SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 430 * Raw log
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• Previous call tries 1 • 152.73 of 350.00 AH used of 24V (56.36% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth -0.92 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 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 - - - 116 done -0.93 - - 130 - - - 2782 - -107.1 -99.60 - 3478 - - - - - - - - 14.66 12.55 14.66
120 0.1 -2.0 3 140 roll -0.93 11.85 0.383 2591 207.7 2.40 0.034 1364 -590.8 -107.1 - - 3480 - - - - - - - - 13.95 14.41 14.34
181 26.3 -19.8 13 188 done -0.76 0.22 0.239 2643 236.4 2.55 0.070 2767 550.2 -107.1 - - 3478 - - - - - - - - 14.05 14.26 14.22
504 63.9 -9.2 26 509 roll -0.68 0.12 0.232 2672 241.7 1.92 0.109 3825 551.0 -107.1 - - 3481 - - - - - - - - 14.27 14.29 14.49
687 -115.3 822.8 52 692 done -0.68 - - 2672 - 1.73 0.040 2744 -624.9 -107.1 - - 3481 - - - - - - - - 14.64 14.60 14.65
1036 109.7 -8.2 64 1036 done -0.68 - - 2671 - - - 2744 - -107.1 - - 3481 - - - - - - - - 14.90 14.90 14.90
1372 140.3 -9.3 70 1377 roll -0.68 - - 2672 - 2.28 0.041 1395 -591.7 -107.1 - - 3479 - - - - - - - - 14.90 14.53 14.91
1405 143.6 -9.6 75 1412 done -0.68 - - 2662 - 2.47 0.067 2778 559.9 -107.1 - - 3479 - - - - - - - - 14.48 14.39 14.52
1763 173.5 -7.8 84 1764 done -0.68 - - 2662 - - - 2769 - -107.1 - - 3477 - - - - - - - - 14.93 14.93 14.93
2100 201.0 -8.2 90 2101 done -0.68 - - 2662 - - - 2769 - -107.1 - - 3475 - - - - - - - - 14.93 14.93 14.94
2435 228.8 -8.4 96 2441 roll -0.68 - - 2663 - 2.35 0.042 1401 -582.1 -107.1 - - 3472 - - - - - - - - 14.95 14.57 14.94
2469 231.8 -8.5 101 2477 done -0.68 - - 2653 - 2.47 0.070 2766 552.6 -107.1 - - 3471 - - - - - - - - 14.48 14.38 14.52
2828 261.7 -8.4 110 2828 done -0.68 - - 2652 - - - 2766 - -107.1 - - 3470 - - - - - - - - 14.91 14.92 14.92
3164 289.6 -8.4 116 3169 roll -0.68 - - 2653 - 2.35 0.043 1399 -581.7 -107.1 - - 3467 - - - - - - - - 14.92 14.53 14.92
3211 293.9 -8.6 123 3220 done -0.68 0.10 0.205 2673 200.0 2.47 0.070 2770 555.1 -107.1 - - 3466 - - - - - - - - 14.20 14.38 14.38
3556 321.3 -8.1 130 3556 done -0.68 - - 2675 - - - 2770 - -107.1 - - 3465 - - - - - - - - 14.90 14.92 14.92
3892 346.9 -7.4 136 3897 roll -0.75 - - 2674 - 2.35 0.043 1402 -582.1 -107.1 - - 3463 - - - - - - - - 14.92 14.52 14.92
3948 350.7 -6.8 144 3953 done -0.84 0.05 0.201 2614 -1200.0 2.47 0.071 2784 559.5 -107.1 - - 3462 - - - - - - - - 14.46 14.42 14.59
4283 379.1 -8.5 157 4289 roll -0.84 - - 2614 - 2.40 0.042 1398 -577.5 -107.1 - - 3461 - - - - - - - - 14.92 14.51 14.92
4324 382.8 -8.7 163 4331 done -0.84 - - 2605 - 2.47 0.069 2763 552.6 -107.1 - - 3461 - - - - - - - - 14.46 14.36 14.51
4675 416.9 -10.0 171 4676 done -0.84 - - 2604 - - - 2763 - -107.1 - - 3459 - - - - - - - - 14.94 14.94 14.93
5012 451.7 -10.3 177 5017 roll -0.84 - - 2604 - 2.35 0.043 1401 -579.6 -107.1 - - 3458 - - - - - - - - 14.93 14.50 14.92
5046 455.3 -10.1 182 5052 done -0.84 0.10 0.222 2623 190.0 2.47 0.070 2762 551.0 -107.1 - - 3458 - - - - - - - - 14.17 14.36 14.31
5403 487.9 -9.0 191 5409 roll -0.84 - - 2615 - 2.03 0.116 3820 521.2 -107.1 - - 3455 - - - - - - - - 14.91 14.23 14.91
5452 492.4 -9.4 198 5459 done -0.84 - - 2615 - 1.75 0.044 2790 -588.6 -107.1 - - 3455 - - - - - - - - 14.61 14.59 14.62
5795 522.1 -8.4 205 5801 roll -0.84 - - 2608 - 2.00 0.110 3822 516.0 -107.1 - - 3454 - - - - - - - - 14.90 14.23 14.91
6026 543.4 -9.5 238 6032 done -0.84 - - 2607 - 1.80 0.042 2757 -591.7 -107.1 - - 3453 - - - - - - - - 14.60 14.58 14.62
6356 574.2 -9.4 250 6361 roll -0.84 - - 2599 - 2.03 0.109 3825 526.1 -107.1 - - 3453 - - - - - - - - 14.90 14.28 14.90
6592 598.6 -10.3 284 6599 done -0.84 0.08 0.212 2621 275.0 1.77 0.043 2791 -584.2 -107.1 - - 3451 - - - - - - - - 14.21 14.56 14.35
6915 626.6 -8.6 295 6921 roll -0.84 - - 2614 - 2.00 0.110 3821 515.0 -107.1 - - 3449 - - - - - - - - 14.92 14.19 14.92
7153 647.1 -8.5 329 7160 done -0.84 - - 2613 - 1.77 0.044 2783 -586.4 -107.1 - - 3448 - - - - - - - - 14.57 14.55 14.62
7476 672.5 -7.8 340 7481 roll -0.84 - - 2613 - 2.42 0.044 1380 -579.8 -107.1 - - 3447 - - - - - - - - 14.89 14.43 14.88
7678 688.6 -7.9 369 7684 done -0.84 - - 2603 - 2.60 0.066 2793 543.5 -107.1 - - 3446 - - - - - - - - 14.31 14.21 14.35
8036 719.7 -9.0 378 8036 done -0.84 - - 2603 - - - 2793 - -107.1 - - 3445 - - - - - - - - 14.89 14.89 14.88
8372 751.0 -9.3 384 8377 roll -0.84 - - 2602 - 2.47 0.044 1373 -574.9 -107.1 - - 3444 - - - - - - - - 14.89 14.42 14.89
8448 758.2 -9.2 395 8454 done -0.84 0.10 0.229 2620 180.0 2.60 0.067 2791 545.4 -107.1 - - 3444 - - - - - - - - 14.02 14.26 14.21
8764 784.7 -8.3 405 8765 done -0.84 - - 2620 - - - 2791 - -107.1 - - 3443 - - - - - - - - 14.88 14.88 14.88
9100 810.9 -7.7 411 9105 roll -0.84 - - 2620 - 2.47 0.044 1379 -571.7 -107.1 - - 3441 - - - - - - - - 14.88 14.41 14.88
9148 815.1 -7.7 418 9155 done -0.84 - - 2611 - 2.62 0.070 2795 540.5 -107.1 - - 3441 - - - - - - - - 14.28 14.17 14.34
9491 843.2 -8.5 425 9492 done -0.84 - - 2611 - - - 2795 - -107.1 - - 3440 - - - - - - - - 14.88 14.88 14.88
9828 872.1 -8.5 431 9833 roll -0.84 - - 2610 - 2.50 0.045 1371 -569.6 -107.1 - - 3439 - - - - - - - - 14.88 14.38 14.88
9911 879.3 -8.5 443 9917 done -0.84 - - 2602 - 2.60 0.069 2781 542.3 -107.1 - - 3439 - - - - - - - - 14.32 14.22 14.38
10276 912.0 -9.0 453 10277 done -0.84 - - 2602 - - - 2781 - -107.1 - - 3438 - - - - - - - - 14.88 14.88 14.88
10497 end dive: TARGET_DEPTH_EXCEEDED
10497 begin apogee
10504 932.5 -9.2 457 10617 roll -0.23 0.77 0.177 2826 290.9 0.08 0.174 2256 -6562.5 - 110.25 1.937 3048 -3.5 0.341 - - - - - - 14.06 13.91 12.95
10619 end apogee: CONTROL_FINISHED_OK
10619 begin climb
10622 936.4 - 459 10748 roll 0.93 1.10 0.088 3186 327.3 2.50 0.056 881 -550.0 107.1 116.88 1.947 2623 -3.6 0.350 - - - - - - 14.00 14.02 12.84
10754 933.3 6.7 479 10782 done 0.72 0.17 0.207 3139 -276.5 2.53 0.050 2257 543.9 128.4 23.85 2.013 2538 -3.6 0.331 - - - - - - 13.73 13.87 12.85
11107 908.2 7.4 494 11112 roll 0.73 - - 3138 - 2.60 0.098 3655 537.7 135.0 1.10 0.259 2513 -22.7 15.952 - - - - - - 14.66 14.26 14.11
11218 898.8 8.4 510 11223 done 0.65 0.12 0.236 3114 -200.0 2.38 0.041 2269 -582.4 135.0 - - 2520 - - - - - - - - 14.18 14.47 14.42
11554 877.1 6.3 523 11596 roll 0.68 - - 3113 - 2.70 0.103 3652 512.2 163.3 37.75 1.934 2396 -3.3 0.298 - - - - - - 14.79 14.22 13.28
11622 872.0 8.6 533 11630 done 0.68 - - 3123 - 2.47 0.040 2249 -568.0 163.3 - - 2391 - - - - - - - - 14.33 14.29 14.35
11939 848.9 7.4 543 11945 roll 0.69 - - 3124 - 2.72 0.102 3655 516.9 171.0 2.80 1.102 2372 -6.8 1.046 - - - - - - 14.74 14.33 12.81
11972 846.0 10.7 548 11979 done 0.69 - - 3134 - 2.45 0.040 2255 -571.4 171.0 1.42 0.252 2370 - - - - - - - - 14.47 14.44 13.90
12323 818.7 7.9 556 12329 roll 0.69 - - 3133 - 2.62 0.100 3649 532.1 171.0 1.58 0.252 2371 - - - - - - - - 14.81 14.22 13.97
12379 813.7 9.2 564 12385 done 0.69 - - 3145 - 2.40 0.041 2252 -582.1 171.0 1.35 0.257 2366 -3.7 2.347 - - - - - - 14.57 14.50 14.07
12715 785.2 8.7 577 12718 done 0.69 - - 3145 - - - 2249 - 171.0 1.45 0.251 2367 - - - - - - - - 14.85 14.39 14.07
13052 754.3 9.3 583 13057 roll 0.69 - - 3145 - 2.65 0.100 3654 530.2 171.0 1.15 0.260 2371 3.5 -2.020 - - - - - - 14.84 14.26 14.07
13107 748.7 10.0 591 13113 done 0.69 0.10 0.244 3127 -180.0 2.40 0.041 2252 -584.2 171.0 - - 2378 - - - - - - - - 14.20 14.50 14.44
13443 719.8 8.5 604 13449 roll 0.69 - - 3127 - 2.65 0.099 3655 529.4 171.0 1.35 0.252 2368 -7.4 4.235 - - - - - - 14.85 14.21 13.99
13477 716.7 9.2 609 13485 done 0.69 - - 3137 - 2.42 0.041 2258 -577.3 171.0 - - 2374 - - - - - - - - 14.51 14.47 14.54
13836 687.7 8.0 618 13836 done 0.69 - - 3137 - - - 2257 - 171.0 - - 2377 - - - - - - - - 14.87 14.88 14.88
14172 663.8 6.9 624 14205 roll 0.71 - - 3137 - 2.65 0.103 3646 524.2 187.6 25.75 1.786 2294 -3.2 0.240 - - - - - - 14.88 14.35 13.47
14283 655.0 8.4 640 14289 done 0.71 - - 3148 - 2.42 0.041 2265 -570.7 187.6 - - 2290 - - - - - - - - 14.44 14.40 14.46
14619 629.0 7.8 653 14620 done 0.71 - - 3148 - - - 2262 - 187.6 - - 2289 - - - - - - - - 14.78 14.78 14.78
14956 600.6 8.6 659 14961 roll 0.71 - - 3147 - 2.62 0.103 3650 529.8 187.6 - - 2288 - - - - - - - - 14.81 14.23 14.81
14996 596.4 10.2 665 15004 done 0.71 - - 3158 - 2.42 0.041 2265 -572.3 187.6 - - 2288 - - - - - - - - 14.49 14.45 14.51
15347 561.8 10.0 673 15348 done 0.71 - - 3158 - - - 2263 - 187.6 - - 2288 - - - - - - - - 14.83 14.83 14.83
15683 527.3 10.3 679 15689 roll 0.71 - - 3158 - 2.62 0.103 3649 529.0 187.6 - - 2288 - - - - - - - - 14.85 14.21 14.85
15753 519.4 11.5 689 15760 done 0.71 0.12 0.207 3132 -216.7 2.42 0.041 2265 -571.9 187.6 - - 2288 - - - - - - - - 14.08 14.44 14.26
16075 490.9 8.7 700 16081 roll 0.71 - - 3132 - 2.62 0.102 3651 529.0 187.6 - - 2288 - - - - - - - - 14.83 14.21 14.84
16145 484.4 9.3 710 16150 done 0.71 - - 3142 - 2.40 0.041 2273 -574.2 187.6 - - 2288 - - - - - - - - 14.42 14.40 14.43
16467 457.4 8.3 721 16468 done 0.71 - - 3143 - - - 2270 - 187.6 - - 2286 - - - - - - - - 14.84 14.85 14.85
16804 430.7 7.9 727 16809 roll 0.71 - - 3143 - 2.60 0.104 3649 530.4 187.6 - - 2286 - - - - - - - - 14.88 14.20 14.88
16852 426.5 8.9 734 16859 done 0.71 - - 3153 - 2.40 0.041 2272 -573.8 187.6 - - 2287 - - - - - - - - 14.46 14.40 14.47
17195 397.9 8.5 741 17202 roll 0.71 - - 3163 - 2.47 0.063 862 -570.9 187.6 - - 2288 - - - - - - - - 14.85 14.29 14.83
17236 394.2 8.6 747 17243 done 0.71 0.10 0.198 3133 -300.0 2.50 0.054 2275 565.2 187.6 - - 2288 - - - - - - - - 14.07 14.28 14.23
17588 366.6 7.9 755 17593 roll 0.71 - - 3132 - 2.58 0.102 3659 536.4 187.6 - - 2288 - - - - - - - - 14.85 14.20 14.85
17664 359.9 8.8 766 17669 done 0.71 - - 3143 - 2.40 0.039 2273 -577.5 187.6 - - 2288 - - - - - - - - 14.47 14.42 14.52
17979 334.5 8.1 776 17985 roll 0.71 - - 3153 - 2.47 0.062 865 -570.0 187.6 - - 2288 - - - - - - - - 14.85 14.28 14.85
18021 331.1 8.2 782 18026 done 0.71 - - 3153 - 2.50 0.053 2279 565.6 187.6 - - 2288 - - - - - - - - 14.35 14.28 14.40
18371 302.4 8.2 790 18377 roll 0.71 - - 3153 - 2.58 0.103 3655 533.3 187.6 - - 2290 - - - - - - - - 14.88 14.16 14.88
18454 294.6 9.2 802 18461 done 0.71 0.10 0.210 3134 -190.0 2.40 0.040 2273 -575.8 187.6 - - 2289 - - - - - - - - 14.04 14.39 14.20
18819 268.1 7.2 812 18833 roll 0.73 - - 3134 - 2.67 0.103 3668 522.5 198.4 4.80 1.543 2267 -4.6 0.159 - - - - - - 14.85 14.33 13.13
18853 265.4 8.0 817 18861 done 0.73 - - 3145 - 2.40 0.040 2276 -580.0 198.4 1.60 0.268 2266 - - - - - - - - 14.56 14.52 13.79
19211 238.8 7.6 826 19224 roll 0.73 - - 3154 - 2.53 0.062 865 -557.7 202.0 5.45 1.564 2247 -3.5 0.107 - - - - - - 14.88 14.40 13.34
19252 235.5 8.0 832 19259 done 0.73 - - 3155 - 2.50 0.053 2284 567.6 202.0 0.80 0.233 2247 - - - - - - - - 14.47 14.40 14.25
19604 207.3 8.0 840 19609 roll 0.73 - - 3154 - 2.55 0.100 3654 537.3 202.0 1.55 0.243 2247 - - - - - - - - 14.83 14.14 13.88
19659 202.3 9.2 848 19665 done 0.73 - - 3168 - 2.35 0.039 2276 -586.4 202.0 1.38 0.249 2245 - - - - - - - - 14.55 14.47 14.01
19995 174.9 8.2 861 20002 roll 0.73 - - 3165 - 2.62 0.099 3662 529.0 202.0 1.52 0.243 2248 2.0 -0.284 - - - - - - 14.85 14.05 13.81
20036 171.0 9.7 867 20043 done 0.73 0.12 0.207 3139 -216.7 2.40 0.039 2288 -572.5 202.0 1.17 0.226 2243 -4.3 0.647 - - - - - - 14.07 14.42 13.99
20388 144.9 7.4 875 20408 roll 0.74 - - 3139 - 2.58 0.102 3662 532.6 209.0 12.82 1.351 2212 -2.4 0.052 - - - - - - 14.86 14.45 13.68
20484 136.7 8.4 889 20492 done 0.74 - - 3149 - 2.38 0.039 2286 -578.2 209.0 - - 2209 - - - - - - - - 14.50 14.45 14.51
20835 110.7 7.6 897 20842 roll 0.74 - - 3159 - 2.53 0.061 862 -562.8 212.9 - - 2209 - - - - - - - - 14.81 14.33 14.81
20869 107.9 8.3 902 20875 done 0.74 - - 3159 - 2.53 0.053 2292 565.2 212.9 - - 2208 - - - - - - - - 14.39 14.31 14.42
21200 81.4 7.9 914 21205 roll 0.74 - - 3159 - 2.58 0.103 3659 529.8 212.9 - - 2209 - - - - - - - - 14.82 14.17 14.83
21248 76.9 9.5 921 21256 done 0.74 0.08 0.207 3146 -162.5 2.38 0.038 2289 -575.6 212.9 - - 2207 - - - - - - - - 14.14 14.41 14.28
21564 56.5 5.8 933 21592 done 0.87 0.05 0.200 3220 1480.0 - - 2287 - 252.1 20.75 0.328 2047 -7.7 0.266 - - - - - - 14.53 14.42 14.04
21899 33.8 5.0 945 21934 roll 0.94 - - 3220 - 2.58 0.099 3660 532.2 307.6 28.50 0.262 1825 -7.8 0.201 - - - - - - 14.82 14.28 14.06
21968 29.8 6.0 955 21990 done 0.98 - - 3230 - 2.38 0.038 2283 -578.6 341.5 17.45 0.249 1688 -7.9 0.188 - - - - - - 14.49 14.45 14.07
22322 13.9 3.8 972 22367 roll 1.22 0.10 0.112 3343 1130.0 2.53 0.060 865 -560.5 419.4 37.72 0.196 1381 -8.1 0.116 - - - - - - 14.47 14.29 14.12
22469 end climb: SURFACE_DEPTH_REACHED
22470 begin surface coast
22477 end surface coast: CONTROL_FINISHED_OK
22477 begin surface
SM 0.22 - - - - -8.40 9.55 0.090 189 19.8 3.40 0.060 2767 -2396.8 500.14 37.10 0.158 1059 28.5 -0.004 - - - - - -