SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 174 * Raw log
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• Previous call tries 1 • 68.41 of 350.00 AH used of 24V (80.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -0.76 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 3 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 - - - 96 done -0.90 - - 137 - - - 2787 - -116.8 -74.95 - 3516 - - - - - - - - 14.64 13.17 14.65
98 1.3 -6.5 2 120 roll -0.90 11.73 0.396 2602 210.1 2.38 0.030 1337 -609.2 -116.8 - - 3517 - - - - - - - - 14.19 14.48 14.48
167 36.0 -24.5 13 176 done -0.55 0.45 0.261 2711 242.2 2.55 0.067 2756 556.5 -116.8 - - 3518 - - - - - - - - 14.20 14.35 14.39
483 88.0 -13.9 25 490 roll -0.43 0.15 0.237 2746 233.3 1.95 0.102 3818 544.6 -116.8 - - 3518 - - - - - - - - 14.35 14.41 14.54
677 105.8 -7.0 53 686 done -0.43 - - 2747 - 1.77 0.037 2742 -607.9 -116.8 - - 3518 - - - - - - - - 14.62 14.59 14.64
1043 123.7 -4.6 63 1045 done -0.51 - - 2746 - - - 2742 - -116.8 - - 3520 - - - - - - - - 14.81 14.81 14.81
1379 142.2 -5.7 69 1386 roll -0.61 0.08 0.150 2665 -1012.5 1.98 0.101 3830 549.5 -116.8 - - 3519 - - - - - - - - 14.59 14.50 14.65
1475 150.4 -8.6 83 1485 done -0.61 0.10 0.233 2696 310.0 1.75 0.039 2781 -599.4 -116.8 - - 3519 - - - - - - - - 14.42 14.67 14.62
1827 176.6 -7.5 91 1835 roll -0.61 - - 2696 - 2.35 0.046 1379 -596.6 -116.8 - - 3517 - - - - - - - - 14.83 14.54 14.85
1889 181.5 -7.7 100 1897 done -0.61 - - 2685 - 2.47 0.067 2767 561.9 -116.8 - - 3516 - - - - - - - - 14.59 14.51 14.62
2218 207.6 -7.9 112 2225 roll -0.61 - - 2678 - 1.98 0.103 3824 533.8 -116.8 - - 3514 - - - - - - - - 14.83 14.45 14.83
2294 214.1 -8.5 123 2303 done -0.61 - - 2678 - 1.77 0.041 2767 -597.2 -116.8 - - 3513 - - - - - - - - 14.71 14.66 14.72
2610 241.3 -8.8 133 2617 roll -0.61 - - 2677 - 2.38 0.046 1384 -581.1 -116.8 - - 3510 - - - - - - - - 14.83 14.54 14.83
2666 246.3 -8.7 141 2674 done -0.61 0.10 0.215 2697 200.0 2.50 0.069 2776 556.8 -116.8 - - 3509 - - - - - - - - 14.33 14.47 14.49
3003 273.2 -8.0 154 3016 roll -0.61 - - 2689 - 1.90 0.107 3824 551.6 -116.8 - - 3507 - - - - - - - - 14.90 14.55 14.91
3041 276.6 -8.8 159 3054 done -0.61 - - 2689 - 1.70 0.044 2774 -617.6 -116.8 - - 3507 - - - - - - - - 14.78 14.73 14.80
3403 307.3 -8.5 168 3416 roll -0.61 - - 2689 - 2.33 0.047 1383 -597.0 -116.8 - - 3504 - - - - - - - - 14.94 14.66 14.95
3490 314.5 -8.0 180 3504 done -0.61 - - 2680 - 2.42 0.070 2767 571.9 -116.8 - - 3503 - - - - - - - - 14.75 14.61 14.78
3859 342.8 -7.5 190 3872 roll -0.61 - - 2672 - 1.92 0.106 3824 550.5 -116.8 - - 3500 - - - - - - - - 14.95 14.61 14.94
3898 345.8 -7.6 195 3911 done -0.61 - - 2671 - 1.73 0.043 2757 -616.8 -116.8 - - 3500 - - - - - - - - 14.82 14.77 14.83
4260 372.3 -7.3 204 4273 roll -0.61 0.08 0.262 2691 250.0 1.98 0.103 3831 542.4 -116.8 - - 3498 - - - - - - - - 14.46 14.57 14.62
4334 377.5 -6.8 214 4347 done -0.61 - - 2691 - 1.73 0.043 2771 -612.7 -116.8 - - 3498 - - - - - - - - 14.81 14.76 14.82
4660 399.8 -7.0 225 4673 done -0.61 - - 2688 - - - 2771 - -116.8 - - 3496 - - - - - - - - 14.96 14.96 14.96
4997 424.3 -7.4 231 5010 roll -0.61 - - 2690 - 2.35 0.047 1374 -594.5 -116.8 - - 3498 - - - - - - - - 14.95 14.66 14.95
5077 430.6 -7.6 242 5090 done -0.61 - - 2681 - 2.42 0.069 2768 576.0 -116.8 - - 3493 - - - - - - - - 14.77 14.62 14.79
5397 455.8 -7.9 252 5410 done -0.61 - - 2681 - - - 2770 - -116.8 - - 3492 - - - - - - - - 14.96 14.97 14.97
5733 483.7 -8.3 258 5746 done -0.61 - - 2681 - - - 2769 - -116.8 - - 3491 - - - - - - - - 14.97 14.97 14.96
6069 509.2 -7.5 264 6082 roll -0.61 - - 2679 - 2.38 0.048 1379 -584.0 -116.8 - - 3488 - - - - - - - - 14.97 14.64 14.97
6122 513.1 -7.1 271 6136 done -0.61 - - 2672 - 2.45 0.071 2776 570.2 -116.8 - - 3488 - - - - - - - - 14.75 14.59 14.77
6466 537.6 -7.0 278 6479 roll -0.61 - - 2664 - 1.92 0.109 3826 546.9 -116.8 - - 3488 - - - - - - - - 14.96 14.53 14.95
6511 541.0 -7.5 284 6525 done -0.61 0.12 0.226 2700 300.0 1.75 0.044 2758 -610.3 -116.8 - - 3487 - - - - - - - - 14.45 14.74 14.67
6866 561.2 -5.6 292 6879 done -0.69 - - 2701 - - - 2759 - -116.8 - - 3485 - - - - - - - - 14.94 14.94 14.94
7203 581.1 -6.0 298 7216 roll -0.77 0.08 0.148 2632 -862.5 2.33 0.047 1378 -592.7 -116.8 - - 3483 - - - - - - - - 14.68 14.64 14.71
7305 589.7 -8.7 312 7318 done -0.77 0.08 0.273 2645 162.5 2.50 0.072 2774 558.4 -116.8 - - 3483 - - - - - - - - 14.42 14.58 14.66
7659 620.8 -8.9 320 7673 roll -0.77 - - 2636 - 1.95 0.109 3829 541.0 -116.8 - - 3482 - - - - - - - - 14.94 14.50 14.94
7698 624.5 -9.8 325 7711 done -0.77 - - 2636 - 1.77 0.044 2753 -607.9 -116.8 - - 3482 - - - - - - - - 14.78 14.69 14.78
8059 658.8 -9.5 334 8072 done -0.77 - - 2636 - - - 2753 - -116.8 - - 3481 - - - - - - - - 14.94 14.94 14.94
8396 690.2 -9.3 340 8409 done -0.77 - - 2636 - - - 2752 - -116.8 - - 3479 - - - - - - - - 14.93 14.93 14.93
8731 720.7 -8.9 346 8745 roll -0.77 - - 2627 - 2.03 0.109 3824 528.1 -116.8 - - 3478 - - - - - - - - 14.94 14.49 14.94
8784 725.7 -9.4 353 8798 done -0.77 - - 2627 - 1.80 0.045 2768 -586.7 -116.8 - - 3478 - - - - - - - - 14.69 14.66 14.72
9128 756.0 -8.8 360 9141 roll -0.77 - - 2626 - 2.38 0.050 1371 -587.0 -116.8 - - 3477 - - - - - - - - 14.92 14.61 14.93
9160 758.9 -9.1 364 9173 done -0.77 0.10 0.262 2645 190.0 2.47 0.072 2765 564.4 -116.8 - - 3477 - - - - - - - - 14.37 14.55 14.63
9528 788.2 -8.0 374 9542 roll -0.77 - - 2638 - 1.98 0.111 3833 539.4 -116.8 - - 3476 - - - - - - - - 14.94 14.47 14.94
9567 791.5 -8.7 379 9580 done -0.77 - - 2637 - 1.77 0.046 2760 -606.2 -116.8 - - 3476 - - - - - - - - 14.77 14.70 14.78
9929 820.4 -7.9 388 9942 roll -0.77 - - 2637 - 2.35 0.050 1379 -587.7 -116.8 - - 3474 - - - - - - - - 14.94 14.58 14.94
9974 824.2 -7.7 394 9988 done -0.77 - - 2628 - 2.50 0.073 2777 559.2 -116.8 - - 3473 - - - - - - - - 14.71 14.54 14.73
10329 854.4 -8.6 402 10342 roll -0.77 - - 2620 - 1.95 0.112 3829 539.5 -116.8 - - 3473 - - - - - - - - 14.93 14.48 14.93
10375 858.6 -7.9 408 10388 done -0.77 0.10 0.256 2647 270.0 1.77 0.045 2757 -605.6 -116.8 - - 3473 - - - - - - - - 14.35 14.69 14.61
10729 887.1 -8.1 416 10743 roll -0.77 - - 2648 - 2.35 0.050 1378 -586.8 -116.8 - - 3472 - - - - - - - - 14.90 14.58 14.91
10790 892.2 -8.3 424 10803 done -0.77 - - 2638 - 2.47 0.074 2768 562.8 -116.8 - - 3471 - - - - - - - - 14.68 14.51 14.71
11131 921.2 -8.6 437 11144 roll -0.77 - - 2631 - 1.95 0.112 3823 541.0 -116.8 - - 3471 - - - - - - - - 14.92 14.42 14.92
11176 925.4 -9.2 443 11190 done -0.77 - - 2631 - 1.75 0.045 2770 -601.7 -116.8 - - 3471 - - - - - - - - 14.73 14.68 14.74
11249 end dive: TARGET_DEPTH_EXCEEDED
11249 begin apogee
11255 931.8 -8.5 446 11381 roll -0.23 0.68 0.200 2825 285.3 0.03 0.304 2251 -17300.0 - 116.35 1.930 3050 -3.6 0.334 - - - - - - 14.37 13.97 13.31
11383 end apogee: CONTROL_FINISHED_OK
11383 begin climb
11385 936.1 - 448 11524 roll 0.90 1.10 0.109 3173 316.4 2.47 0.061 882 -554.3 116.8 122.55 1.963 2585 -3.8 0.346 - - - - - - 14.04 14.07 13.14
11745 912.4 8.8 502 11759 done 0.75 - - 3173 - 2.45 0.057 2261 562.9 116.8 - - 2570 - - - - - - - - 14.37 14.26 14.39
12090 879.6 9.7 509 12103 roll 0.60 0.25 0.234 3108 -260.0 2.42 0.062 880 -570.7 116.8 - - 2569 - - - - - - - - 14.22 14.41 14.39
12332 861.3 7.2 543 12350 done 0.61 - - 3110 - 2.40 0.057 2262 575.8 128.8 4.88 1.984 2542 -5.5 0.459 - - - - - - 14.59 14.46 13.44
12657 837.3 7.5 554 12682 roll 0.62 - - 3109 - 2.58 0.099 3657 540.7 134.7 13.18 2.075 2508 -2.6 0.199 - - - - - - 14.80 14.44 13.81
12735 830.7 8.9 565 12749 done 0.53 0.15 0.234 3077 -213.3 2.35 0.041 2276 -587.7 134.7 - - 2502 - - - - - - - - 14.31 14.50 14.52
13055 810.1 6.3 575 13102 roll 0.57 - - 3076 - 2.70 0.103 3660 512.6 165.6 34.72 1.888 2386 -3.3 0.274 - - - - - - 14.77 14.28 13.70
13135 805.0 7.4 586 13154 done 0.58 - - 3086 - 2.42 0.041 2249 -583.1 172.2 2.72 1.082 2366 -7.4 1.046 - - - - - - 14.45 14.38 13.28
13502 780.2 6.6 596 13545 done 0.61 - - 3086 - - - 2248 - 197.2 34.22 1.880 2263 -3.0 0.239 - - - - - - 14.73 14.31 13.64
13838 756.7 7.1 602 13863 roll 0.62 - - 3086 - 2.65 0.104 3651 529.4 210.6 12.85 2.024 2209 -4.2 0.300 - - - - - - 14.69 14.34 13.72
13896 752.1 8.5 610 13910 done 0.62 - - 3095 - 2.40 0.043 2258 -580.4 210.6 - - 2204 - - - - - - - - 14.50 14.42 14.50
14237 724.7 8.1 623 14250 done 0.62 - - 3095 - - - 2255 - 210.6 - - 2202 - - - - - - - - 14.74 14.75 14.75
14573 696.1 8.6 629 14586 roll 0.62 - - 3096 - 2.62 0.104 3661 536.6 210.6 - - 2201 - - - - - - - - 14.81 14.45 14.81
14605 693.0 9.2 633 14618 done 0.62 - - 3106 - 2.40 0.044 2248 -588.8 210.6 - - 2201 - - - - - - - - 14.66 14.58 14.68
14973 659.0 9.3 643 14986 done 0.62 - - 3105 - - - 2244 - 210.6 - - 2201 - - - - - - - - 14.83 14.83 14.83
15309 627.9 9.2 649 15323 roll 0.62 - - 3105 - 2.62 0.102 3660 540.5 210.6 - - 2200 - - - - - - - - 14.85 14.49 14.86
15355 623.2 10.3 655 15369 done 0.62 - - 3115 - 2.38 0.042 2259 -588.7 210.6 - - 2200 - - - - - - - - 14.71 14.63 14.73
15710 589.6 9.5 663 15723 done 0.62 - - 3115 - - - 2249 - 210.6 - - 2200 - - - - - - - - 14.86 14.86 14.86
16047 558.5 9.2 669 16059 done 0.62 - - 3115 - - - 2249 - 210.6 - - 2200 - - - - - - - - 14.87 14.87 14.87
16382 528.3 8.9 675 16396 roll 0.62 - - 3115 - 2.62 0.103 3660 538.5 210.6 - - 2200 - - - - - - - - 14.88 14.48 14.88
16449 521.6 9.9 684 16462 done 0.62 - - 3124 - 2.38 0.042 2254 -590.8 210.6 - - 2200 - - - - - - - - 14.72 14.63 14.73
16783 491.9 8.9 696 16796 roll 0.62 - - 3134 - 2.42 0.069 851 -579.8 210.6 - - 2200 - - - - - - - - 14.88 14.53 14.88
16814 489.0 8.8 700 16828 done 0.62 0.10 0.230 3106 -280.0 2.45 0.060 2264 576.7 210.6 - - 2199 - - - - - - - - 14.40 14.55 14.64
17183 461.2 7.5 710 17201 roll 0.63 - - 3105 - 2.62 0.102 3661 533.2 216.8 1.58 0.282 2189 -6.3 1.979 - - - - - - 14.88 14.48 14.03
17247 455.8 8.4 719 17261 done 0.63 - - 3114 - 2.38 0.042 2248 -593.7 216.8 1.25 0.272 2186 -2.4 0.769 - - - - - - 14.71 14.63 14.31
17582 429.9 7.8 731 17595 roll 0.63 - - 3115 - 2.62 0.102 3662 539.7 216.8 1.23 0.266 2188 - - - - - - - - 14.88 14.47 14.29
17643 424.5 8.9 739 17656 done 0.63 - - 3124 - 2.38 0.041 2258 -589.9 216.8 - - 2194 - - - - - - - - 14.71 14.63 14.76
17984 395.9 8.5 752 17997 roll 0.63 - - 3134 - 2.47 0.066 862 -565.2 216.8 1.52 0.279 2187 -4.6 1.249 - - - - - - 14.87 14.56 14.04
18036 391.2 8.9 759 18051 done 0.63 - - 3134 - 2.45 0.059 2271 575.1 216.8 - - 2194 - - - - - - - - 14.68 14.54 14.70
18381 359.8 9.2 766 18394 roll 0.63 - - 3133 - 2.53 0.102 3653 546.2 216.8 1.40 0.269 2188 -4.3 1.096 - - - - - - 14.90 14.45 14.20
18420 355.8 10.3 771 18434 done 0.63 0.12 0.230 3108 -208.3 2.35 0.042 2257 -594.0 216.8 - - 2194 - - - - - - - - 14.37 14.62 14.60
18782 326.0 8.1 780 18796 roll 0.63 - - 3107 - 2.67 0.100 3661 525.8 216.8 1.50 0.275 2188 -4.0 0.907 - - - - - - 14.87 14.47 14.10
18828 321.8 9.3 786 18841 done 0.63 - - 3117 - 2.35 0.041 2260 -596.2 216.8 1.27 0.286 2186 - - - - - - - - 14.66 14.64 14.20
19183 291.9 8.4 794 19196 done 0.63 - - 3117 - - - 2256 - 216.8 1.50 0.272 2186 - - - - - - - - 14.88 14.57 14.14
19519 264.5 8.1 800 19532 done 0.63 - - 3117 - - - 2255 - 216.8 1.55 0.275 2186 - - - - - - - - 14.88 14.56 14.07
19855 239.1 7.4 806 19880 roll 0.64 - - 3117 - 2.58 0.099 3657 543.4 223.9 12.98 1.480 2153 -2.5 0.079 - - - - - - 14.88 14.56 14.04
19913 234.4 8.6 814 19926 done 0.64 - - 3125 - 2.35 0.041 2266 -591.9 223.9 - - 2148 - - - - - - - - 14.69 14.62 14.70
20254 207.2 8.0 827 20267 roll 0.64 - - 3136 - 2.42 0.066 862 -580.2 223.9 - - 2148 - - - - - - - - 14.84 14.50 14.83
20278 205.2 8.0 830 20291 done 0.64 - - 3136 - 2.45 0.059 2275 576.7 223.9 - - 2148 - - - - - - - - 14.62 14.49 14.65
20598 177.2 8.9 840 20611 roll 0.64 - - 3135 - 2.53 0.102 3655 545.5 223.9 - - 2148 - - - - - - - - 14.85 14.41 14.85
20637 173.4 9.4 845 20650 done 0.64 0.12 0.223 3110 -208.3 2.33 0.041 2272 -593.6 223.9 - - 2148 - - - - - - - - 14.37 14.61 14.62
20999 144.4 8.0 854 21012 roll 0.64 - - 3120 - 2.42 0.066 862 -582.6 223.9 - - 2148 - - - - - - - - 14.86 14.51 14.87
21037 141.2 8.1 859 21051 done 0.71 - - 3120 - 2.42 0.057 2275 583.9 223.9 - - 2148 - - - - - - - - 14.67 14.53 14.70
21399 114.6 7.3 868 21417 roll 0.73 - - 3119 - 2.53 0.102 3661 547.8 234.0 3.62 0.438 2121 -7.5 0.373 - - - - - - 14.87 14.52 14.13
21449 110.2 9.0 875 21464 done 0.73 - - 3128 - 2.35 0.040 2263 -594.9 234.0 1.42 0.284 2119 - - - - - - - - 14.71 14.63 14.16
21767 91.8 3.4 884 21826 done 0.92 0.12 0.105 3206 650.0 - - 2257 - 327.5 45.70 0.449 1749 -8.1 0.316 - - - - - - 14.61 14.56 14.26
22130 66.1 5.6 900 22168 roll 0.98 - - 3215 - 2.45 0.065 870 -566.1 373.3 22.62 0.369 1563 -8.2 0.282 - - - - - - 14.81 14.49 14.24
22277 57.6 6.4 921 22306 done 1.11 0.08 0.151 3275 750.0 2.40 0.054 2277 586.2 403.3 15.15 0.337 1443 -7.9 0.259 - - - - - - 14.52 14.49 14.21
22609 34.0 6.7 935 22632 roll 1.14 - - 3275 - 2.50 0.096 3652 550.0 425.5 11.40 0.269 1355 -7.7 0.187 - - - - - - 14.81 14.44 14.24
22862 17.8 7.5 971 22879 done 1.14 - - 3284 - 2.28 0.037 2278 -602.6 430.2 3.03 0.230 1339 -5.3 0.078 - - - - - - 14.68 14.60 14.32
23114 end climb: SURFACE_DEPTH_REACHED
23114 begin surface coast
23143 end surface coast: CONTROL_FINISHED_OK
23143 begin surface
SM -0.42 - - - - -8.40 8.82 0.057 182 20.6 0.90 0.080 2772 -7202.2 500.14 32.83 0.154 1057 32.2 0.009 - - - - - -