SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 166 * Raw log
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• Previous call tries 1 • 65.42 of 350.00 AH used of 24V (81.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 29 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 done -0.84 - - 151 - - - 1863 - -116.8 -80.72 - 3272 - - - - - - - - 14.77 13.40 14.80
112 8.5 -12.8 3 130 roll -0.84 11.85 0.388 2656 211.4 2.38 0.044 464 -587.8 -116.8 - - 3274 - - - - - - - - 14.35 14.62 14.62
150 31.2 -50.3 9 158 done 0.16 1.33 0.285 2976 240.6 2.25 0.037 1822 603.6 -116.8 - - 3274 - - - - - - - - 14.39 14.62 14.62
473 60.1 -6.2 22 480 roll -0.13 0.25 0.082 2850 -504.0 2.40 0.050 3271 603.8 -116.8 - - 3275 - - - - - - - - 14.70 14.68 14.73
557 66.4 -8.4 34 563 done -0.26 - - 2854 - 2.28 0.035 1884 -608.3 -116.8 - - 3275 - - - - - - - - 14.78 14.72 14.80
894 91.4 -6.9 49 897 done -0.36 0.12 0.129 2800 -450.0 - - 1883 - -116.8 - - 3275 - - - - - - - - 14.75 14.84 14.82
1229 116.7 -7.0 57 1236 roll -0.36 - - 2801 - 2.38 0.057 467 -595.0 -116.8 - - 3275 - - - - - - - - 14.97 14.76 15.00
1285 121.2 -8.0 65 1292 done -0.36 - - 2790 - 2.40 0.033 1950 617.9 -116.8 - - 3275 - - - - - - - - 14.85 14.81 14.87
1621 144.6 -7.2 78 1627 roll -0.36 - - 2790 - 2.47 0.054 476 -596.8 -116.8 - - 3275 - - - - - - - - 14.99 14.76 15.00
1718 151.6 -7.3 92 1725 done -0.36 0.12 0.259 2807 141.7 2.30 0.033 1891 615.2 -116.8 - - 3275 - - - - - - - - 14.59 14.79 14.78
2070 174.4 -6.5 100 2076 roll -0.48 - - 2807 - 2.40 0.055 468 -592.9 -116.8 - - 3274 - - - - - - - - 15.00 14.78 15.01
2117 178.0 -7.3 107 2125 done -0.58 0.17 0.109 2733 -435.3 2.30 0.033 1879 613.5 -116.8 - - 3272 - - - - - - - - 14.80 14.85 14.85
2462 211.3 -9.8 114 2468 roll -0.58 - - 2732 - 2.38 0.056 474 -590.3 -116.8 - - 3269 - - - - - - - - 15.00 14.78 15.02
2544 220.1 -10.3 126 2550 done -0.58 - - 2723 - 2.20 0.034 1828 615.5 -116.8 - - 3269 - - - - - - - - 14.87 14.82 14.89
2909 258.4 -10.7 136 2922 roll -0.58 - - 2723 - 2.30 0.057 468 -591.3 -116.8 - - 3266 - - - - - - - - 15.01 14.81 15.03
2985 267.1 -11.2 146 2998 done -0.58 - - 2715 - 2.15 0.034 1798 618.6 -116.8 - - 3266 - - - - - - - - 14.88 14.85 14.89
3313 302.3 -10.7 157 3326 done -0.58 - - 2714 - - - 1798 - -116.8 - - 3263 - - - - - - - - 15.04 15.07 15.06
3649 336.7 -10.1 163 3662 done -0.58 - - 2714 - - - 1798 - -116.8 - - 3260 - - - - - - - - 15.05 15.08 15.07
3985 368.7 -9.4 169 3999 roll -0.58 - - 2715 - 2.25 0.058 477 -587.1 -116.8 - - 3258 - - - - - - - - 15.06 14.83 15.08
4082 378.3 -9.6 182 4095 done -0.49 0.25 0.252 2765 200.0 2.08 0.035 1759 616.3 -116.8 - - 3258 - - - - - - - - 14.63 14.88 14.85
4446 405.2 -7.4 191 4459 done -0.49 - - 2766 - - - 1759 - -116.8 - - 3255 - - - - - - - - 15.06 15.09 15.08
4782 430.9 -7.7 197 4795 done -0.49 - - 2766 - - - 1759 - -116.8 - - 3253 - - - - - - - - 15.06 15.09 15.08
5117 457.6 -8.0 203 5130 roll -0.49 - - 2757 - 2.53 0.057 3265 595.3 -116.8 - - 3250 - - - - - - - - 15.06 14.81 15.08
5186 463.3 -8.3 212 5199 done -0.49 - - 2757 - 2.47 0.038 1755 -611.3 -116.8 - - 3250 - - - - - - - - 14.92 14.85 14.94
5521 491.5 -8.4 224 5534 roll -0.49 - - 2757 - 2.17 0.061 467 -593.5 -116.8 - - 3249 - - - - - - - - 15.05 14.82 15.07
5596 498.4 -9.1 234 5610 done -0.49 - - 2749 - 2.05 0.035 1743 622.4 -116.8 - - 3249 - - - - - - - - 14.92 14.90 14.94
5925 527.0 -8.8 245 5938 done -0.49 - - 2749 - - - 1743 - -116.8 - - 3247 - - - - - - - - 15.05 15.07 15.07
6261 555.2 -8.3 251 6274 roll -0.49 - - 2738 - 2.55 0.057 3265 596.9 -116.8 - - 3245 - - - - - - - - 15.04 14.81 15.07
6301 558.5 -8.4 256 6315 done -0.49 0.15 0.238 2770 213.3 2.53 0.040 1728 -607.5 -116.8 - - 3245 - - - - - - - - 14.62 14.83 14.83
6666 582.3 -6.3 265 6679 roll -0.58 - - 2771 - 2.12 0.062 476 -590.6 -116.8 - - 3243 - - - - - - - - 15.04 14.81 15.07
6797 590.9 -6.4 283 6810 done -0.58 - - 2766 - 1.98 0.036 1698 617.2 -116.8 - - 3243 - - - - - - - - 14.91 14.86 14.92
7126 611.1 -6.2 294 7139 roll -0.58 - - 2754 - 2.62 0.056 3260 596.2 -116.8 - - 3242 - - - - - - - - 15.03 14.78 15.06
7281 621.4 -7.0 315 7294 done -0.58 - - 2754 - 2.53 0.041 1732 -604.0 -116.8 - - 3241 - - - - - - - - 14.89 14.82 14.91
7644 649.0 -7.8 324 7658 roll -0.58 - - 2755 - 2.12 0.063 478 -591.5 -116.8 - - 3239 - - - - - - - - 15.03 14.78 15.05
7769 660.3 -9.1 341 7782 done -0.58 - - 2746 - 2.00 0.035 1710 616.0 -116.8 - - 3239 - - - - - - - - 14.90 14.85 14.91
8104 689.8 -8.8 353 8117 roll -0.58 - - 2735 - 2.62 0.057 3265 593.5 -116.8 - - 3237 - - - - - - - - 15.00 14.74 15.04
8158 694.6 -8.7 360 8172 done -0.58 - - 2735 - 2.60 0.041 1710 -598.1 -116.8 - - 3237 - - - - - - - - 14.90 14.80 14.88
8502 723.5 -8.3 367 8516 roll -0.58 - - 2734 - 2.10 0.063 476 -587.6 -116.8 - - 3236 - - - - - - - - 15.03 14.76 15.04
8565 728.9 -8.4 375 8578 done -0.58 - - 2727 - 2.03 0.036 1714 609.9 -116.8 - - 3239 - - - - - - - - 14.88 14.83 14.90
8907 756.2 -7.9 388 8920 roll -0.58 - - 2715 - 2.62 0.058 3265 592.0 -116.8 - - 3235 - - - - - - - - 15.02 14.76 15.04
8969 761.4 -8.3 396 8983 done -0.58 - - 2715 - 2.58 0.041 1723 -597.7 -116.8 - - 3234 - - - - - - - - 14.85 14.78 14.88
9311 791.0 -8.8 409 9325 roll -0.58 - - 2715 - 2.12 0.064 478 -587.3 -116.8 - - 3233 - - - - - - - - 15.02 14.75 15.04
9401 799.6 -9.7 421 9414 done -0.58 0.15 0.278 2739 160.0 2.00 0.037 1700 611.0 -116.8 - - 3233 - - - - - - - - 14.52 14.82 14.76
9772 830.2 -8.2 431 9785 roll -0.58 - - 2729 - 2.65 0.058 3262 589.4 -116.8 - - 3232 - - - - - - - - 15.01 14.73 15.03
9875 839.1 -8.5 445 9888 done -0.58 - - 2729 - 2.55 0.042 1732 -600.0 -116.8 - - 3231 - - - - - - - - 14.84 14.76 14.87
10231 868.6 -8.2 453 10245 roll -0.58 - - 2728 - 2.15 0.063 477 -583.7 -116.8 - - 3230 - - - - - - - - 15.00 14.73 15.02
10362 881.0 -10.6 471 10376 done -0.58 - - 2721 - 2.00 0.037 1701 612.0 -116.8 - - 3230 - - - - - - - - 14.87 14.81 14.88
10691 908.4 -8.5 482 10704 roll -0.58 - - 2710 - 2.65 0.058 3262 589.1 -116.8 - - 3229 - - - - - - - - 15.00 14.73 15.02
10780 916.8 -10.6 494 10794 done -0.58 0.12 0.265 2736 216.7 2.60 0.043 1709 -597.3 -116.8 - - 3229 - - - - - - - - 14.50 14.76 14.74
11151 944.0 -7.5 504 11164 roll -0.58 - - 2735 - 2.12 0.065 478 -580.7 -116.8 - - 3229 - - - - - - - - 14.99 14.71 15.01
11247 951.7 -7.9 517 11261 done -0.58 - - 2731 - 1.98 0.038 1686 610.1 -116.8 - - 3231 - - - - - - - - 14.86 14.81 14.88
11611 979.0 -7.4 526 11624 roll -0.58 - - 2719 - 2.70 0.059 3268 585.9 -116.8 - - 3228 - - - - - - - - 15.00 14.71 15.02
11708 986.3 -7.6 539 11721 done -0.58 - - 2719 - 2.62 0.041 1710 -594.7 -116.8 - - 3228 - - - - - - - - 14.83 14.74 14.85
11788 end dive: TARGET_DEPTH_EXCEEDED
11788 begin apogee
11796 992.7 -7.2 543 11925 roll -0.21 0.52 0.229 2857 265.4 - - 1812 - - 119.28 2.201 2792 -3.7 0.307 - - - - - - 14.49 14.07 13.31
11926 end apogee: CONTROL_FINISHED_OK
11927 begin climb
11930 997.2 - 545 12070 roll 0.84 1.15 0.168 3193 292.2 2.45 0.057 3172 555.1 116.8 122.88 2.163 2316 -3.9 0.332 - - - - - - 14.07 14.14 13.19
12227 973.5 10.4 590 12241 done 0.74 0.15 0.281 3173 -133.3 2.35 0.041 1807 -580.9 116.8 - - 2291 - - - - - - - - 14.14 14.34 14.36
12584 941.4 8.9 598 12597 roll 0.74 - - 3174 - 2.35 0.052 3177 583.0 116.8 - - 2292 - - - - - - - - 14.77 14.57 14.80
12722 928.6 9.0 617 12735 done 0.74 - - 3179 - 2.35 0.041 1778 -595.3 116.8 - - 2294 - - - - - - - - 14.69 14.63 14.72
13043 900.2 8.9 627 13057 roll 0.74 - - 3190 - 2.40 0.066 402 -573.3 116.8 - - 2291 - - - - - - - - 14.88 14.62 14.90
13154 889.7 9.3 642 13169 done 0.64 0.22 0.249 3139 -231.8 2.25 0.033 1772 608.9 116.8 - - 2291 - - - - - - - - 14.45 14.72 14.72
13498 865.7 6.8 649 13528 roll 0.67 - - 3139 - 2.38 0.051 3171 587.8 136.1 16.88 2.048 2230 -3.6 0.284 - - - - - - 14.91 14.52 13.90
13569 860.4 7.6 659 13582 done 0.67 - - 3146 - 2.38 0.041 1757 -594.1 141.4 - - 2224 - - - - - - - - 14.69 14.62 14.70
13898 836.9 7.2 670 13928 roll 0.69 - - 3156 - 2.38 0.065 402 -569.3 152.8 17.33 2.016 2164 -3.5 0.267 - - - - - - 14.87 14.46 13.88
14004 828.8 8.2 685 14018 done 0.69 - - 3156 - 2.20 0.033 1735 605.9 152.8 - - 2156 - - - - - - - - 14.64 14.59 14.65
14348 800.7 8.2 692 14361 roll 0.69 - - 3156 - 2.45 0.053 3174 587.3 152.8 - - 2155 - - - - - - - - 14.85 14.66 14.88
14430 793.4 8.9 703 14443 done 0.69 - - 3165 - 2.38 0.042 1758 -595.0 152.8 - - 2154 - - - - - - - - 14.76 14.69 14.78
14751 765.2 8.9 713 14765 roll 0.69 - - 3175 - 2.38 0.067 396 -572.3 152.8 - - 2154 - - - - - - - - 14.91 14.68 14.93
14848 755.9 9.2 726 14862 done 0.69 - - 3175 - 2.20 0.034 1733 607.7 152.8 - - 2155 - - - - - - - - 14.80 14.76 14.82
15212 721.8 9.4 735 15225 roll 0.69 - - 3175 - 2.45 0.053 3179 590.2 152.8 - - 2154 - - - - - - - - 14.93 14.72 14.95
15308 712.6 9.4 748 15322 done 0.69 0.15 0.272 3150 -166.7 2.35 0.041 1768 -600.4 152.8 - - 2154 - - - - - - - - 14.51 14.73 14.76
15672 683.8 7.8 757 15685 roll 0.69 - - 3161 - 2.40 0.067 397 -571.2 153.2 - - 2156 - - - - - - - - 14.95 14.70 14.97
15762 676.1 8.6 769 15775 done 0.69 - - 3161 - 2.20 0.034 1744 612.3 153.2 - - 2153 - - - - - - - - 14.85 14.78 14.85
16132 645.0 8.5 779 16145 roll 0.69 - - 3162 - 2.42 0.053 3176 591.7 153.2 - - 2154 - - - - - - - - 14.96 14.73 14.98
16200 638.5 9.5 788 16213 done 0.69 - - 3172 - 2.35 0.044 1770 -598.3 153.2 - - 2153 - - - - - - - - 14.82 14.74 14.84
16536 607.4 9.4 800 16549 roll 0.69 - - 3181 - 2.40 0.067 392 -574.2 153.2 - - 2156 - - - - - - - - 14.95 14.71 14.98
16590 601.9 10.3 807 16604 done 0.69 - - 3181 - 2.28 0.034 1771 604.8 153.2 - - 2154 - - - - - - - - 14.82 14.78 14.85
16935 568.6 9.6 814 16948 roll 0.69 - - 3181 - 2.38 0.052 3183 593.3 153.2 - - 2153 - - - - - - - - 14.96 14.73 14.98
17017 560.5 9.5 825 17030 done 0.69 0.15 0.267 3159 -146.7 2.30 0.041 1795 -603.5 153.2 - - 2153 - - - - - - - - 14.50 14.75 14.76
17338 535.7 7.6 835 17351 roll 0.69 - - 3165 - 2.40 0.066 406 -578.8 157.7 - - 2153 - - - - - - - - 14.97 14.70 14.98
17450 526.9 7.9 850 17464 done 0.69 - - 3167 - 2.28 0.032 1789 606.6 157.7 - - 2151 - - - - - - - - 14.83 14.78 14.84
17793 501.7 7.3 857 17817 done 0.71 - - 3167 - - - 1789 - 168.6 15.18 1.663 2105 -3.0 0.170 - - - - - - 14.96 14.72 14.06
18130 477.0 7.5 863 18147 roll 0.72 - - 3167 - 2.40 0.053 3183 580.8 176.2 2.38 0.526 2072 -13.9 2.338 - - - - - - 14.90 14.70 13.81
18209 470.5 8.1 874 18222 done 0.72 - - 3176 - 2.38 0.041 1759 -598.3 176.2 - - 2072 - - - - - - - - 14.78 14.71 14.79
18530 443.7 8.5 884 18543 roll 0.72 - - 3186 - 2.35 0.066 402 -577.4 176.2 - - 2073 - - - - - - - - 14.92 14.67 14.94
18605 436.5 9.6 894 18619 done 0.72 - - 3186 - 2.22 0.031 1767 614.9 176.2 - - 2073 - - - - - - - - 14.81 14.75 14.82
18934 406.4 9.2 905 18947 roll 0.72 - - 3186 - 2.38 0.051 3182 594.5 176.2 - - 2073 - - - - - - - - 14.94 14.71 14.96
18988 401.1 9.6 912 19002 done 0.72 0.15 0.259 3163 -153.3 2.35 0.041 1777 -597.9 176.2 - - 2072 - - - - - - - - 14.50 14.72 14.72
19332 374.5 7.6 919 19349 roll 0.72 - - 3171 - 2.38 0.064 398 -579.4 181.2 4.05 1.098 2053 -4.7 0.298 - - - - - - 14.94 14.74 13.97
19451 365.2 8.2 935 19464 done 0.72 - - 3171 - 2.20 0.033 1741 610.5 181.2 - - 2058 - - - - - - - - 14.82 14.77 14.83
19793 337.3 8.1 948 19806 roll 0.72 - - 3172 - 2.42 0.051 3186 597.1 181.2 - - 2059 - - - - - - - - 14.94 14.71 14.96
19847 332.5 8.8 955 19861 done 0.72 - - 3179 - 2.40 0.041 1756 -595.8 181.2 - - 2059 - - - - - - - - 14.81 14.73 14.82
20192 302.4 8.9 962 20205 roll 0.72 - - 3190 - 2.35 0.066 396 -578.7 181.2 - - 2059 - - - - - - - - 14.95 14.69 14.97
20274 294.6 9.5 973 20287 done 0.72 - - 3190 - 2.20 0.031 1752 616.4 181.2 - - 2059 - - - - - - - - 14.83 14.78 14.84
20596 265.8 9.0 983 20609 roll 0.72 - - 3190 - 2.40 0.049 3185 597.1 181.2 - - 2062 - - - - - - - - 14.96 14.73 14.98
20650 260.6 9.2 990 20665 done 0.72 0.15 0.259 3168 -146.7 2.40 0.040 1751 -597.5 181.2 - - 2059 - - - - - - - - 14.51 14.73 14.73
20994 234.4 7.6 997 21012 roll 0.73 - - 3176 - 2.40 0.066 397 -564.2 185.8 5.45 1.154 2033 -4.8 0.180 - - - - - - 14.97 14.76 14.06
21075 227.6 8.5 1008 21088 done 0.73 - - 3176 - 2.17 0.032 1739 618.4 185.8 - - 2041 - - - - - - - - 14.83 14.78 14.84
21396 200.9 8.3 1018 21409 roll 0.73 - - 3177 - 2.42 0.050 3189 599.2 185.8 - - 2041 - - - - - - - - 14.95 14.73 14.97
21443 196.6 8.9 1024 21457 done 0.73 - - 3185 - 2.40 0.040 1739 -604.2 185.8 - - 2042 - - - - - - - - 14.78 14.71 14.80
21799 166.7 8.5 1032 21813 roll 0.73 - - 3195 - 2.30 0.064 401 -581.7 185.8 - - 2042 - - - - - - - - 14.96 14.70 14.98
21882 159.2 9.0 1043 21895 done 0.73 - - 3195 - 2.12 0.030 1723 623.6 185.8 - - 2042 - - - - - - - - 14.84 14.80 14.84
22203 132.7 7.9 1053 22217 roll 0.73 - - 3195 - 2.40 0.048 3174 604.6 185.8 - - 2040 - - - - - - - - 14.97 14.69 14.98
22258 128.1 8.5 1060 22272 done 0.73 0.17 0.246 3165 -176.5 2.47 0.040 1696 -598.4 185.8 - - 2042 - - - - - - - - 14.52 14.76 14.73
22603 104.7 6.6 1067 22638 done 0.87 0.15 0.121 3219 360.0 - - 1693 - 209.0 25.75 0.392 1941 -3.9 0.195 - - - - - - 14.78 14.74 14.39
22910 86.2 5.7 1076 22962 roll 0.92 - - 3219 - 2.58 0.046 3184 577.9 248.3 40.25 0.355 1780 -4.0 0.181 - - - - - - 14.92 14.69 14.36
23081 75.2 6.8 1100 23114 done 1.03 0.10 0.149 3269 500.0 2.42 0.038 1719 -605.4 267.3 20.65 0.309 1703 -3.7 0.169 - - - - - - 14.65 14.69 14.37
23436 51.8 4.5 1117 23509 roll 1.11 - - 3278 - 2.33 0.063 401 -565.7 329.0 57.40 0.265 1460 -4.2 0.154 - - - - - - 14.90 14.59 14.41
23582 45.4 5.3 1137 23639 done 1.30 0.20 0.103 3356 390.0 2.17 0.029 1742 618.0 377.2 43.40 0.243 1255 -4.7 0.164 - - - - - - 14.64 14.70 14.40
23943 19.6 7.6 1156 23960 roll 1.30 - - 3352 - 2.40 0.042 3180 599.2 381.1 5.57 0.159 1238 -3.1 0.070 - - - - - - 14.88 14.62 14.50
24062 10.3 8.1 1172 24078 done 1.30 - - 3365 - 2.35 0.037 1747 -609.8 381.1 2.33 0.148 1240 - - - - - - - - 14.80 14.70 14.57
24173 end climb: SURFACE_DEPTH_REACHED
24173 begin surface coast
24201 end surface coast: CONTROL_FINISHED_OK
24201 begin surface
SM 1.05 - - - - -8.61 9.25 0.062 156 16.8 0.15 0.083 1883 -48926.7 515.38 80.55 0.123 691 8.6 -0.007 - - - - - -