SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 403 * Raw log
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• Previous call tries 1 • 144.23 of 350.00 AH used of 24V (58.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth -0.63 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 51 s
• GPS2 time: 3 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
15 - - - 100 done -0.93 - - 104 - - - 2777 - -107.1 -79.12 - 3478 - - - - - - - - 14.68 12.58 14.68
103 7.1 -13.6 3 121 roll -0.93 11.98 0.392 2582 206.8 1.92 0.084 3831 549.0 -107.1 - - 3478 - - - - - - - - 14.02 14.36 14.29
243 53.8 -21.3 23 248 done -0.64 0.38 0.233 2685 271.1 1.75 0.036 2726 -631.4 -107.1 - - 3479 - - - - - - - - 14.11 14.55 14.38
577 87.2 -7.1 38 582 roll -0.64 - - 2685 - 2.22 0.043 1399 -597.7 -107.1 - - 3482 - - - - - - - - 14.85 14.51 14.85
639 91.6 -7.0 47 645 done -0.64 - - 2676 - 2.42 0.065 2760 562.4 -107.1 - - 3482 - - - - - - - - 14.49 14.40 14.53
997 121.3 -8.6 58 1002 roll -0.64 - - 2667 - 2.00 0.107 3850 545.0 -107.1 - - 3482 - - - - - - - - 14.90 14.40 14.90
1094 129.4 -8.2 72 1100 done -0.64 - - 2671 - 1.77 0.037 2758 -616.9 -107.1 - - 3482 - - - - - - - - 14.69 14.66 14.70
1445 157.1 -7.9 80 1450 roll -0.64 - - 2667 - 2.28 0.041 1399 -596.1 -107.1 - - 3480 - - - - - - - - 14.95 14.55 14.95
1507 162.1 -8.0 89 1514 done -0.64 0.08 0.211 2682 187.5 2.42 0.066 2753 559.5 -107.1 - - 3481 - - - - - - - - 14.31 14.44 14.46
1837 186.4 -7.4 101 1842 roll -0.64 - - 2681 - 2.30 0.041 1396 -590.0 -107.1 - - 3478 - - - - - - - - 14.92 14.59 14.93
1871 189.0 -7.6 106 1877 done -0.72 - - 2672 - 2.45 0.066 2756 555.1 -107.1 - - 3478 - - - - - - - - 14.54 14.44 14.59
2229 216.4 -7.7 115 2234 roll -0.72 - - 2672 - 2.33 0.041 1394 -584.5 -107.1 - - 3475 - - - - - - - - 14.93 14.53 14.94
2277 220.3 -7.9 122 2284 done -0.72 - - 2664 - 2.45 0.067 2754 555.1 -107.1 - - 3474 - - - - - - - - 14.53 14.43 14.57
2621 248.9 -8.4 129 2627 roll -0.72 - - 2664 - 2.30 0.041 1393 -591.7 -107.1 - - 3472 - - - - - - - - 14.96 14.59 14.96
2655 251.9 -8.6 134 2661 done -0.72 - - 2655 - 2.45 0.067 2752 554.7 -107.1 - - 3472 - - - - - - - - 14.54 14.45 14.59
3013 281.9 -8.3 143 3013 done -0.72 - - 2655 - - - 2752 - -107.1 - - 3470 - - - - - - - - 14.97 14.96 14.96
3348 310.4 -8.6 149 3355 roll -0.72 - - 2655 - 2.30 0.042 1397 -589.1 -107.1 - - 3467 - - - - - - - - 14.96 14.57 14.96
3376 312.9 -9.0 153 3383 done -0.72 - - 2646 - 2.45 0.068 2747 551.0 -107.1 - - 3467 - - - - - - - - 14.52 14.42 14.57
3741 345.6 -8.9 163 3742 done -0.72 - - 2646 - - - 2743 - -107.1 - - 3465 - - - - - - - - 14.97 14.96 14.97
4077 372.5 -7.9 169 4077 done -0.72 - - 2646 - - - 2747 - -107.1 - - 3460 - - - - - - - - 14.95 14.95 14.95
4413 399.6 -8.2 175 4418 roll -0.72 - - 2646 - 2.35 0.043 1397 -574.5 -107.1 - - 3462 - - - - - - - - 14.97 14.50 14.97
4454 403.3 -8.7 181 4461 done -0.72 - - 2638 - 2.45 0.067 2748 551.4 -107.1 - - 3461 - - - - - - - - 14.52 14.42 14.57
4805 434.9 -9.1 189 4811 roll -0.72 - - 2637 - 2.30 0.041 1399 -586.5 -107.1 - - 3460 - - - - - - - - 14.96 14.54 14.96
4832 437.5 -9.2 193 4839 done -0.72 0.10 0.221 2658 210.0 2.45 0.067 2747 550.2 -107.1 - - 3460 - - - - - - - - 14.20 14.39 14.38
5197 465.4 -7.5 203 5197 done -0.72 - - 2658 - - - 2747 - -107.1 - - 3458 - - - - - - - - 14.93 14.94 14.94
5533 490.8 -7.6 209 5539 roll -0.72 - - 2658 - 2.33 0.043 1393 -581.1 -107.1 - - 3456 - - - - - - - - 14.95 14.53 14.95
5574 494.1 -7.8 215 5580 done -0.72 - - 2649 - 2.47 0.068 2752 550.2 -107.1 - - 3456 - - - - - - - - 14.48 14.36 14.52
5925 522.1 -8.0 223 5925 done -0.72 - - 2650 - - - 2751 - -107.1 - - 3454 - - - - - - - - 14.93 14.93 14.93
6261 547.8 -7.5 229 6267 roll -0.72 - - 2650 - 2.33 0.043 1395 -582.0 -107.1 - - 3453 - - - - - - - - 14.96 14.55 14.96
6337 553.7 -7.6 240 6343 done -0.72 - - 2641 - 2.45 0.069 2739 548.6 -107.1 - - 3452 - - - - - - - - 14.45 14.35 14.50
6653 578.9 -8.1 250 6658 roll -0.72 - - 2632 - 2.10 0.115 3824 516.7 -107.1 - - 3452 - - - - - - - - 14.93 14.24 14.92
6701 583.2 -8.9 257 6709 done -0.72 0.10 0.201 2662 300.0 1.83 0.042 2763 -579.8 -107.1 - - 3451 - - - - - - - - 14.26 14.65 14.40
7045 608.6 -7.3 264 7050 roll -0.80 - - 2663 - 2.38 0.044 1373 -584.0 -107.1 - - 3450 - - - - - - - - 14.95 14.50 14.95
7121 614.1 -7.1 275 7127 done -0.89 0.08 0.090 2588 -937.5 2.50 0.067 2743 548.0 -107.1 - - 3450 - - - - - - - - 14.39 14.34 14.47
7437 644.5 -9.8 285 7437 done -0.89 - - 2587 - - - 2744 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7773 677.8 -9.9 291 7778 roll -0.89 - - 2587 - 2.38 0.043 1366 -579.0 -107.1 - - 3448 - - - - - - - - 14.95 14.48 14.95
7800 680.7 -10.2 295 7806 done -0.89 0.10 0.226 2605 180.0 2.53 0.068 2738 542.3 -107.1 - - 3448 - - - - - - - - 14.11 14.32 14.28
8165 714.3 -9.2 305 8171 roll -0.89 - - 2598 - 2.08 0.112 3820 520.2 -107.1 - - 3447 - - - - - - - - 14.92 14.21 14.92
8213 719.0 -9.8 312 8220 done -0.89 - - 2597 - 1.85 0.042 2733 -587.6 -107.1 - - 3447 - - - - - - - - 14.60 14.58 14.62
8557 751.0 -9.3 319 8558 done -0.89 - - 2596 - - - 2733 - -107.1 - - 3445 - - - - - - - - 14.90 14.91 14.90
8893 782.0 -9.3 325 8893 done -0.89 - - 2597 - - - 2733 - -107.1 - - 3445 - - - - - - - - 14.91 14.91 14.91
9229 812.5 -9.1 331 9234 roll -0.89 - - 2589 - 2.15 0.112 3825 507.9 -107.1 - - 3443 - - - - - - - - 14.93 14.19 14.92
9305 819.6 -9.9 342 9311 done -0.89 - - 2588 - 1.85 0.044 2746 -583.2 -107.1 - - 3442 - - - - - - - - 14.57 14.55 14.58
9621 850.3 -9.9 352 9626 roll -0.89 - - 2588 - 2.35 0.044 1376 -583.0 -107.1 - - 3441 - - - - - - - - 14.91 14.43 14.91
9655 853.8 -8.0 357 9662 done -0.89 0.08 0.230 2600 150.0 2.50 0.066 2745 547.6 -107.1 - - 3440 - - - - - - - - 14.08 14.29 14.26
10013 886.6 -9.1 366 10018 roll -0.89 - - 2593 - 2.05 0.112 3828 528.3 -107.1 - - 3441 - - - - - - - - 14.92 14.22 14.92
10047 889.9 -7.1 371 10053 done -0.89 - - 2592 - 1.88 0.044 2740 -578.7 -107.1 - - 3441 - - - - - - - - 14.54 14.51 14.56
10405 923.6 -9.2 380 10410 roll -0.89 - - 2585 - 2.12 0.111 3820 509.4 -107.1 - - 3439 - - - - - - - - 14.92 14.15 14.92
10439 927.0 -6.9 385 10446 done -0.89 - - 2584 - 1.85 0.043 2740 -583.8 -107.1 - - 3440 - - - - - - - - 14.54 14.51 14.55
10514 end dive: TARGET_DEPTH_EXCEEDED
10514 begin apogee
10521 934.2 -8.9 389 10632 roll -0.23 0.82 0.187 2821 289.0 0.10 0.157 2276 -4640.0 - 108.50 1.972 3049 -3.6 0.341 - - - - - - 14.08 13.93 12.96
10633 end apogee: CONTROL_FINISHED_OK
10633 begin climb
10636 937.9 - 391 10764 roll 0.93 1.12 0.090 3186 325.9 2.58 0.056 858 -549.6 107.1 116.43 1.964 2621 -3.7 0.351 - - - - - - 14.00 14.02 12.87
10784 932.8 8.6 413 10791 done 0.75 0.15 0.215 3146 -266.7 2.53 0.050 2244 547.8 107.1 - - 2616 - - - - - - - - 13.78 13.95 13.93
11135 906.8 7.7 421 11141 roll 0.76 - - 3146 - 2.62 0.099 3653 537.8 108.6 - - 2612 - - - - - - - - 14.71 14.29 14.72
11225 899.1 8.3 434 11231 done 0.64 0.15 0.215 3114 -213.3 2.45 0.039 2233 -579.6 108.6 - - 2611 - - - - - - - - 14.14 14.44 14.31
11583 875.0 6.7 443 11612 roll 0.66 - - 3113 - 2.75 0.099 3653 516.4 129.2 24.12 1.957 2530 -3.4 0.300 - - - - - - 14.81 14.34 13.40
11659 869.2 8.1 454 11665 done 0.66 - - 3124 - 2.42 0.039 2255 -577.7 129.2 - - 2528 - - - - - - - - 14.42 14.38 14.45
12024 842.6 7.2 464 12044 roll 0.68 - - 3124 - 2.67 0.103 3649 522.1 140.9 12.68 2.055 2485 -3.4 0.278 - - - - - - 14.78 14.38 13.43
12065 839.4 10.1 470 12071 done 0.68 - - 3134 - 2.42 0.040 2254 -576.4 140.9 - - 2483 - - - - - - - - 14.50 14.43 14.50
12416 813.4 7.4 478 12421 done 0.69 - - 3134 - - - 2252 - 147.8 3.90 1.733 2463 -5.1 0.481 - - - - - - 14.78 14.40 12.95
12753 788.1 7.5 484 12771 roll 0.69 - - 3134 - 2.70 0.102 3652 518.5 153.2 10.95 2.066 2437 -2.4 0.181 - - - - - - 14.83 14.43 13.49
12871 777.9 8.7 501 12877 done 0.69 - - 3145 - 2.40 0.040 2270 -575.8 153.2 - - 2435 - - - - - - - - 14.50 14.47 14.52
13200 751.3 8.1 513 13206 roll 0.69 - - 3156 - 2.50 0.061 859 -564.4 153.2 - - 2434 - - - - - - - - 14.81 14.38 14.81
13248 747.2 8.1 520 13256 done 0.69 0.10 0.207 3125 -310.0 2.47 0.053 2261 567.6 153.2 - - 2434 - - - - - - - - 14.19 14.38 14.34
13593 721.9 7.3 527 13607 roll 0.70 - - 3126 - 2.62 0.100 3652 530.9 162.3 10.30 2.037 2401 -3.2 0.227 - - - - - - 14.85 14.46 13.50
13683 714.4 8.5 540 13689 done 0.70 - - 3136 - 2.40 0.039 2267 -577.1 162.3 - - 2399 - - - - - - - - 14.50 14.47 14.52
14034 687.9 7.5 548 14041 roll 0.71 - - 3135 - 2.67 0.101 3656 520.2 168.0 3.42 1.538 2385 -4.1 0.366 - - - - - - 14.82 14.43 12.97
14083 683.8 8.6 555 14088 done 0.71 - - 3147 - 2.38 0.040 2264 -584.9 168.0 - - 2388 - - - - - - - - 14.59 14.51 14.62
14419 656.9 8.0 568 14424 roll 0.71 - - 3157 - 2.45 0.061 866 -570.6 168.0 - - 2388 - - - - - - - - 14.83 14.40 14.84
14460 653.4 8.3 574 14466 done 0.71 - - 3157 - 2.47 0.052 2271 568.8 168.0 - - 2388 - - - - - - - - 14.46 14.39 14.49
14811 623.0 8.8 582 14816 roll 0.71 - - 3157 - 2.60 0.101 3655 532.3 168.0 - - 2390 - - - - - - - - 14.85 14.31 14.85
14867 617.5 10.0 590 14872 done 0.63 0.22 0.219 3104 -240.9 2.38 0.040 2254 -588.7 168.0 - - 2388 - - - - - - - - 14.17 14.54 14.44
15203 594.1 6.8 603 15230 done 0.65 - - 3104 - - - 2252 - 186.0 25.90 1.724 2309 -3.1 0.210 - - - - - - 14.86 14.42 13.55
15539 569.8 7.3 609 15553 roll 0.66 - - 3104 - 2.70 0.103 3655 519.6 195.6 9.95 1.897 2268 -4.1 0.247 - - - - - - 14.78 14.39 13.50
15588 566.0 8.3 616 15593 done 0.66 - - 3114 - 2.38 0.041 2269 -582.4 195.6 - - 2266 - - - - - - - - 14.52 14.46 14.54
15924 540.5 7.5 629 15930 roll 0.67 - - 3114 - 2.62 0.100 3662 531.7 199.8 0.98 0.285 2258 -8.2 3.091 - - - - - - 14.81 14.24 14.03
15972 536.5 8.5 636 15980 done 0.67 - - 3124 - 2.40 0.040 2270 -580.0 199.8 1.08 0.247 2256 - - - - - - - - 14.49 14.45 13.90
16316 510.2 7.6 643 16324 roll 0.67 - - 3134 - 2.53 0.062 863 -556.1 202.4 3.65 1.531 2248 -2.2 0.146 - - - - - - 14.83 14.45 13.03
16350 507.4 7.9 648 16356 done 0.67 - - 3133 - 2.47 0.052 2269 569.2 202.4 - - 2251 - - - - - - - - 14.50 14.42 14.54
16701 479.2 8.1 656 16707 roll 0.67 - - 3133 - 2.60 0.103 3660 535.0 202.4 - - 2251 - - - - - - - - 14.85 14.28 14.85
16764 473.6 9.0 665 16771 done 0.67 - - 3144 - 2.40 0.039 2271 -578.8 202.4 1.20 0.266 2246 -4.2 1.481 - - - - - - 14.50 14.46 13.70
17093 448.5 7.5 677 17106 done 0.68 - - 3145 - - - 2269 - 208.3 11.88 1.737 2219 -2.3 0.117 - - - - - - 14.87 14.48 13.61
17430 424.5 7.1 683 17450 roll 0.69 - - 3145 - 2.60 0.102 3655 533.1 220.2 13.18 1.674 2169 -3.8 0.192 - - - - - - 14.82 14.42 13.59
17463 421.8 8.0 688 17470 done 0.69 0.08 0.223 3131 -175.0 2.40 0.040 2278 -573.8 220.2 - - 2168 - - - - - - - - 14.26 14.47 14.40
17821 395.9 7.2 697 17833 done 0.71 - - 3131 - - - 2273 - 230.5 10.93 1.675 2133 -3.2 0.151 - - - - - - 14.81 14.45 13.57
18157 369.8 7.9 703 18158 done 0.71 - - 3138 - - - 2273 - 230.5 - - 2125 - - - - - - - - 14.79 14.79 14.79
18493 342.3 8.2 709 18499 roll 0.71 - - 3131 - 2.60 0.100 3654 531.2 230.5 - - 2125 - - - - - - - - 14.83 14.30 14.83
18527 339.1 9.6 714 18533 done 0.71 - - 3141 - 2.38 0.039 2280 -577.3 230.5 - - 2125 - - - - - - - - 14.51 14.47 14.54
18885 306.9 9.1 723 18886 done 0.71 - - 3141 - - - 2277 - 230.5 - - 2126 - - - - - - - - 14.85 14.84 14.85
19221 277.0 8.8 729 19222 done 0.71 - - 3141 - - - 2276 - 230.5 - - 2125 - - - - - - - - 14.85 14.85 14.85
19557 250.1 7.9 735 19563 roll 0.71 - - 3140 - 2.60 0.101 3653 529.6 230.5 - - 2125 - - - - - - - - 14.88 14.29 14.87
19591 247.0 9.1 740 19597 done 0.71 - - 3150 - 2.40 0.040 2268 -577.1 230.5 - - 2125 - - - - - - - - 14.52 14.47 14.54
19949 216.9 8.5 749 19955 roll 0.71 - - 3164 - 2.45 0.060 866 -572.2 230.5 - - 2126 - - - - - - - - 14.89 14.33 14.89
19983 213.9 8.9 754 19990 done 0.71 0.10 0.187 3129 -350.0 2.47 0.051 2279 572.1 230.5 - - 2125 - - - - - - - - 14.18 14.36 14.33
20342 187.3 7.3 763 20355 roll 0.80 - - 3128 - 2.53 0.099 3657 544.7 238.8 9.05 1.479 2095 -3.3 0.084 - - - - - - 14.88 14.34 13.66
20404 182.2 8.5 772 20409 done 0.80 - - 3137 - 2.38 0.038 2275 -580.7 238.8 - - 2094 - - - - - - - - 14.56 14.52 14.58
20733 156.3 7.9 784 20739 roll 0.88 0.08 0.141 3230 1162.5 2.45 0.062 858 -578.4 238.8 - - 2093 - - - - - - - - 14.57 14.39 14.62
20795 149.4 11.3 793 20803 done 0.88 0.15 0.216 3189 -273.3 2.50 0.052 2283 570.0 238.8 - - 2093 - - - - - - - - 14.12 14.39 14.31
21125 115.2 10.4 805 21126 done 0.88 - - 3189 - - - 2283 - 238.8 - - 2097 - - - - - - - - 14.85 14.85 14.85
21433 84.7 9.7 813 21439 roll 0.88 - - 3199 - 2.50 0.059 858 -570.0 238.8 - - 2093 - - - - - - - - 14.86 14.39 14.85
21474 80.9 9.0 819 21480 done 0.88 - - 3199 - 2.50 0.051 2283 570.0 238.8 - - 2093 - - - - - - - - 14.40 14.32 14.43
21797 56.0 6.6 832 21810 done 0.91 - - 3199 - - - 2281 - 261.8 11.30 0.335 2007 -7.6 0.254 - - - - - - 14.85 14.43 14.00
22106 43.8 4.0 843 22147 done 1.09 0.10 0.116 3293 940.0 - - 2284 - 337.4 39.28 0.296 1706 -7.7 0.226 - - - - - - 14.57 14.46 14.12
22441 24.8 4.1 855 22482 roll 1.18 - - 3293 - 2.55 0.098 3660 539.6 410.2 36.05 0.237 1415 -8.1 0.169 - - - - - - 14.83 14.29 14.09
22559 16.2 8.2 872 22566 done 1.18 - - 3302 - 2.38 0.037 2285 -577.7 410.2 - - 1415 - - - - - - - - 14.43 14.38 14.43
22718 end climb: SURFACE_DEPTH_REACHED
22719 begin surface coast
22746 end surface coast: CONTROL_FINISHED_OK
22746 begin surface
SM -0.56 - - - - -8.39 8.95 0.050 184 20.6 0.93 0.100 2768 1868.8 500.14 41.47 0.154 1058 25.5 0.009 - - - - - -