SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 285 * Raw log
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• Previous call tries 1 • 107.08 of 350.00 AH used of 24V (69.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.2 deg, depth -1.81 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 162 - - - 2791 - -107.1 -76.72 - 3478 - - - - - - - - 14.65 12.74 14.65
94 -0.3 -4.7 2 114 roll -0.93 11.70 0.391 2588 207.4 2.42 0.037 1358 -592.1 -107.1 - - 3479 - - - - - - - - 14.04 14.40 14.41
189 38.6 -22.3 17 198 done -0.68 0.35 0.246 2672 240.0 2.55 0.068 2768 552.9 -107.1 - - 3480 - - - - - - - - 14.09 14.31 14.28
505 75.5 -8.6 29 512 roll -0.59 0.12 0.233 2700 233.3 1.95 0.107 3816 537.4 -107.1 - - 3482 - - - - - - - - 14.24 14.32 14.47
742 96.6 -7.9 63 748 done -0.59 - - 2700 - 1.77 0.039 2753 -600.6 -107.1 - - 3483 - - - - - - - - 14.64 14.59 14.65
1093 121.4 -7.1 72 1098 roll -0.59 - - 2691 - 2.05 0.106 3825 522.9 -107.1 - - 3483 - - - - - - - - 14.89 14.36 14.89
1134 124.7 -7.8 78 1140 done -0.59 - - 2691 - 1.75 0.041 2778 -598.3 -107.1 - - 3481 - - - - - - - - 14.72 14.67 14.73
1485 149.4 -7.0 86 1491 roll -0.59 - - 2691 - 2.38 0.044 1391 -582.8 -107.1 - - 3482 - - - - - - - - 14.93 14.51 14.93
1541 153.7 -7.8 94 1547 done -0.59 - - 2681 - 2.47 0.068 2777 561.1 -107.1 - - 3481 - - - - - - - - 14.54 14.45 14.58
1877 181.6 -8.4 107 1877 done -0.59 - - 2682 - - - 2777 - -107.1 - - 3479 - - - - - - - - 14.92 14.92 14.92
2213 207.8 -7.7 113 2214 done -0.59 - - 2681 - - - 2777 - -107.1 - - 3477 - - - - - - - - 14.94 14.94 14.94
2549 234.5 -8.0 119 2549 done -0.59 - - 2681 - - - 2775 - -107.1 - - 3474 - - - - - - - - 14.93 14.93 14.92
2885 261.0 -7.9 125 2891 roll -0.59 - - 2681 - 2.42 0.046 1394 -570.7 -107.1 - - 3470 - - - - - - - - 14.96 14.51 14.96
2919 263.7 -7.8 130 2926 done -0.59 0.10 0.207 2702 210.0 2.50 0.071 2785 556.4 -107.1 - - 3472 - - - - - - - - 14.27 14.44 14.42
3277 286.0 -6.1 139 3282 roll -0.68 - - 2702 - 2.40 0.047 1390 -581.2 -107.1 - - 3470 - - - - - - - - 14.93 14.57 14.93
3325 289.0 -6.2 146 3333 done -0.79 0.08 0.093 2641 -762.5 2.53 0.073 2784 551.0 -107.1 - - 3468 - - - - - - - - 14.45 14.42 14.54
3669 318.4 -8.8 153 3676 roll -0.79 - - 2632 - 1.98 0.112 3819 522.7 -107.1 - - 3467 - - - - - - - - 14.95 14.33 14.94
3717 322.9 -9.3 160 3724 done -0.79 - - 2632 - 1.77 0.041 2773 -591.0 -107.1 - - 3466 - - - - - - - - 14.73 14.68 14.74
4061 355.5 -9.7 167 4067 roll -0.79 - - 2632 - 2.40 0.047 1386 -577.9 -107.1 - - 3464 - - - - - - - - 14.94 14.47 14.94
4081 357.7 -10.0 170 4087 done -0.79 - - 2622 - 2.53 0.071 2782 551.8 -107.1 - - 3464 - - - - - - - - 14.52 14.42 14.57
4397 390.8 -10.7 180 4402 roll -0.79 - - 2611 - 1.98 0.112 3818 523.2 -107.1 - - 3462 - - - - - - - - 14.93 14.30 14.93
4445 396.2 -11.2 187 4453 done -0.79 0.10 0.243 2644 330.0 1.77 0.040 2771 -591.5 -107.1 - - 3462 - - - - - - - - 14.31 14.69 14.56
4789 428.4 -9.3 194 4794 roll -0.79 - - 2643 - 2.40 0.045 1380 -579.6 -107.1 - - 3461 - - - - - - - - 14.96 14.47 14.95
4837 432.9 -9.2 201 4846 done -0.79 - - 2634 - 2.55 0.071 2779 548.6 -107.1 - - 3461 - - - - - - - - 14.50 14.40 14.56
5181 464.6 -9.2 208 5181 done -0.79 - - 2634 - - - 2780 - -107.1 - - 3459 - - - - - - - - 14.95 14.95 14.95
5517 495.0 -8.9 214 5522 roll -0.79 - - 2626 - 2.00 0.115 3820 520.0 -107.1 - - 3457 - - - - - - - - 14.95 14.28 14.95
5558 498.8 -9.5 220 5564 done -0.79 - - 2625 - 1.80 0.041 2762 -587.8 -107.1 - - 3457 - - - - - - - - 14.71 14.66 14.72
5909 530.2 -8.9 228 5914 roll -0.79 - - 2617 - 2.05 0.113 3812 512.2 -107.1 - - 3455 - - - - - - - - 14.95 14.27 14.95
5943 533.5 -9.7 233 5950 done -0.79 - - 2617 - 1.77 0.042 2762 -593.2 -107.1 - - 3455 - - - - - - - - 14.69 14.64 14.71
6301 566.4 -9.1 242 6302 done -0.79 - - 2617 - - - 2762 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
6637 596.8 -9.0 248 6638 done -0.79 - - 2617 - - - 2762 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.94
6973 628.8 -9.6 254 6978 roll -0.79 - - 2609 - 2.08 0.113 3824 510.6 -107.1 - - 3451 - - - - - - - - 14.95 14.25 14.95
7021 633.9 -10.6 261 7030 done -0.79 0.12 0.226 2645 300.0 1.77 0.041 2785 -587.0 -107.1 - - 3451 - - - - - - - - 14.22 14.63 14.47
7365 663.5 -8.6 268 7366 done -0.79 - - 2646 - - - 2785 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
7701 690.8 -8.0 274 7706 roll -0.79 - - 2645 - 2.40 0.044 1376 -587.1 -107.1 - - 3447 - - - - - - - - 14.94 14.43 14.94
7763 695.9 -7.9 283 7769 done -0.79 - - 2635 - 2.55 0.070 2772 547.5 -107.1 - - 3447 - - - - - - - - 14.42 14.31 14.47
8093 721.4 -7.7 295 8099 roll -0.79 - - 2627 - 2.03 0.115 3820 516.3 -107.1 - - 3446 - - - - - - - - 14.90 14.19 14.92
8127 724.2 -8.2 300 8133 done -0.79 - - 2626 - 1.77 0.042 2778 -588.7 -107.1 - - 3444 - - - - - - - - 14.66 14.61 14.67
8485 751.8 -7.6 309 8491 roll -0.79 - - 2628 - 2.42 0.044 1389 -574.0 -107.1 - - 3446 - - - - - - - - 14.90 14.38 14.91
8533 755.5 -7.7 316 8541 done -0.79 - - 2616 - 2.55 0.070 2775 543.5 -107.1 - - 3442 - - - - - - - - 14.40 14.28 14.43
8877 783.5 -8.3 323 8882 roll -0.79 - - 2609 - 2.03 0.114 3822 515.8 -107.1 - - 3444 - - - - - - - - 14.92 14.16 14.92
8946 789.9 -9.6 333 8953 done -0.79 0.12 0.225 2644 291.7 1.80 0.042 2775 -581.7 -107.1 - - 3446 - - - - - - - - 14.16 14.58 14.40
9269 813.5 -7.2 344 9274 roll -0.79 - - 2644 - 2.45 0.045 1378 -570.2 -107.1 - - 3443 - - - - - - - - 14.92 14.35 14.92
9345 819.2 -7.2 355 9352 done -0.79 - - 2635 - 2.60 0.070 2784 540.8 -107.1 - - 3442 - - - - - - - - 14.40 14.26 14.42
9661 843.2 -7.7 365 9662 done -0.79 - - 2636 - - - 2782 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
9997 868.2 -7.4 371 9998 done -0.79 - - 2635 - - - 2784 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.92
10333 893.1 -7.3 377 10339 roll -0.79 - - 2634 - 2.47 0.046 1389 -564.8 -107.1 - - 3439 - - - - - - - - 14.92 14.32 14.92
10374 896.3 -5.8 383 10381 done -0.79 - - 2625 - 2.55 0.070 2767 540.4 -107.1 - - 3439 - - - - - - - - 14.36 14.26 14.42
10725 923.5 -7.7 391 10731 roll -0.79 - - 2617 - 2.05 0.116 3826 516.6 -107.1 - - 3438 - - - - - - - - 14.92 14.12 14.92
10773 927.6 -8.5 398 10781 done -0.79 - - 2616 - 1.83 0.043 2775 -574.3 -107.1 - - 3440 - - - - - - - - 14.60 14.54 14.62
10835 end dive: TARGET_DEPTH_EXCEEDED
10835 begin apogee
10841 932.7 -8.1 400 10952 roll -0.23 0.70 0.182 2819 290.0 0.08 0.171 2264 -6387.5 - 108.45 1.946 3049 -3.6 0.341 - - - - - - 14.14 13.94 13.16
10954 end apogee: CONTROL_FINISHED_OK
10954 begin climb
10956 936.3 - 402 11083 roll 0.93 1.12 0.096 3181 323.2 2.53 0.057 880 -547.0 107.1 115.68 1.916 2618 -3.7 0.359 - - - - - - 13.98 14.01 13.00
11314 914.7 7.7 454 11319 done 0.80 - - 3181 - 2.45 0.054 2261 563.7 108.7 - - 2611 - - - - - - - - 14.35 14.23 14.37
11677 885.2 8.1 464 11683 roll 0.65 0.25 0.216 3121 -240.0 2.40 0.058 881 -575.0 108.7 - - 2609 - - - - - - - - 14.15 14.35 14.42
11914 871.0 5.8 498 11963 done 0.70 - - 3121 - 2.42 0.054 2250 565.7 148.1 44.88 1.902 2459 -3.3 0.302 - - - - - - 14.42 14.35 13.43
12295 842.6 8.0 517 12301 roll 0.70 - - 3121 - 2.60 0.102 3655 540.4 148.1 - - 2448 - - - - - - - - 14.67 14.28 14.67
12376 835.0 9.3 529 12384 done 0.70 - - 3129 - 2.42 0.039 2260 -576.4 148.1 - - 2448 - - - - - - - - 14.48 14.45 14.50
12741 803.4 8.7 539 12742 done 0.70 - - 3130 - - - 2259 - 148.1 - - 2447 - - - - - - - - 14.80 14.81 14.81
13077 772.9 9.0 545 13078 done 0.70 - - 3131 - - - 2259 - 148.1 - - 2447 - - - - - - - - 14.82 14.82 14.82
13413 743.5 8.7 551 13419 roll 0.70 - - 3130 - 2.70 0.104 3658 518.1 148.1 - - 2446 - - - - - - - - 14.85 14.25 14.85
13461 738.8 9.9 558 13470 done 0.62 0.12 0.208 3105 -208.3 2.42 0.040 2259 -578.1 148.1 - - 2446 - - - - - - - - 14.16 14.47 14.33
13805 713.2 7.3 565 13810 done 0.63 - - 3105 - - - 2259 - 157.6 3.85 1.678 2423 -6.0 0.501 - - - - - - 14.88 14.57 13.21
14141 689.5 7.1 571 14168 roll 0.65 - - 3105 - 2.62 0.103 3658 534.0 171.0 22.42 1.837 2363 -2.7 0.198 - - - - - - 14.87 14.38 13.70
14210 684.0 8.4 581 14218 done 0.65 - - 3115 - 2.45 0.041 2258 -571.4 171.0 - - 2358 - - - - - - - - 14.47 14.42 14.48
14533 658.4 8.1 592 14534 done 0.65 - - 3115 - - - 2256 - 171.0 - - 2357 - - - - - - - - 14.78 14.78 14.82
14869 631.6 7.9 598 14875 roll 0.65 - - 3115 - 2.65 0.108 3654 527.5 171.0 - - 2356 - - - - - - - - 14.83 14.28 14.83
14917 627.2 9.1 605 14926 done 0.65 - - 3125 - 2.42 0.040 2256 -577.7 171.0 - - 2355 - - - - - - - - 14.51 14.47 14.54
15261 599.4 8.1 612 15262 done 0.65 - - 3125 - - - 2256 - 171.0 - - 2355 - - - - - - - - 14.83 14.85 14.83
15597 571.3 8.5 618 15603 roll 0.65 - - 3124 - 2.70 0.107 3683 528.5 171.0 - - 2355 - - - - - - - - 14.87 14.25 14.88
15680 563.3 9.6 630 15687 done 0.65 - - 3134 - 2.45 0.041 2270 -576.7 171.0 - - 2355 - - - - - - - - 14.52 14.47 14.53
16045 530.7 8.9 640 16051 roll 0.65 - - 3145 - 2.47 0.062 855 -572.9 171.0 - - 2355 - - - - - - - - 14.88 14.37 14.88
16086 527.0 8.9 646 16093 done 0.65 0.10 0.200 3115 -300.0 2.50 0.057 2260 562.0 171.0 - - 2355 - - - - - - - - 14.16 14.36 14.33
16437 501.2 7.1 654 16456 roll 0.66 - - 3116 - 2.65 0.107 3657 527.2 183.1 11.35 1.811 2315 -3.5 0.192 - - - - - - 14.86 14.50 13.78
16549 492.5 8.1 670 16555 done 0.66 - - 3124 - 2.42 0.041 2265 -575.2 183.1 - - 2313 - - - - - - - - 14.48 14.43 14.50
16885 469.7 6.7 683 16913 roll 0.69 - - 3124 - 2.65 0.106 3660 526.4 204.1 23.27 1.607 2233 -3.4 0.198 - - - - - - 14.84 14.37 13.75
16941 465.5 7.8 691 16947 done 0.69 - - 3133 - 2.45 0.041 2261 -571.0 204.1 - - 2227 - - - - - - - - 14.45 14.40 14.47
17278 439.5 7.9 704 17283 roll 0.69 - - 3134 - 2.65 0.105 3657 526.8 204.1 - - 2230 - - - - - - - - 14.76 14.28 14.77
17304 437.1 8.9 708 17311 done 0.69 - - 3144 - 2.42 0.041 2273 -571.9 204.1 - - 2226 - - - - - - - - 14.48 14.44 14.50
17669 404.3 9.2 718 17670 done 0.69 - - 3144 - - - 2268 - 204.1 - - 2225 - - - - - - - - 14.83 14.83 14.83
18005 372.2 9.6 724 18006 done 0.69 - - 3144 - - - 2269 - 204.1 - - 2226 - - - - - - - - 14.83 14.83 14.83
18341 341.0 9.2 730 18347 roll 0.69 - - 3144 - 2.67 0.108 3654 518.7 204.1 - - 2226 - - - - - - - - 14.85 14.23 14.85
18375 337.6 9.7 735 18382 done 0.69 0.10 0.210 3125 -190.0 2.42 0.041 2266 -573.6 204.1 - - 2226 - - - - - - - - 14.16 14.47 14.33
18733 309.4 7.7 744 18734 done 0.69 - - 3125 - - - 2263 - 205.2 - - 2226 - - - - - - - - 14.88 14.88 14.88
19069 285.5 7.0 750 19088 done 0.71 - - 3125 - - - 2262 - 220.6 17.67 1.454 2169 -3.2 0.125 - - - - - - 14.88 14.57 13.87
19405 260.4 7.6 756 19411 roll 0.71 - - 3125 - 2.67 0.109 3660 523.6 223.5 - - 2158 - - - - - - - - 14.82 14.30 14.85
19453 256.0 9.2 763 19461 done 0.71 - - 3134 - 2.42 0.041 2275 -572.3 223.5 - - 2159 - - - - - - - - 14.49 14.45 14.52
19797 225.2 9.1 770 19798 done 0.71 - - 3134 - - - 2270 - 223.5 - - 2158 - - - - - - - - 14.83 14.83 14.83
20133 195.0 8.9 776 20139 roll 0.71 - - 3134 - 2.67 0.107 3653 518.0 223.5 - - 2158 - - - - - - - - 14.87 14.24 14.88
20167 191.7 9.6 781 20175 done 0.71 - - 3144 - 2.40 0.041 2277 -573.3 223.5 - - 2159 - - - - - - - - 14.54 14.49 14.55
20525 160.9 8.5 790 20531 roll 0.71 - - 3155 - 2.50 0.063 853 -569.6 223.5 - - 2158 - - - - - - - - 14.88 14.38 14.88
20552 158.5 8.4 794 20559 done 0.71 - - 3155 - 2.53 0.057 2275 562.1 223.5 - - 2158 - - - - - - - - 14.45 14.36 14.50
20917 125.7 9.1 804 20923 roll 0.71 - - 3165 - 2.55 0.062 856 -556.5 223.5 - - 2158 - - - - - - - - 14.86 14.33 14.87
20958 122.0 8.6 810 20965 done 0.71 0.10 0.188 3134 -310.0 2.50 0.056 2271 566.0 223.5 - - 2158 - - - - - - - - 14.20 14.37 14.35
21309 95.8 7.4 818 21317 roll 0.72 - - 3133 - 2.65 0.105 3664 525.7 230.2 3.15 0.380 2136 -7.0 0.347 - - - - - - 14.88 14.38 13.90
21364 91.0 8.8 826 21371 done 0.72 - - 3143 - 2.42 0.038 2262 -579.3 230.2 1.38 0.242 2134 - - - - - - - - 14.50 14.45 13.88
21694 71.2 5.3 840 21728 roll 0.78 - - 3143 - 2.70 0.105 3659 517.4 279.9 26.05 0.387 1936 -7.6 0.276 - - - - - - 14.85 14.45 14.16
21770 67.2 5.2 848 21800 done 0.92 0.08 0.089 3214 887.5 2.38 0.037 2276 -581.1 331.0 25.60 0.374 1736 -7.8 0.277 - - - - - - 14.42 14.50 14.14
22109 42.0 6.7 863 22129 roll 0.95 - - 3214 - 2.65 0.103 3654 520.0 352.7 11.20 0.295 1646 -8.0 0.226 - - - - - - 14.79 14.33 14.09
22316 29.9 5.3 893 22345 done 1.14 0.08 0.086 3282 850.0 2.35 0.037 2287 -581.7 401.9 24.55 0.261 1449 -8.0 0.181 - - - - - - 14.40 14.45 14.17
22662 10.0 5.8 909 22688 roll 1.28 - - 3289 - 2.50 0.061 861 -570.4 441.5 19.30 0.200 1292 -8.1 0.080 - - - - - - 14.81 14.41 14.19
22764 3.7 5.5 924 22792 done 1.45 0.15 0.057 3395 706.7 2.50 0.054 2287 570.4 485.4 20.75 0.174 1115 -8.5 0.036 - - - - - - 14.44 14.35 14.23
22798 end climb: SURFACE_DEPTH_REACHED
22798 begin surface coast
22826 end surface coast: CONTROL_FINISHED_OK
22826 begin surface
SM -1.56 - - - - -8.40 9.18 0.049 185 20.1 0.88 0.076 2780 -9829.5 500.14 6.60 0.170 1056 160.0 0.150 - - - - - -