SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 112 * Raw log
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• Previous call tries 1 • 45.78 of 350.00 AH used of 24V (86.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 16 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 106 done -0.84 - - 150 - - - 1876 - -116.8 -81.50 - 3272 - - - - - - - - 14.81 13.65 14.83
110 7.8 -11.5 3 127 roll -0.84 11.48 0.373 2660 218.6 2.45 0.048 448 -582.9 -116.8 - - 3274 - - - - - - - - 14.42 14.64 14.66
163 35.3 -38.2 11 169 done -0.21 0.82 0.289 2854 236.6 2.30 0.035 1847 608.3 -116.8 - - 3274 - - - - - - - - 14.47 14.65 14.67
498 75.8 -8.4 26 505 roll -0.21 - - 2860 - 2.38 0.057 448 -587.8 -116.8 - - 3275 - - - - - - - - 14.92 14.73 14.94
546 79.9 -8.3 33 555 done -0.21 - - 2848 - 2.25 0.032 1812 606.2 -116.8 - - 3275 - - - - - - - - 14.80 14.76 14.81
863 100.9 -5.7 45 870 roll -0.33 - - 2837 - 2.40 0.054 3272 608.3 -116.8 - - 3276 - - - - - - - - 14.97 14.79 14.99
947 105.9 -5.8 57 954 done -0.51 0.22 0.092 2747 -409.1 2.38 0.037 1815 -612.2 -116.8 - - 3276 - - - - - - - - 14.82 14.81 14.87
1312 138.9 -9.1 67 1318 roll -0.51 - - 2743 - 2.28 0.060 460 -594.3 -116.8 - - 3275 - - - - - - - - 15.00 14.83 15.02
1387 146.0 -9.5 78 1394 done -0.51 - - 2737 - 2.28 0.033 1870 618.4 -116.8 - - 3275 - - - - - - - - 14.88 14.83 14.90
1703 176.3 -9.6 88 1710 roll -0.51 - - 2726 - 2.30 0.054 3263 605.7 -116.8 - - 3274 - - - - - - - - 15.00 14.83 15.04
1752 181.1 -9.8 95 1760 done -0.51 0.15 0.242 2760 226.7 2.38 0.037 1815 -608.4 -116.8 - - 3274 - - - - - - - - 14.71 14.85 14.87
2095 211.0 -8.8 102 2102 roll -0.51 - - 2760 - 2.28 0.058 461 -593.9 -116.8 - - 3271 - - - - - - - - 15.02 14.83 15.04
2199 220.8 -9.3 117 2208 done -0.51 - - 2754 - 2.22 0.034 1813 609.0 -116.8 - - 3270 - - - - - - - - 14.87 14.85 14.90
2546 250.9 -8.7 124 2560 done -0.51 - - 2754 - - - 1813 - -116.8 - - 3267 - - - - - - - - 15.03 15.05 15.05
2879 280.2 -8.7 130 2892 roll -0.51 - - 2753 - 2.30 0.056 458 -589.1 -116.8 - - 3264 - - - - - - - - 15.06 14.88 15.08
2919 284.1 -9.9 135 2932 done -0.51 - - 2743 - 2.17 0.035 1800 618.4 -116.8 - - 3264 - - - - - - - - 14.96 14.91 14.97
3282 318.0 -9.4 144 3295 done -0.51 - - 2745 - - - 1801 - -116.8 - - 3261 - - - - - - - - 15.07 15.10 15.09
3619 348.5 -9.0 150 3632 roll -0.51 - - 2734 - 2.42 0.056 3262 603.7 -116.8 - - 3258 - - - - - - - - 15.08 14.90 15.14
3659 352.1 -8.7 155 3672 done -0.51 - - 2734 - 2.38 0.038 1801 -613.9 -116.8 - - 3258 - - - - - - - - 14.97 14.92 14.99
4023 384.7 -8.9 164 4036 roll -0.51 - - 2734 - 2.25 0.060 460 -596.0 -116.8 - - 3256 - - - - - - - - 15.09 14.90 15.11
4168 398.2 -9.2 184 4181 done -0.51 0.15 0.265 2758 160.0 2.12 0.036 1779 622.2 -116.8 - - 3255 - - - - - - - - 14.76 14.94 14.93
4538 426.0 -7.5 194 4552 roll -0.51 - - 2750 - 2.47 0.057 3265 601.6 -116.8 - - 3253 - - - - - - - - 15.08 14.89 15.11
4614 431.9 -7.6 204 4627 done -0.51 - - 2750 - 2.40 0.038 1795 -612.5 -116.8 - - 3253 - - - - - - - - 14.97 14.95 15.00
4941 458.8 -8.3 215 4955 roll -0.51 - - 2750 - 2.25 0.061 461 -592.9 -116.8 - - 3251 - - - - - - - - 15.08 14.89 15.10
5045 468.4 -9.2 229 5058 done -0.51 - - 2741 - 2.12 0.037 1773 618.9 -116.8 - - 3250 - - - - - - - - 14.95 14.97 14.99
5401 501.0 -9.3 237 5415 roll -0.51 - - 2730 - 2.47 0.056 3259 601.6 -116.8 - - 3249 - - - - - - - - 15.08 14.88 15.10
5484 508.8 -9.2 248 5498 done -0.51 0.12 0.256 2756 216.7 2.42 0.038 1781 -610.7 -116.8 - - 3247 - - - - - - - - 14.73 14.89 14.91
5805 535.0 -8.1 258 5819 roll -0.51 - - 2756 - 2.22 0.061 461 -594.6 -116.8 - - 3244 - - - - - - - - 15.08 14.88 15.09
5894 542.6 -8.5 270 5908 done -0.51 - - 2750 - 2.12 0.037 1771 617.9 -116.8 - - 3246 - - - - - - - - 14.97 14.92 14.99
6265 573.3 -8.4 280 6278 roll -0.51 - - 2739 - 2.47 0.057 3259 602.4 -116.8 - - 3244 - - - - - - - - 15.07 14.88 15.09
6361 581.5 -8.4 293 6374 done -0.51 - - 2739 - 2.47 0.040 1752 -610.1 -116.8 - - 3244 - - - - - - - - 14.97 14.90 14.98
6724 612.3 -8.5 302 6738 roll -0.51 - - 2743 - 2.20 0.063 453 -590.5 -116.8 - - 3243 - - - - - - - - 15.07 14.87 15.10
6786 617.9 -9.0 310 6800 done -0.51 0.12 0.273 2756 108.3 2.15 0.036 1769 612.1 -116.8 - - 3242 - - - - - - - - 14.72 14.91 14.91
7129 642.6 -7.1 323 7142 roll -0.51 - - 2747 - 2.50 0.057 3262 597.2 -116.8 - - 3241 - - - - - - - - 15.07 14.87 15.09
7197 647.5 -6.9 332 7210 done -0.51 - - 2747 - 2.47 0.041 1758 -608.9 -116.8 - - 3241 - - - - - - - - 14.95 14.89 14.97
7532 671.1 -7.1 344 7546 roll -0.51 - - 2747 - 2.20 0.063 460 -590.0 -116.8 - - 3239 - - - - - - - - 15.07 14.86 15.09
7622 678.2 -7.9 356 7635 done -0.51 - - 2740 - 2.10 0.037 1746 612.4 -116.8 - - 3239 - - - - - - - - 14.95 14.90 14.97
7993 706.1 -7.6 366 8006 roll -0.51 - - 2727 - 2.55 0.059 3259 593.3 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.09
8068 712.2 -8.1 376 8081 done -0.51 0.15 0.243 2761 226.7 2.53 0.041 1730 -604.3 -116.8 - - 3237 - - - - - - - - 14.71 14.88 14.89
8396 734.7 -6.8 387 8410 roll -0.51 - - 2761 - 2.15 0.064 463 -589.3 -116.8 - - 3236 - - - - - - - - 15.06 14.85 15.07
8465 739.7 -7.6 396 8478 done -0.51 - - 2756 - 2.05 0.038 1726 616.1 -116.8 - - 3235 - - - - - - - - 14.95 14.89 14.96
8800 762.4 -6.7 408 8814 roll -0.51 - - 2744 - 2.58 0.058 3259 594.2 -116.8 - - 3235 - - - - - - - - 15.04 14.83 15.07
8897 769.1 -6.8 421 8910 done -0.51 - - 2744 - 2.55 0.041 1734 -598.0 -116.8 - - 3234 - - - - - - - - 14.93 14.85 14.95
9260 794.6 -7.1 430 9274 roll -0.51 - - 2744 - 2.17 0.064 453 -590.3 -116.8 - - 3233 - - - - - - - - 15.05 14.83 15.07
9343 801.1 -7.9 441 9356 done -0.51 - - 2736 - 2.10 0.037 1741 613.3 -116.8 - - 3234 - - - - - - - - 14.93 14.88 14.95
9664 825.8 -7.8 451 9677 roll -0.51 - - 2730 - 2.58 0.060 3265 590.7 -116.8 - - 3230 - - - - - - - - 15.04 14.83 15.07
9746 832.7 -8.1 462 9760 done -0.51 0.15 0.243 2758 186.7 2.53 0.041 1745 -600.8 -116.8 - - 3231 - - - - - - - - 14.68 14.85 14.87
10068 856.0 -7.2 472 10081 roll -0.51 - - 2758 - 2.20 0.067 458 -585.0 -116.8 - - 3230 - - - - - - - - 15.04 14.82 15.06
10130 860.4 -8.1 480 10143 done -0.51 - - 2754 - 2.12 0.040 1748 608.5 -116.8 - - 3231 - - - - - - - - 14.92 14.87 14.94
10473 886.8 -7.6 493 10486 roll -0.51 - - 2743 - 2.55 0.060 3258 592.2 -116.8 - - 3230 - - - - - - - - 15.03 14.81 15.05
10621 898.2 -7.8 513 10634 done -0.51 - - 2742 - 2.47 0.041 1763 -605.3 -116.8 - - 3230 - - - - - - - - 14.90 14.84 14.92
10991 927.6 -7.9 523 11004 roll -0.51 - - 2742 - 2.22 0.067 466 -584.2 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.07
11081 936.0 -10.7 535 11094 done -0.51 - - 2734 - 2.15 0.040 1768 605.6 -116.8 - - 3229 - - - - - - - - 14.91 14.85 14.92
11451 965.0 -8.0 545 11464 roll -0.51 - - 2722 - 2.53 0.060 3258 588.9 -116.8 - - 3228 - - - - - - - - 15.02 14.80 15.04
11569 974.6 -9.1 561 11583 done -0.51 0.15 0.245 2756 226.7 2.47 0.042 1772 -601.6 -116.8 - - 3228 - - - - - - - - 14.64 14.83 14.84
11797 end dive: TARGET_DEPTH_EXCEEDED
11797 begin apogee
11805 990.4 -7.0 572 11933 roll -0.21 0.38 0.221 2858 268.4 - - 1772 - - 118.55 2.156 2794 -3.7 0.311 - - - - - - 14.64 14.09 13.41
11934 end apogee: CONTROL_FINISHED_OK
11935 begin climb
11938 995.3 - 574 12078 roll 0.84 1.20 0.181 3189 275.8 2.58 0.059 3204 555.0 116.8 122.43 2.126 2315 -3.9 0.339 - - - - - - 14.09 14.16 13.27
12248 972.6 9.6 621 12263 done 0.74 0.15 0.282 3169 -133.3 2.40 0.040 1793 -587.9 116.8 - - 2292 - - - - - - - - 14.26 14.40 14.44
12589 943.6 8.4 628 12603 roll 0.74 - - 3169 - 2.40 0.053 3191 582.5 116.8 - - 2291 - - - - - - - - 14.79 14.61 14.81
12737 931.2 7.7 648 12750 done 0.74 - - 3176 - 2.40 0.041 1759 -596.7 120.1 - - 2291 - - - - - - - - 14.73 14.67 14.75
13108 899.2 8.5 658 13121 roll 0.74 - - 3186 - 2.38 0.067 396 -572.7 120.1 - - 2289 - - - - - - - - 14.90 14.71 14.92
13190 891.5 9.3 669 13203 done 0.74 - - 3187 - 2.28 0.034 1778 606.1 120.1 - - 2290 - - - - - - - - 14.81 14.76 14.83
13511 862.6 8.9 679 13525 roll 0.74 - - 3186 - 2.35 0.054 3183 597.9 120.1 - - 2290 - - - - - - - - 14.95 14.76 14.97
13574 857.2 8.1 687 13587 done 0.64 0.22 0.273 3144 -190.9 2.35 0.040 1773 -600.0 120.1 - - 2290 - - - - - - - - 14.59 14.77 14.81
13919 830.6 7.5 700 13936 roll 0.65 - - 3153 - 2.42 0.067 406 -564.9 127.3 2.17 0.396 2272 -8.3 3.216 - - - - - - 14.96 14.74 13.78
14019 822.1 8.2 714 14032 done 0.65 - - 3153 - 2.22 0.034 1763 611.3 127.3 - - 2274 - - - - - - - - 14.86 14.81 14.88
14375 794.7 7.6 722 14392 roll 0.66 - - 3153 - 2.40 0.054 3190 594.6 132.1 4.07 1.400 2253 -5.2 0.541 - - - - - - 14.97 14.66 13.92
14441 789.5 8.2 731 14454 done 0.66 - - 3162 - 2.35 0.042 1773 -603.0 132.1 - - 2258 - - - - - - - - 14.85 14.78 14.86
14776 764.6 7.4 743 14806 roll 0.67 - - 3172 - 2.40 0.067 398 -572.9 140.3 17.60 1.872 2216 -2.4 0.180 - - - - - - 14.97 14.57 14.08
14906 754.3 8.3 761 14919 done 0.67 - - 3172 - 2.22 0.034 1750 609.0 140.3 - - 2211 - - - - - - - - 14.76 14.71 14.77
15234 726.9 8.4 772 15247 roll 0.67 - - 3172 - 2.42 0.053 3180 590.9 140.3 - - 2210 - - - - - - - - 14.91 14.73 14.93
15296 721.4 9.0 780 15310 done 0.67 0.15 0.275 3147 -166.7 2.40 0.041 1744 -598.3 140.3 - - 2209 - - - - - - - - 14.58 14.75 14.78
15639 693.7 8.2 793 15652 roll 0.67 - - 3158 - 2.35 0.067 393 -574.9 140.3 - - 2209 - - - - - - - - 14.92 14.73 14.97
15721 686.3 9.1 804 15734 done 0.67 - - 3158 - 2.17 0.034 1726 614.3 140.3 - - 2209 - - - - - - - - 14.85 14.81 14.89
16042 657.6 9.0 814 16055 roll 0.67 - - 3159 - 2.45 0.052 3183 594.7 140.3 - - 2209 - - - - - - - - 14.97 14.78 14.97
16089 653.0 9.5 820 16103 done 0.67 - - 3167 - 2.40 0.041 1739 -601.7 140.3 - - 2209 - - - - - - - - 14.87 14.80 14.88
16446 620.6 9.1 828 16459 roll 0.67 - - 3178 - 2.33 0.067 398 -575.5 140.3 - - 2210 - - - - - - - - 14.98 14.77 15.00
16528 612.7 9.6 839 16541 done 0.67 0.15 0.258 3146 -213.3 2.17 0.033 1736 616.6 140.3 - - 2210 - - - - - - - - 14.63 14.83 14.83
16849 587.2 7.8 849 16862 roll 0.67 - - 3146 - 2.45 0.054 3189 593.1 140.6 - - 2209 - - - - - - - - 14.98 14.79 15.01
16918 581.4 8.4 858 16931 done 0.67 - - 3153 - 2.42 0.042 1731 -602.5 140.6 - - 2209 - - - - - - - - 14.87 14.81 14.89
17253 554.3 8.1 870 17267 roll 0.67 - - 3163 - 2.30 0.068 402 -577.8 140.6 - - 2211 - - - - - - - - 14.99 14.78 15.01
17329 548.0 8.5 880 17342 done 0.67 - - 3163 - 2.15 0.034 1727 616.3 140.6 - - 2209 - - - - - - - - 14.88 14.84 14.90
17657 520.3 8.6 891 17670 roll 0.67 - - 3163 - 2.45 0.052 3185 595.1 140.6 - - 2207 - - - - - - - - 14.99 14.80 15.01
17747 512.3 8.8 903 17760 done 0.67 - - 3172 - 2.42 0.041 1734 -599.6 140.6 - - 2209 - - - - - - - - 14.88 14.81 14.90
18117 480.3 8.6 913 18130 roll 0.67 - - 3182 - 2.33 0.067 396 -574.2 140.6 - - 2209 - - - - - - - - 15.02 14.78 15.02
18171 475.3 9.3 920 18186 done 0.67 0.15 0.256 3150 -213.3 2.20 0.033 1747 614.1 140.6 - - 2209 - - - - - - - - 14.62 14.81 14.82
18516 449.2 7.5 927 18533 roll 0.68 - - 3150 - 2.45 0.053 3183 586.1 147.5 2.60 0.662 2189 -7.7 0.965 - - - - - - 15.00 14.81 13.98
18595 442.8 7.9 938 18608 done 0.68 - - 3156 - 2.40 0.041 1735 -603.3 147.5 - - 2192 - - - - - - - - 14.88 14.81 14.89
18916 418.3 7.7 948 18934 roll 0.68 - - 3167 - 2.35 0.067 405 -566.0 150.4 3.03 0.844 2179 -4.3 0.393 - - - - - - 14.99 14.79 14.00
18989 412.2 8.4 958 19002 done 0.68 - - 3167 - 2.17 0.032 1748 618.9 150.4 - - 2184 - - - - - - - - 14.88 14.83 14.89
19317 385.3 8.2 969 19330 roll 0.68 - - 3167 - 2.40 0.051 3185 598.8 150.4 - - 2184 - - - - - - - - 14.99 14.79 15.01
19357 381.7 8.5 974 19370 done 0.68 - - 3176 - 2.45 0.041 1708 -602.9 150.4 - - 2185 - - - - - - - - 14.87 14.81 14.88
19720 350.5 8.7 983 19733 roll 0.68 - - 3186 - 2.25 0.066 398 -582.2 150.4 - - 2184 - - - - - - - - 14.99 14.78 15.01
19774 345.4 9.4 990 19788 done 0.68 0.15 0.248 3154 -213.3 2.17 0.031 1738 617.5 150.4 - - 2185 - - - - - - - - 14.64 14.84 14.82
20119 319.3 7.4 997 20148 roll 0.69 - - 3152 - 2.47 0.051 3183 585.0 158.2 14.88 1.382 2143 -2.8 0.121 - - - - - - 15.00 14.73 14.19
20203 312.8 7.9 1009 20216 done 0.69 - - 3161 - 2.42 0.041 1726 -602.1 158.2 - - 2138 - - - - - - - - 14.81 14.74 14.83
20574 284.6 7.6 1019 20587 roll 0.70 - - 3170 - 2.28 0.066 402 -580.7 162.3 - - 2138 - - - - - - - - 14.95 14.74 14.97
20663 277.2 8.5 1031 20676 done 0.70 - - 3170 - 2.17 0.031 1738 615.7 162.3 - - 2138 - - - - - - - - 14.85 14.81 14.86
21033 247.4 8.0 1041 21046 roll 0.70 - - 3170 - 2.42 0.050 3190 600.0 162.3 - - 2138 - - - - - - - - 14.97 14.78 15.00
21073 243.9 8.8 1046 21086 done 0.70 - - 3181 - 2.42 0.040 1732 -602.5 162.3 - - 2138 - - - - - - - - 14.86 14.76 14.88
21436 213.3 8.5 1055 21449 roll 0.70 - - 3189 - 2.28 0.065 401 -583.8 162.3 - - 2138 - - - - - - - - 14.98 14.77 15.01
21498 207.4 9.6 1063 21512 done 0.70 0.15 0.243 3157 -213.3 2.17 0.031 1749 621.2 162.3 - - 2138 - - - - - - - - 14.64 14.83 14.81
21843 180.4 7.8 1076 21861 roll 0.70 - - 3157 - 2.47 0.050 3191 583.8 162.8 1.70 0.170 2128 -5.9 1.154 - - - - - - 14.99 14.80 14.72
21895 176.0 8.2 1083 21909 done 0.70 - - 3163 - 2.42 0.039 1735 -601.7 162.8 - - 2128 - - - - - - - - 14.87 14.81 14.87
22239 150.9 7.2 1090 22269 roll 0.71 - - 3174 - 2.30 0.063 397 -581.7 175.2 17.58 1.183 2070 -3.3 0.078 - - - - - - 15.00 14.66 14.27
22318 144.8 7.9 1101 22331 done 0.71 - - 3174 - 2.15 0.031 1726 618.1 175.2 - - 2065 - - - - - - - - 14.82 14.78 14.83
22639 120.1 7.6 1111 22652 roll 0.72 - - 3174 - 2.42 0.048 3186 603.3 179.7 - - 2064 - - - - - - - - 14.95 14.76 14.97
22679 116.7 8.5 1116 22692 done 0.72 - - 3183 - 2.42 0.038 1718 -606.6 179.7 - - 2064 - - - - - - - - 14.84 14.78 14.85
23015 93.2 6.6 1126 23047 roll 0.75 - - 3192 - 2.35 0.064 392 -564.3 202.7 20.38 0.357 1972 -4.5 0.218 - - - - - - 14.97 14.73 14.50
23148 85.2 5.6 1144 23203 done 0.89 - - 3192 - 2.15 0.030 1738 626.0 243.9 41.35 0.353 1797 -4.2 0.189 - - - - - - 14.85 14.81 14.44
23525 65.0 4.7 1165 23593 roll 1.14 0.28 0.089 3301 389.3 2.50 0.047 3187 579.6 303.3 54.70 0.298 1556 -4.4 0.178 - - - - - - 14.73 14.64 14.47
23823 42.6 5.5 1207 23875 done 1.19 - - 3310 - 2.30 0.037 1803 -601.7 347.9 39.65 0.236 1375 -4.6 0.152 - - - - - - 14.78 14.73 14.51
24197 18.7 6.5 1227 24234 roll 1.22 - - 3320 - 2.45 0.063 402 -571.8 372.5 20.77 0.170 1277 -4.7 0.096 - - - - - - 14.92 14.71 14.60
24352 7.6 7.8 1249 24365 done 1.22 - - 3321 - 2.28 0.028 1824 623.7 372.9 - - 1282 - - - - - - - - 14.83 14.79 14.85
24425 end climb: SURFACE_DEPTH_REACHED
24425 begin surface coast
24453 end surface coast: CONTROL_FINISHED_OK
24453 begin surface
SM 1.22 - - - - -8.60 9.07 0.060 163 18.0 - - 1834 - 515.13 84.70 0.124 691 8.2 -0.008 - - - - - -