SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 261 * Raw log
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• Previous call tries 1 • 99.78 of 350.00 AH used of 24V (71.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.8 deg, depth -2.50 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 3 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 88 done -0.93 - - 107 - - - 2781 - -107.1 -74.22 - 3481 - - - - - - - - 14.64 12.83 14.64
91 -0.3 -7.3 2 111 roll -0.93 11.90 0.389 2585 208.2 1.92 0.089 3826 544.3 -107.1 - - 3478 - - - - - - - - 14.07 14.30 14.42
340 76.6 -19.1 39 347 done -0.58 0.45 0.244 2710 277.8 1.83 0.038 2738 -594.5 -107.1 - - 3481 - - - - - - - - 14.14 14.56 14.33
670 106.2 -7.9 52 675 roll -0.58 - - 2711 - 2.30 0.043 1387 -587.4 -107.1 - - 3480 - - - - - - - - 14.85 14.48 14.85
852 113.2 -6.3 78 858 done -0.58 - - 2701 - 2.40 0.067 2760 572.1 -107.1 - - 3483 - - - - - - - - 14.58 14.42 14.61
1174 133.9 -6.9 89 1180 roll -0.58 - - 2693 - 2.00 0.106 3828 534.0 -107.1 - - 3483 - - - - - - - - 14.91 14.40 14.91
1222 137.5 -7.3 96 1229 done -0.58 - - 2692 - 1.80 0.041 2757 -595.0 -107.1 - - 3483 - - - - - - - - 14.72 14.67 14.73
1566 161.8 -7.1 103 1572 roll -0.58 - - 2693 - 2.35 0.044 1382 -585.1 -107.1 - - 3481 - - - - - - - - 14.92 14.54 14.92
1600 164.9 -8.2 108 1606 done -0.58 - - 2683 - 2.50 0.067 2773 556.4 -107.1 - - 3480 - - - - - - - - 14.61 14.50 14.64
1958 192.6 -7.7 117 1964 roll -0.58 - - 2683 - 2.40 0.043 1388 -577.1 -107.1 - - 3478 - - - - - - - - 14.92 14.53 14.93
1992 195.3 -7.6 122 1999 done -0.58 0.10 0.211 2705 220.0 2.45 0.067 2761 560.4 -107.1 - - 3478 - - - - - - - - 14.27 14.42 14.43
2350 219.4 -6.7 131 2351 done -0.67 - - 2704 - - - 2761 - -107.1 - - 3475 - - - - - - - - 14.95 14.95 14.95
2686 244.3 -7.5 137 2693 roll -0.76 0.10 0.115 2637 -670.0 2.38 0.044 1390 -576.1 -107.1 - - 3470 - - - - - - - - 14.67 14.52 14.73
2741 249.8 -9.9 145 2748 done -0.76 - - 2627 - 2.47 0.067 2769 558.3 -107.1 - - 3472 - - - - - - - - 14.54 14.44 14.57
3078 287.0 -11.2 158 3083 roll -0.76 - - 2619 - 1.98 0.107 3820 530.8 -107.1 - - 3470 - - - - - - - - 14.94 14.36 14.94
3112 291.4 -12.9 163 3118 done -0.76 0.12 0.230 2655 300.0 1.80 0.041 2760 -588.9 -107.1 - - 3470 - - - - - - - - 14.33 14.69 14.57
3469 324.3 -9.0 172 3476 roll -0.76 - - 2656 - 2.38 0.045 1382 -579.0 -107.1 - - 3468 - - - - - - - - 14.93 14.50 14.94
3525 329.2 -8.2 180 3531 done -0.76 - - 2646 - 2.47 0.068 2757 556.7 -107.1 - - 3467 - - - - - - - - 14.52 14.42 14.57
3862 358.1 -8.6 193 3862 done -0.76 - - 2646 - - - 2758 - -107.1 - - 3465 - - - - - - - - 14.94 14.94 14.94
4198 387.6 -8.8 199 4203 roll -0.76 - - 2645 - 2.40 0.044 1384 -572.5 -107.1 - - 3464 - - - - - - - - 14.96 14.50 14.97
4253 392.8 -9.0 207 4259 done -0.76 - - 2636 - 2.47 0.069 2760 557.1 -107.1 - - 3463 - - - - - - - - 14.51 14.41 14.57
4589 423.8 -9.2 220 4590 done -0.76 - - 2636 - - - 2760 - -107.1 - - 3462 - - - - - - - - 14.94 14.97 14.94
4926 455.1 -9.3 226 4931 roll -0.76 - - 2628 - 2.03 0.110 3823 523.6 -107.1 - - 3458 - - - - - - - - 14.94 14.32 14.94
4995 462.0 -9.7 236 5001 done -0.76 - - 2627 - 1.83 0.044 2759 -581.4 -107.1 - - 3459 - - - - - - - - 14.72 14.66 14.73
5318 491.5 -9.2 247 5323 roll -0.76 - - 2627 - 2.40 0.046 1375 -576.7 -107.1 - - 3458 - - - - - - - - 14.94 14.47 14.93
5415 500.5 -8.9 261 5422 done -0.76 0.10 0.231 2646 190.0 2.53 0.067 2769 551.0 -107.1 - - 3458 - - - - - - - - 14.18 14.42 14.35
5766 530.0 -8.1 269 5772 roll -0.76 - - 2655 - 2.00 0.112 3821 526.0 -107.1 - - 3455 - - - - - - - - 14.95 14.30 14.95
5807 533.7 -9.0 275 5813 done -0.76 - - 2659 - 1.83 0.044 2757 -581.4 -107.1 - - 3455 - - - - - - - - 14.71 14.65 14.73
6158 565.0 -9.1 283 6163 roll -0.76 - - 2654 - 2.38 0.044 1381 -578.2 -107.1 - - 3454 - - - - - - - - 14.95 14.45 14.95
6206 569.7 -9.7 290 6214 done -0.76 - - 2645 - 2.53 0.068 2771 549.4 -107.1 - - 3453 - - - - - - - - 14.48 14.38 14.52
6550 604.4 -10.2 297 6551 done -0.76 - - 2645 - - - 2771 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
6885 639.4 -10.4 303 6891 roll -0.76 - - 2644 - 2.45 0.044 1382 -566.9 -107.1 - - 3454 - - - - - - - - 14.92 14.43 14.92
6913 642.3 -10.6 307 6920 done -0.76 - - 2635 - 2.53 0.070 2766 547.0 -107.1 - - 3451 - - - - - - - - 14.49 14.39 14.52
7277 679.2 -10.0 317 7284 roll -0.76 - - 2627 - 2.03 0.110 3822 520.2 -107.1 - - 3449 - - - - - - - - 14.92 14.25 14.92
7326 684.4 -10.7 324 7333 done -0.76 - - 2627 - 1.83 0.043 2757 -582.0 -107.1 - - 3448 - - - - - - - - 14.68 14.62 14.69
7670 717.2 -9.4 331 7676 roll -0.76 - - 2626 - 2.38 0.044 1391 -573.9 -107.1 - - 3447 - - - - - - - - 14.92 14.42 14.92
7725 722.3 -9.0 339 7732 done -0.76 0.12 0.239 2650 200.0 2.50 0.068 2757 546.4 -107.1 - - 3447 - - - - - - - - 14.08 14.38 14.28
8062 748.1 -7.5 352 8067 roll -0.76 - - 2643 - 2.05 0.110 3827 522.0 -107.1 - - 3446 - - - - - - - - 14.91 14.23 14.91
8096 750.8 -7.9 357 8103 done -0.76 - - 2642 - 1.85 0.044 2754 -580.0 -107.1 - - 3446 - - - - - - - - 14.68 14.62 14.69
8454 777.6 -7.6 366 8455 done -0.76 - - 2642 - - - 2754 - -107.1 - - 3445 - - - - - - - - 14.93 14.93 14.93
8790 803.9 -7.9 372 8791 done -0.76 - - 2642 - - - 2754 - -107.1 - - 3444 - - - - - - - - 14.93 14.93 14.93
9126 831.2 -8.3 378 9131 roll -0.76 - - 2642 - 2.40 0.045 1382 -571.7 -107.1 - - 3443 - - - - - - - - 14.91 14.38 14.91
9153 833.3 -7.3 382 9160 done -0.76 - - 2632 - 2.53 0.069 2759 544.3 -107.1 - - 3443 - - - - - - - - 14.42 14.31 14.48
9517 865.3 -8.7 392 9518 done -0.76 - - 2633 - - - 2759 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
9854 895.1 -8.9 398 9860 roll -0.76 - - 2631 - 2.42 0.045 1384 -568.2 -107.1 - - 3441 - - - - - - - - 14.90 14.35 14.90
9881 897.6 -8.2 402 9888 done -0.76 0.10 0.245 2649 180.0 2.53 0.069 2759 543.5 -107.1 - - 3440 - - - - - - - - 14.05 14.32 14.25
10246 926.4 -7.7 412 10247 done -0.76 - - 2649 - - - 2759 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
10299 end dive: TARGET_DEPTH_EXCEEDED
10299 begin apogee
10305 930.7 -7.6 413 10416 roll -0.23 0.60 0.182 2823 290.0 0.08 0.178 2267 -6150.0 - 107.95 1.978 3049 -3.6 0.332 - - - - - - 14.20 13.93 13.17
10418 end apogee: CONTROL_FINISHED_OK
10418 begin climb
10420 934.4 - 415 10543 roll 0.93 1.15 0.106 3183 313.0 2.50 0.055 885 -552.8 107.1 114.60 1.991 2622 -3.7 0.342 - - - - - - 13.98 14.01 13.00
10590 926.3 7.8 440 10596 done 0.81 - - 3183 - 2.47 0.051 2242 549.4 107.1 - - 2611 - - - - - - - - 13.99 13.92 14.01
10913 897.6 9.1 451 10919 roll 0.68 0.22 0.222 3121 -281.8 2.62 0.097 3660 541.2 107.1 - - 2608 - - - - - - - - 14.09 14.22 14.35
10982 891.7 8.2 461 10990 done 0.59 0.12 0.201 3097 -200.0 2.42 0.039 2263 -577.3 107.1 - - 2607 - - - - - - - - 14.12 14.38 14.28
11305 870.8 6.4 472 11339 roll 0.62 - - 3097 - 2.67 0.102 3655 521.3 133.2 27.20 1.953 2514 -3.4 0.298 - - - - - - 14.74 14.28 13.54
11388 864.7 7.9 484 11394 done 0.62 - - 3106 - 2.45 0.041 2258 -570.2 133.2 - - 2510 - - - - - - - - 14.37 14.34 14.40
11753 838.9 7.1 494 11773 roll 0.64 - - 3106 - 2.67 0.103 3651 521.7 145.4 13.35 2.068 2465 -3.4 0.268 - - - - - - 14.74 14.37 13.63
11794 835.8 9.4 500 11800 done 0.64 - - 3117 - 2.47 0.042 2243 -570.0 145.4 - - 2461 - - - - - - - - 14.48 14.43 14.49
12145 811.3 6.9 508 12165 done 0.66 - - 3117 - - - 2244 - 161.9 18.85 1.982 2405 -3.0 0.238 - - - - - - 14.76 14.41 13.64
12481 788.2 6.9 514 12502 roll 0.68 - - 3117 - 2.72 0.101 3652 517.6 178.1 16.92 1.986 2338 -4.0 0.308 - - - - - - 14.73 14.34 13.62
12578 780.3 8.4 528 12586 done 0.68 - - 3127 - 2.42 0.041 2261 -574.8 178.1 - - 2333 - - - - - - - - 14.40 14.36 14.42
12922 753.9 7.7 535 12927 roll 0.68 - - 3127 - 2.67 0.102 3651 520.6 178.8 - - 2331 - - - - - - - - 14.76 14.28 14.76
12949 751.5 8.7 539 12956 done 0.68 - - 3137 - 2.45 0.041 2256 -569.4 178.8 - - 2331 - - - - - - - - 14.57 14.49 14.58
13314 720.4 8.5 549 13320 roll 0.68 - - 3137 - 2.65 0.099 3657 528.7 178.8 - - 2330 - - - - - - - - 14.79 14.32 14.79
13334 718.5 8.8 552 13340 done 0.68 - - 3147 - 2.45 0.041 2260 -570.2 178.8 - - 2328 - - - - - - - - 14.59 14.50 14.59
13650 689.0 9.4 562 13655 roll 0.68 - - 3158 - 2.47 0.062 864 -565.2 178.8 - - 2330 - - - - - - - - 14.83 14.37 14.83
13684 685.8 9.1 567 13691 done 0.68 0.12 0.199 3122 -300.0 2.50 0.055 2268 561.6 178.8 - - 2330 - - - - - - - - 14.21 14.44 14.38
14042 655.5 8.5 576 14047 roll 0.68 - - 3122 - 2.60 0.101 3650 531.5 178.8 - - 2330 - - - - - - - - 14.84 14.29 14.85
14104 649.1 10.3 585 14111 done 0.68 - - 3131 - 2.42 0.041 2260 -574.4 178.8 - - 2330 - - - - - - - - 14.63 14.54 14.65
14434 617.8 9.5 597 14440 roll 0.68 - - 3131 - 2.65 0.101 3650 524.5 178.8 - - 2330 - - - - - - - - 14.85 14.28 14.85
14489 612.0 10.6 605 14496 done 0.68 - - 3140 - 2.40 0.041 2267 -576.2 178.8 - - 2329 - - - - - - - - 14.51 14.47 14.54
14826 579.9 9.4 618 14831 roll 0.68 - - 3151 - 2.50 0.062 857 -564.0 178.8 - - 2330 - - - - - - - - 14.85 14.34 14.85
14853 577.4 9.0 622 14860 done 0.68 0.08 0.206 3127 -300.0 2.50 0.056 2267 564.0 178.8 - - 2330 - - - - - - - - 14.20 14.38 14.36
15218 549.1 7.5 632 15224 roll 0.68 - - 3127 - 2.58 0.099 3658 539.1 184.2 1.40 0.265 2318 -8.6 3.477 - - - - - - 14.86 14.24 13.98
15280 543.9 8.3 641 15287 done 0.68 - - 3137 - 2.42 0.040 2261 -577.3 184.2 - - 2324 - - - - - - - - 14.61 14.52 14.64
15610 519.7 7.4 653 15630 roll 0.69 - - 3137 - 2.65 0.101 3660 527.9 191.2 12.70 1.810 2283 -3.2 0.181 - - - - - - 14.88 14.50 13.81
15679 513.8 8.9 663 15686 done 0.69 - - 3146 - 2.42 0.039 2267 -575.6 191.2 - - 2280 - - - - - - - - 14.59 14.52 14.60
16002 486.5 8.5 674 16002 done 0.69 - - 3147 - - - 2263 - 191.2 - - 2280 - - - - - - - - 14.80 14.81 14.81
16338 458.0 8.6 680 16338 done 0.69 - - 3147 - - - 2262 - 191.2 - - 2280 - - - - - - - - 14.85 14.85 14.85
16674 428.5 8.8 686 16679 roll 0.69 - - 3146 - 2.65 0.101 3651 524.2 191.2 - - 2279 - - - - - - - - 14.86 14.26 14.86
16715 424.3 10.2 692 16722 done 0.69 0.10 0.237 3124 -220.0 2.40 0.041 2274 -573.8 191.2 - - 2280 - - - - - - - - 14.20 14.53 14.36
17066 396.5 7.8 700 17071 roll 0.69 - - 3123 - 2.58 0.098 3654 534.9 191.2 - - 2279 - - - - - - - - 14.85 14.28 14.85
17100 393.5 8.6 705 17108 done 0.69 - - 3132 - 2.40 0.040 2273 -575.4 191.2 - - 2284 - - - - - - - - 14.62 14.54 14.64
17458 366.0 7.6 714 17459 done 0.70 - - 3132 - - - 2274 - 194.0 - - 2280 - - - - - - - - 14.85 14.85 14.85
17794 341.0 7.4 720 17800 done 0.70 - - 3132 - - - 2273 - 200.6 5.68 1.723 2253 -4.8 0.184 - - - - - - 14.86 14.62 13.72
18130 315.3 7.7 726 18131 done 0.70 - - 3132 - - - 2273 - 200.7 - - 2258 - - - - - - - - 14.86 14.85 14.86
18466 293.5 5.6 732 18522 roll 0.76 - - 3132 - 2.65 0.102 3655 521.5 242.9 48.28 1.342 2076 -3.8 0.161 - - - - - - 14.88 14.31 13.78
18556 286.1 9.3 745 18563 done 0.76 - - 3141 - 2.42 0.039 2278 -569.0 242.9 - - 2072 - - - - - - - - 14.45 14.38 14.47
18914 257.2 7.9 754 18915 done 0.76 - - 3141 - - - 2277 - 242.9 - - 2067 - - - - - - - - 14.73 14.73 14.73
19249 231.3 7.8 760 19255 roll 0.76 - - 3141 - 2.62 0.101 3649 523.7 242.9 - - 2068 - - - - - - - - 14.79 14.26 14.78
19277 228.8 9.0 764 19284 done 0.76 - - 3149 - 2.40 0.039 2278 -571.2 242.9 - - 2069 - - - - - - - - 14.57 14.47 14.59
19642 194.0 9.8 774 19647 roll 0.76 - - 3161 - 2.50 0.061 865 -565.2 242.9 - - 2068 - - - - - - - - 14.81 14.33 14.81
19669 191.3 9.5 778 19675 done 0.76 - - 3161 - 2.50 0.054 2278 565.2 242.9 - - 2068 - - - - - - - - 14.47 14.39 14.50
20034 158.3 8.8 788 20039 roll 0.76 - - 3161 - 2.60 0.103 3655 529.6 242.9 - - 2068 - - - - - - - - 14.85 14.26 14.85
20075 154.5 9.5 794 20082 done 0.76 - - 3171 - 2.40 0.039 2279 -573.3 242.9 - - 2068 - - - - - - - - 14.58 14.52 14.58
20426 122.6 9.1 802 20426 done 0.76 - - 3171 - - - 2275 - 242.9 - - 2065 - - - - - - - - 14.87 14.88 14.88
20762 97.5 7.2 808 20769 roll 0.77 - - 3170 - 2.65 0.099 3661 523.0 253.6 3.53 0.391 2043 -6.2 0.304 - - - - - - 14.88 14.41 13.95
20999 80.3 6.6 842 21015 done 0.80 - - 3180 - 2.38 0.037 2272 -583.6 276.1 12.55 0.400 1949 -7.5 0.294 - - - - - - 14.58 14.52 14.14
21338 64.6 3.5 857 21385 roll 1.01 0.08 0.145 3236 700.0 2.58 0.098 3667 540.7 360.6 42.00 0.367 1613 -8.0 0.276 - - - - - - 14.55 14.42 14.17
21405 60.2 8.3 864 21412 done 1.01 - - 3245 - 2.38 0.037 2286 -580.3 360.6 - - 1613 - - - - - - - - 14.61 14.54 14.62
21728 40.4 4.2 877 21769 roll 1.19 0.05 0.200 3306 1220.0 2.47 0.062 864 -575.7 431.6 34.70 0.292 1335 -8.0 0.217 - - - - - - 14.52 14.46 14.19
21958 24.6 6.1 910 21981 done 1.32 - - 3308 - 2.53 0.053 2304 569.2 465.1 16.65 0.239 1198 -8.2 0.166 - - - - - - 14.45 14.37 14.19
22286 end climb: SURFACE_DEPTH_REACHED
22286 begin surface coast
22315 end surface coast: CONTROL_FINISHED_OK
22316 begin surface
SM -2.28 - - - - -8.39 9.30 0.073 199 21.4 0.82 0.080 2769 -8064.6 500.14 16.55 0.157 1056 63.8 0.095 - - - - - -