SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 1 • 42.86 of 350.00 AH used of 24V (87.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.19 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 516.11 (beyond SM_CC=515)
• GPS1 time: 27 s
• GPS2 time: 16 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 - - - 108 done -0.84 - - 156 - - - 1857 - -116.8 -79.70 - 3273 - - - - - - - - 14.81 14.00 14.83
112 9.2 -14.0 3 130 roll -0.84 11.90 0.392 2643 209.0 2.42 0.045 3290 592.1 -116.8 - - 3272 - - - - - - - - 14.41 14.64 14.65
137 26.7 -60.8 7 144 done 0.65 1.95 0.291 3130 249.7 2.35 0.043 1873 -603.0 -116.8 - - 3275 - - - - - - - - 14.48 14.64 14.66
466 58.3 -8.5 21 473 roll 0.11 0.50 0.097 2955 -350.0 2.38 0.055 460 -593.7 -116.8 - - 3276 - - - - - - - - 14.72 14.74 14.77
514 62.6 -8.1 28 523 done -0.33 0.40 0.071 2792 -407.5 2.38 0.031 1923 614.7 -116.8 - - 3275 - - - - - - - - 14.76 14.78 14.81
830 96.0 -9.1 40 837 roll -0.33 0.12 0.246 2825 275.0 2.47 0.054 454 -594.7 -116.8 - - 3275 - - - - - - - - 14.69 14.78 14.78
878 99.0 -6.2 47 886 done -0.33 - - 2820 - 2.22 0.032 1825 617.6 -116.8 - - 3275 - - - - - - - - 14.86 14.82 14.88
1195 117.4 -5.5 54 1197 done -0.43 - - 2819 - - - 1825 - -116.8 - - 3276 - - - - - - - - 15.00 15.03 15.02
1530 135.5 -5.5 60 1537 roll -0.56 0.17 0.112 2729 -529.4 2.38 0.053 3266 605.5 -116.8 - - 3276 - - - - - - - - 14.85 14.84 14.89
1599 141.5 -9.2 70 1606 done -0.56 - - 2729 - 2.47 0.038 1749 -614.2 -116.8 - - 3276 - - - - - - - - 14.92 14.85 14.93
1922 171.8 -9.3 81 1929 roll -0.56 - - 2729 - 2.15 0.060 463 -598.1 -116.8 - - 3274 - - - - - - - - 15.02 14.84 15.03
2026 182.3 -9.8 96 2034 done -0.56 - - 2720 - 2.08 0.033 1731 609.6 -116.8 - - 3274 - - - - - - - - 14.90 14.88 14.92
2371 214.9 -9.5 103 2377 roll -0.56 - - 2721 - 2.12 0.056 461 -599.1 -116.8 - - 3271 - - - - - - - - 15.03 14.88 15.05
2419 219.9 -10.2 110 2427 done -0.56 0.10 0.236 2741 200.0 2.05 0.034 1704 606.3 -116.8 - - 3269 - - - - - - - - 14.73 14.87 14.84
2764 251.4 -9.3 117 2779 roll -0.56 - - 2731 - 2.60 0.052 3273 603.5 -116.8 - - 3268 - - - - - - - - 15.04 14.87 15.07
2806 255.7 -9.7 122 2819 done -0.56 - - 2731 - 2.55 0.038 1710 -612.9 -116.8 - - 3268 - - - - - - - - 14.95 14.89 14.96
3169 291.5 -9.9 131 3183 roll -0.56 - - 2731 - 2.10 0.060 454 -598.1 -116.8 - - 3264 - - - - - - - - 15.07 14.90 15.09
3237 298.5 -10.2 140 3251 done -0.56 - - 2723 - 2.00 0.033 1709 627.5 -116.8 - - 3263 - - - - - - - - 14.98 14.93 14.99
3573 330.7 -9.5 152 3586 roll -0.56 - - 2712 - 2.58 0.054 3263 602.3 -116.8 - - 3261 - - - - - - - - 15.09 14.90 15.11
3635 336.5 -9.2 160 3648 done -0.56 0.15 0.243 2746 226.7 2.55 0.040 1707 -610.2 -116.8 - - 3260 - - - - - - - - 14.78 14.92 14.95
3977 363.7 -7.9 173 3990 done -0.56 - - 2745 - - - 1708 - -116.8 - - 3258 - - - - - - - - 15.09 15.11 15.11
4314 391.1 -8.2 179 4327 roll -0.56 - - 2745 - 2.10 0.061 453 -597.6 -116.8 - - 3255 - - - - - - - - 15.09 14.91 15.12
4368 396.1 -9.2 186 4381 done -0.56 - - 2740 - 2.08 0.034 1738 617.8 -116.8 - - 3256 - - - - - - - - 15.00 14.95 15.01
4712 426.2 -8.8 193 4725 done -0.56 - - 2740 - - - 1738 - -116.8 - - 3253 - - - - - - - - 15.09 15.12 15.11
5048 454.3 -8.3 199 5061 roll -0.56 - - 2728 - 2.55 0.057 3263 598.0 -116.8 - - 3251 - - - - - - - - 15.09 14.90 15.11
5095 458.2 -8.4 205 5108 done -0.56 - - 2728 - 2.55 0.039 1711 -608.6 -116.8 - - 3251 - - - - - - - - 14.99 14.92 15.00
5451 488.8 -8.6 213 5464 done -0.56 - - 2728 - - - 1710 - -116.8 - - 3249 - - - - - - - - 15.09 15.12 15.11
5788 518.3 -8.8 219 5801 roll -0.56 - - 2728 - 2.10 0.062 461 -594.8 -116.8 - - 3248 - - - - - - - - 15.09 14.90 15.12
5912 530.0 -9.3 236 5925 done -0.56 - - 2720 - 2.00 0.037 1704 621.5 -116.8 - - 3247 - - - - - - - - 15.00 14.95 15.01
6247 559.9 -8.9 248 6261 roll -0.56 - - 2708 - 2.60 0.057 3263 599.6 -116.8 - - 3246 - - - - - - - - 15.09 14.88 15.11
6330 567.3 -9.0 259 6343 done -0.56 0.15 0.246 2743 233.3 2.60 0.041 1685 -606.9 -116.8 - - 3245 - - - - - - - - 14.76 14.90 14.94
6651 592.3 -7.7 269 6665 roll -0.56 - - 2744 - 2.08 0.063 454 -591.8 -116.8 - - 3243 - - - - - - - - 15.09 14.89 15.11
6720 598.1 -8.3 278 6733 done -0.56 - - 2738 - 2.00 0.036 1697 621.5 -116.8 - - 3241 - - - - - - - - 14.98 14.93 15.00
7055 625.1 -8.1 290 7068 roll -0.56 - - 2726 - 2.62 0.057 3264 598.1 -116.8 - - 3242 - - - - - - - - 15.08 14.88 15.10
7186 635.9 -8.2 308 7199 done -0.56 - - 2726 - 2.60 0.041 1687 -606.5 -116.8 - - 3243 - - - - - - - - 14.96 14.90 14.98
7514 663.7 -8.6 319 7527 roll -0.56 - - 2726 - 2.08 0.064 460 -589.9 -116.8 - - 3241 - - - - - - - - 15.07 14.88 15.09
7610 672.6 -9.0 332 7624 done -0.56 0.12 0.272 2744 150.0 1.98 0.037 1678 615.2 -116.8 - - 3240 - - - - - - - - 14.73 14.93 14.92
7974 700.4 -7.6 341 7987 roll -0.56 - - 2741 - 2.65 0.057 3262 597.7 -116.8 - - 3239 - - - - - - - - 15.07 14.88 15.09
8136 712.7 -7.9 363 8149 done -0.56 - - 2735 - 2.58 0.041 1704 -603.9 -116.8 - - 3238 - - - - - - - - 14.96 14.90 14.98
8492 740.4 -7.7 371 8506 roll -0.56 - - 2735 - 2.10 0.065 464 -590.5 -116.8 - - 3236 - - - - - - - - 15.07 14.86 15.09
8554 745.6 -8.7 379 8567 done -0.56 - - 2726 - 2.05 0.038 1718 611.7 -116.8 - - 3237 - - - - - - - - 14.93 14.88 14.95
8897 772.1 -7.7 392 8910 roll -0.56 - - 2715 - 2.60 0.059 3263 594.2 -116.8 - - 3235 - - - - - - - - 15.07 14.86 15.08
8993 779.7 -7.8 405 9007 done -0.56 0.15 0.249 2749 226.7 2.55 0.041 1721 -604.7 -116.8 - - 3235 - - - - - - - - 14.71 14.88 14.90
9357 803.7 -6.6 414 9370 roll -0.56 - - 2748 - 2.15 0.067 460 -586.5 -116.8 - - 3234 - - - - - - - - 15.06 14.85 15.08
9432 809.0 -6.7 424 9445 done -0.56 - - 2743 - 2.05 0.038 1719 614.1 -116.8 - - 3234 - - - - - - - - 14.95 14.90 14.97
9760 831.1 -6.7 435 9773 roll -0.56 - - 2731 - 2.60 0.060 3262 593.5 -116.8 - - 3233 - - - - - - - - 15.05 14.85 15.07
9850 837.3 -6.8 447 9863 done -0.56 - - 2731 - 2.58 0.043 1718 -598.4 -116.8 - - 3233 - - - - - - - - 14.93 14.86 14.95
10220 862.4 -6.8 457 10233 roll -0.56 - - 2731 - 2.15 0.067 461 -584.7 -116.8 - - 3231 - - - - - - - - 15.04 14.83 15.07
10295 868.2 -7.7 467 10309 done -0.56 - - 2723 - 2.05 0.039 1719 613.7 -116.8 - - 3232 - - - - - - - - 14.94 14.89 14.97
10624 892.0 -7.3 478 10637 roll -0.56 - - 2711 - 2.60 0.060 3262 593.5 -116.8 - - 3231 - - - - - - - - 15.04 14.81 15.07
10692 897.8 -9.0 487 10705 done -0.56 0.15 0.248 2751 266.7 2.58 0.044 1711 -601.2 -116.8 - - 3231 - - - - - - - - 14.68 14.85 14.88
11028 919.7 -6.7 499 11041 roll -0.56 - - 2747 - 2.12 0.067 464 -588.2 -116.8 - - 3230 - - - - - - - - 15.04 14.83 15.06
11117 926.3 -8.4 511 11130 done -0.56 - - 2740 - 2.03 0.038 1698 607.9 -116.8 - - 3231 - - - - - - - - 14.92 14.87 14.94
11488 952.6 -7.2 521 11501 roll -0.56 - - 2729 - 2.67 0.060 3266 587.3 -116.8 - - 3229 - - - - - - - - 15.04 14.82 15.06
11629 962.9 -7.4 540 11642 done -0.56 - - 2728 - 2.60 0.042 1706 -600.0 -116.8 - - 3227 - - - - - - - - 14.92 14.85 14.93
11950 987.6 -7.8 550 11964 roll -0.56 - - 2729 - 2.12 0.067 463 -586.3 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.05
11973 end dive: TARGET_DEPTH_EXCEEDED
11973 begin apogee
11983 990.6 -7.8 553 12153 roll -0.21 0.52 0.230 2860 251.9 - - 1807 - - 160.43 1.871 2793 -2.7 0.266 - - - - - - 14.64 14.08 13.45
12154 end apogee: CONTROL_FINISHED_OK
12155 begin climb
12158 996.2 - 556 12298 roll 0.84 1.12 0.173 3191 295.5 2.50 0.060 3185 551.2 116.8 122.82 2.133 2318 -3.9 0.334 - - - - - - 14.08 14.14 13.27
12431 975.6 10.2 596 12445 done 0.73 0.15 0.282 3167 -160.0 2.38 0.041 1794 -584.5 116.8 - - 2293 - - - - - - - - 14.22 14.34 14.39
12773 945.3 8.7 609 12787 roll 0.73 - - 3170 - 2.40 0.054 3192 582.5 116.8 - - 2292 - - - - - - - - 14.77 14.60 14.79
12961 927.3 8.4 635 12974 done 0.73 - - 3177 - 2.33 0.041 1799 -597.9 116.8 - - 2291 - - - - - - - - 14.73 14.67 14.76
13289 898.5 8.8 646 13302 roll 0.73 - - 3188 - 2.45 0.068 393 -573.9 116.8 - - 2289 - - - - - - - - 14.90 14.71 14.92
13385 889.5 9.4 659 13398 done 0.73 - - 3185 - 2.30 0.035 1791 607.8 116.8 - - 2291 - - - - - - - - 14.82 14.77 14.83
13749 856.8 9.0 668 13762 roll 0.73 - - 3188 - 2.35 0.054 3185 593.2 116.8 - - 2290 - - - - - - - - 14.95 14.76 14.97
13803 852.1 9.4 675 13817 done 0.63 0.25 0.267 3143 -180.0 2.33 0.041 1794 -597.0 116.8 - - 2290 - - - - - - - - 14.61 14.78 14.81
14147 827.5 7.1 682 14164 roll 0.64 - - 3148 - 2.40 0.066 399 -581.2 130.2 4.82 1.564 2261 -6.0 0.589 - - - - - - 14.97 14.66 13.95
14247 819.6 7.9 696 14260 done 0.64 - - 3147 - 2.25 0.035 1770 609.3 130.2 - - 2262 - - - - - - - - 14.85 14.81 14.86
14603 791.8 7.8 704 14617 roll 0.65 - - 3148 - 2.38 0.054 3186 595.0 130.7 - - 2262 - - - - - - - - 14.97 14.79 14.99
14665 786.6 8.3 712 14679 done 0.65 - - 3157 - 2.38 0.042 1761 -598.7 130.7 - - 2263 - - - - - - - - 14.86 14.81 14.88
15007 759.5 7.9 725 15021 roll 0.65 - - 3168 - 2.35 0.067 399 -579.6 130.7 - - 2262 - - - - - - - - 14.98 14.78 15.00
15111 751.1 8.4 739 15124 done 0.65 - - 3167 - 2.20 0.035 1744 611.4 130.7 - - 2262 - - - - - - - - 14.88 14.83 14.90
15467 722.4 8.0 747 15480 roll 0.65 - - 3168 - 2.42 0.054 3192 598.3 130.7 - - 2262 - - - - - - - - 15.00 14.81 15.01
15563 714.2 7.7 760 15581 done 0.65 0.17 0.266 3139 -170.6 2.40 0.042 1754 -599.2 133.7 3.00 0.973 2246 -5.3 0.724 - - - - - - 14.64 14.83 13.91
15924 688.9 7.0 769 15964 roll 0.67 - - 3147 - 2.45 0.068 398 -553.5 148.8 27.62 1.756 2181 -2.4 0.171 - - - - - - 15.00 14.59 14.02
16019 681.7 8.2 782 16032 done 0.67 - - 3146 - 2.25 0.035 1755 603.1 148.8 - - 2174 - - - - - - - - 14.70 14.66 14.71
16375 652.8 8.2 790 16388 roll 0.67 - - 3147 - 2.42 0.055 3190 593.0 148.8 - - 2173 - - - - - - - - 14.89 14.71 14.91
16457 645.6 8.7 801 16470 done 0.67 - - 3155 - 2.35 0.042 1783 -598.7 148.8 - - 2172 - - - - - - - - 14.80 14.73 14.82
16779 619.2 8.2 811 16792 roll 0.67 - - 3166 - 2.40 0.068 402 -575.4 148.8 - - 2173 - - - - - - - - 14.94 14.73 14.97
16868 611.4 8.8 823 16881 done 0.67 - - 3166 - 2.25 0.034 1775 610.2 148.8 - - 2172 - - - - - - - - 14.85 14.80 14.87
17238 580.6 8.3 833 17251 roll 0.67 - - 3166 - 2.40 0.055 3193 590.8 148.8 - - 2172 - - - - - - - - 14.97 14.78 14.99
17307 574.6 8.8 842 17320 done 0.67 - - 3175 - 2.35 0.042 1775 -603.4 148.8 - - 2172 - - - - - - - - 14.86 14.80 14.88
17642 545.5 8.7 854 17655 roll 0.67 - - 3186 - 2.38 0.068 402 -576.9 148.8 - - 2172 - - - - - - - - 14.98 14.78 15.00
17710 539.1 9.5 863 17724 done 0.67 0.17 0.249 3147 -229.4 2.22 0.034 1767 614.9 148.8 - - 2172 - - - - - - - - 14.64 14.83 14.84
18048 513.1 7.7 875 18062 roll 0.67 - - 3146 - 2.38 0.054 3189 597.5 151.8 - - 2172 - - - - - - - - 14.97 14.80 15.01
18103 508.4 8.1 882 18117 done 0.67 - - 3153 - 2.38 0.041 1767 -597.5 151.8 - - 2172 - - - - - - - - 14.88 14.81 14.89
18447 481.0 8.1 889 18460 roll 0.67 - - 3164 - 2.35 0.067 402 -580.9 151.8 - - 2170 - - - - - - - - 15.00 14.78 15.04
18557 471.4 8.9 904 18571 done 0.67 - - 3164 - 2.22 0.034 1758 610.8 151.8 - - 2172 - - - - - - - - 14.89 14.84 14.90
18901 442.5 8.4 911 18914 roll 0.67 - - 3164 - 2.40 0.054 3192 597.5 151.8 - - 2172 - - - - - - - - 15.00 14.80 15.02
18997 434.0 8.6 924 19010 done 0.67 - - 3173 - 2.35 0.041 1778 -601.7 151.8 - - 2173 - - - - - - - - 14.88 14.82 14.90
19360 403.7 8.3 933 19373 roll 0.67 - - 3183 - 2.38 0.067 398 -579.8 151.8 - - 2172 - - - - - - - - 15.00 14.78 15.02
19479 393.8 8.4 949 19492 done 0.67 0.15 0.248 3150 -220.0 2.22 0.034 1764 615.3 151.8 - - 2172 - - - - - - - - 14.66 14.85 14.84
19822 370.5 6.7 962 19864 roll 0.70 - - 3150 - 2.47 0.053 3183 574.5 173.3 27.15 1.444 2081 -3.4 0.159 - - - - - - 14.98 14.66 14.14
19919 363.4 7.4 976 19938 done 0.71 - - 3160 - 2.40 0.041 1749 -597.5 181.6 3.10 0.822 2050 -10.0 0.818 - - - - - - 14.73 14.68 13.96
20271 337.7 7.4 984 20292 roll 0.72 - - 3167 - 2.42 0.067 393 -560.3 189.4 6.68 1.319 2022 -4.2 0.199 - - - - - - 14.90 14.69 14.08
20354 330.7 8.5 996 20367 done 0.72 - - 3167 - 2.20 0.034 1735 610.0 189.4 - - 2027 - - - - - - - - 14.78 14.73 14.80
20724 299.3 8.6 1006 20738 roll 0.72 - - 3167 - 2.42 0.052 3181 597.5 189.4 - - 2026 - - - - - - - - 14.93 14.75 14.95
20793 292.9 9.0 1015 20806 done 0.72 - - 3177 - 2.38 0.040 1746 -602.9 189.4 - - 2026 - - - - - - - - 14.83 14.77 14.84
21128 263.1 8.9 1027 21141 roll 0.72 - - 3187 - 2.30 0.066 402 -584.3 189.4 - - 2027 - - - - - - - - 14.96 14.76 14.98
21203 256.2 9.4 1037 21218 done 0.72 - - 3187 - 2.15 0.034 1727 616.3 189.4 2.00 0.168 2021 -3.0 0.846 - - - - - - 14.88 14.82 13.26
21533 226.9 8.8 1048 21546 roll 0.72 - - 3187 - 2.42 0.050 3181 600.8 189.4 - - 2024 - - - - - - - - 14.98 14.79 15.00
21636 217.7 8.8 1062 21649 done 0.72 0.15 0.260 3165 -146.7 2.40 0.040 1737 -601.7 189.4 - - 2024 - - - - - - - - 14.65 14.81 14.83
21992 192.2 7.2 1070 22029 roll 0.73 - - 3173 - 2.38 0.065 399 -562.2 202.5 21.95 1.228 1960 -2.9 0.084 - - - - - - 15.00 14.71 14.21
22109 182.7 8.6 1086 22122 done 0.73 - - 3172 - 2.17 0.032 1720 608.8 202.5 - - 1956 - - - - - - - - 14.79 14.75 14.81
22451 152.5 8.8 1099 22464 roll 0.73 - - 3172 - 2.45 0.050 3180 595.9 202.5 - - 1955 - - - - - - - - 14.93 14.74 14.96
22547 143.6 9.1 1112 22560 done 0.73 - - 3180 - 2.30 0.039 1779 -609.1 202.5 - - 1955 - - - - - - - - 14.84 14.78 14.85
22911 112.2 8.7 1121 22924 roll 0.73 - - 3180 - 2.35 0.049 3183 597.4 202.5 - - 1955 - - - - - - - - 14.97 14.79 15.00
22979 106.4 8.0 1130 22992 done 0.73 - - 3189 - 2.20 0.038 1839 -610.9 202.5 - - 1955 - - - - - - - - 14.87 14.81 14.89
23317 83.2 6.4 1146 23346 done 0.77 - - 3194 - - - 1840 - 229.0 19.73 0.327 1861 -4.8 0.224 - - - - - - 14.98 14.80 14.54
23650 65.4 4.4 1161 23722 roll 1.00 0.15 0.119 3268 493.3 2.47 0.061 405 -581.0 292.7 59.92 0.304 1599 -4.4 0.174 - - - - - - 14.79 14.67 14.50
23861 53.4 6.4 1191 23901 done 1.04 - - 3268 - 2.45 0.031 1909 613.9 320.7 27.58 0.262 1483 -4.2 0.159 - - - - - - 14.81 14.75 14.52
24209 34.3 5.7 1207 24257 roll 1.22 0.15 0.120 3345 513.3 2.60 0.060 405 -578.5 360.0 34.67 0.212 1328 -4.5 0.134 - - - - - - 14.74 14.71 14.57
24349 24.1 7.9 1227 24365 done 1.22 - - 3345 - 2.38 0.029 1868 614.7 360.0 2.92 0.149 1324 -1.4 0.041 - - - - - - 14.82 14.77 14.63
24656 end climb: SURFACE_DEPTH_REACHED
24656 begin surface coast
24687 end surface coast: CONTROL_FINISHED_OK
24687 begin surface
SM 1.14 - - - - -8.61 9.15 0.063 158 17.3 - - 1874 - 516.11 92.62 0.124 691 7.5 -0.007 - - - - - -