SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 1 • 41.06 of 350.00 AH used of 24V (88.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.9 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 14 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
18 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 VBD -0.68 - - 202 - - - 2282 - -116.8 -83.32 - 2813 - - - - - - - - 14.73 - 14.76
113 3.8 -5.0 3 137 roll -0.68 8.73 0.422 1962 201.6 2.65 2.124 3693 532.5 -116.8 -7.38 - 3220 -55.1 - - - - - - - 14.33 13.77 14.52
193 36.1 -35.7 15 200 done -0.39 0.43 0.282 2070 251.2 2.42 0.054 2267 -589.3 -116.8 - - 3221 - - - - - - - - 14.42 14.55 14.60
530 89.5 -9.3 30 536 roll -0.32 - - 2060 - 2.53 0.087 3698 565.6 -116.8 - - 3223 - - - - - - - - 14.85 14.64 14.90
766 106.2 -7.5 64 773 done -0.32 0.12 0.248 2089 241.7 2.30 0.045 2290 -612.2 -116.8 - - 3225 - - - - - - - - 14.59 14.73 14.75
1090 128.0 -6.8 75 1096 roll -0.32 - - 2089 - 2.38 0.059 885 -590.3 -116.8 - - 3225 - - - - - - - - 14.92 14.73 14.94
1201 134.6 -5.7 91 1208 done -0.32 - - 2086 - 2.50 0.068 2323 575.2 -116.8 - - 3225 - - - - - - - - 14.81 14.73 14.83
1538 154.3 -5.8 104 1544 roll -0.32 - - 2081 - 2.38 0.090 3691 574.8 -116.8 - - 3223 - - - - - - - - 14.95 14.72 14.96
1571 156.4 -6.0 109 1579 done -0.32 - - 2082 - 2.28 0.049 2299 -610.5 -116.8 - - 3223 - - - - - - - - 14.83 14.78 14.85
1930 177.0 -5.9 118 1936 roll -0.32 - - 2081 - 2.40 0.058 887 -588.3 -116.8 - - 3221 - - - - - - - - 14.95 14.76 14.97
1999 181.9 -7.1 128 2005 done -0.32 - - 2081 - 2.47 0.070 2310 576.1 -116.8 - - 3219 - - - - - - - - 14.83 14.75 14.85
2324 203.4 -6.7 139 2337 done -0.32 - - 2081 - - - 2314 - -116.8 - - 3219 - - - - - - - - 14.97 14.98 14.98
2658 220.6 -4.7 145 2672 roll -0.37 - - 2081 - 2.42 0.093 3701 573.1 -116.8 - - 3217 - - - - - - - - 15.00 14.77 15.01
2699 222.5 -4.8 150 2712 done -0.43 - - 2081 - 2.28 0.050 2312 -609.2 -116.8 - - 3217 - - - - - - - - 14.89 14.83 14.90
3063 240.9 -5.4 159 3076 roll -0.48 0.12 0.133 2018 -525.0 2.42 0.060 881 -591.3 -116.8 - - 3213 - - - - - - - - 14.82 14.81 14.87
3204 252.4 -8.3 178 3218 done -0.48 0.12 0.292 2039 175.0 2.50 0.074 2313 572.8 -116.8 - - 3212 - - - - - - - - 14.67 14.80 14.85
3526 275.0 -6.9 188 3539 done -0.48 - - 2040 - - - 2314 - -116.8 - - 3209 - - - - - - - - 15.02 15.04 15.03
3863 299.6 -7.5 194 3876 roll -0.48 - - 2040 - 2.42 0.058 890 -588.4 -116.8 - - 3208 - - - - - - - - 15.02 14.83 15.04
3973 308.3 -7.5 209 3988 done -0.48 - - 2039 - 2.47 0.074 2300 570.9 -116.8 - - 3207 - - - - - - - - 14.90 14.80 14.92
4317 333.2 -7.3 216 4330 roll -0.48 - - 2039 - 2.42 0.060 887 -583.9 -116.8 - - 3205 - - - - - - - - 15.02 14.82 15.03
4351 335.8 -7.5 220 4364 done -0.48 - - 2039 - 2.47 0.073 2296 570.4 -116.8 - - 3204 - - - - - - - - 14.90 14.81 14.92
4721 361.9 -7.1 230 4734 done -0.48 - - 2039 - - - 2297 - -116.8 - - 3202 - - - - - - - - 15.02 15.04 15.04
5057 386.4 -7.4 236 5070 roll -0.48 - - 2039 - 2.42 0.060 887 -582.6 -116.8 - - 3200 - - - - - - - - 15.06 14.83 15.05
5112 390.9 -8.0 243 5125 done -0.48 - - 2039 - 2.47 0.075 2300 572.1 -116.8 - - 3200 - - - - - - - - 14.90 14.81 14.92
5456 415.4 -7.1 250 5469 roll -0.48 - - 2029 - 2.45 0.096 3697 570.2 -116.8 - - 3198 - - - - - - - - 15.05 14.79 15.04
5525 420.3 -7.3 259 5538 done -0.48 - - 2029 - 2.33 0.055 2298 -600.4 -116.8 - - 3198 - - - - - - - - 14.91 14.84 14.92
5861 444.1 -7.1 271 5874 roll -0.48 - - 2029 - 2.42 0.067 882 -585.1 -116.8 - - 3196 - - - - - - - - 15.02 14.79 15.04
6023 456.2 -7.5 293 6036 done -0.48 - - 2026 - 2.47 0.076 2290 570.0 -116.8 - - 3196 - - - - - - - - 14.89 14.79 14.91
6380 483.2 -7.7 301 6393 roll -0.48 - - 2016 - 2.47 0.096 3701 571.3 -116.8 - - 3194 - - - - - - - - 15.01 14.76 15.04
6406 485.4 -7.7 304 6419 done -0.48 - - 2016 - 2.38 0.055 2274 -599.6 -116.8 - - 3194 - - - - - - - - 14.89 14.84 14.94
6728 512.0 -8.3 314 6741 roll -0.48 - - 2016 - 2.38 0.068 886 -583.2 -116.8 - - 3192 - - - - - - - - 15.02 14.80 15.03
6790 517.3 -8.3 322 6803 done -0.48 0.12 0.295 2040 200.0 2.47 0.077 2285 566.4 -116.8 - - 3192 - - - - - - - - 14.64 14.78 14.85
7133 542.5 -7.4 335 7146 roll -0.48 - - 2039 - 2.42 0.063 884 -578.9 -116.8 - - 3191 - - - - - - - - 15.01 14.80 15.02
7187 546.7 -7.6 342 7201 done -0.48 - - 2035 - 2.50 0.079 2292 563.2 -116.8 - - 3191 - - - - - - - - 14.88 14.78 14.90
7531 572.2 -7.5 349 7545 roll -0.48 - - 2034 - 2.47 0.102 3688 565.2 -116.8 - - 3190 - - - - - - - - 15.02 14.76 15.04
7586 576.6 -8.2 356 7600 done -0.48 - - 2034 - 2.38 0.057 2271 -595.4 -116.8 - - 3189 - - - - - - - - 14.89 14.83 14.91
7930 602.0 -7.2 363 7943 roll -0.48 - - 2034 - 2.40 0.071 891 -575.0 -116.8 - - 3188 - - - - - - - - 15.00 14.78 15.02
8041 610.2 -7.1 378 8055 done -0.48 - - 2029 - 2.45 0.080 2272 563.7 -116.8 - - 3188 - - - - - - - - 14.87 14.76 14.89
8385 632.1 -6.2 385 8398 done -0.48 - - 2029 - - - 2271 - -116.8 - - 3186 - - - - - - - - 15.00 15.02 15.02
8721 651.7 -5.8 391 8734 roll -0.48 - - 2023 - 2.53 0.103 3694 562.5 -116.8 - - 3185 - - - - - - - - 15.00 14.75 15.02
8768 654.8 -6.7 397 8782 done -0.48 - - 2023 - 2.38 0.060 2283 -592.9 -116.8 - - 3185 - - - - - - - - 14.87 14.79 14.90
9125 676.9 -6.2 405 9138 roll -0.48 - - 2023 - 2.42 0.070 877 -581.0 -116.8 - - 3184 - - - - - - - - 15.01 14.78 15.02
9215 683.2 -7.0 417 9228 done -0.48 - - 2022 - 2.50 0.085 2278 560.4 -116.8 - - 3184 - - - - - - - - 14.86 14.75 14.89
9586 707.4 -6.5 427 9599 roll -0.48 - - 2013 - 2.55 0.105 3701 558.0 -116.8 - - 3182 - - - - - - - - 14.99 14.73 15.02
9633 710.7 -7.7 433 9647 done -0.48 0.12 0.252 2043 250.0 2.42 0.061 2274 -589.7 -116.8 - - 3182 - - - - - - - - 14.63 14.81 14.83
9990 730.8 -5.6 441 10004 roll -0.48 - - 2043 - 2.40 0.073 886 -578.3 -116.8 - - 3182 - - - - - - - - 14.99 14.73 15.01
10081 736.5 -6.3 453 10095 done -0.48 - - 2042 - 2.50 0.084 2271 554.0 -116.8 - - 3182 - - - - - - - - 14.85 14.74 14.88
10452 759.1 -6.2 463 10465 roll -0.48 - - 2038 - 2.55 0.109 3694 558.0 -116.8 - - 3180 - - - - - - - - 14.99 14.72 15.01
10507 762.8 -6.8 470 10521 done -0.48 - - 2038 - 2.40 0.061 2269 -593.8 -116.8 - - 3180 - - - - - - - - 14.86 14.79 14.88
10850 784.8 -6.4 477 10864 roll -0.48 - - 2038 - 2.40 0.073 890 -574.6 -116.8 - - 3179 - - - - - - - - 14.99 14.74 15.00
10926 789.9 -6.6 487 10939 done -0.48 - - 2038 - 2.47 0.086 2274 560.3 -116.8 - - 3178 - - - - - - - - 14.83 14.72 14.85
11255 809.6 -5.9 498 11268 done -0.48 - - 2038 - - - 2277 - -116.8 - - 3178 - - - - - - - - 14.97 15.00 15.00
11591 829.6 -6.0 504 11604 roll -0.48 - - 2028 - 2.55 0.109 3691 554.5 -116.8 - - 3175 - - - - - - - - 14.98 14.71 15.00
11660 833.8 -6.6 513 11673 done -0.48 - - 2028 - 2.40 0.063 2281 -587.5 -116.8 - - 3177 - - - - - - - - 14.85 14.77 14.87
11996 854.9 -6.2 525 12009 roll -0.48 - - 2028 - 2.42 0.072 882 -578.1 -116.8 - - 3176 - - - - - - - - 14.98 14.73 15.00
12107 862.3 -6.7 540 12121 done -0.48 - - 2026 - 2.53 0.087 2276 551.0 -116.8 - - 3176 - - - - - - - - 14.82 14.70 14.85
12450 883.6 -6.1 547 12463 roll -0.48 - - 2020 - 2.55 0.111 3692 555.3 -116.8 - - 3176 - - - - - - - - 14.95 14.69 14.99
12513 887.7 -6.6 555 12526 done -0.48 - - 2020 - 2.42 0.066 2276 -585.1 -116.8 - - 3175 - - - - - - - - 14.83 14.76 14.85
12855 909.1 -6.2 568 12869 roll -0.48 - - 2019 - 2.45 0.077 874 -572.2 -116.8 - - 3176 - - - - - - - - 14.96 14.71 14.98
12931 914.3 -6.9 578 12944 done -0.48 - - 2017 - 2.53 0.089 2270 551.8 -116.8 - - 3175 - - - - - - - - 14.81 14.69 14.83
13260 935.0 -6.4 589 13273 done -0.48 - - 2017 - - - 2270 - -116.8 - - 3173 - - - - - - - - 14.95 14.98 14.97
13596 955.7 -6.1 595 13609 done -0.48 - - 2017 - - - 2270 - -116.8 - - 3171 - - - - - - - - 14.96 14.98 14.98
13931 975.2 -5.8 601 13944 done -0.48 - - 2017 - - - 2270 - -116.8 - - 3173 - - - - - - - - 14.97 14.99 14.98
14208 end dive: TARGET_DEPTH_EXCEEDED
14208 begin apogee
14216 992.2 -6.1 606 14410 roll -0.19 0.43 0.233 2133 269.8 - - 2271 - - 184.70 1.714 2740 -2.3 0.251 - - - - - - 14.55 14.03 13.51
14412 end apogee: CONTROL_FINISHED_OK
14412 begin climb
14416 996.9 - 609 14581 roll 0.68 0.95 0.177 2407 288.4 2.62 0.111 3641 522.9 116.8 146.48 1.967 2261 -3.3 0.307 - - - - - - 14.02 14.05 13.26
14636 977.6 11.3 645 14650 done 0.61 - - 2417 - 2.60 0.080 2238 -539.6 116.8 - - 2236 - - - - - - - - 14.19 14.10 14.20
15007 936.4 11.1 655 15020 roll 0.54 0.15 0.292 2379 -253.3 2.65 0.112 3647 531.7 116.8 - - 2231 - - - - - - - - 14.34 14.44 14.47
15129 924.2 9.8 671 15142 done 0.54 - - 2389 - 2.55 0.082 2226 -557.3 116.8 - - 2230 - - - - - - - - 14.60 14.50 14.62
15471 890.4 9.8 684 15484 roll 0.54 - - 2400 - 2.58 0.101 820 -545.0 116.8 - - 2228 - - - - - - - - 14.81 14.56 14.82
15554 882.2 9.4 695 15567 done 0.54 - - 2400 - 2.58 0.090 2232 547.3 116.8 - - 2228 - - - - - - - - 14.69 14.59 14.72
15875 849.2 10.5 705 15889 roll 0.49 0.12 0.301 2367 -275.0 2.60 0.118 3646 543.8 116.8 - - 2227 - - - - - - - - 14.52 14.60 14.65
15951 841.4 9.8 715 15964 done 0.49 - - 2377 - 2.53 0.083 2223 -562.5 116.8 - - 2226 - - - - - - - - 14.74 14.64 14.76
16279 811.6 9.1 726 16292 roll 0.49 - - 2388 - 2.55 0.099 822 -549.4 116.8 - - 2225 - - - - - - - - 14.89 14.62 14.91
16347 805.3 9.0 735 16361 done 0.49 - - 2388 - 2.58 0.090 2240 549.6 116.8 - - 2225 - - - - - - - - 14.76 14.64 14.78
16683 774.1 9.2 747 16696 roll 0.49 - - 2388 - 2.58 0.117 3644 544.2 116.8 - - 2225 - - - - - - - - 14.91 14.65 14.93
16779 764.3 10.4 760 16793 done 0.49 0.15 0.279 2363 -166.7 2.50 0.081 2232 -564.8 116.8 - - 2224 - - - - - - - - 14.54 14.68 14.76
17143 735.5 7.9 769 17160 roll 0.49 - - 2373 - 2.55 0.100 815 -555.7 116.8 - - 2224 - - - - - - - - 14.92 14.66 14.94
17215 729.7 7.8 778 17229 done 0.49 - - 2374 - 2.58 0.091 2231 548.8 116.8 - - 2223 - - - - - - - - 14.78 14.67 14.81
17551 701.5 8.5 790 17564 roll 0.49 - - 2373 - 2.60 0.119 3648 545.0 116.8 - - 2223 - - - - - - - - 14.92 14.65 14.95
17641 692.8 9.5 802 17654 done 0.49 - - 2383 - 2.50 0.082 2242 -562.4 116.8 - - 2223 - - - - - - - - 14.79 14.69 14.81
18011 658.2 9.4 812 18024 roll 0.49 - - 2394 - 2.58 0.096 818 -551.9 116.8 - - 2223 - - - - - - - - 14.93 14.66 14.95
18094 650.5 9.0 823 18107 done 0.49 0.12 0.272 2365 -241.7 2.60 0.090 2252 551.5 116.8 - - 2223 - - - - - - - - 14.55 14.67 14.77
18415 624.8 7.9 833 18429 roll 0.49 - - 2365 - 2.55 0.119 3646 546.7 116.8 - - 2222 - - - - - - - - 14.93 14.65 14.95
18463 620.7 8.7 839 18476 done 0.49 - - 2374 - 2.47 0.080 2239 -569.6 116.8 - - 2222 - - - - - - - - 14.79 14.69 14.82
18819 592.4 7.9 847 18833 roll 0.49 - - 2384 - 2.55 0.093 819 -556.9 116.8 - - 2222 - - - - - - - - 14.93 14.67 14.95
18882 587.4 7.9 855 18895 done 0.49 - - 2384 - 2.60 0.088 2255 552.3 116.8 - - 2221 - - - - - - - - 14.78 14.66 14.81
19224 558.7 8.5 868 19237 roll 0.49 - - 2384 - 2.55 0.117 3641 543.5 116.8 - - 2222 - - - - - - - - 14.93 14.65 14.95
19307 550.7 9.5 879 19320 done 0.49 0.08 0.248 2372 -150.0 2.42 0.079 2253 -573.6 116.8 - - 2222 - - - - - - - - 14.53 14.68 14.67
19628 524.4 8.1 889 19641 roll 0.49 - - 2381 - 2.60 0.096 818 -551.9 116.8 - - 2222 - - - - - - - - 14.92 14.66 14.95
19725 516.6 7.7 902 19738 done 0.49 - - 2382 - 2.58 0.089 2237 550.0 116.8 - - 2221 - - - - - - - - 14.78 14.67 14.82
20088 486.2 8.4 911 20102 roll 0.49 - - 2381 - 2.60 0.117 3648 542.7 116.8 - - 2221 - - - - - - - - 14.93 14.62 14.95
20220 474.2 8.8 929 20233 done 0.49 0.12 0.275 2363 -150.0 2.47 0.079 2246 -567.6 116.8 - - 2221 - - - - - - - - 14.54 14.69 14.77
20549 451.2 6.9 940 20562 roll 0.50 - - 2374 - 2.58 0.093 821 -552.3 127.6 - - 2221 - - - - - - - - 14.93 14.64 14.95
20625 446.1 6.6 950 20664 done 0.51 - - 2374 - 2.58 0.086 2246 552.3 145.3 27.45 1.519 2146 -2.7 0.148 - - - - - - 14.78 14.66 14.02
20996 418.3 7.6 961 21010 roll 0.51 - - 2374 - 2.55 0.114 3640 546.7 145.3 - - 2126 - - - - - - - - 14.83 14.57 14.85
21051 413.7 8.5 968 21065 done 0.51 - - 2383 - 2.47 0.074 2243 -565.6 145.3 - - 2126 - - - - - - - - 14.71 14.63 14.73
21395 385.7 8.3 975 21408 roll 0.51 - - 2391 - 2.58 0.090 817 -552.7 145.3 - - 2126 - - - - - - - - 14.88 14.64 14.89
21435 382.3 8.0 980 21448 done 0.51 - - 2392 - 2.60 0.087 2252 551.9 145.3 - - 2124 - - - - - - - - 14.74 14.64 14.77
21799 349.4 9.1 989 21812 roll 0.51 - - 2392 - 2.53 0.116 3638 547.8 145.3 - - 2124 - - - - - - - - 14.90 14.64 14.92
21861 343.2 9.9 997 21874 done 0.51 0.15 0.258 2366 -173.3 2.45 0.075 2244 -569.0 145.3 - - 2124 - - - - - - - - 14.57 14.69 14.75
22204 315.8 7.9 1010 22217 roll 0.51 - - 2375 - 2.55 0.091 825 -556.5 145.3 - - 2124 - - - - - - - - 14.91 14.67 14.96
22293 308.7 7.7 1022 22307 done 0.57 - - 2376 - 2.58 0.086 2251 552.7 145.3 - - 2124 - - - - - - - - 14.78 14.66 14.81
22664 279.9 7.7 1032 22677 roll 0.57 - - 2376 - 2.55 0.114 3642 545.5 145.3 - - 2124 - - - - - - - - 14.92 14.65 14.95
22733 274.2 8.3 1041 22746 done 0.57 - - 2385 - 2.45 0.074 2238 -573.1 145.3 - - 2124 - - - - - - - - 14.79 14.70 14.82
23068 247.9 7.9 1053 23081 roll 0.57 - - 2394 - 2.53 0.088 821 -560.1 145.3 - - 2123 - - - - - - - - 14.93 14.68 14.95
23137 242.5 7.7 1062 23150 done 0.57 - - 2394 - 2.55 0.083 2245 558.4 145.3 - - 2124 - - - - - - - - 14.79 14.68 14.82
23472 214.8 8.3 1074 23486 roll 0.57 - - 2394 - 2.53 0.112 3639 551.0 145.3 - - 2123 - - - - - - - - 14.93 14.66 14.95
23541 208.5 9.1 1083 23554 done 0.57 - - 2404 - 2.42 0.072 2242 -577.3 145.3 - - 2124 - - - - - - - - 14.81 14.71 14.83
23876 180.5 8.3 1095 23890 roll 0.57 - - 2412 - 2.53 0.086 822 -561.3 145.3 - - 2123 - - - - - - - - 14.93 14.69 14.95
23939 175.3 8.5 1103 23952 done 0.57 - - 2413 - 2.58 0.083 2252 554.3 145.3 - - 2123 - - - - - - - - 14.77 14.66 14.81
24281 144.7 9.0 1116 24294 roll 0.57 - - 2413 - 2.53 0.112 3641 549.0 145.3 - - 2124 - - - - - - - - 14.93 14.67 14.95
24371 135.6 9.8 1128 24384 done 0.57 0.15 0.267 2387 -173.3 2.42 0.071 2244 -577.3 145.3 - - 2124 - - - - - - - - 14.57 14.71 14.78
24742 109.3 6.7 1138 24761 roll 0.58 - - 2397 - 2.53 0.086 821 -562.5 159.4 5.70 0.322 2090 -6.0 0.375 - - - - - - 14.94 14.69 14.37
24823 104.7 5.4 1149 24869 done 0.66 - - 2397 - 2.55 0.082 2248 559.6 206.1 32.12 0.454 1898 -6.0 0.255 - - - - - - 14.79 14.68 14.38
25198 80.8 6.2 1172 25230 roll 0.75 0.12 0.135 2459 516.7 2.53 0.107 3649 553.8 234.2 18.30 0.365 1787 -6.1 0.248 - - - - - - 14.70 14.60 14.39
25271 75.1 8.4 1182 25284 done 0.75 - - 2468 - 2.42 0.070 2252 -577.3 234.2 - - 1789 - - - - - - - - 14.73 14.65 14.74
25600 57.5 4.7 1195 25651 roll 0.83 - - 2468 - 2.62 0.102 3647 532.4 296.0 38.92 0.309 1532 -6.6 0.227 - - - - - - 14.88 14.58 14.42
25783 47.3 5.5 1221 25829 done 0.96 0.12 0.135 2528 500.0 2.40 0.068 2276 -571.2 340.5 28.42 0.275 1348 -6.5 0.206 - - - - - - 14.64 14.62 14.42
26158 27.4 5.4 1241 26202 roll 1.06 - - 2532 - 2.62 0.082 827 -553.1 386.0 28.35 0.210 1165 -6.5 0.156 - - - - - - 14.88 14.60 14.50
26230 23.4 5.4 1251 26276 done 1.21 0.17 0.098 2612 470.6 2.58 0.074 2281 563.6 432.6 29.50 0.202 974 -6.5 0.139 - - - - - - 14.68 14.62 14.48
26437 end climb: SURFACE_DEPTH_REACHED
26437 begin surface coast
26465 end surface coast: CONTROL_FINISHED_OK
26465 begin surface
SM 1.07 - - - - -6.15 6.75 0.065 209 30.9 - - 2281 - 500.17 41.58 0.138 699 16.8 -0.013 - - - - - -