SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 179 * Raw log
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• Previous call tries 2 • 70.33 of 350.00 AH used of 24V (79.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -0.87 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 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 - - - 98 done -0.90 - - 153 - - - 2778 - -116.8 -76.60 - 3516 - - - - - - - - 14.62 13.16 14.60
100 0.8 -5.5 2 122 roll -0.90 11.73 0.397 2603 208.9 2.38 0.032 1347 -601.3 -116.8 - - 3517 - - - - - - - - 14.17 14.43 14.45
155 32.4 -31.0 11 163 done -0.53 0.45 0.256 2713 244.4 2.58 0.073 2763 548.8 -116.8 - - 3518 - - - - - - - - 14.16 14.32 14.34
485 86.8 -12.6 25 492 roll -0.44 0.12 0.239 2740 225.0 1.92 0.100 3829 555.2 -116.8 - - 3520 - - - - - - - - 14.28 14.35 14.47
654 99.4 -9.1 49 660 done -0.44 - - 2742 - 1.75 0.041 2748 -617.7 -116.8 - - 3520 - - - - - - - - 14.55 14.51 14.57
1017 122.9 -7.2 59 1019 done -0.44 - - 2742 - - - 2748 - -116.8 - - 3521 - - - - - - - - 14.70 14.71 14.70
1353 143.4 -5.8 65 1356 done -0.54 - - 2742 - - - 2748 - -116.8 - - 3520 - - - - - - - - 14.71 14.71 14.71
1689 163.6 -5.8 71 1696 roll -0.65 0.10 0.119 2662 -800.0 2.28 0.043 1386 -597.4 -116.8 - - 3517 - - - - - - - - 14.49 14.46 14.56
1723 166.3 -8.4 76 1732 done -0.65 0.10 0.214 2682 200.0 2.47 0.063 2774 561.9 -116.8 - - 3517 - - - - - - - - 14.28 14.40 14.43
2081 195.5 -8.5 85 2088 roll -0.65 - - 2682 - 2.40 0.044 1364 -587.5 -116.8 - - 3515 - - - - - - - - 14.71 14.46 14.71
2115 198.7 -9.1 90 2123 done -0.65 - - 2672 - 2.50 0.063 2765 560.4 -116.8 - - 3514 - - - - - - - - 14.47 14.40 14.52
2473 232.0 -9.4 99 2480 roll -0.65 - - 2665 - 2.00 0.103 3829 532.0 -116.8 - - 3512 - - - - - - - - 14.71 14.34 14.71
2529 237.7 -10.3 107 2536 done -0.65 - - 2665 - 1.77 0.042 2776 -594.9 -116.8 - - 3511 - - - - - - - - 14.53 14.50 14.55
2865 269.7 -9.5 120 2878 roll -0.65 - - 2665 - 2.35 0.044 1376 -595.7 -116.8 - - 3508 - - - - - - - - 14.85 14.57 14.85
2952 278.0 -9.3 132 2966 done -0.65 0.10 0.249 2683 180.0 2.42 0.064 2767 574.8 -116.8 - - 3508 - - - - - - - - 14.40 14.53 14.62
3321 307.8 -7.9 142 3335 roll -0.65 - - 2683 - 2.35 0.044 1378 -591.1 -116.8 - - 3505 - - - - - - - - 14.90 14.63 14.90
3374 311.9 -7.6 149 3388 done -0.65 - - 2674 - 2.42 0.066 2760 571.1 -116.8 - - 3506 - - - - - - - - 14.71 14.57 14.73
3718 338.9 -7.9 156 3731 roll -0.65 - - 2666 - 1.95 0.106 3826 546.7 -116.8 - - 3502 - - - - - - - - 14.94 14.56 14.92
3799 345.9 -8.6 167 3812 done -0.65 - - 2666 - 1.77 0.044 2739 -614.1 -116.8 - - 3501 - - - - - - - - 14.78 14.72 14.79
4118 373.4 -8.7 177 4132 roll -0.65 - - 2673 - 2.28 0.044 1376 -597.8 -116.8 - - 3499 - - - - - - - - 14.92 14.65 14.92
4150 376.3 -8.8 181 4163 done -0.65 0.10 0.247 2683 100.0 2.42 0.067 2767 574.8 -116.8 - - 3500 - - - - - - - - 14.45 14.59 14.67
4519 405.8 -8.0 191 4532 done -0.65 - - 2685 - - - 2768 - -116.8 - - 3497 - - - - - - - - 14.93 14.94 14.94
4855 433.0 -8.1 197 4868 roll -0.65 - - 2685 - 2.35 0.045 1383 -589.4 -116.8 - - 3495 - - - - - - - - 14.94 14.66 14.94
4880 435.1 -8.0 200 4893 done -0.65 - - 2676 - 2.42 0.067 2771 573.6 -116.8 - - 3495 - - - - - - - - 14.76 14.60 14.78
5200 461.3 -8.3 210 5213 done -0.65 - - 2676 - - - 2771 - -116.8 - - 3493 - - - - - - - - 14.96 14.95 14.95
5536 487.6 -7.7 216 5549 roll -0.65 - - 2676 - 2.38 0.046 1375 -586.6 -116.8 - - 3492 - - - - - - - - 14.94 14.65 14.94
5589 491.7 -7.6 223 5603 done -0.65 - - 2666 - 2.47 0.069 2765 562.8 -116.8 - - 3492 - - - - - - - - 14.75 14.59 14.77
5933 519.3 -8.1 230 5946 roll -0.65 - - 2658 - 1.95 0.109 3825 543.6 -116.8 - - 3491 - - - - - - - - 14.94 14.52 14.90
5972 522.7 -8.8 235 5985 done -0.65 0.10 0.230 2687 290.0 1.75 0.046 2761 -608.0 -116.8 - - 3487 - - - - - - - - 14.45 14.74 14.68
6334 549.4 -7.4 244 6347 done -0.65 - - 2687 - - - 2761 - -116.8 - - 3489 - - - - - - - - 14.95 14.95 14.95
6670 573.9 -7.3 250 6683 roll -0.65 - - 2688 - 2.35 0.047 1372 -591.1 -116.8 - - 3487 - - - - - - - - 14.93 14.64 14.94
6701 576.4 -7.5 254 6715 done -0.65 - - 2679 - 2.45 0.068 2767 569.4 -116.8 - - 3487 - - - - - - - - 14.74 14.58 14.76
7070 603.3 -7.3 264 7084 roll -0.65 - - 2679 - 2.38 0.047 1375 -584.9 -116.8 - - 3485 - - - - - - - - 14.95 14.63 14.94
7123 607.3 -7.4 271 7137 done -0.65 - - 2670 - 2.47 0.069 2761 561.1 -116.8 - - 3485 - - - - - - - - 14.68 14.52 14.70
7467 633.9 -7.8 278 7481 roll -0.65 - - 2661 - 1.98 0.111 3830 539.9 -116.8 - - 3483 - - - - - - - - 14.93 14.49 14.94
7506 637.3 -8.7 283 7519 done -0.65 - - 2661 - 1.77 0.047 2757 -606.2 -116.8 - - 3483 - - - - - - - - 14.77 14.71 14.78
7868 668.5 -8.7 292 7881 roll -0.65 - - 2661 - 2.35 0.047 1368 -591.1 -116.8 - - 3482 - - - - - - - - 14.98 14.62 14.94
7962 677.0 -8.7 305 7976 done -0.65 0.12 0.242 2688 225.0 2.47 0.070 2761 564.0 -116.8 - - 3482 - - - - - - - - 14.38 14.54 14.62
8324 704.4 -7.5 314 8338 roll -0.65 - - 2688 - 2.38 0.047 1377 -581.5 -116.8 - - 3479 - - - - - - - - 14.93 14.61 14.94
8363 707.5 -8.0 319 8376 done -0.73 - - 2680 - 2.45 0.070 2762 565.3 -116.8 - - 3480 - - - - - - - - 14.71 14.54 14.73
8725 733.3 -7.1 328 8738 roll -0.73 - - 2679 - 2.35 0.046 1378 -588.9 -116.8 - - 3480 - - - - - - - - 14.93 14.61 14.93
8778 737.2 -7.1 335 8792 done -0.73 - - 2672 - 2.45 0.070 2759 563.7 -116.8 - - 3478 - - - - - - - - 14.69 14.53 14.71
9122 760.9 -6.9 342 9135 done -0.73 - - 2672 - - - 2758 - -116.8 - - 3478 - - - - - - - - 14.93 14.93 14.93
9458 784.4 -7.0 348 9471 roll -0.73 - - 2672 - 2.38 0.047 1378 -579.8 -116.8 - - 3477 - - - - - - - - 14.93 14.59 14.93
9511 788.5 -7.4 355 9525 done -0.73 - - 2663 - 2.45 0.071 2750 560.0 -116.8 - - 3475 - - - - - - - - 14.69 14.52 14.71
9855 815.4 -8.0 362 9868 done -0.73 - - 2663 - - - 2750 - -116.8 - - 3476 - - - - - - - - 14.90 14.91 14.92
10191 841.9 -7.8 368 10204 done -0.73 - - 2663 - - - 2749 - -116.8 - - 3474 - - - - - - - - 14.91 14.91 14.91
10527 867.1 -7.5 374 10540 roll -0.73 - - 2663 - 2.38 0.049 1376 -576.9 -116.8 - - 3473 - - - - - - - - 14.90 14.57 14.90
10594 871.9 -6.3 383 10607 done -0.73 - - 2654 - 2.45 0.072 2751 561.2 -116.8 - - 3473 - - - - - - - - 14.67 14.50 14.71
10928 897.1 -7.5 395 10940 done -0.73 - - 2654 - - - 2751 - -116.8 - - 3472 - - - - - - - - 14.90 14.90 14.90
11264 923.3 -7.8 401 11277 done -0.73 - - 2654 - - - 2751 - -116.8 - - 3472 - - - - - - - - 14.90 14.90 14.90
11374 end dive: TARGET_DEPTH_EXCEEDED
11374 begin apogee
11379 932.1 -7.9 403 11504 roll -0.23 0.57 0.190 2822 294.7 - - 2241 - - 115.03 1.958 3050 -3.7 0.334 - - - - - - 14.35 14.03 13.27
11505 end apogee: CONTROL_FINISHED_OK
11505 begin climb
11507 936.4 - 405 11647 roll 0.90 1.10 0.112 3170 316.4 2.50 0.060 848 -557.2 116.8 122.55 1.955 2585 -3.8 0.347 - - - - - - 14.02 14.05 13.14
11875 912.9 8.9 460 11890 done 0.76 - - 3170 - 2.50 0.056 2256 563.2 116.8 - - 2572 - - - - - - - - 14.36 14.24 14.38
12219 880.6 9.5 467 12233 roll 0.60 0.25 0.233 3107 -252.0 2.45 0.058 845 -575.9 116.8 - - 2570 - - - - - - - - 14.19 14.40 14.36
12392 867.6 7.1 491 12417 done 0.61 - - 3106 - 2.45 0.054 2253 574.7 130.2 12.50 2.089 2531 -3.1 0.248 - - - - - - 14.55 14.43 13.76
12730 841.2 8.1 504 12744 roll 0.61 - - 3106 - 2.60 0.102 3660 541.2 130.2 - - 2522 - - - - - - - - 14.75 14.39 14.75
12811 834.0 8.9 515 12825 done 0.52 0.15 0.233 3075 -206.7 2.42 0.042 2236 -588.4 130.2 - - 2522 - - - - - - - - 14.28 14.54 14.54
13131 812.5 6.6 525 13172 roll 0.56 - - 3075 - 2.75 0.101 3655 516.0 155.3 28.50 1.912 2426 -3.4 0.274 - - - - - - 14.81 14.34 13.72
13219 806.7 7.8 537 13232 done 0.56 - - 3084 - 2.40 0.042 2258 -582.1 155.3 - - 2421 - - - - - - - - 14.50 14.42 14.54
13580 780.3 7.3 546 13594 done 0.57 - - 3085 - - - 2253 - 164.4 4.22 1.818 2396 -5.9 0.486 - - - - - - 14.75 14.55 13.43
13917 756.0 7.3 552 13948 roll 0.58 - - 3084 - 2.67 0.105 3649 522.8 173.9 16.75 1.963 2350 -2.7 0.202 - - - - - - 14.78 14.42 13.81
13994 749.6 8.6 563 14008 done 0.58 - - 3094 - 2.38 0.043 2258 -584.5 173.9 - - 2348 - - - - - - - - 14.54 14.47 14.56
14314 724.5 7.8 573 14327 done 0.58 - - 3094 - - - 2255 - 173.9 - - 2346 - - - - - - - - 14.75 14.76 14.75
14650 699.0 7.5 579 14664 roll 0.58 - - 3101 - 2.65 0.104 3655 528.3 179.2 - - 2345 - - - - - - - - 14.81 14.42 14.81
14703 694.6 8.4 586 14717 done 0.58 - - 3104 - 2.40 0.044 2258 -582.1 179.2 1.17 0.272 2333 -10.3 5.007 - - - - - - 14.65 14.58 14.30
15047 668.9 7.5 593 15066 done 0.59 - - 3104 - - - 2254 - 185.2 9.98 2.019 2317 -1.6 0.102 - - - - - - 14.84 14.61 13.89
15383 642.9 7.8 599 15396 roll 0.59 - - 3104 - 2.65 0.105 3654 528.3 185.2 - - 2306 - - - - - - - - 14.80 14.44 14.79
15422 639.5 8.5 604 15436 done 0.59 - - 3114 - 2.38 0.044 2258 -586.6 185.2 - - 2306 - - - - - - - - 14.66 14.58 14.68
15784 608.9 8.5 613 15797 roll 0.59 - - 3114 - 2.65 0.106 3660 529.1 185.2 - - 2306 - - - - - - - - 14.86 14.44 14.84
15816 605.8 9.3 617 15829 done 0.59 0.10 0.243 3095 -190.0 2.38 0.043 2259 -588.7 185.2 - - 2306 - - - - - - - - 14.38 14.60 14.60
16185 576.4 7.9 627 16198 done 0.59 - - 3095 - - - 2254 - 185.2 - - 2306 - - - - - - - - 14.85 14.86 14.85
16521 550.5 7.6 633 16534 roll 0.60 - - 3094 - 2.62 0.105 3654 534.4 188.3 - - 2306 - - - - - - - - 14.87 14.44 14.87
16616 542.5 8.4 646 16629 done 0.60 - - 3104 - 2.38 0.044 2267 -582.8 188.3 - - 2306 - - - - - - - - 14.69 14.62 14.71
16977 514.4 7.8 655 16990 done 0.60 - - 3103 - - - 2261 - 188.3 - - 2305 - - - - - - - - 14.86 14.88 14.86
17314 488.1 7.9 661 17327 roll 0.60 - - 3104 - 2.60 0.104 3651 534.6 188.3 - - 2306 - - - - - - - - 14.85 14.45 14.87
17374 482.7 9.1 669 17387 done 0.60 - - 3113 - 2.35 0.043 2269 -588.1 188.3 - - 2306 - - - - - - - - 14.70 14.62 14.72
17715 455.2 8.0 682 17728 done 0.60 - - 3113 - - - 2264 - 188.3 - - 2307 - - - - - - - - 14.87 14.87 14.87
18051 430.2 7.3 688 18081 roll 0.61 - - 3113 - 2.65 0.104 3657 525.7 198.6 14.95 1.672 2252 -3.7 0.181 - - - - - - 14.88 14.54 14.00
18108 425.7 8.1 696 18121 done 0.61 - - 3123 - 2.35 0.043 2276 -587.7 198.6 - - 2250 - - - - - - - - 14.66 14.58 14.67
18449 399.3 7.7 709 18462 roll 0.61 - - 3133 - 2.47 0.065 855 -575.3 199.7 - - 2250 - - - - - - - - 14.81 14.47 14.81
18488 396.1 7.9 714 18501 done 0.61 0.12 0.214 3097 -300.0 2.45 0.058 2273 578.8 199.7 - - 2248 - - - - - - - - 14.34 14.48 14.56
18849 372.1 6.6 723 18888 roll 0.64 - - 3095 - 2.55 0.102 3661 544.3 224.1 26.52 1.509 2151 -3.7 0.172 - - - - - - 14.83 14.44 13.90
18956 363.9 8.1 738 18970 done 0.64 - - 3108 - 2.38 0.041 2262 -587.8 224.1 - - 2147 - - - - - - - - 14.56 14.48 14.57
19300 337.3 7.9 745 19313 roll 0.64 - - 3114 - 2.42 0.064 864 -577.7 224.1 - - 2146 - - - - - - - - 14.76 14.45 14.76
19338 334.1 8.3 750 19351 done 0.64 - - 3109 - 2.45 0.057 2276 576.3 224.1 - - 2144 - - - - - - - - 14.59 14.46 14.62
19700 303.6 8.5 759 19713 roll 0.64 - - 3114 - 2.55 0.103 3658 542.0 224.1 - - 2145 - - - - - - - - 14.81 14.44 14.82
19752 298.5 9.8 766 19766 done 0.64 - - 3123 - 2.35 0.041 2279 -586.8 224.1 - - 2145 - - - - - - - - 14.65 14.57 14.67
20097 269.2 8.5 773 20110 roll 0.64 - - 3133 - 2.45 0.063 856 -580.8 224.1 - - 2146 - - - - - - - - 14.83 14.50 14.83
20136 265.9 8.3 778 20149 done 0.64 - - 3133 - 2.45 0.056 2278 580.4 224.1 - - 2145 - - - - - - - - 14.66 14.52 14.69
20497 235.0 8.6 787 20511 roll 0.64 - - 3133 - 2.53 0.102 3654 543.9 224.1 - - 2145 - - - - - - - - 14.85 14.45 14.85
20571 227.7 9.9 797 20584 done 0.64 0.12 0.223 3106 -225.0 2.33 0.041 2275 -591.8 224.1 - - 2145 - - - - - - - - 14.33 14.56 14.57
20898 203.4 7.3 808 20916 roll 0.65 - - 3105 - 2.55 0.100 3654 540.8 233.4 4.65 1.496 2123 -4.7 0.123 - - - - - - 14.87 14.60 13.71
20941 199.8 8.5 814 20955 done 0.65 - - 3114 - 2.33 0.041 2278 -590.6 233.4 1.42 0.291 2120 -2.1 0.277 - - - - - - 14.69 14.62 14.19
21296 172.4 7.7 822 21310 done 0.65 - - 3114 - - - 2273 - 235.4 3.25 1.146 2112 -2.5 0.071 - - - - - - 14.85 14.66 13.66
21632 148.0 7.3 828 21663 roll 0.67 - - 3114 - 2.62 0.099 3657 528.2 245.4 15.45 1.332 2064 -3.1 0.066 - - - - - - 14.87 14.54 14.07
21675 144.6 8.0 834 21688 done 0.67 - - 3122 - 2.33 0.041 2276 -592.7 245.4 - - 2063 - - - - - - - - 14.67 14.60 14.69
22030 117.1 7.7 842 22043 roll 0.67 - - 3132 - 2.42 0.062 866 -582.6 246.4 - - 2061 - - - - - - - - 14.81 14.50 14.81
22054 114.9 7.9 845 22068 done 0.67 - - 3128 - 2.45 0.054 2285 579.2 246.4 - - 2061 - - - - - - - - 14.64 14.52 14.66
22374 91.8 6.1 857 22409 roll 0.79 - - 3132 - 2.55 0.099 3657 538.0 282.0 16.38 0.448 1930 -8.0 0.313 - - - - - - 14.83 14.47 14.22
22588 80.8 5.4 887 22628 done 0.94 0.12 0.101 3212 666.7 2.30 0.039 2274 -601.3 332.3 25.27 0.413 1726 -8.1 0.302 - - - - - - 14.58 14.59 14.21
22941 53.2 6.8 904 22966 roll 0.96 - - 3220 - 2.42 0.062 880 -576.0 352.6 9.80 0.329 1648 -8.0 0.246 - - - - - - 14.81 14.48 14.23
23117 38.0 5.5 929 23157 done 1.13 0.08 0.148 3282 775.0 2.42 0.053 2301 587.2 400.7 24.35 0.299 1454 -8.0 0.194 - - - - - - 14.55 14.52 14.25
23477 21.6 5.5 947 23510 done 1.19 - - 3281 - - - 2301 - 449.4 23.83 0.228 1260 -8.1 0.147 - - - - - - 14.83 14.58 14.33
23783 end climb: SURFACE_DEPTH_REACHED
23783 begin surface coast
23811 end surface coast: CONTROL_FINISHED_OK
23811 begin surface
SM -0.50 - - - - -8.40 9.07 0.077 189 20.8 0.82 0.081 2771 -6657.3 500.39 23.23 0.155 1056 45.5 0.015 - - - - - -