SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 78 * Raw log
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• Previous call tries 1 • 38.68 of 350.00 AH used of 24V (88.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.0 deg, depth 0.98 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 32 s • Transponder ping count: 17
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 107 VBD -0.68 - - 217 - - - 2272 - -116.8 -83.55 - 2843 - - - - - - - - 14.74 - 14.76
111 4.2 -5.5 3 135 roll -0.68 8.57 0.418 1982 206.0 2.65 2.114 869 -529.4 -116.8 -6.75 - 3222 -56.1 - - - - - - - 14.33 13.62 14.57
163 26.0 -35.1 11 170 done -0.35 0.45 0.302 2080 217.8 2.50 0.070 2285 566.4 -116.8 - - 3223 - - - - - - - - 14.40 14.53 14.58
500 82.5 -10.0 26 506 roll -0.28 - - 2082 - 2.42 0.055 868 -585.5 -116.8 - - 3223 - - - - - - - - 14.85 14.66 14.86
660 94.0 -4.7 49 669 done -0.28 - - 2081 - 2.50 0.067 2300 572.8 -116.8 - - 3224 - - - - - - - - 14.76 14.68 14.78
976 110.2 -5.8 58 982 roll -0.28 - - 2081 - 2.40 0.086 3690 579.2 -116.8 - - 3226 - - - - - - - - 14.91 14.71 14.93
1181 123.3 -6.5 87 1187 done -0.28 - - 2081 - 2.33 0.047 2270 -609.4 -116.8 - - 3226 - - - - - - - - 14.82 14.77 14.84
1538 145.5 -6.0 96 1544 roll -0.28 - - 2081 - 2.35 0.060 885 -589.4 -116.8 - - 3224 - - - - - - - - 14.95 14.76 14.97
1635 151.7 -6.4 110 1641 done -0.28 - - 2081 - 2.45 0.067 2298 576.7 -116.8 - - 3224 - - - - - - - - 14.83 14.75 14.85
1986 173.0 -6.0 118 1992 roll -0.28 - - 2076 - 2.42 0.089 3693 576.4 -116.8 - - 3222 - - - - - - - - 14.95 14.75 14.97
2090 179.9 -6.5 133 2098 done -0.34 - - 2076 - 2.33 0.050 2297 -599.1 -116.8 - - 3223 - - - - - - - - 14.85 14.79 14.86
2434 200.4 -5.9 140 2441 roll -0.34 - - 2080 - 2.40 0.060 890 -586.2 -116.8 - - 3220 - - - - - - - - 14.96 14.77 14.98
2597 210.6 -6.2 163 2605 done -0.34 - - 2071 - 2.47 0.070 2300 570.9 -116.8 - - 3218 - - - - - - - - 14.84 14.76 14.85
2938 231.5 -6.0 170 2940 done -0.34 - - 2069 - - - 2298 - -116.8 - - 3215 - - - - - - - - 14.96 14.98 14.97
3276 251.8 -6.1 176 3289 done -0.34 - - 2071 - - - 2300 - -116.8 - - 3212 - - - - - - - - 14.97 15.00 14.99
3610 272.7 -6.2 182 3623 roll -0.34 - - 2072 - 2.45 0.062 885 -577.6 -116.8 - - 3210 - - - - - - - - 15.00 14.81 15.02
3672 276.9 -6.7 190 3686 done -0.34 - - 2071 - 2.47 0.071 2292 569.6 -116.8 - - 3209 - - - - - - - - 14.88 14.79 14.90
4015 298.6 -6.4 203 4028 roll -0.34 - - 2066 - 2.45 0.094 3692 571.4 -116.8 - - 3208 - - - - - - - - 15.01 14.79 15.04
4078 302.8 -6.7 211 4091 done -0.34 - - 2065 - 2.33 0.054 2300 -597.4 -116.8 - - 3210 - - - - - - - - 14.90 14.83 14.92
4421 324.4 -6.2 224 4433 done -0.34 - - 2071 - - - 2292 - -116.8 - - 3205 - - - - - - - - 15.02 15.04 15.04
4757 344.8 -6.1 230 4770 roll -0.34 - - 2065 - 2.42 0.065 881 -583.1 -116.8 - - 3203 - - - - - - - - 15.02 14.82 15.04
4846 350.6 -6.3 242 4859 done -0.34 - - 2061 - 2.47 0.075 2291 570.9 -116.8 - - 3203 - - - - - - - - 14.90 14.81 14.92
5217 371.5 -5.5 252 5230 roll -0.34 - - 2061 - 2.42 0.061 880 -583.1 -116.8 - - 3201 - - - - - - - - 15.02 14.83 15.04
5306 376.5 -5.6 264 5320 done -0.34 0.12 0.271 2087 216.7 2.47 0.076 2279 566.4 -116.8 - - 3200 - - - - - - - - 14.71 14.81 14.88
5678 392.2 -4.3 274 5691 roll -0.40 - - 2082 - 2.50 0.098 3695 566.4 -116.8 - - 3198 - - - - - - - - 15.05 14.80 15.03
5719 394.3 -5.2 279 5732 done -0.48 - - 2081 - 2.38 0.057 2278 -595.4 -116.8 - - 3198 - - - - - - - - 14.92 14.85 14.93
6083 413.6 -5.5 288 6096 roll -0.54 0.15 0.124 2011 -466.7 2.40 0.065 878 -583.3 -116.8 - - 3196 - - - - - - - - 14.85 14.82 14.88
6166 420.5 -8.9 299 6179 done -0.54 - - 2002 - 2.45 0.076 2276 570.6 -116.8 - - 3196 - - - - - - - - 14.90 14.80 14.92
6487 449.2 -9.0 309 6500 roll -0.54 - - 1993 - 2.50 0.098 3698 568.8 -116.8 - - 3195 - - - - - - - - 15.01 14.79 15.04
6563 456.4 -9.5 319 6576 done -0.49 0.17 0.255 2036 252.9 2.38 0.056 2274 -598.3 -116.8 - - 3195 - - - - - - - - 14.68 14.84 14.87
6892 480.4 -7.0 330 6905 roll -0.49 - - 2036 - 2.38 0.067 885 -583.6 -116.8 - - 3193 - - - - - - - - 15.02 14.81 15.04
6981 486.7 -6.8 342 6995 done -0.49 - - 2036 - 2.47 0.078 2288 568.0 -116.8 - - 3193 - - - - - - - - 14.91 14.79 14.92
7352 510.4 -6.4 352 7365 done -0.49 - - 2036 - - - 2288 - -116.8 - - 3194 - - - - - - - - 15.02 15.04 15.04
7689 532.6 -6.7 358 7701 done -0.49 - - 2036 - - - 2292 - -116.8 - - 3191 - - - - - - - - 15.02 15.04 15.04
8024 555.8 -6.8 364 8037 roll -0.49 - - 2037 - 2.45 0.064 877 -577.6 -116.8 - - 3190 - - - - - - - - 15.02 14.81 15.04
8064 558.8 -7.6 369 8078 done -0.49 - - 2036 - 2.50 0.081 2285 563.2 -116.8 - - 3190 - - - - - - - - 14.89 14.78 14.91
8428 583.1 -6.7 378 8441 roll -0.49 - - 2029 - 2.50 0.099 3699 565.6 -116.8 - - 3188 - - - - - - - - 15.02 14.77 15.04
8476 586.4 -7.1 384 8489 done -0.49 - - 2029 - 2.40 0.058 2273 -594.2 -116.8 - - 3188 - - - - - - - - 14.90 14.83 14.91
8832 611.7 -7.1 392 8845 roll -0.49 - - 2029 - 2.40 0.070 882 -579.6 -116.8 - - 3188 - - - - - - - - 15.02 14.78 15.03
8936 619.7 -7.6 406 8949 done -0.49 - - 2026 - 2.50 0.080 2285 561.2 -116.8 - - 3187 - - - - - - - - 14.88 14.77 14.90
9292 644.9 -7.0 414 9305 done -0.49 - - 2026 - - - 2285 - -116.8 - - 3185 - - - - - - - - 15.02 15.03 15.02
9629 668.7 -7.1 420 9642 roll -0.49 - - 2026 - 2.45 0.067 875 -575.5 -116.8 - - 3185 - - - - - - - - 15.01 14.77 15.03
9663 671.3 -7.7 424 9676 done -0.49 - - 2026 - 2.50 0.082 2281 562.4 -116.8 - - 3184 - - - - - - - - 14.88 14.77 14.90
10033 698.4 -7.3 434 10046 done -0.49 - - 2026 - - - 2280 - -116.8 - - 3184 - - - - - - - - 15.00 15.02 15.02
10370 721.9 -6.9 440 10383 roll -0.49 - - 2026 - 2.42 0.069 880 -578.5 -116.8 - - 3183 - - - - - - - - 15.00 14.77 15.02
10424 725.8 -7.1 447 10438 done -0.49 - - 2026 - 2.50 0.081 2276 558.4 -116.8 - - 3183 - - - - - - - - 14.86 14.76 14.90
10769 748.0 -6.5 454 10782 done -0.49 - - 2026 - - - 2276 - -116.8 - - 3182 - - - - - - - - 15.00 15.02 15.02
11105 769.8 -6.4 460 11118 roll -0.49 - - 2025 - 2.45 0.070 883 -568.6 -116.8 - - 3181 - - - - - - - - 15.00 14.76 15.01
11152 773.4 -7.5 466 11165 done -0.49 - - 2026 - 2.50 0.082 2276 557.2 -116.8 - - 3181 - - - - - - - - 14.85 14.74 14.88
11508 796.3 -6.4 474 11521 done -0.49 - - 2026 - - - 2275 - -116.8 - - 3180 - - - - - - - - 14.99 15.02 15.01
11845 818.4 -6.6 480 11858 roll -0.49 - - 2020 - 2.55 0.106 3706 561.2 -116.8 - - 3179 - - - - - - - - 15.00 14.73 15.01
11879 820.8 -6.0 484 11892 done -0.49 - - 2020 - 2.42 0.060 2265 -595.5 -116.8 - - 3178 - - - - - - - - 14.84 14.78 14.86
12249 844.9 -6.5 494 12262 roll -0.49 - - 2020 - 2.40 0.071 880 -577.1 -116.8 - - 3178 - - - - - - - - 14.98 14.75 15.00
12369 852.5 -6.6 510 12382 done -0.49 - - 2015 - 2.50 0.084 2268 555.2 -116.8 - - 3177 - - - - - - - - 14.83 14.72 14.85
12711 874.8 -6.4 523 12724 roll -0.49 - - 2012 - 2.58 0.106 3703 556.2 -116.8 - - 3176 - - - - - - - - 14.97 14.71 15.00
12780 879.6 -7.1 532 12793 done -0.49 - - 2011 - 2.42 0.059 2265 -594.2 -116.8 - - 3177 - - - - - - - - 14.85 14.77 14.87
13116 903.1 -7.1 544 13129 roll -0.49 - - 2011 - 2.40 0.070 877 -578.3 -116.8 - - 3176 - - - - - - - - 14.97 14.73 14.99
13220 911.0 -7.6 558 13233 done -0.49 0.12 0.295 2038 225.0 2.50 0.086 2263 554.4 -116.8 - - 3176 - - - - - - - - 14.57 14.70 14.78
13576 933.5 -6.3 566 13590 roll -0.49 - - 2035 - 2.58 0.109 3694 554.7 -116.8 - - 3178 - - - - - - - - 14.96 14.69 14.99
13624 936.6 -4.6 572 13637 done -0.49 - - 2035 - 2.45 0.062 2259 -585.7 -116.8 - - 3175 - - - - - - - - 14.83 14.76 14.85
13981 959.1 -6.3 580 13994 roll -0.49 - - 2035 - 2.40 0.069 872 -577.9 -116.8 - - 3174 - - - - - - - - 14.96 14.72 14.98
14056 964.0 -6.6 590 14070 done -0.49 - - 2030 - 2.50 0.086 2266 557.6 -116.8 - - 3174 - - - - - - - - 14.80 14.70 14.84
14385 984.3 -6.2 601 14398 roll -0.49 - - 2024 - 2.58 0.107 3699 555.4 -116.8 - - 3174 - - - - - - - - 14.96 14.69 14.97
14408 end dive: HALF_MISSION_TIME_EXCEEDED
14408 begin apogee
14419 986.8 -7.3 604 14612 roll -0.19 0.40 0.225 2135 277.5 - - 2229 - - 184.02 1.686 2742 -2.3 0.254 - - - - - - 14.57 14.04 13.51
14614 end apogee: CONTROL_FINISHED_OK
14614 begin climb
14618 991.3 - 607 14781 done 0.68 0.90 0.155 2411 306.7 - - 2230 - 116.8 146.52 1.958 2256 -3.3 0.311 - - - - - - 14.03 14.25 13.25
15090 946.8 10.8 644 15103 roll 0.62 - - 2417 - 2.62 0.109 3634 535.9 116.8 - - 2231 - - - - - - - - 14.61 14.39 14.63
15187 935.0 12.2 657 15201 done 0.53 0.20 0.310 2378 -195.0 2.47 0.077 2244 -562.8 116.8 - - 2230 - - - - - - - - 14.33 14.47 14.54
15551 901.6 9.0 666 15564 roll 0.53 - - 2388 - 2.60 0.095 820 -547.7 116.8 - - 2229 - - - - - - - - 14.79 14.54 14.81
15614 896.2 8.6 674 15627 done 0.53 - - 2388 - 2.58 0.085 2232 547.3 116.8 - - 2227 - - - - - - - - 14.68 14.57 14.71
15956 866.1 8.8 687 15969 roll 0.53 - - 2388 - 2.60 0.115 3650 545.4 116.8 - - 2226 - - - - - - - - 14.85 14.62 14.87
16039 858.1 9.5 698 16053 done 0.49 0.15 0.298 2363 -166.7 2.47 0.079 2245 -568.8 116.8 - - 2225 - - - - - - - - 14.52 14.66 14.73
16362 834.7 7.2 708 16375 roll 0.49 - - 2373 - 2.58 0.095 822 -551.6 120.7 - - 2225 - - - - - - - - 14.89 14.65 14.91
16445 828.6 7.1 719 16458 done 0.49 - - 2373 - 2.55 0.084 2240 556.1 125.4 - - 2224 - - - - - - - - 14.76 14.66 14.78
16766 802.2 8.5 729 16779 roll 0.49 - - 2374 - 2.53 0.112 3638 552.6 125.4 - - 2224 - - - - - - - - 14.90 14.66 14.92
16855 793.8 8.5 741 16869 done 0.49 - - 2387 - 2.45 0.074 2237 -571.8 125.4 - - 2223 - - - - - - - - 14.78 14.70 14.81
17226 758.8 9.4 751 17240 roll 0.49 - - 2393 - 2.55 0.090 822 -554.9 125.4 - - 2223 - - - - - - - - 14.92 14.68 14.94
17302 751.6 8.6 761 17315 done 0.49 0.15 0.274 2360 -220.0 2.58 0.084 2257 556.2 125.4 - - 2223 - - - - - - - - 14.57 14.68 14.76
17631 724.7 8.1 772 17644 roll 0.49 - - 2359 - 2.53 0.115 3640 546.6 125.4 - - 2223 - - - - - - - - 14.92 14.67 14.95
17706 717.9 8.8 782 17719 done 0.49 - - 2369 - 2.42 0.075 2252 -573.6 125.4 - - 2223 - - - - - - - - 14.81 14.71 14.82
18035 690.9 8.3 793 18049 roll 0.49 - - 2379 - 2.55 0.093 825 -559.6 125.4 - - 2223 - - - - - - - - 14.93 14.67 14.95
18112 684.8 7.7 803 18125 done 0.49 - - 2379 - 2.55 0.084 2247 557.6 125.4 - - 2222 - - - - - - - - 14.80 14.69 14.82
18440 658.2 8.1 814 18453 roll 0.49 - - 2379 - 2.53 0.112 3646 553.0 125.4 - - 2223 - - - - - - - - 14.93 14.67 14.95
18516 651.6 8.7 824 18529 done 0.49 - - 2388 - 2.42 0.074 2249 -577.3 125.4 - - 2220 - - - - - - - - 14.81 14.71 14.83
18844 623.6 8.6 835 18857 roll 0.49 - - 2398 - 2.55 0.090 820 -560.4 125.4 - - 2222 - - - - - - - - 14.92 14.69 14.95
18907 618.2 8.5 843 18920 done 0.49 0.15 0.272 2366 -213.3 2.60 0.083 2263 555.0 125.4 - - 2222 - - - - - - - - 14.57 14.69 14.77
19250 592.3 7.5 856 19263 roll 0.49 - - 2364 - 2.50 0.111 3642 551.6 125.4 - - 2222 - - - - - - - - 14.93 14.68 14.95
19297 588.3 8.5 862 19310 done 0.49 - - 2372 - 2.40 0.073 2258 -576.7 125.4 - - 2222 - - - - - - - - 14.81 14.71 14.83
19654 560.7 7.7 870 19667 roll 0.49 - - 2382 - 2.55 0.088 824 -562.4 125.4 - - 2222 - - - - - - - - 14.94 14.69 14.95
19701 556.9 8.0 876 19714 done 0.49 - - 2382 - 2.58 0.084 2257 555.4 125.4 - - 2222 - - - - - - - - 14.79 14.69 14.83
20058 526.4 8.8 884 20071 roll 0.49 - - 2382 - 2.50 0.112 3639 552.8 125.4 - - 2222 - - - - - - - - 14.94 14.67 14.96
20133 519.1 9.4 894 20147 done 0.49 0.12 0.278 2363 -158.3 2.40 0.073 2258 -575.4 125.4 - - 2222 - - - - - - - - 14.57 14.71 14.78
20462 494.6 7.3 905 20475 roll 0.49 - - 2374 - 2.55 0.088 827 -561.2 126.3 - - 2222 - - - - - - - - 14.94 14.69 14.95
20510 491.1 6.9 911 20541 done 0.50 - - 2370 - 2.58 0.084 2262 556.2 137.5 17.10 1.584 2175 -2.7 0.158 - - - - - - 14.80 14.69 14.05
20863 463.8 7.8 926 20876 roll 0.50 - - 2374 - 2.53 0.109 3647 547.4 137.5 - - 2161 - - - - - - - - 14.87 14.62 14.88
20931 457.6 8.9 935 20945 done 0.50 - - 2383 - 2.42 0.073 2261 -572.7 137.5 - - 2160 - - - - - - - - 14.73 14.64 14.75
21267 429.3 8.6 947 21280 roll 0.50 - - 2393 - 2.58 0.086 820 -558.5 137.5 - - 2160 - - - - - - - - 14.89 14.66 14.91
21322 424.4 8.6 954 21336 done 0.50 0.12 0.259 2364 -241.7 2.62 0.081 2273 554.6 137.5 - - 2159 - - - - - - - - 14.57 14.66 14.76
21666 398.1 7.6 961 21680 roll 0.50 - - 2364 - 2.47 0.112 3639 553.0 137.5 - - 2158 - - - - - - - - 14.91 14.66 14.93
21756 390.6 8.1 973 21769 done 0.50 - - 2372 - 2.38 0.071 2267 -576.5 137.5 - - 2158 - - - - - - - - 14.79 14.70 14.81
22127 363.9 7.1 983 22140 roll 0.50 - - 2382 - 2.55 0.086 825 -565.5 143.0 - - 2159 - - - - - - - - 14.92 14.69 14.94
22210 358.4 6.5 994 22254 done 0.52 - - 2381 - 2.60 0.083 2277 558.5 163.2 29.92 1.427 2071 -2.9 0.137 - - - - - - 14.79 14.69 14.02
22586 329.7 8.0 1012 22599 roll 0.52 - - 2381 - 2.47 0.110 3639 551.4 163.2 - - 2050 - - - - - - - - 14.82 14.58 14.84
22627 325.5 9.7 1017 22640 done 0.52 - - 2391 - 2.40 0.071 2263 -573.3 163.2 - - 2049 - - - - - - - - 14.71 14.63 14.73
22990 290.7 9.6 1026 23003 roll 0.52 - - 2401 - 2.58 0.086 817 -560.5 163.2 - - 2049 - - - - - - - - 14.88 14.65 14.90
23030 287.0 9.1 1031 23044 done 0.52 0.12 0.249 2371 -250.0 2.60 0.081 2272 559.6 163.2 - - 2048 - - - - - - - - 14.54 14.65 14.71
23395 259.8 7.3 1040 23408 roll 0.52 - - 2371 - 2.47 0.110 3639 553.4 164.9 - - 2048 - - - - - - - - 14.90 14.66 14.92
23492 252.1 8.0 1053 23506 done 0.52 - - 2379 - 2.38 0.070 2275 -573.1 164.9 - - 2048 - - - - - - - - 14.78 14.70 14.81
23856 224.3 7.7 1062 23870 roll 0.52 - - 2389 - 2.58 0.086 823 -562.8 164.9 - - 2046 - - - - - - - - 14.92 14.69 14.95
23932 218.6 7.2 1072 23945 done 0.57 - - 2389 - 2.60 0.080 2282 561.2 167.1 - - 2048 - - - - - - - - 14.80 14.69 14.82
24260 192.6 8.1 1083 24274 roll 0.57 - - 2389 - 2.45 0.106 3641 554.7 167.1 - - 2048 - - - - - - - - 14.92 14.69 14.95
24301 188.9 8.9 1088 24314 done 0.57 - - 2398 - 2.35 0.068 2276 -580.9 167.1 - - 2048 - - - - - - - - 14.79 14.71 14.81
24665 157.7 8.6 1097 24678 roll 0.57 - - 2407 - 2.58 0.086 820 -564.3 167.1 - - 2048 - - - - - - - - 14.94 14.70 14.95
24727 152.4 8.4 1105 24741 done 0.57 - - 2407 - 2.60 0.079 2280 561.5 167.1 - - 2048 - - - - - - - - 14.81 14.71 14.83
25070 122.0 8.8 1118 25083 roll 0.57 - - 2407 - 2.42 0.106 3638 561.2 167.1 - - 2048 - - - - - - - - 14.94 14.68 14.96
25153 114.1 9.2 1129 25166 done 0.57 0.12 0.272 2387 -166.7 2.35 0.067 2273 -580.9 167.1 - - 2048 - - - - - - - - 14.63 14.73 14.80
25478 93.9 6.0 1140 25511 roll 0.64 - - 2397 - 2.62 0.083 826 -552.3 198.4 18.15 0.400 1935 -6.2 0.271 - - - - - - 14.94 14.66 14.44
25524 90.9 5.6 1147 25564 done 0.73 0.12 0.135 2454 475.0 2.62 0.076 2289 558.4 239.9 27.30 0.409 1762 -6.3 0.261 - - - - - - 14.71 14.70 14.40
25872 67.9 5.4 1163 25914 roll 0.81 - - 2462 - 2.70 0.078 824 -542.6 286.6 30.05 0.339 1569 -6.4 0.238 - - - - - - 14.88 14.61 14.42
25928 65.2 4.0 1171 25993 done 0.94 0.12 0.132 2522 500.0 2.65 0.076 2317 563.4 367.0 49.70 0.340 1243 -6.6 0.233 - - - - - - 14.65 14.61 14.35
26316 38.3 6.1 1193 26347 roll 1.05 - - 2530 - 2.75 0.076 816 -545.8 396.2 19.38 0.244 1122 -6.2 0.181 - - - - - - 14.83 14.59 14.47
26420 32.2 5.9 1207 26455 done 1.18 0.15 0.112 2602 480.0 2.67 0.072 2325 565.2 429.9 22.77 0.227 985 -6.0 0.158 - - - - - - 14.66 14.60 14.47
26733 end climb: SURFACE_DEPTH_REACHED
26733 begin surface coast
26757 end surface coast: CONTROL_FINISHED_OK
26757 begin surface
SM 0.96 - - - - -6.12 6.55 0.047 214 32.6 0.10 0.125 2251 -91790.0 500.17 43.85 0.142 699 15.9 -0.011 - - - - - -