SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 165 * Raw log
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• Previous call tries 1 • 65.06 of 350.00 AH used of 24V (81.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 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: 40 s
• GPS2 time: 21 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 - - 153 - - - 1893 - -116.8 -80.38 - 3271 - - - - - - - - 14.76 13.79 14.78
111 9.0 -13.7 3 129 roll -0.84 11.88 0.391 2662 211.2 2.40 0.035 455 -599.2 -116.8 - - 3273 - - - - - - - - 14.34 14.60 14.61
156 33.3 -39.7 10 164 done -0.15 0.90 0.285 2875 236.7 2.28 0.037 1818 597.8 -116.8 - - 3273 - - - - - - - - 14.38 14.61 14.59
472 70.9 -8.2 22 474 done -0.25 - - 2875 - - - 1819 - -116.8 - - 3275 - - - - - - - - 14.88 14.90 14.90
780 89.8 -5.7 33 787 roll -0.43 0.22 0.090 2768 -486.4 2.33 0.050 3226 603.9 -116.8 - - 3275 - - - - - - - - 14.71 14.71 14.73
828 93.6 -8.4 40 836 done -0.43 - - 2773 - 2.40 0.037 1766 -608.3 -116.8 - - 3275 - - - - - - - - 14.81 14.74 14.85
1144 117.3 -7.2 48 1150 roll -0.43 - - 2767 - 2.20 0.058 465 -591.4 -116.8 - - 3276 - - - - - - - - 14.98 14.75 14.98
1248 126.4 -8.8 63 1256 done -0.43 0.12 0.265 2785 150.0 2.00 0.032 1711 623.0 -116.8 - - 3274 - - - - - - - - 14.58 14.80 14.78
1592 151.9 -7.5 70 1598 roll -0.43 - - 2776 - 2.50 0.053 3220 603.6 -116.8 - - 3274 - - - - - - - - 14.97 14.78 15.00
1648 156.0 -7.6 78 1654 done -0.43 - - 2777 - 2.40 0.038 1754 -610.8 -116.8 - - 3273 - - - - - - - - 14.85 14.78 14.87
1984 182.3 -7.9 91 1990 roll -0.43 - - 2777 - 2.15 0.059 473 -595.8 -116.8 - - 3271 - - - - - - - - 14.99 14.77 15.00
2074 190.4 -8.8 104 2080 done -0.43 - - 2768 - 2.00 0.031 1688 607.5 -116.8 - - 3270 - - - - - - - - 14.85 14.78 14.88
2432 220.8 -8.6 113 2438 roll -0.43 - - 2758 - 2.55 0.054 3219 600.4 -116.8 - - 3267 - - - - - - - - 14.99 14.77 15.01
2515 228.0 -8.7 125 2522 done -0.43 0.12 0.248 2781 191.7 2.42 0.037 1738 -612.0 -116.8 - - 3267 - - - - - - - - 14.60 14.79 14.80
2880 256.8 -7.9 135 2893 roll -0.43 - - 2785 - 2.12 0.058 472 -597.2 -116.8 - - 3264 - - - - - - - - 15.01 14.78 15.02
2962 263.6 -8.1 146 2975 done -0.43 - - 2780 - 1.95 0.033 1696 627.7 -116.8 - - 3263 - - - - - - - - 14.90 14.85 14.92
3284 288.5 -7.8 156 3297 roll -0.43 - - 2769 - 2.55 0.053 3226 600.0 -116.8 - - 3261 - - - - - - - - 15.03 14.82 15.05
3387 296.7 -7.9 170 3400 done -0.43 - - 2769 - 2.42 0.037 1747 -611.2 -116.8 - - 3260 - - - - - - - - 14.91 14.87 14.92
3743 325.9 -8.3 178 3756 roll -0.43 - - 2769 - 2.15 0.060 470 -594.0 -116.8 - - 3258 - - - - - - - - 15.04 14.82 15.06
3818 332.4 -8.7 188 3831 done -0.43 - - 2762 - 1.98 0.033 1706 624.2 -116.8 - - 3257 - - - - - - - - 14.93 14.89 14.95
4146 359.7 -8.4 199 4160 roll -0.43 0.12 0.279 2782 166.7 2.53 0.050 3222 599.2 -116.8 - - 3252 - - - - - - - - 14.60 14.83 14.75
4252 367.3 -7.0 213 4266 done -0.56 - - 2782 - 2.42 0.038 1739 -612.8 -116.8 - - 3254 - - - - - - - - 14.92 14.85 14.93
4609 393.8 -7.4 221 4622 roll -0.65 0.17 0.112 2709 -429.4 2.15 0.057 463 -593.5 -116.8 - - 3253 - - - - - - - - 14.82 14.87 14.86
4723 405.5 -10.9 236 4736 done -0.55 0.20 0.259 2748 195.0 2.00 0.034 1695 616.0 -116.8 - - 3252 - - - - - - - - 14.62 14.88 14.83
5063 435.5 -8.7 243 5076 roll -0.55 - - 2739 - 2.55 0.054 3221 598.4 -116.8 - - 3249 - - - - - - - - 15.05 14.82 15.07
5160 443.9 -8.6 256 5173 done -0.55 - - 2739 - 2.42 0.040 1742 -611.2 -116.8 - - 3249 - - - - - - - - 14.90 14.84 14.93
5523 477.4 -9.3 265 5537 roll -0.55 - - 2739 - 2.15 0.060 470 -591.6 -116.8 - - 3247 - - - - - - - - 15.03 14.81 15.07
5627 487.6 -9.8 279 5641 done -0.55 - - 2731 - 1.95 0.034 1677 619.0 -116.8 - - 3247 - - - - - - - - 14.92 14.88 14.93
5983 521.6 -9.6 287 5996 roll -0.55 - - 2719 - 2.58 0.054 3219 597.7 -116.8 - - 3245 - - - - - - - - 15.04 14.81 15.07
6161 537.7 -9.1 311 6174 done -0.55 0.12 0.255 2745 216.7 2.42 0.040 1755 -605.0 -116.8 - - 3244 - - - - - - - - 14.61 14.83 14.83
6503 566.0 -8.2 324 6516 roll -0.55 - - 2751 - 2.17 0.062 474 -590.3 -116.8 - - 3243 - - - - - - - - 15.04 14.79 15.06
6571 572.1 -8.7 333 6584 done -0.55 - - 2740 - 2.00 0.034 1704 615.0 -116.8 - - 3242 - - - - - - - - 14.90 14.86 14.93
6907 600.2 -8.4 345 6920 roll -0.55 - - 2729 - 2.55 0.056 3223 595.7 -116.8 - - 3241 - - - - - - - - 15.04 14.80 15.05
6983 606.7 -8.5 355 6996 done -0.55 - - 2729 - 2.45 0.040 1736 -606.9 -116.8 - - 3241 - - - - - - - - 14.89 14.81 14.91
7312 635.7 -8.9 366 7325 roll -0.55 - - 2728 - 2.15 0.062 472 -587.9 -116.8 - - 3240 - - - - - - - - 15.04 14.78 15.06
7436 647.4 -9.2 383 7449 done -0.55 0.12 0.279 2746 150.0 1.90 0.034 1657 623.7 -116.8 - - 3239 - - - - - - - - 14.57 14.86 14.81
7772 673.8 -7.9 395 7785 roll -0.55 - - 2737 - 2.62 0.054 3218 595.8 -116.8 - - 3238 - - - - - - - - 15.02 14.78 15.04
7861 681.0 -7.9 407 7874 done -0.55 - - 2737 - 2.50 0.041 1711 -602.8 -116.8 - - 3237 - - - - - - - - 14.88 14.81 14.90
8231 711.5 -8.3 417 8244 done -0.55 - - 2737 - - - 1710 - -116.8 - - 3236 - - - - - - - - 15.02 15.04 15.04
8568 740.6 -8.7 423 8581 roll -0.55 - - 2737 - 2.10 0.063 473 -589.0 -116.8 - - 3235 - - - - - - - - 15.02 14.76 15.04
8650 748.4 -9.3 434 8663 done -0.55 - - 2729 - 1.90 0.035 1657 623.2 -116.8 - - 3234 - - - - - - - - 14.88 14.82 14.91
8971 777.4 -9.1 444 8984 roll -0.55 - - 2718 - 2.62 0.055 3220 596.6 -116.8 - - 3233 - - - - - - - - 15.02 14.74 15.04
9148 793.2 -9.0 468 9162 done -0.55 0.15 0.245 2751 220.0 2.47 0.041 1735 -601.2 -116.8 - - 3233 - - - - - - - - 14.55 14.78 14.78
9491 820.2 -7.7 481 9504 roll -0.55 - - 2751 - 2.17 0.063 468 -583.9 -116.8 - - 3231 - - - - - - - - 15.01 14.75 15.03
9609 829.5 -7.6 497 9623 done -0.55 - - 2745 - 1.98 0.035 1682 613.1 -116.8 - - 3231 - - - - - - - - 14.87 14.81 14.88
9952 854.2 -7.3 510 9965 roll -0.55 - - 2734 - 2.60 0.057 3217 590.4 -116.8 - - 3232 - - - - - - - - 15.00 14.73 15.02
10086 864.0 -7.4 528 10099 done -0.55 - - 2734 - 2.45 0.041 1742 -602.0 -116.8 - - 3230 - - - - - - - - 14.84 14.76 14.87
10414 889.9 -7.9 539 10427 roll -0.55 - - 2734 - 2.17 0.065 474 -584.3 -116.8 - - 3229 - - - - - - - - 15.00 14.73 15.02
10497 897.1 -8.7 550 10510 done -0.55 - - 2726 - 1.98 0.037 1678 608.1 -116.8 - - 3229 - - - - - - - - 14.89 14.81 14.88
10818 924.1 -8.5 560 10831 roll -0.55 - - 2715 - 2.62 0.057 3223 589.7 -116.8 - - 3228 - - - - - - - - 15.00 14.73 15.01
10988 938.6 -8.7 583 11002 done -0.55 0.15 0.247 2748 220.0 2.45 0.041 1763 -595.9 -116.8 - - 3227 - - - - - - - - 14.50 14.75 14.73
11328 964.5 -7.5 590 11342 roll -0.55 - - 2749 - 2.22 0.065 470 -582.4 -116.8 - - 3228 - - - - - - - - 14.99 14.71 15.01
11447 974.0 -7.9 606 11461 done -0.55 - - 2748 - 2.00 0.037 1688 609.0 -116.8 - - 3230 - - - - - - - - 14.85 14.79 14.86
11675 end dive: TARGET_DEPTH_EXCEEDED
11675 begin apogee
11682 991.7 -7.7 617 11811 roll -0.21 0.45 0.233 2858 244.4 - - 1758 - - 118.40 2.209 2792 -3.7 0.309 - - - - - - 14.48 14.07 13.31
11812 end apogee: CONTROL_FINISHED_OK
11812 begin climb
11816 997.0 - 619 11958 roll 0.84 1.10 0.173 3192 303.6 2.50 0.064 408 -540.0 116.8 123.12 2.165 2313 -3.9 0.334 - - - - - - 14.07 14.13 13.17
12160 971.1 11.8 671 12173 done 0.84 - - 3192 - 2.38 0.033 1817 592.0 116.8 - - 2294 - - - - - - - - 14.47 14.42 14.49
12530 935.5 9.7 681 12543 roll 0.84 - - 3202 - 2.47 0.062 407 -570.9 116.8 - - 2291 - - - - - - - - 14.80 14.57 14.83
12710 916.4 10.8 706 12723 done 0.72 0.17 0.262 3165 -217.6 2.38 0.033 1841 602.5 116.8 - - 2291 - - - - - - - - 14.42 14.67 14.66
13045 887.1 8.6 718 13058 roll 0.72 - - 3165 - 2.28 0.054 3183 588.6 116.8 - - 2290 - - - - - - - - 14.89 14.67 14.92
13099 882.1 8.8 725 13114 done 0.72 - - 3171 - 2.25 0.041 1836 -598.7 116.8 - - 2290 - - - - - - - - 14.77 14.69 14.79
13444 852.0 8.8 732 13457 roll 0.72 - - 3182 - 2.50 0.066 402 -573.6 116.8 - - 2290 - - - - - - - - 14.92 14.67 14.95
13540 843.3 9.0 745 13554 done 0.72 - - 3182 - 2.33 0.032 1812 605.2 116.8 - - 2289 - - - - - - - - 14.81 14.76 14.83
13904 810.7 8.9 754 13917 roll 0.72 - - 3182 - 2.33 0.054 3185 589.3 116.8 - - 2289 - - - - - - - - 14.95 14.71 14.97
13986 803.0 9.1 765 14000 done 0.72 - - 3190 - 2.28 0.041 1827 -595.6 116.8 - - 2289 - - - - - - - - 14.81 14.74 14.83
14308 774.4 9.0 775 14321 roll 0.72 - - 3202 - 2.47 0.066 405 -575.7 116.8 - - 2288 - - - - - - - - 14.95 14.70 14.97
14398 765.9 9.5 787 14411 done 0.61 0.30 0.247 3130 -240.0 2.35 0.032 1834 608.1 116.8 - - 2288 - - - - - - - - 14.47 14.77 14.74
14769 741.2 6.6 797 14805 roll 0.64 - - 3126 - 2.35 0.054 3177 571.5 139.9 20.85 1.930 2211 -3.7 0.264 - - - - - - 14.95 14.64 13.95
14840 736.1 7.4 807 14857 done 0.65 - - 3135 - 2.25 0.041 1829 -599.1 147.8 2.47 0.645 2187 -9.7 2.065 - - - - - - 14.70 14.66 13.74
15165 712.9 7.2 818 15197 roll 0.67 - - 3147 - 2.58 0.067 402 -553.1 160.3 19.90 1.835 2135 -2.6 0.189 - - - - - - 14.86 14.54 13.94
15290 703.2 8.1 835 15303 done 0.67 - - 3146 - 2.33 0.033 1801 600.4 160.3 - - 2126 - - - - - - - - 14.65 14.61 14.67
15619 677.5 7.8 846 15632 roll 0.67 - - 3146 - 2.35 0.054 3188 590.2 162.2 - - 2126 - - - - - - - - 14.85 14.65 14.88
15674 673.0 8.1 853 15688 done 0.67 - - 3155 - 2.33 0.041 1810 -591.4 162.2 - - 2126 - - - - - - - - 14.73 14.66 14.75
16017 646.6 7.7 860 16031 roll 0.67 - - 3166 - 2.45 0.067 401 -575.1 165.4 - - 2126 - - - - - - - - 14.90 14.66 14.92
16136 637.1 8.2 876 16149 done 0.67 - - 3166 - 2.33 0.033 1798 599.6 165.4 - - 2125 - - - - - - - - 14.80 14.73 14.81
16478 609.3 8.2 889 16491 roll 0.67 - - 3166 - 2.33 0.052 3181 593.6 165.4 - - 2126 - - - - - - - - 14.92 14.71 14.95
16574 600.5 9.0 902 16588 done 0.67 - - 3174 - 2.22 0.041 1841 -603.6 165.4 - - 2126 - - - - - - - - 14.80 14.73 14.82
16938 567.9 9.1 911 16951 roll 0.67 - - 3185 - 2.50 0.066 400 -576.4 165.4 - - 2126 - - - - - - - - 14.95 14.69 15.00
17034 558.4 9.9 924 17048 done 0.67 0.15 0.247 3153 -213.3 2.33 0.032 1823 610.7 165.4 - - 2125 - - - - - - - - 14.52 14.78 14.74
17398 529.3 7.8 933 17412 roll 0.68 - - 3153 - 2.35 0.052 3177 576.2 166.4 1.85 0.171 2109 -8.6 4.986 - - - - - - 14.95 14.73 14.60
17462 524.2 8.1 941 17475 done 0.68 - - 3159 - 2.28 0.041 1814 -597.8 166.4 - - 2113 - - - - - - - - 14.81 14.74 14.83
17804 497.2 8.0 954 17817 roll 0.68 - - 3170 - 2.45 0.066 401 -576.7 166.4 - - 2113 - - - - - - - - 14.95 14.69 14.97
17929 486.6 8.5 971 17942 done 0.68 - - 3169 - 2.25 0.033 1778 612.0 166.4 - - 2113 - - - - - - - - 14.83 14.78 14.84
18264 459.7 8.0 983 18277 roll 0.68 - - 3169 - 2.35 0.052 3180 596.6 166.4 - - 2113 - - - - - - - - 14.95 14.72 14.97
18346 452.8 8.3 994 18360 done 0.68 - - 3176 - 2.25 0.040 1828 -600.9 166.4 - - 2112 - - - - - - - - 14.82 14.76 14.84
18668 427.6 7.8 1004 18681 roll 0.68 - - 3187 - 2.47 0.066 399 -578.5 167.3 - - 2112 - - - - - - - - 14.95 14.69 14.97
18830 414.0 8.5 1026 18844 done 0.68 0.15 0.243 3153 -226.7 2.28 0.032 1801 614.9 167.3 - - 2113 - - - - - - - - 14.51 14.78 14.73
19187 388.4 7.2 1034 19218 roll 0.69 - - 3154 - 2.38 0.052 3170 575.2 180.3 20.00 1.477 2053 -3.0 0.147 - - - - - - 14.96 14.69 14.11
19260 382.6 8.2 1044 19273 done 0.69 - - 3159 - 2.30 0.041 1794 -598.3 180.3 - - 2046 - - - - - - - - 14.73 14.65 14.75
19581 356.7 8.2 1054 19594 roll 0.69 - - 3169 - 2.45 0.067 393 -571.8 180.3 - - 2045 - - - - - - - - 14.88 14.64 14.90
19713 345.5 8.4 1072 19726 done 0.69 - - 3169 - 2.20 0.033 1739 611.8 180.3 - - 2045 - - - - - - - - 14.78 14.73 14.80
20041 319.2 8.0 1083 20054 roll 0.69 - - 3169 - 2.42 0.051 3177 594.2 180.3 - - 2046 - - - - - - - - 14.92 14.70 14.95
20116 312.8 8.5 1093 20129 done 0.69 - - 3177 - 2.35 0.041 1764 -601.3 180.3 - - 2046 - - - - - - - - 14.78 14.71 14.81
20444 285.8 8.2 1104 20457 roll 0.69 - - 3187 - 2.38 0.067 398 -573.9 180.3 - - 2045 - - - - - - - - 14.94 14.69 14.96
20526 278.7 8.7 1115 20540 done 0.69 0.15 0.238 3154 -220.0 2.22 0.033 1766 616.2 180.3 - - 2046 - - - - - - - - 14.52 14.77 14.75
20848 256.0 7.0 1125 20878 roll 0.71 - - 3156 - 2.35 0.049 3171 597.9 196.9 16.85 1.343 1983 -3.7 0.133 - - - - - - 14.95 14.61 14.14
20943 248.9 7.9 1138 20956 done 0.81 - - 3159 - 2.33 0.041 1778 -597.9 196.9 - - 1976 - - - - - - - - 14.75 14.68 14.77
21306 220.5 7.9 1147 21319 roll 0.81 - - 3171 - 2.42 0.067 393 -572.3 197.0 - - 1976 - - - - - - - - 14.90 14.66 14.92
21424 210.3 8.6 1163 21437 done 0.81 - - 3169 - 2.17 0.032 1727 614.7 197.0 - - 1975 - - - - - - - - 14.80 14.76 14.82
21767 182.2 8.1 1176 21780 roll 0.81 - - 3169 - 2.42 0.048 3173 597.5 197.0 - - 1975 - - - - - - - - 14.94 14.72 14.95
21821 177.5 8.6 1183 21835 done 0.81 - - 3177 - 2.42 0.040 1726 -597.9 197.0 - - 1975 - - - - - - - - 14.80 14.73 14.83
22165 149.9 8.0 1190 22179 roll 0.81 - - 3186 - 2.28 0.065 399 -582.0 197.0 - - 1975 - - - - - - - - 14.95 14.71 14.97
22241 143.1 8.9 1200 22254 done 0.81 - - 3186 - 2.10 0.031 1705 621.9 197.0 - - 1975 - - - - - - - - 14.85 14.79 14.85
22569 117.0 7.7 1211 22583 roll 0.81 - - 3182 - 2.45 0.047 3177 600.8 200.1 - - 1975 - - - - - - - - 14.96 14.71 14.98
22688 106.8 8.3 1227 22701 done 0.81 - - 3194 - 2.40 0.039 1732 -602.1 200.1 - - 1973 - - - - - - - - 14.82 14.75 14.84
23033 86.0 4.9 1244 23096 roll 0.98 0.12 0.129 3252 483.3 2.42 0.045 3176 596.7 255.8 49.22 0.356 1754 -4.4 0.200 - - - - - - 14.73 14.62 14.40
23193 73.0 8.6 1267 23208 done 0.98 - - 3260 - 2.28 0.037 1810 -599.1 255.8 2.45 0.158 1750 -1.6 0.140 - - - - - - 14.76 14.69 14.57
23510 53.6 5.9 1279 23561 roll 1.03 - - 3270 - 2.45 0.063 406 -573.1 293.1 35.78 0.264 1610 -3.9 0.148 - - - - - - 14.92 14.64 14.46
23708 42.8 3.2 1307 23796 done 1.30 0.22 0.095 3358 400.0 2.25 0.029 1806 622.2 379.1 73.80 0.240 1247 -4.9 0.163 - - - - - - 14.69 14.73 14.42
24100 17.9 7.6 1330 24118 roll 1.30 - - 3358 - 2.30 0.045 3158 587.8 384.5 6.55 0.161 1224 -3.5 0.073 - - - - - - 14.88 14.69 14.50
24271 4.0 9.8 1354 24288 done 1.30 - - 3365 - 2.10 0.036 1865 -615.7 384.5 2.50 0.147 1223 - - - - - - - - 14.78 14.71 14.57
24291 end climb: SURFACE_DEPTH_REACHED
24291 begin surface coast
24320 end surface coast: CONTROL_FINISHED_OK
24320 begin surface
SM 1.06 - - - - -8.60 9.23 0.059 160 17.3 - - 1863 - 515.13 77.68 0.122 692 8.9 -0.008 - - - - - -