SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 2 • 61.30 of 350.00 AH used of 24V (82.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -0.46 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
19 - - - 97 done -0.90 - - 163 - - - 2789 - -116.8 -75.35 - 3516 - - - - - - - - 14.67 13.24 14.68
99 1.3 -5.3 2 121 roll -0.90 11.57 0.396 2601 210.7 2.35 0.036 1320 -625.1 -116.8 - - 3517 - - - - - - - - 14.23 14.53 14.52
153 33.6 -30.8 11 161 done -0.58 0.40 0.254 2699 245.0 2.58 0.076 2757 557.0 -116.8 - - 3518 - - - - - - - - 14.28 14.42 14.44
483 86.1 -12.5 25 491 roll -0.46 0.17 0.232 2742 252.9 1.95 0.103 3828 549.2 -116.8 - - 3519 - - - - - - - - 14.45 14.47 14.62
720 106.7 -8.0 59 728 done -0.46 - - 2742 - 1.77 0.039 2756 -605.6 -116.8 - - 3520 - - - - - - - - 14.72 14.68 14.73
1043 125.9 -6.0 70 1050 roll -0.46 - - 2741 - 2.30 0.041 1383 -597.0 -116.8 - - 3520 - - - - - - - - 14.87 14.62 14.88
1077 128.2 -6.6 75 1086 done -0.55 - - 2732 - 2.42 0.065 2767 571.9 -116.8 - - 3520 - - - - - - - - 14.63 14.55 14.66
1435 149.3 -6.4 84 1442 roll -0.64 0.08 0.152 2655 -962.5 1.92 0.106 3825 551.0 -116.8 - - 3519 - - - - - - - - 14.67 14.55 14.74
1483 153.9 -9.5 91 1493 done -0.64 0.12 0.226 2696 341.7 1.75 0.040 2771 -602.3 -116.8 - - 3519 - - - - - - - - 14.48 14.72 14.62
1827 180.7 -7.8 98 1829 done -0.64 - - 2696 - - - 2771 - -116.8 - - 3516 - - - - - - - - 14.90 14.89 14.90
2163 205.4 -7.3 104 2170 roll -0.64 - - 2696 - 2.35 0.044 1380 -591.9 -116.8 - - 3513 - - - - - - - - 14.91 14.63 14.91
2219 209.5 -7.2 112 2226 done -0.64 - - 2687 - 2.42 0.069 2770 574.4 -116.8 - - 3513 - - - - - - - - 14.74 14.61 14.76
2555 235.3 -7.8 125 2563 roll -0.64 - - 2678 - 1.95 0.109 3820 538.5 -116.8 - - 3510 - - - - - - - - 14.90 14.54 14.90
2589 238.1 -8.1 130 2597 done -0.64 - - 2678 - 1.77 0.041 2761 -598.3 -116.8 - - 3509 - - - - - - - - 14.77 14.73 14.78
2947 265.8 -7.8 139 2960 done -0.64 - - 2676 - - - 2761 - -116.8 - - 3507 - - - - - - - - 14.95 14.95 14.95
3283 293.6 -8.3 145 3296 roll -0.64 - - 2670 - 1.98 0.110 3828 538.9 -116.8 - - 3504 - - - - - - - - 14.97 14.61 14.97
3321 297.0 -8.7 150 3335 done -0.64 - - 2670 - 1.73 0.044 2767 -613.3 -116.8 - - 3504 - - - - - - - - 14.83 14.78 14.84
3683 327.4 -8.4 159 3696 roll -0.64 - - 2663 - 1.95 0.110 3821 540.5 -116.8 - - 3501 - - - - - - - - 14.98 14.62 14.98
3721 330.9 -9.1 164 3735 done -0.64 0.10 0.226 2693 300.0 1.73 0.043 2755 -616.2 -116.8 - - 3501 - - - - - - - - 14.56 14.80 14.76
4083 363.9 -8.0 173 4097 roll -0.64 - - 2693 - 2.30 0.044 1370 -602.2 -116.8 - - 3498 - - - - - - - - 14.98 14.72 14.98
4136 368.3 -8.0 180 4150 done -0.64 - - 2683 - 2.47 0.069 2773 568.0 -116.8 - - 3498 - - - - - - - - 14.80 14.66 14.82
4480 395.1 -7.8 187 4493 done -0.64 - - 2683 - - - 2773 - -116.8 - - 3496 - - - - - - - - 14.98 14.98 14.98
4816 420.8 -7.7 193 4830 roll -0.64 - - 2683 - 2.38 0.045 1373 -588.2 -116.8 - - 3494 - - - - - - - - 14.98 14.71 14.99
4918 428.6 -7.7 207 4931 done -0.64 - - 2673 - 2.45 0.070 2769 569.8 -116.8 - - 3493 - - - - - - - - 14.80 14.65 14.82
5272 457.7 -8.3 215 5285 done -0.64 - - 2673 - - - 2769 - -116.8 - - 3492 - - - - - - - - 14.98 14.98 14.97
5609 485.2 -8.1 221 5622 roll -0.64 - - 2673 - 2.35 0.045 1379 -591.5 -116.8 - - 3491 - - - - - - - - 14.97 14.71 14.97
5675 490.9 -8.0 230 5689 done -0.64 0.10 0.242 2692 190.0 2.42 0.071 2762 571.5 -116.8 - - 3490 - - - - - - - - 14.52 14.64 14.74
6009 514.7 -7.1 242 6022 roll -0.64 - - 2684 - 1.95 0.114 3824 544.6 -116.8 - - 3489 - - - - - - - - 15.01 14.59 14.97
6070 519.3 -7.7 250 6083 done -0.64 - - 2685 - 1.75 0.044 2758 -609.1 -116.8 - - 3488 - - - - - - - - 14.83 14.77 14.83
6410 544.7 -7.5 263 6423 roll -0.64 - - 2684 - 2.33 0.046 1366 -597.4 -116.8 - - 3487 - - - - - - - - 14.97 14.69 14.98
6442 547.4 -8.0 267 6455 done -0.64 - - 2675 - 2.45 0.070 2762 569.8 -116.8 - - 3486 - - - - - - - - 14.78 14.66 14.81
6810 577.0 -8.1 277 6823 roll -0.64 - - 2676 - 2.35 0.044 1374 -590.6 -116.8 - - 3484 - - - - - - - - 14.97 14.69 14.97
6848 580.3 -8.3 282 6862 done -0.64 - - 2666 - 2.45 0.070 2766 568.2 -116.8 - - 3485 - - - - - - - - 14.78 14.62 14.80
7210 610.2 -8.2 291 7223 done -0.64 - - 2666 - - - 2766 - -116.8 - - 3483 - - - - - - - - 14.96 14.96 14.97
7546 637.1 -8.0 297 7559 done -0.64 - - 2666 - - - 2766 - -116.8 - - 3482 - - - - - - - - 14.96 14.96 14.96
7882 662.2 -7.3 303 7895 roll -0.64 - - 2666 - 2.38 0.046 1372 -585.7 -116.8 - - 3480 - - - - - - - - 14.97 14.67 15.00
7927 665.8 -7.8 309 7941 done -0.64 0.12 0.234 2693 225.0 2.45 0.071 2760 566.5 -116.8 - - 3480 - - - - - - - - 14.47 14.60 14.69
8283 688.9 -6.5 317 8297 roll -0.71 - - 2694 - 2.38 0.045 1364 -586.6 -116.8 - - 3479 - - - - - - - - 14.97 14.68 14.95
8315 691.2 -7.2 321 8329 done -0.80 0.08 0.146 2630 -800.0 2.45 0.072 2758 569.0 -116.8 - - 3479 - - - - - - - - 14.67 14.60 14.75
8684 725.0 -9.5 331 8698 roll -0.80 - - 2630 - 2.35 0.046 1372 -589.8 -116.8 - - 3478 - - - - - - - - 14.96 14.69 14.96
8716 728.2 -9.8 335 8729 done -0.80 - - 2622 - 2.45 0.073 2758 565.7 -116.8 - - 3477 - - - - - - - - 14.76 14.59 14.78
9084 764.1 -9.9 345 9097 roll -0.80 - - 2613 - 1.98 0.115 3831 541.9 -116.8 - - 3477 - - - - - - - - 14.95 14.53 14.97
9130 768.8 -10.5 351 9143 done -0.80 - - 2613 - 1.77 0.047 2753 -609.0 -116.8 - - 3476 - - - - - - - - 14.80 14.75 14.81
9484 803.9 -9.9 359 9497 roll -0.80 - - 2613 - 2.33 0.047 1374 -591.8 -116.8 - - 3475 - - - - - - - - 14.94 14.65 14.94
9530 808.6 -10.8 365 9543 done -0.80 0.12 0.259 2638 208.3 2.45 0.073 2755 563.7 -116.8 - - 3475 - - - - - - - - 14.40 14.58 14.67
9885 838.6 -8.4 373 9898 roll -0.80 - - 2630 - 2.00 0.119 3831 538.0 -116.8 - - 3474 - - - - - - - - 14.95 14.51 14.95
9945 843.9 -8.7 381 9959 done -0.80 - - 2629 - 1.80 0.047 2754 -598.3 -116.8 - - 3473 - - - - - - - - 14.78 14.72 14.80
10286 872.3 -8.3 394 10299 roll -0.80 - - 2630 - 2.35 0.047 1357 -594.5 -116.8 - - 3472 - - - - - - - - 14.94 14.64 14.94
10317 875.0 -7.6 398 10331 done -0.80 - - 2622 - 2.50 0.074 2761 561.6 -116.8 - - 3472 - - - - - - - - 14.73 14.57 14.76
10686 905.7 -8.4 408 10699 roll -0.80 - - 2612 - 1.98 0.117 3821 535.4 -116.8 - - 3471 - - - - - - - - 14.94 14.49 14.94
10724 909.2 -6.7 413 10738 done -0.80 0.10 0.254 2640 280.0 1.77 0.046 2751 -604.5 -116.8 - - 3471 - - - - - - - - 14.36 14.67 14.61
11029 end dive: TARGET_DEPTH_EXCEEDED
11029 begin apogee
11033 933.2 -7.8 421 11156 roll -0.23 0.62 0.192 2824 296.8 - - 2233 - - 112.97 1.991 3050 -3.7 0.332 - - - - - - 14.42 14.06 13.32
11158 end apogee: CONTROL_FINISHED_OK
11158 begin climb
11160 936.8 - 423 11295 done 0.90 1.12 0.119 3181 318.7 - - 2233 - 116.8 121.43 1.952 2586 -3.8 0.349 - - - - - - 14.04 14.27 13.21
11643 896.8 10.2 452 11656 done 0.72 0.17 0.259 3135 -270.6 - - 2233 - 116.8 - - 2571 - - - - - - - - 14.21 14.49 14.45
11980 867.6 8.6 458 11993 roll 0.62 0.08 0.288 3109 -325.0 2.67 0.104 3664 536.0 116.8 - - 2570 - - - - - - - - 14.32 14.41 14.47
12047 861.1 9.3 467 12060 done 0.52 0.17 0.239 3072 -217.6 2.40 0.043 2242 -592.5 116.8 - - 2569 - - - - - - - - 14.31 14.57 14.57
12382 838.1 6.9 479 12413 roll 0.54 - - 3071 - 2.72 0.104 3657 520.2 136.1 19.48 1.978 2502 -3.4 0.277 - - - - - - 14.83 14.43 13.84
12445 833.3 9.2 488 12459 done 0.54 - - 3081 - 2.40 0.042 2248 -587.1 136.1 - - 2498 - - - - - - - - 14.57 14.51 14.59
12772 810.2 7.0 499 12804 roll 0.56 - - 3082 - 2.67 0.107 3661 529.2 152.7 18.10 1.987 2434 -3.5 0.274 - - - - - - 14.78 14.40 13.79
12830 806.3 7.0 507 12862 done 0.58 - - 3092 - 2.42 0.044 2241 -586.8 168.7 17.85 2.000 2372 -3.5 0.266 - - - - - - 14.54 14.48 13.67
13168 780.5 7.6 520 13181 roll 0.59 - - 3092 - 2.67 0.106 3660 531.5 171.9 - - 2365 - - - - - - - - 14.72 14.40 14.72
13200 778.0 7.6 524 13213 done 0.59 - - 3101 - 2.38 0.042 2264 -586.6 174.9 1.33 0.268 2352 -9.8 5.396 - - - - - - 14.61 14.53 14.26
13569 748.8 7.9 534 13582 done 0.59 - - 3102 - - - 2267 - 174.9 - - 2360 - - - - - - - - 14.81 14.81 14.81
13905 721.9 8.0 540 13918 roll 0.59 - - 3101 - 2.62 0.108 3659 531.3 174.9 - - 2360 - - - - - - - - 14.85 14.50 14.84
13943 718.4 8.5 545 13957 done 0.59 - - 3111 - 2.38 0.042 2249 -592.4 174.9 - - 2362 - - - - - - - - 14.71 14.64 14.73
14306 688.0 8.5 554 14319 done 0.59 - - 3112 - - - 2245 - 174.9 - - 2362 - - - - - - - - 14.88 14.88 14.88
14642 660.0 8.3 560 14655 roll 0.59 - - 3107 - 2.65 0.106 3658 533.2 174.9 - - 2359 - - - - - - - - 14.90 14.52 14.89
14666 657.8 8.5 563 14680 done 0.59 0.10 0.257 3094 -130.0 2.38 0.042 2243 -594.5 174.9 - - 2360 - - - - - - - - 14.43 14.67 14.66
14987 633.3 7.6 573 15000 done 0.59 - - 3094 - - - 2238 - 178.0 2.95 1.238 2342 -6.1 0.594 - - - - - - 14.89 14.69 13.57
15322 608.1 7.5 579 15348 roll 0.60 - - 3093 - 2.62 0.103 3656 541.2 184.1 12.77 1.903 2315 -2.1 0.128 - - - - - - 14.89 14.56 13.95
15402 601.6 8.6 590 15415 done 0.60 - - 3103 - 2.35 0.042 2259 -594.5 184.1 - - 2308 - - - - - - - - 14.67 14.60 14.69
15721 577.5 7.5 600 15734 done 0.61 - - 3104 - - - 2256 - 190.1 1.50 0.291 2293 -10.0 3.774 - - - - - - 14.83 14.57 14.11
16057 553.1 7.3 606 16089 roll 0.62 - - 3104 - 2.70 0.108 3664 521.5 199.6 15.70 1.794 2250 -2.7 0.161 - - - - - - 14.85 14.51 13.96
16122 547.7 8.8 615 16135 done 0.62 - - 3113 - 2.38 0.043 2259 -590.3 199.6 - - 2248 - - - - - - - - 14.64 14.54 14.64
16455 520.2 8.2 627 16469 roll 0.62 - - 3123 - 2.42 0.065 855 -580.2 199.6 - - 2246 - - - - - - - - 14.81 14.53 14.81
16494 516.8 8.6 632 16507 done 0.62 - - 3123 - 2.45 0.060 2271 578.0 199.6 - - 2246 - - - - - - - - 14.66 14.53 14.69
16855 485.3 8.8 641 16869 roll 0.62 - - 3123 - 2.55 0.109 3657 543.5 199.6 - - 2246 - - - - - - - - 14.84 14.49 14.85
16943 476.2 10.2 653 16957 done 0.62 0.10 0.241 3105 -180.0 2.38 0.042 2254 -589.5 199.6 - - 2245 - - - - - - - - 14.42 14.62 14.64
17312 445.3 8.4 663 17325 done 0.62 - - 3105 - - - 2251 - 199.6 - - 2246 - - - - - - - - 14.86 14.87 14.87
17648 418.2 8.0 669 17661 done 0.62 - - 3105 - - - 2250 - 199.6 - - 2246 - - - - - - - - 14.88 14.88 14.88
17984 392.5 7.6 675 17997 done 0.62 - - 3105 - - - 2250 - 202.1 - - 2246 - - - - - - - - 14.92 14.90 14.89
18320 367.7 7.3 681 18345 roll 0.63 - - 3105 - 2.60 0.106 3656 540.8 211.0 11.52 1.655 2204 -3.6 0.154 - - - - - - 14.90 14.59 14.05
18378 363.0 8.6 689 18392 done 0.63 - - 3113 - 2.38 0.042 2254 -589.1 211.0 - - 2201 - - - - - - - - 14.71 14.64 14.72
18719 337.2 7.5 702 18733 roll 0.64 - - 3124 - 2.35 0.060 856 -594.9 215.7 1.12 0.272 2191 -8.9 2.105 - - - - - - 14.85 14.54 14.38
18751 334.6 7.5 706 18769 done 0.64 - - 3123 - 2.42 0.057 2265 582.2 220.1 4.93 1.688 2174 -3.4 0.130 - - - - - - 14.70 14.57 13.70
19118 304.1 8.5 716 19131 roll 0.64 - - 3123 - 2.55 0.107 3655 545.1 220.1 - - 2181 - - - - - - - - 14.85 14.50 14.85
19184 297.6 9.9 725 19197 done 0.64 - - 3133 - 2.35 0.041 2257 -594.9 220.1 - - 2182 - - - - - - - - 14.71 14.63 14.72
19518 267.4 9.0 737 19531 done 0.64 - - 3133 - - - 2252 - 220.1 1.08 0.280 2174 -7.4 1.345 - - - - - - 14.88 14.65 14.38
19854 237.4 8.9 743 19867 roll 0.64 - - 3133 - 2.60 0.103 3656 540.0 220.1 1.23 0.275 2175 - - - - - - - - 14.88 14.52 14.28
19920 230.8 9.8 752 19934 done 0.64 0.12 0.236 3107 -216.7 2.33 0.041 2258 -600.0 220.1 1.17 0.258 2171 -3.4 0.582 - - - - - - 14.45 14.67 14.31
20256 206.0 7.4 764 20278 done 0.65 - - 3107 - - - 2261 - 228.0 13.27 1.435 2141 -2.3 0.062 - - - - - - 14.88 14.66 14.10
20591 180.4 7.6 770 20604 done 0.66 - - 3107 - - - 2259 - 230.7 - - 2132 - - - - - - - - 14.85 14.85 14.85
20927 156.3 7.1 776 20958 roll 0.68 - - 3106 - 2.65 0.103 3657 527.5 244.8 15.62 1.333 2070 -4.0 0.089 - - - - - - 14.88 14.54 14.11
21004 149.9 8.6 787 21017 done 0.68 - - 3113 - 2.35 0.043 2266 -591.9 244.8 - - 2068 - - - - - - - - 14.64 14.58 14.66
21323 125.6 7.6 797 21337 roll 0.68 - - 3114 - 2.60 0.104 3661 536.5 247.7 - - 2067 - - - - - - - - 14.84 14.47 14.84
21362 122.4 8.2 802 21375 done 0.68 - - 3122 - 2.35 0.042 2256 -597.9 247.7 - - 2067 - - - - - - - - 14.70 14.63 14.71
21724 97.5 6.7 811 21749 roll 0.79 - - 3130 - 2.38 0.060 863 -585.3 270.0 11.05 0.457 1975 -8.3 0.338 - - - - - - 14.86 14.59 14.25
21789 94.2 5.0 820 21836 done 0.97 0.17 0.083 3222 541.2 2.40 0.054 2275 588.3 329.6 29.95 0.457 1737 -7.9 0.311 - - - - - - 14.65 14.56 14.23
22149 64.8 7.4 838 22167 roll 0.98 - - 3222 - 2.58 0.104 3657 535.7 337.2 3.55 0.340 1708 -8.2 0.296 - - - - - - 14.83 14.43 14.23
22395 47.3 5.1 873 22437 done 1.05 - - 3230 - 2.33 0.040 2271 -594.8 393.9 28.05 0.312 1481 -8.1 0.233 - - - - - - 14.71 14.64 14.31
22741 30.6 4.1 889 22792 roll 1.27 0.15 0.089 3322 613.3 2.55 0.100 3655 542.7 472.9 37.92 0.253 1166 -8.3 0.191 - - - - - - 14.59 14.48 14.36
22847 21.7 10.6 904 22861 done 1.27 - - 3331 - 2.30 0.038 2281 -597.4 472.9 - - 1168 - - - - - - - - 14.67 14.60 14.69
23048 end climb: SURFACE_DEPTH_REACHED
23048 begin surface coast
23076 end surface coast: CONTROL_FINISHED_OK
23076 begin surface
SM -0.43 - - - - -8.38 8.95 0.057 198 22.1 0.90 0.084 2769 1932.2 500.14 12.32 0.160 1058 85.9 0.024 - - - - - -