SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 177 * Raw log
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• Previous call tries 1 • 69.56 of 350.00 AH used of 24V (80.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -0.81 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 505.16, 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
18 - - - 98 done -0.90 - - 154 - - - 2774 - -116.8 -76.47 - 3516 - - - - - - - - 14.64 13.14 14.63
100 0.9 -5.4 2 122 roll -0.90 11.70 0.398 2602 209.2 2.40 0.038 1352 -592.5 -116.8 - - 3522 - - - - - - - - 14.19 14.45 14.47
134 26.4 -46.9 8 143 done -0.04 1.05 0.264 2880 264.8 2.55 0.072 2758 551.4 -116.8 - - 3519 - - - - - - - - 14.23 14.37 14.46
457 57.0 -6.5 21 464 roll -0.22 0.10 0.122 2813 -670.0 1.98 0.106 3847 550.0 -116.8 - - 3520 - - - - - - - - 14.47 14.35 14.54
604 68.9 -7.6 42 611 done -0.39 0.05 0.123 2754 -1180.0 1.85 0.041 2735 -601.1 -116.8 - - 3521 - - - - - - - - 14.40 14.51 14.47
933 91.5 -6.8 56 941 roll -0.39 - - 2753 - 2.30 0.045 1390 -584.8 -116.8 - - 3522 - - - - - - - - 14.71 14.43 14.71
953 93.0 -7.1 59 962 done -0.47 - - 2747 - 2.47 0.066 2782 563.6 -116.8 - - 3522 - - - - - - - - 14.47 14.40 14.52
1297 109.8 -3.4 68 1306 roll -0.55 - - 2745 - 2.35 0.044 1390 -592.3 -116.8 - - 3522 - - - - - - - - 14.72 14.47 14.72
1338 114.4 -10.2 74 1347 done -0.66 0.10 0.076 2661 -840.0 2.47 0.066 2776 561.1 -116.8 - - 3519 - - - - - - - - 14.49 14.42 14.52
1689 148.9 -9.5 82 1696 roll -0.66 - - 2653 - 1.95 0.101 3824 537.4 -116.8 - - 3522 - - - - - - - - 14.72 14.38 14.72
1716 151.5 -9.4 86 1725 done -0.66 0.10 0.239 2682 290.0 1.77 0.039 2768 -596.6 -116.8 - - 3522 - - - - - - - - 14.33 14.57 14.52
2082 182.3 -8.5 96 2089 roll -0.66 - - 2682 - 2.33 0.046 1389 -591.8 -116.8 - - 3518 - - - - - - - - 14.72 14.45 14.72
2122 186.1 -8.9 102 2131 done -0.66 - - 2672 - 2.47 0.066 2772 559.9 -116.8 - - 3519 - - - - - - - - 14.50 14.42 14.54
2473 217.6 -9.0 110 2476 done -0.66 - - 2673 - - - 2772 - -116.8 - - 3516 - - - - - - - - 14.72 14.72 14.72
2809 247.2 -8.7 116 2817 roll -0.66 - - 2680 - 2.38 0.046 1386 -582.4 -116.8 - - 3513 - - - - - - - - 14.72 14.47 14.72
2836 249.6 -8.8 120 2853 done -0.66 - - 2663 - 2.47 0.067 2771 560.7 -116.8 - - 3513 - - - - - - - - 14.50 14.41 14.52
3208 282.8 -8.9 130 3221 roll -0.66 - - 2654 - 1.92 0.104 3833 553.1 -116.8 - - 3509 - - - - - - - - 14.89 14.53 14.90
3261 287.8 -9.3 137 3275 done -0.66 0.10 0.241 2683 290.0 1.73 0.043 2776 -611.0 -116.8 - - 3510 - - - - - - - - 14.43 14.69 14.64
3605 314.9 -7.9 144 3619 roll -0.66 - - 2683 - 2.35 0.047 1372 -597.4 -116.8 - - 3506 - - - - - - - - 14.92 14.64 14.93
3645 318.0 -7.7 149 3658 done -0.66 - - 2674 - 2.45 0.068 2772 571.4 -116.8 - - 3506 - - - - - - - - 14.74 14.58 14.76
4006 347.7 -8.4 158 4019 roll -0.66 - - 2666 - 1.92 0.106 3829 550.5 -116.8 - - 3504 - - - - - - - - 14.93 14.55 14.93
4073 353.7 -9.1 167 4086 done -0.66 - - 2666 - 1.73 0.044 2765 -615.0 -116.8 - - 3503 - - - - - - - - 14.81 14.76 14.81
4406 383.4 -9.0 179 4419 roll -0.66 - - 2666 - 2.33 0.047 1378 -595.3 -116.8 - - 3502 - - - - - - - - 14.94 14.66 14.94
4459 388.3 -9.0 186 4473 done -0.66 - - 2656 - 2.47 0.069 2777 566.4 -116.8 - - 3501 - - - - - - - - 14.75 14.61 14.77
4803 421.8 -9.9 193 4816 roll -0.66 - - 2648 - 1.92 0.107 3831 549.0 -116.8 - - 3499 - - - - - - - - 14.96 14.57 14.95
4849 426.3 -9.2 199 4862 done -0.66 0.12 0.234 2684 300.0 1.75 0.044 2758 -613.1 -116.8 - - 3498 - - - - - - - - 14.43 14.72 14.66
5204 456.1 -8.2 207 5217 roll -0.66 - - 2685 - 2.33 0.048 1375 -593.6 -116.8 - - 3497 - - - - - - - - 14.96 14.66 14.95
5326 466.3 -8.1 224 5340 done -0.66 - - 2675 - 2.45 0.068 2766 567.8 -116.8 - - 3496 - - - - - - - - 14.76 14.59 14.78
5660 492.8 -7.9 236 5673 roll -0.66 - - 2674 - 2.38 0.047 1376 -584.0 -116.8 - - 3494 - - - - - - - - 14.94 14.66 14.95
5692 495.6 -8.3 240 5705 done -0.66 - - 2665 - 2.45 0.070 2770 569.0 -116.8 - - 3494 - - - - - - - - 14.76 14.60 14.77
6061 523.1 -7.4 250 6074 roll -0.66 - - 2657 - 1.92 0.108 3827 550.5 -116.8 - - 3493 - - - - - - - - 14.95 14.53 15.00
6106 526.8 -8.2 256 6120 done -0.66 - - 2656 - 1.75 0.045 2762 -608.6 -116.8 - - 3492 - - - - - - - - 14.79 14.74 14.81
6461 553.8 -7.7 264 6474 roll -0.66 - - 2655 - 2.33 0.049 1381 -592.7 -116.8 - - 3490 - - - - - - - - 14.94 14.64 14.94
6500 557.3 -8.5 269 6513 done -0.66 0.12 0.239 2683 233.3 2.42 0.070 2764 571.5 -116.8 - - 3490 - - - - - - - - 14.43 14.59 14.67
6862 583.1 -7.1 278 6875 roll -0.66 - - 2683 - 2.38 0.049 1372 -584.9 -116.8 - - 3487 - - - - - - - - 14.95 14.63 14.95
6915 587.1 -7.4 285 6928 done -0.66 - - 2673 - 2.47 0.070 2765 564.0 -116.8 - - 3488 - - - - - - - - 14.73 14.57 14.78
7259 612.6 -7.4 292 7272 done -0.66 - - 2674 - - - 2765 - -116.8 - - 3487 - - - - - - - - 14.95 14.95 14.95
7594 637.4 -7.4 298 7608 roll -0.66 - - 2673 - 2.38 0.050 1382 -581.1 -116.8 - - 3486 - - - - - - - - 14.95 14.62 14.95
7619 639.5 -7.5 301 7632 done -0.66 - - 2664 - 2.45 0.072 2760 562.4 -116.8 - - 3485 - - - - - - - - 14.71 14.56 14.75
7939 664.6 -7.9 311 7952 roll -0.66 - - 2656 - 1.98 0.110 3830 540.4 -116.8 - - 3484 - - - - - - - - 14.94 14.53 14.95
7999 669.8 -8.9 319 8012 done -0.66 - - 2656 - 1.77 0.048 2760 -604.5 -116.8 - - 3485 - - - - - - - - 14.78 14.72 14.79
8339 698.8 -8.5 332 8353 roll -0.66 0.08 0.264 2687 387.5 2.35 0.048 1372 -590.6 -116.8 - - 3482 - - - - - - - - 14.40 14.61 14.54
8421 705.2 -7.5 343 8434 done -0.74 - - 2674 - 2.47 0.072 2759 561.5 -116.8 - - 3482 - - - - - - - - 14.71 14.54 14.74
8740 729.2 -7.6 353 8753 done -0.74 - - 2674 - - - 2759 - -116.8 - - 3481 - - - - - - - - 14.91 14.92 14.92
9076 753.4 -7.1 359 9089 done -0.74 - - 2674 - - - 2759 - -116.8 - - 3480 - - - - - - - - 14.92 14.92 14.92
9412 776.7 -7.0 365 9426 roll -0.74 - - 2678 - 2.40 0.050 1376 -576.2 -116.8 - - 3480 - - - - - - - - 14.93 14.59 14.94
9473 781.0 -6.8 373 9486 done -0.74 - - 2666 - 2.47 0.073 2753 557.5 -116.8 - - 3479 - - - - - - - - 14.69 14.52 14.73
9814 805.0 -7.1 386 9827 done -0.74 - - 2665 - - - 2753 - -116.8 - - 3478 - - - - - - - - 14.93 14.93 14.93
10150 828.6 -7.0 392 10163 roll -0.74 - - 2666 - 2.38 0.051 1379 -577.3 -116.8 - - 3477 - - - - - - - - 14.93 14.57 14.92
10203 832.3 -7.2 399 10217 done -0.74 - - 2657 - 2.47 0.075 2757 557.9 -116.8 - - 3478 - - - - - - - - 14.68 14.50 14.71
10547 857.5 -7.4 406 10560 roll -0.74 - - 2657 - 2.38 0.050 1377 -579.8 -116.8 - - 3476 - - - - - - - - 14.91 14.57 14.92
10585 860.5 -5.7 411 10599 done -0.74 - - 2648 - 2.45 0.073 2757 563.3 -116.8 - - 3476 - - - - - - - - 14.68 14.51 14.71
10947 889.3 -8.2 420 10960 roll -0.74 - - 2640 - 1.98 0.113 3823 538.4 -116.8 - - 3475 - - - - - - - - 14.90 14.44 14.90
11000 893.9 -7.2 427 11014 done -0.74 - - 2639 - 1.80 0.046 2754 -593.9 -116.8 - - 3474 - - - - - - - - 14.72 14.66 14.74
11344 923.0 -8.5 434 11357 roll -0.74 - - 2639 - 2.35 0.049 1373 -587.7 -116.8 - - 3474 - - - - - - - - 14.90 14.57 14.90
11390 927.0 -8.7 440 11404 done -0.74 0.08 0.253 2652 162.5 2.45 0.073 2754 563.7 -116.8 - - 3473 - - - - - - - - 14.24 14.45 14.42
11463 end dive: TARGET_DEPTH_EXCEEDED
11463 begin apogee
11469 933.0 -7.9 443 11594 roll -0.23 0.57 0.191 2820 294.7 - - 2227 - - 115.68 1.971 3049 -3.7 0.332 - - - - - - 14.36 14.02 13.26
11596 end apogee: CONTROL_FINISHED_OK
11596 begin climb
11598 937.6 - 445 11736 roll 0.90 1.12 0.111 3172 314.3 2.45 0.060 867 -555.1 116.8 122.55 1.968 2585 -3.8 0.345 - - - - - - 14.02 14.05 13.14
11769 931.1 7.2 472 11794 done 0.76 - - 3175 - 2.50 0.055 2260 557.2 128.1 11.45 2.147 2535 -4.4 0.362 - - - - - - 14.09 14.00 13.26
12143 896.4 9.6 483 12156 done 0.60 0.28 0.235 3100 -267.9 - - 2264 - 128.1 - - 2528 - - - - - - - - 14.18 14.47 14.43
12479 871.8 7.2 489 12503 roll 0.62 - - 3099 - 2.55 0.102 3651 543.9 140.2 11.50 2.114 2489 -3.4 0.267 - - - - - - 14.75 14.43 13.77
12529 867.3 10.8 496 12544 done 0.62 - - 3109 - 2.38 0.042 2260 -584.5 140.2 - - 2486 - - - - - - - - 14.55 14.49 14.56
12873 840.1 8.0 503 12886 roll 0.62 - - 3120 - 2.42 0.066 866 -576.0 140.2 - - 2484 - - - - - - - - 14.81 14.46 14.76
12919 835.9 9.5 509 12932 done 0.62 - - 3119 - 2.40 0.056 2252 577.5 140.2 - - 2484 - - - - - - - - 14.62 14.49 14.63
13274 807.7 7.9 517 13287 roll 0.62 - - 3119 - 2.58 0.103 3654 543.4 140.2 - - 2483 - - - - - - - - 14.81 14.45 14.81
13327 803.1 8.8 524 13342 done 0.51 0.22 0.231 3067 -236.4 2.40 0.042 2242 -588.3 140.2 - - 2483 - - - - - - - - 14.32 14.59 14.59
13671 782.6 5.8 531 13731 roll 0.56 - - 3077 - 2.45 0.067 862 -563.3 181.7 46.67 1.868 2321 -3.5 0.278 - - - - - - 14.84 14.24 13.64
13757 777.7 5.2 543 13833 done 0.63 - - 3077 - 2.45 0.059 2251 566.9 237.1 61.60 1.805 2102 -3.6 0.293 - - - - - - 14.41 14.30 13.41
14183 748.3 7.0 561 14214 roll 0.73 0.08 0.151 3136 737.5 2.67 0.106 3670 531.5 252.8 16.20 1.957 2032 -4.3 0.316 - - - - - - 14.44 14.30 13.68
14261 740.2 10.9 572 14274 done 0.73 - - 3147 - 2.45 0.044 2251 -579.2 252.8 - - 2035 - - - - - - - - 14.46 14.38 14.47
14581 707.0 10.4 582 14594 roll 0.73 - - 3157 - 2.42 0.069 856 -576.4 252.8 - - 2029 - - - - - - - - 14.71 14.44 14.72
14633 701.5 10.2 589 14647 done 0.73 - - 3157 - 2.45 0.060 2247 567.8 252.8 - - 2028 - - - - - - - - 14.58 14.46 14.61
14977 664.3 10.9 596 14991 roll 0.73 - - 3157 - 2.60 0.105 3657 542.3 252.8 - - 2028 - - - - - - - - 14.79 14.44 14.79
15002 661.3 11.2 599 15016 done 0.73 0.10 0.253 3139 -180.0 2.40 0.044 2243 -589.2 252.8 - - 2028 - - - - - - - - 14.37 14.57 14.59
15322 627.1 10.7 609 15336 roll 0.73 - - 3149 - 2.40 0.067 854 -578.8 252.8 - - 2027 - - - - - - - - 14.85 14.51 14.82
15375 621.2 11.1 616 15390 done 0.73 - - 3149 - 2.42 0.059 2245 574.8 252.8 - - 2027 - - - - - - - - 14.67 14.51 14.66
15719 582.3 11.4 623 15732 roll 0.73 - - 3149 - 2.60 0.105 3660 544.2 252.8 - - 2029 - - - - - - - - 14.84 14.47 14.84
15765 576.4 12.6 629 15778 done 0.73 - - 3160 - 2.40 0.043 2242 -590.8 252.8 - - 2026 - - - - - - - - 14.69 14.62 14.72
16119 535.5 11.4 637 16133 roll 0.73 - - 3170 - 2.40 0.069 854 -578.3 252.8 - - 2026 - - - - - - - - 14.85 14.53 14.85
16180 528.7 11.4 645 16194 done 0.73 0.12 0.233 3134 -300.0 2.45 0.060 2258 573.1 252.8 - - 2026 - - - - - - - - 14.38 14.54 14.62
16521 495.1 9.8 658 16534 roll 0.73 - - 3134 - 2.58 0.106 3654 541.1 252.8 - - 2026 - - - - - - - - 14.86 14.47 14.86
16581 488.6 11.1 666 16595 done 0.73 - - 3142 - 2.40 0.043 2241 -588.8 252.8 - - 2030 - - - - - - - - 14.64 14.64 14.66
16922 454.9 9.8 679 16935 roll 0.73 - - 3154 - 2.40 0.069 854 -577.9 252.8 - - 2026 - - - - - - - - 14.88 14.49 14.88
16974 449.7 9.9 686 16988 done 0.73 - - 3153 - 2.42 0.060 2245 574.8 252.8 - - 2026 - - - - - - - - 14.67 14.53 14.70
17319 414.4 10.4 693 17332 roll 0.73 - - 3153 - 2.60 0.105 3660 544.2 252.8 - - 2026 - - - - - - - - 14.88 14.45 14.88
17344 411.5 10.6 696 17357 done 0.73 - - 3164 - 2.40 0.043 2242 -590.8 252.8 - - 2026 - - - - - - - - 14.71 14.62 14.73
17664 375.4 11.3 706 17677 roll 0.73 0.08 0.274 3147 -212.5 2.40 0.064 853 -578.8 252.8 - - 2026 - - - - - - - - 14.31 14.52 14.47
17724 369.0 10.2 714 17738 done 0.73 - - 3147 - 2.42 0.057 2252 578.1 252.8 - - 2026 - - - - - - - - 14.68 14.57 14.70
18065 333.8 10.4 727 18078 roll 0.73 - - 3147 - 2.58 0.102 3657 544.6 252.8 - - 2026 - - - - - - - - 14.87 14.46 14.87
18117 327.7 11.8 734 18131 done 0.73 - - 3157 - 2.42 0.042 2233 -588.4 252.8 - - 2026 - - - - - - - - 14.70 14.61 14.72
18462 290.0 11.0 741 18475 done 0.73 - - 3158 - - - 2230 - 252.8 - - 2026 - - - - - - - - 14.89 14.89 14.89
18797 253.2 11.0 747 18811 roll 0.73 - - 3168 - 2.38 0.067 858 -576.5 252.8 - - 2026 - - - - - - - - 14.89 14.51 14.88
18829 249.7 10.6 751 18842 done 0.73 0.10 0.234 3139 -290.0 2.40 0.058 2248 579.2 252.8 - - 2026 - - - - - - - - 14.38 14.54 14.62
19198 214.2 9.5 761 19211 done 0.73 - - 3138 - - - 2248 - 252.8 - - 2023 - - - - - - - - 14.88 14.88 14.88
19534 182.5 9.5 767 19547 done 0.73 - - 3138 - - - 2248 - 252.8 - - 2024 - - - - - - - - 14.88 14.88 14.88
19870 150.8 9.4 773 19883 done 0.73 - - 3138 - - - 2248 - 252.8 - - 2026 - - - - - - - - 14.88 14.89 14.88
20206 121.5 8.6 779 20219 roll 0.73 - - 3135 - 2.60 0.102 3661 543.5 252.8 - - 2027 - - - - - - - - 14.90 14.45 14.90
20237 118.8 8.5 783 20251 done 0.73 - - 3148 - 2.40 0.042 2237 -593.3 252.8 - - 2027 - - - - - - - - 14.71 14.63 14.73
20578 92.1 7.2 794 20595 roll 0.74 - - 3158 - 2.42 0.067 858 -569.8 263.7 3.42 0.393 2004 -6.7 0.301 - - - - - - 14.88 14.51 14.14
20649 86.8 8.1 804 20663 done 0.74 - - 3158 - 2.38 0.055 2243 581.9 263.7 1.20 0.265 2001 -2.5 0.157 - - - - - - 14.69 14.56 14.36
20976 72.6 4.7 817 21022 roll 0.82 - - 3157 - 2.58 0.100 3659 548.8 329.3 32.75 0.392 1740 -8.0 0.282 - - - - - - 14.87 14.54 14.28
21026 70.1 5.0 824 21069 done 0.99 0.10 0.117 3231 740.0 2.42 0.041 2220 -594.6 389.6 29.50 0.385 1498 -8.2 0.286 - - - - - - 14.59 14.62 14.28
21372 43.7 5.9 840 21403 roll 1.12 - - 3241 - 2.38 0.066 866 -568.9 429.9 19.70 0.301 1338 -8.1 0.225 - - - - - - 14.80 14.49 14.28
21501 37.5 4.3 858 21554 done 1.37 0.25 0.070 3360 476.0 2.38 0.054 2257 584.5 505.1 36.65 0.279 1039 -8.2 0.210 - - - - - - 14.58 14.49 14.28
21823 end climb: SURFACE_DEPTH_REACHED
21823 begin surface coast
21852 end surface coast: CONTROL_FINISHED_OK
21852 begin surface
SM -0.87 - - - - -8.39 8.98 0.044 185 20.6 0.93 0.103 2756 -9326.9 505.16 - - 1038 - - - - - - - -