SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 1 • 35.65 of 350.00 AH used of 24V (89.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 41 s
• GPS2 time: 23 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 156 - - - 1824 - -116.8 -80.22 - 3272 - - - - - - - - 14.85 13.79 14.85
111 8.8 -13.5 3 128 roll -0.84 12.00 0.397 2660 208.7 2.30 0.043 460 -593.0 -116.8 - - 3273 - - - - - - - - 14.44 14.65 14.66
149 32.7 -54.7 9 157 done 0.24 1.40 0.294 2998 241.4 2.30 0.039 1841 600.4 -116.8 - - 3274 - - - - - - - - 14.50 14.66 14.68
472 60.2 -6.1 22 479 roll -0.08 0.28 0.080 2878 -428.6 2.38 0.054 3275 602.5 -116.8 - - 3276 - - - - - - - - 14.78 14.75 14.81
709 79.0 -5.2 56 715 done -0.23 - - 2881 - 2.10 0.035 1973 -620.0 -116.8 - - 3275 - - - - - - - - 14.89 14.81 14.88
1032 95.5 -5.3 69 1039 roll -0.44 0.25 0.086 2763 -472.0 2.17 0.054 3287 605.5 -116.8 - - 3275 - - - - - - - - 14.83 14.80 14.87
1167 106.5 -8.0 88 1173 done -0.44 - - 2763 - 2.10 0.037 1980 -622.4 -116.8 - - 3275 - - - - - - - - 14.91 14.85 14.92
1481 131.9 -8.2 98 1488 roll -0.44 - - 2762 - 2.53 0.058 473 -595.7 -116.8 - - 3276 - - - - - - - - 15.03 14.85 15.04
1718 152.2 -8.7 132 1725 done -0.44 0.15 0.254 2786 160.0 2.35 0.033 1937 623.0 -116.8 - - 3275 - - - - - - - - 14.76 14.89 14.90
2041 174.0 -6.6 143 2048 roll -0.44 - - 2787 - 2.47 0.055 457 -599.2 -116.8 - - 3274 - - - - - - - - 15.04 14.87 15.07
2075 176.6 -7.9 148 2082 done -0.44 - - 2779 - 2.40 0.035 1941 618.3 -116.8 - - 3273 - - - - - - - - 14.94 14.90 14.95
2433 204.5 -7.9 157 2440 roll -0.44 - - 2770 - 2.20 0.056 3277 607.3 -116.8 - - 3270 - - - - - - - - 15.04 14.88 15.07
2467 207.3 -8.4 162 2474 done -0.44 - - 2770 - 2.20 0.036 1905 -623.6 -116.8 - - 3269 - - - - - - - - 14.95 14.89 14.98
2825 236.7 -8.2 171 2832 roll -0.44 - - 2770 - 2.42 0.058 462 -596.3 -116.8 - - 3267 - - - - - - - - 15.04 14.88 15.07
2943 247.5 -9.0 188 2950 done -0.44 - - 2763 - 2.33 0.035 1902 618.0 -116.8 - - 3266 - - - - - - - - 14.95 14.90 14.96
3273 275.4 -8.5 200 3287 roll -0.44 - - 2759 - 2.40 0.056 470 -596.7 -116.8 - - 3263 - - - - - - - - 15.08 14.90 15.10
3328 280.4 -9.2 207 3342 done -0.44 0.15 0.259 2784 166.7 2.25 0.035 1854 615.1 -116.8 - - 3263 - - - - - - - - 14.80 14.94 14.95
3672 304.9 -7.0 214 3685 roll -0.44 - - 2786 - 2.33 0.057 470 -594.0 -116.8 - - 3260 - - - - - - - - 15.09 14.92 15.11
3747 310.6 -7.5 224 3760 done -0.44 - - 2780 - 2.17 0.034 1821 622.6 -116.8 - - 3260 - - - - - - - - 15.00 14.95 15.01
4076 333.6 -7.0 235 4089 roll -0.44 - - 2769 - 2.38 0.056 3260 604.6 -116.8 - - 3256 - - - - - - - - 15.10 14.92 15.12
4144 338.5 -7.1 244 4157 done -0.53 - - 2769 - 2.35 0.038 1814 -615.3 -116.8 - - 3257 - - - - - - - - 15.00 14.95 15.01
4480 361.6 -6.9 256 4493 roll -0.53 - - 2769 - 2.25 0.060 471 -596.9 -116.8 - - 3255 - - - - - - - - 15.10 14.96 15.13
4635 372.7 -7.3 277 4648 done -0.53 - - 2761 - 2.10 0.034 1783 624.8 -116.8 - - 3254 - - - - - - - - 15.01 14.97 15.02
4998 399.1 -7.3 286 5012 roll -0.53 - - 2750 - 2.45 0.057 3260 602.9 -116.8 - - 3252 - - - - - - - - 15.10 14.92 15.13
5032 401.7 -7.5 290 5045 done -0.53 - - 2750 - 2.42 0.039 1772 -614.9 -116.8 - - 3253 - - - - - - - - 15.00 14.94 15.02
5402 432.1 -8.4 300 5415 roll -0.53 - - 2751 - 2.20 0.062 461 -595.9 -116.8 - - 3250 - - - - - - - - 15.10 14.93 15.12
5491 440.4 -9.2 312 5505 done -0.53 - - 2744 - 2.10 0.037 1748 612.9 -116.8 - - 3249 - - - - - - - - 15.01 14.96 15.02
5862 472.7 -8.7 322 5875 roll -0.53 - - 2730 - 2.53 0.057 3265 599.6 -116.8 - - 3250 - - - - - - - - 15.10 14.92 15.12
5909 476.9 -8.4 328 5922 done -0.53 - - 2730 - 2.50 0.040 1740 -610.0 -116.8 - - 3247 - - - - - - - - 14.98 14.92 15.00
6265 507.4 -8.5 336 6278 roll -0.53 - - 2731 - 2.15 0.063 464 -593.5 -116.8 - - 3245 - - - - - - - - 15.10 14.92 15.13
6340 514.2 -9.2 346 6354 done -0.53 0.15 0.272 2755 160.0 2.03 0.037 1723 620.2 -116.8 - - 3245 - - - - - - - - 14.80 14.95 14.96
6670 537.8 -7.1 357 6683 roll -0.53 - - 2746 - 2.58 0.057 3266 598.1 -116.8 - - 3244 - - - - - - - - 15.10 14.92 15.12
6759 544.5 -7.5 369 6772 done -0.53 - - 2745 - 2.47 0.039 1753 -612.6 -116.8 - - 3243 - - - - - - - - 15.00 14.93 15.01
7129 572.7 -7.7 379 7142 roll -0.53 - - 2746 - 2.17 0.063 467 -592.6 -116.8 - - 3242 - - - - - - - - 15.09 14.91 15.11
7261 583.6 -8.2 397 7274 done -0.53 - - 2738 - 2.03 0.037 1713 613.8 -116.8 - - 3242 - - - - - - - - 15.00 14.95 15.01
7589 610.6 -8.3 408 7602 roll -0.53 - - 2725 - 2.60 0.059 3265 596.9 -116.8 - - 3241 - - - - - - - - 15.09 14.91 15.11
7692 619.6 -8.7 422 7706 done -0.53 0.12 0.259 2753 233.3 2.55 0.041 1718 -606.7 -116.8 - - 3241 - - - - - - - - 14.78 14.92 14.95
8048 648.6 -8.2 430 8062 roll -0.53 - - 2753 - 2.10 0.064 470 -594.3 -116.8 - - 3239 - - - - - - - - 15.09 14.90 15.11
8111 654.2 -9.3 438 8124 done -0.53 - - 2747 - 2.00 0.037 1700 615.0 -116.8 - - 3239 - - - - - - - - 14.99 14.94 15.00
8453 683.6 -8.6 451 8466 roll -0.53 - - 2735 - 2.62 0.058 3265 597.3 -116.8 - - 3237 - - - - - - - - 15.09 14.90 15.11
8542 691.5 -8.7 463 8555 done -0.53 - - 2733 - 2.55 0.041 1721 -605.5 -116.8 - - 3237 - - - - - - - - 14.98 14.91 15.00
8913 723.1 -8.5 473 8926 roll -0.53 - - 2735 - 2.12 0.065 467 -591.5 -116.8 - - 3236 - - - - - - - - 15.08 14.89 15.10
9009 731.4 -8.3 486 9022 done -0.53 0.12 0.277 2752 141.7 2.00 0.037 1702 617.5 -116.8 - - 3236 - - - - - - - - 14.77 14.94 14.94
9373 756.1 -6.7 495 9386 roll -0.53 - - 2744 - 2.62 0.059 3264 596.2 -116.8 - - 3235 - - - - - - - - 15.09 14.89 15.11
9491 764.5 -7.0 511 9504 done -0.53 - - 2743 - 2.55 0.041 1724 -603.9 -116.8 - - 3235 - - - - - - - - 14.97 14.90 14.98
9834 787.5 -6.7 524 9847 roll -0.53 - - 2744 - 2.12 0.066 473 -590.1 -116.8 - - 3233 - - - - - - - - 15.07 14.88 15.09
9909 793.3 -7.6 534 9922 done -0.53 - - 2736 - 2.00 0.037 1704 615.5 -116.8 - - 3233 - - - - - - - - 14.97 14.92 14.99
10237 816.7 -7.1 545 10250 roll -0.53 - - 2724 - 2.62 0.060 3263 595.0 -116.8 - - 3231 - - - - - - - - 15.07 14.88 15.09
10348 824.6 -7.1 560 10362 done -0.53 0.12 0.256 2750 216.7 2.55 0.043 1733 -600.0 -116.8 - - 3231 - - - - - - - - 14.71 14.88 14.89
10692 845.7 -6.0 567 10705 done -0.53 - - 2750 - - - 1733 - -116.8 - - 3231 - - - - - - - - 15.07 15.09 15.09
11028 864.7 -5.7 573 11041 roll -0.53 - - 2748 - 2.17 0.066 465 -584.3 -116.8 - - 3233 - - - - - - - - 15.07 14.88 15.09
11103 869.5 -6.2 583 11116 done -0.53 - - 2745 - 2.03 0.037 1712 614.3 -116.8 - - 3230 - - - - - - - - 14.95 14.91 14.98
11432 889.5 -6.2 594 11445 roll -0.53 - - 2733 - 2.62 0.061 3265 592.7 -116.8 - - 3230 - - - - - - - - 15.06 14.87 15.08
11507 894.6 -6.8 604 11520 done -0.53 - - 2733 - 2.55 0.043 1728 -602.7 -116.8 - - 3229 - - - - - - - - 14.95 14.88 14.97
11836 918.1 -7.3 615 11849 roll -0.53 - - 2733 - 2.15 0.067 467 -586.5 -116.8 - - 3228 - - - - - - - - 15.06 14.85 15.08
11898 923.2 -9.3 623 11911 done -0.53 0.12 0.275 2751 150.0 2.05 0.039 1715 608.8 -116.8 - - 3231 - - - - - - - - 14.72 14.89 14.91
12243 946.7 -6.7 636 12256 roll -0.53 - - 2742 - 2.60 0.061 3258 593.5 -116.8 - - 3227 - - - - - - - - 15.04 14.85 15.07
12340 953.6 -5.4 649 12353 done -0.63 - - 2742 - 2.53 0.043 1742 -599.2 -116.8 - - 3228 - - - - - - - - 14.94 14.87 14.95
12703 979.8 -7.3 658 12716 roll -0.63 - - 2742 - 2.17 0.067 470 -586.2 -116.8 - - 3227 - - - - - - - - 15.04 14.85 15.06
12807 988.1 -8.0 672 12820 done -0.63 - - 2734 - 2.05 0.039 1714 606.8 -116.8 - - 3227 - - - - - - - - 14.93 14.88 14.96
12823 end dive: TARGET_DEPTH_EXCEEDED
12823 begin apogee
12831 990.3 -8.7 674 12959 roll -0.21 0.47 0.225 2860 268.1 - - 1806 - - 118.90 2.196 2793 -3.7 0.304 - - - - - - 14.73 14.09 13.40
12961 end apogee: CONTROL_FINISHED_OK
12961 begin climb
12964 994.5 - 676 13105 done 0.84 1.10 0.164 3186 296.4 - - 1806 - 116.8 122.80 2.156 2307 -4.0 0.337 - - - - - - 14.09 14.31 13.28
13448 955.7 9.5 706 13461 roll 0.84 - - 3197 - 2.47 0.065 405 -567.2 116.8 - - 2291 - - - - - - - - 14.72 14.53 14.75
13495 950.9 10.2 712 13509 done 0.74 0.12 0.274 3173 -200.0 2.33 0.035 1803 600.0 116.8 - - 2291 - - - - - - - - 14.46 14.61 14.63
13852 918.7 9.0 720 13865 roll 0.74 - - 3173 - 2.35 0.056 3191 590.6 116.8 - - 2290 - - - - - - - - 14.87 14.69 14.88
13914 912.8 9.7 728 13927 done 0.74 - - 3180 - 2.33 0.041 1803 -595.7 116.8 - - 2289 - - - - - - - - 14.78 14.73 14.80
14256 880.5 9.5 741 14269 roll 0.74 - - 3190 - 2.42 0.067 404 -578.1 116.8 - - 2289 - - - - - - - - 14.93 14.74 14.97
14345 871.4 10.2 753 14359 done 0.74 - - 3190 - 2.28 0.035 1784 605.3 116.8 - - 2288 - - - - - - - - 14.84 14.80 14.86
14716 836.1 9.4 763 14729 roll 0.74 - - 3190 - 2.38 0.057 3189 590.3 116.8 - - 2292 - - - - - - - - 14.97 14.79 15.00
14785 829.9 9.5 772 14798 done 0.63 0.28 0.267 3136 -192.9 2.33 0.041 1789 -600.9 116.8 - - 2288 - - - - - - - - 14.65 14.81 14.84
15121 807.4 6.5 784 15154 done 0.67 - - 3135 - - - 1788 - 142.4 24.10 1.980 2211 -3.2 0.241 - - - - - - 14.99 14.62 13.98
15457 785.0 6.7 790 15493 roll 0.69 - - 3143 - 2.50 0.068 402 -554.4 163.8 21.52 1.923 2117 -4.4 0.329 - - - - - - 14.88 14.51 13.89
15542 778.9 7.5 802 15559 done 0.70 - - 3143 - 2.35 0.036 1808 598.3 171.3 2.70 0.807 2088 -10.7 1.915 - - - - - - 14.64 14.59 13.72
15909 751.2 7.6 812 15926 roll 0.71 - - 3144 - 2.35 0.057 3186 586.4 176.1 3.65 1.241 2074 -3.8 0.429 - - - - - - 14.87 14.69 13.84
15968 746.3 8.5 820 15981 done 0.71 - - 3152 - 2.33 0.042 1804 -593.1 176.1 - - 2076 - - - - - - - - 14.78 14.69 14.76
16311 716.6 8.8 833 16324 roll 0.71 - - 3163 - 2.42 0.067 401 -579.8 176.1 - - 2078 - - - - - - - - 14.92 14.74 14.95
16421 705.9 9.7 848 16435 done 0.71 - - 3163 - 2.30 0.035 1789 603.5 176.1 - - 2078 - - - - - - - - 14.84 14.78 14.85
16765 673.6 9.4 855 16778 roll 0.71 - - 3163 - 2.38 0.055 3194 590.3 176.1 - - 2078 - - - - - - - - 14.96 14.81 14.99
16812 668.9 9.5 861 16826 done 0.71 - - 3171 - 2.38 0.043 1778 -595.0 176.1 - - 2078 - - - - - - - - 14.86 14.81 14.88
17169 635.8 9.1 869 17183 roll 0.71 - - 3182 - 2.38 0.067 399 -579.4 176.1 - - 2078 - - - - - - - - 14.99 14.80 15.01
17224 630.8 9.3 876 17238 done 0.71 - - 3182 - 2.28 0.035 1778 604.8 176.1 - - 2078 - - - - - - - - 14.89 14.82 14.90
17568 599.9 9.0 883 17581 roll 0.71 - - 3182 - 2.38 0.055 3195 595.4 176.1 - - 2078 - - - - - - - - 15.00 14.82 15.02
17650 592.0 9.4 894 17663 done 0.71 0.12 0.287 3164 -150.0 2.33 0.041 1789 -603.4 176.1 - - 2078 - - - - - - - - 14.69 14.83 14.86
17972 565.0 8.5 904 17985 roll 0.71 - - 3172 - 2.38 0.067 404 -581.9 176.1 - - 2078 - - - - - - - - 15.00 14.81 15.02
18054 557.2 9.6 915 18067 done 0.71 - - 3172 - 2.28 0.035 1791 608.3 176.1 - - 2078 - - - - - - - - 14.90 14.85 14.92
18376 526.0 9.8 925 18389 roll 0.71 - - 3172 - 2.33 0.054 3185 598.3 176.1 - - 2078 - - - - - - - - 15.00 14.83 15.03
18444 518.7 10.5 934 18457 done 0.71 - - 3181 - 2.25 0.041 1819 -607.1 176.1 - - 2078 - - - - - - - - 14.90 14.85 14.92
18779 485.4 9.9 946 18792 roll 0.71 - - 3191 - 2.42 0.067 404 -584.7 176.1 - - 2079 - - - - - - - - 15.01 14.82 15.03
18882 474.9 9.9 960 18896 done 0.71 0.15 0.259 3159 -213.3 2.28 0.034 1796 610.5 176.1 - - 2078 - - - - - - - - 14.69 14.85 14.85
19239 447.0 7.6 968 19257 roll 0.71 - - 3159 - 2.33 0.052 3180 594.0 180.6 4.50 1.244 2055 -5.1 0.339 - - - - - - 15.02 14.69 14.07
19305 441.8 8.0 977 19318 done 0.71 - - 3166 - 2.28 0.041 1800 -605.3 180.6 - - 2058 - - - - - - - - 14.89 14.83 14.90
19640 414.7 8.3 989 19653 roll 0.71 - - 3176 - 2.40 0.067 402 -582.5 180.6 - - 2061 - - - - - - - - 15.00 14.81 15.04
19708 408.4 9.2 998 19721 done 0.71 - - 3176 - 2.22 0.034 1771 616.7 180.6 - - 2062 - - - - - - - - 14.89 14.84 14.90
20044 378.3 9.0 1010 20057 roll 0.71 - - 3176 - 2.35 0.053 3183 600.9 180.6 - - 2062 - - - - - - - - 15.01 14.82 15.03
20126 370.6 9.0 1021 20139 done 0.71 - - 3185 - 2.28 0.040 1812 -601.3 180.6 - - 2062 - - - - - - - - 14.90 14.84 14.92
20447 341.7 9.1 1031 20460 roll 0.71 - - 3196 - 2.42 0.065 398 -584.3 180.6 - - 2062 - - - - - - - - 15.01 14.81 15.03
20536 332.9 9.8 1043 20550 done 0.71 0.15 0.256 3163 -220.0 2.28 0.033 1793 611.8 180.6 - - 2062 - - - - - - - - 14.71 14.87 14.87
20907 301.3 8.6 1053 20920 roll 0.71 - - 3163 - 2.33 0.053 3183 596.6 180.6 - - 2062 - - - - - - - - 15.02 14.84 15.03
20989 293.6 9.2 1064 21003 done 0.71 - - 3170 - 2.25 0.039 1813 -608.9 180.6 - - 2062 - - - - - - - - 14.92 14.85 14.92
21311 264.5 9.1 1074 21324 roll 0.71 - - 3180 - 2.42 0.065 395 -586.0 180.6 - - 2062 - - - - - - - - 15.02 14.83 15.04
21429 253.4 9.4 1090 21442 done 0.71 - - 3180 - 2.25 0.034 1774 612.9 180.6 - - 2062 - - - - - - - - 14.92 14.87 14.93
21771 223.8 8.4 1103 21785 roll 0.71 - - 3180 - 2.35 0.051 3184 600.0 180.6 - - 2062 - - - - - - - - 15.02 14.84 15.04
21840 218.1 8.2 1112 21853 done 0.71 - - 3189 - 2.30 0.040 1784 -608.7 180.6 - - 2063 - - - - - - - - 14.92 14.85 14.92
22175 190.4 8.4 1124 22188 roll 0.71 - - 3200 - 2.35 0.064 405 -586.8 180.6 - - 2062 - - - - - - - - 15.02 14.83 15.04
22251 183.6 9.2 1134 22264 done 0.71 0.17 0.242 3159 -241.2 2.20 0.032 1775 622.7 180.6 - - 2062 - - - - - - - - 14.71 14.88 14.88
22579 157.8 7.9 1145 22593 roll 0.71 - - 3159 - 2.33 0.050 3175 600.9 180.6 - - 2063 - - - - - - - - 15.02 14.85 15.04
22714 147.5 7.5 1163 22742 done 0.72 - - 3165 - 2.25 0.039 1802 -610.2 187.5 14.23 1.201 2024 -2.7 0.062 - - - - - - 14.92 14.86 14.27
23092 119.5 7.4 1175 23108 roll 0.73 - - 3176 - 2.45 0.065 406 -569.8 195.1 2.92 0.162 1998 -8.9 1.213 - - - - - - 14.97 14.77 14.69
23192 111.7 7.6 1189 23211 done 0.74 - - 3176 - 2.22 0.031 1773 615.8 199.8 6.90 0.300 1979 -2.8 0.189 - - - - - - 14.88 14.84 14.52
23517 91.8 5.7 1199 23574 done 0.88 0.12 0.142 3222 383.3 - - 1773 - 240.3 41.92 0.373 1815 -3.9 0.178 - - - - - - 14.81 14.75 14.50
23879 70.0 4.6 1212 23951 roll 0.95 - - 3232 - 2.42 0.063 407 -564.5 301.3 57.30 0.318 1570 -4.3 0.174 - - - - - - 14.97 14.67 14.50
24181 55.8 4.7 1255 24249 done 1.29 0.35 0.080 3364 377.1 2.33 0.031 1849 618.9 360.1 53.65 0.275 1324 -4.6 0.172 - - - - - - 14.75 14.78 14.50
24553 28.1 8.3 1275 24570 roll 1.29 - - 3375 - 2.53 0.060 403 -571.5 360.1 2.50 0.148 1327 1.2 -0.042 - - - - - - 14.92 14.71 14.68
24590 24.9 8.5 1280 24603 done 1.29 - - 3375 - 2.28 0.029 1822 622.4 360.1 - - 1333 - - - - - - - - 14.83 14.79 14.85
24866 end climb: SURFACE_DEPTH_REACHED
24866 begin surface coast
24894 end surface coast: CONTROL_FINISHED_OK
24894 begin surface
SM 1.26 - - - - -8.60 9.30 0.073 161 17.3 - - 1830 - 515.13 92.55 0.124 691 7.5 -0.008 - - - - - -