SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 1 • 67.68 of 350.00 AH used of 24V (80.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -1.15 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 40 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 96 done -0.90 - - 129 - - - 2778 - -116.8 -74.30 - 3515 - - - - - - - - 14.66 13.17 14.66
98 1.0 -7.0 2 120 roll -0.90 11.70 0.392 2603 211.5 2.38 0.031 1337 -605.5 -116.8 - - 3516 - - - - - - - - 14.19 14.48 14.47
181 41.5 -27.9 15 189 done -0.55 0.45 0.256 2713 244.4 2.55 0.066 2760 558.0 -116.8 - - 3516 - - - - - - - - 14.21 14.40 14.40
511 89.0 -10.5 29 518 roll -0.47 0.10 0.252 2734 210.0 1.90 0.103 3823 559.5 -116.8 - - 3519 - - - - - - - - 14.40 14.46 14.59
558 93.0 -8.7 36 569 done -0.47 - - 2734 - 1.77 0.038 2752 -605.1 -116.8 - - 3519 - - - - - - - - 14.67 14.62 14.68
875 113.2 -6.9 45 881 roll -0.47 - - 2727 - 2.00 0.103 3817 532.5 -116.8 - - 3520 - - - - - - - - 14.84 14.48 14.84
1071 126.5 -6.7 73 1078 done -0.47 - - 2726 - 1.70 0.039 2781 -609.4 -116.8 - - 3521 - - - - - - - - 14.68 14.65 14.69
1434 150.1 -6.6 83 1437 done -0.47 - - 2726 - - - 2781 - -116.8 - - 3519 - - - - - - - - 14.87 14.88 14.87
1771 172.9 -6.8 89 1777 roll -0.56 - - 2727 - 2.33 0.046 1385 -599.1 -116.8 - - 3516 - - - - - - - - 14.88 14.62 14.88
1833 177.0 -6.6 98 1840 done -0.65 - - 2718 - 2.50 0.067 2783 559.2 -116.8 - - 3516 - - - - - - - - 14.63 14.54 14.66
2163 198.7 -6.6 110 2170 roll -0.73 0.10 0.125 2645 -730.0 2.35 0.046 1382 -596.2 -116.8 - - 3512 - - - - - - - - 14.66 14.62 14.73
2210 202.8 -9.0 117 2220 done -0.73 - - 2636 - 2.47 0.067 2773 563.2 -116.8 - - 3512 - - - - - - - - 14.63 14.54 14.66
2555 236.0 -9.8 124 2563 roll -0.65 0.17 0.230 2678 247.1 1.90 0.107 3826 554.2 -116.8 - - 3509 - - - - - - - - 14.40 14.52 14.64
2630 242.5 -8.0 135 2638 done -0.65 - - 2681 - 1.75 0.041 2783 -596.0 -116.8 - - 3509 - - - - - - - - 14.75 14.69 14.76
2946 268.1 -8.3 145 2960 roll -0.65 - - 2678 - 2.35 0.047 1374 -599.6 -116.8 - - 3506 - - - - - - - - 14.92 14.65 14.92
2978 270.9 -8.7 149 2991 done -0.65 - - 2668 - 2.45 0.067 2789 577.6 -116.8 - - 3507 - - - - - - - - 14.74 14.60 14.77
3346 306.0 -9.7 159 3360 roll -0.65 - - 2659 - 1.88 0.108 3821 548.9 -116.8 - - 3503 - - - - - - - - 14.93 14.57 14.95
3407 312.2 -10.3 167 3420 done -0.65 0.10 0.236 2688 290.0 1.70 0.043 2780 -612.4 -116.8 - - 3503 - - - - - - - - 14.49 14.75 14.70
3747 341.6 -8.5 180 3761 roll -0.65 - - 2688 - 2.35 0.047 1375 -597.9 -116.8 - - 3501 - - - - - - - - 14.95 14.71 14.95
3800 346.1 -8.4 187 3814 done -0.65 - - 2679 - 2.47 0.067 2781 569.2 -116.8 - - 3501 - - - - - - - - 14.77 14.63 14.79
4144 375.5 -8.5 194 4157 done -0.65 - - 2679 - - - 2781 - -116.8 - - 3498 - - - - - - - - 14.95 14.95 14.95
4480 404.6 -8.7 200 4493 done -0.65 - - 2679 - - - 2781 - -116.8 - - 3496 - - - - - - - - 14.95 14.96 14.95
4816 432.7 -8.3 206 4829 roll -0.65 - - 2671 - 1.92 0.110 3835 549.0 -116.8 - - 3494 - - - - - - - - 14.95 14.56 14.96
4848 435.5 -8.6 210 4861 done -0.65 - - 2671 - 1.73 0.047 2780 -609.8 -116.8 - - 3494 - - - - - - - - 14.81 14.76 14.82
5217 465.0 -7.9 220 5230 roll -0.65 - - 2669 - 2.38 0.047 1367 -593.7 -116.8 - - 3492 - - - - - - - - 14.97 14.67 14.97
5263 468.7 -7.9 226 5276 done -0.65 - - 2661 - 2.47 0.070 2784 573.7 -116.8 - - 3492 - - - - - - - - 14.76 14.61 14.78
5617 496.3 -7.7 234 5631 roll -0.65 - - 2649 - 1.90 0.111 3822 546.3 -116.8 - - 3491 - - - - - - - - 14.95 14.54 14.95
5642 498.4 -7.7 237 5656 done -0.65 0.12 0.230 2689 333.3 1.77 0.046 2747 -607.3 -116.8 - - 3491 - - - - - - - - 14.47 14.73 14.70
5962 520.0 -6.7 247 5975 done -0.65 - - 2697 - - - 2748 - -116.8 - - 3488 - - - - - - - - 14.95 14.95 14.95
6298 543.4 -7.0 253 6311 roll -0.65 - - 2690 - 2.33 0.049 1367 -592.7 -116.8 - - 3488 - - - - - - - - 14.95 14.65 14.95
6359 547.9 -7.5 261 6372 done -0.65 - - 2674 - 2.50 0.069 2783 566.4 -116.8 - - 3487 - - - - - - - - 14.75 14.59 14.78
6699 574.8 -8.0 274 6712 done -0.65 - - 2680 - - - 2783 - -116.8 - - 3486 - - - - - - - - 14.95 14.95 14.95
7036 601.3 -7.9 280 7049 roll -0.65 - - 2680 - 2.42 0.048 1364 -586.4 -116.8 - - 3483 - - - - - - - - 14.94 14.64 14.94
7075 604.4 -8.1 285 7088 done -0.65 - - 2670 - 2.50 0.070 2786 568.8 -116.8 - - 3483 - - - - - - - - 14.75 14.59 14.77
7436 632.5 -7.8 294 7449 done -0.65 - - 2671 - - - 2787 - -116.8 - - 3485 - - - - - - - - 14.94 14.94 14.94
7772 657.6 -7.4 300 7785 done -0.65 - - 2671 - - - 2787 - -116.8 - - 3482 - - - - - - - - 14.95 14.95 14.95
8108 681.0 -6.8 306 8122 roll -0.65 - - 2671 - 2.42 0.049 1370 -585.5 -116.8 - - 3480 - - - - - - - - 14.93 14.63 14.94
8196 687.1 -6.6 318 8209 done -0.65 - - 2661 - 2.53 0.072 2782 558.1 -116.8 - - 3480 - - - - - - - - 14.73 14.56 14.76
8565 711.4 -6.6 328 8578 roll -0.65 - - 2653 - 1.95 0.114 3834 539.5 -116.8 - - 3479 - - - - - - - - 14.95 14.48 14.95
8617 715.1 -7.1 335 8632 done -0.65 0.12 0.230 2690 308.3 1.77 0.048 2777 -597.2 -116.8 - - 3478 - - - - - - - - 14.40 14.69 14.64
8962 733.4 -5.2 342 8975 roll -0.72 - - 2690 - 2.40 0.049 1364 -588.8 -116.8 - - 3478 - - - - - - - - 14.92 14.61 14.92
9050 738.3 -5.5 354 9063 done -0.81 0.08 0.148 2627 -787.5 2.50 0.070 2781 566.8 -116.8 - - 3477 - - - - - - - - 14.62 14.55 14.72
9419 767.0 -8.1 364 9432 done -0.81 - - 2627 - - - 2781 - -116.8 - - 3476 - - - - - - - - 14.92 14.91 14.92
9755 796.7 -8.9 370 9768 done -0.81 - - 2627 - - - 2781 - -116.8 - - 3475 - - - - - - - - 14.92 14.92 14.92
10091 827.2 -9.1 376 10104 roll -0.81 - - 2626 - 2.42 0.049 1373 -581.8 -116.8 - - 3474 - - - - - - - - 14.92 14.59 14.92
10152 832.9 -9.2 384 10165 done -0.81 - - 2618 - 2.53 0.072 2779 555.7 -116.8 - - 3474 - - - - - - - - 14.70 14.53 14.73
10493 864.9 -9.2 397 10506 roll -0.81 - - 2616 - 2.42 0.048 1367 -583.5 -116.8 - - 3472 - - - - - - - - 14.90 14.59 14.92
10532 868.2 -7.0 402 10545 done -0.81 0.10 0.267 2635 190.0 2.50 0.072 2778 564.4 -116.8 - - 3472 - - - - - - - - 14.34 14.53 14.61
10894 897.3 -7.9 411 10907 done -0.81 - - 2634 - - - 2778 - -116.8 - - 3472 - - - - - - - - 14.93 14.92 14.92
11230 922.7 -7.5 417 11243 roll -0.81 - - 2636 - 2.42 0.049 1367 -583.1 -116.8 - - 3471 - - - - - - - - 14.92 14.58 14.92
11283 926.8 -7.6 424 11298 done -0.81 - - 2626 - 2.53 0.072 2775 556.5 -116.8 - - 3471 - - - - - - - - 14.68 14.50 14.71
11345 end dive: TARGET_DEPTH_EXCEEDED
11345 begin apogee
11350 931.6 -7.6 426 11474 roll -0.23 0.68 0.200 2821 286.8 - - 2229 - - 113.62 1.951 3049 -3.7 0.339 - - - - - - 14.35 14.05 13.31
11476 end apogee: CONTROL_FINISHED_OK
11476 begin climb
11477 934.9 - 428 11619 roll 0.90 1.10 0.113 3170 317.3 2.42 0.059 876 -559.1 116.8 122.40 1.961 2580 -3.8 0.349 - - - - - - 14.04 14.07 13.16
11651 926.2 8.3 455 11665 done 0.75 - - 3170 - 2.45 0.054 2250 560.8 116.8 - - 2574 - - - - - - - - 14.11 14.02 14.13
11971 896.8 9.4 465 11985 roll 0.60 0.25 0.235 3098 -288.0 2.60 0.098 3652 539.2 116.8 - - 2570 - - - - - - - - 14.15 14.28 14.31
12032 892.5 6.0 473 12085 done 0.56 - - 3107 - 2.38 0.041 2254 -587.4 155.4 40.72 1.939 2430 -3.4 0.302 - - - - - - 14.54 14.45 13.50
12426 861.0 7.9 487 12439 done 0.56 - - 3107 - - - 2254 - 155.4 - - 2420 - - - - - - - - 14.68 14.68 14.68
12762 834.2 8.1 493 12775 done 0.56 - - 3107 - - - 2254 - 155.4 - - 2420 - - - - - - - - 14.78 14.78 14.78
13098 807.0 8.1 499 13111 done 0.56 - - 3107 - - - 2254 - 155.4 - - 2419 - - - - - - - - 14.83 14.83 14.83
13435 778.7 8.5 505 13448 roll 0.56 - - 3107 - 2.67 0.106 3664 528.1 155.4 - - 2418 - - - - - - - - 14.83 14.45 14.83
13480 774.5 9.3 511 13494 done 0.56 0.12 0.242 3084 -191.7 2.40 0.044 2248 -590.0 155.4 - - 2417 - - - - - - - - 14.36 14.61 14.62
13835 747.8 7.3 519 13849 done 0.57 - - 3083 - - - 2243 - 165.3 4.72 1.960 2391 -5.5 0.401 - - - - - - 14.85 14.67 13.54
14171 723.8 7.1 525 14204 roll 0.59 - - 3083 - 2.72 0.103 3659 520.6 179.1 21.00 1.881 2332 -2.8 0.206 - - - - - - 14.84 14.45 13.87
14258 716.9 8.2 537 14271 done 0.59 - - 3093 - 2.40 0.044 2251 -586.7 179.1 - - 2328 - - - - - - - - 14.59 14.51 14.60
14620 690.7 7.2 546 14642 done 0.61 - - 3092 - - - 2246 - 191.8 13.55 1.951 2285 -3.2 0.214 - - - - - - 14.79 14.53 13.84
14956 666.7 7.1 552 14982 roll 0.62 - - 3093 - 2.70 0.103 3651 520.4 205.7 14.07 1.916 2228 -4.1 0.269 - - - - - - 14.77 14.42 13.83
15035 660.2 8.5 563 15048 done 0.62 - - 3102 - 2.38 0.043 2258 -585.3 205.7 - - 2225 - - - - - - - - 14.56 14.49 14.57
15404 631.5 7.9 573 15417 roll 0.62 - - 3112 - 2.42 0.065 859 -578.1 205.7 - - 2224 - - - - - - - - 14.77 14.49 14.77
15449 627.7 8.4 579 15462 done 0.62 - - 3112 - 2.42 0.056 2264 580.6 205.7 - - 2223 - - - - - - - - 14.63 14.50 14.65
15804 597.9 8.5 587 15817 roll 0.62 - - 3112 - 2.55 0.104 3653 544.7 205.7 - - 2223 - - - - - - - - 14.83 14.45 14.83
15856 593.1 9.3 594 15870 done 0.62 - - 3122 - 2.38 0.042 2248 -590.3 205.7 - - 2223 - - - - - - - - 14.67 14.59 14.69
16200 564.5 8.2 601 16213 done 0.62 - - 3122 - - - 2241 - 205.7 - - 2222 - - - - - - - - 14.84 14.84 14.84
16536 536.8 8.3 607 16549 roll 0.62 - - 3122 - 2.65 0.104 3660 535.5 205.7 - - 2223 - - - - - - - - 14.87 14.47 14.87
16575 533.2 9.2 612 16588 done 0.62 0.10 0.242 3104 -180.0 2.38 0.042 2254 -590.8 205.7 - - 2223 - - - - - - - - 14.39 14.62 14.64
16937 505.0 7.8 621 16950 roll 0.62 - - 3114 - 2.40 0.063 859 -581.2 205.7 - - 2223 - - - - - - - - 14.88 14.54 14.88
16969 502.4 7.8 625 16982 done 0.62 - - 3114 - 2.40 0.055 2260 583.8 205.7 - - 2222 - - - - - - - - 14.69 14.55 14.71
17338 470.9 8.7 635 17351 roll 0.62 - - 3114 - 2.58 0.105 3654 540.3 205.7 - - 2222 - - - - - - - - 14.88 14.47 14.88
17390 465.7 10.0 642 17404 done 0.62 - - 3124 - 2.38 0.041 2255 -587.8 205.7 - - 2222 - - - - - - - - 14.71 14.63 14.73
17734 433.7 9.3 649 17748 roll 0.62 - - 3133 - 2.40 0.064 858 -582.1 205.7 - - 2222 - - - - - - - - 14.87 14.54 14.87
17766 430.6 9.2 653 17780 done 0.62 0.10 0.223 3103 -300.0 2.40 0.055 2258 583.3 205.7 - - 2222 - - - - - - - - 14.42 14.56 14.65
18135 401.4 7.8 663 18148 roll 0.62 - - 3104 - 2.58 0.102 3661 543.8 205.7 - - 2222 - - - - - - - - 14.88 14.47 14.87
18174 398.1 8.7 668 18187 done 0.62 - - 3113 - 2.38 0.041 2250 -592.9 205.7 - - 2222 - - - - - - - - 14.72 14.64 14.73
18536 369.7 7.9 677 18549 roll 0.62 - - 3113 - 2.62 0.103 3657 537.0 205.7 - - 2222 - - - - - - - - 14.88 14.47 14.88
18581 365.6 8.7 683 18595 done 0.62 - - 3122 - 2.35 0.041 2258 -595.3 205.7 - - 2222 - - - - - - - - 14.68 14.61 14.70
18936 336.8 8.2 691 18949 done 0.62 - - 3122 - - - 2253 - 205.7 - - 2222 - - - - - - - - 14.89 14.93 14.89
19272 309.3 8.2 697 19285 done 0.62 - - 3122 - - - 2253 - 205.7 - - 2222 - - - - - - - - 14.88 14.88 14.88
19608 281.6 8.3 703 19621 done 0.62 - - 3122 - - - 2252 - 205.7 - - 2222 - - - - - - - - 14.88 14.89 14.89
19944 251.9 8.9 709 19958 roll 0.62 - - 3122 - 2.60 0.100 3653 538.8 205.7 - - 2223 - - - - - - - - 14.88 14.47 14.88
19990 247.3 10.2 715 20003 done 0.62 - - 3132 - 2.35 0.041 2256 -594.5 205.7 - - 2223 - - - - - - - - 14.73 14.65 14.75
20345 215.5 8.9 723 20358 done 0.62 0.10 0.241 3104 -280.0 - - 2251 - 205.7 - - 2223 - - - - - - - - 14.40 14.66 14.64
20680 190.3 7.4 729 20699 roll 0.63 - - 3104 - 2.62 0.099 3656 536.3 213.3 3.95 1.362 2206 -4.3 0.115 - - - - - - 14.90 14.61 13.71
20724 186.7 8.5 735 20738 done 0.63 - - 3112 - 2.35 0.041 2253 -597.0 213.3 1.45 0.330 2202 -2.8 0.298 - - - - - - 14.72 14.66 14.14
21079 160.4 7.4 743 21105 roll 0.64 - - 3122 - 2.45 0.063 860 -568.6 220.9 13.25 1.375 2162 -3.0 0.067 - - - - - - 14.88 14.61 14.10
21130 156.5 7.6 750 21144 done 0.65 - - 3122 - 2.42 0.053 2272 583.5 224.4 - - 2160 - - - - - - - - 14.68 14.57 14.69
21474 128.9 8.2 757 21488 roll 0.65 - - 3122 - 2.53 0.099 3656 547.0 224.4 - - 2160 - - - - - - - - 14.83 14.45 14.83
21548 121.7 10.0 767 21562 done 0.65 - - 3130 - 2.33 0.040 2264 -597.4 224.4 - - 2160 - - - - - - - - 14.69 14.62 14.70
21875 98.1 6.8 778 21899 roll 0.67 - - 3130 - 2.58 0.097 3656 539.5 245.9 10.60 0.459 2073 -8.2 0.335 - - - - - - 14.85 14.51 14.23
21953 93.1 6.8 789 21978 done 0.70 - - 3139 - 2.35 0.039 2256 -595.7 266.8 11.02 0.444 1989 -7.6 0.305 - - - - - - 14.69 14.62 14.20
22300 76.4 3.4 805 22360 done 0.93 0.10 0.119 3213 740.0 - - 2254 - 361.0 45.28 0.399 1611 -8.3 0.305 - - - - - - 14.60 14.50 14.25
22664 52.7 6.5 824 22689 roll 1.06 - - 3214 - 2.65 0.099 3654 528.3 387.6 12.68 0.324 1506 -8.3 0.257 - - - - - - 14.80 14.46 14.25
22779 44.9 7.0 840 22804 done 1.19 0.15 0.093 3300 573.3 2.30 0.041 2275 -599.6 404.7 9.05 0.297 1438 -7.5 0.217 - - - - - - 14.59 14.58 14.23
23108 21.9 5.5 854 23146 roll 1.25 - - 3309 - 2.40 0.063 868 -586.2 453.9 24.08 0.228 1244 -8.1 0.148 - - - - - - 14.83 14.52 14.35
23277 10.6 7.8 878 23290 done 1.25 - - 3309 - 2.40 0.050 2277 587.1 453.9 - - 1245 - - - - - - - - 14.66 14.53 14.67
23392 end climb: SURFACE_DEPTH_REACHED
23392 begin surface coast
23420 end surface coast: CONTROL_FINISHED_OK
23420 begin surface
SM -0.95 - - - - -8.40 8.88 0.055 189 21.3 0.85 0.074 2761 2036.5 500.14 21.15 0.155 1059 50.1 0.031 - - - - - -