SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 60.95 of 350.00 AH used of 24V (82.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.2 deg, depth -0.43 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 2 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 - - - 92 done -1.19 - - 170 - - - 2782 - -63.1 -71.30 - 3303 - - - - - - - - 14.65 13.24 14.65
94 1.4 -5.3 2 115 roll -1.19 11.10 0.396 2507 210.5 2.35 0.034 1356 -606.8 -63.1 - - 3305 - - - - - - - - 14.19 14.46 14.48
198 44.5 -26.5 18 206 done -0.91 0.38 0.304 2599 242.1 2.50 0.067 2762 562.4 -63.1 - - 3306 - - - - - - - - 14.21 14.40 14.49
534 93.5 -9.9 33 542 roll -0.84 0.10 0.296 2621 220.0 1.92 0.099 3824 553.1 -63.1 - - 3308 - - - - - - - - 14.32 14.46 14.56
771 114.8 -8.8 67 779 done -0.84 - - 2617 - 1.80 0.039 2738 -603.3 -63.1 - - 3309 - - - - - - - - 14.71 14.66 14.73
1094 141.9 -8.5 78 1101 roll -0.84 - - 2610 - 2.03 0.099 3827 536.5 -63.1 - - 3309 - - - - - - - - 14.85 14.51 14.85
1150 147.6 -10.4 86 1157 done -0.84 - - 2609 - 1.77 0.040 2752 -607.3 -63.1 - - 3309 - - - - - - - - 14.68 14.65 14.70
1486 179.1 -9.4 99 1493 roll -0.84 - - 2609 - 2.30 0.043 1389 -592.6 -63.1 - - 3306 - - - - - - - - 14.87 14.59 14.87
1534 183.8 -9.6 106 1543 done -0.84 - - 2600 - 2.42 0.063 2760 566.5 -63.1 - - 3307 - - - - - - - - 14.64 14.57 14.67
1878 218.9 -10.3 113 1886 roll -0.84 0.10 0.286 2617 170.0 1.95 0.102 3828 547.7 -63.1 - - 3305 - - - - - - - - 14.42 14.52 14.66
1990 230.0 -9.9 129 1998 done -0.84 - - 2617 - 1.77 0.042 2762 -602.3 -63.1 - - 3304 - - - - - - - - 14.71 14.68 14.71
2326 260.5 -8.9 142 2339 roll -0.84 - - 2617 - 2.30 0.044 1378 -601.7 -63.1 - - 3301 - - - - - - - - 14.91 14.66 14.92
2371 264.6 -8.9 148 2385 done -0.84 - - 2607 - 2.42 0.064 2766 573.6 -63.1 - - 3301 - - - - - - - - 14.76 14.62 14.77
2726 298.1 -9.6 156 2739 done -0.84 - - 2608 - - - 2766 - -63.1 - - 3298 - - - - - - - - 14.95 14.94 14.94
3062 331.3 -9.9 162 3075 roll -0.84 - - 2607 - 2.35 0.045 1378 -590.6 -63.1 - - 3296 - - - - - - - - 14.95 14.69 14.95
3108 336.1 -10.2 168 3121 done -0.84 0.10 0.285 2623 160.0 2.40 0.067 2753 572.9 -63.1 - - 3295 - - - - - - - - 14.46 14.65 14.71
3463 368.7 -9.1 176 3476 done -0.92 - - 2622 - - - 2753 - -63.1 - - 3294 - - - - - - - - 14.96 14.95 14.95
3798 397.3 -8.3 182 3812 roll -1.01 0.08 0.148 2559 -787.5 2.33 0.044 1377 -590.6 -63.1 - - 3291 - - - - - - - - 14.74 14.71 14.77
3837 401.1 -10.5 187 3850 done -1.01 - - 2550 - 2.40 0.067 2755 574.2 -63.1 - - 3291 - - - - - - - - 14.79 14.65 14.81
4198 440.6 -11.1 196 4212 roll -1.01 - - 2542 - 1.95 0.106 3833 552.8 -63.1 - - 3290 - - - - - - - - 14.97 14.60 14.97
4357 459.1 -11.8 218 4371 done -0.93 0.20 0.263 2594 260.0 1.75 0.045 2755 -616.0 -63.1 - - 3288 - - - - - - - - 14.44 14.78 14.71
4712 493.0 -9.6 226 4725 done -0.93 - - 2594 - - - 2755 - -63.1 - - 3286 - - - - - - - - 14.97 14.97 14.97
5048 526.4 -10.2 232 5061 roll -0.93 - - 2594 - 2.33 0.047 1372 -593.6 -63.1 - - 3284 - - - - - - - - 14.97 14.69 14.97
5101 532.1 -10.5 239 5114 done -0.93 - - 2584 - 2.45 0.068 2755 564.5 -63.1 - - 3284 - - - - - - - - 14.78 14.64 14.80
5445 568.8 -10.7 246 5458 roll -0.93 - - 2577 - 1.95 0.109 3823 547.7 -63.1 - - 3282 - - - - - - - - 14.97 14.57 14.95
5518 577.3 -11.6 256 5531 done -0.93 - - 2576 - 1.75 0.046 2756 -609.7 -63.1 - - 3281 - - - - - - - - 14.81 14.76 14.82
5845 610.2 -9.9 267 5858 done -0.93 - - 2573 - - - 2756 - -63.1 - - 3279 - - - - - - - - 14.95 14.95 14.95
6181 641.3 -9.2 273 6194 roll -0.93 - - 2576 - 2.33 0.047 1372 -594.0 -63.1 - - 3278 - - - - - - - - 14.95 14.67 14.95
6220 645.0 -9.5 278 6233 done -0.93 0.10 0.277 2591 150.0 2.42 0.069 2757 572.3 -63.1 - - 3278 - - - - - - - - 14.42 14.62 14.69
6582 675.1 -8.3 287 6595 roll -0.93 - - 2585 - 1.95 0.110 3824 547.2 -63.1 - - 3278 - - - - - - - - 14.96 14.56 14.96
6690 684.6 -8.8 302 6704 done -0.93 - - 2585 - 1.80 0.046 2759 -591.7 -63.1 - - 3276 - - - - - - - - 14.74 14.71 14.76
7034 713.7 -8.5 309 7047 roll -0.93 - - 2585 - 2.33 0.047 1374 -594.4 -63.1 - - 3275 - - - - - - - - 14.95 14.66 14.96
7073 717.2 -9.3 314 7086 done -0.93 - - 2574 - 2.45 0.070 2769 569.4 -63.1 - - 3276 - - - - - - - - 14.76 14.60 14.79
7434 749.8 -9.2 323 7447 done -0.93 - - 2575 - - - 2769 - -63.1 - - 3274 - - - - - - - - 14.95 14.95 14.95
7770 780.7 -9.3 329 7783 done -0.93 - - 2575 - - - 2769 - -63.1 - - 3274 - - - - - - - - 14.95 14.95 14.97
8106 812.4 -9.3 335 8119 done -0.93 - - 2575 - - - 2769 - -63.1 - - 3270 - - - - - - - - 14.95 14.95 14.95
8442 844.1 -9.5 341 8455 roll -0.93 - - 2574 - 2.40 0.049 1370 -582.9 -63.1 - - 3269 - - - - - - - - 14.95 14.65 14.95
8481 847.9 -7.6 346 8495 done -0.93 0.12 0.273 2596 183.3 2.47 0.071 2767 565.6 -64.4 - - 3269 - - - - - - - - 14.37 14.59 14.65
8843 879.7 -8.8 355 8856 done -1.02 - - 2596 - - - 2767 - -64.4 - - 3268 - - - - - - - - 14.93 14.93 14.94
9179 908.5 -8.7 361 9193 roll -1.10 0.08 0.149 2540 -700.0 2.38 0.045 1373 -585.7 -64.4 - - 3267 - - - - - - - - 14.66 14.64 14.70
9253 916.0 -10.2 371 9266 done -1.10 - - 2531 - 2.45 0.070 2765 568.2 -64.4 - - 3270 - - - - - - - - 14.73 14.57 14.76
9410 end dive: TARGET_DEPTH_EXCEEDED
9410 begin apogee
9415 932.5 -10.5 379 9487 roll -0.23 1.05 0.241 2824 279.0 - - 2232 - - 61.58 1.962 3049 -3.6 0.324 - - - - - - 14.36 14.28 13.56
9488 end apogee: CONTROL_FINISHED_OK
9488 begin climb
9490 935.6 - 380 9572 done 1.19 1.40 0.120 3267 316.4 - - 2232 - 64.4 66.43 1.988 2789 -3.9 0.349 - - - - - - 14.23 14.46 13.33
9920 906.2 8.0 402 9933 roll 1.05 0.08 0.314 3253 -175.0 2.35 0.058 879 -575.7 64.4 - - 2779 - - - - - - - - 14.17 14.40 14.35
9994 900.4 7.6 412 10008 done 0.93 0.17 0.281 3202 -300.0 2.40 0.057 2260 575.4 66.4 - - 2781 - - - - - - - - 14.19 14.43 14.47
10321 877.8 6.9 423 10341 done 0.95 - - 3207 - - - 2262 - 76.0 10.82 2.137 2747 -3.1 0.245 - - - - - - 14.78 14.55 13.83
10657 852.7 7.5 429 10670 roll 0.95 - - 3206 - 2.58 0.102 3660 541.9 78.6 - - 2739 - - - - - - - - 14.78 14.45 14.79
10696 849.5 10.0 434 10709 done 0.84 0.15 0.288 3179 -180.0 2.38 0.044 2256 -589.9 78.6 - - 2739 - - - - - - - - 14.27 14.58 14.56
11058 825.1 6.7 443 11082 done 0.86 - - 3180 - - - 2255 - 90.8 15.77 2.033 2689 -3.2 0.244 - - - - - - 14.83 14.56 13.86
11394 799.6 7.6 449 11407 roll 0.86 - - 3179 - 2.62 0.100 3658 535.5 92.1 - - 2678 - - - - - - - - 14.79 14.45 14.79
11440 795.7 8.8 455 11453 done 0.86 - - 3189 - 2.40 0.044 2244 -589.2 92.1 - - 2678 - - - - - - - - 14.66 14.59 14.67
11794 766.9 8.1 463 11808 roll 0.86 - - 3190 - 2.65 0.103 3663 535.5 92.1 - - 2678 - - - - - - - - 14.84 14.49 14.84
11840 762.6 9.5 469 11854 done 0.78 0.17 0.273 3156 -200.0 2.40 0.044 2246 -590.4 92.1 - - 2678 - - - - - - - - 14.32 14.62 14.59
12195 737.1 7.0 477 12213 roll 0.80 - - 3166 - 2.40 0.064 851 -581.2 100.9 5.25 2.043 2651 -5.1 0.352 - - - - - - 14.87 14.64 13.77
12246 733.4 7.1 484 12272 done 0.81 - - 3166 - 2.42 0.057 2250 578.1 108.9 14.50 1.994 2616 -2.4 0.168 - - - - - - 14.69 14.57 13.87
12586 707.2 7.7 497 12600 roll 0.81 - - 3166 - 2.58 0.103 3653 543.8 108.9 - - 2606 - - - - - - - - 14.78 14.45 14.78
12639 702.6 8.4 504 12653 done 0.81 - - 3177 - 2.40 0.044 2245 -586.7 108.9 - - 2610 - - - - - - - - 14.66 14.58 14.67
12983 675.4 7.9 511 12997 roll 0.81 - - 3177 - 2.62 0.101 3660 540.1 108.9 - - 2605 - - - - - - - - 14.83 14.49 14.83
13064 668.1 8.8 522 13077 done 0.81 - - 3187 - 2.38 0.041 2250 -592.4 108.9 - - 2605 - - - - - - - - 14.67 14.63 14.69
13383 641.6 8.4 532 13397 roll 0.81 - - 3188 - 2.60 0.102 3654 540.0 108.9 - - 2605 - - - - - - - - 14.86 14.51 14.86
13429 637.2 9.6 538 13442 done 0.81 0.12 0.275 3166 -183.3 2.38 0.043 2245 -592.0 108.9 - - 2605 - - - - - - - - 14.36 14.64 14.65
13784 609.1 8.0 546 13797 roll 0.81 - - 3176 - 2.38 0.062 858 -582.8 108.9 - - 2605 - - - - - - - - 14.88 14.54 14.88
13822 605.9 7.9 551 13835 done 0.81 - - 3175 - 2.40 0.057 2257 582.9 108.9 - - 2605 - - - - - - - - 14.71 14.58 14.73
14184 577.3 8.0 560 14197 roll 0.81 - - 3175 - 2.58 0.104 3660 543.8 108.9 - - 2605 - - - - - - - - 14.88 14.52 14.88
14257 570.6 9.0 570 14271 done 0.81 - - 3186 - 2.38 0.042 2251 -592.0 108.9 - - 2605 - - - - - - - - 14.73 14.66 14.75
14584 543.1 8.5 581 14597 done 0.81 - - 3186 - - - 2248 - 108.9 - - 2605 - - - - - - - - 14.89 14.89 14.89
14920 513.6 8.8 587 14933 roll 0.81 - - 3186 - 2.60 0.104 3651 539.6 108.9 - - 2605 - - - - - - - - 14.90 14.51 14.90
15007 504.7 10.2 599 15021 done 0.81 0.12 0.275 3164 -183.3 2.38 0.043 2245 -590.8 108.9 - - 2605 - - - - - - - - 14.36 14.67 14.66
15376 474.6 7.9 609 15390 roll 0.81 - - 3163 - 2.62 0.103 3657 538.9 108.9 - - 2604 - - - - - - - - 14.92 14.50 14.90
15438 469.3 8.8 617 15451 done 0.81 - - 3174 - 2.38 0.043 2250 -591.2 108.9 - - 2604 - - - - - - - - 14.74 14.66 14.76
15778 442.7 7.7 630 15791 done 0.81 - - 3174 - - - 2249 - 109.5 - - 2605 - - - - - - - - 14.90 14.90 14.90
16114 418.5 7.1 636 16133 roll 0.82 - - 3174 - 2.58 0.103 3651 543.4 117.0 3.60 1.429 2589 -4.4 0.247 - - - - - - 14.89 14.64 13.65
16200 411.7 7.9 648 16213 done 0.82 - - 3184 - 2.35 0.042 2253 -594.9 117.0 1.42 0.293 2584 -3.5 0.939 - - - - - - 14.74 14.66 14.18
16569 384.5 7.4 658 16593 roll 0.82 - - 3185 - 2.65 0.103 3658 530.2 121.5 8.18 1.753 2566 -2.2 0.092 - - - - - - 14.90 14.60 14.00
16716 371.6 8.7 679 16730 done 0.82 0.10 0.278 3170 -150.0 2.38 0.042 2248 -592.4 121.5 - - 2566 - - - - - - - - 14.36 14.63 14.61
17078 343.9 7.7 688 17091 roll 0.90 - - 3181 - 2.38 0.060 862 -582.4 122.2 - - 2565 - - - - - - - - 14.85 14.56 14.85
17139 339.0 8.2 696 17152 done 0.97 0.05 0.209 3222 820.0 2.40 0.056 2260 582.5 122.2 - - 2565 - - - - - - - - 14.54 14.57 14.67
17479 307.2 9.5 709 17492 roll 0.97 - - 3222 - 2.55 0.103 3655 547.1 122.2 - - 2566 - - - - - - - - 14.88 14.50 14.88
17560 298.5 11.0 720 17573 done 0.97 - - 3232 - 2.35 0.042 2257 -594.9 122.2 - - 2566 - - - - - - - - 14.72 14.64 14.73
17879 268.0 9.4 730 17892 done 0.97 - - 3233 - - - 2254 - 122.2 - - 2566 - - - - - - - - 14.88 14.88 14.88
18215 236.7 9.3 736 18229 roll 0.97 - - 3242 - 2.40 0.061 858 -581.7 122.2 - - 2570 - - - - - - - - 14.88 14.58 14.89
18282 230.7 8.8 745 18295 done 0.97 - - 3243 - 2.40 0.057 2263 585.4 122.2 - - 2567 - - - - - - - - 14.72 14.59 14.74
18615 200.4 9.1 757 18629 roll 0.97 - - 3243 - 2.55 0.100 3660 547.8 122.2 - - 2567 - - - - - - - - 14.89 14.51 14.89
18668 195.1 10.2 764 18682 done 0.88 0.25 0.260 3187 -224.0 2.38 0.041 2247 -593.7 122.2 - - 2567 - - - - - - - - 14.32 14.65 14.62
19012 170.0 7.1 771 19037 roll 0.89 - - 3197 - 2.40 0.060 866 -575.4 129.5 9.88 1.454 2527 -4.0 0.090 - - - - - - 14.90 14.64 14.12
19090 164.1 7.6 782 19104 done 0.89 - - 3197 - 2.38 0.054 2261 586.1 131.7 - - 2527 - - - - - - - - 14.69 14.58 14.71
19410 140.0 7.5 792 19424 roll 0.90 - - 3208 - 2.40 0.058 859 -584.2 134.2 1.35 0.279 2517 -7.4 0.705 - - - - - - 14.86 14.49 14.19
19456 136.6 7.2 798 19481 done 0.90 - - 3207 - 2.38 0.054 2257 587.4 141.3 10.80 1.392 2483 -3.1 0.059 - - - - - - 14.70 14.57 14.09
19810 111.8 6.9 813 19828 roll 0.92 - - 3218 - 2.45 0.060 866 -567.8 151.9 4.20 0.454 2448 -8.3 0.389 - - - - - - 14.84 14.52 14.17
19860 108.9 5.5 820 19886 done 0.95 - - 3218 - 2.38 0.054 2254 583.2 179.1 14.25 0.494 2336 -7.9 0.329 - - - - - - 14.68 14.56 14.22
20207 92.7 4.6 836 20239 roll 1.07 - - 3228 - 2.40 0.058 856 -582.5 217.2 18.62 0.444 2186 -8.1 0.319 - - - - - - 14.83 14.50 14.21
20468 77.7 6.5 873 20488 done 1.22 0.12 0.090 3303 625.0 2.40 0.054 2264 586.7 232.3 7.85 0.383 2124 -7.9 0.304 - - - - - - 14.64 14.55 14.22
20792 57.5 4.6 886 20825 roll 1.27 - - 3317 - 2.40 0.060 865 -582.9 270.0 18.70 0.339 1974 -8.0 0.258 - - - - - - 14.86 14.50 14.23
21011 46.8 5.5 917 21037 done 1.38 - - 3309 - 2.40 0.055 2266 583.8 296.4 13.23 0.304 1868 -8.0 0.234 - - - - - - 14.68 14.56 14.31
21358 32.8 2.7 933 21403 roll 1.58 0.20 0.073 3418 545.0 2.55 0.096 3654 544.3 356.5 29.25 0.259 1629 -8.2 0.196 - - - - - - 14.64 14.46 14.35
21555 16.4 9.7 961 21569 done 1.48 0.20 0.273 3379 -195.0 2.38 0.040 2227 -599.6 356.5 - - 1629 - - - - - - - - 14.33 14.64 14.61
21783 end climb: SURFACE_DEPTH_REACHED
21783 begin surface coast
21812 end surface coast: CONTROL_FINISHED_OK
21812 begin surface
SM -0.48 - - - - -8.40 9.20 0.066 191 20.8 1.00 0.086 2774 -2480.0 500.14 64.35 0.152 1057 16.4 0.005 - - - - - -