SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 163 * Raw log
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• Previous call tries 1 • 64.31 of 350.00 AH used of 24V (81.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.8 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 31 s
• GPS2 time: 16 s • Transponder ping count: 3
• 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 - - 148 - - - 1894 - -116.8 -79.45 - 3272 - - - - - - - - 14.78 13.82 14.80
111 9.6 -14.9 3 128 roll -0.84 11.82 0.385 2662 212.7 2.42 0.041 457 -593.8 -116.8 - - 3274 - - - - - - - - 14.35 14.59 14.61
164 36.6 -33.6 11 171 done -0.32 0.68 0.267 2828 244.1 2.25 0.034 1827 608.9 -116.8 - - 3274 - - - - - - - - 14.41 14.63 14.62
499 80.7 -9.1 26 506 roll -0.32 - - 2823 - 2.30 0.054 464 -592.6 -116.8 - - 3275 - - - - - - - - 14.90 14.69 14.91
668 94.6 -7.0 50 674 done -0.32 - - 2815 - 2.53 0.033 2016 613.4 -116.8 - - 3272 - - - - - - - - 14.81 14.76 14.83
1004 115.7 -6.3 61 1010 roll -0.41 - - 2815 - 2.60 0.053 470 -594.6 -116.8 - - 3276 - - - - - - - - 14.95 14.76 14.98
1079 120.3 -6.2 72 1086 done -0.41 - - 2806 - 2.42 0.033 1973 621.1 -116.8 - - 3276 - - - - - - - - 14.85 14.79 14.85
1396 139.9 -6.4 82 1399 done -0.51 0.12 0.131 2752 -450.0 - - 1974 - -116.8 - - 3275 - - - - - - - - 14.78 14.87 14.85
1731 166.6 -8.1 88 1738 roll -0.51 - - 2751 - 2.53 0.054 469 -594.9 -116.8 - - 3273 - - - - - - - - 14.99 14.78 15.01
1836 176.2 -9.2 103 1844 done -0.51 - - 2747 - 2.42 0.033 1963 617.4 -116.8 - - 3272 - - - - - - - - 14.87 14.82 14.89
2180 206.7 -8.9 110 2186 roll -0.51 - - 2741 - 2.53 0.054 463 -592.9 -116.8 - - 3269 - - - - - - - - 15.00 14.78 15.02
2248 213.5 -9.7 120 2255 done -0.51 0.12 0.258 2757 133.3 2.38 0.034 1926 614.7 -116.8 - - 3269 - - - - - - - - 14.62 14.82 14.81
2572 240.7 -8.4 131 2574 done -0.51 - - 2757 - - - 1926 - -116.8 - - 3266 - - - - - - - - 15.00 15.02 15.02
2907 269.5 -8.6 137 2921 roll -0.51 - - 2757 - 2.45 0.056 470 -594.3 -116.8 - - 3263 - - - - - - - - 15.03 14.82 15.05
2961 274.5 -9.3 144 2975 done -0.51 - - 2749 - 2.38 0.034 1919 608.8 -116.8 - - 3262 - - - - - - - - 14.92 14.87 14.94
3306 305.0 -8.9 151 3319 roll -0.51 - - 2750 - 2.45 0.056 465 -593.5 -116.8 - - 3260 - - - - - - - - 15.04 14.84 15.07
3346 308.9 -9.3 156 3359 done -0.51 - - 2740 - 2.33 0.036 1900 615.9 -116.8 - - 3259 - - - - - - - - 14.93 14.88 14.95
3709 342.5 -9.4 165 3722 done -0.51 - - 2741 - - - 1901 - -116.8 - - 3257 - - - - - - - - 15.06 15.08 15.08
4046 375.1 -9.7 171 4059 roll -0.51 - - 2730 - 2.25 0.057 3262 604.9 -116.8 - - 3255 - - - - - - - - 15.06 14.84 15.08
4086 379.2 -10.1 176 4100 done -0.51 0.10 0.213 2758 280.0 2.22 0.037 1872 -626.1 -116.8 - - 3254 - - - - - - - - 14.66 14.85 14.78
4450 411.2 -8.7 185 4463 roll -0.51 - - 2759 - 2.35 0.059 474 -594.9 -116.8 - - 3252 - - - - - - - - 15.06 14.84 15.08
4588 423.5 -8.7 204 4601 done -0.51 - - 2753 - 2.22 0.035 1845 617.6 -116.8 - - 3251 - - - - - - - - 14.93 14.88 14.95
4909 450.6 -8.5 214 4922 roll -0.51 - - 2742 - 2.38 0.056 3275 600.8 -116.8 - - 3250 - - - - - - - - 15.04 14.83 15.07
4964 455.4 -8.7 221 4978 done -0.51 - - 2742 - 2.35 0.037 1835 -612.8 -116.8 - - 3249 - - - - - - - - 14.92 14.86 14.94
5307 485.2 -8.7 228 5321 roll -0.51 - - 2742 - 2.30 0.060 473 -592.2 -116.8 - - 3247 - - - - - - - - 15.05 14.83 15.07
5425 496.0 -9.1 244 5439 done -0.51 0.10 0.279 2757 150.0 2.20 0.035 1816 610.5 -116.8 - - 3247 - - - - - - - - 14.64 14.88 14.85
5769 523.1 -7.8 257 5782 roll -0.51 - - 2749 - 2.42 0.056 3264 598.3 -116.8 - - 3245 - - - - - - - - 15.05 14.82 15.07
5845 529.1 -7.9 267 5858 done -0.51 - - 2754 - 2.33 0.038 1830 -615.5 -116.8 - - 3244 - - - - - - - - 14.91 14.82 14.88
6174 555.5 -8.0 278 6187 roll -0.51 - - 2749 - 2.30 0.060 470 -591.3 -116.8 - - 3243 - - - - - - - - 15.04 14.81 15.07
6284 564.9 -8.3 293 6299 done -0.51 - - 2740 - 2.17 0.036 1798 612.0 -116.8 - - 3243 - - - - - - - - 14.91 14.86 14.93
6628 591.6 -7.7 300 6642 roll -0.51 - - 2730 - 2.45 0.057 3262 597.6 -116.8 - - 3240 - - - - - - - - 15.04 14.81 15.07
6774 603.3 -8.0 320 6788 done -0.51 0.15 0.239 2763 220.0 2.30 0.039 1850 -613.9 -116.8 - - 3241 - - - - - - - - 14.63 14.85 14.83
7145 629.1 -6.9 330 7158 roll -0.51 - - 2763 - 2.35 0.061 468 -588.1 -116.8 - - 3240 - - - - - - - - 15.04 14.79 15.07
7269 638.6 -7.6 347 7282 done -0.51 - - 2757 - 2.22 0.035 1833 614.9 -116.8 - - 3239 - - - - - - - - 14.91 14.85 14.92
7605 663.9 -7.7 359 7619 roll -0.51 - - 2745 - 2.40 0.059 3262 595.4 -116.8 - - 3237 - - - - - - - - 15.03 14.77 15.05
7716 672.8 -8.0 374 7730 done -0.51 - - 2746 - 2.33 0.039 1855 -603.9 -116.8 - - 3237 - - - - - - - - 14.89 14.83 14.90
8060 701.0 -8.3 381 8073 roll -0.51 - - 2746 - 2.38 0.062 475 -579.8 -116.8 - - 3236 - - - - - - - - 15.03 14.76 15.05
8205 713.9 -8.7 401 8218 done -0.51 - - 2744 - 2.17 0.037 1809 614.7 -116.8 - - 3236 - - - - - - - - 14.89 14.84 14.91
8575 744.2 -8.2 411 8589 roll -0.51 - - 2727 - 2.45 0.060 3259 591.8 -116.8 - - 3235 - - - - - - - - 15.02 14.77 15.04
8665 751.6 -8.2 423 8678 done -0.51 0.15 0.239 2760 220.0 2.38 0.040 1821 -604.2 -116.8 - - 3234 - - - - - - - - 14.59 14.81 14.81
9036 776.6 -6.6 433 9049 roll -0.51 - - 2760 - 2.33 0.063 461 -583.7 -116.8 - - 3233 - - - - - - - - 15.02 14.76 15.04
9132 783.0 -5.8 446 9145 done -0.51 - - 2755 - 2.22 0.037 1808 606.8 -116.8 - - 3232 - - - - - - - - 14.88 14.82 14.90
9496 807.4 -6.7 455 9509 roll -0.51 - - 2744 - 2.45 0.060 3259 592.2 -116.8 - - 3231 - - - - - - - - 15.02 14.76 15.04
9578 813.3 -7.1 466 9591 done -0.51 - - 2744 - 2.42 0.041 1800 -602.9 -116.8 - - 3231 - - - - - - - - 14.86 14.79 14.88
9900 836.9 -7.4 476 9913 roll -0.51 - - 2745 - 2.28 0.063 470 -583.3 -116.8 - - 3231 - - - - - - - - 15.01 14.75 15.03
9962 842.6 -8.4 484 9975 done -0.51 - - 2735 - 2.20 0.038 1801 605.0 -116.8 - - 3231 - - - - - - - - 14.87 14.81 14.88
10304 870.4 -8.3 497 10317 roll -0.51 - - 2724 - 2.47 0.060 3262 591.5 -116.8 - - 3228 - - - - - - - - 15.01 14.74 15.03
10366 875.7 -8.5 505 10380 done -0.51 0.15 0.239 2757 220.0 2.38 0.041 1826 -603.4 -116.8 - - 3232 - - - - - - - - 14.54 14.78 14.76
10712 901.3 -7.4 518 10725 roll -0.60 - - 2758 - 2.33 0.063 466 -583.7 -116.8 - - 3229 - - - - - - - - 15.00 14.73 15.02
10808 909.2 -8.0 531 10822 done -0.60 - - 2751 - 2.22 0.038 1811 605.9 -116.8 - - 3228 - - - - - - - - 14.85 14.79 14.87
11172 937.2 -7.7 540 11185 roll -0.60 - - 2737 - 2.47 0.060 3262 587.4 -116.8 - - 3228 - - - - - - - - 15.00 14.73 15.02
11276 944.6 -7.6 554 11289 done -0.60 - - 2741 - 2.42 0.042 1805 -602.1 -116.8 - - 3228 - - - - - - - - 14.84 14.77 14.87
11632 971.4 -7.5 562 11645 roll -0.60 - - 2741 - 2.30 0.064 469 -580.9 -116.8 - - 3227 - - - - - - - - 14.99 14.72 15.02
11757 981.5 -7.9 579 11770 done -0.60 - - 2732 - 2.17 0.037 1795 611.1 -116.8 - - 3226 - - - - - - - - 14.85 14.79 14.87
11921 end dive: TARGET_DEPTH_EXCEEDED
11921 begin apogee
11928 994.2 -7.7 588 12057 roll -0.21 0.47 0.233 2856 263.8 - - 1795 - - 118.38 2.205 2792 -3.7 0.308 - - - - - - 14.50 14.07 13.32
12058 end apogee: CONTROL_FINISHED_OK
12058 begin climb
12062 999.1 - 590 12203 roll 0.84 1.10 0.173 3187 300.9 2.58 0.062 405 -538.8 116.8 123.45 2.167 2314 -3.9 0.332 - - - - - - 14.07 14.13 13.18
12381 976.0 7.7 638 12395 done 0.84 - - 3188 - 2.35 0.033 1806 596.2 120.5 - - 2293 - - - - - - - - 14.44 14.40 14.46
12724 943.4 9.1 651 12737 roll 0.84 - - 3197 - 2.47 0.063 403 -568.0 120.5 - - 2291 - - - - - - - - 14.78 14.56 14.80
12912 925.2 9.7 677 12926 done 0.74 0.15 0.261 3166 -206.7 2.38 0.034 1834 601.3 120.5 - - 2290 - - - - - - - - 14.43 14.66 14.66
13241 899.2 7.8 688 13254 roll 0.74 - - 3166 - 2.28 0.054 3183 591.7 122.4 - - 2289 - - - - - - - - 14.88 14.68 14.90
13288 895.3 10.1 694 13301 done 0.74 - - 3172 - 2.25 0.041 1830 -601.3 122.4 - - 2288 - - - - - - - - 14.77 14.71 14.79
13645 866.2 8.2 702 13658 roll 0.74 - - 3183 - 2.47 0.066 402 -578.1 122.4 - - 2289 - - - - - - - - 14.92 14.68 14.95
13769 855.8 7.6 719 13786 done 0.74 - - 3183 - 2.30 0.033 1801 608.3 127.2 2.15 0.368 2272 -7.9 3.422 - - - - - - 14.81 14.76 13.64
14102 827.7 8.4 731 14115 roll 0.74 - - 3183 - 2.33 0.054 3183 593.1 127.2 - - 2272 - - - - - - - - 14.94 14.72 14.96
14170 821.4 9.1 740 14183 done 0.74 - - 3192 - 2.28 0.041 1809 -602.6 127.2 - - 2272 - - - - - - - - 14.80 14.73 14.82
14506 792.2 8.8 752 14519 roll 0.74 - - 3203 - 2.42 0.066 410 -578.1 127.2 - - 2272 - - - - - - - - 14.95 14.69 14.97
14640 779.4 9.9 770 14653 done 0.64 0.28 0.246 3138 -232.1 2.22 0.033 1779 616.7 127.2 - - 2273 - - - - - - - - 14.49 14.78 14.72
14969 756.0 6.9 781 15006 roll 0.66 - - 3137 - 2.45 0.055 3174 569.4 145.0 25.52 1.916 2194 -3.1 0.227 - - - - - - 14.95 14.60 13.90
15034 751.0 7.8 790 15047 done 0.66 - - 3145 - 2.38 0.042 1764 -592.4 146.6 - - 2184 - - - - - - - - 14.66 14.59 14.68
15369 724.1 8.1 802 15382 roll 0.66 - - 3155 - 2.40 0.067 396 -570.0 146.6 - - 2184 - - - - - - - - 14.85 14.62 14.87
15473 715.1 8.7 816 15486 done 0.66 - - 3155 - 2.17 0.034 1724 612.0 146.6 - - 2184 - - - - - - - - 14.76 14.69 14.77
15829 685.0 8.4 824 15842 roll 0.66 - - 3154 - 2.45 0.053 3171 590.6 146.6 - - 2187 - - - - - - - - 14.90 14.69 14.92
15869 681.4 8.5 829 15883 done 0.66 - - 3164 - 2.40 0.042 1732 -599.6 146.6 - - 2185 - - - - - - - - 14.78 14.70 14.80
16233 649.4 8.8 838 16246 roll 0.66 - - 3174 - 2.33 0.068 398 -572.5 146.6 - - 2183 - - - - - - - - 14.92 14.68 14.95
16301 642.9 9.5 847 16314 done 0.66 0.12 0.261 3149 -208.3 2.15 0.034 1719 614.4 146.6 - - 2183 - - - - - - - - 14.50 14.76 14.74
16637 615.8 8.1 859 16650 roll 0.66 - - 3149 - 2.47 0.054 3179 591.1 146.6 - - 2184 - - - - - - - - 14.95 14.71 14.97
16705 610.0 8.4 868 16718 done 0.66 - - 3156 - 2.42 0.042 1727 -600.0 146.6 - - 2183 - - - - - - - - 14.80 14.74 14.83
17041 583.2 8.0 880 17054 roll 0.66 - - 3166 - 2.33 0.068 392 -573.0 146.6 - - 2183 - - - - - - - - 14.95 14.69 14.97
17109 577.4 8.5 889 17122 done 0.66 - - 3166 - 2.17 0.034 1725 614.3 146.6 - - 2184 - - - - - - - - 14.82 14.78 14.84
17444 549.9 8.3 901 17458 roll 0.66 - - 3166 - 2.45 0.053 3176 592.2 146.6 - - 2183 - - - - - - - - 14.96 14.72 14.98
17556 540.1 8.7 916 17570 done 0.66 0.15 0.264 3143 -153.3 2.35 0.041 1773 -597.0 146.6 - - 2180 - - - - - - - - 14.48 14.73 14.74
17899 514.4 7.5 923 17916 roll 0.67 - - 3152 - 2.42 0.067 400 -567.4 153.2 2.12 0.331 2165 -7.1 2.046 - - - - - - 14.95 14.72 13.70
17971 508.5 8.2 933 17985 done 0.67 - - 3152 - 2.25 0.034 1774 610.7 153.2 - - 2168 - - - - - - - - 14.83 14.77 14.84
18300 482.7 7.8 944 18313 roll 0.67 - - 3152 - 2.38 0.052 3188 594.1 153.7 - - 2168 - - - - - - - - 14.95 14.72 15.00
18362 477.7 8.2 952 18376 done 0.67 - - 3160 - 2.33 0.041 1796 -597.4 153.7 - - 2168 - - - - - - - - 14.81 14.73 14.83
18705 452.5 7.3 965 18735 roll 0.68 - - 3171 - 2.42 0.065 399 -577.3 164.1 17.98 1.565 2118 -2.8 0.150 - - - - - - 14.95 14.59 14.09
18836 442.4 8.1 983 18849 done 0.68 - - 3171 - 2.22 0.033 1753 609.9 164.1 - - 2113 - - - - - - - - 14.74 14.69 14.78
19164 416.6 7.8 994 19177 roll 0.68 - - 3171 - 2.42 0.052 3189 593.4 165.4 - - 2113 - - - - - - - - 14.89 14.66 14.91
19226 411.4 8.3 1002 19239 done 0.68 - - 3180 - 2.42 0.041 1745 -596.7 165.4 - - 2112 - - - - - - - - 14.76 14.69 14.78
19569 383.6 8.2 1015 19582 roll 0.68 - - 3188 - 2.33 0.067 403 -576.0 165.4 - - 2112 - - - - - - - - 14.92 14.66 14.94
19658 375.4 9.2 1027 19672 done 0.68 0.15 0.248 3156 -213.3 2.20 0.032 1753 613.6 165.4 - - 2114 - - - - - - - - 14.48 14.75 14.71
20029 347.5 7.6 1037 20043 roll 0.69 - - 3156 - 2.45 0.050 3172 579.2 170.9 2.25 0.415 2094 -8.9 1.385 - - - - - - 14.94 14.76 13.86
20070 344.0 8.2 1042 20083 done 0.69 - - 3162 - 2.40 0.041 1728 -601.7 170.9 - - 2097 - - - - - - - - 14.80 14.73 14.82
20433 315.1 7.9 1051 20447 roll 0.69 - - 3172 - 2.30 0.066 398 -578.3 170.9 - - 2098 - - - - - - - - 14.95 14.68 14.96
20516 308.0 8.7 1062 20529 done 0.69 - - 3172 - 2.12 0.032 1705 616.5 170.9 - - 2098 - - - - - - - - 14.83 14.78 14.84
20837 280.5 8.6 1072 20850 roll 0.69 - - 3172 - 2.45 0.049 3172 598.8 170.9 - - 2098 - - - - - - - - 14.95 14.72 14.97
20900 274.8 9.2 1080 20913 done 0.69 - - 3181 - 2.40 0.040 1737 -597.9 170.9 - - 2097 - - - - - - - - 14.81 14.73 14.83
21242 245.8 8.4 1093 21255 roll 0.69 - - 3190 - 2.30 0.066 398 -582.2 170.9 - - 2098 - - - - - - - - 14.96 14.69 14.97
21374 233.8 9.1 1111 21387 done 0.69 0.15 0.242 3157 -220.0 2.08 0.033 1700 626.0 170.9 - - 2097 - - - - - - - - 14.50 14.78 14.73
21702 209.8 7.2 1122 21733 roll 0.70 - - 3158 - 2.47 0.049 3173 596.4 182.6 17.85 1.281 2041 -3.1 0.096 - - - - - - 14.95 14.61 14.16
21782 203.7 7.8 1133 21795 done 0.71 - - 3164 - 2.47 0.043 1694 -598.8 183.8 - - 2035 - - - - - - - - 14.76 14.69 14.78
22103 180.0 7.4 1143 22120 roll 0.72 - - 3174 - 2.22 0.063 401 -582.4 192.5 4.32 0.978 2006 -6.7 0.230 - - - - - - 14.90 14.59 14.02
22196 172.6 8.0 1156 22210 done 0.72 - - 3174 - 2.08 0.031 1691 620.2 192.5 - - 2010 - - - - - - - - 14.78 14.73 14.80
22560 143.9 8.0 1165 22573 roll 0.72 - - 3174 - 2.50 0.050 3180 595.6 192.5 - - 2007 - - - - - - - - 14.92 14.70 14.95
22607 140.0 8.1 1171 22620 done 0.72 - - 3183 - 2.47 0.041 1690 -603.2 192.5 - - 2010 - - - - - - - - 14.79 14.72 14.81
22964 114.3 7.2 1179 22994 roll 0.73 - - 3192 - 2.28 0.065 405 -563.6 205.6 14.18 0.386 1957 -3.7 0.206 - - - - - - 14.95 14.71 14.37
23049 108.1 7.4 1191 23074 done 0.74 - - 3192 - 2.03 0.031 1681 628.6 214.1 11.93 0.362 1921 -3.0 0.168 - - - - - - 14.81 14.76 14.35
23392 86.8 6.1 1204 23439 roll 0.87 - - 3198 - 2.25 0.066 395 -571.6 246.5 33.80 0.354 1793 -3.8 0.173 - - - - - - 14.92 14.66 14.38
23460 82.2 6.7 1214 23498 done 1.03 0.20 0.104 3273 375.0 2.08 0.032 1683 619.2 268.5 23.35 0.335 1701 -3.9 0.180 - - - - - - 14.64 14.69 14.35
23817 54.3 5.1 1231 23874 done 1.09 - - 3273 - - - 1687 - 319.2 46.90 0.270 1490 -4.5 0.168 - - - - - - 14.88 14.65 14.40
24180 38.0 3.6 1250 24265 roll 1.36 0.25 0.088 3378 420.0 2.58 0.047 3180 578.7 398.4 66.18 0.223 1172 -4.8 0.152 - - - - - - 14.70 14.64 14.41
24397 20.9 9.2 1281 24412 done 1.36 - - 3388 - 2.70 0.041 1578 -593.3 398.4 - - 1177 - - - - - - - - 14.72 14.65 14.74
24626 end climb: SURFACE_DEPTH_REACHED
24626 begin surface coast
24654 end surface coast: CONTROL_FINISHED_OK
24654 begin surface
SM 1.17 - - - - -8.60 9.35 0.064 163 17.4 0.43 0.044 1883 1983.7 515.13 70.03 0.123 689 9.8 -0.010 - - - - - -