SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 164 * Raw log
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• Previous call tries 1 • 65.04 of 350.00 AH used of 24V (81.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -0.68 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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 - - - 97 done -0.90 - - 151 - - - 2773 - -116.8 -75.75 - 3517 - - - - - - - - 14.65 13.20 14.66
99 1.0 -5.2 2 121 roll -0.90 11.73 0.397 2600 208.8 2.35 0.034 1361 -600.9 -116.8 - - 3518 - - - - - - - - 14.19 14.47 14.49
223 54.6 -27.1 21 234 done -0.55 0.45 0.267 2709 242.2 2.50 0.066 2768 562.8 -116.8 - - 3519 - - - - - - - - 14.23 14.41 14.42
539 97.3 -8.5 33 547 roll -0.55 - - 2709 - 2.38 0.042 1375 -585.3 -116.8 - - 3520 - - - - - - - - 14.80 14.54 14.80
559 99.3 -8.6 36 569 done -0.55 - - 2699 - 2.42 0.063 2754 569.8 -116.8 - - 3520 - - - - - - - - 14.57 14.50 14.60
875 117.8 -4.9 43 882 roll -0.55 - - 2691 - 1.98 0.104 3826 541.4 -116.8 - - 3521 - - - - - - - - 14.83 14.50 14.84
1021 128.4 -10.6 64 1030 done -0.55 0.10 0.236 2720 290.0 1.80 0.039 2739 -603.9 -116.8 - - 3522 - - - - - - - - 14.45 14.68 14.64
1379 156.3 -7.9 73 1387 roll -0.55 - - 2712 - 2.05 0.106 3827 530.7 -116.8 - - 3520 - - - - - - - - 14.88 14.51 14.88
1414 158.8 -7.2 78 1421 done -0.55 - - 2712 - 1.77 0.041 2756 -605.1 -116.8 - - 3520 - - - - - - - - 14.70 14.67 14.71
1771 182.2 -6.5 87 1778 roll -0.55 - - 2712 - 2.33 0.044 1378 -591.4 -116.8 - - 3518 - - - - - - - - 14.88 14.62 14.88
1805 184.5 -6.6 92 1813 done -0.55 - - 2703 - 2.45 0.065 2765 566.1 -116.8 - - 3516 - - - - - - - - 14.64 14.57 14.68
2163 209.4 -7.0 101 2165 done -0.55 - - 2701 - - - 2771 - -116.8 - - 3514 - - - - - - - - 14.88 14.89 14.88
2499 234.3 -7.5 107 2507 roll -0.55 - - 2703 - 2.38 0.045 1382 -583.6 -116.8 - - 3511 - - - - - - - - 14.89 14.60 14.89
2575 240.2 -7.7 118 2583 done -0.55 - - 2694 - 2.45 0.067 2757 561.2 -116.8 - - 3511 - - - - - - - - 14.64 14.54 14.66
2891 265.6 -8.1 128 2904 roll -0.55 - - 2686 - 1.95 0.109 3826 548.2 -116.8 - - 3508 - - - - - - - - 14.92 14.55 14.92
2943 270.1 -8.6 135 2957 done -0.55 0.10 0.227 2717 310.0 1.75 0.046 2766 -605.7 -116.8 - - 3509 - - - - - - - - 14.50 14.72 14.69
3288 294.0 -6.8 142 3301 roll -0.64 - - 2717 - 2.33 0.045 1376 -596.6 -116.8 - - 3505 - - - - - - - - 14.94 14.68 14.95
3355 298.7 -7.0 151 3368 done -0.74 0.10 0.121 2643 -740.0 2.42 0.067 2759 571.5 -116.8 - - 3504 - - - - - - - - 14.71 14.62 14.78
3688 331.0 -9.9 163 3702 roll -0.74 - - 2634 - 1.95 0.108 3830 549.2 -116.8 - - 3502 - - - - - - - - 14.95 14.58 14.95
3713 333.5 -10.0 166 3726 done -0.74 - - 2631 - 1.77 0.046 2740 -615.8 -116.8 - - 3502 - - - - - - - - 14.83 14.76 14.83
4033 365.8 -10.1 176 4046 done -0.74 - - 2634 - - - 2740 - -116.8 - - 3500 - - - - - - - - 14.98 14.95 14.95
4368 398.2 -9.6 182 4382 roll -0.74 - - 2626 - 2.03 0.108 3826 535.0 -116.8 - - 3499 - - - - - - - - 14.96 14.57 14.97
4463 407.8 -9.9 195 4477 done -0.66 0.20 0.215 2684 290.0 1.75 0.047 2758 -610.3 -116.8 - - 3498 - - - - - - - - 14.49 14.77 14.71
4825 434.7 -7.4 204 4838 roll -0.66 - - 2685 - 2.33 0.047 1370 -595.7 -116.8 - - 3496 - - - - - - - - 14.97 14.67 14.97
4871 438.2 -7.4 210 4884 done -0.66 - - 2675 - 2.42 0.070 2756 572.7 -116.8 - - 3496 - - - - - - - - 14.77 14.62 14.79
5225 465.9 -7.9 218 5238 roll -0.66 - - 2667 - 1.95 0.110 3824 547.7 -116.8 - - 3494 - - - - - - - - 14.95 14.56 14.95
5299 472.2 -8.6 228 5312 done -0.66 - - 2666 - 1.75 0.046 2754 -611.4 -116.8 - - 3493 - - - - - - - - 14.81 14.75 14.82
5625 499.9 -8.5 239 5638 roll -0.66 - - 2667 - 2.30 0.046 1377 -598.7 -116.8 - - 3491 - - - - - - - - 14.96 14.68 14.96
5685 505.2 -8.8 247 5699 done -0.66 - - 2657 - 2.45 0.069 2767 567.3 -116.8 - - 3492 - - - - - - - - 14.76 14.60 14.78
6026 534.7 -8.6 260 6039 roll -0.66 - - 2650 - 1.95 0.112 3827 543.6 -116.8 - - 3490 - - - - - - - - 14.95 14.55 14.95
6120 542.2 -8.7 273 6134 done -0.66 0.10 0.236 2679 290.0 1.77 0.047 2754 -606.2 -116.8 - - 3489 - - - - - - - - 14.46 14.73 14.69
6483 567.2 -6.8 282 6496 roll -0.66 - - 2679 - 2.33 0.047 1371 -593.6 -116.8 - - 3487 - - - - - - - - 14.95 14.66 14.95
6521 570.0 -7.3 287 6535 done -0.66 - - 2670 - 2.45 0.070 2758 566.1 -116.8 - - 3487 - - - - - - - - 14.75 14.59 14.78
6883 595.2 -7.1 296 6896 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3485 - - - - - - - - 14.95 14.94 14.95
7219 620.3 -7.6 302 7232 done -0.66 - - 2670 - - - 2756 - -116.8 - - 3485 - - - - - - - - 14.95 14.95 14.95
7555 645.6 -7.5 308 7568 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3483 - - - - - - - - 14.95 14.94 14.94
7891 671.4 -7.7 314 7904 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3482 - - - - - - - - 14.95 14.94 14.95
8227 696.6 -7.4 320 8240 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3481 - - - - - - - - 14.93 14.93 14.93
8563 720.4 -7.0 326 8576 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3480 - - - - - - - - 14.95 14.95 14.92
8899 743.4 -6.9 332 8912 done -0.66 - - 2670 - - - 2758 - -116.8 - - 3479 - - - - - - - - 14.95 14.95 14.95
9235 766.1 -6.7 338 9248 roll -0.66 - - 2670 - 2.40 0.049 1361 -582.1 -116.8 - - 3478 - - - - - - - - 14.93 14.62 14.94
9274 769.1 -7.9 343 9287 done -0.66 - - 2661 - 2.50 0.073 2760 559.6 -116.8 - - 3477 - - - - - - - - 14.71 14.54 14.74
9636 795.1 -7.3 352 9649 done -0.66 - - 2661 - - - 2760 - -116.8 - - 3476 - - - - - - - - 14.95 14.97 14.95
9972 818.8 -7.0 358 9985 roll -0.66 - - 2653 - 2.00 0.116 3827 533.5 -116.8 - - 3475 - - - - - - - - 14.92 14.47 14.92
10017 822.2 -6.3 364 10031 done -0.66 0.10 0.239 2682 290.0 1.80 0.049 2757 -594.4 -116.8 - - 3475 - - - - - - - - 14.40 14.69 14.64
10372 843.9 -6.0 372 10385 roll -0.66 - - 2683 - 2.38 0.050 1359 -587.4 -116.8 - - 3474 - - - - - - - - 14.93 14.59 14.93
10446 848.5 -6.2 382 10459 done -0.75 - - 2675 - 2.47 0.073 2753 564.4 -116.8 - - 3474 - - - - - - - - 14.69 14.52 14.72
10773 869.2 -6.4 393 10786 done -0.75 - - 2675 - - - 2755 - -116.8 - - 3474 - - - - - - - - 14.92 14.92 14.92
11109 891.6 -6.7 399 11122 roll -0.75 - - 2673 - 2.40 0.050 1359 -581.7 -116.8 - - 3472 - - - - - - - - 14.92 14.54 14.92
11162 895.4 -7.2 406 11175 done -0.75 - - 2666 - 2.50 0.074 2751 556.8 -116.8 - - 3472 - - - - - - - - 14.69 14.55 14.71
11506 920.8 -7.3 413 11519 done -0.75 - - 2665 - - - 2751 - -116.8 - - 3471 - - - - - - - - 14.90 14.90 14.90
11672 end dive: TARGET_DEPTH_EXCEEDED
11672 begin apogee
11677 933.0 -7.3 416 11802 roll -0.23 0.52 0.186 2821 300.0 - - 2230 - - 115.15 1.969 3050 -3.7 0.331 - - - - - - 14.40 14.03 13.30
11803 end apogee: CONTROL_FINISHED_OK
11804 begin climb
11805 937.1 - 418 11946 roll 0.90 1.10 0.114 3168 315.5 2.45 0.059 863 -558.0 116.8 123.95 1.964 2584 -3.8 0.343 - - - - - - 14.04 14.06 13.15
12175 913.2 8.6 473 12189 done 0.76 - - 3168 - 2.47 0.057 2262 566.4 116.8 - - 2570 - - - - - - - - 14.37 14.26 14.39
12516 882.5 9.0 486 12530 roll 0.61 0.22 0.236 3110 -263.6 2.42 0.058 870 -575.2 116.8 - - 2567 - - - - - - - - 14.22 14.42 14.39
12723 867.6 6.9 515 12752 done 0.63 - - 3110 - 2.40 0.057 2258 578.3 134.5 17.10 2.026 2515 -3.0 0.249 - - - - - - 14.58 14.45 13.76
13081 840.9 7.7 524 13095 roll 0.63 - - 3110 - 2.60 0.106 3657 538.1 135.7 - - 2505 - - - - - - - - 14.74 14.39 14.74
13142 835.8 8.6 532 13156 done 0.54 0.15 0.238 3079 -206.7 2.38 0.044 2263 -585.7 135.7 - - 2505 - - - - - - - - 14.31 14.55 14.54
13484 814.5 6.1 545 13535 done 0.58 - - 3079 - - - 2258 - 171.4 41.70 1.895 2369 -3.3 0.268 - - - - - - 14.80 14.33 13.63
13820 792.8 6.7 551 13859 roll 0.61 - - 3078 - 2.65 0.106 3650 525.3 194.8 26.40 1.932 2266 -3.9 0.306 - - - - - - 14.68 14.24 13.64
13891 787.9 7.7 561 13905 done 0.61 - - 3088 - 2.42 0.046 2246 -580.2 195.3 - - 2263 - - - - - - - - 14.42 14.35 14.42
14218 764.2 7.3 572 14237 roll 0.63 - - 3098 - 2.42 0.065 851 -576.4 205.9 5.22 2.040 2236 -5.2 0.370 - - - - - - 14.71 14.42 13.60
14262 760.9 7.7 578 14282 done 0.63 - - 3098 - 2.45 0.059 2260 575.1 207.9 3.58 1.593 2226 -2.8 0.255 - - - - - - 14.56 14.45 13.41
14613 733.5 7.9 586 14627 roll 0.63 - - 3098 - 2.58 0.105 3656 541.1 207.9 1.33 0.278 2223 -2.3 1.137 - - - - - - 14.76 14.44 14.21
14674 728.2 8.9 594 14687 done 0.63 - - 3107 - 2.40 0.044 2245 -587.9 207.9 - - 2230 - - - - - - - - 14.64 14.57 14.66
15015 699.8 8.4 607 15028 done 0.63 - - 3107 - - - 2241 - 207.9 - - 2233 - - - - - - - - 14.81 14.82 14.81
15351 670.9 8.7 613 15364 roll 0.63 - - 3107 - 2.67 0.108 3660 531.5 207.9 - - 2230 - - - - - - - - 14.85 14.47 14.84
15404 665.7 9.8 620 15418 done 0.63 - - 3117 - 2.40 0.045 2252 -586.7 207.9 - - 2230 - - - - - - - - 14.70 14.62 14.71
15748 635.2 8.8 627 15761 done 0.63 - - 3117 - - - 2248 - 207.9 - - 2231 - - - - - - - - 14.87 14.87 14.87
16084 607.6 8.2 633 16097 done 0.63 - - 3117 - - - 2247 - 207.9 - - 2230 - - - - - - - - 14.87 14.87 14.88
16420 581.4 7.7 639 16433 done 0.63 - - 3117 - - - 2247 - 208.5 1.50 0.295 2220 -6.7 2.510 - - - - - - 14.88 14.56 14.04
16756 555.9 7.6 645 16774 roll 0.63 - - 3117 - 2.60 0.107 3653 540.8 211.3 4.32 1.766 2211 -2.1 0.125 - - - - - - 14.90 14.62 13.63
16806 551.5 8.8 652 16820 done 0.63 - - 3126 - 2.40 0.046 2242 -587.9 211.3 - - 2216 - - - - - - - - 14.72 14.65 14.73
17151 522.6 8.5 659 17164 done 0.63 - - 3126 - - - 2239 - 211.3 1.42 0.289 2210 -4.2 1.460 - - - - - - 14.87 14.57 14.12
17486 492.8 9.0 665 17500 roll 0.63 - - 3126 - 2.62 0.103 3653 539.7 211.3 1.08 0.278 2211 - - - - - - - - 14.88 14.50 14.35
17519 489.6 9.5 669 17533 done 0.63 0.10 0.255 3108 -180.0 2.38 0.044 2246 -591.2 211.3 - - 2215 - - - - - - - - 14.40 14.64 14.64
17888 459.4 8.1 679 17901 done 0.63 - - 3109 - - - 2241 - 211.3 - - 2217 - - - - - - - - 14.88 14.88 14.88
18224 432.9 7.9 685 18238 roll 0.63 - - 3109 - 2.62 0.103 3654 539.3 211.3 1.33 0.280 2211 -4.5 1.332 - - - - - - 14.88 14.47 14.19
18256 430.1 8.4 689 18271 done 0.63 - - 3117 - 2.38 0.046 2250 -589.9 211.3 1.45 0.307 2209 - - - - - - - - 14.73 14.65 14.03
18626 401.8 7.5 699 18651 roll 0.64 - - 3129 - 2.45 0.065 856 -569.0 215.9 8.77 1.769 2188 -2.4 0.104 - - - - - - 14.88 14.62 14.00
18670 398.5 7.4 705 18690 done 0.65 - - 3127 - 2.42 0.057 2268 583.5 224.0 6.20 1.782 2160 -4.5 0.193 - - - - - - 14.70 14.58 13.91
19021 370.3 8.1 713 19034 roll 0.65 - - 3127 - 2.55 0.106 3653 543.1 224.0 - - 2163 - - - - - - - - 14.81 14.46 14.82
19081 364.6 9.6 721 19095 done 0.65 - - 3137 - 2.38 0.044 2259 -585.7 224.0 - - 2163 - - - - - - - - 14.68 14.60 14.69
19422 333.9 9.1 734 19435 roll 0.65 - - 3147 - 2.42 0.066 857 -579.3 224.0 - - 2163 - - - - - - - - 14.85 14.53 14.85
19475 329.0 9.3 741 19490 done 0.65 0.12 0.226 3111 -300.0 2.45 0.057 2265 574.7 224.0 - - 2163 - - - - - - - - 14.39 14.54 14.61
19819 300.6 8.4 748 19832 done 0.65 - - 3110 - - - 2266 - 224.0 - - 2163 - - - - - - - - 14.86 14.86 14.86
20155 274.4 7.7 754 20168 roll 0.65 - - 3111 - 2.55 0.100 3660 546.7 226.0 1.42 0.306 2156 -4.9 0.844 - - - - - - 14.88 14.40 13.97
20207 270.0 8.4 761 20223 done 0.65 - - 3120 - 2.40 0.042 2236 -593.3 226.0 2.92 1.099 2150 -2.1 0.096 - - - - - - 14.73 14.64 13.64
20552 243.4 7.8 768 20565 roll 0.65 - - 3129 - 2.35 0.063 870 -581.3 226.0 - - 2158 - - - - - - - - 14.87 14.56 14.87
20576 241.4 8.0 771 20590 done 0.65 - - 3129 - 2.40 0.056 2268 582.5 226.0 1.23 0.285 2149 -7.3 1.184 - - - - - - 14.70 14.57 14.24
20896 215.4 8.1 781 20909 done 0.65 - - 3129 - - - 2268 - 226.0 1.27 0.288 2150 - - - - - - - - 14.88 14.59 14.16
21232 189.0 7.8 787 21246 roll 0.65 - - 3137 - 2.42 0.061 862 -581.0 226.0 1.33 0.303 2152 - - - - - - - - 14.88 14.42 14.04
21271 185.9 7.7 792 21290 done 0.65 - - 3138 - 2.40 0.057 2264 584.2 227.0 3.15 1.161 2148 -1.3 0.039 - - - - - - 14.73 14.58 13.69
21631 157.1 8.2 801 21644 done 0.65 - - 3138 - - - 2264 - 227.0 - - 2153 - - - - - - - - 14.88 14.88 14.88
21968 129.4 8.0 807 21981 roll 0.65 - - 3138 - 2.55 0.103 3656 545.9 227.0 - - 2154 - - - - - - - - 14.90 14.50 14.90
22034 123.4 9.2 816 22048 done 0.65 0.12 0.229 3112 -216.7 2.33 0.043 2265 -597.0 227.0 - - 2153 - - - - - - - - 14.42 14.66 14.64
22369 102.9 5.4 828 22406 done 0.81 0.08 0.148 3179 837.5 - - 2259 - 277.5 25.55 0.499 1944 -8.2 0.322 - - - - - - 14.65 14.57 14.27
22735 71.7 5.1 847 22772 done 0.88 - - 3179 - - - 2259 - 335.7 28.55 0.420 1713 -8.1 0.264 - - - - - - 14.85 14.62 14.26
23071 67.8 3.9 862 23124 roll 1.11 0.15 0.091 3275 640.0 2.65 0.099 3659 528.3 418.6 40.17 0.370 1383 -8.2 0.288 - - - - - - 14.60 14.47 14.26
23219 55.3 8.9 883 23232 done 1.11 - - 3285 - 2.33 0.041 2268 -597.0 418.6 - - 1384 - - - - - - - - 14.62 14.54 14.63
23546 33.0 7.1 896 23565 roll 1.13 - - 3295 - 2.47 0.062 855 -572.1 433.7 7.43 0.263 1324 -8.1 0.194 - - - - - - 14.83 14.54 14.33
23663 25.2 6.3 912 23694 done 1.25 - - 3294 - 2.40 0.051 2270 589.6 465.0 15.95 0.237 1198 -7.9 0.160 - - - - - - 14.68 14.55 14.32
23999 2.5 6.8 927 24012 VBD 1.37 0.08 0.146 3373 987.5 - - 2270 - 485.1 3.80 0.171 1167 -8.2 0.023 - - - - - - 14.64 - 14.68
24013 end climb: SURFACE_DEPTH_REACHED
24013 begin surface coast
24058 end surface coast: CONTROL_FINISHED_OK
24058 begin surface
SM 0.03 - - - - -8.39 9.05 0.053 190 21.0 0.88 0.076 2772 -9252.3 500.14 12.57 0.156 1058 84.2 -0.002 - - - - - -