SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 103 * Raw log
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• Previous call tries 1 • 43.89 of 350.00 AH used of 24V (87.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -1.53 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 500.14, SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 6 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 97 done -0.90 - - 161 - - - 2782 - -116.8 -76.32 - 3516 - - - - - - - - 14.71 13.43 14.70
99 0.1 -5.1 2 120 roll -0.90 11.45 0.396 2599 212.9 2.35 0.034 1360 -605.1 -116.8 - - 3518 - - - - - - - - 14.26 14.52 14.54
153 30.6 -29.1 11 161 done -0.53 0.47 0.259 2718 253.2 2.50 0.073 2756 558.4 -116.8 - - 3523 - - - - - - - - 14.35 14.47 14.50
482 80.0 -9.6 25 491 roll -0.53 - - 2710 - 1.98 0.111 3820 537.4 -116.8 - - 3521 - - - - - - - - 14.83 14.51 14.83
713 96.9 -7.1 58 720 done -0.53 - - 2710 - 1.77 0.040 2741 -609.6 -116.8 - - 3521 - - - - - - - - 14.73 14.69 14.74
1070 123.2 -7.2 68 1078 roll -0.53 - - 2701 - 2.03 0.109 3825 534.0 -116.8 - - 3522 - - - - - - - - 14.90 14.59 14.90
1174 131.6 -8.1 83 1184 done -0.53 - - 2701 - 1.73 0.042 2780 -604.0 -116.8 - - 3524 - - - - - - - - 14.79 14.75 14.80
1519 157.8 -7.7 90 1526 roll -0.53 - - 2701 - 2.33 0.045 1395 -594.4 -116.8 - - 3520 - - - - - - - - 14.92 14.69 14.92
1602 164.4 -7.6 102 1610 done -0.53 0.10 0.211 2723 220.0 2.42 0.070 2773 569.4 -116.8 - - 3520 - - - - - - - - 14.58 14.66 14.70
1967 189.6 -6.9 112 1969 done -0.61 - - 2723 - - - 2774 - -116.8 - - 3517 - - - - - - - - 14.93 14.94 14.93
2303 214.4 -7.5 118 2310 roll -0.70 0.10 0.119 2643 -800.0 2.33 0.046 1399 -590.1 -116.8 - - 3513 - - - - - - - - 14.76 14.69 14.81
2379 222.3 -10.7 129 2388 done -0.70 0.10 0.219 2665 220.0 2.42 0.073 2769 566.1 -116.8 - - 3514 - - - - - - - - 14.62 14.66 14.71
2697 254.2 -10.1 139 2713 roll -0.70 - - 2657 - 1.92 0.117 3826 550.5 -116.8 - - 3511 - - - - - - - - 14.95 14.65 14.95
2760 261.0 -10.4 147 2773 done -0.70 - - 2657 - 1.70 0.047 2786 -611.8 -116.8 - - 3510 - - - - - - - - 14.83 14.78 14.84
3100 293.6 -9.4 160 3113 roll -0.70 - - 2657 - 2.35 0.047 1362 -606.0 -116.8 - - 3507 - - - - - - - - 14.98 14.75 14.98
3173 300.3 -8.8 170 3186 done -0.70 - - 2647 - 2.45 0.072 2780 578.8 -116.8 - - 3507 - - - - - - - - 14.83 14.71 14.85
3499 329.8 -9.0 181 3512 roll -0.70 0.08 0.270 2667 250.0 1.88 0.112 3822 554.3 -116.8 - - 3504 - - - - - - - - 14.61 14.69 14.76
3551 334.3 -8.1 188 3565 done -0.70 - - 2667 - 1.73 0.048 2775 -605.2 -116.8 - - 3504 - - - - - - - - 14.88 14.81 14.87
3896 361.4 -7.9 195 3909 roll -0.70 - - 2662 - 1.92 0.116 3822 545.3 -116.8 - - 3502 - - - - - - - - 15.00 14.69 15.01
3927 364.1 -8.3 199 3940 done -0.70 - - 2658 - 1.73 0.047 2759 -614.5 -116.8 - - 3501 - - - - - - - - 14.88 14.83 14.90
4295 395.4 -8.7 209 4308 roll -0.70 - - 2659 - 2.30 0.046 1366 -605.7 -116.8 - - 3499 - - - - - - - - 15.01 14.76 15.00
4326 398.4 -9.2 213 4340 done -0.70 - - 2649 - 2.45 0.073 2783 578.4 -116.8 - - 3500 - - - - - - - - 14.85 14.73 14.88
4695 433.1 -9.5 223 4708 roll -0.70 - - 2637 - 1.90 0.118 3824 547.9 -116.8 - - 3497 - - - - - - - - 15.01 14.69 15.01
4747 438.4 -10.2 230 4761 done -0.70 0.08 0.218 2662 312.5 1.75 0.049 2789 -591.4 -116.8 - - 3496 - - - - - - - - 14.61 14.80 14.76
5091 469.0 -8.8 237 5105 roll -0.70 - - 2664 - 2.38 0.047 1356 -602.1 -116.8 - - 3494 - - - - - - - - 15.00 14.77 15.00
5172 476.1 -8.6 248 5185 done -0.70 - - 2653 - 2.47 0.073 2780 576.5 -116.8 - - 3494 - - - - - - - - 14.85 14.73 14.88
5491 504.7 -8.9 258 5504 roll -0.70 - - 2654 - 2.38 0.046 1357 -597.9 -116.8 - - 3493 - - - - - - - - 15.00 14.77 15.00
5515 507.0 -9.0 261 5529 done -0.70 0.10 0.248 2673 190.0 2.45 0.073 2769 576.3 -116.8 - - 3492 - - - - - - - - 14.62 14.71 14.81
5835 532.8 -8.0 271 5848 roll -0.70 - - 2665 - 1.92 0.119 3827 551.0 -116.8 - - 3490 - - - - - - - - 15.00 14.68 15.00
5880 536.5 -8.4 277 5894 done -0.70 - - 2665 - 1.77 0.048 2738 -615.3 -116.8 - - 3490 - - - - - - - - 14.88 14.83 14.89
6235 564.8 -8.0 285 6248 roll -0.70 - - 2656 - 2.03 0.118 3833 539.4 -116.8 - - 3488 - - - - - - - - 15.00 14.67 15.00
6266 567.4 -8.1 289 6280 done -0.70 - - 2656 - 1.75 0.050 2766 -609.7 -116.8 - - 3488 - - - - - - - - 14.87 14.81 14.88
6635 597.5 -8.2 299 6648 roll -0.70 - - 2657 - 2.33 0.048 1370 -599.1 -116.8 - - 3484 - - - - - - - - 15.00 14.75 15.00
6687 601.9 -8.2 306 6701 done -0.70 - - 2644 - 2.45 0.073 2772 572.2 -116.8 - - 3486 - - - - - - - - 14.84 14.70 14.85
7031 631.1 -8.6 313 7044 done -0.70 - - 2647 - - - 2771 - -116.8 - - 3484 - - - - - - - - 14.99 14.98 14.99
7367 660.3 -8.7 319 7380 done -0.70 - - 2648 - - - 2771 - -116.8 - - 3482 - - - - - - - - 14.99 14.99 14.99
7703 689.1 -8.6 325 7716 roll -0.70 - - 2638 - 1.95 0.120 3831 543.6 -116.8 - - 3482 - - - - - - - - 14.99 14.66 14.99
7763 694.8 -9.5 333 7777 done -0.70 0.10 0.241 2668 300.0 1.77 0.050 2760 -605.1 -116.8 - - 3482 - - - - - - - - 14.58 14.81 14.77
8104 722.3 -8.1 346 8117 roll -0.70 - - 2668 - 2.33 0.048 1367 -597.9 -116.8 - - 3480 - - - - - - - - 14.98 14.72 14.97
8142 725.5 -8.7 351 8155 done -0.70 - - 2659 - 2.45 0.073 2773 573.9 -116.8 - - 3479 - - - - - - - - 14.83 14.69 14.85
8503 754.6 -8.0 360 8516 done -0.70 - - 2659 - - - 2773 - -116.8 - - 3480 - - - - - - - - 14.98 14.98 14.98
8839 780.8 -7.8 366 8852 done -0.70 - - 2659 - - - 2773 - -116.8 - - 3478 - - - - - - - - 14.97 14.98 14.97
9175 806.1 -7.5 372 9188 roll -0.70 - - 2659 - 2.38 0.049 1375 -587.4 -116.8 - - 3477 - - - - - - - - 14.99 14.73 14.98
9220 809.6 -7.9 378 9233 done -0.70 - - 2651 - 2.45 0.076 2767 568.2 -116.8 - - 3477 - - - - - - - - 14.82 14.66 14.84
9574 837.1 -8.0 386 9587 roll -0.70 - - 2643 - 1.95 0.122 3825 542.6 -116.8 - - 3476 - - - - - - - - 14.97 14.60 14.97
9613 840.1 -7.9 391 9626 done -0.70 0.10 0.240 2672 290.0 1.75 0.052 2773 -601.1 -116.8 - - 3476 - - - - - - - - 14.56 14.78 14.76
9974 865.0 -6.7 400 9987 roll -0.70 - - 2669 - 2.35 0.048 1369 -597.4 -116.8 - - 3475 - - - - - - - - 14.97 14.71 14.97
10020 868.1 -5.3 406 10033 done -0.70 - - 2664 - 2.45 0.074 2766 570.2 -116.8 - - 3474 - - - - - - - - 14.80 14.65 14.82
10374 892.2 -6.7 414 10387 done -0.70 - - 2664 - - - 2766 - -116.8 - - 3474 - - - - - - - - 14.97 14.97 14.97
10710 915.2 -6.9 420 10723 done -0.70 - - 2664 - - - 2766 - -116.8 - - 3473 - - - - - - - - 14.97 14.97 14.97
10932 end dive: TARGET_DEPTH_EXCEEDED
10932 begin apogee
10937 930.5 -6.8 424 11060 roll -0.23 0.52 0.185 2822 303.8 - - 2233 - - 113.53 1.974 3050 -3.7 0.332 - - - - - - 14.54 14.07 13.40
11061 end apogee: CONTROL_FINISHED_OK
11062 begin climb
11063 934.0 - 426 11205 roll 0.90 1.10 0.113 3169 315.5 2.45 0.059 859 -560.8 116.8 121.65 1.915 2578 -3.9 0.358 - - - - - - 14.08 14.10 13.28
11209 928.0 8.8 449 11224 done 0.68 0.17 0.243 3124 -264.7 2.53 0.057 2263 554.9 116.8 - - 2574 - - - - - - - - 13.91 14.00 14.07
11553 901.3 7.8 456 11566 roll 0.68 - - 3123 - 2.55 0.106 3659 547.5 116.8 - - 2570 - - - - - - - - 14.66 14.37 14.67
11613 896.1 8.9 464 11627 done 0.55 0.17 0.242 3083 -235.3 2.40 0.044 2247 -588.3 116.8 - - 2570 - - - - - - - - 14.32 14.50 14.53
11954 873.7 6.5 477 11998 roll 0.58 - - 3083 - 2.72 0.107 3657 518.4 144.5 28.38 1.974 2466 -3.7 0.307 - - - - - - 14.80 14.31 13.71
12010 869.8 8.7 485 12024 done 0.58 - - 3093 - 2.42 0.045 2246 -583.1 144.5 - - 2465 - - - - - - - - 14.47 14.41 14.49
12351 844.2 7.6 498 12364 done 0.59 - - 3093 - - - 2244 - 148.6 - - 2460 - - - - - - - - 14.81 14.77 14.77
12687 817.7 7.9 504 12700 done 0.59 - - 3093 - - - 2244 - 148.6 - - 2462 - - - - - - - - 14.84 14.84 14.84
13023 791.0 8.0 510 13036 roll 0.59 - - 3093 - 2.62 0.108 3657 539.3 148.6 - - 2461 - - - - - - - - 14.88 14.57 14.88
13075 786.5 9.1 517 13090 done 0.59 - - 3103 - 2.38 0.047 2254 -589.5 148.6 - - 2461 - - - - - - - - 14.75 14.68 14.76
13419 758.1 8.2 524 13432 roll 0.59 - - 3113 - 2.40 0.065 864 -579.2 148.6 - - 2460 - - - - - - - - 14.90 14.64 14.90
13457 754.9 7.4 529 13476 done 0.60 - - 3113 - 2.35 0.060 2254 591.5 155.5 5.45 2.062 2430 -5.5 0.381 - - - - - - 14.69 14.63 13.85
13817 725.9 8.1 538 13831 roll 0.60 - - 3113 - 2.55 0.107 3653 548.6 155.5 1.27 0.291 2432 - - - - - - - - 14.88 14.59 14.41
13863 721.8 9.1 544 13876 done 0.52 0.20 0.230 3067 -230.0 2.35 0.045 2251 -596.6 155.5 - - 2439 - - - - - - - - 14.51 14.69 14.71
14217 700.6 5.8 552 14279 done 0.57 - - 3067 - - - 2253 - 198.2 53.12 1.771 2261 -3.4 0.251 - - - - - - 14.90 14.33 13.74
14610 677.3 6.0 559 14665 roll 0.70 0.08 0.149 3126 737.5 2.75 0.108 3655 509.8 236.5 42.50 1.743 2101 -3.8 0.277 - - - - - - 14.52 14.19 13.68
14705 669.0 10.2 572 14718 done 0.70 - - 3135 - 2.42 0.046 2254 -578.9 236.5 - - 2096 - - - - - - - - 14.41 14.35 14.42
15059 635.4 9.6 580 15072 done 0.70 - - 3135 - - - 2249 - 236.5 - - 2092 - - - - - - - - 14.73 14.74 14.78
15395 602.6 9.9 586 15408 roll 0.70 - - 3146 - 2.40 0.067 856 -580.4 236.5 - - 2091 - - - - - - - - 14.82 14.58 14.82
15426 599.2 10.1 590 15440 done 0.70 - - 3146 - 2.42 0.062 2259 579.8 236.5 - - 2091 - - - - - - - - 14.69 14.58 14.71
15795 558.4 11.2 600 15808 done 0.70 - - 3144 - - - 2259 - 236.5 - - 2090 - - - - - - - - 14.85 14.87 14.84
16131 521.1 11.0 606 16143 done 0.70 - - 3146 - - - 2259 - 236.5 - - 2090 - - - - - - - - 14.89 14.89 14.89
16467 485.9 10.4 612 16480 done 0.70 - - 3147 - - - 2260 - 236.5 - - 2090 - - - - - - - - 14.91 14.92 14.92
16803 452.1 10.0 618 16816 roll 0.70 - - 3156 - 2.42 0.067 856 -580.2 236.5 - - 2090 - - - - - - - - 14.92 14.66 14.92
16848 447.5 9.8 624 16861 done 0.70 - - 3156 - 2.40 0.061 2254 582.5 236.5 - - 2089 - - - - - - - - 14.78 14.67 14.80
17202 411.2 10.3 632 17216 roll 0.70 0.08 0.269 3128 -350.0 2.53 0.103 3655 553.8 236.5 - - 2089 - - - - - - - - 14.55 14.61 14.69
17248 406.3 10.6 638 17261 done 0.70 - - 3138 - 2.35 0.045 2251 -597.4 236.5 - - 2088 - - - - - - - - 14.79 14.71 14.81
17602 372.8 9.4 646 17615 roll 0.70 - - 3149 - 2.38 0.067 853 -587.4 236.5 - - 2090 - - - - - - - - 14.92 14.67 14.93
17647 368.4 9.6 652 17660 done 0.70 - - 3149 - 2.40 0.060 2263 587.5 236.5 - - 2089 - - - - - - - - 14.77 14.66 14.79
18001 333.7 9.8 660 18014 roll 0.70 - - 3149 - 2.53 0.109 3657 551.0 236.5 - - 2089 - - - - - - - - 14.93 14.62 14.93
18046 328.8 11.2 666 18060 done 0.70 0.10 0.256 3131 -180.0 2.35 0.044 2247 -600.0 236.5 - - 2087 - - - - - - - - 14.54 14.73 14.76
18401 296.2 9.0 674 18414 roll 0.70 - - 3141 - 2.35 0.065 858 -591.1 236.5 - - 2089 - - - - - - - - 14.93 14.68 14.93
18439 292.7 8.8 679 18452 done 0.70 - - 3141 - 2.38 0.060 2260 589.1 236.5 - - 2088 - - - - - - - - 14.80 14.68 14.84
18800 259.7 9.2 688 18813 done 0.70 - - 3141 - - - 2260 - 236.5 - - 2089 - - - - - - - - 14.94 14.95 14.95
19136 228.6 9.4 694 19149 done 0.70 - - 3141 - - - 2260 - 236.5 - - 2089 - - - - - - - - 14.95 14.95 14.95
19472 196.8 9.4 700 19485 roll 0.70 - - 3151 - 2.40 0.066 857 -584.6 236.5 - - 2089 - - - - - - - - 14.95 14.68 14.95
19533 191.2 9.3 708 19546 done 0.70 - - 3151 - 2.38 0.060 2252 586.1 236.5 - - 2088 - - - - - - - - 14.79 14.67 14.82
19873 160.0 9.1 721 19886 roll 0.70 - - 3151 - 2.53 0.107 3655 554.5 236.5 - - 2090 - - - - - - - - 14.95 14.63 14.95
19933 153.9 10.4 729 19946 done 0.70 0.12 0.246 3125 -216.7 2.35 0.044 2248 -598.7 236.5 - - 2090 - - - - - - - - 14.54 14.73 14.76
20273 127.4 7.8 742 20286 roll 0.70 - - 3135 - 2.35 0.063 852 -594.0 236.5 - - 2090 - - - - - - - - 14.95 14.68 14.95
20305 124.9 7.7 746 20318 done 0.70 - - 3135 - 2.38 0.057 2261 592.0 237.2 - - 2091 - - - - - - - - 14.81 14.69 14.83
20673 96.1 7.9 756 20686 roll 0.70 - - 3135 - 2.50 0.106 3652 556.4 237.2 - - 2091 - - - - - - - - 14.95 14.62 14.93
20761 89.3 7.4 768 20779 done 0.71 - - 3145 - 2.33 0.044 2248 -602.6 244.8 2.15 0.323 2075 -7.4 0.389 - - - - - - 14.81 14.75 14.28
21100 70.8 4.7 783 21145 roll 0.87 0.05 0.205 3205 1200.0 2.35 0.063 867 -587.7 310.2 31.58 0.385 1814 -8.3 0.287 - - - - - - 14.71 14.64 14.38
21366 58.7 3.7 821 21420 done 1.08 0.08 0.148 3267 775.0 2.35 0.054 2264 594.5 397.8 41.25 0.349 1466 -8.4 0.268 - - - - - - 14.66 14.64 14.35
21747 32.4 5.0 842 21788 roll 1.15 - - 3267 - 2.58 0.104 3652 538.0 457.9 28.42 0.266 1227 -8.4 0.194 - - - - - - 14.88 14.54 14.42
21849 26.4 6.8 856 21874 done 1.25 - - 3275 - 2.33 0.042 2246 -603.4 478.6 10.38 0.246 1144 -8.0 0.162 - - - - - - 14.71 14.64 14.41
22195 2.0 6.6 872 22209 VBD 1.41 0.15 0.093 3378 686.7 - - 2246 - 502.6 4.45 0.174 1110 -7.6 0.017 - - - - - - 14.68 - 14.71
22209 end climb: SURFACE_DEPTH_REACHED
22209 begin surface coast
22255 end surface coast: CONTROL_FINISHED_OK
22255 begin surface
SM 0.31 - - - - -8.41 9.12 0.060 182 19.9 0.93 0.086 2763 -8764.5 500.14 6.30 0.168 1058 167.9 -0.032 - - - - - -