SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 428 * Raw log
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• Previous call tries 2 • 152.11 of 350.00 AH used of 24V (56.54% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth -0.94 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 32 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 - - 119 - - - 2775 - -107.1 -79.85 - 3476 - - - - - - - - 14.66 13.14 14.66
104 8.9 -12.7 3 121 roll -0.93 11.62 0.378 2590 212.7 2.40 0.041 1379 -581.7 -107.1 - - 3480 - - - - - - - - 14.00 14.35 14.26
177 34.2 -17.5 14 184 done -0.72 0.30 0.226 2663 243.3 2.50 0.067 2758 551.6 -107.1 - - 3479 - - - - - - - - 14.09 14.28 14.28
493 69.3 -9.3 26 494 done -0.72 - - 2663 - - - 2758 - -107.1 - - 3479 - - - - - - - - 14.83 14.84 14.84
801 93.1 -7.2 37 807 roll -0.72 - - 2655 - 1.98 0.108 3833 542.9 -107.1 - - 3480 - - - - - - - - 14.89 14.35 14.89
885 100.0 -7.9 49 891 done -0.72 - - 2655 - 1.77 0.037 2751 -611.3 -107.1 - - 3480 - - - - - - - - 14.62 14.59 14.62
1221 120.9 -195.4 63 1227 roll -0.72 - - 2655 - 2.28 0.041 1397 -593.9 -107.1 - - 3479 - - - - - - - - 14.90 14.54 14.90
1311 127.9 -7.5 76 1318 done -0.72 - - 2645 - 2.45 0.067 2762 557.1 -107.1 - - 3479 - - - - - - - - 14.51 14.40 14.56
1669 158.2 -8.6 85 1670 done -0.72 - - 2646 - - - 2762 - -107.1 - - 3477 - - - - - - - - 14.94 14.94 14.94
2005 188.2 -9.0 91 2010 roll -0.72 - - 2646 - 2.35 0.041 1398 -580.4 -107.1 - - 3474 - - - - - - - - 14.95 14.55 14.95
2039 191.6 -9.6 96 2046 done -0.72 0.10 0.211 2667 210.0 2.47 0.067 2768 554.7 -107.1 - - 3474 - - - - - - - - 14.25 14.41 14.41
2397 223.2 -8.8 105 2398 done -0.72 - - 2667 - - - 2768 - -107.1 - - 3472 - - - - - - - - 14.92 14.93 14.93
2733 251.8 -8.5 111 2738 roll -0.72 - - 2667 - 2.38 0.042 1393 -577.7 -107.1 - - 3468 - - - - - - - - 14.92 14.48 14.92
2781 255.9 -8.3 118 2788 done -0.72 - - 2658 - 2.47 0.068 2761 553.8 -107.1 - - 3468 - - - - - - - - 14.48 14.39 14.53
3125 284.2 -8.2 125 3126 done -0.72 - - 2658 - - - 2761 - -107.1 - - 3465 - - - - - - - - 14.93 14.92 14.92
3461 311.0 -8.0 131 3466 roll -0.72 - - 2658 - 2.35 0.042 1398 -580.0 -107.1 - - 3465 - - - - - - - - 14.93 14.54 14.94
3502 314.3 -8.0 137 3508 done -0.72 - - 2647 - 2.45 0.069 2754 553.5 -107.1 - - 3463 - - - - - - - - 14.50 14.40 14.54
3853 342.9 -8.2 145 3854 done -0.72 - - 2649 - - - 2754 - -107.1 - - 3462 - - - - - - - - 14.93 14.93 14.92
4189 372.4 -8.9 151 4194 roll -0.72 - - 2649 - 2.35 0.043 1390 -580.4 -107.1 - - 3460 - - - - - - - - 14.93 14.53 14.93
4293 381.7 -8.7 166 4300 done -0.72 - - 2640 - 2.47 0.069 2756 553.0 -107.1 - - 3459 - - - - - - - - 14.40 14.30 14.45
4637 410.8 -8.3 173 4638 done -0.72 - - 2648 - - - 2756 - -107.1 - - 3457 - - - - - - - - 14.93 14.92 14.93
4973 436.5 -7.7 179 4978 roll -0.72 - - 2640 - 2.38 0.043 1393 -572.7 -107.1 - - 3456 - - - - - - - - 14.93 14.46 14.93
5000 438.8 -8.1 183 5006 done -0.72 0.10 0.215 2662 220.0 2.47 0.069 2757 552.2 -107.1 - - 3456 - - - - - - - - 14.17 14.34 14.34
5365 464.5 -7.1 193 5370 roll -0.72 - - 2662 - 2.35 0.043 1394 -580.0 -107.1 - - 3456 - - - - - - - - 14.92 14.50 14.92
5406 467.7 -7.5 199 5412 done -0.79 - - 2654 - 2.47 0.069 2756 551.4 -107.1 - - 3454 - - - - - - - - 14.45 14.35 14.50
5757 493.3 -7.3 207 5762 roll -0.79 - - 2654 - 2.35 0.043 1397 -578.3 -107.1 - - 3453 - - - - - - - - 14.94 14.50 14.95
5805 496.9 -7.3 214 5812 done -0.79 - - 2644 - 2.47 0.068 2751 548.2 -107.1 - - 3453 - - - - - - - - 14.43 14.33 14.47
6149 521.9 -7.3 221 6154 roll -0.79 - - 2644 - 2.35 0.043 1393 -577.9 -107.1 - - 3451 - - - - - - - - 14.94 14.50 14.95
6190 525.2 -7.8 227 6196 done -0.79 - - 2636 - 2.50 0.070 2757 545.6 -107.1 - - 3450 - - - - - - - - 14.42 14.32 14.47
6541 553.4 -8.1 235 6546 roll -0.79 - - 2628 - 2.00 0.115 3822 532.5 -107.1 - - 3449 - - - - - - - - 14.92 14.28 14.91
6589 557.6 -8.9 242 6596 done -0.79 - - 2627 - 1.80 0.044 2773 -582.8 -107.1 - - 3449 - - - - - - - - 14.59 14.57 14.60
6933 586.5 -8.3 249 6938 roll -0.79 - - 2627 - 2.40 0.044 1376 -582.1 -107.1 - - 3448 - - - - - - - - 14.90 14.47 14.91
6995 591.6 -7.8 258 7001 done -0.79 - - 2617 - 2.53 0.067 2757 545.8 -107.1 - - 3448 - - - - - - - - 14.40 14.31 14.45
7325 617.7 -7.9 270 7326 done -0.79 - - 2618 - - - 2760 - -107.1 - - 3447 - - - - - - - - 14.92 14.93 14.94
7661 645.9 -8.5 276 7667 roll -0.79 - - 2616 - 2.42 0.044 1371 -574.0 -107.1 - - 3445 - - - - - - - - 14.94 14.45 14.94
7702 649.8 -9.1 282 7708 done -0.79 0.10 0.223 2636 200.0 2.53 0.067 2748 544.3 -107.1 - - 3445 - - - - - - - - 14.07 14.29 14.23
8053 679.6 -8.6 290 8054 done -0.79 - - 2636 - - - 2749 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
8389 708.0 -8.4 296 8395 roll -0.79 - - 2637 - 2.42 0.045 1368 -570.7 -107.1 - - 3442 - - - - - - - - 14.92 14.43 14.93
8437 712.1 -8.4 303 8444 done -0.79 - - 2627 - 2.53 0.069 2743 543.5 -107.1 - - 3442 - - - - - - - - 14.35 14.26 14.41
8781 739.9 -8.0 310 8786 roll -0.79 - - 2619 - 2.10 0.116 3828 516.7 -107.1 - - 3441 - - - - - - - - 14.90 14.14 14.90
8808 742.2 -8.3 314 8814 done -0.79 - - 2616 - 1.88 0.045 2745 -576.1 -107.1 - - 3441 - - - - - - - - 14.56 14.51 14.57
9173 770.6 -7.6 324 9179 roll -0.79 - - 2618 - 2.40 0.044 1362 -576.2 -107.1 - - 3440 - - - - - - - - 14.92 14.36 14.92
9263 777.6 -7.7 337 9269 done -0.79 0.10 0.216 2637 190.0 2.55 0.068 2749 543.9 -107.1 - - 3440 - - - - - - - - 14.02 14.20 14.19
9621 802.3 -7.0 346 9622 done -0.79 - - 2637 - - - 2749 - -107.1 - - 3438 - - - - - - - - 14.91 14.92 14.92
9957 826.5 -7.4 352 9963 roll -0.79 - - 2638 - 2.42 0.045 1365 -571.9 -107.1 - - 3438 - - - - - - - - 14.92 14.42 14.92
9998 829.6 -7.6 358 10004 done -0.79 - - 2629 - 2.53 0.069 2737 542.3 -107.1 - - 3438 - - - - - - - - 14.32 14.23 14.36
10349 856.5 -7.7 366 10350 done -0.79 - - 2629 - - - 2737 - -107.1 - - 3437 - - - - - - - - 14.92 14.91 14.91
10685 882.9 -7.9 372 10691 roll -0.79 - - 2628 - 2.40 0.046 1368 -570.4 -107.1 - - 3435 - - - - - - - - 14.91 14.37 14.91
10747 887.7 -8.1 381 10753 done -0.79 - - 2619 - 2.55 0.069 2744 539.6 -107.1 - - 3436 - - - - - - - - 14.29 14.19 14.35
11077 914.3 -8.2 393 11082 roll -0.79 - - 2611 - 2.08 0.116 3830 522.1 -107.1 - - 3434 - - - - - - - - 14.88 14.10 14.88
11104 916.7 -7.6 397 11110 done -0.79 0.10 0.206 2640 290.0 1.92 0.046 2729 -573.4 -107.1 - - 3434 - - - - - - - - 14.04 14.44 14.19
11298 end dive: TARGET_DEPTH_EXCEEDED
11298 begin apogee
11305 931.4 -7.4 404 11418 roll -0.23 0.62 0.160 2826 300.0 0.10 0.160 2268 -4610.0 - 109.95 1.956 3051 -3.5 0.336 - - - - - - 14.10 13.92 12.91
11419 end apogee: CONTROL_FINISHED_OK
11419 begin climb
11422 935.4 - 406 11549 roll 0.93 1.10 0.085 3187 328.2 2.58 0.057 855 -547.7 107.1 117.93 1.959 2626 -3.6 0.348 - - - - - - 13.98 14.01 12.83
11569 932.3 7.4 428 11579 done 0.75 0.15 0.209 3148 -260.0 2.55 0.051 2246 545.5 113.5 3.00 1.250 2600 -8.7 1.308 - - - - - - 13.78 13.90 12.41
11913 911.3 6.2 435 11960 roll 0.79 - - 3147 - 2.70 0.101 3647 518.9 143.6 39.72 1.968 2473 -3.2 0.300 - - - - - - 14.69 14.12 13.19
12081 898.7 8.1 459 12086 done 0.69 0.10 0.247 3128 -190.0 2.45 0.041 2233 -577.1 143.6 - - 2468 - - - - - - - - 14.10 14.35 14.35
12417 877.0 6.4 472 12453 roll 0.73 - - 3128 - 2.78 0.102 3652 510.4 171.1 31.12 1.968 2364 -3.3 0.301 - - - - - - 14.75 14.22 13.27
12480 872.2 9.2 481 12485 done 0.73 - - 3138 - 2.47 0.041 2257 -564.8 171.1 - - 2361 - - - - - - - - 14.33 14.30 14.35
12810 847.4 7.3 493 12821 roll 0.74 - - 3139 - 2.70 0.103 3652 516.7 179.2 3.75 1.643 2339 -5.9 0.612 - - - - - - 14.74 14.35 12.85
12843 844.6 8.9 498 12849 done 0.74 - - 3150 - 2.45 0.041 2253 -571.0 179.2 - - 2344 - - - - - - - - 14.47 14.44 14.49
13201 815.9 8.1 507 13207 roll 0.74 - - 3150 - 2.65 0.101 3649 526.8 179.2 0.70 0.310 2339 -7.1 3.805 - - - - - - 14.79 14.28 14.16
13243 812.1 9.0 513 13249 done 0.66 0.15 0.208 3117 -220.0 2.42 0.041 2261 -573.6 179.2 - - 2344 - - - - - - - - 14.15 14.45 14.32
13594 785.9 7.4 521 13613 roll 0.67 - - 3117 - 2.65 0.103 3651 524.5 185.6 12.27 2.058 2307 -3.0 0.233 - - - - - - 14.82 14.40 13.45
13649 781.1 8.8 529 13655 done 0.67 - - 3126 - 2.40 0.041 2256 -581.2 185.6 - - 2304 - - - - - - - - 14.56 14.48 14.57
13985 754.2 8.0 542 13986 done 0.67 - - 3126 - - - 2253 - 185.6 - - 2302 - - - - - - - - 14.81 14.81 14.81
14321 729.1 7.3 548 14334 roll 0.68 - - 3126 - 2.67 0.104 3652 524.0 194.5 5.07 2.021 2280 -4.3 0.317 - - - - - - 14.85 14.42 13.18
14397 722.9 8.3 559 14404 done 0.68 - - 3137 - 2.42 0.041 2266 -572.7 194.5 1.48 0.263 2276 -2.7 1.504 - - - - - - 14.51 14.47 13.79
14714 699.1 7.5 569 14726 roll 0.68 - - 3147 - 2.53 0.063 855 -557.7 198.5 4.80 1.948 2267 -1.9 0.136 - - - - - - 14.82 14.46 12.98
14747 696.4 7.5 574 14770 done 0.69 - - 3148 - 2.50 0.054 2262 562.8 204.2 13.82 1.955 2229 -2.7 0.198 - - - - - - 14.48 14.40 13.46
15106 664.8 9.1 583 15111 roll 0.69 - - 3148 - 2.60 0.103 3657 536.5 204.2 - - 2224 - - - - - - - - 14.77 14.26 14.77
15154 659.7 10.7 590 15161 done 0.69 0.10 0.219 3128 -200.0 2.45 0.041 2259 -570.6 204.2 - - 2225 - - - - - - - - 14.14 14.41 14.30
15497 627.3 9.6 597 15502 roll 0.69 - - 3128 - 2.62 0.103 3652 531.7 204.2 - - 2226 - - - - - - - - 14.83 14.26 14.84
15553 621.2 11.1 605 15558 done 0.69 - - 3138 - 2.40 0.041 2255 -582.1 204.2 - - 2226 - - - - - - - - 14.57 14.49 14.59
15889 586.5 10.3 618 15894 roll 0.69 - - 3138 - 2.65 0.102 3658 529.4 204.2 - - 2225 - - - - - - - - 14.85 14.26 14.87
15917 583.6 10.6 622 15922 done 0.69 - - 3148 - 2.42 0.041 2269 -574.0 204.2 - - 2225 - - - - - - - - 14.48 14.44 14.50
16281 550.7 8.7 632 16288 roll 0.69 - - 3148 - 2.62 0.103 3654 528.6 204.2 - - 2224 - - - - - - - - 14.85 14.25 14.85
16308 548.2 9.0 636 16316 done 0.69 0.10 0.219 3128 -200.0 2.42 0.041 2260 -576.0 204.2 - - 2225 - - - - - - - - 14.12 14.44 14.28
16673 520.7 7.6 646 16678 roll 0.69 - - 3128 - 2.65 0.102 3658 527.5 207.5 - - 2225 - - - - - - - - 14.85 14.24 14.85
16714 517.1 8.9 652 16721 done 0.69 - - 3137 - 2.42 0.041 2264 -576.0 207.5 - - 2223 - - - - - - - - 14.49 14.45 14.51
17066 488.8 8.0 660 17067 done 0.69 - - 3138 - - - 2263 - 207.5 - - 2225 - - - - - - - - 14.83 14.84 14.85
17401 462.9 7.7 666 17406 roll 0.70 - - 3137 - 2.65 0.103 3656 525.7 209.0 - - 2225 - - - - - - - - 14.86 14.22 14.86
17470 457.0 8.7 676 17478 done 0.70 - - 3147 - 2.42 0.041 2274 -571.1 209.0 0.85 0.232 2218 -8.2 3.284 - - - - - - 14.47 14.43 14.07
17793 432.3 7.6 687 17797 done 0.70 - - 3148 - - - 2271 - 211.3 2.78 1.037 2208 -3.6 0.304 - - - - - - 14.85 14.37 13.02
18130 405.6 8.0 693 18135 roll 0.70 - - 3147 - 2.62 0.103 3656 528.6 211.3 1.48 0.276 2210 - - - - - - - - 14.84 14.03 13.66
18170 401.8 9.4 699 18177 done 0.70 0.10 0.211 3127 -200.0 2.42 0.041 2275 -570.7 211.3 1.38 0.249 2210 - - - - - - - - 14.13 14.45 13.75
18522 375.7 7.4 707 18541 roll 0.71 - - 3126 - 2.58 0.103 3653 534.1 218.2 13.95 1.616 2174 -2.6 0.121 - - - - - - 14.85 14.44 13.57
18562 372.4 7.8 713 18568 done 0.71 - - 3136 - 2.40 0.041 2275 -574.2 218.2 - - 2172 - - - - - - - - 14.54 14.50 14.53
18913 344.9 7.8 721 18919 roll 0.71 - - 3147 - 2.50 0.062 854 -568.4 218.2 - - 2169 - - - - - - - - 14.83 14.33 14.83
18947 342.1 7.9 726 18953 done 0.71 - - 3147 - 2.53 0.053 2282 564.4 218.2 - - 2170 - - - - - - - - 14.40 14.34 14.44
19305 313.5 8.1 735 19310 roll 0.71 - - 3143 - 2.55 0.102 3653 537.6 218.2 - - 2170 - - - - - - - - 14.82 14.23 14.83
19367 307.8 9.2 744 19374 done 0.71 - - 3156 - 2.40 0.040 2276 -573.8 218.2 - - 2170 - - - - - - - - 14.47 14.43 14.50
19698 279.4 8.7 756 19698 done 0.71 - - 3157 - - - 2273 - 218.2 - - 2171 - - - - - - - - 14.84 14.84 14.84
20033 250.0 8.9 762 20034 done 0.71 - - 3157 - - - 2272 - 218.2 - - 2170 - - - - - - - - 14.85 14.85 14.85
20370 221.1 8.6 768 20375 roll 0.71 - - 3157 - 2.60 0.101 3654 531.5 218.2 - - 2170 - - - - - - - - 14.88 14.23 14.88
20410 217.0 10.2 774 20417 done 0.71 0.12 0.195 3129 -233.3 2.40 0.040 2276 -574.2 218.2 - - 2171 - - - - - - - - 14.10 14.43 14.26
20762 191.1 7.1 782 20782 roll 0.80 - - 3129 - 2.58 0.100 3656 534.9 231.6 13.60 1.394 2123 -3.5 0.098 - - - - - - 14.85 14.46 13.64
20823 186.4 8.1 791 20829 done 0.80 - - 3139 - 2.40 0.039 2277 -574.6 231.6 - - 2121 - - - - - - - - 14.52 14.50 14.55
21153 160.8 8.0 803 21158 roll 0.80 - - 3148 - 2.47 0.061 862 -572.9 231.6 - - 2120 - - - - - - - - 14.82 14.34 14.82
21174 159.0 8.0 806 21180 done 0.88 - - 3149 - 2.50 0.053 2284 568.8 231.6 - - 2115 - - - - - - - - 14.42 14.34 14.46
21489 132.9 8.2 816 21496 roll 0.88 0.05 0.197 3197 960.0 2.55 0.103 3656 538.0 231.6 - - 2119 - - - - - - - - 14.54 14.25 14.60
21558 125.5 11.2 826 21564 done 0.88 - - 3206 - 2.38 0.038 2279 -578.6 231.6 - - 2119 - - - - - - - - 14.49 14.45 14.52
21881 93.9 9.6 838 21886 roll 0.88 - - 3217 - 2.47 0.061 867 -571.7 231.6 - - 2119 - - - - - - - - 14.84 14.33 14.84
21910 91.2 9.7 842 21915 done 0.88 0.10 0.233 3189 -280.0 2.47 0.055 2287 574.9 231.6 - - 2119 - - - - - - - - 14.12 14.30 14.38
22245 63.2 8.3 857 22250 roll 0.88 - - 3188 - 2.55 0.103 3664 540.0 231.6 - - 2119 - - - - - - - - 14.83 14.23 14.84
22391 50.3 8.2 878 22397 done 0.88 - - 3199 - 2.38 0.038 2290 -577.3 231.6 - - 2119 - - - - - - - - 14.49 14.45 14.52
22721 34.7 3.9 892 22763 roll 0.98 - - 3198 - 2.62 0.100 3658 522.1 309.0 37.55 0.278 1818 -8.0 0.203 - - - - - - 14.84 14.37 14.12
22826 30.2 4.8 907 22860 done 1.05 - - 3208 - 2.35 0.037 2261 -594.5 367.1 29.27 0.264 1586 -7.9 0.184 - - - - - - 14.57 14.50 14.12
23193 13.9 3.6 926 23240 roll 1.35 0.28 0.062 3362 550.0 2.42 0.060 881 -570.2 449.2 39.67 0.205 1262 -8.2 0.112 - - - - - - 14.47 14.27 14.09
23322 end climb: SURFACE_DEPTH_REACHED
23322 begin surface coast
23327 end surface coast: CONTROL_FINISHED_OK
23328 begin surface
SM -2.00 - - - - -8.38 9.57 0.090 193 20.1 3.38 0.064 2759 -2413.3 500.39 23.33 0.162 1060 45.4 0.057 - - - - - -