SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 164 * Raw log
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• Previous call tries 1 • 70.62 of 350.00 AH used of 24V (79.82% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 17 s • Transponder ping count: 7
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 101 VBD -0.68 - - 194 - - - 2313 - -116.8 -84.60 - 2961 - - - - - - - - 14.73 - 14.75
105 6.0 -8.7 3 123 roll -0.68 8.98 0.424 1962 196.9 2.62 2.107 3673 519.1 -116.8 -4.22 - 3221 -61.6 - - - - - - - 14.21 13.38 14.55
157 29.7 -34.1 11 163 done -0.33 0.47 0.295 2082 255.3 2.35 0.050 2281 -592.3 -116.8 - - 3222 - - - - - - - - 14.29 14.53 14.54
487 85.0 -10.1 25 493 roll -0.27 - - 2083 - 2.40 0.057 867 -589.2 -116.8 - - 3223 - - - - - - - - 14.85 14.62 14.87
613 94.2 -6.8 43 618 done -0.27 - - 2081 - 2.45 0.064 2265 570.6 -116.8 - - 3224 - - - - - - - - 14.71 14.62 14.73
935 115.3 -6.7 52 940 roll -0.27 - - 2076 - 2.45 0.086 3691 582.0 -116.8 - - 3225 - - - - - - - - 14.93 14.64 14.95
1068 124.6 -6.8 71 1073 done -0.27 0.12 0.236 2106 250.0 2.33 0.047 2267 -611.2 -116.8 - - 3223 - - - - - - - - 14.53 14.74 14.73
1383 142.8 -5.8 81 1389 roll -0.33 - - 2106 - 2.33 0.057 893 -589.7 -116.8 - - 3225 - - - - - - - - 14.97 14.71 14.99
1445 146.8 -6.2 90 1451 done -0.40 - - 2106 - 2.45 0.066 2298 573.5 -116.8 - - 3224 - - - - - - - - 14.79 14.69 14.81
1776 163.6 -5.0 102 1777 done -0.47 0.17 0.106 2030 -447.1 - - 2298 - -116.8 - - 3222 - - - - - - - - 14.76 14.84 14.83
2111 190.8 -8.3 108 2116 roll -0.47 - - 2031 - 2.40 0.057 896 -584.2 -116.8 - - 3219 - - - - - - - - 14.98 14.73 14.99
2167 195.6 -8.7 116 2172 done -0.47 - - 2025 - 2.45 0.067 2293 570.2 -116.8 - - 3220 - - - - - - - - 14.81 14.70 14.83
2504 223.3 -8.2 129 2504 done -0.47 - - 2025 - - - 2293 - -116.8 - - 3219 - - - - - - - - 14.99 15.01 15.01
2839 253.7 -9.2 135 2844 roll -0.47 - - 2025 - 2.40 0.058 895 -582.5 -116.8 - - 3217 - - - - - - - - 15.00 14.72 15.02
2873 257.1 -9.9 140 2879 done -0.47 - - 2025 - 2.45 0.072 2303 574.7 -116.8 - - 3216 - - - - 1 - - - 14.83 14.70 14.84
3231 289.7 -9.0 149 3232 done -0.47 - - 2025 - - - 2303 - -116.8 - - 3214 - - - - - - - - 15.00 15.02 15.02
3567 319.6 -8.9 155 3568 done -0.47 - - 2024 - - - 2304 - -116.8 - - 3211 - - - - - - - - 15.00 15.02 15.01
3903 347.0 -8.0 161 3909 roll -0.47 - - 2025 - 2.42 0.062 899 -580.6 -116.8 - - 3209 - - - - - - - - 15.00 14.70 15.02
4001 354.5 -7.4 175 4006 done -0.47 - - 2024 - 2.45 0.075 2285 565.7 -116.8 - - 3208 - - - - 1 - - - 14.81 14.69 14.84
4351 379.9 -7.4 183 4356 roll -0.47 - - 2024 - 2.40 0.060 898 -577.9 -116.8 - - 3207 - - - - - - - - 15.00 14.71 15.02
4378 382.3 -8.3 187 4384 done -0.47 - - 2018 - 2.50 0.073 2283 554.0 -116.8 - - 3206 - - - - - - - - 14.73 14.66 14.77
4743 414.2 -9.0 197 4749 roll -0.47 - - 2010 - 2.47 0.096 3691 570.0 -116.8 - - 3203 - - - - - - - - 14.99 14.65 15.01
4784 418.1 -9.4 203 4790 done -0.47 0.15 0.238 2046 240.0 2.35 0.054 2283 -599.1 -116.8 - - 3203 - - - - - - - - 14.53 14.77 14.75
5135 443.2 -6.9 211 5140 roll -0.47 - - 2047 - 2.40 0.065 887 -581.7 -116.8 - - 3202 - - - - - - - - 14.99 14.69 15.01
5254 451.5 -6.9 228 5259 done -0.47 - - 2042 - 2.45 0.075 2269 564.1 -116.8 - - 3201 - - - - - - - - 14.79 14.66 14.83
5583 474.6 -7.1 240 5584 done -0.47 - - 2042 - - - 2269 - -116.8 - - 3199 - - - - - - - - 14.98 15.00 15.00
5919 501.2 -8.1 246 5924 roll -0.47 - - 2037 - 2.55 0.104 3696 559.6 -116.8 - - 3198 - - - - - - - - 14.98 14.63 15.01
5968 505.4 -8.7 253 5975 done -0.47 - - 2037 - 2.42 0.057 2260 -593.4 -116.8 - - 3198 - - - - - - - - 14.81 14.73 14.83
6311 532.4 -7.7 260 6316 roll -0.47 - - 2037 - 2.38 0.069 893 -574.4 -116.8 - - 3194 - - - - - - - - 14.99 14.67 15.00
6408 539.7 -7.3 274 6414 done -0.47 - - 2037 - 2.50 0.078 2262 547.6 -116.8 - - 3195 - - - - - - - - 14.71 14.63 14.76
6760 562.2 -6.3 282 6764 roll -0.47 - - 2031 - 2.55 0.103 3696 562.4 -116.8 - - 3193 - - - - - - - - 14.98 14.62 15.00
6793 564.4 -6.5 287 6799 done -0.47 - - 2031 - 2.45 0.060 2253 -589.0 -116.8 - - 3193 - - - - - - - - 14.79 14.71 14.82
7152 588.6 -7.0 296 7156 roll -0.47 - - 2031 - 2.38 0.071 886 -574.4 -116.8 - - 3192 - - - - - - - - 14.97 14.65 14.97
7228 594.6 -7.8 307 7233 done -0.47 - - 2029 - 2.47 0.078 2266 558.7 -116.8 - - 3193 - - - - - - - - 14.76 14.64 14.81
7543 619.8 -8.2 317 7548 roll -0.47 - - 2021 - 2.55 0.103 3693 559.6 -116.8 - - 3190 - - - - - - - - 14.97 14.61 14.99
7599 624.6 -8.7 325 7605 done -0.47 - - 2021 - 2.45 0.060 2249 -589.4 -116.8 - - 3190 - - - - - - - - 14.78 14.70 14.81
7936 652.7 -8.3 338 7940 roll -0.47 - - 2021 - 2.38 0.070 890 -571.0 -116.8 - - 3189 - - - - - - - - 14.97 14.65 14.98
8039 661.3 -8.1 353 8048 done -0.47 - - 2017 - 2.50 0.078 2254 545.6 -116.8 - - 3188 - - - - - - - - 14.66 14.59 14.71
8383 687.9 -7.7 360 8388 roll -0.47 0.12 0.282 2040 191.7 2.60 0.103 3699 555.8 -116.8 - - 3188 - - - - - - - - 14.41 14.58 14.54
8418 690.3 -6.6 365 8424 done -0.47 - - 2040 - 2.47 0.063 2251 -586.2 -116.8 - - 3188 - - - - - - - - 14.77 14.69 14.80
8775 712.0 -5.9 374 8780 roll -0.47 - - 2038 - 2.40 0.071 883 -570.0 -116.8 - - 3187 - - - - - - - - 14.96 14.62 14.98
8880 718.4 -5.9 389 8887 done -0.47 - - 2040 - 2.47 0.083 2247 552.2 -116.8 - - 3185 - - - - - - - - 14.73 14.59 14.77
9223 737.2 -5.6 396 9228 roll -0.47 - - 2036 - 2.62 0.111 3692 551.5 -116.8 - - 3185 - - - - - - - - 14.96 14.57 14.98
9292 741.5 -6.2 406 9298 done -0.47 - - 2036 - 2.47 0.063 2247 -585.0 -116.8 - - 3185 - - - - - - - - 14.77 14.69 14.79
9616 762.4 -6.7 417 9621 roll -0.47 - - 2036 - 2.40 0.074 884 -567.9 -116.8 - - 3187 - - - - - - - - 14.95 14.60 14.97
9705 769.3 -7.7 430 9711 done -0.47 - - 2036 - 2.47 0.083 2247 551.8 -116.8 - - 3183 - - - - - - - - 14.72 14.57 14.76
10063 796.4 -7.7 439 10068 roll -0.47 - - 2027 - 2.62 0.110 3694 552.3 -116.8 - - 3182 - - - - - - - - 14.95 14.55 14.97
10119 800.5 -8.3 447 10124 done -0.47 - - 2027 - 2.50 0.065 2242 -580.8 -116.8 - - 3185 - - - - - - - - 14.73 14.65 14.76
10455 826.8 -7.7 460 10460 roll -0.47 - - 2027 - 2.40 0.076 884 -565.8 -116.8 - - 3182 - - - - - - - - 14.94 14.58 14.97
10517 831.7 -7.8 469 10524 done -0.47 - - 2026 - 2.47 0.083 2251 553.4 -116.8 - - 3181 - - - - - - - - 14.71 14.58 14.75
10848 854.8 -6.8 481 10848 done -0.47 - - 2026 - - - 2255 - -116.8 - - 3180 - - - - - - - - 14.95 14.97 14.97
11184 875.0 -5.9 487 11184 done -0.47 - - 2026 - - - 2251 - -116.8 - - 3180 - - - - - - - - 14.95 14.97 14.97
11519 894.8 -6.0 493 11525 roll -0.47 - - 2023 - 2.65 0.113 3701 547.2 -116.8 - - 3179 - - - - - - - - 14.96 14.54 14.97
11554 896.7 -5.3 498 11559 done -0.47 - - 2023 - 2.53 0.069 2242 -576.7 -116.8 - - 3179 - - - - - - - - 14.74 14.66 14.77
11911 919.5 -6.3 507 11916 roll -0.47 - - 2023 - 2.42 0.080 880 -562.8 -116.8 - - 3178 - - - - - - - - 14.95 14.56 14.97
11980 924.4 -7.1 517 11986 done -0.47 - - 2022 - 2.53 0.087 2254 543.1 -116.8 - - 3178 - - - - - - - - 14.69 14.55 14.73
12304 947.2 -7.2 528 12308 roll -0.47 - - 2018 - 2.65 0.114 3700 545.7 -116.8 - - 3178 - - - - - - - - 14.92 14.52 14.95
12344 950.1 -5.2 534 12350 done -0.47 - - 2018 - 2.53 0.070 2242 -576.3 -116.8 - - 3177 - - - - - - - - 14.72 14.63 14.75
12695 974.9 -7.0 542 12700 roll -0.47 - - 2018 - 2.42 0.083 888 -559.5 -116.8 - - 3177 - - - - - - - - 14.92 14.54 14.95
12808 983.2 -7.4 558 12813 done -0.47 - - 2017 - 2.50 0.086 2248 544.0 -116.8 - - 3175 - - - - - - - - 14.69 14.54 14.73
12915 end dive: TARGET_DEPTH_EXCEEDED
12915 begin apogee
12923 991.0 -7.0 567 13113 roll -0.19 0.43 0.225 2134 272.1 - - 2248 - - 188.02 1.657 2741 -2.3 0.259 - - - - - - 14.39 13.99 13.33
13115 end apogee: CONTROL_FINISHED_OK
13115 begin climb
13119 996.3 - 570 13278 roll 0.68 0.93 0.162 2411 297.8 2.67 0.076 832 -530.3 116.8 148.80 1.913 2262 -3.2 0.314 - - - - - - 13.94 14.02 13.09
13363 979.3 9.3 609 13368 done 0.68 - - 2410 - 2.67 0.090 2228 522.8 116.8 - - 2235 - - - - - - - - 14.10 14.00 14.14
13699 944.2 10.5 622 13703 roll 0.61 - - 2420 - 2.62 0.096 835 -531.7 116.8 - - 2230 - - - - - - - - 14.65 14.33 14.67
13824 931.0 10.1 640 13829 done 0.57 0.15 0.272 2386 -226.7 2.60 0.090 2237 539.2 116.8 - - 2228 - - - - - - - - 14.25 14.40 14.50
14147 900.8 9.3 651 14152 roll 0.57 - - 2386 - 2.60 0.117 3638 538.8 116.8 - - 2227 - - - - - - - - 14.78 14.45 14.80
14237 891.5 10.2 664 14242 done 0.51 - - 2395 - 2.45 0.080 2257 -563.7 116.8 - - 2226 - - - - 1 - - - 14.63 14.52 14.66
14595 857.3 9.6 673 14601 roll 0.46 0.15 0.287 2366 -193.3 2.62 0.095 822 -547.7 116.8 - - 2227 - - - - - - - - 14.29 14.49 14.45
14650 852.5 8.7 681 14656 done 0.46 - - 2367 - 2.62 0.090 2246 543.5 116.8 - - 2225 - - - - - - - - 14.64 14.51 14.69
14986 825.1 8.2 694 14991 roll 0.46 - - 2366 - 2.60 0.118 3647 538.8 116.8 - - 2224 - - - - - - - - 14.87 14.49 14.88
15049 819.2 9.5 703 15054 done 0.46 - - 2376 - 2.50 0.081 2241 -562.4 116.8 - - 2223 - - - - - - - - 14.67 14.55 14.71
15379 790.0 8.9 715 15383 roll 0.46 - - 2386 - 2.60 0.096 818 -547.3 116.8 - - 2223 - - - - - - - - 14.88 14.51 14.90
15435 784.9 9.3 723 15440 done 0.46 0.15 0.262 2354 -213.3 2.62 0.088 2243 543.9 116.8 - - 2223 - - - - - - - - 14.35 14.54 14.63
15772 761.1 7.0 736 15776 roll 0.47 - - 2353 - 2.58 0.116 3643 542.6 124.2 - - 2222 - - - - - - - - 14.88 14.51 14.90
15840 755.6 7.7 746 15845 done 0.47 - - 2363 - 2.50 0.080 2237 -562.4 124.2 - - 2222 - - - - - - - - 14.68 14.57 14.71
16163 732.8 7.1 757 16169 roll 0.47 - - 2374 - 2.58 0.095 822 -548.4 129.1 - - 2222 - - - - - - - - 14.90 14.52 14.91
16225 728.3 7.0 766 16245 done 0.47 - - 2374 - 2.60 0.085 2248 548.5 136.3 16.10 1.769 2185 -2.3 0.177 - - - - - - 14.68 14.54 13.90
16603 698.1 8.2 778 16608 roll 0.47 - - 2374 - 2.58 0.115 3639 539.1 136.3 - - 2167 - - - - - - - - 14.82 14.47 14.83
16680 690.7 9.6 789 16686 done 0.47 - - 2383 - 2.47 0.076 2241 -566.0 136.3 - - 2166 - - - - - - - - 14.64 14.54 14.68
16995 661.5 9.3 799 17000 roll 0.47 - - 2393 - 2.58 0.093 827 -548.1 136.3 - - 2167 - - - - - - - - 14.87 14.50 14.89
17044 657.1 8.9 806 17051 done 0.47 0.15 0.257 2359 -226.7 2.65 0.084 2250 537.0 136.3 - - 2166 - - - - - - - - 14.35 14.49 14.62
17388 630.7 7.6 813 17394 roll 0.47 - - 2359 - 2.58 0.115 3642 539.5 136.3 - - 2166 - - - - - - - - 14.88 14.49 14.90
17449 625.4 8.4 822 17455 done 0.47 - - 2367 - 2.47 0.079 2251 -563.2 136.3 - - 2165 - - - - - - - - 14.66 14.54 14.71
17780 600.9 7.4 834 17785 roll 0.47 - - 2377 - 2.62 0.095 818 -546.9 136.3 - - 2165 - - - - - - - - 14.88 14.51 14.90
17828 597.4 7.0 841 17836 done 0.48 - - 2377 - 2.62 0.084 2251 546.9 145.1 3.17 1.005 2146 -6.0 0.668 - - - - - - 14.66 14.52 13.70
18172 572.0 7.4 848 18176 roll 0.48 - - 2377 - 2.55 0.114 3639 544.3 145.1 - - 2154 - - - - - - - - 14.88 14.50 14.90
18248 565.4 8.5 859 18253 done 0.48 0.12 0.272 2358 -158.3 2.45 0.076 2255 -564.9 145.1 - - 2154 - - - - - - - - 14.38 14.57 14.62
18564 543.8 6.9 869 18591 roll 0.48 - - 2368 - 2.67 0.094 822 -536.7 155.0 22.85 1.515 2104 -2.2 0.147 - - - - - - 14.88 14.52 13.99
18648 537.3 7.8 881 18653 done 0.54 - - 2368 - 2.60 0.083 2247 548.1 155.0 - - 2092 - - - - - - - - 14.59 14.49 14.63
19005 504.9 9.4 890 19010 roll 0.54 - - 2368 - 2.60 0.115 3650 539.6 155.0 - - 2092 - - - - - - - - 14.80 14.45 14.82
19080 496.9 10.4 901 19087 done 0.54 - - 2378 - 2.55 0.078 2218 -561.6 155.0 - - 2091 - - - - - - - - 14.64 14.51 14.66
19397 466.8 9.5 911 19401 roll 0.54 - - 2387 - 2.55 0.093 822 -547.5 155.0 - - 2091 - - - - - - - - 14.85 14.50 14.87
19424 464.4 8.7 915 19429 done 0.54 - - 2388 - 2.62 0.083 2258 548.1 155.0 - - 2093 - - - - - - - - 14.65 14.52 14.70
19788 434.0 8.0 925 19794 roll 0.54 - - 2387 - 2.55 0.113 3640 542.0 155.0 - - 2091 - - - - - - - - 14.88 14.49 14.90
19857 427.9 8.6 935 19863 done 0.54 - - 2396 - 2.50 0.077 2259 -552.4 155.0 - - 2090 - - - - - - - - 14.59 14.52 14.63
20181 401.8 8.1 946 20186 roll 0.54 - - 2407 - 2.62 0.090 815 -551.1 155.0 - - 2093 - - - - - - - - 14.86 14.51 14.90
20249 396.0 8.1 956 20255 done 0.54 0.12 0.252 2377 -250.0 2.62 0.083 2255 549.6 155.0 - - 2090 - - - - - - - - 14.40 14.52 14.64
20574 369.5 8.4 967 20579 roll 0.54 - - 2377 - 2.55 0.112 3641 543.5 155.0 - - 2087 - - - - - - - - 14.88 14.50 14.90
20634 363.6 9.5 976 20640 done 0.54 - - 2386 - 2.50 0.075 2253 -555.2 155.0 - - 2090 - - - - - - - - 14.70 14.53 14.73
20964 334.5 8.8 988 20969 roll 0.54 - - 2395 - 2.60 0.092 821 -550.8 155.0 - - 2090 - - - - - - - - 14.90 14.52 14.92
21021 329.8 8.3 996 21026 done 0.54 - - 2395 - 2.62 0.083 2261 549.6 155.0 - - 2089 - - - - - - - - 14.66 14.54 14.71
21356 301.5 8.4 1009 21362 roll 0.54 - - 2395 - 2.53 0.111 3639 544.7 155.0 - - 2090 - - - - - - - - 14.91 14.50 14.92
21425 295.2 9.1 1019 21431 done 0.54 0.08 0.235 2375 -250.0 2.47 0.072 2261 -557.9 155.0 - - 2090 - - - - - - - - 14.37 14.54 14.64
21750 272.5 7.1 1030 21754 roll 0.54 - - 2384 - 2.60 0.086 815 -556.2 161.7 - - 2090 - - - - - - - - 14.90 14.53 14.92
21811 268.1 7.0 1039 21832 done 0.59 - - 2384 - 2.62 0.080 2263 552.7 169.1 16.27 1.288 2045 -2.8 0.108 - - - - - - 14.67 14.54 14.07
22141 242.2 8.0 1051 22146 roll 0.59 - - 2384 - 2.50 0.108 3639 550.4 169.1 - - 2032 - - - - - - - - 14.85 14.49 14.87
22182 238.3 9.3 1057 22188 done 0.59 - - 2392 - 2.47 0.070 2257 -559.5 169.1 - - 2031 - - - - - - - - 14.58 14.52 14.61
22533 207.3 8.9 1065 22538 roll 0.59 - - 2403 - 2.60 0.085 818 -553.5 169.1 - - 2031 - - - - - - - - 14.88 14.48 14.89
22588 202.5 8.7 1073 22594 done 0.59 - - 2405 - 2.60 0.078 2261 555.0 169.1 - - 2030 - - - - - - - - 14.66 14.53 14.70
22925 172.9 8.7 1086 22930 roll 0.59 - - 2403 - 2.53 0.106 3648 548.2 169.1 - - 2027 - - - - - - - - 14.88 14.51 14.90
23001 165.8 9.3 1097 23007 done 0.59 - - 2411 - 2.47 0.070 2258 -562.8 169.1 - - 2031 - - - - - - - - 14.61 14.55 14.65
23318 138.6 8.7 1107 23322 roll 0.59 - - 2422 - 2.58 0.083 825 -555.4 169.1 - - 2031 - - - - - - - - 14.90 14.54 14.92
23407 131.1 7.7 1120 23412 done 0.59 0.12 0.258 2391 -258.3 2.60 0.076 2261 552.3 169.1 - - 2030 - - - - - - - - 14.40 14.55 14.65
23765 106.9 6.7 1129 23777 roll 0.60 - - 2392 - 2.47 0.104 3641 558.7 183.9 6.55 0.334 1993 -5.6 0.339 - - - - - - 14.90 14.58 14.21
23821 103.4 6.4 1137 23847 done 0.62 - - 2400 - 2.40 0.066 2255 -577.5 207.1 17.92 0.429 1899 -5.2 0.237 - - - - - - 14.71 14.61 14.25
24160 82.6 5.8 1154 24190 roll 0.70 - - 2401 - 2.53 0.099 3648 550.6 242.6 24.70 0.377 1749 -6.1 0.249 - - - - - - 14.85 14.50 14.26
24331 73.2 5.1 1179 24372 done 0.84 0.20 0.105 2489 440.0 2.38 0.064 2285 -572.7 296.3 36.15 0.355 1532 -6.0 0.232 - - - - - - 14.59 14.56 14.24
24692 54.6 5.0 1197 24736 roll 0.94 - - 2487 - 2.60 0.078 824 -561.9 353.0 37.75 0.297 1301 -6.1 0.211 - - - - - - 14.82 14.51 14.28
24786 49.2 6.1 1211 24813 done 1.14 0.22 0.090 2584 440.9 2.60 0.069 2283 561.2 381.9 20.92 0.277 1182 -5.7 0.189 - - - - - - 14.58 14.51 14.26
25140 22.8 7.3 1228 25150 roll 1.14 - - 2584 - 2.47 0.096 3638 548.6 383.4 2.75 0.168 1175 -2.5 0.065 - - - - - - 14.81 14.48 14.40
25286 10.8 8.1 1249 25292 done 1.14 - - 2593 - 2.33 0.062 2289 -579.0 383.4 2.72 0.164 1176 - - - - - - - - 14.67 14.58 14.42
25387 end climb: SURFACE_DEPTH_REACHED
25387 begin surface coast
25415 end surface coast: CONTROL_FINISHED_OK
25415 begin surface
SM 0.94 - - - - -6.14 6.78 0.070 215 31.7 - - 2278 - 500.17 71.35 0.138 699 9.8 -0.007 - - - - - -