SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 113 * Raw log
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• Previous call tries 1 • 51.78 of 350.00 AH used of 24V (85.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.0 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 16 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 203 - - - 2295 - -116.8 -84.65 - 2876 - - - - - - - - 14.76 - 14.78
108 4.5 -6.1 3 132 roll -0.68 8.90 0.427 1964 197.9 2.70 2.122 3696 518.9 -116.8 -6.10 - 3220 -56.4 - - - - - - - 14.28 13.48 14.61
341 79.7 -22.5 37 348 done -0.43 0.28 0.243 2057 332.1 2.45 0.047 2251 -589.8 -116.8 - - 3222 - - - - - - - - 14.46 14.62 14.66
693 108.8 -6.3 49 698 roll -0.38 - - 2060 - 2.33 0.060 881 -588.0 -116.8 - - 3225 - - - - - - - - 14.92 14.67 14.94
734 112.0 -7.7 55 739 done -0.38 - - 2056 - 2.45 0.067 2291 575.5 -116.8 - - 3225 - - - - - - - - 14.78 14.69 14.80
1084 134.3 -6.5 63 1089 roll -0.38 - - 2047 - 2.42 0.086 3701 582.6 -116.8 - - 3226 - - - - - - - - 14.97 14.73 14.98
1217 145.1 -8.3 82 1222 done -0.38 - - 2047 - 2.38 0.046 2275 -599.2 -116.8 - - 3226 - - - - - - - - 14.81 14.78 14.83
1532 170.8 -8.1 92 1537 roll -0.38 - - 2047 - 2.35 0.059 883 -592.3 -116.8 - - 3224 - - - - - - - - 15.00 14.77 15.02
1601 176.7 -8.2 102 1607 done -0.38 0.12 0.265 2071 200.0 2.50 0.070 2311 571.2 -116.8 - - 3223 - - - - - - - - 14.66 14.76 14.82
1925 198.2 -6.6 113 1926 done -0.38 - - 2072 - - - 2315 - -116.8 - - 3221 - - - - - - - - 15.00 15.02 15.02
2260 219.5 -6.3 119 2265 roll -0.38 - - 2072 - 2.45 0.057 883 -584.5 -116.8 - - 3219 - - - - - - - - 15.02 14.79 15.03
2343 225.0 -6.5 131 2349 done -0.38 - - 2069 - 2.47 0.073 2291 570.0 -116.8 - - 3218 - - - - - - - - 14.87 14.76 14.89
2709 247.5 -6.2 141 2714 roll -0.38 - - 2069 - 2.40 0.058 889 -584.2 -116.8 - - 3216 - - - - - - - - 15.02 14.79 15.04
2777 252.1 -6.8 151 2783 done -0.38 - - 2066 - 2.47 0.073 2271 559.5 -116.8 - - 3215 - - - - - - - - 14.90 14.78 14.91
3101 273.1 -6.6 162 3102 done -0.38 - - 2069 - - - 2270 - -116.8 - - 3213 - - - - - - - - 15.02 15.04 15.04
3437 296.7 -7.1 168 3441 roll -0.38 - - 2064 - 2.50 0.096 3696 570.4 -116.8 - - 3210 - - - - - - - - 15.02 14.76 15.04
3478 299.8 -7.5 174 3484 done -0.38 - - 2065 - 2.38 0.055 2269 -599.6 -116.8 - - 3210 - - - - - - - - 14.89 14.83 14.90
3828 324.1 -6.9 182 3833 roll -0.38 - - 2064 - 2.38 0.065 880 -583.6 -116.8 - - 3208 - - - - - - - - 15.02 14.78 15.04
3912 330.1 -6.9 194 3917 done -0.38 - - 2061 - 2.45 0.076 2271 567.8 -116.8 - - 3208 - - - - - - - - 14.88 14.77 14.90
4276 354.7 -6.7 204 4277 done -0.38 - - 2061 - - - 2270 - -116.8 - - 3205 - - - - - - - - 15.06 15.04 15.04
4612 377.2 -6.7 210 4617 roll -0.38 - - 2061 - 2.40 0.063 880 -579.2 -116.8 - - 3203 - - - - - - - - 15.02 14.78 15.04
4647 379.7 -7.3 215 4652 done -0.38 - - 2058 - 2.47 0.077 2276 565.2 -116.8 - - 3204 - - - - - - - - 14.88 14.77 14.90
5004 403.6 -6.7 224 5005 done -0.38 - - 2058 - - - 2276 - -116.8 - - 3201 - - - - - - - - 15.02 15.05 15.05
5341 426.0 -6.7 230 5342 done -0.38 - - 2058 - - - 2276 - -116.8 - - 3199 - - - - - - - - 15.02 15.06 15.04
5677 448.1 -6.5 236 5681 roll -0.38 - - 2058 - 2.40 0.063 888 -578.3 -116.8 - - 3199 - - - - - - - - 15.02 14.78 15.04
5752 453.3 -6.8 247 5758 done -0.38 - - 2056 - 2.45 0.077 2265 562.0 -116.8 - - 3198 - - - - - - - - 14.86 14.74 14.88
6069 473.5 -6.4 257 6074 roll -0.38 - - 2055 - 2.53 0.102 3693 564.4 -116.8 - - 3200 - - - - - - - - 15.02 14.73 15.03
6117 476.7 -6.6 264 6124 done -0.38 - - 2055 - 2.42 0.057 2262 -591.3 -116.8 - - 3197 - - - - - - - - 14.83 14.79 14.85
6460 499.1 -6.5 271 6465 roll -0.38 - - 2053 - 2.35 0.066 894 -582.1 -116.8 - - 3195 - - - - - - - - 15.00 14.76 15.03
6516 503.1 -7.0 279 6521 done -0.38 - - 2053 - 2.45 0.081 2263 558.8 -116.8 - - 3194 - - - - - - - - 14.85 14.73 14.88
6853 525.3 -6.7 292 6858 roll -0.38 - - 2047 - 2.53 0.102 3695 566.0 -116.8 - - 3193 - - - - - - - - 15.02 14.70 15.03
6921 530.2 -7.1 302 6927 done -0.38 0.12 0.232 2077 250.0 2.42 0.057 2249 -597.5 -116.8 - - 3193 - - - - - - - - 14.62 14.78 14.81
7245 549.4 -6.0 313 7251 roll -0.43 - - 2077 - 2.35 0.068 888 -579.1 -116.8 - - 3193 - - - - - - - - 15.01 14.74 15.03
7335 555.3 -6.5 326 7340 done -0.49 0.12 0.144 2024 -441.7 2.47 0.080 2270 559.5 -116.8 - - 3192 - - - - - - - - 14.76 14.72 14.84
7693 583.9 -8.1 335 7697 roll -0.49 - - 2014 - 2.53 0.103 3693 562.5 -116.8 - - 3190 - - - - - - - - 15.01 14.69 15.02
7727 586.8 -8.7 340 7732 done -0.49 - - 2014 - 2.45 0.058 2264 -583.3 -116.8 - - 3190 - - - - - - - - 14.81 14.77 14.83
8084 616.5 -8.3 349 8090 roll -0.49 - - 2014 - 2.38 0.067 886 -579.0 -116.8 - - 3189 - - - - - - - - 15.01 14.73 15.03
8202 626.3 -8.2 366 8208 done -0.49 - - 2011 - 2.50 0.083 2253 546.8 -116.8 - - 3188 - - - - - - - - 14.76 14.69 14.78
8533 652.1 -7.8 378 8537 roll -0.49 - - 2011 - 2.40 0.068 885 -570.0 -116.8 - - 3188 - - - - - - - - 15.00 14.71 15.02
8608 658.2 -7.9 389 8614 done -0.49 - - 2011 - 2.47 0.083 2238 547.8 -116.8 - - 3188 - - - - - - - - 14.75 14.68 14.79
8924 681.5 -7.4 399 8925 done -0.49 - - 2011 - - - 2238 - -116.8 - - 3187 - - - - - - - - 15.01 15.03 15.02
9261 706.0 -7.3 405 9266 roll -0.49 - - 2003 - 2.60 0.103 3701 562.7 -116.8 - - 3185 - - - - - - - - 15.00 14.69 15.02
9372 714.7 -7.7 421 9378 done -0.49 0.12 0.256 2032 241.7 2.45 0.060 2252 -591.4 -116.8 - - 3185 - - - - - - - - 14.53 14.72 14.75
9709 736.2 -6.4 434 9714 roll -0.49 - - 2032 - 2.38 0.073 883 -575.2 -116.8 - - 3184 - - - - - - - - 15.00 14.71 15.02
9764 740.1 -7.0 442 9769 done -0.49 - - 2025 - 2.47 0.083 2257 556.3 -116.8 - - 3184 - - - - - - - - 14.81 14.69 14.83
10100 764.1 -7.2 455 10101 done -0.49 - - 2025 - - - 2257 - -116.8 - - 3184 - - - - - - - - 14.99 15.02 15.02
10437 788.0 -7.1 461 10442 roll -0.49 - - 2025 - 2.42 0.071 879 -569.4 -116.8 - - 3183 - - - - - - - - 15.00 14.71 15.02
10477 791.3 -6.6 467 10483 done -0.49 - - 2025 - 2.47 0.085 2250 555.1 -116.8 - - 3183 - - - - - - - - 14.80 14.66 14.83
10829 817.3 -7.4 475 10833 roll -0.49 - - 2019 - 2.60 0.110 3695 555.8 -116.8 - - 3182 - - - - - - - - 15.00 14.66 15.02
10919 824.4 -8.1 488 10924 done -0.49 - - 2019 - 2.47 0.064 2242 -588.3 -116.8 - - 3181 - - - - - - - - 14.82 14.73 14.84
11277 852.4 -7.8 497 11282 roll -0.49 - - 2019 - 2.38 0.073 880 -572.3 -116.8 - - 3180 - - - - - - - - 14.98 14.67 15.01
11394 861.9 -7.8 514 11400 done -0.49 - - 2015 - 2.47 0.087 2243 551.8 -116.8 - - 3180 - - - - - - - - 14.79 14.65 14.83
11725 885.6 -7.1 526 11730 roll -0.49 - - 2012 - 2.62 0.111 3700 556.1 -116.8 - - 3179 - - - - - - - - 14.98 14.64 15.00
11786 890.1 -7.2 535 11792 done -0.49 - - 2011 - 2.47 0.064 2240 -591.1 -116.8 - - 3179 - - - - - - - - 14.81 14.72 14.83
12117 911.9 -6.5 547 12122 roll -0.49 - - 2011 - 2.38 0.075 883 -570.2 -116.8 - - 3178 - - - - - - - - 14.98 14.68 15.00
12213 918.4 -6.6 561 12220 done -0.49 - - 2011 - 2.47 0.089 2243 550.6 -116.8 - - 3180 - - - - - - - - 14.77 14.64 14.81
12565 939.9 -6.2 569 12570 roll -0.49 - - 2006 - 2.62 0.112 3693 553.4 -116.8 - - 3177 - - - - - - - - 14.98 14.63 15.00
12606 942.7 -4.8 575 12612 done -0.49 0.12 0.256 2035 241.7 2.50 0.064 2238 -582.0 -116.8 - - 3178 - - - - - - - - 14.50 14.72 14.72
12956 962.2 -5.6 583 12961 roll -0.49 - - 2035 - 2.40 0.073 874 -568.3 -116.8 - - 3177 - - - - - - - - 14.97 14.66 15.00
13025 966.5 -4.2 593 13032 done -0.49 - - 2029 - 2.50 0.090 2245 548.4 -116.8 - - 3177 - - - - - - - - 14.76 14.63 14.79
13349 986.8 -6.1 604 13354 roll -0.49 - - 2021 - 2.65 0.113 3702 549.8 -116.8 - - 3176 - - - - - - - - 14.96 14.62 14.99
13393 end dive: TARGET_DEPTH_EXCEEDED
13393 begin apogee
13403 990.1 -7.0 611 13551 roll -0.19 0.40 0.223 2132 277.5 - - 2225 - - 141.15 2.560 2740 -3.1 0.226 - - - - 1 - 14.48 13.88 12.94
13553 end apogee: CONTROL_FINISHED_OK
13553 begin climb
13557 994.4 - 613 13721 done 0.68 0.93 0.153 2413 302.2 - - 2226 - 116.8 154.57 1.939 2257 -3.1 0.304 - - - - - - 13.88 14.09 13.15
14072 946.0 10.7 651 14077 roll 0.62 - - 2412 - 2.70 0.118 3646 525.9 116.8 - - 2234 - - - - - - - - 14.61 14.33 14.63
14141 937.3 12.3 661 14147 done 0.53 0.20 0.289 2377 -175.0 2.53 0.083 2242 -554.9 116.8 - - 2229 - - - - 1 - - - 14.27 14.41 14.49
14464 907.1 9.4 672 14468 roll 0.53 - - 2387 - 2.62 0.098 818 -543.5 116.8 - - 2232 - - - - - - - - 14.77 14.50 14.79
14533 900.5 9.4 682 14539 done 0.53 - - 2387 - 2.60 0.092 2230 543.1 116.8 - - 2231 - - - - - - - - 14.64 14.52 14.70
14856 868.1 10.1 693 14861 roll 0.53 - - 2387 - 2.60 0.121 3641 542.7 116.8 - - 2230 - - - - - - - - 14.87 14.56 14.87
14912 861.6 12.8 701 14917 done 0.49 0.15 0.288 2364 -153.3 2.50 0.083 2235 -562.4 116.8 - - 2229 - - - - - - - - 14.45 14.60 14.68
15248 832.2 8.6 714 15254 roll 0.49 - - 2374 - 2.58 0.099 819 -548.8 116.8 - - 2229 - - - - - - - - 14.88 14.59 14.90
15304 827.7 8.0 722 15309 done 0.49 - - 2373 - 2.60 0.090 2240 546.5 116.8 - - 2228 - - - - - - - - 14.73 14.61 14.76
15640 800.9 7.9 735 15645 roll 0.49 - - 2374 - 2.58 0.117 3645 544.6 116.8 - - 2228 - - - - - - - - 14.91 14.61 14.93
15716 793.9 8.7 746 15722 done 0.49 - - 2383 - 2.47 0.081 2242 -568.0 116.8 - - 2229 - - - - - - - - 14.75 14.64 14.78
16032 768.7 8.0 756 16037 roll 0.49 - - 2394 - 2.58 0.096 819 -551.6 116.8 - - 2227 - - - - - - - - 14.92 14.60 14.94
16122 761.8 7.5 769 16128 done 0.49 0.15 0.265 2360 -226.7 2.58 0.088 2236 549.2 116.8 - - 2227 - - - - - - - - 14.50 14.63 14.73
16480 737.6 6.9 778 16485 roll 0.49 - - 2360 - 2.58 0.119 3643 545.3 127.5 - - 2226 - - - - - - - - 14.92 14.60 14.94
16556 731.5 8.1 789 16561 done 0.49 - - 2369 - 2.53 0.080 2238 -555.3 127.5 - - 2226 - - - - - - - - 14.70 14.64 14.79
16872 707.3 7.6 799 16878 roll 0.49 - - 2379 - 2.53 0.093 823 -559.3 127.5 - - 2229 - - - - - - - - 14.93 14.61 14.95
16941 702.2 7.5 809 16946 done 0.49 - - 2379 - 2.62 0.087 2269 551.9 127.5 - - 2226 - - - - - - - - 14.76 14.62 14.78
17264 675.9 8.3 820 17269 roll 0.49 - - 2379 - 2.50 0.116 3641 548.8 127.5 - - 2226 - - - - - - - - 14.93 14.61 14.95
17361 666.7 9.4 834 17367 done 0.49 - - 2388 - 2.45 0.076 2243 -570.6 127.5 - - 2225 - - - - - - - - 14.77 14.66 14.79
17711 635.9 8.7 842 17717 roll 0.49 - - 2398 - 2.55 0.093 821 -557.6 127.5 - - 2225 - - - - - - - - 14.94 14.63 14.96
17788 629.1 8.7 853 17794 done 0.49 0.15 0.259 2363 -233.3 2.62 0.086 2271 553.4 127.5 - - 2225 - - - - - - - - 14.50 14.62 14.71
18104 604.0 8.0 863 18109 roll 0.49 - - 2363 - 2.50 0.116 3643 548.8 127.5 - - 2225 - - - - - - - - 14.93 14.61 14.95
18152 599.6 9.3 870 18159 done 0.49 - - 2372 - 2.47 0.076 2259 -560.3 127.5 - - 2225 - - - - - - - - 14.70 14.64 14.74
18496 569.7 8.7 877 18500 roll 0.49 - - 2381 - 2.58 0.090 814 -560.1 127.5 - - 2226 - - - - - - - - 14.94 14.63 14.95
18579 562.6 8.2 889 18584 done 0.49 - - 2382 - 2.60 0.086 2250 552.3 127.5 - - 2225 - - - - - - - - 14.76 14.63 14.78
18944 531.9 8.4 899 18948 roll 0.49 - - 2381 - 2.55 0.116 3647 547.8 127.5 - - 2226 - - - - - - - - 14.94 14.61 14.95
19000 526.7 9.4 907 19005 done 0.49 0.12 0.275 2364 -141.7 2.47 0.078 2246 -567.2 127.5 - - 2225 - - - - - - - - 14.50 14.66 14.71
19336 502.3 7.1 920 19348 roll 0.50 - - 2374 - 2.65 0.093 815 -540.0 132.5 8.45 1.525 2203 -2.6 0.163 - - - - - - 14.94 14.67 14.02
19391 498.4 7.1 928 19399 done 0.50 - - 2374 - 2.60 0.086 2249 551.5 138.4 3.75 1.138 2172 -8.3 0.686 - - - - - - 14.74 14.64 13.89
19714 474.2 7.6 939 19719 roll 0.50 - - 2374 - 2.55 0.116 3647 548.2 138.4 - - 2183 - - - - - - - - 14.89 14.59 14.91
19790 467.7 8.5 950 19796 done 0.50 - - 2384 - 2.50 0.077 2255 -556.8 138.4 - - 2183 - - - - - - - - 14.68 14.62 14.71
20106 441.4 8.4 960 20111 roll 0.50 - - 2392 - 2.58 0.092 818 -557.0 138.4 - - 2183 - - - - - - - - 14.90 14.62 14.92
20175 435.8 7.8 970 20181 done 0.50 0.12 0.259 2364 -233.3 2.65 0.086 2249 540.0 138.4 - - 2183 - - - - - - - - 14.51 14.60 14.71
20498 413.4 6.9 981 20524 roll 0.51 - - 2364 - 2.55 0.117 3641 545.9 149.6 20.27 1.505 2125 -2.9 0.149 - - - - - - 14.92 14.55 14.03
20588 406.5 7.8 994 20594 done 0.51 - - 2373 - 2.45 0.076 2246 -569.4 149.6 - - 2117 - - - - - - - - 14.66 14.58 14.69
20946 380.4 7.4 1003 20951 roll 0.51 - - 2381 - 2.58 0.091 822 -551.9 149.6 - - 2115 - - - - - - - - 14.86 14.59 14.88
21022 374.8 7.2 1014 21028 done 0.56 - - 2382 - 2.60 0.083 2258 552.3 152.3 - - 2114 - - - - - - - - 14.71 14.60 14.73
21338 349.6 8.1 1024 21343 roll 0.56 - - 2382 - 2.53 0.113 3643 547.4 152.3 - - 2113 - - - - - - - - 14.89 14.59 14.90
21400 343.9 9.1 1033 21405 done 0.56 - - 2391 - 2.50 0.074 2248 -558.0 152.3 - - 2113 - - - - - - - - 14.69 14.64 14.72
21730 314.6 9.1 1045 21735 roll 0.56 - - 2400 - 2.58 0.090 820 -553.5 152.3 - - 2113 - - - - - - - - 14.91 14.62 14.93
21806 307.9 8.5 1056 21811 done 0.56 - - 2401 - 2.60 0.083 2235 544.2 152.3 - - 2113 - - - - - - - - 14.68 14.61 14.78
22122 279.7 8.9 1066 22127 roll 0.56 - - 2398 - 2.55 0.113 3639 550.6 152.3 - - 2113 - - - - - - - - 14.92 14.62 14.94
22226 269.3 9.7 1081 22233 done 0.56 - - 2410 - 2.45 0.073 2250 -566.9 152.3 - - 2113 - - - - - - - - 14.76 14.66 14.79
22570 237.8 9.2 1088 22575 roll 0.56 0.12 0.282 2387 -191.7 2.58 0.087 816 -555.8 152.3 - - 2113 - - - - - - - - 14.51 14.62 14.64
22632 232.9 7.5 1097 22637 done 0.60 - - 2388 - 2.60 0.086 2253 552.7 152.3 - - 2113 - - - - - - - - 14.76 14.64 14.79
22962 207.4 7.7 1109 22967 roll 0.60 - - 2387 - 2.53 0.112 3643 549.4 152.3 - - 2113 - - - - - - - - 14.93 14.62 14.95
23018 202.5 8.8 1117 23022 done 0.60 - - 2397 - 2.42 0.074 2255 -573.6 152.3 - - 2113 - - - - - - - - 14.77 14.68 14.79
23354 174.8 8.3 1130 23360 roll 0.60 - - 2406 - 2.58 0.087 815 -558.1 152.3 - - 2113 - - - - - - - - 14.93 14.65 14.95
23416 169.7 8.3 1139 23421 done 0.60 - - 2406 - 2.60 0.084 2262 556.5 152.3 - - 2113 - - - - - - - - 14.76 14.64 14.79
23746 141.3 8.6 1151 23751 roll 0.60 - - 2406 - 2.47 0.109 3635 555.9 152.3 - - 2113 - - - - - - - - 14.94 14.63 14.95
23815 134.5 9.6 1161 23820 done 0.60 - - 2416 - 2.40 0.070 2253 -575.8 152.3 - - 2113 - - - - - - - - 14.76 14.69 14.81
24138 107.1 8.5 1172 24142 roll 0.60 - - 2426 - 2.55 0.086 824 -560.4 152.3 - - 2113 - - - - - - - - 14.95 14.67 14.96
24165 105.0 7.3 1176 24171 done 0.61 0.12 0.262 2397 -241.7 2.58 0.081 2259 556.2 153.7 - - 2113 - - - - - - - - 14.53 14.66 14.74
24505 85.0 5.4 1190 24541 roll 0.63 - - 2406 - 2.65 0.079 821 -542.6 198.6 28.38 0.395 1933 -6.3 0.259 - - - - - - 14.93 14.64 14.38
24617 79.3 5.6 1206 24648 done 0.75 0.12 0.138 2459 441.7 2.65 0.077 2295 556.2 239.8 26.60 0.375 1760 -6.5 0.261 - - - - - - 14.67 14.62 14.35
24981 59.3 3.8 1225 25039 roll 0.86 - - 2458 - 2.45 0.105 3639 548.6 324.5 53.10 0.321 1419 -6.4 0.225 - - - - - - 14.87 14.51 14.33
25054 56.3 4.4 1236 25104 done 1.00 0.12 0.080 2536 650.0 2.40 0.067 2285 -564.2 395.1 45.58 0.311 1127 -6.4 0.220 - - - - - - 14.59 14.56 14.30
25420 28.6 6.9 1255 25431 roll 1.08 - - 2544 - 2.60 0.076 820 -563.5 405.1 7.15 0.209 1085 -5.9 0.152 - - - - - - 14.83 14.57 14.43
25504 23.4 6.2 1267 25532 done 1.18 0.10 0.151 2589 450.0 2.60 0.073 2282 562.3 433.1 18.92 0.203 971 -6.0 0.132 - - - - - - 14.60 14.58 14.43
25724 end climb: SURFACE_DEPTH_REACHED
25724 begin surface coast
25755 end surface coast: CONTROL_FINISHED_OK
25755 begin surface
SM 0.95 - - - - -6.12 6.65 0.061 219 32.9 - - 2283 - 500.17 42.45 0.138 700 16.5 -0.012 - - - - - -