SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 146 * Raw log
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• Previous call tries 2 • 58.93 of 350.00 AH used of 24V (83.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.4 deg, depth -1.07 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 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 - - - 105 done -0.90 - - 182 - - - 2743 - -116.8 -78.43 - 3516 - - - - - - - - 14.67 13.26 14.67
107 7.5 -15.4 3 127 roll -0.90 11.50 0.397 2592 209.6 1.98 0.083 3826 547.0 -116.8 - - 3517 - - - - - - - - 14.23 14.40 14.48
174 41.8 -36.2 13 183 done -0.39 0.65 0.263 2766 267.7 1.77 0.034 2753 -606.2 -116.8 - - 3518 - - - - - - - - 14.26 14.53 14.42
496 80.0 -8.5 26 503 roll -0.39 - - 2764 - 2.28 0.043 1404 -591.7 -116.8 - - 3519 - - - - - - - - 14.80 14.55 14.80
537 83.5 -8.2 32 545 done -0.39 - - 2757 - 2.40 0.065 2768 568.3 -116.8 - - 3519 - - - - - - - - 14.59 14.51 14.62
889 106.8 -6.1 44 896 roll -0.47 - - 2749 - 1.92 0.103 3820 547.9 -116.8 - - 3521 - - - - - - - - 14.86 14.52 14.86
965 110.6 -4.1 55 973 done -0.55 - - 2749 - 1.73 0.041 2783 -599.4 -116.8 - - 3524 - - - - - - - - 14.74 14.70 14.78
1281 125.9 -5.4 65 1289 roll -0.65 0.12 0.109 2660 -741.7 2.30 0.043 1382 -609.1 -116.8 - - 3520 - - - - - - - - 14.70 14.66 14.75
1343 132.4 -9.0 74 1351 done -0.65 0.10 0.223 2680 200.0 2.42 0.066 2759 569.0 -116.8 - - 3520 - - - - - - - - 14.48 14.59 14.62
1673 160.5 -8.5 86 1675 done -0.65 - - 2682 - - - 2759 - -116.8 - - 3518 - - - - - - - - 14.90 14.90 14.89
2009 189.3 -8.5 92 2016 roll -0.65 - - 2673 - 1.95 0.103 3819 543.6 -116.8 - - 3515 - - - - - - - - 14.90 14.55 14.90
2036 191.8 -9.0 96 2044 done -0.65 - - 2673 - 1.77 0.042 2756 -600.6 -116.8 - - 3516 - - - - - - - - 14.77 14.73 14.79
2401 225.3 -9.2 106 2403 done -0.65 - - 2672 - - - 2756 - -116.8 - - 3513 - - - - - - - - 14.91 14.91 14.91
2738 254.8 -8.8 112 2754 roll -0.65 - - 2664 - 1.98 0.106 3830 542.4 -116.8 - - 3509 - - - - - - - - 14.92 14.61 14.92
2801 260.8 -9.5 120 2814 done -0.65 - - 2664 - 1.75 0.045 2759 -612.0 -116.8 - - 3509 - - - - - - - - 14.81 14.76 14.82
3141 291.6 -9.0 133 3154 done -0.65 - - 2664 - - - 2758 - -116.8 - - 3507 - - - - - - - - 14.95 14.95 14.95
3477 321.1 -8.8 139 3490 done -0.65 - - 2664 - - - 2759 - -116.8 - - 3505 - - - - - - - - 14.97 14.97 14.97
3813 350.3 -8.7 145 3826 done -0.65 - - 2663 - - - 2758 - -116.8 - - 3502 - - - - - - - - 14.97 14.97 14.98
4150 380.0 -8.9 151 4163 roll -0.65 - - 2663 - 2.33 0.047 1377 -592.7 -116.8 - - 3500 - - - - - - - - 14.98 14.72 14.98
4195 384.2 -9.2 157 4209 done -0.65 0.10 0.248 2683 200.0 2.42 0.070 2762 572.3 -116.8 - - 3500 - - - - - - - - 14.55 14.68 14.76
4550 412.8 -8.0 165 4564 roll -0.65 - - 2683 - 2.35 0.046 1373 -591.1 -116.8 - - 3496 - - - - - - - - 14.99 14.73 14.99
4575 414.8 -7.9 168 4588 done -0.65 - - 2674 - 2.42 0.068 2758 572.3 -116.8 - - 3497 - - - - - - - - 14.81 14.66 14.84
4894 440.5 -8.0 178 4907 roll -0.65 - - 2666 - 1.92 0.109 3824 555.2 -116.8 - - 3496 - - - - - - - - 14.97 14.63 14.97
4940 444.3 -8.6 184 4953 done -0.65 - - 2666 - 1.75 0.045 2751 -613.1 -116.8 - - 3495 - - - - - - - - 14.85 14.80 14.86
5294 473.3 -8.2 192 5307 roll -0.65 - - 2666 - 2.30 0.046 1372 -599.6 -116.8 - - 3494 - - - - - - - - 14.98 14.71 14.98
5333 476.6 -8.4 197 5346 done -0.65 0.10 0.252 2685 190.0 2.42 0.069 2760 573.6 -116.8 - - 3494 - - - - - - - - 14.52 14.66 14.75
5695 504.1 -7.7 206 5708 done -0.65 - - 2686 - - - 2761 - -116.8 - - 3492 - - - - - - - - 14.97 14.97 14.97
6031 528.7 -7.2 212 6044 done -0.65 - - 2685 - - - 2764 - -116.8 - - 3491 - - - - - - - - 14.97 14.97 14.97
6367 551.1 -6.7 218 6380 done -0.65 - - 2685 - - - 2760 - -116.8 - - 3487 - - - - - - - - 14.98 14.99 14.98
6703 572.7 -6.5 224 6716 roll -0.65 - - 2686 - 2.35 0.047 1377 -588.5 -116.8 - - 3487 - - - - - - - - 14.96 14.71 14.97
6777 577.5 -6.4 234 6790 done -0.65 - - 2677 - 2.40 0.070 2754 573.8 -116.8 - - 3487 - - - - - - - - 14.79 14.65 14.81
7103 599.7 -7.0 245 7116 roll -0.65 - - 2669 - 1.95 0.112 3820 546.7 -116.8 - - 3485 - - - - - - - - 14.97 14.58 14.97
7170 604.5 -7.5 254 7183 done -0.65 - - 2668 - 1.75 0.046 2749 -612.0 -116.8 - - 3484 - - - - - - - - 14.83 14.77 14.83
7504 628.6 -7.3 266 7517 done -0.65 - - 2668 - - - 2748 - -116.8 - - 3483 - - - - - - - - 14.95 14.95 14.96
7840 652.6 -7.2 272 7853 roll -0.65 - - 2668 - 2.30 0.046 1378 -595.7 -116.8 - - 3482 - - - - - - - - 14.95 14.68 14.97
7879 654.6 -5.4 277 7892 done -0.65 - - 2659 - 2.42 0.070 2765 573.1 -116.8 - - 3482 - - - - - - - - 14.73 14.59 14.76
8241 710.9 -7.9 286 8254 done -0.65 - - 2659 - - - 2765 - -116.8 - - 3481 - - - - - - - - 14.96 14.96 14.96
8576 737.7 -8.0 292 8589 done -0.65 - - 2659 - - - 2765 - -116.8 - - 3480 - - - - - - - - 14.96 14.96 14.96
8913 764.8 -8.0 298 8926 roll -0.65 - - 2651 - 1.95 0.113 3826 544.1 -116.8 - - 3478 - - - - - - - - 14.95 14.56 14.95
8937 767.0 -8.0 301 8951 done -0.65 0.12 0.230 2693 350.0 1.75 0.048 2769 -604.0 -116.8 - - 3479 - - - - - - - - 14.47 14.76 14.71
9258 789.0 -6.8 311 9271 roll -0.73 - - 2687 - 2.38 0.047 1358 -592.9 -116.8 - - 3478 - - - - - - - - 14.95 14.66 14.94
9360 796.1 -6.8 325 9374 done -0.82 0.08 0.148 2625 -775.0 2.47 0.071 2757 566.4 -116.8 - - 3478 - - - - - - - - 14.66 14.60 14.76
9715 827.8 -9.0 333 9728 done -0.82 - - 2625 - - - 2757 - -116.8 - - 3476 - - - - - - - - 14.95 14.95 14.95
10051 857.4 -8.9 339 10064 done -0.82 - - 2624 - - - 2756 - -116.8 - - 3475 - - - - - - - - 14.94 14.93 14.94
10387 886.9 -8.7 345 10400 roll -0.82 - - 2616 - 1.98 0.112 3826 540.4 -116.8 - - 3474 - - - - - - - - 14.94 14.52 14.94
10482 895.4 -9.0 358 10495 done -0.82 - - 2616 - 1.77 0.046 2749 -608.5 -116.8 - - 3474 - - - - - - - - 14.78 14.73 14.80
10843 927.5 -8.8 367 10856 roll -0.82 - - 2615 - 2.33 0.047 1372 -591.0 -116.8 - - 3473 - - - - - - - - 14.93 14.64 14.93
10873 end dive: TARGET_DEPTH_EXCEEDED
10873 begin apogee
10878 930.5 -8.4 371 11002 roll -0.23 0.75 0.210 2825 280.0 - - 2258 - - 113.30 1.951 3050 -3.7 0.338 - - - - - - 14.40 14.07 13.33
11003 end apogee: CONTROL_FINISHED_OK
11003 begin climb
11005 934.5 - 373 11148 roll 0.90 1.10 0.112 3173 316.4 2.53 0.057 858 -553.4 116.8 121.32 1.931 2578 -3.9 0.358 - - - - - - 14.07 14.09 13.22
11369 910.6 8.2 427 11382 done 0.75 - - 3172 - 2.42 0.055 2248 574.4 116.8 - - 2569 - - - - - - - - 14.38 14.28 14.40
11724 879.2 8.9 435 11737 roll 0.60 0.25 0.236 3108 -256.0 2.38 0.057 865 -581.1 116.8 - - 2568 - - - - - - - - 14.29 14.47 14.46
11930 865.2 6.3 464 11977 done 0.64 - - 3108 - 2.40 0.055 2261 581.7 149.0 33.62 1.919 2455 -3.4 0.288 - - - - - - 14.63 14.52 13.68
12291 838.6 7.8 480 12305 roll 0.64 - - 3108 - 2.53 0.103 3647 547.8 149.0 - - 2444 - - - - - - - - 14.73 14.42 14.73
12386 829.9 9.3 493 12400 done 0.56 0.12 0.240 3084 -200.0 2.35 0.042 2253 -593.2 149.0 - - 2446 - - - - - - - - 14.36 14.56 14.58
12748 803.7 7.2 502 12766 roll 0.57 - - 3097 - 2.38 0.061 865 -583.2 159.9 6.43 2.105 2416 -4.7 0.338 - - - - - - 14.82 14.52 13.77
12777 801.4 7.3 506 12805 done 0.58 - - 3094 - 2.38 0.056 2251 582.4 169.6 15.88 1.991 2374 -2.6 0.202 - - - - - - 14.65 14.55 13.83
13136 771.3 8.6 515 13149 roll 0.58 - - 3093 - 2.58 0.102 3657 545.0 169.6 - - 2363 - - - - - - - - 14.77 14.46 14.77
13174 767.6 9.2 520 13187 done 0.58 - - 3102 - 2.40 0.044 2241 -590.0 169.6 - - 2363 - - - - - - - - 14.66 14.58 14.66
13536 735.2 9.0 529 13549 roll 0.58 - - 3104 - 2.62 0.104 3651 538.2 169.6 - - 2361 - - - - - - - - 14.83 14.51 14.83
13588 729.9 10.1 536 13602 done 0.58 - - 3114 - 2.40 0.044 2246 -585.4 169.6 - - 2362 - - - - - - - - 14.70 14.63 14.71
13932 699.0 8.9 543 13945 done 0.58 - - 3114 - - - 2242 - 169.6 - - 2361 - - - - - - - - 14.85 14.86 14.86
14268 670.3 8.4 549 14281 roll 0.58 - - 3114 - 2.62 0.105 3653 538.5 169.6 - - 2361 - - - - - - - - 14.88 14.53 14.89
14314 666.1 9.0 555 14327 done 0.58 0.12 0.237 3090 -200.0 2.38 0.044 2252 -588.7 169.6 - - 2361 - - - - - - - - 14.45 14.67 14.69
14668 641.5 6.8 563 14698 done 0.61 - - 3090 - - - 2248 - 189.4 20.25 1.812 2296 -3.2 0.216 - - - - - - 14.89 14.58 13.95
15005 617.0 7.4 569 15023 roll 0.62 - - 3088 - 2.65 0.103 3653 530.2 196.1 2.40 0.824 2274 -9.2 1.304 - - - - - - 14.81 14.51 13.49
15069 611.3 8.8 578 15083 done 0.62 - - 3096 - 2.38 0.044 2251 -589.1 196.1 1.88 0.383 2271 -1.6 0.484 - - - - - - 14.68 14.60 14.09
15403 583.6 8.3 590 15417 roll 0.62 - - 3109 - 2.40 0.063 860 -579.6 196.1 1.05 0.283 2274 2.9 -1.120 - - - - - - 14.83 14.54 14.37
15442 580.1 8.7 595 15456 done 0.62 - - 3109 - 2.42 0.058 2264 580.2 196.1 1.27 0.289 2269 -3.9 1.502 - - - - - - 14.69 14.56 14.22
15804 549.1 8.5 604 15817 roll 0.62 - - 3109 - 2.55 0.103 3664 549.0 196.1 1.40 0.303 2272 2.1 -0.738 - - - - - - 14.87 14.47 14.09
15878 542.2 9.3 614 15892 done 0.62 - - 3119 - 2.38 0.042 2253 -592.9 196.1 1.23 0.286 2271 - - - - - - - - 14.72 14.65 14.30
16205 515.3 8.2 625 16218 roll 0.62 - - 3128 - 2.40 0.063 858 -581.2 196.1 0.93 0.291 2273 - - - - - - - - 14.88 14.57 14.40
16257 511.0 8.3 632 16272 done 0.62 - - 3128 - 2.45 0.058 2273 577.6 196.1 0.95 0.294 2271 - - - - - - - - 14.71 14.57 14.40
16602 481.8 8.6 639 16615 roll 0.62 - - 3128 - 2.53 0.103 3660 548.2 196.1 1.35 0.294 2271 - - - - - - - - 14.89 14.48 14.15
16648 477.3 9.7 645 16661 done 0.62 0.12 0.240 3107 -175.0 2.35 0.042 2257 -597.0 196.1 1.23 0.269 2269 - - - - - - - - 14.43 14.67 14.23
17003 449.2 7.9 653 17016 roll 0.62 - - 3107 - 2.60 0.100 3659 539.2 196.1 1.38 0.300 2271 - - - - - - - - 14.89 14.47 14.12
17041 445.7 8.6 658 17055 done 0.62 - - 3112 - 2.35 0.043 2259 -595.7 196.1 - - 2277 - - - - - - - - 14.74 14.67 14.76
17403 416.4 8.1 667 17417 roll 0.62 - - 3123 - 2.40 0.062 853 -585.8 196.1 0.93 0.291 2272 -5.4 1.462 - - - - - - 14.92 14.58 14.42
17442 413.3 8.0 672 17456 done 0.62 - - 3122 - 2.42 0.057 2269 585.1 196.1 1.38 0.299 2270 - - - - - - - - 14.73 14.60 14.13
17804 385.0 7.8 681 17817 done 0.62 - - 3122 - - - 2269 - 196.1 1.45 0.311 2269 - - - - - - - - 14.90 14.59 14.04
18140 358.9 7.8 687 18153 done 0.62 - - 3123 - - - 2270 - 196.1 1.25 0.281 2270 - - - - - - - - 14.88 14.60 14.22
18476 332.2 8.0 693 18489 done 0.62 - - 3123 - - - 2270 - 196.1 1.40 0.303 2270 - - - - - - - - 14.90 14.60 14.03
18812 305.8 7.8 699 18825 done 0.62 - - 3123 - - - 2269 - 196.1 1.70 0.356 2268 - - - - - - - - 14.90 14.61 14.04
19148 280.2 7.5 705 19172 roll 0.62 - - 3123 - 2.58 0.105 3656 537.6 200.7 9.55 1.579 2245 -2.4 0.081 - - - - - - 14.92 14.61 14.08
19198 275.9 8.7 712 19212 done 0.62 0.10 0.237 3104 -190.0 2.38 0.043 2255 -588.7 200.7 - - 2244 - - - - - - - - 14.50 14.66 14.68
19542 251.7 7.0 719 19574 roll 0.64 - - 3114 - 2.47 0.063 851 -568.4 215.9 15.65 1.437 2184 -3.8 0.128 - - - - - - 14.86 14.58 14.07
19585 248.4 7.3 725 19607 done 0.65 - - 3114 - 2.42 0.055 2273 587.6 226.1 9.15 1.517 2150 -3.7 0.116 - - - - - - 14.66 14.56 13.99
19936 219.9 8.3 733 19950 roll 0.65 - - 3113 - 2.53 0.101 3649 543.9 226.1 - - 2142 - - - - - - - - 14.79 14.47 14.80
19997 214.2 9.6 741 20010 done 0.65 - - 3122 - 2.35 0.042 2253 -594.0 226.1 - - 2143 - - - - - - - - 14.68 14.60 14.69
20337 185.3 8.4 754 20351 roll 0.65 - - 3132 - 2.38 0.063 861 -584.9 226.1 - - 2142 - - - - - - - - 14.85 14.55 14.85
20369 182.6 8.5 758 20382 done 0.65 - - 3133 - 2.40 0.056 2266 585.4 226.1 - - 2143 - - - - - - - - 14.68 14.58 14.69
20737 150.3 8.8 768 20750 done 0.65 - - 3132 - - - 2266 - 226.1 - - 2142 - - - - - - - - 14.88 14.88 14.88
21074 122.7 8.1 774 21087 roll 0.65 - - 3141 - 2.42 0.062 856 -582.6 226.1 - - 2142 - - - - - - - - 14.89 14.60 14.89
21119 118.8 8.4 780 21133 done 0.65 0.10 0.222 3111 -300.0 2.40 0.055 2264 586.7 226.1 - - 2142 - - - - - - - - 14.46 14.57 14.66
21446 90.6 8.7 789 21460 roll 0.76 0.05 0.207 3167 1120.0 2.53 0.097 3660 551.8 226.1 - - 2142 - - - - - - - - 14.63 14.54 14.69
21570 64.1 4.2 806 21618 done 0.85 - - 3177 - 2.35 0.039 2234 -606.8 302.4 35.58 0.439 1846 -8.3 0.231 - - - - - - 14.76 14.70 14.28
21922 67.2 6.2 823 21955 roll 0.98 0.05 0.201 3238 1220.0 2.35 0.063 876 -577.9 336.7 16.83 0.366 1709 -8.1 0.284 - - - - - - 14.59 14.57 14.30
21966 63.8 7.7 829 21979 done 0.99 - - 3238 - 2.35 0.054 2258 588.1 338.8 - - 1709 - - - - - - - - 14.68 14.57 14.70
22293 42.2 3.8 842 22347 roll 1.09 - - 3238 - 2.60 0.099 3655 537.3 425.4 42.42 0.299 1355 -8.3 0.224 - - - - - - 14.85 14.50 14.34
22457 29.9 8.0 865 22471 done 1.19 0.05 0.202 3305 1340.0 2.33 0.038 2247 -604.3 425.4 - - 1355 - - - - - - - - 14.54 14.62 14.65
22799 4.0 8.9 880 22812 roll 1.19 - - 3313 - 2.38 0.063 861 -582.4 425.4 - - 1355 - - - - - - - - 14.87 14.55 14.87
22822 end climb: SURFACE_DEPTH_REACHED
22822 begin surface coast
22830 end surface coast: CONTROL_FINISHED_OK
22830 begin surface
SM -0.45 - - - - -8.40 9.30 0.092 193 20.8 3.30 0.060 2760 680.0 500.14 33.60 0.155 1058 31.5 0.009 - - - - - -