SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 72.11 of 350.00 AH used of 24V (79.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.7 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: 37 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 VBD -0.68 - - 215 - - - 2256 - -116.8 -84.95 - 2942 - - - - - - - - 14.73 - 14.74
111 5.3 -7.6 3 135 roll -0.68 8.88 0.422 1964 197.0 2.78 2.111 3691 516.2 -116.8 -4.62 - 3220 -60.2 - - - - - - - 14.16 13.38 14.53
198 44.8 -38.3 16 203 done -0.37 0.43 0.249 2074 255.8 2.40 0.052 2280 -587.9 -116.8 - - 3222 - - - - - - - - 14.30 14.49 14.52
527 93.1 -9.8 30 532 roll -0.32 - - 2074 - 2.40 0.057 867 -588.8 -116.8 - - 3223 - - - - - - - - 14.85 14.58 14.87
764 109.9 -6.7 64 770 done -0.32 - - 2066 - 2.50 0.064 2304 574.8 -116.8 - - 3225 - - - - - - - - 14.73 14.63 14.75
1088 130.4 -6.3 75 1089 done -0.32 0.12 0.252 2096 250.0 - - 2305 - -116.8 - - 3225 - - - - - - - - 14.54 14.77 14.73
1424 151.0 -6.0 81 1430 roll -0.36 - - 2096 - 2.45 0.054 868 -586.5 -116.8 - - 3224 - - - - - - - - 14.97 14.71 14.99
1465 153.6 -6.4 87 1470 done -0.42 - - 2095 - 2.45 0.065 2278 575.5 -116.8 - - 3223 - - - - - - - - 14.79 14.69 14.82
1815 173.6 -5.7 95 1817 done -0.48 0.15 0.122 2030 -433.3 - - 2279 - -116.8 - - 3221 - - - - - - - - 14.76 14.84 14.82
2152 201.3 -8.4 101 2158 roll -0.48 - - 2022 - 2.45 0.090 3689 575.5 -116.8 - - 3219 - - - - - - - - 15.00 14.68 15.01
2213 206.7 -8.9 110 2219 done -0.48 - - 2021 - 2.40 0.049 2261 -595.0 -116.8 - - 3219 - - - - - - - - 14.78 14.74 14.81
2543 235.8 -8.9 122 2548 roll -0.48 - - 2022 - 2.33 0.059 888 -589.3 -116.8 - - 3217 - - - - - - - - 14.99 14.72 15.01
2600 241.1 -9.2 130 2605 done -0.48 0.12 0.275 2043 175.0 2.42 0.069 2267 569.8 -116.8 - - 3217 - - - - - - - - 14.53 14.70 14.76
2935 268.4 -8.1 143 2936 done -0.48 - - 2043 - - - 2267 - -116.8 - - 3215 - - - - - - - - 15.00 15.02 15.04
3271 294.3 -7.5 149 3277 roll -0.48 - - 2033 - 2.47 0.093 3692 576.9 -116.8 - - 3212 - - - - - - - - 15.00 14.67 15.02
3320 298.2 -8.1 156 3326 done -0.48 - - 2033 - 2.35 0.050 2259 -609.8 -116.8 - - 3211 - - - - - - - - 14.83 14.77 14.85
3663 324.9 -7.7 163 3668 roll -0.48 - - 2033 - 2.33 0.060 898 -584.1 -116.8 - - 3209 - - - - - - - - 15.00 14.71 15.02
3768 333.3 -8.0 178 3774 done -0.48 - - 2026 - 2.45 0.073 2272 560.8 -116.8 - - 3209 - - - - - - - - 14.80 14.68 14.83
4112 361.6 -8.3 185 4112 done -0.48 - - 2026 - - - 2272 - -116.8 - - 3207 - - - - - - - - 15.00 15.02 15.00
4447 389.3 -8.2 191 4452 roll -0.48 - - 2017 - 2.50 0.096 3700 571.2 -116.8 - - 3204 - - - - - - - - 15.01 14.66 15.02
4481 392.3 -8.7 196 4487 done -0.48 - - 2017 - 2.40 0.054 2286 -589.2 -116.8 - - 3204 - - - - - - - - 14.77 14.73 14.81
4840 422.3 -8.4 205 4845 roll -0.48 - - 2017 - 2.40 0.064 882 -585.0 -116.8 - - 3205 - - - - - - - - 15.00 14.69 15.02
4922 429.3 -8.2 217 4929 done -0.48 0.08 0.235 2049 400.0 2.50 0.074 2265 553.2 -116.8 - - 3201 - - - - - - - - 14.50 14.64 14.72
5287 452.4 -6.2 227 5288 done -0.48 - - 2049 - - - 2265 - -116.8 - - 3200 - - - - - - - - 15.00 15.02 15.01
5624 472.7 -6.1 233 5629 roll -0.48 - - 2041 - 2.53 0.099 3695 565.2 -116.8 - - 3198 - - - - - - - - 14.99 14.64 15.00
5650 474.5 -6.5 237 5657 done -0.48 - - 2042 - 2.45 0.054 2251 -589.4 -116.8 - - 3198 - - - - - - - - 14.83 14.73 14.84
6016 500.8 -7.5 247 6020 roll -0.48 - - 2042 - 2.35 0.063 890 -579.1 -116.8 - - 3196 - - - - - - - - 14.99 14.69 15.00
6113 508.9 -8.2 261 6119 done -0.48 - - 2042 - 2.45 0.076 2261 559.6 -116.8 - - 3195 - - - - - - - - 14.78 14.66 14.82
6463 536.7 -7.9 269 6469 roll -0.48 - - 2036 - 2.55 0.100 3700 564.3 -116.8 - - 3194 - - - - - - - - 15.00 14.63 15.02
6511 540.6 -8.2 276 6519 done -0.48 - - 2036 - 2.45 0.057 2266 -585.3 -116.8 - - 3194 - - - - - - - - 14.74 14.71 14.77
6856 566.4 -7.3 283 6860 roll -0.48 - - 2036 - 2.40 0.071 889 -573.8 -116.8 - - 3193 - - - - - - - - 14.98 14.66 15.00
6931 571.9 -7.0 294 6937 done -0.48 - - 2029 - 2.45 0.076 2262 560.4 -116.8 - - 3192 - - - - - - - - 14.77 14.65 14.81
7247 593.1 -6.7 304 7252 roll -0.48 - - 2029 - 2.40 0.063 886 -573.3 -116.8 - - 3190 - - - - - - - - 14.99 14.66 15.02
7304 597.2 -7.4 312 7308 done -0.48 - - 2026 - 2.47 0.078 2262 557.1 -116.8 - - 3191 - - - - - - - - 14.76 14.64 14.79
7640 622.3 -7.7 325 7645 roll -0.48 - - 2018 - 2.55 0.103 3691 560.4 -116.8 - - 3189 - - - - - - - - 14.99 14.60 15.00
7673 625.2 -8.6 330 7679 done -0.48 - - 2018 - 2.47 0.060 2251 -583.0 -116.8 - - 3189 - - - - - - - - 14.71 14.67 14.75
8032 655.9 -8.7 339 8036 roll -0.48 - - 2018 - 2.38 0.068 888 -572.7 -116.8 - - 3187 - - - - - - - - 14.97 14.64 14.99
8107 662.8 -9.0 350 8113 done -0.48 - - 2016 - 2.50 0.079 2256 547.2 -116.8 - - 3187 - - - - - - - - 14.67 14.59 14.80
8423 690.1 -8.6 360 8428 roll -0.48 0.12 0.282 2032 133.3 2.58 0.104 3702 560.5 -116.8 - - 3186 - - - - - - - - 14.43 14.59 14.67
8480 694.4 -7.6 368 8484 done -0.48 - - 2033 - 2.47 0.060 2245 -589.9 -116.8 - - 3186 - - - - - - - - 14.78 14.70 14.81
8816 718.1 -6.9 381 8821 roll -0.48 - - 2030 - 2.38 0.072 887 -570.6 -116.8 - - 3184 - - - - - - - - 14.95 14.62 14.98
8885 723.0 -7.0 391 8890 done -0.48 - - 2029 - 2.45 0.080 2254 558.0 -116.8 - - 3184 - - - - - - - - 14.73 14.61 14.77
9207 744.6 -6.7 402 9212 roll -0.48 - - 2021 - 2.60 0.106 3696 554.6 -116.8 - - 3183 - - - - - - - - 14.96 14.59 14.98
9248 747.4 -7.0 408 9254 done -0.48 - - 2021 - 2.45 0.063 2257 -587.3 -116.8 - - 3183 - - - - - - - - 14.77 14.68 14.80
9600 770.3 -6.4 416 9605 roll -0.48 - - 2021 - 2.40 0.071 882 -572.9 -116.8 - - 3182 - - - - - - - - 14.97 14.62 14.99
9675 775.5 -6.6 427 9681 done -0.48 - - 2016 - 2.50 0.081 2259 550.8 -116.8 - - 3182 - - - - - - - - 14.72 14.59 14.76
9991 795.0 -6.3 437 9992 done -0.48 - - 2016 - - - 2259 - -116.8 - - 3181 - - - - - - - - 14.97 14.99 14.99
10328 816.6 -6.5 443 10333 roll -0.48 - - 2016 - 2.45 0.070 876 -564.5 -116.8 - - 3181 - - - - - - - - 14.96 14.60 14.97
10384 820.4 -5.9 451 10389 done -0.48 0.12 0.285 2042 216.7 2.50 0.083 2246 548.0 -116.8 - - 3180 - - - - - - - - 14.38 14.57 14.64
10720 840.1 -5.9 464 10724 roll -0.48 - - 2041 - 2.65 0.112 3701 549.1 -116.8 - - 3180 - - - - - - - - 14.95 14.54 14.97
10782 844.2 -6.5 473 10788 done -0.53 - - 2041 - 2.50 0.064 2234 -586.8 -116.8 - - 3179 - - - - - - - - 14.71 14.62 14.73
11112 865.1 -6.5 485 11117 roll -0.53 - - 2041 - 2.38 0.073 891 -564.3 -116.8 - - 3178 - - - - - - - - 14.95 14.59 14.96
11181 870.1 -7.1 495 11186 done -0.53 - - 2040 - 2.47 0.085 2250 550.2 -116.8 - - 3178 - - - - - - - - 14.70 14.56 14.74
11503 891.1 -6.5 506 11508 roll -0.53 - - 2039 - 2.65 0.115 3698 546.4 -116.8 - - 3179 - - - - - - - - 14.95 14.52 14.97
11580 896.3 -6.8 517 11586 done -0.58 - - 2039 - 2.47 0.064 2253 -585.0 -116.8 - - 3178 - - - - - - - - 14.73 14.65 14.76
11896 917.0 -6.6 527 11901 roll -0.58 - - 2039 - 2.42 0.073 882 -566.5 -116.8 - - 3177 - - - - - - - - 14.93 14.57 14.96
11957 921.3 -6.8 536 11963 done -0.58 - - 2043 - 2.50 0.086 2253 548.4 -116.8 - - 3176 - - - - - - - - 14.70 14.56 14.73
12288 941.3 -5.9 548 12293 roll -0.58 - - 2039 - 2.62 0.115 3686 546.9 -116.8 - - 3176 - - - - - - - - 14.93 14.51 14.95
12321 944.1 -8.1 553 12328 done -0.63 0.10 0.094 1990 -490.0 2.50 0.063 2250 -574.4 -116.8 - - 3175 - - - - - - - - 14.57 14.62 14.64
12679 970.9 -7.8 562 12684 roll -0.63 - - 1990 - 2.42 0.075 885 -564.0 -116.8 - - 3175 - - - - - - - - 14.93 14.56 14.95
12742 976.1 -8.3 571 12747 done -0.63 - - 1985 - 2.50 0.086 2250 546.0 -116.8 - - 3175 - - - - - - - - 14.69 14.54 14.73
12956 end dive: TARGET_DEPTH_EXCEEDED
12956 begin apogee
12963 994.0 -8.3 581 13100 roll -0.19 0.55 0.242 2133 269.1 - - 2250 - - 129.85 2.808 2740 -3.4 0.227 - - - - 1 - 14.35 13.83 12.81
13102 end apogee: CONTROL_FINISHED_OK
13102 begin climb
13106 998.4 - 583 13270 done 0.68 0.93 0.148 2413 301.1 - - 2249 - 116.8 156.48 1.911 2254 -3.1 0.311 - - - - - - 13.82 14.04 13.00
13627 952.2 10.2 620 13628 done 0.61 - - 2414 - - - 2250 - 116.8 - - 2234 - - - - - - - - 14.58 14.61 14.60
13964 918.9 10.0 626 13969 roll 0.54 0.12 0.278 2382 -266.7 2.58 0.115 3639 538.4 116.8 - - 2232 - - - - - - - - 14.27 14.41 14.42
14026 912.7 10.7 635 14031 done 0.50 - - 2390 - 2.45 0.078 2250 -566.9 116.8 - - 2231 - - - - 1 - - - 14.59 14.47 14.62
14355 883.4 8.9 647 14360 roll 0.50 - - 2401 - 2.62 0.099 824 -544.3 116.8 - - 2230 - - - - - - - - 14.81 14.48 14.83
14383 880.9 8.0 651 14389 done 0.50 0.15 0.262 2367 -226.7 2.60 0.088 2232 541.5 116.8 - - 2229 - - - - - - - - 14.33 14.50 14.59
14747 851.5 8.2 661 14753 roll 0.50 - - 2372 - 2.60 0.116 3639 541.2 116.8 - - 2229 - - - - - - - - 14.85 14.48 14.87
14809 845.6 9.3 670 14815 done 0.50 - - 2377 - 2.53 0.078 2216 -562.5 116.8 - - 2227 - - - - - - - - 14.64 14.53 14.69
15140 816.8 8.7 682 15145 roll 0.50 - - 2387 - 2.55 0.096 824 -545.9 116.8 - - 2227 - - - - - - - - 14.87 14.51 14.89
15187 812.6 9.6 689 15195 done 0.50 - - 2387 - 2.62 0.086 2229 536.3 116.8 - - 2227 - - - - - - - - 14.58 14.50 14.62
15531 782.3 8.8 696 15536 roll 0.50 - - 2387 - 2.60 0.116 3640 542.7 116.8 - - 2226 - - - - - - - - 14.90 14.50 14.92
15566 779.1 9.4 701 15573 done 0.44 0.20 0.261 2350 -185.0 2.50 0.080 2235 -562.0 116.8 - - 2226 - - - - - - - - 14.35 14.57 14.65
15924 756.7 6.2 710 15956 roll 0.46 - - 2360 - 2.60 0.094 811 -547.7 143.2 27.25 1.781 2150 -2.8 0.227 - - - - - - 14.90 14.47 13.86
16021 750.4 6.5 724 16048 done 0.52 - - 2360 - 2.62 0.085 2236 543.9 162.3 23.27 1.802 2078 -3.1 0.247 - - - - - - 14.54 14.43 13.70
16365 723.9 7.8 738 16369 roll 0.52 - - 2360 - 2.60 0.114 3642 540.8 162.3 - - 2055 - - - - - - - - 14.73 14.41 14.75
16426 718.1 9.2 747 16432 done 0.52 - - 2368 - 2.55 0.079 2216 -559.2 162.3 - - 2055 - - - - - - - - 14.57 14.46 14.61
16757 688.6 9.0 759 16762 roll 0.52 - - 2378 - 2.55 0.094 825 -545.5 162.3 - - 2054 - - - - - - - - 14.81 14.48 14.83
16825 682.6 8.5 769 16832 done 0.52 - - 2379 - 2.60 0.083 2251 548.5 162.3 - - 2050 - - - - - - - - 14.63 14.50 14.66
17149 654.2 8.7 780 17154 roll 0.52 - - 2378 - 2.58 0.115 3643 539.5 162.3 - - 2052 - - - - - - - - 14.85 14.50 14.87
17218 647.5 9.4 790 17223 done 0.52 - - 2388 - 2.50 0.078 2234 -563.6 162.3 - - 2052 - - - - - - - - 14.66 14.55 14.71
17541 620.1 8.5 801 17546 roll 0.52 - - 2397 - 2.58 0.092 822 -547.3 162.3 - - 2052 - - - - - - - - 14.87 14.52 14.90
17597 615.5 8.3 809 17602 done 0.52 - - 2398 - 2.58 0.083 2233 546.9 162.3 - - 2051 - - - - - - - - 14.67 14.54 14.71
17933 585.0 9.1 822 17938 roll 0.52 - - 2396 - 2.58 0.113 3642 546.1 162.3 - - 2051 - - - - - - - - 14.89 14.54 14.91
18001 577.8 10.3 832 18007 done 0.52 0.08 0.237 2370 -325.0 2.53 0.078 2239 -554.5 162.3 - - 2051 - - - - - - - - 14.39 14.54 14.65
18325 551.8 8.1 843 18330 roll 0.52 - - 2380 - 2.60 0.094 821 -545.4 162.3 - - 2050 - - - - - - - - 14.90 14.53 14.92
18381 547.1 8.4 851 18385 done 0.52 - - 2380 - 2.58 0.082 2235 548.1 162.3 - - 2050 - - - - - - - - 14.69 14.54 14.72
18716 515.9 9.4 864 18721 roll 0.52 - - 2380 - 2.58 0.111 3642 545.3 162.3 - - 2050 - - - - - - - - 14.90 14.52 14.92
18793 508.0 10.0 875 18798 done 0.52 - - 2390 - 2.47 0.076 2240 -567.6 162.3 - - 2048 - - - - - - - - 14.70 14.59 14.73
19108 478.0 9.6 885 19114 roll 0.52 - - 2399 - 2.58 0.091 824 -548.8 162.3 - - 2050 - - - - - - - - 14.90 14.54 14.91
19184 471.0 8.8 896 19190 done 0.52 0.12 0.253 2371 -233.3 2.62 0.082 2241 540.8 162.3 - - 2050 - - - - - - - - 14.41 14.52 14.65
19501 445.4 8.2 906 19506 roll 0.52 - - 2371 - 2.58 0.112 3643 543.4 162.3 - - 2050 - - - - - - - - 14.90 14.51 14.92
19562 439.7 9.0 915 19568 done 0.52 - - 2380 - 2.53 0.075 2239 -554.9 162.3 - - 2050 - - - - - - - - 14.61 14.54 14.66
19893 411.7 8.5 927 19898 roll 0.52 - - 2390 - 2.55 0.090 827 -553.7 162.3 - - 2050 - - - - - - - - 14.92 14.54 14.93
19968 405.3 8.2 938 19974 done 0.52 - - 2390 - 2.58 0.080 2242 548.4 162.3 - - 2054 - - - - - - - - 14.68 14.54 14.72
20284 378.6 8.5 948 20289 roll 0.52 - - 2390 - 2.55 0.110 3638 547.5 162.3 - - 2050 - - - - - - - - 14.91 14.51 14.93
20347 372.8 9.1 957 20353 done 0.52 - - 2399 - 2.45 0.073 2246 -568.2 162.3 - - 2050 - - - - - - - - 14.69 14.58 14.73
20677 343.2 9.1 969 20683 roll 0.52 0.12 0.273 2376 -191.7 2.58 0.088 822 -551.9 162.3 - - 2050 - - - - - - - - 14.36 14.52 14.51
20703 341.0 7.9 973 20710 done 0.52 - - 2377 - 2.62 0.081 2266 551.1 162.3 - - 2049 - - - - - - - - 14.68 14.56 14.72
21069 312.9 7.7 983 21074 roll 0.52 - - 2377 - 2.50 0.109 3639 549.2 162.3 - - 2050 - - - - - - - - 14.90 14.52 14.92
21109 309.3 8.8 989 21116 done 0.52 - - 2385 - 2.50 0.072 2241 -559.2 162.3 - - 2050 - - - - - - - - 14.62 14.56 14.64
21460 281.3 8.0 997 21466 roll 0.52 - - 2393 - 2.58 0.089 823 -549.6 162.3 - - 2050 - - - - - - - - 14.92 14.53 14.93
21516 276.8 8.0 1005 21522 done 0.52 - - 2393 - 2.60 0.080 2258 551.9 162.3 - - 2048 - - - - - - - - 14.68 14.55 14.72
21853 248.1 8.6 1018 21858 roll 0.52 - - 2393 - 2.53 0.108 3645 548.2 162.3 - - 2050 - - - - - - - - 14.90 14.51 14.92
21914 242.1 9.7 1027 21920 done 0.52 0.08 0.230 2366 -337.5 2.50 0.073 2248 -558.8 162.3 - - 2050 - - - - - - - - 14.40 14.55 14.64
22245 220.1 6.6 1039 22270 roll 0.53 - - 2375 - 2.65 0.090 815 -540.8 180.6 17.08 1.251 1993 -3.3 0.112 - - - - - - 14.90 14.59 14.04
22342 213.5 6.7 1053 22361 done 0.61 - - 2375 - 2.60 0.080 2247 550.8 194.6 14.23 1.246 1943 -3.5 0.115 - - - - - - 14.64 14.50 13.98
22696 188.4 7.2 1068 22701 roll 0.66 0.12 0.136 2433 483.3 2.55 0.106 3648 549.4 197.1 - - 1928 - - - - - - - - 14.56 14.47 14.59
22750 182.2 11.8 1076 22755 done 0.66 - - 2442 - 2.47 0.073 2245 -568.0 197.1 - - 1927 - - - - - - - - 14.64 14.53 14.67
23087 142.2 12.0 1089 23093 roll 0.61 0.15 0.282 2413 -193.3 2.58 0.086 819 -552.7 197.1 - - 1927 - - - - - - - - 14.33 14.52 14.48
23127 137.9 9.8 1095 23133 done 0.61 - - 2413 - 2.60 0.079 2258 553.5 197.1 - - 1926 - - - - - - - - 14.66 14.54 14.69
23478 104.1 9.5 1103 23483 roll 0.61 - - 2412 - 2.53 0.106 3648 549.4 197.1 - - 1926 - - - - - - - - 14.88 14.47 14.90
23563 96.3 9.0 1115 23568 done 0.61 - - 2423 - 2.45 0.070 2250 -570.6 197.1 - - 1926 - - - - - - - - 14.69 14.59 14.73
23899 78.7 3.9 1130 23955 roll 0.72 - - 2423 - 2.53 0.099 3643 550.6 277.7 48.35 0.379 1612 -6.5 0.258 - - - - - - 14.88 14.51 14.28
23990 73.6 6.5 1143 24012 done 0.83 0.12 0.132 2478 458.3 2.40 0.067 2261 -575.8 297.9 15.00 0.342 1524 -5.9 0.242 - - - - - - 14.57 14.56 14.25
24323 55.3 5.4 1157 24359 roll 0.93 - - 2487 - 2.58 0.081 824 -557.0 344.1 30.25 0.298 1336 -6.2 0.221 - - - - - - 14.82 14.50 14.28
24396 50.9 6.2 1168 24423 done 1.06 0.15 0.115 2558 473.3 2.60 0.072 2275 558.1 372.2 19.75 0.282 1223 -5.7 0.198 - - - - - - 14.57 14.50 14.26
24742 24.1 6.3 1184 24767 roll 1.08 - - 2557 - 2.45 0.099 3637 555.9 397.5 17.30 0.200 1119 -6.0 0.139 - - - - - - 14.81 14.49 14.38
24816 18.7 7.7 1195 24822 done 1.08 - - 2566 - 2.40 0.062 2242 -581.2 397.5 - - 1125 - - - - - - - - 14.65 14.56 14.67
25072 end climb: SURFACE_DEPTH_REACHED
25072 begin surface coast
25100 end surface coast: CONTROL_FINISHED_OK
25100 begin surface
SM 0.92 - - - - -6.13 6.65 0.067 215 32.3 0.10 0.159 2282 12520.0 500.17 63.28 0.136 698 11.0 -0.008 - - - - - -