SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 32 * Raw log
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• Previous call tries 1 • 15.26 of 350.00 AH used of 24V (95.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth -4.61 m • Intended pitch -14.4 deg, speed -7.857 cm/s
• VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 21 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 111 done -0.90 - - 171 - - - 2866 - -146.0 -93.62 - 3634 - - - - - - - - 14.68 13.77 14.69
113 1.4 -9.2 6 130 roll -0.90 11.45 0.398 2631 214.8 2.35 0.034 1427 -612.3 -146.0 - - 3635 - - - - - - - - 14.34 14.54 14.55
189 34.3 -25.6 21 196 done -0.90 - - 2620 - 2.53 0.085 2851 562.8 -146.0 - - 3635 - - - - - - - - 14.62 14.52 14.64
506 93.1 -12.9 44 512 roll -0.90 - - 2613 - 1.75 0.107 3840 565.1 -146.0 - - 3636 - - - - - - - - 14.86 14.62 14.86
657 112.3 -14.3 74 663 done -0.90 - - 2616 - 1.58 0.044 2846 -629.1 -146.0 - - 3637 - - - - - - - - 14.78 14.73 14.78
988 146.5 -6.8 90 994 roll -0.90 - - 2604 - 1.77 0.106 3834 558.2 -146.0 - - 3637 - - - - - - - - 14.93 14.70 14.94
1218 178.0 -12.8 136 1225 done -0.90 0.10 0.229 2634 300.0 1.58 0.044 2872 -608.9 -146.0 - - 3635 - - - - - - - - 14.66 14.78 14.76
1529 212.4 -11.0 148 1532 done -0.90 - - 2633 - - - 2871 - -146.0 - - 3633 - - - - - - - - 14.96 14.98 14.97
1829 244.8 -10.7 158 1836 roll -0.90 - - 2634 - 2.33 0.050 1453 -608.6 -146.0 - - 3630 - - - - - - - - 14.99 14.79 14.99
1904 252.6 -10.1 173 1912 done -0.90 - - 2624 - 2.45 0.077 2872 579.2 -146.0 - - 3628 - - - - - - - - 14.86 14.76 14.88
2222 286.3 -10.4 186 2228 roll -0.90 - - 2624 - 2.35 0.050 1457 -602.1 -146.0 - - 3627 - - - - - - - - 14.99 14.79 14.99
2271 291.6 -10.3 196 2278 done -0.90 - - 2614 - 2.42 0.077 2862 580.6 -146.0 - - 3626 - - - - - - - - 14.87 14.76 14.92
2583 324.7 -10.7 208 2589 roll -0.90 - - 2614 - 2.33 0.050 1460 -601.7 -146.0 - - 3622 - - - - - - - - 14.99 14.81 15.00
2614 328.0 -10.8 214 2621 done -0.90 0.12 0.261 2639 208.3 2.42 0.079 2859 578.1 -146.0 - - 3623 - - - - - - - - 14.71 14.78 14.85
2945 360.6 -10.1 230 2951 roll -0.90 - - 2639 - 2.33 0.053 1462 -599.6 -146.0 - - 3620 - - - - - - - - 15.00 14.81 15.00
3006 366.9 -10.0 242 3012 done -0.90 - - 2630 - 2.38 0.080 2846 581.5 -146.0 - - 3619 - - - - - - - - 14.88 14.77 14.89
3337 402.2 -10.8 258 3339 done -0.90 - - 2630 - - - 2846 - -146.0 - - 3617 - - - - - - - - 15.00 15.00 15.00
3637 434.3 -10.7 268 3643 roll -0.90 - - 2631 - 2.30 0.052 1462 -601.7 -146.0 - - 3614 - - - - - - - - 15.00 14.80 15.00
3686 439.6 -10.2 278 3693 done -0.90 - - 2620 - 2.40 0.080 2850 578.3 -146.0 - - 3614 - - - - - - - - 14.88 14.77 14.89
3998 472.7 -10.6 290 4000 done -0.90 - - 2620 - - - 2850 - -146.0 - - 3611 - - - - - - - - 14.99 15.00 15.00
4298 503.8 -10.3 300 4311 roll -0.90 - - 2620 - 2.33 0.054 1455 -598.7 -146.0 - - 3613 - - - - - - - - 15.01 14.81 15.01
4350 509.1 -10.3 309 4363 done -0.90 0.10 0.262 2639 190.0 2.40 0.083 2839 576.7 -146.0 - - 3610 - - - - - - - - 14.72 14.78 14.86
4673 537.6 -8.6 322 4686 roll -0.90 - - 2639 - 2.30 0.053 1461 -599.1 -146.0 - - 3607 - - - - - - - - 15.02 14.81 15.02
4715 541.4 -8.8 329 4728 done -0.90 - - 2630 - 2.38 0.081 2833 576.5 -146.0 - - 3607 - - - - - - - - 14.90 14.79 14.91
5047 571.8 -9.3 344 5060 done -0.90 - - 2630 - - - 2833 - -146.0 - - 3605 - - - - - - - - 15.02 15.02 15.02
5347 599.7 -9.2 354 5361 roll -0.90 - - 2630 - 2.30 0.053 1452 -600.4 -146.0 - - 3603 - - - - - - - - 15.03 14.83 15.03
5399 604.5 -9.0 363 5412 done -0.90 - - 2620 - 2.40 0.083 2834 575.8 -146.0 - - 3603 - - - - - - - - 14.90 14.80 14.92
5722 633.9 -9.3 376 5735 done -0.90 - - 2621 - - - 2834 - -146.0 - - 3601 - - - - - - - - 15.04 15.04 15.04
6022 662.9 -9.9 386 6035 roll -0.90 - - 2620 - 2.30 0.054 1459 -597.8 -146.0 - - 3598 - - - - - - - - 15.04 14.83 15.04
6064 667.4 -10.0 393 6077 done -0.90 - - 2612 - 2.38 0.083 2827 574.8 -146.0 - - 3599 - - - - - - - - 14.91 14.81 14.92
6397 702.0 -10.5 408 6409 done -0.90 - - 2612 - - - 2827 - -146.0 - - 3597 - - - - - - - - 15.02 15.03 15.03
6697 732.9 -10.4 418 6710 roll -0.90 - - 2611 - 2.30 0.055 1455 -596.5 -146.0 - - 3597 - - - - - - - - 15.05 14.83 15.03
6734 737.0 -10.7 424 6748 done -0.90 0.12 0.259 2638 225.0 2.40 0.085 2826 571.2 -146.0 - - 3596 - - - - - - - - 14.73 14.79 14.88
7073 767.5 -8.8 440 7086 roll -0.90 - - 2638 - 2.30 0.054 1460 -593.9 -146.0 - - 3594 - - - - - - - - 15.02 14.83 15.02
7134 773.2 -9.1 451 7148 done -0.90 - - 2629 - 2.38 0.083 2812 568.1 -146.0 - - 3594 - - - - - - - - 14.90 14.79 14.94
7440 801.2 -9.2 462 7453 done -0.90 - - 2629 - - - 2812 - -146.0 - - 3592 - - - - - - - - 15.02 15.02 15.02
7740 828.9 -9.2 472 7753 roll -0.90 - - 2629 - 2.28 0.055 1458 -593.9 -146.0 - - 3591 - - - - - - - - 15.02 14.82 15.02
7797 834.1 -8.0 482 7810 done -0.90 - - 2619 - 2.38 0.085 2816 570.6 -146.0 - - 3591 - - - - - - - - 14.90 14.81 14.90
8115 863.7 -9.3 494 8128 roll -0.90 - - 2612 - 2.28 0.055 1463 -593.4 -146.0 - - 3590 - - - - - - - - 15.02 14.81 15.02
8162 868.9 -9.3 502 8175 done -0.90 - - 2611 - 2.35 0.085 2807 571.9 -146.0 - - 3590 - - - - - - - - 14.90 14.78 14.91
8490 900.0 -9.8 516 8503 done -0.90 - - 2611 - - - 2807 - -146.0 - - 3589 - - - - - - - - 15.01 15.01 15.01
8790 929.1 -9.6 526 8803 done -0.90 - - 2611 - - - 2807 - -146.0 - - 3588 - - - - - - - - 15.02 15.02 15.03
9090 957.7 -9.5 536 9102 done -0.90 - - 2611 - - - 2807 - -146.0 - - 3588 - - - - - - - - 15.05 15.02 15.02
9390 985.5 -9.1 546 9403 roll -0.90 - - 2610 - 2.28 0.057 1459 -591.2 -146.0 - - 3587 - - - - - - - - 15.02 14.81 15.02
9440 end dive: TARGET_DEPTH_EXCEEDED
9440 begin apogee
9445 990.5 -9.2 555 9613 roll -0.25 0.80 0.200 2845 293.8 - - 2303 - - 157.77 1.962 3049 -3.4 0.326 - - - - - - 14.72 13.97 13.33
9614 end apogee: CONTROL_FINISHED_OK
9614 begin climb
9615 993.9 - 560 9797 roll 0.90 1.10 0.091 3206 328.2 2.55 0.067 900 -550.2 146.0 161.35 1.932 2460 -3.7 0.355 - - - - - - 14.03 14.03 13.27
9825 981.9 10.1 601 9840 done 0.90 - - 3207 - 2.50 0.067 2289 555.6 146.0 - - 2449 - - - - - - - - 14.15 14.06 14.15
10131 942.7 12.8 612 10144 done 0.90 - - 3206 - - - 2288 - 146.0 - - 2447 - - - - - - - - 14.66 14.66 14.66
10431 905.2 12.4 622 10445 roll 0.90 - - 3217 - 2.38 0.070 910 -579.0 146.0 - - 2444 - - - - - - - - 14.79 14.58 14.79
10483 898.6 12.3 631 10496 done 0.90 - - 3217 - 2.38 0.068 2288 579.0 146.0 - - 2444 - - - - - - - - 14.69 14.59 14.70
10806 858.8 12.5 644 10819 done 0.90 - - 3217 - - - 2290 - 146.0 - - 2443 - - - - - - - - 14.85 14.85 14.85
11106 821.9 12.3 654 11119 roll 0.90 - - 3227 - 2.38 0.072 907 -581.1 146.0 - - 2443 - - - - - - - - 14.89 14.69 14.89
11174 813.8 9.7 666 11187 done 0.90 - - 3227 - 2.38 0.069 2280 576.9 146.0 - - 2443 - - - - - - - - 14.78 14.69 14.80
11511 772.1 12.3 682 11525 roll 0.90 - - 3237 - 2.35 0.072 912 -582.1 146.0 - - 2442 - - - - - - - - 14.92 14.71 14.92
11558 766.2 12.3 690 11571 done 0.90 - - 3237 - 2.35 0.070 2285 584.3 146.0 - - 2442 - - - - - - - - 14.81 14.71 14.82
11886 725.9 12.2 704 11899 roll 0.90 - - 3244 - 2.35 0.071 909 -585.5 146.0 - - 2442 - - - - - - - - 14.94 14.73 14.94
11984 714.4 11.6 722 11997 done 0.90 - - 3247 - 2.33 0.068 2267 582.8 146.0 - - 2442 - - - - - - - - 14.82 14.73 14.84
12322 674.2 11.9 738 12334 done 0.90 - - 3246 - - - 2268 - 146.0 - - 2441 - - - - - - - - 14.95 14.95 14.95
12621 639.3 11.6 748 12634 roll 0.90 - - 3257 - 2.33 0.073 908 -583.7 146.0 - - 2441 - - - - - - - - 14.95 14.74 14.96
12698 630.4 11.4 762 12712 done 0.90 0.12 0.282 3223 -283.3 2.35 0.070 2275 581.7 146.0 - - 2441 - - - - - - - - 14.64 14.74 14.82
13026 595.6 10.7 776 13039 done 0.90 - - 3223 - - - 2275 - 146.0 - - 2441 - - - - - - - - 14.95 14.96 14.96
13326 563.4 10.9 786 13339 roll 0.90 - - 3233 - 2.35 0.072 902 -584.3 146.0 - - 2441 - - - - - - - - 14.97 14.75 14.97
13394 555.7 11.4 798 13407 done 0.90 - - 3233 - 2.33 0.069 2263 584.1 146.0 - - 2441 - - - - - - - - 14.82 14.75 14.86
13732 516.3 12.0 814 13745 done 0.90 - - 3233 - - - 2263 - 146.0 - - 2441 - - - - - - - - 14.97 14.97 14.97
14032 481.0 11.8 824 14038 roll 0.90 - - 3243 - 2.33 0.072 902 -584.1 146.0 - - 2440 - - - - - - - - 14.95 14.74 14.96
14096 473.3 11.5 837 14104 done 0.90 - - 3242 - 2.35 0.068 2282 587.2 146.0 - - 2441 - - - - - - - - 14.83 14.73 14.84
14424 434.5 12.0 852 14426 done 0.90 - - 3243 - - - 2283 - 146.0 - - 2441 - - - - - - - - 14.90 14.93 14.93
14724 400.5 11.2 862 14726 done 0.90 - - 3242 - - - 2282 - 146.0 - - 2441 - - - - - - - - 14.93 14.92 14.93
15024 368.7 10.3 872 15030 roll 0.90 - - 3253 - 2.38 0.070 902 -579.8 146.0 - - 2441 - - - - - - - - 14.92 14.71 14.92
15099 360.8 10.3 887 15106 done 0.90 0.10 0.288 3226 -270.0 2.35 0.067 2250 573.6 146.0 - - 2441 - - - - - - - - 14.60 14.69 14.78
15416 330.4 9.8 900 15422 roll 0.90 - - 3233 - 2.30 0.070 903 -585.7 146.0 - - 2441 - - - - - - - - 14.92 14.70 14.92
15481 323.9 9.6 913 15488 done 0.90 - - 3236 - 2.30 0.066 2255 587.8 146.0 - - 2440 - - - - - - - - 14.78 14.69 14.81
15808 289.2 11.0 928 15810 done 0.90 - - 3233 - - - 2255 - 146.0 - - 2439 - - - - - - - - 14.91 14.91 14.91
16108 256.5 10.9 938 16110 done 0.90 - - 3236 - - - 2255 - 146.0 - - 2440 - - - - - - - - 14.91 14.91 14.92
16408 224.2 10.7 948 16414 roll 0.90 - - 3245 - 2.33 0.070 900 -581.5 146.0 - - 2441 - - - - - - - - 14.91 14.70 14.92
16443 220.3 11.2 955 16450 done 0.90 - - 3245 - 2.33 0.066 2240 575.1 146.0 - - 2440 - - - - - - - - 14.79 14.69 14.80
16769 184.7 10.8 970 16776 roll 0.90 - - 3255 - 2.28 0.070 906 -585.1 146.0 - - 2442 - - - - - - - - 14.91 14.69 14.91
16844 176.8 10.4 985 16852 done 0.90 0.12 0.277 3221 -283.3 2.25 0.065 2233 589.8 146.0 - - 2442 - - - - - - - - 14.59 14.69 14.76
17162 145.4 9.9 998 17169 roll 0.90 - - 3230 - 2.25 0.068 908 -588.9 146.0 - - 2443 - - - - - - - - 14.90 14.69 14.90
17197 141.9 10.0 1005 17205 done 0.90 - - 3230 - 2.28 0.064 2226 578.1 146.0 - - 2443 - - - - - - - - 14.73 14.67 14.77
17525 113.1 8.2 1020 17531 roll 0.90 - - 3230 - 2.65 0.108 3702 557.0 146.0 - - 2443 - - - - - - - - 14.90 14.64 14.89
17755 91.5 7.9 1066 17762 done 0.90 - - 3241 - 2.42 0.045 2269 -592.1 146.0 - - 2444 - - - - - - - - 14.74 14.71 14.76
18067 77.2 2.5 1088 18140 roll 1.08 0.05 0.203 3282 820.0 2.62 0.104 3699 545.8 288.9 65.15 0.438 1898 -8.4 0.280 - - - - - - 14.69 14.50 14.33
18329 54.9 10.5 1140 18336 done 1.08 - - 3293 - 2.42 0.044 2280 -586.4 288.9 - - 1903 - - - - - - - - 14.64 14.61 14.66
18641 36.6 5.1 1162 18684 roll 1.16 - - 3303 - 2.35 0.067 897 -588.5 360.8 34.72 0.318 1612 -8.4 0.183 - - - - - - 14.83 14.56 14.42
18847 27.0 2.1 1203 18927 done 1.35 0.08 0.090 3377 925.0 2.38 0.057 2271 577.3 512.2 71.95 0.276 1009 -8.4 0.155 - - - - - - 14.64 14.58 14.39
19065 end climb: SURFACE_DEPTH_REACHED
19065 begin surface coast
19080 end surface coast: CONTROL_FINISHED_OK
19080 begin surface
SM -7.45 - - - - -8.47 9.62 0.108 200 20.8 1.02 0.085 2852 -8284.3 610.16 46.05 0.175 618 13.4 0.058 - - - - - -