SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 122 * Raw log
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• Previous call tries 1 • 50.44 of 350.00 AH used of 24V (85.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.4 deg, depth -0.33 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 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 - - - 95 done -0.90 - - 182 - - - 2785 - -116.8 -74.43 - 3516 - - - - - - - - 14.69 13.35 14.69
97 1.7 -7.1 2 114 roll -0.90 11.30 0.390 2601 214.1 2.38 0.031 1329 -611.8 -116.8 - - 3518 - - - - - - - - 14.25 14.53 14.52
188 45.3 -30.6 16 198 done -0.53 0.47 0.262 2717 246.8 2.55 0.073 2756 559.6 -116.8 - - 3523 - - - - - - - - 14.30 14.45 14.47
511 88.2 -7.4 29 518 roll -0.53 - - 2718 - 2.33 0.044 1364 -597.4 -116.8 - - 3521 - - - - - - - - 14.83 14.60 14.82
748 107.5 -6.5 63 756 done -0.53 - - 2709 - 2.50 0.067 2787 569.2 -116.8 - - 3522 - - - - - - - - 14.65 14.58 14.69
1071 130.4 -7.5 74 1078 roll -0.53 - - 2708 - 2.42 0.046 1338 -598.8 -116.8 - - 3522 - - - - - - - - 14.88 14.65 14.88
1127 134.4 -6.9 82 1135 done -0.53 - - 2699 - 2.53 0.070 2771 566.4 -116.8 - - 3522 - - - - - - - - 14.66 14.59 14.69
1463 158.9 -7.7 95 1471 roll -0.53 0.10 0.238 2721 220.0 1.92 0.110 3825 549.0 -116.8 - - 3521 - - - - - - - - 14.56 14.59 14.73
1519 163.0 -7.5 103 1527 done -0.53 - - 2722 - 1.75 0.042 2760 -608.6 -116.8 - - 3520 - - - - - - - - 14.75 14.73 14.76
1855 188.2 -7.6 116 1863 roll -0.60 - - 2713 - 2.00 0.110 3821 530.5 -116.8 - - 3518 - - - - - - - - 14.91 14.58 14.92
1896 191.4 -7.8 122 1904 done -0.60 - - 2713 - 1.73 0.042 2784 -599.4 -116.8 - - 3518 - - - - - - - - 14.79 14.75 14.80
2247 216.7 -7.2 130 2250 done -0.60 - - 2713 - - - 2784 - -116.8 - - 3514 - - - - - - - - 14.91 14.92 14.92
2583 239.9 -6.8 136 2591 roll -0.60 - - 2713 - 2.38 0.048 1381 -589.5 -116.8 - - 3511 - - - - - - - - 14.92 14.66 14.92
2631 243.4 -7.0 143 2641 done -0.68 - - 2704 - 2.50 0.073 2784 561.2 -116.8 - - 3511 - - - - - - - - 14.71 14.62 14.73
2975 267.9 -7.1 150 2988 roll -0.68 - - 2705 - 2.35 0.047 1386 -594.9 -116.8 - - 3509 - - - - - - - - 14.95 14.71 14.96
3020 271.3 -7.5 156 3034 done -0.68 - - 2696 - 2.45 0.074 2786 571.4 -116.8 - - 3508 - - - - - - - - 14.81 14.67 14.83
3375 298.2 -7.7 164 3388 done -0.68 - - 2695 - - - 2787 - -116.8 - - 3505 - - - - - - - - 14.97 14.97 14.95
3711 325.4 -8.2 170 3724 roll -0.68 - - 2699 - 2.35 0.049 1383 -597.4 -116.8 - - 3503 - - - - - - - - 14.99 14.74 14.98
3771 330.4 -8.2 178 3785 done -0.68 - - 2689 - 2.47 0.076 2792 570.4 -116.8 - - 3503 - - - - - - - - 14.83 14.70 14.85
4112 357.9 -8.0 191 4125 done -0.68 - - 2686 - - - 2797 - -116.8 - - 3501 - - - - - - - - 14.99 14.99 14.99
4448 383.2 -7.5 197 4461 roll -0.68 - - 2686 - 2.38 0.050 1386 -592.9 -116.8 - - 3499 - - - - - - - - 15.00 14.74 14.99
4472 385.2 -7.6 200 4486 done -0.68 - - 2674 - 2.47 0.077 2789 568.0 -116.8 - - 3499 - - - - - - - - 14.83 14.69 14.85
4792 410.2 -7.8 210 4805 roll -0.68 - - 2677 - 2.38 0.050 1388 -588.7 -116.8 - - 3497 - - - - - - - - 14.99 14.73 14.99
4844 414.5 -8.1 217 4858 done -0.68 - - 2667 - 2.45 0.078 2785 570.2 -116.8 - - 3497 - - - - - - - - 14.83 14.69 14.85
5188 444.3 -8.8 224 5201 done -0.68 - - 2667 - - - 2785 - -116.8 - - 3495 - - - - - - - - 14.99 14.99 14.99
5524 474.2 -8.8 230 5537 done -0.68 - - 2666 - - - 2785 - -116.8 - - 3494 - - - - - - - - 15.03 15.00 15.00
5860 503.1 -8.6 236 5873 roll -0.68 - - 2671 - 2.38 0.050 1378 -591.2 -116.8 - - 3492 - - - - - - - - 15.00 14.73 14.98
5905 507.1 -8.7 242 5919 done -0.68 - - 2658 - 2.47 0.079 2788 570.9 -116.8 - - 3492 - - - - - - - - 14.83 14.69 14.85
6260 537.1 -8.4 250 6273 done -0.68 - - 2658 - - - 2788 - -116.8 - - 3490 - - - - - - - - 14.99 14.99 14.99
6596 567.7 -9.2 256 6609 roll -0.68 - - 2650 - 1.92 0.121 3836 545.8 -116.8 - - 3489 - - - - - - - - 15.00 14.62 15.00
6656 573.6 -9.9 264 6670 done -0.68 0.10 0.231 2680 300.0 1.73 0.049 2795 -601.7 -116.8 - - 3488 - - - - - - - - 14.57 14.82 14.78
6997 600.4 -7.6 277 7010 roll -0.68 - - 2680 - 2.40 0.050 1366 -595.4 -116.8 - - 3487 - - - - - - - - 14.99 14.73 14.99
7064 605.3 -7.2 286 7077 done -0.68 - - 2672 - 2.50 0.078 2782 566.4 -116.8 - - 3487 - - - - - - - - 14.78 14.64 14.81
7397 628.2 -6.8 298 7410 roll -0.68 - - 2664 - 1.92 0.120 3829 545.3 -116.8 - - 3485 - - - - - - - - 14.99 14.62 14.99
7457 632.6 -7.5 306 7470 done -0.68 - - 2663 - 1.75 0.049 2775 -602.3 -116.8 - - 3484 - - - - - - - - 14.84 14.79 14.85
7798 657.4 -7.4 319 7811 roll -0.68 - - 2664 - 2.35 0.049 1370 -597.9 -116.8 - - 3487 - - - - - - - - 14.98 14.71 14.98
7885 664.3 -7.8 331 7898 done -0.68 - - 2654 - 2.50 0.077 2785 566.0 -116.8 - - 3483 - - - - - - - - 14.79 14.65 14.83
8253 695.4 -8.6 341 8266 done -0.68 - - 2655 - - - 2785 - -116.8 - - 3481 - - - - - - - - 14.97 14.97 14.98
8589 723.2 -8.2 347 8603 roll -0.68 - - 2655 - 2.40 0.050 1369 -590.0 -116.8 - - 3484 - - - - - - - - 14.98 14.71 14.98
8635 726.9 -8.7 353 8648 done -0.68 0.10 0.239 2675 200.0 2.47 0.078 2770 567.2 -116.8 - - 3481 - - - - - - - - 14.56 14.64 14.75
8989 750.4 -6.5 361 9002 done -0.68 - - 2676 - - - 2771 - -116.8 - - 3480 - - - - - - - - 14.97 14.97 14.97
9326 771.5 -6.3 367 9339 done -0.68 - - 2675 - - - 2770 - -116.8 - - 3479 - - - - - - - - 14.97 14.97 14.97
9661 793.9 -6.7 373 9675 roll -0.68 - - 2675 - 2.40 0.052 1371 -582.9 -116.8 - - 3478 - - - - - - - - 14.97 14.69 14.97
9722 798.1 -6.9 381 9735 done -0.68 - - 2667 - 2.50 0.079 2773 560.8 -116.8 - - 3477 - - - - - - - - 14.78 14.63 14.81
10062 821.4 -6.8 394 10075 done -0.68 - - 2667 - - - 2773 - -116.8 - - 3476 - - - - - - - - 14.95 14.96 14.96
10398 845.8 -7.3 400 10412 roll -0.68 - - 2666 - 2.40 0.052 1368 -585.4 -116.8 - - 3476 - - - - - - - - 14.95 14.66 14.96
10486 852.8 -8.0 412 10500 done -0.68 - - 2658 - 2.50 0.080 2774 562.4 -116.8 - - 3475 - - - - - - - - 14.78 14.62 14.80
10855 883.4 -8.5 422 10868 done -0.68 - - 2658 - - - 2774 - -116.8 - - 3474 - - - - - - - - 14.97 14.96 14.95
11191 912.3 -8.6 428 11204 roll -0.68 - - 2658 - 2.40 0.052 1372 -584.2 -116.8 - - 3473 - - - - - - - - 14.95 14.66 14.95
11230 915.5 -8.5 433 11243 done -0.68 0.10 0.246 2679 210.0 2.47 0.080 2771 566.4 -116.8 - - 3473 - - - - - - - - 14.47 14.60 14.74
11478 end dive: TARGET_DEPTH_EXCEEDED
11478 begin apogee
11482 933.4 -7.1 440 11611 roll -0.23 0.47 0.178 2822 304.3 - - 2225 - - 118.45 1.927 3049 -3.6 0.329 - - - - - - 14.50 14.07 13.38
11612 end apogee: CONTROL_FINISHED_OK
11612 begin climb
11614 937.1 - 442 11752 roll 0.90 1.10 0.110 3173 319.1 2.42 0.061 869 -560.3 116.8 121.70 1.932 2585 -3.8 0.351 - - - - - - 14.07 14.09 13.25
11763 930.7 9.5 466 11777 done 0.68 0.20 0.239 3121 -260.0 2.50 0.060 2259 556.0 116.8 - - 2574 - - - - - - - - 13.91 14.00 14.07
12097 904.5 8.0 478 12110 roll 0.68 - - 3120 - 2.60 0.109 3656 537.3 116.8 - - 2570 - - - - - - - - 14.64 14.35 14.64
12163 898.6 8.8 487 12177 done 0.55 0.17 0.241 3083 -217.6 2.38 0.045 2262 -585.7 116.8 - - 2569 - - - - - - - - 14.28 14.48 14.51
12497 878.0 6.0 499 12549 done 0.60 - - 3083 - - - 2259 - 154.7 39.72 1.938 2428 -3.5 0.305 - - - - - - 14.79 14.31 13.64
12891 854.3 6.1 513 12943 roll 0.64 - - 3082 - 2.72 0.109 3657 514.0 189.9 37.75 1.925 2287 -3.7 0.314 - - - - - - 14.73 14.20 13.62
12975 848.5 9.5 525 12989 done 0.64 - - 3092 - 2.42 0.044 2254 -579.8 189.9 - - 2283 - - - - - - - - 14.40 14.33 14.42
13344 820.6 7.8 535 13357 roll 0.64 - - 3102 - 2.42 0.066 847 -581.4 189.9 - - 2280 - - - - - - - - 14.74 14.51 14.74
13382 817.3 9.9 540 13396 done 0.64 - - 3102 - 2.42 0.061 2252 580.6 189.9 - - 2279 - - - - - - - - 14.62 14.51 14.64
13744 785.3 9.1 549 13757 roll 0.64 - - 3103 - 2.58 0.112 3657 544.6 189.9 - - 2279 - - - - - - - - 14.83 14.54 14.82
13804 779.4 10.2 557 13817 done 0.64 - - 3113 - 2.40 0.044 2238 -591.2 189.9 - - 2279 - - - - - - - - 14.70 14.64 14.73
14144 748.2 9.0 570 14157 done 0.64 - - 3113 - - - 2234 - 189.9 - - 2279 - - - - - - - - 14.87 14.87 14.86
14481 718.2 8.9 576 14494 roll 0.64 - - 3113 - 2.65 0.110 3661 538.5 189.9 - - 2278 - - - - - - - - 14.89 14.58 14.89
14512 715.1 9.4 580 14526 done 0.64 - - 3123 - 2.38 0.044 2245 -595.0 189.9 - - 2277 - - - - - - - - 14.76 14.69 14.78
14881 681.9 8.9 590 14894 done 0.64 - - 3123 - - - 2243 - 189.9 - - 2279 - - - - - - - - 14.90 14.90 14.90
15217 652.5 8.8 596 15230 roll 0.64 - - 3123 - 2.62 0.110 3661 541.2 189.9 - - 2277 - - - - - - - - 14.91 14.59 14.91
15248 649.3 9.9 600 15262 done 0.64 - - 3132 - 2.38 0.045 2253 -591.6 189.9 - - 2277 - - - - - - - - 14.78 14.69 14.81
15617 615.2 9.2 610 15630 done 0.64 - - 3133 - - - 2248 - 189.9 - - 2278 - - - - - - - - 14.92 14.92 14.93
15953 584.8 9.0 616 15967 roll 0.64 - - 3133 - 2.62 0.108 3663 540.1 189.9 - - 2277 - - - - - - - - 14.92 14.60 14.93
15978 582.4 9.0 619 15992 done 0.64 0.12 0.242 3108 -208.3 2.38 0.046 2251 -593.3 189.9 - - 2277 - - - - - - - - 14.50 14.71 14.73
16298 558.1 7.4 629 16311 done 0.65 - - 3109 - - - 2248 - 196.8 1.20 0.271 2261 -13.3 5.206 - - - - - - 14.92 14.72 14.49
16634 532.6 7.6 635 16652 roll 0.65 - - 3109 - 2.62 0.108 3651 535.5 199.2 2.95 1.182 2259 - - - - - - - - 14.92 14.66 13.64
16692 527.6 8.8 643 16705 done 0.65 - - 3117 - 2.35 0.045 2256 -593.6 199.2 - - 2267 - - - - - - - - 14.78 14.71 14.81
17032 499.2 8.5 656 17046 roll 0.65 - - 3128 - 2.40 0.063 850 -585.8 199.2 1.23 0.270 2260 -5.7 1.995 - - - - - - 14.92 14.64 14.47
17100 493.1 9.0 665 17113 done 0.65 - - 3128 - 2.42 0.060 2262 583.5 199.2 1.40 0.268 2256 -2.9 0.997 - - - - - - 14.76 14.64 14.42
17433 461.4 9.6 677 17447 roll 0.65 - - 3127 - 2.62 0.109 3660 533.6 199.2 1.50 0.271 2258 - - - - - - - - 14.92 14.59 14.34
17486 455.8 10.8 684 17501 done 0.65 - - 3138 - 2.38 0.044 2252 -591.6 199.2 1.50 0.271 2257 - - - - - - - - 14.77 14.70 14.36
17830 423.8 9.2 691 17843 done 0.65 - - 3138 - - - 2249 - 199.2 1.55 0.271 2256 - - - - - - - - 14.92 14.68 14.33
18166 395.1 8.5 697 18180 roll 0.65 - - 3148 - 2.45 0.065 856 -568.6 199.2 1.55 0.274 2259 1.9 -0.529 - - - - - - 14.92 14.62 14.28
18212 391.1 8.4 703 18226 done 0.65 0.12 0.232 3112 -300.0 2.40 0.061 2261 585.4 199.2 1.35 0.262 2256 -2.2 0.629 - - - - - - 14.50 14.64 14.35
18568 364.2 7.6 711 18586 roll 0.66 - - 3111 - 2.53 0.106 3659 552.6 202.5 4.43 1.592 2247 -2.0 0.088 - - - - - - 14.92 14.62 13.76
18632 358.4 9.1 720 18645 done 0.66 - - 3121 - 2.35 0.043 2252 -598.7 202.5 1.55 0.289 2243 -2.6 0.607 - - - - - - 14.77 14.70 14.31
18966 330.8 8.3 732 18980 roll 0.66 - - 3130 - 2.45 0.063 849 -572.7 202.5 1.55 0.283 2245 - - - - - - - - 14.90 14.64 14.26
18998 328.1 8.0 736 19011 done 0.66 - - 3131 - 2.42 0.060 2271 587.6 202.5 1.27 0.296 2243 - - - - - - - - 14.74 14.62 14.33
19367 299.1 7.8 746 19380 done 0.66 - - 3131 - - - 2270 - 202.5 1.60 0.288 2243 - - - - - - - - 14.91 14.64 14.03
19703 271.6 8.4 752 19717 roll 0.66 - - 3131 - 2.60 0.110 3659 534.2 202.5 1.58 0.288 2247 2.5 -0.453 - - - - - - 14.92 14.58 14.15
19742 267.7 9.7 757 19755 done 0.66 - - 3141 - 2.33 0.044 2261 -600.0 202.5 1.67 0.312 2244 -1.8 0.292 - - - - - - 14.78 14.71 14.14
20103 235.0 9.0 766 20121 roll 0.66 - - 3151 - 2.45 0.064 854 -574.3 202.5 2.28 0.648 2248 1.8 -0.121 - - - - - - 14.92 14.68 13.66
20161 229.8 9.1 774 20174 done 0.66 0.12 0.229 3114 -308.3 2.42 0.059 2273 586.4 202.5 1.40 0.265 2243 -3.6 0.587 - - - - - - 14.50 14.64 14.32
20502 203.5 7.7 787 20520 roll 0.66 - - 3115 - 2.50 0.106 3655 552.8 204.1 3.35 1.196 2245 - - - - - - - - 14.92 14.64 13.79
20573 197.3 8.7 797 20587 done 0.66 - - 3123 - 2.33 0.043 2258 -599.6 204.1 1.25 0.276 2238 -5.6 0.759 - - - - - - 14.77 14.70 14.42
20900 172.1 7.6 808 20918 roll 0.66 - - 3133 - 2.42 0.063 858 -578.5 206.9 3.97 1.346 2227 -2.8 0.067 - - - - - - 14.90 14.66 13.81
20943 168.8 7.7 814 20962 done 0.66 - - 3133 - 2.40 0.058 2269 587.9 207.7 2.65 0.900 2232 1.9 -0.067 - - - - - - 14.75 14.64 13.81
21294 141.7 7.9 822 21307 roll 0.66 - - 3133 - 2.53 0.106 3653 547.0 207.7 1.48 0.291 2226 -4.1 0.374 - - - - - - 14.90 14.55 14.23
21424 130.0 9.3 840 21438 done 0.66 - - 3144 - 2.33 0.043 2258 -598.7 207.7 2.20 0.588 2223 -1.4 0.057 - - - - - - 14.76 14.69 13.71
21751 104.1 7.7 851 21765 done 0.66 - - 3144 - - - 2254 - 207.7 1.42 0.284 2223 - - - - - - - - 14.91 14.66 14.24
22059 85.3 5.6 861 22099 roll 0.72 - - 3143 - 2.65 0.106 3654 528.3 255.3 23.73 0.429 2035 -7.9 0.299 - - - - - - 14.90 14.57 14.34
22138 79.9 6.7 872 22164 done 0.75 - - 3151 - 2.33 0.042 2262 -597.4 277.9 11.65 0.405 1942 -8.0 0.299 - - - - - - 14.71 14.64 14.30
22485 65.6 2.9 888 22552 roll 1.03 0.15 0.093 3244 620.0 2.65 0.105 3661 527.9 382.2 49.67 0.367 1529 -8.3 0.282 - - - - - - 14.63 14.50 14.30
22556 61.1 8.1 898 22569 done 1.03 - - 3254 - 2.30 0.043 2279 -600.9 382.2 - - 1529 - - - - - - - - 14.67 14.61 14.68
22883 42.9 4.6 911 22929 roll 1.19 - - 3254 - 2.53 0.102 3659 545.5 451.4 33.47 0.296 1253 -8.2 0.227 - - - - - - 14.85 14.50 14.35
22976 37.6 6.3 924 23007 done 1.33 0.15 0.089 3355 673.3 2.25 0.041 2301 -603.6 483.1 15.40 0.276 1128 -8.1 0.210 - - - - - - 14.62 14.62 14.35
23306 end climb: SURFACE_DEPTH_REACHED
23306 begin surface coast
23333 end surface coast: CONTROL_FINISHED_OK
23333 begin surface
SM 0.39 - - - - -8.39 8.98 0.054 189 21.0 0.88 0.098 2771 -9839.8 500.14 8.10 0.166 1059 130.7 -0.031 - - - - - -