SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 1 • 52.33 of 350.00 AH used of 24V (85.05% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth -0.95 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 97 done -0.90 - - 180 - - - 2780 - -116.8 -75.68 - 3516 - - - - - - - - 14.68 13.34 14.69
99 0.8 -5.4 2 120 roll -0.90 11.35 0.393 2602 213.4 2.33 0.033 1365 -607.3 -116.8 - - 3518 - - - - - - - - 14.25 14.50 14.52
147 33.5 -43.0 10 154 done -0.32 0.73 0.262 2792 260.3 2.50 0.076 2757 556.8 -116.8 - - 3518 - - - - - - - - 14.30 14.40 14.52
483 77.9 -7.9 25 490 roll -0.32 - - 2792 - 2.35 0.041 1376 -587.7 -116.8 - - 3520 - - - - - - - - 14.82 14.60 14.82
680 87.6 -4.6 53 687 done -0.49 0.08 0.145 2723 -862.5 2.40 0.064 2781 585.4 -116.8 - - 3520 - - - - - - - - 14.63 14.59 14.70
1015 98.5 -4.4 67 1018 done -0.49 - - 2722 - - - 2781 - -116.8 - - 3521 - - - - - - - - 14.88 14.88 14.88
1351 130.0 -6.9 74 1358 roll -0.49 - - 2715 - 1.92 0.106 3827 544.8 -116.8 - - 3520 - - - - - - - - 14.88 14.58 14.90
1469 138.1 -6.5 91 1477 done -0.49 - - 2715 - 1.77 0.042 2761 -602.3 -116.8 - - 3519 - - - - - - - - 14.78 14.74 14.80
1799 159.3 -6.4 103 1806 roll -0.49 - - 2715 - 2.30 0.044 1386 -597.8 -116.8 - - 3517 - - - - - - - - 14.91 14.66 14.92
1911 167.6 -7.0 119 1918 done -0.49 0.10 0.204 2737 220.0 2.42 0.067 2765 569.8 -116.8 - - 3516 - - - - - - - - 14.54 14.62 14.66
2247 188.5 -6.2 132 2254 roll -0.59 - - 2729 - 1.95 0.110 3819 540.5 -116.8 - - 3514 - - - - - - - - 14.92 14.58 14.92
2281 191.1 -7.2 137 2290 done -0.70 0.10 0.118 2651 -780.0 1.77 0.044 2762 -597.2 -116.8 - - 3516 - - - - - - - - 14.71 14.74 14.77
2639 226.5 -10.0 146 2646 roll -0.70 - - 2644 - 2.00 0.108 3823 530.5 -116.8 - - 3510 - - - - - - - - 14.92 14.58 14.92
2736 236.4 -9.8 160 2744 done -0.70 0.10 0.233 2673 290.0 1.77 0.044 2766 -597.2 -116.8 - - 3509 - - - - - - - - 14.54 14.76 14.73
3087 264.6 -7.9 168 3100 roll -0.70 - - 2673 - 2.30 0.047 1375 -604.8 -116.8 - - 3509 - - - - - - - - 14.95 14.71 14.96
3167 271.3 -8.2 179 3180 done -0.70 - - 2664 - 2.42 0.069 2772 577.3 -116.8 - - 3506 - - - - - - - - 14.81 14.68 14.82
3486 298.4 -8.5 189 3499 done -0.70 - - 2664 - - - 2772 - -116.8 - - 3503 - - - - - - - - 14.97 14.97 14.97
3822 326.9 -8.5 195 3836 roll -0.70 - - 2664 - 2.35 0.047 1369 -597.0 -116.8 - - 3502 - - - - - - - - 15.00 14.74 15.00
3861 330.2 -8.3 200 3874 done -0.70 - - 2654 - 2.45 0.070 2781 576.3 -116.8 - - 3503 - - - - - - - - 14.83 14.71 14.85
4222 362.5 -9.0 209 4235 done -0.70 - - 2653 - - - 2781 - -116.8 - - 3500 - - - - - - - - 14.99 14.99 14.97
4558 393.7 -9.3 215 4571 roll -0.70 - - 2645 - 1.90 0.112 3824 548.9 -116.8 - - 3497 - - - - - - - - 14.99 14.66 15.03
4610 399.1 -9.5 222 4624 done -0.70 - - 2645 - 1.75 0.047 2773 -600.6 -116.8 - - 3497 - - - - - - - - 14.81 14.79 14.83
4954 431.1 -9.3 229 4967 done -0.70 0.10 0.249 2675 300.0 - - 2773 - -116.8 - - 3495 - - - - - - - - 14.59 14.83 14.79
5290 458.2 -8.0 235 5304 roll -0.70 - - 2676 - 2.33 0.047 1369 -602.6 -116.8 - - 3493 - - - - - - - - 15.00 14.74 15.00
5322 461.1 -9.1 239 5335 done -0.70 - - 2666 - 2.45 0.070 2772 572.7 -116.8 - - 3493 - - - - - - - - 14.83 14.69 14.85
5690 492.5 -8.5 249 5703 done -0.70 - - 2666 - - - 2771 - -116.8 - - 3490 - - - - - - - - 15.00 15.00 15.00
6026 519.9 -8.0 255 6039 roll -0.70 - - 2665 - 2.35 0.047 1371 -595.7 -116.8 - - 3490 - - - - - - - - 14.99 14.75 15.00
6092 525.8 -8.3 264 6105 done -0.70 - - 2656 - 2.45 0.071 2771 571.4 -116.8 - - 3489 - - - - - - - - 14.83 14.69 14.85
6426 554.1 -8.6 276 6439 roll -0.70 - - 2656 - 2.35 0.047 1373 -594.9 -116.8 - - 3488 - - - - - - - - 15.00 14.73 15.00
6478 558.9 -8.4 283 6492 done -0.70 - - 2648 - 2.42 0.070 2760 573.1 -116.8 - - 3491 - - - - - - - - 14.82 14.66 14.84
6822 588.0 -8.5 290 6835 done -0.70 - - 2648 - - - 2760 - -116.8 - - 3486 - - - - - - - - 14.99 14.99 14.99
7158 617.8 -9.0 296 7171 done -0.70 - - 2648 - - - 2759 - -116.8 - - 3484 - - - - - - - - 14.99 14.99 14.99
7494 647.6 -8.8 302 7507 done -0.70 - - 2648 - - - 2760 - -116.8 - - 3484 - - - - - - - - 14.99 15.00 15.00
7830 675.5 -8.2 308 7843 done -0.70 - - 2648 - - - 2760 - -116.8 - - 3483 - - - - - - - - 14.98 14.98 14.98
8166 703.2 -8.2 314 8179 done -0.70 - - 2648 - - - 2760 - -116.8 - - 3482 - - - - - - - - 14.97 14.97 14.97
8502 730.6 -8.1 320 8515 roll -0.70 - - 2648 - 2.35 0.050 1372 -590.6 -116.8 - - 3479 - - - - - - - - 14.97 14.71 14.97
8589 737.6 -7.1 332 8603 done -0.70 0.12 0.241 2675 225.0 2.42 0.073 2760 573.6 -116.8 - - 3479 - - - - - - - - 14.50 14.64 14.73
8958 762.5 -6.7 342 8971 roll -0.70 - - 2676 - 2.35 0.050 1370 -591.5 -116.8 - - 3478 - - - - - - - - 14.96 14.69 14.97
9003 765.7 -6.7 348 9017 done -0.70 - - 2666 - 2.47 0.075 2769 566.4 -116.8 - - 3478 - - - - - - - - 14.75 14.59 14.77
9358 790.5 -7.0 356 9371 done -0.70 - - 2665 - - - 2769 - -116.8 - - 3477 - - - - - - - - 14.96 14.96 14.97
9694 813.5 -6.8 362 9707 roll -0.70 - - 2666 - 2.38 0.050 1374 -586.1 -116.8 - - 3475 - - - - - - - - 14.96 14.65 14.96
9755 817.6 -5.7 370 9768 done -0.70 - - 2658 - 2.47 0.075 2768 564.4 -116.8 - - 3475 - - - - - - - - 14.78 14.62 14.80
10095 841.3 -6.9 383 10108 done -0.70 - - 2658 - - - 2768 - -116.8 - - 3474 - - - - - - - - 14.95 14.95 14.95
10431 865.5 -7.2 389 10445 roll -0.70 - - 2657 - 2.38 0.052 1372 -586.6 -116.8 - - 3473 - - - - - - - - 14.95 14.67 14.95
10463 868.3 -8.0 393 10477 done -0.70 - - 2650 - 2.45 0.076 2758 565.7 -116.8 - - 3473 - - - - - - - - 14.76 14.61 14.78
10832 897.2 -8.0 403 10845 done -0.70 - - 2650 - - - 2758 - -116.8 - - 3472 - - - - - - - - 14.95 14.95 14.95
11168 923.4 -7.8 409 11181 done -0.70 - - 2650 - - - 2758 - -116.8 - - 3470 - - - - - - - - 14.95 14.95 14.94
11278 end dive: TARGET_DEPTH_EXCEEDED
11278 begin apogee
11283 932.3 -7.9 411 11400 roll -0.23 0.60 0.186 2827 295.0 - - 2244 - - 102.53 2.678 3052 -4.1 0.275 - - - - 1 - 14.47 13.95 12.96
11402 end apogee: CONTROL_FINISHED_OK
11402 begin climb
11403 936.9 - 413 11552 roll 0.90 1.08 0.109 3170 317.6 2.50 0.061 853 -556.4 116.8 129.10 1.955 2578 -3.7 0.341 - - - - - - 14.00 14.02 13.24
11570 931.1 9.9 438 11584 done 0.72 0.12 0.256 3138 -266.7 2.53 0.057 2257 554.9 116.8 - - 2573 - - - - - - - - 13.90 14.00 14.07
11905 905.1 7.9 450 11919 roll 0.62 0.10 0.265 3106 -320.0 2.60 0.104 3659 539.2 116.8 - - 2569 - - - - - - - - 14.26 14.34 14.40
12008 896.5 8.2 464 12022 done 0.52 0.17 0.239 3068 -223.5 2.42 0.045 2236 -588.0 116.8 - - 2569 - - - - - - - - 14.31 14.50 14.52
12363 874.7 6.3 472 12408 done 0.56 - - 3068 - - - 2232 - 148.9 33.80 1.958 2453 -3.4 0.297 - - - - - - 14.79 14.28 13.69
12756 848.3 6.7 486 12796 roll 0.59 - - 3068 - 2.70 0.108 3653 526.3 171.5 24.83 2.002 2360 -3.7 0.308 - - - - - - 14.75 14.30 13.71
12857 840.6 7.9 500 12870 done 0.59 - - 3077 - 2.40 0.046 2253 -583.3 171.5 - - 2356 - - - - - - - - 14.50 14.44 14.51
13211 815.8 6.9 508 13243 roll 0.61 - - 3078 - 2.67 0.111 3659 526.6 189.2 18.48 2.036 2289 -3.6 0.282 - - - - - - 14.76 14.37 13.76
13261 812.5 6.8 515 13296 done 0.63 - - 3087 - 2.42 0.046 2249 -582.6 208.7 21.73 1.988 2216 -3.4 0.266 - - - - - - 14.52 14.45 13.66
13610 786.4 7.5 529 13623 done 0.64 - - 3087 - - - 2250 - 213.4 - - 2203 - - - - - - - - 14.71 14.71 14.71
13945 761.9 7.2 535 13978 roll 0.66 - - 3086 - 2.67 0.109 3646 522.8 225.6 16.70 2.007 2146 -3.4 0.251 - - - - - - 14.81 14.42 13.83
14024 755.6 8.6 546 14037 done 0.66 - - 3095 - 2.38 0.046 2257 -583.6 225.6 - - 2140 - - - - - - - - 14.57 14.50 14.59
14343 730.8 7.8 556 14356 roll 0.66 - - 3105 - 2.42 0.067 845 -583.5 225.6 - - 2139 - - - - - - - - 14.78 14.55 14.79
14381 727.7 8.1 561 14395 done 0.66 - - 3106 - 2.45 0.060 2264 579.2 225.6 - - 2139 - - - - - - - - 14.66 14.56 14.69
14743 696.7 8.8 570 14756 roll 0.66 - - 3113 - 2.55 0.109 3659 547.1 225.6 - - 2139 - - - - - - - - 14.83 14.55 14.85
14803 690.6 10.1 578 14817 done 0.66 - - 3112 - 2.38 0.045 2252 -591.2 225.6 - - 2139 - - - - - - - - 14.73 14.66 14.75
15144 658.6 9.5 591 15157 roll 0.66 - - 3115 - 2.60 0.107 3656 540.0 225.6 - - 2139 - - - - - - - - 14.88 14.57 14.90
15175 655.2 10.3 595 15188 done 0.66 - - 3126 - 2.35 0.045 2254 -596.6 225.6 - - 2139 - - - - - - - - 14.76 14.68 14.77
15543 617.3 10.3 605 15556 done 0.66 - - 3125 - - - 2253 - 225.6 - - 2138 - - - - - - - - 14.90 14.90 14.90
15880 582.5 10.2 611 15893 roll 0.66 - - 3126 - 2.60 0.106 3656 539.6 225.6 - - 2138 - - - - - - - - 14.90 14.59 14.91
15925 577.6 10.8 617 15938 done 0.66 - - 3134 - 2.33 0.045 2263 -597.9 225.6 - - 2135 - - - - - - - - 14.78 14.71 14.79
16280 543.0 9.5 625 16293 roll 0.66 - - 3146 - 2.40 0.067 854 -587.1 225.6 - - 2138 - - - - - - - - 14.91 14.65 14.92
16346 536.7 9.3 634 16359 done 0.66 0.10 0.238 3116 -300.0 2.42 0.060 2271 585.5 225.6 - - 2137 - - - - - - - - 14.53 14.65 14.74
16679 509.2 8.2 646 16693 roll 0.66 - - 3115 - 2.50 0.105 3655 553.6 225.6 - - 2139 - - - - - - - - 14.92 14.60 14.92
16732 504.5 9.4 653 16746 done 0.66 - - 3124 - 2.35 0.044 2256 -595.3 225.6 - - 2137 - - - - - - - - 14.78 14.71 14.80
17076 475.8 8.3 660 17089 done 0.66 - - 3124 - - - 2252 - 225.6 - - 2137 - - - - - - - - 14.92 14.92 14.92
17412 447.5 8.6 666 17426 roll 0.66 - - 3124 - 2.60 0.106 3654 539.2 225.6 - - 2137 - - - - - - - - 14.93 14.59 14.92
17473 441.4 10.4 674 17486 done 0.66 - - 3133 - 2.33 0.044 2267 -595.3 225.6 - - 2137 - - - - - - - - 14.78 14.71 14.81
17814 407.1 10.2 687 17827 roll 0.66 - - 3145 - 2.40 0.066 853 -589.2 225.6 - - 2137 - - - - - - - - 14.92 14.64 14.92
17845 404.0 9.7 691 17858 done 0.66 0.10 0.235 3115 -300.0 2.42 0.059 2274 587.2 225.6 - - 2137 - - - - - - - - 14.53 14.64 14.74
18213 370.6 9.0 701 18227 roll 0.66 - - 3116 - 2.50 0.105 3654 552.0 225.6 - - 2137 - - - - - - - - 14.93 14.60 14.91
18274 364.8 10.0 709 18287 done 0.66 - - 3123 - 2.33 0.044 2261 -597.9 225.6 - - 2138 - - - - - - - - 14.78 14.71 14.80
18614 333.9 9.2 722 18627 done 0.66 - - 3123 - - - 2258 - 225.6 - - 2137 - - - - - - - - 14.92 14.93 14.93
18950 303.0 9.3 728 18963 roll 0.66 - - 3123 - 2.58 0.106 3660 543.4 225.6 - - 2137 - - - - - - - - 14.92 14.59 14.92
18996 298.4 10.1 734 19009 done 0.66 - - 3139 - 2.33 0.043 2259 -601.3 225.6 - - 2138 - - - - - - - - 14.79 14.72 14.81
19350 265.4 9.2 742 19363 roll 0.66 - - 3143 - 2.38 0.064 856 -589.5 225.6 - - 2138 - - - - - - - - 14.92 14.64 14.92
19389 262.0 9.1 747 19402 done 0.66 0.10 0.232 3114 -290.0 2.40 0.057 2268 588.3 225.6 - - 2138 - - - - - - - - 14.52 14.64 14.71
19751 233.6 7.8 756 19764 roll 0.66 - - 3113 - 2.53 0.105 3662 551.0 225.6 - - 2138 - - - - - - - - 14.92 14.59 14.92
19782 231.0 8.4 760 19795 done 0.66 - - 3121 - 2.33 0.044 2263 -600.4 225.6 - - 2139 - - - - - - - - 14.80 14.72 14.81
20150 201.9 7.9 770 20163 roll 0.66 - - 3121 - 2.55 0.103 3655 545.9 225.6 - - 2139 - - - - - - - - 14.92 14.59 14.93
20195 198.0 9.2 776 20209 done 0.66 - - 3130 - 2.30 0.044 2268 -603.0 225.6 - - 2140 - - - - - - - - 14.79 14.72 14.81
20550 170.4 7.8 784 20563 done 0.66 - - 3127 - - - 2265 - 225.6 - - 2136 - - - - - - - - 14.93 14.92 14.93
20886 144.0 7.9 790 20900 roll 0.66 - - 3140 - 2.35 0.063 866 -595.3 225.6 - - 2139 - - - - - - - - 14.94 14.61 14.95
20932 140.3 8.1 796 20945 done 0.66 - - 3140 - 2.40 0.056 2281 589.6 225.6 - - 2139 - - - - - - - - 14.77 14.64 14.79
21286 110.6 8.2 804 21299 roll 0.66 - - 3140 - 2.50 0.105 3662 552.4 225.6 - - 2140 - - - - - - - - 14.92 14.58 14.93
21318 108.1 7.9 808 21331 done 0.66 0.12 0.234 3114 -216.7 2.30 0.043 2271 -604.8 225.6 - - 2140 - - - - - - - - 14.51 14.69 14.73
21660 85.3 5.7 821 21692 roll 0.80 0.08 0.147 3192 975.0 2.40 0.060 856 -589.6 269.2 19.23 0.435 1978 -8.4 0.320 - - - - - - 14.69 14.59 14.31
21704 82.1 7.7 827 21717 done 0.80 0.12 0.223 3156 -300.0 2.40 0.054 2276 591.7 270.0 - - 1981 - - - - - - - - 14.51 14.63 14.70
22031 63.4 3.3 840 22092 roll 1.03 0.12 0.104 3249 775.0 2.42 0.059 864 -583.5 365.8 45.50 0.380 1595 -8.5 0.274 - - - - - - 14.68 14.56 14.32
22230 51.5 5.4 868 22268 done 1.09 - - 3249 - 2.45 0.051 2300 586.1 416.0 24.35 0.342 1392 -8.3 0.243 - - - - - - 14.69 14.58 14.31
22597 32.1 5.0 887 22641 roll 1.29 0.10 0.116 3326 770.0 2.53 0.100 3656 536.0 474.9 28.23 0.276 1160 -8.2 0.185 - - - - - - 14.64 14.50 14.36
22681 24.5 10.7 899 22694 done 1.29 - - 3336 - 2.28 0.040 2283 -602.2 474.9 - - 1160 - - - - - - - - 14.69 14.62 14.71
22935 end climb: SURFACE_DEPTH_REACHED
22935 begin surface coast
22964 end surface coast: CONTROL_FINISHED_OK
22964 begin surface
SM -3.71 - - - - -8.40 9.20 0.081 190 20.7 0.88 0.078 2767 1973.9 500.14 11.95 0.169 1058 88.5 0.199 - - - - - -