SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 139 * Raw log
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• Previous call tries 2 • 56.53 of 350.00 AH used of 24V (83.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -1.86 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 106 done -0.90 - - 137 - - - 2776 - -116.8 -79.38 - 3514 - - - - - - - - 14.66 13.29 14.66
108 6.6 -14.8 3 127 roll -0.90 11.68 0.396 2599 210.8 2.35 0.034 1354 -605.1 -116.8 - - 3515 - - - - - - - - 14.21 14.46 14.42
139 26.9 -55.5 8 147 done 0.14 1.23 0.272 2921 261.8 2.53 0.077 2755 553.8 -116.8 - - 3518 - - - - - - - - 14.27 14.40 14.48
469 53.0 -6.7 22 476 roll -0.29 0.30 0.113 2814 -356.7 1.95 0.107 3819 545.6 -116.8 - - 3518 - - - - - - - - 14.53 14.47 14.63
497 54.9 -6.7 26 504 done -0.63 0.28 0.057 2687 -453.6 1.75 0.042 2768 -600.6 -116.8 - - 3518 - - - - - - - - 14.58 14.61 14.62
833 86.5 -7.6 41 836 done -0.55 0.10 0.245 2716 290.0 - - 2767 - -116.8 - - 3519 - - - - - - - - 14.49 14.70 14.67
1140 113.2 -7.5 49 1149 roll -0.55 - - 2707 - 1.98 0.105 3831 537.4 -116.8 - - 3520 - - - - - - - - 14.88 14.56 14.88
1252 118.0 -5.3 65 1261 done -0.55 - - 2708 - 1.77 0.041 2749 -611.3 -116.8 - - 3520 - - - - - - - - 14.73 14.71 14.76
1589 145.3 -7.5 78 1596 roll -0.55 - - 2708 - 2.30 0.045 1385 -593.0 -116.8 - - 3519 - - - - - - - - 14.91 14.64 14.91
1629 148.6 -7.9 84 1638 done -0.55 - - 2699 - 2.42 0.067 2767 571.1 -116.8 - - 3519 - - - - - - - - 14.69 14.61 14.72
1980 175.4 -7.6 92 1988 roll -0.55 - - 2690 - 1.95 0.106 3827 543.6 -116.8 - - 3517 - - - - - - - - 14.91 14.58 14.91
2021 178.8 -8.1 98 2030 done -0.55 0.10 0.228 2722 320.0 1.77 0.041 2760 -602.8 -116.8 - - 3517 - - - - - - - - 14.54 14.74 14.72
2373 201.1 -6.2 106 2380 roll -0.64 - - 2721 - 2.30 0.047 1377 -601.3 -116.8 - - 3514 - - - - - - - - 14.91 14.68 14.91
2429 204.5 -6.1 114 2436 done -0.74 0.10 0.117 2639 -820.0 2.42 0.069 2766 574.0 -116.8 - - 3513 - - - - - - - - 14.70 14.63 14.76
2765 235.5 -9.5 127 2767 done -0.74 - - 2641 - - - 2766 - -116.8 - - 3510 - - - - - - - - 14.92 14.92 14.92
3100 268.3 -9.8 133 3113 roll -0.74 - - 2641 - 2.33 0.047 1381 -594.4 -116.8 - - 3508 - - - - - - - - 14.95 14.70 14.95
3139 272.1 -10.1 138 3152 done -0.74 0.10 0.252 2660 190.0 2.40 0.070 2756 572.9 -116.8 - - 3507 - - - - - - - - 14.54 14.65 14.75
3500 305.6 -9.3 147 3513 roll -0.74 - - 2650 - 1.95 0.108 3838 554.9 -116.8 - - 3505 - - - - - - - - 14.97 14.64 14.97
3560 313.5 -10.0 155 3574 done -0.74 - - 2651 - 1.75 0.044 2756 -618.3 -116.8 - - 3504 - - - - - - - - 14.85 14.80 14.85
3901 346.2 -9.6 168 3914 done -0.74 - - 2652 - - - 2755 - -116.8 - - 3502 - - - - - - - - 14.98 14.98 14.97
4237 378.3 -9.6 174 4250 roll -0.74 - - 2651 - 2.28 0.048 1383 -601.8 -116.8 - - 3499 - - - - - - - - 14.98 14.70 14.98
4275 382.1 -9.6 179 4289 done -0.74 - - 2642 - 2.42 0.071 2770 573.1 -116.8 - - 3500 - - - - - - - - 14.82 14.68 14.83
4637 418.2 -10.0 188 4650 roll -0.74 - - 2634 - 1.92 0.111 3834 554.2 -116.8 - - 3497 - - - - - - - - 14.99 14.64 14.99
4689 423.9 -10.9 195 4703 done -0.74 - - 2633 - 1.77 0.047 2754 -610.2 -116.8 - - 3497 - - - - - - - - 14.84 14.79 14.85
5034 460.1 -10.5 202 5047 roll -0.74 - - 2633 - 2.30 0.048 1374 -600.0 -116.8 - - 3495 - - - - - - - - 14.98 14.72 14.98
5065 463.6 -11.0 206 5079 done -0.74 0.12 0.244 2657 200.0 2.42 0.071 2767 575.6 -116.8 - - 3494 - - - - - - - - 14.54 14.67 14.76
5434 497.6 -9.1 216 5447 roll -0.74 - - 2651 - 1.92 0.112 3823 550.0 -116.8 - - 3493 - - - - - - - - 14.99 14.62 15.00
5500 504.0 -9.4 225 5513 done -0.74 - - 2651 - 1.73 0.046 2759 -615.0 -116.8 - - 3493 - - - - - - - - 14.84 14.79 14.85
5833 532.3 -8.3 237 5846 roll -0.74 - - 2651 - 2.30 0.048 1380 -599.6 -116.8 - - 3491 - - - - - - - - 14.98 14.71 14.98
5886 536.8 -8.4 244 5899 done -0.74 - - 2641 - 2.45 0.072 2765 565.3 -116.8 - - 3491 - - - - - - - - 14.80 14.65 14.82
6230 567.0 -8.9 251 6243 roll -0.74 - - 2633 - 1.95 0.111 3833 547.7 -116.8 - - 3489 - - - - - - - - 14.97 14.61 14.97
6282 572.2 -10.0 258 6296 done -0.74 0.08 0.262 2659 325.0 1.77 0.047 2759 -606.8 -116.8 - - 3488 - - - - - - - - 14.52 14.78 14.74
6626 602.0 -8.7 265 6640 roll -0.74 - - 2656 - 2.33 0.049 1375 -594.0 -116.8 - - 3485 - - - - - - - - 14.97 14.71 14.97
6679 606.8 -8.9 272 6693 done -0.74 - - 2647 - 2.45 0.072 2765 567.3 -116.8 - - 3487 - - - - - - - - 14.79 14.64 14.82
7023 637.8 -9.1 279 7036 roll -0.74 - - 2638 - 1.95 0.113 3834 548.2 -116.8 - - 3485 - - - - - - - - 14.98 14.59 14.97
7069 642.3 -9.9 285 7082 done -0.74 - - 2638 - 1.77 0.047 2752 -611.3 -116.8 - - 3485 - - - - - - - - 14.83 14.78 14.83
7423 674.2 -8.9 293 7437 roll -0.74 - - 2637 - 2.30 0.047 1376 -598.3 -116.8 - - 3483 - - - - - - - - 14.97 14.69 14.97
7484 679.4 -8.6 301 7497 done -0.74 0.10 0.254 2657 200.0 2.47 0.071 2775 566.4 -116.8 - - 3483 - - - - - - - - 14.47 14.61 14.70
7826 704.4 -7.1 314 7839 done -0.74 - - 2657 - - - 2775 - -116.8 - - 3482 - - - - - - - - 14.97 14.97 14.97
8161 727.7 -6.9 320 8174 done -0.74 - - 2657 - - - 2775 - -116.8 - - 3482 - - - - - - - - 14.97 14.97 14.97
8497 752.3 -7.4 326 8510 roll -0.74 - - 2657 - 2.40 0.050 1375 -583.3 -116.8 - - 3480 - - - - - - - - 14.96 14.68 14.96
8564 757.5 -7.6 335 8577 done -0.74 - - 2647 - 2.45 0.074 2765 567.3 -116.8 - - 3478 - - - - - - - - 14.74 14.59 14.77
8897 784.5 -8.3 347 8910 roll -0.74 - - 2649 - 2.38 0.050 1372 -585.3 -116.8 - - 3478 - - - - - - - - 14.95 14.68 14.95
8935 787.9 -8.5 352 8948 done -0.74 - - 2640 - 2.40 0.074 2761 578.8 -116.8 - - 3478 - - - - - - - - 14.77 14.60 14.79
9296 817.7 -8.2 361 9309 done -0.74 - - 2641 - - - 2761 - -116.8 - - 3477 - - - - - - - - 14.96 14.96 14.95
9633 845.6 -8.3 367 9646 done -0.74 - - 2647 - - - 2760 - -116.8 - - 3476 - - - - - - - - 14.96 14.96 14.96
9968 872.1 -7.9 373 9982 roll -0.74 - - 2640 - 2.38 0.051 1378 -580.7 -116.8 - - 3475 - - - - - - - - 14.97 14.66 14.97
10021 876.4 -8.0 380 10035 done -0.74 0.10 0.256 2660 200.0 2.45 0.076 2761 564.5 -116.8 - - 3474 - - - - - - - - 14.44 14.58 14.68
10365 901.5 -7.3 387 10378 done -0.74 - - 2660 - - - 2761 - -116.8 - - 3476 - - - - - - - - 14.97 14.93 14.94
10701 926.4 -7.4 393 10715 roll -0.74 - - 2660 - 2.38 0.050 1373 -583.2 -116.8 - - 3472 - - - - - - - - 14.95 14.64 14.95
10752 end dive: TARGET_DEPTH_EXCEEDED
10752 begin apogee
10758 930.5 -7.5 400 10882 roll -0.23 0.57 0.193 2824 287.7 - - 2260 - - 114.65 1.938 3050 -3.7 0.335 - - - - - - 14.45 14.07 13.36
10884 end apogee: CONTROL_FINISHED_OK
10884 begin climb
10886 934.3 - 402 11026 roll 0.90 1.10 0.113 3173 317.3 2.50 0.061 869 -556.4 116.8 120.72 1.929 2579 -3.9 0.359 - - - - - - 14.07 14.09 13.24
11030 928.8 8.5 425 11045 done 0.68 0.20 0.240 3121 -260.0 2.50 0.057 2254 554.0 116.8 - - 2573 - - - - - - - - 13.89 13.97 14.05
11374 902.5 7.7 432 11388 roll 0.68 - - 3121 - 2.60 0.103 3657 539.6 118.0 - - 2568 - - - - - - - - 14.65 14.34 14.65
11462 894.9 8.8 444 11475 done 0.56 0.17 0.236 3083 -223.5 2.40 0.044 2253 -585.0 118.0 - - 2570 - - - - - - - - 14.28 14.49 14.51
11831 871.9 6.1 454 11879 done 0.60 - - 3083 - - - 2248 - 154.1 39.28 1.925 2435 -3.4 0.295 - - - - - - 14.80 14.33 13.66
12167 849.4 6.9 460 12199 roll 0.63 - - 3082 - 2.65 0.106 3654 530.6 172.6 19.85 2.015 2355 -4.0 0.322 - - - - - - 14.71 14.32 13.71
12252 842.8 8.2 472 12265 done 0.63 - - 3092 - 2.42 0.045 2244 -582.6 172.6 - - 2349 - - - - - - - - 14.50 14.42 14.51
12620 814.4 7.8 482 12633 roll 0.63 - - 3092 - 2.62 0.106 3651 537.0 172.6 - - 2347 - - - - - - - - 14.78 14.47 14.78
12673 809.9 9.4 489 12687 done 0.63 - - 3102 - 2.40 0.044 2251 -583.3 172.6 - - 2347 - - - - - - - - 14.65 14.58 14.66
13017 779.9 8.8 496 13030 done 0.63 - - 3100 - - - 2246 - 172.6 - - 2346 - - - - - - - - 14.82 14.88 14.84
13353 750.5 8.8 502 13366 roll 0.63 - - 3103 - 2.65 0.109 3659 533.2 172.6 - - 2345 - - - - - - - - 14.87 14.54 14.88
13384 747.5 9.1 506 13397 done 0.63 - - 3112 - 2.40 0.045 2245 -589.2 172.6 - - 2345 - - - - - - - - 14.73 14.66 14.75
13752 715.3 8.6 516 13766 roll 0.63 - - 3113 - 2.65 0.106 3663 535.1 172.6 - - 2345 - - - - - - - - 14.88 14.54 14.89
13798 711.0 9.7 522 13811 done 0.63 - - 3122 - 2.38 0.044 2254 -592.0 172.6 - - 2345 - - - - - - - - 14.75 14.67 14.76
14152 681.1 8.4 530 14165 done 0.63 - - 3123 - - - 2250 - 172.6 - - 2345 - - - - - - - - 14.90 14.90 14.90
14488 653.4 8.2 536 14502 roll 0.63 - - 3120 - 2.62 0.107 3667 540.8 172.6 - - 2343 - - - - - - - - 14.90 14.56 14.90
14520 650.4 9.5 540 14533 done 0.63 0.10 0.249 3105 -150.0 2.38 0.045 2251 -595.0 172.6 - - 2344 - - - - - - - - 14.45 14.66 14.68
14888 621.3 7.9 550 14901 done 0.63 - - 3105 - - - 2248 - 172.6 - - 2343 - - - - - - - - 14.90 14.91 14.91
15225 593.1 8.4 556 15238 roll 0.63 - - 3105 - 2.60 0.104 3657 541.9 172.6 - - 2343 - - - - - - - - 14.91 14.55 14.92
15285 587.4 9.7 564 15298 done 0.63 - - 3114 - 2.38 0.044 2252 -590.3 172.6 - - 2343 - - - - - - - - 14.77 14.69 14.79
15625 557.2 8.8 577 15638 done 0.63 - - 3118 - - - 2249 - 172.6 - - 2343 - - - - - - - - 14.91 14.91 14.91
15961 528.3 8.5 583 15975 roll 0.63 - - 3114 - 2.60 0.105 3654 540.4 172.6 - - 2343 - - - - - - - - 14.91 14.56 14.91
16028 522.1 9.3 592 16041 done 0.63 - - 3124 - 2.35 0.044 2259 -593.6 172.6 - - 2343 - - - - - - - - 14.77 14.69 14.78
16361 494.1 8.4 604 16374 done 0.63 - - 3125 - - - 2255 - 172.6 - - 2343 - - - - - - - - 14.91 14.91 14.91
16697 466.6 8.1 610 16710 roll 0.63 - - 3125 - 2.60 0.107 3659 540.0 172.6 - - 2343 - - - - - - - - 14.91 14.54 14.91
16792 457.8 9.3 623 16805 done 0.63 0.10 0.246 3106 -190.0 2.38 0.044 2258 -588.7 172.6 - - 2343 - - - - - - - - 14.45 14.69 14.70
17154 429.8 7.8 632 17166 done 0.63 - - 3106 - - - 2253 - 172.6 - - 2343 - - - - - - - - 14.92 14.92 14.92
17490 403.2 7.9 638 17503 roll 0.63 - - 3099 - 2.58 0.103 3653 542.6 172.6 - - 2343 - - - - - - - - 14.91 14.54 14.92
17521 400.4 8.3 642 17535 done 0.63 - - 3121 - 2.35 0.044 2256 -594.5 172.6 - - 2343 - - - - - - - - 14.76 14.69 14.78
17890 371.9 7.8 652 17903 done 0.63 - - 3115 - - - 2252 - 172.6 - - 2343 - - - - - - - - 14.91 14.92 14.91
18226 346.2 7.7 658 18240 roll 0.63 - - 3115 - 2.60 0.104 3656 540.0 173.7 - - 2343 - - - - - - - - 14.91 14.53 14.91
18300 339.9 8.5 668 18313 done 0.63 - - 3124 - 2.33 0.042 2269 -595.3 173.7 - - 2344 - - - - - - - - 14.72 14.64 14.73
18626 313.5 8.2 679 18639 done 0.63 - - 3125 - - - 2263 - 173.7 - - 2343 - - - - - - - - 14.90 14.92 14.92
18962 285.5 8.3 685 18975 roll 0.63 - - 3124 - 2.58 0.106 3657 540.3 173.7 - - 2344 - - - - - - - - 14.91 14.53 14.91
19022 280.0 9.3 693 19036 done 0.63 0.10 0.242 3106 -180.0 2.35 0.042 2265 -592.3 173.7 - - 2344 - - - - - - - - 14.45 14.67 14.69
19365 254.9 7.2 706 19378 done 0.64 - - 3106 - - - 2260 - 185.0 4.75 1.511 2313 -6.5 0.209 - - - - - - 14.92 14.71 13.76
19700 230.8 7.1 712 19728 done 0.66 - - 3106 - - - 2260 - 198.3 19.52 1.372 2265 -2.5 0.078 - - - - - - 14.90 14.64 14.09
20036 206.1 7.4 718 20053 roll 0.67 - - 3106 - 2.62 0.101 3655 532.4 206.2 2.15 0.464 2233 -14.9 1.254 - - - - - - 14.83 14.53 13.64
20093 201.5 8.1 726 20107 done 0.67 - - 3114 - 2.35 0.042 2263 -592.3 206.2 1.52 0.258 2230 -2.0 0.292 - - - - - - 14.69 14.61 14.32
20434 177.3 7.0 739 20465 done 0.69 - - 3115 - - - 2259 - 222.4 22.62 1.280 2162 -3.0 0.079 - - - - - - 14.85 14.59 14.06
20770 151.1 8.0 745 20783 done 0.69 - - 3115 - - - 2258 - 222.4 - - 2148 - - - - - - - - 14.81 14.81 14.81
21106 125.2 7.6 751 21119 roll 0.69 - - 3115 - 2.60 0.105 3654 536.9 225.7 - - 2152 - - - - - - - - 14.85 14.50 14.86
21159 121.1 7.8 758 21172 done 0.69 - - 3123 - 2.35 0.044 2270 -588.9 225.7 - - 2150 - - - - - - - - 14.71 14.62 14.72
21502 96.1 7.6 765 21517 roll 0.70 - - 3121 - 2.55 0.102 3653 542.4 229.5 1.55 0.241 2138 -7.7 0.586 - - - - - - 14.88 14.53 14.39
21565 91.2 7.7 773 21579 done 0.70 - - 3126 - 2.30 0.044 2278 -597.8 230.5 2.08 0.279 2132 -2.9 0.179 - - - - - - 14.71 14.64 14.17
21907 74.9 4.0 788 21960 roll 0.89 0.08 0.150 3203 962.5 2.60 0.102 3654 529.2 311.5 40.10 0.392 1808 -8.1 0.293 - - - - - - 14.62 14.54 14.31
22146 54.6 7.5 822 22165 done 0.90 - - 3212 - 2.30 0.044 2278 -598.3 317.7 3.22 0.290 1786 -6.8 0.244 - - - - - - 14.70 14.62 14.28
22470 36.0 5.2 835 22510 roll 1.04 - - 3221 - 2.50 0.066 866 -564.8 373.6 27.75 0.274 1563 -8.0 0.200 - - - - - - 14.87 14.56 14.37
22607 30.2 4.4 854 22659 done 1.30 0.22 0.072 3334 513.6 2.42 0.057 2288 587.6 447.2 35.30 0.252 1268 -8.4 0.190 - - - - - - 14.64 14.56 14.36
22887 end climb: SURFACE_DEPTH_REACHED
22887 begin surface coast
22914 end surface coast: CONTROL_FINISHED_OK
22914 begin surface
SM -0.14 - - - - -8.41 8.85 0.046 186 21.0 0.82 0.067 2762 -10570.7 500.14 24.08 0.158 1057 43.9 0.004 - - - - - -