SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 167 * Raw log
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• Previous call tries 1 • 65.79 of 350.00 AH used of 24V (81.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.16 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.62 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 16 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 done -0.84 - - 156 - - - 1887 - -116.8 -80.68 - 3272 - - - - - - - - 14.79 13.39 14.81
112 8.6 -13.0 3 129 roll -0.84 11.77 0.383 2642 211.2 2.28 0.039 3248 596.9 -116.8 - - 3273 - - - - - - - - 14.35 14.59 14.62
227 54.5 -26.6 20 234 done -0.49 0.50 0.267 2764 244.0 2.25 0.037 1868 -613.3 -116.8 - - 3273 - - - - - - - - 14.42 14.64 14.64
557 96.1 -10.9 34 563 roll -0.38 0.12 0.271 2789 208.3 2.28 0.049 3237 600.4 -116.8 - - 3273 - - - - - - - - 14.52 14.70 14.65
758 111.5 -6.3 63 765 done -0.38 - - 2789 - 2.08 0.034 1948 -619.7 -116.8 - - 3275 - - - - - - - - 14.78 14.72 14.80
1116 137.2 -7.0 72 1123 roll -0.38 - - 2789 - 2.50 0.056 459 -595.6 -116.8 - - 3274 - - - - - - - - 14.96 14.76 14.98
1308 151.9 -7.5 99 1314 done -0.38 - - 2780 - 2.30 0.033 1885 620.0 -116.8 - - 3273 - - - - - - - - 14.85 14.79 14.87
1622 175.3 -7.4 109 1625 done -0.38 - - 2780 - - - 1886 - -116.8 - - 3272 - - - - - - - - 14.98 15.00 15.00
1958 200.5 -7.5 115 1964 roll -0.38 - - 2780 - 2.40 0.054 460 -594.2 -116.8 - - 3269 - - - - - - - - 14.99 14.76 15.01
2027 206.3 -8.3 125 2035 done -0.38 0.15 0.247 2805 166.7 2.33 0.033 1894 615.5 -116.8 - - 3268 - - - - - - - - 14.62 14.82 14.81
2350 227.2 -6.4 136 2357 roll -0.50 0.12 0.133 2738 -558.3 2.28 0.051 3266 601.8 -116.8 - - 3266 - - - - - - - - 14.75 14.78 14.78
2392 230.5 -8.6 142 2398 done -0.50 - - 2737 - 2.22 0.036 1890 -619.8 -116.8 - - 3265 - - - - - - - - 14.87 14.83 14.88
2742 262.8 -9.3 150 2755 roll -0.50 - - 2738 - 2.40 0.057 462 -595.0 -116.8 - - 3263 - - - - - - - - 15.02 14.80 15.04
2936 282.2 -10.0 177 2950 done -0.50 0.15 0.259 2760 146.7 2.20 0.034 1828 620.9 -116.8 - - 3261 - - - - - - - - 14.61 14.86 14.83
3258 307.7 -7.9 187 3271 roll -0.50 - - 2754 - 2.38 0.055 3257 600.4 -116.8 - - 3259 - - - - - - - - 15.04 14.81 15.06
3312 312.1 -8.0 194 3326 done -0.50 - - 2754 - 2.30 0.037 1845 -613.9 -116.8 - - 3258 - - - - - - - - 14.91 14.85 14.92
3657 340.0 -8.1 201 3670 roll -0.50 - - 2754 - 2.33 0.059 466 -591.8 -116.8 - - 3257 - - - - - - - - 15.04 14.82 15.05
3819 353.6 -8.5 223 3832 done -0.50 - - 2745 - 2.12 0.034 1792 625.5 -116.8 - - 3255 - - - - - - - - 14.93 14.88 14.94
4175 383.2 -8.4 231 4188 done -0.50 - - 2745 - - - 1792 - -116.8 - - 3253 - - - - - - - - 15.05 15.07 15.07
4511 412.0 -8.6 237 4524 done -0.50 - - 2746 - - - 1792 - -116.8 - - 3251 - - - - - - - - 15.05 15.07 15.07
4847 440.9 -8.7 243 4860 done -0.50 - - 2745 - - - 1792 - -116.8 - - 3248 - - - - - - - - 15.05 15.08 15.07
5183 469.8 -8.6 249 5196 roll -0.50 - - 2734 - 2.45 0.056 3262 600.0 -116.8 - - 3247 - - - - - - - - 15.05 14.82 15.07
5266 477.1 -8.9 260 5279 done -0.50 0.12 0.250 2764 250.0 2.42 0.038 1774 -614.9 -116.8 - - 3247 - - - - - - - - 14.62 14.84 14.84
5588 503.0 -8.0 270 5601 roll -0.50 - - 2761 - 2.20 0.062 474 -590.9 -116.8 - - 3245 - - - - - - - - 15.04 14.81 15.07
5670 510.2 -8.6 281 5683 done -0.50 - - 2759 - 2.08 0.034 1766 621.2 -116.8 - - 3244 - - - - - - - - 14.92 14.87 14.94
5991 536.2 -8.1 291 6005 roll -0.50 - - 2744 - 2.50 0.056 3256 596.0 -116.8 - - 3243 - - - - - - - - 15.04 14.81 15.07
6060 541.7 -7.9 300 6073 done -0.50 - - 2744 - 2.45 0.038 1757 -611.8 -116.8 - - 3242 - - - - - - - - 14.89 14.83 14.90
6396 569.0 -8.1 312 6409 roll -0.50 - - 2744 - 2.20 0.061 464 -587.7 -116.8 - - 3242 - - - - - - - - 15.04 14.79 15.06
6520 579.8 -8.6 329 6533 done -0.50 0.12 0.276 2766 183.3 2.03 0.035 1716 616.7 -116.8 - - 3241 - - - - - - - - 14.59 14.86 14.83
6856 605.2 -7.6 341 6869 roll -0.50 - - 2751 - 2.60 0.057 3261 594.2 -116.8 - - 3240 - - - - - - - - 15.03 14.80 15.05
7002 616.9 -8.2 361 7015 done -0.50 - - 2751 - 2.47 0.040 1758 -608.5 -116.8 - - 3239 - - - - - - - - 14.89 14.82 14.91
7373 647.8 -8.3 371 7386 roll -0.50 - - 2751 - 2.20 0.062 464 -588.2 -116.8 - - 3238 - - - - - - - - 15.03 14.78 15.05
7476 657.0 -8.7 385 7489 done -0.50 - - 2743 - 2.08 0.036 1741 613.9 -116.8 - - 3238 - - - - - - - - 14.89 14.83 14.91
7832 687.4 -8.6 393 7846 roll -0.50 - - 2732 - 2.55 0.057 3258 594.9 -116.8 - - 3236 - - - - - - - - 15.02 14.77 15.04
7936 696.1 -8.2 407 7949 done -0.50 0.15 0.247 2764 213.3 2.53 0.040 1739 -600.4 -116.8 - - 3235 - - - - - - - - 14.57 14.85 14.80
8292 721.3 -7.0 415 8305 roll -0.50 - - 2764 - 2.17 0.063 464 -587.6 -116.8 - - 3234 - - - - - - - - 15.02 14.76 15.04
8368 726.9 -7.4 425 8381 done -0.50 - - 2759 - 2.05 0.037 1727 616.1 -116.8 - - 3236 - - - - - - - - 14.88 14.83 14.90
8696 750.6 -7.2 436 8709 roll -0.50 - - 2748 - 2.58 0.057 3257 593.0 -116.8 - - 3233 - - - - - - - - 15.02 14.76 15.04
8821 760.1 -7.6 453 8834 done -0.50 - - 2748 - 2.50 0.039 1746 -604.4 -116.8 - - 3233 - - - - - - - - 14.86 14.79 14.88
9156 787.3 -8.2 465 9169 roll -0.50 - - 2748 - 2.17 0.064 475 -585.7 -116.8 - - 3232 - - - - - - - - 15.01 14.75 15.04
9253 795.4 -7.8 478 9266 done -0.50 - - 2740 - 2.05 0.036 1727 610.7 -116.8 - - 3232 - - - - - - - - 14.88 14.82 14.90
9616 827.3 -8.7 487 9629 roll -0.50 - - 2728 - 2.60 0.057 3264 591.2 -116.8 - - 3230 - - - - - - - - 15.01 14.74 15.04
9761 840.2 -8.7 507 9775 done -0.50 0.15 0.246 2760 213.3 2.50 0.041 1754 -604.0 -116.8 - - 3233 - - - - - - - - 14.53 14.78 14.76
10133 867.3 -7.3 517 10146 roll -0.59 - - 2762 - 2.20 0.064 471 -583.2 -116.8 - - 3229 - - - - - - - - 15.00 14.73 15.02
10215 873.9 -7.9 528 10228 done -0.59 - - 2753 - 2.08 0.036 1730 605.3 -116.8 - - 3229 - - - - - - - - 14.86 14.81 14.88
10537 897.0 -7.2 538 10550 roll -0.59 - - 2745 - 2.58 0.058 3256 591.5 -116.8 - - 3228 - - - - - - - - 15.00 14.76 15.02
10664 905.8 -6.8 555 10677 done -0.59 - - 2745 - 2.47 0.041 1759 -606.1 -116.8 - - 3228 - - - - - - - - 14.83 14.76 14.85
11000 929.0 -6.8 567 11013 roll -0.59 - - 2744 - 2.20 0.063 474 -584.1 -116.8 - - 3227 - - - - - - - - 14.98 14.71 15.00
11103 936.6 -7.2 581 11116 done -0.59 - - 2737 - 2.08 0.036 1734 605.8 -116.8 - - 3227 - - - - - - - - 14.84 14.78 14.85
11460 961.7 -7.1 589 11473 roll -0.59 - - 2725 - 2.60 0.060 3260 586.9 -116.8 - - 3226 - - - - - - - - 14.98 14.68 15.00
11587 970.9 -7.4 606 11600 done -0.59 - - 2725 - 2.53 0.041 1749 -597.2 -116.8 - - 3226 - - - - - - - - 14.82 14.74 14.84
11863 end dive: TARGET_DEPTH_EXCEEDED
11863 begin apogee
11871 992.5 -7.7 617 11999 roll -0.21 0.52 0.232 2862 263.5 - - 1748 - - 117.95 2.206 2793 -3.7 0.307 - - - - - - 14.52 14.07 13.31
12001 end apogee: CONTROL_FINISHED_OK
12001 begin climb
12004 997.4 - 619 12146 roll 0.84 1.17 0.173 3190 280.3 2.58 0.057 3189 558.5 116.8 122.60 2.170 2314 -3.9 0.334 - - - - - - 14.07 14.14 13.20
12315 974.9 9.4 666 12330 done 0.73 0.15 0.276 3170 -133.3 2.38 0.041 1805 -581.5 116.8 - - 2294 - - - - - - - - 14.14 14.34 14.38
12657 947.1 8.0 673 12671 roll 0.73 - - 3170 - 2.38 0.052 3188 581.1 116.8 - - 2291 - - - - - - - - 14.76 14.57 14.78
12812 934.3 8.1 694 12826 done 0.73 - - 3176 - 2.38 0.041 1771 -595.4 116.8 - - 2292 - - - - - - - - 14.69 14.63 14.71
13175 903.7 8.5 703 13189 roll 0.73 - - 3187 - 2.40 0.067 399 -571.7 116.8 - - 2292 - - - - - - - - 14.88 14.64 14.90
13265 895.5 9.2 715 13278 done 0.73 - - 3187 - 2.25 0.034 1772 610.2 116.8 - - 2292 - - - - - - - - 14.77 14.71 14.79
13635 861.0 9.3 725 13649 roll 0.73 - - 3187 - 2.40 0.052 3186 589.2 116.8 - - 2292 - - - - - - - - 14.92 14.69 14.95
13698 854.7 10.3 733 13713 done 0.64 0.25 0.264 3139 -192.0 2.38 0.041 1773 -593.7 116.8 - - 2292 - - - - - - - - 14.46 14.71 14.72
14042 828.4 7.4 746 14055 roll 0.65 - - 3148 - 2.38 0.067 404 -575.2 124.4 - - 2291 - - - - - - - - 14.93 14.68 14.95
14097 824.0 8.2 753 14111 done 0.65 - - 3147 - 2.28 0.033 1785 605.7 124.4 - - 2291 - - - - - - - - 14.81 14.76 14.83
14441 797.4 7.7 760 14458 roll 0.65 - - 3148 - 2.42 0.053 3182 577.3 126.6 1.80 0.172 2275 -8.9 7.658 - - - - - - 14.94 14.71 14.60
14520 790.8 8.1 771 14533 done 0.65 - - 3156 - 2.30 0.041 1796 -602.6 126.6 - - 2274 - - - - - - - - 14.80 14.73 14.82
14842 765.7 7.9 781 14855 roll 0.65 - - 3167 - 2.40 0.067 405 -579.6 126.6 - - 2276 - - - - - - - - 14.95 14.69 14.97
14945 756.8 8.5 795 14958 done 0.65 - - 3164 - 2.25 0.033 1774 608.4 126.6 - - 2276 - - - - - - - - 14.82 14.77 14.83
15302 728.1 7.9 803 15315 roll 0.65 - - 3167 - 2.35 0.052 3181 598.7 126.6 - - 2276 - - - - - - - - 14.95 14.69 14.97
15364 722.9 8.4 811 15377 done 0.65 0.15 0.271 3145 -146.7 2.33 0.041 1781 -600.9 126.6 - - 2279 - - - - - - - - 14.48 14.74 14.71
15709 699.1 6.9 824 15751 roll 0.67 - - 3153 - 2.47 0.067 409 -555.5 144.7 25.40 1.891 2193 -3.4 0.233 - - - - - - 14.95 14.59 13.91
15792 692.8 7.9 836 15805 done 0.67 - - 3153 - 2.28 0.032 1789 605.3 144.7 - - 2188 - - - - - - - - 14.66 14.62 14.69
16162 664.4 7.7 846 16176 roll 0.68 - - 3153 - 2.35 0.053 3179 591.5 147.7 - - 2187 - - - - - - - - 14.85 14.64 14.88
16266 656.0 8.1 860 16279 done 0.68 - - 3162 - 2.28 0.041 1825 -593.9 147.7 - - 2186 - - - - - - - - 14.74 14.67 14.76
16622 627.9 7.9 868 16635 roll 0.68 - - 3172 - 2.47 0.067 402 -576.1 147.7 - - 2186 - - - - - - - - 14.91 14.64 14.93
16705 620.9 8.6 879 16718 done 0.68 - - 3173 - 2.33 0.032 1818 607.7 147.7 - - 2186 - - - - - - - - 14.79 14.73 14.80
17026 593.8 8.5 889 17039 roll 0.68 - - 3173 - 2.30 0.053 3185 594.3 147.7 - - 2186 - - - - - - - - 14.92 14.69 14.94
17122 584.9 9.1 902 17136 done 0.68 0.15 0.266 3149 -160.0 2.22 0.040 1848 -602.3 147.7 - - 2186 - - - - - - - - 14.48 14.72 14.70
17487 558.3 7.3 911 17509 roll 0.69 - - 3158 - 2.58 0.067 403 -560.1 158.4 6.53 1.569 2148 -5.8 0.385 - - - - - - 14.93 14.73 13.99
17630 547.5 7.6 931 17647 done 0.69 - - 3158 - 2.33 0.032 1819 607.7 162.3 4.50 1.315 2130 -4.0 0.309 - - - - - - 14.79 14.74 13.89
17997 520.1 7.4 941 18027 roll 0.70 - - 3158 - 2.33 0.054 3183 585.4 170.7 16.62 1.665 2089 -2.5 0.143 - - - - - - 14.91 14.64 14.00
18069 514.4 8.1 951 18082 done 0.70 - - 3166 - 2.28 0.040 1822 -596.9 170.7 - - 2082 - - - - - - - - 14.70 14.64 14.72
18397 489.0 7.8 962 18411 roll 0.71 - - 3177 - 2.47 0.067 406 -573.3 172.1 - - 2082 - - - - - - - - 14.87 14.62 14.89
18480 482.0 8.5 973 18493 done 0.71 - - 3177 - 2.33 0.031 1815 604.7 172.1 - - 2083 - - - - - - - - 14.76 14.71 14.78
18802 455.5 8.3 983 18815 roll 0.71 - - 3177 - 2.33 0.051 3191 590.6 172.1 - - 2082 - - - - - - - - 14.90 14.68 14.92
18884 448.1 8.9 994 18897 done 0.71 - - 3186 - 2.28 0.040 1826 -598.7 172.1 - - 2082 - - - - - - - - 14.78 14.71 14.80
19205 418.3 9.5 1004 19218 roll 0.71 - - 3196 - 2.50 0.066 399 -570.8 172.1 - - 2082 - - - - - - - - 14.92 14.67 14.95
19330 405.3 10.8 1021 19343 done 0.71 0.17 0.244 3157 -229.4 2.30 0.032 1815 615.7 172.1 - - 2082 - - - - - - - - 14.50 14.75 14.73
19665 376.6 8.4 1033 19679 roll 0.71 - - 3157 - 2.30 0.051 3178 592.6 172.1 - - 2082 - - - - - - - - 14.94 14.71 14.96
19741 369.9 8.7 1043 19754 done 0.71 - - 3163 - 2.22 0.040 1833 -605.9 172.1 - - 2082 - - - - - - - - 14.81 14.74 14.83
20070 342.6 8.3 1054 20083 roll 0.71 - - 3174 - 2.50 0.066 396 -574.8 172.1 - - 2082 - - - - - - - - 14.95 14.69 14.97
20225 329.3 8.7 1075 20238 done 0.71 - - 3174 - 2.28 0.032 1795 613.6 172.1 - - 2082 - - - - - - - - 14.82 14.79 14.84
20588 298.8 8.3 1084 20601 roll 0.71 - - 3174 - 2.33 0.050 3185 596.6 172.1 - - 2085 - - - - - - - - 14.96 14.71 14.98
20657 292.8 8.9 1093 20670 done 0.71 - - 3179 - 2.28 0.039 1810 -603.1 172.1 - - 2082 - - - - - - - - 14.78 14.71 14.80
20992 265.1 8.2 1105 21005 roll 0.71 - - 3194 - 2.45 0.065 398 -576.3 172.1 - - 2083 - - - - - - - - 14.95 14.69 14.97
21088 256.6 8.8 1118 21102 done 0.71 0.15 0.246 3161 -220.0 2.28 0.031 1795 612.7 172.1 - - 2083 - - - - - - - - 14.51 14.78 14.75
21453 229.7 7.4 1127 21470 roll 0.72 - - 3160 - 2.30 0.047 3172 598.7 180.7 4.05 0.982 2055 -6.9 0.301 - - - - - - 14.95 14.73 14.02
21518 224.5 7.9 1136 21531 done 0.72 - - 3167 - 2.28 0.041 1798 -602.6 180.7 - - 2058 - - - - - - - - 14.82 14.76 14.84
21854 198.5 7.9 1148 21867 roll 0.72 - - 3178 - 2.40 0.064 405 -580.4 180.7 - - 2059 - - - - - - - - 14.95 14.70 14.97
21964 188.9 8.6 1163 21978 done 0.72 - - 3178 - 2.22 0.031 1770 614.9 180.7 - - 2057 - - - - - - - - 14.83 14.78 14.84
22308 159.7 8.6 1170 22322 roll 0.72 - - 3178 - 2.35 0.049 3176 598.3 180.7 - - 2057 - - - - - - - - 14.95 14.73 14.98
22371 154.3 8.7 1178 22384 done 0.72 - - 3186 - 2.35 0.039 1772 -597.4 180.7 - - 2059 - - - - - - - - 14.82 14.76 14.84
22713 127.0 7.8 1191 22726 roll 0.72 - - 3196 - 2.38 0.064 398 -577.3 181.6 - - 2059 - - - - - - - - 14.96 14.71 14.98
22768 122.6 8.2 1198 22782 done 0.72 0.15 0.236 3162 -226.7 2.28 0.031 1799 614.5 181.6 - - 2057 - - - - - - - - 14.53 14.78 14.74
23111 102.1 5.7 1205 23170 roll 0.88 0.12 0.137 3215 441.7 2.38 0.048 3181 580.7 222.2 41.45 0.399 1892 -4.0 0.189 - - - - - - 14.73 14.71 14.40
23194 95.7 8.9 1216 23208 done 0.88 - - 3224 - 2.22 0.037 1839 -604.5 222.2 - - 1894 - - - - - - - - 14.78 14.71 14.78
23507 74.1 6.5 1228 23544 roll 0.91 - - 3235 - 2.47 0.060 404 -581.0 246.8 25.20 0.314 1788 -4.2 0.184 - - - - - - 14.92 14.59 14.38
23566 70.4 6.3 1236 23610 done 0.94 - - 3234 - 2.38 0.030 1856 610.1 276.1 29.77 0.309 1667 -4.1 0.172 - - - - - - 14.77 14.72 14.38
23935 49.3 4.7 1255 24004 roll 1.15 0.17 0.108 3310 447.1 2.25 0.048 3173 585.3 335.3 54.00 0.255 1431 -4.4 0.157 - - - - - - 14.67 14.61 14.40
24019 43.4 8.3 1267 24032 done 1.15 - - 3318 - 2.00 0.035 1964 -604.5 335.3 - - 1433 - - - - - - - - 14.72 14.65 14.73
24361 22.8 5.0 1282 24421 roll 1.22 - - 3329 - 2.72 0.060 411 -571.0 388.6 42.35 0.183 1210 -5.3 0.122 - - - - - - 14.89 14.61 14.50
24533 12.6 5.8 1306 24577 done 1.39 0.15 0.113 3388 393.3 2.55 0.028 1978 614.5 427.0 28.10 0.154 1051 -5.7 0.086 - - - - - - 14.67 14.71 14.51
24671 end climb: SURFACE_DEPTH_REACHED
24671 begin surface coast
24703 end surface coast: CONTROL_FINISHED_OK
24703 begin surface
SM 1.07 - - - - -8.59 9.38 0.066 164 17.5 0.17 0.090 1848 -56364.7 515.62 52.95 0.123 692 13.1 -0.012 - - - - - -