SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 1 • 46.52 of 350.00 AH used of 24V (86.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 1.20 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 17 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 - - - 110 done -0.84 - - 145 - - - 1872 - -116.8 -82.12 - 3272 - - - - - - - - 14.81 13.63 14.83
113 7.1 -10.5 3 131 roll -0.84 11.65 0.379 2662 216.1 2.40 0.047 464 -586.7 -116.8 - - 3275 - - - - - - - - 14.39 14.64 14.64
214 49.7 -29.8 18 222 done -0.33 0.65 0.279 2814 233.8 2.33 0.035 1872 604.3 -116.8 - - 3273 - - - - - - - - 14.50 14.69 14.70
530 87.2 -9.8 30 536 roll -0.33 - - 2814 - 2.38 0.055 466 -590.8 -116.8 - - 3274 - - - - - - - - 14.92 14.75 14.95
586 91.7 -8.2 38 592 done -0.33 - - 2808 - 2.28 0.034 1873 617.1 -116.8 - - 3276 - - - - - - - - 14.83 14.78 14.84
922 114.8 -6.6 49 924 done -0.33 - - 2807 - - - 1873 - -116.8 - - 3276 - - - - - - - - 15.00 15.00 15.00
1258 137.0 -6.6 55 1264 roll -0.33 - - 2807 - 2.38 0.057 461 -593.3 -116.8 - - 3276 - - - - - - - - 15.00 14.81 15.02
1362 144.8 -7.3 70 1370 done -0.33 - - 2799 - 2.22 0.034 1828 615.8 -116.8 - - 3276 - - - - - - - - 14.88 14.85 14.91
1706 168.6 -7.0 77 1714 roll -0.33 - - 2788 - 2.38 0.057 3269 605.5 -116.8 - - 3274 - - - - - - - - 15.01 14.83 15.03
1749 171.7 -7.4 83 1755 done -0.44 - - 2788 - 2.33 0.036 1832 -616.7 -116.8 - - 3274 - - - - - - - - 14.93 14.85 14.92
2100 197.3 -7.2 91 2106 roll -0.44 - - 2788 - 2.28 0.057 473 -596.1 -116.8 - - 3270 - - - - - - - - 15.02 14.83 15.04
2218 206.7 -8.0 108 2224 done -0.44 - - 2781 - 2.17 0.033 1821 621.2 -116.8 - - 3267 - - - - - - - - 14.92 14.88 14.92
2547 232.5 -7.9 120 2550 done -0.44 - - 2780 - - - 1823 - -116.8 - - 3265 - - - - - - - - 15.02 15.04 15.03
2883 258.6 -7.7 126 2896 done -0.44 - - 2786 - - - 1822 - -116.8 - - 3264 - - - - - - - - 15.04 15.07 15.07
3220 284.4 -7.7 132 3233 roll -0.44 - - 2769 - 2.38 0.055 3260 604.2 -116.8 - - 3262 - - - - - - - - 15.07 14.88 15.09
3260 287.7 -8.0 137 3274 done -0.44 - - 2770 - 2.35 0.037 1810 -617.0 -116.8 - - 3261 - - - - - - - - 14.96 14.88 14.97
3624 316.5 -8.0 146 3638 roll -0.44 - - 2769 - 2.25 0.059 471 -595.1 -116.8 - - 3259 - - - - - - - - 15.07 14.88 15.09
3755 327.5 -8.4 164 3769 done -0.44 - - 2761 - 2.10 0.034 1787 626.7 -116.8 - - 3258 - - - - - - - - 14.97 14.92 14.98
4084 353.1 -7.7 175 4097 roll -0.44 - - 2751 - 2.45 0.056 3265 603.3 -116.8 - - 3256 - - - - - - - - 15.08 14.88 15.10
4153 358.3 -7.5 184 4166 done -0.44 0.15 0.236 2784 220.0 2.40 0.037 1792 -613.8 -116.8 - - 3255 - - - - - - - - 14.76 14.91 14.92
4491 380.5 -6.6 196 4504 roll -0.53 - - 2784 - 2.22 0.061 471 -595.0 -116.8 - - 3253 - - - - - - - - 15.08 14.89 15.10
4580 387.4 -7.6 208 4594 done -0.53 - - 2779 - 2.10 0.034 1776 621.4 -116.8 - - 3257 - - - - - - - - 14.97 14.93 15.00
4951 414.0 -7.3 218 4964 roll -0.53 - - 2769 - 2.47 0.056 3258 600.0 -116.8 - - 3249 - - - - - - - - 15.08 14.88 15.09
4998 417.5 -7.2 224 5012 done -0.63 0.15 0.119 2706 -420.0 2.45 0.038 1755 -613.5 -116.8 - - 3251 - - - - - - - - 14.89 14.90 14.96
5355 454.2 -10.6 232 5368 roll -0.63 - - 2709 - 2.17 0.061 464 -594.9 -116.8 - - 3249 - - - - - - - - 15.08 14.90 15.10
5496 470.0 -11.2 251 5509 done -0.54 0.20 0.258 2748 195.0 2.03 0.036 1725 621.2 -116.8 - - 3249 - - - - - - - - 14.73 14.92 14.92
5817 499.0 -8.8 261 5831 roll -0.54 - - 2739 - 2.55 0.056 3258 601.2 -116.8 - - 3247 - - - - - - - - 15.07 14.88 15.09
5942 509.5 -8.3 278 5955 done -0.54 - - 2739 - 2.45 0.038 1760 -611.4 -116.8 - - 3247 - - - - - - - - 14.96 14.89 14.97
6277 536.6 -8.1 290 6290 roll -0.54 - - 2739 - 2.17 0.061 471 -594.0 -116.8 - - 3246 - - - - - - - - 15.07 14.87 15.09
6401 547.1 -8.0 307 6414 done -0.54 - - 2731 - 2.03 0.035 1735 622.7 -116.8 - - 3245 - - - - - - - - 14.96 14.92 14.98
6736 574.0 -8.2 319 6750 roll -0.54 - - 2720 - 2.55 0.057 3261 598.4 -116.8 - - 3243 - - - - - - - - 15.07 14.86 15.09
6777 577.4 -8.5 324 6790 done -0.54 0.15 0.247 2752 213.3 2.53 0.041 1729 -605.5 -116.8 - - 3243 - - - - - - - - 14.73 14.89 14.91
7140 604.6 -7.6 333 7153 done -0.54 - - 2753 - - - 1729 - -116.8 - - 3242 - - - - - - - - 15.09 15.09 15.09
7476 631.7 -8.2 339 7489 roll -0.54 - - 2753 - 2.12 0.063 474 -592.0 -116.8 - - 3242 - - - - - - - - 15.07 14.87 15.09
7544 637.8 -8.9 348 7558 done -0.54 - - 2747 - 2.00 0.036 1719 622.5 -116.8 - - 3241 - - - - - - - - 14.96 14.91 14.97
7880 665.0 -8.0 360 7893 roll -0.54 - - 2736 - 2.58 0.057 3257 596.1 -116.8 - - 3240 - - - - - - - - 15.07 14.85 15.09
7942 670.0 -8.0 368 7955 done -0.54 - - 2739 - 2.55 0.041 1716 -604.3 -116.8 - - 3240 - - - - - - - - 14.94 14.88 14.96
8284 697.0 -7.8 381 8297 roll -0.54 - - 2736 - 2.10 0.064 474 -591.4 -116.8 - - 3239 - - - - - - - - 15.06 14.85 15.08
8374 704.2 -8.1 393 8387 done -0.54 - - 2728 - 1.98 0.037 1687 612.6 -116.8 - - 3235 - - - - - - - - 14.95 14.90 14.96
8744 732.2 -7.6 403 8757 roll -0.54 - - 2716 - 2.65 0.058 3257 592.5 -116.8 - - 3237 - - - - - - - - 15.06 14.84 15.07
8931 747.0 -7.8 429 8945 done -0.54 0.15 0.248 2749 220.0 2.53 0.041 1729 -604.0 -116.8 - - 3236 - - - - - - - - 14.69 14.86 14.88
9260 769.6 -6.9 440 9273 roll -0.54 - - 2750 - 2.15 0.064 468 -586.5 -116.8 - - 3235 - - - - - - - - 15.05 14.81 15.07
9343 775.6 -6.8 451 9356 done -0.54 - - 2743 - 2.03 0.037 1714 613.8 -116.8 - - 3235 - - - - - - - - 14.94 14.89 14.96
9664 800.2 -7.6 461 9677 roll -0.54 - - 2732 - 2.60 0.059 3254 592.3 -116.8 - - 3234 - - - - - - - - 15.04 14.83 15.07
9711 804.0 -9.1 467 9724 done -0.54 - - 2739 - 2.55 0.041 1715 -603.5 -116.8 - - 3234 - - - - - - - - 14.92 14.85 14.95
10067 832.7 -8.1 475 10081 roll -0.54 - - 2733 - 2.12 0.065 468 -588.2 -116.8 - - 3233 - - - - - - - - 15.04 14.83 15.07
10122 837.0 -7.6 482 10136 done -0.54 0.12 0.276 2749 133.3 2.05 0.037 1718 609.8 -116.8 - - 3233 - - - - - - - - 14.65 14.87 14.85
10466 862.6 -7.3 489 10480 roll -0.54 - - 2740 - 2.60 0.059 3259 592.7 -116.8 - - 3232 - - - - - - - - 15.04 14.82 15.05
10614 873.9 -7.7 509 10628 done -0.54 - - 2740 - 2.47 0.041 1762 -606.1 -116.8 - - 3231 - - - - - - - - 14.91 14.84 14.92
10985 901.8 -7.4 519 10998 roll -0.54 - - 2739 - 2.20 0.066 474 -585.5 -116.8 - - 3231 - - - - - - - - 15.03 14.81 15.05
11095 910.7 -8.0 534 11109 done -0.54 - - 2732 - 2.08 0.038 1737 607.2 -116.8 - - 3230 - - - - - - - - 14.91 14.86 14.93
11439 937.0 -7.8 541 11453 roll -0.54 - - 2720 - 2.58 0.060 3254 588.0 -116.8 - - 3230 - - - - - - - - 15.03 14.80 15.05
11558 946.4 -7.9 557 11571 done -0.54 0.15 0.245 2754 226.7 2.50 0.041 1754 -600.0 -116.8 - - 3230 - - - - - - - - 14.64 14.83 14.86
11903 969.8 -6.7 570 11916 roll -0.54 - - 2754 - 2.17 0.065 474 -589.9 -116.8 - - 3229 - - - - - - - - 15.02 14.80 15.04
11993 976.5 -7.3 582 12006 done -0.54 - - 2748 - 2.08 0.037 1745 611.1 -116.8 - - 3229 - - - - - - - - 14.90 14.85 14.92
12192 end dive: TARGET_DEPTH_EXCEEDED
12192 begin apogee
12199 990.5 -6.5 589 12328 roll -0.21 0.43 0.228 2861 262.8 - - 1746 - - 118.97 2.163 2792 -3.7 0.311 - - - - - - 14.62 14.09 13.41
12329 end apogee: CONTROL_FINISHED_OK
12329 begin climb
12333 995.1 - 591 12474 roll 0.84 1.15 0.177 3189 285.2 2.47 0.063 391 -548.6 116.8 123.00 2.121 2312 -3.9 0.338 - - - - - - 14.09 14.15 13.28
12680 967.1 11.7 643 12693 done 0.84 - - 3188 - 2.38 0.034 1804 593.7 116.8 - - 2295 - - - - - - - - 14.50 14.45 14.52
13050 930.6 9.8 653 13063 roll 0.84 - - 3198 - 2.45 0.063 407 -570.2 116.8 - - 2291 - - - - - - - - 14.81 14.62 14.83
13265 908.2 10.4 683 13278 done 0.74 - - 3198 - 2.33 0.035 1815 604.3 116.8 - - 2291 - - - - - - - - 14.76 14.71 14.78
13621 872.0 10.2 691 13635 roll 0.64 0.22 0.255 3140 -263.6 2.30 0.051 3186 596.1 116.8 - - 2290 - - - - - - - - 14.57 14.73 14.70
13684 866.5 8.5 699 13697 done 0.64 - - 3146 - 2.28 0.041 1821 -598.7 116.8 - - 2288 - - - - - - - - 14.81 14.76 14.83
14026 839.7 7.9 712 14039 roll 0.64 - - 3157 - 2.47 0.067 398 -576.1 116.8 - - 2289 - - - - - - - - 14.95 14.74 14.97
14129 831.7 8.1 726 14142 done 0.64 - - 3157 - 2.30 0.036 1797 608.3 116.8 - - 2289 - - - - - - - - 14.85 14.80 14.87
14485 804.0 7.7 734 14499 roll 0.64 - - 3157 - 2.35 0.055 3192 593.6 118.8 - - 2286 - - - - - - - - 14.97 14.78 15.00
14553 798.3 8.2 743 14567 done 0.64 - - 3165 - 2.28 0.042 1816 -603.5 118.8 - - 2288 - - - - - - - - 14.86 14.80 14.88
14889 771.3 8.1 755 14902 roll 0.64 - - 3180 - 2.45 0.067 403 -576.7 118.8 - - 2288 - - - - - - - - 14.97 14.77 15.00
15027 759.1 8.8 774 15041 done 0.64 0.17 0.248 3137 -252.9 2.25 0.034 1790 616.4 118.8 - - 2287 - - - - - - - - 14.63 14.83 14.83
15349 735.9 7.2 784 15367 roll 0.66 - - 3137 - 2.40 0.055 3175 577.1 131.4 5.72 1.642 2255 -5.6 0.463 - - - - - - 14.99 14.80 14.00
15409 731.1 8.2 792 15422 done 0.66 - - 3144 - 2.35 0.041 1769 -598.3 131.4 - - 2256 - - - - - - - - 14.83 14.77 14.87
15751 703.7 8.1 805 15764 roll 0.66 - - 3155 - 2.38 0.067 396 -576.9 131.4 - - 2256 - - - - - - - - 14.97 14.76 14.99
15813 698.3 8.8 813 15826 done 0.66 - - 3155 - 2.25 0.034 1769 610.2 131.4 - - 2256 - - - - - - - - 14.87 14.81 14.88
16155 669.5 8.3 826 16168 roll 0.66 - - 3155 - 2.38 0.053 3189 596.6 131.4 - - 2256 - - - - - - - - 14.97 14.78 15.00
16217 664.3 8.5 834 16230 done 0.66 - - 3164 - 2.35 0.041 1771 -603.4 131.4 - - 2256 - - - - - - - - 14.87 14.81 14.88
16559 636.2 8.2 847 16572 roll 0.66 - - 3174 - 2.38 0.067 396 -577.7 131.4 - - 2256 - - - - - - - - 14.99 14.77 15.01
16621 630.9 8.8 855 16635 done 0.66 0.15 0.251 3142 -213.3 2.22 0.034 1773 620.3 131.4 - - 2256 - - - - - - - - 14.63 14.83 14.82
16967 607.0 6.8 868 17009 roll 0.68 - - 3141 - 2.38 0.052 3177 589.9 150.8 29.40 1.662 2173 -2.8 0.190 - - - - - - 14.99 14.52 14.02
17050 600.7 7.8 880 17063 done 0.68 - - 3148 - 2.38 0.041 1762 -594.5 152.4 - - 2166 - - - - - - - - 14.69 14.63 14.70
17421 572.8 7.5 890 17438 roll 0.69 - - 3159 - 2.42 0.067 398 -563.6 158.2 2.20 0.404 2146 -9.1 2.381 - - - - - - 14.88 14.69 13.76
17494 566.8 8.3 900 17507 done 0.69 - - 3164 - 2.25 0.034 1777 612.9 158.2 - - 2148 - - - - - - - - 14.79 14.74 14.81
17822 540.4 8.0 911 17835 roll 0.69 - - 3159 - 2.35 0.053 3183 598.3 158.2 - - 2149 - - - - - - - - 14.93 14.73 14.95
17862 537.0 8.2 916 17875 done 0.69 - - 3167 - 2.35 0.041 1767 -602.6 158.2 - - 2149 - - - - - - - - 14.82 14.76 14.84
18225 508.6 7.7 925 18243 roll 0.70 - - 3177 - 2.40 0.067 405 -567.5 161.8 3.20 0.960 2134 -4.7 0.459 - - - - - - 14.95 14.75 13.96
18312 501.6 8.2 937 18325 done 0.70 - - 3176 - 2.22 0.032 1780 619.4 161.8 - - 2138 - - - - - - - - 14.84 14.80 14.85
18683 472.6 7.7 947 18700 roll 0.70 - - 3177 - 2.40 0.054 3183 584.6 163.8 3.58 1.057 2124 -3.9 0.323 - - - - - - 14.97 14.78 13.99
18748 466.9 8.9 956 18761 done 0.70 0.12 0.274 3161 -133.3 2.30 0.041 1786 -607.4 163.8 - - 2129 - - - - - - - - 14.61 14.78 14.80
19083 440.0 8.1 968 19096 roll 0.70 - - 3169 - 2.38 0.066 402 -581.5 163.8 - - 2130 - - - - - - - - 14.96 14.76 14.99
19146 434.7 8.8 976 19159 done 0.70 - - 3169 - 2.20 0.032 1770 621.8 163.8 - - 2131 - - - - - - - - 14.83 14.81 14.84
19488 406.0 8.4 989 19501 roll 0.70 - - 3169 - 2.35 0.051 3183 601.3 163.8 - - 2131 - - - - - - - - 14.97 14.78 15.00
19542 401.3 8.5 996 19556 done 0.70 - - 3178 - 2.35 0.040 1768 -602.1 163.8 - - 2132 - - - - - - - - 14.86 14.80 14.88
19886 373.4 8.2 1003 19899 roll 0.70 - - 3188 - 2.35 0.066 399 -582.6 163.8 - - 2131 - - - - - - - - 14.98 14.77 15.00
19940 368.5 9.1 1010 19955 done 0.70 0.15 0.246 3155 -220.0 2.22 0.033 1774 619.4 163.8 - - 2131 - - - - - - - - 14.64 14.83 14.82
20285 342.8 7.4 1017 20315 roll 0.71 - - 3155 - 2.35 0.050 3174 595.7 173.0 17.27 1.411 2083 -2.8 0.125 - - - - - - 14.99 14.63 14.19
20377 335.4 8.1 1030 20390 done 0.71 - - 3157 - 2.30 0.040 1786 -603.5 173.0 - - 2077 - - - - - - - - 14.80 14.71 14.81
20740 307.3 7.7 1039 20753 roll 0.71 - - 3171 - 2.38 0.066 403 -581.1 176.6 - - 2076 - - - - - - - - 14.93 14.73 14.95
20836 299.2 8.2 1052 20850 done 0.71 - - 3171 - 2.20 0.032 1762 617.7 176.6 - - 2076 - - - - - - - - 14.82 14.78 14.83
21200 271.1 7.7 1061 21218 roll 0.72 - - 3171 - 2.40 0.050 3175 588.8 180.0 2.67 0.628 2055 -7.9 0.627 - - - - - - 14.97 14.78 14.03
21266 265.7 8.1 1070 21279 done 0.72 - - 3179 - 2.28 0.039 1791 -607.0 180.0 - - 2060 - - - - - - - - 14.85 14.79 14.87
21601 239.0 8.1 1082 21614 roll 0.72 - - 3189 - 2.38 0.064 402 -583.6 180.0 - - 2061 - - - - - - - - 14.97 14.77 15.00
21720 228.4 9.2 1098 21733 done 0.72 - - 3189 - 2.17 0.031 1750 621.2 180.0 - - 2062 - - - - - - - - 14.88 14.81 14.88
22062 197.2 9.2 1111 22075 roll 0.72 - - 3189 - 2.38 0.049 3185 602.9 180.0 - - 2061 - - - - - - - - 14.98 14.79 15.00
22116 191.7 9.9 1118 22131 done 0.72 0.15 0.257 3166 -153.3 2.38 0.039 1749 -603.4 180.0 - - 2061 - - - - - - - - 14.63 14.79 14.82
22460 164.0 7.9 1125 22473 roll 0.72 - - 3172 - 2.30 0.064 403 -585.2 180.0 - - 2062 - - - - - - - - 14.99 14.78 15.01
22549 156.4 8.2 1137 22563 done 0.72 - - 3173 - 2.12 0.031 1737 629.2 180.0 - - 2061 - - - - - - - - 14.89 14.85 14.90
22920 126.8 8.1 1147 22933 roll 0.72 - - 3180 - 2.40 0.049 3187 604.2 180.0 - - 2061 - - - - - - - - 15.00 14.81 15.02
23010 119.9 7.6 1159 23027 done 0.72 - - 3183 - 2.35 0.039 1765 -605.1 184.9 5.47 0.266 2041 -3.7 0.304 - - - - - - 14.87 14.82 14.42
23377 97.3 5.8 1169 23436 roll 0.77 - - 3192 - 2.40 0.063 396 -570.4 224.0 41.40 0.388 1880 -3.9 0.180 - - - - - - 15.00 14.71 14.47
23604 83.3 5.4 1201 23663 done 0.97 0.15 0.125 3251 393.3 2.08 0.032 1701 627.4 270.1 45.30 0.351 1693 -4.1 0.181 - - - - - - 14.73 14.78 14.43
23967 59.3 6.0 1220 24012 roll 1.01 - - 3251 - 2.55 0.047 3189 583.5 303.9 32.58 0.282 1555 -4.2 0.165 - - - - - - 14.92 14.67 14.47
24092 51.9 5.8 1237 24143 done 1.15 0.12 0.133 3312 508.3 2.42 0.038 1730 -602.9 342.3 36.25 0.261 1397 -4.4 0.160 - - - - - - 14.69 14.71 14.47
24446 28.5 5.0 1255 24507 roll 1.22 - - 3321 - 2.30 0.063 406 -575.7 395.2 43.70 0.200 1181 -4.9 0.130 - - - - - - 14.91 14.62 14.55
24660 12.7 7.4 1285 24680 done 1.33 0.12 0.131 3371 416.7 2.08 0.030 1721 632.2 403.0 8.02 0.157 1148 -4.1 0.061 - - - - - - 14.71 14.76 14.61
24783 end climb: SURFACE_DEPTH_REACHED
24783 begin surface coast
24811 end surface coast: CONTROL_FINISHED_OK
24811 begin surface
SM 1.12 - - - - -8.61 9.32 0.067 158 16.9 0.17 0.075 1896 -56082.4 515.13 67.30 0.125 692 10.3 -0.009 - - - - - -