SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 28 * Raw log
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• Previous call tries 1 • 13.77 of 350.00 AH used of 24V (96.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.5 deg, depth -1.96 m • Intended pitch -14.4 deg, speed -7.857 cm/s
• VBD pumped to 610.67 (SM_CC=609.96155)
• GPS1 time: 22 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
15 - - - 111 VBD -0.90 - - 178 - - - 2858 - -146.0 -93.07 - 3591 - - - - - - - - 14.68 - 14.68
113 4.3 -9.4 6 135 roll -0.90 11.43 0.396 2633 214.8 2.53 2.127 1428 -565.2 -146.0 -0.55 - 3634 -78.2 - - - - - - - 14.32 13.71 14.55
205 44.6 -31.7 24 211 done -0.90 - - 2624 - 2.47 0.076 2850 575.7 -146.0 - - 3636 - - - - - - - - 14.58 14.48 14.59
521 104.2 -11.2 46 527 roll -0.90 - - 2615 - 1.77 0.109 3826 551.4 -146.0 - - 3637 - - - - - - - - 14.85 14.60 14.85
751 130.5 -12.8 92 758 done -0.90 - - 2615 - 1.58 0.043 2857 -613.3 -146.0 - - 3637 - - - - - - - - 14.76 14.73 14.76
1062 167.7 -11.9 104 1068 roll -0.90 - - 2607 - 1.75 0.107 3834 558.3 -146.0 - - 3636 - - - - - - - - 14.93 14.69 14.93
1167 181.1 -12.7 125 1175 done -0.90 0.10 0.230 2637 300.0 1.55 0.044 2891 -608.4 -146.0 - - 3637 - - - - - - - - 14.64 14.78 14.75
1485 215.7 -10.8 138 1491 roll -0.90 - - 2637 - 2.35 0.047 1448 -614.0 -146.0 - - 3634 - - - - - - - - 14.96 14.77 14.96
1516 219.1 -10.9 144 1523 done -0.90 - - 2627 - 2.47 0.073 2891 584.2 -146.0 - - 3633 - - - - - - - - 14.84 14.73 14.85
1847 256.1 -11.4 160 1853 roll -0.90 - - 2626 - 2.38 0.048 1451 -605.0 -146.0 - - 3631 - - - - - - - - 14.97 14.78 14.97
1917 264.1 -11.1 174 1924 done -0.90 - - 2616 - 2.45 0.073 2876 581.6 -146.0 - - 3631 - - - - - - - - 14.85 14.76 14.87
2238 300.5 -11.2 188 2244 roll -0.90 - - 2609 - 1.70 0.114 3832 562.4 -146.0 - - 3628 - - - - - - - - 14.99 14.75 14.99
2269 304.0 -11.6 194 2275 done -0.90 0.10 0.261 2636 270.0 1.58 0.050 2862 -613.9 -146.0 - - 3628 - - - - - - - - 14.70 14.83 14.83
2600 336.1 -9.6 210 2606 roll -0.90 - - 2638 - 2.30 0.050 1456 -611.3 -146.0 - - 3623 - - - - - - - - 14.98 14.80 15.00
2661 342.0 -9.7 222 2667 done -0.90 - - 2628 - 2.45 0.076 2873 578.4 -146.0 - - 3624 - - - - - - - - 14.86 14.76 14.88
2991 376.6 -10.8 238 2998 roll -0.90 - - 2627 - 2.35 0.050 1456 -603.0 -146.0 - - 3621 - - - - - - - - 15.00 14.77 15.00
3061 384.3 -10.8 252 3068 done -0.90 - - 2618 - 2.45 0.076 2853 570.2 -146.0 - - 3620 - - - - - - - - 14.83 14.76 14.86
3383 420.5 -11.3 266 3386 done -0.90 - - 2617 - - - 2853 - -146.0 - - 3617 - - - - - - - - 15.00 15.00 15.00
3683 454.2 -11.2 276 3689 roll -0.90 - - 2617 - 2.33 0.051 1456 -599.6 -146.0 - - 3616 - - - - - - - - 15.00 14.80 15.00
3744 461.1 -11.2 288 3750 done -0.90 0.10 0.272 2636 190.0 2.42 0.078 2852 576.9 -146.0 - - 3616 - - - - - - - - 14.69 14.76 14.84
4075 495.8 -10.4 304 4081 roll -0.90 - - 2636 - 2.33 0.051 1456 -599.1 -146.0 - - 3614 - - - - - - - - 15.00 14.80 15.01
4140 502.6 -10.1 317 4153 done -0.90 - - 2627 - 2.40 0.079 2847 579.6 -146.0 - - 3613 - - - - - - - - 14.88 14.77 14.89
4472 537.2 -10.2 332 4485 done -0.90 - - 2627 - - - 2847 - -146.0 - - 3611 - - - - - - - - 15.01 14.99 15.01
4772 567.1 -9.8 342 4786 roll -0.90 - - 2626 - 2.33 0.054 1449 -600.0 -146.0 - - 3613 - - - - - - - - 15.02 14.82 15.02
4879 577.4 -9.5 362 4892 done -0.90 - - 2614 - 2.35 0.080 2844 593.6 -146.0 - - 3609 - - - - - - - - 14.88 14.77 14.89
5207 609.7 -9.9 376 5220 roll -0.90 - - 2616 - 2.33 0.054 1449 -598.7 -146.0 - - 3607 - - - - - - - - 15.02 14.82 15.02
5254 614.4 -9.7 384 5267 done -0.90 0.10 0.275 2635 190.0 2.40 0.081 2841 580.0 -146.0 - - 3607 - - - - - - - - 14.71 14.79 14.88
5581 645.4 -9.6 398 5595 roll -0.90 - - 2635 - 2.30 0.054 1458 -601.3 -146.0 - - 3605 - - - - - - - - 15.01 14.83 15.02
5619 649.1 -10.1 404 5632 done -0.90 - - 2626 - 2.40 0.082 2837 574.6 -146.0 - - 3605 - - - - - - - - 14.89 14.78 14.90
5957 683.9 -10.3 420 5970 done -0.90 - - 2626 - - - 2837 - -146.0 - - 3601 - - - - - - - - 15.02 15.02 15.02
6257 714.2 -10.1 430 6270 roll -0.90 - - 2625 - 2.33 0.055 1446 -597.0 -146.0 - - 3601 - - - - - - - - 15.03 14.83 15.04
6339 722.4 -9.6 445 6352 done -0.90 - - 2616 - 2.42 0.083 2840 576.0 -146.0 - - 3601 - - - - - - - - 14.89 14.78 14.90
6662 754.8 -10.1 458 6675 roll -0.90 - - 2616 - 2.33 0.055 1451 -596.1 -146.0 - - 3599 - - - - - - - - 15.02 14.82 15.02
6709 759.7 -10.1 466 6722 done -0.90 0.12 0.257 2641 208.3 2.40 0.083 2832 575.4 -146.0 - - 3599 - - - - - - - - 14.72 14.79 14.87
7036 788.9 -8.9 480 7050 roll -0.90 - - 2643 - 2.33 0.055 1446 -594.8 -146.0 - - 3598 - - - - - - - - 15.02 14.82 15.02
7068 791.7 -9.1 485 7083 done -0.90 - - 2633 - 2.42 0.084 2827 570.7 -146.0 - - 3597 - - - - - - - - 14.89 14.78 14.90
7374 819.2 -8.9 496 7387 roll -0.90 - - 2632 - 2.30 0.056 1459 -594.8 -146.0 - - 3596 - - - - - - - - 15.02 14.81 15.01
7406 822.3 -8.1 501 7421 done -0.90 - - 2628 - 2.40 0.085 2823 568.3 -146.0 - - 3596 - - - - - - - - 14.89 14.78 14.90
7712 851.6 -9.6 512 7725 roll -0.90 - - 2625 - 2.30 0.056 1455 -594.8 -146.0 - - 3595 - - - - - - - - 15.02 14.81 15.02
7764 856.7 -9.5 521 7777 done -0.90 - - 2613 - 2.38 0.086 2813 570.6 -146.0 - - 3595 - - - - - - - - 14.88 14.77 14.90
8087 888.3 -9.8 534 8100 done -0.90 - - 2615 - - - 2813 - -146.0 - - 3594 - - - - - - - - 15.00 15.00 15.00
8387 917.3 -9.6 544 8400 roll -0.90 - - 2614 - 2.30 0.057 1448 -593.5 -146.0 - - 3592 - - - - - - - - 15.00 14.80 15.00
8463 924.6 -8.1 558 8477 done -0.90 0.10 0.275 2635 210.0 2.38 0.086 2800 568.1 -146.0 - - 3592 - - - - - - - - 14.69 14.76 14.85
8791 952.8 -8.6 572 8805 roll -0.90 - - 2634 - 2.28 0.057 1447 -593.4 -146.0 - - 3591 - - - - - - - - 15.00 14.80 15.00
8838 957.7 -7.5 580 8851 done -0.90 - - 2626 - 2.35 0.086 2798 574.9 -146.0 - - 3591 - - - - - - - - 14.87 14.76 14.89
9166 986.5 -9.1 594 9179 roll -0.90 - - 2626 - 2.25 0.057 1458 -595.6 -146.0 - - 3590 - - - - - - - - 15.00 14.79 15.00
9197 end dive: TARGET_DEPTH_EXCEEDED
9197 begin apogee
9201 990.3 -10.2 599 9346 roll -0.25 0.75 0.196 2847 294.7 - - 2295 - - 129.55 2.785 3049 -4.2 0.291 - - - - 1 - 14.71 13.81 12.81
9347 end apogee: CONTROL_FINISHED_OK
9347 begin climb
9348 994.3 - 603 9533 roll 0.90 1.10 0.093 3204 324.5 2.55 0.067 898 -547.8 146.0 165.18 1.981 2461 -3.6 0.350 - - - - - - 13.95 13.93 13.20
9757 965.1 11.1 684 9770 done 0.90 - - 3204 - 2.42 0.067 2289 574.8 146.0 - - 2448 - - - - - - - - 14.45 14.36 14.47
10079 926.7 11.8 697 10093 roll 0.90 - - 3214 - 2.40 0.070 898 -579.6 146.0 - - 2448 - - - - - - - - 14.75 14.54 14.75
10316 898.5 11.6 743 10329 done 0.90 - - 3214 - 2.40 0.068 2295 582.1 146.0 - - 2447 - - - - - - - - 14.69 14.59 14.71
10634 859.2 12.6 755 10647 roll 0.90 - - 3225 - 2.40 0.072 899 -581.7 146.0 - - 2446 - - - - - - - - 14.86 14.66 14.87
10672 854.4 12.7 761 10685 done 0.90 - - 3225 - 2.40 0.069 2294 581.2 146.0 - - 2446 - - - - - - - - 14.76 14.66 14.77
11010 811.9 12.4 777 11023 roll 0.90 - - 3235 - 2.40 0.072 902 -580.0 146.0 - - 2445 - - - - - - - - 14.90 14.69 14.90
11047 807.1 10.8 783 11060 done 0.90 - - 3235 - 2.38 0.068 2281 579.4 146.0 - - 2445 - - - - - - - - 14.78 14.69 14.81
11385 763.7 12.6 799 11398 done 0.90 - - 3235 - - - 2281 - 146.0 - - 2444 - - - - - - - - 14.92 14.93 14.93
11685 726.9 12.0 809 11698 done 0.90 - - 3235 - - - 2281 - 146.0 - - 2446 - - - - - - - - 14.94 14.95 14.95
11985 691.2 11.8 819 11998 done 0.90 - - 3235 - - - 2281 - 146.0 - - 2444 - - - - - - - - 14.95 14.95 14.95
12285 656.4 11.8 829 12298 roll 0.90 - - 3245 - 2.35 0.073 906 -585.1 146.0 - - 2444 - - - - - - - - 14.96 14.75 14.97
12337 649.9 12.4 838 12350 done 0.90 - - 3245 - 2.35 0.070 2285 586.8 146.0 - - 2444 - - - - - - - - 14.84 14.73 14.85
12659 610.8 12.3 851 12673 roll 0.90 - - 3255 - 2.38 0.073 894 -584.5 146.0 - - 2444 - - - - - - - - 14.97 14.73 14.97
12706 604.8 12.7 859 12720 done 0.90 0.12 0.282 3222 -275.0 2.35 0.070 2276 588.1 146.0 - - 2443 - - - - - - - - 14.65 14.74 14.83
13034 565.8 12.1 873 13047 done 0.90 - - 3224 - - - 2276 - 146.0 - - 2443 - - - - - - - - 14.96 14.96 14.96
13334 529.7 12.1 883 13348 roll 0.90 - - 3232 - 2.35 0.072 896 -587.2 146.0 - - 2443 - - - - - - - - 14.95 14.76 14.96
13421 518.9 11.9 899 13435 done 0.90 - - 3231 - 2.33 0.069 2265 587.6 146.0 - - 2443 - - - - - - - - 14.85 14.75 14.86
13739 480.3 12.2 911 13746 roll 0.90 - - 3241 - 2.33 0.072 903 -584.5 146.0 - - 2443 - - - - - - - - 14.95 14.74 14.95
13784 474.7 12.3 920 13791 done 0.90 - - 3241 - 2.33 0.068 2242 574.7 146.0 - - 2443 - - - - - - - - 14.79 14.72 14.81
14100 435.8 12.3 933 14103 done 0.90 - - 3241 - - - 2242 - 146.0 - - 2443 - - - - - - - - 14.93 14.94 14.94
14401 400.7 11.7 943 14407 roll 0.90 - - 3251 - 2.30 0.072 895 -585.7 146.0 - - 2443 - - - - - - - - 14.93 14.71 14.92
14426 397.8 10.8 948 14434 done 0.90 0.10 0.265 3223 -280.0 2.33 0.067 2238 576.4 146.0 - - 2444 - - - - - - - - 14.61 14.71 14.75
14732 365.9 10.2 959 14738 roll 0.90 - - 3234 - 2.28 0.071 904 -585.1 146.0 - - 2444 - - - - - - - - 14.92 14.72 14.92
14786 360.0 10.7 970 14795 done 0.90 - - 3233 - 2.33 0.068 2242 574.2 146.0 - - 2445 - - - - - - - - 14.76 14.69 14.78
15092 327.3 10.8 981 15095 done 0.90 - - 3233 - - - 2240 - 146.0 - - 2443 - - - - - - - - 14.92 14.92 14.92
15392 294.1 11.2 991 15399 roll 0.90 - - 3233 - 2.62 0.115 3692 554.2 146.0 - - 2443 - - - - - - - - 14.92 14.66 14.92
15424 290.3 12.5 997 15432 done 0.90 - - 3244 - 2.45 0.053 2231 -596.3 146.0 - - 2444 - - - - - - - - 14.80 14.73 14.81
15756 251.2 11.6 1013 15759 done 0.90 - - 3245 - - - 2227 - 146.0 - - 2447 - - - - - - - - 14.91 14.92 14.92
16056 216.3 11.6 1023 16063 roll 0.90 - - 3255 - 2.25 0.072 895 -592.0 146.0 - - 2443 - - - - - - - - 14.92 14.69 14.91
16126 208.2 11.3 1037 16134 done 0.90 0.12 0.275 3220 -291.7 2.28 0.064 2238 589.0 146.0 - - 2443 - - - - - - - - 14.59 14.69 14.77
16449 175.9 9.8 1051 16455 roll 0.90 - - 3220 - 2.62 0.112 3694 555.7 146.0 - - 2444 - - - - - - - - 14.91 14.66 14.91
16540 165.9 10.9 1069 16547 done 0.90 - - 3232 - 2.45 0.050 2235 -595.5 146.0 - - 2445 - - - - - - - - 14.79 14.73 14.80
16872 132.2 10.1 1085 16879 roll 0.90 - - 3232 - 2.67 0.109 3701 549.1 146.0 - - 2446 - - - - - - - - 14.88 14.65 14.90
16972 119.7 13.1 1105 16980 done 0.90 - - 3243 - 2.42 0.047 2251 -599.2 146.0 - - 2446 - - - - - - - - 14.78 14.72 14.79
17280 92.6 7.9 1121 17282 done 0.90 - - 3243 - - - 2247 - 146.0 - - 2446 - - - - - - - - 14.90 14.90 14.90
17580 78.2 2.0 1141 17659 roll 1.09 0.05 0.207 3284 820.0 2.65 0.106 3693 545.7 300.4 70.72 0.426 1853 -8.4 0.302 - - - - - - 14.71 14.50 14.33
17884 55.3 6.0 1201 17917 done 1.15 - - 3295 - 2.42 0.047 2241 -600.0 349.1 24.10 0.348 1659 -8.0 0.251 - - - - - - 14.69 14.63 14.38
18214 34.6 5.7 1227 18247 roll 1.22 - - 3304 - 2.35 0.067 902 -569.8 405.3 27.75 0.282 1433 -8.1 0.196 - - - - - - 14.81 14.57 14.43
18292 29.6 7.2 1242 18310 done 1.24 - - 3305 - 2.28 0.060 2239 586.4 422.3 9.23 0.264 1366 -7.3 0.160 - - - - - - 14.66 14.58 14.44
18607 2.8 9.2 1265 18614 roll 1.24 - - 3304 - 2.62 0.106 3694 555.3 422.3 - - 1372 - - - - - - - - 14.85 14.57 14.83
18616 end climb: SURFACE_DEPTH_REACHED
18617 begin surface coast
18623 end surface coast: CONTROL_FINISHED_OK
18623 begin surface
SM -2.22 - - - - -8.47 9.20 0.091 201 21.8 1.42 0.049 2852 1825.4 610.67 86.70 0.159 620 7.2 0.010 - - - - - -