SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 144 * Raw log
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• Previous call tries 1 • 58.26 of 350.00 AH used of 24V (83.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth -0.70 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 176 - - - 2782 - -116.8 -78.43 - 3517 - - - - - - - - 14.66 13.26 14.66
102 0.6 -4.1 2 118 done -0.90 11.48 0.397 2600 211.1 - - 2781 - -116.8 - - 3519 - - - - - - - - 14.23 14.53 14.50
432 93.0 -17.8 17 439 roll -0.62 0.32 0.240 2683 259.4 1.90 0.101 3831 552.6 -116.8 - - 3521 - - - - - - - - 14.37 14.49 14.59
515 101.6 -9.7 29 523 done -0.52 0.12 0.214 2722 325.0 1.77 0.042 2761 -604.5 -116.8 - - 3522 - - - - - - - - 14.40 14.62 14.54
879 123.6 -5.6 39 886 roll -0.52 - - 2719 - 2.33 0.046 1358 -602.1 -116.8 - - 3523 - - - - - - - - 14.85 14.60 14.85
991 132.7 -7.0 55 999 done -0.52 - - 2712 - 2.45 0.066 2768 575.5 -116.8 - - 3523 - - - - - - - - 14.70 14.61 14.73
1328 156.6 -7.2 68 1330 done -0.52 - - 2712 - - - 2768 - -116.8 - - 3522 - - - - - - - - 14.88 14.88 14.88
1663 181.5 -7.4 74 1666 done -0.52 - - 2712 - - - 2768 - -116.8 - - 3520 - - - - - - - - 14.88 14.89 14.89
1999 207.4 -7.7 80 2008 roll -0.52 - - 2712 - 2.40 0.047 1376 -580.0 -116.8 - - 3518 - - - - - - - - 14.90 14.63 14.89
2041 210.7 -7.7 86 2049 done -0.60 - - 2703 - 2.47 0.068 2759 559.9 -116.8 - - 3516 - - - - - - - - 14.67 14.58 14.70
2391 237.7 -7.6 94 2394 done -0.60 - - 2702 - - - 2761 - -116.8 - - 3515 - - - - - - - - 14.90 14.90 14.90
2727 263.4 -7.6 100 2740 roll -0.60 - - 2702 - 2.35 0.047 1373 -590.6 -116.8 - - 3512 - - - - - - - - 14.94 14.69 14.94
2794 268.4 -7.3 109 2807 done -0.60 - - 2693 - 2.45 0.070 2770 570.2 -116.8 - - 3511 - - - - - - - - 14.78 14.64 14.83
3127 292.1 -7.1 121 3140 done -0.60 - - 2693 - - - 2770 - -116.8 - - 3509 - - - - - - - - 14.96 14.96 14.96
3463 315.8 -7.0 127 3477 roll -0.60 - - 2693 - 2.38 0.048 1366 -589.9 -116.8 - - 3507 - - - - - - - - 14.97 14.70 14.97
3551 322.2 -7.1 139 3564 done -0.60 - - 2683 - 2.45 0.072 2764 570.6 -116.8 - - 3506 - - - - - - - - 14.80 14.66 14.82
3919 351.1 -8.2 149 3932 done -0.60 - - 2683 - - - 2765 - -116.8 - - 3505 - - - - - - - - 14.97 14.97 14.97
4255 380.6 -8.9 155 4268 roll -0.60 - - 2683 - 2.35 0.049 1375 -591.5 -116.8 - - 3502 - - - - - - - - 14.97 14.71 14.97
4316 386.3 -9.2 163 4329 done -0.60 0.10 0.246 2702 190.0 2.45 0.073 2762 566.1 -116.8 - - 3502 - - - - - - - - 14.54 14.66 14.75
4656 414.2 -8.1 176 4669 roll -0.60 - - 2695 - 1.95 0.112 3832 548.7 -116.8 - - 3500 - - - - - - - - 15.00 14.62 14.97
4694 417.5 -8.4 181 4708 done -0.60 - - 2695 - 1.77 0.047 2738 -618.1 -116.8 - - 3499 - - - - - - - - 14.84 14.78 14.85
5056 445.0 -7.4 190 5069 roll -0.60 - - 2695 - 2.28 0.047 1373 -598.7 -116.8 - - 3498 - - - - - - - - 14.97 14.71 14.97
5101 448.3 -7.1 196 5115 done -0.60 - - 2685 - 2.42 0.070 2757 571.9 -116.8 - - 3497 - - - - - - - - 14.80 14.65 14.82
5456 473.0 -7.0 204 5469 done -0.60 - - 2685 - - - 2760 - -116.8 - - 3496 - - - - - - - - 14.97 14.97 14.97
5792 496.5 -7.0 210 5806 roll -0.60 - - 2685 - 2.35 0.047 1370 -591.5 -116.8 - - 3495 - - - - - - - - 14.97 14.71 14.98
5838 499.9 -7.3 216 5852 done -0.60 0.10 0.249 2705 200.0 2.42 0.071 2751 570.7 -116.8 - - 3494 - - - - - - - - 14.52 14.65 14.74
6194 523.3 -6.7 224 6207 roll -0.68 - - 2705 - 2.33 0.047 1378 -589.3 -116.8 - - 3493 - - - - - - - - 14.97 14.70 14.97
6247 527.1 -7.1 231 6261 done -0.78 0.10 0.122 2631 -740.0 2.45 0.071 2761 564.5 -116.8 - - 3493 - - - - - - - - 14.72 14.64 14.80
6591 560.6 -10.0 238 6604 roll -0.78 - - 2623 - 1.95 0.111 3827 546.7 -116.8 - - 3491 - - - - - - - - 14.96 14.59 14.97
6671 568.9 -10.1 249 6684 done -0.78 - - 2622 - 1.75 0.046 2752 -614.3 -116.8 - - 3490 - - - - - - - - 14.83 14.78 14.85
6990 601.5 -10.3 259 7003 done -0.78 - - 2622 - - - 2752 - -116.8 - - 3489 - - - - - - - - 14.96 14.97 14.97
7327 635.7 -10.1 265 7340 roll -0.78 - - 2615 - 2.00 0.110 3828 538.0 -116.8 - - 3487 - - - - - - - - 14.97 14.61 14.97
7379 641.3 -10.7 272 7394 done -0.70 0.20 0.220 2673 290.0 1.77 0.046 2755 -606.2 -116.8 - - 3487 - - - - - - - - 14.47 14.76 14.71
7723 667.6 -7.4 279 7736 roll -0.70 - - 2673 - 2.33 0.048 1372 -593.6 -116.8 - - 3487 - - - - - - - - 14.97 14.69 14.97
7769 670.9 -7.3 285 7782 done -0.70 - - 2664 - 2.42 0.072 2753 570.7 -116.8 - - 3487 - - - - - - - - 14.77 14.62 14.79
8124 695.5 -6.8 293 8137 roll -0.70 - - 2656 - 1.98 0.114 3828 542.9 -116.8 - - 3485 - - - - - - - - 14.95 14.55 14.95
8162 698.4 -7.9 298 8175 done -0.70 - - 2655 - 1.77 0.047 2752 -607.9 -116.8 - - 3485 - - - - - - - - 14.81 14.75 14.82
8524 724.8 -7.4 307 8536 done -0.70 - - 2655 - - - 2752 - -116.8 - - 3484 - - - - - - - - 14.95 14.95 14.95
8859 752.1 -8.3 313 8872 roll -0.70 - - 2648 - 2.03 0.115 3828 530.0 -116.8 - - 3482 - - - - - - - - 14.95 14.52 14.95
8898 755.6 -9.4 318 8911 done -0.70 - - 2648 - 1.80 0.049 2745 -601.7 -116.8 - - 3482 - - - - - - - - 14.81 14.74 14.82
9259 788.2 -9.2 327 9272 done -0.70 - - 2648 - - - 2742 - -116.8 - - 3481 - - - - - - - - 14.97 14.96 14.95
9595 817.3 -8.4 333 9608 roll -0.70 - - 2648 - 2.33 0.050 1369 -589.3 -116.8 - - 3480 - - - - - - - - 14.95 14.65 14.95
9626 820.0 -7.8 337 9640 done -0.70 0.10 0.254 2668 200.0 2.47 0.075 2751 559.5 -116.8 - - 3480 - - - - - - - - 14.44 14.59 14.68
9995 847.2 -7.3 347 10008 done -0.70 - - 2668 - - - 2751 - -116.8 - - 3479 - - - - - - - - 14.94 14.94 14.94
10331 870.0 -6.7 353 10344 done -0.70 - - 2668 - - - 2751 - -116.8 - - 3479 - - - - - - - - 14.93 14.94 14.96
10667 893.4 -7.0 359 10680 roll -0.70 - - 2668 - 2.38 0.050 1369 -580.7 -116.8 - - 3477 - - - - - - - - 14.95 14.64 14.94
10706 896.3 -5.1 364 10719 done -0.70 - - 2660 - 2.45 0.075 2748 562.9 -116.8 - - 3478 - - - - - - - - 14.73 14.57 14.76
11068 923.0 -7.5 373 11081 roll -0.70 - - 2660 - 2.35 0.048 1372 -585.5 -116.8 - - 3476 - - - - - - - - 14.92 14.63 14.93
11106 926.4 -8.4 378 11119 done -0.70 - - 2651 - 2.45 0.075 2757 565.3 -116.8 - - 3478 - - - - - - - - 14.73 14.57 14.75
11186 end dive: TARGET_DEPTH_EXCEEDED
11186 begin apogee
11191 932.6 -7.7 382 11316 roll -0.23 0.57 0.191 2820 296.5 - - 2225 - - 115.18 1.972 3050 -3.7 0.334 - - - - - - 14.42 14.04 13.33
11317 end apogee: CONTROL_FINISHED_OK
11317 begin climb
11319 936.9 - 384 11460 roll 0.90 1.10 0.114 3167 315.5 2.40 0.058 880 -560.4 116.8 121.40 1.945 2581 -3.9 0.354 - - - - - - 14.06 14.08 13.21
11485 930.5 8.8 410 11498 done 0.74 - - 3167 - 2.47 0.056 2262 559.5 116.8 - - 2575 - - - - - - - - 14.12 14.03 14.14
11812 902.1 8.9 421 11825 roll 0.59 0.25 0.237 3104 -252.0 2.42 0.058 869 -575.6 116.8 - - 2572 - - - - - - - - 14.21 14.38 14.38
11843 899.6 8.1 425 11857 done 0.59 - - 3104 - 2.40 0.057 2252 576.2 116.8 - - 2572 - - - - - - - - 14.52 14.40 14.54
12213 874.4 6.9 435 12244 roll 0.61 - - 3104 - 2.60 0.104 3652 538.5 134.6 18.45 2.003 2506 -3.6 0.297 - - - - - - 14.77 14.40 13.79
12305 866.9 8.6 448 12318 done 0.53 0.15 0.236 3072 -213.3 2.38 0.043 2259 -585.3 134.6 - - 2503 - - - - - - - - 14.31 14.47 14.51
12667 842.5 6.9 457 12700 roll 0.55 - - 3069 - 2.70 0.103 3656 517.4 154.1 21.33 1.980 2430 -3.4 0.277 - - - - - - 14.78 14.37 13.77
12732 837.6 9.5 466 12745 done 0.55 - - 3081 - 2.40 0.044 2251 -585.4 154.1 - - 2426 - - - - - - - - 14.52 14.47 14.54
13059 813.3 7.6 477 13072 done 0.56 - - 3081 - - - 2247 - 157.5 - - 2423 - - - - - - - - 14.76 14.76 14.76
13395 788.5 7.5 483 13412 roll 0.56 - - 3082 - 2.62 0.104 3658 538.5 162.9 3.60 1.593 2405 -5.0 0.471 - - - - - - 14.82 14.56 13.52
13445 784.6 7.3 490 13478 done 0.57 - - 3092 - 2.40 0.044 2249 -587.1 171.8 16.48 1.994 2357 -2.9 0.218 - - - - - - 14.68 14.61 13.83
13792 757.8 7.7 504 13805 done 0.57 - - 3092 - - - 2249 - 171.9 - - 2353 - - - - - - - - 14.77 14.77 14.78
14127 732.1 7.6 510 14140 roll 0.58 - - 3091 - 2.62 0.105 3654 536.3 175.0 - - 2353 - - - - - - - - 14.83 14.52 14.84
14179 727.5 8.9 517 14194 done 0.58 - - 3101 - 2.40 0.044 2244 -587.5 175.0 - - 2353 - - - - - - - - 14.71 14.62 14.71
14524 698.9 8.4 524 14537 roll 0.58 - - 3100 - 2.62 0.105 3657 539.3 175.0 - - 2353 - - - - - - - - 14.86 14.52 14.87
14555 695.9 8.9 528 14569 done 0.58 - - 3111 - 2.38 0.044 2249 -591.6 175.0 - - 2353 - - - - - - - - 14.73 14.65 14.73
14924 663.2 8.9 538 14937 roll 0.58 - - 3112 - 2.62 0.104 3658 537.8 175.0 - - 2352 - - - - - - - - 14.90 14.54 14.88
14948 660.8 8.9 541 14962 done 0.58 0.12 0.239 3082 -250.0 2.38 0.044 2249 -592.0 175.0 - - 2351 - - - - - - - - 14.45 14.67 14.67
15269 636.2 7.5 551 15286 roll 0.58 - - 3087 - 2.67 0.101 3657 527.3 179.4 1.67 0.323 2341 -6.0 2.243 - - - - - - 14.89 14.54 14.08
15311 632.7 8.2 557 15325 done 0.58 - - 3096 - 2.35 0.044 2257 -595.7 179.4 1.35 0.313 2339 - - - - - - - - 14.76 14.68 14.13
15666 606.1 7.4 565 15689 done 0.59 - - 3096 - - - 2256 - 185.9 13.50 1.888 2308 -2.3 0.140 - - - - - - 14.90 14.64 14.00
16003 581.2 7.5 571 16020 roll 0.60 - - 3096 - 2.67 0.105 3658 525.1 192.0 1.70 0.330 2290 -10.6 3.546 - - - - - - 14.83 14.51 14.09
16038 578.2 8.4 576 16051 done 0.60 - - 3105 - 2.35 0.044 2266 -592.3 192.0 1.50 0.326 2285 -3.3 1.124 - - - - - - 14.70 14.62 14.08
16400 549.2 8.0 585 16414 roll 0.60 - - 3106 - 2.58 0.102 3657 539.1 192.0 1.25 0.277 2289 3.2 -1.206 - - - - - - 14.86 14.52 14.33
16446 545.0 9.2 591 16459 done 0.60 - - 3115 - 2.35 0.043 2260 -594.5 192.0 1.42 0.296 2285 -2.8 0.986 - - - - - - 14.73 14.65 14.16
16801 515.9 8.1 599 16814 done 0.60 - - 3116 - - - 2257 - 192.0 1.42 0.285 2285 - - - - - - - - 14.88 14.62 14.21
17137 489.2 7.9 605 17151 roll 0.60 - - 3115 - 2.60 0.103 3659 539.2 192.0 1.35 0.278 2287 - - - - - - - - 14.88 14.53 14.26
17183 485.1 9.2 611 17196 done 0.60 0.10 0.243 3097 -180.0 2.35 0.043 2261 -594.9 192.0 - - 2296 - - - - - - - - 14.46 14.67 14.68
17537 459.2 7.2 619 17564 done 0.61 - - 3098 - - - 2256 - 203.5 18.17 1.659 2236 -3.3 0.174 - - - - - - 14.90 14.63 14.00
17874 433.7 7.6 625 17887 roll 0.62 - - 3097 - 2.62 0.102 3660 535.9 205.8 - - 2228 - - - - - - - - 14.81 14.49 14.81
17906 431.0 8.2 629 17920 done 0.62 - - 3106 - 2.35 0.044 2270 -591.5 205.8 - - 2228 - - - - - - - - 14.69 14.61 14.70
18275 402.9 7.5 639 18288 done 0.62 - - 3106 - - - 2266 - 210.7 2.88 1.101 2211 -5.9 0.411 - - - - - - 14.86 14.69 13.63
18611 377.6 7.6 645 18629 roll 0.63 - - 3106 - 2.55 0.103 3656 545.1 214.4 4.93 1.722 2199 -2.4 0.101 - - - - - - 14.87 14.59 13.71
18654 373.9 8.5 651 18668 done 0.63 - - 3115 - 2.35 0.044 2256 -595.7 214.4 1.20 0.296 2196 -2.5 0.601 - - - - - - 14.72 14.65 14.33
19009 345.1 8.2 659 19022 done 0.63 - - 3114 - - - 2252 - 214.4 1.12 0.275 2197 - - - - - - - - 14.87 14.62 14.38
19345 318.3 7.9 665 19358 roll 0.63 - - 3115 - 2.60 0.103 3653 538.8 214.4 - - 2206 - - - - - - - - 14.88 14.54 14.88
19377 315.5 8.4 669 19391 done 0.63 - - 3124 - 2.33 0.043 2265 -595.7 214.4 1.40 0.289 2197 -6.4 1.335 - - - - - - 14.74 14.66 14.19
19746 286.2 7.9 679 19760 roll 0.63 - - 3134 - 2.40 0.061 861 -585.0 214.4 1.25 0.274 2199 - - - - - - - - 14.90 14.52 14.30
19785 283.0 8.2 684 19798 done 0.63 0.10 0.226 3105 -290.0 2.40 0.057 2270 587.1 214.4 - - 2205 - - - - - - - - 14.48 14.61 14.67
20147 257.2 7.1 693 20179 roll 0.64 - - 3103 - 2.50 0.099 3653 553.2 228.1 19.80 1.412 2134 -3.6 0.124 - - - - - - 14.90 14.54 14.07
20225 251.0 8.2 704 20238 done 0.64 - - 3112 - 2.33 0.042 2270 -593.6 228.1 - - 2129 - - - - - - - - 14.67 14.61 14.69
20544 227.2 7.5 714 20561 roll 0.65 - - 3122 - 2.50 0.064 855 -566.0 234.2 1.88 0.359 2121 -4.3 0.512 - - - - - - 14.83 14.55 14.09
20580 224.5 7.2 719 20612 done 0.67 - - 3122 - 2.42 0.057 2273 586.0 246.3 17.70 1.388 2062 -3.3 0.103 - - - - - - 14.67 14.56 14.02
20940 195.6 8.2 735 20954 roll 0.67 - - 3122 - 2.53 0.102 3659 547.8 246.3 - - 2058 - - - - - - - - 14.80 14.48 14.80
21001 190.0 9.2 743 21014 done 0.67 - - 3130 - 2.35 0.042 2266 -592.8 246.3 - - 2058 - - - - - - - - 14.68 14.61 14.73
21341 160.9 8.5 756 21354 roll 0.67 - - 3141 - 2.40 0.064 861 -585.4 246.3 - - 2058 - - - - - - - - 14.85 14.57 14.85
21365 158.6 8.6 759 21379 done 0.67 - - 3141 - 2.42 0.057 2279 586.0 246.3 - - 2058 - - - - - - - - 14.70 14.54 14.72
21685 128.9 9.5 769 21699 roll 0.67 - - 3141 - 2.50 0.103 3654 550.0 246.3 - - 2058 - - - - - - - - 14.87 14.53 14.86
21724 124.9 10.2 774 21737 done 0.67 0.12 0.226 3114 -225.0 2.33 0.041 2265 -596.1 246.3 - - 2058 - - - - - - - - 14.46 14.66 14.69
22086 97.9 7.3 783 22103 roll 0.76 - - 3124 - 2.45 0.063 864 -571.8 256.6 3.70 0.412 2032 -7.0 0.318 - - - - - - 14.90 14.59 14.21
22157 93.2 6.0 793 22190 done 0.92 0.15 0.091 3209 566.7 2.40 0.054 2280 590.0 294.6 19.58 0.452 1877 -7.9 0.310 - - - - - - 14.68 14.61 14.28
22510 65.0 6.7 810 22534 roll 0.95 - - 3209 - 2.53 0.103 3661 545.8 317.1 11.48 0.364 1787 -7.8 0.266 - - - - - - 14.86 14.53 14.29
22653 55.1 6.9 830 22676 done 0.97 - - 3218 - 2.33 0.041 2266 -598.7 335.0 9.32 0.335 1717 -7.5 0.235 - - - - - - 14.71 14.69 14.29
22991 41.4 3.0 845 23057 roll 1.21 0.12 0.106 3315 808.3 2.45 0.063 866 -571.4 438.1 50.05 0.289 1308 -8.2 0.223 - - - - - - 14.66 14.52 14.34
23105 32.7 9.5 861 23119 done 1.21 - - 3315 - 2.40 0.054 2276 587.5 438.1 - - 1306 - - - - - - - - 14.66 14.54 14.68
23446 2.5 10.0 876 23459 roll 1.21 - - 3315 - 2.53 0.102 3657 545.8 438.1 - - 1304 - - - - - - - - 14.85 14.52 14.85
23462 end climb: SURFACE_DEPTH_REACHED
23462 begin surface coast
23469 end surface coast: CONTROL_FINISHED_OK
23469 begin surface
SM -0.40 - - - - -8.39 9.30 0.091 196 21.1 1.50 0.044 2767 1671.3 500.14 27.75 0.155 1058 38.1 0.010 - - - - - -