SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 164 * Raw log
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• Previous call tries 1 • 64.69 of 350.00 AH used of 24V (81.52% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 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: 38 s
• GPS2 time: 17 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 done -0.84 - - 157 - - - 1891 - -116.8 -79.88 - 3270 - - - - - - - - 14.78 13.80 14.81
111 9.1 -13.9 3 128 roll -0.84 11.77 0.386 2659 212.6 2.42 0.041 457 -592.6 -116.8 - - 3272 - - - - - - - - 14.35 14.60 14.59
149 31.7 -48.6 9 157 done 0.15 1.30 0.289 2971 240.0 2.28 0.036 1833 603.5 -116.8 - - 3272 - - - - - - - - 14.39 14.62 14.62
472 59.0 -5.8 22 479 roll -0.11 0.22 0.086 2864 -486.4 2.40 0.052 3272 599.6 -116.8 - - 3273 - - - - - - - - 14.71 14.66 14.73
577 67.6 -8.2 37 585 done -0.30 - - 2864 - 2.22 0.036 1911 -613.1 -116.8 - - 3273 - - - - - - - - 14.78 14.72 14.79
892 89.2 -6.2 49 900 roll -0.44 0.20 0.100 2772 -460.0 2.45 0.056 464 -590.6 -116.8 - - 3273 - - - - - - - - 14.74 14.71 14.78
913 90.8 -6.6 52 920 done -0.44 - - 2762 - 2.47 0.034 1984 615.4 -116.8 - - 3273 - - - - - - - - 14.80 14.74 14.81
1257 118.8 -7.8 61 1265 roll -0.44 - - 2762 - 2.55 0.054 467 -594.9 -116.8 - - 3272 - - - - - - - - 14.97 14.74 15.01
1355 127.6 -9.2 75 1362 done -0.44 0.15 0.254 2784 146.7 2.42 0.033 1965 619.0 -116.8 - - 3274 - - - - - - - - 14.60 14.81 14.79
1706 155.1 -7.8 83 1712 roll -0.44 - - 2777 - 2.15 0.056 3271 607.4 -116.8 - - 3272 - - - - - - - - 14.99 14.76 15.01
1741 157.8 -7.5 88 1747 done -0.44 - - 2777 - 2.17 0.036 1922 -621.7 -116.8 - - 3270 - - - - - - - - 14.87 14.81 14.88
2098 185.6 -7.9 97 2105 roll -0.44 - - 2777 - 2.45 0.057 467 -593.9 -116.8 - - 3270 - - - - - - - - 15.00 14.77 15.02
2237 197.2 -8.1 117 2244 done -0.44 - - 2768 - 2.30 0.034 1887 617.4 -116.8 - - 3269 - - - - - - - - 14.88 14.82 14.89
2602 225.1 -7.6 127 2609 roll -0.44 - - 2768 - 2.40 0.056 464 -592.9 -116.8 - - 3267 - - - - - - - - 14.97 14.78 15.01
2658 229.8 -8.5 135 2664 done -0.44 - - 2761 - 2.22 0.034 1830 615.3 -116.8 - - 3266 - - - - - - - - 14.85 14.80 14.86
2995 256.9 -8.0 148 3008 roll -0.44 - - 2749 - 2.38 0.056 3262 601.7 -116.8 - - 3263 - - - - - - - - 15.02 14.78 15.04
3070 263.1 -7.9 158 3083 done -0.44 0.15 0.236 2782 220.0 2.28 0.037 1852 -618.4 -116.8 - - 3262 - - - - - - - - 14.64 14.84 14.82
3398 286.3 -7.1 169 3411 roll -0.44 - - 2782 - 2.33 0.057 468 -594.0 -116.8 - - 3260 - - - - - - - - 15.02 14.81 15.06
3540 297.2 -7.7 188 3553 done -0.44 - - 2777 - 2.20 0.034 1835 621.4 -116.8 - - 3258 - - - - - - - - 14.92 14.88 14.93
3861 322.3 -7.8 198 3874 done -0.44 - - 2777 - - - 1835 - -116.8 - - 3256 - - - - - - - - 15.05 15.07 15.07
4198 348.5 -7.8 204 4211 done -0.44 - - 2774 - - - 1840 - -116.8 - - 3254 - - - - - - - - 15.06 15.08 15.07
4533 373.1 -7.3 210 4546 roll -0.44 - - 2777 - 2.33 0.059 465 -590.1 -116.8 - - 3251 - - - - - - - - 15.06 14.84 15.08
4573 376.3 -8.1 215 4586 done -0.44 - - 2768 - 2.17 0.035 1808 618.9 -116.8 - - 3252 - - - - - - - - 14.95 14.89 14.96
4937 403.0 -7.3 224 4950 roll -0.44 - - 2758 - 2.42 0.057 3262 600.8 -116.8 - - 3249 - - - - - - - - 15.05 14.83 15.07
5099 414.2 -6.4 246 5112 done -0.55 - - 2758 - 2.35 0.037 1819 -614.0 -116.8 - - 3248 - - - - - - - - 14.92 14.86 14.95
5456 438.6 -6.9 254 5469 roll -0.68 0.12 0.136 2694 -533.3 2.42 0.054 3265 597.5 -116.8 - - 3247 - - - - - - - - 14.83 14.83 14.88
5575 449.3 -9.4 270 5588 done -0.68 - - 2694 - 2.22 0.037 1901 -614.4 -116.8 - - 3242 - - - - - - - - 14.89 14.83 14.91
5917 482.7 -9.8 283 5930 roll -0.68 - - 2694 - 2.42 0.060 469 -591.7 -116.8 - - 3244 - - - - - - - - 15.04 14.81 15.07
6072 498.9 -10.6 304 6086 done -0.56 0.25 0.255 2745 204.0 2.25 0.035 1856 616.4 -116.8 - - 3244 - - - - - - - - 14.61 14.87 14.88
6436 527.0 -7.4 313 6449 roll -0.56 - - 2737 - 2.35 0.057 3265 599.6 -116.8 - - 3242 - - - - - - - - 15.05 14.81 15.07
6533 534.3 -7.5 326 6546 done -0.56 - - 2736 - 2.28 0.038 1878 -608.3 -116.8 - - 3241 - - - - - - - - 14.91 14.85 14.92
6896 560.1 -7.0 335 6910 roll -0.56 - - 2736 - 2.38 0.060 473 -590.3 -116.8 - - 3240 - - - - - - - - 15.04 14.80 15.07
7042 571.8 -8.1 355 7055 done -0.56 - - 2728 - 2.20 0.035 1834 618.6 -116.8 - - 3240 - - - - - - - - 14.88 14.85 14.88
7412 602.4 -8.4 365 7426 roll -0.56 - - 2717 - 2.40 0.057 3268 597.5 -116.8 - - 3240 - - - - - - - - 15.03 14.80 15.06
7515 611.4 -8.8 379 7529 done -0.56 0.12 0.254 2743 216.7 2.35 0.038 1847 -604.7 -116.8 - - 3238 - - - - - - - - 14.59 14.83 14.82
7872 639.7 -7.9 387 7885 roll -0.56 - - 2743 - 2.35 0.061 466 -587.7 -116.8 - - 3237 - - - - - - - - 15.04 14.79 15.05
8018 652.4 -8.5 407 8031 done -0.56 - - 2737 - 2.22 0.037 1828 613.5 -116.8 - - 3236 - - - - - - - - 14.95 14.85 14.92
8388 682.9 -8.2 417 8401 roll -0.56 - - 2726 - 2.40 0.059 3257 595.4 -116.8 - - 3235 - - - - - - - - 15.03 14.78 15.05
8436 686.9 -8.1 423 8449 done -0.56 - - 2726 - 2.35 0.039 1826 -608.9 -116.8 - - 3234 - - - - - - - - 14.89 14.82 14.91
8792 716.5 -8.3 431 8805 roll -0.56 - - 2727 - 2.30 0.060 471 -589.1 -116.8 - - 3234 - - - - - - - - 15.06 14.78 15.05
8954 730.5 -8.1 453 8967 done -0.56 - - 2717 - 2.15 0.036 1792 614.4 -116.8 - - 3231 - - - - - - - - 14.89 14.83 14.90
9310 761.2 -8.5 461 9324 roll -0.56 0.12 0.285 2739 183.3 2.47 0.056 3259 593.9 -116.8 - - 3232 - - - - - - - - 14.52 14.76 14.67
9393 767.5 -7.4 472 9406 done -0.56 - - 2738 - 2.42 0.040 1796 -604.5 -116.8 - - 3231 - - - - - - - - 14.90 14.82 14.89
9715 791.5 -7.5 482 9728 roll -0.56 - - 2739 - 2.28 0.063 466 -583.3 -116.8 - - 3230 - - - - - - - - 15.02 14.76 15.04
9818 799.9 -7.7 496 9832 done -0.56 - - 2729 - 2.17 0.037 1792 611.1 -116.8 - - 3230 - - - - - - - - 14.88 14.82 14.90
10175 827.0 -7.7 504 10188 roll -0.56 - - 2719 - 2.50 0.059 3265 589.2 -116.8 - - 3229 - - - - - - - - 15.01 14.75 15.03
10279 835.2 -7.1 518 10292 done -0.56 - - 2719 - 2.42 0.040 1800 -605.4 -116.8 - - 3228 - - - - - - - - 14.87 14.79 14.88
10635 863.2 -7.8 526 10649 roll -0.56 - - 2719 - 2.28 0.063 471 -582.9 -116.8 - - 3228 - - - - - - - - 15.02 14.74 15.03
10732 871.9 -8.9 539 10745 done -0.56 0.15 0.274 2742 153.3 2.15 0.037 1781 609.3 -116.8 - - 3228 - - - - - - - - 14.50 14.81 14.75
11095 899.3 -7.3 548 11108 roll -0.56 - - 2733 - 2.53 0.060 3263 585.8 -116.8 - - 3231 - - - - - - - - 15.01 14.73 15.02
11230 909.6 -7.7 566 11243 done -0.56 - - 2733 - 2.42 0.041 1802 -603.7 -116.8 - - 3227 - - - - - - - - 14.85 14.78 14.85
11558 936.0 -8.0 577 11571 roll -0.56 - - 2730 - 2.30 0.063 462 -582.6 -116.8 - - 3225 - - - - - - - - 15.00 14.73 15.02
11634 942.7 -8.9 587 11647 done -0.56 - - 2725 - 2.17 0.039 1788 611.1 -116.8 - - 3226 - - - - - - - - 14.85 14.78 14.87
11963 970.6 -8.5 598 11976 roll -0.56 - - 2714 - 2.50 0.060 3259 588.4 -116.8 - - 3226 - - - - - - - - 15.00 14.71 15.02
12025 976.0 -8.7 606 12039 done -0.56 0.12 0.254 2740 216.7 2.45 0.041 1790 -599.6 -116.8 - - 3226 - - - - - - - - 14.51 14.76 14.73
12253 end dive: TARGET_DEPTH_EXCEEDED
12253 begin apogee
12260 993.7 -7.5 617 12387 roll -0.21 0.43 0.226 2854 265.1 - - 1789 - - 117.72 2.209 2792 -3.7 0.308 - - - - - - 14.50 14.08 13.32
12389 end apogee: CONTROL_FINISHED_OK
12389 begin climb
12392 998.9 - 619 12535 roll 0.84 1.20 0.179 3188 278.3 2.53 0.059 3198 556.9 116.8 122.35 2.161 2309 -3.9 0.339 - - - - - - 14.07 14.14 13.19
12706 976.5 9.5 666 12720 done 0.74 - - 3197 - 2.40 0.041 1804 -580.8 116.8 - - 2294 - - - - - - - - 14.42 14.37 14.45
13046 943.2 9.8 673 13060 roll 0.65 0.20 0.262 3148 -245.0 2.38 0.049 3196 584.9 116.8 - - 2292 - - - - - - - - 14.38 14.57 14.52
13180 932.1 8.1 691 13194 done 0.65 - - 3155 - 2.38 0.041 1778 -595.8 116.8 - - 2292 - - - - - - - - 14.69 14.63 14.72
13509 905.9 8.0 702 13522 roll 0.65 - - 3165 - 2.40 0.067 401 -573.8 116.8 - - 2292 - - - - - - - - 14.90 14.65 14.90
13592 898.9 8.5 713 13606 done 0.65 - - 3165 - 2.30 0.034 1798 607.4 116.8 - - 2292 - - - - - - - - 14.78 14.72 14.79
13914 873.2 7.9 723 13927 roll 0.65 - - 3165 - 2.35 0.053 3185 590.2 116.8 - - 2291 - - - - - - - - 14.92 14.69 14.94
13976 868.1 8.4 731 13990 done 0.65 0.15 0.273 3143 -146.7 2.33 0.041 1789 -599.1 116.8 - - 2291 - - - - - - - - 14.49 14.72 14.73
14322 844.6 6.8 744 14355 roll 0.67 - - 3152 - 2.47 0.067 405 -560.3 137.1 18.60 2.018 2224 -3.6 0.280 - - - - - - 14.94 14.61 13.92
14435 836.6 7.8 760 14448 done 0.67 - - 3152 - 2.25 0.034 1766 604.9 138.1 - - 2219 - - - - - - - - 14.70 14.66 14.72
14778 810.5 7.5 773 14792 roll 0.68 - - 3152 - 2.47 0.054 3185 574.5 144.0 1.88 0.174 2201 -9.6 8.294 - - - - - - 14.88 14.67 14.57
14840 805.4 8.2 781 14854 done 0.68 - - 3161 - 2.40 0.042 1759 -594.2 144.0 - - 2202 - - - - - - - - 14.76 14.69 14.78
15183 778.1 8.0 794 15196 roll 0.68 - - 3171 - 2.35 0.067 401 -577.9 144.0 - - 2200 - - - - - - - - 14.92 14.68 14.95
15258 771.6 8.8 804 15271 done 0.68 - - 3172 - 2.20 0.033 1749 612.7 144.0 - - 2202 - - - - - - - - 14.81 14.76 14.82
15586 743.3 8.7 815 15599 roll 0.68 - - 3172 - 2.42 0.052 3190 595.5 144.0 - - 2202 - - - - - - - - 14.94 14.71 14.96
15661 736.1 9.5 825 15675 done 0.68 0.15 0.271 3147 -166.7 2.38 0.041 1764 -599.2 144.0 - - 2202 - - - - - - - - 14.50 14.74 14.73
15990 708.6 8.5 836 16003 roll 0.68 - - 3158 - 2.38 0.067 395 -575.2 144.0 - - 2202 - - - - - - - - 14.95 14.69 14.97
16101 698.5 9.2 851 16114 done 0.68 - - 3158 - 2.22 0.034 1746 608.6 144.0 - - 2202 - - - - - - - - 14.82 14.77 14.84
16444 667.9 8.9 858 16457 roll 0.68 - - 3158 - 2.42 0.052 3182 593.4 144.0 - - 2202 - - - - - - - - 14.95 14.72 14.97
16491 663.4 9.1 864 16504 done 0.68 - - 3167 - 2.42 0.041 1732 -599.2 144.0 - - 2202 - - - - - - - - 14.81 14.74 14.83
16847 633.5 8.2 872 16861 roll 0.68 - - 3177 - 2.30 0.067 402 -578.3 144.0 - - 2202 - - - - - - - - 14.96 14.71 14.98
16923 627.0 8.6 882 16936 done 0.68 - - 3177 - 2.17 0.033 1737 615.2 144.0 - - 2202 - - - - - - - - 14.83 14.79 14.85
17251 601.0 7.9 893 17264 roll 0.68 - - 3177 - 2.42 0.052 3181 596.7 144.0 - - 2202 - - - - - - - - 14.97 14.72 14.98
17348 593.3 7.9 906 17361 done 0.68 0.15 0.272 3156 -140.0 2.40 0.041 1745 -598.3 144.0 - - 2202 - - - - - - - - 14.48 14.73 14.72
17711 570.8 6.1 915 17764 roll 0.72 - - 3163 - 2.45 0.067 396 -550.6 177.1 40.83 1.715 2063 -3.4 0.211 - - - - - - 14.96 14.48 13.87
17785 565.8 6.7 925 17823 done 0.75 - - 3167 - 2.25 0.034 1749 601.3 198.4 21.58 1.688 1974 -4.1 0.257 - - - - - - 14.59 14.54 13.77
18156 535.3 8.4 936 18169 roll 0.75 - - 3163 - 2.45 0.052 3182 584.9 198.4 - - 1966 - - - - - - - - 14.78 14.57 14.80
18225 529.0 9.4 945 18238 done 0.75 - - 3172 - 2.42 0.041 1741 -595.5 198.4 - - 1965 - - - - - - - - 14.67 14.62 14.69
18560 497.5 9.6 957 18573 roll 0.75 - - 3182 - 2.35 0.067 399 -571.1 198.4 - - 1965 - - - - - - - - 14.87 14.62 14.89
18622 491.0 10.7 965 18636 done 0.75 - - 3182 - 2.22 0.033 1749 608.1 198.4 - - 1965 - - - - - - - - 14.75 14.70 14.77
18965 456.1 10.1 978 18982 roll 0.75 - - 3182 - 2.40 0.052 3183 597.5 198.4 - - 1965 - - - - - - - - 14.90 14.69 14.92
19023 449.9 10.5 985 19037 done 0.75 - - 3190 - 2.40 0.041 1756 -594.6 198.4 - - 1965 - - - - - - - - 14.76 14.69 14.79
19367 415.1 10.1 992 19381 roll 0.75 - - 3201 - 2.38 0.067 395 -571.8 198.4 - - 1965 - - - - - - - - 14.92 14.66 14.95
19450 406.4 10.6 1003 19463 done 0.75 - - 3200 - 2.17 0.033 1730 615.2 198.4 - - 1965 - - - - - - - - 14.81 14.76 14.82
19771 374.0 10.0 1013 19784 roll 0.75 - - 3200 - 2.45 0.052 3188 595.1 198.4 - - 1965 - - - - - - - - 14.93 14.71 14.96
19853 365.2 10.6 1024 19867 done 0.75 0.15 0.269 3176 -160.0 2.40 0.041 1746 -600.8 198.4 - - 1965 - - - - - - - - 14.47 14.72 14.73
20175 337.2 8.6 1034 20188 roll 0.75 - - 3185 - 2.35 0.067 395 -574.9 198.4 - - 1965 - - - - - - - - 14.95 14.68 14.97
20257 329.6 9.3 1045 20271 done 0.75 - - 3185 - 2.15 0.033 1713 613.0 198.4 - - 1965 - - - - - - - - 14.82 14.77 14.84
20579 301.1 8.9 1055 20592 roll 0.75 - - 3185 - 2.47 0.051 3186 596.4 198.4 - - 1964 - - - - - - - - 14.95 14.71 14.97
20654 294.1 9.1 1065 20667 done 0.75 - - 3194 - 2.42 0.041 1727 -602.9 198.4 - - 1964 - - - - - - - - 14.81 14.73 14.83
20982 264.2 9.2 1076 20995 roll 0.75 - - 3203 - 2.30 0.067 402 -576.1 198.4 - - 1965 - - - - - - - - 14.95 14.69 14.97
21064 255.9 10.0 1087 21078 done 0.75 0.15 0.246 3171 -213.3 2.12 0.032 1719 621.2 198.4 - - 1965 - - - - - - - - 14.50 14.78 14.75
21386 229.0 8.3 1097 21399 roll 0.75 - - 3171 - 2.45 0.050 3182 597.1 198.4 - - 1965 - - - - - - - - 14.96 14.73 14.97
21468 221.7 8.8 1108 21482 done 0.75 - - 3179 - 2.42 0.042 1732 -599.2 198.4 - - 1965 - - - - - - - - 14.81 14.73 14.83
21790 194.9 8.3 1118 21803 roll 0.75 - - 3186 - 2.30 0.066 402 -578.3 198.4 - - 1965 - - - - - - - - 14.96 14.69 14.97
21879 186.9 8.9 1130 21892 done 0.75 - - 3186 - 2.10 0.031 1699 617.6 198.4 - - 1965 - - - - - - - - 14.83 14.78 14.85
22249 154.1 9.0 1140 22262 roll 0.75 - - 3187 - 2.50 0.050 3183 593.6 198.4 - - 1966 - - - - - - - - 14.99 14.72 14.98
22332 146.0 9.5 1151 22345 done 0.75 - - 3196 - 2.42 0.040 1723 -603.3 198.4 - - 1965 - - - - - - - - 14.82 14.76 14.84
22653 116.2 9.3 1161 22666 roll 0.75 - - 3206 - 2.30 0.065 395 -577.4 198.4 - - 1965 - - - - - - - - 14.96 14.70 14.98
22708 111.2 9.1 1168 22722 done 0.75 0.15 0.236 3172 -226.7 2.20 0.031 1754 617.7 198.4 - - 1964 - - - - - - - - 14.52 14.78 14.76
23027 90.1 6.2 1177 23063 roll 0.91 0.12 0.136 3225 441.7 2.45 0.048 3177 580.8 229.9 23.80 0.353 1855 -4.6 0.217 - - - - - - 14.72 14.71 14.42
23258 74.2 7.3 1210 23282 done 0.93 - - 3234 - 2.22 0.038 1827 -608.1 239.7 11.38 0.286 1817 -3.3 0.161 - - - - - - 14.79 14.72 14.40
23614 57.4 4.2 1227 23691 roll 1.13 0.15 0.119 3310 506.7 2.45 0.060 406 -580.0 308.3 63.22 0.280 1538 -4.4 0.168 - - - - - - 14.69 14.57 14.40
23721 52.0 6.5 1242 23757 done 1.16 - - 3310 - 2.20 0.029 1763 616.8 333.0 24.02 0.257 1435 -4.3 0.161 - - - - - - 14.72 14.68 14.38
24065 32.1 4.5 1258 24133 roll 1.35 0.15 0.117 3375 433.3 2.42 0.046 3179 585.1 395.0 52.25 0.207 1184 -4.8 0.139 - - - - - - 14.66 14.65 14.45
24287 12.9 9.8 1290 24300 done 1.35 - - 3385 - 2.58 0.038 1639 -596.9 395.0 - - 1192 - - - - - - - - 14.74 14.67 14.76
24402 end climb: SURFACE_DEPTH_REACHED
24402 begin surface coast
24430 end surface coast: CONTROL_FINISHED_OK
24430 begin surface
SM 1.20 - - - - -8.61 9.35 0.063 158 16.9 0.32 0.052 1889 2684.4 515.13 72.05 0.123 692 9.6 -0.010 - - - - - -