SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 441 * Raw log
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• Previous call tries 1 • 156.18 of 350.00 AH used of 24V (55.38% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -70.9 deg, depth -1.46 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: 4 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 104 - - - 2784 - -107.1 -79.00 - 3479 - - - - - - - - 14.65 12.52 14.65
105 6.7 -14.2 3 122 roll -0.93 11.80 0.382 2591 210.8 2.40 0.034 1368 -590.0 -107.1 - - 3479 - - - - - - - - 13.99 14.35 14.26
206 40.8 -17.4 18 214 done -0.72 0.28 0.233 2658 239.3 2.53 0.072 2753 547.4 -107.1 - - 3480 - - - - - - - - 14.05 14.26 14.23
522 71.4 -8.0 30 527 roll -0.72 - - 2650 - 2.03 0.112 3825 528.1 -107.1 - - 3483 - - - - - - - - 14.81 14.26 14.81
703 86.6 -8.9 56 709 done -0.72 - - 2650 - 1.80 0.041 2738 -603.9 -107.1 - - 3483 - - - - - - - - 14.61 14.58 14.62
1026 115.1 -8.7 66 1031 roll -0.72 - - 2641 - 2.05 0.111 3830 532.7 -107.1 - - 3483 - - - - - - - - 14.90 14.31 14.90
1095 121.5 -9.3 76 1101 done -0.72 - - 2641 - 1.77 0.040 2768 -600.0 -107.1 - - 3483 - - - - - - - - 14.60 14.59 14.63
1418 148.3 -8.2 87 1423 roll -0.72 - - 2641 - 2.35 0.042 1385 -588.5 -107.1 - - 3482 - - - - - - - - 14.90 14.50 14.90
1459 151.9 -8.6 93 1466 done -0.72 0.10 0.211 2662 210.0 2.50 0.070 2768 553.2 -107.1 - - 3482 - - - - - - - - 14.21 14.38 14.37
1810 182.1 -9.0 101 1816 roll -0.72 - - 2654 - 1.98 0.116 3825 533.8 -107.1 - - 3479 - - - - - - - - 14.93 14.33 14.95
1900 190.7 -9.2 114 1906 done -0.72 - - 2653 - 1.77 0.043 2769 -596.6 -107.1 - - 3478 - - - - - - - - 14.62 14.60 14.64
2258 220.8 -8.3 123 2258 done -0.72 - - 2654 - - - 2769 - -107.1 - - 3476 - - - - - - - - 14.92 14.92 14.92
2594 248.5 -8.2 129 2599 roll -0.72 - - 2654 - 2.38 0.042 1378 -584.5 -107.1 - - 3474 - - - - - - - - 14.92 14.52 14.92
2642 252.7 -8.4 136 2649 done -0.72 - - 2645 - 2.53 0.069 2773 551.4 -107.1 - - 3471 - - - - - - - - 14.46 14.35 14.50
2986 281.6 -8.4 143 2991 roll -0.72 - - 2637 - 1.95 0.114 3825 539.5 -107.1 - - 3471 - - - - - - - - 14.94 14.33 14.94
3013 284.2 -10.0 147 3019 done -0.72 0.08 0.206 2660 287.5 1.77 0.044 2779 -591.0 -107.1 - - 3471 - - - - - - - - 14.28 14.59 14.42
3378 314.6 -8.5 157 3384 roll -0.72 - - 2660 - 2.42 0.044 1362 -585.5 -107.1 - - 3469 - - - - - - - - 14.92 14.50 14.92
3440 320.3 -8.8 166 3446 done -0.72 - - 2652 - 2.55 0.070 2768 551.4 -107.1 - - 3468 - - - - - - - - 14.46 14.37 14.50
3770 348.6 -8.5 178 3771 done -0.72 - - 2649 - - - 2768 - -107.1 - - 3467 - - - - - - - - 14.92 14.92 14.92
4106 375.1 -7.8 184 4107 done -0.72 - - 2652 - - - 2768 - -107.1 - - 3465 - - - - - - - - 14.92 14.92 14.92
4442 400.0 -7.4 190 4447 roll -0.72 - - 2651 - 2.45 0.044 1365 -572.7 -107.1 - - 3464 - - - - - - - - 14.92 14.50 14.91
4483 403.3 -7.7 196 4489 done -0.72 - - 2644 - 2.55 0.070 2769 550.6 -107.1 - - 3464 - - - - - - - - 14.38 14.28 14.42
4834 431.2 -8.1 204 4839 roll -0.72 - - 2635 - 2.03 0.117 3822 518.7 -107.1 - - 3462 - - - - - - - - 14.91 14.22 14.92
4875 434.9 -8.9 210 4881 done -0.72 0.08 0.203 2659 300.0 1.80 0.045 2772 -583.3 -107.1 - - 3462 - - - - - - - - 14.27 14.58 14.40
5226 463.2 -8.2 218 5227 done -0.72 - - 2659 - - - 2771 - -107.1 - - 3461 - - - - - - - - 14.94 14.94 14.94
5562 490.5 -7.9 224 5567 roll -0.72 - - 2660 - 2.42 0.044 1363 -581.8 -107.1 - - 3460 - - - - - - - - 14.93 14.49 14.94
5603 494.3 -8.2 230 5609 done -0.80 - - 2657 - 2.58 0.071 2776 547.7 -107.1 - - 3459 - - - - - - - - 14.35 14.26 14.44
5954 521.2 -7.6 238 5955 done -0.80 - - 2651 - - - 2776 - -107.1 - - 3457 - - - - - - - - 14.93 14.93 14.93
6290 545.8 -6.9 244 6295 roll -0.80 - - 2651 - 2.45 0.044 1364 -576.3 -107.1 - - 3455 - - - - - - - - 14.94 14.47 14.95
6331 550.1 -10.7 250 6337 done -0.80 - - 2643 - 2.55 0.070 2768 550.6 -107.1 - - 3456 - - - - - - - - 14.40 14.32 14.45
6682 576.1 -7.1 258 6683 done -0.80 - - 2643 - - - 2767 - -107.1 - - 3455 - - - - - - - - 14.90 14.90 14.90
7018 600.7 -7.3 264 7019 done -0.80 - - 2643 - - - 2767 - -107.1 - - 3454 - - - - - - - - 14.90 14.90 14.90
7354 624.0 -6.8 270 7355 done -0.80 - - 2643 - - - 2767 - -107.1 - - 3452 - - - - - - - - 14.93 14.93 14.92
7690 647.0 -6.8 276 7691 done -0.80 - - 2643 - - - 2769 - -107.1 - - 3450 - - - - - - - - 14.90 14.90 14.90
8026 671.4 -7.3 282 8031 roll -0.80 - - 2643 - 2.45 0.045 1370 -571.0 -107.1 - - 3449 - - - - - - - - 14.90 14.42 14.90
8082 675.6 -7.2 290 8087 done -0.80 - - 2634 - 2.53 0.070 2762 550.2 -107.1 - - 3449 - - - - - - - - 14.48 14.31 14.52
8418 701.3 -7.7 303 8423 roll -0.80 - - 2625 - 2.03 0.118 3828 525.1 -107.1 - - 3448 - - - - - - - - 14.90 14.16 14.90
8474 706.4 -9.9 311 8479 done -0.80 - - 2625 - 1.85 0.047 2770 -571.9 -107.1 - - 3448 - - - - - - - - 14.42 14.40 14.44
8810 734.7 -8.3 324 8811 done -0.80 - - 2625 - - - 2770 - -107.1 - - 3455 - - - - - - - - 14.88 14.89 14.89
9146 760.9 -7.8 330 9151 roll -0.80 - - 2622 - 2.45 0.044 1360 -575.5 -107.1 - - 3447 - - - - - - - - 14.89 14.39 14.88
9222 767.6 -9.3 341 9229 done -0.80 - - 2615 - 2.60 0.070 2770 542.3 -107.1 - - 3446 - - - - - - - - 14.31 14.21 14.36
9538 792.2 -7.0 351 9539 done -0.80 - - 2615 - - - 2770 - -107.1 - - 3446 - - - - - - - - 14.91 14.91 14.91
9874 817.8 -7.6 357 9880 roll -0.80 - - 2614 - 2.47 0.045 1362 -570.0 -107.1 - - 3444 - - - - - - - - 14.91 14.38 14.92
9943 823.0 -7.6 367 9949 done -0.80 0.10 0.220 2633 190.0 2.58 0.070 2754 539.5 -107.1 - - 3445 - - - - - - - - 13.92 14.10 14.10
10266 845.6 -6.8 378 10267 done -0.80 - - 2634 - - - 2754 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.91
10602 868.9 -7.0 384 10607 roll -0.80 - - 2634 - 2.45 0.045 1359 -569.4 -107.1 - - 3443 - - - - - - - - 14.90 14.35 14.90
10658 872.6 -6.5 392 10663 done -0.80 - - 2624 - 2.58 0.071 2767 545.7 -107.1 - - 3443 - - - - - - - - 14.40 14.22 14.45
10994 896.5 -6.8 405 11000 roll -0.80 - - 2623 - 2.47 0.044 1365 -567.6 -107.1 - - 3443 - - - - - - - - 14.88 14.33 14.88
11042 900.4 -6.4 412 11049 done -0.80 - - 2614 - 2.58 0.070 2754 538.4 -107.1 - - 3442 - - - - - - - - 14.21 14.16 14.28
11386 925.8 -6.8 419 11391 roll -0.80 - - 2606 - 2.10 0.118 3825 510.0 -107.1 - - 3442 - - - - - - - - 14.90 14.02 14.90
11439 end dive: TARGET_DEPTH_EXCEEDED
11439 begin apogee
11448 930.2 -7.5 427 11567 roll -0.23 0.75 0.176 2820 285.3 - - 2227 - - 115.95 1.936 3049 -3.4 0.327 - - - - - - 14.00 13.93 12.90
11568 end apogee: CONTROL_FINISHED_OK
11568 begin climb
11571 935.3 - 429 11702 roll 0.93 1.10 0.087 3184 330.9 2.47 0.058 862 -552.6 107.1 119.05 1.955 2617 -3.6 0.348 - - - - - - 13.97 13.99 12.81
11715 929.6 8.8 452 11722 done 0.76 0.12 0.214 3149 -291.7 2.58 0.052 2260 541.9 107.1 - - 2611 - - - - - - - - 13.74 13.88 13.88
12059 906.6 6.5 459 12092 roll 0.79 - - 3150 - 2.67 0.103 3653 521.7 131.4 25.83 1.996 2525 -3.3 0.303 - - - - - - 14.69 14.19 13.24
12200 894.8 8.9 479 12205 done 0.68 0.12 0.239 3126 -200.0 2.42 0.042 2253 -578.5 131.4 - - 2516 - - - - - - - - 14.10 14.38 14.35
12563 869.0 7.0 489 12581 done 0.70 - - 3124 - - - 2250 - 146.4 17.35 2.041 2467 -2.8 0.241 - - - - - - 14.75 14.33 13.35
12899 844.2 7.3 495 12906 roll 0.71 - - 3126 - 2.72 0.105 3656 516.9 155.5 2.97 1.210 2435 -10.8 1.508 - - - - - - 14.76 14.33 12.82
12940 840.8 9.7 501 12948 done 0.71 - - 3136 - 2.47 0.042 2248 -570.0 155.5 2.47 0.896 2432 -1.2 0.229 - - - - - - 14.47 14.44 12.80
13284 814.2 7.7 508 13291 roll 0.71 - - 3136 - 2.72 0.106 3655 517.3 156.0 2.35 0.719 2430 - - - - - - - - 14.80 14.33 12.81
13325 810.8 8.2 514 13334 done 0.71 - - 3147 - 2.45 0.042 2252 -572.7 156.0 1.25 0.235 2433 2.4 -1.661 - - - - - - 14.50 14.45 14.05
13669 782.6 8.5 521 13672 done 0.71 - - 3147 - - - 2252 - 156.0 1.75 0.256 2428 -2.9 1.752 - - - - - - 14.82 14.30 13.85
14005 754.2 8.5 527 14011 roll 0.71 - - 3147 - 2.62 0.105 3654 535.1 156.0 1.58 0.249 2430 - - - - - - - - 14.84 14.16 13.92
14067 749.8 8.6 536 14074 done 0.63 0.17 0.210 3108 -229.4 2.45 0.042 2258 -569.8 156.0 1.50 0.225 2429 - - - - - - - - 14.10 14.45 13.95
14399 727.8 6.6 548 14445 roll 0.66 - - 3107 - 2.72 0.106 3653 512.9 179.8 36.55 1.825 2324 -2.9 0.230 - - - - - - 14.83 14.26 13.36
14466 722.9 7.3 558 14474 done 0.67 - - 3117 - 2.47 0.042 2253 -566.8 188.2 2.70 0.989 2300 -8.9 1.304 - - - - - - 14.38 14.35 12.77
14789 698.6 7.6 569 14802 roll 0.67 - - 3117 - 2.72 0.106 3657 516.2 191.7 4.15 1.726 2293 -1.7 0.137 - - - - - - 14.76 14.33 12.87
14845 694.0 8.5 577 14851 done 0.67 - - 3127 - 2.42 0.043 2254 -579.8 191.7 1.88 0.278 2286 -3.7 1.865 - - - - - - 14.47 14.40 13.67
15181 667.7 7.8 590 15187 roll 0.67 - - 3127 - 2.70 0.104 3661 521.1 191.7 1.77 0.256 2288 - - - - - - - - 14.78 14.09 13.77
15229 663.5 8.4 597 15237 done 0.67 - - 3136 - 2.45 0.043 2265 -569.8 191.7 1.62 0.239 2292 2.5 -1.375 - - - - - - 14.45 14.41 13.78
15573 636.8 7.8 604 15576 done 0.67 - - 3136 - - - 2264 - 191.7 1.52 0.247 2287 -3.3 1.702 - - - - - - 14.81 14.33 13.97
15909 611.2 7.6 610 15921 roll 0.68 - - 3137 - 2.67 0.107 3651 519.5 195.0 4.38 1.753 2278 -2.1 0.144 - - - - - - 14.83 14.42 13.01
15978 605.2 8.8 620 15984 done 0.68 - - 3147 - 2.40 0.042 2276 -572.9 195.0 1.92 0.312 2274 -2.1 0.811 - - - - - - 14.51 14.47 13.70
16301 579.2 8.1 631 16304 done 0.68 - - 3147 - - - 2272 - 195.0 1.95 0.280 2274 - - - - - - - - 14.85 14.18 13.47
16637 552.7 7.9 637 16643 roll 0.68 - - 3146 - 2.70 0.105 3655 512.2 195.0 1.88 0.277 2276 - - - - - - - - 14.86 14.20 13.43
16671 549.9 8.2 642 16679 done 0.68 0.10 0.215 3127 -190.0 2.42 0.042 2271 -571.9 195.0 1.42 0.285 2274 - - - - - - - - 14.11 14.42 13.54
17022 526.7 6.5 650 17064 roll 0.71 - - 3127 - 2.70 0.106 3658 513.7 219.8 37.30 1.620 2169 -2.8 0.184 - - - - - - 14.84 14.28 13.44
17091 521.8 7.9 660 17097 done 0.71 - - 3135 - 2.45 0.041 2271 -566.1 219.8 - - 2163 - - - - - - - - 14.38 14.35 14.40
17407 497.7 7.7 670 17408 done 0.71 - - 3137 - - - 2268 - 221.2 - - 2159 - - - - - - - - 14.73 14.73 14.76
17743 471.2 7.9 676 17748 roll 0.71 - - 3137 - 2.65 0.107 3658 524.5 221.2 - - 2158 - - - - - - - - 14.79 14.19 14.79
17777 468.1 9.1 681 17783 done 0.71 - - 3147 - 2.42 0.042 2277 -570.7 221.2 - - 2156 - - - - - - - - 14.45 14.40 14.47
18135 437.9 8.5 690 18141 roll 0.71 - - 3147 - 2.62 0.106 3658 527.1 221.2 - - 2159 - - - - - - - - 14.81 14.23 14.81
18169 434.7 9.3 695 18175 done 0.71 - - 3157 - 2.45 0.041 2263 -569.4 221.2 - - 2159 - - - - - - - - 14.40 14.35 14.42
18527 404.1 8.5 704 18528 done 0.71 - - 3157 - - - 2260 - 221.2 - - 2158 - - - - - - - - 14.85 14.83 14.84
18863 375.6 8.5 710 18869 roll 0.71 - - 3157 - 2.65 0.105 3655 526.4 221.2 - - 2159 - - - - - - - - 14.88 14.19 14.88
18925 369.6 9.9 719 18931 done 0.71 0.12 0.200 3130 -225.0 2.42 0.041 2277 -569.4 221.2 - - 2158 - - - - - - - - 14.06 14.38 14.22
19255 344.1 7.7 731 19256 done 0.71 - - 3130 - - - 2274 - 222.3 - - 2159 - - - - - - - - 14.85 14.83 14.85
19591 318.3 7.6 737 19592 done 0.71 - - 3130 - - - 2274 - 224.5 - - 2159 - - - - - - - - 14.88 14.88 14.88
19927 291.8 8.0 743 19932 roll 0.71 - - 3130 - 2.62 0.104 3653 526.3 224.5 - - 2159 - - - - - - - - 14.88 14.19 14.88
19968 288.1 9.3 749 19974 done 0.71 - - 3140 - 2.42 0.041 2269 -571.9 224.5 - - 2158 - - - - - - - - 14.45 14.40 14.48
20319 258.7 8.3 757 20324 roll 0.71 - - 3140 - 2.65 0.104 3654 522.6 224.5 - - 2159 - - - - - - - - 14.88 14.16 14.88
20346 256.3 8.6 761 20352 done 0.71 - - 3149 - 2.40 0.041 2283 -571.2 224.5 - - 2160 - - - - - - - - 14.43 14.40 14.46
20711 226.6 8.1 771 20716 roll 0.71 - - 3160 - 2.53 0.063 859 -562.8 224.5 - - 2159 - - - - - - - - 14.85 14.28 14.85
20752 223.2 7.7 777 20759 done 0.72 - - 3160 - 2.53 0.054 2278 560.9 226.2 1.50 0.205 2148 -7.3 1.602 - - - - - - 14.35 14.26 13.95
21103 193.7 8.4 785 21109 roll 0.72 - - 3160 - 2.60 0.102 3653 528.8 226.2 1.58 0.236 2150 - - - - - - - - 14.85 14.08 13.85
21159 188.4 9.6 793 21165 done 0.72 0.12 0.220 3134 -216.7 2.38 0.040 2271 -580.7 226.2 1.35 0.226 2148 - - - - - - - - 14.12 14.45 13.98
21498 164.8 7.0 806 21521 done 0.81 - - 3134 - - - 2268 - 242.0 22.25 1.280 2086 -2.8 0.072 - - - - - - 14.83 14.40 13.61
21831 139.9 7.6 812 21836 roll 0.91 0.10 0.113 3205 710.0 2.62 0.103 3655 529.4 245.6 - - 2073 - - - - - - - - 14.49 14.21 14.51
21928 128.1 12.9 826 21935 done 0.82 0.17 0.207 3167 -223.5 2.40 0.040 2284 -571.2 245.6 - - 2072 - - - - - - - - 14.06 14.41 14.23
22279 96.1 8.7 834 22280 done 0.82 - - 3168 - - - 2281 - 245.6 - - 2073 - - - - - - - - 14.83 14.83 14.83
22587 70.3 7.7 845 22592 roll 0.82 - - 3178 - 2.53 0.062 857 -562.8 247.1 - - 2073 - - - - - - - - 14.85 14.31 14.85
22615 68.2 7.5 849 22627 done 0.83 - - 3181 - 2.50 0.054 2294 574.8 253.0 4.10 0.325 2045 -6.8 0.288 - - - - - - 14.49 14.34 13.78
22951 45.9 5.9 864 22979 roll 0.87 - - 3178 - 2.58 0.105 3663 530.6 289.7 20.73 0.310 1896 -7.2 0.214 - - - - - - 14.83 14.33 13.98
23132 35.7 5.2 890 23168 done 1.03 0.05 0.115 3250 1440.0 2.40 0.039 2276 -577.9 340.4 26.80 0.277 1694 -7.5 0.195 - - - - - - 14.32 14.44 14.01
23486 20.1 3.6 907 23529 done 1.23 0.08 0.138 3314 800.0 - - 2276 - 422.2 41.58 0.226 1367 -7.9 0.140 - - - - - - 14.52 14.38 14.09
23732 end climb: SURFACE_DEPTH_REACHED
23732 begin surface coast
23760 end surface coast: CONTROL_FINISHED_OK
23760 begin surface
SM -2.45 - - - - -8.39 8.82 0.033 184 20.8 0.93 0.086 2761 -8220.4 500.14 36.47 0.157 1059 29.0 0.046 - - - - - -