SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 169 * Raw log
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• Previous call tries 1 • 72.48 of 350.00 AH used of 24V (79.29% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth 0.93 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 15 s • Transponder ping count: 9
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 110 VBD -0.68 - - 215 - - - 2282 - -116.8 -84.68 - 2951 - - - - - - - - 14.73 - 14.75
113 5.6 -8.1 3 137 roll -0.68 8.85 0.422 1981 199.5 2.72 2.092 871 -518.8 -116.8 -4.45 - 3222 -60.9 - - - 1 - - - 14.18 13.38 14.55
258 53.1 -21.7 24 263 done -0.48 0.28 0.300 2036 196.4 2.50 0.067 2287 566.4 -116.8 - - 3223 - - - - - - - - 14.30 14.50 14.55
586 97.5 -9.2 38 591 roll -0.38 0.12 0.278 2069 275.0 2.45 0.050 852 -585.7 -116.8 - - 3224 - - - - - - - - 14.44 14.63 14.57
787 108.9 -5.6 67 793 done -0.38 - - 2061 - 2.55 0.064 2321 576.1 -116.8 - - 3225 - - - - - - - - 14.71 14.62 14.73
1146 133.7 -6.8 76 1150 roll -0.38 - - 2056 - 2.38 0.087 3692 576.1 -116.8 - - 3226 - - - - - - - - 14.95 14.66 14.96
1250 141.3 -7.2 91 1257 done -0.38 - - 2056 - 2.33 0.047 2279 -606.4 -116.8 - - 3225 - - - - - - - - 14.81 14.75 14.82
1594 165.4 -7.0 98 1599 roll -0.38 - - 2056 - 2.35 0.056 897 -588.1 -116.8 - - 3223 - - - - - - - - 14.97 14.72 15.00
1663 170.6 -7.5 108 1668 done -0.38 - - 2056 - 2.50 0.070 2321 569.6 -116.8 - - 3223 - - - - - - - - 14.80 14.69 14.83
1985 195.2 -7.8 119 1990 roll -0.38 - - 2053 - 2.40 0.093 3700 574.6 -116.8 - - 3221 - - - - - - - - 14.98 14.68 15.00
2047 200.2 -8.0 128 2053 done -0.38 - - 2049 - 2.30 0.048 2325 -597.8 -116.8 - - 3221 - - - - - - - - 14.78 14.74 14.81
2378 226.1 -7.8 140 2383 roll -0.38 - - 2049 - 2.45 0.060 884 -588.2 -116.8 - - 3220 - - - - - - - - 14.98 14.70 15.00
2509 236.2 -7.5 159 2516 done -0.38 0.08 0.235 2067 225.0 2.55 0.069 2310 559.2 -116.8 - - 3218 - - - - - - - - 14.52 14.66 14.66
2826 255.9 -6.2 169 2826 done -0.38 - - 2067 - - - 2310 - -116.8 - - 3216 - - - - - - - - 14.99 15.01 15.01
3162 278.7 -6.9 175 3167 roll -0.38 - - 2067 - 2.45 0.057 884 -582.0 -116.8 - - 3213 - - - - - - - - 14.99 14.73 15.01
3359 293.3 -7.3 203 3364 done -0.38 - - 2067 - 2.47 0.071 2294 570.9 -116.8 - - 3212 - - - - - - - - 14.81 14.69 14.83
3722 317.1 -6.3 213 3723 done -0.38 - - 2067 - - - 2294 - -116.8 - - 3207 - - - - - - - - 14.99 15.01 15.01
4058 336.3 -5.7 219 4062 roll -0.38 - - 2067 - 2.42 0.059 888 -581.0 -116.8 - - 3206 - - - - - - - - 15.00 14.71 15.01
4106 339.3 -6.2 226 4113 done -0.38 - - 2067 - 2.53 0.072 2316 564.4 -116.8 - - 3207 - - - - - - - - 14.80 14.67 14.83
4451 361.3 -6.6 233 4451 done -0.38 - - 2067 - - - 2316 - -116.8 - - 3208 - - - - - - - - 15.00 15.02 15.02
4786 384.8 -7.0 239 4790 roll -0.38 - - 2058 - 2.42 0.097 3688 566.9 -116.8 - - 3203 - - - - - - - - 15.00 14.65 15.02
4834 388.2 -7.2 246 4841 done -0.43 - - 2058 - 2.35 0.054 2293 -593.6 -116.8 - - 3203 - - - - - - - - 14.83 14.76 14.85
5178 411.2 -6.5 253 5184 roll -0.43 - - 2058 - 2.42 0.066 892 -578.9 -116.8 - - 3201 - - - - - - - - 14.99 14.69 15.00
5275 417.5 -6.5 267 5281 done -0.43 - - 2056 - 2.53 0.073 2287 551.4 -116.8 - - 3201 - - - - - - - - 14.71 14.64 14.76
5626 439.4 -6.3 275 5630 roll -0.43 - - 2055 - 2.50 0.101 3693 562.4 -116.8 - - 3200 - - - - - - - - 15.00 14.64 15.02
5667 442.1 -6.6 281 5674 done -0.43 - - 2055 - 2.35 0.054 2281 -600.9 -116.8 - - 3199 - - - - - - - - 14.78 14.75 14.80
6018 464.6 -6.4 289 6023 roll -0.43 - - 2055 - 2.40 0.063 893 -578.3 -116.8 - - 3198 - - - - - - - - 14.98 14.68 15.00
6101 470.2 -6.6 301 6107 done -0.43 - - 2055 - 2.47 0.075 2285 563.6 -116.8 - - 3197 - - - - - - - - 14.77 14.66 14.81
6466 492.9 -6.3 311 6467 done -0.43 - - 2055 - - - 2285 - -116.8 - - 3196 - - - - - - - - 14.98 15.00 15.00
6802 514.8 -6.6 317 6807 roll -0.43 - - 2055 - 2.42 0.061 894 -574.8 -116.8 - - 3194 - - - - - - - - 14.98 14.67 15.00
6850 518.4 -7.2 324 6856 done -0.43 - - 2055 - 2.53 0.076 2279 547.4 -116.8 - - 3193 - - - - - - - - 14.69 14.62 14.73
7194 540.9 -6.5 331 7199 roll -0.43 - - 2044 - 2.53 0.100 3698 560.9 -116.8 - - 3192 - - - - - - - - 14.99 14.62 15.01
7235 543.6 -6.5 337 7241 done -0.43 - - 2046 - 2.42 0.058 2286 -583.5 -116.8 - - 3192 - - - - - - - - 14.81 14.70 14.83
7586 564.3 -5.8 345 7592 roll -0.43 - - 2046 - 2.45 0.069 880 -573.9 -116.8 - - 3191 - - - - - - - - 14.97 14.66 15.00
7683 570.1 -5.8 359 7688 done -0.43 - - 2043 - 2.50 0.077 2278 559.2 -116.8 - - 3191 - - - - - - - - 14.77 14.64 14.80
8034 590.4 -5.9 367 8039 roll -0.43 - - 2037 - 2.53 0.104 3691 558.5 -116.8 - - 3190 - - - - - - - - 14.97 14.61 14.99
8075 593.2 -6.7 373 8082 done -0.43 - - 2038 - 2.45 0.059 2260 -584.1 -116.8 - - 3190 - - - - - - - - 14.73 14.68 14.76
8426 617.2 -7.0 381 8432 roll -0.43 - - 2038 - 2.40 0.069 890 -570.8 -116.8 - - 3188 - - - - - - - - 14.97 14.64 14.99
8495 622.4 -7.4 391 8500 done -0.43 - - 2037 - 2.50 0.078 2258 547.2 -116.8 - - 3187 - - - - - - - - 14.66 14.59 14.71
8818 645.3 -7.2 402 8819 done -0.43 - - 2037 - - - 2257 - -116.8 - - 3187 - - - - - - - - 14.97 14.99 15.00
9154 669.4 -7.2 408 9154 done -0.43 - - 2036 - - - 2262 - -116.8 - - 3186 - - - - - - - - 14.98 15.00 15.00
9490 692.5 -6.8 414 9491 done -0.43 - - 2037 - - - 2257 - -116.8 - - 3186 - - - - - - - - 14.97 15.00 15.00
9826 714.2 -6.4 420 9826 done -0.43 - - 2037 - - - 2258 - -116.8 - - 3184 - - - - - - - - 14.97 14.99 14.98
10163 736.5 -6.7 426 10167 roll -0.43 - - 2029 - 2.58 0.104 3692 555.8 -116.8 - - 3183 - - - - - - - - 14.96 14.57 14.97
10203 739.5 -7.5 432 10209 done -0.43 0.08 0.213 2053 300.0 2.47 0.060 2266 -577.3 -116.8 - - 3182 - - - - - - - - 14.42 14.64 14.55
10554 761.5 -6.3 440 10558 roll -0.43 - - 2053 - 2.42 0.072 882 -571.9 -116.8 - - 3182 - - - - - - - - 14.96 14.59 14.97
10630 766.6 -6.7 451 10635 done -0.48 - - 2053 - 2.50 0.082 2263 552.4 -116.8 - - 3182 - - - - - - - - 14.73 14.59 14.76
10946 785.4 -5.9 461 10951 roll -0.53 - - 2046 - 2.58 0.106 3692 553.9 -116.8 - - 3181 - - - - - - - - 14.95 14.55 14.97
11002 788.9 -6.5 469 11009 done -0.59 0.12 0.144 1997 -408.3 2.45 0.062 2253 -587.3 -116.8 - - 3180 - - - - - - - - 14.62 14.66 14.72
11338 816.6 -8.3 482 11343 roll -0.59 - - 1997 - 2.42 0.073 878 -568.2 -116.8 - - 3179 - - - - - - - - 14.94 14.59 14.96
11414 822.7 -8.2 493 11420 done -0.59 - - 1995 - 2.55 0.085 2281 550.2 -116.8 - - 3180 - - - - - - - - 14.71 14.57 14.74
11730 848.0 -8.0 503 11731 done -0.59 - - 1995 - - - 2278 - -116.8 - - 3180 - - - - - - - - 14.94 14.96 14.95
12066 874.6 -7.9 509 12067 done -0.59 - - 1995 - - - 2281 - -116.8 - - 3179 - - - - - - - - 14.94 14.96 14.96
12402 900.3 -7.6 515 12406 roll -0.59 - - 1995 - 2.47 0.070 886 -564.8 -116.8 - - 3177 - - - - - - - - 14.95 14.57 14.96
12458 904.1 -7.7 523 12463 done -0.59 - - 1988 - 2.50 0.081 2258 548.8 -116.8 - - 3178 - - - - - - - - 14.70 14.56 14.73
12794 929.5 -7.5 536 12799 roll -0.59 - - 1981 - 2.60 0.109 3692 551.5 -116.8 - - 3177 - - - - - - - - 14.95 14.52 14.97
12850 934.0 -6.8 544 12855 done -0.59 - - 1981 - 2.47 0.064 2257 -581.0 -116.8 - - 3177 - - - - - - - - 14.72 14.63 14.75
13186 961.4 -8.2 557 13192 roll -0.59 - - 1980 - 2.42 0.073 883 -567.8 -116.8 - - 3177 - - - - - - - - 14.92 14.56 14.94
13242 967.0 -8.6 565 13248 done -0.59 0.15 0.291 2004 160.0 2.53 0.084 2263 545.5 -116.8 - - 3176 - - - - - - - - 14.31 14.54 14.59
13574 end dive: TARGET_DEPTH_EXCEEDED
13574 begin apogee
13583 991.6 -7.5 578 13774 roll -0.19 0.47 0.229 2134 276.6 - - 2264 - - 188.98 1.685 2740 -2.3 0.255 - - - - - - 14.38 13.98 13.35
13776 end apogee: CONTROL_FINISHED_OK
13776 begin climb
13779 997.2 - 581 13938 roll 0.68 0.93 0.161 2411 297.8 2.67 0.070 833 -536.0 116.8 148.25 1.904 2263 -3.2 0.316 - - - - - - 13.94 14.00 13.07
14014 981.2 9.0 619 14021 done 0.68 - - 2411 - 2.67 0.086 2231 523.6 116.8 - - 2236 - - - - - - - - 14.09 13.98 14.12
14358 946.2 10.3 626 14364 roll 0.61 - - 2421 - 2.60 0.093 840 -535.0 116.8 - - 2230 - - - - - - - - 14.64 14.34 14.66
14522 929.9 9.1 649 14528 done 0.57 0.15 0.281 2388 -220.0 2.60 0.087 2237 537.3 116.8 - - 2229 - - - - - - - - 14.25 14.40 14.50
14862 898.2 9.2 656 14866 roll 0.57 - - 2388 - 2.60 0.114 3639 539.2 116.8 - - 2227 - - - - - - - - 14.79 14.45 14.82
14952 888.7 10.9 669 14958 done 0.51 0.12 0.300 2371 -141.7 2.45 0.078 2255 -564.9 116.8 - - 2225 - - - - 1 - - - 14.32 14.52 14.59
15310 858.5 8.4 678 15316 roll 0.51 - - 2381 - 2.62 0.096 822 -546.9 116.8 - - 2225 - - - - - - - - 14.85 14.50 14.88
15372 853.0 8.9 687 15377 done 0.51 - - 2381 - 2.60 0.087 2239 545.0 116.8 - - 2225 - - - - - - - - 14.64 14.50 14.69
15703 823.4 9.1 699 15707 roll 0.51 - - 2381 - 2.60 0.115 3647 541.5 116.8 - - 2225 - - - - - - - - 14.87 14.46 14.88
15771 816.3 10.1 709 15777 done 0.47 0.15 0.278 2357 -160.0 2.50 0.079 2242 -562.0 116.8 - - 2224 - - - - - - - - 14.34 14.55 14.62
16094 790.3 8.0 720 16099 roll 0.47 - - 2368 - 2.60 0.096 824 -545.4 116.8 - - 2224 - - - - - - - - 14.88 14.51 14.90
16177 783.5 7.8 732 16182 done 0.47 - - 2367 - 2.60 0.086 2239 544.2 116.8 - - 2224 - - - - - - - - 14.66 14.52 14.71
16542 752.9 8.6 742 16548 roll 0.47 - - 2367 - 2.58 0.114 3638 542.2 116.8 - - 2223 - - - - - - - - 14.89 14.50 14.91
16632 744.4 8.9 755 16637 done 0.47 - - 2377 - 2.45 0.076 2248 -567.3 116.8 - - 2222 - - - - - - - - 14.69 14.57 14.69
16990 713.8 8.5 764 16995 roll 0.47 - - 2388 - 2.60 0.094 825 -547.3 116.8 - - 2223 - - - - - - - - 14.90 14.51 14.91
17059 708.1 7.4 774 17066 done 0.47 0.15 0.262 2354 -226.7 2.60 0.085 2248 547.3 116.8 - - 2222 - - - - - - - - 14.35 14.53 14.64
17383 685.6 6.9 785 17387 roll 0.47 - - 2354 - 2.58 0.115 3646 541.9 126.2 - - 2221 - - - - - - - - 14.89 14.46 14.91
17458 679.6 7.8 796 17464 done 0.47 - - 2363 - 2.53 0.079 2257 -549.0 126.2 - - 2222 - - - - - - - - 14.60 14.53 14.67
17774 656.7 7.3 806 17780 roll 0.47 - - 2376 - 2.62 0.091 811 -551.9 126.3 - - 2222 - - - - - - - - 14.90 14.52 14.91
17843 651.7 7.1 816 17855 done 0.48 - - 2373 - 2.62 0.083 2252 550.0 131.4 4.12 1.306 2202 -4.9 0.455 - - - - - - 14.67 14.54 13.73
18166 627.0 7.7 827 18171 roll 0.48 - - 2373 - 2.55 0.115 3638 543.5 131.4 - - 2206 - - - - - - - - 14.88 14.48 14.90
18235 621.0 8.6 837 18240 done 0.48 - - 2383 - 2.50 0.075 2253 -554.0 131.4 - - 2207 - - - - - - - - 14.59 14.52 14.71
18558 595.3 8.0 848 18563 roll 0.48 - - 2392 - 2.60 0.093 822 -550.4 131.4 - - 2207 - - - - - - - - 14.89 14.50 14.91
18627 589.7 7.9 858 18633 done 0.48 0.15 0.259 2358 -226.7 2.62 0.085 2260 548.9 131.4 - - 2207 - - - - - - - - 14.34 14.52 14.59
18951 566.2 7.4 869 18955 roll 0.48 - - 2358 - 2.53 0.112 3638 544.7 131.4 - - 2207 - - - - - - - - 14.90 14.48 14.91
19033 559.0 8.6 881 19038 done 0.48 - - 2368 - 2.47 0.074 2263 -556.7 131.4 - - 2207 - - - - - - - - 14.54 14.50 14.59
19398 529.1 8.3 891 19403 roll 0.48 - - 2378 - 2.62 0.090 815 -552.7 131.4 - - 2207 - - - - - - - - 14.90 14.50 14.92
19446 525.1 8.3 898 19454 done 0.48 - - 2377 - 2.65 0.083 2258 544.5 131.4 - - 2207 - - - - - - - - 14.66 14.52 14.69
19790 495.6 8.6 905 19794 roll 0.48 - - 2377 - 2.53 0.112 3636 544.7 131.4 - - 2207 - - - - - - - - 14.90 14.48 14.91
19852 489.7 9.3 914 19858 done 0.48 0.10 0.237 2346 -310.0 2.47 0.073 2262 -556.3 131.4 - - 2204 - - - - - - - - 14.33 14.54 14.59
20182 468.9 6.1 926 20237 roll 0.49 - - 2355 - 2.67 0.088 829 -536.7 161.3 46.03 1.485 2070 -2.9 0.173 - - - - - - 14.89 14.38 13.81
20279 463.2 6.1 940 20320 done 0.59 0.10 0.161 2393 380.0 2.65 0.081 2262 540.8 191.5 35.70 1.461 1958 -3.1 0.187 - - - - - - 14.39 14.37 13.67
20633 432.4 9.1 955 20638 roll 0.59 - - 2389 - 2.55 0.109 3643 541.6 191.5 - - 1931 - - - - - - - - 14.67 14.36 14.69
20700 425.4 9.8 965 20706 done 0.59 - - 2403 - 2.53 0.073 2256 -548.2 191.5 - - 1931 - - - - - - - - 14.46 14.40 14.49
21023 393.8 9.9 976 21028 roll 0.59 - - 2413 - 2.62 0.088 821 -547.7 191.5 - - 1929 - - - - - - - - 14.78 14.45 14.80
21093 387.1 9.5 986 21099 done 0.59 - - 2413 - 2.62 0.080 2260 549.2 191.5 - - 1929 - - - - - - - - 14.59 14.46 14.63
21415 354.7 10.1 997 21420 roll 0.59 - - 2412 - 2.55 0.109 3646 543.5 191.5 - - 1928 - - - - - - - - 14.82 14.46 14.84
21484 346.8 11.3 1007 21490 done 0.59 0.12 0.280 2394 -150.0 2.45 0.073 2261 -565.3 191.5 - - 1928 - - - - - - - - 14.33 14.53 14.59
21808 315.8 9.7 1018 21813 roll 0.59 - - 2404 - 2.60 0.086 823 -553.1 191.5 - - 1927 - - - - - - - - 14.85 14.50 14.86
21876 309.0 9.6 1028 21882 done 0.59 - - 2404 - 2.60 0.080 2258 551.9 191.5 - - 1927 - - - - - - - - 14.64 14.51 14.69
22200 274.7 10.8 1039 22205 roll 0.59 - - 2404 - 2.53 0.109 3639 545.8 191.5 - - 1927 - - - - - - - - 14.86 14.49 14.88
22255 268.4 11.2 1047 22260 done 0.59 - - 2414 - 2.42 0.070 2260 -569.8 191.5 - - 1927 - - - - - - - - 14.67 14.57 14.71
22591 232.9 10.6 1060 22596 roll 0.59 - - 2424 - 2.60 0.086 821 -553.5 191.5 - - 1927 - - - - - - - - 14.88 14.52 14.90
22654 226.5 9.9 1069 22659 done 0.59 0.12 0.269 2394 -250.0 2.62 0.079 2269 552.7 191.5 - - 1927 - - - - - - - - 14.37 14.54 14.64
22983 196.2 9.2 1081 22988 roll 0.59 - - 2394 - 2.50 0.109 3639 548.0 191.5 - - 1927 - - - - - - - - 14.88 14.50 14.90
23031 191.3 10.3 1088 23038 done 0.59 - - 2402 - 2.45 0.068 2264 -561.2 191.5 - - 1927 - - - - - - - - 14.61 14.54 14.65
23376 159.6 9.1 1095 23380 roll 0.59 - - 2410 - 2.60 0.086 824 -553.8 191.5 - - 1927 - - - - - - - - 14.89 14.52 14.91
23416 155.8 9.1 1101 23422 done 0.59 - - 2410 - 2.62 0.079 2271 552.3 191.5 - - 1927 - - - - - - - - 14.66 14.53 14.71
23768 122.2 9.5 1109 23772 roll 0.59 - - 2410 - 2.50 0.107 3643 548.8 191.5 - - 1927 - - - - - - - - 14.89 14.51 14.91
23830 116.0 9.5 1118 23836 done 0.59 0.12 0.268 2391 -158.3 2.40 0.069 2265 -574.2 191.5 - - 1927 - - - - - - - - 14.38 14.59 14.64
24163 93.0 6.7 1131 24172 roll 0.65 - - 2392 - 2.58 0.084 825 -558.1 206.7 5.05 0.268 1896 -6.1 0.400 - - - - - - 14.88 14.47 14.18
24295 85.5 5.5 1150 24332 done 0.77 0.17 0.112 2462 411.8 2.55 0.075 2247 557.6 249.8 29.98 0.392 1725 -5.7 0.233 - - - - - - 14.62 14.55 14.28
24666 64.0 5.2 1170 24705 roll 0.86 - - 2461 - 2.58 0.102 3639 539.5 301.1 34.33 0.324 1511 -6.2 0.231 - - - - - - 14.85 14.52 14.31
24772 58.0 5.8 1185 24802 done 0.96 0.12 0.134 2519 483.3 2.42 0.064 2241 -577.7 336.7 24.52 0.305 1365 -6.0 0.213 - - - - - - 14.52 14.51 14.26
25132 35.6 5.0 1204 25173 roll 1.07 - - 2519 - 2.53 0.078 825 -559.7 392.0 35.80 0.238 1142 -6.2 0.175 - - - - - - 14.83 14.48 14.32
25301 26.6 5.8 1228 25333 done 1.28 0.28 0.101 2622 367.9 2.53 0.063 2251 563.6 428.2 25.02 0.208 992 -6.0 0.144 - - - - - - 14.55 14.52 14.31
25580 end climb: SURFACE_DEPTH_REACHED
25580 begin surface coast
25605 end surface coast: CONTROL_FINISHED_OK
25605 begin surface
SM 1.00 - - - - -6.13 6.85 0.070 217 31.6 - - 2251 - 500.17 46.05 0.141 699 15.2 -0.011 - - - - - -