SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 420 * Raw log
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• Previous call tries 1 • 149.58 of 350.00 AH used of 24V (57.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.4 deg, depth 1.52 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 100 done -0.93 - - 113 - - - 2785 - -107.1 -78.32 - 3479 - - - - - - - - 14.66 12.55 14.65
104 10.7 -16.1 3 121 roll -0.93 11.90 0.390 2579 207.2 1.90 0.075 3839 554.7 -107.1 - - 3480 - - - - - - - - 14.00 14.34 14.26
325 61.7 -13.0 35 330 done -0.70 0.28 0.220 2668 317.9 1.80 0.037 2768 -595.0 -107.1 - - 3481 - - - - - - - - 14.14 14.50 14.38
661 91.9 -9.2 50 666 roll -0.70 - - 2659 - 2.00 0.106 3838 535.0 -107.1 - - 3483 - - - - - - - - 14.84 14.31 14.84
814 106.7 -9.3 72 820 done -0.70 - - 2660 - 1.80 0.037 2754 -602.2 -107.1 - - 3483 - - - - - - - - 14.57 14.54 14.59
1165 134.7 -7.8 80 1165 done -0.70 - - 2662 - - - 2754 - -107.1 - - 3482 - - - - - - - - 14.91 14.91 14.91
1501 162.6 -8.5 86 1506 roll -0.70 - - 2660 - 2.33 0.043 1388 -586.3 -107.1 - - 3484 - - - - - - - - 14.93 14.54 14.92
1549 167.1 -9.2 93 1557 done -0.70 - - 2650 - 2.47 0.066 2764 557.1 -107.1 - - 3481 - - - - - - - - 14.49 14.40 14.53
1893 200.8 -9.9 100 1898 roll -0.70 - - 2650 - 2.35 0.041 1397 -581.7 -107.1 - - 3479 - - - - - - - - 14.93 14.47 14.93
1927 204.1 -9.6 105 1934 done -0.70 0.10 0.203 2671 210.0 2.45 0.066 2763 557.6 -107.1 - - 3478 - - - - - - - - 14.25 14.40 14.40
2285 231.4 -7.4 114 2290 roll -0.70 - - 2672 - 2.35 0.041 1393 -583.0 -107.1 - - 3476 - - - - - - - - 14.92 14.54 14.92
2333 235.1 -7.5 121 2341 done -0.77 - - 2662 - 2.50 0.066 2763 548.0 -107.1 - - 3476 - - - - - - - - 14.48 14.38 14.52
2677 262.4 -8.0 128 2682 roll -0.77 - - 2662 - 2.35 0.041 1393 -583.0 -107.1 - - 3473 - - - - - - - - 14.92 14.54 14.92
2718 265.9 -8.3 134 2724 done -0.77 - - 2653 - 2.47 0.067 2764 555.1 -107.1 - - 3473 - - - - - - - - 14.48 14.38 14.53
3069 296.5 -8.9 142 3070 done -0.77 - - 2653 - - - 2764 - -107.1 - - 3471 - - - - - - - - 14.92 14.92 14.90
3405 327.2 -9.1 148 3410 roll -0.77 - - 2653 - 2.35 0.041 1397 -581.7 -107.1 - - 3470 - - - - - - - - 14.95 14.53 14.95
3467 332.9 -9.0 157 3474 done -0.77 - - 2644 - 2.47 0.067 2762 552.6 -107.1 - - 3469 - - - - - - - - 14.47 14.37 14.52
3797 364.5 -9.7 169 3803 roll -0.77 - - 2636 - 2.03 0.111 3819 520.7 -107.1 - - 3467 - - - - - - - - 14.92 14.28 14.92
3853 370.2 -10.2 177 3859 done -0.77 - - 2635 - 1.77 0.041 2770 -592.7 -107.1 - - 3467 - - - - - - - - 14.60 14.57 14.62
4189 403.4 -9.9 190 4194 roll -0.77 - - 2635 - 2.38 0.042 1377 -585.3 -107.1 - - 3464 - - - - - - - - 14.92 14.52 14.92
4245 408.7 -9.3 198 4250 done -0.77 - - 2625 - 2.47 0.066 2770 564.0 -107.1 - - 3464 - - - - - - - - 14.57 14.39 14.60
4581 440.0 -9.2 211 4581 done -0.77 - - 2625 - - - 2770 - -107.1 - - 3464 - - - - - - - - 14.92 14.92 14.91
4917 468.5 -8.3 217 4923 roll -0.77 - - 2624 - 2.40 0.043 1379 -579.6 -107.1 - - 3461 - - - - - - - - 14.94 14.50 14.94
4986 474.6 -8.6 227 4992 done -0.77 0.10 0.219 2645 210.0 2.50 0.067 2757 551.2 -107.1 - - 3461 - - - - - - - - 14.16 14.34 14.33
5309 500.0 -8.0 238 5310 done -0.77 - - 2645 - - - 2758 - -107.1 - - 3461 - - - - - - - - 14.92 14.92 14.92
5645 528.9 -8.6 244 5646 done -0.77 - - 2645 - - - 2758 - -107.1 - - 3459 - - - - - - - - 14.94 14.94 14.94
5981 556.8 -8.1 250 5981 done -0.77 - - 2645 - - - 2757 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.91
6317 583.0 -7.7 256 6322 roll -0.77 - - 2645 - 2.38 0.044 1385 -576.5 -107.1 - - 3455 - - - - - - - - 14.92 14.47 14.92
6365 586.7 -7.5 263 6372 done -0.77 - - 2636 - 2.53 0.069 2758 542.7 -107.1 - - 3457 - - - - - - - - 14.40 14.31 14.46
6709 611.8 -7.2 270 6710 done -0.77 - - 2636 - - - 2757 - -107.1 - - 3454 - - - - - - - - 14.93 14.93 14.93
7045 635.3 -7.0 276 7046 done -0.77 - - 2636 - - - 2757 - -107.1 - - 3454 - - - - - - - - 14.93 14.93 14.93
7381 659.1 -7.1 282 7386 roll -0.77 - - 2636 - 2.40 0.044 1385 -571.7 -107.1 - - 3452 - - - - - - - - 14.94 14.45 14.94
7450 664.3 -7.4 292 7456 done -0.77 - - 2626 - 2.53 0.068 2762 544.3 -107.1 - - 3452 - - - - - - - - 14.38 14.30 14.42
7773 690.7 -8.4 303 7778 roll -0.77 - - 2618 - 2.05 0.113 3822 517.1 -107.1 - - 3450 - - - - - - - - 14.90 14.16 14.90
7807 693.9 -9.4 308 7813 done -0.77 0.10 0.202 2648 300.0 1.83 0.044 2769 -575.4 -107.1 - - 3450 - - - - - - - - 14.16 14.54 14.31
8165 723.2 -8.3 317 8171 roll -0.77 - - 2648 - 2.42 0.044 1367 -579.3 -107.1 - - 3449 - - - - - - - - 14.89 14.43 14.90
8241 729.9 -8.6 328 8247 done -0.85 - - 2639 - 2.55 0.068 2749 542.0 -107.1 - - 3449 - - - - - - - - 14.35 14.25 14.40
8557 757.7 -8.9 338 8558 done -0.85 - - 2639 - - - 2749 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
8893 786.6 -8.5 344 8898 roll -0.85 - - 2638 - 2.42 0.045 1369 -570.2 -107.1 - - 3447 - - - - - - - - 14.90 14.41 14.90
8949 791.2 -8.3 352 8954 done -0.85 - - 2630 - 2.55 0.069 2756 543.9 -107.1 - - 3449 - - - - - - - - 14.50 14.22 14.53
9285 818.4 -8.0 365 9285 done -0.85 - - 2629 - - - 2755 - -107.1 - - 3447 - - - - - - - - 14.89 14.88 14.90
9621 845.6 -7.9 371 9622 done -0.85 - - 2630 - - - 2756 - -107.1 - - 3446 - - - - - - - - 14.90 14.89 14.90
9957 872.6 -8.1 377 9963 roll -0.85 - - 2629 - 2.42 0.046 1362 -576.0 -107.1 - - 3444 - - - - - - - - 14.89 14.38 14.90
10013 877.2 -8.2 385 10019 done -0.85 - - 2620 - 2.55 0.070 2761 548.6 -107.1 - - 3443 - - - - - - - - 14.38 14.19 14.41
10349 906.5 -8.9 398 10350 done -0.85 - - 2619 - - - 2761 - -107.1 - - 3444 - - - - - - - - 14.91 14.91 14.91
10626 end dive: TARGET_DEPTH_EXCEEDED
10626 begin apogee
10633 931.2 -8.8 403 10748 roll -0.23 0.70 0.171 2825 294.3 0.08 0.172 2256 -6312.5 - 112.10 1.937 3051 -3.5 0.337 - - - - - - 14.08 13.91 12.97
10750 end apogee: CONTROL_FINISHED_OK
10750 begin climb
10753 935.8 - 405 10876 done 0.93 1.12 0.085 3199 333.9 - - 2255 - 107.1 116.88 1.919 2624 -3.7 0.357 - - - - - - 14.00 14.23 12.88
11183 910.1 7.9 433 11185 done 0.79 0.15 0.233 3158 -273.3 - - 2255 - 107.1 - - 2610 - - - - - - - - 14.14 14.43 14.39
11520 885.1 7.2 439 11532 roll 0.72 - - 3157 - 2.65 0.103 3650 526.4 118.6 5.12 2.010 2586 -4.7 0.413 - - - - - - 14.80 14.39 13.12
11554 882.2 11.1 444 11560 done 0.61 0.22 0.210 3104 -240.9 2.42 0.041 2256 -576.0 118.6 1.58 0.267 2581 -3.2 2.093 - - - - - - 14.18 14.47 13.87
11912 859.2 6.6 453 11946 done 0.64 - - 3104 - - - 2256 - 141.2 33.17 1.917 2489 -2.8 0.249 - - - - - - 14.80 14.28 13.32
12248 834.3 7.7 459 12253 roll 0.64 - - 3104 - 2.65 0.103 3655 527.9 141.3 - - 2478 - - - - - - - - 14.72 14.26 14.72
12337 827.0 8.0 472 12343 done 0.64 - - 3113 - 2.45 0.041 2255 -571.4 141.3 - - 2478 - - - - - - - - 14.47 14.43 14.50
12696 802.5 6.9 481 12722 roll 0.66 - - 3113 - 2.65 0.103 3654 527.9 158.9 21.27 1.942 2409 -3.2 0.268 - - - - - - 14.81 14.22 13.41
12764 797.1 8.0 491 12770 done 0.66 - - 3124 - 2.47 0.041 2246 -570.0 158.9 - - 2404 - - - - - - - - 14.42 14.39 14.45
13087 772.7 7.6 502 13088 done 0.66 - - 3123 - - - 2243 - 161.8 - - 2402 - - - - - - - - 14.76 14.76 14.76
13423 748.3 7.2 508 13444 roll 0.68 - - 3124 - 2.65 0.103 3654 532.5 173.7 15.57 1.964 2351 -3.3 0.250 - - - - - - 14.81 14.26 13.46
13499 742.4 8.2 519 13505 done 0.68 - - 3133 - 2.45 0.041 2259 -569.4 173.7 - - 2346 - - - - - - - - 14.45 14.41 14.47
13815 718.6 7.6 529 13816 done 0.68 - - 3133 - - - 2254 - 176.6 - - 2345 - - - - - - - - 14.80 14.80 14.80
14152 692.9 7.6 535 14157 roll 0.68 - - 3133 - 2.65 0.103 3652 527.5 179.1 - - 2344 - - - - - - - - 14.81 14.28 14.82
14213 687.5 8.7 544 14220 done 0.68 - - 3145 - 2.45 0.041 2255 -570.2 179.1 0.85 0.234 2334 -11.8 6.919 - - - - - - 14.50 14.45 14.16
14543 661.2 8.0 556 14544 done 0.68 - - 3143 - - - 2252 - 179.1 - - 2338 - - - - - - - - 14.83 14.84 14.81
14879 632.8 8.5 562 14886 roll 0.68 - - 3145 - 2.67 0.101 3655 525.5 179.1 - - 2341 - - - - - - - - 14.85 14.26 14.85
14935 627.5 9.5 570 14942 done 0.68 0.10 0.210 3118 -270.0 2.45 0.041 2255 -571.4 179.1 - - 2341 - - - - - - - - 14.14 14.44 14.40
15271 602.5 7.4 583 15284 roll 0.69 - - 3117 - 2.62 0.103 3656 534.7 185.8 8.73 1.948 2313 -3.2 0.199 - - - - - - 14.84 14.26 13.39
15333 597.2 8.7 592 15339 done 0.69 - - 3127 - 2.42 0.041 2265 -574.8 185.8 - - 2311 - - - - - - - - 14.54 14.50 14.56
15663 570.3 8.2 604 15664 done 0.69 - - 3127 - - - 2262 - 185.8 - - 2310 - - - - - - - - 14.82 14.82 14.82
16000 544.9 7.4 610 16011 roll 0.70 - - 3126 - 2.67 0.103 3656 522.1 191.8 3.83 1.532 2290 -5.2 0.372 - - - - - - 14.83 14.44 13.01
16082 538.4 7.6 622 16095 done 0.70 - - 3136 - 2.42 0.041 2270 -572.7 195.3 5.07 1.844 2275 -3.0 0.173 - - - - - - 14.52 14.47 13.24
16447 511.5 7.5 632 16456 done 0.71 - - 3137 - - - 2270 - 199.4 7.45 1.860 2259 -2.1 0.118 - - - - - - 14.81 14.45 13.42
16784 483.2 8.5 638 16789 roll 0.71 - - 3136 - 2.62 0.103 3653 527.9 199.4 - - 2259 - - - - - - - - 14.83 14.27 14.82
16832 478.7 9.4 645 16839 done 0.71 - - 3147 - 2.42 0.041 2265 -573.6 199.4 - - 2259 - - - - - - - - 14.49 14.44 14.51
17175 451.6 7.8 652 17180 roll 0.71 - - 3158 - 2.50 0.063 857 -563.2 199.4 - - 2259 - - - - - - - - 14.83 14.28 14.83
17209 448.8 8.1 657 17216 done 0.71 0.08 0.198 3133 -312.5 2.50 0.054 2267 564.0 199.4 - - 2259 - - - - - - - - 14.15 14.33 14.30
17567 420.5 8.2 666 17574 roll 0.71 - - 3133 - 2.60 0.103 3655 533.8 199.4 - - 2259 - - - - - - - - 14.86 14.25 14.86
17616 415.8 9.8 673 17623 done 0.71 - - 3144 - 2.42 0.040 2260 -576.4 199.4 - - 2259 - - - - - - - - 14.42 14.37 14.44
17959 385.8 8.6 680 17964 roll 0.71 - - 3155 - 2.47 0.063 867 -564.0 199.4 - - 2259 - - - - - - - - 14.86 14.33 14.85
17986 383.5 8.1 684 17993 done 0.71 0.08 0.193 3131 -300.0 2.53 0.055 2280 558.5 199.4 - - 2259 - - - - - - - - 14.15 14.31 14.26
18352 359.7 6.2 694 18393 roll 0.75 - - 3131 - 2.62 0.102 3654 524.4 230.2 36.88 1.446 2128 -3.6 0.177 - - - - - - 14.85 14.34 13.54
18441 353.2 8.0 707 18447 done 0.75 - - 3138 - 2.42 0.039 2268 -572.7 230.2 - - 2122 - - - - - - - - 14.40 14.35 14.42
18793 325.5 8.1 715 18797 roll 0.75 - - 3151 - 2.47 0.062 858 -570.9 230.2 - - 2120 - - - - - - - - 14.76 14.31 14.76
18840 321.4 8.5 722 18849 done 0.75 - - 3151 - 2.50 0.054 2269 564.4 230.2 - - 2120 - - - - - - - - 14.37 14.29 14.41
19185 289.2 9.7 729 19190 roll 0.75 - - 3153 - 2.60 0.103 3660 535.0 230.2 - - 2119 - - - - - - - - 14.81 14.23 14.81
19232 284.0 10.7 736 19240 done 0.75 - - 3161 - 2.42 0.038 2265 -576.4 230.2 - - 2119 - - - - - - - - 14.47 14.43 14.50
19577 251.6 9.3 743 19581 roll 0.75 - - 3171 - 2.47 0.061 852 -572.1 230.2 - - 2119 - - - - - - - - 14.83 14.33 14.83
19610 248.4 9.2 748 19617 done 0.75 0.10 0.185 3141 -300.0 2.53 0.054 2280 564.4 230.2 - - 2119 - - - - - - - - 14.14 14.32 14.29
19968 219.6 8.1 757 19973 roll 0.75 - - 3140 - 2.58 0.102 3663 536.0 230.2 - - 2119 - - - - - - - - 14.85 14.25 14.85
20003 216.4 9.6 762 20010 done 0.75 - - 3150 - 2.42 0.038 2258 -580.6 230.2 - - 2119 - - - - - - - - 14.47 14.44 14.51
20360 185.2 8.7 771 20361 done 0.75 - - 3151 - - - 2256 - 230.2 - - 2119 - - - - - - - - 14.85 14.85 14.83
20696 152.6 9.7 777 20697 done 0.75 - - 3151 - - - 2256 - 230.2 - - 2119 - - - - - - - - 14.88 14.88 14.88
21033 128.9 6.5 783 21061 roll 0.77 - - 3151 - 2.62 0.102 3662 536.6 254.1 22.83 1.222 2032 -3.8 0.080 - - - - - - 14.89 14.31 13.71
21136 119.1 10.4 798 21145 done 0.77 - - 3160 - 2.40 0.038 2276 -577.5 254.1 - - 2027 - - - - - - - - 14.50 14.45 14.51
21452 87.8 9.3 806 21458 roll 0.77 - - 3171 - 2.47 0.060 865 -571.3 254.1 - - 2026 - - - - - - - - 14.81 14.35 14.81
21508 83.2 8.1 814 21515 done 0.77 - - 3171 - 2.45 0.050 2282 578.4 254.1 - - 2025 - - - - - - - - 14.52 14.38 14.54
21845 61.3 6.0 829 21865 roll 0.82 - - 3171 - 2.62 0.101 3656 524.4 288.1 15.85 0.337 1904 -7.6 0.278 - - - - - - 14.82 14.36 14.00
21928 55.4 7.0 841 21942 done 0.83 - - 3178 - 2.35 0.037 2268 -590.6 302.9 8.75 0.314 1845 -6.7 0.238 - - - - - - 14.57 14.49 13.97
22267 37.0 5.0 856 22300 roll 1.05 0.08 0.146 3261 1037.5 2.50 0.060 862 -562.4 357.7 28.60 0.267 1625 -7.7 0.213 - - - - - - 14.51 14.40 14.08
22342 32.6 6.1 867 22363 done 1.09 - - 3260 - 2.45 0.050 2278 578.0 390.6 17.20 0.256 1494 -7.6 0.194 - - - - - - 14.51 14.38 14.06
22673 16.3 5.0 881 22706 roll 1.27 0.08 0.145 3341 1012.5 2.55 0.062 862 -555.3 445.3 27.50 0.198 1276 -7.9 0.131 - - - - - - 14.50 14.35 14.11
22810 4.2 10.0 901 22816 done 1.27 0.10 0.181 3310 -310.0 2.47 0.052 2272 570.9 445.3 - - 1279 - - - - - - - - 14.10 14.31 14.23
22857 end climb: SURFACE_DEPTH_REACHED
22857 begin surface coast
22885 end surface coast: CONTROL_FINISHED_OK
22885 begin surface
SM 1.68 - - - - -8.39 8.75 0.033 184 21.0 0.93 0.112 2755 -2549.5 500.14 25.77 0.155 1058 41.0 -0.045 - - - - - -