SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 433 * Raw log
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• Previous call tries 4 • 153.63 of 350.00 AH used of 24V (56.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth -1.26 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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 - - - 2784 - -107.1 -80.00 - 3478 - - - - - - - - 14.70 13.14 14.69
104 5.6 -12.0 3 121 roll -0.93 11.75 0.382 2586 211.1 2.40 0.034 1365 -591.2 -107.1 - - 3477 - - - - - - - - 14.03 14.38 14.27
277 47.7 -14.4 28 283 done -0.73 0.30 0.223 2659 243.3 2.53 0.071 2774 556.9 -107.1 - - 3479 - - - - - - - - 14.14 14.31 14.40
605 77.6 -8.7 42 610 roll -0.73 - - 2660 - 2.38 0.041 1374 -588.2 -107.1 - - 3481 - - - - - - - - 14.85 14.51 14.85
618 78.8 -8.7 44 624 done -0.73 - - 2651 - 2.50 0.067 2767 557.2 -107.1 - - 3480 - - - - - - - - 14.42 14.33 14.48
941 104.2 -7.2 56 946 roll -0.73 - - 2643 - 1.95 0.109 3832 546.2 -107.1 - - 3481 - - - - - - - - 14.89 14.36 14.90
1053 113.3 -8.2 72 1058 done -0.73 - - 2643 - 1.80 0.039 2734 -610.0 -107.1 - - 3481 - - - - - - - - 14.57 14.54 14.57
1389 142.8 -9.0 85 1390 done -0.73 - - 2641 - - - 2735 - -107.1 - - 3479 - - - - - - - - 14.94 14.94 14.94
1725 177.0 -10.4 91 1730 roll -0.73 - - 2634 - 2.05 0.111 3825 531.7 -107.1 - - 3476 - - - - - - - - 14.95 14.38 14.95
1773 182.4 -11.1 98 1780 done -0.73 - - 2634 - 1.75 0.041 2775 -600.0 -107.1 - - 3476 - - - - - - - - 14.60 14.58 14.62
2117 217.4 -10.0 105 2123 roll -0.73 0.10 0.235 2665 310.0 2.33 0.041 1376 -600.4 -107.1 - - 3473 - - - - - - - - 14.40 14.56 14.60
2200 224.3 -7.9 117 2207 done -0.73 - - 2655 - 2.50 0.069 2762 554.4 -107.1 - - 3471 - - - - - - - - 14.52 14.40 14.56
2565 253.5 -8.1 127 2570 roll -0.73 - - 2647 - 2.00 0.114 3818 528.0 -107.1 - - 3470 - - - - - - - - 14.95 14.31 14.95
2606 257.1 -9.0 133 2612 done -0.73 - - 2649 - 1.77 0.041 2759 -598.3 -107.1 - - 3469 - - - - - - - - 14.66 14.64 14.67
2957 288.4 -9.1 141 2963 roll -0.73 - - 2647 - 2.35 0.042 1381 -586.4 -107.1 - - 3467 - - - - - - - - 14.93 14.53 14.93
3019 294.2 -9.2 150 3025 done -0.73 - - 2639 - 2.47 0.069 2754 555.9 -107.1 - - 3467 - - - - - - - - 14.49 14.40 14.54
3349 324.0 -9.0 162 3350 done -0.73 - - 2639 - - - 2754 - -107.1 - - 3466 - - - - - - - - 14.93 14.93 14.93
3685 352.1 -8.3 168 3690 roll -0.73 - - 2639 - 2.38 0.043 1378 -578.2 -107.1 - - 3463 - - - - - - - - 14.93 14.54 14.93
3726 355.6 -8.1 174 3732 done -0.73 0.10 0.213 2659 200.0 2.50 0.069 2761 553.2 -107.1 - - 3461 - - - - - - - - 14.19 14.36 14.35
4077 380.2 -7.0 182 4082 roll -0.73 - - 2653 - 2.00 0.118 3828 533.5 -107.1 - - 3460 - - - - - - - - 14.95 14.31 14.98
4111 382.8 -7.4 187 4117 done -0.73 - - 2651 - 1.83 0.045 2760 -583.6 -107.1 - - 3459 - - - - - - - - 14.62 14.59 14.63
4469 408.0 -7.0 196 4474 roll -0.73 - - 2651 - 2.38 0.043 1369 -584.5 -107.1 - - 3457 - - - - - - - - 14.91 14.52 14.93
4531 412.6 -7.2 205 4538 done -0.73 - - 2642 - 2.50 0.068 2747 551.2 -107.1 - - 3458 - - - - - - - - 14.46 14.40 14.50
4861 437.1 -7.6 217 4867 roll -0.73 - - 2634 - 2.00 0.114 3828 540.5 -107.1 - - 3456 - - - - - - - - 14.94 14.31 14.95
4917 441.7 -8.2 225 4923 done -0.73 - - 2633 - 1.83 0.044 2752 -588.0 -107.1 - - 3455 - - - - - - - - 14.59 14.59 14.61
5253 467.8 -7.8 238 5254 done -0.73 - - 2634 - - - 2752 - -107.1 - - 3455 - - - - - - - - 14.91 14.92 14.92
5589 493.5 -7.7 244 5594 roll -0.73 - - 2635 - 2.38 0.044 1372 -579.8 -107.1 - - 3453 - - - - - - - - 14.95 14.50 14.95
5658 498.9 -7.8 254 5664 done -0.73 0.10 0.211 2654 190.0 2.53 0.067 2755 546.6 -107.1 - - 3453 - - - - - - - - 14.14 14.33 14.32
5981 521.9 -7.1 265 5982 done -0.73 - - 2654 - - - 2756 - -107.1 - - 3451 - - - - - - - - 14.92 14.92 14.92
6317 546.4 -7.4 271 6318 done -0.73 - - 2655 - - - 2756 - -107.1 - - 3450 - - - - - - - - 14.94 14.94 14.94
6653 571.1 -7.3 277 6659 roll -0.73 - - 2654 - 2.40 0.044 1373 -576.2 -107.1 - - 3448 - - - - - - - - 14.92 14.48 14.92
6687 573.8 -7.5 282 6693 done -0.81 - - 2646 - 2.53 0.069 2755 546.2 -107.1 - - 3448 - - - - - - - - 14.42 14.32 14.46
7045 599.9 -7.4 291 7046 done -0.81 - - 2646 - - - 2755 - -107.1 - - 3447 - - - - - - - - 14.94 14.94 14.94
7381 625.8 -7.8 297 7387 roll -0.81 - - 2645 - 2.40 0.044 1378 -573.8 -107.1 - - 3446 - - - - - - - - 14.91 14.45 14.92
7415 628.6 -8.1 302 7421 done -0.81 - - 2637 - 2.53 0.070 2755 544.3 -107.1 - - 3446 - - - - - - - - 14.40 14.31 14.45
7773 658.0 -8.2 311 7774 done -0.81 - - 2637 - - - 2755 - -107.1 - - 3444 - - - - - - - - 14.91 14.93 14.93
8109 684.3 -7.8 317 8115 roll -0.81 - - 2636 - 2.42 0.045 1367 -573.6 -107.1 - - 3442 - - - - - - - - 14.94 14.45 14.94
8178 689.6 -7.6 327 8184 done -0.81 - - 2627 - 2.55 0.070 2753 543.5 -107.1 - - 3442 - - - - - - - - 14.35 14.26 14.40
8501 714.3 -7.6 338 8502 done -0.81 - - 2627 - - - 2753 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
8837 740.0 -7.7 344 8838 done -0.81 - - 2627 - - - 2753 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
9173 765.7 -7.7 350 9178 roll -0.81 - - 2626 - 2.40 0.045 1378 -572.9 -107.1 - - 3440 - - - - - - - - 14.89 14.41 14.90
9221 769.7 -8.1 357 9229 done -0.81 - - 2617 - 2.53 0.070 2752 543.1 -107.1 - - 3440 - - - - - - - - 14.34 14.23 14.38
9565 799.2 -8.7 364 9565 done -0.81 - - 2616 - - - 2752 - -107.1 - - 3439 - - - - - - - - 14.90 14.90 14.90
9901 828.6 -8.5 370 9906 roll -0.81 - - 2616 - 2.40 0.046 1380 -571.7 -107.1 - - 3437 - - - - - - - - 14.90 14.38 14.90
9942 832.3 -8.8 376 9948 done -0.81 0.08 0.232 2629 162.5 2.53 0.069 2751 541.9 -107.1 - - 3438 - - - - - - - - 13.99 14.21 14.16
10293 860.7 -8.1 384 10293 done -0.81 - - 2629 - - - 2753 - -107.1 - - 3437 - - - - - - - - 14.89 14.90 14.89
10629 885.3 -7.2 390 10634 roll -0.81 - - 2621 - 2.05 0.117 3832 526.3 -107.1 - - 3436 - - - - - - - - 14.89 14.12 14.89
10670 888.4 -6.0 396 10676 done -0.81 - - 2620 - 1.88 0.046 2752 -574.5 -107.1 - - 3435 - - - - - - - - 14.48 14.45 14.49
11021 913.9 -7.3 404 11026 roll -0.81 - - 2618 - 2.40 0.045 1372 -575.0 -107.1 - - 3435 - - - - - - - - 14.88 14.35 14.88
11055 916.5 -4.8 409 11062 done -0.81 - - 2613 - 2.55 0.068 2752 541.2 -107.1 - - 3434 - - - - - - - - 14.28 14.18 14.33
11242 end dive: TARGET_DEPTH_EXCEEDED
11242 begin apogee
11249 931.3 -7.7 415 11362 roll -0.23 0.73 0.171 2825 290.4 0.08 0.184 2256 -6200.0 - 110.05 1.974 3049 -3.5 0.324 - - - - - - 14.07 13.90 12.90
11364 end apogee: CONTROL_FINISHED_OK
11364 begin climb
11367 934.3 - 417 11498 roll 0.93 1.10 0.086 3182 324.5 2.50 0.057 882 -549.6 107.1 118.20 1.952 2617 -3.7 0.343 - - - - - - 13.98 14.00 12.82
11511 929.9 7.9 439 11517 done 0.76 0.12 0.211 3150 -266.7 2.50 0.052 2249 546.8 107.1 - - 2612 - - - - - - - - 13.78 13.90 13.90
11862 906.1 7.0 447 11881 roll 0.78 - - 3150 - 2.60 0.101 3652 539.6 121.3 14.70 2.063 2562 -3.4 0.293 - - - - - - 14.68 14.15 13.28
11966 897.7 8.5 462 11974 done 0.66 0.15 0.213 3119 -206.7 2.42 0.041 2267 -572.3 121.3 - - 2557 - - - - - - - - 14.10 14.36 14.27
12310 876.0 6.3 469 12351 roll 0.70 - - 3118 - 2.67 0.104 3649 517.6 151.0 33.58 1.964 2443 -3.4 0.297 - - - - - - 14.78 14.20 13.28
12414 868.2 8.1 484 12421 done 0.70 - - 3128 - 2.47 0.041 2249 -566.8 151.0 - - 2441 - - - - - - - - 14.35 14.32 14.38
12758 842.8 7.5 491 12763 roll 0.71 - - 3128 - 2.65 0.101 3653 529.8 156.6 1.42 0.255 2427 -9.9 6.395 - - - - - - 14.75 14.23 14.03
12819 837.5 8.6 500 12825 done 0.71 - - 3138 - 2.45 0.041 2257 -569.8 156.6 - - 2435 - - - - - - - - 14.47 14.43 14.50
13150 812.2 7.7 512 13153 done 0.71 - - 3138 - - - 2254 - 158.3 2.20 0.569 2420 -6.8 1.910 - - - - - - 14.81 14.34 12.80
13486 786.8 7.6 518 13505 roll 0.71 - - 3139 - 2.70 0.104 3659 520.4 162.3 11.38 2.075 2397 -2.0 0.150 - - - - - - 14.83 14.43 13.40
13562 780.2 9.0 529 13568 done 0.71 - - 3149 - 2.45 0.041 2261 -570.6 162.3 - - 2396 - - - - - - - - 14.49 14.45 14.51
13877 754.3 8.3 539 13883 roll 0.71 - - 3159 - 2.47 0.063 853 -570.0 162.3 - - 2394 - - - - - - - - 14.82 14.36 14.81
13904 751.9 8.7 543 13911 done 0.71 - - 3159 - 2.47 0.054 2254 567.2 162.3 - - 2394 - - - - - - - - 14.43 14.35 14.46
14269 720.1 8.7 553 14275 roll 0.71 - - 3159 - 2.60 0.105 3653 538.1 162.3 - - 2393 - - - - - - - - 14.85 14.26 14.85
14353 711.7 10.2 565 14359 done 0.62 0.22 0.209 3106 -240.9 2.45 0.041 2254 -571.0 162.3 - - 2394 - - - - - - - - 14.08 14.44 14.27
14717 685.9 7.0 575 14737 done 0.64 - - 3106 - - - 2251 - 177.8 18.12 1.896 2346 -2.6 0.188 - - - - - - 14.84 14.42 13.49
15054 661.3 7.4 581 15061 roll 0.65 - - 3105 - 2.70 0.104 3653 519.3 185.7 2.90 1.177 2314 -11.0 1.217 - - - - - - 14.79 14.36 12.89
15123 655.8 7.9 591 15129 done 0.65 - - 3116 - 2.45 0.041 2260 -568.6 185.7 1.35 0.228 2311 -2.2 1.254 - - - - - - 14.50 14.45 14.02
15439 633.8 6.9 601 15473 roll 0.67 - - 3115 - 2.67 0.106 3649 520.2 202.2 26.35 1.779 2238 -2.8 0.194 - - - - - - 14.81 14.30 13.44
15515 628.1 8.0 612 15521 done 0.67 - - 3125 - 2.45 0.041 2262 -566.1 202.2 - - 2233 - - - - - - - - 14.40 14.36 14.42
15831 605.6 7.0 622 15851 roll 0.68 - - 3125 - 2.70 0.105 3654 515.6 216.4 15.73 1.842 2183 -3.2 0.205 - - - - - - 14.76 14.33 13.43
15886 601.4 8.0 630 15893 done 0.68 - - 3134 - 2.42 0.041 2276 -569.4 216.4 - - 2178 - - - - - - - - 14.41 14.35 14.43
16216 577.3 7.4 642 16223 roll 0.69 - - 3134 - 2.65 0.103 3653 519.6 223.8 2.20 0.563 2160 -8.2 1.646 - - - - - - 14.78 14.30 12.88
16257 573.8 8.6 648 16264 done 0.69 - - 3145 - 2.42 0.041 2266 -573.1 223.8 1.35 0.231 2160 - - - - - - - - 14.46 14.46 13.97
16608 545.0 8.4 656 16611 done 0.69 - - 3145 - - - 2270 - 223.8 1.80 0.282 2157 -1.7 0.632 - - - - - - 14.81 14.19 13.50
16944 515.5 8.8 662 16951 roll 0.69 - - 3145 - 2.62 0.102 3652 527.5 223.8 1.38 0.252 2160 2.2 -0.873 - - - - - - 14.83 14.18 13.96
16971 512.8 9.9 666 16979 done 0.69 0.10 0.208 3125 -200.0 2.40 0.041 2277 -572.9 223.8 1.33 0.234 2160 - - - - - - - - 14.14 14.42 13.92
17336 482.6 8.2 676 17341 roll 0.69 - - 3135 - 2.50 0.063 865 -564.8 223.8 - - 2168 - - - - - - - - 14.86 14.33 14.87
17377 479.2 8.1 682 17384 done 0.69 - - 3135 - 2.53 0.055 2282 560.1 223.8 1.33 0.223 2161 -5.3 2.220 - - - - - - 14.40 14.32 14.00
17728 451.9 7.7 690 17736 roll 0.70 - - 3135 - 2.62 0.104 3660 526.0 225.6 3.28 1.296 2154 -2.1 0.146 - - - - - - 14.87 14.40 13.07
17783 447.3 8.3 698 17791 done 0.70 - - 3146 - 2.40 0.041 2278 -575.8 225.6 1.10 0.229 2154 - - - - - - - - 14.52 14.48 14.16
18113 421.9 7.7 710 18120 roll 0.70 - - 3146 - 2.60 0.102 3653 528.8 225.8 1.58 0.262 2154 - - - - - - - - 14.86 14.13 13.77
18147 418.9 8.8 715 18154 done 0.70 0.10 0.203 3126 -200.0 2.40 0.041 2282 -571.2 225.8 1.30 0.255 2150 -3.1 0.992 - - - - - - 14.16 14.45 13.82
18505 392.4 7.5 724 18518 done 0.70 - - 3126 - - - 2278 - 230.7 11.55 1.682 2132 -1.6 0.071 - - - - - - 14.87 14.45 13.55
18842 364.6 8.4 730 18847 roll 0.78 - - 3126 - 2.60 0.106 3658 530.8 230.7 - - 2124 - - - - - - - - 14.83 14.26 14.83
18889 360.1 9.4 737 18897 done 0.78 - - 3134 - 2.40 0.041 2285 -572.1 230.7 - - 2123 - - - - - - - - 14.41 14.37 14.43
19233 331.0 8.4 744 19234 done 0.78 - - 3134 - - - 2281 - 230.7 - - 2124 - - - - - - - - 14.85 14.85 14.85
19569 303.3 8.2 750 19570 done 0.78 - - 3138 - - - 2280 - 230.7 - - 2124 - - - - - - - - 14.90 14.87 14.87
19906 276.1 8.0 756 19910 roll 0.78 - - 3134 - 2.60 0.105 3653 528.1 230.7 - - 2124 - - - - - - - - 14.87 14.22 14.88
19946 272.4 9.0 762 19953 done 0.78 - - 3145 - 2.40 0.041 2285 -570.0 230.7 - - 2124 - - - - - - - - 14.48 14.43 14.50
20298 242.5 8.7 770 20303 roll 0.78 - - 3155 - 2.53 0.063 860 -563.2 230.7 - - 2124 - - - - - - - - 14.85 14.32 14.88
20324 239.9 9.4 774 20331 done 0.78 - - 3153 - 2.53 0.055 2282 562.1 230.7 - - 2124 - - - - - - - - 14.39 14.31 14.43
20689 206.6 9.0 784 20694 roll 0.78 - - 3155 - 2.58 0.103 3653 531.4 230.7 - - 2124 - - - - - - - - 14.88 14.16 14.88
20772 198.3 9.7 796 20778 done 0.78 - - 3164 - 2.38 0.040 2289 -573.1 230.7 - - 2124 - - - - - - - - 14.47 14.42 14.49
21137 165.6 9.0 806 21143 roll 0.78 - - 3175 - 2.53 0.063 859 -565.2 230.7 - - 2124 - - - - - - - - 14.86 14.31 14.86
21185 161.1 9.6 813 21193 done 0.78 - - 3174 - 2.53 0.056 2285 563.6 230.7 - - 2124 - - - - - - - - 14.35 14.28 14.40
21529 128.4 9.4 820 21530 done 0.78 - - 3175 - - - 2284 - 230.7 - - 2124 - - - - - - - - 14.88 14.88 14.88
21865 99.3 8.4 826 21871 roll 0.78 - - 3175 - 2.60 0.105 3661 529.6 230.7 - - 2124 - - - - - - - - 14.86 14.20 14.86
21927 93.8 8.9 835 21934 done 0.78 0.10 0.200 3155 -200.0 2.38 0.040 2295 -573.9 230.7 - - 2124 - - - - - - - - 14.12 14.43 14.27
22257 70.9 7.2 849 22270 roll 0.79 - - 3155 - 2.62 0.102 3654 518.7 242.0 5.25 0.351 2089 -6.7 0.264 - - - - - - 14.85 14.17 13.73
22313 66.3 8.7 857 22318 done 0.79 - - 3164 - 2.33 0.039 2287 -586.7 242.0 - - 2094 - - - - - - - - 14.57 14.50 14.59
22650 46.5 3.7 872 22698 roll 0.98 0.10 0.116 3237 730.0 2.58 0.100 3663 533.3 321.9 41.80 0.306 1768 -7.8 0.233 - - - - - - 14.56 14.27 14.02
22718 41.7 8.2 882 22726 done 0.98 0.10 0.199 3216 -210.0 2.35 0.039 2303 -578.7 321.9 - - 1769 - - - - - - - - 14.16 14.44 14.31
23042 26.4 1.9 895 23105 roll 1.23 0.17 0.080 3321 617.6 2.60 0.061 858 -555.8 438.5 58.15 0.243 1303 -8.0 0.171 - - - - - - 14.47 14.37 14.11
23258 11.1 8.6 926 23265 done 1.23 - - 3321 - 2.50 0.056 2294 574.4 438.5 - - 1302 - - - - - - - - 14.46 14.31 14.49
23367 end climb: SURFACE_DEPTH_REACHED
23367 begin surface coast
23395 end surface coast: CONTROL_FINISHED_OK
23396 begin surface
SM -0.56 - - - - -8.39 9.10 0.057 163 17.9 0.88 0.084 2776 1984.1 500.39 28.75 0.155 1057 36.8 0.014 - - - - - -