SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 130 * Raw log
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• Previous call tries 1 • 53.43 of 350.00 AH used of 24V (84.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.2 deg, depth -4.67 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: 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
18 - - - 98 done -0.90 - - 174 - - - 2783 - -116.8 -76.97 - 3516 - - - - - - - - 14.67 13.31 14.67
100 -3.0 -4.1 2 117 roll -0.90 11.40 0.392 2604 213.2 2.42 0.040 1350 -592.1 -116.8 - - 3517 - - - - - - - - 14.23 14.49 14.51
178 36.8 -32.1 14 186 done -0.52 0.47 0.253 2723 253.2 2.53 0.075 2777 564.0 -116.8 - - 3519 - - - - - - - - 14.31 14.45 14.53
514 84.1 -9.5 29 521 roll -0.52 - - 2715 - 1.95 0.107 3831 540.5 -116.8 - - 3520 - - - - - - - - 14.81 14.51 14.82
618 92.2 -7.9 44 628 done -0.52 - - 2715 - 1.80 0.040 2743 -604.4 -116.8 - - 3524 - - - - - - - - 14.69 14.66 14.71
962 115.3 -6.2 53 969 roll -0.52 - - 2706 - 2.03 0.104 3830 535.5 -116.8 - - 3522 - - - - - - - - 14.88 14.57 14.87
1137 115.5 27.9 78 1144 done -0.52 - - 2706 - 1.73 0.041 2776 -609.2 -116.8 - - 3522 - - - - - - - - 14.73 14.71 14.75
1466 149.8 -7.5 90 1474 roll -0.52 - - 2698 - 1.95 0.103 3824 537.4 -116.8 - - 3520 - - - - - - - - 14.90 14.58 14.89
1535 155.6 -8.3 100 1544 done -0.52 0.10 0.220 2729 310.0 1.73 0.041 2783 -601.7 -116.8 - - 3520 - - - - - - - - 14.54 14.74 14.73
1858 177.6 -6.6 111 1865 roll -0.61 - - 2729 - 2.35 0.047 1391 -592.3 -116.8 - - 3518 - - - - - - - - 14.90 14.66 14.90
1941 183.3 -6.6 123 1949 done -0.71 0.08 0.093 2653 -950.0 2.47 0.068 2788 565.6 -116.8 - - 3517 - - - - - - - - 14.66 14.62 14.71
2306 216.3 -9.1 133 2313 roll -0.71 - - 2653 - 2.40 0.047 1383 -585.4 -116.8 - - 3513 - - - - - - - - 14.91 14.64 14.92
2340 219.5 -9.1 138 2348 done -0.71 - - 2643 - 2.50 0.067 2787 561.6 -116.8 - - 3514 - - - - - - - - 14.70 14.63 14.73
2699 254.2 -9.9 147 2715 done -0.71 - - 2643 - - - 2787 - -116.8 - - 3510 - - - - - - - - 14.92 14.94 14.92
3034 289.8 -10.7 153 3047 roll -0.71 - - 2638 - 1.88 0.108 3822 550.5 -116.8 - - 3509 - - - - - - - - 14.96 14.64 14.96
3065 293.5 -11.1 157 3079 done -0.71 0.10 0.238 2664 260.0 1.67 0.044 2782 -622.8 -116.8 - - 3509 - - - - - - - - 14.57 14.79 14.76
3434 330.3 -9.8 167 3447 roll -0.71 - - 2665 - 2.33 0.048 1380 -601.7 -116.8 - - 3505 - - - - - - - - 14.97 14.72 14.97
3479 334.7 -9.3 173 3492 done -0.71 - - 2655 - 2.42 0.070 2780 578.5 -116.8 - - 3504 - - - - - - - - 14.81 14.69 14.83
3833 362.9 -6.6 181 3846 done -0.71 - - 2653 - - - 2781 - -116.8 - - 3502 - - - - - - - - 14.98 14.99 14.98
4169 392.6 -8.7 187 4183 roll -0.71 - - 2655 - 2.35 0.047 1379 -596.6 -116.8 - - 3501 - - - - - - - - 14.99 14.73 14.99
4236 399.8 -9.3 196 4249 done -0.71 - - 2645 - 2.45 0.071 2784 573.5 -116.8 - - 3500 - - - - - - - - 14.83 14.69 14.85
4569 429.7 -8.8 208 4582 roll -0.71 - - 2645 - 2.38 0.047 1373 -592.9 -116.8 - - 3497 - - - - - - - - 14.99 14.74 14.99
4608 433.0 -6.6 213 4621 done -0.71 0.10 0.250 2664 190.0 2.45 0.070 2782 575.1 -116.8 - - 3498 - - - - - - - - 14.57 14.69 14.77
4970 459.5 -7.2 222 4983 roll -0.71 - - 2657 - 1.90 0.112 3825 548.9 -116.8 - - 3495 - - - - - - - - 14.98 14.62 14.98
5022 463.5 -8.1 229 5036 done -0.71 - - 2656 - 1.73 0.047 2778 -605.2 -116.8 - - 3494 - - - - - - - - 14.85 14.78 14.85
5366 488.9 -7.4 236 5379 done -0.71 - - 2656 - - - 2774 - -116.8 - - 3493 - - - - - - - - 14.98 14.99 14.98
5702 515.6 -7.4 242 5715 roll -0.71 - - 2656 - 2.35 0.050 1375 -595.3 -116.8 - - 3491 - - - - - - - - 15.00 14.73 15.00
5769 521.3 -8.6 251 5782 done -0.71 - - 2645 - 2.45 0.073 2775 571.4 -116.8 - - 3490 - - - - - - - - 14.80 14.66 14.81
6102 549.9 -8.5 263 6115 roll -0.71 - - 2639 - 1.92 0.115 3831 550.0 -116.8 - - 3489 - - - - - - - - 14.98 14.63 15.00
6140 554.2 -9.0 268 6154 done -0.71 0.10 0.245 2667 280.0 1.73 0.048 2779 -608.1 -116.8 - - 3489 - - - - - - - - 14.55 14.80 14.76
6502 579.2 -7.0 277 6515 done -0.71 - - 2668 - - - 2779 - -116.8 - - 3487 - - - - - - - - 14.97 14.98 14.98
6839 605.9 -7.1 283 6852 roll -0.71 - - 2668 - 2.38 0.052 1369 -592.4 -116.8 - - 3486 - - - - - - - - 14.98 14.71 14.97
6899 609.7 -5.9 291 6912 done -0.71 - - 2658 - 2.50 0.075 2780 564.4 -116.8 - - 3486 - - - - - - - - 14.80 14.65 14.82
7239 636.4 -7.4 304 7252 done -0.71 - - 2659 - - - 2780 - -116.8 - - 3483 - - - - - - - - 14.97 14.97 14.97
7576 663.3 -7.3 310 7589 roll -0.71 - - 2659 - 2.40 0.050 1369 -587.9 -116.8 - - 3482 - - - - - - - - 14.97 14.71 14.97
7628 667.5 -7.7 317 7642 done -0.71 - - 2650 - 2.50 0.076 2777 563.2 -116.8 - - 3482 - - - - - - - - 14.81 14.64 14.81
7972 692.4 -7.1 324 7986 roll -0.71 - - 2650 - 2.40 0.050 1367 -587.5 -116.8 - - 3481 - - - - - - - - 14.97 14.69 14.98
8018 697.7 -8.4 330 8031 done -0.71 - - 2641 - 2.47 0.074 2776 570.4 -116.8 - - 3480 - - - - - - - - 14.79 14.64 14.81
8373 723.8 -7.3 338 8386 roll -0.71 - - 2633 - 1.92 0.116 3825 546.4 -116.8 - - 3480 - - - - - - - - 14.96 14.58 14.96
8425 728.0 -5.4 345 8440 done -0.71 0.10 0.247 2663 300.0 1.75 0.049 2776 -599.4 -116.8 - - 3480 - - - - - - - - 14.50 14.75 14.72
8769 753.0 -7.2 352 8783 roll -0.71 - - 2663 - 2.40 0.051 1356 -591.7 -116.8 - - 3478 - - - - - - - - 14.96 14.68 14.97
8815 756.2 -11.4 358 8829 done -0.71 - - 2654 - 2.50 0.074 2778 568.8 -116.8 - - 3479 - - - - - - - - 14.78 14.63 14.80
9170 784.0 -8.0 366 9183 done -0.71 - - 2655 - - - 2778 - -116.8 - - 3477 - - - - - - - - 14.95 14.95 14.95
9506 811.4 -8.2 372 9519 roll -0.71 - - 2654 - 2.42 0.052 1360 -586.0 -116.8 - - 3476 - - - - - - - - 14.95 14.66 14.95
9567 817.2 -7.0 380 9580 done -0.71 - - 2640 - 2.55 0.076 2778 556.1 -116.8 - - 3477 - - - - - - - - 14.77 14.62 14.80
9908 844.1 -7.9 393 9921 roll -0.71 - - 2638 - 1.92 0.117 3824 544.8 -116.8 - - 3477 - - - - - - - - 14.95 14.56 14.95
9940 848.4 -12.6 397 9953 done -0.71 0.10 0.243 2667 290.0 1.75 0.049 2772 -601.1 -116.8 - - 3475 - - - - - - - - 14.46 14.72 14.69
10308 873.2 -6.5 407 10322 roll -0.71 - - 2667 - 2.38 0.051 1369 -589.5 -116.8 - - 3477 - - - - - - - - 14.95 14.66 14.95
10340 876.2 -8.4 411 10353 done -0.71 - - 2659 - 2.50 0.076 2775 562.4 -116.8 - - 3474 - - - - - - - - 14.76 14.60 14.79
10708 901.3 -6.5 421 10721 roll -0.71 - - 2658 - 2.42 0.050 1361 -584.3 -116.8 - - 3473 - - - - - - - - 14.95 14.64 14.95
10747 904.5 -7.5 426 10760 done -0.71 - - 2650 - 2.47 0.075 2768 569.6 -116.8 - - 3473 - - - - - - - - 14.76 14.60 14.77
11108 930.0 -7.4 435 11121 roll -0.71 - - 2642 - 1.95 0.118 3823 541.0 -116.8 - - 3472 - - - - - - - - 14.94 14.56 14.94
11124 end dive: TARGET_DEPTH_EXCEEDED
11124 begin apogee
11130 932.1 -7.6 437 11259 roll -0.23 0.62 0.190 2825 295.2 - - 2237 - - 118.82 1.985 3050 -3.6 0.317 - - - - - - 14.45 14.04 13.37
11261 end apogee: CONTROL_FINISHED_OK
11261 begin climb
11262 936.2 - 439 11405 roll 0.90 1.10 0.110 3174 317.3 2.45 0.061 865 -560.0 116.8 123.10 1.971 2579 -3.8 0.346 - - - - - - 14.06 14.08 13.21
11416 930.7 9.0 464 11430 done 0.69 0.20 0.243 3123 -255.0 2.50 0.057 2260 558.0 116.8 - - 2572 - - - - - - - - 13.89 13.98 14.03
11751 904.4 7.6 476 11765 roll 0.61 - - 3122 - 2.60 0.105 3661 538.8 120.6 - - 2570 - - - - - - - - 14.63 14.34 14.63
11818 900.1 9.2 485 11831 done 0.48 0.28 0.234 3058 -228.6 2.40 0.044 2251 -587.5 120.6 - - 2570 - - - - - - - - 14.27 14.47 14.47
12153 881.9 5.1 497 12228 done 0.55 - - 3058 - - - 2247 - 177.2 65.95 1.922 2344 -3.4 0.299 - - - - - - 14.78 14.14 13.50
12544 859.6 6.1 504 12596 roll 0.59 - - 3064 - 2.70 0.107 3652 520.4 213.3 38.53 1.950 2196 -3.8 0.322 - - - - - - 14.68 14.13 13.58
12643 853.6 7.1 518 12670 done 0.61 - - 3067 - 2.42 0.045 2243 -582.2 227.4 14.70 2.105 2143 -3.6 0.278 - - - - - - 14.39 14.32 13.57
12999 829.2 6.5 533 13038 done 0.73 0.15 0.093 3153 573.3 - - 2242 - 253.5 30.10 1.961 2040 -3.4 0.275 - - - - - - 14.53 14.30 13.65
13333 791.1 11.3 539 13346 done 0.73 - - 3153 - - - 2242 - 253.5 - - 2024 - - - - - - - - 14.70 14.70 14.70
13669 753.4 11.4 545 13683 roll 0.73 - - 3163 - 2.40 0.070 866 -573.3 253.5 - - 2022 - - - - - - - - 14.79 14.55 14.80
13701 750.4 9.1 549 13714 done 0.73 - - 3163 - 2.40 0.063 2255 578.8 253.5 - - 2022 - - - - - - - - 14.67 14.57 14.69
14069 705.7 12.1 559 14082 roll 0.73 - - 3162 - 2.55 0.108 3653 548.2 253.5 - - 2022 - - - - - - - - 14.85 14.54 14.85
14094 702.2 12.6 562 14107 done 0.64 0.22 0.232 3111 -231.8 2.35 0.045 2261 -592.3 253.5 - - 2026 - - - - - - - - 14.47 14.65 14.68
14413 670.3 9.8 572 14427 roll 0.64 - - 3121 - 2.40 0.068 858 -584.6 253.5 - - 2021 - - - - - - - - 14.87 14.61 14.88
14474 664.6 9.4 580 14487 done 0.64 - - 3121 - 2.42 0.060 2262 580.2 253.5 - - 2020 - - - - - - - - 14.73 14.62 14.75
14814 631.4 9.7 593 14827 roll 0.64 - - 3120 - 2.55 0.107 3661 548.6 253.5 - - 2020 - - - - - - - - 14.90 14.58 14.90
14846 628.0 10.1 597 14859 done 0.64 - - 3129 - 2.38 0.044 2248 -593.7 253.5 - - 2020 - - - - - - - - 14.76 14.69 14.78
15214 591.9 9.8 607 15227 roll 0.64 - - 3140 - 2.38 0.068 858 -584.0 253.5 - - 2021 - - - - - - - - 14.90 14.63 14.90
15259 586.8 9.1 613 15273 done 0.64 0.10 0.239 3112 -280.0 2.40 0.060 2256 582.5 253.5 - - 2020 - - - - - - - - 14.52 14.64 14.73
15614 555.4 8.7 621 15627 roll 0.64 - - 3111 - 2.55 0.105 3655 548.6 253.5 - - 2020 - - - - - - - - 14.91 14.58 14.91
15680 550.4 9.6 630 15694 done 0.64 - - 3121 - 2.35 0.044 2254 -596.2 253.5 - - 2020 - - - - - - - - 14.77 14.70 14.78
16014 519.4 9.0 642 16027 roll 0.64 - - 3130 - 2.40 0.069 856 -582.5 253.5 - - 2018 - - - - - - - - 14.92 14.63 14.92
16059 515.3 8.9 648 16072 done 0.64 - - 3131 - 2.40 0.060 2253 582.1 253.5 - - 2020 - - - - - - - - 14.76 14.64 14.78
16413 482.9 9.2 656 16426 done 0.64 - - 3130 - - - 2253 - 253.5 - - 2020 - - - - - - - - 14.92 14.92 14.92
16750 451.0 9.6 662 16763 roll 0.64 - - 3130 - 2.55 0.108 3655 549.8 253.5 - - 2020 - - - - - - - - 14.92 14.60 14.91
16802 445.3 10.9 669 16816 done 0.64 0.10 0.249 3113 -170.0 2.38 0.044 2251 -589.9 253.5 - - 2020 - - - - - - - - 14.50 14.70 14.73
17146 415.1 9.0 676 17160 roll 0.64 - - 3123 - 2.38 0.068 857 -585.7 253.5 - - 2020 - - - - - - - - 14.92 14.59 14.92
17179 411.6 9.7 680 17192 done 0.64 - - 3121 - 2.40 0.060 2260 584.6 253.5 - - 2020 - - - - - - - - 14.77 14.65 14.79
17547 378.6 8.9 690 17561 roll 0.64 - - 3121 - 2.53 0.105 3654 551.0 253.5 - - 2020 - - - - - - - - 14.92 14.59 14.92
17572 376.2 8.0 693 17585 done 0.64 - - 3132 - 2.38 0.044 2239 -594.5 253.5 - - 2020 - - - - - - - - 14.78 14.71 14.81
17892 347.7 9.2 703 17905 roll 0.64 - - 3142 - 2.35 0.069 859 -587.2 253.5 - - 2020 - - - - - - - - 14.91 14.63 14.92
17916 345.7 9.0 706 17930 done 0.64 0.12 0.217 3104 -316.7 2.40 0.060 2256 582.1 253.5 - - 2020 - - - - - - - - 14.52 14.63 14.73
18236 320.1 7.5 716 18249 roll 0.65 - - 3105 - 2.58 0.105 3664 545.7 259.9 - - 2020 - - - - - - - - 14.92 14.58 14.94
18267 317.2 9.3 720 18282 done 0.65 - - 3108 - 2.38 0.044 2249 -594.5 259.9 - - 2020 - - - - - - - - 14.78 14.70 14.79
18637 286.8 8.7 730 18650 roll 0.65 - - 3123 - 2.40 0.068 854 -581.2 259.9 - - 2020 - - - - - - - - 14.92 14.62 14.92
18668 285.3 4.1 734 18771 done 0.75 - - 3122 - 2.40 0.059 2258 585.0 339.6 87.28 1.303 1690 -3.8 0.157 - - - - - - 14.80 14.63 13.79
19091 248.4 8.9 759 19105 roll 0.83 0.08 0.146 3197 937.5 2.58 0.105 3655 541.5 339.6 - - 1678 - - - - - - - - 14.51 14.40 14.54
19130 244.7 12.6 764 19144 done 0.83 0.12 0.249 3172 -208.3 2.38 0.044 2255 -588.2 339.6 - - 1679 - - - - - - - - 14.33 14.52 14.55
19492 199.4 12.6 773 19505 roll 0.83 - - 3182 - 2.40 0.067 858 -582.1 339.6 - - 1678 - - - - - - - - 14.81 14.53 14.80
19565 191.2 10.7 783 19579 done 0.83 - - 3182 - 2.40 0.059 2254 581.7 339.6 - - 1677 - - - - - - - - 14.66 14.54 14.68
19892 150.4 12.6 794 19905 roll 0.83 - - 3191 - 2.42 0.067 852 -579.3 339.6 - - 1677 - - - - - - - - 14.84 14.57 14.85
19930 146.4 10.1 799 19943 done 0.83 - - 3191 - 2.40 0.059 2252 583.3 339.6 - - 1676 - - - - - - - - 14.70 14.57 14.72
20291 98.5 13.7 808 20304 done 0.83 - - 3192 - - - 2255 - 339.6 - - 1676 - - - - - - - - 14.88 14.88 14.88
20599 71.6 8.8 819 20613 roll 0.83 - - 3191 - 2.58 0.105 3660 544.6 339.6 - - 1676 - - - - - - - - 14.88 14.57 14.88
20632 68.7 9.1 823 20645 done 0.83 0.12 0.226 3162 -241.7 2.38 0.043 2239 -597.1 339.6 - - 1676 - - - - - - - - 14.47 14.65 14.68
20973 52.0 4.7 838 21018 roll 1.09 0.15 0.093 3256 626.7 2.65 0.099 3650 532.5 405.5 29.00 0.337 1437 -8.2 0.242 - - - - - - 14.68 14.54 14.36
21043 46.6 8.3 848 21057 done 1.09 - - 3265 - 2.35 0.042 2238 -600.9 405.5 - - 1439 - - - - - - - - 14.71 14.64 14.73
21370 24.0 6.7 861 21395 roll 1.12 - - 3274 - 2.35 0.064 858 -587.2 428.9 12.05 0.255 1343 -8.0 0.143 - - - - - - 14.87 14.58 14.40
21505 16.2 6.9 880 21530 done 1.23 - - 3274 - 2.35 0.051 2251 592.8 446.4 9.38 0.229 1275 -7.2 0.098 - - - - - - 14.72 14.61 14.43
21736 end climb: SURFACE_DEPTH_REACHED
21736 begin surface coast
21765 end surface coast: CONTROL_FINISHED_OK
21765 begin surface
SM -4.78 - - - - -8.40 8.95 0.073 199 22.2 0.90 0.079 2765 -7352.2 500.14 25.48 0.169 1060 41.6 0.120 - - - - - -