SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 150 * Raw log
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• Previous call tries 3 • 60.31 of 350.00 AH used of 24V (82.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -0.36 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 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 - - - 98 done -0.90 - - 186 - - - 2786 - -116.8 -76.50 - 3515 - - - - - - - - 14.68 13.25 14.69
100 1.1 -4.3 2 117 roll -0.90 11.45 0.396 2603 211.1 2.35 0.029 1344 -613.6 -116.8 - - 3517 - - - - - - - - 14.24 14.54 14.52
170 36.2 -27.6 13 180 done -0.54 0.45 0.255 2714 246.7 2.55 0.073 2762 556.1 -116.8 - - 3519 - - - - - - - - 14.28 14.42 14.45
486 79.0 -10.7 25 494 roll -0.45 0.12 0.242 2742 233.3 1.95 0.106 3828 546.7 -116.8 - - 3519 - - - - - - - - 14.43 14.47 14.62
562 85.8 -7.4 36 572 done -0.45 - - 2743 - 1.80 0.037 2732 -608.9 -116.8 - - 3520 - - - - - - - - 14.69 14.66 14.71
878 108.8 -7.8 46 885 roll -0.45 - - 2743 - 2.25 0.044 1389 -596.9 -116.8 - - 3521 - - - - - - - - 14.85 14.59 14.85
927 112.2 -6.9 53 936 done -0.53 - - 2733 - 2.42 0.066 2771 571.1 -116.8 - - 3521 - - - - - - - - 14.64 14.57 14.68
1270 128.9 -4.7 60 1279 roll -0.53 - - 2726 - 1.92 0.105 3818 545.3 -116.8 - - 3520 - - - - - - - - 14.90 14.54 14.88
1311 132.1 -7.3 66 1319 done -0.53 - - 2725 - 1.75 0.040 2758 -605.7 -116.8 - - 3520 - - - - - - - - 14.76 14.72 14.81
1663 156.1 -6.8 74 1669 roll -0.60 - - 2726 - 2.28 0.044 1387 -601.3 -116.8 - - 3517 - - - - - - - - 14.90 14.65 14.90
1718 159.9 -6.7 82 1726 done -0.70 0.05 0.119 2658 -1360.0 2.42 0.068 2762 568.2 -116.8 - - 3517 - - - - - - - - 14.59 14.58 14.66
2054 189.4 -8.8 95 2062 roll -0.70 - - 2651 - 1.95 0.106 3820 542.6 -116.8 - - 3514 - - - - - - - - 14.90 14.54 14.94
2095 193.3 -9.2 101 2103 done -0.70 - - 2650 - 1.75 0.039 2759 -606.3 -116.8 - - 3514 - - - - - - - - 14.78 14.73 14.78
2446 225.3 -9.2 109 2453 roll -0.70 - - 2650 - 2.33 0.046 1393 -586.3 -116.8 - - 3511 - - - - - - - - 14.90 14.66 14.90
2473 227.9 -9.3 113 2482 done -0.70 0.10 0.215 2672 220.0 2.45 0.069 2763 559.2 -116.8 - - 3510 - - - - - - - - 14.47 14.59 14.62
2838 258.0 -8.1 123 2851 done -0.70 - - 2671 - - - 2763 - -116.8 - - 3508 - - - - - - - - 14.93 14.92 14.92
3174 284.7 -7.8 129 3187 done -0.70 - - 2671 - - - 2764 - -116.8 - - 3508 - - - - - - - - 14.95 14.95 14.95
3511 306.5 -4.4 135 3523 done -0.70 - - 2671 - - - 2765 - -116.8 - - 3502 - - - - - - - - 14.97 14.97 14.97
3846 334.1 -8.3 141 3859 done -0.70 - - 2671 - - - 2765 - -116.8 - - 3500 - - - - - - - - 14.94 14.97 14.97
4182 380.3 -13.9 147 4195 roll -0.70 - - 2671 - 2.33 0.046 1383 -593.1 -116.8 - - 3499 - - - - - - - - 14.97 14.72 15.00
4235 387.3 -9.5 154 4249 done -0.70 - - 2661 - 2.45 0.072 2769 565.7 -116.8 - - 3497 - - - - - - - - 14.80 14.66 14.82
4579 418.0 -8.9 161 4592 roll -0.70 - - 2653 - 1.92 0.114 3823 549.0 -116.8 - - 3495 - - - - - - - - 14.97 14.62 14.97
4617 421.9 -9.7 166 4630 done -0.70 - - 2653 - 1.70 0.045 2776 -615.9 -116.8 - - 3496 - - - - - - - - 14.85 14.79 14.85
4979 454.9 -9.1 175 4992 roll -0.70 - - 2653 - 2.35 0.046 1369 -598.7 -116.8 - - 3493 - - - - - - - - 14.99 14.69 14.99
5018 458.5 -9.2 180 5032 done -0.70 0.10 0.252 2679 260.0 2.45 0.073 2769 571.4 -116.8 - - 3493 - - - - - - - - 14.54 14.66 14.75
5380 488.1 -8.2 189 5393 done -0.70 - - 2672 - - - 2768 - -116.8 - - 3491 - - - - - - - - 14.97 15.00 14.99
5716 515.2 -8.1 195 5729 roll -0.70 - - 2672 - 2.35 0.047 1379 -591.1 -116.8 - - 3491 - - - - - - - - 14.97 14.71 14.98
5754 518.5 -8.6 200 5768 done -0.70 - - 2663 - 2.45 0.073 2769 567.3 -116.8 - - 3489 - - - - - - - - 14.79 14.64 14.82
6116 548.1 -8.3 209 6129 done -0.70 - - 2663 - - - 2770 - -116.8 - - 3487 - - - - - - - - 14.98 14.98 14.98
6452 576.8 -8.4 215 6465 roll -0.70 - - 2663 - 2.38 0.047 1371 -587.8 -116.8 - - 3486 - - - - - - - - 14.97 14.70 14.98
6483 579.6 -8.6 219 6496 done -0.70 - - 2654 - 2.45 0.073 2761 567.3 -116.8 - - 3485 - - - - - - - - 14.78 14.63 14.81
6852 611.3 -8.6 229 6865 roll -0.70 - - 2646 - 1.98 0.115 3834 541.9 -116.8 - - 3483 - - - - - - - - 14.97 14.57 14.97
6912 616.9 -9.6 237 6925 done -0.70 - - 2645 - 1.77 0.045 2754 -610.2 -116.8 - - 3483 - - - - - - - - 14.83 14.78 14.87
7253 647.7 -9.0 250 7266 roll -0.70 - - 2645 - 2.30 0.047 1378 -598.3 -116.8 - - 3482 - - - - - - - - 14.96 14.69 14.96
7326 654.3 -8.8 260 7340 done -0.70 0.12 0.244 2672 225.0 2.45 0.074 2765 566.1 -116.8 - - 3482 - - - - - - - - 14.47 14.62 14.71
7653 679.3 -7.6 271 7666 roll -0.70 - - 2665 - 1.95 0.117 3826 544.1 -116.8 - - 3477 - - - - - - - - 14.95 14.56 14.95
7691 682.4 -8.0 276 7705 done -0.70 - - 2664 - 1.75 0.046 2756 -611.4 -116.8 - - 3480 - - - - - - - - 14.81 14.76 14.83
8053 709.6 -7.5 285 8066 roll -0.70 - - 2665 - 2.33 0.050 1370 -594.8 -116.8 - - 3479 - - - - - - - - 14.96 14.66 14.96
8114 714.3 -7.6 293 8127 done -0.70 - - 2656 - 2.47 0.076 2760 562.8 -116.8 - - 3479 - - - - - - - - 14.76 14.58 14.78
8454 741.0 -7.8 306 8467 done -0.70 - - 2655 - - - 2760 - -116.8 - - 3477 - - - - - - - - 14.95 14.95 14.95
8790 768.2 -8.2 312 8803 roll -0.70 - - 2655 - 2.38 0.049 1369 -584.5 -116.8 - - 3477 - - - - - - - - 14.96 14.66 14.96
8822 771.0 -8.5 316 8835 done -0.70 - - 2647 - 2.50 0.077 2769 560.0 -116.8 - - 3477 - - - - - - - - 14.75 14.57 14.77
9190 802.6 -8.6 326 9204 roll -0.70 - - 2638 - 1.95 0.119 3823 540.5 -116.8 - - 3475 - - - - - - - - 14.95 14.52 14.94
9229 806.3 -9.7 331 9242 done -0.70 0.10 0.241 2667 290.0 1.77 0.046 2754 -604.0 -116.8 - - 3475 - - - - - - - - 14.40 14.71 14.62
9591 833.8 -7.5 340 9604 roll -0.70 - - 2668 - 2.35 0.050 1365 -591.1 -116.8 - - 3473 - - - - - - - - 14.93 14.64 14.94
9629 836.8 -6.0 345 9643 done -0.70 - - 2659 - 2.50 0.076 2765 560.0 -116.8 - - 3474 - - - - - - - - 14.73 14.57 14.77
9991 864.7 -7.7 354 10004 done -0.70 - - 2659 - - - 2765 - -116.8 - - 3473 - - - - - - - - 14.93 14.93 14.95
10327 890.3 -7.6 360 10340 roll -0.70 - - 2659 - 2.40 0.051 1370 -581.2 -116.8 - - 3471 - - - - - - - - 14.93 14.63 14.93
10422 897.6 -7.6 373 10435 done -0.70 - - 2651 - 2.47 0.076 2762 563.6 -116.8 - - 3471 - - - - - - - - 14.72 14.54 14.75
10783 924.6 -7.3 382 10797 roll -0.70 - - 2643 - 1.98 0.118 3824 536.4 -116.8 - - 3471 - - - - - - - - 14.92 14.49 14.93
10855 end dive: TARGET_DEPTH_EXCEEDED
10855 begin apogee
10862 930.3 -7.8 392 10985 roll -0.23 0.57 0.194 2817 305.3 - - 2243 - - 113.55 1.967 3049 -3.7 0.334 - - - - - - 14.42 14.06 13.35
10987 end apogee: CONTROL_FINISHED_OK
10987 begin climb
10989 933.7 - 394 11129 roll 0.90 1.12 0.114 3173 317.9 2.47 0.059 857 -561.1 116.8 121.20 1.938 2578 -3.9 0.356 - - - - - - 14.07 14.09 13.21
11357 905.2 9.9 449 11371 done 0.75 - - 3174 - 2.47 0.057 2257 566.8 116.8 - - 2568 - - - - - - - - 14.41 14.30 14.43
11702 869.7 10.4 456 11715 roll 0.60 0.25 0.238 3109 -260.0 2.42 0.059 861 -576.9 116.8 - - 2567 - - - - - - - - 14.28 14.47 14.45
11909 853.5 7.3 485 11922 done 0.61 - - 3109 - 2.42 0.057 2261 578.5 125.7 1.88 0.276 2549 -9.6 5.630 - - - - - - 14.62 14.50 14.03
12263 828.0 7.2 493 12297 roll 0.62 - - 3109 - 2.58 0.108 3653 539.5 137.3 19.85 1.978 2495 -2.7 0.217 - - - - - - 14.83 14.44 13.84
12329 822.5 9.0 502 12342 done 0.53 0.17 0.239 3071 -223.5 2.38 0.044 2256 -587.0 137.3 - - 2492 - - - - - - - - 14.35 14.51 14.54
12664 803.3 5.5 514 12731 roll 0.59 - - 3071 - 2.75 0.104 3653 508.0 186.8 54.35 1.850 2300 -3.5 0.292 - - - - - - 14.78 14.16 13.58
12764 797.1 6.9 528 12796 done 0.61 - - 3081 - 2.45 0.043 2242 -575.9 205.2 19.73 1.968 2229 -3.6 0.277 - - - - - - 14.37 14.31 13.56
13111 773.5 6.8 542 13148 roll 0.64 - - 3081 - 2.72 0.106 3648 516.9 226.7 22.85 1.928 2140 -3.9 0.297 - - - - - - 14.68 14.26 13.69
13173 768.5 8.0 551 13186 done 0.64 - - 3088 - 2.38 0.044 2265 -581.1 226.7 - - 2135 - - - - - - - - 14.42 14.37 14.43
13507 742.8 7.7 563 13520 roll 0.64 - - 3099 - 2.45 0.065 848 -578.4 227.0 - - 2132 - - - - - - - - 14.73 14.48 14.73
13538 740.3 7.6 567 13551 done 0.65 - - 3100 - 2.45 0.059 2261 576.7 230.7 - - 2137 - - - - - - - - 14.61 14.49 14.62
13907 710.6 8.1 577 13920 roll 0.65 - - 3100 - 2.58 0.109 3658 541.5 230.7 - - 2131 - - - - - - - - 14.81 14.49 14.81
13952 706.4 8.9 583 13965 done 0.65 - - 3109 - 2.38 0.043 2252 -590.8 230.7 - - 2131 - - - - - - - - 14.69 14.62 14.71
14307 675.5 8.8 591 14320 roll 0.65 - - 3119 - 2.40 0.065 858 -580.8 230.7 - - 2131 - - - - - - - - 14.85 14.57 14.85
14345 672.0 8.9 596 14359 done 0.65 - - 3119 - 2.42 0.060 2263 580.6 230.7 - - 2131 - - - - - - - - 14.69 14.57 14.72
14707 638.5 9.4 605 14720 roll 0.65 - - 3119 - 2.58 0.110 3657 540.3 230.7 - - 2131 - - - - - - - - 14.87 14.52 14.88
14795 629.3 10.5 617 14808 done 0.65 - - 3128 - 2.35 0.042 2261 -594.0 230.7 - - 2131 - - - - - - - - 14.74 14.66 14.76
15163 592.8 10.0 627 15176 done 0.65 - - 3127 - - - 2256 - 230.7 - - 2131 - - - - - - - - 14.89 14.89 14.89
15499 559.6 9.8 633 15512 done 0.65 - - 3128 - - - 2256 - 230.7 - - 2130 - - - - - - - - 14.90 14.91 14.90
15835 526.9 9.8 639 15848 roll 0.65 - - 3128 - 2.62 0.107 3656 534.4 230.7 - - 2130 - - - - - - - - 14.90 14.53 14.90
15888 521.2 11.0 646 15901 done 0.65 - - 3138 - 2.38 0.042 2257 -587.8 230.7 - - 2130 - - - - - - - - 14.75 14.67 14.76
16231 485.7 10.3 653 16245 roll 0.65 0.08 0.272 3122 -200.0 2.40 0.060 854 -584.6 230.7 - - 2130 - - - - - - - - 14.42 14.59 14.58
16263 482.6 9.4 657 16276 done 0.65 - - 3121 - 2.45 0.057 2281 582.4 230.7 - - 2130 - - - - - - - - 14.71 14.60 14.75
16632 448.2 9.4 667 16645 done 0.65 - - 3122 - - - 2280 - 230.7 - - 2130 - - - - - - - - 14.91 14.92 14.92
16968 417.8 9.0 673 16981 roll 0.65 - - 3122 - 2.53 0.106 3656 543.9 230.7 - - 2132 - - - - - - - - 14.95 14.53 14.91
17000 414.7 9.5 677 17013 done 0.65 - - 3131 - 2.35 0.043 2257 -595.3 230.7 - - 2130 - - - - - - - - 14.76 14.69 14.78
17368 381.1 9.1 687 17381 roll 0.65 - - 3141 - 2.40 0.063 858 -582.9 230.7 - - 2130 - - - - - - - - 14.90 14.59 14.90
17400 378.1 8.9 691 17413 done 0.65 0.10 0.230 3112 -290.0 2.42 0.059 2268 582.6 230.7 - - 2130 - - - - - - - - 14.47 14.62 14.68
17768 348.0 8.2 701 17782 roll 0.65 - - 3111 - 2.55 0.105 3657 544.7 230.7 - - 2128 - - - - - - - - 14.90 14.52 14.90
17821 343.2 9.2 708 17836 done 0.65 - - 3121 - 2.38 0.042 2252 -590.3 230.7 - - 2130 - - - - - - - - 14.75 14.67 14.76
18165 314.5 8.4 715 18178 roll 0.65 - - 3130 - 2.40 0.063 855 -582.1 230.7 - - 2130 - - - - - - - - 14.91 14.61 14.91
18197 311.7 8.4 719 18210 done 0.65 - - 3133 - 2.42 0.058 2268 583.9 230.7 - - 2130 - - - - - - - - 14.73 14.59 14.75
18565 278.7 9.0 729 18578 roll 0.65 - - 3130 - 2.55 0.108 3654 543.5 230.7 - - 2130 - - - - - - - - 14.91 14.51 14.91
18611 274.0 10.6 735 18624 done 0.65 0.10 0.244 3112 -180.0 2.33 0.042 2266 -595.7 230.7 - - 2130 - - - - - - - - 14.43 14.67 14.66
18965 243.6 8.5 743 18978 roll 0.65 - - 3121 - 2.42 0.062 853 -583.9 230.7 - - 2130 - - - - - - - - 14.89 14.59 14.90
19011 239.6 8.9 749 19024 done 0.65 - - 3121 - 2.42 0.056 2272 586.4 230.7 - - 2130 - - - - - - - - 14.73 14.59 14.76
19365 208.7 8.8 757 19378 done 0.65 - - 3121 - - - 2272 - 230.7 - - 2130 - - - - - - - - 14.90 14.90 14.90
19701 180.9 8.2 763 19714 roll 0.65 - - 3121 - 2.53 0.105 3655 546.6 230.7 - - 2131 - - - - - - - - 14.90 14.52 14.91
19740 177.4 9.2 768 19753 done 0.65 - - 3129 - 2.33 0.041 2260 -598.7 230.7 - - 2131 - - - - - - - - 14.76 14.69 14.78
20102 146.5 8.6 777 20115 done 0.65 - - 3127 - - - 2256 - 230.7 - - 2130 - - - - - - - - 14.92 14.91 14.91
20438 120.5 7.2 783 20457 done 0.66 - - 3130 - - - 2256 - 241.8 10.77 1.337 2087 -4.0 0.068 - - - - - - 14.91 14.71 14.14
20774 96.8 6.8 789 20797 roll 0.68 - - 3130 - 2.65 0.105 3655 527.9 261.9 8.30 0.431 2009 -9.4 0.401 - - - - - - 14.88 14.53 14.27
20851 91.9 6.3 800 20883 done 0.72 - - 3137 - 2.35 0.042 2255 -595.7 294.3 17.23 0.440 1880 -7.5 0.297 - - - - - - 14.72 14.66 14.28
21198 72.3 5.9 816 21230 done 0.91 0.10 0.129 3211 740.0 - - 2255 - 335.0 20.52 0.380 1716 -8.0 0.289 - - - - - - 14.62 14.62 14.29
21533 50.0 5.8 828 21566 roll 0.96 - - 3210 - 2.65 0.103 3654 527.9 376.3 20.52 0.316 1551 -8.0 0.242 - - - - - - 14.86 14.52 14.32
21642 43.0 6.2 843 21673 done 1.09 0.05 0.207 3275 1300.0 2.30 0.042 2276 -599.1 410.5 17.33 0.292 1414 -7.9 0.221 - - - - - - 14.54 14.63 14.30
21987 22.4 6.0 859 22020 roll 1.14 - - 3283 - 2.40 0.060 864 -588.3 449.2 19.15 0.229 1260 -8.0 0.150 - - - - - - 14.85 14.54 14.36
22171 11.2 6.6 885 22197 done 1.28 - - 3283 - 2.38 0.053 2268 589.9 475.2 12.57 0.194 1158 -8.1 0.089 - - - - - - 14.69 14.57 14.42
22326 end climb: SURFACE_DEPTH_REACHED
22326 begin surface coast
22355 end surface coast: CONTROL_FINISHED_OK
22355 begin surface
SM 0.42 - - - - -8.41 8.85 0.059 188 21.2 0.88 0.074 2775 -7508.0 500.14 11.88 0.159 1056 88.9 -0.024 - - - - - -