SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 94 * Raw log
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• Previous call tries 1 • 39.28 of 350.00 AH used of 24V (88.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.20 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 16 s • Transponder ping count: 1
• 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
18 begin dive
22 - - - 108 done -0.84 - - 160 - - - 1860 - -116.8 -78.00 - 3273 - - - - - - - - 14.82 13.74 14.85
112 11.2 -17.7 3 130 roll -0.84 12.30 0.409 2661 203.3 2.33 0.032 445 -607.3 -116.8 - - 3277 - - - - - - - - 14.41 14.65 14.64
171 43.3 -36.5 12 178 done -0.29 0.73 0.288 2828 228.8 2.30 0.038 1840 606.5 -116.8 - - 3275 - - - - - - - - 14.50 14.66 14.67
501 85.4 -7.4 26 507 roll -0.29 - - 2830 - 2.30 0.055 468 -596.5 -116.8 - - 3275 - - - - - - - - 14.93 14.76 14.95
706 100.6 -5.5 55 712 done -0.29 - - 2822 - 2.78 0.034 2165 610.4 -116.8 - - 3276 - - - - - - - - 14.86 14.81 14.88
1062 123.9 -6.6 64 1069 roll -0.38 - - 2822 - 2.85 0.054 469 -595.1 -116.8 - - 3276 - - - - - - - - 15.00 14.81 15.02
1138 129.3 -7.1 75 1144 done -0.38 - - 2811 - 2.80 0.035 2181 611.4 -116.8 - - 3276 - - - - - - - - 14.90 14.85 14.92
1455 147.9 -5.8 85 1462 roll -0.49 0.12 0.135 2752 -491.7 2.88 0.051 468 -594.8 -116.8 - - 3276 - - - - - - - - 14.85 14.85 14.89
1552 156.3 -9.3 99 1558 done -0.49 - - 2747 - 2.72 0.035 2133 612.1 -116.8 - - 3275 - - - - - - - - 14.91 14.87 14.92
1903 188.1 -9.2 107 1909 roll -0.49 - - 2741 - 2.80 0.056 470 -593.9 -116.8 - - 3273 - - - - - - - - 15.02 14.86 15.05
1944 192.4 -10.5 113 1952 done -0.49 0.15 0.252 2763 146.7 2.65 0.036 2081 607.9 -116.8 - - 3272 - - - - - - - - 14.75 14.88 14.89
2295 223.3 -8.9 121 2302 roll -0.49 - - 2763 - 2.75 0.057 464 -588.0 -116.8 - - 3269 - - - - - - - - 15.04 14.85 15.05
2455 238.5 -9.5 144 2463 done -0.49 - - 2756 - 2.55 0.036 2013 607.5 -116.8 - - 3267 - - - - - - - - 14.93 14.88 14.95
2799 269.1 -8.8 151 2812 roll -0.49 - - 2756 - 2.60 0.059 471 -593.1 -116.8 - - 3264 - - - - - - - - 15.07 14.88 15.09
2874 276.1 -9.1 161 2887 done -0.49 - - 2746 - 2.45 0.034 1979 615.5 -116.8 - - 3264 - - - - - - - - 14.97 14.92 14.98
3202 304.0 -8.4 172 3215 roll -0.49 - - 2746 - 2.55 0.057 467 -592.9 -116.8 - - 3261 - - - - - - - - 15.09 14.90 15.11
3305 313.2 -8.6 186 3319 done -0.49 0.12 0.263 2763 141.7 2.42 0.035 1952 613.6 -116.8 - - 3261 - - - - - - - - 14.79 14.94 14.95
3662 338.2 -7.0 194 3675 roll -0.49 - - 2764 - 2.50 0.057 468 -593.6 -116.8 - - 3258 - - - - - - - - 15.09 14.91 15.11
3744 344.7 -7.8 205 3757 done -0.49 - - 2756 - 2.35 0.035 1919 617.4 -116.8 - - 3257 - - - - - - - - 15.00 14.94 15.01
4066 369.8 -7.9 215 4078 done -0.49 - - 2756 - - - 1919 - -116.8 - - 3255 - - - - - - - - 15.10 15.12 15.11
4402 395.9 -7.7 221 4415 roll -0.49 - - 2756 - 2.45 0.059 468 -592.2 -116.8 - - 3253 - - - - - - - - 15.10 14.92 15.12
4603 412.8 -8.3 249 4616 done -0.49 - - 2747 - 2.15 0.036 1795 617.2 -116.8 - - 3251 - - - - - - - - 15.00 14.95 15.02
4973 444.2 -8.7 259 4986 roll -0.49 - - 2736 - 2.45 0.056 3268 601.2 -116.8 - - 3250 - - - - - - - - 15.10 14.92 15.12
5035 449.5 -8.6 267 5048 done -0.49 0.12 0.254 2762 216.7 2.42 0.038 1787 -612.0 -116.8 - - 3250 - - - - - - - - 14.79 14.93 14.95
5378 475.5 -7.5 280 5391 roll -0.49 - - 2762 - 2.22 0.063 468 -594.1 -116.8 - - 3247 - - - - - - - - 15.09 14.91 15.11
5509 485.9 -7.7 298 5522 done -0.49 - - 2756 - 2.12 0.035 1780 618.9 -116.8 - - 3247 - - - - - - - - 15.00 14.95 15.01
5838 510.5 -7.5 309 5851 roll -0.49 - - 2745 - 2.47 0.057 3265 601.2 -116.8 - - 3245 - - - - - - - - 15.09 14.90 15.10
5871 513.2 -7.6 313 5885 done -0.49 - - 2745 - 2.45 0.039 1770 -610.2 -116.8 - - 3245 - - - - - - - - 14.98 14.92 15.00
6242 541.2 -7.6 323 6255 roll -0.49 - - 2745 - 2.20 0.063 469 -591.4 -116.8 - - 3244 - - - - - - - - 15.09 14.90 15.11
6310 546.7 -8.0 332 6323 done -0.49 0.12 0.274 2762 141.7 2.08 0.036 1757 619.2 -116.8 - - 3244 - - - - - - - - 14.77 14.95 14.95
6645 569.6 -6.9 344 6659 roll -0.49 - - 2754 - 2.53 0.059 3267 596.8 -116.8 - - 3242 - - - - - - - - 15.09 14.90 15.11
6728 575.7 -7.5 355 6741 done -0.49 - - 2754 - 2.47 0.040 1767 -607.3 -116.8 - - 3242 - - - - - - - - 14.98 14.92 15.00
7049 601.0 -8.0 365 7062 roll -0.49 - - 2753 - 2.20 0.064 469 -590.0 -116.8 - - 3241 - - - - - - - - 15.09 14.89 15.11
7138 608.8 -8.6 377 7151 done -0.49 - - 2745 - 2.08 0.037 1750 615.9 -116.8 - - 3240 - - - - - - - - 14.98 14.93 15.00
7509 639.2 -8.2 387 7522 roll -0.49 - - 2734 - 2.55 0.058 3266 594.5 -116.8 - - 3239 - - - - - - - - 15.08 14.89 15.11
7591 646.1 -8.2 398 7604 done -0.49 0.15 0.245 2768 226.7 2.47 0.041 1759 -610.1 -116.8 - - 3238 - - - - - - - - 14.77 14.90 14.93
7913 667.9 -6.7 408 7926 roll -0.49 - - 2767 - 2.20 0.064 461 -590.0 -116.8 - - 3237 - - - - - - - - 15.07 14.88 15.09
7975 672.5 -7.4 416 7988 done -0.49 - - 2761 - 2.12 0.037 1766 615.6 -116.8 - - 3237 - - - - - - - - 14.97 14.92 15.00
8317 696.9 -7.2 429 8331 roll -0.49 - - 2750 - 2.50 0.059 3262 598.4 -116.8 - - 3236 - - - - - - - - 15.07 14.88 15.09
8428 705.4 -7.5 444 8442 done -0.49 - - 2750 - 2.45 0.041 1781 -604.5 -116.8 - - 3236 - - - - - - - - 14.95 14.89 14.97
8772 731.6 -7.6 451 8785 roll -0.49 - - 2750 - 2.25 0.065 465 -584.9 -116.8 - - 3235 - - - - - - - - 15.07 14.87 15.09
8847 737.7 -8.2 461 8860 done -0.49 - - 2742 - 2.12 0.038 1769 615.1 -116.8 - - 3235 - - - - - - - - 14.96 14.94 14.97
9175 763.1 -7.8 472 9188 roll -0.49 - - 2731 - 2.50 0.059 3262 597.2 -116.8 - - 3233 - - - - - - - - 15.07 14.87 15.08
9251 769.0 -7.8 482 9264 done -0.49 0.15 0.246 2764 220.0 2.42 0.041 1793 -607.0 -116.8 - - 3233 - - - - - - - - 14.73 14.89 14.90
9579 791.2 -6.7 493 9593 roll -0.49 - - 2764 - 2.25 0.066 473 -586.7 -116.8 - - 3232 - - - - - - - - 15.07 14.86 15.09
9704 800.4 -7.3 510 9717 done -0.49 - - 2758 - 2.12 0.037 1777 615.1 -116.8 - - 3231 - - - - - - - - 14.95 14.90 14.97
10039 823.2 -6.8 522 10053 roll -0.49 - - 2748 - 2.53 0.061 3266 588.5 -116.8 - - 3231 - - - - - - - - 15.06 14.84 15.08
10167 832.0 -7.0 539 10180 done -0.59 - - 2747 - 2.40 0.041 1811 -606.2 -116.8 - - 3231 - - - - - - - - 14.94 14.88 14.95
10502 855.7 -7.0 551 10515 roll -0.59 - - 2747 - 2.30 0.067 467 -584.3 -116.8 - - 3230 - - - - - - - - 15.05 14.85 15.07
10621 865.1 -8.0 567 10634 done -0.59 - - 2739 - 2.15 0.039 1771 606.5 -116.8 - - 3230 - - - - - - - - 14.94 14.89 14.95
10963 892.2 -8.0 580 10976 roll -0.59 - - 2728 - 2.53 0.060 3272 593.3 -116.8 - - 3227 - - - - - - - - 15.07 14.84 15.07
11059 900.2 -8.7 593 11072 done -0.59 - - 2728 - 2.45 0.040 1786 -606.5 -116.8 - - 3229 - - - - - - - - 14.90 14.86 14.92
11423 930.6 -8.4 602 11436 roll -0.59 - - 2728 - 2.25 0.067 471 -584.4 -116.8 - - 3228 - - - - - - - - 15.04 14.83 15.07
11564 943.2 -7.7 621 11577 done -0.59 - - 2719 - 2.10 0.038 1760 613.8 -116.8 - - 3228 - - - - - - - - 14.94 14.88 14.95
11886 971.5 -8.7 631 11899 roll -0.59 - - 2708 - 2.55 0.061 3266 590.6 -116.8 - - 3227 - - - - - - - - 15.04 14.83 15.09
11997 981.6 -9.1 646 12011 done -0.59 0.12 0.262 2733 208.3 2.47 0.042 1780 -601.6 -116.8 - - 3227 - - - - - - - - 14.67 14.85 14.87
12113 end dive: TARGET_DEPTH_EXCEEDED
12113 begin apogee
12121 991.4 -8.1 649 12249 roll -0.21 0.45 0.226 2857 275.6 - - 1783 - - 118.18 2.189 2793 -3.7 0.307 - - - - - - 14.68 14.09 13.41
12250 end apogee: CONTROL_FINISHED_OK
12250 begin climb
12254 997.0 - 651 12395 roll 0.84 1.20 0.179 3190 277.5 2.53 0.059 3189 555.7 116.8 122.55 2.143 2310 -3.9 0.338 - - - - - - 14.09 14.16 13.31
12566 974.7 9.7 698 12580 done 0.73 0.15 0.280 3170 -133.3 2.38 0.042 1803 -582.4 116.8 - - 2293 - - - - - - - - 14.31 14.42 14.46
12906 945.4 8.5 705 12920 roll 0.73 - - 3170 - 2.38 0.053 3192 583.6 116.8 - - 2293 - - - - - - - - 14.83 14.63 14.81
13038 933.6 8.9 723 13051 done 0.73 - - 3177 - 2.40 0.042 1761 -596.2 116.8 - - 2293 - - - - - - - - 14.73 14.68 14.76
13366 904.2 9.0 734 13380 roll 0.73 - - 3187 - 2.38 0.068 399 -572.3 116.8 - - 2292 - - - - - - - - 14.90 14.71 14.93
13449 896.3 9.6 745 13463 done 0.73 - - 3187 - 2.25 0.034 1764 606.7 116.8 - - 2292 - - - - - - - - 14.82 14.78 14.84
13771 867.1 9.0 755 13784 roll 0.73 - - 3187 - 2.40 0.056 3183 591.2 116.8 - - 2292 - - - - - - - - 14.95 14.77 14.97
13853 858.8 9.3 766 13867 done 0.62 0.28 0.260 3131 -200.0 2.38 0.041 1761 -597.5 116.8 - - 2288 - - - - - - - - 14.62 14.78 14.82
14175 837.3 6.7 776 14206 roll 0.65 - - 3139 - 2.42 0.069 401 -562.0 138.0 19.67 2.017 2222 -3.4 0.257 - - - - - - 14.97 14.62 13.96
14279 830.7 7.2 790 14297 done 0.66 - - 3139 - 2.20 0.034 1738 607.7 149.7 5.12 1.614 2181 -8.0 0.760 - - - - - - 14.73 14.68 13.82
14629 805.6 7.2 804 14663 roll 0.68 - - 3140 - 2.47 0.054 3180 583.8 161.8 20.30 1.921 2125 -2.8 0.213 - - - - - - 14.88 14.55 13.90
14719 798.3 8.1 817 14732 done 0.68 - - 3149 - 2.42 0.042 1745 -593.0 161.8 - - 2119 - - - - - - - - 14.66 14.59 14.67
15082 768.7 8.3 826 15095 roll 0.68 - - 3159 - 2.35 0.069 401 -571.9 161.8 - - 2118 - - - - - - - - 14.88 14.69 14.90
15178 759.8 8.4 839 15191 done 0.68 - - 3159 - 2.20 0.034 1736 606.8 161.8 - - 2118 - - - - - - - - 14.81 14.76 14.84
15541 726.5 9.2 848 15555 roll 0.68 - - 3159 - 2.45 0.054 3183 590.6 161.8 - - 2118 - - - - - - - - 14.95 14.77 14.97
15603 720.7 9.3 856 15617 done 0.68 - - 3168 - 2.40 0.041 1750 -597.1 161.8 - - 2118 - - - - - - - - 14.85 14.78 14.86
15946 689.2 9.2 869 15959 roll 0.68 - - 3179 - 2.35 0.068 395 -576.6 161.8 - - 2118 - - - - - - - - 14.97 14.78 15.00
16008 683.3 9.7 877 16022 done 0.68 0.12 0.262 3150 -241.7 2.22 0.034 1755 612.6 161.8 - - 2117 - - - - - - - - 14.67 14.83 14.85
16351 656.1 7.8 890 16365 roll 0.68 - - 3153 - 2.40 0.055 3181 594.2 162.9 - - 2118 - - - - - - - - 14.99 14.81 15.01
16441 648.8 7.9 902 16454 done 0.68 - - 3160 - 2.35 0.041 1769 -600.9 162.9 - - 2117 - - - - - - - - 14.88 14.82 14.90
16811 619.4 8.0 912 16824 roll 0.68 - - 3170 - 2.38 0.069 402 -574.4 162.9 - - 2117 - - - - - - - - 15.00 14.80 15.02
16900 611.6 8.8 924 16914 done 0.68 - - 3170 - 2.20 0.034 1754 614.5 162.9 - - 2117 - - - - - - - - 14.90 14.85 14.92
17271 579.0 8.9 934 17284 roll 0.68 - - 3170 - 2.40 0.054 3183 595.4 162.9 - - 2117 - - - - - - - - 15.00 14.82 15.02
17318 574.3 9.9 940 17332 done 0.68 0.12 0.276 3153 -141.7 2.38 0.042 1749 -602.5 162.9 - - 2117 - - - - - - - - 14.69 14.84 14.88
17675 543.6 8.6 948 17688 roll 0.68 - - 3162 - 2.35 0.069 392 -577.4 162.9 - - 2118 - - - - - - - - 15.01 14.81 15.03
17743 537.4 9.0 957 17757 done 0.68 - - 3158 - 2.17 0.034 1730 616.6 162.9 - - 2115 - - - - - - - - 14.91 14.86 14.92
18079 508.5 8.6 969 18092 roll 0.68 - - 3162 - 2.45 0.053 3186 594.3 162.9 - - 2117 - - - - - - - - 15.01 14.83 15.03
18141 503.1 8.6 977 18155 done 0.68 - - 3171 - 2.40 0.041 1746 -600.0 162.9 - - 2117 - - - - - - - - 14.90 14.83 14.92
18484 472.9 8.9 990 18497 roll 0.68 - - 3181 - 2.33 0.068 401 -577.3 162.9 - - 2117 - - - - - - - - 15.01 14.81 15.03
18559 465.6 9.8 1000 18573 done 0.68 0.15 0.248 3148 -220.0 2.15 0.034 1732 619.1 162.9 - - 2117 - - - - - - - - 14.70 14.86 14.88
18888 439.9 7.7 1011 18901 roll 0.68 - - 3148 - 2.42 0.054 3182 599.2 165.9 - - 2117 - - - - - - - - 15.01 14.83 15.03
18956 434.3 8.3 1020 18970 done 0.68 - - 3155 - 2.40 0.041 1733 -603.8 165.9 - - 2118 - - - - - - - - 14.88 14.81 14.90
19292 407.5 8.0 1032 19305 roll 0.68 - - 3165 - 2.30 0.067 395 -581.7 165.9 - - 2118 - - - - - - - - 15.01 14.81 15.03
19354 402.3 8.5 1040 19367 done 0.68 - - 3165 - 2.17 0.034 1732 616.1 165.9 - - 2117 - - - - - - - - 14.91 14.87 14.92
19696 375.4 7.7 1053 19710 roll 0.68 - - 3165 - 2.50 0.051 3185 581.2 168.4 2.08 0.275 2099 -8.7 2.177 - - - - - - 15.02 14.83 13.68
19737 372.1 7.9 1058 19750 done 0.68 - - 3174 - 2.42 0.041 1723 -604.1 168.4 - - 2104 - - - - - - - - 14.88 14.82 14.90
20101 344.2 7.7 1067 20117 roll 0.69 - - 3184 - 2.33 0.067 399 -568.2 171.5 2.53 0.585 2094 -4.0 0.429 - - - - - - 15.01 14.81 14.02
20137 341.1 8.1 1072 20151 done 0.69 - - 3184 - 2.15 0.034 1732 620.0 171.5 - - 2094 - - - - - - - - 14.91 14.86 14.92
20501 309.3 8.9 1081 20515 roll 0.69 0.12 0.263 3152 -266.7 2.42 0.049 3184 600.0 171.5 - - 2097 - - - - - - - - 14.69 14.83 14.83
20563 304.1 7.9 1089 20577 done 0.69 - - 3159 - 2.40 0.041 1740 -601.7 171.5 - - 2097 - - - - - - - - 14.90 14.83 14.92
20906 276.9 8.1 1102 20919 roll 0.69 - - 3169 - 2.30 0.067 399 -583.0 171.5 - - 2097 - - - - - - - - 15.01 14.81 15.03
20953 272.8 8.8 1108 20966 done 0.69 - - 3169 - 2.20 0.034 1758 617.7 171.5 - - 2097 - - - - - - - - 14.92 14.86 14.93
21309 243.4 8.1 1116 21322 roll 0.69 - - 3169 - 2.38 0.051 3184 599.2 171.5 - - 2097 - - - - - - - - 15.02 14.83 15.04
21377 237.5 8.4 1125 21391 done 0.69 - - 3177 - 2.35 0.041 1761 -605.5 171.5 - - 2097 - - - - - - - - 14.90 14.84 14.92
21713 210.5 7.9 1137 21726 roll 0.69 - - 3188 - 2.33 0.066 401 -583.7 171.5 - - 2095 - - - - - - - - 15.00 14.82 15.04
21788 204.0 8.6 1147 21802 done 0.69 0.15 0.240 3154 -226.7 2.20 0.031 1770 622.3 171.5 - - 2097 - - - - - - - - 14.70 14.87 14.87
22117 181.0 7.0 1158 22155 roll 0.71 - - 3153 - 2.42 0.051 3174 580.2 187.9 25.77 1.212 2021 -2.9 0.081 - - - - - - 15.02 14.71 14.23
22189 175.2 8.3 1168 22202 done 0.71 - - 3160 - 2.33 0.040 1777 -599.6 187.9 - - 2015 - - - - - - - - 14.77 14.71 14.79
22511 149.9 7.8 1178 22524 roll 0.71 - - 3170 - 2.38 0.066 398 -579.4 189.6 - - 2012 - - - - - - - - 14.93 14.76 14.95
22573 144.9 8.2 1186 22586 done 0.71 - - 3170 - 2.30 0.033 1805 611.7 189.6 - - 2014 - - - - - - - - 14.84 14.80 14.86
22916 116.3 8.6 1199 22929 roll 0.71 - - 3170 - 2.28 0.050 3177 601.8 189.6 - - 2014 - - - - - - - - 14.97 14.80 15.00
22991 109.8 8.6 1209 23004 done 0.71 - - 3177 - 2.25 0.039 1808 -608.4 189.6 - - 2012 - - - - - - - - 14.87 14.81 14.88
23322 87.9 5.9 1223 23369 roll 0.76 - - 3188 - 2.47 0.064 397 -571.3 226.9 31.75 0.356 1869 -4.5 0.205 - - - - - - 14.98 14.73 14.54
23414 82.8 5.9 1236 23464 done 0.92 0.12 0.139 3236 400.0 2.20 0.031 1768 623.2 263.7 36.42 0.347 1719 -4.1 0.181 - - - - - - 14.75 14.81 14.47
23769 61.8 5.1 1254 23830 roll 1.12 0.12 0.139 3291 458.3 2.40 0.047 3171 584.6 315.9 48.12 0.295 1503 -4.5 0.173 - - - - - - 14.73 14.70 14.50
24060 46.7 4.6 1295 24127 done 1.30 0.15 0.121 3357 440.0 2.12 0.037 1877 -610.4 377.0 54.00 0.250 1255 -4.6 0.158 - - - - - - 14.73 14.75 14.54
24441 18.0 8.0 1316 24459 roll 1.30 - - 3357 - 2.20 0.046 3174 589.5 377.0 2.65 0.149 1260 1.9 -0.042 - - - - - - 14.94 14.73 14.66
24561 9.0 8.1 1332 24574 done 1.30 - - 3365 - 1.98 0.035 1959 -613.6 377.0 - - 1266 - - - - - - - - 14.85 14.79 14.86
24675 end climb: SURFACE_DEPTH_REACHED
24675 begin surface coast
24703 end surface coast: CONTROL_FINISHED_OK
24703 begin surface
SM 1.10 - - - - -8.60 9.18 0.063 161 17.5 0.12 0.125 1861 6925.0 515.13 82.82 0.124 691 8.3 -0.008 - - - - - -