SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 1 • 40.67 of 350.00 AH used of 24V (88.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth 0.97 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 18 s • Transponder ping count: 13
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
22 - - - 108 VBD -0.68 - - 203 - - - 2263 - -116.8 -83.38 - 2835 - - - - - - - - 14.74 - 14.76
112 4.2 -5.5 3 136 done -0.68 8.82 0.420 1974 200.8 - - 2260 - -116.8 -6.93 - 3219 -55.4 - - - - - - - 14.33 13.92 14.61
444 90.3 -12.6 15 451 roll -0.49 0.22 0.292 2022 218.2 2.47 0.076 3704 584.6 -116.8 - - 3223 - - - - - - - - 14.50 14.64 14.63
681 110.8 -9.1 49 689 done -0.41 0.17 0.233 2068 270.6 2.38 0.043 2256 -608.4 -116.8 - - 3223 - - - - - - - - 14.59 14.72 14.74
1005 130.9 -6.1 60 1011 roll -0.41 - - 2059 - 2.53 0.085 3696 569.2 -116.8 - - 3223 - - - - - - - - 14.92 14.71 14.94
1175 142.4 -6.6 84 1182 done -0.41 - - 2059 - 2.33 0.046 2274 -610.3 -116.8 - - 3224 - - - - - - - - 14.82 14.77 14.83
1511 166.6 -7.2 97 1517 roll -0.41 - - 2059 - 2.35 0.058 887 -590.2 -116.8 - - 3222 - - - - - - - - 14.95 14.76 14.96
1636 176.0 -7.4 115 1643 done -0.41 - - 2056 - 2.42 0.069 2281 576.0 -116.8 - - 3221 - - - - - - - - 14.83 14.74 14.84
1959 198.8 -7.0 126 1965 roll -0.41 - - 2046 - 2.45 0.091 3690 575.1 -116.8 - - 3219 - - - - - - - - 14.95 14.73 14.97
2007 202.4 -7.6 133 2021 done -0.41 - - 2049 - 2.35 0.047 2263 -607.2 -116.8 - - 3218 - - - - - - - - 14.86 14.81 14.88
2351 228.5 -7.6 140 2364 roll -0.41 - - 2049 - 2.33 0.060 891 -588.8 -116.8 - - 3215 - - - - - - - - 15.00 14.81 15.02
2482 239.0 -7.8 158 2496 done -0.41 - - 2042 - 2.42 0.073 2268 569.0 -116.8 - - 3214 - - - - - - - - 14.88 14.78 14.90
2811 265.0 -7.9 169 2824 roll -0.41 - - 2036 - 2.47 0.093 3690 575.7 -116.8 - - 3211 - - - - - - - - 15.01 14.79 15.03
2865 269.5 -8.5 176 2879 done -0.41 0.12 0.239 2066 250.0 2.35 0.050 2265 -606.4 -116.8 - - 3211 - - - - - - - - 14.71 14.84 14.87
3209 292.0 -6.4 183 3222 roll -0.41 - - 2067 - 2.35 0.063 884 -587.7 -116.8 - - 3209 - - - - - - - - 15.02 14.82 15.04
3292 297.6 -6.5 194 3305 done -0.41 - - 2062 - 2.42 0.075 2270 572.7 -116.8 - - 3208 - - - - - - - - 14.90 14.81 14.92
3613 319.1 -6.8 204 3626 roll -0.41 - - 2056 - 2.50 0.096 3701 572.4 -116.8 - - 3206 - - - - - - - - 15.02 14.80 15.03
3661 322.8 -7.8 210 3674 done -0.41 - - 2056 - 2.38 0.052 2264 -603.8 -116.8 - - 3205 - - - - - - - - 14.91 14.85 14.93
4017 349.4 -7.4 218 4030 roll -0.41 - - 2056 - 2.35 0.063 886 -586.4 -116.8 - - 3203 - - - - - - - - 15.02 14.83 15.04
4135 358.4 -7.4 234 4148 done -0.41 - - 2056 - 2.45 0.077 2269 564.5 -116.8 - - 3202 - - - - - - - - 14.90 14.80 14.92
4478 381.5 -6.6 247 4490 done -0.41 - - 2055 - - - 2269 - -116.8 - - 3200 - - - - - - - - 15.02 15.04 15.04
4814 402.3 -6.2 253 4827 done -0.41 - - 2056 - - - 2269 - -116.8 - - 3199 - - - - - - - - 15.03 15.04 15.04
5150 423.7 -6.5 259 5163 roll -0.41 - - 2046 - 2.50 0.099 3692 569.2 -116.8 - - 3196 - - - - - - - - 15.02 14.80 15.04
5212 428.2 -7.2 267 5225 done -0.41 - - 2049 - 2.38 0.053 2263 -600.4 -116.8 - - 3195 - - - - - - - - 14.92 14.85 14.93
5555 452.1 -7.0 280 5568 roll -0.41 - - 2049 - 2.35 0.063 888 -585.1 -116.8 - - 3194 - - - - - - - - 15.02 14.82 15.04
5652 459.1 -7.0 293 5665 done -0.41 - - 2043 - 2.42 0.077 2265 569.0 -116.8 - - 3194 - - - - - - - - 14.89 14.80 14.91
6016 483.5 -6.7 302 6029 roll -0.41 - - 2038 - 2.53 0.099 3701 567.6 -116.8 - - 3192 - - - - - - - - 15.02 14.78 15.04
6063 486.9 -7.3 308 6076 done -0.41 - - 2038 - 2.40 0.054 2255 -602.5 -116.8 - - 3192 - - - - - - - - 14.90 14.84 14.90
6419 512.1 -7.1 316 6433 roll -0.41 - - 2038 - 2.35 0.067 883 -583.8 -116.8 - - 3191 - - - - - - - - 15.02 14.81 15.03
6523 520.0 -7.5 330 6536 done -0.41 0.12 0.274 2065 225.0 2.42 0.078 2250 564.9 -116.8 - - 3193 - - - - - - - - 14.67 14.78 14.85
6880 542.1 -6.2 338 6893 done -0.46 - - 2066 - - - 2251 - -116.8 - - 3188 - - - - - - - - 15.02 15.04 15.02
7217 562.1 -5.9 344 7229 done -0.51 - - 2063 - - - 2251 - -116.8 - - 3188 - - - - - - - - 15.02 15.04 15.03
7552 581.8 -5.9 350 7565 roll -0.56 0.12 0.141 1999 -533.3 2.58 0.100 3695 559.7 -116.8 - - 3186 - - - - - - - - 14.82 14.77 14.86
7615 586.7 -8.5 358 7628 done -0.56 - - 1999 - 2.45 0.057 2240 -593.9 -116.8 - - 3186 - - - - - - - - 14.90 14.83 14.92
7958 615.2 -8.3 371 7971 roll -0.56 - - 1998 - 2.35 0.068 878 -579.6 -116.8 - - 3188 - - - - - - - - 15.01 14.78 15.02
8020 620.5 -8.3 379 8033 done -0.56 - - 1998 - 2.45 0.084 2243 557.1 -116.8 - - 3184 - - - - - - - - 14.88 14.76 14.90
8363 647.3 -7.8 392 8376 roll -0.56 - - 1988 - 2.58 0.103 3694 562.4 -116.8 - - 3183 - - - - - - - - 15.00 14.76 15.02
8417 652.0 -8.7 399 8432 done -0.56 0.12 0.265 2017 241.7 2.45 0.058 2237 -594.7 -116.8 - - 3183 - - - - - - - - 14.63 14.81 14.83
8762 676.8 -7.2 406 8775 roll -0.56 - - 2016 - 2.33 0.067 881 -582.0 -116.8 - - 3182 - - - - - - - - 15.03 14.78 15.02
8851 683.8 -7.7 418 8864 done -0.56 - - 2011 - 2.42 0.082 2243 562.8 -116.8 - - 3182 - - - - - - - - 14.86 14.76 14.89
9222 710.2 -7.1 428 9235 roll -0.56 - - 2003 - 2.58 0.104 3693 562.0 -116.8 - - 3181 - - - - - - - - 15.00 14.74 15.02
9255 712.9 -8.0 432 9268 done -0.56 - - 2004 - 2.45 0.057 2232 -596.3 -116.8 - - 3180 - - - - - - - - 14.88 14.81 14.89
9626 739.2 -7.0 442 9639 roll -0.56 - - 2003 - 2.35 0.071 881 -574.9 -116.8 - - 3179 - - - - - - - - 15.00 14.76 15.02
9688 743.7 -7.1 450 9701 done -0.56 - - 1999 - 2.42 0.082 2233 558.7 -116.8 - - 3178 - - - - - - - - 14.85 14.73 14.88
10031 766.6 -6.7 463 10044 roll -0.56 - - 1989 - 2.60 0.106 3691 560.8 -116.8 - - 3178 - - - - - - - - 14.99 14.73 15.01
10071 769.7 -8.4 468 10085 done -0.56 0.12 0.265 2017 233.3 2.47 0.063 2235 -589.5 -116.8 - - 3178 - - - - - - - - 14.61 14.80 14.81
10435 791.9 -6.1 477 10448 roll -0.56 - - 2017 - 2.35 0.070 880 -576.6 -116.8 - - 3177 - - - - - - - - 14.99 14.76 15.00
10490 795.7 -6.7 484 10504 done -0.56 - - 2012 - 2.45 0.085 2235 553.1 -116.8 - - 3177 - - - - - - - - 14.84 14.73 14.87
10834 818.4 -6.7 491 10847 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3176 - - - - - - - - 14.98 15.00 15.00
11170 841.7 -7.0 497 11183 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3175 - - - - - - - - 14.98 15.00 15.00
11506 865.1 -7.0 503 11518 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3179 - - - - - - - - 14.98 15.01 15.00
11841 888.9 -7.1 509 11854 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3174 - - - - - - - - 14.98 15.00 15.00
12178 912.2 -6.9 515 12191 done -0.56 - - 2012 - - - 2234 - -116.8 - - 3173 - - - - - - - - 14.98 15.00 15.00
12513 935.2 -6.8 521 12526 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3172 - - - - - - - - 14.97 15.00 15.00
12850 958.5 -6.9 527 12863 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3171 - - - - - - - - 14.97 15.00 15.00
13186 982.5 -7.1 533 13199 done -0.56 - - 2012 - - - 2235 - -116.8 - - 3171 - - - - - - - - 14.97 15.00 15.00
13294 end dive: TARGET_DEPTH_EXCEEDED
13294 begin apogee
13301 990.4 -7.3 535 13495 roll -0.19 0.43 0.234 2129 272.1 - - 2235 - - 184.02 1.689 2742 -2.3 0.253 - - - - - - 14.57 14.08 13.50
13497 end apogee: CONTROL_FINISHED_OK
13497 begin climb
13500 996.0 - 538 13661 done 0.68 0.93 0.156 2412 304.3 - - 2235 - 116.8 145.25 1.955 2256 -3.3 0.315 - - - - - - 14.03 14.26 13.28
13969 951.3 10.9 574 13982 roll 0.62 - - 2412 - 2.62 0.116 3638 535.5 116.8 - - 2235 - - - - - - - - 14.62 14.39 14.63
14045 942.1 12.1 584 14059 done 0.53 0.20 0.295 2377 -175.0 2.50 0.080 2246 -556.8 116.8 - - 2234 - - - - - - - - 14.33 14.45 14.52
14374 911.0 9.4 595 14387 roll 0.53 - - 2388 - 2.62 0.098 816 -545.8 116.8 - - 2232 - - - - - - - - 14.78 14.53 14.80
14436 905.1 9.5 603 14449 done 0.53 - - 2385 - 2.60 0.090 2234 545.4 116.8 - - 2230 - - - - - - - - 14.66 14.56 14.69
14779 871.8 9.7 616 14792 roll 0.53 - - 2387 - 2.60 0.118 3646 543.1 116.8 - - 2230 - - - - - - - - 14.85 14.60 14.88
14854 864.1 10.0 626 14867 done 0.53 - - 2398 - 2.50 0.083 2237 -563.6 116.8 - - 2230 - - - - - - - - 14.73 14.63 14.76
15183 833.2 9.5 637 15196 roll 0.53 - - 2408 - 2.58 0.096 816 -550.8 116.8 - - 2229 - - - - - - - - 14.88 14.64 14.90
15265 825.4 9.2 648 15278 done 0.53 0.15 0.278 2374 -226.7 2.60 0.090 2247 550.4 116.8 - - 2227 - - - - - - - - 14.54 14.64 14.74
15587 800.0 7.9 658 15600 roll 0.53 - - 2376 - 2.55 0.118 3638 545.5 116.8 - - 2228 - - - - - - - - 14.90 14.65 14.92
15641 794.9 9.0 665 15655 done 0.53 - - 2383 - 2.50 0.078 2227 -564.4 116.8 - - 2228 - - - - - - - - 14.78 14.69 14.78
15986 765.9 8.5 672 15999 roll 0.53 - - 2394 - 2.55 0.098 821 -551.4 116.8 - - 2228 - - - - - - - - 14.92 14.66 14.94
16040 761.1 8.5 679 16055 done 0.53 - - 2394 - 2.58 0.086 2241 550.4 116.8 - - 2228 - - - - - - - - 14.78 14.67 14.81
16384 729.4 9.4 686 16397 roll 0.53 - - 2394 - 2.55 0.115 3644 550.2 116.8 - - 2227 - - - - - - - - 14.93 14.66 14.95
16460 721.2 10.6 696 16473 done 0.48 0.20 0.266 2357 -185.0 2.47 0.080 2238 -569.2 116.8 - - 2226 - - - - - - - - 14.56 14.70 14.78
16789 696.1 7.5 707 16802 roll 0.48 - - 2367 - 2.55 0.093 814 -558.4 116.8 - - 2226 - - - - - - - - 14.93 14.68 14.95
16864 690.2 7.6 717 16877 done 0.48 - - 2367 - 2.58 0.086 2242 553.5 116.8 - - 2226 - - - - - - - - 14.79 14.68 14.82
17193 663.0 8.4 728 17206 roll 0.48 - - 2368 - 2.55 0.114 3643 549.4 116.8 - - 2226 - - - - - - - - 14.94 14.66 14.95
17261 656.6 9.3 737 17274 done 0.48 - - 2376 - 2.47 0.078 2231 -571.7 116.8 - - 2226 - - - - - - - - 14.80 14.71 14.83
17597 627.0 8.9 749 17610 roll 0.48 - - 2386 - 2.55 0.096 819 -553.7 116.8 - - 2224 - - - - - - - - 14.93 14.67 14.95
17644 622.7 8.6 755 17658 done 0.48 0.12 0.272 2359 -225.0 2.55 0.086 2238 556.5 116.8 - - 2226 - - - - - - - - 14.57 14.69 14.78
18001 594.1 8.0 763 18014 roll 0.48 - - 2359 - 2.55 0.116 3640 549.8 116.8 - - 2228 - - - - - - - - 14.93 14.66 14.96
18091 586.0 8.9 775 18105 done 0.48 - - 2368 - 2.45 0.077 2243 -570.2 116.8 - - 2225 - - - - - - - - 14.78 14.69 14.81
18462 556.0 8.0 785 18475 roll 0.48 - - 2378 - 2.58 0.093 816 -553.1 116.8 - - 2225 - - - - - - - - 14.93 14.66 14.95
18524 551.3 7.5 793 18538 done 0.48 - - 2378 - 2.60 0.087 2250 551.5 116.8 - - 2225 - - - - - - - - 14.79 14.67 14.82
18867 524.5 7.8 806 18880 roll 0.48 - - 2378 - 2.55 0.116 3646 547.5 116.8 - - 2227 - - - - - - - - 14.93 14.66 14.95
18929 519.0 8.9 814 18943 done 0.48 0.12 0.279 2360 -150.0 2.47 0.078 2240 -569.2 116.8 - - 2225 - - - - - - - - 14.55 14.69 14.76
19272 493.9 7.4 827 19285 roll 0.48 - - 2369 - 2.55 0.093 816 -558.4 116.8 - - 2228 - - - - - - - - 14.93 14.68 14.95
19327 489.9 7.3 834 19340 done 0.48 - - 2369 - 2.58 0.086 2246 554.3 117.4 - - 2225 - - - - - - - - 14.79 14.67 14.82
19671 464.2 7.5 841 19684 roll 0.48 - - 2369 - 2.55 0.115 3649 550.2 117.4 - - 2225 - - - - - - - - 14.94 14.66 14.96
19754 457.1 8.6 852 19767 done 0.48 - - 2379 - 2.47 0.076 2237 -571.7 117.4 - - 2225 - - - - - - - - 14.77 14.67 14.80
20075 432.2 7.7 862 20088 roll 0.48 - - 2388 - 2.53 0.090 821 -559.7 117.4 - - 2225 - - - - - - - - 14.93 14.68 14.95
20129 428.2 7.3 869 20143 done 0.48 0.12 0.262 2360 -233.3 2.58 0.084 2243 551.2 117.6 - - 2225 - - - - - - - - 14.56 14.67 14.77
20474 406.5 6.2 876 20512 roll 0.49 - - 2359 - 2.62 0.113 3640 533.2 143.7 25.60 1.463 2148 -3.0 0.154 - - - - - - 14.94 14.55 14.05
20567 400.0 7.5 889 20580 done 0.49 - - 2368 - 2.45 0.073 2245 -569.4 143.7 - - 2137 - - - - - - - - 14.66 14.59 14.67
20924 375.1 7.0 897 20937 roll 0.50 - - 2378 - 2.55 0.090 822 -558.0 150.6 - - 2134 - - - - - - - - 14.85 14.61 14.88
20978 371.0 7.4 904 20992 done 0.55 - - 2378 - 2.60 0.084 2253 550.4 150.6 - - 2134 - - - - - - - - 14.76 14.62 14.73
21322 343.7 8.0 911 21336 roll 0.55 - - 2378 - 2.53 0.113 3641 548.6 150.6 - - 2133 - - - - - - - - 14.89 14.63 14.90
21377 338.8 8.9 918 21391 done 0.55 - - 2388 - 2.47 0.074 2241 -566.8 150.6 - - 2132 - - - - - - - - 14.76 14.67 14.78
21721 310.8 8.1 925 21734 roll 0.55 - - 2397 - 2.53 0.089 822 -560.9 150.6 - - 2133 - - - - - - - - 14.91 14.66 14.92
21811 303.7 7.6 937 21824 done 0.55 - - 2397 - 2.58 0.083 2255 555.4 150.6 - - 2132 - - - - - - - - 14.78 14.67 14.80
22181 272.2 8.6 947 22194 roll 0.55 - - 2397 - 2.53 0.112 3649 551.0 150.6 - - 2132 - - - - - - - - 14.95 14.66 14.95
22257 264.5 10.1 957 22270 done 0.55 - - 2406 - 2.45 0.074 2243 -573.9 150.6 - - 2132 - - - - - - - - 14.80 14.71 14.82
22586 232.8 9.8 968 22599 roll 0.55 - - 2416 - 2.53 0.087 822 -561.7 150.6 - - 2132 - - - - - - - - 14.93 14.69 14.95
22626 228.7 9.8 973 22639 done 0.55 0.15 0.256 2381 -233.3 2.58 0.083 2261 557.8 150.6 - - 2132 - - - - - - - - 14.60 14.68 14.77
22990 200.6 7.6 982 23003 roll 0.55 - - 2380 - 2.50 0.111 3646 554.0 150.6 - - 2133 - - - - - - - - 14.94 14.67 14.95
23072 193.7 8.4 993 23085 done 0.55 - - 2389 - 2.40 0.073 2261 -577.1 150.6 - - 2132 - - - - - - - - 14.81 14.71 14.83
23393 168.1 8.0 1003 23407 roll 0.55 - - 2398 - 2.55 0.086 819 -565.5 150.6 - - 2132 - - - - - - - - 14.94 14.68 14.95
23435 165.0 7.4 1008 23448 done 0.55 - - 2397 - 2.58 0.083 2262 559.3 150.6 - - 2132 - - - - - - - - 14.81 14.69 14.83
23798 137.1 7.7 1017 23811 roll 0.55 - - 2398 - 2.47 0.110 3639 557.5 150.6 - - 2133 - - - - - - - - 14.94 14.68 14.96
23887 129.3 8.9 1029 23900 done 0.55 - - 2407 - 2.40 0.070 2252 -577.9 150.6 - - 2132 - - - - - - - - 14.81 14.72 14.83
24258 102.6 6.4 1039 24287 roll 0.56 - - 2417 - 2.60 0.086 824 -549.2 171.7 14.82 0.415 2041 -6.1 0.280 - - - - - - 14.95 14.65 14.41
24315 98.6 6.8 1047 24338 done 0.57 0.12 0.242 2386 -258.3 2.60 0.080 2274 557.7 184.6 10.40 0.393 1986 -5.3 0.245 - - - - - - 14.59 14.68 14.42
24657 81.9 4.3 1062 24715 roll 0.71 0.15 0.122 2459 486.7 2.55 0.106 3641 536.1 257.5 45.42 0.386 1689 -6.5 0.256 - - - - - - 14.73 14.56 14.39
24794 72.9 6.5 1075 24822 done 0.72 - - 2462 - 2.42 0.068 2247 -576.0 277.6 13.52 0.339 1608 -6.0 0.238 - - - - - - 14.71 14.63 14.35
25141 55.5 4.1 1091 25204 roll 0.87 - - 2462 - 2.55 0.083 821 -559.2 355.2 48.62 0.303 1290 -6.5 0.221 - - - - - - 14.86 14.56 14.40
25263 49.8 4.8 1108 25319 done 1.11 0.28 0.107 2564 364.3 2.53 0.070 2254 566.4 415.2 38.60 0.285 1043 -6.4 0.207 - - - - - - 14.60 14.56 14.39
25648 20.8 7.7 1130 25661 roll 1.23 - - 2568 - 2.55 0.077 820 -562.4 415.2 - - 1049 - - - - - - - - 14.85 14.60 14.87
25690 17.9 7.1 1135 25708 done 1.34 0.17 0.109 2643 441.2 2.58 0.073 2282 566.7 420.1 4.43 0.180 1025 -5.4 0.100 - - - - - - 14.69 14.64 14.54
25823 end climb: SURFACE_DEPTH_REACHED
25823 begin surface coast
25851 end surface coast: CONTROL_FINISHED_OK
25855 begin surface
SM 0.93 - - - - -6.14 6.88 0.072 202 29.3 - - 2282 - 500.17 49.17 0.134 700 14.2 -0.010 - - - - - -