SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 142 * Raw log
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• Previous call tries 1 • 57.55 of 350.00 AH used of 24V (83.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth -0.85 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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 - - - 99 done -0.90 - - 160 - - - 2785 - -116.8 -78.12 - 3513 - - - - - - - - 14.65 13.25 14.66
101 0.5 -4.6 2 123 roll -0.90 11.60 0.397 2592 209.7 1.88 0.079 3825 553.2 -116.8 - - 3515 - - - - - - - - 14.19 14.39 14.48
190 45.9 -30.6 16 198 done -0.44 0.57 0.263 2749 275.4 1.83 0.037 2727 -600.0 -116.8 - - 3516 - - - - - - - - 14.26 14.55 14.44
513 86.0 -10.0 29 521 roll -0.44 - - 2741 - 2.05 0.103 3820 533.2 -116.8 - - 3514 - - - - - - - - 14.80 14.42 14.80
625 94.9 -8.4 45 633 done -0.44 - - 2739 - 1.73 0.042 2777 -602.9 -116.8 - - 3518 - - - - - - - - 14.66 14.62 14.66
989 118.3 -6.1 56 996 roll -0.44 - - 2740 - 2.33 0.044 1378 -600.4 -116.8 - - 3520 - - - - - - - - 14.85 14.61 14.86
1065 123.1 -6.0 67 1073 done -0.53 - - 2732 - 2.45 0.066 2767 566.9 -116.8 - - 3521 - - - - - - - - 14.64 14.57 14.67
1381 145.3 -6.4 77 1390 roll -0.61 - - 2724 - 1.95 0.105 3824 542.1 -116.8 - - 3519 - - - - - - - - 14.88 14.54 14.85
1415 147.5 -6.7 82 1423 done -0.61 - - 2726 - 1.77 0.043 2768 -596.6 -116.8 - - 3518 - - - - - - - - 14.76 14.71 14.77
1773 172.4 -7.0 91 1781 roll -0.69 0.10 0.117 2649 -770.0 2.30 0.044 1369 -608.3 -116.8 - - 3516 - - - - - - - - 14.70 14.65 14.75
1849 179.3 -9.2 102 1857 done -0.69 0.10 0.223 2663 140.0 2.45 0.065 2757 566.5 -116.8 - - 3516 - - - - - - - - 14.47 14.57 14.61
2165 206.2 -8.5 112 2172 roll -0.69 - - 2661 - 1.98 0.104 3827 540.4 -116.8 - - 3514 - - - - - - - - 14.89 14.55 14.89
2199 209.3 -9.2 117 2208 done -0.69 - - 2661 - 1.80 0.041 2753 -596.7 -116.8 - - 3513 - - - - - - - - 14.77 14.73 14.78
2557 241.7 -9.2 126 2564 roll -0.69 - - 2661 - 2.33 0.044 1381 -588.8 -116.8 - - 3510 - - - - - - - - 14.90 14.60 14.90
2613 246.8 -9.0 134 2620 done -0.69 - - 2651 - 2.45 0.067 2759 562.4 -116.8 - - 3510 - - - - - - - - 14.66 14.58 14.69
2949 277.9 -9.3 147 2962 roll -0.69 - - 2643 - 1.92 0.106 3824 554.7 -116.8 - - 3508 - - - - - - - - 14.95 14.60 14.95
2994 282.5 -9.9 153 3008 done -0.69 0.10 0.241 2672 290.0 1.73 0.045 2764 -612.7 -116.8 - - 3508 - - - - - - - - 14.52 14.76 14.73
3349 313.3 -8.6 161 3363 roll -0.69 - - 2672 - 2.33 0.047 1369 -598.7 -116.8 - - 3505 - - - - - - - - 14.95 14.70 14.96
3388 316.8 -9.2 166 3401 done -0.69 - - 2662 - 2.45 0.069 2773 573.1 -116.8 - - 3505 - - - - - - - - 14.79 14.66 14.81
3750 349.3 -9.1 175 3763 roll -0.69 - - 2654 - 1.92 0.109 3833 552.1 -116.8 - - 3503 - - - - - - - - 14.97 14.62 14.97
3844 358.1 -9.3 188 3857 done -0.69 - - 2654 - 1.75 0.047 2758 -614.3 -116.8 - - 3501 - - - - - - - - 14.84 14.79 14.85
4205 390.0 -8.8 197 4219 roll -0.69 - - 2653 - 2.30 0.047 1380 -599.1 -116.8 - - 3499 - - - - - - - - 14.98 14.71 14.98
4272 395.9 -8.7 206 4285 done -0.69 0.10 0.256 2674 210.0 2.42 0.070 2768 573.6 -116.8 - - 3500 - - - - - - - - 14.53 14.66 14.74
4606 421.8 -7.8 218 4619 roll -0.69 - - 2665 - 1.92 0.112 3823 549.5 -116.8 - - 3498 - - - - - - - - 14.97 14.61 14.97
4666 426.8 -8.4 226 4679 done -0.69 - - 2665 - 1.75 0.047 2758 -608.6 -116.8 - - 3498 - - - - - - - - 14.84 14.78 14.85
5006 454.7 -8.3 239 5019 done -0.69 - - 2665 - - - 2758 - -116.8 - - 3496 - - - - - - - - 14.97 14.97 14.97
5343 483.0 -8.3 245 5356 roll -0.69 - - 2665 - 2.33 0.049 1372 -594.8 -116.8 - - 3493 - - - - - - - - 14.97 14.71 14.97
5430 490.3 -8.1 257 5443 done -0.69 - - 2655 - 2.47 0.071 2778 569.2 -116.8 - - 3493 - - - - - - - - 14.80 14.65 14.81
5799 521.1 -8.3 267 5812 done -0.69 - - 2655 - - - 2778 - -116.8 - - 3491 - - - - - - - - 14.98 14.98 14.98
6135 548.9 -8.2 273 6148 done -0.69 - - 2655 - - - 2778 - -116.8 - - 3490 - - - - - - - - 14.98 14.97 14.98
6470 576.3 -8.1 279 6483 done -0.69 - - 2655 - - - 2778 - -116.8 - - 3487 - - - - - - - - 14.99 14.98 14.99
6807 602.0 -7.6 285 6820 done -0.69 - - 2655 - - - 2778 - -116.8 - - 3487 - - - - - - - - 14.95 14.97 14.97
7142 629.2 -8.2 291 7156 roll -0.69 - - 2655 - 2.40 0.048 1374 -585.0 -116.8 - - 3485 - - - - - - - - 14.97 14.70 14.97
7223 636.1 -8.4 302 7236 done -0.69 0.10 0.249 2675 200.0 2.45 0.072 2772 570.6 -116.8 - - 3485 - - - - - - - - 14.50 14.63 14.72
7543 661.4 -8.0 312 7556 roll -0.69 - - 2667 - 1.92 0.115 3819 545.3 -116.8 - - 3484 - - - - - - - - 14.97 14.56 14.97
7595 666.0 -8.7 319 7609 done -0.69 - - 2667 - 1.75 0.046 2768 -600.6 -116.8 - - 3482 - - - - - - - - 14.80 14.72 14.81
7939 693.9 -8.1 326 7952 roll -0.69 - - 2667 - 2.35 0.047 1367 -596.2 -116.8 - - 3482 - - - - - - - - 14.96 14.67 14.96
8013 699.9 -7.9 336 8026 done -0.69 - - 2655 - 2.45 0.072 2761 569.0 -116.8 - - 3480 - - - - - - - - 14.76 14.60 14.78
8339 724.9 -7.7 347 8352 roll -0.69 - - 2650 - 1.95 0.114 3823 544.6 -116.8 - - 3481 - - - - - - - - 14.95 14.54 14.95
8371 727.4 -7.8 351 8384 done -0.69 - - 2650 - 1.75 0.047 2765 -604.6 -116.8 - - 3481 - - - - - - - - 14.80 14.74 14.81
8739 755.6 -7.7 361 8753 roll -0.69 - - 2650 - 2.35 0.049 1372 -592.8 -116.8 - - 3479 - - - - - - - - 14.95 14.66 14.95
8820 761.8 -7.6 372 8833 done -0.69 0.12 0.238 2677 225.0 2.47 0.073 2772 566.8 -116.8 - - 3479 - - - - - - - - 14.45 14.59 14.69
9140 782.3 -6.4 382 9153 done -0.69 - - 2677 - - - 2772 - -116.8 - - 3478 - - - - - - - - 14.94 14.94 14.94
9476 804.7 -6.7 388 9489 done -0.69 - - 2677 - - - 2772 - -116.8 - - 3477 - - - - - - - - 14.95 14.95 14.95
9812 827.7 -6.8 394 9825 roll -0.69 - - 2677 - 2.42 0.049 1364 -581.8 -116.8 - - 3476 - - - - - - - - 14.95 14.64 14.95
9885 833.0 -7.8 404 9899 done -0.69 - - 2668 - 2.50 0.074 2765 560.4 -116.8 - - 3476 - - - - - - - - 14.73 14.57 14.76
10212 856.3 -7.2 415 10225 roll -0.69 - - 2668 - 2.40 0.050 1365 -583.3 -116.8 - - 3476 - - - - - - - - 14.95 14.64 14.95
10244 858.8 -7.0 419 10257 done -0.69 - - 2660 - 2.47 0.073 2758 564.0 -116.8 - - 3475 - - - - - - - - 14.74 14.58 14.77
10612 886.3 -7.5 429 10625 done -0.69 - - 2660 - - - 2758 - -116.8 - - 3475 - - - - - - - - 14.94 14.94 14.96
10948 911.9 -7.5 435 10962 roll -0.69 - - 2660 - 2.38 0.048 1370 -583.2 -116.8 - - 3474 - - - - - - - - 14.92 14.62 14.93
11001 916.0 -7.6 442 11015 done -0.69 - - 2650 - 2.47 0.073 2756 561.1 -116.8 - - 3474 - - - - - - - - 14.73 14.56 14.76
11231 end dive: TARGET_DEPTH_EXCEEDED
11232 begin apogee
11236 933.7 -7.4 447 11362 roll -0.23 0.57 0.190 2820 298.2 - - 2240 - - 116.38 1.954 3050 -3.6 0.331 - - - - - - 14.45 14.04 13.32
11364 end apogee: CONTROL_FINISHED_OK
11364 begin climb
11365 936.5 - 449 11505 roll 0.90 1.12 0.114 3175 317.0 2.47 0.059 855 -560.7 116.8 123.30 1.935 2584 -3.8 0.348 - - - - - - 14.05 14.12 13.21
11510 930.7 8.4 472 11524 done 0.65 0.22 0.238 3116 -268.2 2.53 0.055 2255 553.4 116.8 - - 2574 - - - - - - - - 13.83 13.94 14.01
11854 904.0 7.8 479 11867 roll 0.65 - - 3116 - 2.58 0.102 3653 541.9 116.8 - - 2569 - - - - - - - - 14.62 14.31 14.62
11928 897.5 8.7 489 11942 done 0.54 0.17 0.244 3079 -217.6 2.40 0.043 2243 -587.5 116.8 - - 2569 - - - - - - - - 14.28 14.47 14.48
12255 876.0 6.5 500 12292 done 0.57 - - 3079 - - - 2238 - 143.7 28.50 1.955 2477 -3.2 0.275 - - - - - - 14.76 14.38 13.69
12591 851.8 7.4 506 12606 roll 0.58 - - 3079 - 2.70 0.103 3653 524.1 151.6 2.55 0.935 2449 -11.0 1.902 - - - - - - 14.73 14.47 13.38
12673 845.1 8.2 517 12686 done 0.58 - - 3089 - 2.38 0.044 2256 -587.0 151.6 1.65 0.280 2446 -1.8 1.044 - - - - - - 14.61 14.54 14.13
13042 817.5 7.5 527 13067 roll 0.59 - - 3089 - 2.62 0.103 3660 535.9 157.5 12.50 2.083 2417 -2.3 0.173 - - - - - - 14.81 14.47 13.85
13085 814.0 9.3 533 13098 done 0.59 - - 3099 - 2.40 0.043 2243 -590.4 157.5 - - 2414 - - - - - - - - 14.60 14.54 14.62
13440 787.6 7.5 541 13453 roll 0.59 - - 3100 - 2.62 0.101 3653 538.2 162.4 0.98 0.285 2404 -10.2 5.362 - - - - - - 14.79 14.49 14.39
13493 783.4 7.5 548 13511 done 0.60 - - 3110 - 2.38 0.044 2259 -585.7 167.3 5.03 2.030 2385 -3.8 0.277 - - - - - - 14.67 14.60 13.68
13839 757.2 7.5 562 13863 roll 0.60 - - 3110 - 2.62 0.104 3659 534.4 172.0 10.48 2.091 2361 -2.3 0.158 - - - - - - 14.82 14.50 13.87
13889 753.1 8.3 569 13902 done 0.60 - - 3120 - 2.40 0.043 2256 -584.6 172.0 - - 2364 - - - - - - - - 14.62 14.55 14.64
14233 724.8 8.3 576 14246 roll 0.60 - - 3130 - 2.40 0.063 860 -581.7 172.0 - - 2358 - - - - - - - - 14.81 14.54 14.81
14257 722.6 8.6 579 14271 done 0.60 0.12 0.228 3095 -291.7 2.42 0.059 2264 580.2 172.0 - - 2356 - - - - - - - - 14.45 14.55 14.64
14577 697.2 8.0 589 14590 roll 0.60 - - 3094 - 2.55 0.103 3660 547.5 172.0 - - 2356 - - - - - - - - 14.85 14.52 14.85
14672 688.8 8.8 602 14685 done 0.60 - - 3104 - 2.35 0.043 2263 -594.5 172.0 - - 2356 - - - - - - - - 14.71 14.64 14.73
15033 659.2 8.2 611 15046 done 0.60 - - 3104 - - - 2258 - 172.0 - - 2356 - - - - - - - - 14.87 14.87 14.87
15369 633.3 7.6 617 15383 roll 0.61 - - 3104 - 2.58 0.105 3654 541.1 175.6 - - 2356 - - - - - - - - 14.88 14.53 14.88
15443 627.1 8.5 627 15456 done 0.61 - - 3114 - 2.35 0.044 2259 -593.6 175.6 - - 2356 - - - - - - - - 14.75 14.67 14.76
15769 602.4 7.6 638 15783 done 0.61 - - 3114 - - - 2256 - 179.4 3.33 1.427 2336 -6.0 0.482 - - - - - - 14.89 14.70 13.59
16110 576.8 7.5 651 16131 done 0.62 - - 3115 - - - 2256 - 185.5 12.07 1.896 2311 -2.1 0.120 - - - - - - 14.88 14.64 13.97
16446 549.5 8.4 657 16459 roll 0.62 - - 3115 - 2.60 0.106 3654 537.7 185.5 - - 2302 - - - - - - - - 14.83 14.50 14.83
16513 543.0 9.9 666 16526 done 0.62 - - 3130 - 2.35 0.044 2266 -590.6 185.5 - - 2302 - - - - - - - - 14.70 14.62 14.71
16846 511.9 9.3 678 16859 roll 0.62 - - 3134 - 2.42 0.064 854 -583.5 185.5 - - 2305 - - - - - - - - 14.86 14.58 14.85
16885 508.3 8.9 683 16898 done 0.62 0.10 0.236 3106 -280.0 2.45 0.060 2280 582.0 185.5 - - 2302 - - - - - - - - 14.45 14.58 14.67
17246 480.5 7.5 692 17260 roll 0.63 - - 3105 - 2.53 0.102 3660 545.5 190.4 1.23 0.270 2291 -8.9 3.026 - - - - - - 14.88 14.54 14.38
17328 473.7 8.3 703 17341 done 0.63 - - 3115 - 2.33 0.042 2272 -595.7 190.4 0.57 0.354 2293 - - - - - - - - 14.74 14.66 14.47
17647 448.1 8.2 713 17660 roll 0.63 - - 3124 - 2.42 0.063 860 -583.5 190.4 - - 2299 - - - - - - - - 14.88 14.59 14.88
17700 443.6 8.4 720 17714 done 0.63 - - 3124 - 2.45 0.057 2277 578.4 190.4 0.98 0.284 2291 -8.2 2.425 - - - - - - 14.72 14.57 14.45
18044 414.2 8.6 727 18057 roll 0.63 - - 3124 - 2.53 0.106 3657 545.5 190.4 - - 2299 - - - - - - - - 14.89 14.54 14.89
18111 407.9 9.5 736 18124 done 0.63 0.10 0.250 3106 -180.0 2.33 0.043 2269 -595.7 190.4 1.00 0.254 2290 -9.0 2.748 - - - - - - 14.45 14.67 14.45
18446 384.0 7.0 748 18483 roll 0.65 - - 3106 - 2.62 0.102 3653 528.2 206.6 22.35 1.544 2220 -3.1 0.148 - - - - - - 14.89 14.51 14.01
18515 378.5 8.3 758 18529 done 0.65 - - 3115 - 2.33 0.043 2278 -590.1 206.6 - - 2217 - - - - - - - - 14.65 14.59 14.66
18842 353.8 7.6 769 18855 roll 0.65 - - 3125 - 2.45 0.064 858 -579.6 209.8 - - 2216 - - - - - - - - 14.81 14.53 14.81
18874 351.3 7.6 773 18887 done 0.65 - - 3124 - 2.45 0.058 2283 581.6 213.9 1.52 0.268 2201 -9.9 2.460 - - - - - - 14.66 14.54 14.20
19242 322.8 7.6 783 19260 roll 0.66 - - 3125 - 2.53 0.106 3661 544.7 216.8 4.72 1.616 2188 -2.8 0.105 - - - - - - 14.83 14.57 13.71
19306 317.3 8.7 792 19320 done 0.66 - - 3134 - 2.33 0.042 2278 -593.6 216.8 1.35 0.286 2187 - - - - - - - - 14.70 14.63 14.28
19640 290.1 8.2 804 19653 roll 0.66 - - 3145 - 2.42 0.062 859 -586.4 216.8 1.35 0.275 2189 - - - - - - - - 14.85 14.52 14.28
19686 286.1 8.7 810 19700 done 0.66 0.10 0.239 3117 -280.0 2.45 0.057 2289 583.7 216.8 1.35 0.257 2187 - - - - - - - - 14.44 14.58 14.28
20041 257.8 8.0 818 20055 roll 0.66 - - 3114 - 2.47 0.099 3657 553.8 216.8 1.33 0.269 2191 3.0 -0.548 - - - - - - 14.87 14.53 14.30
20094 253.0 9.1 825 20109 done 0.66 - - 3124 - 2.35 0.042 2263 -593.2 216.8 1.40 0.276 2188 -2.1 0.374 - - - - - - 14.73 14.65 14.25
20438 224.3 8.4 832 20452 done 0.66 - - 3124 - - - 2257 - 216.8 1.38 0.270 2186 - - - - - - - - 14.89 14.64 14.28
20774 196.8 8.2 838 20788 done 0.66 - - 3125 - - - 2257 - 216.8 1.50 0.284 2187 - - - - - - - - 14.90 14.62 14.15
21111 169.0 8.2 844 21127 roll 0.66 - - 3124 - 2.65 0.101 3653 526.8 216.8 1.60 0.308 2192 3.1 -0.326 - - - - - - 14.90 14.55 14.07
21160 164.6 9.1 851 21174 done 0.66 - - 3133 - 2.33 0.041 2269 -594.0 216.8 1.85 0.358 2190 - - - - - - - - 14.73 14.66 14.09
21504 137.0 8.1 858 21518 roll 0.66 - - 3144 - 2.47 0.063 860 -570.4 216.8 1.77 0.339 2191 - - - - - - - - 14.90 14.60 14.06
21536 134.3 7.9 862 21551 done 0.66 0.10 0.230 3115 -290.0 2.42 0.057 2283 588.0 216.8 1.38 0.304 2190 - - - - - - - - 14.47 14.61 14.09
21906 109.0 6.6 872 21932 roll 0.69 - - 3115 - 2.55 0.100 3654 537.6 242.1 13.90 0.496 2088 -7.3 0.307 - - - - - - 14.90 14.58 14.26
21966 104.7 7.7 880 21979 done 0.69 - - 3121 - 2.30 0.041 2280 -597.4 243.1 1.52 0.311 2082 -3.9 0.253 - - - - - - 14.75 14.69 14.18
22308 85.8 5.0 897 22354 roll 0.87 0.08 0.155 3204 1037.5 2.47 0.063 859 -575.3 303.5 30.12 0.427 1841 -8.0 0.306 - - - - - - 14.64 14.56 14.31
22394 79.0 8.3 909 22407 done 0.87 - - 3203 - 2.42 0.054 2281 587.6 303.5 - - 1841 - - - - - - - - 14.65 14.54 14.66
22734 56.4 5.8 924 22768 roll 0.92 - - 3203 - 2.50 0.099 3660 551.6 344.6 19.25 0.340 1680 -8.4 0.264 - - - - - - 14.85 14.50 14.29
22982 41.6 5.6 959 23017 done 0.97 - - 3213 - 2.30 0.039 2278 -600.9 391.0 22.88 0.295 1493 -8.2 0.219 - - - - - - 14.73 14.64 14.32
23320 24.5 4.8 974 23365 roll 1.22 0.15 0.096 3312 660.0 2.53 0.096 3658 545.5 455.3 30.88 0.235 1236 -8.3 0.165 - - - - - - 14.64 14.50 14.37
23439 13.2 10.5 991 23453 done 1.22 0.10 0.236 3294 -180.0 2.25 0.039 2308 -600.0 455.3 - - 1237 - - - - - - - - 14.40 14.59 14.60
23575 end climb: SURFACE_DEPTH_REACHED
23575 begin surface coast
23603 end surface coast: CONTROL_FINISHED_OK
23603 begin surface
SM -1.35 - - - - -8.42 8.85 0.056 184 20.8 0.82 0.068 2768 -2875.6 500.39 20.00 0.158 1059 52.9 0.046 - - - - - -