SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 87 * Raw log
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• Previous call tries 2 • 42.23 of 350.00 AH used of 24V (87.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.1 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 17 s • Transponder ping count: 6
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 124 VBD -0.68 - - 210 - - - 2257 - -116.8 -72.82 - 2488 - - - - - - - - 14.73 - 14.76
128 2.6 -2.7 3 177 roll -0.68 8.82 0.431 1976 200.2 2.60 2.111 871 -533.1 -116.8 -11.40 - 3219 -64.1 - - - - - - - 14.36 13.80 14.60
303 63.8 -22.8 26 332 done -0.46 0.32 0.317 2042 206.2 2.47 0.067 2285 572.5 -116.8 - - 3220 - - - - - - - - 14.46 14.63 14.67
623 97.0 -7.5 38 652 roll -0.38 0.12 0.278 2066 200.0 2.42 0.076 3696 583.1 -116.8 - - 3223 - - - - - - - - 14.59 14.70 14.71
693 102.0 -6.5 45 724 done -0.38 - - 2066 - 2.35 0.046 2267 -608.1 -116.8 - - 3224 - - - - - - - - 14.81 14.76 14.82
1038 124.6 -6.4 52 1066 roll -0.38 - - 2066 - 2.33 0.057 889 -591.4 -116.8 - - 3224 - - - - - - - - 14.92 14.77 14.94
1129 131.3 -7.2 62 1158 done -0.38 - - 2058 - 2.42 0.065 2299 582.6 -116.8 - - 3224 - - - - - - - - 14.84 14.76 14.88
1473 156.7 -7.6 73 1502 roll -0.38 - - 2053 - 2.40 0.088 3691 580.0 -116.8 - - 3223 - - - - - - - - 14.94 14.76 14.96
1522 160.6 -7.9 77 1551 done -0.38 - - 2053 - 2.30 0.048 2284 -611.7 -116.8 - - 3223 - - - - - - - - 14.87 14.82 14.88
1908 190.2 -7.6 87 1937 roll -0.38 - - 2054 - 2.35 0.059 889 -593.6 -116.8 - - 3220 - - - - - - - - 14.95 14.80 14.97
2007 197.7 -7.2 98 2035 done -0.38 - - 2047 - 2.42 0.068 2290 578.9 -116.8 - - 3219 - - - - - - - - 14.87 14.78 14.88
2344 220.3 -6.7 108 2373 roll -0.38 - - 2041 - 2.42 0.088 3691 578.9 -116.8 - - 3216 - - - - - - - - 14.96 14.78 14.98
2414 225.1 -6.9 115 2444 done -0.38 0.12 0.237 2072 258.3 2.33 0.049 2279 -606.0 -116.8 - - 3215 - - - - - - - - 14.69 14.83 14.85
2758 244.6 -5.7 122 2787 roll -0.38 - - 2072 - 2.35 0.060 896 -588.5 -116.8 - - 3213 - - - - - - - - 14.96 14.80 14.97
2923 254.7 -6.3 142 2952 done -0.38 - - 2068 - 2.40 0.072 2276 575.0 -116.8 - - 3211 - - - - - - - - 14.88 14.78 14.92
3309 278.8 -6.3 152 3338 roll -0.38 - - 2060 - 2.47 0.094 3690 572.5 -116.8 - - 3209 - - - - - - - - 14.97 14.78 15.00
3365 282.6 -6.9 157 3395 done -0.38 - - 2060 - 2.33 0.053 2285 -603.0 -116.8 - - 3208 - - - - - - - - 14.90 14.83 14.91
3745 308.8 -7.1 166 3774 roll -0.38 - - 2059 - 2.38 0.062 889 -586.6 -116.8 - - 3207 - - - - - - - - 14.96 14.81 14.98
3902 320.5 -7.4 185 3931 done -0.38 - - 2056 - 2.42 0.073 2276 573.1 -116.8 - - 3204 - - - - - - - - 14.88 14.78 14.89
4240 344.3 -7.0 195 4268 done -0.38 - - 2056 - - - 2276 - -116.8 - - 3202 - - - - - - - - 14.96 14.98 14.97
4575 366.5 -6.5 201 4604 done -0.38 - - 2056 - - - 2276 - -116.8 - - 3201 - - - - - - - - 14.96 14.98 14.98
4911 388.7 -6.6 207 4940 roll -0.38 - - 2056 - 2.40 0.062 884 -580.0 -116.8 - - 3201 - - - - - - - - 14.96 14.80 14.98
4961 392.2 -6.9 211 4990 done -0.38 - - 2056 - 2.45 0.075 2279 569.4 -116.8 - - 3198 - - - - - - - - 14.88 14.78 14.90
5347 417.6 -6.5 221 5376 roll -0.38 - - 2051 - 2.50 0.099 3700 568.4 -116.8 - - 3196 - - - - - - - - 14.95 14.77 14.97
5404 421.4 -7.1 226 5432 done -0.38 - - 2051 - 2.40 0.057 2264 -598.3 -116.8 - - 3196 - - - - - - - - 14.88 14.81 14.89
5783 446.6 -6.6 235 5811 roll -0.38 - - 2051 - 2.38 0.065 877 -582.8 -116.8 - - 3194 - - - - - - - - 14.95 14.78 14.97
5918 455.6 -6.5 251 5947 done -0.38 - - 2047 - 2.47 0.077 2274 565.6 -116.8 - - 3193 - - - - - - - - 14.85 14.76 14.88
6276 478.9 -6.5 264 6305 roll -0.38 - - 2042 - 2.53 0.100 3694 561.3 -116.8 - - 3191 - - - - - - - - 14.95 14.73 14.97
6325 482.1 -6.4 268 6354 done -0.38 0.12 0.235 2074 266.7 2.40 0.057 2262 -596.7 -116.8 - - 3188 - - - - - - - - 14.66 14.80 14.83
6715 502.5 -5.2 278 6744 roll -0.44 - - 2074 - 2.38 0.066 879 -581.1 -116.8 - - 3191 - - - - - - - - 14.95 14.77 14.96
6837 509.1 -5.3 292 6866 done -0.49 - - 2069 - 2.45 0.078 2267 566.5 -116.8 - - 3190 - - - - - - - - 14.85 14.75 14.87
7210 528.3 -5.2 300 7239 roll -0.54 0.12 0.141 2004 -541.7 2.53 0.096 3701 566.8 -116.8 - - 3188 - - - - - - - - 14.78 14.75 14.83
7302 535.3 -8.5 310 7330 done -0.54 - - 2004 - 2.42 0.056 2261 -595.0 -116.8 - - 3188 - - - - - - - - 14.87 14.80 14.88
7646 564.9 -8.7 321 7675 roll -0.54 - - 2005 - 2.38 0.066 876 -581.9 -116.8 - - 3186 - - - - - - - - 14.94 14.77 14.96
7737 573.2 -8.9 331 7766 done -0.54 - - 1998 - 2.50 0.081 2278 560.8 -116.8 - - 3186 - - - - - - - - 14.84 14.73 14.87
8082 602.6 -8.5 342 8111 roll -0.54 - - 1990 - 2.50 0.103 3692 565.6 -116.8 - - 3185 - - - - - - - - 14.93 14.73 14.95
8138 607.7 -9.3 347 8167 done -0.54 0.12 0.265 2018 233.3 2.40 0.060 2263 -595.4 -116.8 - - 3185 - - - - - - - - 14.61 14.76 14.81
8517 636.9 -7.7 356 8546 roll -0.54 - - 2018 - 2.38 0.068 884 -579.4 -116.8 - - 3184 - - - - - - - - 14.92 14.75 14.95
8643 646.7 -7.6 371 8673 done -0.54 - - 2013 - 2.45 0.081 2264 563.3 -116.8 - - 3184 - - - - - - - - 14.83 14.71 14.85
8987 673.2 -7.8 378 9016 roll -0.54 - - 2008 - 2.55 0.104 3694 560.8 -116.8 - - 3183 - - - - - - - - 14.92 14.72 14.94
9029 676.6 -7.8 381 9059 done -0.54 - - 2008 - 2.42 0.058 2254 -595.0 -116.8 - - 3182 - - - - - - - - 14.84 14.81 14.86
9367 705.2 -8.6 391 9396 roll -0.54 - - 2008 - 2.40 0.071 881 -572.1 -116.8 - - 3182 - - - - - - - - 14.92 14.73 14.94
9514 718.3 -8.9 409 9543 done -0.54 - - 2000 - 2.47 0.083 2260 558.3 -116.8 - - 3181 - - - - - - - - 14.82 14.71 14.85
9859 747.8 -8.6 420 9887 done -0.54 - - 2001 - - - 2257 - -116.8 - - 3179 - - - - - - - - 14.91 14.93 14.93
10195 774.4 -7.8 426 10223 done -0.54 - - 2000 - - - 2258 - -116.8 - - 3179 - - - - - - - - 14.91 14.94 14.93
10531 800.3 -7.9 432 10560 roll -0.54 - - 2001 - 2.42 0.072 883 -568.2 -116.8 - - 3177 - - - - - - - - 14.91 14.73 14.93
10601 806.0 -7.9 439 10631 done -0.54 0.10 0.320 2018 170.0 2.47 0.084 2258 556.7 -116.8 - - 3178 - - - - - - - - 14.54 14.70 14.77
10945 830.0 -6.9 446 10974 done -0.54 - - 2018 - - - 2258 - -116.8 - - 3178 - - - - - - - - 14.90 14.92 14.92
11282 854.0 -7.1 452 11310 done -0.54 - - 2018 - - - 2258 - -116.8 - - 3176 - - - - - - - - 14.90 14.92 14.92
11617 877.8 -7.1 458 11646 done -0.54 - - 2018 - - - 2258 - -116.8 - - 3175 - - - - - - - - 14.90 14.92 14.92
11953 900.3 -6.5 464 11982 roll -0.54 - - 2018 - 2.42 0.073 884 -567.8 -116.8 - - 3174 - - - - - - - - 14.90 14.71 14.92
12010 904.6 -6.1 469 12038 done -0.54 - - 2015 - 2.47 0.084 2260 557.1 -116.8 - - 3173 - - - - - - - - 14.80 14.69 14.83
12389 928.8 -6.6 478 12417 done -0.54 - - 2014 - - - 2260 - -116.8 - - 3173 - - - - - - - - 14.90 14.91 14.92
12726 951.2 -6.7 484 12754 done -0.54 - - 2015 - - - 2260 - -116.8 - - 3173 - - - - - - - - 14.89 14.92 14.90
13061 973.8 -6.8 490 13090 done -0.54 - - 2015 - - - 2260 - -116.8 - - 3172 - - - - - - - - 14.89 14.91 14.90
13337 end dive: TARGET_DEPTH_EXCEEDED
13337 begin apogee
13345 993.5 -7.0 495 13513 roll -0.19 0.43 0.235 2131 269.8 - - 2260 - - 142.62 1.967 2739 -3.0 0.283 - - - - - - 14.54 14.02 13.40
13515 end apogee: CONTROL_FINISHED_OK
13515 begin climb
13519 998.3 - 497 13692 done 0.68 0.90 0.157 2409 308.9 - - 2260 - 116.8 144.98 1.964 2263 -3.3 0.308 - - - - - - 14.09 14.29 13.28
14049 950.2 10.5 535 14078 roll 0.62 - - 2409 - 2.55 0.114 3636 539.6 116.8 - - 2235 - - - - - - - - 14.61 14.42 14.63
14128 941.0 11.9 543 14157 done 0.55 0.17 0.295 2380 -170.6 2.50 0.078 2258 -551.2 116.8 - - 2233 - - - - - - - - 14.34 14.47 14.54
14489 908.3 8.9 556 14518 roll 0.55 - - 2390 - 2.62 0.097 818 -549.6 116.8 - - 2231 - - - - - - - - 14.75 14.55 14.77
14567 901.1 8.8 564 14596 done 0.55 - - 2390 - 2.62 0.090 2240 542.7 116.8 - - 2230 - - - - - - - - 14.67 14.57 14.70
14926 867.6 9.5 577 14954 roll 0.55 - - 2390 - 2.58 0.116 3643 543.8 116.8 - - 2230 - - - - - - - - 14.81 14.60 14.83
15024 857.1 10.7 588 15053 done 0.50 0.15 0.291 2367 -153.3 2.50 0.081 2238 -562.0 116.8 - - 2229 - - - - - - - - 14.50 14.64 14.71
15362 828.3 8.4 598 15391 roll 0.50 - - 2377 - 2.58 0.096 812 -552.7 116.8 - - 2229 - - - - - - - - 14.83 14.63 14.85
15440 821.6 8.1 606 15469 done 0.50 - - 2376 - 2.60 0.089 2241 549.6 116.8 - - 2229 - - - - - - - - 14.74 14.63 14.77
15798 790.0 8.9 619 15827 roll 0.50 - - 2377 - 2.58 0.116 3646 544.6 116.8 - - 2228 - - - - - - - - 14.85 14.64 14.87
15890 781.0 9.3 629 15918 done 0.50 - - 2386 - 2.50 0.080 2238 -563.2 116.8 - - 2227 - - - - - - - - 14.76 14.66 14.78
16234 749.4 9.3 640 16263 roll 0.50 - - 2397 - 2.58 0.094 814 -551.9 116.8 - - 2228 - - - - - - - - 14.85 14.65 14.88
16304 742.7 9.5 647 16334 done 0.50 0.12 0.278 2369 -233.3 2.58 0.089 2241 553.1 116.8 - - 2227 - - - - - - - - 14.53 14.64 14.73
16648 715.3 8.0 654 16677 roll 0.50 - - 2369 - 2.55 0.117 3637 547.5 116.8 - - 2227 - - - - - - - - 14.85 14.63 14.87
16726 708.5 8.7 662 16755 done 0.50 - - 2379 - 2.47 0.079 2237 -566.8 116.8 - - 2226 - - - - - - - - 14.75 14.66 14.78
17085 678.8 8.3 675 17114 roll 0.50 - - 2389 - 2.55 0.092 821 -555.3 116.8 - - 2226 - - - - - - - - 14.85 14.66 14.88
17148 673.9 7.5 681 17177 done 0.50 - - 2389 - 2.58 0.086 2245 551.9 116.8 - - 2225 - - - - - - - - 14.76 14.66 14.78
17520 643.5 8.2 689 17549 roll 0.50 - - 2389 - 2.55 0.115 3639 546.7 116.8 - - 2226 - - - - - - - - 14.85 14.64 14.88
17604 636.1 8.9 698 17635 done 0.50 0.12 0.278 2365 -200.0 2.45 0.076 2245 -569.0 116.8 - - 2226 - - - - - - - - 14.52 14.67 14.65
17960 611.9 6.8 710 17994 roll 0.51 - - 2374 - 2.60 0.095 825 -546.2 129.9 3.90 1.231 2208 -4.6 0.424 - - - - - - 14.85 14.67 13.90
18056 605.1 6.9 721 18109 done 0.52 - - 2374 - 2.58 0.086 2245 550.4 141.4 20.95 1.699 2155 -2.5 0.166 - - - - - - 14.75 14.64 13.96
18442 575.9 7.7 739 18470 roll 0.52 - - 2374 - 2.58 0.114 3643 541.9 141.4 - - 2145 - - - - - - - - 14.77 14.55 14.79
18520 568.8 9.0 747 18549 done 0.52 - - 2384 - 2.47 0.077 2244 -566.4 141.4 - - 2144 - - - - - - - - 14.70 14.61 14.72
18878 535.9 9.4 760 18907 roll 0.52 - - 2395 - 2.60 0.094 816 -549.2 141.4 - - 2144 - - - - - - - - 14.81 14.62 14.83
18948 529.3 9.1 767 18978 done 0.52 - - 2393 - 2.60 0.086 2242 548.5 141.4 - - 2143 - - - - - - - - 14.73 14.62 14.76
19293 496.1 9.7 774 19322 roll 0.52 - - 2393 - 2.55 0.112 3646 550.6 141.4 - - 2143 - - - - - - - - 14.83 14.63 14.85
19399 485.1 10.2 786 19428 done 0.52 0.15 0.261 2367 -173.3 2.47 0.078 2244 -567.6 141.4 - - 2143 - - - - - - - - 14.54 14.66 14.74
19786 454.2 7.8 796 19814 roll 0.52 - - 2377 - 2.55 0.094 823 -557.3 141.4 - - 2143 - - - - - - - - 14.85 14.64 14.86
19884 446.9 7.2 807 19913 done 0.52 - - 2377 - 2.60 0.086 2252 549.6 144.1 - - 2142 - - - - - - - - 14.76 14.64 14.78
20222 420.1 8.1 817 20250 roll 0.52 - - 2381 - 2.55 0.115 3647 547.1 144.1 - - 2142 - - - - - - - - 14.85 14.62 14.88
20320 411.5 8.5 828 20349 done 0.52 - - 2381 - 2.47 0.078 2252 -564.8 144.1 - - 2140 - - - - - - - - 14.76 14.66 14.79
20657 384.9 7.9 838 20686 roll 0.52 - - 2394 - 2.58 0.093 823 -553.9 144.1 - - 2143 - - - - - - - - 14.85 14.65 14.87
20735 379.0 7.5 846 20765 done 0.52 - - 2395 - 2.62 0.086 2262 549.2 144.1 - - 2142 - - - - - - - - 14.75 14.64 14.78
21094 350.3 8.1 859 21123 roll 0.52 - - 2395 - 2.50 0.112 3639 550.8 144.1 - - 2143 - - - - - - - - 14.85 14.64 14.87
21199 340.6 9.2 871 21229 done 0.52 0.15 0.259 2369 -173.3 2.42 0.074 2258 -570.7 144.1 - - 2140 - - - - - - - - 14.55 14.68 14.73
21587 312.8 7.2 881 21616 roll 0.52 - - 2379 - 2.58 0.090 821 -557.0 148.0 - - 2142 - - - - - - - - 14.85 14.65 14.88
21692 305.4 6.9 893 21740 done 0.58 - - 2380 - 2.58 0.085 2251 554.3 158.4 17.90 1.213 2088 -3.0 0.140 - - - - - - 14.77 14.66 14.22
22072 276.1 8.0 910 22101 roll 0.58 - - 2379 - 2.58 0.113 3647 541.1 158.4 - - 2077 - - - - - - - - 14.81 14.63 14.83
22171 267.0 8.8 921 22199 done 0.58 - - 2389 - 2.45 0.074 2255 -568.2 158.4 - - 2076 - - - - - - - - 14.73 14.64 14.73
22508 238.9 8.4 931 22537 roll 0.58 - - 2398 - 2.58 0.090 821 -555.8 158.4 - - 2074 - - - - - - - - 14.83 14.64 14.85
22578 232.8 8.2 938 22609 done 0.58 - - 2398 - 2.60 0.083 2264 555.0 158.4 - - 2075 - - - - - - - - 14.75 14.64 14.77
22923 204.0 8.3 945 22951 roll 0.58 - - 2398 - 2.50 0.110 3647 553.2 158.4 - - 2075 - - - - - - - - 14.85 14.64 14.87
23014 195.9 8.8 955 23043 done 0.58 - - 2407 - 2.45 0.073 2256 -567.8 158.4 - - 2076 - - - - - - - - 14.76 14.67 14.78
23358 165.7 9.0 966 23387 roll 0.58 - - 2418 - 2.58 0.086 819 -557.0 158.4 - - 2075 - - - - - - - - 14.85 14.66 14.88
23415 160.5 8.7 971 23444 done 0.58 - - 2419 - 2.60 0.082 2267 556.9 158.4 - - 2074 - - - - - - - - 14.76 14.65 14.78
23794 124.9 9.4 980 23823 roll 0.58 - - 2418 - 2.50 0.110 3644 550.8 158.4 - - 2075 - - - - - - - - 14.86 14.65 14.88
23892 115.0 10.1 991 23921 done 0.58 0.15 0.266 2392 -173.3 2.40 0.070 2265 -574.6 158.4 - - 2075 - - - - - - - - 14.55 14.68 14.76
24233 93.9 5.2 1003 24290 roll 0.61 - - 2393 - 2.65 0.086 823 -544.2 209.6 28.95 0.408 1884 -6.6 0.280 - - - - - - 14.85 14.60 14.39
24374 86.6 5.0 1022 24442 done 0.75 0.15 0.120 2459 440.0 2.62 0.078 2276 554.6 265.8 36.03 0.392 1655 -6.4 0.259 - - - - - - 14.66 14.62 14.33
24739 65.0 5.6 1041 24796 roll 0.86 - - 2462 - 2.67 0.079 815 -547.2 306.4 26.58 0.320 1491 -6.2 0.232 - - - - - - 14.79 14.57 14.39
24922 55.7 5.5 1066 24983 done 1.04 0.22 0.106 2558 436.4 2.60 0.074 2285 565.4 350.1 28.67 0.292 1313 -6.2 0.219 - - - - - - 14.64 14.58 14.35
25280 28.8 7.6 1084 25308 roll 1.04 - - 2557 - 2.45 0.103 3642 553.9 350.1 - - 1321 - - - - - - - - 14.80 14.60 14.81
25330 24.7 8.2 1088 25362 done 1.04 0.12 0.272 2539 -150.0 2.38 0.067 2278 -573.1 350.1 1.88 0.168 1309 -6.4 0.173 - - - - - - 14.51 14.64 14.53
25685 end climb: SURFACE_DEPTH_REACHED
25685 begin surface coast
25709 end surface coast: CONTROL_FINISHED_OK
25709 begin surface
SM 0.86 - - - - -6.14 6.65 0.080 216 32.5 - - 2269 - 500.17 87.75 0.135 700 8.0 -0.005 - - - - - -