SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 102 * Raw log
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• Previous call tries 1 • 42.12 of 350.00 AH used of 24V (87.97% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.2 deg, depth 1.18 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: 20 s • Transponder ping count: 0
• 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 - - - 109 done -0.84 - - 162 - - - 1845 - -116.8 -80.95 - 3272 - - - - - - - - 14.82 13.70 14.84
113 8.4 -12.6 3 131 roll -0.84 11.98 0.396 2662 208.7 2.33 0.044 474 -588.4 -116.8 - - 3273 - - - - - - - - 14.40 14.65 14.65
151 32.5 -54.0 9 159 done 0.23 1.35 0.287 2991 243.7 2.28 0.037 1850 603.5 -116.8 - - 3274 - - - - - - - - 14.48 14.66 14.68
474 59.9 -6.1 22 477 done -0.07 0.28 0.077 2877 -407.1 - - 1851 - -116.8 - - 3274 - - - - - - - - 14.78 14.83 14.83
782 82.5 -5.8 33 789 roll -0.23 - - 2869 - 2.35 0.054 3275 606.0 -116.8 - - 3275 - - - - - - - - 14.97 14.80 14.99
823 84.9 -6.4 39 830 done -0.45 0.25 0.087 2765 -416.0 2.15 0.034 1933 -624.2 -116.8 - - 3275 - - - - - - - - 14.83 14.81 14.87
1173 114.7 -8.4 50 1176 done -0.45 - - 2766 - - - 1931 - -116.8 - - 3276 - - - - - - - - 15.00 15.03 15.05
1509 140.9 -7.9 56 1516 roll -0.45 - - 2766 - 2.42 0.057 485 -597.5 -116.8 - - 3275 - - - - - - - - 15.02 14.84 15.04
1614 150.5 -9.3 71 1622 done -0.45 - - 2756 - 2.35 0.034 1943 620.4 -116.8 - - 3275 - - - - - - - - 14.95 14.88 14.94
1958 181.1 -8.7 78 1964 roll -0.45 - - 2756 - 2.45 0.055 484 -595.5 -116.8 - - 3274 - - - - - - - - 15.03 14.84 15.05
2048 190.0 -10.0 91 2055 done -0.45 0.15 0.246 2780 160.0 2.33 0.034 1894 605.2 -116.8 - - 3273 - - - - - - - - 14.73 14.85 14.88
2406 217.8 -7.6 100 2412 roll -0.45 - - 2780 - 2.38 0.057 482 -593.3 -116.8 - - 3269 - - - - - - - - 15.03 14.86 15.06
2453 221.7 -8.1 107 2462 done -0.45 - - 2774 - 2.25 0.034 1843 604.9 -116.8 - - 3269 - - - - - - - - 14.90 14.90 14.92
2798 249.1 -8.1 114 2804 roll -0.45 - - 2764 - 2.35 0.054 3263 604.3 -116.8 - - 3266 - - - - - - - - 15.04 14.84 15.06
2832 251.9 -8.2 119 2845 done -0.45 - - 2763 - 2.25 0.037 1874 -617.3 -116.8 - - 3266 - - - - - - - - 14.95 14.87 14.96
3195 281.9 -8.3 128 3208 roll -0.45 - - 2764 - 2.35 0.060 469 -597.9 -116.8 - - 3263 - - - - - - - - 15.07 14.87 15.09
3375 298.3 -9.2 153 3388 done -0.45 - - 2755 - 2.15 0.034 1813 625.1 -116.8 - - 3261 - - - - - - - - 14.96 14.91 14.97
3709 328.8 -9.2 165 3723 roll -0.45 - - 2744 - 2.40 0.055 3262 603.8 -116.8 - - 3259 - - - - - - - - 15.09 14.90 15.11
3763 333.8 -9.1 172 3778 done -0.45 0.15 0.233 2778 226.7 2.35 0.039 1820 -613.6 -116.8 - - 3259 - - - - - - - - 14.78 14.92 14.94
4108 359.0 -7.2 179 4121 roll -0.45 - - 2779 - 2.28 0.060 469 -592.5 -116.8 - - 3256 - - - - - - - - 15.09 14.90 15.11
4249 369.1 -7.3 198 4262 done -0.45 - - 2773 - 2.12 0.034 1793 624.5 -116.8 - - 3255 - - - - - - - - 15.00 14.95 15.00
4570 390.8 -6.7 208 4583 roll -0.45 - - 2762 - 2.45 0.055 3268 602.0 -116.8 - - 3253 - - - - - - - - 15.10 14.91 15.10
4632 395.0 -6.9 216 4645 done -0.45 - - 2761 - 2.45 0.037 1773 -610.2 -116.8 - - 3252 - - - - - - - - 14.98 14.92 15.00
4974 419.5 -7.2 229 4988 roll -0.45 - - 2762 - 2.20 0.061 467 -593.6 -116.8 - - 3251 - - - - - - - - 15.12 14.88 15.11
5085 428.4 -8.0 244 5098 done -0.45 - - 2753 - 2.10 0.034 1764 617.6 -116.8 - - 3250 - - - - - - - - 14.99 14.94 15.00
5429 454.4 -7.6 251 5442 done -0.45 0.12 0.276 2779 216.7 - - 1764 - -116.8 - - 3249 - - - - - - - - 14.77 14.99 14.97
5765 476.0 -6.4 257 5778 roll -0.55 - - 2770 - 2.50 0.057 3260 598.4 -116.8 - - 3247 - - - - - - - - 15.09 14.90 15.11
5828 480.2 -6.7 265 5841 done -0.67 0.17 0.111 2699 -417.6 2.53 0.039 1730 -604.7 -116.8 - - 3246 - - - - - - - - 14.90 14.92 14.97
6170 513.9 -10.1 278 6183 roll -0.67 - - 2702 - 2.12 0.063 467 -595.8 -116.8 - - 3245 - - - - - - - - 15.09 14.90 15.11
6289 526.8 -11.0 294 6302 done -0.56 0.20 0.265 2740 190.0 2.00 0.036 1701 617.0 -116.8 - - 3245 - - - - - - - - 14.74 14.93 14.92
6631 557.2 -8.8 307 6644 roll -0.56 - - 2731 - 2.60 0.056 3260 599.6 -116.8 - - 3243 - - - - - - - - 15.08 14.89 15.11
6769 569.6 -8.9 326 6782 done -0.56 - - 2731 - 2.50 0.040 1738 -608.8 -116.8 - - 3242 - - - - - - - - 14.97 14.90 14.95
7090 598.5 -9.0 336 7103 roll -0.56 - - 2731 - 2.15 0.063 466 -591.6 -116.8 - - 3241 - - - - - - - - 15.11 14.88 15.12
7186 607.6 -9.4 349 7200 done -0.56 - - 2722 - 2.05 0.037 1731 617.1 -116.8 - - 3240 - - - - - - - - 14.97 14.92 14.99
7549 640.6 -9.1 358 7563 roll -0.56 - - 2711 - 2.55 0.057 3260 599.6 -116.8 - - 3240 - - - - - - - - 15.08 14.86 15.10
7646 649.4 -9.0 371 7659 done -0.56 0.15 0.248 2744 220.0 2.47 0.041 1761 -606.9 -116.8 - - 3239 - - - - - - - - 14.74 14.90 14.92
8009 676.9 -7.4 380 8022 roll -0.56 - - 2745 - 2.20 0.065 469 -587.3 -116.8 - - 3238 - - - - - - - - 15.07 14.87 15.09
8106 684.4 -7.9 393 8119 done -0.56 - - 2739 - 2.08 0.037 1747 614.4 -116.8 - - 3238 - - - - - - - - 14.97 14.92 14.98
8469 710.8 -7.3 402 8482 roll -0.56 - - 2727 - 2.55 0.058 3266 595.7 -116.8 - - 3236 - - - - - - - - 15.07 14.87 15.09
8580 719.2 -7.6 417 8594 done -0.56 - - 2727 - 2.53 0.041 1746 -600.8 -116.8 - - 3236 - - - - - - - - 14.95 14.88 14.97
8923 746.3 -7.9 424 8936 roll -0.56 - - 2725 - 2.17 0.065 470 -588.0 -116.8 - - 3235 - - - - - - - - 15.07 14.85 15.08
9026 755.3 -8.6 438 9039 done -0.56 - - 2719 - 2.05 0.037 1731 615.1 -116.8 - - 3234 - - - - - - - - 14.98 14.90 14.97
9382 784.6 -8.2 446 9396 roll -0.56 - - 2708 - 2.58 0.059 3261 593.0 -116.8 - - 3233 - - - - - - - - 15.06 14.85 15.09
9485 793.2 -8.2 460 9499 done -0.56 0.15 0.252 2741 220.0 2.50 0.043 1752 -603.6 -116.8 - - 3233 - - - - - - - - 14.70 14.88 14.90
9842 818.2 -7.0 468 9855 roll -0.56 - - 2746 - 2.20 0.066 464 -585.5 -116.8 - - 3232 - - - - - - - - 15.05 14.84 15.07
9889 821.8 -7.2 474 9902 done -0.56 - - 2740 - 2.10 0.039 1748 611.4 -116.8 - - 3232 - - - - - - - - 14.95 14.90 14.96
10245 848.0 -7.5 482 10258 roll -0.56 - - 2729 - 2.55 0.060 3264 594.5 -116.8 - - 3231 - - - - - - - - 15.05 14.85 15.07
10328 854.4 -7.7 493 10341 done -0.56 - - 2729 - 2.50 0.042 1762 -600.8 -116.8 - - 3230 - - - - - - - - 14.93 14.86 14.95
10649 879.3 -7.9 503 10662 roll -0.56 - - 2729 - 2.22 0.067 461 -586.0 -116.8 - - 3229 - - - - - - - - 15.05 14.83 15.07
10717 885.3 -8.9 512 10731 done -0.56 - - 2721 - 2.10 0.039 1745 611.4 -116.8 - - 3230 - - - - - - - - 14.93 14.88 14.95
11052 913.7 -8.4 524 11065 roll -0.56 - - 2709 - 2.55 0.060 3255 592.2 -116.8 - - 3229 - - - - - - - - 15.06 14.83 15.06
11093 917.2 -6.1 529 11106 done -0.56 0.15 0.253 2743 226.7 2.53 0.043 1738 -599.6 -116.8 - - 3229 - - - - - - - - 14.68 14.85 14.88
11457 944.0 -7.3 538 11470 done -0.56 - - 2743 - - - 1733 - -116.8 - - 3228 - - - - - - - - 15.04 15.07 15.06
11792 967.8 -7.0 544 11806 roll -0.56 - - 2745 - 2.17 0.067 463 -585.3 -116.8 - - 3228 - - - - - - - - 15.04 14.82 15.07
11882 974.7 -6.5 556 11895 done -0.56 - - 2740 - 2.10 0.039 1747 611.4 -116.8 - - 3227 - - - - - - - - 14.92 14.87 14.94
12137 end dive: TARGET_DEPTH_EXCEEDED
12137 begin apogee
12144 993.6 -7.1 564 12273 roll -0.21 0.45 0.228 2859 264.4 - - 1748 - - 118.78 2.174 2793 -3.7 0.308 - - - - - - 14.67 14.09 13.41
12274 end apogee: CONTROL_FINISHED_OK
12274 begin climb
12278 998.6 - 566 12418 roll 0.84 1.15 0.182 3188 286.1 2.45 0.064 402 -549.4 116.8 122.85 2.137 2313 -3.9 0.337 - - - - - - 14.09 14.15 13.30
12617 973.7 10.5 617 12630 done 0.84 - - 3189 - 2.38 0.035 1810 591.6 116.8 - - 2291 - - - - - - - - 14.51 14.46 14.52
12938 944.6 9.2 627 12951 roll 0.84 - - 3198 - 2.47 0.063 402 -570.0 116.8 - - 2289 - - - - - - - - 14.79 14.61 14.82
13147 924.4 9.4 656 13160 done 0.73 0.12 0.275 3173 -208.3 2.38 0.035 1837 602.9 116.8 - - 2289 - - - - - - - - 14.52 14.71 14.73
13510 894.0 8.4 665 13523 done 0.73 - - 3173 - - - 1837 - 116.8 - - 2288 - - - - - - - - 14.92 14.95 14.97
13846 865.8 8.5 671 13859 roll 0.73 - - 3173 - 2.28 0.055 3186 591.7 116.8 - - 2288 - - - - - - - - 14.95 14.78 14.98
13886 862.2 9.8 676 13900 done 0.73 - - 3180 - 2.30 0.041 1800 -602.6 116.8 - - 2287 - - - - - - - - 14.85 14.80 14.88
14249 831.2 8.5 685 14262 roll 0.73 - - 3191 - 2.42 0.067 396 -580.2 116.8 - - 2291 - - - - - - - - 14.97 14.77 15.00
14331 823.5 9.4 696 14344 done 0.73 - - 3191 - 2.33 0.035 1811 607.3 116.8 - - 2286 - - - - - - - - 14.88 14.83 14.90
14653 794.2 9.2 706 14666 roll 0.73 - - 3191 - 2.33 0.055 3188 591.0 116.8 - - 2287 - - - - - - - - 14.98 14.81 15.00
14735 786.3 9.5 717 14749 done 0.63 0.25 0.267 3140 -204.0 2.28 0.041 1817 -601.3 116.8 - - 2287 - - - - - - - - 14.64 14.82 14.85
15057 763.2 7.1 727 15074 roll 0.65 - - 3149 - 2.45 0.066 404 -576.7 131.6 5.75 1.664 2254 -5.7 0.485 - - - - - - 15.00 14.68 14.00
15157 755.3 7.9 741 15170 done 0.65 - - 3149 - 2.30 0.035 1805 609.1 131.6 - - 2255 - - - - - - - - 14.86 14.81 14.88
15514 727.5 7.8 749 15527 roll 0.65 - - 3149 - 2.33 0.056 3186 592.7 132.4 - - 2255 - - - - - - - - 14.98 14.79 15.00
15568 722.9 8.2 756 15581 done 0.65 - - 3157 - 2.33 0.042 1798 -595.7 132.4 - - 2255 - - - - - - - - 14.88 14.81 14.88
15912 695.5 7.9 763 15925 roll 0.65 - - 3169 - 2.42 0.067 395 -579.8 132.4 - - 2255 - - - - - - - - 14.99 14.78 15.01
16008 687.6 8.1 776 16021 done 0.65 - - 3168 - 2.28 0.035 1787 610.5 132.4 - - 2255 - - - - - - - - 14.90 14.85 14.94
16371 658.9 7.9 785 16385 roll 0.65 - - 3168 - 2.35 0.054 3187 595.7 132.4 - - 2255 - - - - - - - - 15.00 14.81 15.02
16454 652.4 8.0 796 16467 done 0.65 0.15 0.268 3146 -146.7 2.33 0.041 1790 -599.6 132.4 - - 2254 - - - - - - - - 14.65 14.82 14.84
16775 630.2 6.9 806 16819 roll 0.68 - - 3160 - 2.47 0.068 408 -559.5 150.2 29.05 1.681 2173 -2.8 0.193 - - - - - - 15.00 14.60 14.06
16892 621.5 8.1 822 16905 done 0.68 - - 3154 - 2.33 0.035 1793 594.4 150.2 - - 2167 - - - - - - - - 14.71 14.69 14.73
17234 594.3 7.9 835 17247 roll 0.68 - - 3154 - 2.38 0.054 3186 585.3 150.2 - - 2166 - - - - - - - - 14.89 14.71 14.91
17309 587.8 8.5 845 17322 done 0.68 - - 3162 - 2.28 0.041 1819 -599.6 150.2 - - 2165 - - - - - - - - 14.81 14.73 14.82
17637 560.1 8.5 856 17651 roll 0.68 - - 3173 - 2.45 0.067 402 -578.4 150.2 - - 2165 - - - - - - - - 14.93 14.73 14.97
17756 549.4 9.2 872 17769 done 0.68 - - 3173 - 2.28 0.034 1789 608.3 150.2 - - 2165 - - - - - - - - 14.85 14.81 14.87
18098 519.0 8.9 885 18112 roll 0.68 0.12 0.269 3142 -258.3 2.33 0.051 3181 597.4 150.2 - - 2165 - - - - - - - - 14.64 14.77 14.76
18181 512.0 8.0 896 18194 done 0.68 - - 3148 - 2.28 0.041 1814 -599.6 150.2 - - 2163 - - - - - - - - 14.86 14.80 14.88
18503 487.2 7.8 906 18516 roll 0.68 - - 3159 - 2.45 0.067 402 -576.3 152.0 - - 2164 - - - - - - - - 14.98 14.77 15.00
18592 479.9 8.1 918 18605 done 0.68 - - 3159 - 2.30 0.034 1804 609.6 152.0 - - 2165 - - - - - - - - 14.88 14.83 14.90
18962 449.4 8.3 928 18975 roll 0.68 - - 3159 - 2.33 0.054 3190 594.8 152.0 - - 2165 - - - - - - - - 15.00 14.80 15.02
19051 441.5 8.8 940 19065 done 0.68 - - 3168 - 2.25 0.041 1826 -606.2 152.0 - - 2165 - - - - - - - - 14.88 14.82 14.90
19421 410.0 8.6 950 19435 roll 0.68 - - 3178 - 2.47 0.067 398 -578.1 152.0 - - 2165 - - - - - - - - 15.00 14.78 15.02
19525 400.7 9.0 964 19538 done 0.68 - - 3178 - 2.38 0.035 1835 603.8 152.0 - - 2165 - - - - - - - - 14.89 14.84 14.91
19881 370.3 8.5 972 19894 roll 0.68 - - 3178 - 2.25 0.054 3190 602.2 152.0 - - 2165 - - - - - - - - 15.00 14.78 15.02
19956 363.6 8.9 982 19970 done 0.68 0.17 0.259 3149 -170.6 2.20 0.040 1852 -608.2 152.0 - - 2165 - - - - - - - - 14.65 14.83 14.85
20285 340.4 7.0 993 20315 roll 0.70 - - 3155 - 2.53 0.064 399 -574.3 167.7 17.45 1.431 2103 -3.6 0.156 - - - - - - 15.00 14.64 14.21
20426 329.7 7.7 1013 20439 done 0.70 - - 3155 - 2.33 0.033 1815 607.7 171.2 - - 2096 - - - - - - - - 14.81 14.76 14.82
20796 302.3 7.3 1023 20815 roll 0.71 - - 3155 - 2.38 0.052 3187 576.5 181.1 6.70 1.285 2055 -6.1 0.266 - - - - - - 14.95 14.75 14.14
20850 298.2 8.0 1030 20863 done 0.71 - - 3164 - 2.30 0.040 1806 -600.4 181.1 - - 2058 - - - - - - - - 14.83 14.76 14.83
21192 271.9 7.7 1043 21209 roll 0.72 - - 3174 - 2.42 0.066 403 -579.8 184.6 3.30 0.844 2041 -5.2 0.306 - - - - - - 14.95 14.76 14.05
21292 263.6 8.3 1057 21305 done 0.72 - - 3174 - 2.25 0.032 1786 614.7 184.6 - - 2047 - - - - - - - - 14.85 14.81 14.86
21648 233.5 8.5 1065 21661 roll 0.72 - - 3175 - 2.33 0.052 3179 597.9 184.6 - - 2046 - - - - - - - - 14.97 14.79 15.00
21716 227.4 8.9 1074 21729 done 0.72 - - 3183 - 2.30 0.040 1784 -606.5 184.6 - - 2047 - - - - - - - - 14.85 14.80 14.88
22052 197.7 8.8 1086 22065 roll 0.72 - - 3194 - 2.38 0.066 402 -580.7 184.6 - - 2047 - - - - - - - - 14.98 14.78 15.01
22141 189.4 9.0 1098 22154 done 0.72 0.15 0.245 3160 -226.7 2.22 0.032 1782 621.6 184.6 - - 2047 - - - - - - - - 14.65 14.83 14.82
22511 161.2 7.7 1108 22529 roll 0.72 - - 3160 - 2.33 0.052 3174 597.4 187.7 4.10 0.929 2027 -4.9 0.156 - - - - - - 15.00 14.82 14.16
22605 153.6 7.9 1121 22618 done 0.72 - - 3172 - 2.25 0.039 1810 -606.2 187.7 - - 2032 - - - - - - - - 14.88 14.85 14.90
22968 125.3 8.1 1130 22981 roll 0.72 - - 3177 - 2.42 0.065 396 -584.3 187.7 - - 2033 - - - - - - - - 15.00 14.79 15.02
23148 110.6 7.5 1155 23168 done 0.73 - - 3177 - 2.22 0.033 1763 615.8 193.6 7.93 0.314 2002 -3.9 0.254 - - - - - - 14.90 14.85 14.50
23479 90.6 5.6 1168 23536 roll 0.78 - - 3177 - 2.38 0.048 3184 597.1 234.8 43.03 0.370 1835 -3.9 0.175 - - - - - - 14.99 14.69 14.50
23648 80.8 5.8 1192 23699 done 0.98 0.17 0.110 3253 447.1 2.15 0.037 1880 -606.5 272.8 37.28 0.340 1685 -4.0 0.176 - - - - - - 14.75 14.76 14.45
24014 59.5 4.6 1211 24086 roll 1.15 0.12 0.134 3320 558.3 2.60 0.063 408 -566.2 334.2 56.38 0.285 1432 -4.5 0.173 - - - - - - 14.74 14.64 14.49
24134 50.7 7.1 1228 24160 done 1.17 - - 3319 - 2.50 0.031 1930 608.8 347.5 13.88 0.243 1381 -3.7 0.141 - - - - - - 14.77 14.72 14.50
24468 29.6 5.7 1242 24516 roll 1.31 - - 3326 - 2.65 0.058 394 -579.6 387.6 35.47 0.200 1211 -4.8 0.131 - - - - - - 14.92 14.69 14.57
24553 24.3 7.1 1254 24583 done 1.44 0.20 0.104 3402 380.0 2.35 0.029 1850 619.6 401.3 12.73 0.183 1158 -4.2 0.102 - - - - - - 14.73 14.76 14.57
24771 end climb: SURFACE_DEPTH_REACHED
24771 begin surface coast
24800 end surface coast: CONTROL_FINISHED_OK
24800 begin surface
SM 1.14 - - - - -8.60 9.27 0.063 160 17.2 - - 1857 - 515.13 68.60 0.124 690 10.1 -0.009 - - - - - -