SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 282 * Raw log
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• Previous call tries 1 • 106.17 of 350.00 AH used of 24V (69.67% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -1.61 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 90 done -0.93 - - 125 - - - 2771 - -107.1 -75.70 - 3479 - - - - - - - - 14.65 12.76 14.65
93 - -5.3 2 113 roll -0.93 11.90 0.389 2583 206.6 1.95 0.082 3832 544.1 -107.1 - - 3479 - - - - - - - - 14.02 14.33 14.38
274 60.3 -20.3 29 281 done -0.62 0.40 0.241 2692 272.5 1.80 0.037 2756 -597.8 -107.1 - - 3482 - - - - - - - - 14.11 14.47 14.31
588 91.6 -8.4 41 595 roll -0.62 - - 2683 - 2.05 0.106 3828 522.9 -107.1 - - 3484 - - - - - - - - 14.83 14.30 14.83
720 100.9 -9.9 60 727 done -0.62 - - 2684 - 1.80 0.040 2742 -603.3 -107.1 - - 3484 - - - - - - - - 14.68 14.64 14.69
1064 131.5 -8.3 67 1069 roll -0.62 - - 2675 - 2.05 0.103 3822 526.8 -107.1 - - 3486 - - - - - - - - 14.89 14.37 14.90
1301 151.4 -8.5 101 1308 done -0.62 - - 2675 - 1.75 0.040 2774 -598.9 -107.1 - - 3484 - - - - - - - - 14.72 14.70 14.73
1624 177.3 -7.9 112 1630 roll -0.62 - - 2673 - 2.38 0.042 1390 -581.5 -107.1 - - 3482 - - - - - - - - 14.92 14.51 14.92
1651 179.6 -8.2 116 1658 done -0.62 0.10 0.202 2696 230.0 2.45 0.067 2771 563.7 -107.1 - - 3481 - - - - - - - - 14.31 14.49 14.46
2016 206.2 -7.4 126 2021 roll -0.62 - - 2696 - 2.38 0.042 1398 -576.9 -107.1 - - 3479 - - - - - - - - 14.92 14.53 14.93
2050 208.8 -7.4 131 2057 done -0.62 - - 2686 - 2.45 0.067 2766 558.4 -107.1 - - 3479 - - - - - - - - 14.56 14.45 14.62
2408 236.5 -7.8 140 2409 done -0.62 - - 2686 - - - 2766 - -107.1 - - 3476 - - - - - - - - 14.93 14.92 14.93
2744 262.7 -7.8 146 2745 done -0.62 - - 2687 - - - 2766 - -107.1 - - 3473 - - - - - - - - 14.94 14.95 14.94
3080 289.2 -7.9 152 3085 roll -0.62 - - 2685 - 2.40 0.044 1395 -571.2 -107.1 - - 3471 - - - - - - - - 14.95 14.52 14.95
3136 293.6 -7.8 160 3142 done -0.62 - - 2677 - 2.47 0.068 2771 557.1 -107.1 - - 3471 - - - - - - - - 14.52 14.42 14.56
3472 320.5 -8.1 173 3478 roll -0.62 - - 2677 - 2.40 0.043 1397 -572.5 -107.1 - - 3469 - - - - - - - - 14.95 14.51 14.95
3506 323.4 -8.4 178 3513 done -0.62 0.10 0.209 2697 200.0 2.47 0.068 2763 553.0 -107.1 - - 3469 - - - - - - - - 14.26 14.42 14.42
3864 350.0 -7.5 187 3869 roll -0.69 - - 2697 - 2.40 0.044 1366 -582.1 -107.1 - - 3466 - - - - - - - - 14.94 14.52 14.94
3898 352.6 -7.8 192 3905 done -0.78 0.05 0.119 2642 -1100.0 2.53 0.068 2771 555.3 -107.1 - - 3466 - - - - - - - - 14.42 14.42 14.52
4256 386.8 -9.7 201 4262 roll -0.78 - - 2636 - 1.98 0.109 3817 528.3 -107.1 - - 3464 - - - - - - - - 14.96 14.32 15.00
4290 390.4 -10.5 206 4296 done -0.78 - - 2637 - 1.77 0.041 2767 -593.2 -107.1 - - 3463 - - - - - - - - 14.73 14.67 14.73
4648 427.3 -10.3 215 4654 roll -0.78 - - 2636 - 2.38 0.042 1392 -577.7 -107.1 - - 3462 - - - - - - - - 14.91 14.47 14.91
4668 429.5 -10.5 218 4674 done -0.78 - - 2627 - 2.50 0.067 2767 550.0 -107.1 - - 3460 - - - - - - - - 14.51 14.40 14.54
4984 463.5 -10.7 228 4985 done -0.78 - - 2627 - - - 2767 - -107.1 - - 3461 - - - - - - - - 14.93 14.92 14.93
5320 499.0 -10.6 234 5320 done -0.78 - - 2627 - - - 2767 - -107.1 - - 3459 - - - - - - - - 14.95 14.95 14.95
5656 532.7 -10.0 240 5657 done -0.78 - - 2627 - - - 2767 - -107.1 - - 3457 - - - - - - - - 14.95 14.95 14.96
5992 564.7 -9.5 246 5997 roll -0.78 - - 2626 - 2.42 0.044 1389 -569.4 -107.1 - - 3455 - - - - - - - - 14.95 14.45 14.96
6019 567.3 -9.5 250 6026 done -0.78 - - 2617 - 2.50 0.069 2762 549.2 -107.1 - - 3455 - - - - - - - - 14.48 14.38 14.54
6384 601.6 -9.4 260 6385 done -0.78 - - 2617 - - - 2762 - -107.1 - - 3454 - - - - - - - - 14.95 14.95 14.95
6720 632.1 -9.0 266 6721 done -0.78 - - 2617 - - - 2763 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
7056 663.7 -9.4 272 7061 roll -0.78 - - 2617 - 2.42 0.044 1388 -568.2 -107.1 - - 3451 - - - - - - - - 14.95 14.41 14.95
7090 667.1 -9.9 277 7098 done -0.78 0.12 0.240 2641 200.0 2.50 0.069 2759 548.4 -107.1 - - 3451 - - - - - - - - 14.06 14.35 14.27
7448 698.2 -8.7 286 7454 roll -0.78 - - 2633 - 2.05 0.109 3826 520.5 -107.1 - - 3449 - - - - - - - - 14.92 14.22 14.92
7545 707.3 -9.2 300 7551 done -0.78 - - 2633 - 1.83 0.044 2774 -574.9 -107.1 - - 3449 - - - - - - - - 14.68 14.62 14.69
7896 738.5 -8.9 308 7902 roll -0.78 - - 2633 - 2.42 0.044 1381 -575.6 -107.1 - - 3448 - - - - - - - - 14.92 14.39 14.92
7944 742.9 -9.1 315 7952 done -0.78 - - 2623 - 2.53 0.068 2764 546.6 -107.1 - - 3447 - - - - - - - - 14.42 14.33 14.47
8288 773.7 -9.0 322 8293 roll -0.78 - - 2623 - 2.03 0.109 3821 520.7 -107.1 - - 3446 - - - - - - - - 14.93 14.19 14.93
8344 779.0 -9.5 330 8350 done -0.78 0.10 0.219 2643 200.0 1.83 0.044 2770 -574.3 -107.1 - - 3446 - - - - - - - - 14.09 14.51 14.27
8680 805.3 -7.7 343 8686 roll -0.78 - - 2643 - 2.45 0.045 1369 -571.8 -107.1 - - 3445 - - - - - - - - 14.90 14.35 14.90
8707 807.5 -7.9 347 8714 done -0.78 - - 2634 - 2.55 0.068 2772 550.2 -107.1 - - 3445 - - - - - - - - 14.40 14.31 14.46
9072 836.0 -7.9 357 9073 done -0.78 - - 2634 - - - 2771 - -107.1 - - 3445 - - - - - - - - 14.90 14.90 14.90
9408 862.1 -7.7 363 9413 roll -0.78 - - 2633 - 2.47 0.045 1375 -565.2 -107.1 - - 3443 - - - - - - - - 14.90 14.32 14.90
9470 867.1 -7.9 372 9477 done -0.78 - - 2624 - 2.55 0.068 2764 544.7 -107.1 - - 3443 - - - - - - - - 14.39 14.28 14.44
9800 894.6 -8.4 384 9805 roll -0.78 - - 2616 - 2.05 0.111 3827 518.5 -107.1 - - 3442 - - - - - - - - 14.89 14.16 14.89
9848 899.0 -9.3 391 9856 done -0.78 0.10 0.246 2643 270.0 1.88 0.044 2755 -570.2 -107.1 - - 3442 - - - - - - - - 14.16 14.57 14.40
10192 926.6 -8.0 398 10197 roll -0.78 - - 2643 - 2.42 0.044 1373 -571.1 -107.1 - - 3440 - - - - - - - - 14.92 14.32 14.91
10230 end dive: TARGET_DEPTH_EXCEEDED
10231 begin apogee
10237 930.0 -6.2 404 10348 roll -0.23 0.65 0.184 2824 278.5 - - 2259 - - 108.20 1.949 3049 -3.6 0.339 - - - - - - 14.14 14.00 13.19
10349 end apogee: CONTROL_FINISHED_OK
10350 begin climb
10352 933.9 - 406 10475 roll 0.93 1.12 0.099 3183 320.5 2.55 0.057 857 -549.8 107.1 115.05 1.900 2623 -3.7 0.358 - - - - - - 13.98 14.01 13.02
10487 929.4 8.1 426 10494 done 0.72 0.17 0.210 3137 -270.6 2.58 0.051 2254 541.5 107.1 - - 2614 - - - - - - - - 13.73 13.84 13.85
10845 903.7 7.5 435 10851 roll 0.73 - - 3137 - 2.65 0.098 3646 525.3 112.0 - - 2610 - - - - - - - - 14.64 14.21 14.64
10915 897.8 8.4 445 10922 done 0.61 0.17 0.205 3099 -223.5 2.45 0.039 2238 -574.7 112.0 - - 2610 - - - - - - - - 14.10 14.38 14.26
11237 877.6 6.2 456 11285 roll 0.65 - - 3099 - 2.75 0.098 3651 513.8 143.7 39.53 1.895 2471 -3.5 0.321 - - - - - - 14.76 14.21 13.47
11362 868.5 7.9 474 11369 done 0.65 - - 3108 - 2.45 0.039 2255 -569.8 143.7 - - 2467 - - - - - - - - 14.36 14.31 14.38
11685 845.5 7.3 485 11698 roll 0.66 - - 3117 - 2.50 0.063 863 -556.8 153.0 4.95 2.010 2444 -4.6 0.385 - - - - - - 14.71 14.45 13.14
11712 843.5 7.2 489 11735 done 0.67 - - 3117 - 2.47 0.055 2256 564.0 163.5 18.45 1.984 2398 -2.5 0.209 - - - - - - 14.46 14.41 13.54
12071 815.5 7.9 498 12076 roll 0.67 - - 3115 - 2.60 0.099 3655 538.1 163.5 - - 2387 - - - - - - - - 14.71 14.32 14.72
12126 810.5 8.9 506 12132 done 0.67 - - 3127 - 2.45 0.040 2255 -571.4 163.5 - - 2388 - - - - - - - - 14.49 14.44 14.51
12462 782.5 8.2 519 12468 roll 0.67 - - 3127 - 2.65 0.099 3646 524.9 163.5 - - 2386 - - - - - - - - 14.79 14.31 14.80
12503 778.5 9.3 525 12511 done 0.67 - - 3137 - 2.42 0.041 2254 -575.2 163.5 - - 2386 - - - - - - - - 14.53 14.50 14.57
12854 749.3 8.3 533 12855 done 0.67 - - 3137 - - - 2253 - 163.5 - - 2385 - - - - - - - - 14.82 14.82 14.83
13190 721.9 8.2 539 13196 roll 0.67 - - 3137 - 2.67 0.101 3651 523.6 163.5 - - 2385 - - - - - - - - 14.85 14.28 14.85
13259 715.4 9.3 549 13267 done 0.67 0.10 0.216 3119 -180.0 2.42 0.040 2253 -577.7 163.5 - - 2385 - - - - - - - - 14.19 14.52 14.35
13582 691.7 7.3 560 13590 roll 0.68 - - 3118 - 2.67 0.101 3661 527.3 172.3 3.40 1.501 2367 -5.3 0.480 - - - - - - 14.86 14.52 13.21
13616 688.9 8.0 565 13624 done 0.68 - - 3129 - 2.42 0.040 2251 -582.6 172.3 - - 2372 - - - - - - - - 14.60 14.57 14.63
13967 662.1 7.6 573 13974 done 0.69 - - 3129 - - - 2254 - 174.4 3.90 1.692 2357 -3.8 0.296 - - - - - - 14.85 14.59 13.26
14303 635.8 7.8 586 14309 roll 0.69 - - 3129 - 2.62 0.100 3655 534.7 174.4 1.35 0.284 2359 - - - - - - - - 14.85 14.28 13.97
14386 628.3 8.9 598 14393 done 0.69 - - 3139 - 2.40 0.041 2269 -577.5 174.4 1.33 0.252 2356 -2.3 1.107 - - - - - - 14.57 14.53 13.96
14751 598.8 8.0 608 14752 done 0.69 - - 3139 - - - 2265 - 174.4 - - 2364 - - - - - - - - 14.85 14.86 14.86
15087 574.1 7.3 614 15108 roll 0.70 - - 3140 - 2.58 0.101 3653 538.0 183.6 15.48 1.819 2313 -3.3 0.205 - - - - - - 14.87 14.45 13.78
15128 570.9 7.8 620 15135 done 0.70 - - 3150 - 2.40 0.041 2271 -575.8 183.6 - - 2311 - - - - - - - - 14.56 14.52 14.57
15479 543.5 7.8 628 15485 roll 0.70 - - 3150 - 2.65 0.102 3655 522.3 183.6 - - 2310 - - - - - - - - 14.82 14.29 14.82
15513 540.3 9.2 633 15521 done 0.70 0.10 0.214 3131 -190.0 2.40 0.040 2269 -577.5 183.6 - - 2310 - - - - - - - - 14.20 14.50 14.37
15871 512.4 7.8 642 15872 done 0.70 - - 3131 - - - 2268 - 183.6 - - 2310 - - - - - - - - 14.83 14.83 14.83
16207 485.5 8.0 648 16213 roll 0.70 - - 3129 - 2.65 0.101 3653 522.6 183.6 - - 2314 - - - - - - - - 14.87 14.27 14.87
16255 481.2 9.1 655 16263 done 0.70 - - 3140 - 2.40 0.040 2266 -577.9 183.6 - - 2310 - - - - - - - - 14.49 14.45 14.52
16599 452.9 8.2 662 16600 done 0.70 - - 3140 - - - 2268 - 183.6 - - 2310 - - - - - - - - 14.85 14.85 14.85
16935 425.9 8.0 668 16936 done 0.70 - - 3139 - - - 2267 - 183.6 - - 2310 - - - - - - - - 14.88 14.89 14.89
17271 400.1 7.6 674 17277 roll 0.70 - - 3140 - 2.60 0.099 3652 532.7 186.7 - - 2310 - - - - - - - - 14.90 14.29 14.90
17327 395.4 8.6 682 17333 done 0.70 - - 3150 - 2.38 0.040 2281 -576.1 186.7 - - 2309 - - - - - - - - 14.50 14.46 14.53
17663 369.4 7.7 695 17664 done 0.70 - - 3151 - - - 2277 - 187.6 - - 2310 - - - - - - - - 14.86 14.87 14.87
17999 342.4 8.1 701 18006 roll 0.70 - - 3151 - 2.65 0.100 3652 518.9 187.6 - - 2310 - - - - - - - - 14.88 14.23 14.88
18033 339.2 9.3 706 18040 done 0.70 0.10 0.210 3130 -210.0 2.40 0.040 2268 -576.7 187.6 - - 2309 - - - - - - - - 14.14 14.47 14.31
18391 311.1 7.9 715 18392 done 0.70 - - 3131 - - - 2265 - 187.6 - - 2310 - - - - - - - - 14.87 14.87 14.87
18727 285.2 7.6 721 18735 roll 0.71 - - 3131 - 2.65 0.101 3662 527.2 190.6 3.08 1.134 2293 -5.5 0.273 - - - - - - 14.88 14.54 13.35
18761 282.4 8.2 726 18768 done 0.71 - - 3140 - 2.40 0.039 2268 -580.8 190.6 0.98 0.252 2296 3.1 -0.675 - - - - - - 14.61 14.56 14.20
19119 254.9 7.7 735 19126 roll 0.71 - - 3140 - 2.62 0.099 3654 529.0 191.4 2.70 0.943 2290 -2.2 0.118 - - - - - - 14.89 14.53 13.38
19160 251.2 9.0 741 19170 done 0.71 - - 3151 - 2.35 0.039 2282 -583.8 191.4 1.95 0.399 2292 - - - - - - - - 14.59 14.55 13.93
19504 222.9 8.3 748 19511 roll 0.71 - - 3161 - 2.47 0.060 862 -574.9 191.4 1.88 0.366 2292 - - - - - - - - 14.86 14.23 13.78
19538 219.9 8.4 753 19547 done 0.71 0.10 0.197 3131 -300.0 2.50 0.056 2281 567.6 191.4 1.88 0.364 2292 - - - - - - - - 14.24 14.42 13.83
19896 192.2 7.9 762 19902 roll 0.71 - - 3130 - 2.55 0.101 3661 541.2 191.4 1.35 0.287 2291 - - - - - - - - 14.88 14.19 13.81
19965 186.1 8.6 772 19972 done 0.71 - - 3135 - 2.40 0.038 2266 -581.2 191.4 2.55 0.845 2288 -1.2 0.051 - - - - - - 14.53 14.49 13.36
20288 160.8 7.8 783 20291 done 0.71 - - 3140 - - - 2262 - 191.4 1.23 0.278 2289 - - - - - - - - 14.87 14.43 14.02
20625 138.3 6.5 789 20660 roll 0.74 - - 3140 - 2.60 0.101 3661 538.1 216.2 28.45 1.213 2184 -3.7 0.083 - - - - - - 14.87 14.47 13.93
20680 134.1 8.1 797 20687 done 0.74 - - 3150 - 2.38 0.040 2285 -578.2 216.2 - - 2182 - - - - - - - - 14.53 14.45 14.54
21017 108.3 7.5 810 21023 roll 0.74 - - 3150 - 2.58 0.100 3655 531.0 221.0 1.30 0.268 2171 -8.5 0.673 - - - - - - 14.81 14.25 13.97
21043 105.8 8.9 814 21050 done 0.74 - - 3161 - 2.38 0.039 2283 -576.5 221.0 - - 2176 - - - - - - - - 14.52 14.47 14.54
21380 83.6 5.4 828 21409 roll 0.80 - - 3155 - 2.55 0.099 3659 539.6 267.0 23.35 0.423 1987 -8.1 0.315 - - - - - - 14.81 14.42 14.11
21638 67.2 6.8 865 21652 done 0.91 - - 3170 - 2.35 0.038 2294 -580.9 286.1 9.95 0.359 1910 -7.7 0.285 - - - - - - 14.51 14.46 14.06
21969 52.5 3.8 879 22012 roll 1.15 0.22 0.074 3290 545.5 2.55 0.063 866 -560.0 364.2 38.28 0.326 1600 -8.1 0.257 - - - - - - 14.53 14.45 14.16
22052 46.7 8.3 891 22058 done 1.15 - - 3290 - 2.53 0.056 2293 564.0 364.2 - - 1600 - - - - - - - - 14.45 14.35 14.48
22382 29.1 4.4 905 22415 done 1.23 - - 3290 - - - 2293 - 429.9 32.12 0.252 1336 -8.2 0.187 - - - - - - 14.81 14.48 14.19
22718 6.0 6.7 917 22732 roll 1.35 0.08 0.149 3365 937.5 2.58 0.063 858 -556.2 449.9 9.57 0.181 1258 -8.2 0.053 - - - - - - 14.54 14.40 14.24
22764 end climb: SURFACE_DEPTH_REACHED
22764 begin surface coast
22771 end surface coast: CONTROL_FINISHED_OK
22773 begin surface
SM -1.89 - - - - -8.38 9.60 0.092 195 20.3 3.40 0.070 2765 -2397.4 500.14 23.30 0.159 1056 45.3 0.055 - - - - - -