SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 69.55 of 350.00 AH used of 24V (80.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 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: 28 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 75 VBD -0.68 - - 217 - - - 2303 - -116.8 -57.45 - 2102 - - - - - - - - 14.73 - 14.75
79 2.2 -3.9 2 122 roll -0.68 8.95 0.424 1980 197.0 2.70 2.089 858 -535.2 -116.8 -27.00 - 3219 -41.4 - - - - - - - 14.20 13.35 14.55
143 16.7 -29.1 9 150 done -0.35 0.47 0.328 2079 210.6 2.53 0.068 2282 562.8 -116.8 - - 3220 - - - - - - - - 14.29 14.50 14.54
466 83.6 -12.0 22 471 roll -0.26 0.12 0.278 2115 300.0 2.45 0.053 854 -582.9 -116.8 - - 3220 - - - - - - - - 14.42 14.61 14.56
703 99.4 -6.8 56 709 done -0.26 - - 2112 - 2.53 0.066 2304 573.1 -116.8 - - 3222 - - - - - - - - 14.73 14.63 14.75
1055 118.7 -5.6 64 1059 roll -0.37 - - 2109 - 2.40 0.086 3694 579.2 -116.8 - - 3223 - - - - - - - - 14.95 14.66 14.97
1232 127.1 -4.8 89 1238 done -0.46 0.20 0.100 2021 -440.0 2.35 0.050 2250 -614.5 -116.8 - - 3223 - - - - - - - - 14.74 14.76 14.81
1560 155.2 -8.9 101 1565 roll -0.46 - - 2022 - 2.28 0.057 909 -588.2 -116.8 - - 3222 - - - - - - - - 14.97 14.71 14.99
1657 164.2 -9.2 115 1663 done -0.46 0.12 0.297 2043 175.0 2.40 0.067 2297 578.3 -116.8 - - 3222 - - - - 1 - - - 14.51 14.70 14.75
2008 190.3 -7.4 123 2009 done -0.46 - - 2042 - - - 2297 - -116.8 - - 3219 - - - - - - - - 15.00 15.02 15.01
2344 217.3 -8.2 129 2345 done -0.46 - - 2043 - - - 2297 - -116.8 - - 3217 - - - - - - - - 15.00 15.02 15.01
2680 244.6 -8.0 135 2681 done -0.46 - - 2042 - - - 2297 - -116.8 - - 3215 - - - - - - - - 15.00 15.02 15.02
3016 268.9 -7.1 141 3022 roll -0.46 - - 2039 - 2.38 0.057 910 -582.8 -116.8 - - 3212 - - - - - - - - 15.02 14.72 15.02
3064 272.4 -7.0 148 3071 done -0.46 - - 2048 - 2.45 0.072 2287 562.0 -116.8 - - 3212 - - - - 1 - - - 14.73 14.67 14.78
3408 296.9 -7.3 155 3413 roll -0.46 - - 2033 - 2.45 0.093 3695 574.7 -116.8 - - 3209 - - - - - - - - 15.01 14.69 15.03
3456 300.9 -8.3 162 3463 done -0.46 - - 2033 - 2.35 0.052 2299 -594.0 -116.8 - - 3208 - - - - - - - - 14.78 14.75 14.81
3800 329.8 -8.5 169 3805 roll -0.46 - - 2033 - 2.40 0.062 894 -585.4 -116.8 - - 3207 - - - - - - - - 15.01 14.71 15.02
3912 339.5 -8.6 185 3918 done -0.46 - - 2028 - 2.45 0.073 2283 566.9 -116.8 - - 3206 - - - - 1 - - - 14.81 14.69 14.83
4248 368.4 -8.6 198 4253 roll -0.46 - - 2019 - 2.47 0.094 3694 571.3 -116.8 - - 3204 - - - - - - - - 15.00 14.66 15.02
4310 373.8 -8.7 207 4316 done -0.46 - - 2018 - 2.40 0.057 2295 -582.9 -116.8 - - 3203 - - - - - - - - 14.77 14.73 14.80
4640 401.4 -8.4 219 4645 roll -0.46 0.12 0.262 2053 291.7 2.45 0.064 868 -582.4 -116.8 - - 3202 - - - - - - - - 14.50 14.69 14.64
4737 408.8 -7.2 233 4743 done -0.46 - - 2053 - 2.50 0.076 2277 563.6 -116.8 - - 3201 - - - - - - - - 14.79 14.67 14.83
5088 433.8 -7.3 241 5094 roll -0.46 - - 2043 - 2.50 0.098 3690 565.2 -116.8 - - 3199 - - - - - - - - 14.99 14.64 15.01
5130 437.1 -8.2 247 5135 done -0.46 - - 2042 - 2.40 0.057 2258 -596.7 -116.8 - - 3197 - - - - - - - - 14.83 14.75 14.83
5480 465.1 -7.9 255 5485 roll -0.46 - - 2043 - 2.38 0.065 877 -580.3 -116.8 - - 3198 - - - - - - - - 14.99 14.69 15.01
5557 471.3 -7.8 266 5562 done -0.46 - - 2042 - 2.47 0.078 2266 562.3 -116.8 - - 3196 - - - - - - - - 14.78 14.66 14.81
5873 493.3 -6.9 276 5877 roll -0.46 - - 2038 - 2.55 0.101 3701 562.7 -116.8 - - 3196 - - - - - - - - 14.99 14.60 15.00
5941 498.3 -7.0 286 5946 done -0.46 - - 2038 - 2.40 0.057 2269 -596.7 -116.8 - - 3195 - - - - - - - - 14.82 14.74 14.84
6264 521.3 -7.2 297 6270 roll -0.46 - - 2036 - 2.40 0.068 884 -577.1 -116.8 - - 3193 - - - - - - - - 14.98 14.68 15.00
6368 529.4 -7.7 312 6375 done -0.46 - - 2037 - 2.47 0.078 2264 558.7 -116.8 - - 3194 - - - - - - - - 14.77 14.64 14.81
6712 555.2 -7.6 319 6717 roll -0.46 - - 2029 - 2.55 0.101 3697 562.0 -116.8 - - 3192 - - - - - - - - 14.98 14.57 15.00
6739 557.3 -7.8 323 6744 done -0.46 - - 2028 - 2.47 0.060 2267 -578.9 -116.8 - - 3191 - - - - - - - - 14.73 14.69 14.76
7104 585.0 -7.5 333 7110 roll -0.46 - - 2029 - 2.42 0.070 877 -574.4 -116.8 - - 3190 - - - - - - - - 14.97 14.66 15.00
7216 594.0 -8.0 349 7222 done -0.46 - - 2027 - 2.50 0.081 2260 553.2 -116.8 - - 3189 - - - - - - - - 14.75 14.64 14.80
7552 620.3 -7.9 362 7557 roll -0.46 - - 2027 - 2.42 0.067 877 -571.5 -116.8 - - 3188 - - - - - - - - 14.97 14.62 14.99
7593 623.9 -8.6 368 7598 done -0.46 - - 2026 - 2.53 0.082 2251 543.1 -116.8 - - 3188 - - - - - - - - 14.67 14.59 14.72
7944 653.4 -8.5 376 7949 roll -0.46 - - 2017 - 2.60 0.106 3699 556.9 -116.8 - - 3187 - - - - - - - - 14.97 14.59 14.97
8020 660.2 -8.8 387 8026 done -0.46 0.12 0.243 2047 250.0 2.47 0.065 2252 -585.8 -116.8 - - 3186 - - - - - - - - 14.49 14.69 14.71
8336 682.5 -7.0 397 8341 roll -0.46 - - 2047 - 2.40 0.075 883 -570.4 -116.8 - - 3186 - - - - - - - - 14.97 14.64 14.98
8426 688.9 -6.8 410 8432 done -0.46 - - 2043 - 2.47 0.082 2251 553.8 -116.8 - - 3185 - - - - - - - - 14.75 14.62 14.78
8785 711.0 -6.1 419 8789 roll -0.46 - - 2037 - 2.60 0.109 3693 554.6 -116.8 - - 3184 - - - - - - - - 14.97 14.59 14.98
8818 713.2 -6.3 424 8824 done -0.46 - - 2037 - 2.47 0.063 2248 -585.0 -116.8 - - 3184 - - - - - - - - 14.77 14.69 14.80
9176 736.2 -6.5 433 9182 roll -0.46 - - 2038 - 2.40 0.076 884 -568.3 -116.8 - - 3183 - - - - - - - - 14.96 14.61 14.97
9253 741.4 -6.3 444 9258 done -0.46 - - 2037 - 2.47 0.083 2251 553.4 -116.8 - - 3183 - - - - - - - - 14.73 14.60 14.77
9568 763.1 -6.9 454 9573 roll -0.46 - - 2036 - 2.62 0.112 3696 551.5 -116.8 - - 3182 - - - - - - - - 14.96 14.57 14.97
9609 766.1 -7.1 460 9615 done -0.46 - - 2036 - 2.47 0.065 2252 -584.6 -116.8 - - 3181 - - - - - - - - 14.77 14.68 14.78
9961 790.5 -6.9 468 9965 roll -0.46 - - 2036 - 2.42 0.076 880 -566.9 -116.8 - - 3180 - - - - - - - - 14.95 14.61 14.97
10050 797.3 -7.5 481 10056 done -0.46 - - 2034 - 2.50 0.085 2241 544.4 -116.8 - - 3180 - - - - 1 - - - 14.63 14.55 14.76
10409 822.8 -7.2 490 10413 roll -0.46 - - 2026 - 2.65 0.109 3701 550.9 -116.8 - - 3179 - - - - - - - - 14.96 14.55 14.97
10470 827.4 -6.6 499 10476 done -0.46 - - 2026 - 2.50 0.065 2242 -583.6 -116.8 - - 3179 - - - - - - - - 14.74 14.64 14.77
10800 851.0 -7.1 511 10805 roll -0.46 - - 2026 - 2.40 0.076 884 -565.8 -116.8 - - 3178 - - - - - - - - 14.95 14.61 14.96
10884 857.1 -7.2 523 10889 done -0.46 - - 2024 - 2.50 0.086 2254 548.0 -116.8 - - 3178 - - - - - - - - 14.72 14.59 14.76
11248 880.6 -6.4 533 11254 roll -0.46 - - 2020 - 2.62 0.111 3695 550.0 -116.8 - - 3178 - - - - - - - - 14.95 14.55 14.97
11304 883.8 -6.4 541 11310 done -0.46 0.12 0.242 2050 250.0 2.53 0.067 2237 -576.3 -116.8 - - 3177 - - - - - - - - 14.42 14.64 14.64
11644 900.1 -4.7 554 11649 roll -0.51 - - 2050 - 2.40 0.074 876 -567.1 -116.8 - - 3176 - - - - - - - - 14.94 14.59 14.95
11726 904.7 -5.4 566 11731 done -0.56 - - 2050 - 2.50 0.088 2241 546.0 -116.8 - - 3176 - - - - - - - - 14.70 14.56 14.74
12091 923.0 -5.1 576 12096 roll -0.61 0.12 0.146 1989 -508.3 2.65 0.112 3692 547.5 -116.8 - - 3175 - - - - - - - - 14.61 14.52 14.66
12166 928.4 -7.7 587 12172 done -0.61 - - 1987 - 2.58 0.067 2233 -565.5 -116.8 - - 3181 - - - - - - - - 14.65 14.59 14.76
12483 954.0 -8.2 597 12488 roll -0.61 - - 1989 - 2.40 0.074 873 -566.7 -116.8 - - 3175 - - - - - - - - 14.92 14.58 14.95
12586 963.3 -8.9 612 12593 done -0.61 - - 1985 - 2.55 0.088 2235 534.1 -116.8 - - 3174 - - - - - - - - 14.59 14.51 14.64
12927 end dive: TARGET_DEPTH_EXCEEDED
12927 begin apogee
12935 993.8 -9.0 619 13083 roll -0.19 0.55 0.243 2133 269.1 - - 2232 - - 140.95 2.565 2739 -3.1 0.228 - - - - 1 - 14.35 13.81 12.84
13085 end apogee: CONTROL_FINISHED_OK
13085 begin climb
13089 998.8 - 621 13254 done 0.68 0.93 0.150 2414 302.2 - - 2235 - 116.8 155.18 1.896 2255 -3.1 0.314 - - - - - - 13.83 14.06 13.04
13605 951.8 10.8 659 13610 roll 0.61 - - 2414 - 2.65 0.116 3642 530.9 116.8 - - 2235 - - - - - - - - 14.60 14.29 14.62
13653 945.8 12.4 666 13661 done 0.51 0.17 0.246 2372 -247.1 2.58 0.082 2241 -543.0 116.8 - - 2234 - - - - 1 - - - 14.18 14.33 14.43
13996 915.2 8.9 673 14001 roll 0.51 - - 2379 - 2.62 0.097 820 -542.4 116.8 - - 2235 - - - - - - - - 14.77 14.44 14.79
14031 912.1 10.2 678 14037 done 0.51 - - 2379 - 2.62 0.089 2237 540.8 116.8 - - 2230 - - - - - - - - 14.59 14.46 14.62
14389 879.9 8.9 687 14393 roll 0.51 - - 2379 - 2.60 0.118 3643 540.8 116.8 - - 2231 - - - - - - - - 14.83 14.45 14.85
14464 872.0 9.8 698 14471 done 0.51 - - 2389 - 2.55 0.082 2233 -552.9 116.8 - - 2230 - - - - 1 - - - 14.67 14.51 14.70
14781 843.4 9.0 708 14786 roll 0.51 - - 2399 - 2.60 0.096 819 -543.8 116.8 - - 2230 - - - - - - - - 14.86 14.52 14.88
14807 841.0 8.7 712 14814 done 0.51 0.12 0.278 2372 -225.0 2.62 0.088 2224 536.3 116.8 - - 2229 - - - - - - - - 14.37 14.50 14.64
15172 813.0 7.6 722 15178 roll 0.51 - - 2372 - 2.62 0.119 3639 540.1 116.8 - - 2229 - - - - - - - - 14.89 14.50 14.90
15256 805.6 8.8 734 15262 done 0.51 - - 2381 - 2.50 0.081 2235 -561.6 116.8 - - 2228 - - - - - - - - 14.68 14.56 14.71
15620 774.7 8.7 744 15625 roll 0.51 - - 2392 - 2.60 0.095 817 -545.4 116.8 - - 2228 - - - - - - - - 14.90 14.52 14.92
15669 770.4 8.7 751 15675 done 0.51 - - 2392 - 2.65 0.087 2237 535.8 116.8 - - 2227 - - - - - - - - 14.59 14.52 14.64
16013 737.8 9.7 758 16019 roll 0.51 - - 2392 - 2.58 0.116 3638 543.0 116.8 - - 2227 - - - - - - - - 14.90 14.51 14.92
16103 728.1 10.7 771 16108 done 0.46 0.22 0.256 2348 -200.0 2.47 0.079 2242 -565.2 116.8 - - 2227 - - - - - - - - 14.35 14.58 14.64
16460 701.2 7.4 780 16465 roll 0.46 - - 2358 - 2.60 0.096 821 -546.5 116.8 - - 2227 - - - - - - - - 14.90 14.52 14.92
16517 697.1 7.4 788 16522 done 0.46 - - 2358 - 2.62 0.086 2254 546.9 116.8 - - 2227 - - - - - - - - 14.68 14.54 14.72
16853 671.0 7.8 801 16857 roll 0.46 - - 2358 - 2.55 0.116 3639 543.1 116.8 - - 2226 - - - - - - - - 14.91 14.51 14.93
16914 665.5 9.0 810 16921 done 0.46 - - 2366 - 2.50 0.079 2257 -552.8 116.8 - - 2226 - - - - - - - - 14.62 14.54 14.64
17245 638.8 8.1 822 17251 roll 0.46 - - 2377 - 2.62 0.093 819 -548.9 116.8 - - 2226 - - - - - - - - 14.90 14.52 14.92
17292 634.9 8.0 829 17300 done 0.46 - - 2377 - 2.65 0.085 2244 537.7 116.8 - - 2225 - - - - - - - - 14.59 14.51 14.64
17636 606.2 8.4 836 17641 roll 0.46 - - 2377 - 2.58 0.115 3640 541.1 116.8 - - 2225 - - - - - - - - 14.90 14.50 14.92
17720 598.5 9.1 848 17726 done 0.46 0.15 0.262 2352 -166.7 2.47 0.077 2248 -563.6 116.8 - - 2226 - - - - - - - - 14.37 14.58 14.64
18084 575.1 6.2 858 18119 roll 0.47 - - 2362 - 2.60 0.093 823 -548.1 144.9 28.95 1.590 2140 -3.0 0.205 - - - - - - 14.92 14.42 13.88
18168 570.0 6.3 870 18203 done 0.54 - - 2362 - 2.65 0.086 2262 543.0 169.5 29.35 1.603 2045 -3.2 0.220 - - - - - - 14.57 14.45 13.74
18535 545.6 6.8 887 18545 roll 0.55 - - 2362 - 2.60 0.112 3641 530.4 183.3 5.85 1.463 1993 -8.9 0.633 - - - - - - 14.71 14.46 13.75
18602 539.9 8.3 897 18607 done 0.55 - - 2370 - 2.45 0.076 2263 -562.4 183.3 - - 1994 - - - - - - - - 14.56 14.47 14.58
18917 513.1 8.7 907 18922 roll 0.55 - - 2376 - 2.62 0.091 822 -550.0 183.3 - - 1997 - - - - - - - - 14.79 14.47 14.81
18980 507.6 8.7 916 18985 done 0.60 - - 2380 - 2.65 0.083 2271 546.8 183.3 - - 1997 - - - - - - - - 14.62 14.49 14.64
19310 475.5 9.9 928 19315 roll 0.60 - - 2380 - 2.53 0.113 3648 544.3 183.3 - - 1997 - - - - - - - - 14.83 14.49 14.85
19366 469.7 10.3 936 19370 done 0.60 - - 2389 - 2.45 0.076 2268 -563.3 183.3 - - 1997 - - - - - - - - 14.66 14.55 14.69
19701 438.7 9.1 949 19706 roll 0.60 - - 2398 - 2.62 0.091 814 -555.0 183.3 - - 1997 - - - - - - - - 14.87 14.52 14.88
19750 434.5 8.6 956 19757 done 0.60 - - 2398 - 2.67 0.083 2275 547.2 183.3 - - 1997 - - - - - - - - 14.66 14.53 14.69
20094 402.6 9.4 963 20098 roll 0.60 - - 2399 - 2.50 0.112 3638 545.2 183.3 - - 1997 - - - - - - - - 14.88 14.52 14.90
20163 394.9 11.1 973 20168 done 0.60 - - 2408 - 2.42 0.074 2267 -566.5 183.3 - - 1997 - - - - - - - - 14.66 14.55 14.69
20486 360.5 10.8 984 20491 roll 0.60 - - 2418 - 2.60 0.089 823 -555.4 183.3 - - 1997 - - - - - - - - 14.89 14.52 14.90
20534 355.1 10.7 991 20540 done 0.60 - - 2418 - 2.67 0.084 2268 541.2 183.3 - - 1997 - - - - - - - - 14.71 14.52 14.73
20878 316.6 11.2 998 20883 roll 0.60 - - 2418 - 2.50 0.111 3641 549.2 183.3 - - 1995 - - - - - - - - 14.90 14.52 14.92
20996 302.6 11.5 1015 21001 done 0.55 0.20 0.252 2378 -200.0 2.40 0.073 2280 -567.1 183.3 - - 1997 - - - - - - - - 14.40 14.59 14.63
21325 277.0 7.6 1027 21330 roll 0.55 - - 2387 - 2.62 0.087 820 -557.3 183.3 - - 1997 - - - - - - - - 14.90 14.54 14.92
21382 272.9 7.3 1035 21387 done 0.60 - - 2388 - 2.65 0.080 2285 552.8 184.0 - - 1997 - - - - - - - - 14.70 14.57 14.73
21718 246.1 8.1 1048 21722 roll 0.60 - - 2388 - 2.47 0.108 3650 552.6 184.0 - - 1997 - - - - - - - - 14.90 14.53 14.92
21774 241.0 9.2 1056 21778 done 0.60 - - 2395 - 2.40 0.071 2286 -568.3 184.0 - - 1997 - - - - - - - - 14.71 14.59 14.73
22110 210.8 9.1 1069 22115 roll 0.60 - - 2411 - 2.62 0.085 821 -559.2 184.0 - - 1997 - - - - - - - - 14.90 14.56 14.92
22165 206.0 8.7 1077 22170 done 0.60 - - 2406 - 2.65 0.079 2290 554.3 184.0 - - 1997 - - - - - - - - 14.69 14.56 14.73
22501 174.5 9.5 1090 22507 roll 0.60 - - 2411 - 2.45 0.107 3642 551.8 184.0 - - 1997 - - - - - - - - 14.92 14.57 14.94
22571 167.2 10.3 1100 22576 done 0.60 - - 2416 - 2.38 0.069 2286 -569.7 184.0 - - 1997 - - - - - - - - 14.71 14.61 14.73
22894 135.4 10.0 1111 22898 roll 0.60 - - 2424 - 2.62 0.084 818 -560.3 184.0 - - 1997 - - - - - - - - 14.92 14.55 14.93
22956 129.3 9.7 1120 22961 done 0.60 - - 2424 - 2.65 0.080 2290 555.5 184.0 - - 1996 - - - - - - - - 14.69 14.55 14.73
23286 99.0 8.9 1132 23291 roll 0.60 - - 2429 - 2.45 0.106 3645 553.1 184.0 - - 1997 - - - - - - - - 14.92 14.54 14.92
23435 86.7 7.0 1153 23446 done 0.61 0.15 0.254 2396 -220.0 2.38 0.068 2292 -568.5 191.7 6.53 0.316 1960 -5.7 0.297 - - - - - - 14.43 14.61 14.26
23765 74.4 3.0 1167 23837 roll 0.77 0.12 0.131 2463 558.3 2.62 0.076 814 -564.1 295.0 66.18 0.367 1538 -6.4 0.247 - - - - - - 14.62 14.51 14.29
23908 66.7 5.8 1188 23940 done 0.91 - - 2463 - 2.65 0.074 2294 558.5 330.8 24.48 0.331 1391 -6.0 0.231 - - - - - - 14.62 14.52 14.28
24269 47.2 5.2 1206 24308 roll 1.06 0.20 0.103 2556 465.0 2.50 0.101 3642 539.2 381.8 34.15 0.274 1182 -6.1 0.201 - - - - - - 14.57 14.46 14.31
24349 40.2 10.3 1218 24355 done 1.06 - - 2565 - 2.38 0.065 2281 -571.8 381.8 - - 1189 - - - - - - - - 14.62 14.52 14.64
24680 15.2 6.5 1232 24699 roll 1.07 - - 2571 - 2.60 0.077 812 -565.0 400.9 13.35 0.176 1103 -6.4 0.106 - - - - - - 14.83 14.50 14.40
24770 9.4 6.3 1245 24790 done 1.14 - - 2571 - 2.58 0.069 2273 566.3 424.7 15.60 0.160 1005 -6.3 0.071 - - - - - - 14.66 14.56 14.45
24899 end climb: SURFACE_DEPTH_REACHED
24899 begin surface coast
24927 end surface coast: CONTROL_FINISHED_OK
24927 begin surface
SM 0.98 - - - - -6.12 6.60 0.059 220 33.3 - - 2274 - 500.17 47.42 0.138 699 14.7 -0.011 - - - - - -