SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 56.20 of 350.00 AH used of 24V (83.94% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 1.54 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 83 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 - - - 106 done -0.90 - - 147 - - - 2761 - -116.8 -79.47 - 3516 - - - - - - - - 14.68 13.26 14.64
108 10.9 -16.4 3 127 roll -0.90 11.68 0.398 2601 210.1 2.33 0.033 1364 -599.6 -116.8 - - 3517 - - - - - - - - 14.19 14.45 14.40
133 29.0 -62.8 7 140 done 0.31 1.52 0.284 2979 248.7 2.50 0.076 2764 560.0 -116.8 - - 3519 - - - - - - - - 14.26 14.38 14.47
469 56.6 -8.4 22 476 roll -0.12 0.30 0.101 2868 -370.0 1.92 0.106 3819 549.5 -116.8 - - 3520 - - - - - - - - 14.55 14.45 14.62
510 59.8 -7.2 28 518 done -0.49 0.30 0.098 2748 -400.0 1.80 0.043 2755 -591.1 -116.8 - - 3520 - - - - - - - - 14.54 14.62 14.59
832 87.1 -9.1 41 840 roll -0.49 - - 2748 - 2.33 0.044 1379 -590.6 -116.8 - - 3522 - - - - - - - - 14.83 14.57 14.83
873 90.5 -7.9 47 882 done -0.49 - - 2740 - 2.42 0.067 2758 569.8 -116.8 - - 3521 - - - - - - - - 14.63 14.56 14.66
1197 -115.5 111.7 58 1204 roll -0.49 - - 2733 - 1.95 0.105 3818 543.6 -116.8 - - 3523 - - - - - - - - 14.87 14.55 14.87
1314 111.5 -6.1 75 1322 done -0.49 - - 2733 - 1.77 0.039 2737 -610.7 -116.8 - - 3523 - - - - - - - - 14.76 14.71 14.77
1645 131.0 -6.0 87 1652 roll -0.57 - - 2727 - 2.03 0.104 3820 533.5 -116.8 - - 3523 - - - - - - - - 14.89 14.56 14.89
1686 133.7 -6.6 93 1694 done -0.66 0.08 0.151 2659 -850.0 1.73 0.041 2778 -602.3 -116.8 - - 3522 - - - - - - - - 14.67 14.73 14.75
2037 165.4 -9.2 101 2039 done -0.66 - - 2658 - - - 2778 - -116.8 - - 3522 - - - - - - - - 14.90 14.90 14.90
2372 197.6 -9.6 107 2375 done -0.66 - - 2658 - - - 2778 - -116.8 - - 3520 - - - - - - - - 14.91 14.91 14.91
2708 230.9 -9.8 113 2711 done -0.66 - - 2658 - - - 2778 - -116.8 - - 3517 - - - - - - - - 14.92 14.91 14.91
3044 263.4 -9.7 119 3057 roll -0.66 - - 2658 - 2.33 0.046 1393 -594.4 -116.8 - - 3515 - - - - - - - - 14.95 14.70 14.95
3082 267.2 -9.9 124 3096 done -0.66 0.10 0.246 2678 200.0 2.42 0.070 2777 571.9 -116.8 - - 3514 - - - - - - - - 14.54 14.66 14.74
3444 297.7 -8.4 133 3457 done -0.66 - - 2678 - - - 2777 - -116.8 - - 3512 - - - - - - - - 14.96 14.96 14.96
3781 325.3 -8.2 139 3794 roll -0.66 - - 2679 - 2.35 0.046 1384 -592.8 -116.8 - - 3510 - - - - - - - - 14.97 14.73 14.97
3868 332.6 -8.2 151 3881 done -0.66 - - 2669 - 2.40 0.070 2771 577.9 -116.8 - - 3509 - - - - - - - - 14.81 14.68 14.83
4236 364.3 -8.8 161 4250 roll -0.66 - - 2668 - 2.33 0.047 1388 -593.6 -116.8 - - 3507 - - - - - - - - 14.97 14.73 14.97
4303 370.3 -8.9 170 4316 done -0.66 - - 2659 - 2.42 0.071 2773 572.3 -116.8 - - 3507 - - - - - - - - 14.82 14.68 14.83
4636 400.6 -9.1 182 4649 roll -0.66 - - 2650 - 1.92 0.109 3831 551.0 -116.8 - - 3505 - - - - - - - - 14.98 14.64 14.98
4674 404.3 -9.5 187 4688 done -0.66 0.10 0.240 2679 290.0 1.73 0.044 2772 -612.1 -116.8 - - 3504 - - - - - - - - 14.57 14.81 14.77
5036 433.2 -8.0 196 5049 done -0.66 - - 2681 - - - 2778 - -116.8 - - 3503 - - - - - - - - 14.97 14.97 14.98
5372 460.3 -8.1 202 5385 roll -0.66 - - 2681 - 2.35 0.048 1365 -601.3 -116.8 - - 3501 - - - - - - - - 14.98 14.73 14.98
5438 465.9 -8.4 211 5452 done -0.66 - - 2671 - 2.45 0.071 2774 575.1 -116.8 - - 3501 - - - - - - - - 14.82 14.67 14.83
5772 494.2 -8.6 223 5785 roll -0.66 - - 2664 - 1.90 0.111 3824 552.6 -116.8 - - 3499 - - - - - - - - 14.97 14.63 14.97
5832 499.7 -9.1 231 5845 done -0.66 - - 2663 - 1.73 0.046 2772 -608.1 -116.8 - - 3499 - - - - - - - - 14.85 14.80 14.86
6172 529.0 -8.5 244 6185 roll -0.66 - - 2663 - 2.35 0.048 1370 -596.6 -116.8 - - 3497 - - - - - - - - 14.97 14.71 14.97
6260 536.3 -8.0 256 6274 done -0.66 0.10 0.252 2683 200.0 2.47 0.073 2779 570.4 -116.8 - - 3496 - - - - - - - - 14.54 14.67 14.76
6629 563.1 -7.2 266 6642 roll -0.66 - - 2676 - 1.90 0.112 3823 549.5 -116.8 - - 3495 - - - - - - - - 14.97 14.60 14.97
6690 567.8 -8.0 274 6703 done -0.66 - - 2676 - 1.73 0.044 2772 -607.5 -116.8 - - 3495 - - - - - - - - 14.83 14.78 14.84
7030 593.7 -7.6 287 7043 roll -0.66 - - 2676 - 2.35 0.047 1368 -597.4 -116.8 - - 3493 - - - - - - - - 14.97 14.71 14.97
7132 601.5 -7.6 301 7145 done -0.66 - - 2666 - 2.47 0.073 2770 567.6 -116.8 - - 3493 - - - - - - - - 14.79 14.64 14.81
7486 628.8 -7.8 309 7499 done -0.66 - - 2664 - - - 2769 - -116.8 - - 3491 - - - - - - - - 14.96 14.97 14.96
7822 655.1 -7.8 315 7835 roll -0.66 - - 2666 - 2.38 0.047 1373 -586.6 -116.8 - - 3489 - - - - - - - - 14.96 14.69 14.97
7909 662.1 -7.7 327 7923 done -0.66 - - 2658 - 2.45 0.073 2772 571.0 -116.8 - - 3487 - - - - - - - - 14.79 14.64 14.81
8278 691.7 -8.0 337 8291 roll -0.66 - - 2650 - 1.92 0.114 3823 547.4 -116.8 - - 3488 - - - - - - - - 14.97 14.58 14.97
8316 694.9 -8.3 342 8330 done -0.66 0.10 0.236 2679 290.0 1.75 0.047 2757 -609.1 -116.8 - - 3488 - - - - - - - - 14.50 14.76 14.72
8678 720.7 -7.2 351 8691 roll -0.66 - - 2679 - 2.33 0.048 1371 -594.8 -116.8 - - 3486 - - - - - - - - 14.97 14.69 14.96
8744 725.8 -7.3 360 8758 done -0.66 - - 2671 - 2.45 0.073 2766 569.4 -116.8 - - 3486 - - - - - - - - 14.78 14.62 14.80
9078 751.1 -7.7 372 9091 done -0.66 - - 2671 - - - 2766 - -116.8 - - 3486 - - - - - - - - 14.95 14.95 14.95
9414 776.5 -7.6 378 9427 roll -0.66 - - 2671 - 2.38 0.049 1374 -584.9 -116.8 - - 3484 - - - - - - - - 14.94 14.65 14.95
9494 782.8 -7.6 389 9508 done -0.66 - - 2663 - 2.47 0.074 2771 565.6 -116.8 - - 3484 - - - - - - - - 14.77 14.61 14.79
9814 806.2 -7.2 399 9827 done -0.66 - - 2663 - - - 2771 - -116.8 - - 3483 - - - - - - - - 14.95 14.95 14.95
10150 829.4 -6.8 405 10163 roll -0.66 - - 2662 - 2.38 0.049 1378 -585.3 -116.8 - - 3482 - - - - - - - - 14.95 14.65 14.96
10217 833.7 -6.7 414 10230 done -0.66 0.10 0.251 2683 210.0 2.45 0.075 2765 566.1 -116.8 - - 3482 - - - - - - - - 14.45 14.59 14.69
10552 853.5 -5.9 426 10565 roll -0.74 - - 2683 - 2.38 0.049 1374 -584.5 -116.8 - - 3481 - - - - - - - - 14.93 14.66 14.94
10632 858.6 -6.2 437 10646 done -0.83 0.08 0.149 2619 -800.0 2.47 0.075 2768 564.4 -116.8 - - 3480 - - - - - - - - 14.65 14.59 14.75
10952 886.2 -8.9 447 10965 done -0.83 - - 2618 - - - 2768 - -116.8 - - 3481 - - - - - - - - 14.93 14.93 14.93
11288 916.5 -9.1 453 11302 roll -0.83 - - 2617 - 2.38 0.050 1377 -584.5 -116.8 - - 3479 - - - - - - - - 14.94 14.61 14.93
11362 923.3 -9.0 463 11375 done -0.83 - - 2609 - 2.45 0.075 2765 566.5 -116.8 - - 3479 - - - - - - - - 14.73 14.58 14.77
11462 end dive: TARGET_DEPTH_EXCEEDED
11462 begin apogee
11467 932.7 -9.4 470 11594 roll -0.23 0.75 0.202 2825 288.0 - - 2229 - - 117.15 1.958 3049 -3.7 0.332 - - - - - - 14.42 14.05 13.35
11596 end apogee: CONTROL_FINISHED_OK
11596 begin climb
11598 937.0 - 472 11737 roll 0.90 1.10 0.112 3174 317.3 2.42 0.060 873 -560.3 116.8 121.18 1.938 2588 -3.8 0.349 - - - - - - 14.06 14.07 13.22
11749 931.3 9.3 496 11762 done 0.67 0.20 0.239 3121 -265.0 2.50 0.057 2258 554.0 116.8 - - 2576 - - - - - - - - 13.90 13.99 14.06
12090 905.1 7.8 509 12103 roll 0.67 - - 3121 - 2.58 0.103 3656 541.9 116.8 - - 2571 - - - - - - - - 14.64 14.34 14.64
12198 895.6 8.9 524 12213 done 0.54 0.20 0.239 3076 -225.0 2.38 0.042 2262 -585.7 116.8 - - 2571 - - - - - - - - 14.26 14.49 14.50
12542 872.7 6.6 531 12581 roll 0.57 - - 3077 - 2.62 0.103 3656 532.1 142.0 26.55 1.969 2479 -3.5 0.292 - - - - - - 14.78 14.33 13.73
12627 866.1 8.3 543 12641 done 0.57 - - 3087 - 2.38 0.043 2262 -585.7 142.0 - - 2478 - - - - - - - - 14.50 14.44 14.52
12996 838.3 7.7 553 13009 roll 0.57 - - 3088 - 2.60 0.105 3656 536.2 142.9 - - 2472 - - - - - - - - 14.77 14.46 14.77
13027 835.6 8.5 557 13041 done 0.57 - - 3098 - 2.38 0.043 2252 -589.9 142.9 - - 2472 - - - - - - - - 14.64 14.57 14.66
13396 807.7 7.7 567 13410 roll 0.57 - - 3106 - 2.62 0.106 3655 535.5 144.7 - - 2475 - - - - - - - - 14.83 14.50 14.83
13442 803.9 8.5 573 13456 done 0.57 - - 3108 - 2.35 0.043 2261 -593.2 144.7 - - 2471 - - - - - - - - 14.70 14.62 14.71
13797 776.8 7.5 581 13811 roll 0.58 - - 3108 - 2.67 0.105 3660 524.0 149.2 1.62 0.287 2459 -7.4 3.810 - - - - - - 14.86 14.53 14.14
13844 773.1 7.9 587 13857 done 0.50 0.20 0.231 3062 -230.0 2.35 0.042 2262 -594.9 149.2 - - 2466 - - - - - - - - 14.44 14.65 14.66
14198 752.6 5.7 595 14271 roll 0.55 - - 3062 - 2.72 0.105 3653 511.4 194.2 56.92 1.808 2269 -3.5 0.274 - - - - - - 14.88 14.22 13.66
14290 746.5 6.4 608 14337 done 0.59 - - 3072 - 2.40 0.044 2258 -581.2 223.5 32.88 1.821 2153 -3.5 0.275 - - - - - - 14.40 14.33 13.56
14652 719.3 7.7 624 14665 roll 0.67 0.08 0.142 3134 775.0 2.62 0.105 3654 532.8 224.9 - - 2143 - - - - - - - - 14.46 14.36 14.51
14713 712.7 11.5 632 14726 done 0.67 - - 3144 - 2.38 0.043 2271 -581.1 224.9 - - 2142 - - - - - - - - 14.57 14.50 14.58
15053 676.3 10.6 645 15066 roll 0.67 - - 3155 - 2.45 0.068 857 -577.1 224.9 - - 2141 - - - - - - - - 14.77 14.51 14.78
15077 673.7 10.3 648 15091 done 0.67 0.12 0.233 3119 -300.0 2.47 0.062 2272 572.9 224.9 - - 2141 - - - - - - - - 14.40 14.52 14.62
15397 645.2 8.9 658 15410 roll 0.67 - - 3117 - 2.55 0.106 3658 543.5 224.9 - - 2140 - - - - - - - - 14.83 14.50 14.83
15464 638.6 9.8 667 15477 done 0.67 - - 3127 - 2.35 0.043 2265 -592.8 224.9 - - 2140 - - - - - - - - 14.70 14.62 14.71
15797 609.3 8.8 679 15810 roll 0.67 - - 3128 - 2.58 0.104 3656 539.1 224.9 - - 2139 - - - - - - - - 14.85 14.52 14.84
15829 606.1 10.0 683 15842 done 0.67 - - 3137 - 2.33 0.043 2273 -593.6 224.9 - - 2141 - - - - - - - - 14.73 14.65 14.74
16197 569.3 10.2 693 16210 roll 0.67 - - 3148 - 2.42 0.067 863 -582.6 224.9 - - 2139 - - - - - - - - 14.88 14.58 14.89
16221 566.7 10.4 696 16234 done 0.67 - - 3147 - 2.45 0.062 2284 580.0 224.9 - - 2139 - - - - - - - - 14.71 14.59 14.74
16541 531.6 11.1 706 16554 roll 0.67 - - 3148 - 2.45 0.107 3658 560.8 224.9 - - 2139 - - - - - - - - 14.89 14.52 14.89
16601 524.2 12.6 714 16615 done 0.67 0.12 0.246 3122 -216.7 2.35 0.042 2264 -593.2 224.9 - - 2139 - - - - - - - - 14.43 14.66 14.68
16942 490.7 9.6 727 16955 roll 0.67 - - 3123 - 2.58 0.103 3656 539.5 224.9 - - 2139 - - - - - - - - 14.88 14.54 14.89
16981 486.7 10.5 732 16994 done 0.67 - - 3132 - 2.33 0.044 2272 -594.0 224.9 - - 2139 - - - - - - - - 14.75 14.67 14.75
17342 451.1 9.9 741 17355 done 0.67 - - 3132 - - - 2267 - 224.9 - - 2139 - - - - - - - - 14.90 14.90 14.90
17678 419.0 9.5 747 17691 done 0.67 - - 3132 - - - 2268 - 224.9 - - 2139 - - - - - - - - 14.90 14.90 14.89
18014 388.4 9.0 753 18027 roll 0.67 - - 3132 - 2.58 0.104 3660 539.5 224.9 - - 2139 - - - - - - - - 14.91 14.54 14.91
18060 383.8 10.2 759 18073 done 0.67 - - 3142 - 2.33 0.041 2275 -594.4 224.9 - - 2139 - - - - - - - - 14.76 14.68 14.78
18414 350.7 9.4 767 18427 roll 0.67 - - 3153 - 2.42 0.067 862 -583.9 224.9 - - 2139 - - - - - - - - 14.91 14.59 14.91
18445 347.5 9.5 771 18459 done 0.67 0.12 0.223 3116 -308.3 2.45 0.061 2289 582.4 224.9 - - 2139 - - - - - - - - 14.46 14.60 14.70
18814 316.2 8.4 781 18827 roll 0.67 - - 3115 - 2.50 0.105 3661 548.8 224.9 - - 2139 - - - - - - - - 14.90 14.54 14.91
18874 310.6 9.5 789 18887 done 0.67 - - 3124 - 2.33 0.041 2278 -593.6 224.9 - - 2137 - - - - - - - - 14.76 14.69 14.78
19214 280.6 8.8 802 19227 done 0.67 - - 3124 - - - 2274 - 224.9 - - 2139 - - - - - - - - 14.90 14.91 14.91
19551 252.5 8.2 808 19564 roll 0.67 - - 3134 - 2.42 0.066 858 -585.1 224.9 - - 2139 - - - - - - - - 14.90 14.60 14.92
19575 250.4 8.1 811 19588 done 0.67 - - 3134 - 2.45 0.060 2286 582.9 224.9 - - 2138 - - - - - - - - 14.75 14.60 14.77
19894 223.9 8.3 821 19908 roll 0.67 - - 3135 - 2.50 0.105 3660 549.6 224.9 - - 2140 - - - - - - - - 14.91 14.54 14.92
19947 218.9 9.6 828 19961 done 0.67 - - 3144 - 2.33 0.041 2279 -592.7 224.9 - - 2140 - - - - - - - - 14.78 14.68 14.78
20291 189.4 8.6 835 20304 roll 0.67 - - 3155 - 2.42 0.067 858 -587.2 224.9 - - 2140 - - - - - - - - 14.91 14.59 14.90
20316 187.2 8.8 838 20329 done 0.67 0.12 0.225 3118 -308.3 2.45 0.059 2289 584.1 224.9 - - 2140 - - - - - - - - 14.47 14.60 14.69
20635 161.4 8.1 848 20648 roll 0.67 - - 3117 - 2.50 0.103 3661 548.8 224.9 - - 2140 - - - - - - - - 14.91 14.54 14.88
20667 158.5 9.1 852 20680 done 0.67 - - 3126 - 2.33 0.041 2269 -597.4 224.9 - - 2140 - - - - - - - - 14.76 14.69 14.77
21035 126.7 8.7 862 21048 done 0.67 - - 3126 - - - 2265 - 224.9 - - 2142 - - - - - - - - 14.90 14.91 14.90
21371 99.9 7.8 868 21384 roll 0.67 - - 3127 - 2.55 0.102 3654 544.7 224.9 - - 2142 - - - - - - - - 14.97 14.55 14.92
21460 93.3 7.3 880 21479 done 0.69 - - 3134 - 2.30 0.041 2276 -599.1 235.3 3.45 0.366 2117 -7.2 0.351 - - - - - - 14.76 14.69 14.19
21800 72.9 4.8 895 21847 roll 0.85 0.05 0.203 3190 1120.0 2.53 0.099 3653 544.3 298.7 31.70 0.390 1861 -8.1 0.287 - - - - - - 14.65 14.57 14.34
21879 66.7 9.1 903 21893 done 0.85 - - 3199 - 2.30 0.041 2288 -593.5 298.7 - - 1863 - - - - - - - - 14.71 14.64 14.73
22195 47.0 4.3 915 22243 roll 0.94 - - 3208 - 2.53 0.065 854 -566.8 373.5 35.65 0.314 1562 -8.4 0.240 - - - - - - 14.87 14.54 14.35
22408 34.6 7.3 945 22428 done 1.11 0.08 0.148 3274 825.0 2.42 0.054 2282 590.1 382.6 4.90 0.263 1525 -7.6 0.189 - - - - - - 14.59 14.57 14.31
22756 14.2 6.6 961 22781 roll 1.15 - - 3274 - 2.53 0.098 3651 541.1 408.0 13.05 0.208 1424 -7.7 0.100 - - - - - - 14.85 14.53 14.42
22892 3.8 7.4 980 22910 done 1.16 - - 3283 - 2.28 0.037 2268 -606.6 416.2 4.68 0.189 1390 -7.3 0.028 - - - - - - 14.70 14.63 14.45
22912 end climb: SURFACE_DEPTH_REACHED
22912 begin surface coast
22921 end surface coast: CONTROL_FINISHED_OK
22921 begin surface
SM -1.41 - - - - -8.39 9.05 0.079 197 21.7 0.90 0.084 2762 -7213.3 500.14 37.95 0.156 1056 27.8 0.026 - - - - - -