SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 199 * Raw log
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• Previous call tries 2 • 83.66 of 350.00 AH used of 24V (76.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 0.91 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 16 s • Transponder ping count: 10
• 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
17 - - - 103 VBD -0.68 - - 193 - - - 2266 - -116.8 -85.05 - 3082 - - - - - - - - 14.71 - 14.73
107 7.6 -11.1 3 124 roll -0.68 9.12 0.427 1983 196.3 2.67 2.081 867 -524.0 -116.8 -2.08 - 3219 -65.9 - - - - - - - 14.15 13.62 14.53
159 34.4 -38.2 11 164 done -0.35 0.43 0.303 2075 214.0 2.53 0.063 2291 562.8 -116.8 - - 3218 - - - - - - - - 14.26 14.48 14.51
496 90.6 -9.4 26 501 roll -0.31 - - 2065 - 2.42 0.083 3695 580.2 -116.8 - - 3220 - - - - - - - - 14.84 14.56 14.88
529 93.5 -8.5 31 535 done -0.31 - - 2065 - 2.42 0.045 2249 -597.5 -116.8 - - 3220 - - - - - - - - 14.66 14.63 14.68
859 117.3 -7.3 41 866 roll -0.31 0.12 0.257 2101 300.0 2.33 0.054 893 -582.0 -116.8 - - 3222 - - - - - - - - 14.45 14.64 14.58
901 120.0 -6.1 47 906 done -0.31 - - 2095 - 2.42 0.063 2286 575.6 -116.8 - - 3222 - - - - - - - - 14.74 14.64 14.77
1251 141.2 -6.3 55 1252 done -0.35 - - 2095 - - - 2286 - -116.8 - - 3221 - - - - - - - - 14.94 14.97 14.98
1588 163.1 -6.4 61 1593 roll -0.41 - - 2095 - 2.40 0.052 891 -581.2 -116.8 - - 3219 - - - - - - - - 14.96 14.67 14.97
1616 164.9 -6.6 65 1622 done -0.47 0.15 0.122 2031 -426.7 2.40 0.063 2271 575.0 -116.8 - - 3219 - - - - - - - - 14.71 14.67 14.79
1979 197.7 -9.2 75 1984 roll -0.47 - - 2022 - 2.47 0.088 3694 576.1 -116.8 - - 3217 - - - - - - - - 14.98 14.64 15.00
2048 204.1 -9.1 85 2055 done -0.47 - - 2022 - 2.40 0.047 2269 -593.8 -116.8 - - 3216 - - - - - - - - 14.73 14.69 14.76
2372 233.9 -9.2 96 2376 roll -0.47 - - 2022 - 2.38 0.060 880 -583.6 -116.8 - - 3215 - - - - - - - - 14.97 14.68 14.99
2420 238.2 -8.8 103 2427 done -0.47 0.08 0.198 2048 325.0 2.47 0.066 2263 559.9 -116.8 - - 3214 - - - - - - - - 14.48 14.62 14.71
2763 265.3 -7.9 110 2768 roll -0.47 - - 2040 - 2.50 0.090 3695 572.8 -116.8 - - 3212 - - - - - - - - 14.97 14.63 14.97
2805 268.9 -8.6 116 2810 done -0.47 - - 2040 - 2.38 0.048 2261 -602.5 -116.8 - - 3212 - - - - - - - - 14.81 14.75 14.83
3155 299.6 -8.9 124 3160 roll -0.47 - - 2040 - 2.35 0.057 885 -585.5 -116.8 - - 3209 - - - - - - - - 14.99 14.68 15.00
3267 309.3 -8.3 140 3272 done -0.47 - - 2039 - 2.45 0.070 2267 564.1 -116.8 - - 3208 - - - - - - - - 14.76 14.64 14.79
3604 337.3 -8.4 153 3604 done -0.47 - - 2039 - - - 2266 - -116.8 - - 3206 - - - - - - - - 14.97 15.00 15.00
3939 366.3 -8.7 159 3940 done -0.47 - - 2039 - - - 2266 - -116.8 - - 3204 - - - - - - - - 15.00 15.02 15.01
4275 395.4 -8.6 165 4281 roll -0.47 - - 2039 - 2.40 0.058 886 -575.0 -116.8 - - 3202 - - - - - - - - 14.98 14.66 15.00
4310 398.6 -9.2 170 4315 done -0.47 - - 2039 - 2.45 0.071 2260 560.8 -116.8 - - 3201 - - - - - - - - 14.77 14.67 14.80
4667 427.3 -7.9 179 4672 roll -0.47 - - 2033 - 2.53 0.095 3693 566.4 -116.8 - - 3200 - - - - - - - - 14.98 14.60 15.00
4715 431.0 -7.6 186 4722 done -0.47 - - 2034 - 2.45 0.052 2253 -587.8 -116.8 - - 3199 - - - - - - - - 14.71 14.68 14.74
5060 457.0 -7.6 193 5065 roll -0.47 - - 2034 - 2.35 0.060 895 -577.9 -116.8 - - 3198 - - - - - - - - 14.99 14.65 15.00
5143 463.8 -8.0 205 5149 done -0.47 - - 2028 - 2.42 0.071 2258 563.2 -116.8 - - 3197 - - - - - - - - 14.75 14.64 14.78
5507 493.5 -8.2 215 5512 roll -0.47 - - 2021 - 2.55 0.096 3700 565.5 -116.8 - - 3196 - - - - - - - - 14.97 14.59 14.99
5548 497.1 -8.8 221 5555 done -0.47 - - 2021 - 2.45 0.053 2259 -588.2 -116.8 - - 3196 - - - - - - - - 14.71 14.68 14.73
5900 527.4 -8.7 229 5905 roll -0.47 - - 2020 - 2.40 0.066 889 -570.8 -116.8 - - 3194 - - - - - - - - 14.96 14.63 14.98
5989 535.7 -8.9 242 5995 done -0.47 0.12 0.273 2043 191.7 2.47 0.073 2249 550.6 -116.8 - - 3193 - - - - - - - - 14.42 14.58 14.66
6348 563.8 -7.9 251 6348 done -0.47 - - 2043 - - - 2249 - -116.8 - - 3192 - - - - - - - - 14.97 15.00 14.99
6683 589.4 -7.6 257 6689 roll -0.47 - - 2035 - 2.58 0.099 3696 560.9 -116.8 - - 3190 - - - - - - - - 14.97 14.57 14.98
6752 594.8 -7.8 267 6758 done -0.47 - - 2036 - 2.47 0.057 2231 -593.1 -116.8 - - 3190 - - - - - - - - 14.75 14.66 14.78
7075 618.9 -7.4 278 7080 roll -0.47 - - 2036 - 2.35 0.063 876 -576.6 -116.8 - - 3189 - - - - - - - - 14.97 14.62 15.00
7124 622.6 -7.5 285 7131 done -0.47 - - 2030 - 2.47 0.076 2253 557.5 -116.8 - - 3189 - - - - - - - - 14.72 14.59 14.76
7467 647.8 -7.3 292 7468 done -0.47 - - 2030 - - - 2253 - -116.8 - - 3188 - - - - - - - - 14.97 14.99 14.99
7803 671.0 -6.9 298 7804 done -0.47 - - 2029 - - - 2253 - -116.8 - - 3186 - - - - - - - - 14.96 14.98 14.97
8140 693.7 -6.8 304 8141 done -0.47 - - 2030 - - - 2253 - -116.8 - - 3185 - - - - - - - - 14.93 14.97 14.97
8475 718.4 -7.5 310 8480 roll -0.47 - - 2022 - 2.60 0.103 3700 556.5 -116.8 - - 3184 - - - - - - - - 14.95 14.53 14.97
8517 721.7 -8.1 316 8522 done -0.47 - - 2022 - 2.47 0.060 2249 -587.4 -116.8 - - 3184 - - - - - - - - 14.75 14.65 14.78
8868 750.5 -8.3 324 8872 roll -0.47 - - 2021 - 2.42 0.072 877 -566.9 -116.8 - - 3183 - - - - - - - - 14.95 14.57 14.96
8943 757.1 -8.9 335 8949 done -0.47 - - 2019 - 2.55 0.079 2257 541.2 -116.8 - - 3183 - - - - - - - - 14.59 14.53 14.67
9259 783.5 -8.4 345 9260 done -0.47 0.10 0.285 2042 230.0 - - 2257 - -116.8 - - 3182 - - - - - - - - 14.40 14.67 14.61
9596 808.6 -7.3 351 9597 done -0.47 - - 2042 - - - 2256 - -116.8 - - 3181 - - - - - - - - 14.94 14.95 14.95
9931 831.9 -6.9 357 9932 done -0.47 - - 2042 - - - 2256 - -116.8 - - 3179 - - - - - - - - 14.94 14.96 14.96
10268 853.8 -6.4 363 10272 roll -0.47 - - 2035 - 2.60 0.103 3691 551.9 -116.8 - - 3179 - - - - - - - - 14.93 14.45 14.95
10301 856.4 -7.7 368 10307 done -0.47 - - 2035 - 2.53 0.060 2246 -571.1 -116.8 - - 3179 - - - - - - - - 14.63 14.58 14.66
10660 879.1 -6.5 377 10665 roll -0.47 - - 2035 - 2.42 0.073 885 -562.4 -116.8 - - 3178 - - - - - - - - 14.92 14.54 14.95
10728 883.9 -7.3 387 10734 done -0.47 - - 2032 - 2.50 0.078 2262 550.8 -116.8 - - 3178 - - - - - - - - 14.66 14.51 14.70
11051 905.7 -6.9 398 11052 done -0.47 - - 2032 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.94 14.96 14.96
11388 928.5 -6.7 404 11393 roll -0.47 - - 2025 - 2.60 0.104 3699 553.1 -116.8 - - 3177 - - - - - - - - 14.93 14.47 14.95
11414 931.2 -10.0 408 11420 done -0.47 - - 2025 - 2.53 0.062 2231 -580.2 -116.8 - - 3176 - - - - - - - - 14.69 14.59 14.72
11780 956.5 -7.2 418 11781 done -0.47 - - 2025 - - - 2226 - -116.8 - - 3176 - - - - - - - - 14.92 14.94 14.93
12116 980.7 -7.2 424 12121 roll -0.47 - - 2030 - 2.40 0.070 876 -562.5 -116.8 - - 3175 - - - - - - - - 14.91 14.51 14.92
12171 984.9 -4.2 432 12176 done -0.47 - - 2025 - 2.50 0.081 2242 546.4 -116.8 - - 3175 - - - - - - - - 14.64 14.50 14.69
12280 end dive: TARGET_DEPTH_EXCEEDED
12280 begin apogee
12288 992.7 -5.9 441 12432 roll -0.19 0.40 0.225 2133 270.0 - - 2242 - - 137.48 2.518 2740 -3.2 0.239 - - - - 1 - 14.35 13.82 12.78
12434 end apogee: CONTROL_FINISHED_OK
12434 begin climb
12438 996.9 - 443 12614 roll 0.68 0.93 0.150 2410 297.8 2.67 0.070 831 -528.5 116.8 161.57 1.894 2249 -3.0 0.307 - - - - - - 13.82 13.87 12.97
12727 977.4 9.5 490 12733 done 0.68 - - 2410 - 2.65 0.082 2231 528.3 116.8 - - 2235 - - - - - - - - 14.11 14.00 14.14
13070 942.0 10.4 497 13075 roll 0.61 - - 2421 - 2.60 0.087 830 -538.8 116.8 - - 2231 - - - - - - - - 14.66 14.34 14.67
13209 927.8 9.9 517 13215 done 0.56 0.15 0.275 2387 -226.7 2.62 0.084 2244 539.7 116.8 - - 2230 - - - - - - - - 14.21 14.40 14.48
13574 894.6 9.3 527 13578 roll 0.56 - - 2387 - 2.58 0.113 3639 540.7 116.8 - - 2228 - - - - - - - - 14.79 14.41 14.81
13657 886.3 9.3 539 13663 done 0.49 0.15 0.278 2363 -160.0 2.47 0.075 2243 -565.2 116.8 - - 2228 - - - - - - - - 14.26 14.49 14.54
14022 860.3 7.0 549 14028 roll 0.50 - - 2373 - 2.60 0.092 823 -546.2 123.6 - - 2227 - - - - - - - - 14.83 14.46 14.85
14098 855.3 6.7 560 14125 done 0.51 - - 2373 - 2.60 0.083 2236 543.5 137.6 22.90 1.756 2177 -2.2 0.204 - - - - - - 14.62 14.48 13.85
14470 829.3 7.0 571 14477 roll 0.51 - - 2373 - 2.62 0.109 3643 537.0 145.8 2.35 0.569 2143 -14.5 4.047 - - - - - - 14.78 14.50 13.52
14546 823.1 8.2 582 14551 done 0.51 - - 2383 - 2.55 0.074 2204 -564.3 145.8 - - 2145 - - - - - - - - 14.59 14.47 14.62
14911 794.1 8.2 592 14916 roll 0.51 - - 2393 - 2.53 0.091 822 -546.2 145.8 - - 2146 - - - - - - - - 14.82 14.45 14.84
14959 790.0 8.4 599 14966 done 0.51 - - 2393 - 2.62 0.080 2241 541.6 145.8 - - 2146 - - - - - - - - 14.61 14.47 14.64
15303 758.6 9.3 606 15308 roll 0.51 - - 2392 - 2.55 0.108 3639 548.2 145.8 - - 2146 - - - - - - - - 14.86 14.46 14.88
15372 750.9 11.1 616 15379 done 0.45 0.22 0.256 2349 -195.5 2.47 0.072 2233 -569.2 145.8 - - 2146 - - - - - - - - 14.28 14.53 14.54
15695 725.3 7.8 627 15700 roll 0.45 - - 2359 - 2.55 0.087 823 -552.9 145.8 - - 2146 - - - - - - - - 14.87 14.49 14.89
15757 720.3 8.0 636 15762 done 0.45 - - 2359 - 2.58 0.077 2241 549.6 145.8 - - 2147 - - - - - - - - 14.63 14.49 14.66
16088 692.1 8.6 648 16092 roll 0.45 - - 2359 - 2.55 0.108 3639 548.2 145.8 - - 2146 - - - - - - - - 14.88 14.45 14.90
16170 684.0 9.9 660 16175 done 0.45 - - 2368 - 2.50 0.072 2242 -558.8 145.8 - - 2146 - - - - - - - - 14.56 14.50 14.68
16535 652.1 8.9 670 16540 roll 0.45 - - 2378 - 2.58 0.088 823 -550.0 145.8 - - 2146 - - - - - - - - 14.87 14.48 14.89
16604 646.1 8.5 680 16610 done 0.45 0.12 0.267 2351 -225.0 2.60 0.079 2247 547.7 145.8 - - 2146 - - - - - - - - 14.29 14.50 14.55
16927 621.6 7.5 691 16932 roll 0.45 - - 2351 - 2.53 0.109 3637 549.4 145.8 - - 2146 - - - - - - - - 14.89 14.45 14.90
16975 617.6 8.4 698 16982 done 0.45 - - 2360 - 2.50 0.070 2239 -559.2 145.8 - - 2146 - - - - - - - - 14.56 14.50 14.60
17319 593.1 7.0 705 17340 roll 0.45 - - 2369 - 2.62 0.087 820 -541.6 154.7 16.85 1.603 2105 -2.4 0.173 - - - - - - 14.89 14.56 13.96
17375 589.3 6.6 713 17402 done 0.46 - - 2369 - 2.60 0.077 2251 550.4 171.3 21.20 1.592 2039 -3.1 0.221 - - - - - - 14.60 14.48 13.83
17761 562.9 6.7 726 17787 roll 0.47 - - 2369 - 2.62 0.109 3642 530.9 187.3 17.12 1.577 1969 -4.1 0.280 - - - - - - 14.75 14.42 13.86
17844 556.9 7.4 738 17849 done 0.47 - - 2378 - 2.55 0.073 2213 -560.4 187.3 - - 1960 - - - - - - - - 14.50 14.40 14.53
18209 531.1 7.2 748 18214 roll 0.48 - - 2387 - 2.55 0.087 814 -548.6 191.7 - - 1957 - - - - - - - - 14.76 14.42 14.78
18285 525.6 7.3 759 18291 done 0.48 0.12 0.246 2359 -233.3 2.60 0.078 2237 547.3 193.3 - - 1955 - - - - - - - - 14.31 14.45 14.52
18601 504.2 6.9 769 18627 roll 0.48 - - 2359 - 2.55 0.107 3639 549.8 203.4 19.42 1.493 1904 -2.6 0.170 - - - - - - 14.81 14.46 13.94
18684 497.2 8.7 781 18690 done 0.48 - - 2368 - 2.47 0.070 2237 -567.6 203.4 - - 1894 - - - - - - - - 14.55 14.46 14.58
19049 466.5 8.5 791 19053 roll 0.48 - - 2378 - 2.58 0.085 822 -548.4 203.4 - - 1890 - - - - - - - - 14.80 14.45 14.81
19118 460.8 8.1 801 19124 done 0.54 - - 2378 - 2.60 0.076 2249 548.8 203.4 - - 1888 - - - - - - - - 14.59 14.46 14.63
19442 433.6 8.4 812 19446 roll 0.54 - - 2378 - 2.55 0.107 3640 545.5 203.4 - - 1889 - - - - - - - - 14.82 14.45 14.84
19524 426.0 8.8 824 19529 done 0.54 - - 2387 - 2.50 0.071 2245 -558.0 203.4 - - 1889 - - - - - - - - 14.55 14.49 14.59
19889 395.7 8.3 834 19894 roll 0.54 - - 2396 - 2.58 0.088 825 -550.4 203.4 - - 1889 - - - - - - - - 14.86 14.48 14.88
19951 390.8 7.7 843 19956 done 0.54 - - 2396 - 2.60 0.077 2257 550.8 203.4 - - 1888 - - - - - - - - 14.59 14.47 14.64
20281 362.3 8.8 855 20286 roll 0.54 - - 2396 - 2.53 0.106 3647 549.4 203.4 - - 1888 - - - - - - - - 14.86 14.47 14.88
20343 355.9 10.2 864 20349 done 0.54 0.12 0.252 2376 -166.7 2.50 0.071 2255 -556.8 203.4 - - 1890 - - - - - - - - 14.36 14.51 14.61
20674 327.9 8.5 876 20678 roll 0.54 - - 2386 - 2.60 0.084 819 -552.3 203.4 - - 1888 - - - - - - - - 14.87 14.50 14.88
20756 320.8 8.5 888 20761 done 0.60 - - 2385 - 2.60 0.076 2253 551.5 203.4 - - 1888 - - - - - - - - 14.64 14.51 14.69
21121 287.3 9.2 898 21130 roll 0.60 - - 2382 - 2.50 0.106 3638 554.0 203.4 - - 1888 - - - - - - - - 14.88 14.47 14.89
21180 281.6 9.7 906 21184 done 0.60 - - 2394 - 2.45 0.069 2240 -570.6 203.4 - - 1888 - - - - - - - - 14.66 14.57 14.70
21516 251.2 8.9 919 21520 roll 0.60 - - 2404 - 2.58 0.084 818 -551.2 203.4 - - 1888 - - - - - - - - 14.88 14.49 14.90
21585 245.3 8.3 929 21591 done 0.60 - - 2404 - 2.60 0.076 2254 552.3 203.4 - - 1885 - - - - - - - - 14.64 14.52 14.69
21908 217.5 8.6 940 21913 roll 0.60 - - 2404 - 2.53 0.103 3640 547.8 203.4 - - 1888 - - - - - - - - 14.89 14.47 14.91
21984 209.8 10.0 951 21989 done 0.60 - - 2411 - 2.47 0.069 2260 -558.7 203.4 - - 1888 - - - - - - - - 14.68 14.51 14.70
22300 179.2 9.8 961 22306 roll 0.60 - - 2422 - 2.55 0.082 824 -563.1 203.4 - - 1888 - - - - - - - - 14.88 14.49 14.90
22356 173.9 9.3 969 22362 done 0.60 - - 2422 - 2.58 0.075 2248 551.9 203.4 - - 1888 - - - - - - - - 14.64 14.52 14.69
22692 140.2 10.1 982 22697 roll 0.60 - - 2421 - 2.55 0.103 3649 549.4 203.4 - - 1888 - - - - - - - - 14.89 14.47 14.91
22740 134.8 11.3 989 22748 done 0.60 0.12 0.227 2394 -225.0 2.50 0.067 2249 -560.0 203.4 - - 1888 - - - - - - - - 14.29 14.52 14.45
23084 104.9 8.7 996 23088 roll 0.60 - - 2403 - 2.58 0.082 824 -552.3 203.4 - - 1888 - - - - - - - - 14.88 14.50 14.90
23133 101.5 7.0 1003 23139 done 0.66 - - 2404 - 2.60 0.073 2260 552.3 211.4 1.65 0.184 1877 -6.7 0.706 - - - - - - 14.65 14.52 14.45
23448 80.6 5.4 1014 23487 roll 0.74 0.10 0.151 2448 440.0 2.55 0.099 3647 543.9 257.5 30.98 0.369 1697 -5.8 0.244 - - - - - - 14.58 14.57 14.30
23601 69.3 6.3 1036 23627 done 0.76 - - 2451 - 2.47 0.066 2263 -560.3 283.1 20.12 0.325 1588 -5.4 0.222 - - - - - - 14.52 14.45 14.22
23955 54.4 4.0 1053 24015 roll 0.92 0.12 0.132 2528 641.7 2.65 0.076 815 -546.4 362.4 54.47 0.295 1264 -5.9 0.211 - - - - - - 14.59 14.49 14.29
24148 41.8 7.0 1081 24161 done 1.02 - - 2528 - 2.58 0.067 2252 557.0 371.0 8.43 0.220 1228 -4.3 0.156 - - - - - - 14.58 14.47 14.23
24481 22.9 5.4 1095 24518 roll 1.15 0.12 0.130 2604 633.3 2.58 0.070 819 -555.4 416.5 32.65 0.194 1040 -5.8 0.130 - - - - - - 14.57 14.45 14.31
24599 14.2 8.4 1112 24609 done 1.15 0.12 0.249 2575 -241.7 2.62 0.069 2288 560.7 416.5 2.60 0.156 1039 - - - - - - - - 14.33 14.49 14.38
24781 end climb: SURFACE_DEPTH_REACHED
24782 begin surface coast
24810 end surface coast: CONTROL_FINISHED_OK
24810 begin surface
SM 0.85 - - - - -6.13 6.78 0.075 222 32.7 - - 2308 - 500.17 55.03 0.135 700 12.7 -0.008 - - - - - -