SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 1 • 34.54 of 350.00 AH used of 24V (90.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.3 deg, depth 1.21 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 19 s • Transponder ping count: 3
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 159 - - - 1905 - -116.8 -80.12 - 3271 - - - - - - - - 14.83 14.07 14.85
117 8.8 -13.4 3 135 roll -0.84 11.98 0.397 2660 208.8 2.47 0.050 462 -584.2 -116.8 - - 3272 - - - - - - - - 14.44 14.65 14.67
204 48.7 -31.0 16 211 done -0.34 0.68 0.306 2812 223.5 2.28 0.035 1849 608.3 -116.8 - - 3273 - - - - - - - - 14.52 14.70 14.71
533 87.7 -7.9 30 540 roll -0.34 - - 2803 - 2.38 0.056 3280 601.3 -116.8 - - 3273 - - - - - - - - 14.95 14.77 14.97
631 95.0 -7.1 44 638 done -0.34 - - 2804 - 1.98 0.036 2051 -620.7 -116.8 - - 3275 - - - - - - - - 14.85 14.81 14.87
954 117.5 -7.5 53 960 roll -0.34 - - 2804 - 2.65 0.056 467 -597.7 -116.8 - - 3276 - - - - - - - - 15.00 14.83 15.02
987 120.2 -8.1 58 994 done -0.34 - - 2793 - 2.60 0.036 2064 614.2 -116.8 - - 3275 - - - - - - - - 14.90 14.85 14.91
1346 146.1 -7.2 67 1353 roll -0.34 - - 2793 - 2.67 0.055 470 -597.0 -116.8 - - 3275 - - - - - - - - 15.02 14.85 15.04
1387 149.3 -7.7 73 1394 done -0.34 0.15 0.242 2818 166.7 2.55 0.035 2032 612.5 -116.8 - - 3275 - - - - - - - - 14.76 14.88 14.90
1738 169.5 -5.6 81 1745 roll -0.49 0.12 0.135 2760 -483.3 2.65 0.054 466 -590.9 -116.8 - - 3272 - - - - - - - - 14.88 14.86 14.90
1884 182.1 -9.1 102 1891 done -0.49 - - 2750 - 2.47 0.036 1975 610.9 -116.8 - - 3271 - - - - - - - - 14.93 14.89 14.95
2242 212.9 -8.6 111 2248 roll -0.49 - - 2750 - 2.55 0.057 464 -592.5 -116.8 - - 3269 - - - - - - - - 15.03 14.86 15.05
2325 220.6 -9.2 123 2331 done -0.49 - - 2740 - 2.38 0.036 1924 613.4 -116.8 - - 3267 - - - - - - - - 14.97 14.90 14.95
2691 254.1 -9.3 133 2705 roll -0.49 0.12 0.278 2769 241.7 2.47 0.056 460 -592.7 -116.8 - - 3262 - - - - - - - - 14.76 14.88 14.88
2788 262.9 -8.5 146 2801 done -0.49 - - 2765 - 2.33 0.036 1892 614.6 -116.8 - - 3263 - - - - - - - - 14.97 14.91 14.97
3151 293.7 -8.5 155 3165 roll -0.49 - - 2755 - 2.28 0.057 3268 603.5 -116.8 - - 3260 - - - - - - - - 15.09 14.91 15.11
3213 299.0 -8.6 163 3227 done -0.49 - - 2755 - 2.28 0.037 1868 -614.0 -116.8 - - 3260 - - - - - - - - 14.99 14.92 15.01
3555 328.4 -8.5 176 3569 roll -0.49 - - 2755 - 2.35 0.060 467 -596.2 -116.8 - - 3257 - - - - - - - - 15.09 14.92 15.11
3687 340.2 -8.9 194 3700 done -0.49 - - 2744 - 2.22 0.034 1845 620.7 -116.8 - - 3257 - - - - - - - - 15.00 14.95 15.01
4015 367.5 -8.3 205 4028 roll -0.49 - - 2746 - 2.33 0.059 467 -591.4 -116.8 - - 3252 - - - - - - - - 15.10 14.92 15.16
4048 370.5 -8.6 209 4062 done -0.49 0.12 0.274 2763 141.7 2.20 0.037 1830 619.5 -116.8 - - 3254 - - - - - - - - 14.81 14.96 14.97
4419 398.9 -7.8 219 4432 roll -0.49 - - 2755 - 2.38 0.057 3262 601.7 -116.8 - - 3252 - - - - - - - - 15.10 14.92 15.13
4487 404.4 -8.1 228 4500 done -0.49 - - 2755 - 2.33 0.038 1831 -614.2 -116.8 - - 3251 - - - - - - - - 15.00 14.95 15.02
4822 432.3 -8.4 240 4835 roll -0.49 - - 2755 - 2.30 0.061 464 -594.3 -116.8 - - 3249 - - - - - - - - 15.10 14.92 15.11
4953 443.7 -8.4 258 4966 done -0.49 - - 2746 - 2.15 0.037 1796 619.5 -116.8 - - 3247 - - - - - - - - 15.00 14.96 15.02
5282 470.1 -8.0 269 5295 roll -0.49 - - 2735 - 2.45 0.057 3263 598.8 -116.8 - - 3247 - - - - - - - - 15.10 14.92 15.12
5364 476.6 -7.8 280 5378 done -0.49 0.15 0.246 2768 220.0 2.38 0.039 1809 -610.9 -116.8 - - 3244 - - - - - - - - 14.83 14.95 14.97
5686 497.3 -6.3 290 5699 roll -0.49 - - 2769 - 2.28 0.062 461 -591.2 -116.8 - - 3245 - - - - - - - - 15.10 14.92 15.12
5797 505.0 -6.8 305 5811 done -0.49 - - 2763 - 2.12 0.037 1767 616.0 -116.8 - - 3244 - - - - - - - - 15.00 14.95 15.02
6141 527.8 -6.7 312 6154 roll -0.49 - - 2752 - 2.50 0.058 3262 598.0 -116.8 - - 3243 - - - - - - - - 15.10 14.92 15.11
6281 537.7 -7.2 331 6295 done -0.49 - - 2752 - 2.40 0.040 1798 -610.0 -116.8 - - 3243 - - - - - - - - 15.00 14.93 15.01
6603 561.9 -7.6 341 6616 roll -0.49 - - 2752 - 2.25 0.063 470 -590.2 -116.8 - - 3241 - - - - - - - - 15.09 14.91 15.11
6665 567.3 -8.6 349 6678 done -0.49 - - 2743 - 2.20 0.037 1812 610.0 -116.8 - - 3241 - - - - - - - - 15.00 14.95 15.01
7007 595.2 -8.2 362 7020 roll -0.49 - - 2732 - 2.42 0.059 3265 600.4 -116.8 - - 3240 - - - - - - - - 15.09 14.91 15.11
7047 598.7 -8.8 367 7061 done -0.49 0.15 0.245 2765 220.0 2.40 0.040 1800 -610.4 -116.8 - - 3239 - - - - - - - - 14.80 14.93 14.96
7411 624.5 -7.0 376 7424 roll -0.49 - - 2766 - 2.25 0.063 470 -591.1 -116.8 - - 3238 - - - - - - - - 15.09 14.90 15.11
7559 635.9 -7.7 396 7572 done -0.49 - - 2760 - 2.10 0.037 1773 620.5 -116.8 - - 3237 - - - - - - - - 14.99 14.95 15.00
7929 663.6 -7.5 406 7943 roll -0.49 - - 2749 - 2.50 0.059 3269 598.4 -116.8 - - 3236 - - - - - - - - 15.09 14.90 15.11
7984 667.9 -7.9 413 7998 done -0.49 - - 2749 - 2.47 0.041 1771 -606.5 -116.8 - - 3235 - - - - - - - - 14.98 14.92 15.00
8328 695.3 -8.0 420 8341 roll -0.49 - - 2749 - 2.20 0.064 471 -590.9 -116.8 - - 3234 - - - - - - - - 15.09 14.90 15.09
8382 700.2 -8.9 427 8396 done -0.49 - - 2742 - 2.12 0.037 1772 613.7 -116.8 - - 3234 - - - - - - - - 14.99 14.93 15.00
8727 729.0 -8.4 434 8740 roll -0.49 - - 2730 - 2.50 0.060 3263 596.4 -116.8 - - 3233 - - - - - - - - 15.08 14.90 15.11
8803 735.4 -8.3 444 8816 done -0.49 0.15 0.247 2763 220.0 2.42 0.042 1790 -608.7 -116.8 - - 3233 - - - - - - - - 14.77 14.91 14.94
9134 758.3 -6.8 455 9147 roll -0.58 - - 2764 - 2.25 0.065 468 -587.6 -116.8 - - 3232 - - - - - - - - 15.07 14.89 15.09
9217 764.5 -7.2 466 9230 done -0.58 - - 2758 - 2.12 0.037 1769 613.7 -116.8 - - 3232 - - - - - - - - 14.97 14.92 14.99
9538 786.3 -6.9 476 9551 roll -0.58 - - 2747 - 2.53 0.060 3264 590.9 -116.8 - - 3231 - - - - - - - - 15.07 14.88 15.09
9585 789.6 -8.0 482 9598 done -0.58 - - 2747 - 2.47 0.041 1764 -607.3 -116.8 - - 3230 - - - - - - - - 14.96 14.90 14.98
9941 814.9 -7.2 490 9955 roll -0.58 - - 2747 - 2.20 0.066 473 -586.8 -116.8 - - 3230 - - - - - - - - 15.07 14.88 15.09
10003 819.8 -8.1 498 10017 done -0.58 - - 2739 - 2.10 0.039 1750 608.1 -116.8 - - 3230 - - - - - - - - 14.97 14.91 14.98
10346 846.5 -7.9 511 10359 roll -0.58 - - 2728 - 2.55 0.060 3263 593.3 -116.8 - - 3229 - - - - - - - - 15.07 14.88 15.09
10464 855.5 -6.6 527 10478 done -0.58 - - 2728 - 2.47 0.042 1774 -602.8 -116.8 - - 3229 - - - - - - - - 14.96 14.89 14.97
10807 883.0 -8.0 540 10820 roll -0.58 - - 2727 - 2.22 0.067 471 -586.9 -116.8 - - 3228 - - - - - - - - 15.05 14.87 15.09
10896 890.8 -8.6 552 10909 done -0.58 - - 2719 - 2.10 0.039 1758 612.9 -116.8 - - 3228 - - - - - - - - 14.96 14.90 14.97
11266 920.9 -8.1 562 11280 roll -0.58 - - 2708 - 2.55 0.063 3263 590.2 -116.8 - - 3227 - - - - - - - - 15.05 14.86 15.07
11363 929.0 -8.4 575 11376 done -0.58 0.12 0.265 2734 216.7 2.45 0.044 1780 -605.3 -116.8 - - 3227 - - - - - - - - 14.76 14.88 14.91
11726 956.6 -7.6 584 11740 roll -0.58 - - 2735 - 2.25 0.067 463 -585.3 -116.8 - - 3226 - - - - - - - - 15.06 14.85 15.08
11823 964.7 -8.4 597 11836 done -0.58 - - 2729 - 2.12 0.040 1749 606.6 -116.8 - - 3226 - - - - - - - - 14.95 14.90 14.96
12127 end dive: TARGET_DEPTH_EXCEEDED
12127 begin apogee
12134 990.0 -8.5 605 12303 roll -0.21 0.47 0.233 2856 270.2 - - 1749 - - 159.38 1.903 2792 -2.7 0.262 - - - - - - 14.72 14.07 13.38
12305 end apogee: CONTROL_FINISHED_OK
12305 begin climb
12309 997.6 - 608 12450 roll 0.84 1.17 0.183 3191 286.3 2.47 0.063 402 -545.3 116.8 122.35 2.154 2310 -3.9 0.337 - - - - - - 14.07 14.13 13.27
12680 969.5 9.5 662 12693 done 0.84 - - 3191 - 2.35 0.035 1802 595.7 116.8 - - 2293 - - - - - - - - 14.54 14.50 14.56
13036 935.3 9.7 670 13049 roll 0.84 - - 3201 - 2.45 0.063 402 -571.4 116.8 - - 2291 - - - - - - - - 14.82 14.64 14.88
13238 914.2 10.5 698 13251 done 0.73 0.15 0.271 3170 -206.7 2.35 0.035 1824 605.1 116.8 - - 2291 - - - - - - - - 14.57 14.73 14.76
13608 880.6 9.0 708 13621 roll 0.73 - - 3170 - 2.30 0.057 3183 590.9 116.8 - - 2290 - - - - - - - - 14.93 14.76 14.95
13676 874.1 9.3 717 13689 done 0.73 - - 3176 - 2.28 0.041 1811 -601.8 116.8 - - 2289 - - - - - - - - 14.84 14.78 14.86
14011 844.6 8.7 729 14024 roll 0.73 - - 3187 - 2.45 0.067 397 -577.1 116.8 - - 2289 - - - - - - - - 14.97 14.78 15.00
14107 835.6 9.3 742 14120 done 0.73 - - 3187 - 2.30 0.036 1796 608.3 116.8 - - 2289 - - - - - - - - 14.88 14.83 14.89
14471 803.3 8.7 751 14484 roll 0.73 - - 3187 - 2.33 0.055 3182 594.8 116.8 - - 2289 - - - - - - - - 14.99 14.82 15.02
14567 794.4 9.0 764 14580 done 0.63 0.25 0.266 3138 -196.0 2.25 0.041 1821 -604.9 116.8 - - 2288 - - - - - - - - 14.68 14.83 14.86
14931 769.6 6.8 773 14960 roll 0.66 - - 3146 - 2.47 0.066 401 -574.9 137.0 17.38 1.943 2229 -3.4 0.249 - - - - - - 15.00 14.59 14.02
15060 760.2 7.7 791 15073 done 0.66 - - 3146 - 2.33 0.035 1807 603.4 140.8 - - 2221 - - - - - - - - 14.78 14.73 14.79
15389 735.3 7.6 802 15406 roll 0.67 - - 3146 - 2.40 0.057 3194 577.9 145.9 2.83 0.886 2197 -8.5 1.301 - - - - - - 14.93 14.75 13.88
15460 729.5 8.1 812 15474 done 0.67 - - 3155 - 2.28 0.042 1825 -600.4 145.9 - - 2199 - - - - - - - - 14.83 14.78 14.84
15789 703.6 7.9 823 15802 roll 0.67 - - 3166 - 2.45 0.067 403 -580.4 145.9 - - 2198 - - - - - - - - 14.96 14.78 14.98
15878 695.8 8.6 835 15891 done 0.67 - - 3166 - 2.33 0.035 1818 607.3 145.9 - - 2202 - - - - - - - - 14.87 14.83 14.88
16248 665.3 8.2 845 16261 roll 0.67 - - 3166 - 2.33 0.055 3199 592.7 145.9 - - 2198 - - - - - - - - 14.98 14.81 15.01
16302 660.6 8.5 852 16316 done 0.67 - - 3175 - 2.33 0.041 1800 -600.4 145.9 - - 2198 - - - - - - - - 14.87 14.81 14.88
16646 632.6 8.1 859 16659 roll 0.67 - - 3186 - 2.40 0.067 406 -580.8 145.9 - - 2198 - - - - - - - - 15.00 14.81 15.02
16700 627.9 8.8 866 16714 done 0.67 0.17 0.252 3146 -235.3 2.33 0.034 1821 607.3 145.9 - - 2198 - - - - - - - - 14.69 14.86 14.86
17045 604.1 6.8 873 17088 roll 0.69 - - 3146 - 2.35 0.054 3187 581.3 165.0 30.95 1.672 2115 -2.7 0.179 - - - - - - 15.00 14.52 14.03
17116 598.8 7.6 883 17129 done 0.70 - - 3153 - 2.28 0.041 1821 -599.1 169.9 1.35 0.168 2094 -15.6 10.249 - - - - - - 14.65 14.62 14.55
17444 572.4 8.1 894 17458 roll 0.70 - - 3164 - 2.47 0.067 396 -576.9 169.9 - - 2095 - - - - - - - - 14.88 14.69 14.90
17563 561.6 9.3 910 17576 done 0.70 - - 3163 - 2.30 0.035 1786 604.3 169.9 - - 2095 - - - - - - - - 14.81 14.76 14.82
17905 530.0 9.3 923 17919 roll 0.70 - - 3164 - 2.35 0.055 3185 595.3 169.9 - - 2095 - - - - - - - - 14.94 14.78 14.97
17967 524.0 9.7 931 17981 done 0.70 - - 3172 - 2.30 0.042 1804 -600.4 169.9 - - 2095 - - - - - - - - 14.85 14.78 14.86
18309 492.4 9.2 944 18323 roll 0.70 - - 3188 - 2.42 0.067 397 -581.4 169.9 - - 2095 - - - - - - - - 14.97 14.78 15.00
18385 485.4 9.3 954 18398 done 0.70 - - 3182 - 2.25 0.034 1776 612.9 169.9 - - 2095 - - - - - - - - 14.88 14.83 14.90
18713 457.0 8.6 965 18726 roll 0.70 - - 3182 - 2.38 0.054 3193 595.4 169.9 - - 2095 - - - - - - - - 14.99 14.81 15.01
18781 450.9 8.8 974 18795 done 0.70 0.15 0.271 3160 -146.7 2.30 0.041 1800 -605.7 169.9 - - 2095 - - - - - - - - 14.68 14.83 14.85
19120 426.7 7.1 986 19154 roll 0.71 - - 3168 - 2.47 0.067 404 -565.2 184.1 19.38 1.531 2036 -3.0 0.157 - - - - - - 15.00 14.68 14.14
19234 417.7 7.9 1002 19247 done 0.71 - - 3168 - 2.25 0.034 1760 602.7 184.1 - - 2031 - - - - - - - - 14.78 14.74 14.80
19576 389.7 8.2 1015 19589 roll 0.71 - - 3168 - 2.42 0.054 3194 592.6 184.1 - - 2031 - - - - - - - - 14.93 14.76 14.95
19630 384.8 8.9 1022 19644 done 0.71 - - 3177 - 2.38 0.041 1771 -597.9 184.1 - - 2030 - - - - - - - - 14.83 14.78 14.85
19974 353.2 9.4 1029 19987 roll 0.71 - - 3187 - 2.38 0.067 398 -576.9 184.1 - - 2030 - - - - - - - - 14.97 14.78 14.99
20056 344.7 10.3 1040 20070 done 0.71 - - 3187 - 2.22 0.034 1763 614.9 184.1 - - 2030 - - - - - - - - 14.88 14.83 14.89
20378 312.4 10.1 1050 20391 roll 0.71 - - 3187 - 2.38 0.054 3185 597.5 184.1 - - 2030 - - - - - - - - 14.99 14.81 15.01
20481 301.6 10.1 1064 20494 done 0.71 0.15 0.264 3160 -180.0 2.33 0.041 1784 -601.3 184.1 - - 2029 - - - - - - - - 14.69 14.83 14.87
20838 271.6 8.4 1072 20851 roll 0.71 - - 3173 - 2.38 0.066 402 -580.7 184.1 - - 2030 - - - - - - - - 15.00 14.81 15.02
20900 266.2 8.9 1080 20913 done 0.71 - - 3173 - 2.25 0.034 1783 613.8 184.1 - - 2030 - - - - - - - - 14.91 14.86 14.92
21242 237.0 8.5 1093 21255 roll 0.71 - - 3173 - 2.35 0.053 3185 596.6 184.1 - - 2030 - - - - - - - - 15.01 14.83 15.03
21317 230.3 8.9 1103 21330 done 0.71 - - 3181 - 2.25 0.040 1811 -610.7 184.1 - - 2030 - - - - - - - - 14.90 14.85 14.92
21645 201.1 9.0 1114 21658 roll 0.71 - - 3191 - 2.42 0.066 401 -582.6 184.1 - - 2029 - - - - - - - - 15.01 14.83 15.04
21756 190.2 10.1 1129 21771 done 0.71 0.12 0.253 3165 -216.7 2.28 0.033 1800 613.6 184.1 - - 2029 - - - - - - - - 14.72 14.88 14.88
22099 160.8 8.4 1136 22112 roll 0.71 - - 3165 - 2.33 0.052 3185 594.4 184.1 - - 2028 - - - - - - - - 15.02 14.85 15.04
22168 154.8 8.4 1145 22181 done 0.71 - - 3172 - 2.25 0.039 1800 -615.6 184.1 - - 2030 - - - - - - - - 14.88 14.84 14.90
22504 130.2 7.2 1157 22526 roll 0.73 - - 3181 - 2.47 0.064 395 -568.8 196.5 6.95 1.127 1994 -5.2 0.111 - - - - - - 15.02 14.81 14.28
22626 120.3 8.3 1174 22640 done 0.73 - - 3181 - 2.25 0.032 1788 619.1 196.5 - - 1994 - - - - - - - - 14.89 14.85 14.90
22962 97.0 6.8 1186 22994 roll 0.75 - - 3181 - 2.40 0.050 3185 582.1 215.5 19.25 0.364 1919 -3.9 0.192 - - - - - - 15.00 14.78 14.56
23225 81.1 4.4 1223 23298 done 0.98 0.17 0.112 3256 441.2 2.10 0.038 1895 -614.3 279.6 60.97 0.349 1653 -4.4 0.187 - - - - - - 14.81 14.82 14.49
23603 64.3 3.4 1244 23691 roll 1.22 0.20 0.105 3331 375.0 2.22 0.048 3183 580.2 362.9 75.00 0.301 1314 -4.5 0.178 - - - - - - 14.77 14.66 14.49
23803 51.0 7.3 1269 23827 done 1.24 - - 3339 - 2.10 0.036 1900 -611.0 373.6 12.38 0.237 1269 -3.6 0.145 - - - - - - 14.78 14.72 14.53
24133 25.4 8.1 1283 24146 done 1.24 - - 3339 - - - 1900 - 373.6 3.47 0.152 1272 0.9 -0.027 - - - - - - 14.94 14.81 14.66
24440 2.5 7.4 1294 24454 VBD 1.25 - - 3339 - - - 1900 - 382.4 3.92 0.136 1266 -1.5 0.005 - - - - - - 14.97 - 15.00
24454 end climb: SURFACE_DEPTH_REACHED
24454 begin surface coast
24457 end surface coast: CONTROL_FINISHED_OK
24457 begin surface
SM 1.28 - - - - -8.61 9.12 0.067 160 17.5 - - 1900 - 515.13 83.18 0.123 691 8.3 -0.009 - - - - - -