SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 299 * Raw log
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• Previous call tries 4 • 111.37 of 350.00 AH used of 24V (68.18% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -74.3 deg, depth -1.39 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 24 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 90 done -0.93 - - 118 - - - 2784 - -107.1 -75.20 - 3478 - - - - - - - - 14.67 12.72 14.66
93 0.3 -5.5 2 108 roll -0.93 11.90 0.388 2583 207.1 1.92 0.081 3832 545.8 -107.1 - - 3479 - - - - - - - - 14.02 14.36 14.38
338 70.3 -14.0 38 344 done -0.64 0.35 0.221 2681 280.0 1.80 0.034 2729 -612.8 -107.1 - - 3479 - - - - - - - - 14.12 14.50 14.31
674 96.5 -7.0 53 680 roll -0.64 - - 2672 - 2.08 0.104 3821 525.0 -107.1 - - 3481 - - - - - - - - 14.86 14.34 14.86
911 116.5 -9.7 87 918 done -0.64 - - 2671 - 1.75 0.037 2755 -609.1 -107.1 - - 3481 - - - - - - - - 14.71 14.67 14.73
1234 144.2 -8.4 98 1240 roll -0.64 - - 2663 - 2.03 0.103 3823 526.1 -107.1 - - 3481 - - - - - - - - 14.92 14.39 14.92
1373 157.6 -9.3 118 1379 done -0.64 - - 2663 - 1.75 0.041 2774 -599.4 -107.1 - - 3480 - - - - - - - - 14.72 14.69 14.74
1738 188.7 -8.3 128 1745 roll -0.64 - - 2663 - 2.38 0.042 1391 -581.1 -107.1 - - 3476 - - - - - - - - 14.93 14.50 14.94
1772 191.6 -8.2 133 1779 done -0.64 0.10 0.213 2683 200.0 2.45 0.066 2769 562.4 -107.1 - - 3476 - - - - - - - - 14.28 14.47 14.44
2130 217.8 -7.4 142 2131 done -0.64 - - 2683 - - - 2769 - -107.1 - - 3474 - - - - - - - - 14.94 14.93 14.94
2466 244.2 -8.0 148 2467 done -0.64 - - 2683 - - - 2769 - -107.1 - - 3470 - - - - - - - - 14.95 14.95 14.95
2802 272.4 -8.5 154 2803 done -0.64 - - 2683 - - - 2769 - -107.1 - - 3468 - - - - - - - - 14.95 14.95 14.95
3138 299.4 -7.8 160 3145 roll -0.64 - - 2683 - 2.40 0.044 1395 -572.5 -107.1 - - 3466 - - - - - - - - 14.96 14.47 14.96
3179 302.7 -7.7 166 3186 done -0.64 - - 2674 - 2.50 0.067 2772 550.8 -107.1 - - 3466 - - - - - - - - 14.54 14.45 14.59
3530 329.3 -7.6 174 3531 done -0.64 - - 2674 - - - 2772 - -107.1 - - 3464 - - - - - - - - 14.95 14.95 14.95
3866 353.2 -7.1 180 3867 done -0.64 - - 2674 - - - 2772 - -107.1 - - 3461 - - - - - - - - 14.95 14.92 14.95
4202 377.5 -7.2 186 4203 done -0.64 - - 2674 - - - 2772 - -107.1 - - 3459 - - - - - - - - 14.96 14.96 14.95
4538 405.2 -8.4 192 4545 roll -0.64 - - 2666 - 2.03 0.109 3825 518.7 -107.1 - - 3457 - - - - - - - - 14.95 14.28 14.94
4579 409.0 -9.2 198 4586 done -0.64 - - 2665 - 1.80 0.044 2789 -575.6 -107.1 - - 3459 - - - - - - - - 14.72 14.66 14.73
4930 439.0 -8.5 206 4936 roll -0.64 - - 2666 - 2.45 0.044 1374 -577.6 -107.1 - - 3455 - - - - - - - - 14.95 14.49 14.95
5013 445.9 -8.1 218 5020 done -0.64 0.10 0.210 2687 210.0 2.53 0.067 2780 555.7 -107.1 - - 3455 - - - - - - - - 14.22 14.42 14.38
5379 471.3 -6.9 228 5379 done -0.72 - - 2687 - - - 2778 - -107.1 - - 3453 - - - - - - - - 14.96 14.97 14.96
5714 494.9 -7.0 234 5716 done -0.80 0.08 0.142 2624 -787.5 - - 2779 - -107.1 - - 3451 - - - - - - - - 14.65 14.72 14.70
6050 526.6 -9.5 240 6051 done -0.80 - - 2624 - - - 2778 - -107.1 - - 3450 - - - - - - - - 14.94 14.95 14.95
6386 557.7 -9.3 246 6392 roll -0.80 - - 2622 - 2.47 0.044 1379 -566.4 -107.1 - - 3448 - - - - - - - - 14.93 14.45 14.94
6427 561.8 -9.7 252 6435 done -0.80 0.08 0.239 2633 137.5 2.53 0.067 2763 547.0 -107.1 - - 3448 - - - - - - - - 14.16 14.37 14.33
6778 593.8 -9.2 260 6785 roll -0.80 - - 2626 - 2.03 0.109 3819 520.2 -107.1 - - 3447 - - - - - - - - 14.92 14.24 14.93
6812 597.1 -9.8 265 6819 done -0.80 - - 2626 - 1.83 0.041 2755 -581.4 -107.1 - - 3446 - - - - - - - - 14.70 14.65 14.72
7170 630.7 -9.3 274 7171 done -0.80 - - 2626 - - - 2755 - -107.1 - - 3445 - - - - - - - - 14.95 14.95 14.95
7506 659.3 -8.3 280 7507 done -0.80 - - 2624 - - - 2755 - -107.1 - - 3442 - - - - - - - - 14.96 14.95 14.96
7842 686.1 -7.9 286 7848 roll -0.80 - - 2618 - 2.10 0.109 3821 507.6 -107.1 - - 3444 - - - - - - - - 14.95 14.21 14.95
7876 689.1 -8.9 291 7883 done -0.80 - - 2618 - 1.83 0.045 2775 -571.6 -107.1 - - 3444 - - - - - - - - 14.66 14.60 14.68
8234 720.0 -8.9 300 8235 done -0.80 - - 2617 - - - 2775 - -107.1 - - 3442 - - - - - - - - 14.92 14.93 14.92
8570 750.9 -9.3 306 8571 done -0.80 - - 2617 - - - 2775 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.92
8906 782.6 -9.4 312 8907 done -0.80 - - 2617 - - - 2775 - -107.1 - - 3439 - - - - - - - - 14.92 14.92 14.92
9242 812.7 -8.7 318 9243 done -0.80 - - 2617 - - - 2775 - -107.1 - - 3438 - - - - - - - - 14.92 14.92 14.92
9578 842.4 -8.9 324 9579 done -0.80 - - 2617 - - - 2775 - -107.1 - - 3437 - - - - - - - - 14.95 14.95 14.95
9914 871.8 -8.8 330 9920 roll -0.80 - - 2616 - 2.50 0.047 1370 -562.0 -107.1 - - 3436 - - - - - - - - 14.95 14.35 14.95
9948 875.0 -6.9 335 9955 done -0.80 0.10 0.239 2634 180.0 2.60 0.069 2770 538.5 -107.1 - - 3436 - - - - - - - - 13.99 14.27 14.19
10306 905.5 -8.6 344 10313 roll -0.80 - - 2626 - 2.05 0.112 3821 512.7 -107.1 - - 3436 - - - - - - - - 14.94 14.09 14.94
10340 908.7 -6.5 349 10347 done -0.80 - - 2626 - 1.85 0.045 2768 -569.2 -107.1 - - 3435 - - - - - - - - 14.61 14.54 14.62
10584 end dive: TARGET_DEPTH_EXCEEDED
10584 begin apogee
10590 930.2 -8.8 356 10700 roll -0.23 0.68 0.178 2819 283.8 0.08 0.168 2255 -6412.5 - 105.93 1.952 3047 -3.7 0.348 - - - - - - 14.09 13.95 13.17
10701 end apogee: CONTROL_FINISHED_OK
10701 begin climb
10704 933.8 - 358 10827 roll 0.93 1.12 0.096 3185 326.8 2.47 0.056 888 -553.4 107.1 114.70 1.909 2626 -3.7 0.358 - - - - - - 14.00 14.02 13.00
10861 927.6 7.4 381 10867 done 0.81 - - 3185 - 2.47 0.051 2261 555.9 114.2 2.30 0.675 2595 -13.5 3.690 - - - - - - 14.03 13.93 12.61
11197 898.7 8.8 394 11203 roll 0.65 0.25 0.220 3113 -288.0 2.58 0.097 3651 538.8 114.2 - - 2603 - - - - - - - - 14.12 14.25 14.36
11245 894.7 8.0 401 11253 done 0.57 0.12 0.203 3090 -191.7 2.40 0.041 2271 -575.0 114.2 1.17 0.228 2595 -6.8 5.345 - - - - - - 14.14 14.38 14.13
11589 874.4 5.8 408 11645 roll 0.62 - - 3090 - 2.65 0.099 3649 520.0 152.9 48.50 1.883 2436 -3.3 0.303 - - - - - - 14.76 14.15 13.38
11686 867.9 7.5 422 11692 done 0.62 - - 3099 - 2.47 0.041 2251 -566.0 156.9 - - 2433 - - - - - - - - 14.30 14.26 14.31
12037 844.9 6.6 430 12069 done 0.65 - - 3099 - - - 2250 - 179.9 30.65 1.906 2332 -3.3 0.291 - - - - - - 14.71 14.27 13.45
12373 821.9 6.9 436 12399 roll 0.67 - - 3099 - 2.72 0.102 3652 515.4 196.9 18.23 1.967 2258 -4.1 0.338 - - - - - - 14.71 14.28 13.52
12442 816.3 8.8 446 12448 done 0.67 - - 3109 - 2.45 0.041 2259 -568.6 196.9 - - 2254 - - - - - - - - 14.39 14.35 14.40
12765 789.8 8.4 457 12770 roll 0.67 - - 3108 - 2.62 0.100 3650 530.9 196.9 - - 2252 - - - - - - - - 14.74 14.31 14.74
12792 787.1 9.6 461 12799 done 0.67 - - 3119 - 2.42 0.041 2257 -575.6 196.9 - - 2252 - - - - - - - - 14.48 14.44 14.51
13157 753.1 9.4 471 13162 roll 0.67 - - 3119 - 2.62 0.100 3659 535.1 196.9 - - 2252 - - - - - - - - 14.80 14.32 14.84
13184 750.3 10.2 475 13190 done 0.67 - - 3129 - 2.42 0.040 2259 -578.5 196.9 - - 2251 - - - - - - - - 14.53 14.47 14.53
13549 715.5 9.5 485 13550 done 0.67 - - 3129 - - - 2255 - 196.9 - - 2251 - - - - - - - - 14.85 14.85 14.85
13885 685.1 9.0 491 13890 roll 0.67 - - 3129 - 2.62 0.103 3651 532.8 196.9 - - 2251 - - - - - - - - 14.83 14.33 14.85
13933 680.2 10.1 498 13941 done 0.67 - - 3137 - 2.42 0.041 2255 -576.9 196.9 - - 2250 - - - - - - - - 14.54 14.50 14.58
14277 647.2 9.7 505 14277 done 0.67 - - 3139 - - - 2254 - 196.9 - - 2250 - - - - - - - - 14.88 14.88 14.88
14613 613.6 10.0 511 14614 done 0.67 - - 3139 - - - 2253 - 196.9 - - 2250 - - - - - - - - 14.88 14.88 14.89
14949 581.7 9.3 517 14954 roll 0.67 - - 3139 - 2.62 0.100 3649 532.8 196.9 - - 2250 - - - - - - - - 14.87 14.29 14.87
14983 578.3 9.9 522 14990 done 0.67 0.10 0.203 3119 -200.0 2.42 0.041 2258 -574.8 196.9 - - 2250 - - - - - - - - 14.19 14.50 14.34
15341 551.2 7.4 531 15347 roll 0.68 - - 3119 - 2.62 0.099 3650 531.3 204.6 1.65 0.265 2239 -6.7 2.762 - - - - - - 14.87 14.13 13.78
15375 548.4 8.1 536 15383 done 0.68 - - 3129 - 2.42 0.041 2255 -576.4 204.6 1.10 0.233 2238 - - - - - - - - 14.52 14.47 14.13
15733 520.7 7.7 545 15739 roll 0.68 - - 3139 - 2.45 0.061 854 -571.8 205.0 1.40 0.262 2235 -2.1 0.848 - - - - - - 14.86 14.23 13.98
15781 516.7 8.5 552 15790 done 0.68 - - 3137 - 2.50 0.055 2261 562.8 205.0 1.25 0.243 2237 - - - - - - - - 14.45 14.36 14.00
16125 485.6 9.3 559 16131 roll 0.68 - - 3142 - 2.58 0.099 3653 539.5 205.0 1.52 0.265 2236 - - - - - - - - 14.89 14.17 13.89
16194 478.1 10.9 569 16201 done 0.68 0.08 0.210 3127 -187.5 2.42 0.040 2256 -577.3 205.0 1.48 0.236 2235 - - - - - - - - 14.16 14.45 13.97
16517 449.3 8.8 580 16519 done 0.68 - - 3126 - - - 2252 - 205.0 1.48 0.258 2234 - - - - - - - - 14.86 14.37 13.98
16853 422.2 7.9 586 16859 roll 0.68 - - 3126 - 2.67 0.099 3661 527.7 205.0 1.50 0.260 2236 - - - - - - - - 14.90 14.19 13.92
16908 417.3 8.9 594 16915 done 0.68 - - 3133 - 2.42 0.041 2262 -578.1 205.0 1.48 0.236 2234 - - - - - - - - 14.50 14.45 13.95
17245 389.9 8.2 607 17251 roll 0.68 - - 3136 - 2.65 0.099 3660 527.5 205.0 1.30 0.256 2237 2.3 -0.700 - - - - - - 14.86 14.26 14.04
17286 385.8 9.9 613 17293 done 0.68 - - 3147 - 2.42 0.040 2259 -578.9 205.0 1.45 0.245 2237 - - - - - - - - 14.52 14.47 13.89
17637 352.6 9.5 621 17639 done 0.68 - - 3147 - - - 2255 - 205.0 1.42 0.255 2234 -2.1 0.582 - - - - - - 14.89 14.35 13.97
17973 323.2 8.6 627 17979 roll 0.68 - - 3146 - 2.65 0.098 3659 529.8 205.0 1.55 0.259 2236 - - - - - - - - 14.89 14.19 13.85
18000 320.7 8.8 631 18007 done 0.68 0.10 0.201 3127 -190.0 2.40 0.040 2269 -579.2 205.0 1.30 0.280 2235 - - - - - - - - 14.16 14.48 13.76
18365 294.5 7.1 641 18385 done 0.70 - - 3126 - - - 2265 - 216.9 19.38 1.448 2187 -2.5 0.100 - - - - - - 14.87 14.53 13.78
18701 269.4 7.5 647 18706 roll 0.70 - - 3126 - 2.62 0.099 3654 530.2 221.7 - - 2172 - - - - - - - - 14.81 14.29 14.81
18728 267.1 8.4 651 18735 done 0.70 - - 3136 - 2.40 0.039 2268 -577.5 221.7 0.85 0.230 2166 -7.1 1.633 - - - - - - 14.49 14.45 14.17
19093 236.2 8.7 661 19098 roll 0.70 - - 3136 - 2.62 0.100 3652 528.2 221.7 - - 2176 - - - - - - - - 14.83 14.28 14.83
19120 233.4 9.7 665 19126 done 0.70 - - 3146 - 2.42 0.040 2258 -576.0 221.7 - - 2170 - - - - - - - - 14.52 14.45 14.52
19485 198.0 9.7 675 19490 roll 0.70 - - 3157 - 2.45 0.060 855 -572.7 221.7 - - 2172 - - - - - - - - 14.84 14.33 14.83
19512 195.3 9.7 679 19518 done 0.70 - - 3157 - 2.47 0.054 2264 570.4 221.7 - - 2172 - - - - - - - - 14.45 14.35 14.48
19877 162.4 8.7 689 19882 roll 0.70 - - 3157 - 2.60 0.101 3657 535.8 221.7 - - 2172 - - - - - - - - 14.87 14.22 14.88
19911 159.3 8.9 694 19918 done 0.70 0.12 0.196 3130 -225.0 2.40 0.038 2262 -581.2 221.7 - - 2173 - - - - - - - - 14.15 14.47 14.31
20269 134.5 7.0 703 20296 roll 0.72 - - 3130 - 2.65 0.099 3656 526.0 237.3 19.90 1.254 2098 -3.8 0.081 - - - - - - 14.85 14.45 13.86
20338 128.6 9.0 713 20344 done 0.72 - - 3138 - 2.40 0.038 2272 -576.7 237.3 - - 2095 - - - - - - - - 14.52 14.48 14.54
20661 104.0 7.6 724 20667 roll 0.73 - - 3149 - 2.45 0.060 865 -574.3 241.0 - - 2094 - - - - - - - - 14.80 14.36 14.81
20709 100.7 6.9 731 20724 done 0.83 - - 3149 - 2.47 0.050 2273 570.0 258.7 9.05 0.446 2021 -8.1 0.363 - - - - - - 14.43 14.35 14.00
21055 78.0 7.0 750 21073 roll 0.94 0.08 0.145 3207 725.0 2.60 0.096 3655 531.5 274.0 9.12 0.383 1964 -6.3 0.254 - - - - - - 14.50 14.41 14.02
21304 57.2 8.2 786 21310 done 0.94 - - 3218 - 2.38 0.038 2282 -576.9 274.0 - - 1966 - - - - - - - - 14.52 14.45 14.51
21641 42.6 3.4 801 21690 roll 1.04 - - 3217 - 2.62 0.098 3658 525.2 361.6 44.28 0.298 1609 -8.1 0.230 - - - - - - 14.83 14.41 14.18
21836 29.7 5.5 829 21866 done 1.23 0.15 0.061 3304 580.0 2.38 0.037 2264 -585.7 407.1 22.73 0.259 1425 -8.1 0.185 - - - - - - 14.44 14.45 14.14
22196 7.0 7.6 847 22202 roll 1.23 - - 3304 - 2.65 0.096 3657 525.7 410.6 1.95 0.220 1414 -5.6 0.036 - - - - - - 14.81 14.33 14.16
22249 3.6 6.8 855 22264 done 1.26 - - 3312 - 2.33 0.037 2293 -585.4 429.3 9.95 0.174 1338 -7.6 0.031 - - - - - - 14.52 14.47 14.23
22296 end climb: SURFACE_DEPTH_REACHED
22296 begin surface coast
22324 end surface coast: CONTROL_FINISHED_OK
22324 begin surface
SM -1.06 - - - - -8.39 9.23 0.076 194 21.0 0.88 0.084 2765 -7373.9 500.39 32.80 0.156 1056 32.2 0.022 - - - - - -