SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 63.99 of 350.00 AH used of 24V (81.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth -0.83 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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 - - - 93 done -1.19 - - 167 - - - 2777 - -63.1 -71.40 - 3304 - - - - - - - - 14.65 13.20 14.65
95 1.0 -5.9 2 111 done -1.19 11.07 0.394 2510 211.7 - - 2777 - -63.1 - - 3305 - - - - - - - - 14.21 14.52 14.48
425 92.6 -13.7 17 432 roll -0.97 0.28 0.281 2574 228.6 1.88 0.092 3832 561.2 -63.1 - - 3306 - - - - - - - - 14.31 14.47 14.56
662 111.5 -5.6 51 670 done -0.88 0.10 0.283 2604 300.0 1.77 0.037 2756 -607.9 -89.3 - - 3308 - - - - - - - - 14.33 14.66 14.55
985 128.9 -5.6 62 992 roll -0.91 - - 2597 - 1.98 0.096 3826 540.4 -114.9 - - 3306 - - - - - - - - 14.88 14.51 14.85
1221 160.6 -9.6 96 1231 done -0.91 - - 2598 - 1.77 0.038 2750 -607.9 -114.9 - - 3308 - - - - - - - - 14.74 14.70 14.76
1544 190.9 -9.6 107 1547 done -0.91 - - 2597 - - - 2750 - -114.9 - - 3305 - - - - - - - - 14.88 14.88 14.88
1881 225.0 -10.3 113 1883 done -0.91 - - 2597 - - - 2753 - -114.9 - - 3302 - - - - - - - - 14.89 14.89 14.89
2217 260.3 -10.5 119 2230 roll -0.91 - - 2587 - 1.98 0.099 3831 544.4 -114.9 - - 3300 - - - - - - - - 14.92 14.58 14.92
2325 272.5 -11.1 134 2339 done -0.91 - - 2588 - 1.75 0.042 2770 -606.3 -114.9 - - 3299 - - - - - - - - 14.72 14.71 14.76
2669 309.0 -10.6 141 2682 roll -0.91 - - 2581 - 1.92 0.100 3823 548.4 -114.9 - - 3297 - - - - - - - - 14.94 14.59 14.95
2715 314.2 -11.2 147 2728 done -0.91 - - 2580 - 1.73 0.041 2746 -622.5 -114.9 - - 3297 - - - - - - - - 14.81 14.76 14.81
3069 353.1 -11.1 155 3082 roll -0.91 - - 2572 - 1.98 0.099 3830 547.5 -114.9 - - 3294 - - - - - - - - 14.97 14.61 14.97
3136 360.8 -11.6 164 3149 done -0.91 0.12 0.265 2605 275.0 1.73 0.042 2758 -619.7 -114.9 - - 3293 - - - - - - - - 14.46 14.78 14.71
3469 392.6 -9.3 176 3482 roll -0.91 - - 2602 - 2.28 0.044 1381 -603.9 -114.9 - - 3291 - - - - - - - - 14.95 14.71 14.96
3501 395.5 -8.9 180 3514 done -0.91 - - 2596 - 2.38 0.063 2765 581.5 -114.9 - - 3291 - - - - - - - - 14.78 14.65 14.83
3869 427.1 -8.3 190 3882 done -0.91 - - 2595 - - - 2765 - -114.9 - - 3289 - - - - - - - - 14.97 14.97 14.97
4206 455.8 -8.5 196 4219 roll -0.91 - - 2587 - 1.92 0.104 3830 554.7 -114.9 - - 3287 - - - - - - - - 14.97 14.60 14.97
4251 460.2 -9.8 202 4264 done -0.91 - - 2586 - 1.73 0.044 2770 -612.7 -114.9 - - 3286 - - - - - - - - 14.83 14.77 14.83
4606 494.8 -10.1 210 4619 done -0.91 - - 2586 - - - 2769 - -114.9 - - 3284 - - - - - - - - 14.96 14.96 14.96
4941 528.5 -10.0 216 4955 roll -0.91 - - 2579 - 1.95 0.103 3825 541.5 -114.9 - - 3282 - - - - - - - - 14.96 14.58 14.97
5036 538.7 -10.4 229 5049 done -0.91 - - 2579 - 1.75 0.044 2749 -614.9 -114.9 - - 3281 - - - - - - - - 14.81 14.77 14.83
5397 573.6 -9.5 238 5410 done -0.91 - - 2579 - - - 2749 - -114.9 - - 3279 - - - - - - - - 14.97 14.97 14.97
5734 604.9 -9.2 244 5747 roll -0.91 - - 2579 - 2.30 0.046 1376 -597.0 -114.9 - - 3277 - - - - - - - - 14.97 14.64 14.97
5765 607.9 -9.5 248 5779 done -0.91 0.12 0.278 2600 175.0 2.45 0.067 2770 569.0 -114.9 - - 3277 - - - - - - - - 14.40 14.62 14.68
6134 639.2 -8.5 258 6147 done -0.91 - - 2601 - - - 2770 - -114.9 - - 3275 - - - - - - - - 14.95 14.95 14.94
6470 668.1 -8.6 264 6484 roll -0.91 - - 2594 - 1.92 0.106 3821 547.4 -114.9 - - 3275 - - - - - - - - 14.95 14.54 14.95
6509 671.8 -9.3 269 6522 done -0.91 - - 2592 - 1.75 0.044 2755 -609.1 -114.9 - - 3275 - - - - - - - - 14.80 14.74 14.81
6871 705.3 -9.3 278 6884 done -0.91 - - 2591 - - - 2755 - -114.9 - - 3273 - - - - - - - - 14.95 14.95 14.95
7207 736.2 -9.0 284 7220 roll -0.91 - - 2585 - 2.00 0.106 3824 534.5 -114.9 - - 3271 - - - - - - - - 14.95 14.52 14.94
7294 744.6 -9.5 296 7307 done -0.91 - - 2585 - 1.75 0.046 2762 -606.9 -114.9 - - 3271 - - - - - - - - 14.76 14.69 14.78
7663 777.9 -8.9 306 7676 done -0.91 - - 2584 - - - 2762 - -114.9 - - 3269 - - - - - - - - 14.94 14.94 14.95
7999 807.8 -8.9 312 8012 done -0.91 - - 2584 - - - 2763 - -114.9 - - 3268 - - - - - - - - 14.95 14.95 14.95
8335 837.6 -8.9 318 8348 done -0.91 - - 2585 - - - 2762 - -114.9 - - 3266 - - - - - - - - 14.94 14.94 14.94
8671 868.2 -9.1 324 8684 roll -0.91 - - 2577 - 2.00 0.109 3828 533.0 -114.9 - - 3264 - - - - - - - - 14.93 14.51 14.94
8724 873.1 -9.2 331 8737 done -0.91 - - 2576 - 1.77 0.047 2770 -597.7 -114.9 - - 3266 - - - - - - - - 14.76 14.70 14.78
9068 904.0 -8.9 338 9081 roll -0.91 - - 2575 - 2.38 0.047 1360 -592.4 -114.9 - - 3264 - - - - - - - - 14.95 14.62 14.94
9120 908.9 -9.0 345 9134 done -0.91 0.12 0.274 2599 200.0 2.50 0.067 2763 561.2 -114.9 - - 3264 - - - - - - - - 14.32 14.54 14.61
9406 end dive: TARGET_DEPTH_EXCEEDED
9406 begin apogee
9412 932.0 -7.9 351 9481 roll -0.23 0.77 0.213 2820 287.0 - - 2226 - - 59.67 1.987 3049 -3.6 0.322 - - - - - - 14.37 14.29 13.54
9483 end apogee: CONTROL_FINISHED_OK
9483 begin climb
9485 934.6 - 352 9624 roll 1.25 1.45 0.112 3283 319.3 2.40 0.057 881 -560.4 114.9 119.47 1.974 2586 -3.9 0.349 - - - - - - 14.24 14.25 13.23
9629 927.1 11.2 375 9643 done 1.04 0.17 0.292 3242 -241.2 2.47 0.053 2258 557.5 114.9 - - 2583 - - - - - - - - 13.88 14.01 14.07
9973 887.9 11.4 382 9987 roll 0.96 0.08 0.326 3218 -300.0 2.58 0.095 3660 543.4 114.9 - - 2578 - - - - - - - - 14.16 14.32 14.35
10012 883.3 12.6 387 10025 done 0.85 0.17 0.282 3182 -211.8 2.35 0.042 2275 -589.4 114.9 - - 2578 - - - - - - - - 14.18 14.47 14.46
10374 849.7 9.2 396 10387 roll 0.85 - - 3192 - 2.42 0.060 860 -584.7 114.9 - - 2577 - - - - - - - - 14.78 14.48 14.78
10483 839.8 8.7 411 10496 done 0.85 - - 3192 - 2.42 0.056 2258 577.7 114.9 - - 2576 - - - - - - - - 14.62 14.50 14.64
10826 807.6 9.3 418 10839 roll 0.85 - - 3192 - 2.58 0.101 3661 543.8 114.9 - - 2576 - - - - - - - - 14.83 14.45 14.83
10879 801.5 11.8 425 10894 done 0.85 - - 3203 - 2.40 0.042 2233 -595.0 114.9 - - 2576 - - - - - - - - 14.67 14.60 14.69
11223 766.5 10.3 432 11236 roll 0.85 - - 3213 - 2.35 0.062 860 -584.3 114.9 - - 2575 - - - - - - - - 14.87 14.54 14.87
11268 761.8 10.2 438 11282 done 0.85 0.12 0.278 3182 -258.3 2.40 0.057 2257 582.1 114.9 - - 2575 - - - - - - - - 14.28 14.55 14.62
11623 728.2 9.4 446 11636 roll 0.85 - - 3182 - 2.58 0.102 3660 543.8 114.9 - - 2574 - - - - - - - - 14.89 14.47 14.88
11675 722.8 10.3 453 11690 done 0.85 - - 3193 - 2.40 0.041 2233 -594.6 114.9 - - 2575 - - - - - - - - 14.72 14.64 14.73
12020 691.6 9.0 460 12033 done 0.85 - - 3193 - - - 2232 - 114.9 - - 2574 - - - - - - - - 14.88 14.88 14.88
12355 661.5 9.0 466 12369 roll 0.85 - - 3193 - 2.65 0.101 3658 538.1 114.9 - - 2573 - - - - - - - - 14.90 14.47 14.89
12394 657.5 10.1 471 12407 done 0.85 - - 3204 - 2.38 0.043 2249 -592.0 114.9 - - 2573 - - - - - - - - 14.73 14.64 14.74
12756 623.5 9.5 480 12769 roll 0.85 - - 3204 - 2.62 0.101 3659 538.2 114.9 - - 2573 - - - - - - - - 14.88 14.48 14.88
12816 617.0 10.5 488 12830 done 0.85 0.15 0.285 3177 -180.0 2.40 0.041 2238 -592.1 114.9 - - 2574 - - - - - - - - 14.28 14.64 14.62
13157 586.3 8.9 501 13170 roll 0.85 - - 3187 - 2.35 0.061 858 -587.2 114.9 - - 2573 - - - - - - - - 14.90 14.54 14.90
13231 579.4 9.2 511 13244 done 0.85 - - 3187 - 2.40 0.056 2258 583.3 114.9 - - 2573 - - - - - - - - 14.69 14.54 14.72
13557 550.4 8.8 522 13570 roll 0.85 - - 3187 - 2.55 0.103 3652 546.7 114.9 - - 2572 - - - - - - - - 14.91 14.46 14.89
13631 543.5 9.4 532 13644 done 0.85 - - 3197 - 2.35 0.041 2247 -597.9 114.9 - - 2573 - - - - - - - - 14.72 14.64 14.74
13957 517.8 7.7 543 13970 done 0.85 - - 3197 - - - 2243 - 115.5 - - 2571 - - - - - - - - 14.88 14.88 14.88
14293 493.1 7.3 549 14306 roll 0.86 - - 3197 - 2.62 0.101 3654 538.5 120.9 - - 2573 - - - - - - - - 14.90 14.46 14.90
14367 487.0 8.2 559 14380 done 0.86 0.12 0.286 3177 -166.7 2.35 0.043 2256 -594.9 120.9 - - 2572 - - - - - - - - 14.28 14.64 14.58
14694 464.1 7.2 570 14718 roll 0.87 - - 3187 - 2.42 0.062 859 -577.3 127.9 10.27 1.798 2533 -3.8 0.187 - - - - - - 14.89 14.62 13.97
14751 459.5 8.2 578 14765 done 0.87 - - 3187 - 2.40 0.056 2254 581.2 127.9 - - 2531 - - - - - - - - 14.66 14.55 14.69
15092 429.4 8.9 591 15105 roll 0.87 - - 3187 - 2.58 0.102 3658 544.2 127.9 - - 2531 - - - - - - - - 14.83 14.45 14.84
15165 421.9 10.6 601 15179 done 0.87 - - 3198 - 2.38 0.041 2245 -593.7 127.9 - - 2532 - - - - - - - - 14.68 14.60 14.70
15492 391.0 9.3 612 15505 done 0.87 - - 3198 - - - 2241 - 127.9 - - 2531 - - - - - - - - 14.87 14.87 14.87
15828 360.3 9.1 618 15841 roll 0.87 - - 3207 - 2.35 0.063 863 -586.4 127.9 - - 2531 - - - - - - - - 14.86 14.49 14.88
15860 357.4 8.7 622 15873 done 0.87 - - 3208 - 2.40 0.057 2261 582.5 127.9 - - 2531 - - - - - - - - 14.69 14.55 14.71
16228 324.6 8.7 632 16242 roll 0.87 - - 3207 - 2.53 0.100 3650 549.0 127.9 - - 2531 - - - - - - - - 14.90 14.44 14.89
16309 316.8 9.9 643 16322 done 0.87 0.12 0.275 3187 -166.7 2.35 0.041 2249 -596.2 127.9 - - 2532 - - - - - - - - 14.26 14.60 14.55
16629 291.0 8.1 653 16642 roll 0.87 - - 3187 - 2.60 0.099 3653 540.0 127.9 - - 2532 - - - - - - - - 14.88 14.42 14.88
16674 287.1 9.1 659 16687 done 0.87 - - 3197 - 2.35 0.041 2250 -597.0 127.9 - - 2532 - - - - - - - - 14.71 14.64 14.73
17029 257.9 8.3 667 17042 done 0.87 - - 3197 - - - 2244 - 127.9 - - 2528 - - - - - - - - 14.88 14.89 14.89
17365 229.4 8.7 673 17378 roll 0.87 - - 3198 - 2.62 0.099 3659 540.1 127.9 - - 2533 - - - - - - - - 14.89 14.47 14.89
17411 225.1 10.2 679 17424 done 0.87 - - 3208 - 2.35 0.041 2254 -597.9 127.9 - - 2532 - - - - - - - - 14.73 14.66 14.74
17765 194.1 8.8 687 17778 roll 0.87 - - 3219 - 2.38 0.062 866 -583.2 127.9 - - 2534 - - - - - - - - 14.89 14.55 14.88
17867 185.0 8.6 701 17880 done 0.87 0.12 0.254 3186 -275.0 2.38 0.054 2263 587.0 127.9 - - 2533 - - - - - - - - 14.31 14.56 14.59
18222 157.5 7.7 709 18235 roll 0.87 - - 3187 - 2.53 0.098 3652 549.0 127.9 - - 2534 - - - - - - - - 14.88 14.47 14.88
18317 149.7 8.0 722 18330 done 0.87 - - 3195 - 2.33 0.041 2258 -598.3 127.9 - - 2535 - - - - - - - - 14.77 14.66 14.75
18678 126.0 6.6 731 18704 roll 0.89 - - 3196 - 2.55 0.096 3655 547.8 141.1 12.85 1.340 2482 -4.1 0.074 - - - - - - 14.90 14.58 14.11
18834 113.4 7.9 753 18847 done 0.89 - - 3207 - 2.33 0.041 2262 -597.9 141.1 - - 2478 - - - - - - - - 14.69 14.62 14.70
19161 95.2 4.6 762 19195 roll 0.93 - - 3217 - 2.42 0.060 863 -578.1 179.0 16.55 0.459 2344 -8.1 0.320 - - - - - - 14.84 14.57 14.26
19299 89.4 4.8 781 19330 done 1.08 - - 3218 - 2.42 0.054 2275 583.5 214.4 17.40 0.439 2195 -8.6 0.332 - - - - - - 14.63 14.50 14.23
19645 73.6 3.3 797 19684 roll 1.29 0.17 0.086 3325 629.4 2.42 0.058 862 -583.9 267.2 25.25 0.395 1988 -8.2 0.291 - - - - - - 14.58 14.52 14.26
19912 54.5 7.3 835 19932 done 1.30 - - 3325 - 2.40 0.054 2262 583.3 272.1 2.72 0.313 1967 -7.7 0.256 - - - - - - 14.64 14.52 14.21
20237 50.9 1.2 848 20288 roll 1.47 0.08 0.144 3395 875.0 2.53 0.096 3654 550.2 349.9 37.58 0.321 1656 -8.3 0.250 - - - - - - 14.62 14.51 14.31
20517 31.5 10.8 888 20531 done 1.47 0.12 0.275 3374 -175.0 2.33 0.037 2255 -600.4 349.9 - - 1657 - - - - - - - - 14.31 14.61 14.57
20859 4.5 8.4 903 20872 roll 1.56 - - 3373 - 2.55 0.091 3656 549.4 349.9 - - 1661 - - - - - - - - 14.87 14.51 14.86
20890 end climb: SURFACE_DEPTH_REACHED
20890 begin surface coast
20896 end surface coast: CONTROL_FINISHED_OK
20896 begin surface
SM -0.71 - - - - -8.38 9.70 0.110 197 20.3 1.50 0.040 2754 1577.3 500.14 67.03 0.150 1057 15.8 0.008 - - - - - -