.078 2246 550.0 189.7 3.58 1.137 1965 -3.9 0.380 - - - - - - 14.68 14.55 13.74
17536 558.3 7.8 766 17547 roll 0.53 - - 2368 - 2.60 0.108 3646 538.5 189.7 3.20 0.981 1965 - - - - - - - - 14.88 14.61 13.73
17613 551.7 8.5 777 17619 done 0.53 - - 2378 - 2.45 0.072 2246 -571.4 189.7 2.12 0.355 1964 - - - - - - - - 14.68 14.57 13.60
17977 522.1 8.2 787 17983 roll 0.53 - - 2387 - 2.62 0.090 814 -546.6 189.7 2.22 0.438 1964 - - - - - - - - 14.88 14.59 13.66
18046 516.7 7.6 797 18052 done 0.53 - - 2387 - 2.60 0.079 2248 551.5 189.7 1.38 0.212 1966 - - - - - - - - 14.67 14.54 14.46
18362 490.9 8.3 807 18368 roll 0.53 - - 2387 - 2.62 0.108 3655 537.0 189.7 1.60 0.200 1965 - - - - - - - - 14.88 14.51 14.45
18439 483.9 9.0 818 18445 done 0.53 - - 2396 - 2.47 0.071 2255 -566.8 189.7 - - 1970 - - - - - - - - 14.71 14.59 14.71
18803 453.2 8.4 828 18809 roll 0.53 - - 2406 - 2.67 0.086 817 -538.6 189.7 1.92 0.194 1964 -3.1 1.381 - - - - - - 14.88 14.52 14.44
18852 449.1 8.3 835 18857 done 0.53 0.12 0.252 2377 -241.7 2.62 0.080 2264 552.3 189.7 - - 1972 - - - - - - - - 14.39 14.54 14.61
19189 424.0 7.5 848 19195 roll 0.53 - - 2377 - 2.58 0.108 3642 534.1 189.7 1.90 0.193 1965 -3.7 1.531 - - - - - - 14.88 14.51 14.43
19250 418.4 8.9 857 19256 done 0.53 - - 2386 - 2.47 0.070 2261 -559.1 189.7 - - 1969 - - - - - - - - 14.60 14.54 14.64
19574 391.3 8.5 868 19580 roll 0.53 - - 2394 - 2.67 0.085 817 -540.8 189.7 1.88 0.190 1965 -2.1 0.829 - - - - - - 14.90 14.53 14.45
19635 386.0 8.3 877 19642 done 0.53 - - 2395 - 2.60 0.077 2259 554.6 189.7 - - 1970 - - - - - - - - 14.67 14.53 14.69
19958 357.3 9.0 888 19964 roll 0.53 - - 2395 - 2.58 0.106 3640 535.3 189.7 1.95 0.190 1964 -3.1 1.094 - - - - - - 14.90 14.51 14.45
20056 347.7 9.7 902 20064 done 0.53 0.08 0.227 2372 -287.5 2.47 0.070 2258 -559.5 189.7 - - 1974 - - - - - - - - 14.37 14.54 14.59
20399 322.2 7.4 909 20405 roll 0.53 - - 2382 - 2.65 0.083 812 -545.7 189.7 2.08 0.290 1964 -4.8 1.010 - - - - - - 14.89 14.59 13.42
20449 318.6 7.3 916 20459 done 0.58 - - 2382 - 2.60 0.076 2258 556.2 191.4 2.85 0.729 1958 -2.1 0.174 - - - - - - 14.68 14.56 13.76
20784 291.8 8.1 929 20791 roll 0.58 - - 2382 - 2.55 0.104 3642 542.7 191.4 2.42 0.522 1957 - - - - - - - - 14.88 14.59 13.77
20839 286.5 9.7 937 20845 done 0.58 - - 2391 - 2.45 0.068 2264 -562.4 191.4 - - 1962 - - - - - - - - 14.64 14.55 14.65
21170 257.3 8.9 949 21176 roll 0.58 - - 2400 - 2.65 0.083 824 -543.4 191.4 1.95 0.184 1959 -1.5 0.407 - - - - - - 14.86 14.54 14.45
21203 254.3 8.7 954 21210 done 0.58 - - 2400 - 2.60 0.076 2269 555.8 191.4 - - 1961 - - - - - - - - 14.68 14.55 14.71
21555 222.6 9.1 962 21561 roll 0.58 - - 2400 - 2.53 0.105 3637 540.7 191.4 2.42 0.504 1957 -1.7 0.138 - - - - - - 14.90 14.60 13.79
21617 216.3 10.1 971 21622 done 0.58 - - 2408 - 2.40 0.067 2258 -574.6 191.4 - - 1963 - - - - - - - - 14.69 14.60 14.72
21946 185.3 9.5 983 21952 roll 0.58 - - 2418 - 2.62 0.082 821 -548.5 191.4 2.08 0.283 1957 -2.9 0.357 - - - - - - 14.90 14.61 13.66
21988 181.3 9.5 989 21994 done 0.58 - - 2417 - 2.62 0.076 2273 554.2 191.4 - - 1962 - - - - - - - - 14.69 14.56 14.71
22332 148.5 9.4 996 22334 done 0.58 - - 2417 - - - 2273 - 191.4 1.75 0.186 1960 - - - - - - - - 14.90 14.65 14.47
22667 117.4 9.2 1002 22674 roll 0.58 - - 2417 - 2.55 0.104 3644 537.6 191.4 2.08 0.178 1957 -1.4 0.180 - - - - - - 14.90 14.52 14.47
22744 110.5 8.8 1013 22749 done 0.58 0.15 0.258 2392 -166.7 2.42 0.067 2258 -572.7 191.4 - - 1964 - - - - - - - - 14.37 14.57 14.62
23059 90.4 5.9 1025 23091 roll 0.61 - - 2393 - 2.62 0.080 815 -550.8 226.1 24.27 0.380 1819 -6.0 0.269 - - - - - - 14.90 14.59 14.28
23181 85.2 4.2 1042 23240 done 0.77 0.17 0.108 2469 447.1 2.60 0.073 2266 558.1 301.8 51.92 0.396 1508 -6.0 0.244 - - - - - - 14.62 14.54 14.21
23563 59.9 4.4 1064 23619 roll 0.87 - - 2475 - 2.67 0.076 817 -542.7 371.4 47.60 0.311 1229 -5.9 0.214 - - - - - - 14.81 14.45 14.23
23661 54.8 6.1 1078 23689 done 1.02 0.15 0.115 2552 513.3 2.58 0.070 2256 557.8 399.7 22.77 0.288 1109 -5.3 0.190 - - - - - - 14.54 14.47 14.21
24007 32.2 6.3 1094 24032 roll 1.09 - - 2551 - 2.55 0.096 3641 543.1 423.5 19.70 0.213 1011 -5.0 0.142 - - - - - - 14.79 14.46 14.30
24154 21.4 7.1 1115 24166 done 1.15 - - 2558 - 2.38 0.063 2266 -577.7 429.7 7.55 0.176 987 -3.2 0.073 - - - - - - 14.63 14.53 14.35
24442 end climb: SURFACE_DEPTH_REACHED
24442 begin surface coast
24473 end surface coast: CONTROL_FINISHED_OK
24473 begin surface
SM 0.95 - - - - -6.14 6.55 0.054 215 32.8 - - 2256 - 500.17 48.97 0.137 699 14.3 -0.010 - - - - - -