SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 406 * Raw log
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• Previous call tries 1 • 145.17 of 350.00 AH used of 24V (58.52% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth -0.70 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 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 - - 106 - - - 2775 - -107.1 -78.90 - 3475 - - - - - - - - 14.68 12.58 14.67
103 7.3 -13.8 3 121 roll -0.93 11.73 0.380 2585 211.3 1.88 0.076 3828 560.1 -107.1 - - 3480 - - - - - - - - 14.02 14.35 14.37
291 62.6 -19.5 30 298 done -0.68 0.32 0.236 2678 290.6 1.77 0.037 2727 -622.0 -107.1 - - 3481 - - - - - - - - 14.16 14.54 14.42
605 89.0 -8.7 42 610 roll -0.68 - - 2666 - 2.03 0.103 3820 538.4 -107.1 - - 3483 - - - - - - - - 14.85 14.37 14.85
745 101.6 -8.7 62 750 done -0.68 - - 2666 - 1.73 0.037 2756 -615.0 -107.1 - - 3483 - - - - - - - - 14.62 14.59 14.62
1109 131.0 -7.9 72 1109 done -0.68 - - 2666 - - - 2762 - -107.1 - - 3482 - - - - - - - - 14.91 14.91 14.91
1445 156.6 -7.7 78 1450 roll -0.68 - - 2666 - 2.25 0.041 1408 -601.8 -107.1 - - 3481 - - - - - - - - 14.92 14.57 14.92
1528 163.3 -7.8 90 1534 done -0.68 - - 2657 - 2.40 0.065 2763 564.6 -107.1 - - 3480 - - - - - - - - 14.54 14.45 14.58
1893 194.2 -8.6 100 1898 roll -0.68 - - 2649 - 1.95 0.108 3830 547.2 -107.1 - - 3478 - - - - - - - - 14.93 14.34 14.93
1927 197.5 -9.5 105 1934 done -0.68 0.08 0.233 2678 362.5 1.75 0.039 2786 -596.6 -107.1 - - 3478 - - - - - - - - 14.38 14.70 14.51
2285 224.8 -7.5 114 2290 roll -0.68 - - 2678 - 2.38 0.041 1377 -592.0 -107.1 - - 3473 - - - - - - - - 14.93 14.57 14.93
2410 234.4 -7.6 132 2416 done -0.76 - - 2669 - 2.47 0.063 2760 559.9 -107.1 - - 3474 - - - - - - - - 14.52 14.42 14.57
2733 260.9 -8.4 143 2733 done -0.76 - - 2669 - - - 2760 - -107.1 - - 3472 - - - - - - - - 14.93 14.93 14.94
3069 290.3 -8.7 149 3074 roll -0.76 - - 2668 - 2.35 0.041 1379 -587.7 -107.1 - - 3470 - - - - - - - - 14.93 14.57 14.96
3110 294.1 -9.0 155 3116 done -0.76 - - 2661 - 2.45 0.065 2754 561.2 -107.1 - - 3470 - - - - - - - - 14.52 14.43 14.57
3461 323.8 -8.3 163 3461 done -0.76 - - 2660 - - - 2755 - -107.1 - - 3467 - - - - - - - - 14.96 14.96 14.96
3797 349.3 -7.4 169 3803 roll -0.76 - - 2660 - 2.35 0.041 1377 -586.4 -107.1 - - 3465 - - - - - - - - 14.96 14.56 14.96
3831 352.0 -7.7 174 3837 done -0.76 - - 2651 - 2.47 0.065 2759 559.5 -107.1 - - 3465 - - - - - - - - 14.50 14.41 14.55
4189 380.3 -8.0 183 4194 roll -0.76 - - 2652 - 2.35 0.042 1375 -588.9 -107.1 - - 3464 - - - - - - - - 14.96 14.57 14.96
4244 385.0 -8.4 191 4250 done -0.76 - - 2644 - 2.47 0.066 2746 555.1 -107.1 - - 3462 - - - - - - - - 14.50 14.40 14.54
4581 414.4 -8.8 204 4586 roll -0.76 - - 2643 - 2.38 0.042 1360 -582.4 -107.1 - - 3462 - - - - - - - - 14.94 14.52 14.94
4608 416.9 -9.3 208 4614 done -0.76 - - 2635 - 2.50 0.066 2746 554.4 -107.1 - - 3461 - - - - - - - - 14.49 14.40 14.54
4973 449.3 -8.8 218 4978 roll -0.76 - - 2626 - 2.03 0.110 3817 527.6 -107.1 - - 3460 - - - - - - - - 14.95 14.31 14.95
5042 455.5 -8.9 228 5048 done -0.76 - - 2626 - 1.83 0.041 2725 -596.7 -107.1 - - 3459 - - - - - - - - 14.66 14.64 14.66
5365 481.8 -8.0 239 5370 roll -0.76 - - 2625 - 2.28 0.042 1386 -587.3 -107.1 - - 3456 - - - - - - - - 14.93 14.52 14.93
5399 484.6 -8.2 244 5405 done -0.76 0.10 0.222 2645 200.0 2.47 0.066 2750 552.2 -107.1 - - 3457 - - - - - - - - 14.18 14.38 14.35
5757 511.5 -7.5 253 5757 done -0.76 - - 2645 - - - 2751 - -107.1 - - 3456 - - - - - - - - 14.92 14.92 14.92
6093 538.0 -8.0 259 6093 done -0.76 - - 2645 - - - 2751 - -107.1 - - 3455 - - - - - - - - 14.93 14.93 14.93
6429 565.2 -8.0 265 6435 roll -0.76 - - 2646 - 2.35 0.044 1381 -583.0 -107.1 - - 3453 - - - - - - - - 14.92 14.51 14.92
6470 568.6 -8.2 271 6476 done -0.76 - - 2636 - 2.50 0.067 2756 550.0 -107.1 - - 3453 - - - - - - - - 14.45 14.36 14.50
6821 596.6 -8.0 279 6826 roll -0.76 - - 2636 - 2.35 0.043 1388 -582.1 -107.1 - - 3451 - - - - - - - - 14.92 14.49 14.92
6855 599.4 -8.3 284 6861 done -0.76 - - 2626 - 2.47 0.067 2749 551.0 -107.1 - - 3451 - - - - - - - - 14.44 14.35 14.49
7213 629.8 -8.7 293 7219 roll -0.76 - - 2618 - 2.03 0.111 3830 532.5 -107.1 - - 3446 - - - - - - - - 14.91 14.27 14.92
7275 635.6 -9.2 302 7281 done -0.76 0.10 0.206 2648 300.0 1.83 0.043 2767 -580.9 -107.1 - - 3449 - - - - - - - - 14.19 14.57 14.35
7605 661.1 -7.8 314 7610 roll -0.76 - - 2648 - 2.40 0.044 1370 -582.1 -107.1 - - 3448 - - - - - - - - 14.91 14.47 14.91
7695 668.5 -8.1 327 7701 done -0.76 - - 2639 - 2.50 0.066 2744 549.6 -107.1 - - 3448 - - - - - - - - 14.43 14.33 14.48
8053 697.6 -8.2 336 8058 roll -0.76 - - 2638 - 2.40 0.044 1361 -576.2 -107.1 - - 3447 - - - - - - - - 14.93 14.46 14.93
8122 703.4 -8.0 346 8128 done -0.76 - - 2630 - 2.53 0.066 2743 546.2 -107.1 - - 3445 - - - - - - - - 14.40 14.30 14.44
8445 728.5 -7.7 357 8451 roll -0.76 - - 2621 - 2.05 0.112 3830 530.2 -107.1 - - 3446 - - - - - - - - 14.91 14.25 14.90
8486 731.8 -8.0 363 8492 done -0.76 0.08 0.210 2644 287.5 1.88 0.044 2741 -579.3 -107.1 - - 3445 - - - - - - - - 14.20 14.55 14.34
8837 755.3 -6.8 371 8842 roll -0.76 - - 2644 - 2.35 0.044 1373 -582.1 -107.1 - - 3445 - - - - - - - - 14.90 14.45 14.90
8864 757.3 -7.0 375 8870 done -0.76 - - 2636 - 2.50 0.065 2743 548.0 -107.1 - - 3443 - - - - - - - - 14.40 14.30 14.45
9229 783.7 -7.3 385 9230 done -0.76 - - 2636 - - - 2744 - -107.1 - - 3443 - - - - - - - - 14.92 14.92 14.92
9565 808.9 -7.5 391 9570 roll -0.76 - - 2636 - 2.38 0.044 1375 -575.2 -107.1 - - 3442 - - - - - - - - 14.92 14.41 14.92
9599 811.6 -7.9 396 9605 done -0.76 - - 2626 - 2.47 0.065 2737 551.4 -107.1 - - 3443 - - - - - - - - 14.36 14.27 14.42
9957 840.3 -8.1 405 9963 roll -0.76 - - 2625 - 2.38 0.044 1370 -574.4 -107.1 - - 3440 - - - - - - - - 14.90 14.40 14.90
9991 843.3 -6.8 410 9997 done -0.76 0.10 0.215 2646 210.0 2.53 0.066 2740 541.5 -107.1 - - 3441 - - - - - - - - 14.03 14.26 14.21
10349 870.4 -7.6 419 10354 roll -0.76 - - 2646 - 2.40 0.044 1371 -570.4 -107.1 - - 3441 - - - - - - - - 14.89 14.39 14.90
10390 873.9 -8.4 425 10397 done -0.84 - - 2637 - 2.50 0.067 2734 545.2 -107.1 - - 3437 - - - - - - - - 14.39 14.26 14.40
10741 900.8 -7.9 433 10747 roll -0.84 - - 2629 - 2.08 0.113 3826 525.0 -107.1 - - 3438 - - - - - - - - 14.91 14.16 14.92
10782 904.2 -8.3 439 10788 done -0.84 - - 2627 - 1.90 0.045 2725 -579.5 -107.1 - - 3439 - - - - - - - - 14.50 14.47 14.52
11130 end dive: TARGET_DEPTH_EXCEEDED
11130 begin apogee
11137 931.7 -7.8 447 11253 roll -0.23 0.65 0.170 2821 298.5 - - 2221 - - 113.53 1.930 3049 -3.4 0.331 - - - - - - 14.12 13.96 12.96
11254 end apogee: CONTROL_FINISHED_OK
11254 begin climb
11257 935.2 - 449 11386 roll 0.93 1.12 0.090 3187 326.8 2.45 0.057 868 -552.2 107.1 118.25 1.957 2618 -3.6 0.348 - - - - - - 13.98 14.00 12.84
11406 930.3 8.6 472 11413 done 0.75 0.17 0.218 3141 -270.6 2.53 0.049 2251 546.6 107.1 - - 2611 - - - - - - - - 13.74 13.89 13.89
11750 906.1 7.2 479 11769 roll 0.77 - - 3140 - 2.67 0.099 3653 525.1 118.9 11.80 2.104 2569 -3.6 0.306 - - - - - - 14.71 14.31 13.33
11862 897.8 8.3 495 11867 done 0.67 0.12 0.236 3117 -191.7 2.42 0.039 2245 -581.8 118.9 - - 2566 - - - - - - - - 14.15 14.41 14.40
12198 876.1 6.2 508 12238 roll 0.70 - - 3116 - 2.72 0.099 3649 516.2 148.9 33.62 1.925 2454 -3.3 0.303 - - - - - - 14.76 14.23 13.28
12266 871.7 8.5 518 12274 done 0.70 - - 3127 - 2.45 0.039 2256 -568.6 148.9 - - 2451 - - - - - - - - 14.35 14.31 14.36
12590 849.6 6.8 529 12613 done 0.73 - - 3127 - - - 2253 - 167.0 21.83 1.967 2386 -3.0 0.257 - - - - - - 14.75 14.31 13.37
12926 825.6 7.3 535 12932 done 0.74 - - 3121 - - - 2253 - 176.7 4.93 1.994 2347 -7.9 0.654 - - - - - - 14.73 14.36 12.90
13262 801.4 7.3 541 13282 roll 0.75 - - 3127 - 2.72 0.101 3653 514.7 185.4 16.05 1.994 2308 -2.4 0.195 - - - - - - 14.78 14.37 13.45
13337 795.1 8.8 552 13344 done 0.75 - - 3136 - 2.45 0.041 2259 -569.0 185.4 - - 2303 - - - - - - - - 14.45 14.41 14.47
13702 764.9 8.3 562 13708 roll 0.75 - - 3148 - 2.45 0.062 863 -569.8 185.4 - - 2301 - - - - - - - - 14.79 14.38 14.79
13743 761.4 8.4 568 13750 done 0.75 - - 3146 - 2.45 0.052 2250 566.1 185.4 - - 2301 - - - - - - - - 14.44 14.37 14.48
14094 731.2 8.6 576 14100 roll 0.75 - - 3147 - 2.60 0.100 3651 538.8 185.4 - - 2301 - - - - - - - - 14.82 14.32 14.82
14164 724.2 10.0 586 14170 done 0.75 - - 3158 - 2.42 0.040 2254 -577.3 185.4 - - 2301 - - - - - - - - 14.52 14.47 14.55
14486 694.3 9.3 597 14492 roll 0.75 - - 3168 - 2.45 0.062 856 -570.6 185.4 - - 2300 - - - - - - - - 14.84 14.38 14.84
14555 687.7 9.3 607 14562 done 0.75 0.08 0.218 3146 -275.0 2.45 0.053 2252 569.8 185.4 - - 2300 - - - - - - - - 14.18 14.38 14.35
14878 659.1 8.8 618 14885 roll 0.75 - - 3145 - 2.60 0.099 3653 538.8 185.4 - - 2300 - - - - - - - - 14.85 14.31 14.85
14934 653.5 10.1 626 14941 done 0.75 - - 3156 - 2.38 0.040 2254 -587.8 185.4 - - 2299 - - - - - - - - 14.59 14.50 14.62
15271 622.8 9.0 639 15276 roll 0.75 - - 3166 - 2.42 0.062 865 -574.0 185.4 - - 2299 - - - - - - - - 14.88 14.38 14.88
15298 620.4 8.6 643 15304 done 0.75 - - 3167 - 2.45 0.052 2251 565.7 185.4 - - 2299 - - - - - - - - 14.43 14.36 14.47
15662 587.6 9.0 653 15668 roll 0.75 - - 3166 - 2.60 0.099 3654 539.6 185.4 - - 2299 - - - - - - - - 14.88 14.28 14.88
15697 584.1 10.0 658 15704 done 0.67 0.20 0.211 3120 -230.0 2.42 0.040 2254 -578.5 185.4 - - 2299 - - - - - - - - 14.10 14.50 14.28
16055 557.9 7.2 667 16067 roll 0.69 - - 3119 - 2.65 0.102 3650 526.8 195.6 5.45 1.897 2275 -4.4 0.259 - - - - - - 14.85 14.42 13.31
16089 555.1 7.7 672 16095 done 0.69 - - 3129 - 2.40 0.041 2258 -580.0 195.8 - - 2279 - - - - - - - - 14.58 14.54 14.60
16447 530.3 6.8 681 16476 done 0.71 - - 3129 - - - 2256 - 214.9 28.35 1.646 2195 -3.0 0.191 - - - - - - 14.86 14.38 13.51
16783 506.4 7.2 687 16802 roll 0.72 - - 3129 - 2.65 0.103 3659 529.4 226.7 12.90 1.757 2141 -4.2 0.241 - - - - - - 14.74 14.35 13.50
16838 502.0 8.4 695 16844 done 0.72 - - 3139 - 2.40 0.039 2257 -584.2 226.7 - - 2138 - - - - - - - - 14.50 14.42 14.52
17174 474.9 8.2 708 17180 roll 0.72 - - 3150 - 2.45 0.063 862 -569.4 226.7 - - 2136 - - - - - - - - 14.76 14.33 14.76
17208 471.9 8.5 713 17215 done 0.72 - - 3149 - 2.47 0.053 2260 566.0 226.7 - - 2136 - - - - - - - - 14.41 14.34 14.45
17566 438.8 9.4 722 17573 roll 0.72 - - 3149 - 2.60 0.101 3657 537.3 226.7 - - 2136 - - - - - - - - 14.81 14.27 14.81
17636 431.5 10.4 732 17642 done 0.72 - - 3160 - 2.42 0.040 2266 -574.8 226.7 - - 2136 - - - - - - - - 14.47 14.43 14.50
17958 401.5 9.3 743 17964 roll 0.72 - - 3170 - 2.47 0.063 859 -569.6 226.7 - - 2136 - - - - - - - - 14.83 14.35 14.83
18000 397.6 9.3 749 18006 done 0.72 0.10 0.205 3140 -300.0 2.47 0.054 2264 568.8 226.7 - - 2136 - - - - - - - - 14.10 14.35 14.26
18350 368.8 8.3 757 18356 roll 0.72 - - 3140 - 2.58 0.101 3652 538.0 226.7 - - 2136 - - - - - - - - 14.86 14.31 14.86
18398 364.0 9.9 764 18406 done 0.72 - - 3150 - 2.40 0.038 2262 -579.2 226.7 - - 2134 - - - - - - - - 14.50 14.47 14.53
18743 331.9 9.4 771 18748 roll 0.72 - - 3160 - 2.45 0.062 858 -573.1 226.7 - - 2136 - - - - - - - - 14.85 14.35 14.85
18762 330.0 9.3 774 18769 done 0.72 - - 3160 - 2.47 0.053 2262 568.4 226.7 - - 2136 - - - - - - - - 14.42 14.35 14.46
19078 300.0 9.5 784 19084 roll 0.72 - - 3159 - 2.58 0.099 3652 538.8 226.7 - - 2136 - - - - - - - - 14.85 14.26 14.85
19147 292.8 10.2 794 19155 done 0.72 0.10 0.213 3140 -190.0 2.40 0.037 2265 -577.9 226.7 - - 2136 - - - - - - - - 14.12 14.45 14.28
19470 266.5 8.1 805 19476 roll 0.72 - - 3150 - 2.45 0.061 862 -572.7 226.7 - - 2136 - - - - - - - - 14.88 14.35 14.88
19497 264.2 8.0 809 19504 done 0.72 - - 3151 - 2.45 0.052 2261 571.0 226.7 - - 2136 - - - - - - - - 14.43 14.35 14.46
19863 233.8 8.4 819 19868 roll 0.72 - - 3150 - 2.58 0.100 3652 539.1 226.7 - - 2136 - - - - - - - - 14.88 14.26 14.88
19919 228.6 9.6 827 19924 done 0.72 - - 3161 - 2.38 0.038 2255 -587.0 226.7 - - 2136 - - - - - - - - 14.59 14.50 14.60
20255 199.1 8.8 840 20260 roll 0.72 - - 3171 - 2.42 0.061 865 -574.4 226.7 - - 2136 - - - - - - - - 14.86 14.33 14.85
20282 196.7 8.8 844 20288 done 0.72 0.12 0.192 3133 -316.7 2.50 0.053 2278 565.2 226.7 - - 2136 - - - - - - - - 14.10 14.33 14.26
20647 169.8 7.2 854 20665 roll 0.82 - - 3133 - 2.60 0.102 3658 530.8 237.4 10.85 1.408 2098 -3.5 0.084 - - - - - - 14.85 14.48 13.64
20722 163.8 8.1 865 20729 done 0.82 - - 3143 - 2.40 0.038 2266 -580.0 237.4 - - 2096 - - - - - - - - 14.52 14.49 14.54
21038 138.8 8.1 875 21044 roll 0.82 - - 3153 - 2.45 0.062 856 -575.5 237.4 - - 2095 - - - - - - - - 14.83 14.35 14.83
21066 136.5 8.3 879 21072 done 0.90 0.03 0.200 3208 1833.3 2.47 0.054 2265 570.4 237.4 - - 2094 - - - - - - - - 14.26 14.37 14.38
21430 96.4 11.2 889 21436 roll 0.90 - - 3220 - 2.47 0.063 862 -568.0 237.4 - - 2094 - - - - - - - - 14.84 14.35 14.84
21472 91.8 10.9 895 21478 done 0.90 0.10 0.207 3191 -290.0 2.47 0.053 2268 569.2 237.4 - - 2094 - - - - - - - - 14.12 14.34 14.30
21795 65.2 7.5 908 21800 roll 0.90 - - 3201 - 2.47 0.060 865 -568.0 241.5 - - 2094 - - - - - - - - 14.83 14.31 14.84
21892 58.6 5.9 922 21918 done 0.95 - - 3201 - 2.45 0.049 2260 569.4 277.8 19.38 0.338 1946 -7.6 0.264 - - - - - - 14.42 14.35 14.07
22246 39.4 4.8 939 22283 roll 1.10 0.10 0.118 3293 920.0 2.60 0.099 3660 538.5 336.7 31.33 0.282 1708 -7.6 0.212 - - - - - - 14.54 14.35 14.07
22377 27.9 9.1 955 22384 done 1.10 0.17 0.216 3255 -223.5 2.40 0.037 2248 -588.3 336.7 - - 1709 - - - - - - - - 14.14 14.50 14.40
22691 13.9 4.1 967 22732 roll 1.29 0.12 0.094 3375 1000.0 2.40 0.059 871 -573.8 409.1 35.88 0.197 1418 -8.1 0.114 - - - - - - 14.56 14.26 14.09
22815 end climb: SURFACE_DEPTH_REACHED
22815 begin surface coast
22820 end surface coast: CONTROL_FINISHED_OK
22820 begin surface
SM -0.82 - - - - -8.40 9.75 0.103 155 15.9 3.38 0.060 2768 -2410.7 500.14 41.92 0.155 1060 25.3 0.014 - - - - - -