SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 93 * Raw log
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• Previous call tries 1 • 38.91 of 350.00 AH used of 24V (88.88% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth 1.19 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: 3
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 154 - - - 1888 - -116.8 -79.18 - 3270 - - - - - - - - 14.83 14.04 14.85
113 9.6 -14.7 3 131 roll -0.84 12.38 0.411 2666 202.9 2.40 0.035 444 -601.7 -116.8 - - 3270 - - - - - - - - 14.42 14.65 14.63
158 35.7 -44.0 10 166 done -0.02 1.08 0.293 2913 228.7 2.28 0.038 1826 606.1 -116.8 - - 3274 - - - - - - - - 14.49 14.66 14.68
474 74.2 -7.4 22 480 roll -0.17 0.12 0.132 2845 -566.7 2.40 0.053 3278 605.0 -116.8 - - 3272 - - - - - - - - 14.76 14.76 14.81
711 90.2 -6.0 56 717 done -0.28 - - 2845 - 2.12 0.034 1949 -626.9 -116.8 - - 3272 - - - - - - - - 14.86 14.81 14.88
1062 108.4 -5.0 67 1068 roll -0.43 0.15 0.120 2775 -466.7 2.47 0.057 470 -598.8 -116.8 - - 3272 - - - - - - - - 14.84 14.81 14.87
1217 120.0 -7.5 89 1225 done -0.43 - - 2765 - 2.33 0.033 1921 622.7 -116.8 - - 3272 - - - - - - - - 14.92 14.87 14.93
1567 148.5 -8.4 97 1575 roll -0.43 - - 2765 - 2.45 0.057 461 -595.9 -116.8 - - 3272 - - - - - - - - 15.03 14.84 15.05
1624 153.8 -9.8 105 1631 done -0.43 0.12 0.258 2782 141.7 2.30 0.034 1882 617.8 -116.8 - - 3271 - - - - - - - - 14.75 14.88 14.90
1961 180.0 -7.7 118 1967 roll -0.43 - - 2775 - 2.28 0.057 3268 607.9 -116.8 - - 3268 - - - - - - - - 15.04 14.87 15.06
2120 192.7 -7.9 141 2129 done -0.43 - - 2775 - 2.20 0.034 1909 -617.7 -116.8 - - 3267 - - - - - - - - 14.94 14.88 14.95
2465 219.3 -7.7 148 2471 roll -0.43 - - 2775 - 2.42 0.058 479 -590.9 -116.8 - - 3264 - - - - - - - - 15.04 14.87 15.06
2648 234.1 -8.1 174 2654 done -0.43 - - 2766 - 2.22 0.034 1859 621.6 -116.8 - - 3263 - - - - - - - - 14.92 14.88 14.94
2969 260.7 -8.4 185 2982 done -0.43 - - 2765 - - - 1860 - -116.8 - - 3258 - - - - - - - - 15.07 15.09 15.08
3305 287.7 -8.0 191 3318 roll -0.43 - - 2766 - 2.33 0.057 474 -594.8 -116.8 - - 3258 - - - - - - - - 15.09 14.90 15.11
3415 297.3 -8.6 206 3430 done -0.43 0.12 0.262 2783 141.7 2.17 0.034 1824 622.1 -116.8 - - 3257 - - - - - - - - 14.78 14.93 14.95
3760 321.9 -7.1 213 3772 done -0.43 - - 2784 - - - 1824 - -116.8 - - 3254 - - - - - - - - 15.09 15.12 15.10
4096 345.5 -7.0 219 4109 roll -0.53 - - 2782 - 2.38 0.057 3262 604.2 -116.8 - - 3252 - - - - - - - - 15.10 14.92 15.12
4136 348.4 -7.3 224 4150 done -0.63 0.15 0.122 2717 -433.3 2.35 0.037 1809 -618.3 -116.8 - - 3252 - - - - - - - - 14.93 14.95 15.00
4500 384.8 -10.4 233 4513 roll -0.63 - - 2717 - 2.25 0.061 468 -596.0 -116.8 - - 3249 - - - - - - - - 15.10 14.93 15.12
4624 398.5 -10.9 250 4637 done -0.63 - - 2708 - 2.08 0.034 1767 624.5 -116.8 - - 3248 - - - - - - - - 15.01 14.96 15.02
4959 433.7 -10.4 262 4972 done -0.63 - - 2715 - - - 1767 - -116.8 - - 3247 - - - - - - - - 15.10 15.12 15.12
5295 467.8 -10.1 268 5309 roll -0.63 - - 2697 - 2.47 0.057 3258 603.6 -116.8 - - 3245 - - - - - - - - 15.10 14.91 15.13
5335 472.0 -9.9 273 5349 done -0.63 - - 2696 - 2.45 0.039 1758 -612.2 -116.8 - - 3245 - - - - - - - - 15.00 14.96 15.02
5699 511.2 -10.8 282 5712 roll -0.63 - - 2697 - 2.15 0.061 475 -596.7 -116.8 - - 3246 - - - - - - - - 15.10 14.91 15.12
5796 522.4 -11.4 295 5809 done -0.52 0.28 0.250 2761 228.6 2.05 0.036 1741 617.6 -116.8 - - 3242 - - - - - - - - 14.78 14.95 14.95
6159 552.8 -8.2 304 6173 roll -0.52 - - 2748 - 2.53 0.057 3259 600.0 -116.8 - - 3241 - - - - - - - - 15.10 14.90 15.12
6193 555.5 -7.7 308 6206 done -0.52 - - 2748 - 2.53 0.040 1715 -610.3 -116.8 - - 3241 - - - - - - - - 14.99 14.92 15.00
6562 585.0 -7.9 318 6576 roll -0.52 - - 2748 - 2.08 0.063 476 -595.7 -116.8 - - 3240 - - - - - - - - 15.09 14.90 15.11
6617 589.6 -8.6 325 6631 done -0.52 - - 2740 - 2.03 0.037 1723 614.3 -116.8 - - 3239 - - - - - - - - 14.99 14.94 15.00
6961 617.5 -8.1 332 6974 roll -0.52 - - 2728 - 2.58 0.057 3265 597.7 -116.8 - - 3239 - - - - - - - - 15.11 14.90 15.11
7023 622.5 -8.1 340 7036 done -0.52 0.12 0.253 2755 225.0 2.53 0.040 1732 -605.9 -116.8 - - 3238 - - - - - - - - 14.78 14.92 14.95
7366 647.9 -7.4 353 7379 roll -0.52 - - 2755 - 2.12 0.063 474 -593.4 -116.8 - - 3236 - - - - - - - - 15.09 14.90 15.10
7462 655.6 -7.8 366 7475 done -0.52 - - 2750 - 2.03 0.037 1726 616.7 -116.8 - - 3235 - - - - - - - - 14.98 14.93 15.00
7825 682.0 -7.3 375 7839 roll -0.52 - - 2738 - 2.58 0.057 3266 596.9 -116.8 - - 3233 - - - - - - - - 15.08 14.89 15.11
7888 686.6 -7.4 383 7901 done -0.52 - - 2738 - 2.55 0.040 1727 -603.5 -116.8 - - 3231 - - - - - - - - 14.97 14.91 14.99
8230 712.3 -7.5 396 8243 roll -0.52 - - 2735 - 2.12 0.065 468 -593.9 -116.8 - - 3233 - - - - - - - - 15.07 14.87 15.10
8292 717.3 -8.6 404 8305 done -0.52 0.12 0.272 2756 175.0 2.00 0.037 1697 614.5 -116.8 - - 3233 - - - - - - - - 14.74 14.93 14.92
8635 738.9 -6.2 417 8648 roll -0.52 - - 2746 - 2.62 0.058 3262 597.3 -116.8 - - 3231 - - - - - - - - 15.07 14.88 15.10
8776 747.5 -6.2 436 8789 done -0.52 - - 2746 - 2.53 0.042 1731 -605.1 -116.8 - - 3230 - - - - - - - - 14.96 14.90 14.98
9097 768.2 -6.5 446 9110 roll -0.52 - - 2747 - 2.12 0.065 477 -591.5 -116.8 - - 3229 - - - - - - - - 15.07 14.87 15.09
9180 774.3 -7.5 457 9193 done -0.52 - - 2739 - 2.03 0.038 1726 615.3 -116.8 - - 3228 - - - - - - - - 14.96 14.91 14.97
9501 798.3 -7.6 467 9514 roll -0.52 - - 2727 - 2.58 0.058 3260 594.6 -116.8 - - 3229 - - - - - - - - 15.07 14.86 15.09
9632 809.0 -8.0 485 9646 done -0.52 0.12 0.252 2754 225.0 2.45 0.042 1774 -606.5 -116.8 - - 3228 - - - - - - - - 14.73 14.88 14.91
9961 832.8 -7.2 496 9974 roll -0.52 - - 2754 - 2.22 0.066 470 -587.4 -116.8 - - 3228 - - - - - - - - 15.06 14.85 15.08
10050 839.9 -7.7 508 10063 done -0.52 - - 2748 - 2.12 0.038 1769 612.7 -116.8 - - 3227 - - - - - - - - 14.95 14.90 14.96
10420 867.0 -7.2 518 10434 roll -0.52 - - 2737 - 2.53 0.060 3264 590.9 -116.8 - - 3226 - - - - - - - - 15.05 14.85 15.08
10524 875.0 -7.8 532 10537 done -0.52 - - 2737 - 2.45 0.041 1780 -605.7 -116.8 - - 3227 - - - - - - - - 14.95 14.88 14.96
10880 902.7 -7.8 540 10893 roll -0.52 - - 2737 - 2.22 0.065 474 -588.3 -116.8 - - 3225 - - - - - - - - 15.06 14.85 15.07
10948 908.5 -8.4 549 10962 done -0.52 0.12 0.269 2754 141.7 2.10 0.039 1760 612.4 -116.8 - - 3225 - - - - - - - - 14.70 14.89 14.88
11284 931.8 -6.9 561 11298 roll -0.52 - - 2745 - 2.53 0.061 3259 592.5 -116.8 - - 3224 - - - - - - - - 15.04 14.84 15.07
11374 937.9 -6.7 573 11387 done -0.61 - - 2746 - 2.47 0.043 1769 -603.2 -116.8 - - 3224 - - - - - - - - 14.92 14.86 14.94
11745 962.8 -6.8 583 11758 roll -0.61 - - 2746 - 2.22 0.067 477 -582.0 -116.8 - - 3224 - - - - - - - - 15.04 14.83 15.07
11869 971.1 -8.1 600 11882 done -0.61 - - 2737 - 2.08 0.040 1740 607.2 -116.8 - - 3223 - - - - - - - - 14.93 14.88 14.95
12201 end dive: TARGET_DEPTH_EXCEEDED
12201 begin apogee
12209 993.8 -6.8 612 12337 roll -0.21 0.45 0.232 2856 264.4 - - 1740 - - 118.65 2.182 2791 -3.6 0.306 - - - - - - 14.67 14.09 13.41
12339 end apogee: CONTROL_FINISHED_OK
12339 begin climb
12342 998.2 - 614 12484 roll 0.84 1.10 0.179 3188 301.8 2.45 0.065 408 -543.7 116.8 123.65 2.125 2317 -3.8 0.332 - - - - - - 14.09 14.14 13.31
12714 967.8 10.0 670 12727 done 0.84 - - 3189 - 2.35 0.035 1805 594.5 116.8 - - 2292 - - - - - - - - 14.54 14.50 14.56
13049 934.9 9.9 682 13062 roll 0.84 - - 3195 - 2.45 0.063 409 -569.8 116.8 - - 2291 - - - - - - - - 14.82 14.63 14.84
13272 911.0 10.6 713 13288 done 0.73 0.15 0.265 3167 -186.7 2.38 0.035 1834 598.7 116.8 - - 2291 - - - - - - - - 14.56 14.73 14.74
13616 879.5 9.1 720 13630 roll 0.73 - - 3166 - 2.30 0.057 3193 590.9 116.8 - - 2289 - - - - - - - - 14.92 14.75 14.95
13678 873.6 9.3 728 13692 done 0.73 - - 3173 - 2.25 0.041 1842 -600.4 116.8 - - 2288 - - - - - - - - 14.83 14.77 14.85
14021 843.2 8.8 741 14034 roll 0.73 - - 3183 - 2.50 0.067 402 -576.0 116.8 - - 2288 - - - - - - - - 14.96 14.77 15.01
14139 832.7 9.2 757 14153 done 0.73 - - 3184 - 2.33 0.035 1812 605.2 116.8 - - 2288 - - - - - - - - 14.87 14.82 14.88
14482 802.7 8.7 770 14495 roll 0.73 - - 3183 - 2.30 0.055 3185 597.0 116.8 - - 2288 - - - - - - - - 14.98 14.80 15.00
14544 797.1 9.0 778 14558 done 0.63 0.22 0.263 3141 -190.9 2.28 0.041 1812 -602.2 116.8 - - 2288 - - - - - - - - 14.66 14.82 14.85
14890 773.8 6.7 791 14924 roll 0.66 - - 3146 - 2.47 0.068 408 -568.4 138.5 19.95 1.916 2220 -3.4 0.254 - - - - - - 15.00 14.64 14.02
15025 763.7 7.8 810 15038 done 0.66 - - 3154 - 2.28 0.035 1784 603.5 138.9 - - 2212 - - - - - - - - 14.76 14.71 14.77
15346 738.0 8.0 820 15359 roll 0.66 - - 3150 - 2.38 0.055 3184 588.2 138.9 - - 2211 - - - - - - - - 14.92 14.74 14.94
15401 733.3 8.7 827 15414 done 0.66 - - 3159 - 2.35 0.042 1781 -597.0 138.9 - - 2210 - - - - - - - - 14.82 14.76 14.84
15745 704.2 8.5 834 15758 roll 0.66 - - 3169 - 2.40 0.068 399 -575.8 138.9 - - 2210 - - - - - - - - 14.96 14.76 14.99
15827 696.9 9.0 845 15841 done 0.66 - - 3169 - 2.22 0.034 1760 613.1 138.9 - - 2210 - - - - - - - - 14.87 14.82 14.88
16149 668.8 8.7 855 16162 roll 0.66 - - 3169 - 2.40 0.054 3191 596.2 138.9 - - 2210 - - - - - - - - 14.98 14.80 15.00
16231 661.2 9.0 866 16244 done 0.66 0.15 0.270 3147 -146.7 2.35 0.042 1780 -600.4 138.9 - - 2209 - - - - - - - - 14.66 14.81 14.85
16553 637.0 7.5 876 16566 roll 0.67 - - 3155 - 2.42 0.067 402 -569.4 145.7 1.62 0.180 2193 -9.9 6.442 - - - - - - 15.00 14.79 14.74
16615 631.9 8.5 884 16628 done 0.67 - - 3155 - 2.25 0.034 1781 612.9 145.7 - - 2196 - - - - - - - - 14.89 14.85 14.90
16958 604.0 8.2 897 16971 roll 0.67 - - 3155 - 2.35 0.054 3186 597.9 145.7 - - 2195 - - - - - - - - 15.00 14.82 15.02
17033 597.5 8.5 907 17046 done 0.67 - - 3163 - 2.28 0.041 1808 -604.4 145.7 - - 2195 - - - - - - - - 14.89 14.83 14.90
17361 569.8 8.5 918 17375 roll 0.67 - - 3172 - 2.42 0.067 401 -581.4 145.7 - - 2195 - - - - - - - - 15.00 14.80 15.02
17424 564.2 9.2 926 17437 done 0.67 - - 3174 - 2.30 0.034 1805 610.4 145.7 - - 2195 - - - - - - - - 14.90 14.85 14.91
17766 532.3 9.3 939 17780 roll 0.67 0.12 0.270 3143 -258.3 2.30 0.052 3183 599.1 145.7 - - 2194 - - - - - - - - 14.68 14.82 14.79
17835 526.3 8.4 948 17848 done 0.67 - - 3149 - 2.25 0.041 1818 -606.7 145.7 - - 2196 - - - - - - - - 14.90 14.84 14.91
18170 500.2 7.7 960 18188 roll 0.67 - - 3159 - 2.45 0.067 412 -573.9 149.2 2.30 0.481 2183 -5.7 1.083 - - - - - - 15.01 14.80 13.95
18295 490.6 7.8 977 18312 done 0.68 - - 3160 - 2.20 0.034 1767 615.9 150.2 2.72 0.744 2177 -2.2 0.268 - - - - - - 14.90 14.85 13.99
18627 465.9 7.3 989 18658 roll 0.69 - - 3159 - 2.40 0.052 3187 591.7 159.7 18.38 1.532 2138 -2.1 0.119 - - - - - - 15.00 14.63 14.16
18678 462.0 7.4 996 18697 done 0.70 - - 3168 - 2.40 0.041 1761 -594.2 167.8 3.80 1.081 2106 -8.4 0.663 - - - - - - 14.77 14.71 13.95
19029 434.7 7.9 1010 19042 roll 0.70 - - 3178 - 2.35 0.067 401 -578.7 167.8 - - 2109 - - - - - - - - 14.91 14.72 14.93
19148 424.4 8.6 1026 19161 done 0.70 - - 3178 - 2.17 0.033 1731 612.9 167.8 - - 2112 - - - - - - - - 14.83 14.79 14.85
19490 394.9 8.6 1039 19503 roll 0.70 - - 3178 - 2.42 0.052 3182 599.6 167.8 - - 2109 - - - - - - - - 14.96 14.78 14.98
19516 392.5 8.8 1042 19530 done 0.70 0.15 0.264 3151 -180.0 2.42 0.041 1723 -602.9 167.8 - - 2109 - - - - - - - - 14.65 14.79 14.82
19838 368.7 7.3 1052 19868 roll 0.71 - - 3163 - 2.30 0.065 401 -574.8 178.3 17.52 1.440 2061 -2.7 0.129 - - - - - - 14.97 14.61 14.16
19917 362.6 8.0 1063 19930 done 0.71 - - 3162 - 2.17 0.034 1731 612.9 178.3 - - 2055 - - - - - - - - 14.78 14.73 14.80
20239 337.7 7.8 1073 20252 roll 0.71 - - 3163 - 2.42 0.052 3181 599.2 179.8 - - 2055 - - - - - - - - 14.92 14.75 14.95
20301 332.7 8.0 1081 20314 done 0.71 - - 3172 - 2.45 0.041 1713 -599.2 179.8 - - 2054 - - - - - - - - 14.83 14.76 14.84
20644 305.3 8.1 1094 20657 roll 0.71 - - 3181 - 2.25 0.066 401 -583.1 179.8 - - 2054 - - - - - - - - 14.97 14.77 15.00
20719 298.7 8.8 1104 20732 done 0.71 - - 3181 - 2.12 0.033 1716 620.3 179.8 - - 2055 - - - - - - - - 14.87 14.83 14.88
21047 269.9 8.9 1115 21060 roll 0.71 - - 3181 - 2.45 0.050 3183 598.8 179.8 - - 2054 - - - - - - - - 14.98 14.81 15.00
21087 265.9 9.9 1120 21101 done 0.71 0.12 0.266 3165 -133.3 2.45 0.041 1706 -602.9 179.8 - - 2054 - - - - - - - - 14.67 14.79 14.86
21451 235.5 8.3 1129 21464 roll 0.71 - - 3172 - 2.25 0.066 392 -584.0 179.8 - - 2054 - - - - - - - - 14.98 14.80 15.02
21533 228.5 8.5 1140 21546 done 0.71 - - 3173 - 2.12 0.033 1699 616.5 179.8 - - 2055 - - - - - - - - 14.90 14.86 14.91
21855 203.1 7.9 1150 21868 roll 0.71 - - 3172 - 2.47 0.050 3181 600.0 179.8 - - 2057 - - - - - - - - 15.00 14.81 15.02
21902 199.1 8.3 1156 21915 done 0.71 - - 3181 - 2.47 0.040 1687 -604.9 179.8 - - 2055 - - - - - - - - 14.90 14.84 14.91
22259 169.5 8.4 1164 22272 roll 0.71 - - 3192 - 2.20 0.065 398 -585.9 179.8 - - 2054 - - - - - - - - 15.01 14.81 15.03
22299 165.7 9.4 1169 22312 done 0.71 0.15 0.238 3158 -226.7 2.10 0.032 1712 625.7 179.8 - - 2054 - - - - - - - - 14.70 14.88 14.86
22662 138.9 7.2 1178 22692 roll 0.73 - - 3157 - 2.53 0.050 3182 581.0 191.6 13.52 1.177 2004 -3.7 0.080 - - - - - - 15.02 14.78 14.30
22810 127.5 7.2 1199 22828 done 0.74 - - 3164 - 2.38 0.039 1743 -604.6 203.9 6.00 1.065 1960 -7.3 0.162 - - - - - - 14.85 14.78 14.20
23162 103.8 6.9 1207 23190 done 0.86 0.12 0.135 3210 383.3 - - 1744 - 222.4 18.95 0.376 1886 -3.9 0.199 - - - - - - 14.79 14.78 14.50
23470 81.2 6.9 1217 23502 roll 0.88 - - 3220 - 2.35 0.063 400 -571.9 240.7 19.88 0.327 1814 -3.6 0.166 - - - - - - 14.96 14.74 14.53
23617 73.5 5.1 1237 23679 done 0.95 - - 3220 - 2.25 0.031 1808 625.8 292.4 50.25 0.325 1600 -4.3 0.178 - - - - - - 14.85 14.81 14.48
24009 59.3 2.7 1260 24110 roll 1.31 0.35 0.080 3371 431.4 2.47 0.061 396 -571.7 388.4 84.97 0.285 1213 -4.6 0.175 - - - - - - 14.76 14.62 14.47
24199 45.3 8.8 1287 24214 done 1.31 - - 3372 - 2.30 0.030 1808 613.9 388.4 2.83 0.151 1209 -1.4 0.078 - - - - - - 14.76 14.73 14.59
24516 18.5 8.2 1299 24532 roll 1.31 - - 3372 - 2.30 0.047 3173 593.5 388.4 3.17 0.146 1210 - - - - - - - - 14.93 14.75 14.66
24717 end climb: SURFACE_DEPTH_REACHED
24717 begin surface coast
24724 end surface coast: CONTROL_FINISHED_OK
24724 begin surface
SM 1.14 - - - - -8.59 9.23 0.063 164 17.8 2.20 0.038 1862 -2995.5 515.13 76.53 0.124 691 9.0 -0.008 - - - - - -