SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 137 * Raw log
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• Previous call tries 1 • 55.86 of 350.00 AH used of 24V (84.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.3 deg, depth -8.53 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 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
16 begin dive
18 - - - 120 done -0.90 - - 163 - - - 2787 - -116.8 -98.35 - 3516 - - - - - - - - 14.66 13.27 14.66
122 -6.4 -3.6 3 138 done -0.90 11.52 0.395 2601 211.6 - - 2787 - -116.8 - - 3518 - - - - - - - - 14.23 14.54 14.50
451 76.2 -14.7 18 458 roll -0.63 0.32 0.234 2685 262.5 1.90 0.103 3841 554.7 -116.8 - - 3522 - - - - - - - - 14.40 14.48 14.60
513 81.9 -8.0 27 521 done -0.56 0.10 0.240 2715 300.0 1.83 0.041 2751 -595.6 -116.8 - - 3517 - - - - - - - - 14.41 14.61 14.59
843 101.3 -3.9 41 846 done -0.56 - - 2715 - - - 2752 - -116.8 - - 3519 - - - - - - - - 14.85 14.84 14.85
1179 123.6 -6.3 47 1186 roll -0.56 - - 2707 - 2.00 0.104 3819 533.5 -116.8 - - 3519 - - - - - - - - 14.88 14.54 14.88
1262 128.5 -5.7 59 1270 done -0.56 - - 2707 - 1.77 0.042 2756 -600.6 -116.8 - - 3519 - - - - - - - - 14.76 14.73 14.77
1627 172.4 -7.7 69 1629 done -0.56 - - 2707 - - - 2756 - -116.8 - - 3517 - - - - - - - - 14.90 14.89 14.90
1963 197.4 -7.3 75 1971 roll -0.56 - - 2699 - 2.00 0.105 3819 531.5 -116.8 - - 3514 - - - - - - - - 14.90 14.57 14.90
2011 201.2 -7.7 82 2020 done -0.56 - - 2699 - 1.77 0.044 2770 -592.7 -116.8 - - 3513 - - - - - - - - 14.78 14.72 14.78
2355 226.5 -7.4 89 2362 roll -0.56 - - 2698 - 2.33 0.046 1381 -596.1 -116.8 - - 3510 - - - - - - - - 14.91 14.67 14.95
2445 233.3 -7.5 102 2453 done -0.56 0.08 0.214 2714 200.0 2.42 0.067 2760 569.8 -116.8 - - 3509 - - - - - - - - 14.50 14.60 14.64
2803 257.8 -6.9 111 2816 done -0.63 - - 2713 - - - 2759 - -116.8 - - 3503 - - - - - - - - 14.95 14.94 14.94
3139 280.3 -6.7 117 3153 roll -0.71 0.08 0.148 2643 -875.0 2.33 0.044 1369 -596.6 -116.8 - - 3504 - - - - - - - - 14.73 14.71 14.78
3171 283.2 -8.7 121 3184 done -0.71 0.12 0.241 2669 216.7 2.45 0.070 2777 574.7 -116.8 - - 3504 - - - - - - - - 14.54 14.67 14.75
3539 314.7 -8.5 131 3552 done -0.71 - - 2669 - - - 2777 - -116.8 - - 3501 - - - - - - - - 14.97 14.97 14.96
3876 343.3 -8.4 137 3889 roll -0.71 - - 2669 - 2.38 0.048 1374 -589.5 -116.8 - - 3498 - - - - - - - - 14.97 14.72 14.98
3963 350.7 -8.3 149 3976 done -0.71 - - 2659 - 2.42 0.070 2767 575.6 -116.8 - - 3500 - - - - - - - - 14.82 14.68 14.84
4331 383.4 -8.4 159 4344 done -0.71 - - 2659 - - - 2767 - -116.8 - - 3496 - - - - - - - - 14.97 14.97 14.98
4667 412.1 -8.5 165 4680 done -0.71 - - 2659 - - - 2767 - -116.8 - - 3494 - - - - - - - - 14.97 14.97 14.97
5003 441.6 -8.8 171 5017 roll -0.71 - - 2659 - 2.35 0.048 1376 -591.9 -116.8 - - 3492 - - - - - - - - 14.99 14.72 14.99
5042 445.1 -9.4 176 5055 done -0.71 - - 2651 - 2.42 0.071 2772 576.9 -116.8 - - 3497 - - - - - - - - 14.81 14.66 14.83
5403 477.6 -9.0 185 5416 roll -0.71 - - 2642 - 1.92 0.112 3827 549.5 -116.8 - - 3490 - - - - - - - - 14.98 14.62 14.98
5442 481.4 -10.0 190 5455 done -0.71 - - 2642 - 1.75 0.048 2757 -611.4 -116.8 - - 3489 - - - - - - - - 14.84 14.79 14.85
5803 515.7 -9.6 199 5816 roll -0.71 - - 2642 - 2.33 0.050 1364 -597.9 -116.8 - - 3488 - - - - - - - - 14.97 14.72 14.97
5883 523.6 -9.6 210 5897 done -0.71 0.12 0.242 2668 216.7 2.45 0.072 2765 571.8 -116.8 - - 3488 - - - - - - - - 14.52 14.65 14.74
6203 551.7 -8.8 220 6216 roll -0.71 - - 2660 - 1.95 0.115 3827 544.6 -116.8 - - 3487 - - - - - - - - 14.97 14.60 14.97
6263 557.3 -9.4 228 6276 done -0.71 - - 2660 - 1.77 0.050 2758 -604.0 -116.8 - - 3486 - - - - - - - - 14.83 14.76 14.84
6603 587.7 -8.9 241 6617 roll -0.71 - - 2660 - 2.33 0.050 1371 -595.3 -116.8 - - 3484 - - - - - - - - 14.97 14.71 14.97
6642 591.2 -9.5 246 6655 done -0.71 - - 2651 - 2.45 0.073 2763 568.2 -116.8 - - 3484 - - - - - - - - 14.79 14.64 14.81
7003 623.2 -8.8 255 7016 done -0.71 - - 2651 - - - 2763 - -116.8 - - 3482 - - - - - - - - 14.97 14.97 14.97
7339 651.5 -8.4 261 7352 roll -0.71 - - 2650 - 2.38 0.050 1369 -585.7 -116.8 - - 3481 - - - - - - - - 14.97 14.69 14.97
7385 655.4 -8.6 267 7398 done -0.71 - - 2642 - 2.47 0.073 2771 567.6 -116.8 - - 3481 - - - - - - - - 14.78 14.64 14.81
7739 685.9 -8.6 275 7753 roll -0.71 0.08 0.273 2669 337.5 2.38 0.047 1370 -588.7 -116.8 - - 3480 - - - - - - - - 14.50 14.69 14.64
7785 689.7 -8.1 281 7798 done -0.71 - - 2660 - 2.45 0.073 2763 568.6 -116.8 - - 3479 - - - - - - - - 14.78 14.62 14.80
8140 717.3 -7.8 289 8153 roll -0.71 - - 2660 - 2.38 0.048 1364 -587.8 -116.8 - - 3478 - - - - - - - - 14.96 14.69 14.96
8171 719.9 -8.0 293 8184 done -0.71 - - 2652 - 2.50 0.073 2766 560.8 -116.8 - - 3479 - - - - - - - - 14.78 14.62 14.80
8539 748.9 -7.9 303 8552 done -0.71 - - 2652 - - - 2764 - -116.8 - - 3477 - - - - - - - - 14.97 14.97 14.97
8876 775.9 -8.0 309 8889 done -0.71 - - 2652 - - - 2766 - -116.8 - - 3476 - - - - - - - - 14.96 14.96 14.96
9211 802.6 -7.9 315 9225 roll -0.71 - - 2652 - 2.40 0.051 1369 -582.1 -116.8 - - 3475 - - - - - - - - 14.96 14.66 15.00
9292 809.6 -8.1 326 9305 done -0.71 - - 2644 - 2.47 0.075 2763 564.4 -116.8 - - 3475 - - - - - - - - 14.76 14.59 14.78
9611 835.3 -8.0 336 9625 roll -0.71 - - 2636 - 1.95 0.116 3822 543.1 -116.8 - - 3474 - - - - - - - - 14.95 14.54 14.95
9650 838.8 -7.1 341 9663 done -0.71 0.10 0.239 2665 290.0 1.77 0.049 2756 -602.3 -116.8 - - 3473 - - - - - - - - 14.47 14.73 14.69
10012 864.8 -7.0 350 10025 roll -0.71 - - 2664 - 2.35 0.049 1359 -594.5 -116.8 - - 3472 - - - - - - - - 14.95 14.65 14.94
10128 872.8 -6.8 366 10141 done -0.71 - - 2656 - 2.50 0.073 2758 559.6 -116.8 - - 3471 - - - - - - - - 14.74 14.57 14.76
10469 895.9 -6.8 379 10482 roll -0.71 - - 2649 - 1.98 0.116 3824 538.4 -116.8 - - 3471 - - - - - - - - 14.94 14.52 14.95
10508 898.7 -7.5 384 10521 done -0.71 - - 2648 - 1.77 0.049 2755 -604.0 -116.8 - - 3471 - - - - - - - - 14.78 14.72 14.80
10869 922.6 -6.5 393 10883 roll -0.71 - - 2648 - 2.35 0.049 1362 -592.8 -116.8 - - 3470 - - - - - - - - 14.92 14.65 14.92
10950 927.1 -5.4 404 10963 done -0.71 0.10 0.258 2667 190.0 2.47 0.073 2754 563.6 -116.8 - - 3470 - - - - - - - - 14.42 14.57 14.66
10988 end dive: TARGET_DEPTH_EXCEEDED
10988 begin apogee
10993 930.0 -4.7 409 11117 roll -0.23 0.52 0.182 2825 303.8 - - 2229 - - 113.93 1.969 3049 -3.7 0.332 - - - - - - 14.45 14.08 13.36
11118 end apogee: CONTROL_FINISHED_OK
11118 begin climb
11120 931.8 - 411 11262 roll 0.90 1.10 0.112 3173 316.4 2.42 0.059 870 -561.6 116.8 121.55 1.944 2583 -3.8 0.349 - - - - - - 14.07 14.08 13.22
11280 922.8 10.8 436 11294 done 0.72 0.15 0.246 3135 -253.3 2.47 0.056 2254 560.3 116.8 - - 2573 - - - - - - - - 13.93 14.02 14.09
11614 892.5 9.2 448 11628 roll 0.62 0.10 0.267 3101 -340.0 2.60 0.101 3661 541.2 116.8 - - 2571 - - - - - - - - 14.26 14.33 14.39
11675 887.8 7.2 456 11700 done 0.54 0.12 0.246 3078 -191.7 2.40 0.043 2253 -586.7 129.6 12.02 2.120 2531 -3.3 0.265 - - - - - - 14.26 14.48 13.70
12015 864.5 6.6 469 12059 roll 0.57 - - 3078 - 2.70 0.103 3652 518.1 155.3 29.05 1.972 2422 -3.8 0.313 - - - - - - 14.73 14.27 13.67
12105 857.9 7.8 482 12118 done 0.57 - - 3088 - 2.40 0.044 2253 -582.9 155.3 - - 2420 - - - - - - - - 14.46 14.40 14.47
12467 832.7 7.0 491 12492 done 0.59 - - 3088 - - - 2249 - 170.9 16.35 2.046 2368 -3.2 0.246 - - - - - - 14.75 14.45 13.76
12803 809.0 7.1 497 12828 roll 0.61 - - 3088 - 2.62 0.103 3653 535.9 184.0 12.80 2.077 2312 -4.4 0.324 - - - - - - 14.76 14.40 13.79
12874 802.9 9.2 507 12887 done 0.61 - - 3095 - 2.40 0.045 2250 -584.6 184.0 - - 2309 - - - - - - - - 14.56 14.49 14.57
13200 777.4 7.9 518 13213 roll 0.61 - - 3106 - 2.40 0.064 854 -581.7 184.0 - - 2307 - - - - - - - - 14.78 14.54 14.78
13225 775.5 7.8 521 13238 done 0.61 - - 3106 - 2.42 0.057 2260 581.0 184.0 - - 2308 - - - - - - - - 14.65 14.54 14.67
13544 749.5 8.1 531 13557 roll 0.61 - - 3106 - 2.55 0.106 3654 546.7 184.0 - - 2306 - - - - - - - - 14.83 14.52 14.83
13611 743.2 9.6 540 13624 done 0.61 - - 3116 - 2.38 0.044 2245 -592.0 184.0 - - 2306 - - - - - - - - 14.71 14.64 14.73
13944 713.6 8.9 552 13957 roll 0.61 - - 3116 - 2.62 0.103 3661 540.5 184.0 - - 2304 - - - - - - - - 14.85 14.58 14.88
13990 709.0 10.5 558 14003 done 0.61 - - 3126 - 2.38 0.044 2250 -592.9 184.0 - - 2305 - - - - - - - - 14.74 14.66 14.76
14344 675.0 9.7 566 14357 roll 0.61 - - 3136 - 2.38 0.065 861 -583.6 184.0 - - 2304 - - - - - - - - 14.88 14.61 14.88
14375 671.8 9.4 570 14389 done 0.61 0.12 0.233 3101 -291.7 2.40 0.059 2260 582.9 184.0 - - 2304 - - - - - - - - 14.48 14.62 14.71
14744 641.0 8.2 580 14757 roll 0.61 - - 3099 - 2.55 0.104 3656 547.5 184.0 - - 2304 - - - - - - - - 14.90 14.57 14.90
14825 633.7 9.2 591 14838 done 0.61 - - 3110 - 2.35 0.044 2255 -596.2 184.0 - - 2304 - - - - - - - - 14.76 14.69 14.78
15144 609.6 7.4 601 15157 done 0.62 - - 3110 - - - 2251 - 191.8 2.97 1.258 2286 -6.1 0.558 - - - - - - 14.90 14.71 13.60
15480 585.4 7.2 607 15512 roll 0.63 - - 3110 - 2.62 0.105 3660 537.8 204.2 19.55 1.792 2230 -2.9 0.178 - - - - - - 14.90 14.51 13.96
15558 579.1 8.6 618 15571 done 0.63 - - 3120 - 2.38 0.043 2265 -586.1 204.2 - - 2227 - - - - - - - - 14.65 14.58 14.66
15877 553.7 8.0 628 15890 done 0.63 - - 3117 - - - 2253 - 204.2 - - 2225 - - - - - - - - 14.81 14.82 14.82
16214 526.0 8.3 634 16227 roll 0.63 - - 3120 - 2.60 0.106 3656 539.6 204.2 - - 2224 - - - - - - - - 14.85 14.52 14.85
16294 518.3 9.4 645 16308 done 0.63 - - 3129 - 2.35 0.044 2261 -593.6 204.2 - - 2225 - - - - - - - - 14.73 14.66 14.74
16614 490.0 8.9 655 16627 roll 0.63 - - 3140 - 2.40 0.066 857 -585.0 204.2 - - 2224 - - - - - - - - 14.88 14.57 14.88
16652 486.4 9.2 660 16666 done 0.63 0.12 0.229 3104 -300.0 2.42 0.060 2271 584.3 204.2 - - 2225 - - - - - - - - 14.47 14.57 14.69
17014 455.9 8.6 669 17027 roll 0.63 - - 3104 - 2.53 0.104 3659 548.6 204.2 - - 2225 - - - - - - - - 14.89 14.54 14.92
17123 445.4 9.6 684 17137 done 0.63 - - 3112 - 2.35 0.043 2266 -592.8 204.2 - - 2224 - - - - - - - - 14.75 14.67 14.75
17466 416.0 8.4 691 17479 roll 0.63 - - 3123 - 2.40 0.065 863 -584.6 204.2 - - 2224 - - - - - - - - 14.89 14.62 14.90
17505 412.6 8.5 696 17518 done 0.63 - - 3123 - 2.42 0.059 2276 583.9 204.2 - - 2225 - - - - - - - - 14.73 14.61 14.76
17866 382.5 8.2 705 17879 roll 0.63 - - 3123 - 2.53 0.106 3662 547.8 204.2 - - 2224 - - - - - - - - 14.90 14.56 14.90
17933 376.5 9.2 714 17946 done 0.63 - - 3132 - 2.33 0.044 2272 -596.6 204.2 - - 2225 - - - - - - - - 14.76 14.68 14.78
18266 348.7 8.3 726 18279 done 0.63 - - 3132 - - - 2267 - 204.2 - - 2225 - - - - - - - - 14.91 14.91 14.90
18602 319.3 8.9 732 18615 done 0.63 - - 3133 - - - 2264 - 204.2 - - 2224 - - - - - - - - 14.90 14.91 14.91
18938 289.7 8.8 738 18951 done 0.63 - - 3132 - - - 2267 - 204.2 - - 2225 - - - - - - - - 14.91 14.92 14.92
19274 261.7 8.3 744 19287 done 0.63 - - 3132 - - - 2266 - 204.2 - - 2225 - - - - - - - - 14.95 14.93 14.92
19610 234.4 8.2 750 19623 roll 0.63 - - 3133 - 2.55 0.103 3656 545.1 204.2 - - 2224 - - - - - - - - 14.92 14.57 14.92
19641 231.5 8.7 754 19655 done 0.63 0.12 0.243 3107 -216.7 2.33 0.044 2265 -597.0 204.2 - - 2225 - - - - - - - - 14.46 14.70 14.71
20010 205.0 7.1 764 20031 done 0.65 - - 3107 - - - 2261 - 217.4 12.65 1.437 2185 -3.2 0.086 - - - - - - 14.92 14.69 14.13
20346 179.9 7.6 770 20359 roll 0.65 - - 3106 - 2.60 0.101 3662 538.8 220.0 - - 2176 - - - - - - - - 14.87 14.54 14.87
20406 174.8 8.8 778 20419 done 0.65 - - 3115 - 2.33 0.043 2278 -594.0 220.0 - - 2176 - - - - - - - - 14.73 14.66 14.75
20747 149.3 7.3 791 20771 done 0.67 - - 3115 - - - 2275 - 229.3 11.70 1.384 2129 -4.0 0.082 - - - - - - 14.89 14.66 14.12
21084 125.3 7.1 804 21109 roll 0.68 - - 3116 - 2.55 0.101 3663 544.3 243.7 13.32 1.331 2072 -4.3 0.077 - - - - - - 14.85 14.54 14.11
21142 120.8 8.0 812 21156 done 0.68 - - 3124 - 2.35 0.042 2266 -594.5 243.7 - - 2069 - - - - - - - - 14.67 14.60 14.69
21483 95.2 7.2 826 21501 roll 0.70 - - 3123 - 2.58 0.102 3654 538.0 255.8 4.38 0.421 2033 -8.2 0.353 - - - - - - 14.81 14.52 14.22
21541 90.0 9.3 834 21554 done 0.70 - - 3131 - 2.30 0.042 2285 -595.2 255.8 - - 2039 - - - - - - - - 14.71 14.65 14.72
21882 66.6 6.7 849 21906 roll 0.83 0.08 0.151 3211 1000.0 2.42 0.061 863 -587.6 278.6 11.60 0.378 1943 -8.3 0.277 - - - - - - 14.64 14.54 14.28
22023 34.5 13.3 869 22037 done 0.83 0.15 0.201 3168 -286.7 2.45 0.056 2287 581.2 278.6 - - 1947 - - - - - - - - 14.45 14.58 14.63
22365 22.2 20.3 884 22380 roll 0.96 0.08 0.145 3234 825.0 2.47 0.098 3656 554.3 278.6 - - 1948 - - - - - - - - 14.64 14.55 14.70
22510 end climb: SURFACE_DEPTH_REACHED
22510 begin surface coast
22515 end surface coast: CONTROL_FINISHED_OK
22515 begin surface
SM 20.96 - - - - -8.39 9.07 0.091 195 21.5 1.50 0.044 2762 217.3 500.14 103.97 0.272 1058 10.2 -0.080 - - - - - -