SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 66.40 of 350.00 AH used of 24V (81.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -3.02 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 500.64, SM_CC=500)
• GPS1 time: 20 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
19 - - - 97 done -0.90 - - 146 - - - 2781 - -116.8 -74.72 - 3515 - - - - - - - - 14.65 13.21 14.66
99 -4.0 -4.9 2 121 roll -0.90 11.73 0.399 2601 209.3 2.35 0.030 1344 -611.5 -116.8 - - 3516 - - - - - - - - 14.21 14.48 14.49
181 35.6 -23.4 15 190 done -0.62 0.38 0.236 2694 244.7 2.55 0.074 2760 555.3 -116.8 - - 3517 - - - - - - - - 14.21 14.38 14.38
512 91.5 -9.4 29 519 roll -0.53 0.10 0.258 2714 200.0 1.90 0.103 3820 557.9 -116.8 - - 3520 - - - - - - - - 14.38 14.46 14.58
748 109.3 -5.9 63 756 done -0.53 - - 2715 - 1.80 0.037 2731 -605.0 -116.8 - - 3520 - - - - - - - - 14.66 14.62 14.69
1071 130.9 -8.0 74 1078 roll -0.53 - - 2707 - 2.05 0.103 3821 531.7 -116.8 - - 3519 - - - - - - - - 14.85 14.49 14.85
1308 148.9 -7.6 108 1317 done -0.53 - - 2706 - 1.73 0.040 2775 -604.6 -116.8 - - 3520 - - - - - - - - 14.69 14.75 14.71
1632 173.2 -7.6 119 1634 done -0.53 - - 2706 - - - 2775 - -116.8 - - 3516 - - - - - - - - 14.87 14.86 14.86
1967 198.1 -7.5 125 1970 done -0.53 - - 2701 - - - 2775 - -116.8 - - 3515 - - - - - - - - 14.88 14.88 14.88
2303 223.4 -7.4 131 2311 roll -0.53 - - 2706 - 2.38 0.046 1387 -583.2 -116.8 - - 3512 - - - - - - - - 14.88 14.57 14.88
2351 227.1 -7.6 138 2361 done -0.53 - - 2698 - 2.45 0.069 2764 562.0 -116.8 - - 3509 - - - - - - - - 14.62 14.53 14.65
2698 252.4 -7.4 145 2713 done -0.53 - - 2697 - - - 2764 - -116.8 - - 3509 - - - - - - - - 14.89 14.89 14.89
3031 274.9 -6.6 151 3044 done -0.53 - - 2698 - - - 2764 - -116.8 - - 3504 - - - - - - - - 14.94 14.94 14.94
3368 298.0 -7.0 157 3381 roll -0.53 0.08 0.263 2726 350.0 2.33 0.043 1379 -594.4 -116.8 - - 3500 - - - - - - - - 14.47 14.67 14.63
3435 302.6 -6.4 166 3448 done -0.65 - - 2716 - 2.42 0.070 2761 571.1 -116.8 - - 3502 - - - - - - - - 14.76 14.60 14.78
3768 324.6 -6.7 178 3782 roll -0.74 0.08 0.149 2642 -925.0 2.30 0.043 1373 -603.5 -116.8 - - 3501 - - - - - - - - 14.70 14.67 14.73
3800 327.4 -8.7 182 3813 done -0.74 - - 2631 - 2.45 0.070 2769 569.8 -116.8 - - 3501 - - - - - - - - 14.76 14.62 14.79
4169 364.9 -10.2 192 4182 roll -0.74 - - 2624 - 1.92 0.112 3821 547.9 -116.8 - - 3498 - - - - - - - - 14.96 14.56 14.96
4306 379.5 -10.6 211 4320 done -0.65 0.22 0.213 2689 295.5 1.73 0.042 2758 -614.5 -116.8 - - 3498 - - - - - - - - 14.47 14.77 14.70
4626 404.3 -7.6 221 4639 roll -0.65 - - 2690 - 2.30 0.047 1385 -597.0 -116.8 - - 3495 - - - - - - - - 14.93 14.68 14.95
4707 410.6 -7.5 232 4720 done -0.65 - - 2680 - 2.42 0.072 2765 570.2 -116.8 - - 3498 - - - - - - - - 14.76 14.61 14.78
5027 435.0 -7.7 242 5040 roll -0.65 - - 2680 - 2.35 0.047 1381 -588.9 -116.8 - - 3492 - - - - - - - - 14.95 14.67 14.95
5065 438.1 -8.1 247 5078 done -0.65 - - 2669 - 2.42 0.071 2768 573.1 -116.8 - - 3493 - - - - - - - - 14.76 14.61 14.78
5427 469.2 -8.9 256 5440 roll -0.65 - - 2662 - 1.95 0.113 3832 545.6 -116.8 - - 3492 - - - - - - - - 14.95 14.53 14.95
5465 473.0 -10.0 261 5478 done -0.65 - - 2662 - 1.75 0.044 2758 -613.7 -116.8 - - 3492 - - - - - - - - 14.81 14.75 14.81
5827 506.5 -9.2 270 5840 roll -0.65 - - 2662 - 2.33 0.047 1373 -594.4 -116.8 - - 3489 - - - - - - - - 14.95 14.66 14.95
5872 510.7 -8.9 276 5886 done -0.65 0.12 0.239 2689 225.0 2.45 0.072 2765 568.2 -116.8 - - 3489 - - - - - - - - 14.43 14.59 14.68
6227 536.4 -7.1 284 6240 roll -0.65 - - 2681 - 1.95 0.114 3826 544.1 -116.8 - - 3488 - - - - - - - - 14.96 14.54 14.95
6288 540.8 -7.4 292 6301 done -0.65 - - 2681 - 1.75 0.044 2760 -609.1 -116.8 - - 3487 - - - - - - - - 14.80 14.74 14.81
6628 564.2 -6.8 305 6641 roll -0.65 - - 2681 - 2.33 0.047 1377 -593.6 -116.8 - - 3486 - - - - - - - - 14.95 14.64 14.95
6730 571.4 -6.9 319 6743 done -0.65 - - 2672 - 2.45 0.072 2768 567.8 -116.8 - - 3486 - - - - - - - - 14.73 14.57 14.76
7084 596.8 -7.2 327 7097 done -0.65 - - 2672 - - - 2768 - -116.8 - - 3484 - - - - - - - - 14.94 14.94 14.94
7421 621.6 -7.5 333 7434 roll -0.65 - - 2672 - 2.38 0.046 1371 -587.0 -116.8 - - 3483 - - - - - - - - 14.95 14.65 14.95
7459 624.8 -8.4 338 7473 done -0.65 - - 2663 - 2.47 0.073 2769 566.0 -116.8 - - 3482 - - - - - - - - 14.74 14.57 14.75
7821 654.6 -8.3 347 7834 roll -0.65 - - 2655 - 1.98 0.114 3835 538.4 -116.8 - - 3482 - - - - - - - - 14.94 14.50 14.94
7853 657.5 -8.7 351 7866 done -0.65 0.10 0.234 2684 290.0 1.77 0.044 2760 -607.3 -116.8 - - 3481 - - - - - - - - 14.43 14.73 14.66
8222 684.4 -7.2 361 8235 roll -0.65 - - 2684 - 2.35 0.047 1369 -591.9 -116.8 - - 3480 - - - - - - - - 14.95 14.61 14.95
8289 689.4 -7.5 370 8302 done -0.65 - - 2676 - 2.47 0.073 2765 565.2 -116.8 - - 3480 - - - - - - - - 14.71 14.54 14.74
8622 713.9 -7.4 382 8635 roll -0.65 - - 2668 - 1.98 0.116 3828 536.9 -116.8 - - 3479 - - - - - - - - 14.92 14.49 14.92
8675 718.0 -7.7 389 8688 done -0.65 - - 2668 - 1.80 0.045 2754 -596.7 -116.8 - - 3477 - - - - - - - - 14.76 14.70 14.77
9019 742.3 -7.0 396 9032 roll -0.65 - - 2668 - 2.35 0.047 1361 -592.8 -116.8 - - 3478 - - - - - - - - 14.93 14.62 14.94
9079 746.5 -7.1 404 9093 done -0.65 0.10 0.249 2687 190.0 2.50 0.073 2758 558.8 -116.8 - - 3477 - - - - - - - - 14.40 14.53 14.63
9421 767.4 -6.1 417 9434 done -0.65 - - 2687 - - - 2759 - -116.8 - - 3476 - - - - - - - - 14.91 14.92 14.92
9757 788.8 -6.4 423 9770 roll -0.65 - - 2687 - 2.38 0.046 1372 -582.8 -116.8 - - 3475 - - - - - - - - 14.93 14.60 14.93
9824 793.5 -6.8 432 9837 done -0.73 - - 2679 - 2.50 0.073 2768 558.4 -116.8 - - 3474 - - - - - - - - 14.65 14.48 14.68
10157 816.4 -7.1 444 10170 done -0.73 - - 2679 - - - 2768 - -116.8 - - 3474 - - - - - - - - 14.90 14.91 14.91
10493 841.9 -7.5 450 10507 roll -0.73 - - 2679 - 2.40 0.047 1370 -582.5 -116.8 - - 3472 - - - - - - - - 14.93 14.60 14.93
10574 848.2 -7.6 461 10588 done -0.73 - - 2671 - 2.47 0.074 2754 560.3 -116.8 - - 3472 - - - - - - - - 14.69 14.52 14.72
10894 873.5 -7.9 471 10907 done -0.73 - - 2671 - - - 2754 - -116.8 - - 3470 - - - - - - - - 14.91 14.91 14.91
11230 897.5 -7.0 477 11243 roll -0.73 - - 2671 - 2.38 0.047 1373 -580.3 -116.8 - - 3471 - - - - - - - - 14.91 14.59 14.90
11276 900.1 -4.8 483 11289 done -0.73 - - 2662 - 2.47 0.075 2763 562.8 -116.8 - - 3471 - - - - - - - - 14.69 14.51 14.72
11631 923.5 -6.6 491 11643 done -0.73 - - 2662 - - - 2763 - -116.8 - - 3471 - - - - - - - - 14.92 14.91 14.92
11741 end dive: TARGET_DEPTH_EXCEEDED
11741 begin apogee
11746 930.8 -6.5 493 11871 roll -0.23 0.55 0.187 2824 294.5 - - 2232 - - 114.57 1.943 3050 -3.7 0.337 - - - - - - 14.38 14.04 13.31
11872 end apogee: CONTROL_FINISHED_OK
11872 begin climb
11874 933.9 - 495 12014 roll 0.90 1.10 0.113 3172 316.4 2.42 0.057 874 -561.2 116.8 123.20 1.956 2583 -3.8 0.346 - - - - - - 14.04 14.07 13.14
12019 927.4 9.0 518 12033 done 0.64 0.25 0.235 3107 -260.0 2.53 0.055 2257 546.6 116.8 - - 2575 - - - - - - - - 13.81 13.90 13.99
12363 901.4 7.5 525 12376 roll 0.64 - - 3106 - 2.62 0.106 3654 533.2 121.8 - - 2571 - - - - - - - - 14.61 14.27 14.61
12416 897.0 8.3 532 12431 done 0.54 0.15 0.240 3077 -193.3 2.40 0.043 2259 -581.2 121.8 - - 2569 - - - - - - - - 14.19 14.42 14.41
12760 876.9 5.6 539 12826 done 0.60 - - 3076 - - - 2258 - 168.9 56.25 1.908 2376 -3.4 0.301 - - - - - - 14.74 14.18 13.50
13152 853.1 6.3 553 13199 roll 0.64 - - 3077 - 2.78 0.107 3664 505.8 200.5 34.15 1.933 2246 -3.8 0.321 - - - - - - 14.67 14.18 13.57
13217 848.7 8.9 562 13230 done 0.64 - - 3086 - 2.45 0.044 2255 -575.1 200.5 - - 2241 - - - - - - - - 14.36 14.29 14.37
13543 825.4 7.2 573 13564 done 0.65 - - 3086 - - - 2250 - 212.9 11.73 2.085 2203 -3.2 0.245 - - - - - - 14.69 14.44 13.71
13880 800.0 7.8 579 13893 roll 0.65 - - 3086 - 2.65 0.108 3654 529.8 212.9 - - 2193 - - - - - - - - 14.73 14.40 14.73
13911 797.1 8.7 583 13924 done 0.65 - - 3095 - 2.40 0.043 2247 -586.2 212.9 - - 2194 - - - - - - - - 14.61 14.53 14.62
14280 764.7 8.9 593 14293 roll 0.65 - - 3105 - 2.40 0.064 855 -580.0 212.9 - - 2192 - - - - - - - - 14.81 14.51 14.81
14311 761.8 8.8 597 14325 done 0.65 - - 3105 - 2.45 0.059 2263 574.7 212.9 - - 2192 - - - - - - - - 14.65 14.52 14.67
14680 727.5 9.3 607 14693 roll 0.65 - - 3105 - 2.58 0.107 3661 541.9 212.9 - - 2192 - - - - - - - - 14.83 14.47 14.83
14718 723.5 9.8 612 14732 done 0.65 - - 3119 - 2.38 0.042 2253 -591.6 212.9 - - 2192 - - - - - - - - 14.70 14.61 14.71
15080 690.8 8.9 621 15093 done 0.65 - - 3115 - - - 2248 - 212.9 - - 2191 - - - - - - - - 14.85 14.85 14.85
15417 662.2 8.5 627 15429 done 0.65 - - 3114 - - - 2248 - 212.9 - - 2191 - - - - - - - - 14.87 14.86 14.86
15752 632.3 9.0 633 15766 roll 0.65 - - 3115 - 2.62 0.106 3654 536.6 212.9 - - 2191 - - - - - - - - 14.87 14.47 14.87
15798 627.8 10.1 639 15811 done 0.65 - - 3122 - 2.38 0.042 2252 -589.1 212.9 - - 2191 - - - - - - - - 14.71 14.64 14.73
16152 595.0 9.3 647 16165 roll 0.65 - - 3134 - 2.40 0.064 855 -582.1 212.9 - - 2191 - - - - - - - - 14.87 14.54 14.90
16177 592.6 9.1 650 16190 done 0.65 - - 3134 - 2.42 0.058 2259 580.2 212.9 - - 2191 - - - - - - - - 14.69 14.55 14.72
16497 561.4 9.9 660 16510 done 0.65 - - 3133 - - - 2259 - 212.9 - - 2191 - - - - - - - - 14.88 14.88 14.88
16832 527.4 10.1 666 16845 done 0.65 - - 3135 - - - 2259 - 212.9 - - 2191 - - - - - - - - 14.88 14.88 14.88
17168 495.1 9.5 672 17182 roll 0.65 - - 3141 - 2.58 0.108 3657 541.9 212.9 - - 2191 - - - - - - - - 14.89 14.45 14.89
17200 491.7 10.3 676 17214 done 0.65 0.12 0.236 3109 -266.7 2.38 0.043 2252 -590.3 212.9 - - 2196 - - - - - - - - 14.38 14.64 14.64
17570 460.7 8.4 686 17583 roll 0.65 - - 3119 - 2.40 0.063 854 -582.5 212.9 - - 2193 - - - - - - - - 14.88 14.53 14.88
17601 457.9 8.6 690 17614 done 0.65 - - 3118 - 2.42 0.057 2261 581.4 212.9 - - 2191 - - - - - - - - 14.69 14.55 14.72
17970 426.3 8.5 700 17983 roll 0.65 - - 3119 - 2.58 0.105 3658 541.5 212.9 - - 2191 - - - - - - - - 14.88 14.45 14.88
18009 422.7 9.1 705 18022 done 0.65 - - 3127 - 2.38 0.041 2247 -592.9 212.9 - - 2191 - - - - - - - - 14.71 14.61 14.73
18370 392.6 8.3 714 18383 roll 0.65 - - 3138 - 2.40 0.064 852 -581.2 212.9 - - 2192 - - - - - - - - 14.88 14.53 14.88
18423 388.3 8.2 721 18436 done 0.65 - - 3138 - 2.42 0.057 2256 580.2 212.9 - - 2194 - - - - - - - - 14.68 14.54 14.71
18767 358.7 8.9 728 18780 done 0.65 - - 3138 - - - 2256 - 212.9 - - 2191 - - - - - - - - 14.88 14.88 14.88
19103 326.8 9.7 734 19116 roll 0.65 - - 3138 - 2.58 0.106 3655 542.2 212.9 - - 2191 - - - - - - - - 14.88 14.45 14.88
19148 321.8 11.1 740 19162 done 0.65 0.12 0.233 3113 -208.3 2.38 0.042 2246 -592.0 212.9 - - 2191 - - - - - - - - 14.34 14.60 14.59
19503 292.5 8.0 748 19517 roll 0.65 - - 3123 - 2.38 0.063 858 -583.2 212.9 - - 2191 - - - - - - - - 14.90 14.52 14.90
19549 288.9 7.9 754 19562 done 0.65 - - 3122 - 2.40 0.056 2257 582.9 212.9 - - 2191 - - - - - - - - 14.69 14.54 14.71
19904 261.5 7.7 762 19917 roll 0.66 - - 3122 - 2.58 0.106 3650 539.9 214.6 - - 2192 - - - - - - - - 14.90 14.45 14.90
19964 256.1 9.1 770 19977 done 0.66 - - 3132 - 2.35 0.041 2254 -594.0 214.6 - - 2192 - - - - - - - - 14.71 14.63 14.73
20305 227.9 8.3 783 20318 roll 0.66 - - 3142 - 2.40 0.064 858 -581.7 214.6 - - 2192 - - - - - - - - 14.88 14.53 14.88
20357 223.6 8.2 790 20371 done 0.66 0.10 0.226 3112 -300.0 2.40 0.057 2257 582.9 214.6 - - 2192 - - - - - - - - 14.38 14.53 14.60
20702 200.1 6.8 797 20740 roll 0.68 - - 3111 - 2.60 0.104 3652 536.5 236.2 22.75 1.319 2104 -3.9 0.112 - - - - - - 14.88 14.52 14.03
20779 193.7 9.0 808 20792 done 0.68 - - 3120 - 2.35 0.040 2253 -595.3 236.2 - - 2101 - - - - - - - - 14.64 14.57 14.65
21098 167.2 8.3 818 21112 roll 0.68 - - 3120 - 2.62 0.103 3657 535.9 236.2 - - 2100 - - - - - - - - 14.81 14.40 14.81
21123 164.9 8.1 821 21136 done 0.68 - - 3129 - 2.38 0.041 2248 -592.0 236.2 - - 2100 - - - - - - - - 14.65 14.57 14.67
21443 140.2 7.6 831 21456 done 0.68 - - 3128 - - - 2243 - 238.5 - - 2100 - - - - - - - - 14.83 14.83 14.83
21778 113.5 8.0 837 21792 roll 0.68 - - 3129 - 2.65 0.104 3656 533.2 238.5 - - 2100 - - - - - - - - 14.85 14.43 14.85
21803 111.5 7.5 840 21821 done 0.69 - - 3137 - 2.35 0.041 2254 -596.6 244.9 3.00 0.402 2076 -8.0 0.424 - - - - - - 14.70 14.63 14.11
22150 91.9 3.6 853 22209 roll 0.80 - - 3148 - 2.45 0.062 856 -570.6 334.2 43.58 0.451 1721 -8.1 0.317 - - - - - - 14.85 14.54 14.26
22249 87.4 5.2 864 22290 done 1.02 0.17 0.086 3241 547.1 2.42 0.054 2271 584.7 389.0 27.17 0.431 1501 -8.1 0.314 - - - - - - 14.58 14.51 14.23
22605 60.7 5.3 881 22643 roll 1.09 - - 3249 - 2.50 0.060 866 -562.0 442.9 26.38 0.350 1286 -8.2 0.270 - - - - - - 14.78 14.50 14.22
22719 53.6 6.0 897 22752 done 1.23 0.08 0.145 3304 687.5 2.40 0.050 2274 586.7 480.3 18.50 0.325 1138 -8.0 0.252 - - - - - - 14.51 14.48 14.21
23079 27.8 6.8 915 23104 roll 1.26 - - 3305 - 2.53 0.100 3658 547.0 501.3 11.02 0.246 1054 -7.6 0.165 - - - - - - 14.81 14.45 14.29
23193 17.3 9.0 931 23206 done 1.26 - - 3311 - 2.33 0.038 2257 -601.3 501.3 - - 1057 - - - - - - - - 14.63 14.56 14.64
23392 end climb: SURFACE_DEPTH_REACHED
23392 begin surface coast
23420 end surface coast: CONTROL_FINISHED_OK
23420 begin surface
SM -0.88 - - - - -8.42 8.82 0.046 181 20.5 0.93 0.080 2761 1861.3 500.64 - - 1057 - - - - - - - -