SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 43.61 of 350.00 AH used of 24V (87.54% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.1 deg, depth 1.19 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 14 s • Transponder ping count: 2
• 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 - - 155 - - - 1871 - -116.8 -81.10 - 3272 - - - - - - - - 14.81 13.68 14.83
110 8.3 -12.4 3 127 roll -0.84 11.82 0.388 2665 212.4 2.45 0.058 459 -576.3 -116.8 - - 3272 - - - - - - - - 14.42 14.62 14.66
148 31.6 -53.0 9 156 done 0.24 1.35 0.276 2997 245.9 2.33 0.037 1851 597.4 -116.8 - - 3274 - - - - - - - - 14.48 14.66 14.67
463 55.1 -5.5 21 470 roll -0.09 0.28 0.080 2874 -439.3 2.35 0.054 458 -592.8 -116.8 - - 3275 - - - - - - - - 14.76 14.73 14.80
589 67.2 -7.6 39 595 done -0.09 0.12 0.239 2893 158.3 2.17 0.032 1816 625.8 -116.8 - - 3274 - - - - - - - - 14.66 14.81 14.81
911 86.8 -4.9 52 914 done -0.30 0.20 0.099 2810 -415.0 - - 1817 - -116.8 - - 3275 - - - - - - - - 14.83 14.89 14.88
1248 109.6 -7.0 62 1254 roll -0.30 - - 2801 - 2.40 0.051 3284 611.2 -116.8 - - 3274 - - - - - - - - 15.01 14.83 15.03
1485 125.4 -6.4 96 1491 done -0.40 - - 2801 - 2.53 0.036 1725 -616.2 -116.8 - - 3276 - - - - - - - - 14.91 14.85 14.92
1808 147.6 -6.9 107 1814 roll -0.50 - - 2801 - 2.12 0.058 457 -598.1 -116.8 - - 3275 - - - - - - - - 15.02 14.85 15.05
1897 154.2 -7.3 120 1904 done -0.50 - - 2794 - 2.00 0.032 1713 628.0 -116.8 - - 3274 - - - - - - - - 14.92 14.88 14.94
2255 180.3 -7.5 129 2262 roll -0.50 - - 2782 - 2.60 0.054 3274 600.4 -116.8 - - 3271 - - - - - - - - 15.03 14.85 15.05
2346 187.5 -8.0 142 2353 done -0.61 0.15 0.119 2722 -400.0 2.58 0.037 1691 -613.6 -116.8 - - 3271 - - - - - - - - 14.86 14.85 14.92
2704 225.7 -10.9 151 2710 roll -0.61 - - 2722 - 2.05 0.058 462 -599.5 -116.8 - - 3268 - - - - - - - - 15.03 14.85 15.05
2786 235.6 -11.9 163 2793 done -0.61 - - 2713 - 2.05 0.034 1737 622.0 -116.8 - - 3267 - - - - - - - - 14.93 14.89 14.95
3152 276.3 -11.1 173 3165 roll -0.61 - - 2702 - 2.55 0.055 3273 602.4 -116.8 - - 3264 - - - - - - - - 15.07 14.88 15.09
3214 283.1 -11.0 181 3227 done -0.61 0.12 0.262 2727 208.3 2.58 0.039 1703 -608.5 -116.8 - - 3263 - - - - - - - - 14.76 14.90 14.92
3556 317.6 -10.0 194 3570 roll -0.61 - - 2728 - 2.08 0.060 462 -596.6 -116.8 - - 3261 - - - - - - - - 15.08 14.90 15.10
3638 326.5 -10.5 205 3652 done -0.61 - - 2727 - 1.98 0.035 1702 626.3 -116.8 - - 3260 - - - - - - - - 14.98 14.93 15.00
3960 357.9 -9.8 215 3973 roll -0.61 - - 2711 - 2.60 0.054 3272 603.8 -116.8 - - 3258 - - - - - - - - 15.09 14.90 15.11
4070 368.3 -9.3 230 4084 done -0.61 - - 2710 - 2.60 0.040 1694 -606.9 -116.8 - - 3257 - - - - - - - - 14.97 14.91 14.99
4414 399.6 -9.1 237 4427 roll -0.61 - - 2710 - 2.05 0.061 468 -598.0 -116.8 - - 3257 - - - - - - - - 15.09 14.90 15.11
4489 407.2 -10.2 247 4503 done -0.51 0.22 0.252 2757 213.6 1.98 0.034 1701 622.7 -116.8 - - 3254 - - - - - - - - 14.77 14.94 14.92
4818 432.8 -7.8 258 4831 roll -0.51 - - 2747 - 2.62 0.055 3278 601.9 -116.8 - - 3252 - - - - - - - - 15.09 14.90 15.11
4893 439.0 -8.2 268 4907 done -0.51 - - 2748 - 2.55 0.039 1711 -614.5 -116.8 - - 3252 - - - - - - - - 14.93 14.90 14.96
5222 466.4 -8.3 279 5235 roll -0.51 - - 2747 - 2.10 0.062 461 -595.2 -116.8 - - 3250 - - - - - - - - 15.09 14.90 15.11
5311 474.2 -8.5 291 5324 done -0.51 - - 2739 - 2.03 0.035 1714 617.2 -116.8 - - 3249 - - - - - - - - 14.98 14.92 15.00
5682 503.8 -7.9 301 5695 roll -0.51 - - 2728 - 2.62 0.057 3272 594.7 -116.8 - - 3248 - - - - - - - - 15.09 14.90 15.11
5744 508.8 -8.1 309 5757 done -0.51 0.15 0.242 2762 226.7 2.62 0.040 1690 -603.8 -116.8 - - 3247 - - - - - - - - 14.76 14.90 14.93
6087 533.2 -7.2 322 6100 roll -0.51 - - 2761 - 2.08 0.063 460 -591.3 -116.8 - - 3245 - - - - - - - - 15.09 14.89 15.09
6127 536.5 -8.5 327 6140 done -0.51 - - 2756 - 2.05 0.036 1726 617.6 -116.8 - - 3245 - - - - - - - - 14.99 14.93 15.00
6490 565.7 -8.1 336 6503 roll -0.51 - - 2745 - 2.58 0.057 3271 598.8 -116.8 - - 3244 - - - - - - - - 15.08 14.89 15.11
6537 569.5 -8.2 342 6550 done -0.51 - - 2745 - 2.58 0.040 1706 -606.6 -116.8 - - 3244 - - - - - - - - 14.97 14.90 14.98
6893 597.3 -7.6 350 6907 roll -0.51 - - 2745 - 2.10 0.063 464 -591.4 -116.8 - - 3243 - - - - - - - - 15.08 14.88 15.10
6948 601.7 -8.1 357 6962 done -0.51 - - 2736 - 2.05 0.037 1725 615.1 -116.8 - - 3242 - - - - - - - - 14.97 14.92 14.99
7292 627.9 -7.6 364 7305 roll -0.51 - - 2724 - 2.60 0.057 3275 596.2 -116.8 - - 3241 - - - - - - - - 15.08 14.88 15.10
7333 631.1 -7.7 369 7346 done -0.51 0.15 0.243 2759 233.3 2.60 0.041 1700 -605.8 -116.8 - - 3240 - - - - - - - - 14.74 14.92 14.92
7696 656.5 -7.0 378 7709 roll -0.51 - - 2759 - 2.10 0.065 461 -590.0 -116.8 - - 3239 - - - - - - - - 15.04 14.87 15.09
7765 661.8 -7.7 387 7778 done -0.51 - - 2754 - 2.03 0.038 1708 614.3 -116.8 - - 3238 - - - - - - - - 14.97 14.91 14.98
8100 687.0 -7.6 399 8113 roll -0.51 - - 2742 - 2.62 0.058 3269 595.8 -116.8 - - 3237 - - - - - - - - 15.07 14.87 15.09
8225 696.5 -7.6 416 8238 done -0.51 - - 2742 - 2.55 0.040 1722 -606.7 -116.8 - - 3236 - - - - - - - - 14.95 14.89 14.97
8560 722.2 -7.7 428 8573 roll -0.51 - - 2742 - 2.15 0.065 460 -587.0 -116.8 - - 3236 - - - - - - - - 15.07 14.85 15.08
8622 727.6 -8.5 436 8635 done -0.51 - - 2734 - 2.10 0.038 1743 611.0 -116.8 - - 3235 - - - - - - - - 14.95 14.90 14.97
8964 755.9 -8.3 449 8978 roll -0.51 - - 2722 - 2.58 0.060 3271 592.2 -116.8 - - 3234 - - - - - - - - 15.09 14.85 15.08
9060 764.1 -8.5 462 9074 done -0.51 0.15 0.246 2756 226.7 2.53 0.041 1748 -602.0 -116.8 - - 3234 - - - - - - - - 14.71 14.87 14.89
9424 791.0 -7.4 471 9438 roll -0.51 - - 2756 - 2.20 0.065 469 -581.4 -116.8 - - 3233 - - - - - - - - 15.05 14.84 15.08
9513 798.2 -8.0 483 9527 done -0.51 - - 2750 - 2.08 0.037 1747 614.4 -116.8 - - 3233 - - - - - - - - 14.95 14.90 14.96
9884 826.1 -7.5 493 9897 roll -0.51 - - 2739 - 2.58 0.060 3274 591.9 -116.8 - - 3231 - - - - - - - - 15.05 14.84 15.07
10003 835.3 -7.7 509 10016 done -0.51 - - 2739 - 2.53 0.041 1751 -602.0 -116.8 - - 3232 - - - - - - - - 14.96 14.86 14.95
10345 861.2 -7.7 522 10359 roll -0.51 - - 2739 - 2.20 0.066 464 -585.0 -116.8 - - 3231 - - - - - - - - 15.04 14.83 15.07
10476 872.3 -8.3 540 10490 done -0.51 0.12 0.272 2756 141.7 2.08 0.038 1734 610.6 -116.8 - - 3230 - - - - - - - - 14.66 14.88 14.90
10805 894.7 -6.7 551 10819 roll -0.51 - - 2747 - 2.60 0.060 3269 590.4 -116.8 - - 3230 - - - - - - - - 15.03 14.83 15.06
10932 903.8 -8.7 568 10946 done -0.61 - - 2747 - 2.53 0.041 1745 -602.4 -116.8 - - 3229 - - - - - - - - 14.92 14.85 14.93
11268 925.4 -6.6 580 11281 roll -0.61 - - 2747 - 2.20 0.067 464 -582.3 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.05
11372 932.8 -6.4 594 11385 done -0.61 - - 2739 - 2.05 0.039 1713 609.3 -116.8 - - 3229 - - - - - - - - 14.92 14.87 14.94
11728 956.3 -6.7 602 11741 roll -0.61 - - 2727 - 2.65 0.061 3274 589.1 -116.8 - - 3228 - - - - - - - - 15.03 14.81 15.05
11791 960.6 -3.8 610 11804 done -0.61 - - 2724 - 2.60 0.042 1713 -600.4 -116.8 - - 3227 - - - - - - - - 14.90 14.83 14.92
12133 985.5 -7.4 623 12146 roll -0.61 - - 2727 - 2.12 0.067 470 -586.3 -116.8 - - 3227 - - - - - - - - 15.02 14.81 15.04
12198 end dive: TARGET_DEPTH_EXCEEDED
12198 begin apogee
12207 990.2 -4.6 632 12378 roll -0.21 0.52 0.229 2858 251.9 - - 1822 - - 160.62 1.867 2793 -2.7 0.265 - - - - - - 14.62 14.09 13.49
12379 end apogee: CONTROL_FINISHED_OK
12379 begin climb
12383 995.8 - 635 12524 roll 0.84 1.15 0.179 3188 287.0 2.60 0.064 402 -546.2 116.8 123.80 2.139 2316 -3.9 0.331 - - - - - - 14.08 14.14 13.28
12684 972.6 9.5 679 12697 done 0.84 - - 3188 - 2.38 0.034 1809 591.2 116.8 - - 2291 - - - - - - - - 14.45 14.41 14.47
13048 939.6 9.0 688 13061 roll 0.84 - - 3198 - 2.50 0.064 392 -566.8 116.8 - - 2290 - - - - - - - - 14.79 14.59 14.81
13256 919.7 9.5 717 13269 done 0.73 0.15 0.265 3167 -206.7 2.38 0.036 1825 602.1 116.8 - - 2289 - - - - - - - - 14.51 14.69 14.70
13620 890.9 7.9 726 13633 roll 0.73 - - 3166 - 2.30 0.056 3186 591.7 116.8 - - 2288 - - - - - - - - 14.91 14.73 14.93
13688 885.0 10.2 735 13701 done 0.73 - - 3173 - 2.22 0.041 1847 -603.2 116.8 - - 2287 - - - - - - - - 14.82 14.79 14.83
14023 856.9 8.5 747 14037 roll 0.73 - - 3184 - 2.53 0.067 395 -573.9 116.8 - - 2288 - - - - - - - - 14.95 14.75 14.97
14154 845.1 9.3 765 14168 done 0.73 - - 3184 - 2.30 0.034 1802 611.7 116.8 - - 2287 - - - - - - - - 14.85 14.81 14.88
14483 814.6 9.3 776 14496 roll 0.73 - - 3184 - 2.33 0.055 3186 594.0 116.8 - - 2287 - - - - - - - - 14.97 14.78 15.00
14558 806.7 11.1 786 14572 done 0.64 0.22 0.269 3142 -190.9 2.28 0.041 1809 -603.9 116.8 - - 2287 - - - - - - - - 14.62 14.81 14.83
14887 781.3 7.8 797 14900 roll 0.64 - - 3151 - 2.45 0.068 399 -575.5 117.5 - - 2287 - - - - - - - - 14.99 14.78 15.01
14962 775.0 8.4 807 14975 done 0.64 - - 3151 - 2.30 0.036 1806 611.7 117.5 - - 2287 - - - - - - - - 14.88 14.83 14.90
15290 748.0 8.2 818 15303 roll 0.64 - - 3151 - 2.33 0.056 3190 594.0 117.5 - - 2287 - - - - - - - - 14.99 14.79 15.02
15365 741.6 8.8 828 15379 done 0.64 - - 3159 - 2.22 0.041 1842 -607.2 117.5 - - 2287 - - - - - - - - 14.88 14.81 14.90
15694 714.5 8.3 839 15707 roll 0.64 - - 3171 - 2.50 0.068 401 -576.4 117.5 - - 2287 - - - - - - - - 15.00 14.78 15.02
15813 703.7 9.1 855 15826 done 0.64 0.15 0.258 3139 -213.3 2.35 0.034 1830 608.1 117.5 - - 2287 - - - - - - - - 14.63 14.84 14.85
16158 677.3 7.7 868 16171 roll 0.64 - - 3139 - 2.28 0.056 3185 594.3 121.1 - - 2287 - - - - - - - - 15.00 14.80 15.02
16220 672.2 8.1 876 16233 done 0.64 - - 3145 - 2.25 0.041 1829 -602.7 121.1 - - 2287 - - - - - - - - 14.88 14.81 14.90
16563 646.1 7.6 889 16576 roll 0.65 - - 3156 - 2.45 0.067 407 -580.4 125.8 - - 2287 - - - - - - - - 15.00 14.78 15.02
16701 634.9 8.0 908 16714 done 0.65 - - 3156 - 2.28 0.034 1800 611.0 125.8 - - 2287 - - - - - - - - 14.90 14.84 14.90
17022 609.6 8.0 918 17036 roll 0.65 - - 3156 - 2.33 0.054 3185 594.4 125.8 - - 2287 - - - - - - - - 15.00 14.81 15.02
17105 602.5 8.7 929 17118 done 0.65 - - 3164 - 2.28 0.041 1820 -598.7 125.8 - - 2287 - - - - - - - - 14.88 14.81 14.89
17426 576.0 8.4 939 17440 roll 0.65 - - 3175 - 2.45 0.067 402 -578.8 125.8 - - 2289 - - - - - - - - 15.00 14.76 15.02
17509 568.9 8.6 950 17522 done 0.65 0.15 0.256 3142 -220.0 2.33 0.034 1816 606.9 125.8 - - 2287 - - - - - - - - 14.63 14.84 14.83
17830 546.9 6.7 960 17874 done 0.68 - - 3143 - - - 1817 - 147.7 30.90 1.627 2186 -3.3 0.203 - - - - - - 15.03 14.52 14.05
18224 518.6 7.2 974 18237 done 0.69 - - 3143 - - - 1817 - 159.0 4.80 1.335 2143 -9.0 0.643 - - - - - - 14.88 14.70 13.94
18560 495.3 6.9 980 18604 roll 0.71 - - 3143 - 2.35 0.054 3181 580.4 177.7 30.52 1.538 2062 -2.7 0.158 - - - - - - 14.92 14.54 14.00
18632 490.3 7.1 990 18657 done 0.73 - - 3145 - 2.28 0.041 1828 -593.4 191.5 14.30 1.583 2011 -3.6 0.204 - - - - - - 14.62 14.57 13.95
19007 462.6 7.6 1001 19021 roll 0.74 - - 3159 - 2.50 0.067 404 -569.6 196.6 - - 1996 - - - - - - - - 14.83 14.63 14.84
19149 450.8 8.5 1020 19162 done 0.74 - - 3159 - 2.28 0.034 1786 606.1 196.6 - - 1996 - - - - - - - - 14.76 14.71 14.77
19470 422.8 8.7 1030 19483 roll 0.74 - - 3159 - 2.35 0.053 3182 594.0 196.6 - - 1996 - - - - - - - - 14.90 14.73 14.92
19524 417.6 9.5 1037 19538 done 0.74 - - 3167 - 2.35 0.041 1781 -596.2 196.6 - - 1995 - - - - - - - - 14.81 14.74 14.82
19868 385.8 9.3 1044 19881 roll 0.74 - - 3176 - 2.40 0.067 393 -578.3 196.6 - - 1995 - - - - - - - - 14.95 14.74 14.97
19957 377.1 9.8 1056 19971 done 0.74 - - 3177 - 2.22 0.033 1759 615.3 196.6 - - 1995 - - - - - - - - 14.85 14.81 14.85
20328 342.9 9.1 1066 20341 roll 0.74 - - 3178 - 2.38 0.051 3181 597.5 196.6 - - 1995 - - - - - - - - 14.97 14.78 15.00
20410 335.1 9.3 1077 20423 done 0.74 - - 3186 - 2.35 0.041 1765 -602.6 196.6 - - 1995 - - - - - - - - 14.86 14.80 14.88
20731 305.6 9.3 1087 20745 roll 0.74 - - 3196 - 2.35 0.064 400 -580.9 196.6 0.60 0.248 1990 -8.3 1.897 - - - - - - 14.98 14.78 14.72
20800 298.9 9.8 1096 20813 done 0.74 0.12 0.256 3170 -216.7 2.17 0.033 1748 621.2 196.6 - - 1990 - - - - - - - - 14.65 14.83 14.83
21136 271.7 8.0 1108 21149 roll 0.74 - - 3170 - 2.40 0.051 3185 598.8 196.6 - - 1990 - - - - - - - - 14.99 14.80 15.01
21211 265.3 8.5 1118 21224 done 0.74 - - 3176 - 2.33 0.041 1777 -604.3 196.6 - - 1990 - - - - - - - - 14.88 14.82 14.90
21539 237.1 8.7 1129 21552 roll 0.74 - - 3186 - 2.38 0.067 395 -580.7 196.6 - - 1989 - - - - - - - - 14.97 14.78 15.01
21593 231.9 9.6 1136 21608 done 0.74 - - 3186 - 2.28 0.032 1787 610.5 196.6 - - 1987 - - - - - - - - 14.89 14.85 14.90
21937 199.7 9.5 1143 21950 roll 0.74 - - 3183 - 2.33 0.050 3183 599.1 196.6 - - 1990 - - - - - - - - 15.00 14.81 15.02
22019 191.2 10.1 1154 22033 done 0.74 - - 3195 - 2.25 0.040 1815 -608.0 196.6 - - 1990 - - - - - - - - 14.89 14.83 14.90
22341 159.6 10.0 1164 22354 roll 0.74 - - 3205 - 2.45 0.066 395 -579.6 196.6 - - 1990 - - - - - - - - 15.00 14.80 15.02
22444 148.8 10.3 1178 22458 done 0.74 0.15 0.243 3172 -220.0 2.30 0.031 1814 617.0 196.6 - - 1990 - - - - - - - - 14.67 14.85 14.85
22801 120.1 7.8 1186 22814 roll 0.74 - - 3172 - 2.28 0.050 3186 601.8 197.4 - - 1990 - - - - - - - - 15.00 14.82 15.02
22828 117.9 7.9 1189 22841 done 0.74 - - 3177 - 2.28 0.039 1802 -607.0 197.4 - - 1990 - - - - - - - - 14.90 14.83 14.91
23149 95.2 7.5 1200 23171 roll 0.75 - - 3187 - 2.47 0.065 401 -567.2 204.7 6.38 0.255 1966 -3.8 0.259 - - - - - - 15.00 14.78 14.52
23212 91.0 6.3 1209 23257 done 0.78 - - 3188 - 2.22 0.031 1787 624.3 233.6 30.98 0.364 1844 -3.9 0.182 - - - - - - 14.90 14.85 14.47
23575 72.0 5.0 1227 23638 roll 1.00 0.17 0.110 3263 441.2 2.33 0.047 3169 593.1 287.3 50.83 0.317 1618 -4.4 0.187 - - - - - - 14.77 14.65 14.48
23729 60.9 7.5 1249 23752 done 1.01 - - 3271 - 2.42 0.041 1710 -602.9 294.2 9.05 0.243 1593 -2.8 0.128 - - - - - - 14.79 14.76 14.49
24084 42.6 5.1 1266 24146 roll 1.18 0.12 0.132 3338 558.3 2.30 0.063 398 -570.4 344.9 46.15 0.234 1394 -4.3 0.145 - - - - - - 14.76 14.69 14.55
24336 23.9 7.8 1302 24352 done 1.18 - - 3337 - 2.10 0.029 1725 631.9 345.3 3.33 0.151 1385 -2.7 0.079 - - - - - - 14.79 14.76 14.62
24643 end climb: SURFACE_DEPTH_REACHED
24643 begin surface coast
24674 end surface coast: CONTROL_FINISHED_OK
24674 begin surface
SM 1.07 - - - - -8.62 8.98 0.052 153 17.0 0.17 0.076 1878 -43388.2 515.13 101.50 0.124 691 6.8 -0.006 - - - - - -