SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 1 • 48.71 of 350.00 AH used of 24V (86.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth -1.94 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
18 - - - 98 done -0.90 - - 156 - - - 2781 - -116.8 -77.20 - 3516 - - - - - - - - 14.69 13.38 14.69
100 -0.6 -3.7 2 122 roll -0.90 11.57 0.398 2594 210.7 1.88 0.080 3824 554.8 -116.8 - - 3518 - - - - - - - - 14.24 14.45 14.52
350 83.1 -16.5 39 359 done -0.59 0.38 0.237 2700 278.9 1.80 0.037 2738 -603.3 -116.8 - - 3519 - - - - - - - - 14.42 14.63 14.61
680 109.0 -7.3 51 687 roll -0.59 - - 2692 - 2.00 0.106 3812 537.0 -116.8 - - 3522 - - - - - - - - 14.86 14.56 14.85
917 127.9 -6.4 85 926 done -0.59 - - 2691 - 1.75 0.041 2755 -604.0 -116.8 - - 3521 - - - - - - - - 14.76 14.74 14.78
1240 154.6 -8.2 96 1247 roll -0.59 - - 2683 - 1.98 0.108 3813 534.3 -116.8 - - 3520 - - - - - - - - 14.90 14.60 14.90
1379 166.5 -8.5 116 1387 done -0.59 - - 2683 - 1.75 0.041 2764 -599.4 -116.8 - - 3521 - - - - - - - - 14.78 14.74 14.80
1744 195.8 -8.1 126 1751 roll -0.59 - - 2675 - 1.98 0.109 3813 529.8 -116.8 - - 3516 - - - - - - - - 14.91 14.61 14.92
1778 198.8 -9.2 131 1786 done -0.59 0.10 0.225 2705 300.0 1.75 0.042 2770 -596.0 -116.8 - - 3518 - - - - - - - - 14.57 14.76 14.74
2136 225.6 -7.3 140 2143 roll -0.59 - - 2705 - 2.35 0.044 1372 -594.9 -116.8 - - 3514 - - - - - - - - 14.95 14.67 14.92
2192 229.6 -6.9 148 2199 done -0.59 - - 2696 - 2.45 0.069 2759 566.1 -116.8 - - 3513 - - - - - - - - 14.69 14.59 14.71
2530 251.3 -6.4 161 2546 roll -0.59 - - 2688 - 1.92 0.112 3825 555.2 -116.8 - - 3510 - - - - - - - - 14.93 14.64 14.92
2774 269.4 -7.6 195 2787 done -0.59 - - 2688 - 1.70 0.045 2773 -618.8 -116.8 - - 3509 - - - - - - - - 14.83 14.79 14.85
3100 294.1 -7.7 206 3113 roll -0.59 - - 2681 - 1.92 0.113 3825 547.9 -116.8 - - 3506 - - - - - - - - 14.98 14.66 14.98
3341 315.0 -8.7 240 3355 done -0.59 - - 2680 - 1.70 0.044 2774 -618.2 -116.8 - - 3505 - - - - - - - - 14.86 14.81 14.87
3667 341.3 -8.1 251 3681 roll -0.59 - - 2673 - 1.95 0.115 3834 543.6 -116.8 - - 3502 - - - - - - - - 14.98 14.66 14.99
3846 356.5 -8.6 276 3860 done -0.59 0.10 0.231 2703 300.0 1.75 0.045 2781 -601.7 -116.8 - - 3502 - - - - - - - - 14.62 14.79 14.80
4180 380.9 -7.2 288 4193 roll -0.59 - - 2695 - 1.92 0.115 3823 542.7 -116.8 - - 3500 - - - - - - - - 14.99 14.67 14.99
4225 384.3 -7.8 294 4239 done -0.59 - - 2695 - 1.73 0.047 2790 -597.1 -116.8 - - 3499 - - - - - - - - 14.83 14.79 14.86
4580 409.0 -6.8 302 4593 roll -0.59 - - 2686 - 1.90 0.112 3823 543.7 -116.8 - - 3497 - - - - - - - - 15.00 14.68 14.99
4640 413.1 -6.9 310 4653 done -0.59 - - 2687 - 1.73 0.047 2775 -605.8 -116.8 - - 3497 - - - - - - - - 14.86 14.81 14.87
4980 435.6 -6.7 323 4993 done -0.59 - - 2687 - - - 2775 - -116.8 - - 3496 - - - - - - - - 15.00 15.00 14.99
5317 460.5 -7.5 329 5330 done -0.59 - - 2692 - - - 2775 - -116.8 - - 3494 - - - - - - - - 15.00 15.00 15.00
5652 486.6 -7.8 335 5665 roll -0.59 - - 2679 - 1.95 0.112 3831 541.5 -116.8 - - 3493 - - - - - - - - 15.00 14.68 15.00
5725 492.6 -8.2 345 5739 done -0.59 - - 2679 - 1.73 0.049 2778 -608.7 -116.8 - - 3492 - - - - - - - - 14.88 14.82 14.88
6052 517.4 -7.6 356 6065 roll -0.59 - - 2673 - 1.92 0.113 3825 545.3 -116.8 - - 3491 - - - - - - - - 15.00 14.67 15.00
6174 527.3 -8.2 373 6187 done -0.59 - - 2672 - 1.70 0.049 2790 -608.8 -116.8 - - 3490 - - - - - - - - 14.87 14.81 14.87
6507 554.0 -8.1 385 6520 roll -0.59 0.08 0.261 2693 262.5 1.90 0.112 3827 545.8 -116.8 - - 3489 - - - - - - - - 14.59 14.63 14.72
6546 557.1 -8.1 390 6559 done -0.59 - - 2699 - 1.70 0.050 2791 -609.4 -116.8 - - 3488 - - - - - - - - 14.86 14.81 14.87
6907 583.6 -7.3 399 6920 roll -0.59 - - 2684 - 1.92 0.116 3833 542.7 -116.8 - - 3487 - - - - - - - - 14.98 14.66 14.99
6952 587.0 -7.7 405 6965 done -0.59 - - 2684 - 1.73 0.050 2789 -603.5 -116.8 - - 3486 - - - - - - - - 14.86 14.81 14.88
7307 610.4 -6.4 413 7320 roll -0.59 - - 2684 - 2.38 0.047 1363 -599.2 -116.8 - - 3486 - - - - - - - - 14.99 14.74 14.99
7367 614.2 -6.3 421 7381 done -0.59 0.10 0.245 2704 200.0 2.50 0.071 2799 574.4 -116.8 - - 3485 - - - - - - - - 14.58 14.69 14.77
7709 632.8 -5.5 434 7722 roll -0.69 - - 2696 - 1.88 0.117 3829 547.9 -116.8 - - 3484 - - - - - - - - 14.97 14.60 14.97
7782 637.5 -6.2 444 7795 done -0.69 - - 2697 - 1.73 0.050 2782 -605.2 -116.8 - - 3483 - - - - - - - - 14.85 14.79 14.86
8109 657.9 -6.4 455 8122 roll -0.77 0.08 0.149 2631 -825.0 2.35 0.044 1366 -602.6 -116.8 - - 3482 - - - - - - - - 14.76 14.73 14.80
8161 662.4 -8.9 462 8175 done -0.77 0.10 0.254 2651 200.0 2.50 0.073 2793 570.8 -116.8 - - 3482 - - - - - - - - 14.54 14.67 14.78
8506 691.1 -8.3 469 8519 roll -0.77 - - 2643 - 1.88 0.118 3824 548.4 -116.8 - - 3481 - - - - - - - - 14.98 14.62 14.99
8614 700.5 -8.5 484 8628 done -0.77 - - 2643 - 1.75 0.050 2789 -591.4 -116.8 - - 3481 - - - - - - - - 14.78 14.76 14.80
8958 727.7 -7.9 491 8971 done -0.77 - - 2643 - - - 2790 - -116.8 - - 3480 - - - - - - - - 14.97 14.97 14.97
9294 754.6 -8.1 497 9307 roll -0.77 - - 2635 - 1.92 0.116 3827 540.1 -116.8 - - 3479 - - - - - - - - 14.97 14.62 14.97
9360 760.4 -8.8 506 9373 done -0.77 - - 2634 - 1.73 0.050 2783 -603.5 -116.8 - - 3479 - - - - - - - - 14.83 14.78 14.84
9693 788.8 -8.5 518 9706 done -0.77 - - 2632 - - - 2781 - -116.8 - - 3475 - - - - - - - - 14.97 14.97 14.97
10029 818.9 -9.0 524 10043 roll -0.77 - - 2625 - 1.95 0.118 3833 539.5 -116.8 - - 3477 - - - - - - - - 14.97 14.61 14.97
10131 828.7 -9.9 538 10144 done -0.77 - - 2626 - 1.75 0.051 2803 -588.6 -116.8 - - 3476 - - - - - - - - 14.83 14.74 14.87
10485 861.8 -9.3 546 10498 done -0.77 - - 2626 - - - 2802 - -116.8 - - 3476 - - - - - - - - 14.96 14.96 14.96
10821 891.5 -8.7 552 10834 roll -0.77 - - 2619 - 1.90 0.118 3824 537.9 -116.8 - - 3475 - - - - - - - - 14.96 14.59 14.96
10873 896.3 -9.3 559 10887 done -0.77 0.10 0.246 2648 290.0 1.73 0.052 2797 -593.6 -116.8 - - 3474 - - - - - - - - 14.51 14.74 14.73
11218 922.3 -7.4 566 11231 done -0.77 - - 2647 - - - 2797 - -116.8 - - 3474 - - - - - - - - 14.96 14.96 14.97
11328 end dive: TARGET_DEPTH_EXCEEDED
11328 begin apogee
11333 930.5 -7.3 568 11457 roll -0.23 0.60 0.187 2826 298.3 0.10 0.163 2278 -5190.0 - 113.90 2.000 3049 -3.7 0.329 - - - - - - 14.52 14.00 13.38
11458 end apogee: CONTROL_FINISHED_OK
11458 begin climb
11460 933.9 - 570 11600 roll 0.90 1.08 0.109 3165 313.9 2.50 0.058 876 -560.8 116.8 121.82 1.948 2580 -3.8 0.350 - - - - - - 14.07 14.09 13.26
11829 908.7 8.6 625 11843 done 0.76 - - 3169 - 2.38 0.057 2236 571.4 116.8 - - 2571 - - - - - - - - 14.43 14.33 14.45
12173 878.1 8.9 632 12186 roll 0.62 0.22 0.244 3111 -263.6 2.35 0.059 878 -577.9 116.8 - - 2570 - - - - - - - - 14.35 14.50 14.50
12414 861.7 6.5 666 12454 done 0.65 - - 3112 - 2.38 0.059 2257 579.4 142.8 27.12 1.982 2478 -3.4 0.279 - - - - - - 14.66 14.54 13.71
12795 833.8 7.6 678 12809 roll 0.65 - - 3111 - 2.55 0.105 3653 547.5 146.2 - - 2469 - - - - - - - - 14.76 14.48 14.76
12883 825.8 8.8 690 12896 done 0.57 0.12 0.245 3087 -200.0 2.33 0.045 2275 -591.4 146.2 - - 2469 - - - - - - - - 14.42 14.60 14.62
13252 799.7 7.1 700 13283 roll 0.59 - - 3087 - 2.58 0.106 3653 534.1 160.5 18.25 2.005 2405 -3.5 0.265 - - - - - - 14.84 14.45 13.85
13309 795.0 7.8 708 13323 done 0.59 - - 3096 - 2.40 0.046 2252 -583.8 160.5 - - 2403 - - - - - - - - 14.60 14.53 14.61
13650 767.8 8.0 721 13663 roll 0.59 - - 3096 - 2.60 0.108 3652 538.5 160.5 - - 2401 - - - - - - - - 14.80 14.51 14.80
13688 764.5 8.3 726 13701 done 0.59 - - 3106 - 2.38 0.046 2250 -589.1 160.5 - - 2401 - - - - - - - - 14.69 14.62 14.71
14049 735.0 8.2 735 14062 roll 0.59 - - 3106 - 2.60 0.106 3651 538.8 160.5 - - 2401 - - - - - - - - 14.87 14.57 14.87
14080 732.2 8.4 739 14094 done 0.59 - - 3116 - 2.35 0.045 2257 -593.2 160.5 - - 2401 - - - - - - - - 14.74 14.68 14.76
14449 701.8 8.3 749 14462 done 0.59 - - 3116 - - - 2252 - 160.5 - - 2399 - - - - - - - - 14.90 14.89 14.89
14785 674.0 8.3 755 14798 done 0.59 - - 3116 - - - 2252 - 160.5 - - 2401 - - - - - - - - 14.90 14.90 14.91
15121 646.9 8.0 761 15134 roll 0.59 - - 3116 - 2.58 0.106 3658 545.0 160.5 - - 2399 - - - - - - - - 14.92 14.60 14.92
15159 643.5 8.6 766 15173 done 0.59 0.12 0.238 3092 -200.0 2.38 0.046 2253 -590.3 160.5 - - 2399 - - - - - - - - 14.52 14.71 14.73
15521 620.0 6.3 775 15567 roll 0.62 - - 3091 - 2.62 0.106 3653 534.4 192.4 33.53 1.771 2280 -3.5 0.235 - - - - - - 14.92 14.42 13.88
15592 615.2 6.8 785 15627 done 0.65 - - 3099 - 2.38 0.047 2259 -585.7 213.5 22.80 1.790 2202 -3.4 0.223 - - - - - - 14.57 14.50 13.74
15968 588.3 7.2 796 15988 done 0.67 - - 3100 - - - 2259 - 225.1 11.73 1.908 2153 -4.2 0.244 - - - - - - 14.73 14.48 13.82
16305 563.2 7.5 802 16322 roll 0.67 - - 3100 - 2.62 0.107 3649 530.5 230.6 2.35 0.805 2134 -8.1 1.072 - - - - - - 14.76 14.50 13.50
16368 557.7 8.7 811 16381 done 0.67 - - 3108 - 2.35 0.046 2263 -589.8 230.6 - - 2138 - - - - - - - - 14.65 14.58 14.66
16701 530.5 8.3 823 16714 done 0.67 - - 3109 - - - 2258 - 230.6 - - 2138 - - - - - - - - 14.87 14.83 14.85
17037 501.6 8.7 829 17050 roll 0.67 - - 3109 - 2.58 0.107 3649 539.1 230.6 - - 2138 - - - - - - - - 14.87 14.57 14.87
17082 497.1 10.1 835 17095 done 0.67 - - 3118 - 2.33 0.047 2269 -592.3 230.6 - - 2138 - - - - - - - - 14.74 14.68 14.76
17437 463.7 9.4 843 17450 roll 0.67 - - 3128 - 2.42 0.064 856 -583.9 230.6 - - 2138 - - - - - - - - 14.89 14.64 14.88
17482 459.4 9.5 849 17496 done 0.67 - - 3128 - 2.42 0.059 2276 586.8 230.6 - - 2138 - - - - - - - - 14.76 14.63 14.77
17837 427.6 8.9 857 17850 roll 0.67 - - 3128 - 2.53 0.108 3663 548.2 230.6 - - 2138 - - - - - - - - 14.90 14.59 14.92
17882 423.1 9.6 863 17895 done 0.67 - - 3137 - 2.35 0.045 2259 -597.4 230.6 - - 2137 - - - - - - - - 14.77 14.71 14.78
18237 391.0 9.1 871 18250 roll 0.67 - - 3148 - 2.40 0.065 858 -583.8 230.6 - - 2138 - - - - - - - - 14.91 14.65 14.91
18268 388.1 8.9 875 18282 done 0.67 0.10 0.238 3119 -290.0 2.42 0.060 2279 587.2 230.6 - - 2138 - - - - - - - - 14.54 14.65 14.73
18637 357.5 8.3 885 18650 roll 0.67 - - 3118 - 2.50 0.107 3653 549.6 230.6 - - 2138 - - - - - - - - 14.92 14.60 14.92
18703 351.4 9.2 894 18716 done 0.67 - - 3127 - 2.33 0.044 2265 -595.7 230.6 - - 2138 - - - - - - - - 14.78 14.71 14.80
19036 324.2 8.1 906 19050 roll 0.67 - - 3127 - 2.55 0.106 3652 543.9 230.6 - - 2138 - - - - - - - - 14.91 14.60 14.92
19089 319.5 9.1 913 19103 done 0.67 - - 3136 - 2.33 0.044 2272 -592.3 230.6 - - 2138 - - - - - - - - 14.78 14.71 14.80
19433 290.8 8.4 920 19446 done 0.67 - - 3137 - - - 2270 - 230.6 - - 2139 - - - - - - - - 14.92 14.92 14.92
19769 260.7 9.0 926 19782 done 0.67 - - 3136 - - - 2271 - 230.6 - - 2139 - - - - - - - - 14.94 14.94 14.93
20105 232.2 8.4 932 20118 roll 0.67 - - 3136 - 2.55 0.106 3655 542.7 230.6 - - 2140 - - - - - - - - 14.98 14.62 14.95
20129 230.0 8.4 935 20143 done 0.67 - - 3146 - 2.30 0.047 2284 -596.1 230.6 1.35 0.300 2131 -6.7 0.968 - - - - - - 14.81 14.73 14.26
20449 202.1 8.8 945 20462 done 0.67 - - 3146 - - - 2280 - 230.6 - - 2140 - - - - - - - - 14.93 14.93 14.93
20785 172.2 9.0 951 20799 roll 0.67 - - 3146 - 2.50 0.103 3653 549.2 230.6 1.48 0.330 2134 -4.1 0.401 - - - - - - 14.94 14.54 14.14
20824 168.3 10.1 956 20837 done 0.67 0.12 0.238 3121 -208.3 2.30 0.044 2276 -598.7 230.6 1.52 0.349 2132 - - - - - - - - 14.49 14.69 14.16
21186 140.3 7.6 965 21199 done 0.68 - - 3121 - - - 2272 - 234.5 4.95 1.517 2116 -3.2 0.057 - - - - - - 14.92 14.73 13.85
21522 116.0 7.1 971 21547 roll 0.69 - - 3130 - 2.47 0.062 860 -571.7 249.2 8.43 0.522 2058 -6.9 0.290 - - - - - - 14.92 14.66 14.30
21572 112.2 7.5 978 21590 done 0.70 - - 3130 - 2.40 0.056 2283 592.9 255.0 3.90 0.472 2035 -5.9 0.266 - - - - - - 14.76 14.64 14.27
21919 87.4 7.0 995 21936 done 0.80 - - 3130 - - - 2283 - 270.2 8.07 0.433 1974 -7.6 0.289 - - - - - - 14.89 14.69 14.31
22226 73.3 3.7 1006 22280 roll 1.04 0.22 0.073 3260 590.9 2.53 0.062 861 -562.1 357.2 42.00 0.405 1628 -8.2 0.282 - - - - - - 14.67 14.56 14.33
22354 64.0 9.0 1024 22368 done 1.04 - - 3260 - 2.42 0.054 2291 590.9 357.2 - - 1627 - - - - - - - - 14.69 14.57 14.71
22671 46.6 4.2 1036 22723 roll 1.14 - - 3269 - 2.53 0.061 856 -567.2 434.9 37.15 0.322 1317 -8.3 0.229 - - - - - - 14.87 14.53 14.35
22846 34.4 6.3 1061 22874 done 1.30 0.10 0.117 3334 650.0 2.42 0.054 2298 595.9 466.5 15.25 0.285 1192 -8.2 0.187 - - - - - - 14.64 14.58 14.38
23177 7.2 10.0 1075 23190 done 1.30 - - 3334 - - - 2298 - 466.5 - - 1194 - - - - - - - - 14.86 14.86 14.87
23231 end climb: SURFACE_DEPTH_REACHED
23231 begin surface coast
23259 end surface coast: CONTROL_FINISHED_OK
23259 begin surface
SM -2.43 - - - - -8.40 9.25 0.086 190 20.5 0.82 0.081 2775 3376.8 500.14 15.62 0.163 1056 67.6 0.103 - - - - - -