SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 110 * Raw log
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• Previous call tries 1 • 50.70 of 350.00 AH used of 24V (85.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.2 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: 36 s
• GPS2 time: 19 s • Transponder ping count: 10
• 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 VBD -0.68 - - 199 - - - 2262 - -116.8 -84.80 - 2887 - - - - - - - - 14.76 - 14.78
113 4.4 -6.0 3 137 roll -0.68 8.88 0.427 1959 198.2 2.75 2.121 3688 518.5 -116.8 -6.03 - 3222 -55.6 - - - - - - - 14.30 13.50 14.62
340 75.1 -19.1 36 345 done -0.49 0.30 0.255 2036 256.7 2.35 0.046 2270 -603.4 -116.8 - - 3223 - - - - - - - - 14.47 14.65 14.66
670 105.5 -7.8 49 676 roll -0.41 0.12 0.275 2060 200.0 2.50 0.087 3694 569.6 -116.8 - - 3231 - - - - - - - - 14.57 14.69 14.69
906 123.0 -7.3 83 912 done -0.41 - - 2061 - 2.35 0.045 2287 -598.7 -116.8 - - 3227 - - - - - - - - 14.79 14.76 14.81
1230 144.9 -6.8 94 1230 done -0.41 - - 2060 - - - 2279 - -116.8 - - 3227 - - - - - - - - 14.99 15.01 15.01
1565 169.1 -7.3 100 1570 roll -0.41 - - 2051 - 2.50 0.093 3702 569.2 -116.8 - - 3225 - - - - - - - - 15.00 14.76 15.02
1606 172.3 -7.8 106 1612 done -0.41 - - 2051 - 2.35 0.047 2297 -597.9 -116.8 - - 3225 - - - - - - - - 14.85 14.81 14.87
1957 199.4 -7.9 114 1962 roll -0.41 - - 2051 - 2.40 0.060 881 -590.0 -116.8 - - 3223 - - - - - - - - 15.02 14.82 15.04
2020 204.7 -8.4 123 2025 done -0.41 - - 2042 - 2.47 0.070 2300 574.5 -116.8 - - 3222 - - - - - - - - 14.87 14.78 14.89
2349 231.9 -8.2 135 2354 roll -0.41 - - 2035 - 2.42 0.094 3698 577.7 -116.8 - - 3220 - - - - - - - - 15.02 14.77 15.05
2390 235.4 -8.6 141 2397 done -0.41 0.12 0.236 2066 258.3 2.33 0.050 2287 -605.6 -116.8 - - 3220 - - - - - - - - 14.68 14.83 14.85
2742 260.0 -7.0 149 2747 roll -0.41 - - 2066 - 2.38 0.061 889 -587.4 -116.8 - - 3218 - - - - - - - - 15.02 14.80 15.04
2866 269.6 -7.5 167 2872 done -0.41 - - 2058 - 2.50 0.073 2288 559.6 -116.8 - - 3217 - - - - - - - - 14.83 14.76 14.85
3190 294.1 -7.7 178 3194 roll -0.41 - - 2059 - 2.40 0.060 887 -583.8 -116.8 - - 3214 - - - - - - - - 15.03 14.79 15.05
3223 296.9 -8.4 183 3229 done -0.41 - - 2056 - 2.47 0.074 2276 562.3 -116.8 - - 3212 - - - - - - - - 14.83 14.76 14.86
3581 326.3 -8.2 192 3582 done -0.41 - - 2056 - - - 2279 - -116.8 - - 3211 - - - - - - - - 15.03 15.05 15.04
3917 352.7 -7.8 198 3922 roll -0.41 - - 2049 - 2.50 0.099 3694 566.0 -116.8 - - 3209 - - - - - - - - 15.03 14.76 15.04
3966 356.6 -8.0 205 3973 done -0.41 - - 2049 - 2.40 0.054 2276 -590.8 -116.8 - - 3209 - - - - - - - - 14.90 14.83 14.92
4309 382.1 -7.3 212 4314 roll -0.41 - - 2049 - 2.38 0.063 892 -581.5 -116.8 - - 3207 - - - - - - - - 15.03 14.80 15.05
4399 388.8 -7.3 225 4406 done -0.41 - - 2043 - 2.47 0.077 2300 570.0 -116.8 - - 3207 - - - - - - - - 14.88 14.77 14.90
4758 413.8 -7.0 234 4762 roll -0.41 - - 2037 - 2.47 0.100 3701 567.2 -116.8 - - 3204 - - - - - - - - 15.03 14.76 15.05
4799 416.8 -7.2 240 4804 done -0.41 - - 2037 - 2.38 0.054 2276 -598.7 -116.8 - - 3204 - - - - - - - - 14.89 14.83 14.91
5149 441.2 -7.0 248 5154 roll -0.41 - - 2037 - 2.38 0.066 889 -582.8 -116.8 - - 3202 - - - - - - - - 15.03 14.78 15.04
5212 445.9 -7.6 257 5218 done -0.41 - - 2037 - 2.47 0.077 2287 566.0 -116.8 - - 3202 - - - - - - - - 14.87 14.76 14.92
5541 470.0 -7.4 269 5547 roll -0.41 - - 2028 - 2.47 0.099 3696 570.4 -116.8 - - 3200 - - - - - - - - 15.02 14.75 15.04
5589 473.9 -8.1 276 5596 done -0.41 0.10 0.207 2060 320.0 2.42 0.056 2270 -589.3 -116.8 - - 3200 - - - - - - - - 14.64 14.80 14.76
5934 496.9 -6.7 283 5938 roll -0.41 - - 2060 - 2.38 0.067 892 -579.0 -116.8 - - 3199 - - - - - - - - 15.02 14.78 15.04
6023 503.4 -7.1 296 6029 done -0.41 - - 2056 - 2.50 0.079 2271 551.6 -116.8 - - 3199 - - - - - - - - 14.88 14.73 14.90
6382 528.2 -7.0 305 6387 roll -0.41 - - 2056 - 2.40 0.063 887 -576.7 -116.8 - - 3197 - - - - - - - - 15.02 14.78 15.04
6437 532.3 -7.3 313 6443 done -0.41 - - 2056 - 2.47 0.081 2276 562.3 -116.8 - - 3197 - - - - - - - - 14.84 14.74 14.88
6774 554.1 -6.3 326 6778 roll -0.41 - - 2052 - 2.53 0.106 3694 560.5 -116.8 - - 3193 - - - - - - - - 15.02 14.73 15.03
6822 557.1 -6.2 333 6829 done -0.41 - - 2052 - 2.42 0.058 2270 -588.4 -116.8 - - 3195 - - - - - - - - 14.83 14.79 14.86
7165 576.6 -5.5 340 7170 roll -0.41 - - 2052 - 2.40 0.070 891 -574.6 -116.8 - - 3194 - - - - - - - - 15.02 14.76 15.03
7234 580.5 -5.6 350 7240 done -0.41 - - 2047 - 2.45 0.080 2268 562.0 -116.8 - - 3192 - - - - - - - - 14.84 14.74 14.88
7558 597.8 -5.4 361 7558 done -0.41 - - 2047 - - - 2268 - -116.8 - - 3193 - - - - - - - - 15.02 15.04 15.04
7893 618.5 -6.3 367 7898 roll -0.41 - - 2042 - 2.53 0.103 3692 562.8 -116.8 - - 3192 - - - - - - - - 15.02 14.71 15.03
7955 622.9 -7.2 376 7961 done -0.41 - - 2043 - 2.40 0.056 2261 -596.2 -116.8 - - 3192 - - - - - - - - 14.86 14.78 14.88
8286 645.8 -6.9 388 8286 done -0.41 - - 2042 - - - 2254 - -116.8 - - 3191 - - - - - - - - 15.01 15.03 15.03
8621 668.8 -6.9 394 8626 roll -0.41 - - 2043 - 2.38 0.065 884 -575.6 -116.8 - - 3189 - - - - - - - - 15.02 14.75 15.04
8669 672.4 -7.5 401 8677 done -0.41 - - 2042 - 2.53 0.082 2268 547.0 -116.8 - - 3188 - - - - - - - - 14.77 14.70 14.81
9014 695.7 -6.8 408 9014 done -0.41 - - 2042 - - - 2268 - -116.8 - - 3188 - - - - - - - - 15.00 15.02 15.02
9350 718.4 -6.8 414 9350 done -0.41 - - 2043 - - - 2268 - -116.8 - - 3187 - - - - - - - - 15.00 15.02 15.02
9685 741.4 -6.9 420 9690 roll -0.41 - - 2038 - 2.58 0.107 3701 555.4 -116.8 - - 3186 - - - - - - - - 15.00 14.69 15.02
9762 746.7 -7.0 431 9767 done -0.41 - - 2038 - 2.40 0.059 2282 -591.2 -116.8 - - 3186 - - - - - - - - 14.85 14.78 14.87
10078 766.9 -6.3 441 10083 roll -0.41 - - 2038 - 2.42 0.070 884 -577.7 -116.8 - - 3185 - - - - - - - - 15.00 14.72 15.02
10174 773.0 -6.7 455 10180 done -0.41 - - 2037 - 2.50 0.084 2277 557.2 -116.8 - - 3184 - - - - - - - - 14.81 14.69 14.84
10526 792.1 -5.5 463 10530 roll -0.41 - - 2027 - 2.55 0.110 3693 555.3 -116.8 - - 3184 - - - - - - - - 14.99 14.67 15.01
10637 799.0 -6.2 479 10642 done -0.41 0.15 0.230 2066 260.0 2.40 0.063 2282 -587.9 -116.8 - - 3183 - - - - - - - - 14.57 14.75 14.77
10974 815.1 -4.8 492 10979 roll -0.48 - - 2066 - 2.45 0.074 881 -571.8 -116.8 - - 3183 - - - - - - - - 14.97 14.69 15.00
11008 817.0 -5.3 497 11014 done -0.54 0.10 0.147 2015 -510.0 2.53 0.086 2277 551.8 -116.8 - - 3182 - - - - - - - - 14.71 14.67 14.81
11365 842.9 -7.4 506 11370 roll -0.54 - - 2008 - 2.55 0.112 3692 554.9 -116.8 - - 3181 - - - - - - - - 14.98 14.66 15.00
11400 845.7 -7.2 511 11405 done -0.54 - - 2008 - 2.42 0.063 2266 -589.3 -116.8 - - 3181 - - - - - - - - 14.83 14.74 14.84
11758 874.9 -8.1 520 11762 roll -0.54 - - 2008 - 2.40 0.072 887 -574.6 -116.8 - - 3181 - - - - - - - - 14.98 14.69 15.00
11826 880.8 -8.4 530 11832 done -0.54 - - 2003 - 2.53 0.085 2284 552.2 -116.8 - - 3183 - - - - - - - - 14.78 14.66 14.82
12150 906.8 -8.1 541 12150 done -0.54 - - 2003 - - - 2284 - -116.8 - - 3180 - - - - - - - - 14.97 15.00 14.99
12486 932.9 -7.8 547 12486 done -0.54 - - 2003 - - - 2284 - -116.8 - - 3179 - - - - - - - - 14.97 15.00 15.00
12821 958.6 -7.7 553 12827 roll -0.54 - - 2002 - 2.45 0.072 887 -570.2 -116.8 - - 3178 - - - - - - - - 14.99 14.69 15.01
12870 962.7 -5.1 560 12876 done -0.54 - - 1999 - 2.55 0.086 2281 546.7 -116.8 - - 3178 - - - - - - - - 14.78 14.66 14.81
13210 end dive: TARGET_DEPTH_EXCEEDED
13210 begin apogee
13218 990.9 -8.3 567 13362 roll -0.19 0.50 0.239 2135 272.0 - - 2281 - - 142.77 1.987 2740 -3.1 0.285 - - - - - - 14.49 14.02 13.40
13364 end apogee: CONTROL_FINISHED_OK
13364 begin climb
13368 994.8 - 569 13522 done 0.68 0.90 0.151 2413 308.9 - - 2281 - 116.8 144.95 1.973 2256 -3.3 0.313 - - - - - - 13.99 14.21 13.19
13831 951.7 10.8 606 13832 done 0.61 - - 2413 - - - 2281 - 116.8 - - 2229 - - - - - - - - 14.60 14.62 14.62
14167 914.9 11.1 612 14168 done 0.54 0.15 0.288 2380 -220.0 - - 2282 - 116.8 - - 2229 - - - - - - - - 14.38 14.63 14.59
14503 883.0 9.4 618 14504 done 0.54 - - 2380 - - - 2281 - 116.8 - - 2228 - - - - - - - - 14.84 14.86 14.85
14839 850.4 9.7 624 14844 roll 0.54 - - 2380 - 2.50 0.117 3639 543.2 116.8 - - 2227 - - - - - - - - 14.88 14.59 14.90
14866 847.4 10.8 628 14871 done 0.54 - - 2389 - 2.50 0.079 2253 -554.4 116.8 - - 2226 - - - - - - - - 14.67 14.62 14.76
15231 809.0 10.4 638 15237 roll 0.54 - - 2400 - 2.62 0.099 818 -547.7 116.8 - - 2226 - - - - - - - - 14.91 14.60 14.93
15293 802.6 10.0 647 15298 done 0.54 - - 2400 - 2.60 0.089 2241 547.3 116.8 - - 2224 - - - - - - - - 14.74 14.62 14.78
15623 769.6 9.8 659 15628 roll 0.49 0.12 0.295 2368 -266.7 2.58 0.115 3647 545.0 116.8 - - 2225 - - - - - - - - 14.45 14.64 14.61
15706 762.3 8.7 671 15711 done 0.49 - - 2377 - 2.50 0.081 2233 -565.6 116.8 - - 2224 - - - - - - - - 14.76 14.66 14.80
16071 735.1 7.3 681 16075 roll 0.49 - - 2388 - 2.58 0.098 816 -549.2 117.4 - - 2224 - - - - - - - - 14.93 14.60 14.97
16133 730.7 6.8 690 16140 done 0.50 - - 2387 - 2.60 0.089 2246 550.0 129.4 3.08 1.010 2211 -4.2 0.568 - - - - - - 14.76 14.64 13.82
16463 704.9 8.0 702 16469 roll 0.50 - - 2388 - 2.55 0.117 3641 547.1 129.4 - - 2215 - - - - - - - - 14.92 14.62 14.95
16546 697.3 9.0 714 16552 done 0.50 0.08 0.253 2361 -337.5 2.50 0.080 2254 -554.8 129.4 - - 2214 - - - - - - - - 14.51 14.64 14.72
16911 670.7 7.5 724 16916 roll 0.50 - - 2371 - 2.60 0.098 809 -555.8 129.4 - - 2215 - - - - - - - - 14.92 14.61 14.95
16980 665.1 8.2 734 16986 done 0.50 - - 2371 - 2.62 0.089 2250 550.0 129.4 - - 2215 - - - - - - - - 14.76 14.64 14.79
17303 637.0 8.9 745 17307 roll 0.50 - - 2371 - 2.55 0.119 3643 546.3 129.4 - - 2215 - - - - - - - - 14.94 14.62 14.95
17365 630.7 9.9 754 17371 done 0.50 - - 2380 - 2.47 0.080 2237 -569.2 129.4 - - 2215 - - - - - - - - 14.77 14.66 14.80
17695 600.0 9.3 766 17696 done 0.50 - - 2380 - - - 2237 - 129.4 - - 2214 - - - - - - - - 14.93 14.95 14.95
18031 568.9 9.2 772 18035 roll 0.50 - - 2390 - 2.55 0.092 816 -557.3 129.4 - - 2215 - - - - - - - - 14.94 14.64 14.96
18100 562.7 8.7 782 18106 done 0.50 - - 2390 - 2.58 0.086 2240 551.9 129.4 - - 2215 - - - - - - - - 14.77 14.64 14.79
18423 534.3 8.7 793 18428 roll 0.50 - - 2389 - 2.55 0.115 3640 549.0 129.4 - - 2215 - - - - - - - - 14.94 14.62 14.95
18520 525.2 9.2 807 18526 done 0.50 0.15 0.265 2365 -160.0 2.50 0.076 2246 -557.6 129.4 - - 2213 - - - - - - - - 14.50 14.64 14.71
18871 502.0 6.5 815 18910 roll 0.51 - - 2375 - 2.65 0.094 821 -537.7 149.7 31.62 1.587 2119 -3.0 0.175 - - - - - - 14.94 14.49 13.96
19006 493.6 6.3 834 19040 done 0.58 - - 2375 - 2.60 0.086 2242 546.5 174.4 28.70 1.554 2025 -3.3 0.193 - - - - - - 14.61 14.50 13.81
19376 466.6 7.4 845 19380 roll 0.58 - - 2375 - 2.58 0.113 3641 542.2 174.4 - - 2001 - - - - - - - - 14.76 14.48 14.77
19458 459.5 8.4 857 19463 done 0.58 - - 2384 - 2.53 0.076 2247 -551.0 174.4 - - 2000 - - - - - - - - 14.59 14.53 14.62
19824 428.6 8.7 867 19828 roll 0.58 - - 2393 - 2.60 0.093 817 -550.0 174.4 - - 2000 - - - - - - - - 14.85 14.57 14.86
19892 422.5 8.7 877 19897 done 0.58 - - 2393 - 2.60 0.086 2247 550.0 174.4 - - 1999 - - - - - - - - 14.70 14.58 14.73
20215 391.5 9.8 888 20220 roll 0.58 - - 2393 - 2.55 0.113 3642 547.1 174.4 - - 1999 - - - - - - - - 14.89 14.59 14.91
20277 384.7 10.8 897 20282 done 0.58 - - 2402 - 2.47 0.075 2237 -568.8 174.4 - - 1998 - - - - - - - - 14.73 14.64 14.76
20607 350.7 10.4 909 20612 roll 0.58 - - 2412 - 2.55 0.089 822 -554.9 174.4 - - 1998 - - - - - - - - 14.90 14.63 14.92
20663 345.2 9.8 917 20668 done 0.58 - - 2412 - 2.58 0.084 2240 549.6 174.4 - - 1998 - - - - - - - - 14.75 14.63 14.78
20999 309.9 10.5 930 21005 roll 0.58 - - 2409 - 2.55 0.112 3640 549.0 174.4 - - 1998 - - - - - - - - 14.92 14.62 14.94
21082 300.1 11.5 942 21088 done 0.58 0.10 0.239 2392 -170.0 2.50 0.073 2242 -559.2 174.4 - - 1998 - - - - - - - - 14.48 14.65 14.77
21447 266.4 9.1 952 21451 roll 0.58 - - 2407 - 2.55 0.087 820 -557.6 174.4 - - 1998 - - - - - - - - 14.92 14.64 14.95
21509 261.1 8.2 961 21514 done 0.58 - - 2402 - 2.58 0.083 2246 552.7 174.4 - - 1998 - - - - - - - - 14.76 14.64 14.80
21839 231.1 9.1 973 21844 roll 0.58 - - 2402 - 2.55 0.112 3642 547.5 174.4 - - 1997 - - - - - - - - 14.94 14.63 14.95
21901 224.8 10.0 982 21907 done 0.58 - - 2412 - 2.45 0.073 2243 -571.0 174.4 - - 1998 - - - - - - - - 14.75 14.66 14.78
22231 193.9 9.4 994 22236 roll 0.58 - - 2422 - 2.55 0.087 821 -557.6 174.4 - - 1998 - - - - - - - - 14.93 14.62 14.95
22265 190.6 9.1 999 22271 done 0.58 0.12 0.268 2392 -250.0 2.58 0.080 2255 555.8 174.4 - - 1998 - - - - - - - - 14.53 14.65 14.75
22623 161.7 8.1 1008 22628 roll 0.58 - - 2392 - 2.53 0.111 3643 548.6 174.4 - - 1998 - - - - - - - - 14.94 14.64 14.96
22692 155.5 8.9 1018 22698 done 0.58 - - 2401 - 2.45 0.072 2263 -563.3 174.4 - - 1998 - - - - - - - - 14.73 14.66 14.76
23015 127.7 8.6 1029 23020 roll 0.58 - - 2412 - 2.58 0.086 822 -558.5 174.4 - - 1998 - - - - - - - - 14.94 14.66 14.96
23119 119.2 7.8 1044 23126 done 0.58 - - 2412 - 2.58 0.080 2249 553.1 174.4 - - 1998 - - - - - - - - 14.78 14.66 14.81
23435 94.0 7.7 1051 23440 roll 0.58 - - 2412 - 2.55 0.109 3649 549.0 174.4 - - 1996 - - - - - - - - 14.95 14.64 14.96
23476 90.5 8.2 1057 23482 done 0.58 0.10 0.222 2377 -350.0 2.45 0.070 2263 -565.7 174.4 - - 1998 - - - - - - - - 14.53 14.65 14.74
23799 76.2 4.0 1070 23854 roll 0.73 0.15 0.122 2451 493.3 2.65 0.083 815 -546.4 254.9 44.78 0.366 1704 -6.6 0.254 - - - - - - 14.71 14.61 14.39
23886 70.7 6.9 1082 23901 done 0.80 - - 2451 - 2.58 0.079 2247 555.0 265.4 8.05 0.305 1663 -5.1 0.220 - - - - - - 14.69 14.58 14.37
24219 52.3 4.8 1097 24266 roll 0.93 0.12 0.136 2519 566.7 2.62 0.081 819 -545.0 325.9 39.45 0.293 1414 -6.3 0.210 - - - - - - 14.66 14.56 14.40
24359 43.2 6.5 1117 24378 done 1.01 - - 2519 - 2.58 0.076 2250 554.7 345.7 14.38 0.256 1327 -6.1 0.190 - - - - - - 14.69 14.58 14.40
24698 27.1 4.6 1132 24744 roll 1.14 0.12 0.132 2596 641.7 2.62 0.076 818 -546.6 410.1 40.80 0.211 1066 -6.4 0.153 - - - - - - 14.66 14.61 14.47
24810 18.5 8.9 1148 24815 done 1.18 - - 2595 - 2.53 0.078 2226 556.5 410.1 - - 1068 - - - - - - - - 14.69 14.59 14.71
24972 end climb: SURFACE_DEPTH_REACHED
24972 begin surface coast
25001 end surface coast: CONTROL_FINISHED_OK
25001 begin surface
SM 0.94 - - - - -6.15 6.70 0.064 211 31.5 0.10 0.158 2286 11280.0 500.17 54.80 0.137 701 12.8 -0.009 - - - - - -