SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 173 * Raw log
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• Previous call tries 4 • 68.05 of 350.00 AH used of 24V (80.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth -0.74 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 56 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 96 done -0.90 - - 119 - - - 2776 - -116.8 -75.30 - 3516 - - - - - - - - 14.66 13.18 14.66
98 0.9 -4.8 2 120 roll -0.90 11.77 0.392 2601 210.9 2.35 0.036 1370 -598.3 -116.8 - - 3517 - - - - - - - - 14.19 14.46 14.49
174 38.7 -26.0 14 182 done -0.53 0.45 0.246 2722 268.9 2.47 0.071 2757 561.5 -116.8 - - 3518 - - - - - - - - 14.26 14.40 14.48
510 86.4 -11.4 29 517 roll -0.53 - - 2713 - 1.98 0.102 3830 541.9 -116.8 - - 3519 - - - - - - - - 14.80 14.46 14.80
636 97.1 -7.4 47 643 done -0.53 - - 2713 - 1.77 0.038 2750 -610.2 -116.8 - - 3519 - - - - - - - - 14.69 14.65 14.70
987 119.2 -6.1 56 994 roll -0.53 - - 2705 - 2.00 0.099 3825 537.5 -116.8 - - 3520 - - - - - - - - 14.85 14.50 14.85
1146 127.8 -9.0 79 1156 done -0.53 - - 2705 - 1.73 0.039 2772 -608.7 -116.8 - - 3520 - - - - - - - - 14.76 14.70 14.75
1491 155.5 -8.2 86 1497 roll -0.53 - - 2705 - 2.33 0.044 1363 -604.7 -116.8 - - 3518 - - - - - - - - 14.88 14.61 14.88
1546 160.3 -7.3 94 1554 done -0.53 0.10 0.209 2733 280.0 2.47 0.064 2774 571.3 -116.8 - - 3518 - - - - - - - - 14.45 14.55 14.66
1883 183.4 -6.7 107 1890 roll -0.62 0.05 0.207 2674 -1180.0 2.30 0.045 1396 -599.1 -116.8 - - 3515 - - - - - - - - 14.63 14.62 14.71
1910 185.7 -8.7 111 1918 done -0.62 0.10 0.217 2694 200.0 2.42 0.065 2774 569.4 -116.8 - - 3515 - - - - - - - - 14.42 14.55 14.56
2274 215.8 -8.2 121 2282 roll -0.62 - - 2686 - 1.95 0.103 3829 541.0 -116.8 - - 3511 - - - - - - - - 14.88 14.53 14.88
2315 219.4 -8.5 127 2323 done -0.62 - - 2687 - 1.75 0.041 2781 -598.9 -116.8 - - 3511 - - - - - - - - 14.75 14.71 14.76
2666 248.7 -8.3 135 2674 roll -0.62 - - 2686 - 2.38 0.046 1380 -588.7 -116.8 - - 3508 - - - - - - - - 14.88 14.59 14.88
2722 253.3 -8.1 143 2735 done -0.62 - - 2675 - 2.45 0.067 2784 573.1 -116.8 - - 3507 - - - - - - - - 14.72 14.60 14.76
3063 281.5 -8.3 156 3076 roll -0.62 - - 2668 - 1.88 0.104 3823 552.7 -116.8 - - 3505 - - - - - - - - 14.95 14.57 14.95
3094 284.3 -8.8 160 3108 done -0.62 - - 2668 - 1.70 0.044 2770 -619.4 -116.8 - - 3504 - - - - - - - - 14.81 14.75 14.81
3463 314.9 -8.2 170 3476 roll -0.62 0.08 0.263 2695 337.5 2.30 0.044 1381 -603.9 -116.8 - - 3501 - - - - - - - - 14.48 14.68 14.63
3524 319.3 -6.9 178 3537 done -0.62 - - 2685 - 2.42 0.066 2777 576.9 -116.8 - - 3501 - - - - - - - - 14.77 14.62 14.79
3864 343.2 -7.0 191 3877 done -0.62 - - 2685 - - - 2778 - -116.8 - - 3499 - - - - - - - - 14.97 14.97 14.97
4201 366.8 -7.1 197 4214 roll -0.62 - - 2678 - 1.90 0.107 3827 552.1 -116.8 - - 3497 - - - - - - - - 14.96 14.57 14.96
4239 369.8 -7.7 202 4252 done -0.62 - - 2678 - 1.73 0.045 2765 -613.9 -116.8 - - 3496 - - - - - - - - 14.81 14.73 14.82
4601 398.2 -8.0 211 4614 roll -0.62 - - 2678 - 2.33 0.047 1375 -596.6 -116.8 - - 3499 - - - - - - - - 14.97 14.67 14.97
4653 402.6 -8.3 218 4667 done -0.62 0.10 0.241 2697 190.0 2.47 0.069 2781 569.2 -116.8 - - 3494 - - - - - - - - 14.48 14.62 14.70
4998 429.1 -7.7 225 5011 done -0.62 - - 2697 - - - 2780 - -116.8 - - 3491 - - - - - - - - 14.97 14.97 14.97
5334 455.1 -7.7 231 5346 done -0.62 - - 2697 - - - 2780 - -116.8 - - 3490 - - - - - - - - 14.97 14.97 14.97
5670 480.0 -7.3 237 5683 roll -0.62 - - 2703 - 2.38 0.047 1382 -587.4 -116.8 - - 3489 - - - - - - - - 14.96 14.67 14.96
5744 485.6 -7.3 247 5757 done -0.62 - - 2687 - 2.42 0.069 2770 573.6 -116.8 - - 3488 - - - - - - - - 14.76 14.61 14.78
6070 509.5 -7.3 258 6083 roll -0.62 - - 2680 - 1.92 0.108 3826 550.0 -116.8 - - 3487 - - - - - - - - 14.96 14.54 14.97
6102 512.0 -7.6 262 6115 done -0.62 - - 2679 - 1.73 0.044 2771 -609.8 -116.8 - - 3487 - - - - - - - - 14.81 14.75 14.81
6470 538.5 -7.1 272 6483 roll -0.62 - - 2679 - 2.35 0.047 1374 -594.5 -116.8 - - 3485 - - - - - - - - 14.96 14.65 14.96
6523 542.3 -7.1 279 6537 done -0.62 - - 2670 - 2.47 0.069 2778 568.4 -116.8 - - 3485 - - - - - - - - 14.75 14.59 14.77
6867 566.1 -6.9 286 6880 done -0.62 - - 2670 - - - 2778 - -116.8 - - 3483 - - - - - - - - 14.95 14.95 14.95
7203 589.0 -6.9 292 7216 roll -0.62 - - 2662 - 1.92 0.109 3827 546.4 -116.8 - - 3482 - - - - - - - - 14.95 14.52 14.95
7264 593.4 -7.5 300 7277 done -0.62 0.12 0.226 2698 300.0 1.75 0.044 2766 -606.3 -116.8 - - 3482 - - - - - - - - 14.44 14.74 14.67
7606 613.9 -6.0 313 7619 roll -0.70 - - 2703 - 2.35 0.047 1371 -593.6 -116.8 - - 3480 - - - - - - - - 14.95 14.64 14.95
7680 618.7 -6.3 323 7694 done -0.80 0.08 0.143 2634 -862.5 2.47 0.069 2774 568.0 -116.8 - - 3480 - - - - - - - - 14.64 14.57 14.73
8007 646.2 -8.7 334 8020 done -0.80 - - 2634 - - - 2774 - -116.8 - - 3479 - - - - - - - - 14.94 14.94 14.93
8343 675.8 -8.9 340 8356 roll -0.80 - - 2625 - 1.92 0.108 3822 545.8 -116.8 - - 3481 - - - - - - - - 14.94 14.50 14.93
8375 679.0 -9.6 344 8388 done -0.80 - - 2625 - 1.75 0.044 2749 -613.1 -116.8 - - 3478 - - - - - - - - 14.78 14.72 14.79
8744 713.9 -9.6 354 8757 roll -0.80 - - 2625 - 2.30 0.047 1386 -592.6 -116.8 - - 3477 - - - - - - - - 14.93 14.62 14.93
8768 716.4 -9.5 357 8781 done -0.80 - - 2620 - 2.45 0.070 2768 564.1 -116.8 - - 3478 - - - - - - - - 14.73 14.57 14.75
9088 748.8 -10.3 367 9101 roll -0.80 - - 2608 - 1.95 0.107 3830 544.6 -116.8 - - 3475 - - - - - - - - 14.92 14.50 14.93
9161 757.0 -10.9 377 9175 done -0.71 0.20 0.227 2665 285.0 1.75 0.044 2770 -605.7 -116.8 - - 3474 - - - - - - - - 14.35 14.71 14.62
9488 784.0 -8.1 388 9501 roll -0.71 - - 2665 - 2.38 0.047 1369 -588.7 -116.8 - - 3473 - - - - - - - - 14.93 14.59 14.93
9549 789.0 -8.1 396 9562 done -0.71 - - 2656 - 2.47 0.069 2764 564.8 -116.8 - - 3473 - - - - - - - - 14.70 14.53 14.73
9889 815.4 -7.7 409 9902 done -0.71 - - 2656 - - - 2764 - -116.8 - - 3472 - - - - - - - - 14.92 14.92 14.91
10225 839.7 -7.2 415 10238 done -0.71 - - 2656 - - - 2763 - -116.8 - - 3471 - - - - - - - - 14.92 14.94 14.93
10561 863.1 -7.0 421 10574 roll -0.71 - - 2656 - 2.40 0.049 1376 -577.9 -116.8 - - 3471 - - - - - - - - 14.92 14.58 14.92
10622 867.1 -7.0 429 10635 done -0.71 - - 2648 - 2.50 0.071 2768 556.8 -116.8 - - 3470 - - - - - - - - 14.69 14.52 14.71
10963 892.8 -7.5 442 10976 done -0.71 - - 2647 - - - 2768 - -116.8 - - 3470 - - - - - - - - 14.90 14.90 14.90
11298 920.7 -8.4 448 11311 done -0.71 - - 2647 - - - 2769 - -116.8 - - 3469 - - - - - - - - 14.92 14.92 14.92
11409 end dive: TARGET_DEPTH_EXCEEDED
11409 begin apogee
11414 930.5 -8.6 450 11538 roll -0.23 0.60 0.193 2822 291.7 - - 2231 - - 114.03 1.957 3049 -3.7 0.335 - - - - - - 14.38 14.04 13.30
11539 end apogee: CONTROL_FINISHED_OK
11539 begin climb
11541 935.4 - 452 11683 roll 0.90 1.10 0.110 3170 316.4 2.42 0.059 881 -557.9 116.8 123.22 1.954 2579 -3.8 0.349 - - - - - - 14.04 14.07 13.15
11695 931.2 8.2 476 11709 done 0.67 0.20 0.233 3118 -260.0 2.47 0.054 2258 557.5 116.8 - - 2574 - - - - - - - - 13.84 13.95 14.02
12037 909.9 6.4 489 12082 roll 0.70 - - 3117 - 2.62 0.098 3662 535.9 146.9 31.58 1.977 2459 -3.6 0.320 - - - - - - 14.62 14.15 13.52
12128 902.0 8.7 502 12142 done 0.60 0.12 0.242 3094 -191.7 2.40 0.041 2269 -580.4 146.9 - - 2456 - - - - - - - - 14.14 14.31 14.34
12490 876.8 7.0 511 12517 done 0.62 - - 3094 - - - 2263 - 163.6 18.27 2.020 2398 -3.2 0.263 - - - - - - 14.71 14.41 13.70
12826 852.5 7.4 517 12839 done 0.63 - - 3094 - - - 2264 - 171.3 3.40 1.506 2367 -9.1 0.986 - - - - - - 14.73 14.53 13.38
13162 828.1 7.3 523 13193 roll 0.64 - - 3093 - 2.65 0.101 3652 523.8 182.0 17.12 2.004 2321 -2.7 0.212 - - - - - - 14.78 14.41 13.78
13226 822.9 9.4 532 13239 done 0.64 - - 3103 - 2.35 0.043 2242 -600.0 182.0 - - 2317 - - - - - - - - 14.54 14.47 14.57
13560 797.3 7.7 544 13573 done 0.64 - - 3099 - - - 2238 - 183.6 - - 2316 - - - - - - - - 14.76 14.76 14.76
13896 770.5 8.1 550 13909 roll 0.64 - - 3103 - 2.65 0.103 3656 535.1 183.6 - - 2315 - - - - - - - - 14.81 14.46 14.82
13949 765.4 9.6 557 13963 done 0.64 - - 3113 - 2.40 0.043 2251 -585.4 183.6 - - 2315 - - - - - - - - 14.67 14.59 14.68
14293 734.3 9.1 564 14306 roll 0.64 - - 3113 - 2.62 0.103 3656 536.3 183.6 - - 2315 - - - - - - - - 14.85 14.47 14.83
14324 731.0 10.3 568 14338 done 0.64 - - 3123 - 2.38 0.043 2256 -588.2 183.6 - - 2315 - - - - - - - - 14.70 14.62 14.71
14693 696.3 9.3 578 14706 roll 0.64 - - 3133 - 2.42 0.067 858 -577.7 183.6 - - 2314 - - - - - - - - 14.86 14.54 14.86
14731 692.7 9.0 583 14745 done 0.64 - - 3133 - 2.42 0.057 2265 581.4 183.6 - - 2314 - - - - - - - - 14.69 14.55 14.71
15093 662.1 8.3 592 15106 roll 0.64 - - 3133 - 2.55 0.102 3656 545.5 183.6 - - 2314 - - - - - - - - 14.88 14.49 14.88
15154 656.6 9.3 600 15167 done 0.55 0.22 0.226 3080 -240.9 2.38 0.041 2256 -588.2 183.6 - - 2314 - - - - - - - - 14.36 14.63 14.61
15496 637.4 5.4 613 15562 done 0.61 - - 3080 - - - 2251 - 234.0 57.40 1.707 2119 -3.4 0.242 - - - - - - 14.86 14.31 13.66
15887 613.0 6.5 627 15932 roll 0.73 0.08 0.151 3138 725.0 2.72 0.103 3659 517.6 261.1 29.70 1.735 2005 -3.8 0.259 - - - - - - 14.45 14.25 13.69
15973 604.6 11.1 639 15986 done 0.73 - - 3150 - 2.42 0.043 2256 -579.8 261.1 - - 2002 - - - - - - - - 14.40 14.35 14.44
16341 565.1 10.8 649 16355 roll 0.73 - - 3160 - 2.45 0.066 850 -573.9 261.1 - - 1998 - - - - - - - - 14.71 14.42 14.73
16373 561.4 10.9 653 16387 done 0.73 - - 3160 - 2.47 0.057 2271 575.3 261.1 - - 1998 - - - - - - - - 14.57 14.44 14.59
16742 519.9 11.3 663 16755 roll 0.73 - - 3160 - 2.55 0.103 3660 544.7 261.1 - - 1997 - - - - - - - - 14.78 14.42 14.79
16788 514.3 12.7 669 16801 done 0.65 0.20 0.227 3115 -225.0 2.38 0.041 2258 -589.1 261.1 - - 1997 - - - - - - - - 14.33 14.57 14.58
17143 482.4 8.8 677 17157 roll 0.65 - - 3125 - 2.42 0.064 851 -581.4 261.1 - - 1996 - - - - - - - - 14.83 14.50 14.83
17189 478.2 9.2 683 17202 done 0.65 - - 3125 - 2.45 0.056 2272 580.0 261.1 - - 1996 - - - - - - - - 14.65 14.52 14.68
17544 445.2 9.4 691 17557 roll 0.65 - - 3125 - 2.53 0.103 3656 547.0 261.1 - - 1996 - - - - - - - - 14.84 14.47 14.85
17604 439.0 10.6 699 17617 done 0.65 - - 3134 - 2.38 0.041 2256 -588.2 261.1 - - 1996 - - - - - - - - 14.69 14.61 14.71
17945 405.9 9.6 712 17958 roll 0.65 - - 3145 - 2.40 0.066 861 -581.2 261.1 - - 1996 - - - - - - - - 14.85 14.52 14.85
18005 400.3 9.1 720 18019 done 0.65 0.12 0.216 3107 -316.7 2.42 0.056 2262 578.9 261.1 - - 1996 - - - - - - - - 14.39 14.54 14.62
18348 374.0 7.6 733 18361 roll 0.65 - - 3106 - 2.55 0.101 3654 545.9 263.7 - - 1996 - - - - - - - - 14.86 14.46 14.86
18414 368.2 8.5 742 18428 done 0.65 - - 3115 - 2.35 0.041 2255 -595.3 263.7 - - 1996 - - - - - - - - 14.70 14.62 14.71
18748 342.6 7.7 754 18761 roll 0.65 - - 3115 - 2.62 0.101 3654 534.0 264.7 - - 1996 - - - - - - - - 14.85 14.47 14.86
18773 340.5 7.8 757 18786 done 0.65 - - 3128 - 2.35 0.042 2259 -593.6 264.7 - - 1996 - - - - - - - - 14.71 14.63 14.73
19093 314.3 8.3 767 19106 roll 0.65 - - 3134 - 2.42 0.066 858 -578.9 264.7 - - 1996 - - - - - - - - 14.87 14.53 14.87
19131 310.9 8.6 772 19145 done 0.65 - - 3134 - 2.42 0.056 2270 583.5 264.7 - - 1996 - - - - - - - - 14.68 14.55 14.73
19493 277.2 9.5 781 19507 roll 0.65 - - 3134 - 2.55 0.103 3658 544.3 264.7 - - 1994 - - - - - - - - 14.89 14.47 14.89
19539 272.1 11.1 787 19552 done 0.65 0.10 0.236 3115 -190.0 2.35 0.041 2259 -595.3 264.7 - - 1999 - - - - - - - - 14.40 14.64 14.62
19894 240.1 9.0 795 19907 roll 0.65 - - 3125 - 2.42 0.065 854 -580.6 264.7 - - 1996 - - - - - - - - 14.89 14.53 14.89
19925 237.1 9.2 799 19938 done 0.65 - - 3125 - 2.42 0.056 2266 583.5 264.7 - - 1997 - - - - - - - - 14.66 14.52 14.67
20294 203.7 9.0 809 20307 roll 0.65 - - 3125 - 2.55 0.101 3660 546.7 264.7 - - 1996 - - - - - - - - 14.90 14.47 14.90
20361 197.0 10.2 818 20374 done 0.65 - - 3133 - 2.35 0.041 2258 -596.6 264.7 - - 1996 - - - - - - - - 14.71 14.64 14.73
20694 166.6 9.1 830 20707 roll 0.65 - - 3145 - 2.40 0.064 863 -581.2 264.7 - - 1996 - - - - - - - - 14.88 14.52 14.88
20740 162.6 8.6 836 20753 done 0.65 0.10 0.219 3114 -310.0 2.42 0.054 2278 584.7 264.7 - - 1996 - - - - - - - - 14.42 14.55 14.62
21095 136.1 7.5 844 21113 roll 0.74 - - 3113 - 2.47 0.098 3654 557.1 271.1 5.03 1.483 1974 -4.4 0.077 - - - - - - 14.90 14.59 13.91
21188 128.1 8.5 857 21202 done 0.74 - - 3122 - 2.33 0.040 2264 -596.6 271.1 1.35 0.278 1971 -2.2 0.196 - - - - - - 14.71 14.64 14.23
21551 101.7 7.4 866 21568 roll 0.85 0.08 0.151 3199 962.5 2.40 0.062 861 -584.6 279.2 5.10 0.431 1941 -5.9 0.265 - - - - - - 14.60 14.52 14.19
21594 98.5 7.4 872 21615 done 0.86 - - 3199 - 2.42 0.055 2282 587.2 286.6 5.05 0.436 1910 -6.1 0.265 - - - - - - 14.70 14.57 14.19
21918 77.7 5.8 885 21956 roll 0.91 - - 3200 - 2.53 0.099 3648 539.9 329.6 22.00 0.404 1737 -7.9 0.289 - - - - - - 14.85 14.50 14.28
21975 74.2 6.8 893 22000 done 0.94 - - 3209 - 2.30 0.039 2262 -602.6 351.0 11.12 0.389 1652 -7.6 0.279 - - - - - - 14.65 14.60 14.26
22315 53.7 5.9 908 22347 roll 1.09 0.08 0.148 3290 1012.5 2.42 0.063 872 -574.4 390.3 19.62 0.326 1496 -8.0 0.250 - - - - - - 14.58 14.54 14.28
22485 41.4 8.6 932 22499 done 1.09 0.12 0.203 3252 -316.7 2.40 0.053 2276 585.0 390.3 - - 1498 - - - - - - - - 14.38 14.53 14.57
22828 25.3 3.8 947 22887 roll 1.32 0.12 0.101 3347 791.7 2.47 0.062 864 -571.7 475.4 41.53 0.234 1157 -8.2 0.170 - - - - - - 14.59 14.52 14.37
23059 7.2 7.1 980 23079 done 1.33 - - 3347 - 2.40 0.050 2290 594.2 488.5 6.47 0.189 1103 -8.3 0.061 - - - - - - 14.66 14.54 14.40
23139 end climb: SURFACE_DEPTH_REACHED
23139 begin surface coast
23167 end surface coast: CONTROL_FINISHED_OK
23167 begin surface
SM 0.03 - - - - -8.40 8.90 0.047 186 20.9 0.82 0.065 2771 -7906.1 500.14 5.28 0.166 1057 200.2 -0.004 - - - - - -