SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 193 * Raw log
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• Previous call tries 3 • 81.32 of 350.00 AH used of 24V (76.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 15 s • Transponder ping count: 16
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 VBD -0.68 - - 196 - - - 2295 - -116.8 -84.12 - 2982 - - - - - - - - 14.74 - 14.76
105 6.2 -9.2 3 123 roll -0.68 9.12 0.429 1982 195.8 2.75 2.081 862 -521.1 -116.8 -3.80 - 3220 -62.6 - - - - - - - 14.19 13.38 14.55
248 55.9 -22.6 24 254 done -0.44 0.32 0.288 2050 212.5 2.50 0.064 2281 567.6 -116.8 - - 3221 - - - - - - - - 14.26 14.49 14.52
571 94.5 -9.1 37 577 roll -0.38 - - 2040 - 2.42 0.081 3694 583.9 -116.8 - - 3220 - - - - - - - - 14.86 14.57 14.87
743 107.3 -7.1 61 749 done -0.33 0.20 0.232 2091 255.0 2.35 0.043 2256 -611.9 -116.8 - - 3223 - - - - - - - - 14.45 14.69 14.65
1078 127.9 -6.1 74 1083 roll -0.33 - - 2091 - 2.33 0.056 890 -586.3 -116.8 - - 3222 - - - - - - - - 14.94 14.67 14.96
1127 131.2 -6.9 81 1134 done -0.38 - - 2087 - 2.47 0.063 2296 569.2 -116.8 - - 3222 - - - - - - - - 14.75 14.64 14.77
1470 152.6 -6.2 88 1475 roll -0.38 - - 2082 - 2.42 0.089 3690 576.0 -116.8 - - 3221 - - - - - - - - 14.96 14.63 14.97
1504 154.7 -6.2 93 1510 done -0.43 - - 2078 - 2.30 0.047 2281 -612.6 -116.8 - - 3220 - - - - - - - - 14.80 14.73 14.82
1863 177.2 -6.5 102 1868 roll -0.43 - - 2082 - 2.38 0.059 895 -582.4 -116.8 - - 3219 - - - - - - - - 14.96 14.68 14.98
1931 182.0 -6.8 112 1937 done -0.49 0.12 0.136 2026 -466.7 2.42 0.067 2282 573.1 -116.8 - - 3217 - - - - - - - - 14.70 14.66 14.78
2254 210.3 -8.9 123 2259 roll -0.49 - - 2018 - 2.45 0.087 3694 576.3 -116.8 - - 3216 - - - - - - - - 14.96 14.64 14.98
2281 213.0 -9.6 127 2286 done -0.49 - - 2018 - 2.33 0.048 2288 -603.4 -116.8 - - 3213 - - - - - - - - 14.81 14.76 14.85
2646 247.6 -9.5 137 2651 roll -0.49 - - 2018 - 2.40 0.060 883 -585.4 -116.8 - - 3214 - - - - - - - - 14.98 14.68 15.00
2758 258.3 -9.5 153 2764 done -0.49 - - 2012 - 2.45 0.068 2273 567.3 -116.8 - - 3212 - - - - - - - - 14.74 14.63 14.77
3094 293.6 -10.6 166 3099 roll -0.49 - - 2006 - 2.50 0.092 3702 571.6 -116.8 - - 3210 - - - - - - - - 14.97 14.64 14.99
3135 298.2 -11.0 172 3140 done -0.49 - - 2006 - 2.40 0.048 2283 -591.2 -116.8 - - 3209 - - - - - - - - 14.76 14.72 14.78
3486 337.1 -11.2 180 3491 roll -0.44 0.15 0.262 2049 286.7 2.40 0.057 884 -582.9 -116.8 - - 3208 - - - - - - - - 14.42 14.67 14.57
3576 345.6 -8.8 193 3582 done -0.44 - - 2043 - 2.45 0.069 2271 566.1 -116.8 - - 3206 - - - - - - - - 14.78 14.66 14.81
3934 376.9 -8.7 202 3938 roll -0.44 - - 2036 - 2.50 0.096 3690 567.6 -116.8 - - 3205 - - - - - - - - 14.99 14.62 15.00
3961 379.4 -8.9 206 3967 done -0.44 - - 2037 - 2.42 0.053 2270 -586.8 -116.8 - - 3204 - - - - - - - - 14.73 14.69 14.76
4326 411.1 -8.6 216 4331 roll -0.44 - - 2037 - 2.40 0.063 881 -578.8 -116.8 - - 3200 - - - - - - - - 14.97 14.65 14.99
4423 419.6 -8.6 230 4429 done -0.44 - - 2037 - 2.50 0.072 2264 553.2 -116.8 - - 3202 - - - - - - - - 14.68 14.61 14.73
4774 449.0 -8.4 238 4779 roll -0.44 - - 2030 - 2.55 0.095 3703 564.3 -116.8 - - 3200 - - - - - - - - 14.97 14.61 14.99
4801 451.4 -8.7 242 4806 done -0.44 - - 2030 - 2.47 0.050 2252 -587.4 -116.8 - - 3199 - - - - - - - - 14.73 14.69 14.76
5166 483.1 -8.7 252 5171 roll -0.44 - - 2030 - 2.38 0.064 883 -575.2 -116.8 - - 3198 - - - - - - - - 14.98 14.64 15.00
5242 489.7 -8.4 263 5249 done -0.44 0.12 0.275 2054 200.0 2.45 0.071 2259 561.6 -116.8 - - 3198 - - - - - - - - 14.43 14.62 14.66
5558 510.8 -6.6 273 5563 roll -0.44 - - 2044 - 2.55 0.094 3702 565.9 -116.8 - - 3195 - - - - - - - - 14.97 14.59 15.00
5592 513.1 -6.7 278 5598 done -0.44 - - 2044 - 2.45 0.054 2242 -595.9 -116.8 - - 3195 - - - - - - - - 14.78 14.71 14.80
5950 536.4 -6.5 287 5951 done -0.44 - - 2044 - - - 2236 - -116.8 - - 3194 - - - - - - - - 14.96 14.98 14.97
6286 560.5 -7.4 293 6291 roll -0.44 - - 2044 - 2.38 0.068 886 -567.2 -116.8 - - 3195 - - - - - - - - 14.97 14.62 15.00
6348 565.6 -8.0 302 6353 done -0.44 - - 2043 - 2.47 0.073 2270 560.3 -116.8 - - 3192 - - - - - - - - 14.73 14.59 14.76
6678 592.7 -8.4 314 6683 roll -0.44 - - 2038 - 2.55 0.103 3693 558.0 -116.8 - - 3191 - - - - - - - - 14.97 14.55 14.99
6719 596.3 -8.6 320 6724 done -0.44 - - 2037 - 2.50 0.058 2254 -575.6 -116.8 - - 3191 - - - - - - - - 14.69 14.64 14.73
7070 624.9 -8.1 328 7074 roll -0.44 - - 2037 - 2.40 0.066 878 -573.3 -116.8 - - 3189 - - - - - - - - 14.97 14.61 14.99
7132 630.1 -8.1 337 7138 done -0.44 - - 2037 - 2.50 0.075 2248 548.0 -116.8 - - 3188 - - - - - - - - 14.74 14.56 14.77
7462 655.4 -7.7 349 7463 done -0.44 - - 2037 - - - 2248 - -116.8 - - 3188 - - - - - - - - 14.95 14.97 14.97
7798 680.9 -7.6 355 7803 roll -0.44 - - 2034 - 2.60 0.105 3691 555.0 -116.8 - - 3187 - - - - - - - - 14.97 14.50 14.99
7825 683.0 -7.7 359 7830 done -0.44 - - 2034 - 2.50 0.059 2253 -575.2 -116.8 - - 3186 - - - - - - - - 14.67 14.62 14.71
8191 710.2 -7.4 369 8196 roll -0.44 - - 2033 - 2.42 0.069 871 -571.1 -116.8 - - 3185 - - - - - - - - 14.96 14.60 14.97
8266 716.1 -7.5 380 8271 done -0.44 - - 2033 - 2.53 0.077 2246 543.5 -116.8 - - 3185 - - - - - - - - 14.61 14.54 14.67
8582 738.9 -7.2 390 8587 roll -0.44 - - 2026 - 2.62 0.105 3700 555.0 -116.8 - - 3184 - - - - - - - - 14.96 14.52 14.97
8651 744.1 -7.5 400 8657 done -0.44 0.12 0.236 2056 250.0 2.50 0.060 2238 -584.8 -116.8 - - 3184 - - - - - - - - 14.41 14.64 14.64
8974 763.1 -5.8 411 8979 roll -0.50 - - 2056 - 2.40 0.070 876 -567.5 -116.8 - - 3184 - - - - - - - - 14.95 14.57 14.97
9023 766.3 -7.1 418 9029 done -0.55 0.12 0.147 2007 -408.3 2.50 0.080 2248 548.8 -116.8 - - 3182 - - - - - - - - 14.59 14.56 14.71
9366 792.4 -7.7 425 9372 roll -0.55 - - 1999 - 2.62 0.106 3700 554.2 -116.8 - - 3181 - - - - - - - - 14.94 14.51 14.96
9435 798.2 -8.4 435 9440 done -0.55 - - 1999 - 2.53 0.060 2249 -573.5 -116.8 - - 3181 - - - - - - - - 14.73 14.59 14.76
9758 825.2 -8.4 446 9763 roll -0.55 - - 1999 - 2.42 0.073 881 -565.3 -116.8 - - 3180 - - - - - - - - 14.93 14.54 14.95
9834 831.8 -8.8 457 9840 done -0.55 - - 1999 - 2.53 0.081 2243 538.3 -116.8 - - 3180 - - - - - - - - 14.58 14.50 14.64
10150 858.8 -8.6 467 10155 roll -0.55 - - 1991 - 2.62 0.104 3693 553.4 -116.8 - - 3179 - - - - - - - - 14.92 14.52 14.94
10191 862.6 -7.6 473 10198 done -0.55 - - 1991 - 2.50 0.061 2241 -580.8 -116.8 - - 3179 - - - - - - - - 14.72 14.63 14.75
10542 892.6 -8.5 481 10547 roll -0.55 - - 1991 - 2.40 0.073 890 -562.9 -116.8 - - 3179 - - - - - - - - 14.92 14.54 14.94
10576 895.6 -7.9 486 10582 done -0.55 0.15 0.293 2019 186.7 2.47 0.081 2250 550.6 -116.8 - - 3179 - - - - - - - - 14.31 14.53 14.59
10935 919.3 -6.4 495 10940 roll -0.55 - - 2011 - 2.62 0.106 3696 551.9 -116.8 - - 3177 - - - - - - - - 14.92 14.49 14.93
10975 922.1 -4.0 501 10982 done -0.55 - - 2012 - 2.53 0.063 2251 -571.1 -116.8 - - 3178 - - - - - - - - 14.62 14.56 14.66
11326 944.8 -6.5 509 11332 roll -0.55 - - 2012 - 2.42 0.073 886 -564.0 -116.8 - - 3177 - - - - - - - - 14.91 14.53 14.93
11389 949.1 -6.8 518 11394 done -0.55 - - 2012 - 2.50 0.082 2252 546.4 -116.8 - - 3177 - - - - - - - - 14.67 14.53 14.71
11718 970.8 -6.6 530 11723 roll -0.55 - - 2007 - 2.62 0.109 3693 550.0 -116.8 - - 3176 - - - - - - - - 14.91 14.48 14.93
11774 974.6 -4.9 538 11779 done -0.55 - - 2011 - 2.50 0.063 2251 -576.8 -116.8 - - 3176 - - - - - - - - 14.69 14.62 14.72
11994 end dive: TARGET_DEPTH_EXCEEDED
11994 begin apogee
12003 990.4 -6.6 549 12145 roll -0.19 0.45 0.229 2129 262.2 - - 2244 - - 135.55 2.526 2739 -3.2 0.242 - - - - 1 - 14.34 13.83 12.81
12147 end apogee: CONTROL_FINISHED_OK
12147 begin climb
12151 994.1 - 551 12322 roll 0.68 0.95 0.164 2407 292.6 2.72 0.112 3640 513.2 116.8 158.73 1.930 2258 -3.0 0.299 - - - - - - 13.83 13.85 12.97
12443 968.9 11.9 598 12449 done 0.59 - - 2416 - 2.60 0.078 2234 -540.8 116.8 - - 2235 - - - - - - - - 14.14 14.04 14.16
12785 930.8 11.0 605 12791 roll 0.50 0.17 0.273 2371 -264.7 2.65 0.106 3642 531.3 116.8 - - 2230 - - - - - - - - 14.16 14.33 14.32
12958 913.8 9.3 630 12964 done 0.50 - - 2380 - 2.58 0.076 2232 -546.5 116.8 - - 2229 - - - - - - - - 14.54 14.40 14.58
13289 885.0 8.7 642 13293 roll 0.50 - - 2390 - 2.60 0.091 820 -543.1 116.8 - - 2227 - - - - - - - - 14.80 14.45 14.81
13371 878.1 8.0 654 13377 done 0.50 - - 2390 - 2.58 0.081 2229 546.1 116.8 - - 2226 - - - - - - - - 14.59 14.47 14.64
13736 847.1 8.4 664 13741 roll 0.46 0.15 0.279 2352 -253.3 2.60 0.109 3648 545.8 116.8 - - 2226 - - - - - - - - 14.25 14.46 14.42
13813 841.3 7.3 675 13818 done 0.46 - - 2361 - 2.53 0.076 2221 -564.0 117.2 - - 2226 - - - - - - - - 14.63 14.51 14.67
14128 821.0 6.4 685 14155 roll 0.47 - - 2372 - 2.62 0.095 819 -535.1 139.0 22.80 1.809 2167 -2.6 0.225 - - - - - - 14.85 14.47 13.83
14212 815.6 6.5 697 14246 done 0.48 - - 2368 - 2.60 0.081 2235 544.6 158.8 25.48 1.810 2084 -3.3 0.281 - - - - - - 14.54 14.43 13.69
14569 788.8 7.7 713 14574 roll 0.48 - - 2368 - 2.60 0.111 3640 540.4 158.8 - - 2066 - - - - - - - - 14.73 14.40 14.75
14625 783.9 8.7 721 14631 done 0.48 - - 2380 - 2.53 0.076 2223 -560.1 158.8 - - 2066 - - - - - - - - 14.56 14.45 14.59
14962 755.9 8.5 734 14966 roll 0.48 - - 2391 - 2.58 0.093 823 -542.6 158.8 - - 2065 - - - - - - - - 14.81 14.46 14.83
15017 751.1 8.5 742 15022 done 0.48 0.15 0.261 2357 -226.7 2.58 0.081 2230 545.3 158.8 - - 2065 - - - - - - - - 14.30 14.49 14.57
15353 726.0 7.4 755 15358 roll 0.48 - - 2357 - 2.60 0.112 3643 543.5 158.8 - - 2063 - - - - - - - - 14.84 14.47 14.85
15416 720.6 8.6 764 15421 done 0.48 - - 2366 - 2.50 0.076 2231 -564.8 158.8 - - 2063 - - - - - - - - 14.65 14.53 14.69
15745 693.7 8.2 776 15750 roll 0.48 - - 2376 - 2.58 0.092 817 -548.1 158.8 - - 2063 - - - - - - - - 14.85 14.50 14.88
15815 688.0 8.1 786 15820 done 0.48 - - 2375 - 2.60 0.081 2244 548.8 158.8 - - 2062 - - - - - - - - 14.64 14.51 14.67
16137 659.9 8.8 797 16143 roll 0.48 - - 2376 - 2.58 0.111 3645 543.0 158.8 - - 2062 - - - - - - - - 14.88 14.48 14.90
16193 654.5 9.8 805 16199 done 0.48 - - 2384 - 2.50 0.076 2234 -564.4 158.8 - - 2062 - - - - - - - - 14.66 14.52 14.70
16530 624.2 9.0 818 16534 roll 0.48 - - 2394 - 2.58 0.089 820 -548.1 158.8 - - 2061 - - - - - - - - 14.88 14.50 14.90
16598 618.2 8.6 828 16604 done 0.48 0.15 0.263 2358 -240.0 2.58 0.079 2238 549.6 158.8 - - 2062 - - - - - - - - 14.32 14.50 14.60
16921 593.9 7.5 839 16926 roll 0.48 - - 2360 - 2.58 0.109 3646 545.7 158.8 - - 2062 - - - - - - - - 14.89 14.48 14.91
16998 587.4 8.5 850 17003 done 0.48 - - 2369 - 2.50 0.074 2231 -566.0 158.8 - - 2063 - - - - - - - - 14.66 14.54 14.70
17313 561.5 8.3 860 17318 roll 0.48 - - 2379 - 2.58 0.090 817 -548.1 158.8 - - 2062 - - - - - - - - 14.90 14.45 14.91
17354 558.0 8.3 866 17360 done 0.48 - - 2378 - 2.62 0.080 2240 543.1 158.8 - - 2061 - - - - - - - - 14.57 14.49 14.63
17706 526.7 9.0 874 17710 roll 0.48 - - 2378 - 2.58 0.109 3645 544.6 158.8 - - 2061 - - - - - - - - 14.90 14.48 14.91
17788 518.6 9.5 886 17794 done 0.48 0.12 0.265 2360 -150.0 2.50 0.073 2226 -567.6 158.8 - - 2062 - - - - - - - - 14.34 14.52 14.60
18153 492.2 7.0 896 18158 roll 0.49 - - 2369 - 2.55 0.090 821 -551.0 165.9 - - 2061 - - - - - - - - 14.88 14.48 14.90
18210 488.4 6.7 904 18242 done 0.55 - - 2369 - 2.60 0.078 2253 550.8 180.6 24.42 1.476 1998 -2.6 0.163 - - - - - - 14.65 14.52 13.94
18601 460.3 7.1 918 18606 roll 0.55 - - 2369 - 2.55 0.109 3645 545.9 186.2 - - 1985 - - - - - - - - 14.81 14.42 14.82
18657 455.7 8.2 926 18662 done 0.55 - - 2378 - 2.50 0.075 2239 -562.4 186.2 - - 1984 - - - - - - - - 14.59 14.48 14.62
18993 429.5 7.9 939 18998 roll 0.55 - - 2386 - 2.58 0.088 823 -548.8 186.2 - - 1984 - - - - - - - - 14.84 14.40 14.85
19062 424.0 7.9 949 19068 done 0.55 - - 2386 - 2.60 0.078 2255 550.8 186.2 - - 1983 - - - - - - - - 14.60 14.46 14.64
19386 396.5 8.6 960 19390 roll 0.55 - - 2386 - 2.53 0.107 3638 546.6 186.2 - - 1983 - - - - - - - - 14.85 14.45 14.87
19433 391.9 9.7 967 19440 done 0.55 - - 2394 - 2.50 0.070 2244 -557.6 186.2 - - 1983 - - - - - - - - 14.55 14.49 14.59
19777 360.6 9.2 974 19782 roll 0.55 - - 2405 - 2.58 0.088 823 -550.8 186.2 - - 1983 - - - - - - - - 14.86 14.47 14.88
19840 354.7 9.2 983 19845 done 0.55 - - 2405 - 2.58 0.079 2239 548.8 186.2 - - 1984 - - - - - - - - 14.64 14.50 14.67
20169 321.7 10.1 995 20174 roll 0.55 - - 2404 - 2.55 0.105 3642 550.2 186.2 - - 1983 - - - - - - - - 14.87 14.45 14.89
20245 313.1 11.0 1006 20251 done 0.55 0.15 0.256 2378 -173.3 2.50 0.070 2243 -559.6 186.2 - - 1984 - - - - - - - - 14.34 14.49 14.57
20562 286.3 8.4 1016 20566 roll 0.55 - - 2387 - 2.58 0.086 820 -551.6 186.2 - - 1981 - - - - - - - - 14.87 14.49 14.88
20623 281.2 8.1 1025 20630 done 0.60 - - 2387 - 2.58 0.075 2247 553.1 186.2 - - 1983 - - - - - - - - 14.67 14.50 14.69
20953 253.2 8.5 1037 20959 roll 0.60 - - 2387 - 2.53 0.106 3638 549.8 186.2 - - 1983 - - - - - - - - 14.89 14.41 14.91
21016 247.2 9.5 1046 21021 done 0.60 - - 2395 - 2.47 0.069 2229 -570.4 186.2 - - 1983 - - - - - - - - 14.66 14.54 14.69
21345 218.2 8.8 1058 21350 roll 0.60 - - 2404 - 2.55 0.084 820 -552.5 186.2 - - 1983 - - - - - - - - 14.90 14.50 14.91
21422 211.5 8.5 1069 21428 done 0.60 - - 2404 - 2.58 0.078 2241 550.8 186.2 - - 1983 - - - - - - - - 14.64 14.50 14.67
21737 182.8 9.1 1079 21742 roll 0.60 - - 2404 - 2.55 0.105 3645 550.6 186.2 - - 1983 - - - - - - - - 14.89 14.47 14.91
21813 175.6 9.2 1090 21819 done 0.60 - - 2413 - 2.50 0.069 2245 -560.0 186.2 - - 1983 - - - - - - - - 14.68 14.51 14.69
22130 147.0 9.3 1100 22134 roll 0.60 - - 2423 - 2.58 0.085 820 -552.3 186.2 - - 1983 - - - - - - - - 14.88 14.49 14.90
22177 142.6 8.9 1107 22185 done 0.60 0.08 0.232 2400 -287.5 2.62 0.076 2246 544.3 186.2 - - 1983 - - - - - - - - 14.30 14.47 14.45
22521 113.8 8.5 1114 22526 roll 0.60 - - 2398 - 2.55 0.106 3650 550.6 186.2 - - 1984 - - - - - - - - 14.90 14.45 14.92
22584 107.7 9.7 1123 22589 done 0.60 - - 2407 - 2.47 0.068 2239 -571.3 186.2 - - 1983 - - - - - - - - 14.62 14.52 14.65
22913 80.8 7.9 1139 22918 roll 0.60 - - 2415 - 2.55 0.080 816 -558.0 186.2 - - 1984 - - - - - - - - 14.88 14.46 14.90
22997 77.0 4.3 1151 23053 done 0.69 - - 2415 - 2.60 0.074 2260 555.4 259.5 46.85 0.369 1685 -6.4 0.255 - - - - - - 14.66 14.53 14.28
23364 59.8 4.1 1170 23422 roll 0.85 0.15 0.122 2488 486.7 2.50 0.101 3642 552.8 335.4 51.47 0.315 1371 -6.1 0.222 - - - - - - 14.55 14.47 14.26
23459 53.0 8.4 1184 23464 done 0.85 - - 2495 - 2.42 0.064 2252 -574.4 335.4 - - 1379 - - - - - - - - 14.57 14.47 14.59
23781 35.4 3.8 1197 23840 done 1.01 - - 2495 - - - 2252 - 420.4 57.35 0.241 1024 -6.2 0.174 - - - - - - 14.82 14.54 14.30
24145 15.3 7.7 1213 24151 roll 1.26 0.30 0.104 2608 376.7 2.53 0.069 820 -566.0 420.4 - - 1033 - - - - - - - - 14.50 14.50 14.55
24257 6.8 8.9 1229 24262 done 1.26 - - 2608 - 2.55 0.066 2253 562.0 420.4 - - 1033 - - - - - - - - 14.62 14.54 14.65
24309 end climb: SURFACE_DEPTH_REACHED
24309 begin surface coast
24338 end surface coast: CONTROL_FINISHED_OK
24338 begin surface
SM 1.04 - - - - -6.13 6.90 0.078 219 31.7 - - 2264 - 500.17 52.72 0.136 700 13.3 -0.010 - - - - - -