SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 193 * Raw log
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• Previous call tries 1 • 75.70 of 350.00 AH used of 24V (78.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth -1.69 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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 - - - 98 done -0.90 - - 153 - - - 2795 - -116.8 -76.32 - 3513 - - - - - - - - 14.59 13.14 14.55
100 -0.1 -4.6 2 115 done -0.90 11.88 0.396 2603 206.2 - - 2795 - -116.8 - - 3516 - - - - - - - - 14.12 14.45 14.42
413 77.7 -13.4 14 420 roll -0.63 0.32 0.236 2693 281.2 2.38 0.041 1375 -596.6 -116.8 - - 3520 - - - - - - - - 14.21 14.40 14.42
553 87.3 -6.4 34 560 done -0.63 - - 2684 - 2.45 0.066 2773 570.6 -116.8 - - 3520 - - - - - - - - 14.50 14.36 14.51
917 120.8 -11.0 46 923 roll -0.63 - - 2683 - 2.38 0.043 1370 -589.5 -116.8 - - 3521 - - - - - - - - 14.68 14.40 14.68
986 127.1 -9.1 56 994 done -0.63 - - 2674 - 2.53 0.066 2777 556.1 -116.8 - - 3521 - - - - - - - - 14.45 14.37 14.47
1309 156.2 -9.0 67 1317 roll -0.63 - - 2666 - 2.00 0.105 3833 528.0 -116.8 - - 3522 - - - - - - - - 14.69 14.33 14.69
1364 161.4 -9.4 75 1372 done -0.63 - - 2666 - 1.80 0.040 2757 -597.8 -116.8 - - 3519 - - - - - - - - 14.52 14.49 14.52
1701 193.1 -9.4 88 1708 roll -0.63 0.10 0.236 2695 290.0 2.30 0.044 1383 -597.4 -116.8 - - 3517 - - - - - - - - 14.28 14.42 14.47
1770 198.9 -8.0 98 1778 done -0.63 - - 2685 - 2.55 0.068 2784 549.4 -116.8 - - 3516 - - - - - - - - 14.44 14.35 14.47
2093 225.4 -8.2 109 2100 roll -0.63 - - 2685 - 2.40 0.041 1375 -587.1 -116.8 - - 3513 - - - - - - - - 14.69 14.45 14.69
2134 228.9 -8.1 115 2143 done -0.63 - - 2676 - 2.53 0.066 2774 553.0 -116.8 - - 3514 - - - - - - - - 14.44 14.35 14.47
2485 258.7 -8.5 123 2498 done -0.63 - - 2676 - - - 2773 - -116.8 - - 3509 - - - - - - - - 14.80 14.80 14.80
2821 287.6 -8.6 129 2834 roll -0.63 - - 2676 - 2.38 0.044 1380 -585.3 -116.8 - - 3507 - - - - - - - - 14.87 14.59 14.87
2859 290.9 -8.8 134 2873 done -0.63 0.10 0.239 2695 190.0 2.47 0.069 2773 564.0 -116.8 - - 3507 - - - - - - - - 14.40 14.52 14.62
3221 317.5 -7.4 143 3234 done -0.63 - - 2695 - - - 2773 - -116.8 - - 3504 - - - - - - - - 14.90 14.92 14.90
3557 342.6 -7.5 149 3570 done -0.63 - - 2695 - - - 2773 - -116.8 - - 3501 - - - - - - - - 14.91 14.92 14.91
3893 367.9 -7.5 155 3907 roll -0.63 - - 2695 - 2.38 0.044 1379 -585.7 -116.8 - - 3500 - - - - - - - - 14.92 14.64 14.92
3939 371.5 -7.8 161 3952 done -0.63 - - 2686 - 2.50 0.071 2780 560.4 -116.8 - - 3500 - - - - - - - - 14.73 14.57 14.76
4294 398.5 -7.6 169 4307 roll -0.63 - - 2686 - 2.38 0.044 1381 -587.8 -116.8 - - 3498 - - - - - - - - 14.93 14.64 14.93
4326 401.0 -7.6 173 4339 done -0.63 - - 2676 - 2.47 0.070 2776 564.8 -116.8 - - 3497 - - - - - - - - 14.72 14.56 14.74
4694 430.3 -8.1 183 4708 roll -0.63 - - 2677 - 2.38 0.044 1378 -587.4 -116.8 - - 3494 - - - - - - - - 14.92 14.64 14.91
4775 437.0 -8.2 194 4788 done -0.63 - - 2668 - 2.47 0.071 2772 564.4 -116.8 - - 3493 - - - - - - - - 14.71 14.54 14.73
5095 464.6 -8.7 204 5108 done -0.63 - - 2668 - - - 2772 - -116.8 - - 3493 - - - - - - - - 14.94 14.94 14.94
5431 494.3 -8.9 210 5444 roll -0.63 - - 2667 - 2.38 0.044 1379 -585.3 -116.8 - - 3492 - - - - - - - - 14.94 14.62 14.95
5470 498.0 -9.0 215 5484 done -0.63 0.12 0.231 2693 216.7 2.47 0.072 2766 561.5 -116.8 - - 3492 - - - - - - - - 14.40 14.54 14.64
5832 526.2 -7.8 224 5845 roll -0.63 - - 2694 - 2.35 0.045 1385 -587.7 -116.8 - - 3490 - - - - - - - - 14.92 14.62 14.92
5906 532.1 -7.9 234 5919 done -0.71 - - 2685 - 2.45 0.071 2763 562.4 -116.8 - - 3490 - - - - - - - - 14.71 14.54 14.74
6233 557.6 -7.8 245 6246 roll -0.71 - - 2677 - 1.98 0.113 3823 535.4 -116.8 - - 3488 - - - - - - - - 14.92 14.47 14.92
6278 561.3 -8.3 251 6291 done -0.71 - - 2677 - 1.75 0.044 2760 -607.4 -116.8 - - 3487 - - - - - - - - 14.77 14.71 14.78
6633 587.1 -7.1 259 6646 roll -0.71 - - 2677 - 2.35 0.046 1369 -591.9 -116.8 - - 3486 - - - - - - - - 14.93 14.61 14.94
6700 591.9 -6.9 268 6713 done -0.71 - - 2668 - 2.47 0.071 2759 562.8 -116.8 - - 3486 - - - - - - - - 14.69 14.52 14.71
7034 616.1 -7.3 280 7047 roll -0.71 - - 2660 - 2.00 0.114 3827 534.0 -116.8 - - 3485 - - - - - - - - 14.92 14.44 14.92
7100 621.8 -8.3 289 7114 done -0.71 - - 2659 - 1.77 0.044 2753 -606.8 -116.8 - - 3484 - - - - - - - - 14.76 14.70 14.77
7434 650.4 -8.7 301 7447 roll -0.71 - - 2659 - 2.35 0.045 1368 -589.4 -116.8 - - 3482 - - - - - - - - 14.91 14.59 14.91
7536 659.6 -8.8 315 7550 done -0.71 - - 2651 - 2.50 0.071 2758 556.0 -116.8 - - 3483 - - - - - - - - 14.69 14.51 14.71
7891 692.5 -9.3 323 7904 roll -0.71 - - 2642 - 2.00 0.113 3830 536.0 -116.8 - - 3482 - - - - - - - - 14.92 14.42 14.92
7930 696.3 -10.1 328 7943 done -0.71 - - 2643 - 1.80 0.043 2730 -611.1 -116.8 - - 3481 - - - - - - - - 14.73 14.67 14.75
8291 728.8 -8.9 337 8304 done -0.71 - - 2642 - - - 2730 - -116.8 - - 3482 - - - - - - - - 14.90 14.90 14.90
8627 756.5 -8.2 343 8641 roll -0.71 - - 2642 - 2.28 0.045 1385 -589.9 -116.8 - - 3479 - - - - - - - - 14.89 14.58 14.90
8659 759.1 -8.0 347 8673 done -0.71 0.12 0.242 2668 216.7 2.45 0.073 2756 559.6 -116.8 - - 3479 - - - - - - - - 14.33 14.50 14.59
9029 782.4 -6.2 357 9042 done -0.71 - - 2668 - - - 2756 - -116.8 - - 3478 - - - - - - - - 14.90 14.90 14.90
9365 802.0 -5.8 363 9378 roll -0.71 - - 2669 - 2.35 0.047 1386 -583.0 -116.8 - - 3477 - - - - - - - - 14.90 14.57 14.90
9418 805.4 -6.1 370 9432 done -0.71 - - 2661 - 2.47 0.073 2751 552.6 -116.8 - - 3477 - - - - - - - - 14.65 14.47 14.68
9762 826.3 -6.2 377 9775 done -0.71 - - 2660 - - - 2752 - -116.8 - - 3476 - - - - - - - - 14.91 14.92 14.91
10098 848.3 -6.7 383 10112 roll -0.71 - - 2660 - 2.35 0.047 1386 -581.3 -116.8 - - 3474 - - - - - - - - 14.92 14.54 14.90
10159 852.6 -6.9 391 10173 done -0.71 - - 2651 - 2.47 0.073 2760 556.3 -116.8 - - 3474 - - - - - - - - 14.64 14.46 14.67
10501 878.1 -7.7 404 10514 roll -0.71 - - 2651 - 2.35 0.045 1386 -584.7 -116.8 - - 3472 - - - - - - - - 14.88 14.54 14.88
10540 881.0 -7.4 409 10553 done -0.71 - - 2642 - 2.42 0.073 2749 563.2 -116.8 - - 3473 - - - - - - - - 14.65 14.47 14.66
10902 910.3 -8.1 418 10915 done -0.71 - - 2642 - - - 2749 - -116.8 - - 3473 - - - - - - - - 14.90 14.90 14.90
11180 end dive: TARGET_DEPTH_EXCEEDED
11180 begin apogee
11185 933.7 -8.4 423 11310 roll -0.23 0.62 0.188 2824 293.5 - - 2253 - - 115.25 1.973 3049 -3.7 0.334 - - - - - - 14.33 14.01 13.24
11311 end apogee: CONTROL_FINISHED_OK
11311 begin climb
11313 937.9 - 425 11454 roll 0.90 1.08 0.103 3168 318.5 2.50 0.057 855 -559.2 116.8 123.65 1.958 2584 -3.8 0.346 - - - - - - 14.02 14.04 13.09
11675 915.3 8.7 479 11690 done 0.76 - - 3169 - 2.50 0.056 2254 559.6 116.8 - - 2570 - - - - - - - - 14.33 14.21 14.35
12020 883.3 9.5 486 12033 roll 0.61 0.22 0.232 3112 -259.1 2.42 0.057 855 -578.1 116.8 - - 2569 - - - - - - - - 14.15 14.38 14.31
12213 868.5 7.4 513 12230 done 0.62 - - 3112 - 2.45 0.056 2260 573.5 125.4 2.60 0.981 2553 -6.2 1.046 - - - - - - 14.54 14.41 13.26
12586 840.3 7.7 524 12600 roll 0.62 - - 3112 - 2.58 0.103 3651 539.1 125.6 1.33 0.264 2553 - - - - - - - - 14.78 14.40 14.18
12667 833.4 8.5 535 12682 done 0.51 0.20 0.225 3067 -225.0 2.40 0.041 2235 -590.0 125.6 1.20 0.250 2551 - - - - - - - - 14.23 14.50 14.23
12990 814.1 5.9 545 13055 roll 0.56 - - 3066 - 2.75 0.106 3658 517.5 165.9 52.97 1.860 2384 -3.2 0.265 - - - - - - 14.80 14.16 13.55
13095 807.4 7.5 560 13109 done 0.56 - - 3076 - 2.45 0.041 2248 -575.5 170.5 - - 2378 - - - - - - - - 14.37 14.31 14.38
13439 783.6 6.9 567 13478 roll 0.58 - - 3076 - 2.72 0.106 3646 514.0 188.0 23.83 1.916 2294 -3.5 0.277 - - - - - - 14.68 14.27 13.66
13490 779.8 7.6 574 13503 done 0.59 - - 3086 - 2.40 0.041 2262 -576.7 191.1 - - 2291 - - - - - - - - 14.42 14.36 14.43
13834 753.6 7.6 581 13847 roll 0.59 - - 3085 - 2.65 0.107 3651 524.2 194.2 1.35 0.257 2280 -8.1 4.585 - - - - - - 14.69 14.33 14.16
13873 750.2 8.3 586 13886 done 0.59 - - 3094 - 2.40 0.042 2248 -584.6 194.2 - - 2282 - - - - - - - - 14.56 14.48 14.57
14235 721.8 7.9 595 14248 roll 0.59 - - 3094 - 2.67 0.106 3652 525.8 194.2 - - 2288 - - - - - - - - 14.77 14.37 14.77
14281 717.8 8.7 601 14294 done 0.59 - - 3104 - 2.38 0.041 2255 -587.0 194.2 - - 2285 - - - - - - - - 14.63 14.54 14.64
14636 688.7 8.2 609 14649 roll 0.59 - - 3104 - 2.65 0.106 3656 528.7 194.2 - - 2284 - - - - - - - - 14.81 14.39 14.82
14660 686.5 8.2 612 14673 done 0.59 - - 3114 - 2.38 0.041 2256 -588.2 194.2 - - 2284 - - - - - - - - 14.65 14.57 14.66
14980 658.9 8.6 622 14993 done 0.59 - - 3114 - - - 2252 - 194.2 - - 2284 - - - - - - - - 14.82 14.82 14.82
15316 629.6 8.8 628 15329 roll 0.59 - - 3114 - 2.65 0.106 3653 528.7 194.2 - - 2284 - - - - - - - - 14.83 14.40 14.84
15355 625.8 9.9 633 15368 done 0.59 0.10 0.241 3095 -190.0 2.35 0.041 2262 -591.9 194.2 - - 2284 - - - - - - - - 14.33 14.59 14.56
15717 597.4 7.7 642 15730 done 0.59 - - 3095 - - - 2257 - 195.1 1.45 0.259 2272 -8.3 3.663 - - - - - - 14.84 14.54 14.21
16053 572.3 7.4 648 16078 roll 0.60 - - 3094 - 2.67 0.105 3664 527.0 202.1 12.95 1.860 2240 -2.5 0.146 - - - - - - 14.84 14.53 13.90
16168 563.1 8.1 664 16181 done 0.60 - - 3103 - 2.40 0.040 2257 -586.2 202.1 - - 2236 - - - - - - - - 14.61 14.53 14.63
16502 538.2 7.4 676 16515 done 0.61 - - 3103 - - - 2253 - 208.8 2.25 0.638 2223 -5.8 0.935 - - - - - - 14.80 14.59 13.35
16838 513.9 7.2 682 16869 roll 0.62 - - 3103 - 2.62 0.104 3659 536.6 219.9 19.15 1.701 2169 -2.8 0.163 - - - - - - 14.82 14.46 13.90
16909 508.1 8.6 692 16922 done 0.62 - - 3112 - 2.35 0.041 2273 -589.8 219.9 - - 2163 - - - - - - - - 14.57 14.50 14.59
17236 482.0 8.1 703 17249 roll 0.62 - - 3122 - 2.45 0.062 858 -577.6 219.9 - - 2162 - - - - - - - - 14.76 14.42 14.76
17268 479.2 8.3 707 17281 done 0.62 - - 3122 - 2.45 0.056 2268 575.5 219.9 - - 2162 - - - - - - - - 14.57 14.43 14.61
17637 446.6 9.0 717 17650 roll 0.62 - - 3122 - 2.58 0.106 3656 538.0 219.9 - - 2161 - - - - - - - - 14.79 14.36 14.80
17754 434.7 10.1 733 17767 done 0.62 - - 3131 - 2.38 0.040 2261 -586.1 219.9 - - 2161 - - - - - - - - 14.63 14.55 14.65
18094 402.9 9.3 746 18107 roll 0.62 - - 3142 - 2.42 0.062 859 -579.3 219.9 - - 2161 - - - - - - - - 14.83 14.45 14.83
18147 397.9 9.4 753 18161 done 0.62 0.12 0.216 3106 -300.0 2.45 0.056 2272 576.7 219.9 - - 2161 - - - - - - - - 14.31 14.47 14.55
18491 370.5 7.9 760 18504 roll 0.62 - - 3105 - 2.55 0.102 3657 543.1 219.9 - - 2161 - - - - - - - - 14.83 14.40 14.83
18544 365.8 9.0 767 18559 done 0.62 - - 3113 - 2.35 0.040 2267 -591.5 219.9 - - 2162 - - - - - - - - 14.65 14.58 14.68
18888 338.5 8.3 774 18901 done 0.62 - - 3113 - - - 2267 - 219.9 - - 2161 - - - - - - - - 14.84 14.84 14.84
19224 310.7 8.2 780 19237 roll 0.62 - - 3113 - 2.62 0.105 3658 530.9 219.9 - - 2158 - - - - - - - - 14.85 14.39 14.85
19305 303.2 9.2 791 19318 done 0.62 - - 3121 - 2.33 0.040 2279 -591.8 219.9 - - 2161 - - - - - - - - 14.68 14.60 14.70
19624 275.6 8.7 801 19637 done 0.62 - - 3121 - - - 2274 - 219.9 - - 2161 - - - - - - - - 14.85 14.85 14.87
19960 245.7 8.9 807 19974 roll 0.62 - - 3121 - 2.60 0.103 3661 533.5 219.9 - - 2161 - - - - - - - - 14.85 14.39 14.85
19999 242.0 9.8 812 20013 done 0.62 - - 3130 - 2.35 0.039 2265 -594.0 219.9 - - 2161 - - - - - - - - 14.68 14.59 14.70
20361 209.7 8.9 821 20374 done 0.62 - - 3130 - - - 2260 - 219.9 - - 2161 - - - - - - - - 14.85 14.85 14.85
20697 180.5 8.6 827 20710 done 0.62 - - 3130 - - - 2259 - 219.9 - - 2161 - - - - - - - - 14.86 14.86 14.86
21033 153.2 8.0 833 21047 roll 0.62 - - 3130 - 2.62 0.103 3659 534.4 219.9 - - 2162 - - - - - - - - 14.86 14.40 14.86
21072 149.7 9.0 838 21085 done 0.62 0.15 0.212 3096 -226.7 2.33 0.040 2276 -593.6 219.9 - - 2163 - - - - - - - - 14.33 14.62 14.59
21434 126.7 6.2 847 21480 roll 0.76 0.08 0.148 3174 975.0 2.45 0.059 852 -581.2 254.1 32.10 1.180 2030 -4.1 0.085 - - - - - - 14.57 14.48 14.02
21528 118.7 9.6 860 21541 done 0.76 - - 3174 - 2.47 0.055 2281 578.5 254.1 - - 2024 - - - - - - - - 14.56 14.46 14.58
21861 86.7 8.9 871 21875 roll 0.76 - - 3183 - 2.47 0.058 861 -574.9 254.1 - - 2023 - - - - - - - - 14.77 14.44 14.78
22103 72.5 4.1 905 22151 done 0.86 - - 3183 - 2.40 0.050 2263 584.2 332.7 36.40 0.389 1724 -8.2 0.294 - - - - - - 14.59 14.47 14.21
22456 52.8 5.7 922 22493 roll 1.01 0.08 0.151 3251 850.0 2.60 0.101 3647 532.3 377.5 22.02 0.324 1548 -8.0 0.250 - - - - - - 14.52 14.42 14.23
22721 35.3 6.0 960 22755 done 1.06 - - 3260 - 2.33 0.037 2250 -599.6 415.4 19.30 0.274 1396 -7.9 0.195 - - - - - - 14.62 14.56 14.22
23078 15.8 5.2 977 23117 roll 1.23 0.05 0.202 3324 1280.0 2.42 0.060 872 -569.4 470.5 27.05 0.207 1175 -8.2 0.120 - - - - - - 14.54 14.50 14.33
23226 4.6 9.3 998 23240 done 1.23 - - 3324 - 2.40 0.051 2284 588.3 470.5 - - 1179 - - - - - - - - 14.61 14.48 14.64
23271 end climb: SURFACE_DEPTH_REACHED
23271 begin surface coast
23299 end surface coast: CONTROL_FINISHED_OK
23299 begin surface
SM -1.68 - - - - -8.40 8.93 0.048 186 20.8 0.85 0.081 2765 2041.2 500.14 13.90 0.157 1058 76.1 0.083 - - - - - -