SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 159 * Raw log
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• Previous call tries 1 • 63.36 of 350.00 AH used of 24V (81.90% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -0.78 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 2 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
19 - - - 97 done -0.90 - - 173 - - - 2781 - -116.8 -75.03 - 3516 - - - - - - - - 14.66 13.21 14.66
99 1.2 -6.5 2 120 roll -0.90 11.68 0.399 2594 207.3 1.90 0.086 3833 553.7 -116.8 - - 3515 - - - - - - - - 14.22 14.42 14.50
153 37.0 -41.5 10 162 done -0.36 0.65 0.252 2772 273.8 1.83 0.034 2727 -604.4 -116.8 - - 3518 - - - - - - - - 14.25 14.52 14.42
468 77.1 -8.6 22 475 roll -0.36 - - 2764 - 2.08 0.104 3830 530.3 -116.8 - - 3521 - - - - - - - - 14.78 14.46 14.79
692 95.2 -6.9 54 700 done -0.36 - - 2764 - 1.70 0.041 2788 -612.9 -116.8 - - 3519 - - - - - - - - 14.66 14.64 14.67
1029 111.6 -4.5 65 1035 roll -0.46 - - 2757 - 1.92 0.102 3828 541.7 -116.8 - - 3520 - - - - - - - - 14.87 14.52 14.87
1077 111.3 4.1 72 1087 done -0.59 0.10 0.120 2680 -770.0 1.73 0.041 2778 -606.9 -116.8 - - 3520 - - - - - - - - 14.66 14.70 14.70
1421 143.0 -8.6 79 1428 roll -0.59 0.10 0.248 2701 210.0 1.92 0.098 3828 546.9 -116.8 - - 3520 - - - - - - - - 14.47 14.54 14.68
1482 147.9 -7.8 88 1492 done -0.59 - - 2701 - 1.73 0.040 2775 -608.7 -116.8 - - 3519 - - - - - - - - 14.76 14.73 14.77
1813 172.9 -7.7 100 1821 roll -0.59 - - 2701 - 2.33 0.043 1386 -596.1 -116.8 - - 3517 - - - - - - - - 14.90 14.59 14.90
1902 179.9 -7.8 113 1911 done -0.59 - - 2692 - 2.45 0.064 2785 571.0 -116.8 - - 3516 - - - - - - - - 14.64 14.56 14.67
2260 208.3 -8.0 122 2268 roll -0.59 - - 2691 - 2.38 0.044 1385 -588.2 -116.8 - - 3513 - - - - - - - - 14.90 14.61 14.90
2294 211.1 -8.1 127 2302 done -0.59 - - 2682 - 2.47 0.065 2787 567.6 -116.8 - - 3513 - - - - - - - - 14.66 14.58 14.69
2653 240.1 -8.1 136 2660 roll -0.59 - - 2682 - 2.33 0.044 1392 -598.7 -116.8 - - 3509 - - - - - - - - 14.90 14.60 14.90
2693 243.6 -8.3 142 2702 done -0.59 0.10 0.218 2702 200.0 2.45 0.067 2784 568.2 -116.8 - - 3509 - - - - - - - - 14.44 14.58 14.59
3045 268.5 -7.0 150 3058 roll -0.59 - - 2700 - 2.33 0.044 1386 -600.0 -116.8 - - 3506 - - - - - - - - 14.94 14.68 14.93
3097 272.2 -6.8 157 3111 done -0.59 - - 2693 - 2.42 0.067 2783 577.3 -116.8 - - 3506 - - - - - - - - 14.77 14.63 14.79
3441 296.3 -7.1 164 3454 done -0.59 - - 2693 - - - 2783 - -116.8 - - 3503 - - - - - - - - 14.96 14.96 14.96
3777 320.7 -7.4 170 3790 roll -0.59 - - 2693 - 2.33 0.046 1390 -597.9 -116.8 - - 3501 - - - - - - - - 14.97 14.69 14.97
3838 325.4 -7.5 178 3851 done -0.59 - - 2683 - 2.42 0.069 2787 577.3 -116.8 - - 3501 - - - - - - - - 14.78 14.65 14.81
4179 353.7 -8.4 191 4192 roll -0.59 - - 2683 - 2.33 0.045 1392 -598.7 -116.8 - - 3498 - - - - - - - - 14.97 14.69 14.97
4217 357.2 -9.1 196 4231 done -0.59 0.12 0.239 2709 216.7 2.40 0.070 2783 579.6 -116.8 - - 3498 - - - - - - - - 14.50 14.64 14.73
4580 384.4 -7.5 205 4593 done -0.66 - - 2710 - - - 2783 - -116.8 - - 3496 - - - - - - - - 14.96 14.97 14.97
4916 408.5 -7.1 211 4929 roll -0.75 0.08 0.150 2640 -875.0 2.33 0.044 1390 -597.9 -116.8 - - 3493 - - - - - - - - 14.73 14.69 14.76
4989 415.3 -9.6 221 5003 done -0.75 0.10 0.263 2659 190.0 2.40 0.070 2779 578.8 -116.8 - - 3494 - - - - - - - - 14.48 14.64 14.71
5316 444.3 -8.8 232 5329 roll -0.75 - - 2651 - 1.88 0.109 3823 555.3 -116.8 - - 3493 - - - - - - - - 14.96 14.59 14.96
5369 449.3 -9.3 239 5382 done -0.75 - - 2651 - 1.73 0.044 2758 -615.6 -116.8 - - 3492 - - - - - - - - 14.81 14.76 14.83
5713 479.2 -8.8 246 5726 done -0.75 - - 2651 - - - 2758 - -116.8 - - 3490 - - - - - - - - 14.97 14.97 14.97
6048 508.4 -8.7 252 6062 roll -0.75 - - 2651 - 2.30 0.047 1373 -602.2 -116.8 - - 3489 - - - - - - - - 14.97 14.67 14.97
6094 512.5 -8.7 258 6107 done -0.75 - - 2641 - 2.45 0.069 2778 573.5 -116.8 - - 3489 - - - - - - - - 14.78 14.63 14.80
6449 545.3 -9.4 266 6462 roll -0.75 - - 2632 - 1.90 0.108 3826 551.6 -116.8 - - 3487 - - - - - - - - 14.97 14.57 14.97
6480 548.4 -9.8 270 6493 done -0.75 - - 2633 - 1.70 0.046 2777 -617.1 -116.8 - - 3487 - - - - - - - - 14.81 14.73 14.81
6849 584.1 -9.7 280 6862 done -0.75 - - 2632 - - - 2777 - -116.8 - - 3485 - - - - - - - - 14.97 14.97 14.97
7185 616.1 -9.4 286 7198 done -0.75 - - 2633 - - - 2777 - -116.8 - - 3483 - - - - - - - - 14.97 14.97 14.96
7521 646.6 -9.0 292 7534 roll -0.75 - - 2633 - 2.35 0.047 1370 -598.7 -116.8 - - 3482 - - - - - - - - 14.97 14.66 14.97
7559 650.0 -9.2 297 7573 done -0.75 0.12 0.247 2658 208.3 2.47 0.070 2783 572.1 -116.8 - - 3485 - - - - - - - - 14.43 14.57 14.70
7921 676.7 -7.3 306 7934 done -0.75 - - 2658 - - - 2783 - -116.8 - - 3481 - - - - - - - - 14.95 14.95 14.95
8257 702.6 -7.8 312 8270 roll -0.75 - - 2660 - 2.38 0.047 1375 -591.6 -116.8 - - 3480 - - - - - - - - 14.95 14.66 14.95
8296 705.9 -8.6 317 8309 done -0.75 - - 2652 - 2.47 0.071 2788 572.1 -116.8 - - 3480 - - - - - - - - 14.76 14.60 14.78
8658 736.3 -8.6 326 8671 done -0.75 - - 2650 - - - 2788 - -116.8 - - 3478 - - - - - - - - 14.95 14.95 14.95
8993 765.2 -8.6 332 9007 roll -0.75 - - 2650 - 2.40 0.047 1372 -590.0 -116.8 - - 3477 - - - - - - - - 14.95 14.64 14.95
9074 772.1 -8.3 343 9087 done -0.75 - - 2641 - 2.47 0.072 2778 569.2 -116.8 - - 3477 - - - - - - - - 14.73 14.57 14.76
9394 798.0 -8.0 353 9407 roll -0.75 - - 2640 - 2.38 0.047 1373 -590.3 -116.8 - - 3475 - - - - - - - - 14.95 14.64 14.95
9439 802.0 -7.9 359 9453 done -0.75 - - 2639 - 2.45 0.072 2774 571.8 -116.8 - - 3476 - - - - - - - - 14.73 14.57 14.76
9794 832.3 -8.1 367 9807 done -0.75 - - 2632 - - - 2773 - -116.8 - - 3474 - - - - - - - - 14.92 14.92 14.93
10130 859.4 -8.1 373 10143 roll -0.75 - - 2632 - 2.38 0.047 1376 -587.0 -116.8 - - 3472 - - - - - - - - 14.93 14.62 14.93
10176 863.8 -7.3 379 10189 done -0.75 0.12 0.249 2658 216.7 2.50 0.073 2775 559.6 -116.8 - - 3473 - - - - - - - - 14.38 14.56 14.64
10531 890.2 -7.5 387 10544 roll -0.75 - - 2657 - 2.40 0.047 1370 -585.4 -116.8 - - 3472 - - - - - - - - 14.94 14.61 14.94
10591 894.4 -5.3 395 10604 done -0.75 - - 2649 - 2.50 0.072 2772 560.8 -116.8 - - 3472 - - - - - - - - 14.71 14.54 14.73
10932 921.1 -7.6 408 10945 roll -0.75 - - 2649 - 2.38 0.047 1372 -588.2 -116.8 - - 3471 - - - - - - - - 14.90 14.61 14.90
10971 924.4 -5.6 413 10984 done -0.75 - - 2640 - 2.47 0.072 2773 567.2 -116.8 - - 3471 - - - - - - - - 14.71 14.54 14.74
11051 end dive: TARGET_DEPTH_EXCEEDED
11051 begin apogee
11056 930.7 -7.4 417 11182 roll -0.23 0.62 0.192 2823 295.2 - - 2232 - - 115.53 1.954 3050 -3.6 0.331 - - - - - - 14.41 14.05 13.33
11184 end apogee: CONTROL_FINISHED_OK
11184 begin climb
11185 934.7 - 419 11325 roll 0.90 1.10 0.114 3171 316.4 2.40 0.057 874 -565.8 116.8 121.07 1.945 2581 -3.9 0.355 - - - - - - 14.05 14.07 13.19
11357 927.0 7.9 446 11371 done 0.76 - - 3171 - 2.45 0.054 2259 565.3 116.8 - - 2578 - - - - - - - - 14.14 14.04 14.15
11677 897.9 9.1 456 11690 roll 0.60 0.25 0.234 3098 -292.0 2.55 0.097 3653 546.7 116.8 - - 2570 - - - - - - - - 14.19 14.31 14.35
11738 893.0 7.7 464 11752 done 0.52 0.15 0.241 3067 -206.7 2.33 0.041 2265 -595.7 117.7 - - 2569 - - - - - - - - 14.22 14.47 14.47
12080 873.7 5.6 477 12141 done 0.58 - - 3067 - - - 2263 - 164.8 51.50 1.903 2395 -3.4 0.295 - - - - - - 14.76 14.23 13.55
12471 847.8 6.9 484 12503 roll 0.60 - - 3067 - 2.62 0.103 3659 532.8 182.5 18.65 1.998 2317 -4.2 0.338 - - - - - - 14.69 14.31 13.71
12549 841.7 8.1 495 12563 done 0.60 - - 3076 - 2.38 0.043 2257 -589.1 182.5 - - 2313 - - - - - - - - 14.48 14.42 14.50
12869 817.9 7.6 505 12882 done 0.60 - - 3077 - - - 2253 - 186.5 - - 2310 - - - - - - - - 14.74 14.74 14.74
13205 792.8 7.6 511 13219 roll 0.61 - - 3076 - 2.60 0.101 3660 541.2 189.1 1.40 0.261 2298 -8.6 4.959 - - - - - - 14.81 14.47 14.30
13266 787.8 8.8 519 13279 done 0.61 - - 3086 - 2.38 0.043 2246 -594.1 189.1 1.23 0.269 2295 -2.4 1.360 - - - - - - 14.68 14.59 14.35
13608 761.5 7.6 532 13626 roll 0.61 - - 3084 - 2.60 0.104 3654 541.5 193.2 4.62 1.926 2285 -2.2 0.163 - - - - - - 14.84 14.58 13.55
13651 757.6 8.5 538 13665 done 0.61 - - 3095 - 2.35 0.044 2251 -597.0 193.2 1.55 0.284 2279 -3.9 1.967 - - - - - - 14.69 14.62 14.23
14006 729.2 8.0 546 14019 done 0.61 - - 3096 - - - 2247 - 193.2 1.35 0.267 2280 - - - - - - - - 14.85 14.62 14.33
14342 701.8 8.2 552 14356 roll 0.61 - - 3095 - 2.60 0.103 3657 542.3 193.2 1.40 0.271 2281 - - - - - - - - 14.87 14.50 14.28
14416 694.9 9.3 562 14430 done 0.61 - - 3105 - 2.35 0.043 2252 -597.9 193.2 1.27 0.269 2280 - - - - - - - - 14.71 14.64 14.35
14743 667.4 8.3 573 14757 roll 0.61 - - 3106 - 2.58 0.102 3653 543.0 193.2 1.40 0.270 2281 - - - - - - - - 14.87 14.52 14.28
14789 663.1 9.7 579 14802 done 0.61 - - 3116 - 2.33 0.043 2260 -597.9 193.2 - - 2288 - - - - - - - - 14.73 14.65 14.74
15144 633.4 8.3 587 15157 roll 0.61 - - 3116 - 2.58 0.102 3654 540.3 193.2 1.35 0.269 2283 -3.7 1.661 - - - - - - 14.88 14.51 14.31
15182 629.7 9.3 592 15196 done 0.61 - - 3126 - 2.33 0.044 2262 -597.4 193.2 - - 2288 - - - - - - - - 14.73 14.65 14.75
15544 597.8 9.0 601 15558 done 0.61 - - 3126 - - - 2258 - 193.2 1.10 0.269 2282 -5.5 2.309 - - - - - - 14.89 14.64 14.39
15881 566.4 9.4 607 15894 roll 0.61 - - 3126 - 2.58 0.101 3652 540.3 193.2 1.27 0.267 2281 - - - - - - - - 14.89 14.50 14.33
15948 559.4 10.5 616 15962 done 0.61 0.12 0.250 3101 -208.3 2.33 0.043 2263 -596.1 193.2 1.27 0.248 2279 - - - - - - - - 14.39 14.65 14.35
16283 532.9 7.7 628 16297 done 0.61 - - 3101 - - - 2258 - 193.6 0.55 0.358 2284 9.1 -2.577 - - - - - - 14.88 14.66 14.45
16618 508.7 7.1 634 16651 roll 0.63 - - 3100 - 2.65 0.103 3657 527.9 207.3 20.92 1.686 2219 -3.1 0.179 - - - - - - 14.89 14.52 13.95
16720 501.1 7.7 648 16735 done 0.63 - - 3109 - 2.35 0.043 2262 -593.6 208.5 - - 2216 - - - - - - - - 14.62 14.55 14.66
17063 476.9 7.1 655 17089 done 0.65 - - 3109 - - - 2262 - 223.6 17.05 1.677 2159 -3.3 0.181 - - - - - - 14.81 14.54 13.93
17395 452.0 7.6 667 17408 roll 0.65 - - 3109 - 2.60 0.103 3658 536.9 226.4 - - 2148 - - - - - - - - 14.78 14.42 14.78
17434 448.6 8.8 672 17448 done 0.65 - - 3119 - 2.35 0.043 2263 -593.6 226.4 - - 2149 - - - - - - - - 14.64 14.57 14.66
17796 418.1 8.5 681 17809 roll 0.65 - - 3128 - 2.42 0.066 858 -580.6 226.4 - - 2149 - - - - - - - - 14.85 14.51 14.83
17821 415.9 8.5 684 17834 done 0.65 - - 3128 - 2.42 0.058 2271 583.9 226.4 - - 2149 - - - - - - - - 14.66 14.52 14.68
18141 385.7 9.6 694 18154 roll 0.65 - - 3128 - 2.53 0.103 3653 546.2 226.4 - - 2149 - - - - - - - - 14.85 14.47 14.84
18214 377.8 10.6 704 18228 done 0.65 - - 3138 - 2.33 0.042 2259 -598.3 226.4 - - 2148 - - - - - - - - 14.70 14.62 14.71
18541 346.9 9.4 715 18554 roll 0.65 - - 3149 - 2.40 0.065 863 -581.7 226.4 - - 2148 - - - - - - - - 14.85 14.54 14.88
18565 344.6 9.2 718 18579 done 0.65 0.15 0.218 3105 -293.3 2.40 0.059 2267 585.0 226.4 - - 2149 - - - - - - - - 14.41 14.56 14.63
18886 321.6 7.0 728 18918 roll 0.67 - - 3101 - 2.60 0.101 3663 536.9 243.6 20.60 1.465 2073 -3.7 0.154 - - - - - - 14.86 14.52 14.03
18957 316.2 8.0 738 18971 done 0.67 - - 3113 - 2.33 0.042 2270 -597.9 243.6 - - 2069 - - - - - - - - 14.64 14.57 14.66
19277 291.3 8.0 748 19290 roll 0.67 - - 3123 - 2.40 0.063 862 -586.7 243.6 - - 2068 - - - - - - - - 14.80 14.51 14.81
19302 289.2 8.1 751 19315 done 0.67 - - 3123 - 2.42 0.058 2281 586.4 243.6 - - 2067 - - - - - - - - 14.65 14.52 14.68
19621 262.8 8.3 761 19634 roll 0.67 - - 3123 - 2.50 0.103 3656 550.0 243.6 - - 2068 - - - - - - - - 14.83 14.46 14.83
19667 258.5 9.7 767 19680 done 0.67 - - 3132 - 2.33 0.041 2261 -598.7 243.6 - - 2067 - - - - - - - - 14.69 14.62 14.71
20021 226.9 8.9 775 20035 roll 0.67 - - 3142 - 2.40 0.065 853 -586.7 243.6 - - 2066 - - - - - - - - 14.87 14.54 14.87
20067 222.8 9.2 781 20080 done 0.67 - - 3142 - 2.42 0.058 2275 587.6 243.6 - - 2068 - - - - - - - - 14.69 14.55 14.71
20422 189.7 9.5 789 20435 done 0.67 - - 3143 - - - 2275 - 243.6 - - 2067 - - - - - - - - 14.87 14.86 14.87
20757 158.6 9.2 795 20770 done 0.67 - - 3142 - - - 2275 - 243.6 - - 2067 - - - - - - - - 14.89 14.89 14.89
21094 129.4 8.6 801 21107 roll 0.67 - - 3143 - 2.50 0.103 3654 551.6 243.6 - - 2067 - - - - - - - - 14.90 14.50 14.90
21160 123.1 9.2 810 21174 done 0.67 0.12 0.229 3116 -225.0 2.30 0.041 2268 -602.6 243.6 - - 2067 - - - - - - - - 14.42 14.66 14.66
21495 100.3 6.7 822 21520 roll 0.79 0.05 0.209 3171 1100.0 2.55 0.098 3660 545.9 267.4 10.15 0.455 1985 -8.1 0.339 - - - - - - 14.63 14.57 14.26
21539 97.1 7.7 828 21553 done 0.79 - - 3181 - 2.30 0.040 2269 -604.8 269.0 1.67 0.334 1979 -3.6 0.199 - - - - - - 14.74 14.67 14.21
21868 76.8 5.6 841 21905 roll 0.85 - - 3191 - 2.42 0.063 839 -590.9 315.3 23.55 0.399 1795 -7.8 0.286 - - - - - - 14.87 14.59 14.29
21944 72.4 6.3 852 21972 done 0.89 - - 3191 - 2.45 0.054 2280 588.2 345.7 15.48 0.383 1673 -7.9 0.284 - - - - - - 14.66 14.54 14.29
22286 55.1 4.1 867 22338 roll 1.12 0.10 0.122 3272 810.0 2.47 0.098 3654 556.3 425.6 38.78 0.333 1358 -8.1 0.256 - - - - - - 14.57 14.49 14.29
22455 44.4 8.0 891 22469 done 1.12 - - 3281 - 2.28 0.040 2283 -601.3 425.6 - - 1359 - - - - - - - - 14.66 14.59 14.67
22797 22.0 6.3 906 22829 roll 1.24 - - 3291 - 2.45 0.062 864 -579.2 456.8 15.70 0.227 1232 -8.1 0.149 - - - - - - 14.84 14.52 14.37
22855 18.4 6.3 914 22887 done 1.38 0.10 0.117 3367 760.0 2.40 0.052 2284 591.7 487.7 15.05 0.214 1110 -8.1 0.133 - - - - - - 14.61 14.55 14.38
23021 end climb: SURFACE_DEPTH_REACHED
23021 begin surface coast
23050 end surface coast: CONTROL_FINISHED_OK
23050 begin surface
SM -0.00 - - - - -8.43 9.00 0.048 173 19.2 0.85 0.086 2772 -10185.9 500.14 5.90 0.167 1058 179.3 0.000 - - - - - -