SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 1 • 38.28 of 350.00 AH used of 24V (89.06% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.04 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 17 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 107 VBD -0.68 - - 209 - - - 2240 - -116.8 -83.65 - 2838 - - - - - - - - 14.74 - 14.76
111 4.0 -5.2 3 135 done -0.68 9.12 0.440 1970 193.1 - - 2240 - -116.8 -6.88 - 3221 -55.7 - - - - - - - 14.31 13.95 14.61
443 95.7 -18.4 15 450 roll -0.46 0.28 0.296 2030 214.3 2.50 0.078 3675 574.0 -116.8 - - 3223 - - - - - - - - 14.50 14.64 14.64
645 112.4 -8.2 44 652 done -0.41 0.15 0.243 2069 260.0 2.28 0.044 2289 -607.9 -116.8 - - 3225 - - - - - - - - 14.60 14.72 14.75
1004 136.8 -6.5 53 1010 roll -0.41 - - 2069 - 2.38 0.058 886 -589.5 -116.8 - - 3226 - - - - - - - - 14.90 14.74 14.95
1093 142.9 -6.2 66 1100 done -0.41 - - 2066 - 2.40 0.067 2274 578.3 -116.8 - - 3226 - - - - - - - - 14.81 14.73 14.83
1452 166.3 -6.9 75 1459 roll -0.41 - - 2056 - 2.45 0.086 3685 575.9 -116.8 - - 3224 - - - - - - - - 14.95 14.74 14.97
1487 168.7 -6.9 80 1493 done -0.41 - - 2056 - 2.30 0.047 2286 -608.3 -116.8 - - 3224 - - - - - - - - 14.84 14.78 14.85
1844 193.9 -7.1 89 1850 roll -0.41 - - 2056 - 2.38 0.058 884 -589.1 -116.8 - - 3225 - - - - - - - - 14.95 14.77 14.97
1871 196.1 -7.9 93 1878 done -0.41 - - 2056 - 2.45 0.071 2290 573.9 -116.8 - - 3221 - - - - - - - - 14.84 14.76 14.85
2236 223.2 -7.3 103 2243 roll -0.41 - - 2056 - 2.40 0.056 886 -585.0 -116.8 - - 3219 - - - - - - - - 14.96 14.78 14.97
2285 226.8 -7.3 110 2293 done -0.41 - - 2056 - 2.45 0.071 2286 571.4 -116.8 - - 3217 - - - - - - - - 14.84 14.76 14.86
2631 250.4 -6.9 117 2644 roll -0.41 - - 2049 - 2.45 0.091 3695 575.1 -116.8 - - 3215 - - - - - - - - 14.97 14.79 14.99
2671 253.6 -7.6 122 2685 done -0.41 - - 2049 - 2.33 0.051 2287 -604.3 -116.8 - - 3215 - - - - - - - - 14.87 14.81 14.88
3035 280.9 -7.6 131 3048 roll -0.41 - - 2049 - 2.38 0.060 886 -588.7 -116.8 - - 3212 - - - - - - - - 15.00 14.81 15.02
3117 287.3 -7.6 142 3130 done -0.41 - - 2043 - 2.42 0.072 2280 576.0 -116.8 - - 3212 - - - - - - - - 14.89 14.81 14.90
3438 310.9 -7.4 152 3451 done -0.41 - - 2043 - - - 2281 - -116.8 - - 3209 - - - - - - - - 15.02 15.04 15.04
3775 335.4 -7.3 158 3787 done -0.41 - - 2043 - - - 2281 - -116.8 - - 3207 - - - - - - - - 15.02 15.04 15.04
4111 360.2 -7.4 164 4124 roll -0.41 - - 2037 - 2.50 0.096 3701 568.0 -116.8 - - 3204 - - - - - - - - 15.03 14.81 15.05
4158 363.9 -7.8 170 4171 done -0.41 0.12 0.243 2068 258.3 2.38 0.053 2270 -601.3 -116.8 - - 3204 - - - - - - - - 14.73 14.87 14.90
4515 386.4 -6.2 178 4528 roll -0.41 - - 2068 - 2.38 0.067 880 -584.0 -116.8 - - 3202 - - - - - - - - 15.04 14.83 15.05
4597 392.0 -6.8 189 4610 done -0.41 - - 2067 - 2.45 0.076 2275 569.4 -116.8 - - 3203 - - - - - - - - 14.90 14.81 14.92
4919 412.8 -6.5 199 4931 done -0.41 - - 2068 - - - 2275 - -116.8 - - 3200 - - - - - - - - 15.03 15.04 15.05
5255 433.6 -6.1 205 5268 roll -0.41 - - 2067 - 2.40 0.065 885 -579.2 -116.8 - - 3198 - - - - - - - - 15.03 14.83 15.05
5310 437.0 -6.3 212 5323 done -0.45 - - 2068 - 2.42 0.076 2267 571.1 -116.8 - - 3202 - - - - - - - - 14.90 14.81 14.92
5654 454.9 -5.1 219 5667 roll -0.50 - - 2065 - 2.50 0.099 3691 569.6 -116.8 - - 3197 - - - - - - - - 15.03 14.81 15.04
5702 457.4 -5.5 225 5716 done -0.56 0.15 0.121 2000 -433.3 2.38 0.057 2268 -597.9 -116.8 - - 3196 - - - - - - - - 14.83 14.86 14.92
6059 485.9 -8.3 233 6072 done -0.56 - - 2000 - - - 2262 - -116.8 - - 3194 - - - - - - - - 15.03 15.05 15.04
6396 514.0 -8.4 239 6409 roll -0.56 - - 2000 - 2.38 0.066 880 -580.7 -116.8 - - 3193 - - - - - - - - 15.03 14.85 15.04
6527 526.0 -9.0 257 6540 done -0.56 - - 1999 - 2.45 0.080 2266 565.7 -116.8 - - 3192 - - - - - - - - 14.90 14.80 14.92
6855 556.1 -9.4 268 6868 done -0.56 - - 1999 - - - 2266 - -116.8 - - 3191 - - - - - - - - 15.02 15.04 15.04
7192 587.3 -9.1 274 7205 roll -0.56 - - 1990 - 2.50 0.098 3691 570.0 -116.8 - - 3190 - - - - - - - - 15.02 14.79 15.03
7246 592.5 -9.6 281 7260 done -0.56 0.12 0.268 2019 241.7 2.42 0.057 2257 -592.6 -116.8 - - 3189 - - - - - - - - 14.68 14.84 14.87
7591 619.3 -7.6 288 7604 roll -0.56 - - 2019 - 2.38 0.068 874 -581.1 -116.8 - - 3189 - - - - - - - - 15.02 14.81 15.04
7673 625.8 -7.6 299 7687 done -0.56 - - 2012 - 2.45 0.081 2255 563.7 -116.8 - - 3189 - - - - - - - - 14.89 14.78 14.91
7995 650.5 -7.8 309 8007 done -0.56 - - 2012 - - - 2255 - -116.8 - - 3187 - - - - - - - - 15.02 15.04 15.03
8331 676.0 -7.5 315 8344 roll -0.56 - - 2012 - 2.40 0.069 874 -575.4 -116.8 - - 3186 - - - - - - - - 15.02 14.80 15.04
8393 681.0 -8.0 323 8407 done -0.56 - - 2012 - 2.45 0.082 2249 561.2 -116.8 - - 3186 - - - - - - - - 14.88 14.78 14.90
8736 706.5 -7.5 336 8749 roll -0.56 - - 2007 - 2.58 0.104 3701 562.8 -116.8 - - 3185 - - - - - - - - 15.01 14.77 15.03
8819 713.1 -8.0 347 8832 done -0.56 - - 2007 - 2.45 0.057 2240 -596.3 -116.8 - - 3184 - - - - - - - - 14.90 14.83 14.94
9140 738.1 -7.9 357 9153 roll -0.56 - - 2007 - 2.35 0.067 874 -581.3 -116.8 - - 3184 - - - - - - - - 15.00 14.79 15.02
9236 745.8 -7.8 370 9249 done -0.56 - - 2002 - 2.45 0.085 2242 558.4 -116.8 - - 3183 - - - - - - - - 14.87 14.76 14.89
9600 772.9 -7.4 379 9613 done -0.56 - - 2004 - - - 2242 - -116.8 - - 3182 - - - - - - - - 15.00 15.02 15.02
9936 796.5 -6.9 385 9949 done -0.56 - - 2002 - - - 2244 - -116.8 - - 3182 - - - - - - - - 15.00 15.02 15.02
10272 819.5 -6.9 391 10285 done -0.56 - - 2003 - - - 2244 - -116.8 - - 3181 - - - - - - - - 14.99 15.02 15.02
10608 843.0 -7.3 397 10621 done -0.56 - - 2003 - - - 2244 - -116.8 - - 3179 - - - - - - - - 15.00 15.02 15.00
10943 869.4 -7.8 403 10956 done -0.56 - - 2002 - - - 2244 - -116.8 - - 3179 - - - - - - - - 15.00 15.02 15.02
11280 897.0 -8.2 409 11293 done -0.56 - - 2003 - - - 2244 - -116.8 - - 3178 - - - - - - - - 15.00 15.02 15.02
11616 924.0 -7.9 415 11629 roll -0.56 - - 2002 - 2.40 0.068 875 -570.4 -116.8 - - 3177 - - - - - - - - 15.00 14.77 15.02
11656 927.2 -7.8 420 11669 done -0.56 - - 1999 - 2.47 0.087 2245 554.7 -116.8 - - 3177 - - - - - - - - 14.83 14.73 14.88
12020 954.3 -7.4 429 12033 roll -0.56 - - 1997 - 2.60 0.108 3694 557.3 -116.8 - - 3176 - - - - - - - - 14.99 14.73 15.00
12083 959.2 -4.8 437 12096 done -0.56 - - 1995 - 2.47 0.064 2245 -586.6 -116.8 - - 3175 - - - - - - - - 14.85 14.78 14.88
12425 985.3 -7.5 450 12438 roll -0.56 - - 1995 - 2.38 0.073 876 -575.2 -116.8 - - 3174 - - - - - - - - 14.98 14.74 15.00
12466 988.6 -5.5 455 12479 done -0.56 - - 1991 - 2.47 0.087 2260 560.3 -116.8 - - 3174 - - - - - - - - 14.83 14.71 14.85
12482 end dive: TARGET_DEPTH_EXCEEDED
12482 begin apogee
12490 990.9 -10.7 457 12638 roll -0.19 0.50 0.240 2129 276.0 - - 2254 - - 138.35 2.066 2740 -3.1 0.277 - - - - - - 14.58 14.02 13.38
12639 end apogee: CONTROL_FINISHED_OK
12639 begin climb
12643 994.5 - 459 12805 done 0.68 0.93 0.157 2410 302.2 - - 2255 - 116.8 145.90 1.948 2257 -3.3 0.312 - - - - - - 14.03 14.25 13.30
13162 944.2 11.0 497 13176 roll 0.62 - - 2410 - 2.55 0.113 3633 540.4 116.8 - - 2234 - - - - - - - - 14.66 14.45 14.68
13225 936.6 12.3 505 13239 done 0.53 0.20 0.304 2375 -175.0 2.47 0.078 2241 -563.6 116.8 - - 2233 - - - - - - - - 14.37 14.50 14.57
13568 904.2 9.3 518 13581 roll 0.53 - - 2385 - 2.58 0.095 820 -550.8 116.8 - - 2231 - - - - - - - - 14.81 14.58 14.83
13651 896.7 8.7 529 13664 done 0.53 - - 2385 - 2.53 0.086 2217 552.2 116.8 - - 2234 - - - - - - - - 14.70 14.60 14.73
13972 867.0 9.3 539 13985 roll 0.53 - - 2385 - 2.60 0.112 3646 549.6 116.8 - - 2230 - - - - - - - - 14.86 14.63 14.88
14069 857.0 10.2 552 14082 done 0.49 0.15 0.294 2362 -153.3 2.47 0.080 2236 -570.9 116.8 - - 2230 - - - - - - - - 14.54 14.67 14.74
14433 829.4 7.4 561 14446 roll 0.49 - - 2373 - 2.58 0.094 815 -550.8 116.8 - - 2229 - - - - - - - - 14.90 14.67 14.92
14496 825.0 7.0 569 14509 done 0.49 - - 2377 - 2.58 0.086 2237 551.2 125.7 - - 2228 - - - - - - - - 14.78 14.68 14.81
14838 799.4 7.5 582 14851 roll 0.49 - - 2373 - 2.55 0.115 3644 551.8 125.7 - - 2228 - - - - - - - - 14.92 14.68 14.95
14935 790.8 8.6 595 14948 done 0.49 - - 2383 - 2.47 0.078 2235 -570.4 125.7 - - 2228 - - - - - - - - 14.80 14.71 14.81
15298 760.4 8.5 604 15312 roll 0.49 - - 2393 - 2.55 0.093 813 -557.6 125.7 - - 2228 - - - - - - - - 14.94 14.69 14.95
15361 754.9 8.6 612 15375 done 0.49 0.15 0.272 2359 -226.7 2.58 0.086 2242 553.9 125.7 - - 2227 - - - - - - - - 14.59 14.70 14.78
15704 728.3 7.7 625 15717 roll 0.49 - - 2359 - 2.53 0.114 3640 552.6 125.7 - - 2227 - - - - - - - - 14.94 14.69 14.95
15773 722.5 8.4 634 15786 done 0.49 - - 2368 - 2.42 0.074 2244 -576.9 125.7 - - 2226 - - - - - - - - 14.81 14.72 14.83
16108 695.8 8.0 646 16121 roll 0.49 - - 2378 - 2.55 0.092 822 -557.6 125.7 - - 2226 - - - - - - - - 14.95 14.70 14.96
16170 690.9 7.9 654 16184 done 0.49 - - 2378 - 2.58 0.084 2250 553.5 125.7 - - 2226 - - - - - - - - 14.81 14.70 14.83
16513 661.4 8.7 667 16526 roll 0.49 - - 2378 - 2.53 0.112 3644 551.0 125.7 - - 2225 - - - - - - - - 14.94 14.69 14.96
16609 651.9 9.8 680 16623 done 0.49 - - 2387 - 2.42 0.075 2257 -573.1 125.7 - - 2226 - - - - - - - - 14.82 14.71 14.85
16973 617.8 9.4 689 16986 roll 0.49 - - 2397 - 2.58 0.092 822 -556.2 125.7 - - 2226 - - - - - - - - 14.94 14.70 14.96
17042 611.5 8.8 698 17055 done 0.49 0.15 0.273 2363 -226.7 2.58 0.084 2256 555.8 125.7 - - 2225 - - - - - - - - 14.58 14.69 14.78
17378 586.7 7.3 710 17391 roll 0.49 - - 2363 - 2.50 0.112 3643 554.8 127.2 - - 2225 - - - - - - - - 14.94 14.69 14.96
17446 581.0 8.3 719 17459 done 0.49 - - 2374 - 2.42 0.076 2251 -575.2 127.2 - - 2225 - - - - - - - - 14.81 14.72 14.83
17781 554.8 7.8 731 17794 roll 0.49 - - 2383 - 2.55 0.092 824 -559.6 127.2 - - 2225 - - - - - - - - 14.95 14.72 14.96
17844 550.0 7.5 739 17857 done 0.49 - - 2382 - 2.58 0.083 2250 552.7 127.2 - - 2225 - - - - - - - - 14.81 14.69 14.83
18186 522.5 8.2 752 18200 roll 0.49 - - 2382 - 2.53 0.113 3647 552.2 127.2 - - 2225 - - - - - - - - 14.95 14.68 14.97
18290 512.9 9.2 766 18304 done 0.49 0.12 0.280 2364 -150.0 2.42 0.076 2262 -572.3 127.2 - - 2225 - - - - - - - - 14.58 14.72 14.78
18647 484.9 7.9 774 18660 roll 0.49 - - 2373 - 2.58 0.088 812 -562.0 127.2 - - 2225 - - - - - - - - 14.95 14.70 14.96
18722 478.8 8.0 784 18736 done 0.49 - - 2375 - 2.60 0.084 2261 557.3 127.2 - - 2225 - - - - - - - - 14.81 14.69 14.83
19051 451.1 8.5 795 19064 roll 0.49 - - 2375 - 2.50 0.111 3646 554.0 127.2 - - 2225 - - - - - - - - 14.95 14.69 14.97
19133 443.3 9.4 806 19146 done 0.49 - - 2384 - 2.42 0.073 2248 -577.7 127.2 - - 2225 - - - - - - - - 14.81 14.73 14.83
19455 415.4 8.7 816 19468 roll 0.49 - - 2393 - 2.53 0.089 825 -562.5 127.2 - - 2225 - - - - - - - - 14.95 14.69 14.96
19517 410.2 8.2 824 19530 done 0.49 0.12 0.260 2364 -241.7 2.60 0.083 2269 555.4 127.2 - - 2223 - - - - - - - - 14.59 14.69 14.78
19860 385.3 7.2 837 19877 roll 0.50 - - 2362 - 2.47 0.110 3644 556.7 131.4 5.35 1.273 2203 -3.7 0.209 - - - - - - 14.97 14.64 14.09
19925 380.1 8.1 846 19938 done 0.50 - - 2372 - 2.40 0.071 2258 -577.5 131.4 - - 2206 - - - - - - - - 14.80 14.71 14.81
20261 356.5 7.0 858 20285 roll 0.50 - - 2382 - 2.62 0.085 821 -548.5 138.4 12.75 1.468 2171 -2.7 0.123 - - - - - - 14.92 14.64 14.12
20306 353.2 6.9 864 20325 done 0.51 - - 2382 - 2.62 0.082 2272 553.8 148.5 6.15 1.355 2135 -5.9 0.281 - - - - - - 14.72 14.63 14.03
20655 326.3 7.8 878 20668 roll 0.51 - - 2382 - 2.45 0.111 3633 555.5 148.5 - - 2138 - - - - - - - - 14.86 14.62 14.88
20744 318.4 8.8 890 20758 done 0.51 - - 2391 - 2.38 0.069 2276 -570.2 148.5 - - 2138 - - - - - - - - 14.75 14.67 14.77
21115 286.8 8.7 900 21128 roll 0.51 - - 2401 - 2.60 0.086 820 -560.0 148.5 - - 2138 - - - - - - - - 14.90 14.67 14.93
21198 279.7 8.4 911 21211 done 0.51 0.15 0.248 2365 -240.0 2.60 0.081 2274 559.2 148.5 - - 2138 - - - - - - - - 14.59 14.68 14.76
21520 256.1 7.3 921 21533 roll 0.51 - - 2365 - 2.47 0.110 3646 555.5 149.2 - - 2138 - - - - - - - - 14.92 14.67 14.94
21582 250.9 8.4 929 21598 done 0.51 - - 2374 - 2.40 0.069 2264 -575.8 149.2 1.65 0.200 2129 -5.5 1.262 - - - - - - 14.79 14.72 14.63
21921 224.4 7.8 942 21934 roll 0.51 - - 2384 - 2.55 0.083 822 -565.5 149.2 - - 2137 - - - - - - - - 14.92 14.70 14.95
21975 220.3 7.7 949 21989 done 0.55 - - 2384 - 2.62 0.080 2282 557.3 149.2 - - 2137 - - - - - - - - 14.80 14.70 14.82
22320 194.0 7.6 956 22333 roll 0.55 - - 2384 - 2.45 0.106 3647 557.1 149.2 - - 2136 - - - - - - - - 14.94 14.69 14.95
22353 191.1 8.2 960 22367 done 0.55 - - 2392 - 2.38 0.070 2268 -579.4 149.2 - - 2137 - - - - - - - - 14.82 14.74 14.83
22724 162.7 7.8 970 22737 done 0.55 - - 2394 - - - 2268 - 149.2 - - 2136 - - - - - - - - 14.94 14.97 14.96
23061 135.8 7.9 976 23074 roll 0.55 - - 2403 - 2.55 0.083 825 -565.9 149.2 - - 2137 - - - - - - - - 14.95 14.72 14.97
23094 133.3 7.3 980 23109 done 0.55 - - 2403 - 2.60 0.080 2283 560.8 150.1 2.12 0.337 2126 -5.2 0.379 - - - - - - 14.82 14.71 13.93
23466 104.8 7.6 990 23479 roll 0.55 - - 2403 - 2.42 0.105 3640 560.7 150.1 - - 2135 - - - - - - - - 14.95 14.68 14.97
23507 101.5 8.1 995 23520 done 0.55 0.12 0.277 2380 -191.7 2.35 0.067 2272 -582.1 150.1 - - 2135 - - - - - - - - 14.62 14.76 14.79
23846 85.1 3.5 1009 23915 roll 0.69 0.12 0.139 2444 533.3 2.50 0.103 3639 546.8 240.4 56.35 0.399 1757 -6.7 0.264 - - - - - - 14.76 14.59 14.40
23938 79.2 7.4 1022 23952 done 0.69 - - 2452 - 2.38 0.067 2270 -575.2 240.4 - - 1759 - - - - - - - - 14.71 14.64 14.73
24274 60.4 4.2 1036 24333 roll 0.80 - - 2452 - 2.50 0.099 3645 550.0 314.7 45.47 0.320 1456 -6.7 0.232 - - - - - - 14.88 14.57 14.41
24446 51.7 4.6 1060 24499 done 0.99 0.17 0.105 2535 488.2 2.33 0.062 2294 -579.8 380.1 41.08 0.292 1189 -6.5 0.212 - - - - - - 14.65 14.62 14.40
24803 29.8 5.7 1078 24840 roll 1.14 - - 2536 - 2.58 0.072 830 -567.4 418.7 24.45 0.218 1033 -6.4 0.161 - - - - - - 14.85 14.62 14.50
24861 26.2 6.3 1086 24893 done 1.33 0.28 0.084 2668 471.4 2.53 0.068 2262 566.0 443.5 16.98 0.210 929 -6.1 0.141 - - - - - - 14.67 14.60 14.50
25025 end climb: SURFACE_DEPTH_REACHED
25025 begin surface coast
25057 end surface coast: CONTROL_FINISHED_OK
25057 begin surface
SM 1.07 - - - - -6.13 6.95 0.071 220 31.6 - - 2261 - 500.17 35.80 0.137 699 19.5 -0.016 - - - - - -