SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 185 * Raw log
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• Previous call tries 1 • 72.58 of 350.00 AH used of 24V (79.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -1.50 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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
18 - - - 105 done -0.90 - - 142 - - - 2773 - -116.8 -78.18 - 3516 - - - - - - - - 14.62 13.16 14.59
107 6.2 -14.3 3 122 done -0.90 11.93 0.397 2604 206.4 - - 2773 - -116.8 - - 3516 - - - - - - - - 14.16 14.44 14.42
413 78.0 -14.7 14 420 roll -0.62 0.32 0.238 2694 281.2 2.33 0.044 1376 -599.6 -116.8 - - 3518 - - - - - - - - 14.23 14.42 14.45
441 83.3 -19.8 18 448 done -0.49 0.17 0.226 2734 235.3 2.45 0.067 2767 567.8 -116.8 - - 3519 - - - - - - - - 14.27 14.38 14.47
777 104.6 -6.1 32 784 roll -0.49 - - 2734 - 2.38 0.045 1375 -584.9 -116.8 - - 3520 - - - - - - - - 14.70 14.43 14.70
860 109.7 -6.1 44 868 done -0.49 - - 2725 - 2.45 0.065 2753 562.4 -116.8 - - 3520 - - - - - - - - 14.47 14.40 14.54
1225 134.6 -7.0 54 1232 roll -0.49 - - 2717 - 2.00 0.106 3820 533.5 -116.8 - - 3519 - - - - - - - - 14.69 14.36 14.71
1294 139.6 -7.1 64 1302 done -0.49 - - 2717 - 1.80 0.040 2747 -596.1 -116.8 - - 3519 - - - - - - - - 14.59 14.54 14.60
1617 161.7 -6.8 75 1619 done -0.49 - - 2717 - - - 2747 - -116.8 - - 3517 - - - - - - - - 14.72 14.71 14.76
1953 183.8 -6.6 81 1960 roll -0.49 - - 2717 - 2.30 0.046 1390 -590.0 -116.8 - - 3514 - - - - - - - - 14.71 14.46 14.71
1994 186.7 -6.8 87 2002 done -0.58 - - 2709 - 2.47 0.068 2758 553.8 -116.8 - - 3514 - - - - - - - - 14.48 14.40 14.52
2345 211.2 -7.1 95 2352 roll -0.58 - - 2709 - 2.35 0.046 1391 -581.7 -116.8 - - 3511 - - - - - - - - 14.71 14.46 14.71
2407 215.8 -7.2 104 2415 done -0.58 - - 2700 - 2.50 0.070 2765 549.6 -116.8 - - 3510 - - - - - - - - 14.47 14.38 14.50
2737 239.8 -7.3 116 2743 roll -0.58 - - 2692 - 2.00 0.109 3821 528.0 -116.8 - - 3507 - - - - - - - - 14.71 14.31 14.70
2793 244.1 -7.8 124 2799 done -0.58 - - 2692 - 1.77 0.041 2762 -598.3 -116.8 - - 3507 - - - - - - - - 14.52 14.48 14.55
3129 270.0 -7.7 137 3142 roll -0.58 - - 2692 - 2.33 0.047 1382 -592.3 -116.8 - - 3504 - - - - - - - - 14.85 14.59 14.85
3174 273.6 -7.7 143 3188 done -0.58 0.10 0.243 2715 230.0 2.45 0.070 2770 566.5 -116.8 - - 3504 - - - - - - - - 14.41 14.54 14.62
3529 297.2 -6.6 151 3542 done -0.65 - - 2712 - - - 2770 - -116.8 - - 3502 - - - - - - - - 14.90 14.90 14.90
3866 318.8 -6.5 157 3879 roll -0.73 0.08 0.147 2645 -837.5 2.35 0.046 1388 -588.1 -116.8 - - 3500 - - - - - - - - 14.66 14.64 14.69
3940 325.4 -9.1 167 3953 done -0.73 - - 2636 - 2.42 0.072 2768 570.2 -116.8 - - 3499 - - - - - - - - 14.73 14.57 14.76
4266 357.6 -10.0 178 4279 done -0.73 - - 2636 - - - 2768 - -116.8 - - 3497 - - - - - - - - 14.92 14.93 14.93
4602 391.4 -10.1 184 4615 done -0.73 - - 2636 - - - 2768 - -116.8 - - 3494 - - - - - - - - 14.94 14.94 14.94
4938 424.6 -9.7 190 4951 done -0.73 - - 2636 - - - 2768 - -116.8 - - 3494 - - - - - - - - 14.95 14.95 14.95
5274 456.7 -9.5 196 5288 roll -0.73 - - 2636 - 2.38 0.050 1387 -580.3 -116.8 - - 3492 - - - - - - - - 14.95 14.64 14.95
5335 462.5 -9.3 204 5348 done -0.73 0.12 0.241 2661 208.3 2.45 0.073 2759 560.0 -116.8 - - 3492 - - - - - - - - 14.42 14.60 14.67
5676 489.4 -7.8 217 5689 roll -0.73 - - 2654 - 1.98 0.113 3826 538.9 -116.8 - - 3491 - - - - - - - - 14.95 14.51 14.94
5756 495.9 -8.2 228 5770 done -0.73 - - 2653 - 1.77 0.045 2753 -606.2 -116.8 - - 3491 - - - - - - - - 14.77 14.71 14.79
6076 520.6 -7.7 238 6089 roll -0.73 - - 2654 - 2.33 0.047 1375 -591.4 -116.8 - - 3489 - - - - - - - - 14.95 14.64 14.95
6157 526.8 -7.5 249 6171 done -0.73 - - 2644 - 2.45 0.070 2757 564.1 -116.8 - - 3488 - - - - - - - - 14.72 14.56 14.74
6477 553.0 -8.4 259 6490 roll -0.73 - - 2635 - 1.98 0.113 3826 539.9 -116.8 - - 3487 - - - - - - - - 14.93 14.50 14.93
6558 560.4 -9.1 270 6571 done -0.73 - - 2635 - 1.77 0.046 2753 -606.2 -116.8 - - 3485 - - - - - - - - 14.76 14.69 14.76
6877 589.1 -9.1 280 6890 roll -0.73 - - 2635 - 2.33 0.047 1376 -591.0 -116.8 - - 3485 - - - - - - - - 14.94 14.62 14.94
6909 592.1 -9.1 284 6922 done -0.73 0.12 0.243 2661 216.7 2.45 0.071 2758 564.1 -116.8 - - 3485 - - - - - - - - 14.38 14.55 14.64
7278 622.3 -8.3 294 7291 roll -0.73 - - 2653 - 2.00 0.114 3833 537.5 -116.8 - - 3482 - - - - - - - - 14.93 14.48 14.93
7330 626.9 -8.8 301 7345 done -0.73 - - 2653 - 1.83 0.047 2740 -597.3 -116.8 - - 3484 - - - - - - - - 14.71 14.64 14.71
7674 656.3 -8.5 308 7688 roll -0.73 - - 2652 - 2.33 0.047 1369 -588.4 -116.8 - - 3483 - - - - - - - - 14.92 14.62 14.92
7791 666.3 -8.5 324 7804 done -0.73 - - 2643 - 2.47 0.071 2758 562.3 -116.8 - - 3482 - - - - - - - - 14.70 14.53 14.73
8132 696.2 -8.8 337 8145 roll -0.73 - - 2642 - 2.38 0.047 1366 -584.9 -116.8 - - 3481 - - - - - - - - 14.91 14.60 14.91
8171 699.8 -9.6 342 8184 done -0.73 0.10 0.253 2662 200.0 2.45 0.070 2748 564.1 -116.8 - - 3481 - - - - - - - - 14.37 14.52 14.62
8533 728.8 -8.0 351 8546 done -0.73 - - 2661 - - - 2748 - -116.8 - - 3479 - - - - - - - - 14.90 14.91 14.90
8868 755.6 -8.0 357 8882 roll -0.73 - - 2662 - 2.38 0.048 1374 -577.3 -116.8 - - 3479 - - - - - - - - 14.91 14.58 14.92
8907 758.8 -8.3 362 8920 done -0.73 - - 2652 - 2.45 0.073 2754 563.3 -116.8 - - 3478 - - - - - - - - 14.69 14.51 14.71
9269 788.6 -8.3 371 9282 done -0.73 - - 2658 - - - 2754 - -116.8 - - 3477 - - - - - - - - 14.92 14.92 14.92
9605 816.4 -8.3 377 9618 roll -0.73 - - 2651 - 2.38 0.050 1375 -579.4 -116.8 - - 3475 - - - - - - - - 14.91 14.58 14.91
9651 820.1 -7.9 383 9664 done -0.73 - - 2643 - 2.47 0.073 2754 558.3 -116.8 - - 3475 - - - - - - - - 14.69 14.51 14.72
10006 851.2 -8.7 391 10019 done -0.73 - - 2642 - - - 2754 - -116.8 - - 3474 - - - - - - - - 14.92 14.92 14.92
10341 880.9 -8.9 397 10354 roll -0.73 - - 2643 - 2.40 0.050 1370 -576.7 -116.8 - - 3472 - - - - - - - - 14.92 14.56 14.92
10380 884.5 -6.7 402 10394 done -0.73 0.10 0.255 2661 180.0 2.47 0.073 2746 557.1 -116.8 - - 3473 - - - - - - - - 14.33 14.50 14.58
10742 913.6 -8.0 411 10755 done -0.73 - - 2661 - - - 2747 - -116.8 - - 3472 - - - - - - - - 14.90 14.88 14.90
10964 end dive: TARGET_DEPTH_EXCEEDED
10964 begin apogee
10969 930.3 -7.4 415 11094 roll -0.23 0.55 0.181 2824 296.4 - - 2244 - - 115.38 1.974 3050 -3.7 0.330 - - - - - - 14.37 14.02 13.27
11096 end apogee: CONTROL_FINISHED_OK
11096 begin climb
11098 934.2 - 417 11238 roll 0.90 1.10 0.105 3175 319.1 2.50 0.060 851 -557.2 116.8 122.85 1.951 2580 -3.8 0.350 - - - - - - 14.04 14.05 13.14
11467 909.6 9.0 472 11481 done 0.75 0.12 0.256 3142 -275.0 2.50 0.056 2256 562.0 116.8 - - 2572 - - - - - - - - 14.07 14.25 14.32
11811 881.2 8.2 479 11825 roll 0.64 0.10 0.261 3118 -240.0 2.45 0.060 847 -575.1 116.8 - - 2570 - - - - - - - - 14.23 14.40 14.40
12026 866.2 6.6 509 12065 done 0.67 - - 3119 - 2.45 0.057 2257 575.5 140.9 25.27 1.946 2486 -3.3 0.283 - - - - - - 14.57 14.44 13.69
12380 839.7 7.8 524 12393 roll 0.67 - - 3118 - 2.60 0.106 3652 536.5 140.9 - - 2479 - - - - - - - - 14.71 14.35 14.71
12453 833.2 9.2 534 12467 done 0.56 0.17 0.231 3082 -211.8 2.42 0.044 2234 -586.0 140.9 - - 2479 - - - - - - - - 14.26 14.51 14.52
12780 812.2 6.4 545 12827 roll 0.60 - - 3081 - 2.70 0.106 3649 524.1 169.6 32.25 1.908 2369 -3.4 0.278 - - - - - - 14.78 14.31 13.66
12860 807.0 8.1 556 12873 done 0.60 - - 3090 - 2.42 0.046 2249 -578.5 169.6 - - 2367 - - - - - - - - 14.50 14.39 14.48
13180 783.8 7.3 566 13204 roll 0.61 - - 3091 - 2.70 0.108 3650 518.9 180.1 10.10 2.086 2329 -3.8 0.270 - - - - - - 14.72 14.40 13.76
13237 779.3 8.6 574 13250 done 0.61 - - 3101 - 2.42 0.044 2241 -582.2 180.1 - - 2327 - - - - - - - - 14.54 14.47 14.54
13578 752.6 7.7 587 13591 roll 0.61 - - 3101 - 2.67 0.109 3651 528.1 180.5 - - 2324 - - - - - - - - 14.75 14.39 14.75
13610 749.8 8.8 591 13623 done 0.61 - - 3110 - 2.38 0.044 2258 -585.3 180.5 - - 2326 - - - - - - - - 14.62 14.55 14.64
13978 719.4 8.3 601 13991 done 0.61 - - 3110 - - - 2253 - 180.5 - - 2324 - - - - - - - - 14.81 14.81 14.81
14314 691.0 8.5 607 14328 roll 0.61 - - 3108 - 2.62 0.107 3650 533.2 180.5 - - 2324 - - - - - - - - 14.83 14.42 14.84
14360 686.7 9.5 613 14373 done 0.61 - - 3121 - 2.38 0.045 2256 -585.7 180.5 - - 2324 - - - - - - - - 14.67 14.59 14.69
14715 655.9 8.6 621 14728 roll 0.61 - - 3130 - 2.42 0.065 859 -577.3 180.5 - - 2324 - - - - - - - - 14.84 14.51 14.85
14746 653.1 8.5 625 14760 done 0.61 0.10 0.228 3101 -290.0 2.42 0.059 2259 578.5 180.5 - - 2324 - - - - - - - - 14.38 14.52 14.59
15115 626.1 7.3 635 15140 roll 0.62 - - 3099 - 2.58 0.106 3661 543.4 191.3 11.68 1.939 2282 -3.6 0.222 - - - - - - 14.85 14.54 13.92
15173 621.5 8.4 643 15187 done 0.62 - - 3108 - 2.40 0.044 2257 -585.0 191.3 - - 2281 - - - - - - - - 14.64 14.57 14.66
15514 596.2 7.4 656 15531 roll 0.63 - - 3109 - 2.65 0.107 3649 525.3 197.9 3.20 1.392 2264 -5.3 0.435 - - - - - - 14.81 14.54 13.46
15592 589.5 8.7 667 15605 done 0.63 - - 3118 - 2.35 0.044 2261 -590.6 197.9 - - 2270 - - - - - - - - 14.65 14.58 14.66
15911 563.9 8.1 677 15924 done 0.63 - - 3118 - - - 2257 - 197.9 - - 2270 - - - - - - - - 14.82 14.82 14.82
16248 535.8 8.5 683 16261 roll 0.63 - - 3118 - 2.62 0.106 3654 533.2 197.9 - - 2270 - - - - - - - - 14.83 14.42 14.83
16322 528.4 10.0 693 16335 done 0.63 - - 3128 - 2.35 0.042 2267 -590.2 197.9 - - 2271 - - - - - - - - 14.64 14.60 14.64
16648 498.6 9.2 704 16662 roll 0.63 - - 3138 - 2.42 0.062 864 -579.8 197.9 0.90 0.292 2263 -8.9 2.902 - - - - - - 14.85 14.47 14.30
16680 495.5 9.3 708 16694 done 0.63 0.12 0.221 3102 -300.0 2.38 0.057 2271 591.2 197.9 - - 2268 - - - - - - - - 14.36 14.50 14.59
17049 465.8 7.9 718 17062 roll 0.63 - - 3100 - 2.55 0.104 3653 542.0 197.9 - - 2269 - - - - - - - - 14.88 14.44 14.87
17166 455.7 8.5 734 17179 done 0.63 - - 3105 - 2.35 0.041 2263 -591.5 197.9 - - 2269 - - - - - - - - 14.69 14.62 14.70
17507 430.4 7.3 747 17533 roll 0.64 - - 3120 - 2.47 0.063 865 -566.0 206.9 14.68 1.676 2220 -3.3 0.164 - - - - - - 14.86 14.57 13.97
17545 427.6 7.0 752 17577 done 0.66 - - 3120 - 2.45 0.057 2285 579.6 222.8 17.38 1.613 2156 -3.7 0.187 - - - - - - 14.65 14.54 13.88
17898 399.8 8.0 767 17911 roll 0.66 - - 3120 - 2.55 0.106 3660 539.2 222.8 - - 2151 - - - - - - - - 14.73 14.36 14.74
17936 396.3 9.1 772 17949 done 0.66 - - 3129 - 2.35 0.041 2275 -589.4 222.8 - - 2151 - - - - - - - - 14.60 14.52 14.62
18298 365.7 8.4 781 18311 done 0.66 - - 3129 - - - 2269 - 222.8 - - 2151 - - - - - - - - 14.81 14.81 14.80
18634 337.6 8.4 787 18647 done 0.66 - - 3128 - - - 2269 - 222.8 - - 2151 - - - - - - - - 14.83 14.83 14.82
18970 308.5 8.8 793 18983 done 0.66 - - 3130 - - - 2269 - 222.8 - - 2151 - - - - - - - - 14.85 14.85 14.85
19306 278.1 9.1 799 19319 roll 0.66 - - 3129 - 2.60 0.104 3656 533.5 222.8 - - 2151 - - - - - - - - 14.87 14.42 14.87
19352 273.5 10.4 805 19365 done 0.66 - - 3139 - 2.35 0.041 2266 -591.5 222.8 - - 2151 - - - - - - - - 14.64 14.55 14.66
19706 241.3 9.0 813 19719 done 0.66 - - 3139 - - - 2262 - 222.8 - - 2151 - - - - - - - - 14.85 14.88 14.86
20042 212.6 8.5 819 20056 roll 0.66 - - 3139 - 2.58 0.102 3653 539.1 222.8 - - 2152 - - - - - - - - 14.87 14.44 14.87
20081 208.9 9.2 824 20094 done 0.66 0.12 0.232 3114 -208.3 2.33 0.042 2273 -592.3 222.8 - - 2151 - - - - - - - - 14.36 14.62 14.62
20443 181.2 7.6 833 20456 roll 0.66 - - 3123 - 2.45 0.061 853 -579.6 225.2 - - 2151 - - - - - - - - 14.88 14.51 14.91
20482 178.2 7.6 838 20495 done 0.67 - - 3123 - 2.45 0.054 2283 583.7 227.5 0.82 0.292 2145 -7.3 0.854 - - - - - - 14.63 14.49 14.40
20844 150.3 7.7 847 20857 roll 0.67 - - 3123 - 2.53 0.103 3660 544.3 227.5 - - 2151 - - - - - - - - 14.90 14.44 14.87
20897 145.5 9.2 854 20912 done 0.67 - - 3132 - 2.33 0.041 2278 -593.1 227.5 - - 2151 - - - - - - - - 14.70 14.61 14.72
21241 118.6 7.7 861 21259 roll 0.67 - - 3132 - 2.60 0.101 3656 530.0 229.5 2.05 0.396 2139 -5.9 0.335 - - - - - - 14.89 14.47 14.00
21277 115.7 7.9 866 21292 done 0.67 - - 3142 - 2.30 0.041 2280 -598.3 229.5 1.17 0.279 2139 - - - - - - - - 14.70 14.64 14.24
21612 90.7 7.2 876 21631 roll 0.68 - - 3152 - 2.50 0.060 861 -567.6 240.9 6.70 0.428 2091 -7.2 0.290 - - - - - - 14.85 14.59 14.24
21776 80.9 6.0 899 21810 done 0.73 - - 3152 - 2.45 0.053 2283 580.4 277.8 18.73 0.419 1943 -7.9 0.292 - - - - - - 14.66 14.53 14.27
22113 61.6 5.9 914 22145 roll 0.87 - - 3161 - 2.53 0.060 865 -560.5 316.9 19.12 0.360 1788 -8.1 0.265 - - - - - - 14.83 14.54 14.26
22340 51.1 5.0 946 22381 done 1.11 0.22 0.073 3276 522.7 2.45 0.050 2294 583.3 376.0 28.62 0.328 1552 -8.2 0.246 - - - - - - 14.59 14.51 14.28
22702 28.8 4.8 964 22747 roll 1.19 - - 3276 - 2.53 0.100 3644 533.6 440.2 30.45 0.258 1297 -8.4 0.179 - - - - - - 14.81 14.44 14.32
22863 17.9 8.2 987 22877 done 1.19 - - 3284 - 2.28 0.039 2291 -593.4 440.2 - - 1297 - - - - - - - - 14.64 14.57 14.66
23065 end climb: SURFACE_DEPTH_REACHED
23065 begin surface coast
23094 end surface coast: CONTROL_FINISHED_OK
23094 begin surface
SM -2.29 - - - - -8.39 9.15 0.080 196 21.4 0.88 0.079 2765 1971.6 500.14 27.25 0.161 1056 38.8 0.056 - - - - - -