SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 157 * Raw log
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• Previous call tries 1 • 62.67 of 350.00 AH used of 24V (82.09% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.8 deg, depth -0.60 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 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
19 - - - 96 done -0.90 - - 162 - - - 2785 - -116.8 -74.05 - 3516 - - - - - - - - 14.66 13.22 14.66
98 1.7 -7.2 2 120 roll -0.90 11.57 0.395 2605 211.1 1.92 0.098 3828 543.2 -116.8 - - 3518 - - - - - - - - 14.21 14.41 14.48
202 53.5 -34.2 18 210 done -0.42 0.57 0.259 2750 254.4 1.77 0.034 2740 -614.7 -116.8 - - 3518 - - - - - - - - 14.22 14.54 14.37
538 91.9 -8.2 33 546 roll -0.42 - - 2742 - 2.05 0.103 3830 531.7 -116.8 - - 3520 - - - - - - - - 14.80 14.44 14.80
656 100.4 -6.6 50 664 done -0.42 - - 2743 - 1.75 0.040 2776 -602.3 -116.8 - - 3519 - - - - - - - - 14.70 14.65 14.70
1014 118.8 -4.7 59 1021 roll -0.42 - - 2735 - 1.95 0.099 3819 534.9 -116.8 - - 3521 - - - - - - - - 14.86 14.50 14.86
1062 121.9 -5.9 66 1071 done -0.42 - - 2736 - 1.75 0.039 2754 -608.6 -116.8 - - 3521 - - - - - - - - 14.73 14.69 14.73
1406 145.1 -6.8 73 1414 roll -0.51 - - 2735 - 2.25 0.041 1392 -605.3 -116.8 - - 3520 - - - - - - - - 14.88 14.64 14.88
1454 148.0 -5.9 80 1464 done -0.61 - - 2726 - 2.42 0.063 2769 569.0 -116.8 - - 3520 - - - - - - - - 14.62 14.57 14.67
1798 168.3 -6.1 87 1805 roll -0.69 0.10 0.128 2640 -860.0 1.92 0.101 3821 547.9 -116.8 - - 3517 - - - - - - - - 14.67 14.57 14.77
1854 173.4 -9.6 95 1861 done -0.60 0.20 0.197 2698 290.0 1.73 0.039 2781 -601.2 -116.8 - - 3517 - - - - - - - - 14.45 14.69 14.59
2190 198.2 -7.3 108 2197 roll -0.60 - - 2701 - 2.38 0.043 1380 -588.7 -116.8 - - 3514 - - - - - - - - 14.90 14.61 14.90
2287 205.7 -7.7 122 2295 done -0.60 - - 2690 - 2.45 0.064 2761 563.7 -116.8 - - 3513 - - - - - - - - 14.65 14.57 14.68
2638 233.7 -8.0 130 2645 roll -0.60 - - 2682 - 1.98 0.103 3821 535.4 -116.8 - - 3511 - - - - - - - - 14.89 14.52 14.89
2686 238.0 -8.9 137 2696 done -0.60 - - 2682 - 1.80 0.041 2747 -596.7 -116.8 - - 3509 - - - - - - - - 14.76 14.71 14.77
3030 267.0 -8.4 144 3043 roll -0.60 - - 2682 - 2.28 0.044 1379 -600.0 -116.8 - - 3504 - - - - - - - - 14.93 14.67 14.92
3082 271.6 -8.4 151 3096 done -0.60 0.10 0.243 2702 200.0 2.42 0.066 2760 570.7 -116.8 - - 3507 - - - - - - - - 14.50 14.62 14.70
3427 297.3 -7.4 158 3440 done -0.60 - - 2702 - - - 2761 - -116.8 - - 3505 - - - - - - - - 14.95 14.94 14.95
3762 321.0 -7.0 164 3776 roll -0.60 - - 2694 - 1.95 0.106 3832 549.2 -116.8 - - 3502 - - - - - - - - 14.95 14.60 14.95
3836 326.5 -7.5 174 3849 done -0.60 - - 2694 - 1.73 0.044 2769 -614.5 -116.8 - - 3502 - - - - - - - - 14.83 14.78 14.84
4163 350.0 -7.2 185 4176 roll -0.60 - - 2694 - 2.33 0.044 1368 -601.3 -116.8 - - 3500 - - - - - - - - 14.96 14.70 14.96
4215 356.5 -8.8 192 4229 done -0.60 - - 2684 - 2.45 0.067 2764 569.8 -116.8 - - 3500 - - - - - - - - 14.80 14.64 14.81
4560 384.7 -7.9 199 4573 roll -0.60 - - 2684 - 2.35 0.044 1369 -593.6 -116.8 - - 3498 - - - - - - - - 14.97 14.69 14.97
4598 387.9 -8.1 204 4612 done -0.60 0.10 0.248 2705 210.0 2.42 0.068 2759 574.4 -116.8 - - 3497 - - - - - - - - 14.50 14.64 14.73
4960 412.5 -6.9 213 4973 done -0.60 - - 2704 - - - 2759 - -116.8 - - 3496 - - - - - - - - 14.96 14.96 14.96
5296 436.1 -7.0 219 5309 roll -0.60 - - 2695 - 1.95 0.108 3826 547.2 -116.8 - - 3494 - - - - - - - - 14.96 14.59 14.97
5335 439.0 -7.4 224 5348 done -0.60 - - 2695 - 1.77 0.045 2737 -615.3 -116.8 - - 3493 - - - - - - - - 14.83 14.76 14.84
5696 465.1 -7.1 233 5710 roll -0.60 - - 2695 - 2.28 0.045 1373 -598.2 -116.8 - - 3493 - - - - - - - - 14.98 14.68 14.97
5742 468.5 -7.3 239 5755 done -0.60 - - 2686 - 2.42 0.068 2758 572.3 -116.8 - - 3493 - - - - - - - - 14.78 14.63 14.80
6097 493.7 -7.1 247 6110 roll -0.60 - - 2678 - 1.95 0.108 3827 548.2 -116.8 - - 3491 - - - - - - - - 14.96 14.58 14.96
6149 497.7 -7.7 254 6163 done -0.60 - - 2678 - 1.77 0.045 2752 -607.3 -116.8 - - 3491 - - - - - - - - 14.81 14.75 14.81
6493 524.1 -7.8 261 6507 roll -0.60 - - 2678 - 2.30 0.045 1371 -600.4 -116.8 - - 3489 - - - - - - - - 14.97 14.67 14.97
6574 530.8 -8.0 272 6587 done -0.60 0.12 0.234 2705 225.0 2.42 0.067 2755 571.9 -116.8 - - 3488 - - - - - - - - 14.47 14.62 14.70
6894 554.2 -7.4 282 6907 roll -0.69 - - 2697 - 1.95 0.109 3821 546.7 -116.8 - - 3489 - - - - - - - - 14.96 14.55 14.96
6940 557.9 -7.9 288 6953 done -0.69 - - 2697 - 1.75 0.045 2754 -609.7 -116.8 - - 3487 - - - - - - - - 14.77 14.71 14.78
7294 584.3 -7.4 296 7308 roll -0.77 0.08 0.151 2631 -825.0 2.30 0.041 1367 -603.0 -116.8 - - 3486 - - - - - - - - 14.71 14.67 14.74
7355 589.7 -9.4 304 7369 done -0.77 0.10 0.257 2651 200.0 2.45 0.069 2758 567.8 -116.8 - - 3485 - - - - - - - - 14.44 14.60 14.68
7696 618.5 -8.4 317 7709 roll -0.77 - - 2643 - 1.95 0.108 3824 546.7 -116.8 - - 3484 - - - - - - - - 14.95 14.54 14.95
7727 621.3 -8.9 321 7740 done -0.77 - - 2643 - 1.75 0.044 2752 -612.6 -116.8 - - 3484 - - - - - - - - 14.81 14.76 14.82
8096 652.4 -8.5 331 8109 roll -0.77 - - 2643 - 2.30 0.044 1375 -598.7 -116.8 - - 3482 - - - - - - - - 14.95 14.66 14.99
8134 655.8 -9.2 336 8147 done -0.77 - - 2633 - 2.42 0.068 2755 570.2 -116.8 - - 3482 - - - - - - - - 14.75 14.59 14.77
8495 689.1 -9.3 345 8509 roll -0.77 - - 2626 - 1.98 0.109 3830 542.9 -116.8 - - 3482 - - - - - - - - 14.94 14.52 14.95
8576 697.4 -10.2 356 8589 done -0.77 - - 2625 - 1.80 0.045 2755 -597.2 -116.8 - - 3481 - - - - - - - - 14.78 14.69 14.79
8896 728.5 -9.8 366 8909 roll -0.77 - - 2625 - 2.33 0.044 1369 -594.8 -116.8 - - 3480 - - - - - - - - 14.94 14.65 14.94
8941 733.0 -10.5 372 8955 done -0.77 0.12 0.253 2650 208.3 2.45 0.070 2757 566.5 -116.8 - - 3481 - - - - - - - - 14.40 14.58 14.66
9296 762.1 -8.1 380 9309 roll -0.77 - - 2650 - 2.35 0.045 1376 -587.7 -116.8 - - 3479 - - - - - - - - 14.95 14.64 14.95
9334 765.4 -8.1 385 9348 done -0.77 - - 2642 - 2.45 0.069 2759 564.5 -116.8 - - 3478 - - - - - - - - 14.73 14.58 14.76
9696 793.5 -7.8 394 9709 roll -0.77 - - 2633 - 1.98 0.109 3827 539.4 -116.8 - - 3478 - - - - - - - - 14.93 14.51 14.93
9784 801.1 -8.5 406 9797 done -0.77 - - 2630 - 1.77 0.045 2751 -607.9 -116.8 - - 3482 - - - - - - - - 14.78 14.71 14.79
10152 831.2 -8.3 416 10165 roll -0.77 - - 2625 - 2.03 0.109 3827 530.0 -116.8 - - 3481 - - - - - - - - 14.93 14.50 14.94
10268 841.7 -8.9 432 10282 done -0.77 - - 2625 - 1.77 0.045 2753 -606.8 -116.8 - - 3476 - - - - - - - - 14.78 14.72 14.79
10609 871.5 -8.8 445 10622 roll -0.77 - - 2617 - 2.00 0.109 3821 534.0 -116.8 - - 3473 - - - - - - - - 14.92 14.50 14.92
10768 886.1 -9.2 467 10781 done -0.77 0.12 0.241 2652 291.7 1.73 0.044 2775 -604.6 -116.8 - - 3474 - - - - - - - - 14.37 14.71 14.62
11123 913.2 -7.6 475 11136 roll -0.77 - - 2650 - 1.98 0.110 3826 530.8 -116.8 - - 3473 - - - - - - - - 14.92 14.47 14.92
11224 921.3 -7.8 489 11238 done -0.77 - - 2644 - 1.80 0.045 2730 -608.9 -116.8 - - 3473 - - - - - - - - 14.75 14.67 14.77
11353 end dive: TARGET_DEPTH_EXCEEDED
11354 begin apogee
11358 931.0 -7.4 493 11482 roll -0.23 0.60 0.192 2819 291.7 - - 2228 - - 114.05 1.963 3049 -3.7 0.336 - - - - - - 14.41 14.04 13.31
11484 end apogee: CONTROL_FINISHED_OK
11484 begin climb
11485 934.4 - 495 11626 roll 0.90 1.12 0.117 3172 315.2 2.42 0.055 863 -564.0 116.8 121.80 1.930 2578 -3.9 0.357 - - - - - - 14.04 14.07 13.19
11673 924.0 9.2 524 11686 done 0.76 - - 3172 - 2.47 0.053 2257 564.4 116.8 - - 2573 - - - - - - - - 14.17 14.07 14.19
12034 887.6 10.2 533 12048 done 0.60 0.28 0.232 3096 -271.4 - - 2258 - 116.8 - - 2569 - - - - - - - - 14.21 14.50 14.47
12370 861.6 7.5 539 12384 roll 0.60 - - 3097 - 2.58 0.103 3653 540.7 121.2 - - 2568 - - - - - - - - 14.77 14.42 14.78
12423 857.2 8.3 546 12437 done 0.52 0.12 0.249 3073 -200.0 2.38 0.042 2254 -587.8 121.2 - - 2566 - - - - - - - - 14.31 14.57 14.54
12767 835.0 6.5 553 12813 roll 0.56 - - 3070 - 2.62 0.100 3651 533.2 148.7 33.55 1.906 2451 -3.4 0.286 - - - - - - 14.83 14.33 13.71
12846 829.4 9.1 564 12859 done 0.56 - - 3080 - 2.40 0.041 2245 -585.8 148.7 - - 2447 - - - - - - - - 14.49 14.42 14.50
13165 806.6 7.2 574 13188 done 0.57 - - 3082 - - - 2240 - 161.5 13.38 2.043 2406 -3.1 0.230 - - - - - - 14.73 14.48 13.78
13502 781.4 7.5 580 13515 roll 0.58 - - 3082 - 2.62 0.099 3651 538.5 166.8 1.05 0.276 2385 -20.0 10.784 - - - - - - 14.75 14.44 14.33
13554 777.1 7.8 587 13568 done 0.58 - - 3093 - 2.40 0.041 2243 -586.7 166.8 - - 2392 - - - - - - - - 14.64 14.56 14.64
13899 751.3 7.4 594 13925 roll 0.59 - - 3093 - 2.70 0.102 3651 521.5 175.2 14.12 2.000 2346 -3.3 0.233 - - - - - - 14.83 14.46 13.85
13971 745.4 8.5 604 13984 done 0.59 - - 3102 - 2.38 0.042 2251 -588.2 175.2 - - 2342 - - - - - - - - 14.60 14.56 14.62
14291 720.7 7.7 614 14304 done 0.59 - - 3102 - - - 2247 - 175.5 - - 2340 - - - - - - - - 14.79 14.79 14.79
14627 695.3 7.5 620 14641 roll 0.60 - - 3103 - 2.62 0.101 3660 539.3 180.7 1.12 0.274 2329 -9.8 4.746 - - - - - - 14.84 14.49 14.35
14666 691.9 8.3 625 14680 done 0.60 - - 3112 - 2.38 0.042 2252 -591.6 180.7 - - 2335 - - - - - - - - 14.70 14.62 14.71
15028 663.7 7.8 634 15041 roll 0.60 - - 3112 - 2.62 0.104 3658 536.6 180.7 - - 2337 - - - - - - - - 14.85 14.50 14.85
15067 660.2 8.6 639 15080 done 0.60 - - 3121 - 2.35 0.042 2259 -595.3 180.7 - - 2337 - - - - - - - - 14.71 14.64 14.73
15428 631.4 8.0 648 15441 roll 0.60 - - 3122 - 2.62 0.101 3660 534.7 180.7 - - 2337 - - - - - - - - 14.87 14.51 14.87
15460 628.4 8.9 652 15473 done 0.60 0.12 0.239 3098 -200.0 2.35 0.042 2261 -595.3 180.7 - - 2337 - - - - - - - - 14.42 14.66 14.64
15829 601.9 7.2 662 15856 done 0.61 - - 3095 - - - 2255 - 193.2 18.67 1.802 2280 -3.1 0.194 - - - - - - 14.86 14.59 13.95
16165 575.6 7.9 668 16178 done 0.61 - - 3097 - - - 2256 - 193.2 - - 2268 - - - - - - - - 14.80 14.80 14.79
16501 549.6 7.7 674 16514 roll 0.61 - - 3098 - 2.60 0.102 3656 538.5 193.8 - - 2268 - - - - - - - - 14.85 14.47 14.85
16574 543.3 8.7 684 16587 done 0.61 - - 3106 - 2.35 0.042 2261 -593.6 193.8 - - 2270 - - - - - - - - 14.69 14.64 14.71
16901 518.6 7.5 695 16914 done 0.62 - - 3106 - - - 2256 - 200.2 1.65 0.300 2253 -10.3 3.392 - - - - - - 14.85 14.56 13.99
17237 494.5 7.2 701 17269 roll 0.64 - - 3116 - 2.42 0.063 855 -578.9 212.8 19.80 1.676 2198 -2.8 0.156 - - - - - - 14.87 14.51 13.95
17280 491.2 7.3 707 17300 done 0.65 - - 3116 - 2.42 0.057 2262 581.4 222.5 5.25 1.806 2166 -6.1 0.316 - - - - - - 14.62 14.52 13.76
17631 463.0 8.2 715 17645 roll 0.65 - - 3116 - 2.55 0.102 3654 545.9 222.5 - - 2171 - - - - - - - - 14.78 14.45 14.79
17705 456.1 9.2 725 17718 done 0.65 - - 3126 - 2.35 0.041 2260 -593.2 222.5 - - 2171 - - - - - - - - 14.66 14.58 14.66
18032 427.9 8.7 736 18044 done 0.65 - - 3126 - - - 2255 - 222.5 - - 2171 - - - - - - - - 14.83 14.83 14.83
18368 398.1 8.9 742 18381 roll 0.65 - - 3126 - 2.60 0.102 3654 538.1 222.5 - - 2171 - - - - - - - - 14.85 14.49 14.85
18413 393.6 10.1 748 18426 done 0.65 - - 3135 - 2.33 0.042 2269 -594.4 222.5 - - 2172 - - - - - - - - 14.71 14.64 14.73
18768 360.5 9.4 756 18781 roll 0.65 - - 3146 - 2.42 0.064 864 -580.6 222.5 - - 2171 - - - - - - - - 14.88 14.55 14.88
18828 354.8 9.6 764 18842 done 0.65 0.12 0.223 3110 -300.0 2.42 0.057 2266 579.3 222.5 - - 2172 - - - - - - - - 14.41 14.57 14.63
19169 326.9 8.1 777 19182 roll 0.65 - - 3110 - 2.55 0.100 3662 547.5 222.5 - - 2172 - - - - - - - - 14.89 14.50 14.89
19221 322.2 9.0 784 19235 done 0.65 - - 3119 - 2.35 0.041 2264 -594.9 222.5 - - 2172 - - - - - - - - 14.73 14.65 14.73
19565 293.4 8.4 791 19579 roll 0.65 - - 3118 - 2.60 0.101 3661 537.3 222.5 - - 2172 - - - - - - - - 14.88 14.50 14.88
19597 290.3 9.3 795 19610 done 0.65 - - 3128 - 2.33 0.041 2272 -596.1 222.5 - - 2172 - - - - - - - - 14.73 14.65 14.74
19965 258.2 8.7 805 19978 done 0.65 - - 3129 - - - 2268 - 222.5 - - 2172 - - - - - - - - 14.89 14.89 14.89
20302 229.9 8.4 811 20315 roll 0.65 - - 3138 - 2.42 0.060 856 -583.5 222.5 1.17 0.266 2165 -6.0 0.985 - - - - - - 14.88 14.54 14.35
20334 227.2 8.2 815 20347 done 0.65 - - 3138 - 2.42 0.056 2273 585.5 222.5 - - 2171 - - - - - - - - 14.71 14.58 14.73
20702 195.4 8.7 825 20716 roll 0.65 - - 3138 - 2.50 0.099 3654 552.4 222.5 1.15 0.267 2166 -4.3 0.606 - - - - - - 14.90 14.52 14.38
20741 191.5 9.8 830 20755 done 0.65 0.12 0.233 3113 -208.3 2.33 0.041 2264 -596.6 222.5 - - 2173 - - - - - - - - 14.42 14.66 14.65
21103 163.8 7.5 839 21128 roll 0.65 - - 3122 - 2.45 0.062 862 -572.2 227.6 9.12 1.459 2140 -3.6 0.077 - - - - - - 14.90 14.64 14.09
21182 157.7 7.6 850 21195 done 0.66 - - 3122 - 2.40 0.053 2271 587.1 229.8 - - 2139 - - - - - - - - 14.69 14.57 14.72
21501 132.5 8.0 860 21514 roll 0.66 - - 3122 - 2.53 0.098 3663 550.2 229.8 - - 2139 - - - - - - - - 14.85 14.50 14.86
21595 124.3 8.7 873 21609 done 0.66 - - 3131 - 2.33 0.040 2266 -599.6 229.8 - - 2139 - - - - - - - - 14.72 14.64 14.74
21957 99.1 6.7 882 21982 roll 0.68 - - 3131 - 2.58 0.099 3659 539.9 252.7 11.57 0.457 2045 -8.1 0.336 - - - - - - 14.88 14.54 14.28
22044 93.1 6.8 894 22068 done 0.71 - - 3140 - 2.30 0.039 2276 -601.3 272.5 10.55 0.435 1964 -7.7 0.313 - - - - - - 14.71 14.64 14.22
22383 75.9 4.2 909 22434 roll 0.92 0.08 0.148 3218 975.0 2.42 0.063 869 -581.4 349.2 37.35 0.397 1659 -8.2 0.297 - - - - - - 14.62 14.54 14.28
22496 67.2 8.0 925 22510 done 0.92 - - 3218 - 2.42 0.054 2282 583.9 349.2 - - 1660 - - - - - - - - 14.62 14.52 14.66
22837 48.0 4.8 940 22883 roll 1.07 - - 3218 - 2.55 0.099 3656 538.8 413.5 31.05 0.311 1403 -8.3 0.243 - - - - - - 14.83 14.43 14.31
23041 37.1 5.5 969 23082 done 1.29 0.22 0.071 3331 513.6 2.28 0.038 2281 -603.1 461.7 23.65 0.274 1212 -8.1 0.208 - - - - - - 14.62 14.60 14.31
23403 4.7 9.2 987 23416 roll 1.29 - - 3340 - 2.42 0.063 866 -584.7 461.7 - - 1212 - - - - - - - - 14.86 14.54 14.84
23433 end climb: SURFACE_DEPTH_REACHED
23433 begin surface coast
23439 end surface coast: CONTROL_FINISHED_OK
23440 begin surface
SM -1.06 - - - - -8.39 9.38 0.089 197 21.0 3.33 0.061 2765 675.4 500.14 17.58 0.160 1057 60.1 0.041 - - - - - -