SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 147 * Raw log
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• Previous call tries 1 • 59.27 of 350.00 AH used of 24V (83.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth 1.77 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 80 VBD -0.90 - - 183 - - - 2773 - -116.8 -59.20 - 2774 - - - - - - - - 14.66 - 14.67
82 3.6 -5.3 2 112 done -0.90 11.40 0.390 2600 212.0 - - 2773 - -116.8 -13.75 - 3517 -54.0 - - - - - - - 14.19 13.33 14.50
441 93.6 -18.0 21 449 roll -0.60 0.38 0.246 2696 252.6 1.90 0.100 3829 555.8 -116.8 - - 3518 - - - - - - - - 14.37 14.50 14.59
573 106.9 -6.8 40 581 done -0.60 - - 2695 - 1.80 0.041 2740 -605.0 -116.8 - - 3519 - - - - - - - - 14.66 14.62 14.67
888 129.1 -14.5 51 896 roll -0.60 - - 2687 - 2.03 0.101 3827 535.5 -116.8 - - 3520 - - - - - - - - 14.87 14.53 14.86
944 133.5 -7.9 59 952 done -0.60 - - 2686 - 1.75 0.041 2771 -603.4 -116.8 - - 3520 - - - - - - - - 14.70 14.68 14.71
1280 158.3 -7.3 72 1288 roll -0.60 - - 2687 - 2.35 0.044 1377 -593.2 -116.8 - - 3518 - - - - - - - - 14.89 14.63 14.89
1336 162.5 -7.5 80 1343 done -0.60 - - 2677 - 2.42 0.065 2765 573.6 -116.8 - - 3520 - - - - - - - - 14.66 14.58 14.69
1672 189.9 -8.4 93 1675 done -0.60 - - 2677 - - - 2765 - -116.8 - - 3519 - - - - - - - - 14.89 14.90 14.90
2008 219.1 -8.8 99 2011 done -0.60 - - 2677 - - - 2765 - -116.8 - - 3515 - - - - - - - - 14.90 14.90 14.90
2344 249.7 -9.1 105 2360 roll -0.60 - - 2668 - 1.95 0.106 3819 540.5 -116.8 - - 3514 - - - - - - - - 14.90 14.55 14.91
2378 252.9 -9.6 109 2391 done -0.60 0.12 0.224 2705 308.3 1.73 0.045 2755 -615.0 -116.8 - - 3512 - - - - - - - - 14.52 14.75 14.71
2747 280.5 -7.4 119 2760 roll -0.60 - - 2705 - 2.30 0.047 1369 -602.6 -116.8 - - 3509 - - - - - - - - 14.96 14.70 14.96
2813 285.6 -7.5 128 2826 done -0.60 - - 2696 - 2.42 0.067 2765 576.9 -116.8 - - 3509 - - - - - - - - 14.79 14.66 14.81
3147 310.2 -7.4 140 3160 roll -0.60 - - 2688 - 1.92 0.108 3831 555.2 -116.8 - - 3506 - - - - - - - - 14.97 14.63 14.97
3185 313.2 -8.0 145 3198 done -0.60 - - 2688 - 1.75 0.047 2757 -613.7 -116.8 - - 3506 - - - - - - - - 14.83 14.76 14.81
3546 341.3 -7.8 154 3560 roll -0.60 - - 2688 - 2.30 0.047 1375 -600.9 -116.8 - - 3502 - - - - - - - - 14.99 14.73 14.98
3592 344.9 -8.0 160 3605 done -0.60 - - 2678 - 2.42 0.070 2768 575.6 -116.8 - - 3503 - - - - - - - - 14.81 14.66 14.83
3946 373.2 -8.0 168 3959 done -0.60 - - 2678 - - - 2768 - -116.8 - - 3501 - - - - - - - - 14.97 14.97 14.97
4283 398.8 -7.5 174 4296 roll -0.60 - - 2678 - 2.38 0.047 1370 -587.4 -116.8 - - 3499 - - - - - - - - 14.98 14.71 14.98
4356 404.4 -7.4 184 4369 done -0.60 0.12 0.231 2705 225.0 2.42 0.070 2761 574.8 -116.8 - - 3499 - - - - - - - - 14.52 14.63 14.72
4683 425.7 -6.5 195 4696 done -0.60 - - 2705 - - - 2761 - -116.8 - - 3497 - - - - - - - - 14.97 14.98 14.97
5019 448.9 -7.0 201 5033 roll -0.68 - - 2705 - 2.35 0.048 1373 -590.6 -116.8 - - 3495 - - - - - - - - 14.97 14.71 14.97
5051 451.3 -7.3 205 5065 done -0.76 0.08 0.146 2636 -862.5 2.42 0.070 2763 574.4 -116.8 - - 3494 - - - - - - - - 14.76 14.65 14.80
5420 487.8 -10.0 215 5434 roll -0.76 - - 2628 - 1.95 0.111 3829 546.7 -116.8 - - 3492 - - - - - - - - 14.99 14.61 14.97
5466 492.6 -11.0 221 5479 done -0.76 - - 2627 - 1.77 0.047 2751 -609.0 -116.8 - - 3493 - - - - - - - - 14.84 14.78 14.85
5821 529.6 -10.4 229 5834 roll -0.76 - - 2627 - 2.30 0.047 1375 -598.3 -116.8 - - 3491 - - - - - - - - 14.98 14.71 14.98
5859 533.9 -11.1 234 5872 done -0.76 0.12 0.248 2653 216.7 2.42 0.070 2759 571.9 -116.8 - - 3493 - - - - - - - - 14.50 14.64 14.73
6221 568.4 -9.6 243 6234 roll -0.76 - - 2646 - 1.95 0.112 3825 546.7 -116.8 - - 3490 - - - - - - - - 14.97 14.58 14.97
6273 573.8 -10.3 250 6287 done -0.76 - - 2645 - 1.77 0.047 2756 -604.0 -116.8 - - 3489 - - - - - - - - 14.83 14.77 14.83
6617 606.2 -9.3 257 6630 roll -0.76 - - 2645 - 2.33 0.047 1366 -596.6 -116.8 - - 3487 - - - - - - - - 14.96 14.71 14.97
6677 611.7 -8.9 265 6691 done -0.76 - - 2636 - 2.45 0.072 2760 569.0 -116.8 - - 3487 - - - - - - - - 14.78 14.63 14.81
7018 642.5 -9.0 278 7031 roll -0.76 - - 2628 - 1.95 0.112 3826 546.7 -116.8 - - 3486 - - - - - - - - 14.96 14.57 14.95
7056 646.1 -9.2 283 7070 done -0.76 - - 2628 - 1.77 0.047 2752 -606.8 -116.8 - - 3485 - - - - - - - - 14.82 14.76 14.83
7418 678.3 -8.8 292 7431 roll -0.76 - - 2627 - 2.33 0.047 1363 -596.1 -116.8 - - 3483 - - - - - - - - 14.95 14.69 14.95
7463 682.4 -9.4 298 7477 done -0.76 0.10 0.259 2646 190.0 2.45 0.072 2756 568.6 -116.8 - - 3483 - - - - - - - - 14.47 14.62 14.71
7818 711.3 -8.2 306 7831 roll -0.76 - - 2638 - 1.98 0.114 3831 542.9 -116.8 - - 3484 - - - - - - - - 14.95 14.56 14.97
7870 715.9 -8.9 313 7885 done -0.76 - - 2638 - 1.80 0.048 2750 -600.6 -116.8 - - 3483 - - - - - - - - 14.81 14.75 14.81
8214 745.3 -8.6 320 8227 roll -0.76 - - 2637 - 2.33 0.047 1369 -592.7 -116.8 - - 3481 - - - - - - - - 14.96 14.63 14.96
8246 748.3 -9.5 324 8259 done -0.76 - - 2629 - 2.45 0.071 2756 566.1 -116.8 - - 3481 - - - - - - - - 14.76 14.60 14.78
8614 781.7 -9.1 334 8627 roll -0.76 - - 2628 - 2.38 0.047 1368 -583.2 -116.8 - - 3479 - - - - - - - - 14.95 14.66 14.93
8659 786.0 -9.7 340 8673 done -0.76 0.10 0.257 2648 200.0 2.45 0.072 2755 566.1 -116.8 - - 3479 - - - - - - - - 14.44 14.59 14.72
9014 815.2 -8.1 348 9027 done -0.76 - - 2648 - - - 2755 - -116.8 - - 3478 - - - - - - - - 14.94 14.95 14.95
9350 842.7 -8.1 354 9363 done -0.76 - - 2648 - - - 2755 - -116.8 - - 3476 - - - - - - - - 14.94 14.94 14.94
9686 869.7 -8.0 360 9699 done -0.76 - - 2647 - - - 2755 - -116.8 - - 3476 - - - - - - - - 14.94 14.95 14.95
10022 895.4 -7.5 366 10035 roll -0.76 - - 2648 - 2.38 0.049 1367 -583.2 -116.8 - - 3476 - - - - - - - - 14.94 14.64 14.95
10068 898.7 -7.6 372 10081 done -0.76 - - 2639 - 2.45 0.074 2752 565.3 -116.8 - - 3475 - - - - - - - - 14.74 14.58 14.77
10423 926.1 -7.7 380 10436 done -0.76 - - 2639 - - - 2753 - -116.8 - - 3474 - - - - - - - - 14.95 14.94 14.95
10477 end dive: TARGET_DEPTH_EXCEEDED
10477 begin apogee
10481 930.6 -7.8 381 10605 roll -0.23 0.62 0.196 2821 293.5 - - 2243 - - 114.28 1.950 3049 -3.7 0.337 - - - - - - 14.45 14.07 13.35
10607 end apogee: CONTROL_FINISHED_OK
10607 begin climb
10608 934.1 - 383 10749 roll 0.90 1.10 0.114 3170 317.3 2.50 0.060 846 -558.8 116.8 121.05 1.950 2579 -3.9 0.354 - - - - - - 14.07 14.09 13.21
10754 927.9 9.0 406 10768 done 0.67 0.20 0.239 3118 -260.0 2.55 0.056 2254 552.2 116.8 - - 2575 - - - - - - - - 13.88 13.97 14.04
11098 900.5 8.1 413 11112 roll 0.67 - - 3117 - 2.60 0.104 3660 540.8 116.8 - - 2570 - - - - - - - - 14.64 14.33 14.64
11179 892.9 9.3 424 11192 done 0.55 0.17 0.241 3081 -211.8 2.42 0.042 2235 -588.8 116.8 - - 2570 - - - - - - - - 14.26 14.47 14.50
11499 870.7 6.9 434 11526 done 0.57 - - 3081 - - - 2237 - 135.4 18.83 1.995 2511 -3.1 0.260 - - - - - - 14.78 14.47 13.79
11835 847.0 7.2 440 11861 roll 0.58 - - 3081 - 2.72 0.103 3653 520.6 148.3 13.75 2.060 2453 -4.2 0.330 - - - - - - 14.76 14.41 13.80
11900 841.8 8.3 449 11914 done 0.58 - - 3091 - 2.40 0.044 2248 -585.4 148.3 - - 2449 - - - - - - - - 14.55 14.49 14.57
12227 817.8 7.3 460 12246 roll 0.60 - - 3091 - 2.62 0.106 3652 535.9 157.3 4.47 1.897 2426 -5.1 0.422 - - - - - - 14.78 14.51 13.48
12278 813.6 8.3 467 12292 done 0.60 - - 3101 - 2.40 0.044 2251 -583.8 157.3 1.33 0.297 2425 - - - - - - - - 14.63 14.56 14.21
12622 787.5 7.7 474 12635 done 0.60 - - 3104 - - - 2246 - 157.3 1.10 0.275 2423 - - - - - - - - 14.82 14.63 14.39
12958 761.8 7.7 480 12976 roll 0.60 - - 3101 - 2.65 0.104 3652 530.6 158.1 2.33 0.768 2423 - - - - - - - - 14.85 14.57 13.43
13002 758.0 8.0 486 13015 done 0.60 - - 3111 - 2.38 0.044 2245 -591.2 158.1 - - 2428 - - - - - - - - 14.73 14.65 14.74
13356 729.1 8.2 494 13369 roll 0.60 - - 3121 - 2.38 0.063 858 -582.8 158.1 0.93 0.291 2422 -6.5 3.074 - - - - - - 14.88 14.59 14.43
13388 726.4 8.0 498 13401 done 0.60 - - 3121 - 2.42 0.058 2268 582.6 158.1 - - 2427 - - - - - - - - 14.73 14.60 14.74
13756 695.5 8.4 508 13769 roll 0.60 - - 3121 - 2.55 0.105 3658 545.1 158.1 1.02 0.285 2421 -5.9 2.730 - - - - - - 14.88 14.54 14.40
13830 688.7 9.3 518 13844 done 0.50 0.25 0.228 3062 -236.0 2.38 0.044 2245 -593.7 158.1 1.15 0.259 2420 - - - - - - - - 14.43 14.67 14.39
14158 669.1 5.8 529 14225 roll 0.55 - - 3061 - 2.67 0.103 3653 527.3 200.3 53.38 1.734 2245 -3.3 0.241 - - - - - - 14.88 14.26 13.71
14251 663.2 6.7 542 14290 done 0.58 - - 3071 - 2.40 0.044 2261 -580.0 223.5 25.70 1.793 2156 -3.5 0.244 - - - - - - 14.44 14.37 13.61
14612 638.7 6.9 558 14641 done 0.69 0.10 0.123 3136 650.0 - - 2258 - 242.9 20.17 1.817 2083 -3.6 0.242 - - - - - - 14.48 14.38 13.73
14946 605.2 10.2 564 14959 done 0.69 - - 3136 - - - 2257 - 242.9 - - 2069 - - - - - - - - 14.71 14.71 14.72
15282 569.6 10.7 570 15295 roll 0.69 - - 3136 - 2.62 0.108 3653 532.8 242.9 - - 2069 - - - - - - - - 14.79 14.45 14.79
15314 565.8 11.7 574 15327 done 0.69 - - 3146 - 2.38 0.046 2262 -584.5 242.9 - - 2069 - - - - - - - - 14.67 14.59 14.69
15682 524.7 11.2 584 15695 roll 0.69 - - 3157 - 2.42 0.068 859 -579.8 242.9 - - 2069 - - - - - - - - 14.85 14.56 14.85
15706 521.8 11.2 587 15720 done 0.69 0.10 0.238 3127 -300.0 2.42 0.060 2269 582.6 242.9 - - 2068 - - - - - - - - 14.44 14.57 14.66
16026 489.5 10.0 597 16039 roll 0.69 - - 3127 - 2.55 0.103 3662 546.3 242.9 - - 2068 - - - - - - - - 14.86 14.52 14.86
16058 486.2 10.0 601 16071 done 0.69 - - 3137 - 2.38 0.044 2258 -589.9 242.9 - - 2068 - - - - - - - - 14.72 14.65 14.74
16426 448.9 10.1 611 16440 roll 0.69 - - 3145 - 2.40 0.067 858 -583.3 242.9 - - 2068 - - - - - - - - 14.88 14.59 14.88
16465 444.9 10.3 616 16478 done 0.69 - - 3148 - 2.42 0.059 2264 581.0 242.9 - - 2068 - - - - - - - - 14.72 14.59 14.74
16826 405.9 11.0 625 16839 roll 0.69 - - 3148 - 2.55 0.106 3660 547.5 242.9 - - 2067 - - - - - - - - 14.88 14.53 14.88
16879 399.4 12.4 632 16893 done 0.69 0.10 0.253 3128 -200.0 2.38 0.043 2259 -588.7 242.9 - - 2067 - - - - - - - - 14.44 14.66 14.68
17223 365.8 9.6 639 17236 roll 0.69 - - 3139 - 2.40 0.066 859 -583.3 242.9 - - 2067 - - - - - - - - 14.90 14.57 14.90
17283 360.0 9.4 647 17296 done 0.69 - - 3138 - 2.42 0.058 2264 580.6 242.9 - - 2066 - - - - - - - - 14.73 14.60 14.76
17624 327.9 9.4 660 17637 roll 0.69 - - 3139 - 2.55 0.105 3660 547.5 242.9 - - 2067 - - - - - - - - 14.93 14.53 14.90
17669 323.2 10.2 666 17682 done 0.69 - - 3149 - 2.35 0.044 2261 -595.3 242.9 - - 2067 - - - - - - - - 14.75 14.66 14.77
18024 288.9 9.8 674 18037 roll 0.69 - - 3159 - 2.40 0.067 860 -583.8 242.9 - - 2067 - - - - - - - - 14.91 14.59 14.91
18069 284.3 9.9 680 18083 done 0.69 0.12 0.230 3123 -300.0 2.42 0.060 2271 583.1 242.9 - - 2067 - - - - - - - - 14.45 14.60 14.69
18424 254.2 8.5 688 18437 roll 0.69 - - 3122 - 2.53 0.103 3661 549.4 242.9 - - 2067 - - - - - - - - 14.90 14.53 14.90
18484 248.4 9.8 696 18497 done 0.69 - - 3132 - 2.38 0.043 2251 -592.4 242.9 - - 2067 - - - - - - - - 14.76 14.68 14.78
18824 217.7 9.1 709 18838 roll 0.69 - - 3142 - 2.38 0.065 858 -585.3 242.9 - - 2067 - - - - - - - - 14.90 14.60 14.90
18856 214.6 9.5 713 18869 done 0.69 - - 3142 - 2.40 0.057 2262 585.0 242.9 - - 2067 - - - - - - - - 14.74 14.61 14.76
19225 180.2 9.3 723 19238 roll 0.69 - - 3142 - 2.55 0.104 3663 549.4 242.9 - - 2067 - - - - - - - - 14.91 14.53 14.91
19270 175.6 10.4 729 19284 done 0.69 - - 3152 - 2.35 0.042 2261 -596.6 242.9 - - 2070 - - - - - - - - 14.76 14.68 14.77
19625 141.5 9.6 737 19638 roll 0.69 - - 3162 - 2.40 0.065 851 -587.5 242.9 - - 2068 - - - - - - - - 14.90 14.60 14.90
19677 136.3 9.7 744 19691 done 0.69 0.12 0.228 3126 -300.0 2.45 0.057 2273 580.4 242.9 - - 2068 - - - - - - - - 14.44 14.59 14.69
20022 107.2 8.5 751 20035 roll 0.69 - - 3125 - 2.50 0.103 3656 553.2 242.9 - - 2069 - - - - - - - - 14.91 14.53 14.91
20102 101.0 7.3 762 20121 done 0.71 - - 3133 - 2.33 0.043 2256 -600.9 253.5 3.80 0.403 2045 -6.3 0.301 - - - - - - 14.76 14.69 14.18
20450 82.4 3.8 778 20501 done 0.92 0.10 0.119 3207 740.0 - - 2256 - 338.0 42.05 0.418 1704 -8.1 0.304 - - - - - - 14.64 14.64 14.31
20787 59.0 6.5 793 20812 roll 0.95 - - 3216 - 2.45 0.064 868 -566.5 364.4 12.75 0.341 1600 -8.2 0.268 - - - - - - 14.85 14.57 14.29
21013 48.8 3.8 825 21067 done 1.19 0.15 0.095 3298 546.7 2.42 0.054 2282 584.3 449.0 41.53 0.311 1260 -8.2 0.244 - - - - - - 14.63 14.56 14.31
21370 19.3 8.5 843 21383 roll 1.19 - - 3298 - 2.50 0.099 3654 548.8 449.0 - - 1263 - - - - - - - - 14.83 14.50 14.83
21430 13.4 10.2 851 21443 done 1.19 - - 3306 - 2.30 0.041 2278 -598.3 449.0 - - 1263 - - - - - - - - 14.71 14.63 14.72
21573 end climb: SURFACE_DEPTH_REACHED
21573 begin surface coast
21601 end surface coast: CONTROL_FINISHED_OK
21601 begin surface
SM 0.05 - - - - -8.39 9.00 0.065 191 21.2 0.90 0.079 2772 1935.6 500.14 23.23 0.155 1057 45.5 -0.002 - - - - - -