SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 134 * Raw log
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• Previous call tries 1 • 54.89 of 350.00 AH used of 24V (84.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.1 deg, depth -4.37 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 100 done -0.90 - - 151 - - - 2769 - -116.8 -78.78 - 3520 - - - - - - - - 14.66 13.29 14.66
102 -3.2 -3.8 2 124 roll -0.90 11.65 0.399 2600 210.2 2.33 0.032 1349 -609.4 -116.8 - - 3519 - - - - - - - - 14.21 14.50 14.50
156 26.9 -28.2 11 165 done -0.49 0.52 0.267 2729 248.1 2.53 0.071 2763 558.9 -116.8 - - 3519 - - - - - - - - 14.25 14.42 14.42
486 73.5 -8.9 25 493 roll -0.49 - - 2722 - 1.95 0.106 3820 542.1 -116.8 - - 3520 - - - - - - - - 14.80 14.48 14.80
534 77.9 -9.2 32 544 done -0.49 - - 2721 - 1.80 0.041 2742 -598.9 -116.8 - - 3523 - - - - - - - - 14.69 14.64 14.69
850 104.7 -10.9 43 857 roll -0.49 - - 2721 - 2.28 0.044 1389 -593.4 -116.8 - - 3522 - - - - - - - - 14.85 14.59 14.85
1087 120.4 -6.4 77 1095 done -0.49 - - 2712 - 2.45 0.065 2785 569.8 -116.8 - - 3523 - - - - - - - - 14.65 14.58 14.69
1411 141.8 -6.7 88 1418 roll -0.49 - - 2712 - 2.35 0.044 1375 -600.0 -116.8 - - 3522 - - - - - - - - 14.90 14.65 14.89
1542 151.1 -7.2 107 1551 done -0.49 0.10 0.218 2734 220.0 2.47 0.066 2785 570.9 -116.8 - - 3517 - - - - - - - - 14.47 14.58 14.62
1858 169.9 -5.9 117 1865 roll -0.59 - - 2733 - 2.35 0.044 1376 -599.6 -116.8 - - 3523 - - - - - - - - 14.89 14.66 14.90
1892 172.2 -6.6 122 1901 done -0.70 0.10 0.074 2650 -830.0 2.47 0.066 2773 565.6 -116.8 - - 3518 - - - - - - - - 14.65 14.58 14.69
2250 205.2 -9.4 131 2257 roll -0.70 - - 2642 - 1.95 0.107 3830 542.1 -116.8 - - 3516 - - - - - - - - 14.90 14.61 14.90
2284 208.8 -10.4 136 2294 done -0.62 0.17 0.197 2694 305.9 1.77 0.044 2781 -592.7 -116.8 - - 3516 - - - - - - - - 14.50 14.73 14.63
2642 235.8 -7.4 145 2649 roll -0.62 - - 2694 - 2.35 0.046 1372 -599.6 -116.8 - - 3511 - - - - - - - - 14.90 14.62 14.90
2669 238.3 -9.0 149 2677 done -0.62 - - 2684 - 2.50 0.067 2777 562.0 -116.8 - - 3513 - - - - - - - - 14.71 14.61 14.72
3034 268.7 -8.6 159 3047 roll -0.62 - - 2676 - 1.90 0.109 3824 551.1 -116.8 - - 3510 - - - - - - - - 14.94 14.62 14.94
3086 274.0 -9.2 166 3100 done -0.62 - - 2676 - 1.75 0.046 2758 -609.1 -116.8 - - 3510 - - - - - - - - 14.82 14.76 14.83
3430 305.0 -9.2 173 3444 roll -0.62 - - 2676 - 2.30 0.047 1376 -600.9 -116.8 - - 3507 - - - - - - - - 14.96 14.72 14.95
3476 309.6 -9.2 179 3489 done -0.62 0.10 0.244 2696 200.0 2.45 0.070 2780 573.1 -116.8 - - 3507 - - - - - - - - 14.56 14.71 14.76
3831 337.8 -7.9 187 3844 done -0.62 - - 2696 - - - 2783 - -116.8 - - 3503 - - - - - - - - 14.97 14.97 14.97
4167 362.3 -7.2 193 4180 done -0.62 - - 2692 - - - 2780 - -116.8 - - 3503 - - - - - - - - 14.98 14.99 14.98
4503 384.7 -6.6 199 4516 roll -0.62 - - 2696 - 2.38 0.047 1372 -591.6 -116.8 - - 3501 - - - - - - - - 14.98 14.74 14.98
4555 388.3 -6.7 206 4569 done -0.62 - - 2685 - 2.47 0.070 2778 569.2 -116.8 - - 3500 - - - - - - - - 14.82 14.68 14.83
4900 412.9 -7.2 213 4913 roll -0.62 - - 2684 - 2.38 0.046 1370 -591.6 -116.8 - - 3499 - - - - - - - - 14.98 14.73 14.98
4931 415.4 -7.7 217 4944 done -0.62 - - 2678 - 2.45 0.070 2769 571.0 -116.8 - - 3497 - - - - - - - - 14.83 14.67 14.85
5300 443.6 -7.6 227 5313 roll -0.62 - - 2670 - 1.95 0.112 3834 546.2 -116.8 - - 3498 - - - - - - - - 14.99 14.61 15.00
5360 448.2 -7.8 235 5373 done -0.62 - - 2669 - 1.75 0.047 2774 -605.7 -116.8 - - 3497 - - - - - - - - 14.84 14.78 14.85
5700 472.9 -7.1 248 5713 done -0.62 - - 2670 - - - 2774 - -116.8 - - 3495 - - - - - - - - 14.99 14.99 14.99
6037 495.5 -6.6 254 6050 roll -0.62 - - 2669 - 2.35 0.047 1367 -598.7 -116.8 - - 3494 - - - - - - - - 14.99 14.72 14.99
6103 500.3 -7.3 263 6117 done -0.62 0.12 0.235 2697 233.3 2.45 0.071 2769 572.2 -116.8 - - 3494 - - - - - - - - 14.54 14.66 14.76
6437 522.1 -6.6 275 6450 roll -0.62 - - 2689 - 1.92 0.113 3821 547.9 -116.8 - - 3493 - - - - - - - - 14.97 14.62 14.97
6475 525.1 -8.1 280 6488 done -0.62 - - 2689 - 1.73 0.047 2757 -615.0 -116.8 - - 3491 - - - - - - - - 14.85 14.82 14.86
6836 552.3 -7.6 289 6850 roll -0.62 - - 2689 - 2.30 0.049 1378 -599.6 -116.8 - - 3490 - - - - - - - - 14.98 14.70 14.99
6917 558.6 -7.6 300 6931 done -0.62 - - 2679 - 2.45 0.072 2767 566.9 -116.8 - - 3491 - - - - - - - - 14.80 14.65 14.82
7237 583.3 -7.7 310 7250 done -0.62 - - 2678 - - - 2769 - -116.8 - - 3488 - - - - - - - - 14.97 14.97 14.97
7573 607.0 -6.9 316 7586 done -0.62 - - 2680 - - - 2769 - -116.8 - - 3487 - - - - - - - - 14.97 14.97 14.97
7909 627.9 -6.2 322 7922 roll -0.62 - - 2680 - 2.38 0.050 1377 -584.9 -116.8 - - 3486 - - - - - - - - 14.97 14.70 14.97
7954 630.8 -6.2 328 7968 done -0.62 - - 2672 - 2.47 0.074 2776 566.4 -116.8 - - 3486 - - - - - - - - 14.79 14.64 14.81
8309 653.3 -6.5 336 8322 roll -0.62 - - 2672 - 2.38 0.049 1378 -587.4 -116.8 - - 3484 - - - - - - - - 14.97 14.69 14.97
8354 656.6 -6.8 342 8368 done -0.62 0.10 0.249 2692 200.0 2.45 0.075 2761 564.5 -116.8 - - 3484 - - - - - - - - 14.50 14.62 14.73
8709 680.0 -6.7 350 8722 roll -0.62 - - 2684 - 1.98 0.118 3830 539.9 -116.8 - - 3483 - - - - - - - - 14.97 14.55 14.97
8762 683.9 -7.4 357 8775 done -0.62 - - 2683 - 1.77 0.050 2776 -595.5 -116.8 - - 3482 - - - - - - - - 14.81 14.74 14.85
9106 708.3 -7.1 364 9119 roll -0.62 - - 2687 - 2.38 0.050 1365 -592.9 -116.8 - - 3482 - - - - - - - - 14.96 14.69 14.96
9166 712.6 -7.1 372 9179 done -0.62 - - 2676 - 2.47 0.073 2766 567.2 -116.8 - - 3482 - - - - - - - - 14.77 14.62 14.79
9507 735.8 -6.7 385 9520 roll -0.62 - - 2678 - 2.40 0.050 1358 -586.7 -116.8 - - 3481 - - - - - - - - 14.96 14.66 14.96
9538 738.0 -6.7 389 9552 done -0.62 0.10 0.243 2695 170.0 2.50 0.075 2767 563.6 -116.8 - - 3480 - - - - - - - - 14.48 14.59 14.70
9908 759.4 -5.7 399 9921 roll -0.71 - - 2695 - 2.40 0.050 1361 -585.8 -116.8 - - 3479 - - - - - - - - 14.94 14.66 14.94
9954 762.2 -5.9 405 9967 done -0.80 0.08 0.148 2631 -800.0 2.47 0.073 2758 565.6 -116.8 - - 3481 - - - - - - - - 14.68 14.60 14.76
10309 790.1 -8.0 413 10322 roll -0.80 - - 2623 - 1.98 0.117 3826 539.4 -116.8 - - 3479 - - - - - - - - 14.95 14.54 14.95
10361 794.8 -8.7 420 10376 done -0.80 - - 2622 - 1.80 0.050 2756 -594.4 -116.8 - - 3479 - - - - - - - - 14.79 14.73 14.80
10705 823.3 -8.3 427 10719 roll -0.80 - - 2622 - 2.35 0.051 1365 -591.9 -116.8 - - 3478 - - - - - - - - 14.96 14.66 14.96
10758 827.7 -7.9 434 10772 done -0.80 - - 2614 - 2.50 0.075 2767 560.8 -116.8 - - 3480 - - - - - - - - 14.76 14.59 14.77
11102 857.2 -8.6 441 11115 roll -0.80 - - 2605 - 1.95 0.116 3822 541.0 -116.8 - - 3476 - - - - - - - - 14.95 14.53 14.95
11155 862.0 -9.1 448 11170 done -0.72 0.20 0.225 2666 305.0 1.80 0.048 2750 -595.6 -116.8 - - 3477 - - - - - - - - 14.43 14.71 14.67
11499 885.8 -6.8 455 11512 roll -0.72 - - 2662 - 2.33 0.050 1372 -591.4 -116.8 - - 3476 - - - - - - - - 14.95 14.61 14.95
11580 891.6 -7.1 466 11593 done -0.72 - - 2654 - 2.45 0.073 2753 563.7 -116.8 - - 3476 - - - - - - - - 14.73 14.57 14.80
11899 914.6 -7.2 476 11912 roll -0.72 - - 2646 - 2.00 0.119 3827 537.0 -116.8 - - 3474 - - - - - - - - 14.94 14.51 14.94
11945 918.1 -5.9 482 11958 done -0.72 - - 2645 - 1.80 0.050 2746 -600.6 -116.8 - - 3475 - - - - - - - - 14.78 14.71 14.78
12129 end dive: TARGET_DEPTH_EXCEEDED
12129 begin apogee
12134 932.0 -7.2 487 12262 roll -0.23 0.60 0.191 2822 295.0 - - 2232 - - 118.22 1.974 3050 -3.6 0.323 - - - - - - 14.44 14.04 13.37
12263 end apogee: CONTROL_FINISHED_OK
12263 begin climb
12265 935.5 - 489 12402 done 0.90 1.10 0.122 3169 315.5 - - 2231 - 116.8 123.53 1.955 2584 -3.8 0.344 - - - - - - 14.04 14.26 13.20
12750 898.0 9.3 519 12763 done 0.74 - - 3169 - - - 2232 - 116.8 - - 2569 - - - - - - - - 14.66 14.63 14.62
13086 867.7 8.9 525 13100 done 0.59 0.28 0.243 3094 -267.9 - - 2231 - 116.8 - - 2570 - - - - - - - - 14.33 14.60 14.57
13422 845.5 6.4 531 13469 roll 0.63 - - 3093 - 2.75 0.105 3649 515.6 145.5 30.25 1.937 2463 -3.5 0.294 - - - - - - 14.82 14.33 13.73
13516 838.8 7.6 544 13529 done 0.63 - - 3103 - 2.40 0.046 2257 -580.0 148.4 - - 2460 - - - - - - - - 14.51 14.43 14.52
13877 812.5 7.3 553 13903 roll 0.65 - - 3113 - 2.53 0.068 852 -555.3 159.2 13.70 2.074 2411 -3.6 0.267 - - - - - - 14.76 14.45 13.79
13935 808.4 7.9 561 13948 done 0.65 - - 3113 - 2.45 0.060 2256 573.1 159.2 - - 2407 - - - - - - - - 14.54 14.45 14.56
14269 781.0 8.3 573 14282 roll 0.65 - - 3113 - 2.60 0.107 3658 539.2 159.2 - - 2405 - - - - - - - - 14.78 14.47 14.82
14329 775.2 9.7 581 14343 done 0.57 0.12 0.245 3086 -225.0 2.40 0.044 2251 -586.2 159.2 - - 2405 - - - - - - - - 14.40 14.59 14.61
14670 748.0 8.0 594 14683 roll 0.57 - - 3088 - 2.60 0.105 3653 539.2 159.2 - - 2405 - - - - - - - - 14.83 14.52 14.83
14694 745.9 8.0 597 14707 done 0.57 - - 3098 - 2.38 0.045 2254 -587.8 159.2 - - 2405 - - - - - - - - 14.71 14.64 14.73
15014 719.7 8.2 607 15027 done 0.57 - - 3098 - - - 2249 - 159.2 - - 2405 - - - - - - - - 14.86 14.86 14.86
15350 693.3 7.8 613 15363 roll 0.57 - - 3099 - 2.62 0.109 3654 536.3 159.2 - - 2403 - - - - - - - - 14.88 14.53 14.89
15381 690.6 8.4 617 15394 done 0.57 - - 3108 - 2.38 0.046 2255 -587.8 159.2 - - 2404 - - - - - - - - 14.74 14.66 14.76
15750 662.6 7.5 627 15763 done 0.57 - - 3108 - - - 2251 - 164.7 1.12 0.275 2392 -10.7 4.913 - - - - - - 14.90 14.68 14.45
16086 638.5 7.1 633 16119 roll 0.59 - - 3107 - 2.70 0.109 3659 521.5 178.8 20.48 1.848 2332 -2.9 0.193 - - - - - - 14.91 14.50 13.95
16137 634.5 8.0 640 16152 done 0.59 - - 3117 - 2.42 0.045 2241 -586.0 178.8 - - 2329 - - - - - - - - 14.64 14.57 14.65
16481 607.6 7.9 647 16494 done 0.59 - - 3117 - - - 2239 - 178.8 - - 2326 - - - - - - - - 14.81 14.81 14.81
16817 580.4 8.1 653 16830 roll 0.59 - - 3118 - 2.65 0.106 3660 536.2 178.8 - - 2328 - - - - - - - - 14.85 14.52 14.85
16862 576.0 9.4 659 16876 done 0.59 0.12 0.238 3093 -208.3 2.38 0.044 2254 -590.8 178.8 - - 2326 - - - - - - - - 14.44 14.64 14.66
17217 549.4 7.5 667 17230 done 0.60 - - 3093 - - - 2255 - 185.1 1.48 0.273 2311 -10.1 3.882 - - - - - - 14.87 14.64 14.29
17553 524.5 7.5 673 17578 roll 0.61 - - 3093 - 2.60 0.104 3654 538.1 191.6 11.98 1.851 2281 -2.5 0.135 - - - - - - 14.88 14.57 14.00
17611 520.0 8.3 681 17624 done 0.61 - - 3102 - 2.38 0.044 2258 -586.6 191.6 - - 2279 - - - - - - - - 14.69 14.62 14.70
17952 493.8 7.6 694 17965 roll 0.61 - - 3102 - 2.62 0.106 3657 534.0 194.3 - - 2278 - - - - - - - - 14.85 14.52 14.85
17997 489.8 8.6 700 18011 done 0.61 - - 3111 - 2.35 0.044 2263 -593.2 194.3 - - 2278 - - - - - - - - 14.71 14.64 14.73
18352 462.0 7.8 708 18366 roll 0.61 - - 3121 - 2.42 0.067 855 -581.8 194.3 - - 2278 - - - - - - - - 14.87 14.58 14.87
18384 459.4 8.0 712 18397 done 0.61 - - 3122 - 2.42 0.058 2268 583.9 194.3 - - 2278 - - - - - - - - 14.71 14.59 14.73
18752 430.6 7.8 722 18765 roll 0.61 - - 3121 - 2.55 0.107 3658 545.1 194.3 - - 2275 - - - - - - - - 14.87 14.52 14.87
18797 426.8 8.8 728 18812 done 0.61 0.12 0.230 3096 -208.3 2.35 0.045 2258 -595.7 194.3 - - 2278 - - - - - - - - 14.46 14.66 14.67
19153 403.4 6.6 736 19192 done 0.64 - - 3096 - - - 2256 - 219.7 30.27 1.552 2175 -3.4 0.168 - - - - - - 14.88 14.53 13.94
19489 379.8 7.2 742 19509 done 0.66 - - 3096 - - - 2256 - 231.3 10.75 1.685 2128 -4.4 0.188 - - - - - - 14.78 14.54 13.91
19825 355.7 7.1 748 19848 done 0.67 - - 3097 - - - 2257 - 244.8 14.05 1.611 2073 -3.9 0.164 - - - - - - 14.78 14.54 13.94
20161 331.8 7.1 754 20188 roll 0.77 0.08 0.153 3165 850.0 2.67 0.103 3657 524.3 258.7 13.48 1.584 2014 -4.4 0.174 - - - - - - 14.59 14.45 13.94
20221 326.0 11.6 762 20235 done 0.69 0.17 0.230 3127 -223.5 2.38 0.044 2267 -584.0 258.7 - - 2011 - - - - - - - - 14.38 14.52 14.56
20562 297.3 8.2 775 20575 roll 0.69 - - 3137 - 2.42 0.065 855 -583.5 258.7 - - 2009 - - - - - - - - 14.78 14.53 14.79
20614 293.0 8.3 782 20628 done 0.69 - - 3136 - 2.45 0.057 2273 578.8 258.7 - - 2009 - - - - - - - - 14.66 14.54 14.68
20958 263.6 8.7 789 20972 roll 0.69 - - 3136 - 2.50 0.103 3651 551.2 258.7 - - 2009 - - - - - - - - 14.84 14.52 14.84
20997 260.0 9.8 794 21010 done 0.69 - - 3149 - 2.33 0.044 2259 -597.4 258.7 - - 2009 - - - - - - - - 14.73 14.65 14.75
21358 227.1 9.0 803 21372 roll 0.69 - - 3156 - 2.38 0.066 859 -588.2 258.7 - - 2009 - - - - - - - - 14.87 14.59 14.88
21404 222.5 9.9 809 21417 done 0.69 0.08 0.246 3129 -337.5 2.40 0.057 2264 585.4 258.7 - - 2009 - - - - - - - - 14.50 14.60 14.70
21759 189.9 9.3 817 21772 roll 0.69 - - 3128 - 2.53 0.102 3662 552.6 258.7 - - 2009 - - - - - - - - 14.89 14.54 14.89
21811 184.5 10.3 824 21826 done 0.69 - - 3138 - 2.35 0.043 2259 -597.0 258.7 - - 2009 - - - - - - - - 14.76 14.68 14.77
22155 152.7 9.2 831 22168 roll 0.69 - - 3148 - 2.38 0.064 861 -587.4 258.7 - - 2008 - - - - - - - - 14.90 14.61 14.90
22200 148.4 9.3 837 22214 done 0.69 - - 3148 - 2.40 0.056 2264 584.6 258.7 - - 2008 - - - - - - - - 14.75 14.63 14.77
22555 116.9 8.6 845 22568 done 0.69 - - 3148 - - - 2264 - 258.7 - - 2008 - - - - - - - - 14.90 14.90 14.92
22863 93.2 7.4 852 22877 roll 0.70 - - 3157 - 2.47 0.063 862 -567.6 267.2 2.90 0.389 1987 -7.2 0.330 - - - - - - 14.91 14.64 14.23
22910 90.1 8.0 858 22923 done 0.70 - - 3157 - 2.38 0.054 2263 588.7 267.2 - - 1994 - - - - - - - - 14.76 14.64 14.77
23236 70.9 3.9 871 23289 roll 0.81 - - 3157 - 2.53 0.100 3659 551.8 349.9 40.62 0.399 1656 -8.3 0.281 - - - - - - 14.91 14.54 14.30
23380 62.0 7.2 891 23398 done 0.95 0.08 0.148 3223 825.0 2.35 0.041 2248 -600.4 361.9 5.93 0.349 1609 -7.9 0.268 - - - - - - 14.61 14.64 14.29
23720 37.7 7.7 906 23733 roll 1.03 - - 3223 - 2.60 0.099 3662 543.8 362.5 - - 1612 - - - - - - - - 14.88 14.55 14.87
23752 35.6 6.2 910 23785 done 1.07 - - 3230 - 2.33 0.041 2260 -601.7 396.7 17.58 0.291 1470 -8.1 0.188 - - - - - - 14.73 14.67 14.35
24089 16.2 5.5 925 24127 roll 1.26 0.12 0.102 3325 791.7 2.42 0.062 867 -575.6 444.6 23.35 0.223 1279 -8.2 0.113 - - - - - - 14.66 14.55 14.44
24257 end climb: SURFACE_DEPTH_REACHED
24257 begin surface coast
24263 end surface coast: CONTROL_FINISHED_OK
24263 begin surface
SM -4.71 - - - - -8.39 9.32 0.093 194 20.8 3.33 0.062 2770 -2446.2 500.14 25.10 0.171 1058 42.1 0.119 - - - - - -