SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 154 * Raw log
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• Previous call tries 1 • 61.63 of 350.00 AH used of 24V (82.39% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth -0.52 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 500.14, SM_CC=500)
• GPS1 time: 21 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 - - 173 - - - 2785 - -116.8 -74.70 - 3516 - - - - - - - - 14.66 13.22 14.64
98 1.6 -6.8 2 114 done -0.90 11.55 0.397 2601 210.2 - - 2785 - -116.8 - - 3519 - - - - - - - - 14.19 14.52 14.48
428 92.6 -16.5 17 435 roll -0.62 0.35 0.242 2691 257.1 1.90 0.103 3838 554.2 -116.8 - - 3520 - - - - - - - - 14.35 14.47 14.58
664 115.1 -8.0 51 672 done -0.62 - - 2690 - 1.83 0.037 2728 -606.6 -116.8 - - 3522 - - - - - - - - 14.71 14.66 14.71
987 139.0 -7.5 62 995 roll -0.62 - - 2682 - 2.05 0.102 3823 534.1 -116.8 - - 3522 - - - - - - - - 14.86 14.50 14.86
1077 144.4 -8.0 75 1085 done -0.62 - - 2681 - 1.75 0.037 2753 -611.4 -116.8 - - 3522 - - - - - - - - 14.75 14.71 14.76
1435 176.1 -8.2 84 1438 done -0.62 - - 2682 - - - 2753 - -116.8 - - 3521 - - - - - - - - 14.89 14.89 14.88
1771 203.7 -8.3 90 1774 done -0.62 - - 2682 - - - 2753 - -116.8 - - 3518 - - - - - - - - 14.89 14.90 14.90
2108 231.5 -8.4 96 2116 roll -0.62 - - 2681 - 2.30 0.040 1391 -592.2 -116.8 - - 3516 - - - - - - - - 14.90 14.61 14.90
2141 234.8 -9.2 101 2150 done -0.62 - - 2673 - 2.42 0.065 2770 569.8 -116.8 - - 3515 - - - - - - - - 14.67 14.58 14.69
2499 269.3 -10.2 110 2512 roll -0.62 - - 2665 - 1.92 0.107 3830 552.1 -116.8 - - 3511 - - - - - - - - 14.94 14.59 14.94
2545 273.6 -9.7 116 2558 done -0.62 0.12 0.224 2701 300.0 1.70 0.041 2774 -621.2 -116.8 - - 3512 - - - - - - - - 14.50 14.74 14.69
2899 300.5 -7.5 124 2913 roll -0.62 - - 2702 - 2.33 0.043 1372 -601.7 -116.8 - - 3509 - - - - - - - - 14.97 14.71 14.97
2945 303.1 -7.3 130 2958 done -0.62 - - 2692 - 2.42 0.067 2766 576.0 -116.8 - - 3509 - - - - - - - - 14.80 14.64 14.81
3300 318.5 -7.2 138 3313 done -0.62 - - 2692 - - - 2766 - -116.8 - - 3505 - - - - - - - - 14.97 14.95 14.97
3636 341.0 -7.2 144 3649 roll -0.62 - - 2691 - 2.33 0.044 1381 -594.4 -116.8 - - 3503 - - - - - - - - 14.97 14.71 14.97
3682 354.0 -9.2 150 3695 done -0.62 - - 2683 - 2.40 0.068 2766 577.1 -116.8 - - 3503 - - - - - - - - 14.80 14.65 14.81
4037 377.6 -6.5 158 4050 roll -0.62 - - 2682 - 2.33 0.044 1381 -594.4 -116.8 - - 3501 - - - - - - - - 14.97 14.71 14.97
4082 380.2 -2.9 164 4096 done -0.62 - - 2674 - 2.40 0.068 2756 572.9 -116.8 - - 3501 - - - - - - - - 14.81 14.65 14.82
4438 406.0 -8.4 172 4451 done -0.62 - - 2674 - - - 2756 - -116.8 - - 3500 - - - - - - - - 14.97 14.97 14.97
4773 446.4 -8.0 178 4787 roll -0.62 - - 2673 - 2.33 0.044 1380 -590.6 -116.8 - - 3497 - - - - - - - - 14.97 14.71 14.97
4805 449.3 -9.2 182 4818 done -0.62 0.12 0.232 2700 225.0 2.40 0.070 2756 573.3 -116.8 - - 3497 - - - - - - - - 14.52 14.64 14.73
5174 473.5 -6.5 192 5187 roll -0.62 - - 2701 - 2.33 0.044 1375 -592.7 -116.8 - - 3496 - - - - - - - - 14.97 14.71 14.97
5213 476.1 -6.7 197 5226 done -0.69 - - 2692 - 2.42 0.069 2762 573.1 -116.8 - - 3493 - - - - - - - - 14.78 14.64 14.81
5574 500.2 -6.8 206 5587 roll -0.69 - - 2683 - 1.95 0.112 3829 547.2 -116.8 - - 3493 - - - - - - - - 14.97 14.59 14.97
5627 504.1 -7.4 213 5640 done -0.69 - - 2683 - 1.77 0.044 2751 -609.0 -116.8 - - 3495 - - - - - - - - 14.82 14.76 14.83
5971 529.1 -7.4 220 5984 roll -0.69 - - 2683 - 2.30 0.044 1373 -599.1 -116.8 - - 3494 - - - - - - - - 14.97 14.70 14.97
6031 533.8 -7.7 228 6045 done -0.69 - - 2675 - 2.42 0.068 2758 572.3 -116.8 - - 3492 - - - - - - - - 14.78 14.62 14.81
6372 560.2 -7.9 241 6385 roll -0.69 - - 2674 - 2.33 0.044 1376 -593.1 -116.8 - - 3489 - - - - - - - - 14.96 14.69 14.96
6410 563.5 -8.7 246 6423 done -0.69 - - 2666 - 2.42 0.070 2756 570.2 -116.8 - - 3489 - - - - - - - - 14.78 14.62 14.80
6772 594.0 -8.4 255 6785 roll -0.69 - - 2657 - 1.98 0.114 3829 541.9 -116.8 - - 3487 - - - - - - - - 14.96 14.56 14.95
6838 600.1 -9.0 264 6851 done -0.69 - - 2657 - 1.75 0.044 2753 -614.9 -116.8 - - 3487 - - - - - - - - 14.81 14.76 14.83
7171 627.7 -8.2 276 7185 roll -0.69 - - 2657 - 2.33 0.044 1363 -596.6 -116.8 - - 3486 - - - - - - - - 14.95 14.68 14.95
7210 631.0 -8.6 281 7223 done -0.69 - - 2648 - 2.42 0.070 2751 573.6 -116.8 - - 3486 - - - - - - - - 14.77 14.61 14.78
7571 660.1 -8.2 290 7585 roll -0.69 - - 2648 - 2.33 0.044 1375 -590.6 -116.8 - - 3484 - - - - - - - - 14.95 14.66 14.95
7603 662.8 -8.4 294 7617 done -0.69 0.10 0.252 2670 220.0 2.42 0.071 2753 569.4 -116.8 - - 3484 - - - - - - - - 14.45 14.59 14.69
7972 690.6 -7.6 304 7985 roll -0.69 - - 2669 - 2.33 0.045 1377 -590.6 -116.8 - - 3483 - - - - - - - - 14.95 14.66 14.95
8011 693.8 -8.3 309 8024 done -0.69 - - 2660 - 2.42 0.072 2753 568.6 -116.8 - - 3483 - - - - - - - - 14.75 14.59 14.75
8372 724.0 -8.5 318 8385 done -0.69 - - 2660 - - - 2753 - -116.8 - - 3482 - - - - - - - - 14.95 14.95 14.95
8708 752.2 -8.3 324 8722 roll -0.69 - - 2652 - 1.98 0.117 3822 539.9 -116.8 - - 3483 - - - - - - - - 14.94 14.50 14.94
8747 755.6 -9.4 329 8760 done -0.69 - - 2651 - 1.77 0.046 2745 -608.5 -116.8 - - 3481 - - - - - - - - 14.79 14.73 14.80
9108 784.8 -8.0 338 9122 roll -0.69 - - 2652 - 2.33 0.047 1364 -592.7 -116.8 - - 3480 - - - - - - - - 14.93 14.65 14.94
9154 788.6 -8.2 344 9168 done -0.69 0.10 0.252 2672 200.0 2.45 0.073 2751 566.1 -116.8 - - 3479 - - - - - - - - 14.42 14.54 14.66
9509 813.3 -6.9 352 9522 done -0.69 - - 2672 - - - 2752 - -116.8 - - 3478 - - - - - - - - 14.93 14.93 14.93
9845 836.3 -6.9 358 9858 roll -0.69 - - 2664 - 2.00 0.118 3824 536.0 -116.8 - - 3478 - - - - - - - - 14.96 14.50 14.93
9891 839.7 -7.4 364 9904 done -0.69 - - 2664 - 1.80 0.047 2737 -603.9 -116.8 - - 3478 - - - - - - - - 14.78 14.71 14.80
10246 865.6 -7.4 372 10259 roll -0.69 - - 2664 - 2.30 0.047 1373 -593.0 -116.8 - - 3477 - - - - - - - - 14.94 14.63 14.94
10284 868.6 -5.4 377 10298 done -0.69 - - 2655 - 2.45 0.072 2754 563.7 -116.8 - - 3476 - - - - - - - - 14.72 14.55 14.74
10646 896.7 -7.9 386 10659 done -0.69 - - 2655 - - - 2754 - -116.8 - - 3475 - - - - - - - - 14.93 14.92 14.92
10982 922.3 -7.6 392 10995 done -0.69 - - 2655 - - - 2754 - -116.8 - - 3475 - - - - - - - - 14.92 14.92 14.92
11092 end dive: TARGET_DEPTH_EXCEEDED
11092 begin apogee
11097 930.8 -7.4 394 11222 roll -0.23 0.57 0.189 2824 296.5 - - 2242 - - 115.38 1.973 3049 -3.7 0.332 - - - - - - 14.41 14.04 13.33
11224 end apogee: CONTROL_FINISHED_OK
11224 begin climb
11225 934.7 - 396 11366 roll 0.90 1.10 0.114 3169 313.6 2.50 0.057 846 -558.4 116.8 122.22 1.944 2581 -3.8 0.351 - - - - - - 14.04 14.08 13.19
11370 929.4 8.4 419 11385 done 0.65 0.22 0.233 3111 -263.6 2.58 0.055 2262 548.8 116.8 - - 2574 - - - - - - - - 13.85 13.95 14.02
11715 904.0 7.5 426 11728 roll 0.66 - - 3110 - 2.58 0.102 3654 539.5 123.1 1.27 0.263 2561 -10.2 6.701 - - - - - - 14.62 14.31 14.16
11811 896.0 8.6 439 11824 done 0.55 0.12 0.224 3086 -200.0 2.42 0.042 2234 -586.8 123.1 1.08 0.230 2559 - - - - - - - - 14.22 14.50 14.25
12174 871.3 6.7 448 12220 roll 0.58 - - 3087 - 2.70 0.105 3654 525.9 145.7 30.12 1.939 2467 -3.1 0.261 - - - - - - 14.77 14.27 13.69
12252 865.2 8.5 459 12265 done 0.58 - - 3096 - 2.40 0.042 2253 -583.8 145.7 - - 2462 - - - - - - - - 14.47 14.40 14.47
12571 840.2 7.9 469 12584 done 0.58 - - 3097 - - - 2251 - 145.7 - - 2460 - - - - - - - - 14.73 14.73 14.73
12908 814.6 7.6 475 12921 roll 0.58 - - 3096 - 2.65 0.107 3657 530.6 149.9 - - 2459 - - - - - - - - 14.81 14.45 14.81
12988 808.2 8.4 486 13001 done 0.58 - - 3106 - 2.38 0.041 2248 -592.0 149.9 - - 2459 - - - - - - - - 14.66 14.60 14.69
13308 783.8 7.6 496 13326 roll 0.58 - - 3106 - 2.70 0.105 3655 521.1 152.3 1.83 0.339 2451 -4.4 1.925 - - - - - - 14.83 14.49 14.02
13358 779.6 8.9 503 13373 done 0.58 - - 3116 - 2.38 0.042 2255 -588.2 152.3 1.95 0.387 2445 -3.1 1.180 - - - - - - 14.70 14.63 14.04
13702 751.5 8.2 510 13716 done 0.58 - - 3116 - - - 2253 - 152.3 1.52 0.290 2443 - - - - - - - - 14.85 14.58 14.09
14038 724.2 8.1 516 14052 roll 0.58 - - 3122 - 2.62 0.104 3657 535.9 152.3 1.48 0.291 2445 - - - - - - - - 14.87 14.46 14.12
14099 718.8 8.9 524 14113 done 0.50 0.22 0.229 3063 -268.2 2.38 0.042 2255 -589.1 152.3 1.38 0.266 2443 - - - - - - - - 14.38 14.64 14.23
14442 697.9 6.0 537 14508 roll 0.54 - - 3064 - 2.70 0.103 3649 516.3 190.5 49.70 1.763 2285 -3.2 0.240 - - - - - - 14.87 14.27 13.71
14534 691.7 6.8 550 14573 done 0.57 - - 3073 - 2.38 0.041 2256 -585.3 211.9 23.90 1.825 2200 -3.6 0.257 - - - - - - 14.47 14.38 13.62
14895 665.0 7.6 566 14908 done 0.66 0.05 0.201 3119 920.0 - - 2256 - 215.6 - - 2192 - - - - - - - - 14.44 14.55 14.52
15229 632.2 9.9 572 15243 roll 0.66 - - 3120 - 2.65 0.106 3660 529.8 215.6 - - 2191 - - - - - - - - 14.77 14.42 14.77
15261 628.6 10.7 576 15274 done 0.66 - - 3128 - 2.38 0.042 2259 -588.7 215.6 - - 2191 - - - - - - - - 14.64 14.56 14.65
15629 591.4 10.0 586 15642 done 0.66 - - 3129 - - - 2255 - 215.6 - - 2190 - - - - - - - - 14.83 14.83 14.83
15966 560.0 9.2 592 15979 roll 0.66 - - 3129 - 2.62 0.106 3655 534.4 215.6 - - 2190 - - - - - - - - 14.85 14.47 14.85
15997 556.7 10.2 596 16010 done 0.66 - - 3138 - 2.35 0.042 2262 -592.8 215.6 - - 2189 - - - - - - - - 14.71 14.63 14.72
16366 521.3 9.8 606 16378 done 0.66 - - 3139 - - - 2258 - 215.6 - - 2190 - - - - - - - - 14.87 14.86 14.87
16702 489.0 9.6 612 16715 roll 0.66 - - 3148 - 2.38 0.063 859 -587.8 215.6 - - 2189 - - - - - - - - 14.88 14.54 14.88
16734 485.8 9.5 616 16747 done 0.66 0.12 0.228 3114 -283.3 2.42 0.058 2267 581.8 215.6 - - 2190 - - - - - - - - 14.42 14.57 14.64
17103 455.5 8.2 626 17116 roll 0.66 - - 3113 - 2.55 0.106 3658 545.5 215.6 - - 2189 - - - - - - - - 14.88 14.49 14.88
17204 446.3 9.0 640 17217 done 0.66 - - 3121 - 2.35 0.041 2259 -595.3 215.6 - - 2190 - - - - - - - - 14.73 14.66 14.75
17559 416.0 8.7 648 17572 roll 0.66 - - 3122 - 2.62 0.103 3663 535.9 215.6 - - 2190 - - - - - - - - 14.88 14.50 14.89
17583 413.5 9.0 651 17597 done 0.66 - - 3131 - 2.35 0.043 2263 -595.7 215.6 - - 2189 - - - - - - - - 14.72 14.65 14.74
17903 383.6 9.4 661 17916 roll 0.66 - - 3141 - 2.40 0.063 866 -582.1 215.6 - - 2194 - - - - - - - - 14.88 14.56 14.88
17935 380.6 9.2 665 17948 done 0.66 - - 3142 - 2.42 0.057 2274 581.8 215.6 - - 2190 - - - - - - - - 14.71 14.57 14.73
18304 345.0 9.7 675 18317 done 0.66 0.10 0.246 3113 -290.0 - - 2270 - 215.6 - - 2190 - - - - - - - - 14.41 14.69 14.64
18640 317.0 8.2 681 18654 roll 0.66 - - 3112 - 2.53 0.103 3655 547.4 215.6 - - 2190 - - - - - - - - 14.88 14.47 14.90
18672 314.0 8.9 685 18686 done 0.66 - - 3122 - 2.33 0.042 2268 -595.3 215.6 - - 2190 - - - - - - - - 14.73 14.66 14.73
19042 283.7 8.1 695 19055 roll 0.66 - - 3122 - 2.60 0.103 3661 535.8 215.6 - - 2190 - - - - - - - - 14.89 14.50 14.89
19073 280.8 9.0 699 19086 done 0.66 - - 3129 - 2.35 0.041 2257 -597.4 215.6 - - 2190 - - - - - - - - 14.74 14.66 14.76
19442 250.1 8.4 709 19455 done 0.66 - - 3131 - - - 2253 - 215.6 - - 2190 - - - - - - - - 14.89 14.90 14.90
19778 220.7 8.9 715 19791 roll 0.66 - - 3131 - 2.62 0.103 3663 538.2 215.6 - - 2190 - - - - - - - - 14.90 14.49 14.90
19816 216.9 9.9 720 19829 done 0.66 - - 3142 - 2.33 0.040 2271 -597.4 215.6 - - 2190 - - - - - - - - 14.74 14.66 14.76
20178 183.6 9.2 729 20191 roll 0.66 0.08 0.278 3123 -237.5 2.40 0.058 861 -587.5 215.6 - - 2190 - - - - - - - - 14.38 14.57 14.54
20216 180.2 8.2 734 20230 done 0.66 - - 3124 - 2.42 0.054 2283 587.6 215.6 - - 2190 - - - - - - - - 14.71 14.58 14.73
20578 151.9 7.7 743 20591 roll 0.66 - - 3131 - 2.50 0.101 3652 547.6 216.5 - - 2191 - - - - - - - - 14.90 14.49 14.90
20644 146.1 8.6 752 20658 done 0.66 - - 3132 - 2.30 0.039 2269 -601.3 216.5 - - 2190 - - - - - - - - 14.75 14.68 14.76
20978 120.8 7.5 764 20996 roll 0.66 - - 3132 - 2.60 0.100 3658 534.2 221.4 3.00 0.992 2173 -5.7 0.131 - - - - - - 14.90 14.61 13.74
21008 118.0 8.9 768 21021 done 0.66 - - 3141 - 2.30 0.040 2276 -600.9 221.4 1.42 0.308 2168 -3.5 0.257 - - - - - - 14.76 14.69 14.19
21350 92.5 6.3 779 21382 roll 0.70 - - 3151 - 2.45 0.059 863 -576.7 252.2 15.82 0.441 2047 -7.6 0.306 - - - - - - 14.88 14.60 14.30
21414 88.7 6.2 788 21446 done 0.82 - - 3151 - 2.40 0.053 2277 589.2 286.3 17.23 0.431 1910 -8.0 0.312 - - - - - - 14.69 14.55 14.29
21775 68.7 5.1 806 21819 roll 1.01 0.12 0.104 3234 691.7 2.58 0.101 3652 532.9 344.4 28.00 0.375 1678 -8.3 0.289 - - - - - - 14.62 14.51 14.28
21921 57.6 7.4 827 21940 done 1.02 - - 3243 - 2.33 0.039 2255 -599.6 352.0 4.22 0.320 1646 -7.6 0.260 - - - - - - 14.67 14.60 14.23
22254 39.5 5.2 841 22293 roll 1.09 - - 3243 - 2.65 0.098 3660 530.2 407.3 26.98 0.285 1427 -8.1 0.214 - - - - - - 14.83 14.49 14.33
22341 34.7 6.4 853 22367 done 1.12 - - 3251 - 2.33 0.037 2256 -602.6 436.7 14.65 0.270 1310 -8.0 0.195 - - - - - - 14.69 14.62 14.33
22671 17.0 4.9 867 22715 roll 1.34 0.15 0.091 3348 646.7 2.60 0.095 3655 538.1 499.2 29.42 0.207 1062 -8.4 0.132 - - - - - - 14.63 14.47 14.40
22816 end climb: SURFACE_DEPTH_REACHED
22816 begin surface coast
22823 end surface coast: CONTROL_FINISHED_OK
22823 begin surface
SM 0.93 - - - - -8.39 9.52 0.101 193 20.3 1.48 0.035 2742 -5350.0 500.14 0.12 0.989 1057 8807.6 -0.846 - - - - - -