SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 444 * Raw log
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• Previous call tries 1 • 157.16 of 350.00 AH used of 24V (55.10% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.3 deg, depth -1.29 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 101 done -0.93 - - 109 - - - 2748 - -107.1 -79.43 - 3479 - - - - - - - - 14.66 12.51 14.66
105 6.7 -13.9 3 122 roll -0.93 11.73 0.380 2582 210.8 1.95 0.080 3828 553.8 -107.1 - - 3480 - - - - - - - - 13.99 14.34 14.26
130 21.9 -53.0 7 135 done 0.25 1.45 0.254 2955 257.2 1.75 0.035 2743 -620.0 -107.1 - - 3479 - - - - - - - - 14.10 14.47 14.37
466 46.8 -7.0 22 471 roll -0.20 0.32 0.080 2821 -418.8 2.03 0.110 3825 533.0 -107.1 - - 3482 - - - - - - - - 14.45 14.29 14.52
696 59.4 -4.3 55 703 done -0.56 0.22 0.060 2717 -472.7 1.75 0.044 2791 -590.9 -107.1 - - 3482 - - - - - - - - 14.48 14.55 14.54
1026 79.4 -5.7 69 1031 roll -0.69 0.08 0.139 2636 -1012.5 1.90 0.108 3819 541.1 -107.1 - - 3483 - - - - - - - - 14.62 14.34 14.66
1263 103.2 -10.4 103 1270 done -0.69 0.10 0.188 2669 330.0 1.77 0.037 2749 -604.5 -107.1 - - 3483 - - - - - - - - 14.32 14.63 14.45
1586 129.1 -7.7 114 1591 roll -0.69 - - 2660 - 2.00 0.109 3825 538.0 -107.1 - - 3483 - - - - - - - - 14.90 14.37 14.91
1698 137.2 -7.3 130 1703 done -0.69 - - 2660 - 1.77 0.040 2746 -609.6 -107.1 - - 3482 - - - - - - - - 14.63 14.62 14.64
2034 160.3 -6.6 143 2035 done -0.69 - - 2660 - - - 2746 - -107.1 - - 3480 - - - - - - - - 14.93 14.94 14.92
2370 188.3 -8.4 149 2375 roll -0.69 - - 2660 - 2.28 0.039 1397 -591.7 -107.1 - - 3478 - - - - - - - - 14.95 14.57 14.95
2411 192.3 -8.9 155 2418 done -0.69 - - 2651 - 2.45 0.067 2762 557.1 -107.1 - - 3478 - - - - - - - - 14.51 14.42 14.55
2762 221.8 -8.3 163 2768 roll -0.69 - - 2643 - 2.00 0.113 3818 528.0 -107.1 - - 3475 - - - - - - - - 14.92 14.32 14.92
2818 226.7 -8.7 171 2824 done -0.69 0.08 0.195 2669 325.0 1.75 0.042 2791 -586.9 -107.1 - - 3475 - - - - - - - - 14.33 14.60 14.45
3154 251.7 -7.4 184 3159 roll -0.69 - - 2669 - 2.42 0.042 1366 -588.8 -107.1 - - 3473 - - - - - - - - 14.92 14.54 14.92
3210 256.3 -8.2 192 3215 done -0.77 - - 2660 - 2.47 0.066 2768 567.6 -107.1 - - 3474 - - - - - - - - 14.61 14.45 14.64
3546 282.8 -7.9 205 3547 done -0.77 - - 2660 - - - 2768 - -107.1 - - 3470 - - - - - - - - 14.92 14.92 14.92
3882 309.1 -7.9 211 3888 roll -0.77 - - 2659 - 2.40 0.041 1374 -580.8 -107.1 - - 3469 - - - - - - - - 14.92 14.53 14.92
3951 314.8 -8.1 221 3957 done -0.77 - - 2651 - 2.50 0.067 2761 554.8 -107.1 - - 3468 - - - - - - - - 14.49 14.38 14.53
4274 342.4 -8.6 232 4279 roll -0.77 - - 2643 - 2.00 0.114 3833 536.0 -107.1 - - 3466 - - - - - - - - 14.94 14.31 14.95
4308 345.6 -9.3 237 4314 done -0.77 - - 2643 - 1.85 0.044 2736 -593.0 -107.1 - - 3466 - - - - - - - - 14.62 14.59 14.63
4666 377.2 -8.8 246 4671 roll -0.77 - - 2643 - 2.30 0.041 1379 -590.0 -107.1 - - 3464 - - - - - - - - 14.92 14.52 14.92
4700 380.3 -8.6 251 4707 done -0.77 - - 2634 - 2.47 0.066 2752 555.9 -107.1 - - 3464 - - - - - - - - 14.45 14.36 14.50
5058 410.9 -8.6 260 5063 roll -0.77 - - 2625 - 2.00 0.113 3828 538.0 -107.1 - - 3462 - - - - - - - - 14.92 14.32 14.92
5092 414.0 -8.9 265 5098 done -0.77 - - 2625 - 1.83 0.045 2752 -588.0 -107.1 - - 3462 - - - - - - - - 14.62 14.60 14.62
5450 445.2 -8.9 274 5455 roll -0.77 - - 2625 - 2.35 0.042 1379 -584.3 -107.1 - - 3461 - - - - - - - - 14.95 14.50 14.95
5506 450.4 -9.0 282 5511 done -0.77 0.12 0.226 2651 216.7 2.47 0.067 2765 561.1 -107.1 - - 3461 - - - - - - - - 14.22 14.40 14.46
5842 477.9 -8.3 295 5848 roll -0.77 - - 2652 - 2.38 0.042 1382 -581.1 -107.1 - - 3459 - - - - - - - - 14.91 14.49 14.91
5890 482.2 -8.5 302 5897 done -0.77 - - 2643 - 2.50 0.068 2756 549.6 -107.1 - - 3459 - - - - - - - - 14.42 14.32 14.48
6234 511.2 -8.5 309 6235 done -0.77 - - 2643 - - - 2755 - -107.1 - - 3458 - - - - - - - - 14.91 14.90 14.90
6570 539.6 -8.4 315 6571 done -0.77 - - 2643 - - - 2755 - -107.1 - - 3457 - - - - - - - - 14.91 14.91 14.91
6906 565.9 -7.7 321 6911 roll -0.77 - - 2643 - 2.40 0.044 1378 -573.8 -107.1 - - 3455 - - - - - - - - 14.92 14.47 14.92
6954 569.8 -7.8 328 6961 done -0.77 - - 2634 - 2.50 0.067 2747 547.6 -107.1 - - 3455 - - - - - - - - 14.41 14.31 14.46
7298 596.7 -7.8 335 7298 done -0.77 - - 2635 - - - 2747 - -107.1 - - 3454 - - - - - - - - 14.93 14.96 14.93
7634 624.2 -8.2 341 7639 roll -0.77 - - 2634 - 2.38 0.044 1384 -572.7 -107.1 - - 3452 - - - - - - - - 14.91 14.47 14.92
7675 627.8 -8.7 347 7682 done -0.77 - - 2624 - 2.50 0.068 2754 548.0 -107.1 - - 3452 - - - - - - - - 14.40 14.31 14.45
8026 657.9 -8.6 355 8032 roll -0.77 - - 2616 - 2.03 0.116 3830 530.0 -107.1 - - 3451 - - - - - - - - 14.90 14.20 14.90
8060 661.1 -9.4 360 8066 done -0.77 0.10 0.205 2646 300.0 1.85 0.046 2767 -574.6 -107.1 - - 3450 - - - - - - - - 14.16 14.52 14.31
8418 687.8 -7.4 369 8423 roll -0.77 - - 2646 - 2.42 0.045 1366 -578.9 -107.1 - - 3449 - - - - - - - - 14.92 14.44 14.93
8494 693.6 -7.3 380 8500 done -0.77 - - 2638 - 2.53 0.067 2745 545.1 -107.1 - - 3449 - - - - - - - - 14.35 14.26 14.40
8810 717.3 -7.6 390 8811 done -0.77 - - 2638 - - - 2745 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
9146 743.9 -7.9 396 9151 roll -0.77 - - 2637 - 2.42 0.044 1362 -571.5 -107.1 - - 3448 - - - - - - - - 14.90 14.41 14.89
9180 746.7 -8.1 401 9186 done -0.77 - - 2628 - 2.55 0.069 2751 544.7 -107.1 - - 3447 - - - - - - - - 14.35 14.26 14.40
9538 774.6 -7.8 410 9543 roll -0.77 - - 2627 - 2.42 0.044 1367 -571.9 -107.1 - - 3446 - - - - - - - - 14.90 14.39 14.90
9572 777.5 -8.1 415 9579 done -0.77 0.10 0.211 2648 210.0 2.53 0.068 2737 541.5 -107.1 - - 3446 - - - - - - - - 14.05 14.23 14.20
9930 801.8 -6.7 424 9935 roll -0.77 - - 2639 - 2.10 0.119 3836 523.3 -107.1 - - 3445 - - - - - - - - 14.92 14.16 14.92
9986 805.7 -6.9 432 9991 done -0.77 - - 2639 - 1.92 0.046 2702 -590.6 -107.1 - - 3445 - - - - - - - - 14.55 14.50 14.57
10322 827.0 -6.4 445 10323 done -0.77 - - 2639 - - - 2702 - -107.1 - - 3444 - - - - - - - - 14.91 14.91 14.91
10658 847.6 -6.1 451 10664 roll -0.77 - - 2630 - 2.20 0.116 3836 515.5 -107.1 - - 3443 - - - - - - - - 14.91 14.14 14.91
10692 849.9 -6.1 456 10698 done -0.77 - - 2630 - 1.92 0.046 2733 -574.5 -107.1 - - 3443 - - - - - - - - 14.47 14.45 14.49
11050 872.5 -6.3 465 11055 roll -0.77 - - 2630 - 2.35 0.044 1378 -576.6 -107.1 - - 3442 - - - - - - - - 14.90 14.38 14.91
11106 876.1 -6.4 473 11112 done -0.77 0.10 0.232 2649 190.0 2.50 0.070 2754 550.4 -107.1 - - 3442 - - - - - - - - 14.06 14.23 14.31
11445 895.7 -5.7 486 11445 done -0.85 - - 2651 - - - 2755 - -107.1 - - 3441 - - - - - - - - 14.88 14.88 14.88
11778 917.0 -6.4 492 11783 roll -0.94 0.08 0.148 2583 -850.0 2.40 0.041 1375 -575.0 -107.1 - - 3441 - - - - - - - - 14.54 14.37 14.57
11826 921.2 -8.9 499 11835 done -0.94 - - 2575 - 2.53 0.068 2739 539.1 -107.1 - - 3441 - - - - - - - - 14.26 14.16 14.32
11943 end dive: TARGET_DEPTH_EXCEEDED
11943 begin apogee
11950 932.5 -9.3 502 12066 roll -0.23 0.88 0.183 2824 283.0 0.03 0.299 2243 -16533.3 - 113.72 1.974 3048 -3.5 0.328 - - - - - - 13.98 13.86 12.90
12068 end apogee: CONTROL_FINISHED_OK
12068 begin climb
12071 936.8 - 504 12201 roll 0.93 1.10 0.089 3182 325.5 2.55 0.056 843 -549.0 107.1 119.35 1.942 2620 -3.6 0.347 - - - - - - 13.97 13.99 12.83
12256 930.5 6.5 532 12290 done 0.85 - - 3181 - 2.55 0.050 2266 558.0 132.3 28.42 2.000 2519 -3.6 0.332 - - - - - - 14.16 14.06 12.97
12623 899.7 8.7 549 12628 roll 0.75 0.10 0.250 3149 -320.0 2.60 0.100 3661 536.5 132.3 - - 2510 - - - - - - - - 14.14 14.23 14.31
12677 894.9 8.5 557 12683 done 0.64 0.17 0.226 3111 -223.5 2.45 0.041 2234 -582.4 132.3 - - 2510 - - - - - - - - 14.14 14.45 14.41
13013 874.6 5.9 570 13060 roll 0.69 - - 3111 - 2.78 0.103 3654 510.8 168.4 40.55 1.950 2374 -3.4 0.302 - - - - - - 14.81 14.16 13.26
13096 868.5 7.7 582 13102 done 0.69 - - 3121 - 2.50 0.041 2253 -560.4 169.4 - - 2370 - - - - - - - - 14.31 14.28 14.33
13461 842.4 7.2 592 13474 done 0.70 - - 3121 - - - 2250 - 179.7 11.75 2.101 2334 -3.1 0.247 - - - - - - 14.74 14.35 13.34
13797 816.4 7.8 598 13802 roll 0.70 - - 3121 - 2.67 0.105 3659 527.7 179.7 - - 2324 - - - - - - - - 14.77 14.26 14.78
13853 811.7 8.1 606 13858 done 0.70 - - 3130 - 2.42 0.042 2251 -581.8 179.7 - - 2324 - - - - - - - - 14.55 14.47 14.57
14189 784.2 8.0 619 14195 roll 0.70 - - 3131 - 2.67 0.105 3658 527.0 179.7 - - 2323 - - - - - - - - 14.81 14.26 14.81
14245 779.2 9.1 627 14251 done 0.70 - - 3142 - 2.42 0.041 2257 -578.9 179.7 - - 2323 - - - - - - - - 14.57 14.49 14.62
14581 751.3 8.3 640 14586 roll 0.70 - - 3153 - 2.45 0.063 859 -570.6 179.7 - - 2323 - - - - - - - - 14.79 14.35 14.83
14608 749.0 8.1 644 14614 done 0.70 - - 3151 - 2.50 0.054 2264 562.0 179.7 - - 2327 - - - - - - - - 14.42 14.35 14.46
14973 717.5 8.7 654 14978 roll 0.70 - - 3152 - 2.60 0.105 3655 535.0 179.7 - - 2322 - - - - - - - - 14.86 14.23 14.86
15021 712.8 9.8 661 15029 done 0.70 0.10 0.221 3132 -200.0 2.45 0.041 2259 -569.8 179.7 - - 2321 - - - - - - - - 14.09 14.42 14.26
15365 683.7 8.5 668 15370 roll 0.70 - - 3143 - 2.45 0.061 860 -571.0 179.7 - - 2322 - - - - - - - - 14.87 14.34 14.87
15399 680.7 8.5 673 15405 done 0.70 - - 3143 - 2.50 0.055 2266 562.4 179.7 - - 2322 - - - - - - - - 14.40 14.31 14.43
15757 649.0 8.9 682 15762 roll 0.70 - - 3143 - 2.62 0.107 3659 531.7 179.7 - - 2321 - - - - - - - - 14.85 14.20 14.85
15813 643.7 9.6 690 15818 done 0.70 - - 3153 - 2.40 0.041 2260 -582.9 179.7 - - 2321 - - - - - - - - 14.56 14.47 14.58
16149 615.0 8.4 703 16150 done 0.70 - - 3154 - - - 2256 - 179.7 - - 2322 - - - - - - - - 14.85 14.85 14.85
16485 588.2 8.0 709 16486 done 0.70 - - 3154 - - - 2257 - 179.7 - - 2321 - - - - - - - - 14.88 14.88 14.88
16821 561.7 7.8 715 16827 roll 0.70 - - 3154 - 2.67 0.107 3653 522.8 179.7 - - 2321 - - - - - - - - 14.85 14.16 14.86
16855 558.6 8.9 720 16861 done 0.70 0.12 0.213 3128 -216.7 2.45 0.042 2259 -569.0 179.7 - - 2321 - - - - - - - - 14.04 14.42 14.22
17213 532.8 7.2 729 17225 roll 0.72 - - 3128 - 2.67 0.104 3652 521.7 190.4 6.22 1.888 2294 -4.3 0.246 - - - - - - 14.88 14.38 13.29
17254 529.3 8.3 735 17262 done 0.72 - - 3146 - 2.42 0.041 2254 -577.7 190.4 0.80 0.245 2289 -6.2 2.711 - - - - - - 14.55 14.51 14.24
17605 501.4 8.0 743 17611 roll 0.72 - - 3138 - 2.67 0.103 3653 524.0 190.4 - - 2298 - - - - - - - - 14.85 14.21 14.84
17639 498.3 8.9 748 17645 done 0.72 - - 3148 - 2.42 0.041 2274 -569.8 190.4 - - 2298 - - - - - - - - 14.47 14.42 14.49
17997 468.6 8.3 757 17998 done 0.72 - - 3149 - - - 2271 - 190.4 - - 2298 - - - - - - - - 14.84 14.84 14.84
18333 441.4 8.1 763 18340 roll 0.72 - - 3148 - 2.65 0.105 3655 522.3 190.4 0.95 0.268 2292 -6.3 2.089 - - - - - - 14.87 14.13 14.02
18367 438.3 8.9 768 18373 done 0.72 - - 3159 - 2.45 0.041 2256 -571.0 190.4 - - 2296 - - - - - - - - 14.45 14.42 14.50
18725 408.5 8.3 777 18730 roll 0.72 - - 3169 - 2.45 0.062 865 -567.8 190.4 - - 2298 - - - - - - - - 14.84 14.28 14.85
18752 406.2 8.1 781 18758 done 0.72 0.12 0.197 3132 -308.3 2.50 0.055 2265 560.0 190.4 - - 2298 - - - - - - - - 14.04 14.26 14.21
19117 380.2 7.0 791 19144 roll 0.74 - - 3132 - 2.58 0.104 3657 539.5 205.8 22.38 1.536 2223 -3.4 0.167 - - - - - - 14.85 14.24 13.53
19193 373.9 8.8 802 19199 done 0.74 - - 3141 - 2.45 0.041 2259 -570.6 205.8 - - 2219 - - - - - - - - 14.47 14.43 14.50
19509 348.0 8.3 812 19510 done 0.74 - - 3142 - - - 2256 - 205.8 - - 2217 - - - - - - - - 14.78 14.81 14.81
19845 321.4 7.8 818 19850 roll 0.74 - - 3142 - 2.67 0.103 3659 525.5 205.8 - - 2219 - - - - - - - - 14.81 14.19 14.81
19879 318.6 8.2 823 19886 done 0.74 - - 3152 - 2.42 0.040 2265 -576.0 205.8 - - 2218 - - - - - - - - 14.46 14.42 14.49
20238 292.3 7.3 832 20249 roll 0.75 - - 3162 - 2.53 0.060 865 -553.4 214.8 3.67 1.301 2197 -5.7 0.258 - - - - - - 14.83 14.42 13.08
20271 289.8 7.1 837 20298 done 0.76 - - 3162 - 2.47 0.054 2267 567.6 227.5 20.40 1.443 2138 -2.9 0.117 - - - - - - 14.47 14.40 13.59
20629 260.0 8.6 853 20634 roll 0.76 - - 3162 - 2.60 0.105 3660 535.8 227.5 - - 2132 - - - - - - - - 14.80 14.21 14.80
20685 254.3 10.4 861 20690 done 0.76 - - 3172 - 2.40 0.040 2264 -581.7 227.5 - - 2132 - - - - - - - - 14.52 14.45 14.54
21021 220.9 10.0 874 21022 done 0.76 - - 3173 - - - 2261 - 227.5 - - 2132 - - - - - - - - 14.84 14.84 14.83
21357 188.7 9.5 880 21362 roll 0.76 - - 3173 - 2.65 0.103 3661 528.3 227.5 - - 2131 - - - - - - - - 14.85 14.21 14.85
21391 185.3 9.8 885 21397 done 0.76 0.12 0.208 3148 -208.3 2.42 0.041 2270 -574.8 227.5 - - 2132 - - - - - - - - 14.07 14.42 14.25
21749 157.9 7.5 894 21754 roll 0.77 - - 3157 - 2.47 0.060 862 -570.0 232.0 - - 2132 - - - - - - - - 14.87 14.31 14.87
21797 154.1 7.8 901 21804 done 0.77 - - 3157 - 2.50 0.053 2274 564.8 232.0 - - 2132 - - - - - - - - 14.37 14.33 14.42
22141 125.8 8.4 908 22146 roll 0.77 - - 3157 - 2.60 0.103 3658 532.3 232.0 - - 2132 - - - - - - - - 14.88 14.22 14.88
22182 121.8 9.8 914 22188 done 0.77 - - 3168 - 2.40 0.039 2272 -577.5 232.0 - - 2128 - - - - - - - - 14.47 14.42 14.50
22505 93.4 8.6 922 22510 roll 0.77 - - 3178 - 2.50 0.062 861 -564.4 232.0 - - 2130 - - - - - - - - 14.86 14.31 14.87
22539 90.4 8.6 927 22546 done 0.77 0.08 0.210 3156 -275.0 2.50 0.054 2275 565.6 232.0 - - 2132 - - - - - - - - 14.01 14.23 14.18
22869 65.4 7.9 941 22874 roll 0.77 - - 3156 - 2.60 0.103 3659 532.3 232.0 - - 2132 - - - - - - - - 14.84 14.13 14.84
22903 62.5 8.2 946 22909 done 0.77 - - 3166 - 2.40 0.039 2272 -577.9 232.0 - - 2132 - - - - - - - - 14.47 14.43 14.50
23234 44.4 4.5 960 23273 roll 0.93 - - 3175 - 2.47 0.061 862 -570.9 296.6 33.78 0.304 1870 -7.8 0.227 - - - - - - 14.86 14.40 14.05
23361 38.7 3.9 978 23407 done 1.17 0.22 0.070 3312 622.7 2.45 0.051 2276 577.1 373.3 39.75 0.285 1562 -7.7 0.211 - - - - - - 14.47 14.37 14.04
23737 12.4 6.9 999 23750 roll 1.19 0.10 0.235 3294 -180.0 2.53 0.060 857 -560.9 389.8 7.82 0.205 1500 -7.9 0.096 - - - - - - 14.21 14.16 13.97
23793 8.5 7.1 1007 23805 done 1.20 - - 3294 - 2.42 0.053 2261 580.2 402.9 7.68 0.197 1444 -7.3 0.063 - - - - - - 14.49 14.34 14.09
23902 end climb: SURFACE_DEPTH_REACHED
23902 begin surface coast
23930 end surface coast: CONTROL_FINISHED_OK
23930 begin surface
SM -2.03 - - - - -8.40 8.85 0.045 187 21.1 0.93 0.096 2766 -6976.3 500.14 46.33 0.156 1057 22.8 0.030 - - - - - -