SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 87 * Raw log
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• Previous call tries 1 • 36.73 of 350.00 AH used of 24V (89.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 15 s • Transponder ping count: 0
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 156 - - - 1864 - -116.8 -81.05 - 3271 - - - - - - - - 14.81 13.78 14.84
113 8.4 -12.8 3 131 roll -0.84 12.07 0.401 2660 207.5 2.38 0.047 472 -584.9 -116.8 - - 3273 - - - - - - - - 14.43 14.65 14.66
222 52.2 -24.5 19 229 done -0.44 0.52 0.280 2781 232.7 2.25 0.034 1853 613.8 -116.8 - - 3273 - - - - - - - - 14.53 14.71 14.71
558 92.4 -9.3 34 564 roll -0.44 - - 2776 - 2.33 0.054 3264 605.6 -116.8 - - 3278 - - - - - - - - 14.95 14.76 14.97
620 98.2 -8.8 43 626 done -0.44 - - 2772 - 1.90 0.034 2107 -608.9 -116.8 - - 3275 - - - - - - - - 14.82 14.80 14.84
950 122.8 -8.0 52 956 roll -0.44 - - 2769 - 2.72 0.057 478 -598.9 -116.8 - - 3275 - - - - - - - - 15.00 14.82 15.02
1019 128.8 -8.6 62 1026 done -0.44 - - 2761 - 2.67 0.036 2110 611.2 -116.8 - - 3275 - - - - - - - - 14.90 14.85 14.92
1343 154.9 -8.2 73 1350 roll -0.44 - - 2762 - 2.75 0.054 478 -593.5 -116.8 - - 3274 - - - - - - - - 15.02 14.84 15.04
1455 165.3 -9.0 89 1462 done -0.44 0.15 0.244 2784 146.7 2.65 0.036 2089 607.9 -116.8 - - 3273 - - - - - - - - 14.75 14.87 14.89
1791 190.1 -7.3 102 1798 roll -0.44 - - 2784 - 2.72 0.056 480 -591.5 -116.8 - - 3270 - - - - - - - - 15.03 14.85 15.05
1924 201.1 -8.4 121 1930 done -0.44 - - 2778 - 2.58 0.036 2048 607.8 -116.8 - - 3269 - - - - - - - - 14.93 14.88 14.93
2240 227.0 -8.3 131 2246 roll -0.44 - - 2778 - 2.65 0.057 478 -592.5 -116.8 - - 3266 - - - - - - - - 15.02 14.85 15.05
2337 235.7 -9.0 145 2343 done -0.44 - - 2768 - 2.47 0.035 1988 611.3 -116.8 - - 3265 - - - - - - - - 14.94 14.88 14.95
2687 265.3 -8.4 153 2700 roll -0.44 - - 2768 - 2.55 0.057 478 -592.2 -116.8 - - 3262 - - - - - - - - 15.07 14.89 15.09
2798 275.0 -8.5 168 2811 done -0.44 - - 2758 - 2.42 0.035 1960 612.4 -116.8 - - 3260 - - - - - - - - 14.97 14.92 14.98
3142 302.9 -8.2 175 3154 done -0.44 - - 2758 - - - 1960 - -116.8 - - 3259 - - - - - - - - 15.09 15.11 15.11
3478 331.0 -8.4 181 3491 roll -0.44 - - 2757 - 2.50 0.057 475 -594.0 -116.8 - - 3256 - - - - - - - - 15.09 14.95 15.11
3658 347.7 -9.2 206 3671 done -0.44 0.15 0.246 2783 173.3 2.38 0.036 1941 616.0 -116.8 - - 3255 - - - - - - - - 14.81 14.95 14.96
3996 372.3 -7.2 218 4009 roll -0.54 - - 2783 - 2.47 0.057 473 -594.3 -116.8 - - 3253 - - - - - - - - 15.09 14.92 15.11
4071 378.3 -7.6 228 4085 done -0.54 - - 2776 - 2.33 0.036 1906 615.0 -116.8 - - 3252 - - - - - - - - 15.00 14.95 15.01
4400 401.7 -7.1 239 4413 roll -0.54 - - 2776 - 2.40 0.057 478 -595.0 -116.8 - - 3250 - - - - - - - - 15.10 14.92 15.12
4447 405.5 -8.1 245 4460 done -0.54 - - 2768 - 2.28 0.036 1876 613.2 -116.8 - - 3250 - - - - - - - - 15.00 14.95 15.01
4803 432.8 -7.8 253 4817 roll -0.54 - - 2768 - 2.38 0.058 470 -590.8 -116.8 - - 3248 - - - - - - - - 15.10 14.92 15.12
4892 440.2 -8.0 265 4906 done -0.54 - - 2760 - 2.20 0.035 1829 617.7 -116.8 - - 3247 - - - - - - - - 15.00 14.95 15.02
5263 466.5 -7.0 275 5276 done -0.54 - - 2759 - - - 1829 - -116.8 - - 3244 - - - - - - - - 15.10 15.12 15.12
5599 489.9 -6.9 281 5612 roll -0.54 - - 2760 - 2.30 0.059 470 -590.9 -116.8 - - 3244 - - - - - - - - 15.10 14.91 15.12
5633 492.6 -8.0 285 5646 done -0.54 - - 2751 - 2.20 0.037 1816 611.8 -116.8 - - 3243 - - - - - - - - 15.00 14.95 15.02
6003 521.8 -8.0 295 6017 roll -0.54 - - 2741 - 2.40 0.057 3260 601.7 -116.8 - - 3242 - - - - - - - - 15.09 14.91 15.10
6065 527.0 -8.4 303 6078 done -0.54 - - 2740 - 2.40 0.039 1798 -609.2 -116.8 - - 3242 - - - - - - - - 14.99 14.92 15.01
6407 554.6 -7.9 316 6420 roll -0.54 - - 2740 - 2.22 0.062 477 -595.0 -116.8 - - 3242 - - - - - - - - 15.09 14.91 15.14
6526 564.6 -8.4 332 6539 done -0.54 - - 2732 - 2.08 0.037 1760 616.8 -116.8 - - 3241 - - - - - - - - 15.00 14.94 15.00
6868 593.3 -8.4 345 6881 roll -0.54 - - 2721 - 2.50 0.059 3257 598.8 -116.8 - - 3239 - - - - - - - - 15.07 14.90 15.11
6943 600.1 -9.0 355 6957 done -0.54 0.15 0.243 2755 226.7 2.42 0.041 1774 -612.8 -116.8 - - 3238 - - - - - - - - 14.79 14.92 14.95
7271 626.0 -7.9 366 7285 roll -0.54 - - 2755 - 2.20 0.063 474 -590.9 -116.8 - - 3237 - - - - - - - - 15.09 14.93 15.11
7353 632.7 -8.3 377 7367 done -0.54 - - 2746 - 2.12 0.037 1779 615.6 -116.8 - - 3236 - - - - - - - - 14.99 14.94 15.00
7675 656.8 -7.4 387 7688 roll -0.54 - - 2738 - 2.47 0.060 3257 598.4 -116.8 - - 3235 - - - - - - - - 15.09 14.89 15.11
7729 660.8 -7.4 394 7743 done -0.54 - - 2738 - 2.45 0.041 1777 -604.1 -116.8 - - 3235 - - - - - - - - 14.97 14.91 14.99
8074 686.7 -7.6 401 8087 roll -0.54 - - 2738 - 2.20 0.063 478 -590.5 -116.8 - - 3234 - - - - - - - - 15.08 14.89 15.10
8192 696.8 -8.4 417 8206 done -0.54 - - 2730 - 2.08 0.038 1747 610.1 -116.8 - - 3234 - - - - - - - - 14.97 14.92 14.99
8535 725.6 -8.5 430 8548 roll -0.54 - - 2718 - 2.55 0.059 3263 594.5 -116.8 - - 3233 - - - - - - - - 15.07 14.88 15.10
8645 735.1 -8.5 445 8660 done -0.54 0.15 0.248 2752 226.7 2.45 0.041 1783 -604.1 -116.8 - - 3232 - - - - - - - - 14.76 14.90 14.92
8989 759.7 -7.1 452 9002 roll -0.54 - - 2752 - 2.22 0.063 474 -589.6 -116.8 - - 3231 - - - - - - - - 15.07 14.88 15.07
9079 766.3 -6.7 464 9092 done -0.54 - - 2746 - 2.10 0.037 1764 614.3 -116.8 - - 3231 - - - - - - - - 14.97 14.92 14.98
9449 791.2 -6.8 474 9462 roll -0.54 - - 2735 - 2.50 0.060 3256 596.8 -116.8 - - 3231 - - - - - - - - 15.07 14.87 15.09
9560 799.0 -6.5 489 9574 done -0.54 - - 2735 - 2.45 0.041 1780 -602.4 -116.8 - - 3229 - - - - - - - - 14.95 14.89 14.97
9903 823.6 -7.3 496 9916 roll -0.54 - - 2735 - 2.22 0.064 479 -586.0 -116.8 - - 3229 - - - - - - - - 15.07 14.86 15.09
10013 832.9 -8.5 511 10027 done -0.54 - - 2726 - 2.10 0.039 1751 605.7 -116.8 - - 3228 - - - - - - - - 14.96 14.89 14.97
10358 861.4 -8.5 518 10371 roll -0.54 - - 2715 - 2.55 0.060 3268 594.9 -116.8 - - 3225 - - - - - - - - 15.06 14.86 15.08
10391 864.5 -8.4 522 10405 done -0.54 0.15 0.249 2749 226.7 2.47 0.042 1760 -610.5 -116.8 - - 3227 - - - - - - - - 14.73 14.89 14.91
10762 893.2 -7.7 532 10775 roll -0.54 - - 2749 - 2.17 0.065 480 -589.9 -116.8 - - 3227 - - - - - - - - 15.06 14.85 15.10
10865 901.4 -7.9 546 10878 done -0.54 - - 2743 - 2.05 0.039 1730 609.8 -116.8 - - 3226 - - - - - - - - 14.95 14.90 14.96
11221 927.6 -7.2 554 11235 roll -0.54 - - 2732 - 2.58 0.060 3256 591.5 -116.8 - - 3226 - - - - - - - - 15.05 14.83 15.07
11332 935.8 -7.3 569 11347 done -0.54 - - 2732 - 2.50 0.041 1755 -600.4 -116.8 - - 3226 - - - - - - - - 14.93 14.87 14.95
11676 960.6 -7.2 576 11689 roll -0.54 - - 2732 - 2.17 0.066 480 -587.6 -116.8 - - 3225 - - - - - - - - 15.05 14.84 15.07
11751 966.5 -7.9 586 11765 done -0.54 0.12 0.271 2750 150.0 2.05 0.039 1728 608.8 -116.8 - - 3225 - - - - - - - - 14.69 14.88 14.88
12080 988.1 -6.6 597 12093 roll -0.54 - - 2741 - 2.60 0.060 3266 591.5 -116.8 - - 3224 - - - - - - - - 15.04 14.83 15.06
12095 end dive: TARGET_DEPTH_EXCEEDED
12095 begin apogee
12106 990.2 -7.2 599 12233 roll -0.21 0.43 0.220 2856 267.4 - - 1805 - - 117.60 2.208 2794 -3.7 0.303 - - - - - - 14.70 14.09 13.40
12235 end apogee: CONTROL_FINISHED_OK
12235 begin climb
12238 994.2 - 601 12378 roll 0.84 1.17 0.182 3191 286.3 2.55 0.065 396 -552.5 116.8 123.05 2.163 2316 -3.9 0.330 - - - - - - 14.09 14.15 13.29
12549 970.4 9.9 648 12562 done 0.84 - - 3191 - 2.38 0.035 1802 590.8 116.8 - - 2293 - - - - - - - - 14.49 14.44 14.50
12891 937.3 9.6 661 12904 roll 0.84 - - 3201 - 2.47 0.064 397 -568.8 116.8 - - 2291 - - - - - - - - 14.79 14.62 14.82
13106 915.3 10.3 691 13119 done 0.73 0.15 0.267 3169 -213.3 2.33 0.036 1807 605.2 116.8 - - 2292 - - - - - - - - 14.56 14.72 14.73
13463 884.1 8.7 699 13476 roll 0.73 - - 3169 - 2.33 0.056 3180 589.3 116.8 - - 2290 - - - - - - - - 14.90 14.74 14.95
13538 877.3 9.0 709 13551 done 0.73 - - 3176 - 2.25 0.041 1821 -604.0 116.8 - - 2289 - - - - - - - - 14.83 14.78 14.85
13866 848.6 8.8 720 13879 roll 0.73 - - 3187 - 2.45 0.067 405 -578.0 116.8 - - 2289 - - - - - - - - 14.95 14.77 14.99
13984 837.6 9.7 736 13997 done 0.73 - - 3187 - 2.28 0.034 1787 606.1 116.8 - - 2289 - - - - - - - - 14.87 14.82 14.88
14326 804.6 9.7 749 14340 roll 0.73 - - 3187 - 2.38 0.056 3193 590.8 116.8 - - 2289 - - - - - - - - 14.98 14.81 15.00
14389 798.4 10.2 757 14402 done 0.63 0.25 0.264 3138 -196.0 2.33 0.041 1796 -599.6 116.8 - - 2288 - - - - - - - - 14.66 14.83 14.85
14731 771.8 7.6 770 14744 roll 0.64 - - 3146 - 2.42 0.067 396 -578.5 120.8 - - 2288 - - - - - - - - 15.00 14.78 15.02
14794 766.7 8.4 778 14807 done 0.64 - - 3146 - 2.30 0.036 1794 607.8 120.8 - - 2288 - - - - - - - - 14.88 14.85 14.92
15136 739.2 8.0 791 15149 roll 0.64 - - 3145 - 2.35 0.055 3189 593.6 120.8 - - 2288 - - - - - - - - 15.00 14.82 15.03
15218 732.4 8.4 802 15231 done 0.64 - - 3154 - 2.28 0.041 1816 -602.2 120.8 - - 2288 - - - - - - - - 14.90 14.84 14.92
15539 706.0 8.2 812 15552 roll 0.64 - - 3165 - 2.45 0.067 397 -579.2 120.8 - - 2288 - - - - - - - - 15.01 14.81 15.03
15607 700.2 8.5 821 15620 done 0.64 - - 3165 - 2.33 0.035 1818 609.9 120.8 - - 2288 - - - - - - - - 14.90 14.85 14.94
15942 673.3 8.0 833 15956 roll 0.64 - - 3165 - 2.30 0.056 3192 597.4 120.8 - - 2288 - - - - - - - - 15.01 14.83 15.02
15996 668.7 8.4 840 16010 done 0.64 0.15 0.267 3142 -153.3 2.30 0.041 1810 -600.9 120.8 - - 2288 - - - - - - - - 14.69 14.85 14.88
16341 644.3 7.1 847 16371 roll 0.66 - - 3150 - 2.47 0.067 401 -570.4 135.3 15.32 1.792 2235 -3.5 0.230 - - - - - - 15.01 14.71 14.09
16447 635.9 8.2 862 16462 done 0.66 - - 3151 - 2.30 0.036 1799 607.8 135.3 - - 2229 - - - - - - - - 14.81 14.75 14.82
16791 608.7 7.9 869 16804 roll 0.66 - - 3150 - 2.35 0.055 3193 593.2 135.3 - - 2227 - - - - - - - - 14.95 14.77 14.97
16866 602.5 8.2 879 16879 done 0.66 - - 3159 - 2.30 0.041 1807 -602.6 135.3 - - 2227 - - - - - - - - 14.83 14.79 14.87
17195 577.1 7.7 890 17208 roll 0.66 - - 3170 - 2.42 0.067 401 -581.0 138.1 - - 2227 - - - - - - - - 14.97 14.78 15.00
17277 570.3 8.3 901 17290 done 0.66 - - 3170 - 2.28 0.034 1786 607.5 138.1 - - 2227 - - - - - - - - 14.88 14.83 14.89
17598 544.9 7.8 911 17612 roll 0.66 - - 3170 - 2.35 0.055 3185 595.3 138.4 - - 2227 - - - - - - - - 14.99 14.81 15.01
17660 539.7 8.4 919 17674 done 0.66 0.15 0.263 3147 -153.3 2.30 0.041 1802 -601.3 138.4 - - 2227 - - - - - - - - 14.68 14.83 14.88
18003 515.8 6.9 932 18039 roll 0.68 - - 3155 - 2.47 0.067 406 -565.2 155.4 20.80 1.650 2152 -3.6 0.208 - - - - - - 15.00 14.66 14.12
18101 508.1 8.1 946 18114 done 0.68 - - 3155 - 2.28 0.034 1786 605.3 155.4 - - 2145 - - - - - - - - 14.76 14.71 14.78
18458 480.3 7.8 954 18471 roll 0.68 - - 3155 - 2.38 0.054 3188 589.1 157.0 - - 2144 - - - - - - - - 14.92 14.74 14.95
18526 474.5 8.4 963 18539 done 0.68 - - 3163 - 2.30 0.041 1800 -603.5 157.0 - - 2143 - - - - - - - - 14.83 14.77 14.84
18861 448.0 7.9 975 18875 roll 0.68 - - 3174 - 2.42 0.067 401 -578.1 157.0 - - 2145 - - - - - - - - 14.96 14.77 14.98
18972 438.6 8.5 990 18986 done 0.68 - - 3174 - 2.25 0.034 1769 608.0 157.0 - - 2143 - - - - - - - - 14.83 14.82 14.88
19315 409.0 8.8 997 19329 roll 0.68 - - 3174 - 2.40 0.053 3196 594.6 157.0 - - 2143 - - - - - - - - 14.98 14.81 15.00
19384 402.5 9.4 1006 19398 done 0.68 0.15 0.259 3151 -153.3 2.35 0.041 1775 -604.7 157.0 - - 2143 - - - - - - - - 14.68 14.82 14.85
19720 376.0 7.8 1018 19733 roll 0.69 - - 3159 - 2.35 0.067 400 -585.1 158.1 - - 2143 - - - - - - - - 15.00 14.80 15.01
19795 369.8 8.2 1028 19808 done 0.69 - - 3159 - 2.25 0.034 1788 616.9 158.1 - - 2143 - - - - - - - - 14.90 14.85 14.90
20123 344.2 7.8 1039 20137 roll 0.69 - - 3158 - 2.33 0.053 3181 597.9 159.1 - - 2143 - - - - - - - - 14.98 14.82 15.02
20199 337.9 8.2 1049 20212 done 0.69 - - 3168 - 2.30 0.040 1784 -607.4 159.1 - - 2143 - - - - - - - - 14.90 14.83 14.91
20527 310.7 8.4 1060 20540 roll 0.69 - - 3178 - 2.35 0.066 405 -586.8 159.1 - - 2143 - - - - - - - - 15.00 14.80 15.02
20630 301.1 9.2 1074 20643 done 0.69 - - 3178 - 2.20 0.032 1755 613.6 159.1 - - 2143 - - - - - - - - 14.91 14.86 14.92
20987 268.8 9.1 1082 21000 roll 0.69 - - 3178 - 2.40 0.051 3194 599.6 159.1 - - 2145 - - - - - - - - 15.01 14.83 15.04
21076 260.2 9.5 1094 21090 done 0.69 0.15 0.262 3150 -186.7 2.33 0.039 1791 -602.1 159.1 - - 2143 - - - - - - - - 14.71 14.85 14.90
21447 230.8 7.8 1104 21461 roll 0.69 - - 3162 - 2.40 0.065 399 -580.0 160.2 - - 2143 - - - - - - - - 15.02 14.82 15.04
21550 222.4 8.1 1118 21564 done 0.69 - - 3162 - 2.22 0.034 1773 618.9 160.2 0.65 0.245 2138 -7.7 1.289 - - - - - - 14.91 14.87 14.76
21907 195.4 7.5 1126 21924 roll 0.70 - - 3162 - 2.35 0.050 3184 600.4 167.1 4.72 1.050 2112 -5.5 0.189 - - - - - - 15.02 14.71 14.18
21994 188.5 8.0 1138 22007 done 0.70 - - 3170 - 2.33 0.039 1782 -601.7 167.1 - - 2116 - - - - - - - - 14.90 14.83 14.90
22364 160.0 7.6 1148 22381 roll 0.70 - - 3181 - 2.35 0.062 402 -587.2 171.3 4.53 0.992 2094 -4.9 0.145 - - - - - - 15.00 14.71 14.19
22443 153.8 7.8 1159 22460 done 0.70 - - 3181 - 2.22 0.031 1782 621.6 173.1 3.12 0.731 2088 -1.9 0.075 - - - - - - 14.88 14.85 14.15
22818 124.7 7.8 1170 22835 roll 0.70 - - 3181 - 2.38 0.051 3177 586.1 173.9 3.08 0.701 2083 -1.6 0.053 - - - - - - 14.99 14.80 14.16
22942 115.1 7.8 1187 22959 done 0.71 0.15 0.248 3156 -166.7 2.20 0.038 1831 -611.8 175.3 2.00 0.177 2081 - - - - - - - - 14.70 14.83 14.72
23277 95.8 5.7 1200 23334 roll 0.86 0.12 0.137 3208 433.3 2.30 0.050 3171 582.6 215.8 40.85 0.382 1914 -4.1 0.189 - - - - - - 14.82 14.74 14.50
23340 90.7 8.3 1209 23353 done 0.86 - - 3216 - 2.20 0.038 1834 -607.7 215.8 - - 1918 - - - - - - - - 14.82 14.76 14.83
23675 70.3 4.5 1223 23743 done 0.94 - - 3216 - - - 1833 - 279.1 59.40 0.320 1656 -4.4 0.179 - - - - - - 14.96 14.73 14.50
24039 56.5 4.3 1236 24112 roll 1.30 0.35 0.083 3368 434.3 2.47 0.059 404 -578.5 345.4 59.75 0.276 1384 -4.6 0.172 - - - - - - 14.76 14.65 14.50
24156 49.2 7.5 1252 24179 done 1.31 - - 3369 - 2.20 0.029 1768 620.0 351.8 8.32 0.222 1358 -3.1 0.128 - - - - - - 14.78 14.74 14.53
24497 23.3 8.1 1267 24514 roll 1.31 - - 3378 - 2.38 0.060 402 -573.9 351.8 2.92 0.148 1361 1.0 -0.030 - - - - - - 14.93 14.73 14.67
24696 6.1 9.0 1295 24713 done 1.31 - - 3378 - 2.20 0.028 1791 631.4 351.8 3.15 0.145 1355 -1.9 0.015 - - - - - - 14.83 14.81 14.71
24751 end climb: SURFACE_DEPTH_REACHED
24751 begin surface coast
24779 end surface coast: CONTROL_FINISHED_OK
24780 begin surface
SM 1.20 - - - - -8.61 9.32 0.071 157 16.8 - - 1799 - 515.13 96.78 0.124 691 7.1 -0.007 - - - - - -