SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 94 * Raw log
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• Previous call tries 1 • 44.91 of 350.00 AH used of 24V (87.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.7 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 44 s
• GPS2 time: 18 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 108 VBD -0.68 - - 208 - - - 2296 - -116.8 -84.25 - 2892 - - - - - - - - 14.75 - 14.78
112 4.6 -5.9 3 136 roll -0.68 8.93 0.434 1981 198.5 2.70 2.116 883 -523.3 -116.8 -5.88 - 3220 -55.8 - - - - - - - 14.33 13.56 14.62
185 31.2 -28.2 14 192 done -0.41 0.38 0.314 2060 207.9 2.50 0.068 2299 566.4 -116.8 - - 3222 - - - - - - - - 14.40 14.54 14.60
500 84.0 -10.8 26 502 done -0.32 0.12 0.272 2088 233.3 - - 2299 - -116.8 - - 3223 - - - - - - - - 14.56 14.75 14.71
837 108.3 -6.5 36 842 roll -0.32 - - 2088 - 2.42 0.055 874 -588.8 -116.8 - - 3226 - - - - - - - - 14.95 14.75 14.97
898 112.1 -6.0 45 905 done -0.32 - - 2082 - 2.47 0.064 2316 583.8 -116.8 - - 3225 - - - - - - - - 14.83 14.74 14.84
1228 132.0 -6.4 57 1234 roll -0.32 - - 2081 - 2.45 0.055 870 -590.2 -116.8 - - 3226 - - - - - - - - 14.99 14.78 15.00
1312 137.5 -6.7 69 1318 done -0.32 - - 2081 - 2.45 0.067 2287 578.4 -116.8 - - 3225 - - - - - - - - 14.87 14.78 14.88
1676 160.9 -6.4 79 1677 done -0.32 - - 2081 - - - 2287 - -116.8 - - 3225 - - - - - - - - 15.04 15.04 15.04
2013 182.7 -6.5 85 2018 roll -0.32 - - 2081 - 2.40 0.057 878 -587.1 -116.8 - - 3220 - - - - - - - - 15.03 14.81 15.04
2068 186.5 -6.8 93 2074 done -0.32 - - 2083 - 2.45 0.069 2290 576.3 -116.8 - - 3220 - - - - - - - - 14.88 14.79 14.90
2404 207.1 -6.0 106 2409 roll -0.32 - - 2082 - 2.40 0.057 880 -587.5 -116.8 - - 3218 - - - - - - - - 15.03 14.82 15.05
2446 209.8 -6.6 112 2451 done -0.32 - - 2082 - 2.45 0.070 2286 573.9 -116.8 - - 3218 - - - - - - - - 14.89 14.81 14.91
2796 230.8 -6.0 120 2801 roll -0.37 - - 2081 - 2.45 0.093 3692 573.9 -116.8 - - 3215 - - - - - - - - 15.03 14.79 15.04
2831 232.7 -5.9 125 2837 done -0.42 - - 2081 - 2.35 0.053 2262 -608.5 -116.8 - - 3215 - - - - - - - - 14.91 14.85 14.92
3189 252.7 -5.6 134 3194 roll -0.47 - - 2082 - 2.33 0.062 899 -585.0 -116.8 - - 3213 - - - - - - - - 15.02 14.82 15.05
3279 258.3 -6.0 147 3284 done -0.52 0.15 0.125 2017 -433.3 2.40 0.074 2281 575.8 -116.8 - - 3212 - - - - - - - - 14.83 14.80 14.90
3637 289.0 -8.9 156 3641 roll -0.52 - - 2011 - 2.45 0.095 3685 573.1 -116.8 - - 3211 - - - - - - - - 15.04 14.78 15.06
3678 292.9 -9.8 162 3683 done -0.52 - - 2012 - 2.33 0.050 2279 -603.4 -116.8 - - 3209 - - - - - - - - 14.90 14.85 14.92
4028 326.0 -9.4 170 4033 roll -0.52 - - 2012 - 2.38 0.066 887 -584.9 -116.8 - - 3207 - - - - - - - - 15.04 14.81 15.06
4111 334.2 -9.5 182 4117 done -0.52 - - 2011 - 2.47 0.077 2267 558.7 -116.8 - - 3204 - - - - - - - - 14.84 14.78 14.88
4477 368.2 -9.4 192 4477 done -0.52 - - 2011 - - - 2267 - -116.8 - - 3205 - - - - - - - - 15.03 15.06 15.05
4812 399.5 -9.3 198 4817 roll -0.52 - - 2011 - 2.38 0.060 883 -581.5 -116.8 - - 3202 - - - - - - - - 15.04 14.81 15.06
4888 406.9 -9.5 209 4895 done -0.52 - - 2011 - 2.50 0.078 2270 554.8 -116.8 - - 3202 - - - - - - - - 14.83 14.76 14.88
5205 435.5 -9.1 219 5206 done -0.52 - - 2011 - - - 2270 - -116.8 - - 3201 - - - - - - - - 15.04 15.06 15.06
5540 463.4 -8.1 225 5546 roll -0.52 - - 2011 - 2.40 0.061 881 -578.8 -116.8 - - 3199 - - - - - - - - 15.04 14.81 15.06
5582 467.1 -8.6 231 5587 done -0.52 - - 2003 - 2.45 0.077 2270 566.9 -116.8 - - 3199 - - - - - - - - 14.90 14.79 14.92
5933 495.9 -8.2 239 5937 roll -0.52 - - 1997 - 2.53 0.100 3695 563.2 -116.8 - - 3197 - - - - - - - - 15.04 14.77 15.05
5959 498.3 -8.5 243 5965 done -0.52 0.10 0.243 2027 300.0 2.42 0.054 2271 -588.4 -116.8 - - 3198 - - - - - - - - 14.62 14.82 14.77
6325 525.9 -7.6 253 6330 roll -0.52 - - 2027 - 2.38 0.065 883 -583.2 -116.8 - - 3196 - - - - - - - - 15.03 14.79 15.04
6428 534.6 -8.4 268 6435 done -0.52 - - 2025 - 2.50 0.081 2267 553.6 -116.8 - - 3195 - - - - - - - - 14.83 14.76 14.85
6773 562.6 -8.2 275 6777 roll -0.52 - - 2014 - 2.53 0.099 3701 566.8 -116.8 - - 3194 - - - - - - - - 15.03 14.76 15.04
6841 568.6 -8.5 285 6848 done -0.52 - - 2014 - 2.42 0.056 2271 -590.9 -116.8 - - 3194 - - - - - - - - 14.85 14.81 14.87
7165 593.8 -7.6 296 7169 roll -0.52 - - 2014 - 2.38 0.069 894 -578.6 -116.8 - - 3192 - - - - - - - - 15.02 14.78 15.04
7254 600.8 -7.6 309 7261 done -0.52 - - 2011 - 2.50 0.083 2269 550.0 -116.8 - - 3191 - - - - - - - - 14.81 14.74 14.90
7612 628.5 -7.8 318 7617 roll -0.52 - - 2005 - 2.53 0.103 3694 563.2 -116.8 - - 3190 - - - - - - - - 15.01 14.75 15.04
7675 633.8 -8.5 327 7680 done -0.52 - - 2005 - 2.38 0.057 2277 -595.4 -116.8 - - 3190 - - - - - - - - 14.89 14.82 14.90
8004 662.0 -8.7 339 8009 roll -0.52 - - 2005 - 2.40 0.070 885 -580.0 -116.8 - - 3189 - - - - - - - - 15.03 14.77 15.04
8087 669.7 -9.1 351 8093 done -0.52 0.12 0.296 2026 175.0 2.50 0.081 2266 552.4 -116.8 - - 3189 - - - - - - - - 14.59 14.73 14.80
8453 698.3 -7.8 361 8454 done -0.52 - - 2026 - - - 2265 - -116.8 - - 3188 - - - - - - - - 15.01 15.04 15.03
8788 722.8 -7.3 367 8793 roll -0.52 - - 2015 - 2.53 0.103 3692 564.0 -116.8 - - 3186 - - - - - - - - 15.02 14.73 15.04
8830 725.9 -7.8 373 8836 done -0.52 - - 2015 - 2.40 0.059 2265 -594.6 -116.8 - - 3186 - - - - - - - - 14.88 14.81 14.89
9181 751.8 -7.3 381 9186 roll -0.52 - - 2015 - 2.40 0.070 886 -574.6 -116.8 - - 3185 - - - - - - - - 15.02 14.76 15.03
9292 760.3 -7.6 397 9298 done -0.52 - - 2012 - 2.50 0.084 2278 556.8 -116.8 - - 3185 - - - - - - - - 14.85 14.73 14.88
9629 784.1 -7.0 410 9630 done -0.52 - - 2012 - - - 2278 - -116.8 - - 3184 - - - - - - - - 15.00 15.02 15.04
9964 808.0 -7.2 416 9969 roll -0.52 - - 2009 - 2.42 0.070 889 -574.0 -116.8 - - 3182 - - - - - - - - 15.01 14.73 15.03
10020 812.2 -7.5 424 10025 done -0.52 - - 2012 - 2.50 0.085 2283 557.6 -116.8 - - 3182 - - - - - - - - 14.83 14.71 14.86
10357 837.1 -7.6 437 10358 done -0.52 - - 2012 - - - 2279 - -116.8 - - 3181 - - - - - - - - 15.00 15.02 15.02
10692 862.9 -7.7 443 10693 done -0.52 - - 2012 - - - 2279 - -116.8 - - 3177 - - - - - - - - 15.00 15.02 15.02
11028 887.8 -7.6 449 11034 roll -0.52 - - 2012 - 2.42 0.072 892 -573.1 -116.8 - - 3180 - - - - - - - - 15.01 14.73 15.03
11104 893.9 -7.9 460 11110 done -0.52 - - 2012 - 2.50 0.087 2280 555.2 -116.8 - - 3180 - - - - - - - - 14.82 14.69 14.85
11421 916.6 -7.0 470 11422 done -0.52 - - 2012 - - - 2279 - -116.8 - - 3180 - - - - - - - - 15.00 15.02 15.02
11756 938.7 -6.1 476 11757 done -0.52 - - 2012 - - - 2279 - -116.8 - - 3179 - - - - - - - - 15.00 15.02 15.02
12092 959.7 -6.3 482 12097 roll -0.52 - - 2012 - 2.45 0.073 892 -566.1 -116.8 - - 3178 - - - - - - - - 14.99 14.71 15.01
12176 965.4 -6.8 494 12181 done -0.52 - - 2011 - 2.50 0.086 2272 552.0 -116.8 - - 3178 - - - - - - - - 14.81 14.69 14.84
12540 988.8 -6.3 504 12545 roll -0.52 - - 2009 - 2.58 0.112 3693 550.8 -116.8 - - 3177 - - - - - - - - 15.00 14.67 15.01
12557 end dive: TARGET_DEPTH_EXCEEDED
12557 begin apogee
12568 990.2 -6.6 507 12704 roll -0.19 0.45 0.237 2132 273.3 - - 2229 - - 129.68 2.777 2739 -3.4 0.227 - - - - 1 - 14.53 13.90 13.00
12706 end apogee: CONTROL_FINISHED_OK
12706 begin climb
12710 994.3 - 509 12871 done 0.68 0.93 0.153 2413 302.2 - - 2228 - 116.8 151.73 1.961 2259 -3.2 0.303 - - - - - - 13.89 14.11 13.22
13179 949.2 11.0 546 13185 roll 0.62 - - 2414 - 2.65 0.115 3637 531.7 116.8 - - 2234 - - - - - - - - 14.60 14.35 14.62
13248 940.6 12.4 556 13254 done 0.53 0.20 0.297 2378 -180.0 2.50 0.081 2242 -558.0 116.8 - - 2232 - - - - 1 - - - 14.29 14.42 14.50
13571 909.9 9.6 567 13576 roll 0.53 - - 2388 - 2.62 0.097 808 -547.3 116.8 - - 2231 - - - - - - - - 14.78 14.53 14.80
13619 906.0 9.5 574 13627 done 0.53 - - 2393 - 2.62 0.091 2217 537.8 116.8 - - 2230 - - - - - - - - 14.59 14.52 14.64
13963 870.1 10.4 581 13968 roll 0.53 - - 2388 - 2.62 0.119 3638 542.4 116.8 - - 2228 - - - - - - - - 14.85 14.59 14.88
14032 861.8 11.8 591 14038 done 0.48 0.17 0.284 2358 -176.5 2.50 0.080 2217 -568.4 116.8 - - 2228 - - - - 1 - - - 14.50 14.63 14.71
14355 832.2 9.2 602 14360 roll 0.48 - - 2368 - 2.53 0.095 819 -552.6 116.8 - - 2228 - - - - - - - - 14.90 14.63 14.95
14411 827.2 8.1 610 14417 done 0.48 - - 2368 - 2.58 0.088 2240 550.8 116.8 - - 2227 - - - - - - - - 14.75 14.64 14.78
14748 797.6 8.9 623 14753 roll 0.48 - - 2365 - 2.58 0.117 3643 543.8 116.8 - - 2227 - - - - - - - - 14.92 14.64 14.94
14816 791.0 9.3 633 14821 done 0.48 - - 2378 - 2.50 0.080 2240 -561.2 116.8 - - 2227 - - - - 1 - - - 14.73 14.66 14.76
15139 763.7 8.5 644 15144 roll 0.48 - - 2388 - 2.58 0.096 815 -552.3 116.8 - - 2226 - - - - - - - - 14.93 14.66 14.95
15201 758.6 7.7 653 15207 done 0.48 0.12 0.274 2361 -225.0 2.58 0.088 2240 552.3 116.8 - - 2226 - - - - - - - - 14.58 14.67 14.77
15531 733.3 7.7 665 15536 roll 0.48 - - 2361 - 2.55 0.116 3640 549.0 116.8 - - 2226 - - - - - - - - 14.94 14.66 14.96
15593 727.8 8.8 674 15599 done 0.48 - - 2370 - 2.53 0.077 2236 -554.9 116.8 - - 2224 - - - - - - - - 14.79 14.65 14.81
15923 699.3 8.9 686 15929 roll 0.48 - - 2381 - 2.58 0.094 809 -553.1 116.8 - - 2225 - - - - - - - - 14.95 14.66 14.97
15985 693.9 8.3 695 15990 done 0.48 - - 2381 - 2.60 0.088 2243 551.5 116.8 - - 2225 - - - - - - - - 14.78 14.67 14.82
16316 664.8 8.9 707 16320 roll 0.48 - - 2381 - 2.55 0.116 3640 547.8 116.8 - - 2226 - - - - - - - - 14.95 14.65 14.97
16391 657.5 9.5 718 16398 done 0.48 0.08 0.250 2361 -250.0 2.50 0.077 2242 -559.2 116.8 - - 2225 - - - - - - - - 14.55 14.69 14.78
16707 634.6 7.1 728 16712 roll 0.49 - - 2372 - 2.55 0.094 821 -557.3 122.2 - - 2225 - - - - - - - - 14.95 14.66 14.97
16763 630.9 6.7 736 16789 done 0.50 - - 2372 - 2.58 0.086 2245 551.9 138.4 19.62 1.717 2171 -2.8 0.191 - - - - - - 14.79 14.67 14.00
17099 605.5 7.7 749 17104 roll 0.50 - - 2372 - 2.55 0.116 3641 547.5 138.4 - - 2156 - - - - - - - - 14.85 14.59 14.88
17147 601.1 9.3 756 17154 done 0.50 - - 2380 - 2.53 0.078 2234 -556.1 138.4 - - 2155 - - - - - - - - 14.69 14.62 14.70
17491 569.1 9.4 763 17496 roll 0.50 - - 2391 - 2.55 0.095 815 -556.5 138.4 - - 2155 - - - - - - - - 14.90 14.64 14.92
17560 562.6 9.2 773 17565 done 0.50 - - 2390 - 2.60 0.088 2253 553.1 138.4 - - 2154 - - - - - - - - 14.76 14.64 14.77
17883 531.0 9.9 784 17888 roll 0.50 - - 2390 - 2.55 0.118 3644 545.5 138.4 - - 2154 - - - - - - - - 14.92 14.64 14.94
17966 522.2 10.4 796 17973 done 0.50 0.15 0.265 2365 -166.7 2.47 0.080 2244 -566.8 138.4 - - 2154 - - - - - - - - 14.56 14.68 14.76
18331 493.9 7.6 806 18336 roll 0.50 - - 2375 - 2.55 0.092 821 -558.0 138.4 - - 2154 - - - - - - - - 14.96 14.66 14.95
18393 489.3 7.3 815 18399 done 0.50 - - 2375 - 2.58 0.086 2247 552.7 139.0 - - 2154 - - - - - - - - 14.78 14.66 14.81
18723 462.9 8.1 827 18728 roll 0.50 - - 2375 - 2.55 0.116 3646 548.6 139.0 - - 2154 - - - - - - - - 14.94 14.66 14.95
18792 456.7 8.9 837 18797 done 0.50 - - 2384 - 2.50 0.077 2245 -560.4 139.0 - - 2153 - - - - - - - - 14.74 14.68 14.81
19115 429.4 8.5 848 19120 roll 0.50 - - 2393 - 2.58 0.093 817 -553.5 139.0 - - 2153 - - - - - - - - 14.95 14.67 14.96
19184 423.6 8.0 858 19190 done 0.50 0.12 0.257 2364 -241.7 2.60 0.086 2262 555.8 139.0 - - 2153 - - - - - - - - 14.57 14.68 14.78
19507 400.3 7.2 869 19512 roll 0.50 - - 2365 - 2.53 0.116 3647 547.4 141.4 - - 2153 - - - - - - - - 14.95 14.66 14.97
19569 395.4 8.1 878 19575 done 0.50 - - 2373 - 2.45 0.076 2249 -570.6 141.4 - - 2153 - - - - - - - - 14.80 14.71 14.83
19899 371.8 7.1 890 19906 roll 0.50 - - 2383 - 2.62 0.093 823 -544.3 147.1 2.62 0.665 2139 -5.3 0.564 - - - - - - 14.95 14.71 13.95
19955 367.9 6.8 898 19981 done 0.55 - - 2383 - 2.58 0.086 2250 553.1 159.2 21.25 1.492 2089 -2.4 0.109 - - - - - - 14.80 14.69 14.06
20340 337.4 8.1 911 20345 roll 0.55 - - 2383 - 2.55 0.113 3643 546.3 159.2 - - 2075 - - - - - - - - 14.86 14.60 14.88
20402 331.6 9.4 920 20408 done 0.55 - - 2392 - 2.50 0.074 2248 -558.0 159.2 - - 2070 - - - - - - - - 14.69 14.63 14.71
20733 301.5 9.2 932 20737 roll 0.55 - - 2401 - 2.55 0.091 822 -559.2 159.2 - - 2072 - - - - - - - - 14.90 14.63 14.92
20780 297.2 8.7 939 20787 done 0.55 - - 2401 - 2.62 0.085 2253 546.2 159.2 - - 2071 - - - - - - - - 14.71 14.64 14.74
21124 266.3 8.9 946 21130 roll 0.55 - - 2401 - 2.53 0.112 3643 549.4 159.2 - - 2071 - - - - - - - - 14.92 14.65 14.94
21200 259.0 9.3 957 21206 done 0.55 0.12 0.276 2382 -158.3 2.42 0.073 2254 -574.0 159.2 - - 2071 - - - - - - - - 14.57 14.72 14.77
21516 235.8 7.2 967 21521 roll 0.55 - - 2391 - 2.58 0.090 821 -555.4 161.4 - - 2071 - - - - - - - - 14.93 14.67 14.95
21607 229.1 7.1 980 21613 done 0.61 - - 2391 - 2.58 0.082 2256 556.2 166.4 1.83 0.193 2060 -6.0 1.346 - - - - - - 14.78 14.68 14.61
21957 200.7 8.2 988 21962 roll 0.61 - - 2391 - 2.50 0.112 3641 554.0 166.4 - - 2065 - - - - - - - - 14.95 14.67 14.97
22005 196.0 9.9 995 22012 done 0.61 - - 2400 - 2.45 0.071 2256 -565.3 166.4 - - 2066 - - - - - - - - 14.75 14.69 14.78
22349 163.3 9.4 1002 22355 roll 0.61 - - 2410 - 2.55 0.089 822 -562.4 166.4 - - 2065 - - - - - - - - 14.95 14.68 14.97
22411 157.7 9.0 1011 22417 done 0.61 - - 2410 - 2.58 0.083 2256 555.8 166.4 - - 2066 - - - - - - - - 14.80 14.69 14.82
22741 127.3 9.2 1023 22746 roll 0.61 - - 2410 - 2.50 0.112 3640 553.6 166.4 - - 2066 - - - - - - - - 14.95 14.67 14.97
22797 121.4 10.5 1031 22802 done 0.61 - - 2420 - 2.42 0.071 2250 -574.4 166.4 - - 2066 - - - - - - - - 14.83 14.71 14.83
23133 94.3 7.1 1045 23146 roll 0.61 - - 2429 - 2.62 0.086 808 -550.4 171.0 4.38 0.288 2047 -4.3 0.268 - - - - - - 14.95 14.66 14.40
23195 89.9 6.8 1054 23210 done 0.62 - - 2429 - 2.58 0.082 2251 559.3 183.0 10.30 0.364 1993 -5.2 0.244 - - - - - - 14.80 14.69 14.42
23519 72.2 4.9 1067 23559 roll 0.70 - - 2429 - 2.58 0.105 3640 538.4 240.6 36.25 0.350 1758 -6.5 0.252 - - - - - - 14.92 14.61 14.42
23626 66.5 6.1 1082 23651 done 0.81 - - 2434 - 2.42 0.067 2243 -577.3 268.8 18.55 0.324 1642 -6.3 0.242 - - - - - - 14.73 14.66 14.38
23963 50.3 4.9 1097 24001 done 1.04 0.28 0.097 2548 407.1 - - 2235 - 327.8 37.00 0.280 1402 -6.5 0.220 - - - - - - 14.67 14.65 14.42
24298 30.9 5.5 1112 24329 roll 1.13 - - 2548 - 2.60 0.099 3641 540.8 370.3 26.83 0.220 1229 -6.4 0.171 - - - - - - 14.88 14.59 14.48
24444 21.1 7.3 1133 24449 done 1.19 - - 2556 - 2.47 0.065 2210 -579.4 370.3 - - 1235 - - - - - - - - 14.73 14.64 14.76
24733 end climb: SURFACE_DEPTH_REACHED
24733 begin surface coast
24761 end surface coast: CONTROL_FINISHED_OK
24761 begin surface
SM 1.04 - - - - -6.15 6.55 0.062 206 31.5 0.17 0.116 2314 6800.0 500.41 75.62 0.130 700 9.3 -0.008 - - - - - -