SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 1 • 62.33 of 350.00 AH used of 24V (82.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth -0.65 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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 - - - 97 done -0.90 - - 181 - - - 2783 - -116.8 -76.10 - 3514 - - - - - - - - 14.66 13.21 14.66
99 1.1 -5.2 2 121 roll -0.90 11.50 0.393 2597 210.1 1.90 0.093 3822 546.8 -116.8 - - 3518 - - - - - - - - 14.19 14.40 14.49
349 84.4 -18.2 39 357 done -0.56 0.40 0.244 2712 287.5 1.80 0.035 2727 -608.3 -116.8 - - 3519 - - - - - - - - 14.29 14.60 14.46
679 108.5 -6.4 51 686 roll -0.56 - - 2704 - 2.05 0.098 3827 536.6 -116.8 - - 3521 - - - - - - - - 14.83 14.48 14.83
755 114.1 -6.9 62 763 done -0.56 - - 2704 - 1.75 0.040 2776 -600.6 -116.8 - - 3521 - - - - - - - - 14.70 14.66 14.71
1071 138.7 -8.6 72 1078 roll -0.56 - - 2705 - 2.35 0.041 1388 -590.6 -116.8 - - 3521 - - - - - - - - 14.86 14.59 14.86
1112 142.2 -8.2 78 1120 done -0.56 - - 2694 - 2.42 0.062 2772 571.9 -116.8 - - 3521 - - - - - - - - 14.61 14.54 14.64
1463 172.1 -8.6 86 1470 roll -0.56 - - 2687 - 1.95 0.101 3827 541.0 -116.8 - - 3519 - - - - - - - - 14.86 14.52 14.87
1546 179.2 -8.4 98 1554 done -0.56 0.10 0.229 2717 300.0 1.77 0.040 2765 -600.0 -116.8 - - 3519 - - - - - - - - 14.48 14.71 14.67
1911 202.8 -6.4 108 1918 roll -0.56 - - 2715 - 2.35 0.043 1376 -591.1 -116.8 - - 3515 - - - - - - - - 14.90 14.65 14.88
2036 211.1 -6.5 126 2044 done -0.65 - - 2707 - 2.45 0.063 2763 566.1 -116.8 - - 3514 - - - - - - - - 14.64 14.57 14.68
2359 233.9 -7.2 137 2367 roll -0.65 - - 2700 - 1.98 0.103 3827 537.4 -116.8 - - 3512 - - - - - - - - 14.88 14.50 14.88
2393 236.5 -7.5 142 2401 done -0.65 - - 2698 - 1.80 0.041 2751 -597.8 -116.8 - - 3512 - - - - - - - - 14.71 14.69 14.72
2751 262.1 -7.1 151 2764 roll -0.65 - - 2699 - 2.28 0.043 1379 -601.8 -116.8 - - 3509 - - - - - - - - 14.92 14.66 14.92
2811 266.4 -7.2 159 2825 done -0.65 - - 2691 - 2.42 0.065 2768 574.0 -116.8 - - 3508 - - - - - - - - 14.76 14.62 14.78
3152 291.6 -7.5 172 3165 done -0.65 - - 2691 - - - 2768 - -116.8 - - 3505 - - - - - - - - 14.94 14.94 14.94
3488 317.9 -7.9 178 3501 done -0.65 - - 2691 - - - 2769 - -116.8 - - 3503 - - - - - - - - 14.96 14.97 14.96
3824 345.1 -8.1 184 3837 done -0.65 - - 2691 - - - 2768 - -116.8 - - 3502 - - - - - - - - 14.96 14.96 14.96
4160 372.1 -8.0 190 4173 roll -0.65 - - 2691 - 2.35 0.046 1375 -592.8 -116.8 - - 3500 - - - - - - - - 14.97 14.69 14.97
4262 380.2 -7.8 204 4275 done -0.65 - - 2681 - 2.42 0.067 2766 574.8 -116.8 - - 3499 - - - - - - - - 14.78 14.64 14.81
4616 407.8 -7.8 212 4629 roll -0.65 - - 2673 - 1.92 0.108 3825 551.6 -116.8 - - 3497 - - - - - - - - 14.96 14.59 14.96
4676 412.7 -8.3 220 4689 done -0.65 - - 2673 - 1.75 0.045 2757 -610.3 -116.8 - - 3497 - - - - - - - - 14.82 14.77 14.83
5017 440.0 -8.1 233 5030 roll -0.65 - - 2673 - 2.30 0.046 1375 -600.9 -116.8 - - 3495 - - - - - - - - 14.97 14.69 14.97
5055 443.3 -8.7 238 5068 done -0.65 - - 2664 - 2.42 0.068 2770 576.4 -116.8 - - 3495 - - - - - - - - 14.78 14.64 14.81
5417 475.0 -8.8 247 5430 roll -0.65 - - 2655 - 1.92 0.108 3830 552.1 -116.8 - - 3497 - - - - - - - - 14.96 14.59 14.97
5462 479.3 -9.6 253 5475 done -0.65 0.10 0.239 2685 300.0 1.75 0.045 2755 -614.3 -116.8 - - 3492 - - - - - - - - 14.50 14.77 14.72
5817 507.3 -7.8 261 5830 roll -0.65 - - 2686 - 2.30 0.045 1377 -599.1 -116.8 - - 3492 - - - - - - - - 14.97 14.68 14.97
5904 514.4 -7.9 273 5918 done -0.65 - - 2677 - 2.45 0.068 2771 569.0 -116.8 - - 3491 - - - - - - - - 14.77 14.62 14.79
6273 544.0 -8.0 283 6286 done -0.65 - - 2677 - - - 2771 - -116.8 - - 3490 - - - - - - - - 14.95 14.95 14.95
6609 569.7 -7.6 289 6622 done -0.65 - - 2677 - - - 2771 - -116.8 - - 3488 - - - - - - - - 14.95 14.95 14.95
6945 595.3 -7.7 295 6958 done -0.65 - - 2677 - - - 2771 - -116.8 - - 3487 - - - - - - - - 14.95 14.95 14.95
7281 622.2 -8.1 301 7295 roll -0.65 - - 2677 - 2.38 0.047 1370 -588.7 -116.8 - - 3486 - - - - - - - - 14.95 14.66 14.95
7334 626.8 -8.6 308 7348 done -0.65 - - 2669 - 2.47 0.072 2757 561.5 -116.8 - - 3485 - - - - - - - - 14.75 14.59 14.79
7678 657.8 -9.2 315 7691 done -0.65 - - 2668 - - - 2759 - -116.8 - - 3484 - - - - - - - - 14.95 14.94 14.95
8014 688.6 -9.1 321 8027 done -0.65 - - 2668 - - - 2759 - -116.8 - - 3483 - - - - - - - - 14.94 14.95 14.95
8350 715.8 -7.9 327 8363 roll -0.65 - - 2668 - 2.35 0.047 1379 -587.2 -116.8 - - 3481 - - - - - - - - 14.94 14.65 14.95
8396 719.3 -7.5 333 8410 done -0.65 0.10 0.246 2689 210.0 2.45 0.071 2764 565.3 -116.8 - - 3485 - - - - - - - - 14.45 14.58 14.67
8751 740.4 -5.7 341 8765 roll -0.73 - - 2689 - 2.35 0.047 1380 -588.9 -116.8 - - 3480 - - - - - - - - 14.93 14.65 14.93
8791 742.7 -6.3 346 8804 done -0.81 0.08 0.149 2623 -825.0 2.45 0.072 2761 563.7 -116.8 - - 3480 - - - - - - - - 14.65 14.57 14.74
9153 771.3 -8.0 355 9166 roll -0.81 - - 2615 - 1.98 0.112 3831 540.4 -116.8 - - 3479 - - - - - - - - 14.94 14.51 14.95
9240 779.3 -9.1 367 9253 done -0.81 - - 2615 - 1.77 0.047 2759 -605.6 -116.8 - - 3479 - - - - - - - - 14.77 14.71 14.78
9609 812.0 -9.1 377 9622 roll -0.81 - - 2614 - 2.33 0.048 1376 -593.6 -116.8 - - 3478 - - - - - - - - 14.95 14.62 14.95
9669 818.3 -11.0 385 9683 done -0.81 0.10 0.270 2633 190.0 2.47 0.072 2762 561.1 -116.8 - - 3478 - - - - - - - - 14.38 14.55 14.64
10010 846.8 -8.4 398 10023 done -0.81 - - 2633 - - - 2762 - -116.8 - - 3477 - - - - - - - - 14.92 14.92 14.92
10346 874.7 -8.3 404 10359 roll -0.81 - - 2626 - 1.98 0.114 3824 536.4 -116.8 - - 3476 - - - - - - - - 14.92 14.47 14.92
10399 879.1 -8.7 411 10412 done -0.81 - - 2626 - 1.77 0.047 2759 -601.7 -116.8 - - 3476 - - - - - - - - 14.76 14.69 14.80
10743 907.7 -8.3 418 10756 roll -0.81 - - 2625 - 2.35 0.048 1369 -591.5 -116.8 - - 3475 - - - - - - - - 14.92 14.61 14.91
10795 912.3 -8.5 425 10810 done -0.81 - - 2616 - 2.50 0.072 2765 558.4 -116.8 - - 3474 - - - - - - - - 14.71 14.53 14.73
11026 end dive: TARGET_DEPTH_EXCEEDED
11026 begin apogee
11031 932.8 -8.7 430 11160 roll -0.23 0.70 0.201 2819 290.0 - - 2230 - - 119.30 1.935 3050 -3.6 0.335 - - - - - - 14.38 14.04 13.33
11162 end apogee: CONTROL_FINISHED_OK
11162 begin climb
11164 937.1 - 432 11305 roll 0.90 1.12 0.114 3172 315.2 2.40 0.057 882 -561.7 116.8 122.10 1.940 2577 -3.9 0.366 - - - - - - 14.04 14.07 13.18
11324 930.7 9.7 458 11338 done 0.72 0.15 0.241 3133 -260.0 2.45 0.054 2254 560.0 116.8 - - 2572 - - - - - - - - 13.90 14.00 14.07
11652 904.9 7.9 469 11666 roll 0.63 0.08 0.281 3106 -337.5 2.58 0.098 3651 541.5 116.8 - - 2568 - - - - - - - - 14.20 14.31 14.40
11747 897.0 8.1 482 11761 done 0.52 0.17 0.235 3069 -217.6 2.35 0.041 2272 -586.8 116.8 - - 2568 - - - - - - - - 14.23 14.47 14.47
12109 875.8 5.8 491 12163 done 0.58 - - 3069 - - - 2268 - 159.2 45.25 1.926 2416 -3.4 0.299 - - - - - - 14.77 14.27 13.58
12449 853.4 6.9 497 12481 roll 0.60 - - 3069 - 2.70 0.102 3657 514.4 178.6 20.40 2.000 2334 -4.0 0.336 - - - - - - 14.69 14.28 13.67
12521 847.9 8.1 507 12534 done 0.60 - - 3083 - 2.42 0.043 2240 -585.5 178.6 - - 2328 - - - - - - - - 14.45 14.39 14.47
12840 823.9 7.6 517 12853 roll 0.61 - - 3079 - 2.67 0.102 3657 530.7 182.4 - - 2325 - - - - - - - - 14.73 14.40 14.73
12872 821.2 8.5 521 12886 done 0.61 - - 3088 - 2.38 0.043 2254 -589.5 182.4 - - 2325 - - - - - - - - 14.61 14.54 14.62
13241 791.7 8.2 531 13254 done 0.61 - - 3088 - - - 2252 - 182.4 - - 2324 - - - - - - - - 14.80 14.80 14.80
13577 763.8 8.3 537 13590 roll 0.61 - - 3088 - 2.60 0.101 3653 538.8 182.4 - - 2324 - - - - - - - - 14.85 14.50 14.84
13657 756.3 9.2 548 13671 done 0.61 - - 3098 - 2.38 0.043 2250 -589.5 182.4 - - 2323 - - - - - - - - 14.67 14.60 14.69
13977 729.6 8.3 558 13990 done 0.61 - - 3102 - - - 2246 - 182.4 - - 2323 - - - - - - - - 14.87 14.88 14.87
14313 702.6 8.0 564 14326 roll 0.61 - - 3099 - 2.62 0.103 3658 538.9 182.4 - - 2320 - - - - - - - - 14.88 14.51 14.88
14374 697.1 9.2 572 14387 done 0.61 - - 3108 - 2.38 0.044 2255 -589.5 182.4 - - 2322 - - - - - - - - 14.73 14.65 14.75
14714 667.9 8.6 585 14727 done 0.61 - - 3109 - - - 2251 - 182.4 - - 2321 - - - - - - - - 14.88 14.88 14.88
15050 637.6 9.1 591 15063 roll 0.61 - - 3109 - 2.62 0.104 3659 537.4 182.4 - - 2322 - - - - - - - - 14.88 14.51 14.88
15124 630.1 10.3 601 15137 done 0.61 - - 3118 - 2.35 0.042 2259 -595.7 182.4 - - 2322 - - - - - - - - 14.74 14.66 14.76
15450 599.3 9.4 612 15463 roll 0.61 - - 3128 - 2.40 0.063 862 -582.1 182.4 - - 2322 - - - - - - - - 14.89 14.57 14.89
15496 595.0 9.5 618 15509 done 0.61 0.10 0.231 3100 -280.0 2.40 0.057 2262 583.3 182.4 - - 2321 - - - - - - - - 14.44 14.58 14.65
15850 566.3 8.0 626 15864 roll 0.61 - - 3099 - 2.55 0.101 3657 547.1 182.4 - - 2322 - - - - - - - - 14.89 14.50 14.89
15903 561.8 8.6 633 15918 done 0.61 - - 3109 - 2.38 0.041 2248 -592.0 182.4 - - 2322 - - - - - - - - 14.74 14.66 14.76
16247 535.6 7.5 640 16265 roll 0.61 - - 3109 - 2.67 0.102 3656 527.3 187.0 1.73 0.264 2310 -6.9 2.755 - - - - - - 14.88 14.54 14.19
16346 527.4 8.2 654 16360 done 0.61 - - 3119 - 2.35 0.042 2260 -594.0 187.0 1.65 0.263 2304 -3.6 1.428 - - - - - - 14.73 14.65 14.24
16701 501.2 7.4 662 16726 roll 0.62 - - 3129 - 2.40 0.063 858 -584.2 193.7 12.45 1.797 2275 -2.3 0.127 - - - - - - 14.89 14.56 13.98
16751 497.2 7.8 669 16766 done 0.62 - - 3126 - 2.45 0.057 2271 576.7 193.7 - - 2272 - - - - - - - - 14.68 14.56 14.68
17095 468.7 8.4 676 17109 roll 0.62 - - 3126 - 2.55 0.103 3659 544.3 193.7 - - 2271 - - - - - - - - 14.83 14.47 14.83
17183 459.9 10.0 688 17196 done 0.62 0.12 0.238 3104 -183.3 2.35 0.041 2262 -594.5 193.7 - - 2271 - - - - - - - - 14.36 14.60 14.62
17552 429.7 8.3 698 17565 done 0.62 - - 3104 - - - 2256 - 193.7 - - 2271 - - - - - - - - 14.85 14.85 14.85
17888 402.4 8.1 704 17901 roll 0.62 - - 3105 - 2.58 0.099 3654 541.9 193.7 - - 2271 - - - - - - - - 14.87 14.48 14.87
17948 397.0 8.9 712 17962 done 0.62 - - 3113 - 2.35 0.042 2261 -592.8 193.7 - - 2271 - - - - - - - - 14.72 14.64 14.73
18289 370.0 7.8 725 18302 done 0.62 - - 3113 - - - 2256 - 193.7 - - 2270 - - - - - - - - 14.86 14.88 14.88
18625 345.0 7.4 731 18639 done 0.63 - - 3113 - - - 2257 - 200.3 1.85 0.270 2254 -8.6 2.164 - - - - - - 14.90 14.57 14.03
18961 319.4 7.7 737 18979 roll 0.63 - - 3113 - 2.62 0.102 3652 532.4 200.9 2.70 0.923 2253 - - - - - - - - 14.88 14.61 13.61
19011 315.0 8.7 744 19026 done 0.63 - - 3123 - 2.33 0.041 2271 -592.7 200.9 1.88 0.321 2252 - - - - - - - - 14.73 14.65 14.11
19356 287.3 8.0 751 19373 roll 0.63 - - 3123 - 2.62 0.100 3661 530.5 200.9 2.00 0.318 2255 1.5 -0.265 - - - - - - 14.89 14.57 12.83
19398 283.4 8.9 757 19413 done 0.63 - - 3132 - 2.33 0.041 2269 -597.4 200.9 2.00 0.336 2252 -1.5 0.248 - - - - - - 14.73 14.66 13.02
19754 254.9 7.9 765 19768 done 0.63 0.10 0.247 3105 -270.0 - - 2265 - 200.9 1.73 0.266 2251 - - - - - - - - 14.42 14.59 14.08
20090 232.8 6.5 771 20132 done 0.66 - - 3105 - - - 2265 - 227.6 33.05 1.311 2144 -3.2 0.113 - - - - - - 14.88 14.55 14.01
20426 207.8 7.7 777 20440 roll 0.66 - - 3105 - 2.60 0.099 3660 536.5 229.2 - - 2132 - - - - - - - - 14.76 14.42 14.78
20466 204.3 8.8 782 20479 done 0.66 - - 3112 - 2.33 0.041 2282 -591.4 229.2 - - 2132 - - - - - - - - 14.64 14.57 14.65
20827 174.7 8.3 791 20841 roll 0.66 - - 3122 - 2.45 0.063 862 -579.6 229.2 - - 2133 - - - - - - - - 14.83 14.48 14.83
20880 170.2 8.4 798 20894 done 0.66 - - 3123 - 2.45 0.054 2282 579.6 229.2 - - 2131 - - - - - - - - 14.66 14.53 14.68
21224 142.7 7.8 805 21237 roll 0.66 - - 3123 - 2.50 0.099 3651 547.6 229.2 - - 2132 - - - - - - - - 14.85 14.52 14.85
21291 137.1 8.4 814 21304 done 0.66 - - 3131 - 2.30 0.041 2272 -599.6 229.2 - - 2131 - - - - - - - - 14.71 14.64 14.72
21624 110.7 8.0 826 21637 done 0.66 - - 3131 - - - 2269 - 229.2 - - 2132 - - - - - - - - 14.87 14.87 14.88
21932 89.5 5.9 834 21966 roll 0.71 - - 3131 - 2.55 0.098 3658 544.7 270.1 18.62 0.438 1984 -7.9 0.318 - - - - - - 14.88 14.55 14.29
22139 79.5 2.7 863 22207 done 0.95 0.12 0.102 3214 691.7 2.30 0.040 2274 -601.7 380.3 53.15 0.409 1535 -8.4 0.321 - - - - - - 14.63 14.64 14.25
22527 53.4 6.0 885 22560 roll 1.08 0.05 0.203 3271 1140.0 2.55 0.096 3651 540.0 418.8 18.92 0.323 1382 -8.1 0.262 - - - - - - 14.56 14.47 14.26
22636 43.7 8.6 900 22650 done 1.08 0.10 0.244 3252 -190.0 2.28 0.040 2286 -598.7 418.8 - - 1383 - - - - - - - - 14.36 14.59 14.57
22952 25.9 5.8 912 22989 roll 1.25 0.08 0.144 3329 962.5 2.50 0.060 863 -569.2 461.8 20.88 0.236 1214 -8.1 0.174 - - - - - - 14.61 14.54 14.35
23050 17.4 8.9 926 23063 done 1.25 - - 3329 - 2.40 0.051 2286 592.9 461.8 - - 1213 - - - - - - - - 14.66 14.54 14.68
23235 end climb: SURFACE_DEPTH_REACHED
23235 begin surface coast
23263 end surface coast: CONTROL_FINISHED_OK
23263 begin surface
SM -0.26 - - - - -8.38 8.90 0.048 195 21.9 0.85 0.077 2771 2048.2 500.14 18.05 0.158 1058 58.6 0.010 - - - - - -