SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 145 * Raw log
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• Previous call tries 1 • 58.59 of 350.00 AH used of 24V (83.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth -0.88 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 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 - - - 99 done -0.90 - - 168 - - - 2765 - -116.8 -77.85 - 3516 - - - - - - - - 14.66 13.25 14.66
101 0.5 -4.2 2 123 roll -0.90 11.50 0.394 2594 211.0 1.88 0.067 3824 563.3 -116.8 - - 3519 - - - - - - - - 14.21 14.42 14.50
197 45.8 -33.1 17 208 done -0.45 0.55 0.245 2748 280.0 1.80 0.036 2734 -605.6 -116.8 - - 3519 - - - - - - - - 14.27 14.59 14.43
513 83.1 -8.4 29 522 roll -0.45 - - 2740 - 2.05 0.104 3824 531.7 -116.8 - - 3521 - - - - - - - - 14.81 14.48 14.80
554 86.8 -8.9 35 562 done -0.45 - - 2740 - 1.75 0.041 2775 -599.4 -116.8 - - 3521 - - - - - - - - 14.69 14.64 14.71
877 108.4 -6.7 46 884 roll -0.45 - - 2740 - 2.35 0.043 1382 -592.8 -116.8 - - 3523 - - - - - - - - 14.85 14.60 14.85
946 112.0 -5.8 56 954 done -0.54 - - 2731 - 2.40 0.065 2757 572.9 -116.8 - - 3523 - - - - - - - - 14.65 14.57 14.67
1269 134.1 -6.4 67 1276 roll -0.54 - - 2731 - 2.35 0.044 1381 -585.5 -116.8 - - 3523 - - - - - - - - 14.90 14.62 14.89
1303 136.5 -7.1 72 1311 done -0.63 - - 2723 - 2.45 0.066 2770 566.9 -116.8 - - 3523 - - - - - - - - 14.67 14.59 14.69
1661 161.5 -7.0 81 1669 roll -0.63 - - 2723 - 2.35 0.044 1392 -586.4 -116.8 - - 3520 - - - - - - - - 14.90 14.64 14.90
1702 164.5 -7.2 87 1710 done -0.71 0.08 0.090 2647 -950.0 2.42 0.067 2760 565.3 -116.8 - - 3520 - - - - - - - - 14.64 14.59 14.69
2053 199.0 -10.0 95 2060 roll -0.71 - - 2640 - 1.98 0.106 3830 540.4 -116.8 - - 3517 - - - - - - - - 14.90 14.57 14.90
2122 206.3 -10.5 105 2131 done -0.63 0.17 0.216 2692 305.9 1.77 0.043 2775 -596.0 -116.8 - - 3516 - - - - - - - - 14.50 14.73 14.66
2445 232.4 -8.0 116 2452 roll -0.63 - - 2692 - 2.38 0.046 1377 -587.4 -116.8 - - 3515 - - - - - - - - 14.90 14.62 14.90
2479 235.3 -8.5 121 2488 done -0.63 - - 2682 - 2.47 0.066 2768 563.2 -116.8 - - 3514 - - - - - - - - 14.68 14.60 14.71
2837 266.0 -8.6 130 2850 done -0.63 - - 2682 - - - 2768 - -116.8 - - 3512 - - - - - - - - 14.93 14.94 14.92
3173 295.2 -8.7 136 3186 roll -0.63 - - 2681 - 2.35 0.046 1376 -592.3 -116.8 - - 3509 - - - - - - - - 14.95 14.71 14.95
3212 298.7 -9.1 141 3225 done -0.63 - - 2672 - 2.42 0.069 2763 573.1 -116.8 - - 3509 - - - - - - - - 14.80 14.66 14.82
3574 329.8 -8.6 150 3587 roll -0.63 - - 2672 - 2.35 0.046 1368 -593.6 -116.8 - - 3506 - - - - - - - - 14.97 14.72 14.97
3619 333.9 -8.9 156 3633 done -0.63 0.10 0.245 2691 190.0 2.45 0.070 2771 572.7 -116.8 - - 3506 - - - - - - - - 14.56 14.67 14.77
3974 361.7 -7.8 164 3987 roll -0.63 - - 2683 - 1.92 0.109 3832 552.6 -116.8 - - 3504 - - - - - - - - 14.98 14.64 14.98
4005 364.3 -8.0 168 4019 done -0.63 - - 2683 - 1.75 0.046 2759 -613.1 -116.8 - - 3504 - - - - - - - - 14.85 14.79 14.88
4374 394.7 -8.3 178 4387 roll -0.63 - - 2683 - 2.33 0.047 1366 -597.9 -116.8 - - 3501 - - - - - - - - 14.98 14.72 14.98
4440 400.5 -8.4 187 4454 done -0.63 - - 2678 - 2.45 0.070 2769 572.7 -116.8 - - 3501 - - - - - - - - 14.81 14.66 14.82
4774 429.3 -8.6 199 4787 roll -0.63 - - 2673 - 2.35 0.047 1379 -591.5 -116.8 - - 3499 - - - - - - - - 14.97 14.72 14.97
4819 433.3 -8.5 205 4833 done -0.63 0.10 0.245 2694 210.0 2.42 0.070 2763 571.9 -116.8 - - 3498 - - - - - - - - 14.54 14.66 14.76
5174 459.1 -7.1 213 5187 done -0.63 - - 2693 - - - 2765 - -116.8 - - 3497 - - - - - - - - 14.97 14.97 14.97
5511 482.4 -6.8 219 5524 roll -0.63 - - 2694 - 2.35 0.047 1379 -589.8 -116.8 - - 3496 - - - - - - - - 14.98 14.72 14.97
5571 486.6 -6.7 227 5584 done -0.63 - - 2685 - 2.42 0.070 2756 569.0 -116.8 - - 3495 - - - - - - - - 14.80 14.65 14.81
5911 509.1 -6.6 240 5924 done -0.63 - - 2685 - - - 2757 - -116.8 - - 3494 - - - - - - - - 14.97 14.97 14.97
6248 532.0 -6.9 246 6261 done -0.63 - - 2685 - - - 2757 - -116.8 - - 3492 - - - - - - - - 14.97 14.97 14.97
6584 556.9 -7.5 252 6597 roll -0.63 - - 2684 - 2.35 0.047 1378 -586.8 -116.8 - - 3490 - - - - - - - - 14.99 14.73 14.99
6644 561.8 -8.0 260 6657 done -0.63 - - 2676 - 2.45 0.072 2758 563.3 -116.8 - - 3490 - - - - - - - - 14.79 14.64 14.81
6984 590.0 -8.3 273 6998 roll -0.63 - - 2668 - 1.95 0.112 3823 546.2 -116.8 - - 3488 - - - - - - - - 14.96 14.59 14.97
7037 594.7 -8.9 280 7050 done -0.63 - - 2667 - 1.77 0.047 2754 -604.0 -116.8 - - 3486 - - - - - - - - 14.82 14.76 14.83
7381 622.4 -7.9 287 7394 roll -0.63 - - 2667 - 2.33 0.046 1370 -594.0 -116.8 - - 3486 - - - - - - - - 14.97 14.70 14.97
7455 628.3 -7.6 297 7468 done -0.63 0.12 0.238 2694 225.0 2.45 0.072 2759 566.9 -116.8 - - 3486 - - - - - - - - 14.49 14.62 14.71
7782 649.5 -6.5 308 7795 roll -0.71 - - 2686 - 1.95 0.112 3824 546.2 -116.8 - - 3486 - - - - - - - - 14.93 14.58 14.96
7834 653.2 -7.0 315 7848 done -0.71 - - 2686 - 1.80 0.047 2742 -601.1 -116.8 - - 3485 - - - - - - - - 14.81 14.76 14.82
8179 676.6 -6.9 322 8192 roll -0.71 - - 2686 - 2.33 0.048 1360 -593.1 -116.8 - - 3484 - - - - - - - - 14.96 14.64 14.96
8245 681.6 -7.4 331 8259 done -0.78 - - 2678 - 2.45 0.072 2749 566.9 -116.8 - - 3484 - - - - - - - - 14.76 14.61 14.78
8579 707.3 -7.8 343 8592 roll -0.78 - - 2678 - 2.35 0.047 1370 -586.8 -116.8 - - 3482 - - - - - - - - 14.95 14.67 14.95
8610 709.9 -8.0 347 8624 done -0.78 - - 2669 - 2.42 0.072 2743 567.4 -116.8 - - 3483 - - - - - - - - 14.77 14.61 14.79
8979 740.0 -8.1 357 8992 roll -0.78 - - 2658 - 2.00 0.113 3831 544.0 -116.8 - - 3482 - - - - - - - - 14.96 14.54 14.96
9052 746.2 -8.3 367 9065 done -0.78 - - 2660 - 1.80 0.048 2742 -605.0 -116.8 - - 3482 - - - - - - - - 14.79 14.74 14.81
9379 770.6 -7.4 378 9392 roll -0.78 - - 2660 - 2.30 0.047 1379 -592.6 -116.8 - - 3480 - - - - - - - - 14.94 14.62 14.94
9431 774.5 -7.2 385 9446 done -0.78 - - 2652 - 2.47 0.073 2762 559.9 -116.8 - - 3480 - - - - - - - - 14.74 14.59 14.76
9775 799.3 -7.2 392 9788 done -0.78 - - 2652 - - - 2762 - -116.8 - - 3479 - - - - - - - - 14.93 14.93 14.93
10111 823.7 -7.1 398 10124 roll -0.78 - - 2652 - 2.38 0.047 1379 -581.1 -116.8 - - 3479 - - - - - - - - 14.93 14.65 14.93
10156 827.3 -8.0 404 10170 done -0.78 - - 2644 - 2.45 0.073 2748 558.8 -116.8 - - 3479 - - - - - - - - 14.74 14.59 14.76
10511 855.9 -8.2 412 10524 roll -0.78 - - 2643 - 2.35 0.047 1372 -585.5 -116.8 - - 3478 - - - - - - - - 14.94 14.64 14.95
10549 859.2 -6.4 417 10563 done -0.78 - - 2634 - 2.45 0.072 2756 564.9 -116.8 - - 3478 - - - - - - - - 14.73 14.57 14.78
10911 891.0 -8.8 426 10924 roll -0.78 - - 2626 - 1.98 0.114 3827 540.9 -116.8 - - 3477 - - - - - - - - 14.93 14.51 14.93
10956 895.3 -7.4 432 10969 done -0.78 - - 2625 - 1.80 0.047 2735 -606.7 -116.8 - - 3476 - - - - - - - - 14.78 14.72 14.79
11311 927.8 -9.2 440 11324 roll -0.78 - - 2625 - 2.30 0.047 1375 -591.3 -116.8 - - 3476 - - - - - - - - 14.92 14.64 14.92
11334 end dive: TARGET_DEPTH_EXCEEDED
11334 begin apogee
11340 930.2 -9.5 443 11465 roll -0.23 0.70 0.203 2821 280.0 - - 2258 - - 115.07 1.967 3049 -3.7 0.333 - - - - - - 14.42 14.05 13.34
11466 end apogee: CONTROL_FINISHED_OK
11467 begin climb
11468 934.8 - 445 11608 roll 0.90 1.10 0.113 3170 317.3 2.50 0.057 869 -555.6 116.8 121.75 1.947 2581 -3.8 0.350 - - - - - - 14.06 14.08 13.23
11837 911.8 8.3 500 11850 done 0.76 - - 3170 - 2.42 0.056 2246 569.0 116.8 - - 2571 - - - - - - - - 14.40 14.29 14.42
12181 881.4 8.9 507 12194 roll 0.61 0.22 0.236 3112 -263.6 2.38 0.058 871 -577.7 116.8 - - 2570 - - - - - - - - 14.28 14.46 14.45
12416 864.8 6.9 540 12449 done 0.63 - - 3112 - 2.38 0.056 2256 581.9 135.1 17.70 2.005 2507 -3.6 0.291 - - - - - - 14.63 14.52 13.81
12804 834.7 8.1 553 12817 roll 0.63 - - 3112 - 2.58 0.103 3653 541.5 135.1 - - 2502 - - - - - - - - 14.78 14.46 14.78
12864 828.8 9.4 561 12878 done 0.54 0.15 0.240 3080 -213.3 2.35 0.043 2256 -594.5 135.1 - - 2502 - - - - - - - - 14.37 14.58 14.59
13206 803.7 7.3 574 13229 done 0.55 - - 3080 - - - 2252 - 145.5 10.05 2.114 2466 -3.6 0.259 - - - - - - 14.83 14.59 13.88
13542 777.1 7.9 587 13555 roll 0.55 - - 3080 - 2.60 0.103 3653 538.8 145.5 - - 2464 - - - - - - - - 14.81 14.47 14.81
13594 772.8 8.0 594 13609 done 0.55 - - 3090 - 2.38 0.044 2248 -590.3 145.5 - - 2464 - - - - - - - - 14.68 14.61 14.70
13939 745.9 7.7 601 13952 roll 0.55 - - 3090 - 2.60 0.106 3649 538.8 146.1 - - 2463 - - - - - - - - 14.85 14.52 14.85
13984 742.0 8.6 607 13997 done 0.55 - - 3096 - 2.35 0.044 2255 -593.2 146.1 - - 2463 - - - - - - - - 14.72 14.64 14.71
14339 716.4 7.0 615 14372 roll 0.57 - - 3100 - 2.62 0.105 3660 536.3 161.4 17.77 1.926 2402 -3.4 0.242 - - - - - - 14.87 14.50 13.91
14398 711.9 7.5 623 14411 done 0.58 - - 3110 - 2.40 0.044 2256 -585.0 166.7 1.45 0.284 2386 -11.0 5.252 - - - - - - 14.63 14.56 14.23
14740 687.3 7.2 636 14772 roll 0.59 - - 3110 - 2.70 0.103 3658 519.3 179.2 19.80 1.877 2330 -2.8 0.197 - - - - - - 14.80 14.42 13.84
14791 683.4 7.5 643 14804 done 0.60 - - 3120 - 2.42 0.044 2241 -585.5 184.7 1.38 0.280 2314 -11.6 5.373 - - - - - - 14.55 14.47 14.25
15132 656.8 7.8 656 15145 done 0.60 - - 3120 - - - 2236 - 184.7 - - 2321 - - - - - - - - 14.77 14.77 14.77
15468 629.5 8.2 662 15481 roll 0.60 - - 3120 - 2.65 0.105 3654 535.1 184.7 - - 2320 - - - - - - - - 14.83 14.50 14.83
15520 624.6 9.5 669 15534 done 0.60 0.12 0.238 3095 -208.3 2.38 0.045 2258 -586.6 184.7 - - 2321 - - - - - - - - 14.42 14.62 14.63
15865 598.8 7.4 676 15886 done 0.61 - - 3095 - - - 2253 - 192.3 12.12 1.897 2285 -3.0 0.178 - - - - - - 14.85 14.62 13.95
16201 572.7 7.9 682 16214 done 0.61 - - 3094 - - - 2253 - 192.3 - - 2277 - - - - - - - - 14.83 14.83 14.83
16536 545.9 7.9 688 16550 roll 0.61 - - 3092 - 2.58 0.103 3650 541.5 192.3 - - 2276 - - - - - - - - 14.86 14.52 14.85
16617 538.7 8.8 699 16630 done 0.61 - - 3104 - 2.35 0.044 2256 -593.2 192.3 - - 2276 - - - - - - - - 14.72 14.64 14.73
16936 513.5 7.9 709 16949 done 0.61 - - 3104 - - - 2258 - 192.3 - - 2276 - - - - - - - - 14.87 14.87 14.87
17273 488.2 7.6 715 17286 roll 0.61 - - 3104 - 2.60 0.103 3659 538.8 195.8 - - 2276 - - - - - - - - 14.88 14.54 14.88
17325 483.8 8.4 722 17340 done 0.61 - - 3113 - 2.38 0.042 2251 -591.6 195.8 - - 2276 - - - - - - - - 14.74 14.66 14.76
17669 457.0 7.8 729 17682 roll 0.61 - - 3123 - 2.40 0.064 858 -580.4 195.8 - - 2274 - - - - - - - - 14.89 14.60 14.88
17701 454.4 7.8 733 17714 done 0.61 - - 3123 - 2.40 0.057 2263 585.4 195.8 - - 2276 - - - - - - - - 14.73 14.61 14.76
18070 424.5 8.1 743 18083 roll 0.61 - - 3123 - 2.53 0.103 3654 549.8 195.8 - - 2276 - - - - - - - - 14.90 14.54 14.90
18130 418.9 9.7 751 18144 done 0.61 0.12 0.230 3098 -208.3 2.35 0.042 2261 -592.8 195.8 - - 2276 - - - - - - - - 14.46 14.67 14.67
18472 393.4 7.5 764 18487 done 0.62 - - 3098 - - - 2256 - 201.9 6.12 1.777 2250 -4.2 0.179 - - - - - - 14.90 14.71 13.95
18807 368.0 7.5 770 18822 done 0.63 - - 3098 - - - 2255 - 206.9 6.43 1.754 2228 -3.4 0.136 - - - - - - 14.88 14.68 13.99
19143 343.0 7.4 776 19168 roll 0.64 - - 3098 - 2.58 0.102 3654 542.2 214.2 10.60 1.644 2192 -3.4 0.135 - - - - - - 14.86 14.55 14.02
19194 338.8 8.3 783 19207 done 0.64 - - 3106 - 2.38 0.044 2258 -586.6 214.2 - - 2190 - - - - - - - - 14.67 14.61 14.69
19538 311.0 8.2 790 19551 done 0.64 - - 3106 - - - 2254 - 214.2 - - 2191 - - - - - - - - 14.85 14.83 14.83
19873 283.0 8.3 796 19886 done 0.64 - - 3106 - - - 2253 - 214.2 - - 2190 - - - - - - - - 14.88 14.88 14.88
20210 256.6 7.8 802 20223 roll 0.64 - - 3106 - 2.60 0.102 3663 542.3 214.2 - - 2191 - - - - - - - - 14.89 14.55 14.89
20262 251.8 9.1 809 20276 done 0.64 - - 3115 - 2.38 0.043 2258 -590.3 214.2 - - 2190 - - - - - - - - 14.74 14.67 14.75
20606 222.6 8.6 816 20619 roll 0.64 - - 3115 - 2.58 0.100 3654 541.1 214.2 - - 2191 - - - - - - - - 14.90 14.54 14.90
20645 218.9 9.5 821 20658 done 0.64 - - 3125 - 2.30 0.041 2271 -601.3 214.2 - - 2191 - - - - - - - - 14.76 14.69 14.78
21006 188.3 8.3 830 21019 done 0.64 - - 3125 - - - 2266 - 214.2 - - 2194 - - - - - - - - 14.90 14.90 14.89
21342 160.8 8.2 836 21355 done 0.64 - - 3125 - - - 2264 - 214.2 - - 2191 - - - - - - - - 14.91 14.91 14.91
21678 134.6 7.7 842 21692 roll 0.64 - - 3125 - 2.58 0.103 3661 541.5 215.9 - - 2191 - - - - - - - - 14.90 14.55 14.91
21717 131.4 8.1 847 21730 done 0.64 - - 3134 - 2.33 0.041 2266 -598.7 215.9 - - 2191 - - - - - - - - 14.77 14.69 14.78
22079 103.7 7.7 856 22092 roll 0.64 - - 3145 - 2.40 0.063 862 -585.0 217.5 - - 2191 - - - - - - - - 14.91 14.62 14.91
22202 95.5 6.2 873 22234 done 0.68 - - 3145 - 2.40 0.054 2280 590.8 250.3 16.62 0.461 2055 -8.2 0.322 - - - - - - 14.73 14.60 14.29
22562 76.3 4.3 891 22613 roll 0.86 - - 3145 - 2.55 0.101 3656 539.6 324.1 36.03 0.404 1759 -8.2 0.295 - - - - - - 14.89 14.52 14.31
22661 71.5 6.5 905 22687 done 1.00 0.15 0.089 3237 613.3 2.33 0.040 2258 -600.0 351.9 13.93 0.382 1647 -8.0 0.286 - - - - - - 14.62 14.62 14.28
23007 45.1 6.0 921 23040 roll 1.05 - - 3243 - 2.42 0.064 860 -577.7 390.9 18.88 0.306 1492 -8.2 0.230 - - - - - - 14.84 14.55 14.32
23213 33.5 6.3 950 23240 done 1.20 0.08 0.145 3303 750.0 2.40 0.053 2277 590.4 422.0 14.98 0.268 1370 -8.1 0.193 - - - - - - 14.60 14.57 14.36
23543 6.4 8.3 964 23557 roll 1.20 - - 3303 - 2.50 0.099 3660 553.2 422.0 - - 1371 - - - - - - - - 14.86 14.53 14.86
23594 end climb: SURFACE_DEPTH_REACHED
23594 begin surface coast
23602 end surface coast: CONTROL_FINISHED_OK
23602 begin surface
SM -0.24 - - - - -8.41 9.23 0.088 190 20.6 1.50 0.041 2746 1657.3 500.14 35.42 0.156 1057 29.8 0.005 - - - - - -