SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 143 * Raw log
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• Previous call tries 4 • 57.92 of 350.00 AH used of 24V (83.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth -0.98 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 - - - 106 done -0.90 - - 162 - - - 2785 - -116.8 -79.12 - 3518 - - - - - - - - 14.68 13.26 14.68
108 7.8 -15.2 3 127 roll -0.90 11.55 0.396 2596 210.7 2.35 0.031 1362 -605.5 -116.8 - - 3518 - - - - - - - - 14.23 14.47 14.42
138 27.9 -55.5 8 147 done 0.13 1.20 0.254 2919 269.2 2.53 0.077 2761 553.0 -116.8 - - 3521 - - - - - - - - 14.28 14.40 14.51
469 51.1 -5.7 22 476 roll -0.22 0.22 0.112 2833 -390.9 1.95 0.106 3825 545.6 -116.8 - - 3520 - - - - - - - - 14.54 14.48 14.64
524 55.7 -8.3 30 532 done -0.51 0.25 0.054 2714 -476.0 1.77 0.041 2752 -606.2 -116.8 - - 3522 - - - - - - - - 14.61 14.63 14.64
860 91.6 -9.0 45 867 roll -0.51 - - 2706 - 2.00 0.104 3822 535.0 -116.8 - - 3523 - - - - - - - - 14.86 14.54 14.86
950 99.7 -8.8 58 960 done -0.51 - - 2705 - 1.75 0.037 2744 -616.0 -116.8 - - 3523 - - - - - - - - 14.75 14.71 14.76
1308 124.9 -7.0 67 1316 roll -0.51 0.10 0.232 2730 250.0 2.25 0.043 1398 -598.2 -116.8 - - 3527 - - - - - - - - 14.54 14.64 14.71
1406 131.3 -6.5 81 1414 done -0.60 - - 2728 - 2.40 0.065 2772 572.5 -116.8 - - 3523 - - - - - - - - 14.70 14.62 14.73
1757 154.0 -6.5 89 1764 roll -0.67 0.08 0.150 2660 -850.0 2.28 0.043 1394 -604.4 -116.8 - - 3522 - - - - - - - - 14.71 14.69 14.77
1797 157.3 -8.4 95 1806 done -0.67 0.08 0.228 2674 175.0 2.42 0.066 2773 569.8 -116.8 - - 3521 - - - - - - - - 14.48 14.60 14.63
2149 187.1 -8.5 103 2156 roll -0.67 - - 2666 - 1.92 0.103 3814 542.2 -116.8 - - 3519 - - - - - - - - 14.95 14.58 14.92
2205 192.3 -9.5 111 2212 done -0.67 - - 2666 - 1.70 0.040 2774 -611.8 -116.8 - - 3518 - - - - - - - - 14.75 14.72 14.76
2540 222.8 -9.1 124 2548 roll -0.67 - - 2666 - 2.33 0.044 1392 -593.1 -116.8 - - 3515 - - - - - - - - 14.91 14.65 14.92
2617 230.0 -9.2 135 2625 done -0.67 - - 2656 - 2.40 0.067 2746 564.2 -116.8 - - 3515 - - - - - - - - 14.70 14.62 14.72
2932 260.1 -9.6 145 2946 roll -0.67 - - 2648 - 1.98 0.106 3841 553.0 -116.8 - - 3514 - - - - - - - - 14.95 14.62 14.95
2964 263.4 -10.3 149 2977 done -0.67 0.10 0.241 2677 290.0 1.73 0.041 2759 -625.4 -116.8 - - 3511 - - - - - - - - 14.54 14.78 14.74
3333 294.6 -8.5 159 3346 roll -0.67 - - 2678 - 2.28 0.045 1388 -601.3 -116.8 - - 3508 - - - - - - - - 14.97 14.71 14.97
3413 301.7 -8.8 170 3427 done -0.67 - - 2668 - 2.40 0.069 2767 574.6 -116.8 - - 3507 - - - - - - - - 14.81 14.68 14.83
3733 330.6 -9.2 180 3745 done -0.67 - - 2667 - - - 2768 - -116.8 - - 3505 - - - - - - - - 14.95 14.97 14.97
4069 360.2 -8.7 186 4082 roll -0.67 - - 2660 - 1.92 0.109 3837 556.8 -116.8 - - 3503 - - - - - - - - 14.99 14.65 14.98
4100 363.2 -9.2 190 4114 done -0.67 - - 2659 - 1.73 0.044 2758 -623.7 -116.8 - - 3502 - - - - - - - - 14.83 14.81 14.86
4469 396.3 -9.0 200 4482 done -0.67 - - 2659 - - - 2758 - -116.8 - - 3500 - - - - - - - - 14.98 14.99 14.98
4805 426.6 -9.0 206 4818 roll -0.67 - - 2659 - 2.30 0.046 1378 -600.0 -116.8 - - 3499 - - - - - - - - 15.00 14.73 15.03
4857 431.2 -8.8 213 4872 done -0.67 0.10 0.246 2679 200.0 2.42 0.070 2763 572.3 -116.8 - - 3498 - - - - - - - - 14.55 14.67 14.76
5201 458.8 -8.0 220 5215 roll -0.67 - - 2671 - 1.92 0.110 3821 551.0 -116.8 - - 3496 - - - - - - - - 14.98 14.63 14.99
5275 465.1 -8.6 230 5288 done -0.67 - - 2671 - 1.73 0.045 2757 -615.0 -116.8 - - 3497 - - - - - - - - 14.83 14.78 14.83
5601 492.8 -8.6 241 5614 roll -0.67 - - 2671 - 2.30 0.046 1381 -598.3 -116.8 - - 3494 - - - - - - - - 14.98 14.73 14.98
5703 501.8 -8.6 255 5716 done -0.67 - - 2662 - 2.42 0.071 2759 569.4 -116.8 - - 3493 - - - - - - - - 14.81 14.66 14.83
6057 533.6 -9.1 263 6070 roll -0.67 - - 2653 - 1.95 0.109 3828 548.2 -116.8 - - 3491 - - - - - - - - 14.98 14.62 14.97
6088 536.5 -8.9 267 6101 done -0.67 - - 2649 - 1.75 0.046 2755 -613.1 -116.8 - - 3490 - - - - - - - - 14.84 14.79 14.85
6456 568.5 -8.7 277 6470 roll -0.67 - - 2653 - 2.30 0.046 1377 -599.1 -116.8 - - 3489 - - - - - - - - 14.97 14.71 14.98
6502 572.4 -8.4 283 6515 done -0.67 0.12 0.236 2680 225.0 2.42 0.071 2759 571.1 -116.8 - - 3488 - - - - - - - - 14.52 14.64 14.73
6857 599.3 -7.6 291 6870 roll -0.67 - - 2681 - 2.35 0.047 1372 -590.2 -116.8 - - 3487 - - - - - - - - 14.97 14.71 14.97
6895 602.5 -8.2 296 6908 done -0.67 - - 2671 - 2.45 0.070 2770 570.6 -116.8 - - 3487 - - - - - - - - 14.80 14.65 14.82
7256 631.8 -8.2 305 7270 roll -0.67 - - 2672 - 2.35 0.046 1380 -591.5 -116.8 - - 3485 - - - - - - - - 14.97 14.70 14.97
7302 635.7 -8.3 311 7315 done -0.67 - - 2663 - 2.42 0.073 2757 569.0 -116.8 - - 3485 - - - - - - - - 14.79 14.63 14.81
7656 664.5 -8.0 319 7669 roll -0.67 - - 2655 - 1.95 0.112 3824 547.2 -116.8 - - 3483 - - - - - - - - 14.97 14.58 14.97
7709 669.0 -8.2 326 7724 done -0.67 0.08 0.255 2677 275.0 1.77 0.046 2750 -606.8 -116.8 - - 3483 - - - - - - - - 14.51 14.76 14.72
8053 693.5 -7.0 333 8066 roll -0.67 - - 2677 - 2.30 0.047 1375 -597.8 -116.8 - - 3481 - - - - - - - - 14.96 14.69 14.96
8113 697.6 -7.0 341 8127 done -0.67 - - 2668 - 2.42 0.070 2754 569.8 -116.8 - - 3481 - - - - - - - - 14.78 14.63 14.80
8454 721.5 -7.2 354 8467 roll -0.67 - - 2660 - 1.98 0.113 3831 543.9 -116.8 - - 3480 - - - - - - - - 14.95 14.57 14.96
8492 724.5 -7.8 359 8506 done -0.67 - - 2660 - 1.77 0.047 2752 -609.6 -116.8 - - 3480 - - - - - - - - 14.84 14.77 14.83
8854 752.7 -7.9 368 8867 roll -0.67 - - 2660 - 2.33 0.047 1364 -595.7 -116.8 - - 3479 - - - - - - - - 14.96 14.67 14.97
8948 760.7 -8.3 381 8962 done -0.67 0.10 0.251 2680 200.0 2.45 0.073 2757 568.6 -116.8 - - 3479 - - - - - - - - 14.46 14.59 14.69
9310 787.0 -7.3 390 9323 done -0.67 - - 2681 - - - 2757 - -116.8 - - 3478 - - - - - - - - 14.95 14.95 14.95
9646 810.1 -6.7 396 9659 roll -0.67 - - 2681 - 2.35 0.046 1375 -588.1 -116.8 - - 3477 - - - - - - - - 14.98 14.68 14.95
9685 813.3 -7.1 401 9698 done -0.67 - - 2672 - 2.42 0.072 2752 569.0 -116.8 - - 3476 - - - - - - - - 14.75 14.59 14.78
10047 837.8 -6.9 410 10059 done -0.67 - - 2672 - - - 2752 - -116.8 - - 3475 - - - - - - - - 14.95 14.95 14.95
10382 860.4 -6.8 416 10395 roll -0.67 - - 2673 - 2.38 0.048 1363 -583.6 -116.8 - - 3475 - - - - - - - - 14.95 14.64 14.95
10443 864.7 -6.9 424 10456 done -0.67 - - 2664 - 2.47 0.074 2756 564.0 -116.8 - - 3474 - - - - - - - - 14.73 14.58 14.75
10783 888.2 -6.9 437 10796 done -0.67 - - 2664 - - - 2756 - -116.8 - - 3474 - - - - - - - - 14.93 14.94 14.93
11119 911.0 -6.7 443 11132 roll -0.67 - - 2664 - 2.38 0.048 1370 -582.4 -116.8 - - 3473 - - - - - - - - 14.93 14.64 14.93
11193 916.1 -6.5 453 11206 done -0.67 - - 2652 - 2.45 0.075 2745 561.2 -116.8 - - 3472 - - - - - - - - 14.73 14.57 14.76
11405 end dive: TARGET_DEPTH_EXCEEDED
11405 begin apogee
11410 930.8 -6.9 462 11535 roll -0.23 0.57 0.186 2825 303.5 - - 2228 - - 115.35 1.950 3048 -3.7 0.333 - - - - - - 14.45 14.06 13.35
11537 end apogee: CONTROL_FINISHED_OK
11537 begin climb
11538 933.7 - 464 11678 roll 0.90 1.10 0.111 3172 315.5 2.47 0.059 845 -559.9 116.8 122.40 1.952 2582 -3.8 0.346 - - - - - - 14.06 14.09 13.23
11690 927.0 9.6 488 11704 done 0.65 0.22 0.236 3114 -263.6 2.53 0.054 2258 558.5 116.8 - - 2575 - - - - - - - - 13.90 13.99 14.06
12031 901.5 7.5 501 12044 roll 0.66 - - 3113 - 2.62 0.102 3660 535.1 123.0 1.38 0.279 2560 -10.9 6.669 - - - - - - 14.64 14.34 14.09
12092 896.5 8.3 509 12106 done 0.55 0.15 0.239 3083 -200.0 2.42 0.041 2235 -588.8 123.0 0.88 0.263 2561 - - - - - - - - 14.25 14.47 14.28
12434 875.7 6.0 522 12494 roll 0.59 - - 3083 - 2.72 0.101 3658 523.2 159.8 46.58 1.924 2406 -3.3 0.288 - - - - - - 14.79 14.18 13.59
12526 868.9 7.6 535 12540 done 0.60 - - 3093 - 2.42 0.041 2252 -581.0 162.1 - - 2403 - - - - - - - - 14.39 14.32 14.40
12888 843.3 7.1 544 12920 roll 0.61 - - 3093 - 2.72 0.105 3660 517.6 175.6 15.95 2.036 2344 -3.7 0.291 - - - - - - 14.73 14.37 13.75
12946 838.6 8.7 552 12959 done 0.61 - - 3103 - 2.42 0.042 2249 -583.1 175.6 - - 2343 - - - - - - - - 14.51 14.45 14.52
13286 811.0 8.1 565 13299 done 0.61 - - 3103 - - - 2246 - 175.6 - - 2341 - - - - - - - - 14.76 14.76 14.76
13623 783.5 8.3 571 13636 roll 0.61 - - 3104 - 2.62 0.105 3659 539.3 175.6 - - 2339 - - - - - - - - 14.83 14.50 14.83
13668 779.4 9.6 577 13681 done 0.61 - - 3113 - 2.38 0.043 2254 -590.3 175.6 - - 2339 - - - - - - - - 14.69 14.62 14.71
14022 749.4 8.3 585 14035 roll 0.61 - - 3113 - 2.62 0.106 3663 537.8 175.6 - - 2339 - - - - - - - - 14.85 14.52 14.85
14075 744.4 9.6 592 14088 done 0.61 - - 3123 - 2.40 0.043 2251 -588.3 175.6 - - 2339 - - - - - - - - 14.72 14.64 14.73
14419 715.3 8.5 599 14432 done 0.61 - - 3123 - - - 2246 - 175.6 - - 2338 - - - - - - - - 14.88 14.88 14.88
14755 686.3 8.6 605 14768 roll 0.61 - - 3122 - 2.62 0.104 3664 541.2 175.6 - - 2338 - - - - - - - - 14.89 14.54 14.89
14821 680.0 9.6 614 14835 done 0.53 0.20 0.230 3077 -225.0 2.38 0.043 2251 -593.7 175.6 - - 2340 - - - - - - - - 14.43 14.68 14.69
15155 657.3 6.7 626 15190 done 0.56 - - 3077 - - - 2246 - 199.2 25.80 1.807 2255 -3.3 0.228 - - - - - - 14.89 14.54 13.90
15491 633.5 7.1 632 15517 roll 0.58 - - 3077 - 2.70 0.103 3658 523.0 212.5 13.35 1.910 2197 -4.3 0.274 - - - - - - 14.78 14.45 13.85
15570 627.0 8.5 643 15583 done 0.58 - - 3086 - 2.38 0.042 2259 -587.8 212.5 - - 2193 - - - - - - - - 14.58 14.51 14.59
15889 601.5 8.1 653 15902 done 0.58 - - 3086 - - - 2250 - 212.5 - - 2193 - - - - - - - - 14.79 14.79 14.80
16226 576.3 7.4 659 16243 roll 0.58 - - 3086 - 2.65 0.104 3661 532.5 220.2 3.40 1.449 2176 -5.0 0.378 - - - - - - 14.83 14.56 13.57
16268 572.8 7.7 665 16289 done 0.59 - - 3096 - 2.38 0.044 2251 -592.4 221.1 2.67 1.060 2171 -1.9 0.192 - - - - - - 14.70 14.62 13.57
16620 546.9 7.3 673 16651 roll 0.60 - - 3095 - 2.67 0.105 3657 526.6 230.3 15.57 1.792 2125 -3.0 0.171 - - - - - - 14.88 14.47 13.94
16683 541.7 8.8 682 16696 done 0.60 - - 3104 - 2.38 0.043 2258 -587.8 230.3 - - 2124 - - - - - - - - 14.61 14.55 14.64
17017 515.4 8.0 694 17030 roll 0.60 - - 3118 - 2.40 0.066 861 -582.1 230.3 - - 2122 - - - - - - - - 14.81 14.54 14.79
17041 513.3 8.1 697 17054 done 0.60 - - 3115 - 2.42 0.058 2271 582.6 230.3 - - 2122 - - - - - - - - 14.67 14.54 14.69
17361 485.2 8.9 707 17374 roll 0.60 - - 3115 - 2.53 0.106 3656 547.4 230.3 - - 2120 - - - - - - - - 14.84 14.52 14.84
17421 478.8 10.7 715 17434 done 0.60 - - 3124 - 2.35 0.041 2261 -593.6 230.3 - - 2121 - - - - - - - - 14.71 14.64 14.73
17762 446.0 9.5 728 17775 roll 0.60 0.08 0.265 3107 -212.5 2.40 0.063 861 -583.3 230.3 - - 2122 - - - - - - - - 14.45 14.58 14.59
17786 443.5 9.6 731 17799 done 0.60 - - 3107 - 2.42 0.058 2276 584.7 230.3 - - 2121 - - - - - - - - 14.71 14.59 14.73
18106 416.0 8.7 741 18119 roll 0.60 - - 3107 - 2.50 0.103 3657 552.4 230.3 - - 2121 - - - - - - - - 14.88 14.57 14.89
18179 408.9 9.8 751 18192 done 0.60 - - 3115 - 2.33 0.043 2266 -597.0 230.3 - - 2121 - - - - - - - - 14.75 14.67 14.76
18506 381.7 8.3 762 18519 roll 0.60 - - 3115 - 2.55 0.102 3653 543.9 230.3 - - 2121 - - - - - - - - 14.88 14.56 14.89
18537 378.7 9.2 766 18551 done 0.60 - - 3124 - 2.30 0.043 2281 -596.5 230.3 - - 2122 - - - - - - - - 14.76 14.68 14.77
18906 348.5 8.1 776 18919 done 0.60 0.10 0.245 3095 -290.0 - - 2275 - 230.3 - - 2122 - - - - - - - - 14.48 14.73 14.70
19242 325.6 6.8 782 19276 roll 0.62 - - 3094 - 2.62 0.103 3661 529.0 251.0 21.67 1.486 2044 -3.6 0.150 - - - - - - 14.91 14.53 14.03
19295 321.6 8.0 789 19310 done 0.62 - - 3102 - 2.33 0.043 2269 -597.4 251.0 - - 2040 - - - - - - - - 14.66 14.59 14.67
19638 294.7 7.9 802 19650 done 0.70 - - 3102 - - - 2269 - 251.0 - - 2038 - - - - - - - - 14.83 14.83 14.83
19974 268.7 7.7 808 19986 done 0.70 - - 3102 - - - 2268 - 252.7 - - 2038 - - - - - - - - 14.86 14.86 14.86
20310 242.9 7.6 814 20323 roll 0.78 0.08 0.153 3177 937.5 2.58 0.100 3660 539.5 255.5 - - 2038 - - - - - - - - 14.65 14.54 14.69
20349 238.7 11.1 819 20362 done 0.78 0.12 0.249 3154 -191.7 2.33 0.042 2281 -591.8 255.5 - - 2038 - - - - - - - - 14.44 14.66 14.66
20710 202.1 10.1 828 20724 roll 0.78 - - 3164 - 2.45 0.063 854 -582.4 255.5 0.73 0.308 2032 -8.2 1.024 - - - - - - 14.89 14.60 14.46
20791 193.8 10.0 839 20804 done 0.78 - - 3164 - 2.45 0.058 2286 584.5 255.5 - - 2037 - - - - - - - - 14.73 14.60 14.75
21110 161.3 10.2 849 21123 roll 0.78 - - 3164 - 2.50 0.103 3657 548.4 255.5 - - 2037 - - - - - - - - 14.90 14.54 14.90
21156 156.0 11.4 855 21169 done 0.78 - - 3174 - 2.33 0.042 2268 -596.1 255.5 - - 2037 - - - - - - - - 14.76 14.68 14.77
21510 116.4 11.3 863 21523 roll 0.78 - - 3185 - 2.42 0.065 855 -583.9 255.5 - - 2038 - - - - - - - - 14.92 14.61 14.90
21548 112.0 10.6 868 21562 done 0.78 - - 3185 - 2.45 0.060 2286 584.1 255.5 - - 2038 - - - - - - - - 14.75 14.62 14.77
21882 83.0 6.9 880 21908 roll 0.81 - - 3194 - 2.53 0.063 853 -566.4 274.4 9.48 0.419 1962 -8.0 0.302 - - - - - - 14.90 14.61 14.29
22053 72.6 6.7 904 22079 done 0.83 - - 3194 - 2.45 0.057 2281 582.9 297.0 12.10 0.389 1869 -7.7 0.272 - - - - - - 14.72 14.60 14.31
22393 52.3 5.2 919 22432 roll 0.90 - - 3194 - 2.58 0.102 3661 534.9 351.6 26.90 0.334 1649 -8.2 0.243 - - - - - - 14.88 14.53 14.33
22640 38.8 4.7 954 22686 done 1.09 0.10 0.120 3280 860.0 2.33 0.041 2256 -603.0 417.8 31.70 0.288 1387 -8.3 0.211 - - - - - - 14.63 14.64 14.33
23006 11.8 7.3 973 23025 roll 1.11 - - 3287 - 2.38 0.064 872 -581.5 427.5 4.78 0.214 1348 -8.2 0.085 - - - - - - 14.85 14.57 14.43
23093 5.0 8.0 985 23106 done 1.11 0.10 0.223 3259 -280.0 2.40 0.056 2280 586.7 427.5 - - 1351 - - - - - - - - 14.46 14.58 14.65
23152 end climb: SURFACE_DEPTH_REACHED
23152 begin surface coast
23180 end surface coast: CONTROL_FINISHED_OK
23180 begin surface
SM -2.32 - - - - -8.39 8.98 0.080 194 21.6 0.85 0.080 2766 -2776.5 500.14 33.08 0.155 1058 32.0 0.049 - - - - - -