SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 360 * Raw log
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• Previous call tries 1 • 130.76 of 350.00 AH used of 24V (62.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.0 deg, depth -0.87 m • Intended pitch -17.6 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
14 - - - 92 done -0.93 - - 125 - - - 2785 - -107.1 -77.18 - 3478 - - - - - - - - 14.68 12.63 14.67
95 0.3 -3.6 2 113 done -0.93 11.95 0.389 2593 206.5 - - 2785 - -107.1 - - 3479 - - - - - - - - 14.00 14.45 14.38
436 75.1 -8.2 18 441 roll -0.75 0.22 0.237 2646 240.9 1.90 0.104 3821 545.3 -107.1 - - 3481 - - - - - - - - 14.21 14.33 14.48
672 96.7 -20.4 52 680 done -0.75 - - 2646 - 1.80 0.039 2746 -597.2 -107.1 - - 3483 - - - - - - - - 14.66 14.65 14.66
996 127.0 -9.6 60 1002 roll -0.75 - - 2637 - 2.03 0.103 3813 525.6 -107.1 - - 3483 - - - - - - - - 14.90 14.35 14.90
1127 140.4 -9.7 79 1134 done -0.75 - - 2637 - 1.75 0.040 2771 -595.4 -107.1 - - 3482 - - - - - - - - 14.71 14.67 14.73
1444 172.3 -10.1 89 1449 roll -0.75 - - 2637 - 2.33 0.043 1390 -592.7 -107.1 - - 3480 - - - - - - - - 14.94 14.57 14.94
1471 175.1 -10.0 93 1477 done -0.75 0.08 0.225 2649 150.0 2.45 0.066 2763 560.4 -107.1 - - 3480 - - - - - - - - 14.28 14.42 14.44
1835 207.5 -8.8 103 1836 done -0.75 - - 2650 - - - 2763 - -107.1 - - 3478 - - - - - - - - 14.94 14.93 14.94
2172 237.1 -8.7 109 2177 roll -0.75 - - 2642 - 2.00 0.108 3825 531.0 -107.1 - - 3475 - - - - - - - - 14.93 14.37 14.94
2205 240.3 -9.6 114 2212 done -0.75 - - 2642 - 1.77 0.041 2775 -593.2 -107.1 - - 3474 - - - - - - - - 14.74 14.69 14.76
2563 272.3 -8.9 123 2569 roll -0.75 - - 2642 - 2.35 0.044 1387 -590.6 -107.1 - - 3472 - - - - - - - - 14.94 14.54 14.95
2639 279.1 -8.8 134 2646 done -0.75 - - 2631 - 2.47 0.067 2772 560.7 -107.1 - - 3473 - - - - - - - - 14.55 14.46 14.59
2956 309.2 -9.7 144 2962 roll -0.75 - - 2623 - 1.98 0.108 3819 528.8 -107.1 - - 3469 - - - - - - - - 14.94 14.35 14.95
3011 315.1 -10.5 152 3018 done -0.75 0.10 0.208 2654 310.0 1.75 0.042 2786 -590.3 -107.1 - - 3469 - - - - - - - - 14.29 14.63 14.44
3348 346.7 -9.5 165 3353 roll -0.75 - - 2653 - 2.42 0.044 1370 -585.1 -107.1 - - 3467 - - - - - - - - 14.95 14.54 14.96
3409 352.8 -9.7 174 3416 done -0.75 - - 2644 - 2.53 0.067 2775 555.3 -107.1 - - 3466 - - - - - - - - 14.53 14.44 14.57
3739 384.5 -9.6 186 3740 done -0.75 - - 2644 - - - 2775 - -107.1 - - 3464 - - - - - - - - 14.97 14.96 14.97
4075 414.3 -8.7 192 4076 done -0.75 - - 2644 - - - 2776 - -107.1 - - 3463 - - - - - - - - 14.97 14.97 14.97
4411 442.4 -8.4 198 4417 roll -0.75 - - 2644 - 2.45 0.043 1376 -571.4 -107.1 - - 3461 - - - - - - - - 14.96 14.50 14.96
4445 445.5 -9.0 203 4452 done -0.75 - - 2634 - 2.50 0.065 2764 555.2 -107.1 - - 3461 - - - - - - - - 14.52 14.42 14.55
4803 477.2 -8.8 212 4809 roll -0.75 - - 2626 - 2.00 0.109 3819 527.5 -107.1 - - 3458 - - - - - - - - 14.95 14.32 14.95
4851 481.8 -9.3 219 4859 done -0.75 0.10 0.230 2655 290.0 1.83 0.042 2757 -580.3 -107.1 - - 3459 - - - - - - - - 14.33 14.66 14.50
5196 507.6 -7.4 226 5201 roll -0.75 - - 2656 - 2.35 0.044 1381 -585.5 -107.1 - - 3457 - - - - - - - - 14.96 14.54 14.96
5300 515.2 -7.1 241 5307 done -0.75 - - 2646 - 2.50 0.066 2769 555.2 -107.1 - - 3456 - - - - - - - - 14.49 14.39 14.53
5643 542.3 -8.1 248 5650 roll -0.75 - - 2639 - 2.00 0.111 3822 526.5 -107.1 - - 3455 - - - - - - - - 14.96 14.33 14.96
5691 546.5 -8.7 255 5699 done -0.75 - - 2638 - 1.83 0.043 2758 -581.4 -107.1 - - 3455 - - - - - - - - 14.72 14.66 14.73
6036 575.2 -8.3 262 6041 roll -0.75 - - 2638 - 2.38 0.043 1374 -581.5 -107.1 - - 3454 - - - - - - - - 14.93 14.52 14.94
6098 580.4 -8.0 271 6104 done -0.75 - - 2628 - 2.50 0.065 2755 552.4 -107.1 - - 3452 - - - - - - - - 14.47 14.39 14.52
6427 606.9 -8.1 283 6433 roll -0.75 - - 2628 - 2.42 0.042 1383 -566.9 -107.1 - - 3452 - - - - - - - - 14.93 14.45 14.93
6475 610.9 -8.3 290 6483 done -0.75 0.10 0.220 2646 180.0 2.50 0.066 2771 555.2 -107.1 - - 3452 - - - - - - - - 14.16 14.38 14.33
6820 636.6 -7.5 297 6821 done -0.75 - - 2648 - - - 2771 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
7155 663.5 -8.1 303 7156 done -0.75 - - 2648 - - - 2771 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7491 691.9 -8.5 309 7492 done -0.75 - - 2648 - - - 2771 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7827 719.3 -8.1 315 7833 roll -0.75 - - 2648 - 2.47 0.044 1379 -563.6 -107.1 - - 3446 - - - - - - - - 14.95 14.41 14.95
7854 721.6 -8.3 319 7861 done -0.75 - - 2639 - 2.53 0.067 2756 544.3 -107.1 - - 3446 - - - - - - - - 14.42 14.31 14.47
8219 750.8 -8.0 329 8225 roll -0.75 - - 2639 - 2.40 0.044 1382 -572.5 -107.1 - - 3445 - - - - - - - - 14.92 14.46 14.92
8302 757.5 -7.9 341 8309 done -0.75 - - 2629 - 2.53 0.067 2762 545.5 -107.1 - - 3445 - - - - - - - - 14.42 14.32 14.47
8668 785.9 -7.7 351 8668 done -0.75 - - 2630 - - - 2763 - -107.1 - - 3447 - - - - - - - - 14.92 14.94 14.94
9004 810.3 -7.1 357 9009 roll -0.75 - - 2629 - 2.45 0.046 1376 -566.1 -107.1 - - 3442 - - - - - - - - 14.91 14.45 14.91
9045 813.8 -7.4 363 9051 done -0.75 0.10 0.217 2648 190.0 2.53 0.067 2753 544.3 -107.1 - - 3442 - - - - - - - - 14.06 14.28 14.23
9396 836.3 -6.6 371 9397 done -0.75 - - 2648 - - - 2753 - -107.1 - - 3441 - - - - - - - - 14.93 14.94 14.94
9732 858.3 -6.6 377 9737 roll -0.75 - - 2648 - 2.40 0.045 1379 -572.5 -107.1 - - 3441 - - - - - - - - 14.93 14.36 14.93
9759 860.2 -6.1 381 9765 done -0.83 - - 2639 - 2.53 0.070 2753 543.1 -107.1 - - 3440 - - - - - - - - 14.36 14.26 14.41
10124 882.9 -6.1 391 10124 done -0.83 - - 2639 - - - 2757 - -107.1 - - 3439 - - - - - - - - 14.90 14.90 14.90
10460 906.3 -7.1 397 10465 roll -0.83 - - 2639 - 2.40 0.046 1380 -573.8 -107.1 - - 3443 - - - - - - - - 14.90 14.41 14.90
10508 909.9 -7.3 404 10517 done -0.83 - - 2630 - 2.53 0.068 2754 543.1 -107.1 - - 3438 - - - - - - - - 14.35 14.24 14.38
10793 end dive: TARGET_DEPTH_EXCEEDED
10793 begin apogee
10799 932.3 -7.9 410 10913 roll -0.23 0.65 0.175 2821 293.8 - - 2234 - - 111.95 1.955 3051 -3.5 0.328 - - - - - - 14.10 13.98 13.05
10915 end apogee: CONTROL_FINISHED_OK
10915 begin climb
10918 936.3 - 412 11048 roll 0.93 1.12 0.092 3184 324.1 2.53 0.058 845 -549.0 107.1 117.90 1.942 2616 -3.7 0.354 - - - - - - 13.97 14.00 12.87
11068 932.1 8.3 435 11075 done 0.79 - - 3184 - 2.60 0.051 2257 543.1 107.1 - - 2611 - - - - - - - - 13.93 13.87 13.96
11412 905.9 7.9 442 11418 roll 0.66 0.25 0.217 3113 -284.0 2.60 0.099 3652 536.5 107.1 - - 2607 - - - - - - - - 14.16 14.28 14.42
11439 903.8 8.3 446 11445 done 0.57 0.12 0.210 3089 -200.0 2.47 0.041 2234 -574.1 107.1 - - 2608 - - - - - - - - 14.15 14.40 14.31
11803 884.4 5.3 456 11865 roll 0.63 - - 3088 - 2.80 0.099 3654 507.1 155.9 53.17 1.918 2424 -3.5 0.317 - - - - - - 14.81 14.13 13.28
11915 877.3 7.3 472 11929 done 0.65 - - 3099 - 2.45 0.041 2252 -572.2 165.4 5.07 2.015 2394 -5.9 0.512 - - - - - - 14.35 14.27 12.98
12251 855.0 6.8 485 12287 roll 0.67 - - 3099 - 2.67 0.099 3659 527.0 184.5 28.75 1.945 2308 -3.0 0.262 - - - - - - 14.71 14.14 13.35
12335 848.9 7.7 497 12342 done 0.67 - - 3108 - 2.47 0.041 2258 -567.2 185.6 - - 2305 - - - - - - - - 14.36 14.32 14.38
12699 822.7 7.2 507 12711 done 0.68 - - 3108 - - - 2257 - 195.7 10.23 2.111 2273 -3.1 0.242 - - - - - - 14.76 14.41 13.45
13036 795.9 8.2 513 13042 roll 0.68 - - 3108 - 2.65 0.103 3652 526.4 195.7 - - 2264 - - - - - - - - 14.77 14.33 14.76
13097 789.7 9.9 522 13104 done 0.68 - - 3118 - 2.45 0.041 2252 -571.4 195.7 - - 2265 - - - - - - - - 14.52 14.48 14.54
13428 759.4 9.2 534 13428 done 0.68 - - 3118 - - - 2246 - 195.7 - - 2264 - - - - - - - - 14.82 14.82 14.83
13764 730.0 8.7 540 13769 roll 0.68 - - 3118 - 2.62 0.101 3652 536.6 195.7 - - 2263 - - - - - - - - 14.85 14.35 14.85
13832 723.5 9.2 550 13839 done 0.68 - - 3128 - 2.42 0.041 2260 -575.2 195.7 - - 2262 - - - - - - - - 14.54 14.50 14.59
14155 695.3 8.8 561 14162 roll 0.68 - - 3138 - 2.50 0.063 859 -560.4 195.7 - - 2262 - - - - - - - - 14.92 14.38 14.88
14224 689.2 8.6 571 14231 done 0.68 - - 3138 - 2.47 0.054 2261 567.6 195.7 - - 2262 - - - - - - - - 14.47 14.40 14.52
14547 660.7 8.9 582 14553 roll 0.68 - - 3138 - 2.58 0.102 3650 538.4 195.7 - - 2263 - - - - - - - - 14.87 14.33 14.87
14630 652.5 9.9 594 14637 done 0.68 - - 3149 - 2.42 0.041 2259 -574.8 195.7 - - 2263 - - - - - - - - 14.54 14.50 14.57
14995 619.6 9.0 604 14996 done 0.68 - - 3149 - - - 2255 - 195.7 - - 2262 - - - - - - - - 14.87 14.88 14.88
15332 588.1 9.4 610 15337 roll 0.68 - - 3149 - 2.65 0.099 3660 530.2 195.7 - - 2262 - - - - - - - - 14.90 14.31 14.90
15358 585.3 10.0 614 15365 done 0.68 0.10 0.216 3129 -200.0 2.42 0.041 2268 -575.2 195.7 - - 2262 - - - - - - - - 14.15 14.49 14.33
15724 557.4 7.4 624 15729 done 0.69 - - 3128 - - - 2263 - 203.2 3.70 1.531 2239 -6.2 0.450 - - - - - - 14.90 14.47 13.09
16060 533.8 7.0 630 16086 done 0.71 - - 3130 - - - 2263 - 218.4 24.67 1.687 2179 -2.4 0.153 - - - - - - 14.86 14.45 13.59
16396 506.9 8.3 636 16401 roll 0.71 - - 3129 - 2.62 0.102 3654 530.9 218.4 - - 2167 - - - - - - - - 14.79 14.27 14.79
16452 501.5 9.9 644 16457 done 0.71 - - 3138 - 2.40 0.041 2258 -581.7 218.4 - - 2167 - - - - - - - - 14.55 14.47 14.57
16787 471.1 9.0 657 16794 roll 0.71 - - 3149 - 2.47 0.063 868 -562.8 218.4 - - 2165 - - - - - - - - 14.84 14.32 14.87
16835 466.6 9.2 664 16843 done 0.71 - - 3149 - 2.45 0.054 2259 567.8 218.4 - - 2166 - - - - - - - - 14.44 14.36 14.47
17180 436.2 8.8 671 17185 roll 0.71 - - 3149 - 2.58 0.101 3651 539.5 218.4 - - 2164 - - - - - - - - 14.85 14.30 14.86
17220 432.0 10.1 677 17229 done 0.71 0.08 0.217 3137 -150.0 2.40 0.040 2266 -577.1 218.4 - - 2166 - - - - - - - - 14.17 14.45 14.33
17571 401.7 8.8 685 17578 roll 0.71 - - 3137 - 2.62 0.100 3658 531.3 218.4 - - 2166 - - - - - - - - 14.88 14.27 14.88
17605 398.2 10.4 690 17612 done 0.71 - - 3147 - 2.42 0.039 2267 -574.8 218.4 - - 2166 - - - - - - - - 14.51 14.45 14.53
17964 363.0 9.9 699 17969 roll 0.71 - - 3157 - 2.47 0.063 859 -570.0 218.4 - - 2166 - - - - - - - - 14.86 14.36 14.86
17983 360.9 9.8 702 17990 done 0.71 - - 3157 - 2.50 0.055 2269 564.0 218.4 - - 2166 - - - - - - - - 14.43 14.34 14.46
18299 330.8 9.5 712 18305 roll 0.71 - - 3157 - 2.58 0.101 3662 539.9 218.4 - - 2165 - - - - - - - - 14.89 14.27 14.89
18340 326.7 10.1 718 18347 done 0.71 0.12 0.207 3132 -208.3 2.42 0.039 2265 -577.3 218.4 - - 2166 - - - - - - - - 14.12 14.46 14.28
18692 300.0 7.5 726 18693 done 0.72 - - 3131 - - - 2259 - 223.8 - - 2166 - - - - - - - - 14.87 14.87 14.86
19028 276.0 7.1 732 19054 roll 0.73 - - 3131 - 2.67 0.099 3662 525.5 236.5 18.17 1.452 2100 -3.6 0.137 - - - - - - 14.88 14.46 13.70
19089 271.0 8.5 741 19097 done 0.73 - - 3140 - 2.42 0.039 2268 -576.0 236.5 - - 2099 - - - - - - - - 14.53 14.49 14.55
19419 245.5 7.8 753 19426 roll 0.73 - - 3151 - 2.47 0.061 848 -574.9 236.5 - - 2097 - - - - - - - - 14.81 14.35 14.81
19453 242.7 8.3 758 19460 done 0.73 - - 3151 - 2.53 0.053 2278 565.2 236.5 - - 2097 - - - - - - - - 14.42 14.35 14.47
19812 210.9 9.1 767 19817 roll 0.73 - - 3151 - 2.55 0.101 3654 539.6 236.5 - - 2097 - - - - - - - - 14.84 14.29 14.84
19859 206.0 10.3 774 19867 done 0.73 - - 3161 - 2.40 0.038 2269 -577.1 236.5 - - 2097 - - - - - - - - 14.51 14.47 14.53
20204 174.9 9.0 781 20210 roll 0.73 - - 3172 - 2.45 0.061 858 -575.9 236.5 - - 2097 - - - - - - - - 14.85 14.36 14.85
20244 171.1 9.2 787 20251 done 0.73 0.10 0.195 3142 -300.0 2.50 0.053 2281 569.2 236.5 - - 2096 - - - - - - - - 14.16 14.36 14.32
20596 143.9 7.6 795 20601 roll 0.74 - - 3140 - 2.55 0.099 3652 537.6 239.4 - - 2097 - - - - - - - - 14.88 14.30 14.89
20651 139.3 8.4 803 20657 done 0.74 - - 3151 - 2.40 0.038 2269 -576.2 239.4 - - 2097 - - - - - - - - 14.50 14.46 14.52
20987 111.5 8.7 816 20993 roll 0.74 - - 3161 - 2.47 0.061 861 -570.0 239.4 - - 2097 - - - - - - - - 14.88 14.35 14.88
21036 106.8 9.9 823 21043 done 0.74 - - 3161 - 2.47 0.052 2269 570.0 239.4 - - 2097 - - - - - - - - 14.44 14.35 14.51
21352 80.5 7.4 833 21363 roll 0.75 - - 3161 - 2.62 0.099 3653 528.2 247.2 4.15 0.359 2069 -6.7 0.301 - - - - - - 14.86 14.34 13.83
21435 73.7 8.1 845 21442 done 0.75 - - 3171 - 2.38 0.038 2282 -576.1 247.2 1.15 0.213 2067 - - - - - - - - 14.44 14.40 14.12
21774 56.5 3.1 860 21828 roll 0.96 0.05 0.197 3239 1360.0 2.58 0.099 3652 531.0 339.9 46.88 0.336 1695 -7.9 0.265 - - - - - - 14.55 14.40 14.11
21834 53.3 6.6 869 21850 done 0.98 0.10 0.204 3219 -200.0 2.35 0.038 2287 -580.9 363.2 11.77 0.324 1603 -7.8 0.256 - - - - - - 14.25 14.52 14.05
22159 34.7 5.5 882 22186 done 1.17 0.08 0.144 3315 1200.0 - - 2286 - 408.4 22.77 0.265 1423 -7.9 0.206 - - - - - - 14.51 14.41 14.08
22493 9.5 6.7 897 22504 done 1.19 0.10 0.216 3285 -300.0 - - 2286 - 428.7 10.38 0.189 1341 -7.9 0.079 - - - - - - 14.27 14.36 14.10
22602 end climb: SURFACE_DEPTH_REACHED
22602 begin surface coast
22630 end surface coast: CONTROL_FINISHED_OK
22630 begin surface
SM 0.50 - - - - -8.43 8.90 0.049 164 18.4 0.88 0.070 2779 -10848.9 500.14 33.30 0.156 1056 31.7 -0.010 - - - - - -