SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 74 * Raw log
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• Previous call tries 1 • 32.09 of 350.00 AH used of 24V (90.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 1.22 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 37 s
• GPS2 time: 15 s • Transponder ping count: 2
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 154 - - - 1887 - -116.8 -80.18 - 3273 - - - - - - - - 14.83 13.86 14.86
117 8.7 -12.9 3 135 roll -0.84 11.93 0.395 2661 210.1 2.42 0.046 461 -589.3 -116.8 - - 3273 - - - - - - - - 14.46 14.66 14.69
148 30.2 -61.2 8 155 done -0.40 0.57 0.295 2791 228.1 2.25 0.041 1813 600.9 -116.8 - - 3274 - - - - - - - - 14.52 14.67 14.69
477 86.0 -13.0 22 484 roll -0.40 - - 2792 - 2.28 0.057 466 -590.8 -116.8 - - 3274 - - - - - - - - 14.95 14.77 14.96
610 97.9 -6.7 41 618 done -0.40 - - 2783 - 2.58 0.034 2037 608.9 -116.8 - - 3275 - - - - - - - - 14.86 14.82 14.88
925 120.4 -7.1 48 932 roll -0.40 - - 2774 - 1.95 0.058 3226 609.7 -116.8 - - 3277 - - - - - - - - 15.00 14.84 15.02
1163 137.3 -6.8 82 1170 done -0.40 - - 2775 - 1.75 0.034 2149 -615.4 -116.8 - - 3276 - - - - - - - - 14.89 14.87 14.90
1485 161.0 -7.4 93 1492 roll -0.40 - - 2775 - 2.83 0.058 465 -595.1 -116.8 - - 3275 - - - - - - - - 15.03 14.87 15.05
1645 174.1 -8.2 116 1654 done -0.40 0.15 0.249 2798 153.3 2.60 0.036 2045 607.7 -116.8 - - 3274 - - - - - - - - 14.78 14.88 14.91
1990 197.2 -6.7 123 1997 roll -0.44 - - 2798 - 2.67 0.057 458 -594.4 -116.8 - - 3270 - - - - - - - - 15.04 14.88 15.07
2102 205.6 -7.4 139 2108 done -0.44 - - 2791 - 2.53 0.035 2001 609.9 -116.8 - - 3268 - - - - - - - - 14.93 14.88 14.95
2439 229.7 -7.2 152 2445 roll -0.47 - - 2785 - 2.60 0.055 458 -593.5 -116.8 - - 3267 - - - - - - - - 15.04 14.87 15.07
2528 236.9 -7.6 165 2535 done -0.47 - - 2782 - 2.42 0.035 1948 615.7 -116.8 - - 3266 - - - - - - - - 14.95 14.90 14.96
2886 264.3 -7.8 174 2899 roll -0.47 - - 2782 - 2.50 0.057 463 -594.0 -116.8 - - 3263 - - - - - - - - 15.08 14.89 15.09
2975 272.0 -8.6 186 2989 done -0.47 - - 2773 - 2.35 0.036 1912 616.6 -116.8 - - 3261 - - - - - - - - 14.98 14.92 15.00
3345 302.3 -8.2 196 3359 roll -0.47 - - 2773 - 2.45 0.057 467 -589.8 -116.8 - - 3260 - - - - - - - - 15.09 14.92 15.11
3442 310.9 -8.8 209 3455 done -0.47 - - 2764 - 2.35 0.036 1922 619.1 -116.8 - - 3258 - - - - - - - - 15.00 14.95 15.01
3805 341.3 -8.3 218 3818 done -0.47 - - 2764 - - - 1923 - -116.8 - - 3255 - - - - - - - - 15.11 15.13 15.13
4141 369.1 -8.3 224 4154 roll -0.47 - - 2764 - 2.45 0.058 468 -593.9 -116.8 - - 3254 - - - - - - - - 15.11 14.94 15.14
4217 375.7 -8.7 234 4230 done -0.47 - - 2755 - 2.33 0.036 1900 614.6 -116.8 - - 3253 - - - - - - - - 15.02 14.96 15.02
4545 401.7 -7.9 245 4558 roll -0.47 - - 2752 - 2.42 0.058 465 -593.0 -116.8 - - 3251 - - - - - - - - 15.11 14.94 15.13
4585 405.1 -8.5 250 4598 done -0.47 0.12 0.263 2771 158.3 2.30 0.037 1885 617.4 -116.8 - - 3251 - - - - - - - - 14.84 14.97 14.98
4948 430.1 -6.7 259 4961 done -0.47 - - 2772 - - - 1886 - -116.8 - - 3249 - - - - - - - - 15.11 15.14 15.14
5285 451.8 -6.4 265 5298 roll -0.47 - - 2770 - 2.40 0.059 463 -592.9 -116.8 - - 3247 - - - - - - - - 15.11 14.94 15.14
5381 458.7 -7.1 278 5394 done -0.47 - - 2766 - 2.30 0.038 1877 614.8 -116.8 - - 3247 - - - - - - - - 15.02 14.96 15.02
5744 484.6 -7.2 287 5757 roll -0.47 - - 2756 - 2.30 0.059 3263 602.6 -116.8 - - 3245 - - - - - - - - 15.11 14.94 15.14
5799 488.8 -7.6 294 5813 done -0.47 - - 2756 - 2.28 0.038 1867 -612.3 -116.8 - - 3245 - - - - - - - - 15.01 14.96 15.02
6143 515.6 -7.9 301 6156 roll -0.47 - - 2756 - 2.35 0.061 471 -594.0 -116.8 - - 3244 - - - - - - - - 15.11 14.93 15.13
6288 528.1 -8.4 321 6301 done -0.47 0.12 0.268 2773 141.7 2.17 0.035 1813 618.4 -116.8 - - 3243 - - - - - - - - 14.82 14.96 14.98
6659 554.7 -7.2 331 6672 roll -0.50 - - 2765 - 2.40 0.057 3261 603.3 -116.8 - - 3241 - - - - - - - - 15.11 14.90 15.13
6713 558.7 -7.4 338 6727 done -0.54 - - 2765 - 2.35 0.039 1827 -610.2 -116.8 - - 3241 - - - - - - - - 15.00 14.95 15.02
7058 583.7 -7.3 345 7071 roll -0.54 - - 2765 - 2.28 0.062 473 -593.9 -116.8 - - 3240 - - - - - - - - 15.10 14.92 15.13
7120 588.6 -7.9 353 7133 done -0.54 - - 2757 - 2.20 0.037 1821 612.7 -116.8 - - 3240 - - - - - - - - 15.00 14.96 15.03
7462 614.3 -7.5 366 7475 done -0.54 - - 2756 - - - 1821 - -116.8 - - 3238 - - - - - - - - 15.10 15.14 15.12
7798 639.4 -7.5 372 7811 done -0.54 - - 2756 - - - 1821 - -116.8 - - 3237 - - - - - - - - 15.10 15.12 15.12
8134 666.2 -8.0 378 8147 roll -0.54 - - 2756 - 2.30 0.061 468 -588.3 -116.8 - - 3237 - - - - - - - - 15.09 14.92 15.11
8181 670.3 -8.6 384 8194 done -0.54 - - 2748 - 2.20 0.038 1815 612.3 -116.8 - - 3236 - - - - - - - - 15.00 14.96 15.02
8537 700.3 -8.5 392 8550 roll -0.54 - - 2737 - 2.42 0.060 3266 599.6 -116.8 - - 3235 - - - - - - - - 15.09 14.92 15.12
8570 703.4 -8.8 396 8583 done -0.54 - - 2737 - 2.38 0.039 1811 -611.3 -116.8 - - 3235 - - - - - - - - 15.00 14.94 15.01
8940 735.8 -8.7 406 8954 roll -0.54 - - 2736 - 2.28 0.065 468 -589.0 -116.8 - - 3233 - - - - - - - - 15.09 14.91 15.11
9037 744.6 -8.9 419 9050 done -0.54 - - 2728 - 2.17 0.038 1795 611.5 -116.8 - - 3232 - - - - - - - - 15.00 14.94 15.00
9400 775.3 -8.4 428 9413 roll -0.54 - - 2717 - 2.45 0.060 3260 598.0 -116.8 - - 3232 - - - - - - - - 15.09 14.90 15.11
9454 779.9 -8.4 435 9468 done -0.54 0.15 0.256 2750 220.0 2.42 0.041 1793 -606.2 -116.8 - - 3232 - - - - - - - - 14.79 14.92 14.95
9798 804.2 -7.0 442 9811 roll -0.54 - - 2750 - 2.25 0.065 467 -589.3 -116.8 - - 3231 - - - - - - - - 15.09 14.90 15.11
9888 811.0 -6.9 454 9901 done -0.54 - - 2743 - 2.15 0.038 1789 614.9 -116.8 - - 3231 - - - - - - - - 14.98 14.93 15.00
10258 835.9 -6.6 464 10271 roll -0.54 - - 2733 - 2.47 0.061 3262 596.4 -116.8 - - 3230 - - - - - - - - 15.08 14.90 15.09
10340 841.2 -6.4 475 10353 done -0.54 - - 2733 - 2.45 0.042 1778 -605.7 -116.8 - - 3230 - - - - - - - - 14.97 14.91 14.99
10662 861.7 -6.3 485 10675 roll -0.54 - - 2733 - 2.22 0.065 468 -590.1 -116.8 - - 3229 - - - - - - - - 15.07 14.89 15.09
10772 868.8 -7.0 500 10786 done -0.54 0.12 0.278 2750 141.7 2.08 0.039 1733 608.2 -116.8 - - 3229 - - - - - - - - 14.76 14.92 14.95
11116 888.6 -5.8 507 11129 roll -0.54 - - 2741 - 2.60 0.062 3266 589.6 -116.8 - - 3228 - - - - - - - - 15.07 14.88 15.09
11219 894.9 -6.1 521 11233 done -0.54 - - 2741 - 2.50 0.041 1752 -605.6 -116.8 - - 3229 - - - - - - - - 14.97 14.90 14.98
11576 917.7 -6.5 529 11589 roll -0.54 - - 2741 - 2.17 0.067 473 -589.4 -116.8 - - 3228 - - - - - - - - 15.07 14.88 15.09
11644 922.7 -6.3 538 11657 done -0.54 - - 2733 - 2.08 0.039 1748 613.0 -116.8 - - 3227 - - - - - - - - 14.96 14.91 14.97
11980 945.7 -7.0 550 11993 roll -0.54 - - 2721 - 2.55 0.061 3262 593.7 -116.8 - - 3227 - - - - - - - - 15.06 14.88 15.08
12028 949.8 -7.2 556 12041 done -0.54 0.12 0.258 2750 241.7 2.50 0.043 1751 -604.4 -116.8 - - 3227 - - - - - - - - 14.76 14.90 14.92
12384 971.6 -6.3 564 12397 roll -0.54 - - 2750 - 2.17 0.067 474 -588.5 -116.8 - - 3226 - - - - - - - - 15.06 14.87 15.08
12474 977.8 -7.0 576 12487 done -0.54 - - 2743 - 2.08 0.039 1739 608.2 -116.8 - - 3226 - - - - - - - - 14.95 14.90 14.97
12673 end dive: TARGET_DEPTH_EXCEEDED
12673 begin apogee
12680 991.1 -6.1 583 12809 roll -0.21 0.43 0.232 2856 262.8 - - 1660 - - 119.30 2.195 2792 -3.6 0.303 - - - - - - 14.75 14.08 13.38
12811 end apogee: CONTROL_FINISHED_OK
12811 begin climb
12815 995.4 - 585 12954 roll 0.84 1.10 0.179 3188 301.8 2.42 0.067 349 -541.7 116.8 122.65 2.157 2316 -3.9 0.331 - - - - - - 14.09 14.16 13.28
13160 967.9 9.8 637 13173 done 0.84 - - 3189 - 2.25 0.036 1691 596.4 116.8 - - 2292 - - - - - - - - 14.53 14.48 14.54
13530 932.8 9.3 647 13543 roll 0.84 - - 3198 - 2.38 0.067 342 -566.8 116.8 - - 2289 - - - - - - - - 14.82 14.64 14.83
13699 917.2 9.4 670 13714 done 0.80 - - 3198 - 2.28 0.036 1715 602.2 116.8 - - 2289 - - - - - - - - 14.79 14.73 14.78
14040 885.8 9.2 677 14053 roll 0.77 - - 3198 - 2.28 0.054 3068 593.4 116.8 - - 2288 - - - - - - - - 14.92 14.76 14.95
14136 876.3 9.8 690 14150 done 0.73 0.17 0.290 3170 -164.7 2.17 0.041 1761 -602.3 116.8 - - 2288 - - - - - - - - 14.64 14.78 14.83
14501 845.8 8.4 699 14514 roll 0.73 - - 3178 - 2.47 0.068 341 -574.9 116.8 - - 2288 - - - - - - - - 14.97 14.78 15.00
14541 842.5 8.6 704 14554 done 0.73 - - 3179 - 2.33 0.035 1751 605.2 116.8 - - 2288 - - - - - - - - 14.88 14.83 14.90
14904 809.9 9.0 713 14917 roll 0.73 - - 3178 - 2.22 0.054 3067 592.8 116.8 - - 2288 - - - - - - - - 15.00 14.82 15.02
14986 802.2 9.3 724 14999 done 0.73 - - 3187 - 2.12 0.041 1776 -609.0 116.8 - - 2288 - - - - - - - - 14.90 14.83 14.91
15308 773.4 8.9 734 15321 roll 0.73 - - 3198 - 2.47 0.068 341 -581.0 116.8 - - 2288 - - - - - - - - 15.00 14.81 15.02
15363 768.2 9.6 741 15377 done 0.69 0.17 0.271 3159 -229.4 2.38 0.034 1786 607.1 116.8 - - 2287 - - - - - - - - 14.71 14.86 14.88
15707 742.8 7.2 748 15723 roll 0.71 - - 3159 - 2.17 0.054 3058 586.2 128.4 2.78 0.861 2268 -6.8 1.089 - - - - - - 15.01 14.82 13.93
15758 738.9 7.5 755 15776 done 0.72 - - 3165 - 2.10 0.043 1791 -603.3 134.3 5.30 1.607 2242 -4.9 0.417 - - - - - - 14.89 14.84 13.97
16108 712.7 7.7 769 16126 roll 0.72 - - 3176 - 2.50 0.067 346 -578.0 138.0 4.25 1.398 2229 -3.1 0.288 - - - - - - 14.98 14.66 13.95
16227 702.6 8.7 785 16240 done 0.72 - - 3176 - 2.33 0.036 1752 603.4 138.0 - - 2236 - - - - - - - - 14.87 14.82 14.88
16569 673.3 8.5 798 16582 roll 0.72 - - 3176 - 2.20 0.053 3069 598.6 138.0 - - 2236 - - - - - - - - 15.00 14.85 15.00
16644 666.5 9.0 808 16658 done 0.72 - - 3192 - 2.10 0.041 1791 -608.6 138.0 - - 2236 - - - - - - - - 14.89 14.83 14.90
16973 637.4 8.9 819 16986 roll 0.72 - - 3195 - 2.50 0.067 339 -580.8 138.0 - - 2236 - - - - - - - - 15.00 14.82 15.02
17062 629.1 9.3 831 17076 done 0.69 0.17 0.266 3158 -217.6 2.38 0.034 1787 608.4 138.0 1.45 0.202 2231 -3.4 1.984 - - - - - - 14.70 14.86 14.76
17437 600.1 7.8 841 17450 roll 0.69 - - 3157 - 2.12 0.054 3064 602.4 138.3 - - 2234 - - - - - - - - 15.00 14.83 15.03
17540 591.3 8.0 855 17554 done 0.69 - - 3163 - 2.05 0.041 1819 -607.3 138.3 - - 2236 - - - - - - - - 14.90 14.85 14.95
17897 562.5 8.2 863 17910 roll 0.69 - - 3175 - 2.55 0.068 342 -579.2 138.3 - - 2235 - - - - - - - - 15.02 14.83 15.04
18007 552.5 9.1 878 18022 done 0.69 - - 3175 - 2.38 0.034 1783 605.5 138.3 - - 2234 - - - - - - - - 14.90 14.85 14.91
18351 523.4 8.4 885 18365 roll 0.69 - - 3174 - 2.15 0.050 3071 599.1 138.3 1.75 0.177 2228 -3.4 1.873 - - - - - - 15.02 14.85 14.77
18434 516.4 8.5 896 18447 done 0.69 - - 3182 - 2.05 0.041 1819 -610.7 138.3 - - 2233 - - - - - - - - 14.92 14.85 14.93
18755 489.6 8.4 906 18768 roll 0.69 - - 3194 - 2.55 0.067 338 -580.8 138.3 - - 2232 - - - - - - - - 15.02 14.83 15.04
18838 482.0 9.2 917 18851 done 0.69 0.17 0.262 3155 -229.4 2.40 0.034 1803 610.4 138.3 - - 2233 - - - - - - - - 14.70 14.86 14.87
19159 457.2 7.6 927 19176 roll 0.70 - - 3155 - 2.12 0.051 3074 599.5 142.3 4.78 1.297 2210 -4.8 0.313 - - - - - - 15.02 14.70 14.06
19204 453.5 8.4 933 19217 done 0.70 - - 3161 - 2.08 0.041 1808 -608.7 142.3 - - 2215 - - - - - - - - 14.89 14.83 14.90
19560 423.2 8.7 941 19573 roll 0.70 - - 3172 - 2.53 0.067 341 -579.8 142.3 - - 2218 - - - - - - - - 15.00 14.81 15.02
19649 414.8 9.4 953 19662 done 0.70 - - 3172 - 2.35 0.034 1774 609.8 142.3 - - 2218 - - - - - - - - 14.91 14.85 14.92
20020 381.6 8.9 963 20033 roll 0.70 - - 3172 - 2.15 0.052 3067 601.4 142.3 - - 2218 - - - - - - - - 15.02 14.83 15.04
20130 371.9 8.4 978 20144 done 0.70 - - 3180 - 2.05 0.040 1821 -607.8 142.3 - - 2218 - - - - - - - - 14.90 14.85 14.92
20475 343.6 8.3 985 20488 roll 0.70 - - 3191 - 2.55 0.067 337 -582.0 142.3 - - 2218 - - - - - - - - 15.02 14.83 15.04
20537 338.2 8.7 993 20550 done 0.70 0.15 0.262 3159 -213.3 2.42 0.034 1819 612.4 142.3 - - 2218 - - - - - - - - 14.71 14.88 14.88
20879 313.2 7.2 1006 20911 roll 0.71 - - 3159 - 2.15 0.053 3066 580.0 153.8 20.88 1.382 2161 -2.7 0.114 - - - - - - 15.02 14.72 14.19
20967 306.3 8.1 1018 20980 done 0.71 - - 3165 - 2.05 0.039 1819 -608.3 153.8 - - 2154 - - - - - - - - 14.79 14.73 14.81
21330 278.1 7.7 1027 21343 roll 0.71 - - 3176 - 2.55 0.066 346 -577.6 156.6 - - 2154 - - - - - - - - 14.95 14.76 14.97
21471 266.5 8.3 1046 21485 done 0.71 - - 3176 - 2.35 0.033 1784 611.9 156.6 - - 2154 - - - - - - - - 14.87 14.82 14.88
21792 240.7 8.0 1056 21806 roll 0.71 - - 3176 - 2.12 0.050 3067 605.2 156.6 - - 2154 - - - - - - - - 14.98 14.81 15.00
21875 233.9 8.1 1067 21888 done 0.71 - - 3184 - 2.10 0.040 1790 -608.1 156.6 - - 2154 - - - - - - - - 14.88 14.83 14.90
22196 208.1 8.1 1077 22209 roll 0.71 - - 3195 - 2.47 0.065 346 -584.6 156.6 - - 2155 - - - - - - - - 15.00 14.81 15.02
22320 196.7 9.2 1094 22334 done 0.71 0.15 0.258 3168 -180.0 2.28 0.033 1751 616.2 156.6 - - 2154 - - - - - - - - 14.70 14.86 14.84
22656 171.4 7.5 1106 22673 roll 0.72 - - 3163 - 2.20 0.050 3069 599.1 163.4 4.55 1.004 2125 -6.4 0.201 - - - - - - 15.01 14.83 14.18
22715 166.7 8.1 1114 22728 done 0.72 - - 3169 - 2.17 0.040 1752 -606.9 163.4 - - 2129 - - - - - - - - 14.89 14.83 14.90
23058 140.9 7.4 1127 23088 roll 0.73 - - 3179 - 2.47 0.066 349 -568.0 172.0 14.85 1.190 2082 -3.2 0.069 - - - - - - 15.00 14.73 14.25
23136 134.7 8.1 1138 23149 done 0.73 - - 3179 - 2.28 0.033 1746 612.7 172.0 - - 2078 - - - - - - - - 14.83 14.79 14.85
23458 110.1 7.6 1148 23471 roll 0.74 - - 3179 - 2.15 0.048 3064 613.0 176.4 - - 2077 - - - - - - - - 14.97 14.78 14.99
23701 90.0 7.0 1182 23727 done 0.76 - - 3186 - 1.95 0.037 1860 -617.4 192.6 14.32 0.329 2007 -4.9 0.247 - - - - - - 14.88 14.83 14.57
24052 73.9 4.0 1198 24135 roll 0.88 - - 3186 - 2.10 0.048 3074 578.1 264.4 66.35 0.328 1715 -4.4 0.183 - - - - - - 14.97 14.70 14.52
24275 63.0 4.6 1230 24347 done 1.03 0.20 0.099 3274 440.0 2.03 0.038 1838 -608.9 325.6 56.42 0.296 1468 -4.4 0.172 - - - - - - 14.75 14.75 14.52
24670 42.4 4.7 1253 24734 roll 1.15 - - 3274 - 2.05 0.045 3069 600.5 385.1 51.40 0.239 1223 -4.8 0.156 - - - - - - 14.92 14.68 14.56
24792 36.2 5.0 1270 24850 done 1.29 0.20 0.096 3362 440.0 1.95 0.037 1872 -613.8 439.0 45.65 0.220 1001 -4.9 0.148 - - - - - - 14.73 14.72 14.54
25172 4.8 8.8 1291 25189 roll 1.29 - - 3374 - 2.67 0.062 341 -573.4 439.0 2.60 0.145 1006 1.9 -0.012 - - - - - - 14.93 14.74 14.71
25200 end climb: SURFACE_DEPTH_REACHED
25200 begin surface coast
25206 end surface coast: CONTROL_FINISHED_OK
25206 begin surface
SM 1.36 - - - - -8.61 9.23 0.063 155 16.8 2.55 0.031 1881 -2677.3 515.13 46.15 0.125 692 15.0 -0.017 - - - - - -