SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 434 * Raw log
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• Previous call tries 1 • 153.94 of 350.00 AH used of 24V (56.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.8 deg, depth -0.86 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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 - - 112 - - - 2791 - -107.1 -80.32 - 3478 - - - - - - - - 14.66 13.11 14.65
104 6.2 -12.4 3 121 roll -0.93 11.82 0.383 2591 209.7 2.40 0.030 1356 -597.9 -107.1 - - 3478 - - - - - - - - 13.98 14.36 14.25
219 39.8 -17.4 20 225 done -0.73 0.28 0.225 2669 278.6 2.55 0.070 2759 550.2 -107.1 - - 3480 - - - - - - - - 14.09 14.26 14.35
549 71.1 -8.2 34 554 roll -0.73 - - 2661 - 1.98 0.111 3832 541.9 -107.1 - - 3482 - - - - - - - - 14.83 14.28 14.81
646 78.2 -6.5 48 652 done -0.73 - - 2661 - 1.80 0.040 2747 -602.8 -107.1 - - 3482 - - - - - - - - 14.60 14.59 14.60
997 104.3 -6.8 61 1003 roll -0.73 - - 2653 - 2.05 0.109 3823 524.9 -107.1 - - 3482 - - - - - - - - 14.90 14.30 14.90
1066 109.6 -8.0 71 1072 done -0.73 - - 2653 - 1.75 0.040 2765 -604.6 -107.1 - - 3485 - - - - - - - - 14.62 14.59 14.63
1389 136.1 -8.3 82 1390 done -0.73 - - 2653 - - - 2765 - -107.1 - - 3482 - - - - - - - - 14.92 14.92 14.92
1725 164.2 -8.3 88 1730 roll -0.73 - - 2653 - 2.33 0.042 1392 -589.3 -107.1 - - 3479 - - - - - - - - 14.91 14.53 14.91
1808 171.3 -8.3 100 1814 done -0.73 - - 2644 - 2.47 0.068 2769 557.5 -107.1 - - 3479 - - - - - - - - 14.45 14.34 14.50
2173 204.3 -9.2 110 2178 roll -0.73 - - 2644 - 2.38 0.042 1381 -583.2 -107.1 - - 3477 - - - - - - - - 14.92 14.52 14.92
2221 208.7 -8.9 117 2230 done -0.73 0.08 0.226 2657 162.5 2.50 0.069 2762 552.4 -107.1 - - 3476 - - - - - - - - 14.20 14.38 14.36
2565 236.8 -8.3 124 2570 roll -0.73 - - 2650 - 2.00 0.114 3816 527.0 -107.1 - - 3474 - - - - - - - - 14.92 14.28 14.92
2648 243.9 -8.5 136 2654 done -0.73 - - 2649 - 1.77 0.042 2765 -593.8 -107.1 - - 3476 - - - - - - - - 14.59 14.59 14.59
3013 275.2 -8.7 146 3018 roll -0.73 - - 2649 - 2.35 0.042 1382 -588.5 -107.1 - - 3471 - - - - - - - - 14.94 14.52 14.95
3089 282.1 -8.8 157 3096 done -0.73 - - 2640 - 2.50 0.068 2764 552.8 -107.1 - - 3470 - - - - - - - - 14.47 14.37 14.51
3405 310.6 -9.1 167 3406 done -0.73 - - 2640 - - - 2764 - -107.1 - - 3469 - - - - - - - - 14.92 14.92 14.92
3741 339.4 -8.5 173 3746 roll -0.73 - - 2640 - 2.40 0.043 1375 -578.8 -107.1 - - 3466 - - - - - - - - 14.93 14.51 14.93
3789 343.6 -8.5 180 3796 done -0.73 0.10 0.211 2660 200.0 2.50 0.068 2753 551.2 -107.1 - - 3469 - - - - - - - - 14.18 14.35 14.35
4133 370.1 -7.7 187 4138 roll -0.73 - - 2652 - 2.00 0.115 3827 537.0 -107.1 - - 3465 - - - - - - - - 14.92 14.31 14.92
4189 374.8 -8.5 195 4194 done -0.73 - - 2651 - 1.83 0.045 2765 -580.3 -107.1 - - 3465 - - - - - - - - 14.59 14.55 14.60
4525 402.6 -8.3 208 4530 roll -0.73 - - 2652 - 2.38 0.043 1376 -583.6 -107.1 - - 3463 - - - - - - - - 14.92 14.48 14.92
4587 407.9 -8.4 217 4594 done -0.73 - - 2643 - 2.50 0.067 2756 552.0 -107.1 - - 3464 - - - - - - - - 14.44 14.33 14.49
4917 436.7 -8.8 229 4923 roll -0.73 - - 2634 - 2.03 0.115 3818 523.2 -107.1 - - 3461 - - - - - - - - 14.93 14.23 14.93
4958 440.6 -9.3 235 4964 done -0.73 - - 2633 - 1.83 0.044 2744 -586.9 -107.1 - - 3461 - - - - - - - - 14.60 14.57 14.62
5309 472.1 -9.0 243 5314 roll -0.73 0.10 0.240 2665 320.0 2.33 0.042 1378 -586.3 -107.1 - - 3460 - - - - - - - - 14.34 14.48 14.54
5399 479.3 -7.6 256 5405 done -0.81 - - 2655 - 2.50 0.067 2761 553.2 -107.1 - - 3460 - - - - - - - - 14.45 14.33 14.48
5757 506.7 -7.7 265 5763 roll -0.81 - - 2656 - 2.38 0.043 1385 -578.2 -107.1 - - 3459 - - - - - - - - 14.94 14.48 14.93
5798 510.0 -7.8 271 5804 done -0.81 - - 2647 - 2.50 0.068 2754 547.6 -107.1 - - 3457 - - - - - - - - 14.40 14.30 14.45
6149 536.4 -7.4 279 6154 roll -0.81 - - 2646 - 2.38 0.043 1383 -576.1 -107.1 - - 3457 - - - - - - - - 14.93 14.49 14.94
6197 540.0 -7.3 286 6204 done -0.81 - - 2638 - 2.50 0.068 2752 547.6 -107.1 - - 3458 - - - - - - - - 14.42 14.32 14.47
6541 564.5 -7.1 293 6547 roll -0.81 - - 2630 - 2.00 0.113 3823 535.5 -107.1 - - 3455 - - - - - - - - 14.94 14.25 14.93
6582 567.6 -7.7 299 6588 done -0.81 - - 2629 - 1.83 0.044 2756 -583.1 -107.1 - - 3454 - - - - - - - - 14.57 14.54 14.58
6933 592.9 -7.3 307 6934 done -0.81 - - 2627 - - - 2756 - -107.1 - - 3454 - - - - - - - - 14.90 14.90 14.90
7269 619.3 -8.1 313 7269 done -0.81 - - 2629 - - - 2756 - -107.1 - - 3451 - - - - - - - - 14.91 14.91 14.91
7605 650.1 -9.4 319 7610 roll -0.81 - - 2621 - 2.08 0.116 3817 510.1 -107.1 - - 3451 - - - - - - - - 14.91 14.16 14.91
7646 654.4 -10.5 325 7652 done -0.81 - - 2621 - 1.85 0.044 2752 -575.7 -107.1 - - 3451 - - - - - - - - 14.56 14.53 14.57
7997 688.5 -9.7 333 8003 roll -0.81 - - 2621 - 2.38 0.043 1372 -579.8 -107.1 - - 3450 - - - - - - - - 14.92 14.45 14.92
8059 694.5 -9.3 342 8065 done -0.81 - - 2612 - 2.53 0.067 2754 546.2 -107.1 - - 3449 - - - - - - - - 14.36 14.27 14.41
8389 725.5 -9.4 354 8390 done -0.81 - - 2612 - - - 2754 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.92
8725 755.0 -8.8 360 8730 roll -0.81 - - 2603 - 2.05 0.116 3818 519.0 -107.1 - - 3448 - - - - - - - - 14.92 14.12 14.92
8759 758.1 -9.3 365 8766 done -0.81 0.10 0.220 2632 290.0 1.85 0.045 2750 -577.3 -107.1 - - 3448 - - - - - - - - 14.09 14.50 14.26
9117 785.4 -7.5 374 9122 roll -0.81 - - 2631 - 2.40 0.044 1370 -575.0 -107.1 - - 3447 - - - - - - - - 14.89 14.40 14.89
9158 788.7 -7.9 380 9164 done -0.81 - - 2623 - 2.53 0.067 2751 545.8 -107.1 - - 3447 - - - - - - - - 14.31 14.23 14.37
9509 816.2 -7.7 388 9514 roll -0.81 - - 2614 - 2.05 0.117 3830 526.3 -107.1 - - 3445 - - - - - - - - 14.89 14.14 14.89
9543 819.1 -7.3 393 9550 done -0.81 - - 2614 - 1.88 0.046 2747 -576.1 -107.1 - - 3445 - - - - - - - - 14.47 14.45 14.50
9901 848.1 -8.2 402 9906 roll -0.81 - - 2613 - 2.40 0.044 1373 -572.5 -107.1 - - 3444 - - - - - - - - 14.91 14.37 14.92
9963 853.1 -7.8 411 9969 done -0.81 0.10 0.221 2633 200.0 2.53 0.067 2745 542.3 -107.1 - - 3444 - - - - - - - - 13.97 14.21 14.14
10293 878.6 -7.8 423 10298 roll -0.81 - - 2625 - 2.05 0.116 3827 527.8 -107.1 - - 3443 - - - - - - - - 14.91 14.13 14.91
10383 886.3 -8.5 436 10389 done -0.81 - - 2625 - 1.88 0.047 2748 -573.9 -107.1 - - 3443 - - - - - - - - 14.47 14.45 14.49
10741 916.4 -8.5 445 10747 roll -0.81 - - 2625 - 2.40 0.044 1368 -575.0 -107.1 - - 3442 - - - - - - - - 14.88 14.35 14.92
10775 919.4 -8.7 450 10781 done -0.81 - - 2616 - 2.53 0.068 2745 544.3 -107.1 - - 3442 - - - - - - - - 14.31 14.19 14.33
10906 end dive: TARGET_DEPTH_EXCEEDED
10906 begin apogee
10913 930.6 -8.4 455 11027 roll -0.23 0.70 0.172 2822 294.3 0.08 0.180 2254 -6137.5 - 111.40 1.967 3048 -3.5 0.328 - - - - - - 14.05 13.90 12.90
11029 end apogee: CONTROL_FINISHED_OK
11029 begin climb
11032 934.9 - 457 11162 roll 0.93 1.10 0.087 3183 328.2 2.58 0.056 845 -546.1 107.1 117.53 1.951 2617 -3.7 0.344 - - - - - - 13.97 14.00 12.83
11190 930.1 7.6 481 11195 done 0.82 - - 3184 - 2.53 0.050 2256 557.7 109.8 - - 2612 - - - - - - - - 14.08 13.98 14.09
11526 903.3 8.3 494 11532 roll 0.69 0.20 0.223 3127 -285.0 2.60 0.100 3658 539.2 109.8 - - 2608 - - - - - - - - 14.15 14.26 14.40
11602 897.3 7.7 505 11608 done 0.61 0.12 0.213 3103 -200.0 2.50 0.041 2229 -571.6 110.8 - - 2609 - - - - - - - - 14.12 14.40 14.28
11918 878.0 6.1 515 11965 roll 0.65 - - 3104 - 2.75 0.100 3647 515.6 143.5 39.88 1.935 2471 -3.5 0.307 - - - - - - 14.80 14.18 13.25
12043 868.7 8.0 533 12049 done 0.65 - - 3113 - 2.45 0.041 2252 -569.4 143.5 - - 2469 - - - - - - - - 14.35 14.31 14.38
12366 844.2 7.7 544 12371 roll 0.65 - - 3112 - 2.62 0.103 3651 534.0 143.5 - - 2466 - - - - - - - - 14.75 14.25 14.75
12400 841.2 10.3 549 12406 done 0.65 - - 3122 - 2.42 0.041 2259 -575.2 143.5 - - 2467 - - - - - - - - 14.50 14.42 14.49
12758 812.8 7.9 558 12758 done 0.65 - - 3122 - - - 2257 - 143.5 - - 2466 - - - - - - - - 14.80 14.80 14.80
13094 787.5 7.6 564 13099 roll 0.66 - - 3122 - 2.65 0.104 3656 527.9 147.3 - - 2465 - - - - - - - - 14.83 14.26 14.83
13156 782.2 8.4 573 13162 done 0.66 - - 3131 - 2.42 0.041 2258 -577.7 147.3 - - 2465 - - - - - - - - 14.52 14.46 14.52
13486 757.1 7.7 585 13488 done 0.66 - - 3133 - - - 2255 - 149.2 1.10 0.263 2454 -10.0 5.636 - - - - - - 14.86 14.38 14.11
13822 732.1 7.4 591 13841 roll 0.67 - - 3129 - 2.65 0.104 3648 525.7 155.7 11.98 2.024 2425 -2.4 0.171 - - - - - - 14.86 14.44 13.43
13891 726.5 8.4 601 13897 done 0.67 - - 3143 - 2.40 0.041 2266 -575.8 155.7 - - 2422 - - - - - - - - 14.50 14.47 14.53
14214 699.7 8.4 612 14219 roll 0.67 - - 3143 - 2.62 0.104 3657 530.9 155.7 - - 2421 - - - - - - - - 14.82 14.26 14.83
14255 695.7 9.6 618 14262 done 0.67 0.12 0.209 3115 -233.3 2.45 0.041 2254 -572.7 155.7 - - 2422 - - - - - - - - 14.13 14.44 14.29
14606 666.6 8.5 626 14606 done 0.67 - - 3117 - - - 2254 - 155.7 - - 2420 - - - - - - - - 14.85 14.85 14.85
14942 638.7 8.2 632 14943 done 0.67 - - 3118 - - - 2253 - 155.7 - - 2420 - - - - - - - - 14.86 14.86 14.86
15278 613.8 7.3 638 15293 roll 0.68 - - 3117 - 2.67 0.105 3652 524.0 165.6 10.48 1.948 2387 -3.1 0.194 - - - - - - 14.86 14.45 13.44
15347 608.4 8.0 648 15353 done 0.68 - - 3127 - 2.42 0.041 2266 -572.7 165.6 - - 2383 - - - - - - - - 14.51 14.47 14.54
15663 586.7 6.8 658 15690 roll 0.70 - - 3127 - 2.70 0.105 3658 515.6 184.6 22.80 1.744 2308 -3.3 0.217 - - - - - - 14.81 14.35 13.48
15732 581.5 8.0 668 15738 done 0.70 - - 3137 - 2.45 0.041 2261 -570.2 184.6 - - 2302 - - - - - - - - 14.42 14.39 14.45
16049 557.5 7.7 678 16054 roll 0.70 - - 3135 - 2.62 0.104 3650 530.2 184.8 - - 2301 - - - - - - - - 14.76 14.21 14.76
16089 553.7 9.3 684 16096 done 0.70 - - 3145 - 2.42 0.041 2264 -572.7 184.8 - - 2302 - - - - - - - - 14.46 14.41 14.48
16440 522.6 9.0 692 16445 roll 0.70 - - 3147 - 2.62 0.106 3653 530.2 184.8 - - 2300 - - - - - - - - 14.83 14.21 14.83
16496 517.0 10.1 700 16502 done 0.70 0.10 0.238 3128 -190.0 2.40 0.041 2263 -579.2 184.8 - - 2301 - - - - - - - - 14.17 14.46 14.43
16832 490.0 7.8 713 16837 roll 0.70 - - 3138 - 2.45 0.060 865 -570.6 184.8 - - 2300 - - - - - - - - 14.85 14.32 14.85
16866 487.4 7.3 718 16874 done 0.71 - - 3138 - 2.47 0.053 2264 566.4 193.1 2.75 1.001 2283 -6.2 0.589 - - - - - - 14.38 14.31 12.97
17224 461.3 7.2 727 17251 roll 0.72 - - 3138 - 2.65 0.105 3667 529.4 203.3 18.48 1.652 2232 -2.8 0.151 - - - - - - 14.85 14.38 13.57
17337 452.2 8.5 743 17342 done 0.72 - - 3149 - 2.42 0.041 2269 -577.7 203.3 - - 2226 - - - - - - - - 14.52 14.44 14.54
17672 425.9 7.9 756 17677 roll 0.72 - - 3160 - 2.47 0.062 857 -571.7 203.3 - - 2228 - - - - - - - - 14.79 14.31 14.79
17699 423.6 8.2 760 17705 done 0.72 - - 3159 - 2.53 0.054 2277 561.3 203.3 - - 2227 - - - - - - - - 14.39 14.31 14.43
18064 391.4 9.0 770 18070 roll 0.72 - - 3163 - 2.58 0.105 3653 533.3 203.3 - - 2227 - - - - - - - - 14.85 14.21 14.82
18126 385.1 10.2 779 18133 done 0.72 0.10 0.207 3140 -230.0 2.40 0.040 2271 -575.8 203.3 - - 2227 - - - - - - - - 14.09 14.40 14.26
18457 358.9 7.8 791 18457 done 0.72 - - 3140 - - - 2268 - 203.3 - - 2227 - - - - - - - - 14.83 14.83 14.83
18792 333.8 7.5 797 18797 roll 0.73 - - 3140 - 2.65 0.106 3658 524.5 208.7 - - 2227 - - - - - - - - 14.82 14.20 14.82
18833 330.3 8.7 803 18840 done 0.73 - - 3150 - 2.40 0.040 2277 -575.4 208.7 1.15 0.216 2218 -7.8 2.343 - - - - - - 14.47 14.44 14.06
19184 301.8 8.2 811 19189 roll 0.73 - - 3160 - 2.50 0.062 863 -565.6 208.7 - - 2225 - - - - - - - - 14.87 14.31 14.87
19218 298.9 8.2 816 19224 done 0.73 - - 3161 - 2.50 0.054 2277 565.6 208.7 - - 2230 - - - - - - - - 14.40 14.29 14.42
19576 267.4 8.9 825 19581 roll 0.73 - - 3160 - 2.60 0.104 3660 531.9 208.7 - - 2226 - - - - - - - - 14.88 14.20 14.88
19632 261.7 10.3 833 19638 done 0.73 0.12 0.224 3135 -208.3 2.38 0.040 2269 -584.5 208.7 - - 2226 - - - - - - - - 14.13 14.47 14.38
19968 234.8 7.9 846 19969 done 0.73 - - 3135 - - - 2266 - 208.7 - - 2226 - - - - - - - - 14.88 14.88 14.85
20304 210.0 7.3 852 20325 roll 0.74 - - 3134 - 2.62 0.102 3670 535.9 217.8 14.80 1.405 2174 -3.5 0.103 - - - - - - 14.88 14.30 13.64
20394 202.3 8.8 865 20400 done 0.74 - - 3145 - 2.42 0.040 2272 -577.7 217.8 - - 2171 - - - - - - - - 14.50 14.47 14.53
20752 170.1 9.3 874 20758 roll 0.74 - - 3155 - 2.47 0.061 863 -570.4 217.8 - - 2171 - - - - - - - - 14.82 14.33 14.82
20800 165.6 9.2 881 20808 done 0.74 - - 3155 - 2.53 0.054 2288 563.2 217.8 - - 2172 - - - - - - - - 14.39 14.31 14.42
21144 137.4 7.9 888 21149 roll 0.74 - - 3155 - 2.55 0.104 3654 535.7 217.8 - - 2171 - - - - - - - - 14.83 14.23 14.83
21178 134.4 8.5 893 21184 done 0.74 - - 3165 - 2.38 0.039 2284 -575.6 217.8 - - 2171 - - - - - - - - 14.47 14.42 14.49
21536 106.3 7.9 902 21542 roll 0.74 - - 3165 - 2.60 0.104 3655 527.3 217.8 - - 2171 - - - - - - - - 14.84 14.22 14.85
21592 100.9 9.7 910 21599 done 0.74 0.12 0.218 3138 -225.0 2.35 0.039 2277 -586.4 217.8 - - 2171 - - - - - - - - 14.16 14.48 14.42
21931 78.3 5.8 928 21956 roll 0.88 0.08 0.142 3200 775.0 2.60 0.099 3660 531.9 257.7 19.08 0.392 2026 -7.6 0.297 - - - - - - 14.52 14.28 13.97
22005 71.5 10.2 939 22012 done 0.88 - - 3211 - 2.38 0.039 2295 -573.5 257.7 - - 2030 - - - - - - - - 14.45 14.40 14.44
22320 46.6 7.2 951 22328 done 0.89 - - 3211 - - - 2293 - 268.6 6.80 0.293 1979 -7.5 0.234 - - - - - - 14.88 14.27 13.88
22628 29.4 3.4 962 22677 roll 1.00 - - 3220 - 2.58 0.060 860 -555.4 354.8 43.92 0.255 1637 -7.8 0.176 - - - - - - 14.83 14.40 14.09
22907 19.2 3.3 1002 22957 done 1.32 0.22 0.051 3355 613.6 2.50 0.050 2287 570.8 442.9 43.42 0.216 1281 -8.2 0.143 - - - - - - 14.38 14.31 14.12
23094 end climb: SURFACE_DEPTH_REACHED
23094 begin surface coast
23125 end surface coast: CONTROL_FINISHED_OK
23125 begin surface
SM -0.38 - - - - -8.44 8.98 0.034 145 16.1 0.88 0.080 2772 -9838.6 500.14 26.60 0.155 1057 39.7 0.010 - - - - - -