SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 149 * Raw log
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• Previous call tries 1 • 59.96 of 350.00 AH used of 24V (82.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.1 deg, depth -0.36 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 500.89, SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 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 - - - 98 done -0.90 - - 195 - - - 2777 - -116.8 -76.80 - 3516 - - - - - - - - 14.66 13.26 14.67
100 1.2 -4.7 2 117 roll -0.90 11.43 0.396 2599 210.3 2.35 0.031 1341 -611.1 -116.8 - - 3517 - - - - - - - - 14.22 14.51 14.50
163 36.5 -32.4 12 173 done -0.52 0.50 0.262 2723 248.0 2.58 0.071 2768 553.1 -116.8 - - 3518 - - - - - - - - 14.26 14.40 14.43
486 83.5 -11.4 25 494 roll -0.45 0.10 0.252 2745 220.0 1.92 0.106 3824 550.0 -116.8 - - 3519 - - - - - - - - 14.42 14.45 14.60
520 87.3 -10.9 30 528 done -0.45 - - 2745 - 1.80 0.037 2728 -608.9 -116.8 - - 3519 - - - - - - - - 14.68 14.64 14.69
851 111.6 -6.9 41 857 roll -0.45 - - 2745 - 2.20 0.041 1387 -609.5 -116.8 - - 3522 - - - - - - - - 14.85 14.62 14.85
919 115.7 -6.0 51 927 done -0.54 - - 2735 - 2.42 0.067 2765 569.4 -116.8 - - 3522 - - - - - - - - 14.63 14.54 14.66
1242 134.9 -5.9 62 1250 roll -0.54 - - 2727 - 1.95 0.106 3827 544.6 -116.8 - - 3520 - - - - - - - - 14.87 14.54 14.88
1269 136.6 -6.3 66 1277 done -0.54 - - 2727 - 1.75 0.040 2765 -606.9 -116.8 - - 3521 - - - - - - - - 14.79 14.71 14.76
1634 160.9 -6.8 76 1643 roll -0.62 - - 2727 - 2.25 0.041 1392 -610.2 -116.8 - - 3521 - - - - - - - - 14.89 14.64 14.89
1676 163.7 -6.6 82 1684 done -0.71 0.08 0.093 2654 -912.5 2.42 0.067 2766 567.8 -116.8 - - 3518 - - - - - - - - 14.63 14.56 14.69
2026 195.9 -9.6 90 2028 done -0.71 - - 2654 - - - 2768 - -116.8 - - 3516 - - - - - - - - 14.90 14.89 14.89
2362 229.3 -10.0 96 2365 done -0.71 - - 2654 - - - 2768 - -116.8 - - 3514 - - - - - - - - 14.90 14.90 14.90
2698 263.3 -10.1 102 2711 roll -0.71 - - 2654 - 2.33 0.046 1391 -591.0 -116.8 - - 3511 - - - - - - - - 14.93 14.68 14.93
2750 268.7 -10.0 109 2764 done -0.71 - - 2644 - 2.42 0.071 2766 568.2 -116.8 - - 3510 - - - - - - - - 14.77 14.63 14.79
3095 304.1 -10.3 116 3107 done -0.71 - - 2644 - - - 2766 - -116.8 - - 3508 - - - - - - - - 14.96 14.97 14.96
3430 335.9 -9.1 122 3443 roll -0.71 - - 2636 - 1.92 0.110 3825 551.6 -116.8 - - 3505 - - - - - - - - 14.96 14.62 14.96
3483 340.9 -9.4 129 3497 done -0.71 0.10 0.212 2666 300.0 1.75 0.043 2778 -598.3 -116.8 - - 3505 - - - - - - - - 14.51 14.75 14.66
3827 367.7 -7.7 136 3841 roll -0.71 - - 2666 - 2.35 0.045 1363 -602.1 -116.8 - - 3503 - - - - - - - - 14.97 14.71 14.97
3888 372.5 -8.0 144 3901 done -0.71 - - 2656 - 2.45 0.070 2762 571.0 -116.8 - - 3503 - - - - - - - - 14.80 14.65 14.81
4228 401.4 -8.6 157 4241 done -0.71 - - 2656 - - - 2761 - -116.8 - - 3501 - - - - - - - - 14.97 14.97 14.98
4564 430.6 -8.6 163 4577 done -0.71 - - 2656 - - - 2761 - -116.8 - - 3502 - - - - - - - - 14.97 14.97 14.97
4900 459.0 -8.4 169 4913 done -0.71 - - 2656 - - - 2762 - -116.8 - - 3497 - - - - - - - - 14.97 14.97 14.97
5237 487.1 -8.3 175 5249 done -0.71 - - 2656 - - - 2761 - -116.8 - - 3496 - - - - - - - - 14.97 14.97 14.97
5572 514.2 -8.0 181 5585 done -0.71 - - 2656 - - - 2762 - -116.8 - - 3494 - - - - - - - - 14.97 14.97 14.97
5908 541.7 -8.3 187 5921 roll -0.71 - - 2656 - 2.38 0.047 1370 -584.9 -116.8 - - 3490 - - - - - - - - 14.97 14.70 14.97
5940 544.5 -8.7 191 5953 done -0.71 - - 2646 - 2.45 0.073 2757 566.1 -116.8 - - 3492 - - - - - - - - 14.78 14.63 14.81
6308 577.1 -8.9 201 6321 roll -0.71 - - 2646 - 2.35 0.045 1372 -589.4 -116.8 - - 3490 - - - - - - - - 14.97 14.70 14.97
6340 580.1 -9.0 205 6353 done -0.71 0.12 0.237 2673 225.0 2.45 0.071 2767 569.4 -116.8 - - 3490 - - - - - - - - 14.52 14.64 14.73
6708 609.4 -7.9 215 6721 roll -0.71 - - 2665 - 1.95 0.115 3831 545.6 -116.8 - - 3488 - - - - - - - - 14.97 14.57 14.97
6775 615.0 -8.4 224 6788 done -0.71 - - 2665 - 1.77 0.045 2749 -611.3 -116.8 - - 3488 - - - - - - - - 14.82 14.76 14.83
7108 640.9 -7.8 236 7121 roll -0.71 - - 2664 - 2.30 0.047 1375 -597.4 -116.8 - - 3486 - - - - - - - - 14.94 14.68 14.96
7181 646.9 -7.9 246 7195 done -0.71 - - 2654 - 2.45 0.072 2768 568.6 -116.8 - - 3486 - - - - - - - - 14.77 14.62 14.80
7508 672.5 -7.9 257 7521 done -0.71 - - 2655 - - - 2769 - -116.8 - - 3484 - - - - - - - - 14.96 14.97 14.95
7844 698.2 -7.6 263 7857 roll -0.71 - - 2657 - 2.38 0.046 1369 -588.2 -116.8 - - 3483 - - - - - - - - 14.96 14.67 14.96
7904 702.8 -7.4 271 7918 done -0.71 - - 2647 - 2.45 0.073 2755 565.7 -116.8 - - 3483 - - - - - - - - 14.76 14.59 14.78
8245 728.7 -7.6 284 8258 done -0.71 - - 2647 - - - 2755 - -116.8 - - 3481 - - - - - - - - 14.95 14.95 14.94
8581 754.7 -7.7 290 8594 roll -0.71 - - 2646 - 2.35 0.047 1375 -587.2 -116.8 - - 3481 - - - - - - - - 14.95 14.66 14.95
8613 757.3 -8.0 294 8626 done -0.71 0.10 0.258 2666 200.0 2.45 0.073 2758 564.5 -116.8 - - 3480 - - - - - - - - 14.43 14.58 14.68
8981 784.4 -7.4 304 8994 done -0.71 - - 2666 - - - 2759 - -116.8 - - 3479 - - - - - - - - 14.95 14.94 14.94
9318 810.0 -7.7 310 9331 roll -0.71 - - 2658 - 1.98 0.120 3821 536.4 -116.8 - - 3479 - - - - - - - - 14.95 14.50 14.95
9349 812.5 -7.9 314 9362 done -0.71 - - 2658 - 1.77 0.049 2757 -601.1 -116.8 - - 3477 - - - - - - - - 14.78 14.72 14.80
9718 840.7 -7.7 324 9731 roll -0.71 - - 2658 - 2.35 0.050 1367 -591.5 -116.8 - - 3477 - - - - - - - - 14.94 14.64 14.94
9785 845.9 -7.6 333 9798 done -0.71 - - 2650 - 2.45 0.075 2750 564.5 -116.8 - - 3477 - - - - - - - - 14.73 14.57 14.76
10118 872.0 -7.9 345 10131 done -0.71 - - 2650 - - - 2750 - -116.8 - - 3476 - - - - - - - - 14.93 14.93 14.93
10454 897.8 -7.5 351 10467 roll -0.71 - - 2649 - 2.38 0.050 1365 -581.9 -116.8 - - 3475 - - - - - - - - 14.93 14.62 14.93
10500 901.3 -5.9 357 10513 done -0.71 0.10 0.254 2669 200.0 2.47 0.076 2757 563.6 -116.8 - - 3474 - - - - - - - - 14.40 14.56 14.64
10855 924.6 -6.5 365 10868 roll -0.71 - - 2661 - 2.00 0.120 3831 537.0 -116.8 - - 3474 - - - - - - - - 14.92 14.49 14.92
10908 928.3 -7.0 372 10922 done -0.71 - - 2661 - 1.83 0.048 2748 -591.8 -116.8 - - 3474 - - - - - - - - 14.76 14.69 14.77
10970 end dive: TARGET_DEPTH_EXCEEDED
10970 begin apogee
10974 932.6 -6.8 374 11099 roll -0.23 0.55 0.184 2824 296.4 - - 2233 - - 114.82 1.961 3050 -3.7 0.334 - - - - - - 14.42 14.05 13.31
11100 end apogee: CONTROL_FINISHED_OK
11101 begin climb
11102 935.7 - 376 11243 roll 0.90 1.10 0.113 3172 316.4 2.47 0.060 845 -561.9 116.8 122.03 1.943 2579 -3.9 0.354 - - - - - - 14.06 14.08 13.20
11465 909.5 9.3 430 11478 done 0.75 - - 3172 - 2.47 0.059 2254 570.4 116.8 - - 2572 - - - - - - - - 14.40 14.28 14.44
11819 875.3 9.7 438 11833 roll 0.59 0.25 0.236 3098 -296.0 2.58 0.105 3653 542.2 116.8 - - 2569 - - - - - - - - 14.28 14.40 14.45
12061 855.1 7.9 472 12075 done 0.51 0.15 0.243 3067 -206.7 2.40 0.044 2238 -589.6 116.8 - - 2568 - - - - - - - - 14.34 14.57 14.58
12388 835.1 6.2 483 12441 roll 0.55 - - 3066 - 2.75 0.107 3653 514.5 151.1 36.10 1.899 2441 -3.5 0.294 - - - - - - 14.83 14.30 13.69
12453 830.8 8.7 492 12466 done 0.55 - - 3076 - 2.42 0.044 2243 -582.6 151.1 - - 2439 - - - - - - - - 14.46 14.40 14.47
12786 807.9 6.9 504 12818 roll 0.57 - - 3076 - 2.67 0.107 3652 527.7 169.8 19.83 1.978 2370 -3.5 0.270 - - - - - - 14.73 14.34 13.74
12845 803.4 7.4 512 12863 done 0.58 - - 3086 - 2.42 0.044 2243 -582.2 177.4 3.17 1.362 2345 -7.9 0.885 - - - - - - 14.50 14.43 13.36
13183 776.8 7.8 525 13197 roll 0.58 - - 3086 - 2.65 0.108 3656 533.2 177.4 1.33 0.263 2345 - - - - - - - - 14.74 14.42 14.29
13245 771.5 9.2 533 13259 done 0.58 - - 3095 - 2.40 0.044 2255 -583.8 177.4 1.30 0.269 2342 -2.3 1.260 - - - - - - 14.63 14.56 14.32
13586 743.7 8.1 546 13599 roll 0.58 - - 3105 - 2.42 0.064 847 -581.8 177.4 1.25 0.268 2343 - - - - - - - - 14.83 14.53 14.35
13618 741.1 7.9 550 13631 done 0.58 - - 3105 - 2.45 0.060 2263 578.0 177.4 - - 2349 - - - - - - - - 14.67 14.54 14.71
13986 711.1 8.1 560 14000 roll 0.58 - - 3106 - 2.58 0.107 3660 541.5 177.4 1.15 0.271 2342 -6.1 3.040 - - - - - - 14.85 14.50 14.38
14047 705.8 9.0 568 14060 done 0.58 - - 3116 - 2.38 0.043 2256 -589.9 177.4 - - 2350 - - - - - - - - 14.71 14.64 14.72
14387 678.9 7.8 581 14400 done 0.58 - - 3116 - - - 2250 - 177.4 - - 2355 - - - - - - - - 14.88 14.87 14.88
14723 652.9 7.8 587 14737 roll 0.58 - - 3116 - 2.62 0.108 3659 537.8 177.4 - - 2351 - - - - - - - - 14.89 14.51 14.89
14776 648.1 9.1 594 14790 done 0.58 0.12 0.240 3091 -208.3 2.38 0.043 2259 -588.2 177.4 - - 2351 - - - - - - - - 14.43 14.64 14.65
15120 623.1 7.3 601 15147 roll 0.59 - - 3101 - 2.50 0.065 847 -564.8 186.9 14.88 1.886 2301 -3.4 0.211 - - - - - - 14.89 14.59 13.97
15186 617.9 8.0 610 15200 done 0.59 - - 3101 - 2.45 0.059 2262 577.6 186.9 - - 2296 - - - - - - - - 14.62 14.52 14.64
15513 590.9 8.3 621 15526 roll 0.59 - - 3101 - 2.58 0.108 3663 543.0 186.9 - - 2295 - - - - - - - - 14.82 14.48 14.82
15552 587.3 9.0 626 15565 done 0.59 - - 3110 - 2.38 0.041 2253 -592.4 186.9 - - 2295 - - - - - - - - 14.69 14.62 14.71
15913 556.9 8.3 635 15926 done 0.59 - - 3110 - - - 2247 - 186.9 - - 2295 - - - - - - - - 14.85 14.86 14.86
16249 531.5 7.5 641 16263 roll 0.60 - - 3110 - 2.70 0.109 3661 523.7 193.2 1.65 0.289 2283 -7.3 2.545 - - - - - - 14.88 14.50 14.04
16281 528.8 7.8 645 16296 done 0.60 - - 3121 - 2.38 0.044 2256 -590.3 193.2 0.82 0.311 2284 - - - - - - - - 14.72 14.64 14.42
16651 500.9 7.6 655 16669 roll 0.61 - - 3121 - 2.60 0.108 3659 539.6 197.4 5.18 1.857 2269 -2.9 0.149 - - - - - - 14.88 14.60 13.85
16694 497.2 8.6 661 16709 done 0.61 0.10 0.248 3101 -200.0 2.35 0.043 2258 -596.2 197.4 1.60 0.294 2266 -1.9 0.603 - - - - - - 14.47 14.65 14.19
17050 472.1 7.0 669 17082 done 0.63 - - 3102 - - - 2257 - 212.6 22.73 1.634 2206 -2.6 0.145 - - - - - - 14.87 14.55 13.95
17386 445.7 8.0 675 17399 roll 0.63 - - 3100 - 2.60 0.106 3656 538.1 212.6 - - 2193 - - - - - - - - 14.78 14.45 14.78
17425 442.2 9.2 680 17438 done 0.63 - - 3110 - 2.35 0.042 2263 -592.8 212.6 - - 2193 - - - - - - - - 14.66 14.62 14.68
17786 411.9 8.3 689 17799 done 0.63 - - 3110 - - - 2259 - 212.6 - - 2193 - - - - - - - - 14.84 14.83 14.84
18123 384.6 8.1 695 18136 roll 0.63 - - 3110 - 2.60 0.109 3658 538.1 212.6 - - 2192 - - - - - - - - 14.87 14.50 14.87
18161 381.1 9.1 700 18174 done 0.63 - - 3119 - 2.35 0.044 2268 -591.5 212.6 - - 2193 - - - - - - - - 14.71 14.65 14.73
18522 350.2 8.6 709 18536 roll 0.63 - - 3129 - 2.42 0.065 853 -584.7 212.6 - - 2193 - - - - - - - - 14.88 14.57 14.88
18561 346.7 8.9 714 18574 done 0.63 - - 3129 - 2.45 0.060 2276 580.8 212.6 - - 2192 - - - - - - - - 14.71 14.57 14.72
18923 313.9 9.1 723 18936 roll 0.63 - - 3128 - 2.55 0.109 3664 544.3 212.6 - - 2193 - - - - - - - - 14.94 14.52 14.90
18968 309.3 10.4 729 18982 done 0.63 0.15 0.230 3096 -213.3 2.35 0.043 2261 -597.0 212.6 - - 2193 - - - - - - - - 14.45 14.66 14.68
19323 282.5 7.4 737 19336 done 0.63 - - 3096 - - - 2257 - 219.7 2.88 1.018 2175 -6.2 0.330 - - - - - - 14.89 14.70 13.66
19659 258.9 6.9 743 19698 roll 0.66 - - 3095 - 2.60 0.106 3656 538.1 237.6 24.48 1.382 2096 -3.2 0.115 - - - - - - 14.89 14.51 14.05
19717 254.7 7.6 751 19730 done 0.66 - - 3104 - 2.35 0.041 2267 -591.1 241.8 - - 2096 - - - - - - - - 14.65 14.59 14.66
20057 229.5 7.4 764 20078 done 0.67 - - 3104 - - - 2262 - 249.8 11.23 1.476 2054 -3.7 0.111 - - - - - - 14.81 14.58 14.00
20394 204.2 7.5 770 20407 done 0.76 0.08 0.149 3178 925.0 - - 2261 - 255.1 1.25 0.237 2032 -17.6 2.886 - - - - - - 14.59 14.61 14.38
20729 166.6 11.5 776 20743 done 0.76 0.10 0.249 3150 -280.0 - - 2265 - 255.1 - - 2041 - - - - - - - - 14.42 14.68 14.62
21065 132.8 9.9 782 21078 done 0.76 - - 3150 - - - 2261 - 255.1 - - 2041 - - - - - - - - 14.88 14.88 14.88
21402 103.0 8.4 788 21415 roll 0.76 - - 3150 - 2.58 0.103 3659 541.9 255.1 - - 2041 - - - - - - - - 14.88 14.53 14.88
21440 99.4 9.3 793 21454 done 0.76 - - 3158 - 2.33 0.041 2264 -598.7 255.1 - - 2042 - - - - - - - - 14.76 14.69 14.78
21774 77.1 5.2 807 21814 roll 0.83 - - 3175 - 2.45 0.060 866 -570.6 310.7 27.77 0.403 1814 -8.2 0.299 - - - - - - 14.89 14.59 14.31
21861 72.0 6.0 819 21894 done 0.97 0.08 0.142 3227 650.0 2.40 0.054 2274 586.7 347.6 18.60 0.382 1665 -8.0 0.287 - - - - - - 14.59 14.54 14.28
22221 44.7 6.5 837 22246 roll 1.01 - - 3226 - 2.58 0.104 3651 533.7 374.5 13.40 0.301 1558 -8.0 0.226 - - - - - - 14.85 14.50 14.32
22425 31.4 4.7 866 22472 done 1.09 - - 3233 - 2.30 0.039 2261 -604.3 440.1 32.22 0.260 1297 -8.1 0.186 - - - - - - 14.69 14.65 14.33
22786 12.7 5.0 884 22832 roll 1.33 0.20 0.078 3356 615.0 2.42 0.060 862 -578.1 500.5 28.48 0.194 1055 -8.5 0.106 - - - - - - 14.65 14.56 14.42
22906 end climb: SURFACE_DEPTH_REACHED
22906 begin surface coast
22912 end surface coast: CONTROL_FINISHED_OK
22912 begin surface
SM -0.34 - - - - -8.38 9.43 0.093 194 20.6 3.35 0.062 2771 -2431.3 500.89 - - 1055 - - - - - - - -