SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 148 * Raw log
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• Previous call tries 1 • 59.61 of 350.00 AH used of 24V (82.97% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -0.41 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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 - - - 105 done -0.90 - - 189 - - - 2786 - -116.8 -78.22 - 3515 - - - - - - - - 14.66 13.24 14.67
107 9.0 -16.5 3 127 roll -0.90 11.52 0.398 2595 208.9 1.88 0.080 3821 550.5 -116.8 - - 3518 - - - - - - - - 14.23 14.40 14.48
209 51.0 -27.0 18 218 done -0.51 0.50 0.261 2727 264.0 1.80 0.037 2750 -595.0 -116.8 - - 3517 - - - - - - - - 14.26 14.53 14.42
525 90.5 -10.6 30 532 roll -0.51 - - 2727 - 2.33 0.043 1375 -590.1 -116.8 - - 3520 - - - - - - - - 14.80 14.54 14.80
558 93.8 -9.3 35 567 done -0.51 - - 2717 - 2.45 0.063 2764 566.9 -116.8 - - 3520 - - - - - - - - 14.59 14.52 14.62
916 120.7 -7.1 45 924 roll -0.51 - - 2709 - 1.95 0.105 3826 544.6 -116.8 - - 3521 - - - - - - - - 14.85 14.52 14.85
1035 129.0 -6.6 62 1042 done -0.51 - - 2709 - 1.77 0.041 2764 -600.0 -116.8 - - 3520 - - - - - - - - 14.76 14.69 14.75
1364 153.3 -7.7 74 1372 roll -0.51 - - 2709 - 2.35 0.043 1373 -591.9 -116.8 - - 3520 - - - - - - - - 14.88 14.62 14.89
1420 157.6 -7.5 82 1428 done -0.51 0.10 0.213 2730 210.0 2.45 0.065 2765 568.2 -116.8 - - 3520 - - - - - - - - 14.47 14.59 14.61
1757 179.7 -6.6 95 1764 roll -0.60 - - 2730 - 2.33 0.043 1380 -594.4 -116.8 - - 3518 - - - - - - - - 14.89 14.65 14.89
1791 182.1 -6.9 100 1799 done -0.70 0.08 0.091 2653 -962.5 2.45 0.065 2768 566.5 -116.8 - - 3522 - - - - - - - - 14.63 14.59 14.70
2148 217.2 -9.9 109 2157 roll -0.70 - - 2646 - 1.95 0.106 3819 539.0 -116.8 - - 3515 - - - - - - - - 14.90 14.54 14.90
2196 222.2 -10.3 116 2206 done -0.70 0.10 0.236 2675 290.0 1.77 0.040 2757 -600.0 -116.8 - - 3514 - - - - - - - - 14.50 14.73 14.69
2542 252.2 -8.6 123 2557 done -0.70 - - 2675 - - - 2757 - -116.8 - - 3514 - - - - - - - - 14.91 14.90 14.91
2876 280.5 -8.4 129 2889 done -0.70 - - 2675 - - - 2757 - -116.8 - - 3509 - - - - - - - - 14.95 14.95 14.95
3212 308.0 -8.1 135 3226 roll -0.70 - - 2666 - 1.98 0.109 3825 539.4 -116.8 - - 3507 - - - - - - - - 14.96 14.62 14.97
3265 312.5 -8.6 142 3279 done -0.70 - - 2667 - 1.75 0.046 2765 -605.7 -116.8 - - 3506 - - - - - - - - 14.83 14.77 14.83
3609 340.2 -8.1 149 3622 done -0.70 - - 2668 - - - 2759 - -116.8 - - 3504 - - - - - - - - 14.97 14.97 14.97
3945 367.4 -8.2 155 3958 done -0.70 - - 2667 - - - 2760 - -116.8 - - 3503 - - - - - - - - 14.97 14.97 14.97
4281 396.7 -8.8 161 4294 roll -0.70 - - 2667 - 2.35 0.048 1363 -594.5 -116.8 - - 3500 - - - - - - - - 14.97 14.76 14.99
4341 402.2 -9.1 169 4355 done -0.70 - - 2656 - 2.47 0.070 2765 567.6 -116.8 - - 3499 - - - - - - - - 14.81 14.66 14.82
4682 433.4 -9.1 182 4695 done -0.70 - - 2656 - - - 2766 - -116.8 - - 3498 - - - - - - - - 14.98 14.98 14.98
5018 462.3 -8.5 188 5031 roll -0.70 - - 2649 - 1.95 0.113 3833 547.2 -116.8 - - 3494 - - - - - - - - 14.97 14.61 14.97
5050 465.1 -8.6 192 5063 done -0.70 - - 2648 - 1.75 0.048 2769 -608.0 -116.8 - - 3496 - - - - - - - - 14.83 14.78 14.86
5418 496.2 -8.4 202 5431 done -0.70 - - 2648 - - - 2769 - -116.8 - - 3493 - - - - - - - - 14.97 14.97 14.97
5754 524.5 -8.5 208 5767 roll -0.70 - - 2648 - 2.35 0.048 1370 -595.3 -116.8 - - 3495 - - - - - - - - 14.99 14.71 14.98
5793 528.1 -9.4 213 5806 done -0.70 0.10 0.252 2669 210.0 2.45 0.070 2766 569.8 -116.8 - - 3493 - - - - - - - - 14.51 14.65 14.73
6155 557.7 -8.2 222 6167 done -0.70 - - 2669 - - - 2766 - -116.8 - - 3489 - - - - - - - - 14.97 14.97 14.97
6491 585.3 -8.2 228 6504 roll -0.70 - - 2669 - 2.40 0.048 1357 -587.1 -116.8 - - 3489 - - - - - - - - 14.98 14.70 14.99
6557 590.7 -8.0 237 6571 done -0.70 - - 2660 - 2.47 0.071 2773 573.3 -116.8 - - 3488 - - - - - - - - 14.78 14.63 14.81
6891 617.8 -8.2 249 6904 roll -0.70 - - 2651 - 1.92 0.115 3819 544.8 -116.8 - - 3487 - - - - - - - - 14.97 14.57 14.96
7008 627.6 -8.1 265 7021 done -0.70 - - 2651 - 1.75 0.047 2759 -605.7 -116.8 - - 3487 - - - - - - - - 14.82 14.76 14.83
7348 654.4 -7.9 278 7361 roll -0.70 - - 2651 - 2.33 0.048 1373 -594.8 -116.8 - - 3485 - - - - - - - - 14.95 14.68 14.95
7400 658.8 -8.0 285 7415 done -0.70 0.10 0.252 2671 200.0 2.47 0.072 2774 567.2 -116.8 - - 3485 - - - - - - - - 14.47 14.61 14.70
7745 684.4 -7.5 292 7758 roll -0.70 - - 2672 - 2.38 0.047 1374 -588.2 -116.8 - - 3483 - - - - - - - - 14.96 14.65 14.96
7790 688.1 -7.8 298 7804 done -0.70 - - 2663 - 2.45 0.072 2761 566.1 -116.8 - - 3483 - - - - - - - - 14.76 14.59 14.78
8145 717.2 -8.3 306 8158 roll -0.70 - - 2655 - 1.98 0.116 3828 538.9 -116.8 - - 3481 - - - - - - - - 14.95 14.54 14.95
8177 720.0 -8.7 310 8190 done -0.70 - - 2654 - 1.77 0.047 2753 -607.3 -116.8 - - 3481 - - - - - - - - 14.81 14.74 14.82
8545 750.0 -8.1 320 8559 roll -0.70 - - 2653 - 2.33 0.047 1371 -593.1 -116.8 - - 3480 - - - - - - - - 14.95 14.66 14.95
8598 754.4 -8.0 327 8611 done -0.70 - - 2646 - 2.47 0.072 2766 564.8 -116.8 - - 3480 - - - - - - - - 14.72 14.59 14.77
8942 782.4 -8.1 334 8955 done -0.70 - - 2646 - - - 2766 - -116.8 - - 3479 - - - - - - - - 14.95 14.95 14.95
9278 809.5 -8.1 340 9291 roll -0.70 - - 2638 - 1.98 0.117 3830 537.4 -116.8 - - 3478 - - - - - - - - 14.95 14.51 14.95
9338 814.7 -7.0 348 9352 done -0.70 0.10 0.246 2673 350.0 1.80 0.049 2755 -597.2 -116.8 - - 3478 - - - - - - - - 14.43 14.72 14.67
9680 839.6 -7.2 361 9693 roll -0.70 - - 2669 - 2.35 0.048 1363 -592.3 -116.8 - - 3477 - - - - - - - - 14.96 14.64 14.93
9761 845.5 -7.1 372 9774 done -0.70 - - 2658 - 2.47 0.073 2760 565.6 -116.8 - - 3477 - - - - - - - - 14.73 14.56 14.76
10080 868.5 -7.3 382 10093 roll -0.70 - - 2651 - 1.98 0.118 3821 535.9 -116.8 - - 3476 - - - - - - - - 14.92 14.50 14.92
10126 871.7 -6.7 388 10139 done -0.70 - - 2651 - 1.80 0.048 2755 -592.2 -116.8 - - 3476 - - - - - - - - 14.77 14.70 14.79
10480 897.6 -7.3 396 10493 done -0.70 - - 2652 - - - 2758 - -116.8 - - 3475 - - - - - - - - 14.92 14.92 14.92
10817 921.1 -7.2 402 10830 done -0.70 - - 2652 - - - 2755 - -116.8 - - 3479 - - - - - - - - 14.92 14.92 14.92
10983 end dive: TARGET_DEPTH_EXCEEDED
10983 begin apogee
10987 933.2 -7.2 405 11114 roll -0.23 0.57 0.189 2821 296.5 - - 2230 - - 117.68 1.929 3049 -3.7 0.336 - - - - - - 14.42 14.06 13.33
11116 end apogee: CONTROL_FINISHED_OK
11116 begin climb
11118 936.7 - 407 11257 roll 0.90 1.10 0.114 3169 316.4 2.47 0.059 849 -559.1 116.8 122.85 1.944 2584 -3.8 0.347 - - - - - - 14.05 14.09 13.21
11486 911.0 8.9 462 11500 done 0.76 - - 3169 - 2.50 0.057 2261 564.8 116.8 - - 2570 - - - - - - - - 14.40 14.29 14.42
11827 880.0 9.1 475 11841 roll 0.60 0.22 0.240 3112 -259.1 2.47 0.060 845 -573.3 116.8 - - 2567 - - - - - - - - 14.27 14.45 14.44
12069 863.4 6.4 509 12110 done 0.64 - - 3111 - 2.42 0.057 2248 579.8 145.4 29.27 1.932 2473 -3.2 0.273 - - - - - - 14.62 14.50 13.69
12452 836.2 7.2 521 12476 roll 0.65 - - 3111 - 2.62 0.106 3661 539.3 156.6 11.10 2.106 2422 -4.6 0.347 - - - - - - 14.73 14.41 13.78
12510 831.6 9.7 529 12523 done 0.56 0.12 0.243 3088 -191.7 2.45 0.044 2235 -582.0 156.6 - - 2421 - - - - - - - - 14.33 14.48 14.50
12852 809.7 6.3 542 12903 roll 0.60 - - 3088 - 2.78 0.104 3660 512.6 188.1 35.60 1.900 2295 -3.5 0.287 - - - - - - 14.78 14.26 13.68
12928 804.1 6.9 553 12962 done 0.63 - - 3095 - 2.42 0.044 2248 -583.5 207.4 21.50 1.953 2223 -3.3 0.262 - - - - - - 14.43 14.37 13.59
13294 774.8 8.1 563 13307 roll 0.63 - - 3098 - 2.65 0.108 3659 532.5 207.4 - - 2209 - - - - - - - - 14.69 14.38 14.69
13332 771.5 9.2 568 13345 done 0.63 - - 3107 - 2.40 0.044 2255 -585.0 207.4 - - 2209 - - - - - - - - 14.58 14.50 14.59
13693 739.9 8.8 577 13706 done 0.63 - - 3107 - - - 2248 - 207.4 - - 2208 - - - - - - - - 14.80 14.79 14.79
14030 710.2 8.8 583 14043 roll 0.63 - - 3107 - 2.62 0.109 3662 539.7 207.4 - - 2207 - - - - - - - - 14.87 14.50 14.85
14061 707.1 9.8 587 14074 done 0.63 - - 3117 - 2.40 0.045 2243 -591.2 207.4 - - 2207 - - - - - - - - 14.71 14.64 14.73
14430 673.3 9.2 597 14443 done 0.63 - - 3118 - - - 2239 - 207.4 - - 2206 - - - - - - - - 14.87 14.87 14.87
14766 641.6 9.5 603 14779 roll 0.63 - - 3118 - 2.62 0.107 3656 540.8 207.4 - - 2206 - - - - - - - - 14.89 14.52 14.89
14818 636.0 10.6 610 14832 done 0.63 - - 3128 - 2.40 0.044 2245 -587.9 207.4 - - 2206 - - - - - - - - 14.74 14.66 14.76
15162 602.1 9.9 617 15176 roll 0.63 - - 3138 - 2.38 0.067 859 -582.4 207.4 - - 2206 - - - - - - - - 14.88 14.59 14.88
15201 598.3 9.7 622 15215 done 0.63 0.12 0.224 3102 -300.0 2.42 0.060 2262 579.8 207.4 - - 2205 - - - - - - - - 14.46 14.59 14.69
15563 568.6 8.1 631 15576 roll 0.63 - - 3101 - 2.55 0.107 3663 549.4 207.4 - - 2205 - - - - - - - - 14.90 14.52 14.90
15644 561.2 9.1 642 15657 done 0.63 - - 3111 - 2.35 0.044 2259 -597.4 207.4 - - 2206 - - - - - - - - 14.75 14.67 14.77
15963 534.6 8.3 652 15976 done 0.63 - - 3111 - - - 2255 - 207.4 - - 2205 - - - - - - - - 14.89 14.89 14.89
16299 505.2 8.9 658 16313 roll 0.63 - - 3111 - 2.62 0.107 3658 535.5 207.4 - - 2205 - - - - - - - - 14.90 14.52 14.90
16338 501.2 10.4 663 16351 done 0.63 - - 3120 - 2.38 0.045 2252 -590.8 207.4 - - 2205 - - - - - - - - 14.75 14.67 14.74
16699 466.5 9.6 672 16712 done 0.63 - - 3121 - - - 2248 - 207.4 - - 2205 - - - - - - - - 14.90 14.90 14.90
17035 435.7 9.0 678 17049 roll 0.63 - - 3120 - 2.62 0.106 3660 538.9 207.4 - - 2206 - - - - - - - - 14.90 14.52 14.90
17081 431.2 9.8 684 17094 done 0.63 - - 3130 - 2.35 0.044 2264 -594.0 207.4 - - 2206 - - - - - - - - 14.75 14.67 14.77
17435 401.6 8.2 692 17449 roll 0.63 - - 3130 - 2.60 0.106 3661 537.3 207.4 - - 2206 - - - - - - - - 14.90 14.51 14.90
17474 398.3 8.8 697 17488 done 0.63 0.12 0.243 3105 -208.3 2.35 0.043 2260 -596.2 207.4 - - 2206 - - - - - - - - 14.42 14.67 14.68
17836 374.6 6.5 706 17875 roll 0.66 - - 3115 - 2.40 0.063 867 -580.4 235.2 26.85 1.502 2108 -3.6 0.173 - - - - - - 14.90 14.50 13.97
17908 369.7 7.1 716 17934 done 0.68 - - 3114 - 2.42 0.057 2270 579.8 249.4 14.62 1.587 2057 -3.5 0.155 - - - - - - 14.62 14.50 13.90
18282 341.3 7.8 727 18296 roll 0.68 - - 3115 - 2.55 0.106 3656 543.5 249.4 - - 2043 - - - - - - - - 14.76 14.42 14.76
18335 336.3 9.6 734 18349 done 0.68 - - 3124 - 2.38 0.043 2262 -585.7 249.4 - - 2046 - - - - - - - - 14.64 14.56 14.65
18679 305.5 9.1 741 18692 done 0.68 - - 3124 - - - 2257 - 249.4 - - 2043 - - - - - - - - 14.82 14.82 14.82
19015 273.2 9.7 747 19028 roll 0.68 - - 3124 - 2.60 0.105 3660 539.6 249.4 - - 2043 - - - - - - - - 14.85 14.50 14.85
19046 269.8 10.3 751 19060 done 0.68 - - 3133 - 2.35 0.042 2260 -595.7 249.4 - - 2043 - - - - - - - - 14.71 14.63 14.73
19415 235.0 9.2 761 19428 roll 0.68 - - 3144 - 2.40 0.064 858 -584.2 249.4 - - 2043 - - - - - - - - 14.88 14.57 14.87
19447 232.0 8.9 765 19460 done 0.68 - - 3143 - 2.42 0.056 2275 585.5 249.4 - - 2043 - - - - - - - - 14.71 14.58 14.73
19815 197.0 9.6 775 19829 roll 0.68 - - 3144 - 2.50 0.103 3650 550.0 249.4 - - 2043 - - - - - - - - 14.88 14.52 14.88
19854 193.0 10.7 780 19867 done 0.68 0.10 0.243 3124 -200.0 2.33 0.041 2259 -597.0 249.4 - - 2043 - - - - - - - - 14.44 14.66 14.67
20215 161.3 8.8 789 20229 roll 0.68 - - 3134 - 2.38 0.061 859 -588.2 249.4 - - 2043 - - - - - - - - 14.89 14.59 14.90
20254 157.8 8.9 794 20267 done 0.68 - - 3134 - 2.40 0.055 2270 587.9 249.4 - - 2043 - - - - - - - - 14.73 14.59 14.75
20615 127.3 8.3 803 20628 roll 0.68 - - 3134 - 2.50 0.102 3653 553.2 249.4 - - 2043 - - - - - - - - 14.88 14.51 14.90
20676 121.9 9.2 811 20689 done 0.68 - - 3144 - 2.33 0.041 2261 -597.4 249.4 - - 2043 - - - - - - - - 14.78 14.67 14.76
21017 95.4 7.1 825 21035 roll 0.70 - - 3154 - 2.38 0.062 866 -586.1 263.6 5.10 0.414 2003 -7.8 0.344 - - - - - - 14.90 14.61 14.24
21048 93.3 6.7 829 21072 done 0.81 - - 3154 - 2.40 0.054 2274 586.7 286.5 12.50 0.444 1909 -7.5 0.300 - - - - - - 14.71 14.61 14.30
21387 73.6 5.9 844 21419 done 0.96 0.08 0.142 3222 850.0 - - 2274 - 325.6 19.83 0.385 1753 -7.9 0.286 - - - - - - 14.66 14.65 14.31
21723 49.2 6.7 859 21748 roll 0.99 - - 3230 - 2.42 0.059 856 -586.0 347.3 11.05 0.311 1666 -7.9 0.237 - - - - - - 14.86 14.55 14.33
21913 39.4 4.8 886 21960 done 1.17 0.08 0.151 3297 837.5 2.40 0.052 2277 592.1 410.5 31.27 0.282 1414 -8.1 0.214 - - - - - - 14.61 14.57 14.34
22287 12.0 7.2 906 22305 roll 1.18 - - 3305 - 2.42 0.059 862 -584.7 422.2 5.88 0.205 1368 -7.8 0.087 - - - - - - 14.85 14.57 14.42
22421 end climb: SURFACE_DEPTH_REACHED
22421 begin surface coast
22428 end surface coast: CONTROL_FINISHED_OK
22428 begin surface
SM -0.26 - - - - -8.38 9.23 0.090 199 21.5 3.33 0.061 2763 -1794.9 500.14 35.75 0.155 1056 29.5 0.005 - - - - - -