SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 112 * Raw log
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• Previous call tries 2 • 51.41 of 350.00 AH used of 24V (85.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.97 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 19 s • Transponder ping count: 12
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 108 VBD -0.68 - - 202 - - - 2313 - -116.8 -84.40 - 2877 - - - - - - - - 14.77 - 14.78
112 4.3 -5.7 3 136 roll -0.68 8.75 0.421 1962 201.1 2.65 2.127 3674 513.6 -116.8 -6.18 - 3221 -55.7 - - - - - - - 14.30 13.50 14.62
366 79.0 -16.2 40 372 done -0.46 0.25 0.281 2047 340.0 2.40 0.047 2250 -593.3 -116.8 - - 3222 - - - - - - - - 14.46 14.65 14.67
725 108.8 -7.8 53 730 roll -0.39 - - 2047 - 2.30 0.058 892 -590.4 -116.8 - - 3225 - - - - - - - - 14.93 14.71 14.95
863 120.7 -7.7 73 870 done -0.39 0.08 0.241 2065 225.0 2.47 0.067 2291 566.4 -116.8 - - 3225 - - - - - - - - 14.57 14.71 14.71
1229 146.0 -6.9 83 1233 roll -0.39 - - 2056 - 2.42 0.088 3696 580.6 -116.8 - - 3225 - - - - - - - - 14.98 14.74 15.00
1269 149.0 -7.3 89 1276 done -0.39 - - 2056 - 2.33 0.047 2298 -600.0 -116.8 - - 3225 - - - - - - - - 14.83 14.80 14.84
1621 172.9 -6.7 97 1626 roll -0.39 - - 2056 - 2.40 0.060 887 -587.9 -116.8 - - 3223 - - - - - - - - 15.00 14.78 15.02
1704 179.1 -7.1 109 1710 done -0.39 - - 2056 - 2.47 0.072 2309 575.7 -116.8 - - 3222 - - - - - - - - 14.87 14.78 14.89
2069 203.9 -6.8 119 2069 done -0.39 - - 2056 - - - 2308 - -116.8 - - 3219 - - - - - - - - 15.00 15.04 15.04
2404 227.0 -6.8 125 2410 roll -0.39 - - 2056 - 2.42 0.060 891 -585.5 -116.8 - - 3216 - - - - - - - - 15.02 14.80 15.04
2460 231.1 -7.3 133 2466 done -0.39 - - 2056 - 2.47 0.074 2301 570.9 -116.8 - - 3217 - - - - - - - - 14.88 14.78 14.90
2797 255.3 -7.2 146 2801 roll -0.39 - - 2056 - 2.42 0.060 886 -584.7 -116.8 - - 3215 - - - - - - - - 15.03 14.81 15.05
2844 259.1 -7.7 153 2852 done -0.39 - - 2056 - 2.50 0.076 2287 560.4 -116.8 - - 3215 - - - - - - - - 14.83 14.76 14.86
3188 284.7 -7.5 160 3189 done -0.39 - - 2056 - - - 2287 - -116.8 - - 3212 - - - - - - - - 15.03 15.05 15.05
3524 309.9 -7.5 166 3529 roll -0.39 - - 2056 - 2.40 0.060 887 -583.3 -116.8 - - 3209 - - - - - - - - 15.04 14.80 15.06
3551 312.0 -7.7 170 3557 done -0.39 - - 2055 - 2.53 0.076 2291 554.9 -116.8 - - 3209 - - - - - - - - 14.83 14.76 14.91
3917 338.2 -7.2 180 3922 roll -0.39 - - 2052 - 2.47 0.099 3701 570.9 -116.8 - - 3207 - - - - - - - - 15.04 14.77 15.06
3943 340.3 -7.3 184 3949 done -0.39 - - 2052 - 2.38 0.054 2296 -590.3 -116.8 - - 3206 - - - - - - - - 14.86 14.83 14.88
4308 367.0 -7.4 194 4313 roll -0.39 - - 2052 - 2.42 0.068 882 -584.3 -116.8 - - 3204 - - - - - - - - 15.04 14.79 15.06
4413 375.1 -7.7 209 4420 done -0.39 - - 2052 - 2.47 0.079 2284 567.6 -116.8 - - 3203 - - - - - - - - 14.87 14.76 14.90
4757 399.8 -7.2 216 4761 roll -0.39 - - 2043 - 2.47 0.099 3693 570.4 -116.8 - - 3205 - - - - - - - - 15.03 14.76 15.04
4804 403.4 -7.7 223 4812 done -0.39 - - 2043 - 2.40 0.056 2272 -592.1 -116.8 - - 3201 - - - - - - - - 14.84 14.80 14.86
5149 429.0 -7.5 230 5153 roll -0.39 - - 2043 - 2.38 0.067 895 -578.6 -116.8 - - 3200 - - - - - - - - 15.02 14.78 15.04
5224 434.9 -7.6 241 5230 done -0.39 - - 2043 - 2.50 0.080 2278 553.2 -116.8 - - 3200 - - - - - - - - 14.81 14.74 14.85
5540 458.0 -7.3 251 5545 roll -0.39 - - 2039 - 2.40 0.063 890 -578.3 -116.8 - - 3198 - - - - - - - - 15.02 14.77 15.04
5582 461.3 -7.8 257 5588 done -0.39 0.12 0.269 2071 266.7 2.45 0.078 2274 564.9 -116.8 - - 3198 - - - - - - - - 14.64 14.76 14.82
5932 481.8 -5.7 265 5933 done -0.44 - - 2072 - - - 2273 - -116.8 - - 3197 - - - - - - - - 15.02 15.04 15.04
6269 501.2 -5.8 271 6270 done -0.49 - - 2071 - - - 2273 - -116.8 - - 3194 - - - - - - - - 15.02 15.04 15.04
6605 520.9 -5.9 277 6606 done -0.55 0.15 0.128 2011 -400.0 - - 2274 - -116.8 - - 3193 - - - - - - - - 14.81 14.90 14.88
6940 550.3 -9.0 283 6945 roll -0.55 - - 2002 - 2.53 0.105 3701 564.0 -116.8 - - 3192 - - - - - - - - 15.03 14.73 15.05
6988 554.9 -9.3 290 6995 done -0.55 - - 2003 - 2.42 0.058 2274 -589.7 -116.8 - - 3192 - - - - - - - - 14.83 14.78 14.85
7333 585.8 -8.9 297 7338 roll -0.55 - - 2003 - 2.42 0.069 880 -576.0 -116.8 - - 3190 - - - - - - - - 15.02 14.76 15.04
7408 592.7 -8.8 308 7414 done -0.55 - - 1999 - 2.53 0.084 2258 544.7 -116.8 - - 3190 - - - - - - - - 14.78 14.71 14.83
7724 620.0 -8.7 318 7729 roll -0.55 - - 1989 - 2.55 0.106 3693 562.7 -116.8 - - 3189 - - - - - - - - 15.02 14.71 15.04
7758 623.3 -9.6 323 7764 done -0.50 0.17 0.252 2032 252.9 2.42 0.063 2263 -590.9 -116.8 - - 3189 - - - - - - - - 14.58 14.78 14.80
8117 649.3 -7.1 332 8122 roll -0.50 - - 2032 - 2.40 0.069 875 -578.3 -116.8 - - 3185 - - - - - - - - 15.01 14.74 15.03
8199 655.3 -7.0 344 8205 done -0.50 - - 2027 - 2.50 0.086 2265 556.0 -116.8 - - 3187 - - - - - - - - 14.84 14.72 14.88
8565 678.7 -6.3 354 8570 roll -0.50 - - 2027 - 2.42 0.067 875 -574.4 -116.8 - - 3186 - - - - - - - - 15.01 14.74 15.02
8591 680.5 -6.4 358 8597 done -0.50 - - 2026 - 2.50 0.086 2263 555.2 -116.8 - - 3186 - - - - - - - - 14.83 14.71 14.85
8956 702.9 -6.2 368 8961 roll -0.50 - - 2017 - 2.58 0.106 3701 557.4 -116.8 - - 3187 - - - - - - - - 15.01 14.69 15.03
9019 707.1 -6.9 377 9025 done -0.50 - - 2017 - 2.45 0.062 2251 -591.8 -116.8 - - 3184 - - - - - - - - 14.85 14.78 14.86
9349 730.3 -7.3 389 9354 roll -0.50 - - 2017 - 2.40 0.074 882 -570.4 -116.8 - - 3183 - - - - - - - - 15.00 14.71 15.02
9396 734.2 -7.8 396 9403 done -0.50 - - 2015 - 2.53 0.086 2254 542.3 -116.8 - - 3184 - - - - - - - - 14.75 14.68 14.80
9741 760.6 -7.8 403 9745 roll -0.50 - - 2011 - 2.60 0.112 3696 554.6 -116.8 - - 3182 - - - - - - - - 15.00 14.67 15.02
9796 765.1 -8.2 411 9801 done -0.50 0.10 0.267 2033 220.0 2.45 0.065 2261 -585.7 -116.8 - - 3182 - - - - - - - - 14.57 14.76 14.77
10132 787.7 -6.7 424 10137 roll -0.50 - - 2033 - 2.40 0.070 877 -576.7 -116.8 - - 3181 - - - - - - - - 14.99 14.70 15.01
10230 794.6 -7.0 438 10235 done -0.50 - - 2028 - 2.50 0.089 2258 552.4 -116.8 - - 3181 - - - - - - - - 14.81 14.68 14.83
10580 817.6 -6.5 446 10585 roll -0.50 - - 2022 - 2.60 0.112 3701 555.0 -116.8 - - 3181 - - - - - - - - 15.00 14.66 15.01
10637 821.4 -7.0 454 10642 done -0.50 - - 2022 - 2.47 0.067 2258 -584.2 -116.8 - - 3180 - - - - - - - - 14.84 14.74 14.84
10973 844.0 -6.7 467 10977 roll -0.50 - - 2022 - 2.42 0.075 870 -573.6 -116.8 - - 3179 - - - - - - - - 14.98 14.69 15.00
11084 851.9 -6.7 483 11089 done -0.50 - - 2017 - 2.50 0.086 2249 551.6 -116.8 - - 3179 - - - - - - - - 14.81 14.67 14.83
11421 874.2 -6.7 496 11425 roll -0.50 - - 2013 - 2.62 0.115 3695 551.9 -116.8 - - 3179 - - - - - - - - 14.97 14.64 15.00
11468 877.8 -5.4 503 11475 done -0.50 - - 2011 - 2.53 0.065 2241 -574.7 -116.8 - - 3178 - - - - - - - - 14.75 14.71 14.81
11813 903.0 -7.3 510 11818 roll -0.50 - - 2011 - 2.38 0.075 886 -569.3 -116.8 - - 3178 - - - - - - - - 14.97 14.69 14.99
11881 908.5 -6.9 520 11887 done -0.50 - - 2011 - 2.50 0.088 2263 550.8 -116.8 - - 3177 - - - - - - - - 14.78 14.63 14.81
12204 932.6 -7.5 531 12205 done -0.50 - - 2011 - - - 2263 - -116.8 - - 3177 - - - - - - - - 14.98 15.00 15.00
12541 958.5 -7.7 537 12546 roll -0.50 - - 2011 - 2.45 0.072 877 -565.7 -116.8 - - 3176 - - - - - - - - 14.98 14.66 15.00
12624 965.4 -8.1 549 12630 done -0.50 - - 2008 - 2.50 0.093 2241 545.6 -116.8 - - 3175 - - - - - - - - 14.77 14.64 14.81
12985 end dive: TARGET_DEPTH_EXCEEDED
12985 begin apogee
12992 994.2 -8.0 559 13185 roll -0.19 0.45 0.230 2135 282.2 - - 2241 - - 189.98 1.646 2741 -2.3 0.256 - - - - - - 14.50 14.04 13.48
13186 end apogee: CONTROL_FINISHED_OK
13186 begin climb
13190 1000.9 - 562 13346 roll 0.68 0.93 0.154 2411 296.8 2.62 0.071 832 -537.8 116.8 144.57 1.932 2255 -3.4 0.323 - - - - - - 14.00 14.05 13.21
13423 985.9 8.5 600 13428 done 0.68 - - 2411 - 2.67 0.092 2235 525.5 116.8 - - 2235 - - - - - - - - 14.21 14.09 14.21
13774 950.2 10.4 608 13778 roll 0.62 - - 2422 - 2.60 0.096 840 -536.5 116.8 - - 2227 - - - - - - - - 14.68 14.42 14.69
13899 937.0 10.5 626 13904 done 0.62 - - 2422 - 2.65 0.094 2239 527.9 116.8 - - 2227 - - - - - - - - 14.52 14.46 14.57
14222 900.5 11.4 637 14228 roll 0.55 0.15 0.301 2382 -266.7 2.60 0.119 3642 539.6 116.8 - - 2226 - - - - - - - - 14.39 14.53 14.54
14270 895.2 13.6 644 14276 done 0.50 - - 2391 - 2.50 0.083 2264 -551.2 116.8 - - 2225 - - - - 1 - - - 14.62 14.56 14.66
14614 862.5 9.5 651 14618 roll 0.50 - - 2402 - 2.62 0.098 817 -552.3 116.8 - - 2224 - - - - - - - - 14.87 14.59 14.89
14670 857.2 9.5 659 14675 done 0.50 0.15 0.267 2369 -220.0 2.62 0.093 2244 544.7 116.8 - - 2223 - - - - - - - - 14.47 14.59 14.70
15006 830.2 8.0 672 15010 roll 0.50 - - 2368 - 2.58 0.120 3646 543.4 116.8 - - 2223 - - - - - - - - 14.90 14.59 14.92
15062 825.3 9.0 680 15067 done 0.50 - - 2377 - 2.53 0.083 2226 -561.3 116.8 - - 2222 - - - - - - - - 14.74 14.64 14.76
15398 796.4 8.7 693 15404 roll 0.50 - - 2388 - 2.58 0.100 820 -545.0 116.8 - - 2222 - - - - - - - - 14.91 14.62 14.93
15446 792.2 8.8 700 15453 done 0.50 - - 2388 - 2.62 0.090 2230 538.2 116.8 - - 2222 - - - - - - - - 14.69 14.61 14.73
15790 761.0 9.2 707 15794 roll 0.50 - - 2388 - 2.60 0.121 3648 545.4 116.8 - - 2222 - - - - - - - - 14.92 14.61 14.95
15845 755.2 10.5 715 15851 done 0.45 0.20 0.273 2351 -185.0 2.50 0.083 2239 -563.6 116.8 - - 2222 - - - - - - - - 14.47 14.66 14.73
16182 730.8 7.1 728 16186 roll 0.46 - - 2360 - 2.58 0.097 820 -550.0 121.2 - - 2222 - - - - - - - - 14.94 14.63 14.96
16238 726.8 7.2 736 16243 done 0.50 - - 2360 - 2.60 0.090 2247 548.8 125.3 - - 2221 - - - - - - - - 14.77 14.64 14.79
16573 701.4 7.6 749 16579 roll 0.50 - - 2360 - 2.55 0.120 3641 546.7 125.3 - - 2220 - - - - - - - - 14.93 14.62 14.98
16636 696.1 8.5 758 16641 done 0.50 - - 2370 - 2.45 0.080 2246 -569.4 125.3 - - 2220 - - - - - - - - 14.77 14.66 14.81
16966 668.7 8.4 770 16971 roll 0.50 - - 2380 - 2.58 0.097 825 -550.8 125.3 - - 2221 - - - - - - - - 14.93 14.63 14.95
17006 665.1 8.5 776 17012 done 0.50 - - 2380 - 2.62 0.090 2242 540.8 125.3 - - 2220 - - - - - - - - 14.69 14.62 14.73
17357 633.4 9.0 784 17362 roll 0.50 - - 2380 - 2.58 0.117 3642 542.6 125.3 - - 2220 - - - - - - - - 14.94 14.61 14.96
17399 629.2 10.3 790 17404 done 0.50 - - 2389 - 2.45 0.080 2255 -566.1 125.3 - - 2220 - - - - - - - - 14.80 14.66 14.81
17750 597.0 9.1 798 17754 roll 0.50 - - 2400 - 2.62 0.096 815 -549.6 125.3 - - 2220 - - - - - - - - 14.95 14.63 14.97
17776 594.5 8.9 802 17782 done 0.50 0.15 0.261 2365 -233.3 2.62 0.091 2252 548.5 125.3 - - 2220 - - - - - - - - 14.50 14.64 14.75
18142 565.7 7.8 812 18147 roll 0.50 - - 2370 - 2.55 0.120 3632 541.2 125.3 - - 2220 - - - - - - - - 14.95 14.60 14.97
18224 558.5 8.5 824 18230 done 0.50 - - 2374 - 2.47 0.080 2260 -555.5 125.3 - - 2219 - - - - - - - - 14.71 14.64 14.74
18590 531.3 7.3 834 18594 roll 0.50 - - 2383 - 2.60 0.094 820 -553.8 125.8 - - 2220 - - - - - - - - 14.94 14.64 14.96
18617 529.3 7.1 838 18628 done 0.51 - - 2384 - 2.65 0.090 2269 546.8 131.4 3.75 1.134 2202 -4.8 0.416 - - - - - - 14.76 14.63 13.89
18981 501.4 7.7 848 18986 roll 0.51 - - 2383 - 2.50 0.118 3639 548.0 131.4 - - 2207 - - - - - - - - 14.94 14.61 14.95
19086 492.4 8.7 863 19092 done 0.51 - - 2393 - 2.45 0.077 2273 -557.6 131.4 - - 2207 - - - - - - - - 14.70 14.64 14.73
19430 465.0 8.0 870 19435 roll 0.51 - - 2403 - 2.62 0.095 822 -553.8 131.4 - - 2207 - - - - - - - - 14.93 14.62 14.95
19513 458.3 7.9 882 19518 done 0.51 0.15 0.250 2368 -233.3 2.62 0.089 2265 550.8 131.4 - - 2207 - - - - - - - - 14.51 14.63 14.72
19878 432.2 7.3 892 19884 roll 0.51 - - 2367 - 2.58 0.116 3647 535.7 133.0 2.15 0.363 2196 -5.1 1.131 - - - - - - 14.93 14.66 13.80
19926 428.1 8.6 899 19931 done 0.51 - - 2376 - 2.42 0.078 2264 -571.5 133.0 - - 2200 - - - - - - - - 14.77 14.67 14.80
20262 401.9 7.9 912 20267 roll 0.51 - - 2386 - 2.60 0.090 819 -555.8 133.0 - - 2204 - - - - - - - - 14.94 14.62 14.96
20290 399.7 7.8 916 20295 done 0.51 - - 2386 - 2.62 0.088 2265 551.9 133.0 - - 2205 - - - - - - - - 14.76 14.63 14.78
20655 368.7 8.6 926 20659 roll 0.51 - - 2386 - 2.53 0.116 3645 545.5 133.0 - - 2205 - - - - - - - - 14.93 14.61 14.95
20731 361.4 9.4 937 20737 done 0.51 0.08 0.239 2361 -312.5 2.47 0.076 2270 -556.7 133.0 - - 2205 - - - - - - - - 14.50 14.64 14.71
21047 339.2 6.9 947 21072 roll 0.51 - - 2370 - 2.62 0.093 821 -553.1 142.4 20.08 1.361 2153 -2.6 0.120 - - - - - - 14.95 14.59 14.11
21109 335.0 6.8 956 21129 done 0.58 - - 2370 - 2.65 0.086 2279 550.2 155.4 15.20 1.349 2105 -3.2 0.146 - - - - - - 14.69 14.59 14.02
21439 311.1 7.3 968 21444 roll 0.58 - - 2370 - 2.50 0.115 3644 546.0 155.8 - - 2089 - - - - - - - - 14.82 14.53 14.83
21486 307.0 8.4 975 21493 done 0.58 - - 2379 - 2.47 0.077 2272 -555.5 155.8 - - 2088 - - - - - - - - 14.61 14.56 14.68
21831 279.6 8.0 982 21835 roll 0.58 - - 2390 - 2.62 0.093 822 -553.4 155.8 - - 2089 - - - - - - - - 14.88 14.58 14.90
21893 274.7 7.7 991 21898 done 0.58 - - 2390 - 2.62 0.085 2270 552.7 155.8 - - 2087 - - - - - - - - 14.71 14.59 14.74
22222 247.5 8.4 1003 22227 roll 0.58 - - 2390 - 2.50 0.115 3639 547.6 155.8 - - 2087 - - - - - - - - 14.91 14.59 14.92
22257 244.2 9.6 1008 22262 done 0.58 - - 2399 - 2.40 0.073 2266 -572.1 155.8 - - 2087 - - - - - - - - 14.76 14.66 14.78
22615 211.2 9.4 1017 22620 roll 0.58 - - 2408 - 2.60 0.091 821 -555.8 155.8 - - 2087 - - - - - - - - 14.92 14.63 14.93
22662 206.7 9.1 1024 22669 done 0.58 - - 2408 - 2.65 0.086 2261 543.4 155.8 - - 2087 - - - - - - - - 14.68 14.61 14.72
23007 174.1 9.4 1031 23012 roll 0.58 - - 2408 - 2.50 0.112 3639 551.2 155.8 - - 2087 - - - - - - - - 14.93 14.60 14.95
23075 166.9 10.3 1041 23082 done 0.58 0.08 0.241 2399 -112.5 2.42 0.072 2275 -563.6 155.8 - - 2087 - - - - - - - - 14.48 14.65 14.63
23399 140.4 8.2 1052 23408 roll 0.58 - - 2405 - 2.60 0.090 810 -563.5 155.8 - - 2087 - - - - - - - - 14.94 14.62 14.95
23450 136.2 7.9 1059 23457 done 0.58 - - 2405 - 2.67 0.086 2270 546.8 155.8 - - 2087 - - - - - - - - 14.66 14.60 14.71
23794 108.0 8.2 1066 23799 roll 0.58 - - 2405 - 2.50 0.112 3650 552.0 155.8 - - 2087 - - - - - - - - 14.94 14.62 14.96
23934 97.4 8.2 1086 23938 done 0.58 - - 2414 - 2.38 0.073 2286 -573.1 155.8 - - 2087 - - - - - - - - 14.77 14.66 14.80
24270 80.9 4.6 1101 24311 roll 0.62 - - 2421 - 2.67 0.085 819 -549.4 219.9 36.75 0.381 1847 -6.5 0.257 - - - - - - 14.93 14.62 14.38
24360 77.2 4.3 1114 24415 done 0.77 - - 2422 - 2.62 0.079 2292 562.2 291.3 45.95 0.373 1556 -6.3 0.243 - - - - - - 14.71 14.61 14.33
24742 59.4 4.9 1135 24781 done 1.03 0.30 0.127 2526 346.7 - - 2293 - 348.1 36.70 0.311 1321 -6.4 0.227 - - - - - - 14.55 14.62 14.35
25078 38.5 6.6 1150 25102 roll 1.17 0.12 0.126 2602 633.3 2.70 0.079 818 -546.3 366.4 14.00 0.234 1244 -5.5 0.168 - - - - - - 14.64 14.59 14.41
25109 35.9 7.7 1155 25114 done 1.17 - - 2603 - 2.62 0.079 2284 559.5 366.4 - - 1248 - - - - - - - - 14.67 14.57 14.69
25439 4.1 9.7 1169 25442 done 1.17 - - 2603 - - - 2284 - 366.4 2.22 0.166 1244 -1.8 0.008 - - - - - - 14.88 14.71 14.56
25463 end climb: SURFACE_DEPTH_REACHED
25463 begin surface coast
25491 end surface coast: CONTROL_FINISHED_OK
25491 begin surface
SM 0.91 - - - - -6.13 6.80 0.076 224 32.9 - - 2285 - 500.17 78.95 0.134 700 8.9 -0.006 - - - - - -