SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 93 * Raw log
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• Previous call tries 1 • 44.54 of 350.00 AH used of 24V (87.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.1 deg, depth 0.99 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 15 s • Transponder ping count: 9
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 217 - - - 2272 - -116.8 -85.00 - 2907 - - - - - - - - 14.76 - 14.79
106 4.7 -6.4 3 130 roll -0.68 8.82 0.430 1981 200.0 2.62 2.104 877 -532.4 -116.8 -5.55 - 3221 -56.6 - - - - - - - 14.33 13.56 14.63
217 40.7 -24.5 19 222 done -0.43 0.35 0.314 2054 208.6 2.47 0.074 2283 569.2 -116.8 - - 3223 - - - - - - - - 14.41 14.57 14.62
552 94.2 -9.3 34 557 roll -0.34 0.12 0.275 2077 191.7 2.42 0.083 3693 582.6 -116.8 - - 3224 - - - - - - - - 14.57 14.67 14.69
649 101.5 -7.1 48 654 done -0.34 - - 2077 - 2.35 0.049 2264 -608.1 -116.8 - - 3225 - - - - - - - - 14.80 14.74 14.81
1000 123.6 -6.3 56 1005 roll -0.34 - - 2077 - 2.33 0.058 885 -591.8 -116.8 - - 3227 - - - - - - - - 14.97 14.77 14.99
1083 129.3 -6.6 68 1088 done -0.34 - - 2070 - 2.47 0.070 2285 566.8 -116.8 - - 3227 - - - - - - - - 14.81 14.75 14.83
1448 151.2 -6.1 78 1453 roll -0.34 - - 2064 - 2.45 0.091 3700 577.6 -116.8 - - 3225 - - - - - - - - 15.00 14.77 15.02
1510 155.4 -6.8 87 1515 done -0.34 - - 2064 - 2.35 0.050 2273 -607.2 -116.8 - - 3226 - - - - - - - - 14.88 14.83 14.90
1840 179.0 -7.3 99 1845 roll -0.34 - - 2064 - 2.35 0.062 886 -590.2 -116.8 - - 3223 - - - - - - - - 15.02 14.83 15.03
1895 183.3 -7.6 107 1901 done -0.34 0.12 0.260 2087 191.7 2.42 0.072 2282 576.9 -116.8 - - 3223 - - - - - - - - 14.69 14.79 14.85
2232 203.6 -6.0 120 2237 roll -0.39 - - 2081 - 2.45 0.094 3689 574.3 -116.8 - - 3221 - - - - - - - - 15.02 14.78 15.04
2259 205.3 -6.0 124 2265 done -0.45 - - 2081 - 2.35 0.052 2265 -606.0 -116.8 - - 3220 - - - - - - - - 14.91 14.85 14.92
2624 227.9 -6.1 134 2628 roll -0.45 - - 2082 - 2.33 0.061 889 -590.6 -116.8 - - 3218 - - - - - - - - 15.04 14.82 15.04
2737 234.6 -5.9 150 2742 done -0.50 0.15 0.123 2018 -426.7 2.42 0.075 2274 572.3 -116.8 - - 3217 - - - - - - - - 14.83 14.80 14.90
3072 261.4 -8.1 163 3073 done -0.50 - - 2018 - - - 2274 - -116.8 - - 3214 - - - - - - - - 15.03 15.06 15.05
3408 286.7 -7.5 169 3413 roll -0.50 - - 2018 - 2.38 0.061 887 -582.8 -116.8 - - 3212 - - - - - - - - 15.04 14.82 15.06
3484 292.9 -8.0 180 3489 done -0.50 - - 2012 - 2.45 0.075 2260 560.4 -116.8 - - 3211 - - - - - - - - 14.85 14.79 14.89
3800 319.0 -8.4 190 3805 roll -0.50 - - 2004 - 2.53 0.097 3702 570.0 -116.8 - - 3209 - - - - - - - - 15.04 14.79 15.05
3841 322.9 -9.6 196 3847 done -0.50 0.08 0.236 2028 300.0 2.42 0.052 2267 -593.0 -116.8 - - 3209 - - - - - - - - 14.67 14.83 14.80
4192 351.6 -8.2 204 4197 roll -0.50 - - 2028 - 2.35 0.063 884 -588.5 -116.8 - - 3207 - - - - - - - - 15.04 14.82 15.05
4310 361.5 -8.3 221 4316 done -0.50 - - 2020 - 2.47 0.077 2263 558.3 -116.8 - - 3204 - - - - - - - - 14.84 14.78 14.86
4639 388.7 -8.3 233 4645 roll -0.50 - - 2011 - 2.50 0.098 3694 572.4 -116.8 - - 3204 - - - - - - - - 15.04 14.78 15.06
4667 391.2 -8.8 237 4673 done -0.50 - - 2011 - 2.40 0.055 2251 -601.2 -116.8 - - 3203 - - - - - - - - 14.90 14.84 14.92
5032 423.1 -8.8 247 5036 roll -0.50 - - 2012 - 2.33 0.067 887 -585.4 -116.8 - - 3202 - - - - - - - - 15.04 14.81 15.06
5108 430.3 -9.2 258 5113 done -0.50 - - 2011 - 2.47 0.080 2255 553.8 -116.8 - - 3201 - - - - - - - - 14.83 14.77 14.87
5424 456.6 -8.3 268 5428 roll -0.50 - - 2011 - 2.38 0.065 883 -576.5 -116.8 - - 3200 - - - - - - - - 15.04 14.81 15.05
5472 460.6 -8.2 275 5479 done -0.50 - - 2011 - 2.47 0.080 2255 555.5 -116.8 - - 3200 - - - - - - - - 14.85 14.77 14.87
5816 487.5 -7.8 282 5817 done -0.50 - - 2011 - - - 2255 - -116.8 - - 3199 - - - - - - - - 15.03 15.05 15.04
6152 514.0 -7.8 288 6153 done -0.50 - - 2011 - - - 2255 - -116.8 - - 3197 - - - - - - - - 15.03 15.05 15.07
6488 540.2 -7.9 294 6488 done -0.50 - - 2011 - - - 2255 - -116.8 - - 3195 - - - - - - - - 15.04 15.07 15.06
6824 566.8 -7.9 300 6828 roll -0.50 - - 2011 - 2.38 0.068 888 -574.4 -116.8 - - 3194 - - - - - - - - 15.03 14.79 15.05
6914 574.1 -8.1 313 6920 done -0.50 - - 2011 - 2.45 0.081 2242 552.7 -116.8 - - 3194 - - - - - - - - 14.82 14.73 14.85
7272 601.4 -7.7 322 7277 roll -0.50 - - 2007 - 2.58 0.103 3694 562.8 -116.8 - - 3193 - - - - - - - - 15.03 14.76 15.05
7348 607.6 -8.0 333 7354 done -0.50 0.08 0.233 2031 300.0 2.45 0.058 2258 -586.1 -116.8 - - 3192 - - - - - - - - 14.62 14.80 14.76
7664 628.3 -6.5 343 7669 roll -0.50 - - 2031 - 2.38 0.067 883 -577.7 -116.8 - - 3190 - - - - - - - - 15.02 14.78 15.04
7740 633.5 -6.8 354 7745 done -0.50 - - 2026 - 2.45 0.083 2255 560.0 -116.8 - - 3190 - - - - - - - - 14.87 14.76 14.89
8056 654.2 -6.7 364 8056 done -0.50 - - 2026 - - - 2254 - -116.8 - - 3189 - - - - - - - - 15.02 15.04 15.04
8392 676.4 -6.5 370 8393 done -0.50 - - 2026 - - - 2254 - -116.8 - - 3190 - - - - - - - - 15.02 15.04 15.04
8728 697.8 -6.3 376 8732 roll -0.50 - - 2026 - 2.40 0.070 878 -573.3 -116.8 - - 3187 - - - - - - - - 15.02 14.77 15.04
8776 701.1 -6.8 383 8783 done -0.50 - - 2025 - 2.50 0.084 2264 554.4 -116.8 - - 3186 - - - - - - - - 14.85 14.74 14.88
9120 722.6 -6.3 390 9124 roll -0.50 - - 2017 - 2.55 0.106 3695 561.2 -116.8 - - 3185 - - - - - - - - 15.02 14.71 15.04
9182 726.9 -6.9 399 9187 done -0.50 - - 2017 - 2.45 0.063 2255 -587.8 -116.8 - - 3185 - - - - - - - - 14.88 14.80 14.89
9512 748.7 -6.6 411 9516 roll -0.50 - - 2017 - 2.40 0.076 874 -575.4 -116.8 - - 3182 - - - - - - - - 15.02 14.74 15.02
9588 754.2 -7.0 422 9593 done -0.50 - - 2012 - 2.47 0.086 2248 556.3 -116.8 - - 3184 - - - - - - - - 14.84 14.72 14.86
9904 776.6 -7.2 432 9905 done -0.50 - - 2012 - - - 2248 - -116.8 - - 3183 - - - - - - - - 15.01 15.03 15.02
10240 802.0 -7.8 438 10244 roll -0.50 - - 2007 - 2.60 0.111 3698 557.7 -116.8 - - 3182 - - - - - - - - 15.01 14.71 15.02
10274 804.7 -7.9 443 10280 done -0.50 0.12 0.257 2036 241.7 2.47 0.064 2243 -589.1 -116.8 - - 3181 - - - - - - - - 14.59 14.78 14.80
10632 829.9 -7.0 452 10637 roll -0.50 - - 2041 - 2.38 0.073 879 -573.1 -116.8 - - 3185 - - - - - - - - 15.01 14.73 15.02
10708 834.9 -7.1 463 10713 done -0.50 - - 2036 - 2.47 0.087 2251 555.5 -116.8 - - 3180 - - - - - - - - 14.82 14.70 14.83
11024 855.4 -6.5 473 11030 roll -0.50 - - 2028 - 2.60 0.111 3693 554.6 -116.8 - - 3181 - - - - - - - - 15.00 14.69 15.02
11080 859.2 -6.3 481 11085 done -0.50 - - 2028 - 2.47 0.067 2244 -586.6 -116.8 - - 3180 - - - - - - - - 14.84 14.76 14.86
11416 882.0 -6.7 494 11421 roll -0.50 - - 2028 - 2.38 0.077 887 -570.2 -116.8 - - 3179 - - - - - - - - 15.00 14.71 15.01
11492 887.5 -6.5 505 11498 done -0.50 - - 2026 - 2.45 0.086 2252 557.1 -116.8 - - 3179 - - - - - - - - 14.81 14.69 14.84
11808 908.4 -6.6 515 11812 roll -0.50 - - 2020 - 2.60 0.112 3695 555.0 -116.8 - - 3178 - - - - - - - - 15.00 14.68 15.01
11842 910.7 -5.9 520 11847 done -0.50 - - 2021 - 2.47 0.065 2245 -587.0 -116.8 - - 3178 - - - - - - - - 14.83 14.76 14.85
12200 934.0 -6.3 529 12206 roll -0.50 - - 2020 - 2.38 0.076 884 -571.8 -116.8 - - 3177 - - - - - - - - 14.97 14.70 15.00
12290 940.2 -6.6 542 12295 done -0.50 - - 2016 - 2.45 0.087 2244 555.1 -116.8 - - 3177 - - - - - - - - 14.81 14.69 14.83
12648 963.5 -6.5 551 12653 roll -0.50 - - 2012 - 2.62 0.113 3695 553.8 -116.8 - - 3177 - - - - - - - - 14.97 14.66 15.00
12724 968.8 -7.0 562 12729 done -0.50 - - 2015 - 2.47 0.067 2249 -585.4 -116.8 - - 3176 - - - - - - - - 14.82 14.73 14.84
13040 989.8 -6.6 572 13045 roll -0.50 - - 2011 - 2.40 0.077 875 -572.5 -116.8 - - 3176 - - - - - - - - 14.97 14.69 14.97
13049 end dive: TARGET_DEPTH_EXCEEDED
13049 begin apogee
13060 991.5 -6.9 574 13250 roll -0.19 0.45 0.236 2135 275.6 - - 2233 - - 187.77 1.692 2741 -2.3 0.252 - - - - - - 14.52 14.03 13.47
13251 end apogee: CONTROL_FINISHED_OK
13251 begin climb
13255 995.5 - 577 13412 roll 0.68 0.93 0.173 2408 293.5 2.72 0.113 3649 520.6 116.8 145.25 1.958 2259 -3.3 0.313 - - - - - - 13.97 14.02 13.23
13461 977.7 11.2 611 13466 done 0.60 - - 2419 - 2.60 0.083 2247 -539.2 116.8 - - 2238 - - - - 1 - - - 14.14 14.06 14.16
13783 941.4 11.3 622 13790 roll 0.53 0.15 0.289 2381 -253.3 2.62 0.117 3642 532.4 116.8 - - 2231 - - - - - - - - 14.29 14.38 14.43
13902 929.1 9.9 639 13907 done 0.53 - - 2390 - 2.55 0.085 2219 -558.0 116.8 - - 2230 - - - - 1 - - - 14.57 14.47 14.60
14231 897.7 9.7 651 14236 roll 0.53 - - 2401 - 2.58 0.099 814 -544.6 116.8 - - 2228 - - - - - - - - 14.81 14.55 14.83
14294 891.8 8.2 660 14299 done 0.53 - - 2401 - 2.60 0.093 2228 543.8 116.8 - - 2226 - - - - - - - - 14.68 14.57 14.71
14623 859.0 10.0 672 14628 roll 0.49 0.15 0.283 2361 -266.7 2.62 0.119 3652 543.5 116.8 - - 2225 - - - - - - - - 14.49 14.59 14.62
14685 853.0 9.3 681 14691 done 0.49 - - 2370 - 2.58 0.083 2230 -551.2 116.8 - - 2225 - - - - - - - - 14.75 14.62 14.77
15016 824.2 8.9 693 15020 roll 0.49 - - 2380 - 2.58 0.101 821 -546.1 116.8 - - 2224 - - - - - - - - 14.90 14.62 14.92
15084 818.2 8.5 703 15090 done 0.49 - - 2381 - 2.58 0.090 2232 546.9 116.8 - - 2224 - - - - - - - - 14.76 14.64 14.78
15408 788.1 9.5 714 15413 roll 0.49 - - 2381 - 2.60 0.120 3643 542.7 116.8 - - 2224 - - - - - - - - 14.92 14.64 14.95
15477 781.0 10.1 724 15482 done 0.49 0.12 0.282 2362 -158.3 2.53 0.083 2220 -562.5 116.8 - - 2225 - - - - - - - - 14.53 14.67 14.75
15800 755.1 8.0 735 15804 roll 0.49 - - 2373 - 2.53 0.098 821 -553.0 116.8 - - 2223 - - - - - - - - 14.96 14.65 14.95
15876 748.9 7.9 746 15882 done 0.49 - - 2376 - 2.55 0.090 2228 551.8 116.8 - - 2223 - - - - - - - - 14.78 14.66 14.81
16192 722.8 8.3 756 16196 roll 0.49 - - 2373 - 2.60 0.120 3642 543.8 116.8 - - 2224 - - - - - - - - 14.94 14.65 14.96
16267 715.6 9.6 767 16273 done 0.49 - - 2383 - 2.53 0.081 2215 -564.0 116.8 - - 2223 - - - - - - - - 14.78 14.68 14.81
16584 687.9 9.0 777 16589 roll 0.49 - - 2393 - 2.50 0.095 821 -557.6 116.8 - - 2223 - - - - - - - - 14.95 14.66 14.97
16645 682.3 8.8 786 16652 done 0.49 0.08 0.223 2357 -450.0 2.60 0.088 2230 541.9 116.8 - - 2223 - - - - - - - - 14.54 14.65 14.76
16976 656.2 8.0 798 16982 roll 0.49 - - 2357 - 2.58 0.119 3641 546.9 116.8 - - 2222 - - - - - - - - 14.95 14.64 14.97
17045 650.0 9.0 808 17050 done 0.49 - - 2366 - 2.47 0.080 2237 -568.4 116.8 - - 2222 - - - - - - - - 14.79 14.69 14.82
17368 623.6 8.2 819 17372 roll 0.49 - - 2375 - 2.55 0.093 821 -555.3 116.8 - - 2222 - - - - - - - - 14.95 14.66 14.97
17436 618.2 7.6 829 17442 done 0.49 - - 2376 - 2.58 0.087 2246 552.3 116.8 - - 2222 - - - - - - - - 14.78 14.66 14.83
17760 592.2 8.1 840 17765 roll 0.49 - - 2376 - 2.55 0.116 3641 547.1 116.8 - - 2222 - - - - - - - - 14.93 14.64 14.97
17828 585.9 8.9 850 17835 done 0.49 - - 2385 - 2.50 0.079 2248 -557.2 116.8 - - 2222 - - - - - - - - 14.71 14.64 14.74
18152 559.0 8.3 861 18153 done 0.49 - - 2385 - - - 2248 - 116.8 - - 2222 - - - - - - - - 14.95 14.97 14.97
18487 530.3 8.6 867 18492 roll 0.49 - - 2395 - 2.58 0.095 821 -553.1 116.8 - - 2222 - - - - - - - - 14.96 14.66 14.98
18535 526.1 8.5 874 18544 done 0.49 0.10 0.239 2353 -420.0 2.62 0.087 2244 543.1 116.8 - - 2222 - - - - - - - - 14.53 14.64 14.76
18879 502.9 6.6 881 18892 roll 0.50 - - 2353 - 2.55 0.116 3643 548.6 133.8 6.45 1.459 2197 -3.9 0.248 - - - - - - 14.96 14.69 14.05
18948 497.6 7.8 891 18954 done 0.50 - - 2362 - 2.45 0.076 2244 -571.0 133.8 - - 2198 - - - - - - - - 14.79 14.68 14.78
19271 475.1 6.9 902 19296 roll 0.50 - - 2373 - 2.65 0.093 815 -539.2 143.0 17.25 1.561 2148 -2.9 0.164 - - - - - - 14.92 14.59 14.04
19355 469.3 6.9 914 19367 done 0.56 - - 2372 - 2.60 0.088 2243 549.2 154.3 4.72 1.286 2111 -7.8 0.530 - - - - - - 14.69 14.59 13.88
19719 442.4 7.4 924 19725 roll 0.56 - - 2372 - 2.62 0.113 3640 533.2 154.3 1.58 0.203 2111 - - - - - - - - 14.85 14.59 14.54
19796 436.1 8.3 935 19801 done 0.56 - - 2382 - 2.47 0.076 2238 -567.6 154.3 - - 2115 - - - - - - - - 14.73 14.64 14.76
20111 411.1 8.0 945 20116 roll 0.56 - - 2391 - 2.53 0.090 821 -560.1 154.3 - - 2118 - - - - - - - - 14.88 14.63 14.91
20173 406.3 7.6 954 20180 done 0.56 - - 2391 - 2.58 0.085 2246 552.3 154.3 - - 2119 - - - - - - - - 14.76 14.64 14.78
20504 378.7 8.5 966 20510 roll 0.56 - - 2391 - 2.53 0.113 3640 551.0 154.3 - - 2118 - - - - - - - - 14.92 14.64 14.94
20593 370.2 9.3 979 20599 done 0.56 - - 2400 - 2.47 0.073 2251 -562.3 154.3 - - 2119 - - - - - - - - 14.72 14.66 14.76
20951 338.2 9.1 988 20956 roll 0.56 - - 2411 - 2.55 0.093 822 -560.4 154.3 - - 2119 - - - - - - - - 14.93 14.66 14.95
21000 333.8 9.0 995 21006 done 0.56 - - 2410 - 2.60 0.086 2254 550.8 154.3 - - 2119 - - - - - - - - 14.78 14.66 14.80
21343 301.0 9.6 1002 21349 roll 0.56 - - 2411 - 2.53 0.114 3645 549.8 154.3 - - 2119 - - - - - - - - 14.95 14.65 14.96
21456 289.2 10.4 1018 21461 done 0.56 0.15 0.269 2389 -146.7 2.42 0.075 2263 -571.1 154.3 - - 2119 - - - - - - - - 14.56 14.73 14.76
21792 261.3 8.3 1031 21797 roll 0.56 - - 2394 - 2.58 0.090 819 -559.7 154.3 - - 2119 - - - - - - - - 14.95 14.68 14.97
21839 257.3 8.2 1038 21848 done 0.56 - - 2395 - 2.62 0.083 2258 549.2 154.3 - - 2119 - - - - - - - - 14.73 14.66 14.77
22183 228.5 8.3 1045 22188 roll 0.56 - - 2394 - 2.50 0.112 3639 552.4 154.3 - - 2119 - - - - - - - - 14.95 14.66 14.97
22240 223.4 9.2 1053 22244 done 0.56 - - 2404 - 2.40 0.073 2265 -572.5 154.3 - - 2119 - - - - - - - - 14.81 14.71 14.83
22575 193.6 8.9 1066 22581 roll 0.56 - - 2414 - 2.58 0.089 824 -558.5 154.3 - - 2119 - - - - - - - - 14.95 14.68 14.97
22631 188.7 8.7 1074 22637 done 0.56 0.12 0.268 2385 -241.7 2.60 0.084 2268 555.4 154.3 - - 2119 - - - - - - - - 14.57 14.68 14.76
22968 162.8 7.6 1087 22973 roll 0.56 - - 2385 - 2.47 0.111 3640 555.5 154.3 - - 2119 - - - - - - - - 14.95 14.64 14.97
23015 158.8 8.4 1094 23024 done 0.56 - - 2393 - 2.42 0.070 2268 -566.9 154.3 1.70 0.175 2109 -5.9 0.990 - - - - - - 14.76 14.69 14.62
23360 133.1 7.4 1101 23364 roll 0.56 - - 2403 - 2.58 0.087 820 -561.2 154.3 - - 2119 - - - - - - - - 14.95 14.69 14.97
23421 128.7 7.0 1110 23442 done 0.57 - - 2403 - 2.58 0.081 2264 559.7 162.6 16.05 1.135 2076 -2.7 0.056 - - - - - - 14.80 14.69 14.21
23751 103.4 7.9 1122 23757 roll 0.57 - - 2403 - 2.50 0.108 3641 550.8 162.6 - - 2061 - - - - - - - - 14.90 14.64 14.92
23800 99.4 8.1 1129 23806 done 0.57 - - 2412 - 2.42 0.069 2250 -574.8 162.6 - - 2060 - - - - - - - - 14.77 14.69 14.79
24116 79.2 5.9 1141 24135 done 0.59 - - 2412 - - - 2255 - 196.3 18.17 0.353 1939 -6.7 0.277 - - - - - - 14.92 14.71 14.42
24424 66.8 3.5 1152 24484 roll 0.74 - - 2412 - 2.55 0.101 3641 543.5 286.6 55.20 0.336 1568 -6.7 0.248 - - - - - - 14.91 14.56 14.39
24598 57.3 5.6 1177 24631 done 0.89 0.20 0.095 2507 475.0 2.38 0.063 2254 -582.8 326.9 25.95 0.301 1407 -6.2 0.219 - - - - - - 14.66 14.64 14.39
24959 34.8 5.2 1195 24996 roll 1.00 - - 2514 - 2.58 0.077 839 -548.4 378.7 32.97 0.233 1194 -6.5 0.179 - - - - - - 14.86 14.60 14.47
25144 25.3 5.3 1222 25184 done 1.17 0.17 0.103 2598 494.1 2.55 0.070 2285 567.1 428.0 31.45 0.203 993 -6.4 0.148 - - - - - - 14.69 14.62 14.49
25393 end climb: SURFACE_DEPTH_REACHED
25393 begin surface coast
25421 end surface coast: CONTROL_FINISHED_OK
25421 begin surface
SM 1.09 - - - - -6.13 6.78 0.074 218 32.1 - - 2286 - 500.17 44.17 0.132 698 15.8 -0.013 - - - - - -