SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 169 * Raw log
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• Previous call tries 1 • 66.75 of 350.00 AH used of 24V (80.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth -0.93 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 504.91, SM_CC=500)
• GPS1 time: 35 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
17 begin dive
19 - - - 98 done -0.90 - - 153 - - - 2774 - -116.8 -75.95 - 3515 - - - - - - - - 14.65 13.19 14.64
100 0.6 -4.3 2 122 roll -0.90 11.80 0.402 2600 207.4 1.92 0.088 3826 547.9 -116.8 - - 3521 - - - - - - - - 14.21 14.40 14.50
350 92.0 -16.7 39 358 done -0.59 0.38 0.237 2703 271.1 1.80 0.034 2731 -608.3 -116.8 - - 3519 - - - - - - - - 14.28 14.58 14.44
680 117.8 -7.3 49 689 roll -0.59 - - 2704 - 2.20 0.044 1404 -603.2 -116.8 - - 3520 - - - - - - - - 14.82 14.57 14.81
840 130.0 -4.8 72 849 done -0.59 - - 2696 - 2.42 0.067 2777 567.4 -116.8 - - 3520 - - - - - - - - 14.59 14.51 14.62
1184 156.4 -8.2 79 1191 roll -0.59 - - 2686 - 1.95 0.106 3824 536.9 -116.8 - - 3520 - - - - - - - - 14.85 14.49 14.87
1352 170.8 -8.9 103 1359 done -0.59 - - 2685 - 1.73 0.041 2783 -601.7 -116.8 - - 3520 - - - - - - - - 14.69 14.66 14.70
1688 200.5 -8.9 116 1695 roll -0.59 - - 2678 - 1.98 0.105 3826 526.8 -116.8 - - 3519 - - - - - - - - 14.87 14.49 14.88
1764 207.6 -9.1 127 1773 done -0.59 0.10 0.234 2712 340.0 1.75 0.041 2781 -597.1 -116.8 - - 3517 - - - - - - - - 14.43 14.70 14.57
2081 229.5 -6.8 137 2088 roll -0.59 - - 2713 - 2.35 0.047 1383 -594.9 -116.8 - - 3514 - - - - - - - - 14.88 14.62 14.88
2142 233.7 -6.8 146 2150 done -0.66 - - 2704 - 2.50 0.070 2778 558.0 -116.8 - - 3513 - - - - - - - - 14.62 14.51 14.64
2473 257.6 -7.4 158 2486 roll -0.66 - - 2704 - 2.38 0.046 1375 -589.5 -116.8 - - 3509 - - - - - - - - 14.90 14.64 14.88
2511 260.7 -7.9 163 2524 done -0.66 - - 2695 - 2.47 0.071 2791 573.3 -116.8 - - 3510 - - - - - - - - 14.73 14.59 14.76
2873 289.0 -7.9 172 2886 done -0.66 - - 2695 - - - 2791 - -116.8 - - 3507 - - - - - - - - 14.94 14.94 14.95
3209 315.8 -8.0 178 3222 roll -0.66 - - 2694 - 2.40 0.047 1379 -588.3 -116.8 - - 3505 - - - - - - - - 14.97 14.62 14.96
3289 322.1 -7.3 189 3303 done -0.66 - - 2691 - 2.47 0.072 2781 567.6 -116.8 - - 3504 - - - - - - - - 14.74 14.61 14.77
3609 345.8 -7.5 199 3622 done -0.66 - - 2685 - - - 2781 - -116.8 - - 3501 - - - - - - - - 14.95 14.95 14.95
3945 372.9 -8.3 205 3959 roll -0.66 - - 2677 - 1.92 0.112 3825 543.8 -116.8 - - 3498 - - - - - - - - 14.95 14.57 14.95
3991 376.9 -8.9 211 4004 done -0.66 - - 2677 - 1.75 0.044 2778 -598.3 -116.8 - - 3500 - - - - - - - - 14.81 14.73 14.83
4345 406.4 -8.3 219 4359 roll -0.66 - - 2677 - 2.35 0.047 1371 -598.7 -116.8 - - 3497 - - - - - - - - 14.96 14.68 14.96
4426 412.9 -7.9 230 4439 done -0.66 - - 2667 - 2.50 0.072 2782 564.4 -116.8 - - 3496 - - - - - - - - 14.76 14.61 14.78
4745 437.9 -7.9 240 4759 roll -0.66 - - 2659 - 1.92 0.111 3828 544.8 -116.8 - - 3494 - - - - - - - - 14.97 14.56 14.97
4777 440.6 -8.5 244 4790 done -0.66 - - 2659 - 1.73 0.044 2766 -613.9 -116.8 - - 3495 - - - - - - - - 14.82 14.76 14.83
5146 469.8 -7.9 254 5158 done -0.66 - - 2658 - - - 2766 - -116.8 - - 3493 - - - - - - - - 14.96 14.97 14.97
5482 496.6 -8.0 260 5495 roll -0.66 - - 2659 - 2.33 0.047 1381 -594.4 -116.8 - - 3492 - - - - - - - - 14.95 14.66 14.95
5542 501.7 -8.4 268 5556 done -0.66 0.10 0.250 2679 200.0 2.50 0.073 2788 562.8 -116.8 - - 3491 - - - - - - - - 14.47 14.59 14.69
5883 528.2 -7.9 281 5896 done -0.66 - - 2678 - - - 2788 - -116.8 - - 3490 - - - - - - - - 14.95 14.95 14.95
6219 555.5 -8.1 287 6232 roll -0.66 - - 2679 - 2.40 0.048 1382 -585.8 -116.8 - - 3488 - - - - - - - - 14.95 14.65 14.95
6265 559.3 -8.1 293 6278 done -0.66 - - 2670 - 2.47 0.074 2781 566.4 -116.8 - - 3488 - - - - - - - - 14.74 14.59 14.77
6619 588.7 -8.3 301 6632 done -0.66 - - 2670 - - - 2780 - -116.8 - - 3486 - - - - - - - - 14.95 14.95 14.95
6955 614.8 -7.6 307 6968 done -0.66 - - 2670 - - - 2781 - -116.8 - - 3484 - - - - - - - - 14.95 14.96 14.95
7292 638.2 -6.8 313 7305 roll -0.66 - - 2669 - 2.40 0.048 1377 -585.0 -116.8 - - 3483 - - - - - - - - 14.94 14.64 14.94
7366 643.4 -7.0 323 7379 done -0.66 - - 2660 - 2.47 0.073 2773 565.2 -116.8 - - 3483 - - - - - - - - 14.73 14.57 14.76
7692 668.3 -7.8 334 7705 roll -0.66 - - 2652 - 1.95 0.112 3831 542.6 -116.8 - - 3482 - - - - - - - - 14.93 14.51 14.93
7724 671.1 -8.5 338 7737 done -0.66 0.10 0.232 2680 280.0 1.73 0.046 2783 -605.8 -116.8 - - 3482 - - - - - - - - 14.44 14.73 14.66
8093 699.4 -7.7 348 8106 roll -0.66 - - 2682 - 2.40 0.050 1366 -590.4 -116.8 - - 3480 - - - - - - - - 14.94 14.62 14.94
8145 703.7 -7.9 355 8159 done -0.66 - - 2673 - 2.53 0.075 2781 559.3 -116.8 - - 3480 - - - - - - - - 14.72 14.56 14.75
8489 730.8 -7.9 362 8502 done -0.66 - - 2673 - - - 2781 - -116.8 - - 3479 - - - - - - - - 14.92 14.92 14.92
8825 756.5 -7.6 368 8838 roll -0.66 - - 2673 - 2.42 0.050 1373 -581.8 -116.8 - - 3479 - - - - - - - - 14.92 14.61 14.93
8864 759.7 -8.1 373 8877 done -0.66 - - 2665 - 2.50 0.076 2771 559.2 -116.8 - - 3478 - - - - - - - - 14.71 14.57 14.75
9226 787.4 -7.7 382 9239 roll -0.66 - - 2665 - 2.40 0.050 1376 -581.2 -116.8 - - 3477 - - - - - - - - 14.94 14.59 14.94
9265 790.4 -7.5 387 9278 done -0.66 - - 2656 - 2.50 0.076 2774 559.2 -116.8 - - 3477 - - - - - - - - 14.71 14.54 14.73
9626 816.2 -7.0 396 9639 done -0.66 - - 2656 - - - 2774 - -116.8 - - 3475 - - - - - - - - 14.93 14.93 14.94
9962 839.6 -7.0 402 9976 roll -0.66 - - 2655 - 2.42 0.050 1370 -580.2 -116.8 - - 3474 - - - - - - - - 14.93 14.57 14.93
9994 841.7 -6.7 406 10008 done -0.66 0.12 0.241 2682 225.0 2.50 0.077 2769 559.6 -116.8 - - 3474 - - - - - - - - 14.38 14.52 14.62
10363 864.1 -6.0 416 10376 done -0.66 - - 2682 - - - 2769 - -116.8 - - 3473 - - - - - - - - 14.90 14.91 14.91
10700 885.6 -6.4 422 10713 roll -0.74 - - 2683 - 2.42 0.051 1366 -579.8 -116.8 - - 3472 - - - - - - - - 14.91 14.57 14.90
10753 889.2 -6.6 429 10768 done -0.82 0.08 0.150 2622 -762.5 2.53 0.077 2769 554.5 -116.8 - - 3472 - - - - - - - - 14.58 14.50 14.69
11096 918.8 -8.8 436 11110 roll -0.82 - - 2614 - 1.98 0.113 3826 533.8 -116.8 - - 3472 - - - - - - - - 14.90 14.43 14.90
11157 924.2 -9.1 444 11170 done -0.82 - - 2614 - 1.77 0.044 2759 -602.8 -116.8 - - 3471 - - - - - - - - 14.75 14.69 14.76
11272 end dive: TARGET_DEPTH_EXCEEDED
11272 begin apogee
11276 934.6 -8.8 453 11401 roll -0.23 0.73 0.206 2821 283.6 - - 2241 - - 114.55 1.949 3049 -3.7 0.337 - - - - - - 14.36 14.04 13.30
11402 end apogee: CONTROL_FINISHED_OK
11403 begin climb
11404 938.3 - 455 11544 roll 0.90 1.10 0.114 3168 315.5 2.50 0.061 851 -556.0 116.8 122.60 1.958 2581 -3.8 0.349 - - - - - - 14.04 14.06 13.15
11766 913.4 8.8 509 11780 done 0.76 - - 3169 - 2.47 0.057 2256 568.8 116.8 - - 2569 - - - - - - - - 14.37 14.25 14.39
12121 879.9 9.5 517 12135 roll 0.61 0.22 0.234 3111 -263.6 2.45 0.061 854 -572.2 116.8 - - 2568 - - - - - - - - 14.21 14.42 14.38
12342 863.4 7.0 548 12369 done 0.63 - - 3111 - 2.45 0.058 2252 570.6 132.6 14.95 2.050 2522 -3.1 0.248 - - - - - - 14.58 14.45 13.78
12682 837.3 7.9 561 12696 roll 0.63 - - 3112 - 2.60 0.106 3654 539.2 132.6 - - 2510 - - - - - - - - 14.75 14.40 14.75
12749 831.4 8.8 570 12763 done 0.53 0.15 0.239 3078 -226.7 2.40 0.044 2243 -587.9 132.6 - - 2510 - - - - - - - - 14.32 14.54 14.55
13083 809.8 6.5 582 13122 done 0.56 - - 3078 - - - 2238 - 158.7 29.45 1.908 2417 -3.2 0.256 - - - - - - 14.78 14.42 13.71
13419 786.9 7.1 588 13450 roll 0.58 - - 3078 - 2.72 0.105 3653 520.2 173.3 14.95 2.014 2353 -4.3 0.320 - - - - - - 14.71 14.38 13.75
13468 783.2 7.1 595 13496 done 0.60 - - 3088 - 2.42 0.043 2248 -580.6 186.9 15.02 2.008 2303 -3.3 0.248 - - - - - - 14.50 14.43 13.64
13816 755.9 7.9 609 13829 roll 0.60 - - 3098 - 2.42 0.067 861 -573.1 186.9 - - 2292 - - - - - - - - 14.71 14.43 14.71
13855 752.8 7.6 614 13868 done 0.60 - - 3097 - 2.42 0.060 2251 574.4 191.2 - - 2292 - - - - - - - - 14.57 14.44 14.57
14216 724.0 8.0 623 14229 roll 0.60 - - 3098 - 2.62 0.108 3662 538.5 191.2 - - 2290 - - - - - - - - 14.79 14.43 14.79
14283 718.0 9.1 632 14296 done 0.60 - - 3107 - 2.40 0.043 2251 -587.9 191.2 - - 2291 - - - - - - - - 14.65 14.57 14.66
14616 690.3 8.4 644 14629 roll 0.60 - - 3117 - 2.42 0.067 854 -577.3 191.2 - - 2290 - - - - - - - - 14.82 14.53 14.83
14641 688.2 8.3 647 14654 done 0.60 - - 3117 - 2.42 0.060 2256 579.3 191.2 - - 2290 - - - - - - - - 14.66 14.53 14.71
14960 661.3 8.4 657 14974 roll 0.60 - - 3117 - 2.60 0.107 3661 540.4 191.2 - - 2288 - - - - - - - - 14.84 14.47 14.84
15013 656.3 9.5 664 15027 done 0.60 0.10 0.248 3099 -180.0 2.40 0.043 2250 -587.9 191.2 - - 2290 - - - - - - - - 14.38 14.61 14.60
15357 629.7 7.8 671 15371 roll 0.60 - - 3109 - 2.40 0.066 861 -578.8 191.2 - - 2290 - - - - - - - - 14.85 14.54 14.85
15389 627.1 7.8 675 15402 done 0.60 - - 3107 - 2.40 0.059 2254 580.4 191.2 - - 2289 - - - - - - - - 14.69 14.55 14.71
15758 596.3 8.4 685 15771 roll 0.60 - - 3109 - 2.60 0.107 3661 541.2 191.2 - - 2290 - - - - - - - - 14.88 14.47 14.88
15818 590.5 9.8 693 15832 done 0.60 - - 3119 - 2.40 0.042 2248 -588.8 191.2 - - 2289 - - - - - - - - 14.66 14.59 14.70
16159 559.9 9.0 706 16172 roll 0.60 - - 3128 - 2.40 0.066 858 -579.2 191.2 - - 2288 - - - - - - - - 14.85 14.54 14.88
16191 556.9 8.9 710 16204 done 0.60 0.10 0.230 3099 -290.0 2.42 0.060 2261 579.8 191.2 - - 2289 - - - - - - - - 14.40 14.56 14.62
16560 527.6 7.8 720 16573 roll 0.60 - - 3099 - 2.58 0.105 3657 541.1 191.2 - - 2289 - - - - - - - - 14.88 14.47 14.88
16626 521.8 8.6 729 16640 done 0.60 - - 3107 - 2.38 0.042 2253 -589.9 191.2 - - 2289 - - - - - - - - 14.71 14.62 14.71
16960 496.5 7.5 741 16973 done 0.61 - - 3107 - - - 2248 - 195.7 2.90 1.147 2271 -6.2 0.513 - - - - - - 14.89 14.68 13.54
17296 470.7 7.7 747 17313 roll 0.61 - - 3117 - 2.45 0.066 852 -569.8 196.7 2.42 0.820 2272 - - - - - - - - 14.87 14.61 13.51
17339 467.3 7.7 753 17353 done 0.61 - - 3117 - 2.42 0.060 2258 581.0 197.4 2.53 0.926 2265 -2.8 0.267 - - - - - - 14.68 14.54 13.52
17695 438.4 8.2 761 17709 roll 0.61 - - 3117 - 2.65 0.106 3656 527.5 197.4 1.50 0.288 2268 2.0 -0.582 - - - - - - 14.89 14.49 14.08
17756 432.7 9.4 769 17770 done 0.61 - - 3127 - 2.38 0.041 2256 -588.2 197.4 1.55 0.316 2266 - - - - - - - - 14.71 14.62 14.03
18097 403.6 8.5 782 18115 roll 0.61 - - 3137 - 2.47 0.063 849 -569.6 197.4 2.30 0.707 2268 - - - - - - - - 14.88 14.63 13.51
18147 399.2 8.8 789 18163 done 0.61 0.12 0.220 3101 -300.0 2.45 0.058 2261 576.3 197.4 1.27 0.254 2266 - - - - - - - - 14.42 14.57 14.32
18491 373.1 7.6 796 18510 roll 0.61 - - 3099 - 2.55 0.101 3665 550.6 201.3 4.78 1.697 2254 -2.5 0.105 - - - - - - 14.86 14.57 13.68
18577 365.8 8.6 808 18591 done 0.61 - - 3109 - 2.38 0.041 2258 -591.2 201.3 2.30 0.705 2248 -2.6 0.259 - - - - - - 14.70 14.62 13.55
18939 338.8 7.4 817 18965 roll 0.62 - - 3119 - 2.47 0.064 857 -567.2 209.5 13.45 1.584 2212 -2.7 0.109 - - - - - - 14.86 14.57 14.00
18983 335.5 7.4 823 19002 done 0.63 - - 3119 - 2.45 0.057 2267 575.5 217.7 4.35 1.552 2185 -6.2 0.256 - - - - - - 14.65 14.54 13.66
19329 308.6 7.9 837 19342 roll 0.63 - - 3118 - 2.58 0.103 3663 541.1 217.7 1.08 0.279 2184 - - - - - - - - 14.79 14.45 14.28
19368 305.1 8.8 842 19381 done 0.63 - - 3126 - 2.38 0.041 2258 -590.3 217.7 - - 2191 - - - - - - - - 14.65 14.57 14.67
19729 275.1 8.3 851 19743 roll 0.63 - - 3138 - 2.42 0.061 848 -582.6 217.7 0.93 0.285 2185 -6.5 1.190 - - - - - - 14.83 14.51 14.34
19761 272.3 8.7 855 19775 done 0.63 0.10 0.227 3109 -290.0 2.45 0.057 2273 581.6 217.7 - - 2190 - - - - - - - - 14.40 14.54 14.61
20130 243.4 7.9 865 20143 done 0.63 - - 3109 - - - 2273 - 217.7 1.25 0.275 2183 -5.6 0.947 - - - - - - 14.86 14.57 14.19
20466 217.5 7.6 871 20483 roll 0.64 - - 3109 - 2.53 0.103 3659 547.8 220.4 3.58 1.301 2179 -1.1 0.036 - - - - - - 14.87 14.60 13.68
20516 213.5 8.5 878 20530 done 0.64 - - 3117 - 2.38 0.041 2256 -589.5 220.4 2.65 0.933 2171 -3.0 0.132 - - - - - - 14.71 14.64 13.67
20860 187.7 7.5 885 20884 roll 0.65 - - 3126 - 2.45 0.064 855 -571.8 226.3 10.20 1.471 2144 -2.6 0.065 - - - - - - 14.86 14.59 14.05
20903 184.4 7.3 891 20923 done 0.66 - - 3126 - 2.42 0.057 2266 583.1 235.8 8.70 1.481 2112 -3.7 0.087 - - - - - - 14.68 14.56 14.02
21254 154.9 8.8 899 21267 roll 0.66 - - 3127 - 2.55 0.103 3652 543.5 235.8 - - 2106 - - - - - - - - 14.81 14.46 14.81
21341 146.1 9.5 911 21355 done 0.66 - - 3135 - 2.35 0.041 2256 -594.0 235.8 - - 2106 - - - - - - - - 14.68 14.60 14.69
21710 115.3 8.3 921 21723 roll 0.66 - - 3136 - 2.62 0.103 3654 533.6 235.8 - - 2106 - - - - - - - - 14.85 14.49 14.85
21784 108.5 9.4 931 21797 done 0.66 0.10 0.228 3116 -200.0 2.35 0.041 2257 -594.5 235.8 - - 2106 - - - - - - - - 14.43 14.62 14.66
22112 93.9 4.6 944 22158 roll 0.85 0.08 0.148 3191 937.5 2.40 0.060 854 -584.6 304.5 32.30 0.455 1838 -8.3 0.327 - - - - - - 14.62 14.52 14.25
22289 80.9 7.3 969 22307 done 0.86 - - 3191 - 2.42 0.055 2269 584.7 313.9 4.80 0.386 1800 -7.9 0.317 - - - - - - 14.65 14.53 14.21
22621 59.9 6.3 983 22653 roll 0.90 - - 3198 - 2.50 0.062 861 -563.2 345.9 16.00 0.349 1674 -7.9 0.258 - - - - - - 14.83 14.55 14.28
22722 54.6 5.7 997 22761 done 1.07 0.08 0.148 3259 762.5 2.40 0.054 2263 584.2 389.4 21.98 0.331 1499 -8.0 0.251 - - - - - - 14.57 14.54 14.26
23076 34.5 4.6 1014 23121 roll 1.16 - - 3263 - 2.50 0.063 860 -561.2 458.1 33.20 0.269 1226 -8.2 0.201 - - - - - - 14.83 14.52 14.32
23162 30.1 5.6 1026 23200 done 1.35 0.15 0.087 3350 580.0 2.38 0.053 2261 588.7 504.5 22.65 0.253 1041 -8.2 0.186 - - - - - - 14.59 14.51 14.32
23464 end climb: SURFACE_DEPTH_REACHED
23464 begin surface coast
23491 end surface coast: CONTROL_FINISHED_OK
23491 begin surface
SM -0.91 - - - - -8.39 8.82 0.039 193 21.9 0.88 0.073 2762 -9850.0 504.91 - - 1040 - - - - - - - -