SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 95 * Raw log
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• Previous call tries 4 • 45.27 of 350.00 AH used of 24V (87.06% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.2 deg, depth 0.99 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 15 s • Transponder ping count: 11
• 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
24 - - - 109 VBD -0.68 - - 205 - - - 2234 - -116.8 -84.28 - 2954 - - - - - - - - 14.81 - 14.83
113 5.4 -7.6 3 131 roll -0.68 8.77 0.425 1984 202.9 2.50 2.095 903 -532.4 -116.8 -4.57 - 3222 -58.6 - - - - - - - 14.37 13.60 14.66
187 33.4 -26.7 14 192 done -0.44 0.32 0.324 2049 203.1 2.38 0.068 2266 572.7 -116.8 - - 3223 - - - - - - - - 14.45 14.62 14.66
523 90.3 -11.2 29 529 roll -0.34 0.15 0.266 2090 273.3 2.33 0.051 901 -585.8 -116.8 - - 3224 - - - - - - - - 14.59 14.71 14.71
694 102.6 -7.1 53 700 done -0.34 - - 2082 - 2.38 0.065 2272 576.1 -116.8 - - 3225 - - - - - - - - 14.82 14.73 14.84
1029 123.7 -5.6 66 1030 done -0.34 - - 2082 - - - 2275 - -116.8 - - 3225 - - - - - - - - 14.99 15.01 15.01
1365 142.1 -5.7 72 1370 roll -0.34 - - 2086 - 2.33 0.054 904 -588.4 -116.8 - - 3225 - - - - - - - - 15.02 14.81 15.04
1406 145.1 -7.3 78 1412 done -0.34 - - 2082 - 2.35 0.065 2269 580.9 -116.8 - - 3222 - - - - - - - - 14.90 14.80 14.90
1757 169.8 -7.2 86 1762 roll -0.34 - - 2081 - 2.45 0.087 3692 580.8 -116.8 - - 3222 - - - - - - - - 15.03 14.80 15.05
1806 173.2 -7.0 93 1813 done -0.40 - - 2081 - 2.35 0.047 2279 -601.3 -116.8 - - 3222 - - - - - - - - 14.88 14.83 14.90
2149 193.8 -5.8 100 2154 roll -0.40 - - 2081 - 2.35 0.059 891 -590.6 -116.8 - - 3220 - - - - - - - - 15.03 14.83 15.05
2239 199.2 -5.8 113 2246 done -0.44 - - 2081 - 2.38 0.070 2262 576.1 -116.8 - - 3219 - - - - - - - - 14.90 14.81 14.92
2597 217.8 -5.2 122 2598 done -0.44 - - 2081 - - - 2263 - -116.8 - - 3217 - - - - - - - - 15.04 15.06 15.05
2933 237.6 -6.0 128 2938 roll -0.49 0.12 0.137 2015 -550.0 2.47 0.087 3692 578.5 -116.8 - - 3212 - - - - - - - - 14.84 14.81 14.88
2960 239.8 -7.8 132 2966 done -0.49 - - 2015 - 2.38 0.048 2275 -595.4 -116.8 - - 3213 - - - - - - - - 14.88 14.85 14.90
3325 271.7 -8.8 142 3330 roll -0.49 - - 2015 - 2.35 0.060 885 -591.5 -116.8 - - 3210 - - - - - - - - 15.04 14.83 15.09
3457 282.8 -8.0 161 3463 done -0.49 - - 2011 - 2.42 0.073 2248 563.2 -116.8 - - 3209 - - - - - - - - 14.83 14.77 14.87
3773 307.5 -7.8 171 3778 roll -0.49 0.10 0.305 2024 130.0 2.53 0.094 3703 575.1 -116.8 - - 3208 - - - - - - - - 14.68 14.78 14.87
3814 310.7 -7.6 177 3821 done -0.49 - - 2024 - 2.40 0.052 2244 -607.9 -116.8 - - 3206 - - - - - - - - 14.92 14.85 14.93
4165 339.2 -8.3 185 4171 roll -0.49 - - 2024 - 2.30 0.062 895 -586.5 -116.8 - - 3207 - - - - - - - - 15.04 14.82 15.06
4221 344.2 -8.8 193 4227 done -0.49 - - 2015 - 2.40 0.075 2256 567.1 -116.8 - - 3204 - - - - - - - - 14.90 14.79 14.92
4557 373.8 -8.8 206 4558 done -0.49 - - 2015 - - - 2255 - -116.8 - - 3202 - - - - - - - - 15.04 15.06 15.05
4893 401.6 -8.1 212 4898 roll -0.49 - - 2009 - 2.53 0.096 3701 571.5 -116.8 - - 3201 - - - - - - - - 15.04 14.78 15.06
4913 403.3 -8.0 215 4919 done -0.49 0.08 0.244 2032 287.5 2.42 0.052 2263 -594.2 -116.8 - - 3200 - - - - - - - - 14.65 14.83 14.79
5229 424.9 -6.7 225 5235 roll -0.49 - - 2032 - 2.35 0.062 884 -586.8 -116.8 - - 3199 - - - - - - - - 15.04 14.81 15.05
5291 429.3 -7.1 234 5297 done -0.49 - - 2025 - 2.42 0.076 2257 567.4 -116.8 - - 3199 - - - - - - - - 14.89 14.77 14.91
5621 453.7 -7.6 246 5622 done -0.49 - - 2025 - - - 2260 - -116.8 - - 3194 - - - - - - - - 15.03 15.05 15.05
5957 480.7 -8.1 252 5962 roll -0.49 - - 2016 - 2.55 0.099 3702 565.5 -116.8 - - 3195 - - - - - - - - 15.02 14.77 15.05
5984 483.1 -8.6 256 5990 done -0.49 - - 2016 - 2.47 0.056 2257 -585.0 -116.8 - - 3194 - - - - - - - - 14.85 14.82 14.88
6349 513.8 -8.3 266 6354 roll -0.49 - - 2016 - 2.38 0.068 874 -581.1 -116.8 - - 3193 - - - - - - - - 15.04 14.80 15.06
6439 521.5 -8.2 279 6445 done -0.49 - - 2012 - 2.47 0.080 2246 555.5 -116.8 - - 3193 - - - - - - - - 14.83 14.76 14.91
6797 550.3 -8.1 288 6802 roll -0.49 - - 2003 - 2.55 0.101 3693 567.5 -116.8 - - 3191 - - - - - - - - 15.02 14.76 15.05
6894 558.3 -7.9 302 6900 done -0.49 0.15 0.257 2039 240.0 2.45 0.056 2256 -586.5 -116.8 - - 3191 - - - - - - - - 14.64 14.81 14.84
7245 582.2 -6.9 310 7246 done -0.49 - - 2039 - - - 2250 - -116.8 - - 3190 - - - - - - - - 15.03 15.05 15.04
7581 606.3 -7.1 316 7586 roll -0.49 - - 2039 - 2.38 0.070 881 -575.2 -116.8 - - 3188 - - - - - - - - 15.03 14.78 15.05
7664 612.3 -7.0 328 7670 done -0.49 - - 2039 - 2.47 0.083 2265 560.3 -116.8 - - 3187 - - - - - - - - 14.87 14.76 14.88
8029 634.0 -5.7 338 8034 roll -0.49 - - 2031 - 2.55 0.104 3701 563.1 -116.8 - - 3186 - - - - - - - - 15.02 14.74 15.04
8085 637.3 -6.0 346 8090 done -0.49 - - 2031 - 2.42 0.060 2262 -594.6 -116.8 - - 3187 - - - - - - - - 14.86 14.81 14.90
8422 657.3 -6.0 359 8427 roll -0.49 - - 2031 - 2.38 0.068 882 -579.8 -116.8 - - 3185 - - - - - - - - 15.01 14.77 15.03
8497 662.6 -6.9 370 8503 done -0.49 - - 2026 - 2.45 0.083 2253 559.6 -116.8 - - 3185 - - - - - - - - 14.85 14.73 14.88
8813 685.3 -7.4 380 8818 roll -0.49 - - 2018 - 2.58 0.107 3695 558.9 -116.8 - - 3184 - - - - - - - - 15.01 14.73 15.04
8882 691.2 -8.6 390 8888 done -0.49 - - 2018 - 2.45 0.062 2251 -589.4 -116.8 - - 3183 - - - - - - - - 14.87 14.80 14.88
9205 719.2 -8.7 401 9210 roll -0.49 - - 2018 - 2.38 0.072 878 -576.9 -116.8 - - 3182 - - - - - - - - 15.02 14.73 15.03
9309 728.7 -9.0 416 9316 done -0.49 - - 2015 - 2.50 0.084 2245 546.8 -116.8 - - 3182 - - - - - - - - 14.78 14.70 14.81
9654 756.8 -8.0 423 9658 roll -0.49 - - 2010 - 2.60 0.106 3700 559.6 -116.8 - - 3181 - - - - - - - - 15.00 14.71 15.02
9715 761.5 -7.6 432 9721 done -0.49 0.08 0.248 2033 287.5 2.50 0.059 2245 -582.0 -116.8 - - 3181 - - - - - - - - 14.56 14.75 14.70
10045 780.4 -5.5 444 10050 roll -0.49 - - 2034 - 2.35 0.069 882 -580.0 -116.8 - - 3180 - - - - - - - - 15.00 14.73 15.02
10142 785.8 -5.4 458 10148 done -0.49 - - 2026 - 2.50 0.086 2242 544.0 -116.8 - - 3178 - - - - - - - - 14.76 14.69 14.81
10493 804.4 -5.4 466 10498 roll -0.49 - - 2018 - 2.60 0.107 3692 557.7 -116.8 - - 3177 - - - - - - - - 14.99 14.70 15.01
10570 809.0 -6.0 477 10575 done -0.49 - - 2018 - 2.47 0.062 2241 -587.4 -116.8 - - 3180 - - - - - - - - 14.84 14.77 14.86
10885 828.4 -6.2 487 10890 roll -0.49 - - 2019 - 2.35 0.071 883 -577.9 -116.8 - - 3178 - - - - - - - - 15.00 14.72 15.02
10947 832.8 -7.1 496 10953 done -0.49 - - 2015 - 2.47 0.086 2252 554.3 -116.8 - - 3178 - - - - - - - - 14.81 14.69 14.84
11278 855.8 -6.9 508 11279 done -0.49 - - 2015 - - - 2252 - -116.8 - - 3177 - - - - - - - - 14.99 15.01 15.01
11613 879.3 -7.0 514 11618 roll -0.49 - - 2010 - 2.60 0.111 3693 554.2 -116.8 - - 3175 - - - - - - - - 15.00 14.68 15.02
11661 882.5 -6.0 521 11669 done -0.49 0.08 0.240 2033 287.5 2.53 0.063 2237 -575.5 -116.8 - - 3176 - - - - - - - - 14.53 14.73 14.81
12006 902.0 -5.6 528 12011 roll -0.49 - - 2033 - 2.35 0.071 887 -574.5 -116.8 - - 3175 - - - - - - - - 14.98 14.71 15.00
12061 905.3 -5.8 536 12066 done -0.49 - - 2026 - 2.47 0.086 2249 551.4 -116.8 - - 3178 - - - - - - - - 14.80 14.68 14.83
12397 924.2 -5.7 549 12398 done -0.49 - - 2026 - - - 2249 - -116.8 - - 3174 - - - - - - - - 14.97 15.00 15.00
12734 944.4 -6.1 555 12735 done -0.49 - - 2026 - - - 2249 - -116.8 - - 3173 - - - - - - - - 14.98 15.00 15.00
13069 965.4 -6.6 561 13070 done -0.49 - - 2026 - - - 2249 - -116.8 - - 3172 - - - - - - - - 14.97 15.00 15.00
13405 988.2 -6.9 567 13406 done -0.49 - - 2026 - - - 2249 - -116.8 - - 3172 - - - - - - - - 14.98 15.00 15.00
13457 end dive: TARGET_DEPTH_EXCEEDED
13457 begin apogee
13466 992.1 -6.9 568 13654 roll -0.19 0.40 0.234 2135 272.5 - - 2250 - - 185.95 1.692 2740 -2.3 0.252 - - - - - - 14.53 14.03 13.48
13655 end apogee: CONTROL_FINISHED_OK
13655 begin climb
13659 998.2 - 571 13812 done 0.68 0.90 0.156 2410 305.6 - - 2250 - 116.8 145.52 1.945 2262 -3.3 0.312 - - - - - - 14.00 14.21 13.25
14135 956.4 10.1 608 14140 roll 0.62 - - 2410 - 2.58 0.114 3640 538.8 116.8 - - 2234 - - - - - - - - 14.62 14.37 14.64
14190 950.1 11.3 616 14196 done 0.54 0.20 0.296 2376 -170.0 2.50 0.081 2253 -554.8 116.8 - - 2232 - - - - - - - - 14.29 14.43 14.50
14527 920.7 8.7 629 14533 roll 0.54 - - 2386 - 2.65 0.100 817 -541.9 116.8 - - 2230 - - - - - - - - 14.78 14.52 14.81
14595 914.5 10.6 639 14601 done 0.54 - - 2386 - 2.60 0.093 2225 541.5 116.8 - - 2229 - - - - - - - - 14.66 14.54 14.69
14918 883.3 9.7 650 14923 roll 0.54 - - 2382 - 2.62 0.119 3650 543.9 116.8 - - 2229 - - - - - - - - 14.86 14.58 14.88
15016 872.8 10.6 664 15021 done 0.54 - - 2396 - 2.53 0.083 2231 -560.9 116.8 - - 2227 - - - - - - - - 14.72 14.62 14.75
15366 837.9 10.0 672 15371 roll 0.54 - - 2406 - 2.58 0.100 818 -547.7 116.8 - - 2227 - - - - - - - - 14.90 14.62 14.92
15428 831.7 9.6 681 15435 done 0.54 0.12 0.283 2379 -225.0 2.58 0.091 2234 548.8 116.8 - - 2227 - - - - - - - - 14.50 14.63 14.73
15759 803.3 8.6 693 15764 roll 0.54 - - 2379 - 2.58 0.119 3639 544.6 116.8 - - 2226 - - - - - - - - 14.92 14.63 14.94
15834 796.0 9.3 704 15840 done 0.54 - - 2389 - 2.53 0.081 2236 -554.5 116.8 - - 2226 - - - - - - - - 14.71 14.65 14.75
16150 768.8 8.6 714 16155 roll 0.54 - - 2399 - 2.58 0.097 815 -550.8 116.8 - - 2226 - - - - - - - - 14.94 14.65 14.95
16207 764.2 7.8 722 16211 done 0.54 - - 2399 - 2.58 0.090 2232 549.2 116.8 - - 2225 - - - - - - - - 14.78 14.66 14.78
16542 732.9 9.5 735 16547 roll 0.54 - - 2399 - 2.60 0.119 3649 545.0 116.8 - - 2225 - - - - - - - - 14.95 14.62 14.97
16626 724.0 10.6 747 16631 done 0.48 0.20 0.269 2362 -185.0 2.50 0.083 2237 -564.8 116.8 - - 2225 - - - - - - - - 14.53 14.69 14.76
16990 695.1 7.8 757 16996 roll 0.48 - - 2372 - 2.55 0.095 820 -555.7 116.8 - - 2225 - - - - - - - - 14.95 14.66 14.97
17059 690.1 7.1 767 17065 done 0.48 - - 2372 - 2.58 0.086 2245 552.3 123.2 - - 2225 - - - - - - - - 14.81 14.67 14.82
17383 666.6 7.3 778 17388 roll 0.49 - - 2372 - 2.55 0.116 3644 548.6 125.0 - - 2225 - - - - - - - - 14.95 14.65 14.96
17451 661.2 7.6 788 17457 done 0.49 - - 2382 - 2.53 0.080 2237 -556.1 125.0 - - 2225 - - - - - - - - 14.73 14.66 14.81
17775 637.9 7.3 799 17779 roll 0.49 - - 2391 - 2.55 0.093 818 -556.5 126.5 - - 2225 - - - - - - - - 14.95 14.66 14.97
17831 633.8 7.2 807 17842 done 0.49 0.12 0.274 2364 -225.0 2.58 0.087 2239 550.8 129.7 3.25 1.046 2208 -5.2 0.587 - - - - - - 14.53 14.66 13.88
18169 611.1 6.8 820 18199 roll 0.50 - - 2364 - 2.62 0.118 3633 532.1 142.5 22.40 1.663 2151 -2.5 0.173 - - - - - - 14.93 14.54 14.02
18271 602.8 8.3 835 18277 done 0.50 - - 2372 - 2.50 0.078 2239 -557.6 142.5 - - 2142 - - - - - - - - 14.64 14.57 14.68
18615 573.8 8.7 842 18619 roll 0.50 - - 2382 - 2.58 0.093 816 -551.6 142.5 - - 2140 - - - - - - - - 14.86 14.60 14.88
18676 568.2 8.8 851 18682 done 0.50 - - 2382 - 2.62 0.086 2263 552.3 142.5 - - 2139 - - - - - - - - 14.71 14.61 14.74
19007 537.5 9.4 863 19012 roll 0.50 - - 2382 - 2.53 0.113 3644 545.8 142.5 - - 2139 - - - - - - - - 14.92 14.62 14.91
19047 533.2 10.4 869 19054 done 0.50 0.08 0.239 2369 -162.5 2.53 0.077 2242 -554.2 142.5 - - 2138 - - - - - - - - 14.52 14.64 14.64
19399 503.3 8.4 877 19404 roll 0.50 - - 2379 - 2.58 0.092 815 -553.1 142.5 - - 2138 - - - - - - - - 14.91 14.64 14.93
19460 498.2 8.1 886 19466 done 0.50 - - 2379 - 2.58 0.086 2243 553.5 142.5 - - 2138 - - - - - - - - 14.76 14.66 14.80
19790 469.3 8.9 898 19795 roll 0.50 - - 2379 - 2.55 0.115 3640 547.8 142.5 - - 2138 - - - - - - - - 14.92 14.64 14.95
19853 463.2 9.9 907 19858 done 0.50 - - 2388 - 2.45 0.076 2241 -571.0 142.5 - - 2138 - - - - - - - - 14.78 14.67 14.81
20183 432.7 9.2 919 20187 roll 0.50 - - 2398 - 2.55 0.091 824 -555.7 142.5 - - 2138 - - - - - - - - 14.93 14.66 14.95
20244 427.4 8.2 928 20250 done 0.50 0.15 0.252 2362 -240.0 2.58 0.085 2247 551.6 142.5 - - 2138 - - - - - - - - 14.55 14.66 14.76
20575 405.5 6.5 940 20602 roll 0.51 - - 2362 - 2.62 0.114 3641 532.1 162.8 22.80 1.447 2070 -3.0 0.155 - - - - - - 14.94 14.57 14.09
20650 400.3 7.3 951 20656 done 0.51 - - 2371 - 2.50 0.073 2249 -556.8 164.5 - - 2057 - - - - - - - - 14.69 14.58 14.71
21016 374.7 7.2 961 21021 roll 0.51 - - 2379 - 2.58 0.092 819 -554.3 167.3 - - 2055 - - - - - - - - 14.86 14.60 14.88
21085 369.5 7.6 971 21090 done 0.57 - - 2379 - 2.58 0.083 2247 553.5 167.3 - - 2054 - - - - - - - - 14.71 14.62 14.75
21408 341.0 9.1 982 21413 roll 0.57 - - 2379 - 2.53 0.113 3640 550.6 167.3 - - 2054 - - - - - - - - 14.90 14.62 14.92
21456 336.1 10.1 989 21464 done 0.57 - - 2388 - 2.47 0.073 2252 -561.9 167.3 - - 2054 - - - - - - - - 14.71 14.66 14.74
21799 306.0 8.5 996 21804 roll 0.57 - - 2397 - 2.58 0.093 816 -556.6 167.3 - - 2053 - - - - - - - - 14.92 14.65 14.94
21847 302.0 8.3 1003 21854 done 0.57 - - 2397 - 2.62 0.086 2244 545.0 167.3 - - 2051 - - - - - - - - 14.71 14.64 14.73
22192 271.4 9.0 1010 22197 roll 0.57 - - 2397 - 2.53 0.112 3640 551.8 167.3 - - 2055 - - - - - - - - 14.93 14.64 14.95
22253 264.8 10.5 1019 22259 done 0.57 - - 2407 - 2.47 0.073 2250 -562.8 167.3 - - 2053 - - - - - - - - 14.73 14.68 14.77
22584 230.4 10.6 1031 22588 roll 0.57 - - 2417 - 2.55 0.090 824 -559.2 167.3 - - 2053 - - - - - - - - 14.94 14.65 14.95
22674 221.8 8.9 1044 22679 done 0.57 0.12 0.267 2387 -250.0 2.58 0.085 2257 555.4 167.3 - - 2053 - - - - - - - - 14.57 14.67 14.76
23031 193.2 8.0 1053 23037 roll 0.57 - - 2387 - 2.50 0.112 3640 553.2 167.3 - - 2052 - - - - - - - - 14.95 14.66 14.97
23094 187.5 9.3 1062 23099 done 0.57 - - 2396 - 2.42 0.073 2245 -576.4 167.3 - - 2053 - - - - - - - - 14.81 14.71 14.82
23424 158.2 8.8 1074 23429 roll 0.57 - - 2406 - 2.53 0.089 822 -562.5 167.3 - - 2052 - - - - - - - - 14.95 14.70 14.97
23464 154.6 8.4 1080 23470 done 0.57 - - 2405 - 2.62 0.083 2256 547.3 167.3 - - 2057 - - - - - - - - 14.73 14.66 14.78
23815 123.9 8.9 1088 23820 roll 0.57 - - 2406 - 2.50 0.110 3646 556.0 167.3 - - 2053 - - - - - - - - 14.95 14.69 14.97
23885 117.1 9.6 1098 23890 done 0.57 - - 2415 - 2.42 0.072 2255 -574.8 167.3 - - 2052 - - - - - - - - 14.81 14.71 14.83
24208 93.2 6.7 1110 24221 roll 0.58 - - 2424 - 2.60 0.087 820 -551.9 182.7 9.35 0.356 1994 -6.2 0.301 - - - - - - 14.95 14.66 14.40
24322 86.5 6.3 1126 24346 done 0.65 - - 2424 - 2.58 0.080 2253 555.4 206.8 16.95 0.379 1896 -5.8 0.244 - - - - - - 14.76 14.66 14.40
24680 66.8 3.7 1144 24738 roll 0.77 - - 2424 - 2.50 0.103 3637 553.6 292.9 54.08 0.336 1547 -6.5 0.238 - - - - - - 14.91 14.57 14.39
24761 62.6 5.5 1150 24794 done 0.91 0.20 0.094 2514 450.0 2.45 0.064 2225 -576.3 335.4 27.30 0.324 1373 -6.4 0.228 - - - - - - 14.65 14.61 14.34
25128 37.4 5.5 1169 25164 roll 1.00 - - 2515 - 2.55 0.084 830 -547.1 380.2 28.65 0.241 1188 -6.5 0.186 - - - - - - 14.85 14.56 14.45
25240 31.2 5.7 1185 25271 done 1.14 0.15 0.112 2591 506.7 2.50 0.075 2231 560.4 419.3 25.58 0.222 1030 -6.2 0.161 - - - - - - 14.64 14.58 14.45
25544 end climb: SURFACE_DEPTH_REACHED
25544 begin surface coast
25569 end surface coast: CONTROL_FINISHED_OK
25569 begin surface
SM 0.87 - - - - -6.15 6.72 0.068 207 30.8 0.10 0.167 2286 -91440.0 500.17 49.90 0.137 698 14.0 -0.009 - - - - - -