SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 31 * Raw log
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• Previous call tries 1 • 14.89 of 350.00 AH used of 24V (95.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.3 deg, depth -2.54 m • Intended pitch -14.4 deg, speed -7.857 cm/s
• VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 16 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
13 begin dive
15 - - - 111 VBD -0.90 - - 175 - - - 2866 - -146.0 -93.60 - 3598 - - - - - - - - 14.69 - 14.69
113 3.8 -9.3 6 130 roll -0.90 11.15 0.385 2626 219.8 1.88 2.160 3842 519.1 -146.0 -0.47 - 3637 -83.0 - - - - - - - 14.35 13.73 14.57
355 77.9 -13.5 54 361 done -0.90 - - 2626 - 1.62 0.044 2822 -629.6 -146.0 - - 3635 - - - - - - - - 14.71 14.66 14.71
670 113.3 -9.9 73 677 roll -0.90 - - 2625 - 2.20 0.045 1462 -618.2 -146.0 - - 3636 - - - - - - - - 14.89 14.69 14.90
792 124.9 -8.9 97 799 done -0.90 - - 2615 - 2.45 0.074 2889 582.4 -146.0 - - 3636 - - - - - - - - 14.78 14.69 14.80
1123 161.2 -11.6 113 1130 roll -0.90 - - 2608 - 1.65 0.109 3823 566.1 -146.0 - - 3635 - - - - - - - - 14.95 14.71 14.95
1249 177.6 -13.3 138 1256 done -0.90 - - 2608 - 1.55 0.044 2871 -614.2 -146.0 - - 3634 - - - - - - - - 14.81 14.79 14.83
1575 219.0 -12.7 153 1583 roll -0.90 0.08 0.279 2636 350.0 2.28 0.046 1470 -614.5 -146.0 - - 3632 - - - - - - - - 14.69 14.78 14.80
1601 222.2 -12.0 158 1610 done -0.90 - - 2625 - 2.47 0.079 2882 571.7 -146.0 - - 3632 - - - - - - - - 14.80 14.73 14.85
1907 257.2 -11.4 169 1910 done -0.90 - - 2623 - - - 2882 - -146.0 - - 3629 - - - - - - - - 14.98 14.96 14.99
2207 291.2 -11.1 179 2213 roll -0.90 - - 2625 - 2.35 0.050 1466 -602.6 -146.0 - - 3626 - - - - - - - - 15.00 14.80 15.00
2277 298.8 -10.5 193 2285 done -0.90 - - 2615 - 2.47 0.080 2872 569.2 -146.0 - - 3625 - - - - - - - - 14.84 14.76 14.85
2600 334.0 -10.7 207 2602 done -0.90 - - 2615 - - - 2873 - -146.0 - - 3622 - - - - - - - - 15.00 15.00 15.00
2899 365.8 -10.6 217 2902 done -0.90 - - 2615 - - - 2873 - -146.0 - - 3620 - - - - - - - - 15.00 15.00 15.00
3200 397.7 -10.9 227 3206 roll -0.90 - - 2614 - 2.33 0.052 1471 -601.7 -146.0 - - 3618 - - - - - - - - 15.00 14.81 15.01
3244 402.6 -10.7 236 3252 done -0.90 0.10 0.266 2634 200.0 2.42 0.080 2872 578.9 -146.0 - - 3617 - - - - - - - - 14.71 14.77 14.86
3561 433.9 -10.0 249 3568 roll -0.90 - - 2635 - 2.35 0.054 1462 -600.0 -146.0 - - 3615 - - - - - - - - 15.00 14.80 15.01
3597 437.5 -9.9 256 3604 done -0.90 - - 2625 - 2.45 0.081 2870 574.7 -146.0 - - 3612 - - - - - - - - 14.88 14.77 14.89
3923 472.3 -11.1 271 3929 roll -0.90 - - 2626 - 2.35 0.052 1462 -599.1 -146.0 - - 3613 - - - - - - - - 15.02 14.80 15.00
3954 475.7 -10.8 277 3961 done -0.90 - - 2615 - 2.45 0.083 2869 574.3 -146.0 - - 3612 - - - - - - - - 14.88 14.75 14.89
4286 514.1 -11.7 293 4299 roll -0.90 - - 2614 - 2.33 0.053 1472 -599.6 -146.0 - - 3610 - - - - - - - - 15.00 14.81 15.00
4368 523.8 -11.4 308 4381 done -0.90 0.12 0.256 2641 225.0 2.40 0.083 2860 578.3 -146.0 - - 3609 - - - - - - - - 14.71 14.78 14.88
4691 556.5 -9.9 321 4704 done -0.90 - - 2641 - - - 2860 - -146.0 - - 3607 - - - - - - - - 15.02 15.02 15.02
4991 585.4 -9.6 331 5004 roll -0.90 - - 2642 - 2.33 0.054 1465 -598.7 -146.0 - - 3605 - - - - - - - - 15.02 14.83 15.02
5073 593.3 -9.5 346 5086 done -0.90 - - 2632 - 2.42 0.083 2863 577.7 -146.0 - - 3605 - - - - - - - - 14.90 14.80 14.90
5395 624.1 -9.5 359 5409 roll -0.90 - - 2631 - 2.33 0.054 1468 -598.7 -146.0 - - 3602 - - - - - - - - 15.02 14.83 15.03
5437 628.2 -9.6 366 5450 done -0.90 - - 2622 - 2.40 0.083 2852 576.7 -146.0 - - 3599 - - - - - - - - 14.90 14.80 14.92
5770 660.2 -9.6 381 5783 roll -0.90 - - 2621 - 2.33 0.054 1468 -594.0 -146.0 - - 3600 - - - - - - - - 15.02 14.85 15.03
5808 664.0 -10.0 387 5821 done -0.90 - - 2613 - 2.42 0.083 2851 571.5 -146.0 - - 3599 - - - - - - - - 14.90 14.79 14.91
6145 696.8 -9.6 403 6158 done -0.90 - - 2612 - - - 2852 - -146.0 - - 3598 - - - - - - - - 15.02 15.02 15.02
6445 725.6 -9.6 413 6458 roll -0.90 - - 2613 - 2.33 0.055 1462 -596.6 -146.0 - - 3596 - - - - - - - - 15.02 14.84 15.03
6507 731.7 -9.4 424 6521 done -0.90 0.12 0.258 2639 216.7 2.40 0.085 2840 574.2 -146.0 - - 3596 - - - - - - - - 14.73 14.78 14.87
6813 757.8 -8.5 435 6826 roll -0.90 - - 2639 - 2.30 0.055 1473 -594.3 -146.0 - - 3595 - - - - - - - - 15.02 14.82 15.03
6890 764.7 -8.7 449 6903 done -0.90 - - 2629 - 2.35 0.084 2827 576.2 -146.0 - - 3594 - - - - - - - - 14.89 14.78 14.91
7217 794.6 -9.4 463 7230 done -0.90 - - 2630 - - - 2827 - -146.0 - - 3593 - - - - - - - - 15.02 15.02 15.02
7518 822.9 -9.4 473 7531 roll -0.90 - - 2628 - 2.28 0.057 1470 -595.2 -146.0 - - 3592 - - - - - - - - 15.02 14.81 15.02
7589 829.4 -9.1 486 7603 done -0.90 - - 2621 - 2.38 0.086 2822 568.1 -146.0 - - 3596 - - - - - - - - 14.89 14.78 14.90
7922 860.9 -9.3 501 7935 roll -0.90 - - 2620 - 2.28 0.056 1469 -593.4 -146.0 - - 3590 - - - - - - - - 15.01 14.81 15.01
7964 864.8 -9.2 508 7977 done -0.90 - - 2611 - 2.35 0.086 2813 571.9 -146.0 - - 3590 - - - - - - - - 14.90 14.78 14.90
8297 896.3 -9.2 523 8310 done -0.90 - - 2611 - - - 2813 - -146.0 - - 3589 - - - - - - - - 15.01 15.01 15.01
8597 923.2 -8.9 533 8610 roll -0.90 - - 2612 - 2.28 0.057 1463 -592.1 -146.0 - - 3588 - - - - - - - - 15.00 14.81 15.01
8629 925.4 -6.0 538 8643 done -0.90 0.12 0.256 2637 208.3 2.38 0.087 2808 565.1 -146.0 - - 3587 - - - - - - - - 14.71 14.77 14.85
8934 949.5 -7.8 549 8947 done -0.90 - - 2637 - - - 2811 - -146.0 - - 3588 - - - - - - - - 15.03 15.01 15.01
9234 973.4 -8.1 559 9247 roll -0.90 - - 2637 - 2.25 0.057 1472 -595.1 -146.0 - - 3585 - - - - - - - - 15.01 14.81 15.01
9302 979.3 -8.4 571 9315 done -0.90 - - 2629 - 2.38 0.088 2808 561.3 -146.0 - - 3586 - - - - - - - - 14.88 14.78 14.90
9428 end dive: TARGET_DEPTH_EXCEEDED
9428 begin apogee
9432 990.3 -8.5 580 9576 roll -0.25 0.70 0.188 2842 304.3 - - 2306 - - 129.12 2.791 3049 -4.2 0.289 - - - - 1 - 14.72 13.81 12.82
9577 end apogee: CONTROL_FINISHED_OK
9577 begin climb
9578 993.8 - 584 9763 roll 0.90 1.10 0.093 3202 327.3 2.58 0.068 890 -548.8 146.0 165.30 1.969 2461 -3.6 0.352 - - - - - - 13.94 13.94 13.21
9787 985.1 9.9 625 9802 done 0.90 - - 3201 - 2.55 0.068 2299 552.5 146.0 - - 2452 - - - - - - - - 14.11 14.02 14.13
10093 949.1 11.8 636 10106 done 0.90 - - 3200 - - - 2299 - 146.0 - - 2447 - - - - - - - - 14.65 14.66 14.65
10393 914.0 11.7 646 10406 roll 0.90 - - 3212 - 2.45 0.073 885 -577.1 146.0 - - 2448 - - - - - - - - 14.78 14.57 14.78
10444 907.4 11.7 655 10458 done 0.90 - - 3212 - 2.42 0.070 2290 580.6 146.0 - - 2448 - - - - - - - - 14.68 14.58 14.69
10767 869.3 12.0 668 10780 done 0.90 - - 3212 - - - 2290 - 146.0 - - 2446 - - - - - - - - 14.88 14.83 14.85
11067 833.2 12.1 678 11080 roll 0.90 - - 3222 - 2.40 0.074 891 -582.9 146.0 - - 2445 - - - - - - - - 14.90 14.68 14.89
11135 824.9 11.9 690 11148 done 0.90 - - 3222 - 2.40 0.071 2282 579.6 146.0 - - 2446 - - - - - - - - 14.78 14.68 14.79
11473 783.6 12.3 706 11486 done 0.90 - - 3219 - - - 2282 - 146.0 - - 2445 - - - - - - - - 14.92 14.92 14.92
11773 747.9 11.8 716 11786 roll 0.90 - - 3232 - 2.40 0.075 888 -580.8 146.0 - - 2445 - - - - - - - - 14.95 14.73 14.95
11845 739.3 11.6 729 11858 done 0.90 - - 3233 - 2.40 0.071 2285 582.1 146.0 - - 2444 - - - - - - - - 14.82 14.72 14.83
12178 700.5 11.6 744 12191 roll 0.90 - - 3243 - 2.40 0.075 888 -582.1 146.0 - - 2444 - - - - - - - - 14.95 14.73 14.95
12219 695.6 11.6 751 12233 done 0.90 - - 3242 - 2.38 0.072 2278 584.0 146.0 - - 2445 - - - - - - - - 14.83 14.73 14.83
12552 656.5 11.7 766 12565 done 0.90 - - 3242 - - - 2278 - 146.0 - - 2444 - - - - - - - - 14.96 14.96 14.96
12852 621.1 11.7 776 12865 done 0.90 - - 3243 - - - 2277 - 146.0 - - 2444 - - - - - - - - 14.95 14.96 14.97
13152 586.8 11.4 786 13165 roll 0.90 - - 3253 - 2.38 0.076 892 -581.9 146.0 - - 2444 - - - - - - - - 14.97 14.75 14.97
13204 580.9 11.0 795 13217 done 0.90 0.10 0.289 3225 -280.0 2.35 0.070 2271 586.8 146.0 - - 2444 - - - - - - - - 14.66 14.76 14.83
13527 545.7 11.0 808 13540 done 0.90 - - 3225 - - - 2271 - 146.0 - - 2445 - - - - - - - - 14.95 14.96 14.96
13827 512.9 10.8 818 13840 roll 0.90 - - 3236 - 2.38 0.074 883 -583.2 146.0 - - 2444 - - - - - - - - 14.96 14.76 14.96
13859 509.4 10.9 823 13873 done 0.90 - - 3235 - 2.40 0.071 2280 582.1 146.0 - - 2444 - - - - - - - - 14.85 14.75 14.86
14165 475.0 11.4 834 14171 roll 0.90 - - 3246 - 2.40 0.074 881 -582.9 146.0 - - 2444 - - - - - - - - 14.95 14.73 14.95
14230 467.6 10.9 847 14237 done 0.90 - - 3245 - 2.35 0.069 2259 586.4 146.0 - - 2444 - - - - - - - - 14.83 14.73 14.84
14556 429.5 11.8 862 14559 done 0.90 - - 3246 - - - 2260 - 146.0 - - 2444 - - - - - - - - 14.93 14.93 14.93
14856 394.6 11.5 872 14858 done 0.90 - - 3246 - - - 2260 - 146.0 - - 2444 - - - - - - - - 14.92 14.93 14.93
15156 360.3 11.4 882 15163 roll 0.90 - - 3254 - 2.38 0.074 882 -579.0 146.0 - - 2442 - - - - - - - - 14.92 14.71 14.92
15187 356.8 10.8 888 15194 done 0.90 0.12 0.276 3222 -266.7 2.35 0.070 2256 584.7 146.0 - - 2444 - - - - - - - - 14.62 14.71 14.78
15519 322.7 10.0 904 15521 done 0.90 - - 3221 - - - 2256 - 146.0 - - 2444 - - - - - - - - 14.92 14.92 14.92
15819 291.7 10.4 914 15825 roll 0.90 - - 3231 - 2.35 0.073 886 -583.0 146.0 - - 2444 - - - - - - - - 14.92 14.70 14.92
15889 284.3 10.3 928 15896 done 0.90 - - 3230 - 2.38 0.068 2272 582.4 146.0 - - 2444 - - - - - - - - 14.79 14.69 14.81
16210 250.5 10.5 942 16217 roll 0.90 - - 3241 - 2.38 0.073 885 -582.8 146.0 - - 2444 - - - - - - - - 14.91 14.69 14.91
16260 245.3 10.3 952 16267 done 0.90 - - 3241 - 2.35 0.067 2241 577.0 146.0 - - 2444 - - - - - - - - 14.80 14.69 14.81
16572 214.2 9.8 964 16574 done 0.90 - - 3241 - - - 2241 - 146.0 - - 2444 - - - - - - - - 14.91 14.92 14.95
16872 184.3 10.0 974 16878 roll 0.90 - - 3241 - 2.62 0.109 3697 555.7 146.0 - - 2446 - - - - - - - - 14.91 14.66 14.91
16897 181.5 10.5 979 16906 done 0.90 0.10 0.269 3225 -160.0 2.50 0.050 2232 -586.0 146.0 - - 2446 - - - - - - - - 14.58 14.71 14.73
17203 152.6 9.5 990 17205 done 0.90 - - 3225 - - - 2231 - 146.0 - - 2446 - - - - - - - - 14.90 14.91 14.91
17503 125.8 8.6 1000 17509 roll 0.90 - - 3225 - 2.65 0.107 3696 552.8 146.0 - - 2446 - - - - - - - - 14.91 14.66 14.91
17733 101.7 9.9 1046 17740 done 0.90 - - 3236 - 2.42 0.049 2250 -597.5 146.0 - - 2447 - - - - - - - - 14.79 14.72 14.80
18045 84.2 4.7 1067 18093 roll 1.00 - - 3236 - 2.70 0.106 3697 535.9 229.6 37.22 0.441 2136 -8.4 0.313 - - - - - - 14.90 14.56 14.40
18137 77.6 9.2 1085 18144 done 1.00 - - 3247 - 2.38 0.047 2269 -600.0 229.6 - - 2140 - - - - - - - - 14.71 14.64 14.71
18454 60.2 4.2 1108 18508 roll 1.12 0.08 0.149 3313 825.0 2.42 0.070 892 -569.0 325.8 46.88 0.363 1752 -8.3 0.269 - - - - - - 14.67 14.55 14.39
18647 46.6 6.5 1146 18672 done 1.17 - - 3313 - 2.40 0.063 2289 582.1 362.4 18.27 0.317 1606 -8.0 0.230 - - - - - - 14.68 14.58 14.42
18968 26.1 6.6 1170 18991 roll 1.21 - - 3323 - 2.38 0.067 900 -583.6 394.9 16.50 0.252 1477 -7.8 0.159 - - - - - - 14.82 14.59 14.48
19025 21.9 7.7 1181 19035 done 1.21 - - 3322 - 2.40 0.061 2285 577.1 399.2 3.20 0.245 1458 -5.9 0.104 - - - - - - 14.69 14.59 14.49
19270 end climb: SURFACE_DEPTH_REACHED
19270 begin surface coast
19285 end surface coast: CONTROL_FINISHED_OK
19285 begin surface
SM -2.86 - - - - -8.50 9.27 0.093 194 20.9 1.00 0.091 2852 -6402.0 610.16 96.60 0.158 623 6.4 0.012 - - - - - -