SPURS2 Aug17 * SG144 * Dive index * Mission links * Dive 135 * Raw log
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• Previous call tries 1 • 70.35 of 350.00 AH used of 24V (79.90% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.0 deg, depth 1.19 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 536.47, SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 5 s • Transponder ping count: 4
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 107 done -0.70 - - 34 - - - 2587 - -146.0 -82.47 - 3499 - - - - - - - - 14.73 13.40 14.76
109 9.3 -14.2 3 136 roll -0.70 13.40 0.436 2639 194.4 2.25 0.024 1190 -620.9 -146.0 - - 3502 - - - - - - - - 14.28 14.59 14.57
182 43.0 -13.0 14 195 done -0.86 0.10 0.094 2589 -500.0 2.47 0.055 2606 573.3 -146.0 - - 3504 - - - - - - - - 14.54 14.53 14.59
499 82.5 -8.4 26 508 roll -1.00 - - 2589 - 2.35 0.073 3988 588.1 -146.0 - - 3505 - - - - - - - - 14.85 14.62 14.87
541 85.0 -5.6 32 550 done -1.21 0.17 0.072 2505 -494.1 2.20 0.024 2587 -636.8 -146.0 - - 3505 - - - - - - - - 14.66 14.69 14.70
864 122.0 -12.0 42 873 roll -1.21 - - 2500 - 2.40 0.072 3986 582.9 -146.0 - - 3506 - - - - - - - - 14.90 14.67 14.92
933 129.3 -9.6 52 942 done -1.28 - - 2500 - 2.17 0.025 2619 -630.0 -146.0 - - 3506 - - - - - - - - 14.78 14.76 14.79
1256 163.1 -10.6 63 1264 roll -1.31 - - 2500 - 2.25 0.035 1214 -624.4 -146.0 - - 3506 - - - - - - - - 14.92 14.74 14.95
1304 168.1 -9.5 70 1315 done -1.43 - - 2500 - 2.40 0.056 2604 579.2 -146.0 - - 3507 - - - - - - - - 14.75 14.70 14.78
1648 202.1 -10.0 77 1656 roll -1.49 0.12 0.148 2443 -475.0 2.35 0.071 3991 590.2 -146.0 - - 3506 - - - - - - - - 14.73 14.71 14.80
1682 206.4 -13.4 82 1692 done -1.46 0.08 0.256 2463 250.0 2.22 0.026 2586 -632.9 -146.0 - - 3505 - - - - - - - - 14.50 14.75 14.65
2040 252.0 -12.7 91 2049 roll -1.46 - - 2464 - 2.17 0.035 1225 -627.2 -146.0 - - 3502 - - - - - - - - 14.95 14.76 14.98
2124 261.5 -10.7 103 2132 done -1.54 - - 2460 - 2.38 0.057 2595 575.6 -146.0 - - 3502 - - - - - - - - 14.76 14.71 14.79
2489 308.2 -13.1 113 2503 roll -1.54 - - 2455 - 2.38 0.076 3990 586.1 -146.0 - - 3499 - - - - - - - - 14.97 14.73 15.00
2536 314.5 -13.3 119 2550 done -1.54 - - 2455 - 2.17 0.028 2592 -644.2 -146.0 - - 3497 - - - - - - - - 14.87 14.82 14.88
2891 360.4 -12.9 127 2906 roll -1.54 - - 2455 - 2.20 0.037 1218 -624.5 -146.0 - - 3495 - - - - - - - - 14.98 14.79 15.01
2931 365.3 -12.1 132 2946 done -1.54 - - 2455 - 2.38 0.060 2610 584.9 -146.0 - - 3494 - - - - - - - - 14.86 14.76 14.88
3294 409.0 -12.1 141 3308 roll -1.54 - - 2455 - 2.35 0.078 3987 586.0 -146.0 - - 3492 - - - - - - - - 15.01 14.76 15.04
3319 412.2 -12.1 144 3333 done -1.54 - - 2455 - 2.17 0.028 2596 -641.0 -146.0 - - 3491 - - - - - - - - 14.88 14.83 14.88
3640 451.8 -12.6 154 3655 roll -1.54 - - 2455 - 2.22 0.038 1214 -622.5 -146.0 - - 3488 - - - - - - - - 15.01 14.81 15.03
3716 460.7 -10.8 164 3730 done -1.62 - - 2455 - 2.35 0.060 2601 590.2 -146.0 - - 3488 - - - - - - - - 14.87 14.78 14.90
4043 501.5 -12.7 175 4057 roll -1.62 - - 2455 - 2.38 0.080 3985 581.5 -146.0 - - 3485 - - - - - - - - 15.02 14.76 15.04
4083 506.7 -13.2 180 4097 done -1.62 - - 2455 - 2.17 0.029 2598 -639.2 -146.0 - - 3484 - - - - - - - - 14.91 14.87 14.92
4445 553.2 -12.8 189 4460 roll -1.62 - - 2455 - 2.22 0.038 1214 -623.4 -146.0 - - 3483 - - - - - - - - 15.03 14.81 15.06
4492 558.9 -11.7 195 4506 done -1.69 0.12 0.148 2407 -400.0 2.38 0.060 2610 586.6 -146.0 - - 3483 - - - - - - - - 14.78 14.78 14.88
4848 613.9 -15.6 203 4863 roll -1.58 0.12 0.311 2436 241.7 2.28 0.034 1214 -612.3 -146.0 - - 3480 - - - - - - - - 14.52 14.79 14.69
4911 621.6 -10.9 211 4925 done -1.63 - - 2431 - 2.38 0.060 2607 585.3 -146.0 - - 3480 - - - - - - - - 14.88 14.77 14.90
5252 663.4 -12.5 224 5267 roll -1.59 - - 2422 - 2.38 0.080 3990 581.1 -146.0 - - 3478 - - - - - - - - 15.02 14.74 15.04
5292 668.7 -13.4 229 5306 done -1.54 0.12 0.282 2448 216.7 2.20 0.030 2582 -640.0 -146.0 - - 3477 - - - - - - - - 14.54 14.85 14.79
5655 708.8 -11.1 238 5670 roll -1.54 - - 2448 - 2.20 0.039 1218 -620.0 -146.0 - - 3475 - - - - - - - - 15.02 14.80 15.04
5702 714.0 -10.4 244 5717 done -1.62 - - 2446 - 2.35 0.060 2599 587.7 -146.0 - - 3475 - - - - - - - - 14.85 14.76 14.88
6058 754.0 -11.5 252 6072 roll -1.62 - - 2443 - 2.40 0.080 3992 580.4 -146.0 - - 3472 - - - - - - - - 15.01 14.74 15.04
6090 757.8 -11.1 256 6105 done -1.62 - - 2443 - 2.17 0.029 2605 -639.2 -146.0 - - 3473 - - - - - - - - 14.90 14.86 14.92
6460 800.2 -11.6 266 6475 roll -1.62 - - 2443 - 2.25 0.040 1220 -615.6 -146.0 - - 3471 - - - - - - - - 15.00 14.78 15.02
6528 808.0 -10.5 275 6542 done -1.69 - - 2443 - 2.38 0.062 2607 582.8 -146.0 - - 3469 - - - - - - - - 14.85 14.76 14.88
6861 end dive: TARGET_DEPTH_EXCEEDED
6861 begin apogee
6866 845.9 -11.5 287 7027 done -0.15 1.12 0.236 2754 277.7 - - 2856 - - 149.23 1.787 2898 -3.8 0.334 - - - - - - 14.52 14.12 13.44
7029 end apogee: CONTROL_FINISHED_OK
7029 begin climb
7031 851.4 - 289 7205 roll 0.70 0.57 0.086 2948 340.4 2.05 0.071 3981 548.8 146.0 150.75 1.777 2294 -4.0 0.354 - - - - - - 14.19 13.98 13.32
7357 823.8 21.2 343 7371 done 0.16 0.62 0.373 2826 -196.8 1.83 0.031 2843 -621.9 146.0 - - 2285 - - - - - - - - 14.16 14.43 14.42
7713 783.3 10.7 351 7727 roll - 0.12 0.331 2805 -175.0 2.30 0.040 1447 -607.0 146.0 - - 2278 - - - - - - - - 14.40 14.63 14.57
7788 776.5 8.6 361 7838 done - - - 2805 - 2.40 0.057 2843 581.7 175.7 30.17 1.649 2178 -3.3 0.287 - - - - - - 14.70 14.62 13.81
8167 736.2 11.0 373 8182 roll -0.07 0.12 0.276 2783 -183.3 2.30 0.037 1453 -604.3 175.7 - - 2171 - - - - - - - - 14.45 14.66 14.59
8221 731.1 8.8 380 8269 done 0.01 - - 2783 - 2.40 0.058 2837 576.7 202.3 31.30 1.551 2070 -3.2 0.280 - - - - - - 14.73 14.64 13.84
8625 691.3 10.0 395 8639 roll 0.01 - - 2784 - 2.33 0.043 1450 -595.3 203.3 - - 2060 - - - - - - - - 14.85 14.66 14.87
8693 684.9 9.0 404 8734 done 0.12 0.12 0.146 2837 441.7 2.40 0.058 2842 580.0 224.4 26.10 1.484 1983 -3.0 0.251 - - - - - - 14.66 14.66 13.91
9083 632.3 13.8 417 9098 roll 0.01 0.17 0.293 2803 -200.0 2.33 0.038 1444 -600.0 224.4 - - 1972 - - - - - - - - 14.43 14.66 14.60
9131 626.8 9.8 423 9145 done 0.06 - - 2803 - 2.42 0.059 2848 580.2 228.5 - - 1970 - - - - - - - - 14.74 14.66 14.76
9486 588.8 10.7 431 9500 done 0.06 - - 2803 - - - 2848 - 228.5 - - 1969 - - - - - - - - 14.91 14.94 14.94
9823 553.3 10.6 437 9837 roll 0.06 - - 2810 - 2.33 0.041 1442 -603.4 228.5 - - 1968 - - - - - - - - 14.94 14.76 14.97
9925 542.9 9.8 451 9947 done 0.11 - - 2810 - 2.40 0.058 2841 582.9 232.5 7.93 1.232 1952 -2.0 0.164 - - - - - - 14.82 14.73 14.11
10277 505.2 10.7 459 10291 roll 0.11 - - 2816 - 2.30 0.041 1452 -603.9 232.5 - - 1944 - - - - - - - - 14.93 14.75 14.96
10330 499.9 9.4 466 10363 done 0.16 - - 2816 - 2.40 0.059 2839 577.9 244.5 17.08 1.292 1898 -2.7 0.192 - - - - - - 14.82 14.73 14.07
10677 464.7 10.2 480 10691 roll 0.16 - - 2824 - 2.30 0.041 1453 -602.6 244.5 - - 1892 - - - - - - - - 14.89 14.69 14.92
10752 457.4 9.2 490 10786 done 0.21 - - 2824 - 2.40 0.059 2849 581.7 260.6 20.70 1.271 1837 -2.7 0.176 - - - - - - 14.78 14.69 14.04
11127 415.2 11.6 501 11142 roll 0.21 - - 2831 - 2.33 0.041 1454 -598.7 260.6 - - 1827 - - - - - - - - 14.87 14.67 14.89
11210 406.0 11.0 512 11224 done 0.24 - - 2831 - 2.40 0.058 2847 580.4 260.6 - - 1824 - - - - - - - - 14.76 14.69 14.79
11531 365.4 12.8 522 11546 roll 0.21 - - 2840 - 2.33 0.041 1444 -602.1 260.6 - - 1824 - - - - - - - - 14.92 14.73 14.96
11585 358.6 12.0 529 11601 done 0.21 - - 2840 - 2.42 0.059 2844 578.5 260.6 - - 1824 - - - - - - - - 14.79 14.71 14.82
11929 312.6 13.5 536 11946 roll 0.15 - - 2848 - 2.30 0.043 1451 -605.7 260.6 - - 1824 - - - - - - - - 14.94 14.75 14.97
11972 307.0 12.6 541 11986 done 0.15 0.12 0.256 2822 -216.7 2.40 0.060 2846 581.2 260.6 - - 1823 - - - - - - - - 14.53 14.73 14.78
12335 263.0 12.1 550 12346 roll 0.15 - - 2830 - 2.30 0.042 1452 -606.1 260.6 - - 1823 - - - - - - - - 14.90 14.71 14.93
12386 257.0 11.2 557 12396 done 0.20 - - 2830 - 2.42 0.060 2833 570.7 260.6 - - 1822 - - - - - - - - 14.71 14.66 14.75
12730 215.8 11.9 564 12738 roll 0.20 - - 2838 - 2.33 0.044 1445 -595.7 260.6 - - 1822 - - - - - - - - 14.89 14.69 14.92
12799 208.5 10.3 574 12809 done 0.23 - - 2838 - 2.45 0.060 2835 567.3 260.6 - - 1822 - - - - - - - - 14.71 14.66 14.73
13122 171.4 11.6 585 13130 roll 0.20 - - 2847 - 2.33 0.044 1450 -594.4 260.6 - - 1822 - - - - - - - - 14.88 14.68 14.91
13163 166.8 10.8 591 13172 done 0.20 - - 2847 - 2.45 0.060 2839 566.9 260.6 - - 1822 - - - - - - - - 14.70 14.64 14.73
13514 122.3 12.9 599 13522 roll 0.15 0.10 0.265 2834 -130.0 2.30 0.043 1456 -601.3 260.6 - - 1822 - - - - - - - - 14.50 14.68 14.71
13604 113.3 9.1 612 13635 done 0.24 - - 2834 - 2.45 0.060 2844 566.5 279.6 21.58 1.043 1757 -3.0 0.060 - - - - - - 14.68 14.63 14.14
13964 83.6 7.2 631 14041 roll 0.37 0.12 0.146 2900 550.0 2.00 0.083 3987 571.5 340.0 67.62 0.981 1507 -3.7 0.058 - - - - - - 14.62 14.38 13.95
14270 58.3 5.7 675 14369 done 0.52 - - 2909 - 1.83 0.032 2847 -623.0 431.4 90.05 0.910 1135 -4.1 0.049 - - - - - - 14.61 14.55 13.86
14691 35.4 5.3 702 14811 roll 0.87 0.20 0.102 2998 445.0 2.08 0.077 3986 547.6 533.4 109.80 0.869 720 -3.8 0.028 - - - - - - 14.56 14.25 13.85
14879 11.9 13.1 729 14889 done 0.91 0.05 0.283 2991 -140.0 1.90 0.034 2849 -598.4 533.4 - - 716 - - - - - - - - 14.23 14.40 14.37
14969 end climb: SURFACE_DEPTH_REACHED
14969 begin surface coast
14997 end surface coast: CONTROL_FINISHED_OK
14997 begin surface
SM 0.95 - - - - -12.40 8.25 0.056 75 9.1 0.40 0.047 2540 -6785.0 536.47 - - 713 - - - - - - - -