SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 412 * Raw log
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• Previous call tries 1 • 147.04 of 350.00 AH used of 24V (57.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -0.80 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 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 - - 105 - - - 2777 - -107.1 -79.12 - 3479 - - - - - - - - 14.67 12.57 14.67
104 7.1 -13.8 3 121 roll -0.93 11.70 0.379 2583 211.8 1.92 0.083 3834 550.5 -107.1 - - 3480 - - - - - - - - 14.01 14.35 14.33
345 72.2 -10.4 38 352 done -0.72 0.28 0.217 2660 275.0 1.83 0.037 2748 -593.4 -107.1 - - 3480 - - - - - - - - 14.15 14.53 14.32
661 101.3 -9.1 50 666 roll -0.72 - - 2661 - 2.30 0.041 1372 -598.3 -107.1 - - 3483 - - - - - - - - 14.87 14.52 14.87
793 112.7 -6.8 69 800 done -0.72 - - 2649 - 2.47 0.065 2765 564.0 -107.1 - - 3483 - - - - - - - - 14.50 14.41 14.54
1109 136.4 -8.0 79 1109 done -0.72 - - 2650 - - - 2765 - -107.1 - - 3486 - - - - - - - - 14.90 14.90 14.90
1445 168.3 -9.5 85 1446 done -0.72 - - 2651 - - - 2765 - -107.1 - - 3482 - - - - - - - - 14.92 14.92 14.92
1781 194.2 -7.8 91 1786 roll -0.72 - - 2651 - 2.38 0.044 1371 -585.7 -107.1 - - 3479 - - - - - - - - 14.93 14.56 14.92
1829 198.3 -8.2 98 1836 done -0.72 - - 2641 - 2.50 0.066 2764 557.2 -107.1 - - 3479 - - - - - - - - 14.50 14.42 14.57
2173 228.6 -9.0 105 2179 roll -0.72 - - 2641 - 2.38 0.042 1374 -584.0 -107.1 - - 3476 - - - - - - - - 14.95 14.54 14.95
2229 233.8 -9.1 113 2235 done -0.72 0.10 0.238 2661 200.0 2.47 0.066 2764 562.8 -107.1 - - 3476 - - - - - - - - 14.27 14.41 14.50
2565 262.0 -8.3 126 2565 done -0.72 - - 2661 - - - 2765 - -107.1 - - 3473 - - - - - - - - 14.93 14.93 14.93
2901 288.1 -7.6 132 2906 roll -0.72 - - 2661 - 2.38 0.042 1378 -582.8 -107.1 - - 3472 - - - - - - - - 14.94 14.54 14.94
2970 293.3 -7.4 142 2976 done -0.72 - - 2652 - 2.50 0.068 2758 552.0 -107.1 - - 3470 - - - - - - - - 14.52 14.41 14.56
3293 319.5 -8.3 153 3293 done -0.72 - - 2652 - - - 2762 - -107.1 - - 3471 - - - - - - - - 14.96 14.96 14.96
3629 345.3 -7.4 159 3634 roll -0.72 - - 2652 - 2.40 0.043 1371 -579.6 -107.1 - - 3467 - - - - - - - - 14.95 14.53 14.95
3712 351.3 -7.0 171 3718 done -0.72 - - 2643 - 2.53 0.067 2763 550.2 -107.1 - - 3466 - - - - - - - - 14.50 14.39 14.56
4077 379.7 -8.0 181 4078 done -0.72 - - 2643 - - - 2763 - -107.1 - - 3464 - - - - - - - - 14.93 14.92 14.93
4413 407.3 -8.3 187 4418 roll -0.72 - - 2635 - 2.03 0.112 3828 524.6 -107.1 - - 3462 - - - - - - - - 14.93 14.30 14.93
4440 411.8 -16.4 191 4446 done -0.72 0.08 0.204 2658 287.5 1.80 0.042 2764 -591.1 -107.1 - - 3462 - - - - - - - - 14.32 14.64 14.46
4805 441.3 -8.0 201 4811 roll -0.72 - - 2659 - 2.38 0.043 1373 -584.5 -107.1 - - 3460 - - - - - - - - 14.93 14.50 14.93
4895 448.8 -8.2 214 4901 done -0.72 - - 2650 - 2.50 0.067 2761 555.2 -107.1 - - 3460 - - - - - - - - 14.47 14.38 14.56
5253 479.0 -8.5 223 5258 roll -0.72 - - 2641 - 2.00 0.112 3815 527.0 -107.1 - - 3458 - - - - - - - - 14.95 14.28 14.95
5301 483.4 -8.9 230 5308 done -0.72 - - 2642 - 1.83 0.043 2738 -588.5 -107.1 - - 3458 - - - - - - - - 14.62 14.60 14.64
5645 513.5 -8.8 237 5650 roll -0.72 - - 2640 - 2.33 0.044 1376 -584.5 -107.1 - - 3457 - - - - - - - - 14.92 14.51 14.92
5728 521.0 -8.7 249 5735 done -0.72 0.10 0.216 2661 210.0 2.50 0.067 2752 550.4 -107.1 - - 3456 - - - - - - - - 14.18 14.36 14.35
6093 549.6 -7.8 259 6093 done -0.72 - - 2661 - - - 2752 - -107.1 - - 3455 - - - - - - - - 14.95 14.95 14.95
6429 573.7 -7.1 265 6435 roll -0.72 - - 2661 - 2.40 0.044 1375 -573.8 -107.1 - - 3453 - - - - - - - - 14.95 14.48 14.95
6470 576.8 -7.1 271 6476 done -0.81 - - 2652 - 2.50 0.067 2756 552.4 -107.1 - - 3453 - - - - - - - - 14.44 14.34 14.48
6821 601.5 -7.1 279 6826 roll -0.81 - - 2652 - 2.38 0.044 1381 -577.7 -107.1 - - 3452 - - - - - - - - 14.92 14.49 14.91
6855 604.0 -7.3 284 6861 done -0.81 - - 2643 - 2.47 0.067 2752 555.1 -107.1 - - 3452 - - - - - - - - 14.44 14.33 14.48
7213 629.6 -7.2 293 7219 roll -0.81 - - 2643 - 2.38 0.044 1379 -576.9 -107.1 - - 3451 - - - - - - - - 14.92 14.47 14.92
7247 632.3 -7.7 298 7253 done -0.81 - - 2635 - 2.53 0.069 2757 544.7 -107.1 - - 3449 - - - - - - - - 14.41 14.31 14.46
7605 660.4 -8.0 307 7606 done -0.81 - - 2635 - - - 2757 - -107.1 - - 3449 - - - - - - - - 14.91 14.91 14.91
7941 688.9 -8.6 313 7947 roll -0.81 - - 2634 - 2.40 0.044 1375 -575.8 -107.1 - - 3448 - - - - - - - - 14.92 14.45 14.91
8010 695.1 -8.9 323 8016 done -0.81 - - 2625 - 2.53 0.067 2754 545.1 -107.1 - - 3447 - - - - - - - - 14.39 14.29 14.44
8333 724.4 -9.1 334 8338 roll -0.81 - - 2617 - 2.03 0.112 3830 530.0 -107.1 - - 3447 - - - - - - - - 14.90 14.23 14.90
8381 729.1 -9.6 341 8389 done -0.81 - - 2616 - 1.85 0.044 2750 -583.8 -107.1 - - 3447 - - - - - - - - 14.56 14.54 14.58
8725 760.0 -8.9 348 8730 roll -0.81 - - 2616 - 2.40 0.044 1373 -573.8 -107.1 - - 3445 - - - - - - - - 14.93 14.40 14.93
8794 766.3 -9.1 358 8800 done -0.81 0.08 0.233 2628 150.0 2.53 0.067 2753 545.5 -107.1 - - 3445 - - - - - - - - 14.04 14.27 14.23
9117 791.6 -7.7 369 9118 done -0.81 - - 2628 - - - 2753 - -107.1 - - 3444 - - - - - - - - 14.92 14.92 14.92
9453 816.7 -7.4 375 9458 roll -0.81 - - 2629 - 2.40 0.044 1375 -574.2 -107.1 - - 3443 - - - - - - - - 14.92 14.43 14.92
9487 819.3 -7.7 380 9493 done -0.81 - - 2619 - 2.53 0.066 2756 545.8 -107.1 - - 3443 - - - - - - - - 14.38 14.28 14.42
9845 847.3 -7.9 389 9851 roll -0.81 - - 2611 - 2.08 0.113 3825 513.9 -107.1 - - 3442 - - - - - - - - 14.92 14.13 14.92
9872 849.7 -8.1 393 9879 done -0.81 - - 2611 - 1.85 0.044 2750 -581.1 -107.1 - - 3442 - - - - - - - - 14.52 14.52 14.55
10237 880.5 -8.5 403 10242 roll -0.81 - - 2609 - 2.38 0.046 1376 -577.3 -107.1 - - 3441 - - - - - - - - 14.90 14.40 14.90
10306 886.6 -8.6 413 10313 done -0.81 0.10 0.225 2629 200.0 2.50 0.067 2740 545.6 -107.1 - - 3441 - - - - - - - - 14.00 14.23 14.19
10629 912.2 -7.9 424 10629 done -0.81 - - 2629 - - - 2739 - -107.1 - - 3440 - - - - - - - - 14.92 14.91 14.92
10906 end dive: TARGET_DEPTH_EXCEEDED
10906 begin apogee
10913 934.0 -7.8 429 11026 roll -0.23 0.65 0.168 2823 298.5 - - 2228 - - 110.88 1.949 3049 -3.5 0.338 - - - - - - 14.12 13.96 12.95
11027 end apogee: CONTROL_FINISHED_OK
11027 begin climb
11031 937.6 - 431 11161 roll 0.93 1.10 0.089 3183 327.3 2.50 0.057 855 -549.2 107.1 117.85 1.952 2616 -3.7 0.353 - - - - - - 13.99 14.01 12.83
11189 932.4 8.0 455 11194 done 0.82 - - 3183 - 2.53 0.051 2259 554.9 107.1 - - 2609 - - - - - - - - 14.06 13.97 14.09
11525 905.5 8.3 468 11530 roll 0.69 0.20 0.226 3127 -280.0 2.60 0.099 3656 537.3 107.1 - - 2608 - - - - - - - - 14.15 14.26 14.41
11601 899.6 7.7 479 11607 done 0.62 0.12 0.213 3103 -200.0 2.47 0.040 2235 -575.3 108.0 - - 2608 - - - - - - - - 14.14 14.41 14.31
11917 880.3 6.1 489 11958 roll 0.66 - - 3102 - 2.70 0.099 3654 525.6 140.9 36.58 1.942 2484 -3.4 0.307 - - - - - - 14.81 14.09 13.27
12021 872.7 8.0 504 12028 done 0.66 - - 3119 - 2.45 0.039 2253 -571.8 140.9 - - 2480 - - - - - - - - 14.33 14.31 14.38
12365 847.1 7.6 511 12370 roll 0.66 - - 3112 - 2.65 0.101 3652 527.9 143.6 - - 2477 - - - - - - - - 14.77 14.30 14.77
12406 843.7 9.8 517 12413 done 0.66 - - 3123 - 2.42 0.040 2257 -576.4 143.6 - - 2477 - - - - - - - - 14.50 14.45 14.51
12757 816.8 7.7 525 12763 roll 0.66 - - 3123 - 2.65 0.101 3659 529.1 145.5 - - 2476 - - - - - - - - 14.83 14.31 14.83
12798 813.7 9.1 531 12804 done 0.66 - - 3133 - 2.42 0.041 2256 -579.8 145.5 - - 2476 - - - - - - - - 14.52 14.47 14.52
13149 786.0 7.8 539 13154 roll 0.66 - - 3133 - 2.62 0.100 3655 534.0 145.5 - - 2476 - - - - - - - - 14.86 14.31 14.86
13190 782.3 8.8 545 13198 done 0.66 0.08 0.226 3121 -150.0 2.40 0.040 2271 -576.7 145.5 - - 2476 - - - - - - - - 14.17 14.47 14.33
13541 756.5 7.3 553 13557 done 0.67 - - 3121 - - - 2272 - 154.9 15.23 1.983 2433 -2.8 0.215 - - - - - - 14.85 14.43 13.47
13877 732.7 7.1 559 13893 done 0.69 - - 3121 - - - 2272 - 168.2 15.00 1.968 2380 -3.5 0.263 - - - - - - 14.81 14.40 13.45
14213 709.6 6.9 565 14239 roll 0.71 - - 3121 - 2.65 0.103 3643 517.4 185.2 19.73 1.887 2303 -3.9 0.293 - - - - - - 14.79 14.32 13.43
14317 701.4 8.2 580 14324 done 0.71 - - 3130 - 2.42 0.041 2259 -571.9 185.2 - - 2299 - - - - - - - - 14.42 14.37 14.44
14661 674.4 8.0 587 14661 done 0.71 - - 3130 - - - 2259 - 185.2 - - 2296 - - - - - - - - 14.78 14.77 14.77
14997 646.7 8.4 593 15003 roll 0.71 - - 3129 - 2.62 0.103 3649 530.5 185.2 - - 2297 - - - - - - - - 14.82 14.28 14.82
15024 644.1 9.2 597 15031 done 0.71 - - 3140 - 2.42 0.041 2267 -571.1 185.2 - - 2297 - - - - - - - - 14.44 14.43 14.46
15389 611.4 9.0 607 15394 roll 0.71 - - 3141 - 2.60 0.102 3649 531.5 185.2 - - 2297 - - - - - - - - 14.84 14.28 14.83
15416 608.7 9.6 611 15422 done 0.71 - - 3151 - 2.42 0.041 2259 -574.4 185.2 - - 2297 - - - - - - - - 14.51 14.46 14.53
15781 576.2 8.9 621 15782 done 0.71 - - 3151 - - - 2254 - 185.2 - - 2297 - - - - - - - - 14.87 14.88 14.88
16117 547.8 8.4 627 16122 roll 0.71 - - 3151 - 2.65 0.102 3656 529.1 185.2 - - 2295 - - - - - - - - 14.88 14.26 14.88
16179 541.8 9.6 636 16185 done 0.71 0.10 0.216 3132 -190.0 2.42 0.040 2268 -573.6 185.2 - - 2297 - - - - - - - - 14.12 14.43 14.29
16509 516.6 7.6 648 16514 roll 0.71 - - 3148 - 2.47 0.061 862 -569.2 188.5 - - 2296 - - - - - - - - 14.88 14.35 14.88
16543 513.9 7.7 653 16550 done 0.72 - - 3143 - 2.47 0.053 2262 566.8 189.7 - - 2296 - - - - - - - - 14.40 14.33 14.45
16901 485.2 8.0 662 16906 roll 0.72 - - 3142 - 2.62 0.102 3653 530.9 189.7 - - 2296 - - - - - - - - 14.86 14.24 14.85
16935 482.0 9.1 667 16941 done 0.72 - - 3153 - 2.42 0.039 2264 -574.0 189.7 - - 2295 - - - - - - - - 14.48 14.44 14.50
17293 451.3 8.6 676 17298 roll 0.72 - - 3153 - 2.65 0.101 3657 525.7 189.7 - - 2296 - - - - - - - - 14.87 14.22 14.87
17349 445.9 9.9 684 17354 done 0.72 0.10 0.243 3136 -170.0 2.38 0.040 2267 -584.0 189.7 - - 2297 - - - - - - - - 14.16 14.47 14.39
17685 418.5 8.0 697 17691 roll 0.72 - - 3146 - 2.47 0.060 865 -567.6 189.7 - - 2296 - - - - - - - - 14.88 14.32 14.88
17726 415.1 8.2 703 17732 done 0.72 - - 3146 - 2.50 0.053 2276 564.4 189.7 - - 2297 - - - - - - - - 14.38 14.31 14.42
18077 385.2 8.7 711 18082 roll 0.72 - - 3146 - 2.60 0.103 3659 531.9 189.7 - - 2296 - - - - - - - - 14.87 14.22 14.86
18153 377.4 10.2 722 18159 done 0.72 - - 3156 - 2.40 0.039 2276 -576.2 189.7 - - 2296 - - - - - - - - 14.47 14.43 14.50
18469 348.3 9.2 732 18469 done 0.72 - - 3156 - - - 2274 - 189.7 - - 2296 - - - - - - - - 14.89 14.89 14.89
18805 320.2 8.2 738 18806 done 0.72 - - 3156 - - - 2274 - 189.7 - - 2296 - - - - - - - - 14.89 14.89 14.89
19141 294.5 7.6 744 19148 roll 0.72 - - 3157 - 2.67 0.099 3663 520.2 193.7 2.83 0.979 2284 -4.2 0.255 - - - - - - 14.87 14.37 13.10
19182 291.0 8.6 750 19190 done 0.72 0.08 0.220 3144 -162.5 2.40 0.039 2274 -578.8 193.7 1.58 0.265 2281 -1.9 0.417 - - - - - - 14.20 14.50 13.73
19526 266.6 7.1 757 19552 roll 0.74 - - 3154 - 2.47 0.061 859 -572.9 206.6 20.30 1.414 2220 -3.0 0.113 - - - - - - 14.86 14.47 13.64
19588 261.9 7.8 766 19594 done 0.74 - - 3152 - 2.50 0.053 2277 567.2 206.6 - - 2216 - - - - - - - - 14.47 14.36 14.48
19918 234.8 8.3 778 19923 roll 0.74 - - 3154 - 2.58 0.101 3659 535.7 206.6 - - 2214 - - - - - - - - 14.81 14.25 14.81
19980 229.0 9.3 787 19986 done 0.74 - - 3164 - 2.40 0.038 2276 -576.2 206.6 - - 2215 - - - - - - - - 14.48 14.42 14.52
20310 201.3 8.4 799 20310 done 0.74 - - 3165 - - - 2273 - 206.6 - - 2215 - - - - - - - - 14.83 14.83 14.83
20646 173.3 8.3 805 20651 roll 0.74 - - 3175 - 2.47 0.061 859 -572.5 206.6 - - 2215 - - - - - - - - 14.85 14.33 14.85
20680 170.3 8.6 810 20686 done 0.74 0.10 0.192 3146 -290.0 2.50 0.054 2278 567.6 206.6 - - 2215 - - - - - - - - 14.12 14.33 14.28
21038 142.4 7.9 819 21043 roll 0.74 - - 3144 - 2.55 0.102 3653 539.2 206.6 - - 2215 - - - - - - - - 14.88 14.26 14.88
21094 137.6 8.9 827 21099 done 0.74 - - 3153 - 2.35 0.037 2271 -588.1 206.6 - - 2215 - - - - - - - - 14.57 14.48 14.60
21430 111.0 7.9 840 21435 roll 0.74 - - 3155 - 2.62 0.100 3659 529.8 206.6 - - 2215 - - - - - - - - 14.86 14.23 14.87
21471 107.4 8.9 846 21477 done 0.74 - - 3164 - 2.38 0.037 2278 -580.3 206.6 - - 2215 - - - - - - - - 14.50 14.46 14.52
21794 82.5 7.7 857 21800 roll 0.74 - - 3176 - 2.47 0.061 858 -574.9 207.4 - - 2215 - - - - - - - - 14.85 14.32 14.85
21947 71.4 6.1 879 21969 done 0.78 - - 3175 - 2.50 0.051 2276 567.2 240.4 15.80 0.372 2093 -7.7 0.296 - - - - - - 14.40 14.31 13.97
22300 49.4 4.9 896 22339 roll 0.93 - - 3175 - 2.60 0.099 3655 530.4 297.7 30.25 0.315 1865 -7.5 0.236 - - - - - - 14.81 14.34 14.04
22346 47.9 3.7 903 22396 done 1.14 0.17 0.056 3279 611.8 2.38 0.038 2272 -581.1 378.8 40.58 0.311 1541 -8.0 0.246 - - - - - - 14.47 14.48 14.04
22720 17.3 6.0 923 22745 roll 1.19 - - 3288 - 2.55 0.064 859 -554.1 413.8 17.58 0.216 1401 -8.0 0.127 - - - - - - 14.78 14.22 14.00
22815 11.1 7.8 937 22822 done 1.27 - - 3287 - 2.47 0.050 2272 572.1 413.8 - - 1402 - - - - - - - - 14.38 14.30 14.41
22967 end climb: SURFACE_DEPTH_REACHED
22967 begin surface coast
22995 end surface coast: CONTROL_FINISHED_OK
22995 begin surface
SM -0.88 - - - - -8.39 8.80 0.041 182 20.7 0.93 0.088 2772 1735.5 500.14 40.45 0.157 1056 26.1 0.015 - - - - - -