SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 382 * Raw log
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• Previous call tries 1 • 137.67 of 350.00 AH used of 24V (60.67% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.8 deg, depth -0.93 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (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 - - - 99 done -0.93 - - 108 - - - 2786 - -107.1 -78.07 - 3478 - - - - - - - - 14.66 12.58 14.64
102 7.8 -15.5 3 121 roll -0.93 11.82 0.386 2584 209.5 1.92 0.091 3821 539.1 -107.1 - - 3479 - - - - - - - - 14.04 14.30 14.38
256 50.7 -15.9 25 262 done -0.69 0.32 0.230 2674 281.2 1.75 0.040 2753 -610.3 -107.1 - - 3481 - - - - - - - - 14.14 14.52 14.40
577 78.7 -7.7 38 582 roll -0.69 - - 2674 - 2.33 0.043 1376 -591.0 -107.1 - - 3483 - - - - - - - - 14.83 14.49 14.83
730 90.6 -7.7 60 736 done -0.69 - - 2665 - 2.47 0.065 2761 560.7 -107.1 - - 3483 - - - - - - - - 14.48 14.39 14.52
1053 113.4 -7.0 70 1058 roll -0.69 - - 2656 - 2.00 0.109 3824 531.5 -107.1 - - 3483 - - - - - - - - 14.89 14.27 14.89
1142 120.3 -9.3 83 1149 done -0.69 - - 2656 - 1.80 0.041 2753 -595.0 -107.1 - - 3483 - - - - - - - - 14.70 14.66 14.71
1501 148.9 -8.4 92 1506 roll -0.69 - - 2656 - 2.30 0.044 1388 -593.5 -107.1 - - 3481 - - - - - - - - 14.92 14.54 14.92
1535 151.3 -7.2 97 1542 done -0.69 - - 2645 - 2.47 0.067 2767 558.3 -107.1 - - 3481 - - - - - - - - 14.52 14.42 14.57
1892 181.9 -8.4 106 1893 done -0.69 - - 2646 - - - 2767 - -107.1 - - 3481 - - - - - - - - 14.92 14.92 14.92
2228 211.1 -8.7 112 2229 done -0.69 - - 2646 - - - 2767 - -107.1 - - 3474 - - - - - - - - 14.96 14.96 14.96
2565 238.8 -8.3 118 2570 roll -0.69 - - 2646 - 2.38 0.044 1388 -579.4 -107.1 - - 3475 - - - - - - - - 14.94 14.55 14.94
2605 242.2 -8.3 124 2612 done -0.69 0.12 0.208 2674 233.3 2.47 0.067 2770 559.5 -107.1 - - 3474 - - - - - - - - 14.26 14.42 14.42
2957 268.0 -7.4 132 2957 done -0.69 - - 2674 - - - 2770 - -107.1 - - 3472 - - - - - - - - 14.94 14.94 14.94
3293 292.2 -7.1 138 3298 roll -0.69 - - 2673 - 2.40 0.044 1385 -577.1 -107.1 - - 3470 - - - - - - - - 14.96 14.56 14.96
3369 297.5 -6.9 149 3376 done -0.77 - - 2665 - 2.50 0.068 2768 553.2 -107.1 - - 3470 - - - - - - - - 14.50 14.41 14.54
3685 320.7 -7.4 159 3685 done -0.77 - - 2665 - - - 2768 - -107.1 - - 3468 - - - - - - - - 14.95 14.96 14.96
4020 346.4 -7.8 165 4027 roll -0.77 - - 2665 - 2.38 0.044 1391 -578.6 -107.1 - - 3466 - - - - - - - - 14.96 14.53 14.96
4055 349.2 -8.0 170 4061 done -0.77 - - 2655 - 2.47 0.069 2759 553.8 -107.1 - - 3468 - - - - - - - - 14.50 14.40 14.54
4413 379.4 -8.5 179 4413 done -0.77 - - 2655 - - - 2759 - -107.1 - - 3465 - - - - - - - - 14.94 14.94 14.94
4749 407.1 -8.3 185 4749 done -0.77 - - 2655 - - - 2759 - -107.1 - - 3463 - - - - - - - - 14.96 14.96 14.96
5084 435.3 -8.4 191 5090 roll -0.77 - - 2656 - 2.42 0.046 1386 -567.4 -107.1 - - 3461 - - - - - - - - 14.94 14.47 14.94
5126 438.8 -6.4 197 5133 done -0.77 - - 2646 - 2.53 0.068 2766 545.5 -107.1 - - 3461 - - - - - - - - 14.50 14.40 14.54
5476 469.7 -8.5 205 5483 roll -0.77 - - 2638 - 2.03 0.112 3826 522.2 -107.1 - - 3460 - - - - - - - - 14.95 14.28 14.95
5524 473.6 -8.6 212 5532 done -0.77 - - 2636 - 1.83 0.043 2760 -582.5 -107.1 - - 3459 - - - - - - - - 14.70 14.65 14.71
5868 501.7 -8.1 219 5874 roll -0.77 - - 2637 - 2.40 0.044 1382 -574.2 -107.1 - - 3458 - - - - - - - - 14.93 14.47 14.93
5938 507.5 -8.1 229 5945 done -0.77 - - 2628 - 2.50 0.067 2761 551.6 -107.1 - - 3458 - - - - - - - - 14.45 14.37 14.50
6260 535.0 -8.6 240 6266 roll -0.77 - - 2620 - 2.03 0.111 3818 520.7 -107.1 - - 3456 - - - - - - - - 14.95 14.26 14.95
6322 540.7 -9.2 249 6330 done -0.77 0.08 0.257 2646 325.0 1.83 0.042 2757 -579.8 -107.1 - - 3456 - - - - - - - - 14.21 14.62 14.35
6653 565.5 -7.7 261 6653 done -0.77 - - 2647 - - - 2757 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6989 591.0 -7.6 267 6994 roll -0.77 - - 2645 - 2.38 0.044 1378 -579.4 -107.1 - - 3454 - - - - - - - - 14.95 14.46 14.95
7072 596.7 -5.9 279 7078 done -0.77 - - 2638 - 2.53 0.066 2766 548.6 -107.1 - - 3453 - - - - - - - - 14.38 14.28 14.42
7437 631.7 -8.2 289 7443 roll -0.77 - - 2637 - 2.45 0.044 1377 -566.9 -107.1 - - 3452 - - - - - - - - 14.92 14.42 14.92
7463 634.1 -8.4 293 7471 done -0.77 - - 2627 - 2.53 0.067 2757 545.5 -107.1 - - 3452 - - - - - - - - 14.42 14.33 14.47
7828 664.8 -8.6 303 7834 roll -0.77 - - 2619 - 2.05 0.112 3825 521.0 -107.1 - - 3450 - - - - - - - - 14.92 14.21 14.92
7869 668.5 -8.9 309 7877 done -0.77 0.08 0.251 2645 325.0 1.85 0.044 2753 -579.5 -107.1 - - 3450 - - - - - - - - 14.23 14.62 14.38
8220 697.0 -8.3 317 8227 roll -0.77 - - 2645 - 2.40 0.045 1382 -571.2 -107.1 - - 3449 - - - - - - - - 14.94 14.41 14.94
8276 701.6 -8.0 325 8283 done -0.77 - - 2636 - 2.50 0.067 2759 550.8 -107.1 - - 3448 - - - - - - - - 14.52 14.33 14.56
8613 729.7 -8.4 338 8618 roll -0.77 - - 2628 - 2.05 0.112 3821 518.0 -107.1 - - 3448 - - - - - - - - 14.93 14.20 14.93
8647 732.6 -8.7 343 8653 done -0.77 - - 2627 - 1.83 0.044 2755 -582.5 -107.1 - - 3448 - - - - - - - - 14.59 14.58 14.61
9004 760.9 -7.9 352 9010 roll -0.77 - - 2627 - 2.42 0.045 1376 -569.8 -107.1 - - 3446 - - - - - - - - 14.93 14.37 14.91
9032 763.0 -7.8 356 9038 done -0.77 0.08 0.222 2640 162.5 2.50 0.067 2747 548.4 -107.1 - - 3446 - - - - - - - - 14.08 14.28 14.24
9397 788.3 -6.9 366 9402 roll -0.77 - - 2633 - 2.08 0.113 3823 517.3 -107.1 - - 3445 - - - - - - - - 14.90 14.16 14.90
9431 790.7 -7.3 371 9437 done -0.77 - - 2632 - 1.83 0.044 2759 -581.4 -107.1 - - 3445 - - - - - - - - 14.57 14.53 14.58
9789 816.3 -7.5 380 9794 roll -0.77 - - 2632 - 2.40 0.045 1368 -579.6 -107.1 - - 3445 - - - - - - - - 14.92 14.42 14.92
9830 819.4 -6.1 386 9836 done -0.77 - - 2623 - 2.55 0.067 2754 543.5 -107.1 - - 3445 - - - - - - - - 14.35 14.26 14.39
10181 849.7 -8.8 394 10186 roll -0.77 - - 2614 - 2.05 0.113 3833 526.3 -107.1 - - 3442 - - - - - - - - 14.90 14.19 14.90
10208 851.7 -6.6 398 10214 done -0.77 0.10 0.210 2644 300.0 1.88 0.044 2754 -573.9 -107.1 - - 3443 - - - - - - - - 14.10 14.50 14.26
10572 882.4 -8.5 408 10578 roll -0.77 - - 2644 - 2.40 0.045 1368 -577.5 -107.1 - - 3443 - - - - - - - - 14.90 14.38 14.90
10614 886.1 -6.9 414 10620 done -0.85 - - 2635 - 2.55 0.067 2758 545.1 -107.1 - - 3442 - - - - - - - - 14.34 14.24 14.40
10965 915.0 -8.1 422 10965 done -0.85 - - 2635 - - - 2758 - -107.1 - - 3442 - - - - - - - - 14.91 14.92 14.92
11186 end dive: TARGET_DEPTH_EXCEEDED
11186 begin apogee
11193 932.0 -7.5 426 11305 roll -0.23 0.62 0.168 2820 298.4 0.10 0.158 2277 -4810.0 - 109.80 1.995 3053 -3.5 0.330 - - - - - - 14.12 13.93 12.98
11307 end apogee: CONTROL_FINISHED_OK
11307 begin climb
11310 935.8 - 428 11441 roll 0.93 1.12 0.090 3187 327.7 2.55 0.057 878 -548.6 107.1 118.30 1.963 2617 -3.7 0.351 - - - - - - 13.97 14.00 12.85
11673 911.1 9.1 481 11678 done 0.82 - - 3188 - 2.38 0.052 2240 572.3 107.1 - - 2610 - - - - - - - - 14.35 14.29 14.38
12029 876.8 9.6 490 12034 roll 0.68 0.22 0.223 3134 -245.5 2.35 0.059 888 -575.3 107.1 - - 2607 - - - - - - - - 14.18 14.38 14.45
12266 858.3 7.3 524 12274 done 0.70 - - 3134 - 2.40 0.050 2255 569.6 116.7 4.35 1.862 2585 -5.1 0.466 - - - - - - 14.47 14.40 12.94
12582 836.0 7.1 534 12610 roll 0.71 - - 3134 - 2.58 0.100 3649 540.3 130.1 21.42 1.975 2526 -2.8 0.233 - - - - - - 14.81 14.35 13.47
12658 829.2 8.3 545 12665 done 0.63 0.10 0.218 3115 -190.0 2.40 0.041 2272 -573.8 130.1 - - 2522 - - - - - - - - 14.16 14.41 14.33
12974 810.5 5.8 555 13023 roll 0.68 - - 3115 - 2.70 0.100 3648 509.6 169.3 44.97 1.903 2372 -3.3 0.284 - - - - - - 14.78 14.16 13.31
13064 802.3 7.9 568 13070 done 0.68 - - 3128 - 2.47 0.041 2253 -564.8 169.3 - - 2369 - - - - - - - - 14.31 14.26 14.31
13422 774.9 7.3 577 13428 done 0.69 - - 3124 - - - 2251 - 178.7 4.90 2.005 2341 -5.7 0.441 - - - - - - 14.74 14.37 12.95
13758 755.1 7.7 583 13765 roll 0.69 - - 3124 - 2.70 0.103 3647 517.0 179.3 2.47 0.925 2337 -1.6 0.264 - - - - - - 14.80 14.39 12.89
13820 749.7 8.9 592 13826 done 0.69 - - 3133 - 2.45 0.041 2243 -573.1 179.3 1.27 0.274 2338 - - - - - - - - 14.51 14.46 13.81
14143 721.9 8.7 603 14143 done 0.69 - - 3134 - - - 2241 - 179.3 - - 2347 - - - - - - - - 14.81 14.81 14.82
14479 691.9 8.9 609 14485 roll 0.69 - - 3133 - 2.67 0.100 3654 529.2 179.3 - - 2344 - - - - - - - - 14.85 14.32 14.85
14548 684.7 10.3 619 14554 done 0.69 - - 3144 - 2.45 0.041 2253 -571.8 179.3 1.17 0.249 2339 -4.3 2.347 - - - - - - 14.54 14.49 13.95
14871 655.0 9.2 630 14872 done 0.69 - - 3145 - - - 2249 - 179.3 - - 2343 - - - - - - - - 14.85 14.85 14.85
15207 625.1 8.8 636 15212 roll 0.69 - - 3144 - 2.65 0.100 3651 529.1 179.3 - - 2344 - - - - - - - - 14.89 14.31 14.89
15276 618.5 9.5 646 15282 done 0.69 0.10 0.211 3126 -180.0 2.42 0.041 2261 -574.4 179.3 - - 2344 - - - - - - - - 14.16 14.47 14.33
15599 594.5 7.4 657 15613 done 0.70 - - 3125 - - - 2258 - 186.4 13.02 1.884 2308 -2.8 0.174 - - - - - - 14.89 14.50 13.59
15928 572.0 6.7 669 15956 roll 0.73 - - 3135 - 2.55 0.063 855 -550.2 206.7 24.02 1.730 2221 -3.6 0.239 - - - - - - 14.81 14.39 13.52
15977 568.8 6.7 676 16004 done 0.75 - - 3135 - 2.45 0.054 2255 571.4 226.7 23.25 1.742 2145 -3.3 0.213 - - - - - - 14.47 14.36 13.40
16362 539.4 7.8 689 16368 roll 0.75 - - 3134 - 2.62 0.103 3658 535.5 226.7 - - 2135 - - - - - - - - 14.72 14.26 14.72
16410 535.1 9.0 696 16417 done 0.75 - - 3145 - 2.45 0.040 2258 -571.4 226.7 - - 2135 - - - - - - - - 14.45 14.40 14.47
16754 505.8 8.7 703 16759 roll 0.75 - - 3145 - 2.62 0.102 3650 531.3 226.7 - - 2136 - - - - - - - - 14.79 14.29 14.79
16781 503.0 10.1 707 16787 done 0.75 - - 3156 - 2.42 0.041 2263 -573.1 226.7 - - 2135 - - - - - - - - 14.50 14.45 14.52
17146 467.1 9.9 717 17152 roll 0.75 - - 3166 - 2.45 0.064 859 -573.1 226.7 - - 2134 - - - - - - - - 14.85 14.38 14.85
17202 461.5 10.1 725 17208 done 0.75 - - 3166 - 2.45 0.054 2264 573.5 226.7 - - 2134 - - - - - - - - 14.54 14.39 14.57
17538 428.4 9.8 738 17543 roll 0.75 - - 3166 - 2.60 0.103 3660 536.9 226.7 - - 2134 - - - - - - - - 14.87 14.28 14.87
17565 425.5 10.6 742 17571 done 0.75 0.10 0.210 3148 -180.0 2.45 0.041 2257 -572.7 226.7 - - 2134 - - - - - - - - 14.16 14.44 14.33
17930 393.5 8.6 752 17935 roll 0.75 - - 3158 - 2.50 0.063 855 -560.8 226.7 - - 2134 - - - - - - - - 14.85 14.32 14.85
17964 390.5 8.8 757 17971 done 0.75 - - 3157 - 2.47 0.054 2255 566.8 226.7 - - 2134 - - - - - - - - 14.43 14.35 14.48
18322 358.8 8.9 766 18327 roll 0.75 - - 3157 - 2.60 0.103 3650 536.5 226.7 - - 2134 - - - - - - - - 14.86 14.28 14.86
18378 353.4 9.8 774 18383 done 0.75 - - 3167 - 2.38 0.039 2259 -584.5 226.7 - - 2134 - - - - - - - - 14.59 14.49 14.62
18714 322.1 9.2 787 18719 roll 0.75 - - 3178 - 2.45 0.064 862 -570.2 226.7 - - 2134 - - - - - - - - 14.85 14.35 14.85
18770 317.0 9.3 795 18775 done 0.75 0.12 0.213 3141 -308.3 2.45 0.054 2264 572.2 226.7 - - 2134 - - - - - - - - 14.19 14.39 14.45
19106 289.5 8.3 808 19111 roll 0.75 - - 3141 - 2.58 0.102 3652 538.0 226.7 - - 2133 - - - - - - - - 14.88 14.27 14.88
19140 286.2 9.7 813 19148 done 0.75 - - 3151 - 2.42 0.039 2254 -577.7 226.7 - - 2134 - - - - - - - - 14.50 14.45 14.53
19498 255.0 8.7 822 19503 roll 0.75 - - 3162 - 2.42 0.063 865 -574.0 226.7 - - 2134 - - - - - - - - 14.89 14.35 14.89
19546 250.6 9.1 829 19554 done 0.75 - - 3162 - 2.45 0.051 2257 568.2 226.7 - - 2134 - - - - - - - - 14.42 14.35 14.46
19890 219.3 9.2 836 19895 roll 0.75 - - 3161 - 2.60 0.101 3653 536.9 226.7 - - 2133 - - - - - - - - 14.89 14.28 14.89
19946 213.4 10.7 844 19951 done 0.75 - - 3172 - 2.38 0.039 2260 -585.3 226.7 - - 2135 - - - - - - - - 14.59 14.50 14.62
20282 179.8 10.0 857 20283 done 0.75 - - 3172 - - - 2256 - 226.7 - - 2134 - - - - - - - - 14.90 14.89 14.89
20618 149.0 9.2 863 20623 roll 0.75 - - 3170 - 2.62 0.099 3650 532.1 226.7 - - 2135 - - - - - - - - 14.90 14.26 14.90
20652 145.4 10.6 868 20658 done 0.75 0.12 0.197 3145 -208.3 2.42 0.038 2252 -577.7 226.7 - - 2135 - - - - - - - - 14.16 14.45 14.28
21010 119.4 6.9 877 21018 done 0.77 - - 3145 - - - 2248 - 243.4 7.40 0.504 2079 -7.6 0.358 - - - - - - 14.88 14.30 13.70
21318 96.5 7.4 883 21324 done 0.78 - - 3145 - - - 2247 - 251.0 4.85 0.420 2055 -4.9 0.227 - - - - - - 14.88 14.31 13.76
21626 73.4 7.3 894 21639 roll 0.89 0.08 0.144 3201 700.0 2.65 0.099 3654 530.9 260.8 6.12 0.371 2012 -7.0 0.278 - - - - - - 14.58 14.28 13.87
21740 62.4 9.5 910 21745 done 0.89 - - 3211 - 2.38 0.039 2262 -584.9 260.8 - - 2018 - - - - - - - - 14.59 14.51 14.60
22074 44.0 3.3 925 22120 done 1.00 - - 3211 - - - 2252 - 349.2 45.05 0.305 1658 -8.0 0.230 - - - - - - 14.87 14.42 14.08
22410 26.4 4.3 940 22452 roll 1.24 0.20 0.076 3316 525.0 2.62 0.099 3650 533.6 417.9 33.75 0.248 1385 -8.1 0.172 - - - - - - 14.48 14.31 14.10
22514 19.1 8.2 955 22521 done 1.24 - - 3326 - 2.40 0.038 2255 -581.2 417.9 - - 1385 - - - - - - - - 14.46 14.42 14.48
22743 end climb: SURFACE_DEPTH_REACHED
22743 begin surface coast
22771 end surface coast: CONTROL_FINISHED_OK
22771 begin surface
SM -0.87 - - - - -8.40 8.85 0.040 168 19.0 0.95 0.084 2760 1821.1 500.14 37.80 0.155 1057 28.0 0.016 - - - - - -