SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 206 * Raw log
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• Previous call tries 1 • 86.29 of 350.00 AH used of 24V (75.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 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: 28 s
• GPS2 time: 15 s • Transponder ping count: 15
• 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 - - 212 - - - 2271 - -116.8 -84.50 - 2975 - - - - - - - - 14.71 - 14.73
112 6.1 -9.1 3 135 roll -0.68 8.80 0.415 1982 201.1 2.72 2.080 873 -514.0 -116.8 -3.90 - 3220 -62.8 - - - - - - - 14.14 13.35 14.50
204 43.0 -27.1 17 211 done -0.46 0.30 0.291 2043 203.3 2.50 0.063 2285 564.8 -116.8 - - 3220 - - - - - - - - 14.22 14.45 14.48
528 90.0 -8.8 30 533 roll -0.37 0.12 0.268 2066 191.7 2.45 0.078 3703 578.8 -116.8 - - 3221 - - - - - - - - 14.37 14.51 14.48
715 103.4 -9.0 57 722 done -0.37 - - 2066 - 2.40 0.043 2273 -595.8 -116.8 - - 3222 - - - - - - - - 14.66 14.63 14.69
1031 126.7 -7.0 67 1036 roll -0.37 - - 2066 - 2.38 0.057 883 -584.0 -116.8 - - 3222 - - - - - - - - 14.92 14.62 14.93
1115 132.5 -7.1 79 1120 done -0.37 - - 2060 - 2.45 0.062 2293 575.5 -116.8 - - 3223 - - - - - - - - 14.74 14.64 14.77
1479 159.8 -7.4 89 1485 roll -0.37 - - 2054 - 2.42 0.088 3692 578.1 -116.8 - - 3221 - - - - - - - - 14.95 14.61 14.97
1535 164.1 -7.7 97 1541 done -0.37 - - 2055 - 2.33 0.044 2274 -608.6 -116.8 - - 3221 - - - - - - - - 14.79 14.73 14.81
1872 189.3 -7.6 110 1877 roll -0.37 - - 2054 - 2.38 0.056 889 -581.9 -116.8 - - 3218 - - - - - - - - 14.97 14.68 14.98
1941 195.0 -8.1 120 1946 done -0.37 - - 2052 - 2.45 0.064 2287 570.6 -116.8 - - 3217 - - - - - - - - 14.76 14.67 14.79
2264 220.8 -8.0 131 2268 roll -0.37 - - 2046 - 2.45 0.087 3690 572.7 -116.8 - - 3216 - - - - - - - - 14.97 14.62 14.99
2319 225.6 -8.7 139 2324 done -0.37 0.12 0.230 2074 233.3 2.33 0.045 2279 -605.6 -116.8 - - 3216 - - - - - - - - 14.50 14.74 14.70
2655 250.7 -7.5 152 2660 roll -0.37 - - 2074 - 2.38 0.057 892 -582.8 -116.8 - - 3214 - - - - - - - - 14.97 14.67 14.99
2739 257.1 -7.5 164 2744 done -0.42 - - 2070 - 2.45 0.065 2285 568.6 -116.8 - - 3214 - - - - - - - - 14.77 14.66 14.80
3104 282.9 -7.1 174 3108 roll -0.42 - - 2065 - 2.47 0.090 3692 569.6 -116.8 - - 3210 - - - - - - - - 14.98 14.62 15.00
3138 285.4 -7.3 179 3143 done -0.47 - - 2065 - 2.35 0.049 2277 -602.1 -116.8 - - 3210 - - - - - - - - 14.80 14.73 14.82
3496 310.2 -6.9 188 3501 roll -0.47 - - 2065 - 2.40 0.058 889 -578.3 -116.8 - - 3208 - - - - - - - - 14.98 14.66 15.00
3593 317.0 -6.8 202 3598 done -0.52 - - 2061 - 2.45 0.066 2275 565.7 -116.8 - - 3208 - - - - - - - - 14.76 14.64 14.78
3944 338.8 -6.1 210 3949 roll -0.52 - - 2056 - 2.50 0.093 3691 566.4 -116.8 - - 3205 - - - - - - - - 14.97 14.60 14.98
4000 342.4 -6.5 218 4005 done -0.56 0.12 0.137 2002 -450.0 2.40 0.053 2273 -590.8 -116.8 - - 3204 - - - - - - - - 14.66 14.71 14.76
4336 374.2 -9.8 231 4341 roll -0.51 0.12 0.274 2036 283.3 2.42 0.062 881 -575.2 -116.8 - - 3202 - - - - - - - - 14.39 14.64 14.54
4419 381.4 -8.2 243 4424 done -0.51 - - 2029 - 2.47 0.068 2279 566.0 -116.8 - - 3202 - - - - - - - - 14.74 14.62 14.78
4784 412.9 -8.8 253 4784 done -0.51 - - 2029 - - - 2279 - -116.8 - - 3199 - - - - - - - - 14.97 14.99 14.98
5119 441.2 -8.3 259 5124 roll -0.51 - - 2029 - 2.45 0.058 876 -572.7 -116.8 - - 3198 - - - - - - - - 14.97 14.63 14.98
5154 444.2 -8.5 264 5159 done -0.51 - - 2026 - 2.50 0.069 2272 558.4 -116.8 - - 3198 - - - - - - - - 14.75 14.62 14.78
5511 473.0 -8.0 273 5517 roll -0.51 - - 2017 - 2.53 0.095 3698 563.6 -116.8 - - 3196 - - - - - - - - 14.97 14.57 14.99
5545 476.0 -8.5 278 5551 done -0.51 - - 2016 - 2.47 0.054 2261 -581.8 -116.8 - - 3196 - - - - - - - - 14.78 14.66 14.81
5904 507.7 -9.0 287 5909 roll -0.51 - - 2016 - 2.40 0.063 884 -573.8 -116.8 - - 3194 - - - - - - - - 14.96 14.62 14.97
5986 515.5 -9.2 299 5992 done -0.51 - - 2015 - 2.50 0.072 2256 548.8 -116.8 - - 3194 - - - - - - - - 14.65 14.57 14.69
6351 549.5 -9.4 309 6357 roll -0.51 - - 2008 - 2.55 0.096 3693 563.5 -116.8 - - 3192 - - - - - - - - 14.97 14.57 15.00
6386 552.9 -9.9 314 6391 done -0.51 - - 2008 - 2.42 0.054 2258 -593.0 -116.8 - - 3192 - - - - - - - - 14.77 14.70 14.79
6743 585.3 -8.9 323 6748 roll -0.51 - - 2008 - 2.40 0.062 879 -574.6 -116.8 - - 3191 - - - - - - - - 14.97 14.61 15.00
6805 590.9 -8.6 332 6811 done -0.51 - - 2004 - 2.50 0.072 2271 556.8 -116.8 - - 3190 - - - - - - - - 14.71 14.58 14.78
7136 617.8 -8.2 344 7140 roll -0.51 - - 1998 - 2.55 0.099 3697 559.2 -116.8 - - 3189 - - - - - - - - 14.97 14.54 14.98
7170 620.6 -8.3 349 7176 done -0.51 0.12 0.262 2027 241.7 2.45 0.055 2255 -588.6 -116.8 - - 3189 - - - - - - - - 14.38 14.67 14.63
7527 643.4 -6.2 358 7532 roll -0.51 - - 2027 - 2.40 0.063 879 -573.3 -116.8 - - 3188 - - - - - - - - 14.95 14.54 14.97
7618 649.6 -6.8 371 7623 done -0.51 - - 2026 - 2.50 0.074 2268 555.6 -116.8 - - 3187 - - - - - - - - 14.67 14.54 14.70
7975 673.8 -6.9 380 7976 done -0.51 - - 2026 - - - 2267 - -116.8 - - 3186 - - - - - - - - 14.95 14.97 14.97
8311 698.6 -7.5 386 8316 roll -0.51 - - 2026 - 2.45 0.063 881 -565.7 -116.8 - - 3185 - - - - - - - - 14.95 14.57 14.96
8360 702.4 -7.8 393 8367 done -0.51 - - 2022 - 2.47 0.074 2256 556.7 -116.8 - - 3187 - - - - - - - - 14.69 14.56 14.73
8703 727.7 -7.4 400 8704 done -0.51 - - 2026 - - - 2256 - -116.8 - - 3183 - - - - - - - - 14.96 14.98 14.97
9040 752.2 -7.3 406 9041 done -0.51 - - 2026 - - - 2255 - -116.8 - - 3186 - - - - - - - - 14.95 14.97 14.97
9375 775.8 -7.0 412 9376 done -0.51 - - 2026 - - - 2255 - -116.8 - - 3182 - - - - - - - - 14.95 14.95 14.96
9712 799.0 -6.9 418 9717 roll -0.51 - - 2017 - 2.60 0.100 3705 557.7 -116.8 - - 3180 - - - - - - - - 14.95 14.50 14.97
9759 802.6 -7.5 425 9767 done -0.51 - - 2017 - 2.50 0.058 2252 -581.2 -116.8 - - 3180 - - - - - - - - 14.62 14.58 14.66
10104 827.5 -7.2 432 10108 roll -0.51 - - 2017 - 2.42 0.067 888 -563.6 -116.8 - - 3179 - - - - - - - - 14.95 14.54 14.97
10173 832.8 -7.6 442 10178 done -0.51 - - 2015 - 2.50 0.075 2261 549.2 -116.8 - - 3179 - - - - - - - - 14.66 14.52 14.70
10495 856.1 -7.2 453 10496 done -0.51 - - 2015 - - - 2261 - -116.8 - - 3179 - - - - - - - - 14.92 14.95 14.95
10832 880.4 -7.2 459 10836 roll -0.51 - - 2015 - 2.45 0.061 883 -562.4 -116.8 - - 3177 - - - - - - - - 14.92 14.54 14.94
10873 883.6 -7.8 465 10879 done -0.51 - - 2012 - 2.50 0.076 2261 551.2 -116.8 - - 3177 - - - - - - - - 14.66 14.52 14.70
11223 909.5 -7.5 473 11229 roll -0.51 - - 2011 - 2.58 0.103 3690 553.9 -116.8 - - 3177 - - - - - - - - 14.92 14.47 14.94
11272 913.1 -6.9 480 11278 done -0.51 - - 2011 - 2.50 0.057 2247 -577.2 -116.8 - - 3176 - - - - - - - - 14.69 14.56 14.71
11616 939.9 -7.9 487 11621 roll -0.51 - - 2011 - 2.42 0.066 885 -562.8 -116.8 - - 3176 - - - - - - - - 14.93 14.53 14.95
11728 949.3 -8.4 503 11732 done -0.51 - - 2011 - 2.50 0.076 2252 546.8 -116.8 - - 3176 - - - - - - - - 14.60 14.46 14.64
12063 977.2 -8.3 516 12068 roll -0.51 - - 2011 - 2.62 0.107 3694 550.4 -116.8 - - 3175 - - - - - - - - 14.93 14.45 14.95
12133 983.0 -8.6 526 12138 done -0.51 - - 2011 - 2.47 0.061 2255 -582.6 -116.8 - - 3175 - - - - - - - - 14.68 14.59 14.70
12228 end dive: TARGET_DEPTH_EXCEEDED
12228 begin apogee
12235 991.1 -7.3 533 12434 roll -0.19 0.45 0.223 2134 273.3 - - 2248 - - 196.90 1.587 2741 -2.2 0.264 - - - - - - 14.33 13.98 13.35
12436 end apogee: CONTROL_FINISHED_OK
12436 begin climb
12440 997.8 - 536 12604 roll 0.68 0.95 0.164 2412 292.6 2.67 0.105 3645 523.2 116.8 149.90 1.808 2255 -3.2 0.343 - - - - - - 13.93 13.97 13.09
12709 976.3 11.6 580 12714 done 0.58 0.15 0.290 2391 -140.0 2.58 0.075 2237 -545.7 116.8 - - 2232 - - - - - - - - 13.90 14.08 14.14
13073 941.5 9.5 590 13078 roll 0.53 - - 2390 - 2.62 0.104 3640 535.5 116.8 - - 2226 - - - - - - - - 14.68 14.34 14.70
13212 926.8 10.1 610 13223 done 0.47 0.20 0.260 2354 -180.0 2.50 0.073 2225 -566.0 116.8 - - 2225 - - - - - - - - 14.23 14.44 14.50
13580 899.5 7.5 620 13585 roll 0.47 - - 2363 - 2.58 0.090 822 -543.8 116.8 - - 2222 - - - - - - - - 14.81 14.44 14.82
13663 893.5 6.9 632 13669 done 0.47 - - 2363 - 2.55 0.077 2216 546.7 126.1 - - 2222 - - - - - - - - 14.59 14.46 14.63
14029 867.6 7.1 642 14040 roll 0.48 - - 2363 - 2.62 0.107 3643 544.7 131.8 4.68 1.512 2201 -4.5 0.493 - - - - - - 14.83 14.57 13.69
14132 858.9 7.6 657 14140 done 0.48 - - 2373 - 2.55 0.072 2222 -557.3 131.8 - - 2205 - - - - - - - - 14.56 14.50 14.59
14477 833.0 7.7 664 14481 roll 0.48 - - 2383 - 2.58 0.090 818 -544.2 131.8 - - 2205 - - - - - - - - 14.83 14.47 14.85
14573 825.9 7.4 678 14579 done 0.48 - - 2383 - 2.58 0.076 2232 548.1 131.8 - - 2205 - - - - - - - - 14.62 14.49 14.66
14924 797.8 8.3 686 14929 roll 0.48 0.12 0.282 2355 -233.3 2.58 0.104 3643 546.9 131.8 - - 2205 - - - - - - - - 14.28 14.45 14.50
14994 792.0 8.0 696 14999 done 0.48 - - 2363 - 2.50 0.072 2223 -568.0 131.8 - - 2205 - - - - - - - - 14.60 14.49 14.63
15316 768.2 7.6 707 15321 roll 0.48 - - 2375 - 2.58 0.089 818 -544.6 131.8 - - 2205 - - - - - - - - 14.85 14.46 14.88
15364 764.6 7.5 714 15371 done 0.48 - - 2375 - 2.60 0.077 2218 538.5 131.8 - - 2205 - - - - - - - - 14.53 14.45 14.58
15709 736.7 8.2 721 15714 roll 0.48 - - 2375 - 2.60 0.106 3643 548.1 131.8 - - 2206 - - - - - - - - 14.87 14.45 14.88
15791 728.8 9.4 733 15798 done 0.48 0.12 0.268 2358 -141.7 2.55 0.072 2226 -555.7 131.8 - - 2205 - - - - - - - - 14.31 14.49 14.55
16156 700.9 7.8 743 16161 roll 0.48 - - 2368 - 2.58 0.089 823 -543.8 131.8 - - 2208 - - - - - - - - 14.88 14.45 14.90
16261 692.8 7.1 758 16273 done 0.48 - - 2365 - 2.58 0.076 2229 545.0 137.9 5.18 1.502 2176 -6.2 0.546 - - - - - - 14.62 14.48 13.76
16604 664.3 8.4 772 16610 roll 0.48 - - 2368 - 2.65 0.107 3650 536.2 137.9 2.00 0.198 2176 - - - - - - - - 14.85 14.52 12.80
16667 658.4 9.5 781 16673 done 0.48 - - 2378 - 2.55 0.072 2211 -564.3 137.9 - - 2185 - - - - - - - - 14.64 14.53 14.66
16989 630.0 8.8 792 16994 roll 0.48 - - 2387 - 2.53 0.086 823 -548.6 137.9 - - 2186 - - - - - - - - 14.87 14.46 14.88
17045 625.2 8.5 800 17050 done 0.48 0.12 0.272 2361 -216.7 2.55 0.076 2223 549.0 137.9 - - 2186 - - - - - - - - 14.27 14.48 14.53
17382 599.5 7.5 813 17388 roll 0.48 - - 2362 - 2.67 0.106 3649 534.1 137.9 1.60 0.206 2173 -8.1 4.531 - - - - - - 14.85 14.46 14.39
17465 592.7 8.0 825 17471 done 0.48 - - 2371 - 2.55 0.071 2208 -565.1 137.9 - - 2185 - - - - - - - - 14.63 14.51 14.66
17830 566.2 7.3 835 17841 roll 0.48 - - 2381 - 2.58 0.086 815 -539.9 139.8 3.15 0.973 2167 -5.7 0.637 - - - - - - 14.87 14.62 13.67
17878 562.7 7.1 842 17885 done 0.49 - - 2380 - 2.60 0.076 2237 546.9 144.5 3.80 1.246 2150 -4.5 0.387 - - - - - - 14.63 14.47 13.67
18222 537.8 7.2 849 18234 roll 0.49 - - 2379 - 2.53 0.106 3640 554.5 147.0 7.65 1.558 2142 -1.0 0.069 - - - - - - 14.85 14.49 13.87
18298 531.6 8.1 860 18304 done 0.49 0.12 0.265 2362 -141.7 2.50 0.071 2221 -567.6 147.0 - - 2146 - - - - - - - - 14.32 14.52 14.55
18614 510.7 6.7 870 18661 roll 0.50 - - 2372 - 2.55 0.085 825 -547.5 162.6 42.33 1.355 2075 -1.7 0.121 - - - - - - 14.83 14.31 13.87
18721 503.3 7.1 885 18729 done 0.55 - - 2372 - 2.60 0.076 2233 541.5 168.6 2.50 0.608 2049 -10.4 1.650 - - - - - - 14.45 14.34 13.57
19062 475.8 8.2 892 19066 roll 0.55 - - 2372 - 2.58 0.106 3638 544.6 168.6 - - 2053 - - - - - - - - 14.77 14.37 14.77
19144 468.2 8.8 904 19150 done 0.55 - - 2380 - 2.53 0.070 2236 -554.2 168.6 - - 2054 - - - - - - - - 14.57 14.42 14.59
19510 437.8 8.4 914 19515 roll 0.55 - - 2390 - 2.58 0.084 819 -549.2 168.6 - - 2054 - - - - - - - - 14.81 14.43 14.83
19550 434.3 8.3 920 19556 done 0.55 - - 2390 - 2.62 0.076 2233 539.7 168.6 - - 2054 - - - - - - - - 14.50 14.42 14.55
19902 403.9 8.7 928 19906 roll 0.55 - - 2390 - 2.58 0.104 3649 548.8 168.6 - - 2054 - - - - - - - - 14.84 14.43 14.85
19971 396.9 10.0 938 19976 done 0.55 - - 2399 - 2.47 0.069 2239 -570.9 168.6 - - 2054 - - - - - - - - 14.62 14.52 14.66
20293 364.5 10.2 949 20299 roll 0.55 - - 2407 - 2.58 0.085 822 -549.2 168.6 - - 2054 - - - - - - - - 14.88 14.45 14.87
20349 358.7 10.2 957 20355 done 0.55 - - 2407 - 2.60 0.075 2252 550.0 168.6 - - 2054 - - - - - - - - 14.61 14.48 14.64
20687 322.3 10.9 970 20691 roll 0.55 - - 2407 - 2.55 0.105 3650 548.2 168.6 - - 2054 - - - - - - - - 14.85 14.45 14.85
20789 310.6 10.8 985 20798 done 0.55 0.10 0.233 2387 -200.0 2.50 0.067 2260 -556.0 168.6 - - 2054 - - - - - - - - 14.24 14.49 14.40
21134 281.7 8.3 992 21139 roll 0.55 - - 2396 - 2.62 0.082 813 -552.3 168.6 - - 2054 - - - - - - - - 14.86 14.47 14.88
21190 277.2 8.0 1000 21194 done 0.55 - - 2395 - 2.62 0.075 2257 551.1 168.6 - - 2054 - - - - - - - - 14.62 14.49 14.66
21525 249.5 8.2 1013 21531 roll 0.55 - - 2396 - 2.53 0.103 3647 549.4 168.6 - - 2054 - - - - - - - - 14.88 14.45 14.89
21616 241.4 8.8 1026 21621 done 0.55 - - 2406 - 2.45 0.067 2256 -567.8 168.6 - - 2054 - - - - - - - - 14.64 14.54 14.67
21973 212.1 8.3 1035 21978 roll 0.55 - - 2416 - 2.60 0.080 820 -552.3 168.6 - - 2053 - - - - - - - - 14.88 14.43 14.89
22015 208.5 8.6 1041 22021 done 0.55 0.15 0.251 2381 -233.3 2.62 0.073 2268 552.7 168.6 - - 2054 - - - - - - - - 14.32 14.50 14.56
22366 180.6 8.1 1049 22372 roll 0.55 - - 2380 - 2.50 0.103 3647 551.6 168.6 - - 2054 - - - - - - - - 14.88 14.46 14.89
22414 176.1 9.3 1056 22421 done 0.55 - - 2389 - 2.47 0.065 2255 -563.6 168.6 - - 2054 - - - - - - - - 14.53 14.47 14.57
22758 147.6 8.3 1063 22762 roll 0.55 - - 2398 - 2.60 0.079 816 -553.5 168.6 - - 2054 - - - - - - - - 14.88 14.49 14.90
22792 144.8 7.9 1068 22797 done 0.55 - - 2398 - 2.62 0.072 2269 554.6 168.6 - - 2055 - - - - - - - - 14.64 14.51 14.68
23150 117.8 7.6 1077 23155 roll 0.55 - - 2398 - 2.47 0.101 3639 554.7 168.6 - - 2055 - - - - - - - - 14.88 14.45 14.90
23226 111.9 7.9 1088 23231 done 0.55 - - 2406 - 2.45 0.063 2261 -562.4 168.6 - - 2055 - - - - - - - - 14.57 14.50 14.59
23542 91.7 6.3 1100 23562 roll 0.57 - - 2406 - 2.58 0.099 3640 534.5 192.2 15.90 0.368 1960 -6.0 0.285 - - - - - - 14.88 14.54 14.26
23591 88.8 6.4 1107 23612 done 0.58 - - 2414 - 2.38 0.063 2273 -574.4 213.9 17.00 0.378 1866 -5.5 0.249 - - - - - - 14.68 14.59 14.26
23923 72.2 4.0 1121 23983 roll 0.71 - - 2414 - 2.53 0.098 3645 542.3 294.1 52.17 0.353 1542 -6.2 0.243 - - - - - - 14.83 14.50 14.24
24039 67.2 3.5 1138 24103 done 0.94 0.25 0.090 2525 444.0 2.38 0.059 2268 -578.6 385.5 59.03 0.341 1167 -6.4 0.240 - - - - - - 14.54 14.48 14.20
24418 41.3 6.2 1159 24445 roll 1.03 - - 2525 - 2.53 0.094 3651 546.6 413.3 20.50 0.245 1053 -5.6 0.180 - - - - - - 14.76 14.43 14.25
24474 38.0 6.1 1167 24502 done 1.15 0.12 0.128 2584 491.7 2.35 0.060 2303 -573.6 441.6 19.67 0.246 938 -5.8 0.173 - - - - - - 14.49 14.49 14.23
24813 10.0 8.8 1182 24822 roll 1.15 - - 2589 - 2.65 0.075 827 -557.0 441.6 3.03 0.156 939 - - - - - - - - 14.79 14.48 14.38
24890 end climb: SURFACE_DEPTH_REACHED
24890 begin surface coast
24922 end surface coast: CONTROL_FINISHED_OK
24922 begin surface
SM 0.95 - - - - -6.15 6.82 0.072 212 31.1 2.65 0.067 2281 -2425.3 500.17 39.80 0.138 700 17.6 -0.012 - - - - - -