SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 237 * Raw log
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• Previous call tries 1 • 92.01 of 350.00 AH used of 24V (73.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth -3.32 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 97 done -0.93 - - 144 - - - 2774 - -107.1 -75.88 - 3478 - - - - - - - - 14.58 13.00 14.55
100 -1.8 -4.6 2 121 roll -0.93 11.77 0.392 2590 207.8 2.33 0.031 1339 -615.9 -107.1 - - 3480 - - - - - - - - 14.08 14.35 14.38
133 22.6 -45.9 8 141 done -0.14 0.93 0.226 2846 275.3 2.60 0.082 2761 546.9 -107.1 - - 3481 - - - - - - - - 14.14 14.25 14.37
456 50.8 -7.3 21 464 roll -0.31 0.10 0.120 2771 -750.0 2.30 0.042 1386 -597.8 -107.1 - - 3481 - - - - - - - - 14.47 14.39 14.56
504 54.8 -8.5 28 513 done -0.31 0.10 0.212 2791 200.0 2.45 0.066 2764 562.4 -107.1 - - 3484 - - - - - - - - 14.21 14.33 14.36
820 74.7 -6.0 40 823 done -0.46 0.08 0.142 2729 -775.0 - - 2762 - -107.1 - - 3482 - - - - - - - - 14.52 14.60 14.59
1128 94.9 -6.5 51 1135 roll -0.46 - - 2721 - 1.98 0.106 3823 535.9 -107.1 - - 3483 - - - - - - - - 14.78 14.35 14.78
1365 111.6 -6.5 85 1374 done -0.46 - - 2721 - 1.77 0.041 2757 -602.3 -107.1 - - 3483 - - - - - - - - 14.59 14.58 14.62
1689 132.6 -6.6 96 1695 roll -0.55 - - 2713 - 1.98 0.104 3825 539.4 -107.1 - - 3482 - - - - - - - - 14.81 14.40 14.81
1821 142.1 -7.1 115 1828 done -0.62 - - 2713 - 1.77 0.041 2761 -601.1 -107.1 - - 3481 - - - - - - - - 14.59 14.57 14.60
2136 163.7 -6.8 125 2144 roll -0.71 0.08 0.146 2648 -812.5 2.30 0.043 1378 -601.3 -107.1 - - 3479 - - - - - - - - 14.57 14.47 14.64
2226 171.5 -8.6 138 2234 done -0.71 0.08 0.227 2661 162.5 2.47 0.066 2759 559.1 -107.1 - - 3479 - - - - - - - - 14.26 14.42 14.42
2584 202.1 -8.7 147 2591 roll -0.71 - - 2654 - 2.03 0.106 3839 532.0 -107.1 - - 3476 - - - - - - - - 14.83 14.35 14.83
2618 205.4 -9.7 152 2626 done -0.71 - - 2653 - 1.83 0.041 2753 -593.4 -107.1 - - 3476 - - - - - - - - 14.58 14.58 14.61
2976 237.8 -9.1 161 2984 roll -0.71 - - 2653 - 2.35 0.043 1379 -584.7 -107.1 - - 3473 - - - - - - - - 14.82 14.47 14.81
3010 240.9 -9.4 166 3018 done -0.71 - - 2643 - 2.50 0.066 2774 558.0 -107.1 - - 3473 - - - - - - - - 14.50 14.40 14.53
3368 274.8 -9.5 175 3381 done -0.71 - - 2644 - - - 2774 - -107.1 - - 3471 - - - - - - - - 14.88 14.88 14.88
3704 305.5 -9.1 181 3718 roll -0.71 - - 2643 - 2.38 0.044 1380 -585.7 -107.1 - - 3468 - - - - - - - - 14.91 14.57 14.91
3736 308.3 -8.3 185 3750 done -0.71 0.12 0.237 2669 216.7 2.42 0.067 2764 571.9 -107.1 - - 3468 - - - - - - - - 14.32 14.50 14.57
4106 335.3 -7.3 195 4119 roll -0.71 - - 2669 - 2.35 0.044 1382 -588.1 -107.1 - - 3465 - - - - - - - - 14.90 14.59 14.90
4145 338.7 -9.7 200 4158 done -0.71 - - 2660 - 2.42 0.068 2760 569.4 -107.1 - - 3465 - - - - - - - - 14.67 14.50 14.70
4507 368.5 -8.2 209 4520 done -0.71 - - 2660 - - - 2761 - -107.1 - - 3461 - - - - - - - - 14.90 14.90 14.90
4843 397.3 -8.7 215 4856 done -0.71 - - 2660 - - - 2761 - -107.1 - - 3461 - - - - - - - - 14.90 14.91 14.91
5179 425.9 -8.7 221 5192 done -0.71 - - 2660 - - - 2761 - -107.1 - - 3460 - - - - - - - - 14.91 14.90 14.91
5515 456.4 -8.9 227 5528 done -0.71 - - 2659 - - - 2761 - -107.1 - - 3458 - - - - - - - - 14.91 14.93 14.91
5851 486.5 -9.0 233 5863 done -0.71 - - 2660 - - - 2762 - -107.1 - - 3457 - - - - - - - - 14.91 14.91 14.91
6187 515.4 -8.4 239 6200 roll -0.71 - - 2659 - 2.38 0.046 1375 -582.8 -107.1 - - 3455 - - - - - - - - 14.90 14.55 14.90
6233 519.3 -8.3 245 6246 done -0.71 - - 2651 - 2.47 0.070 2772 565.6 -107.1 - - 3455 - - - - - - - - 14.64 14.47 14.67
6588 549.4 -8.0 253 6601 done -0.71 - - 2649 - - - 2772 - -107.1 - - 3454 - - - - - - - - 14.92 14.92 14.92
6924 575.7 -7.8 259 6937 roll -0.71 - - 2649 - 2.40 0.046 1379 -580.4 -107.1 - - 3452 - - - - - - - - 14.91 14.54 14.90
6963 579.1 -8.6 264 6977 done -0.71 0.10 0.248 2674 250.0 2.45 0.070 2761 564.1 -107.1 - - 3451 - - - - - - - - 14.29 14.46 14.54
7325 607.6 -8.1 273 7339 roll -0.71 - - 2668 - 2.38 0.044 1377 -581.5 -107.1 - - 3450 - - - - - - - - 14.92 14.53 14.92
7378 612.4 -8.0 280 7392 done -0.71 - - 2658 - 2.47 0.070 2760 559.9 -107.1 - - 3450 - - - - - - - - 14.62 14.44 14.65
7723 639.8 -7.9 287 7736 done -0.71 - - 2658 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.91 14.91 14.90
8058 665.8 -7.5 293 8071 done -0.71 - - 2657 - - - 2760 - -107.1 - - 3446 - - - - - - - - 14.91 14.92 14.91
8395 690.9 -7.4 299 8408 roll -0.71 - - 2658 - 2.38 0.046 1378 -580.7 -107.1 - - 3446 - - - - - - - - 14.89 14.52 14.89
8462 696.1 -7.6 308 8475 done -0.71 - - 2648 - 2.45 0.071 2753 561.2 -107.1 - - 3443 - - - - - - - - 14.59 14.41 14.63
8795 721.9 -7.9 320 8808 done -0.71 - - 2648 - - - 2753 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
9132 747.7 -7.6 326 9145 done -0.71 - - 2648 - - - 2753 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
9468 773.2 -7.7 332 9481 roll -0.71 - - 2648 - 2.38 0.047 1385 -574.8 -107.1 - - 3443 - - - - - - - - 14.90 14.47 14.90
9535 778.4 -7.6 341 9549 done -0.71 - - 2638 - 2.45 0.070 2755 559.2 -107.1 - - 3443 - - - - - - - - 14.58 14.40 14.61
9869 805.5 -8.2 353 9883 done -0.71 0.10 0.256 2667 290.0 - - 2755 - -107.1 - - 3442 - - - - - - - - 14.23 14.54 14.47
10206 830.2 -7.5 359 10219 roll -0.71 - - 2667 - 2.38 0.047 1384 -576.1 -107.1 - - 3440 - - - - - - - - 14.87 14.46 14.87
10287 836.0 -7.5 370 10300 done -0.71 - - 2657 - 2.45 0.072 2751 558.0 -107.1 - - 3439 - - - - - - - - 14.56 14.38 14.60
10607 860.3 -7.6 380 10620 done -0.71 - - 2657 - - - 2751 - -107.1 - - 3439 - - - - - - - - 14.88 14.88 14.88
10943 884.6 -7.2 386 10956 roll -0.71 - - 2657 - 2.38 0.047 1381 -575.6 -107.1 - - 3434 - - - - - - - - 14.88 14.38 14.89
10975 886.7 -5.5 390 10988 done -0.71 - - 2648 - 2.45 0.072 2749 558.4 -107.1 - - 3438 - - - - - - - - 14.57 14.38 14.61
11344 915.6 -9.9 400 11357 roll -0.71 - - 2640 - 2.05 0.116 3831 527.8 -107.1 - - 3438 - - - - - - - - 14.86 14.28 14.86
11376 917.3 -4.2 404 11389 done -0.71 0.10 0.233 2668 280.0 1.83 0.048 2754 -588.5 -107.1 - - 3436 - - - - - - - - 14.23 14.57 14.47
11575 end dive: TARGET_DEPTH_EXCEEDED
11575 begin apogee
11580 931.4 -6.7 411 11700 roll -0.23 0.52 0.171 2824 300.0 0.08 0.180 2261 -6162.5 - 109.10 1.934 3050 -3.5 0.332 - - - - - - 14.26 13.94 13.22
11701 end apogee: CONTROL_FINISHED_OK
11701 begin climb
11703 935.7 - 413 11835 roll 0.93 1.12 0.100 3184 321.4 2.55 0.056 849 -553.7 107.1 115.00 1.965 2622 -3.7 0.345 - - - - - - 14.00 14.04 13.06
12064 912.7 8.4 466 12077 done 0.79 0.10 0.259 3160 -240.0 2.45 0.054 2245 569.8 107.1 - - 2609 - - - - - - - - 14.01 14.21 14.26
12426 883.8 8.0 475 12440 roll 0.67 0.12 0.243 3129 -258.3 2.42 0.057 848 -577.3 107.1 - - 2607 - - - - - - - - 14.12 14.34 14.29
12668 864.0 10.6 509 12682 done 0.67 - - 3129 - 2.42 0.053 2251 579.8 107.1 - - 2606 - - - - - - - - 14.51 14.38 14.54
12995 843.4 7.1 520 13021 roll 0.69 - - 3129 - 2.55 0.098 3656 551.0 120.1 11.52 2.112 2565 -3.6 0.277 - - - - - - 14.76 14.43 13.71
13068 839.5 8.6 530 13082 done 0.57 0.20 0.223 3086 -215.0 2.42 0.041 2231 -588.8 120.1 - - 2563 - - - - - - - - 14.22 14.49 14.47
13395 819.1 5.9 541 13448 done 0.62 - - 3085 - - - 2228 - 157.9 43.75 1.881 2425 -3.2 0.267 - - - - - - 14.74 14.27 13.52
13734 796.9 6.6 547 13773 roll 0.65 - - 3085 - 2.78 0.102 3655 513.3 181.8 26.70 1.916 2321 -3.9 0.315 - - - - - - 14.62 14.22 13.54
13827 787.9 8.2 560 13840 done 0.65 - - 3095 - 2.42 0.041 2255 -578.5 181.8 - - 2314 - - - - - - - - 14.38 14.31 14.40
14182 761.9 7.5 568 14195 done 0.65 - - 3094 - - - 2251 - 186.1 - - 2313 - - - - - - - - 14.68 14.68 14.68
14518 735.4 7.9 574 14531 roll 0.65 - - 3095 - 2.65 0.103 3656 530.2 186.1 - - 2311 - - - - - - - - 14.74 14.33 14.74
14606 727.1 9.3 586 14620 done 0.65 - - 3105 - 2.42 0.041 2236 -586.8 186.1 - - 2311 - - - - - - - - 14.58 14.50 14.60
14976 696.4 8.3 596 14989 done 0.65 - - 3104 - - - 2233 - 186.1 - - 2310 - - - - - - - - 14.80 14.80 14.80
15312 672.6 8.1 602 15325 roll 0.65 - - 3104 - 2.67 0.103 3652 531.5 186.1 - - 2309 - - - - - - - - 14.80 14.34 14.80
15365 667.7 9.3 609 15379 done 0.65 - - 3114 - 2.40 0.041 2256 -581.7 186.1 - - 2310 - - - - - - - - 14.61 14.51 14.62
15710 638.9 8.3 616 15723 done 0.65 - - 3114 - - - 2252 - 186.1 - - 2309 - - - - - - - - 14.83 14.83 14.83
16045 612.3 7.8 622 16059 roll 0.65 - - 3114 - 2.65 0.103 3657 530.2 186.1 - - 2309 - - - - - - - - 14.82 14.33 14.83
16140 604.1 8.6 635 16154 done 0.65 - - 3124 - 2.38 0.041 2257 -588.2 186.1 - - 2309 - - - - - - - - 14.62 14.53 14.60
16502 576.1 7.7 644 16515 done 0.66 - - 3124 - - - 2252 - 187.3 - - 2309 - - - - - - - - 14.84 14.84 14.84
16839 550.3 7.7 650 16852 roll 0.66 - - 3124 - 2.70 0.099 3658 520.7 189.2 1.50 0.253 2296 -8.7 3.671 - - - - - - 14.85 14.35 14.08
16892 545.7 8.8 657 16906 done 0.66 - - 3134 - 2.40 0.041 2258 -583.3 189.2 1.30 0.259 2295 - - - - - - - - 14.61 14.52 14.21
17237 517.6 8.2 664 17250 roll 0.66 - - 3134 - 2.62 0.100 3660 535.1 189.2 1.20 0.260 2297 - - - - - - - - 14.83 14.35 14.18
17269 514.5 9.1 668 17282 done 0.66 0.10 0.244 3117 -170.0 2.38 0.041 2261 -587.8 189.2 - - 2303 - - - - - - - - 14.23 14.53 14.47
17638 485.7 7.7 678 17651 done 0.66 - - 3117 - - - 2257 - 189.9 1.62 0.256 2292 -6.8 2.509 - - - - - - 14.85 14.43 14.04
17974 460.8 7.3 684 18005 roll 0.67 - - 3117 - 2.65 0.104 3654 527.2 198.2 15.55 1.690 2253 -2.5 0.133 - - - - - - 14.85 14.49 13.84
18024 456.9 8.0 691 18038 done 0.67 - - 3125 - 2.40 0.042 2256 -582.5 198.2 - - 2249 - - - - - - - - 14.59 14.51 14.61
18368 432.1 7.2 698 18391 roll 0.68 - - 3125 - 2.67 0.102 3661 526.2 209.5 7.45 1.791 2218 -4.2 0.195 - - - - - - 14.76 14.50 13.76
18410 428.6 8.5 704 18423 done 0.68 - - 3135 - 2.38 0.041 2260 -588.7 209.5 - - 2219 - - - - - - - - 14.57 14.51 14.60
18765 399.3 8.5 712 18779 roll 0.68 - - 3135 - 2.62 0.100 3654 532.1 209.5 - - 2219 - - - - - - - - 14.76 14.32 14.76
18827 393.2 10.1 720 18840 done 0.68 - - 3145 - 2.38 0.041 2263 -584.5 209.5 - - 2217 - - - - - - - - 14.53 14.46 14.56
19167 360.7 9.6 733 19181 roll 0.68 - - 3156 - 2.45 0.062 861 -572.2 209.5 - - 2219 - - - - - - - - 14.78 14.40 14.78
19207 356.7 9.6 738 19220 done 0.68 0.12 0.217 3119 -308.3 2.45 0.055 2277 578.0 209.5 - - 2219 - - - - - - - - 14.19 14.37 14.42
19569 324.5 8.9 747 19582 roll 0.68 - - 3118 - 2.55 0.100 3654 540.0 209.5 - - 2219 - - - - - - - - 14.81 14.34 14.81
19630 318.5 10.0 755 19643 done 0.68 - - 3128 - 2.35 0.040 2268 -589.8 209.5 - - 2219 - - - - - - - - 14.61 14.53 14.63
19971 288.6 8.6 768 19984 roll 0.68 - - 3138 - 2.45 0.060 858 -575.5 209.5 - - 2219 - - - - - - - - 14.83 14.39 14.83
19996 286.4 8.4 771 20009 done 0.68 - - 3138 - 2.45 0.054 2278 579.6 209.5 - - 2219 - - - - - - - - 14.57 14.42 14.60
20316 259.7 8.4 781 20329 roll 0.68 - - 3138 - 2.55 0.103 3652 538.8 209.5 - - 2219 - - - - - - - - 14.84 14.33 14.84
20369 254.6 9.6 788 20382 done 0.68 - - 3149 - 2.35 0.040 2272 -587.2 209.5 - - 2219 - - - - - - - - 14.60 14.52 14.62
20713 224.4 8.8 795 20726 roll 0.68 - - 3158 - 2.45 0.061 862 -575.5 209.5 - - 2219 - - - - - - - - 14.83 14.40 14.83
20774 218.9 8.9 803 20787 done 0.68 0.12 0.214 3122 -300.0 2.42 0.054 2269 581.4 209.5 - - 2219 - - - - - - - - 14.23 14.42 14.47
21117 192.9 7.5 816 21133 roll 0.69 - - 3122 - 2.53 0.102 3657 548.6 214.4 4.00 1.343 2201 -4.5 0.126 - - - - - - 14.82 14.57 13.53
21187 186.8 8.6 826 21201 done 0.69 - - 3130 - 2.35 0.040 2260 -594.5 214.4 2.00 0.330 2197 -2.0 0.220 - - - - - - 14.64 14.57 12.90
21515 162.1 7.5 837 21539 roll 0.69 - - 3141 - 2.42 0.060 870 -574.4 219.1 10.07 1.435 2172 -2.5 0.055 - - - - - - 14.82 14.56 13.96
21565 158.1 7.8 844 21579 done 0.69 - - 3141 - 2.42 0.053 2274 580.2 219.1 - - 2173 - - - - - - - - 14.59 14.47 14.62
21909 131.2 7.8 851 21922 roll 0.69 - - 3141 - 2.55 0.100 3654 541.2 219.1 - - 2171 - - - - - - - - 14.80 14.35 14.80
21976 124.9 9.6 860 21989 done 0.69 - - 3151 - 2.35 0.040 2261 -592.8 219.1 - - 2171 - - - - - - - - 14.61 14.53 14.62
22310 96.9 8.2 872 22324 roll 0.69 - - 3151 - 2.60 0.099 3652 535.0 219.1 - - 2171 - - - - - - - - 14.81 14.36 14.81
22377 91.6 6.9 881 22397 done 0.71 0.10 0.230 3131 -200.0 2.33 0.039 2269 -593.6 235.8 7.20 0.422 2110 -8.5 0.358 - - - - - - 14.27 14.55 14.09
22713 75.5 4.9 895 22756 roll 0.89 0.08 0.146 3212 1012.5 2.60 0.099 3650 531.2 292.1 28.67 0.404 1889 -7.7 0.281 - - - - - - 14.54 14.45 14.20
22986 56.0 7.0 934 23006 done 0.91 - - 3221 - 2.33 0.038 2276 -589.7 307.2 7.90 0.334 1827 -7.8 0.256 - - - - - - 14.58 14.53 14.11
23335 40.2 3.5 950 23394 roll 1.10 - - 3221 - 2.62 0.097 3662 529.0 392.3 41.55 0.294 1487 -8.2 0.218 - - - - - - 14.79 14.42 14.24
23518 28.1 5.9 976 23550 done 1.26 0.17 0.073 3331 647.1 2.30 0.038 2277 -602.2 429.1 18.27 0.259 1340 -8.0 0.170 - - - - - - 14.54 14.51 14.17
23869 end climb: SURFACE_DEPTH_REACHED
23869 begin surface coast
23897 end surface coast: CONTROL_FINISHED_OK
23897 begin surface
SM -3.34 - - - - -8.40 9.43 0.088 191 20.2 0.90 0.079 2772 -9620.0 500.14 32.92 0.158 1057 32.1 0.069 - - - - - -