SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 408 * Raw log
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• Previous call tries 1 • 145.79 of 350.00 AH used of 24V (58.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.7 deg, depth -0.71 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 -81.65 - 3478 - - - - - - - - 14.66 12.58 14.64
104 5.2 -10.2 3 121 roll -0.93 11.77 0.381 2584 210.7 1.92 0.078 3837 552.1 -107.1 - - 3479 - - - - - - - - 13.99 14.35 14.26
263 54.8 -24.3 26 270 done -0.61 0.40 0.207 2698 285.0 1.80 0.036 2722 -619.4 -107.1 - - 3481 - - - - - - - - 14.16 14.50 14.41
577 80.7 -7.4 38 582 roll -0.61 - - 2698 - 2.20 0.041 1405 -598.6 -107.1 - - 3483 - - - - - - - - 14.84 14.50 14.83
795 96.1 -6.9 69 802 done -0.61 - - 2689 - 2.40 0.067 2765 566.7 -107.1 - - 3483 - - - - - - - - 14.59 14.43 14.62
1137 122.9 -8.1 77 1138 done -0.61 - - 2688 - - - 2766 - -107.1 - - 3483 - - - - - - - - 14.92 14.92 14.92
1473 148.4 -7.4 83 1478 roll -0.61 - - 2688 - 2.33 0.041 1400 -586.3 -107.1 - - 3481 - - - - - - - - 14.93 14.50 14.93
1535 153.0 -7.3 92 1541 done -0.69 - - 2680 - 2.45 0.067 2757 553.9 -107.1 - - 3481 - - - - - - - - 14.52 14.42 14.56
1865 176.6 -7.2 104 1870 roll -0.69 - - 2679 - 2.33 0.041 1401 -582.0 -107.1 - - 3480 - - - - - - - - 14.92 14.57 14.93
1906 179.6 -7.1 110 1912 done -0.77 - - 2671 - 2.45 0.067 2754 552.2 -107.1 - - 3479 - - - - - - - - 14.52 14.42 14.57
2257 206.4 -7.9 118 2257 done -0.77 - - 2671 - - - 2755 - -107.1 - - 3477 - - - - - - - - 14.93 14.93 14.94
2593 233.4 -8.0 124 2598 roll -0.77 - - 2680 - 2.35 0.042 1406 -574.0 -107.1 - - 3474 - - - - - - - - 14.93 14.46 14.93
2669 239.4 -7.9 135 2675 done -0.77 - - 2659 - 2.47 0.068 2762 549.0 -107.1 - - 3474 - - - - - - - - 14.52 14.43 14.57
2985 263.0 -7.3 145 2991 roll -0.77 - - 2661 - 2.33 0.043 1404 -582.8 -107.1 - - 3471 - - - - - - - - 14.93 14.55 14.93
3019 265.4 -7.2 150 3025 done -0.77 - - 2653 - 2.42 0.068 2751 556.6 -107.1 - - 3471 - - - - - - - - 14.52 14.43 14.57
3377 291.9 -7.5 159 3378 done -0.77 - - 2653 - - - 2751 - -107.1 - - 3469 - - - - - - - - 14.95 14.95 14.96
3713 318.5 -8.1 165 3713 done -0.77 - - 2653 - - - 2750 - -107.1 - - 3468 - - - - - - - - 14.95 14.94 14.94
4049 347.3 -8.6 171 4054 roll -0.77 - - 2653 - 2.35 0.044 1404 -572.8 -107.1 - - 3465 - - - - - - - - 14.96 14.50 14.97
4125 354.0 -8.5 182 4131 done -0.77 - - 2644 - 2.47 0.069 2762 549.8 -107.1 - - 3465 - - - - - - - - 14.47 14.39 14.54
4441 382.1 -9.0 192 4441 done -0.77 - - 2644 - - - 2762 - -107.1 - - 3465 - - - - - - - - 14.96 14.96 14.95
4777 412.4 -9.0 198 4782 roll -0.77 - - 2644 - 2.33 0.044 1405 -582.4 -107.1 - - 3462 - - - - - - - - 14.95 14.54 14.95
4804 415.1 -9.4 202 4810 done -0.77 - - 2635 - 2.45 0.070 2748 548.2 -107.1 - - 3462 - - - - - - - - 14.50 14.39 14.54
5169 450.5 -9.8 212 5174 roll -0.77 - - 2627 - 2.08 0.113 3825 517.8 -107.1 - - 3461 - - - - - - - - 14.92 14.30 14.93
5231 456.9 -10.2 221 5238 done -0.77 - - 2627 - 1.77 0.043 2773 -594.4 -107.1 - - 3460 - - - - - - - - 14.66 14.65 14.67
5561 488.2 -9.4 233 5561 done -0.77 - - 2627 - - - 2773 - -107.1 - - 3459 - - - - - - - - 14.92 14.93 14.93
5897 516.0 -8.1 239 5902 roll -0.77 - - 2626 - 2.38 0.043 1380 -585.3 -107.1 - - 3458 - - - - - - - - 14.95 14.51 14.95
5945 519.9 -8.0 246 5952 done -0.77 0.10 0.218 2646 200.0 2.53 0.067 2755 543.5 -107.1 - - 3457 - - - - - - - - 14.16 14.35 14.33
6289 544.6 -7.2 253 6290 done -0.77 - - 2647 - - - 2755 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6625 570.3 -7.7 259 6630 roll -0.77 - - 2647 - 2.38 0.043 1384 -576.1 -107.1 - - 3455 - - - - - - - - 14.92 14.50 14.95
6687 575.5 -8.2 268 6693 done -0.77 - - 2636 - 2.47 0.067 2752 553.8 -107.1 - - 3455 - - - - - - - - 14.45 14.37 14.50
7017 603.6 -8.7 280 7017 done -0.77 - - 2637 - - - 2752 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
7353 632.6 -8.7 286 7358 roll -0.77 - - 2637 - 2.38 0.044 1385 -574.4 -107.1 - - 3451 - - - - - - - - 14.94 14.40 14.95
7443 640.6 -8.5 299 7449 done -0.77 - - 2628 - 2.50 0.067 2743 543.2 -107.1 - - 3451 - - - - - - - - 14.37 14.27 14.41
7801 671.6 -8.7 308 7806 roll -0.77 - - 2619 - 2.08 0.112 3819 517.3 -107.1 - - 3450 - - - - - - - - 14.95 14.22 14.95
7849 676.0 -9.0 315 7856 done -0.77 - - 2619 - 1.83 0.043 2749 -584.7 -107.1 - - 3450 - - - - - - - - 14.59 14.57 14.62
8193 705.3 -8.5 322 8198 roll -0.77 0.10 0.246 2648 290.0 2.33 0.043 1381 -587.1 -107.1 - - 3448 - - - - - - - - 14.31 14.47 14.52
8234 708.7 -8.1 328 8240 done -0.85 - - 2639 - 2.50 0.067 2740 543.6 -107.1 - - 3448 - - - - - - - - 14.42 14.32 14.46
8585 735.8 -7.7 336 8590 roll -0.85 - - 2631 - 2.05 0.113 3828 530.7 -107.1 - - 3447 - - - - - - - - 14.93 14.23 14.93
8647 740.9 -8.1 345 8654 done -0.85 - - 2630 - 1.85 0.044 2753 -581.1 -107.1 - - 3447 - - - - - - - - 14.57 14.54 14.58
8977 767.6 -8.1 357 8983 roll -0.85 - - 2630 - 2.38 0.044 1373 -579.8 -107.1 - - 3446 - - - - - - - - 14.90 14.43 14.90
9039 773.0 -8.5 366 9045 done -0.85 - - 2620 - 2.53 0.066 2751 544.7 -107.1 - - 3445 - - - - - - - - 14.38 14.29 14.43
9369 801.5 -8.7 378 9374 roll -0.85 - - 2612 - 2.03 0.113 3821 527.1 -107.1 - - 3449 - - - - - - - - 14.90 14.21 14.90
9410 805.2 -9.0 384 9416 done -0.85 - - 2611 - 1.85 0.044 2748 -580.0 -107.1 - - 3444 - - - - - - - - 14.56 14.53 14.57
9761 834.2 -8.3 392 9766 roll -0.85 - - 2611 - 2.40 0.044 1364 -576.7 -107.1 - - 3443 - - - - - - - - 14.90 14.42 14.88
9809 838.3 -8.4 399 9816 done -0.85 - - 2602 - 2.55 0.067 2753 544.7 -107.1 - - 3443 - - - - - - - - 14.35 14.26 14.39
10153 867.2 -8.3 406 10153 done -0.85 - - 2602 - - - 2753 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
10489 895.2 -8.3 412 10494 roll -0.85 - - 2602 - 2.40 0.044 1375 -574.2 -107.1 - - 3442 - - - - - - - - 14.92 14.40 14.92
10523 898.4 -6.3 417 10530 done -0.85 0.10 0.218 2620 180.0 2.53 0.067 2743 540.7 -107.1 - - 3441 - - - - - - - - 14.01 14.24 14.19
10881 926.5 -7.8 426 10886 roll -0.85 - - 2612 - 2.05 0.113 3820 525.4 -107.1 - - 3441 - - - - - - - - 14.89 14.13 14.89
10926 end dive: TARGET_DEPTH_EXCEEDED
10926 begin apogee
10935 930.5 -8.2 433 11051 roll -0.23 0.73 0.175 2825 291.8 - - 2236 - - 113.55 1.916 3054 -3.4 0.331 - - - - - - 14.09 13.97 13.00
11052 end apogee: CONTROL_FINISHED_OK
11053 begin climb
11056 934.0 - 435 11183 roll 0.93 1.10 0.088 3185 327.3 2.47 0.056 868 -553.8 107.1 118.07 1.944 2621 -3.7 0.352 - - - - - - 14.00 14.00 12.86
11211 928.6 8.2 459 11217 done 0.79 0.10 0.244 3159 -260.0 2.50 0.050 2259 556.4 107.1 - - 2611 - - - - - - - - 13.82 13.95 14.02
11547 904.7 7.2 472 11560 roll 0.72 - - 3159 - 2.62 0.098 3649 530.5 118.2 5.12 2.011 2588 -4.5 0.404 - - - - - - 14.69 14.33 13.03
11616 898.4 8.4 482 11623 done 0.58 0.28 0.211 3093 -235.7 2.42 0.039 2250 -578.1 118.2 1.62 0.240 2580 -4.9 3.691 - - - - - - 14.14 14.42 13.91
11939 880.0 5.6 493 12001 roll 0.63 - - 3093 - 2.70 0.100 3649 518.1 160.8 55.65 1.909 2403 -3.2 0.293 - - - - - - 14.79 14.12 13.20
12036 873.7 7.5 507 12043 done 0.64 - - 3102 - 2.45 0.040 2259 -567.3 166.3 1.23 0.220 2387 -13.0 10.316 - - - - - - 14.26 14.23 14.02
12387 850.4 6.6 515 12422 roll 0.67 - - 3102 - 2.72 0.102 3652 512.1 188.6 30.65 1.920 2295 -3.0 0.265 - - - - - - 14.73 14.22 13.33
12449 845.3 9.9 524 12455 done 0.67 - - 3112 - 2.47 0.040 2252 -566.8 188.6 - - 2290 - - - - - - - - 14.33 14.29 14.35
12772 820.3 7.8 535 12773 done 0.67 - - 3112 - - - 2249 - 188.6 - - 2286 - - - - - - - - 14.75 14.74 14.75
13108 792.3 8.3 541 13114 roll 0.67 - - 3111 - 2.65 0.101 3656 530.9 188.6 - - 2283 - - - - - - - - 14.82 14.32 14.82
13177 785.7 9.6 551 13183 done 0.67 - - 3122 - 2.45 0.040 2251 -573.5 188.6 - - 2286 - - - - - - - - 14.51 14.46 14.53
13500 757.4 8.8 562 13501 done 0.67 - - 3122 - - - 2249 - 188.6 - - 2286 - - - - - - - - 14.83 14.83 14.83
13836 728.3 8.6 568 13841 roll 0.67 - - 3122 - 2.65 0.100 3648 527.9 188.6 - - 2284 - - - - - - - - 14.85 14.31 14.85
13877 724.4 9.6 574 13883 done 0.67 - - 3132 - 2.42 0.041 2254 -576.0 188.6 - - 2284 - - - - - - - - 14.52 14.47 14.54
14228 694.5 8.4 582 14233 roll 0.67 - - 3132 - 2.62 0.099 3654 534.4 188.6 - - 2283 - - - - - - - - 14.85 14.30 14.85
14269 690.7 9.3 588 14275 done 0.67 - - 3143 - 2.42 0.041 2260 -576.0 188.6 - - 2284 - - - - - - - - 14.48 14.43 14.50
14620 661.0 8.4 596 14621 done 0.67 - - 3142 - - - 2257 - 188.6 - - 2284 - - - - - - - - 14.86 14.87 14.87
14956 634.6 7.8 602 14961 roll 0.67 - - 3143 - 2.62 0.103 3649 531.3 188.6 - - 2283 - - - - - - - - 14.87 14.27 14.87
15012 629.7 9.0 610 15018 done 0.67 0.10 0.211 3123 -200.0 2.40 0.041 2269 -575.0 188.6 - - 2282 - - - - - - - - 14.14 14.45 14.50
15348 606.6 6.7 623 15375 roll 0.69 - - 3133 - 2.55 0.062 853 -555.3 209.3 23.10 1.752 2209 -3.2 0.218 - - - - - - 14.87 14.45 13.52
15410 602.2 7.2 632 15425 done 0.71 - - 3133 - 2.50 0.054 2261 563.2 220.7 10.75 1.884 2172 -3.4 0.220 - - - - - - 14.42 14.36 13.40
15733 577.2 7.8 643 15738 roll 0.71 - - 3133 - 2.60 0.101 3659 537.7 220.7 - - 2163 - - - - - - - - 14.76 14.26 14.76
15789 572.3 9.0 651 15794 done 0.71 - - 3143 - 2.40 0.040 2255 -585.0 220.7 - - 2163 - - - - - - - - 14.53 14.45 14.55
16125 544.7 8.2 664 16130 roll 0.71 - - 3152 - 2.45 0.063 857 -570.6 220.7 - - 2162 - - - - - - - - 14.81 14.35 14.79
16166 541.3 8.3 670 16172 done 0.71 - - 3152 - 2.50 0.053 2266 563.6 220.7 - - 2164 - - - - - - - - 14.45 14.33 14.45
16517 510.1 9.0 678 16522 roll 0.71 - - 3152 - 2.58 0.103 3653 537.6 220.7 - - 2162 - - - - - - - - 14.85 14.26 14.85
16565 505.2 10.4 685 16574 done 0.71 0.10 0.207 3133 -190.0 2.40 0.039 2267 -577.5 220.7 - - 2161 - - - - - - - - 14.14 14.44 14.31
16909 476.7 8.2 692 16910 done 0.71 - - 3133 - - - 2267 - 220.7 - - 2162 - - - - - - - - 14.83 14.84 14.84
17245 449.9 7.9 698 17250 roll 0.71 - - 3132 - 2.62 0.101 3659 531.3 220.7 - - 2162 - - - - - - - - 14.85 14.26 14.85
17293 445.7 8.8 705 17302 done 0.71 - - 3143 - 2.42 0.040 2254 -580.6 220.7 - - 2162 - - - - - - - - 14.49 14.44 14.51
17637 418.3 8.0 712 17638 done 0.71 - - 3143 - - - 2255 - 220.7 - - 2162 - - - - - - - - 14.85 14.86 14.85
17973 390.0 8.5 718 17978 roll 0.71 - - 3143 - 2.62 0.101 3652 533.2 220.7 - - 2162 - - - - - - - - 14.86 14.24 14.86
18007 386.6 9.8 723 18013 done 0.71 - - 3154 - 2.40 0.040 2266 -577.5 220.7 - - 2162 - - - - - - - - 14.48 14.45 14.52
18365 353.5 9.3 732 18370 roll 0.71 - - 3164 - 2.47 0.063 855 -571.3 220.7 - - 2162 - - - - - - - - 14.86 14.33 14.86
18399 350.1 9.6 737 18406 done 0.71 0.10 0.190 3134 -300.0 2.50 0.053 2266 564.4 220.7 - - 2162 - - - - - - - - 14.07 14.28 14.23
18757 319.4 8.6 746 18762 roll 0.71 - - 3133 - 2.60 0.102 3659 535.8 220.7 - - 2162 - - - - - - - - 14.89 14.23 14.89
18819 313.4 9.8 755 18825 done 0.71 - - 3143 - 2.42 0.038 2258 -578.9 220.7 - - 2162 - - - - - - - - 14.42 14.38 14.44
19149 283.7 9.1 767 19154 roll 0.71 - - 3153 - 2.42 0.061 866 -575.2 220.7 - - 2162 - - - - - - - - 14.88 14.33 14.88
19183 280.5 9.0 772 19189 done 0.71 - - 3153 - 2.47 0.052 2265 566.4 220.7 - - 2162 - - - - - - - - 14.39 14.31 14.42
19541 247.2 9.3 781 19547 roll 0.71 - - 3153 - 2.60 0.102 3658 535.8 220.7 - - 2162 - - - - - - - - 14.90 14.23 14.90
19589 242.2 10.4 788 19597 done 0.71 0.10 0.200 3133 -200.0 2.40 0.039 2272 -577.5 220.7 - - 2162 - - - - - - - - 14.05 14.36 14.21
19933 212.7 8.5 795 19938 roll 0.71 - - 3143 - 2.47 0.060 861 -571.3 220.7 - - 2164 - - - - - - - - 14.89 14.33 14.89
19995 207.4 8.2 804 20001 done 0.79 - - 3143 - 2.50 0.052 2267 562.4 220.7 - - 2162 - - - - - - - - 14.38 14.29 14.42
20325 181.7 7.8 816 20330 roll 0.79 - - 3143 - 2.60 0.103 3659 535.4 220.7 - - 2162 - - - - - - - - 14.87 14.22 14.87
20381 176.8 8.8 824 20386 done 0.79 - - 3153 - 2.38 0.037 2258 -588.7 220.7 - - 2163 - - - - - - - - 14.57 14.49 14.59
20717 150.5 7.7 837 20718 done 0.79 - - 3153 - - - 2255 - 220.9 - - 2163 - - - - - - - - 14.88 14.88 14.86
21053 123.1 8.3 843 21058 roll 0.79 - - 3152 - 2.65 0.099 3651 526.8 220.9 - - 2164 - - - - - - - - 14.87 14.23 14.86
21087 120.0 8.9 848 21093 done 0.79 - - 3163 - 2.40 0.038 2263 -578.3 220.9 - - 2164 - - - - - - - - 14.48 14.43 14.50
21417 92.8 8.3 858 21422 roll 0.79 - - 3163 - 2.65 0.099 3660 527.2 220.9 - - 2164 - - - - - - - - 14.86 14.23 14.86
21465 88.4 8.9 865 21473 done 0.79 - - 3173 - 2.42 0.037 2254 -581.0 220.9 - - 2164 - - - - - - - - 14.47 14.42 14.49
21781 66.0 7.0 877 21794 roll 0.81 - - 3173 - 2.62 0.098 3649 532.4 235.8 7.10 0.340 2114 -7.0 0.273 - - - - - - 14.88 14.16 13.76
21829 62.6 7.2 884 21843 done 0.82 - - 3183 - 2.40 0.038 2262 -577.9 246.7 7.10 0.330 2072 -5.9 0.224 - - - - - - 14.42 14.38 13.85
22176 45.5 4.2 900 22221 roll 0.98 0.03 0.359 3229 1533.3 2.67 0.099 3658 522.8 318.4 38.05 0.301 1782 -7.6 0.230 - - - - - - 14.52 14.31 14.06
22403 31.0 6.1 933 22425 done 1.02 - - 3238 - 2.45 0.037 2239 -579.2 351.2 17.17 0.254 1651 -7.6 0.186 - - - - - - 14.40 14.37 14.04
22736 13.5 5.7 947 22762 roll 1.19 0.08 0.144 3305 837.5 2.72 0.100 3654 520.2 391.5 20.35 0.197 1491 -7.9 0.108 - - - - - - 14.47 14.26 14.09
22858 end climb: SURFACE_DEPTH_REACHED
22858 begin surface coast
22863 end surface coast: CONTROL_FINISHED_OK
22863 begin surface
SM -0.75 - - - - -8.40 9.35 0.083 185 19.8 1.50 0.037 2736 -5282.7 500.14 51.15 0.155 1057 20.7 0.010 - - - - - -