SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 405 * Raw log
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• Previous call tries 1 • 144.84 of 350.00 AH used of 24V (58.62% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -68.4 deg, depth -0.45 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 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
15 - - - 100 done -0.93 - - 103 - - - 2775 - -107.1 -79.62 - 3475 - - - - - - - - 14.66 13.17 14.66
104 7.1 -13.1 3 121 roll -0.93 11.90 0.387 2583 208.4 1.90 0.080 3831 555.8 -107.1 - - 3478 - - - - - - - - 14.01 14.37 14.28
205 45.2 -25.0 18 213 done -0.62 0.40 0.227 2693 275.0 1.80 0.036 2734 -609.4 -107.1 - - 3479 - - - - - - - - 14.09 14.50 14.28
521 79.9 -8.6 30 526 roll -0.62 - - 2694 - 2.28 0.041 1398 -586.0 -107.1 - - 3482 - - - - - - - - 14.83 14.45 14.83
661 90.7 -7.3 50 666 done -0.62 - - 2684 - 2.40 0.065 2770 571.7 -107.1 - - 3482 - - - - - - - - 14.59 14.43 14.61
1025 120.0 -7.8 62 1030 roll -0.62 - - 2683 - 2.33 0.041 1393 -591.0 -107.1 - - 3482 - - - - - - - - 14.90 14.53 14.90
1045 121.7 -8.1 65 1052 done -0.62 - - 2674 - 2.42 0.066 2762 565.7 -107.1 - - 3482 - - - - - - - - 14.52 14.40 14.57
1361 144.9 -7.2 75 1366 roll -0.62 - - 2674 - 2.33 0.041 1396 -586.3 -107.1 - - 3481 - - - - - - - - 14.92 14.55 14.92
1444 150.4 -6.5 87 1450 done -0.62 0.10 0.202 2695 210.0 2.42 0.066 2756 562.0 -107.1 - - 3481 - - - - - - - - 14.27 14.42 14.44
1809 171.0 -5.9 97 1815 roll -0.71 - - 2696 - 2.33 0.042 1395 -584.1 -107.1 - - 3478 - - - - - - - - 14.94 14.56 14.95
1843 173.4 -7.0 102 1849 done -0.81 0.10 0.074 2614 -820.0 2.42 0.067 2752 560.7 -107.1 - - 3479 - - - - - - - - 14.51 14.43 14.57
2201 210.8 -10.8 111 2206 roll -0.81 - - 2605 - 2.00 0.108 3822 535.0 -107.1 - - 3476 - - - - - - - - 14.94 14.36 14.93
2235 214.7 -11.3 116 2241 done -0.81 0.10 0.207 2635 300.0 1.73 0.040 2775 -605.2 -107.1 - - 3476 - - - - - - - - 14.31 14.65 14.47
2593 248.8 -9.4 125 2599 roll -0.81 - - 2635 - 2.35 0.042 1377 -594.9 -107.1 - - 3473 - - - - - - - - 14.93 14.54 14.93
2669 255.7 -8.8 136 2675 done -0.81 - - 2623 - 2.47 0.063 2755 557.9 -107.1 - - 3473 - - - - - - - - 14.52 14.42 14.54
2985 284.3 -9.1 146 2990 roll -0.81 - - 2617 - 2.00 0.109 3820 532.5 -107.1 - - 3471 - - - - - - - - 14.95 14.33 14.96
3047 290.2 -9.6 155 3053 done -0.81 - - 2617 - 1.80 0.040 2743 -598.3 -107.1 - - 3470 - - - - - - - - 14.71 14.68 14.71
3377 320.5 -9.2 167 3377 done -0.81 - - 2617 - - - 2743 - -107.1 - - 3469 - - - - - - - - 14.93 14.94 14.93
3713 351.8 -9.2 173 3713 done -0.81 - - 2617 - - - 2743 - -107.1 - - 3467 - - - - - - - - 14.96 14.97 14.96
4049 384.5 -9.9 179 4054 roll -0.81 - - 2617 - 2.30 0.042 1389 -588.7 -107.1 - - 3464 - - - - - - - - 14.95 14.55 14.94
4097 389.7 -10.3 186 4105 done -0.81 0.08 0.236 2630 162.5 2.45 0.066 2754 557.1 -107.1 - - 3464 - - - - - - - - 14.21 14.41 14.38
4441 423.2 -9.7 193 4441 done -0.81 - - 2630 - - - 2754 - -107.1 - - 3463 - - - - - - - - 14.96 14.96 14.95
4777 456.3 -9.9 199 4782 roll -0.81 - - 2621 - 2.03 0.109 3828 529.1 -107.1 - - 3461 - - - - - - - - 14.95 14.33 14.95
4804 459.1 -10.2 203 4810 done -0.81 - - 2621 - 1.80 0.041 2768 -588.9 -107.1 - - 3461 - - - - - - - - 14.69 14.65 14.69
5169 494.7 -9.7 213 5174 roll -0.81 - - 2621 - 2.35 0.041 1378 -591.5 -107.1 - - 3459 - - - - - - - - 14.95 14.53 14.95
5231 500.8 -9.5 222 5237 done -0.81 - - 2612 - 2.47 0.065 2755 557.5 -107.1 - - 3458 - - - - - - - - 14.48 14.38 14.52
5561 531.8 -9.4 234 5562 done -0.81 - - 2612 - - - 2755 - -107.1 - - 3457 - - - - - - - - 14.95 14.95 14.95
5897 563.0 -9.3 240 5902 roll -0.81 - - 2604 - 2.03 0.109 3826 527.6 -107.1 - - 3456 - - - - - - - - 14.95 14.29 14.95
5924 565.6 -9.6 244 5930 done -0.81 0.10 0.215 2633 290.0 1.83 0.042 2748 -589.1 -107.1 - - 3455 - - - - - - - - 14.24 14.64 14.41
6289 595.2 -8.1 254 6294 roll -0.81 - - 2633 - 2.40 0.043 1366 -575.8 -107.1 - - 3454 - - - - - - - - 14.95 14.46 14.96
6330 598.8 -8.5 260 6336 done -0.81 - - 2624 - 2.53 0.066 2762 551.8 -107.1 - - 3453 - - - - - - - - 14.45 14.35 14.50
6681 629.2 -8.6 268 6686 roll -0.81 - - 2623 - 2.40 0.043 1369 -580.4 -107.1 - - 3452 - - - - - - - - 14.92 14.50 14.92
6729 633.4 -8.4 275 6736 done -0.81 - - 2613 - 2.50 0.064 2752 553.2 -107.1 - - 3452 - - - - - - - - 14.44 14.35 14.47
7073 661.9 -8.2 282 7074 done -0.81 - - 2614 - - - 2752 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7409 689.8 -8.4 288 7414 roll -0.81 - - 2605 - 2.00 0.110 3826 537.0 -107.1 - - 3448 - - - - - - - - 14.92 14.26 14.94
7443 693.0 -9.1 293 7450 done -0.81 0.10 0.216 2634 290.0 1.83 0.043 2755 -585.2 -107.1 - - 3448 - - - - - - - - 14.16 14.59 14.33
7801 720.2 -7.6 302 7806 roll -0.81 - - 2634 - 2.38 0.044 1368 -582.8 -107.1 - - 3448 - - - - - - - - 14.91 14.47 14.92
7870 725.6 -7.4 312 7876 done -0.81 - - 2625 - 2.53 0.067 2756 548.6 -107.1 - - 3447 - - - - - - - - 14.42 14.32 14.47
8193 751.0 -7.8 323 8198 roll -0.81 - - 2616 - 2.00 0.111 3825 534.5 -107.1 - - 3446 - - - - - - - - 14.91 14.26 14.91
8227 753.9 -8.5 328 8233 done -0.81 - - 2616 - 1.85 0.044 2744 -584.3 -107.1 - - 3446 - - - - - - - - 14.56 14.54 14.57
8585 783.8 -8.4 337 8591 roll -0.81 - - 2616 - 2.35 0.044 1373 -583.4 -107.1 - - 3445 - - - - - - - - 14.93 14.44 14.92
8626 787.5 -9.0 343 8632 done -0.81 0.10 0.223 2635 190.0 2.53 0.066 2758 547.4 -107.1 - - 3445 - - - - - - - - 14.07 14.28 14.24
8977 816.0 -8.1 351 8977 done -0.81 - - 2633 - - - 2757 - -107.1 - - 3444 - - - - - - - - 14.93 14.93 14.93
9313 844.8 -8.6 357 9319 roll -0.81 - - 2635 - 2.40 0.044 1374 -576.2 -107.1 - - 3443 - - - - - - - - 14.92 14.44 14.92
9361 849.1 -8.9 364 9368 done -0.81 - - 2626 - 2.50 0.066 2750 550.4 -107.1 - - 3443 - - - - - - - - 14.36 14.27 14.42
9705 879.8 -8.9 371 9705 done -0.81 - - 2626 - - - 2750 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
10041 909.6 -8.9 377 10047 roll -0.81 - - 2625 - 2.42 0.045 1380 -566.1 -107.1 - - 3440 - - - - - - - - 14.92 14.35 14.92
10103 915.1 -8.7 386 10109 done -0.81 - - 2616 - 2.53 0.068 2757 544.3 -107.1 - - 3440 - - - - - - - - 14.33 14.23 14.38
10318 end dive: TARGET_DEPTH_EXCEEDED
10318 begin apogee
10325 933.8 -8.7 396 10438 roll -0.23 0.70 0.177 2820 291.4 0.10 0.157 2273 -4840.0 - 110.12 1.955 3050 -3.5 0.330 - - - - - - 14.11 13.93 13.00
10440 end apogee: CONTROL_FINISHED_OK
10440 begin climb
10443 937.6 - 398 10569 roll 0.93 1.12 0.090 3185 325.9 2.50 0.056 895 -551.2 107.1 117.15 1.956 2625 -3.6 0.340 - - - - - - 13.98 14.02 12.87
10617 930.8 7.3 424 10631 done 0.83 - - 3186 - 2.42 0.050 2236 554.1 116.9 10.62 2.119 2585 -3.8 0.323 - - - - - - 14.07 14.00 12.95
10988 897.6 9.2 435 10994 roll 0.71 0.20 0.227 3129 -285.0 2.60 0.097 3651 544.2 116.9 - - 2575 - - - - - - - - 14.13 14.29 14.39
11044 892.7 8.8 443 11050 done 0.63 0.12 0.233 3106 -191.7 2.33 0.040 2279 -588.8 116.9 - - 2574 - - - - - - - - 14.19 14.46 14.45
11380 869.4 6.8 456 11407 roll 0.65 - - 3113 - 2.53 0.062 868 -557.7 134.9 20.60 1.973 2505 -3.3 0.288 - - - - - - 14.80 14.38 13.42
11421 866.5 9.1 462 11427 done 0.65 - - 3115 - 2.45 0.052 2254 565.7 134.9 - - 2502 - - - - - - - - 14.40 14.33 14.42
11772 840.3 7.6 470 11778 roll 0.65 - - 3115 - 2.62 0.100 3663 537.8 138.9 - - 2500 - - - - - - - - 14.77 14.31 14.77
11848 833.9 8.4 481 11856 done 0.65 - - 3123 - 2.42 0.040 2254 -582.2 138.9 - - 2502 - - - - - - - - 14.50 14.46 14.52
12164 810.6 7.3 491 12179 done 0.66 - - 3126 - - - 2253 - 147.0 13.05 2.048 2463 -3.0 0.231 - - - - - - 14.81 14.44 13.47
12501 785.5 7.4 497 12507 roll 0.67 - - 3126 - 2.70 0.100 3659 520.7 153.0 2.40 0.827 2444 -7.9 1.469 - - - - - - 14.80 14.38 12.86
12569 779.7 8.4 507 12576 done 0.67 - - 3136 - 2.42 0.040 2261 -577.7 153.0 1.42 0.262 2442 - - - - - - - - 14.51 14.47 13.78
12893 755.7 7.4 518 12912 roll 0.68 - - 3147 - 2.45 0.061 861 -571.4 160.0 14.45 1.994 2405 -2.6 0.190 - - - - - - 14.82 14.29 13.48
12933 752.7 7.0 524 12955 done 0.70 - - 3147 - 2.45 0.054 2252 567.8 175.2 17.70 1.922 2352 -3.0 0.229 - - - - - - 14.45 14.37 13.40
13277 725.3 8.0 538 13283 roll 0.70 - - 3147 - 2.60 0.101 3653 538.8 175.2 - - 2340 - - - - - - - - 14.73 14.28 14.73
13325 720.8 9.4 545 13334 done 0.70 0.10 0.224 3129 -180.0 2.42 0.040 2255 -577.7 175.2 - - 2340 - - - - - - - - 14.14 14.44 14.31
13669 693.6 7.9 552 13675 roll 0.70 - - 3139 - 2.45 0.062 858 -570.2 175.2 - - 2339 - - - - - - - - 14.82 14.38 14.83
13710 690.1 8.4 558 13717 done 0.70 - - 3138 - 2.45 0.052 2249 567.8 175.2 - - 2339 - - - - - - - - 14.44 14.36 14.48
14061 659.9 8.7 566 14067 roll 0.70 - - 3139 - 2.62 0.100 3661 538.9 175.2 - - 2338 - - - - - - - - 14.83 14.31 14.83
14123 653.9 9.6 575 14130 done 0.70 - - 3150 - 2.45 0.040 2247 -577.1 175.2 - - 2338 - - - - - - - - 14.52 14.47 14.54
14453 624.2 9.0 587 14454 done 0.70 - - 3150 - - - 2243 - 175.2 - - 2338 - - - - - - - - 14.85 14.85 14.85
14789 595.0 8.6 593 14790 done 0.70 - - 3149 - - - 2244 - 175.2 - - 2338 - - - - - - - - 14.85 14.86 14.85
15126 567.9 7.9 599 15131 roll 0.70 - - 3149 - 2.67 0.101 3660 530.3 175.2 - - 2338 - - - - - - - - 14.86 14.21 14.86
15159 564.9 8.5 604 15166 done 0.70 0.10 0.219 3131 -180.0 2.42 0.040 2261 -578.1 175.2 - - 2338 - - - - - - - - 14.14 14.47 14.31
15518 539.5 7.2 613 15524 done 0.71 - - 3131 - - - 2260 - 186.4 5.25 1.872 2311 -5.1 0.290 - - - - - - 14.88 14.42 13.32
15854 514.1 7.6 619 15865 roll 0.71 - - 3132 - 2.67 0.100 3659 524.0 188.8 4.28 1.703 2302 -2.1 0.124 - - - - - - 14.86 14.47 13.02
15901 510.0 8.7 626 15909 done 0.71 - - 3142 - 2.42 0.040 2260 -578.1 188.8 1.35 0.273 2300 - - - - - - - - 14.54 14.50 13.81
16245 482.6 8.0 633 16252 roll 0.71 - - 3152 - 2.45 0.060 866 -569.0 188.8 1.42 0.283 2300 - - - - - - - - 14.83 14.07 13.71
16286 479.2 8.2 639 16293 done 0.71 - - 3152 - 2.45 0.053 2256 567.3 188.8 0.75 0.246 2300 - - - - - - - - 14.42 14.35 14.14
16638 449.8 8.4 647 16643 roll 0.71 - - 3152 - 2.60 0.100 3653 537.3 188.8 1.23 0.268 2302 - - - - - - - - 14.84 14.17 13.93
16720 442.2 9.2 659 16727 done 0.71 0.10 0.216 3133 -190.0 2.42 0.039 2254 -578.1 188.8 1.38 0.257 2299 -2.2 0.731 - - - - - - 14.13 14.45 13.71
17085 416.1 7.1 669 17112 roll 0.73 - - 3133 - 2.67 0.099 3653 524.0 201.3 19.73 1.600 2241 -2.9 0.149 - - - - - - 14.87 14.38 13.61
17133 412.3 7.9 676 17141 done 0.73 - - 3144 - 2.42 0.040 2253 -578.5 201.3 - - 2239 - - - - - - - - 14.50 14.45 14.49
17477 384.6 8.1 683 17483 roll 0.73 - - 3154 - 2.45 0.063 858 -569.4 201.3 - - 2237 - - - - - - - - 14.79 14.31 14.78
17512 381.8 8.0 688 17517 done 0.73 - - 3154 - 2.47 0.054 2259 567.2 201.3 - - 2236 - - - - - - - - 14.41 14.33 14.45
17869 352.0 8.4 697 17875 roll 0.73 - - 3154 - 2.60 0.100 3655 536.9 201.3 - - 2237 - - - - - - - - 14.83 14.26 14.83
17910 348.2 9.4 703 17917 done 0.73 - - 3163 - 2.40 0.039 2272 -576.2 201.3 - - 2237 - - - - - - - - 14.50 14.45 14.53
18261 316.3 9.2 711 18267 roll 0.73 - - 3173 - 2.50 0.063 853 -567.6 201.3 - - 2237 - - - - - - - - 14.84 14.32 14.85
18295 313.2 8.9 716 18302 done 0.73 0.12 0.192 3138 -291.7 2.50 0.054 2271 567.2 201.3 - - 2237 - - - - - - - - 14.12 14.35 14.29
18653 285.6 7.7 725 18659 roll 0.73 - - 3138 - 2.58 0.101 3647 533.3 202.8 - - 2237 - - - - - - - - 14.85 14.26 14.85
18709 280.7 9.0 733 18715 done 0.73 - - 3147 - 2.38 0.039 2249 -587.4 202.8 - - 2237 - - - - - - - - 14.57 14.48 14.59
19045 252.9 8.2 746 19051 roll 0.73 - - 3147 - 2.65 0.099 3649 528.3 202.8 - - 2237 - - - - - - - - 14.88 14.20 14.85
19073 250.5 8.8 750 19078 done 0.73 - - 3157 - 2.40 0.039 2263 -577.5 202.8 - - 2237 - - - - - - - - 14.50 14.45 14.52
19437 219.3 8.5 760 19443 roll 0.73 - - 3168 - 2.47 0.061 858 -568.8 202.8 - - 2237 - - - - - - - - 14.88 14.31 14.88
19471 216.2 8.8 765 19479 done 0.73 0.08 0.193 3145 -287.5 2.47 0.052 2262 568.4 202.8 - - 2237 - - - - - - - - 14.12 14.32 14.28
19829 186.1 8.4 774 19835 roll 0.73 - - 3144 - 2.58 0.099 3653 539.1 202.8 - - 2237 - - - - - - - - 14.86 14.28 14.86
19885 181.1 9.2 782 19891 done 0.73 - - 3154 - 2.38 0.038 2256 -587.0 202.8 - - 2236 - - - - - - - - 14.54 14.50 14.54
20222 153.6 8.1 795 20227 roll 0.73 - - 3165 - 2.45 0.063 856 -571.4 202.8 - - 2241 - - - - - - - - 14.86 14.33 14.87
20255 150.8 8.1 800 20262 done 0.73 0.08 0.195 3141 -300.0 2.47 0.052 2264 570.0 202.8 - - 2238 - - - - - - - - 14.07 14.25 14.22
20613 124.6 7.3 809 20625 roll 0.74 - - 3140 - 2.62 0.100 3658 532.1 212.0 4.62 1.396 2211 -5.8 0.102 - - - - - - 14.87 14.44 13.24
20640 122.3 8.2 813 20648 done 0.74 - - 3151 - 2.38 0.038 2267 -584.5 212.0 1.35 0.249 2212 - - - - - - - - 14.60 14.57 13.99
21005 98.5 6.1 823 21033 roll 0.78 - - 3151 - 2.62 0.098 3658 530.9 245.2 18.77 0.456 2072 -7.5 0.315 - - - - - - 14.85 14.42 14.02
21053 94.7 8.2 830 21061 done 0.78 - - 3161 - 2.38 0.037 2273 -581.9 245.2 - - 2078 - - - - - - - - 14.52 14.49 14.56
21370 71.4 7.4 842 21375 done 0.87 - - 3161 - - - 2271 - 252.7 4.55 0.350 2044 -7.5 0.298 - - - - - - 14.83 14.33 13.87
21699 56.3 4.5 856 21740 roll 1.07 0.17 0.084 3267 623.5 2.47 0.063 855 -573.3 317.7 34.62 0.334 1786 -7.5 0.245 - - - - - - 14.52 14.43 14.07
21819 47.8 7.3 873 21830 done 1.08 - - 3266 - 2.45 0.050 2279 581.2 327.6 5.53 0.300 1745 -7.4 0.231 - - - - - - 14.54 14.40 13.96
22147 30.2 3.5 887 22195 roll 1.18 - - 3266 - 2.60 0.099 3652 528.1 413.1 43.85 0.254 1404 -7.8 0.181 - - - - - - 14.83 14.33 14.11
22267 22.8 7.9 904 22272 done 1.26 - - 3275 - 2.35 0.037 2257 -593.6 413.1 - - 1404 - - - - - - - - 14.57 14.49 14.58
22563 end climb: SURFACE_DEPTH_REACHED
22563 begin surface coast
22591 end surface coast: CONTROL_FINISHED_OK
22592 begin surface
SM -0.36 - - - - -8.38 8.88 0.052 174 19.6 0.93 0.072 2762 1724.7 500.14 40.65 0.152 1056 26.0 0.006 - - - - - -