SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 50.77 of 350.00 AH used of 24V (85.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth -0.57 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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
15 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 95 done -0.90 - - 185 - - - 2779 - -116.8 -74.40 - 3516 - - - - - - - - 14.68 13.33 14.69
97 1.6 -7.4 2 119 roll -0.90 11.20 0.387 2600 215.6 2.35 0.032 1357 -605.1 -116.8 - - 3519 - - - - - - - - 14.23 14.50 14.51
165 36.6 -27.7 13 176 done -0.54 0.47 0.263 2717 248.9 2.53 0.073 2765 556.5 -116.8 - - 3519 - - - - - - - - 14.30 14.45 14.47
481 88.3 -9.0 25 489 roll -0.54 - - 2717 - 2.38 0.044 1367 -587.4 -116.8 - - 3520 - - - - - - - - 14.81 14.56 14.81
705 104.1 -5.7 57 713 done -0.54 - - 2706 - 2.45 0.068 2766 571.0 -116.8 - - 3522 - - - - - - - - 14.65 14.57 14.66
1041 127.0 -7.3 70 1048 roll -0.54 - - 2698 - 1.95 0.109 3820 540.5 -116.8 - - 3522 - - - - - - - - 14.88 14.57 14.90
1138 134.5 -7.5 84 1146 done -0.54 - - 2698 - 1.77 0.038 2738 -611.3 -116.8 - - 3522 - - - - - - - - 14.76 14.71 14.76
1489 159.9 -7.4 92 1496 roll -0.54 - - 2690 - 2.03 0.108 3816 531.0 -116.8 - - 3521 - - - - - - - - 14.91 14.59 14.91
1649 173.1 -8.3 115 1658 done -0.54 0.10 0.223 2721 310.0 1.73 0.041 2779 -599.4 -116.8 - - 3520 - - - - - - - - 14.56 14.75 14.73
1993 196.7 -6.9 122 2000 roll -0.62 - - 2721 - 2.33 0.048 1381 -600.0 -116.8 - - 3517 - - - - - - - - 14.92 14.69 14.92
2069 202.6 -7.7 133 2078 done -0.71 0.08 0.085 2643 -975.0 2.47 0.072 2771 562.8 -116.8 - - 3515 - - - - - - - - 14.68 14.63 14.73
2385 236.2 -10.9 143 2392 roll -0.71 - - 2641 - 1.95 0.112 3820 537.9 -116.8 - - 3513 - - - - - - - - 14.92 14.59 14.93
2512 250.1 -11.0 161 2528 done -0.71 0.10 0.233 2668 270.0 1.67 0.044 2779 -623.4 -116.8 - - 3512 - - - - - - - - 14.54 14.75 14.73
2841 279.6 -8.8 172 2854 done -0.71 - - 2668 - - - 2779 - -116.8 - - 3510 - - - - - - - - 14.95 14.96 14.96
3177 310.2 -9.2 178 3191 roll -0.71 - - 2670 - 2.30 0.046 1381 -607.8 -116.8 - - 3507 - - - - - - - - 14.97 14.71 14.97
3230 315.3 -9.6 185 3244 done -0.71 - - 2658 - 2.45 0.073 2776 569.4 -116.8 - - 3506 - - - - - - - - 14.82 14.69 14.84
3574 349.5 -9.9 192 3587 roll -0.71 - - 2650 - 1.90 0.116 3825 552.1 -116.8 - - 3504 - - - - - - - - 14.98 14.66 14.97
3619 354.2 -10.0 198 3632 done -0.71 - - 2650 - 1.70 0.046 2775 -617.6 -116.8 - - 3504 - - - - - - - - 14.86 14.82 14.88
3973 389.1 -9.9 206 3986 done -0.71 - - 2650 - - - 2775 - -116.8 - - 3502 - - - - - - - - 14.99 14.99 14.99
4309 420.4 -9.2 212 4322 roll -0.71 - - 2650 - 2.33 0.047 1376 -600.4 -116.8 - - 3500 - - - - - - - - 15.00 14.76 15.00
4389 427.9 -9.1 223 4403 done -0.71 - - 2640 - 2.45 0.073 2779 572.7 -116.8 - - 3500 - - - - - - - - 14.84 14.70 14.85
4709 458.8 -9.8 233 4722 roll -0.71 - - 2633 - 1.92 0.116 3837 551.0 -116.8 - - 3498 - - - - - - - - 14.99 14.66 14.99
4769 465.0 -10.3 241 4782 done -0.71 0.12 0.232 2669 300.0 1.75 0.045 2767 -611.4 -116.8 - - 3498 - - - - - - - - 14.58 14.81 14.78
5109 492.9 -8.0 254 5122 done -0.71 - - 2669 - - - 2767 - -116.8 - - 3495 - - - - - - - - 15.00 15.00 15.00
5446 518.9 -7.8 260 5459 roll -0.71 - - 2669 - 2.33 0.048 1373 -598.3 -116.8 - - 3494 - - - - - - - - 15.00 14.75 15.00
5526 525.5 -8.0 271 5539 done -0.71 - - 2660 - 2.45 0.074 2772 571.0 -116.8 - - 3494 - - - - - - - - 14.83 14.69 14.85
5845 552.5 -8.6 281 5858 roll -0.71 - - 2652 - 1.95 0.118 3836 545.6 -116.8 - - 3492 - - - - - - - - 14.99 14.62 15.00
5883 556.2 -9.5 286 5897 done -0.71 - - 2651 - 1.75 0.046 2761 -614.3 -116.8 - - 3492 - - - - - - - - 14.85 14.81 14.87
6245 589.0 -9.2 295 6258 roll -0.71 - - 2651 - 2.30 0.048 1372 -603.9 -116.8 - - 3490 - - - - - - - - 14.99 14.73 14.99
6318 596.0 -9.5 305 6331 done -0.71 - - 2643 - 2.45 0.075 2775 572.7 -116.8 - - 3490 - - - - - - - - 14.82 14.68 14.83
6644 626.5 -9.4 316 6657 roll -0.71 - - 2635 - 1.92 0.119 3826 547.4 -116.8 - - 3488 - - - - - - - - 14.98 14.63 14.99
6710 632.7 -9.2 325 6724 done -0.71 0.10 0.239 2665 300.0 1.73 0.046 2771 -609.8 -116.8 - - 3487 - - - - - - - - 14.56 14.81 14.77
7044 657.2 -7.1 337 7057 roll -0.71 - - 2664 - 2.35 0.047 1362 -599.6 -116.8 - - 3486 - - - - - - - - 14.98 14.69 14.98
7090 660.4 -6.9 343 7103 done -0.71 - - 2655 - 2.47 0.074 2775 572.1 -116.8 - - 3486 - - - - - - - - 14.81 14.66 14.83
7444 686.0 -7.4 351 7457 done -0.71 - - 2655 - - - 2774 - -116.8 - - 3485 - - - - - - - - 14.98 14.98 14.98
7780 712.8 -8.2 357 7793 done -0.71 - - 2657 - - - 2776 - -116.8 - - 3483 - - - - - - - - 14.97 15.01 14.97
8116 742.3 -8.9 363 8129 roll -0.71 - - 2655 - 2.38 0.048 1374 -589.1 -116.8 - - 3482 - - - - - - - - 14.97 14.71 14.97
8203 750.5 -9.2 375 8216 done -0.71 - - 2646 - 2.45 0.075 2772 570.6 -116.8 - - 3480 - - - - - - - - 14.81 14.66 14.82
8571 785.0 -9.4 385 8584 done -0.71 - - 2648 - - - 2772 - -116.8 - - 3480 - - - - - - - - 14.97 14.97 14.97
8907 814.8 -8.7 391 8921 roll -0.71 - - 2646 - 2.38 0.049 1373 -587.8 -116.8 - - 3479 - - - - - - - - 14.97 14.69 14.97
8953 818.7 -8.1 397 8967 done -0.71 0.10 0.250 2666 200.0 2.47 0.077 2777 568.4 -116.8 - - 3479 - - - - - - - - 14.51 14.64 14.73
9308 844.3 -7.0 405 9321 roll -0.71 - - 2667 - 2.40 0.050 1363 -589.2 -116.8 - - 3478 - - - - - - - - 14.97 14.69 14.97
9368 848.6 -7.0 413 9382 done -0.71 - - 2658 - 2.47 0.077 2768 568.8 -116.8 - - 3478 - - - - - - - - 14.78 14.62 14.78
9709 872.8 -7.2 426 9722 done -0.71 - - 2658 - - - 2768 - -116.8 - - 3477 - - - - - - - - 14.95 14.95 14.95
10046 896.7 -7.1 432 10059 roll -0.71 - - 2657 - 2.38 0.049 1370 -587.4 -116.8 - - 3476 - - - - - - - - 14.95 14.67 14.96
10147 903.9 -7.2 446 10160 done -0.71 - - 2650 - 2.45 0.076 2763 568.6 -116.8 - - 3475 - - - - - - - - 14.80 14.61 14.79
10500 end dive: TARGET_DEPTH_EXCEEDED
10500 begin apogee
10505 930.5 -7.6 454 10629 roll -0.23 0.57 0.187 2820 298.2 - - 2226 - - 114.57 1.971 3050 -3.7 0.332 - - - - - - 14.49 14.07 13.35
10631 end apogee: CONTROL_FINISHED_OK
10631 begin climb
10632 934.2 - 456 10773 roll 0.90 1.10 0.110 3171 319.1 2.42 0.058 866 -562.0 116.8 121.30 1.935 2579 -3.9 0.355 - - - - - - 14.07 14.10 13.25
10777 928.1 8.8 479 10792 done 0.69 0.15 0.245 3129 -280.0 2.50 0.056 2254 555.2 116.8 - - 2574 - - - - - - - - 13.90 13.98 14.04
11122 900.3 8.1 486 11135 roll 0.61 0.08 0.288 3104 -312.5 2.60 0.104 3657 539.6 116.8 - - 2570 - - - - - - - - 14.27 14.35 14.41
11188 894.7 8.3 495 11202 done 0.52 0.15 0.246 3072 -213.3 2.35 0.042 2274 -588.5 116.8 - - 2570 - - - - - - - - 14.30 14.49 14.50
11522 874.3 6.0 507 11576 roll 0.56 - - 3082 - 2.50 0.064 851 -569.2 154.5 39.70 1.938 2427 -3.6 0.308 - - - - - - 14.79 14.27 13.64
11594 869.8 8.1 517 11608 done 0.56 - - 3082 - 2.45 0.057 2253 572.2 154.5 - - 2425 - - - - - - - - 14.40 14.31 14.42
11921 847.3 7.0 528 11953 roll 0.58 - - 3080 - 2.67 0.110 3654 524.7 171.7 17.88 2.028 2360 -3.6 0.288 - - - - - - 14.73 14.34 13.74
12027 838.5 7.8 543 12041 done 0.58 - - 3092 - 2.42 0.043 2239 -584.7 171.7 - - 2357 - - - - - - - - 14.54 14.47 14.54
12371 810.5 8.3 550 12384 done 0.58 - - 3093 - - - 2236 - 171.7 - - 2355 - - - - - - - - 14.78 14.79 14.78
12707 783.1 8.3 556 12720 roll 0.58 - - 3093 - 2.65 0.109 3658 536.6 171.7 - - 2354 - - - - - - - - 14.84 14.54 14.84
12767 777.8 8.7 564 12780 done 0.58 - - 3101 - 2.38 0.043 2254 -589.9 171.7 - - 2354 - - - - - - - - 14.73 14.65 14.73
13107 748.7 8.5 577 13120 done 0.58 - - 3103 - - - 2250 - 171.7 - - 2353 - - - - - - - - 14.88 14.88 14.88
13444 720.9 8.4 583 13457 roll 0.58 - - 3104 - 2.60 0.110 3655 540.4 171.7 - - 2353 - - - - - - - - 14.90 14.58 14.90
13482 717.2 9.4 588 13495 done 0.58 - - 3112 - 2.35 0.044 2257 -594.9 171.7 - - 2353 - - - - - - - - 14.77 14.69 14.78
13843 684.5 9.1 597 13856 done 0.58 - - 3113 - - - 2252 - 171.7 - - 2352 - - - - - - - - 14.91 14.91 14.91
14179 654.9 8.7 603 14193 roll 0.58 - - 3113 - 2.60 0.110 3657 540.4 171.7 - - 2352 - - - - - - - - 14.91 14.58 14.91
14232 649.9 9.7 610 14246 done 0.58 0.12 0.241 3089 -200.0 2.38 0.043 2249 -591.6 171.7 - - 2352 - - - - - - - - 14.50 14.71 14.73
14576 624.7 7.2 617 14601 roll 0.60 - - 3088 - 2.60 0.106 3654 540.4 183.9 10.62 1.974 2312 -3.8 0.226 - - - - - - 14.92 14.60 14.01
14619 621.3 7.8 623 14632 done 0.60 - - 3098 - 2.35 0.044 2255 -595.3 183.9 - - 2311 - - - - - - - - 14.73 14.66 14.73
14973 594.8 7.4 631 14991 roll 0.61 - - 3098 - 2.60 0.109 3655 538.5 192.4 4.45 1.815 2286 -5.6 0.349 - - - - - - 14.87 14.59 13.65
15037 589.3 8.9 640 15050 done 0.61 - - 3107 - 2.33 0.042 2266 -596.1 192.4 1.40 0.299 2282 -2.9 1.068 - - - - - - 14.72 14.65 14.29
15370 562.8 8.0 652 15384 roll 0.61 - - 3117 - 2.40 0.060 857 -587.1 192.4 1.30 0.286 2286 3.1 -1.148 - - - - - - 14.87 14.57 14.36
15409 559.7 7.6 657 15428 done 0.61 - - 3117 - 2.42 0.059 2274 585.5 195.3 4.30 1.761 2274 -2.8 0.168 - - - - - - 14.73 14.62 13.66
15769 531.0 8.0 666 15782 roll 0.61 - - 3117 - 2.55 0.109 3660 543.5 195.3 1.38 0.297 2272 - - - - - - - - 14.87 14.57 14.28
15835 525.1 9.0 675 15848 done 0.61 - - 3127 - 2.33 0.042 2262 -600.0 195.3 - - 2283 - - - - - - - - 14.74 14.68 14.76
16169 498.3 8.0 687 16182 roll 0.61 - - 3137 - 2.38 0.061 866 -586.6 195.3 1.08 0.288 2274 -8.3 2.734 - - - - - - 14.89 14.62 14.44
16221 493.8 8.4 694 16235 done 0.61 0.12 0.228 3101 -300.0 2.42 0.058 2274 581.8 195.3 - - 2281 - - - - - - - - 14.50 14.62 14.70
16565 469.1 7.1 701 16597 roll 0.63 - - 3100 - 2.53 0.106 3660 547.8 208.3 19.52 1.672 2214 -3.4 0.183 - - - - - - 14.91 14.52 14.00
16636 463.4 8.6 711 16650 done 0.63 - - 3109 - 2.35 0.043 2258 -596.6 208.3 - - 2211 - - - - - - - - 14.66 14.59 14.67
16963 437.9 7.8 722 16976 done 0.63 - - 3109 - - - 2255 - 208.3 - - 2210 - - - - - - - - 14.83 14.83 14.83
17299 410.9 8.2 728 17312 roll 0.63 - - 3109 - 2.60 0.108 3655 538.5 208.3 - - 2209 - - - - - - - - 14.87 14.54 14.87
17365 404.6 9.4 737 17378 done 0.63 - - 3119 - 2.33 0.043 2265 -596.6 208.3 - - 2209 - - - - - - - - 14.75 14.67 14.76
17698 377.1 8.2 749 17712 roll 0.63 - - 3128 - 2.38 0.063 864 -588.7 208.3 - - 2209 - - - - - - - - 14.89 14.62 14.89
17744 373.3 8.4 755 17757 done 0.63 - - 3134 - 2.40 0.058 2270 585.8 208.3 - - 2209 - - - - - - - - 14.74 14.62 14.76
18098 344.4 8.1 763 18111 roll 0.63 - - 3128 - 2.53 0.110 3658 548.6 208.3 - - 2209 - - - - - - - - 14.90 14.58 14.90
18158 338.9 9.4 771 18172 done 0.63 0.12 0.238 3103 -208.3 2.33 0.042 2263 -598.7 208.3 - - 2209 - - - - - - - - 14.50 14.70 14.72
18500 315.0 6.9 784 18531 roll 0.65 - - 3104 - 2.60 0.108 3663 538.5 226.7 17.85 1.504 2142 -3.8 0.149 - - - - - - 14.91 14.56 14.07
18557 310.6 7.9 792 18570 done 0.65 - - 3112 - 2.35 0.042 2265 -594.9 226.7 - - 2140 - - - - - - - - 14.69 14.62 14.69
18897 283.0 8.4 805 18910 done 0.65 - - 3112 - - - 2260 - 226.7 - - 2138 - - - - - - - - 14.85 14.85 14.85
19233 253.1 8.9 811 19246 roll 0.65 - - 3112 - 2.58 0.107 3659 542.2 226.7 - - 2138 - - - - - - - - 14.88 14.56 14.88
19285 247.9 10.1 818 19299 done 0.65 - - 3121 - 2.33 0.041 2271 -595.7 226.7 - - 2138 - - - - - - - - 14.76 14.68 14.76
19629 217.6 8.6 825 19643 roll 0.65 - - 3130 - 2.38 0.062 863 -591.6 226.7 - - 2138 - - - - - - - - 14.90 14.63 14.90
19668 214.2 8.6 830 19681 done 0.65 - - 3130 - 2.42 0.058 2286 588.0 226.7 - - 2138 - - - - - - - - 14.75 14.62 14.77
20029 183.7 8.4 839 20042 roll 0.65 - - 3131 - 2.47 0.108 3654 553.8 226.7 - - 2138 - - - - - - - - 14.90 14.59 14.90
20082 178.6 9.6 846 20096 done 0.65 0.10 0.249 3112 -190.0 2.33 0.042 2264 -596.6 226.7 - - 2138 - - - - - - - - 14.51 14.70 14.73
20426 152.8 7.6 853 20440 roll 0.66 - - 3111 - 2.58 0.106 3659 540.7 230.8 - - 2141 - - - - - - - - 14.92 14.57 14.92
20472 148.9 8.1 859 20485 done 0.66 - - 3121 - 2.30 0.041 2269 -604.3 230.8 - - 2138 - - - - - - - - 14.79 14.73 14.81
20826 121.3 7.9 867 20839 done 0.66 - - 3121 - - - 2264 - 230.8 - - 2138 - - - - - - - - 14.93 14.93 14.93
21163 97.9 6.8 873 21187 roll 0.68 - - 3121 - 2.58 0.105 3662 541.9 252.2 11.25 0.457 2047 -8.1 0.329 - - - - - - 14.94 14.61 14.31
21332 85.2 7.0 897 21356 done 0.79 - - 3128 - 2.33 0.041 2255 -603.9 268.6 8.60 0.412 1983 -7.4 0.292 - - - - - - 14.78 14.71 14.31
21670 71.6 3.8 912 21723 roll 1.02 0.20 0.077 3240 560.0 2.65 0.102 3662 530.9 353.1 40.35 0.389 1644 -8.4 0.293 - - - - - - 14.69 14.52 14.33
21951 49.7 6.8 952 21978 done 1.05 - - 3250 - 2.28 0.039 2275 -608.3 373.8 9.93 0.316 1562 -8.3 0.246 - - - - - - 14.71 14.64 14.33
22283 31.7 5.3 966 22321 roll 1.22 0.08 0.143 3325 937.5 2.53 0.099 3660 547.4 427.5 26.10 0.271 1347 -8.2 0.183 - - - - - - 14.66 14.54 14.38
22369 24.4 9.0 978 22382 done 1.22 0.15 0.220 3291 -226.7 2.25 0.039 2297 -605.8 427.5 - - 1348 - - - - - - - - 14.47 14.66 14.66
22708 end climb: SURFACE_DEPTH_REACHED
22708 begin surface coast
22736 end surface coast: CONTROL_FINISHED_OK
22736 begin surface
SM -4.40 - - - - -8.38 9.02 0.077 195 21.6 0.85 0.078 2771 -2770.6 500.14 33.22 0.164 1058 31.8 0.087 - - - - - -