SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 151 * Raw log
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• Previous call tries 1 • 60.69 of 350.00 AH used of 24V (82.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth -0.37 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: 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 - - - 96 done -0.90 - - 175 - - - 2792 - -116.8 -74.95 - 3516 - - - - - - - - 14.67 13.26 14.67
98 1.7 -6.6 2 120 roll -0.90 11.55 0.396 2595 209.5 1.85 0.077 3821 556.2 -116.8 - - 3517 - - - - - - - - 14.20 14.43 14.48
146 35.8 -52.4 10 153 done -0.14 0.95 0.288 2845 263.2 1.77 0.039 2772 -592.7 -116.8 - - 3518 - - - - - - - - 14.25 14.52 14.50
482 70.0 -6.4 25 490 roll -0.29 0.08 0.149 2777 -850.0 2.33 0.045 1364 -604.3 -116.8 - - 3519 - - - - - - - - 14.59 14.53 14.65
558 76.1 -8.4 36 567 done -0.37 - - 2768 - 2.45 0.068 2752 566.5 -116.8 - - 3520 - - - - - - - - 14.59 14.51 14.62
874 99.2 -6.5 48 881 roll -0.46 - - 2768 - 2.33 0.044 1363 -596.1 -116.8 - - 3521 - - - - - - - - 14.85 14.61 14.86
971 105.4 -6.1 62 979 done -0.57 0.08 0.097 2695 -912.5 2.47 0.067 2770 569.6 -116.8 - - 3521 - - - - - - - - 14.61 14.55 14.65
1322 132.1 -7.8 70 1329 roll -0.57 - - 2686 - 1.92 0.105 3817 545.3 -116.8 - - 3520 - - - - - - - - 14.88 14.54 14.88
1475 144.1 -7.9 92 1483 done -0.57 0.10 0.228 2717 310.0 1.80 0.038 2726 -606.1 -116.8 - - 3519 - - - - - - - - 14.50 14.72 14.69
1826 161.4 -5.4 100 1828 done -0.57 - - 2717 - - - 2726 - -116.8 - - 3519 - - - - - - - - 14.90 14.90 14.90
2162 184.9 -7.2 106 2169 roll -0.57 - - 2717 - 2.28 0.047 1365 -596.9 -116.8 - - 3516 - - - - - - - - 14.90 14.62 14.91
2196 193.7 -26.1 111 2204 done -0.65 - - 2707 - 2.47 0.068 2761 565.2 -116.8 - - 3515 - - - - - - - - 14.67 14.59 14.71
2554 220.5 -7.5 120 2557 done -0.65 - - 2707 - - - 2760 - -116.8 - - 3513 - - - - - - - - 14.90 14.91 14.91
2890 245.5 -7.4 126 2897 roll -0.65 - - 2707 - 2.33 0.047 1381 -591.8 -116.8 - - 3510 - - - - - - - - 14.90 14.64 14.90
2938 249.2 -7.5 133 2948 done -0.65 - - 2699 - 2.45 0.070 2757 561.6 -116.8 - - 3509 - - - - - - - - 14.63 14.58 14.70
3282 274.6 -7.3 140 3295 done -0.65 - - 2699 - - - 2757 - -116.8 - - 3506 - - - - - - - - 14.95 14.96 14.96
3618 299.4 -7.2 146 3631 roll -0.65 - - 2699 - 2.30 0.047 1391 -593.9 -116.8 - - 3504 - - - - - - - - 14.96 14.70 14.96
3671 303.1 -7.0 153 3685 done -0.65 - - 2690 - 2.42 0.073 2765 567.8 -116.8 - - 3503 - - - - - - - - 14.79 14.65 14.81
4015 332.0 -7.5 160 4028 roll -0.65 - - 2682 - 1.92 0.112 3823 551.0 -116.8 - - 3502 - - - - - - - - 14.97 14.62 14.97
4047 334.7 -7.9 164 4060 done -0.65 - - 2681 - 1.73 0.046 2768 -609.8 -116.8 - - 3502 - - - - - - - - 14.84 14.79 14.86
4415 360.1 -7.0 174 4428 roll -0.65 - - 2682 - 2.33 0.046 1377 -597.0 -116.8 - - 3499 - - - - - - - - 14.98 14.71 14.98
4461 354.8 -7.9 180 4474 done -0.65 - - 2672 - 2.40 0.069 2760 576.2 -116.8 - - 3503 - - - - - - - - 14.80 14.65 14.82
4815 392.5 -11.8 188 4828 done -0.65 - - 2672 - - - 2760 - -116.8 - - 3497 - - - - - - - - 14.97 14.97 14.97
5151 423.2 -8.6 194 5164 roll -0.65 - - 2662 - 1.95 0.110 3827 547.2 -116.8 - - 3495 - - - - - - - - 14.97 14.61 14.97
5225 428.1 -5.3 204 5238 done -0.65 - - 2664 - 1.75 0.047 2756 -612.0 -116.8 - - 3494 - - - - - - - - 14.84 14.78 14.85
5551 437.8 -7.7 215 5564 roll -0.65 - - 2664 - 2.33 0.047 1370 -594.8 -116.8 - - 3494 - - - - - - - - 14.97 14.69 14.97
5597 442.4 -5.3 221 5611 done -0.65 0.10 0.249 2689 250.0 2.45 0.071 2766 569.8 -116.8 - - 3493 - - - - - - - - 14.51 14.64 14.73
5952 464.2 -5.9 229 5966 roll -0.65 - - 2677 - 1.92 0.112 3820 549.0 -116.8 - - 3492 - - - - - - - - 14.98 14.59 14.98
5998 470.0 -7.4 235 6011 done -0.65 - - 2677 - 1.75 0.047 2755 -608.6 -116.8 - - 3491 - - - - - - - - 14.83 14.78 14.85
6352 491.9 -6.2 243 6365 done -0.65 - - 2677 - - - 2755 - -116.8 - - 3489 - - - - - - - - 14.97 14.98 14.97
6689 514.3 -6.8 249 6702 roll -0.65 - - 2677 - 2.33 0.048 1370 -594.4 -116.8 - - 3488 - - - - - - - - 14.97 14.69 14.97
6728 519.3 -11.0 254 6741 done -0.65 - - 2667 - 2.45 0.070 2765 569.4 -116.8 - - 3488 - - - - - - - - 14.78 14.63 14.81
7089 542.3 -6.4 263 7102 done -0.65 - - 2667 - - - 2765 - -116.8 - - 3486 - - - - - - - - 14.96 14.96 14.96
7425 565.6 -7.1 269 7438 roll -0.65 - - 2667 - 2.38 0.049 1377 -583.2 -116.8 - - 3484 - - - - - - - - 14.97 14.68 14.97
7471 568.9 -6.2 275 7484 done -0.65 0.10 0.251 2687 200.0 2.45 0.071 2763 565.7 -116.8 - - 3484 - - - - - - - - 14.48 14.62 14.71
7826 591.3 -6.6 283 7838 done -0.65 - - 2687 - - - 2763 - -116.8 - - 3482 - - - - - - - - 14.96 14.97 14.96
8162 612.9 -6.5 289 8175 done -0.65 - - 2687 - - - 2763 - -116.8 - - 3482 - - - - - - - - 14.97 14.97 14.97
8497 633.0 -5.8 295 8510 done -0.65 - - 2687 - - - 2763 - -116.8 - - 3481 - - - - - - - - 14.96 15.00 14.96
8834 655.0 -5.3 301 8847 roll -0.65 - - 2688 - 2.38 0.050 1375 -583.2 -116.8 - - 3478 - - - - - - - - 14.96 14.66 14.96
8873 658.3 -10.6 306 8886 done -0.65 - - 2679 - 2.47 0.073 2771 565.2 -116.8 - - 3480 - - - - - - - - 14.80 14.60 14.79
9235 683.1 -6.5 315 9247 done -0.65 - - 2679 - - - 2771 - -116.8 - - 3479 - - - - - - - - 14.96 14.96 14.93
9571 705.0 -5.8 321 9584 roll -0.65 - - 2678 - 2.40 0.049 1375 -581.7 -116.8 - - 3478 - - - - - - - - 14.95 14.66 14.95
9632 711.8 -7.7 329 9646 done -0.65 - - 2668 - 2.47 0.072 2760 560.7 -116.8 - - 3477 - - - - - - - - 14.74 14.57 14.76
9973 736.5 -7.3 342 9986 done -0.65 - - 2670 - - - 2760 - -116.8 - - 3477 - - - - - - - - 14.95 14.95 14.95
10309 760.9 -7.4 348 10322 roll -0.65 - - 2670 - 2.38 0.049 1379 -580.3 -116.8 - - 3475 - - - - - - - - 14.95 14.63 14.95
10347 766.0 -12.6 353 10362 done -0.65 0.10 0.248 2690 200.0 2.42 0.074 2763 571.9 -116.8 - - 3475 - - - - - - - - 14.41 14.56 14.66
10710 789.7 -6.5 362 10723 done -0.73 - - 2690 - - - 2760 - -116.8 - - 3474 - - - - - - - - 14.92 14.94 14.93
11046 810.6 -6.4 368 11060 roll -0.82 0.08 0.151 2628 -775.0 2.38 0.048 1378 -580.7 -116.8 - - 3474 - - - - - - - - 14.62 14.62 14.66
11120 816.7 -6.4 378 11133 done -0.82 - - 2619 - 2.47 0.074 2765 561.5 -116.8 - - 3473 - - - - - - - - 14.73 14.55 14.75
11447 844.6 -8.7 389 11459 done -0.82 - - 2620 - - - 2765 - -116.8 - - 3473 - - - - - - - - 14.92 14.93 14.93
11783 877.2 -8.8 395 11796 roll -0.82 - - 2619 - 2.40 0.050 1372 -580.4 -116.8 - - 3472 - - - - - - - - 14.92 14.60 14.93
11814 880.4 -8.3 399 11827 done -0.82 - - 2610 - 2.47 0.074 2758 561.1 -116.8 - - 3471 - - - - - - - - 14.71 14.54 14.73
12183 910.4 -8.4 409 12196 roll -0.82 - - 2602 - 2.00 0.115 3831 536.5 -116.8 - - 3471 - - - - - - - - 14.92 14.47 14.92
12228 916.1 -16.2 415 12242 done -0.74 0.20 0.225 2658 280.0 1.80 0.049 2759 -595.6 -116.8 - - 3470 - - - - - - - - 14.38 14.67 14.63
12469 end dive: TARGET_DEPTH_EXCEEDED
12469 begin apogee
12474 932.3 -5.9 421 12600 roll -0.23 0.55 0.185 2821 296.4 - - 2232 - - 116.30 1.996 3052 -3.6 0.320 - - - - - - 14.41 14.02 13.30
12602 end apogee: CONTROL_FINISHED_OK
12602 begin climb
12603 936.2 - 423 12744 roll 0.90 1.10 0.112 3170 317.3 2.47 0.060 851 -559.1 116.8 124.25 1.979 2585 -3.8 0.339 - - - - - - 14.04 14.07 13.16
12974 908.2 12.9 478 12987 done 0.76 - - 3170 - 2.50 0.057 2264 565.2 116.8 - - 2571 - - - - - - - - 14.39 14.28 14.41
13314 876.9 8.6 491 13328 roll 0.60 0.22 0.241 3113 -259.1 2.47 0.060 843 -575.3 116.8 - - 2569 - - - - - - - - 14.23 14.44 14.41
13535 865.5 3.6 522 13646 done 0.72 - - 3113 - 2.45 0.055 2254 575.9 207.5 98.10 1.899 2223 -3.5 0.307 - - - - - - 14.60 14.48 13.36
13987 830.0 8.2 544 14000 roll 0.72 - - 3113 - 2.60 0.105 3658 540.0 207.5 - - 2207 - - - - - - - - 14.66 14.31 14.66
14047 825.3 13.3 552 14061 done 0.72 - - 3122 - 2.45 0.044 2233 -581.6 207.5 - - 2207 - - - - - - - - 14.52 14.45 14.55
14388 792.4 8.8 565 14401 roll 0.72 - - 3132 - 2.38 0.066 858 -577.7 207.5 - - 2205 - - - - - - - - 14.78 14.50 14.77
14427 790.4 11.2 570 14440 done 0.72 - - 3132 - 2.40 0.059 2246 578.3 207.5 - - 2208 - - - - - - - - 14.63 14.50 14.65
14788 753.9 9.2 579 14801 roll 0.72 - - 3134 - 2.60 0.107 3657 542.7 207.5 - - 2204 - - - - - - - - 14.83 14.47 14.83
14827 751.7 7.5 584 14840 done 0.72 - - 3143 - 2.40 0.044 2245 -588.3 212.8 - - 2203 - - - - - - - - 14.69 14.61 14.71
15188 712.9 9.6 593 15201 done 0.72 - - 3144 - - - 2241 - 212.8 - - 2204 - - - - - - - - 14.85 14.86 14.86
15524 677.6 9.4 599 15537 roll 0.72 - - 3143 - 2.65 0.107 3654 533.2 212.8 - - 2204 - - - - - - - - 14.88 14.49 14.88
15563 672.0 13.7 604 15576 done 0.64 0.15 0.236 3111 -213.3 2.38 0.046 2256 -587.4 212.8 - - 2203 - - - - - - - - 14.40 14.64 14.62
15925 642.1 9.1 613 15938 done 0.64 - - 3110 - - - 2252 - 212.8 - - 2203 - - - - - - - - 14.88 14.88 14.89
16261 617.9 7.1 619 16293 roll 0.65 - - 3110 - 2.60 0.103 3657 540.4 227.4 19.35 1.838 2138 -3.4 0.216 - - - - - - 14.90 14.51 13.93
16311 613.1 10.7 626 16325 done 0.65 - - 3120 - 2.42 0.045 2245 -583.5 227.4 - - 2133 - - - - - - - - 14.64 14.57 14.65
16655 583.1 8.4 633 16668 done 0.65 - - 3121 - - - 2241 - 227.4 - - 2131 - - - - - - - - 14.81 14.81 14.80
16991 552.0 9.2 639 17004 roll 0.65 - - 3120 - 2.65 0.106 3654 533.2 227.4 - - 2131 - - - - - - - - 14.83 14.47 14.84
17022 549.9 4.3 643 17118 done 0.75 - - 3130 - 2.40 0.045 2252 -584.2 301.9 83.05 1.600 1850 -3.4 0.222 - - - - - - 14.70 14.62 13.57
17445 509.8 9.6 668 17459 roll 0.75 - - 3140 - 2.45 0.068 856 -569.8 301.9 - - 1830 - - - - - - - - 14.66 14.39 14.67
17477 506.8 10.2 672 17490 done 0.75 - - 3140 - 2.45 0.060 2258 572.2 301.9 - - 1829 - - - - - - - - 14.52 14.41 14.54
17845 468.1 10.3 682 17858 roll 0.75 - - 3140 - 2.58 0.107 3652 540.3 301.9 - - 1828 - - - - - - - - 14.78 14.42 14.76
17898 462.3 13.5 689 17912 done 0.75 - - 3150 - 2.40 0.044 2258 -580.8 301.9 - - 1828 - - - - - - - - 14.61 14.52 14.62
18242 427.2 10.4 696 18255 roll 0.75 - - 3160 - 2.42 0.067 851 -581.4 301.9 - - 1827 - - - - - - - - 14.82 14.52 14.81
18288 421.9 9.2 702 18301 done 0.75 - - 3160 - 2.42 0.059 2257 581.0 301.9 - - 1827 - - - - - - - - 14.66 14.53 14.68
18642 381.7 11.7 710 18655 roll 0.75 - - 3166 - 2.58 0.106 3661 544.2 301.9 - - 1827 - - - - - - - - 14.85 14.49 14.86
18688 375.8 15.1 716 18701 done 0.75 - - 3170 - 2.40 0.044 2243 -590.8 301.9 - - 1825 - - - - - - - - 14.71 14.62 14.73
19042 334.8 11.9 724 19055 roll 0.75 - - 3180 - 2.40 0.067 848 -581.2 301.9 - - 1827 - - - - - - - - 14.87 14.55 14.87
19094 329.3 12.7 731 19108 done 0.75 0.12 0.232 3145 -291.7 2.45 0.059 2257 575.1 301.9 - - 1826 - - - - - - - - 14.40 14.56 14.64
19439 294.7 10.3 738 19452 roll 0.75 - - 3145 - 2.55 0.104 3652 547.1 301.9 - - 1825 - - - - - - - - 14.89 14.50 14.89
19484 290.2 11.5 744 19497 done 0.75 - - 3154 - 2.38 0.043 2246 -590.8 301.9 - - 1826 - - - - - - - - 14.73 14.65 14.75
19839 253.2 10.2 752 19852 roll 0.75 - - 3164 - 2.40 0.067 852 -580.8 301.9 - - 1826 - - - - - - - - 14.90 14.56 14.90
19891 247.9 12.4 759 19905 done 0.75 - - 3165 - 2.42 0.058 2254 579.3 301.9 - - 1823 - - - - - - - - 14.71 14.57 14.73
20235 210.3 10.9 766 20248 roll 0.75 - - 3165 - 2.55 0.104 3653 548.6 301.9 - - 1826 - - - - - - - - 14.88 14.50 14.88
20267 206.7 11.0 770 20280 done 0.75 0.12 0.239 3140 -208.3 2.38 0.044 2246 -591.2 301.9 - - 1826 - - - - - - - - 14.38 14.60 14.63
20636 170.5 9.4 780 20649 roll 0.75 - - 3149 - 2.38 0.065 858 -583.2 301.9 - - 1826 - - - - - - - - 14.90 14.57 14.90
20674 167.6 9.8 785 20688 done 0.75 - - 3150 - 2.40 0.056 2263 585.4 301.9 - - 1826 - - - - - - - - 14.71 14.58 14.74
21036 141.7 6.2 794 21082 roll 0.79 - - 3150 - 2.60 0.103 3653 534.6 335.3 30.45 1.229 1707 -3.9 0.086 - - - - - - 14.89 14.47 14.04
21107 134.4 11.1 804 21120 done 0.79 - - 3160 - 2.38 0.041 2253 -588.2 335.3 - - 1703 - - - - - - - - 14.62 14.57 14.62
21433 100.9 10.0 815 21446 roll 0.79 - - 3169 - 2.40 0.065 858 -581.2 335.3 - - 1701 - - - - - - - - 14.81 14.50 14.81
21472 97.4 9.1 820 21485 done 0.79 - - 3169 - 2.40 0.056 2258 583.3 335.3 - - 1700 - - - - - - - - 14.65 14.52 14.67
21806 70.9 7.0 834 21824 roll 0.88 - - 3178 - 2.42 0.062 859 -578.1 350.6 5.45 0.351 1654 -8.4 0.325 - - - - - - 14.83 14.50 14.22
21949 61.7 6.3 854 21983 done 1.04 0.12 0.106 3255 641.7 2.42 0.055 2274 584.7 382.1 16.88 0.350 1530 -7.3 0.247 - - - - - - 14.60 14.54 14.28
22285 34.3 7.1 869 22304 roll 1.05 - - 3255 - 2.53 0.101 3660 547.8 395.1 7.10 0.268 1477 -7.5 0.182 - - - - - - 14.83 14.49 14.31
22364 29.1 7.0 880 22389 done 1.08 - - 3263 - 2.35 0.041 2251 -599.6 412.1 9.93 0.255 1408 -6.9 0.151 - - - - - - 14.69 14.62 14.34
22711 10.4 5.4 896 22749 roll 1.24 0.05 0.197 3325 1240.0 2.38 0.061 855 -586.6 461.9 24.45 0.190 1209 -8.1 0.085 - - - - - - 14.61 14.55 14.42
22829 end climb: SURFACE_DEPTH_REACHED
22829 begin surface coast
22836 end surface coast: CONTROL_FINISHED_OK
22836 begin surface
SM -0.64 - - - - -8.39 9.30 0.085 191 20.5 3.35 0.060 2767 -2509.0 500.14 17.67 0.160 1056 59.8 0.024 - - - - - -