SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 63.57 of 350.00 AH used of 24V (81.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.3 deg, depth 1.09 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 36 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 146 - - - 1865 - -116.8 -80.10 - 3276 - - - - - - - - 14.77 13.83 14.81
111 9.2 -13.9 3 128 roll -0.84 11.98 0.390 2659 209.8 2.40 0.044 454 -587.9 -116.8 - - 3276 - - - - - - - - 14.35 14.60 14.62
170 39.4 -33.0 12 177 done -0.29 0.73 0.286 2827 230.1 2.28 0.034 1841 608.3 -116.8 - - 3275 - - - - - - - - 14.40 14.64 14.62
492 80.5 -9.3 25 498 roll -0.29 - - 2819 - 2.38 0.052 3274 602.1 -116.8 - - 3275 - - - - - - - - 14.90 14.68 14.91
729 100.7 -7.7 59 736 done -0.39 - - 2819 - 2.08 0.034 1984 -620.2 -116.8 - - 3275 - - - - - - - - 14.83 14.76 14.83
1080 122.9 -6.0 67 1086 roll -0.39 - - 2811 - 2.12 0.053 3268 605.7 -116.8 - - 3276 - - - - - - - - 14.95 14.76 14.99
1199 130.7 -6.7 84 1206 done -0.51 0.12 0.127 2751 -500.0 2.05 0.034 1993 -622.0 -116.8 - - 3279 - - - - - - - - 14.78 14.80 14.85
1528 159.3 -8.7 96 1534 roll -0.51 - - 2751 - 2.58 0.057 463 -593.0 -116.8 - - 3273 - - - - - - - - 14.99 14.78 15.01
1713 176.0 -9.3 122 1720 done -0.51 - - 2741 - 2.38 0.034 1930 616.4 -116.8 - - 3274 - - - - - - - - 14.87 14.81 14.88
2035 205.8 -9.2 133 2042 roll -0.51 - - 2741 - 2.47 0.054 458 -596.0 -116.8 - - 3272 - - - - - - - - 15.00 14.78 15.02
2104 212.9 -10.2 143 2111 done -0.51 0.15 0.255 2764 153.3 2.33 0.034 1888 613.7 -116.8 - - 3271 - - - - - - - - 14.62 14.82 14.82
2427 239.6 -8.2 154 2434 roll -0.51 - - 2764 - 2.40 0.056 467 -592.1 -116.8 - - 3268 - - - - - - - - 15.00 14.76 15.04
2531 248.8 -8.7 169 2539 done -0.51 - - 2758 - 2.30 0.034 1852 602.2 -116.8 - - 3268 - - - - - - - - 14.88 14.80 14.89
2875 277.0 -8.2 176 2888 roll -0.51 - - 2758 - 2.35 0.057 461 -591.9 -116.8 - - 3264 - - - - - - - - 15.04 14.82 15.06
2972 285.5 -8.8 189 2985 done -0.51 - - 2746 - 2.17 0.035 1808 620.7 -116.8 - - 3263 - - - - - - - - 14.92 14.87 14.93
3335 316.8 -8.6 198 3348 roll -0.51 - - 2739 - 2.42 0.057 3270 604.1 -116.8 - - 3260 - - - - - - - - 15.05 14.83 15.07
3361 319.2 -8.7 201 3374 done -0.51 - - 2738 - 2.42 0.038 1779 -616.1 -116.8 - - 3258 - - - - - - - - 14.92 14.86 14.95
3683 349.1 -9.4 211 3696 roll -0.51 - - 2738 - 2.20 0.058 464 -597.7 -116.8 - - 3258 - - - - - - - - 15.05 14.84 15.07
3801 361.1 -10.3 227 3815 done -0.51 0.15 0.260 2762 160.0 2.08 0.034 1750 618.3 -116.8 - - 3257 - - - - - - - - 14.66 14.89 14.86
4144 389.5 -8.2 240 4157 roll -0.51 - - 2754 - 2.53 0.054 3263 598.0 -116.8 - - 3255 - - - - - - - - 15.06 14.81 15.07
4213 395.2 -8.1 249 4226 done -0.51 - - 2754 - 2.47 0.038 1748 -613.4 -116.8 - - 3256 - - - - - - - - 14.93 14.86 14.95
4548 422.3 -8.0 261 4561 roll -0.51 - - 2754 - 2.15 0.060 469 -594.9 -116.8 - - 3250 - - - - - - - - 15.06 14.84 15.07
4659 431.5 -8.2 276 4672 done -0.51 - - 2745 - 2.05 0.034 1736 618.0 -116.8 - - 3252 - - - - - - - - 14.92 14.88 14.97
5002 459.0 -8.0 283 5016 roll -0.51 - - 2736 - 2.55 0.056 3265 599.6 -116.8 - - 3249 - - - - - - - - 15.05 14.83 15.07
5072 464.6 -8.1 292 5085 done -0.51 0.12 0.247 2760 200.0 2.55 0.040 1709 -610.2 -116.8 - - 3249 - - - - - - - - 14.66 14.85 14.86
5407 489.1 -7.4 304 5420 roll -0.51 - - 2760 - 2.10 0.060 461 -594.3 -116.8 - - 3251 - - - - - - - - 15.04 14.85 15.07
5511 497.5 -8.1 318 5524 done -0.51 - - 2754 - 2.00 0.035 1700 619.5 -116.8 - - 3247 - - - - - - - - 14.92 14.88 14.95
5867 526.3 -8.2 326 5881 roll -0.51 - - 2743 - 2.62 0.055 3268 598.5 -116.8 - - 3245 - - - - - - - - 15.04 14.82 15.07
5922 530.8 -8.4 333 5935 done -0.51 - - 2743 - 2.62 0.039 1686 -603.8 -116.8 - - 3245 - - - - - - - - 14.91 14.85 14.93
6267 560.5 -8.6 340 6280 roll -0.51 - - 2743 - 2.05 0.061 468 -594.1 -116.8 - - 3245 - - - - - - - - 15.05 14.81 15.07
6349 568.1 -9.0 351 6362 done -0.51 0.12 0.266 2760 141.7 1.98 0.035 1694 619.2 -116.8 - - 3243 - - - - - - - - 14.62 14.88 14.84
6671 593.2 -7.8 361 6684 roll -0.51 - - 2751 - 2.62 0.057 3263 598.9 -116.8 - - 3242 - - - - - - - - 15.04 14.81 15.07
6733 598.1 -8.0 369 6746 done -0.51 - - 2750 - 2.62 0.041 1679 -604.6 -116.8 - - 3242 - - - - - - - - 14.90 14.83 14.92
7075 626.1 -8.1 382 7088 roll -0.51 - - 2751 - 2.05 0.062 467 -591.2 -116.8 - - 3241 - - - - - - - - 15.04 14.81 15.07
7194 636.0 -8.3 398 7207 done -0.51 - - 2744 - 1.90 0.037 1650 622.6 -116.8 - - 3243 - - - - - - - - 14.91 14.86 14.93
7536 663.4 -8.0 411 7549 roll -0.51 - - 2731 - 2.72 0.057 3264 593.4 -116.8 - - 3239 - - - - - - - - 15.03 14.80 15.05
7655 672.8 -8.0 427 7669 done -0.51 0.12 0.249 2757 216.7 2.65 0.041 1670 -601.5 -116.8 - - 3238 - - - - - - - - 14.60 14.81 14.85
7998 697.3 -7.1 440 8011 roll -0.51 - - 2759 - 2.05 0.063 457 -591.7 -116.8 - - 3237 - - - - - - - - 15.03 14.79 15.04
8067 702.4 -7.4 449 8080 done -0.51 - - 2754 - 1.95 0.037 1663 618.5 -116.8 - - 3236 - - - - - - - - 14.90 14.85 14.92
8402 726.6 -7.3 461 8415 roll -0.51 - - 2743 - 2.70 0.057 3262 592.2 -116.8 - - 3235 - - - - - - - - 15.03 14.78 15.04
8551 737.6 -7.5 481 8564 done -0.51 - - 2742 - 2.60 0.041 1693 -603.5 -116.8 - - 3234 - - - - - - - - 14.85 14.78 14.88
8921 766.8 -7.9 491 8934 roll -0.51 - - 2743 - 2.10 0.063 461 -586.7 -116.8 - - 3234 - - - - - - - - 15.03 14.77 15.04
9010 774.4 -9.4 503 9023 done -0.51 0.12 0.264 2759 133.3 2.03 0.037 1700 610.3 -116.8 - - 3234 - - - - - - - - 14.57 14.83 14.79
9381 800.5 -7.0 513 9394 roll -0.51 - - 2751 - 2.65 0.058 3262 589.4 -116.8 - - 3232 - - - - - - - - 15.02 14.76 15.04
9456 805.9 -7.0 523 9470 done -0.60 - - 2751 - 2.60 0.042 1698 -601.5 -116.8 - - 3232 - - - - - - - - 14.86 14.79 14.88
9785 828.6 -6.9 534 9798 roll -0.60 - - 2751 - 2.10 0.065 468 -585.7 -116.8 - - 3231 - - - - - - - - 15.01 14.76 15.03
9889 836.2 -6.7 548 9902 done -0.60 - - 2743 - 1.98 0.037 1681 612.6 -116.8 - - 3231 - - - - - - - - 14.88 14.82 14.89
10245 861.1 -6.9 556 10259 roll -0.60 - - 2731 - 2.70 0.058 3269 588.1 -116.8 - - 3230 - - - - - - - - 15.00 14.75 15.02
10335 867.9 -7.5 568 10348 done -0.60 - - 2731 - 2.62 0.041 1689 -603.1 -116.8 - - 3230 - - - - - - - - 14.87 14.79 14.88
10705 896.8 -7.6 578 10718 roll -0.60 - - 2731 - 2.10 0.064 458 -586.2 -116.8 - - 3230 - - - - - - - - 15.00 14.74 15.02
10795 904.8 -8.9 590 10809 done -0.60 - - 2723 - 2.00 0.037 1678 610.0 -116.8 - - 3229 - - - - - - - - 14.86 14.81 14.88
11166 936.8 -8.7 600 11179 roll -0.60 - - 2712 - 2.70 0.058 3266 588.1 -116.8 - - 3229 - - - - - - - - 15.00 14.73 15.02
11249 944.1 -8.7 611 11262 done -0.60 - - 2711 - 2.67 0.042 1667 -598.9 -116.8 - - 3228 - - - - - - - - 14.83 14.76 14.85
11570 972.5 -8.9 621 11584 roll -0.60 - - 2711 - 2.05 0.065 467 -585.4 -116.8 - - 3228 - - - - - - - - 14.99 14.73 15.02
11639 979.0 -6.0 630 11653 done -0.60 0.12 0.282 2728 141.7 1.95 0.037 1667 615.4 -116.8 - - 3228 - - - - - - - - 14.49 14.80 14.74
11804 end dive: TARGET_DEPTH_EXCEEDED
11804 begin apogee
11812 992.6 -7.8 639 11940 roll -0.21 0.47 0.230 2854 268.1 - - 1834 - - 118.38 2.198 2792 -3.7 0.309 - - - - - - 14.50 14.08 13.33
11942 end apogee: CONTROL_FINISHED_OK
11942 begin climb
11946 997.9 - 641 12087 roll 0.84 1.17 0.180 3187 284.6 2.62 0.064 396 -548.9 116.8 122.93 2.160 2316 -3.9 0.332 - - - - - - 14.07 14.14 13.20
12263 975.3 7.7 689 12277 done 0.84 - - 3190 - 2.35 0.036 1785 591.1 120.5 - - 2294 - - - - - - - - 14.45 14.39 14.45
12599 942.8 9.4 701 12612 roll 0.84 - - 3200 - 2.45 0.063 401 -564.9 120.5 - - 2292 - - - - - - - - 14.78 14.56 14.80
12787 923.8 10.1 727 12800 done 0.74 0.15 0.266 3168 -213.3 2.35 0.035 1822 604.7 120.5 - - 2291 - - - - - - - - 14.43 14.67 14.67
13115 895.7 8.4 738 13128 roll 0.74 - - 3168 - 2.30 0.054 3183 591.7 120.5 - - 2291 - - - - - - - - 14.88 14.68 14.91
13190 888.8 10.7 748 13203 done 0.74 - - 3175 - 2.25 0.040 1824 -604.0 120.5 - - 2290 - - - - - - - - 14.77 14.71 14.79
13519 859.8 8.9 759 13532 roll 0.74 - - 3186 - 2.47 0.066 404 -574.9 120.5 - - 2290 - - - - - - - - 14.93 14.68 14.95
13622 850.6 9.5 773 13635 done 0.74 - - 3186 - 2.30 0.034 1805 609.1 120.5 - - 2290 - - - - - - - - 14.81 14.76 14.83
13978 817.5 9.1 781 13992 roll 0.74 - - 3186 - 2.33 0.054 3183 591.4 120.5 - - 2290 - - - - - - - - 14.95 14.72 14.97
14041 811.5 9.7 789 14054 done 0.64 0.22 0.269 3143 -195.5 2.30 0.041 1799 -601.7 120.5 - - 2289 - - - - - - - - 14.49 14.74 14.75
14386 786.2 7.3 802 14405 roll 0.65 - - 3151 - 2.38 0.065 397 -589.1 131.6 6.15 1.714 2255 -5.5 0.471 - - - - - - 14.95 14.64 13.98
14506 777.1 7.2 818 14542 done 0.67 - - 3151 - 2.28 0.034 1778 605.7 143.0 19.15 1.895 2203 -2.7 0.207 - - - - - - 14.81 14.76 13.98
14902 746.8 7.6 832 14915 roll 0.67 - - 3151 - 2.38 0.054 3184 590.8 148.1 - - 2197 - - - - - - - - 14.87 14.66 14.89
14977 740.5 8.1 842 14990 done 0.67 - - 3160 - 2.33 0.041 1790 -598.3 148.1 - - 2196 - - - - - - - - 14.76 14.69 14.80
15305 715.2 7.8 853 15322 roll 0.68 - - 3177 - 2.47 0.067 397 -564.0 149.6 1.83 0.173 2180 -8.7 6.717 - - - - - - 14.92 14.66 14.60
15413 706.0 8.6 868 15427 done 0.68 - - 3175 - 2.25 0.034 1772 611.1 149.6 - - 2182 - - - - - - - - 14.80 14.75 14.81
15756 676.5 8.6 875 15770 roll 0.68 - - 3171 - 2.38 0.052 3185 593.7 149.6 - - 2182 - - - - - - - - 14.93 14.73 14.96
15839 668.5 9.5 886 15853 done 0.68 0.15 0.269 3149 -146.7 2.33 0.041 1782 -602.1 149.6 - - 2182 - - - - - - - - 14.51 14.73 14.72
16161 642.0 8.3 896 16174 roll 0.68 - - 3157 - 2.38 0.066 405 -578.6 149.6 - - 2182 - - - - - - - - 14.95 14.71 14.97
16243 634.8 8.6 907 16257 done 0.68 - - 3157 - 2.28 0.034 1787 606.1 149.6 - - 2182 - - - - - - - - 14.83 14.78 14.85
16564 608.0 8.3 917 16578 roll 0.68 - - 3157 - 2.35 0.053 3183 594.0 149.6 - - 2182 - - - - - - - - 14.95 14.73 14.97
16633 602.1 8.6 926 16646 done 0.68 - - 3165 - 2.33 0.041 1781 -601.7 149.6 - - 2182 - - - - - - - - 14.81 14.74 14.83
16968 575.0 8.1 938 16981 roll 0.68 - - 3176 - 2.38 0.066 405 -578.2 149.6 - - 2182 - - - - - - - - 14.96 14.70 14.98
17100 563.7 8.6 956 17113 done 0.68 - - 3176 - 2.20 0.033 1758 615.0 149.6 - - 2182 - - - - - - - - 14.84 14.79 14.87
17428 537.2 8.0 967 17442 roll 0.68 - - 3176 - 2.40 0.053 3188 595.8 149.6 - - 2182 - - - - - - - - 14.96 14.73 14.97
17511 530.3 8.2 978 17525 done 0.68 0.15 0.269 3154 -146.7 2.33 0.041 1790 -600.0 149.6 - - 2182 - - - - - - - - 14.47 14.75 14.73
17833 508.9 6.6 988 17884 roll 0.71 - - 3162 - 2.47 0.067 407 -559.9 173.2 35.60 1.554 2080 -2.9 0.174 - - - - - - 14.96 14.53 13.99
17974 498.4 7.9 1008 17987 done 0.71 - - 3162 - 2.22 0.034 1756 607.7 173.2 - - 2075 - - - - - - - - 14.66 14.62 14.68
18345 468.8 8.1 1018 18358 roll 0.71 - - 3162 - 2.42 0.053 3182 589.3 173.2 - - 2073 - - - - - - - - 14.86 14.64 14.88
18420 462.1 8.7 1028 18433 done 0.71 - - 3171 - 2.38 0.041 1759 -597.9 173.2 - - 2073 - - - - - - - - 14.74 14.67 14.76
18748 433.3 8.8 1039 18761 roll 0.71 - - 3181 - 2.38 0.067 398 -571.8 173.2 - - 2073 - - - - - - - - 14.90 14.66 14.92
18831 425.3 10.0 1050 18845 done 0.71 - - 3182 - 2.20 0.034 1742 610.9 173.2 - - 2073 - - - - - - - - 14.82 14.74 14.81
19152 394.5 9.5 1060 19166 roll 0.71 - - 3181 - 2.42 0.051 3182 595.0 173.2 - - 2072 - - - - - - - - 14.93 14.71 14.95
19214 388.4 10.0 1068 19228 done 0.71 0.15 0.259 3155 -173.3 2.42 0.041 1733 -598.8 173.2 - - 2073 - - - - - - - - 14.50 14.72 14.73
19557 360.5 8.0 1081 19570 roll 0.71 - - 3166 - 2.30 0.067 401 -579.1 173.2 - - 2072 - - - - - - - - 14.94 14.69 14.96
19619 355.3 8.7 1089 19632 done 0.71 - - 3166 - 2.20 0.033 1746 611.4 173.2 - - 2069 - - - - - - - - 14.82 14.77 14.84
19961 327.0 8.3 1102 19974 roll 0.71 - - 3166 - 2.42 0.051 3185 594.6 173.2 - - 2073 - - - - - - - - 14.95 14.72 14.97
20036 320.3 8.7 1112 20049 done 0.71 - - 3175 - 2.38 0.041 1752 -602.1 173.2 - - 2073 - - - - - - - - 14.81 14.75 14.84
20365 293.0 8.3 1123 20378 roll 0.71 - - 3186 - 2.35 0.066 397 -576.6 173.2 - - 2072 - - - - - - - - 14.95 14.70 14.97
20461 284.6 8.8 1136 20474 done 0.71 - - 3186 - 2.15 0.033 1726 618.1 173.2 - - 2073 - - - - - - - - 14.83 14.79 14.85
20824 253.6 8.6 1145 20837 roll 0.71 - - 3186 - 2.45 0.050 3184 595.1 173.2 - - 2073 - - - - - - - - 14.96 14.73 14.98
20899 246.6 9.1 1155 20913 done 0.71 0.15 0.258 3163 -153.3 2.42 0.040 1734 -599.2 173.2 - - 2073 - - - - - - - - 14.53 14.76 14.77
21228 221.4 7.6 1166 21241 roll 0.71 - - 3171 - 2.33 0.065 396 -574.2 177.1 - - 2073 - - - - - - - - 14.96 14.71 14.98
21317 214.1 8.0 1178 21330 done 0.71 - - 3171 - 2.15 0.031 1727 619.1 177.1 - - 2073 - - - - - - - - 14.84 14.80 14.86
21688 185.6 7.6 1188 21704 roll 0.72 - - 3171 - 2.47 0.049 3183 589.5 181.2 2.85 0.662 2052 -7.4 0.384 - - - - - - 14.97 14.76 14.00
21760 179.5 8.5 1198 21773 done 0.72 - - 3180 - 2.40 0.040 1731 -605.0 181.2 - - 2058 - - - - - - - - 14.83 14.76 14.85
22088 152.7 8.2 1209 22101 roll 0.72 - - 3189 - 2.30 0.065 392 -582.2 181.2 - - 2057 - - - - - - - - 14.96 14.71 14.98
22191 143.9 8.4 1223 22204 done 0.72 - - 3189 - 2.15 0.031 1721 618.1 181.2 - - 2058 - - - - - - - - 14.83 14.80 14.86
22548 114.4 8.3 1231 22561 roll 0.72 - - 3189 - 2.45 0.049 3192 600.4 181.2 - - 2058 - - - - - - - - 14.97 14.74 14.99
22666 105.1 7.2 1247 22692 done 0.73 0.15 0.250 3166 -153.3 2.40 0.040 1747 -602.1 194.3 13.32 0.355 2002 -4.2 0.231 - - - - - - 14.54 14.76 14.39
23000 88.0 4.6 1263 23072 roll 0.96 0.20 0.105 3259 465.0 2.33 0.062 400 -578.1 254.2 59.58 0.365 1756 -4.1 0.185 - - - - - - 14.71 14.59 14.38
23198 73.4 6.7 1288 23235 done 0.99 - - 3259 - 2.25 0.030 1795 620.0 276.3 23.08 0.308 1669 -3.8 0.167 - - - - - - 14.76 14.72 14.37
23567 52.6 4.8 1307 23631 roll 1.15 0.12 0.132 3313 450.0 2.38 0.046 3175 579.8 332.7 51.97 0.263 1435 -4.5 0.167 - - - - - - 14.68 14.65 14.42
23861 34.1 5.6 1349 23913 done 1.20 - - 3322 - 2.15 0.037 1865 -609.3 374.6 36.95 0.212 1266 -4.6 0.137 - - - - - - 14.75 14.66 14.43
24239 13.0 5.4 1369 24287 roll 1.41 0.15 0.114 3387 433.3 2.22 0.044 3176 590.5 419.5 33.28 0.152 1084 -5.5 0.087 - - - - - - 14.71 14.67 14.56
24359 end climb: SURFACE_DEPTH_REACHED
24359 begin surface coast
24367 end surface coast: CONTROL_FINISHED_OK
24367 begin surface
SM 1.03 - - - - -8.61 9.25 0.053 157 17.0 2.20 0.036 1860 -4000.0 515.13 57.60 0.124 691 12.0 -0.010 - - - - - -