SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 63.02 of 350.00 AH used of 24V (82.00% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.5 deg, depth -0.66 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 3 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
19 - - - 97 done -0.90 - - 169 - - - 2780 - -116.8 -74.95 - 3516 - - - - - - - - 14.66 13.21 14.66
99 1.2 -5.2 2 116 roll -0.90 11.55 0.396 2594 210.0 1.90 0.075 3833 554.2 -116.8 - - 3517 - - - - - - - - 14.21 14.44 14.49
345 83.3 -18.5 38 352 done -0.57 0.40 0.236 2705 277.5 1.77 0.036 2746 -614.1 -116.8 - - 3518 - - - - - - - - 14.30 14.58 14.47
681 112.4 -7.0 50 688 roll -0.57 - - 2697 - 2.00 0.100 3821 537.5 -116.8 - - 3520 - - - - - - - - 14.83 14.48 14.83
855 126.3 -8.6 75 863 done -0.57 - - 2697 - 1.75 0.038 2756 -608.6 -116.8 - - 3521 - - - - - - - - 14.73 14.68 14.73
1185 150.5 -8.3 87 1193 roll -0.57 - - 2689 - 2.00 0.098 3827 535.5 -116.8 - - 3521 - - - - - - - - 14.88 14.52 14.87
1268 158.2 -9.0 99 1276 done -0.57 - - 2688 - 1.75 0.040 2770 -604.0 -116.8 - - 3521 - - - - - - - - 14.73 14.67 14.73
1633 187.8 -7.8 109 1640 roll -0.57 - - 2688 - 2.33 0.042 1398 -588.8 -116.8 - - 3519 - - - - - - - - 14.88 14.61 14.88
1730 195.5 -7.7 123 1738 done -0.57 0.10 0.219 2709 210.0 2.45 0.063 2776 562.4 -116.8 - - 3518 - - - - - - - - 14.45 14.58 14.59
2081 220.1 -7.1 131 2088 roll -0.57 - - 2708 - 2.38 0.043 1391 -581.9 -116.8 - - 3515 - - - - - - - - 14.88 14.61 14.88
2143 224.6 -7.1 140 2152 done -0.57 - - 2697 - 2.45 0.064 2770 562.9 -116.8 - - 3514 - - - - - - - - 14.66 14.57 14.69
2473 248.7 -7.4 152 2481 roll -0.57 - - 2699 - 2.33 0.043 1391 -591.8 -116.8 - - 3512 - - - - - - - - 14.88 14.63 14.89
2529 252.8 -7.5 160 2543 done -0.57 - - 2690 - 2.40 0.066 2766 572.9 -116.8 - - 3511 - - - - - - - - 14.75 14.62 14.77
2870 279.1 -7.8 173 2883 done -0.57 - - 2690 - - - 2763 - -116.8 - - 3509 - - - - - - - - 14.94 14.94 14.94
3206 304.4 -7.5 179 3219 done -0.57 - - 2690 - - - 2765 - -116.8 - - 3506 - - - - - - - - 14.95 14.95 14.95
3542 330.2 -7.7 185 3555 roll -0.57 - - 2690 - 2.33 0.045 1392 -589.3 -116.8 - - 3504 - - - - - - - - 14.97 14.70 14.98
3603 334.9 -7.6 193 3616 done -0.57 0.10 0.246 2709 190.0 2.42 0.067 2764 566.9 -116.8 - - 3503 - - - - - - - - 14.50 14.64 14.75
3945 362.8 -9.3 206 3958 done -0.65 - - 2712 - - - 2764 - -116.8 - - 3501 - - - - - - - - 14.95 14.95 14.95
4280 388.3 -7.6 212 4293 roll -0.73 0.08 0.148 2637 -937.5 2.33 0.043 1385 -591.8 -116.8 - - 3499 - - - - - - - - 14.73 14.69 14.77
4332 393.7 -10.2 219 4347 done -0.73 0.12 0.243 2664 225.0 2.42 0.068 2768 571.5 -116.8 - - 3499 - - - - - - - - 14.49 14.64 14.71
4676 426.4 -9.6 226 4689 done -0.73 - - 2664 - - - 2767 - -116.8 - - 3497 - - - - - - - - 14.97 14.97 14.97
5013 456.9 -8.9 232 5025 done -0.73 - - 2664 - - - 2767 - -116.8 - - 3496 - - - - - - - - 14.97 14.97 14.97
5349 483.6 -7.7 238 5362 done -0.73 - - 2664 - - - 2767 - -116.8 - - 3494 - - - - - - - - 14.97 14.97 14.97
5685 509.7 -7.7 244 5698 roll -0.73 - - 2664 - 2.35 0.047 1383 -588.9 -116.8 - - 3493 - - - - - - - - 14.97 14.68 14.97
5751 515.2 -8.1 253 5764 done -0.73 - - 2654 - 2.42 0.070 2760 569.0 -116.8 - - 3493 - - - - - - - - 14.77 14.62 14.80
6085 542.8 -8.3 265 6098 roll -0.73 - - 2646 - 1.95 0.108 3827 547.2 -116.8 - - 3491 - - - - - - - - 14.97 14.57 14.97
6151 548.6 -8.6 274 6164 done -0.73 - - 2646 - 1.73 0.045 2775 -608.1 -116.8 - - 3490 - - - - - - - - 14.81 14.76 14.82
6485 577.0 -8.5 286 6498 roll -0.73 - - 2645 - 2.35 0.046 1375 -595.7 -116.8 - - 3489 - - - - - - - - 14.97 14.66 14.96
6593 586.7 -8.7 301 6607 done -0.73 - - 2637 - 2.45 0.068 2760 565.3 -116.8 - - 3488 - - - - - - - - 14.76 14.60 14.75
6937 618.4 -9.4 308 6950 done -0.73 0.10 0.257 2663 260.0 - - 2762 - -116.8 - - 3487 - - - - - - - - 14.46 14.74 14.69
7273 646.0 -8.2 314 7287 roll -0.73 - - 2664 - 2.35 0.047 1376 -589.8 -116.8 - - 3486 - - - - - - - - 14.95 14.66 14.97
7305 648.7 -8.1 318 7318 done -0.73 - - 2656 - 2.45 0.070 2762 565.7 -116.8 - - 3486 - - - - - - - - 14.75 14.61 14.78
7673 677.5 -7.8 328 7686 done -0.73 - - 2656 - - - 2762 - -116.8 - - 3484 - - - - - - - - 14.95 14.95 14.95
8010 701.8 -7.1 334 8023 done -0.73 - - 2656 - - - 2762 - -116.8 - - 3482 - - - - - - - - 14.94 14.94 14.94
8345 726.4 -7.3 340 8359 roll -0.73 - - 2656 - 2.38 0.047 1373 -583.6 -116.8 - - 3482 - - - - - - - - 14.94 14.64 14.95
8391 730.0 -7.7 346 8405 done -0.73 - - 2649 - 2.45 0.071 2759 565.7 -116.8 - - 3481 - - - - - - - - 14.78 14.58 14.76
8746 757.7 -7.9 354 8759 roll -0.73 - - 2639 - 1.98 0.110 3828 539.9 -116.8 - - 3480 - - - - - - - - 14.94 14.52 14.94
8833 764.8 -8.1 366 8846 done -0.73 - - 2639 - 1.77 0.046 2750 -609.0 -116.8 - - 3480 - - - - - - - - 14.77 14.71 14.79
9202 793.1 -7.6 376 9215 roll -0.73 - - 2639 - 2.33 0.047 1373 -591.0 -116.8 - - 3479 - - - - - - - - 14.95 14.66 14.95
9269 798.5 -8.0 385 9282 done -0.73 0.12 0.253 2665 216.7 2.45 0.070 2765 568.2 -116.8 - - 3478 - - - - - - - - 14.38 14.55 14.64
9603 820.6 -6.7 397 9616 done -0.73 - - 2665 - - - 2764 - -116.8 - - 3477 - - - - - - - - 14.94 14.95 14.94
9939 844.0 -7.0 403 9952 roll -0.73 - - 2666 - 2.38 0.047 1372 -584.9 -116.8 - - 3478 - - - - - - - - 14.92 14.62 14.93
9984 847.4 -6.2 409 9998 done -0.73 - - 2657 - 2.45 0.072 2766 569.0 -116.8 - - 3477 - - - - - - - - 14.72 14.56 14.75
10339 875.2 -8.0 417 10353 roll -0.73 - - 2657 - 2.38 0.047 1369 -587.0 -116.8 - - 3480 - - - - - - - - 14.93 14.61 14.93
10406 880.7 -8.2 426 10419 done -0.73 - - 2649 - 2.47 0.073 2755 561.1 -116.8 - - 3475 - - - - - - - - 14.71 14.54 14.74
10740 909.0 -8.6 438 10753 roll -0.73 - - 2641 - 2.00 0.114 3830 537.5 -116.8 - - 3475 - - - - - - - - 14.91 14.47 14.92
10806 915.0 -7.2 447 10820 done -0.73 - - 2640 - 1.80 0.047 2750 -600.0 -116.8 - - 3474 - - - - - - - - 14.76 14.70 14.77
11026 end dive: TARGET_DEPTH_EXCEEDED
11026 begin apogee
11031 934.7 -9.0 457 11158 roll -0.23 0.62 0.194 2822 293.5 - - 2229 - - 117.43 1.958 3049 -3.6 0.329 - - - - - - 14.39 14.04 13.32
11160 end apogee: CONTROL_FINISHED_OK
11160 begin climb
11162 940.0 - 459 11300 done 0.90 1.10 0.122 3171 317.3 - - 2229 - 116.8 122.57 1.936 2580 -3.8 0.354 - - - - - - 14.04 14.26 13.19
11648 906.5 8.8 489 11662 roll 0.74 0.08 0.286 3146 -312.5 2.70 0.096 3661 530.4 116.8 - - 2570 - - - - - - - - 14.16 14.31 14.32
11694 902.2 9.5 495 11708 done 0.56 0.28 0.239 3082 -228.6 2.42 0.041 2241 -586.8 116.8 - - 2570 - - - - - - - - 14.20 14.45 14.45
12049 879.0 6.5 503 12087 done 0.60 - - 3083 - - - 2236 - 144.1 28.73 1.936 2480 -3.1 0.271 - - - - - - 14.76 14.40 13.69
12385 854.3 7.7 509 12399 roll 0.60 - - 3092 - 2.40 0.064 864 -571.7 146.3 - - 2465 - - - - - - - - 14.72 14.45 14.72
12424 851.1 9.9 514 12437 done 0.60 - - 3092 - 2.42 0.058 2257 575.6 146.3 - - 2463 - - - - - - - - 14.58 14.46 14.59
12786 821.0 8.5 523 12799 roll 0.60 - - 3092 - 2.60 0.105 3661 540.0 146.3 - - 2464 - - - - - - - - 14.80 14.45 14.80
12866 813.7 8.4 534 12880 done 0.60 - - 3102 - 2.38 0.042 2246 -594.5 146.3 - - 2464 - - - - - - - - 14.67 14.57 14.69
13186 786.1 8.6 544 13199 done 0.60 - - 3102 - - - 2242 - 146.3 - - 2462 - - - - - - - - 14.83 14.83 14.83
13522 758.9 7.9 550 13535 roll 0.60 - - 3102 - 2.65 0.105 3651 531.7 146.3 - - 2462 - - - - - - - - 14.85 14.48 14.86
13554 756.2 8.2 554 13567 done 0.60 - - 3112 - 2.35 0.044 2258 -592.8 146.3 - - 2463 - - - - - - - - 14.71 14.63 14.72
13922 729.2 7.1 564 13954 roll 0.62 - - 3113 - 2.65 0.105 3652 526.0 159.9 16.55 1.946 2405 -3.5 0.250 - - - - - - 14.87 14.53 13.90
13986 724.3 8.3 573 14000 done 0.54 0.17 0.236 3075 -223.5 2.38 0.043 2253 -587.8 159.9 - - 2402 - - - - - - - - 14.38 14.57 14.62
14322 704.2 6.0 585 14373 done 0.58 - - 3074 - - - 2249 - 198.3 42.12 1.790 2259 -3.4 0.254 - - - - - - 14.79 14.33 13.69
14706 678.1 7.0 598 14737 roll 0.60 - - 3075 - 2.67 0.104 3657 527.3 214.9 17.62 1.892 2187 -4.1 0.279 - - - - - - 14.69 14.34 13.74
14776 672.5 8.2 608 14790 done 0.60 - - 3083 - 2.42 0.043 2244 -583.9 214.9 - - 2183 - - - - - - - - 14.50 14.42 14.51
15103 647.8 7.6 619 15116 roll 0.61 - - 3083 - 2.67 0.103 3655 528.5 217.7 - - 2180 - - - - - - - - 14.74 14.42 14.74
15135 645.1 8.0 623 15148 done 0.61 - - 3092 - 2.38 0.044 2259 -586.6 217.7 - - 2184 - - - - - - - - 14.62 14.53 14.62
15503 615.2 8.1 633 15516 done 0.61 - - 3093 - - - 2252 - 217.7 - - 2180 - - - - - - - - 14.81 14.82 14.81
15839 588.3 7.9 639 15852 roll 0.61 - - 3093 - 2.62 0.104 3661 537.8 217.7 - - 2179 - - - - - - - - 14.84 14.48 14.85
15885 584.4 8.8 645 15898 done 0.61 - - 3102 - 2.38 0.044 2258 -589.5 217.7 - - 2179 - - - - - - - - 14.70 14.62 14.71
16239 556.1 7.9 653 16252 done 0.61 - - 3102 - - - 2255 - 217.7 - - 2178 - - - - - - - - 14.85 14.85 14.85
16576 529.2 8.0 659 16589 roll 0.61 - - 3102 - 2.60 0.104 3650 536.5 217.7 - - 2179 - - - - - - - - 14.86 14.50 14.87
16614 525.7 9.2 664 16628 done 0.61 - - 3111 - 2.35 0.043 2258 -592.3 217.7 - - 2179 - - - - - - - - 14.72 14.64 14.73
16976 494.7 8.5 673 16989 done 0.61 - - 3112 - - - 2253 - 217.7 - - 2179 - - - - - - - - 14.89 14.89 14.89
17313 466.6 8.3 679 17326 done 0.61 - - 3112 - - - 2253 - 217.7 - - 2179 - - - - - - - - 14.90 14.90 14.90
17648 440.2 7.7 685 17661 roll 0.61 - - 3112 - 2.62 0.103 3660 537.0 219.0 - - 2179 - - - - - - - - 14.89 14.50 14.89
17701 435.7 8.7 692 17716 done 0.61 - - 3121 - 2.38 0.043 2260 -588.2 219.0 - - 2179 - - - - - - - - 14.73 14.65 14.74
18045 409.3 7.7 699 18058 roll 0.61 - - 3131 - 2.42 0.066 854 -581.0 220.4 - - 2179 - - - - - - - - 14.90 14.56 14.90
18076 406.7 7.7 703 18090 done 0.61 0.10 0.221 3101 -300.0 2.42 0.059 2269 584.7 222.1 1.62 0.265 2165 -8.6 2.526 - - - - - - 14.44 14.57 14.12
18440 378.7 7.9 712 18454 roll 0.61 - - 3100 - 2.53 0.101 3665 551.8 222.1 1.30 0.264 2168 2.3 -0.630 - - - - - - 14.88 14.50 14.32
18514 371.9 9.0 722 18528 done 0.61 - - 3109 - 2.33 0.042 2265 -600.9 222.1 1.23 0.269 2166 - - - - - - - - 14.73 14.66 14.35
18841 345.0 8.2 733 18854 roll 0.61 - - 3120 - 2.47 0.063 859 -569.2 222.1 1.52 0.274 2166 - - - - - - - - 14.90 14.57 14.13
18880 341.7 8.1 738 18893 done 0.61 - - 3120 - 2.42 0.058 2277 586.0 222.1 1.30 0.287 2165 - - - - - - - - 14.71 14.57 14.23
19242 312.6 8.0 747 19255 roll 0.61 - - 3120 - 2.53 0.105 3657 545.5 222.1 - - 2175 - - - - - - - - 14.89 14.50 14.89
19273 309.8 8.8 751 19287 done 0.61 0.10 0.248 3100 -200.0 2.33 0.042 2266 -597.0 222.1 1.40 0.247 2166 -6.4 1.536 - - - - - - 14.42 14.66 14.29
19644 282.9 7.3 761 19669 done 0.62 - - 3101 - - - 2264 - 232.6 16.08 1.471 2126 -2.5 0.091 - - - - - - 14.90 14.64 14.09
19979 257.5 7.6 767 19992 roll 0.63 - - 3100 - 2.60 0.101 3660 536.9 236.1 - - 2114 - - - - - - - - 14.83 14.46 14.83
20024 253.5 8.9 773 20037 done 0.63 - - 3108 - 2.35 0.043 2264 -594.0 236.1 - - 2113 - - - - - - - - 14.69 14.61 14.70
20379 225.2 8.0 781 20392 roll 0.63 - - 3119 - 2.42 0.064 859 -580.6 236.1 - - 2113 - - - - - - - - 14.85 14.54 14.86
20417 222.0 8.0 786 20430 done 0.63 - - 3119 - 2.42 0.057 2272 583.9 236.1 - - 2114 - - - - - - - - 14.68 14.54 14.70
20779 193.4 7.9 795 20792 roll 0.63 - - 3118 - 2.55 0.104 3660 544.3 236.1 - - 2114 - - - - - - - - 14.86 14.47 14.87
20817 190.1 8.7 800 20831 done 0.63 - - 3127 - 2.35 0.042 2259 -596.2 236.1 - - 2113 - - - - - - - - 14.71 14.64 14.73
21179 160.5 8.4 809 21193 roll 0.63 - - 3138 - 2.42 0.065 855 -580.2 236.1 - - 2114 - - - - - - - - 14.87 14.54 14.88
21253 154.3 8.3 819 21266 done 0.63 0.10 0.219 3108 -300.0 2.42 0.058 2273 586.0 236.1 - - 2114 - - - - - - - - 14.43 14.57 14.64
21581 130.8 7.1 830 21612 roll 0.72 - - 3106 - 2.53 0.102 3656 546.6 249.8 17.17 1.284 2043 -4.1 0.080 - - - - - - 14.92 14.57 14.12
21679 122.7 8.4 844 21692 done 0.72 - - 3115 - 2.33 0.041 2266 -596.6 249.8 - - 2044 - - - - - - - - 14.67 14.59 14.69
22034 98.1 6.8 852 22058 roll 0.84 0.10 0.125 3191 760.0 2.62 0.100 3658 531.3 271.5 8.82 0.444 1971 -8.3 0.348 - - - - - - 14.61 14.50 14.21
22092 93.1 9.7 860 22105 done 0.84 - - 3200 - 2.33 0.042 2271 -595.3 271.5 - - 1977 - - - - - - - - 14.69 14.62 14.71
22433 70.6 5.8 875 22467 roll 0.90 - - 3201 - 2.62 0.098 3661 530.5 314.2 21.73 0.381 1800 -8.1 0.287 - - - - - - 14.85 14.52 14.28
22527 65.0 6.6 885 22554 done 0.93 - - 3208 - 2.33 0.041 2268 -597.9 339.0 12.98 0.358 1700 -7.7 0.266 - - - - - - 14.68 14.62 14.25
22858 48.5 4.3 899 22910 roll 1.11 0.08 0.152 3284 950.0 2.60 0.098 3677 541.9 414.7 37.08 0.312 1400 -8.1 0.240 - - - - - - 14.58 14.48 14.30
23068 32.9 9.4 929 23081 done 1.11 0.12 0.226 3259 -208.3 2.35 0.040 2275 -596.6 414.7 - - 1401 - - - - - - - - 14.38 14.59 14.59
23396 15.9 5.1 942 23440 roll 1.31 0.10 0.117 3348 890.0 2.50 0.066 853 -568.8 473.0 28.00 0.203 1165 -8.4 0.126 - - - - - - 14.64 14.50 14.40
23495 8.1 10.1 956 23508 done 1.31 - - 3348 - 2.40 0.053 2279 594.2 473.0 - - 1169 - - - - - - - - 14.67 14.56 14.69
23567 end climb: SURFACE_DEPTH_REACHED
23568 begin surface coast
23596 end surface coast: CONTROL_FINISHED_OK
23596 begin surface
SM -0.97 - - - - -8.38 9.05 0.059 195 21.5 0.88 0.094 2767 1973.9 500.14 12.57 0.157 1057 84.1 0.053 - - - - - -