SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 232 * Raw log
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• Previous call tries 2 • 90.25 of 350.00 AH used of 24V (74.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -3.31 m • Intended pitch -21.9 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 93 done -1.09 - - 109 - - - 2776 - -76.2 -71.82 - 3355 - - - - - - - - 14.59 12.99 14.58
95 -1.3 -6.5 2 117 roll -1.09 11.73 0.393 2541 207.3 2.40 0.035 1351 -593.8 -76.2 - - 3357 - - - - - - - - 14.09 14.35 14.40
290 55.9 -15.4 31 298 done -0.84 0.35 0.256 2624 237.1 2.55 0.069 2761 552.9 -76.2 - - 3358 - - - - - - - - 14.10 14.32 14.30
620 86.9 -10.4 45 627 roll -0.84 - - 2615 - 1.98 0.103 3821 535.4 -76.2 - - 3360 - - - - - - - - 14.73 14.32 14.73
857 108.6 -9.1 79 865 done -0.76 0.12 0.224 2650 291.7 1.77 0.037 2751 -604.5 -76.2 - - 3360 - - - - - - - - 14.23 14.56 14.40
1180 134.5 -7.9 90 1187 roll -0.76 - - 2642 - 2.00 0.102 3826 537.5 -76.2 - - 3360 - - - - - - - - 14.78 14.38 14.78
1362 152.6 -9.5 116 1369 done -0.76 - - 2642 - 1.77 0.039 2755 -605.1 -76.2 - - 3359 - - - - - - - - 14.58 14.55 14.59
1684 181.1 -8.8 127 1686 done -0.76 - - 2641 - - - 2755 - -76.2 - - 3357 - - - - - - - - 14.80 14.80 14.80
2020 210.7 -8.9 133 2027 roll -0.76 - - 2634 - 2.05 0.103 3824 521.5 -76.2 - - 3354 - - - - - - - - 14.81 14.35 14.81
2061 214.5 -9.3 139 2069 done -0.76 - - 2633 - 1.77 0.040 2770 -595.5 -76.2 - - 3354 - - - - - - - - 14.66 14.60 14.66
2412 246.4 -9.2 147 2414 done -0.76 - - 2633 - - - 2770 - -76.2 - - 3351 - - - - - - - - 14.80 14.80 14.80
2748 277.2 -9.1 153 2761 roll -0.76 - - 2625 - 1.98 0.104 3825 532.8 -76.2 - - 3348 - - - - - - - - 14.87 14.43 14.88
2809 283.2 -9.9 161 2822 done -0.76 - - 2624 - 1.73 0.041 2766 -612.1 -76.2 - - 3347 - - - - - - - - 14.71 14.66 14.73
3150 315.0 -9.3 174 3163 roll -0.76 0.08 0.275 2652 350.0 2.30 0.042 1387 -599.6 -76.2 - - 3345 - - - - - - - - 14.34 14.57 14.49
3217 320.6 -7.9 183 3230 done -0.85 - - 2642 - 2.42 0.068 2772 572.3 -76.2 - - 3344 - - - - - - - - 14.65 14.50 14.69
3551 347.7 -8.1 195 3564 roll -0.85 - - 2642 - 2.35 0.043 1386 -589.8 -76.2 - - 3346 - - - - - - - - 14.90 14.59 14.90
3590 350.9 -8.1 200 3603 done -0.85 - - 2632 - 2.42 0.068 2767 570.7 -76.2 - - 3342 - - - - - - - - 14.68 14.51 14.69
3951 382.0 -8.7 209 3965 roll -0.85 - - 2622 - 1.95 0.106 3831 545.6 -76.2 - - 3341 - - - - - - - - 14.91 14.43 14.91
4053 391.1 -9.1 223 4066 done -0.85 - - 2623 - 1.77 0.042 2736 -618.6 -76.2 - - 3338 - - - - - - - - 14.72 14.66 14.73
4408 421.7 -8.8 231 4421 done -0.85 - - 2623 - - - 2736 - -76.2 - - 3338 - - - - - - - - 14.91 14.91 14.90
4744 451.5 -8.7 237 4758 roll -0.85 - - 2615 - 2.05 0.106 3831 534.1 -76.2 - - 3337 - - - - - - - - 14.91 14.41 14.91
4825 458.5 -8.8 248 4838 done -0.85 - - 2615 - 1.73 0.043 2774 -611.0 -76.2 - - 3335 - - - - - - - - 14.73 14.69 14.75
5145 486.1 -8.4 258 5158 roll -0.85 - - 2615 - 2.35 0.043 1376 -594.9 -76.2 - - 3334 - - - - - - - - 14.90 14.56 14.91
5240 494.1 -8.4 271 5253 done -0.85 - - 2606 - 2.47 0.067 2774 566.0 -76.2 - - 3333 - - - - - - - - 14.65 14.50 14.69
5602 525.0 -8.7 280 5615 roll -0.85 - - 2597 - 1.95 0.106 3830 541.5 -76.2 - - 3332 - - - - - - - - 14.90 14.42 14.90
5626 527.3 -8.7 283 5640 done -0.85 - - 2595 - 1.75 0.043 2763 -609.7 -76.2 - - 3332 - - - - - - - - 14.73 14.68 14.76
5946 556.7 -9.5 293 5960 roll -0.85 0.08 0.297 2619 300.0 2.33 0.041 1379 -594.0 -76.2 - - 3330 - - - - - - - - 14.26 14.51 14.42
5978 559.5 -8.7 297 5992 done -0.85 - - 2610 - 2.47 0.069 2774 564.8 -76.2 - - 3330 - - - - - - - - 14.66 14.47 14.67
6348 592.9 -9.2 307 6361 done -0.85 - - 2610 - - - 2776 - -76.2 - - 3328 - - - - - - - - 14.90 14.90 14.90
6684 624.1 -8.8 313 6697 done -0.85 - - 2610 - - - 2776 - -76.2 - - 3327 - - - - - - - - 14.90 14.90 14.89
7020 653.9 -8.8 319 7033 roll -0.85 - - 2602 - 1.95 0.108 3824 537.4 -76.2 - - 3325 - - - - - - - - 14.92 14.38 14.92
7094 661.0 -9.6 329 7107 done -0.85 - - 2599 - 1.75 0.044 2769 -602.9 -76.2 - - 3325 - - - - - - - - 14.70 14.64 14.71
7421 690.9 -9.1 340 7434 roll -0.85 - - 2600 - 2.38 0.044 1369 -588.2 -76.2 - - 3323 - - - - - - - - 14.91 14.52 14.91
7509 698.9 -8.8 352 7522 done -0.85 0.10 0.273 2616 160.0 2.50 0.070 2773 561.6 -76.2 - - 3324 - - - - - - - - 14.14 14.39 14.44
7878 728.9 -8.1 362 7891 roll -0.85 - - 2609 - 1.95 0.108 3821 537.4 -76.2 - - 3322 - - - - - - - - 14.90 14.35 14.94
7916 732.3 -9.4 367 7930 done -0.85 - - 2609 - 1.77 0.044 2751 -604.5 -76.2 - - 3322 - - - - - - - - 14.66 14.59 14.69
8278 762.5 -8.4 376 8292 roll -0.85 - - 2607 - 2.35 0.045 1367 -588.9 -76.2 - - 3318 - - - - - - - - 14.90 14.50 14.90
8310 765.3 -8.6 380 8323 done -0.85 - - 2599 - 2.50 0.070 2775 563.2 -76.2 - - 3321 - - - - - - - - 14.61 14.43 14.64
8679 796.9 -8.5 390 8692 done -0.85 - - 2599 - - - 2771 - -76.2 - - 3319 - - - - - - - - 14.88 14.88 14.88
9015 825.3 -8.4 396 9029 roll -0.85 - - 2598 - 2.40 0.045 1379 -580.0 -76.2 - - 3317 - - - - - - - - 14.90 14.47 14.90
9068 830.0 -8.6 403 9082 done -0.85 0.12 0.260 2621 191.7 2.50 0.070 2768 555.6 -76.2 - - 3318 - - - - - - - - 14.12 14.41 14.40
9413 855.6 -7.3 410 9426 done -0.86 - - 2621 - - - 2768 - -82.0 - - 3318 - - - - - - - - 14.87 14.87 14.86
9749 880.0 -7.3 416 9762 roll -0.95 - - 2621 - 2.40 0.044 1381 -577.9 -89.0 - - 3319 - - - - - - - - 14.89 14.46 14.89
9830 885.5 -6.9 427 9843 done -1.05 0.10 0.119 2554 -670.0 2.47 0.070 2768 561.5 -101.8 - - 3316 - - - - - - - - 14.50 14.39 14.59
10150 914.7 -9.3 437 10163 roll -1.05 - - 2546 - 1.98 0.109 3828 535.4 -101.8 - - 3315 - - - - - - - - 14.86 14.32 14.87
10189 918.0 -7.5 442 10202 done -1.06 - - 2545 - 1.77 0.044 2755 -606.2 -106.1 - - 3314 - - - - - - - - 14.64 14.61 14.68
10325 end dive: TARGET_DEPTH_EXCEEDED
10325 begin apogee
10330 930.9 -9.0 447 10415 roll -0.23 1.00 0.220 2820 275.0 - - 2228 - - 74.72 1.984 3049 -3.5 0.322 - - - - - - 14.16 14.14 13.35
10417 end apogee: CONTROL_FINISHED_OK
10417 begin climb
10419 933.5 - 448 10549 done 1.12 1.35 0.108 3257 323.7 - - 2228 - 106.1 113.32 1.965 2622 -3.8 0.346 - - - - - - 14.11 14.35 13.10
10891 891.0 10.6 478 10904 done 0.95 0.17 0.272 3212 -264.7 - - 2233 - 106.1 - - 2613 - - - - - - - - 14.00 14.38 14.33
11227 860.3 8.9 484 11240 done 0.85 0.12 0.278 3181 -258.3 - - 2227 - 106.1 - - 2612 - - - - - - - - 14.09 14.48 14.42
11563 831.6 8.6 490 11576 roll 0.85 - - 3191 - 2.40 0.062 857 -570.8 106.1 - - 2611 - - - - - - - - 14.76 14.34 14.76
11601 828.1 10.0 495 11615 done 0.85 - - 3190 - 2.45 0.055 2261 573.1 106.1 - - 2611 - - - - - - - - 14.56 14.42 14.59
11963 796.7 8.7 504 11976 roll 0.85 - - 3190 - 2.58 0.096 3661 542.6 106.1 - - 2610 - - - - - - - - 14.81 14.33 14.81
12009 792.0 10.2 510 12023 done 0.73 0.25 0.257 3136 -216.0 2.42 0.040 2234 -589.7 106.1 - - 2610 - - - - - - - - 14.11 14.56 14.45
12365 765.3 7.3 518 12378 roll 0.73 - - 3136 - 2.65 0.096 3652 535.1 113.1 1.12 0.268 2599 -9.8 5.424 - - - - - - 14.81 14.35 14.16
12397 762.4 8.7 522 12410 done 0.73 - - 3147 - 2.38 0.040 2245 -591.2 113.1 - - 2605 - - - - - - - - 14.62 14.54 14.64
12766 735.7 7.0 532 12797 roll 0.75 - - 3147 - 2.67 0.103 3664 531.5 123.7 17.15 1.952 2550 -3.2 0.234 - - - - - - 14.83 14.47 13.77
12816 732.6 6.5 539 12850 done 0.77 - - 3158 - 2.42 0.041 2247 -585.5 142.2 21.42 1.886 2484 -3.1 0.231 - - - - - - 14.56 14.48 13.64
13156 703.6 8.7 552 13169 roll 0.77 - - 3158 - 2.65 0.102 3651 529.8 142.2 - - 2472 - - - - - - - - 14.67 14.28 14.68
13217 697.7 10.0 560 13230 done 0.77 - - 3169 - 2.40 0.041 2254 -582.1 142.2 - - 2471 - - - - - - - - 14.54 14.45 14.56
13558 666.8 8.9 573 13571 roll 0.77 - - 3179 - 2.42 0.063 861 -575.6 142.2 - - 2471 - - - - - - - - 14.75 14.39 14.75
13597 662.9 9.5 578 13611 done 0.77 0.10 0.257 3153 -260.0 2.45 0.057 2264 572.7 142.2 - - 2470 - - - - - - - - 14.19 14.42 14.48
13959 634.7 7.5 587 13973 roll 0.77 - - 3152 - 2.58 0.102 3653 538.4 145.6 - - 2470 - - - - - - - - 14.80 14.34 14.80
14054 626.9 8.6 600 14067 done 0.77 - - 3162 - 2.38 0.041 2258 -586.1 145.6 - - 2470 - - - - - - - - 14.60 14.52 14.62
14416 596.8 8.5 609 14429 roll 0.77 - - 3162 - 2.65 0.099 3657 527.9 145.6 - - 2470 - - - - - - - - 14.81 14.35 14.81
14455 593.0 9.6 614 14468 done 0.77 - - 3173 - 2.38 0.040 2257 -588.2 145.6 - - 2469 - - - - - - - - 14.62 14.57 14.63
14817 560.3 9.1 623 14830 done 0.77 - - 3173 - - - 2253 - 145.6 - - 2472 - - - - - - - - 14.83 14.83 14.83
15153 528.8 9.4 629 15167 roll 0.77 - - 3173 - 2.65 0.102 3652 527.9 145.6 - - 2470 - - - - - - - - 14.83 14.33 14.85
15206 523.4 10.1 636 15220 done 0.77 0.12 0.264 3152 -175.0 2.40 0.041 2251 -583.8 145.6 - - 2470 - - - - - - - - 14.14 14.53 14.43
15551 495.9 7.8 643 15563 done 0.77 - - 3153 - - - 2245 - 145.6 - - 2467 - - - - - - - - 14.83 14.83 14.83
15886 471.1 7.3 649 15900 done 0.78 - - 3152 - - - 2245 - 152.0 4.15 1.634 2446 -5.1 0.282 - - - - - - 14.82 14.64 13.46
16223 446.2 7.5 655 16239 done 0.79 - - 3152 - - - 2245 - 155.8 5.32 1.839 2432 -2.6 0.123 - - - - - - 14.82 14.51 13.73
16560 419.1 8.0 668 16573 roll 0.79 - - 3149 - 2.65 0.100 3654 531.7 155.8 1.33 0.272 2432 - - - - - - - - 14.81 14.35 14.08
16599 415.2 9.5 673 16613 done 0.79 - - 3162 - 2.38 0.041 2257 -587.0 155.8 1.95 0.386 2431 - - - - - - - - 14.64 14.55 13.91
16962 386.0 8.1 682 16975 roll 0.79 - - 3162 - 2.62 0.097 3653 532.8 155.8 1.48 0.291 2432 - - - - - - - - 14.83 14.26 13.85
17008 381.9 9.2 688 17022 done 0.79 - - 3173 - 2.35 0.040 2261 -592.3 155.8 1.42 0.286 2430 - - - - - - - - 14.63 14.54 13.91
17363 353.6 7.9 696 17377 done 0.79 - - 3173 - - - 2257 - 155.8 1.65 0.321 2430 - - - - - - - - 14.82 14.43 13.82
17700 327.1 7.9 702 17717 roll 0.79 - - 3173 - 2.60 0.100 3653 536.9 155.8 1.90 0.364 2434 2.1 -0.366 - - - - - - 14.83 14.41 13.86
17735 323.9 8.8 707 17749 done 0.79 - - 3184 - 2.33 0.041 2270 -593.6 155.8 1.25 0.320 2433 - - - - - - - - 14.64 14.57 13.85
18098 293.9 8.2 716 18116 roll 0.79 0.08 0.282 3169 -187.5 2.50 0.060 861 -563.6 155.8 1.83 0.337 2435 - - - - - - - - 14.21 14.47 13.88
18157 289.5 7.5 724 18175 done 0.79 - - 3168 - 2.45 0.056 2271 575.5 159.4 5.35 1.674 2417 -3.4 0.113 - - - - - - 14.61 14.45 13.78
18496 263.2 7.8 737 18509 done 0.79 - - 3167 - - - 2271 - 159.4 1.15 0.270 2415 - - - - - - - - 14.81 14.50 14.18
18832 235.6 8.2 743 18845 roll 0.79 - - 3168 - 2.53 0.099 3652 545.8 159.4 1.35 0.285 2415 - - - - - - - - 14.82 14.29 13.94
18899 229.5 9.3 752 18912 done 0.79 - - 3178 - 2.33 0.039 2266 -594.8 159.4 1.33 0.290 2415 - - - - - - - - 14.64 14.56 13.98
19233 200.9 8.5 764 19246 done 0.79 - - 3179 - - - 2261 - 159.4 1.40 0.286 2418 2.1 -0.291 - - - - - - 14.83 14.40 13.89
19569 172.9 8.3 770 19583 done 0.79 - - 3179 - - - 2261 - 159.4 1.50 0.308 2416 - - - - - - - - 14.85 14.42 13.81
19905 145.8 8.0 776 19919 roll 0.79 - - 3190 - 2.50 0.063 854 -562.8 159.4 1.60 0.330 2419 1.9 -0.160 - - - - - - 14.85 14.50 13.85
19944 142.6 8.1 781 19959 done 0.79 0.12 0.234 3154 -300.0 2.45 0.056 2272 578.8 159.4 1.17 0.272 2418 - - - - - - - - 14.24 14.47 14.04
20309 114.9 7.8 790 20323 roll 0.87 - - 3154 - 2.60 0.099 3654 531.5 159.4 1.55 0.321 2420 - - - - - - - - 14.84 14.42 13.85
20411 107.0 7.6 804 20432 done 0.88 - - 3165 - 2.35 0.039 2253 -596.2 162.0 2.78 0.415 2408 -4.3 0.215 - - - - - - 14.64 14.57 13.99
20736 87.3 5.8 815 20767 roll 0.99 0.08 0.144 3237 900.0 2.42 0.062 869 -571.9 190.4 14.60 0.435 2293 -7.9 0.306 - - - - - - 14.55 14.54 14.19
20814 80.2 9.9 826 20828 done 0.99 - - 3237 - 2.45 0.055 2275 573.9 190.4 - - 2298 - - - - - - - - 14.60 14.45 14.62
21130 58.6 4.0 838 21169 roll 1.06 - - 3237 - 2.53 0.097 3661 547.8 244.6 26.15 0.358 2078 -8.4 0.266 - - - - - - 14.81 14.45 14.22
21246 53.3 5.5 854 21278 done 1.10 - - 3248 - 2.35 0.038 2264 -594.5 276.6 16.42 0.338 1948 -7.9 0.241 - - - - - - 14.60 14.53 14.16
21582 36.3 6.0 869 21607 roll 1.24 0.08 0.143 3333 1062.5 2.45 0.061 868 -569.8 301.4 12.18 0.287 1850 -8.0 0.197 - - - - - - 14.52 14.47 14.18
21835 24.4 5.5 905 21867 done 1.28 - - 3332 - 2.42 0.054 2283 584.7 333.6 16.20 0.252 1721 -8.0 0.149 - - - - - - 14.57 14.44 14.19
22196 6.0 4.9 923 22228 roll 1.33 - - 3342 - 2.53 0.063 870 -558.5 375.1 19.73 0.186 1557 -8.3 0.052 - - - - - - 14.80 14.47 14.32
22252 end climb: SURFACE_DEPTH_REACHED
22252 begin surface coast
22258 end surface coast: CONTROL_FINISHED_OK
22258 begin surface
SM -4.60 - - - - -8.39 9.43 0.089 190 20.1 3.35 0.064 2761 -1784.8 500.14 56.70 0.161 1056 18.6 0.054 - - - - - -