SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 162 * Raw log
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• Previous call tries 1 • 63.94 of 350.00 AH used of 24V (81.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.5 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 53 s
• GPS2 time: 18 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 147 - - - 1859 - -116.8 -79.68 - 3269 - - - - - - - - 14.78 13.81 14.81
113 9.5 -14.6 3 131 roll -0.84 11.82 0.385 2660 212.6 2.35 0.041 463 -594.0 -116.8 - - 3271 - - - - - - - - 14.33 14.62 14.60
172 39.6 -30.1 12 179 done -0.35 0.65 0.285 2809 229.2 2.28 0.034 1851 608.8 -116.8 - - 3270 - - - - - - - - 14.38 14.64 14.61
502 82.9 -9.8 26 508 roll -0.35 - - 2809 - 2.33 0.054 471 -592.3 -116.8 - - 3271 - - - - - - - - 14.90 14.69 14.92
642 95.1 -7.6 46 648 done -0.35 - - 2801 - 2.53 0.032 2025 614.2 -116.8 - - 3271 - - - - - - - - 14.81 14.74 14.82
1005 118.9 -6.4 57 1012 roll -0.35 - - 2792 - 2.03 0.054 3267 611.8 -116.8 - - 3269 - - - - - - - - 14.97 14.76 14.98
1062 122.5 -6.4 65 1068 done -0.44 - - 2792 - 2.00 0.034 2018 -624.5 -116.8 - - 3272 - - - - - - - - 14.85 14.79 14.86
1398 144.6 -6.7 78 1405 roll -0.44 - - 2792 - 2.60 0.057 469 -595.8 -116.8 - - 3271 - - - - - - - - 15.02 14.77 15.00
1537 154.4 -7.0 98 1544 done -0.44 - - 2782 - 2.47 0.033 1986 614.2 -116.8 - - 3270 - - - - - - - - 14.85 14.81 14.86
1902 181.0 -7.5 108 1909 roll -0.44 - - 2782 - 2.55 0.055 473 -593.3 -116.8 - - 3268 - - - - - - - - 14.99 14.78 15.01
2027 191.1 -8.0 126 2033 done -0.44 - - 2770 - 2.42 0.033 1962 615.3 -116.8 - - 3264 - - - - - - - - 14.87 14.82 14.88
2350 216.9 -8.0 137 2357 roll -0.44 - - 2773 - 2.53 0.056 473 -588.5 -116.8 - - 3264 - - - - - - - - 15.00 14.78 15.02
2398 221.2 -8.9 144 2406 done -0.44 - - 2764 - 2.40 0.034 1935 609.2 -116.8 - - 3263 - - - - - - - - 14.87 14.82 14.89
2743 250.9 -8.7 151 2757 roll -0.44 - - 2764 - 2.47 0.056 468 -593.9 -116.8 - - 3261 - - - - - - - - 15.02 14.80 15.02
2791 255.5 -9.3 157 2805 done -0.44 0.12 0.264 2781 141.7 2.35 0.034 1916 616.2 -116.8 - - 3260 - - - - - - - - 14.63 14.84 14.85
3148 282.9 -7.7 165 3161 roll -0.44 - - 2781 - 2.45 0.057 467 -591.4 -116.8 - - 3258 - - - - - - - - 15.04 14.82 15.07
3202 287.4 -8.2 172 3216 done -0.44 - - 2774 - 2.33 0.035 1889 610.3 -116.8 - - 3257 - - - - - - - - 14.92 14.86 14.96
3547 314.1 -7.8 179 3560 roll -0.44 - - 2764 - 2.28 0.055 3263 602.6 -116.8 - - 3255 - - - - - - - - 15.05 14.83 15.07
3594 317.8 -7.5 185 3612 done -0.44 - - 2763 - 2.22 0.037 1878 -623.9 -116.8 - - 3255 - - - - - - - - 14.92 14.85 14.93
3954 346.6 -8.0 193 3968 roll -0.44 - - 2764 - 2.38 0.058 468 -592.4 -116.8 - - 3252 - - - - - - - - 15.06 14.81 15.08
4110 359.9 -8.6 214 4123 done -0.44 - - 2755 - 2.22 0.034 1845 620.3 -116.8 - - 3252 - - - - - - - - 14.94 14.89 14.95
4473 391.0 -8.5 223 4486 roll -0.44 0.12 0.280 2777 183.3 2.35 0.054 3262 603.0 -116.8 - - 3249 - - - - - - - - 14.63 14.83 14.76
4556 397.2 -7.2 234 4569 done -0.56 - - 2777 - 2.33 0.037 1838 -611.2 -116.8 - - 3249 - - - - - - - - 14.93 14.85 14.95
4877 420.7 -7.3 244 4890 roll -0.56 - - 2777 - 2.30 0.060 471 -594.3 -116.8 - - 3247 - - - - - - - - 15.06 14.87 15.07
4988 429.4 -7.7 259 5002 done -0.56 - - 2769 - 2.17 0.034 1812 618.0 -116.8 - - 3246 - - - - - - - - 14.93 14.88 14.95
5331 454.6 -7.4 266 5345 roll -0.56 - - 2758 - 2.42 0.056 3262 599.2 -116.8 - - 3244 - - - - - - - - 15.05 14.83 15.07
5394 459.2 -7.4 274 5408 done -0.56 - - 2758 - 2.40 0.038 1798 -610.0 -116.8 - - 3244 - - - - - - - - 14.90 14.83 14.91
5737 484.9 -7.5 287 5750 roll -0.56 - - 2758 - 2.25 0.060 465 -592.4 -116.8 - - 3243 - - - - - - - - 15.05 14.83 15.07
5848 494.0 -8.1 302 5861 done -0.56 - - 2750 - 2.15 0.035 1789 615.8 -116.8 - - 3242 - - - - - - - - 14.92 14.86 14.94
6192 521.4 -8.0 309 6205 done -0.56 - - 2746 - - - 1786 - -116.8 - - 3240 - - - - - - - - 15.05 15.07 15.07
6527 547.9 -7.9 315 6541 roll -0.56 - - 2738 - 2.47 0.057 3266 599.2 -116.8 - - 3239 - - - - - - - - 15.05 14.82 15.07
6652 557.7 -7.7 332 6665 done -0.56 - - 2739 - 2.50 0.040 1746 -608.0 -116.8 - - 3239 - - - - - - - - 14.91 14.84 14.93
6987 583.6 -7.7 344 7001 roll -0.56 - - 2739 - 2.17 0.062 469 -588.5 -116.8 - - 3237 - - - - - - - - 15.04 14.81 15.07
7042 588.2 -8.4 351 7056 done -0.56 - - 2730 - 2.12 0.035 1776 616.5 -116.8 - - 3237 - - - - - - - - 14.91 14.85 14.92
7386 615.8 -8.0 358 7400 roll -0.56 - - 2719 - 2.50 0.057 3267 596.4 -116.8 - - 3236 - - - - - - - - 15.04 14.80 15.06
7455 621.5 -8.2 367 7469 done -0.56 0.12 0.259 2745 216.7 2.47 0.040 1759 -610.5 -116.8 - - 3237 - - - - - - - - 14.62 14.83 14.83
7791 646.2 -7.3 379 7804 roll -0.56 - - 2746 - 2.17 0.062 473 -592.6 -116.8 - - 3233 - - - - - - - - 15.04 14.80 15.06
7845 650.5 -7.9 386 7859 done -0.56 - - 2740 - 2.10 0.036 1761 613.3 -116.8 - - 3235 - - - - - - - - 14.90 14.85 14.95
8189 677.5 -7.9 393 8202 roll -0.56 - - 2729 - 2.53 0.058 3261 592.9 -116.8 - - 3233 - - - - - - - - 15.04 14.78 15.05
8352 690.9 -8.5 415 8365 done -0.56 - - 2729 - 2.42 0.040 1786 -609.5 -116.8 - - 3233 - - - - - - - - 14.90 14.83 14.91
8708 723.4 -9.1 423 8721 roll -0.56 - - 2729 - 2.25 0.063 465 -587.1 -116.8 - - 3231 - - - - - - - - 15.03 14.77 15.05
8790 731.6 -9.9 434 8803 done -0.56 - - 2720 - 2.15 0.037 1778 610.7 -116.8 - - 3231 - - - - - - - - 14.89 14.83 14.90
9112 762.5 -9.7 444 9125 roll -0.56 - - 2709 - 2.50 0.059 3262 593.6 -116.8 - - 3230 - - - - - - - - 15.02 14.77 15.04
9201 771.3 -9.6 456 9214 done -0.56 0.15 0.253 2742 220.0 2.45 0.041 1799 -597.1 -116.8 - - 3230 - - - - - - - - 14.56 14.80 14.79
9572 801.0 -7.8 466 9585 roll -0.56 - - 2742 - 2.30 0.063 468 -578.7 -116.8 - - 3229 - - - - - - - - 15.02 14.76 15.06
9668 808.9 -7.9 479 9681 done -0.56 - - 2736 - 2.12 0.039 1769 613.7 -116.8 - - 3228 - - - - - - - - 14.88 14.83 14.90
10031 836.5 -7.6 488 10044 roll -0.56 - - 2725 - 2.53 0.059 3265 591.3 -116.8 - - 3229 - - - - - - - - 15.02 14.76 15.04
10107 842.3 -7.8 498 10120 done -0.56 - - 2725 - 2.45 0.041 1782 -605.3 -116.8 - - 3227 - - - - - - - - 14.85 14.78 14.88
10435 867.7 -7.7 509 10449 roll -0.56 - - 2725 - 2.25 0.063 465 -585.3 -116.8 - - 3227 - - - - - - - - 15.01 14.76 15.03
10539 876.5 -8.2 523 10553 done -0.56 0.12 0.277 2742 141.7 2.12 0.038 1749 605.7 -116.8 - - 3226 - - - - - - - - 14.52 14.81 14.76
10896 902.2 -7.1 531 10909 roll -0.56 - - 2733 - 2.55 0.058 3258 591.8 -116.8 - - 3225 - - - - - - - - 15.00 14.73 15.02
11007 910.3 -7.3 546 11021 done -0.56 - - 2733 - 2.47 0.041 1774 -600.8 -116.8 - - 3225 - - - - - - - - 14.85 14.80 14.87
11350 935.2 -7.3 553 11363 roll -0.56 - - 2733 - 2.25 0.065 470 -579.6 -116.8 - - 3225 - - - - - - - - 15.00 14.73 15.02
11426 941.1 -7.8 563 11439 done -0.56 - - 2724 - 2.10 0.038 1754 611.4 -116.8 - - 3225 - - - - - - - - 14.85 14.80 14.88
11755 965.3 -7.4 574 11768 roll -0.56 - - 2713 - 2.55 0.060 3257 589.4 -116.8 - - 3223 - - - - - - - - 15.00 14.72 15.02
11873 974.4 -7.6 590 11887 done -0.56 0.15 0.250 2746 220.0 2.47 0.041 1775 -600.0 -116.8 - - 3223 - - - - - - - - 14.50 14.76 14.74
12157 end dive: TARGET_DEPTH_EXCEEDED
12157 begin apogee
12165 993.0 -6.4 602 12293 roll -0.21 0.43 0.223 2861 267.4 - - 1774 - - 119.05 2.192 2792 -3.6 0.305 - - - - - - 14.52 14.08 13.33
12295 end apogee: CONTROL_FINISHED_OK
12295 begin climb
12298 997.0 - 604 12438 roll 0.84 1.17 0.178 3187 278.6 2.55 0.058 3195 557.3 116.8 120.95 2.152 2316 -3.9 0.339 - - - - - - 14.07 14.14 13.20
12616 971.8 9.8 652 12630 done 0.74 0.12 0.286 3174 -108.3 2.38 0.041 1803 -584.9 116.8 - - 2296 - - - - - - - - 14.19 14.38 14.40
12959 942.2 8.7 665 12972 roll 0.74 - - 3173 - 2.40 0.052 3200 582.1 116.8 - - 2295 - - - - - - - - 14.78 14.58 14.81
13077 932.0 8.5 681 13091 done 0.74 - - 3180 - 2.42 0.041 1760 -595.0 116.8 - - 2295 - - - - - - - - 14.69 14.63 14.72
13420 903.1 8.4 694 13433 roll 0.74 - - 3191 - 2.38 0.066 404 -569.7 116.8 - - 2295 - - - - - - - - 14.88 14.65 14.90
13483 897.6 9.3 702 13496 done 0.65 0.20 0.252 3145 -230.0 2.28 0.034 1788 607.0 116.8 - - 2295 - - - - - - - - 14.47 14.73 14.71
13828 872.9 7.1 715 13849 roll 0.67 - - 3141 - 2.38 0.054 3166 579.0 131.0 6.28 1.786 2259 -5.7 0.521 - - - - - - 14.92 14.73 13.90
13925 865.3 7.6 729 13945 done 0.67 - - 3152 - 2.30 0.042 1783 -601.3 136.4 5.45 1.689 2233 -4.8 0.454 - - - - - - 14.77 14.71 13.83
14277 838.4 7.9 737 14291 roll 0.67 - - 3163 - 2.40 0.067 399 -576.7 136.4 - - 2239 - - - - - - - - 14.90 14.68 14.92
14408 826.9 9.1 755 14422 done 0.67 - - 3162 - 2.20 0.034 1750 614.1 136.4 - - 2239 - - - - - - - - 14.81 14.76 14.81
14737 797.1 9.1 766 14750 roll 0.67 - - 3162 - 2.40 0.053 3181 596.2 136.4 - - 2242 - - - - - - - - 14.94 14.72 14.95
14791 791.7 9.9 773 14806 done 0.67 - - 3172 - 2.38 0.041 1761 -596.6 136.4 - - 2239 - - - - - - - - 14.81 14.74 14.83
15135 758.2 9.8 780 15149 roll 0.67 - - 3182 - 2.35 0.067 402 -578.3 136.4 - - 2239 - - - - - - - - 14.95 14.71 14.97
15218 749.9 10.2 791 15232 done 0.67 0.15 0.259 3150 -213.3 2.20 0.033 1756 615.5 136.4 - - 2237 - - - - - - - - 14.54 14.80 14.76
15539 723.4 8.0 801 15553 roll 0.67 - - 3150 - 2.40 0.054 3185 595.4 136.4 - - 2240 - - - - - - - - 14.96 14.74 14.98
15601 718.3 8.3 809 15615 done 0.67 - - 3157 - 2.35 0.041 1773 -600.9 136.4 - - 2239 - - - - - - - - 14.78 14.71 14.80
15944 692.6 7.4 822 15974 roll 0.68 - - 3168 - 2.38 0.066 404 -575.2 145.3 17.27 1.840 2193 -2.7 0.186 - - - - - - 14.96 14.59 14.08
16043 685.1 7.8 836 16057 done 0.69 - - 3166 - 2.22 0.034 1756 609.0 147.1 - - 2187 - - - - - - - - 14.74 14.69 14.76
16400 658.5 7.5 844 16417 roll 0.69 - - 3168 - 2.40 0.054 3183 594.6 154.5 3.45 1.121 2159 -8.1 0.886 - - - - - - 14.89 14.73 13.84
16465 653.2 8.0 853 16479 done 0.69 - - 3176 - 2.38 0.041 1760 -597.9 154.5 - - 2164 - - - - - - - - 14.77 14.71 14.79
16802 626.3 8.1 865 16815 roll 0.69 - - 3186 - 2.35 0.067 401 -578.3 154.5 - - 2162 - - - - - - - - 14.92 14.64 14.94
16884 618.8 9.1 876 16897 done 0.69 0.15 0.253 3154 -213.3 2.20 0.033 1757 616.4 154.5 - - 2164 - - - - - - - - 14.51 14.76 14.73
17206 593.3 8.0 886 17219 roll 0.69 - - 3154 - 2.40 0.053 3181 593.3 154.5 - - 2164 - - - - - - - - 14.94 14.72 14.96
17268 587.9 8.6 894 17281 done 0.69 - - 3161 - 2.42 0.041 1733 -598.3 154.5 - - 2164 - - - - - - - - 14.81 14.73 14.83
17610 558.6 8.6 907 17624 roll 0.69 - - 3172 - 2.30 0.067 401 -579.1 154.5 - - 2164 - - - - - - - - 14.93 14.69 14.97
17729 547.4 9.5 923 17742 done 0.69 - - 3173 - 2.10 0.034 1695 616.2 154.5 - - 2164 - - - - - - - - 14.83 14.78 14.85
18071 516.5 8.9 936 18084 roll 0.69 - - 3172 - 2.50 0.052 3179 593.6 154.5 - - 2164 - - - - - - - - 14.96 14.73 14.97
18161 508.2 9.3 948 18174 done 0.69 - - 3180 - 2.45 0.042 1712 -598.8 154.5 - - 2164 - - - - - - - - 14.81 14.74 14.83
18531 476.5 8.4 958 18544 roll 0.69 - - 3190 - 2.30 0.068 393 -573.5 154.5 - - 2164 - - - - - - - - 14.95 14.69 14.98
18642 466.8 8.9 973 18657 done 0.69 0.15 0.250 3158 -213.3 2.15 0.033 1716 615.3 154.5 - - 2164 - - - - - - - - 14.49 14.74 14.71
18985 443.3 6.8 980 19030 roll 0.72 - - 3158 - 2.50 0.050 3185 587.6 174.9 32.50 1.494 2075 -2.7 0.151 - - - - - - 14.96 14.50 14.03
19085 435.9 7.7 994 19099 done 0.72 - - 3164 - 2.47 0.042 1717 -594.3 178.1 - - 2067 - - - - - - - - 14.66 14.59 14.68
19442 409.2 7.6 1002 19459 roll 0.73 - - 3175 - 2.30 0.068 398 -573.5 183.4 3.33 0.929 2043 -7.2 0.590 - - - - - - 14.86 14.66 13.88
19521 402.6 8.6 1013 19534 done 0.73 - - 3175 - 2.15 0.033 1714 612.1 183.4 - - 2047 - - - - - - - - 14.75 14.69 14.76
19842 375.3 8.6 1023 19855 roll 0.73 - - 3175 - 2.47 0.051 3183 594.7 183.4 - - 2047 - - - - - - - - 14.90 14.68 14.92
19917 368.2 9.4 1033 19931 done 0.73 - - 3184 - 2.42 0.041 1728 -601.2 183.4 - - 2047 - - - - - - - - 14.77 14.69 14.78
20246 337.8 9.3 1044 20259 done 0.73 - - 3184 - - - 1728 - 183.4 - - 2047 - - - - - - - - 14.92 14.95 14.95
20582 306.1 9.5 1050 20595 roll 0.73 - - 3194 - 2.30 0.067 398 -578.3 183.4 - - 2047 - - - - - - - - 14.95 14.66 14.96
20629 301.2 10.1 1056 20642 done 0.73 - - 3193 - 2.12 0.033 1714 620.8 183.4 - - 2047 - - - - - - - - 14.83 14.78 14.84
20986 266.6 9.6 1064 20999 roll 0.73 - - 3193 - 2.45 0.051 3177 597.1 183.4 - - 2049 - - - - - - - - 14.95 14.73 14.97
21068 258.1 9.9 1075 21081 done 0.73 0.15 0.262 3171 -146.7 2.40 0.041 1732 -602.1 183.4 - - 2047 - - - - - - - - 14.51 14.74 14.73
21389 232.6 7.8 1085 21402 roll 0.73 - - 3179 - 2.30 0.067 401 -578.7 183.9 - - 2047 - - - - - - - - 14.96 14.69 14.98
21486 224.4 8.6 1098 21499 done 0.73 - - 3179 - 2.12 0.033 1710 617.5 183.9 - - 2047 - - - - - - - - 14.83 14.78 14.85
21849 195.4 7.9 1107 21862 roll 0.73 - - 3179 - 2.45 0.050 3178 599.2 183.9 - - 2047 - - - - - - - - 14.97 14.73 14.99
21918 189.7 8.4 1116 21931 done 0.73 - - 3188 - 2.45 0.040 1702 -602.4 183.9 - - 2048 - - - - - - - - 14.82 14.74 14.83
22253 162.4 8.2 1128 22266 roll 0.73 - - 3198 - 2.25 0.066 395 -580.9 183.9 - - 2049 - - - - - - - - 14.96 14.71 14.98
22328 155.5 9.2 1138 22341 done 0.73 0.15 0.243 3164 -226.7 2.10 0.032 1708 625.2 183.9 - - 2048 - - - - - - - - 14.52 14.79 14.74
22657 131.8 7.2 1149 22693 roll 0.75 - - 3165 - 2.55 0.050 3186 579.6 196.6 20.10 1.178 1983 -3.2 0.067 - - - - - - 14.96 14.69 14.19
22742 125.7 7.3 1161 22759 done 0.76 - - 3172 - 2.50 0.041 1688 -599.2 206.3 4.20 0.902 1949 -8.1 0.210 - - - - - - 14.76 14.69 14.07
23110 100.4 6.8 1171 23145 roll 0.88 0.12 0.130 3236 533.3 2.30 0.065 395 -562.2 226.1 20.05 0.373 1875 -3.7 0.185 - - - - - - 14.69 14.66 14.38
23223 91.6 8.7 1187 23240 done 0.88 - - 3236 - 2.10 0.031 1695 619.0 226.1 2.75 0.161 1873 - - - - - - - - 14.77 14.71 14.52
23565 68.7 5.4 1202 23623 roll 0.93 - - 3236 - 2.58 0.047 3185 577.5 272.2 45.30 0.310 1687 -4.1 0.169 - - - - - - 14.90 14.66 14.40
23674 62.0 7.2 1217 23702 done 1.05 - - 3244 - 2.45 0.038 1717 -599.2 284.6 13.68 0.268 1634 -3.9 0.167 - - - - - - 14.72 14.65 14.39
24020 48.2 4.0 1233 24097 roll 1.33 0.30 0.084 3366 406.7 2.55 0.045 3189 577.3 356.2 64.32 0.252 1344 -4.5 0.160 - - - - - - 14.68 14.63 14.42
24327 27.4 7.3 1277 24352 done 1.35 - - 3375 - 2.35 0.037 1775 -601.7 366.7 10.68 0.184 1298 -4.3 0.119 - - - - - - 14.74 14.68 14.48
24660 3.0 7.4 1291 24678 VBD 1.36 - - 3374 - - - 1774 - 375.8 8.30 0.129 1259 -4.7 0.020 - - - - - - 14.92 - 14.93
24678 end climb: SURFACE_DEPTH_REACHED
24678 begin surface coast
24681 end surface coast: CONTROL_FINISHED_OK
24681 begin surface
SM 1.22 - - - - -8.61 9.38 0.069 158 16.8 0.10 0.116 1893 -68450.0 515.13 82.18 0.123 690 8.4 -0.009 - - - - - -